EMCA-EC-67-...-DIO Modbus TCP 8082440 2017-10c [8082446]
EMCA-EC-67-...-DIO EMCA-EC-DIO-KO Adobe Reader, CANopen, CiA, Firefox, Internet Explorer, JST, MODBUS Tyco Electronics ( ). : :, : 1. / 2 Festo EMCA-EC-DIO-KO 2017-10c
EMCA-EC-67-...-DIO EMCA-EC-67-...-DIO... 7... 7... 7... 8... 8... 8... 10 1... 11 1.1... 11 1.1.1... 11 1.1.2... 12 1.2... 13 1.2.1... 13 1.2.2... 13 1.2.3 ( )... 13 1.2.4... 14 2... 15 2.1... 15 2.1.1... 16 2.1.2... 17 2.1.3... 18 2.2... 19 2.2.1 FCT(Festo Configuration Tool)... 19 2.2.2... 19 2.3... 20 2.4... 22 2.4.1... 23 2.4.2... 26 2.4.3... 35 2.4.4... 36 2.4.5... 37 2.4.6... 40 2.4.7 /... 44 2.4.8 (), (Quick-Stop)... 46 2.4.9 (EMCA-EC-...-...-B )... 47 2.5... 49 2.5.1... 49 2.5.2... 52 Festo EMCA-EC-DIO-KO 2017-10c 3
EMCA-EC-67-...-DIO 2.6... 54 2.6.1... 54 2.6.2... 58 2.6.3... 61 2.6.4... 62 2.6.5... 63 2.7... 64 2.7.1 [X1]... 64 2.7.2 STO [X6]... 65 2.7.3... 66 2.7.4... 72 2.8 I/O... 75 2.8.1... 75 2.8.2 I/O... 76 2.8.3... 77 2.8.4... 78 2.8.5... 79 2.8.6, ( 1)... 80 2.8.7 ( 0)... 81 2.8.8, ( 0)... 82 2.8.9, ( 0)... 83 2.8.10... 84 2.8.11 (EMCA-EC-...-...-B )... 85 3... 86 3.1... 86 3.2... 87 4... 89 4.1... 89 4.2 EMV... 90 4.3 [X1]... 91 4.4 [X4]... [X10]... 93 4.4.1 [X4]... 96 4.4.2 [X5]... 98 4.4.3 STO [X6]... 99 4.4.4 [X7], [X8]... 100 4.4.5 I/O [X9]... 101 4.4.6 [X10]... 102 4.5 IP... 103 4 Festo EMCA-EC-DIO-KO 2017-10c
EMCA-EC-67-...-DIO 5... 104 5.1... 104 5.2 FCT(Festo Configuration Tool)... 104 5.2.1 FCT... 104 5.2.2 FCT... 105 5.2.3 FCT... 105 5.3... 107 5.3.1... 108 5.3.2... 109 5.4... 111 5.5... 113 5.6... 115 5.6.1... 115 5.6.2 STO... 116 5.6.3... 116 5.6.4 ( I/O)... 117 5.6.5 /... 119 5.6.6... 119 5.6.7 ( )... 119 5.6.8 ()... 119 5.6.9... 120 5.7... 121 5.8... 122 5.8.1... 122 6... 123 6.1... 123 6.2 LED... 125 6.2.1... 125 6.2.2... 125 6.2.3... 125 6.2.4... 126 6.3,... 127 6.3.1... 127 6.3.2... 128 6.4... 142 6.5... 143 7,,... 144 7.1... 144 7.2... 145 7.3... 146 7.4... 146 7.4.1... 146 Festo EMCA-EC-DIO-KO 2017-10c 5
EMCA-EC-67-...-DIO A... 147 A.1... 147 A.1.1... 147 A.1.2... 147 A.1.3... 148 A.1.4... 148 A.1.5... 149 A.1.6... 150 A.1.7 (EMCA-EC-...-...-B )... 150 A.1.8 [X1]... 150 A.1.9 [X4]... 151 A.1.10 [X5]... 151 A.1.11 STO [X6]... 151 A.1.12 [X7], [X8]... 152 A.1.13 I/O [X9]... 153 A.1.14 [X10] (EMCA-EC-67-...-1TM )... 154 A.1.15... 154 B... 155... 156 6 Festo EMCA-EC-DIO-KO 2017-10c
EMCA-EC-67-...-DIO (EMCA-EC-DIO-...) EMCA,.,,,.. ( ). : EMCA-, A EC- EC 67-67 mm ( ) M- S- 1 24 V DC T E M - B- DIO I/O IP - (IP54) S1 IP65 Tab. 1 ( EMCA-EC-67-M-1TEB-DIO) Festo EMCA-EC-DIO-KO 2017-10c 7
EMCA-EC-67-...-DIO EMCA-EC-67-S-1TE-DIO 8061196 FN98 123456789... n G : 3100 rpm M N : 0.37 Nm U N : 24 V DC I N : 5.7 A IP54 EMCA-EC-67-S-1TE-DIO 8061196 FN98 123456789... n G [rpm] 3100 M N [Nm] 0.37 U N [V DC] 24 I N [A] 5.7 IP54 Tab. 2 EMCA-EC-67-S-1TE-DIO www.festo.com/pk., FCT www.festo.com/sp. : 1.0.0 Tab. 1 EMCA 1.2.0 1.2.0 FCT EMCA Festo ( www.festo.com/sp). FCT ( www.festo.com/sp). Festo. ( Tab. 2) ( ). 8 Festo EMCA-EC-DIO-KO 2017-10c
EMCA-EC-67-...-DIO X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015 H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022 R = 2023 S = 2024 T = 2025 U = 2026 V = 2027 W = 2028 X = 2029 Tab. 3 (20 ) 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 O 10 N 11 D 12 Tab. 4 Festo EMCA-EC-DIO-KO 2017-10c 9
EMCA-EC-67-...-DIO www.festo.com/pk : EMCA-... EMCA-EC-DIO-... EMCA-EC-S1-... EMCA-EC-C-HP-... FCT (EMCA ) EMCA-EC_UL-... ( ) "(Safe torque off/sto) FHPP (Festo Handling and Positioning Profile) Festo (Festo Configuration Tool, FCT). (UL) Tab. 5 Festo ( www.festo.com/sp). Festo, () www.festo.com/catalogue 10 Festo EMCA-EC-DIO-KO 2017-10c
1 1 1.1 1.1.1........ 4.....,..,.......... Festo EMCA-EC-DIO-KO 2017-10c 11
1.... 1.1.2. (),.. (EMCA-EC-...-...B). /. : ( A.1).,.,. (Safe torque off/sto). STO(Safe torque off) EMCA-EC-S1-.... STO. STO, EMCA-EC-S1-.... 12 Festo EMCA-EC-DIO-KO 2017-10c
1 1.2... ( : ). :,, STO : EMCA-EC-S1-.... 1.2.1. :.. 1.2.2 : ( A.1)... 1.2.3 ( ) : : Festo EMCA-EC-DIO-KO 2017-10c 13
1 1.2.4 ( A.1). EU. www.festo.com/sp.... UL Recognized Component Mark for Canada and the United States Only for connection to a NEC Class 2 supply. Raccorder Uniqement a un circuit de Class 2. UL UL... 2006/42/EG DIN EN 60068-2-6:2008-10 2014/30/EU DIN EN 60068 2 27:2010 02 Tab. 1.1 14 Festo EMCA-EC-DIO-KO 2017-10c
2 2 2.1 : (EC ) ( ), 6 1 2 5 4 3 1 2 3 EC Fig. 2.1 (EMCA-EC-67-...-DIO) 4 5 6 ( )... ( Fig. 2.3). FCT. FHPP Modbus TCP I/O. Festo EMCA-EC-DIO-KO 2017-10c 15
2 2.1.1 EC ( ) () 24 V DC 1) (), :, I/O STO(Safe torque off) 1) ( www.festo.com/catalogue) Tab. 2.1 EMCA 24 V DC FCT LED,, FCT : I/O (Internet Explorer Firefox) 16 Festo EMCA-EC-DIO-KO 2017-10c
2 2.1.2 1 EMCA-... 1 EMCA-67-...-DIO UL : EMCA-EC_UL-... 1 Tab. 2.2 EMCA : EAMM-A EADA-A-9(EMCA-EC-67-1TM ) CACR-LE2-6-W60 ( ) EADS-F EAMF-A EAMM-U EMGC NEKM-C( ) NEBC-D12G4-... NEBM-L4G2-... STO NEBM-L5G6-... IO NEBM-L5G18-... www.festo.com/catalogue. Festo EMCA-EC-DIO-KO 2017-10c 17
2 2.1.3 1 9 2 8 3 4 5 7 6 1 2 PELV 3 4 EMCA 5 / Fig. 2.2 ( ) 6 ( ESBF) 7 / ( ) 8 Festo (Festo Configuration Tool, FCT) PC 9 (PLC/IPC) 18 Festo EMCA-EC-DIO-KO 2017-10c
2 2.2 2.2.1 FCT(Festo Configuration Tool) Festo (Festo Configuration Tool, FCT) Festo, windows. FCT EMCA. FCT : ( EMCA),. EMCA,. (EMCA ) PC.. FCT : / ( ): ( ) (Firmware Download) (, ) Festo FCT 5. FCT. 2.2.2.. : (, ) I/O ( ) PC LED DHCP (DHCP, Dynamic Host Configuration Protocol ) IP :192.168.178.1. Festo EMCA-EC-DIO-KO 2017-10c 19
2 2.3 1 2 3 4 8 5 7 6 1 [X1]: ( M12) 2 LED (6x) 2 3 4 (4x) Fig. 2.3 5 ( Fig. 2.4) 6 (4x) M4 7 8 20 Festo EMCA-EC-DIO-KO 2017-10c
2. 3 4 5 6 2 1 8 7 1 [X4]: 2 [X5]: 3 [X10]: (EMCA-EC-...-1TM ) 4 [X6]: STO (Safe torque off) 5 [X7]: 1 1) 6 [X8]: 2 1) 7 [X9]: I/O 8 FE 1) FCT ( ) ( ) Fig. 2.4 Festo EMCA-EC-DIO-KO 2017-10c 21
2 2.4 EMCA. 2.4.2 2.4.3 ( ) 2.4.4 EMCA (,, ) ( ). 2.4.5 / Tab. 2.3 ;.. 2.4.6 2.4.7 22 Festo EMCA-EC-DIO-KO 2017-10c
2 2.4.1. ( ): (+). ( ). FCT ( FCT, Application Data, Environment, Inverse Rotation Polarity ). : REF 2 1 AZ PZ M d a b c TP/AP 3 ( ) (+) SLN e SLP LSN LSP REF (Reference point) AZ (Axis zero point) PZ (Project zero point) SLN (-) (Software limit negative) SLP (+) (Software limit positive) LSN () (-) (Limit switch negative) LSP () (+) (Limit switch positive) TP (Target position) AP (Actual position) a (AZ) b (PZ) c / (TP/AP) d : (-) (SLN) 1) e : (+) (SLP) 1) 1 2 ( ) 3 1). Tab. 2.4, ( ). Festo EMCA-EC-DIO-KO 2017-10c 23
2 :. ( FCT, Application Data, Environment, Inverse Rotation Polarity ). : 2 1 d a b c e LSN REF SLN AZ PZ TP/AP (+) SLP LSP REF (Reference point) AZ (Axis zero point) PZ (Project zero point) SLN (-) (Software limit negative) SLP (+) (Software limit positive) LSN () (-) (Limit switch negative) LSP () (+) (Limit switch positive) TP (Target position) AP (Actual position) a (AZ) b (PZ) c / (TP/AP) d (-) (SLN) 1) e (+) (SLP) 1) 1 ( ) 2 ( ) 1). Tab. 2.5, 24 Festo EMCA-EC-DIO-KO 2017-10c
2 AZ = REF a PZ = AZ b = REF a + b (-) SLN = AZ d = REF a d (+) SLP = AZ e = REF a e / TP/AP = PZ c = AZ b c = REF a b + c Tab. 2.6 LSN/LSP(). NC NO. FCT. : (+) ( 07 h ) (-) ( 08 h ) FCT... SLN/SLP. AZ.... SLN/SLP........ : 11 h, 12 h, 13 h, 14 h, 29 h, 2A h. FCT. Festo EMCA-EC-DIO-KO 2017-10c 25
2 2.4.2.. ( 2.4.1 ). (: ). ( Tab. 2.16).. (EMCA-EC-...-1TE) (EMCA-EC-...-1TM).... 7 ( 24). Festo EADA-A-9 6.... Tab. 2.7 : I/O ( 0 ) FCT ( FCT ) Motion Complete. Motion Complete. Motion Complete. ( 2.6.1 ). ( ).. 26 Festo EMCA-EC-DIO-KO 2017-10c
2 : FCT ( FCT, Homing ). 2. 1 2 3 1 REF 2 3 Fig. 2.5 Festo EMCA-EC-DIO-KO 2017-10c 27
2 REF.. CiA 402 1) DD h -35.. (+) 22 h 34. (-) 21 h 33. (+) EE h -18 (-) EF h -17 (+) 12 h 18 (-) 11 h 17 (+) 02 h 02 (-) 01 h 01 (+) 17 h 23 (-) 1B h 27 (+) 07 h 7 (-) 0B h 11 1) CANopen CiA 402 V 3.0. Tab. 2.8 ( /, ),........... ( ) 1... 2. : ( Tab. 2.17). ( DD h ; -35) Tab. 2.9 28 Festo EMCA-EC-DIO-KO 2017-10c
2 1... 2. : ( Tab. 2.17). : (+) ( 22 h ; 34) : (-) ( 21 h ; 33) Tab. 2.10.. ( )... (, ). / ( 3 mm)... () ( ).. ( ) ( ). :. Festo EMCA-EC-DIO-KO 2017-10c 29
2 1. : 1) ( ):. : EMCA,. 2. :. 3. 2) : (+) ( EE h ; -18) : (-) ( EF h ; -17) 1). 2) ( Tab. 2.17). Tab. 2.11 1. :. ( 2.). ( 2.). : :. :,, 0x22(FCT ). 2. :.. 3. : ( Tab. 2.17). : (+) ( 12 h ; 18) : (-) ( 11 h ; 17) (+) (-) Tab. 2.12 30 Festo EMCA-EC-DIO-KO 2017-10c
2 1. :. ( 2.). ( 2.). : :. :,, 0x22(FCT ). 2. :.. 3. : ( Tab. 2.17). : (+) ( 02 h ; 02) : (-) ( 01 h ; 01) (+) (-) Tab. 2.13 Festo EMCA-EC-DIO-KO 2017-10c 31
2 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 17 h ; 23) : (-) ( 1B h ; 27) Tab. 2.14 32 Festo EMCA-EC-DIO-KO 2017-10c
2 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 07 h ; 7) : (-) ( 0B h ; 11) Tab. 2.15 Festo EMCA-EC-DIO-KO 2017-10c 33
2 : (Target) ( Tab. 2.8) (Direction) (Search Velocity) (Crawling Velocity) (Drive Velocity) (Acceleration) (Axis Zero Point) ( ) (Force Limit/Torque Limit) (Message Delay) Tab. 2.16 ( ) (+) (-) ( ) ( ),... 1).. 1). Tab. 2.17 34 Festo EMCA-EC-DIO-KO 2017-10c
2 2.4.3..... ( ) ( ) ( ) : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay). Tab. 2.18 ( Fig. 2.6): (+ -).... Festo EMCA-EC-DIO-KO 2017-10c 35
2 t1 (+ -) t v Motion Complete a t t t t1 : Fig. 2.6 2.4.4. I/O. PA ( ). FCT : ; PA ( ). PLC EMCA. I/O FCT. FCT FCT. : 1. ( 2.4.3 ). 2... 36 Festo EMCA-EC-DIO-KO 2017-10c
2 FCT FCT. FCT. 2.4.5. : ( ) : (Position) ( Tab. 2.20) (Velocity) (Acceleration) (Deceleration) 1) 2) (Jerk for acceleration) 1)2) (Jerk for deceleration) 1) FCT 2) [m/s³].. Tab. 2.19.. ( 2.6.1, ). Tab. 2.20 ( ) Festo EMCA-EC-DIO-KO 2017-10c 37
2 a t v t s t Fig. 2.7 Motion Complete 0 mm/s t ( 2.5,, ). 0 0.... 38 Festo EMCA-EC-DIO-KO 2017-10c
2 Motion Complete( ) = 0. 0.. ( 2.6.1 )... Tab. 2.21 (Start Condition) (Extra Load) (Torque Feed Forward) / (Force Limit/ Torque Limit) (Max. Following Error) (Position Comparator) (Velocity Comparator) (Time Comparator) / (Force Comparator/ Torque Comparator) (Condition) (Start Delay) MC (MC visible) ( Tab. 2.32) ( ). ( ) ( ) ( Fig. 2.16) ( 2.6.2 ) ( 2.6.2 ) ( 2.6.2 ) ( 2.6.2 ) ( 2.5.2 ) ( 2.5.2 ) Motion Complete ; ( 2.5.2 ). Festo EMCA-EC-DIO-KO 2017-10c 39
2 (Final Velocity) (Following Set) ;. ( 2.5.2 ) Tab. 2.22, 2.4.6 ( ) ( ). : (Velocity) (Acceleration) (Deceleration) 1) (Jerk for Acceleration) 1) (Jerk for Deceleration) (Force Limit) 1) FCT Tab. 2.23 ( 2.4.5 ).. ( 2.6.1, ). ( 2.5,, ). 0 0. 40 Festo EMCA-EC-DIO-KO 2017-10c
2 Motion Complete( ). Tab. 2.24 : (Stroke Limit) Tab. 2.25..... : (Quick-Stop). Motion Complete ( Fig. 2.8 Fig. 2.10)... Festo EMCA-EC-DIO-KO 2017-10c 41
2 : s v t t Fig. 2.8 Motion Complete () t t 42 Festo EMCA-EC-DIO-KO 2017-10c
2 : s v t t Fig. 2.9 Motion Complete () t t Festo EMCA-EC-DIO-KO 2017-10c 43
2 : s v t t Motion Complete () Fig. 2.10 t t Tab. 2.22. 2.4.7 / K/.. ( )..... 44 Festo EMCA-EC-DIO-KO 2017-10c
2 / : (Force) ( % ) (Velocity) (Acceleration) (Deceleration) 1) 1) FCT Tab. 2.26 /. 0 0. Motion Complete( ) /. Tab. 2.27 / / / : / /. (Stroke Limit) Tab. 2.28.... :. (Quick-Stop).. Motion Complete. Festo EMCA-EC-DIO-KO 2017-10c 45
2 Tab. 2.22. 2.4.8 (), (Quick-Stop) ()... () : Stop [X9.15] Stop() (, / ). () / Tab. 2.29 (). : Motion Complete. ( ). ( 2.8.8 ).. ( 2.8.9 ). : Motion Complete.. / (). : Motion Complete.. Quick-Stop( ) Quick-Stop (Quick-Stop). Quick-Stop.. (Quick-Stop) ( ).. (Quick-Stop) ( ) (, / ) 46 Festo EMCA-EC-DIO-KO 2017-10c
2 2.4.9 (EMCA-EC-...-...-B ) EMCA-EC-...-B EC. /........ EMCA-EC-...-B... : FCT ( ) Brake control/delete remaining path. ( FCT, Motor, Brake control ). Festo EMCA-EC-DIO-KO 2017-10c 47
2 : 1.. ( = ). 2.. 3... : 1. (Quick-Stop). 0. 2.. 3... Tab. 2.30. :. Tab. 2.22. 48 Festo EMCA-EC-DIO-KO 2017-10c
2 2.5 64 ( 1~64). 0.. PLC.. : ( FCT ). ( Tab. 2.32). ( ) MC Tab. 2.31. ( Tab. 2.33) 2.5.1. ( Tab. 2.32). (Ignore) (Delay) (Interrupt).. MC ( ).. ( Motion Complete ).. Tab. 2.32 Festo EMCA-EC-DIO-KO 2017-10c 49
2 : ( B ). ( A). A t A B t Motion Complete Fig. 2.11 t : ( B C ). ( A). ( C). C A t A B C t Motion Complete Fig. 2.12 t 50 Festo EMCA-EC-DIO-KO 2017-10c
2 : ( A) ( B). B A t A B t Motion Complete Fig. 2.13 t Festo EMCA-EC-DIO-KO 2017-10c 51
2 2.5.2..... : (Condition) (Start Delay) MC (MC visible) 1) (Final Velocity) (Following Set) ( ). Motion Complete... 0 Motion Complete... 1) Tab. 2.33. : (Condition)... Motion Complete... Motion Complete......... /... Tab. 2.34 (Condition) 52 Festo EMCA-EC-DIO-KO 2017-10c
2 : 0 ( ). A. B A Motion Complete. v B A s t B A t Motion Complete (MC ) t t Fig. 2.14 0 Festo EMCA-EC-DIO-KO 2017-10c 53
2 2.6. EMCA. 2.6.1 [X9.8] ( Tab. 2.52). Motion Complete ( ) (Following error) (Standstill monitoring) (Comparator) ( ), : ( Fig. 2.16) ( Fig. 2.17). : 0 ( 2.6.2.). Tab. 2.35 54 Festo EMCA-EC-DIO-KO 2017-10c
2 M Motion Complete ( ) Motion Complete ( ). (, ). Motion Complete ( ). 2 v t1 1 Motion Complete t1:, Motion Complete 1 2 Fig. 2.15 Motion Complete t t Festo EMCA-EC-DIO-KO 2017-10c 55
2. ( Fig. 2.16, 1 ).. ( ). (, ).. s t1 2 1 3 t Start t 2F h () t t1:, 1 3 2 Fig. 2.16 :, FCT (2F h ) ( FCT ). 56 Festo EMCA-EC-DIO-KO 2017-10c
2 ( Fig. 2.17). Motion Complete. : EMCA ( = 1: ; = 0: ).. s t1 t2 t2 1 2 t Motion Complete ( ) t t t t1:, Motion Complete t2:, 1 2 Fig. 2.17. 0. FCT (37 h ) ( FCT ). Festo EMCA-EC-DIO-KO 2017-10c 57
2 2.6.2...,..... ( ). ( 2.5, ). ( ). ( Tab. 2.49).... 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator) 1). Tab. 2.36 () 58 Festo EMCA-EC-DIO-KO 2017-10c
2. 2 : ( š ). ( )..., /. () 1) () 1) 1) ( ).. (-) : 50 40 mm, 50 mm 40 mm. Tab. 2.37. 2 : ( š ). ( )..., /. () 1) () 1) 1) (+) (-).. Tab. 2.38 Festo EMCA-EC-DIO-KO 2017-10c 59
2 2 : ( š ). ( )..., /. () 1) () 1) 1) (+) (-)... Tab. 2.39 : ( š ).. () 1) () 1) 1) (+).. Tab. 2.40 60 Festo EMCA-EC-DIO-KO 2017-10c
2 2.6.3 EMCA,,. ( ).. : (I²t ) 07 h, 08 h ( 2.4.1 ) 11 h, 12 h, ( 2.4.1 ) 29 h, 2A h 0E h ;., 17 h, 18 h, 1A h, 1B h 15 h, 16 h. CPU.. 30 h EMCA ( [X5]).. EMCA.. EMCA ( FCT ). ( Tab. 2.42.).. Tab. 2.41 Festo EMCA-EC-DIO-KO 2017-10c 61
2 2.6.4 FCT ( FCT, Error Management ).,.. (Error) (Warning) (Information) ( (Quick-Stop) )... LED ( 6.2 ). FCT ( FCT )... LED ( 6.2 ). LED.. Tab. 2.42 (Free-wheeling) (Quick-Stop) (QS deceleration) (Record deceleration) (Finish record).. (Quick-Stop) ( ). 1) : (Output stage on) (off). 1) : (Output Stage on) (off) ( ). 1) : (Output Stage on) (off) 1) ( FCT ) Tab. 2.43 (Save Diagnosis). FCT,. 62 Festo EMCA-EC-DIO-KO 2017-10c
2 2.6.5 EMCA.. FCT ( 2.6.4 ). 200.. (FIFO ). : FCT(FCT ) ( 5.5 6.1 ). Festo EMCA-EC-DIO-KO 2017-10c 63
2 2.7 I/O.. I/O. 4 2.7.1 [X1] [X1] :,,, FCT ( 5.2 FCT ) ( 5.5 6.1 ) FCT ( 5.7 ) FHPP Modbus TCP : PC.. Tab. 2.44 3 IP (IPv4 ): DHCP ( ) IP (DHCP-Client) IP IP. DHCP-Client PC PC IP.. DHCP IP : IP : 192.168.178.1 : 255.255.255.0 : - (.) : 80, FCT 7508, Modbus: 502 DHCP IP. DHCP. IP. IP PC IP. Tab. 2.45 IP 64 Festo EMCA-EC-DIO-KO 2017-10c
2 FCT IP ( ). IP FCT. IP IP PC IP. (LED ).. Modbus TCP Modbus TCP. Modbus TCP I/O. Modbus Modbus-Client(PC, ) Modbus-Server(EMCA) TCP. Client. Client. Client Client. Modbus : Modbus Read Holding Registers Read Exception Status Write Multiple Registers Read/Write Multiple Registers Read Device Identification 0x03 0x07 0x10 0x17 0x2B Tab. 2.46 Modbus TCP () FHPP+ FPC FHPP 502( ) TCP/IP. FCT. Wert = 0: Wert 0: ( ). Tab. 2.47 Modbus-TCP Modbus EMCA-EC-C-HP-.... 2.7.2 STO [X6] STO [X6] 2 ( (Safe torque off/sto)). Festo EMCA-EC-DIO-KO 2017-10c 65
2 STO(Safe torque off) EMCA-EC-S1-.... STO. STO, EMCA-EC-S1-.... 2.7.3. (6) I/O Modbus TCP [X6.4] [X6.5] STO 1(Safe torque off channel 1) STO 2(Safe torque off channel 2) STO 1 ( STO, EMCA-EC-S1-...) STO 2 ( STO, EMCA-EC-S1-...) [X7.2] Switch 1 1 1 /. 1) [X8.2] Switch 2 2 2 /. 1) [X9.16] Control enable/ Acknowledge error : ( 2.8.3 ) : ( 2.8.4 ) : ; (Quick-Stop) ( 2.8.3 ). DIN + ( Tab. 2.50). : ( Fig. 2.18). : ; (Quick-Stop) ( Fig. 2.18). [9.17]. 1) FCT ( ) ( ). Tab. 2.48 [X6], [X7], [X8] [X9] 66 Festo EMCA-EC-DIO-KO 2017-10c
2 (2) I/O Modbus TCP [X9.7] Ready. : ( / ); : Control enable/ Acknowledge error. :. Stop... 1). : 2 : (. ( ).. [X9.8] configurable FCT ; Tab. 2.52 1) FHPP EMCA. Tab. 2.49 [X9] I/O I/O Control enable/acknowledge error. FCT Control enable/acknowledge error. FCT. Festo EMCA-EC-DIO-KO 2017-10c 67
2 Modbus TCP ( 5.4 ). Control enable. 1) DIN + ( 5.4 ). Control enable.. Control enable(din Control enable) : FCT. FHPP... 1) FCT [Controller]. Tab. 2.50 ( = ). (, Quick-Stop). v = 0, Ready.. 68 Festo EMCA-EC-DIO-KO 2017-10c
2 Modbus TCP : STO 1 STO 2(24 V) [X6.4/5] DIN + Control enable [X9.16] ( FHPP, FCT) Ready. 1 2 3 4 5 6 Control enable(din) (Quick-Stop) V = 0 Ready(DOUT) t1 t2 t1: t2: 1 2 3 4 (, Quick-Stop) 5 6 Fig. 2.18 : + DIN Festo EMCA-EC-DIO-KO 2017-10c 69
2 (EMCA-EC-...-...-B ): ( 2.4.9 ):.. Modbus TCP Brake ( FHPP ). Flying measurement(modbus TCP ) Sample ( )... FHPP, EMCA-EC-C-HP-... Sample : (Deactivated) (After read out) (Immediately) Sample ( ). ()..... Tab. 2.51 Sample ( ) 8.4 μs.. 70 Festo EMCA-EC-DIO-KO 2017-10c
2 [X9.8] : ( ) High. Low. (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete( ). Motion Complete( )........ 1) (Low ) 1.. 2) I²t I²t 1) 2.6.2. 2) 2.6.3. Tab. 2.52 Festo EMCA-EC-DIO-KO 2017-10c 71
2 2.7.4 EMCA-...-DIO [X9] (DIN) (DOUT). Modbus TCP. I/O. Control mode 0/1 ( 2.8.2 ). : (10) I/O Modbus TCP 0 1 ( ) / [X9.12] Control mode 0/1 = 0 Control mode 0/1 = 1 [X9.1] Record selection 1 [X9.2] Record selection 2 [X9.3] Record selection 4 [X9.4] Record selection 8 [X9.5] Record selection 16 [X9.6] Record selection 32 Jog+ [X9.13] Start Teach [X9.14] Brake control/delete remaining Jog path [X9.15] Stop Tab. 2.53 [X9] : (2) I/O Modbus TCP [X9.x] 0 1 ( ) / [X9.10] Acknowledge Setpoint Acknowledge [X9.11] Motion Complete Tab. 2.54 [X9] 72 Festo EMCA-EC-DIO-KO 2017-10c
2 ( 0) [X9.12] Control mode 0/1 : 0 ( ). [X9.1] [X9.6] Record selection 1 32 (2 ). 6 64 ( 0 ~ 63). 0. [X9.13] Start : [X9.14] Brake control/delete : remaining :. path :. : [X9.15] Stop : / : (/ ) [X9.10] Acknowledge [X9.13]: : : [X9.11] Motion Complete ( ): : : Tab. 2.55 ( 0) ( 0) Record selection 1... 32... 32(2 5 )... 16(2 4 )... 8(2 3 )... 4(2 2 )... 2(2 1 )... 1(2 0 ) 0 0 0 0 0 0 0 1) 0 0 0 0 0 1 1 0 0 0 0 1 0 2 0...... 0 1 1 1 1 1 31...... 1 1 1 1 1 0 62 1 1 1 1 1 1 63 1) (Homing) Tab. 2.56 0( ) 2 Festo EMCA-EC-DIO-KO 2017-10c 73
2 / ( 1) [X9.12] Control mode 0/1 : 1 (/). [X9.1] [X9.5] Record selection 1 16 (2 ). 5 31 ( 1 ~ 31). [X9.6] Jog+ : (+). :. : [X9.13] Teach : ( [X9.10]). : ( [X9.10]). [X9.14] Jog : (-). :. : [X9.15] Stop : : [X9.10] Setpoint Acknowledge [X9.13]: : : [X9.11] Motion Complete ( ): : : Tab. 2.57 1 / ( 1) Record selection 1... 16... 16(2 4 )... 8(2 3 )... 4(2 2 )... 2(2 1 )... 1(2 0 ) 0 0 0 0 1 1 0 0 0 1 0 2...... 1 1 1 1 1 31 Tab. 2.58 1 2 (/) 74 Festo EMCA-EC-DIO-KO 2017-10c
2 2.8 I/O 2.8.1 1 (t1).. ( 2.8.4 ). 1 2 3 Stop(DIN) t1 Control enable/acknowledge error (DIN) Ready(DOUT) t2 t1 1 t2: 1 3 2 Fig. 2.19 Festo EMCA-EC-DIO-KO 2017-10c 75
2 2.8.2 I/O Control mode 0/1 I/O : [X9.12] Control mode 0; 0/1 1: / Tab. 2.59 I/O. (, Quick-Stop).. t.. Control mode 0/1(DIN) 1 0 t t t 2 ms Fig. 2.20 I/O 76 Festo EMCA-EC-DIO-KO 2017-10c
2 2.8.3 Control enable/acknowledge error.... (EMCA-EC-...-...-B ): ( 2.4.9 )... 2.4.9 2.8.11. 1 2 3 4 5 Stop(DIN) Control enable/acknowledge error (DIN) (Quick-Stop) V = 0 Ready(DOUT) t1 t2 t1: t2: 1 2 3 ( ) Fig. 2.21 4, 5 Festo EMCA-EC-DIO-KO 2017-10c 77
2 2.8.4. Ready. : Festo (Festo Configuration Tool, FCT) FCT ( 2.6.4 ).. (, ). : Festo (Festo Configuration Tool, FCT) ( FCT ) Control enable/acknowledge error 1 2 3 4 Control enable/acknowledge error (DIN) Ready(DOUT) 1 2 Fig. 2.22 3 4 (Power OFF/ON).. 78 Festo EMCA-EC-DIO-KO 2017-10c
2 2.8.5 Record selection 1 32 0. Start. Motion Complete. 1 2 Ready(DOUT) Control mode 0/1(DIN) Record selection 1 32(DIN) 0 = t Start(DIN) Acknowledge(DOUT) t ( ) Motion Complete(DOUT) t t 2 ms 1 2 Fig. 2.23 0; Festo EMCA-EC-DIO-KO 2017-10c 79
2 2.8.6, ( 1) I/O 31.... 1 2 3 4 Control enable/acknowledge error (DIN) Stop(DIN) Ready(DOUT) Control mode 0/1(DIN) Jog+(DIN) Motion Complete(DOUT) Record selection 1 16(DIN... ) t Teach(DIN) Setpoint Acknowledge (DOUT) t t 2 ms 1 + 2 + Fig. 2.24, 3 4 80 Festo EMCA-EC-DIO-KO 2017-10c
2 2.8.7 ( 0) 2 Record selection 1 32. 0. Start ( ). Acknowledge. MC Motion Complete ( 2.5.2 ). (Start Condition) ( Tab. 2.32 ). 0. 1 2 Ready(DOUT) Control mode 0/1(DIN) Record selection 1 32(DIN...) t Start(DIN) Acknowledge(DOUT) Motion Complete(DOUT) t 2 ms 1 2 (Motion Complete) Fig. 2.25 ( 0) Festo EMCA-EC-DIO-KO 2017-10c 81
2 2.8.8, ( 0) 1 2 3 4 Control enable/acknowledge error (DIN) Stop(DIN) Ready(DOUT) Control mode 0/1(DIN) Record selection 1 32(DIN...) t Start(DIN) Acknowledge(DOUT) Motion Complete(DOUT) t 2 ms 1 2 ( ) Fig. 2.26, 3 4 (Motion Complete) 82 Festo EMCA-EC-DIO-KO 2017-10c
2 2.8.9, ( 0) 1 2 3 4 Control enable/acknowledge error (DIN) Stop(DIN) Ready(DOUT) Brake control/delete remaining path (DIN) Control mode 0/1(DIN) Record selection 1 32(DIN...) t Start(DIN) Acknowledge(DOUT) Motion Complete(DOUT) t 2 ms 1 2 ( ) Fig. 2.27,, 3 4 (Motion Complete) Festo EMCA-EC-DIO-KO 2017-10c 83
2 2.8.10 1 2 3 Control enable/acknowledge error (DIN) Stop(DIN) Ready(DOUT) Control mode 0/1(DIN) Record selection 1 32(DIN ) x t y t Start(DIN) Acknowledge(DOUT) Motion Complete (DOUT) t 2 ms 1 x 2 x y y : Fig. 2.28 = 3 ( y) 84 Festo EMCA-EC-DIO-KO 2017-10c
2 2.8.11 (EMCA-EC-...-...-B ). Brake control/delete remaining path.. ( 2.4.9 ). 2.4.9. Festo EMCA-EC-DIO-KO 2017-10c 85
3 3 3.1 L1 L2 L3 L4 L5 L6 EMCA-...-S-... [mm] 169.9 +0.8/-1.1 25 ±0.5 117.2-0.3 52.7 ±0.8 4.7 ±0.3 3-0.1 EMCA-...-M-... 187.4 +0.8/-1.1 70.2 ±0.8 H1 H2 B1 D1 D2 D3 D4 D5 D6 [mm] 113 ±0.5 67 67 @ 9-0.009 @ 40-0.039 @ 81 ±0.2 @ 50 ±0.2 @ 6.3 ±0.2 M4x5 Tab. 3.1 86 Festo EMCA-EC-DIO-KO 2017-10c
3 3.2., :......., www.festo.com/catalogue. ( )... : M6 4 M4 4 ( [mm]: 5). EMCA-EC-67-... 2 1 1 6.3 mm(4x) 2 M4x5 (4x) Fig. 3.1 1.. 2.. 3... Festo EMCA-EC-DIO-KO 2017-10c 87
3. ( A.1.5 ). ( :,,, )... 1.. 2. EMCA ( ). 3. (4x).. 88 Festo EMCA-EC-DIO-KO 2017-10c
4 4 4.1. EN 60204-1 PELV(Protective Extra-Low Voltage). EN 60204-1 PELV. EN 60204-1.., :......... (EMV). ( Tab. 4.1).. Festo EMCA-EC-DIO-KO 2017-10c 89
4 4.2 EMV : ( ). ( ). : EMV :.. 90. ( Tab. 4.1). [m] [X1] 100 1), 4 ; ( Tab. 4.4) [X4] 30. ( Tab. 4.7). [X5] 3 [X6] STO 30 [X7] [X8] / 3 [X9] I/O 30 [X10] 3 1) Tab. 4.1 EMV 90 Festo EMCA-EC-DIO-KO 2017-10c
4 4.3 [X1] PC.. :. : (IPS, Intrusion Prevention System) LAN(VLAN) (VPN, Virtual Private Network) (, Port Security) IEC 62443, ISO/IEC 27001. [X1] M12, 5, D M12, 4 5, D Tab. 4.2 [X1] 1 1 [X1] [X1] Pin 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 Shield/FE / Tab. 4.3 [X1] Festo EMCA-EC-DIO-KO 2017-10c 91
4 : Festo NEBC-D12G4-.... EMCA / PC.., (Shielded Twisted Pair/STP) Cat 5 [mm] 6 [mm 2 ] 0.14... 0.75(22 AWG) 1) [m] 100 1) : 22 AWG Tab. 4.4 [X1] 92 Festo EMCA-EC-DIO-KO 2017-10c
4 4.4 [X4]... [X10] [X4] ~ [X10].. 1)2) [X4] [X5] [X6] [X7], [X8] [X9] [X10] STO(Safe torque off) / I/O 3) JST Tyco Electronics AMP JST B2P-VH- FB-B-C B2P-VH- FB-B 3-794636-6 2-1445053-3 4-794636-8 B2B-ZR- SM4-TF [mm] [mm²] VHR-2N-BK () SVH-41T-P1.1 VHR-2N () WC-930 YC-930R 794617-6 1445022-3 1-794617-8 ZHR-2 AWG24... AWG20: 794606-1( ) 794610-1() AWG30... AWG26: 794607-1( ) 794611-1() 91501-1(AWG24... AWG20) 91502-1(AWG30... AWG26) /! SZH-002T- P0.5 YRS-491, WC-491 WC- ZH2632 1.7... 3 0.89... 1.53 0.8... 1.1 0.5... 1.25 (AWG20... AWG16) 0.2... 0.5(AWG24... AWG20) 0.05... 0.12(AWG30... AWG26) 0.08... 0.13 (AWG28... AWG26). 2.9 3.0 mm, 6.5 7.1 mm, 9.1 9.6 mm 4) 1) 2)! 3), 4) : ( Tab. 4.1) Tab. 4.5 Festo EMCA-EC-DIO-KO 2017-10c 93
4 ( Tab. 4.5). : Festo NEBM-... ( www.festo.com/catalogue).. 1. ( /). 2. ( 4.4.1 ~ 4.4.5 )... IP ( Fig. 4.1, 1 ). 2 1 3 1 1 ( 1 ) Fig. 4.1 2 3 ( 1 ). 2.9... 3.1 mm 6.1... 7.1 mm 8.5... 9.6 mm ( www.festo.com/catalogue). 94 Festo EMCA-EC-DIO-KO 2017-10c
4. : 1.. 2.. EMCA.... :. 1. ( (SW) 2.5 mm). 2.. 3. ( Fig. 4.1, 3 ). 4.. 5. ( 4.4.1 ~ 4.4.5 ). 6.. :. 7.. 8... 9. 4 1.5 Nm. Festo EMCA-EC-DIO-KO 2017-10c 95
4 4.4.1 [X4]. EN 60204-1 PELV(Protective Extra-Low Voltage). EN 60204-1 PELV. EN 60204-1. PELV EN 60204-1 ( ) (, ). 24 V EN 60204-1 ( ). [X4] 1 +24 V DC ( ) 19.2 V DC 28.8 V DC 2 0 V GND, Tab. 4.6 [X4] ( ). - FE : (6.3 x 0.8 mm²) Tab. 4.7 (FE) 96 Festo EMCA-EC-DIO-KO 2017-10c
4. 1 EMCA 2 +24 V DC 0 V [X4] 1 2 1 EMCA 2 24 V DC Fig. 4.2 Festo EMCA-EC-DIO-KO 2017-10c 97
4 4.4.2 [X5] EMCA.. ( Tab. 2.41).... [X5] 1 ZK+ R BR 6 Ω 2 BR-CH Tab. 4.8 [X5] Festo CACR-LE2-6-W60 (6 Ω/60 W). 98 Festo EMCA-EC-DIO-KO 2017-10c
4 4.4.3 STO [X6] STO(Safe torque off) EMCA-EC-S1-.... STO. [X6] 1 NC1 : 2 NC2 STO 2,. 3 +24 V DC LOGIC OUT ([X4]) (0 V) [X6.6] [X4.2]( )! 100 ma. 4 STO 1 STO 1) 5 STO 2 6 GND 0 V 1) Basic IO Interface ( ). Tab. 4.9 STO (Safe torque off) [X6] Festo EMCA-EC-DIO-KO 2017-10c 99
4 4.4.4 [X7], [X8] [X7] [X8] 3 ( Tab. 4.10 Tab. 4.11). 2 1 1. [X7] 1 +24 V DC 1 24 V(FCT, ) 2 Switch 1 1 3 GND 0 V Tab. 4.10 1 [X7] [X8] 1 +24 V DC 2 24 V(FCT, ) 2 Switch 2 2 3 GND 0 V Tab. 4.11 2 [X8] 100 Festo EMCA-EC-DIO-KO 2017-10c
4 4.4.5 I/O [X9] I/O [X9]. [X9] 1) I/O 0 1 Modbus TCP 1 DIN Record selection 1 2 DIN Record selection 2 3 DIN Record selection 4 4 DIN Record selection 8 5 DIN Record selection 16 6 DIN Record selection 32 Jog+ 7 DOUT Ready 8 DOUT configurable 9 24 V DC; [X4.1] 10 DOUT Acknowledge Setpoint Acknowledge 11 DOUT Motion Complete 12 DIN Control mode 0/1 = 0 Control mode 0/1 = 1 13 DIN Start Teach() 14 DIN Brake control/delete Jog remaining path 15 DIN Stop 16 DIN Control enable/acknowledge error 17 DIN (do not connect) 18 GND( ) 1) DIN = ; DOUT = Tab. 4.12 I/O (PNP ) Festo EMCA-EC-DIO-KO 2017-10c 101
4 4.4.6 [X10] (EMCA-EC-...-1TM) 7. EADA-A-9 6 ( Tab. 2.7). [X10] 1 + EADA-A-9 2 (GND) Tab. 4.13 [X10] (EMCA-EC-...-1TM ) Festo EADA-A-9. 102 Festo EMCA-EC-DIO-KO 2017-10c
4 4.5 IP IP ( www.festo.com/catalogue)..! M12 IP O ( ): [X1]: ISK-M12 ( [X4] ~ [X10]...!. www.festo.com/catalogue. Festo EMCA-EC-DIO-KO 2017-10c 103
5 5 5.1....,,..,......... 5.2 FCT(Festo Configuration Tool) FCT. FCT. 5.2.1 FCT FCT EMCA V 1.0.0 V 1.0.x. ( www.festo.com/sp). 104 Festo EMCA-EC-DIO-KO 2017-10c
5 FCT Windows. FCT PC. 1.. 2. (Setup_EMCA...exe). 3. FCT. 5.2.2 FCT FCT. FCT Windows : [] [Festo Software] [Festo Configuration Tool]. FCT. 5.2.3 FCT FCT FCT ( [Help] [Contens FCT general]). EMCA FCT EMCA. PC.. FCT,. [Help] [Contents of installed PlugIns] [Festo] [EMCA] FCT. FCT. PDF : FCT ( ) (EMCA) (FCT-Installationsverzeichnis)\Help\ (FCT-Installationsverzeichnis)\HardwareFamilies\ Festo\EMCA\V \Help\ FCT_en.pdf EMCA_en.pdf Festo EMCA-EC-DIO-KO 2017-10c 105
5 PDF Adobe Reader. Festo (Festo Configuration Tool, FCT). Festo ( www.festo.com/sp). ( ). FCT..... FCT.. IP.. FCT ( FCT, [Component] [Firmware Download]). 106 Festo EMCA-EC-DIO-KO 2017-10c
5 5.3 DHCP (Dynamic Host Configuration Protocol). DHCP. 2 DHCP. (DHCP )! DHCP! FCT IP. DHCP ( ) DHCP IP 192.168.178.1 255.255.255.0 ( ) Tab. 5.1 DHCP ( ) PC TCP/IPv4. IP PC. DHCP PC ( 2.7.1 ). : Festo NEBC-D12G4-... ( www.festo.com/catalogue). Fig. 5.1 DHCP DHCP-Client PC. PC () Windows : IP DNS Festo EMCA-EC-DIO-KO 2017-10c 107
5 PC DHCP PC IP. DHCP IP. DHCP IP : IP : 192.168.178.110 192.168.178.209 : 255.255.255.0. : - (.) : PC DHCP Client ( PC ). EMCA DHCP ( ). 1. EMCA PC ( ). 2.. DHCP PC IP.. 1. PC (Internet Explorer > 6; Firefox > 3; JavaScript ). 2. IP ( : 192.168.178.1). ( 5.5 ). : FCT ( FCT, [Component] [Online] [Login]). PC TCP/IPv4 ( Windows ): IP DNS 5.3.1 FCT IP. FCT IP ( ). FCT ( FCT, [Component] [FCT Interface], Scan... ).. : 1.. 2. context [Network].. 3. OK.. 108 Festo EMCA-EC-DIO-KO 2017-10c
5 : 1. [Component] [Online] [Setup Network Settings...].. 2. OK.. ( 2.7.1 ) DHCP (, Tab. 5.1) DHCP-Client( IP ): EMCA DHCP IP. IP : IP. 5.3.2. :. : (IPS, Intrusion Prevention System) LAN(VLAN) (VPN, Virtual Private Network) ( ). IEC 62443, ISO/IEC 27001. : ( FCT, [Component] [Online] [Password]).. FCT ( FCT ). Festo EMCA-EC-DIO-KO 2017-10c 109
5... FCT Tab. 5.2. FCT. FCT. FCT... HTTPS... (Cache). 110 Festo EMCA-EC-DIO-KO 2017-10c
5 5.4.. : (I/O Modbus TCP) (FCT ) FCT.. ( )... :.. FCT. 3 : I/O 1 1 FCT 2 1 Modbus TCP(FHPP) - 1 Modbus TCP Tab. 5.3 FCT 2....,, Tab. 5.4 Festo EMCA-EC-DIO-KO 2017-10c 111
5. FCT.. FCT... ( ). FCT (Device Control: FCT ).... Tab. 5.5 FCT : Device Control Operate FCT. FCT Enable. FCT. (Modbus TCP ) Modbus TCP(FHPP) ( CCON.LOCK). ( FHPP, EMCA-EC-C-HP-... ). FCT FCT. FCT Error Management ( 0x32). 1.. 112 Festo EMCA-EC-DIO-KO 2017-10c
5 5.5. IP ( 2.7.1, Tab. 2.45). PC ( ). IP IP 192.168.178.1. IP IP FCT ( FCT, [Component] [FCT Interface], Scan... ). 1. Internet Explorer 6 Firefox 3. 2. IP.. Fig. 5.2.. (Status) I/O (Basic I/O Interface) I/O (I/O Interface) I/O I/O Festo EMCA-EC-DIO-KO 2017-10c 113
5 / (Parameter Up-/Download) (Diagnostic Memory) ( 5.7 ) ( 6.1 ) Tab. 5.6 114 Festo EMCA-EC-DIO-KO 2017-10c
5 5.6 1. ( 3 ). 2. ( 4 ). 3. FCT ( EMCA ). 4. PC ( 5.3 ).. 1. FCT (, ) ( 5.6.1 EMCA ) 2. STO : STO ( EMCA-EC-S1-...) 3. I/O ( / ). 4. ( 5.6.4 ). 5. / ( ). ( FCT, [Application Data] [Environment] Inverse Rotation Polarity ). 6. ( 2.4.2 ). 7. ( EMCA ). 8. (, EMCA ). 9. ( EMCA ). 5.6.1.. Festo.... FCT. Festo EMCA-EC-DIO-KO 2017-10c 115
5 (*.fpf) : ( 5.7 ). FCT ( FCT ). 5.6.2 STO STO[X6] : STO ( ). Safe torque off/sto EMCA-EC-S1-... 5.6.3. ( ). ( ). ( ). CT ( FCT, Axis, Axis Options ). 116 Festo EMCA-EC-DIO-KO 2017-10c
5 5.6.4 ( I/O) Modbus TCP : STO 1 STO 2(STO ) STO, EMCA-EC-S1-... DIN + ( Tab. 2.50): Control enable (I/O ) EMCA-EC-S1-... STO 1 STO 2 [X6] 4 5 EMCA 24 V DC 1) Control enable(din) Ready(DOUT) configurable(dout) 2) [X9] 16 7 8 1) 2) ; Festo (Festo Configuration Tool, FCT) ( ) Fig. 5.3 : : DIN + Festo EMCA-EC-DIO-KO 2017-10c 117
5 I/O I/O STO : STO (2): STO 1 STO 2 STO, EMCA-EC-S1-... I/O : Control enable EMCA-EC- S1-... STO 1 STO 2 [X6] EMCA 4 5 24 V DC 1) Control enable/acknowledge error(din) Control mode 0/1(DIN) Stop(DIN) Brake control/delete remaining path Jog (DIN) Record selection 1(DIN) Record selection 2(DIN) Record selection 4(DIN) Record selection 8(DIN) Record selection 16(DIN) Record selection 32/Jog+(DIN) Start/Teach(DIN) [X9] 16 12 15 14 1 2 3 4 5 6 13 Acknowledge/Setpoint Acknowledge(DOUT) Motion Complete(DOUT) 2) Ready(DOUT) configurable(dout) 2) 10 11 7 8 1) 2) ; Festo (Festo Configuration Tool, FCT) ( ) Fig. 5.4 : 118 Festo EMCA-EC-DIO-KO 2017-10c
5 5.6.5 / FCT Manual Move.. ( FCT ). : STO. Control enable/acknowledge error. EMCA. FCT ( FCT, Device Control, FCT ). ( FCT, Device Control, Enable ). ( ). ( FCT, Application Data, Environment, Inverse Rotation Polarity ). 5.6.6. :.. FCT Homing. : STO. Control enable/acknowledge error. EMCA. FCT ( FCT, Device Control, FCT ). ( FCT, Device Control, Enable ). 5.6.7 ( ) FCT.. FCT. EMCA. 5.6.8 () Festo : FCT. : EMCA ( EMCA ). Festo EMCA-EC-DIO-KO 2017-10c 119
5 5.6.9 : FCT [...] [Controller] [I/O Configuration]. (FCT: Store). FCT (Download).. : : ( EMCA ). ( EMCA ). : ( 5.7 ). 120 Festo EMCA-EC-DIO-KO 2017-10c
5 5.7 *.fpf... : ( ) () : FCT( FCT, [Component] [Online] [Backup Recovery...] :. (Upload) (Download) Parameter Up-/Download ( Fig. 5.5 5.5 ): Fig. 5.5 /(Parameter Up-/Download) EMCA (Download parameter set to EMCA) PC (Upload parameter set to PC). PC. Tab. 5.7 /(Parameter Up-/Download) FCT ( FCT, [Component] [Import/Export]). Festo EMCA-EC-DIO-KO 2017-10c 121
5 5.8 I/O. 2.8. 5.8.1... 100,000. : FCT Store / FCT I/O... FCT ( FCT, [Controller] [I/O Configuration]). 122 Festo EMCA-EC-DIO-KO 2017-10c
6 6 2.6.4 FCT, Error Management.. Ready Low..,.. 6.3.2. : Festo (Festo Configuration Tool) ( FCT ) Control enable (Power OFF/ON).. 6.1 ( 2.6.5 ): FCT 1),, ( FCT Diagnosis ).. 1) 5.5. Tab. 6.1 Diagnostic Memory ( ).. Festo EMCA-EC-DIO-KO 2017-10c 123
6 Fig. 6.1 (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info). ( ). ( 2.6.4 ) 2.6.4. 16 (0x = 16 ). HH.MM.SS:nnn(HH =, mm =, SS =, nnn = ).. Festo Tab. 6.2 : FCT, ( FCT ) (Start-up event, 3Dh).. 124 Festo EMCA-EC-DIO-KO 2017-10c
6 6.2 LED 2 1 1 OK LED() 2 ERROR LED() Fig. 6.2 LED(, EMCA-EC-67-S-1TE-DIO) 6.2.1 LED LED- /, ERROR Tab. 6.3 6.2.2 LED LED- /. Control enable., Control enable ERROR,.. Tab. 6.4 6.2.3 LED LED- / ( ) ERROR Tab. 6.5 Festo EMCA-EC-DIO-KO 2017-10c 125
6 6.2.4 LED LED- /. ERROR 1) 1) 10. Tab. 6.6.. Festo. 126 Festo EMCA-EC-DIO-KO 2017-10c
6 6.3, FCT ( 2.6.4 ). 6.3.1 ( 6.3.2 ) : 16 (FCT ) F/W/I = //(2.6.4 ). ( F).. : F/ /. FCT (/) (Software-Reset) ( FCT ) ( FCT, [Component] [Online] [Restart Controller]). (A ~ G) ( Tab. 6.8). Tab. 6.7 ( 6.3.2 ) A B (Quick-Stop) C D Motion Complete(MC) E (Quick-Stop) F G Motion Complete(MC) Tab. 6.8 ( ) Festo EMCA-EC-DIO-KO 2017-10c 127
6 6.3.2 01h (Software error). Festo. :,. : A 02h (Default parameter file invalid) : F/-/- : : F/-/- :.... :,. : A 03h CPUs (Internal communication error CPUs) : F/-/- :... :,. : A 04h (Non-permitted hardware).. :,. : A 06h (Encoder) : F/-/- : : F/-/- :... :,. : A 128 Festo EMCA-EC-DIO-KO 2017-10c
6 07h (+) (Limit switch positive) : F/-/- : (+). (-)... FCT (?). :. : A, B, C, E, F 08h (-) (Limit switch negative) : F/-/- : (-). (+).. FCT (?). :. : A, B, C, E, F 09h (Offset determination for current measurement).. :,. : A 0Ah (General error) : F/-/- : : F/-/- :.. Festo. :. : B 0Bh (Parameter file invalid) : F/-/- :....... :. ( ): A Festo EMCA-EC-DIO-KO 2017-10c 129
6 0Ch (Firmware update execution error) : F/-/- :. PC..... :,. : A 0Dh (Overcurrent) : F/-/- :,..... FCT ( ). :.. : ().. :. :,. : A 0Eh I²t (I²t malfunction motor) : F/-/- : I²t.... /.. : B, C 130 Festo EMCA-EC-DIO-KO 2017-10c
6 11h (+) (Softwarelimit positive) : F/-/- :..... (+). :. : A, B, C, E, F 12h (-) (Softwarelimit positive) : F/-/- :..... (-). :. : A, B, C, E, F 13h (+) (Positive direction locked) : F/-/- :..... (+). :. : A, B, C, E, F Festo EMCA-EC-DIO-KO 2017-10c 131
6 14h (-) (Negative direction locked) : F/-/- :..... (-). :. : A, B, C, E, F 15h (Output stage temperature exceeded) : F/-/- :......... : A, B, C, D 16h (Output stage temperature too low) : F/-/- :.... : A, B, C, D 17h (Logic voltage exceeded) : F/-/- :..... : A, B 132 Festo EMCA-EC-DIO-KO 2017-10c
6 18h (Logic voltage too low) : F/-/- :.... :,. : A 19h LM-CPU (Real time error LM-CPU) : F/-/- : LM-CPU... :. :. : A, B 1Ah (Intermediate circuit voltage exceeded) : F/-/- :... ;..... : A, B 1Bh (Intermediate circuit voltage too low) : F/W/- :. :?. :. : A :. Festo EMCA-EC-DIO-KO 2017-10c 133
6 20h FHPP+ (FHPP+ incorrect parameterisation) : F/W/- : FHPP+. PNU 16.. PNU FHPP. :. : B, C, D, E, F, G :. 21h FHPP+ (FHPP+ incorrect value) : F/W/I : PNU... :. : B, C, D, E, F, G :. 22h (Homing) : F/-/- :... (?)... :. : B, C, E, F 23h (No index pulse found) : F/-/- : :.... :,. : B, C, E, F 134 Festo EMCA-EC-DIO-KO 2017-10c
6 25h (Path calculation) : F/-/- :. :.... :. : A 27h (Save parameters) : F/-/- :.. :?. Festo. :. : F, G 28h (Homing required) : F/W/- :. ( ).. :. : B, C, D, E, F, G :. 29h (-) (Target position behind negative software limit) : F/-/- : (-)... (/?). :. : B, C, E, F Festo EMCA-EC-DIO-KO 2017-10c 135
6 2Ah (+) (Target position behind positive software limit) : F/-/- : (+)... (/?). :. : B, C, E, F 2Bh, (Firmware update, invalid firmware) : F/W/- :... Festo. :. : A :. 2Ch FHPP (FHPP incorrect record number) : F/W/I :.. :. : F, G :. 2Dh I²t (I²t warning motor) : -/W/I : I²t.. : I²t 80 %. 2Eh (Index pulse too close on proximity sensor) : F/-/- :.. /. FCT. :. : B, C, E, F 136 Festo EMCA-EC-DIO-KO 2017-10c
6 2Fh (Following error) : F/W/I :...,?? (I²t?) :. : B, C, E, F :. 30h (Braking resistor) : F/W/I :.. 1Ah... :. : A :. 32h FCT (FCT connection with master control) FCT.. :. : B, C, D, E, F, G 33h (Output stage temperature warning) : F/-/- : : -/W/I :...... :. Festo EMCA-EC-DIO-KO 2017-10c 137
6 34h Safe Torque Off(STO) (Safe Torque Off (STO)) : F/W/I : Safe Torque Off. STO. :. : 0 : STO. 37h (Standstill monitoring) : -/W/I :... :. 38h (Parameter file access) : F/-/- :.. 2 3.. : F, G 39h (Trace warning) : -/W/- :.. :. 3Dh (Start-up event) : -/-/I : 48.... 3Eh (Diagnostic memory) : F/-/- :..... :. : F, G 138 Festo EMCA-EC-DIO-KO 2017-10c
6 3Fh (Record invalid) : F/-/- :... :. : B, C, D, E, F, G 40h (Last teaching not successful) : -/W/I :.. : (Modus 1) (Modus 0). 41h (System reset). Festo. :. : A 43h FCT (FCT connection without master control) : F/-/- : : -/W/I : FCT.. : FCT. 44h (Parameter file not compatible with firmware) : -/W/I :..... :. Festo EMCA-EC-DIO-KO 2017-10c 139
6 47h Modbus (Modbus connection with master control) : F/-/- : Modbus., :. : B, C, D, E, F, G :. 48h Modbus (Modbus connection without master control) : -/W/I :., :. 4Ah Safe Torque Off(STO) (Safe Torque Off (STO) discrepancy time ) : F/W/I : STO1 STO2... :. : 0 : STO. 4Ch (Value is out of range) : F/-/- :.. :. : B, C, D, E, F, G 4Dh Bootloader (Bootloader memory error) : F/-/- :.... :,. : A 140 Festo EMCA-EC-DIO-KO 2017-10c
6 4Eh 24 V (Overload 24V Outputs) : F/-/- : 24 V. STO,.. : A, B 4Fh (System information).. : -/-/I : Festo EMCA-EC-DIO-KO 2017-10c 141
6 6.4 EMCA IP PC IP. FCT : EMCA IP IP FCT 1. FCT [Component] [FCT Interface], Scan..... 2. [Network]. Network properties. IP ( Tab. 2.45). PC IP Windows (, Windows 7) 1. [] [ ] [ ] [ ] [Local Area Connection] ( ). 2. [Local Area Connection] ( ) [ ]. 3. [ 4]. 4.. 4 PC IP. 5. EMCA IP ( ). : IP IP. DHCP ( Tab. 2.45). IP (IP 192.168.178.1; : 255.255.255.0). PC PC [IP ] IP (, IP 192.168.178.110; : 255.255.255.0; : ( )). PC Windows (, Windows 7) 1. [] [() ] [] []. 2. ipconfig ipconfig /all. 3... Ping. 1. [] [() ] [] []. 2. : ping 192.168.178.1 ( IP ) 142 Festo EMCA-EC-DIO-KO 2017-10c
6 6.5 EMCA. EMCA. EMCA.,.. ( ) EMCA.... FCT.. Tab. 6.9 Festo EMCA-EC-DIO-KO 2017-10c 143
7,, 7,, 7.1.,................, :..... 144 Festo EMCA-EC-DIO-KO 2017-10c
7,, EMCA-EC-67-...-1TM...( )... :. EMCA-EC-67-.... :. 7.2 ( ). FCT ( ). FCT. ( 3 ). [X4] ~ [X10].. 1.. 2.. 3. (SW) 2.5 mm. 4.. 5.. 6. ( ). 7. 1.5 Nm... 1. 4. 2.. Festo EMCA-EC-DIO-KO 2017-10c 145
7,, 7.3.. 7.4 7.2. 7.4.1. RoHS.. 146 Festo EMCA-EC-DIO-KO 2017-10c
A A A.1 A.1.1 EMCA-EC-67-... EMCA PWM-MOSFET P PI PI, TCP/IP, Modbus TCP(FHPP) I/O Modbus TCP FHPP I²t OFF Tab. A.1 : A.1.2 EMCA-EC-67-... CE ( www.festo.com/sp) EU 2006/42/EC EU-EMV 2014/30/EU 1) RCM 2) c UL us (OL) 2) 1).,. 2) Tab. A.2 : Festo EMCA-EC-DIO-KO 2017-10c 147
A A.1.3 EMCA-EC-67-S-... EMCA-EC-67-M-... (H*W*D) 3.1 [B] [g] 1900 2260 [M] EMCA, [g] 25 [M], [B] [g] 350 Tab. A.3 : A.1.4 EMCA-EC-67-... [ C] 0 +20 C : 1.75 %: [ C] 20... 50 [ C] -25 +70 25 C [%] 0 95( ) EMCA-... (S1 ) IP54 EMCA-...-S1 IP65; IP54 (DIN EN 60068 ) 1) 2 9 Hz 3.5 mm ; 9 200 Hz 1 g (2-6) (2-27) (2-29) 1) " Tab. A.4 : 1) 2 1) 2-148 Festo EMCA-EC-DIO-KO 2017-10c
A - [Hz] [m/s 2 ] [mm] SG1 SG2 SG1 SG2 SG1 SG2 2 8 2 8 ±3.5 ±3.5 8 27 8 27 10 10 27 58 27 60 ±0.15 ±0.35 58 160 60 160 20 50 160 200 160 200 10 10 [m/s 2 ] [ms] SG1 SG2 SG1 SG2 SG1 SG2 ±150 ±300 11 11 5 5 [m/s 2 ] [ms] ±150 6 1000 A.1.5 EMCA-EC-67-S-... EMCA-EC-67-M-... [W] 120 150 [Nm] 0.37 0.45 [1/min] 3100 3150 [1/min] 3500 3300 [kg cm²] 0.175 0.301 [N] 60 60 [N] 100 100 Tab. A.5 Festo EMCA-EC-DIO-KO 2017-10c 149
A A.1.6 EMCA- EC-67-...-1TE... EMCA- EC-67-...-1TM...,, [] 12( 4096 ) [ ] 0.088 ( ) 7 6 [h] 24 Tab. A.6 A.1.7 (EMCA-EC-...-...-B ) () EMCA-EC-67-...-...B 1) [Nm] 1 [W] 9 [kg cm²] 0.021 1). ( ).. Tab. A.7 A.1.8 () [X1] EMCA-EC-67-... M12, 5, D [Mbit/s] 100 TCP/IP Tab. A.8 : [X1] 150 Festo EMCA-EC-DIO-KO 2017-10c
A A.1.9 [X4] [X4] EMCA-EC-67-S-... EMCA-EC-67-M-... [m] l 30 Tab. 4.5 [V DC] 24 [%] ±20 [A] 6.9 7.2 [A] 10.2 10.3 PELV (Protected Extra-Low Voltage) Tab. A.9 : [X4] A.1.10 [X5] [X5] EMCA-EC-67-S-... EMCA-EC-67-M-..., CACR-LE2-6-W60 [m] l 3, [Ω] 6 Tab. A.10 : [X5] A.1.11 STO [X6] STO [X6] STO, EMCA-EC-S1-... Festo EMCA-EC-DIO-KO 2017-10c 151
A A.1.12 [X7], [X8] [X7], [X8] EMCA-EC-67-... [m] l 3 Tab. 4.5 [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC 61131-2 Tab. A.11 [X7], [X8] 152 Festo EMCA-EC-DIO-KO 2017-10c
A A.1.13 I/O [X9] I/O [X9] EMCA-EC-67-... [m] l 30 Tab. 4.5 [V DC] 24 [X9] [ma] 100 11 [V DC] 24 PNP( ) IEC 61131-2 4 [ma] 100 PNP( ) Tab. A.12 : I/O [X9] Festo EMCA-EC-DIO-KO 2017-10c 153
A A.1.14 [X10] (EMCA-EC-67-...-1TM ) [X10] EMCA-EC-67-... [m] 3 Tab. 4.5 [V DC] 9 Tab. A.13 [X10] A.1.15 6 1 2 5 4 2 2 3 EMCA-EC-67-... 1 ( ) 3 2 NBR 4 5 6 LABS Tab. A.14 : 154 Festo EMCA-EC-DIO-KO 2017-10c
B B / AZ (= Axis Zero point) DIN DOUT EMC FCT I/O MC PLC/IPC PZ(= Project Zero point) REF(= REFerence point) (Jog Mode) 2.4.1 (digital input) (digital output) (FCT = Festo Configuration Tool) /(input/output) Motion Complete ( ) / PC 2.4.1 2.4.1 2.4.1 ( ).. 2.4.1 2.4.3 2.4.4 Tab. B.1 Festo EMCA-EC-DIO-KO 2017-10c 155
EMCA-EC-67-...-DIO D DHCP... 64 E EMV... 155... 90... 90 EMV... 90 F FCT... 8, 19, 155 Festo Configuration Tool... 19, 155 I I²t... 61 IP... 107, 142 L LED... 125 M Modbus TCP... 65 P PLC... 155 S STO(Safe torque off)... 99... 62... 128... 80... 12... 81... 52... 62... 147... 22, 26, 79... 28... 23, 24... 108... 8... 59 /... 44, 45... 22... 25... 100... 55... 56... 57 0/1... 76... 54... 61... 7... 54, 56... 8... 106... 102... 8... 146... 61, 116... 70... 61... 54... 8... 154... 25... 40... 59... 146 156 Festo EMCA-EC-DIO-KO 2017-10c
EMCA-EC-67-...-DIO... 60... 115... 94... 11... 109... 62... 62... 127... 78... 61... 13... 100... 19, 112, 113... 37... 59... 91... 8... 62... 61... 62 ( 0)... 73... 73... 85, 150... 54, 57... 98... 151... 111... 8... 8... 35, 80... 22 /( 1)... 74 /... 74... 88... 20... 46... 63, 123... 127... 90... 106... 23, 24... 86... 23, 24... 93... 119... 90... 93 (Quick-Stop)... 46, 62... 93... 93... 116... 26... 146... 23, 24... 122... 41... 23 Festo EMCA-EC-DIO-KO 2017-10c 157
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