EMCA-EC-67-...-CO/-EC/-EP/-PN EMCA-EC-...-CO CANopen EMCA-EC-...-EC EtherCAT EMCA-EC-...-EP EtherNet/IP EMCA-EC-...-PN PROFINET 8074570 1710c [8074576]
EMCA-EC-67-...-CO/-EC/-EP/-PN EMCA-EC-SY-KO Adobe Reader, CANopen, CiA, EtherCAT, EtherNet/IP, Firefox, Internet Explorer, JST, PI PROFIBUS PROFINET Tyco Electronics ( ). : :, : 1. / 2 Festo EMCA-EC-SY-KO 1710c
EMCA-EC-67-...-CO/-EC/-EP/-PN EMCA-EC-67-...-CO/-EC/-EP/-PN... 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, Festo Configuration Tool)... 19 2.2.2... 19 2.3... 20 2.4... 23 2.4.1... 24 2.4.2 Homing... 27 2.4.3 (FHPP FCT )... 36 2.4.4 ( FHPP FCT )... 37 2.4.5... 38 2.4.6... 41 2.4.7 /... 45 2.4.8 (), (Quick-Stop)... 47 2.4.9 (EMCA-EC-...-...-B )... 48 2.5 ()... 50 2.6... 51 2.6.1... 51 2.6.2... 54 Festo EMCA-EC-SY-KO 1710c 3
EMCA-EC-67-...-CO/-EC/-EP/-PN 2.7... 56 2.7.1... 56 2.7.2... 60 2.7.3... 63 2.7.4... 64 2.7.5... 65 2.8... 66 2.8.1 [X1]( )... 66 2.8.2 [X2], [X3]()... 67 2.8.3 STO [X6]... 67 2.8.4... 68 3... 74 3.1 EMCA-EC-67-...-CO... 74 3.2 EMCA-EC-67-...-EC/-EP/-PN... 75 3.3... 76 4... 78 4.1... 78 4.2 EMV... 79 4.3 [X1]... 80 4.4 [X2], [X3]... 82 4.4.1 EMCA-...-CO(CANopen)... 82 4.4.2 EMCA-...-EC/-EP/-PN(EtherCAT, EtherNet/IP, PROFINET) 83 4.5 [X4]... [X10]... 85 4.5.1 [X4]... 88 4.5.2 [X5]... 90 4.5.3 STO [X6]... 91 4.5.4 [X7], [X8]... 92 4.5.5 I/O [X9]... 93 4.5.6 [X10]... 94 4.6 IP... 95 5... 96 5.1... 96 5.2 FCT(Festo Configuration Tool)... 96 5.2.1 FCT... 96 5.2.2 FCT... 97 5.2.3 FCT... 97 5.3... 99 5.3.1... 100 5.3.2... 101 4 Festo EMCA-EC-SY-KO 1710c
EMCA-EC-67-...-CO/-EC/-EP/-PN 5.4... 103 5.5... 105 5.6... 107 5.6.1... 107 5.6.2 STO... 108 5.6.3... 108 5.6.4 ( I/O)... 108 5.6.5 /... 109 5.6.6... 110 5.6.7 ( )... 110 5.6.8 ()... 110 5.6.9... 110 5.6.10... 111 5.7... 112 5.8... 113 5.8.1... 113 6... 114 6.1... 114 6.2 LED... 116 6.2.1... 118 6.2.2... 118 6.2.3... 118 6.2.4... 118 6.2.5 LED... 119 6.3,... 120 6.3.1... 120 6.3.2... 121 6.4... 137 6.5... 138 7,,... 139 7.1... 139 7.2... 140 7.3... 141 7.4... 141 7.4.1... 141 A... 142 A.1... 142 A.1.1... 142 A.1.2... 142 Festo EMCA-EC-SY-KO 1710c 5
EMCA-EC-67-...-CO/-EC/-EP/-PN A.1.3... 143 A.1.4... 143 A.1.5... 144 A.1.6... 145 A.1.7 (EMCA-EC-...-...-B )... 145 A.1.8 [X1]... 145 A.1.9 [X2], [X3]... 146 A.1.10 [X4]... 147 A.1.11 [X5]... 147 A.1.12 STO [X6]... 147 A.1.13 [X7], [X8]... 148 A.1.14 I/O [X9]... 149 A.1.15 [X10](EMCA-EC-67-...-1TM )... 149 A.1.16... 150 B... 151... 152 6 Festo EMCA-EC-SY-KO 1710c
EMCA-EC-67-...-CO/-EC/-EP/-PN (EMCA-EC-SY-...) EMCA,.,,,.. ( ). : EMCA-, A EC- EC 67-67 mm ( ) M- S- 1 24 V DC T E M - B- / CO EC EP PN CANopen EtherCAT EtherNet/IP PROFINET IP - (IP54) S1 IP65 Tab. 1 ( EMCA-EC-67-M-1TEB-CO) Festo EMCA-EC-SY-KO 1710c 7
EMCA-EC-67-...-CO/-EC/-EP/-PN EMCA-EC-67-S-1TE-CO 8034238 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-CO 8034238 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-CO 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-SY-KO 1710c
EMCA-EC-67-...-CO/-EC/-EP/-PN 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-SY-KO 1710c 9
EMCA-EC-67-...-CO/-EC/-EP/-PN www.festo.com/pk : EMCA-... EMCA-EC-SY-... EMCA-EC-S1-... EMCA-EC-C-HP-... EMCA-EC-C-CO-... FCT (EMCA ) EMCA-EC_UL-... ( ) (Safe torque off/sto) FHPP (FHPP, Festo Handling and Positioning Profile) CiA 402 Festo Configuration Tool(FCT) (UL, Underwriters Laboratories Inc.). (UL) Tab. 5 Festo ( www.festo.com/sp). Festo, () www.festo.com/catalogue 10 Festo EMCA-EC-SY-KO 1710c
1 1 1.1 1.1.1..... Power... 4.....,..,....., 2.... Festo EMCA-EC-SY-KO 1710c 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-SY-KO 1710c
1 1.2... ( : ). :, STO : EMCA-EC-S1-.... 1.2.1. :.. 1.2.2 : ( A.1)... 1.2.3 ( ) : : Festo EMCA-EC-SY-KO 1710c 13
1 1.2.4 ( A.1). EU. www.festo.com/sp.. (UL).. 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... DIN EN 60068-2-6:2008-10 DIN EN 60068 2 27:2010 02 Tab. 1.1 14 Festo EMCA-EC-SY-KO 1710c
2 2 2.1 : (EC ) ( ), 6 1 2 5 4 3 1 2 3 EC Fig. 2.1 ( EMCA-EC-67-...-CO) 4 5 6 ( ).. (X1) (X2, X3). ( Fig. 2.3). ( ). ( FHPP CiA 402). ( Tab. 2.3). Festo EMCA-EC-SY-KO 1710c 15
2 2.1.1 EC ( ) () 24 V DC 1) (), :, ( ) EMCA-...-CO: CAN ( ;, CANopen; FHPP CiA 402) EMCA-...-EC: EtherCAT ( ; EtherCAT, FHPP CiA 402) EMCA-...-EP: EtherNet/IP ( ; EtherNet/IP, FHPP) EMCA-...-PN: PROFINET ( ; PROFINET IO, FHPP) 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-SY-KO 1710c
2 2.1.2 1 EMCA-..., 1 EMCA-EC-67-...-CO/-EC/-EP/-PN 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 IO NEBM-L5G6-... www.festo.com/catalogue. Festo EMCA-EC-SY-KO 1710c 17
2 2.1.3 9 1 8 2 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 / 18 Festo EMCA-EC-SY-KO 1710c
2 2.2 2.2.1 FCT(Festo, 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 FHPP I/O ( ) PC LED DHCP (DHCP, Dynamic Host Configuration Protocol ) IP : 192.168.178.1. Festo EMCA-EC-SY-KO 1710c 19
2 2.3 EMCA-EC-67-...-CO ( CANopen) aj 1 2 3 4 5 9 6 8 7 1 [X1]: ( M12) 6 ( Fig. 2.5) 2 LED (6x) 3 7 (4x) M4 3 [X3]: CAN OUT ( M12) 8 4 ( 9 ) aj [X2]: CAN IN ( M12) 5 (4x) Fig. 2.3 EMCA-EC-67-...-CO 20 Festo EMCA-EC-SY-KO 1710c
2 EMCA-EC-67-...-EC/-EP/-PN (EtherCAT EtherNet/IP PROFINET) aj 1 2 3 4 5 9 6 8 7 1 [X1]: ( M12) 2 LED (6 ) 3 [X3]: / OUT 1 ( M12, ) 4 ( ) 5 (4x) Fig. 2.4 EMCA-EC-67-...-EC/-EP/-PN 6 ( Fig. 2.5) 7 (4x) M4 8 9 aj [X2]: / IN 2( M12, ) Festo EMCA-EC-SY-KO 1710c 21
2. 3 4 5 6 7 2 1 9 8 1 [X4]: 2 [X5]: 3 DIP (CAN ) 4 [X10]: (EMCA-EC-...-1TM ) 5 [X6]: STO (Safe torque off) 6 [X7]: 1 1) 7 [X8]: 2 1) 8 [X9]: I/O 9 (FE)( ) 1) FCT ( ) ( ) Fig. 2.5 22 Festo EMCA-EC-SY-KO 1710c
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. FCT EMCA. Festo EMCA-EC-SY-KO 1710c 23
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, ( ). 24 Festo EMCA-EC-SY-KO 1710c
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, Festo EMCA-EC-SY-KO 1710c 25
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. 26 Festo EMCA-EC-SY-KO 1710c
2 2.4.2 Homing.. ( 2.4.1 ). (: ). ( Tab. 2.16).. (EMCA-EC-...-1TE) (EMCA-EC-...-1TM).... 7 ( 24). Festo EADA-A-9 6.... Tab. 2.7 : ( ) FCT ( FCT ) Motion Complete. Motion Complete. Motion Complete. ( 2.7.1 ). ( ).. Festo EMCA-EC-SY-KO 1710c 27
2 : FCT ( FCT, Homing ). 2. 1 2 3 1 REF 2 3 Fig. 2.6 28 Festo EMCA-EC-SY-KO 1710c
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 Festo EMCA-EC-SY-KO 1710c 29
2 1... 2. : ( Tab. 2.17). : (+) ( 22 h ; 34) : (-) ( 21 h ; 33) Tab. 2.10.. ( ) homing... (, ). / ( 3 mm)... () ().. ( ) ( ). homing :. 30 Festo EMCA-EC-SY-KO 1710c
2 homing 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 ) homing 2. :.. 3. : ( Tab. 2.17). : (+) ( 12 h ; 18) : (-) ( 11 h ; 17) (-) Tab. 2.12 Festo EMCA-EC-SY-KO 1710c 31
2 1. :. ( 2.). ( 2.). : :. :,, 0x22(FCT ) homing 2. :.. 3. : ( Tab. 2.17). : (+) ( 02 h ; 02) : (-) ( 01 h ; 01) Tab. 2.13 32 Festo EMCA-EC-SY-KO 1710c
2 homing homing 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 17 h ; 23) : (-) ( 1B h ; 27) Tab. 2.14 Festo EMCA-EC-SY-KO 1710c 33
2 1. :. ( 2.). ( 2.). : :. :,, : 0x22(FCT ) 2. :.. 3. : ( Tab. 2.17). : (+) ( 07 h ; 7) : (-) ( 0B h ; 11) Tab. 2.15 34 Festo EMCA-EC-SY-KO 1710c
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 Festo EMCA-EC-SY-KO 1710c 35
2 2.4.3 (FHPP FCT )..... ( ) ( ) ( ) : (Crawling velocity) (Slow moving time) (Maximum velocity) (Acceleration) (Maximum following error) (Message delay). Tab. 2.18 ( Fig. 2.7): (+ -).... 36 Festo EMCA-EC-SY-KO 1710c
2 t1 (+ -) t v Motion Complete a t t t t1 : Fig. 2.7 2.4.4 ( FHPP FCT ).. ; PA ( ). PLC,, EMCA. FCT FCT. : 1. ( 2.4.3 ). 2... Festo EMCA-EC-SY-KO 1710c 37
2 FCT FCT. FHPP FHPP, EMCA-EC-C-HP-... 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.. ( 2.7.1, ). Tab. 2.20 ( ) 38 Festo EMCA-EC-SY-KO 1710c
2 a t v t s t Fig. 2.8 Motion Complete 0 mm/s t ( 2.6,, ). 0 0.... Festo EMCA-EC-SY-KO 1710c 39
2 Motion Complete( ) = 0. 0.. ( 2.7.1 )... 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) ( Tab. 2.34) ( ). ( ) ( ) ( Fig. 2.17) ( 2.7.2 ) ( 2.7.2 ) ( 2.7.2 ) ( 2.7.2 ) ( 2.6.2 ) 40 Festo EMCA-EC-SY-KO 1710c
2 (Start Delay) MC (MC visible) (Final Velocity) (Following Set) ( 2.6.2 ) Motion Complete ; ( 2.6.2 ). ;. ( 2.6.2 ) Tab. 2.22, 2.4.6 ( ) ( ). : (Velocity) (Acceleration) (Deceleration) 1) (Jerk for Acceleration) (Jerk for Deceleration) (Force Limit) 1) 1) FCT Tab. 2.23 ( 2.4.5 ).. ( 2.7.1, ). ( 2.6,, ). 0 0. Festo EMCA-EC-SY-KO 1710c 41
2 Motion Complete( ). Tab. 2.24 : (Stroke Limit) Tab. 2.25..... : (Quick-Stop). Motion Complete ( Fig. 2.9 Fig. 2.11)... 42 Festo EMCA-EC-SY-KO 1710c
2 : s v t t Fig. 2.9 Motion Complete () t t Festo EMCA-EC-SY-KO 1710c 43
2 : s v t t Motion Complete () Fig. 2.10 t t 44 Festo EMCA-EC-SY-KO 1710c
2 : s v t t Motion Complete () Fig. 2.11 t t Tab. 2.22... 2.4.7 / K/.. ( )..... Festo EMCA-EC-SY-KO 1710c 45
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. 46 Festo EMCA-EC-SY-KO 1710c
2 Tab. 2.22... 2.4.8 (), (Quick-Stop) ()... () : ( ) Stop() (, / ). () / Tab. 2.29 (). : Motion Complete. ( ). ( ).. ( ). : Motion Complete.. / (). : Motion Complete.. Quick-Stop( ) Quick-Stop (Quick-Stop). Quick-Stop :. (Quick-Stop) ( ).. (Quick-Stop) ( ) (, / ) Quick-Stop Festo EMCA-EC-SY-KO 1710c 47
2 2.4.9 (EMCA-EC-...-...-B ) EMCA-EC-...-B EC. /........ EMCA-EC-...-B... : FCT ( ) Brake ( ). ( FCT, Motor, Brake control ). 48 Festo EMCA-EC-SY-KO 1710c
2 : 1.. ( = ). 2.. 3... : 1. (Quick-Stop). 0. 2.. 3... Tab. 2.30. :. Festo EMCA-EC-SY-KO 1710c 49
2 2.5 () (X1) FCT. (X2, X3). FHPP CiA 402 (EMCA-...-CO/-EC ) Tab. 2.31 :... FHPP( Festo ) Fest. (8 ). FHPP : : 64 ( ).. I/O. : (,, ) I/O. FPC ( : ). : 8 I/O (Festo FPC) 3 I/O (FHPP+) SDO (Service Data Objects) CAN in Automation (CiA Draft Standard 402 www.can-cia.de). SDO / PDO(Process Data Objects).... FCT : Homing (, ) (, )... FHPP Homing ( 0 = )... CiA 402 (EMCA-...-CO/-EC ) Homing Tab. 2.32. FCT EMCA. 50 Festo EMCA-EC-SY-KO 1710c
2 2.6 CiA 402. 64 ( 1~64). 0.. PLC.. : ( FCT ). ( Tab. 2.34). ( ) MC Tab. 2.33. ( Tab. 2.35) 2.6.1. ( Tab. 2.34). (Ignore) (Delay) (Interrupt).. MC ( ).. ( Motion Complete ).. Tab. 2.34 Festo EMCA-EC-SY-KO 1710c 51
2 : ( B ). ( A). A t A B t Motion Complete Fig. 2.12 t : ( B C ). ( A). ( C). C A t A B C t Motion Complete Fig. 2.13 t 52 Festo EMCA-EC-SY-KO 1710c
2 : ( A) ( B). B A t A B t Motion Complete Fig. 2.14 t Festo EMCA-EC-SY-KO 1710c 53
2 2.6.2..... : (Condition) (Start Delay) MC (MC visible) 1) (Final Velocity) (Following Set) ( ). Motion Complete... 0 Motion Complete... 1) Tab. 2.35. : (Condition)... Motion Complete... Motion Complete......... /... Tab. 2.36 (Condition) 54 Festo EMCA-EC-SY-KO 1710c
2 : 0 ( ). A. B A Motion Complete. v B A s t B A t Motion Complete (MC ) t t Fig. 2.15 0 Festo EMCA-EC-SY-KO 1710c 55
2 2.7. EMCA. 2.7.1 [X9.2] ( Tab. 2.52). Motion Complete ( ) (Following error) (Standstill monitoring) (Comparator) ( ), : ( Fig. 2.17) ( Fig. 2.18). : homing 0 ( 2.7.2.). Tab. 2.37 56 Festo EMCA-EC-SY-KO 1710c
2 M Motion Complete ( ) Motion Complete ( ). (, ). Motion Complete ( ). 2 v t1 1 Motion Complete t1:, Motion Complete 1 2 Fig. 2.16 Motion Complete t t Festo EMCA-EC-SY-KO 1710c 57
2. ( Fig. 2.17, 1 ).. ( ). (, ).. s t1 2 1 3 t Start t 2F h () t t1:, 1 3 2 Fig. 2.17 :, FCT (2F h ) ( FCT ). 58 Festo EMCA-EC-SY-KO 1710c
2 ( Fig. 2.18). Motion Complete. : EMCA ( = 1: ; = 0: ).. s t1 t2 t2 1 2 t Motion Complete ( ) t t t t1:, Motion Complete t2:, 1 2 Fig. 2.18. 0. FCT (37 h ) ( FCT ). Festo EMCA-EC-SY-KO 1710c 59
2 2.7.2 CiA 402....,,..... ( ), ( 2.6, ). ( ). ( Tab. 2.49).... 1) (Position comparator) 1) (Velocity comparator) 1) (Force comparator) (Time comparator) 1). Tab. 2.38 () 60 Festo EMCA-EC-SY-KO 1710c
2. 2 : ( š ). ( )..., /. () 1) () 1) 1) ( ).. (-) : 50 40 mm, 50 mm 40 mm. Tab. 2.39. 2 : ( š ). ( )..., /. () 1) () 1) 1) (+) (-).. Tab. 2.40 Festo EMCA-EC-SY-KO 1710c 61
2 2 : ( š ). ( )..., /. () 1) () 1) 1) (+) (-)... Tab. 2.41 : ( š ).. () 1) () 1) 1) (+).. Tab. 2.42 62 Festo EMCA-EC-SY-KO 1710c
2 2.7.3 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 ON.. EMCA ( FCT ). ( Tab. 2.44.).. Tab. 2.43 Festo EMCA-EC-SY-KO 1710c 63
2 2.7.4 FCT ( FCT, Error Management ).,.. (Error) (Warning) (Information) ( (Quick-Stop) )... LED ( 6.2 ). FCT ( FCT )... LED ( 6.2 ) ( ). LED.. Tab. 2.44 (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. 2.45 (Save Diagnosis). FCT,. 64 Festo EMCA-EC-SY-KO 1710c
2 2.7.5 EMCA.. FCT ( 2.7.4 ). 200.. (FIFO ).. ( ) FCT(FCT ) ( 5.5 6.1 ). Festo EMCA-EC-SY-KO 1710c 65
2 2.8. ( 2.8.1 ). : EMCA-EC...-CO: CANopen EMCA-EC...-EC: EtherCAT EMCA-EC...-EP: EtherNet/IP EMCA-EC...-PN: PROFINET 4 2.8.1 [X1]( ) [X1] :,,, FCT ( 5.2 FCT ) ( 5.5 6.1 ) FCT ( 5.7 ) : PC.. Tab. 2.46 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 : - (.) DHCP IP. DHCP. IP. IP PC IP. Tab. 2.47 IP 66 Festo EMCA-EC-SY-KO 1710c
2 FCT IP ( ). IP FCT. IP IP PC IP. (LED ).. 2.8.2 [X2], [X3]() EMCA-...-CO (CANopen) [X2]. [X3] ( 4.4 ). : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... EMCA-...-EC/-EP/-PN (EtherCAT, EtherNet/IP, PROFINET) 2 2. [X2] 2, [X3] 1 4.4. : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... CAN (EMCA-...-CO ). CAN. DIP ( Fig. 2.5, 3 ). Tab. 4.8. 2.8.3 STO [X6] STO [X6] 2 ( (Safe torque off/sto)). STO(Safe torque off) EMCA-EC-S1-.... STO. STO, EMCA-EC-S1-... Festo EMCA-EC-SY-KO 1710c 67
2 2.8.4 (6) [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) [X9.4] Control enable DIN + ( Tab. 2.50). : ( Fig. 2.19). : ; (Quick-Stop) ( Fig. 2.19). [X9.5] Sample ( ). ( Tab. 2.51). 2. 1) FCT ( ) ( ). Tab. 2.48 [X6], [X7], [X8] [X9] 68 Festo EMCA-EC-SY-KO 1710c
2 (2) [X9.1] Ready. : ( / ); :. 1). : 2 : ( ). ( ).. [X9.2] Configurable FCT ; Tab. 2.52 1) EMCA. Tab. 2.49 [X9] Festo EMCA-EC-SY-KO 1710c 69
2 ( 5.4 ). Control enable. 1) DIN + ( 5.4 ). Control enable.. Control enable(din Control enable) : FCT. FHPP CiA 402... 1) FCT [Controller]. Tab. 2.50 ( = ). (, Quick-Stop). v = 0, Ready.. 70 Festo EMCA-EC-SY-KO 1710c
2 : STO 1 STO 2(24 V) [X6.4/5] DIN + [X9.4] Control enable ( 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. 2.19 : + DIN Festo EMCA-EC-SY-KO 1710c 71
2 (EMCA-EC-...-...-B ): ( 2.4.9 ):.., Brake ( FHPP ). Sample ( )... : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... Sample : (Deactivated) (After read out) (Immediately) Sample ( ). ()..... Tab. 2.51 Sample ( ) 8.4 μs.. 72 Festo EMCA-EC-SY-KO 1710c
2 [X9.2] : ( ) High. Low. (Motion) (Homing) (Comparators) / (Errors/ Warnings) Motion Complete( ). Motion Complete( )........ 1) (Low ) 1.. 2) I²t I²t 1) 2.7.2. 2) 2.7.3. Tab. 2.52 Festo EMCA-EC-SY-KO 1710c 73
3 3 3.1 EMCA-EC-67-...-CO L1 L2 L3 L4 L5 L6 EMCA-...-S-... 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] 121.1 ±0.5 67 67 @ 9-0.009 @ 40-0.039 @ 81 ±0.2 @ 50 ±0.2 @ 6.3 +0.2 M4x5 Tab. 3.1 EMCA-EC-67-...-CO [mm] 74 Festo EMCA-EC-SY-KO 1710c
3 3.2 EMCA-EC-67-...-EC/-EP/-PN L1 L2 L3 L4 L5 L6 EMCA-...-S-... 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. 3.2 EMCA-EC-67-...-EC/-EP/-PN [mm] Festo EMCA-EC-SY-KO 1710c 75
3 3.3., :......., www.festo.com/catalogue. ( )... : M6 4 M4 4 ( [mm]: 5). EMCA-EC-67-... 2 1 1 6.3 mm(4x) 2 M4 x 5 (4x) Fig. 3.1 1.. 2.. 3... 76 Festo EMCA-EC-SY-KO 1710c
3. ( A.1.5 ). ( :,,, )... 1.. 2. EMCA ( ). 3. (4x).. Festo EMCA-EC-SY-KO 1710c 77
4 4 4.1. EN 60204-1 PELV(, Protective Extra-Low Voltage). EN 60204-1 PELV. EN 60204-1.., :......... (EMV). ( Tab. 4.1).. 78 Festo EMCA-EC-SY-KO 1710c
4 4.2 EMV : ( ). ( ). : EMV :.. 90. ( Tab. 4.1). [m] [X1] 100 1), 4 ; ( Tab. 4.4) [X2] EMCA-...-CO: CAN IN 1 Mbit/s 40 2) 3) EMCA-...-EC/-EP/PN: IN 100 [X3] EMCA-...-CO: CAN OUT 1 Mbit/s 40 2) EMCA-...-EC/-EP/PN: OUT 100 [X4] 30. ( Tab. 4.13). [X5] 3 [X6] STO 30 [X7] [X8] / 3 [X9] I/O 30 [X10] 3 1) 2) 1 Mbit/s.. 3) Tab. 4.1 EMV Festo EMCA-EC-SY-KO 1710c 79
4 4.3 [X1] ( ) PC.. :.. (IPS, Intrusion Prevention System) LAN(VLAN) (VPN, Virtual Private Network) ( ) IEC 62443, ISO/IEC 27001. [X1] M12, 5, D M12, 4 5, D Tab. 4.2 [X1] 1 1 [X1] [X1] 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 Shield/FE / Tab. 4.3 [X1] ( ) 80 Festo EMCA-EC-SY-KO 1710c
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] Festo EMCA-EC-SY-KO 1710c 81
4 4.4 [X2], [X3] 4.4.1 EMCA-...-CO(CANopen) EMCA-...-CO CAN. [X2]: CAN IN [X3]: CAN OUT. : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... [X2](CAN IN) (CAN IN) [X3](CAN OUT) (CAN OUT) M12, 5, A M12, 5, A M12, 5, A M12, 5, A Tab. 4.5 [X2] [X3] (EMCA-...-CO ) 2 1 1 CAN IN [X2]( ) 2 CAN OUT [X3]( ) [X2] CAN IN 1 CAN_SHLD, 2 NC 3 CAN_GND (CAN ) 4 CAN_H CAN (Dominant High) 5 CAN_L CAN (Dominant Low) Shield/FE / (Shield/Functional Earth) Tab. 4.6 [X2] CAN IN(EMCA-...-CO ) 82 Festo EMCA-EC-SY-KO 1710c
4 [X3] CAN OUT 1 CAN_SHLD, 2 NC 3 CAN_GND (CAN ) 4 CAN_H CAN (Dominant High) 5 CAN_L CAN (Dominant Low) Shield/FE / (Shield/Functional Earth) Tab. 4.7 [X3] CAN OUT(EMCA-...-CO ) CAN CAN. DIP S1.1 ( Fig. 2.5, 3 ). DIP S1.1 (120Ω); ON =, OFF = S1.2 ( ) Tab. 4.8 (EMCA-...-CO ) : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... 4.4.2 EMCA-...-EC/-EP/-PN(EtherCAT, EtherNet/IP, PROFINET) EMCA-...-EC/-EP/-PN 1 2. [X2]: 2 [X3]: 1 : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... [X2]( 2) [X3]( 1) M12, 5, D M12, 5, D Tab. 4.9 [X2] [X3] (EMCA-...-EC/-EP/-PN ) Festo EMCA-EC-SY-KO 1710c 83
4 1 2 1 1 [X3] 2 2 [X2] [X2], [X3] 1 TD+ + 2 RD+ + 3 TD- 4 RD- 5 nc Shield/FE / Tab. 4.10 [X2], [X3] M12, 5, D (EMCA-...-EC/-EP/-PN ) 84 Festo EMCA-EC-SY-KO 1710c
4 4.5 [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 3-794636-6 B2B-ZR- SM4-TF [mm] [mm²] VHR-2N-BK () SVH-41T-P1.1 VHR-2N () WC-930 YC-930R 794617-6 1445022-3 794617-6 ZHR-2 AWG24... AWG20: 794606-1( ) 794610-1() AWG30... AWG26: 794607-1( ) 794611-1() 91501-1(AWG24... AWG20) 91502-1(AWG30... AWG26) /! SZH-002T-P 0,5 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. 4.11 Festo EMCA-EC-SY-KO 1710c 85
4 / ( Tab. 4.11). : Festo NEBM-... ( www.festo.com/catalogue).. 1. ( /). 2. ( 4.5.1 ~ 4.5.5 )... 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). 86 Festo EMCA-EC-SY-KO 1710c
4. : 1.. 2.. EMCA.... :. 1. ( (SW) 2.5 mm). 2.. 3. ( Fig. 4.1, 3 ). 4.. 5. ( 4.5.1 ~ 4.5.5 ). 6.. :. 7.. 8... 9. 4 1.5 Nm. Festo EMCA-EC-SY-KO 1710c 87
4 4.5.1 [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. 4.12 [X4] ( ). - FE : (6.3 x 0.8 mm²) Tab. 4.13 (FE) 88 Festo EMCA-EC-SY-KO 1710c
4. 1 EMCA 2 +24 V DC 0 V [X4] 1 2 1 EMCA 2 24 V DC Fig. 4.2 Festo EMCA-EC-SY-KO 1710c 89
4 4.5.2 [X5] EMCA.. ( Tab. 2.43).... [X5] 1 ZK+ R BR 6 Ω 2 BR-CH Tab. 4.14 [X5] Festo CACR-LE2-6-W60 (6 Ω/60 W). 90 Festo EMCA-EC-SY-KO 1710c
4 4.5.3 STO [X6] STO(Safe torque off) EMCA-EC-S1-.... STO. [X6] 1 NC1 STO : 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. 4.15 STO (Safe torque off) [X6] Festo EMCA-EC-SY-KO 1710c 91
4 4.5.4 [X7], [X8] [X7] [X8] 3 ( Tab. 4.16 Tab. 4.17). 2 1 1. [X7] 1 +24 V DC 1 24 V(FCT, ) 2 Switch 1 1 3 GND 0 V Tab. 4.16 1 [X7] [X8] 1 +24 V DC 2 24 V(FCT, ) 2 Switch 2 2 3 GND 0 V Tab. 4.17 2 [X8] 92 Festo EMCA-EC-SY-KO 1710c
4 4.5.5 I/O [X9] I/O [X9]. [X9] 1) 1 DOUT Ready 2 DOUT Configurable FCT 3 +24 V DC 24 V DC; [X4.1] 4 DIN Control enable / 5 DIN Sample ( ) 6 GND 0 V 1) DIN = ; DOUT = Tab. 4.18 I/O (PNP ) Festo EMCA-EC-SY-KO 1710c 93
4 4.5.6 [X10] (EMCA-EC-...-1TM) 7. EADA-A-9 6 ( Tab. 2.7). [X10] 1 + EADA-A-9 2 (GND) Tab. 4.19 [X10](EMCA-EC-...-1TM ) Festo EADA-A-9. 94 Festo EMCA-EC-SY-KO 1710c
4 4.6 IP IP ( www.festo.com/catalogue)..! M12 IP O ( ). [X1] [X3]: [X2]: M12, ( [X4] ~ [X10])...!. www.festo.com/catalogue. Festo EMCA-EC-SY-KO 1710c 95
5 5 5.1....,..,....., 2... 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). 96 Festo EMCA-EC-SY-KO 1710c
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] [Content FCT general]). EMCA FCT EMCA. PC.. FCT,. [Help] [Content 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-SY-KO 1710c 97
5 PDF Adobe Reader. Festo (Festo Configuration Tool, FCT). Festo ( www.festo.com/sp). ( ). FCT..... FCT.. IP.. FCT ( FCT, [Component] [Firmware Download]). 98 Festo EMCA-EC-SY-KO 1710c
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 ( 2.8.1 ). : Festo NEBC-D12G4-... ( www.festo.com/catalogue). Fig. 5.1 DHCP DHCP-Client PC. PC () Windows : IP DNS Festo EMCA-EC-SY-KO 1710c 99
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... ).. 100 Festo EMCA-EC-SY-KO 1710c
5 : 1.. 2. [Network].. 3. OK.. : 1. [Component] [Online] [Setup Network Settings...].. 2. OK.. ( 2.8.1 ) 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-SY-KO 1710c 101
5... FCT Tab. 5.2. FCT. FCT. FCT... HTTPS... (Cache). 102 Festo EMCA-EC-SY-KO 1710c
5 5.4.. : ( ) ( ) FCT.. ( )... :.. FCT. 3. FCT 2 1 FCT 2....,, Tab. 5.3. FCT. Festo EMCA-EC-SY-KO 1710c 103
5. FCT... ( ). FCT (Device Control: FCT ).... Tab. 5.4 FCT : Device Control Operate" FCT". FCT Enable". FCT. (TCP ).. / FCT FCT. FCT Error Management ( 0x32). 1.. 104 Festo EMCA-EC-SY-KO 1710c
5 5.5. IP ( 2.8.1, Tab. 2.47). 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) FHPP (FHPP Interface) I/O FHPP I/O Festo EMCA-EC-SY-KO 1710c 105
5 / (Parameter Up-/Download) (Diagnostic Memory) ( 5.7 ) ( 6.1 ) Tab. 5.5 106 Festo EMCA-EC-SY-KO 1710c
5 5.6 1. ( 3 ). 2. DIP ( ). 3. ( 4 ). 4. FCT ( EMCA ). 5. 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. ( ). 10. ( EMCA ). 5.6.1.. Festo.... FCT. Festo EMCA-EC-SY-KO 1710c 107
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 ). 5.6.4 ( I/O) : STO 1 STO 2(STO ) STO, EMCA-EC-S1-... DIN + ( Tab. 2.50): Control enable (I/O ) 108 Festo EMCA-EC-SY-KO 1710c
5 EMCA-EC-S1-... STO 1 STO 2 [X6] 4 5 EMCA 24 V DC 1) Control enable(din) Ready(DOUT) Configurable(DOUT) 2) [X9] 4 1 2 1) 2) ; Festo (Festo Configuration Tool, FCT) ( ) Fig. 5.3 : : DIN + 5.6.5 / FCT Manual Move.. ( FCT ). : STO. DIN + Control enable. EMCA. FCT ( FCT, Device Control, FCT ). ( FCT, Device Control, Enable ). ( ). ( FCT, Application Data, Environment, Inverse Rotation Polarity ). Festo EMCA-EC-SY-KO 1710c 109
5 5.6.6. :.. FCT Homing. : STO. DIN + Control enable. EMCA. FCT ( FCT, Device Control, FCT ). ( FCT, Device Control, Enable ). FHPP CiA402.. 5.6.7 ( ) FCT.. FCT. EMCA. 5.6.8 () Festo : FCT. : EMCA ( EMCA ). 5.6.9 EMCA. 110 Festo EMCA-EC-SY-KO 1710c
5 5.6.10. (FCT: Store). FCT (Download).. : : ( EMCA ). ( EMCA ). : ( 5.7 ). Festo EMCA-EC-SY-KO 1710c 111
5 5.7 *.fpf... : ( ) () : FCT( FCT, [Component] [Online] [Backup Recovery...] :. (Upload) (Download) Parameter Up-/Download ( Fig. 5.4 5.5 ): Fig. 5.4 /(Parameter Up-/Download) EMCA (Download parameter set to EMCA) PC (Upload parameter set to PC). PC. Tab. 5.6 /(Parameter Up-/Download) FCT ( FCT, [Component] [Import/Export]). 112 Festo EMCA-EC-SY-KO 1710c
5 5.8 CANopen FHPP CiA 402.. : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... 5.8.1... 100,000. : FCT Store / FCT Festo EMCA-EC-SY-KO 1710c 113
6 6 2.7.4 FCT, Error Management.. Ready Low..,.. 6.3.2. : Festo (Festo Configuration Tool) ( FCT ) ( ) (Power OFF/ON).. 6.1 ( 2.7.5 ): FCT 1) 1) 5.5. Tab. 6.1,, ( FCT Diagnosis ). ( ).. Diagnostic Memory ( ).. 114 Festo EMCA-EC-SY-KO 1710c
6 Fig. 6.1 (Counter) (Type) (No.) (Message) (Timestamp) (Additional Info). ( ). ( 2.7.4 ) 2.7.4. 16 (0x = 16 ). HH.MM.SS:nnn(HH =, mm =, SS =, nnn = ).. Festo Tab. 6.2 : FCT, ( FCT ) ( ) (Start-up event, 3Dh).. Festo EMCA-EC-SY-KO 1710c 115
6 6.2 LED EMCA-EC-...-CO (CANopen) 3 2 1 1 LED OK 2 LED ERROR 1) LED(CANopen) Fig. 6.2 EMCA-EC-...-CO LED 3 LED(2 ) 1) LED ( LED) (FHPP CiA 402). EMCA-EC-...-EC (EtherCAT) 6 5 4 3 2 1 1 LED EC LINK/ACTIVITY, 2( / ) 1) 2 LED OK 3 LED ERROR 1) LED(EtherCAT) Fig. 6.3 EMCA-EC-...-EC LED 4 LED EC RUN 1) 5 LED EC ERROR 1) 6 LED EC LINK/ACTIVITY, 1 ( / ) 1) LED (EC LINK/ACTIVITY, EC RUN, EC ERROR) FHPP CiA 402. 116 Festo EMCA-EC-SY-KO 1710c
6 EMCA-EC-...-EP (EtherNet/IP) 5 6 4 3 2 1 1 LED LINK/ACTIVITY, 2( / ) 1) 2 LED OK 3 LED ERROR 1) LED(EtherNET/IP) Fig. 6.4 EMCA-EC-...-EP LED 4 LED MS(Module Status) 1) 5 LED NS(Network Status) 1) 6 LED LINK/ACTIVITY, 1 ( / ) 1) LED (LINK/ACTIVITY, MS, NS) FHPP. EMCA-EC-...-PN (PROFINET) 6 5 4 3 2 1 1 LED LINK/ACTIVITY, 2( / ) 1) 2 LED OK 3 LED ERROR 1) LED(PROFINET) Fig. 6.5 EMCA-EC-...-PN LED 4 LED IDENT/STATE(/) 1) 5 LED NF (Network failure) 1) 6 LED LINK/ACTIVITY, 1 ( / ) 1) LED (LINK/ACTIVITY, IDENT, NF) FHPP. Festo EMCA-EC-SY-KO 1710c 117
6 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 6.2.4 LED LED- /. ERROR 1) 1) 10. Tab. 6.6.. Festo. 118 Festo EMCA-EC-SY-KO 1710c
6 6.2.5 LED EMCA-EC-...-CO/EC (CANopen, EtherCAT) LED : FHPP, EMCA-EC-HP-... CiA 402, EMCA-EC-CO-... EMCA-EC-...-EP/-PN (EtherNet/IP, PROFINET) LED : FHPP, EMCA-EC-HP-... Festo EMCA-EC-SY-KO 1710c 119
6 6.3, FCT ( 2.7.4 ). 6.3.1 ( 6.3.2 ) : 16 (FCT ) F/W/I = //(2.7.4 ). ( 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 ( ) 120 Festo EMCA-EC-SY-KO 1710c
6 6.3.2 01h (Software error). Festo. :,. ( ): A 02h (Default parameter file invalid) : F/-/- : : F/-/- :.... :,. ( ): A 03h CPU (Internal communication error CPUs) : F/-/- :... :,. ( ): A 04h (Non-permitted hardware).. :,. ( ): A 06h (Encoder) : F/-/- : : F/-/- :.. homing. :,. ( ): A Festo EMCA-EC-SY-KO 1710c 121
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 122 Festo EMCA-EC-SY-KO 1710c
6 0Ch (Firmware update execution error) : F/-/- :. PC Ethernet..... :,. ( ): A 0Dh (Overcurrent) : F/-/- :,... FCT ( ). :.. : ().. :. :,. ( ): A 0Eh I²t (I²t malfunction motor) : F/-/- : I²t.... /. :. : B, C Festo EMCA-EC-SY-KO 1710c 123
6 0Fh (Hardware error interface) : F/-/- :. FCT. :,. : B, C, E, F 11h (+) (Softwarelimit positive) : F/-/- :...... :. : A, B, C, E, F 12h (-) (Softwarelimit negative) : F/-/- :...... :. : A, B, C, E, F 13h (Positive direction locked) : F/-/- :...... :. : A, B, C, E, F 124 Festo EMCA-EC-SY-KO 1710c
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 Festo EMCA-EC-SY-KO 1710c 125
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 :. 126 Festo EMCA-EC-SY-KO 1710c
6 1Ch CAN Node Guarding, FB (CAN Node Guarding, FB has master control) : F/-/- :. SPS SPS. :,,,,,?.. :. : B, C, E, F 1Dh CAN, FB (CAN bus comm. stopped by master, FB has master control) : F/-/- : CAN.. :. : B, C, E, F 1Eh NetX (NetX configuration error) : F/-/- :... :. : B, C, D, E, F, G 1Fh NetX (NetX network error) : F/-/- :.... :????? ( ). :. ( ): E Festo EMCA-EC-SY-KO 1710c 127
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/-/- : homing... /, (?)... :. : B, C, E, F 23h (No index pulse found) : F/-/- : homing :... :,. : B, C, E, F 128 Festo EMCA-EC-SY-KO 1710c
6 25h (Path calculation) : F/-/- :. :.... 0. :. ( ): A 26h CAN (CAN fieldbus parameters missing) CAN.. :. : B, C, D, E, F, G 27h (Save parameters) : F/-/- : : F/-/- :. :?. Festo. :. : F, G 28h (Homing required) : F/W/- : homing. ( ).. :. : B, C, D, E, F, G : homing. Festo EMCA-EC-SY-KO 1710c 129
6 29h (-) (Target position behind negative software limit) : F/-/- :... (/?). :. : B, C, E, F 2Ah (+) (Target position behind positive software limit) : F/-/- :... (/?). :. : B, C, E, F 2Bh, (Firmware update, invalid firmware) : F/W/- :... Festo. :. : A : FW. 2Ch FHPP (FHPP incorrect record number) : F/W/I :.. :. : F, G :. 2Dh I²t (I²t warning motor) : -/W/I : I²t.. : I²t 80 %. 130 Festo EMCA-EC-SY-KO 1710c
6 2Eh (Index pulse too close on proximity sensor) : F/-/- : ㅢ.. /. FCT. :. : B, C, E, F 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 : F/-/- : Festo EMCA-EC-SY-KO 1710c 131
6 33h (Output stage temperature warning) : -/W/I :..... :. 34h Safe Torque Off(STO) (Safe Torque Off (STO)) : F/W/I : "Safe Torque Off". STO. :. ( ): 0 : STO. 35h CAN Node Guarding, FB (CAN Node Guarding, FB does not have master control) : -/W/I : CAN. CAN. SPS SPS. :,,,,,?.. : CAN. 36h CAN, FB (CAN bus comm. stopped by master, FB does not have master control) : -/W/I : CAN. CAN.. :. 132 Festo EMCA-EC-SY-KO 1710c
6 37h (Standstill monitoring) : -/W/I :... :. 38h (Parameter file access) : F/-/- :.. 2 3 s. :. : F, G 39h (Trace warning) : -/W/- :.. :. 3Dh (Start-up event) : -/-/I : 48.. ON ON.. 3Eh (Diagnostic memory) : F/-/- :..... :. : F, G 3Fh (Record invalid) : F/-/- :... :. : B, C, D, E, F, G Festo EMCA-EC-SY-KO 1710c 133
6 40h (Last teaching not successful) : -/W/I :.. : ( 1) ( 0). 41h (System reset). Festo. :. ( ): A 42h (Address Conflict Detection (ACD)) : F/-/- : : F/-/- :. ( : FCT ). :. ( ): E 43h FCT (FCT connection without master control) : -/W/I : FCT.. : FCT. 44h (Parameter file not compatible with firmware) : -/W/I :..... :. 49h CAN (CAN message overflow or message lost) : F/-/- : CAN... :. : B, C, E, F 134 Festo EMCA-EC-SY-KO 1710c
6 4Ah Safe Torque Off(STO) (Safe Torque Off (STO) discrepancy time) : F/W/I : STO1 STO2... :. ( ): 0 : STO. 4Bh Interpolated Positioning Mode (Interpolated Positioning Mode stopped while error occurred on control unit) : F/-/- : CANOpen Interpolated mode.. :. ( ): B 4Ch (Value is out of range).. :. : B, C, D, E, F, G 4Dh (Bootloader memory error) : F/-/- : : F/-/- :.... :,. ( ): A 4Eh 24 V (Overload 24V Outputs) : F/-/- : 24 V. STO,,. :. : A, B Festo EMCA-EC-SY-KO 1710c 135
6 4Fh (System information).. 50h FCT (FCT connection with master control) EtherCAT.. :. : B, C, D, E, F, G 51h EtherCAT (EtherCAT connection without master control) : -/-/I : : F/-/- : : -/W/I :.. :. 52h PROFINET (PROFINET connection with master control) PROFINET.. :. : B, C, D, E, F, G 53h PROFINET (PROFINET connection without master control) : F/-/- : : -/W/I :.. :. 136 Festo EMCA-EC-SY-KO 1710c
6 6.4 EMCA IP PC IP. FCT : EMCA IP IP FCT 1. FCT [Component] [FCT Interface], Scan..... 2. [Network]. Network properties. IP ( Tab. 2.47). PC IP Windows (, Windows 7) 1. [] [ ] [ ] [ ] [ ]. 2. [ ] [ ]. 3. [ 4]. 4.. 4 PC IP. 5. EMCA IP ( ). : IP IP. DHCP ( Tab. 2.47). 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 ) Festo EMCA-EC-SY-KO 1710c 137
6 6.5 EMCA. EMCA. EMCA.,.. ( ) EMCA.... FCT.. Tab. 6.9 138 Festo EMCA-EC-SY-KO 1710c
7,, 7,, 7.1.,..,....., 2........, :..... Festo EMCA-EC-SY-KO 1710c 139
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.. 140 Festo EMCA-EC-SY-KO 1710c
7,, 7.3.. 7.4 7.2. 7.4.1. RoHS.. Festo EMCA-EC-SY-KO 1710c 141
A A A.1 A.1.1 EMCA-EC-67-... EMCA PWM-MOSFET P PI PI, TCP/IP EMCA-...-CO: CANopen EMCA-...-EC: EtherCAT EMCA-...-EP: EtherNet/IP EMCA-...-PN: PROFINET I²t OFF Tab. A.1 : A.1.2 EMCA-EC-67-... CE ( www.festo.com/sp) EU EU 1) RCM 2) c UL us (OL) 2) 1).,. 2) Tab. A.2 : 142 Festo EMCA-EC-SY-KO 1710c
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 - Festo EMCA-EC-SY-KO 1710c 143
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 [rpm] 3500 3300 [kg cm²] 0.175 0.301 [N] 60 60 [N] 100 100 Tab. A.5 144 Festo EMCA-EC-SY-KO 1710c
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] Festo EMCA-EC-SY-KO 1710c 145
A A.1.9 [X2], [X3] CANopen EMCA-EC-67-...-CO [X2] (In) M12, 5, A [X3] (Out) M12, 5, A CANopen CiA 402 FHPP [m] 1Mbit/s 40 800 Kbit/s 50 500 Kbit/s 100 250 Kbit/s 250 125 Kbit/s 500 100 Kbit/s 500 50 Kbit/s 1000 20 Kbit/s 2500 [Mbit/s] 1 [Ω] 120(DIP ) Tab. A.9 : EMCA-...-CO [X2], [X3] EtherCAT, EtherNet/IP, PROFINET EMCA-EC-67-...-EC/-EP/-PN [X2] (In) [X3] (Out) EMCA-...-EC EMCA-...-EP EMCA-...-PN M12, 5, D M12, 5, D CiA 402 FHPP FHPP FHPP [m] < 100 Switched Fast Ethernet; IEEE 802.3 100BaseTX [Mbit/s] 10/100(full/half duplex) Auto-MDI/MDI-X Tab. A.10 : EMCA-...-EC/-EP/-PN [X2], [X3] 146 Festo EMCA-EC-SY-KO 1710c
A A.1.10 [X4] [X4] EMCA-EC-67-S-... EMCA-EC-67-M-... [m] l 30 Tab. 4.11 [V DC] 24 [%] ±20 [A] 6.9 7.2 [A] 10.2 10.3 PELV (Protected Extra-Low Voltage) Tab. A.11 : [X4] A.1.11 [X5] [X5] EMCA-EC-67-S-... EMCA-EC-67-M-..., CACR-LE2-6-W60 [m] l 3, [Ω] 6 Tab. A.12 : [X5] A.1.12 STO [X6] STO [X6] STO, EMCA-EC-S1-... Festo EMCA-EC-SY-KO 1710c 147
A A.1.13 [X7], [X8] [X7], [X8] EMCA-EC-67-... [m] l 3 Tab. 4.11 [V DC] 24 [X9] [ma] 100 [V DC] 24 IEC 61131-2 Tab. A.13 [X7], [X8] 148 Festo EMCA-EC-SY-KO 1710c
A A.1.14 I/O [X9] I/O [X9] EMCA-EC-67-... [m] l 30 Tab. 4.11 [V DC] 24 [X9] [ma] 100 2 [V DC] 24 PNP( ) IEC 61131-2 2 [ma] 100 PNP( ) Tab. A.14 : I/O [X9] A.1.15 [X10](EMCA-EC-67-...-1TM ) [X10] EMCA-EC-67-... [m] 3 Tab. 4.11 [V DC] 9 Tab. A.15 [X10] Festo EMCA-EC-SY-KO 1710c 149
A A.1.16 6 1 2 5 4 2 2 3 EMCA-EC-67-... 1 ( ) 3 2 NBR 4 5 6 LABS Tab. A.16 : 150 Festo EMCA-EC-SY-KO 1710c
B B / AZ (= Axis Zero point) DIN DOUT EMV FCT FHPP FPC I/O MC PLC/IPC PZ(= Project Zero point) REF(= REFerence point) (Homing) (Jog Mode) 2.4.1 (digital input) (digital output) (FCT = Festo, Festo Configuration Tool) Festo, Festo Festo Parameter Channel FHPP. /(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-SY-KO 1710c 151
EMCA-EC-67-...-CO/-EC/-EP/-PN C CAN... 82 CiA 402... 50 D DHCP... 66 E EMV... 151... 79... 79 EMV... 79 EtherNet/IP... 83 F FCT... 8, 19, 151 Festo Configuration Tool... 19, 151 FHPP... 50 I I²t... 63 IP... 99, 137 L LED... 116, 117 P PLC... 151 S STO(Safe torque off)... 91... 64... 98... 12... 72... 50... 54... 64... 142... 29 (Homing)... 23, 27... 24, 25... 100... 8... 62 /... 45, 46... 23... 26... 92... 57... 58... 59... 56... 63... 7... 58... 8... 98... 94... 8... 141... 63... 63... 56... 8... 150... 26... 41... 61... 141... 62... 107 152 Festo EMCA-EC-SY-KO 1710c
EMCA-EC-67-...-CO/-EC/-EP/-PN... 86... 108... 11... 101... 64... 64... 120... 121... 63... 13... 92... 19, 104, 105... 61... 80... 8... 64... 50... 63... 64... 145... 56, 59... 90... 147... 103... 8... 8... 23, 36... 77... 20, 21... 67, 83... 47... 65, 114... 120... 79... 56... 24, 25... 74, 75... 24, 25... 85... 110... 79... 85 (Quick-Stop)... 47, 64... 85... 85... 108... 27... 141... 38... 24, 25... 113... 42... 24 Festo EMCA-EC-SY-KO 1710c 153
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