Festo EMCA-EC-67 CO Series Description
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Festo EMCA-EC-67 CO Series Description

Integrated drive
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Table of Contents

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Integrated Drive
EMCA-EC-67-...-CO/DIO/EC/EP/PN
Description
FHPP device profile
For fieldbus:
– CANopen
– EtherCAT
– EtherNet/IP
– Modbus TCP
– PROFINET
8079765
2017-11e
[8079767]

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Summary of Contents for Festo EMCA-EC-67 CO Series

  • Page 1 Integrated Drive EMCA-EC-67-...-CO/DIO/EC/EP/PN Description FHPP device profile For fieldbus: – CANopen – EtherCAT – EtherNet/IP – Modbus TCP – PROFINET 8079765 2017-11e [8079767]...
  • Page 2 Essential or useful accessories Information on environmentally sound usage Text designations: • Activities that may be carried out in any order 1. Activities that should be carried out in the order stated – General lists Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 3 ..........2.3.2 Commission EMCA with the Festo Configuration Tool (FCT) ....
  • Page 4 ........Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 5 ........3.12 Parameterisation with the Festo Configuration Tool (FCT) .
  • Page 6 ........Parameterisation with the Festo Configuration Tool (FCT) .
  • Page 7 ..........Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 8 ..........Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 9 ..........Festo Parameter Channel (FPC) for cyclic data (I/O data) .
  • Page 10 ........Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 11 ..........D.6.1 Object 1005h: SYNC communication object identifier (COB-ID SYNC) ..Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 12 ..... . . E.1.2 Manufacturer specific area (Object 2000h … 5FFFh) ..... . Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 13 ............... . Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 14 EMCA-EC-67-...-CO/DIO/EC/EP/PN Instructions on this documentation This documentation describes the device profile Festo Handling and Positioning Profile (FHPP) for the integrated drive EMCA with the following fieldbus interface: Fieldbus Electrical interface CANopen [X2] CAN bus input (CAN IN) (EMCA-...-CO) [X3] CAN bus output (CAN OUT)
  • Page 15 Before using a newer firmware version, check whether a newer version of the FCT plug- in or documentation is available è Support portal: http://www.festo.com/sp. Service Please consult your regional Festo contact if you have any technical problems. Product identification For additional information on the rating plate and production date è Description for “Integrated drive with bus interface”, EMCA-EC-SY-...
  • Page 16 Laboratories Inc. (UL) Tab. 3 Documentation for the EMCA Further information about the product is available in the Festo Support Portal (è www.festo.com/sp). – Brief documentation (Quick guide) for initial commissioning and diagnostics – Operating instructions for configurable electromechanical drives from Festo –...
  • Page 17 (Festo Handling and Positioning Profile) FHPP overview Tailored to the target applications for handling and positioning tasks, Festo has developed an optim­ ised device profile, the “Festo Handling and Positioning Profile (FHPP)”. The FHPP permits a uniform control and parameterisation for the various motor controllers or integ­...
  • Page 18 FHPP device profile (Festo Handling and Positioning Profile) Fieldbus interfaces 1.2.1 Fieldbus interfaces of the EMCA Control and parameterisation of the EMCA through the FHPP device profile is supported by the follow­ ing fieldbus interface: Fieldbus Electrical interface Page CAN bus CAN bus input (CAN IN) [X2] (EMCA-...-CO)
  • Page 19 FHPP device profile (Festo Handling and Positioning Profile) EtherCAT interfaces of the EMCA-...-EC EtherCAT, Port 1 [X3] EtherCAT, Port 2 [X2] Fig. 1.3 EtherCAT interfaces of the EMCA EtherNet/IP interfaces of the EMCA-...-EP EtherNet/IP, Port 1 [X3] EtherNet/IP, Port 2 [X2] Fig.
  • Page 20 FHPP device profile (Festo Handling and Positioning Profile) PROFINET interfaces of the EMCA-...-PN PROFINET, Port 1 [X3] PROFINET, Port 2 [X2] Fig. 1.6 PROFINET interfaces of the EMCA Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 21 For additional information on the user organisation “CAN in Automation (CiA)” è www.can-cia.org CANopen implementation: CANopen implementation of the EMCA is based on the following standard: CiA Draft Standard Version Version number CANopen application layer and communication profile 4.2.0 2007-12-07 Tab. 2.1 CANopen implementation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 22 The status of the CAN bus is displayed via the “CANopen Status” LED. Description The following CANopen statuses are displayed: – CANopen communication CANopen status – Missing bus parameters – Warnings/malfunctions For additional information è page 371 Tab. 2.2 LED display Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 23 This can have the following results: – The EMCA switches off due to a function error. – The entire CAN bus communication breaks down and the system's subfunction no longer works. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 24 CAN_H S1.1 S1.1 CAN_L X2.5 X3.5 CAN_L S1.1 DIP switch “terminating resistor” ON Switch position: contact closed OFF Switch position: contact open Terminating resistor 120 Ω Fig. 2.2 Termination of the CAN bus Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 25 (e.g. motor cables). In addition, supply cables with screening must be earthed cor­ rectly. – To construct an interference-free CAN bus cabling, observe the information and notes in the Control­ ler Area Network protocol specification, version 2.0, issue 1991, of Robert Bosch GmbH. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 26 Festo Configuration Tool (FCT) should be carried out first without connection to the CAN bus network (ports [X2/X3] open). For notes on commissioning with the Festo Configuration Tool (FCT) è FCT Help for the EMCA plug-in.
  • Page 27 • In the FCT, a component is added and the drive system is configured è FCT Help for the EMCA plug-in. 1. Configure CAN bus: The following CANopen parameters can be configured/parameterised in the Festo Configuration Tool (FCT) “Fieldbus” page “Node number (Node ID)” parameter “Operating parameters”...
  • Page 28 Each node number can only be assigned once in a CANopen network. If several CANopen participants are parameterised with the same node number, this can result in CANopen communication errors that are difficult to localise. Configure device profile Select FHPP device profile. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 29 ) should be converted into the specified interface units, dependent on the application è page 145. “Fieldbus” page “Factor Group” tab Current exponents: position, speed, acceleration, deceleration, jerk Fig. 2.5 Factor group in the FCT Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 30 CANopen 2.3.2 Commission EMCA with the Festo Configuration Tool (FCT) Initial commissioning of the EMCA is performed with the Festo Configuration Tool (FCT) è FCT Help for the EMCA plug-in. Note With activation of FCT in the device control, the Festo Configuration Tool (FCT) takes over master control via the EMCA.
  • Page 31 2) Only required with use of reference or limit switch è Description EMCA-EC-SY-… 3) Parameterisation of the controller enable signals è PNU 128 or FCT 4) Reference potential for the controller Fig. 2.6 Digital inputs/outputs for operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 32 – EtherCAT data Device profile: GSDML file: management – FHPP – PROFINET Function element controller Download – CODESYS Save/ – Omron execute – Siemens 1) Parameterisation interface Fig. 2.7 Overview: Data interfaces (parameter/firmware) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 33 CANopen Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 34 EtherCAT implementation The EtherCAT implementation of the EMCA is based on the following standards: ETG Draft Standard Version Issue number 1000.6 EtherCAT Application Layer Protocol Specification S (R) V1.0.3 2013-01-03 Tab. 3.1 EtherCAT implementation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 35 Description The following EtherCAT statuses are displayed: EC LINK/ACTIVITY, Port1 – EtherCAT communication – Warnings/malfunctions EC ERROR For additional information è Page 376 EC RUN EC LINK/ACTIVITY, Port 2 Tab. 3.2 LED indicator Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 36 Receive Data + Transmit Data – Receive Data – Not connected Shield Screening (Shield) (socket housing is connection Shield to functional earth via RC link) Tab. 3.4 EtherCAT, Port 2 [X2]: Pin assignment Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 37 Termination of the EtherCAT bus No external bus terminations are required for the EtherCAT bus. The EtherCAT Slave Controller (ESC) monitors its two ports and terminates the bus automatically using the loop-back function. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 38 Get OD list request Get OD list response Clock Master Slave) EtherCAT Synchronisation Distributed clocks Ref clocks Ref Time DC Time 1) cyclical transmission 2) acyclical transmission Fig. 3.2 Overview: EtherCAT communication and synchronization Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 39 1) Internal memory area for process data communication and mailbox communication. Incoming and outgoing data are managed in separate memory areas. 2) The EMCA supports SDO information communication for the transmission of “Get OD list” data. Tab. 3.6 Overview: EtherCAT communication and synchronization Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 40 With EtherCAT, the 16-bit values (word) and the 32-bit values (double word) are presented as follows: Byte format Data type Byte order Little endian Word (LSB) (MSB) (CDEF Double word (LSB) (MSB) (89ABCDEF 1) LSB: Least Significant Byte MSB: Most Significant Byte Tab. 3.8 Byte order Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 41 4 Byte 1 … 4 | 5 … n Byte SDO Information Frame SDO Info Header SDO Info Service Data 2 Byte … Byte Fig. 3.3 Layout of the Ethernet and EtherCAT frame Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 42 The illustration shows all statuses and status transitions of the EtherCAT finite state machine. (Power ON) (Reset) Init (IP) (PI) Pre-Operational (PreOp) (SI) (PS) (OI) (SP) Safe-Operational (SafeOp) (OP) (SO) (OS) Operational (Op) Fig. 3.4 EtherCAT final state machine Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 43 – The controller transmits new setpoint values to the EMCA (RxPDO). Set­ point values are processed by the EMCA. – The EMCA transmits current actual values to the controller (TxPDO). Tab. 3.9 Statuses of the EtherCAT final state machine Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 44 (SafeOp è Init) Process data communication (PDO) is stopped. Mailbox communication (SDO) is stopped. (Op è Init) Process data communication (PDO) is stopped. Tab. 3.10 Status transitions of the EtherCAT finite state machine Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 45 Mailbox send ç SDO EtherCAT Bus Sync manager 2 Sync channel 2 Process data output è RxPDO Sync manager 3 Process data input ç TxPDO Sync channel 3 Fig. 3.5 Establishing Sync Manager communication Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 46 Master è Slave Process data: Receive process data objects RxPDO (Process data output) Slave è Master Process data: Transmit process data objects TxPDO (Process data input) Tab. 3.14 Value range: Communication type sync manager Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 47 ARRAY – – – – – assignment Number of assigned PDOs UINT8 Tab. 3.18 0 Tab. 3.17 Object 1C11 Value Description No PDO is assigned Tab. 3.18 Value range: Number of assigned PDOs Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 48 1601 assigned PDO (RxPDO2) (FPC/FHPP+) PDO mapping object index of UINT16 1602 1602 assigned PDO (RxPDO3) (FHPP+) PDO mapping object index of UINT16 1603 1603 assigned PDO (RxPDO4) (FHPP+) Tab. 3.19 Object 1C12 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 49 1A01 assigned PDO (TxPDO2) (FPC/FHPP+) PDO mapping object index of UINT16 1A02 1A02 assigned PDO (TxPDO3) (FHPP+) PDO mapping object index of UINT16 1A03 1A03 assigned PDO (TxPDO4) (FHPP+) Tab. 3.20 Object 1C13 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 50 Cycle time too small UINT16 – – Sync Error BOOL – – Tab. 3.22 Object 1C33 Value Description Free Run: No synchronization DC Sync0 Synchronization with DC Synco0 event Tab. 3.23 Value range: Synchronization type Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 51 Cycle time too small UINT16 – – Sync Error BOOL – – Tab. 3.24 Object 1C33 Value Description Free Run: No synchronization DC Sync0 Synchronization with DC Synco0 event Tab. 3.25 Value range: Synchronization type Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 52 DC Time Offset Offset Offset Offset Ref Clock Ref Time Ref Time Ref Time Ref Time Ref Time Ref Time Ref Time 1) Synchronization datagram Fig. 3.6 DC-topology and synchronization of the EtherCAT network Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 53 PDO mapping RxPDO3 1603 receive PDO mapping RxPDO4 1A00 transmit PDO mapping TxPDO1 1A01 transmit PDO mapping TxPDO2 1A01 transmit PDO mapping TxPDO3 1A01 transmit PDO mapping TxPDO4 Tab. 3.26 Objects for PDO mapping Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 54 Record selection mode Direct mode CCON CCON CPOS CPOS REC_NO, set number (setpoint) CDIR Reserved DEM_VAL1/PARA1, setpoint value 1 Reserved DEM_VAL2/PARA2, setpoint value 2 (target) Tab. 3.28 Value range: … output object to be mapped Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 55 EtherCAT with FHPP 3.7.3 Object 1601 receive PDO mapping RxPDO2 Mapping for RxPDO2 is specified by the object. The RxPDO2 transmits the Festo Parameter Channel (FPC) è Page 224 or the FHPP+ data è Page 239. Index Name Object Data Ac­...
  • Page 56 FHPP+ Byte 5 FHPP+ Byte 13 FHPP+ Byte 6 FHPP+ Byte 14 FHPP+ Byte 7 FHPP+ Byte 15 FHPP+ Byte 8 FHPP+ Byte 16 Tab. 3.32 Value range: … output object to be mapped Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 57 FHPP+ Byte 13 FHPP+ Byte 21 FHPP+ Byte 14 FHPP+ Byte 22 FHPP+ Byte 15 FHPP+ Byte 23 FHPP+ Byte 16 FHPP+ Byte 24 Tab. 3.34 Value range: … output object to be mapped Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 58 Record selection mode Direct mode rSCON rSCON SPOS SPOS REC_NO, set number (actual) SDIR ACT_VAL1, actual value 1 ACT_VAL1, actual position ACT_VAL2, actual value 2 Tab. 3.36 Value range: … output object to be mapped Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 59 EtherCAT with FHPP 3.7.7 Object 1A01 transmit PDO mapping TxPDO2 Mapping for TxPDO2 is specified by the object. The TxPDO2 transmits the Festo Parameter Channel (FPC) (default) è Page 224 or the FHPP+ data è Page 239. Index Name Object Data Ac­...
  • Page 60 FHPP+ Byte 5 FHPP+ Byte 13 FHPP+ Byte 6 FHPP+ Byte 14 FHPP+ Byte 7 FHPP+ Byte 15 FHPP+ Byte 8 FHPP+ Byte 16 Tab. 3.40 Value range: … input object to be mapped Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 61 FHPP+ Byte 13 FHPP+ Byte 21 FHPP+ Byte 14 FHPP+ Byte 22 FHPP+ Byte 15 FHPP+ Byte 23 FHPP+ Byte 16 FHPP+ Byte 24 Tab. 3.42 Value range: … input object to be mapped Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 62 – Read command: Acyclic reading of parameter data (SDO upload) è Page 63 – Write command: Acyclic writing to parameter data (SDO download) è Page 64 – SDO Error transmission: SDO Event-controlled transmission of error code è Page 65 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 63 Tab. 3.43 SDO Services: Read out parameter data Note The answer (upload ... response) from the EMCA must be waited for in any event! The next SDO request cannot be transmitted until the EMCA has answered the read command. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 64 (PDO) and service data objects (SDO). Note Acknowledgement (download ... response) of the EMCA must be waited for in any event! The next SDO request cannot be transmitted until the EMCA has acknowledged the write command. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 65 06 09 00 11 The addressed subindex does not exist. 06 09 00 30 Value range for parameters was exceeded (only for write access) 06 09 00 31 Parameter value is too big Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 66 Data cannot be transmitted to the device or saved due to the current status of the device 08 00 00 23 Dynamic generation of the object directory failed or no object directory is available Tab. 3.45 SDO error codes Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 67 All causes of error have been eliminated and an error acknowledg­ ment has been carried out è Page 126. The Emergency message successful was transmitted with error code 0000 (No error/Error reset). Tab. 3.47 Error status transitions Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 68 Device profile specific error: device-profile-specific error Reserved, fix = 0 Manufacturer specific error: Manufacturer-specific error 1) Bit = 0: No error present; Bit = 1: Error present Tab. 3.49 Bit assignment Error register Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 69 The following table lists all error messages that can occur during EtherCAT mode. For additional information on the error messages (e.g. error response, cause and meas­ ures) è page 371. Further information about parameterisation in error management of the Festo Configura­ tion Tool (FCT) è Page 371. Error messages...
  • Page 70 Index pulse too close on proximity sensor 0x2E 7303 Encoder 0x06 7400 Software error 0x01 8100 EtherCAT connection with master control 0x50 8101 EtherCAT connection without master control 0x51 8600 Standstill monitoring 0x37 8611 Following error 0x2F Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 71 Firmware update, invalid firmware 0x2B FF0E Braking resistor 0x30 FF10 FCT connection with master control 0x32 FF11 Output stage temperature warning 0x33 FF12 Parameter file access 0x38 FF13 Trace warning 0x39 FF15 Homing method invalid 0x3B Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 72 0x44 FF25 Safe Torque Off (STO) discrepancy time 0x4A FF26 Safe Torque Off (STO) 0x34 FF26 Bootloader memory error 0x4D FF27 Overload 24V Outputs 0x4E FF28 System information 0x4F Tab. 3.50 Error messages Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 73 EtherCAT with FHPP Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 74 The device name of the manufacturer is output via the object. Index Name Object Data Ac­ Value Default value code type cess map­ range ping 1008 Manufacturer device name VSTRING ro – 1) ASCII string is product-dependent. Tab. 3.54 Object 1008 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 75 100A Manufacturer software VSTRING ro – Tab. 3.58 version Tab. 3.57 Object 100A Value Description Mxxxx:xxxx:xxxx:xxxxByyyy:yyyy Software version number: ASCII character string, 90-character Pxxxx:xxxx:xxxx:xxxxByyyy:yyyy Exxxx:xxxx:xxxx:xxxxByyyy:yyyy Tab. 3.58 Default value: Manufacturer software version Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 76 : Identity object The following information is issued about the object for identification of the EMCA: – Festo registration code with EtherCAT Technology Group (ETG) (Vendor ID) – Festo part number (Product code) – Revision number of the EtherCAT interface –...
  • Page 77 The internal storage cycle for saving the data can take some seconds. During this time, no additional SDOs can be processed. Until the internal saving cycle is ended, sent SDOs are answered with Generic error. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 78 Parameterisation of the EtherCAT interface With the help of the Festo Configuration Tool (FCT), settings at the EtherCAT interface can be read out and configured. The aim is to configure the EtherCAT interface via the Festo Configuration Tool (FCT) in such a way that the EMCA can establish EtherCAT communication with an EtherCAT controller.
  • Page 79 EtherCAT with FHPP 3.13 Commissioning with the Festo Configuration Tool (FCT) The first time the EMCA enters service is via the Festo Configuration Tool (FCT) è FCT help for Plu­ gIn EMCA. Note With activation of FCT in the device control, the Festo Configuration Tool (FCT) takes over master control via the EMCA.
  • Page 80 EMCA-EC-67-...-EC with device profile “FHPP” 1) YYYY = year, MM = month, DD = day Tab. 3.62 XML file for FHPP The latest version of the XML file è www.festo.com/sp 3.14.2 Function element The following function elements can be used to enable the EMCA.
  • Page 81 THE CIP NETWORKS LIBRARY: Volume 2 – EtherNet/IP Adaptation of CIP These documents discuss the general fundamentals and embedding of EtherNet/IP into the Common Industrial Protocols (CIP). User organisation: For additional information on the user organisation “ODVA (Open DeviceNet Vendor Association)” è http://www.odva.org Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 82 The status of EtherNet/IP is displayed over the following four LEDs. Description The following EtherNet/IP statuses are displayed: LINK/ACTIVITY, Port1 – EtherNet/IP communication – Warnings/malfunctions For additional information è page 378 LINK/ACTIVITY, Port 2 Tab. 4.1 LED indicator Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 83 EtherNet/IP copper cabling EtherNet/IP cables are 4-wire, screened copper cables. The maximum permissible segment length for copper cabling is 100 m. Use only EtherNet/IP-specific cabling for the industrial environment corresponding to è EN 61784-5-3:2013-09 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 84 The FCT settings are taken over into the permanent memory of the EMCA only after “Download”, “Save” and “Restart controller”. 4.3.2 Commissioning with the Festo Configuration Tool (FCT) Notes on commissioning with the Festo Configuration Tool can be found in the Help for the device-specific FCT plug-in. 4.3.3 Setting the IP address A unique IP address must be assigned to each device in the network.
  • Page 85 EtherNet/IP with FHPP Static addressing with Festo Configuration Tool (FCT) With the Festo Configuration Tool (FCT), the values for IP address, subnetwork mask and gateway ad­ dress can be assigned on the “Fieldbus” page in the “Operating Parameters” tab. Dynamic addressing The dynamic addressing parameterised in the FCT is only used if: –...
  • Page 86 By using an appropriate configuration tool, you can configure a device within a network. For the most current version of the EDS file è www.festo.com/sp The way in which the network is configured depends on the configuration software used. Follow the instructions of the controller manufacturer for registering the EDS file of the EMCA.
  • Page 87 EtherNet/IP with FHPP Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 88 The standard port for Modbus TCP is 502. The Ethernet control interface is used parallel to the Ethernet parameterisation interface (Festo Configuration Tool (FCT), web server). A maximum of one Modbus TCP connection at a time is possible. After the TCP connection has been made, it is normally kept open and only disconnected by the EMCA in case of error, with a timeout set or through the counterpart station.
  • Page 89 9. Address (unit identifier, Can be ignored (e.g. set to 0). – slave ID) è Section 5.3.4 Function code – è Section 5.3.4 9 ... Data – Tab. 5.1 Structure of Modbus telegram Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 90 The following operating statuses of the device are indicated: – Behaviour during the switch-on phase – Behaviour in the operating phase ERROR LED – Identification sequence active For additional information è page 372 OK LED Tab. 5.2 LED indicator Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 91 Screening (Shield) (socket housing is connection Shield to functional earth via RC link) Tab. 5.3 Ethernet interface [X1]: pin allocation 5.1.3 Ethernet cabling Shielded twisted-pair STP cables, Cat.5 or higher, must be used for cabling. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 92 – “DHCP server active” (DHCP server active, factory setting) – “Obtain IP address automatically” (Obtain an IP adress automatically) – “Use the following IP address” (fixed setting of IP address, subnet mask and standard gateway) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 93 – Interface parameters (TCP port, timeout) – Controller parameters (enable logic) – Network settings – Message options (parameter channel) After parameterisation and restart of the EMCA, the Modbus master can be configured è Section 5.3. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 94 Omron Sysmac Studio FestoMotionFHPP_V14.al14 Siemens Steuerung Tab. 5.4 Function elements for FHPP The latest version of the function elements è www.festo.com/sp 5.3.3 Cycle time Data are processed by the EMCA in a cycle time of up to 5 ms. 5.3.4 Modbus command and address assignment...
  • Page 95 The FHPP device profile offers a versatile combination of FHPP data. Depending on the FHPP standard data (FHPP), Festo parameter channel (FPC) and expanded FHPP standard data (FHPP+) used, the Quantity of registers and Byte count values for the process data vary.
  • Page 96 Field Bytes Values Byte no. Error code 0x83 Exception code 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure Tab. 5.7 Read process data, Function code 0x03 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 97 Field Bytes Values Byte no. Error code 0x90 Exception code 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure Tab. 5.8 Write process data, Function code 0x10 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 98 Field Bytes Values Byte no. Error code 0x97 Exception code 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure Tab. 5.9 Read/write process data, Function code 0x17 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 99 Field Bytes Values Byte no. Error code 0x87 Exception code 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure Tab. 5.10 Read exception status, Function code 0x07 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 100 Field Bytes Values Byte no. Error code 0xAB Exception code 0x01: illegal function 0x02: illegal data address 0x03: illegal data value 0x04: server device failure Tab. 5.11 Read device identification, Function code 0x2B Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 101 5.3.11 Data objects for Modbus command “Read Device Identification” Object ID Object Name Access Content Basic 0x00 VendorName Manufacturer name: “Festo AG & Co KG” 0x01 Product Code Product Key (11-digit code) 0x02 MajorMinorRevision Firmware version (e.g. 1.3) Regular 0x00 VendorName Manufacturer name: “Festo AG &...
  • Page 102 PROFINET (PROcess Field Network) is the open Industrial Ethernet standard from PROFIBUS and PROFINET International (PI). PROFINET is standardized in IEC 61158 and IEC 61784. User organisation: For additional information on the user organisation “PROFIBUS and PROFINET International (PI)” è www.profibus.com Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 103 The status of PROFINET is displayed over the following four LEDs. Description The following PROFINET statuses are displayed: LINK/ACTIVITY, Port1 – PROFINET communication – Warnings/malfunctions For additional information è Page 379 IDENT/STATE LINK/ACTIVITY, Port 2 Tab. 6.1 LED indicator Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 104 PROFINET cables are 4-core, sheathed copper cables. The maximum permitted transmission length between communication terminal points (PROFINET-End-to-End Link) for copper cabling is 100 meters. Only use PROFINET-specific cabling compliant with Conformance Class B è EN 61784-5-3 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 105 RTC class Comments Is supported RTC1 Non-synchronous communication within a subnet RTC2 Non-synchronous communication None Synchronous communication None RTC3 Cycle-synchronous communication RTC over UDP Tunnelled UDP communication None Tab. 6.4 Real-time classes RTC Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 106 Redundancy Manager (RM) and to forward the MRP packages. In the event of a line failure, the EMCA adopts the new path specifications from the RM and uses them. The EMCA cannot adopt the tasks of an RM. Tab. 6.5 Supported protocols Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 107 Parameterisation of the PROFINET interface With the help of the Festo Configuration Tool (FCT), settings at the PROFINET interface can be read out and configured. The aim is to configure the PROFINET interface via the Festo Configuration Tool (FCT) in such a way that the EMCA can establish PROFINET communication with a PROFINET controller.
  • Page 108 Configuration and parameterisation are performed using the Festo Configuration Tool (FCT), page “Fieldbus”, register “FHPP+ Editor”. Commissioning with the Festo Configuration Tool (FCT) The first time the EMCA enters service is via the Festo Configuration Tool (FCT) è FCT help for Plu­ gIn EMCA. Note With activation of FCT in the device control, the Festo Configuration Tool (FCT) takes over master control via the EMCA.
  • Page 109 – Device name: “ ” The EMCA then reports with this configuration on the bus. These default settings comply with PROFINET specification (AL service “Reset communication parameters”). Tab. 6.6 Permanent storage of network settings and device name Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 110 UINT8 V1.1 IM_VERSION (minor) 0x01 I&M 0, minor version number UINT8 V1.1 62…63 IM_SUPPORTED 0x001E I&M 1/2/3/4 are supported 16-bit array 1) V = officially released version Tab. 6.7 PROFINET I&M 0 Block Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 111 The following GSDML file should be used to configure the EMCA in the PROFINET master (e.g. higher- order controller). Type code File GSDML-V…-FESTO-EMCA-PN-….XML EMCA-EC-...-PN with device profile “FHPP” Tab. 6.8 GSDML file The latest version of the GSDML file è www.festo.com/sp The GSDML file supports the following languages: Language XML tag English PrimaryLanguage German Language xml:lang=“de”...
  • Page 112 – Slot 1 – Subslot 1 (FHPP standard data) – Channel 0x8000 The diagnostic message numbers of the Festo Configuration Tool (FCT) è Page 386 are transmitted in the manufacturer-specific channel diagnosis area (ChannelErrorType) 03E8 … 7FFF Example: FCT diagnostic message “FCT connection with master control”...
  • Page 113 PROFINET IO with FHPP Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 114 – FHPP+ data è page 239 for transmission of additional FHPP parameters The Festo Parameter Channel (FPC) and the FHPP+ data are an extension of the FHPP standard data and can optionally be used. With CANopen, FHPP reference parameters (PNUs) can optionally be accessed via the service data objectsSDO (Service data objects) è...
  • Page 115 Structure of the FHPP message The structure of the FHPP message is dependent on activation of the parameter channel (FPC) in the FHPP+ Editor of the Festo Configuration Tool (FCT). For CANopen, the parameter channel (FPC) is always active. FHPP message with parameter channel (FPC) (byte 1 ... 32)
  • Page 116 FHPP Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 117 SA4 Homing is carried positive SA6 Jog TA11 negative TA12 SA2 Positioning task active SA3 Intermediate stop 1) The status transition T7 (malfunction detected) always has the highest priority. Fig. 8.1 FHPP finite state machine Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 118 – Controller enable (CO/EC/EP/PN [X9.4]; DIO [X9.16]) (Parameterisation of the control­ ler enable signals è PNU 128 or FCT) – STO channel (STO1/STO2) [X6.4/X6.5] For additional information è Description for “Integrated drive with bus interface, EMCA-EC-SY-...” Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 119 2) The status transition T7 (malfunction detected) always has the highest priority. 3) Note: The status transition T10 permits acknowledgement of malfunctions without having to switch off the controller. Tab. 8.1 “Establish ready status” status transitions Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 120 Homing is present. Start positioning task CPOS.HALT, B0 = 1 CPOS.START, B1 = 0 } 1 } CPOS = 0xx0.00P1 1) P = rising edge (positive), N = trailing edge (negative), x = any Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 121 } CPOS = 0xx0.0Px1 Homing completed. None None Cancel homing with “Halt”. CPOS.HALT, B0 = 1 } 0 } CPOS = 0xxx.xxxN 1) P = rising edge (positive), N = trailing edge (negative), x = any Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 122 Cancel negative jog with “Halt”. CPOS.HALT, B0 = 1 } 0 } CPOS = 0xxx.xxxN 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 8.2 Status transitions “Operation enabled” Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 123 FPC parameter channel FHPP+ data (8 bytes) (8 bytes) (Max. 16 bytes) 10 11 12 13 14 15 16 CCON, CPOS, ... PNU…/file PNU… PNU... Tab. 8.4 Structure of the FHPP message with FPC parameter Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 124 Status data Status byte (I data) SCON SPOS SDIR Actual value 1 Actual value 2 è page 128 è page 134 è page 135 è page 136 è page 138 è page 139 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 125 EtherCAT Double word (LSB) (MSB) Modbus TCP Big endian Register PROFINET IO Word (MSB) (LSB) Double word (MSB) (LSB) 1) LSB: least significant byte 2) MSB: most significant byte Tab. 8.5 Byte order Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 126 – Force/torque ative activated – Speed Control byte 4 è page 133 Record selection mode Reserved Direct operation Setpoint Setpoint value 1 (bit 0 … 7), supplemental parameter of the operating mode value 1 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 127 Direct operation Setpoint Byte 5 Byte 6 Byte 7 Byte 8 value 2 Setpoint value 2 (bit 0 … 31), target value of the operating mode Tab. 8.6 Overview, assignment of the control bytes Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 128 Direct operation SDIR FUNC XLIM VLIM COM2 COM1 Function – Stroke Speed – Control mode feed­ Abso­ limit limit is ex­ back lute/rel­ reached reached ecuted – Position ative – Force/torque – Speed Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 129 Position actual value (bit 0 … 31) tion Direct operation Actual Byte 5 Byte 6 Byte 7 Byte 8 value 2 Actual value 2 (bit 0 … 31) Tab. 8.7 Overview, assignment of the status bytes Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 130 EMCA è page 154. LOCK cess cess = 1: The Festo Configuration Tool (FCT) cannot take over the device control. FCT may only observe the EMCA. = 0: The Festo Configuration Tool (FCT) can assume control of the device to change parameters or control inputs.
  • Page 131 Delete remaining path and end current position­ ing order. After that, the EMCA changes into the FHPP status “Ready (SA1)” è page 117. – – = 0: Reserved Tab. 8.9 Control byte 2 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 132 = 1: Stroke monitoring is not active. = 0: Stroke monitoring is active. – – = 0: Reserved Function Function = 0: Reserved FUNC Tab. 8.11 Control byte 3 – Direct mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 133 Speed [SINC/s] è page 145 Geschwindigk Velocity Force/torque mode (CDIR.COM1/2) Drehmoment Torque Torque [0 … 100 % of the “force base value (PNU 555)”] è page 298 Tab. 8.13 Control bytes 5 … 8 – direct mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 134 Operating Display Oper­ Feedback on FHPP operating mode OPM1 ating Mode mode acknow­ Bit 7 Bit 6 Operating mode ledgement Record selection mode OPM2 Direct mode Reserved Reserved Tab. 8.14 Status byte 1 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 135 Axis is not in the tolerance window after MC. Drive refer­ Axis = 1: Reference point is present. Homing does not have enced Referenced to be performed. = 0: Homing must be performed. Tab. 8.15 Status byte 2 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 136 Stroke limit is reached. = 0: Stroke limit is not reached. – – = 0: Reserved Function feed­ Function Feed­ = 0: Reserved FUNC back back Tab. 8.17 Status byte 3 – direct mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 137 Stroke limit is reached. = 0: Stroke limit is not reached. – – = 0: Reserved Function feed­ Function Feed­ = 0: Reserved FUNC back back Tab. 8.18 Status byte 4 – record selection mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 138 è page 296 Drehmoment Torque Force secondary actual value (PNU 523.7 = 1)(factory setting): Torque [… % of the “Force base value (PNU 555)”] è page Tab. 8.19 Status byte 4 – direct mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 139 Position [SINC] è page 145 Drehmoment Torque Force main actual value (PNU 523.8 = 1): Torque [… % of the “Force base value (PNU 555)”] è page Tab. 8.21 Status bytes 5 … 8 – direct mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 140 FHPP standard data (I/O data) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 141 “reversal of direction” (PNU 1000). The adjustment of the used axis type (e.g. spindle drive), for example, can be dependent application-specifically on the attachment position of the EMCA to the linear axis and on the gear unit used. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 142 Usable work range of the drive (working stroke) 1) If an axis is configured with an unlimited work range, no software end positions can be parameterised. Tab. 9.1 Dimension system for linear drives Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 143 Usable work range of the drive (positioning range) 1) If an axis is configured with an unlimited work range, no software end positions can be parameterised. Tab. 9.2 Measuring system for rotative drives Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 144 Parameterisation of the following messages can influence beha­ viour if the software end positions are violated: 11 , 12 , 13 , 14 , 29 , 2A For additional information on determining the behaviour è FCT error management. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 145 The exponents for position, speed, acceleration (and deceleration) and jerk are application-specific and are determined for the drive configuration of the EMCA in Festo Configuration Tool (FCT). The displayed units of the project have the value of an interface unit [SINC…].
  • Page 146 Power of 10 exponent (PNU 600) = -7 Basic unit (PNU 601, value = 0x01) = metre Calculation: – 1 SINC: 1 * 10 m = 0.1 μm – 10,000 SINC: 10,000 * 10 m = 1 mm Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 147 Tab. 9.5 FHPP parameters: conversion factors The gear ration and feed constant are determined automatically in the Festo Configura­ tion Tool (FCT) in drive configuration. The reversal of direction can be configured in the Festo Configuration Tool (FCT) in the application data.
  • Page 148 Measuring reference system Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 149 Control via FHPP Control via FHPP The device profile “Festo Handling and Positioning Profile (FHPP)” makes the following operating modes available for operation of the EMCA. Operating mode Description Page Homing mode – Performance of homing to determine the reference point...
  • Page 150 (PNU 401.B1/2 = 1/0) Direct operation (CCON.OPM1, B6 = 1/CCON.OPM2, B7 = 0) Positioning mode (CDIR.COM1/2, B1/2 = 0/0) Speed mode (CDIR.COM1/2, B1/2 = 0/1) Force/torque mode (CDIR.COM1/2, B1/2 = 1/0) Fig. 10.1 Overview: operating modes Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 151 “FCT: 34 ” will be triggered. The error can be acknowledged after error elimination. 2) Parameterisation of the controller enable signals è PNU 128 or FCT Fig. 10.2 Diagram: Establish ready status Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 152 2) Requirement: controller enable (CO/EC/EP/PN [X9.4]; DIO [X9.16]) (parameterisation of the controller enable signals è PNU 128 or FCT) and input channels STO1/STO2 [X6.4/X6.5] = 24 V 3) The brake is automatically triggered when the drive is enabled. 4) Requirement: Drive is referenced. Tab. 10.2 Create ready status Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 153 – 6. Enable operation è Tab. 10.2 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 10.4 Cancel homing, jog, record selection or direct mode with “Stop” Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 154 EMCA. In this status, the controller has no control over the EMCA. 10.3.1 Master control over the EMCA Diagram: Master control over the EMCA The diagram shows the transfer of master control between the controller and the Festo Configuration Tool (FCT). Power ON EMCA FCT drive control (SCON.FCT/MMI, B5)
  • Page 155 For additional information è Description for “Integrated drive with bus interface, EMCA-EC-SY-...”. Software end positions The software end positions are deactivated with the start of homing and reactivated after a valid homing. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 156 1013 Acceleration/deceleration 158, 308 1015 Max. speed (for stop detection) 159, 308 1016 Speed limit, stop detection 159, 308 1017 Damping time, stop detection 159, 308 Tab. 10.5 FHPP parameters for homing mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 157 1) P = rising edge (positive), N = trailing edge (negative), x = any 2) The control bit “Start homing” CPOS.HOM, B2 may only be reset when the status bit “Start acknowledgment” SPOSACK, B1 is set. Tab. 10.6 Control homing Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 158 Start homing (CPOS.HOM, B2) Acknowledge start (SPOS.ACK, B1) Motion complete (SPOS.MC, B2) Axis is moving (SPOS.MOV, B4) Drive referenced (SPOS.REF, B7) Fig. 10.4 Diagram: Diagram: Homing to reference/limit switch in a positive direction Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 159 (PNU 1013.1) Start homing (CPOS.HOM, B2) Acknowledge start (SPOS.ACK, B1) Motion complete (SPOS.MC, B2) Axis is moving (SPOS.MOV, B4) Drive referenced (SPOS.REF, B7) Fig. 10.5 Diagram: Homing to stop in a positive direction Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 160 Homing Switch without Index Positive (23) Negative (27) Homing Switch with Index Positive (07) Negative (11) 1) The homing methods are oriented on the CANopen device profile CiA 402 V 3.0. Tab. 10.7 Homing methods Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 161 2. Optional: travel to the axis zero point. Direction: positive (method 22 ; 34) Direction: negative (method 21 ; 33) Index Index Tab. 10.9 Homing method – homing to index Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 162 (e.g. due to frictional grip), there is a danger that the drive will come to a standstill and the controller will recognise a stop incorrectly. Note When homing to stop: • Protect delicate stops by reducing the search speed. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 163 1) Limit switches are ignored during travel to the stop. 2) In this homing method, the option “Travel to axis zero point” is always active. Tab. 10.10 Homing method – homing to stop Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 164 3. Optional: Travel to the axis zero point Direction: positive (method 12 ; 18) Direction: negative (method 11 ; 17) Negative limit switch Positive limit switch Tab. 10.11 Homing method – homing to limit switch without index Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 165 3. Optional: Travel to the axis zero point Direction: positive (method 02 ; 02) Direction: negative (method 01 ; 01) Negative limit switch Positive limit switch Index Index Tab. 10.12 Homing method – homing to limit switch with index Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 166 3. Optional: Travel to the axis zero point Direction: positive (method 17 ; 23) Direction: negative (method 1B ; 27) Reference switch Homing Switch Tab. 10.13 Homing method – homing to reference switch without index Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 167 3. Optional: Travel to the axis zero point Direction: positive (method 07 ; 7) Direction: negative (method 0B ; 11) Reference switch Reference switch Index Index Tab. 10.14 Homing method – homing to reference switch with index Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 168 170, 295 Speed fast – phase 2 170, 295 Acceleration/deceleration 170, 295 Time duration phase 1 170, 295 Following Error Window 170, 295 Following error delay time Tab. 10.15 FHPP parameters for jog operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 169 Tab. 10.16 Control jogging (example, travel in a positive direction) Note If both jog signals “Jog positive” (CPOS.JOGP) or “Jog negative” (CPOS.JOGN) are active simultaneously, the signal that was set first is always executed. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 170 (SPOS.ACK, B1) Motion complete (SPOS.MC, B2) Axis is moving (SPOS.MOV, B4) 1) For additional information on the following error è page 214 Fig. 10.6 Diagram: jog operation (“Jog positive” shown as an example) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 171 Position comparator, max. (upper limit value) PNU 431 1) The desired record number of the record must be parameterised in the parameter “target record number” (PNU 400.1). Tab. 10.18 Overview of teach targets Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 172 = 0xNx.xxxx = 0000.010x 8.3 Save value Save data PNU 127.2 B = 1 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 10.19 Control teach mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 173 Handshake during teaching Note – Taught values, like all written parameters, must be permanently stored by writing PNU 127:2 with the value 1 so they will be secure in case of power failure. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 174 Feedback on operating mode (FHPP) (SCON.OPM1/2) (Status byte 1) Record number (actual) FHPP-Standard (Status byte 3) Status data (SCON/SPOS/RSB/actual position) (Status byte 1/2/4/5 … 8) Fig. 10.8 Overview: Data exchange in the record selection mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 175 Start delay Start delay P/V/F 180, 285 Start condition Start condition P/V/F Torque feed forward Factor torque pilot control P/V/F 1) P = positioning mode; V = speed (velocity) mode; F = force/torque mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 176 Force comparator damping time P/V/F Time comparator, min. P/V/F Time comparator, max. P/V/F 1) P = positioning mode; V = speed (velocity) mode; F = force/torque mode Tab. 10.20 FHPP parameters for the record selection mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 177 – 10.1 Cancel positioning task with “Stop” è page 153 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode, R = specification of record number 2) Current actual value. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 178 = 00x0.00P1 = 0000.0011 Next step: – 8.3 Positioning task active è Tab. 10.21 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 10.22 Control intermediate stop Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 179 – 8.1 Prepare start “positioning task” (TA1) è Tab. 10.21 – 8. Control operation è page 152 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode Tab. 10.24 Stroke limit reached Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 180 “Stop”. The drive is stopped with the quick ing task” can be set to 0. stop deceleration (PNU 1029). The EMCA reacts to this with a trailing edge at “Start acknowledgment”. Fig. 10.9 Diagram: Start and stop record Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 181 With the rising edge of “Start positioning “Halt” = 0 (delay (PNU 408)). In this status, task”, the record “N” is continued. “Motion complete” = 0. Fig. 10.10 Diagram: Interrupt and continue positioning record Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 182 Actual record number N + 1 (Status byte 3) Interrupt positioning record with Halt Start new record “N + 1” Delete remaining path Destination reached Fig. 10.11 Diagram: Interrupt positioning record and delete remaining path Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 183 3) For additional information on the following error è page 214 4) Feedback: Status byte “speed limit reached” (RSB.VLIM, B4). 5) For additional information on “motion complete” è page 212 Fig. 10.12 Diagram: point-to-point positioning Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 184 1) For additional information on stroke monitoring è page 191 2) For additional information on the following error è page 214 3) For additional information on “motion complete” è page 212 Fig. 10.13 Diagram: speed mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 185 1) For additional information on stroke monitoring è page 191 2) Feedback: Status byte “speed limit reached” (RSB.VLIM, B4). 3) For additional information on “motion complete” è page 212 Fig. 10.14 Diagram: force/torque mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 186 436 … 438 Force comparator P/V/F 439 … 440 Time comparator P/V/F 1) P = positioning mode; V = speed (velocity) mode; F = force/torque mode Tab. 10.25 FHPP parameters for the record selection mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 187 Bit 7 – – Record sequencing is active – – Record sequencing is blocked 1) May only be used for test purposes with FCT. Tab. 10.26 Step enabling conditions for automatic record chaining Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 188 Next step: 8. Control operation è page 152 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode Tab. 10.27 Control record chaining Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 189 N + 3 (Status byte 3) 1) Depending on the parameter “MC with record sequencing (PNU 425)”: bit = 1: MC visible, bit = 0: MC not visible Fig. 10.15 Diagram: record chaining Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 190 Start positioning task (CPOS.START, B1) Acknowledge start (SPOS.ACK, B1) Motion complete (SPOS.MC, B2) Axis is moving (SPOS.MOV, B4) Actual record number N + 1 (Status byte 3) Fig. 10.16 Diagram: record sequencing with final speed Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 191 For stroke monitoring, the following FHPP parameters are available. Name Page 300.1 Current position 310.1 Current speed Record control byte 1 – Bit 5: stroke monitoring Stroke limit 1029 Quick stop deceleration Tab. 10.28 FHPP parameters for stroke monitoring Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 192 (PNU 427) Current position (PNU 300.1) Current speed (PNU 310.1) Quick stop deceleration (PNU 1029) Stroke limit reached (RSB.XLIM, B5) Motion complete (SPOS.MC, B2) Fig. 10.17 Diagram: stroke monitoring – example force/torque mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 193 Feedback on operating mode (FHPP) (SCON.OPM1/2) (Status byte 1) Actual value 1/actual value 2 FHPP-Standard (Status byte 4/5 … 8) Status data (SCON/SPOS/SDIR) (Status byte 1 … 3) Fig. 10.18 Overview: data exchange in direct operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 194 1) P = positioning mode; V = speed (velocity) mode; F = force/torque mode 2) The controller transfers a percentage value in the control bytes, which is multiplied by the base value to get the setpoint value. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 195 1) P = positioning mode; V = speed (velocity) mode; F = force/torque mode 2) The controller transfers a percentage value in the control bytes, which is multiplied by the base value to get the setpoint value. Tab. 10.29 FHPP parameters for direct operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 196 Actual value 2 byte 5 ... 8 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode, R = setpoint specification 2) Current actual value. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 197 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode, R = setpoint specification 2) Current actual value. Tab. 10.30 Control direct operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 198 – 8.1 Prepare start “positioning task” (TA1) è Tab. 10.30 – 8. Control operation è page 152 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 10.32 Delete remaining path Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 199 – 8.1 Prepare start “positioning task” (TA1) è Tab. 10.30 – 8. Control operation è page 152 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode Tab. 10.33 Stroke limit reached Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 200 “Stop”. The drive is stopped hereby with the positioning task” can be set to 0. quick stop deceleration (PNU 1029). The EMCA reacts to this with a trailing edge at “Start acknowledgment”. Fig. 10.19 Diagram: Start and stop positioning task Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 201 With the rising edge of “Start positioning “Halt” = 0 (delay (PNU 542)). In this status, task”, the positioning task “N” is continued. “Motion complete” = 0. Fig. 10.20 Diagram: Interrupt and continue positioning task Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 202 (Status byte 5 … 8) Interrupt positioning task with Halt Start new positioning task “N + 1” Delete remaining path Target position reached Fig. 10.21 Diagram: Interrupt positioning task and delete remaining path Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 203 3) For additional information on the following error è page 214 4) Feedback: speed limit reached (SDIR.VLIM, B4). 5) For additional information on “motion complete” è page 212 Fig. 10.22 Diagram: point-to-point positioning Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 204 1) For additional information on stroke monitoring è page 207 2) For additional information on the following error è page 214 3) For additional information on “motion complete” è page 212 Fig. 10.23 Diagram: speed mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 205 (SPOS.MC, B2) 1) For additional information on stroke monitoring è page 207 2) Feedback: speed limit reached (SDIR.VLIM, B4). 3) For additional information on “motion complete” è page 212 Fig. 10.24 Diagram: force/torque mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 206 Start positioning task (CPOS.START, B1) Acknowledge start (SPOS.ACK, B1) Motion complete (SPOS.MC, B2) Axis is moving (SPOS.MOV, B4) Actual position (Status byte 5 … 8, actual value 2) Fig. 10.25 Diagram: final speed Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 207 Operating Page mode 300.1 Current position 310.1 Current speed Stroke limit Stroke limit 1029 Quick stop deceleration 1) F = force/torque mode, V = speed mode Tab. 10.34 FHPP parameters for stroke monitoring Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 208 (PNU 510) Current position (PNU 300.1) Current speed (PNU 310.1) Quick stop deceleration (PNU 1029) Stroke limit reached (SDIR.XLIM, B5) Motion complete (SPOS.MC, B2) Fig. 10.26 Diagram: stroke monitoring – example force/torque mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 209 The higher-order controller (PLC/IPC) can read out the position value via the PNU 350.1/351.1. Parameters for position sampling (flying measurement) Page Position value [SINC] with rising edge 350.1 Position value [SINC] with trailing edge 351.1 Sample operating mode 352.1 Tab. 10.35 Parameters for flying measurement Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 210 Control via FHPP Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 211 – after halt Comparator Monitors the activated tolerance window during an order, e.g. for (Comparator) control of record sequences or for control of any other actions through the higher-order controller Tab. 11.1 Messages Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 212 Speed setpoint value Speed message window reached 1023 Target damping time reached Force/torque mode 301.1 Current force Force setpoint value Force message window reached 1023 Target damping time reached Tab. 11.2 FHPP parameters: Motion complete Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 213 Position setpoint value (PNU 404) Current position (PNU 300.1) Target damping time reached (PNU 1023) Motion complete (SPOS.MC, B2) 1) Direct operation 2) Record selection mode Fig. 11.1 Diagram: Motion complete – example positioning mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 214 Following error delay time D, R Jog mode 300.3 Current following error Following Error Window Following error delay time 1) D = direct operation, R = record selection mode Tab. 11.3 FHPP parameters for following error Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 215 (PNU 300.1) Current setpoint position (PNU 300.2) start (CPOS.START, B2) Following error delay time (PNU 1045) Following error Message 2Fh Fig. 11.2 Diagram: following error – example, positioning mode in record selection mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 216 FHPP parameters: standstill monitoring For standstill monitoring, the following FHPP parameters are available. Name Page 1040 Setpoint position 1041 Current position 1042 Standstill message window 1043 Standstill delay time Tab. 11.4 FHPP parameters for standstill monitoring Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 217 (PNU 1040) Current position (PNU 1041) Target damping time reached (PNU 1023) Motion complete (SPOS.MC, B2) Standstill delay time (PNU 1043) Standstill monitoring (SPOS.STILL, B6) Fig. 11.3 Diagram: standstill monitoring – example positioning mode Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 218 The limits are specified between -1000 to +1000 ‰ related to the force basic value (PNU 555). The message is active if the actual value for the parameterised time lies within the window. Tab. 11.5 Comparators Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 219 Position comparator, damping time Speed comparator, min. Speed comparator, max. Speed comparator, damping time Force comparator, min. Force comparator, max. Force comparator, damping time Time comparator, min. Time comparator, max. Tab. 11.6 Parameters for the comparators Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 220 For applications that do not require a braking resistor, this dia­ gnostic message can be classified as information (è Tab. F.8.). The diagnostic message then has no external effect. Tab. 11.7 Protective functions Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 221 The I2t monitoring brings additional protection to the temperature sensor if, for ex­ ample, very high 1-phase currents flow at standstill or if, during homing to a stop, the stop is not detected. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 222 Message “CAN: 2312h/FCT: 0Eh” Error acknowledgment:  95% Störung quittieren (CCON.RESET, B3) 1) Resetting of the warning always takes place at 5 % below the I2T warning threshold value. Fig. 11.4 Diagram: I2t monitoring Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 223 Monitoring of the drive behaviour Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 224 A.1.1 Function The Festo Parameter Channel (FPC) is an expansion of the FHPP standard data and is used for cyclical transmission of parameters (PNU) or parameter files. Depending on the control interface, the FHPP message for the Festo Parameter Channel (FPC) has an additional 8 bytes of “Control and status data”...
  • Page 225 Festo Parameter Channel (FPC) Enhanced Festo Parameter Channel (EFPC) The EFPC extended Festo parameter channel permits automated transmission of parameters and larger datasets in the form of a parameter file. Modules with which transmission can be easily implemented are available for some selec­...
  • Page 226 Transmitting parameters (array, double word). 0111 Task cannot be carried out with error code (transmission of parameter or parameter file is currently not possible). Tab. A.6 Task identifier (Req-ID) and response identifier (Res-ID) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 227 Faulty sub-index 0x0B No supervising access 0x11 Job cannot be carried out in the operating status. 0x65 Festo: ReqID is not supported. 0x66 Festo: Parameter is write-only. Tab. A.7 Error codes in parameter transmission Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 228 Parameter file transmission is active. 0111 (7) Task cannot be carried out with error code (transmission of parameter or parameter file is currently not possible). Tab. A.9 Task identifier (Req-ID) and response identifier (Res-ID) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 229 Stop data transmission No data xxxxx Faults No data or error code 1) The sequence number starts at 0 and is increased by 1 with every transmission. Tab. A.10 Control or status bits Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 230 Byte 4 Byte 3 Byte 8 Byte 7 Byte 6 Byte 5 Tab. A.11 Rotation of the user data The size of the transmitted parameter file is in byte 3 and byte 4. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 231 A stop, sending of “No job” or an error message can be written at any time in the control bits and inter­ rupts the upload or download. A check of the sequence number then does not take place. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 232 Request package 33 FPCC = 0100 0100 Package ID = 000 00001 No data Sending complete FPCS = 0100 0011 Package ID = 010 00001 No data Fig. A.3 Sequence of parameter file upload Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 233 Sending complete FPCC = 0100 0101 Package ID = 010 00001 No data Parameters saved FPCS = 0100 0011 Package ID = 010 00001 No data Fig. A.4 Sequence of parameter file download Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 234 Package 2 faulty FPCC = 0100 0100 Package ID = 011 00011 Data = error code Confirm error FPCS = 0100 0011 Package ID = 011 00011 No data Fig. A.5 Error in parameter upload Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 235 Data = error code 0x65 Festo: ReqID is not supported Fig. A.7 Error FPCC is not supported The value in FPCC cannot be evaluated. The request ID included in the FPCC is not supported. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 236 Fig. A.8 Error EFPC is blocked Certain functions are blocked during active parameter transmission, e.g. switching to download is not allowed during an upload, and vice versa, before transmission is stopped by the controller. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 237 Timeout in accessing the parameter file, e.g. error is still present and must be acknowledged Tab. A.13 Error codes in the parameter file transmission – error type 2 The errors differ regarding the effect on transmission è Tab. A.14: Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 238 (0x11) Job cannot be carried out download can be continued. in the operating status To cancel the transmission, a stop com­ 101 (0x65) Festo: ReqID is not sup­ mand must be sent. ported Error type 1: is reported in package ID...
  • Page 239 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 FHPP standard data FHPP+ data (8 bytes) (Max. 24 bytes) 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Tab. B.2 24 bytes FHPP+ data Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 240 600 … 699 Parameters for unit conversion. Axis data: electric 1000 … 1099 All axis-specific parameters for electric drives, drives 1 e.g. gear ratio, feed constant, reference parameters. Tab. C.1 FHPP parameter structure Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 241 (FHPP responsed telegram) (2029 FHPP receive telegram status uint32 (FHPP receive telegram state) (202A FHPP response telegram status uint32 (FHPP responsed telegram state) (202B 1) Can only be used with CANopen Tab. C.2 FHPP+ Data Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 242 (Controllogic) (207D Data memory control 1 … 4 uint32 (Data memory control) (207F Controller enable signals uint8 (Controller enable signals) (2080 1) Can only be used with CANopen Tab. C.3 Device data Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 243 1 … 255 uint16 (Error reaction 1) (20F2 Fault handling 1 1 … 255 uint16 (Malfunction handling 1) (20F6 Safety status uint8 (Safety state) (2118 1) Can only be used with CANopen Tab. C.4 Diagnostics Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 244 (Sample position, rising edge) (215E Sample position, trailing edge int32 (Sample position, falling edge) (215F Sample operation mode uint8 (Sample mode) (2160 1) Can only be used with CANopen Tab. C.5 Process data Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 245 (End velocity) (21A7 Max. deviation 1 … 64 int32 (Max. control deviation) (21A8 MC with record sequencing 1 … 64 uint8 (MC visible during record sequence) (21A9 1) Can only be used with CANopen Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 246 Speed setpoint value 1 … 64 int32 (Setpoint value velocity) (21B9 Force setpoint value 1 … 64 int16 (Setpoint value force) (21BA 1) Can only be used with CANopen Tab. C.6 Record list Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 247 Time period phase 1 uint16 (Time phase 1) (2216 Following error message window int32 (Following error window) (221A Following error delay time uint16 (Following error timeout) (221B 1) Can only be used with CANopen Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 248 (2230 Speed message window reached int32 (Velocity target window) (2231 Stroke limit int32 (Stroke limit) (2236 Speed deviation message window int32 (Velocity difference error window) (2238 1) Can only be used with CANopen Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 249 (Force comparator window time) (2251 Time comparator, min. uint32 (Time comparator minimum) (2252 Time comparator, max. uint32 (Time comparator maximum) (2253 1) Can only be used with CANopen Tab. C.7 Project data Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 250 (Velocities) (23F4 Acceleration/deceleration 1013 int32 (Acceleration/Deceleration) (23F5 Max. torque 1015 int16 (Max. torque) (23F7 Speed limit, stop detection 1016 int32 (Velocity threshold block detection) (23F8 1) Can only be used with CANopen Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 251 (2406 Max. current 1034 int32 (Max. current) (240A Nominal motor current 1035 int32 (Motor rated current) (240B Nominal motor torque 1036 int32 (Motor rated torque) (240C 1) Can only be used with CANopen Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 252 (Min./max. temperature CPU) (2429 Current temperature output stage 1066 int8 (Actual temperature output stage) (242A Min./max. temperature output stage 1068 1, 2 int8 (Min./max. Temperature output stage) (242C 1) Can only be used with CANopen Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 253 1 … 3 int32 (Actual phase current) (2433 Torque Feed Forward control 1080 uint16 (Torque feed forward control) (2438 1) Can only be used with CANopen Tab. C.9 Axis parameters: electric drives 1 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 254 Values with sign (8, 16, 32 bit) – int8: −128 … 127 – int16: −32,768 … 32,767 – int32: −2147483648 … 2147483647 Character (8 bits) – char: 0 … 255 (ASCII) Fig. C.1 Representation of the parameter entries Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 255 2nd PNU (2nd PNU) 2nd transmitted PNU: Value: 0x00010002 (PNU 2.1) Subindex 3 … 10 3rd … 10.PNU (3rd … 10th PNU) 3rd … 10th transmitted PNU: Any PNU Tab. C.10 PNU 40 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 256 2nd PNU (2nd PNU) 2nd transmitted PNU: Value: 0x00010002 (PNU 2.1) Subindex 3 … 10 3rd … 10.PNU (3rd … 10th PNU) 3rd … 10th transmitted PNU: Any PNU Tab. C.11 PNU 41 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 257 Entry cannot be modified in the current status (e.g. during ongoing cyclic communication). 16/32-bit entry starts with an uneven address. 30 … 31 0 reserved Note If the transmitted telegram is correct, all bits = 0. Tab. C.13 PNU 43 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 258 Reading of the FHPP version. The FHPP version number of the device consists of 4 numerals (e.g. “xxyy”). Format (16 bit, BCD) Numerals Significance Main version number Secondary version number Tab. C.16 PNU 102 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 259 Data type: uint16 Access: ro Reading of the FCT version, which is required for operation of the firmware. The min. version number of the Festo Configuration Tool (FCT) consists of 4 numerals (e.g. “xxyy”). Format (16 bit, BCD) Numerals Significance...
  • Page 260 Brake of the motor Value Significance 0x01 (1) Without brake 0x02 (2) With brake Subindex 7 Control panel (Control panel) Control panel Value Significance 0x01 (1) Without control panel Tab. C.19 PNU 115 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 261 Drive manufacturer (Drive manufacturer) Subindex 1 … 30 Class: Array Data type: char Access: ro Reading of the drive manufacturer’s name (ASCII, 7-bit). Fixed: “Festo AG & Co. KG” Unused characters are filled with zero (00h=’\0’). Tab. C.22 PNU 122 PNU 123 HTTP address of manufacturer (HTTP drive catalog address) Subindex 1 …...
  • Page 262 (parameterisation of the controller enable signals è PNU 128 or FCT) – Input channels (STO1/STO2) [X6.4/5] = 24 V Value Significance SCON.FCT/MMI 0x00 (0) Master control with Festo Configuration Tool (FCT) 0x01 (1) Fieldbus has master control Presetting after each Power ON or Controller restart (FCT). Tab. C.25 PNU 125...
  • Page 263 Value Required enable signals Communication Control Enable Digital input + Communication Control Enable Communication Control Enable: e.g. controller enable via fieldbus with CCON.ENABLE or FCT- Freigabe Tab. C.27 PNU 128 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 264 Newest/current diagnostic message Subindex 2 Event 2 (Event 2) 2nd saved diagnostic message Subindex 3 … 200 Event 3 … 200 (Event 3 … 200) 3rd … 200th saved diagnostic message Tab. C.29 PNU 201 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 265: Table Of Contents

    Additional information for the 2nd saved diagnostic message Subindex 3 … 200 Event 3 … 200 (Event 3 … 200) Additional information for the 3rd … 200th saved diagnostic message Tab. C.31 PNU 203 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 266: Pnu

    Device fault (Device fault) Subindex 1 Class: Var Data type: uint16 Mappable Access: ro Read the active fault with the highest priority. If no fault is present, 0xFFFF (65535) is returned. Tab. C.33 PNU 205 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 267 500 kBit/s 0x03 (3) 250 kBit/s 0x04 (4) 125 kBit/s 0x05 (5) 100 kBit/s 0x06 (6) 50 kBit/s 0x07 (7) 20 kBit/s Subindex 4 Node number (Node-ID) Current CAN-bus node number (1 … 127). Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 268 0 entry (0th Entry) Diagnostic numbers 0 … 31 Subindex 2 1st entry (1st Entry) Diagnostic numbers 32 … 63 Subindex 32 31. entry (31th Entry) Diagnostic numbers 992 … 1023 Tab. C.35 PNU 220 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 269 0x01 (1) The fault is still active; the fault can be cleared only after fault clearance. 0x02 (2) The fault can be acknowledged immediately. 0xFF (255) There is no fault. Tab. C.37 PNU 230 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 270: Subindex 1

    Error response for the malfunction number 1. Subindex 3 … 255 Fault number 2 … 254 (Malfunction number 2 … 254) Error responses for the malfunction numbers 2 … 254. Tab. C.38 PNU 234 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 271 Error response for the malfunction number 1. Subindex 3 … 255 Fault number 2 … 254 (Malfunction number 2 … 254) Error responses for the malfunction numbers 2 … 254. Tab. C.40 PNU 242 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 272: Subindex 1

    Only when Bit1 = 1 can the status be switched to “Ready (SA1)” of the FHPP finite state machine. 1) Parameterisation of the controller enable via è PNU 128 or FCT Tab. C.42 PNU 280 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 273 Subindex 2 Current setpoint value (Actual setpoint value) Current setpoint value of the force regulator. Subindex 3 Current deviation (Actual control deviation) Current setpoint value deviation of the force regulator. Tab. C.44 PNU 301 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 274 Subindex 2 Current setpoint speed (Actual nominal velocity) Current setpoint value of the speed regulator Subindex 3 Current deviation (Actual control deviation) Current setpoint value deviation of the speed regulator. Tab. C.47 PNU 310 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 275 – Bit/comparator output = 1: Actual value is inside the comparator range after expiry of the damping time. Significance Position comparator Speed comparator Force comparator Time comparator 4 … 7 reserved Tab. C.48 PNU 312 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 276 Control information on byte 1 … 4 (e.g. CCON, CPOS, ...) Subindex 2 FHPP control byte 5 … 8 (FHPP control byte 5… 8) Data type: int32 Control information on byte 5 … 8 (setpoint value 2) Tab. C.50 PNU 321 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 277 0x02 (2) The position is saved at each triggering of the sample input; old positions are overwritten. Tab. C.53 PNU 352 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 278 Time comparator, max. uint32 1 … 64 Speed setpoint value int32 1 … 64 Force setpoint value int16 1 … 64 Tab. C.54 Structure of the record list – record data for FHPP Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 279 It is also valid if the drive is not in the record selection mode (Teach!). In record selection mode, this parameter is transmitted in the FHPP standard data, control byte 3. Tab. C.55 PNU 400 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 280 Stroke monitoring not active FAST – Not supported/reserved – reserved Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Record control byte 1 of the record 1 … 64. Tab. C.56 PNU 401 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 281 – Speed record: without function – Force record: max. speed Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Max. speed of the record 1 … 64. Tab. C.59 PNU 406 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 282 – Linear axis: [g] – Rotative axis: [kgm * 10 Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Mass of the record 1 … 64. Tab. C.63 PNU 410 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 283 – 1000 ‰ = force basic value (PNU 555) Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Max. force of the record 1 … 64. Tab. C.66 PNU 418 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 284 – Speed record: max deviation from the setpoint speed [SINC/s] – Force record: no function Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) End speed of the record 1 … 64. Tab. C.69 PNU 424 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 285 Stroke monitoring is activated or deactivated via the parameter “Activation of the (PNU 401.B5)”. Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Stroke limit of the record 1 … 64. Tab. C.72 PNU 427 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 286 The torque pilot control is added to the current controller setpoint value. The value is calculated from the acceleration è PNU 1080. Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Factor torque pilot control of the record 1 … 64. Tab. C.73 PNU 428 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 287 Reading or parameterisation of the damping times [ms] of the position comparator. Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Position comparator damping time of the record 1 … 64. Tab. C.76 PNU 432 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 288 Reading or parameterisation of the damping times [ms] of the speed comparator. Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Speed comparator, damping time of the record 1 … 64. Tab. C.79 PNU 435 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 289 Reading or parameterisation of the damping times [ms] of the force comparator. Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Force comparator damping time of the record 1 … 64. Tab. C.82 PNU 438 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 290 The sign of the value determines the direction in which the force is to be built up. Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Target force of the record 1 … 64. Tab. C.86 PNU 442 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 291 Tab. C.89 PNU 502 PNU 503 Max. permitted acceleration (Max. acceleration) Subindex 1 Class: Var Data type: int32 Mappable Access: rw2 Reading or parameterisation of the max. permitted acceleration [SINC/s Tab. C.90 PNU 503 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 292 Position comparator lower limit è PNU 430 0x06 (6) Position comparator upper limit è PNU 431 0x07 (7) 1) The desired record number must be parameterised via PNU 400.1 “target record number”. Tab. C.93 PNU 520 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 293 Speed [0 … 100 % of the “Speed base value (PNU 540)”] Subindex 6 Force main setpoint value (Force main setpoint value) Value Significance 0x00 (0) Setpoint force [0 … 100 % of “Force basic value (PNU 555)”] 0x01 (1) reserved Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 294 Reading or parameterisation of the characterististics for the FHPP direct operation. Value Significance Binary Relative positioning type Setpoint value is relative to the last setpoint position. Setpoint value is relative to the actual position. 1…7 – reserved Tab. C.95 PNU 524 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 295 Following error delay time (Following error timeout) Subindex 1 Class: Var Data type: uint16 Mappable Access: rw2 Reading or parameterisation of the damping time [ms] of the following error monitoring. Tab. C.101 PNU 539 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 296: Jerk Acceleration

    Access: rw2 Reading or parameterisation of the load that is moved in addition to the basic load during position­ ing. – Linear axis: [g] – Rotative axis: [kgm * 10 Tab. C.106 PNU 544 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 297: Jerk Deceleration

    Following error message window (Following error window) Subindex 1 Class: Var Data type: int32 Mappable Access: rw1 Reading or parameterisation of the permitted following error [SINC] in positioning mode. Tab. C.109 PNU 549 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 298 Speed message window reached (Velocity target window) Subindex 1 Class: Var Data type: int32 Mappable Access: rw2 Reading or parameterisation of the limits [SINC/s] of the target window in speed mode. Tab. C.113 PNU 561 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 299 Speed deviation message window (Velocity control deviation window) Subindex 1 Class: Var Data type: int32 Mappable Access: rw1 Reading or parameterisation of the permitted displacement [SINC/s] with active speed adjustment. Tab. C.115 PNU 568 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 300: Torque Limitation

    Value Significance 0x00 (0) Ignore: Ignore start command 0x01 (1) Interrupt: Switch immediately to the new job 0x02 (2) Wait: Start of the new job after Motion Complete (MC) Tab. C.118 PNU 583 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 301: Position Comparator, Max

    Speed comparator damping time (Velocity comparator window time) Subindex 1 Class: Var Data type: uint16 Mappable Access: rw1 Reading or parameterisation of the damping time [ms] of the speed comparator. Tab. C.124 PNU 590 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...

  • Page 302: Force Comparator, Min

    Time comparator, max. (Time comparator maximum) Subindex 1 Class: Var Data type: uint32 Mappable Access: rw1 Reading or parameterisation of the upper limit value [ms] of the time comparator. Tab. C.129 PNU 595 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 303 Reading or parameterisation of the system of measurement in relation to the basic unit. Value Significance 0x00 (0) Undefined/user-specific 0x01 (1) Metre (SI unit) 0x41 (65) Degree 0xF0 (240) Inch 0xF6 (246) Revolutions Tab. C.131 PNU 601 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 304 Encoder increments (Encoder encrements) Fix: 4096 Subindex 2 Motor revolutions (Motor revolutions) Fix: 1 Tab. C.133 PNU 1001 1 encoder increment L 0,08789° (360°/4096) 360 ° = 4096 encoder increments Fig. C.2 Encoder resolution Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 305 Calculation of the feed constant: Feed Feed constant Spindle rotations Subindex 1 Feed (Feed) Numerator of the feed constant. Subindex 2 Spindle rotations (Shaft revolutions) Denominator of the feed constant. Tab. C.135 PNU 1003 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 306 PNU 1010 Offset axis zero point (Offset axis zero point) Subindex 1 Class: Var Data type: int32 Mappable Access: rw2 Reading or parameterisation of the offset axis zero point [SINC]. Tab. C.137 PNU 1010 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 307 Drive velocity (Drive velocity) Speed when moving to the axis zero point (AZ). Subindex 3 Creep speed (Crawling velocity) Speed when determining the reference point (REF) or zero pulse Tab. C.139 PNU 1012 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 308 Damping time stop detection (Block detection window time) Subindex 1 Class: Var Data type: uint16 Mappable Access: rw2 Reading or parameterisation of the damping time [ms] for stop detection in homing (homing method: stop). Tab. C.143 PNU 1017 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 309 The damping time begins when the target position window is reached. If the actual position has been in the target position window after the damping time has expired, the status bit “SPOS.MC, B.2” is set. Tab. C.145 PNU 1023 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 310 (Time constant velocity filter) Time constant for filtering the motor rotational speed. Subindex 7 Max. correction speed (Max. correction velocity) Data type: int32 Max. speed contribution for correction of the following error. Tab. C.146 PNU 1024 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 311 Tab. C.149 PNU 1027 PNU 1029 Quick stop deceleration (Quick stop deceleration) Subindex 1 Class: Var Data type: int32 Mappable Access: rw2 Reading or parameterisation of the deceleration with Quick Stop [SINC/s2]. Tab. C.150 PNU 1029 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 312 Tab. C.153 PNU 1035 PNU 1036 Nominal motor torque (Motor rated torque) Subindex 1 Class: Var Data type: int32 Access: rw2 Reading or parameterisation of the motor nominal torque [mNm]. Tab. C.154 PNU 1036 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 313 Mappable Access: rw2 Reading or parameterisation of the standstill monitoring time [ms]. Time during which the drive must be outside the standstill position window before standstill monitor­ ing responds. Tab. C.158 PNU 1043 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 314 Tab. C.160 PNU 1050 PNU 1059 Current motor current (Actual motor current ) Subindex 1 Class: Var Data type: int32 Mappable Access: ro Reading of the current motor current [mA]. Tab. C.161 PNU 1059 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 315 Min. temperature output stage (Min. temperature output stage) Min. temperature of the output stage. Subindex 2 Max. temperature of the output stage (Max. temperature output stage) Max. temperature of the output stage. Tab. C.165 PNU 1068 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 316 Current string current 2 (Actual phase current 2) Latest current of the 2nd motor string. Subindex 3 Current string current 3 (Actual phase current 3) Latest current of the 3rd motor string. Tab. C.169 PNU 1075 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 317 FHPP parameters (PNU) The factors are calculated from the parameters (motor, gear unit, feed constant, ...) of the Festo Configuration Tool (FCT) and written to PNU 1080 and should not be changed. PNU 1080 Torque feed forward (Torque feed forward control)
  • Page 318 TPDO3 FHPP+ TPDO4 CAN-ID: 481 – 4FF Service data object (SDO) SDO (rx) CAN-ID: 601 – 67F Request Answer SDO (tx) CAN-ID: 581 – 5FF Acknowledg­ ment Fig. D.1 Overview: CANopen objects (COB) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 319 (CAN-ID: 281 … 2FF (Byte 9 … 16) TPDO3 FHPP+ data 239, 327 (Byte 17 … 24) (CAN-ID: 381 … 3FF TPDO4 FHPP+ data 239, 327 (CAN-ID: 481 … 4FF (Byte 25 … 32) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 320 SDO message (SDO message) Receive message COB-ID client è server (rx) (1200 (CAN-ID: 601 … 67F Transmit message COB-ID server è client (tx) (1200 (CAN-ID: 581 … 5FF Tab. D.1 Communication objects (COB) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 321 – INT32 (32 Bit/4 Byte): −2147483648 … 2147483647 Values without prefixes (Unsigned Integer) – UINT8 (8 Bit/1 Byte): 0 … 255 – UINT16 (16 Bit/2 Byte): 0 … 65,535 Fig. D.2 Representation of the object characteristics Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 322 Access procedure over data objects Byte format With CANopen, the 16-bit values (word) and the 32-bit values (double word) are presen­ ted in the “Little endian” byte format (least significant bit (LSB) first) è page 125. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 323 CAN ID (Node-ID): 7 bit/function code (4 bit) Number of data bytes (example: 8 bytes) Data bytes 0 … 7 Fig. D.4 Structure: CANopen messages For the above communication objects (COB), the following CAN-ID are determined è page 324. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 324 CAN identifier (CAN-ID), priority and internal cycle times All NMT messages are received in a shared CAN Message buffer. Due to the internal pro­ cessing time, an NMT message with the CAN-ID 000h may only be sent every 5 ms. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 325 When a certain event occurs in asynchronous mode (Transmit) (value change), the EMCA sends a TPDO to the master. In synchronous mode, the TPDO are sent within the cycle time after receipt of the SYNC message. Tab. D.4 PDO types Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 326 (Status data: byte 17 … 24) TPDO4 FHPP+ data (Status data: byte 25 … 32) 1) Can optionally be parameterised through the Festo Configuration Tool (FCT) [page “Fieldbus”] [tab “FHPP+ Editor”] Tab. D.5 Overview of supported PDOs Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 327 FHPP standard data (status data: byte 1 … 8) è page 128 Record selection mode SCON SPOS Record no. RSB Actual position Direct operation SDIR Actual Actual value2 value1 Tab. D.7 PDO1 data (FHPP) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 328 3020 SCON UINT8 – – 3021 SPOS UINT8 – – 3022 REC_NR/SDIR UINT8 – – 3023 RBS/ACT_VAL1 UINT8 – – 3024 ACT_POS/ACT_VAL2 INT32 – – Tab. D.9 Object 3020 … 3024 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 329 3011 3012 3013 (Index) Object name FPCC Subindex/ (Name) Packet-ID Festo Parameter Channel (FPC) (control data: byte 9 … 16) è page 224 Parameter channel reserved Subind. Request code + PNU Parameter value TPDO2 è Tab. D.12 Object number 3030...
  • Page 330 Dependent on the data size, transmission of the data takes place either as expedited transfer (data size: 1 … 4 bytes) or as a segmented transfer in a 7-byte fragment (data size: 5 … 90 bytes). Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 331 11 … 28 00000 Value for 11-bit CAN-ID COB-ID client è server (rx) (CAN-ID) 0 … 10 … 67F COB-ID server è client (tx) (CAN-ID) … 5FF Tab. D.14 Structure of the COB-ID SDO Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 332 Response identifier (A-ID) CAN-Identifier (581h … 5FFh) Note The response of the EMCA must always be waited for! Only when the EMCA has answered the read command may additional SDO commands be sent. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 333 Response identifier (A-ID) CAN-Identifier (581h … 5FFh) Note The acknowledgment of the EMCA must always be waited for! Only when the EMCA has acknowledged the write command may additional SDO com­ mands be sent. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 334 Protocol error: Length of the service parameter is too small. 06 09 00 11 The addressed subindex does not exist. 1) Returned in accordance with CiA 301 in case of incorrect access to store parameters/restore parameters Tab. D.15 SDO error codes Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 335 CANopen device does not generate any SYNC messages. Not supported Value for 11-bit CAN-ID Not supported 11 … 28 00000 Value for 11-bit CAN-ID 0 … 10 CAN-ID for the communication object SYNC Tab. D.17 Design COB-ID SYNC Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 336 1001 Error register (Error register) 1003 Predefined error field (Pre-defined error field) 1014 COB-ID emergency message (COB-ID emergency message) 1015 EMCY inhibit time (Inhibit time EMCY) Tab. D.18 Objects for the EMCY operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 337 All causes of error have been eliminated and an error acknowledg­ ment has been carried out è page 130. The EMCY message is sent successful with the error code 0000h (Error reset/No error). Tab. D.19 Error status transitions Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 338 – Data bytes 4 … 8: no further error register data available. CAN-ID: 80h + node ID (example node ID = 1) Error code Data length Error register (Obj. 1001h) Fig. D.8 Structure: EMCY message Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 339 Limit switch positive 0x07 (Limit switch positive) 1) These error messages cannot be sent, as the CAN-bus is not operational. But FCT generates a corresponding FCT-Code. 2) This error message does not generate an FCT-Code. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 340 (Recovered from bus off ) 1) These error messages cannot be sent, as the CAN-bus is not operational. But FCT generates a corresponding FCT-Code. 2) This error message does not generate an FCT-Code. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 341 (Offset determination for current measurement) 1) These error messages cannot be sent, as the CAN-bus is not operational. But FCT generates a corresponding FCT-Code. 2) This error message does not generate an FCT-Code. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 342 (Safe Torque Off (STO)) 1) These error messages cannot be sent, as the CAN-bus is not operational. But FCT generates a corresponding FCT-Code. 2) This error message does not generate an FCT-Code. Tab. D.20 Error messages Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 343 Device profile specific: device-profile-specific error Reserved, fix = 0 Manufacturer specific: Manufacturer-specific error Values: 0 = no error; 1 = error present 1) M = mandatory/O = optional Tab. D.22 Bit assignment Error register Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 344 Standard error field 4 UINT32 – Standard error field 5 UINT32 – Standard error field 6 UINT32 – Standard error field 7 UINT32 – Standard error field 8 UINT32 – Tab. D.23 Objekt 1003 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 345 1015 Inhibit time EMCY UINT16 Tab. D.26 0 Tab. D.25 Objekt 1015 Value Description EMCY inhibit time deactivated … FFFF Time value [x * 100 μs] Tab. D.26 Value range: Inhibit time EMCY Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 346 Name (Name) Page (hex) (dec) Start remote node Stop remote node Enter pre-operational Reset node Reset communication … 77F Boot-up message (Boot-up message) Node monitoring (Node guarding) Tab. D.27 Messages for the NMT operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 347 The following objects are available for the Node guarding operation: Index Name (Name) Page 100C Monitoring time (Guard time) 100D Monitoring time factor (Life time factor) Tab. D.28 Objects for the Node guarding operation Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 348 (CS: 82 (Node guarding: 05 1) The final target status is pre-operational (7Fh), since the transitions 15, 16 and 2 are automatically performed by the EMCA. Fig. D.10 Diagram: NMT finite state machine Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 349 The duration for initialisation can be in the area of one second. After initialisation, a new boot-up message is sent by the EMCA and only then is the EMCA ready to receive new commands again. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 350 NMT participant. After processing, the new NMT status is “Stopped” è Fig. D.10. CAN-ID: 000h Command code (CS) Node ID Data length 0h (0) = all CAN-bus participants 1h … 7Fh (1 … 127) = one CAN-bus participant Fig. D.13 Structure: Stop remote node Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 351 NMT participant. After processing, the new sub-NMT status is “Reset communication” è Fig. D.10. CAN-ID: 000h Command code (CS) Node ID Data length 0h (0) = all CAN-bus participants 1h … 7Fh (1 … 127) = one CAN-bus participant Fig. D.16 Structure: Reset communication Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 352 NMT status of the EMCA è chapter D.8. In the remote frame, the RTR bit is also not set in the message (= 0). CAN-ID: 700h + node ID (example: node ID = 1) 1st data byte: toggle bit/NMT status Data length Fig. D.18 Structure: Node guarding with toggle bit Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 353 100C Guard time UINT16 Tab. D.32 0 Tab. D.31 Object 100C Value Description Monitoring time (100Ch) deactivated … FFFF Time value [ms] Tab. D.32 Value range: Guard time Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 354 100D Life time factor UINT8 Tab. D.34 0 Tab. D.33 Object 100D Value Description Monitoring time (100Ch) deactivated … FF Monitoring time factor 1 … 255 Tab. D.34 Value range: Life time factor Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 355 Identity of the device (Identity object) 2072 Serial number of the controller (Controller serial number) 207B HTTP address of manufacturer (http drive catalogue address) 2406 Motor type (Motor type) Tab. D.35 Objects for the device data Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 356 The device name of the manufacturer is output via the object. Index Name Object Data Ac­ Value Default value code type cess map­ range ping 1008 Manufacturer device name VSTRING const no – 1) The value is product-dependent. Tab. D.38 Objekt 1008 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 357 100A Manufacturer software VSTRING const no – Tab. D.42 version Tab. D.41 Object 100A Value Description Mxxxx:xxxx:xxxx:xxxxByyyy:yyyy Software version number: ASCII character string, 90-character Pxxxx:xxxx:xxxx:xxxxByyyy:yyyy Exxxx:xxxx:xxxx:xxxxByyyy:yyyy Tab. D.42 Default value: Manufacturer software version Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 358 D.9.5 Object 1018h: Identity of the device (Identity object) The following characteristics of the EMCA are output via the object: – Festo registration code for CANopen (Vendor-ID) – Festo part number (Product code) – CAN revision number (Revision number) – Festo Serial number...
  • Page 359 Reset node Store parameters (1010 Fig. D.19 Function: parameter sets Additional information on loading or saving parameter sets via the Festo Configuration Tool (FCT) è Description “Integrated drive with bus interface”, EMCA-EC-SY-... Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 360 Current parameter set (temporary): The current parameter set is located in the random access memory (RAM) of the EMCA. The current parameter set can be written or read as desired via the Festo Configuration Tool (FCT). Note Loss of the current parameter set If the power supply [X4] or a Reset node is interrupted, all changes to the current para­...
  • Page 361 The internal storage cycle for saving the data can take some seconds. During this time, no additional SDOs can be processed. Until the internal saving cycle is ended, sent SDOs are answered with Generic error. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 362 The internal storage cycle for saving the data can take some seconds. During this time, no additional SDOs can be processed. Until the internal saving cycle is ended, sent SDOs are answered with Generic error. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 363 CANopen – Object dictionary (OD) The object directory (OD) of the EMCA contains the following objects (Objects). Objects Description (Discription) Page 1000h … 1FFFh Communication profile area 2000h … 5FFFh Manufacturer-specific profile area Tab. D.48 Objects Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 364 CANopen communication D.12 Objects Table column FCT: The specification “FCT” in this column means that the object is also available as a para­ meter in the Festo Configuration Tool (FCT). D.12.1 Communication profile area (Object 1000 … 1FFF Index/ Name/Discription...
  • Page 365 TPDO2 Commu­ 1802 TPDO3 nication 1803 TPDO4 Parameter Communication parameter 1A00 TPDO1 – – – FHPP Map­ ping Para­ 1A01 TPDO2 meter 1A02 TPDO3 1A03 TPDO4 Mapping parameter Tab. D.49 Communication profile area Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 366 UINT8 … … … … … … 3208 FHPP+ I_Byte 08 UINT8 3209 FHPP+ I_Byte 09 UINT8 … … … … … … 3216 FHPP+ I_Byte 16 UINT8 Tab. D.50 Manufacturer-specific profile area Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 367 CANopen communication Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 368 – – Number of used sync manager channels UINT8 Communication type sync manager 0 UINT8 Communication type sync manager 1 UINT8 Communication type sync manager 2 UINT8 Communication type sync manager 3 UINT8 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 369 Min cycle time UINT32 Calc and copy time UINT32 Get cycle time UINT16 Delay time UINT32 SM-event missed counter UINT16 Cycle time too small UINT16 Sync Error BOOL Tab. E.2 CoE communication area Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 370 UINT8 … … … … … … 3208 FHPP+ I_Byte 08 UINT8 3209 FHPP+ I_Byte 09 UINT8 … … … … … … 3216 FHPP+ I_Byte 16 UINT8 Tab. E.3 Manufacturer specific area Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 371 – EC LINK/ACTIVITY – EC RUN – EC ERROR EtherNet/IP (EMCA-EC-...-EP) – LINK/ACTIVITY – MS – NS Modbus TCP (EMCA-EC-...-DIO) – – PROFINET (EMCA-EC-...-PN) – LINK/ACTIVITY – IDENT/STATE – NF Tab. F.1 Diagnostics via LED Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 372 F.1.4 Identification sequence active LED status Event/status Flashing at the Feedback to the optical identification active (can be activated ERROR same time through FCT and the web server) Tab. F.4 Identification sequence active Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 373 A) Bus parameter not parameterised LED indicator for non-configured bus parameters (FCT: node number (Node-ID), device profile and bit rate) Status: bus OFF Red ON t [ms] Fig. F.3 LED indicator for “bus parameter not parameterised” Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 374 Status: pre-operational Red ON Green ON t [ms] Status: operational Red ON 1000 Green ON t [ms] Status: stopped Red ON Green ON t [ms] Fig. F.5 LED indicator with “Warning Limit reached” Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 375 Status: pre-operational Red ON Green ON t [ms] Status: operational Red ON 1000 Green ON t [ms] Status: stopped Red ON Green ON 1000 t [ms] Fig. F.6 LED indicator with “Node guarding error” Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 376 LED EC RUN (Operating status) on activity/line monitoring) LED EC ERROR (Error) LED OK è section F.1.1 LED EC LINK/ACTIVITY, Port 1 (communicati­ LED ERROR è section F.1.1 on activity/line monitoring) Fig. F.7 LED indicator for EtherCAT Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 377 1) A status change specified by the controller is not possible due to register or object settings. 2) The EMCA application/The EMCA has changed the EtherCAT status autonomously: A) A Host/Steuerung Watchdog Timeout has occurred B) Synchronization error, the EMCA changes automatically after Safe-Operational Tab. F.5 LED indicator Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 378 No supply voltage AC­ No IP address TIVITY Illuminated green Connection present Port 2 Flashes green No connection Illuminated red Duplicate IP address Flashes red Connection timeout Flashes red/green Self test Tab. F.6 LED indicator Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 379 Network error PROFINET connection active ACTI­ Illuminated red No configuration VITY Error at the physical link Port 2 No physical link Flashes red No data are transmitted. (2 Hz) Tab. F.7 LED indicator Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 380 LED “ERROR” è description “Integrated drive with bus interface”, EMCA-EC-SY-..Information Information messages have no influence on the behaviour of (Information) the drive and do not need to be acknowledged. Tab. F.8 Reactions to messages Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 381 Depending on the error, the following output stage options can be configured in the FCT: Output stage on Description Page Activated After deceleration to standstill, the output stage remains switched on. Deactivated After deceleration to standstill, the output stage is switched off. Tab. F.10 Output stage options Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 382 Fig. F.10 Diagram: Acknowledge acknowledgeable error The error can also be acknowledged via the following interface: – Festo Configuration Tool (FCT): interface “Acknowledge error” F.2.7 Reset non-acknowledgeable error For non-acknowledgeable errors, the ready status can be restored only after elimination of the cause of the error through a restart.
  • Page 383 – SS = seconds – nnn = milliseconds The time base is the respective switch-on time of the EMCA. Additional information Additional information for Festo Service in case of (Additional complex malfunctions information) 1) Only available in the FCT or web server Tab.
  • Page 384 – SPOS.FOLERR – following error – SPOS.STILL – standstill monitoring. Additionally, all diagnostics information available as PNU can be read (e.g. the diagnostic memory) through the Enhanced Festo Parameter Channel (EFPC) è page 224. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 385 Deceleration record – deceleration ramp of the current positioning task switched on End record – execute the positioning task to the end until Motion complete (MC) Tab. F.14 Possible error responses (can be parameterised) Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 386 An error has occurred during evaluation of the encoder. The current position values ​​may be incor­ rect. • Conduct a software reset and homing procedure. – Resettable: Cannot be reset, software reset is necessary. Definable error response(s): A Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 387 General error Definable as: F/-/- Diagnostic memory: always An internal error has occurred. • Restart device. If the error occurs frequently, contact Festo Service. – Resettable: Error can be reset immediately. Parameterisable error response(s): B Parameter file invalid Definable as: F/-/- Diagnostic memory: always No valid parameter set stored.
  • Page 388 • Check the mechanics for sluggishness. • Reduce load/dynamic response, longer time delays. – Resettable: Error can only be reset after the cause of the error has been eliminated. Definable error response(s): B, C Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 389 • This error can be reset immediately. Afterwards start a corresponding positioning record or move the drive by using the jogging function. Movements in a positive direction are blocked. – Resettable: Error can be reset immediately. Definable error response(s): A, B, C, E, F Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 390 • If the error is still present after a reset has been conducted, it means there is an internal defect and the device has to be replaced. – Resettable: Error can only be reset after the cause of the error has been eliminated. Definable error response(s): A, B Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 391 – If parameterised as an error: The error can only be reset after the cause is eliminated. Definable error response(s): A – For parameterisation as a warning: The warning disappears if the load voltage is back within the permissible range. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 392 • Check cabling: cable specifications complied with? Broken cable? Maximum cable length ex­ ceeded? Cable screening earthed? All wires connected? • Check communication readiness of the higher-order controller (master). – Resettable: Error can be reset immediately. Definable error response(s): E Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 393 Error during homing: no zero pulse found. Defective encoder. • Restart device. If the error occurs again, the device needs to be replaced. – Resettable: Cannot be reset, software reset is necessary. Parameterisable error response(s): B, C, E, F Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 394 – If parameterised as an error: Error can be reset immediately. Definable error response(s): B, C, D, E, F, G – For parameterisation as a warning: The warning disappears if the homing run has been completed successfully. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 395 • Determine the version of the hardware. You can ascertain the compatible firmware designs and download the appropriate firmware from the Festo website. – If parameterised as an error: Error can be reset immediately. Definable error response(s): A –...
  • Page 396 Connection to the FCT has been interrupted. • Check the connection and perform a reset, if necessary. – Resettable: Error can be reset immediately. Definable error response(s): B, C, D, E, F, G Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 397 The CAN master has stopped bus communication. The CAN bus does not currently have master con­ trol over the device. • Check master. – If parameterised as a warning: The warning disappears when communication works again. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 398 The started record is invalid. The record data is implausible or the record type is invalid. • Check parameters of the record. – Resettable: Error can be reset immediately. Definable error response(s): B, C, D, E, F, G Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 399 – Resettable: Error can be reset immediately. Definable error reaction(s): B, C, D, E, F, G – For parameterisation as a warning: The warning disappears if the connection to the controller is re-established. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 400 A short circuit or overload has occurred to an external 24-V supply voltage of the device. • Check wiring of the STO interface, reference switch and digital inputs and outputs. – Acknowledgement option: Error can only be acknowledged after eliminating the cause. Definable error response(s): A, B Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 401 There is no longer a connection to the controller, e.g. the cable was disconnected. • Check the connection and perform a reset, if necessary. – For parameterisation as a warning: The warning disappears if the connection to the controller is re-established. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 402 Diagnostics and fault clearance Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 403 Uniform fieldbus data profile for position controllers from Festo ing Profile (FHPP) FHPP standard data Defines the sequence control in accordance with the “Festo Hand­ ling and Positioning Profile” (I/O messaging 8 bytes I/O) Force/torque mode Operating mode for execution of a direct positioning task with force...
  • Page 404 Software end position Programmable stroke limit (point of reference = axis zero point) – Software end position, positive/negative: max. limit position of the stroke in positive/negative direction; must not be exceeded during positioning. Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 405 Teaching mode Operating mode for setting positions by approaching the target (Teach mode) position, e.g. when creating positioning records. Tab. G.1 Index of terms and abbreviations Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 406 ... . . 50, 51, 369 Basic mass load ..... . . Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 407 ..... . . Force setpoint value ....Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 408 ....Motion complete ..... . Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 409 ......PDO message ......Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 410 ....– Positive (upper) ..... Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 411 ..288, 301 Sync manager PDO 1 assignment ..Velocity comparator window time ..288, 301 Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 412 76, 364, 368 Zero angle ......Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 413 EMCA-EC-67-...-CO/DIO/EC/EP/PN Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 414 EMCA-EC-67-...-CO/DIO/EC/EP/PN Festo – EMCA-EC-C-HP-EN – 2017-11e – English...
  • Page 416 Copyright: Festo AG & Co. KG Ruiter Straße 82 73734 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 Reproduction, distribution or sale of this document or communica­ E-mail: tion of its contents to others without express authorization is service_international@festo.com...

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Emca-ec-67 dio seriesEmca-ec-67 ec seriesEmca-ec-67 ep seriesEmca-ec-67 pn series

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