Page 1 Integrated Drive EMCA-EC-67-...-CO/-EP Description FHPP device profile For fieldbus: – CANopen – EtherNet/IP 8066844 1611b [8066846]...
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 3: Table Of Contents
EMCA-EC-67-...-CO/-EP Table of Contents – EMCA-EC-67-...-CO/-EP FHPP device profile (Festo Handling and Positioning Profile) ..... . FHPP overview ............
Page 4 ........Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 5 ..........Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 6 ..........Festo Parameter Channel (FPC) for cyclic data (I/O data) .
Page 7 ........Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 8 ..........D.6.1 Object 1005h: SYNC communication object identifier (COB-ID SYNC) ..Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 9 ........Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 10 ............... . Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 11 EMCA-EC-67-...-CO/-EP Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 12 EMCA-EC-67-...-CO/-EP 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 13 EMCA-EC-67-...-CO/-EP 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”, GDCE-EMCA-EC-SY-... Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 14 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 15: Fhpp Device Profile (Festo Handling And Positioning Profile)
(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 16: Fieldbus Interfaces
FHPP device profile (Festo Handling and Positioning Profile) Fieldbus interfaces 1.2.1 CANopen interfaces Control and parameterisation of the EMCA through the FHPP device profile is supported by the follow ing fieldbus interface: Fieldbus Interface Page CAN bus CAN bus input (CAN IN) [X2] (EMCA-...-CO)
Page 17: Canopen
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 18: Can Bus/Canopen Interface Of The Emca
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 281 Tab. 2.2 LED display Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 19: Can Bus Ports
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 20: Termination Of The Can Bus (Terminating Resistor)
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 21: Can Bus Cabling
(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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 22: Can Bus Cable
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 23: Configure Emca
• 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 24 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 25 ) should be converted into the specified interface units, dependent on the application è page 64. “Fieldbus” page “Factor Group” tab Current exponents: position, speed, acceleration, deceleration, jerk Fig. 2.5 Factor group in the FCT Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 26: Commission Emca With The Festo Configuration Tool (Fct)
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 27: Required Digital Inputs For Operation
1) For additional information on wiring the input channels STO1/STO2 è Description GDCE-E MCA-EC-S1-... 2) Only required with use of reference or limit switch è Description GDCE-E MCA-EC-SY-... 3) Reference potential for the controller Fig. 2.6 Digital inputs/outputs for operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 28: Data Interfaces (Parameter/Firmware)
(CAN bus) EDS file: Controller Save/ – CANopen data Device profile: execute management – FHPP controller Download Function element Save/ file: execute – CODESYS 1) Parameterisation interface Fig. 2.7 Overview: Data interfaces (parameter/firmware) Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 29: Ethernet/Ip With Fhpp
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 30: Ethernet/Ip Interface Of The Motor Unit
The status of EtherNet/IP is displayed over the following four LEDs. Description The following EtherNet/IP statuses are displayed: ACT/LNK, Port1 – EtherNet/IP communication – Warnings/malfunctions For additional information è page 284 ACT/LNK, Port 2 Tab. 3.1 LED indicator Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 31: Ethernet/Ip Connections
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 32: Configuration Ethernet/Ip Stations
– Carry out a reset or restart of the motor unit. 3.3.2 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. 3.3.3 Setting the IP address A unique IP address must be assigned to each device in the network.
Page 33: Setting The Optional Use Of Fpc And Fhpp
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 34: Fhpp
– FHPP+ data è page 153 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 35: Structure Of The Fhpp Message
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 36 FHPP Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 37: Fhpp Standard Data (I/O Data)
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. 5.1 FHPP finite state machine Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 38: Achieve Ready Status" Status Transitions
To establish the ready status, the following input signals are required: – Controller enable [X9.4] – STO channel (STO1/STO2) [X6.4/X6.5] For additional information è Description for “Integrated drive with bus interface, GDCE-EMCA-EC-SY-...” Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 39 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. 5.1 “Establish ready status” status transitions Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 40: Status Transitions "Operation Enabled
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 41 } 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 42 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. 5.2 Status transitions “Operation enabled” Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 43: Structure Of The Fhpp Standard Data (I/O Data)
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. 5.4 Structure of the FHPP message with FPC parameter Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 44: Structure Of The Fhpp Standard Data
Status data Status byte (I data) SCON SPOS SDIR Actual value 1 Actual value 2 è page 48 è page 54 è page 55 è page 56 è page 58 è page 59 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 45 The byte sequence of words (16 bit) and double words (32 bit) is dependent on the bus used: Byte format Example: Direct mode – Control data – Setpoint value2 (Control byte 5 … 8) CANopen Little endian Low byte High byte (LSB) (MSB) Tab. 5.5 Byte order Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 46: Fhpp Control And Status Data
– Force/torque ative activated – Speed Control byte 4 è page 53 Record selection mode Reserved Direct operation Setpoint Setpoint value 1 (bit 0 … 7), supplemental parameter of the operating mode value 1 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 47 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. 5.6 Overview, assignment of the control bytes Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 48: Overview: Fhpp Status Data
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 49 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. 5.7 Overview, assignment of the status bytes Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 50: Description: Control Bytes
EMCA è page 72. 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 51 Delete remaining path and end current position ing order. After that, the EMCA changes into the FHPP status “Ready (SA1)” è page 37. – – = 0: Reserved Tab. 5.9 Control byte 2 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 52 = 1: Stroke monitoring is not active. = 0: Stroke monitoring is active. – – = 0: Reserved Function Function = 0: Reserved FUNC Tab. 5.11 Control byte 3 – Direct mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 53 Speed [SINC/s] è page 64 Geschwindigk Velocity Force/torque mode (CDIR.COM1/2) Drehmoment Torque Torque [0 … 100 % of the “force base value (PNU 555)”] è page 212 Tab. 5.13 Control bytes 5 … 8 – direct mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 54: Description: Status Bytes
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. 5.14 Status byte 1 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 55 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. 5.15 Status byte 2 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 56 Stroke limit is reached. = 0: Stroke limit is not reached. – – = 0: Reserved Function feed Function Feed = 0: Reserved FUNC back back Tab. 5.17 Status byte 3 – direct mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 57 Stroke limit is reached. = 0: Stroke limit is not reached. – – = 0: Reserved Function feed Function Feed = 0: Reserved FUNC back back Tab. 5.18 Status byte 4 – record selection mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 58 è page 210 Drehmoment Torque Force secondary actual value (PNU 523.7 = 1)(factory setting): Torque [… % of the “Force base value (PNU 555)”] è page Tab. 5.19 Status byte 4 – direct mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 59 Position [SINC] è page 64 Drehmoment Torque Force main actual value (PNU 523.8 = 1): Torque [… % of the “Force base value (PNU 555)”] è page Tab. 5.21 Status bytes 5 … 8 – direct mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 60: Measuring Reference System
“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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 61: Dimension Reference System For Linear Drives
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. 6.1 Dimension system for linear drives Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 62: Dimension Reference System For Rotative Drives
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. 6.2 Measuring system for rotative drives Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 63: Calculation Rules For The Dimension Reference System
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 64: Increments
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 65 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 66: Parameters For Position Determination
Tab. 6.5 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 67: Control Via Fhpp
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 68 (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. 7.1 Overview: operating modes Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 69: Establish Ready Status
1) If Safe torque off (STO) is parameterised as an error, the input channels STO1/STO2 must be set before Power ON (= 24 V), or the error “FCT: 34 ” will be triggered. The error can be acknowledged after error elimination. Fig. 7.2 Diagram: Establish ready status Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 70: Establish Ready Status
2) Requirement: controller enable [X9.4] 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. 7.2 Create ready status Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 71: Cancel Travel/Positioning Task With "Halt" Or "Stop
– 6. Enable operation è Tab. 7.2 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 7.4 Cancel homing, jog, record selection or direct mode with “Stop” Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 72: Master Control And Access Protection
EMCA. In this status, the controller has no control over the EMCA. 7.3.1 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 73: Homing Mode
For additional information è Description for “Integrated drive with bus interface, GDCE-EMCA-EC-SY-...”. Software end positions The software end positions are deactivated with the start of homing and reactivated after a valid homing. Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 74: Fhpp Parameters: Homing
1013 Acceleration/deceleration 76, 222 1015 Max. speed (for stop detection) 77, 222 1016 Speed limit, stop detection 77, 222 1017 Damping time, stop detection 77, 222 Tab. 7.5 FHPP parameters for homing mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 75: Control Homing Mode
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. 7.6 Control homing Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 76: Diagram: Homing To Reference/Limit Switch
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. 7.4 Diagram: Diagram: Homing to reference/limit switch in a positive direction Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 77: Diagram: Homing To Stop
(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. 7.5 Diagram: Homing to stop in a positive direction Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 78: Methods Of Homing
After that, the stop position must be abandoned through travel to the axis zero point. If the drive system does not have a stop (axis of rotation), homing will never be completed. The drive then travels continuously at the parameterised search speed. Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 79 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. 7.9 Homing method – homing to stop Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 80 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. 7.10 Homing method – homing to limit switch without index Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 81 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. 7.11 Homing method – homing to limit switch with index Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 82 3. Optional: Travel to the axis zero point Direction: positive (method 17 ; 23) Direction: negative (method 1B ; 27) Reference switch Homing Switch Tab. 7.12 Homing method – homing to reference switch without index Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 83 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. 7.13 Homing method – homing to reference switch with index Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 84: Jog Operation
86, 209 Speed fast – phase 2 86, 209 Acceleration/deceleration 86, 209 Time duration phase 1 86, 209 Following Error Window 86, 209 Following error delay time Tab. 7.14 FHPP parameters for jog operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 85: Control Jog Operation
Tab. 7.15 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 86: Diagram: Jog Mode
(SPOS.ACK, B1) Motion complete (SPOS.MC, B2) Axis is moving (SPOS.MOV, B4) 1) For additional information on the following error è page 129 Fig. 7.6 Diagram: jog operation (“Jog positive” shown as an example) Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 87: Teach Mode
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. 7.17 Overview of teach targets Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 88: Control Teach Mode
= 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. 7.18 Control teach mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 89: Diagram: Teach Mode
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 90: Record Selection Mode
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. 7.8 Overview: Data exchange in the record selection mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 91: Fhpp Parameters: Record Selection Mode
Start delay Start delay P/V/F 96, 199 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 92 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. 7.19 FHPP parameters for the record selection mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 93: Control Record Selection Mode
– 10.1 Cancel positioning task with “Stop” è page 71 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 94: Control Intermediate Stop
= 00x0.00P1 = 0000.0011 Next step: – 8.3 Positioning task active è Tab. 7.20 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 7.21 Control intermediate stop Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 95: Delete Remaining Path
– 8.1 Prepare start “positioning task” (TA1) è Tab. 7.20 – 8. Control operation è page 70 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode Tab. 7.23 Stroke limit reached Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 96: Diagram: Start And Stop Record
“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. 7.9 Diagram: Start and stop record Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 97 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. 7.10 Diagram: Interrupt and continue positioning record Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 98: Diagram: Interrupt Positioning Record With Halt And Delete Remaining Path
Actual record number N + 1 (Status byte 3) Interrupt positioning record with Halt Start new record “N + 1” Delete remaining path Destination reached Fig. 7.11 Diagram: Interrupt positioning record and delete remaining path Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 99: Diagram: Positioning Mode (Point-To-Point Positioning)
3) For additional information on the following error è page 129 4) Feedback: Status byte “speed limit reached” (RSB.VLIM, B4). 5) For additional information on “motion complete” è page 127 Fig. 7.12 Diagram: point-to-point positioning Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 100: Diagram: Speed Mode
1) For additional information on stroke monitoring è page 107 2) For additional information on the following error è page 129 3) For additional information on “motion complete” è page 127 Fig. 7.13 Diagram: speed mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 101: Diagram: Force/Torque Mode
1) For additional information on stroke monitoring è page 107 2) Feedback: Status byte “speed limit reached” (RSB.VLIM, B4). 3) For additional information on “motion complete” è page 127 Fig. 7.14 Diagram: force/torque mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 102: Record Chaining
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. 7.24 FHPP parameters for the record selection mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 103 Bit 7 – – Record sequencing is active – – Record sequencing is blocked 1) May only be used for test purposes with FCT. Tab. 7.25 Step enabling conditions for automatic record chaining Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 104: Control Record Chaining
Next step: 8. Control operation è page 70 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode Tab. 7.26 Control record chaining Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 105: Diagram: Record Chaining
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. 7.15 Diagram: record chaining Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 106: Diagram: Record Sequencing With Final Speed
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. 7.16 Diagram: record sequencing with final speed Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 107: Stroke Monitoring
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. 7.27 FHPP parameters for stroke monitoring Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 108 (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. 7.17 Diagram: stroke monitoring – example force/torque mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 109: Direct Operation
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. 7.18 Overview: data exchange in direct operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 110: Fhpp Parameters: Direct Operation
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 111 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. 7.28 FHPP parameters for direct operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 112: Control Direct Operation
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 113 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode, R = setpoint specification 2) Current actual value. Tab. 7.29 Control direct operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 114: Control Intermediate Stop
– 8.1 Prepare start “positioning task” (TA1) è Tab. 7.29 – 8. Control operation è page 70 1) P = rising edge (positive), N = trailing edge (negative), x = any Tab. 7.31 Delete remaining path Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 115: Stroke Limit Reached
– 8.1 Prepare start “positioning task” (TA1) è Tab. 7.29 – 8. Control operation è page 70 1) P = rising edge (positive), N = trailing edge (negative), x = any, B = dependent on operating mode Tab. 7.32 Stroke limit reached Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 116: Diagram: Start And Stop Positioning Task
“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. 7.19 Diagram: Start and stop positioning task Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 117: Diagram: Interrupt And Continue Positioning Task With Halt (Intermediate Stop)
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. 7.20 Diagram: Interrupt and continue positioning task Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 118: Diagram: Interrupt Positioning Task With Halt And Delete Remaining Path
(Status byte 5 … 8) Interrupt positioning task with Halt Start new positioning task “N + 1” Delete remaining path Target position reached Fig. 7.21 Diagram: Interrupt positioning task and delete remaining path Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 119: Diagram: Positioning Mode (Point-To-Point Positioning)
3) For additional information on the following error è page 129 4) Feedback: speed limit reached (SDIR.VLIM, B4). 5) For additional information on “motion complete” è page 127 Fig. 7.22 Diagram: point-to-point positioning Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 120: Diagram: Speed Mode
1) For additional information on stroke monitoring è page 123 2) For additional information on the following error è page 129 3) For additional information on “motion complete” è page 127 Fig. 7.23 Diagram: speed mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 121: Diagram: Force/Torque Mode
(SPOS.MC, B2) 1) For additional information on stroke monitoring è page 123 2) Feedback: speed limit reached (SDIR.VLIM, B4). 3) For additional information on “motion complete” è page 127 Fig. 7.24 Diagram: force/torque mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 122: Diagram: Final Speed
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. 7.25 Diagram: final speed Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 123: Stroke Monitoring
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. 7.33 FHPP parameters for stroke monitoring Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 124 (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. 7.26 Diagram: stroke monitoring – example force/torque mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 125: Flying Measurement (Position Sampling)
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. 7.34 Parameters for flying measurement Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 126: Monitoring Of The Drive Behaviour
– 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. 8.1 Messages Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 127: Motion Complete
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. 8.2 FHPP parameters: Motion complete Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 128 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. 8.1 Diagram: Motion complete – example positioning mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 129: Following Error
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. 8.3 FHPP parameters for following error Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 130 (PNU 300.1) Current setpoint position (PNU 300.2) start (CPOS.START, B2) Following error delay time (PNU 1045) Following error Message 2Fh Fig. 8.2 Diagram: following error – example, positioning mode in record selection mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 131: Standstill Monitoring
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. 8.4 FHPP parameters for standstill monitoring Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 132 (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. 8.3 Diagram: standstill monitoring – example positioning mode Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 133: Comparators
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. 8.5 Comparators Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 134 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. 8.6 Parameters for the comparators Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 135: Protective Functions
For applications that do not require a braking resistor, this dia gnostic message can be classified as information (è Tab. E.2.). The diagnostic message then has no external effect. Tab. 8.7 Protective functions Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 136: I2T Monitoring
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 137 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. 8.4 Diagram: I2t monitoring Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 138: A Festo Parameter Channel (Fpc)
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 139: A.2 Enhanced Festo Parameter Channel (Efpc)
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 140: A.3 Transmitting Fhpp Parameters (Pnu)
Transmitting parameters (array, double word). 0111 Task cannot be carried out with error number (transmis sion of parameter or parameter file is currently not pos sible). Tab. A.6 Task identifier (Req-ID) and response identifier (Res-ID) Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 141: A.3.3 Sequence Of Parameter Transmission
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 142: A.4 Transmit Parameter File
Parameter file transmission is active. 0111 (7) Task cannot be carried out with error number (transmission of parameter or parameter file is currently not possible). Tab. A.9 Task identifier (Req-ID) and response identifier (Res-ID) Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 143: A.4.3 Package Id
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 144: A.4.4 Parameter File And User Data Package
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 145: A.4.5 Checking And Activation Of The Parameter File
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 146: A.4.7 Examples Of Parameter File Transmission
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 147 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 148 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 149 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 150 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 151: A.4.8 Error Codes
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 152 (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 153: B.1 Fhpp+ Data
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 FPC parameter channel FHPP+ data (8 bytes) (8 bytes) (Max. 16 bytes) 10 11 12 13 14 15 16 Tab. B.1 16 bytes FHPP+ data Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 154: C Fhpp Parameters (Pnu)
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 155: C.2 Overview: Fhpp Parameters
(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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 156: C.2.2 Device Data
(Festo order number) (207C HMI parameters Master control uint8 (Controllogic) (207D Data memory control 1 … 4 uint32 (Data memory control) (207F 1) Can only be used with CANopen Tab. C.3 Device data Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 157: C.2.3 Diagnostics
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 158: C.2.4 Process Data
(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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 159: C.2.5 Record List
(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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 160 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 161: C.2.6 Project Data
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 162 (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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 163 (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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 164: C.2.7 Factor Group
(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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 165 (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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 166 (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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 167 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 168: C.3 Description: Fhpp Parameters
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 169: C.3.2 Fhpp+ Data – Fhpp+ Telegram Editor
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 170 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 171 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 172: C.3.3 Device Data – Version Numbers
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 173: C.3.4 Device Data – Identification
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 174 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 175 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 176: C.3.5 Device Data – Hmi Parameters
– Controller enable [X9.4] = 24 V – 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 177 Load parameter file (Load parameter data) Through writing of the object, parameter values are loaded from the parameter file. Value Significance 0x10 (16) Load parameter values from parameter file Tab. C.26 PNU 127 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 178: C.3.6 Diagnostic Parameters
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.28 PNU 201 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 179 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.30 PNU 203 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 180: 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.32 PNU 205 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 181 500 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 182 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.34 PNU 220 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 183 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.36 PNU 230 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 184: 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.37 PNU 234 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 185 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.39 PNU 242 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 186 STO channels (STO1/STO2) [X6.4/5] = 24 V 1 … 7 reserved Note Only when Bit1 = 1 can the status be switched to “Ready (SA1)” of the FHPP finite state machine. Tab. C.41 PNU 280 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 187: Subindex 1
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.43 PNU 301 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 188 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.46 PNU 310 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 189 – 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.47 PNU 312 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 190: C.3.8 Process Data – Fhpp-Data
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.49 PNU 321 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 191: C.3.9 Process Data – Flying Measurement (Sampling Of Positions)
0x02 (2) The position is saved at each triggering of the sample input; old positions are overwritten. Tab. C.52 PNU 352 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 192: C.3.10 Record List – Record Data
Time comparator, max. uint32 1 … 64 Speed setpoint value int32 1 … 64 Force setpoint value int16 1 … 64 Tab. C.53 Structure of the record list – record data for FHPP Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 193 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.54 PNU 400 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 194 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.55 PNU 401 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 195: Record Control Byte 2 (Rcb2)
– 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.58 PNU 406 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 196: Acceleration
– Linear axis: [g] – Rotative axis: [kgm * 10 Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Mass of the record 1 … 64. Tab. C.62 PNU 410 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 197: Jerk Deceleration
– 1000 ‰ = force basic value (PNU 555) Subindex 1 … 64 Record 1 … 64 (Record 1 … 64) Max. force of the record 1 … 64. Tab. C.65 PNU 418 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 198: Record Control Byte 3 (Rcb3)
– 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.68 PNU 424 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 199: Mc With Record Sequencing
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.71 PNU 427 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 200: Factor Torque Pilot Control
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.72 PNU 428 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 201: Position Comparator, Min
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.75 PNU 432 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 202: Speed Comparator, Min
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.78 PNU 435 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 203: Force Comparator, Min
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.81 PNU 438 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 204: Time Comparator, Min
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.85 PNU 442 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 205: C.3.12 Project Data – General Project Data
Tab. C.88 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.89 PNU 503 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 206: C.3.13 Project Data – Force/Torque Mode
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.92 PNU 520 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 207: C.3.15 Project Data – Fhpp-Direct Mode
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 208 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.94 PNU 524 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 209: C.3.16 Project Data – Jog Mode
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.100 PNU 539 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 210: C.3.17 Project Data - Direct Operation Position
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.105 PNU 544 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 211 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.108 PNU 549 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 212: C.3.18 Project Data – Force Direct Operation
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.112 PNU 561 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 213 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.114 PNU 568 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 214: C.3.20 Project Data – Direct Operation General
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.117 PNU 583 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 215 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.123 PNU 590 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 216 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.128 PNU 595 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 217: C.3.21 Factor Group
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.130 PNU 601 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 218: C.3.22 Axis Parameters: Electrical Drives 1 – Mechanical Parameters
Encoder increments (Encoder encrements) Fix: 4096 Subindex 2 Motor revolutions (Motor revolutions) Fix: 1 Tab. C.132 PNU 1001 1 encoder increment L 0,08789° (360°/4096) 360 ° = 4096 encoder increments Fig. C.2 Encoder resolution Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 219 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.134 PNU 1003 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 220: C.3.23 Axis Parameter: Electrical Drives 1 – Homing Parameters
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.136 PNU 1010 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 221 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.138 PNU 1012 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 222 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.142 PNU 1017 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 223: C.3.24 Axis Parameter: Electrical Drives 1 – Controller Parameters
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.144 PNU 1023 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 224 (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.145 PNU 1024 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 225 Tab. C.148 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.149 PNU 1029 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 226: C.3.25 Axis Parameters: Electric Drives 1 – Electronic Rating Plate
Tab. C.152 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.153 PNU 1036 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 227: C.3.26 Axis Parameters: Electric Drives 1 – Standstill Monitoring
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.157 PNU 1043 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 228: C.3.27 Axis Parameters: Electric Drives 1 – Following Error Monitoring
Tab. C.159 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.160 PNU 1059 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 229: C.3.29 Axis Parameters: Electric Drives 1 – Temperature Data
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.164 PNU 1068 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 230: C.3.30 Axis Parameters: Electric Drives 1 – General Drive Data
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.168 PNU 1075 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 231 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 232: D Canopen Communication
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 233 (CAN-ID: 281 … 2FF (Byte 9 … 16) TPDO3 FHPP+ data 153, 241 (Byte 17 … 24) (CAN-ID: 381 … 3FF TPDO4 FHPP+ data 153, 241 (CAN-ID: 481 … 4FF (Byte 25 … 32) Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 234 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 235: D.2 Representation Of The Object Characteristics
– 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 236: D.3 Can-Bus Access
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). Byte format Byte Little endian Low byte High byte (LSB) (MSB) Tab. D.2 Byte format Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 237: D.3.2 Access Via Messages
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 238. Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 238: D.3.3 Can Identifier (Can-Id), Priority And Internal Cycle Times
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 239: D.4 Pdo Message (Pdo Message)
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.5 PDO types Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 240 (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.6 Overview of supported PDOs Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 241: D.4.1 Structure Of The Pdo Message
FHPP standard data (status data: byte 1 … 8) è page 48 Record selection mode SCON SPOS Record no. RSB Actual position Direct operation SDIR Actual Actual value2 value1 Tab. D.8 PDO1 data (FHPP) Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 242: D.4.3 Object 3000H ... 3004H: Rpdo1 – Fhpp Standard Data
3020 SCON UINT8 – – 3021 SPOS UINT8 – – 3022 REC_NR/SDIR UINT8 – – 3023 RBS/ACT_VAL1 UINT8 – – 3024 ACT_POS/ACT_VAL2 INT32 – – Tab. D.10 Object 3020 … 3024 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 243: D.4.5 Festo Parameter Channel (Fpc) (Pdo2)
3011 3012 3013 (Index) Object name SUBINDEX REQCODE_PNU PARAVAL (Name) Festo Parameter Channel (FPC) (control data: byte 9 … 16) è page 138 Parameter channel reserved Subind. Request code + PNU Parameter value TPDO2 è Tab. D.13 Object number 3030...
Page 244: D.5 Sdo Message (Sdo Message)
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 245: D.5.1 Object 1200H: Sdo Server Parameter (Sdo Server Parameter)
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.15 Structure of the COB-ID SDO Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 246: D.5.2 Read Sdo Message
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 247: D.5.3 Write Sdo Message
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 248: D.5.4 Sdo Error Messages
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.16 SDO error codes Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 249: D.6 Sync Message (Sync Message)
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.18 Design COB-ID SYNC Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 250: D.7 Emcy Message (Emcy Message)
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.19 Objects for the EMCY operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 251 All causes of error have been eliminated and an error acknowledg ment has been carried out è page 50. The EMCY message is sent successful with the error code 0000h (Error reset/No error). Tab. D.20 Error status transitions Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 252: D.7.2 Send Emcy Message
– 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 253: D.7.3 Canopen Error Messages
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 254 (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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 255 (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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 256 (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.21 Error messages Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 257: D.7.4 Object 1001H: Error Register (Error Register)
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.23 Bit assignment Error register Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 258: D.7.5 Object 1003H: Predefined Error Field (Pre-Defined Error Field)
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.24 Objekt 1003 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 259: D.7.6 Object 1014H: Cob-Id Emergency Message (Cob-Id Emergency Message)
1015 Inhibit time EMCY UINT16 Tab. D.27 0 Tab. D.26 Objekt 1015 Value Description EMCY inhibit time deactivated … FFFF Time value [x * 100 μs] Tab. D.27 Value range: Inhibit time EMCY Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 260: D.8 Network Management Nmt (Network Management)
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.28 Messages for the NMT operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 261 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.29 Objects for the Node guarding operation Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 262 (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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 263 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 264: D.8.1 Boot-Up Message (Boot-Up Message)
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 265: D.8.4 Enter Pre-Operational
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 266: D.8.7 Node Monitoring (Node Guarding)/(Error Control Message)
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 267: D.8.8 Object 100Ch: Monitoring Time (Guard Time)
100C Guard time UINT16 Tab. D.33 0 Tab. D.32 Object 100C Value Description Monitoring time (100Ch) deactivated … FFFF Time value [ms] Tab. D.33 Value range: Guard time Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 268: D.8.9 Object 100Dh: Monitoring Time Factor (Life Time Factor)
100D Life time factor UINT8 Tab. D.35 0 Tab. D.34 Object 100D Value Description Monitoring time (100Ch) deactivated … FF Monitoring time factor 1 … 255 Tab. D.35 Value range: Life time factor Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 269: D.9 Device Data (Device Data)
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.36 Objects for the device data Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 270: D.9.1 Object 1000H: Device Type (Device Type)
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.39 Objekt 1008 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 271: D.9.3 Object 1009H: Hardware Version (Manufacturer Hardware Version)
100A Manufacturer software VSTRING const no – Tab. D.43 version Tab. D.42 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.43 Default value: Manufacturer software version Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 272: D.9.5 Object 1018H: Identity Of The Device (Identity Object)
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 273: D.10 Load And Save Parameter Sets
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”, GDCE-EMCA-EC-SY-... Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 274 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 275: D.10.1 Object 1010H: Store Parameters
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 276: D.10.2 Object 1011H: Restore Default Parameters
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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 277: D.11 Canopen – Object Dictionary (Od)
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.49 Objects Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 278: D.12 Objects
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 279 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.50 Communication profile area Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 280 UINT8 … … … … … … 3208 FHPP+ I_Byte 08 UINT8 3209 FHPP+ I_Byte 09 UINT8 … … … … … … 3216 FHPP+ I_Byte 16 UINT8 Tab. D.51 Manufacturer-specific profile area Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 281: E Diagnostics And Fault Clearance
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. E.2 LED indicator for “bus parameter not parameterised” Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 282 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. E.4 LED indicator with “Warning Limit reached” Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 283 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. E.5 LED indicator with “Node guarding error” Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 284: E.1.3 Led Indicator For Ethernet/Ip (Emca-Ec-...-Ep)
No supply voltage ACT/ No IP address 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. E.1 LED indicator Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 285: E.2 Diagnostic Messages
LED “ERROR” è description “Integrated drive with bus interface”, GDCE-EMCA-EC-SY-..Information Information messages have no influence on the behaviour of (Information) the drive and do not need to be acknowledged. Tab. E.2 Reactions to messages Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 286: E.2.3 Reactions To Errors
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. E.4 Output stage options Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 287: E.2.5 Save Diagnostics
(CCON.RESET, B3) Fig. E.7 Diagram: Acknowledge acknowledgeable error The error can also be acknowledged via the following interfaces: – Festo Configuration Tool (FCT): interface “Acknowledge error” – Web server: function “Reset error” E.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 288: E.3 Diagnostic Memory
– 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 289: E.3.2 Delete Diagnostic Memory
– 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 138. Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 290: E.4 Explanations For The Diagnostic Messages
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. E.8 Possible error responses (can be parameterised) Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 291 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 292 • Enter a valid parameter set in the device. If the error is still present, the hardware may be defect ive. – Resettable: Error can be reset immediately. Definable error response(s): A Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 293 • 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 294 • 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 295 • 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 296 – 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 297 • 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 298 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 299 – 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 300 • 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 301 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 302 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 303 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 304 Data may have been lost. • Extend cycle time of the master. – Resettable: Error can only be reset after the cause of the error has been eliminated. Parameterisable error response(s): B, C, E, F Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 305 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 306: F Terms And Abbreviations
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 307 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 – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 308 Teaching mode Operating mode for setting positions by approaching the target (Teach mode) position, e.g. when creating positioning records. Tab. F.1 Index of terms and abbreviations Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 309: Index
....COB-ID client -> server (rx) ..245, 278 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 310 ......HTTP drive catalog address ....Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 311 ......– 1003h ......258, 278 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 312 ....Parameter channel EFPC RPDO2 ..Parameter channel EFPC TPDO2 ..Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 313 ....... Sync message ......Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 314 ..... Zero angle ......Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 315 EMCA-EC-67-...-CO/-EP Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English...
Page 316 Copyright: Festo AG & Co. KG Postfach 73726 Esslingen Germany Phone: +49 711 347-0 Fax: +49 711 347-2144 E-mail: service_international@festo.com Reproduction, distribution or sale of this document or communica tion of its contents to others without express authorization is Internet: prohibited.

Festo EMCA-EC-67 Series Translation Of The Original Instructions

- Emca-Ec-67- -Co/-Ep

Table of Contents

3 Ethernet/Ip with FHPP

6 Measuring Reference System

7 Control Via FHPP

8 Monitoring of the Drive Behaviour

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C.3.10 Record List – Record Data

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