Festo EMCA-EC-67 CO Series Operating Instructions Manual
  1. Manuals
  2. Brands
  3. Festo Manuals
  4. DC Drives
  5. EMCA-EC-67 CO Series
  6. Operating instructions manual

Festo EMCA-EC-67 CO Series Operating Instructions Manual

Integrated drive
Hide thumbs Also See for EMCA-EC-67 CO Series:
Table of Contents

Advertisement

Quick Links

Download this manual
EMCA-EC-67-...-CO/-EC/-EP/-PN
Integrated drive
Operating instructions
8127094
8127094
2020-03d
[8127096]

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the EMCA-EC-67 CO Series and is the answer not in the manual?

Questions and answers

Related Manuals for Festo EMCA-EC-67 CO Series

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

  • Page 1 EMCA-EC-67-...-CO/-EC/-EP/-PN Integrated drive Operating instructions 8127094 8127094 2020-03d [8127096]...
  • Page 2 Translation of the original instructions Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 3: Table Of Contents

    General features of the product................14 3.1.2 Scope of delivery....................15 3.1.3 System structure.....................17 Software for configuration and commissioning............17 3.2.1 FCT (Festo Configuration Tool)................17 3.2.2 Web server......................18 Connections and display components................19 Drive functions......................21 3.4.1 Dimension reference system...................22 3.4.2...
  • Page 4 6.6.1 Configuration and parameterisation..............96 6.6.2 Checking STO function................... 96 6.6.3 Check signal characteristics of the limit and reference switches......97 6.6.4 Providing required signals (digital I/Os)..............97 6.6.5 Checking direction of rotation/travel direction............97 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 5 Data for the integrated motor................. 131 9.1.6 Data for the integrated rotor position encoder............131 9.1.7 Holding brake (only EMCA-EC-...-...-B)..............132 9.1.8 Parameterisation interface [X1]................132 9.1.9 Control interface [X2], [X3]..................132 9.1.10 Power supply [X4]....................133 9.1.11 Braking resistor [X5]....................134 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 6 9.1.12 STO interface [X6]....................134 9.1.13 Reference or limit switch [X7], [X8]................. 134 9.1.14 I/O interface [X9]....................135 9.1.15 Connection for external battery [X10] (only EMCA-EC-67-...-1TM)......135 9.1.16 Materials........................ 136 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 7: Introduction

    Measuring unit Single-turn absolute encoder Multi-turn absolute measurement system – Brake without holding brake with holding brake – Bus protocol/control CANopen EtherCAT EtherNet/IP PROFINET – IP protection Standard (IP54) IP65 Tab. 1 Product labelling (e.g. EMCA-EC-67-M-1TEB-CO) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 8 • FCT plug-in EMCA Version 1.2.0 or later The Product Key for the product can be used as a search term in the Festo Support Portal to find the revision of the device è www.festo.com/sp. Before starting to use a new firmware version, check whether a newer version of the FCT plug-in and new user documentation are available è www.festo.com/sp.
  • Page 9 Technical data Manual Description of the safety function “Safe torque off” (Safe torque EMCA-EC-S1- off/STO) … Manual Description of the device profile FHPP (Festo Handling and Posi- EMCA-EC-C-HP- tioning Profile) … Manual Description of the device profile CiA 402 EMCA-EC-C-CO- …...

  • Page 10: Safety And Requirements For Product Use

    Safety and requirements for product use Further information for the product is available at the Festo Support Portal (è www.festo.com/sp). • Operating instructions for Festo configurable electromechanical drives • Function blocks for controllers • Certificates, declaration of conformity Overview of accessories (catalogue) è www.festo.com/catalogue...

  • Page 11: Intended Use

    Observe the additional information in the description EMCA-EC-S1-…. 2.2.1 Transport and storage conditions – Protect the product during transport and storage from excessive stress factors. Excessive stress factors include: – mechanical stresses – impermissible temperatures – moisture – aggressive atmospheres Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 12: Technical Prerequisites

    Standards and test values with which the product must be in conformity è Technical data (è 9.1 Technical data). EU Directives relevant to the product è declaration of conformity. Certificates and the declaration of conformity for this product è www.festo.com/sp Certain configurations of the product are certified by Underwriters Laboratories Inc. (UL) for the USA and Canada.

  • Page 13: Product Description

    (single-turn absolute encoder or multi-turn absolute measurement sys- tem) – motor shaft for power transmission – motor flange for coupling and mounting – device electronics with power, control and regulation electronics – terminal box with interfaces for electrical installation Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 14: General Features Of The Product

    (Tab. è Drive functions). 3.1.1 General features of the product Property Description EC motor brushless DC motor with: – integrated encoder (single-turn absolute encoder or multi-turn absolute measurement system) – holding brake (optional) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 15: Scope Of Delivery

    – uploading and downloading of a parameter file for easy device replacement call via web browser (Internet Explorer or Firefox) 1) available separately as an accessory (è www.festo.com/catalogue) Tab. 7 Overview of EMCA product features 3.1.2 Scope of delivery Number Component EMCA-  with cover, screws for cover mounting...
  • Page 16 Assortment of plugs NEKM-C (mating plug for plug on the printed circuit board) – Connecting cable for the Ethernet interface NEBC-D12G4-… – Connecting cable for power supply NEBM-L4G2-… – Connecting cable for the STO and the I/O interface NEBM-L5G6-… Current information on accessories è www.festo.com/catalogue Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 17: System Structure

    Software for configuration and commissioning 3.2.1 FCT (Festo Configuration Tool) The Festo Configuration Tool (FCT) is the Windows-based software platform for configuration, para- meterisation and commissioning of various Festo components and devices. FCT also allows configura- tion and commissioning of the integrated drive EMCA.

  • Page 18: Web Server

    – recording of measurement data – automatic calculation of the controller data for selected Festo motor-gear unit-axis combinations – manual precision adjustment of the controller data For further information on commissioning with FCT è 6 Commissioning. Detailed information about FCT è Help system for the software.

  • Page 19: Connections And Display Components

    9 [X3]: CAN OUT – continuation line (M12 here with seal insert) bushing) 4 Mounting thread (4x) thread M4 10 [X2]: CAN IN – incoming line (plug M12) 5 Plugs Fig. 4 Control sections and connections EMCA-EC-67-...-CO Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 20 9 Through-hole for mounting (4x) 4 Cable through-feed of the terminal box (each 10 [X2]: bus/network OUT – port 2 (M12 bush- here with seal insert) ing, control interface) Fig. 5 Control sections and connections EMCA-EC-67-...-EC/-EP/-PN Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 21: Drive Functions

    FCT) record) Positioning mode The EMCA calculates the positioning 3.4.5 Positioning mode è curve (point-to-point positioning) from the specified parameters (e.g. target position, acceleration, velocity) and controls the motor accordingly. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 22: Dimension Reference System

    Negative direction of rotation (–) corresponds to the anti-clockwise direction of rotation of the motor. FCT can be used to change the direction of rotation (è FCT, “Application data” page, “Environ- ment/installation” tab, “Reversal of direction of rotation” option). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 23 1) If an axis is configured with an unlimited working range, software end positions cannot be parameterised. Tab. 10 Tab. 2.4 Dimension reference system – example of rotary drives The direction of motion of the load depends on the axis structure (e.g. of the gear unit). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 24 Usable work range of the drive (working stroke) 1) If an axis is configured with an unlimited working range, software end positions cannot be parameterised. Tab. 11 Dimension reference system – example of linear drives Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 25 If the target of the next positioning motion is even further outside the usable range, a Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 26: Homing

    (best case) (charge duration min. 24 hours). The time can be extended up to 6 months with the external battery box EADA-A-9 supplied by Festo. Position changes will continue to be detected even with the sup- ply voltage switched off so long as the multi-turn absolute meas- urement system is supplied with power.
  • Page 27 The mechanical stop is searched during homing. – positive direction If the stop is detected in accordance with the – negative direction parameterisation (force limit/torque limit, cush- ioning time), the position becomes the homing point. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 28 1. Search for the index of the encoder in the parameterised direction at search velocity. The position of the next index is accepted as the homing point. 2. Optional: travel to the axis zero point (Tab. Homing option). è Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 29 Stop not detected: EMCA regulates against the stop, shuts down if the temperature rises above its defined limit. 2. Stop detected: position is accepted as the reference point. 3. Travel to the axis zero point Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 30 If the limit switch is not found: – For rotary drives without stop: the drive continues indefinitely. – For drives with stop: travel to stop, stop detection, termination of homing with fault message 0x22 (FCT code). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 31 3. Optional: travel to the axis zero point (Tab. Homing option). è Direction: positive (method 17 ; 23) Direction: negative (method 18 ; 27) Reference switch Reference switch Tab. 20 Homing method – homing to reference switch without index Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 32 Travel velocity for the “Drive to axis zero point” option (Drive Velocity) Acceleration Acceleration and deceleration for all phases of homing (Acceleration) Axis zero point Distance of the axis zero point from the reference point in positive or (Axis Zero Point) negative direction (offset) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 33: Jog Operation (Only Via Fhpp Or With Fct)

    Setpoint value for the velocity when starting a jog movement (Crawling velocity) Duration of creep phase Setpoint value for the duration of creeping (Slow moving time) Max. velocity Maximum velocity at the end of creeping (Maximum velocity) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 34 If the jog signal continues after the end of the creeping time, the drive accelerates to jog velocity. Longer strokes can thus be completed more rapidly. – The drive is braked to a standstill with a falling edge of the jog signal. 1 t1: creeping time Fig. 9 Jogging – example Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 35: Teach Mode (Only Via Fhpp Or With Fct)

    Variants of the target specification in positioning mode) è Velocity Setpoint value for velocity (Velocity) Acceleration Setpoint value for acceleration (Acceleration) Deceleration Setpoint value for the deceleration (Deceleration) Jerk acceleration Maximum value for the jerk during the acceleration phase (Jerk for acceleration) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 36 Tab. 26 Variants of the target specification in positioning mode Start Acceleration Deceleration Speed Target position Motion Complete Fig. 10 Setpoint value path – example: starting velocity and setpoint final velocity 0 mm/s, without smoothing Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 37 Reaction to a start signal if the current order has not been ter- (Start Condition) minated yet (record switching, Tab. Possible settings for the “Start condition” parameter) è Extra load Payload that is transported in addition to the base load (Extra Load) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 38: Velocity Mode

    The velocity mode permits regulation of the velocity (linear drive) or rotational speed (rotary drive). The path is largely influenced by the following parameters: Parameter Description Velocity (Velocity) Target specification for velocity Acceleration (Acceleration) Setpoint value for acceleration Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 39 Parameter Description Stroke limitation Limits the distance that may be travelled during execution of (Stroke Limit) the order. When the stroke limitation is reached, the device reacts as fol- lows: Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 40 Example: target velocity was not reached – without jerk limitation Stroke limit Actual position Target speed Actual Velocity Motion Complete Stroke limit reached (internal) Fig. 11 Stroke limitation reached before target velocity – without jerk limitation Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 41 Example: target velocity was reached – without jerk limitation Stroke limit Actual position Target speed Actual Velocity Motion Complete Stroke limit reached (internal) Fig. 12 Stroke limitation reached after reaching target velocity – without jerk limitation Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 42: Force/Torque Mode

    The actual force at the axis must be checked at commissioning using external measuring equip- ment. Deviations between the actual and the desired force can be reduced by adjusting the paramet- erisation. The path of an order in force/torque mode is largely influenced by the following parameters: Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 43 If no other drive function is to be executed, the drive will stop at the stroke limitation in a position-controlled manner. Standstill monitoring is activated and the “Motion Complete” signal is set. Tab. 34 Stroke limitation parameters Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 44: Stop (Halt), Quick-Stop

    In a quick stop the drive is braked down to a stop using the parameterised Quick-Stop deceleration function. Quick Stop is triggered in the following cases: – Removal of controller enable. After completion of the Quick Stop delay, the drive is blocked (power stage switched off). The drive is uncontrolled. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 45: Holding Brake (Only Emca-Ec

    (è FCT, “Motor” page, “Brake control” tab). Parameter Description Switch-on delay Delay before execution of the next order: 1. The holding brake is not released until the controller is enabled. The position controller takes control (actual position = setpoint posi- tion). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 46: Controller (Overview)

    FHPP FHPP (Festo Handling and Positioning Profile) permits a uniform control and parameterisation of various motor controllers and drives from Festo. It is controlled via the cyclic control and status data (8 bytes). FHPP supports the following operating modes: –...

  • Page 47: Operational Principle For Record Selection

    PLC only needs to transfer the record number to the output data. The device then executes the corresponding record with the next start signal. Besides the parameters for pure command pro- cessing, record selection offers the following options for influencing sequence control: Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 48: Record Switching

    The current task is interrupted immediately, and the newly addressed task (Interrupt) is executed directly. Tab. 40 Possible settings for the “Start condition” parameter Example: “Ignore” start condition The start signal (here for record B) is ignored. The current order (here record A) is completed. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 49 Target position record A Start record Motion Complete Fig. 15 “Wait” start condition Example: “Interrupt” start condition The current order (here record A) is interrupted immediately and the newly addressed order (here record B) is then executed immediately. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 50: Record Sequencing

    (Start Delay) record sequencing. MC visible Specifies whether the “Motion Complete” message should be (MC visible) output on termination of the record. The duration of the signal can be influenced by the “Start delay” parameter. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 51 Final and setpoint velocity for record A share the same value. Record B is started without start delay when the target position of record A is reached without considering the cushioning time for Motion Complete. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 52: Monitoring Of The Drive Behaviour

    Standstill monitoring is always active when the drive is at a controlled standstill. The drive is at controlled standstill in the following cases: – after jogging – after completion of homing – after completion of a positioning order with final velocity 0 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 53 (path, velocity) lies outside the parameterised difference. If the following error has been con- figured as a warning, the message is automatically deleted when the actual value is again within the following error window. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 54 EMCA issues the diagnostic message “Actual position lies outside the standstill window” (act- ive = 1: axis has left the standstill window; inactive = 0: axis is located in the standstill window). – The position controller attempts to return the drive to the standstill window. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 55: Comparators

    (e.g. minimum value and maximum value of the monitoring window). The comparators can be used as step enabling condi- tions for record sequencing (è 3.6 Operational principle for record selection, record sequencing). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 56 è "–50 mm“ must be entered at the minimum value and "–40 mm“ as the maximum. Tab. 45 Parameters for the position comparator The position limits are always specified in absolute values, even for relative position records. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 57 The message “Time comparator active” is set if the following condition is fulfilled: – The time since the start of the record is within the parameterisable limits (³minimum and £ max- imum). In all other cases the message is inactive. Parameter Description Min. lower time limit (minimum) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 58: Protective Functions

    If a braking resistor is not connected in the switch-on phase, the EMCA generates a corresponding diagnostic message ( FCT error management). è For applications that do not require a braking resistor, this diagnostic message can be classified as informa- Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 59: Error Management

    The power stage is switched off. The drive coasts to a stop. (Free-wheeling) Quick-stop deceleration The movement is braked immediately at the parameterised (QS deceleration) quick stop deceleration (quick-stop braking ramp). Additional option: power stage on (Power stage on) or off (off) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 60: Diagnostic Memory

    Ethernet interface (è 3.8.1 Parameterisation interface [X1] (Ethernet interface)). The control inter- face depends on the product design: – EMCA-EC…CO: CANopen – EMCA-EC…-EC: EtherCAT – EMCA-EC…-EP: EtherNet / IP – EMCA-EC…-PN: PROFINET Information on the installation è 5 Installation Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 61: Parameterisation Interface [X1] (Ethernet Interface)

    The parameterisation interface [X1] permits the following: – Configuration, parameterisation, commissioning, diagnostics and firmware download with FCT (è 6.2 FCT (Festo Configuration Tool) and FCT Help) – Diagnostics with the help of the web server using a web browser (è 6.5 Online connection with the web server and è 7.1 Access to the diagnostic memory) –...

  • Page 62: Control Interface [X2], [X3] (Fieldbus)

    Functions of the base inputs/outputs Functions of the digital base inputs (6) Name Function [X6.4] STO 1 (Safe torque off Control input STO channel 1 channel 1) Description of STO safety function, EMCA-EC-S1- è … Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 63 High level: device is ready (ready for operation/no error); the output delivers high level as long as all of the follow- ing conditions are met: – Controller enable is present over the interface with master control. – No error message is pending. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 64 Removal of the controller enable stops the ongoing order (Quick Stop). If the search velocity v=0, the “Ready” signal is reset and the closed-loop controller blocked. The drive can then be moved freely on product designs without a holding brake. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 65 When controller enable is revoked, the holding brake is closed. In this status, the holding brake can be opened by the “Brake” signal via the control interface, e.g. to move the drive manually (è Description of the FHPP device profile). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 66 … value) of the current record. Axis In motion High level, if the axis moves. … Constant velocity reached High level, if the target velocity or maximum velocity of … the current record is reached. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 67 … (Errors/ I²t error Warnings) I²t warning Load overvoltage Load undervoltage 1) Detailed information on comparators è Comparators. 2) Information on protective functions è Protective functions. Tab. 58 Functions of the freely configurable digital output Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 68: Assembly

    Assembly Assembly Dimensions EMCA-EC-67 -...- CO Fig. 22 Type +0.8/-1.1 ±0.5 -0.3 ±0.8 ±0.3 -0.1 EMCA- 169.9 117.2 52.7 … … +0.8/-1.1 ±0.8 EMCA- 187.4 70.2 … … Tab. 59 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 69 Assembly Dimen- sion ±0.5 -0.009 -0.039 ±0.2 ±0.2 +0.2 [mm] 121.1 M4x5 Æ Æ Æ Æ Æ Tab. 60 Dimensions EMCA-EC-67 -...- CO - specifications in [mm] Dimensions EMCA-EC-67 -...- EC/-EP/-PN Fig. 23 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 70: Performing Mounting

    The device is mounted with a gear unit or directly onto an axis with axial kits or parallel kits. Any mounting position can be used. Axial kits, parallel kits and gear unit è www.festo.com/catalogue During mounting the shaft of the drive is connected to the shaft of the axis by a coupling (è Assembly instructions for axial or parallel kit).
  • Page 71 1. Move the slide or cantilever of the driven mechanism into a safe position. 2. Connect the EMCA to the driven mechanism è Assembly instructions of the additional compon- ents used. 3. Tighten the retaining screws (4x). Tightening torque è Assembly instructions of the additional components. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 72: Installation

    Long signal lines reduce the immunity to interference (EMC). • Observe the maximum permissible signal line lengths. The device can generate high frequency malfunctions, which may make it necessary to implement interference suppression measures in residential areas. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 73: Emc-Compliant Wiring

    – unshielded £ – A shielded cable can optionally be used. In this case, the cable shielding can be attached to the flat plug on the device side (Tab. Flat plug (FE) – è optional). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 74: Parameterisation Interface [X1]

    Standards for security in information technology can be used for network protection meas- ures, e.g. IEC 62443, ISO/IEC 27001. Connection Design [X1] on the device M12 bushing, 5-pin, D-coded Mating plug M12 plug, 4- or 5-pin, D-coded Tab. 64 Design of the connection [X1] 1 Ethernet interface [X1] Fig. 25 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 75: Control Interface [X2], [X3]

    Shield/functional earth Tab. 65 Connection of parameterisation interface [X1] (Ethernet) Connecting the parameterisation interface (Ethernet) Recommended: use connecting cable NEBC-D12G4-… from Festo. – Connect EMCA to your network via a hub/switch or directly to the PC. Note cable specification. Characteristics...
  • Page 76 CAN_GND Earth (reference potential for CAN signals) CAN_H Positive CAN signal (Dominant High) CAN_L Negative CAN signal (Dominant Low) Housing Shield/FE Shield/functional earth (Shield/Functional Earth) Tab. 69 Connection [X3] CAN OUT (EMCA -...- CO only) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 77: Control Interface Emca

    [X2] on the device (port 2) M12 bushing, 5-pin, D-coded [X3] on the device (port 1) Mating plug M12 plug, 5-pin, D-coded Tab. 71 Design of the connections [X2] and [X3] (only EMCA -...- EC/-EP/-PN) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 78: Connection Of Plugs [X4]

    STO (Safe End/refer- I/O interface external bat- istor torque off) ence switch tery Manufac- Tyco Electronics AMP turer Plugs B2P-VH-FB- B2P-VH-FB- 3-794636-6 2-1445053-3 3-794636-6 B2B-ZR- SM4-TF Mating plug VHR-2N-BK VHR-2N 794617-6 1445022-3 794617-6 ZHR-2 (black) (white) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 79 When making the connecting cables, observe the current specifications/crimp instructions of the named manufacturers (Tab. è Overview of cable specifications). Recommended: use connecting cable NEBM-… from Festo (è www.festo.com/catalogue). Make all required connecting cables before connecting the plugs. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 80 Seal inserts for lines with outside diameter 6.1 … 7.1 mm – Seal inserts for lines with outside diameter 8.5 … 9.6 mm The seal insert assortment is also available as an accessory (è www.festo.com/catalogue). Connecting the internal plugs The cover of the terminal box must be removed for the electrical installation.

  • Page 81: Power Supply [X4]

    EN 60204-1 (Electrical equipment of machines, General requirements) is guaranteed with the use of PELV circuits. A 24 V fixed power supply used in the system must satisfy the requirements of EN 60204-1 for DC power supply (behaviour during power interruptions, etc.). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 82 Mating connector: flat connector sleeve (6.3 x 0.8 mm²) Tab. 75 Flat plug (FE) – optional Connection to the supply voltage – Before connecting, make sure that the power supply is switched off. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 83: Braking Resistor [X5]

    Impermissibly high voltages can result from energy feedback into the intermediate circuit of the device. This can damage the device and cause malfunctions. • Connect a braking resistor adapted to the braking output that occurs in the desired application. Fig. 31 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 84: Sto Interface [X6]

    Connection for external braking resistor R 6 Ω BR-CH Tab. 76 Pin allocation for braking resistor [X5] Braking resistor CACR-LE2-6-W60 from Festo is suitable (6 Ω/60 W). 5.5.3 STO interface [X6] The safety function STO (Safe torque off) is described in detail in the document EMCA-EC-S1-…. The safety function STO should only be used in the manner described in this document.

  • Page 85: Limit Or Reference Switch [X7], [X8]

    Voltage output 24 V for supply of the reference or limit switch 2 (configurable with FCT, not short-circuit proof) Switch 2 Signal input for reference switch or limit switch 2 Reference potential 0 V Tab. 79 Pin allocation of reference or limit switch 2 [X8] Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 86: I/O Interface [X9]

    7 days when fully charged with the supply voltage switched off (best case). The duration can be extended up to a maximum of 6 months by connecting battery box EADA-A-9 (Tab. è Encoder). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 87: Requirements For Ensuring Ip Degree Of Protection

    Battery – (GND) Tab. 81 Pin allocation connection for the external battery [X10] (only EMCA-EC-...-1TM) The battery box EADA-A-9 from Festo is suitable. Requirements for ensuring IP degree of protection – Use only connection technology with the corresponding IP degree of protection (è www.festo.com/catalogue).

  • Page 88: Commissioning

    The FCT EMCA V 1.0.0 plug-in supports devices with firmware version V1.0.x. or later. • With newer firmware versions check that an updated plug-in is available (è www.festo.com/sp) Windows administrator rights are required for installing the FCT. The FCT is installed on your PC with an installation program.

  • Page 89: Starting Fct

    Help plug-in  (FCT installation EMCA_de. … (EMCA) directory)\HardwareFamilies\Festo\EMCA\V…\Help\ Tab. 82 Adobe Reader is recommended for viewing and printing PDF files. Loading firmware The Festo Configuration Tool (FCT) makes it possible to update the device firmware. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 90: Network Connection Via Ethernet

    Commissioning Festo makes new firmware versions available on the internet in the support portal (è www.festo.com/sp). • When searching for firmware, enter the part number or order code of the product as search text (è product labelling of the device). When the firmware is loaded with the FCT, at first only identification data is transmitted to the device.
  • Page 91 Commissioning Recommended: use the connecting cable NEBC-D12G4-… from Festo (accessories è www.festo.com/catalogue). Fig. 37 Initial commissioning via point-to-point connection The DHCP server permits a point-to-point connection between the device and a PC individually con- figured as a DHCP client. The Ethernet interface used on the PC must have the following (default) set- tings è...

  • Page 92: Displaying Or Changing Network Configuration

    Unauthorised Access to the Device Can Cause Damage or Malfunction. • When connecting the device to a network, protect the network from unauthorised access. Standards for security in information technology can be used for network protection meas- ures, e.g. IEC 62443, ISO/IEC 27001. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 93: Master Control

    (for diagnostics). It can be switched in both enabled and non- enabled status. That means that the device does not prevent changeover of the master control during an active movement. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 94 To remove master control from the control interface and transfer it to FCT: – Activate the online register "Operate" under "device control" check box "FCT". For the FCT to control the connected device, the "Enable" checkbox must be activated after accept- ance of the master control. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 95: Online Connection With The Web Server

    1. Open Internet browser, e.g. Internet Explorer version 6 or later or Firefox version 3 or later. 2. Enter the IP address of the device in the address line of the Internet browser. Then the website of the device appears. Fig. 38 Website of the web server Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 96: Commissioning Steps

    7. Test positioning behaviour (test mode è Help for EMCA plug-in). 8. Optimise controller setting (optional, è Help for the EMCA plug-in). 9. Configure fieldbus and test control profile (è description of the device profile used). 10. Complete commissioning (è Help for the EMCA plug-in). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 97: Configuration And Parameterisation

    – Do not operate the device with unknown settings. – If the system structure consists of Festo components, parameters and limit values are preset by the plug-in. – If the system structure contains user-specific components, parameters and limit values must be determined based on the system structure.

  • Page 98: Providing Required Signals (Digital I/Os)

    STO 1 and STO 2 signals (STO interface) è Description of the STO safety function, EMCA-ECS1-… – For DIN + controller enable logic (Tab. è Enable logic): enable signal (I/O interface) 1 Switch setting with switched-on controller 2 Optional; output in the Festo Configuration enable Tool (FCT) freely configurable (e.g. “common error”) Fig.

  • Page 99: Execute Homing

    To complete commissioning: – Recommended: activate password protection (è Help for the EMCA plug-in). – Save parameters permanently in the device (è Help for the EMCA plug-in). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 100: Saving Or Loading Parameter File

    Tab. 88 Commands in the Parameter Upload/Download section Further options A parameter file can be imported into the current project with FCT and parameters of the current project can be exported into a parameter file (è FCT, "Component" è "Import/Export" command). Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 101: Instructions For Operation

    è 7.3.2 Diagnostic messages with information for fault clearance. Acknowledgeable error messages can be acknowledged as follows: – Festo Configuration Tool (è FCT Online Help) – Fieldbus (è Description for the device profile). The device must be switched on again if errors cannot be acknowledged (Power OFF/ON). Diagnostic events that are parameterised as warnings are displayed once and do not need to be acknowledged.
  • Page 102 Time stamp Time of the diagnostic message in the form HH.MM.SS:nnn (HH = (Timestamp) hours, MM = minutes, SS = seconds, nnn = milliseconds). The time base is the time the device was switched on. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 103: Diagnostics Via Leds

    Diagnostics and fault clearance Information Description Additional info Additional information for Festo Service (Additional Info) Tab. 90 Information for diagnostic messages Deleting the diagnostic memory The content of the diagnostic memory can be deleted: – with the FCT, "Delete" button (è FCT online Help) –...
  • Page 104 / line monitoring) - bus-specific 3 LED ERROR LED (EtherCAT) Fig. 43 LED of the EMCA-EC -...- EC Information on the bus-specific LEDs (EC LINK/ACTIVITY, EC RUN, EC ERROR) è Description for the FHPP device profile and CiA 402. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 105 6 LED LINK / ACTIVITY, Port 1 (communication 3 LED ERROR activity / line monitoring) - bus-specific LED (EtherNet / IP) Fig. 44 LED of the EMCA-EC-...-EP Information on the bus-specific LEDs (LINK/ACTIVITY, MS, NS) è Description for the FHPP device pro- file. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 106: Behaviour During The Switch-On Phase

    Hardware is not ready for operation; an error is pending. green flashing – Hardware is ready for operation; but the “Enable” signal is not pending. green – normal operating status; hardware is ready for operation; “Enable” signal is pending Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 107: Identification Sequence Active

    Switch device off and back on. – Restart firmware download. – If the error occurs repeatedly, contact your local Festo service. 7.2.5 Bus-specific LEDs EMCA-EC -...- CO/EC (CANopen, EtherCAT) Detailed information on the bus-specific LEDs è Description for the device profile: •...

  • Page 108: Diagnostic Messages, Causes And Remedies

    Quick-Stop deceleration – quick-stop braking ramp then switch off the power stage Record deceleration - turn off braking ramp of the current position record End record - execute record to end until Motion Complete (MC) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 109: Diagnostic Messages With Information For Fault Clearance

    04h Non-permitted hardware Can be parameterised as: [F]/-/- (Non-permitted hardware) Diagnostic memory: always Internal electric circuitry is faulty. – The device must be replaced. Acknowledgement option: cannot be acknowledged, software reset required. Parameterisable error response(s): A Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 110 Can be parameterised as: [F]/-/- (General error) Diagnostic memory: always An internal error has occurred. – Restart device. If the error occurs frequently, contact Festo service. Acknowledgement option: error can be acknowledged. Parameterisable error response(s): B Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 111 (internal) motor cables. Replace device. – Error occurs only with active brake chopper: check external braking resistor for short circuit or insufficient resistance value. Acknowledgement option: cannot be acknowledged, software reset required. Parameterisable error response(s): A Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 112 This error can be acknowledged immediately. Afterwards start a corresponding positioning record or move the drive by using the jogging function. Movements in a negative direction are blocked. Acknowledgement option: error can be acknowledged. Parameterisable error response(s): A, [B], C, E, F Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 113 Check the mechanical system for sluggishness. – Reduce the ambient temperature; improve heat dissipation. Check ambient temperature. Con- sider power derating. Acknowledgement option: error can only be acknowledged after eliminating the cause. Parameterisable error response(s): A, B, [C], D Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 114 Check whether multiple connections have been established to the device. If yes, terminate the unneeded connections. Additional remedial measures: – do without trace drawings – reduce bus load Acknowledgement option: error can be acknowledged. Parameterisable error response(s): A, [B] Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 115 If another device works flawlessly with the same wiring, it means the device is defective. Acknowledgement option: error can only be acknowledged after eliminating the cause. Parameterisable error response(s): [B], C, E, F Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 116 For parameterisation as an error: The error can only be acknowledged after the cause is eliminated. Parameterisable error response(s): B, C, D, E, [F], G If parameterised as a warning: the warning disappears when a valid telegram entry is written. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 117 The error may be caused by the actual velocity or the actual accel- eration being too high at the switching point. In case of parameterisation via fieldbus: velocity and acceleration must not equal 0. Acknowledgement option: error can be acknowledged. Parameterisable error response(s): A Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 118 Check the following: is an error that can be acknowledged first pending? When downloading a parameter file, check that the version of the parameter file matches the firmware. If the error occurs again, please contact Festo service. Acknowledgement option: error can be acknowledged.
  • Page 119 – Determine the version of the hardware. You can check the compatible firmware versions and download appropriate firmware from the Festo website. If parameterised as an error: error can be reset immediately. Parameterisable error response(s): [A] If parameterised as a warning: the warning disappears when a new FW download process is started.
  • Page 120 (FCT connection with master control) Diagnostic memory: optional Connection to the FCT has been interrupted. – Check connection and perform a reset, if necessary. Acknowledgement option: error can be acknowledged. Parameterisable error response(s): [B], C, D, E, F Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 121 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 is no longer active when communication is re-estab- lished. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 122 Acknowledge error. If the error occurs again, a command memory module may be defective or an incorrect entry was stored. – Delete diagnostic memory. If the error is still present, the device needs to be replaced. Acknowledgement option: error can be acknowledged. Parameterisable error response(s): [F], G Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 123 If new firmware is required, all parameters might not be written. – Load a valid parameter file into the device. For parameterisation as a warning: the warning disappears when a new parameter file is successfully written. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 124 A defective memory cell was detected during the boot process. – Run firmware update. If the error is still present, the memory might be faulty. Then the device must be replaced. Acknowledgement option: cannot be acknowledged, software reset required. Parameterisable error response(s): A Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 125 There is no longer a connection to the controller, e.g. because the cable was disconnected. – Check connection and perform a reset, if necessary. If parameterised as a warning: the warning disappears if the connection to the controller is re-estab- lished. Tab. 97 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 126: Problems With The Ethernet Connection

    The ping command can be used to determine whether the device can be reached in the network. 1. Select "Start" è "(All) programs" è "Accessories" è "Command Prompt". 2. Input the following command line: ping 192.168.178.1 (factory-set IP address of the device) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 127: Other Problems And Remedies

    Gas formation with fire risk. If cleaning agents come into contact with the hot surface of the drive, gases may be formed and may ignite. • Allow the drive cool down to room temperature before starting cleaning. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 128: Disassembly

    3. Remove the cover of the terminal box with an Allen key – width across flats (SW) 2.5 mm. 4. Remove cover carefully. 5. Disconnect all electrical cables. 6. Seal cable throughfeeds (e.g. with blind seals). 7. Place cover on the terminal box and screw it tight – tightening torque 1.5 Nm. Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 129: Repair

    – PI-velocity controller – PI current regulator Parameterisation interface Ethernet Ethernet, supported protocols TCP/IP Control interface protocol EMCA- -CO: CANopen … EMCA- -EC: EtherCAT … EMCA- -EP: EtherNet / IP … EMCA- -PN: PROFINET … Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 130: Product Conformity And Approvals

    4.1 Dimensions EMCA-EC-67 -...- CO è Product weight EMCA without holding brake [B] and 1900 2260 without multi-turn absolute measure- ment system [M] Optional multi-turn absolute meas- urement system [M] Optional holding brake [B] Tab. 101 Technical data: general Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 131: Operating And Ambient Conditions

    Vibration load Frequency range [Hz] Acceleration [m/s Deflection [mm] – – ±3.5 ±3.5 … … – – … … – – ±0.15 ±0.35 … … – – … … – – … … Tab. 103 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 132: Data For The Integrated Motor

    Magnetic principle Resolution 12 bits (4096 incre- 12 bits (4096 incre- ments per revolution) ments per revolution) and 4,294,967,729 (± 2,147,483,648) revolu- tions; 32 bit approx. 0.088° Absolute encoder operating duration (at medium ambient temperature) Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 133: Holding Brake (Only Emca-Ec

    TCP/IP Tab. 109 Connection data: parameterisation interface [X1] 9.1.9 Control interface [X2], [X3] CANopen EMCA-EC-67-…-CO Bus connection design [X2] (IN) M12 plug, 5-pin, A-coded Bus connection design [X3] (OUT) M12 bushing, 5-pin, A-coded Protocol CANopen Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 134: Power Supply [X4]

    Power supply [X4] Connection data: power supply [X4] EMCA-EC-67-S-… EMCA-EC-67-M-… Cabling Max. cable length £ Cable specification Tab. Overview of cable specifications è Logic and load supply Nominal voltage [V DC] Perm. voltage fluctuations ±20 Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...

  • Page 135: Braking Resistor [X5]

    Only use for switching the digital inputs Digital Inputs Operating range of logic input [V DC] Switching logic Configurable Characteristics Galvanically connected to logic potential Specification Based on IEC 61131-2 Tab. 114 Reference or limit switch [X7], [X8] Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 136 Connection for external battery [X10] (only EMCA-EC-67-...-1TM) Connection for external battery [X10] EMCA-EC-67-… Max. cable length £ Cable specification Tab. Overview of cable specifications è Voltage [V DC] Tab. 116 Connection for external battery [X10] Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 137 Terminal box Plastic – lower housing part (power electronics) Die-cast zinc Seal Motor – Shaft Steel – Flange Die-cast zinc – Profile barrel Aluminium Note on materials – Contains PWIS Tab. 117 Technical data: materials Festo — EMCA-EC-67-...-CO/-EC/-EP/-PN — 2020-03d...
  • Page 138 Copyright: Festo SE & Co. KG Ruiter Straße 82 73734 Esslingen Germany Phone: +49 711 347-0 Internet: www.festo.com © 2020 all rights reserved to Festo SE & Co. KG...

This manual is also suitable for:

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

Table of Contents