Festo EMCA-EC-67 CO Series Description Download

Page: 294 / 416

FHPP parameters (PNU)

294

Festo – EMCA-EC-C-HP-EN – 2017-11e – English

Subindex 7

Force sub actual value (Force sub actual value)

Value

Significance

0x00 (0)

Actual speed [% of the “Basic value speed (PNU 540)”]

0x01 (1)

Actual force [% of “Basic value force (PNU 555)”]

Subindex 8

Force main actual value (Force main actual value)

Value

Significance

0x00 (0)

Actual position [SINC]

0x01 (1)

Actual force [% of “Basic value force (PNU 555)”]

Subindex 9

Velocity sub setpoint value (Velocity sub setpoint value)

Value

Significance

0x00 (0)

Acceleration [0 … 100 % of the “Acceleration base value (PNU 560)”]

0x01 (1)

reserved

Subindex 10

Velocity main setpoint value (Velocity main setpoint value)

Value

Significance

0x00 (0)

Speed [SINC/s]

0x01 (1)

reserved

Subindex 11

Velocity sub actual value (Velocity sub actual value)

Value

Significance

0x00 (0)

reserved

0x01 (1)

reserved

Subindex 12

Velocity main actual value (Velocity main actual value)

Value

Significance

0x00 (0)

reserved

0x01 (1)

Actual speed [% of the “Basic value speed (PNU 540)”]

Tab. C.94

PNU 523

PNU 524

FHPP direct mode settings (FHPP direct mode settings)

Subindex 1

Class: Var

Data type: uint8

Mappable

Access: rw1

Reading or parameterisation of the characterististics for the FHPP direct operation.

Bit

Value

Significance

Binary

Relative positioning type

Setpoint value is relative to the last setpoint position.

Setpoint value is relative to the actual position.

1…7

–

reserved

Tab. C.95

PNU 524

Summary of Contents for EMCA-EC-67 CO Series

Page 1: ...Description FHPP device profile For fieldbus CANopen EtherCAT EtherNet IP Modbus TCP PROFINET 8079765 2017 11e 8079767 EMCA EC 67 CO DIO EC EP PN Integrated Drive ...

Page 2: ...fication of hazards and instructions on how to prevent them Warning Hazards that can cause death or serious injuries Caution Hazards that can cause minor injuries Other symbols Note Material damage or loss of function Recommendations tips references to other documentation Essential or useful accessories Information on environmentally sound usage Text designations Activities that may be carried out...

Page 3: ...2 5 CAN bus cable 26 2 3 Configure CANopen participants 26 2 3 1 Configure EMCA 27 2 3 2 Commission EMCA with the Festo Configuration Tool FCT 30 2 3 3 Configure CANopen master 30 2 4 Required digital inputs for operation 31 2 5 Data interfaces parameter firmware 32 3 EtherCAT with FHPP 34 3 1 ETG standards 34 3 2 EtherCAT interfaces on the EMCA 35 3 2 1 EtherCAT display elements 35 3 2 2 EtherCAT...

Page 4: ...cess data communication 53 3 7 1 PDO Mapping 53 3 7 2 Object 1600h 1st receive PDO mapping RxPDO1 54 3 7 3 Object 1601h 2nd receive PDO mapping RxPDO2 55 3 7 4 Object 1602h 3rd receive PDO mapping RxPDO3 56 3 7 5 Object 1603h 4th receive PDO mapping RxPDO4 57 3 7 6 Object 1A00h 1st transmit PDO mapping TxPDO1 58 3 7 7 Object 1A01h 2nd transmit PDO mapping TxPDO2 59 3 7 8 Object 1A02h 3rd transmit ...

Page 5: ...14 Configuring the EtherCAT master 80 3 14 1 Device description file ESI 80 3 14 2 Function element 80 3 14 3 Addressing of the EMCA 80 3 14 4 Cycle time 80 4 EtherNet IP with FHPP 81 4 1 ODVA standards 81 4 2 EtherNet IP interface of the EMCA 82 4 2 1 EtherNet IP display components 82 4 2 2 EtherNet IP connections 83 4 2 3 EtherNet IP copper cabling 83 4 3 Configuration EtherNet IP stations 84 4 ...

Page 6: ...bjects for Modbus command Read Device Identification 101 5 3 12 Monitoring functions 101 6 PROFINET IO with FHPP 102 6 1 Standards 102 6 2 PROFINET interface of the EMCA 103 6 2 1 PROFINET display components 103 6 2 2 PROFINET connections 104 6 2 3 PROFINET copper wiring 104 6 3 PROFINET communication 105 6 3 1 Conformance classes CC 105 6 3 2 Real time classes RTC 105 6 3 3 Supported protocols 10...

Page 7: ...rol and status data 126 8 3 1 Overview FHPP control data 126 8 3 2 Overview FHPP status data 128 8 3 3 Description control bytes 130 8 3 4 Description status bytes 134 9 Measuring reference system 141 9 1 Configure dimensional reference system 141 9 1 1 Dimension reference system for linear drives 142 9 1 2 Dimension reference system for rotative drives 143 9 1 3 Calculation rules for the dimensio...

Page 8: ... 5 3 Diagram jog mode 170 10 6 Teach mode 171 10 6 1 FHPP parameter Teach mode 171 10 6 2 Control teach mode 172 10 6 3 Diagram teach mode 173 10 7 Record selection mode 174 10 7 1 Overview Data exchange in the record selection mode 174 10 7 2 FHPP parameters record selection mode 175 10 7 3 Control record selection mode 177 10 7 4 Control intermediate stop 178 10 7 5 Delete remaining path 179 10 ...

Page 9: ...al speed 206 10 9 14 Stroke monitoring 207 10 10 Flying measurement position sampling 209 11 Monitoring of the drive behaviour 211 11 1 Messages 211 11 1 1 Motion complete 212 11 1 2 Following error 214 11 1 3 Standstill monitoring 216 11 1 4 Comparators 218 11 2 Protective functions 220 11 2 1 Overview protective functions 220 11 2 2 I2t monitoring 221 A Festo Parameter Channel FPC 224 A 1 Festo ...

Page 10: ...s 241 C 2 1 FHPP Data 241 C 2 2 Device data 242 C 2 3 Diagnostics 243 C 2 4 Process Data 244 C 2 5 Record list 245 C 2 6 Project Data 247 C 2 7 Factor group 250 C 2 8 Axis parameters electric drives 1 250 C 3 Description FHPP parameters 254 C 3 1 Representation of the parameter entries 254 C 3 2 FHPP data FHPP telegram editor 255 C 3 3 Device data version numbers 258 C 3 4 Device data identificati...

Page 11: ... 1 temperature data 315 C 3 30 Axis parameters electric drives 1 general drive data 316 D CANopen communication 318 D 1 Overview communication objects COB 318 D 2 Representation of the object characteristics 321 D 3 CAN bus access 322 D 3 1 Access via data objects PDO SDO 322 D 3 2 Access via messages 323 D 3 3 CAN identifier CAN ID priority and internal cycle times 324 D 4 PDO message PDO message...

Page 12: ...ge 352 D 8 8 Object 100Ch Monitoring time Guard time 353 D 8 9 Object 100Dh Monitoring time factor Life time factor 354 D 9 Device data Device data 355 D 9 1 Object 1000h Device type Device type 356 D 9 2 Object 1008h Device name of the manufacturer Manufacturer device name 356 D 9 3 Object 1009h Hardware version Manufacturer hardware version 357 D 9 4 Object 100Ah Software version Manufacturer so...

Page 13: ...nt 377 F 1 9 LED indicator for EtherNet IP EMCA EC EP 378 F 1 10 EtherNet IP display components 378 F 1 11 LED indicator for PROFINET EMCA EC PN 379 F 1 12 PROFINET display components 379 F 2 Diagnostic messages 380 F 2 1 Error management 380 F 2 2 Reactions to messages 380 F 2 3 Reactions to errors 381 F 2 4 Output stage on 381 F 2 5 Save diagnostics 382 F 2 6 Acknowledge acknowledgeable error 38...

Page 14: ...IP Port 2 X3 EtherNet IP Port 1 Modbus TCP EMCA DIO X1 Ethernet PROFINET EMCA PN X2 PROFINET Port 2 X3 PROFINET Port 1 Tab 1 Fieldbus interface This provides you with supplementary information about controlling diagnosing and parameterising the integrated drive via the fieldbus Unconditionally observe the general safety regulations for the integrated drive è Description Integrated drive with bus i...

Page 15: ...on 1 2 x or later Modbus TCP Integrated drive EMCA EC 67 DIO Firmware version 1 3 0 x or later FCT plug in EMCA version 1 3 x x or later PROFINET Integrated drive EMCA EC 67 PN Firmware version 1 4 0 or later FCT plug in EMCA version 1 4 0 or later Tab 2 Overview versions Note Before using a newer firmware version check whether a newer version of the FCT plug in or documentation is available è Sup...

Page 16: ...A EC C HP Description of the device profile FHPP Festo Handling and Positioning Profile Manual EMCA EC C CO Description of the device profile CiA 402 Help system for the FCT software help for the EMCA plug in Online help of the Festo Configuration Tool FCT for commissioning and parameterisation Special documentation EMCA EC_UL Requirements for operating the product in the USA and Canada in accorda...

Page 17: ...on to various control devices In addition it defines for the user in a largely uniform way operating modes I O data structure Parameter objects sequence control Bus communication Record selection mode Free access to parameters reading and writing Direct operation Parameterisation Position Speed Torque 1 2 3 n Fig 1 1 Overview FHPP principle Control and status data FHPP standard Communication takes...

Page 18: ...eldbus Electrical interface Page CAN bus EMCA CO CAN bus input CAN IN X2 23 CAN bus output CAN OUT X3 EtherCAT EMCA EC EtherCAT Port 2 X2 36 EtherCAT Port 1 X3 EtherNet IP EMCA EP EtherNet IP Port 2 X2 83 EtherNet IP Port 1 X3 Modbus TCP EMCA DIO Ethernet X1 91 PROFINET EMCA PN PROFINET Port 2 X2 104 PROFINET Port 1 X3 Tab 1 1 Fieldbus interfaces of the EMCA CAN bus interfaces of the EMCA CO 1 2 1...

Page 19: ...1 2 1 EtherCAT Port 1 X3 2 EtherCAT Port 2 X2 Fig 1 3 EtherCAT interfaces of the EMCA EtherNet IP interfaces of the EMCA EP 1 2 1 EtherNet IP Port 1 X3 2 EtherNet IP Port 2 X2 Fig 1 4 EtherNet IP interfaces of the EMCA Ethernet interface Modbus TCP of the EMCA DIO 1 1 Ethernet interface X1 Fig 1 5 Ethernet interface Modbus TCP of the EMCA ...

Page 20: ...ce profile Festo Handling and Positioning Profile 20 Festo EMCA EC C HP EN 2017 11e English PROFINET interfaces of the EMCA PN 1 2 1 PROFINET Port 1 X3 2 PROFINET Port 2 X2 Fig 1 6 PROFINET interfaces of the EMCA ...

Page 21: ...ng of CANopen into the OSI shift model The relevant points of these books are discussed in this description CiA 303 1 CANopen Cabling and connector pin assignment This document describes concretely the signals plug connectors and pin allocation of the CAN bus and the specification of the CANopen network e g bus cable bus length CiA 303 3 CANopen Indicator specification LED This document describes ...

Page 22: ...us input CAN IN 3 Connection X3 CAN bus output CAN OUT 4 DIP switch S1 CAN bus termination termin ating resistor Fig 2 1 CAN bus CANopen interface of the EMCA 2 2 1 CANopen display component The status of the CAN bus is displayed via the CANopen Status LED LED Description CANopen status The following CANopen statuses are displayed CANopen communication Missing bus parameters Warnings malfunctions ...

Page 23: ... A coded 5 pin Pin Designation Description 1 CAN_SHLD Screening capacitive connection to housing 2 NC Unused 3 CAN_GND Load reference potential for CAN signals 4 CAN_H Positive CAN signal dominant high 5 CAN_L Negative CAN signal dominant low Housing Shield FE Shield functional earth Tab 2 4 Connection X3 CAN bus output CAN OUT CAN bus cabling To ensure a stable and trouble free CAN bus communicat...

Page 24: ...ed terminating resistor 120 Ω must be hooked up via the DIP switch S1 1 For termination only one connection can be used in all cases Termination of the CAN bus S1 1 ON EMCA CO CAN_H CAN_L X2 X2 4 X2 5 R 120 S1 1 ON OFF 1 2 X3 X3 4 X3 5 CAN_H CAN_L S1 1 DIP switch terminating resistor ON Switch position contact closed OFF Switch position contact open R Terminating resistor 120 Ω Fig 2 2 Termination...

Page 25: ...articipants Screened cable with 2 twisted conductor pairs must be used for the CAN bus wiring è Tab 2 5 The first twisted conductor pair is used for the CAN signals CAN H and CAN L The second twisted con ductor pair is used for the load CAN GND reference potential for CAN signals The screening of the CAN bus cable must be connected to the CAN shield port at each node The use of adapters is not rec...

Page 26: ...an operational CANopen interface Some of these set tings should or must be carried out before the CANopen control interface is executed This section provides an overview of the steps required for parameterisation and configuration of the EMCA in slave operation As some parameters are only effective after saving or with the restart of the controller we recommend that commissioning with the Festo Co...

Page 27: ...esto Configuration Tool FCT 2 3 4 5 1 1 Fieldbus page 2 Operating parameters tab 3 Bit rate parameter 4 Node number Node ID parameter 5 Device profile parameter Fig 2 4 CANopen parameters in the FCT Note The FCT settings are taken over into the permanent memory of the EMCA only after download save and Restart controller Configure bit rate Configure a bit rate for CANopen operation Bit rate Max bus...

Page 28: ... number 1 127 for the CAN bus Note 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 ...

Page 29: ...rder controller and the EMCA takes place via inter face units SINC The physical units e g mm mm s mm s2 should be converted into the specified interface units dependent on the application è page 145 2 3 1 1 Fieldbus page 2 Factor Group tab 3 Current exponents position speed acceleration deceleration jerk Fig 2 5 Factor group in the FCT ...

Page 30: ...ter EDS file for the EMCA Use the following EDS file to configure the EMCA in the CANopen master e g higher order controller EDS files Description EMCA EC 67 CO FHPP eds Integrated drive EMCA EC 67 CO with FHPP device profile Tab 2 7 EDS file for FHPP This EDS file is available at the following link Support portal www festo com sp Function elements for the EMCA The following function elements can ...

Page 31: ... X2 X3 2 2 X7 X8 Reference limit switch switch 1 2 Reference switch Limit switch switch 2 2 Ground GND 4 CANopen EtherCAT EtherNet IP PROFINET X1 Ethernet Modbus TCP 1 For additional information on wiring the input channels STO1 STO2 è Description EMCA EC S1 2 Only required with use of reference or limit switch è Description EMCA EC SY 3 Parameterisation of the controller enable signals è PNU 128 ...

Page 32: ...t Save execute Save execute X11 FCT Download FCT Upload FCT Synchronisation Save execute Save execute Download Device profile FHPP FCT Save Framework Plug in file Firmware file Installation Installation update Archive file ZIP Controller data management EDS file CANopen EtherNet IP ESI file EtherCAT GSDML file PROFINET CODESYS Omron Siemens Firmware file Device data FCT Firmware download Function ...

Page 33: ...2 CANopen Festo EMCA EC C HP EN 2017 11e English 33 ...

Page 34: ...ernational Electrotechnical Commission IEC 3 1 ETG standards The following specifications among others can be obtained from this user organization ETG 1000 6 EtherCAT Application Layer Protocol Specification ETG 1020 EtherCAT Protocol Enhancements ETG 1300 EtherCAT Indicator and Labeling Specification ETG 2000 EtherCAT Slave Information Specification ETG 2200 EtherCAT Slave Implementation Guide Us...

Page 35: ...ator EC ERROR 4 LED indicator EC LINK ACTIVITY communic ation activity line monitoring from Port 1 connection X3 5 Connection X2 EtherCAT Port 2 6 Connection X3 EtherCAT Port 1 Fig 3 1 EtherCAT interface on the EMCA 3 2 1 EtherCAT display elements The status of EtherCAT is displayed over the following four LEDs LED Description EC LINK ACTIVITY Port1 EC ERROR EC RUN EC LINK ACTIVITY Port 2 The foll...

Page 36: ...t M12 D coded 5 pin Pin Designation Description Shield 1 2 3 4 5 1 TD Transmit Data 2 RD Receive Data 3 TD Transmit Data 4 RD Receive Data 5 NC Not connected Shield Screening Shield socket housing is connection to functional earth via RC link Tab 3 3 EtherCAT Port 1 X3 Pin assignment EtherCAT Port 2 X2 Pin assignment Socket M12 D coded 5 pin Pin Designation Description Shield 1 2 3 4 5 1 TD Transm...

Page 37: ... ring star and line topology 3 2 4 EtherCAT cable The EtherCAT cable must fulfil the following technical data Feature Value Cable diameter mm 6 8 Cable screening Yes Wire pair screening Yes Wire pairs 4 Core cross section mm2 0 14 0 75 22 AWG Tab 3 5 Technical data of the EtherCAT cable 3 2 5 Termination of the EtherCAT bus No external bus terminations are required for the EtherCAT bus The EtherCA...

Page 38: ...communication1 SDO communication SDO Information communication EtherCAT Synchronisation Clock Master 1st Slave Sync manager Sync manager 0 1 Sync manager 2 3 Distributed clocks EMCA Slave Controllers Master Ref clocks DC Time CoE ESC Process data Mail box Process data object request Process data object response Service data object response Service data object request Abort SDO transfer request Eme...

Page 39: ...54 Object 1601h 2nd receive PDO mapping 55 Object 1602h 3rd receive PDO mapping 56 Object 1603h 4th receive PDO mapping 57 Object 1A00h 1st transmit PDO mapping 58 Object 1A01h 2nd transmit PDO mapping 59 Object 1A02h 3rd transmit PDO mapping 60 Object 1A03h 4th transmit PDO mapping 61 Mailbox communication 62 SDO communication 62 SDO upload Upload SDO 63 SDO download Download SDO 64 Abort SDO tra...

Page 40: ...ocessing of process data 3 3 3 Protocol The EMCA supports the following protocols for exchanging communication data Protocol Description CANopen over EtherCAT CoE Data transmission in accordance with CANopen CiA301 Tab 3 7 Overview Protocol Byte format With EtherCAT the 16 bit values word and the 32 bit values double word are presented as follows Byte format Data type Byte order1 Little endian Wor...

Page 41: ...te PDO Header 8 Byte PDO 1800h 1A00h FHPP Standard Mailbox Header 6 Byte Error Code 2 Byte Data 1 5 6 n Byte CoE Data Byte CoE Header 2 Byte Type 0x03 CoE Service 0x01 Emergency 0x02 SDO request 0x03 SDO response 0x08 SDO Information Error Register 1 Byte Process Data Object Frame Process Data Frame Mailbox Frame Emergency Frame SDO Request Frame SDO Response Frame SDO Information Frame Index 2 By...

Page 42: ... is established for mailbox data and process data By enabling communication data can be exchanged between the EMCA and the other network parti cipants All status transitions are controlled by the commands from the higher order controller Autonomously the EMCA does not perform any status changes The illustration shows all statuses and status transitions of the EtherCAT finite state machine Init Pow...

Page 43: ...lizes Sync Manager channels 2 and 3 for PDO mapping and for process data communication Safe Operational SafeOp Acyclic mailbox communication SDO is possible Cyclic process data communication PDO is possible The controller does not transmit any setpoint values to the EMCA RxPDO The EMCA is in a secure condition The EMCA transmits current actual values to the controller TxPDO Operational Op Acyclic ...

Page 44: ...ication SDO is stopped PS PreOp è SafeOp Process data communication PDO is started The controller configures Sync Manager register for process data communication PDO mapping SP SafeOp è PreOp Process data communication PDO is stopped SO SafeOp è Op The controller transmits valid output data OS Op è SafeOp The controller actively requests a change into status Safe Operational SafeOp The EMCA trigge...

Page 45: ...munication type transmission type and sync channel to the Sync Manager Sync Manager Sync channel Communication type Type of transmission 0 0 Mailbox communication Receive service data objectsSDO 1 1 Transmit service data objectsSDO 2 2 Process data com munication Receive process data objectsRxPDO 3 3 Transmit process data objectsTxPDO Tab 3 11 Communication type EtherCAT Bus Sync manager 0 Sync ch...

Page 46: ... Index Name Object code Data type Ac cess PDO map ping Value range Default value 1C00h Sync manager communication type ARRAY 00h Number of used sync manager channels VAR UINT8 ro no 4h 4h 01h Communication type sync manager 0 VAR UINT8 ro no Tab 3 14 1h 02h Communication type sync manager 1 VAR UINT8 ro no 2h 03h Communication type sync manager 2 VAR UINT8 ro no 3h 04h Communication type sync mana...

Page 47: ... UINT8 ro no Tab 3 16 0h Tab 3 15 Object 1C10h Value Description 0h No PDO is assigned Tab 3 16 Value range Number of assigned PDOs 3 5 4 Object 1C11h Sync manager 1 PDO assignment Via the object PDO assignment is output in Sync Manager 1 Mailbox communication Transmit service data objects SDO is firmly assigned to Sync Manager 1 Index Name Object code Data type Ac cess PDO map ping Value range De...

Page 48: ... cess PDO map ping Value range Default value 1C12h Sync manager 2 PDO assignment ARRAY 00h Number of assigned PDOs VAR UINT8 rw no 04h 04h 01h PDO mapping object index of assigned PDO VAR UINT16 rw no 1600h 1600h RxPDO1 FHPP Stan dard 02h PDO mapping object index of assigned PDO VAR UINT16 rw no 1601h 1601h RxPDO2 FPC FHPP 03h PDO mapping object index of assigned PDO VAR UINT16 rw no 1602h 1602h R...

Page 49: ...c cess PDO map ping Value range Default value 1C13h Sync manager 3 PDO assignment ARRAY 00h Number of assigned PDOs VAR UINT8 rw no 04h 04h 01h PDO mapping object index of assigned PDO VAR UINT16 rw no 1A00h 1A00h TxPDO1 FHPP Stan dard 02h PDO mapping object index of assigned PDO VAR UINT16 rw no 1A01h 1A01h TxPDO2 FPC FHPP 03h PDO mapping object index of assigned PDO VAR UINT16 rw no 1A02h 1A02h ...

Page 50: ...t 1C32h Sync manager 2 synchronization Sync Manager 2 synchronization is specified by the object Index Sub Name Discription Object code Data type Ac cess PDO map ping Value range Default value 1C32h Sync manager 2 synchronization REC 00h Number of synchronization parameters VAR UINT8 ro no 0Ah 01h Synchronization type VAR UINT16 rw no Tab 3 23 00h 02h Cycle time VAR UINT32 ro no 04h Synchronizatio...

Page 51: ...01h Synchronization type VAR UINT16 rw no Tab 3 25 00h 02h Cycle time VAR UINT32 ro no 04h Synchronization types supported VAR UINT16 ro no 05h Min cycle time VAR UINT32 ro no 06h Calc and copy time VAR UINT32 ro no 08h Get cycle time VAR UINT16 rw no 0000h 09h Delay time VAR UINT32 ro no 0Bh SM event missed counter VAR UINT16 ro no 0Ch Cycle time too small VAR UINT16 ro no 20h Sync Error VAR BOOL...

Page 52: ...nchronized continu ously With Distributed Clocks DC cyclic synchronous processes can be executed e g chronologically synchronous adoption of setpoint value from process data or cyclic synchronous operation of several axes Transmission and processing of cyclic process data is controlled by the Sync Manager synchron ization è Page 50 In status transition IP Init è PreOp all Distributed Clocks DC in ...

Page 53: ...s data objects PDO are processed and executed by the EMCA Synchroniza tion of the EMCA can be controlled by Distributed Clocks DC è Page 52 Controllers RxPDO transmitted data e g setpoint value TxPDO received data e g actual value EMCA Process data output Process data input RxPDO Mapping Object 1600h 1603h TxPDO Mapping Object 1A00h 1A03h Fig 3 7 Access procedure via process data objects PDO 3 7 1...

Page 54: ...pped VAR UINT8 ro no Tab 3 28 30000008h 02h 2nd output object to be mapped VAR UINT8 ro no 30010008h 03h 3rd output object to be mapped VAR UINT8 ro no 30020008h 04h 4th output object to be mapped VAR UINT8 ro no 30030008h 05h 5th output object to be mapped VAR INT32 ro no 30040020h Tab 3 27 Object 1600h Sub index Byte Description FHPP Standard control data Record selection mode Direct mode 01h 1 ...

Page 55: ...T8 ro no 04h 04h 01h 1st output object to be mapped VAR UINT8 ro no Tab 3 30 30100008h 02h 2nd output object to be mapped VAR UINT8 ro no 30110008h 03h 3rd output object to be mapped VAR UINT16 ro no 30120010h 04h 4th output object to be mapped VAR INT32 ro no 30130020h Tab 3 29 Object 1601h Sub index Byte Description Festo Parameter Channel FPC default FHPP data 01h 1 FPCC FHPP Byte 1 02h 2 Subin...

Page 56: ... be mapped VAR UINT8 ro no 31030008h 04h 4th output object to be mapped VAR UINT8 ro no 31040008h 05h 5th output object to be mapped VAR UINT8 ro no 31050008h 06h 6th output object to be mapped VAR UINT8 ro no 31060008h 07h 7th output object to be mapped VAR UINT8 ro no 31070008h 08h 8th output object to be mapped VAR UINT8 ro no 31080008h Tab 3 31 Object 1602h Sub index Byte Description FHPP data...

Page 57: ...mapped VAR UINT8 ro no 31110008h 04h 4th output object to be mapped VAR UINT8 ro no 31120008h 05h 5th output object to be mapped VAR UINT8 ro no 31130008h 06h 6th output object to be mapped VAR UINT8 ro no 31140008h 07h 7th output object to be mapped VAR UINT8 ro no 31150008h 08h 8th output object to be mapped VAR UINT8 ro no 31160008h Tab 3 33 Object 1603h Sub index Byte Description FHPP data wit...

Page 58: ... to be mapped VAR UINT8 rw no Tab 3 36 30200008h 02h 2nd input object to be mapped VAR UINT8 rw no 30210008h 03h 3rd input object to be mapped VAR UINT8 rw no 30220008h 04h 4th input object to be mapped VAR UINT8 rw no 30230008h 05h 5th input object to be mapped VAR INT32 rw no 30240020h Tab 3 35 Object 1A00h Sub index Byte Description FHPP Standard status data Record selection mode Direct mode 01...

Page 59: ... VAR UINT8 rw no 04h 04h 01h 1st input object to be mapped VAR UINT8 rw no Tab 3 38 30300008h 02h 2nd input object to be mapped VAR UINT8 rw no 30310008h 03h 3rd input object to be mapped VAR UINT16 rw no 30320010h 04h 4th input object to be mapped VAR INT32 rw no 30330020h Tab 3 37 Object 1A01h Sub index Byte Description Festo Parameter Channel FPC default FHPP data 01h 1 FPCS FHPP Byte 1 02h 2 S...

Page 60: ...to be mapped VAR UINT8 rw no 32030008h 04h 4th input object to be mapped VAR UINT8 rw no 32040008h 05h 5th input object to be mapped VAR UINT8 ro no 32050008h 06h 6th input object to be mapped VAR UINT8 ro no 32060008h 07h 7th input object to be mapped VAR UINT8 ro no 32070008h 08h 8th input object to be mapped VAR UINT8 ro no 32080008h Tab 3 39 Object 1A02h Sub index Byte Description FHPP data wi...

Page 61: ...e mapped VAR UINT8 rw no 32110008h 04h 4th input object to be mapped VAR UINT8 rw no 32120008h 05h 5th input object to be mapped VAR UINT8 ro no 32130008h 06h 6th input object to be mapped VAR UINT8 ro no 32140008h 07h 7th input object to be mapped VAR UINT8 ro no 32150008h 08h 8th input object to be mapped VAR UINT8 ro no 32160008h Tab 3 41 Object 1A03h Sub index Byte Description FHPP data with F...

Page 62: ... data objects Emergency messages and SDO information takes place via sync channels 0 and 1 Mailbox communication is enabled from status Pre Operational Mailbox communication supports the following communication services SDO communication acyclic transmission of service data objects è Page 62 Emergency communication event controlled transmission of SDO errors è Page 67 SDO Information communication...

Page 63: ...DO read commands SDO Service Description SDO upload expedited request Read para meter data upload 1 4 bytes of us age data expedi ted Request request SDO upload expedited response Answer response SDO upload normal request 5 1 406 bytes of usage data nor mal Request request SDO upload normal response Answer response Upload SDO segmented request 1 407 n bytes of usage data1 seg mented Request reques...

Page 64: ...ad expedited response Acknowledgement re sponse SDO download normal request 5 1 406 bytes of usage data nor mal Request request SDO download normal response Acknowledgement re sponse Download SDO segmented request 1 407 n bytes of usage data1 seg mented Request request Download SDO segmented response Acknowledgement re sponse 1 The usage data are fragmented into packages each of max 7 bytes Tab 3 ...

Page 65: ...not supported 06 01 00 01h Read access to an object that can only be written 06 01 00 02h Write access to an object that can only be read 06 01 00 03h Subindex cannot be written to subindex O must be 0 for write access 06 01 00 04h SDO complete access is not supported for objects with variable length e g with ENUM object types 06 01 00 05h Length of object exceeds size of mailbox 06 01 00 06h Obje...

Page 66: ... 00 00h General error 08 00 00 20h Data cannot be transmitted to the device or saved 08 00 00 21h Data cannot be transmitted to the device or saved due to absence of master control 08 00 00 22h Data cannot be transmitted to the device or saved due to the current status of the device 08 00 00 23h Dynamic generation of the object directory failed or no object directory is available Tab 3 45 SDO erro...

Page 67: ...2 3 Fig 3 11 Diagram Error finite state machine The following status transitions are possible no Cause Description 0 Initialisation completed There is no error 1 Error occurs No error is present and a new error occurs A Emergency message is transmitted with the error code of the new error 2 Error acknowledgment not successful Not all causes of error are remedied and an error was acknow ledged è Pa...

Page 68: ... Error register and error types Bit1 Description 0 Generic error Error is present OR operation of the bits 1 7 1 Current error Current monitoring error 2 Voltage error Voltage monitoring error 3 Temperature error Temperature monitoring error 4 Communication error overrun error state Communication error 5 Device profile specific error device profile specific error 6 Reserved fix 0 7 Manufacturer sp...

Page 69: ...T è Page 371 Error messages Error code E0 E1 Description Bit Error register FCT Code 2310h I t warning motor 1 0x2D 2312h I t malfunction motor 1 0x0E 2320h Overcurrent 1 0x0D 3210h Intermediate circuit voltage exceeded 2 0x1A 3220h Intermediate circuit voltage too low 2 0x1B 4210h Output stage temperature exceeded 3 0x15 4220h Output stage temperature too low 3 0x16 5100h Logic voltage exceeded 2...

Page 70: ...er file invalid 5 0x02 FHPP incorrect parameterisation 0x20 FHPP incorrect value 0x21 Path calculation 0x25 FHPP incorrect record number 0x2C 7300h No index pulse found 5 0x23 Index pulse too close on proximity sensor 0x2E 7303h Encoder 5 0x06 7400h Software error 5 0x01 8100h EtherCAT connection with master control 4 0x50 8101h EtherCAT connection without master control 4 0x51 8600h Standstill mo...

Page 71: ... positive software limit 0x2A Value range violated 0x4C FF00h Internal communication error CPUs 7 0x03 FF01h Non permitted hardware 7 0x04 FF02h Offset determination for current measurement 7 0x09 FF03h General error 7 0x0A FF0Ah Temperature central processing unit 7 0x19 FF0Dh Firmware update invalid firmware 7 0x2B FF0Eh Braking resistor 7 0x30 FF10h FCT connection with master control 7 0x32 FF1...

Page 72: ... FF19h Record invalid 7 0x3F FF21h System reset 7 0x41 FF22h Saving address data not possible 7 0x42 FF24h Parameter file not compatible with firmware 7 0x44 FF25h Safe Torque Off STO discrepancy time 7 0x4A FF26h Safe Torque Off STO 7 0x34 FF26h Bootloader memory error 7 0x4D FF27h Overload 24V Outputs 7 0x4E FF28h System information 7 0x4F Tab 3 50 Error messages ...

Page 73: ...3 EtherCAT with FHPP Festo EMCA EC C HP EN 2017 11e English 73 ...

Page 74: ...the device data 3 9 1 Object 1000h Device type Via this object the 8 digit device type code Motor type and Communication profile is output Index Name Object code Data type Ac cess PDO map ping Value range Default value 1000h Device type VAR UINT32 ro no Tab 3 53 0002012Dh Tab 3 52 Object 1000h Value 0002012Dh Bit Description 00h 31 24 Manufacturer specific information 02h 23 16 Servo drive 012Dh 1...

Page 75: ...mber ASCII character string 15 character Tab 3 56 Default value Manufacturer hardware version 3 9 4 Object 100Ah Manufacturer software version The software version number is output via the object Index Name Object code Data type Ac cess PDO map ping Value range Default value 100Ah Manufacturer software version VAR VSTRING ro no Tab 3 58 Tab 3 57 Object 100Ah Value Description Mxxxx xxxx xxxx xxxxB...

Page 76: ...code Revision number of the EtherCAT interface Serial number Index Name Object code Data type Ac cess PDO map ping Value range Default value 1018h Identity object REC 00h Highest sub index supported VAR UINT8 ro no 4h 01h Vendor ID VAR UINT32 ro no 0000001Dh 02h Product code VAR UINT32 ro no xxxxxxxxh 1 03h Revision number VAR UINT32 ro no xxxxxxxxh 2 04h Serial number VAR UINT32 ro no xxxxxxxxh 2...

Page 77: ...EEPROM command ARRAY 00h Number of entries VAR UINT8 ro no 2h 01h Restore factory settings VAR UINT32 wo no 1h 02h Save object values VAR UINT32 wo no 1h Tab 3 60 Object 20F1h For this sub indexes must be described with the ASCII text as a hexadecimal numeral Object Signature LSB MSB 20F1_01h ASCII load l o a d Hex 64616F6Ch 6Ch 6Fh 61h 64h 20F1_02h ASCII save s a v e Hex 65766173h 73h 61h 76h 65h...

Page 78: ...CT help for the PlugIn EMCA 3 12 1 Parameterisation of the EtherCAT interface With the help of the Festo Configuration Tool FCT settings at the EtherCAT interface can be read out and configured The aim is to configure the EtherCAT interface via the Festo Configuration Tool FCT in such a way that the EMCA can establish EtherCAT communication with an EtherCAT controller Note The FCT settings are tak...

Page 79: ...for Plu gIn EMCA Note With activation of FCT in the device control the Festo Configuration Tool FCT takes over master control via the EMCA EtherCAT communication to the controller remains enabled via the EtherCAT interface X2 X3 but EtherCAT has no master control Commissioning with the Festo Configuration Tool FCT via the Ethernet interface X1 should first be done without the EtherCAT network port...

Page 80: ...e è www festo com sp 3 14 2 Function element The following function elements can be used to enable the EMCA Product type Description Festo_Motion_FHPP_2 library Beckhoff TwinCAT 2 CODESYS version 2 3 Festo_Motion_FHPP_3 library Beckhoff TwinCAT 3 CODESYS version 3 5 Festo_Motion_FHPP slr Omron Sysmac Studio Tab 3 63 Function elements for FHPP The latest version of the function elements è www festo...

Page 81: ...led via EtherNet IP The EMCA supports the Device Level Ring function DLR and is able to communicate with an EtherNet IP Ring Supervisor In case of a string failure the EMCA receives the new path specifications of the Ring Supervisor and uses them Only the cyclic data transmission of the FHPP protocol and the EtherNet IP standard functions are supported EtherNet IP is the implementation of Common I...

Page 82: ...dicator NS network status 4 LED indicator LINK ACTIVITY communication activity line monitoring from Port 1 connection X3 5 Connection X2 EtherNet IP Port 2 6 Connection X3 EtherNet IP Port 1 Fig 4 1 EtherNet IP interface of the EMCA 4 2 1 EtherNet IP display components The status of EtherNet IP is displayed over the following four LEDs LED Description LINK ACTIVITY Port1 NS MS LINK ACTIVITY Port 2...

Page 83: ...eive Data 5 NC Not connected Shield Screening Shield socket housing is connection to functional earth via RC link Tab 4 2 EtherNet IP Port 1 X3 pin allocation EtherNet IP Port 2 X2 pin allocation Socket M12 D coded 5 pin Pin Designation Description Shield 1 2 3 4 5 1 TD Transmitted data Transmit Data 2 RD Received data Receive Data 3 TD Transmitted data Transmit Data 4 RD Received data Receive Dat...

Page 84: ...settings of the EtherNet IP interface can be read and parameterised The goal is to configure the EtherNet IP interface through the FCT in such a way that the EMCA can build up EtherNet IP communication with an EtherNet IP controller The settings of the EtherNet IP interface can be parameterised in the FCT Note The FCT settings are taken over into the permanent memory of the EMCA only after Downloa...

Page 85: ...perating parameters tab For dynamic addressing there is the option of addressing either through DHCP or BOOTP With auto matic addressing DHCP is set in the FCT For addressing over BOOTP the corresponding EtherNet IP object must be written directly Both protocols are standard and are supported If dynamic addressing is set at device start or reset an IP address is assigned to the device either throu...

Page 86: ...the most current version of the EDS file è www festo com sp The way in which the network is configured depends on the configuration software used Follow the instructions of the controller manufacturer for registering the EDS file of the EMCA 4 4 2 Function element The following function elements can be used to enable the EMCA Type Description FHPP_MotionLib_Rockwell Rockwell Studio 5000 Festo_Moti...

Page 87: ...4 EtherNet IP with FHPP Festo EMCA EC C HP EN 2017 11e English 87 ...

Page 88: ...eb server A maximum of one Modbus TCP connection at a time is possible After the TCP connection has been made it is normally kept open and only disconnected by the EMCA in case of error with a timeout set or through the counterpart station Communication with the FCT and the web server remains possible Data encoding Modbus TCP IP uses a big endian transmission sequence The most significant byte MSB...

Page 89: ...nment can be visualised and tested with the help of the Modbus TCP Client software è www festo com sp Byte no Number of bytes Function Comments 1 2 Transaction number Freely selectable Returned again in the answer Most significant byte 2 Least significant byte 3 2 Protocol identifier Always 0 Most significant byte 4 Least significant byte 5 2 Number of bytes still to follow n 2 whereby n is the nu...

Page 90: ...following integrated Ethernet interfaces of the EMCA DIO are available for Modbus operation 1 2 3 1 Port X1 Ethernet input output 2 LED indicator ERROR 3 LED indicator OK Fig 5 1 Modbus interface of the EMCA 5 1 1 Modbus display components The status of Modbus is not indicated by LEDs The operating statuses of the device are indicated by the OK and ERROR LEDs in case of Modbus TCP LED Description ...

Page 91: ...nications network is not permissible Ethernet interface X1 pin allocation Socket M12 D coded 5 pin Pin Designation Description Shield 1 2 3 4 5 1 TD Transmitted data Transmit Data 2 RD Received data Receive Data 3 TD Transmitted data Transmit Data 4 RD Received data Receive Data 5 NC Not connected Shield Screening Shield socket housing is connection to functional earth via RC link Tab 5 3 Ethernet...

Page 92: ... Fieldbus Fieldbus Digital input Enable and fieldbus Digital Input Enable and Fieldbus factory setting 4 Optionally on the Fieldbus page Operation Parameters tab define the following Optionally change TCP Port factory setting TCP Port 502 Optionally activate the timeout Timeout factory settings not activated 100 ms is the default value when activated è Section 5 3 12 5 Optionally on the Fieldbuspa...

Page 93: ...ing parameters with the FCT plug in to make the settings active Control interface digital I O Modbus TCP Interface parameters TCP port timeout Controller parameters enable logic Network settings Message options parameter channel After parameterisation and restart of the EMCA the Modbus master can be configured è Section 5 3 ...

Page 94: ...f the function elements è www festo com sp 5 3 3 Cycle time Data are processed by the EMCA in a cycle time of up to 5 ms 5 3 4 Modbus command and address assignment The following Modbus commands are available for processing process device error data Modbus commands Function code Page Process Data1 Read process data Read holding registers 0x03 96 Write process data Write multiple registers 0x10 97 ...

Page 95: ...dard data FHPP Festo parameter channel FPC and expanded FHPP standard data FHPP used the Quantity of registers and Byte count values for the process data vary Quantity of registers Byte count FHPP data Process data structure 8 bytes 8 bytes 8 bytes 8 bytes 0x0004 0x08 FHPP FHPP 0x0008 0x10 FHPP FHPP FHPP FHPP 0x000C 0x18 FHPP FHPP FHPP 0x0010 0x20 FHPP FHPP FHPP FHPP 0x0008 0x10 FHPP FPC FHPP FPC ...

Page 96: ... 0x0000 9 10 Quantity of registers 2 0x0004 0x0008 0x000C 0x0010 11 12 Read holding registers response 0x03 Field Bytes Values Byte no Function code 1 0x03 8 Byte count 1 0x08 0x10 0x18 0x20 9 Register value 8 FHPP Standard status data 10 17 8 FPC FHPP 18 25 8 FHPP 26 33 8 FHPP 34 41 Read holding registers exception 0x83 Field Bytes Values Byte no Error code 1 0x83 8 Exception code 1 0x01 illegal ...

Page 97: ... 0x0008 0x000C 0x0010 11 12 Byte count 1 0x08 0x10 0x18 0x20 13 Register value 8 FHPP Standard control data 14 21 8 FPC FHPP 22 29 8 FHPP 30 37 8 FHPP 38 45 Write multiple registers respone 0x10 Field Bytes Values Byte no Function code 1 0x10 8 Start address 2 0x0000 9 10 Quantity of registers 2 0x0004 0x0008 0x000C 0x0010 11 12 Write multiple registers exception 0x90 Field Bytes Values Byte no Er...

Page 98: ...rite 2 0x0000 13 14 Quantity of registers write 2 0x0004 0x0008 0x000C 0x0010 15 16 Byte count write 1 0x08 0x10 0x18 0x20 17 Register value write 8 FHPP Standard control data 18 25 8 FPC FHPP 26 33 8 FHPP 34 41 8 FHPP 42 49 Read write multiple registers response 0x17 Field Bytes Values Byte no Function code 1 0x17 8 Byte count 1 0x08 0x10 0x18 0x20 9 Register value read 8 FHPP Standard status dat...

Page 99: ...eld Bytes Values Byte no Function code 1 0x07 8 Read exception status response 0x07 Field Bytes Values Byte no Function code 1 0x07 8 Output data 1 0x00 no exception no exception 0x01 0xFF Exception status exception status 9 Read exception status exception 0x87 Field Bytes Values Byte no Error code 1 0x87 8 Exception code 1 0x01 illegal function 0x02 illegal data address 0x03 illegal data value 0x...

Page 100: ...ct to be transferred 11 Read device identification response 0x2B Field Bytes Values Byte no Function code 1 0x2B 8 MEI type 1 0x0E 9 Read device ID code 1 Same as request field 10 Conformity level 1 0x01 basic device identification 0x02 regular device identification 11 More follows 1 0x00 no more objects 12 Next object ID 1 0x00 13 No of objects 1 Number of objects in this message 14 Object 1 1 è ...

Page 101: ...ata objects for Modbus command Read Device Identification 5 3 12 Monitoring functions TCP IP connection monitoring node guard timeout The EMCA supports the monitoring of the TCP IP connection Node guarding is connection monitoring at the application level The node guard timeout is reset with each Modbus client message received If the client application no longer reacts and or no new messages are r...

Page 102: ...ork It is targeted at people who are already familiar with the PROFINET IO bus protocol 6 1 Standards PROFINET PROcess Field Network is the open Industrial Ethernet standard from PROFIBUS and PROFINET International PI PROFINET is standardized in IEC 61158 and IEC 61784 User organisation For additional information on the user organisation PROFIBUS and PROFINET International PI è www profibus com ...

Page 103: ...tatus 3 LED indicator NF network error 4 LED indicator LINK ACTIVITY communica tion activity line monitoring from Port 1 connection X3 5 Connection X2 PROFINET Port 2 6 Connection X3 PROFINET Port 1 Fig 6 1 PROFINET interface of the EMCA 6 2 1 PROFINET display components The status of PROFINET is displayed over the following four LEDs LED Description LINK ACTIVITY Port1 NF IDENT STATE LINK ACTIVIT...

Page 104: ...t connected Shield Screening Shield socket housing is connection to functional earth via RC link Tab 6 2 PROFINET Port 1 X3 Pin assignment PROFINET Port 2 X2 Pin assignment Socket M12 D coded 5 pin Pin Designation Description Shield 1 2 3 4 5 1 TD Revision number 2 RD Receive Data 3 TD Revision number 4 RD Receive Data 5 NC Not connected Shield Screening Shield socket housing is connection to func...

Page 105: ...ET IO and to provide the system operator with a helpful and simple choice of field devices and bus components with clearly defined minimum properties The minimum requirements were defined for 3 conformance classes CC A CC B CC C In Class A the devices are produced in accordance with the PROFINET standard Class B stipulates that the network infrastructure must also be produced in accordance with th...

Page 106: ...Makes it possible to exchange information between directly adjacent devices MRP The EMCA behaves in an MRP compatible way on the bus and supports the gen eral functionality of MRP as an MRP slave The EMCA is capable of communicat ing with a Redundancy Manager RM and to forward the MRP packages In the event of a line failure the EMCA adopts the new path specifications from the RM and uses them The ...

Page 107: ...meterisation of the PROFINET interface With the help of the Festo Configuration Tool FCT settings at the PROFINET interface can be read out and configured The aim is to configure the PROFINET interface via the Festo Configuration Tool FCT in such a way that the EMCA can establish PROFINET communication with a PROFINET controller Note The FCT settings are taken over into the permanent memory of the...

Page 108: ... and device name can take place in the PROFINET master and also in the EMCA The precise procedure depends on the currently prevailing situation in the device Protocol Description Festo Configuration Tool FCT Initial start up via FCT The Festo Configuration Tool FCT can be used to establish an Ethernet connec tion between PC and EMCA X1 Via this connection the network configuration can be transmitt...

Page 109: ...start without perman ently stored net work configura tion The EMCA is not yet set up for communication to the PROFINET interface When starting the EMCA loads the following default configuration IP address 0 0 0 0 Subnet screen 0 0 0 0 Gateway address 0 0 0 0 Device name The EMCA then reports with this configuration on the bus These default settings comply with PROFINET specification AL service Res...

Page 110: ...RING 48 49 HARDWARE_REVISION 0x0014 Reduced hardware version number of the fieldbus board UINT16 50 53 SOFTWARE_REVISION V1 4 x Firmware version number ma jor minor patch 1 UINT16 54 55 REVISION_COUNTER 0x0001 Serial version number for hard ware or parameter changes UINT16 56 57 IM_PROFILE_ID 0x0000 No PROFINET device profile is supported UINT16 58 59 IM_PROFILE_SPECIFIC_TYPE 0x0003 Slot 0 has I M...

Page 111: ...atest version of the GSDML file è www festo com sp The GSDML file supports the following languages Language XML tag English PrimaryLanguage German Language xml lang de Tab 6 9 Supported languages 6 8 2 Function element The following function elements can be used to enable the EMCA Product type Description FestoMotionFHPP_V14 al14 Siemens TIA portal FestoMot S7S Siemens Step 7 Tab 6 10 Function ele...

Page 112: ...Page 380 The diagnostic messages are depicted on the parameters of the Channel DiagnosisService and are reported to the following address Slot 1 Subslot 1 FHPP standard data Channel 0x8000h The diagnostic message numbers of the Festo Configuration Tool FCT è Page 386 are transmitted in the manufacturer specific channel diagnosis area ChannelErrorType 03E8h 7FFFh Example FCT diagnostic message FCT ...

Page 113: ...6 PROFINET IO with FHPP Festo EMCA EC C HP EN 2017 11e English 113 ...

Page 114: ...ration dependent setpoint and actual values Festo Parameter Channel FPC è page 224 for transmission of parameter values or a parameter file FHPP data è page 239 for transmission of additional FHPP parameters The Festo Parameter Channel FPC and the FHPP data are an extension of the FHPP standard data and can optionally be used With CANopen FHPP reference parameters PNUs can optionally be accessed v...

Page 115: ... 22 23 24 25 26 27 28 29 30 31 32 FHPP standard data è page 124 Parameter channel FPC è page 224 FHPP data è page 239 8 byte 8 byte Max 16 bytes CCON CPOS PNU file PNU Tab 7 1 FHPP message with parameter channel FPC FHPP message without parameter channel FPC byte 1 32 1 2 3 4 5 6 7 8 9 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 è page 124 FHPP data è pa...

Page 116: ...7 FHPP 116 Festo EMCA EC C HP EN 2017 11e English ...

Page 117: ...action to malfunctions Power OFF S1 EMCA switched on S3 Drive enabled S2 Drive blocked SA1 Ready SA5 Jog positive SA6 Jog negative SA4 Homing is carried out SA2 Positioning task active SA3 Intermediate stop S6 Malfunction S4 T5 T1 T71 T9 T11 T2 T8 S5 T10 T4 T3 T6 Betrieb freigegeben T10 TA9 TA12 TA11 TA8 TA7 TA2 TA1 TA4 TA3 TA5 TA6 From all statuses 1 The status transition T7 malfunction detected ...

Page 118: ... ready status finite state machine have a higher priority than all transition statuses of the Operation enabled finite state machine A status transition T4 T6 or T7 can be executed from each status of the Oper ation enabled finite state machine Note on reaction to malfunctions The status transition T7 malfunction detected always has the highest priority If sever al errors occur together the error ...

Page 119: ...unction completed Drive is stationary T9 There is no longer a malfunction Error with error response Output stage on deactivated ENABLE 0 è page 381 Acknowledge the malfunction CCON ENABLE B0 0 CCON RESET B3 0 1 CCON xxx0 Pxx0 T103 There is no longer a malfunction Error with error response Output stage on activated ENABLE 1 è page 381 Acknowledge the malfunction CCON ENABLE B0 1 CCON RESET B3 0 1 C...

Page 120: ...nsition statuses of the Operation enabled finite state machine A status transition T4 T6 or T7 can be executed from each status of the Operation enabled finite state machine è page 118 2 The 3 operating modes Position Speed and Force torque are regulated in the Positioning task active SA2 status 3 Depending on the operating mode the status Intermediate stop SA3 can also be automatically abandoned ...

Page 121: ...selection mode with record sequencing The current positioning task is completed The next record should be processed automatically None Record selection mode direct mode The current positioning task is not yet com pleted A new positioning task is pending with the start condition Interrupt or Wait Start new positioning task Interrupt New positioning task is started immediately Wait New positioning t...

Page 122: ...d positive jog CPOS JOGP B3 1 0 CPOS 0xxx Nxx1 Cancel positive jog with Halt CPOS HALT B0 1 0 CPOS 0xxx xxxN TA11 Start negative jog CPOS HALT B0 1 CPOS JOGN B4 0 1 CPOS 0xxP xxx1 TA12 End negative jog CPOS JOGN B4 1 0 CPOS 0xxN xxx1 Cancel negative jog with Halt CPOS HALT B0 1 0 CPOS 0xxx xxxN 1 P rising edge positive N trailing edge negative x any Tab 8 2 Status transitions Operation enabled ...

Page 123: ...ters for the positioning task can be controlled through the record number è page 174 In the direct mode the target posi tion speed torque in setpoint value 2 and the supplemental parameter e g acceleration in setpoint value 1 are transferred è page 193 Control data out put data O data Control bytes Target record number Control bytes Target setpoint value Supplemental setpoint values Status data in...

Page 124: ...è page 130 CPOS è page 131 Record num ber setpoint è page 132 Reserved Reserved Status data I data è page 128 Status byte SCON è page 134 SPOS è page 135 Record num ber actual è page 136 RSB è page 137 Actual position è page 139 FHPP standard data for the direct mode Data FHPP direct mode byte 1 8 1 2 3 4 5 6 7 8 Control data O data è page 126 Control byte CCON è page 130 CPOS è page 131 CDIR è pa...

Page 125: ...d is depicted as follows Bus Byte format Data type Byte order1 2 Word CDEFh Double word 89ABCDEFh CANopen EtherNet IP EtherCAT Little endian Word LSB MSB EFh CDh Double word LSB MSB EFh CDh ABh 89h Modbus TCP PROFINET IO Big endian Register X Y Word MSB LSB CDh EFh Double word MSB LSB 89h ABh CDh EFh 1 LSB least significant byte 2 MSB most significant byte Tab 8 5 Byte order ...

Page 126: ...Control byte 2 è page 131 Direct mode record selection mode CPOS B7 RES B6 CLEAR B5 TEACH B4 JOGN B3 JOGP B2 HOM B1 Start B0 HALT Delete remain ing path Teach value Jog negative Jog positive Start homing Start po sitioning task Stop Control byte 3 è page 132 Record selection mode Record number Record number 0 64 bit 0 7 setpoint value Direct operation CDIR B7 FUNC B6 RES B5 XLIM B4 RES B3 RES B2 C...

Page 127: ...7 Assignment of the control bytes 1 8 Control byte 5 8 è page 133 Record selection mode RES Reserved Direct operation Setpoint value 2 Byte 5 Byte 6 Byte 7 Byte 8 Setpoint value 2 bit 0 31 target value of the operating mode Tab 8 6 Overview assignment of the control bytes ...

Page 128: ... abled Status byte 2 è page 135 Direct mode record selection mode SPOS B7 Ref B6 STILL B5 FOLERR B4 MOV B3 TEACH B2 MC B1 Ack B0 HALT Drive ref erenced Standstill monitor ing Following error Axis is moving Acknow ledge teaching or sampling Motion Com plete Acknow ledge start Stop Status byte 3 è page 136 Record selection mode Record number Record number 0 64 bit 0 7 actual value Direct operation S...

Page 129: ...troke limit reached Speed limit reached Record sequen cing car ried out 1 Record sequen cing car ried out Direct operation Actual value 1 Actual value 1 bit 0 7 Control byte 5 8 è page 139 Record selection mode Actual posi tion Byte 5 Byte 6 Byte 7 Byte 8 Position actual value bit 0 31 Direct operation Actual value 2 Byte 5 Byte 6 Byte 7 Byte 8 Actual value 2 bit 0 31 Tab 8 7 Overview assignment o...

Page 130: ...ose Note The brake can only be released if the controller is blocked As soon as the controller is enabled it has prior ity over the brake control system B3 RESET Acknowledge malfunction Reset Fault 0 1 Acknowledge and reset error with the highest priority B4 RES 0 Reserved B5 LOCK Block FCT ac cess Lock FCT Ac cess Controls access to the parameterisation interface of the EMCA è page 154 1 The Fest...

Page 131: ...rt Positioning Task 0 1 Take over current setpoint data and start pos itioning task Continue current positioning task after inter mediate stop è page 181 201 B2 HOM Start homing Start Homing 0 1 Start homing with the parameterised homing method è page 155 B3 JOGP Jog positive Jog positive 0 1 Start jog travel in a positive direction 1 0 End jog travel è page 170 B4 JOGN Jog negative Jog negative 0...

Page 132: ... byte 3 CDIR Direct mode Bit DE EN Description B0 ABS absolut re lativ Absolute Relative Positioning mode CDIR COM1 2 1 Setpoint value is relative to the actual setpoint position PNU 524 è page 294 0 Nominal value is absolute to the project zero point è page 141 B1 COM1 Control mode Control Mode No Bit 2 Bit 1 Control mode 0 0 0 Positioning mode Position control B2 COM2 1 0 1 Force torque mode Cur...

Page 133: ...eleration base value PNU 560 è page Force torque mode CDIR COM1 2 Geschwindigk eit Velocity Speed 0 100 of the Speed base value PNU 540 è page Tab 8 12 Control byte 4 Direct mode Control byte 5 8 RES setpoint value 2 The control bytes 5 8 are reserved in the record selection mode The target value of the operating mode for the direct mode is specified via the control bytes 5 8 Control bytes 5 8 set...

Page 134: ... enabled 0 Stop is active B2 WARN Warning Warning 1 Warning applied 0 No warning present B3 FAULT Malfunction Fault 1 Fault is present or fault reaction is active 0 Fault is not present B4 VLOAD Load voltage is applied Load Voltage is Applied 1 Load voltage applied 0 Load voltage is not applied B5 FCT MMI Device control by FCT MMI Software Access by FCT MMI Device control master control PNU 125 è ...

Page 135: ...pleted 0 Positioning task homing or jogging is active Note MC is set for the first time after Power ON in the FHPP status EMCA switched on S1 B3 TEACH Acknowledge teach sampling Acknowledge Teach Sampling 1 Teaching performed Position actual value has been taken over into the main memory 0 Ready for teaching B4 MOV Axis is moving Axis is Moving 1 Speed of the axis internal limit value 0 Speed of t...

Page 136: ...Positioning mode CDIR COM1 2 1 Setpoint value is relative to the actual setpoint position PNU 524 è page 294 0 Setpoint value is absolute to the project zero point B1 COM1 Control mode acknowledg ment Control Mode Feedback No Bit 2 Bit 1 Control mode 0 0 0 Positioning mode Position control B2 COM2 1 0 1 Force torque mode Current regulation 2 1 0 Speed mode Speed adjustment 3 1 1 Reserved B3 RES 0 ...

Page 137: ...ord chaining is still active or has been can celled B2 COM1 Control mode acknowledg ment Control Mode Feedback No Bit 3 Bit 2 Control mode 0 0 0 Positioning mode Position control B3 COM2 1 0 1 Force torque mode Current regulation 2 1 0 Speed mode Speed adjustment 3 1 1 Reserved B4 VLIM Geschwindigk eitsgrenzwert erreicht Speed V LIMit reached Positioning mode PNU 401 COM1 2 Force torque mode PNU 4...

Page 138: ...on B0 7 Positioning mode CDIR COM1 2 Geschwindigk eit Velocity Speed of the Speed base value PNU 540 è page 296 Speed mode CDIR COM1 2 No function 0 Force torque mode CDIR COM1 2 Geschwindigk eit Velocity Force secondary actual value PNU 523 7 0 Speed of the Speed base value PNU 540 è page 296 Drehmoment Torque Force secondary actual value PNU 523 7 1 factory setting Torque of the Force base value...

Page 139: ... 5 8 record selection mode The actual value of the direct mode is reported back via the status bytes 5 8 actual value 2 Status bytes 5 8 actual value 2 direct mode Bit DE EN Description B0 31 Positioning mode CDIR COM1 2 Position Position Position SINC è page 145 Speed mode CDIR COM1 2 Geschwindigkeit Velocity Speed as absolute value SINC s è page 145 Force torque mode CDIR COM1 2 Position Positio...

Page 140: ...8 FHPP standard data I O data 140 Festo EMCA EC C HP EN 2017 11e English ...

Page 141: ...encoder values are negated is defined as follows Turn negative Turn positive Without reversal of direction PNU 1000 1 With reversal of direction PNU 1000 1 Motor shaft Turn negative Turn positive The direction of movement of the load can be adjusted to the dimensional reference system through the parameter reversal of direction PNU 1000 The adjustment of the used axis type e g spindle drive for ex...

Page 142: ...W limit negative 501 1 291 SLP Positive software limit SW limit positive 501 2 291 LSN Limit switch negative hardware LSP Limit switch positive hardware SP Target position Target position AP Actual position Actual position a Offset axis zero point AZ 1010 306 b Offset project zero point PZ FCT c Offset target actual position TP AP FCT d Offset software end position negative SLN 1 FCT e Offset soft...

Page 143: ...W limit negative 501 1 291 SLP Positive software limit SW limit positive 501 2 291 LSN Limit switch negative hardware LSP Limit switch positive hardware SP Target position Target position AP Actual position Actual position a Offset axis zero point AZ 1010 306 b Offset project zero point PZ FCT c Offset target actual position TP AP FCT d Optional Offset Software end position negative SLN 1 FCT e Op...

Page 144: ...on of a useful area within the work space involves the parameterisation of software end positions The position is specified relative to the axis zero point AZ Note Movement to fixed stops is not permitted during operation Delimit work space using software end positions Define software limits far enough away from the mechanical stops Before the start in positioning mode the controller checks if the...

Page 145: ...ts 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 2 1 3 4 5 6 7 8 1 SINC 1 SINC s 1 SINC s2 1 SINC s3 1 Fieldbus page 2 Factor Group tab 3 Position exponent 4 Speed exponent 5 Acceler...

Page 146: ...meterisation in FCT you can use commonly used units for length specifica tions such as millimetres or inches You do not need any interface increments here Parameterise the drive completely in FCT and then read the objects of the factor group powers of ten exponent PNU 600 and unit of measurement PNU 601 Changes in the objects of the factor group influence the interface units Speed SINC s Accelerat...

Page 147: ...ctors PNU Name Class Type Access Page 1000 Reversal of direction Polarity Var int8 rw2 304 1001 Encoder resolution Encoder resolution Array uint32 ro 304 1002 Gear ratio Gear ratio Array uint32 rw2 305 1003 Feed constant Feed constant Array uint32 rw2 305 1005 Axis parameter Axis parameter Array uint32 rw2 306 Tab 9 5 FHPP parameters conversion factors The gear ration and feed constant are determi...

Page 148: ...9 Measuring reference system 148 Festo EMCA EC C HP EN 2017 11e English ...

Page 149: ...eed setpoint value the speed regulator processes the difference between the rotational speed setpoint value and the actual value Force torque mode The current regulator processes the deviation between the setpoint current of records and the actual value for the current Record linking Several records can be linked with one another 186 Direct operation Positioning mode Calculation of the positioning...

Page 150: ... CCON OPM1 B6 1 CCON OPM2 B7 0 Operating modes control mode Positioning mode PNU 401 B1 2 0 0 Speed mode PNU 401 B1 2 0 1 Force torque mode PNU 401 B1 2 1 0 Homing mode Jog mode Teach in mode 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 FHPP finite state machine Status Operation enabled S4 Ready SA1 Status Controller blocked S2 Drive ...

Page 151: ...els STO1 STO2 X6 4 X6 5 t Load voltage is applied SCON VLOAD B4 t Power ON Power supply 24 V DC X4 1 t Malfunction1 SCON FAULT B3 t Motion complete SPOS MC B2 SCON 0000 0000 SCON 0001 0000 SPOS 0000 0100 CCON 0000 0x00 CPOS 0000 0000 SCON 0001 0001 CCON 0000 0001 CCON 0000 0011 SCON 0001 0011 1 If Safe torque off STO is parameterised as an error the input channels STO1 STO2 must be set before Powe...

Page 152: ... enabled S3 Enable drive CCON ENABLE B0 13 SCON ENABLED B0 1 Control status byte 1 CCON xx10 xxx1b SCON 0001 0x01b Control status byte 2 CPOS 0xxx xxxxb SPOS 0000 010xb 6 Enable operation T3 Operation enabled S4 Ready SA1 Stopp CCON STOP B1 1 SCON OPEN B1 1 Control status byte 1 CCON xx10 xx11b SCON 0001 0x11b Control status byte 2 CPOS 0xxx xxxxb SPOS 0000 010xb 7 Before the operation achieve def...

Page 153: ...8 Control operation è Tab 10 2 1 P rising edge positive N trailing edge negative x any Tab 10 3 Cancel homing jog speed or force torque mode Halt 10 2 2 Cancel homing jog record selection or direct mode with Stop Step 10 1 10 2 Control data job 1 Status data response 1 10 1 Cancel travel positioning task with Stop T4 Stopp CCON STOP B1 0 SCON OPEN B1 0 Control status byte 1 CCON xx10 xx01b SCON 00...

Page 154: ...rom taking over master control over the EMCA Acknowledge FCT master control SCON FCT MMI bit 5 The set status bit master control FCT SCON FCT MMI B5 1 reports to the controller that the FCT has master control over the EMCA In this status the controller has no control over the EMCA 10 3 1 Master control over the EMCA Diagram Master control over the EMCA The diagram shows the transfer of master cont...

Page 155: ... 159 Current position evaluation of the current actual position Reference limit switch with index evaluation of the index from the encoder With the homing method Stop travel to the axis zero point is always at positioning speed For all other homing methods travel to the axis zero point is optional After valid homing the EMCA remains controlled at the reference point or the axis zero point Note Los...

Page 156: ...able Overview FHPP parameters for homing mode PNU Name Page 1010 Offset axis zero point 158 306 1011 Homing method 160 307 1012 Speeds 158 307 1013 Acceleration deceleration 158 308 1015 Max speed for stop detection 159 308 1016 Speed limit stop detection 159 308 1017 Damping time stop detection 159 308 Tab 10 5 FHPP parameters for homing mode ...

Page 157: ... SPOS 0000 0111b 8 3 Homing active and reset HOM bit Start homing CPOS HOM B2 02 SPOS ACK B1 0 Motion complete SPOS MC B2 0 Axis is moving SPOS MOV B4 1 Control status byte 2 CPOS 0xx0 0001b SPOS 0001 0001b Possible further step 9 1 Cancel homing with Halt è page 153 10 1 Cancel homing with Stop è page 153 8 4 Homing completed TA8 Motion complete SPOS MC B2 1 Axis is moving SPOS MOV B4 0 Drive ref...

Page 158: ... axis zero point AZ Start homing CPOS HOM B2 Search speed PNU 1012 1 Acceleration deceleration PNU 1013 1 Axis is moving SPOS MOV B4 Motion complete SPOS MC B2 t t t t t Creep speed PNU 1012 3 Travel speed PNU 1012 2 Reference point REF Axis zero point AZ Drive referenced SPOS REF B7 t Offset axis zero point PNU 1010 1 Acknowledge start SPOS ACK B1 t Reference limit switches t t Position Fig 10 4 ...

Page 159: ...d PNU 1012 1 Acceleration deceleration PNU 1013 1 Axis is moving SPOS MOV B4 Motion complete SPOS MC B2 t t t t t Travel speed PNU 1012 2 Reference point REF Axis zero point AZ Drive referenced SPOS REF B7 t Offset axis zero point PNU 1010 1 Acknowledge start SPOS ACK B1 t Speed limit stop detection PNU 1016 1 Force limit torque limit FCT t Max torque PNU 1015 1 Damping time stop detection PNU 101...

Page 160: ...ctive Direction Method1 Page Current position DDh 35 161 Index Positive 22h 34 161 Negative 21h 33 Stop Positive EEh 18 163 Negative EFh 17 Limit switch without index Positive 12h 18 164 Negative 11h 17 Limit switch with index Positive 02h 02 165 Negative 01h 01 Homing Switch without Index Positive 17h 23 166 Negative 1Bh 27 Homing Switch with Index Positive 07h 07 167 Negative 0Bh 11 1 The homing...

Page 161: ...tive 2 Optional Travel to the axis zero point Transfer current position method DDh 35 Tab 10 8 Homing method current position Homing to index Homing to index 1 Search for the index of the encoder with search speed in the parameterised direction The posi tion of the next index is taken as the homing point 2 Optional travel to the axis zero point Direction positive method 22h 34 Direction negative m...

Page 162: ...imit damping time Activate option Travel from the homing point to the axis zero point The axis zero point must be set in such a way that the axis does not run against the stop end position cushioning in operation even with overswinging e g 3 mm A suitable value is preset at the factory Do not change the presetting if possible Pay attention to the direction specification algebraic sign of the offse...

Page 163: ...gnised The EMCA regulates against the stop shuts down if temperature rises above its defined limit 2 Stop detected Position is adopted as the homing point 3 Travel to the axis zero point2 Direction positive method EEh 18 Direction negative method EFh 17 1 Limit switches are ignored during travel to the stop 2 In this homing method the option Travel to axis zero point is always active Tab 10 10 Hom...

Page 164: ... not found For rotary drives without stop The drive continues infinitely For drives with stop Travel to stop stop detection termination of homing with malfunction message 0x22 FCT code 2 Limit switch detected Search for reference point at creep speed opposite to the parameterised direction until the limit switch is again unactuated This position is taken as the homing point 3 Optional Travel to th...

Page 165: ...op The drive continues infinitely For drives with stop Travel to stop stop detection termination of homing with malfunction message 0x22 FCT code 2 Limit switch detected Search for reference point at creep speed opposite to the parameterised direction until the limit switch is again unactuated and after that the first index is detected This position is taken as the homing point 3 Optional Travel t...

Page 166: ... rotary drives without stop The drive continues infinitely For drives with stop Travel to stop stop detection search in reverse direction Switch in opposite direction not found termination with error message 0x22 FCT code 2 Reference switch detected Search for reference point at creep speed opposite to the paramet erised direction until the reference switch is again unactuated This position is tak...

Page 167: ...inues infinitely For drives with stop Travel to stop stop detection search in reverse direction Switch in opposite direction not found termination with error message 0x22 FCT code 2 Reference switch detected Search for reference point at creep speed opposite to the paramet erised direction until the reference switch is again unactuated and after that the first index is detected This position is ta...

Page 168: ...ravelled to very accurately The fast speed PNU 531 permits fast travel through large strokes Jogging mode supports the following tasks Moving to teach positions e g in commissioning Drive free running e g after a system malfunction Manual travel as a normal operating mode manually operated feed 10 5 1 FHPP parameters jog operation The following FHPP parameters are available for jog operation Overv...

Page 169: ... complete SPOS MC B2 0 Axis is moving SPOS MOV B4 1 Control status byte 2 CPOS 0xx0 1001b SPOS 0001 0011b Possible next step 9 1 Cancel jog travel with Halt è page 153 10 1 Cancel jog travel with Stop è page 153 8 4 End jog travel TA10 Jog positive CPOS JOGP B3 N SPOS ACK B1 0 Control status byte 2 CPOS 0xx0 N001b SPOS 0001 0001b 8 5 Jog travel completed Jog positive CPOS JOGP B3 0 SPOS ACK B1 0 M...

Page 170: ...P B3 Fast speed PNU 531 1 Slow speed PNU 530 1 Acceleration deceleration PNU 532 1 Axis is moving SPOS MOV B4 Motion complete SPOS MC B2 Position Following Error Window PNU 538 1 t t t t t t Acknowledge start SPOS ACK B1 t Time duration phase 1 PNU 534 1 t 1 For additional information on the following error è page 214 Fig 10 6 Diagram jog operation Jog positive shown as an example ...

Page 171: ...itten Through the parameter Store data PNU 127 2 the newest position value can be stored in the per manent memory of the EMCA 10 6 1 FHPP parameter Teach mode The following FHPP parameters are available for teach mode Overview FHPP parameters teach mode PNU Name Page 400 1 Target record number 279 520 Teach target Tab 10 18 292 Tab 10 17 FHPP parameters for the teach mode Teach target PNU 520 is t...

Page 172: ...Teach mode 8 1 Start teaching prepare Teach value CPOS TEACH B5 P SPOS TEACH B3 1 Control status byte 2 CPOS 0xPx xxxxb SPOS 0000 110xb 8 2 Teach and transfer value Teach value CPOS TEACH B5 N SPOS TEACH B3 0 Control status byte 2 CPOS 0xNx xxxxb SPOS 0000 010xb 8 3 Save value Save data PNU 127 2 B 1 1 P rising edge positive N trailing edge negative x any Tab 10 19 Control teach mode ...

Page 173: ...acknowledgment SPOS TEACH B3 t t EMCA Transfer value Controller Teach actual value EMCA Ready for teaching Controller Prepare teaching Teach target PNU 520 1 Save data PNU 127 2 t t N N 1 Main memory t N Permanent memory N Fig 10 7 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...

Page 174: ...the record selection mode Travel of absolute or relative positioning records Travel of speed records with active or deactivated stroke limitation Travel of force records with active or deactivated stroke limit Travel of several records through record chaining 10 7 1 Overview Data exchange in the record selection mode The overview shows the data exchange between the controller and the EMCA in the r...

Page 175: ...nt value to the last actual setpoint value P V F 183 280 404 Position setpoint value target P 183 281 406 speed P F 183 281 Speed mode 401 Record control byte 1 B1 B2 0 1 Speed mode V 184 280 441 Speed setpoint value target V 184 290 Force torque mode 401 Record control byte 1 B1 B2 1 0 Force torque mode F 185 280 406 speed P F 185 281 442 Force setpoint value target F 185 290 Acceleration deceler...

Page 176: ...ched V 212 298 1022 Target message window reached P 212 309 1023 Target damping time reached P V F 212 309 Following error 424 Following Error Window P V 183f 214 284 1045 Following error delay time P V 214 314 Comparators 312 Status of comparator outputs P V F 275 430 Position comparator min P V F 287 431 Position comparator max P V F 432 Position comparator damping time P V F 433 Speed comparato...

Page 177: ... positioning task TA1 Start positioning task CPOS START B1 P SPOS ACK B1 1 Control status byte 2 CPOS 0xx0 00P1b SPOS 0000 0111b 8 3 Positioning task active SA2 and reset START bit FHPP operating mode selection SCON OPM1 2 B6 B7 0 0 Start positioning task CPOS START B1 0 SPOS ACK B1 0 Motion complete SPOS MC B2 0 Axis is moving SPOS MOV B4 1 Record number Actual value R Control mode feedback RSB C...

Page 178: ...e Step 8 5 8 8 Control data job 1 Status data response 1 8 Record selection mode 8 3 Positioning task active è Tab 10 21 8 5 Trigger intermediate stop TA3 Stop CPOS HALT B0 0 SPOS HALT B0 0 Control status byte 2 CPOS 0xx0 0000b SPOS 0001 0000b 8 6 Intermediate stop reached Axis is moving SPOS MOV B4 0 Control status byte 2 CPOS 0xx0 0000b SPOS 0000 0000b 8 7 Prepare start after intermediate stop S...

Page 179: ...ive N trailing edge negative x any Tab 10 23 Delete remaining path 10 7 6 Stroke limit reached Can only be used with speed or force torque mode Step 8 12 8 13 Control data job 1 Status data response 1 8 Record selection mode 8 3 Positioning task active è Tab 10 21 8 12 Stroke limit reached stroke monitoring active PNU 401 xx B5 0 Stroke limit reached RSB XLIM B5 1 Control status byte 4 RSB 0010 BB...

Page 180: ...ART B1 5 4 3 2 1 N 1 1 With the rising edge in Start positioning task the current record number N is trans ferred and Acknowledge start is set to 1 2 As soon as Start acknowledgement 1 is recognised by the controller Start position ing task can be set to 0 3 The EMCA reacts to this with a trailing edge at Start acknowledgment 4 As soon as Start acknowledgment 0 is recognized by the controller the ...

Page 181: ...ing re cord is started Setpoint record number Control byte 3 Acknowledge start SPOS ACK B1 Motion complete SPOS MC B2 Actual record number Status byte 3 N N 1 N Axis is moving SPOS MOV B4 Halt CPOS HALT B0 Start positioning task CPOS START B1 Confirm halt SPOS HALT B0 1 2 1 The positioning record is interrupted with Halt 0 delay PNU 408 In this status Motion complete 0 2 With the rising edge of St...

Page 182: ...cord number Control byte 3 Acknowledge start SPOS ACK B1 Motion complete SPOS MC B2 Actual record number Status byte 3 N N 1 N Axis is moving SPOS MOV B4 Halt CPOS HALT B0 N 1 Start positioning task CPOS START B1 Delete remaining path CPOS CLEAR B6 Confirm halt SPOS HALT B0 4 3 1 Interrupt positioning record with Halt 2 Delete remaining path 3 Start new record N 1 4 Destination reached Fig 10 11 D...

Page 183: ... PNU 300 2 Current setpoint speed PNU 310 2 Following error window3 PNU 424 Motion complete5 SPOS MC B2 t Absolute positioning type1 Relative positioning type2 1 Absolute to project zero point PNU 500 PNU 401 B0 0 2 Relative to the last actual value PNU 401 B0 1 B4 1 relative to the last setpoint value PNU 401 B0 1 B4 0 3 For additional information on the following error è page 214 4 Feedback Stat...

Page 184: ...ent position PNU 300 1 Current setpoint speed PNU 310 2 Stroke limit1 PNU 427 Speed setpoint value PNU 441 Stop CPOS HALT B0 t Maximum divergence2 PNU 424 Motion complete3 SPOS MC B2 t Acceleration PNU 407 t Deceleration PNU 408 1 For additional information on stroke monitoring è page 191 2 For additional information on the following error è page 214 3 For additional information on motion complete...

Page 185: ...6 Acceleration PNU 407 t t Current position PNU 300 1 Current setpoint speed PNU 310 2 Current setpoint value force PNU 301 2 t Force setpoint value PNU 442 Stroke limit1 PNU 427 Motion complete3 SPOS MC B2 t External stop Deceleration PNU 408 1 For additional information on stroke monitoring è page 191 2 Feedback Status byte speed limit reached RSB VLIM B4 3 For additional information on motion c...

Page 186: ...ep enabling condition for automatic record chaining B7 Activate record sequencing P V F 187 281 416 Record sequencing target subsequent record P V F 283 423 Final speed P 284 425 MC with record sequencing P V F 285 426 Start delay P V F 285 430 432 Position comparator P V F 287 433 435 Speed comparator P V F 288 436 438 Force comparator P V F 289 439 440 Time comparator P V F 290 1 P positioning m...

Page 187: ...31 during the damping time PNU 432 21 VC active Speed velo city com parator act ive Record sequencing takes place when the current actual speed PNU 310 1 is located within the speed comparator range PNU 433 434 during the damping time PNU 435 22 FC active Force com parator act ive Record sequencing takes place when the current actual force PNU 300 1 is located within the force comparator range PNU...

Page 188: ...atus byte 4 RSB 0000 BB00b 8 4 First record sequencing carried out TA5 1 Record sequencing carried out RSB RC1 B0 1 Control status byte 4 RSB 0000 BB01b 8 5 Record chaining completed TA2 Motion complete SPOS MC B2 1 Axis is moving SPOS MOV B4 0 Record sequencing carried out RSB RCC B1 1 Control status byte 2 CPOS 0000 0001b SPOS 0000 0101b Control status byte 4 RSB 0000 BB11b Next step 8 Control o...

Page 189: ...ing target PNU 416 t Position Setpoint record number Control byte 3 t t t Motion complete visible1 SPOS MC B2 Start positioning task CPOS START B1 Actual record number Status byte 3 t N N N 1 N 2 N 3 t 1st record sequencing carried out RSB RC1 B0 t Record sequencing carried out RSB RCC B1 t Acknowledge start SPOS ACK B1 t Motion complete not visible1 SPOS MC B2 Record sequencing target PNU 416 t N...

Page 190: ...he positioning mode of the record selection mode Axis is moving SPOS MOV B4 t Motion complete SPOS MC B2 t Actual record number Status byte 3 t Setpoint record number Control byte 3 t N 1 N t Speed PNU 406 N Final speed PNU 423 Current actual value speed PNU 310 1 Start positioning task CPOS START B1 t Acknowledge start SPOS ACK B1 t Fig 10 16Diagram record sequencing with final speed ...

Page 191: ...ll The status bit Motion complete SPOS MC B2 is set If the target setpoint value is reached earli er the Motion complete status bit is set here If no other job is to be executed the drive will stop in a position controlled manner Activation of stroke monitoring takes place via the parameter PNU 401 bit 5 FHPP parameters stroke monitoring For stroke monitoring the following FHPP parameters are avai...

Page 192: ...ws the behaviour of stroke monitoring t Quick stop deceleration PNU 1029 t Current position PNU 300 1 Stroke limit PNU 427 t Current speed PNU 310 1 Stroke monitoring PNU 401 B5 t Stroke limit reached RSB XLIM B5 t Motion complete SPOS MC B2 t Fig 10 17 Diagram stroke monitoring example force torque mode ...

Page 193: ...ent changes of the target position e g many different workpiece positions Applications in which more than 64 positioning tasks are used 10 9 1 Overview data exchange in direct operation The overview shows the data exchange between the controller and the EMCA in direct operation EMCA controller FHPP Standard FHPP Standard Feedback on operating mode FHPP SCON OPM1 2 Status byte 1 Actual value 1 actu...

Page 194: ...Deceleration P V F 203 296 548 Final speed P 206 297 Speed mode 560 Base value acceleration2 V 204 298 542 Deceleration P 204 296 Force torque mode 540 Base value speed2 P F 203 296 541 Acceleration P F 203 296 542 Deceleration P V F 203 296 555 Basic value force2 F 205 298 Load 544 Load P V F 296 Start delay 582 Start delay P V F 200 300 Start condition 583 Start condition P V F 300 Torque feed f...

Page 195: ...g error 549 Following Error Window P 203 214 297 568 Speed deviation message window V 204 214 299 1045 Following error delay time P V 214 214 314 Comparators 312 Status of comparator outputs P V F 275 585 Position comparator min P V F 301 586 Position comparator max P V F 587 Position comparator damping time P V F 588 Speed comparator min P V F 301 589 Speed comparator max P V F 590 Speed comparat...

Page 196: ... SDIR COM1 2 B1 B2 x x2 Select positioning type only for positioning mode ABS 0 Setpoint value is absolute to the project zero point ABS 1 Setpoint value is relative to the actual setpoint position Absolute Relative CDIR ABS B0 B SDIR ABS B0 B Activate stroke monitoring optional Stroke limit value deactivated CDIR XLIM B5 0 Specify setpoint values Supplemental parameters Setpoint value 1 R Actual ...

Page 197: ...000 0001b SPOS 0001 0001b Control status byte 3 CDIR 0000 0BBBb SDIR 0000 0BBBb Control status byte 4 Setpoint value 1 AAAA AAAAb Actual value 1 AAAA AAAAb Control status byte 5 8 Setpoint value 2 AAAA b Actual value 2 AAAA b Possible further step 8 8 Control intermediate stop è Tab 10 31 8 9 Delete remaining path è Tab 10 32 8 12 Stroke limit reached è 9 1 Cancel positioning task with Halt è page...

Page 198: ...OS 0000 0001b 8 8 Continue positioning task TA4 Start positioning task CPOS START B1 P SPOS ACK B1 1 Control status byte 2 CPOS 00x0 00P1b SPOS 0000 0011b Next step 8 3 Positioning task active è Tab 10 30 1 P rising edge positive N trailing edge negative x any Tab 10 31 Control intermediate stop 10 9 5 Delete remaining path Can only be used in positioning mode Step 8 9 Control data job 1 Status da...

Page 199: ...ched stroke limit value active CDIR XLIM B5 0 Stroke limit reached SDIR XLIM B5 1 Control status byte 3 CDIR 0000 0BBBb SDIR 0010 0BBBb 8 13 Travel completed Motion complete SPOS MC B2 1 Axis is moving SPOS MOV B4 0 Control status byte 2 CPOS 0000 0001b SPOS 0000 0101b Next step 8 1 Prepare start positioning task TA1 è Tab 10 30 8 Control operation è page 152 1 P rising edge positive N trailing ed...

Page 200: ...tus byte 5 8 1 With the rising edge in Start positioning task the current setpoint value N is transferred and Acknowledge start is set to 1 2 As soon as Start acknowledgement 1 is recognised by the controller Start positioning task can be set to 0 3 The EMCA reacts to this with a trailing edge at Start acknowledgment 4 As soon as Start acknowledgment 0 is recognised by the controller the next setp...

Page 201: ...e drive and ends the running positioning task With the next rising edge of Start positioning task the currently pending positioning task is started Acknowledge start SPOS ACK B1 Motion complete SPOS MC B2 Axis is moving SPOS MOV B4 Halt CPOS HALT B0 Start positioning task CPOS START B1 Confirm halt SPOS HALT B0 1 2 Setpoint value 2 Control byte 5 8 N N 1 Actual value 2 Status byte 5 8 N 1 The posi...

Page 202: ...ge start SPOS ACK B1 Motion complete SPOS MC B2 Axis is moving SPOS MOV B4 Halt CPOS HALT B0 Start positioning task CPOS START B1 Delete remaining path CPOS CLEAR B6 Confirm halt SPOS HALT B0 Setpoint value 2 Control byte 5 8 N N 1 4 3 Actual value 2 Status byte 5 8 N 1 1 Interrupt positioning task with Halt 2 Delete remaining path 3 Start new positioning task N 1 4 Target position reached Fig 10 ...

Page 203: ...ng error window3 PNU 549 Motion complete5 SPOS MC B2 t 0 100 of the basic value Control byte 4 setpoint value 1 Base Velocity PNU 540 Speed4 Absolute positioning type1 Relative positioning type2 1 Absolute to project zero point PNU 500 CDIR ABS bit 0 0 2 Relative to the last actual value CDIR ABS B0 1 PNU 524 B0 1 relative to the last setpoint value CDIR ABS B0 1 PNU 524 B0 0 3 For additional info...

Page 204: ... Current setpoint speed PNU 310 2 Stroke limit1 PNU 566 Target speed Control byte 5 8 setpoint value 2 Stop CPOS HALT B0 t Following error window2 PNU 568 Motion complete3 SPOS MC B2 t 0 100 of the basic value Control byte 4 setpoint value 1 Acceleration Deceleration PNU 542 1 For additional information on stroke monitoring è page 207 2 For additional information on the following error è page 214 ...

Page 205: ... PNU 541 t t Current position PNU 300 1 Current setpoint speed PNU 310 2 Current setpoint value force PNU 301 2 t Basic value force PNU 555 Stroke limit1 PNU 510 Motion complete3 SPOS MC B2 t External stop Base Velocity PNU 540 0 100 of the basic value Control byte 5 8 setpoint value 2 Deceleration PNU 542 1 For additional information on stroke monitoring è page 207 2 Feedback speed limit reached ...

Page 206: ...ng SPOS MOV B4 t Motion complete SPOS MC B2 t t Final speed PNU 548 Current actual value speed PNU 310 1 0 100 of the basic value Control byte 4 setpoint value 1 Base Velocity PNU 540 Actual position Status byte 5 8 actual value 2 t Setpoint position Control byte 5 8 setpoint value 2 t N N 1 speed Start positioning task CPOS START B1 t Acknowledge start SPOS ACK B1 t N Fig 10 25Diagram final speed...

Page 207: ...s bit Motion complete SPOS MC B2 is set If the target setpoint value is reached earli er the Motion complete status bit is set here If no other job is to be executed the drive will stop in a position controlled manner Activation of stroke monitoring takes place via the control bit CDIR XLIM bit 5 FHPP parameters stroke monitoring For stroke monitoring the following FHPP parameters are available PN...

Page 208: ...s the behaviour of stroke monitoring t Quick stop deceleration PNU 1029 t Current position PNU 300 1 Stroke limit PNU 510 t Current speed PNU 310 1 Stroke monitoring CDIR XLIM B5 t Stroke limit reached SDIR XLIM B5 t Motion complete SPOS MC B2 t Fig 10 26 Diagram stroke monitoring example force torque mode ...

Page 209: ... the sample input the current position value is stored in the EMCA Unread values are overwritten Only after the current position value is read out is the new position value stored in the EMCA with the next change of edge 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 PNU Page Position value SINC with r...

Page 210: ...10 Control via FHPP 210 Festo EMCA EC C HP EN 2017 11e English ...

Page 211: ...on 212 Following error Following error Monitors the setpoint actual value deviation during a position ing speed task or during jogging 214 Standstill monitoring Standstill monitoring Monitors positions when the drive is controlled at a standstill The drive is controlled at a standstill in the following cases after jogging after completion of homing after completion of a positioning order with fina...

Page 212: ...MC B2 is set FHPP parameters Motion complete The following FHPP parameters are available for the Motion complete message PNU Name Page Positioning mode 300 1 Current position 273 404 Position setpoint value 281 1022 Target message window reached 309 1023 Target damping time reached 309 Speed mode 310 1 Current speed 274 441 Speed setpoint value 290 561 Speed message window reached 298 1023 Target ...

Page 213: ...behaviour of the Motion complete message t Target damping time reached PNU 1023 t Target message window reached PNU 1022 Motion complete SPOS MC B2 t Setpoint value 21 Position setpoint value2 PNU 404 Current position PNU 300 1 1 Direct operation 2 Record selection mode Fig 11 1 Diagram Motion complete example positioning mode ...

Page 214: ...n ing the message is deleted automatically once the actual value once again lies inside the following error window If the following error is configured as an error the cause of the error must first be elimin ated before the error message Following error FCT 2Fh can be acknowledged with the rising edge of the control bit Acknowledge malfunction CCON RESET B3 FHPP parameters following error The foll...

Page 215: ...ollowing error Following error Message 2Fh t t start CPOS START B2 Following error delay time PNU 1045 t Position setpoint value PNU 404 t Current setpoint position PNU 300 2 Current following error PNU 300 3 Current position PNU 300 1 Maximum divergence PNU 424 Fig 11 2 Diagram following error example positioning mode in record selection mode ...

Page 216: ...ces for the duration of the standstill monitoring time from the standstill window the following response occurs The Standstill monitoring status bit SPOS STILL B6 is set è page 135 The position controller attempts to return the drive to the standstill window Standstill monitoring cannot be switched on and off explicitly Standstill monitoring becomes inactive when the standstill window is set to th...

Page 217: ...ndstill monitoring t Target damping time reached PNU 1023 t Target message window reached PNU 1022 Motion complete SPOS MC B2 t Setpoint position PNU 1040 Current position PNU 1041 Standstill message window PNU 1042 Standstill delay time PNU 1043 t Standstill monitoring SPOS STILL B6 t Fig 11 3 Diagram standstill monitoring example positioning mode ...

Page 218: ... parameters for direct mode presetting for direct mode The configurable digital output is usable for the output of comparator messages If the monitored value is in the monitoring window the related comparator message is active The configurable digital output configurable is set when it is configured accordingly Outside the monitoring window the comparator message is inactive and the output is rese...

Page 219: ...ecord selection è page 287 Direct operation è page 300 Position comparator min 430 585 Position comparator max 431 586 Position comparator damping time 432 587 Speed comparator min 433 588 Speed comparator max 434 589 Speed comparator damping time 435 590 Force comparator min 436 591 Force comparator max 437 592 Force comparator damping time 438 593 Time comparator min 439 594 Time comparator max ...

Page 220: ...ive if the maximum value is exceeded a message is issued è page 221 Voltage monitoring Detects undervoltages and overvoltages Logic voltage 17h 18h Intermediate cir cuit voltage 1Ah 1Bh Temperature monit oring 15h 16h The output stage temperature is measured with a temperature sensor The output stage temperature and CPU temperature are monitored cyclically If the temperature rises above a limit va...

Page 221: ...As the power dissipa tion occurring in the power electronics and motor grows with the square of the flowing current the squared current value is assumed as the dimension of the power loss Note 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 ...

Page 222: ...ge CAN 2310h FCT 2Dh t I t error limit PNU1026 2 100 Warning threshold value PNU 1026 1 85 0 A Maximum current Nominal current I2t monitoring Motor current Error management t t t t Error acknowledgment I2t error motor Message CAN 2312h FCT 0Eh Störung quittieren CCON RESET B3 80 1 99 95 85 80 95 100 85 80 Current I2t value PNU 1027 1 Resetting of the warning always takes place at 5 below the I2T w...

Page 223: ...11 Monitoring of the drive behaviour Festo EMCA EC C HP EN 2017 11e English 223 ...

Page 224: ...annel FHPP message with parameter channel FPC byte 1 32 1 2 3 4 5 6 7 8 9 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 8 bytes FPC parameter channel 8 bytes FHPP data Max 16 bytes 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 CCON CPOS PNU file PNU PNU Tab A 1 FHPP message with parameter channel FPC Structure of the parameter chan...

Page 225: ... Data Expanded parameter channel EFPC byte 1 8 1 2 3 4 5 6 7 8 Transmission mode FHPP parameter PNU è page 226 Control data O data FPCC Sub in dex Parameter number PNU Parameter value PWE Status data I data FPCS Transmission mode parameter file è page 228 Control data O data FPCC Package ID User data package Status data I data FPCS Tab A 3 Structure of the expanded parameter channel EFPC A 2 2 Swi...

Page 226: ...rameters A 3 2 Task identifier Req ID and response identifier Res ID The task identifier Req ID and response identifier Res ID are contained in the bits 0 3 of byte 1 FPCC FPCS Data Task identifier Req ID and response identifier Res ID byte 1 Bit 7 4 Bit 3 0 Description FPCC Mode Req ID Function Control data O data 0001 0000 No job 0110 Request parameter value array 1000 Modify parameter value arr...

Page 227: ... so they will be secure in case of power failure A 3 4 Example transmitting parameters Write parameter PNU 440 02 with 4660d FPCC 0001 1000 Sub index 0000 0010 Parameter number 0000 0001 1011 1000 User data 0000 0000 0000 0000 0001 0010 0011 0100 Parameter successfully written FPCS 0001 0101 Sub index 0000 0010 Parameter number 0000 0001 1011 1000 User data 0000 0000 0000 0000 0001 0010 0011 0100 ...

Page 228: ... 8 Bit 7 4 Bit 3 0 Bit 7 5 Bit 4 0 Control data O data FPCC Package ID User data package Mode Req ID Control bits Sequence number Status data I data FPCS Package ID User data package Mode Res ID Status bits Sequence number Tab A 8 Structure of EFPC for parameter file transmission A 4 2 Task identifier Req ID and response identifier Res ID The task identifier Req ID and response identifier Res ID a...

Page 229: ...status bits byte 2 Bit 7 5 Bit 4 0 Description Package ID Control status bits Sequence number1 Function Content of user data Control status data I O data 000 xxxxx Data transmission active No data or user data pack age 001 xxxxx Start data transmission No data or size of the para meter file in bytes 010 xxxxx Stop data transmission No data 011 xxxxx Faults No data or error code 1 The sequence numb...

Page 230: ...sation can be stored in the permanent data memory User data package The parameter file is divided into 6 byte blocks for transmission and put back together after transmis sion The LSB least significant bit of the user data is in byte 3 Little endian that is directly after the pro tocol header of the 8 bytes of the EFPC If no user data are present all bits equal zero If all 6 bytes from the last tr...

Page 231: ... troller Setting of PNU 127 4 Load parameter values from parameter file But with this method changed parameters of the error management are not taken over A 4 6 Sequence of parameter file transmission Parameter file transmission takes place in the following sequence 1 Start data transmission The sequence number begins with 0 2 Transmit user data packages and increment sequence number As a handshak...

Page 232: ... Package ID 000 00001 Data parameter file Request package 2 FPCC 0100 0100 Package ID 000 00010 No data Send package 2 FPCS 0100 0011 Package ID 000 00010 Data parameter file Send package 31 FPCS 0100 0011 Package ID 000 11111 Data parameter file Request package 32 FPCC 0100 0100 Package ID 000 00000 No data Send package 32 FPCS 0100 0011 Package ID 000 00000 Data parameter file Request package 33...

Page 233: ...ge ID 000 00001 No data Send package 2 FPPC 0100 0101 Package ID 000 00010 Data parameter file Receive package 2 FPCS 0100 0011 Package ID 000 00010 No data Receive package 31 FPCS 0100 0011 Package ID 000 11111 No data Send package 32 FPPC 0100 0101 Package ID 000 00000 Data parameter file Receive package 32 FPCS 0100 0011 Package ID 000 00000 No data Sending complete FPCC 0100 0101 Package ID 01...

Page 234: ...Package ID 000 00001 No data Send package 1 FPCS 0100 0011 Package ID 000 00001 Data parameter file Request package 2 FPCC 0100 0100 Package ID 000 00010 No data Send package 2 FPCS 0100 0011 Package ID 000 00010 Data parameter file Package 2 faulty FPCC 0100 0100 Package ID 011 00011 Data error code Confirm error FPCS 0100 0011 Package ID 011 00011 No data controller EMCA Parameter file Divide pa...

Page 235: ... 0101 Package ID 000 00010 Data parameter file Package 2 faulty FPCS 0100 0011 Package ID 011 00010 Data error code controller EMCA Parameter file Divide parameter file into 6 byte blocks here into 32 6 bytes Fig A 6 Error in parameter download Parameter file download FPCC is not supported Request parameter download FPCC 0100 0101 Package ID 001 00000 Data large parameter file Error FPCS 0100 0111...

Page 236: ...0 Data large parameter file Error FPCS 0100 0111 Package ID 001 00000 Data error code 0x11 Job cannot be carried out due to operating status controller EMCA 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 ...

Page 237: ... error or the EMCA error results in interruption of parameter file transmission this is stored as information in the diagnostic memory of the EMCA The controller does not send an error code in the user data The EMCA answers the controller with the error status without an error text in the user data Error code Error 0 0x00 Error message from the controller 1 0x01 Incorrect sequence of the received ...

Page 238: ...trol ler transmission is interrupted In this case the user data are not evaluated Differentiation between different error causes is optionally foreseeable on the controller If transmission is interrupted the data transmitted to the controller up to then are discarded This should also be planned in the controller Error type 2 is reported in package ID 0 0x00 Error message from the controller 2 0x02...

Page 239: ...g in EMCA Only mappable FHPP parameters PNU can be used as parameters for this purpose Non mappable FHPP parameters PNU are not transmitted B 1 2 Structure of the FHPP message In the FHPP message the following bytes can be used for the FHPP data 16 bytes FHPP data FHPP message with parameter channel FPC byte 1 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 3...

Page 240: ...timestamp incoming outgoing event 243 Process data 300 399 Current setpoint and actual values local digital inputs and outputs e g status data 244 Record list 400 499 A record includes all the setpoint value paramet ers required for a positioning procedure 245 Project data 500 599 Fundamental project settings e g maximum speed acceleration deceleration project zero point offset These parameters ar...

Page 241: ...ct while the function remains the same e g in FCT Examples rotational speed and speed or torque and force C 2 1 FHPP Data Group name PNU SDO 1 Sub index Type Page FHPP telegram editor è page 255 FHPP receive telegram FHPP receive telegram 40 2028h 1 10 uint32 255 FHPP reply telegram FHPP responsed telegram 41 2029h 1 10 uint32 256 FHPP receive telegram status FHPP receive telegram state 42 202Ah 1...

Page 242: ...oller 114 2072h 1 12 char 259 Controller type Controller type 115 2073h 1 7 uint8 260 Manufacturer s device name Manufacturer device name 120 2078h 1 30 char 261 User s device name User device name 121 2079h 1 30 char 261 Drive manufacturer Drive manufacturer 122 207Ah 1 30 char 261 HTTP address of the manufacturer HTTP drive catalog address 123 207Bh 1 30 char 261 Festo order number Festo order n...

Page 243: ...nt16 266 Fieldbus diagnostics Fieldbus diagnostics 206 20CEh 1 2 4 5 uint8 268 Current fault messages Actual malfunction messages 220 20DCh 1 32 uint32 268 Current warning messages Actual warning messages 221 20DDh 1 32 uint32 269 Current fault acknowledgeable Actual acknowledged malfunction 230 20E6h 1 uint8 269 Permitted error response 1 Permissible error reaction 1 234 20EAh 1 255 uint16 270 Pe...

Page 244: ...Speed values Velocity values 310 2136h 1 3 int32 274 Status of comparator outputs Status comparator outputs 312 2138h 1 uint8 275 FHPP Data FHPP status information FHPP status information 320 2140h 1 2 uint32 int32 276 FHPP control information FHPP control information 321 2141h 1 2 uint32 int32 276 Flying measurement Sample position rising edge Sample position rising edge 350 215Eh 1 int32 277 Sam...

Page 245: ...197h 1 64 int32 282 Deceleration Deceleration 408 2198h 1 64 int32 282 Jerk acceleration Jerk acceleration 409 2199h 1 64 uint32 282 Load Load 410 219Ah 1 64 uint32 282 Record sequencing target Following record 416 21A0h 1 64 uint8 283 Jerk deceleration Jerk deceleration 417 21A1h 1 64 uint32 283 Torque limitation Torque limitation 418 21A2h 1 64 int16 283 Record control byte 3 Record control byte...

Page 246: ... min Velocity comparator minimum 433 21B1h 1 64 int32 288 Speed comparator max Velocity comparator maximum 434 21B2h 1 64 int32 288 Speed comparator damping time Velocity comparator window time 435 21B3h 1 64 uint16 288 Force comparator min Force comparator minimum 436 21B4h 1 64 int16 289 Force comparator max Force comparator maximum 437 21B5h 1 64 int16 289 Force comparator damping time Force co...

Page 247: ... 1 int32 292 Teach in mode Teach target Teach target 520 2208h 1 uint8 292 FHPP direct operation FHPP setpoint and actual values FHPP setpoint and actual values 523 220Bh 1 12 uint32 294 FHPP direct mode settings FHPP direct mode settings 524 220Ch 1 uint8 294 Jog mode Speed slow phase 1 Velocity slow phase 1 530 2212h 1 int32 295 Speed fast phase 2 Velocity fast phase 2 531 2213h 1 int32 295 Acce...

Page 248: ... 2223h 1 uint32 297 End speed End velocity 548 2224h 1 int32 297 Following error message window Following error window 549 2225h 1 int32 297 Force direct mode Force message window reached Force target window 552 2228h 1 int16 298 Base value force Basic value force 555 222Bh 1 int32 298 Speed direct mode Base value acceleration Basic value acceleration 560 2230h 1 int32 298 Speed message window rea...

Page 249: ...n comparator window time 587 224Bh 1 uint16 301 Speed comparator min Velocity comparator minimum 588 224Ch 1 int32 301 Speed comparator max Velocity comparator maximum 589 224Dh 1 int32 301 Speed comparator damping time Velocity comparator window time 590 224Eh 1 uint16 301 Force comparator min Force comparator minimum 591 224Fh 1 int16 302 Force comparator max Force comparator maximum 592 2250h 1...

Page 250: ...ion Polarity 1000 23E8h 1 int8 304 Encoder resolution Encoder resolution 1001 23E9h 1 2 uint32 304 Gear ratio Gear ratio 1002 23EAh 1 2 uint32 305 Feed constant Feed constant 1003 23EBh 1 2 uint32 305 Axis parameter Axis parameter 1005 23EDh 2 3 uint32 306 Homing parameters Offset axis zero point Offset axis zero point 1010 23F2h 1 int32 306 Homing method Homing method 1011 23F3h 1 int8 307 Speeds...

Page 251: ...meter Position control parameter set 1024 2400h 1 7 uint32 int32 310 I2t parameters I2t parameter 1025 2401h 1 2 uint32 311 I2t limit values I2t limits 1026 2402h 1 2 uint16 311 Current I2t value Actual I2t value 1027 2403h 1 uint16 311 Quick stop deceleration Quick stop deceleration 1029 2405h 1 int32 311 Electronic rating plate Motor type Motor type 1030 2406h 1 uint16 312 Max current Max curren...

Page 252: ...16 313 Following error monitoring Following error delay time Following error timeout 1045 2415h 1 uint16 314 Motor data Zero angle Zero angle 1050 241Ah 1 uint32 314 Current motor current Actual current 1059 2423h 1 int32 314 Temperature data Current temperature CPU Actual temperature CPU 1063 2427h 1 int8 315 Min max temperature CPU Min max temperature CPU 1065 2429h 1 2 int8 315 Current temperat...

Page 253: ...2 316 Current DC link voltage Actual intermediate circuit voltage 1073 2431h 1 uint32 316 Current control section voltage Actual logic voltage 1074 2432h 1 uint32 316 Current string currents Actual phase current 1075 2433h 1 3 int32 316 Torque Feed Forward control Torque feed forward control 1080 2438h 1 uint16 317 1 Can only be used with CANopen Tab C 9 Axis parameters electric drives 1 ...

Page 254: ... subindices of the parameter 1 no subindex simple variable 4 Class Var contains only one value Array contains several values Struct summary of several variables 5 Data type Values without sign 8 16 32 bit uint8 0 255 uint16 0 65 535 uint32 0 4294967295 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 6 Mappable in FHPP 7 Ac...

Page 255: ...guration takes place through the FHPP editor of the FCT plug in Note Gaps between 1 byte PNUs and the following 2 or 4 byte PNUs as well as unused subindices are filled with position holder PNUs Format 4 bytes as for EFPC Byte Significance 1 Reserved 0 2 Subindex 3 Transmitted PNU 4 Subindex 1 1st PNU 1st PNU 1st transmitted PNU Value 0x00010001 PNU 1 1 Subindex 2 2nd PNU 2nd PNU 2nd transmitted P...

Page 256: ...e through the FHPP editor of the FCT plug in Note Gaps between 1 byte PNUs and the following 2 or 4 byte PNUs as well as unused subindices are filled with position holder PNUs Format 4 bytes as for EFPC Byte Significance 1 Reserved 0 2 Subindex 3 Transmitted PNU 4 Subindex 1 1st PNU 1st PNU 1st transmitted PNU Value 0x00010001 PNU 1 1 Subindex 2 2nd PNU 2nd PNU 2nd transmitted PNU Value 0x00010002...

Page 257: ...6 32 bit entry starts with an uneven address 30 31 0 reserved Note If the transmitted telegram is correct all bits 0 Tab C 12 PNU 42 PNU 43 FHPP response telegram status FHPP responsed telegram state Subindex 1 Class Var Data type uint32 Access ro Read error location and error type of the response telegram Bit Value Significance 0 9 Error location Bit serial one bit per telegram entry PNU 40 1 40 ...

Page 258: ... of the firmware version number of the device consists of the 4 numerals e g 1 2 3 4 of the subindexes Subindex 1 Main version number Major version number 1st numeral of the firmware version Subindex 2 Secondary version number Minor version number 2nd numeral of the firmware version Subindex 3 Revision number Revision number 3rd numeral of the firmware version Subindex 4 Build number Build number ...

Page 259: ...g xxyy Format 16 bit BCD Numerals Significance xx Main version number yy Secondary version number Tab C 17 PNU 104 C 3 4 Device data identification PNU 114 Controller serial number Serialnumber controller Subindex 1 12 Class Var Data type char Access ro Reading the product key The breakdown of the 11 character product key is stored in the Support Portal è www festo com sp Subindex 1 11 1 11 Charac...

Page 260: ...ficance 0x04 4 CANopen Subindex 3 Measuring unit Measuring unit Displacement encoder Value Significance 0x02 2 With encoder 0x03 3 With multi turn absolute encoder Subindex 4 Housing Housing Type of housing Value Significance 0x01 1 standard Subindex 5 Electrical connection Electrical connection Type of electrical connection Value Significance 0x01 1 Terminal box Subindex 6 Brake Brake Brake of th...

Page 261: ...2 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 30 Class Array Data type char Access ro Reading of the manufacturer s Internet address ASCII 7 bit...

Page 262: ... or stop it control Control interfaces Festo Configuration Tool FCT Ethernet Fieldbus CANopen In addition to the parameterised control interface the following conditions must be fulfilled Controller enable CO EC EP PN X9 4 DIO X9 16 24 V parameterisation of the controller enable signals è PNU 128 or FCT Input channels STO1 STO2 X6 4 5 24 V Value Significance SCON FCT MMI 0x00 0 Master control with...

Page 263: ...c data are stored in the EEPROM Subindex 3 Reset device Reset device Writing the object triggers a restart of the firmware whereby the data are read from the EEPROM and taken over as the current settings Value Significance 0x10 16 Reset device restart of the firmware without changing the data Subindex 4 Load parameter file Load parameter data Through writing of the object parameter values are load...

Page 264: ...hing on 0x09 9 Information Subindex 1 Event 1 Event 1 Type of newest current diagnostic message Subindex 2 Event 2 Event 2 Type of second saved diagnostic message Subindex 3 200 Event 3 200 Event 3 200 Type of 3rd 200th saved diagnostic message Tab C 28 PNU 200 PNU 201 Diagnostic number Diagnostics number Subindex 1 200 Class Array Data type uint16 Mappable Access ro Reading of the diagnostic numb...

Page 265: ...t 1 Time of the newest current diagnostic message Subindex 2 Event 2 Event 2 Time of the 2nd saved diagnostic message Subindex 3 200 Event 3 200 Event 3 200 Time of the 3rd 200th saved diagnostic message Tab C 30 PNU 202 PNU 203 Additional information Additional information Subindex 1 200 Class Array Data type uint32 Mappable Access ro Reading of the additional information for the service personne...

Page 266: ...Delete memory Access wo Clearing the diagnostic memory Value Significance 1 Diagnostic memory is cleared Subindex 4 Number of entries Number of entries Access ro Read out the number of valid entries in the diagnostic memory Value Significance 0 200 No of Tab C 32 PNU 204 PNU 205 Device fault Device fault Subindex 1 Class Var Data type uint16 Mappable Access ro Read the active fault with the highes...

Page 267: ...reached 1 EMCA is in the status Warning error limit reached 1 0 EMCA is not in the status Bus OFF 1 EMCA is in the status Bus OFF 2 0 EMCA is not in the status Error passive 1 EMCA is in the status Error passive 3 0 No bus parameters 4 5 0 Status DS 301 state machine è page 348 00 stopped 01 pre operational 10 operational 10 reserved 6 0 reserved 7 0 Node guarding error Subindex 2 Baud rate Baud r...

Page 268: ...ppable Access ro Reading of all existing faults While the diagnostic memory depicts the history here it can be determ ined which faults are now present Each diagnostic number becomes a bit number The parameter values cannot be written Errors cannot be acknowledged with this PNU If the bit is set the respective fault is active Subindex 1 0 entry 0th Entry Diagnostic numbers 0 31 Subindex 2 1st entr...

Page 269: ...e respective warning is active Subindex 1 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 36 PNU 221 PNU 230 Current fault acknowledgeable Actual acknowledged malfunction Subindex 1 Class Var Data type uint8 Mappable Access ro Read the acknowledgment type of the currently highest pri...

Page 270: ...1 A No deceleration ramp free run out Output stage is switched off imme diately 1 2 B Quick stop deceleration ramp EMERGENCY STOP After that the out put stage is switched off 2 4 C Deceleration ramp HALT 3 8 D End positioning task 4 16 E Quick stop deceleration ramp EMERGENCY STOP Output stage re mains switched on 5 32 F Deceleration ramp HALT 6 64 G End positioning task Subindex 1 Fault number 0 ...

Page 271: ... the malfunction number 0 Subindex 2 Fault number 1 Malfunction number 1 Malfunction handling for the malfunction number 1 Subindex 3 255 Fault number 2 254 Malfunction number 2 254 Malfunction handling for the malfunction numbers 2 254 Tab C 39 PNU 238 PNU 242 Error response 1 Error reaction 1 Subindex 1 255 Class Array Data type uint16 Mappable Access rw2 Reading or parameterisation of the error...

Page 272: ...mber 2 254 Error responses for the malfunction numbers 2 254 Tab C 41 PNU 246 PNU 280 Safety status Safety state Subindex 1 Class Var Data type uint8 Mappable Access ro Reading of the enable status of the hardware The following enable statuses are required for operation Bit Value Significance 0 0 STO channels STO1 STO2 X6 4 5 0 V 1 STO channels STO1 STO2 X6 4 5 24 V 1 Controller enable via fieldbu...

Page 273: ...t position of the position controller Subindex 3 Current following error Actual following error Current deviation of the position controller Tab C 43 PNU 300 PNU 301 Force values Force values Subindex 1 3 Class array Data type int16 Mappable Access ro Reading of the current force values of Force basic value PNU 555 of the force regulator Subindex 1 Current value Actual value Current actual value o...

Page 274: ... Local digital outputs Local digital outputs Subindex 1 Class Var Data type uint32 Mappable Access ro Reading of the actual status of the local digital outputs DOUT Bit Significance 0 Controller ready for operation 1 Configurable outputs Tab C 46 PNU 304 PNU 310 Speed values Velocity values Subindex 1 3 Class array Data type int32 Mappable Access ro Reading of the current speed values of the speed...

Page 275: ... uint8 Access ro Reading of the actual status of the comparators Bit comparator output 0 Actual value is outside the comparator range Bit comparator output 1 Actual value is inside the comparator range after expiry of the damping time Bit Significance 0 Position comparator 1 Speed comparator 2 Force comparator 3 Time comparator 4 7 reserved Tab C 48 PNU 312 ...

Page 276: ...SCON SPOS Subindex 2 FHPP status byte 5 8 FHPP status byte 5 8 Data type int32 Status information on byte 5 8 actual value 2 Tab C 49 PNU 320 PNU 321 FHPP control information FHPP control information Subindex 1 2 Class Struct Data type int32 uint32 Access ro Reading of the control data output data Subindex 1 FHPP control byte 1 4 FHPP control byte 1 4 Data type uint32 Control information on byte 1...

Page 277: ...x 1 Class Var Data type int32 Mappable Access ro Reading of the saved position with trailing edge The type of position recording is parameterised via the sample function è PNU 352 Tab C 52 PNU 351 PNU 352 Sample operating mode Sample mode Subindex 1 Class Var Data type uint8 Mappable Access rw1 Reading or parameterisation of the commands for sample control Value Significance 0x00 0 Sample input de...

Page 278: ...int16 1 64 421 Record control byte 3 RCB3 uint8 1 64 423 Final speed int32 1 64 424 Maximum divergence int32 1 64 425 MC with record sequencing uint8 1 64 426 Start Delay uint32 1 64 427 Stroke limit int32 1 64 428 Factor torque pilot control uint16 1 64 430 Position comparator min int32 1 64 431 Position comparator max int32 1 64 432 Position comparator damping time uint16 1 64 433 Speed comparat...

Page 279: ...oint record number Demand record number Access rw1 The entry includes the number of the target record in whose parameter the current position is entered as soon as the Teach bit is set è PNU 520 Subindex 2 Current record number Actual record number Access ro 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 st...

Page 280: ...the last actual setpoint posi tionè REL bit 4 COM1 2 1 2 Bit 2 Bit 1 Selection of the control mode 0 0 Positioning mode position control 0 1 Force torque mode current control 1 0 Speed mode speed adjustment 1 1 Invalid record RES 3 reserved REL 4 Binary Selection of the point of reference for the relative setpoint value Positioning mode COM1 2 0 Setpoint value is relative to last setpoint value ta...

Page 281: ...dex 1 64 Record 1 64 Record 1 64 Record control byte 2 of the record 1 64 Tab C 57 PNU 402 PNU 404 Setpoint value Setpoint value Subindex 1 64 Class Array Data type int32 Mappable Access rw1 Reading or parameterisation of the target position SINC Subindex 1 64 Record 1 64 Record 1 64 Setpoint value of the record 1 64 Tab C 58 PNU 404 PNU 406 Speed Velocity Subindex 1 64 Class Array Data type int32...

Page 282: ...64 Max deceleration of the record 64 Tab C 61 PNU 408 PNU 409 Jerk acceleration Jerk acceleration Subindex 1 64 Class Array Data type uint32 Mappable Access rw1 Reading or parameterisation of the max jerk SINC s3 10 during acceleration The value 0 is inter preted as max jerk Force record no function Subindex 1 64 Record 1 64 Record 1 64 Max jerk acceleration value of the record 1 64 Tab C 62 PNU 4...

Page 283: ...tion Jerk deceleration Subindex 1 64 Class Array Data type uint32 Mappable Access rw1 Reading or parameterisation of the max jerk SINC s3 10 during deceleration The value 0 is inter preted as max jerk Force record no function Subindex 1 64 Record 1 64 Record 1 64 Max jerk deceleration value of the record 1 64 Tab C 65 PNU 417 PNU 418 Torque limitation Torque limitation Subindex 1 64 Class Array Da...

Page 284: ...yte 3 of the record 1 64 Tab C 67 PNU 421 PNU 423 End speed End velocity Subindex 1 64 Class Array Data type int32 Mappable Access rw1 Reading or parameterisation of the speed SINC s at the end of the record Position record end speed Speed record setpoint speed Force record no function Subindex 1 64 Record 1 64 Record 1 64 End speed of the record 1 64 Tab C 68 PNU 423 PNU 424 Max deviation Max con...

Page 285: ...of the start delay times ms The time is started with the Start com mand After the time has elapsed the record starts to travel Subindex 1 64 Record 1 64 Record 1 64 Start delay of the record 1 64 Tab C 71 PNU 426 PNU 427 Stroke limit Stroke limit Subindex 1 64 Class Array Data type int32 Mappable Access rw1 Reading or parameterisation of the max displacement stroke SINC relative to the start posit...

Page 286: ...int16 Mappable Access rw1 Reading or parameterisation of the torque pilot control proportion in the record mode 0 inactive 1000 fully active The torque pilot control is added to the current controller setpoint value The value is calculated from the acceleration è PNU 1080 Subindex 1 64 Record 1 64 Record 1 64 Factor torque pilot control of the record 1 64 Tab C 73 PNU 428 ...

Page 287: ...sition comparator max Position comparator maximum Subindex 1 64 Class Array Data type int32 Mappable Access rw1 Reading or parameterisation of the upper limit values SINC of the position comparator Subindex 1 64 Record 1 64 Record 1 64 Position comparator max of the record 1 64 Tab C 75 PNU 431 PNU 432 Position comparator damping time Position comparator window time Subindex 1 64 Class Array Data ...

Page 288: ...r max Velocity comparator maximum Subindex 1 64 Class Array Data type int32 Mappable Access rw1 Reading or parameterisation of the upper limit values SINC s of the speed comparator Subindex 1 64 Record 1 64 Record 1 64 Speed comparator max of the record 1 64 Tab C 78 PNU 434 PNU 435 Speed comparator damping time Velocity comparator window time Subindex 1 64 Class Array Data type uint16 Mappable Ac...

Page 289: ...tor max Force comparator maximum Subindex 1 64 Class Array Data type int16 Mappable Access rw1 Reading or parameterisation of the upper limit values of the Force basic value PNU 555 of the force comparator Subindex 1 64 Record 1 64 Record 1 64 Force comparator max of the record 1 64 Tab C 81 PNU 437 PNU 438 Force comparator damping time Force comparator window time Subindex 1 64 Class Array Data t...

Page 290: ...ime comparator max of the record 1 64 Tab C 84 PNU 440 PNU 441 Speed setpoint value Setpoint value velocity Subindex 1 64 Class Array Data type int32 Mappable Access rw1 Reading or parameterisation of the end speed SINC s of a speed record The sign of the value de termines the direction in which the speed is to be built up Subindex 1 64 Record 1 64 Record 1 64 End speed of the record 1 64 Tab C 85...

Page 291: ...nd positions is not permissible and will res ult in an error The offset to the axis zero point is entered The software end positions are deactivated if both software end positions have the value 0 Subindex 1 Lower limit value Lower limit Limit value for the negative software end position SLN Subindex 2 Upper limit value Upper limit Limit value for the positive software end position SLP Tab C 88 PN...

Page 292: ...index 1 Class Var Data type int32 Mappable Access rw2 Reading or parameterisation of the max current force mA with which the motor may be operated The value is always positive Internally this limits the max positive and negative current Tab C 92 PNU 512 C 3 14 Project data teach mode PNU 520 Teach target Teach target Subindex 1 Class Var Data type uint8 Mappable Access rw2 Reading or parameterisat...

Page 293: ...sition main setpoint value Position main setpoint value Value Significance 0x00 0 Setpoint position SINC 0x01 1 reserved Subindex 3 Position main setpoint value Position sub actual value Value Significance 0x00 0 Actual speed of the Basic value speed PNU 540 0x01 1 reserved Subindex 4 Position main actual value Position main actual value Value Significance 0x00 0 Actual position SINC 0x01 1 reserv...

Page 294: ...ain setpoint value Velocity main setpoint value Value Significance 0x00 0 Speed SINC s 0x01 1 reserved Subindex 11 Velocity sub actual value Velocity sub actual value Value Significance 0x00 0 reserved 0x01 1 reserved Subindex 12 Velocity main actual value Velocity main actual value Value Significance 0x00 0 reserved 0x01 1 Actual speed of the Basic value speed PNU 540 Tab C 94 PNU 523 PNU 524 FHP...

Page 295: ...ex 1 Class Var Data type int32 Mappable Access rw2 Reading or parameterisation of the acceleration deceleration SINC s2 Tab C 98 PNU 532 PNU 534 Time period phase 1 Time phase 1 Subindex 1 Class Var Data type uint16 Mappable Access rw2 Reading or parameterisation of the time period ms for phase 1 Tab C 99 PNU 534 PNU 538 Following error message window Following error window Subindex 1 Class Var Da...

Page 296: ...ding or parameterisation of the acceleration SINC s2 Tab C 103 PNU 541 PNU 542 Deceleration Deceleration Subindex 1 Class Var Data type int32 Mappable Access rw2 Reading or parameterisation of the deceleration SINC s2 Tab C 104 PNU 542 PNU 543 Jerk acceleration Jerk acceleration Subindex 1 Class Var Data type uint32 Mappable Access rw2 Reading or parameterisation of the max jerk SINC s3 10 during ...

Page 297: ...07 PNU 547 PNU 548 End speed End velocity Subindex 1 Class Var Data type int32 Mappable Access rw2 Reading or parameterisation of the speed SINC s at the end of the record Position record end speed Speed record setpoint speed Force record no function Tab C 108 PNU 548 PNU 549 Following error message window Following error window Subindex 1 Class Var Data type int32 Mappable Access rw1 Reading or p...

Page 298: ...s in the cyclic data a percentage value which is multiplied by the basic value to calculate the final setpoint force Tab C 111 PNU 555 C 3 19 Project data rotational speed direct mode PNU 560 Basic value acceleration Basic value acceleration Subindex 1 Class Var Data type int32 Mappable Access rw2 Reading or parameterisation of the acceleration basic value SINC s2 The master transmits in the cycli...

Page 299: ...change by more than the amount specified in this parameter In this way you can ensure that the axis will not perform an uncontrolled movement if speed adjustment is activated by mistake Monitoring can be activated or deactivated via the control bit Stroke limit value deactivated CDIR XLIM B5 Tab C 114 PNU 566 PNU 568 Speed deviation message window Velocity control deviation window Subindex 1 Class...

Page 300: ...ion of rotation Tab C 116 PNU 581 PNU 582 Start delay Start delay Subindex 1 Class Var Data type uint32 Mappable Access rw2 Reading or parameterisation of the start delay times ms The time is started with the Start com mand After the time has elapsed travel is started Tab C 117 PNU 582 PNU 583 Start condition Start condition Subindex 1 Class Var Data type uint8 Mappable Access rw1 Reading or param...

Page 301: ...ass Var Data type uint16 Mappable Access rw1 Reading or parameterisation of the damping time ms of the position comparator Tab C 121 PNU 587 PNU 588 Speed comparator min Velocity comparator minimum Subindex 1 Class Var Data type int32 Mappable Access rw1 Reading or parameterisation of the lower limit value SINC s of the speed comparator Tab C 122 PNU 588 PNU 589 Speed comparator max Velocity compa...

Page 302: ...alue PNU 555 of the force comparator Tab C 126 PNU 592 PNU 593 Force comparator damping time Force comparator window time Subindex 1 Class Var Data type uint16 Mappable Access rw1 Reading or parameterisation of the damping time ms of the force comparator Tab C 127 PNU 593 PNU 594 Time comparator min Time comparator minimum Subindex 1 Class Var Data type uint32 Mappable Access rw1 Reading or parame...

Page 303: ...sic unit value Example Power of 10 exponent 7 Basic unit 0x01 metre Calculation 1 SINC 1 10 7 m 0 1 μm 10 000 SINC 10 000 10 7 m 1 mm Tab C 130 PNU 600 PNU 601 Position unit of measurement Position dimension index Subindex 1 Class Var Data type uint8 Access rw2 Reading or parameterisation of the system of measurement in relation to the basic unit Value Significance 0x00 0 Undefined user specific 0...

Page 304: ...rotation all encoder values are negated Tab C 132 PNU 1000 PNU 1001 Encoder resolution Encoder resolution Subindex 1 2 Class array Data type uint32 Mappable Access ro Reading of the encoder resolution ratio of encoder increments to motor revolutions Calculation of the encoder resolution Encoder resolution Encoder increments Motor revolutions Subindex 1 Encoder increments Encoder encrements Fix 409...

Page 305: ...o that a whole number results Subindex 1 Motor revolutions Motor revolutions Numerator of the gear ratio Subindex 2 Spindle rotations Shaft revolutions Denominator of the gear ratio Tab C 134 PNU 1002 PNU 1003 Feed constant Feed constant Subindex 1 2 Class array Data type uint32 Mappable Access rw2 Reading or parameterisation of the feed constant SINC Lead of the drive spindle per revolution Calcu...

Page 306: ...ernal gear unit of the EMCA Subindex 2 Axis gear numerator Axis gear numerator Numerator of the gear ratio Subindex 3 Axis gear denominator Axis gear denominator Denominator of the gear ratio Tab C 136 PNU 1005 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 parame...

Page 307: ... 23 Search for the reference switch in positive direction without index pulse 166 1Bh 27 Search for the reference switch in negative direction without in dex pulse 21h 33 Search of the index in the negative direction 161 22h 34 Search of the index in the positive direction EFh 17 Search for the negative stop 163 EEh 18 Search for the positive stop DDh 35 Current position 161 Tab C 138 PNU 1011 PNU...

Page 308: ...r stop detection in homing If the value is exceeded for a specific time è PNU 1017 the stop is detected as reference point and the drive travels to the axis zero point Tab C 141 PNU 1015 PNU 1016 Speed limit stop detection Velocity threshold block detection Subindex 1 Class Var Data type int32 Access rw2 Reading or parameterisation of the speed limit value for stop detection in homing homing metho...

Page 309: ...terpreted to be within the target window The range of the message window is double that of the parameterised value Target position is in the centre of the window Tab C 144 PNU 1022 PNU 1023 Damping time for target reached Position target window time Subindex 1 Class Var Data type uint16 Mappable Access rw2 Reading or parameterisation of the damping time ms The damping time begins when the target p...

Page 310: ...n of the speed controller Subindex 3 I proportion of speed I fraction velocity Data type uint32 I fraction of the speed control Subindex 4 Current gain Gain current Data type uint32 Gain of the current regulator Subindex 5 I proportion current I fraction current Data type uint32 I fraction of the current regulator Subindex 6 Time constant speed filter Time constant velocity filter Data type uint32...

Page 311: ...1025 PNU 1026 I2t limit values I2t limits Subindex 1 2 Class Struct Data type uint16 Access rw2 ro Reading or parameterisation of the limit threshold values of the I t monitoring Subindex 1 I t warning level rw2 Warning threshold value of the I t monitoring of the motor or output stage Subindex 2 I t error limit ro Error limit value of the I t monitoring of the motor or output stage Tab C 148 PNU ...

Page 312: ...ex 1 Class Var Data type int32 Access ro Reading of the max motor current mA The value is always positive Internally this limits the max positive and negative current Tab C 152 PNU 1034 PNU 1035 Motor rated current Motor rated current Subindex 1 Class Var Data type int32 Access ro Reading of the motor nominal current mA rating plate specification Tab C 153 PNU 1035 PNU 1036 Nominal motor torque Mo...

Page 313: ...f the drive Tab C 156 PNU 1041 PNU 1042 Standstill message window Standstill position window Subindex 1 Class Var Data type int32 Mappable Access rw2 Reading or parameterisation of the standstill position window SINC Amount of the position by which the drive may move after MC until the standstill monitoring re sponds Tab C 157 PNU 1042 PNU 1043 Standstill delay time Standstill window timeout Subin...

Page 314: ...n the setpoint and actual variable must be larger than the max permissible deviation before a following error is output Tab C 159 PNU 1045 C 3 28 Axis parameters electric drives 1 motor data PNU 1050 Zero angle Zero angle Subindex 1 Class Var Data type uint32 Access ro Reading of the zero angle EINC The value is determined automatically from the difference between the encoder zero and electric zer...

Page 315: ...ature CPU Max temperature CPU Min temperature of the main CPU Tab C 163 PNU 1065 PNU 1066 Current temperature output stage Actual temperature output stage Subindex 1 Class Var Data type int8 Mappable Access ro Reading of the current temperature C of the output stage load section of the EMCA Tab C 164 PNU 1066 PNU 1068 Min Max temperature output stage Min max temperature output stage Subindex 1 2 C...

Page 316: ...ss ro Reading of the current DC link voltage mV of the EMCA Tab C 167 PNU 1073 PNU 1074 Current control section voltage Actual logic voltage Subindex 1 Class Var Data type uint32 Mappable Access ro Reading of the current control section voltage mV of the EMCA Tab C 168 PNU 1074 PNU 1075 Current string current Actual phase current Subindex 1 3 Class array Data type int32 Access ro Reading of the la...

Page 317: ... and should not be changed PNU 1080 Torque feed forward Torque feed forward control Subindex 1 Class array Data type uint16 Mappable Access rw1 Reading or parameterisation of the torque pilot control proportion in the direct operation 0 inactive 1000 fully active The torque pilot control is added to the current controller setpoint value The value is calculated from the acceleration Tab C 170 PNU 1...

Page 318: ...l Node guarding CAN ID 000h CAN ID 081h 0FFh CAN ID 181h 1FFh RPDO2 RPDO3 RPDO4 CAN ID 201h 27Fh CAN ID 301h 37Fh CAN ID 401h 47Fh CAN ID 501h 57Fh CAN ID 581h 5FFh CAN ID 701h 77Fh SDO rx CAN ID 601h 67Fh CAN ID 701h 77Fh Process data object PDO Service data object SDO SYNC Network management NMT controller Request EMCA CAN ID 080h Synchronization object SYNC Answer Acknowledg ment CAN ID 281h 2F...

Page 319: ...ge SYNC message 335 Emergency object EMCY CAN ID 081h 0FFh EMCY message EMCY message 336 Process data object PDO PDO message PDO message Control data RPDO Receive message RPDO1 FHPP standard data Byte 1 8 123 327 CAN ID 201h 27Fh RPDO2 Festo parameter channel FPC Byte 9 16 224 329 CAN ID 301h 37Fh RPDO3 FHPP data Byte 17 24 239 327 CAN ID 401h 47Fh RPDO4 FHPP data Byte 25 32 239 327 CAN ID 501h 57...

Page 320: ... Communication objects COB Page Service data object SDO SDO message SDO message Receive message SDO CAN ID 601h 67Fh COB ID client è server rx 1200h_01h 331 Transmit message SDO CAN ID 581h 5FFh COB ID server è client tx 1200h_02h 331 Tab D 1 Communication objects COB ...

Page 321: ...ies which can have different data types 5 Data type Data type Values with prefixes Signed Integer INT8 8 Bit 1 Byte 128 127 INT16 16 Bit 2 Byte 32 768 32 767 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 UINT32 32 Bit 4 Byte 0 4294967295 Characters Visible String VSTRING 0 255 ASCII 6 Access attribute Acces...

Page 322: ...type in which the EMCA acknowledges each parameter access Access via Process data object PDO Unconfirmed access type in which no acknowledgement is made As a rule the EMCA is parametrised via SDOs and controlled via PDOs Confirmation of the EMCA Order from the con troller controller EMCA Data actual val ues for the con troller controller EMCA Data setpoint val ues from the con troller controller E...

Page 323: ...a object Parallel to the FHPP I O data parameters can be trans ferred via SDOs corresponding to CiA 402 Node guarding Error control protocols Monitoring of the communication participants by means of messages that must be responded to regularly Tab D 2 Communication objects COB To the communication objects are assigned unique CAN identifiers CAN ID from which can be seen the CAN bus participant to ...

Page 324: ... 281h 2FFh TPDO31 0 1 1 1 x x x x x x x 381h 3FFh TPDO41 1 0 0 1 x x x x x x x 481h 4FFh RPDO11 0 1 0 0 x x x x x x x 201h 27Fh RPDO21 0 1 1 0 x x x x x x x 301h 37Fh RPDO31 1 0 0 0 x x x x x x x 401h 47Fh RPDO41 1 0 1 0 x x x x x x x 501h 57Fh SDO tx 1 1 0 1 1 x x x x x x x 581h 5FFh SDO rx 1 1 1 0 0 x x x x x x x 601h 67Fh NMT Error Control Node guarding 1 1 1 0 x x x x x x x 701h 77Fh NMT Boot ...

Page 325: ... therefore be able to process any arriving PDOs at any time The advantage is that all operation relevant data are transmitted bundled in one message which results in a strong reduction of the CAN bus workload A distinction is made between the following types of PDOs Type communication Description RPDO1 4 Controller è EMCA Receive When a certain event occurs the master sends a PDO to the EMCA TPDO1...

Page 326: ...he FHPP data Controller è EMCA RPDO1 FHPP standard data Control data byte 1 8 RPDO2 Festo parameter channel FPC Control data byte 9 16 RPDO31 FHPP data Control data byte 17 24 RPDO41 FHPP data Control data byte 25 32 EMCA è Controller TPDO1 FHPP standard data Status data byte 1 8 TPDO2 Festo parameter channel FPC Status data byte 9 16 TPDO31 FHPP data Status data byte 17 24 TPDO41 FHPP data Status...

Page 327: ...N CPOS SUBINDEX PNU FHPP I_Byte FHPP O_Byte Tab D 6 Structure of the PDO message D 4 2 FHPP standard data PDO1 PDO byte 1 2 3 4 5 6 7 8 RPDO1 è Tab D 8 Object number Index 3000h 3001h 3002h 3003h 3004h Object name Name CCON CPOS REC_NR CDIR RES DEM_VAL1 PARA1 RES DEM_VAL2 PARA2 FHPP standard data control data byte 1 8 è page 126 Record selection mode CCON CPOS Record no reserved reserved Direct op...

Page 328: ...EC_NR CDIR VAR UINT8 wo yes 3003h RES DEM_VAL1 PARA1 VAR UINT8 wo yes 3004h RES DEM_VAL2 PARA2 VAR INT32 wo yes Tab D 8 Object 3000h 3004h D 4 4 Object 3020h 3024h TPDO1 FHPP standard data The FHPP standard data TPDO1 are output through these objects Index Name Object code Data type Ac cess PDO map ping Value range Default value 3020h SCON VAR UINT8 ro yes 3021h SPOS VAR UINT8 ro yes 3022h REC_NR ...

Page 329: ...bind Response code PNU Parameter value Tab D 10 PDO2 data FPC D 4 6 Object 3010h 3013h RPDO2 Parameter channel FPC The Festo parameter channel data RPDO2 are read in through these objects Index Name Object code Data type Ac cess PDO map ping Value range Default value 3010h FPCC VAR UINT8 wo yes 3011h Subindex Packet ID VAR UINT8 wo yes 3012h PNU VAR UINT16 wo yes 3013h PWE VAR INT32 wo yes Tab D 1...

Page 330: ...2064h SDO accesses are always controlled by the higher order controller Host Here one of the following commands can be sent to the EMCA Read commands to read out a parameter è page 332 Write commands to change a parameter è page 333 For each command the higher order controller receives a feedback message For the read command a response is returned with the read value for the write command an ackno...

Page 331: ...ault value 1200h SDO server parameter ARRAY 00h Highest sub index supported VAR UINT8 ro no 2h 01h COB ID client è server rx VAR UINT32 rw no Tab D 14 600h Node ID 02h COB ID server è client tx VAR UINT32 rw no 580h Node ID Tab D 13 Objekt 1200h Structure of the COB ID SDO Bit Value Description 31 0h SDO is present valid 1h Not supported 30 0h Value is assigned statically 1h Not supported 29 0h Va...

Page 332: ...8 16 32 bit All numbers must be written as hexadecimal controller EMCA Answer Index Sub h Data 00h 00h 00h 00h R ID 40h CAN ID h h h Index Sub h Data D0 A ID 4Fh CAN ID h h h Index Sub h Data D0 D1 A ID 4Bh CAN ID h h h Index Sub h Data D0 D1 D2 D3 A ID 43h CAN ID h h h Read command INT UINT INT8 UINT8 INT16 UINT16 INT32 UINT32 Read command identifier R ID Response identifier A ID CAN Identifier 6...

Page 333: ... All numbers must be written as hexadecimal controller EMCA Acknowledgment Index Sub h Data 00h 00h 00h 00h A ID 60h CAN ID h h h Index Sub h Data D0 W ID 2Fh CAN ID h h h Index Sub h Data D0 D1 W ID 2Bh CAN ID h h h Index Sub h Data D0 D1 D2 D3 W ID 23h CAN ID h h h Write command INT8 UINT8 INT UINT Write command identifier W ID Response identifier A ID INT16 UINT16 INT32 UINT32 CAN Identifier 60...

Page 334: ...revised with segmented SDO transfer 05 04 00 01h Protocol error Client server command specifier invalid or unknown 06 06 00 00h Access faulty due to a hardware problem1 06 01 00 00h Access type is not supported 06 01 00 01h Read access to an object that can only be written 06 01 00 02h Write access to an object that can only be read 06 02 00 00h The addressed object does not exist in the object di...

Page 335: ... the SYNC message but not send a SYNC message 80h 0 CAN ID Data length Fig D 6 Structure SYNC message D 6 1 Object 1005h SYNC communication object identifier COB ID SYNC The COB ID SYNC and receipt of SYNC messages are specified through the object Index Name Object code Data type Ac cess PDO map ping Value range Default value 1005h COB ID SYNC VAR UINT32 rw no Tab D 17 80h Tab D 16 Objekt 1005h De...

Page 336: ...e highest error memory position 1003h_01h The last 8 error messages that occurred are stored in the error memory and they can also be read out The EMCA also sends an EMCY message when an error acknowledgment has been executed Objects for the EMCY operation The following objects are available for the EMCY operation Index Name Name Page 1001h Error register Error register 343 1003h Predefined error ...

Page 337: ...003h_01h Standard error field 1 2 Error acknowledgment not successful Not all causes of error have been eliminated and an error acknow ledgment has been carried out è page 339 130 3 New error occurs An error is present and a new error occurs An EMCY message is sent with the error code of the new error 1003h_01h Standard error field 1 4 Error acknowledgment successful All causes of error have been ...

Page 338: ...fier 80h and the node number Node ID of the EMCA involved The EMCY message consists of 8 data bytes Data byte 1 and 2 contains the Error code è page 339 Data byte 3 contains the error type from the error register Error register object 1001h è page 343 Data bytes 4 8 no further error register data available 81h 8 E0 E1 R0 CAN ID 80h node ID example node ID 1 Error code Data length Error register Ob...

Page 339: ... control 0x35 1 CAN bus comm stopped by master FB has no master control CAN bus comm stopped by master FB does not have master control 0x36 2312h I2t error motor I t malfunction motor 1 0x0E 2320h Overload current Overcurrent 1 0x0D 3210h Intermediate circuit voltage exceeded Intermediate circuit voltage exceeded 2 0x1A 3220h Intermediate circuit voltage too low Intermediate circuit voltage too lo...

Page 340: ...on FHPP incorrect parameterisation 0x20 FHPP incorrect value FHPP incorrect value 0x21 Path calculation Path calculation 0x25 FHPP incorrect record number FHPP incorrect record number 0x2C 7300h No index pulse found No index pulse found 5 0x23 Index pulse too close on proximity sensor Index pulse too close on proximity sensor 0x2E 7303h Displacement encoder Encoder 5 0x06 7400h Software error Soft...

Page 341: ...limit Software limit positive 5 0x11 Negative software limit Software limit negative 0x12 Positive direction locked Positive direction locked 0x13 Negative direction blocked Negative direction locked 0x14 Target position behind negative software end position Target position behind negative software limit 0x29 Target position behind positive software end position Target position behind positive sof...

Page 342: ...0x38 FF15h Homing method invalid Homing method invalid 5 0x3B FF17h Start up event Start up event 7 0x3D FF18h Diagnostic memory Diagnostic memory 7 0x3E FF19h Record invalid Record invalid 7 0x3F FF20h Last teaching not successful Last teaching not successful 7 0x40 FF21h System reset System reset 7 0x41 FF22h Saving of address data not possible Saving address data not possible 7 0x42 FF25h Safe ...

Page 343: ...h Fehlerregister Error register and error types Bit M O1 Description 0 M Generic error Error is present OR operation of the bits 1 7 1 O Current Current monitoring error 2 O Voltage Voltage monitoring error 3 O Temperature Temperature monitoring error 4 O Communication error overrun error state communication error 5 O Device profile specific device profile specific error 6 O Reserved fix 0 7 O Man...

Page 344: ... stored in the error memory The error memory is cleared by writing the value 00h to the object 1003h_00h Number of errors Index Name Object code Data type Ac cess PDO map ping Value range Default value 1003h Pre defined error field ARRAY 00h Number of errors VAR UINT8 rw no 0 8h 0h 01h Standard error field 1 VAR UINT32 ro no 0h 02h Standard error field 2 VAR UINT32 ro no 0h 03h Standard error fiel...

Page 345: ...4h COB ID emergency message VAR UINT32 rw no 80h node ID Tab D 24 Objekt 1014h D 7 7 Object 1015h EMCY inhibit time Inhibit time EMCY The minimum time in which no EMCY message may be sent is specified through the object The time begins with the start of the last EMCY message Index Name Object code Data type Ac cess PDO map ping Value range Default value 1015h Inhibit time EMCY VAR UINT16 rw no Tab...

Page 346: ...a reset is triggered in all CAN bus participants simultaneously The NMT commands are not acknowledged through the CAN bus participants Successful completion of the reset can only be determined indirectly e g through the switch on message after a reset 000h 2 CS NI CAN ID Command code Data length Node ID 0 all CAN bus participants 1 127 one CAN bus participant 7xxh 1 R Boot up message identifier to...

Page 347: ...7 Objects for the Node guarding operation The following objects are available for the Node guarding operation Index Name Name Page 100Ch Monitoring time Guard time 353 100Dh Monitoring time factor Life time factor 354 Tab D 28 Objects for the Node guarding operation ...

Page 348: ...nal Node guarding 05h Reset application1 Reset communication 1 Initialising Power ON 4 Enter pre operational CS 80h 5 Stop remote node CS 02h 6 Start remote node CS 01h 7 Enter pre operational CS 80h 8 Stop remote node CS 02h 9 Reset node CS 81h aD Reset communication CS 82h 3 Start remote node CS 01h aJ Reset node CS 81h aA Reset node CS 81h aF aC Reset communication CS 82h aB Reset communication...

Page 349: ...e reset value application parameter set Reset communication No communication The CAN controller is newly initialised Pre operational Communication via SDOs possible PDOs not active X 7Fh Operational Communication via SDOs possible All PDOs active X X 05h Stopped No communication except for Node guarding 04h Tab D 29 NMT State Machine NMT mesages must not be sent as a data bundle Burst one immediat...

Page 350: ...art remote node The NMT master uses the NMT service Start remote node to change the NMT status of the selected NMT participant After processing the new NMT status is Operational è Fig D 10 000h 2 1h NI CAN ID 000h Command code CS Data length Node ID 0h 0 all CAN bus participants 1h 7Fh 1 127 one CAN bus participant Fig D 12 Structure Start Remote Node D 8 3 Stop remote node The NMT master uses the...

Page 351: ...t First the sub NMT status Reset application and Reset communication run through the initialisation phase When processing is successful a boot up message is sent and the EMCA is then in the NMT status Pre operational è Fig D 10 000h 2 81h NI CAN ID 000h Command code CS Data length Node ID 0h 0 all CAN bus participants 1h 7Fh 1 127 one CAN bus participant Fig D 15 Structure Reset node D 8 6 Reset c...

Page 352: ...me Life time è page 353 the EMCA triggers the error CAN Node Guarding FB has master control FCT code 1Ch Interruption of the CAN bus connection e g wire break can be reliably detected only through the Node guarding The Node guarding is active when Guard time 100Ch and Life time factor 100Dh are 0 Node guarding messages The master s request must be answered as a remote frame with the CAN ID 700h no...

Page 353: ...ggle bit is reset through the NMT command Reset communication It is therefore not set in the first response of the EMCA Calculate cyclical monitoring time Life time The max time period between 2 remote queries is defined through the cyclical monitoring time The cyclical monitoring time for Node guarding is calculated as follows Life time Guard time 100Ch Life time factor 100Dh D 8 8 Object 100Ch M...

Page 354: ...the monitoring time factor is specified for the cyclical monitoring time Life time Index Name Object code Data type Ac cess PDO map ping Value range Default value 100Dh Life time factor VAR UINT8 rw no Tab D 34 0h Tab D 33 Object 100Dh Value Description 0h Monitoring time 100Ch deactivated 1h FFh Monitoring time factor 1 255 Tab D 34 Value range Life time factor ...

Page 355: ... the device data The following objects are available for the device data Index Name Name Page 1000h Device type Device type 356 1008h Manufacturer s device name Manufacturer device name 356 1009h Hardware version Manufacturer hardware version 357 100Ah Software version Manufacturer software version 357 1018h Identity of the device Identity object 358 2072h Serial number of the controller Controlle...

Page 356: ...ab D 36 Objekt 1000h Value Description 0000012Dh Device type code 6 character 0000012Dh communication profile CiA 301 Tab D 37 Default value Device type D 9 2 Object 1008h Device name of the manufacturer Manufacturer device name The device name of the manufacturer is output via the object Index Name Object code Data type Ac cess PDO map ping Value range Default value 1008h Manufacturer device name...

Page 357: ...number ASCII character string 15 character Tab D 40 Default value Manufacturer hardware version D 9 4 Object 100Ah Software version Manufacturer software version The software version number is output via the object Index Name Object code Data type Ac cess PDO map ping Value range Default value 100Ah Manufacturer software version VAR VSTRING const no Tab D 42 Tab D 41 Object 100Ah Value Description...

Page 358: ...esto part number Product code CAN revision number Revision number Festo Serial number Index Name Object code Data type Ac cess PDO map ping Value range Default value 1018h Identity object ARRAY 00h Highest sub index supported VAR UINT8 ro no 4h 01h Vendor ID VAR UINT32 ro no 1Dh 02h Product code VAR UINT32 ro no 1 03h Revision number VAR UINT32 ro no 04h Serial number VAR UINT32 ro no 1 The value ...

Page 359: ...ctory setting Application parameter set Function parameter sets Power ON Power supply X4 or Reset node Store parameters 1010h_01h Default parameter set factory setting Main memory Permanent memory Current parameter set Application parameter set Restore all default parameters 1011h_01h Fig D 19 Function parameter sets Additional information on loading or saving parameter sets via the Festo Configur...

Page 360: ...the object Store parameters 1010h_01h in the permanent memory of the EMCA Default parameter set factory setting The default parameter set is the unchangeable parameter set of the EMCA specified as standard by the manufacturer Through the object Restore all default parameters 1011h_01h the default paramet er set can be loaded into the current parameter set of the main memory Application parameter s...

Page 361: ...Object code Data type Ac cess PDO map ping Value range Default value 1010h Store parameters ARRAY 00h Highest sub index supported VAR UINT8 ro no 1h 01h Save all parameters VAR UINT32 rw no 1h Tab D 44 Objekt 1010h Signature LSB MSB ASCII s a v e hex 73h 61h 76h 65h Tab D 45 ASCII text save In contrast to the normal SDO traffic with this object the command is immediately acknowledged at the start ...

Page 362: ...ched off output stage Index Name Object code Data type Ac cess PDO map ping Value range Default value 1011h Restore default parameters ARRAY 00h Highest sub index supported VAR UINT8 ro no 1h 01h Restore all default parameters VAR UINT32 rw no 1h Tab D 46 Objekt 1011h Signature LSB MSB ASCII l o a d hex 6Ch 6Fh 61h 64h Tab D 47 ASCII text load In contrast to the normal SDO traffic with this object...

Page 363: ...h 363 D 11 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 364 2000h 5FFFh Manufacturer specific profile area 366 Tab D 48 Objects ...

Page 364: ...STRING const no 357 100Ah Manufacturer software version VAR VSTRING const no 357 100Ch Guard time VAR UINT16 rw no 353 100Dh Life time factor VAR UINT8 rw no 354 1010h Store parameters ARRAY 361 00h Highest sub index supported VAR UINT8 ro no 01h Save all parameters VAR UINT32 rw no 1011h Restore default parameters ARRAY 362 00h Highest sub index supported VAR UINT8 ro no 01h Restore all default p...

Page 365: ... Communication parameter REC FHPP Commu nication Parameter 1600h 1601h 1602h 1603h RPDO1 RPDO2 RPDO3 RPDO4 Mapping parameter REC FHPP Map ping Para meter 1800h 1801h 1802h 1803h TPDO1 TPDO2 TPDO3 TPDO4 Communication parameter REC FHPP Commu nication Parameter 1A00h 1A01h 1A02h 1A03h TPDO1 TPDO2 TPDO3 TPDO4 Mapping parameter REC FHPP Map ping Para meter Tab D 49 Communication profile area ...

Page 366: ...s 3010h FPCC VAR UINT8 wo yes 329 3013h PWE VAR INT32 wo yes 3020h SCON VAR UINT8 wo yes 328 3024h ACT_POS ACT_VAL2 VAR INT32 wo yes 3030h FPCS VAR UINT8 wo yes 329 3033h PWE VAR INT32 wo yes 3101h FHPP O_Byte 01 VAR UINT8 wo yes 327 3108h FHPP O_Byte 08 VAR UINT8 wo yes 3109h FHPP O_Byte 09 VAR UINT8 wo yes 327 3116h FHPP O_Byte 16 VAR UINT8 wo yes 3201h FHPP I_Byte 01 VAR UINT8 wo yes 327 3208h ...

Page 367: ...D CANopen communication Festo EMCA EC C HP EN 2017 11e English 367 ...

Page 368: ...VSTRING ro no 75 1018h Identity object ARRAY 76 00h Number of entries VAR UINT8 ro no 01h Vendor ID VAR UINT32 ro no 02h Product code VAR UINT32 ro no 03h Revision number VAR UINT32 ro no 04h Serial number VAR UINT32 ro no 1600h 1st receive PDO mapping REC 54 1601h 2nd receive PDO mapping REC 1602h 3rd receive PDO mapping REC 1603h 4th receive PDO mapping REC 1A00h 1sttransmit PDO mapping REC 58 1...

Page 369: ...NT8 ro no 01h Synchronization type VAR UINT16 rw no 02h Cycle time VAR UINT32 ro no 04h Synchronization types supported VAR UINT16 ro no 05h Min cycle time VAR UINT32 ro no 06h Calc and copy time VAR UINT32 ro no 08h Get cycle time VAR UINT16 rw no 09h Delay time VAR UINT32 ro no 0Bh SM event missed counter VAR UINT16 ro no 0Ch Cycle time too small VAR UINT16 ro no 20h Sync Error VAR BOOL ro no 1C...

Page 370: ... 3010h FPCC VAR UINT8 wo yes 329 3013h PWE VAR INT32 wo yes 3020h SCON VAR UINT8 wo yes 328 3024h ACT_POS ACT_VAL2 VAR INT32 wo yes 3030h FPCS VAR UINT8 wo yes 329 3033h PWE VAR INT32 wo yes 3101h FHPP O_Byte 01 VAR UINT8 wo yes 327 3108h FHPP O_Byte 08 VAR UINT8 wo yes 3109h FHPP O_Byte 09 VAR UINT8 wo yes 327 3116h FHPP O_Byte 16 VAR UINT8 wo yes 3201h FHPP I_Byte 01 VAR UINT8 wo yes 327 3208h F...

Page 371: ...lable for diagnostics of the device bus functions Funktion LED Seite Device status EMCA EC CO DIO EC EP PN OK ERROR 372 CAN Bus CANopen EMCA EC CO CAN bus status 373 EtherCAT EMCA EC EC EC LINK ACTIVITY EC RUN EC ERROR 376 EtherNet IP EMCA EC EP LINK ACTIVITY MS NS 378 Modbus TCP EMCA EC DIO PROFINET EMCA EC PN LINK ACTIVITY IDENT STATE NF 379 Tab F 1 Diagnostics via LED ...

Page 372: ...ur in the operating phase LED LED status Event status OK Off Hardware is not ready for operation an error is present Flashes green Hardware is ready for operation but the signal Control enable is not present Green Normal operating status hardware is ready for operation signal Control enable is present ERROR Off No error no warning Flashes red A warning is indicated Red An error is reported Tab F 3...

Page 373: ...colour Fig F 2 LED indicator for CAN bus F 1 6 CAN bus status in accordance with CiA CANopen LED indicator The bi colour bus status LED green red indicates the following bus status A Bus parameter not parameterised LED indicator for non configured bus parameters FCT node number Node ID device profile and bit rate Red ON Status bus OFF OFF t ms Fig F 3 LED indicator for bus parameter not parameteri...

Page 374: ...stopped Green ON OFF t ms Green ON OFF t ms Green ON OFF t ms Fig F 4 LED indicator with CAN communication is error free C Warning limit reached LED indicator when several communication errors occur 200 200 Status operational Status pre operational Status stopped Red ON OFF t ms Green ON 200 200 200 200 200 Red ON OFF t ms Green ON 1000 200 200 Red ON OFF t ms Green ON 800 Fig F 5 LED indicator wi...

Page 375: ...th occurrence of node guarding error only if node guarding is activated 200 200 Status operational Status pre operational Status stopped Red ON OFF t ms Green ON 200 200 200 200 200 Red ON OFF t ms Green ON 1000 200 200 Red ON OFF t ms Green ON 1000 200 200 200 200 200 Fig F 6 LED indicator with Node guarding error ...

Page 376: ...CAT EMCA EC EC 5 4 6 1 2 3 x 1 LED EC LINK ACTIVITY Port 2 communicati on activity line monitoring 2 LED OK è section F 1 1 3 LED ERROR è section F 1 1 4 LED EC RUN Operating status 5 LED EC ERROR Error 6 LED EC LINK ACTIVITY Port 1 communicati on activity line monitoring Fig F 7 LED indicator for EtherCAT ...

Page 377: ...tatus Operational EC ERROR Faults Off No error Flashes red Invalid Configuration General con figuration error was triggered1 Flashes red once Unsolicited state change Local error was triggered2 Flashes red twice Application Watchdog Timeout Sync Manager Watchdog was triggered Flickers red Booting error Boot error was triggered during the boot process Illuminated red Missing process data communica ...

Page 378: ...er the following four LEDs LED indicator LED Function Status Significance LINK ACTI VITY Port 1 NS MS LINK AC TIVITY Port 2 LINK ACTI VITY Communication activity Line monitoring Off No link present Illuminated green Link present Flashes orange Bus activity present MS Module status Off No supply voltage Illuminated green Device ready for operation Flashes green Standby Illuminated red Major fault F...

Page 379: ...s of PROFINET is displayed over the following four LEDs LED Function Status Significance LINK ACTI VITY Port 1 NF IDENT STATE LINK ACTI VITY Port 2 LINK AC TIVITY Communication activity line monitoring Off No link present No bus activity present Illuminated green Link present Flickers red Bus activity present IDENT STATE Identification device status Off No identification inquiry Flashes red 2 Hz I...

Page 380: ...s always generate a reaction to the malfunction S6 that has an effect on the behaviour of the drive e g stop behaviour switching off of the output stage è Tab F 9 Steps required to restore the ready status Remedy the cause of the error and then acknowledge the error CCON RESET B3 è Fig F 10 Reset error restart reset è F 2 7 Errors are displayed via the status LED ERROR and CAN open status è page 3...

Page 381: ...eceleration re cord Record decelera tion The movement is stopped immediately with the decelera tion parameterised in the current positioning task The output stage can optionally be switched on or off Finish record Finish record The current positioning task is executed until the target is reached Motion complete The output stage can optionally be switched on or off Tab F 9 Reactions to errors F 2 4...

Page 382: ...ith Acknowledge malfunction CCON RESET If several errors occur together only the error with the highest priority will be acknowledged Error active Malfunction SCON FAULT B3 Reset error CCON RESET B3 Cause of error eliminated Error not active Fig F 10 Diagram Acknowledge acknowledgeable error The error can also be acknowledged via the following interface Festo Configuration Tool FCT interface Ackno...

Page 383: ...MCA Help Web server è Description Integrated drive with bus interface EMCA EC SY The following information is included in the diagnostic messages of the diagnostic memory Information Description PNU Page Counter Counter Counter number of the diagnostic message 1 Diagnostic event Diagnostics event Classification of the diagnostic message è Tab F 8 200 264 Diagnostic number Diagnostics number Number...

Page 384: ...sage 3Dh is generated and entered in the diagnostic memory The malfunction counter is not reset F 3 3 Diagnostics through FHPP status bytes The EMCA supports the following diagnostics options via FHPP status bytes è page 128 SCON WARN warning SCON FAULT malfunction SPOS FOLERR following error SPOS STILL standstill monitoring Additionally all diagnostics information available as PNU can be read e g...

Page 385: ...82 130 Reset non acknowledgeable errors restart via the paramet er Reset device PNU 127 3 value 10h further options è page 382 127 3 263 Parameterisable error response s For every diagnostic message provides the parameterisable error response as code letters A to G è Tab F 14 Code letters for the factory response settings are printed in bold 2342 2423 270 271 1 Only available in the FCT or web ser...

Page 386: ...the device needs to be replaced Resettable Cannot be reset software reset is necessary Definable error response s A 03h Internal communication error CPUs Internal communication error CPUs Definable as F Diagnostic memory always An error has been detected in internal communication Restart device If the error occurs frequently the device must be replaced Resettable Cannot be reset software reset is ...

Page 387: ... F 09h Offset determination for current measurement Definable as F Diagnostic memory always An error has occurred during initialisation of the current measurement Perform a software reset Resettable Cannot be reset software reset is necessary Definable error response s A 0Ah General error Definable as F Diagnostic memory always An internal error has occurred Restart device If the error occurs freq...

Page 388: ... parameterised current regulator can generate currents up to the short circuit limit as a rule this is clearly noticeable through high frequency whistling Inspection with the trace function in FCT active current actual value Error message immediately after connecting to the load supply Short circuit in the output stage The device must be replaced immediately Error message only occurs when setting ...

Page 389: ...table Error can be reset immediately Definable error response s A B C E F 12h Software limit negative Definable as F Diagnostic memory optional The position setpoint has reached or exceeded the respective software end position Check target data Check positioning area This error can be reset immediately Afterwards start a corresponding positioning record or move the drive by using the jogging funct...

Page 390: ...g Check the mechanics for sluggishness Reduce the ambient temperature improve heat dissipation Check ambient temperature Con sider power derating Resettable Error can only be reset after the cause of the error has been eliminated Definable error response s A B C D 16h Output stage temperature too low Definable as F Diagnostic memory optional The ambient temperature is below the permissible range I...

Page 391: ...tely Definable error response s A B 1Ah Intermediate circuit voltage exceeded Definable as F Diagnostic memory always Load voltage not within the permissible range Braking resistor is overloaded too much braking energy which cannot be dissipated quickly enough Braking resistor is defective or not connected Check power supply measure voltage directly at the device Check the design of the external b...

Page 392: ...al The master has stopped CAN bus communication Check master Resettable Error can only be reset after the cause of the error has been eliminated Parameterisable error response s B C E F 1Eh NetX configuration error Definable as F Diagnostic memory optional Invalid configuration of the fieldbus specific objects The communication module was not paramet erised correctly Load factory settings over the...

Page 393: ...send the telegram again If parameterised as an error Error can be reset immediately Definable error response s B C D E F G If parameterised as a warning The warning disappears when a valid telegram is received 22h Homing Definable as F Diagnostic memory optional Homing run to switch unsuccessful A corresponding switch has not been found Check to make sure the correct homing method is set Check whe...

Page 394: ... on the CAN bus is incomplete Complete the missing parameters and perform a software reset Resettable Error can be reset immediately Definable error response s B C D E F G 27h Save parameters Definable as F Diagnostic memory optional Error during writing of the internal permanent memory Execute the last operation again Check the following Is an error present that can be reset first When downloadin...

Page 395: ...memory optional The firmware update process could not be performed The firmware version is incompatible with the hardware used 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 For parameterisation as a warning T...

Page 396: ...The error can only be reset after the cause is eliminated Parameterisable error response s B C E F For parameterisation as a warning The warning disappears if the following error is back within the permissible range 30h Braking resistor Definable as F W I Diagnostic memory always No braking resistor is connected Check whether a braking resistor is required for the application This is especially th...

Page 397: ...arning The warning disappears if the STO is no longer requested 35h CAN Node Guarding FB does not have master con trol Definable as W I Diagnostic memory optional There is no connection to the CAN master The CAN bus does not currently have master control over the device Adjust the remote frame cycle time to the PLC and check the PLC for failure Check cabling cable specification adhered to cable br...

Page 398: ...w trace recording For parameterisation as a warning The warning disappears if a new trace has been started 3Dh Start up event Definable as Diagnostic memory always The device has been switched on or was switched on for longer than 48 days This event also occurs when deleting the diagnostic memory The start up event does not occur if the preceding entry in the diagnostic memory has already been a s...

Page 399: ... Diagnostic memory optional There is no longer a connection to the FCT e g the cable was disconnected Check the connection and perform a reset if necessary For parameterisation as a warning The warning disappears if the connection to the FCT is re es tablished 44h Parameter file not compatible with firmware Definable as W I Diagnostic memory always The parameter file that was just written to the d...

Page 400: ...als are wired in the same direction and maintain discrepancy time If parameterised as an error Error can be reset immediately Definable error response s 0 For parameterisation as a warning The warning disappears if the STO is no longer requested 4Ch Value is out of range Definable as F Diagnostic memory optional The object value could not be written because the value lies outside the permitted ran...

Page 401: ...longer a connection to the controller e g the cable was disconnected Check the connection and perform a reset if necessary For parameterisation as a warning The warning disappears if the connection to the controller is re established 52h PROFINET connection with master control Definable as F Diagnostic memory optional The PROFINET connection to the controller has been interrupted Check the connect...

Page 402: ...F Diagnostics and fault clearance 402 Festo EMCA EC C HP EN 2017 11e English ...

Page 403: ...gnals that are generated and uses them to calculate the position and speed Enhanced Festo Parameter Channel EFPC Parameter access according to the Festo Handling and Positioning Profile I O messaging optionally additional 8 bytes I O Festo Configuration Tool FCT Software with uniform project and data management for supported types of equipment The special requirements of a device type are supporte...

Page 404: ...ofile Position mode Operating mode for executing a position set or a direct positioning task with position control closed loop position control Project zero point PZ Project Zero point Point of reference for all positions in positioning tasks The project zero point PZ forms the basis for all absolute position specifications e g in the position set table or with direct control via control inter fac...

Page 405: ...ofile Velocity mode Operating mode for executing a positioning record or a direct posi tioning task with control of the speed or rotational speed Teaching mode Teach mode Operating mode for setting positions by approaching the target position e g when creating positioning records Tab G 1 Index of terms and abbreviations ...

Page 406: ...oint 403 B Base load 316 Base Velocity 296 Basic mass load 316 Basic value acceleration 298 Basic value force 298 Basic value velocity 296 Baud rate 267 Block detection window time 308 Boot up message 350 Brake chopper 220 Bus status 267 C Calc and copy time 50 51 369 CAN Identifier CAN ID 324 CAN ID 324 CANopen diagnosis 268 CANopen diagnostics 268 COB 324 COB ID client server rx 331 364 COB ID e...

Page 407: ... Factor Group 145 Factor torque pilot control 286 Factory setting 360 Fault handling 1 272 Feed constant 305 Festo Configuration Tool FCT 403 Festo order number 261 Festo parameter channel 224 FHPP control information 276 FHPP direct mode settings 294 FHPP direct operation settings 294 FHPP receive telegram 255 FHPP receive telegram state 257 FHPP receive telegram status 257 FHPP response telegram...

Page 408: ...5 Internal cycle times 324 J Jerk acceleration 282 296 Jerk deceleration 283 297 L Life time factor 354 364 Limit switches 144 Load 282 296 Local digital inputs 274 Local digital outputs 274 M Manufacturer device name 74 261 356 364 Manufacturer firmware version 258 Manufacturer hardware version 75 258 357 364 Manufacturer software version 75 357 364 Manufacturer specific area 370 Manufacturer spe...

Page 409: ...4 1014h 345 364 1015h 345 364 1018h 76 358 364 368 1200h 331 364 1400h 365 1401h 365 1402h 365 1403h 365 1600h 54 365 368 1601h 55 365 368 1602h 56 365 368 1603h 57 365 368 1800h 365 1801h 365 1802h 365 1803h 365 1A00h 58 365 368 1A01h 59 365 368 1A02h 60 365 368 1A03h 61 365 368 1C00h 46 368 1C10h 47 369 1C11h 47 369 1C12h 48 369 1C13h 49 369 1C32h 50 369 1C33h 51 369 20F1h 77 Offset axis zero po...

Page 410: ...ration 381 R Record chaining 189 Record control byte 1 280 Record control byte 1 RCB1 280 Record control byte 2 281 Record control byte 2 RCB 2 281 Record control byte 3 284 Record control byte 3 RCB 3 284 Record sequencing target 283 Record status 279 Reference value 281 Required software version 259 Required software version FCT 259 Reset fault 382 Restore default parameter set 362 Restore defau...

Page 411: ...nager 2 synchronization 50 369 Sync manager 3 PDO assignment 49 Sync manager 3 synchronization 51 369 Sync manager communication type 46 368 Sync manager PDO 0 assignment 369 Sync manager PDO 1 assignment 369 Sync manager PDO 2 assignment 369 Sync manager PDO 3 assignment 369 Sync message 335 Synchronization type 50 51 369 Synchronization types supported 50 51 369 T Target damping time reached 309...

Page 412: ...ity control deviation window 299 Velocity fast phase 2 295 Velocity slow phase 1 295 Velocity target window 298 Velocity threshold block detection 308 Velocity values 274 Vendor ID 358 Vendor ID 76 364 368 Version number 15 Voltage monitoring 220 W Warning 380 Z Zero angle 314 ...

Page 413: ...EMCA EC 67 CO DIO EC EP PN Festo EMCA EC C HP EN 2017 11e English 413 ...

Page 414: ...EMCA EC 67 CO DIO EC EP PN 414 Festo EMCA EC C HP EN 2017 11e English ...

Page 415: ......

Page 416: ...ization is prohibited Offenders will be liable for damages All rights re served in the event that a patent utility model or design patent is registered Copyright Festo AG Co KG Ruiter Straße 82 73734 Esslingen Germany Phone 49 711 347 0 Fax 49 711 347 2144 E mail service_international festo com Internet www festo com ...

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