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Festo EMCS-ST, Operating Instructions Manual

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11.3.2.3

Timing

Timing: homing

The diagram shows the "Mov

Ref

" homing from the "Start

Ref

" command to reaching the "Lim

Out

" end

position with the status data in HMI and IO-Link operation.
Activation of homing:
–

DIO: select a reference end position "Ref" in the "Reference" menu item and save the value

–

IO-Link: select a reference end position "Ref" (0x0103.0) and initiate homing (0x0104.0)

Fig. 19 Homing

Drive system

44

Festo — EMCS-ST — 2020-04a

Summary of Contents for EMCS-ST

Page 1: ...8123666 EMCS ST Integrated drive 8123666 2020 04a 8123668 Operating instructions ...

Page 2: ...Translation of the original instructions IO Link is a registered trademark of its respective trademark holder in certain countries 2 Festo EMCS ST 2020 04a ...

Page 3: ...1 Overview 12 6 2 Master control 12 6 3 HMI menu 13 7 Transport and storage 15 8 Assembly 15 8 1 Safety 15 8 2 Mounting distances 15 8 3 Installation 15 9 Installation 16 9 1 Safety 16 9 2 Information on EMC compliant installation 16 9 3 Functional earth FE and protective earth PE connection 17 9 4 Connection variants 17 9 4 1 Wiring diagram DIO operation digital I O 18 9 4 2 Wiring diagram IO Lin...

Page 4: ...Parameter 43 11 3 2 3 Timing 44 11 3 3 Single end to end operation 46 11 3 3 1 Function 46 11 3 3 2 Parameter 47 11 3 3 3 Timing 47 11 3 4 End to end operation with press function 51 11 3 4 1 Function 51 11 3 4 2 Parameter 52 11 3 4 3 Timing 53 11 3 5 Manual operation demo 57 11 3 5 1 Function 57 11 3 5 2 Parameter 57 11 3 5 3 Timing 58 12 Maintenance and care 59 13 Diagnostics and malfunctions 59...

Page 5: ... end operation via IO Link 76 14 2 6 Monitor end to end operation via IO Link 77 15 Disassembly 77 16 Disposal 78 17 Technical data 78 17 1 Technical data general 78 17 2 Technical data electrical 81 17 2 1 Power supply 81 17 2 2 Digital inputs DI 82 17 2 3 Digital outputs DO 83 17 2 4 IO Link 83 17 2 5 Motor integrated 84 17 2 6 Rotary encoder integrated 84 17 2 7 Temperature sensor integrated 85...

Page 6: ...structions Actuator EGSC Mini slide Operating instructions ELGR TB Toothed belt axis Operating instructions ELGC BS Spindle axis Operating instructions ELGC TB Toothed belt axis Operating instructions EPCC BS Electric cylinder Operating instructions Mounting kit EAMM Axial kit Assembly instructions Accessories IO Link NEFC M12G8 0 3 M12G5 LK Adapter Assembly instructions Tab 1 Other applicable doc...

Page 7: ... the device can reach high temperatures during operation In the event of a fault internal components may become overloaded Tab 3 Warning symbol 1 4 Specified standards Version IEC 60204 1 2005 AMD1 2008 CSV EN 61800 5 1 2016 08 IEC 61131 2 2013 EN 60034 1 2011 02 EN 61800 2 2016 EN 60204 1 2006 A1 2009 AC 2010 Tab 4 Standards specified in the document About this document 7 Festo EMCS ST 2020 04a ...

Page 8: ... external end stop is not required for operation of the integrated drive EMCS ST 2 2 1 Application areas The device is intended for use in an industrial environment Outside industrial environments e g in commercial and residential mixed use areas it may be necessary to take measures to suppress radio interference 2 3 Training of qualified personnel Installation commissioning service and disassembl...

Page 9: ...the power stage temperature The integrated drive EMCS ST has separate connections for the supply of logic and load voltage The load voltage 24 V DC for all product variants must be supplied directly by a PELV fixed power supply The logic voltage 24 V DC is supplied as follows DIO operation digital I O via a PELV fixed power supply IO Link operation via the IO Link Master All product variants can b...

Page 10: ...chnology to the motor 8 Actuator technology example ELGS BS Fig 2 System overview Items 1 5 are not in the scope of delivery Overview of drive systems with integrated drive EMCS ST The integrated drive EMCS ST is included in the following drive systems Mini slide unit Toothed belt axis unit Spindle axis unit Toothed belt axis unit EGSS BS ELGE TB ELGS BS ELGS TB Tab 5 Overview of mini slide and ax...

Page 11: ... EMCS ST 5 4 Product design 1 Connection for load voltage supply Power 2 Connection of logic power supply and digital inputs outputs DIO or IO Link LK Logic 3 Display and operating components HMI 4 Stepper motor 5 Mounting holes 6 Motor flange 7 Motor shaft 8 Controller housing Fig 3 Product structure exemplary EMCS ST 57 Product overview 11 Festo EMCS ST 2020 04a ...

Page 12: ...ton actuators function Unlocking the pushbutton actuators press and hold pushbutton actuator for 3 seconds automatically gives the Display and operating components HMI the master control over the integrated drive EMCS ST The master control is automatically returned to the active control interface digital inputs and outputs DIO or IO Link LK if the pushbutton actuator lock is reactivated by pressin...

Page 13: ...rence end position Ref Set Ref and run the homing move ment MovRef StartRef PosAct è LimIn è LimOut press Run Start Press movement Start Stop and save Start Press Position PosStart Press Save press Execute Demo Run Start Stop Lock pushbutton actuators Lock HMI press and hold for 3 s or no pushbutton actuator input for 15 s Reset to factory setting press and hold and simultaneously for 10 s HMI men...

Page 14: ...o Speed Out Speed In Force default Ref1 default default M Ref Ref M Ref Ref M Ref M Ref Ref M Ref Ref M Ref Ref Ref M Ref Ref M Ref Ref M Ref Ref M Ref Ref M Ref Ref M Ref Ref2 Ref1 Ref2 Ref Fig 5 HMI menu structure Display and operating components HMI 14 Festo EMCS ST 2020 04a ...

Page 15: ...nce must be maintained to allow the heat generated during operation to dissipate by allowing sufficient air flow Maintain a minimum lateral distance of at least 20 mm between the integrated drive EMCS ST and adjacent components Assembly instructions Mount the drive system flat on a sufficiently stable mounting surface Maintain minimum distances and installation space to guarantee sufficient air fl...

Page 16: ... fulfils depends on the filter measures used and the cable length Order code Category Pulse width modula tion frequency kHz Max permissible line length m C2 Residential area 1 EMCS ST C3 Industrial environ ment 20 30 DIO operation 20 IO Link operation 1 Application area not approved Tab 7 Category according to the pulse width modulation frequency and the cable length Laying cables Comply with gene...

Page 17: ...e system profile groove or threaded hole Mounting surface or mounting frame depending on application 9 4 Connection variants The connection of the integrated EMCS ST drive depends on the DIO operation digital inputs out puts or IO Link operation actuation mode and the connection cables with or without adapter Damage to the device due to non approved potentials at the pins Power connection do not c...

Page 18: ...wer supply for logic power sup ply 24 V DC 4 Higher level open loop control controller with digital I O 5 EMCS ST Fig 6 Wiring diagram DIO operation digital I O 9 4 2 Wiring diagram IO Link operation port class A with and without NEFC adapter The diagram shows the electrical connections of the integrated EMCS ST drive to the load voltage sup ply and to the higher level IO Link master in IO Link op...

Page 19: ...IO Link operation 1 PELV fixed power supply for 24 V DC load voltage supply 2 Adapter NEFC 3 IO Link master with IO Link interface 4 EMCS ST Fig 8 Wiring diagram IO Link operation with adapter Core colours of Festo cables BK black BN brown BU blue GN green GY grey PK pink WH white YE yellow Installation 19 Festo EMCS ST 2020 04a ...

Page 20: ...nterface Connection Digital inputs out puts IO Link Master Digital inputs outputs DIO Yes IO Link LK Yes Logic voltage supply Logic Yes Yes Load voltage supply Power Yes Yes Tab 8 Overview of electrical interfaces The electrical interfaces are located on the top of the controller housing 1 Interface Power 2 Interface Logic Fig 9 Overview of electrical interfaces Installation 20 Festo EMCS ST 2020 ...

Page 21: ...osition LimIn Ref PNP NPN 3 State Out Digital output 2 DO2 status signal for end position LimIn or Force setpoint value PNP NPN 4 GND Reference potential logic power supply 0 V 2 5 MovIn Digital input 1 DI1 control signal for posi tioning task MovIn PNP NPN 6 MovOut Digital input 2 DI2 control signal for posi tioning task MovOut PNP NPN 7 reserved do not connect 8 GND Reference potential for logic...

Page 22: ...rved do not connect 7 reserved do not connect 8 L Reference potential IO Link Power supply 0 V 2 1 plug M12x1 A coded 8 pin 2 Pins 4 8 Logic and pin 2 Power are internally connected Tab 10 Connection Logic IO Link LK Requirements for plug and cable Mating plug requirements Design Socket M12x1 A coded Number of pins 8 Nominal current 2 A Rated voltage 30 V DC Degree of protection IP65 Shielding No ...

Page 23: ...n 2 Power are connected internally Tab 13 Connection Power load voltage supply Requirements for plug and cable Mating plug requirements Design Socket M12x1 T coded Number of pins 4 Nominal current 12 A Rated voltage 63 V DC Degree of protection IP65 min Shielding No Tab 14 Mating plug requirements Requirements for the connecting cable Number of insulated wires and shielding 4 insulated wires unshi...

Page 24: ...quired if the reference end position Ref deviates from the factory setting or if the useful range is changed Homing equates the Start Press PosStart Press position to the calculated useful range 5 Parameterise operating modes via HMI interface Basic parameters for simple end to end operation end to end operation with press function or manual operation demo Velocity Speed Out Velocity Speed In addi...

Page 25: ...d towards the LimOut end position In end to end operation with press function the drive travels from the Start Press position to the LimOut end position under force control After a restart the reference end position Ref is re initialised first 1 0 Control signals for executing the MovIn motion task The drive moves position controlled towards the LimIn Ref end position After a restart the reference...

Page 26: ...iption 0 0 Status signals for neither of the two LimIn Ref or LimOut end positions is reached 0 1 Status signals for LimOut end positions reached the set force Force is reached in the force con trolled range of end to end operation with press function 1 0 Status signals for LimIn Ref end positions reached 1 1 Status signals for critical error è 13 2 2 Diagnostic messages and fault clearance Tab 17...

Page 27: ...deviation from the factory setting Reference end position Ref or if the useful range is changed Homing equates the Start Press PosStart Press position to the calculated useful range 5 Parameterise operating modes via IO Link interface Basic parameters for simple end to end operation end to end operation with press function or manual operation demo 0x0100 0 velocity Speed In 0x0101 0 velocity Speed...

Page 28: ...rce is controlled and evaluated by regulating the motor current A torque level or a linear force can be determined from the level of current measured depending on the mechanism of the drive The target is set as a percentage of the rated motor current and may deviate from the actual force on the drive unit If force levels are set low the influence of friction in the system on the running beha viour...

Page 29: ...11 1 2 Dimension reference system Drive system 29 Festo EMCS ST 2020 04a ...

Page 30: ...nce system for linear drive systems Reference end position Ref facing motor Reference end position Ref facing away from motor Dimension reference system for rotary drive systems motor shaft view Left reference end position Ref Right reference end position Ref Ref Reference end position Ref reference point for LimIn LimOut PosAct and PosStart Press LimIn End position In LimOut End position Out PosA...

Page 31: ...the factory settings the following settings become active Parameter Speed Out level 1 10 of maximum value Parameter Speed In level 1 10 of maximum value Parameter Force level 1 10 of maximum value Parameter Start Press maximum possible value of the relevant mechanics Reference end positionè 11 1 2 Dimension reference system Linear drive system end position facing the motor retracted Rotary drive s...

Page 32: ...age active position controlled 6 LED C Q 7 Restart Logic voltage failure Logic 8 First commissioning Load voltage failure Power Power failure Logic Power 9 Warning system not referenced Fig 10 Switch on behaviour of the EMCS ST 11 2 4 Switch off behaviour The switch off behaviour of the EMCS ST in the event of a voltage interruption depends on the type of failure Logic voltage failure Logic Load v...

Page 33: ...witch off behaviour in the event of logic voltage failure Timing switch off behaviour in the event of load voltage failure The diagram shows the switch off behaviour of the EMCS ST when the load voltage fails or is discon nected 1 Power Power ON è OFF 24 V DC 2 Logic Power ON 24 V DC 3 Power stage active position controlled 4 LED C Q 5 Error load voltage undersupply or not con nected Fig 12 Switch...

Page 34: ...n The restart includes the following functions Acknowledge error Initialise reference end position Acknowledge error The restart reset enables the acknowledgement and reset of corrected faults in the fault memory of the EMCS ST A restart can be performed via the following interfaces Digital inputs outputs DIO Power OFF ON of the logic voltage IO Link LK Power OFF ON of the logic voltage Parameter ...

Page 35: ... position LimIn for motion task end position Ref LimIn Travel to end position LimOut for motion task end position LimOut Timing The diagrams show the restart for the following conditions depending on the dimension reference sys tem Reference end position Ref end position LimIn Reference end position Ref end position LimOut Motion task to end position LimIn Motion task to end position LimOut Execut...

Page 36: ...ory setting HMI Reference menu IO Link 0x0103 0 reference true Dimension reference system for linear drive systems Reference end position Ref facing motor Reference end position Ref facing away from motor Dimension reference system for rotary drive systems motor shaft view Left reference end position Ref Right reference end position Ref Tab 21 Dimension reference system for linear and rotary drive...

Page 37: ... task DIO digital input DI1 MovIn 1 and DI2 MovOut 0 Activation of the motion task IO Link parameter 0x0029 1 true and 0x0029 2 false or system parameter 0x0002 value 0xC8 Move In Fig 14 Motion task to end position LimIn Ref after a restart Drive system 37 Festo EMCS ST 2020 04a ...

Page 38: ... task DIO digital input DI2 MovOut 1 and DI1 MovIn 0 Activation of the motion task IO Link parameter 0x0029 2 true and 0x0029 1 false or system parameter 0x0002 value 0xC9 Move Out Fig 15 Motion task to end position LimOut after a restart Drive system 38 Festo EMCS ST 2020 04a ...

Page 39: ...ower supplies and initialising the EMCS ST the master control is automatically assigned to the digital inputs outputs DIO control interface The detection of an active IO Link master causes the master control to switch automatically to the IO Link control interface If the IO Link communication is interrupted the master control automatically returns to the digital inputs out puts DIO control interfa...

Page 40: ...terface Timing The diagram shows the transfer of the master control between the Digital inputs outputs DIO or IO Link LK Logic control interface and the Display and control element HMI interface 1 Pushbutton actuators HMI 2 Control interface Logic master control digital inputs outputs DIO IO Link LK 3 Master control HMI 4 LED C Q 5 LED display menu Speed Out 6 Initialisation 7 Warning or system no...

Page 41: ...sitions of the end positions the connected drive must be refer enced to a dimension reference system The connected drive is referenced as follows in the delivery status Linear drive reference end position Ref facing motor Rotary drive left reference end position Ref The homing of the drive includes Homing Definition of the dimension reference system Definition of motion directions Definition of di...

Page 42: ...estart power failure occurs 11 3 2 1 Function The homing includes the following steps 1 Travel to the mechanical stop MechIn direction of selected reference end position Ref 2 Calculation of the position reference end position Ref end position LimIn 3 Travel to the mechanical stop MechOut opposite direction to selected reference end posi tion Ref 4 Calculation of the end position LimOut position 5...

Page 43: ...f for the MovRef motion 1 1 a Target acceleration for all motions 1 1 a Target deceleration for all motions 1 1 LimIn Position of the LimIn end position 1 1 LimOut Position of the LimOut end position 1 0x0106 0 1 unchangeable parameter Tab 23 Parameters for homing Drive system 43 Festo EMCS ST 2020 04a ...

Page 44: ...imOut end position with the status data in HMI and IO Link operation Activation of homing DIO select a reference end position Ref in the Reference menu item and save the value IO Link select a reference end position Ref 0x0103 0 and initiate homing 0x0104 0 Fig 19 Homing Drive system 44 Festo EMCS ST 2020 04a ...

Page 45: ... stop homing The diagram shows stopping of the MovRef homing from the Stop command to standstill with the status data in the HMI and IO Link operation Fig 20 Stop homing Drive system 45 Festo EMCS ST 2020 04a ...

Page 46: ... position controlled Control is via the following interfaces Digital inputs outputs DIO Digital input DI1 MovIn Logic Digital input DI2 MovOut Logic IO Link LK è 14 2 3 Process data Index 0x0029 subindex 1 MoveIn Index 0x0029 subindex 2 MoveOut The following commands are available StartIn position controlled travel MovIn to end position LimIn Ref start resume StartOut position controlled travel Mo...

Page 47: ...peration 11 3 3 3 Timing Timing single end to end operation The diagram shows the MovOut MovIn motions from the StartOut StartIn command to reaching the LimOut LimIn end position with the status data DIO and IO Link operation Motion task StartIn Activation of the motion task DIO digital input DI1 MovIn 1 and DI2 MovOut 0 Activation of the motion task IO Link parameter 0x0029 1 true and 0x0029 2 fa...

Page 48: ...Fig 22 Single end to end operation Drive system 48 Festo EMCS ST 2020 04a ...

Page 49: ...Activation of the stop task DIO digital input DI1 MovIn 0 and DI2 MovOut 0 Activation of the stop task IO Link parameter 0x0029 1 false and 0x0029 2 false or system parameter0x0002 value 0xCA Stop motion Motion task StartOut Activation of the motion task DIO digital input DI2 MovOut 1 and DI1 MovIn 0 Activation of the motion task IO Link parameter 0x0029 2 true and 0x0029 1 false or system paramet...

Page 50: ...Fig 23 Stop and continue single end to end motion Drive system 50 Festo EMCS ST 2020 04a ...

Page 51: ... menu IO Link LK acyclic process data position xStart Press index 0x0105 subindex 0 Control is via the following interfaces Digital inputs outputs DIO Digital input DI1 MovIn Logic Digital input DI2 MovOut Logic IO Link LK è 14 2 3 Process data Index 0x0029 subindex 1 MoveIn Index 0x0029 subindex 2 MoveOut The following commands are available StartIn position controlled and force controlled motion...

Page 52: ...In 0x0100 0 Speed Out Target velocity Speed Out for the motion MovOut Speed Out 0x0101 0 Force Target force torque Force for the drive MovIn from the Start Press Position PosStart Press Force 0x0102 0 a Target acceleration for all motions 1 1 a Target deceleration for all motions 1 1 LimIn Position of the LimIn end position 1 1 LimOut Position of the LimOut end position End Posi tion Out 0x0106 0 ...

Page 53: ...tIn Activation of the motion task DIO digital input DI1 MovIn 1 and DI2 MovOut 0 Activation of the motion task IO Link parameter 0x0029 1 true and 0x0029 2 false or system parameter 0x0002 value 0xC8 Move In Motion task StartOut Activation of the motion task DIO digital input DI2 MovOut 1 and DI1 MovIn 0 Activation of the motion task IO Link parameter 0x0029 2 true and 0x0029 1 false or system par...

Page 54: ...Fig 25 End to end operation with press function Drive system 54 Festo EMCS ST 2020 04a ...

Page 55: ...p task StopOut Activation of the stop task DIO digital input DI1 MovIn 0 and DI2 MovOut 0 Activation of the stop task IO Link parameter 0x0029 1 false and 0x0029 2 false or system parameter0x0002 value 0xCA Stop motion Motion task StartOut Activation of the motion task DIO digital input DI2 MovOut 1 and DI1 MovIn 0 Activation of the motion task IO Link parameter 0x0029 2 true and 0x0029 1 false or...

Page 56: ...Fig 26 Stop and resume end to end travel with press function Drive system 56 Festo EMCS ST 2020 04a ...

Page 57: ...tion controlled The following commands are available Start position controlled travel MovIn to the end position LimIn Ref start resume Start position controlled travel MovOut to the end position LimOut start resume Stop stop motion Manual operation supports the following tasks Drive free running e g after a system malfunction Manual procedure for checking settings and drive behaviour 11 3 5 2 Para...

Page 58: ...11 3 5 3 Timing The diagram shows the demo runs MovOut MovIn from the command Start Start to reaching the end position LimOut LimIn Fig 27 Demo run Drive system 58 Festo EMCS ST 2020 04a ...

Page 59: ...rface digital inputs outputs DIO Logic active drive ready for DIO operation communication between controller and EMCS ST possible flashing green Control interface IO Link LK Logic active communication between IO Link master and EMCS ST possible yellow light Warning active or system not referenced The warning can be read out via the IO Link interface red light Error active Errors are displayed via ...

Page 60: ...nt value can be parameterised blue light Menu Reference selected Drive system referenced Homing stopped Reference blue flashing Menu Reference activated Reference end position configurable Start homing blue light Start Press menu selected Start Press blue flashing Start Press menu activated Start Start Press motion blue light Demo menu selected Demo blue flashing Demo menu activated Start Demo mot...

Page 61: ...as information warnings or errors If an error occurs operation is interrupted and the power stage is switched off Warnings and errors remain active until the cause of the event has been corrected After the cause has been eliminated warnings are automatically deleted from the diagnostic memory with the next motion task If errors occur the error must be acknow ledged 13 2 1 Acknowledge error Correct...

Page 62: ...rst error that occurred is always displayed Fig 28 Display of diagnostic messages example Error code Description LED LED displays Event code hex dec C Q Menu Parameter IO Link Information z Waiting for motion task to initialise the reference end position 0x8CA0 z Motion to initialise the refer ence end position is executed yellow light z z 0x8CA1 Warning z Invalid value for Start Press position1 z...

Page 63: ...x1805 0x0016 22 Logic voltage undersupply2 0x1804 0x0017 23 Logic voltage oversupply 0x1803 0x0026 38 Load voltage undersupply or not connected 0x1802 0x0027 39 Load voltage oversupply 0x1801 0x0031 49 Device undertemperature 0x0033 51 Device overtemperature 0x4000 0x012F 303 IO Link connection lost red light z 1 only with IO Link operation 2 This error can only be acknowledged by a restart Tab 31...

Page 64: ...sto ELGE TB IODD1 1 xml ELGS BS Spindle axis unit Festo ELGS BS IODD1 1 xml ELGS TB Toothed belt axis unit Festo ELGS TB IODD1 1 xml EPCE TB Electric cylinder unit Festo EPCE TB IODD1 1 xml EPCS BS Electric cylinder unit Festo EPCS BS IODD1 1 xml Rotary ERMS Rotary drive unit Fixed ERMS IODD1 1 xml Tab 32 Device description file IODD The current device description files are available on the Festo ...

Page 65: ...c 0x014D 333 1 byte LSB R R R 0x0000 0A 0 10 DeviceID1 1 byte MSB R R R 0x0000 0B 0 11 DeviceID2 1 byte R R R 0x0000 0C 0 12 DeviceID3 Device ID of the drive system 6 digit hex ID dec 0x000259 601 ELGS TB 0x00025A 602 ELGS BS 0x00025B 603 EGSS BS 0x00025C 604 ELGE TB 0x00025D 605 ERMS 0x00025E 606 EPCS BS 0x00025F 607 EPCE TB 1 byte LSB R R R 0x0010 0 16 0 Vendor Name Name of the manufacturer 17 c...

Page 66: ...ntification data on the product labelling of the drive unit String 11 bits R R R 0x0016 0 22 0 Hardware Revision Hardware version of the EMCS ST product dependent charac ter code e g V0718_C66 String 64 bytes R R R 0x0017 0 23 0 Firmware Revi sion Firmware version of the EMCS ST product dependent digit char acter code e g V16 0 17 87_release String 64 bytes R R R 0x0018 0 24 0 Application Specific...

Page 67: ...lash memory The flash memory is designed for 100 000 write cycles Frequent changes to the device data e g when using the device for positioning tasks via IO Link can cause damage to the device Index Subindex Name Description Data type length Access1 U User M Maintenance personnel S Specialist U W S Control data master è device 0x000C 4 12 4 Device Access Lock Controls access to the display and ope...

Page 68: ...ger8 1 byte R W R W 0x0102 0 258 0 Force2 10 step force torque specifica tion for the force controlled MovOut motion from the PosStart Press position to the LimOut end position 1 10 default 10 100 è Instruction manual for the drive system technical data UInteger8 1 byte R W R W 0x0103 0 259 0 Reference Position of the reference end pos ition Ref after homing has been carried out Linear drive syste...

Page 69: ...ion to the force controlled movement Linear drive systems Length specification mm x 0 01 Rotary drive systems Angle specification x 0 1 Float32T 4 byte R W R W 0x0106 0 262 0 End Position Out Stroke or rotation angle distance of the LimOut end position to the reference end position Ref the drive stops at the LimOut end positions and waits for the next motion command Linear drive systems Length spe...

Page 70: ...al speed rpm x 1 Integer32 4 byte R R R 0x0122 0 290 0 Current force Current force current torque with press function Linear drive systems Force value N x 1 Rotary drive systems Torque value Nm x 0 1 Integer32 4 byte R R R 0x0123 0 291 0 Current tem perature Current temperature of the power stage Temperature C x 1 Integer16 2 byte R R R 0x0124 0 292 0 Current elec tric current Current consumption ...

Page 71: ...since reset Mileage of the drive unit since the last reset Linear drive systems Length value km x 0 000001 Rotary drive systems Rotation value r x 0 001 UInteger32 4 byte R R R 0x012A 0 298 0 Reset cycle mileage Reset cycle and mileage counter true reset counter false do not reset counter BooleanT 1 byte W W W Diagnostic data device è master 0x0020 32 0 Error Count Error counter reading since last...

Page 72: ...ear force can be determined from the level of current measured depending on the mechanism of the drive The target is set as a percentage of the rated motor current and may deviate from the actual force on the drive unit If force levels are set low the influence of friction in the system on the running beha viour and the actual force on the drive unit must also be taken into account 3 This value is...

Page 73: ... reached false LimOut end position not reached BooleanT 1 bit R R R 0x0028 3 40 3 State Move Status of the drive motion true drive in motion false drive at standstill BooleanT 1 bit R R R 0x0028 4 40 4 State Device Status of the drive unit true drive unit ready for operation false drive unit not ready for operation BooleanT 1 bit R R R ProcessDataOutput Master è Device 0x0029 1 41 1 Move In Contro...

Page 74: ...ol command for acknow ledging errors true start error acknow ledgement false do not start error acknowledgement BooleanT 1 bit R W R W R W 1 R W read and write R read only W write only Tab 35 Process data Bit ProcessDataInput 15 4 3 2 1 0 Control data State Device State Move State Out State In Index Subindex 0x0028 4 40 4 0x0028 3 40 3 0x0028 2 40 2 0x0028 1 40 1 Tab 36 ProcessDataInput telegram s...

Page 75: ...LimIn Ref end posi tion è 14 2 5 Control end to end operation via IO Link Value 0xC9 201 execute MovOut Control command for execut ing the motion MovOut to the LimOut end position è 14 2 5 Control end to end operation via IO Link Value 0xCA 202 Stop motion Control command for stop ping travel è 14 2 5 Control end to end operation via IO Link 0x0002 0 2 0 SystemCom mand Value 0xCB 203 Disable power...

Page 76: ...te only Tab 38 System parameters 14 2 5 Control end to end operation via IO Link The following table shows the combinations of the process parameters MovIn and MovOut or the system parameter System Commands via IO Link for controlling the drive in end to end operation Process parameters System parameters Description MovIn MovOut System commands 0x0029 1 0x0029x2 0x0002 false false Stop motion 0xCA...

Page 77: ...ains stopped unregulated Tab 39 Control data via IO Link 14 2 6 Monitor end to end operation via IO Link The current position of the drive in end to end operation can be monitored via the process paramet ers The following table shows the process commands for monitoring the drive position The following table shows the combinations of the process parameters StateIn and StateOut via IO Link for monit...

Page 78: ... 57 Type of mounting Direct mounting to actuator screw mounted Mounting position any Dimensions HxWxD mm 81 3 x 42 3 x 89 0 95 6 x 56 6 x 94 1 Product weight kg Approx 0 51 Approx 0 85 Duty cycle 100 up to 30 C Transport temperature C 25 70 Relative humidity 0 90 non condensing Max transportation duration d 30 Ambient temperature C 0 50 Ambient temperature with reduction of duty cycle 2 C C 30 50 ...

Page 79: ...nce with EN 61800 2 and EN 61800 5 1 Severity level 2 Shock resistance in accordance with EN 61800 2 Severity level 2 Tab 41 Technical data general Features of severity level SL Vibration load Frequency range Hz Acceleration m s2 Deflection mm SL1 SL2 SL1 SL2 SL1 SL2 2 8 2 8 3 5 3 5 8 27 8 27 10 10 27 58 27 60 0 15 0 35 58 160 60 160 20 50 160 200 160 200 10 10 Shock load Acceleration m s2 Duratio...

Page 80: ...1 Duty cycle 2 Ambient temperature Fig 30 Duty cycle as a function of ambient temperature Technical data 80 Festo EMCS ST 2020 04a ...

Page 81: ...rotection Fuse 10 A not resettable Logic voltage supply DIO and IO Link operation Nominal voltage V DC 24 Voltage range V DC 24 15 Logic current consumption Logic Pin 1 loaded with rotary encoder and display compon ents DIO operation mA 100 300 IO Link operation mA 100 150 Protective functions Protection against polarity reversal Overcurrent protection Fuse 2 A not resettable Tab 43 Technical data...

Page 82: ...e UH min V 15 Max input current IH max mA 15 Min input current IH min mA 2 Low level 0 for PNP1 per input Max input voltage UL max at IL max 0 5 0 5 V 5 15 Min input voltage UL min V 3 Max input current IL max mA 15 Min input current IL min mA 1 The understanding of NPN is reversed However the values and the function are identical Tab 44 Technical data digital inputs DI Fig 31 Working ranges of th...

Page 83: ...al Logic connection do not connect pins 2 and 3 to high potential if pin 1 is not supplied with 24 V DC Automatic Saving of Device Data Changes to device data are automatically saved permanently flash memory The flash memory is designed for 100 000 write cycles Frequent changes to the device data e g when using the device for positioning tasks via IO Link can cause damage to the device Type EMCS S...

Page 84: ...6 Technical data IO Link 17 2 5 Motor integrated Type EMCS ST 42 EMCS ST 57 Nominal current ARMS 3 5 Holding torque Nm 0 45 0 8 Max rotational speed rpm 1700 Step angle 1 8 Step angle tolerance 5 Total output moment of inertia kgcm2 0 082 0 3 Motor constant Nm A 0 15 0 16 Thermal time constant s 123 143 Current regulator cycle time μs 50 Tab 47 Technical data motor 17 2 6 Rotary encoder integrated...

Page 85: ...57 Warning threshold overtemper ature C 75 85 Warning threshold undertem perature C 5 5 Limit value error Overtemperature C 85 Limit value error Undertemperature C 5 Tab 49 Technical data power stage temperature monitoring Technical data 85 Festo EMCS ST 2020 04a ...

Page 86: ... 2020 all rights reserved to Festo SE Co KG Copyright Festo SE Co KG 73734 Esslingen Ruiter Straße 82 Germany 49 711 347 0 www festo com Internet Phone ...

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