Festo A5 1spaltig...– Stepper motor for driving the connected actuator technology – Encoder for detecting the current position – Electronics for intermediate circuit voltage

8103343

EMCS-STIntegrated drive

81033432019-07[8103345]

Description | Commis-sioning

Translation of the original instructions

2 Festo — EMCS-ST — 2019-07

3Festo — EMCS-ST — 2019-07

1 About this document................................................................................................... 6

1.1 Applicable documents.................................................................................................. 6

1.2 Product version............................................................................................................ 6

1.3 Product labelling.......................................................................................................... 7

1.4 Specified standards...................................................................................................... 7

2 Safety........................................................................................................................... 8

2.1 Safety instructions........................................................................................................ 8

2.2 Intended use................................................................................................................ 8

2.2.1 Application areas.................................................................................................... 8

2.3 Training of qualified personnel..................................................................................... 8

2.4 Approvals and certifications......................................................................................... 8

3 Additional information................................................................................................ 8

4 Service..........................................................................................................................9

5 Product overview......................................................................................................... 9

5.1 Function....................................................................................................................... 9

5.2 Scope of delivery.......................................................................................................... 9

5.3 System overview.......................................................................................................... 10

5.4 Product design............................................................................................................. 11

6 Display and operating components (HMI).................................................................. 11

6.1 Overview...................................................................................................................... 11

6.2 Master control.............................................................................................................. 12

6.3 HMI menu..................................................................................................................... 12

7 Transport and storage................................................................................................. 14

8 Assembly..................................................................................................................... 14

8.1 Safety............................................................................................................................ 14

8.2 Mounting clearances.................................................................................................... 14

8.3 Installation................................................................................................................... 14

9 Installation.................................................................................................................. 15

9.1 Safety............................................................................................................................ 15

9.2 Information on EMC-compliant installation................................................................... 15

9.3 Functional earth (FE) and protective earth (PE) connection........................................... 16

9.4 Connection variants...................................................................................................... 16

9.4.1 Wiring diagram: DIO operation (digital I/O)............................................................ 17

9.4.2 Wiring diagram: IO-Link operation.......................................................................... 18

9.4.3 Wiring diagram: IO-Link operation with adapter..................................................... 19

9.5 Electrical interfaces...................................................................................................... 20

9.5.1 Connection [Logic]: digital inputs/outputs (DIO), logic power supply.....................21

9.5.2 Connection [Logic]: IO-Link (LK)..............................................................................23

9.5.3 Connection [Power]: Power supply..........................................................................24

10 Commissioning............................................................................................................ 25

Table of contents

10.1 Commissioning "DIO operation (digital I/O)"................................................................25

10.2 Commissioning "IO-Link operation"..............................................................................26

11 Drive system.................................................................................................................27

11.1 Dimensions and units.................................................................................................... 27

11.1.1 Basic and user units............................................................................................... 27

11.1.2 Measuring reference system.................................................................................. 27

11.2 Controller...................................................................................................................... 30

11.2.1 Firmware................................................................................................................ 30

11.2.2 Factory settings..................................................................................................... 30

11.2.3 Switch-on behaviour.............................................................................................. 30

11.2.4 Switch-off behaviour.............................................................................................. 31

11.2.5 Restart................................................................................................................... 33

11.2.6 Master control....................................................................................................... 40

11.3 Operating modes...........................................................................................................42

11.3.1 Dynamic state change............................................................................................ 42

11.3.2 Homing.................................................................................................................. 42

11.3.2.1 Function................................................................................................................. 43

11.3.2.2 Parameter.............................................................................................................. 44

11.3.2.3 Timing.................................................................................................................... 45

11.3.3 Single end-to-end operation.................................................................................. 48

11.3.3.1 Function................................................................................................................. 48

11.3.3.2 Parameter.............................................................................................................. 49

11.3.3.3 Timing.................................................................................................................... 49

11.3.4 End-to-end operation with press function.............................................................. 55

11.3.4.1 Function................................................................................................................. 55

11.3.4.2 Parameter.............................................................................................................. 56

11.3.4.3 Timing.................................................................................................................... 56

11.3.5 Manual Operation (Demo)..................................................................................... 63

11.3.5.1 Function................................................................................................................. 63

11.3.5.2 Parameter.............................................................................................................. 63

11.3.5.3 Timing.................................................................................................................... 64

12 Maintenance and care.................................................................................................. 65

13 Diagnostics and malfunctions...................................................................................... 65

13.1 Diagnostics via LED displays......................................................................................... 65

13.1.1 LED display "C/Q" (communication and device status).......................................... 65

13.1.2 LED display "Menu".............................................................................................. 66

13.1.3 LED display "Parameter"....................................................................................... 67

13.2 Diagnostic messages.....................................................................................................67

13.2.1 Acknowledge errors............................................................................................... 67

13.2.2 Diagnostic messages and fault clearance.............................................................. 68


13.3 Repair............................................................................................................................70

14 IO-Link..........................................................................................................................70

14.1 Device description file IODD......................................................................................... 70

14.2 IO-Link Parameters....................................................................................................... 70

14.2.1 Identification parameters........................................................................................70

14.2.2 Process data........................................................................................................... 72

14.2.3 Device data............................................................................................................. 75

14.2.4 System parameters.................................................................................................77

15 Disassembly................................................................................................................ 79

16 Disposal........................................................................................................................79

17 Technical data............................................................................................................. 80

17.1 Technical data, general................................................................................................. 80

17.2 Technical data, electrical.............................................................................................. 83

17.2.1 Power supply.......................................................................................................... 83

17.2.2 Digital inputs (DI)....................................................................................................84

17.2.3 Digital outputs (DO)................................................................................................85

17.2.4 IO-Link.................................................................................................................... 86

17.2.5 Motor (integrated).................................................................................................. 87

17.2.6 Rotary encoder (integrated)....................................................................................87

17.2.7 Temperature sensor (integrated)............................................................................ 87


1 About this document

1.1 Applicable documents

All available documents for the product è www.festo.com/pk.

Type Product Contents

Drive system

EGSS Mini slide unit Instructions, product overview

ELGE-TB Toothed belt axis unit Instructions, product overview

ELGS-BS Spindle axis unit Instructions, product overview

ELGS-TB Toothed belt axis unit Instructions, product overview

ERMS Rotary drive unit Instruction manual, operation

Actuator

EGSC Mini slide Instruction manual, operation

ELGR-TB Toothed belt axis Instruction manual, operation

ELGC-BS Spindle axis Instruction manual, operation

ELGC-TB Toothed belt axis Instruction manual, operation

Mounting kit

EAMM-A Axial kit Instruction manual, mounting

Accessories (IO-Link)

NEFC-M12G8-0.3-M12G5-LK Adapter Instruction manual, mounting

Tab. 1 Other applicable documents for the product

1.2 Product versionThis document refers to the following product versions:

Product Version

EMCS-ST-42-... Integrated drive EMCS-ST-42-... from revision 1

EMCS-ST-57-... Integrated drive EMCS-ST-57-... from revision 1

Tab. 2 Product version

About this document

Festo — EMCS-ST — 2019-076

http://www.festo.com/pk

1.3 Product labelling

1 Product labelling(product information, approvals, warning symbol)

Fig. 1 Product labelling

Warning symbol

Warningsymbol

Meaning

Attention! Hot surfaceMetallic housing parts of the device can reach high temperatures during operation. Inthe 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


2 Safety

2.1 Safety instructions– Only use the product if it is in perfect technical condition.– Only use the product in original status without unauthorised modifications.– Do not carry out repairs on the product. Replace defective product immediately.– Observe labelling on the product.– Never remove or insert a plug connector while live.– Once installed, only operate the product if all the necessary protective measures have been imple-

mented è EN 60204-1.– Before working on the product: switch off the power supply, check that no voltage is present and

secure against being switched on again.– Store the product in a cool, dry environment that is protected against UV and corrosion. Store for

short periods only.

2.2 Intended useThe EMCS-ST integrated drive is used as intended to drive the connected actuator technology. Theintegrated electronics enable the control of position, speed or force/torque. An external end stop isnot required for operation of the integrated drive EMCS-ST.

2.2.1 Application areasThe device is intended for use in an industrial environment. Outside industrial environments, e.g. incommercial and residential/mixed-use areas, it may be necessary to take measures to suppress radiointerference.

2.3 Training of qualified personnelInstallation, commissioning, service and disassembly should only be conducted by skilled personnel.The personnel must be familiar with the installation of mechatronic control systems.

2.4 Approvals and certificationsCE approval (conformity)In conjunction with the CE mark on the product, the EC directives and standards listed below in theDeclaration of è Conformity www.festo.com/sp apply.– EU EMC directive– EU RoHS Directive

KC certificationKC number: R-R-FTO-KC-2018-1082

RCM certification

3 Additional information– Accessories è www.festo.com/catalogue– Spare parts è www.festo.com/spareparts

Safety


http://www.festo.com/sp

http://www.festo.com/catalogue

http://www.festo.com/spareparts

4 ServiceContact your regional Festo contact person if you have technical questions è www.festo.com.

5 Product overview

5.1 FunctionThe following components are integrated in the EMCS-ST integrated drive for all product variants:– Stepper motor for driving the connected actuator technology– Encoder for detecting the current position– Electronics for intermediate circuit voltage conditioning– Output stage for actuation of the motor– Brake chopper to reduce the regenerative energy of the motor.– Temperature sensors for monitoring the output stage temperatureThe EMCS-ST integrated drive has separate connections for the supply of logic and power voltage. Thepower voltage (24 V DC) for all product variants must be supplied directly via a PELV fixed power sup-ply unit.The logic voltage (24 V DC) is supplied as follows:– DIO operation (digital I/O): via a PELV power supply unit– IO-Link operation: via the IO-Link masterAll product variants can be controlled via digital inputs/outputs (DIO) or IO-Link (LK) at the [Logic] con-nection.

5.2 Scope of deliveryThe following components are included in the scope of delivery:– Drive system with integrated drive EMCS-ST– Instruction manual for the drive system– Adapter for IO-Link operation (optional accessory) è www.festo.com/catalogue

Service


http://www.festo.com


5.3 System overview

1 PELV fixed power supply for power voltage

2 PELV fixed power supply unit for logic voltage (onlyrequired for DIO operation)

3 Application software

4 PC or Laptop

5 Controller or IO-Link master

6 Integrated drive EMCS-ST

7 Mounting kit for connecting the actuator technologyto 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-STThe integrated drive EMCS-ST is included in the following drive systems.

Mini slide unit Toothed belt axisunit

Spindle axis unit Toothed belt axisunit

Rotary drive unit

EGSS ELGE-TB ELGS-BS ELGS-TB ERMS

Tab. 5 Overview of drive systems with integrated drive EMCS-ST

Product overview

10 Festo — EMCS-ST — 2019-07

5.4 Product design

1 Power supply connection [Power]

2 Connection of logic power supply and digitalinputs/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-...)

6 Display and operating components (HMI)

6.1 OverviewThe display and operating components (HMI) offer comprehensive options for parameterizing and con-trolling the integrated EMCS-ST drive.Various LED displays are available on the controller housing for displaying parameter information,motion status and menu selection.Three pushbuttons are used to navigate through the menu or to control motions, e.g. to perform a ref-erence run.

1 LED display C/Q (communication/device status)

2 Pushbutton actuator "right arrow"

3 Pushbutton actuator "Edit"

4 Pushbutton actuator "left arrow"

5 LED display Menu (Speed Out, ..., Demo)

6 LED parameter display

Fig. 4 Electrical connections, display and operating components (HMI)

Display and operating components (HMI)


6.2 Master controlThe master control of the display and operating components (HMI) is controlled via the "Unlock/lockpushbutton actuators" function. When you unlock the pushbutton actuators (press pushbuttonactuator for 3 seconds), the "Display and operating components (HMI)" interface automaticallybecomes the master control via the integrated EMCS-ST drive. The master control is automaticallyreturned to the active control interface digital inputs and outputs (DIO) or IO-Link (LK) if the pushbut-ton actuator lock (press and hold for 3 seconds or no pushbutton actuator operation for15 seconds) becomes active again.

The function of the three pushbutton actuators " / / " can be disabled or enabled via the IO-Linkparameter "Device access lock" (0x000C.4).

Unlock pushbutton actuatorsPushbutton actuator " "Press for at least 3 seconds to deactivate the pushbutton lock.

Lock pushbuttonsPress and hold pushbutton actuator " " for at least 3 seconds or do not press pushbutton actuatorfor 15 seconds ( / / ) to activate the pushbutton lock.

6.3 HMI menuThe display and operating components (HMI) can be used to perform the following functions in theHMI menu:– Unlock pushbutton actuators (Unlock HMI), 3 s press

(Condition for IO-Link operation: IO-Link parameter 0x000C.4 = false)– Select menu function with pushbutton actuators (selecting menu), press– Parameterise setpoint values Speed Out, Speed In and Force

(Set value: 10, 20, ..., 100% of maximum value ) and save (Save), press– Parameterise the position of the reference end position Ref (Set Ref) and run the homing move-

ment MovRef (StartRef: PosAct è LimIn è LimOut), press– Start Press Run (Start/Stop) and Start Press Position Pos SaveStart Press, press.– Execute Demo Run (Start/Stop)– Lock pushbuttons (Lock HMI), 3 s press or 15 s no pushbutton entry

Menu structureThe following figure shows the states of the LED displays for the parameters and the menu selection,the state transitions between the menu sequences (pushbutton actuator navigation) and the motionsof the drive systems when performing motion tasks.


12 Festo — EMCS-ST — 2019-07

Reference

Speed OutSpeed InForceReferenceStart PressDemo

Start Press

Demo

Speed Out

Speed In

Force

(default)

(Ref1 default)

(default)

M Ref

Ref M

Ref

RefM

RefM

Ref

RefM

RefRef

M

Ref

Ref

RefM

RefRef

M

Ref

RefM

Ref

RefM

Ref

RefM

Ref

RefM

Ref

(Ref2)

Ref1/Ref2

Ref

Fig. 5 Menu structure



7 Transport and storage– Protect the product during transport and storage from the following unwanted stress factors:

– mechanical stresses– impermissible temperatures– moisture– aggressive atmospheres

8 Assembly

8.1 SafetyWARNING!

Risk of injury due to unexpected movement of components.The drive can move freely in the voltage-free state. This can cause unexpected movements of the con-nected mechanics and crush parts of the body.• Bring moving parts of the mechanical system into a safe position.

8.2 Mounting clearancesDrive systems with integrated drive EMCS-ST can be connected in series. When connecting drive sys-tems in series, a minimum distance must be maintained to allow the heat generated during operationto 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 flow. The ambient

air must be able to flow unhindered around the integrated drive EMCS-ST.– Take into account the necessary clearance for connecting the cables (the cables at the [Logic] and

[Power] connections can be routed upwards (straight) or laterally (angled)).– Do not install any temperature-sensitive components near the integrated drive EMCS-ST. The

integrated drive EMCS-ST can become very hot during operation.

8.3 Installation• Mount the product è Instruction manual, mounting the corresponding drive.

Transport and storage

14 Festo — EMCS-ST — 2019-07

9 Installation

9.1 SafetyWARNING!

Risk of injury due to electric shock.• For the electrical power supply with extra-low voltages, use only SELV circuits that ensure a reli-

able separation from the mains network.• Observe IEC 60204-1/EN 60204-1.

9.2 Information on EMC-compliant installationThe EMCS-ST integrated drive fulfils the following tasks:– Guarantee of immunity to interference– Limits the conducted interference emissionIf installed correctly and if all connecting cables are wired correctly, the device fulfils the specificationsof the product standard IEC 61800-3.The category that the device fulfils depends on the filter measures used and the cable length.

Order code Category PWM frequency [kHz] Max. permissibleline length [m]

C2(living area) 1)

− −EMCS-ST-...

C3(Industrial environ-ment)

20 30 (DIO operation)20 (IO-Link operation)

1) Application area not permitted

Tab. 6 Category according to the PWM frequency and the cable length

Laying cablesComply with general guidelines for EMC-compliant installation, e.g.:– Do not lay signal cables parallel to power cables.– Comply with required minimum distances between signal cables and power cables dependent on

the installation conditions. Signal cables must be laid as far away from power cables as possible.– Do not cross signal cables with power cables or cross them at a 90° angle.

Installation


9.3 Functional earth (FE) and protective earth (PE) connection

When connecting the functional earth (FE) and the protective earth (PE), observe the instructions ofEN 60204-1.

Functional earth (FE)– Connect the functional earth (FE) to the following points before commissioning:

– EMCS-ST: FE connection, pin 4 [Power]– PELV fixed power supply unit: FE connection of the PELV power supply unit (the PELV power

supply unit must be connected to protective earth (PE))

Protective earth (PE)– Connect the protective earth (PE) to one of the following locations before commissioning:

– Drive system: profile groove or threaded hole– Mounting surface or mounting frame: depending on application

9.4 Connection variantsThe connection of the integrated EMCS-ST drive depends on the actuation mode "DIO operation"(digital inputs/outputs) or "IO-Link operation" and the connection cables used (with or withoutadapter).

Installation

16 Festo — EMCS-ST — 2019-07

9.4.1 Wiring diagram: DIO operation (digital I/O)The figure shows the electrical connections of the integrated drive EMCS-ST to the power and logicpower supply and to the higher-level control (controller) in DIO mode.

Do not connect pin 3 with High-/Low potential at the connection [Power].

1 PELV fixed power supply unit for power sup-ply 24 V DC

2 Reset button for acknowledging an error andtriggering a restart (optional)

3 PELV fixed power supply for logic voltagesupply 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)

Installation


9.4.2 Wiring diagram: IO-Link operationThe figure shows the electrical connections of the integrated EMCS-ST drive to the power supply andto the higher-level IO-Link master in IO-Link operation.



2 IO-Link master with IO-Link interface

3 EMCS-ST

Fig. 7 Wiring diagram: IO-Link operation

Installation

18 Festo — EMCS-ST — 2019-07

9.4.3 Wiring diagram: IO-Link operation with adapterThe figure shows the electrical connections of the integrated EMCS-ST drive to the power supply andto the higher-level IO-Link master in IO-Link operation with adapter.



2 Adapter NEFC

3 IO-Link master with IO-Link interface

4 EMCS-ST

Fig. 8 Wiring diagram: IO-Link operation with adapter

Installation


9.5 Electrical interfacesAll product variants of the integrated drive EMCS-ST support the following electrical interfacesdepending on the higher-level control interface:

Control interfaceElectrical interface Connection

Digital inputs/out-puts

IO-Link Master

Digital inputs/outputs (DIO) Yes –

IO-Link (LK) – Yes

Logic power supply

[Logic]

Yes Yes

Power supply [Power] Yes Yes

Tab. 7 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 — 2019-07

9.5.1 Connection [Logic]: digital inputs/outputs (DIO), logic power supplyThe [Logic] connector is used to exchange digital input/output signals (PNP or NPN logic) with thehigher-level controller and to supply the logic part of the unit with electrical power.

[Logic]1) Pin Function Description Switchinglogic

1 24 V DC Logic power supply (24 V DC) −

2 State "In" Digital output 1 (DO1):Status signal reports end position"Ref"/"LimIn" reached.Error if a 1 signal is simultaneously present atpin 2 and pin 3 è Tab. 10.

PNP/NPN

3 State "Out" Digital output 2 (DO2):Status signal reports:– Single end-to-end operation:

End position "LimOut" reached.– End-to-end operation with press function:

Setpoint value "Force" or end position "LimOut" reached.

Error if a 1 signal is simultaneously present atpin 2 and pin 3 è Tab. 10.

PNP/NPN

4 GND Reference potential logic power supply (0 V)2) −

5 MovIn Digital input 1 (DI1):Control signal for executing the motion"MovIn" Direction end position "Ref"/"LimIn".This signal works in conjunction withpin 6è Tab. 9.

PNP/NPN

6 MovOut Digital input 2 (DI2):Control signal to execute the drive "MovOut"towards end position "LimOut".This signal works in conjunction withpin 5è Tab. 9.

PNP/NPN

7 – Reserved, do not connect −

8 GND Reference potential for logic power supply(0 V)2)

−

1) plug M12x1, A-coded, 8-pin2) Pin 4 and 8 are internally connected.

Tab. 8 Connection [Logic]: digital inputs/outputs (DIO), logic power supply

Installation


Signal combinations of the digital inputs DI1 and DI2

DI1 DI2 Description

0 0 No motion.The drive remains in its last position "PosAct" and actively defends it withthe maximum force of the drive (100 %).

0 1 The drive moves in the direction of its working end position "LimOut".Feed and holding force:– Velocity controlled = maximum force of the drive (100%)– Force controlled = set force (10% … 100% of maximum force)

1 0 The drive moves in the direction of its reference end position "Ref" or"LimIn".Feed and holding force = maximum force of the drive (100%)

1 1 No motion.Activation time: 3 sThe drive remains without power and torque at its last reached positionand does not defend it. Depending on the mechanics, the drive can bemoved manually from its position.

Tab. 9

Signal combinations of the digital outputs DO1 and DO2

DO1 DO2 Description

0 0 The drive is in neither of the two end positions (between reference andworking end position)

0 1 The drive is in its working end position or the set force has been reached.

1 0 The drive is in its reference end position.

1 1 Critical error è 13.2 Diagnostic messages

Tab. 10

Installation

22 Festo — EMCS-ST — 2019-07

9.5.2 Connection [Logic]: IO-Link (LK)IO-Link data is exchanged with the IO-Link master via the [Logic] connection and the logic part of thedevice is supplied with electrical voltage.

An adapter is available as an accessory for convenient connection to the IO-Linkmasterè www.festo.com/catalogue.

[Logic]1) Pin Function Description

1 L+ IO-Link power supply (24 V DC)

2 – Reserved, do not connect

3 C/Q Communication to the IO-Link Master

4 L– Reference potential IO-Link power supply (0 V)2)




8 L– Reference potential IO-Link Power supply (0 V)2)

1) plug M12x1, A-coded, 8-pin2) Pin 4, 8 [Logic] and pin 2 [Power] are internally connected.

Tab. 11 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

Tab. 12 Mating plug requirements

Requirements for the connecting cable

Number of wires and shielding 8 wires, unshielded

Min. cable cross section 0.25 mm2

Max. cable length 30 m (DIO mode)20 m (IO-Link operation)

Tab. 13 Requirements for the connecting cable (single device)

Installation



9.5.3 Connection [Power]: Power supplyThe power section of the device is supplied with electrical voltage via the connection [Power].

[Power]1) Pin Function Description

1 24 V DC Power supply (24 V DC)

2 GND Reference potential power supply (0 V)2)


4 FE Functional earth (FE)

1) Plug M12x1, T-coded, 4-pin2) Pin 4, 8 [Logic] and pin 2 [Power] are internally connected.

Tab. 14 Connection [Power]: Power 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. 15 Mating plug requirements

Requirements for the connecting cable

Number of wires and shielding 4 wires, unshielded

Min. cable cross section 1.5 mm2

Max. cable length 15 m

Tab. 16 Requirements for the connecting cable (single device)

Installation

24 Festo — EMCS-ST — 2019-07

10 Commissioning

10.1 Commissioning "DIO operation (digital I/O)"Preparation:1. Check the mounting of the drive system.2. Check wiring of power supplies [Power], [Logic] and digital inputs/outputs "I/O" [Logic].

WARNING!

Risk of injury due to unexpected movement of components.When starting the homing run, the drive is disconnected from the power supply for a short time. Thiscan cause unexpected movements of the connected mechanics and crush parts of the body.• Bring moving parts of the connected mechanical system into a safe position.

Procedure:1. Switch on power voltage.2. Switch on logic voltage.3. Wait for initialisation until LED "C/Q" lights yellow.4. Select the reference end position "Ref" via the "Reference" menu of the HMI interface and start

the homing (only required if the reference end position "Ref" deviates from the factory setting orif 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 ormanual operation (demo)– Velocity "Speed Out"– Velocity "Speed In"additional parameters for end-to-end operation with press function– Force– Position Start Press "PosStart Press" (reference point end position "Ref")

The EMCS-ST is then ready for operation and the application can be controlled via the DIO controlinterface (digital inputs/outputs). With the first motion task and after every restart the position of thereference end position "Ref" is re-initialised (drive first moves to the reference end position "Ref"before the actual motion task is executed), LED "C/Q" lights green.

Commissioning


10.2 Commissioning "IO-Link operation"Preparation:1. Check the mounting of the drive system.2. Check the wiring of the power supplies [Power] and the IO-Link interface [Logic].3. Install the application software.4. Open IODD file in the application software è www.festo.com/sp.

WARNING!

Risk of injury due to unexpected movement of components.When starting the homing run, the drive is disconnected from the power supply for a short time. Thiscan cause unexpected movements of the connected mechanics and crush parts of the body.• Bring moving parts of the connected mechanical system into a safe position.

Procedure:1. Switch on power voltage.2. Switch on logic voltage via IO-Link master.3. Wait for initialisation until LED "C/Q" lights yellow.4. Using the IO-Link parameters (optional HMI interface), select the reference end position "Ref"

(0x0103.0: Reference) and start the homing (0x0104.0: Execute "Reference" motion) (onlyrequired in case of deviation from the factory setting "Reference end position Ref" or if the usefulrange 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 ormanual operation (demo)– 0x0100.0: velocity "Speed In"– 0x0101.0: velocity "Speed Out"additional parameters for end-to-end operation with press function– 0x0102.0: Force– 0x0105.0: Position Start Press "Start Press" (reference point reference end position "Ref")

The EMCS-ST is then ready for operation and the application can be controlled via the IO-Link inter-face.– MovIn: Parameter 0x0029.1 = true or system parameter 0x0002 (value 0xC8)– MovOut: parameter 0x0029.2 = true or system parameter 0x0002 (value 0xC9)With the first motion task and after each restart, the position of the reference end position "Ref" is re-initialised (drive first moves to the reference end position "Ref" independently of the motion taskbefore the actual motion task is executed), LED "C/Q" flashes green.

Commissioning

26 Festo — EMCS-ST — 2019-07


11 Drive system

11.1 Dimensions and units

11.1.1 Basic and user unitsThe following quantities and units can be read or written via the IO-Link parameters.

UnitSize

linear drive system rotary drive system

Length [mm]/[km] −

Bracket − [°] as position[number of revolutions] as run-ning performance

Velocity [mm/s] [rpm]

Force1) [N] −

Torque1) − [Nm]

Temperature [°C] [°C]

1) The force is controlled and evaluated by regulating the motor current. A torque level or a linear force can be determined from the levelof current measured depending on the mechanism of the drive. The target is set as a percentage of the rated motor current and maydeviate 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.

Tab. 17 Sizes and units

11.1.2 Measuring reference systemThe correct positioning of the drive requires a defined measuring reference system. To define thedimensional reference system, the reference end position "Ref" must be selected during commission-ing.

Drive system


Linear measuring reference systemThe linear dimension reference system is relevant for all linear drive systems:

Motor facing reference end position "Ref"(default)

Reference end position "Ref" facing away frommotor

HMI: "Reference" menu, IO-Link: 0x0103.0, Reference = false

HMI: "Reference" menu, IO-Link: 0x0103.0, Reference = true

Ref Reference end position "Ref"

LimIn End position "In"

LimOut End position "Out"

PosAct current position

PosStart Press "Start Press" position

xAct Stroke: reference end position "Ref" - current position

xOut Stroke: reference end position "Ref" - end position "Out"

xStart Press Stroke: reference end position "Ref" - position "Start Press"

xLim Stroke: useful range

xMech Stroke: working range

xMech In Stroke: mechanical stop "In" - end position "In"

xMech Out Stroke: mechanical stop "Out" - end position "Out"

MechIn mechanical stop "In"

MechOut mechanical stop "Out"

Tab. 18 Dimension reference system for linear drive systems

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Rotational measuring reference systemThe rotary dimension reference system is relevant for all rotary drive systems:

Left reference end position "Ref" (default) Right reference end position "Ref"

HMI: "Reference" menu, IO-Link: 0x0103.0, Reference = false

HMI: "Reference" menu, IO-Link: 0x0103.0, Reference = true

Ref Reference end position "Ref"

LimIn End position "In"

LimOut End position "Out"

PosAct current position

PosStart Press "Start Press" position

xAct Rotation angle: reference end position "Ref" - current position

xIn/Out Rotation angle: reference end position "Ref" - end position "Out"

xStart Press Rotation angle: reference end position "Ref" - position "Start Press"

xLim Rotation angle: useful range

xMech Rotation angle: working range

xMech In Rotation angle: mechanical stop "In" - end position "In"

xMech Out Rotation angle: mechanical stop "Out" - end position "Out"

MechIn mechanical stop "In"

MechOut mechanical stop "Out"

Tab. 19 Dimension reference system for rotary drive systems

Drive system


11.2 Controller

11.2.1 FirmwareThe firmware is permanently implemented in the EMCS-ST. A firmware update is not possible.

11.2.2 Factory settingsThe EMCS-ST can be reset to factory settings in two ways:– Via the IO-Link parameter "Restore factory settings" (è 0x0002, value 0x00CD)– By simultaneously pressing and holding all three pushbutton actuators for at least 10 seconds

with logic voltage present (possible in all operating modes).After the 10 seconds have elapsed, all 6 LED displays for the parameters light and the logicvoltage must be switched off and on again.

After resetting to the factory settings, the drive must be homedè 11.3.2 Homing.

After a reset to 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 11.3.2 Homing:

– Linear drive system: end position facing the motor, retracted– Rotary drive system: left

– Parameter "End Position Out": maximum possible value of the relevant mechanics

11.2.3 Switch-on behaviourThe switch-on behaviour of the EMCS-ST depends on the following conditions:– Commissioning– Restart (error acknowledgement)– Logic power failure [Logic]– Power failure [Power]– Power failure [Logic], [Power]

When switching on the power supplies, the power voltage [Power] must be switched on before thelogic voltage [Logic].

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Timing: switch-on behaviourThe diagram shows the switch-on behaviour of the EMCS-ST from switching on the power supplies toreaching the state "Ready for operation (system not referenced)".

1 [Power] Power ON (24 V DC)

2 [Logic] Power ON (24 V DC)

3 Initialisation

4 Master control "DIO"

5 Output stage active (position controlled)

6 LED display C/Q

7 RestartLogic power failure [Logic]

8 (First) commissioningPower 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 behaviourThe switch-off behaviour of the EMCS-ST in the event of a voltage interruption depends on the type offailure:– Logic power failure [Logic]– Power failure [Power]– Power failure [Logic], [Power]

Drive system


Timing: switch-off behaviour in the event of logic voltage failureThe diagram shows the switch-off behaviour of the EMCS-ST when the logic voltage fails or is discon-nected.


2 [Logic] Power ON è OFF (24 V DC)


4 LED display C/Q

Fig. 11 Switch-off behaviour in the event of logic voltage failure

Timing: switch-off behaviour in the event of power failureThe diagram shows the switch-off behaviour of the EMCS-ST when the power voltage fails or is discon-nected.

1 [Power] Power ON è OFF (24 V DC)



4 LED display C/Q

5 Error: load voltage undersupply or not con-nected

Fig. 12 Switch-off behaviour in the event of power failure

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Timing: switch-off behaviour in case of power failureThe diagram shows the switch-off behaviour of the EMCS-ST when the mains voltage fails or is discon-nected.

1 Mains Power ON è OFF (230 V AC)




5 LED display C/Q

Fig. 13 Switch-off behaviour in case of power failure

11.2.5 Restart

FunctionThe restart includes the following functions:– Acknowledge errors– Initialise reference end position

Acknowledge errorsThe restart (reset) enables the acknowledgement and reset of corrected faults in the fault memory ofthe 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 Quit Error (0x0029.3) or (0x0107.0)

Active error messages are only deleted if the cause of the error was eliminated before the restart.

Drive system


Initialise reference end position "Ref"With Power OFF of the logic voltage the referencing of the dimension reference system is lost. For thisreason, the reference end position "Ref" is initialised with the first motion task after every restart.The first motion task after a restart includes:– Homing to the mechanical stop "MechIn"– Motion to reference end position "Ref"/end position "LimIn" (for motion task end position

"Ref"/"LimIn")– Motion to end position "LimOut" (for motion task end position "LimOut")

TimingThe diagrams show the restart for the following conditions depending on the dimensional referencesystem:– 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

Execute motion task to end position "LimIn Execute motion task to end position "LimOut

Tab. 20 Initialise reference end position "Ref"

Drive systems with motor-facing (linear) or left (rotary) reference end position "Ref"

Linear measurement reference system, motor-facing reference end position "Ref" (default)

Rotary dimension reference system, left refer-ence end position "Ref" (default)

Tab. 21 Measuring reference system

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Motion task to end position LimIn with motor facing away/left reference end position "Ref"– 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 0x00C8 "Move In")

Fig. 14 Motion task to end position LimIn with motor facing away/left reference end position "Ref"

Drive system


Motion task to end position LimOut with motor facing/left reference end position "Ref"– 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

parameter 0x0002 (value 0x00C9 "Move Out")

Fig. 15 Motion task to end position LimOut with motor facing/left reference end position "Ref"

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Drive systems with reference end position "Ref" motor facing away (linear) or right (rotary)

Linear measurement reference system, refer-ence end position "Ref" motor facing away

Rotary dimension reference system, right refer-ence end position "Ref"

Tab. 22 Measuring reference system

Drive system


Motion task to end position LimIn with reference end position "Ref" motor facing away/right– 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


Fig. 16 Motion task to end position LimIn with reference end position "Ref" motor facing away/right

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Motion task to end position LimOut with reference end position "Ref" motor facing away/right– 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

parameter 0x0002 (value 0x00C9 "Move Out")

Fig. 17 Motion task to end position LimOut with reference end position "Ref" motor facing away/right

Drive system


11.2.6 Master control

FunctionThe master control specifies which interface has the authorisation to control the EMCS-ST.During operation, only one of the following interfaces can be the master control:– digital inputs/outputs (DIO) [Logic]– IO-Link (LK) [Logic]– Operating and display component (HMI)

The display and operating component (HMI) always has higher priority than the control interface"digital inputs/outputs (DIO)" or "IO-Link (LK)" [Logic].If the pushbutton actuator lock is released, incoming travel commands are blocked and not executed.

"Digital inputs/outputs (DIO)" or "IO-Link (LK)" master controlAfter switching on the power supplies and initialising the EMCS-ST, the master control is automaticallyassigned to the "digital inputs/outputs (DIO)" control interface. The detection of an active IO-Linkmaster causes the master control to switch automatically to the "IO-Link" control interface. When theIO-Link communication is interrupted, the master control automatically returns to the "digitalinputs/outputs (DIO)" control interface.

TimingThe diagram shows the automatic transfer of the master control between the "digital inputs/outputs(DIO)" and "IO-Link (LK)" [Logic] control interfaces.

1 IO-Link master active "Control interface[Logic]"

2 Master control "DIO"

3 Master control "IO-Link"

4 LED display C/Q (system referenced)

5 LED display C/Q (system not referenced)

Fig. 18 "Digital inputs/outputs (DIO)" or "IO-Link (LK)" master control

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"Display and operating component (HMI)" master controlAfter unlocking the pushbutton actuators (HMI), the master control is automatically assigned to the"Display and operating components (HMI)" interface. When the display and operating components(HMI) are locked, the master control automatically switches back to the last active "digital inputs/out-puts (DIO)" or "IO-Link (LK)" control interface.

TimingThe 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 display C/Q

5 LED display menu "Speed Out, ..."

6 Initialisation

7 Warning or system not yet referenced

8 Error

9 Menu selection

10 Activate/parameterise/control

Fig. 19 "Display and operating components (HMI)" master control

Drive system


11.3 Operating modes

11.3.1 Dynamic state changeIt is possible to change between the states (controlled position, end position LimIn, end positionLimOut, torque-free position) dynamically, during the motion of the drive or at standstill.The following table gives an overview of the activation times of the control signals:

From... To...

Status regulatedposition

LimIn LimOut torque-freeposition

Control signals 0-0 0-1 1-0 1-1

regulatedposition

0-0 – 20 ms 20 ms 3000 ms

LimIn 0-1 20 ms – 20 ms 3000 ms

LimOut 1-0 20 ms 20 ms – 3000 ms

torque-freeposition

1-1 20 ms 20 ms 20 ms –

Tab. 23 Dynamic state change

11.3.2 Homing

FunctionIn order to be able to approach the positions 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: motor-facing reference end position "Ref"– 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 display or status information

Reference end position "Ref"During homing, the reference end position "Ref" is calculated from the calculated position of thestop "MechIn". The reference end position "Ref" is by default the absolute reference point of thedimensional reference system (drive system). A valid homing is required for all motion tasks of theend-to-end operating modes and the manual operating modes (Start Press and Demo).

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Homing statusThe "homing status" changes in the following cases:– The status is reset

– after a valid new homing– after the integrated drive has been replaced

– The status is set– after a valid new homing

HomingWith the single-turn encoder, the reference to the reference end position "Ref" in the dimensional ref-erence system is only securely retained until a logic voltage interruption (e.g. restart, power failure)occurs.

11.3.2.1 Function

The homing includes the following steps:1. Move 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. Move to the mechanical stop "MechOut" (opposite direction to selected reference end posi-

tion "Ref").4. Calculation of the end position "LimOut" position.5. Move to the end position "LimOut" position.

Fig. 20 "Homing" process

After homing, the drive remains in the "LimOut" position-controlled end position.

Drive system


11.3.2.2 Parameter

Name Description HMI(menu)

IO-Link(Index.Subindex)

Speed Ref Target velocity "Speed Ref" for the motion "MovRef"1)

1)

a+ Target acceleration for all motions 1) 1)

a– Target delay 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. 24 Parameters for homing

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11.3.2.3 Timing

Timing: homing with motor facing or left reference end position "Ref"The diagram shows the "MovRef" homing from the command "StartRef" up to reaching the "LimOut" endposition with motor facing or left reference end position "Ref" with the status data in HMI and IO-Linkoperation.Activation of the homing:– DIO: select a reference end position "Ref" in the "Reference" menu item and save the value– IO-Link: selection of a reference end position "Ref" (0x0103.0) and initiation of a homing

(0x0104.0)

Fig. 21 Homing with motor facing or left reference end position "Ref"

Drive system


Timing: homing with reference end position "Ref" motor facing away or to the rightThe diagram shows the "MovRef" homing from the command "StartRef" to reaching the "LimOut" endposition with the reference end position "Ref" motor facing away or to the right with the status data inHMI and IO-Link operation.Activation of the homing:– DIO: select a reference end position "Ref" in the "Reference" menu item and save the value– IO-Link: selection of a reference end position "Ref" (0x0103.0) and initiation of a homing

(0x0104.0)

Fig. 22 Homing with reference end position "Ref" motor facing away or to the right

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Timing: stop homingThe diagram shows stopping of the "MovRef" homing from the "Stop" command to standstill with thestatus data in the HMI and IO-Link operation. (Example: reference end position "Ref" motor facingaway or right)

Fig. 23 Stop homing (example: motor facing or left reference end position "Ref")

Drive system


11.3.3 Single end-to-end operation

11.3.3.1 FunctionIn simple end-to-end operation, the drive can be moved to both end positions "LimIn/ LimOut". Thesimple end-to-end operation of the EMCS-ST is controlled via the control interface "digital inputs/out-puts (DIO)" or "IO-Link (LK)" [Logic]. The drive is moved to the specified end position with the startsetting at the control interface [Logic]. The travel direction to the end position depends on the config-uration of the reference end position Ref. The drive can be stopped at any position of the stroke/anglerange "xIn/Out" with the stop setting. The motion is continued via the start setting at the control inter-face. When the end position "LimIn/LimOut" or the stop position "PosStop" is reached, the drive stopsposition-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 14.2.2 Process data– Index 0x0029, subindex 1, "MoveIn"– Index 0x0029, subindex 2, "MoveOut"

The following commands are available:– StartIn: velocity-controlled drive "MovIn" to the end position "LimIn (Ref)" (start/continue)– StartOut: velocity-controlled drive "MovOut" to the end position "LimOut" (start/continue)– Stop: stop motion

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 = false or


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 parameter 0x0002 (value 0x00C9 "Move Out")

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Fig. 24 "Single end-to-end operation" process

11.3.3.2 Parameter



Speed In Target velocity "Speed Out" for the motion "MovIn" Speed In 0x0100.0

Speed Out Target velocity "Speed Out" for the motion "MovOut" Speed Out 0x0101.0

a+ Target acceleration for all motions1)

1)





Tab. 25 Parameters for simple end-to-end operation

11.3.3.3 Timing

Timing: simple end-to-end operation with motor facing or left reference end position "Ref"The diagram shows the "MovOut/MovIn" motions from the command "StartOut/StartIn" up to reachingthe "LimOut/LimIn" end position with motor facing or left reference end position "Ref" with the statusdata in DIO and IO-Link mode.

Motion task StartIn






Drive system


Fig. 25 Simple end-to-end operation with motor facing or left reference end position "Ref"

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Timing: simple end-to-end operation motor facing away or with right reference end position "Ref"The diagram shows the "MovOut/MovIn" motions from the "StartOut/StartIn" command up to reachingthe end position "LimOut/LimIn" with the motor facing away or right reference end position "Ref" withthe status data in DIO and IO-Link mode.

Motion task StartIn






Drive system


Fig. 26 Simple end-to-end operation with motor facing away or to the right reference end posi-tion "Ref"

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Timing: simple end-to-end drive stop and continueThe diagram shows the stopping and continuing of the "MovOut" motions from the command"StopOut" up to reaching the "LimOut" end position with the reference end position "Ref" motor facingaway or right with the status data in DIO and IO-Link mode.


– 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


Motion task StopOut

– Activation of the motion task DIO: digital input DI1 "MovIn" = 0 and DI2 "MovOut" = 0– Activation of the motion task IO-Link: parameter 0x0029.1 = false and 0x0029.2 = false or

system parameter 0x0002 (value 0x00CA "Stop motion")

Drive system


Fig. 27 Stop and resume simple end-to-end motion (example: with reference end position "Ref" motorfacing away or to the right)

Drive system

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11.3.4 End-to-end operation with press function

11.3.4.1 FunctionIn end-to-end operation with press function, the drive can be moved to both end positions "LimIn/LimOut". When moving to the end position "LimOut", the velocity is controlled until the Start Press posi-tion "PosStart Press" is reached and then the force-controlled motion continues. The end position"LimIn" is only approached with velocity control. The EMCS-ST controls the end-to-end operation withpress function via the "digital inputs/outputs (DIO)" or "IO-Link (LK)" [Logic] control interface . Thetravel direction to the end position depends on the configuration of the reference end position Ref.The drive can be stopped at any position of the stroke/angle range "xIn/Out" with the stop setting. Themotion is continued via the start setting at the control interface. When the end position "LimIn/LimOut"or the stop position "PosStop" is reached, the drive stops position-controlled.The press function is activated via the default "Start Press Position PosStart Press . end position LimOut".The specification can be made via the following interfaces:– Display and operating components (HMI): "Start Press" menu– IO-Link (LK), acyclic process data: position "xStart Press", index 0x0105, subindex 0Control is via the following interfaces:– Digital inputs/outputs (DIO)

– Digital input DI1, "MovIn" [Logic]– Digital input DI2, "MovOut" [Logic]

– IO-Link (LK) è 14.2.2 Process data– Index 0x0029, subindex 1, "MoveIn"– Index 0x0029, subindex 2, "MoveOut"

The following commands are available:– StartIn: velocity and force controlled drive "MovIn" to end position "LimIn (Ref)" (start/resume)– StartOut: velocity and force controlled drive "MovOut" to the end position "LimOut" (start/continue)– StopIn/StopOut: stop motion

Force is controlled and evaluated by closed-loop control of the motor current. A torque level or a linearforce 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 onthe 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.

Motion task StartIn






Drive system


Fig. 28 "End-to-end operation with press function" process

11.3.4.2 Parameter





Force Target force/torque "Force" for the drive "MovIn" from theStart Press Position "PosStart Press"

Force 0x0102.0

a+ Target acceleration for all motions1)

1)



LimOut Position of the "LimOut" end position End Posi-tion Out

0x0106.0

PosStart Press Position of the Start Press "PosStart Press" position Start Press 0x0105.0


Tab. 26 Parameters for end-to-end operation with press function

11.3.4.3 Timing

Timing: end-to-end operation with press function at motor-facing or left reference end position"Ref"The diagram shows the "MovOut with press function/MovIn" motions from the "StartOut/StartIn" com-mand up to reaching the "LimOut/LimIn" end position with motor facing or left reference end position"Ref" with the status data in DIO and IO-Link mode.

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Motion task StartIn






Drive system


Fig. 29 End-to-end operation with press function at motor-facing or left reference end position "Ref"

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Timing: end-to-end operation with press function with reference end position "Ref" motor facingaway or to the rightThe diagram shows the "MovOut with press function/MovIn" motions from the "StartOut/StartIn" com-mand up to reaching the "LimOut/LimIn" end position with the reference end position "Ref" motorfacing away or right with the status data in DIO and IO-Link mode.

Motion task StartIn






Drive system


Fig. 30 End-to-end operation with press function with reference end position "Ref" motor facing awayor to the right

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Timing: stop and continue end-to-end travel with press functionThe diagram shows stopping and continuing the "MovOut with press function" motions from the"StopOut" command up to reaching the "LimOut" end position with the reference end position "Ref"motor facing away or right with the status data in DIO and IO-Link mode.


– 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


Motion task StopOut

– Activation of the motion task DIO: digital input DI1 "MovIn" = 0 and DI2 "MovOut" = 0– Activation of the motion task IO-Link: parameter 0x0029.1 = false and 0x0029.2 = false or

system parameter 0x0002 (value 0x00CA "Stop motion")

Drive system


Fig. 31 Stop and continue end-to-end travel with press function (example: with reference end position"Ref" motor facing away or to the right)

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11.3.5 Manual Operation (Demo)

11.3.5.1 FunctionIn manual operation, the drive can be moved to both end positions "LimIn/ LimOut". Manual operationof the EMCS-ST is controlled by the pushbutton actuators of the control elements (HMI). Pressing anarrow pushbutton, moves the drive to the specified end position. The direction of travel to the endposition depends on the configuration of the reference end position Ref. The drive can be stopped atany position in the stroke/angle range "xIn/Out" by pressing the opposite arrow pushbutton actuator.The motion is continued by pressing an arrow push button. When the end position "LimIn/LimOut" orthe stop position "PosStop" is reached, the drive stops position-controlled.The following commands are available:– Start Velocity-controlled motion "MovIn" to the end position "LimIn (Ref)" (start/continue)– Start Velocity-controlled motion "MovOut" to the end position "LimOut" (start/continue)– Stop: stop motionManual 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 Parameter





a+ Target acceleration for all motions1) –

a– Target delay for all motions 1) –

LimIn Position of the "LimIn" end position 1) –



Tab. 27 Parameters for manual operation (Demo)

Drive system


11.3.5.3 TimingThe diagram shows the demo motions "MovOut/MovIn" of the "Start /Start " command until the"LimOut/LimIn" end position is reached.

Fig. 32 Demo run

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12 Maintenance and careIf used as intended, the product is maintenance-free.• Clean the outside of the product with a soft cloth.

13 Diagnostics and malfunctions

13.1 Diagnostics via LED displays

13.1.1 LED display "C/Q" (communication and device status)

LED Meaning

Off

– no logic voltage– Control interface "digital inputs/outputs (DIO) or IO-Link (LK) [Logic]" not

active

green on

– Control interface "digital inputs/outputs (DIO) [Logic]" active, drive readyfor DIO operation(communication between controller and EMCS-ST possible)

green flashing

– Control interface "IO-Link (LK) [Logic]" active(communication between IO-Link master and EMCS-ST possible)

yellow on

– Warning active or system not referenced(The warning can be read out via the IO-Link interface)

red on

– Error active(Errors are displayed via the LED displays menu and parameters or can beread out via the IO-Link interface)

Tab. 28 LED display "C/Q" (communication and device status)

Maintenance and care


13.1.2 LED display "Menu"

In conjunction with fault diagnostics, the "Menu" LED display is also used to display error codes.

Function LED Meaning

blue on

– Menu "Speed Out, Speed In or Force" selected"Speed Out""Speed In"Force

blue flashing

– Menu "Speed Out, Speed In or Force" activated– Setpoint value can be parameterised

blue on

– Menu "Reference" selected– Drive system referenced– Homing stopped

"Reference"

blue flashing

– Menu "Reference" activated– Reference end position configurable– Start homing

blue on

– Start Press" menu selected"Start Press"

blue flashing

– Start Press" menu activated– Start "Start Press" motion

blue on

– Demo" menu selected"Demo"

blue flashing

– Demo" menu activated– Start "Demo" motion

Tab. 29 LED display "Menu"

Diagnostics and malfunctions

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13.1.3 LED display "Parameter"

Function LEDs Meaning

10% of maximum value

20% of maximum value… …


"Speed Out""Speed In""Force"1)


1) The force is controlled and evaluated by regulating the motor current. A torque level or a linear force can be determined from the levelof current measured depending on the mechanism of the drive. The target is set as a percentage of the rated motor current and maydeviate 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.

Tab. 30 LED display "Parameter"

13.2 Diagnostic messagesDiagnostic messages are classified as information, warnings or errors. If an error occurs, operation isinterrupted and the output stage is switched off. Warnings and errors remain active until the cause ofthe event has been corrected. After the cause has been eliminated, warnings are automatically deletedfrom the diagnostic memory with the next motion task. If errors occur, the error must be acknow-ledged.

13.2.1 Acknowledge errorsCorrected errors must be acknowledged.Errors can be acknowledged as follows:– Restart (removal of logic voltage)– IO-Link Parameters (Quit Error)The error is automatically deleted from the diagnostic memory on acknowledgement.Errors on the EMCS-ST can be acknowledged via the following interfaces:

Error acknowledgmentOperation

Restart:Logic voltage = 0 V DC

IO-Link parameters:Quit Error, 0x0029.3 = true

DIO operation (digitalinputs/outputs)

Yes No

IO-Link operation Yes Yes

Tab. 31



13.2.2 Diagnostic messages and fault clearanceThe LED displays C/Q, Parameter and Menu show the following diagnostic messages (information,warnings and errors) for the operation "digital inputs/outputs (DIO), IO-Link (LK) and display andoperating components (HMI)".

The first error that occurred is always displayed first.

Fig. 33 Display of diagnostic messages (example)

Errorcode

Description LED displays Eventcode

hex(dec)

C/Q Menu Parameter (IO-Link)

Informationz Waiting for motion task to

initialise the reference endposition

0x8CA0

z Motion to initialise the refer-ence end position isexecuted

yellowon

z z

0x8CA1

Warningz Invalid value for "Start

Press" position1)

z 0x8CA2

z Invalid value for Limout endposition1)

z 0x8CA3

z I2t monitoring output stagewarning1)

0x8CA4

z Warning threshold deviceovertemperature1)

yellowon1)

z z

0x4210


68 Festo — EMCS-ST — 2019-07

Errorcode

Description LED displays Eventcode

hex(dec)

C/Q Menu Parameter (IO-Link)

z Warning threshold: temper-ature in device too low1)

yellowon1)

z z 0x4220

Errorz Common device error

è Contact Festo

… 0x1000

0x000F(15)

I2t monitoring output stageerror

0x1805

0x0016(22)

Logic voltage undersupply2) 0x1804

0x0017(23)

Logic voltage oversupply 0x1803

0x0026(38)

Load voltage undersupply ornot connected

0x1802

0x0027(39)

Load voltage oversupply 0x1801

0x0031(49)

Device undertemperature

0x0033(51)

Device overtemperature

0x4000

0x012F(303)

IO-Link connection lost

red on

z

1) only for IO-Link operation2) This error can only be acknowledged by a restart.

Tab. 32 Diagnostic messages "Information, warnings and errors"



13.3 RepairRepair or maintenance of the product is not permissible. If necessary, replace the complete product.– In case of an internal defect: replace the product.– Send the defective product unchanged with a description of the fault and application to Festo for

analysis.– Check with your regional Festo contact person to clarify the conditions for the return shipment.

14 IO-Link

14.1 Device description file IODD

The boot time of the integrated drive EMCS-ST is 1 s and deviates from the IO-Link specification.

Depending on the drive system, device description files (IODD files) are available for configuring theintegrated drive EMCS-ST in IO-Link operation.

Drive system IODD file name

Linear

Mini slide unit EGSS Festo-EGSS-...-IODD1.1.xml

Spindle axis unit ELGS-BS Festo-ELGS-BS-...-IODD1.1.xml

Toothed belt axis unit ELGE-TB Festo-ELGE-TB-...-IODD1.1.xml

Toothed belt axis unit ELGS-TB Festo-ELGS-TB-...-IODD1.1.xml

Rotary

Rotary drive unit ERMS Fixed ERMS-...-IODD1.1.xml

Tab. 33 Device description file IODD

The current device description files are available on the Festo Support Portal è www.festo.com/sp.

14.2 IO-Link ParametersThe following parameter groups are available for configuration and operation of the integrated drive inan IO-Link network:– Identification parameters (IDs, version numbers, ...)– Process data (commands, status information, ...)– Device data (setpoints and actual values, limit values, ...)– System parameters (control functions for application software, ...)

14.2.1 Identification parametersThe identification parameters contain all manufacturer-specific device data (e.g. IDs, version num-bers) in order to identify the integrated EMCS-ST drive in the IO-Link network. The identification data isexchanged acyclically between the IO-Link master and the EMCS-ST on request by the IO-Link Master.

IO-Link

70 Festo — EMCS-ST — 2019-07


Index.Subindex

Name Description Unit User access1)

U = UserM = Maintenance per-sonnelS = Specialist

U M S

0x0007.0(7.0)

VendorID1(MSB)

Manufacturer ID (4 digits) 0x014DMost significant byte 0x01...

– R R R

0x0008.0(8.0)

VendorID2(LSB)

Manufacturer ID (4 digits) 0x014DLowest byte 0x...4D

– R R R

0x0009.0(9.0)

DeviceID1(MSB)

Device ID (6-digit) 0x0002xxMost significant byte 0x00

– R R R

0x000A.0(10.0)

DeviceID2 Device ID (6-digit) 0x0002xxMiddle byte 0x...02...

– R R R

0x000B.0(11.0)

DeviceID3 (LSB) Device ID (6-digit) 0x0002xxLeast significant byteè Tab. 35 Device IDs

– R R R

0x0010.0(16.0)

Vendor Name Name of the manufacturer "Festo SE & Co. KG"

– R R R

0x0011.0(17.0)

Vendor Text URL address of the manufacturer"http://www.festo.com"

– R R R

0x0012.0(18.0)

Product Name Complete type code of the driveunit

– R R R

0x0013.0(19.0)

Product ID Part number of the drive unit – R R R

0x0014.0(20.0)

Product Text Group designation of the driveunit

– R R R

0x0015.0(21.0)

Serial Number Product key of the drive unit – R R R

0x0016.0(22.0)

Hardware Revi-sion

Hardware version of the EMCS-ST – R R R

0x0017.0(23.0)

Firmware Revi-sion

Firmware version of the EMCS-ST – R R R

0x0018.0(24.0)

ApplicationSpecific Tag

Text field for application informa-tion

– R/W R/W R/W

0x0019.0(25.0)

Function Tag Text field for function information – R/W R/W R/W

IO-Link


Index.Subindex



U M S

0x001A.0(26.0)

Location Tag Text field for location information – R/W R/W R/W

0x0020(32.0)

Error Count Error counter reading since lastPower ON or Reset

– R R R

0x000C.4(12.4)

Device AccessLock

Access to the display and operat-ing components (HMI)– true: HMI access blocked– false: HMI access enabled

– – R/W R/W

1) R/W = read and write, R = read only, W = write only

Tab. 34 Identification parameters

Drive unit

ELGS-TB ELGS-BS EGSS ELGE-TB ERMS

Device ID 0x000259(601)

0x00025A(602)

0x00025B(603)

0x00025C(604)

0x00025D(605)

Tab. 35 Device IDs

14.2.2 Process dataThe process data contains all control and status data (e.g. commands, status information) required tooperate the drive system. The process data is cyclically exchanged between IO-Link master andEMCS-ST.

IO-Link

72 Festo — EMCS-ST — 2019-07

Index.Subindex



U M S

Device è Master

0x0028.1(40.1)

State "In" Status at reference end position"Ref"/End position "LimIn"– true: reference end position

"Ref"/end position "LimIn"reached

– false: reference end position"Ref"/end position "LimIn"not reached

– R R R

0x0028.2(40.2)

State "Out" Status at end position "LimOut"– true: end position "LimOut"

reached– false: end position "LimOut"

not reached

– R R R

0x0028.3(40.3)

State "Move" Status of the drive motion– true: drive in motion– false: drive at standstill

– 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

– R R R

Master è Device

0x0029.1(41.1)

Move "In" Command for simulating anapplied digital input 1 (DI1).Control signal for executing themotion "MovIn" to the referenceend position "Ref"/end position"LimIn".This signal works in conjunctionwith Move "Out"è Fig.34.

– R/W R/W R/W

IO-Link


Index.Subindex



U M S

0x0029.2(41.2)

Move "Out" Command for simulating anapplied digital input 2 (DI2).Control signal for executing themotion "MovOut" to the end posi-tion "LimOut".This signal works in conjunctionwith Move "In" è Fig.34.

– R/W R/W R/W

0x0029.3(41.3)

Quit Error Command for acknowledgingerrors– true: start error acknowledge-

ment– false: do not start error

acknowledgement

– R/W R/W R/W


Tab. 36 Process data

Control end-to-end operationThe process data "0x0029.1" and "0x0029.2" are evaluated together for the control of the drive inend-to-end operation. The figure shows the control functions for executing or stopping the drive inend-to-end operation.

Fig. 34 Control end-to-end operation

IO-Link

74 Festo — EMCS-ST — 2019-07

14.2.3 Device dataThe device parameters contain all application data (e.g. setpoints and actual values, limit values, ...)for operating the drive system. Changes to the device data are exchanged acyclically between the IO-Link master and EMCS-ST.

Index.Subindex



U M S

Device è Master

0x0100.0(256.0)

Speed "In" Speed level for motion "MovIn" toreference end position "Ref"/Endposition "LimIn"(10, 20, ..., 100% of maximumvalue)

[%] – R/W R/W

0x0101.0(257.0)

Speed "Out" Speed level for the motion"MovOut" to the end position"LimOut"(10, 20, ..., 100% of maximumvalue)

[%] – R/W R/W

0x0102.0(258.0)

Force2) Force/torque stage for the force-controlled motion "MovOut" fromthe position "PosStart Press" to theend position "LimOut"(10, 20, ..., 100% of maximumvalue)

[%] – R/W R/W

0x0103.0(259.0)

Reference Position of the reference end posi-tion "Ref"– true: away from engine / right– false: motor facing/left

– – R/W R/W

0x0104.0(260.0)

Execute "Refer-ence" motion

Command for carrying out thehoming (detection of the mechan-ical end positions)– true: start homing– false: do not start homing

– – W W

IO-Link


Index.Subindex



U M S

0x0105.0(261.0)

"Start Press"position

Stroke/angle of rotation "xStart

Press" from the reference end posi-tion "Ref" to the position "StartPress" (Defined position on thestroke at which the drive changesto the force-controlled motion –defined as distance to the refer-ence end position)

[mm]; [°]

– R/W R/W

0x0106.0(262.0)

End Position"Out"

Stroke/angle of rotation "xOut"from the reference end position"Ref" to the end position "LimOut"(Defines position on the stroke atwhich the actuator stops becauseit has reached its end position–defined as distance to the refer-ence end position)

[mm]; [°]

– R/W R/W

0x0107.0(263.0)

Quit Error Command for acknowledgingerrors– true: start error acknowledge-

ment– false: do not start error

acknowledgement

– – W W

Master è Device

0x0120.0(288.0)

Current position Current position of the drive (withreference to the reference endposition "Ref")

[mm]; [°]

R R R

0x0121.0(289.0)

Current speed Current speed of the drive [mm/s]; [rpm]

R R R

0x0122.0(290.0)

Current force2) Current force/current torque withpress function

[N]; [Nm]

R R R

0x0123.0(291.0)

Current temper-ature

Current temperature of the outputstage

[°C] R R R

IO-Link

76 Festo — EMCS-ST — 2019-07

Index.Subindex



U M S

0x0124.0(292.0)

Current electriccurrent

Current consumption at the motor [A] R R R

0x0125.0(293.0)

Current electricvoltage

Current DC link voltage [V DC] R R R

0x0126.0(294.0)

Number ofcycles total3)

Number of completed drive unitcycles since delivery

– R R R

0x0127.0(295.0)

Number ofcycles sincereset3)

Number of completed cycles ofthe drive unit since the last reset

– R R R

0x0128.0(296.0)

Mileage total3) Mileage of the drive unit sincedelivery

[km]; [rev.]

R R R

0x0129.0(297.0)

Mileage sincereset3)

Mileage of the drive unit since thelast reset

[km]; [rev.]

R R R

0x012A.0(298.0)

Reset cycle &mileage

Reset cycle and mileage counter– true: reset counter– false: do not reset counter

– W W W

1) R/W = read and write, R = read only, W = write only2) The force 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 maydeviate 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 stored in the memory every 15 minutes. After a restart, the value corresponds to the status of the last save process.Changes made after the last save are lost.

Tab. 37 Device data

14.2.4 System parametersThe system parameters contain all command data (e.g. start and stop, power stage control, ...) thatare displayed as buttons in the application software interface to control the drive system.

IO-Link


Index.Subindex

Value Name Description User access1)


U M S

0x00C8(200)

Move In Command for immediate execu-tion of the motion "MovIn" to thereference end position "Ref"/endposition "LimIn".

– W W

0x00C9(201)

Move Out Command for immediate execu-tion of the motion "MovOut" to theend position "LimOut".

– W W

0x00CA(202)

Stop motion Command for immediate execu-tion of a drive standstill. Defendthe reached position.

– W W

0x00CB(203)

Disable powerstage

Command for immediate execu-tion of a torque-free drive stand-still. Switching off the outputstage and torque free drive stand-still (no STO).

– W W

0x00CC(204)

Enable outputstage

Order to switch on the outputstage and defend the reachedposition.

– W W

0x0002.0(2.0)

0x00CD(205)

Restore factorysettings

Command to reset the drive unitto factoryè 11.2.2 Factory settingssettings .After reset to the factory settings,the drive must bereferencedè 11.3.2 Homing.

– W W


Tab. 38 System parameters

IO-Link

78 Festo — EMCS-ST — 2019-07

Signal combinations of the input process data MoveIn and MoveOut

MoveIn MoveOut Description

0 0 No motion.The drive remains in its last reached position and actively defends itwith the maximum force of the drive (100%).

0 1 The drive moves in the direction of its working end position.Feed and holding force:– Velocity controlled = maximum force of the drive (100%)– Force controlled = set force (10% … 100% of maximum force)

1 0 The drive moves in the direction of its reference end position.Feed and holding force = maximum force of the drive (100%)

1 1 No motion.After 3000 ms the drive remains powerless and torque-free at its lastreached position and does not defend it. Depending on the mechanics,the drive can be moved manually from its position.

Tab. 39 Signal combinations of the input process data MoveIn and MoveOut

Signal combinations of the output process data StateIn and StateOut

StateIn StateOut Description

0 0 The drive is in neither of the two end positions (between reference andworking end position)

0 1 The drive is in its working end position.

1 0 The drive is in its reference end position.

1 1 Critical error

Tab. 40 Signal combinations of the output process data StateIn and StateOut

15 Disassembly1. Switch off the power supplies and lock them to prevent them from being switched on again.2. Let the device cool down to room temperature.3. Disconnect all electrical cables.4. Disassemble the drive system.

16 DisposalENVIRONMENT!

Send the packaging and product for environmentally sound recycling in accordance with the currentregulations è www.festo.com/sp.

Disassembly



17 Technical data

17.1 Technical data, general

Type EMCS-ST-42-... EMCS-ST-57-...

Type of mounting Direct mounting to actuator, screwed

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 withreduction of duty cycle"–2%/°C"

[°C] 30 … 50

Permissible setup altitudeabove sea level

[m] 0 … 4000

Setup altitude above sea levelwith reduction of dutycycle "–1.2%/100 m"

[m] 1000 … 4000

Degree of protection with andwithout mating connector[Logic] [Power]

IP40

Insulation class according toEN 60034-1

B (130 °C)

Protection class III (safety extra-low voltage)

Overvoltage category III

Contamination level 2

Service life [h] 20000 (if derating is adhered to)

CE marking(Declaration of Conformityè www.festo.com/sp)

In accordance with EU EMC DirectiveIn accordance with EU RoHS

Additional approvals – RCM compliance mark– KC Mark (R-R-FTO-KC-2018-1082)

Technical data

80 Festo — EMCS-ST — 2019-07



Vibration resistance according to EN 61800-2 and EN 61800-5-1Severity level 2

Shock resistance in accordance with EN 61800-2Severity 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] Duration [ms] Shocks per direction

SL1 SL2 SL1 SL2 SL1 SL2

±150 ±300 11 11 5 5

Continuous shock load

Acceleration [m/s2] Duration [ms] Shocks per direction

±150 6 1000

Tab. 42 Features of severity level (SL)

Technical data


1 Duty cycle 2 Ambient temperature

Fig. 35 Duty cycle as a function of ambient temperature

Technical data

82 Festo — EMCS-ST — 2019-07

17.2 Technical data, electrical

17.2.1 Power supply


Power supply

Nominal voltage [V DC] 24

Voltage range [V DC] 24 ± 15 %

Nominal current at 24 V [A] 3.0 5.3

Protective functions – Protection against polarity reversal– Overcurrent protection

(Fuse 10 A, not resettable)

Logic power supply


Voltage range [V DC] 24 ± 15 %

Current consumption with digit-al inputs/outputs (DIO),encoders and display elementsloaded

[A] 0.15

Protective functions – Protection against polarity reversal– Overcurrent protection

(Fuse 2 A, not resettable)

Tab. 43 Technical data: power supply

Technical data


17.2.2 Digital inputs (DI)



Voltage range [V DC] −3 … +30

Level

Logic level based onEN 61131-2, Type 1

PNP, NPN

Min. pulse length (high or low) [ms] 20

High level (1) for PNP1)

Max. input voltage Ui max [V] 30

Min. input voltage UH min [V] 15

Max. input current IH max [mA] 15

Min. input current IH min [mA] 2

Low level (0) for PNP1)

Max. input voltage UL max atIL 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. 36 Working ranges of the digital inputs (DI) for PNP

Technical data

84 Festo — EMCS-ST — 2019-07

17.2.3 Digital outputs (DO)



Voltage range [V DC] 0 … 30

Level

Logic level based onEN 61131-2, Type 1

PNP, NPN

Permissible output current [mA] 100

Protective function – Short-circuit proof– Feedback-proof– Overvoltage-resistant up to 30 V

Tab. 45 Technical data, digital outputs (DO)

Technical data


17.2.4 IO-Link


Protocol version 1.1.2

Profile Common Profile

Function classes BinaryDataChannelProcessDataVariableIdentificationDiagnosisTeach channel

Communication mode COM3 (230.4 kbaud)

SIO-Mode support Yes

Port class A

Process data length OUT [Bytes] 2

Process data content OUT 1 bit (Move In)1 bit (Move Out)1 bit (Quit Error)

Process data length IN [Bytes] 2

Process data content IN 1 bit (State In)1 bit (State Out)1 bit (State move)1 bit (State Device)

Min. cycle time [ms] 1

Data storage required [Kbyte] 0.5

Device ID è Tab. 35 Device IDs

Tab. 46 Technical data IO-Link

Technical data

86 Festo — EMCS-ST — 2019-07

17.2.5 Motor (integrated)


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 inertia moment [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)


Single-turn angular resolution [bit] 16 (65536 steps/revolution)

Multi-turn encoder No

Tab. 48 Technical Data, Absolute Encoder Single-turn

17.2.7 Temperature sensor (integrated)


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, temperature monitoring Output stage

Technical data


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Copyright:Festo SE & Co. KG Ruiter Straße 82 73734 Esslingen Germany

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www.festo.comInternet:

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Documents

Festo A5 1spaltig...– Stepper motor for driving the connected actuator technology – Encoder for detecting the current position – Electronics for intermediate circuit voltage