Festo EMCA-EC-67 CO Series Instrucciones de funcionamiento e instalación

Description

FHPP device profile

For fieldbus:

– CANopen

– EtherCAT

– EtherNet/IP

– Modbus TCP

–PROFINET

8079765

2017-11e

[8079767]

EMCA-EC-67-...-CO/DIO/EC/EP/PN

Integrated Drive

EMCA-EC-67-...-CO/DIO/EC/EP/PN

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

Original instructions

EMCA-EC-C-HP-EN

BECKHOFF®,CANopen®,CiA®,CODESYS®,EtherCAT®,EtherNet/IP®,MODBUS®,Omron®,PROFIBUS

PROFINET®,Rockwell®are registered trademarks of the respective trademark owners in certain coun

tries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries

Caution

Hazards that can cause minor injuries

Other symbols:

Note

Material damage or loss of function

Recommendations, tips, references to other documentation

Essential or useful accessories

Information on environmentally sound usage

Text designations:

 Activities that may be carried out in any order

1. Activities that should be carried out in the order stated

– General lists

EMCA-EC-67-...-CO/DIO/EC/EP/PN

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Table of Contents – EMCA-EC-67-...-CO/DIO/EC/EP/PN

1 FHPP device profile

(Festo Handling and Positioning Profile) 17......................................

1.1 FHPP overview 17............................................................

1.2 Fieldbus interfaces 18........................................................

1.2.1 Fieldbus interfaces of the EMCA 18.....................................

2 CANopen 21................................................................

2.1 CiA standards 21............................................................

2.2 CAN bus/CANopen interface of the EMCA 22......................................

2.2.1 CANopen display component 22........................................

2.2.2 CAN bus ports 23...................................................

2.2.3 Termination of the CAN bus (terminating resistor) 24.......................

2.2.4 CAN bus cabling 25..................................................

2.2.5 CAN bus cable 26...................................................

2.3 Configure CANopen participants 26.............................................

2.3.1 Configure EMCA 27..................................................

2.3.2 Commission EMCA with the Festo Configuration Tool (FCT) 30................

2.3.3 Configure CANopen master 30.........................................

2.4 Required digital inputs for operation 31..........................................

2.5 Data interfaces (parameter/firmware) 32.........................................

3 EtherCAT with FHPP 34.......................................................

3.1 ETG standards 34............................................................

3.2 EtherCAT interfaces on the EMCA 35.............................................

3.2.1 EtherCAT display elements 35..........................................

3.2.2 EtherCAT connections 36.............................................

3.2.3 EtherCAT wiring 37..................................................

3.2.4 EtherCAT cable 37...................................................

3.2.5 Termination of the EtherCAT bus 37.....................................

3.3 EtherCAT communication 38...................................................

3.3.1 Overview: EtherCAT communication and synchronization 38.................

3.3.2 EtherCAT Slave Controller ESC 40.......................................

3.3.3 Protocol 40........................................................

3.4 EtherCAT final state machine 42................................................

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3.5 Sync Manager 45............................................................

3.5.1 Sync Manager communication 45.......................................

3.5.2 Object 1C00h: Sync manager communication type 46.......................

3.5.3 Object 1C10h: Sync manager 0 PDO assignment 47........................

3.5.4 Object 1C11h: Sync manager 1 PDO assignment 47........................

3.5.5 Object 1C12h: Sync manager 2 PDO assignment 48........................

3.5.6 Object 1C13h: Sync manager 3 PDO assignment 49........................

3.5.7 Sync Manager synchronization 50......................................

3.5.8 Object 1C32h: Sync manager 2 synchronization 50.........................

3.5.9 Object 1C33h: Sync manager 3 synchronization 51.........................

3.6 Distributed Clocks DC 52......................................................

3.7 Process data communication 53................................................

3.7.1 PDO Mapping 53....................................................

3.7.2 Object 1600h: 1st receive PDO mapping RxPDO1 54........................

3.7.3 Object 1601h: 2nd receive PDO mapping RxPDO2 55.......................

3.7.4 Object 1602h: 3rd receive PDO mapping RxPDO3 56.......................

3.7.5 Object 1603h: 4th receive PDO mapping RxPDO4 57.......................

3.7.6 Object 1A00h: 1st transmit PDO mapping TxPDO1 58.......................

3.7.7 Object 1A01h: 2nd transmit PDO mapping TxPDO2 59......................

3.7.8 Object 1A02h: 3rd transmit PDO mapping TxPDO3 60.......................

3.7.9 Object 1A03h: 4th transmit PDO mapping TxPDO4 61.......................

3.8 Mailbox communication 62....................................................

3.8.1 SDO Communication 62..............................................

3.8.2 SDO Read command (SDO upload) 63...................................

3.8.3 SDO Write command (SDO download) 64................................

3.8.4 SDO Error message (Abort SDO transfer request) 65........................

3.8.5 Emergency Communication 67.........................................

3.8.6 Object 1001h: Error register 68........................................

3.8.7 Error messages (Error code) 69........................................

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3.9 Device data 74..............................................................

3.9.1 Object 1000h: Device type 74..........................................

3.9.2 Object 1008h: Manufacturer device name 74.............................

3.9.3 Object 1009h: Manufacturer hardware version 75..........................

3.9.4 Object 100Ah: Manufacturer software version 75..........................

3.9.5 Object 1018h: Identity object 76.......................................

3.10 Load and save parameter sets 77...............................................

3.10.1 Object 20F1h: EEPROM command 77....................................

3.11 Configuration of EtherCAT participants 78........................................

3.12 Parameterisation with the Festo Configuration Tool (FCT) 78..........................

3.12.1 Parameterisation of the EtherCAT interface 78............................

3.12.2 Setting the optional use of FPC and FHPP+ 78.............................

3.13 Commissioning with the Festo Configuration Tool (FCT) 79...........................

3.14 Configuring the EtherCAT master 80.............................................

3.14.1 Device description file (ESI) 80.........................................

3.14.2 Function element 80.................................................

3.14.3 Addressing of the EMCA 80............................................

3.14.4 Cycle time 80.......................................................

4 EtherNet/IP with FHPP 81.....................................................

4.1 ODVA standards 81..........................................................

4.2 EtherNet/IP interface of the EMCA 82............................................

4.2.1 EtherNet/IP display components 82.....................................

4.2.2 EtherNet/IP connections 83...........................................

4.2.3 EtherNet/IP copper cabling 83.........................................

4.3 Configuration EtherNet/IP stations 84...........................................

4.3.1 Parameterisation of the Ethernet/IP interface 84..........................

4.3.2 Commissioning with the Festo Configuration Tool (FCT) 84...................

4.3.3 Setting the IP address 84.............................................

4.3.4 Setting the optional use of FPC and FHPP+ 85.............................

4.4 Configure EtherNet/IP Master 86...............................................

4.4.1 Electronic data sheet (EDS) 86.........................................

4.4.2 Function element 86.................................................

4.4.3 Cycle time 86.......................................................

5 Modbus TCP with FHPP 88....................................................

5.1 Modbus TCP interface of the EMCA 90...........................................

5.1.1 Modbus display components 90........................................

5.1.2 Ethernet port 91....................................................

5.1.3 Ethernet cabling 91..................................................

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5.2 Parameterisation of the Modbus TCP subscriber 92.................................

5.2.1 Parameterisation with the FCT plug-in EMCA 92...........................

5.3 Configure Modbus master 94..................................................

5.3.1 IP address 94.......................................................

5.3.2 Function element 94.................................................

5.3.3 Cycle time 94.......................................................

5.3.4 Modbus command and address assignment 94............................

5.3.5 Quantity of registers/Byte count values for process data 95..................

5.3.6 Read process data, Function code 0x03 (Read holding registers) 96...........

5.3.7 Write process data, Function code 0x10 (Write multiple registers) 97..........

5.3.8 Read/write process data, Function code 0x17

(Read/write multiple registers) 98......................................

5.3.9 Read exception status, Function code 0x07 (Read exception status) 99........

5.3.10 Read device identification, Function code 0x2B (Read device identification) 100..

5.3.11 Data objects for Modbus command “Read Device Identification” 101...........

5.3.12 Monitoring functions 101..............................................

6 PROFINET IO with FHPP 102....................................................

6.1 Standards 102...............................................................

6.2 PROFINET interface of the EMCA 103.............................................

6.2.1 PROFINET display components 103......................................

6.2.2 PROFINET connections 104.............................................

6.2.3 PROFINET copper wiring 104...........................................

6.3 PROFINET communication 105..................................................

6.3.1 Conformance classes CC 105...........................................

6.3.2 Real-time classes RTC 105..............................................

6.3.3 Supported protocols 106..............................................

6.4 Configuration of PROFINET participants 107........................................

6.5 Parameterisation with the Festo Configuration Tool (FCT) 107..........................

6.5.1 Parameterisation of the PROFINET interface 107............................

6.5.2 Setting the PROFINET-IP address 107....................................

6.5.3 Setting of FPC and FHPP+ (optional) 108..................................

6.6 Commissioning with the Festo Configuration Tool (FCT) 108...........................

6.6.1 Permanent storage of network settings and device name 108.................

6.7 Identification & maintenance function (I&M) 110....................................

6.8 Configuration of PROFINET master 111............................................

6.8.1 Device description file (GSDML) 111.....................................

6.8.2 Function element 111.................................................

6.8.3 Cycle time 111.......................................................

6.9 Channel diagnosis 112.........................................................

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7 FHPP 114...................................................................

7.1 FHPP communication 114......................................................

7.1.1 Function 114........................................................

7.1.2 Structure of the FHPP message 115......................................

8 FHPP standard data (I/O data) 117..............................................

8.1 FHPP finite state machine (sequence control) 117...................................

8.1.1 “Achieve ready status” status transitions 118..............................

8.1.2 Status transitions “Operation enabled” 120...............................

8.2 Structure of the FHPP standard data (I/O data) 123..................................

8.2.1 Function 123........................................................

8.2.2 Structure of the FHPP message 123......................................

8.2.3 Structure of the FHPP standard data 124..................................

8.3 FHPP control and status data 126................................................

8.3.1 Overview: FHPP control data 126........................................

8.3.2 Overview: FHPP status data 128.........................................

8.3.3 Description: control bytes 130..........................................

8.3.4 Description: status bytes 134...........................................

9 Measuring reference system 141................................................

9.1 Configure dimensional reference system 141.......................................

9.1.1 Dimension reference system for linear drives 142...........................

9.1.2 Dimension reference system for rotative drives 143.........................

9.1.3 Calculation rules for the dimension reference system 144....................

9.1.4 Limit switch LSN/LSP (hardware) 144....................................

9.1.5 Software end position SLN/SLP 144......................................

9.2 Increments 145..............................................................

9.2.1 Encoder increments [EINC] 145..........................................

9.2.2 Interface increments [SINC] 145.........................................

9.3 Factor group (Factor Group) 145.................................................

9.3.1 Exponents 145.......................................................

9.4 Parameters for position determination 147........................................

9.4.1 Conversion factors 147................................................

EMCA-EC-67-...-CO/DIO/EC/EP/PN

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10 Control via FHPP 149..........................................................

10.1 Establish ready status 151......................................................

10.1.1 Establish ready status 152.............................................

10.2 Cancel travel/positioning task with “Halt” or “Stop” 153..............................

10.2.1 Cancel homing, jog, speed or force/torque mode “Halt” 153..................

10.2.2 Cancel homing, jog, record selection or direct mode with “Stop” 153...........

10.3 Master control and access protection 154.........................................

10.3.1 Master control over the EMCA 154.......................................

10.4 Homing mode 155............................................................

10.4.1 Homing 155.........................................................

10.4.2 FHPP parameters: homing 156..........................................

10.4.3 Control homing mode 157..............................................

10.4.4 Diagram: Homing to reference/limit switch 158.............................

10.4.5 Diagram: Homing to stop 159...........................................

10.4.6 Methods of homing 160...............................................

10.5 Jog operation 168.............................................................

10.5.1 FHPP parameters: jog operation 168.....................................

10.5.2 Control jog operation 169..............................................

10.5.3 Diagram: jog mode 170................................................

10.6 Teach mode 171..............................................................

10.6.1 FHPP parameter: Teach mode 171.......................................

10.6.2 Control teach mode 172...............................................

10.6.3 Diagram: teach mode 173..............................................

10.7 Record selection mode 174.....................................................

10.7.1 Overview: Data exchange in the record selection mode 174...................

10.7.2 FHPP parameters: record selection mode 175..............................

10.7.3 Control record selection mode 177.......................................

10.7.4 Control intermediate stop 178..........................................

10.7.5 Delete remaining path 179.............................................

10.7.6 Stroke limit reached 179...............................................

10.7.7 Diagram: Start and stop record 180......................................

10.7.8 Diagram: Interrupt and continue positioning record with Halt

(intermediate stop) 181...............................................

10.7.9 Diagram: Interrupt positioning record with Halt and delete remaining path 182...

10.7.10 Diagram: Positioning mode (point-to-point positioning) 183...................

10.7.11 Diagram: speed mode 184.............................................

10.7.12 Diagram: force/torque mode 185........................................

10.8 Record chaining 186..........................................................

10.8.1 Control record chaining 188............................................

10.8.2 Diagram: record chaining 189...........................................

10.8.3 Diagram: record sequencing with final speed 190...........................

10.8.4 Stroke monitoring 191................................................

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10.9 Direct operation 193..........................................................

10.9.1 Overview: data exchange in direct operation 193...........................

10.9.2 FHPP parameters: direct operation 194...................................

10.9.3 Control direct operation 196............................................

10.9.4 Control intermediate stop 198..........................................

10.9.5 Delete remaining path 198.............................................

10.9.6 Stroke limit reached 199...............................................

10.9.7 Diagram: Start and stop positioning task 200..............................

10.9.8 Diagram: Interrupt and continue positioning task with Halt

(intermediate stop) 201...............................................

10.9.9 Diagram: Interrupt positioning task with Halt and delete remaining path 202.....

10.9.10 Diagram: Positioning mode (point-to-point positioning) 203...................

10.9.11 Diagram: speed mode 204.............................................

10.9.12 Diagram: force/torque mode 205........................................

10.9.13 Diagram: Final speed 206..............................................

10.9.14 Stroke monitoring 207................................................

10.10 Flying measurement (position sampling) 209.......................................

11 Monitoring of the drive behaviour 211............................................

11.1 Messages 211...............................................................

11.1.1 Motion complete 212.................................................

11.1.2 Following error 214...................................................

11.1.3 Standstill monitoring 216..............................................

11.1.4 Comparators 218.....................................................

11.2 Protective functions 220.......................................................

11.2.1 Overview: protective functions 220......................................

11.2.2 I2t monitoring 221....................................................

A Festo Parameter Channel (FPC) 224..............................................

A.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) 224..........................

A.1.1 Function 224........................................................

A.2 Enhanced Festo Parameter Channel (EFPC) 225.....................................

A.2.1 Structure of the Enhanced Festo Parameter Channel (EFPC) 225...............

A.2.2 Switch over transmission mode (parameter/file) 225........................

A.3 Transmitting FHPP parameters (PNU) 226..........................................

A.3.1 Structure of EFPC in transmitting parameters 226...........................

A.3.2 Task identifier (Req-ID) and response identifier (Res-ID) 226..................

A.3.3 Sequence of parameter transmission 227.................................

A.3.4 Example: transmitting parameters 227...................................

A.3.5 Error codes 227......................................................

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A.4 Transmit parameter file 228.....................................................

A.4.1 Structure of EFPC in parameter file transmission 228........................

A.4.2 Task identifier (Req-ID) and response identifier (Res-ID) 228..................

A.4.3 Package ID 229......................................................

A.4.4 Parameter file and user data package 230.................................

A.4.5 Checking and activation of the parameter file 231...........................

A.4.6 Sequence of parameter file transmission 231..............................

A.4.7 Examples of parameter file transmission 232...............................

A.4.8 Error codes 237......................................................

B FHPP+ 239..................................................................

B.1 FHPP+ data 239..............................................................

B.1.1 Function 239........................................................

B.1.2 Structure of the FHPP message 239......................................

C FHPP parameters (PNU) 240....................................................

C.1 General FHPP parameter structure 240............................................

C.2 Overview: FHPP parameters 241.................................................

C.2.1 FHPP+ Data 241......................................................

C.2.2 Device data 242......................................................

C.2.3 Diagnostics 243......................................................

C.2.4 Process Data 244....................................................

C.2.5 Record list 245.......................................................

C.2.6 Project Data 247.....................................................

C.2.7 Factor group 250.....................................................

C.2.8 Axis parameters: electric drives 1 250....................................

C.3 Description: FHPP parameters 254...............................................

C.3.1 Representation of the parameter entries 254..............................

C.3.2 FHPP+ data – FHPP+ telegram editor 255..................................

C.3.3 Device data – version numbers 258......................................

C.3.4 Device data – identification 259.........................................

C.3.5 Device data – HMI parameters 262.......................................

C.3.6 Diagnostic parameters 264.............................................

C.3.7 Process data – general process data 273..................................

C.3.8 Process data – FHPP-data 276..........................................

C.3.9 Process data – flying measurement (sampling of positions) 277................

C.3.10 Record list – record data 278...........................................

C.3.11 Record list – record messages 287.......................................

C.3.12 Project Data – General Project Data 291...................................

C.3.13 Project data – force/torque mode 292....................................

C.3.14 Project data –teach mode 292..........................................

C.3.15 Project data – FHPP-direct mode 293.....................................

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