Festo ELGS-TB User manual

ELGS-TB
Toothed belt axis unit
Festo SE & Co. KG
Ruiter Straße 82
73734 Esslingen
Deutschland
[phone]
www.festo.com
Operating instructions
8151473
2021-02b
[8151475]
Translation of the original instructions
© 2021 all rights reserved to Festo SE & Co. KG
IO-Link® is a registered trademark of its respective trademark holder in certain
countries.
1About this document
1.1 Applicable documents
All available documents for the product è www.festo.com/sp.
Type Product Table of contents
EMCS-ST Integrated drive Manual
ELGC-TB Toothed belt axis Operating instructions
EAMM-A Axial kit Assembly instructions
NEFC-M12G8-0.3-M12G5-LK Adapter Assembly instructions
Tab. 1: Applicable documents for the product
1.2 Product version
This documentation refers to the following datasets:
–Firmware version of the integrated drive from "v19.0.4.107_release"
–IO-Link device description file (IODD) from V1.2.6
When using a different firmware version, check whether a corresponding version
of the documentation is available è www.festo.com/sp.
2 Safety
2.1 Safety instructions
–Observe labelling on the product.
–Prior to assembly, installation and maintenance work: Switch off power supply,
ensure that it is off and secure it against being switched back on.
–Store the product in a cool, dry, UV-protected and corrosion-protected environ-
ment. Ensure that storage times are kept to a minimum.
–Observe tightening torques. Unless otherwise specified, the tolerance
is ± 20 %.
2.2 Intended use
The toothed belt axis unit ELGS-TB is intended for the linear movement of pay-
loads or as a drive when external guides are used between two end positions.
The toothed belt axis unit ELGS-TB is approved for slide operation.
Fig. 1: Slide operation
2.3 Training of qualified personnel
Work on the product may only be carried out by qualified personnel who can
evaluate the work and detect dangers.
The qualified personnel have knowledge and experience in dealing with electric
drive systems.
3 Additional information
–Contact the regional Festo contact if you have technical problems
è www.festo.com.
–Accessories and spare parts è www.festo.com/catalogue.
4 Product overview
4.1 Scope of delivery
The following components are included in the scope of delivery:
–Toothed belt axis unit ELGS-TB
–Instruction manual for the toothed belt axis unit ELGS-TB
–Adapter for IO-Link operation (optional accessory)
è www.festo.com/catalogue
4.2 System overview
1
2
3
4
5
6
Fig. 2: System overview ELGS-TB
1
PELV fixed power supply for load
voltage
2
PELV fixed power supply for logic
voltage
3
Application software
4
PC or laptop
5
Controller or IO-Link master
6
Toothed belt axis unit ELGS-TB
Items 1 … 5 are not included in the scope of delivery.
4.2.1 Product design
1 2 3 4 5 6 7
Fig. 3: Product design ELGS-TB
1
Sealing air connection
2
Toothed belt axis ELGC-TB
3
Product labelling
4
Axial kit EAMM
5
Integrated drive EMCS-ST
6
Warning symbol "Attention! Hot
surface"
7
Controller housing
Electrical connections, display and operating components (HMI)
1 2 3 4 5
6
7
8
Fig. 4: Electrical connections, display
and operating components
(HMI)
1
LED display menu (Speed Out, ...,
Demo)
2
LED parameter display
3
LED C/Q
4
Connection for load voltage
[Power]
5
Logic voltage connection and dig-
ital I/O or IO-Link connections
[Logic]
6
Pushbutton actuator (right arrow)
7
Pushbutton actuator (Edit)
8
Pushbutton actuator (left arrow)
5 Transport
NOTICE
Unexpected and unbraked movement of components
• Secure moving components for transport.
1. Take product weight into account è 13 Technical data.
2. Maintain support clearance £ 300 mm when attaching transportation aids.
6 Assembly
WARNING
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 connected mechanics and crush parts of the body.
•Bring moving parts of the mechanical system into a safe position.
• Mount product è "Toothed belt axis ELGC-TB" instruction
manual è www.festo.com/sp.

7 Installation
WARNING
Risk of injury due to electric shock.
• For the electrical power supply with extra-low voltages, use only PELV circuits
that guarantee a reinforced isolation from the mains network.
•Observe IEC 60204-1/EN 60204-1.
Damage to the device due to non-approved potentials at the pins
• Power connection:
• Do not connect pin 3
•Logic connection:
• Only after connection of the reference potentials GND/L– [Pin 4/8] can 24V
levels be applied to digital outputs DO1/DO2 [Pin 2/3] or the IO-Link
communication signal C/Q [Pin 3].
• The digital outputs DO1/DO2 [Pin 2/3] and the IO-Link communication
signal C/Q [Pin 3] must be disconnected 100 ms before the power
supply connections GND/L– [Pin 4/8] and 24 V DC/L + [Pin 1], e.g. by
the interposition of relay contacts.
1. Connect the cables to the [Logic] and [Power] connections of the integrated
drive EMCS-ST.
2. Connect cables to the controller or IO-Link master and to the PELV fixed power
supply units.
Wiring diagram: DIO operation (digital I/O)
In NPN mode defined levels must be applied to the digital inputs DI1/DI2 of the
EMCS, e.g. by controller outputs with pull-up resistors (4.3 kW recommended).
1
23
4
5
Fig. 5: Wiring diagram: DIO operation (digital I/O)
1
PELV fixed power supply for load
voltage supply
2
PELV fixed power supply for logic
power supply
3
Reset button for acknowledging
an error and triggering a restart
(optional)
4
Integrated drive EMCS-ST
5
Higher-level controller with dig-
ital I/O
Status and control signals
The following table shows the status and control signals and the electrical levels
of the digital inputs and outputs as a function of the "PNP/NPN" version of the
integrated drive. The following timing diagrams only show the status and control
signals of the PNP version.
Status and control
signal
Electrical levels
PNP, positive logic NPN, negative logic
0 Low level (0 V) High level (24 V)
1 High level (24 V) Low level (0 V)
Tab. 2: Overview of status and control signals as a function of electrical levels
Wiring diagram: IO-Link operation, port class A (with and without NEFC adapter)
Current consumption of IO-Link power supply [Logic]
An input current at pin 1 (L+) of 100 ... 150 mA is required for operation.
1
2
3
Fig. 6: Wiring diagram: IO-Link operation
1
PELV fixed power supply for the
load voltage supply
2
Integrated drive EMCS-ST
3
IO-Link master with IO-Link inter-
face
1
2
3
4
Fig. 7: Wiring diagram: IO-Link operation with adapter
1
PELV fixed power supply for load
voltage supply
2
Integrated drive EMCS-ST
3
IO-Link master with IO-Link inter-
face
4
Adapter NEFC
Core colours of Festo cables:
BK = black, BN = brown, BU = blue, GN = green, GY = grey, PK = pink,
WH = white, YE = yellow
8 Commissioning
WARNING
Risk of injury due to unexpected movement of components.
• Protect the positioning range from unwanted intervention.
• Keep foreign objects out of the positioning range.
•Perform commissioning with low dynamic response.
WARNING
Severe, irreversible injuries from accidental movements of the connected
actuator technology.
Unintentional movements of the connected actuator technology can result from
exchanging the connecting cables of a servo drive or between servo drives.
• Before commissioning: All cables must be correctly assigned and connected.
WARNING
Danger of burns from hot housing surfaces.
Metallic housing parts can reach high temperatures during operation.
Contact with metal housing parts can cause burn injuries.
•Do not touch metallic housing parts.
• After the power supply is switched off, let the device cool down to room
temperature.
Update device data (only via IO-Link)
• Update firmware
• Update parameter set
• Data backup (Data Storage)
è "Integrated drive EMCS" instruction manual è www.festo.com/sp
8.1 Commissioning: DIO operation (digital I/Os)
Preparation:

1. Check the mounting of the drive system.
2. Check wiring of the power supplies and the "DI/DO" digital inputs and out-
puts at the [Power] and [Logic] connections.
Procedure:
1. Switch on load voltage.
2. Switch on logic voltage (switch-on delay ≥50 ms required).
3. Wait for initialisation until C/Q LED is yellow (L 7 s).
4. Select the reference end position "Ref" from the HMI interface in the "Refer-
ence" menu and start the referencing movement with end position detection
(only required if the reference end position "Ref" is different from the factory
setting or if the useful range has been changed). The drive system is refer-
enced after successful referencing.
Referencing sets the start press position "PosStart Press" equal to the deter-
mined useful range.
5. Parameterise operating modes via HMI interface:
Basic parameters for point-to-point operation with and without press function
or manual operation (demo)
–Velocity "Speed Out"
–Velocity "Speed In"
additional parameters for point-to-point operation with press function
–Force
–Start Press "PosStart Press" position (reference point end position "Ref")
The EMCS-ST is then ready for operation and the application can be controlled via
the "DI/DO" digital inputs and outputs è 9.6 Point-to-point operating modes.
8.2 Commissioning: IO-Link operation
Preparation
1. Check the mounting of the drive system.
2. Check the wiring of the power supplies and the IO-Link "C/Q" interface at the
[Power] and [Logic] connections.
Procedure
1. Switch on load voltage.
2. Switch on logic voltage via IO-Link master (switch-on delay ≥50 ms required).
3. Wait for initialisation until C/Q LED is yellow (L 7 s).
4. Select the reference end position "Ref" from the IO-Link device data
(0x0103.0, reference) and start the referencing movement with end position
detection (0x0104.0, Execute "Reference" Movement) (only required if the
reference end position Ref" is different from the factory setting or if the useful
range has been changed). The drive system is referenced after successful
referencing.
Referencing sets the intermediate position "PosImp" and the start press posi-
tion "PosStart Press" equal to the determined useful range.
5. Parameterise operating modes via IO-Link interface:
Basic parameters for point-to-point operation with and without press function
or manual operation (demo)
–0x0100.0, velocity "Speed In"
–0x0101.0: velocity "Speed Out"
–0x0106.0, end position "Out" "LimOut" (reference point reference end posi-
tion "Ref")
–0x0108.0, intermediate position "PosImp" (reference point reference end
position "Ref")
additional parameters for point-to-point operation with press function
–0x0102.0, "Force"
–0x0105.0, start press position "PosStart Press" (reference point reference end
position "Ref")
Then the EMCS-ST is ready for operation and the application can be controlled
via the IO-Link interface "process data 0x0029.1, 0x0029.2 and 0x0029.5" or
"system parameter 0x0002" è 9.6 Point-to-point operating modes.
9 Operation
WARNING
Danger of burns from hot housing surfaces.
Metallic housing parts can reach high temperatures during operation.
Contact with metal housing parts can cause burn injuries.
•Do not touch metallic housing parts.
• After the power supply is switched off, let the device cool down to room
temperature.
9.1 Master control
–Lowest priority: DIO operation (after Power ON and initialisation)
–Medium priority: IO-Link operation (after established IO-Link communication)
–Highest priority: HMI operation (unlocked pushbuttons)
9.2 Dimension reference system
The correct positioning of the drive requires a defined dimension reference
system.
Linear drive system
Ref

: reference end position (reference point for LimIn, LimOut, PosAct, PosImp and PosStart Press)
–motor facing (default)
–motor facing away
LimIn/LimOut : end positions
MechIn/MechOut: mechanical stops
PosAct : current position
PosImp: intermediate position (IO-Link only)
PosStart Press: start press position
Tab. 3: Dimension reference system for linear drive systems
9.3 Restart with referencing
Re-initialise reference end position "Ref"
The referencing of the reference end position is lost on Power OFF of the logic
voltage L+ [Logic, Pin 1]. After every restart the position of the reference end
position "Ref" is re-initialised at the "Speed Ref" velocity with the first motion
task.
Referencing after a restart as a function of the positioning task
Sequence
–MovRef: force-controlled movement against mechanical stop "MechIn"
–MovOut: position-controlled movement to the reference end position "Ref"
–Travel to the target position as a function of the positioning task
–No travel, end position "LimIn" reached
–MovOut: position-controlled movement to the end position LimOut
–MovImp: position-controlled travel to the intermediate position LimImp (IO-Link only)
StartIn positioning task to the end position LimIn
StartOut positioning task to the end position LimOut
StartImp positioning task to the intermediate position PosImp (IO-Link only)
Tab. 4: Initialise restart sequence with reference end position "Ref"

9.4 Display and operating components (HMI)
The display and operating components (HMI) can be used to perform the fol-
lowing functions in the HMI menu:
–Unlock pushbutton actuators (Unlock HMI), press and hold for 3 s — an
active positioning task in DIO or IO-Link mode is stopped
(Condition for IO-Link operation: IO-Link parameter 0x000C.4 = false)
–Select menu function with pushbutton actuators (selecting menu), press
–Parameterise Speed Out, Speed In and Force setpoint values
(Set value: 10, 20, ..., 100% of the maximum value è 13 Technical data) and
save (Save), press
–Parameterise the position of the reference end position "Ref" (Set Ref) and run
the referencing movement MovRef (StartRef: PosAct è LimIn è LimOut), press
–Run Start Press movement (Start/Stop) and save Start Press Position PosStart
Press (Save), press
–Execute Demo Run (Start/Stop)
–Lock pushbutton actuators (Lock HMI), press and hold for 3 s or no push-
button actuator input for 15 s
–To acknowledge an error, press and hold for 3 s
–Reset to factory setting, press and hold , and simultaneously for 10 s
!!!!!!!! !!! !! !!!!
Fig. 8: HMI menu
9.5 Referencing with end position determination
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. This can 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.
•Referencing with end position determination is only required again if the refer-
ence end position "Ref" or the useful range needs to be changed.
• During referencing with end position determination the intermediate position
PosImp and the start press position PosStart Press is set equal to the new end
position LimOut.
During referencing with end position determination the positions of the mechan-
ical stops MechIn/MechOut are recorded in order to calculate the end positions
LimIn ("Ref")/LimOut for the dimension reference system.
Before running referencing with end position determination to a new reference
end position "Ref", the drive is de-energized for a required re-initialisation. Then
the power is restored and the process is started.
Activate referencing with end position determination StartRef
Factory setting: motor-facing reference end position "Ref"
–HMI: activate "Reference" menu, parameterise reference end position "Ref" and initiate refer-
encing movement è 9.4 Display and operating components (HMI)
–IO-Link, process data: parameterise reference end position "Ref" 0x0103.0, false (factory setting)
or true and initiate referencing movement 0x0104.0 = true
–IO-Link, system parameter: 0x0002, value = 0xCE (Execute "Reference" Movement (False), factory
setting) or value = 0xCF (Execute "Reference" Movement (True))
Sequence
The diagram shows the referencing movements with end position determination
–MovRef: force-controlled movement against mechanical stop "MechIn"
–MovOut: position-controlled movement to the reference end position "Ref"
–MovRef: force-controlled movement against the mechanical stop "MechOut"
–MovOut: position-controlled movement to the end position LimOut
Tab. 5: Initialise referencing sequence with reference end position "Ref" and end
position determination
9.6 Point-to-point operating modes
Automatic saving of device data
If automatic storage is activated (0x0109.0 = true, default), parameter changes
in the device data (= data storage parameters è "Integrated drive EMCS"
instruction manual è www.festo.com/sp) are made automatically and perma-
nently saved in the flash memory. Exceeding the maximum permissible 100,000
write cycles results in irreparable damage to the flash memory and the device,
e.g. when using the device for positioning tasks via IO-Link.
If automatic saving is deactivated (0x0109.0 = false), parameter changes are
only temporarily stored in the RAM. The RAM permits an unlimited number of
parameter changes, e.g. for positioning tasks via IO-Link.
For single point-to-point operation the drive can be traversed to the target posi-
tions "end positions "LimIn/LimOut and intermediate positions PosImp" (IO-Link
only).
Point-to-point operation
Parameterise point-to-point operation
HMI:
–Speed Out, Speed In, Force and Start Press è 9.4 Display and operating components (HMI)
IO-Link (acyclic device data):
–Velocity Speed Out: 0x0101.0, Speed Out1)
–Velocity Speed In: 0x0100.0, Speed In1)
–Force/Torque: 0x0102.0, Force1)2)
–Start Press Position PosStart Press: 0x0105.0, Position Start Press [mm]2)3)4)
–End position LimOut: 0x0106.0, end position Out [mm]4)
–Intermediate position PosImp: 0x0108.0, Intermediate Position [mm]3)4)
Control point-to-point operation via digital inputs
Positioning task Control signals
MovIn
DI1 [Logic, Pin 5]
MovOut
DI2 [Logic, Pin 6]
StartIn/MovIn 1 0
StartOut/MovOut 0 1
Stop5) 0 0
Switch off output
stage6)
1 1
Control point-to-point operation via IO-Link
Positioning task Process parameters System parameters
Move "In" Move
"Out"
Move
"Inter-
mediate"
System commands
0x0029.1 0x0029.2 0x0029.5 0x0002
StartIn/MovIn true false false = 0xC8, Execute "MoveIn"
StartOut/MovOut false true false = = 0xC9, Execute "MoveOut"
StartImp/MovImp false false true = 0xD0, Execute "MoveIntermediate"
Stop5) false false false = 0xCA, stop motion
Switch off output
stage6)
³ 2 x true = 0xCB, disable power stage

Point-to-point operation
Sequence
The diagrams show the movements in point-to-point operation
–MovOut: position-controlled movement to the end position "LimOut"
–MovIn: position-controlled movement to the end position "LimIn"
–MovImp: position-controlled movement to the intermediate position "PosImp"
–Point-to-point operation with press function, from Start Press Position "PosStart Press"
–MovOut: force-controlled movement until the parameterised force or torque setpoint
value "Force" is reached or to the end position "LimOut"
–MovImp: force-controlled movement to the intermediate position "PosImp" (IO-Link only)
Simple point-to-point operation
Simple point-to-point operation with intermediate position (IO-Link only)
Point-to-point operation with press function
Point-to-point operation with press function and intermediate position (IO-Link only)
1) 10, 20, ..., 100% of maximum value
2) Only required for point-to-point operation with press function
3) Reset at every referencing
4) Reference point: reference end position "Ref"
5) The output stage remains active, the drive decelerates to standstill and remains stationary position-con-
trolled.
6) In error-free status the output stage is switched off after 3 s, the drive coasts to a standstill and remains
stationary unregulated.
Tab. 6: Parameterise and control point-to-point operation
10 Malfunctions
Acknowledge error
With error acknowledgment, active error messages are deleted from the diag-
nostic memory if the cause of the error was remedied before acknowledgment.
Errors can be acknowledged via the following interfaces:
–Restart:
–Logic voltage L+, Power OFF/ON [Logic, Pin 1]
–HMI:
–Press and hold for 3 s
–DIO, digital inputs:
–DI1 "MovIn" and DI2 "MovOut" = 1 [Logic, Pin 5/6]
–IO-Link, device data:
–0x0107.0 Quit Error = true
–IO-Link, process data:
–0x0029.3 Quit Error = true
–0x0029.1 and 0x0029.2 = true, 0x0029.5 = any
Diagnostic messages and fault clearance
"Information, Warnings and Errors" diagnostic messages are displayed by the
C/Q LED and menu and parameters LED displays.
Errors are reported to the controller as follows:
–DIO operation: output signals DO1 and DO2 = 1 [Logic, Pin 2/3]
–IO-Link operation: ProcessDataInput state "In" (0x0028.1) and state "Out"
(0x0028.2) = true
The first error that occurred is always displayed.
Fig. 9: Display of diagnostic messages (example)
Error
code
Description LED LED displays Event
code
hex
(dec)
C/Q Menu Parameter (IO-
Link)
Warning
zWarnings1)
yellow
light
z0x...
Error
zCommon device error or
unlisted errors
red light
…0x1000
Remedy
–Contact Festo
0x000F
(15)
I2t monitoring output stage
error limit
0x1805
Remedy
–
0x0016
(22)
Undervoltage in logic supply
24V2)
0x1804
Remedy
–Check logic voltage supply
0x0017
(23)
Overvoltage in logic supply
24V
0x1803
Remedy
–Check logic voltage supply
0x001F
(31)
Undervoltage in DC link 0x1806
Remedy
–Check the load voltage
supply
0x0026
(38)
Undervoltage in load supply
24V
0x1802
Remedy
–Check the load voltage
supply
0x0027
(39)
Overvoltage load supply 24 V 0x1801
Remedy
–Check the load voltage
supply
0x0031
(49)
Device undertemperature 0x4000
Remedy
–Check ambient conditions
0x0033
(51)
Device overtemperature
Remedy
–Check ambient conditions
–Check installation condi-
tions

Error
code
Description LED LED displays Event
code
hex
(dec)
C/Q Menu Parameter (IO-
Link)
0x012F
(303)
IO-Link connection inter-
rupted
IO-Link connection inter-
rupted
z
Remedy
–Check power supply
–Check IO-Link master
1) Additional information è Instruction manual for integrated drive EMCS-ST
2) This error can only be acknowledged by a restart.
Tab. 7: "Information, warnings and errors" diagnostic messages
10.1 Repair
The product can be repaired or maintained.
–Spare parts and accessories è www.festo.com/spareparts.
–Replace with an identical product è www.festo.com/catalogue.
11 Replacement
Replace drive system
1. Save the application parameters to the IO-Link master è "Integrated drive
EMCS" instruction manual è www.festo.com/sp.
2. Dismantle the defective drive system è 12 Disassembly.
3. Mount the new drive system è 6 Assembly.
4. Connect the drive system è 7 Installation.
5. Commission the drive system è 8 Commissioning.
6. Update the firmware è "Integrated drive EMCS" instruction
manual è www.festo.com/sp.
7. Check the current status of the application data è "Integrated drive EMCS"
instruction manual è www.festo.com/sp.
Replace drive or integrated drive EMCS è "Integrated drive EMCS" instruction
manual è www.festo.com/sp.
12 Disassembly
WARNING
Unexpected movement of components.
Injury due to impacts or crushing.
• Before working on the product, switch off the control and secure it to prevent it
from being switched back on accidentally.
WARNING
Risk of Injury due to Unexpected Movement of Components
For vertical or slanted mounting position: when power is off, moving parts can
travel or fall uncontrolled into the lower end position.
•Bring moving parts of the product into a safe end position or secure them
against falling.
Disassemble drive system
1. Allow the product to cool down to room temperature.
2. Disconnect electrical installations.
3. Remove the mounted attachment component.
4. Remove the attached accessories.
5. Remove the mounting attachments.
6. Observe transport information è 5 Transport.
Remove drive or integrated drive EMCS è "Integrated drive EMCS" instruction
manual è www.festo.com/sp.
13 Technical data
Additional information è www.festo.com/catalogue.
Size 45 60
Mounting position horizontal
Ambient temperature [°C] 0 … +50
Storage temperature [°C] –20 … +60
Degree of protection IP40
CE marking
è Declaration of Conformity
in accordance with EU EMC Directive
in accordance with EU RoHS Directive
Max. payload
–horizontal mounting posi-
tion
[kg] 2.5 4.0
Max. velocity1) [mm/s] 12002) 13003)
Velocity "Speed Press" [mm/s] 24 26
Max. feed force4)5) [N] 75 65
Max. force on external stops
during referencing6)
[N] 84 142
Acceleration/deceleration [m/s2]6
Duty cycle [%] 100 (+30 … +50 °C: – 2% per kelvin)
Distance between stop and
end position7)8)
[mm] 3 2
Repetition accuracy [mm] ±0.1 ±0.1
Nominal voltage [V DC] 24
Size 45 60
Logic current consumption
(logic, pin 1)
[mA] DIO operation: 100 ... 300
IO-Link operation: 100 ... 150
Load current consumption
(power, pin 1)
[A] 5.3 5.3
1) Maximum value for Speed In/Speed Out at level 10
2) Can only be achieved from a stroke of 300 mm.
3) Can only be achieved from a stroke of 500 mm.
4) Maximum value for Force at level 10
5) Force is controlled and evaluated by closed-loop control of the motor current. Depending on the mecha-
nism of the drive, a linear force can be determined from the level of current measured. The target is set as
a percentage of the rated motor current and may deviate from the actual force on the axis. At the lower
force levels the frictional force of the drive system may be greater than the set feed force and result in the
drive system coming to a standstill.
6) The force acts on the stop for £100 ms
7) Distance (MechIn – LimIn or MechOut – LimOut)
8) The specified value can deviate due to the elasticity of the toothed belt.
Tab. 8: Technical data ELGS-TB