Festo EMCS-ST User manual

8123666
EMCS-ST
Integrated drive
8123666
2020-04a
[8123668]
Operating instructions

Translation of the original instructions
IO-Link® is a registered trademark of its respective trademark holder in certain countries.
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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).................................................................. 12
6.1 Overview...................................................................................................................... 12
6.2 Master control.............................................................................................................. 12
6.3 HMI menu..................................................................................................................... 13
7 Transport and storage................................................................................................. 15
8 Assembly..................................................................................................................... 15
8.1 Safety............................................................................................................................ 15
8.2 Mounting distances...................................................................................................... 15
8.3 Installation................................................................................................................... 15
9 Installation.................................................................................................................. 16
9.1 Safety............................................................................................................................ 16
9.2 Information on EMC-compliant installation................................................................... 16
9.3 Functional earth (FE) and protective earth (PE) connection........................................... 17
9.4 Connection variants...................................................................................................... 17
9.4.1 Wiring diagram: DIO operation (digital I/O)............................................................ 18
9.4.2 Wiring diagram: IO-Link operation, port class A (with and without NEFC
adapter)
.. 18
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), port class A..........................................................22
9.5.3 Connection [Power]: load voltage supply................................................................ 23
10 Commissioning............................................................................................................ 24
Table of contents

10.1 Commissioning "DIO operation (digital I/O)"................................................................24
10.2 Commissioning "IO-Link Operation"............................................................................. 27
11 Drive system.................................................................................................................28
11.1 Dimensions and units....................................................................................................28
11.1.1 Basic and user units............................................................................................... 28
11.1.2 Dimension reference system.................................................................................. 29
11.2 Controller...................................................................................................................... 31
11.2.1 Firmware................................................................................................................ 31
11.2.2 Factory settings..................................................................................................... 31
11.2.3 Switch-on behaviour.............................................................................................. 31
11.2.4 Switch-off behaviour.............................................................................................. 32
11.2.5 Restart................................................................................................................... 34
11.2.6 Master control....................................................................................................... 39
11.3 Operating modes...........................................................................................................41
11.3.1 Dynamic state change............................................................................................ 41
11.3.2 Homing.................................................................................................................. 41
11.3.2.1 Function................................................................................................................. 42
11.3.2.2 Parameter.............................................................................................................. 43
11.3.2.3 Timing.................................................................................................................... 44
11.3.3 Single end-to-end operation.................................................................................. 46
11.3.3.1 Function................................................................................................................. 46
11.3.3.2 Parameter.............................................................................................................. 47
11.3.3.3 Timing.................................................................................................................... 47
11.3.4 End-to-end operation with press function.............................................................. 51
11.3.4.1 Function................................................................................................................. 51
11.3.4.2 Parameter.............................................................................................................. 52
11.3.4.3 Timing.................................................................................................................... 53
11.3.5 Manual operation (demo)...................................................................................... 57
11.3.5.1 Function................................................................................................................. 57
11.3.5.2 Parameter.............................................................................................................. 57
11.3.5.3 Timing.................................................................................................................... 58
12 Maintenance and care.................................................................................................. 59
13 Diagnostics and malfunctions...................................................................................... 59
13.1 Diagnostics via LED displays......................................................................................... 59
13.1.1 LED "C/Q" (communication and device status)..................................................... 59
13.1.2 LED display "Menu".............................................................................................. 60
13.1.3 LED display "Parameter"....................................................................................... 61
13.2 Diagnostic messages.....................................................................................................61
13.2.1 Acknowledge error................................................................................................. 61
13.2.2 Diagnostic messages and fault clearance.............................................................. 62
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13.3 Repair............................................................................................................................64
14 IO-Link..........................................................................................................................64
14.1 Device description file IODD......................................................................................... 64
14.2 IO-Link parameters....................................................................................................... 64
14.2.1 Identification parameters........................................................................................65
14.2.2 Device data.............................................................................................................67
14.2.3 Process data........................................................................................................... 72
14.2.4 System parameters.................................................................................................75
14.2.5 Control end-to-end operation via IO-Link................................................................ 76
14.2.6 Monitor end-to-end operation via IO-Link............................................................... 77
15 Disassembly................................................................................................................ 77
16 Disposal........................................................................................................................78
17 Technical data............................................................................................................. 78
17.1 Technical data, general................................................................................................. 78
17.2 Technical data, electrical.............................................................................................. 81
17.2.1 Power supply.......................................................................................................... 81
17.2.2 Digital inputs (DI)....................................................................................................82
17.2.3 Digital outputs (DO)................................................................................................83
17.2.4 IO-Link.................................................................................................................... 83
17.2.5 Motor (integrated).................................................................................................. 84
17.2.6 Rotary encoder (integrated)....................................................................................84
17.2.7 Temperature sensor (integrated)............................................................................ 85
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1 About this document
1.1 Applicable documents
All available documents for the product èwww.festo.com/sp.
Type Product Contents
Drive system
EGSS-BS Mini slide unit Operating instructions
ELGE-TB Toothed belt axis unit Operating instructions
ELGS-BS Spindle axis unit Operating instructions
ELGS-TB Toothed belt axis unit Operating instructions
EPCE-TB Electric cylinder unit Operating instructions
EPCS-BS Electric cylinder unit Operating instructions
ERMS Rotary drive unit Operating instructions
Actuator
EGSC Mini slide Operating instructions
ELGR-TB Toothed belt axis Operating instructions
ELGC-BS Spindle axis Operating instructions
ELGC-TB Toothed belt axis Operating instructions
EPCC-BS Electric cylinder Operating instructions
Mounting kit
EAMM Axial kit Assembly instructions
Accessories (IO-Link)
NEFC-M12G8-0.3-M12G5-LK Adapter Assembly instructions
Tab. 1 Other applicable documents for the product
1.2 Product version
This 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 — 2020-04a6

1.3 Product labelling
1Product labelling
(product information, approvals, warning symbol)
Fig. 1 Product labelling
Warning symbol
Warning
symbol
Meaning
Attention! Hot surface
Metallic housing parts of the device can reach high temperatures during operation. In
the event of a fault, internal components may become overloaded.
Tab. 3 Warning symbol
1.4 Specified standards
Version
IEC60204-1:2005+AMD1:2008CSV EN61800-5-1:2016-08
IEC61131-2:2013 EN60034-1:2011-02
EN61800-2:2016 EN60204-1:2006+A1:2009+AC:2010
Tab. 4 Standards specified in the document
About this document
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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. Ensure
short storage times.
2.2 Intended use
The EMCS-ST integrated drive is used as intended to drive the connected actuator technology. The
integrated electronics enable the control of position, speed or force/torque. An external end stop is
not required for operation of the integrated drive EMCS-ST.
2.2.1 Application areas
The device is intended for use in an industrial environment. Outside industrial environments, e.g. in
commercial and residential/mixed-use areas, it may be necessary to take measures to suppress radio
interference.
2.3 Training of qualified personnel
Installation, commissioning, service and disassembly should only be conducted by skilled personnel.
The personnel must be familiar with the installation of mechatronic control systems.
2.4 Approvals and certifications
CE approval (conformity)
In conjunction with the CE mark on the product, the EC directives and standards listed below in the
Declaration of Conformity èwww.festo.com/sp apply.
– in accordance with EU EMC Directive
– in accordance with EU RoHS Directive
KC certification
KC number: R-R-FTO-KC-2018-1082
RCM certification
The product fulfils the EMC requirements for Australia and New Zealand with the RCM certification
mark on the product.
3 Additional information
– Accessories èwww.festo.com/catalogue.
Safety
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– Spare parts èwww.festo.com/spareparts.
4 Service
Contact your regional Festo contact person if you have technical questions èwww.festo.com.
5 Product overview
5.1 Function
The 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 DC link voltage conditioning
– Power stage for actuation of the motor
– Brake chopper to dissipate the regenerative energy of the motor.
– Temperature sensors for monitoring the power stage temperature
The integrated drive EMCS-ST has separate connections for the supply of logic and load voltage. The
load voltage (24VDC) for all product variants must be supplied directly by a PELV fixed power supply.
The logic voltage (24VDC) is supplied as follows:
– DIO operation (digital I/O): via a PELV fixed power supply
– IO-Link operation: via the IO-Link Master
All product variants can be controlled via digital inputs/outputs (DIO) or IO-Link (LK) at the [Logic] con-
nection.
5.2 Scope of delivery
The 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
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5.3 System overview
1PELV fixed power supply for load voltage
2PELV fixed power supply for logic voltage (only
required for DIO operation)
3Application software
4PC or laptop
5Controller or IO-Link master
6Integrated drive EMCS-ST
7Mounting kit for connecting the actuator technology
to the motor
8Actuator technology (example ELGS-BS)
Fig. 2 System overview
Items 1…5 are not in the scope of delivery.
Overview of drive systems with integrated drive EMCS-ST
The integrated drive EMCS-ST is included in the following drive systems.
Mini slide unit Toothed belt axis unit Spindle axis unit Toothed belt axis unit
EGSS-BS ELGE-TB ELGS-BS ELGS-TB
Tab. 5 Overview of mini slide and axis units with integrated drive EMCS-ST
Product overview
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Electric cylinder unit Electric cylinder unit Rotary drive unit
EPCE-TB EPCS-BS ERMS
Tab. 6 Overview of electric cylinder and rotary drive units with integrated drive EMCS-ST
5.4 Product design
1Connection for load voltage supply [Power]
2Connection of logic power supply and digital
inputs/outputs (DIO) or IO-Link (LK) [Logic]
3Display and operating components (HMI)
4Stepper motor
5Mounting holes
6Motor flange
7Motor shaft
8Controller housing
Fig. 3 Product structure (exemplary EMCS-ST-57-...)
Product overview
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6 Display and operating components (HMI)
6.1 Overview
The display and operating components (HMI) offer comprehensive options for parameterisation and
control of the integrated EMCS-ST drive.
Various LED displays are available on the controller housing for displaying parameter information,
motion status and menu selection.
Three pushbutton actuators are used to navigate through the menu or to control motions, e.g. to per-
form a homing run.
1LED display menu (Speed Out, ..., Demo)
2LED parameter display
3LED "C/Q" (communication and device status)
4Pushbutton actuator "right arrow"
5Pushbutton actuator "Edit"
6Pushbutton actuator "left arrow"
Fig. 4 Display and operating components (HMI)
6.2 Master control
The master control of the display and operating components (HMI) is controlled via the "Unlock/lock
pushbutton actuators" function. Unlocking the pushbutton actuators (press and hold pushbutton
actuator for 3seconds) automatically gives the "Display and operating components (HMI)" the
master control over the integrated drive EMCS-ST. The master control is automatically returned to the
active control interface digital inputs and outputs (DIO) or IO-Link (LK) if the pushbutton actuator lock
is reactivated (by pressing and holding the pushbutton actuator for 3seconds or if the pushbutton
actuators are not pressed for 15seconds).
The function of the three pushbutton actuators " / / " can be disabled or enabled via the IO-Link
parameter "Device access lock" (0x000C.4).
Unlock pushbutton actuators
Press and hold pushbutton actuator " " for at least 3 seconds to disable the pushbutton actuator
lock.
Lock pushbuttons
Press and hold pushbutton actuator " " for at least 3 seconds or do not press any pushbutton actu-
ators ( / / ) for 15 seconds to activate the pushbutton lock.
Display and operating components (HMI)
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6.3 HMI menu
The display and operating components (HMI) can be used to perform the following functions in the
HMI menu:
– Unlock pushbutton actuators (Unlock HMI), press and hold for 3s 
(Condition for IO-Link operation: IO-Link parameter 0x000C.4 = false)
– Menu function with pushbutton actuators select (selecting menu), press
– Parameterise setpoint values Speed Out, Speed In and Force
(Set value: 10, 20,..., 100%of the maximum value èInstructions of the drive system, technical
data) 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
– Run Start Press movement (Start/Stop) and save Start Press Position PosStart Press (Save), press
– Execute Demo Run (Start/Stop)
– Lock pushbutton actuators (Lock HMI), press and hold for 3s or no pushbutton actuator input
for 15s
– Reset to factory setting, press and hold , and simultaneously for 10s
HMI menu structure
The 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 motions
of the drive systems when performing motion tasks.
Display and operating components (HMI)
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Referenc e
Speed Out
Speed In
Force
Referenc e
Start Pres s
Demo
Start Pres s
Demo
Speed Out
Speed In
Force
(default )
(Ref1 defa ult)
(default )
M
Ref
Ref
M
Ref
Ref
M
Ref
M
Ref
Ref
M
Ref
Ref
M
Ref
Ref
Ref
M
Ref
Ref
M
Ref
Ref
M
Ref
Ref
M
Ref
Ref
M
Ref
Ref
M
Ref
(Ref2)
Ref1/Ref2
Ref
Fig. 5 HMI menu structure
Display and operating components (HMI)
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7 Transport and storage
Transport and storage conditions
– Store and transport the product in its original packaging.
– Store product in a cool, dry, shaded and corrosion protected environment.
– Store product in ambient conditions without oils, greases and degreasing vapours.
– Ensure short storage times.
8 Assembly
8.1 Safety
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 con-
nected mechanics and crush parts of the body.
• Bring moving parts of the mechanical system into a safe position.
8.2 Mounting distances
Drive 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 operation
to dissipate by allowing sufficient air flow.
• Maintain a minimum lateral distance of at least 20mm between the integrated drive EMCS-ST and
adjacent components.
Assembly instructions
– Mount the drive system flat on a sufficiently stable mounting surface.
– Maintain minimum distances and installation space to guarantee sufficient air flow. The ambient
air must be able to flow unhindered around the integrated drive EMCS-ST.
– Take into account the clearance required 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
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9 Installation
9.1 Safety
WARNING!
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 installation
The integrated drive EMCS-ST fulfils the following tasks:
– Guarantee of immunity to interference
– Limits the conducted interference emission
If installed correctly and if all connecting cables are wired correctly, the device fulfils the specifications
of 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 Pulse-width modula-
tion frequency [kHz]
Max. permissible
line length [m]
C2
(Residential area)1)
− −
EMCS-ST-...
C3
(Industrial environ-
ment)
20 30 (DIO operation)
20 (IO-Link operation)
1) Application area not approved
Tab. 7 Category according to the pulse-width modulation frequency and the cable length
Laying cables
Comply with 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
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9.3 Functional earth (FE) and protective earth (PE) connection
When connecting the functional earth (FE) and the protective earth (PE), follow the specifications of
EN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 variants
The connection of the integrated EMCS-ST drive depends on the "DIO operation" (digital inputs/out-
puts) or "IO-Link operation" actuation mode and the connection cables (with or without adapter).
Damage to the device due to non-approved potentials at the pins
• Power connection: do not connect pin3 to high or low potential.
• Logic connection: do not connect pins2 and 3 to high potential if pin 1 is not supplied with 24 V
DC.
1. Connect the cables to the [Logic] and [Power] connections of the integrated drive EMCS-ST.
2. Connect cables to the controller or IO-Linkmaster and to the PELV fixed power supply.
Installation
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9.4.1 Wiring diagram: DIO operation (digital I/O)
The diagram shows the electrical connections of the integrated drive EMCS-ST to the load and logic
power supply and to the higher-level control (controller) in DIO mode.
1PELV fixed power supply for 24 V DC load
voltage supply
2Reset button for acknowledging an error and
triggering a restart (optional)
3PELV fixed power supply for logic power sup-
ply 24 V DC
4Higher-level open-loop control (controller)
with digital I/O
5EMCS-ST
Fig. 6 Wiring diagram: DIO operation (digital I/O)
9.4.2 Wiring diagram: IO-Link operation, port class A (with and without NEFC adapter)
The diagram shows the electrical connections of the integrated EMCS-ST drive to the load voltage sup-
ply and to the higher-level IO-Link master in IO-Link operation.
Current consumption of IO-Link power supply [Logic]
An input current at pin 1 (L+) of 100...150mA is required for operation.
Installation
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1PELV fixed power supply for 24 V DC load
voltage supply
2IO-Link master with IO-Link interface
3EMCS-ST
Fig. 7 Wiring diagram: IO-Link operation
1PELV fixed power supply for 24 V DC load
voltage supply
2Adapter NEFC
3IO-Link master with IO-Link interface
4EMCS-ST
Fig. 8 Wiring diagram: IO-Link operation with adapter
Core colours of Festo cables:
BK=black, BN=brown, BU=blue, GN=green, GY=grey, PK=pink, WH=white, YE=yellow
Installation
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9.5 Electrical interfaces
All product variants of the integrated drive EMCS-ST support the following electrical interfaces
depending 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 voltage supply
[Logic]
Yes Yes
Load voltage supply [Power] Yes Yes
Tab. 8 Overview of electrical interfaces
The electrical interfaces are located on the top of the controller housing.
1Interface [Power]
2Interface [Logic]
Fig. 9 Overview of electrical interfaces
Installation
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