Festo ERMS Parts list manual

8103921
ERMS
Rotary drive unit
8103921
2019-07
[8103923]
Instructions| Operat-
ing

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................................................................................................... 4
1.1 Applicable documents.................................................................................................. 4
2 Safety........................................................................................................................... 4
2.1 Safety instructions........................................................................................................ 4
2.2 Intended use................................................................................................................ 4
2.3 Training of qualified personnel..................................................................................... 4
3 Additional information................................................................................................ 4
4 Service..........................................................................................................................4
5 Product overview......................................................................................................... 5
5.1 Scope of delivery.......................................................................................................... 5
5.2 Function....................................................................................................................... 5
5.3 System overview.......................................................................................................... 5
5.3.1 Product design........................................................................................................6
6 Transport..................................................................................................................... 6
7 Assembly..................................................................................................................... 7
7.1 Mounting drive............................................................................................................. 7
7.2 Mounting attachment component................................................................................ 9
8 Installation.................................................................................................................. 9
9 Commissioning............................................................................................................ 11
9.1 Commissioning "DIO operation (digital I/O)"............................................................... 12
9.2 Commissioning "IO-Link Operation"............................................................................ 13
10 Operation..................................................................................................................... 13
10.1 Master control.............................................................................................................. 13
10.2 Dimension reference system........................................................................................ 14
10.3 Display and operating components (HMI)..................................................................... 15
10.4 Homing..........................................................................................................................16
10.5 End-to-end operation................................................................................................... 17
11 Maintenance................................................................................................................ 18
11.1 Disassembly................................................................................................................. 18
11.2 Cleaning....................................................................................................................... 18
12 Malfunctions............................................................................................................... 19
12.1 Fault clearance............................................................................................................. 21
12.2 Repair............................................................................................................................21
13 Disposal........................................................................................................................21
14 Technical data............................................................................................................. 22
Table of contents

1 About this document
1.1 Applicable documents
All available documents for the product èwww.festo.com/pk.
Type Product Contents
EMCS-ST Integrated drive Description, commissioning
NEFC-M12G8-0.3-M12G5-LK Adapter Instruction manual, mounting
Tab. 1 Other applicable documents for the product
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 environment. Ensure that
storage times are kept to a minimum.
– Observe tightening torques. Unless otherwise specified, the tolerance is±20%.
2.2 Intended use
The rotary drive unit ERMS is used as intended for the rotary movement of payloads.
2.3 Training of qualified personnel
Installation, commissioning, maintenance and disassembly should only be conducted by qualified per-
sonnel.
The personnel must be familiar with the installation of mechatronic control systems.
3 Additional information
– Accessories èwww.festo.com/catalogue
– All available documents for the product èwww.festo.com/sp.
4 Service
Contact your regional Festo contact person if you have technical questions èwww.festo.com.
About this document
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5 Product overview
5.1 Scope of delivery
The following components are included in the scope of delivery:
– Rotary drive unit ERMS
– Instruction manual for the rotary drive unit ERMS
– Adapter for IO-Link operation (optional accessory) èwww.festo.com/catalogue
5.2 Function
The rotation of the motor is transferred to the rotary table by a helical gear unit.
5.3 System overview
1PELV fixed power supply for power voltage
2PELV fixed power supply for logic voltage
3Application software
4PC or Laptop
5Controller or IO-Link master
6Rotary drive unit ERMS
Fig. 1 System overview
The positions 1…5 are not in scope of delivery.
Product overview
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5.3.1 Product design
1Rotary drive ERMS
2Product labelling
3Controller housing
4Warning symbol "Attention! Hot surface"
5Integrated drive EMCS-ST
6Rotating plate
7Thread/centring holes for attachment components
8Thread for mounting (lateral)
9Thread for mounting (front)
Fig. 2 Product design
Electrical connections, display and operating components (HMI)
1LED display Menu (Speed Out, ..., Demo)
2LED parameter display
3LED display C/Q
4Power voltage connection [power]
5Logic voltage and digital I/O or IO-Link [Logic] connec-
tion
6Pushbutton actuator (right arrow)
7Pushbutton actuator (Edit)
8Pushbutton actuator (left arrow)
Fig. 3 Electrical connections, display and operating components (HMI)
6 Transport
NOTICE!
Unexpected and unbraked movement of components
• Secure moving components for transport.
• Take product weight into account è 14 Technical data.
Transport
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7 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 con-
nected mechanics and crush parts of the body.
• Bring moving parts of the mechanical system into a safe position.
Requirements
– Do not modify screws and threaded pins.
Exception: direct request in these operating instructions to make changes.
– Connect motor cables only after the drive is mounted.
Loss of homing settings due to change of position of the stop.
• After completion of mounting, start homing è 9 Commissioning.
7.1 Mounting drive
The drive can be mounted on the side or front/rear:
– Side mounting è Fig.4
– Front/rear mounting è Fig.5
Position the drive in such a way that its operating components are accessible.
– Select mounting attachments è Tab. 2.
– Make sure that mounting components are outside the positioning range.
– Mount the drive.
– Tighten screws evenly.
– Observe the maximum screw-in depth and tightening torque è Tab. 2.
Size 25 32
Screw M6 M8
Tightening torque [Nm] 8 24
Centring [mm] Æ9H7 Æ12H7
Max. screw-in depth (side mounting) [mm] 9.5 15
Tab. 2
Assembly
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Side mounting of drive
1Screw
2Centring sleeve
3Mounting hole
4Rotary drive unit ERMS
Fig. 4 Side mounting of drive
Front/rear mounting of drive
1Screw
2Mounting hole
3Rotary drive unit ERMS
Fig. 5 Front/rear mounting of drive
Assembly
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7.2 Mounting attachment component
– Select mounting attachments è Tab. 3.
– Mount the attachment component on the rotary table with screws and centring sleeves.
– Tighten screws evenly.
– Observe the maximum screw-in depth and tightening torque è Tab. 3.
1Rotary drive unit ERMS
2Mounting hole
3Central drill hole
4Central drill hole for centring sleeve
5Mounting hole for centring sleeve
6Screw
Fig. 6 Mounting attachment component
Size 25 32
Screw M5 M5
Max. screw-in depth [mm] 8.5 10
Tightening torque [Nm] 5 5
Centring
Mounting hole [mm] Æ7H7
Central drill hole [mm] Æ15H8 Æ20H8
Tab. 3
8 Installation
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.
1. Connect the cables to the [Logic] and [Power] connections of the integrated drive EMCS-ST. Do not
connect pin3 at the [Power] terminal to high or low potential.
2. Connect cables to the controller or IO-Linkmaster and to the PELV fixed power supply units.
Installation
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Wiring diagram: DIO operation (digital I/O)
– Reset (optional)
1PELV fixed power supply unit for power sup-
ply 24 V DC
2Reset button for acknowledging an error and
triggering a restart (optional)
3PELV fixed power supply for logic voltage
supply 24 V DC
4Higher-level open-loop control (controller)
with digital I/O
5EMCS-ST
Fig. 7 Wiring diagram: DIO operation (digital I/O)
Wiring diagram: IO-Link operation
1PELV fixed power supply unit for power sup-
ply 24 V DC
2IO-Link master with IO-Link interface
3EMCS-ST
Fig. 8 Wiring diagram: IO-Link operation
Installation
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Wiring diagram: IO-Link operation with adapter NEFC
1PELV fixed power supply unit for power sup-
ply 24 V DC
2Adapter NEFC
3IO-Link master with IO-Link interface
4EMCS-ST
Fig. 9 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
9 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 con-
necting cables of a servo drive or between servo drives.
• Before commissioning: All cables must be correctly assigned and connected.
Commissioning
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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.
• A new homing is only necessary if the reference end position Ref or the useful range is changed.
• When homing, the Start Press Position PosStart Press is equated with the new end position LimOut.
9.1 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 I/O (DIO) [Logic].
Processing
1. Switch on power voltage.
2. Switch on logic voltage.
3. Wait for initialisation until LED "C/Q" lights yellow.
4. Parameterise (optional): Velocities (Speed In/Speed Out), Force/Torque (Force), Reference End
Position Ref (Reference) or Start Press Position PosStart Press (Start Press).
è 10.3 Display and operating components (HMI)
è Tab. 5 Parameterise and control homing
è Tab. 6 Parameterise and control end-to-end operation
The drive system is ready for operation and can be controlled via the DIO control interface (digital I/O).
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" before the actual motion task is
executed), LED "C/Q" lights green.
Commissioning
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9.2 Commissioning "IO-Link Operation"
Preparation
1. Check the assembly of the drive unit.
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.
Processing
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. Establish IO-Link connection with the drive system.
5. Parameterise (optional):
Reference endposition Ref (Reference), Velocities (SpeedIn/SpeedOut), Force, Start Press Posi-
tionPosStart Press (PositionStartPress) or End positionLimOut (End PositionOut)
è Tab. 5 Parameterise and control homing
è Tab. 6 Parameterise and control end-to-end operation
The drive system is ready for operation and can be controlled via the IO-Link interface. 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 task before the
actual motion task is executed), LED "C/Q" flashes green.
10 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.
10.1 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)
Operation
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10.2 Dimension reference system
The correct positioning of the drive requires a defined dimension reference system.
Rotary drive system
– Ref: reference end position (reference point for LimIn, LimOut, PosAct and PosStart Press)
– left (default)
– right
– LimIn/LimOut: end positions
– MechIn/MechOut: mechanical stops
– PosAct: current position
– PosStart Press: Start Press Position
Tab. 4 Dimension reference system for rotary drive systems
Operation
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10.3 Display and operating components (HMI)
The display and operating components (HMI) can be used to perform the following functions in the
HMI 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 è 14 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
– 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
Fig. 10 HMI menu
Operation
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10.4 Homing
During homing, the positions of the mechanical stops MechIn/ MechOut are determined in order to cal-
culate the end positions LimIn (Ref)/LimOut for the dimension reference system.
Before the homing run is carried out, the drive is de-energised for a required re-initialisation. Then the
power supply is restored and the homing process starts.
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.
• A new homing is only necessary if the reference end position Ref or the useful range is changed.
• When homing, the Start Press Position PosStart Press is equated with the new end position LimOut.
Homing
Parameterise reference endposition "Ref"
HMI:
– Menu, Reference è 10.3 Display and operating components (HMI)
IO-Link (acyclic device data):
– left (default): 0x0103.0, reference=false
– right: 0x0103.0, reference=true
Control homing
HMI:
– StartRef: menu, reference
è 10.3 Display and operating components
(HMI)
IO-Link (acyclic device data):
– StartRef:
0x0104.0, Execute MovRef=true
Tab. 5 Parameterise and control homing
Operation
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10.5 End-to-end operation
In end-to-end operation with or without press function, the unit can be moved between the end posi-
tions LimIn/ LimOut.
Each time the logic voltage is switched on, the position of the reference endposition Ref is re-initial-
ised with speedRef with the first motion task. When moving to theLimOut end position, theLimOut end
position is approached at theSpeedOut velocity.
End-to-end operation
Parameterise end-to-end operation
HMI:
– Speed Out, Speed In, Force and Start Press è 10.3 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)
Control end-to-end operation
DIO: IO-Link (cyclic process data):
Operation
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End-to-end operation
Single end-to-end operation End-to-end operation with press function
1) 10, 20, ..., 100% of maximum value
2) Only required for end-to-end operation with press function
3) Reset
4) with each reference point "reference end position Ref"
Tab. 6 Parameterise and control end-to-end operation
11 Maintenance
WARNING!
Danger of crushing due to unexpectedly fast-moving loads and unintentional movements.
• Switch off power to the product.
• Safeguard the power supply from being switched on again unintentionally.
11.1 Disassembly
• Remove motor cables and retaining screws.
Observe transport information è 6 Transport.
11.2 Cleaning
• Clean the outside of the product with a soft cloth. Do not use aggressive cleaning agents.
Maintenance
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12 Malfunctions
Diagnostic messages "Warnings and Errors" are displayed via the LED displays C/Q, menu and para-
meters.
In DIO mode, errors are reported to the controller via the sensor signal combination "1–1".
Errors can be reset as follows:
– DIO mode èreset of logic voltage
– IO-Link operatingèparameter "Quit Error" (0x0029.3 or 0x0107.0)
The first error that occurred is always displayed.
Fig. 11 Display of diagnostic messages (example)
Malfunctions
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Error
code
Description LED displays Event
code
hex
(dec)
C/Q Menu Parameter (IO-
Link)
Warning
zWarnings
Detailed information èDescription of
integrated drive EMCS-ST yellow
on
z z 0x...
Error
zCommon device error
èContact Festo
…0x1000
0x000F
(15)
I2t monitoring output stage error 0x1805
0x0016
(22)
Logic voltage undersupply1) 0x1804
0x0017
(23)
Logic voltage oversupply 0x1803
0x0026
(38)
Load voltage undersupply or not con-
nected
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) This error can only be acknowledged by a restart.
Tab. 7 Diagnostic messages "Warnings and Errors"
Malfunctions
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