Festo EMCA-EC-67 CO Series User manual

Description

FHPP device profile

For fieldbus:

– CANopen

– EtherNet/IP

8066844

1611b

[8066846]

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

Integrated Drive

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

2 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English

Translation of the original instructions

GDCE-EMCA-EC-C-HP-EN

CANopen®, CiA®, EtherNet/IP®are registered trademarks of the respective trademark owners in

certain countries.

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/-EP

Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English 3

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

1 FHPP device profile (Festo Handling and Positioning Profile) 15......................

1.1 FHPP overview 15............................................................

1.2 Fieldbus interfaces 16........................................................

1.2.1 CANopen interfaces 16...............................................

2 CANopen 17................................................................

2.1 CiA standards 17............................................................

2.2 CAN bus/CANopen interface of the EMCA 18......................................

2.2.1 CANopen display component 18........................................

2.2.2 CAN bus ports 19...................................................

2.2.3 Termination of the CAN bus (terminating resistor) 20.......................

2.2.4 CAN bus cabling 21..................................................

2.2.5 CAN bus cable 22...................................................

2.3 Configure CANopen participants 22.............................................

2.3.1 Configure EMCA 23..................................................

2.3.2 Commission EMCA with the Festo Configuration Tool (FCT) 26................

2.3.3 Configure CANopen master 26.........................................

2.4 Required digital inputs for operation 27..........................................

2.5 Data interfaces (parameter/firmware) 28.........................................

3 EtherNet/IP with FHPP 29.....................................................

3.1 ODVA standards 29..........................................................

3.2 EtherNet/IP interface of the motor unit 30........................................

3.2.1 EtherNet/IP display components 30.....................................

3.2.2 EtherNet/IP connections 31...........................................

3.2.3 EtherNet/IP copper cabling 31.........................................

3.3 Configuration EtherNet/IP stations 32...........................................

3.3.1 Parameterisation of the Ethernet/IP interface 32..........................

3.3.2 Commissioning with the Festo Configuration Tool (FCT) 32...................

3.3.3 Setting the IP address 32.............................................

3.3.4 Setting the optional use of FPC and FHPP+ 33.............................

3.4 Electronic data sheet (EDS) 33.................................................

4 FHPP 34...................................................................

4.1 FHPP communication 34......................................................

4.1.1 Function 34........................................................

4.1.2 Structure of the FHPP message 35......................................

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

4 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English

5 FHPP standard data (I/O data) 37..............................................

5.1 FHPP finite state machine (sequence control) 37...................................

5.1.1 “Achieve ready status” status transitions 38..............................

5.1.2 Status transitions “Operation enabled” 40...............................

5.2 Structure of the FHPP standard data (I/O data) 43..................................

5.2.1 Function 43........................................................

5.2.2 Structure of the FHPP message 43......................................

5.2.3 Structure of the FHPP standard data 44..................................

5.3 FHPP control and status data 46................................................

5.3.1 Overview: FHPP control data 46........................................

5.3.2 Overview: FHPP status data 48.........................................

5.3.3 Description: control bytes 50..........................................

5.3.4 Description: status bytes 54...........................................

6 Measuring reference system 60................................................

6.1 Configure dimensional reference system 60.......................................

6.1.1 Dimension reference system for linear drives 61...........................

6.1.2 Dimension reference system for rotative drives 62.........................

6.1.3 Calculation rules for the dimension reference system 63....................

6.1.4 Limit switch LSN/LSP (hardware) 63....................................

6.1.5 Software end position SLN/SLP 63......................................

6.2 Increments 64..............................................................

6.2.1 Encoder increments [EINC] 64..........................................

6.2.2 Interface increments [SINC] 64.........................................

6.3 Factor group (Factor Group) 64.................................................

6.3.1 Exponents 64.......................................................

6.4 Parameters for position determination 66........................................

6.4.1 Conversion factors 66................................................

7 Control via FHPP 67..........................................................

7.1 Establish ready status 69......................................................

7.1.1 Establish ready status 70.............................................

7.2 Cancel travel/positioning task with “Halt” or “Stop” 71..............................

7.2.1 Cancel homing, jog, speed or force/torque mode “Halt” 71..................

7.2.2 Cancel homing, jog, record selection or direct mode with “Stop” 71...........

7.3 Master control and access protection 72.........................................

7.3.1 Master control over the EMCA 72.......................................

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

Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English 5

7.4 Homing mode 73............................................................

7.4.1 Homing 73.........................................................

7.4.2 FHPP parameters: homing 74..........................................

7.4.3 Control homing mode 75..............................................

7.4.4 Diagram: Homing to reference/limit switch 76.............................

7.4.5 Diagram: Homing to stop 77...........................................

7.4.6 Methods of homing 78...............................................

7.5 Jog operation 84.............................................................

7.5.1 FHPP parameters: jog operation 84.....................................

7.5.2 Control jog operation 85..............................................

7.5.3 Diagram: jog mode 86................................................

7.6 Teach mode 87..............................................................

7.6.1 FHPP parameter: Teach mode 87.......................................

7.6.2 Control teach mode 88...............................................

7.6.3 Diagram: teach mode 89..............................................

7.7 Record selection mode 90.....................................................

7.7.1 Overview: Data exchange in the record selection mode 90...................

7.7.2 FHPP parameters: record selection mode 91..............................

7.7.3 Control record selection mode 93.......................................

7.7.4 Control intermediate stop 94..........................................

7.7.5 Delete remaining path 95.............................................

7.7.6 Stroke limit reached 95...............................................

7.7.7 Diagram: Start and stop record 96......................................

7.7.8 Diagram: Interrupt and continue positioning record with Halt

(intermediate stop) 97...............................................

7.7.9 Diagram: Interrupt positioning record with Halt and delete remaining path 98...

7.7.10 Diagram: Positioning mode (point-to-point positioning) 99...................

7.7.11 Diagram: speed mode 100.............................................

7.7.12 Diagram: force/torque mode 101........................................

7.8 Record chaining 102..........................................................

7.8.1 Control record chaining 104............................................

7.8.2 Diagram: record chaining 105...........................................

7.8.3 Diagram: record sequencing with final speed 106...........................

7.8.4 Stroke monitoring 107................................................

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6 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English

7.9 Direct operation 109..........................................................

7.9.1 Overview: data exchange in direct operation 109...........................

7.9.2 FHPP parameters: direct operation 110...................................

7.9.3 Control direct operation 112............................................

7.9.4 Control intermediate stop 114..........................................

7.9.5 Delete remaining path 114.............................................

7.9.6 Stroke limit reached 115...............................................

7.9.7 Diagram: Start and stop positioning task 116..............................

7.9.8 Diagram: Interrupt and continue positioning task with Halt (intermediate stop) 117

7.9.9 Diagram: Interrupt positioning task with Halt and delete remaining path 118.....

7.9.10 Diagram: Positioning mode (point-to-point positioning) 119...................

7.9.11 Diagram: speed mode 120.............................................

7.9.12 Diagram: force/torque mode 121........................................

7.9.13 Diagram: Final speed 122..............................................

7.9.14 Stroke monitoring 123................................................

7.10 Flying measurement (position sampling) 125.......................................

8 Monitoring of the drive behaviour 126............................................

8.1 Messages 126...............................................................

8.1.1 Motion complete 127.................................................

8.1.2 Following error 129...................................................

8.1.3 Standstill monitoring 131..............................................

8.1.4 Comparators 133.....................................................

8.2 Protective functions 135.......................................................

8.2.1 Overview: protective functions 135......................................

8.2.2 I2t monitoring 136....................................................

A Festo Parameter Channel (FPC) 138..............................................

A.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) 138..........................

A.1.1 Function 138........................................................

A.2 Enhanced Festo Parameter Channel (EFPC) 139.....................................

A.2.1 Structure of the Enhanced Festo Parameter Channel (EFPC) 139...............

A.2.2 Switch over transmission mode (parameter/file) 139........................

A.3 Transmitting FHPP parameters (PNU) 140..........................................

A.3.1 Structure of EFPC in transmitting parameters 140...........................

A.3.2 Task identifier (Req-ID) and response identifier (Res-ID) 140..................

A.3.3 Sequence of parameter transmission 141.................................

A.3.4 Example: transmitting parameters 141...................................

A.3.5 Error codes 141......................................................

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

Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English 7

A.4 Transmit parameter file 142.....................................................

A.4.1 Structure of EFPC in parameter file transmission 142........................

A.4.2 Task identifier (Req-ID) and response identifier (Res-ID) 142..................

A.4.3 Package ID 143......................................................

A.4.4 Parameter file and user data package 144.................................

A.4.5 Checking and activation of the parameter file 145...........................

A.4.6 Sequence of parameter file transmission 145..............................

A.4.7 Examples of parameter file transmission 146...............................

A.4.8 Error codes 151......................................................

B FHPP+ 153..................................................................

B.1 FHPP+ data 153..............................................................

B.1.1 Function 153........................................................

B.1.2 Structure of the FHPP message 153......................................

C FHPP parameters (PNU) 154....................................................

C.1 General FHPP parameter structure 154............................................

C.2 Overview: FHPP parameters 155.................................................

C.2.1 FHPP+ Data 155......................................................

C.2.2 Device data 156......................................................

C.2.3 Diagnostics 157......................................................

C.2.4 Process Data 158....................................................

C.2.5 Record list 159.......................................................

C.2.6 Project Data 161.....................................................

C.2.7 Factor group 164.....................................................

C.2.8 Axis parameters: electric drives 1 164....................................

C.3 Description: FHPP parameters 168...............................................

C.3.1 Representation of the parameter entries 168..............................

C.3.2 FHPP+ data – FHPP+ telegram editor 169..................................

C.3.3 Device data – version numbers 172......................................

C.3.4 Device data – identification 173.........................................

C.3.5 Device data – HMI parameters 176.......................................

C.3.6 Diagnostic parameters 178.............................................

C.3.7 Process data – general process data 187..................................

C.3.8 Process data – FHPP-data 190..........................................

C.3.9 Process data – flying measurement (sampling of positions) 191................

C.3.10 Record list – record data 192...........................................

C.3.11 Record list – record messages 201.......................................

C.3.12 Project Data – General Project Data 205...................................

C.3.13 Project data – force/torque mode 206....................................

C.3.14 Project data –teach mode 206..........................................

C.3.15 Project data – FHPP-direct mode 207.....................................

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

8 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English

C.3.16 Project Data – Jog Mode 209............................................

C.3.17 Project data - direct operation position 210................................

C.3.18 Project data – force direct operation 212..................................

C.3.19 Project data – rotational speed direct mode 212............................

C.3.20 Project data – direct operation general 214................................

C.3.21 Factor group 217.....................................................

C.3.22 Axis parameters: electrical Drives 1 – mechanical parameters 218..............

C.3.23 Axis parameter: electrical drives 1 – homing parameters 220..................

C.3.24 Axis parameter: electrical drives 1 – controller parameters 223................

C.3.25 Axis parameters: electric drives 1 – electronic rating plate 226.................

C.3.26 Axis parameters: electric drives 1 – standstill monitoring 227..................

C.3.27 Axis parameters: electric drives 1 – following error monitoring 228.............

C.3.28 Axis parameters: electric drives 1 – motor data 228.........................

C.3.29 Axis parameters: electric drives 1 – temperature data 229....................

C.3.30 Axis parameters: electric drives 1 – general drive data 230....................

D CANopen communication 232...................................................

D.1 Overview: communication objects (COB) 232.......................................

D.2 Representation of the object characteristics 235....................................

D.3 CAN-bus access 236..........................................................

D.3.1 Access via data objects (PDO/SDO) 236..................................

D.3.2 Access via messages 237..............................................

D.3.3 CAN identifier (CAN-ID), priority and internal cycle times 238..................

D.4 PDO message (PDO message) 239...............................................

D.4.1 Structure of the PDO message 241.......................................

D.4.2 FHPP standard data (PDO1) 241.........................................

D.4.3 Object 3000h … 3004h: RPDO1 – FHPP standard data 242....................

D.4.4 Object 3020h … 3024h: TPDO1 – FHPP standard dataFHPP standard data 242....

D.4.5 Festo parameter channel (FPC) (PDO2) 243................................

D.4.6 Object 3010h … 3013h: RPDO2 – Parameter channel FPC

(Parameter channel FPC) 243...........................................

D.4.7 Object 3030h … 3033h: TPDO2 – Parameter channel FPC

(Parameter channel FPC) 243...........................................

D.5 SDO message (SDO message) 244...............................................

D.5.1 Object 1200h: SDO Server parameter (SDO server parameter) 245.............

D.5.2 Read SDO message 246...............................................

D.5.3 Write SDO message 247...............................................

D.5.4 SDO error messages 248...............................................

D.6 SYNC message (SYNC message) 249..............................................

D.6.1 Object 1005h: SYNC communication object identifier (COB-ID SYNC) 249........

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

Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English 9

D.7 EMCY message (EMCY message) 250.............................................

D.7.1 Function: EMCY message 250...........................................

D.7.2 Send EMCY message 252..............................................

D.7.3 CANopen error messages 253...........................................

D.7.4 Object 1001h: Error register (Error register) 257............................

D.7.5 Object 1003h: Predefined error field (Pre-defined error field) 258..............

D.7.6 Object 1014h: COB-ID emergency message (COB-ID emergency message) 259....

D.7.7 Object 1015h: EMCY inhibit time (Inhibit time EMCY) 259.....................

D.8 Network management NMT (Network management) 260..............................

D.8.1 Boot-up message (Boot-up message) 264.................................

D.8.2 Start remote node 264................................................

D.8.3 Stop remote node 264................................................

D.8.4 Enter pre-operational 265..............................................

D.8.5 Reset node 265......................................................

D.8.6 Reset communication 265..............................................

D.8.7 Node monitoring (Node guarding)/(Error control message) 266................

D.8.8 Object 100Ch: Monitoring time (Guard time) 267...........................

D.8.9 Object 100Dh: Monitoring time factor (Life time factor) 268...................

D.9 Device data (Device data) 269...................................................

D.9.1 Object 1000h: Device type (Device type) 270..............................

D.9.2 Object 1008h: Device name of the manufacturer (Manufacturer device name) 270.

D.9.3 Object 1009h: Hardware version (Manufacturer hardware version) 271..........

D.9.4 Object 100Ah: Software version (Manufacturer software version) 271...........

D.9.5 Object 1018h: Identity of the device (Identity object) 272.....................

D.10 Load and save parameter sets 273...............................................

D.10.1 Object 1010h: Store parameters 275.....................................

D.10.2 Object 1011h: Restore default parameters 276.............................

D.11 CANopen – Object dictionary (OD) 277............................................

D.12 Objects 278.................................................................

D.12.1 Communication profile area (Object 1000h … 1FFFh) 278.....................

D.12.2 Manufacturer-specific profile area (Object 2000h … 5FFFh) 280................

E Diagnostics and fault clearance 281.............................................

E.1 Diagnostics via LED 281........................................................

E.1.1 LED indicator for CAN bus (EMCA-EC-...-CO) 281............................

E.1.2 CAN bus status (in accordance with CiA CANopen LED indicator) 281............

E.1.3 LED indicator for EtherNet/IP (EMCA-EC-...-EP) 284..........................

E.1.4 EtherNet/IP display components 284.....................................

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

10 Festo – GDCE-EMCA-EC-C-HP-EN – 1611b – English

E.2 Diagnostic messages 285......................................................

E.2.1 Error management 285................................................

E.2.2 Reactions to messages 285............................................

E.2.3 Reactions to errors 286................................................

E.2.4 Output stage on 286..................................................

E.2.5 Save diagnostics 287.................................................

E.2.6 Acknowledge acknowledgeable error 287.................................

E.2.7 Reset non-acknowledgeable error 287....................................

E.3 Diagnostic memory 288........................................................

E.3.1 Function: diagnostic memory 288........................................

E.3.2 Delete diagnostic memory 289..........................................

E.3.3 Diagnostics through FHPP status bytes 289................................

E.4 Explanations for the diagnostic messages 290......................................

E.4.1 Diagnostic messages with instructions for fault clearance 291.................

F Terms and abbreviations 306...................................................

Index 309........................................................................

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