Festo ERMS User manual

ERMS
Rotary drive unit
Festo SE & Co. KG
Ruiter Straße 82
73734 Esslingen
Deutschland
[phone]
www.festo.com
Operating instructions
8174351
2022-04c
[8174353]
Translation of the original instructions
© 2022 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
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
–Adapter NEFC from production date 01/2022
When using a different firmware version, check whether a corresponding version
of the documentation is available è www.festo.com/sp.
2Safety
2.1 Safety instructions
–Observe labelling on the product.
–Before working on the product, switch off the power supply and secure it
against being switched on again.
–Store the product in a cool, dry environment protected from UV and corrosion.
Keep storage times short.
–Observe the 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 between two end positions.
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.
3Additional information
–Contact the regional Festo contact if you have technical problems
è www.festo.com.
–Accessories and spare parts è www.festo.com/catalogue.
4Product overview
4.1 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
4.2 Function
The rotary drive unit converts the rotary motion of the attached motor into a
rotary motion of the rotating plate. The torque of the motor is transmitted to the
rotating plate by the helical gear unit.
4.3 System overview
1
2
3
4
5
6
Fig. 1: System overview ERMS
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
Rotary drive unit ERMS
Items 1 … 5 are not included in the scope of delivery.
4.3.1 Product design
1 2 3 4 5
6
7
8
9
10
Fig. 2: Product design ERMS
1
Hollow shaft for energy through-feed
2
Rotary drive ERMS
3
Product labelling
4
Controller housing
5
Integrated drive EMCS-ST
6
Warning symbol "Attention! Hot sur-
face"
7
Rotating plate
8
Thread and centring hole for attach-
ment components
9
Thread and centring hole for direct fas-
tening
10
Thread for direct fastening
Electrical connections, display and operating components (HMI)
1 2 3 4 5
6
7
8
Fig. 3: 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 digital
I/O or IO-Link connections [Logic]
6
Pushbutton actuator (right arrow)
7
Pushbutton actuator (Edit)
8
Pushbutton actuator (left arrow)
5Transport
NOTICE
Unexpected and unbraked movement of components
• Secure moving components for transport.
Transport conditions and storage conditions
–Store and transport the product in its original packaging.
–Store the product in a cool, dry environment protected from UV and corrosion.
Keep storage times short.
–Store product in areas where it is not exposed to oils, greases and degreasing
vapours.
6 Assembly
6.1 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 connected mechanics and crush parts of the body.
•Bring moving parts of the mechanical system into a safe position.
6.2 Unpacking
1. Open packaging.

2. Remove all transport materials (e.g. foils, caps, cardboard boxes).
3. Remove the product from the packaging and place it on the mounting surface.
4. Dispose of packaging and transport materials.
6.3 Mounting rotary drive
Requirement
–No collision in the range of motion of the attachment component with mounting
components.
–No distortion or bending when installing the product.
1. Select mounting attachments è www.festo.com/catalogue.
2. Place the mounting attachments on the support points.
3. Tighten retaining screws.
Observe max. tightening torque and max. screw-in depth.
For additional information, contact your local Festo Service.
Direct fastening
Mounting via thread (bottom,
left, right)
Mounting via thread (front) Mounting via through-hole
Tab. 2: Overview of mounting components
Size 25 32
Direct fastening via thread
Screw M6 M8
Max. screw-in depth tmax [mm]
front 16 20
bottom, left, right 9.5 15
Max. tightening torque [Nm] 8 24
Centring, bottom, left, right (hole tolerance H7)
Centring sleeve [mm] Æ 9 Æ 12
Direct fastening via through-hole
Hole length [mm] 45.8 39.7
Hole diameter [mm] 5.5 6.6
Tab. 3: Information on mounting attachments
6.4 Mounting the attachment component
Collision-free Centre of gravity and tilting moment
Tab. 4: Requirement for attachment component
Requirement
–No collision in the range of motion of the attachment component with mounting
components.
–Position of the centre of gravity and tilting moment (force F parallel to the axis
of rotation) of the attachment component centrally and close to the centre of
the rotating plate (short lever arm a).
1. Select accessories è www.festo.com/catalogue.
2. Place centring components in centring holes.
3. Position the attachment component on the rotating plate.
4. Tighten retaining screws.
Observe max. tightening torque and max. screw-in depth.
Direct fastening
Mounting via thread
Tab. 5: Overview of attachment component
Size 25 32
Direct fastening
Screw [mm] M5 M5
Tightening torque [Nm] 5 5
max. screw-in depth tmax [mm] 8.5 10
Centring, 4x (hole tolerance H7)
Centring sleeve [mm] Æ7
Hub centring, 1x (hole tolerance H8)
Centring sleeve [mm] Æ15 Æ20
Tab. 6: Information on attachment components
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:
• EMCS-ST is not hot-pluggable. Only after connection of the reference poten-
tials GND/L– [Pin 4/8] can 24 V levels be applied to digital outputs DO1/DO2
[Pin 2/3] or the IO-Link communication signal C/Q [Pin 3].
• The DO1/DO2 [Pin 2/3] digital outputs and the IO-Link C/Q [Pin 3] communi-
cation signal must be disconnected 100 ms before the power supply connec-
tions GND/L– [Pin 4/8] and 24 V DC/L + [Pin 1], e.g. by the interposition of
relay contacts.
• GND and L– connections:
• The Power, GND [Pin 2] and Logic, GND/L– [Pin 4/8] connections must have
the same potential.
1. Connect 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 DI1/DI2 digital inputs of the
EMCS, e.g. by controller outputs with pull-up resistors (4.3 kW recommended).
1
2
3
4
Fig. 4: Wiring diagram: DIO operation (digital I/O)
1
PELV fixed power supply for the
load voltage supply
2
PELV fixed power supply for the
logic power supply
3
Integrated drive EMCS-ST
4
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.
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. 7: Overview of status and control signals as a function of electrical levels
Wiring diagram: 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.
Connecting IO-Link directly to the master
12
3
Fig.5
1
PELV fixed power supply for the
load voltage supply
2
Integrated drive EMCS-ST
3
IO-Link master with IO-Link inter-
face, port class A
Connecting IO-Link to the master via the NEFC adapter
Adapter NEFC up to production date 2021
NEFC adapters up to production date 2021 can only be used for IO-Link masters
with port class A.
12
34
Fig. 6: Wiring diagram: IO-Link operation with adapter, example of port class A
1
PELV fixed power supply for the
load voltage supply
2
Integrated drive EMCS-ST
3
IO-Link master with IO-Link inter-
face, port class A and B
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.
Updating device data (only via IO-Link)
• Firmware update
• Updating 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 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). If the logic voltage
is switched on before the load voltage, the EMCS-ST starts with an error that
must be acknowledged.
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 homing 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 referenced after a
successful homing.
Referencing sets the start press position "PosStart Press" equal to the calculated
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 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).
If the logic voltage is switched on before the load voltage, the EMCS-ST starts
with an error that must be acknowledged.
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 homing 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 a successful homing.
Homing sets the "PosImp" intermediate position and the "PosStart Press" start
press position 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 "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.
Rotary drive system
Ref

: reference end position (reference point for LimIn, LimOut, PosAct, PosImp and PosStart Press)
–left (default)
–right
LimIn/LimOut : end positions
MechIn/MechOut: mechanical stops
PosAct : current position
PosImp: intermediate position (IO-Link only)
PosStart Press: Start Press position
Tab. 8: Dimension reference system for rotary drive systems
9.3 Restart with homing
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.

Homing 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. 9: 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 14 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 settings, press , and simultaneously for 10 s and then
carry out a Power OFF/ON on the logic power supply 24 V DC [pin 1].
Fig. 7: HMI menu
9.5 Homing 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-energised for a required re-initialisation. Then
the power is restored and the process is started.

Activate referencing with end position determination StartRef
Factory setting: left 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 set-
ting) or true and initiate referencing movement 0x0104.0 = true
–IO-Link, system parameters: 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. 10: 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 power
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 power
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 power stage is switched off after 3 s, the drive coasts to a standstill and remains
stationary unregulated.
Tab. 11: Parameterise and control point-to-point operation

10 Maintenance
10.1 Safety
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.
10.2 Cleaning
Clean the product with a clean, soft cloth and non-abrasive cleaning agents.
11 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. 8: 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...
Errors
zCommon device error or
unlisted errors
red light
…0x100
0
Remedy
–Contact Festo
0x000F
(15)
I2t monitoring output stage
error limit
0x180
5
Remedy
–
0x0016
(22)
Undervoltage in logic supply
24 V2)
0x180
4
Remedy
–Check logic voltage supply
0x0017
(23)
Overvoltage in logic supply
24 V
0x180
3
Remedy
–Check logic voltage supply
0x001F
(31)
Undervoltage in intermediate
circuit
0x180
6
Remedy
–Check the load voltage
supply
–Check power socket for
contamination
Error
code
Description LED LED displays Event
code
hex
(dec)
C/Q Menu Parameter (IO-
Link)
0x0026
(38)
Undervoltage in load supply
24 V
0x180
2
Remedy
–Check the load voltage
supply
–Check power socket for
contamination
0x0027
(39)
Overvoltage load supply 24 V 0x180
1
Remedy
–Check the load voltage
supply
0x0031
(49)
Temperature in device too
low
0x400
0
Remedy
–Check ambient conditions
0x0033
(51)
Temperature in device too
high
Remedy
–Check ambient conditions
–Check installation condi-
tions
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. 12: "Information, Warnings and Errors" diagnostic messages
11.1 Fault clearance
Fault description Cause Remedy
Loud running noises or
vibrations or rough running of
the rotary drive
Torsional stresses Change the layout of
the attachment component
(e.g. payload).
Change the travel velocity.
Rotating plate does not move Loads too high Reduce forces and torques.
Consider dynamics.
Tab. 13: Fault clearance
11.2 Repair
Repair or maintenance of the product is not permissible.
–Send product to Festo repair service.
–Replace with an identical product è www.festo.com/spareparts.
12 Replacement
1. Save the application parameters to the IO-Link master è "Integrated drive
EMCS" instruction manual è www.festo.com/sp.
2. Demount the drive system è 13 Demounting.
3. Mount the 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.
13 Demounting
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.
Demount 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.
14 Technical data
Additional information è www.festo.com/catalogue.
Size 25 32
Design Electromechanical rotary drive with inte-
grated drive
Rotation angle [°] 90, 180
Gear ratio 9:1 7:1
Mounting position any
Relative humidity [%] 0 … 85 (non-condensing)
Ambient temperature [°C] 0 … +50
Storage temperature [°C] –20 … +60
Degree of protection IP40
EMCS-ST: Certificates, declaration of
conformity
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Max. rotational speed1) [rpm] 150 100
Velocity "Speed Press" [rpm] 3 2
Max. torque2)3) [Nm] 2.7 5.6
Max. torque on external stops during
referencing4)
[Nm] 0.45 1.05
Max. acceleration/deceleration5) [rad/s2]140
Permissible mass moment of inertia [kgcm2]65 164
Duty cycle [%] 100 (+30 … +50 °C: – 2% per Kelvin)
Distance between stop and end posi-
tion6)
[°] 2
Repetition accuracy [°] ±0.05 ±0.1
Nominal voltage [V DC] 24
Logic current consumption (logic, pin 1) [mA] DIO operation: 100 ... 300
IO-Link operation: 100 ... 150
Load current consumption (power, pin 1) [A] 3 5.3
IO-Link port class A
IO-Link protocol version Device V 1.1
Max. permissible forces and torsional backlash on the rotating plate
Fx [N] 350 450
Fy [N] 450 550
Fz [N] 450 550
Torsional backlash [°] 0.2
1) Maximum value for Speed In/Speed Out at level 10
2) Maximum value for Force at level 10
3) Force is controlled and evaluated by closed-loop control of the motor current. Depending on the mecha-
nism of the drive, a torque level can be determined from the level of current measured. The target is set
as a percentage of the rated motor current and may differ from the actual force at the rotary drive. At the
lower force levels the frictional force of the drive system may be greater than the set feed force and may
result in the drive system coming to a standstill.
4) The torque acts on the stop for £100 ms
5) Unchangeable parameter.
6) Distance (MechIn – LimIn or MechOut – LimOut)
Tab. 14: Technical data ERMS
Size 25 32
Materials
Note on materials Contains paint-wetting impairment substances
Housing
Rotating plate
Clamping ring
Anodised aluminium
Ball bearings Bearing steel
Sealing ring Nitrile rubber
Weight
Product weight [kg] 1.47 2.3
Tab. 15: Materials and weight