EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo –...
Transcript of EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo –...
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CiA 402
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– CANopen
– EtherCAT
8081117
2017-11c
[8081125]
EMCA-EC-...-CO/-EC
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EMCA-EC-...-CO/-EC
2 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
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EMCA-EC-C-CO-ZH
BECKHOFF®, CANopen®, CiA®, EtherCAT®, Omron® ������ ��。
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Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 3
� – EMCA-EC-...-CO/-EC
1 ���� 15................................................................
1.1 �����% 15............................................................
1.1.1 EMCA�������% 15.............................................
1.2 ������&�'� 16....................................................
1.3 � �%(��/(�) 17...................................................
2 CANopen 18.................................................................
2.1 CiA�) 18................................................................
2.2 EMCA���CAN���/CANopen��% 20.............................................
2.2.1 CANopen�!�*� 20................................................
2.2.2 CAN����% 21....................................................
2.2.3 CAN����"�("�"#) 22......................................
2.2.4 CAN���"$%� 23................................................
2.2.5 CAN���"$ 24....................................................
2.3 ���CANopen��# 24........................................................
2.3.1 ���EMCA 25.......................................................
2.3.2 &'�Festo�Configuration�Tool�(FCT)����EMCA 28......................
2.3.3 CANopen�$�� 28................................................
3 CANopen �� 30............................................................
3.1 &+�(%)�(COB) 30......................................................
3.2 CAN���*+ 32............................................................
3.2.1 &'� �(�(PDO/SDO)�*+ 32......................................
3.2.2 &'&'() 33....................................................
3.2.3 CAN�,*�(CAN-ID)、-.,���/-+�,. 34.......................
3.3 PDO�&'�(PDO�message) 35...................................................
3.3.1 �(�1400h:�RPDO1�&/���(RPDO1�Communication�parameter)
�(�1401h:�RPDO2�&/���(RPDO2�Communication�parameter)
�(�1402h:�RPDO3�&/���(RPDO3�Communication�parameter)
�(�1403h:�RPDO4�&/���(RPDO4�Communication�parameter) 36.........
3.3.2 �(�1600h:�RPDO1�-0���(RPDO1�Mapping�parameter) 38...............
3.3.3 �(�1601h:�RPDO2�-0���(RPDO2�Mapping�parameter)
�(�1602h:�RPDO3�-0���(RPDO3�Mapping�parameter)
�(�1603h:�RPDO4�-0���(RPDO4�Mapping�parameter) 38...............
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3.3.4 �(�1800h:�TPDO1�&/���(TPDO1�Communication�parameter) 39.........
3.3.5 �(�1A00h:�TPDO1�-0���(TPDO1�Mapping�parameter) 42...............
3.4 SDO�&'�(SDO�message) 43...................................................
3.4.1 �(�1200h:�SDO�.12���(SDO�server�parameter) 44.................
3.4.2 SDO�03&' 45....................................................
3.4.3 SDO�4'&' 46....................................................
3.4.4 SDO�12&' 47....................................................
3.5 SYNC�&'�(SYNC�message) 48.................................................
3.5.1 �(�1005h:�SYNC�&+�(�ID�(COB-ID�SYNC) 48........................
3.6 EMCY�&'�(EMCY�message) 49.................................................
3.6.1 ��:EMCY�&' 49.................................................
3.6.2 53�EMCY�&' 51..................................................
3.6.3 CANopen�/4&' 52................................................
3.6.4 �(�1001h:/4672�(Error�register) 56..........................
3.6.5 �(�1003h:5# �/48�(Pre-defined�error�field) 57..............
3.6.6 �(�1014h:�COB-ID�6019&'�(COB-ID�emergency�message) 58........
3.6.7 �(�1015h:EMCY�2�,.�(Inhibit�time�EMCY) 58.....................
3.7 7893�NMT�(Network�management) 59........................................
3.7.1 :;&'�(Boot-up�message) 63......................................
3.7.2 Start�remote�node 63...............................................
3.7.3 Stop�remote�node 63................................................
3.7.4 Enter�pre-operational 64...........................................
3.7.5 Reset�node 64......................................................
3.7.6 Reset�communication 64.............................................
3.7.7 :456�(Node�guarding)/(Error�control�message) 65..................
3.7.8 ;<+�56,.�(Life�time) 66.....................................
3.7.9 �(�100Ch:56,.�(Guard�time) 66................................
3.7.10 �(�100Dh:�56,.=��(Life�time�factor) 67.......................
3.8 ��� �(Device�data) 68...................................................
3.8.1 �(�1000h:���<��(Device�type) 68...............................
3.8.2 �(�1008h:�=����>�(Manufacturer�device�name) 68............
3.8.3 �(�1009h:�7����(Manufacturer�hardware�version) 69.............
3.8.4 �(�100Ah:�>����(Manufacturer�software�version) 69.............
3.8.5 �(�1018h:����ID�(Identity�object) 70.............................
3.9 ??��@��@ 71........................................................
3.9.1 �(�1010h:��@���(Store�parameters) 73..........................
3.9.2 �(�1011h:�8AAB���@�(Restore�default�parameters) 74........
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4 EtherCAT 76................................................................
4.1 ETG�) 76................................................................
4.2 EMCA���EtherCAT����% 77................................................
4.2.1 EtherCAT��!�*� 77.............................................
4.2.2 EtherCAT��% 78...................................................
4.2.3 EtherCAT�"$%� 79...............................................
4.2.4 EtherCAT�"$ 79...................................................
4.2.5 EtherCAT����"� 79.............................................
4.3 EtherCAT�&+ 80...........................................................
4.3.1 %C:EtherCAT��&+�B9 80.....................................
4.3.2 EtherCAT�Slave�Controller�ESC 82....................................
4.3.3 C� 82...........................................................
4.4 EtherCAT�:;$ 84.........................................................
4.5 B9932 87..............................................................
4.5.1 B9932�&+ 87................................................
4.5.2 �(�1C00h:B9932�&+D<�
(Sync�manager�communication�type) 88................................
4.5.3 �(�1C10h:B9932�0���PDO�D��
(Sync�manager�0�PDO�assignment) 89..................................
4.5.4 �(�1C11h:B9932�1���PDO�D��
(Sync�manager�1�PDO�assignment) 89..................................
4.5.5 �(�1C12h:B9932�2���PDO�D��
(Sync�manager�2�PDO�assignment) 90..................................
4.5.6 �(�1C13h:B9932�3���PDO�D��
(Sync�manager�3�PDO�assignment) 90..................................
4.5.7 B9932�B9 91................................................
4.5.8 �(�1C32h:B9932�2��B9�
(Sync�manager�2�synchronization) 91.................................
4.5.9 �(�1C33h:B9932�3��B9�
(Sync�manager�3�synchronization) 92.................................
4.6 Distributed�Clocks�DC 93....................................................
4.7 '<� &+ 94............................................................
4.7.1 PDO�-0 94........................................................
4.7.2 �(�1600h:E�1��=�PDO�-0�RxPDO1�(1st�receive�PDO�mapping) 95......
4.7.3 �(�1600h����� 96..............................................
4.7.4 �(�1A00h:E�1�53�PDO�-0�TxPDO1�(1st�transmit�PDO�mapping) 97.....
4.7.5 �(�1A00h����� 98..............................................
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4.8 FG&+ 99................................................................
4.8.1 SDO�&+ 99........................................................
4.8.2 SDO�03E��(SDO�upload) 100........................................
4.8.3 SDO�4'E��(SDO�download) 101......................................
4.8.4 SDO�/4+'�(Abort�SDO�transfer�request) 102.........................
4.8.5 Emergency�&+ 104..................................................
4.8.6 �(�1001h:/4672�(Error�register) 105..........................
4.8.7 /4+'�(Error�code) 106...........................................
4.9 ��� �(Device�data) 111...................................................
4.9.1 �(�1000h:��<��(Device�type) 111...............................
4.9.2 �(�1008h:=����>�(Manufacturer�device�name) 111.............
4.9.3 �(�1009h:7����(Manufacturer�hardware�version) 112..............
4.9.4 �(�100Ah:>����(Manufacturer�software�version) 112..............
4.9.5 �(�1018h:,�(�(Identity�object) 113...........................
4.10 ??��@��@ 114........................................................
4.10.1 �(�20F1h:�EEPROM�E��(EEPROM�command) 114..........................
4.11 EtherCAT���>4��� 115.................................................
4.12 ��Festo�Configuration�Tool�(FCT)������� 115.............................
4.12.1 EtherCAT��%�����: 115.......................................
4.13 ���Festo�Configuration�Tool�(FCT)���HI 115...............................
4.14 EtherCAT��$�� 116.......................................................
4.14.1 �������(ESI) 116..............................................
4.14.2 ��?F 116.......................................................
4.14.3 EMCA�GH�# 116...................................................
4.14.4 +�,. 116.......................................................
5 ���� 117................................................................
5.1 ��� 117................................................................
5.1.1 �(�2072h:�6=2� $��(Controller�serial�number) 117.............
5.1.2 �(�6402h:�"$<��(Motor�type) 117.................................
5.1.3 �(�6502h:�@���?I�(Supported�drive�modes) 118................
5.1.4 �(�6503h:�J;2�KL�(Drive�catalogue�number) 118..............
5.1.5 �(�6505h:�=��7H�(http�drive�catalogue�address) 118.............
5.2 "$���J, 119...........................................................
5.2.1 �(�2510h:�J;���(Drive�data�records) 119.........................
5.2.2 �(�6073h:�A�"B�(Max.�current) 119...............................
5.2.3 �(�6075h:�"$M#"B�(Motor�rated�current) 120....................
5.3 "B6=2 121..............................................................
5.3.1 ��:"B6=2 121................................................
5.4 HN2 121..................................................................
5.4.1 ��:HN2 121....................................................
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5.5 K�H:2�(Position�control�function) 122...................................
5.5.1 ��:K�6=2 122................................................
5.5.2 �(�6062h:�K�M#L(Position�demand�value) 122...................
5.5.3 �(�6063h:�/-K�MOL�(Position�actual�internal�value) 123........
5.5.4 �(�6064h:�PNK�MOL�(Position�actual�value) 123................
5.5.5 �(�60FAh:�K�6=2�J“QNM#L” 123.........................
5.6 �&�'��J�(Digital�inputs�and�outputs) 124............................
5.6.1 �(�60FDh:��&I�'��(Digital�inputs) 124.........................
5.6.2 �(�60�FEh:��&�J��(Digital�outputs) 125.........................
6 ���� (Device Control) 126..............................................
6.1 :;$(State�Machine) 126.................................................
6.1.1 ��::;$ 126....................................................
6.1.2 EMCA��6=2 127...................................................
6.1.3 EMCA��:; 127.....................................................
6.1.4 C/4���:;$ 130..............................................
6.1.5 J�/4,�:;$ 131..............................................
6.2 ��6=�( 135............................................................
6.2.1 �(�6040h:�6=&�(Controlword) 136.................................
6.2.2 �(�6041h:�:;&�(Statusword) 140..................................
6.2.3 �(�6007h:�%��D,�EF�(Abort�connection�option�code) 145........
6.2.4 �(�605Ah:�GNO$EF�(Quick�stop�option�code) 145..................
6.2.5 �(�605Bh:��D,�EF�(Shutdown�option�code) 146...................
6.2.6 �(�605Ch:�H:,2�EF(Disable�operation�option�code) 146......
6.2.7 �(�605Dh:�O$,�EF�(Halt�option�code) 147.......................
6.3 6=H�(Remote) 148.........................................................
6.3.1 �(�207Dh:�I/O���FCT�6=2�(I/O�and�FCT-control) 148.................
6.3.2 566=H 148.....................................................
7 ���� 149............................................................
7.1 ��PR��=S 149........................................................
7.1.1 I�J;2�QPR)=S 150........................................
7.1.2 JQJ;2�QPR)=S 151........................................
7.1.3 QPR)=S�;<() 152..........................................
7.1.4 TKS��LSN/LSP(7�) 152........................................
7.1.5 >�"�K��SLN/SLP 152............................................
7.2 TR 153....................................................................
7.2.1 U*2TR�[EINC] 153...............................................
7.2.2 �%TR�[SINC] 153.................................................
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8 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
7.3 =�@�(Factor�Group) 153....................................................
7.3.1 �� 153...........................................................
7.4 ��K#K���� 154......................................................
7.4.1 L<=� 154.......................................................
7.4.2 �(�607Eh:�MF�(Polarity) 154......................................
7.4.3 �(�608Fh:�U*2DVN�(Position�encoder�resolution) 155............
7.4.4 �(�6091h:�UNO�(Gear�ratio) 156...................................
7.4.5 �(�6092h:��WV��(Feed�constant) 156..............................
8 ���� 157................................................................
8.1 �#!�?I�� 157........................................................
8.1.1 �(�6060h:�!�?I�(Modes�of�operation) 157.........................
8.2 !�!�?I 158............................................................
8.2.1 �(�6061h:�!�?I�(Modes�of�operation�display) 158..................
8.3 ����?I�(Homing�mode) 159...............................................
8.3.1 ��:����?I 159..............................................
8.3.2 , W:X��/TKS������ 161...............................
8.3.3 ��W:XTKPF����� 162....................................
8.3.4 �(�607Ch:�X4YQ(Home�offset) 163..............................
8.3.5 �(�6098h:�����()�(Homing�method) 163..........................
8.3.6 ����() 164....................................................
8.3.7 �(�6099h:�����NP�(Homing�speeds) 172..........................
8.3.8 �(�609Ah:�R4��?NP/ZY�(Homing�acceleration) 172...........
8.3.9 6=����?I 173................................................
8.3.10 56����?I 173................................................
8.4 #K?I�(Profile�position�mode) 174.........................................
8.4.1 ��:#K?I 174..................................................
8.4.2 Q;�1D< 175....................................................
8.4.3 ��:6=2(�$)��EMCA��.�ST 178...........................
8.4.4 WZ:�(#K?I(4�4#K) 180................................
8.4.5 U;T= 181.......................................................
8.4.6 �(�607Ah:�VK��(Target�position) 181............................
8.4.7 �(�607Dh:�>�"�K��(Software�position�limit) 182................
8.4.8 �(�6080h:�A�"$QN�(Max.�motor�speed) 182.......................
8.4.9 �(�6081h:�NP�(Profile�velocity) 182...............................
8.4.10 �(�6082h:�A"NP�(End�velocity) 183...............................
8.4.11 �(�6083h:�?NP�(Profile�acceleration) 183.........................
8.4.12 �(�6084h:�UNP�(Profile�deceleration) 183.........................
8.4.13 �(�6085h:�GNO$ZY�(Quick�stop�deceleration) 183................
8.4.14 �(�6086h:�#KW��(Motion�profile�type) 184........................
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8.4.15 �(�60A4h:U;�(Profile�jerk) 184..................................
8.4.16 �(�60F2h:�#K[��(Positioning�option�code) 185....................
8.4.17 �(�20F2h:�#K[��(Positioning�option�code) 186....................
8.4.18 �(�60FCh:�/-K�M#L�(Position�demand�internal�value) 186........
8.4.19 #6=K?I 187....................................................
8.4.20 56#K?I 188....................................................
8.5 NP?I�(Profile�velocity�mode) 189.........................................
8.5.1 ��:NP?I 189..................................................
8.5.2 ��W:NP?I 190................................................
8.5.3 �(�606Bh:�NP"�L�(Velocity�demand�value) 191....................
8.5.4 �(606Ch:�NPMOL(Velocity�actual�value) 191...................
8.5.5 Objekt�60FFh:�VNP(Target�velocity) 191........................
8.5.6 6=NP?I 192....................................................
8.5.7 56NP?I 193....................................................
8.6 ;[/XY?I(Profile�torque�mode) 194.....................................
8.6.1 ��:;[/XY?I 194.............................................
8.6.2 ��W:;[/XY?I 195...........................................
8.6.3 �(�6071h:�VXY�(Target�torque) 195..............................
8.6.4 �(�6074h:�XYM#L�(Torque�demand�value) 196......................
8.6.5 �(�6077h:�XYMOL�(Torque�actual�value) 196......................
8.6.6 �(�6078h:�"BMOL�(Current�actual�value) 196.....................
8.6.7 �(�2178h:�"BMOL�(Current�actual�value) 196.....................
8.6.8 �(�6079h:��."\"\�(DC�link�circuit�voltage) 197.................
8.6.9 �(�6087h:�XYZ]W��(Torque�slope) 197...........................
8.6.10 �(�6088h:�XYZ]W��(Torque�profile�type) 197....................
8.6.11 6=;[/XY?I 198...............................................
8.6.12 56;[/XY?I 198...............................................
8.7 [L#K?I(Interpolated�Position�Mode)(� CANopen) 199...................
8.7.1 ��:[L#K?I 199..............................................
8.7.2 �(�60C0h:�[\[]D<�(Interpolation�sub�mode�select) 201...........
8.7.3 �(�60C1h:�[L� �^�(Interpolated�data�record) 201...............
8.7.4 �(�60C2h:�[L+�,.�(Interpolation�time�period) 202..............
8.7.5 ]^�6=[L#K?I 202..........................................
8.8 +�B9#K?I
(Cyclic�synchronous�position�mode)(��EtherCAT) 205.........................
8.8.1 ��:+�B9#K?I 205..........................................
8.8.2 �(�6072h:A�XY�(Max�torque) 207................................
8.8.3 �(�6076h:"$M#XY�(Motor�rated�torque) 207.....................
8.8.4 �(�60C2h:[L+�,.�(Interpolation�time�period) 208..............
8.8.5 ]^_6=+�B9#K?I 208......................................
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8.9 ^5I_`�(Touch�probe)(��EtherCAT) 210...................................
8.9.1 ��:^5I_` 210................................................
8.9.2 �(�60B8h:^5I_`���(Touch�probe�function) 213.................
8.9.3 �(�60B9h:^5I_`�(Touch�probe�status) 213.......................
8.9.4 �(�60BAh:^5I_`K��1,L��
(Touch�probe�position�1�positive�value) 214...........................
8.9.5 �(�60BBh:^5I_`K��1,`L�
(Touch�probe�position�1�negative�value) 214...........................
8.9.6 �(�60D0h:�^aI_`b�(Touch�probe�source) 214.....................
8.9.7 �(�60D5h:�^5I_`�1�cL;�2�
(Touch�probe�1�positive�edge�counter) 215.............................
8.9.8 �(�60D6h:^5I_`�1�`L;�2�
(Touch�probe�1�negative�edge�counter) 215.............................
9 ������� 216..........................................................
9.1 +' 216....................................................................
9.1.1 XaVK�(Target�reached) 217..................................
9.1.2 d`2a�(Following�error) 220......................................
9.2 �e�� 223................................................................
9.2.1 %C:�e�� 223..................................................
9.2.2 I2t�56 224........................................................
A CANopen�–�Object�dictionary�(OD)� 226........................................
A.1 �(EF 226................................................................
A.1.1 � D<:Data�type 226.............................................
A.1.2 �(�*�(Object�code): 227.........................................
A.2 �(E4�!� 228..........................................................
A.3 �( 229....................................................................
A.3.1 Communication�profile�area(�(�1000h�…�1FFFh) 229.................
A.3.2 Manufacturer-specific�profile�area(�(�2000h�…�5FFFh) 232.........
A.3.3 Standardized�profile�area�(�(�6000h�…�67FFh) 232....................
B CoE�–�Object�dictionary�(OD) 236.............................................
B.1 �(EF 236................................................................
B.1.1 � D<:Data�type 236.............................................
B.1.2 �(�*�(Object�code) 237..........................................
B.2 �(E4�!� 238..........................................................
B.3 �( 239....................................................................
B.3.1 CoE�communication�area(�(�1000h�…�1FFFh) 239.....................
B.3.2 Manufacturer�specific�area(�(�2000h�…�5FFFh) 242.................
B.3.3 Profile�area(�(�6000h�…�67FFh) 243...............................
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C ��� �! 247..........................................................
C.1 &'�LED���f��bD 247..................................................
C.1.1 ����:; LED !�2 (EMCA-…-CO/-EC) 248........................
C.1.2 �&cg�b" 248..................................................
C.1.3 ��cg�EF 248..................................................
C.1.4 , $c]^ 248..................................................
C.1.5 CAN�����LED���f�(EMCA-EC-...-CO) 249............................
C.1.6 ��:;(�R�CiA�CANopen�LED���f) 249...........................
C.1.7 EtherCAT � LED ��f (EMCA-EC-...-EC) 252........................
C.1.8 EtherCAT !�*� 253..............................................
C.2 bD+' 254................................................................
C.2.1 /493 254.......................................................
C.2.2 �&'�d" 254....................................................
C.2.3 ��12�d" 255..................................................
C.2.4 �J,S: 255.....................................................
C.2.5 �7bD 255.......................................................
C.2.6 ���KB�/4��KB 256........................................
C.2.7 8A��KB�/4 256..............................................
C.3 bD7e2 257..............................................................
C.3.1 ��:bD7e2 257................................................
C.3.2 hdbD7e2 257..................................................
C.3.3 &'Statusword 258.................................................
C.4 bD+'��� 259..........................................................
B.4.1 bDif,g��/4jd(e��� 260..............................
���"# 273...................................................................
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12 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
$%&����
����������������%�f� EMCA J;2������� CiA 402 (DS 402)
�&/���� CiA 301 (CANopen) �h CoE C� (EtherCAT):
'()* +,��
CANopen
(EMCA-...-CO)
�[X2] CAN����'��(CAN�IN)
�[X3] CAN����J��(CAN�OUT)
EtherCAT
(EMCA-...-EC)
�[X2] EtherCAT,�%�2
�[X3] EtherCAT,�%�1
Tab. 1 �����%
kl�gm&'����6=、bD��#f�IJ;2���]i+'。
h1�ij��f�IJ;2�����kl�#,���“m���%�f�IJ;2,
EMCA-EC-SY-...”,�n:�1。
�-�
����eno'pj�#K=S�kk、HI、U<�bD(eq�lm�n;r�6=op
���s。
./
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CANopen f�IJ;2�EMCA-EC-67-...-CO
(�:1.2.x�����
FCT-PlugIn�EMCA:1.2.x�����
EtherCAT f�IJ;2�EMCA-EC-67-...-EC
(�:1.4.0�����
FCT-PlugIn�EMCA:1.4.0�����
Tab. 2 %C:��
�
��oq���(��t,�prs�u�oq����FCT�[�����v��,
��@�q#:�www.festo.com/sp。
01
w�op+r,hs=�Festo�xyzG��%s=�。
EMCA-EC-...-CO/-EC
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 13
2�3
t{��<�tu�v�wx�+'������“m���%�f�IJ;2”,
EMCA-EC-SY-...
EMCA-EC-...-CO/-EC
14 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
2&�
��|�vL:;�}�����������www.festo.com/pk。
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45 �
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EMCA-EC-...
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EMCA-EC-SY-...
EMCA-EC-DIO-...
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– k�
– kk(�xD�)
– J;2��
– HI ���
– /4+'
– op�
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EMCA-EC-S1-...
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EMCA-EC-C-CO-...
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(PlugIn�EMCA����
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(UL)��B{
Tab. 1 ���EMCA����
���|�t{+',hs~�Festo��@q#�(� www.festo.com/sp)。
– ��|�HI�bD�uv���(Quick�guide)
– Festo����"}�����
– ���Codesys����?F
– {�,�F��
��%C(��)�� www.festo.com/catalogue
1 ���%
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 15
1 ����
1.1 '()*��
1.1.1 EMCA�6'()*��
�������%@&'�Festo��3�#KC��FHPP���EMCA���6=�����:
'()* +,�� �
CAN���
(EMCA-...-CO)
CAN����'��(CAN�IN)�[X2] 21
CAN����J��(CAN�OUT)�[X3]
EtherCAT
(EMCA-...-EC)
EtherCAT,�%�2�[X2] 78
EtherCAT,�%�1�[X3]
Tab. 1.1 EMCA�������%
EMCA-...-CO�CAN�)*��
1
2
1 CAN����J��(CAN�OUT)�[X3] 2 CAN����'��(CAN�IN)�[X2]
Fig. 1.1 EMCA���CAN����%
EMCA-...-EC�6�EtherCAT���
1
2
1 EtherCAT,�%�1�[X3] 2 EtherCAT,�%�2�[X2]
Fig. 1.2 EMCA���EtherCAT��%
1 ���%
16 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
1.2 ��7�6�8��9
l��W!����������&�'�“6=2:�”、“kl��”�“��S��TK
S�”。
5
4
24�V�DC
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STO11)
6=2:��(DIN2)3)
X6
4
6
X9
EMCA
X2/X3
CANopen; EtherCAT
2
2
X7
X8
��S�/KS�(S��1)2)
��S�/KS�(S��2)2)
�G�(GND)4)
1) �����'�&~"\�STO1/STO2��+'�������EMCA-EC-S1-...
2) �����S��TKS�,�v�������EMCA-EC-SY-…
3) ��+� � FCT 6=2:���
4) 6=2���"K
Fig. 1.3 ������&�'�/�J�
1 ���%
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 17
1.3 �:��(��/;�)
FCT���
www.festo.com/sp PC
Festo������
(FCT)
;�
EMCA
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FCT:
7z
FCT:
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6=�%
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FCT:�?
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– CiA402
FCT:�@
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kk
kk/tq
7z���(.ZIP)
6=� 93
EDS���:
– CANopen
ESI���:
– EtherCAT
Omron
– Sysmac
Beckhoff
– TwinCAT3
(���
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FCT:
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1) �����%
Fig. 1.4 %C:� �%(��/(�)
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18 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
2 CANopen
�����-D��CANopen�78��EMCA���%��������。�T��0�(�c���
�C���s。
2.1 CiA�-
CANopen���k“CAN�in�Automation”@�S5�)。��#@��k{!��v�@
��。l)����t�-Dv��n��CAN�C�。�l"A"�#�v�&��&/�%,
�����v�。
d�))��,��#��#@��g3��T�:
CiA�102:�CAN�–�Physical�layer�for�industrial�applications
�����w��CANopen�78��R�(�w:��)。
CiA�201�…�207:�CAN�–�Application�layer�for�industrial�applications
�$����CANopen���R���OSI��?<���'()����#。�T����/�%
�g�)����。
CiA�303-1:�CANopen�–�Cabling�and�connector�pin�assignment
������CAN����+�、[��^4D��h�CANopen�78���(�w:��"$、��
�P)���cK���。
CiA�303-3:�CANopen�–�Indicator�specification�(LED)
�����w��CANopen�:;�LED���R�(�w:��)。
CiA�301:�CANopen�–�Application�layer�and�communication�profile
����w��CANopen�����(V^R����hw�*+�$�(V^。l�,����
)�CiA�201�…�207��/����q���。EMCA�����(V^�V����*+()%���
�/�����。
CiA�402:�CANopen�–�Device�profile�for�drives�and�motion�control
l���[��CANopen�J;6=2��q�M�。��CANopen�����u���I�^��
����M��(。
>?@A:
�����#@�“CAN�in�Automation�(CiA)”�+'h�����www.can-cia.org
2 CANopen
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 19
CANopen�BC:
EMCA���CANopen�M�R���):
CiA��D- ./ ��
301 CANopen�application�layer�and�communication�profile 4.2.0 2007-12-7
402 CANopen�device�profile�for�drives�and�motion�control 3.0 2007-12-14
Tab. 2.1 CANopen�M�
2 CANopen
20 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
2.2 EMCA�6�CAN�)*/CANopen���
"�CANopen����v���f��CAN���/EMCA-...-CO���CANopen��%:
21 3 4
1 LED�!�:CANopen�:;
2 �%�[X2]:CAN����'��(CAN�IN)
3 �%�[X3]:CAN����J��(CAN�OUT)
4 DIP�S��[S1]:CAN���"�/"�"#
Fig. 2.1 CAN���/EMCA���CANopen��%
2.2.1 CANopen�EF��
&'�CANopen�LED�f!��CANopen�:;。
LED�GFH
CANopen-LED�1 LED� ! LED�GFHIJ ���
1– ��
– ��
– ��
– V&
!����CANopen�:;:– CANopen�&+
– �������
– �f//4
��+',E�����249
Tab. 2.2 LED���f
2 CANopen
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 21
2.2.2 CAN�)*��
&'���%� EMCA f�� CAN-Bus 78。
���[X2]:CAN�)*��9�(CAN�IN)
KL�M12
A�MN
5�"
" 45 ���
1 CAN_SHLD ��,�����"�%�
2 NC ���
3 CAN_GND �G(CAN�+����"K)
4 CAN_H c�CAN�+��(Dominant�High)
5 CAN_L `�CAN�+�(Dominant�Low)
�� Shield/FE ��/���G�(Shield/Functional�Earth)
Tab. 2.3 �%�[X2]:CAN����'��(CAN�IN)
���[X3]:CAN�)*��9�(CAN�OUT)
M12�KO
A�MN
5�"
" 45 ���
1 CAN_SHLD ��,�����"�%�
2 NC ���
3 CAN_GND �G(CAN�+����"K)
4 CAN_H c�CAN�+��(Dominant�High)
5 CAN_L `�CAN�+�(Dominant�Low)
�� Shield/FE ��/���G�(Shield/Functional�Earth)
Tab. 2.4 �%�[X3]:CAN����J��(CAN�OUT)
CAN�)*+P#�
"�K��#�C/4����CAN���&+,hij��+'���:
– CAN���"$%�,E������23
– OEN����P,E������25
w��CAN���"$%��z,��'<���CAN���&+(eJ�/4。
���q�����:
– EMCA����/4��D。
– y!�CAN���&+���,_�C)��v��I��N"q��-D��。
2 CANopen
22 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
2.2.3 CAN�)*6Q9(Q9+$)
w��%�[X2]���[X3]���EMCA�����CAN���78�A"�#,��p&'�DIP�S��[S1.1]��D
f��"�"#�(120�Ω)。��"�,N"�����!�%。
CAN�)*6Q9
S1.1ON
EMCA-...-CO
CAN_H
CAN_L
X2
X2.4
X2.5
R12
0
S1.1
ON
OFF
12
X3
X3.4
X3.5
CAN_H
CAN_L
S1.1 DIP�S�“"�"#”
ON S�K�:^4��。OFF S�K�:^4�S
R "�"#�120�Ω
Fig. 2.2 CAN����"�
2 CANopen
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 23
2.2.4 CAN�)*+P#�
CAN-Bus��u���G��������-��*%�P�。t��ij�$������。
120�Ω 120�Ω
CAN-Shield
CAN-GND
CAN-L
CAN-H
CAN-Shield
CAN-GND
CAN-L
CAN-H
CAN-Shield
CAN-GND
CAN-L
CAN-H
���P
A"�# A"�#�?�
Fig. 2.3 "$%���
– CAN���78���!:4�""+s%�。CAN���+�&'�CAN���"$#!@��
���!@����Fig. 2.3。
– CAN���78�,!A"�#�p&'"�"#��(120�Ω,�±5�%)���S。l�,hijA"
�#������+'���。
– ���CAN���"$%�,,�p��q��2��������"$���Tab. 2.5。E����
���CAN�+��CAN-H���CAN-L。E<�������G(CAN�+����"K)。���CAN�
��"$���,�!:4��p��CAN-Shield���%%�。
– ����CAN���"$%�����.%�2。w�����.[�,�����q� �
��[�。w��q�¡�� ���[�,��p �¢£%��CAN���"$���。
– "¤��U¥¦�¡",CAN���"$�m�v"�§���(�w:"$"$)。l�,m
���v"��pcK�G。
– "�cK���CAN����"$%�,hij¨=xy(Robert�Bosch�GmbH)1991�©E�2.0��
6=2ª87C�op� Z��+'���。
2 CANopen
24 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
2.2.5 CAN�)*+P
CAN���"$�p�¢��op��:
�� ��
��"$� 2
£��e� [mm2] �0.22
£���� u
"$�� �
«\"# [Ω/m] �0.2
EF#� [Ω] 100�…�120
Tab. 2.5 CAN���"$�op��
2.3 ���CANopen�>?
"�¬���cV��CANopen��'�v~�{!9¤。���$��"����p] �̂CANopen�
6=�%t~�。�:uv�w�>��x.�v��EMCA�����������9¤。k��$
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.��Festo�Configuration�Tool�(FCT)���HI。
����Festo�Configuration�Tool�(FCT)���HI���h����PlugIn�EMCA���FCT��
�+'。
2 CANopen
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 25
2.3.1 ���EMCA
�������EMCA�,��¥���():
– t���:
� Festo�Configuration�Tool�(FCT)�ckk(Framework���PlugIn�EMCA)。
� FCT���'�!@�,_J;=S�����,��PlugIn�EMCA���FCT���+'。
1. ��/�#�CANopen���:
���CANopen����p�Festo�Configuration�Tool�(FCT)������/����
2 3 4 51
1 �e“����”
2 [�“����”3 ��“OEN”
4 ��“:4U��(Node-ID)”
5 ��“������”
Fig. 2.4 FCT����CANopen���
�
FCT���“�?”、“�@”�“ :6=2”`����EMCA�� >7e2
�=。
��R�S
"�CANopen�����OEN。
R�S TU)*%��[m]
20�KBit/s�(20�kBaud) 2500
50�KBit/s�(50�kBaud) 1000
100�KBit/s�(100�kBaud) 500
125�KBit/s�(125�kBaud) 500
250�KBit/s�(250�kBaud) 250
500�KBit/s�(500�kBaud) 100
800�KBit/s�(800�kBaud) 50
1000�kBit/s�(1000�kBaud) 40
Tab. 2.6 OEN����P
2 CANopen
26 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
����&VMW�(Node-ID)
"�CAN�������!:4U��(1…127)。
�
!�CANopen�78�,�!:4U����D��。
w�{!�CANopen��#�����B!:4U�,����¡¦��CANopen�&+
�/4��#K。
������&�
[\�������CiA�402。
2 CANopen
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 27
EFXYZ�([\��'�])
&'�%�*�[SINC]��,6=2��EMCA��.?L� (��)。¢3�K(��w:mm、
mm/s、mm/s2)£ q�"�L<"=#��%�K,E�����153。
2 31
1 �e“����”2 [�“=�@”
3 zt��:K�、NP、?NP、UNP、§P
Fig. 2.5 FCT���=�@
2 CANopen
28 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
2.3.2 �(�Festo�Configuration�Tool�(FCT)����EMCA
&'�Festo�Configuration�Tool�(FCT)���EMCA���|�HI���PlugIn�EMCA�����FCT���+'。
�
]^��6=2���FCT�̀ ,Festo�Configuration�Tool�(FCT)�&'�EMCA��o6=H。
&'�CAN����%�[X2/X3],�6=2��CAN���&+�]^,®��CAN����
q���6=H。
2.3.3 CANopen�^��
EMCA�6EDS�&�
"���CANopen��>(�w:�,6=2)���EMCA�����,�p�����EDS���。
EDS�&� ���
EMCA-EC-67-CO-DS402.eds EMCA-EC-67-...-CO��“CiA402”C�
Tab. 2.7 CiA402���EDS���
EDS������¨���:
– @q#:www.festo.com/sp
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5 ms h���+�,./�� EMCA �� ���3。
2 CANopen
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 29
3 CANopen &+
30 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3 CANopen ��
3.1 ��b*c+�(COB)
��6=2��EMCA��.��FHPP�&+,�v���&+�(�(COB)。
Emergency�object�(EMCY)
EMCY
SDO�(tx)
RPDO1
TPDO1
Boot-up
NMT
Error�Control
Node�guarding
CAN-ID:�000h
CAN-ID:�081h�–�0FFh
CAN-ID:�181h�–�1FFh
RPDO2
RPDO3
RPDO4
CAN-ID:�201h�–�27Fh
CAN-ID:�301h�–�37Fh
CAN-ID:�401h�–�47Fh
CAN-ID:�501h�–�57Fh
CAN-ID:�581h�–�5FFh
CAN-ID:�701h�–�77Fh
SDO�(rx) CAN-ID:�601h�–�67Fh
CAN-ID:�701h�–�77Fh
Process�data�object�(PDO)
Service�data�object�(SDO)
SYNC
Network�management�(NMT)���
+©
EMCA
CAN-ID=�080h
Synchronization�object�(SYNC)
d"
KB
Fig. 3.1 %C:CANopen��(�(COB)
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 31
��b*�(COB) �N
Network�management�(NMT)
:;�(Boot-up)�(CAN-ID:�701h�…�77Fh)
:;&'�(Boot-up�message) 63
NMT�.1�(NMT�service)�(CAN-ID:�000h)
Start�remote�node 63
Stop�remote�node 63
Enter�pre-operational 64
Reset�node 64
Reset�communication 64
/456�(Error�control)�(CAN-ID:�701h�…�77Fh)
:456�(Node�guarding) 65
Synchronization�object�(SYNC)�(CAN-ID:�080h)
SYNC�&'�(SYNC�message)�(CAN-ID:�080h) 48
Emergency�object�(EMCY)�(CAN-ID:�081h�–�0FFh)
EMCY�&'�(EMCY�message)�(CAN-ID:�081h�–�0FFh) 49
Process�data�object�(PDO)
PDO�&'�(PDO�message)
�=�RPDO�(Receive)
RPDO1 Communication�parameter(1400h) 36
(CAN-ID:�201h�…�27Fh) Mapping�parameter�(1600h) 38
RPDO2 Communication�parameter(1401h) 36
(CAN-ID:�301h�…�37Fh) Mapping�parameter(1601h) 38
RPDO3 Communication�parameter(1402h) 36
(CAN-ID:�401h�…�47Fh) Mapping�parameter(1602h) 38
RPDO4 Communication�parameter(1403h) 36
(CAN-ID:�501h�…�57Fh) Mapping�parameter(1603h) 38
53�TPDO�(Transmit)
TPDO1 Communication�parameter(1800h) 39
(CAN-ID:�181h�…�1FFh) Mapping�parameter�(1A00h) 42
Service�data�object�(SDO)
SDO�&'�(SDO�message)
�=&'�(Receive)
SDO
(CAN-ID:�601h�…�67Fh)
COB-ID�client���Server�(rx)�(1200h_01h) 44
53&'�(Transmit)
SDO
(CAN-ID:�581h�…�5FFh)
COB-ID�server���Client�(tx)�(1200h_02h) 44
Tab. 3.1 &+�(%)�(COB)
3 CANopen &+
32 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.2 CAN�)*,-
3.2.1 �(�:b*�(PDO/SDO)�,-
CANopen��v�¤*+�EMCA���(��w:#K,�NP)�u��)r�()。"l,�
!��(CANopen��()��"!¯�U�(ª°、±ª°)。�����������{
�(V^(OD)����*226。
&'�CAN���*+�CANopen��(��2�¤()��:
– ,-d��Service�data�object�(SDO):
¤�l'KB�*+(I,EMCA��*+�!����KB
– ,-d��Process�data�object�(PDO):
�¤�C�KB�*+(I
&V&'�SDO���EMCA�������,&'�PDO�����6=。
k�EMCA�KB
6=2²¥�1
6=2 EMCA
�vW6=2��
(MOL)
6=2 EMCA
�n6=2��
("�L)
6=2 EMCASDO�(Receive)
SDO�(Transmit)
SDO��� PDO���
RPDO�(Receive)
TPDO�(Transmit)
Fig. 3.2 &'� �(�*+(I
Byte�e�
���CANopen,�&:�I“Little�endian”(|.�A³,�&:(LSB))Z��16
�KL(&)��32�KL(�&)。
Byte�e� 8&
Little�endian 0 1 … 6 7
Low-Byte
(LSB)
… High-Byte
(MSB)
Tab. 3.2 Byte��I
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 33
3.2.2 �(fgdh
��E¦"�19,��p# k�EMCA���6=25J���&'D<(�«�&/�():
��b*�(COB)
NMT Network�management ���F�B,��!����CAN���:4P���7
8.1。
SYNC Synchronization�object CAN���:4�� �J��'�B9。
EMCY Emergency�Message n�>���CAN���:4�/4&'。
PDO Process�data�object 6=2��EMCA��.tGNG?L'<� (Ow6
=&�:;&)。
SDO Service�data�object cV?L��� (OwA¬"$QN)��#�EMCA�
��。
Node�guar
ding
Error�control�protocols &'#x53§d"�&'�&+�#��56。
Tab. 3.3 &+�(�(COB)
"&+�(D���K��CAN�,*�(CAN-ID),&'�,*��,J&'���´!
CAN����#�,��&'�k´!�CAN����#53�。CAN�,*�(CAN-ID)�k:4U�
“Node-ID”(7�K)����*(4�K)@�。,*�(CAN-ID)�µ,&'�-.,¬。
[W�¶����CANopen�&'R����:
601h Len D0 D1 D2 D3 D4 D5 D6 D7
CAN-ID(:4U��(Node-ID):7�K/���*:4�K)
� &:�0�…�7
� &:�R(�w:�8�Bytes)
Fig. 3.3 @�:CANopen�&'
"�)&+�(�(COB)��#����CAN-ID,E������34。
3 CANopen &+
34 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.2.3 CAN��3N�(CAN-ID)、��i����._`a)
�Z�!���CAN�,*�CAN-ID(���*(4�K)/:4U�(Node-ID,7�K))、/-+�,
.�-.,,�·3¸�&+�(�(COB):
��b*�(COB) CAN-Identifier�(CAN-ID)�(11�K)
TQ�CAN-ID �._`
jk
��i
CAN-ID���* :4U��
(Node-ID)
10 9 8 7 6 5 4 3 2 1 0
MSB LSB
Broadcast�objects
NMT 0 0 0 0 0 0 0 0 0 0 0 000h �5�ms A¬
A³
SYNC 0 0 0 1 0 0 0 0 0 0 0 080h
Peer-to-peer�objects
EMCY 0 0 0 1 x x x x x x x 081h�…�0FFh �5�ms
TPDO11) 0 0 1 1 x x x x x x x 181h�…�1FFh
RPDO11) 0 1 0 0 x x x x x x x 201h�…�27Fh
RPDO21) 0 1 1 0 x x x x x x x 301h�…�37Fh
RPDO31) 1 0 0 0 x x x x x x x 401h�…�47Fh
RPDO41) 1 0 1 0 x x x x x x x 501h�…�57Fh
SDO�(tx)1) 1 0 1 1 x x x x x x x 581h�…�5FFh
SDO�(rx)1) 1 1 0 0 x x x x x x x 601h�…�67Fh
NMT:�Error�Control/
Node�guarding
1 1 1 0 x x x x x x x 701h�…�77Fh
NMT:�Boot-up 1 1 1 0 x x x x x x x 701h�…�77Fh2)
1) /-+�,./,�����PDO��!�SDO����3。
2) ��Boot-up��&"b� ::4`��v����(>�1�ms)。��~¨`,��53��Boot-
up�&',_��EMCA�� q���Jd"。
Tab. 3.4 CAN�,*�(CAN-ID)、-.,�/-+�,.
���NMT�&'��=!¹B��CAN�Message�Buffer��。k�/-�3,.�
��,�����5�ms�53��CAN-ID�"�000h���NMT�&'。
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 35
3.3 PDO�fg�(PDO�message)
&''<� �(�PDO�(Process�data�object)������6=�(I�ºxF�(I��� 。
l,,PDO���!�{!�tcK#���。��Servicedaten-Objekten�SDO�(Service�data�objects)�
����,���PDOs�,C���KB。�l,��Start�node�] �̂PDO�`,���=2�"�»
®,�=X��PDOs����3。�-4�,�������� ���&'�����,�
�¼���¯³��CAN����`°。
PDOs����½¤D<:
lm �� ���
RPDO1�…�4 6=���EMCA�
(�=)
w�J��E#��,��>�n�EMCA�53��
PDO。
TPDO1 EMCA���6=
(53)
w�¾9��?I�J��E#��(Lm¿r),
��EMCA��n�>53��TPDO。B9��?I�,
�=X�SYNC�&'`�+�,./53�TPDO。
Tab. 3.5 PDO-D<
PDO�����6b*
PDO���?I����(��:
Index 45�(Name) Ac
cess
�N
1400h RPDO1&/��(RPDO1�Communication�parameter) rw 36
1401h RPDO2&/��(RPDO2�Communication�parameter) rw 36
1402h RPDO3&/��(RPDO3�Communication�parameter) rw 36
1403h RPDO4&/��(RPDO4�Communication�parameter) rw 36
1600h RPDO1-0��(RPDO1�Mapping�parameter) ro 38
1601h RPDO2-0��(RPDO2�Mapping�parameter) ro 38
1602h RPDO3-0��(RPDO3�Mapping�parameter) ro 38
1603h RPDO4-0��(RPDO4�Mapping�parameter) ro 38
1800h TPDO1&/��(TPDO1�Communication�parameter) rw 39
1A00h TPDO1-0��(TPDO1�Mapping�parameter) ro 42
Tab. 3.6 ��?IPDO��(
3 CANopen &+
36 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.3.1 b*�1400h:�RPDO1��/���(RPDO1�Communication�parameter)
b*�1401h:�RPDO2��/���(RPDO2�Communication�parameter)
b*�1402h:�RPDO3��/���(RPDO3�Communication�parameter)
b*�1403h:�RPDO4��/���(RPDO4�Communication�parameter)
&'�(�#����COB-ID�RPDO1�…�4���D<。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1400h
1401h
1402h
1403h
RPDO1
RPDO2
RPDO3
RPDO4
Communication�parameter
REC – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 2h
01h COB-ID�used�by�RPDO1 VAR UINT32 rw no Tab. 3.8 200h�+�Node-ID
COB-ID�used�by�RPDO2 VAR UINT32 rw no 300h�+�Node-ID
COB-ID�used�by�RPDO3 VAR UINT32 rw no 400h�+�Node-ID
COB-ID�used�by�RPDO4 VAR UINT32 rw no 500h�+�Node-ID
02h Transmission�type� VAR UINT8 rw no FFh
Tab. 3.7 �(�1400h/1401h/1402h/1403h
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 37
b*�1400h�…1403h:�n"#��
�(�1400h�…1403h���v���±ª°:
Index Name ���
1400h_01h
1401h_01h
1402h_01h
1403h_01h
RPDO���COB��
(COB-ID�used�by�
RPDO1�…�RPDO4)
&'�(�#n�53COB�#��=PDO�PDO,
*(COB-ID)。
vL:;�]^����RPDO…(K�31�=�0)。À�
z2��"��COB-ID�,(K�31=1),���Á©
RPDO…。�l,À�E�31�KB,��K,,EMCA��
�"zt����!,*���4��。
1400h_02h
1401h_02h
1402h_02h
1403h_02h
��D<
(Transmission�type)
&'�(�#��D<。
�� ���
00h B9�-�²ºxF
01h
02h
03h
…
F0h
B9�-���!sync
B9�-���E�2�!sync
B9�-���E�3�!sync
…
B9�-���E�240�!�sync
F1h�…�FDh 5ª
FEh ¾9�-�v���
FFh ¾9�-�W���
Tab. 3.8 Value�range:�COB-ID�used�by�RPDO4/Transmission�type
<�:RPDO�op
RPDO
Object�A Index
1600h
Object�B Sub
00h
Object�dictionary
Object�contents
04h
1600h 6040h_00h
1600h 6060h_00h
1600h 20F2h_00h
6040h 00h Object�A
01h
02h
03h
10h
08h
08h
607Ah 00h Object�D
20F2h 00h Object�C
6060h 00h Object�B
Object�C Object�D
1600h �607Ah_00h03h 20h
Fig. 3.4 ��:RPDO�-0(��RPDO1�"�)
3 CANopen &+
38 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.3.2 b*�1600h:�RPDO1�op���(RPDO1�Mapping�parameter)
&'�(�JRPDO1�-0+'。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1600h RPDO1
Mapping�parameter
REC – – – – –
00h Number�of�mapped�
application�objects�
in�RPDO1.
VAR UINT8 ro no Tab. 3.11 4h
01h 1st�application�object VAR UINT32 ro no 60400010h
02h 2nd�application�object VAR UINT32 ro no 60600008h
03h 3rd�application�object VAR UINT32 ro no 20F20008h
04h 4th�application�object VAR UINT32 ro no 607A0020h
Tab. 3.9 �(�1600h
3.3.3 b*�1601h:�RPDO2�op���(RPDO2�Mapping�parameter)
b*�1602h:�RPDO3�op���(RPDO3�Mapping�parameter)
b*�1603h:�RPDO4�op���(RPDO4�Mapping�parameter)
&'�(�JRPDO2�…�4�-0+'。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1601h
1602h
1603h
RPDO2
RPDO3
RPDO4
Mapping�parameter�
REC – – – – –
00h Number�of�mapped�
application�objects�
in�RPDO….
VAR UINT8 ro no Tab. 3.11 2h
01h 1st�application�object
RPDO2 VAR UINT32 ro no Tab. 3.11 60810020h
RPDO3 60830020h
RPDO4 60FF0020h
02h 2nd�application�object
RPDO2 VAR UINT32 ro no Tab. 3.11 60820020h
RPDO3 60840020h
RPDO4 60710010h
Tab. 3.10 �(�1601h�…�1603h
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 39
b*�1600h�…1603h:�n"#��
�(�1600h�…1603h���v���±ª°:
Index Name ���
1600h_00h
1601h_00h
1602h_00h
1603h_00h
�v���"��(�R
(Number�of�mapped�
application�objects�
in�RPDO….)
&'�(�J�"RPDO…-0�(��R。
1600h_01h
1600h_02h
1600h_03h
1600h_04h
1601h_01h
1601h_02h
1602h_01h
1602h_02h
1603h_01h
1603h_02h
…"��(
(�…�application�object)
&'�(�J�""��(�-0+'。
e��(XXXXYYZZ):
XXXX:ª°(ÂÃ�=) 16�K
YY:±ª°(ÂÃ�=) 8�K
ZZ:�(�P(ÂÃ�=) 8�K
Tab. 3.11 Value�range:�Number�of�mapped�application�objects�in�RPDO….
qF
-0 PDO /��(��"�� SDO
4'E�,u���´B��# �,.� µ« PDO � SDO ��"� 。
3.3.4 b*�1800h:�TPDO1��/���(TPDO1�Communication�parameter)
&'�(�#�����COB-ID���TPDO1����D<。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1800h TPDO1
Communication�parameter�
REC – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 5h
01h COB-ID�used�by�TPDO1� VAR UINT32 rw no Tab. 3.13 180h�+�Node-ID
02h Transmission�type� VAR UINT8 rw no FFh
03h Inhibit�time�(x�*�100�μs) VAR UINT16 rw no 0h
04h Reserved VAR UINT8 rw no – 0h
05h Event�timer� VAR UINT16 rw no Tab. 3.13 0h
Tab. 3.12 �(�1800h:
3 CANopen &+
40 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
b*�1800h:n"#��
�(�1800h���v���±ª°:
Index Name ���
1800h_01h COB�TPDO1,*
(COB-ID�used�by�TPDO1)
&'�(�#n�53COB�#�$�=��#��
=PDO�PDO,*(COB-ID)。
w����K�31,��]^��TPDO。���TPDO��5
��。
À�z�TPDO��]^,ÄE�31�K��K,,��t©�
COB-ID。�l,À�E�31�KB,��K,,EMCA�
��"zt����!,*���4��。
1800h_02h ��(I
(Transmission�type)
&'�(�#£ ��53(TPDO)+'��!�PDO
���D<。
�� ���
00h B9�-�²ºxF
01h
02h
03h
…
F0h
B9�-���!sync
B9�-���E�2�!sync
B9�-���E�3�!sync
…
B9�-���E�240�!�sync
F1h�…�FDh 5ª
FEh ¾9�-�v���
FFh ¾9�-�W���
1800h_03h 2�,.
(Inhibit�time)
&'�(�#���53PDO�A�,.。,.#:
;�PDOSN;<。À��FEh…�FFh���(I��
�2�,.。
�� ���
0h 2�,.c2�
1h�…�FFFFh ,.R��(100μs)�W�2�,.�
(Inhibit�time)�mJ�L。
1800h_05h ��;�2
(Event�timer)
&'�(�##x53TPDO�+�,.。À�
FEh…�FFh���(I�������2。
�� ���
0h ��;�2c2�
1h�…�FFFFh �@
Tab. 3.13 Value�range:�COB-ID�used�by�TPDO1/Transmission�type/Inhibit�time/Event�timer
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 41
<�:TPDO�op
TPDO
Object�AIndex
1A00h
Object�B Object�CSub
00h
Object�dictionary
Object�contents
04h
1A00h 6041h_00h
1A00h 6061h_00h
1A00h 2178h_00h
6041h 00h Object�A
01h
02h
03h
10h
08h
00h
2178h 00h Object�C
6064h 00h Object�D
6061h 00h Object�B
1A00h 6064h_00h04h 20h
Object�D
Fig. 3.5 ��:TPDO�-0
3 CANopen &+
42 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.3.5 b*�1A00h:�TPDO1�op���(TPDO1�Mapping�parameter)
&'�(�J�TPDO1��-0+'。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1A00h TPDO1
Mapping�parameter
REC – – – – –
00h Number�of�mapped�
application�objects�
in�TPDO1
VAR UINT8 ro no Tab. 3.15 4h
01h 1st�application�object VAR UINT32 ro no 60410010h
02h 2nd�application�object VAR UINT32 ro no 60610008h
03h 3rd�application�object VAR UINT32 ro no 21780008h
04h 4th�application�object VAR UINT32 ro no 60640020h1)
606C0020h2)
1) #K?I, ;[/XY?I
2) NP?I
Tab. 3.14 �(1A00h
b*�1A00h:n"#��
�(�1A00h���v���±ª°:
Index Name ���
1A00h_00h �v���"��(�R
(Number�of�mapped�
application�objects�
in�TPDO1.)
&'�(�JTPDO1�-0��(��R。
1A00h_01h
1A00h_02h
1A00h_03h
1A00h_04h
…"��(
(�…�application�object)
&'�(�J�""��(�-0+'。
e��(XXXXYYZZ):
XXXX:ª°(ÂÃ�=) 16�K
YY:±ª°(ÂÃ�=) 8�K
ZZ:�(�P(ÂÃ�=) 8�K
Tab. 3.15 Value�range:�Number�of�mapped�application�objects�in�TPDO…
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 43
3.4 SDO�fg�(SDO�message)
&'.1� �(SDO�(Service�data�objects)���*+�EMCA�CANopen��(V^(OD)����
(����*226。
SDO�*+��k�6=2(�>)6=。
l,,��n�EMCA�53��E����:
– 03E�,��03��,E������45
– 4'E�,��Á©��,E������46
����E�,�,6=2��=X�b¡。��03��,�¶«��{03L�d",
��4'��,�¶«�KB。
E��d"���3¸�v03�4'��(�� D<。£ � �µ,vX�"?N��
(� �µ:1�…�4�Byte),vX��7�Byte�¬g(� �µ:5�…�90�Byte)��I�"Dg���
�� ���。
3 CANopen &+
44 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.4.1 b*�1200h:�SDO�01����(SDO�server�parameter)
��(�,RSDO��5�"“600h�+�Node-ID”,TSDO�5�"“580h�+�Node-ID”。SDO�&+A
B19�:�。Á©,�p�R�Tab. 3.17�4'�(。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1200h SDO�server�parameter ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 2h
01h COB-ID�client�
��Server�(rx)�
VAR UINT32 rw no Tab. 3.17 600h�+�Node-ID
02h COB-ID�server
��Client�(tx)�
VAR UINT32 rw no 580h�+�Node-ID
Tab. 3.16 �(�1200h:
COB-ID�SDO�6rs
� �� ���
31 0h SDO�7/��。
1h �@
30 0h �L"·;D�。
1h �@
29 0h 11�K�CAN-ID��L
1h �@
11�…�28 00000h 11�K�CAN-ID��L
0�…�10 601h�…�67Fh COB-ID�client���Server�(rx)�(CAN-ID)
581h�…�5FFh COB-ID�server���Client�(tx)�(CAN-ID)
Tab. 3.17 COB-ID�SDO����
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 45
3.4.2 SDO�0tfg
"�03�� D<��(,�p���$ $。03E�,��03�EMCA����L,����
�B��ID�(R-ID:�40h)�SN。EMCA��R¶«�� D<(8-/16-/32-K)d"�B��ID�(A-ID:�4Fh/
4Bh/43h)�。
���&·�"ÂÃ�=�4'。
��� EMCA
uv
Index Sub
…h
Data
00h 00h 00h 00h
R-ID
40h
CAN-ID
…h …h…h
Index Sub
…h
Data
D0 – – –
A-ID
4Fh
CAN-ID
…h …h…h
Index Sub
…h
Data
D0 D1 – –
A-ID
4Bh
CAN-ID
…h …h…h
Index Sub
…h
Data
D0 D1 D2 D3
A-ID
43h
CAN-ID
…h …h…h
0tw�
INT…/UINT…
INT8/UINT8
INT16/UINT16
INT32/UINT32
0tw��ID�(R-ID)
uv�ID�(A-ID)
CAN-Identifier�(601h�…�67Fh)
CAN-Identifier�(581h�…�5FFh)
qF
1�¸§�EMCA��d"!
À��EMCA��03E��Jd"`���53���SDO�E�。
3 CANopen &+
46 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.4.3 SDO���fg
"�4'�� D<��(,�p���$ $。����L4'�EMCA��4'E�£ � D
<(8-/16-/32-K),�����B��ID�(W-ID:�2Fh/2Bh/23h)�SN。EMCA����"?N��,
��B��ID�(A-ID:�60h)��Jd"。
���&·�"ÂÃ�=�4'。
��� EMCA
x1
Index Sub
…h
Data
00h 00h 00h 00h
A-ID
60h
CAN-ID
…h …h…h
Index Sub
…h
Data
D0 – – –
W-ID
2Fh
CAN-ID
…h …h…h
Index Sub
…h
Data
D0 D1 – –
W-ID
2Bh
CAN-ID
…h …h…h
Index Sub
…h
Data
D0 D1 D2 D3
W-ID
23h
CAN-ID
…h …h…h
��w�
INT8/UINT8
INT…/UINT…
��w��ID�(W-ID)
uv�ID�(A-ID)
INT16/UINT16
INT32/UINT32
CAN-Identifier�(601h�…�67Fh)
CAN-Identifier�(581h�…�5FFh)
qF
"º SDO 4'E�(Ä��-0 PDO
/��(),u���´B��# �,.� µ« PDO � SDO ��"� 。
qF
1�¸§�EMCA��KB!
À��EMCA��4'E��JKB`���53���SDO�E�。
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 47
3.4.4 SDO�23fg
z03�4',5v12(�w:k�4'�L'�),��EMCA�����KB,��5312
&':12���12�*��I¶«�12&'�� �(Data)��。
��:
��4'E��(W-ID�=�23h)�53W�(“Statusword�(6041h)”,��(����03*+。
12�*�06�01�00�02h��¶«�12&'�。
��� EMCA
�fg
Index Sub
00h
Data
D0 D1 D2 D3
W-ID
23h
CAN-ID
…h 60h41h
Index Sub
00h
Data
02h 00h 01h 06h
E-ID
80h
CAN-ID
…h 60h41h
��G�
INT…/UINT…
INT32/UINT32
��w��ID�(W-ID)
23�3N�(E-ID)
F0 F1 F2 F3
23�N“06�01�00�02h”
Index�“60�41h”
CAN-Identifier�(601h�…�67Fh)
Fig. 3.6 SDO�g12&'�&'
��N
F3�F2�F1�F0
���
05�03�00�00h C�12:DgI�SDO����^5K�©¿。
05�04�00�01h C�12:Å#$/.12���*C���®
06�06�00�00h� k�7�����*+/41)
06�01�00�00h� �@*+(I
06�01�00�01h� �À4�(��0*+
06�01�00�02h� �À0�(��4*+
06�02�00�00h� �(V^»�7^5�(。
06�04�00�41h� �(���^��PDO��(��w:RPDO����ro��()。
06�04�00�42h� �^��PDO���(�P¼J��PDO��P
06�04�00�43h� ���12
06�04�00�47h� !/-¿R¯J/�12
06�07�00�10h� C�12:.1����P���
06�07�00�12h� C�12:.1����P'�。
06�07�00�13h� C�12:.1����P'�。
06�09�00�11h� UH�±ª°�7。
1) �R�CiA�301,z12*+��Store�parameters/Restore�parameters�,��¶«��
Tab. 3.18 SDO12�*
3 CANopen &+
48 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.5 SYNC�fg�(SYNC�message)
CAN���78�,{!�CAN����#��&'�SYNC�&'�53M�*�B9。"l,��!�
CAN����#(&V��,6=2�(Host))#x5JB9&'。��%���CAN����#·��
=l&'_���PDOs���3,E������35。
qF
EMCA�����SYNC�&'��D°,®��EMCA���53���SYNC�&'。
80h 0
CAN-ID � �P
Fig. 3.7 @�:SYNC�&'
3.5.1 b*�1005h:�SYNC���b*�ID�(COB-ID�SYNC)
&'�(���#�SYNC�&'��COB-ID�SYNC���=。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1005h COB-ID�SYNC VAR UINT32 rw no Tab. 3.20 80h
Tab. 3.19 �(�1005h:
rs�COB-ID�SYNC
� �� ���
31 0h 5ª
30 0h CANopen����v����SYNC�&'。
1h �@
29 0h 11�K�CAN-ID��L
1h �@
11�…�28 00000h 11�K�CAN-ID��L
0�…�10 080h &+�(�SYNC���CAN-ID
Tab. 3.20 ���COB-ID�SYNC
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 49
3.6 EMCY�fg�(EMCY�message)
3.6.1 <�:EMCY�fg
EMCA��/-@�(�w:�J,)�(���56。
w�J�!/4,���vl�����/4d",_53�"��EMCY�&'。Aq�/4&'
�7A�e�/47e±.�(1003h_01h)�/。/47e2���7�A`J���8�!/4&',
�$/4&'���03�。
z���/4KB`,EMCA���53��EMCY�&'。
EMCY�����6b*
EMCY���?I����(��:
Index 45�(Name) �N
1001h /47e2�(Error�register) 56
1003h 5# �/48�(Pre-defined�error�field) 57
1014h COB-ID-6019-&'�(COB-ID�emergency�message) 58
1015h EMCY�2�,.�(Inhibit�time�EMCY) 58
Tab. 3.21 ��?IEMCY��(
3 CANopen &+
50 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Error�free
1
Start
Error�occured
0
42
3
Fig. 3.8 WZ:/4-:;$
������:;'²:
M
W
yz ���
0 �Nr�³ ´�5�12。
1 J�/4 �tC/4,�J�!q/4。
EMCY�&'��5J,�m�q/4�(1003h_01h,��Standard�error�
field�1)��/4�*。
2 /4KB��� �jd��/4��,_�c���/4KB,E�����52,�133。
3 J�q/4 �t�/4,�J�!q/4。
EMCY�&'��5J,�m�q/4�(1003h_01h,��Standard�error�
field�1)��/4�*。
4 /4KB�� jd���/4��,_�c���/4KB,E�����133。EMCY�
&'��5J,�m�/4�*�0000h�(Error�reset/No�error)。
Tab. 3.22 /4:;'²
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 51
3.6.2 {4�EMCY�fg
J�12,,EMCA��53��EMCY�&'。�&'��CAN�ID�(CAN-ID)�AB19�k�CAN�ID�(80h)�
��"�EMCA��:4U���(Node-ID)�EMCA�@�。
EMCY�&'k�8�!� &:@�:
– � &:�1���2:�g�Error�code�E������52。
– � &:�3:�g�n/4672(Error�register,�(�1001h)��/4D<,E�����56。
– � &:�4�…�8:´��Z/4672� ��。
81h 8 E0 E1 R0 … … … … …
CAN-ID:�80h�+�Node-ID(��:Node-ID�=�1)
Error�code
� �P Error�register�(Obj.�1001h)
Fig. 3.9 @�:EMCY�&'
3 CANopen &+
52 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.6.3 CANopen� �fg
��Z��$J��CANopen���?I���J����/4&'。
����/4&'�+'(�w:/4d"、���µ�),E������247。
��[<>�(FCT)/493���#���+'��*254。
�fg
Error�code
E0�E1
��� K
(Error�
register)
FCT-
Code
1) CAN�Node�guarding,FB�q�6=H
(CAN�Node�guarding,�FB�has�master�control)
– 0x1C
1) CAN���&+��$O¶,FB�·�6=H
(CAN�bus�comm.�stopped�by�master,�FB�has�master�control)
– 0x1D
1) CAN���������
(CAN�fieldbus�parameters�missing)
– 0x26
1) CAN�Node�guarding,FB��q�6=H
(CAN�Node�guarding,�FB�does�not�have�master�control)
– 0x35
1) CAN���&+��$O¶,FB��q�6=H
(CAN�bus�comm.�stopped�by�master,�FB�does�not�have�master�
control)
– 0x36
2310h "$�I²t��f
(I²t warning motor)
1 0x2D
2312h "$�I2t�12
(I²t�malfunction�motor)
1 0x0E
2320h '"B
(Overcurrent)
1 0x0D
3210h �."\'"\
(Intermediate�circuit�voltage�exceeded)
2 0x1A
3220h �."\¸"\
(Intermediate�circuit�voltage�too�low)
2 0x1B
4210h �J,¹P'¬
(Output�stage�temperature�exceeded)
3 0x15
4220h �J,¹P'³
(Output�stage�temperature�too�low)
3 0x16
5100h ½¾"\'"\
(Logic�voltage�exceeded)
2 0x17
1) C)53�/4&',�"C)���CAN���。®�,FCT�v��"��FCT-Code。
2) �/4&'�v����FCT-Code。
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 53
�fg
Error�code
E0�E1
FCT-
Code
K
(Error�
register)
���
5113h ½¾"\¸"\
(Logic�voltage�too�low)
2 0x18
5441h c�¿S�
(Limit�switch�positive)
5 0x07
5442h `�¿S�
(Limit�switch�negative)
5 0x08
5444h ����
(Homing)
5 0x22
5520h (�Æ,��/4
(Firmware�update�execution�error)
5 0x0C
5530h ����C�
(Parameter�file�invalid)
5 0x0B
7e��
(Save�parameters)
0x27
6310h �v������
(Homing�required)
5 0x28
6320h AB����C�
(Default�parameter�file�invalid)
5 0x02
\º;<
(Path�calculation)
0x25
7300h �5�ª°ÀÇ
(No�index�pulse�found)
5 0x23
ª°ÀÇÁ�¿S�'¿
(Index�pulse�too�close�on�proximity�sensor)
0x2E
7303h `R=S
(Encoder)
5 0x06
7400h >�12
(Software�error)
5 0x01
8110h CAN�¯J(&'c\�)
(CAN�overrun�(objects�lost))
– 0x49
8140h ,X��/4`ÂÃ��
(Recovered�from�bus�off)
– 2)
8150h CAN-ID�ǻ
(CAN-ID�collision)
– 2)
8200h �C�12
(Protocol�error�-�generic)
– 2)
1) C)53�/4&',�"C)���CAN���。®�,FCT�v��"��FCT-Code。
2) �/4&'�v����FCT-Code。
3 CANopen &+
54 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
�fg
Error�code
E0�E1
FCT-
Code
K
(Error�
register)
���
8210h �=� �P'���PDO
(PDO�not�processed�due�to�length�error)
– 2)
8220h ¼'�����PDO�� �P
(PDO�length�exceeded)
– 2)
8500h [L#K?I�6=/4�O¶
(Interpolated�positioning�mode�stopped�while�error�occured�
on�control�unit)
5 0x4B
8600h ·¶:;56
(Standstill�monitoring)
5 0x37
8611h d`2a
(Following�error)
5 0x2F
8612h >�"�K�,cn
(Software�limit�positive)
5 0x11
>�"�K�,`n
(Software�limit�negative)
0x12
c(n�2�
(Positive�direction�locked)
0x13
`(n�2�
(Negative�direction�locked)
0x14
VK�`n>�"�K��`
(Target�position�behind�negative�software�limit)
0x29
VK�cn>�"�K��`
(Target�position�behind�positive�software�limit)
0x2A
ÄbL8
(Value�range�violated)
0x4C
FF00h CPU��/-&+/4
(Internal�communication�error�CPUs)
7 0x03
FF01h ²)7�
(Non-permitted�hardware)
7 0x04
FF02h "B`RYaK#
(Offset�determination�for�current�measurement)
7 0x09
FF03h V�/4
(General error)
7 0x0A
FF0Ah ��32¹P
(Temperature�central�processing�unit)
7 0x19
1) C)53�/4&',�"C)���CAN���。®�,FCT�v��"��FCT-Code。
2) �/4&'�v����FCT-Code。
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 55
�fg
Error�code
E0�E1
FCT-
Code
K
(Error�
register)
���
FF0Dh (�Æ,,C�(�
(Firmware�update,�invalid�firmware)
7 0x2B
FF0Eh =;"#
(Braking�resistor)
7 0x30
FF10h q�6=H��FCT�%�
(FCT�connection�with�master�control)
7 0x32
FF11h �J,¹P�f
(Output stage temperature warning)
7 0x33
FF12h *+����
(Parameter�file�access)
7 0x38
FF13h ÅÆ�f
(Trace warning)
7 0x39
FF15h ����()C�
(Homing�method�invalid)
5 0x3B
FF18h bD7e2
(Diagnostic�memory)
7 0x3E
FF19h ��C�
(Record�invalid)
7 0x3F
FF21h =SAK
(System�reset)
7 0x41
FF22h C)�7GH�
(Saving�address�data�not�possible)
7 0x42
FF24h �����(��}�
(Parameter file not compatible with firmware)
7 0x44
FF25h kl�DXY�(STO)�a¾,.
(Safe�Torque�Off�(STO)�discrepancy�time)
7 0x4A
FF26h ���D�XY�(STO)
(Safe�Torque�Off�(STO))
7 0x34
FF26h °�< �/712
(Bootloader memory error)
7 0x4D
FF27h 24 V �-"b'?
(Overload 24V Outputs)
7 0x4E
FF28h =S+'
(System information)
7 0x4F
1) C)53�/4&',�"C)���CAN���。®�,FCT�v��"��FCT-Code。
2) �/4&'�v����FCT-Code。
Tab. 3.23 /4&'
3 CANopen &+
56 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.6.4 b*�1001h: �|}��(Error�register)
&'�(�5J/4672��#/4D<�(CiA�301)。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1001h Error�register VAR UINT8 ro no Tab. 3.25 0h
Tab. 3.24 �(�1001h:
Fehlerregister�� �lm
K M/O1) ���
0 M Generic�error:7/4,K�1�…�7“�”½¾�=
1 O Current:"B56/4
2 O Voltage:"\56/4
3 O Temperature:¹P56/4
4 O Communication�error�(overrun,�error�state):&+/4
5 O Device�profile�specific:��������/4
6 O 5ª,Fix�=�0
7 O Manufacturer�specific:=���/4
�L:0�=�C/4;1�=��/4
1) M�=����/�O�=��[
Tab. 3.25 K*D��Error�register
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 57
3.6.5 b*�1003h:5~�6 ���(Pre-defined�error�field)
/4&'��"�Fehlercode���7e�8�,/4672�。l672���DÈ�!��ÈÇ2
(FIFO),�l���AqJ��/4�7�(�1003h_01h�(Standard�error�field�1)�»。&'0
3��(�1003h_00h�(Number�of�errors)���s~Vt/4672��7�{¥/4&'。�L�00h�
4'�(�1003h_00h�(Number�of�errors)�Ä�h±/4672。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1003h Pre-defined�error�field ARRAY – – – – –
00h Number�of�errors� VAR UINT8 rw no 0�…�8h 0h
01h Standard�error�field�1 VAR UINT32 ro no – 0h
02h Standard�error�field�2 VAR UINT32 ro no – 0h
03h Standard�error�field�3 VAR UINT32 ro no – 0h
04h Standard�error�field�4 VAR UINT32 ro no – 0h
05h Standard�error�field�5 VAR UINT32 ro no – 0h
06h Standard�error�field�6 VAR UINT32 ro no – 0h
07h Standard�error�field�7 VAR UINT32 ro no – 0h
08h Standard�error�field�8 VAR UINT32 ro no – 0h
Tab. 3.26 �(�1003h:
3 CANopen &+
58 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.6.6 b*�1014h:�COB-ID�����fg�(COB-ID�emergency�message)
&'�(�"6019&'�#�COB-ID。COB-ID��ABL5D�"“80h�+�Node-ID”。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1014h COB-ID�emergency�message VAR UINT32 rw no – 80h�+�Node-ID
Tab. 3.27 �(�1014h:
3.6.7 b*�1015h:EMCY��>a)�(Inhibit�time�EMCY)
&'�(��#Aµ,.,�,.ÉÉ/���53���EMCY�&'。�,.nA`��EMCY�&
'SN,P;。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1015h Inhibit�time�EMCY VAR UINT16 rw no Tab. 3.29 0h
Tab. 3.28 �(�1015h:
�� ���
0h EMCY�2�,.c2�
1h�…�FFFFh ,.L�[x�*�100�μs]
Tab. 3.29 Value�range:�Inhibit�time�EMCY
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 59
3.7 ���Y�NMT�(Network�management)
���CAN����#������&'7893=S�(NMT)���6=。q�A¬-.,��CAN�,*
�(CAN-ID)(000h)"l�ª。&'�NMT�����53W!����CAN����#。�!���
k�2�!&:@�,E&:����*�(command�specifier,�(CS)),E<&:�d"��CAN��
��#�:4U��(Node-ID�(NI)。&':4�ID�0,��Ê�CAN���78�����CAN���:4�
(Broadcast)�·�Jd"。�l���w���CAN����#�B,��AK。NMT�E�C)&'
CAN����#KB。À�.�K#�u�Ê~�AK,��w:&'AK`�:;+'。
000h 2 CS NI
CAN-ID
���*
� �P
Node-ID0�=����CAN����#
1�…�127�=�!�CAN����#
7xxh 1/R …
:;&'/ËLK/NMT-:;��ID
� �P�/�Ë<K�(R)
Fig. 3.10 @�:NMT�&'
NMT�����6fg
NMT���?Iq���&':
CAN-ID CS 45�(Name) �N
(hex) (�6�)
000h 1h 1 Start�remote�node 63
2h 2 Stop�remote�node 63
80h 128 Enter�pre-operational 64
81h 129 Reset�node 64
82h 130 Reset�communication 64
701h�…�77Fh :;&'�(Boot-up�message) 63
:456�(Node�guarding) 65
Tab. 3.30 ��?INMT�&'
3 CANopen &+
60 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
����Node�guarding6b*
Node�guarding���?I����(��:
Index 45�(Name) �N
100Ch 56,.�(Guard�time) 66
100Dh 56,.=��(Life�time�factor) 67
6007h %��D,�EF(Abort�connection�option�code) 145
Tab. 3.31 ��?INode�guarding��(
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 61
EMCA���NMT�:;(NMT��#)c:;$����:;�#。&'�NMT�&'»�� &:
“E�&:�(command�specifier�(CS))”��^5:;t©��。���p�,�¼��aX��
�V:;。
Stopped�
(Node�guarding:�04h)
Initialisation
Pre-operational
(Node�guarding:�7Fh)
Operational
(Node�guarding:�05h)
Reset�application1)
Reset�communication1)
Initialising
Power�ON
4Enter�pre-operational
(CS:�80h)5
Stop�remote�node
(CS:�02h)
6Start�remote�node
(CS:�01h)
7Enter�pre-operational
(CS:�80h)
8Stop�remote�node
(CS:�02h)
9Reset�node
(CS:�81h)
aDReset�communication
(CS:�82h)
3Start�remote�node
(CS:�01h)
aJReset�node
(CS:�81h)
aAReset�node
(CS:�81h)
aF
aCReset�communication
(CS:�82h)
aBReset�communication
(CS:�82h)
aE
2Initialisation�finished
1) A"V:;�5��:;�(7Fh),�"�EMCA��n;��'²�15、16���2。
Fig. 3.11 ��W:NMT�:;$
3 CANopen &+
62 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���Nr�:;'²k�EMCA�n;~�,��w:k��Nrc/-~�。£ q���NMT�
:;,¼$E#�&+�(����。�w:EMCA������NMT�:;“Operational”�53�
PDO。
NMT�IJ ��� PDO SDO/
SYNC/
EMCY
NMT
Initialising “Power�ON”��“Reset�Node”`�:;
b":AK�CAN���:4,53:;&'
– – –
Reset�Application C&+。���CAN��(����XAKL
("�< ��@)。
– – –
Reset�
communication
C&+。CAN�6=2 q�Nr。 – – –
Pre-operational �&'�SDO�&+。PDO��]^。 – X 7Fh
Operational �&'�SDO�&+。���PDO�·]^。 X X 05h
Stopped C&+,Node�guarding�d� – – 04h
Tab. 3.32 NMT-State�Machine
NMT�&'�"� ��(Burst)�!�!53!
B!:4��Ì�2�!�NMT�&'�.(���ÌH)�p�¥�,!/-+�ºx,
���EMCA���cK�3�NMT�&'。
�Nr,.��½ÍÉÉ�/。
�Nr`,EMCA��53�q�:;&',¾ �̀EMCA��� q)�Í�=q
E>。
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 63
3.7.1 ��fg�(Boot-up�message)
q:;�`,EMCA�&'�:;&'if�Nrcgc~�。¾ �̀EMCA��'�NMT�:;�
Pre-operational���Fig. 3.11。
:;&'�@�w���。
:;&'�53�ID“0”,��53�NMT�:;。
701h 1 0h
CAN-ID:�700h�+�Node-ID(��:Node-ID�=�1)
:;&'��ID
� �P
Fig. 3.12 @�::;&'
3.7.2 Start�remote�node
NMT��>�����NMT�.1“Start�remote�node”,t©�[�NMT���>4��NMT�:;。�3~
�`,q��NMT�:;"“Operational”���Fig. 3.11。
000h 2 1h NI
CAN-ID:�000h
���*�(CS)
� �P Node-ID0h�(0)�=����CAN����#
1h�…�7Fh�(1�…�127)�=�!�CAN����#
Fig. 3.13 ��:Start�Remote�Node
3.7.3 Stop�remote�node
NMT��>�����NMT�.1“Stop�remote�node”,t©�[�NMT���>4��NMT�:;。�3~
�`,q��NMT�:;"“Stopped”���Fig. 3.11。
000h 2 2h NI
CAN-ID:�000h
���*�(CS)
� �P Node-ID0h�(0)�=����CAN����#
1h�…�7Fh�(1�…�127)�=�!�CAN����#
Fig. 3.14 ��:Stop�remote�node
3 CANopen &+
64 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.7.4 Enter�pre-operational
NMT��>�����NMT�.1“Enter�pre-operational”,t©�[�NMT���>4��NMT�:;。
�3~�`,q��NMT�:;"“Pre-operational”���Fig. 3.11。
000h 2 80h NI
CAN-ID:�000h
���*�(CS)
� �P Node-ID0h�(0)�=����CAN����#
1h�…�7Fh�(1�…�127)�=�!�CAN����#
Fig. 3.15 ��:Enter�Pre-Operational
3.7.5 Reset�node
NMT��>�����NMT�.1“Reset�node”,t©�[�NMT���>4��NMT�:;。|.����
Nrcg�±�NMT�:;“Reset�application��“Reset�communication”。��~��3`,�53
�:;&',¾ �̀EMCA�����NMT�:;“Pre-operational”���Fig. 3.11。
000h 2 81h NI
CAN-ID:�000h
���*�(CS)
� �P Node-ID0h�(0)�=����CAN����#
1h�…�7Fh�(1�…�127)�=�!�CAN����#
Fig. 3.16 ��:Reset�node
3.7.6 Reset�communication
NMT��>�����NMT�.1“Reset�communication”,t©�[�NMT���>4��NMT�:;。
�3~�`,q�±�NMT�:;"“Reset�communication”���Fig. 3.11。
000h 2 82h NI
CAN-ID:�000h
���*�(CS)
� �P Node-ID0h�(0)�=����CAN����#
1h�…�7Fh�(1�…�127)�=�!�CAN����#
Fig. 3.17 ��:Reset�communication
3 CANopen &+
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3.7.7 &V���(Node�guarding)/(Error�control�message)
c7
"��#>��(�w:EMCA)��>��(�w:�,6=2)�.�&+��56,%�
����Node�guarding�protocol。w���Node�guarding�protocol,�>�#>��*56:�>
�+�©+�EMCA���NMT�:;。EMCA����"Î���m!E#�Toggle-Bit(K�7)Î�
(ËL)。w��EMCA�´�"Î,�����B��ËLK"Î,��>����"�b"。
B�,EMCA�%�ºxFXa��6=2�:456©+��56:w�&'����#�
+�56,.�(Life�time)�/53,E�����66,��EMCA��^5/4“CAN�:4�e,FB�q�
6=H”(FCT��*:1Ch)。
CAN���%���D(�w:D�)��&'�Node�guarding���W���?�
,。Node�guarding�]^,t���Guard�time�(100Ch)���Life�time�factor�
(100Dh)�>�0。
Node�guarding�fg:
�>���©+�p�"Ë<Ï,���CAN-ID“700h�+�Node-ID”�Jd"。Ë<Ï»��!
E¦�K,����&'�(=�1)。Ë<Ï����g� 。
701h
CAN-ID:�700h�+�Node-ID(��:Node-ID�=�1)
Fig. 3.18 ��:Node�guarding,gË<K
EMCA�d"���w���。�Àg�1���#� ,ÄËLK��EMCA���NMT�:;���E�3.7�n:。
Ë<Ï»��!E¦�K,�����&'�(=�0)。
701h 1 T/N
CAN-ID:�700h�+�Node-ID(��:Node-ID�=�1)
1.�� &::ËLK/NMT�:;
� �P
Fig. 3.19 ��:Node�guarding,gËLK
3 CANopen &+
66 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
E� &:�(T/N)�@�w�:
� �� �4 ���
0�…�6 00h NMT�:;
(NMT�state)
Boot-up
04h Stopped
05h Operational
7Fh Pre-operational
7 0/1 ËLK
(Toggle�bit)
�!&'���©¿
Tab. 3.33 KD�:ËLK/NMT�:;
�6=2�©+56,.���#。56SN�=X�E��6=2�©+。#lÐSN,Ë<
©+�p��#�56,.�³�tXa。
ËLK&'�NMT���“Reset�communication”(AK&+)��AK。�l,�EMCA��E
�"Î���������。
3.7.8 8\_`��a)�(Life�time)
2�lË<©+�.�A�,.ÏP&'+�56,.��#。
Node�guarding��+�56,.w���;<:
Life�time � Guard�time�(100Ch) * Life�time�factor�(100Dh)
3.7.9 b*�100Ch:��a)�(Guard�time)
&'�(“Guard�time”�,.L�[ms](+�56,.)�Life�time�?��#。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
100Ch Guard�time VAR UINT16 rw no Tab. 3.35 0h
Tab. 3.34 �(�100Ch
�� ���
0h 56,.�(100Ch)�c2�
1h�…�FFFFh ,.L�[ms]
Tab. 3.35 Value�range:�Guard�time
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 67
3.7.10 b*�100Dh:���a)���(Life�time�factor)
&'�(“Life�time�factor”�+�56,.�Life�time��56,.=�?��#。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
100Dh Life�time�factor VAR UINT8 rw no Tab. 3.37 0h
Tab. 3.36 �(�100Dh
�� ���
0h 56,.�(100Ch)�c2�
1h�…�FFh 56,.=��1�…�255
Tab. 3.37 Value�range:�Life�time�factor
3 CANopen &+
68 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.8 ���:�(Device�data)
EMCA����� ��{!�CANopen��(�。����� ��g�7�/>����U�。
�#��©;������ 。
���:6b*
����� �v����(:
"# 45�(Name) �N
1000h ��<��(Device�type) 68
1008h =���>¿�(Manufacturer�device�name) 68
1009h 7����(Manufacturer�hardware�version) 69
100Ah >����(Manufacturer�software�version) 69
1018h ���ID�(Identity�object) 70
Tab. 3.38 ��� ��(
3.8.1 b*�1000h:���mW�(Device�type)
&�(���J��<�。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1000h Device�type VAR UINT32 ro no – Tab. 3.40
Tab. 3.39 �(�1000h:
�� ���
420192h ��<��*:�XYZZZZ(6�K):
– X:�4h�=�<�E����
– Y:�2h�=�Ñ.J;2
– ZZZZ:�0192h�=��������CiA�402
Tab. 3.40 Default�value:�Device�type
3.8.2 b*�1008h:��9�6��4�(Manufacturer�device�name)
&'�(���J=����>。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1008h Manufacturer�device�name VAR VSTRING const no – 1)
1) L��|��。
Tab. 3.41 �(�1008h:
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 69
3.8.3 b*�1009h:���./�(Manufacturer�hardware�version)
&'�(���J7����。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1009h Manufacturer�hardware�
version
VAR VSTRING const no – Tab. 3.43
Tab. 3.42 �(�1009h:
�� ���
MxxxxPxxxxExxxx 7���U�:ASCII�&�+,15�K
Tab. 3.43 Default�value:�Manufacturer�hardware�version
3.8.4 b*�100Ah:���./�(Manufacturer�software�version)
&'�(���J>����。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
100Ah Manufacturer�software�versi
on
VAR VSTRING const no – Tab. 3.45
Tab. 3.44 �(�100Ah
�� ���
Mxxxx:xxxx:xxxx:xxxxByyyy:yyyy
Pxxxx:xxxx:xxxx:xxxxByyyy:yyyy
Exxxx:xxxx:xxxx:xxxxByyyy:yyyy
>���U�:ASCII�&�+,90�K
Tab. 3.45 Default�value:�Manufacturer�software�version
3 CANopen &+
70 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.8.5 b*�1018h:����ID�(Identity�object)
&'�(���J�EMCA����EF:
– Festo�À��*,���CANopen�(Vendor-ID)
– Festo�-���(Product�code)
– CAN�ÁK��(Revision�number)
– Festo� $��(Serial�number)
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1018h Identity�object ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 4h
01h Vendor-ID VAR UINT32 ro no – 1Dh
02h Product�code VAR UINT32 ro no – 1)
03h Revision�number VAR UINT32 ro no – –
04h Serial�number VAR UINT32 ro no – –
1) L��|��。
Tab. 3.46 �(�1018h:
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 71
3.9 �:�����@
��@��g������v���
EMCA������@��:
– zt��@(^,)
– AB��@(JÒ��)
– "�< ��@
<�:��@
Power�ON(S:"b)(v""b�(X4))��AK:4
Store�parameters�(1010h_01h)
AB��@(J��)
��}����}��
zt��@
"�< ��@
Restore�all�default�parameters�(1011h_01h)
Fig. 3.20 ��:��@
�Z��&'�Festo�Configuration�Tool�(FCT)�??��7��@�+'
�����“m���%�f�IJ;2”,EMCA-EC-SY-...
3 CANopen &+
72 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
$%��@(!a):
zt��@K��EMCA��!�7e2�。&'�SDO����>�(FCT)����4'�03zt�
�@。
�
$%����6"�
"b�[X4]��D���Reset�node��19�,zt��@���Á©��\�。
– h�v,&'�(“Store�parameters�(1010h_01h)”�EMCA�� >7e2�
�zt��@�Á©���@。
;1��@(����):
AB��@�kv�AB���(#�¿�EMCA���@。&'�(“Restore�all�default�parameters�
(1011h_01h)”���AB��@??X!�7e2�zt��@»。�
v>����@:
���&"b�[X4]�(Power�ON),��"�< ��@??X!�7e2�zt��@�。&'�
(“Store�parameters�(1010h_01h)”���zt��@�@ >7e2�"�< ��@�。
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 73
3.9.1 b*�1010h:������(Store�parameters)
&'�(���zt��@(!�7e2)�@"�< ��@( >7e2)�。m�ASCII�
��“sabe”��(�ÂÃ�=��65766173h���I��4'。
�(“Store�parameters�(1010h_01h)”������J,�,Ó��。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1010h Store�parameters ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 1h
01h Save�all�parameters VAR UINT32 rw no – 1h
Tab. 3.47 �(�1010h:
�W LSB MSB
ASCII s a v e
hex 73h 61h 76h 65h
Tab. 3.48 ASCII���“save”
�Á&��SDO����B,�E���(�:;,ÂÄ��3?�KB。���7� �/-7
e+���ý½Í,.。�g,./����3�����SDO。I�/-7e+��³,��
�Generic�error���53��SDO��J"Î。
3 CANopen &+
74 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
3.9.2 b*�1011h:���;16��@�(Restore�default�parameters)
&'�(,AB��@(J��)��"zt��@??X!�7e2�,_�""�< ��
@??X >7e2�。m�ASCII���“load”��(�ÂÃ�=��64616F6Ch���I��4'
。
�(“Restore�all�default�parameters�(1011h_01h)”������J,�,Ó��。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
1011h Restore�default�parameters ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 1h
01h Restore�all�default�
parameters
VAR UINT32 rw no – 1h
Tab. 3.49 �(�1011h:
�W LSB MSB
ASCII l o a d
hex 6Ch 6Fh 61h 64h
Tab. 3.50 ASCII���“load”
�Á&��SDO����B,�E���(�:;,ÂÄ��3?�KB。���7� �/-7
e+���ý½Í,.。�g,./����3�����SDO。I�/-7e+��³,��
�Generic�error���53��SDO��J"Î。
3 CANopen &+
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 75
4 EtherCAT
76 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4 EtherCAT
�����-D��EMCA�f���EtherCAT�78�%��������。�T��0�(�c���
�C���s。
EtherCAT(R��Ô7�6=n;rop)���k“EtherCAT�Technology�Group�(ETG)”@�S
5�)。��#@��k{!��v�@��。EtherCAT��!k�O"!²s�KÂ)�
SÃF�、q�M,F���Ô7op。
4.1 ETG�-
dl��,��#@��5Õ����É:
– ETG.1000.6:�EtherCAT�Application�Layer�Protocol�Specification
– ETG.1020:�EtherCAT�Protocol�Enhancements
– ETG.1300:�EtherCAT�Indicator�and�Labeling�Specification
– ETG.2000:�EtherCAT�Slave�Information�Specification
– ETG.2200:�EtherCAT�Slave�Implementation�Guide
– ETG.6010:�EtherCAT�Implementation�Directive�for�CiA402�Drive�Profile
>?@A:
����#@�“EtherCAT�Technology�Group�(ETG)”�t{+' ���www.ethercat.org
EtherCAT�BC:
EMCA���EtherCAT�M�R���):
ETG��D- ./ ./
1000.6 EtherCAT�Application�Layer�Protocol�Specificati
on�S�(R)
V1.0.3 2013-1-3
6010 EtherCAT�Implementation�Directive�for�CiA402�Drive
�
Profile�D�(R)
V1.1.0 2014-11-19
Tab. 4.1 EtherCAT�M�
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 77
4.2 EMCA�6�EtherCAT�)*��
EMCA-…-EC�f�����EtherCAT��%:
3 42 61 5
1 LED���f:�%�2���EC�LINK/ACTIVITY
(&+]^/�\56),�%�[X2]
2 LED���f:EC�RUN
3 LED���f:EC�ERROR
4 LED���f:�%�1���EC�LINK/ACTIVITY
(&+]^/�\56),�%�[X3]
5 �%�[X2]:EtherCAT,�%�2
6 �%�[X3]:EtherCAT,�%�1
Fig. 4.1 EMCA���EtherCAT��%
4.2.1 EtherCAT�6EF��
&'��Ö!�LED���f!��EtherCAT��:;。
LED�GFH �<��
EC�LINK/ACTIVITY,�%�1
EC�ERROR
EC�RUN
EC�LINK/ACTIVITY,�%�2
!����EtherCAT�:;:– EtherCAT�&+
– �f//4
��+'h�����e�252
Tab. 4.2 LED���f
4 EtherCAT
78 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.2.2 EtherCAT���
&'���%��EMCA�%'�EtherCAT�78。
�
EMCA���EtherCAT��%���%��G!�r����78。
���I�%��x¹"+78。
EtherCAT,9��1�[X3]:">#�
M12�KO
D�MN
5�"
"> 45 �<��
Shield
1
2
3
4
5
1 TD+ 53� �+�(Transmit�Data)
2 RD+ �=� �+�(Receive�Data)
3 TD- 53� �–�(Transmit�Data)
4 RD- �=� �–�(Receive�Data)
5 nc �%�
�� ���(Shield)�([×��&'�RC�¨�����G�%)
Tab. 4.3 EtherCAT,�%�1�[X3]:�xD�
EtherCAT,9��2�[X2]:">#�
M12�KO
D�MN
5�"
"> 45 �<��
Shield
1
2
3
4
5
1 TD+ 53� �+�(Transmit�Data)
2 RD+ �=� �+�(Receive�Data)
3 TD- 53� �–�(Transmit�Data)
4 RD- �=� �–�(Receive�Data)
5 nc �%�
�� ���(Shield)�([×��&'�RC�¨�����G�%)
Tab. 4.4 EtherCAT,�%�2�[X2]:�xD�
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 79
4.2.3 EtherCAT�+P#�
��D,�Cat�5��t¬��Ô7������STP�%��EtherCAT�78��。�!7g�A���"$
�P�100�m。EtherCAT�������、Ä���FÅ]��%�。
4.2.4 EtherCAT�+P
EtherCAT���"$�p�¢��op��:
�� �
"$�º [mm] 6�…�8
"$�� �
£���� �
��"$� 4
£��e� [mm2] 0.14�…�0.75;22�AWG
Tab. 4.5 EtherCAT���"$�op��:
4.2.5 EtherCAT�)*6Q9
EtherCAT�����v���-��"�"#。EtherCAT�#>6=2�(ESC)�6=,!�%_&'�«
�%��n;DS��。
4 EtherCAT
80 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.3 EtherCAT���
4.3.1 c7:EtherCAT�6�����
���W!�� EMCA ��Z78���h�J�“CANopen over EtherCAT (CoE)”C�� EtherCAT
&+�B9(�w:6=2��,Í?I)。
Mailbox�communication 2)
Emergency�communication
Process�data�communication 1)
SDO�communication
SDO�Information�communication
EtherCAT�Synchronisation
Clock�Master
(1st�Slave)
Sync�manager
Sync�manager�0/1
Sync�manager�2/3
Distributed�
clocks
EMCA
(Slave)
��
(Master)
Ref�clocks DC�Time
CoE
ESC
Process
�data
box
Process�data�object�request
Process�data�object�resp
onse
Service�data�object�resp
onse
Service�data�object�request
Abort�SDO�transfer�request
Emergency�request
Get�OD�list�response
Get�OD�list�request
Ref�Time
EtherCAT�communication
1) +��� 2) ²+���
Fig. 4.2 %C:EtherCAT��&+�B9
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 81
EtherCAT�6����� �N
EtherCAT�Slave�Controller �ESC 82
|}��(Mailbox/Process�data) 1)
�?�(CoE) 82
���Y��(Sync�manager) 87
B9932�&+�(Sync�manager�communication) 87
B9932�&+D<�(Sync�manager�communication�type) 88
B9932�0�(Sync�manager�0) 89
B9932�1�(Sync�manager�1) 89
B9932�2�(Sync�manager�2) 90
B9932�3�(Sync�manager�3) 90
B9932�B9�(Sync�manager�synchronization) 91
B9932�2��B9�(Sync�manager�2�synchronization) 91
B9932�3��B9�(Sync�manager�3�synchronization) 92
Distributed�Clocks �DC 93
(��:���(Process�data�communication) 94
'<� -0 94
�(�1600h:E�1��=�PDO�-0�(1st�receive�PDO�mapping) 95
�(�1A00h:E�1�53�PDO�-0�(1st�transmit�PDO�mapping) 97
@����(Mailbox�communication) 99
SDO�&+�(SDO�communication) 99
SDO�03E��(SDO�upload/Upload�SDO) 100
SDO�4'E��(SDO�download/Download�SDO) 101
SDO�/4+'�(Abort�SDO�transfer) 102
60&+�(Emergency�communication) 104
SDO�+'&+�(SDO�information�communication) 2)
1) '<� �FG&+�/-7eØ。�n�7eØ�93�'��J� 。
2) EMCA�@��“Get�OD�list”� � �SDO�+'&+。
Tab. 4.6 %C:EtherCAT��&+�B9
4 EtherCAT
82 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.3.2 EtherCAT�Slave�Controller �ESC
EtherCAT�Slave�Con
trollerESC����ENCA����&+�*,��6=�*��EtherCAT����.
?L� 。EtherCAT�Slave�Controller �&'�Distribu
ted�Clocks �DC�6='<� �,ÍB9�3
'<。
4.3.3 �?
EMCA�@���&+� ?LC�:
�? �<��
CANopen�over�Ether
CAT�CoE
£ �CANopen,CiA301���� ��
Tab. 4.7 %C:C�
Byte�e�
w���EtherCAT,��Rw��I!��16�K�L(&)��32�K�L(�&):
Byte�e� �:lm 8&A�1)
Little�endian &
(CDEFh)
(LSB) (MSB)
EFh CDh
�&
(89ABCDEFh)
(LSB) (MSB)
EFh CDh ABh 89h
1) LSB:A³��&:�(least�significant�byte)
MSB:A¬��&:�(most�significant�byte)
Tab. 4.8 &:�
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 83
$����EtherCAT��rs6s�
���W!���Ô7� EtherCAT Ï������“CANopen over EtherCAT (CoE)”C�。
Ethernet�Header
14�Byte
EtherCAT�Frame�Header
2�Byte
Ethernet�FCS
4�Byte
EtherCAT�Protocol�Data
…�Byte
EtherCAT�Frame �[ETG]
Ethernet�Frame �[IEEE�802.3]
Ether�type:
0x88A4�=EtherCAT
Type:
4=�Process�data�communication
5=�Mailbox�communication
1st�Process�Data
…�Byte
Process�Data�Frame�Header
12�Byte
PDO�Header
8�Byte
PDO�(PDO�Mapping :�1600h/1A00h)
�…�Byte
Mailbox�Header
6�Byte
Error�Code
2�Byte
Data
1�…�5�|�6�…�n�Byte
CoE�Data
…�Byte
CoE�Header
2�Byte
Type:
0x03=�CoE
Service:
0x01=�Emergency
0x02=�SDO�request
0x03=�SDO�response
0x08=�SDO�Information
Error�Register
1�Byte
Process�Data�Object�Frame
Process�Data�Frame
Mailbox�Frame
Emergency�Frame
SDO�Request�Frame /SDO�Response�Frame
SDO�Information�Frame
Index
2�Byte
Data
1�…�4�|�5�…�n�Byte
SDO�control
1�Byte
Subindex
4�Byte
SDO�Info�Header
2�Byte
SDO�Info�Service�Data
…�Byte
Standard�CANopen�SDO�Frame
Standard�CANopen�Emergency�Frame
Standard�CANopen�PDO�Frame
CoE�Frame
Fig. 4.3 �Ô7��EtherCAT�Ï�����
4 EtherCAT
84 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.4 EtherCAT�IJ^
EtherCAT�:;$�g�!�EtherCAT�78����EMCA�&+���:;。 : �̀(Power�ON�
oder�Reset)�,EMCA�&'�>�(Master) ��Nr。���'<�,�ÂFG�'<� 。�
]^&+`��EMCA����78���.��?L。���:;'²�k�,�6=2&'E
��6=。EMCA���Æn©¿:;。
���W!���EtherCAT�:;$���:;�:;'²。
Init
(Power�ON)(�&"b)(Reset)(AK)
5���(PreOp)
kl���(SafeOp)
���(Op)
(OS)(SO)
(OI)
(PI) (IP)
(PS)
(OP)
(SI)
(SP)
Fig. 4.4 EtherCAT�:;$
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 85
�Z�w��EtherCAT�:;$���:;。
IJ �<��
Init � “Power�ON”��“Reset”`�:;。
� C)��²+�FG&+�(SDO)。
� C)��+�'<� &+�(PDO)。
� 6=2�Nr+~�0���1��B9932,���FG&+。
Pre-Operatio
nal
(PreOp)
� ���²+�FG&+�(SDO)。
� C)��+�'<� &+�(PDO)。
� 6=2�Nr+~�2���3��B9932�h�PDO�-0,���'<�
&+。
Safe-Operatio
nal
(SafeOp)
� ���²+�FG&+�(SDO)。
� ���+�'<� &+�(PDO)。
– 6=2�53M#LX�EMCA�(RxPDO)��。EMCA���kl:;。
– EMCA��zt�MOL53X6=2�(TxPDO)��。
Operational
(Op)
� ���²+�FG&+�(SDO)。
� ���+�'<� &+�(PDO)。
– 6=2�q�M#L53X�EMCA�(RxPDO)��。�M#L�k�EMCA�
�3。
– EMCA��zt�MOL53X6=2�(TxPDO)��。
Tab. 4.9 EtherCAT�:;$��¤:;
4 EtherCAT
86 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
�Z�w��EtherCAT�:;$���:;'²。
IJ(�� IJ
Power�ON/RESET EMCA�cS:��Reset�c^5。
EMCA�n����Nr,_I�ËL�“Init”(�Nr):;。
IP
(Init���PreOp)
FG&+�(SDO)��:;。
6=2##>6=2�(ESC)���EtherCAT��03��+'_����:
� >4GH
� 672B9932�FG&+
� DÕI,Í�(DC)
PI
(PreOp���Init)
FG&+�(SDO)��O¶。
PS
(PreOp���SafeOp)
'<� &+�(PDO)��:;。
6=2����:
� 672B9932�'<� &+
� PDO�-0
SP
(SafeOp���PreOp)
'<� &+�(PDO)��O¶。
SO
(SafeOp���Op)
6=253���Output�� 。
OS
(Op���SafeOp)
6=2�;h|tLX:;“Safe-Operational�(SafeOp)”。EMCA�£
��r���d"^5bDif。
OP
(Op���PreOp)
'<� &+�(PDO)��O¶。
SI
(SafeOp���Init)
FG&+�(SDO)��O¶。
'<� &+�(PDO)��O¶。
OI
(Op���Init)
FG&+�(SDO)��O¶。
'<� &+�(PDO)��O¶。
Tab. 4.10 :;$�:;'²
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 87
4.5 ���Y�
B9932@����:
– B9932&+(78&+)���e�87
– B9932�B9(78B9)���e�91
4.5.1 ���Y�6��
B99326=�EMCA�X��78��(w932¸)�FG�'<� &+。
�Z�w�#&+D<、��D<�B9+~XB9932�(#� �=。
���Y� ���B ��lm %�d�
0 0 Mailbox�&+ �=�(�SDO�.1�
1 1 53�(�SDO�.1�
2 2 '<� &+ �='<� �(�RxPDO
3 3 53'<� �(�TxPDO
Tab. 4.11 &+D<
EtherCAT�Bus
Sync�manager�0
Sync�channel�0
Sync�channel�1
Sync�channel�2
Sync�channel�3
Mailbox�receive ���SDO
Mailbox�send ���SDO
Process�data�output ���RxPDO
Process�data�input ���TxPDO
Sync�manager�communication
Sync�manager�1
Sync�manager�2
Sync�manager�3
Fig. 4.5 B9932&+���
4 EtherCAT
88 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���Y���6b*
���(���B9932&+:
Index 45�(Name) �N
1C00h B9932�&+D<�(Sync�manager�communication�type) 88
1C10h B9932�0���PDO�D��(Sync�manager�0�PDO�assignment) 89
1C11h B9932�1���PDO�D��(Sync�manager�1�PDO�assignment) 89
1C12h B9932�2���PDO�D��(Sync�manager�2�PDO�assignment) 90
1C13h B9932�3���PDO�D��(Sync�manager�3�PDO�assignment) 90
Tab. 4.12 B9932&+��(
4.5.2 b*�1C00h:���Y�6��lm�(Sync�manager�communication�type)
B9932�0�…�3��&+D<&'�(D�。
�!B9932�D�!&+���D<。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1C00h Sync�manager�
communication�type
ARRAY – – – – –
00h Number�of�used�sync�
manager�channels
VAR UINT8 ro no 4h 4h
01h Communication�type�sync�
manager�0
VAR UINT8 ro no Tab. 4.14 1h
02h Communication�type�sync�
manager�1
VAR UINT8 ro no 2h
03h Communication�type�sync�
manager�2
VAR UINT8 ro no 3h
04h Communication�type�sync�
manager�3
VAR UINT8 ro no 4h
Tab. 4.13 �(�1C00h
� �+
1h FG:�=.1� �(�SDO
(Mailbox�receive)
Master���Sla
ve
2h FG:53.1� �(�SDO
(Mailbox�send)
Sla
ve���Master
3h '<� :�='<� �(�RxPDO
(Process�data�output)
Master���Sla
ve
4h '<� :53'<� �(�TxPDO
(Process�data�input)
Sla
ve���Master
Tab. 4.14 Value�range: �Communication�type�sync�manager
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 89
4.5.3 b*�1C10h:���Y��0�6�PDO�#��(Sync�manager�0�PDO�assignment)
&'�(��PDO�D�XB9932�0��。
FG&+“#.12�=�(�SDO�� ”�(#D�XB9932�0。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1C10h Sync�manager�0�PDO�
assignment
ARRAY – – – – –
00h Number�of�assigned�PDOs VAR UINT8 ro no Tab. 4.16 0h
Tab. 4.15 �(�1C10h
� �+
0h ´�D��PDO
Tab. 4.16 Value�range: �Number�of�assigned�PDOs
4.5.4 b*�1C11h:���Y��1�6�PDO�#��(Sync�manager�1�PDO�assignment)
&'�(��PDO�D�XB9932�1��。
FG&+“53.1� �(�SDO�”�(#D�XB9932�1。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1C11h Sync�manager�1�PDO�
assignment
ARRAY – – – – –
00h Number�of�assigned�PDOs VAR UINT8 ro no Tab. 4.18 0h
Tab. 4.17 �(�1C11h
� �+
0h ´�D��PDO
Tab. 4.18 Value�range: �Number�of�assigned�PDOs
4 EtherCAT
90 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.5.5 b*�1C12h:���Y��2�6�PDO�#��(Sync�manager�2�PDO�assignment)
&'�(��#B9932�2����PDO�D�。
'<� &+“��='<� �(�RxPDO”�(#D�XB9932�2。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1C12h Sync�manager�2�PDO�
assignment
ARRAY – – – – –
00h Number�of�assigned�PDOs VAR UINT8 rw no 01h 01h
01h PDO�mapping�object�index
�
of�assigned�PDO
VAR UINT16 rw no 1600h 1600h
(RxPDO1)
Tab. 4.19 �(�1C12h
4.5.6 b*�1C13h:���Y��3�6�PDO�#��(Sync�manager�3�PDO�assignment)
&'�(��#B9932�3����PDO�D�。
'<� &+“53'<� �(�TxPDO”�(#D�XB9932�3。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1C13h Sync�manager�3�PDO�
assignment
ARRAY – – – – –
00h Number�of�assigned�PDOs VAR UINT8 rw no 01h 01h
01h PDO�mapping�object�index
�of�assigned�PDO
VAR UINT16 rw no 1A00h 1A00h
(TxPDO1)
Tab. 4.20 �(�1C13h
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 91
4.5.7 ���Y�6��
&'B9932�B9��#+�'<� �����3。B9'<k�Distributed�Clocks �DC�6
=�
���e�93。
EMCA�@��B9D<:
– Free�Run(´�B9)
– ��DC�Sync�B9�(DC�Sync�Event)
���Y�6��b*
���(���B9932B9:
Index 45�(Name) �N
1C32h B9932�2��B9�(Sync�manager�2�synchronization) 91
1C33h B9932�3��B9�(Sync�manager�3�synchronization) 92
Tab. 4.21 B9932�B9�(
4.5.8 b*�1C32h:���Y��2�6���(Sync�manager�2�synchronization)
&'�(��#B9932�2��B9。
Index/
Sub
Name/Description Objec
t�
code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1C32h Sync�manager�2�
synchronization
REC – – – – –
00h Number�of�synchronizati
on�parameters
VAR UINT8 ro no – 20h
01h Synchronization�type VAR UINT16 rw no Tab. 4.23 00h
02h Cycle�time VAR UINT32 ro no – –
04h Synchronization�types�
supported
VAR UINT16 ro no – –
05h Min�cycle�time VAR UINT32 ro no – –
06h Calc�and�copy�time VAR UINT32 ro no – –
08h Get�cycle�time VAR UINT16 rw no – 0000h
09h Delay�time VAR UINT32 ro no – –
0Bh SM-event�missed�counter VAR UINT16 ro no – –
0Ch Cycle�time�too�small VAR UINT16 ro no – –
20h Sync�Error VAR BOOL ro no – –
Tab. 4.22 �(�1C32h
� �+
00h Free�Run:´�B9
02h DC�Sync0:��DC�Sync0���B9
Tab. 4.23 Value�range: �Synchronization�type
4 EtherCAT
92 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.5.9 b*�1C33h:���Y��3�6���(Sync�manager�3�synchronization)
&'�(��#B9932�3��B9。
Index/
Sub
Name/Description Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1C33h Sync�manager�3�
synchronization
REC – – – – –
00h Number�of�synchronizati
on�parameters
VAR UINT8 ro no – 20h
01h Synchronization�type VAR UINT16 rw no Tab. 4.25 00h
02h Cycle�time VAR UINT32 ro no – –
04h Synchronization�types�
supported
VAR UINT16 ro no – –
05h Min�cycle�time VAR UINT32 ro no – –
06h Calc�and�copy�time VAR UINT32 ro no – –
08h Get�cycle�time VAR UINT16 rw no – 0000h
09h Delay�time VAR UINT32 ro no – –
0Bh SM-event�missed�counter VAR UINT16 ro no – –
0Ch Cycle�time�too�small VAR UINT16 ro no – –
20h Sync�Error VAR BOOL ro no – –
Tab. 4.24 �(�1C33h
� �+
00h Free�Run:´�B9
02h DC�Sync0:��DC�Sync0���B9
Tab. 4.25 Value�range: �Synchronization�type
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 93
4.6 Distributed�Clocks�DC
&'�Distributed�Clocks �DC��B9�EtherCAT�78D@»��@�DC����78����EtherCAT�
Slave�Controller�ESC ���,Í。EtherCAT�78�E!@�DC����#>AB���,Í�
(Ref�Clock) �ÇÈ�Clock�Masters ����。Master��+�.�53!B9� �,Clock�Master�
���,Í�zt��,.�(Ref�Time) �4'X�!� ��。��`Ã�#>�03�L。
EtherCAT�Slave�Con
troller�ESC �#��,.�(Ref�Time) ��k6=2K#���,.�(Offset) �;<�DC�
,Í,.�(DC�Time)。
Distributed�Clocks �DC����!`Ã�B9� �Ã�DG��B9。Distributed�Clocks�D
C�
����+�B9'<(�w:+�B9�='<� ��{Ð+�B9���M#L)。'<�
�����3&'B9932�B9�6=����e�91。
�IP�(Init���PreOp)��:;'²�,���EtherCAT����Distributed�Clocks �DC�&'6=2��
��。:;'²�(PreOp���SafeOp)���EtherCAT�78��Â�DC�B9。® �̀Clock�Slaves ��#
X:;�Operational �(Op)��。
���W!���DC�ÅÉ��EtherCAT�78�B9。
1st�Slave
Clock�Master
2nd�Slave
Clock�Slave
Master
Clock�Slave
3rd�Slave …�Slave
Clock�Slave
Ref�Time Ref�Time
1) Ref�Time Ref�Time
Ref�Time
Ref�Time
Ref�Clock
Ref�Time
DC�TimeDC�TimeDC�Time DC�Time
OffsetOffsetOffset Offset
1) B9� �
Fig. 4.6 DC�ÅÉ��EtherCAT�78�B9
4 EtherCAT
94 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.7 (��:��
'<� &+�(Process�data�communicati
on)���EMCA��78��(w6=2¸)�.+�?L
'<� (wM#L�MOL¸)。���!%Ã�'<� Ï,��03�4''<� 。
�EMCA��,'<� &+�6=2(#D��B9932�2���3。c-0'<� �(�PDO�
(Process�data�objects) ����&'B9+~�2���3���。
#:;“Safe�Operatio
nal”SN,EMCA��'<� &+��]^:;。EMCA��#�:;SN�
MOL53X6=2。aX:;“Operational”,,�'�'<� �(�PDO�k�EMCA��3_
��。EMCA��B9�k�Distributed�Clocks �DC��6=����e�93。
��
RxPDO(53� ,wM#L¸)
TxPDO(�=� ,wMOL¸)
EMCA
Process�data�output
Process�data�input
RxPDO�Mapping
Object�1600h
TxPDO�Mapping
Object�1A00h
Fig. 4.7 &''<� �(�PDO��*+(I
4.7.1 PDO�op
&'�PDO�-0�¬�E#�"�� @��?L� 。
PDO�op6b*
��'<� �(�PDO��-0������(:
Index 45�(Name) �N
1600h E�1��=�PDO�-0�RxPDO1�(1st�receive�PDO�mapping) 95
1A00h E�1�53�PDO�-0�TxPDO1�(1st�transmit�PDO�mapping) 97
Tab. 4.26 PDO -0��(
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 95
4.7.2 b*�1600h:��1����PDO�op�RxPDO1�(1st�receive�PDO�mapping)
&'�(�#�RxPDO1��-0。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1600h 1st�receive�PDO�mapping REC – – – – –
00h Number�of�objects�
in�this�PDO
VAR UINT8 rw no Tab. 4.28 9h
01h 1st�output�object�to�
be�mapped
VAR UINT32 rw no Tab. 4.29 60400010h
02h 2nd�output�object�to�
be�mapped
VAR UINT32 rw no 60600008h
03h 3rd�output�object�to�
be�mapped
VAR UINT32 rw no 607A0020h
04h 4th�output�object�to�
be�mapped
VAR UINT32 rw no 60810020h
05h 5th�output�object�to�
be�mapped
VAR UINT32 rw no 60820020h
06h 6th�output�object�to�
be�mapped
VAR UINT32 rw no 60830020h
07h 7th�output�object�to�
be�mapped
VAR UINT32 rw no 60840020h
08h 8th�output�object�to�
be�mapped
VAR UINT32 rw no 60FF0020h
09h 9th�output�object�to�
be�mapped
VAR UINT32 rw no 60710010h
0Ah 10th�output�object�to�
be�mapped
VAR UINT32 rw no 00000000h
0Bh 11th�output�object�to�
be�mapped
VAR UINT32 rw no 00000000h
0Ch 12th�output�object�to�
be�mapped
VAR UINT32 rw no 00000000h
Tab. 4.27 �(�1600h
�� �<��
01h�…�0Ch �'<� �(�RxPDO��c-0�J�(��R。
A{@�12�!�J�(�(0Ch)。
Tab. 4.28 Value�range: �Number�of�objects�in�this�PDO
4 EtherCAT
96 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
�
(XXXXYYZZh)
Bit �<��
XXXXh 16�…�31 �(�ª°�(16�Bit)
YYh 8�…�15 �(�±ª°�(8�Bit)
ZZh 0�…�7 �(�P,��Bit�"�K�(8�Bit)
Tab. 4.29 Value�range: ��…�output�object�to�be�mapped
4.7.3 b*�1600h�����
�(�1600h������hij��9¤:
– EMCA�ËLX:;“5���(PreOp)”。
– �±ª°�00h���"L�0。
– ±ª°�01h�…�0Ch�����。
– �±ª°�00h���"D���PDO��L。
– EMCA�ËLX:;“kl���(SafeOp) �����(Op)”。
<�:RxPDO�op
CoE�object�dictionary
RxPDO1Object�A Index
1600h
Object�B Sub
00h
Object�contents 1)
04h
1600h 6040h_00h
1600h 6060h_00h
1600h 607Ah_00h
6040h 00h Value�A
01h
02h
03h
10h
8h
20h
6081h 00h Value�D
607Ah 00h Value�C
6060h 00h Value�B
Object�C Object�D
1600h 6081h_00h04h 20h
PDO�Mapping
Index Sub Object�contents 2)
1) ª°、±ª°���Bit�"�K�c-0�(�P
2) -0�(�L
Fig. 4.8 ��:RxPDO�-0
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 97
4.7.4 b*�1A00h:��1�{4�PDO�op�TxPDO1�(1st�transmit�PDO�mapping)
&'�(�#�TxPDO1��-0。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1A00h 1st�transmit�PDO�mapping REC – – – – –
00h Number�of�objects�
in�this�PDO
VAR UINT8 rw no Tab. 4.31 5h
01h 1st�input�object�to�
be�mapped
VAR UINT32 rw no Tab. 4.32 60410010h
02h 2nd�input�object�to�
be�mapped
VAR UINT32 rw no 60610008h
03h 3rd�input�object�to�
be�mapped
VAR UINT32 rw no 60640020h
04h 4th�input�object�to�
be�mapped
VAR UINT32 rw no 606C0020h
05h 5th�input�object�to�
be�mapped
VAR UINT32 rw no 60770010h
06h 6th�input�object�to�
be�mapped
VAR UINT32 rw no 00000000h
07h 7th�input�object�to�
be�mapped
VAR UINT32 rw no 00000000h
08h 8th�input�object�to�
be�mapped
VAR UINT32 rw no 00000000h
09h 9th�input�object�to�
be�mapped
VAR UINT32 rw no 00000000h
0Ah 10th�input�object�to�
be�mapped
VAR UINT32 rw no 00000000h
0Bh 11th�input�object�to�
be�mapped
VAR UINT32 rw no 00000000h
0Ch 12th�input�object�to�
be�mapped
VAR UINT32 rw no 00000000h
Tab. 4.30 �(�1A00h
Wert �<��
01h�…�0Ch �'<� �(�TxPDO��c-0�'�(��R。
A{@�12�!�'�(�TxPDO�(0Ch)。
Tab. 4.31 Value�range: �Number�of�objects�in�this�PDO
4 EtherCAT
98 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
�
(XXXXYYZZh)
Bit �<��
XXXXh 16�…�31 �(�ª°�(16�Bit)
YYh 8�…�15 �(�±ª°�(8�Bit)
ZZh 0�…�7 �(�P,��Bit�"�K�(8�Bit)
Tab. 4.32 Value�range: ��…�input�object�to�be�mapped
4.7.5 b*�1A00h�����
�(�1A00h������hij��9¤:
– EMCA�ËLX:;“5���(PreOp)”。
– �±ª°�00h���"L�0。
– ±ª°�01h�…�0Ch�����。
– �±ª°�00h���"D���PDO��L。
– EMCA�ËLX:;“kl���(SafeOp) �����(Op)”。
<�:TxPDO�op
Object�A Index
1A00h
Object�B Sub
00h
CoE�object�dictionary
Object�contents 1)
04h
1A00h 6041h_00h
1A00h 6061h_00h
1A00h 6064h_00h
6041h 00h Value�A
01h
02h
03h
10h
08h
20h
606Ch 00h Value�D
6064h 00h Value�C
6061h 00h Value�B
Object�C Object�D
1A00h 606Ch_00h04h 20h
TxPDO1
PDO�Mapping
Index Sub Object�contents 2)
1) ª°、±ª°���Bit�"�K�c-0�(�P
2) -0�(�L
Fig. 4.9 ��:TxPDO�-0
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 99
4.8 @���
&'FG&+�(Mailbox�communication) �6=2��EMCA��.?L²+�.1� (w��
L¸)�k��J;�/4+'。#�'��SDO�Ï�03�SDO�� 。h|�3~�`,�d"�
KB4'�SDO�Ï。�EMCA��,FG&+�6=2(#D��B9932�0���1。.1� �(�
SDO�(Service�data�objects) ����、Emergency�&'��SDO�+'&'B9+~�0���1���。
FG&+#:;“Pre-Operational”P,SN]^。
FG&+@��&+.1:
– SDO�&+(.1� �(�²+���)���e�99
– Emergency �&+(k��J;��SDO�12��)���e�104
– SDO�+'&+(Get�OD�list�� �²+���)���e�81
4.8.1 SDO���
SDO�&+@����SDO�.1:
– 03E�:²+�03��� �(SDO�upload) ����e�100
– 4'E�:²+�4'��� �(SDO�download) ����e�101
– SDO�12��:&®k��J;��SDO�12�*����e�102
4 EtherCAT
100 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.8.2 SDO�0tw��(SDO�upload)
&'�SDO�03E�,6=2�²+�*+�EMCA���CoE��(V �̂CoE�OD����� �(Value)�_�
�03。�!h|��k�EMCA���d"��KB。
�� EMCA
SDO�upload/Upload�SDO�…�request
(SDO�03E�)v|
d"SDO�upload/Upload�SDO�…�response
CoE�OD
Object
Value
Fig. 4.10 *+(I:03��E�
SDO�.1@���SDO�03E�:
SDO�01 �<��
SDO�upload�expedited�request 03���
(upload)
1�…�4�Byte�
�#� �
(expedited)
h|�(request)
SDO�upload�expedited�response d"�(response)
SDO�upload�normal�request 5�…�1,406�Byte�
�#� �
(normal)
h|�(request)
SDO�upload�normal�response d"�(response)
Upload�SDO�segmented�request 1,407�…�n�Byte�
�#� 1)�
(segmented)
h|�(request)
Upload�SDO�segmented�response d"�(response)
1) �#� �DÙ�A{�7�!&:�� �。
Tab. 4.33 SDO.1:03���
�
1�¸§�EMCA��d"�(upload�…�response)!
À�§�EMCA�d"03E�`,���53�!�SDO�h|�(request)。
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 101
4.8.3 SDO���w��(SDO�download)
&'�SDO�4'E�,6=2�²+�*+�EMCA���CoE��(V^���� �(Value)�_��4'。
�!h|��k�EMCA���KB��KB。
�� EMCA
SDO�download/Download�SDO�…�request
(SDO�4'E�)v|
KBSDO�download/Download�SDO�…�response
CoE�OD
Object
Value
Fig. 4.11 *+(I:4'��E�
SDO�.1@���SDO�4'E�:
SDO�01 �<��
SDO�download�expedited�request 4'��� �
(download)
1�…�4�Byte�
�#� �
(expedited)
h|�(request)
SDO�download�expedited�response KB�(response)
SDO�download�normal�request 5�…�1,406�Byte�
�#� �
(normal)
h|�(request)
SDO�download�normal�response KB�(response)
Download�SDO�segmented�request 1,407�…�n�Byte�
�#� 1)�
(segmented)
h|�(request)
Download�SDO�segmented�response KB�(response)
1) �#� �DÙ�A{�7�!&:�� �。
Tab. 4.34 SDO�.1:4'���
�
"zÃÚ�-0X�PDO����(��s��SDO�4'E��(Download�…�request),
�"d"���� ����'<� �(�PDO��.1� �(�SDO���# �,
.� ?�µ«。
�
1�¸§�EMCA��KB�(download�…�response)!À�§ �EMCA�KB4'E�`,
���53�!�SDO�h|�(request)。
4 EtherCAT
102 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.8.4 SDO� ��g�(Abort�SDO�transfer�request)
z03�4',5v12,,��EMCA����SDO�/4+'��d"�(Abort�SDO�transfer�
request)。12���12�*�(abort�codes) ���I53�6=2��/4+'�� �
(Data)��。
�� EMCA
SDO�/4Abort�SDO�transfer�request
Fig. 4.12 53/4+'
F':
��4'E�53W�(“Statusword�(6041h)”,��(����03*+。12�*
“06�01�00�02h”�¶«�/4+'�。
SDO�23�N�SDO�abort�codes
�Z�w��SDO�12����SDO�12�*:
��N
F3�F2�F1�F0
�+
05�03�00�00h C�12:DgI�SDO����^5K�©¿。
05�04�00�00h SDO�C�¼,
05�04�00�01h C�12:Å#$/.12���*C���®
05�04�00�05h ¼J7eØ
06�01�00�00h �@*+(I
06�01�00�01h �À4�(��0*+
06�01�00�02h �À0�(��4*+
06�01�00�03h ±ª°C)4',±ª°�O��p�"�0����4'*+
06�01�00�04h SDO�l*+HT�@�P�¿�(,�w:ENUM��(D<
06�01�00�05h �(�P¼'�FG�µ
06�01�00�06h �(�D�W�RxPDO,SDO��?�#¶
06�02�00�00h �(V^»�7^5�(。
06�04�00�41h �(���^��PDO��(��w:RPDO����ro��()。
06�04�00�42h �^��PDO���(�P¼J��PDO��P
06�04�00�43h ���12
06�04�00�47h !/-¿R¯J/�12
06�06�00�00h k�7�����*+/4
06�07�00�10h C�12:.1����P���
06�07�00�12h C�12:.1����P'�。
06�07�00�13h C�12:.1����P'�。
06�09�00�11h UH�±ª°�7。
06�09�00�30h ¼J���L8(�4'*+,)
06�09�00�31h ��L�
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 103
��N
F3�F2�F1�F0
�+
06�09�00�32h ��LԵ
06�09�00�36h A�Lµ�AµL
08�00�00�00h V�/4
08�00�00�20h � C)����7X���
08�00�00�21h � ��¥6=HC)����7X���
08�00�00�22h �zt��:;,� C)����7X���
08�00�00�23h �(V^�;;v�J1�C�(V^��
Tab. 4.35 SDO12�*
4 EtherCAT
104 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.8.5 Emergency ���
EMCA��/-@�(�w:�J,)��56。w�J�!/4,��:;������12
d",_��"��Emergency �&'53X6=2。
z���/4KB`,EMCA���53��Emergency �&'。
EMCY�����6b*
Emergency �?I����(��:
Index 45�(Name) �N
1001h /47e2�(Error�register) 105
Tab. 4.36 ��?IEmergency��(
Error�free
1
Start
Error�occured
0
42
3
Fig. 4.13 WZ:/4-:;$
������:;'²:
No. yz �+
0 �Nr�³ ´�5�12。
1 J�/4 �tC/4,�J�!q/4。
q/4��12�*��I53��Emergency �&'。
2 /4KB��� �jd��/4��,_�c���/4KB����e�133。
3 J�q/4 �t�/4,�J�!q/4。
q/4��12�*��I53��Emergency �&'。
4 /4KB�� jd���/4��,_�c���/4KB,
E����133。�5Jm�/4�*�0000h�
(No�error/Error�reset) ���Emergency �&'。
Tab. 4.37 /4:;'²
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 105
4.8.6 b*�1001h: �|}��(Error�register)
&'�(�5J/4672��#/4D<。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1001h Error�register VAR UINT8 ro no Tab. 3.25 0h
Tab. 4.38 �(�1001h
Fehlerregister �� �lm
Bit1) uv��
0 Generic�error:7/4,K�1�…�7“�”½¾�=
1 Current�error:"B56/4
2 Voltage�error:"\56/4
3 Temperature�error:¹P56/4
4 Communication�error �(overrun, �error�state):&+/4
5 Device�profile�specific�error:��������/4
6 5ª,Fix�=�0
7 Manufacturer�specific�error:=���/4
1) Bit�=�0:C/4;Bit�=�1:J�/4
Tab. 4.39 K*D��Error�register
4 EtherCAT
106 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.8.7 ��g�(Error�code)
��Z��$J��EtherCAT���?I���J����/4&'。
�Z��/4&'�+'(�w:/4d"、���µ�),E�����247。
��[<>�(FCT)/493���#���+' � �*254。
23�g
Error�co
de
E0�E1
Ê) K
(Error�
registe
r)
FCT-
Code
2310h I2t�"$�f
(I²t�warning�motor)
1 0x2D
2312h I2t�"$/4
(I²t�malfunction�motor)
1 0x0E
2320h '"B
(Overcurrent)
1 0x0D
3210h �."\'\
(Intermediate�circuit�voltage�exceeded)
2 0x1A
3220h �."\¸\
(Intermediate�circuit�voltage�too�low)
2 0x1B
4210h �J,¹P'¬
(Output�stage�temperature�exceeded)
3 0x15
4220h �J,¹P'³
(Output�stage�temperature�too�low)
3 0x16
5100h ½¾"\'\
(Logic�voltage�exceeded)
2 0x17
5113h ½¾"\¸\
(Logic�voltage�too�low)
2 0x18
5441h TKS�(cn)
(Limit�switch�positive)
5 0x07
5442h TKS�(`n)
(Limit�switch�negative)
5 0x08
5444h R)��
(Homing)
5 0x22
5520h (�Æ,��J1
(Firmware�update�execution�error)
5 0x0C
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 107
23�g
Error�co
de
E0�E1
FCT-
Code
K
(Error�
registe
r)
Ê)
5530h ����C�
(Parameter�file�invalid)
5 0x0B
7e��
(Save�parameters)
0x27
6310h �v������
(Homing�required)
5 0x28
6320h AB����C�
(Default�parameter�file�invalid)
5 0x02
ÑÒ;<
(Path�calculation)
0x25
7300h �5��°ÀÇ
(No�index�pulse�found)
5 0x23
�°ÀÇÁ�¿S�'¿
(Index�pulse�too�close�on�proximity�sensor)
0x2E
7303h `R=S
(Encoder)
5 0x06
7400h >�12
(Software�error)
5 0x01
8100h q�6=H��EtherCAT�%�
(EtherCAT�connection�with�master�control)
4 0x50
8101h C6=H��EtherCAT�%�
(EtherCAT�connection�without�master�control)
4 0x51
8600h ·¶:;56
(Standstill�monitoring)
5 0x37
8611h E�i+12
(Following�error)
5 0x2F
4 EtherCAT
108 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
23�g
Error�co
de
E0�E1
FCT-
Code
K
(Error�
registe
r)
Ê)
8612h >�cn�K�
(Software�limit�positive)
5 0x11
>�`n�K�
(Software�limit�negative)
0x12
c(n�2�
(Positive�direction�locked)
0x13
`(n�2�
(Negative�direction�locked)
0x14
VK�`n>�"�K��`
(Target�position�behind�negative�software�limit)
0x29
VK�cn>�"�K��`
(Target�position�behind�positive�software�limit)
0x2A
ÄbL8
(Value�range�violated)
0x4C
FF00h CPU��/-&+/4
(Internal�communication�error�CPUs)
7 0x03
FF01h ²)7�
(Non-permitted�hardware)
7 0x04
FF02h "B`RYaK#
(Offset�determination�for�current�measurement)
7 0x09
FF03h V�/4
(General�error)
7 0x0A
FF0Ah ��32¹P
(Temperature�central�processing�unit)
7 0x19
FF0Dh (�Æ,,C�(�
(Firmware�update,�invalid�firmware)
7 0x2B
FF0Eh =;"#
(Braking�resistor)
7 0x30
FF10h q�6=H�[<>��(FCT)�%�
(FCT�connection�with�master�control)
7 0x32
FF11h �J,¹P�f
(Output�stage�temperature�warning)
7 0x33
FF12h *+����
(Parameter�file�access)
7 0x38
FF13h ÅÆ�f
(Trace�warning)
7 0x39
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 109
23�g
Error�co
de
E0�E1
FCT-
Code
K
(Error�
registe
r)
Ê)
FF15h ����()C�
(Homing�method�invalid)
5 0x3B
FF18h bD7e2
(Diagnostic�memory)
7 0x3E
FF19h ��C�
(Record�invalid)
7 0x3F
FF21h =SAK
(System�reset)
7 0x41
FF22h C)�7GH�
(Saving�address�data�not�possible)
7 0x42
FF24h �����(��}�
(Parameter�file�not�compatible�with�firmware)
7 0x44
FF25h kl�DXY�(STO)�a¾,.
(Safe�Torque�Off�(STO)�discrepancy�time)
7 0x4A
FF26h ���D�XY�(STO)
(Safe�Torque�Off�(STO))
7 0x34
FF26h °�< �/712
(Bootloader�memory�error)
7 0x4D
FF27h �-�24V�"b'?
(Overload�24V�Outputs)
7 0x4E
FF28h +'=S
(System�information)
7 0x4F
Tab. 4.40 /4+'
4 EtherCAT
110 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 111
4.9 ���:�(Device�data)
EMCA����� ��{!�CoE��(�。����� ��g�7�/>����U�。�#
��©;������ 。
���:6b*
����� �v����(:
"# 45�(Name) �N
1000h ��<��(Device�type) 111
1008h =���>¿�(Manufacturer�device�name) 111
1009h 7����(Manufacturer�hardware�version) 112
100Ah >����(Manufacturer�software�version) 112
1018h ���ID�(Identity�object) 113
Tab. 4.41 ��� ��(
4.9.1 b*�1000h:��mW�(Device�type)
&'��(5Õ�8�K��<�U*“"$<�”�“������”。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1000h Device�type VAR UINT32 ro no Tab. 4.43 00020192h
Tab. 4.42 �(�1000h
�
(00020192h)
� �<��
00h 31�…�24 =���+'
02h 23�…�16 Ñ.J;2
0192h 15�…�0 �������CiA�402
Tab. 4.43 Value�range: �Device�type
4.9.2 b*�1008h:�9�6��4�(Manufacturer�device�name)
&'�(���J=����>。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1008h Manufacturer�device�nam
e
VAR VSTRING ro no – 1)
1) �|����ASCII�&�+。
Tab. 4.44 �(�1008h
4 EtherCAT
112 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.9.3 b*�1009h:��./�(Manufacturer�hardware�version)
&'�(���J7����。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1009h Manufacturer�hardware�
version
VAR VSTRING ro no – Tab. 4.46
Tab. 4.45 �(�1009h
�� �+
MxxxxPxxxxExxxx 7���U�:ASCII�&�+,15�K
Tab. 4.46 Default�value: �Manufacturer�hardware�version
4.9.4 b*�100Ah:��./�(Manufacturer�software�version)
&'�(���J>����。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
100Ah Manufacturer�software�
version
VAR VSTRING ro no – Tab. 4.48
Tab. 4.47 �(�100Ah
�� �+
Mxxxx:xxxx:xxxx:xxxxByyyy:yyyy
Pxxxx:xxxx:xxxx:xxxxByyyy:yyyy
Exxxx:xxxx:xxxx:xxxxByyyy:yyyy
>���U�:ASCII�&�+,90�K
Tab. 4.48 Default�value: �Manufacturer�software�version
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 113
4.9.5 b*�1018h:�3b*�(Identity�object)
&'�(���J,�EMCA����+':
– Festo�À��*,���EtherCAT�Technology�Group�(ETG) �(Vendor�ID)
– Festo�-���(Product�code)
– EtherCAT��%�����(Revision�number)
– $��(Serial�number)
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
1018h Identity�object REC – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 4h
01h Vendor��ID VAR UINT32 ro no – 0000001Dh
02h Product�code VAR UINT32 ro no – xxxxxxxxh1)
03h Revision�number VAR UINT32 ro no – xxxxxxxxh2)
04h Serial�number VAR UINT32 ro no – xxxxxxxxh2)
1) �|���L
2) �����L
Tab. 4.49 �(�1018h
4 EtherCAT
114 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.10 �:�����@
4.10.1 b*�20F1h:�EEPROM�w��(EEPROM�command)
&'�(,AB��@(J��)��"zt��@??X!�7e2�,_�""�<
��@??X >7e2�,���zt��@(VÓ7e2)�7X"�< ��@( >7
e2)�。�
�(������J,�,Ó��。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
20F1h EEPROM�command ARRAY – – – – –
00h Number�of�entries VAR UINT8 ro no – 2h
01h Restore�factory�setting
s
VAR UINT32 wo no – 1h
02h Save�object�values VAR UINT32 wo no – 1h
Tab. 4.50 �(�20F1h
m��ASCII����±ª°�ÂÃ�=���I��4'。
b* �W LSB MSB
20F1_01h ASCII�(load) l o a d
Hex�(64616F6Ch) 6Ch 6Fh 61h 64h
20F1_02h ASCII�(save) s a v e
Hex�(65766173h) 73h 61h 76h 65h
Tab. 4.51 ASCII���
�Á&��SDO����B,�E���(�:;,ÂÄ��3?�KB。���7� �/-7
e+���ý½Í,.。�g,./����3���Z�SDO。I�/-7e+��³,��
�Generic�error ���53��SDO��J"Î。
4 EtherCAT
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 115
4.11 EtherCAT�** V6��
"�¬���cV��EtherCAT�%��v~�{!9¤。
��¥�����():
1. ¥��Festo�Configuration�Tool�(FCT)��������HI。
2. l��������e�������:
– �������CiA�402�([�����)
3. ��XML����'�V>�。
4.12 >�Festo�Configuration�Tool�(FCT)�6�����
����Festo�Configuration�Tool�(FCT)�����r�����h���
��PlugIn�EMCA���FCT���+'。
4.12.1 EtherCAT���6����:
Û���Festo�Configuration�Tool�(FCT)��03_���EtherCAT��%��。V��,&'�Festo�
Configuration�Tool�(FCT)����EtherCAT��%,�m�EMCA������EtherCAT�6=2��EtherCAT�
&+。
�
FCT���“�?”、“�@”�“ :6=2”`����EMCA�� >7e2
�=。
4.13 +>�Festo�Configuration�Tool�(FCT)�6�CD
&'�Festo�Configuration�Tool�(FCT)���EMCA���|�HI���PlugIn�EMCA�����FCT���+'。
�
]^��6=2���FCT�̀ ,Festo�Configuration�Tool�(FCT)�&'�EMCA��o6
=H。&'�EtherCAT��%�[X2/X3],�6=2��EtherCAT�&+�]^,®��
EtherCAT��q���6=H。
���Festo�Configuration�Tool�(FCT)�&'�Ô7�%�[X1]���HI,|."�´��
EtherCAT�78�19���(�%�[X2/X3]�VS)。
4 EtherCAT
116 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
4.14 EtherCAT��^��
4.14.1 ����&��(ESI)
"���EtherCAT��>(�w:�,6=2)���EMCA�����,�p�����XML���。
mW�N �<��
Festo-EMCA-EC-CIA402-YYYYMMDD.xml1) EMCA-EC-67-…-EC��“CiA402”C�
1) YYYY�=�©,MM�=�Ì,DD�=�Ü
Tab. 4.52 CiA402���XML���
Aq��XML������www.festo.com/sp
4.14.2 <��=
�������?F6=�EMCA。
mW�N �<��
Festo_Homing_CiA402.slr Omron�Sysmac�Studio
Festo_Homing_CiA402.library Beckhoff�TwinCAT�3(����EMCA�°��R)
��)
Tab. 4.53 CiA402���?F
��?F�Aq�����www.festo.com/sp
4.14.3 EMCA�¡¢�~
EMCA�@���GH�#:
– ¢3GH�#
– nT&g�(Auto-Increment)
– (#GH
– ½¾GH�#
4.14.4 _`a)
#�2�…�15�ms�+�,./���EMCA��� ���3。
5 V���
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 117
5 ����
�EMCA��������!�?I(#K、NP、;[/XY�[L#K?I)�t,�p��R�
EMCA����E¦�"��}�。�,"��#�n:� ��。
�n�������:
– ��6=����*�126
– !�?I����*�157
5.1 ���
���:6b*
����� �v����(:
"# 45�(Name) �N
2072h 6=2� $��(Controller�serial�number) 117
6402h "$<��(Motor�type) 117
6502h @���?I(Supported�drive�modes) 118
6503h J;2�KL�(Drive�catalogue�number) 118
6505h =��7H�(http�drive�catalogue�address) 118
Tab. 5.1 ��� ��(
5.1.1 b*�2072h:����6�,W�(Controller�serial�number)
&'��(�Jzt��EMCA� $�。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
2072h Controller�serial�number VAR VSTRING ro no – 1)
1) �K、¯� $�
Tab. 5.2 �(�2072h:
5.1.2 b*�6402h:�+^mW�(Motor�type)
&'�(�J����"$<�(CÝIIB"$)。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6402h Motor�type VAR UINT16 ro no/yes 000Ah –
Tab. 5.3 �(�6402h:
5 V���
118 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
5.1.3 b*�6502h:�£¤6�����(Supported�drive�modes)
&'�(�J@�!�?I。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6502h Supported�drive�modes VAR UINT16 ro no/yes Tab. 5.5 –
Tab. 5.4 �(�6502h:
�� � ���
CO:
6Dh
EC:
ADh
0
2
3
5
6
7
@�!�?I(K�=�1):
pp:#K?I�(Profile�position�mode)
pv:NP?I(Profile�velocity�mode)
tq:;[/XY?I(Torque�profile�mode)
hm:����?I(Homing�mode)
ip:[L#K?I(Interpolated�position�mode)(CANopen)
Csp:+�B9#K?I(Cyclic�synchronous�position�mode)(EtherCAT)
Tab. 5.5 Value�range:�Supported�drive�modes
5.1.4 b*�6503h:����6EFW(Drive�catalogue�number)
&'�(�JJ;2��Festo�KL�。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6503h Drive�catalogue�number VAR VSTRING const no/yes – 1)
1) L��|��(ASCII�&�+)。
Tab. 5.6 �(�6503h:
5.1.5 b*�6505h:��9���¢�(http�drive�catalogue�address)
&'�(�Jv��7H。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6505h http�drive�catalogue�address VAR VSTRING const no – 1)
1) Festo�7H(ASCII�&�+,32�K):�http://www.festo.com
Tab. 5.7 �(�6505h:
5 V���
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 119
5.2 +^����i
+^���i6b*
""$��J,�v����(:
"# 45�(Name) �N
2510h J;��(Drive�data�records) 119
6073h A�"B�(Max.�current) 119
6075h "$M#"B�(Motor�rated�current) 120
Tab. 5.8 %C:"$��J,��(
5.2.1 b*�2510h:������(Drive�data�records)
&'�(�#(rw)��J(ro)���J,/"$� :
– �J,�MO¹P(Power�stage�temp)[°C]
– "$�M#"B�(Nominal�current)�[mA]
– "$�A¬"B�(Max.�current)���[(Motor�rated�current�(6075h))�mA�*�1/1000]
– "$�MO"B�(Actual�current)�[mA]
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
2510h Drive�data�records REC – – – – –
00h Number�of�Drive�data�
records
VAR UINT8 ro no – 4h
01h Power�stage�temp VAR INT8 ro no – –
02h Nominal�current VAR INT32 ro no – –
03h Max.�current VAR INT32 rw no – –
04h Actual�current VAR UINT32 ro no – –
Tab. 5.9 �(�2510h:
5.2.2 b*�6073h:�TU+¥�(Max.�current)
&'��(�J"$�A¬��"B�[(Motor�rated�current�(6075h))�mA�*�1/1000]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6073h Max.�current VAR UINT16 rw no – 1)
1) �L3¸���>�(FCT)��J;2��。
Tab. 5.10 �(�6073h:
5 V���
120 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
5.2.3 b*�6075h:�+^G~+¥�(Motor�rated�current)
&'��(�J"$�M#"B�[mA]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6075h Motor�rated�current VAR UINT32 ro no/yes – 1)
1) �L3¸�"$<�。
Tab. 5.11 �(�6075h:
5 V���
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 121
5.3 +¥���
5.3.1 <�:+¥���
"B6=2�����M#"BAÞGB'%�"$��ß�。cKG��"B6=2��`��
�HN2�����"$�CH�t�。
À�&'��>�(FCT)�#��������EMCA�[���FCT���+'。
�
ÍÔ�o��>�(FCT)�"B6=2��。©¿"B6=2�"BT=2���
�����EMCA�'?��à!
5.4 CH�
5.4.1 <�:CH�
HN2����£ Q;ÕR-rJ;2�Q;;;(áF、�#F���âÖ)。
À�&'��>�(FCT)�#��������EMCA�[���FCT���+'。
�
HN2��12����Q;,J�} U;,_�à��X�。
5 V���
122 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
5.5 ��C&��(Position�control�function)
5.5.1 <�:�����
K�H:2����D°"$�Î2K�M#L�(Position�demand�value�(6062h))��K�MOL�
(Position�actual�value�(6064h))��.�a,_K�H:2�J��(Control�effort)��D�WHN2。
À�&'��>�(FCT)�#��������EMCA�[���FCT���+'。
Position�demand�value�(6062h)
Position�actual�value�(6064h)
Position�control
�(Closed�loop)
Control�effort�(60FAh)
Fig. 5.1 %):K�H:
��C&�b*
"K�H:2�v����(:
"# 45�(Name) �N
6062h K�M#L(Position�demand�value) 122
6063h /-K�MOL(Position�actual�internal�value) 123
6064h PNK�MOL(Position�actual�value) 123
60FAh K�6=2�J(Control�effort) 123
Tab. 5.12 %C:K�H:2�(
5.5.2 b*�6062h:���G~�(Position�demand�value)
&'��(nK�H:2�JÑÒv�2�/-K�M#L[SINC]。
����?I���K�M#L:
– ����?I����*159
– #K?I����*�174
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6062h Position�demand�value VAR INT32 ro no/yes – –
Tab. 5.13 �(�6062h:
5 V���
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 123
5.5.3 b*�6063h:��.��BI��(Position�actual�internal�value)
&'��(nK�6=2�J"$Ð�/-K�MOL�[EINC]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6063h Position�actual�internal�
value
VAR INT32 ro no – –
Tab. 5.14 �(�6063h:
5.5.4 b*�6064h:�J¦��BI��(Position�actual�value)
&'��(�JK�MOL�[SINC]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6064h Position�actual�value VAR INT32 ro yes – –
Tab. 5.15 �(�6064h:
5.5.5 b*�60FAh:��������“KHG~�”
&'��(�JK�6=2�/-�JL“QNM#L”[SINC/s]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
60FAh Control�effort VAR INT32 ro no/yes – –
Tab. 5.16 �(�60FAh
5 V���
124 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
5.6 �8�����9(Digital�inputs�and�outputs)
�EMCA��D,���!�&�'���&�J���CANopen��(。
���&�'��J����+'����“����%��EMCA”,EMCA-EC-SY-...。
�8�����96b*
"�&�'��J��v����(:
"# 45�(Name) �N
60FDh �&I�'��(Digital�inputs) 124
60FEh �&�J��(Digital�outputs) 125
Tab. 5.17 �&�'��J���(
5.6.1 b*�60FDh:��8���9�(Digital�inputs)
&'�(�60FDh��J�&�'�“DIN1�…�4,�STO1���STO2”�:;。
– 6=2:�
– TKS���R)rS�
– B;`R(Sample)
– kl�DXY�(STO)
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
60FDh Digital�inputs VAR UINT32 ro no/yes Tab. 5.19 –
Tab. 5.18 �(�60FDh
� �� ���
K�0 DIN1�[X9.5] B;`R(Sample)
K�1 DIN2�[X7.2] TKS���R)rS���'��1
K�2 DIN3�[X8.2] TKS���R)rS���'��2
K�3 DIN4�[X9.4] 6=2:�
K�4 STO1�[X6.4] STO,&~�1
K�5 STO2�[X6.5] STO,&~�2
Tab. 5.19 �&I�'�
5 V���
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 125
5.6.2 b*�60�FEh:��8��9�(Digital�outputs)
&'�(�#=;2�:;。v&'�&�JÏe�(60FEh_02h)�]^���。À�“Ready�to�
switch�on”�“Switch�on�disabled”:;�T;6==;2。“Switch�on”�“Operation�
enabled”:;�C)*+=;2。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
60FEh Digital�outputs ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 1h
01h Physical�outputs VAR UINT32 rw no Tab. 5.21–
02h Digital�output�mask VAR UINT32 rw no Tab. 5.22–
Tab. 5.20 �(�60FEh
��0 ���
0 ��=;2
1 �S=;k�
Tab. 5.21 LÉÉ:�Physical�outputs�(60FEh_01h)
��0 ���
0 2��&�J��(60FEh_01h)
1 ]^�&�J��(60FEh_01h)
Tab. 5.22 LÉÉ:�Digital�output�mask�(60FEh_02h)
6 ��6= (Device Control)
126 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
6 ���� (Device Control)
6.1 IJ^(State�Machine)
6.1.1 <�:IJ^
:;$�Ê)��EMCA����:;h� ��CANopen���:;'²,Ow“c�&�J,”�
“cKB/4”。
:;$D"��-D:
– C/4������*�130
– /4�/4jd����*�131
&'���(6=�EMCA:
– Controlword�(6040h)����*�136:
�,6=2(�$)6=�EMCA。
– Statusword�(6041h)����*�140:
n�,6=2���EMCA�zt�:;。
C/4��,,��:;'²`(&'�Controlword�(6040h)6=)v¸§�q:;��"K
B(��Statusword�(6041h)�:;+')���*�130。
&':;'²“Shutdown”、“Switch�on”�“Enable�operation”�v�CiA�402��J,B�。EMCA�
�`aX�������#����!�?I�:;“Operation�enabled”。�:;�"|.
�#M#L�=�0。
J�/4,(C×J�~X��),�ÂÄËL�“Fault�reaction�active”:;,_���#�
���/4b"(OwGNO$ZY)。EMCA��`ËL�:;“Fault”。
��+'�����Z�WZ。
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 127
6.1.2 EMCA�6���
Z�$J���6=�EMCA����pØ:
§L ��� �N
:;
(State)
ËL�q:;,,���"l# ���。
:;D"��-D:
– �J,c��/"$´�"B(Power�disabled)
– �J,cS:/"$�"BB'(Power�enabled)
– /4(Fault)
Tab. 6.2
:;'²
(State�Transition)
:;'²��#¤:;ËL��¤:;。��k�,6
=2�'�Controlword�(6040h)��E#�K@�^5:;'²。
J�/4��Nr�`,k�EMCA�-Dn;��:;'²。
137
���(cmd)
(Command�)
����^5:;'²。v¨�Controlword�(6040h)��"�!�
���E#�K@�。
137
Tab. 6.1 EMCA��6=2
6.1.3 EMCA�6IJ
����:;'²,�v��V�B� (DIN2)[X9.4](��+� � FCT
6=2:���)� “Safe Torque Off (STO)”kl��� STO &~
(STO1/STO2)[X6.4/X6.5] (= 24 V)。
6 ��6= (Device Control)
128 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Z�$J��¤:;�h� ���:
IJ ���
�J,c��/"$´�"B(Power�disabled)
Start – �&"b��Reset�node1)�,ÙJ:;,_n;ËL�:;
“Not�ready�to�switch�on”。
– ���=;2c��。
Not�ready�to�switch�on – 6=���nÐr`。
– ��CAN����%���Nr,���CAN���&/。1)
– �J,c��。
– ���=;2c��。
Switch�on�disabled – �]^�CAN���&/,#�:;P��Á©��。1)
– À�&'��6=�&'/4��^5:;'²。
– �J,c��。
– ���=;2c����v��。
Ready�to�switch�on – �J,c��。
– ���=;2c����v��。
�J,cS:/"$�"BB'(Power�enabled)
Switched�on – �J,cS:。
– ���=;2c�S��v�S。
Operation�enabled – £ �#����!�?IH:�EMCA(OwQ;�1�M#L)。
– �J,cS:。
– ���=;2c�S。
Quick�stop�active – ��GNO$������(�Quick�stop�option�code�(605Ah)。
£ �#���GNO$EF6=J;2,���qQ;�1。
– �J,cS:。
– ���=;2c�S。
/4(Fault)
Fault�reaction�active – J��!/4。����>�(FCT)��#�/4b"(Ow
GNO$ZY(GNO$W�))。
– ����/4�b",“Fault�reaction�active”x.�J,N"�
&。
– ���=;2c�S。
Fault – ���qQ;�1。
– �J,�:;3¸���>�(FCT)�“�&�J,”b"���
��。
– z��#"“�&�J,”/4b",,À��=;2。
1) � CANopen
Tab. 6.2 EMCA��:;
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 129
�
�M��i…
…Z���6=�J,。w�Q;x.J��:;,ÚXQ;ÕR�ãä�R��
�"$Ð�o6GQ;(ÑFO$)。O$t,"$�"5"$P��,�v"
\。w�5":;�¼'�EMCA������ÉÉ,�p���-=;"#åd5
"�R。
�
����i…
…Z�"$�"B&',���R[#���(I6=�H:�EMCA。�,w�$Ò
"$=;2�n;Ó�。�à����(�w:"$"B)��12,����J
;2�6。
6 ��6= (Device Control)
130 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
6.1.4 © ���6IJ^
Switch�on�disabled
(�&c2�)
6041h:�xxxx.xxxx.x1xx.0000
Ready�to�switch�on
(�&æÛ)
6041h:�xxxx.xxxx.x01xx.0001
Switched�on
(c�&)
6041h:�xxxx.xxxx.x01xx.0011
Operation�enabled2)
(��)�æÛ)
6041h:�xxxx.xxxx.x01xx.0111
Quick�stop�active3)
(c]^GNO¶)
6041h:�xxxx.xxxx.x00xx.0111
Not�ready�to�switch�on
(��&æÛ)
6041h:�xxxx.xxxx.x0xx.0000
Power�disabled
(�J,c��/
"$´�"B)
Motor�shaft�free�of�torque1)
("$�nk�Q)1)
Power�enabled
(�J,cS:/"$�"BB')
Start
(:;)
Power�ON
Automatic�transition
nÐr`�Ê~�
�Shutdown�(cmd)
6040h:�xxxx.xxxx.0xxx.110
Quick�stop�(cmd)
6040h:�xxxx.xxxx.0xxx.x01
x
Switch�on�(cmd)
6040h:�xxxx.xxxx.0xxx.0111
Enable�operation�(cmd)
6040h:�xxxx.xxxx.0xxx.1111
Disable�operation�(cmd)
6040h:�xxxx.xxxx.0xxx.0111
Quick�stop�(cmd)
6040h:�xxxx.xxxx.0xxx.x01
x
1
00
2
7
aJ
3
6
89
aB
aA
4
5
End
(�³)
Power�OFF
7
Disable�voltage�(cmd)
6040h:�xxxx.xxxx.0xxx.xx0
x
CA
N-B
us-
Co
mm
un
ica
tio
n�a
ctiv/
Pa
ram
ete
r�m
od
ific
ati
on
�po
ssib
le
(]^
�CA
N���&//��Á©��)
(�
CA
No
pe
n)
Shutdown�(cmd)
6040h:�xxxx.xxxx.0xxx.110
Bra
ke
�ap
pli
ed
(=;2c��)
Bra
ke
�op
en
(=;2c�S)
Enable�operation�(cmd)
6040h:�xxxx.xxxx.0xxx.1111
aF
1) �T´�=;2��EMCA��´�nÜ$��Ð
2) £ �#���!�?IH:
3) ZY(I���:;3¸���“Quick�stop�option�code�(605Ah)”。
Fig. 6.1 WZ:C/4���:;$
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 131
6.1.5 �' �a6IJ^
Switch�on�disabled
(�&c2�)
6041h:�xxxx.xxxx.x1xx.0000
Fault�reaction�active
(c]^/4d")
6041h:�xxxx.xxxx.x0xx.1111
Fault
(/4)
6041h:�xxxx.xxxx.x0xx.1000
Start
(:;)
Fault�eliminated
(jd/4��)
Fault�signal
(J�12)
00
Error�free�operation
(C/4��)
aC
aD
aE
Fault
(/4)
Automatic�transition
(/4b"�³)
Fault�reset�(cmd)
6040h:�xxxx.xxxx.1xxx.xxxx
Bra
ke
�op
en
(=;2c�S)
Bra
ke
��...1)
(=;2
...)
CA
N-B
us-
Co
mm
un
ica
tio
n�a
ctiv
(]^
�CA
N���&/) (�
CA
No
pe
n)
xxx�(cmd)
6040h:�xxxx.xxxx.0xxx.xxxx
�Shutdown�(cmd)
6040h:�xxxx.xxxx.0xxx.110
Event
(��:;���)
...
(...)
6041h:�xxxx.xxxx.xxxx.xxxx
1) =;2���3¸�/493=S(FCT)�“�&�J,”������
(�&�J,�=�=;2c�S/DS�J,�=�=;2c��)。
Fig. 6.2 WZ:J�/4,�:;$
6 ��6= (Device Control)
132 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
IJ^:IJ(�
�Z�$J��{��t����:;'²/��hkl�v���:
MW -,ª�-«�
G��
(Controlword,�
6040h)
��
7 3 2 1 0
00 Power ON/Reset node1) /-'² ��nr
1 nÐr`�Ê~�1) /-'² CAN���&+]^
2 ���Shutdown 0 x 1 1 0 C
3 ���Switch�on 0 0 1 1 1 S:�J,。
4 ���Enable�operation 0 1 1 1 1 H:�#���!�?I
5 ���Disable�operation 0 0 1 1 1�J,cS:。
"$ÐC)nkJQ。2)
6 ���Shutdown 0 x 1 1 0���J,。
"$Ð�nk�Q。2)
7���Quick-Stop 0 x 0 1 x
–���Disable�voltage 0 x x 0 x
8 ���Shutdown 0 x 1 1 0 ���J,。
"$Ð�nk�Q。2)9�aJ ���Disable�voltage 0 x x 0 x
aA ���Quick-Stop 0 x 0 1 xZY(I���:;3¸���
“Quick�stop�option�code�(605Ah)”。
aBQuick-Stop�³���
Disable�voltage0 x x 0 x
���J,。
"$Ð�nk�Q。2)
aC J�/4 /-'²
J�/4,,����>�(FCT)
��#�/4b"(OwGNO$ZY
(GNO$W�))。�`&':;'
²�aD�ËL�“AB”:;�。
aD jd/4c�³ /-'²£ /4����>�(FCT)��#
��J,b"“�&�J,”。
x�=�C�
1) � CANopen
2) ���´�=;2��EMCA���
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 133
MW ��
G��
(Controlword,�
6040h)
-,ª�-«�
01237
aEjd/4����
Fault�reset0�1 x x x x /4KB。
aF ���Enable�operation 0 1 1 1 1 H:�#���!�?I
x�=�C�
1) � CANopen
2) ���´�=;2��EMCA���
Tab. 6.3 EMCA��:;'²
“EMCA�¬1”F'
��EMCA�����`,EMCA�"“:�”,Ä�J,�6=2�&"b:
1. EMCA���“Switch�on�disabled”。
2. EMCA�"ËL�“Operation�enabled”:;。
3. :;$(Fig. 6.1),v��:;²�2、3���4。
4. £ �Tab. 6.3�:
:;'²�2:Controlword�=�0006h
q:;:�Ready�to�switch�on1)
:;'²�3:Controlword�=�0007h
q:;:�Switched�on1)
:;'²�4:Controlword�=�000Fh
q:;:�Operation�enabled1)
�:
1. ���ç#�Controlword�����$K*è���K(��C/4���:;'²,�Ôh
K�0�…�3)。
2. :;'²�3���4���_,()���Controlword���"�000Fh。����,�:;'²�2
���"K�3。
1) �$�p¸§,I���0«�Statusword���:;。���4����?�����。
6 ��6= (Device Control)
134 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
“<®IJ”F'
t!�����v)��EMCA����p�Controlword�»�´$K*����。����v��
�#�Statusword��03q4'�:;:
#“Switch�on�disabled”'²X“Operation�enabled”:
1. �:;'²�2�4'�Controlword�。
'²�2:Controlword�=�0006h�
2. ¸§,IX:;�Ready�to�switch�on��Statusword��!�J�。
I¸X�(Statusword�&�006Fh)�=�0021h1)
3. :;'²�3���4����_4'�Controlword�»。
'²�3���4:�Controlword�=�000Fh�
4. ¸§,IX:;�Operation�enabled��Statusword��!�J�。
I¸X�(Statusword�&�006Fh)�=�0027h1)
�:
���ç#�Controlword�����$K*è���K(:;'²À�vE�0�…�3�K)。
1) ,:;,,Ä���K�K*%p��D°(��Z�)。�l�p�Ö*Ö«�Statusword�。�
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 135
6.2 ����b*
���6b*��EMCA�6��
"6=2��(��EMCA��EF�v����(:
Index 45�(Name) �N
6007h %��D,�EF(Abort�connection�option�code) 145
6040h 6=&�(Controlword) 136
6041h :;&(Statusword) 140
605Ah GNO$EF�(Quick�stop�option�code) 145
605Bh �D,�EF(Shutdown�option�code) 146
605Ch H:,2�EF(Disable�operation�option�code) 146
605Dh O$,�EF(Halt�option�code) 147
Tab. 6.4 6=2��(��EMCA��EF
6 ��6= (Device Control)
136 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
6.2.1 b*�6040h:���8�(Controlword)
&'�(6=�EMCA��zt:;,��^5E#��"(�w::;����< )。&':;&�
(Statusword(6041h))�n6=2«A:;¿r���*�140。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6040h Controlword VAR UINT16 rw yes Tab. 6.6 0h
Tab. 6.5 �(�6040h
K�4、5、6���8����3¸��EMCA�zt�!�?I�(Modes�of�operation�(6060h))。
� = IJ/�� <� �N
0 1h
State�machine
Switch�on1)
1371 2h Enable�voltage1)
2 4h Quick�stop1)
3 8h Enable�operation1)
4 10h
Homing�mode Homing�operation�start 173
Profile�position�mode New�set-point 187
Interpolated�position�mode Enable�interpolation 203
5 20h Profile�position�mode Change�set�immediately 187
6 40h Profile�position�mode Absolute/Relative 187
7 80h State�machine Fault�reset1) 256/137
8 100h
Homing�mode
Halt
173
Profile�position�mode 187
Profile�velocity�mode 192
Profile�torque�mode 198
9 200h Profile�position�mode Change�on�set-point 187
10 400h
All�modes Reserved(L�=�0) –
11 800h
12 1000h
13 2000h
14 4000h
15 8000hProfile�position�mode
Symmetric�rampes187
Profile�velocity�mode 192
1) ���$KPÝé,�6=:;'²。
Tab. 6.6 K*D��Controlword
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 137
&'K�0�…�3���7�����:;'²h� ���。
w� ��@¯
Fault�reset���Tab. 6.8
Enable�operation
Quick�stop
Enable�voltage
Switch�on
K�7 K�3 K�2 K�1 K�0
80h 8h 4h 2h 1h
Shutdown 0 x 1 1 0
Switch�on 0 0 1 1 1
Enable�operation 0 1 1 1 1
Disable�operation 0 0 1 1 1
Disable�voltage 0 x x 0 x
Quick�stop 0 x 0 1 x
Fault�reset 0���1 x x x x
x�=�C�
Tab. 6.7 EMCA����
�"$:;¿r�vÞ#�,.,�p&'�Controlword����&'�Statusword�
^5�:;¿r��«0。À��Statusword���0J�v|�:;,,���&'
Controlword�4'�!��。
Controlword
K �� ���
7 Fault�reset All�modes:
&'�ÆS�×(0�1)N"KB�EMCA��-.,A
¬�/4。w����/4,v�ÆKB�!/4。
À�zjd�/4��,,��KB/4。
�:
C)KB�/4(Ow/4+'“³�"\½¾,
FCT�/4�*�18h”)v|��/�S"b。
Tab. 6.8 Controlword�K�7
6 ��6= (Device Control)
138 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���K�Controlword�3¸��[�!�?I(Modes�of�operation)。Ä!K���{¤!�
?I,�!!�?I������B���。
Controlword
K �� ���
4 New�set-point Profile�position�mode����N�174:
�Æ×Z��EMCA�v�o!q����1。
Homing�operation�start Homing�mode����N�159:
�Æ×Z�SN���#�����。
Enable�interpolation Interpolated�position�mode����N�199:
w��vD°[L� @,��p��lK*。
5 Change�set�immediately Profile�position�mode����N�174:
���K,,&'���New�set-point�
(Controlword,K�4)ÂÄSNqQ;�1。
�K���t3&c���#K。
w�����K,�N"�3c���#K,
�`:;qQ;�1。
6 Absolute/Relative Profile�position�mode����N�174:
��lK*`,EMCA�£ K�6=2�M#K�L�
(Position�demand�value�(6062h))�gmzt���1
�VK��(Target�position�(607Ah))。
���K,,ß¿º�M#K�。
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 139
Controlword
K �����
8 O¶ Profile�position�mode����N�174:
��K��c���#K�D,_&'�#���
��Halt�option�code�(605Dh)�ZYXO$。&'aXO
$��“Target�reached”(Statusword,K�10)。
êdK���EMCA�ÂÃztQ;�1。
Profile�velocity�mode����N�189:
��K��zt�;�D,_&'�#����
�Halt�option�code�(605Dh)�ZYXO$。EMCA��Ø�
�K�o6�:;。
êd�K*���EMCA� qSNNP?I_?N�M
#L。
Profile�torque�mode����N�194:
��K��zt�;�D,_&'�#�����
Halt�option�code�(605Dh)�ZYXO$。EMCA��Ø�
�K�o6�:;。
êd�K*���EMCA� qSN;[/XY?I_?N
�M#L。
Homing�mode����N�159:
w����lK*,�zt����«��4< �
D。êdK���R4�� q:;。
9 Change�on�set-point Profile�position�mode����N�174:
L�=�0�(fix)
10�…�14 Reserved All�modes:
�L�=�0
15 �(W� Profile�position�mode����N�174:
Profile�velocity�mode����N�189:
– L�=�0:�ZY�?NP��`�L
– L�=�1:�(W�(ZY�=�?NP)
Tab. 6.9 Controlword�K�4�…�6,�8�…�15
6 ��6= (Device Control)
140 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
6.2.2 b*�6041h:�IJ8�(Statusword)
&'�(k�$56�EMCA��:;。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6041h Statusword VAR UINT16 ro yes Tab. 6.11 0h
Tab. 6.10 �(�6041h
� = IJ/�� <� �N
0 1h
State�machine
Ready�to�switch�on1)
Tab. 6.121 2h Switched�on1)
2 4h Operation�enabled1)
3 8h Fault1)
4 10h All�modes Voltage�enabled Tab. 6.13
5 20hState�machine
Quick�stop1)Tab. 6.12
6 40h Switch�on�disabled1)
7 80h
All�modes
Warning –
8 100h Drive�is�moving Tab. 6.13
9 200h Remote 148
10 400h
Homing�mode
Target�reached
(=�Motion�Complete)
173
Profile�position�mode 188,�217
Profile�velocity�mode 193,�217
Profile�torque�mode 198,�217
Interpolated�position�mode 203
11 800h All�modes Internal�limit�active�(I2t-Error) 224
12 1000h
Homing�mode Homing�attained 173
Profile�position�mode Set-point�acknowledge 188
Profile�velocity�mode Speed 193
Interpolated�position�mode IP�mode�active 203
Cyclic synchronous�position
mode
Drive follows the command
value209
13 2000hHoming�mode Homing�error 173
Profile�position�mode Following�error 188
14 4000h All�modes Reserved(L�=�0) –
15 8000h All�modes Drive�is�referenced 173
1) ���$KPÝé,��J�EMCA��:;。
Tab. 6.11 K*D��Statusword
Statusword���K*��ÈÇ。�ëZ����zt:;。
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 141
Z�!��EMCA����:;,�hStatusword�!��� �K@�。
IJ ��@¯ °N ��
Switch�on�disabled
Quick�stop
Fault
Operation�enabled
Switched�on
Ready�to�switch�on
K�6 K�5 K�3 K�2 K�1 K�0
40h 20h 8h 4h 2h 1h
Not�ready�to�switch�on 0 x 0 0 0 0 004Fh 0h
Switch�on�disabled 1 x 0 0 0 0 004Fh 40h
Ready�to�switch�on 0 1 0 0 0 1 006Fh 21h
Switched�on 0 1 0 0 1 1 006Fh 23h
Operation�enabled 0 1 0 1 1 1 006Fh 27h
Quick�stop�active 0 0 0 1 1 1 006Fh 7h
Fault�reaction�active 0 x 1 1 1 1 004Fh Fh
Fault� 0 x 1 0 0 0 004Fh 8h
x�=�C�
Tab. 6.12 EMCA��:;
6 ��6= (Device Control)
142 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
d��EMCA�:;��,�Statusword����!�à¦��。Ä�!K*�Z!E#���,
�w:Å®12。�K*���w�:
Statusword
K �� ���
4 Voltage�enabled All�modes:
zS:�J,,,���K。
5 Quick�stop All�modes:
êdK,,J;2�^5GNO$�
��Quick�stop�option�code�(605Ah).
7 Warning All�modes:
lK*Z�!�fc]^。
8 Drive�is�moving All�modes:
zNPMOL�(Velocity�actual�value(606Ch))�
¼'/-MTL,,���K(����
Modes�of�operation(6060h))。
9 Remote All�modes:
z��&'�CAN�786=�EMCA�,,���K。
z�!&/�%��EMCA�6=H,,����K。
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 143
Statusword
K �����
10 Target�reached Profile�position�mode����N�174:
w�ztK��(Position�actual�value�(6064h))���z
tVK�(Target�position�(606Ah))2aÉÉ
(Position�window(6067h))�/�K�,.Ù%
�(Position�window�time�(6068h))�,,���K。
���Halt(Controlword,K�8)J;2O¶,,
B����K。
Úß¿qV,�êd�K。
Profile�velocity�mode����N�189:
w�NPMOL�(Velocity�actual�value(606Ch))
���ztVNP(Target�velocity�(60FFh))
2aÉÉ(Velocity�window(606Dh))�
(Velocity�window�time(606Eh))�/�NP,.Ù%
�(Velocity�window�time606Ch))�,,���K。
Profile�torque�mode����N�194:
w�XYMOL�(Torque�actual�value�(6077h))
���ztV[((Target�force6071h))2aÉÉ
(FCT:�Force))�/�[,.Ù%�
(FCT:�Message�delay)�,,���K。
Homing�mode����N���N�159:
&':;K“J;2c�R”�
(6041h,�B15,Statusword)���K。
11 Internal�limit�active All�modes:
�K*Z��I2t�TLc]^。
6 ��6= (Device Control)
144 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Statusword
K �����
12 Homing�attained Homing�mode����N���N�159:
w�C/4~�����,���lK*。
Set-point�acknowledge Profile�position�mode����N�174:
z�EMCA�c,JControlword���K�4
(New�set-point),,�K*���。
�Controlword��K�4(New�set-point)
��"�0�,, qêd�。
Speed Profile�velocity�mode����N�189:
zJ;2�NPMOL�(Velocity�actual�value(606Ch))�
K��"�xaÙ/,,���lK*。
IP�mode�active Interpolated�position�mode����N�199:
lK*Z�,[Lc]^_��[L� ��D°。
w��Controlword���K�4(Enable�interpolation)
�lv|,��K*��K。
Drive follows the command
value
Cyclic synchronous�position�mode����N�205:
lK*Z�,[Lc]^_��[L� ��D°。w
�J;2��:;�:��i+�#L,�K#。
13 Homing�error Homing�mode����N�159:
w��R4��x.J�/4,����K。
Following�error Profile�position�mode����N�174:
w�K�MOL�(Position�actual�value�(6064h))��K
�M#L�(Position�demand�value�(606Bh))��ad`
2a,.(Following�error�time�out(6066h)) /¼
'�#�2aÉÉ�(Following�error�window�(6065h)),
����K。
14 Reserved All�modes:
�L�=�0:
15 Drive�is�referenced Homing�mode����N�159:
z����~�R4��,_�R�J;2,,
���K。
Tab. 6.13 Statusword
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 145
6.2.3 b*�6007h:�#�>�a6���(Abort�connection�option�code)
&'�(�#�CAN���&/�Û/�D(OwNode�guarding),�EF。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6007h Abort�connection�option�
code
VAR INT16 rw no/yes Tab. 6.15 3h
Tab. 6.14 �(�6007h
�� ���
0h Cb"
2h ����“Disable�voltage”(���J,/"$´�"B)���*�133
3h &'GNO$ZYW�ZYJ;2��Quick�stop�deceleration�(6085h),�*�183
Tab. 6.15 Value�range:�Abort�connection�option�code
6.2.4 b*�605Ah:�±H?^���(Quick�stop�option�code)
&'�(�#GNO$D<(Quick-Stop)。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
605Ah Quick�stop�option�code VAR INT16 rw no/yes Tab. 6.16 2h/FCT
Tab. 6.17 �(605Ah
�� ���
0h ���J,(nk¯J/J;2O$),�`�'Switch�on�disabled。
1h &'ZYW�ZYJ;2,�`�'�Switch�on�disabled。
2h &'GNO$ZYW�ZYJ;2,�`�'�Switch�on�disabled。
5h &'ZYW�ZYJ;2,�`��Quick�stop�active。
6h &'GNO$ZYW�ZYJ;2,�`��Quick�stop�active。
Tab. 6.18 Value�range:�Quick�stop�option�code
6 ��6= (Device Control)
146 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
6.2.5 b*�605Bh:���a6���(Shutdown�option�code)
&'��(�#:;'²“Enable�operation���Ready�to�switch�on”,�EF。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
605Bh Shutdown�option�code VAR INT16 rw no/yes Tab. 6.20 0h
Tab. 6.19 �(�605Bh
�� ���
0h ���J,,J;2O$(nk¯J)。
1h &'ZYW�ZYJ;2���Profile�deceleration�(6084h),�*�183
Tab. 6.20 Value�range:�Shutdown�option�code
6.2.6 b*�605Ch:�¨C&a�>��(Disable�operation�option�code)
&'��(�##“Enable�operation”n“Switched�on”:;'²,�EF。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
605Ch Disable�operation�option�
code
VAR INT16 rw no/yes Tab. 6.22 1h
Tab. 6.21 �(605Ch
�� ���
0h �J,�S:。
C)�o�����1。
1h &'ZYW�ZYJ;2���Profile�deceleration�(6084h),�*�183。
�J,�S:。
C)�o�����1。
Tab. 6.22 Value�range:�Disable�operation�option�code
6 ��6= (Device Control)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 147
6.2.7 b*�605Dh:�?^a6���(Halt�option�code)
&'��(�#O$��(Controlword,K�8)�EF。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
605Dh Halt�option�code VAR INT16 rw no/yes Tab. 6.24 1h
Tab. 6.23 �(�605Dh
�� ���
1h &'ZYW�ZYJ;2���Profile�deceleration�(6084h),�*�183
2h &'GNO$W�ZYJ;2���Quick�stop�deceleration�(6085h),��*�
Tab. 6.24 Value�range:�Halt�option�code
6 ��6= (Device Control)
148 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
6.3 ��²�(Remote)
&'6=H�#�EMCA��*+HT。
6.3.1 b*�207Dh:�I/O���FCT�����(I/O�and�FCT-control)
&'��(�#6=�EMCA��6=�%。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
207Dh I/O�and�FCT-control VAR UINT8 ro no Tab. 6.26 4h
Tab. 6.25 �(�207Dh
�� ���
1h FCT�6=H(��>�)
4h CANopen�6=H
Tab. 6.26 Value�range:�I/O�and�FCT-control
6.3.2 ����²
b*�6041h:�IJ8(Statusword)
&'�(�K�9��JVt��EMCA�6=H�6=�%。
� �� ���
6=H�(Remote)
K�9 0 CANopen�́ ��EMCA�(207Dh�≠�4h)�6=H。
1 CANopen���EMCA�(207Dh�=�4h)��6=H。
Tab. 6.27 6=H
7 PR��=S
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 149
7 ����
7.1 ������
��J;2��·R�S�PR��=S。“CLn(JÒ��)”,�Qn�“�Ln(��
U*2L·�u#)”w���# :
–`nJQ�(–)
+cnJQ
©[³
(FCT,2���)´[³
(FCT,]^��)
"$Ð
–`nJQ�(–)
+cnJQ�(+)
��&'“Ln”(FCT)���?°�;(n�PR��=S�}�。�Rq�"�,��H:
3¸��w:���ÐD<(�w:�ÐJ;2)、I�Ð��EMCA��?kK�����UN$。
7 PR��=S
150 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
7.1.1 µ*���6¶�· ��
F':����´N6µ*���
1
REF AZ
a b c
PZ
d e
TP/AP SLPSLN
2
cnQ;�(+)
o��"�L
ËÜ"$
LSN LSP
`nQ;�(–)
oµ�"�L
�¿"$
M
Index ��� b* �N
REF ��4(Reference�point)
AZ ÐX4�(Axis�Zero�point)
PZ �VX4(Project�zero�point) FCT
SLN >�`n�K��(SW�limit�negative) 607Dh_01h 182
SLP >�cn�K��(SW�limit�positive) 607Dh_02h 182
LSN `nTKS�(7�)(Limit�switch�negative)
LSP cnTKS�(7�)(Limit�switch�positive)
TP VK�(Target�position)
AP MOK�/ztK�(Actual�position)
a ÐX4YQR(AZ) 607Ch 163
b �VX4YQR�(PZ) FCT
c V/MOK�YQR(TP/AP) FCT
d >�"�K�,`n�(SLN)�YQR1) FCT
e >�"�K�,cn�(SLP)�YQR1) FCT
1 ��ÉÉ(���<) FCT
2 ���J;2!�ÉÉ(!��<) FCT
1) w����!!�ÉÉCT=�Ð,���������>�TK。
Tab. 7.1 I�J;2�PR=S
7 PR��=S
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 151
7.1.2 ¸K���6¶�· ��
F':~�O¹´N6¸K���
REF
AZ
ab
e
PZ
d
1
2
cnJQ�(+)
o��"�L
`nJQ�(–)
oµ�"�L c
TP/AP
SLPSLN
LSNLSP
M
Index ��� b* �N
REF ��4(Reference�point)
AZ ÐX4(Axis�zero�point)
PZ �VX4(Project�zero�point) FCT
SLN >�`n�K��(SW�limit�negative) 607Dh_01h 182
SLP >�cn�K��(SW�limit�positive) 607Dh_02h 182
LSN `nTKS�(7�)(Limit�switch�negative)
LSP cnTKS�(7�)(Limit�switch�positive)
TP VK�(Target�position)
AP MOK��(Actual�position)
a ÐX4YQR(AZ) 607Ch 163
b �VX4YQR�(PZ) FCT
c V/MOK�YQR(TP/AP) FCT
d �[:>�"�K�,`n�(SLN)�YQR1) FCT
e �[:>�"�K�,cn�(SLP)�YQR1) FCT
1 ��ÉÉ FCT
2 ���J;2!�ÉÉ(#KÉÉ) FCT
1) w����!!�ÉÉCT=�Ð,���������>�TK。
Tab. 7.2 JQJ;2�PR=S
7 PR��=S
152 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
7.1.3 ¶�· ��68\dh
�V 8\dh
ÐX4 AZ =�REF��a
�VX4 PZ =�AZ��b =�REF��a�+�b
>�"�K�,`n SLN =�AZ��d =�REF��a��d
>�"�K�,cn SLP =�AZ��e =�REF��a��e
VK�/MOK� TP/AP =�PZ��c =�AZ��b��c =�REF��a��b�+�c
Tab. 7.3 PR=S�;<()
7.1.4 N�º��LSN/LSP(��)
TKS��J;2�º���ÉÉ���T=。£ TKS�D<,���“NC�V�^4”�
“NO�VS^4”������。
���TKS�+��d"��&'�FCT�/493������。��19�7a¾:
– cnTKS�]^(/4�*�5441h)
– `nTKS�]^(/4�*�5442h)
K#EF���/493(e��Z+'。
J;2×]^�TKS��#K(nܶ。ÀvTKS�]^,�KB/4`���×b(n�
�。
7.1.5 ��Q9���SLN/SLP
&'>�"�K��������!�Ø8/���ÉÉ�JT=。����ÐX4�AZ��#�K
�。
�
������Qn(#PF。
� &'>�"�K��!�Ø8�JT=。
� K�>�"�K��$ÒPF�.q�¢»�ÁÜ。
#K?I�:;t,6=2rs���VK��u��>�"�K��SLN/SLP��.。w�V
K�¼J��ÉÉ,��������1,_�^5l�����12d"。
aX>�"�K��t,��R12d"�J;2��UN,��ß'>�"�K�。O¶�
`,Üì#K(n。
w��:�6=2,�����>�TK�56。w�T;�J;2Í�¼!>�"�K�`e,
ÚX:�6=2�`À��R�b�(n��。w�����Q;�V�����ÉÉ/,
����ÉÉ/��,����J�/4。&'�#/4�*�8612h����¼'>�"�K�
,ÝdEF。
K#EF���/493(e��Z+'。
7 PR��=S
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 153
7.2 »
7.2.1 MN�»�[EINC]
J;2/-�U*2TR[EINC]!�。
7.2.2 ��»�[SINC]
����#�%����%TR�[SINC]。��æ��4'�03�L,J�á'2a。
7.3 ��@�(Factor�Group)
7.3.1 G�
K�、NP、?NP(�UNP)�§P·""���,_�Festo�Configuration�Tool�(FCT)����
EMCA�J;��,��K#。�!���V�Kq��%�K���&:�[SINC…]。
21
34 56 7 8
=�1�SINC
=�1�SINC/s
=�1�SINC/s2
=�1�SINC/s3
1 �e“����”
2 [�“=�@”3 ��“K�”
4 ��“NP”5 ��“?NP”
6 ��“§P”
7 ��(=���O�K“x=/âí/Q/P”)
8 �V��K
Fig. 7.1 ��(�I�"}"�)
7 PR��=S
154 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
7.4 >Gx~��6��
7.4.1 [\��
"�;<�%TR[SINC…],��L<=�“Ln(FCT)/MF(#K?I)/U*2DVN/UN
O/�WVR”。
[\��6b*
��L<=��v����(:
"# 45�(Name) �N
607Eh MF(Polarity) 154
608Fh U*2DVN�(Position�encoder�resolution) 155
6091h UNO�(Gear�ratio) 156
6092h �WVR�(Feed�constant) 156
Tab. 7.4 L<=���(
J;��,�n;�Festo�Configuration�Tool�(FCT)��K#UNO��WVR。��
Festo�Configuration�Tool�(FCT)��[\�#� ���Ln。
7.4.2 b*�607Eh:�¼��(Polarity)
&'�(�#K?I�VK�v|(Position�demand�value)lª�#MF。K�LMFLn
`��¿。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
607Eh Polarity VAR UINT8 rw no Tab. 7.6 0
Tab. 7.5 �(�607Eh
� �� ���
0�…�6 0 5ª
7 0 K�L�*�1�(��/default)
1 K�L�*�-1�(�)
Tab. 7.6 Value�range:�Polarity
7 PR��=S
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 155
7.4.3 b*�608Fh:�MN�#PS�(Position�encoder�resolution)
&'�(�JU*2("$�Î2)TR�R(Encoder�increments)�U*2DVN
(Motor�revolutions)�"$Q�(Position�encoder�resolution)。
���(I;<U*2DVN:
Position�encoder�resolution �
Encoder�incrementsMotor�revolutions
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
608Fh Position�encoder�resolution ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 2
01h Encoder�increments VAR UINT32 ro no – 4096
02h Motor�revolutions VAR UINT32 ro no – 1
Tab. 7.7 �(�608Fh
360�°�=�4096�EINC 1�EINC�=�360�°/4096�L�0,08789�°
Fig. 7.2 U*2TR�[EINC]
7 PR��=S
156 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
7.4.4 b*�6091h:�JHR�(Gear�ratio)
&'�("ã´G�;O(Motor�shaft�revolutions)�#"$ÐQN(Driving�shaft�revolutions)
��JÐQN(Gear�ratio)。
���(I;<UNO:
Gear�ratio �
Motor�shaft�revolutionsDriving�shaft�revolutions
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6091h Gear�ratio ARRAY – – – – –
00h Highest�sub-
index�supported
VAR UINT8 ro no – 2
01h Motor�revolutions VAR UINT32 rw no – 1)
02h Driving�shaft�revolutions VAR UINT32 rw no – 1)
1) �L3¸�[<>�(FCT)��UN$��。
Tab. 7.8 �(�6091h
7.4.5 b*�6092h:�6½���(Feed�constant)
&'�("�WVR(Feed)�#J;2��W(Driving�shaft�revolutions)�J;ÐQN
(Feed�constant)。
���(I;<�WVR:
Feed�constant � FeedDriving�shaft�revolutions
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6092h Feed�constant ARRAY – – – – –
00h Highest�sub-
index�supported
VAR UINT8 ro no – 2
01h Feed VAR UINT32 rw no – 1)
02h Driving�shaft�revolutions VAR UINT32 rw no – –
1) �L3¸�[<>�(FCT)��J;2��。
Tab. 7.9 �(�6092h:
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 157
8 ����
&'�!�?I�#J;2�Q;(I。
�EMCA���v���!�?I:
���� �N
����?I�(Homing�mode) 159
#K?I�(Profile�position�mode) 174
NP?I(Profile�velocity�mode) 189
;[/XY?I(Torque�profile�mode) 194
[L#K?I(Interpolated�position�mode)(CANopen) 199
+�B9#K?I(Cyclic synchronous position�mode)(EtherCAT) 205
Tab. 8.1 !�?I%C
8.1 �~������
8.1.1 b*�6060h:������(Modes�of�operation)
&'��(�#�v����EMCA�!�?I。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6060h Modes�of�operation VAR INT8 rw yes Tab. 8.3 0
Tab. 8.2 �(�6060h
�� ��� �N
0 �[\��?I(Mode�not�selected) –
1 #K?I�(Profile�position�mode) 174
3 NP?I(Profile�velocity�mode) 189
4 ;[/XY?I(Torque�profile�mode) 194
6 ����?I�(Homing�mode) 159
7 [L#K?I(Interpolated�position�mode)(CANopen) 199
8 +�B9#K?I(Cyclic synchronous�position�mode)(EtherCAT) 205
Tab. 8.3 Value�range:�Modes�of�operation
z�(“Modes�of�operation�display”�(6061h)��!�q!�?I�L,,tL
~�`�]^q!�?I。
8 !�?I
158 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.2 EF����
8.2.1 b*�6061h:������(Modes�of�operation�display)
&'��(�Jzt��EMCA�!�?I。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6061h Modes�of�operation�
display
VAR INT8 ro yes Tab. 8.5 0
Tab. 8.4 �(�6061h
�� ���
0 �D�!�?I�(No�mode�assigned)
1 #K?I�(Profile�position�mode)
3 NP?I(Profile�velocity�mode)
4 ;[/XY?I(Torque�profile�mode)
6 ����?I�(Homing�mode)
7 [L#K?I(Interpolated�position�mode)(CANopen)
8 +�B9#K?I(Cyclic synchronous position�mode)(EtherCAT)
Tab. 8.5 Value�range:�Modes�of�operation�display
��?IÀ�&'�(�Modes�of�operation�(6060h)��#。
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 159
8.3 ������(Homing�mode)
8.3.1 <�:�����
������,Ó,�K#PR��=S���4。PR��=S�����4�J;2MT·I
��.���Z�R)4。��4�ÐX4�º���4,E�����149。��#K、NP�;[/
XY?I,N"�v����R4��。�R4���B<3¸��R4��()��R4���
����Tab. 8.6。�äK#��4:
– ��S�:D°�¯S�×
– TKS�:D°�¯S�×
– PF:D°PF,
– ztK�:D°ztMOK�(²�R4��)
– gª°���/TKS�:ÝéU*2�ª°
w��“PF”����(),����Q;NPQ�ÐX4。����������(),
��[\�uQ�ÐX4。����������`,EMCA�&V���4�ÐX4�。
�
���6"�
– ËL����(),
– `R��=S�5v©¿�,Ó
– �ߺ�U*2:
D"��AK“8A��”�(PNU�127.3�=�10h)�`,�����\�。
– m{ߺ�LU*2:
D"��D"bv",,�����®Ø/�"Þ�Ã"�\�。
����+'������“m���%�f�IJ;2”,EMCA-EC-SY-...”。
��Q9��
&':;����2�>�"�K�,_��������` q]^>�"�
K�。
8 !�?I
160 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Homing�mode
Controlword�(6040h)
Homing�speeds�(6099h)
Homing�acceleration�(609Ah)
Home�offset�(607Ch)
Statusword�(6041h)
Position�demand�internal�value�(60FCh)or
Position�demand�value�(6062h)
Homing�method�(6098h)
Fig. 8.1 %C:����?I
�����6b*
"����?I�v����(:
"# 45�(Name) �N
6040h 6=&�(Controlword) 173
6041h :;&(Statusword) 173
6062h K�M#L(Position�demand�value) 122
607Ch X4YQ(Home�offset) 163
6098h ����()�(Homing�method) 163
6099h ����NP�(Homing�speed) 172
609Ah ����?NP(Homing�acceleration) 172
60FCh /-K�M#L(Position�demand�internal�value) 186
Tab. 8.6 ����?I��(
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 161
8.3.2 a�¾:¿�/N�º�6���
���W��J×c(n�(��4�REF)��������TKS��,C®`Q;�ÐX4
�(AZ)���ª°。
Homing�operation�startControlword(6040h,�B4)
Speed�during�search�for�switch
(6099h_01h)
Homing�acceleration
(609Ah)
Drive�is�movingStatusword�(6041h,�B8)
Target�reached
Statusword�(6041h,�B10)
t
t
t
t
tCrawling�Velocity
(FCT)
Speed�during�search�for�zero
(6099h_02h)
Reference�point(REF)
Axis�zero�pointAZ
Drive�is�referencedStatusword�(6041h,�B15)
t
Home�offset
(607Ch)
Homing�switch/Limit�switch
t
t
Homing�attainedStatusword�(6041h,�B12)
t
Fig. 8.2 ��W:c(n�X��/TKS������
8 !�?I
162 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.3.3 F�¾:¿N�À=6���
WZ¶��´�ª°,cn(n�(Block)��XPF���R4��,�Ø���ÐX4
(AZ)。
Homing�operation�startControlword(6040h,�B4)
Speed�during�search�for�switch
(6099h_01h)
Homing�acceleration
(609Ah)
Drive�is�movingStatusword�(6041h,�B8)
Target�reached
Statusword�(6041h,�B10)
t
t
t
t
tSpeed�during�search�for�zero
(6099h_02h)
Reference�point(REF)
Axis�zero�pointAZ
Drive�is�referencedStatusword�(6041h,�B15)
t
Home�offset
(607Ch)
Block�detection:�force�limit/torque�limit
(FCT)
t
Limit:�force�limit
(FCT)
Block�detection:�message�delay
(FCT)
Block
t
Homing�attainedStatusword�(6041h,�B12)
t
Fig. 8.3 ��W:`(n�XTKPF�����
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 163
8.3.4 b*�607Ch:�QVKÁ(Home�offset)
&'��(�##�R4�(Home�position)��X4�(Zero�position)��X4YQ[SINC]。
Zero�position
Home�offset�(607Ch)
Home�position
Fig. 8.4 Home�offset
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
607Ch Home�offset VAR INT32 rw no – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.7 �(�607Ch
8.3.5 b*�6098h:����dh�(Homing�method)
&'��(�#�R4�����EF:
– V�:
� ��S�,TKS�、PF�ztK�
� �{U*2�ª°D°(��t¬� AåP)
– (n
c/`:�R4�ߪ(n
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6098h Homing�method VAR INT8 rw no/yes Tab. 8.9 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.8 �(�6098h
8 !�?I
164 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.3.6 ���dh
����()�K#,()���4�REF��`#�B。gª°Ýé�R)��()�v�`#R)
4,�¬ AåP。
���dh�(6098h)
�- d³ dh1) �N
ztK� – DDh�(-35) 165
ª° c(n 22h�(34) 165
`(n 21h�(33)
PF c(n EEh�(-18) 167
`(n EFh�(-17)
�gª°�TKS� c(n 12h�(18) 168
`(n 11h�(17)
gª°�TKS� c(n 02h�(02) 169
`(n 01h�(01)
�gª°�R)rS� c(n 17h�(23) 170
`(n 1Bh�(27)
mª°���S� c(n 07h�(07) 171
`(n 0Bh�(11)
1) ����()��CANopen��������CiA�402�V�3.0�"R�。
Tab. 8.9 ����()
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 165
$%��
$%��(L}Q· V)
1. ztK�Ä"��4。[�“���ÐX4”�]^�,Ó�����Q;。
2. �[:Q;XÐX4
�7ztK�(()�DDh;-35)
Tab. 8.10 ����()�–�ztK�
�V��R"#
�V��R"#
1. ×�����(n�ßÌNPߪU*2ª°。�!ª°�K�Ä"��4。
2. [�:���ÐX4。
(n:cn(() 22h;34) (n:`n(() 21h;33)
ª° ª°
Tab. 8.11 ��4��()–��4���ª°
8 !�?I
166 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
¿N�À=6���
&'"$·¶:;,_���îP�Æ�"$"B�h·¶,.��³,���PF��,。¾
`��&'���ÐX4�ÜSPFK�。
w�J;2=S�q���PF(JQÐ),� Ë���³R)��。®`,J;2�����
�ߪNPCT+���。
�
w��EMCA�Ã��PF��6=H:,�¹P�ïà�Æ,���EMCA�n�
��。
� ��PF,���(;[T=、·¶,.)。
� ]^[�“#��4���ÐX4”。
� �p�ÐX4����,�K�Ð��x.Ä�5v�¼H�(%���
��PF/"�K�UUF�(�w:≥�3�mm)。
JÒ,5���z�L。¤R�vÁ©5�。
� ijYQR�(n��(��)(�PF"P4)。
�
�Q;PR��=S��������。
;;L�(o³�A�"$"B)�B,J�¬�;#[(�w:�·á
â),,��°PJ;2·¶_�6=212,TKPF。
�
R)���PF,:
� &'�¯³�ߪNP���eãÎ�PF。
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 167
¿N�À=6���
1. �ßÌNP×�����(nߪTKPF:1)
– �¥PF(JQÐ):J;2ÂÃCT+���。
– �,PF:EMCA���PF��6=H:,¹P'¬�,Ó���。
2. ,XPF:�K�Ä"��4。
3. Q;XÐX42)
(n:cn(()�EEh;-18) (n:`n(()�EFh;-17)
1) �ß�TKPF'<�äåTKS�。
2) w���¤R)��(I,�[�“���ÐX4”N"]^。
Tab. 8.12 ����()�–�XTKPF�����
8 !�?I
168 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
¿N�º�6���
· ��RXÂ"#6N�º�
1. w���;TKS�:×�����(n�ߪNPߪTKS�。w�,XS�,
����9�(��2.)。
w�cl�;�TKS�,�ÂÄ���9�(��2.)。
w�´�5�TKS�:
– ��CPF�JQJ;2:J;2ÂÃCT+���。
– ��gPF�J;2:���PF,,PF,�¶R)��_if/4�0x22
(FCT��*)。
2. ,TKS�:�æ�NP1)�����(n�b(nߪR)4,I�����;TK
S�。�K�Ä"��4。
3. �[:Q;XÐX4
(n:cn(()�12h;18) (n:`n(()�11h;-17)
cTKS� `TKS�
1) À�&'�FCT��#��
Tab. 8.13 R)��()�–�R)����gª°�TKS�
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 169
· ��RÂ"#6N�º�
1. w���;TKS�:×�����(n�ߪNPߪTKS�。w�,XS�,
����9�(��2.)。
w�cl�;�TKS�,�ÂÄ���9�(��2.)。
w�´�5�TKS�:
– ��CPF�JQJ;2:J;2ÂÃCT+���。
– ��gPF�J;2:���PF,,PF,�¶R)��_if/4�0x22
(FCT��*)。
2. ,TKS�:�æ�NP1)�����(n�b(nߪR)4,I�����;TK
S�,¾`�,E!ª°。�K�Ä"��4。
3. �[:Q;XÐX4
(n:cn(()�02h;02) (n:`n(()�01h;01)
cTKS�
ª°
`TKS�
ª°
1) À�&'�FCT��#��
Tab. 8.14 R)��()�–�R)���gª°�TKS�
8 !�?I
170 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���R�º�
· ��RXÂ"#6· ú�
1. w���;R)rS�:×�����(n�ߪNPߪR)rS�。w�,XS�,
����9�(��2.)。
w�cl�;�R)rS�,�ÂÄ���9�(��2.)。
w�´�5�R)rS�:
– ��CPF�JQJ;2:J;2ÂÃCT+���。
– ��gPF�J;2:���PF,,PF,b(nߪ
– �b(n�5�S�:�D,_if/4�0x22(FCT��*)
2. ,R)rS�:�æ�NP1)�����(n�b(nߪR)4,I�����;R)r
S�。�K�Ä"��4。
3. �[:Q;XÐX4
(n:cn(()�17h;23) (n:`n(()�1Bh;27)
��S� ��S�
1) À�&'�FCT��#��
Tab. 8.15 R)��()�–�R)����gª°�R)rS�
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 171
���RÄ"#6�º�
1. w���;R)rS�:×�����(n�ߪNPߪR)rS�。w�,XS�,
����9�(��2.)。
w�cl�;�R)rS�,�ÂÄ���9�(��2.)。
w�´�5�R)rS�:
– ��CPF�JQJ;2:J;2ÂÃCT+���。
– ��gPF�J;2:���PF,,PF,b(nߪ
– �b(n�5�S�:�D,_if/4�0x22(FCT��*)
2. ,R)rS�:�æ�NP1)�����(n�b(nߪR)4,I�����;R)r
S�,¾`�,E!ª°。�K�Ä"��4。
3. �[:Q;XÐX4
(n:cn(()�07h;7) (n:`n(()�0Bh;11)
��S�
ª°
��S�
ª°
1) À�&'�FCT��#��
Tab. 8.16 R)��()�–�R)���gª°�R)rS�
8 !�?I
172 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.3.7 b*�6099h:����H��(Homing�speeds)
&'��(�#�R4�����NP[SINC/s]:
– ߪNP�(Speed�during�search�for�switch)
�ߪ��S�,TKS��TKPF
– Q;NP�(Speed�during�search�for�zero)
�¼�J;2Q;�ÐX4�
Index/
Sub
Name/Discription Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6099h Homing�speeds ARRAY – – – – –
00h Highest�sub-
index�supported
VAR UINT8 ro no – 2
01h Speed�during�search�for�swit
ch
VAR UINT32 rw no – 1)
02h Speed�during�search�for�zer
o
VAR UINT32 rw no – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.17 �(�6099h
S�H�
�æ�NP��,K#��S��TKS��)KK�。À�&'[<>��
(FCT)��#æ�NPL���“m�CANopen����%��EMCA”�“EMCA”[���
FCT���。
8.3.8 b*�609Ah:�ÅV���H�/ÆT�(Homing�acceleration)
&'��(�#�R4���?NP�ZY�[SINC/s2]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
609Ah Homing�acceleration VAR UINT32 rw no/yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.18 �(609Ah
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 173
8.3.9 �������
b*�6040h:���8�(Controlword)
&'��(6=����?I�����:
– K�4::;�R4��(Homing�operation�start)
– K�8:��/æO/ q:;�R4��(Halt)
��Controlword����+'����*�136。
��8 ��4 ���
:;����
0 0 è�:;�R4��。
0���1 :;��4��
O¶/���R4��
0 x K�4:��“:;�R4��”。
0���1 x J;2cæO���(�605Dh,��*�
1���0 x æO` q:;�R4��。
Tab. 8.19 6=����
8.3.10 �������
b*�6041h:�IJ8(Statusword)
&'��(�J����?I�����:
– K�10:XaVK�(Target�reached)
– K�12:Xa�R4�(Homing�attained)
– K�13:�R4��/4(Homing�error)
– K�15:Ð����(Drive�is�referenced)
��Statusword����+'����*�140。
��15 ��13 ��12 ��10 ���
aX�R4/c�RJ;2
0 0 0 0 ����R4��,��RJ;2。
1 1 1 J;2c����。
����/4
0 1 0 0 J��R4��/4。
Tab. 8.20 56����
8 !�?I
174 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.4 ~����(Profile�position�mode)
8.4.1 <�:~���
#K?I�,EMCA���4�4#K。�"ÑÒv�2(Trajectory�generator)�#VK�
(Target�position)。�&'K�H:2(Position�demand�value)�“VK�”、“NP”、
“?NP”、“ZY”�“U;”��;<J!K�M#L(Position�control�function)
���*122。���*ÆÂG�#ÑÒv�2�K�H:2���。
Position�demand�
internal�value�
(60FCh)�or�
Position�demand�
value�(6062h)Target�position�(607Ah) Control�effort�(60FAh)
Trajectory�
generator�
parameters
Position�
control�law�
parameters
Position�
control�
function
Trajectory�
generator
Fig. 8.5 %):K�H:
Target�position�(607Ah)
Software�position�limit�(607Dh)
Polarity�(607Eh)
Profile�velocity�(6081h)
End�velocity�(6082h)
Target�position
Position�
demand�
internal�
value�
(60FCh)
Profile�velocity
�or�End�velocity
Profile�acceleration�(6083h)
Profile�deceleration�(6084h)
Quick�stop�deceleration�(6085h)
Profile�acceleration�
or�profile�deceleration�
or�quick�stop�deceleration
Quick�stop�option�code�(605Ah)
Motion�profile�type�(6086h)
Limit�
Function
Trajectory�
generator
Limit�
Function
Limit�
Function
Multiplier
Max.�motor�speed�(6080h)
Fig. 8.6 %C:ÑÒv�2
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 175
8.4.2 Á�Z1lm
#K?I�,��&'��Q;�1D<6=J;2。
� Z�Á�Z1(Single�set-point)
�Q;�1D<�,EMCA�#6=2gm��Q;�1。À�z�EMCA�&'6=2�Statusword
(6041h)���K�10“Target�reached”b¡ztQ;�1�³,,���53qQ;�1
���*�175。
� ~�Z16A�(Set�of�set-points)
�Q;�1D<�,EMCA�ztQ;�1x.#6=2gm��Q;�1。ztQ;�1
�³�`,ÂÄ:;qQ;�1���*�176。
��Controlword�(6040h)�����K�5“Change�set�immediately”,��,¤Q;�1D<�Â
Ä&'Controlword�(6040h)���K�4“New�set-point”�:;qQ;�1��*177。
Z�Á�Z1(Single�set-points)
�WZ!�&'Controlword(6040h)���K�4“New�set-point”��Æ×:;��Q;�1。
t���:�Controlword�(6040h),K�5�“Change�set�immediately”�=�0。
t
Target�position�(607Ah)(Set-point)
Target�reachedStatusword�(6041h),�K�10
Velocity�actual�value�(606Ch)
New�set-pointControlword�(6040h),�K�4
Set-point�acknowledgeStatusword�(6041h),�K�12
t
t
t
t
Change�set�immediatelyControlword�(6040h),�K�5
t
Fig. 8.7 ��Q;�1
8 !�?I
176 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
~�Z16A�(Set�of�set-points)
�WZ!�Q;�1� �:;。t���:�Controlword�(6040h),K�5�“Change�set�immediately”
�=�0。
w�ztQ;�1����{!New�set-points,�N"�7A`���Q;�1。
ÚztQ;�1�³,æ����Q;�1。
Q;�1� �(Set�of�set-points)�@Controlword(6040h)����K�
9“Change�of�set-point”。
t
Target�position�(607Ah)(Set-point)
Target�reachedStatusword�(6041h),�K�10
Velocity�actual�value�(606Ch)
New�set-pointControlword�(6040h),�K�4
Set-point�acknowledgeStatusword�(6041h),�K�12
t
t
t
t
Current�target�position�processedt
Change�set�immediatelyControlword�(6040h),�K�5
t
t
Fig. 8.8 #K�1��
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 177
tf$%Á�Z1,��ÇÁ�Z1
�WZ!�&'�Controlword�(6040h)��K�4New�set-point���Æ×ÂÃËL�qQ;�1。
t���:Controlword�(6040h),K�5�“Change�set�immediately”�=�1。
t
Target�position�(607Ah)(Set-point)
Target�reachedStatusword�(6041h),�K�10
Velocity�actual�value�(606Ch)
New�set-pointControlword�(6040h),�K�4
Set-point�acknowledgeStatusword�(6041h),�K�12
t
t
t
t
Current�target�position�processedt
Change�set�immediatelyControlword�(6040h),�K�5
t
t
Fig. 8.9 3&]^�Q;�1,:;qQ;�1
8 !�?I
178 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.4.3 <�:���(�^)��EMCA�[)6ÈÉ
#K?I�&'Controlword(6040h),、K�4“New�set-point”�K�5“Change�set�immediately”
6=�EMCA,&'Statusword(6041h),K�12“Set-point�acknowledge”rs。New�set-point�
Set-point�acknowledge��.�¤+Î�=(ST)。“��Q;�1”Q;�1D<�
“Q;�1�� ”�,��ztQ;�1x.)��qQ;�1。
WZ!��,6=2(�$)��EMCA��.�ST。
Data�valid
2
1
3
4
5
6
7
New�set-pointControlword�(6040h),�K�4
Set-point�acknowledgeStatusword�(6041h),�K�12
Fig. 8.10 #6=2n�EMCA���Q;�1
�EMCA����5�ms��ºx�3���RPDO。Ä�TPDO��“New�set-point”
K�5J"Î+��t,�RPDO��J�+�“Set-point�acknowledge”
�`�¥l'��5�ms。
|.#6=2n�EMCA������#K� (Data�valid,OwVK�、NP�?NPhA"
NP)。#K� �^~l�1�4'�EMCA��_Statusword����K�10“Target�reached”
(=1)��`,��&'Controlword,�2���K�4“New�set-point”:;6=2。
�EMCA�,Xq� �^_�7XÈ7��`,EMCA�&'Statusword�3����K�12
“Set-point�acknowledge”n6=2if�19。
�`6=2��SNn�EMCA��4'q#K� �^4,_ qêdK“New�set-point”5。
À�z�EMCA����3qQ;�1,�6,��&'K“Set-point�acknowledge”�L�0�5J+�。
��t���&'6=2:;q�#K�7。
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 179
~���6b*
"#K?I�v����(:
"# 45�(Name) �N
20F2h #K[��(Positioning�option�code)(60F2h���8�K��) 186
6040h 6=&�(Controlword) 187
6041h :;&(Statusword) 188
605Ah GNO$EF�(Quick�stop�option�code) 145
607Ah VK��(Target�position) 181
607Dh >�"�K��(Software�position�limit) 182
607Eh MF(Polarity) 154
6080h A�"$QN(Max.�motor�speed) 182
6081h NP�(Profile�velocity) 182
6082h A"NP�(End�velocity) 183
6083h ?NP�(Profile�acceleration) 183
6084h UNP(Profile�deceleration) 183
6085h GNO$ZY(Quick�stop�deceleration) 183
6086h #KW�(Motion�profile�type) 184
60A4h U;(Profile�jerk) 184
60F2h #K[�(Positioning�option�code) 185
60FAH K�H:2�J�(Control�effort) 123
60FCh /-K�M#L(Position�demand�internal�value) 186
Tab. 8.21 %C:#K?I��(
8 !�?I
180 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.4.4 ¾U:b*~���(VbV~�)
WZ¶�#K?I��4�4#K。
Target�position(607Ah)
t
Profile�velocity(6081h)
Profile�acceleration(6083h)
Profile�deceleration(6084h)
t
t
Position�demand�value(6062h)
Velocity�demand�value(606Bh)
Following�error�window3)
(6065h)
Target�reached4)
Statusword�(6041h,�B10)
t
Êb~�d�1)
Ëb~�d�2)
1) �VX4�º�:Controlword(6040h),�K�6�=�0
2) �M#/MOL��:Controlword(6040h),K�6�=�1,M#L:Positioning�option�code�(60F2h),�K�0,�K�1�=�0,�
MOL:Positioning�option�code�(60F2h),�K�0,�K�1�=�1
3) ��d`2a���+',E������220
4) ��“Motion�Complete”���+',E������217
Fig. 8.11 ��W:4�4#K
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 181
8.4.5 �N�
U;T=,���(:
– �(�6086h:�#KW��(Motion�profile�type)
– �(�60A4h:U;�(Profile�jerk)
– Acceleration�jerk�(60A4h_01h)
– Deceleration�jerk�(60A4h_02h)
t
t
t
Motion�profile�type�(6086h,�value�2h)
Position
Acceleration
Deceleration
Velocity
Motion�profile�type�(6086h,�value�3h)
1) CU;T=�+�
Fig. 8.12 U;T=
8.4.6 b*�607Ah:��-���(Target�position)
&'��(�#J;2�VK��[SINC]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
607Ah Target�position VAR INT32 rw yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.22 �(607Ah
8 !�?I
182 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.4.7 b*�607Dh:���Q9���(Software�position�limit)
&'�(�#J;2#KØ8�º�K�MTL�[SINC]。
Index/
Sub
Name/Discription Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
607Dh Software�position�limit ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 2
01h Min.�position�limit VAR INT32 rw no – 1)
02h Max.�position�limit VAR INT32 rw no – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.23 �(�607Dh
8.4.8 b*�6080h:�TU+^KH�(Max.�motor�speed)
&'��(�J"$�A¬��QN�[1/min]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6080h Max.�motor�speed VAR UINT32 ro no – –
Tab. 8.24 �(�6080h
8.4.9 b*�6081h:�H��(Profile�velocity)
&'�(�#J;2?NW��³,ÂÃQ;�NP�[SINC/s]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6081h Profile�velocity VAR UINT32 rw yes – –
Tab. 8.25 �(�6081h
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 183
8.4.10 b*�6082h:�TQH��(End�velocity)
&'�(�#J;2"&'M#K��(Target�position�(607Ah))����A"NP[SINC/s]。
"�aXVK��(Target�position)�,�³#K,v����#"A"NP�=�0。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6082h End�velocity VAR UINT32 rw yes – 0
Tab. 8.26 �(�6082h
8.4.11 b*�6083h:��H��(Profile�acceleration)
&'�(�#J;2�´?NP�[SINC/s2]�?N�M#NP。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6083h Profile�acceleration VAR UINT32 rw yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.27 �(�6083h
8.4.12 b*�6084h:�JH��(Profile�deceleration)
&'�(�#J;2�´ZYNP�[SINC/s2]�ZY�A"NP。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6084h Profile�deceleration VAR UINT32 rw yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.28 �(�6084h
8.4.13 b*�6085h:�±H?^ÆT�(Quick�stop�deceleration)
&'�(�#��GNO¶,,J;2O$:;��´GNO$ZYNP[SINC/s2]ZY
���*137。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6085h Quick�stop�deceleration VAR UINT32 rw no/yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.29 �(�6085h
8 !�?I
184 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.4.14 b*�6086h:�~�Í*�(Motion�profile�type)
&'�(�##KW��¤D。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6086h Motion�profile�type VAR INT16 rw no/yes Tab. 8.31 3h
Tab. 8.30 �(�6086h
�� Í*ÎI
2h CU;W�
3h »èT=W�
Tab. 8.31 Value�range:�Motion�profile�type
8.4.15 b*�60A4h:��(Profile�jerk)
&'�(�#U;�?NP�(Acceleration�jerk)�[10-1�*�SINC/s3]��ZY�(Deceleration�jerk)
[10-1�*�SINC/s3]。
�L�0��"A�NP¿rN��。
Index/
Sub
Name/Discription Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
60A4h Profile�jerk ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no 2h 2
01h Acceleration�jerk VAR UINT32 rw yes – 1)
02h Deceleration�jerk VAR UINT32 rw yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 8.32 �(60A4h
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 185
8.4.16 b*�60F2h:�~�'��(Positioning�option�code)
&'��(�##K[�。
– ��#K
– :;��
– STEF
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
60F2h Positioning�option�code VAR UINT16 rw no/yes Tab. 8.34 0h
Tab. 8.33 �(�60F2h
�/�� ���
��#K
K1 K0 ���
t���:
– Modes�of�operation�(6060h)�=�1�(#K?I)
– Controlword,K�6�=�1(��#K)
0 0 ��t�VK������#K�(target�position(607Ah))。�¥V
K�,,���K�T?�K�“0”。
0 1 �@
1 0 �K�MOL�����#K�(Position�actual�value�(6064h))。
1 1 5ª
:;��
K�3 K�2 ���
0 0 �D�(Interrupt):
3&ztQ;,ÂÄ:;�Q;�1。
0 1 �@
1 0 5ª
1 1
STEF
K�5 K�4 ���
0 0 @ST����*�178。
0 1 �@
1 0 �@
1 1 5ª
��K
Bit�6�…�15 5ª
Tab. 8.34 #K[�(K�0…15)
8 !�?I
186 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.4.17 b*�20F2h:�~�'��(Positioning�option�code)
&'��((60F2h���8�K��)�#��#K[�。�RPDO1��é=��(�W(。
– ��#K
– :;��
– STEF
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
20F2h Positioning�option�code VAR UINT8 rw yes Tab. 8.34 0h
Tab. 8.35 �(�20F2h
8.4.18 b*�60FCh:��.��G~��(Position�demand�internal�value)
&'��(�J/-K�M#L�[SINC]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
60FCh Position�demand�internal�
value
VAR INT32 ro no – –
Tab. 8.36 �(�60FCh
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 187
8.4.19 ~�����
b*�6040h:���8�(Controlword)
&'��(6=#K?I�����:
– K�4:�#/:;qQ;�1�(New�set-point)
– K�5:ÂÄ:;#K�1(Change�set�immediately)
– K�6:#K(I
– O¶�ÂÃQ;�1�(Halt)
– K�9:tLQ;�1�(Change�on�set-point)
– K�15:�¿�W�(Symmetric�ramps)
��Controlword����+'����*�136。
��91) ��5 ��4 ���
�#qQ;�1�(New�set-point)
0 0 0���1 ��Q;�1��*175:
– :;ztQ;�1。
#K�1�� ��*176:
– w����Q;�1,�:;ztQ;�1。
– w���Q;�1,��7ztQ;�1。���Q
;�1�³�`,�:;A`�7�Q;�1。
ÂÄ:;#K�1(Change�set�immediately)���*177
0 1 0���1 ÂÄ:;A`�7�Q;�1。
1) �@K�9���L“1”。
Tab. 8.37 #6=K?I(K�4/5/9)
� �� ���
“��/º�”#K(I(abs/rel)
K�6 0 VK��!º�L,��VX4��。
1 VK��!��L
��Positioning�option�code(60F2h),��*�185
��Positioning�option�code(20F2),�*186
O¶�ÂÃQ;�1�(Halt)
K�8 0 ���ÂÃ#K�1。
1 O¶J;2/Q;�1。
��Halt�option�code(605Dh),��*�147
�¿�W�(Symmetric�ramps)
K�15 0 ZY�?NP��`�L
1 �(W�(ZY�=�?NP)
Tab. 8.38 #6=K?I(K�6/8/15)
8 !�?I
188 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.4.20 ��~���
b*�6041h:�IJ8(Statusword)
&'��(�J#K?I�����:
– K�10:XaVK�(Target�reached)(3¸�Controlword��K�8“Halt”)
– K�12:�oQ;�1(Set-point�acknowledge)
– K�13:d`2a(Following�error)
��Statusword����+'����*�140。
� �� ���
XaVK�(Target�reached)
K�10 Halt�=�0
0 �aXVK�。
1 aXVK�
Halt�=�1
0 J;2ZY
1 NP�0
�oQ;�1(Set-point�acknowledge)
K�12 0 ¸§qQ;�1
1 �o�Q;�1
d`2a�(Following�error)����*220
K�13 0 d`2a2aÉÉ/
1 ^5�d`2a
Tab. 8.39 56#K?I
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 189
8.5 H����(Profile�velocity�mode)
8.5.1 <�:H���
NP?I�,�,6=26=�EMCA��NP�;。"ÑÒv�2�(Trajectory�generator)��#V
NP�(Target�velocity)。�;<QNH:2�(Velocity�control)��NPM#L�(Velocity�demand�value)。
&'çD�"$�Î2�ztK��(Position�actual�value)�L<�/-NPL�(Velocity),_D�WQ
NH:2。
Target�velocity�(60FFh)
Position�actual�value�(6064h) Velocity�actual�value�(606Ch)
Max.�motor�speed�(6080h)
Profile�acceleration�(6083h)
Profile�deceleration�(6084h)
Quick�stop�deceleration�(6085h)
Motion�profile�type�(6086h)
Limit�
Function
Limit�
Function
Trajectory�
generator
Differen
tiation�
d/dt
Control�
effort
Velocity�
demand�
value�
(606Bh)
Velocity�
control
Fig. 8.13 %C:NPH:(QN)
H���6b*
"NP?I�v����(:
"# 45�(Name) �N
6040h 6=&�(Controlword) 192
6041h :;&(Statusword) 193
6064h PNK�MOL(Position�actual�value) 123
606Bh NP"�L�(Velocity�demand�value) 191
606Ch NPMOL(Velocity�actual�value) 191
6080h A�"$QN(Max.�motor�speed) 182
6083h ?NP�(Profile�acceleration) 183
6084h UNP(Profile�deceleration) 183
6085h GNO$ZY(Quick�stop�deceleration) 183
6086h #KW�(Motion�profile�type) 184
60FFh VNP(Target�velocity) 191
Tab. 8.40 %C:NP?I��(
8 !�?I
190 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.5.2 F�¾:H���
WZNP?I�!�NP�;。�,��FG&'“O¶”�(6040h,�B8�=�1)�3&Q;�1。
t
t
Position�demand�value(6062h)
Velocity�demand�value(606Bh)
Target�velocity60��FFh
HaltControlword�(6040h,�B8)
t
Velocity�window1)
(606Dh)
Target�reached2)
Statusword�(6041h,�B10)
t
Profile�acceleration(6083h)
tProfile�deceleration
(6084h)
1) ��d`2a���+',E������220
2) ��“Motion�Complete”���+',E������217
Fig. 8.14 ��W:NP?I
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 191
8.5.3 b*�606Bh:�H�v´��(Velocity�demand�value)
&'��(�JNPM#L�[SINC/s]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
606Bh Velocity�demand�value VAR INT32 ro no/yes – –
Tab. 8.41 �(�606Bh
8.5.4 b*606Ch:�H�BI�(Velocity�actual�value)
&'��(�JNPMOL�[SINC/s]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
606Ch Velocity�actual�value VAR INT32 ro no/yes – –
Tab. 8.42 �(�606Ch
8.5.5 Objekt�60FFh:��-H�(Target�velocity)
&'�(�#VNP�[SINC/s]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
60FFh Target�velocity VAR INT32 rw no/yes – –
Tab. 8.43 �(�60FFh
8 !�?I
192 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.5.6 ��H���
�
NP?I���v��:;�;�:;+��:;×。
b*�6040h:���8�(Controlword)
&'��(6=NP?I�����:
– K�8:O¶、���ÂÃ�;�(Halt)
��Controlword����+'����*�136。
� �� ���
O¶/ÂÃ�;(Halt)
K�8 0 ���ÂÃ�;。
1 O¶J;2���Halt�option�code�(605Dh),�*�147
�¿�W�(Symmetric�ramps)
K�15 0 ZY�?NP��`�L
1 �(W�(ZY�=�?NP)
Tab. 8.44 6=NP?I
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 193
8.5.7 ��H���
b*�6041h:�IJ8(Statusword)
&'��(�JNP?I�����:
– K�10:XaVK�(Target�reached)
– K�12:NP�(Speed)
– K�13:d`2a(Following�error)
��Statusword����+'����*�140。
� �� ���
XaVK�(Target�reached)
K�10 Halt�=�0�(Controlword,�K�8)
0 �aXVNP
1 aXVNP
Halt�=�1�(Controlword,�K�8)
0 J;2ZY
1 NP�=�0
Q;�1~�(Speed)
(3¸�+'“aXNP(Velocity�reached)”
K�12 0 NPMOL�≠�0
1 NPMOL�=�0
d`2a�(Following�error)
K�13 0 �]^d`2a
1 d`2a]^
Tab. 8.45 56NP?I
8 !�?I
194 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.6 �Ï/ÐÑ��(Profile�torque�mode)
8.6.1 <�:�Ï/ÐÑ��
;[/XY?I�,�,6=26=�EMCA��;[/XY�;。""BH:2�(torque�control)�
D��VXY�(Target�torque)��O��"B。"B6=2`ê�3“"B"�L”�“"BMO
L”(6078h)�.�Ya,_�l6=�J,。
Target�torque�(6071h)
Max.�current�(6073h)
Torque�actual�value�(6077h)
Motor�rated�current�(6075h)
Controlword�(6040h)
Motor
Torque�
control�
and�
power�
stage
Current�actual�value�(6078h)
DC�link�voltage�(6079h)
Fig. 8.15 %C:XYH:
�Ï/ÐÑ��6b*
";[/XY?I�v����(:
"# 45�(Name) �N
2178h "BMOL(Current�actual�value) 196
6040h 6=&�(Controlword) 198
6041h :;&(Statusword) 198
6071h VXY(Target�torque) 195
6073h A�"B�(Max.�current) 119
6074h XYM#L�(Torque�demand�value) 196
6075h "$M#"B�(Motor�rated�current) 120
6077h XYMOL(Torque�actual�value) 196
6078h "BMOL(Current�actual�value) 196
6079h �."\"\(DC�link�circuit�voltage) 197
6087h XYZ]W��(Torque�slope) 197
6088h XYW��(Torque�profile�type) 197
Tab. 8.46 %C:;[/XY?I��(
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 195
8.6.2 F�¾:�Ï/ÐÑ��
WZ!�;[/XY?I��;[/X�=�;。�w,l�&'Q;�PFK���³Q;�1。
t
Profile�velocity(6081h)
Profile�acceleration(6083h)
t
t
Position�actual�value(6064h)
Velocity�actual�value(606Ch)
Current�actual�value(6078h) t
Target�torque(6071h)
Target�reached1)
Statusword�(6041h,�B10)
t
PF
Profile�deceleration(6084h)
1) ��“Motion�Complete”���+',E������217
Fig. 8.16 ��W:;[/XY?I
8.6.3 b*�6071h:��-ÐÑ�(Target�torque)
&'�(�#VXY�[Motor�rated�current�(6075h))�mA�*�1/1000]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6071h Target�torque VAR INT16 rw no/yes – –
Tab. 8.47 �(�6071h
8 !�?I
196 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.6.4 b*�6074h:�ÐÑG~��(Torque�demand�value)
&'�(�JXYM#L�[Motor�rated�current�(6075h))�mA�*�1/1000]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6074h Torque�demand�value VAR INT16 ro no/yes – –
Tab. 8.48 �(�6074h
8.6.5 b*�6077h:�ÐÑBI��(Torque�actual�value)
&'��(�JztXYMOL�[Motor�rated�current�(6075 h))�mA�*�1/1000]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6077h Torque�actual�value VAR INT16 ro no/yes – –
Tab. 8.49 �(�6077h
8.6.6 b*�6078h:�+¥BI��(Current�actual�value)
&'��(�J"$�"BMOL�[Motor�rated�current�(6075 h))�mA�*�1/1000]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6078h Current�actual�value VAR INT16 ro no/yes – –
Tab. 8.50 �(�6078h
8.6.7 b*�2178h:�+¥BI��(Current�actual�value)
&'��(�J"$�"BMOL�[(Motor�rated�current�(6075 h))�mA�*�%�]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
2178h Current�actual�value VAR INT8 ro yes – –
Tab. 8.51 �(�2178h
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 197
8.6.8 b*�6079h:�>)+V+Ò�(DC�link�circuit�voltage)
&'�(�J�."\"\�[mV]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6079h DC�link�circuit�voltage VAR UINT32 ro no/yes – –
Tab. 8.52 �(�6079h
8.6.9 b*�6087h:�ÐÑÓÔÍ*�(Torque�slope)
&'�(�JXYZ]W�L�[Motor�rated�current�(6075h)�[mA]�*�1/1000]。
��¼'XYZ]W��ABL“FFFFFFFFh”。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6087h Torque�slope VAR UINT32 ro no – FFFFFFFFh
Tab. 8.53 �(�6087h
8.6.10 b*�6088h:�ÐÑÓÔÍ*�(Torque�profile�type)
&'�(�#XYZ]W�。
��¼'�FXYZ]W�(è�)�ABL“0h”。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
6088h Torque�profile�type VAR INT16 ro no – 0h
Tab. 8.54 �(�6088h
8 !�?I
198 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.6.11 ���Ï/ÐÑ��
�
;[/XY?I���v��:;�;�:;+��:;×。
b*�6040h:���8�(Controlword)
&'��(6=;[/XY?I�����:
– K�8:O¶、���ÂÃ�;�(Halt)
���Controlword����+'����*�136。
� �� ���
O¶/ÂÃ�;�(Halt)
K�8 0 ���ÂÃ�;。
1 O¶J;2���Halt�option�code(605Dh),�*�147
Tab. 8.55 6=;[/XY?I
8.6.12 ���Ï/ÐÑ��
b*�6041h:�IJ8(Statusword)
&'��(�J;[/XY?I�����:
– K�10:XaVK�(Target�reached)
��Statusword����+'����*�140。
� �� ���
XaVK�(Target�reached)
K�10 Halt�=�0�(Controlword,�K�8)
0 �aX[/XY。
1 aX[/XY。
Halt�=�1�(Controlword,�K�8)
0 J;2ZY
1 NP�=�0
Tab. 8.56 56;[/XY?I
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 199
8.7 K�~���(Interpolated�Position�Mode)(\ CANopen)
8.7.1 <�:K�~���
[L#K?I�(IP)��»&'�#K�M#L6={Ð"�。�,6=2�,��#�B9,
..�(SYNC�.�)53B9"i�K�M#L。SYNC�.��(8�ms)�o�EMCA�K�H:2+��
(200�μs)���{ð。EMCA�K�H:2+���2�!�#�K�M#L�.n;['K�H:2
�M#L。
v��,6=2��SYNC�.���EMCA��[L:é�(Interpolation�time�period�
(60C2h))���"�8�ms。
1
2
3
0
100
200
300
400
500
600
t�[ms]8 16 24 32 40 48 56 64 72 80
0 8000 t�[μs]16000 24000 32000 40000 48000 56000
88
K�H:+�(/-:200μs)
[L:é�(Interpolation�time�period�(60C2h))(6=2��SYNC�.��=�8�ms)
s�[INC] 96
64000
1 6=2�K�M#L
2 êëK�L
3 K�M#L�(6062h)
Fig. 8.17 K�M#L�êë[L
8 !�?I
200 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Software�position�limit�(607Dh)
Interpolated
position
�Inc.
Position�
demand�
internal�
value�
(60FCh)
Position�
demand�
value�
(6062h)Limit�Func
tion
Interpolator
Interpolation
�factor
Interpolation�sub�mode�select�
(60C0h)
Input�buffer
Interpolated�data�record�
(60C1h)
Fig. 8.18 %C:[L#K?I��'/�J¿R
K�~���6b*
"[L#K?I�v����(:
"# 45�(Name) �N
6040h 6=&�(Controlword) 202
6041h :;&(Statusword) 202
607Dh >�"�K��(Software�position�limit) 182
6080h A�"$QN(Max.�motor�speed) 182
6085h GNO$ZY(Quick�stop�deceleration) 183
60C0h [\[]D<(Interpolation�sub�mode�select) 201
60C1h [L� � �̂(Interpolated�data�record) 201
60C2h [L:é�(Interpolation�time�period) 202
Tab. 8.57 %C:[L#K?I��(
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 201
8.7.2 b*�60C0h:�'ÕKWlm�(Interpolation�sub�mode�select)
&'�(�#“êë[L”[]D<。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
60C0h Interpolation�sub�mode�
select
VAR UINT8 ro no -2 -2
Tab. 8.58 �(�60C0h
8.7.3 b*�60C1h:�K��:X �(Interpolated�data�record)
&'��(�[LVK�(Interpolation�data�target�position)[SINC]��#"º�K�。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
60C1h Interpolated�data�record REC – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 2h
01h 1st�set-point VAR INT32 rw no – –
Tab. 8.59 �(�60C1h
8 !�?I
202 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.7.4 b*�60C2h:�K�_`a)�(Interpolation�time�period)
&'�(�#[L:é(Interpolation�time�period�value)(L�=�8�ms)�[L,.R�(Interpolation�
time�index)�[L,.�K(Interpolation�time�period)。
���(I;<[L:é:
Interpolation�time�period � Interpolation�time�period�value * Interpolation�time�index
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
Value�
range
Default�value
60C2h Interpolation�time�period REC – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 2h
01h Interpolation�time�period�
value
VAR UINT8 ro no 8 8
02h Interpolation�time�index VAR INT8 ro no -3 -31)
1) �L�-3��z��K�ms。
Tab. 8.60 �(�60C2h
8.7.5 Ö×���K�~���
&'Modes�of�operation�(6060h)�]^[L#K?I。�,�EMCA��:;[L<)(4'È7)。
&'�,6=2�Modes�of�operation�display�(6061h)�b¡]^!�?I。#�,P,EMCA�5;�
#6=2��SYNC�.�(8�ms)�gmq[LVK�(Interpolation�data�target�position(60C1h_01h))。
w��2�!�SYNC�.�/�53M#L,�3&[L#K?I,_v��CANopen�/4+'“8500h”
��FCT�/4“4Bh”。
"�;<[LVK�,�,6=2"|.#�EMCA�03K�MOL�(Position�actual�value�
(6064h))。�
6=2&'Controlword��K�4“Enable�interpolation”5J�EMCA����D°K�� �
+�。&'Statusword��K�12IP�mode�active"Î:;D°。
��Controlword����+'����*�136。
��Statusword����+'����*�140。
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 203
t�[ms]
8 16 24 32 40 48 56 64 72 80 88SYNC�.��=�8�ms
6=2
Interpolated�position�mode
Modes�of�operation�(6060h),�value�=�7
Enable�interpolation
Controlword�(6040h),�K�4
IP�mode�active
Statusword�(6041h),�K�12
Interpolation�data�target�position
(60C1h_01h)
Position�actual�value
(6064h)
Interpolated�position�mode
Modes�of�operation�display�(6061h),�value�=�7
1 1 1 1 1 12
3 4 5
t
t
t
t
t
t
6
1��5:�6=2�K�M#L 6:êëK�L
Fig. 8.19 K�M#L�êë[L
�� CANopen�b*
]^[L#K?I Modes�of�operation�(6060h) = 7h
��:;c:� Modes�of�operation�display�(6061h) = 7h
03K�MOL Position�actual�value�(6064h)
4'[LVK� Interpolation�data�target�position�
(60C1h_01h)
SN[] Controlword�(6040h),�
K�4�Enable�interpolation
0���1
&'�EMCA�"Î[' Statusword�(6041h),�
K�12�IP�mode�active�
£ Ñ�t©ztVK� Interpolation�data�target�position�
(60C1h_01h)
Tab. 8.61 6=�56[L#K?I
['�³�`,��&'AKStatusword��K�4Enable�interpolation��ÂÃD°[LVK
�。¾`,£ �v,��ËLX�¤��?I。
8 !�?I
204 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���->�KW
w�!c����[](�"IP�mode�active,�Statusword�K�12�)��EMCA��J��/4�D,
�J;2|.�b"�ñ�"/4E#�b"�(�wz6=2:�òë,Q':;Switch�on�
disabled)。d���!�?I�7�56��,���SYNC�+'��,.56,�,X�SYNC
��$�Û。�"12d"�&'GNO¶ZY�(6085h)�O¶J;2,_if/4“4Bh”。
À�&' q��ÂÃT],�"�EMCA��p���'�Operation�enabled:;,l,�IP�mode�active
��K�12Statusword�êd。
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 205
8.8 _`��~���(Cyclic�synchronous�position�mode)(\ �EtherCAT)
8.8.1 <�:_`��~���
+�B9#K?I�(CSP)��»&'�#K�M#L6={Ð"�。�,6=2�,��#�B
9,..�(SYNC�.�)53B9"i�K�M#L。SYNC�.��(2�…�15�ms)�o�EMCA�K�H:
2+��(200�μs)���{ð。EMCA�K�H:2+���2�!�#�K�M#L�.n;['K�
H:2�M#L。
v��,6=2��SYNC�.���EMCA��[L:é�(Interpolation�time�period �
(60C2h)���"�BL。
K�
t
1
2
1 SYNC�.� 2 K�6=2ºx�(200�μs)
Fig. 8.20 K�M#L�[L
8 !�?I
206 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
MotorTorque
control
Geber
Velocity
control
Position
control
Target position (607Ah)
Torque actual value (6077h)
Velocity actual value (606Ch)
Position actual value (6064h)
Fig. 8.21 +�B9#K?I%C
Target position (607Ah)
Software position limit (607Dh)
Polarity (607Eh)
Position actual
value (6064h)
Quick stop deceleration (6085h)
Quick stop option code (605Ah)
Motion profile type (6086h)
Drive
control
function
Limit
functionMultiplier
Following error window (6065h)
Following error time out (6066h)
Max. motor speed (6080h)
Interpolation time period (60C2h)
Max torque (6072h)
Motor rated torque (6076h) Multiplier
Velocity actual
value (606Ch)
Torque actual
value (6077h)
Following error
actual value
(60F4h)
Fig. 8.22 %C:+�B9#K6=
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 207
_`��~���6b*
"+�B9#K?I�v����(:
"# 45�(Name) �N
6041h :;&(Statusword) 202
605Ah GNO$EF�(Quick�stop�option�code) 145
6064h PNK�MOL(Position�actual�value) 123
6065h d`2aÙ%(Following�error�window) 221
6066h d`2a,.(Following�error�time�out) 222
606Ch NPMOL(Velocity�actual�value) 191
6072h A�XY�(Max�torque) 207
6076h "$M#XY�(Motor�rated�torque) 207
6077h XYMOL(Torque�actual�value) 196
607Ah VK��(Target�position) 181
607Dh >�"�K��(Software�position�limit) 182
6080h A�"$QN(Max.�motor�speed) 182
6085h GNO$ZY(Quick�stop�deceleration) 183
6086h #KW�(Motion�profile�type) 184
60C2h [L:é�(Interpolation�time�period) 202
60F4h d`2aMOL(Following�error�actual�value) 222
Tab. 8.62 %C:+�B9#K?I��(
8.8.2 b*�6072h:TUÐÑ�(Max�torque)
&'��(�J"$�A�XY。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
6072h Max�torque VAR UINT8 ro no –
Tab. 8.63 �(�6072h
8.8.3 b*�6076h:+^G~ÐÑ�(Motor�rated�torque)
&'��(�J"$M#XY。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
6076h Motor�rated�torque VAR UINT8 ro no –
Tab. 8.64 �(�6076h
8 !�?I
208 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.8.4 b*�60C2h:K�_`a)�(Interpolation�time�period)
&'�(�#[L:é(Interpolation�time�period�value)�[L,.R�(Interpolation�ti
me�
index)�[L,.�K(Interpolation�time�period)。
���(I;<[L:é(200μs ���ð):
Interpolation�time�period � Interpolation�time�period�value * Interpolation�time�index
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
60C2h Interpolation�time�peri
od
REC – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no – 2h
01h Interpolation�time�peri
od�
value
VAR UINT8 ro no – 8
02h Interpolation�time�inde
x
VAR INT8 ro no – -31)
1) �L�-3��z��K�ms。
Tab. 8.65 �(�60C2h
8.8.5 Ö×Ø��_`��~���
&'�Modes�of�operation �(6060h)�]^+�B9#K?I。�,�EMCA��:;[L<)。&'�
,6=2�Modes�of�operation�display �(6061h)�b¡]^!�?I。#�,P,EMCA�5;�
#6=2��SYNC�.�(2�…�15�ms)�gmq[LVK�(Target�position�(607Ah))。
��Statusword ����+'����*�140。
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 209
t�[ms]
8 16 24 32 40 48 56 64 72 80 88SYNC�.��(2�…�10�ms)
6=2
Interpolated�position�mode
Modes�of�operation�(6060h),�value�=�8
Drive�follows�the�command�value
Statusword�(6041h),�Bit�12
Target�position
(607Ah)
Position�actual�value
(6064h)
Interpolated�position�mode
Modes�of�operation�display�(6061h),�value�=�8
1 1 1 1 1 12
3 4 5
t
t
tt
t
6
1��5:6=2�K�M#L 6:[L
Fig. 8.23 K�M#L�[L
�� CANopen�b*
6=+�B9#K?I Modes�of�operation �(6060h) = 8h
��:;c:� Modes�of�operation�display �(6061
h)
= 8h
03K�MOL Position�actual�value �(6064h)
4'[LVK� Target�position �(607Ah)
£ Ñ�t©ztVK� Target�position �(607Ah)
Tab. 8.66 6=_56+�B9#K?I
���->�KW
w�!c����[](�"Drive�follows�the�command�value, �Statusword �K�12�)��EMCA�
�J��/4�D,�J;2|.�b"�ñ�"/4E#�b"�(�wz6=2:�òë,
Q':;Switch�on�disabled)。
À�&' q��ÂÃT],�"�EMCA��p���'�Operation�enabled:;,l,Drive�follo
ws�
the�command�value��K �12Statusword�êd。
8 !�?I
210 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.9 Y{�ÙÚ�(Touch�probe)(\�EtherCAT)
8.9.1 <�:Y{�ÙÚ
&'^5I_`���Î`Ð�K�。
����K��^���Î`ÐK�:
– �F�ÃF^5
– ^5_`+���Æ×、�¯×�,!ì×
��^5�ztK�L��7X�EMCA��!�7e2�。�03��L���^5,�µ«。
Y{�ÙÚ����6b*
^5I_`��?I����(��:
"# 45�(Name) �N
60B8h ^5I_`���(Touch�probe�function) 213
60B9h ^5I_`:;�(Touch�probe�status) 213
60BAh ^5I_`K��1,cL�(Touch�probe�position�1�positive�value) 214
60BBh ^5I_`K��1,`L�(Touch�probe�position�1�negative�value) 214
60D0h ^aI_`b�(Touch�probe�source) 214
60D5h ^5I_ �̀1�cL;�2�(Touch�probe�1�positive�edge�counter) 215
60D6h ^5I_ �̀1�`L;�2�(Touch�probe�1�negative�edge�counter) 215
Tab. 8.67 %C:^5I_`��?I��(
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 211
t
Enable�Sampling�at�positive�edgeTouch�probe�function�(60B8h),�Bit�4
Enable�Touch�Probe�1Touch�probe�function�(60B8h),�Bit�0
Enable�Sampling�at�negative�edgeTouch�probe�function�(60B8h),�Bit�5
t
t
Trigger�first�eventTouch�probe�function�(60B8h),�Bit�1
t
t
Touch�Probe�1�positive�edge�storedTouch�probe�status�(60B9h),�Bit�1
Touch�Probe�1�negative�edge�storedTouch�probe�status�(60B9h),�Bit�2
t
Touch�Probe�1�is�enableTouch�probe�status�(60B9h),�Bit�0
t
t
Touch�Probe�position�1�positive�value�(60BAh)
Touch�Probe�position�1�negative�value�(60BBh)
t
Touch�Probe�Signal
t
0 PV1 PV2
0 NV1
Fig. 8.24 ^5I_`,^5E!��
8 !�?I
212 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
t
Enable�Sampling�at�positive�edgeTouch�probe�function�(60B8h),�Bit�4
Enable�Touch�Probe�1Touch�probe�function�(60B8h),�Bit�0
Enable�Sampling�at�negative�edgeTouch�probe�function�(60B8h),�Bit�5
t
t
ContinuousTouch�probe�function�(60B8h),�Bit�1
t
t
Touch�Probe�1�positive�edge�storedTouch�probe�status�(60B9h),�Bit�1
Touch�Probe�1�negative�edge�storedTouch�probe�status�(60B9h),�Bit�2
t
Touch�Probe�1�is�enableTouch�probe�status�(60B9h),�Bit�0
t
t
Touch�Probe�position�1�positive�value�(60BAh)
Touch�Probe�position�1�negative�value�(60BBh)
t
Touch�Probe�Signal
t
0 PV1 PV2 PV3
0 NV1 NV2 NV3
Fig. 8.25 ^5I_`,ÃF^5
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 213
8.9.2 b*�60B8h:Y{�ÙÚ<��(Touch�probe�function)
�v�(�#^5����^5I_ �̀1��ì×。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�
map
ping
Value�
range
Default�value
60B8h Touch�probe�function VAR UINT16 rw yes Tab. 8.69 0000h
Tab. 8.68 �(�60B8h
Bit �� �<��
K�0 0 ^5I_ �̀1�2�
1 ]^^5I_ �̀1
&:1 0 ^5E!��
1 Ã^5
Bit�2/3 00 ^5^5I_ �̀1��'�(GN¥��'��[X9.5])
10 ^5^5I_`b����(�60D0h,�e�214
K�4 0 �Æ×�^5I_ �̀1�2�_`
1 �Æ×�^5I_ �̀1�]^_`
K�5 0 �¯×�^5I_ �̀1�2�_`
1 �¯×�^5I_ �̀1�]^_`
Tab. 8.69 �(�60B8h,�Value�range
8.9.3 b*�60B9h:Y{�ÙÚ�(Touch�probe�status)
&'�(���J^5I_ �̀1����:;。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�
map
ping
Value�
range
Default�value
60B9h Touch�probe�status VAR UINT16 ro yes Tab. 8.71 0000h
Tab. 8.70 �(�60B9h
Bit �� �<��
K�0 0 2�^5I_ �̀1
1 ]^^5I_ �̀1
&:1 0 �Æ×�^5I_ �̀1�_`c2�
1 �Æ×�^5I_ �̀1�_`c]^
Bit�2 0 �¯×�^5I_ �̀1�_`c2�
1 �¯×�^5I_ �̀1�_`c]^
OE�7 0 ^5I_`+��]^
1 ^5I_`+�c]^
Tab. 8.71 �(�60B8h,�Value�range
8 !�?I
214 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
8.9.4 b*�60BAh:Y{�ÙÚ���1,�*�(Touch�probe�position�1�positive�value)
&'�(���J�Æ×,�_`L。��^5,,�L�Æ×�µ«。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�
map
ping
Value�
range
Default�value
60BAh Touch�probe�position�1�
positive�value
VAR INT32 ro yes – –
Tab. 8.72 �(�60BAh
8.9.5 b*�60BBh:Y{�ÙÚ���1,Z��(Touch�probe�position�1�negative�value)
&'�(���J�¯×,�_`L。��^5,,�L�¯×�µ«。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�
map
ping
Value�
range
Default�value
60BBh Touch�probe�position�1�
negative�value
VAR INT32 ro yes – –
Tab. 8.73 �(�60BBh
8.9.6 b*�60D0h:�YÛ�ÙÚÜ�(Touch�probe�source)
&'�(���J^5I_ �̀1��b。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
Value�
range
Default�value
60D0h Touch�probe�source ARRAY – – – – –
00h Highest�sub-index�
supported
VAR UINT8 ro no 1h 1h
01h Touch�probe�1�source VAR INT16 rw no Tab. 8.75 1h
Tab. 8.74 �(�60D0h
� �+
1h GN¥��'��[X9.5]
Tab. 8.75 Value�range: �Touch�probe�1�source
8 !�?I
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 215
8.9.7 b*�60D5h:�Y{�ÙÚ�1�Ý�8���(Touch�probe�1�positive�edge�counter)
&'�(���J“^5I_ �̀1”cL;�2�L。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�
map
ping
Value�
range
Default�value
60D5h Touch�probe�1�positive�
edge�counter
VAR UINT16 ro yes – –
Tab. 8.76 �(�60D5h
8.9.8 b*�60D6h:Y{�ÙÚ�1�Z�8���(Touch�probe�1�negative�edge�counter)
&'�(���J“^5I_ �̀1”`L;�2�L。
Index Name Objec
t�code
Data�
type
Ac
cess
PDO�
map
ping
Value�
range
Default�value
60D6h Touch�probe�1�negative�
edge�counter
VAR UINT16 ro yes – –
Tab. 8.77 �(�60D6h
9 56J;2EF
216 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
9 �������
&'+��Oo2���J;2EF��56�6=。l�,EMCA�·�/���e��,�w:
"�2��,í¶/�-��à。
9.1 �g
"�EMCA��v���&':
�g ��� �N
XaVK�
(Target�reached)
5J�1�³�+�(V,) 217
d`12
(Following�error)
#K/NP�1�56“M#L/MOL”Ya 220
Tab. 9.1 +'
9 56J;2EF
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 217
9.1.1 ¿[�-��(Target�reached)
“aXV”+�5J�1�³�+�(V,)。
"�!�1D<(K�、NP�;[/XY)�#�!Ù%。w�V�µ�MOL����
�·¶,./ifÙ%���aXV:;,�StatuswordK�10����“Target�reached”。
“[¿�-”�g6b*
"“aXV”+'�v����(:
"# 45�(Name) �N
#K?I
6041h :;&(Statusword) 140
6064h PNK�MOL(Position�actual�value) 123
6067h K�Ù%(Position�window) 218
6068h K�,.Ù%(Position�window�time) 218
607Ah VK��(Target�position) 181
NP?I
6041h :;&(Statusword) 140
606Ch NPMOL(Velocity�actual�value) 191
606Dh NPÙ%(Velocity�window) 219
606Eh NP,.Ù%(Velocity�window�time) 219
60FFh VNP(Target�velocity) 191
;[/XY?I1)
6041h :;&(Statusword) 140
6071h VXY(Target�torque) 195
6077h XYMOL(Torque�actual�value) 196
1) À�[<>�(FCT)������XYÙ%(Force/Torque)�XY,.Ù%(Message�delay)。
Tab. 9.2 %C:“aXV”+'��(
9 56J;2EF
218 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
¾U:¬¿[�-
WZ¶�#K?I�“caXK�”+'�EF。
t
Position�window�time
(6068h)
t
Position�window
(6067h)
Target�reachedStatusword�(6041h),K�10
t
Target�position(607Ah)
Position�actual�value
(6064h)
Fig. 9.1 WZ:cXaV�-�#K?I��
b*�6067h:����(Position�window)
&'�(�#VK��2aÉÉ�[SINC]。2aÉÉ�����L�,ð。VK���Ù%��
.K�。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6067h Position�window VAR UINT32 rw no/yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 9.3 �(�6067h
b*�6068h:���a)��(Position�window�time)
&'�(�#���Statusword����K�10“Target�reached”�,.�[ms]。�,./,K�M
OL�(6064h)��p2aÉÉ�/。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6068h Position�window�time VAR UINT16 rw no/yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 9.4 �(�6068h
9 56J;2EF
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 219
b*�606Dh:�H���(Velocity�window)
&'�(�#VNP�2aÉÉ�[SINC/s]。2aÉÉ�����L�,ð。VNP��Ù%�
�.K�。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
606Dh Velocity�window VAR UINT16 rw no/yes – –
Tab. 9.5 �(�606Dh
b*�606Eh:�H�a)��(Velocity�window�time)
&'�(�#��Statusword���K�10“Target�reached”�,.�[ms]。�,./,NPM
OL�(606Ch)��p2aÉÉ�/。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
606Eh Velocity�window�time VAR UINT16 rw no/yes – –
Tab. 9.6 �(�606Eh
9 56J;2EF
220 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
9.1.2 ßà3á�(Following�error)
#K�NP?I�,��56�u¼'�A����d`2a。���1x.,��RÑÒ�
"�L�ztMOL�.�Ya��56。&'����K#���aL(A����d`2a)
。w�zt6=¿R(ÁÜ、NP)�M#L�MOL�a�����aLÉÉ�,��“d
`2a,.”(Following�error�time�out(6066h))�³�`]^“d`2a”+'。J�/4�
�f,Following�error���K�13“Statusword”。w�d`2a���"�f,�MOL
qK�d`2aÙ%ÉÉ/,�n;^5�+'。w�d`2a���"/4,�Controlword,
K�7“Fault�reset”������Æ×KB/4+'“d`2a”(8611h)�t,�p|.jd/4
��。
ßà3á6b*
"d`2a�v����(:
"# 45�(Name) �N
#K?I
6041h :;&(Statusword) 140
6040h 6=&�(Controlword) 192
6062h K�M#L(Position�demand�value) 122
6064h PNK�MOL(Position�actual�value) 123
6065h d`2aÙ%(Following�error�window) 221
6066h d`2a,.(Following�error�time�out) 222
607Ah VK��(Target�position) 181
60F4h d`2aMOL(Following�error�actual�value) 222
NP?I
…1)
1) À�[<>�(FCT)��#NP?Id`2a���。
Tab. 9.7 %C:d`2a��(
9 56J;2EF
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 221
F�¾:ßà3á
���W!��d`2a�EF。
Following�errorMessage�2Fh
t
Following�error�time�out(6066h)
t
Target�position(607Ah)
t
Position�demand�value(6062h)
Following�error�actual�value(60F4h)
Position�actual�value(6064h)
New�set-pointControlword(6040h),�K�4
t
Following�error�window(6065h)
Fig. 9.2 WZ:d`2a�-�#K?I��
b*�6065h:�ßà3áÞ��(Following�error�window)
&'�(�#d`2a56�2aÉÉ[SINC]。
2aÉÉ�����L�,ð。K�M#LK�Ù%�.。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6065h Following�error�window VAR UINT32 rw no/yes – –
Tab. 9.8 �(�6065h
9 56J;2EF
222 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
b*�6066h:�ßà3áa)�(Following�error�time�out)
Statusword���K�13“Following�error”�t,&'�(�#d`2aÙ%���A��ª,
.�[ms]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
6066h Following�error�time�out VAR UINT16 rw no/yes – 1)
1) �L3¸��Festo���!q(FCT)����。
Tab. 9.9 �(�6066h
b*�60F4h:�ßà3áBI��(Following�error�actual�value)
&'�(�JK�M#L�(Position�demand�value�(6062h))��K�MOL�(Position�actual�value�
(6064h))��.Aq�Ya�[SINC]。
Index Name Object�
code
Data�
type
Ac
cess
PDO
map
ping
CO/EC
Value�
range
Default�value
60F4h Following�error�actual�val
ue
VAR INT32 ro no/yes – –
Tab. 9.10 �(�60F4h
9 56J;2EF
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 223
9.2 Lâ<�
9.2.1 c7:Lâ<�
EMCA�·��ó��Î2$�,��566=-�、�N-�、"$���Ï&+����uc
V。¼$/4���6=-���N-�(�J,)��。 qjd_KB/4`,��� q
:;��N-�。���e��K����kl:
Lâ<� fg6
MW
�<��
TKS��56 07h,�08h 56�u¼'TKS�,E������152
>�"�K��5
6
11h,�12h,��
29h,�2Ah
56¼J>�"�K�,E������152
I²t�56
("$"B)
0Eh 56J;2��î;�
w�¼'�A�L,����if。���*�224。
"\56 ,¸"\�'"\
– ½¾"\ 17h,�18h
– �."\"\ 1Ah,�1Bh
¹P56 15h,�16h �¹P�Î2`R�J,¹P。ºxF��J,��CPU��¹
P��56。¹P�Ƽ'MTL,�^5/4。
=;"#�`RL 30h EMCA�·�!n�=;"#,�m����-=;"#��
%(�%�[X5])。
ã´/��=;"#。EMCA��&cg�,�u%��=
;"#。�,��rsQí�ucK。
w���&cg%���=;"#,��EMCA��v��"
�bDif(��FCT�/493)。
"��,Ó,����v=;"#�"�,��bDif
DD"+'�(��Tab. C.6)。��,bDif¼����Ï�
vÝd。
Tab. 9.11 �e��
9 56J;2EF
224 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
9.2.2 I2t���
EMCA���"$q��I2t�56��,��T=§·�î�N。�"A�Ê19�,"["±��
�"$�J���î�N�Bl�"B�§(�cOGT?,���"BL�§(�"�î�N�
QP。
�
zOwO¶,�²V¬���"BB',���RPF,�,XPF,,
I2t�56��"Ë,¹P�Î2�vM��e。
9 56J;2EF
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 225
F�¾:I2t���
£ "$"B�kl�v�+',��W!��I2t�56�W�ïn。
I2t
"$�I2t��f
+'“CAN:�2310h/FCT:�2Dh”
t
100%
85%
0%
A
A�"BM#"B
I2t���:
+^�/���i
+^+¥:
��Y:
t
t
t
t
�x1:
"$�I2t�12
+'“CAN:�2312h/FCT:�0Eh”
Fault�resetControlword(6040h),�K�7
80%1)
99%
95%
�85% �80%
�95%
=�100%
t
t
FaultStatusword(6041h),K�3
Internal�limit�activeStatusword(6041h),K�11
�85% �80%
1) N"³��I2T��fðL�5�%��19�AK�f。
Fig. 9.3 ��W:I2t�56
A CANopen – Object dictionary (OD)
226 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
A CANopen�–�Object�dictionary�(OD)�
EMCA���(V �̂(OD)��g����(�(Objects)。
Objects ����(Discription) �N
1000h�…�1FFFh Communication�profile�area 229
2000h�…�5FFFh Manufacturer-specific�profile�area 232
6000h�…�67FFh Standardized�profile�area 232
Tab. A.1 Objects
A.1 b*��
"$�*����(EF。
A.1.1 �:lm:Data�type
�N
(Code)
�4
(Name)
��
(Value�range)
0002h INT8 8�Bit�Signed�Integer
(1�Byte)
-128�…�127
(-27)�…�(27-1)
0003h INT16 16�Bit�Signed�Integer
(2�Byte)
-32.768�…�32.767
(-215)�…�(215-1)
0004h INT32 32�Bit�Signed�Integer
(4�Byte)
-2.147.483.648�…�2.147.483.647
(-231)�…�(231-1)
0005h UINT8 8�Bit�Unsigned�Integer
(1�Byte)
0�…�255
(20)�…�(28-1)
0006h UINT16 16�Bit�Unsigned�Integer
(2�Byte)
0�…�65.535
(20)�…�(216-1)
0007h UINT32 32�Bit�Unsigned�Integer
(4�Byte)
0�…�4.294.967.295
(20)�…�(232-1)
0008h VSTRING �Visible�String
(7�Bit�ASCII)
ASCII�&�+
Tab. A.2 Data�type
A CANopen – Object dictionary (OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 227
A.1.2 b*�N�(Object�code):
�N
(Code)
�4
(Name)
���
(Description)
07h VAR �!�L
08h ARRAY �B� D<�!u�¿R�{ � Ø"
09h RECORD�(REC) �!��@��u�¿R�{ � Ø"
Tab. A.3 Object�code
A CANopen – Object dictionary (OD)
228 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
A.2 b*�V6EF
����I!��(:
1/2
Index/
Sub
3
Name
4
Object�
code
5
Data�
type
6
Ac
cess
7
PDO
map
ping
8
Value�
range
9
Default�value
1�60FEh Digital�outputs ARRAY – – – – –
2�00h Highest�sub-
index�supported
VAR UINT8 ro no – 1h
...h … … … … … … …
1 �(U��(Index)
2 ±ª°U��(Sub)3 �(/±ª°>�(Name)
1�ؤ:âØ
2�ؤ:ìØ(âØ)
4 �(�*�(Object�code):– VAR(Code:�07h):
�!�L
– ARRAY�(Code:�08h):
q�{!�V�� &g,��!�
V��pq��B�� D<。
– RECORD�(REC)�(Code:�09h):
q�{!�V�� &g,��V�
���B�� D<。
5 � D<�(Data�type):m����L�(Signed�Integer)
– INT8�(Code:�02h) (8�Bit/1�Byte):
−128�…�127
– INT16�(Code:�03h) (16�Bit/2�Byte):
−32.768�…�32.767
– INT32�(Code:�04h) (32�Bit/4�Byte):
−2.147.483.648�…�2.147.483.647
�m����L�(Unsigned�Integer)
– UINT8�(Code:�05h) (8�Bit/1�Byte):
0�…�255
– UINT16�(Code:�06h) (16�Bit/2�Byte):
0�…�65.535
– UINT32�(Code:�07h) (32�Bit/4�Byte):
0�…�4.294.967.295
���(�Visible�String)
– VSTRING�(Code:�08h):
0�…�255�(ASCII)
6 04 F�(Access�attribute):– Const:À0,��Lí#�¿�
(read�only,�value�is�constant)
– ro:À0�(read�only)
– rw:4�0�(read�and�write)
– wo:À4�(write�only)
7 PDO�-0�(PDO�mapping):– no�(Code:�0h):
�(�-0X�PDO��
– yes�(Code:�1h):
c��(-0X�PDO��。
8 L8�(Value�range)1):���L8
9 ABL�(Default�value)1):��L�z�J��(?�:;)
1) ����{A.3n�Z��。
Fig. A.1 �(E4�!�
A CANopen – Object dictionary (OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 229
A.3 b*
U,�FCT:
�$���“FCT�+'Z���(����"��7��Festo�Configuration�Tool�
(FCT)��。
A.3.1 Communication�profile�area(b*�1000h�…�1FFFh)
Index/
Sub
Name/Discription Object�
code
Data�
type
Ac
cess
PDO
map
ping
FCT �N
1000h Device�type VAR UINT32 ro no – 68
1001h Error�register VAR UINT8 ro no – 56
1003h Pre-defined�error�field ARRAY – – – – 57
00h Number�of�errors VAR UINT8 ro no –
01h Standard�error�field�1 VAR UINT32 ro no –
… …
08h Standard�error�field�8
1005h COB-ID�SYNC VAR UINT32 rw no – 48
1008h Manufacturer�device�name VAR VSTRING const no – 68
1009h Manufacturer�hardware�
version
VAR VSTRING const no – 69
100Ah Manufacturer�software�
version�
VAR VSTRING const no – 69
100Ch Guard�time� VAR UINT16 rw no – 66
100Dh Life�time�factor� VAR UINT8 rw no – 67
1010h Store�parameters ARRAY – – – – 73
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Save�all�parameters VAR UINT32 rw no FCT
1011h Restore�default�parameters ARRAY – – – – 74
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Restore�all�default�
parameters
VAR UINT32 rw no –
1014h COB-ID�emergency�message VAR UINT32 rw no – 58
1015h Inhibit�time�EMCY VAR UINT16 rw no – 58
A CANopen – Object dictionary (OD)
230 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Index/
Sub
�NFCTPDO
map
ping
Ac
cess
Data�
type
Object�
code
Name/Discription
1018h Identity�object ARRAY – – – – 70
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Vendor-ID VAR UINT32 ro no –
02h Product�code VAR UINT32 ro no –
03h Revision�number VAR UINT32 ro no –
04h Serial�number VAR UINT32 ro no –
1200h SDO�server�parameter ARRAY – – – – 44
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h COB-ID�client���Server�(rx) VAR UINT32 rw no –
02h COB-ID�server���Client�(tx) VAR UINT32 rw no –
1400h
1401h
1402h
1403h
RPDO1
RPDO2
RPDO3
RPDO4
Communication�parameter
REC – – – – 36
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h COB-ID�used�by�RPDO1 VAR UINT32 rw no –
COB-ID�used�by�RPDO2
COB-ID�used�by�RPDO3
COB-ID�used�by�RPDO4
02h Transmission�type VAR UINT8 rw no –
A CANopen – Object dictionary (OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 231
Index/
Sub
�NFCTPDO
map
ping
Ac
cess
Data�
type
Object�
code
Name/Discription
1600h
1601h
1602h
1603h
RPDO1
RPDO2
RPDO3
RPDO4
Mapping�parameter�
REC – – – – 38
00h Number�of�mapped�
application�objects�
in�RPDO….
VAR UINT8 ro no –
01h 1st�application�object
RPDO1 VAR UINT32 ro no –
RPDO2
RPDO3
RPDO4
02h 2nd�application�object
RPDO1 VAR UINT32 ro no –
RPDO2
RPDO3
RPDO4
03h 3rd�application�object
RPDO1 VAR UINT32 ro no –
04h 4th�application�object
RPDO1 VAR UINT32 ro no –
1800h TPDO1
Communication�parameter�
REC – – – – 39
00h Highest�sub-index� supported VAR UINT8 ro no –
01h COB-ID�used�by�TPDO1 VAR UINT32 rw no –
02h Transmission�type VAR UINT8 rw no –
03h Inhibit�time VAR UINT16 rw no –
05h Event�timer VAR UINT16 rw no –
1A00h TPDO1
Mapping�parameter�
REC – – – – 42
00h Number�of�mapped�
application�objects�
in�TPDO1
VAR UINT8 ro no –
01h 1st�application�object VAR UINT32 ro no –
02h 2nd�application�object VAR UINT32 ro no –
03h 3rd�application�object VAR UINT32 ro no –
04h 4th�application�object VAR UINT32 ro no –
Tab. A.4 Communication�profile�area
A CANopen – Object dictionary (OD)
232 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
A.3.2 Manufacturer-specific�profile�area(b*�2000h�…�5FFFh)
Index/
Sub
Name/Discription Object�
code
Data�
type
Ac
cess
PDO
map
ping
FCT �N
2072h Controller�serial�number VAR VSTRING ro no – 117
207Dh I/O�and�FCT-control VAR UINT8 ro no – 148
20F2h Positioning�option�code VAR UINT8 rw yes – 186
2178h Current�actual�value VAR INT8 ro yes – 196
2510h Drive�data�records REC – – – – 119
00h Number�of�Drive�data�records VAR UINT8 ro no –
01h Power�stage�temp VAR INT8 ro no –
02h Nominal�current VAR INT32 ro no –
03h Max.�current VAR INT32 rw no FCT
04h Actual�current VAR UINT32 ro no –
Tab. A.5 Manufacturer-specific�profile�area
A.3.3 Standardized�profile�area�(b*�6000h�…�67FFh)
Index/
Sub
Name/Discription Object�
code
Data�
type
Ac
cess
PDO
map
ping
FCT �N
6007h Abort�connection�option�code VAR INT16 rw no – 145
6040h Controlword VAR UINT16 rw yes – 136
6041h Statusword VAR UINT16 ro yes – 140
605Ah Quick�stop�option�code VAR INT16 rw no FCT 145
605Bh Shutdown�option�code VAR INT16 rw no FCT 146
605Ch Disable�operation�option�code VAR INT16 rw no FCT 146
605Dh Halt�option�code VAR INT16 rw no FCT 147
6060h Modes�of�operation VAR INT8 rw yes – 157
6061h Modes�of�operation�display VAR INT8 ro yes – 158
6062h Position�demand�value VAR INT32 ro no – 122
6063h Position�actual�internal�value VAR INT32 ro no – 123
6064h Position�actual�value VAR INT32 ro � – 123
6065h Following�error�window VAR UINT32 rw no FCT 221
6066h Following�error�time�out VAR UINT16 rw no FCT 222
6067h Position�window VAR UINT32 rw no FCT 218
6068h Position�window�time VAR UINT16 rw no FCT 218
606Bh Velocity�demand�value VAR INT32 ro no – 191
606Ch Velocity�actual�value VAR INT32 ro no – 191
A CANopen – Object dictionary (OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 233
Index/
Sub
�NFCTPDO
map
ping
Ac
cess
Data�
type
Object�
code
Name/Discription
606Dh Velocity�window VAR UINT16 rw no FCT 219
606Eh Velocity�window�time VAR UINT16 rw no FCT 219
6071h Target�torque VAR INT16 rw no – 195
6073h Max.�current VAR UINT16 rw no FCT 119
6074h Torque�demand�value VAR INT16 ro no – 196
6075h Motor�rated�current VAR UINT32 ro no – 120
6077h Torque�actual�value VAR INT16 ro no – 196
6078h Current�actual�value VAR INT16 ro no – 196
6079h DC�link�circuit�voltage VAR UINT32 ro no – 197
607Ah Target�position VAR INT32 rw yes – 181
607Ch Home�offset VAR INT32 rw no FCT 163
607Dh Software�position�limit ARRAY – – – – 182
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Min.�position�limit VAR INT32 rw no FCT
02h Max.�position�limit VAR INT32 rw no FCT
607Eh Polarity VAR UINT8 rw no – 154
6080h Max.�motor�speed VAR UINT32 ro no FCT 182
6081h Profile�velocity VAR UINT32 rw yes FCT 182
6082h End�velocity VAR UINT32 rw yes FCT 183
6083h Profile�acceleration VAR UINT32 rw yes FCT 183
6084h Profile�deceleration VAR UINT32 rw yes FCT 183
6085h Quick�stop�deceleration VAR UINT32 rw no FCT 183
6086h Motion�profile�type VAR INT16 rw no – 184
6087h Torque�slope VAR UINT32 ro no – 197
6088h Torque�profile�type VAR INT16 ro no – 197
608Fh Position�encoder�resolution ARRAY – – – – 155
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Encoder�increments VAR UINT32 ro no –
02h Motor�revolutions VAR UINT32 ro no –
6091h Gear�ratio ARRAY – – – – 156
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Motor�revolutions VAR UINT32 rw no –
02h Shaft�revolutions VAR UINT32 rw no –
A CANopen – Object dictionary (OD)
234 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Index/
Sub
�NFCTPDO
map
ping
Ac
cess
Data�
type
Object�
code
Name/Discription
6092h Feed�constant ARRAY – – – FCT 156
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Feed VAR UINT32 rw no –
02h Shaft�revolutions VAR UINT32 rw no –
6098h Homing�method VAR INT8 rw no FCT 163
6099h Homing�speeds ARRAY – – – – 172
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Speed�during�search�
for�switch
VAR UINT32 rw no FCT
02h Speed�during�search�
for�zero
VAR UINT32 rw no FCT
609Ah Homing�acceleration VAR UINT32 rw no – 172
60A4h Profile�jerk ARRAY – – – – 184
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Acceleration�jerk VAR UINT32 rw yes FCT
02h Deceleration�jerk VAR UINT32 rw yes FCT
60B8h Touch probe function VAR UINT16 rw yes – 213
60B9h Touch probe status VAR UINT16 ro yes – 213
60BAh Touch probe position 1
positive value
VAR INT32 ro yes – 214
60BBh Touch probe position 1
negative value
VAR INT32 ro yes – 214
60C0h Interpolation�sub�mode�select VAR UINT8 ro no – 201
60C1h Interpolated�data�record REC – – – – 201
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h 1st�set-point VAR INT32 rw no –
60C2h Interpolation�time�period REC – – – – 202
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Interpolation�time�period�
value
VAR UINT8 rw no –
02h Interpolation�time�index VAR INT8 rw no –
A CANopen – Object dictionary (OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 235
Index/
Sub
�NFCTPDO
map
ping
Ac
cess
Data�
type
Object�
code
Name/Discription
60D0h Touch probe source ARRAY – – – – 214
00h Highest sub-index
supported
VAR UINT8 ro no –
01h Touch probe 1 source VAR INT16 rw no –
60D5h Touch probe 1 positive edge
counter
VAR UINT16 ro no – 215
60D6h Touch probe 1 negative edge
counter
VAR UINT16 ro no – 215
60F2h Positioning�option�code VAR UINT16 rw no – 185
60F4h Following�error�actual�value VAR INT32 ro no – 222
60FAh Control�effort VAR INT32 ro no – 123
60FCh Position�demand�internal�
value
VAR INT32 ro no – 186
60FDh Digital�inputs VAR UINT32 ro no FCT 124
60FEh Digital�outputs ARRAY – – – – 125
00h Highest�sub-index�
supported
VAR UINT8 ro no –
01h Physical�outputs VAR UINT32 rw no –
02h Digital�output�mask VAR UINT32 rw no –
60FFh Target�velocity VAR INT32 rw no – 191
6402h Motor�type VAR UINT16 ro no – 117
6502h Supported�drive�modes VAR UINT16 ro no – 118
6503h Drive�catalogue�number VAR VSTRING const no – 118
6505h http�drive�catalogue�address VAR VSTRING const no – 118
Tab. A.6 Standardized�profile�area
B CoE�–�Object�dictionary�(OD)
236 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
B CoE�–�Object�dictionary�(OD)
EMCA���(V �̂(OD)��g����(�(Objects)。
Objects ����(Description) �N
1000h�…�1FFFh Communication�profile�area 229
2000h�…�5FFFh Manufacturer-specific�profile�area 242
6000h�…�67FFh Standardized�profile�area 232
Tab. B.1 Objects
B.1 b*��
"$�*����(EF。
B.1.1 �:lm:Data�type
�N
(Code)
45
(Name)
��
(Value�range)
0002h INT8 8�Bit�Signed�Integer
(1�Byte)
-128�…�127
(-27)�…�(27-1)
0003h INT16 16�Bit�Signed�Integer
(2�Byte)
-32,768�…�32,767
(-215)�…�(215-1)
0004h INT32 32�Bit�Signed�Integer
(4�Byte)
-2.147.483.648�…�2.147.483.647
(-231)�…�(231-1)
0005h UINT8 8�Bit�Unsigned�Integer
(1�Byte)
0�…�255
(20)�…�(28-1)
0006h UINT16 16�Bit�Unsigned�Integer
(2�Byte)
0�…�65,535
(20)�…�(216-1)
0007h UINT32 32�Bit�Unsigned�Integer
(4�Byte)
0�…�4.294.967.295
(20)�…�(232-1)
0008h VSTRING �Visible�String
(7�Bit�ASCII)
ASCII�&�+
Tab. B.2 Data�type
B CoE�–�Object�dictionary�(OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 237
B.1.2 b*�N�(Object�code)
�N
(Code)
45
(Name)
�<��
(Description)
07h VAR �!�L
08h ARRAY �B� D<�!u�¿R�{ � Ø"
09h RECORD�(REC) ��!u�¿R�{ � Ø�D���Z�� D<。
Tab. B.3 Object�code
B CoE�–�Object�dictionary�(OD)
238 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
B.2 b*�V6EF
����I!��(:
1/2
Index/
Sub
3
Name
4
Objec
t�code
5
Data�
type
6
Ac
cess
7
PDO�m
ap
ping
8
Value�
range
9
Default�value
1�1018h Identity�object REC – – – – –
2�00h Number�of�entries VAR UINT8 ro no – 4h
…h … … … … … … …
1 �(U��(Index)
2 ±ª°U��(Sub)3 �(/±ª°>�(Name)
1�ؤ:âØ
2�ؤ:ìØ(âØ)
4 �(�*�(Object�code):– VAR�(Code:�07h):
�!�L
– ARRAY�(Code:�08h):
q�{!�V�� &g,��!�
V��pq��B�� D<。
– RECORD�(REC) �(Code:�09h):
q�{!�V�� &g,��V�
���B�� D<。
5 � D<�(Data�type):m����L�(Signed�Integer)
– INT8�(Code:�02h)(8�Bit/1�Byte):
−128�…�127
– INT16�(Code:�03h)(16�Bit/2�Byte):
−32.768�…�32.767
– INT32�(Code:�04h)(32�Bit/4�Byte):
−2.147.483.648�…�2.147.483.647
�m����L�(Unsigned�Integer)
– UINT8�(Code:�05h)(8�Bit/1�Byte):
0�…�255
– UINT16�(Code:�06h)(16�Bit/2�Byte):
0�…�65.535
– UINT32�(Code:�07h)(32�Bit/4�Byte):
0�…�4.294.967.295
���(�Visible�String)
– VSTRING�(Code:�08h):
0�…�255�(ASCII)
6 *+E4�(Access�attribute):– const:À0,��Lí#�¿�
(read�only,�value�is�constant)
– ro:À0�(read�only)
– rw:4�0�(read�and�write)
– wo:À4�(write�only)
7 PDO�-0�(PDO�mapping):– no�(Code:�0h):
��(�-0X�PDO��
– yes�(Code:�1h):
c��(-0X�PDO��。
8 L8�(Value�range)1):���L8
9 ABL�(Default�value)1):��L�z�J��(?�:;)
1) ����{B.3n�Z��。
Fig. 9.4 �(E4�!�
B CoE�–�Object�dictionary�(OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 239
B.3 b*
U,�FCT:
�$���“FCT”�+'Z���(����"��7��Festo�Configuration�Tool�
(FCT)��。
B.3.1 CoE�communication�area(b* �1000h�…�1FFFh)
Index/
Sub
Name/Description Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
FCT �N
1000h Device�type VAR UINT32 ro no 111
1001h Error�register VAR UINT8 ro no – 105
1008h Device�name VAR VSTRING ro no – 111
1009h Hardware�version VAR VSTRING ro no – 112
100Ah Software�version VAR VSTRING ro no – 112
1018h Identity�ob
ject(�()
REC – – – – 113
00h Number�of�entries VAR UINT8 ro no –
01h Vendor-ID VAR UINT32 ro no –
02h Product�code VAR UINT32 ro no –
03h Revision�number VAR UINT32 ro no –
04h Serial�number VAR UINT32 ro no –
1600h 1st�receive�PDO�mapping REC – – – – 95
00h Number�of�objects�
in�this�PDO
VAR UINT8 ro no –
01h 1st�output�object�to�
be�mapped�RxPDO1
VAR UINT32 ro no –
… … … … … … …
0Ch 12th�output�object�to�
be�mapped�RxPDO1
VAR UINT32 ro no –
1A00h 1st�transmit�PDO�mapping REC – – – – 97
00h Number�of�objects�
in�this�PDO
VAR UINT8 ro no –
01h 1st�input�object�to�
be�mapped�TxPDO1
VAR UINT32 ro no –
… … … … … … …
0Ch 12th�input�object�to�
be�mapped�TxPDO1
VAR UINT32 ro no –
B CoE�–�Object�dictionary�(OD)
240 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Index/
Sub
�NFCTPDO�m
ap
ping
Ac
cess
Data�
type
Objec
t�code
Name/Description
1C00h Sync�manager�
communication�type
ARRAY – – – – 88
00h Number�of�used�sync�
manager�channels
VAR UINT8 ro no –
01h Communication�type�sync�
manager�0
VAR UINT8 ro no –
02h Communication�type�sync�
manager�1
VAR UINT8 ro no –
03h Communication�type�sync�
manager�2
VAR UINT8 ro no –
04h Communication�type�sync�
manager�3
VAR UINT8 ro no –
1C10h Sync�manager�PDO�0�
assignment
ARRAY – – – – 89
00h Number�of�assigned�TxPDO VAR UINT8 ro no –
1C11h Sync�manager�PDO�
1�assignment
ARRAY – – – – 89
00h Number�of�assigned�TxPDO VAR UINT8 ro no –
1C12h Sync�manager�PDO�
2�assignment
ARRAY – – – – 90
00h Number�of�assigned�TxPDO VAR UINT8 rw no –
01h PDO�mapping�object�index�o
f�assigned�PDO
VAR UINT16 rw no –
1C13h Sync�manager�PDO�3�
assignment
ARRAY – – – – 90
00h Number�of�assigned�TxPDO VAR UINT8 rw no –
01h PDO�mapping�object�index�o
f�assigned�PDO
VAR UINT16 rw no –
B CoE�–�Object�dictionary�(OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 241
Index/
Sub
�NFCTPDO�m
ap
ping
Ac
cess
Data�
type
Objec
t�code
Name/Description
1C32h Sync�manager�2�
synchronization
REC – – – – 91
00h Number�of�synchronization
�
parameters
VAR UINT8 ro no –
01h Synchronization�type VAR UINT16 rw no –
02h Cycle�time VAR UINT32 ro no –
04h Synchronization�types�
supported
VAR UINT16 ro no –
05h Min�cycle�time VAR UINT32 ro no –
06h Calc�and�copy�time VAR UINT32 ro no –
08h Get�cycle�time VAR UINT16 rw no –
09h Delay�time VAR UINT32 ro no –
0Bh SM-event�missed�counter VAR UINT16 ro no –
0Ch Cycle�time�too�small VAR UINT16 ro no –
20h Sync�Error VAR BOOL ro no –
1C33h Sync�manager�3�
synchronization
REC – – – – 92
00h Number�of�synchronization
�
parameters
VAR UINT8 ro no –
01h Synchronization�type VAR UINT16 rw no –
02h Cycle�time VAR UINT32 ro no –
04h Synchronization�types�
supported
VAR UINT16 ro no –
05h Min�cycle�time VAR UINT32 ro no –
06h Calc�and�copy�time VAR UINT32 ro no –
08h Get�cycle�time VAR UINT16 rw no –
09h Delay�time VAR UINT32 ro no –
0Bh SM-event�missed�counter VAR UINT16 ro no –
0Ch Cycle�time�too�small VAR UINT16 ro no –
20h Sync�Error VAR BOOL ro no –
Tab. B.4 CoE�communication�area
B CoE�–�Object�dictionary�(OD)
242 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
B.3.2 Manufacturer�specific�area(b* �2000h�…�5FFFh)
Index
/Sub
Name/Description Objec
t�code
Data�
type
Ac
cess
PDO�m
ap
ping
FCT �N
207Dh I/O�and�FCT-control VAR UINT8 ro no – 148
2510h Drive�data�records REC – – – – 119
00h Number�of�Drive�data�
records
VAR UINT8 ro no –
01h Power�stage�temp VAR INT8 ro no –
02h Nominal�current VAR INT32 ro no –
03h Max.�current (A�"B) VAR INT32 rw no FCT
04h Actual�current VAR UINT32 ro no –
20F1h EEPROM�command ARRAY – – – – 73
00h Number�of�entries VAR UINT8 ro no –
01h Restore�factory�setting
s
VAR UINT32 wo no –
02h Save�object�values VAR UINT32 wo no –
Tab. B.5 Manufacturer-specific�profile�area
B CoE�–�Object�dictionary�(OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 243
B.3.3 Profile�area(b*�6000h�…�67FFh)
Index
/Sub
Name/Description Object�
code
Data�
type
Ac
cess
PDO�
map
ping
FCT �N
6007h Abort�connection�option�code VAR INT16 rw RxPDO – 145
6040h Controlword VAR UINT16 rw RxPDO – 136
6041h Statusword (:;&) VAR UINT16 ro TxPDO – 140
605Ah Quick�stop�option�code VAR INT16 rw RxPDO FCT 145
605Bh Shutdown�option�code VAR INT16 rw RxPDO FCT 146
605Ch Disable�operation�option�code VAR INT16 rw RxPDO FCT 146
605Dh Halt�option�code(O$[��*)
VAR INT16 rw RxPDO FCT 147
6060h Modes�of�operation VAR INT8 rw RxPDO – 157
6061h Modes�of�operation�display VAR INT8 ro TxPDO – 158
6062h Position�demand�value(K��#L)
VAR INT32 ro TxPDO – 122
6063h Position�actual�internal�value VAR INT32 ro no – 123
6064h Position�actual�value(K�MOL)
VAR INT32 ro TxPDO – 123
6065h Following�error�window VAR UINT32 rw RxPDO FCT 221
6066h Following�error�time�out VAR UINT16 rw RxPDO FCT 222
6067h Position�window(K�Ù%) VAR UINT32 rw RxPDO FCT 218
6068h Position�window�time VAR UINT16 rw RxPDO FCT 218
606Bh Velocity�demand�value VAR INT32 ro TxPDO – 191
606Ch Velocity�actual�value VAR INT32 ro TxPDO – 191
606Dh Velocity�window VAR UINT16 rw RxPDO FCT 219
606Eh Velocity�window�time VAR UINT16 rw RxPDO FCT 219
6071h Target�torque VAR INT16 rw RxPDO – 195
6072h Max�torque VAR INT16 rw no – 207
6073h Max.�current (A�"B) VAR UINT16 rw no – 119
6074h Torque�demand�value VAR INT16 ro TxPDO – 196
6075h Motor�rated�current VAR UINT32 ro TxPDO – 120
6076h Motor�rated�torque VAR UINT32 ro no – 207
6077h Torque�actual�value VAR INT16 ro TxPDO – 196
6078h Current�actual�value VAR INT16 ro TxPDO – 196
6079h DC�link�circuit�voltage VAR UINT32 ro TxPDO – 197
607Ah Target�position VAR INT32 rw TxPDO – 181
607Ch Home�offset VAR INT32 rw no FCT 163
607Dh Software�position�limit ARRAY – – – – 182
00h Highest�sub-index�supported VAR UINT8 ro no –
01h Min.�position�limit VAR INT32 rw no FCT
02h Max.�position�limit VAR INT32 rw no FCT
607Eh Polarity VAR UINT8 rw no – 154
6080h Max.�motor�speed VAR UINT32 ro no FCT 182
B CoE�–�Object�dictionary�(OD)
244 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Index
/Sub
�NFCTPDO�
map
ping
Ac
cess
Data�
type
Object�
code
Name/Description
6081h Profile�velocity VAR UINT32 rw RxPDO FCT 182
6082h End�velocity VAR UINT32 rw RxPDO FCT 183
6083h Profile�acceleration VAR UINT32 rw RxPDO FCT 183
6084h Profile�deceleration VAR UINT32 rw RxPDO FCT 183
6085h Quick�stop�deceleration VAR UINT32 rw RxPDO FCT 183
6086h Motion�profile�type VAR INT16 rw RxPDO – 184
6087h Torque�slope VAR UINT32 ro no – 197
6088h Torque�profile�type VAR INT16 ro no – 197
608Fh Position�encoder�resolution ARRAY – – – – 155
00h Highest�sub-index�supported VAR UINT8 ro no –
01h Encoder�increments VAR UINT32 ro no –
02h Motor�revolutions VAR UINT32 ro no –
6091h Gear�ratio ARRAY – – – – 156
00h Highest�sub-index�supported VAR UINT8 ro no –
01h Motor�revolutions VAR UINT32 rw no –
02h Shaft�revolutions VAR UINT32 rw no –
6092h Feed�constant ARRAY – – – FCT 156
00h Highest�sub-index�supported VAR UINT8 ro no –
01h Feed VAR UINT32 rw no –
02h Shaft�revolutions VAR UINT32 rw no –
6098h Homing�method (����()) VAR INT8 rw RxPDO FCT 163
6099h Homing�speeds ARRAY – – – – 172
00h Highest�sub-index�supported VAR UINT8 ro no –
01h Speed�during�search�for�switch
VAR UINT32 rw no FCT
02h Speed�during�search�for�zero VAR UINT32 rw no FCT
609Ah Homing�acceleration VAR UINT32 rw RxPDO – 172
60A4h Profile�jerk ARRAY – – – 184
00h Number�of�elements VAR UINT8 ro no –
01h Acceleration�jerk VAR UINT32 rw RxPDO FCT
02h Deceleration�jerk VAR UINT32 rw RxPDO FCT
60B8h Touch�probe�function VAR UINT16 rw RxPDO – 213
60B9h Touch�probe�status VAR UINT16 ro TxPDO – 213
60BAh Touch�probe�position�1�positive�value
VAR INT32 ro TxPDO – 214
60BBh Touch�probe�position�1�negative�value
VAR INT32 ro TxPDO – 214
B CoE�–�Object�dictionary�(OD)
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 245
Index
/Sub
�NFCTPDO�
map
ping
Ac
cess
Data�
type
Object�
code
Name/Description
60C2h Interpolation�time�period REC – rw – – 202
00h Number�of�elements VAR UINT8 ro no –
01h Interpolation�time�period�value
VAR UINT8 ro no –
02h Interpolation�time�index VAR INT8 ro no –
60D0h Touch�probe�source ARRAY – – – – 214
00h Highest�sub-index�supported VAR UINT8 ro no –
01h Touch�probe�1�source VAR INT16 rw no –
60D5h Touch�probe�1�positive�edge�counter
VAR UINT16 ro TxPDO – 215
60D6h Touch�probe�1�negative�edge�counter
VAR UINT16 ro TxPDO – 215
60F2h Positioning�option�code VAR UINT16 rw RxPDO – 185
60F4h Following�error�actual�value VAR INT32 ro TxPDO – 222
60FAh Control�effort VAR INT32 ro TxPDO – 123
60FCh Position�demand�internal�value
VAR INT32 ro TxPDO – 186
60FDh Digital�inputs VAR UINT32 ro TxPDO FCT 124
60FEh Digital�outputs ARRAY – – – – 191
00h Highest�sub-index�supported VAR UINT8 ro no –
01h Physical�outputs VAR UINT32 rw no –
02h Digital�output�mask VAR UINT32 rw no –
60FFh Target�velocity VAR INT32 rw RxPDO – 125
6402h Motor�type VAR UINT16 ro TxPDO – 117
6502h Supported�drive�modes VAR UINT16 ro TxPDO – 118
6503h Drive�catalogue�number VAR VSTRING
const
no – 118
Tab. B.6 Profile�area
B CoE�–�Object�dictionary�(OD)
246 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 247
C ��� �!
C.1 �(�LED�GFH6���
"�bD��/����,�v�� LED ��f:
Funktion LED Seite
��:; (EMCA-EC-...-CO/-EC) – OK
– ERROR
� 248
CAN-Bus/CANopen (EMCA-EC-...-CO) – CAN ��:; � 249
EtherCAT (EMCA-EC-...-EC) – EC LINK/ACTIVITY
– EC RUN
– EC ERROR
� 252
Tab. C.1 &'�LED���f��bD
C bD�/4jd
248 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
C.1.1 ����IJ LED EF� (EMCA-…-CO/-EC)
1
2
1 OK-LED ��f 2 ERROR LED ��f
Fig. C.1 ����:; LED !�2 (�w:EMCA-EC-67-S-1TE-DIO)
C.1.2 ��\ä6åv
LED
GFH
LED
GFHIJ
��/IJ
OK ���� – :;cg,°�k?< ]^
ERROR �f��
Tab. C.2 �&cg�b"
C.1.3 ��\ä6��
LED
GFH
LED
GFHIJ
��/IJ
OK îï – 7����cV,7!12。
���� – 7�cV��,®��7+�“Freigabe”。
�� – cV ��:;,7����,7+�“Freigabe”
ERROR îï – C12,C�f
�f�� – if��f。
�� – if!12。
Tab. C.3 ��cg�EF
C.1.4 �3�,¬Ö×
LED
GFH
LED
GFHIJ
��/IJ
OK B,�� ��ñò,�b¡c]^ (�&'Festo
��!q�7�.12]^)ERROR
Tab. C.4 , $c]^
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 249
C.1.5 CAN�)*6�LED�GFH�(EMCA-EC-...-CO)
1
2
3
1 LED�OK � E�C.1.1 n
2 LED�ERROR � E�C.1.1 n
3 LED�CAN���:;(��)
Fig. C.2 CAN�����LED���f
C.1.6 )*IJ(æÅ�CiA�CANopen�LED�GFH)
2�����:;�LED(��/��)!�����:;。
A)��)*��
������������LED���f(FCT::4U��(Node-ID)、�������OEN)
���ON
IJ:)*�OFF
OFFt�[ms]
Fig. C.3 ��“�������”��LED���f
C bD�/4jd
250 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
B)�CAN���© �
CAN�&+C/4,��LED���f
200
200
200
1000
IJ:¨��
IJ:5��
IJ:¬?è
���ON
OFFt�[ms]
���ON
OFFt�[ms]
���ON
OFFt�[ms]
Fig. C.4 “CAN�&+´�/4”,��LED���f
C)�Warning�limit�reached
J�{!&+/4,��LED���f
200
200
IJ:¨��
IJ:5��
IJ:¬?è
���ON
OFFt�[ms]
���ON
200
200
200
200
200���ON
OFFt�[ms]
���ON1000
200
200
���ON
OFFt�[ms]
���ON
800
Fig. C.5 “Warning�limit�reached”,��LED���f
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 251
D)�Node�guarding�error
J�:4�e12(�T:4�e]^:;�),��LED���f。
200
200
IJ:¨��
IJ:5��
IJ:¬?è
���ON
OFFt�[ms]
���ON
200
200
200
200
200���ON
OFFt�[ms]
���ON1000
200
200
���ON
OFFt�[ms]
���ON
1000
200
200
200
200
200
Fig. C.6 “Node�guarding�error”,��LED���f
C bD�/4jd
252 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
C.1.7 EtherCAT 6 LED GFH (EMCA-EC-...-EC)
5
4
6
1
2
3
x
1 LED EC LINK/ACTIVITY,�% 2
(&+]^/�\56)2 LED OK ��E�E.1.1�n
3 LED ERROR ��E�E.1.1�n
4 LED EC RUN (��:;)
5 LED EC ERROR (/4)
6 LED EC LINK/ACTIVITY,�% 1
(&+]^/�\56)
Fig. C.7 EtherCAT � LED ��f
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 253
C.1.8 EtherCAT EF��
&'��Ö! LED ��f!��Ô7� EtherCAT �:;。
LED
GFH
<� IJ �
ECERROR
EC RUN
EC LINK/ACTIVITY
�% 2
EC LINK/ACTIVITY
�% 1
EC
LINK/
ACTIV
ITY
&+]^/
��56
� C¨�/��]^��
�f& �%�
�f�� ��]^
EC
RUN
��:; � zt:;“Init”
�f�� zt:;“Pre-Operational”
�f��� zt:;“Safe-Operational”
�f& zt:;“Operational”
EC
ERROR
/4 � �J�12
�� C��� (Invalid Configurati
on):�F��12c^51)
�f��� �lh|�:;t© (Unsolicitedstate change):�G12c^52)
�f��,� Watchdog ¼, (Application Wat
chdog Timeout):B9932
Watchdog c^5
�f�� °�12 (Booting error):
°�'<�c^5°�12
�f& '<� &+�� (PDI (Process
Data Interface) Watchdog
Timeout):
PDI Watchdog 12c^5
1) !k6=2�#�:;t©�672��(���C)��。
2) EMCA "�/EMCA n�t©� EtherCAT :;:
A) J��! Host/Steuerung Watchdog Timeout
B) B912,EMCA n;ËLX Safe-Operational
Tab. C.5 LED ��f
C bD�/4jd
254 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
C.2 ���g
C.2.1 ��Y
&'�FCT��/493=S,������EMCA�bDif�d"���������FCT、/493
�e。�,���bDifDD"12、�f��+'。£ ����DD,��K#��b
Dif�d"。
�"�bD&'��/4jd���Ê)��,E����*�259。
���FCT�/493���+'��EMCA�[���+'。
C.2.2 bfg6uv
£ if��B,���FCT������b":
bfg6uv ���
12
(Error)
J�/4�(SCON.FAULT,�B3�=�1)�,,EMCA�ËL�“:;$/4”:;�
���*�131。12���°P��J;2�EF��Ýd�/4b"
(:;:]^/4b"),�w:O$F�、���J,(���Tab. C.7)。
8A§$:;��9¤:
– jd/4��,�`KB/4�(Fault�reset,�Controlword�(6040h),�K�7)�
��Fig. C.8
– 12AK( q:;/Reset)����C.2.7。
&':;��2�“ERROR”���“CANopen�:;”!�/4,E������247��
����“m���%�f�IJ;2”,�EMCA-EC-SY-.....
�f
(Warning)
�f(Statusword�(6041h),�K�7�=�1)��EMCA��EF�����Ýd,
_�����KB。"��`Ã12:vjdJ��f���。&'
:;��f�“ERROR”�!��f������“m���%�f�IJ;2”,
EMCA-EC-SY-...。
+'
(Information)
+'��ÝdJ;2�EF,_�C���KB。
Tab. C.6 ��&'�d"
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 255
C.2.3 "b236uv
�£ q�12���FCT�����d":
"b�236uv ���
nk¯J
(Free-wheeling)
– �D�J,。
– J;2�ÊÑF��(ÑFO¶)
QS�UNP
(QS�deceleration)
– �������Quick-Stop�UNP(GNUNW�)ÂÄO¶�;。
– ¾`�[\�S����J,。
UNP��
(Record�deceleration)
– �ztQ;�1������GNO¶UNPÂÄO¶Q;。
– ¾`�[\�S����J,。
ÙJ��
(Finish�record)
– ��ztQ;�1,I�aXV�(Motion�Complete)。
– ¾`�[\�S����J,。
Tab. C.7 ��/4�d"
C.2.4 ��iº�
�£ q�/4���FCT������J,[�:
��iº� ���
c]^ UNO¶`,�J,�S::;。
c2� UNO¶`,�J,���:;。
Tab. C.8 �J,[�
C.2.5 L}��
£ if��B,���FCT������bD7e2[�:
L}�� ���
c]^ =S���7bD7e2�。
c2� =S����7bD7e2�。
Tab. C.9 bD7e2[�
C bD�/4jd
256 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
C.2.6 b$x16 �6�x1
����KB�12,&'“Fault�reset”(Statusword(6041h))jd12��`,��8A§
$:;。w�B,7{!/4,�À�KBq�t¬-.,�/4。
/4+'Statusword(6041h),K�3
Fault�resetControlword(6040h),�K�7
jd/4��
/4��
/4�]^
Fig. C.8 ��W:���KB�/4��KB
�M�&'���%�/4��KB:
– Festo�Configuration�Tool�(FCT):“/4KB”�ó
– 7�.12:“Reset�error”��
C.2.7 ��Xx16 �
J��KB�/4`,jd/4��`���&' q:;8A§$:;。
– CiA�402:“Reset�node”E�
– "bvW�[X4]:Power�ON/OFF
– Festo�Configuration�Tool�(FCT):“ q:;6=2”�ó
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 257
C.3 ��}��
C.3.1 <�:��}��
EMCA�·�! >FF�bD7e2。�bD7e2��bDif���^。v�^´$bD
if,��&'�FCT��/493“�7bD”�#������*�255。
bD7e2��;�!QK672,��R��7�200��bD+'。��bD+'����4'
bD7e2�。w�bD7e2c4�,�7'�qbDif�,Ó��Að�bDifµ«
ë(FIFO��3)。
�&'��()*+bD7e2:
– FCT���FCT-PlugIn�EMCA,��+'
– 7�.12������“m���%�f�IJ;2”,EMCA-EC-SY-...
bD7e2��bD+'�g��+':
�g ���
;�2
(Counter)
bD+'�;�2U�
bD��
(Diagnostics�event)
bD+'�DD���Tab. C.6
bDU�
(Diagnostics�number)
bDif�U�,ÂÃ�=�(0x�=�ÂÃ�=tô)。
+'
(Message)
bD+'�uv��
,.ñ
(Time�stamp)
“HH.MM.SS:nnn”�IbD+'�,.4:
– HH�=�µ,
– MM�=�DÍ
– SS�=�½
– nnn�=�ò½
,.R�"�"��EMCA�:;,.。
�?+'
(Additional�information)
5vAó/4,���Festo�.1��?+'
Tab. C.10 bD+'���
C.3.2 é ��}��
��&'�FCT��7�.12êdbD7e2�/�。êd�,Ó�v�:;��(3Dh�bD+'),
_�^bD7e2�。/4;�2���AK。
C bD�/4jd
258 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
C.3.3 �(Statusword
EMCA�&'@��bD()�Statusword����*�140:
– 6041h,�K�7�–��f�(Warning)
– 6041h,�K�3�–�/4�(Fault)
– 6041h,�K�13�–�d`2a�(Following�error)
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 259
C.4 ���g6��
bDif�Z(��E�C.4.1�n)�g���+':
§L Â�
U� bD+'�ÂÃ�=U�。�
DD"... F/W/I�=�12/�f/+',E����*�254。
��bD+'�õ"´!DD。JÒ���õ�!��(l��F)。
w�C)õ"¼!DD,�&'���ô���。�
�w:“F/–/–”bD+'��õ"12D。
bD7e2 �#�uN"vbD7e2����^,���u���FCT�����
�����(N"/�[)。�
�KBF 12�KBF(e���+':
– KB/4:&'/4KB�(Fault�reset,�Controlword�(6040h),�K�7)。
��[�,E����*�256。
– AKC)AK�/4: :。��[�,E����*�256。
������12
d"
�&õ�I(A���G)"�!bDifWJ������12d"�
��Tab. C.12。JÒ���d"�,&õ"õ�。
Tab. C.11 bD+'���
����m23uv68ê
A CÑF�;�–�CUNW� ÂÄ�D�J,
B Quick�Stop�ZY�–�GNO$UNW� ¾`���J,
C ��ZY�–�ztQ;�1�UNW�
D �³���–�Q;�1��³,I��Motion�Complete�(MC)
E Quick�Stop�ZY�–�GNO$UNW� �J,�S:
F ��ZY�–�ztQ;�1�UNW�
G �³���–���Q;�1��³,I��Motion�complete(MC)
Tab. C.12 ����12d"(�����)
C bD�/4jd
260 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
C.4.1 ��ë�,Â�G �! d]6qF
���g� �!
01h ��23
(Software�error)
�����":F/-/-
bD7e2:��
r`X!/-(�12。�
� h��Festo��.1-qs=。
– �KBF:��KB,�v>�AK。
������12d":A�
02h ;1��&�©ì
(Default�parameter�file�invalid)
�����":F/-/-
bD7e2:��
rsAB����,r`X!12。��c�à。
� h&'(�Æ, q�AB����??X���。w�12ÂÃJ�,����7e2�
à,�ptL��。
– �KBF:��KB,�v>�AK。
������12d":A�
03h CPU�6�.��23
(Internal�communication�error�CPUs)
�����":F/-/-
bD7e2:��
cK#/-&+(e�!12。
� q:;��。w��12lVJ�,��ptL��。
– �KBF:��KB,�v>�AK。
������12d":A�
04h X^^6��
(Non-permitted�hardware)
�����":F/-/-
bD7e2:��
/-"\J1。
� �ptL��。
– �KBF:��KB,�v>�AK。
������12d":A�
06h ��
(Encoder)
�����":F/-/-
bD7e2:��
U*2��Ýé,J�!12。ztK�L���12�。�
� ��>� ��R)��。
– �KBF:��KB,�v>�AK。
������12d":A�
07h ÝN�º�
(Limit�switch�positive)
�����":F/-/-
bD7e2:�[
cTKS�。
� 12KB,_×`(n��J;2,I����ÉÉ/。"l,�v,��p�Q;ÉÉ�
Øö����rs。�
� rsS��"$。�
� rs#K;;(¼H?),�w:&'�FCT���ÅÆW。
– �KBF:12�ÂÄKB。
������12d":A,�B,�C,�E,�F�
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 261
���g� �!
08h ZN�º�
(Limit�switch�negative)
�����":F/-/-
bD7e2:�[
`TKS�。
� 12KB,_×c(n��J;2,I����ÉÉ/。"l,�v,��p�Q;ÉÉ�
Øö����rs。�
� rsS��"$。�
� rs#K;;(¼H?),�w:&'�FCT���ÅÆW。
– �KBF:12�ÂÄKB。
������12d":A,�B,�C,�E,�F�
09h +¥Ú6K�x~
(Offset�determination�for�current�measurement)
�����":F/-/-
bD7e2:��
�Nr"B`R,J�!12。
� ��>�AK。
– �KBF:��KB,�v>�AK。
������12d":A�
0Ah �_ �
(General error)
�����":F/-/-
bD7e2:��
J��!/-/4。
� q:;��。w���J�l/4,h� Festo .1-qs=。
– �KBF:12�ÂÄKB。
������12d":B
0Bh ��&�©ì
(Parameter�file�invalid)
�����":F/-/-
bD7e2:��
�7e�������。¬�~����`,���vÆ,(�:n;#�����??¤�
�{�� 。C)&'�����Nr���,��#AB�����??。
� rs,�u7��.��KB�12。¾`&'����7X���,v�!q�、
������������7'!q�����。à/4ÂÃ7,���7�c
�à。
– �KBF:12�ÂÄKB。
������12d":A�
0Ch ;�íÇ«�23
(Firmware�update�execution�error)
�����":F/-/-
bD7e2:�[
(�Æ,�cV����³。
� rs����PC�.��Ô7%�。 q:;��_����(�Æ,。rs�uc[\���
��(�。�t�(��]^:;,I�(�Æ,���³。w�ÂÃJ��12,��
�7�c�à。
– �KBF:��KB,�v>�AK。
������12d":A�
C bD�/4jd
262 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���g� �!
0Dh (+¥
(Overcurrent)
�����":F/-/-
bD7e2:��
"$、�$�=;"#�\。�
�J,�à。�
"B6=2����12。�
� rs"B6=2�����。"B6=2����12����"Bö;#�aX�\MT
,&V�&'¬÷÷Ö���。���FCT���ÅÆ����rs(��"BMOL)。
� %�`?"\,I�J�12+':�J,�\。�ptL��。
� ���J,:�,��5J12if:"$�(/-)"$"$��\。tL��。�
� �z=;"#]^,��J�12:rs�-=;"#�u�\��"#L�u'µ。
– �KBF:��KB,�v>�AK。
������12d":A�
0Eh +^�I²t�23
(I²t�malfunction�motor)
�����":F/-/-
bD7e2:��
caX"$��I²t�MT。��"$�J;=S������¢�1v|。
� rsJ;=S��;。�
� rs$Òk��u�;ø¦。�
� Uµ`?/;;F�,Z�ù',.。
– �KBF:&d��`���12��KB。
������12d":B,�C�
11h ��N�
(Softwarelimit�positive)
�����":F/-/-
bD7e2:�[
K�"�LaX�¼J�"�>�"�K�。
� rsV� 。�
� rs#Kð。�
� l12��ÂÄKB。�Ø,:;�"�;����Û�4;���;J;2。c(n��
�;�2�。
– �KBF:12�ÂÄKB。
������12d":A,�B,�C,�E,�F�
12h Z��N�
(Softwarelimit�negative)
�����":F/-/-
bD7e2:�[
K�"�LaX�¼J�"�>�"�K�。
� rsV� 。�
� rs#Kð。�
� l12��ÂÄKB。�Ø,:;�"�;����Û�4;���;J;2。`(n��
�;�2�。
– �KBF:12�ÂÄKB。
������12d":A,�B,�C,�E,�F�
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 263
���g� �!
13h Ýd³¬�>
(Positive�direction�locked)
�����":F/-/-
bD7e2:�[
J��TKS�12�>�"�K�12,_��Ø�:;�2�(n��#K。
� rsV� 。�
� rs#Kð。�
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�;�2�。
– �KBF:12�ÂÄKB。
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14h Zd³¬�>
(Negative�direction�locked)
�����":F/-/-
bD7e2:�[
J��!TKS�12��!>�TK12,_J�12`cSN×2��(n��
#K。
� rsV� 。�
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�;�2�。
– �KBF:12�ÂÄKB。
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15h ��iî�(`
(Output�stage�temperature�exceeded)
�����":F/-/-
bD7e2:�[
¼J����J,¹PMTL。�J,��'?。
� À�¹P���ÉÉ/,��KB�!12。�
� rsJ;2�;。�
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– �KBF:&d��`���12��KB。
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16h ��iî�(_
(Output�stage�temperature�too�low)
�����":F/-/-
bD7e2:�[
�ú¹P³����ÉÉ。
� �¬�ú¹P。À�¹P���ÉÉ/,��KB�!12。
– �KBF:&d��`���12��KB。
������12d":A,�B,�C,�D�
17h ab+Ò(`
(Logic�voltage�exceeded)
�����":F/-/-
bD7e2:�[
½¾"b�56r`X'"\。/-�à�"b"\'¬。
� rsI%����-"b。�
� àAK`�ÂÃJ��12,�/-�à��ptL��。
– �KBF:&d��`���12��KB。
������12d":A,�B�
C bD�/4jd
264 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���g� �!
18h ab+Ò(_
(Logic�voltage�too�low)
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bD7e2:�[
½¾"b�56r`X¸"\。/-/4����%���É���'?��\。
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tL��。
– �KBF:��KB,�v>�AK。
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19h LM-CPU�6Ba23
(Real�time�error�LM-CPU)
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bD7e2:�[
LM-CPU��v�;<,.v{�"��v�;<,.。�
� rs����uB,�Â�{!%�。w����,��p�¶��v�%�。���¸
µ�:ÃÚÅÆ�^,¯³��`?。
– �KBF:12�ÂÄKB。
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1Ah >)+V6+Ò(`
(Intermediate�circuit�voltage�exceeded)
�����":F/-/-
bD7e2:��
`?"\����ÉÉ/。�
=;"#'?,�=;�'¬C)GN&d。�
=;"#�à���%�。
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� rs=;"#�%。
– �KBF:&d��`���12��KB。
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1Bh >)+V6+Ò(_
(Intermediate�circuit�voltage�too�low)
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bD7e2:�[
`?"\'³。
� "\¯³�`?:"b@'û,"b�'�,�e'µ?�
� àù�����o³�"\����,h��/4����"�f。
– �"12������,:&d��`���12��KB。
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– �"�f������,:z`?"\ q���ÉÉ/,,�f&�。�
1Ch CAN�Node�Guarding,�FB��´��²
(CAN�Node�Guarding,�FB�has�master�control)
�����":F/-/-
bD7e2:�[
����x.,��=X��:456i�。
� &'�PLC��Ë<Ï�ºx,.��H:,_rs�PLC��u��。�
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"$���u�G、��£��uc%�?J�`IV�,tL��。w�Õ�19�B,
������»cV!�,����7�ù。
– �KBF:&d��`���12��KB。
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C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 265
���g� �!
1Dh CAN�)*��c�^?è,FB�ï´��²
(CAN�bus�comm.�stopped�by�master,�FB�has�
master�control)
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bD7e2:�[
�$c��CAN���&+O¶。�
� rs�$。�
– �KBF:&d��`���12��KB。
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22h · ��
(Homing)
�����":F/-/-
bD7e2:�[
XS���������。�5��"�S�。
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(V�^4�VS^4?)。rsS�����h"$�uD�。�
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– �KBF:12�ÂÄKB。
������12d":B,�C,�E,�F�
23h çð¿"#d`
(No�index�pulse�found)
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bD7e2:�[
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– �KBF:��KB,�v>�AK。
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25h Vñ8\
(Path�calculation)
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bD7e2:�[
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p�"�0。
– �KBF:12�ÂÄKB。
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26h òó�CAN�'()*��
(CAN�fieldbus�parameters�missing)
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bD7e2:�[
���CAN���������~y。
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– �KBF:12�ÂÄKB。
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C bD�/4jd
266 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���g� �!
27h L}��
(Save�parameters)
�����":F/-/-
bD7e2:�[
4'/- >F7e2,J1。
� q���!��。
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– �KBF:12�ÂÄKB。
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28h �<· ��
(Homing�required)
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bD7e2:�[
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– �"�f������,:z�������³,,�f&�。�
29h Z��N�à]6�-��
(Target�position�behind�negative�software�limit)
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– �KBF:12�ÂÄKB。
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2Ah Ý��N�à]6�-��
(Target�position�behind�positive�software�limit)
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2Bh ;�ôi,©ì;�
(Firmware�update,�invalid�firmware)
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bD7e2:�[
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– �"�f������,:z:;q�(��?,,�f&�。�
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 267
���g� �!
2Dh +^�I²t���
(I²t�warning�motor)
�����":-/W/I
bD7e2:�[
caX"$��I²t��fTL。
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2Eh "#d`(G�e�eº�
(Index�pulse�too�close�on�proximity�sensor)
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– �KBF:12�ÂÄKB。
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2Fh ßà3á
(Following�error)
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bD7e2:�[
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– �"�f������,:zd`2a q���ÉÉ/,,�f&�。�
30h ��+$
(Braking�resistor)
�����":F/W/I
bD7e2:��
�%�=;"#。
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�rs。�
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– ������K�f:w�%��!=;"#,��f&�。�
32h FCT�#�,�´��²
(FCT�connection�with�master�control)
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bD7e2:�[
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� hrs%�,w��v���AK。
– �KBF:12�ÂÄKB。
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C bD�/4jd
268 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���g� �!
33h ��i��
(Output�stage�temperature�warning)
�����":-/W/I
bD7e2:�[
�J,¹PƬ。
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� rs"$�Õ��uJ��\。�
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– �"�f������,:z¹P q³��f^ÏL,,�f&�。�
34h õ{��ÐÑ�(STO)
(Safe�Torque�Off�(STO))
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5J“Safe�Torque�Off”kl��h|。
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– �"�f������,:z��5J�STO�h|,,�f&�。�
35h CAN�Node�Guarding,�FB�X�´��²
(CAN�Node�Guarding,�FB�does�not�have�master�
control)
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bD7e2:�[
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"$���u�G、��£��uc%�?
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�ù。
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36h CAN�)*��c�^?è,FB�Xï´��²
(CAN�bus�comm.�stopped�by�master,�FB�does�not
�have�master�control)
�����":-/W/I
bD7e2:�[
CAN��$c���&+O¶。CAN�zt´�������6=H。
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– ������K�f:w�&+ q��,��f&�。�
37h ?^��
(Standstill�monitoring)
�����":-/W/I
bD7e2:�[
MOK�O$Ù%��。������,�Ù%'�ûµ。
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– �"�f������,:zMOK� qK�O$Ù%/�:;�q���,,�f
&�。�
C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 269
���g� �!
38h ��&�,-
(Parameter�file�access)
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39h fg��
(Trace�warning)
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bD7e2:�[
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3Dh ����
(Start-up�event)
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3Eh ��}��
(Diagnostic�memory)
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� hdbD7e2。w��12ÂÃJ�,����p��tL。
– �KBF:12�ÂÄKB。
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3Fh ©ìLö
(Record�invalid)
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c:;����C��。C)�û���� ���D<�C��。
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– �KBF:12�ÂÄKB。
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40h Te6|÷FøX�<
(Last�teaching�not�successful)
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C)�zt;������ý。
� zt�;����p�º��K���D<。
– �"�f������,:z���TEACH�ýI��,�#�ý?I(?I�1)ËLXcV
?I(?I�0),,�f&�。�
41h h���
(System�reset)
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bD7e2:��
r`X!/-(�12。�
� h��Festo��.1-qs=。
– �KBF:12�ÂÄKB。
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C bD�/4jd
270 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
���g� �!
43h FCT�#�,X�´��²
(FCT�connection�without�master�control)
�����":-/W/I
bD7e2:�[
C)%�X�FCT,�w:�""$clþJ。
� hrs%�,w��v���AK。
– �"�f������,:z q%�X�FCT�,,�f&�。�
44h ��&��;�Xù�
(Parameter�file�not�compatible�with�firmware)
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– �"�f������,:z��4'!q�����,,�f&�。�
49h CAN�ë&ú`�¬û,üifg"�
(CAN�message�overflow�or�message�lost)
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\�。
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– �KBF:&d��`���12��KB。
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4Ah õ{��ÐÑ�(STO)�áýa)
(Safe�Torque�Off�(STO)�discrepancy�time�)
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6=+��STO1���STO2�C)B,�&��À�bn�&。
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– �"12������,:12�ÂÄKB。
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– �"�f������,:z��5J�STO�h|,,�f&�。�
4Bh z��23þjKW~���?è
(Interpolated�Positioning�Mode�stopped�while�err
or�occurred�on�control�unit)
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bD7e2:��
CAN-Open��c]^�[]?I,_B,J��!6=12��!%�12。
� rs6=>��Õ�。
– �KBF:12�ÂÄKB。
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4Ch k���O¹
(Value�is�out�of�range)
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bD7e2:�[
C)4'�(L,�"�L�����L8ÉÉ��。
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– �KBF:12�ÂÄKB。
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C bD�/4jd
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 271
���g� �!
4Dh #þ��6�}23
(Bootloader�memory�error)
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� ��(�Æ,。w��12�¾J�,����/7�à。��æ�ptL��。
– �KBF:��KB,�v>�AK。
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4Eh 24�V��.+Ü(:
(Overload�24V�Outputs)
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� rs�STO��%、R)S���&�'��J��Õ�。
– �KBF:&d��`���12��KB。
������12d":A,�B�
4Fh ���g
(System information)
����#":-/-/-
bD7e2:��
5v�E#����=S��。
� �����ú¶bD。
50h EtherCAT�#�,�´��²
(EtherCAT�connection�with�master�control)
�����":F/-/-
bD7e2:�[
�6=2��EtherCAT�%��D。
� hrs%�,w��v���AK。
– �KBF:12�ÂÄKB。
������12d":B,�C,�D,�E,�F,�G
51h EtherCAT�#�,©��²
(EtherCAT�connection�without�master�control)
�����":-/W/I
bD7e2:�[
C)%�X6=2,�w:�""$clþJ。
� hrs%�,w��v���AK。
– �"�f������,:z q%�X6=2,,�f&�。�
C bD�/4jd
272 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
EMCA-EC-...-CO/-EC
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 273
���"#
1
1st input object to be mapped
TxPDO1 239...........................
1st output object to be mapped
RxPDO1 239...........................
1st receive PDO mapping 95, 239........
1st set-point 201, 234.................
1st transmit PDO mapping 97, 239.......
A
Abort connection
option code 145, 232, 243............
Abort SDO transfer request 102.........
Acceleration jerk 184, 234, 244........
Access attribute 228, 238..............
Actual current 119, 232, 242...........
B
Boot-up message 63.....................
C
Calc and copy time 91, 92, 241.........
CAN ,* (CAN-ID) 34.................
CAN ��"� 22........................
CAN-ID 34..............................
COB-ID client -> server (rx) 44, 230...
COB-ID emergency message 58, 229.......
COB-ID server -> client (tx) 44, 230...
COB-ID SYNC 48, 229....................
COB-ID used by RPDO 230................
COB-ID used by TPDO 39, 231............
COB-ID-6019-&' 58................
CoE communication area 239.............
Communication parameter
– RPDO1 36.............................
– RPDO2 36.............................
– RPDO3 36.............................
– RPDO4 36.............................
– TPDO1 39.............................
Communication profile area 229.........
Communication type sync manager 0 240..
Control effort 245.....................
control_effort 235.....................
Controller serial number 117...........
Controlword ...........................
136, 173, 187, 192, 198, 232, 243.....
– �� 137.............................
Current actual value 196, 232, 233, 243
Cycle time 91, 92, 241.................
Cycle time too small 91, 92, 241.......
D
Data Type 236, 238.....................
DC link circuit voltage 197, 243.......
dc_link_circuit_voltage 233............
Deceleration jerk 184, 234, 244........
Delay time 91, 92, 241.................
Device Control 126.....................
Device data 68, 111....................
Device name 239........................
Device type 68, 111, 229, 239..........
Digital inputs 124, 245................
Digital output mask 125, 235, 245......
Digital outputs 124, 125, 245..........
digital_inputs 235.....................
digital_outputs 235....................
Disable operation
option code 146, 232, 243............
Drive catalogue number 118, 235, 245...
Drive data records 119, 232, 242.......
Driving Shaft revolutions 156..........
E
EEPROM command 114, 242................
EEPROM E� 114........................
EINC 153...............................
EMCY 49................................
EMCY message 49........................
EMCY &' 49...........................
Encoder increments 155, 233, 244.......
End velocity 183, 244..................
end_velocity 233.......................
Error register 56, 105, 229, 239.......
Event timer(��;,) 39, 231........
EMCA-EC-...-CO/-EC
274 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
F
Factor Group 153.......................
Feed 156, 234, 244.....................
Feed constant 156, 244.................
feed_constant 234......................
Following error 220....................
Following error actual value 222, 245..
Following error time out 222, 232, 243.
Following error window 221, 243........
following_error_actual_value 235.......
G
Gear ratio 156, 244....................
gear_ratio 233.........................
Get cycle time 91, 92, 241.............
Guard time(56,.) 66, 229.........
H
Halt option code 147, 243..............
Hardware version 239...................
Hardware-Version 112...................
Home offset 163, 233, 243..............
Homing acceleration 172, 244...........
Homing method 163, 234, 244............
Homing mode 159........................
Homing speeds 172, 244.................
homing_acceleration 234................
homing_speeds 234......................
http drive catalogue address 118, 235..
I
I/O and FCT-control 148, 232, 242......
I/O � FCT 6=2 148..................
I2t 56 223, 224......................
Identity object 70, 113, 230, 239......
Inhibit time EMCY
(2�,. EMCY) 58, 229.............
Inhibit time(2�,.) 39, 231.......
Interpolated data record 201, 234......
Interpolation sub mode select 201, 234.
Interpolation
time index 202, 208, 234, 245........
Interpolation time period 202, 208, 245
Interpolation time
period value 202, 208, 234, 245......
interpolation_time_period 234..........
J
jerk(§ü) 184.......................
L
Life time factor(56,.=�) 67, 229
M
Manufacturer device name 68, 111.......
Manufacturer device
name(v���>¿) 229............
Manufacturer hardware version 69, 112..
Manufacturer hardware
version(v�7���) 229.........
Manufacturer software version 69, 112..
Manufacturer software
version(v�>���) 229.........
Manufacturer specific area 242.........
Mapping parameter
– RPDO1 38.............................
– RPDO2 38.............................
– RPDO3 38.............................
– TPDO1 42.............................
Max torque 207, 243....................
max_motor_speed 233....................
Max. current 119, 242, 243.............
Max. motor speed 182, 243..............
Max. position limit 182, 233, 243......
Min cycle time 91, 92, 241.............
Min. position limit 182, 233, 243......
Modes of operation 157, 232, 243.......
Modes of operation display 158, 232, 243
Motion profile type 184, 244...........
motion_profile_type 233................
Motor rated current 120, 243...........
Motor rated torque 243.................
Motor revolutions 155, 156, 233, 244...
Motor type 117, 235, 245...............
motor_rated_current 233................
EMCA-EC-...-CO/-EC
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 275
N
Name 238...............................
Network management 59..................
NMT 59.................................
Node ID 26.............................
Node-ID 34.............................
Nominal current 119, 242...............
nominal_current 232....................
Not ready to switch on 128.............
Number of errors 57, 229...............
O
Object code 237, 238...................
Object dictionary (OD) 226, 236........
Operation enabled 128..................
P
PDO 35.................................
PDO Mapping 238........................
PDO mapping object index
of assigned PDO 240..................
PDO message 35.........................
PDO &' 35............................
PDO -0 228...........................
Physical outputs 125, 235, 245.........
Polarity 154, 233, 243.................
Position actual
internal value 123, 232, 243.........
Position actual value 123, 243.........
Position control function 122..........
Position demand
internal value 186, 235, 245.........
Position demand value 122, 243.........
Position encoder
resolution 155, 233, 244.............
Position window 218, 243...............
Position window time 218, 232, 243.....
Positioning
option code 185, 186, 232, 235, 245..
Power stage temp 119, 232, 242.........
Pre-defined error field 57, 229........
Product code 70, 113, 230, 239.........
Profile acceleration 183, 244..........
Profile area 243.......................
Profile deceleration 183, 244..........
Profile jerk 184, 234, 244.............
Profile position mode 174..............
Profile torque mode 194................
Profile velocity 182, 244..............
Profile velocity mode 189..............
profile_acceleration 233...............
profile_deceleration 233...............
profile_velocity 233...................
Q
Quick stop deceleration 183, 244.......
Quick stop option code 145, 232, 243...
quick_stop_deceleration 233............
Quick-Stop UNP 255..................
R
Ready to switch on 128.................
Remote 148.............................
Restore default parameters 74, 229.....
Restore factory settings 242...........
Revision number 70, 113, 239...........
Revision number(ÁKU�) 230........
RPDO4 Mapping parameter 38.............
RPDOx Communication parameter 230......
RPDOx Mapping parameter 38, 231........
S
Save all parameters 73, 229............
Save object values 242.................
SDO 43.................................
SDO message 43.........................
SDO server parameter 44, 230...........
SDO .12�� 44......................
SDO /4&' 47........................
SDO /4+' 102.......................
SDO &' 43............................
Serial number 70, 113, 230, 239........
Set of set-points 176..................
Shaft revolutions 233, 234, 244........
Shutdown option code 146, 232, 243.....
SINC 153...............................
EMCA-EC-...-CO/-EC
276 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Single set-points 175..................
SM-event missed counter 91, 92, 241....
Software position limit 182, 233, 243..
Software version 239...................
Speed during search for switch 172, 244
Speed during search for zero 172, 244..
speed_during_search_for_switch 234.....
speed_during_search_for_zero 234.......
Standardized profile area 232..........
State Machine 126......................
– Command (cmd) 127....................
– State Transition 127.................
– :; 127.............................
Statusword ............................
140, 148, 173, 188, 193, 198, 243.....
Store parameters 73, 229...............
Supported drive modes 118, 235, 245....
Switch on disabled 128.................
Switched on 128........................
SYNC 48................................
Sync Error 91, 92, 241.................
Sync manager 0 PDO assignment 89.......
Sync manager 1 PDO assignment 89.......
Sync manager 2 PDO assignment 90.......
Sync manager 2 synchronization 91, 241.
Sync manager 3 PDO assignment 90.......
Sync manager 3 synchronization 92, 241.
Sync manager communication type 88, 240
Sync manager PDO 0 assignment 240......
Sync manager PDO 1 assignment 240......
Sync manager PDO 2 assignment 240......
Sync manager PDO 3 assignment 240......
SYNC message 48........................
SYNC &+�( ID 48....................
SYNC &' 48...........................
Synchronization type 91, 92, 241.......
Synchronization types
supported 91, 92, 241................
T
Target position 181, 243...............
Target reached 217.....................
Target torque 195, 233, 243............
Target velocity 191, 245...............
target_position 233....................
target_velocity 235....................
Torque actual value 196, 243...........
Torque demand 233, 243.................
Torque demand value 196................
Torque profile type 197, 244...........
Torque slope 197, 244..................
torque_actual_value 233................
torque_profile_type 233................
torque_slope 233.......................
Touch probe 1
negative edge counter 215, 235, 245..
Touch probe 1
positive edge counter 215, 235, 245..
Touch probe function 210, 213, 234, 244
Touch probe position 1
negative value 214, 234, 244.........
Touch probe position 1
positive value 214, 234, 244.........
Touch probe position 1
source 214, 235, 245.................
Touch probe position
source 214, 235, 245.................
Touch probe status 213, 234, 244.......
TPDO1 Communication parameter 39, 231..
TPDO1 Mapping parameter 231............
Transmission type
(��D<) 36, 39, 230, 231.........
V
Velocity actual value 191, 232, 243....
Velocity demand value 191, 232, 243....
Velocity window 219, 233, 243..........
Velocity window time 219, 233, 243.....
Vendor-ID 70, 113, 239.................
Vendor-ID(þ( ID) 230...............
EMCA-EC-...-CO/-EC
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 277
.
�� 12................................
L
�7bD 255...........................
�
�@�� 73............................
/
���� ��� 12.....................
M
U*2DVN 155.......................
U*2TR 153.........................
�
����() 163.......................
����?I 159.......................
����NP 172.......................
��@
– zt��@ 72.........................
– AB��@ 72.........................
– "�< ��@ 72.....................
K
[L� �^ 201.......................
[L+�,. 202, 208..................
�|, 13............................
�
J�� 72............................
Y
^5I_` 210.........................
^5I_` 1 `L;�2 215.............
^5I_` 1 cL;�2 215.............
^5I_`�� 213.....................
^5I_`K� 1,`L 214..............
^5I_`K� 1,cL 214..............
^5I_`:; 213.....................
^aI_`b 214.......................
2
12 254...............................
¿
XaVK� 217.......................
�
E 1 53 PDO -0 97..................
E 1 �= PDO -0 95..................
V
4�4#K 180.........................
+
"$ 119...............................
"$"B 223...........................
"$M#"B 120.......................
"$M#XY 207.......................
"$<� 117...........................
"B6=2 121.........................
"BMOL 196.........................
"\56 223...........................
~
#6=K?I 187.......................
#K?I 174, 180......................
#KW� 184...........................
#K[� 185, 186......................
�
;[/XY?I 194......................
0
04 F 228...........................
�
PR��=S 149.......................
– ���JQJ;2 151..................
– ���I�J;2 150..................
EMCA-EC-...-CO/-EC
278 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
b
�(
– 1000h 68, 111, 229, 239..............
– 1001h 56, 105, 229, 239..............
– 1003h 57, 229........................
– 1005h 48, 229........................
– 1008h 68, 111, 229, 239..............
– 1009h 69, 112, 229, 239..............
– 100Ah 69, 112, 229, 239..............
– 100Ch 66, 229........................
– 100Dh 67, 229........................
– 1010h 73, 229........................
– 1011h 74, 229........................
– 1014h 58, 229........................
– 1015h 58, 229........................
– 1018h 70, 113, 230, 239..............
– 1200h 44, 230........................
– 1400h 36, 230........................
– 1401h 36, 230........................
– 1402h 36, 230........................
– 1403h 36, 230........................
– 1600h 38, 95, 231, 239...............
– 1601h 38, 231........................
– 1602h 38, 231........................
– 1603h 38, 231........................
– 1800h 39, 231........................
– 1A00h 42, 97, 231, 239...............
– 1C00h 88, 240........................
– 1C10h 89, 240........................
– 1C11h 89, 240........................
– 1C12h 90, 240........................
– 1C13h 90, 240........................
– 1C32h 91, 241........................
– 1C33h 92, 241........................
– 2072h 117, 232.......................
– 207Dh 148, 232, 242..................
– 20F1h 114, 242.......................
– 20F2h 186, 232.......................
– 2178h 196, 232.......................
– 2510h 119, 232, 242..................
– 6007h 145, 232, 243..................
– 6040h ...............................
136, 173, 187, 192, 198, 232, 243.....
– 6041h ...............................
140, 148, 173, 188, 193, 198, 232, 243
– 605Ah 145, 232, 243..................
– 605Bh 146, 232, 243..................
– 605Ch 146, 232, 243..................
– 605Dh 147, 232, 243..................
– 6060h 157, 232, 243..................
– 6061h 158, 232, 243..................
– 6062h 122, 232, 243..................
– 6063h 123, 232, 243..................
– 6064h 123, 232, 243..................
– 6065h 221, 232, 243..................
– 6066h 222, 232, 243..................
– 6067h 218, 232, 243..................
– 6068h 218, 219, 232, 243.............
– 606Bh 191, 232, 243..................
– 606Ch 191, 232, 243..................
– 606Dh 219, 233, 243..................
– 606Eh 219, 233, 243..................
– 6071h 195, 233, 243..................
– 6072h 207, 243.......................
– 6073h 119, 233, 243..................
– 6074h 196, 233, 243..................
– 6075h 120, 233, 243..................
– 6076h 207, 243.......................
– 6077h 196, 233, 243..................
– 6078h 196, 233, 243..................
– 6079h 197, 233, 243..................
– 607Ah 181, 233, 243..................
– 607Ch 163, 233, 243..................
– 607Dh 182, 233, 243..................
– 607Eh 154, 233, 243..................
– 6080h 182, 233, 243..................
– 6081h 182, 233, 244..................
– 6082h 183, 233, 244..................
– 6083h 183, 233, 244..................
– 6084h 183, 233, 244..................
– 6085h 183, 233, 244..................
– 6086h 184, 233, 244..................
– 6087h 197, 233, 244..................
– 6088h 197, 233, 244..................
– 608Fh 155, 233, 244..................
– 6091h 156, 233, 244..................
EMCA-EC-...-CO/-EC
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 279
– 6092h 156, 234, 244..................
– 6098h 163, 234, 244..................
– 6099h 172, 234, 244..................
– 609Ah 172, 234, 244..................
– 60A4h 184, 234, 244..................
– 60B8h 213, 234, 244..................
– 60B9h 213, 234, 244..................
– 60BAh 214, 234, 244..................
– 60BBh 214, 234, 244..................
– 60C0h 201, 234.......................
– 60C1h 201, 234.......................
– 60C2h 202, 208, 234, 245.............
– 60D0h 214, 235, 245..................
– 60D5h 215, 235, 245..................
– 60D6h 215, 235, 245..................
– 60F2h 185, 235, 245..................
– 60F4h 222, 235, 245..................
– 60FAH 123, 235, 245..................
– 60FCh 186, 235, 245..................
– 60FDh 124, 235, 245..................
– 60FEh 125, 235, 245..................
– 60FFh 191, 235, 245..................
– 6402h 117, 235, 245..................
– 6502h 118, 235, 245..................
– 6503h 118, 235, 245..................
– 6505h 118, 235.......................
�(U� 228, 238......................
�(�* 227, 228, 237, 238............
�(>¿ 228, 238......................
�(V^ (OD) 226, 236.................
,
*+E4 238...........................
0
.1 12................................
�
!�?I 157...........................
!�?I!� 158.......................
<
���* 34............................
/493 254...........................
/4672 56, 105.....................
�
�D,�EF 146.......................
[
L<=� 154...........................
�
8AAB���@ 74.....................
¼
MF 154...............................
�
?NP 183.............................
�
56����?I 173....................
56#K?I 188.......................
56;[/XY?I 198...................
56,. 66............................
56,.=� 67........................
56NP?I 193.......................
J
UNO 156.............................
UNP�� 255.........................
�
�%�K 153...........................
�%TR 153...........................
&
:456 65............................
6
�WVR 156...........................
�
�f 254...............................
EMCA-EC-...-CO/-EC
280 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
�
6=����?I 173....................
6=;[/XY?I 198...................
6=2�6= 126.......................
6=2� $� 117.....................
6=2 $� 232.......................
6=H 148.............................
6=NP?I 192.......................
6=& 136, 173, 187, 192, 198.........
±
GNO$EF 145.......................
GNO$ZY 183.......................
#
%��D,�EF 145....................
Q
X4YQ 163...........................
�
VXY 195...........................
V�ý 12............................
VNP 191...........................
VK� 181...........................
�
/-K�M#L 186.....................
/-K�MOL 123.....................
/-+�,. 34........................
Ð
XYM#L 196.........................
XYZ]W� 197.......................
XYW� 197...........................
XYMOL 196.........................
�
:;&' 63............................
J
PNK�MOL 123.....................
�
J;�� 119...........................
J;2�KL� 118.....................
�
>��� 69, 112.......................
>�"�K� 152, 182..................
�
�� ID 70.............................
��6= 126...........................
��� 68, 111.......................
��<� 68, 111.......................
�#!�?I�� 157....................
�
,�( 113...........................
�
�J, 119.............................
�J,S:: 255.......................
�
� D< 226, 228, 236, 238............
�&�J� 124, 125....................
�&�'� 124.........................
H
NP 182...............................
NPÙ% 219...........................
NPM#L 191.........................
NP?I 189, 190......................
NP,.Ù% 219.......................
NPMOL 191.........................
?
O$,�EF 147.......................
O$[��* 232.......................
�
&+�( COB 34........................
EMCA-EC-...-CO/-EC
Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 281
&/��
– RPDO1 36.............................
– RPDO2 36.............................
– RPDO3 36.............................
– RPDO4 36.............................
– TPDO1 39.............................
�
B9932 0 � PDO D� 89.............
B9932 1 � PDO D� 89.............
B9932 2 � PDO D� 90.............
B9932 2 �B9 91..................
B9932 3 � PDO D� 90.............
B9932 3 �B9 92..................
B9932�&+D< 88.................
�
7893 59............................
�
K�Ù% 232...........................
K�H:2 122.........................
K��#L 232.........................
K�6=2�J 123.....................
K�,.Ù% 218.......................
K�MOL 232.........................
K�"�L 122.........................
î
¹P56 223...........................
È
ST 178...............................
�
=�@ 153.............................
E
!�!�?I 158.......................
N
TKS� 152...........................
�
+' 254...............................
�
�ßNP 172...........................
�
�> 228...............................
'
[\[]D<() 201....................
�
�NP 172...........................
Æ
ZY 183...............................
o
-0��
– RPDO1 38.............................
– RPDO2 38.............................
– RPDO3 38.............................
– RPDO4 38.............................
– TPDO1 42.............................
�
7��� 69............................
�
-., 34..............................
5
5# �/48 57......................
¨
H:,2�EF 146....................
�
bD, CiA :;K 258...................
bD7e2 257.........................
bD+' 259...........................
EMCA-EC-...-CO/-EC
282 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��
Ì
U;T= 181...........................
£
@���?I 118.....................
�
=;D\2 223.........................
=� 7H 118........................
=���>¿ 68, 111.................
=�E#�<Ø8 232..................
ß
d`12 220...........................
d`2aÙ% 221, 232..................
d`2a,. 222.......................
d`2aMOL 222.....................
>
�."\"\ 197.......................
Q
"�"# 22............................
K
QN"�L 123.........................
I
:;$ 126.............................
:;W
– �� (cmd) 127.......................
– :; 127.............................
– :;'² 127.........................
:;& 140, 148, 173, 188, 193, 198, 232
n
±ª°U� 228, 238....................
±ª°> 228, 238......................
l
nk¯J 255...........................
T
A�"$QN 182.......................
A�"B 119, 232, 233.................
A�XY 207...........................
A"NP 183...........................
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Copyright:Festo SE & Co. KGRuiter Straße 8273734 Esslingenì�
Phone:+49 711 347-0
Fax:+49 711 347-2144
E-mail:[email protected]
Internet:www.festo.com