EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo –...

284
p 熗☢CiA 402 ⑇: CANopen EtherCAT 8081117 2017-11c [8081125] EMCA-EC-...-CO/-EC 成式动器

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

������:

– CANopen

– EtherCAT

8081117

2017-11c

[8081125]

EMCA-EC-...-CO/-EC

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� – 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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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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EMCA-EC-...-CO/-EC

Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 11

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...................................................................

Page 12: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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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。

./

������������:

'()* ./

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=�。

Page 13: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 13

2�3

t{��<�tu�v�wx�+'������“m���%�f�IJ;2”,

EMCA-EC-SY-...

Page 14: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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14 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��

2&�

��|�vL:;�}�����������www.festo.com/pk。

��V�~y�z�{�����:

45 �

uv��

EMCA-EC-...

���9�w�uv��h�����

T�

EMCA-EC-SY-...

EMCA-EC-DIO-...

��h�����

– k�

– kk(�xD�)

– J;2��

– HI ���

– /4+'

– op�

T�

EMCA-EC-S1-...

kl��“kl�DXY”(Safe�Torque�Off/STO)�����

T�

EMCA-EC-C-HP-...

�������FHPP�(Festo�Handling�and�Positioning�Profile)�

����

T�

EMCA-EC-C-CO-...

�������CiA�402�����

>��FCT��y�=S

(PlugIn�EMCA����

+')

Festo���!q�(FCT)�����,���HI�����

����

EMCA-EC_UL-...

��|���v|��z��?}��Underwriters�Laboratories�Inc.�

(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

Page 15: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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��%

Page 16: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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

STO21)

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�

Page 17: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

1 ���%

Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 17

1.3 �:��(��/;�)

FCT���

www.festo.com/sp PC

Festo������

(FCT)

;�

EMCA

���

����

FCT:

7z

FCT:

�d

7z

X2/X3

6=�%

�7/

��/FCT:�'

�7/��

�7/��

X11)

FCT:�?

FCT:��

FCT:Hy

�7/��

�7/��

�?

��&+C�:

– CiA402

FCT:�@

��

[���

(���

kk

kk/tq

7z���(.ZIP)

6=� 93

EDS���:

– CANopen

ESI���:

– EtherCAT

Omron

– Sysmac

Beckhoff

– TwinCAT3

(���

���

FCT:

(��?

<��=

�����

1) �����%

Fig. 1.4 %C:� �%(��/(�)

Page 18: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

2 CANopen

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

Page 19: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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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�

Page 20: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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

Page 21: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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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��。

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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����"�

Page 23: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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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��+'���。

Page 24: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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��$

���7�6=2 :`���,�l����'�CAN���78(�%�[X2/X3]�S)��19�

.��Festo�Configuration�Tool�(FCT)���HI。

����Festo�Configuration�Tool�(FCT)���HI���h����PlugIn�EMCA���FCT��

�+'。

Page 25: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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

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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。

Page 27: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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���=�@

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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

_`a)

5 ms h���+�,./�� EMCA �� ���3。

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2 CANopen

Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 29

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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)

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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)

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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

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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。

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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¬

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�&'。

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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��(

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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

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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�"�)

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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

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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:

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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

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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

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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…

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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���

�� ���。

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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����

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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�。

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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�。

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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�*

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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

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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��(

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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

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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�&'

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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。

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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。

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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。

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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&'

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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

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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:

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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

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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�&'

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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��(

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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�:;$

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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>。

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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

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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

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3 CANopen &+

Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 65

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

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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

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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

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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:

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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

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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:

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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-...

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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�"�< ��@�。

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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。

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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。

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3 CANopen &+

Festo – EMCA-EC-C-CO-ZH – 2017-11c – �� 75

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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�

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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

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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�

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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��。

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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

Mail

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

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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

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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 &:�

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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�����

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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�:;$

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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�:;$��¤:;

Page 86: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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

Page 87: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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&+���

Page 88: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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

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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

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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

Page 91: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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

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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

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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

Page 94: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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��(

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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

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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

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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

Page 98: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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

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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

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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)。

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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)。

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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�

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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�*

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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

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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

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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

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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

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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

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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+'

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4 EtherCAT

110 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��

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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

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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

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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

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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。

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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)。

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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。

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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:

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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:

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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:

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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:

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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�。

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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:

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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

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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�'�

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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)

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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。

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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)。

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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��:;

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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。

Page 130: EMCA-EC-C-CO BES E 2017-11c 8081125z1 · 2020. 3. 29. · EMCA-EC-...-CO/-EC 6 Festo – EMCA-EC-C-CO-ZH – 2017-11c – 4.8 FG&+..... 99 4.8.1 SDO&+..... 99 4.8.2 SDO03E(SDOupload)

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���:;$

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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,�:;$

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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���

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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����?�����。

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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�。�

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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

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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

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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

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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�。

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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

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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:;。

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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��:;

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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。

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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]^。

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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

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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

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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

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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

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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

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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$。

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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

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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

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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+'。

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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�"}"�)

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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

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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]

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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:

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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。

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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)��#。

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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�。

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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��(

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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������

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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�����

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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

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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 ����()

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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°

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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。

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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�����

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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�

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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�

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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�

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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�

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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

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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����

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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

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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

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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��

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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

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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。

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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��(

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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

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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

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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

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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

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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

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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)

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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

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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)

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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

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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��(

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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

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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

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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

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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

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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��(

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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

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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

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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

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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

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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

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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��(

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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

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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。

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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。

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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。

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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

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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=

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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

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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。

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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。

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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��(

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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!��

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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

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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

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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

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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

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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 +'

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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”+'��(

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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

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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

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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��(

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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

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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

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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��

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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。

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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

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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

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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

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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�!�

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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

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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 –

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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

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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

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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 –

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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 –

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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

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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

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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

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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�!�

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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 –

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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 –

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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

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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

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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

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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

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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

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B CoE�–�Object�dictionary�(OD)

246 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��

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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

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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]^

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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

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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

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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

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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

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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

ô���� 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

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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"

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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[�

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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

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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。

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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)

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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"(�����)

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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�

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C bD�/4jd

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���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。

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CAN�i�7e2c�,�",�w:����7�'<�C)�i����3。���¥R�

\�。

� �$�+�,.Z�。

– �KBF:&d��`���12��KB。

������12d":B,�C,�E,�F�

4Ah õ{��ÐÑ�(STO)�áýa)

(Safe�Torque�Off�(STO)�discrepancy�time�)

�����":F/W/I

bD7e2:�[

6=+��STO1���STO2�C)B,�&��À�bn�&。

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– �"12������,:12�ÂÄKB。

������12d":0

– �"�f������,:z��5J�STO�h|,,�f&�。�

4Bh z��23þjKW~���?è

(Interpolated�Positioning�Mode�stopped�while�err

or�occurred�on�control�unit)

�����":F/-/-

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� rs6=>��Õ�。

– �KBF:12�ÂÄKB。

������12d":B�

4Ch k���O¹

(Value�is�out�of�range)

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� �ç���L8` q4'�(。

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���g� �!

4Dh #þ��6�}23

(Bootloader�memory�error)

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bD7e2:��

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� ��(�Æ,。w��12�¾J�,����/7�à。��æ�ptL��。

– �KBF:��KB,�v>�AK。

������12d":A�

4Eh 24�V��.+Ü(:

(Overload�24V�Outputs)

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� rs�STO��%、R)S���&�'��J��Õ�。

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4Fh ���g

(System information)

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� �����ú¶bD。

50h EtherCAT�#�,�´��²

(EtherCAT�connection�with�master�control)

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� hrs%�,w��v���AK。

– �KBF:12�ÂÄKB。

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272 Festo – EMCA-EC-C-CO-ZH – 2017-11c – ��

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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........

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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................

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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...............................

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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...............

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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..................

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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..................

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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...............................

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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....................

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