Emcs ST
Emcs ST
Emcs ST
Integrated drive
Operating instruc-
tions
8174324
2022-04d
[8174326]
Translation of the original instructions
Drive system
EGSS-BS Mini slide unit Operating instructions
ELGE-TB Toothed belt axis unit Operating instructions
ELGS-BS Spindle axis unit Operating instructions
ELGS-TB Toothed belt axis unit Operating instructions
EPCE-TB Electric cylinder unit Operating instructions
EPCS-BS Electric cylinder unit Operating instructions
ERMS Rotary drive unit Operating instructions
Drive
EGSC Mini slide Operating instructions
ELGR-TB Toothed belt axis Operating instructions
ELGC-BS Spindle axis Operating instructions
ELGC-TB Toothed belt axis Operating instructions
EPCC-BS Electric cylinder Operating instructions
Mounting kit
EAMM Axial and parallel kit Assembly instructions
Accessories (IO-Link)
NEFC-M12G8-0.3-M12G5-LK Adapter Assembly instructions
Tab. 1: Applicable documents for the product
Warning symbol
Warning Meaning
symbol
2 Safety
2.1 Safety instructions
– Only use the product if it is in perfect technical condition.
– Only use the product in its original condition without unauthorised modifications.
– Do not carry out repairs on the product. Replace defective product immediately.
– Observe the identifications on the product.
– Never remove or insert the plug connector while live.
– Operate the product only in an installed condition when all required protective measures have been
taken è EN 60204-1.
– Before working on the product, switch off the power supply and secure it against being switched on
again.
– Store the product in a cool, dry environment protected from UV and corrosion. Keep storage times
short.
3 Additional information
– Contact the regional Festo contact if you have technical problems è www.festo.com.
– Accessories and spare parts è www.festo.com/catalogue.
4 Product overview
4.1 Function
The following components are integrated in the EMCS-ST integrated drive for all product variants:
– Stepper motor for driving the connected actuator technology
– Encoder for detecting the current position
– Electronics for DC link voltage conditioning
– Power stage for actuation of the motor
– Temperature sensors for monitoring the power stage temperature
The integrated drive EMCS-ST has separate connections for the supply of logic and load voltage. The
load voltage (24 V DC) for all product variants must be supplied directly by a PELV fixed power supply.
The logic voltage (24 V DC) is supplied as follows:
– DIO operation (digital I/O): by a PELV fixed power supply
– IO-Link operation: by the IO-Link Master
All product variants can be controlled by digital inputs/outputs (DIO) or IO-Link (LK) at the [Logic]
connection.
Mini slide unit Toothed belt axis unit Spindle axis unit Toothed belt axis unit
EGSS-BS ELGE-TB ELGS-BS ELGS-TB
Tab. 4: Overview of mini slide unit and axis units with integrated drive EMCS-ST
Tab. 5: Overview of the electric cylinder units and rotary drive unit with integrated drive EMCS-ST
6
5
Fig. 3: Product design EMCS-ST (example EMCS-
ST-57 -...)
The function of the three pushbutton actuators / / can be blocked or enabled via the IO-Link
parameter 0x000C.4 ‘Device access lock’.
Speed In
Force
Reference
Start Press
Demo
Speed Out
(default)
Speed In
Force
Reference
M M
(default) Ref
Ref
Ref Ref
Ref
Ref
M M
Ref Ref
Start Press
M
(Ref1 default) Ref
Ref
(Ref2)
M
Ref
Ref
Ref
M
Ref
Ref
M
Ref
Ref1/Ref2
Demo
M
Ref
Ref
M
Ref
Ref
Ref
M
Ref
Ref
M
Ref
The HMI menu structure shows the states of the LED displays for the parameters and the menu
selection, the state transitions between the menu sequences (pushbutton actuator navigation) and
the motions of the drive systems when performing motion tasks.
6 Transport
– Store and transport the product in its original packaging.
– Store the product in areas where it is not exposed to oils, greases and degreasing vapours.
7 Assembly
7.1 Safety
WARNING
Risk of injury due to unexpected movement of components.
The drive can move freely in the voltage-free state. This can cause unexpected movements of the
connected mechanics and crush parts of the body.
• Bring moving parts of the mechanical system into a safe position.
7.3 Installation
• Mount the product è Instruction manual, mounting the corresponding drive.
8 Installation
8.1 Safety
WARNING
Risk of injury due to electric shock.
• For the electrical power supply with extra-low voltages, use only SELV circuits that ensure a reliable
separation from the mains network.
• Observe IEC 60204-1/EN 60204-1.
Laying cables
Comply with general guidelines for EMC-compliant installation, e.g.:
– Do not lay signal cables parallel to power cables.
– Comply with required minimum distances between signal cables and power cables dependent on
the installation conditions. Signal cables must be laid as far away from power cables as possible.
– Do not cross signal cables with power cables or cross them at a 90° angle.
When connecting the functional earth (FE) and the protective earth (PE), follow the specifications of
EN 60204-1.
The connection of the integrated drive EMCS-ST depends on the "DIO operation" (digital inputs/
outputs) or "IO-Link operation" actuation mode and the connection cables (with or without adapter).
1. Connect cables to the [Logic] and [Power] connections of the integrated drive EMCS-ST.
2. Connect cables to the controller or IO-Link master and to the PELV fixed power supply units.
In NPN mode defined levels must be applied to the DI1/DI2 digital inputs of the EMCS, e.g. by
controller outputs with pull-up resistors (4.3 kW recommended).
The diagram shows the electrical connections of the integrated drive EMCS-ST to the load voltage
supply and logic power supply and to the higher-level control (Controller) in DIO mode.
3
1
2
1
3
4
Fig. 8: Wiring diagram: IO-Link operation with adapter, example of port class A
1 PELV fixed power supply for the load 3 IO-Link master with IO-Link interface, port
voltage supply class A and B
2 Integrated drive EMCS-ST 4 Adapter NEFC
In NPN operation defined levels must be present at the digital inputs DI1 / DI2 of the EMCS, e.g. by
controller outputs with pull-up resistors.
Adapter NEFC
Depending on the production date, the NEFC adapter can be used as follows:
• Until 12/2021: for IO-Link masters, port class A.
• From 01/2022: for IO-Link masters, port class A and B.
9 Commissioning
Preparation for initial commissioning or replacement of components:
– Update device data via IO-Link interface
– Update firmware è 10.2.1 Firmware
Preparation:
1. Check the mounting of the drive system.
2. Check wiring of the power supplies and the "DI/DO" digital inputs and outputs at the [Power] and
[Logic] connections.
Procedure:
1. Switch on load voltage.
2. Switch on logic voltage (switch-on delay ≥50 ms required è 10.2.5 Switch-on behaviour).
If the logic voltage is switched on before the load voltage, the EMCS-ST starts with an error that
must be acknowledged.
3. Wait for initialisation until C/Q LED is yellow (L 7 s).
4. Select the reference end position "Ref" from the HMI interface in the ‘Reference’ menu and
start the homing movement with end position detection (only required if the reference end
position "Ref" is different from the factory setting or if the useful range has been changed). The
drive system is referenced after a successful homing.
Homing sets the Start Press "PosStart Press" position equal to the calculated useful range.
5. Parameterise operating modes via HMI interface:
Basic parameters for point-to-point operation with and without press function or manual opera-
tion (demo)
– Velocity ‘Speed Out’
– Velocity ‘Speed In’
additional parameters for point-to-point operation with press function
– Force ‘Force’
– Start Press "PosStart Press" position (reference point end position "Ref")
The EMCS-ST is then ready for operation and the application can be controlled via the "DI/DO" digital
inputs and outputs è 10.3 Operating modes
Prepare commissioning
1. Check the mounting of the drive system.
2. Check the wiring of the power supplies and the IO-Link "C/Q" interface at the [Power] and [Logic]
connections.
3. Download application software, IODD device description file, IOLFW firmware file and IOLFW
parameter set è www.festo.com/sp.
4. Install the application software.
5. Open IODD file in the application software.
Performing commissioning
1. Switch on load voltage.
2. Switch on logic voltage via IO-Link master (≥50 ms switch-on delay required è 10.2.5 Switch-on
behaviour).
If the logic voltage is switched on before the load voltage, the EMCS-ST starts with an error that
must be acknowledged.
3. Wait for initialisation until C/Q LED is yellow (L 7 s).
4. Select the reference end position "Ref" from the IO-Link device data (0x0103.0 ‘Reference’)
and start the homing movement with end position detection (0x0104.0, ‘Execute "Reference"
Movement’)(only required if the "reference end position Ref" is different from the factory setting
or if the useful range has been changed). The drive system is referenced after a successful homing
è 15.2.2 Device data.
Homing sets the "PosImp" intermediate position and the "PosStart Press" start press position equal
to the determined useful range.
5. Parameterise operating modes via IO-Link interface:
Basic parameters for point-to-point operation with and without press function or manual opera-
tion (demo):
– 0x0100.0 velocity ‘Speed In’
– 0x0101.0 velocity ‘Speed Out’
– 0x0106.0, end position "Out" "LimOut" (reference point reference end position "Ref")
– 0x0108.0, intermediate position "PosImp" (reference end position "Ref")(from firmware version
v19.0.4.107_release)
Additional parameters for point-to-point operation with press function.
– 0x0102.0 force ‘Force’
– 0x0105.0 Start Press "PosStart Press" position (reference point end position "Ref")
Ä Then the EMCS-ST is ready for operation and the application can be controlled via the IO-Link
interface "process data 0x0029.1, 0x0029.2 and 0x0029.5" or "system parameter 0x0002"
è 15.2.5 Control point-to-point operation via IO-Link.
10 Drive system
10.1 Dimensions and units
10.1.1 Basic units and user units
The following quantities and units can be read or written via the IO-Link parameters.
Size Unit
Linear drive system Rotary drive system
Length [mm]/[km] −
Angle − [°] as position
[number of revolutions] as
mileage
Velocity [mm/s] [rpm]
Force [N] −
Torque) − [Nm]
Temperature [°C] [°C]
Tab. 18: Sizes and units
Dimension reference system for rotary drive systems (ERMS: view of the rotating plate)
Left reference end position "Ref" Right reference end position "Ref"
Ref Reference end position "Ref" (reference point for LimOut, PosAct, PosImp and PosStart
Press)
10.2 Controller
10.2.1 Firmware
The integrated drive supports the use of different firmware packages, which differ in functionality
and behaviour. If required, the integrated drive can be updated to the latest firmware package using
application software or unified in a system with multiple Simplified Motion Series systems.
The firmware update process varies depending on the firmware version. The current firmware version
of the device can be read via the parameter 0x0017.0 ‘Firmware Revision’. All usable firmware pack-
ages and the necessary device description files are available for download in the Support Portal
è www.festo.com/sp.
With the Festo IO-Link Master CDSU-1 an update of the firmware in the integrated drive can take up
to 30 minutes and must not be interrupted, e.g. by switching off the device or by exiting the software.
This time can vary greatly if other IO-Link masters are used. If the firmware is updated incorrectly or
improperly, the device may become unusable (service required).
All HMI buttons are blocked and all LED indicators flash blue during the firmware update.
The table shows all steps for updating the firmware using the application software of the Festo USB
IO-Link Master CDSU-1 as an example.
Steps for updating the firmware
The integrated drive supports the update of the parameter set after a device replacement. The
parameter set contains the factory settings of the drive system. Drive system-dependent parameters,
such as maximum payload of the mechanism, are determined at the first homing and stored.
The table shows all steps for updating the parameter set using the application software of the Festo
USB IO-Link Master CDSU-1 as an example.
Steps for updating the parameter set
7. Open the IODD file of the drive unit (device description file).
Variants for opening the file:
– Open the ‘File’ tab and run the ‘Open IODDs…’ 1 sub-
menu.
– Via the automatic search 2.1)
– Via the key combination ‘Strg + o’ 3.
– Per ‘Drag-&-Drop’ 4.
11. Initialise end positions "LimIn/LimOut" and reference end position "Ref".
– Open ‘Specialist (User Role)’ 1 tab.
– Open the ‘Parameters’ 2 and ‘System commands’ 3
submenus.
– Execute one of the two ‘Standard Command’:
– Press ‘Execute "Reference" Movement (False)’ 4
(= factory setting).
– Press ‘Execute "Reference" Movement (True)’ 5.
Automatic data backup (‘Backup/Restore’ active) can result in very high data traffic with the IO-Link
Master and should only be activated if required.
The table shows all parameters that are transferred when data storage is executed.
10.2.3.1 Perform data backup ‘Data Storage’ (from firmware version v19.0.4.107_release)
The table shows all steps for executing the ‘Data Storage’ function using the application software of
the Festo USB IO-Link Master CDSU-1 as an example.
Steps for executing the ‘Data Storage’ function
6. Replace device
– Disconnect the connection to the IO-Link Master.
– Disconnect the electrical connections at the integrated
drive.
– The connection to the IO-Link master is interrupted 1.
– Electrically connect the new integrated drive to the IO-
Link Master.
– The connection to the IO-Link Master is automatically
re-established 2.
– After a successful compatibility check of the device ID
"0x0000.0A ... 0C, Device ID1 ... ID3 ", the application
data are automatically transferred to the integrated
drive.
After reset to the factory settings, the drive must be homed è 10.3.2 Homing with end position
determination.
After a reset to the factory settings, the following settings become active, unless the user has changed
them:
– Parameter ‘Speed Out’: level 1 (10% of the maximum value)
– Parameter ‘Speed In’: level 1 (10% of the maximum value)
– Parameter ‘Force’: level 1 (10% of the maximum value)
– Parameter ‘Start Press’: maximum possible value of the relevant mechanism
– Parameter ‘Intermediate Position’: maximum possible value of the relevant mechanism
The logic voltage [Logic] L must be switched on 50 ms after the load voltage [Power] when switching
on the power supplies.
If the logic voltage is switched on before the load voltage, the EMCS-ST starts with an error that must
be acknowledged.
9
Fig. 10: Switch-on behaviour of the EMCS-ST
5
Fig. 12: Switch-off behaviour in the event of load voltage failure
1 Mains Power ON è OFF (230 V AC) 4 Power stage active (position controlled)
2 [Power] Power ON (24 V DC) 5 LED C/Q
3 [Logic] Power ON (24 V DC)
10.2.7 Restart
Function
The restart includes the following functions:
– Acknowledge an error
– Re-initialise the reference end position
– Update the parameter set in the integrated drive è 10.2.2 Parameter set
Acknowledge error
In the HMI, DIO or IO-Link mode, a restart (Reset) acknowledges all errors and deletes them from the
diagnostic memory.
The restart is executed via Power OFF/ON of the logic voltage L+ [Logic, Pin 1].
Additional information on acknowledging errors è 12.2.1 Acknowledge error
An active error message is only deleted from the diagnostic memory if the cause of the error has been
cleared.
Sequence
– MovRef: force-controlled movement against mechanical stop "MechIn"
– MovOut: position-controlled movement to the reference end position "Ref"
– Travel to the target position as a function of the positioning task
– No travel, end position "LimIn" reached
– MovOut: position-controlled movement to the end position LimOut
– MovImp: position-controlled travel to the intermediate position LimImp (IO-Link only)
StartIn positioning task to the end position LimIn
Tab. 27: Initialise restart sequence with reference end position "Ref"
Overview of the positioning tasks with initialisation of the reference end position "Ref"
Overview of the positioning tasks with initialisation of the reference end position "Ref"
Motion tasks for rotary drive systems (ERMS: view of the rotating plate)
Left reference end position "Ref" Right reference end position "Ref"
Motion task StartIn
The display and operating component (HMI) always has higher priority than the control interface
"digital inputs/outputs (DIO)" or "IO-Link (LK)" [Logic].
If the pushbutton actuator lock is released, incoming travel commands are blocked and not executed.
Timing
The diagram shows the automatic transfer of the master control between the "digital inputs/outputs
(DIO)" and "IO-Link (LK)" control interfaces.
Timing
The diagram shows the transfer of the master control between the "Digital inputs/outputs (DIO) or
IO-Link (LK)" control interface and the "Display and control element (HMI)" interface.
1 6 7 8 9 6
10 11 12 13 14
15 16
5 LED display menu ‘Speed Out’, ... 13 Warning active or system not yet homed
LimIn
DIO – 20 ms 20 ms
– DO1/2 = 1/0
IO-Link
– 0x0028.1/2/5
= true/false/false
LimOut
DIO 20 ms – 20 ms
– DO1/2 = 0/1
IO-Link
– 0x0028.1/2/5
= false/true/false
PosImp
DIO 20 ms 20 ms 20 ms
– –
IO-Link
– 0x0028.1/2/5
= false/false/true
Pos.Stop
DIO 20 ms 20 ms 20 ms
– DO1/2 = 0/0
IO-Link
– 0x0028.1/2/5
= false/false/false
PosBreak
DIO 20 ms 20 ms 20 ms
– DO1/2 = 0/0
IO-Link
– 0x0028.1/2/5
= false/false/false
Tab. 29: Activation times for the dynamic status change in an active positioning task
From "active posi- After "stop positioning task or switch off output stage"
tioning task"
Move... Stop (output stage Switch off output stage
active)
DIO DIO –
– DI1/2 = 0/0 – DI1/2 = 1/1
IO-Link IO-Link IO-Link
– 0x0029.1/2/5 – 0x0029.1/2/5 – 0X0002 = 0xCB
= false/false/false ³ 2 x true
– 0X0002 = 0xCA
StartIn
DIO 20 ms 3s 20 ms
– DI1/2 = 1/0
IO-Link
– 0x0029.1/2/5
= true/false/false
– 0X0002 = 0xC8
StartOut
DIO 20 ms 3s 20 ms
– DI1/2 = 0/1
IO-Link
– 0x0029.1/2/5
= false/true/false
– 0X0002 = 0xC9
StartIntermediate
IO-Link 20 ms 3s 20 ms
– 0x0029.1/2/5
= false/false/true
– 0X0002 = 0xD0
Tab. 30: Activation times for the dynamic status change to standstill
Homing of the drive system as a function of the reference end position "Ref"
Homing with rotary drive systems (ERMS: view of the rotating plate)
Left reference end position "Ref" Right reference end position "Ref"
10.3.2.2 Parameter
‘Speed Ref’ ‘Speed Ref’ setpoint velocity for "MovRef" travel (= 10% of 1) 1)
10.3.2.3 Timing
Timing: homing with end position determination to end position LimOut
The diagram shows the status data in HMI and IO-Link operation of the "MovRef" homing from the
"StartRef" command to reaching the "LimOut" end position.
– : position-controlled travel
Simple point-to-point operation1)
Simple point-to-point operation with intermediate position (IO-Link only, from firmware version
v19.0.4.107_release)
1)
Tab. 33: "Single point-to-point operation" sequence
10.3.3.2 Parameter
‘Speed In’ ‘Speed In’ target velocity for the "MovIn" travel ‘Speed In’ 0x0100.0
‘Speed Out’ ‘Speed Out’ target velocity for the "MovOut" travel ‘Speed Out’ 0x0101.0
a+ Target acceleration for all motions 1) 1)
10.3.3.3 Timing
Timing: travel to "LimOut/LimIn" end position
The diagram shows the status data in DIO and IO-Link operation of the "MovOut/MovIn" motion from
the "StartOut/StartIn" command to reaching the "LimOut/LimIn" end position.
Activate positioning task StartIn
– DIO, digital inputs: DI1 "MovIn" = 1 and DI2 "MovOut" = 0
– IO-Link, process data: 0x0029.1 = true, 0x0029.2 and 0x0029.5 = false
IO-Link, system parameter: 0x0002, value = 0xC8 ‘Execute "Move In"’
Activating positioning task StartOut
– DIO, digital inputs: DI2 "MovOut" = 1 and DI1 "MovIn" = 0
– IO-Link, process data: 0x0029.2 = true, 0x0029.1 and 0x0029.5 = false
IO-Link, system parameter: 0x0002, value = 0xC9 ‘Execute "Move Out"’
Timing: travel to "PosImp" intermediate position (example towards "LimOut" end position)
The diagram shows the status data in IO-Link operation of the "MovImp" motion from the "StartImp"
command to reaching the "PosImp" intermediate position.
Activating motion task StartImp
– IO-Link, process data: 0x0029.5 = true, 0x0029.1 and 0x0029.2 = false
IO-Link, system parameter: 0x0002, value = 0xD0 ‘Execute "Move Intermediate"’
Force is controlled and evaluated by closed-loop control of the motor current. A torque level or a linear
force can be determined from the level of current measured depending on the mechanism of the drive.
The target is set as a percentage of the rated motor current and may deviate from the actual force
on the drive unit. If force levels are set low, the influence of friction in the system on the running
behaviour and the actual force on the drive unit must also be taken into account.
– : position-controlled travel
– : force-controlled travel
Point-to-point operation with press function
Point-to-point operation with press function and intermediate position (IO-Link only, from firmware
version v19.0.4.107_release)
10.3.4.2 Parameter
‘Speed In’ ‘Speed In’ target velocity for the "MovIn" travel ‘Speed In’ 0x0100.0
‘Speed Out’ ‘Speed Out’ target velocity for the "MovOut" travel ‘Speed Out’ 0x0101.0
‘Speed ‘Speed Press’ target velocity for the "MovOut" travel from 1) )
10.3.4.3 Timing
Timing: travel to ‘Force’ setpoint value or "LimOut/LimIn" end position
The diagram shows the status data in DIO and IO-Link operation of the "MovOut with press func-
tion/MovIn" motion from the "StartOut/StartIn" command to reaching the "LimOut/LimIn" end position.
Activate positioning task StartIn
– DIO, digital inputs: DI1 "MovIn" = 1 and DI2 "MovOut" = 0
– IO-Link, process data: 0x0029.1 = true, 0x0029.2 and 0x0029.5 = false
IO-Link, system parameter: 0x0002, value = 0xC8 ‘Execute "Move In"’
Timing: travel to "PosImp" intermediate position (example towards "LimOut" end position)
The diagram shows the status data in IO-Link operation of the "MovImp" motion from the "StartImp"
command to reaching the "PosImp" intermediate position in the position or force-controlled range.
Activating motion task StartImp
– IO-Link, process data: 0x0029.5 = true, 0x0029.1 and 0x0029.2 = false
IO-Link, system parameter: 0x0002, value = 0xD0 ‘Execute "Move Intermediate"’
‘Speed In’ ‘Speed In’ target velocity for the "MovIn" travel ‘Speed In’ 0x0100.0
‘Speed Out’ ‘Speed Out’ target velocity for the "MovOut" travel ‘Speed Out’ 0x0101.0
a+ Target acceleration for all motions 1) –
a– Target deceleration for all motions 1) –
LimIn Position of the "LimIn" end position 1) –
LimOut Position of the "LimOut" end position 1) 0x0106.0
1) unchangeable parameter
Tab. 37: Parameters for manual operation (demo)
10.3.5.3 Timing
The diagram shows the status data in DIO and IO-Link operation of the "MovOut/MovIn" demo runs
from the "Start /Start " command to reaching the "LimOut/LimIn" end position.
LED Meaning
– no logic voltage
– Control interface "digital inputs/outputs (DIO) or IO-Link (LK) [Logic]" not
active
off
– Control interface "digital inputs/outputs (DIO) [Logic]" active, drive ready for
DIO operation
(communication between controller and EMCS-ST possible)
green light
– Control interface "IO-Link (LK) [Logic]" active
(communication between IO-Link master and EMCS-ST possible)
flashing green
– Warning active or system not referenced
(The warning can be read out via the IO-Link interface)
yellow light
– Error active
(Errors are displayed via the LED displays menu and parameters or can be
read out via the IO-Link interface)
red light
Tab. 38: LED "C/Q" (communication and device status)
In conjunction with fault diagnostics, the "Menu" LED display is also used to display error codes.
blue flashing
‘Reference’ – ‘Reference’ menu selected
– Drive system referenced
– Homing stopped
blue light
– ‘Reference’ menu activated
– Reference end position configurable
– Start homing with end position determination
blue flashing
‘Start Press’ – ‘Start Press’ menu selected
blue light
– ‘Start Press’ menu activated
– Start ‘Start Press’ travel
blue flashing
‘Demo’ – ‘Demo’ menu selected
blue light
– ‘Demo’ menu activated
– Start ‘Demo’ travel
blue flashing
Tab. 39: "Menu" LED display
Restart: X X X
– Logic voltage L+, Power OFF/ON [Logic, Pin 1]
HMI (from firmware version v19.0.4.107_release): X – –
– Press and hold for 3 s
DIO, digital inputs (from firmware version – X –
v19.0.4.107_release):
– DI1 "MovIn" = 1 [Logic, Pin 5]
DI2 "MovOut" = 1 [Logic, Pin 6]
The error that occurred first is always displayed at the LED displays on the HMI.
Information1)
z Waiting for motion task to z 0x8CA0
initialise the reference end
position yellow
z Motion to initialise the ref- light 0x8CA1
erence end position is exe-
cuted
Warning
z Invalid value for "Start z z 0x8CA2
Press" position)
z Invalid value for Limout end z 0x8CA3
position)
z I2t monitoring power stage 0x8CA4
warning)
z Warning threshold: tempera- yellow 0x4210
ture in device too high2) light2)
12.3 Repair
Repair or maintenance of the product is not permissible.
– Replace with an identical product è www.festo.com/spareparts.
13 Replacement
The following components can be replaced è www.festo.com/spareparts in the Simplified Motion
Series drive systems.
Drive systems Spare part
Simplified Motion Series Drive system Drive Motors with integrated
controller
Mini slide unit EGSS-BS z Mini slide EGSC Integrated drive EMCS-ST
Toothed belt axis unit z Toothed belt axis Integrated drive EMCS-ST
ELGE-TB ELGR-TB
Spindle axis unit ELGS-BS z Spindle axis Integrated drive EMCS-ST
ELGC-BS
Toothed belt axis unit z Toothed belt axis Integrated drive EMCS-ST
ELGS-TB ELGC-TB
Electric cylinder unit Electric cylinder unit z z
EPCE-TB EPCE-TB
Electric cylinder unit z Electric cylinder Integrated drive EMCS-ST
EPCS-BS EPCC
Rotary drive unit ERMS Rotary drive unit z z
ERMS
Tab. 43: Overview of spare parts
Replacing drive system EGSS-BS, ELGE-TB, ELGS-BS, ELGS-TB, EPCE-TB, EPCS-BS or ERMS
Additional information è Instruction manual of the drive system
Replacing integrated drive EMCS-YE-ST/EMCS-YY-ST
1. Save the application parameters to the IO-Link master è 10.2.3 Data backup ‘Data Storage’
2. Demount the defective integrated drive EMCS è 14 Demounting
3. Mount the new integrated drive EMCS è 1.1 Applicable documents
4. Connect the integrated drive EMCS è 8 Installation
5. Commission the drive system è 9 Commissioning
6. Update the parameter set (only required for EMCS-YY-ST) è 10.2.2 Parameter set
7. Update the firmware (optional) è 10.2.1 Firmware
8. Download the application parameters from the IO-Link master è 10.2.3 Data backup ‘Data
Storage’
Replacing drive EGSC, ELGC-BS, ELGC-TB, ELGR-TB or EPCC-BS
1. Save the application parameters to the IO-Link master è 10.2.3 Data backup ‘Data Storage’
2. Demount the drive system è 14 Demounting
3. Remove the defective drive è 14 Demounting
4. Mount the new drive è 1.1 Applicable documents
5. Mount the drive system è 1.1 Applicable documents
6. Connect the integrated drive EMCS è 8 Installation
7. Commission the drive system è 9 Commissioning
8. Update the parameter set (only required for EMCS-YY-ST) è 10.2.2 Parameter set
9. Update the firmware (optional) è 10.2.1 Firmware
10. Download and install the application software of the IO-Link master è 10.2.3 Data backup ‘Data
Storage’
14 Demounting
WARNING
Unexpected movement of components.
Injury due to impacts or crushing.
• Before working on the product, switch off the control and secure it to prevent it from being switched
back on accidentally.
WARNING
Risk of Injury due to Unexpected Movement of Components
For vertical or slanted mounting position: when power is off, moving parts can travel or fall uncon-
trolled into the lower end position.
• Bring moving parts of the product into a safe end position or secure them against falling.
15 IO-Link
15.1 Device description file IODD
The boot time of the integrated drive EMCS-ST is 7 s (deviation from the IO-Link specification)
Depending on the drive system, device description files (IODD files) are available for configuring the
integrated drive EMCS-ST in IO-Link operation.
Drive system IODD file name
Linear
EGSS-BS Mini slide unit Festo-EGSS-BS-...-IODD1.1.xml
ELGE-TB Toothed belt axis unit Festo-ELGE-TB-...-IODD1.1.xml
ELGS-BS Spindle axis unit Festo-ELGS-BS-...-IODD1.1.xml
ELGS-TB Toothed belt axis unit Festo-ELGS-TB-...-IODD1.1.xml
EPCE-TB Electric cylinder unit Festo-EPCE-TB -...- IODD1.1.xml
EPCS-BS Electric cylinder unit Festo-EPCS-BS -...- IODD1.1.xml
Rotary
ERMS Rotary drive unit Fixed ERMS-...-IODD1.1.xml
Tab. 44: Device description file IODD
The current device description files are available on the Festo Support Portal è www.festo.com/sp.
0x0029.3 ‘Quit Error’ Control command for acknowl- BooleanT R/W R/W R/W
(41.3) edging errors (1 bit)
– true: start error acknowledge-
ment
– false: do not start error
acknowledgement
0x0029.5 ‘Move "Inter- Control command for exe- BooleanT R/W R/W R/W
(41.5) mediate"’ cuting the movement "MovImp" (1 bit)
to the intermediate position
"PosImp" (from FW version
v19.0.4.107_release)
– The control command only
works in combination with the
bits
– 0x0029.1: move "In"
– 0x0029.2: move "Out"
è 15.2.5 Control point-to-
point operation via IO-Link.
1) R/W = read and write, R = read only, W = write only
Tab. 47: Process data
‘ProcessDataInput’ Bit
15 ... 5 41) 3 2 1 0
‘ProcessDataOut- Bit
put’ 15 ... 5 41) 3 2 1 0
Stop motion
false false false ‘Stop motion’ Control command for stopping travel.
0xCA – The power stage remains active.
(202) – The drive decelerates to standstill.
– The drive remains at position-con-
trolled standstill.
Execute movement
false true false ‘Execute "MoveOut"’ Control command for executing the
0xC9 motion "MovOut".
(201) – The drive moves towards the "LimOut"
end position under position control.
– In point-to-point operation with press
function the drive travels from the
“Start Press” position to the “LimOut”
end position under force control.
– After a restart, the "Ref" reference end
position is re-initialised first.
true false false ‘Execute "MoveIn"’ Control command for executing the
0xC8 motion "MovIn".
(200) – The drive moves towards the
"LimIn(Ref )" end position under posi-
tion control.
– After a restart, the "Ref" reference end
position is re-initialised first.
false false true ‘Execute "MoveInter- Control command for executing the
mediate"’ movement "MovImp" (from firmware ver-
0xD0 sion v19.0.4.107_release)
(208) – The drive moves position-controlled in
the direction of the intermediate posi-
tion "PosImp".
– In point-to-point operation with press
function, the drive travels from the
"Start Press" position to the inter-
mediate position "PosImp.
– After a restart, the "Ref" reference end
position is re-initialised first.
Interrupt movement, switch off output stage, acknowledge error
true true false ‘Disable power stage’ – Control command for switching off the
false true true 0xCB power stage.
(203) – The power stage is switched off
true false true
after 3 s.
true true true – The drive coasts to a standstill.
– At standstill, the drive remains
stopped unregulated.
– Control command for acknowledging
errors (only with 0x0029.1 / 2/5 =
true / true / any)
– The error is automatically deleted
from the diagnostic memory on
acknowledgement.
1) From firmware version v19.0.4.107_release
Tab. 51: Control data via IO-Link
0x0028.5
false false false – The drive is not in one of the two end positions "LimIn (Ref )/
LimOut" or in the "PosImp" intermediate position.
true false false – The drive is in the "LimIn (Ref )" end position.
false true false – The drive is in the "LimOut" end position.
– The drive has reached the parameterised force "Force" or
the end positions "LimOut" in the force-controlled range of
point-to-point operation with press function.
false false true – The drive is in the intermediate position PosImp" (from firm-
ware version v19.0.4.107_release)
true true any – critical error è 12.2.2 Diagnostic messages and fault clear-
ance.
1) From firmware version v19.0.4.107_release
Tab. 52: Status data via IO-Link
16 Technical data
16.1 Technical data, general
Type EMCS-ST-42-... EMCS-ST-57-...
Vibration load
Frequency range [Hz] Acceleration [m/s2] Deflection [mm]
SL1 SL2 SL1 SL2 SL1 SL2
2…8 2…8 – – ±3.5 ±3.5
8 … 27 8 … 27 10 10 – –
27 … 58 27 … 60 – – ±0.15 ±0.35
58 … 160 60 … 160 20 50 – –
160 … 200 160 … 200 10 10 – –
Shock load
Acceleration [m/s2] Duration [ms] Shocks per direction
SL1 SL2 SL1 SL2 SL1 SL2
±150 ±300 11 11 5 5
Fig. 32: Working ranges of the digital inputs (DI) for PNP
16.2.4 IO-Link
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