Festo 8061196 Operating Instructions Manual

Marca: Festo

Modello: 8061196

Tipo: Operating Instructions Manual

8127157

EMCA-EC-67-...-DIO

Integrated drive

8127157

2020-03d

[8127159]

Operating instructions

Translation of the original instructions

2 Festo — EMCA-EC-67-...-DIO — 2020-03d

3Festo — EMCA-EC-67-...-DIO — 2020-03d

1 Introduction................................................................................................................. 7

2 Safety and requirements for product use.................................................................... 10

2.1 Safety............................................................................................................................ 10

2.1.1 General safety instructions..................................................................................... 10

2.1.2 Intended use...........................................................................................................11

2.2 Requirements for product use...................................................................................... 11

2.2.1 Transport and storage conditions........................................................................... 11

2.2.2 Technical prerequisites...........................................................................................12

2.2.3 Training of qualified personnel............................................................................... 12

2.2.4 Product conformity and approvals.......................................................................... 12

3 Product description..................................................................................................... 13

3.1 Product overview.......................................................................................................... 13

3.1.1 General features of the product.............................................................................. 14

3.1.2 Scope of delivery.................................................................................................... 15

3.1.3 System structure.....................................................................................................16

3.2 Software for configuration and commissioning............................................................ 17

3.2.1 FCT (Festo Configuration Tool)................................................................................ 17

3.2.2 Web server..............................................................................................................17

3.3 Connections and display components.......................................................................... 18

3.4 Drive functions............................................................................................................. 19

3.4.1 Dimension reference system...................................................................................20

3.4.2 Homing................................................................................................................... 23

3.4.3 Jog Mode.................................................................................................................31

3.4.4 Teach-in mode........................................................................................................ 33

3.4.5 Positioning mode....................................................................................................33

3.4.6 Velocity mode......................................................................................................... 36

3.4.7 Force/torque mode.................................................................................................40

3.4.8 Stop (halt), Quick-Stop........................................................................................... 42

3.4.9 Holding brake (only EMCA-EC-...-...-B).....................................................................43

3.5 Operational principle for record selection..................................................................... 44

3.5.1 Record switching.................................................................................................... 45

3.5.2 Record sequencing................................................................................................. 47

3.6 Monitoring of the drive behaviour................................................................................ 48

3.6.1 Messages................................................................................................................48

3.6.2 Comparators........................................................................................................... 51

3.6.3 Protective functions................................................................................................54

3.6.4 Error management.................................................................................................. 54

3.6.5 Diagnostic memory................................................................................................. 56

3.7 Interfaces..................................................................................................................... 56

3.7.1 Ethernet interface [X1]............................................................................................ 56

Table of contents

3.7.2 STO interface [X6].................................................................................................. 58

3.7.3 Functions of the base inputs/outputs.................................................................... 58

3.7.4 Functions of the additional inputs/outputs............................................................ 64

3.8 Control via the I/O interface.......................................................................................... 68

3.8.1 Establishing the ready status................................................................................. 68

3.8.2 Set mode for the I/O interface............................................................................... 68

3.8.3 Enabling and disabling the closed-loop controller................................................. 69

3.8.4 Acknowledge errors............................................................................................... 70

3.8.5 Execute homing..................................................................................................... 71

3.8.6 Jog, teach (mode 1)................................................................................................ 72

3.8.7 Start record (mode 0)............................................................................................. 73

3.8.8 Start, stop and continue record (mode 0).............................................................. 75

3.8.9 Start and stop record, delete remaining path (mode 0)...........................................76

3.8.10 Record switching................................................................................................... 77

3.8.11 Release holding brake (only EMCA-EC-...-...-B)....................................................... 77

4 Assembly......................................................................................................................78

4.1 Dimensions....................................................................................................................78

4.2 Performing mounting.....................................................................................................79

5 Installation...................................................................................................................81

5.1 Safety instructions.........................................................................................................81

5.2 EMC-compliant wiring....................................................................................................82

5.3 Ethernet interface [X1]................................................................................................... 82

5.4 Connection of plugs [X4] ... [X10]................................................................................... 84

5.4.1 Power supply [X4].................................................................................................. 87

5.4.2 Braking resistor [X5]............................................................................................... 89

5.4.3 STO interface [X6].................................................................................................. 90

5.4.4 Limit or reference switch [X7], [X8]......................................................................... 91

5.4.5 I/O interface [X9].................................................................................................... 92

5.4.6 External battery [X10]............................................................................................. 94

5.5 Requirements for ensuring IP degree of protection....................................................... 94

6 Commissioning.............................................................................................................95

6.1 Notes on commissioning............................................................................................... 95

6.2 FCT (Festo Configuration Tool).......................................................................................95

6.2.1 Installing FCT......................................................................................................... 95

6.2.2 Starting FCT........................................................................................................... 96

6.2.3 Notes on commissioning with FCT.......................................................................... 96

6.3 Network connection via Ethernet...................................................................................97

6.3.1 Displaying or changing network configuration....................................................... 99

6.3.2 Security in the network.......................................................................................... 99

6.4 Master control............................................................................................................... 100

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6.5 Online connection with the web server......................................................................... 102

6.6 Commissioning steps................................................................................................... 103

6.6.1 Configuration and parameterisation....................................................................... 103

6.6.2 Checking STO function............................................................................................104

6.6.3 Checking signal characteristics of the limit and reference switches........................ 104

6.6.4 Providing required signals (digital I/Os)................................................................. 104

6.6.5 Checking direction of rotation/travel direction....................................................... 106

6.6.6 Execute homing...................................................................................................... 107

6.6.7 Testing positioning behaviour (test mode)............................................................. 107

6.6.8 Optimising controller setting (optional).................................................................. 107

6.6.9 Completing commissioning.....................................................................................107

6.7 Saving or loading parameter file................................................................................... 108

6.8 Instructions for operation............................................................................................. 108

6.8.1 Maximum write cycles of the flash memory............................................................ 109

7 Diagnostics and fault clearance.................................................................................. 109

7.1 Access to the diagnostic memory................................................................................. 110

7.2 Diagnostics via LEDs..................................................................................................... 111

7.2.1 Behaviour during the switch-on phase....................................................................111

7.2.2 Behaviour in the operating phase........................................................................... 112

7.2.3 Identification sequence active................................................................................ 112

7.2.4 Behaviour with errors in the firmware update phase.............................................. 112

7.3 Diagnostic messages, causes and remedies................................................................. 112

7.3.1 Explanations for the diagnostic messages.............................................................. 112

7.3.2 Diagnostic messages with information for fault clearance...................................... 114

7.4 Problems with the Ethernet connection........................................................................ 129

7.5 Other problems and remedies...................................................................................... 130

8 Maintenance, care, repair and replacement................................................................ 130

8.1 Maintenance and care.................................................................................................. 130

8.2 Disassembly................................................................................................................. 131

8.3 Repair............................................................................................................................132

8.4 Replacement and disposal............................................................................................ 132

8.4.1 Disposal..................................................................................................................132

9 Technical appendix..................................................................................................... 132

9.1 Technical data.............................................................................................................. 132

9.1.1 General technical data............................................................................................ 132

9.1.2 Product conformity and approvals.......................................................................... 133

9.1.3 Mechanical data......................................................................................................133

9.1.4 Operating and ambient conditions..........................................................................133

9.1.5 Data for the integrated motor................................................................................. 135

9.1.6 Data for the integrated rotor position encoder........................................................135

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9.1.7 Holding brake (only EMCA-EC-...-...-B).................................................................... 136

9.1.8 Ethernet interface [X1]........................................................................................... 136

9.1.9 Power supply [X4].................................................................................................. 136

9.1.10 Braking resistor [X5]............................................................................................... 137

9.1.11 STO interface [X6].................................................................................................. 137

9.1.12 Reference or limit switch [X7], [X8]......................................................................... 137

9.1.13 I/O interface [X9].................................................................................................... 137

9.1.14 Connection for external battery [X10] (only EMCA-EC-67-...-1TM)........................... 138

9.1.15 Materials................................................................................................................ 139

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7Festo — EMCA-EC-67-...-DIO — 2020-03d

1 Introduction

Notes regarding this documentation

This documentation (EMCA-EC-DIO-…) describes the functions, commissioning and error messages of

the integrated drive EMCA.

Target group

This documentation is intended exclusively for technicians trained in control and automation techno-

logy who have experience in installation, commissioning, parameterisation, programming and dia-

gnostics of electrical drive systems.

Product identification

The product is available in various designs. The order code indicates the equipment features (see

product labelling). This documentation describes the following product variants:

Characteristic Order code Type

Integrated drive EMCA- motor with controller, seriesA

Motor technology EC- EC motor

Flange size, motors 67- 67mm

M- mediumSize (with reference to the overall length

of the motor)

S- short

Nominal operating voltage 1 24 V DC

Electrical connection T Terminal box

I Single-turn absolute encoderMeasuring unit

W Multi-turn absolute measurement system

- without holding brakeBrake

B- with holding brake

Control DIO digital I/O interface

- Standard (IP54)IP protection

S1 IP65

Tab. 1 Product labelling (e.g. EMCA-EC-67-M-1TEB-DIO)

Introduction

Product labelling – example Meaning Example

Order code EMCA-EC-67-S-1TE-DIO

Part number 8061196

Serial number FN98

Product key 123456789…

Nominal rotary speed n

[rpm] 3100

Nominal torque M

[Nm] 0.37

Nominal voltage U

[V DC] 24

Nominal current I

[A] 5.7

123456789...

: 3100 rpm

: 0,37 Nm

EMCA-EC-67-S-1TE-DIO

8061196 FN98

: 24 V DC

: 5,7 A

IP54

Degree of protection IP54

Tab. 2 Product labelling – EMCA-EC-67-S-1TE-DIO as example

All available documents for the product èwww.festo.com/sp.

Versions

For current versions of the firmware, FCT software and user documentation for the product

èwww.festo.com/sp

This document refers to the following versions:

• EMCA with an order code specified in Tab. 1 Revision 1.0.0 or later

• Firmware version 1.2.0 or later

• FCT plug-in EMCA Version 1.2.0 or later

The Product Key for the product can be used as a search term in the Festo Support Portal to find the

revision of the device (èwww.festo.com/sp)

Before starting to use a new firmware version, check whether a newer version of the FCT plug-in and

new user documentation are available èwww.festo.com/sp.

Service

Consult the regional Festo contact if you have technical problems.

Manufacturing period

In the product labelling, the first 2characters of the serial number indicate the manufacturing date in

encrypted form (Tab. è Product labelling – EMCA-EC-67-S-1TE-DIO as example). The letter specifies

the year of manufacture period the character following it (number or letter) the month of manufacture.

Introduction

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Manufacturing year

X = 2009 A = 2010 B = 2011 C = 2012 D = 2013 E = 2014 F = 2015

H = 2016 J = 2017 K = 2018 L = 2019 M = 2020 N = 2021 P = 2022

R = 2023 S = 2024 T = 2025 U = 2026 V = 2027 W = 2028 X = 2029

Tab. 3 Year of manufacture (20-year cycle)

Manufacturing month

1 January 2 February 3 March

4 April 5 May 6 June

7 July 8 August 9 September

O October N November D December

Tab. 4 Manufacturing month

Documentation on the product

The complete documentation for the product includes the following documents:

Identifier Contents

Short documentation

EMCA-…

Brief device and functional description for initial information

Manual

EMCA-EC-DIO-…

Device and functional description

– Assembly

– Installation (pin allocations)

– Drive functions

– Commissioning information

– Error messages

– Technical data

Manual

EMCA-EC-S1-…

Description of the safety function “safe torque off” (Safe torque

off/STO)

Manual

EMCA-EC-C-HP-…

Description of device profile FHPP (Festo Handling and Positioning

Profile)

Help system for the FCT soft-

ware

(Help for the EMCA plug-in)

Online help for the Festo Configuration Tool (FCT) for commission-

ing and parameterisation

Special documentation

EMCA-EC_UL-…

Requirements for operating the product in the USA and Canada in

accordance with certification by Underwriters Laboratories Inc.

(UL)

Tab. 5 Documentation on the product

Introduction

9Festo — EMCA-EC-67-...-DIO — 2020-03d

Further information for the product is available at the Festo Support Portal (èwww.festo.com/sp).

• Operating instructions for Festo configurable electromechanical drives

• Certificates, declaration of conformity

Overview of accessories (catalogue) èwww.festo.com/catalogue

2 Safety and requirements for product use

2.1 Safety

2.1.1 General safety instructions

– Always observe the safety instructions and warnings in the documentation of the product and the

other components.

– Before mounting and installation work, switch off supply voltage and secure it against being

switched on again. Do not switch on the supply voltage until mounting and installation work is

complete.

– Never remove or insert a plug when the motor controller is powered.

– Observe the handling specifications for electrostatically sensitive devices.

– Do not enable the closed-loop controller until the drive has been professionally installed and fully

parameterised.

– Do not carry out repairs on the device. If it is defective, replace the device.

– Do not loosen any screws except for the 4 screws on the housing cover.

WARNING!

Fast rotating motor shaft with high torque.

Contact with the motor shaft can cause burn injuries and abrasions.

• Ensure that the rotating motor shaft and components attached to it cannot be touched.

WARNING!

Risk of injury from touching hot surfaces.

Contact with housing can cause burn injuries. This can frighten people and cause them to act in an

unpredictable manner. This can lead to other forms of secondary damage.

• Avoid unconscious touching of the housing.

• Inform operating and maintenance staff about the possible hazards.

• Before maintenance work: Let the drive cool down to below 40°C.

WARNING!

Gas formation with fire risk.

If cleaning agents come into contact with the hot surface of the drive, gases may be formed and may

ignite.

• Allow the drive cool down to room temperature before starting cleaning.

Safety and requirements for product use

10 Festo — EMCA-EC-67-...-DIO — 2020-03d

2.1.2 Intended use

The product is intended for the actuation and control of electromechanical drives. The integrated elec-

tronics enable regulation of torque (current), rotational speed and position of the mounted drive. The

product is intended for installation in a machine.

Depending on the order, the product contains a motor with holding brake (EMCA-EC-…-…B). The hold-

ing brake is intended to hold the motor position/drive position at standstill.

Use exclusively:

– In perfect technical condition

– In original condition without unauthorised modifications; only the extensions described in the

documentation supplied with the product are permitted

– Within the limits of the product defined by the technical data (è 9.1 Technical data)

– in an industrial environment

The product is intended for use in industrial environments. Outside industrial environments, e.g.in

commercial and mixed-residential areas, actions to suppress interference may have to be taken.

In the event of damage caused by unauthorised manipulation or any form of use other than the inten-

ded use, the warranty will be invalidated and the manufacturer will not be liable for damages.

The product supports the safety function “safe torque off” (Safe torque off/STO).

The safety function STO (Safe torque off) is described in detail in the document EMCA-EC-S1-…. The

safety function STO should only be used in the manner described in this document. Additional inform-

ation è Description of STO safety function, EMCA-EC-S1-….

2.2 Requirements for product use

– Provide the complete product documentation to the following personnel:

– the design engineer and the installer of the machine or system

– the personnel responsible for commissioning

– Keep the documentation somewhere safe throughout the entire product lifecycle.

– Always comply with the specifications of the documentation. The documentation for the other

components and modules (e.g.for the gear unit or axial kit) must also be taken into account.

– Take into consideration the legal regulations for the installation location and also:

– Regulations and standards

– Regulations of the testing organisations and insurers

– National specifications

For correct and safe use of the STO function:

– Observe the additional information in the description EMCA-EC-S1-….

2.2.1 Transport and storage conditions

– Protect the product during transport and storage from excessive stress factors. Excessive stress

factorsinclude:

– mechanical stresses

– impermissible temperatures

– moisture

– aggressive atmospheres

Safety and requirements for product use

11Festo — EMCA-EC-67-...-DIO — 2020-03d

– Store and transport the product in its original packaging. The original packaging offers sufficient

protection from typical stresses.

2.2.2 Technical prerequisites

For correct and safe use of the product:

– Comply with the connection and ambient conditions of the product (è 9.1 Technical data) and all

connected components specified in the technical data. Compliance with the limit values and load

limits permits operation of the product in compliance with the relevant safety regulations.

– Observe the notes and warnings in this documentation.

2.2.3 Training of qualified personnel

The following works may only be carried out by qualified specialists:

– Installation

– Commissioning

The qualified personnel must be familiar with the following items:

– electrical control technology

– the applicable regulations for operating safety-related systems

– the applicable regulations for accident prevention and occupational safety

– the documentation for the product:

2.2.4 Product conformity and approvals

Standards and test values with which the product complies and fulfils è 9.1 Technical data.

EU Directives relevant to the product è declaration of conformity.

Certificates and the declaration of conformity for this product è www.festo.com/sp

Certain product configurations have Underwriters Laboratories Inc. (UL) certification for the USA and

Canada. These configurations are marked with the following symbol.

Fig. 1

UL Recognized Component Mark for Canada and the United States

Only for connection to a NEC Class 2 supply.

Raccorder Uniqement a un circuit de Class 2.

Rules for observing the UL certification can be found in the separate UL special documentation. The

technical data stated therein take priority. The technical data in this documentation may show values

deviating from this.

Safety and requirements for product use

12 Festo — EMCA-EC-67-...-DIO — 2020-03d

Specified standards

Editions

DIN EN 60068-2-6:2008-10 DIN EN 60068-2-27:2010-02

Tab. 6 Editions of the directives and standards specified in the document

3 Product description

3.1 Product overview

The integrated drive consists of the following components:

– brushless DC motor (EC motor) with

– integrated encoder (single-turn absolute encoder or multi-turn absolute measurement sys-

tem)

– motor shaft for power transmission

– motor flange for coupling and mounting

– device electronics with power, control and regulation electronics

– terminal box with interfaces for electrical installation

Product description

13Festo — EMCA-EC-67-...-DIO — 2020-03d

Terminal box

Housing for device electronics

EC motor

Motor flange

Motor shaft

Cover (covering for additional connections)

Fig. 2 Components of the device (EMCA-EC-67-...-DIO)

The device has a compact design. The terminal box provides all of the necessary electrical connec-

tions. The Ethernet interface is freely accessible. All other electrical connections are under the cover of

the terminal box (è Fig.4).

The device can be parameterised and commissioned with FCT via the Ethernet interface. The device

can be controlled via the I/O interface or the Ethernet interface with Modbus TCP and the FHPP device

profile.

3.1.1 General features of the product

Property Description

EC motor brushless DC motor with:

– integrated encoder (single-turn absolute encoder or multi-turn

absolute measurement system)

– Holding brake (optional)

Product description

14 Festo — EMCA-EC-67-...-DIO — 2020-03d

Property Description

Electronics – Power stage for motor activation and control

– Nominal voltage 24 V DC

– Integrated brake chopper - braking resistor

(accessory) must

be connected externally

– Integrated electronic controls, e.g.with:

– Closed-loop controller for current, velocity and position

control

– Ethernet interface

– I/O interface

– STO safety function (Safe torque off)

– Diagnostic memory

Power supply Common load and logic supply 24 V DC

Commissioning via the Ethernet interface with FCT

Diagnostics LED display, web server, FCT software

Web server software integrated into the device with the following functions:

– display of status information and I/O data

– readout of the diagnostic memory

– uploading and downloading of a parameter file for easy device

replacement

call via web browser (Internet Explorer or Firefox)

1) available separately as an accessory (è www.festo.com/catalogue)

Tab. 7 Overview of EMCA product features

3.1.2 Scope of delivery

Number Component

1 EMCA-… with cover, screws for cover mounting

1 – Brief description EMCA-67-…-DIO

– For product variants with UL identification: special documentation EMCA-EC_UL-…

1 Sealing insert assortment

Tab. 8 EMCA scope of delivery

Below are some examples of the available accessories:

– Axial kits EAMM-A

– Battery box EADA-A-9 (for EMCA-EC-67-1TM)

– Braking resistor CACR-LE2-6-W60

– Seal-SET (seals for axial kit) EADS-F

– Motor flange EAMF-A

– Parallel kits EAMM-U

– Planetary gear unit EMGC

– Assortment of plugs NEKM-C (mating plug for plug connector on the printed circuit board)

Product description

15Festo — EMCA-EC-67-...-DIO — 2020-03d

– Connecting cable for the Ethernet interface NEBC-D12G4-…

– Connecting cable for power supply NEBM-L4G2-…

– Connecting cable for the STO interface NEBM-L5G6-…

– Connecting cable for the I/O interface NEBM-L5G18-…

Current information on accessories è www.festo.com/catalogue

3.1.3 System structure

Main switch

PELV fixed power supply

Braking resistor – example

Coupling/axial kit – example

Reference switch/limit switch – example

(here without)

Electromechanical drive – example (here

electric cylinder ESBF)

EMCA

PC with Festo Configuration Tool (FCT)

Higher-order controller (PLC/IPC)

Fig. 3 System structure (example)

Product description

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3.2 Software for configuration and commissioning

3.2.1 FCT (Festo Configuration Tool)

The Festo Configuration Tool (FCT) is the Windows-based software platform for configuration, para-

meterisation and commissioning of various Festo components and devices. FCT also allows configura-

tion and commissioning of the integrated drive EMCA.

The FCT consists of the following components:

– a framework as program start and entry point with uniform project and data management for all

supported types of equipment

– one plug-in each for the special requirements of a device type (e.g.EMCA) with the necessary

descriptions and dialogues

The plug-ins are managed and started from the framework. The EMCA plug-in supports performance of

all the steps necessary for configuration, parameterisation and commissioning of the product. Para-

meterisation of the product can be executed offline (without connection to the EMCA) on a PC. This

enables preparation for the actual commissioning, e.g.in the planning office in the project engineer-

ing of a system.

FCT makes possible the following functions, forexample:

– administration of the following data/files via the Ethernet interfaces (online):

– device data (parameterisation)

– firmware file (firmware download)

– manual operation (e.g.jogging, teaching)

– diagnostics

– recording of measurement data

– automatic calculation of the closed-loop controller data for selected Festo motor-gear unit-axis

combinations

– manual precision adjustment of the closed-loop controller data

For further information on commissioning with FCT è 6 Commissioning. Detailed information about

FCT è Help system for the software.

3.2.2 Web server

A web server is integrated into the device. The web server provides access to a dynamic English-lan-

guage website for the device. The website of the web server provides access to the following func-

tions:

– display of the status information of the device (e.g.current position, target position)

– display of the signal statuses of digital I/Os

– readout and display of the diagnostic memory

– upload (Upload) of a parameter file - e.g.to save current settings on the PC

– download (Download) of a parameter file - e.g.to restore settings

– activation of LED flashing for visual identification of the device

In the factory setting, the DHCP server (DHCP stands for Dynamic Host Configuration Protocol) of the

device is activated and the device has the following IP address: 192.168.178.1.

Product description

17Festo — EMCA-EC-67-...-DIO — 2020-03d

3.3 Connections and display components

[X1]: Ethernet interface (M12 bushing)

LED light guide (6x) - 2 used

Cable throughfeed of the terminal box

Through-hole for mounting (4x)

Plugs

Motor flange

Shaft

Mounting thread (4x) thread M4

Fig. 4 Control section and connections

The following plugs are below the cover:

Product description

18 Festo — EMCA-EC-67-...-DIO — 2020-03d

[X4]: power supply

[X5]: braking resistor

[X10]: external battery (only EMCAEC -...-

1TM)

[X6]: STO interface (safe torque off)

[X7]: reference or limit switch 1

[X8]: reference or limit switch 2

[X9]: I/O interface

central FU connection

Fig. 5 Electrical connections under the cover

[X7] and [X8]: switch function (reference or limit switch) and switch type (normally closed or normally

open), configurable with FCT

3.4 Drive functions

The integrated drive EMCA supports the following drive functions.

Drive functions Brief description èChapter

Homing Homing to determine the reference

point

è 3.4.2 Homing

Jog Mode Manual control of the drive in posi-

tioning mode

è 3.4.3 Jog Mode

Teach-in mode Save the current position (e.g.as a

target position in the selected

record)

è 3.4.4 Teach-in mode

Positioning mode The EMCA calculates the positioning

curve (point-to-point positioning)

from the specified parameters

(e.g.target position, acceleration,

velocity) and controls the motor

accordingly.

è 3.4.5 Positioning mode

Product description

19Festo — EMCA-EC-67-...-DIO — 2020-03d

Drive functions Brief description èChapter

Velocity mode Processing of tasks with velocity

setpoint values; the velocity regulat-

or and the current regulator process

deviation between the “velocity

setpoint” and the “actual value for

rotational speed”.

è 3.4.6 Velocity mode

Force/torque mode The current regulator processes the

deviation between the setpoint

value and the actual value for cur-

rent.

è 3.4.7 Force/torque mode

Tab. 9 Drive functions

3.4.1 Dimension reference system

All drive functions are based upon a uniform dimension reference system.

The direction of rotation is defined in the factory setting as follows (view toward the face of the motor

shaft):

– Positive direction of rotation (+) corresponds to the clockwise direction of rotation of the motor.

– Negative direction of rotation (–) corresponds to the anti-clockwise direction of rotation of the

motor.

With FCT, the direction of rotation can be adjusted (èFCT, page "Application Data", Register "Envir-

onment", option "Inverse Rotation Polarity").

Example: rotary drives with limited positioning range

Fig. 6 Dimension reference system - rotary drives with limited positioning range

Product description

20 Festo — EMCA-EC-67-...-DIO — 2020-03d

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