Translation of the original instructions

© 2020 all rights reserved to Festo SE & Co. KG

IO-Link® is a registered trademark of its respective trademark holder in certaincountries.

1 About this document1.1 Applicable Documents

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

Type Product Contents

EMCS-ST Integrated drive Operating instructions

ELGC-TB Toothed belt axis Operating instructions

EAMM-A Axial kit Assembly instructions

NEFC-M12G8-0.3-M12G5-LK Adapter Assembly instructions

Tab. 1 Other Applicable Documents for the Product

2 Safety2.1 Safety instructions– Observe labelling on the product.– Prior to assembly, installation and maintenance work: Switch off power sup-

ply, ensure that it is off and secure it against being switched back on.– Store the product in a cool, dry, UV-protected and corrosion-protected envir-

onment. Ensure that storage times are kept to a minimum.– Observe tightening torques. Unless otherwise specified, the tolerance

is ± 20 %. 2.2 Intended UseThe toothed belt axis unit ELGS-TB is intended for the linear movement of pay-loads or as a drive when external guides are used between two end positions.The toothed belt axis unit ELGS-TB is approved for slide operation.

Fig. 1 Slide mode

2.3 Training of qualified personnelInstallation, commissioning, maintenance and disassembly should only be con-ducted by qualified personnel.The personnel must be familiar with the installation of mechatronic control sys-tems.

3 Further information– Accessories è www.festo.com/catalogue.– Spare parts è www.festo.com/spareparts.

4 ServiceContact your regional Festo contact person if you have technical questionsè www.festo.com.

5 Product overview5.1 Scope of DeliveryThe following components are included in the scope of delivery:– Toothed belt axis unit ELGS-TB– Instruction manual for the toothed belt axis unit ELGS-TB– Adapter for IO-Link operation (optional accessory)è www.festo.com/catalogue

5.2 System overview

1 PELV fixed power supply for loadvoltage

2 PELV fixed power supply for logicvoltage

3 Application software

4 PC or Laptop

5 Controller or IO-Link master

6 Toothed belt axis unit ELGS-TB

Fig. 2 System Overview

Items 1 … 5 are not in the scope of delivery.

5.2.1 Product design

1 Toothed belt axis unit ELGS-TB

2 Axial kit EAMM

3 Product labelling

4 Integrated drive EMCS-ST

5 Warning symbol"Attention! Hot surface"

6 Controller housing

Fig. 3 Product design

Electrical connections, display and operating components (HMI)

1 LED display Menu(Speed Out, ..., Demo)

2 LED parameter display

3 LED C/Q

4 Connection for load voltage[Power]

5 Logic voltage and digital I/O orIO-Link connection [Logic]

6 Pushbutton actuator (right arrow)

7 Pushbutton actuator (Edit)

8 Pushbutton actuator (left arrow)

Fig. 4 Electrical connections, display and operating components (HMI)

6 Transport

NOTICE!

Unexpected and unbraked movement of components• Secure moving components for transport.

1. Take product weight into account è 13 Technical data.2. Maintain support clearance £ 300 mm when attaching transportation aids.

8133160

ELGS-TBToothed belt axis unit

81331602020-03a[8133162]

Operating instructions

Festo SE & Co. KG Ruiter Straße 82 73734 Esslingen Germany+49 711 347-0

www.festo.com

7 Assembly

WARNING!

Risk of injury due to unexpected movement of components.The drive can move freely in the voltage-free state. This can cause unexpectedmovements of the connected mechanics and crush parts of the body.• Bring moving parts of the mechanical system into a safe position.

• Mounting product è toothed belt axis ELGC-TB, instruction manual, opera-tion.

8 Installation

WARNING!

Risk of injury due to electric shock.• For the electrical power supply with extra-low voltages, use only PELV circuits

that guarantee a reinforced isolation from the mains network.• Observe IEC 60204-1/EN 60204-1.

Damage to the device due to non-approved potentials at the pins• Power connection: do not connect pin 3 to high or low potential

(24 V DC/0 V DC).• Logic connection: do not connect pin 2 and 3 to high potential if pin 1 is not

supplied with 24 V DC.

1. Connect the cables to the [Logic] and [Power] connections of the integrateddrive EMCS-ST.

2. Connect cables to the controller or IO-Linkmaster and to the PELV fixed powersupply units.

Wiring diagram: DIO operation (digital I/O)

1 PELV fixed power supply for 24 VDC load voltage supply

2 Reset button for acknowledging anerror and triggering a restart(optional)

3 PELV fixed power supply for logicpower supply 24 V DC

4 Higher-level open-loop control(controller) with digital I/O

5 EMCS-ST

Fig. 5 Wiring diagram: DIO operation (digital I/O)

Wiring diagram: IO-Link operation, port class A (with and without NEFC adapter)

Current consumption of IO-Link power supply [Logic]An input current at pin 1 (L+) of 100 ... 150 mA is required for operation.

1 PELV fixed power supply for 24 VDC load voltage supply

2 IO-Link master with IO-Link inter-face

3 EMCS-ST

Fig. 6 Wiring diagram: IO-Link operation

1 PELV fixed power supply for 24 VDC load voltage supply

2 Adapter NEFC

3 IO-Link master with IO-Link inter-face

4 EMCS-ST

Fig. 7 Wiring diagram: IO-Link operation with adapter

Core colours of Festo cables:BK = black, BN = brown, BU = blue, GN = green, GY = grey, PK = pink,WH = white, YE = yellow

9 Commissioning

WARNING!

Risk of injury due to unexpected movement of components.• Protect the positioning range from unwanted intervention.• Keep foreign objects out of the positioning range.• Perform commissioning with low dynamic response.

WARNING!

Severe, irreversible injuries from accidental movements of the connected actu-ator technology.Unintentional movements of the connected actuator technology can result fromexchanging the connecting cables of a servo drive or between servo drives.• Before commissioning: All cables must be correctly assigned and connected.

WARNING!

Danger of burns from hot housing surfaces.Metallic housing parts can reach high temperatures during operation.Contact with metal housing parts can cause burn injuries.• Do not touch metallic housing parts.• After the power supply is switched off, let the device cool down to room tem-

perature.

9.1 Commissioning: DIO operation (digital I/Os)Preparation1. Check the mounting of the drive system.2. Check wiring of power supplies [Power], [Logic] and digital I/O (DIO) [Logic].Processing1. Switch on load voltage.2. Switch on logic voltage.3. Wait for initialisation until LED C/Q lights yellow.4. Parameterise (optional): Velocities (Speed In/Speed Out), Force/Torque

(Force), Reference End Position Ref (Reference) or Start Press Position PosStart

Press (Start Press) è 10.3 Display and operating components (HMI).

The drive system is ready for operation and can be controlled via the DIO controlinterface (digital I/O). With the first motion task and after every restart, the posi-tion of the reference end position "Ref" is re-initialised (drive first moves to thereference end position "Ref" before the actual motion task is executed), LED C/Qlights green.

– Control end-to-end operation è 10.5 End-to-end operation.9.2 Commissioning: IO-Link operationPreparation1. Check the assembly of the drive unit.2. Check the wiring of the power supplies [Power] and the IO-Link interface

[Logic].3. Install the application software.4. Open IODD file in the application software è www.festo.com/sp.Processing1. Switch on load voltage.2. Switch on logic voltage via IO-Link master.3. Wait for initialisation until LED C/Q lights yellow.4. Establish IO-Link connection with the drive system.

5. Parameterise (optional):– Velocities (Speed In/Speed Out), Force/Torque (Force), Start Press Posi-

tion PosStart Press (Position Start Press) and End Position  LimOut (End Posi-tion Out) è 10.5 End-to-end operation.

– Reference end position "Ref" (Reference)è 10.4 Homing.

The drive system is ready for operation and can be controlled via the IO-Link inter-face. With the first motion task and after every restart, the position of the refer-ence end position "Ref" is re-initialised (drive first moves to the reference endposition "Ref" independently of the motion task before the actual motion task isexecuted), LED C/Q flashes green.

– Control end-to-end operation è 10.5 End-to-end operation.

10 Operation

WARNING!

Danger of burns from hot housing surfaces.Metallic housing parts can reach high temperatures during operation.Contact with metal housing parts can cause burn injuries.• Do not touch metallic housing parts.• After the power supply is switched off, let the device cool down to room tem-

perature.

10.1 Master control– Lowest priority: DIO operation (after Power ON and initialisation)– Medium priority: IO-Link operation (after established IO-Link communication)– Highest priority: HMI operation (unlocked pushbuttons)10.2 Dimension reference systemThe correct positioning of the drive requires a defined dimension reference sys-tem.

Linear drive system

– Ref: reference end position (reference point for LimIn, LimOut, PosAct and PosStart Press)– motor facing (default)– motor facing away

– LimIn/LimOut: end positions– MechIn/MechOut: mechanical stops– PosAct: current position– PosStart Press: start press position

Tab. 2 Dimension reference system for linear drive systems

10.3 Display and operating components (HMI)The display and operating components (HMI) can be used to perform the follow-ing functions in the HMI menu:– Unlock pushbutton actuators (Unlock HMI), press and hold for 3 s  

(Condition for IO-Link operation: IO-Link parameter 0x000C.4 = false)– Menu function with pushbutton actuators select (selecting menu),

press – Parameterise setpoint values Speed Out, Speed In and Force

(Set value: 10, 20, ..., 100% of maximum value è 13 Technical data) andsave (Save), press 

– Parameterise the position of the reference end position "Ref" (Set Ref) andrun the homing movement MovRef (StartRef: PosAct è LimIn è LimOut),press 

– Run Start Press movement (Start/Stop) and save Start Press Position PosStart

Press (Save), press – Execute Demo Run (Start/Stop)– Lock pushbutton actuators (Lock HMI), press and hold for 3 s  or no push-

button actuator input for 15 s– Reset to factory setting, press and hold  , and simultaneously for 10 s

Fig. 8 HMI menu

10.4 HomingDuring homing, the positions of the mechanical stops MechIn/MechOut are determ-ined in order to calculate the end positions LimIn (Ref)/LimOut for the dimensionreference system.Before the homing run is carried out, the drive is de-energised for a required re-initialisation. Then the power supply is restored and the homing process starts.

WARNING!

Risk of injury due to unexpected movement of components.When starting the homing run, the drive is disconnected from the power supplyfor a short time. This can cause unexpected movements of the connected mechan-ics and crush parts of the body.• Bring moving parts of the connected mechanical system into a safe position.

• A new homing is only necessary if the reference end position Ref or the usablerange is changed.

• When homing, the Start Press Position PosStart Press is equated with the newend position LimOut.

Homing

Parameterise reference end position "Ref"

HMI:– Menu, Reference è 10.3 Display and operating components (HMI)IO-Link (acyclic device data):– motor facing (default): 0x0103.0, reference = false– motor facing away: 0x0103.0, reference = true

Control homing

HMI:– StartRef: menu, reference

è 10.3 Display and operating components(HMI)

IO-Link (acyclic device data):– StartRef:

0x0104.0, execute MovRef = true

Tab. 3 Parameterising and controlling homing

10.5 End-to-end operationIn end-to-end operation with or without press function, the unit can be movedbetween the end positions LimIn/LimOut.

Automatic Saving of Device DataChanges to device data are automatically saved permanently (flash memory). Theflash memory is designed for 100,000 write cycles. Frequent changes to thedevice data (e.g. when using the device for positioning tasks via IO-Link) cancause damage to the device.

Every time the logic voltage is switched on, the position of the reference end posi-tion "Ref" is re-initialised with Speed Ref with the first motion task. When movingto the LimOut end position, the LimOut end position is approached atthe Speed Out velocity.

End-to-end operation

Parameterise end-to-end operation

HMI:– Speed Out, Speed In, Force and Start Press è 10.3 Display and operating components (HMI)IO-Link (acyclic device data):– Velocity Speed Out: 0x0101.0, Speed Out1)

– Velocity Speed In: 0x0100.0, Speed In1)

– Force/Torque: 0x0102.0, Force1)2)

– Start Press Position PosStart Press: 0x0105.0, Position Start Press [mm]2)3)4)

– End position LimOut: 0x0106.0, end position Out [mm]4)

Control end-to-end operation

DIO: IO-Link (cyclic process data):

Single end-to-end operation End-to-end operation with press function

1) 10, 20, ..., 100% of maximum value2) Only required for end-to-end operation with press function3) Reset with every homing4) reference point: reference end position "Ref"

Tab. 4 Parameterising and controlling end-to-end operation

11 Malfunctions"Warnings and Errors" diagnostic messages are displayed by the LED C/Q andmenu and parameters LED displays.In DIO mode, errors are reported to the controller via the sensor signal combina-tion "1–1".Errors can be reset as follows:– DIO mode è reset of logic voltage– IO-Link operation è parameter "Quit Error" (0x0029.3 or 0x0107.0)

The first error that occurred is always displayed.

Fig. 9 Display of diagnostic messages (example)

Errorcode

Description LED LED displays Eventcode

hex(dec)

C/Q Open Parameter (IO-Link)

Warning

z Warnings1)

yellowlight

z z 0x...

Error

z Common device errorè Contact Festo

… 0x1000

0x000F(15)

I2t monitoring power stageerror

0x1805

0x0016(22)

Logic voltageundersupply2)

0x1804

0x0017(23)

Logic voltage oversupply 0x1803

0x0026(38)

Load voltage undersupplyor not connected

0x1802

0x0027(39)

Load voltage oversupply 0x1801

0x0031(49)

Device undertemperature

0x0033(51)

Device overtemperature

0x4000

0x012F(303)

IO-Link connection lost

red light

z

1) Additional information è Description of integrated drive EMCS-ST2) This error can only be acknowledged by a restart.

Tab. 5 "Warnings and Errors" diagnostic messages

11.1 RepairSend the product to the Festo repair service for repair.

12 Disposal

ENVIRONMENT!Send the packaging and product for environmentally sound recycling in accord-ance with the current regulations è www.festo.com/sp.

13 Technical dataAdditional information è www.festo.com/catalogue.

Size 45 60

Mounting position Horizontal

Ambient temperature [°C] 0 … +50

Storage temperature –20 … +60

Degree of protection IP40

CE markingè Declaration of Conformity

in accordance with EU EMC Directivein accordance with EU RoHS Directive

Max. payload

– horizontal mountingposition

[kg] 2.5 4.0

Max. velocity1) [mm/s] 12002) 13003)

Velocity "Speed Press" [mm/s] 24 26

Max. feed force4)5) [N] 75 65

Acceleration/deceleration [m/s2] 6

Duty cycle [%] 100 (+30 … +50 °C: – 2% per kelvin)

Distance stop/endposition6)7)

[mm] 3 2

Repetition accuracy [mm] ±0.1 ±0.1

Nominal voltage [V DC] 24

Logic current consumption(logic, pin 1)

[mA] DIO operation: 100 ... 300IO-Link operation: 100 ... 150

1) Maximum value for Speed In/Speed Out at level 102) Can only be achieved from a stroke of 300 mm.3) Can only be achieved from a stroke of 500 mm.4) Maximum value for force at level 105) The force is controlled and evaluated by regulating the motor current. Depending on the mechanism of the

drive, a linear force can be determined from the level of current measured. The target is set as a percent-age of the rated motor current and may deviate from the actual force on the axis. In the case of low forcelevels, the influence of friction in the system on the running behaviour and the actual force on the axismust also be taken into account.

6) Distance (MechIn – LimIn or MechOut – LimOut)7) Due to the elasticity of the toothed belt, the specified value may deviate.

Tab. 6 Technical data ELGS-TB