Festo EMCA-EC-67 CO Series, EMCA-EC-67 DIO Series, EMCA-EC-67 EC Series, EMCA-EC-67 EP Series, EMCA-EC-67 PN Series Description

Integrated Drive

EMCA-EC-67-...-CO/DIO/EC/EP/PN

Description

FHPP device profile

For fieldbus:
– CANopen
– EtherCAT
– EtherNet/IP
– Modbus TCP
–PROFINET

8079765

2017-11e

[8079767]

EMCA-EC-67-...-CO/DIO/EC/EP/PN

Original instructions
EMCA-EC-C-HP-EN

BECKHOFF
PROFINET

®

CANopen

,

®

Rockwell® are registered trademarks of the respective trademark owners in certain coun

,

®

,

CiA

®

CODESYS

,

®

EtherCAT

,

®

EtherNet/IP

,

tries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries

Caution

Hazards that can cause minor injuries

Other symbols:

Note

Material damage or loss of function

Recommendations, tips, references to other documentation

Essential or useful accessories

Information on environmentally sound usage

®

MODBUS

,

®

,

Omron

®

PROFIBUS

,

Text designations:
 Activities that may be carried out in any order

1. Activities that should be carried out in the order stated
– General lists

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Table of Contents – EMCA-EC-67-...-CO/DIO/EC/EP/PN

1 FHPP device profile

(Festo Handling and Positioning Profile) 17......................................

1.1 FHPP overview 17............................................................

1.2 Fieldbus interfaces 18........................................................

1.2.1 Fieldbus interfaces of the EMCA 18.....................................

2 CANopen 21................................................................

2.1 CiA standards 21............................................................

2.2 CAN bus/CANopen interface of the EMCA 22......................................

2.2.1 CANopen display component 22........................................

2.2.2 CAN bus ports 23...................................................

2.2.3 Termination of the CAN bus (terminating resistor) 24.......................

2.2.4 CAN bus cabling 25..................................................

2.2.5 CAN bus cable 26...................................................

2.3 Configure CANopen participants 26.............................................

2.3.1 Configure EMCA 27..................................................

2.3.2 Commission EMCA with the Festo Configuration Tool (FCT) 30................

2.3.3 Configure CANopen master 30.........................................

2.4 Required digital inputs for operation 31..........................................

2.5 Data interfaces (parameter/firmware) 32.........................................

3 EtherCAT with FHPP 34.......................................................

3.1 ETG standards 34............................................................

3.2 EtherCAT interfaces on the EMCA 35.............................................

3.2.1 EtherCAT display elements 35..........................................

3.2.2 EtherCAT connections 36.............................................

3.2.3 EtherCAT wiring 37..................................................

3.2.4 EtherCAT cable 37...................................................

3.2.5 Termination of the EtherCAT bus 37.....................................

3.3 EtherCAT communication 38...................................................

3.3.1 Overview: EtherCAT communication and synchronization 38.................

3.3.2 EtherCAT Slave Controller ESC 40.......................................

3.3.3 Protocol 40........................................................

3.4 EtherCAT final state machine 42................................................

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3.5 Sync Manager 45............................................................

3.5.1 Sync Manager communication 45.......................................

3.5.2 Object 1C00h: Sync manager communication type 46.......................

3.5.3 Object 1C10h: Sync manager 0 PDO assignment 47........................

3.5.4 Object 1C11h: Sync manager 1 PDO assignment 47........................

3.5.5 Object 1C12h: Sync manager 2 PDO assignment 48........................

3.5.6 Object 1C13h: Sync manager 3 PDO assignment 49........................

3.5.7 Sync Manager synchronization 50......................................

3.5.8 Object 1C32h: Sync manager 2 synchronization 50.........................

3.5.9 Object 1C33h: Sync manager 3 synchronization 51.........................

3.6 Distributed Clocks DC 52......................................................

3.7 Process data communication 53................................................

3.7.1 PDO Mapping 53....................................................

3.7.2 Object 1600h: 1st receive PDO mapping RxPDO1 54........................

3.7.3 Object 1601h: 2nd receive PDO mapping RxPDO2 55.......................

3.7.4 Object 1602h: 3rd receive PDO mapping RxPDO3 56.......................

3.7.5 Object 1603h: 4th receive PDO mapping RxPDO4 57.......................

3.7.6 Object 1A00h: 1st transmit PDO mapping TxPDO1 58.......................

3.7.7 Object 1A01h: 2nd transmit PDO mapping TxPDO2 59......................

3.7.8 Object 1A02h: 3rd transmit PDO mapping TxPDO3 60.......................

3.7.9 Object 1A03h: 4th transmit PDO mapping TxPDO4 61.......................

3.8 Mailbox communication 62....................................................

3.8.1 SDO Communication 62..............................................

3.8.2 SDO Read command (SDO upload) 63...................................

3.8.3 SDO Write command (SDO download) 64................................

3.8.4 SDO Error message (Abort SDO transfer request) 65........................

3.8.5 Emergency Communication 67.........................................

3.8.6 Object 1001h: Error register 68........................................

3.8.7 Error messages (Error code) 69........................................

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3.9 Device data 74..............................................................

3.9.1 Object 1000h: Device type 74..........................................

3.9.2 Object 1008h: Manufacturer device name 74.............................

3.9.3 Object 1009h: Manufacturer hardware version 75..........................

3.9.4 Object 100Ah: Manufacturer software version 75..........................

3.9.5 Object 1018h: Identity object 76.......................................

3.10 Load and save parameter sets 77...............................................

3.10.1 Object 20F1h: EEPROM command 77....................................

3.11 Configuration of EtherCAT participants 78........................................

3.12 Parameterisation with the Festo Configuration Tool (FCT) 78..........................

3.12.1 Parameterisation of the EtherCAT interface 78............................

3.12.2 Setting the optional use of FPC and FHPP+ 78.............................

3.13 Commissioning with the Festo Configuration Tool (FCT) 79...........................

3.14 Configuring the EtherCAT master 80.............................................

3.14.1 Device description file (ESI) 80.........................................

3.14.2 Function element 80.................................................

3.14.3 Addressing of the EMCA 80............................................

3.14.4 Cycle time 80.......................................................

4 EtherNet/IP with FHPP 81.....................................................

4.1 ODVA standards 81..........................................................

4.2 EtherNet/IP interface of the EMCA 82............................................

4.2.1 EtherNet/IP display components 82.....................................

4.2.2 EtherNet/IP connections 83...........................................

4.2.3 EtherNet/IP copper cabling 83.........................................

4.3 Configuration EtherNet/IP stations 84...........................................

4.3.1 Parameterisation of the Ethernet/IP interface 84..........................

4.3.2 Commissioning with the Festo Configuration Tool (FCT) 84...................

4.3.3 Setting the IP address 84.............................................

4.3.4 Setting the optional use of FPC and FHPP+ 85.............................

4.4 Configure EtherNet/IP Master 86...............................................

4.4.1 Electronic data sheet (EDS) 86.........................................

4.4.2 Function element 86.................................................

4.4.3 Cycle time 86.......................................................

5 Modbus TCP with FHPP 88....................................................

5.1 Modbus TCP interface of the EMCA 90...........................................

5.1.1 Modbus display components 90........................................

5.1.2 Ethernet port 91....................................................

5.1.3 Ethernet cabling 91..................................................

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5.2 Parameterisation of the Modbus TCP subscriber 92.................................

5.2.1 Parameterisation with the FCT plug-in EMCA 92...........................

5.3 Configure Modbus master 94..................................................

5.3.1 IP address 94.......................................................

5.3.2 Function element 94.................................................

5.3.3 Cycle time 94.......................................................

5.3.4 Modbus command and address assignment 94............................

5.3.5 Quantity of registers/Byte count values for process data 95..................

5.3.6 Read process data, Function code 0x03 (Read holding registers) 96...........

5.3.7 Write process data, Function code 0x10 (Write multiple registers) 97..........

5.3.8 Read/write process data, Function code 0x17

(Read/write multiple registers) 98......................................

5.3.9 Read exception status, Function code 0x07 (Read exception status) 99........

5.3.10 Read device identification, Function code 0x2B (Read device identification) 100..

5.3.11 Data objects for Modbus command “Read Device Identification” 101...........

5.3.12 Monitoring functions 101..............................................

6 PROFINET IO with FHPP 102....................................................

6.1 Standards 102...............................................................

6.2 PROFINET interface of the EMCA 103.............................................

6.2.1 PROFINET display components 103......................................

6.2.2 PROFINET connections 104.............................................

6.2.3 PROFINET copper wiring 104...........................................

6.3 PROFINET communication 105..................................................

6.3.1 Conformance classes CC 105...........................................

6.3.2 Real-time classes RTC 105..............................................

6.3.3 Supported protocols 106..............................................

6.4 Configuration of PROFINET participants 107........................................

6.5 Parameterisation with the Festo Configuration Tool (FCT) 107..........................

6.5.1 Parameterisation of the PROFINET interface 107............................

6.5.2 Setting the PROFINET-IP address 107....................................

6.5.3 Setting of FPC and FHPP+ (optional) 108..................................

6.6 Commissioning with the Festo Configuration Tool (FCT) 108...........................

6.6.1 Permanent storage of network settings and device name 108.................

6.7 Identification & maintenance function (I&M) 110....................................

6.8 Configuration of PROFINET master 111............................................

6.8.1 Device description file (GSDML) 111.....................................

6.8.2 Function element 111.................................................

6.8.3 Cycle time 111.......................................................

6.9 Channel diagnosis 112.........................................................

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7 FHPP 114...................................................................

7.1 FHPP communication 114......................................................

7.1.1 Function 114........................................................

7.1.2 Structure of the FHPP message 115......................................

8 FHPP standard data (I/O data) 117..............................................

8.1 FHPP finite state machine (sequence control) 117...................................

8.1.1 “Achieve ready status” status transitions 118..............................

8.1.2 Status transitions “Operation enabled” 120...............................

8.2 Structure of the FHPP standard data (I/O data) 123..................................

8.2.1 Function 123........................................................

8.2.2 Structure of the FHPP message 123......................................

8.2.3 Structure of the FHPP standard data 124..................................

8.3 FHPP control and status data 126................................................

8.3.1 Overview: FHPP control data 126........................................

8.3.2 Overview: FHPP status data 128.........................................

8.3.3 Description: control bytes 130..........................................

8.3.4 Description: status bytes 134...........................................

9 Measuring reference system 141................................................

9.1 Configure dimensional reference system 141.......................................

9.1.1 Dimension reference system for linear drives 142...........................

9.1.2 Dimension reference system for rotative drives 143.........................

9.1.3 Calculation rules for the dimension reference system 144....................

9.1.4 Limit switch LSN/LSP (hardware) 144....................................

9.1.5 Software end position SLN/SLP 144......................................

9.2 Increments 145..............................................................

9.2.1 Encoder increments [EINC] 145..........................................

9.2.2 Interface increments [SINC] 145.........................................

9.3 Factor group (Factor Group) 145.................................................

9.3.1 Exponents 145.......................................................

9.4 Parameters for position determination 147........................................

9.4.1 Conversion factors 147................................................

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10 Control via FHPP 149..........................................................

10.1 Establish ready status 151......................................................

10.1.1 Establish ready status 152.............................................

10.2 Cancel travel/positioning task with “Halt” or “Stop” 153..............................

10.2.1 Cancel homing, jog, speed or force/torque mode “Halt” 153..................

10.2.2 Cancel homing, jog, record selection or direct mode with “Stop” 153...........

10.3 Master control and access protection 154.........................................

10.3.1 Master control over the EMCA 154.......................................

10.4 Homing mode 155............................................................

10.4.1 Homing 155.........................................................

10.4.2 FHPP parameters: homing 156..........................................

10.4.3 Control homing mode 157..............................................

10.4.4 Diagram: Homing to reference/limit switch 158.............................

10.4.5 Diagram: Homing to stop 159...........................................

10.4.6 Methods of homing 160...............................................

10.5 Jog operation 168.............................................................

10.5.1 FHPP parameters: jog operation 168.....................................

10.5.2 Control jog operation 169..............................................

10.5.3 Diagram: jog mode 170................................................

10.6 Teach mode 171..............................................................

10.6.1 FHPP parameter: Teach mode 171.......................................

10.6.2 Control teach mode 172...............................................

10.6.3 Diagram: teach mode 173..............................................

10.7 Record selection mode 174.....................................................

10.7.1 Overview: Data exchange in the record selection mode 174...................

10.7.2 FHPP parameters: record selection mode 175..............................

10.7.3 Control record selection mode 177.......................................

10.7.4 Control intermediate stop 178..........................................

10.7.5 Delete remaining path 179.............................................

10.7.6 Stroke limit reached 179...............................................

10.7.7 Diagram: Start and stop record 180......................................

10.7.8 Diagram: Interrupt and continue positioning record with Halt

(intermediate stop) 181...............................................

10.7.9 Diagram: Interrupt positioning record with Halt and delete remaining path 182...

10.7.10 Diagram: Positioning mode (point-to-point positioning) 183...................

10.7.11 Diagram: speed mode 184.............................................

10.7.12 Diagram: force/torque mode 185........................................

10.8 Record chaining 186..........................................................

10.8.1 Control record chaining 188............................................

10.8.2 Diagram: record chaining 189...........................................

10.8.3 Diagram: record sequencing with final speed 190...........................

10.8.4 Stroke monitoring 191................................................

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10.9 Direct operation 193..........................................................

10.9.1 Overview: data exchange in direct operation 193...........................

10.9.2 FHPP parameters: direct operation 194...................................

10.9.3 Control direct operation 196............................................

10.9.4 Control intermediate stop 198..........................................

10.9.5 Delete remaining path 198.............................................

10.9.6 Stroke limit reached 199...............................................

10.9.7 Diagram: Start and stop positioning task 200..............................

10.9.8 Diagram: Interrupt and continue positioning task with Halt

(intermediate stop) 201...............................................

10.9.9 Diagram: Interrupt positioning task with Halt and delete remaining path 202.....

10.9.10 Diagram: Positioning mode (point-to-point positioning) 203...................

10.9.11 Diagram: speed mode 204.............................................

10.9.12 Diagram: force/torque mode 205........................................

10.9.13 Diagram: Final speed 206..............................................

10.9.14 Stroke monitoring 207................................................

10.10 Flying measurement (position sampling) 209.......................................

11 Monitoring of the drive behaviour 211............................................

11.1 Messages 211...............................................................

11.1.1 Motion complete 212.................................................

11.1.2 Following error 214...................................................

11.1.3 Standstill monitoring 216..............................................

11.1.4 Comparators 218.....................................................

11.2 Protective functions 220.......................................................

11.2.1 Overview: protective functions 220......................................

11.2.2 I2t monitoring 221....................................................

A Festo Parameter Channel (FPC) 224..............................................

A.1 Festo Parameter Channel (FPC) for cyclic data (I/O data) 224..........................

A.1.1 Function 224........................................................

A.2 Enhanced Festo Parameter Channel (EFPC) 225.....................................

A.2.1 Structure of the Enhanced Festo Parameter Channel (EFPC) 225...............

A.2.2 Switch over transmission mode (parameter/file) 225........................

A.3 Transmitting FHPP parameters (PNU) 226..........................................

A.3.1 Structure of EFPC in transmitting parameters 226...........................

A.3.2 Task identifier (Req-ID) and response identifier (Res-ID) 226..................

A.3.3 Sequence of parameter transmission 227.................................

A.3.4 Example: transmitting parameters 227...................................

A.3.5 Error codes 227......................................................

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A.4 Transmit parameter file 228.....................................................

A.4.1 Structure of EFPC in parameter file transmission 228........................

A.4.2 Task identifier (Req-ID) and response identifier (Res-ID) 228..................

A.4.3 Package ID 229......................................................

A.4.4 Parameter file and user data package 230.................................

A.4.5 Checking and activation of the parameter file 231...........................

A.4.6 Sequence of parameter file transmission 231..............................

A.4.7 Examples of parameter file transmission 232...............................

A.4.8 Error codes 237......................................................

B FHPP+ 239..................................................................

B.1 FHPP+ data 239..............................................................

B.1.1 Function 239........................................................

B.1.2 Structure of the FHPP message 239......................................

C FHPP parameters (PNU) 240....................................................

C.1 General FHPP parameter structure 240............................................

C.2 Overview: FHPP parameters 241.................................................

C.2.1 FHPP+ Data 241......................................................

C.2.2 Device data 242......................................................

C.2.3 Diagnostics 243......................................................

C.2.4 Process Data 244....................................................

C.2.5 Record list 245.......................................................

C.2.6 Project Data 247.....................................................

C.2.7 Factor group 250.....................................................

C.2.8 Axis parameters: electric drives 1 250....................................

C.3 Description: FHPP parameters 254...............................................

C.3.1 Representation of the parameter entries 254..............................

C.3.2 FHPP+ data – FHPP+ telegram editor 255..................................

C.3.3 Device data – version numbers 258......................................

C.3.4 Device data – identification 259.........................................

C.3.5 Device data – HMI parameters 262.......................................

C.3.6 Diagnostic parameters 264.............................................

C.3.7 Process data – general process data 273..................................

C.3.8 Process data – FHPP-data 276..........................................

C.3.9 Process data – flying measurement (sampling of positions) 277................

C.3.10 Record list – record data 278...........................................

C.3.11 Record list – record messages 287.......................................

C.3.12 Project Data – General Project Data 291...................................

C.3.13 Project data – force/torque mode 292....................................

C.3.14 Project data –teach mode 292..........................................

C.3.15 Project data – FHPP-direct mode 293.....................................

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C.3.16 Project Data – Jog Mode 295............................................

C.3.17 Project data - direct operation position 296................................

C.3.18 Project data – force direct operation 298..................................

C.3.19 Project data – rotational speed direct mode 298............................

C.3.20 Project data – direct operation general 300................................

C.3.21 Factor group 303.....................................................

C.3.22 Axis parameters: electrical Drives 1 – mechanical parameters 304..............

C.3.23 Axis parameter: electrical drives 1 – homing parameters 306..................

C.3.24 Axis parameter: electrical drives 1 – controller parameters 309................

C.3.25 Axis parameters: electric drives 1 – electronic rating plate 312.................

C.3.26 Axis parameters: electric drives 1 – standstill monitoring 313..................

C.3.27 Axis parameters: electric drives 1 – following error monitoring 314.............

C.3.28 Axis parameters: electric drives 1 – motor data 314.........................

C.3.29 Axis parameters: electric drives 1 – temperature data 315....................

C.3.30 Axis parameters: electric drives 1 – general drive data 316....................

D CANopen communication 318...................................................

D.1 Overview: communication objects (COB) 318.......................................

D.2 Representation of the object characteristics 321....................................

D.3 CAN-bus access 322..........................................................

D.3.1 Access via data objects (PDO/SDO) 322..................................

D.3.2 Access via messages 323..............................................

D.3.3 CAN identifier (CAN-ID), priority and internal cycle times 324..................

D.4 PDO message (PDO message) 325...............................................

D.4.1 Structure of the PDO message 327.......................................

D.4.2 FHPP standard data (PDO1) 327.........................................

D.4.3 Object 3000h … 3004h: RPDO1 – FHPP standard data 328....................

D.4.4 Object 3020h … 3024h: TPDO1 – FHPP standard data 328....................

D.4.5 Festo parameter channel (FPC) (PDO2) 329................................

D.4.6 Object 3010h … 3013h: RPDO2 – Parameter channel FPC 329.................

D.4.7 Object 3030h … 3033h: TPDO2 – Parameter channel FPC 329.................

D.5 SDO message (SDO message) 330...............................................

D.5.1 Object 1200h: SDO Server parameter (SDO server parameter) 331.............

D.5.2 Read SDO message 332...............................................

D.5.3 Write SDO message 333...............................................

D.5.4 SDO error messages 334...............................................

D.6 SYNC message (SYNC message) 335..............................................

D.6.1 Object 1005h: SYNC communication object identifier (COB-ID SYNC) 335........

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D.7 EMCY message (EMCY message) 336.............................................

D.7.1 Function: EMCY message 336...........................................

D.7.2 Send EMCY message 338..............................................

D.7.3 CANopen error messages 339...........................................

D.7.4 Object 1001h: Error register (Error register) 343............................

D.7.5 Object 1003h: Predefined error field (Pre-defined error field) 344..............

D.7.6 Object 1014h: COB-ID emergency message (COB-ID emergency message) 345....

D.7.7 Object 1015h: EMCY inhibit time (Inhibit time EMCY) 345.....................

D.8 Network management NMT (Network management) 346..............................

D.8.1 Boot-up message (Boot-up message) 350.................................

D.8.2 Start remote node 350................................................

D.8.3 Stop remote node 350................................................

D.8.4 Enter pre-operational 351..............................................

D.8.5 Reset node 351......................................................

D.8.6 Reset communication 351..............................................

D.8.7 Node monitoring (Node guarding)/(Error control message) 352................

D.8.8 Object 100Ch: Monitoring time (Guard time) 353...........................

D.8.9 Object 100Dh: Monitoring time factor (Life time factor) 354...................

D.9 Device data (Device data) 355...................................................

D.9.1 Object 1000h: Device type (Device type) 356..............................

D.9.2 Object 1008h: Device name of the manufacturer (Manufacturer device name) 356.

D.9.3 Object 1009h: Hardware version (Manufacturer hardware version) 357..........

D.9.4 Object 100Ah: Software version (Manufacturer software version) 357...........

D.9.5 Object 1018h: Identity of the device (Identity object) 358.....................

D.10 Load and save parameter sets 359...............................................

D.10.1 Object 1010h: Store parameters 361.....................................

D.10.2 Object 1011h: Restore default parameters 362.............................

D.11 CANopen – Object dictionary (OD) 363............................................

D.12 Objects 364.................................................................

D.12.1 Communication profile area (Object 1000h … 1FFFh) 364.....................

D.12.2 Manufacturer-specific profile area (Object 2000h … 5FFFh) 366................

E CoE object directory 368.......................................................

E.1 Objects 368.................................................................

E.1.1 CoE communication area (Object 1000h … 1FFFh) 368.......................

E.1.2 Manufacturer specific area (Object 2000h … 5FFFh) 370......................

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F Diagnostics and fault clearance 371.............................................

F.1 Diagnostics via LED 371........................................................

F.1.1 LED indicator for the operating status of the device

(EMCA-…-CO/-DIO/-EC/-EP/-PN) 372.....................................

F.1.2 Behaviour during the switch-on phase 372................................

F.1.3 Behaviour in the operating phase 372....................................

F.1.4 Identification sequence active 372.......................................

F.1.5 LED indicator for CAN bus (EMCA-EC-...-CO) 373............................

F.1.6 CAN bus status (in accordance with CiA CANopen LED indicator) 373............

F.1.7 LED indicator for EtherCAT (EMCA-EC-...-EC) 376............................

F.1.8 EtherCAT display component 377........................................

F.1.9 LED indicator for EtherNet/IP (EMCA-EC-...-EP) 378..........................

F.1.10 EtherNet/IP display components 378.....................................

F.1.11 LED indicator for PROFINET (EMCA-EC-...-PN) 379...........................

F.1.12 PROFINET display components 379......................................

F.2 Diagnostic messages 380......................................................

F.2.1 Error management 380................................................

F.2.2 Reactions to messages 380............................................

F.2.3 Reactions to errors 381................................................

F.2.4 Output stage on 381..................................................

F.2.5 Save diagnostics 382.................................................

F.2.6 Acknowledge acknowledgeable error 382.................................

F.2.7 Reset non-acknowledgeable error 382....................................

F.3 Diagnostic memory 383........................................................

F.3.1 Function: diagnostic memory 383........................................

F.3.2 Delete diagnostic memory 384..........................................

F.3.3 Diagnostics through FHPP status bytes 384................................

F.4 Explanations for the diagnostic messages 385......................................

F.4.1 Diagnostic messages with instructions for fault clearance 386.................

G Terms and abbreviations 403...................................................

Index 406........................................................................

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Instructions on this documentation

This documentation describes the device profile Festo Handling and Positioning Profile (FHPP) for the
integrated drive EMCA with the following fieldbus interface:

Fieldbus Electrical interface

CANopen
(EMCA-...-CO)
EtherCAT
(EMCA-...-EC)
EtherNet/IP
(EMCA-...-EP)
Modbus TCP

[X2] CAN bus input (CAN IN)
[X3] CAN bus output (CAN OUT)
[X2] EtherCAT, Port 2
[X3] EtherCAT, Port 1
[X2] EtherNet/IP, Port 2
[X3] EtherNet/IP, Port 1

[X1] Ethernet
(EMCA-...-DIO)
PROFINET
(EMCA-...-PN)

[X2] PROFINET, Port 2

[X3] PROFINET, Port 1

Tab. 1 Fieldbus interface

This provides you with supplementary information about controlling, diagnosing and parameterising
the integrated drive via the fieldbus.

Unconditionally observe the general safety regulations for the integrated drive
è Description “Integrated drive with bus interface, EMCA-EC-SY-...”, chapter 1.

Target group

This documentation is intended exclusively for technicians trained in control and automation techno
logy who have experience in installation, commissioning, programming and diagnostics of positioning
systems.

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Version

This documentation refers to the following versions:

Fieldbus

Version number

CANopen Integrated drive EMCA-EC-67-...-CO

Firmware: version 1.2.x or later
FCT plug-in EMCA: version 1.2.x or later

EtherCAT Integrated drive EMCA-EC-67-...-EC

Firmware: version 1.4.0 or later
FCT plug-in EMCA: version 1.4.0 or later

EtherNet/IP Integrated drive EMCA-EC-67-...-EP

Firmware: version 1.2.x or later
FCT plug-in EMCA: version 1.2.x or later

Modbus TCP Integrated drive EMCA-EC-67-...-DIO

Firmware: version 1.3.0.x or later
FCT plug-in EMCA: version 1.3.x.x or later

PROFINET Integrated drive EMCA-EC-67-...-PN

Firmware: version 1.4.0 or later
FCT plug-in EMCA: version 1.4.0 or later

Tab. 2 Overview: versions

Note

Before using a newer firmware version, check whether a newer version of the FCT plug­in or documentation is available è Support portal: http://www.festo.com/sp.

Service

Please consult your regional Festo contact if you have any technical problems.

Product identification

For additional information on the rating plate and production date è Description for “Integrated drive
with bus interface”, EMCA-EC-SY-...

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 15

EMCA-EC-67-...-CO/DIO/EC/EP/PN

Documentation on the product

For all available documents relevant to the delivery status of the product
è www.festo.com/pk.

The complete documentation for the product includes the following documents:

Designation Contents

Brief documentation

Brief device and functional description for initial information
EMCA-EC-...
Manual
EMCA-EC-SY-...
EMCA-EC-DIO-...

Device and functional description

– Mounting

– Installation (pin allocations)

– Drive functions

– Commissioning instructions

– Error messages

– Technical data
Manual
EMCA-EC-S1-...
Manual
EMCA-EC-C-HP-...
Manual

Description of the safety function “Safely switched-off torque”

(Safe torque off/STO)

Description of the device profile FHPP (Festo Handling and

Positioning Profile)

Description of the device profile CiA 402
EMCA-EC-C-CO-...
Help system for the FCT software
(help for the EMCA plug-in)
Special documentation
EMCA-EC_UL-...

Online help of the Festo Configuration Tool (FCT) for

commissioning and parameterisation

Requirements for operating the product in the USA and

Canada in accordance with certification by Underwriters

Laboratories Inc. (UL)

Tab. 3 Documentation for the EMCA

Further information about the product is available in the Festo Support Portal
(è www.festo.com/sp).
– Brief documentation (Quick guide) for initial commissioning and diagnostics
– Operating instructions for configurable electromechanical drives from Festo
– Function elements for Codesys
– Certificates, declaration of conformity
Overview of accessories (catalogue) è www.festo.com/catalogue

16 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

1 FHPP device profile (Festo Handling and Positioning Profile)

1 FHPP device profile

(Festo Handling and Positioning Profile)

1.1 FHPP overview

Tailored to the target applications for handling and positioning tasks, Festo has developed an optim
ised device profile, the “Festo Handling and Positioning Profile (FHPP)”.
The FHPP permits a uniform control and parameterisation for the various motor controllers or integ
rated drives from Festo, independent of the connection to various control devices.
In addition, it defines for the user in a largely uniform way
– operating modes
– I/O data structure
– Parameter objects
– sequence control

. . .

Bus communication

Record selection mode

1

2

>

3

...

n

Direct operation Parameterisation

Position Speed Torque

Free access to parameters –

reading and writing

. . .

Fig. 1.1 Overview: FHPP principle

Control and status data (FHPP standard)

Communication takes place via 8-byte control and status data. Functions and status messages re
quired in operation can be written and read directly.

Parameterisation (FPC)

The controller can access the parameter values of the integrated drive via the parameter channel. A
further 8 bytes of I/O data are used for this purpose.

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 17

1 FHPP device profile (Festo Handling and Positioning Profile)

1.2 Fieldbus interfaces

1.2.1 Fieldbus interfaces of the EMCA

Control and parameterisation of the EMCA through the FHPP device profile is supported by the follow
ing fieldbus interface:

Fieldbus

CAN bus
(EMCA-...-CO)
EtherCAT
(EMCA-...-EC)
EtherNet/IP
(EMCA-...-EP)
Modbus TCP
(EMCA-...-DIO)
PROFINET
(EMCA-...-PN)

Tab. 1.1 Fieldbus interfaces of the EMCA

CAN bus interfaces of the EMCA-...-CO

1

Electrical interface Page

CAN bus input (CAN IN) [X2]
CAN bus output (CAN OUT) [X3]
EtherCAT, Port 2 [X2]
EtherCAT, Port 1 [X3]
EtherNet/IP, Port 2 [X2]
EtherNet/IP, Port 1 [X3]
Ethernet [X1] 91

PROFINET, Port 2 [X2]
PROFINET, Port 1 [X3]

23

36

83

104

2

1 CAN bus output (CAN OUT) [X3] 2 CAN bus input (CAN IN) [X2]

Fig. 1.2 CAN bus interfaces of the EMCA

18 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

1 FHPP device profile (Festo Handling and Positioning Profile)

EtherCAT interfaces of the EMCA-...-EC

1

2

1 EtherCAT, Port 1 [X3] 2 EtherCAT, Port 2 [X2]

Fig. 1.3 EtherCAT interfaces of the EMCA

EtherNet/IP interfaces of the EMCA-...-EP

1

2

1 EtherNet/IP, Port 1 [X3] 2 EtherNet/IP, Port 2 [X2]

Fig. 1.4 EtherNet/IP interfaces of the EMCA

Ethernet interface (Modbus TCP) of the EMCA-...-DIO

1

1 Ethernet interface [X1]

Fig. 1.5 Ethernet interface (Modbus TCP) of the EMCA

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 19

1 FHPP device profile (Festo Handling and Positioning Profile)

PROFINET interfaces of the EMCA-...-PN

1

2

1 PROFINET, Port 1 [X3] 2 PROFINET, Port 2 [X2]

Fig. 1.6 PROFINET interfaces of the EMCA

20 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

2 CANopen

2 CANopen

This part of the documentation describes the connection and configuration of the EMCA in a CANopen
network. It is targeted at people who are already familiar with this bus protocol.

2.1 CiA standards

CANopen is a standard worked out by the “CAN in Automation” association. Numerous device manu
facturers are organised in this user organisation. This standard has largely replaced the current manu
facturer-specific CAN protocols. As a result, the end user has a communication interface that is inde
pendent of the manufacturer.

The following manuals, among others, can be obtained from this user organisation:

CiA 102: CAN – Physical layer for industrial applications

This document describes the general fundamentals of the CANopen network (e.g. transmission).

CiA 201 … 207: CAN – Application layer for industrial applications
These documents discuss the general basic principles and embedding of CANopen into the OSI shift
model. The relevant points of these books are discussed in this description.

CiA 303-1: CANopen – Cabling and connector pin assignment

This document describes concretely the signals, plug connectors and pin allocation of the CAN bus and
the specification of the CANopen network (e.g. bus cable, bus length).

CiA 303-3: CANopen – Indicator specification (LED)

This document describes the CANopen status LEDs.

CiA 301: CANopen – Application layer and communication profile

This document describes the fundamental configuration of the object directory of a CANopen device as
well as access to it. The statements of CiA201 … 207 are also made concrete. The elements of the ob
ject directory required for the EMCA and the related access methods are presented in this description.

User organisation:

For additional information on the user organisation “CAN in Automation (CiA)” è www.can-cia.org

CANopen implementation:

CANopen implementation of the EMCA is based on the following standard:

CiA Draft Standard Version

number

301 CANopen application layer and communication profile 4.2.0 2007-12-07

Tab. 2.1 CANopen implementation

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 21

Version

2 CANopen

2.2 CAN bus/CANopen interface of the EMCA

The following integrated CAN bus/CANopen interfaces of the EMCA-...-CO are available for CANopen
operation:

2134

1 LED display: CANopen status
2 Connection [X2]: CAN bus input (CAN IN)
3 Connection [X3]: CAN bus output (CAN OUT)

Fig. 2.1 CAN bus/CANopen interface of the EMCA

2.2.1 CANopen display component

The status of the CAN bus is displayed via the “CANopen Status” LED.

LED Description

The following CANopen statuses are displayed:

CANopen

status

Tab. 2.2 LED display

– CANopen communication
– Missing bus parameters
– Warnings/malfunctions
For additional information è page 371

4 DIP switch [S1]: CAN bus termination/termin

ating resistor

22 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

2 CANopen

2.2.2 CAN bus ports

The EMCA is integrated into a CAN bus network through the following connections.

Connection [X2]: CAN bus input (CAN IN)

M12 plug connector

Pin Designation Description
A-coded
5-pin

1 CAN_SHLD Screening, capacitive connection to housing

2 NC Unused

3 CAN_GND Load (reference potential for CAN signals)

4 CAN_H Positive CAN signal (dominant high)

5 CAN_L Negative CAN signal (dominant low)

Housing Shield/FE Shield/functional earth

Tab. 2.3 Connection [X2]: CAN bus input (CAN IN)

Connection [X3]: CAN bus output (CAN OUT)

Socket M12

Pin Designation Description
A-coded
5-pin

1 CAN_SHLD Screening, capacitive connection to housing

2 NC Unused

3 CAN_GND Load (reference potential for CAN signals)

4 CAN_H Positive CAN signal (dominant high)

5 CAN_L Negative CAN signal (dominant low)

Housing Shield/FE Shield/functional earth

Tab. 2.4 Connection [X3]: CAN bus output (CAN OUT)

CAN bus cabling

To ensure a stable and trouble-free CAN bus communication, observe the following in
formation and notes:
– CAN bus cabling è page 25
– Bit rate and bus length è page 27
Incorrect wiring of the CAN bus can cause malfunctions in the CAN bus communication
during operation.
This can have the following results:
– The EMCA switches off due to a function error.
– The entire CAN bus communication breaks down and the system's subfunction no

longer works.

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 23

2 CANopen

2.2.3 Termination of the CAN bus (terminating resistor)

If the EMCA is inserted at the connection [X2] or [X3] as an end participant of the CAN bus network, the
integrated terminating resistor (120 Ω) must be hooked up via the DIP switch [S1.1]. For termination,
only one connection can be used in all cases.

Termination of the CAN bus

EMCA-...-CO

S1.1

2

X2

CAN_H

1

X2.4

ON

OFF

S1.1

X3.4

X3

CAN_H

ON

CAN_L

S1.1 DIP switch “terminating resistor”
ON Switch position: contact closed
OFF Switch position: contact open
R Terminating resistor 120 Ω

Fig. 2.2 Termination of the CAN bus

X2.5

R

120

X3.5

CAN_L

24 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

2 CANopen

2.2.4 CAN bus cabling

The CAN bus offers a simple, interference-resistant method of networking all the components of a sys
tem together. A requirement for this is that all of the subsequent instructions on cabling are observed.

Bus length

CAN shield

CAN-GND

CAN-L
CAN-H

120 Ω

120 Ω

CAN shield

CAN-GND

CAN-L
CAN-H

CAN shield

CAN-GND

CAN-L
CAN-H

End participant End participantParticipant

Fig. 2.3 Cabling example

– The individual nodes of the CAN bus network are connected in series. The CAN bus signals are

passed from component to component through the CAN bus cable è Fig. 2.3.

– Both end participants of the CAN bus network must be terminated with a terminating resist

or (120 Ω, ±5 %). Observe the information and notes on this in the corresponding documentation of
the end participants.

– Screened cable with 2 twisted conductor pairs must be used for the CAN bus wiring è Tab. 2.5. The

first twisted conductor pair is used for the CAN signals CAN-H and CAN-L. The second twisted con
ductor pair is used for the load CAN-GND (reference potential for CAN signals). The screening of the
CAN bus cable must be connected to the CAN shield port at each node.

– The use of adapters is not recommended for CAN bus cabling. If despite this an adapter is used, a

plug connector with metal housing is recommended. For plug connectors with a plastic or metal
housing, ensure that the screening of the CAN bus cable is connected properly.

– To keep the disturbance coupling as low as possible, CAN bus cables should not be laid parallel to

supply cables (e.g. motor cables). In addition, supply cables with screening must be earthed cor
rectly.

– To construct an interference-free CAN bus cabling, observe the information and notes in the Control

ler Area Network protocol specification, version 2.0, issue 1991, of Robert Bosch GmbH.

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 25

2 CANopen

2.2.5 CAN bus cable

The CAN bus cable must fulfil the following technical data:

Feature

Wire pairs 2
Core cross section [mm2]  0.22
Wire pair screening no
Cable screening Yes
Loop resistance [Ω/m]  0.2
surge impedance [Ω] 100 … 120

Tab. 2.5 Technical data of CAN bus cables

Value

2.3 Configure CANopen participants

Several steps are required in order to produce an operational CANopen interface. Some of these set
tings should or must be carried out before the CANopen control interface is executed. This section
provides an overview of the steps required for parameterisation and configuration of the EMCA in slave
operation. As some parameters are only effective after saving or with the restart of the controller, we
recommend that commissioning with the Festo Configuration Tool (FCT) should be carried out first
without connection to the CAN bus network (ports [X2/X3] open).

For notes on commissioning with the Festo Configuration Tool (FCT) è FCT Help for the
EMCA plug-in.

26 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

2 CANopen

2 3 4 51

2.3.1 Configure EMCA

The following procedure is recommended for configuration/parameterisation of the EMCA:
– Prerequisite:

 The Festo Configuration Tool (FCT) is installed (framework and EMCA plug-in).
 In the FCT, a component is added and the drive system is configured è FCT Help for the EMCA

plug-in.

1. Configure CAN bus:
The following CANopen parameters can be configured/parameterised in the Festo Configuration Tool (FCT)

1 “Fieldbus” page
2 “Operating parameters” tab

4 “Node number (Node ID)” parameter
5 “Device profile” parameter

3 “Bit rate” parameter

Fig. 2.4 CANopen parameters in the FCT

Note

The FCT settings are taken over into the permanent memory of the EMCA only after
“download”, “save” and “Restart controller”.

Configure bit rate

Configure a bit rate for CANopen operation.

Bit rate Max. bus length [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 Bit rate and bus length

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 27

2 CANopen

Parameterise node number (Node ID)

Parameterise a node number (1…127) for the CAN bus.

Note

Each node number can only be assigned once in a CANopen network.
If several CANopen participants are parameterised with the same node number, this can
result in CANopen communication errors that are difficult to localise.

Configure device profile

Select FHPP device profile.

28 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

2 CANopen

2 31

Display physical units (Factor Group)

Exchange of data (parameters) between the higher-order controller and the EMCA takes place via inter
face units [SINC]. The physical units (e.g. mm, mm/s, mm/s2) should be converted into the specified
interface units, dependent on the application è page 145.

1 “Fieldbus” page
2 “Factor Group” tab
3 Current exponents: position, speed, acceleration, deceleration, jerk

Fig. 2.5 Factor group in the FCT

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 29

2 CANopen

2.3.2 Commission EMCA with the Festo Configuration Tool (FCT)

Initial commissioning of the EMCA is performed with the Festo Configuration Tool (FCT) è FCT Help for
the EMCA plug-in.

Note

With activation of FCT in the device control, the Festo Configuration Tool (FCT) takes
over master control via the EMCA. CAN bus communication for the controller remains
active through the CAN bus interface [X2/X3], but the CAN bus does not have master
control.

2.3.3 Configure CANopen master

EDS file for the EMCA

Use the following EDS file to configure the EMCA in the CANopen master (e.g. higher-order controller).

EDS files

Description

EMCA-EC-67-CO-FHPP.eds Integrated drive EMCA-EC-67-...-CO with FHPP device profile

Tab. 2.7 EDS file for FHPP

This EDS file is available at the following link:
– Support portal: www.festo.com/sp

Function elements for the EMCA

The following function elements can be used to enable the EMCA.

Function element Description

Festo_Motion_FHPP_2.lib CODESYS, version 2.3
Festo_Motion_FHPP_3.library CODESYS, version 3.5

Tab. 2.8 Function elements for FHPP

The latest version of the function elements è www.festo.com/sp

Cycle time

Data are processed by the EMCA in a cycle time of up to 5ms.

30 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

2 CANopen

2.4 Required digital inputs for operation

The connection diagram shows the required digital inputs “controller enable”, “safety function” and
“reference or limit switch” for bus operation.

EMCA

Ethernet (Modbus TCP)

X1

CANopen; EtherCAT; EtherNet/IP;
PROFINET

1)

STO1

1)

STO2

24 V DC

Reference/limit switch (switch 1)

Reference switch/Limit switch (switch 2)

Controller enable

Ground (GND)

1) For additional information on wiring the input channels STO1/STO2 è Description EMCA-EC-S1-...

2) Only required with use of reference or limit switch è Description EMCA-EC-SY-…

3) Parameterisation of the controller enable signals è PNU 128 or FCT

4) Reference potential for the controller

3)

4)

2)

2)

Fig. 2.6 Digital inputs/outputs for operation

X2/X3

X6

4

5

X7

2

X8

2

X9

4

6

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 31

2 CANopen

2.5 Data interfaces (parameter/firmware)

www.festo.com/sp PC

Festo Configuration
Tool (FCT)

Framework

Plug-in file

Firmware

Firmware file

Device description

EDS file:
– CANopen
– EtherNet/IP
ESI file:
– EtherCAT
GSDML file:
– PROFINET

Save/execute

Save/execute

Save/
Execute/
FCT: Import

Save/
execute

FCT software

Installation

Installation/
update

Firmware file

Archive file
(.ZIP)

FCT:
Archive

FCT:
Extract

Device data

Controller
software

Controller
data
management

FCT:

Firmware download

FCT: Download

FCT: Synchronisation

FCT: Upload

FCT: Save

1)

EMCA

X1

X2/X3

Control interface

Device profile:
– FHPP

Function element

– CODESYS
– Omron

Save/
execute

Download

controller

– Siemens

1) Parameterisation interface

Fig. 2.7 Overview: Data interfaces (parameter/firmware)

32 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

2 CANopen

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 33

3 EtherCAT with FHPP

3 EtherCAT with FHPP

This part of the documentation describes the connection and configuration of the EMCA in an EtherCAT
network. It is targeted at people who are already familiar with this bus protocol.

EtherCAT (Ethernet for Controller and Automation Technology) is a standard worked out by the
“EtherCAT Technology Group (ETG)” association. Numerous device manufacturers are organised in this
user organisation. EtherCAT is an open, real-time-capable Ethernet technology that has been standard
ized by the International Electrotechnical Commission (IEC).

3.1 ETG standards

The following specifications, among others, can be obtained from this user organization:
– 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

User organisation:

For additional information on the user organisation “EtherCAT Technology Group (ETG)”
è www.ethercat.org

EtherCAT implementation

The EtherCAT implementation of the EMCA is based on the following standards:

ETG Draft Standard Version

number

1000.6 EtherCAT Application Layer Protocol Specification S (R) V1.0.3 2013-01-03

Tab. 3.1 EtherCAT implementation

Issue

34 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

3 EtherCAT with FHPP

3.2 EtherCAT interfaces on the EMCA

The following integrated EtherCAT interfaces of the EMCA-...-EC are available for EtherCAT operation:

1 5

1 LED indicator: EC LINK/ACTIVITY (communic

ation activity/line monitoring) from Port 2,
connection [X2]

2 LED indicator: EC RUN
3 LED indicator: EC ERROR

Fig. 3.1 EtherCAT interface on the EMCA

3.2.1 EtherCAT display elements

The status of EtherCAT is displayed over the following four LEDs.

LED Description

EC LINK/ACTIVITY, Port1

EC LINK/ACTIVITY, Port 2

3 426

4 LED indicator: EC LINK/ACTIVITY (communic

ation activity/line monitoring) from Port 1,
connection [X3]

5 Connection [X2]: EtherCAT, Port 2
6 Connection [X3]: EtherCAT, Port 1

The following EtherCAT statuses are displayed:
– EtherCAT communication

EC ERROR

EC RUN

– Warnings/malfunctions
For additional information è Page 376

Tab. 3.2 LED indicator

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3 EtherCAT with FHPP

3.2.2 EtherCAT connections

The EMCA is integrated into an EtherCAT network through the following connections.

Note

The EtherCAT interfaces of the EMCA are intended exclusively for connection to local,
industrial fieldbus networks.
Direct connection to a public telecommunications network is not permissible.

EtherCAT, Port 1 [X3]: Pin assignment

Socket M12

Pin Designation Description
D-coded
5-pin

1

5

1 TD+ Transmit Data +

2 RD+ Receive Data +

3 TD- Transmit Data –

4

2

4 RD- Receive Data –

5 NC Not connected

3

Shield

Shield Screening (Shield) (socket housing is connection

to functional earth via RC link)

Tab. 3.3 EtherCAT, Port 1 [X3]: Pin assignment

EtherCAT, Port 2 [X2]: Pin assignment

Socket M12

Pin Designation Description
D-coded
5-pin

1

5

1 TD+ Transmit Data +

2 RD+ Receive Data +

3 TD- Transmit Data –

4

2

4 RD- Receive Data –

5 NC Not connected

3

Shield

Shield Screening (Shield) (socket housing is connection

to functional earth via RC link)

Tab. 3.4 EtherCAT, Port 2 [X2]: Pin assignment

36 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

3 EtherCAT with FHPP

3.2.3 EtherCAT wiring

EtherCAT network participants must be wired using STP shielded Ethernet twisted-pair cables, Category
Cat 5 or higher. A max. cable length of 100 m is permitted per segment. The EtherCAT participants can
be connected together in ring, star and line topology.

3.2.4 EtherCAT cable

The EtherCAT cable must fulfil the following technical data:

Feature

Value

Cable diameter [mm] 6 … 8
Cable screening Yes
Wire pair screening Yes
Wire pairs 4
Core cross section [mm2] 0.14 … 0.75; 22 AWG

Tab. 3.5 Technical data of the EtherCAT cable

3.2.5 Termination of the EtherCAT bus

No external bus terminations are required for the EtherCAT bus. The EtherCAT Slave Controller (ESC)
monitors its two ports and terminates the bus automatically using the loop-back function.

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 37

3 EtherCAT with FHPP

3.3 EtherCAT communication

3.3.1 Overview: EtherCAT communication and synchronization

This diagram illustrates EtherCAT communication and synchronization of the EMCA with other network
participants (e.g. controller and Clock Master) and the protocol “CANopen over EtherCAT (CoE)”.

Controllers
(Master)

Clock Master
(1st Slave)

Ref clocks

EtherCAT communication

Process data communication

Process data object request

Process data object response

Mailbox communication

SDO communication

Service data object request

Service data object response

Abort SDO transfer request

Emergency communication

Emergency request

SDO Information communication

Get OD list request

Get OD list response

EtherCAT Synchronisation

Ref Time

EMCA
(Slave)

ESC

Sync manager

1)

2)

Sync manager 2/3

Sync manager 0/1

Distributed clocks

DC Time

Process
data

Mail
box

CoE

1) cyclical transmission 2) acyclical transmission

Fig. 3.2 Overview: EtherCAT communication and synchronization

38 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

3 EtherCAT with FHPP

EtherCAT communication and synchronization Page

EtherCAT Slave Controller ESC 40
Register (Mailbox/Process data)

1)

Protocol (CoE) 40
Sync manager 45

Sync manager communication 45

Sync manager communication type 46
Sync manager 0 47
Sync manager 1 47
Sync manager 2 48
Sync manager 3 49

Sync manager synchronization 50

Sync manager 2 synchronization 50
Sync manager 3 synchronization 51

Distributed Clocks DC 52
Process data communication 53

Process data mapping 53

Object 1600h: 1st receive PDO mapping 54
Object 1601h: 2nd receive PDO mapping 55
Object 1602h: 3rd receive PDO mapping 56
Object 1603h: 4th receive PDO mapping 57
Object 1A00h: 1st transmit PDO mapping 58
Object 1A01h: 2nd transmit PDO mapping 59
Object 1A02h: 3rd transmit PDO mapping 60
Object 1A03h: 4th transmit PDO mapping 61

Mailbox communication 62

SDO communication 62

SDO upload/Upload SDO 63
SDO download/Download SDO 64

Abort SDO transfer 65
Emergency communication 67
SDO information communication

1) Internal memory area for process data communication and mailbox communication. Incoming and outgoing data are managed in

separate memory areas.

2) The EMCA supports SDO information communication for the transmission of “Get OD list” data.

2)

Tab. 3.6 Overview: EtherCAT communication and synchronization

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 39

3 EtherCAT with FHPP

3.3.2 EtherCAT Slave Controller ESC

The EtherCAT Slave Controller ESC forms the central communication unit for the EMCA, to exchange
data between the control unit and the EtherCAT participants. With Distributed Clocks DC, EtherCAT
Slave Controller controls the cyclic synchronous processing of process data.

3.3.3 Protocol

The EMCA supports the following protocols for exchanging communication data:

Protocol

Description

CANopen over EtherCAT CoE Data transmission in accordance with CANopen, CiA301

Tab. 3.7 Overview: Protocol

Byte format

With EtherCAT, the 16-bit values (word) and the 32-bit values (double word) are presented as follows:

Byte format Data type Byte order

Little endian Word

(LSB) (MSB)
(CDEFh)
Double word

(LSB) (MSB)
(89ABCDEFh)

1) LSB: Least Significant Byte

MSB: Most Significant Byte

1)

EF

h

EF

h

CD

CD

h

h

AB

h

89

h

Tab. 3.8 Byte order

40 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

3 EtherCAT with FHPP

Layout of the Ethernet and EtherCAT frame

This diagram shows the layout of the Ethernet and EtherCAT frame with the protocol “CANopen over
EtherCAT (CoE)”.

Ethernet Frame [IEE E 802.3]

EtherCAT Frame [ETG]

Ethernet Header

14 Byte

Ether type:
0x88A4 =EtherCAT

EtherCAT Frame Header

Type:
4= Process data communication
5= Mailbox communication

Process Data Frame Header

2 Byte

12 Byte

EtherCAT Protocol Data

Process Data Frame

Process Data Object Frame

Standard CANopen PDO Frame

1st Process Data

8 Byte

… Byte

PDO (1800h/1A00h)

FHPP Standard

Mailbox Frame

PDO Header

… Byte

…

…

…

…

4th Process Data

PDO Header

8 Byte

Ethernet FCS

4 Byte

… Byte

PDO (1803h/1A03h)

FHPP+

Mailbox Header

6 Byte

Type:
0x03= CoE

CoE Header

2 Byte

Service:
0x01= Emergency
0x02= SDO request
0x03= SDO response
0x08= SDO Information

Error Code

2 Byte

SDO control

1 Byte

SDO Info Header

2 Byte

Emergency Frame

Standard CANopen Emergency Frame

SDO Request Frame/SDO Response Frame

Standard CANopen Frame

Index

2 Byte

SDO Information Frame

Error Register

1 Byte

Subindex

4 Byte

SDO Info Service Data

CoE Data

… Byte

… Byte

Data

1 … 5 | 6 … n Byte

Data

1 … 4 | 5 … n Byte

Fig. 3.3 Layout of the Ethernet and EtherCAT frame

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 41

3 EtherCAT with FHPP

3.4 EtherCAT final state machine

The EtherCAT final state machine contains all statuses needed to establish EMCA communication in an
EtherCAT network. After a reboot (Power ON or Reset), the EMCA is initialized by the controller
(Master). In the following sequence, communication is established for mailbox data and process data.
By enabling communication, data can be exchanged between the EMCA and the other network parti
cipants. All status transitions are controlled by the commands from the higher-order controller.
Autonomously, the EMCA does not perform any status changes.
The illustration shows all statuses and status transitions of the EtherCAT finite state machine.

(Power ON)
(Reset)

Init

(PI)

Pre-Operational (PreOp)

(OI)

(OP)

Operational (Op)

Fig. 3.4 EtherCAT final state machine

(IP)

(SI)

(PS)

(SO)

(SP)

Safe-Operational (SafeOp)

(OS)

42 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

3 EtherCAT with FHPP

This table describes all statuses of the EtherCAT final state machine.

State

Description

Init  Status after Power ON or Reset.

 No acyclic mailbox communication (SDO) is possible.
 No cyclic process data communication (PDO) possible.
 The controller initializes Sync Manager channels 0 and 1 for mailbox commu

nication.

Pre-Operational
(PreOp)

 Acyclic mailbox communication (SDO) is possible.
 No cyclic process data communication (PDO) possible.
 The controller initializes Sync Manager channels 2 and 3 for PDO mapping and

for process data communication.

Safe-Operational
(SafeOp)

 Acyclic mailbox communication (SDO) is possible.
 Cyclic process data communication (PDO) is possible.

– The controller does not transmit any setpoint values to the EMCA (RxPDO).

The EMCA is in a secure condition.

– The EMCA transmits current actual values to the controller (TxPDO).

Operational
(Op)

 Acyclic mailbox communication (SDO) is possible.
 Cyclic process data communication (PDO) is possible.

– The controller transmits new setpoint values to the EMCA (RxPDO). Set

point values are processed by the EMCA.

– The EMCA transmits current actual values to the controller (TxPDO).

Tab. 3.9 Statuses of the EtherCAT final state machine

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 43

3 EtherCAT with FHPP

This table describes all status transitions of the EtherCAT final state machine.

Status transition

Status

Power ON/RESET The EMCA was switched on, or a Reset was triggered.

The EMCA initializes itself and switches directly into the “Init” status.

IP
(Init è PreOp)

Mailbox communication (SDO) is started.
The controller reads the device information from the EtherCAT slave controller
(ESC) and configures it:
 Station address
 Sync Manager register for mailbox communication
 Distributed clocks (DC)

PI

Mailbox communication (SDO) is stopped.

(PreOp è Init)

PS
(PreOp è SafeOp)

Process data communication (PDO) is started.
The controller configures:
 Sync Manager register for process data communication
 PDO mapping

SP

Process data communication (PDO) is stopped.

(SafeOp è PreOp)

SO

The controller transmits valid output data.

(SafeOp è Op)

OS
(Op è SafeOp)

The controller actively requests a change into status “Safe-Operational
(SafeOp)”. The EMCA triggers a diagnostic message in accordance with the
configured response.

OP

Process data communication (PDO) is stopped.

(Op è PreOp)

SI
(SafeOp è Init)

OI
(Op è Init)

Mailbox communication (SDO) is stopped.
Process data communication (PDO) is stopped.

Mailbox communication (SDO) is stopped.
Process data communication (PDO) is stopped.

Tab. 3.10 Status transitions of the EtherCAT finite state machine

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3 EtherCAT with FHPP

3.5 Sync Manager

The sync manager supports the following functions:
– Sync Manager communication (network communication) è Page 45
– Sync Manager synchronization (network synchronization) è Page 50

3.5.1 Sync Manager communication

The Sync Manager controls EMCA mailbox data and process data communication to the other network
participants (e.g. controller).
The following table describes the fixed assignment of communication type, transmission type and sync
channel to the Sync Manager.

Sync
Manager

0 0 Mailbox
1 1 Transmit service data objectsSDO
2 2 Process data com
3 3 Transmit process data objectsTxPDO

Tab. 3.11 Communication type

Sync
channel

Communication
type

communication

munication

Sync manager communication

Sync manager 0

Type of transmission

Receive service data objectsSDO

Receive process data objectsRxPDO

Sync channel 0

Mailbox receive è SDO

Sync manager 1

Sync channel 1

EtherCAT Bus

Fig. 3.5 Establishing Sync Manager communication

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 45

Sync manager 2

Sync channel 2

Sync manager 3

Sync channel 3

Mailbox send ç SDO

Process data output è RxPDO

Process data input ç TxPDO

3 EtherCAT with FHPP

Objects for Sync Manager communication

The following objects are available for Sync Manager communication:

Name Page

Index

1C00hSync manager communication type 46
1C10hSync manager 0 PDO assignment 47
1C11hSync manager 1 PDO assignment 47
1C12hSync manager 2 PDO assignment 48
1C13hSync manager 3 PDO assignment 49

Tab. 3.12 Objects for Sync Manager communication

3.5.2 Object 1C00h: Sync manager communication type

Via the object, the communication types of the Sync Managers 0 … 3 are output.
A communication and transmission type is assigned firmly to each sync manager.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1C00hSync manager

ARRAY – – – – –

communication type

00hNumber of used sync

VAR UINT8 ro no 4

4

h

h

manager channels

01hCommunication type sync

VAR UINT8 ro no Tab. 3.14 1

h

manager 0

02hCommunication type sync

VAR UINT8 ro no 2

h

manager 1

03hCommunication type sync

VAR UINT8 ro no 3

h

manager 2

04hCommunication type sync

VAR UINT8 ro no 4

h

manager 3

Tab. 3.13 Object 1C00

h

Value Description

1

h

Mailbox: Receive service data objectsSDO

Master è Slave

(Mailbox receive)

2

h

Mailbox: Transmit service data objectsSDO

Slave è Master

(Mailbox send)

3

h

Process data: Receive process data objects RxPDO

Master è Slave

(Process data output)

4

h

Process data: Transmit process data objects TxPDO

Slave è Master

(Process data input)

Tab. 3.14 Value range: Communication type sync manager

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3 EtherCAT with FHPP

3.5.3 Object 1C10h: Sync manager 0 PDO assignment

Via the object, PDO assignment is output in Sync Manager 0.
Mailbox communication “Receive service data objects SDO” is firmly assigned to Sync Manager 0.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1C10hSync manager 0 PDO

ARRAY – – – – –

assignment

00hNumber of assigned PDOs VAR UINT8 ro no Tab. 3.16 0

Tab. 3.15 Object 1C10

h

h

Value Description

0

h

No PDO is assigned

Tab. 3.16 Value range: Number of assigned PDOs

3.5.4 Object 1C11h: Sync manager 1 PDO assignment

Via the object, PDO assignment is output in Sync Manager 1.
Mailbox communication “Transmit service data objects SDO” is firmly assigned to Sync Manager 1.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1C11hSync manager 1 PDO

ARRAY – – – – –

assignment

00hNumber of assigned PDOs VAR UINT8 ro no Tab. 3.18 0

Tab. 3.17 Object 1C11

h

h

Value Description

0

h

No PDO is assigned

Tab. 3.18 Value range: Number of assigned PDOs

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 47

3 EtherCAT with FHPP

3.5.5 Object 1C12h: Sync manager 2 PDO assignment

Via the object, PDO assignment is specified in Sync Manager 2.
Process data communication “Receive service data objects RxPDO” (FHPP data) is firmly assigned to
Sync Manager 2.

Index

Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1C12hSync manager 2 PDO

ARRAY – – – – –

assignment
00hNumber of assigned PDOs VAR UINT8 rw no 04
01hPDO mapping object index of

VAR UINT16 rw no 1600h1600

assigned PDO

h

04

h

h

(RxPDO1)
(FHPP-Stan
dard)

02hPDO mapping object index of

assigned PDO

VAR UINT16 rw no 1601h1601

(RxPDO2)

h

(FPC/FHPP+)

03hPDO mapping object index of

assigned PDO

VAR UINT16 rw no 1602h1602

(RxPDO3)

h

(FHPP+)

04hPDO mapping object index of

assigned PDO

VAR UINT16 rw no 1603h1603

(RxPDO4)

h

(FHPP+)

Tab. 3.19 Object 1C12

h

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3 EtherCAT with FHPP

3.5.6 Object 1C13h: Sync manager 3 PDO assignment

Via the object, PDO assignment is specified in Sync Manager 3.
Process data communication “Transmit service data objects TxPDO” (FHPP data) is firmly assigned to
Sync Manager 3.

Index

Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1C13hSync manager 3 PDO

ARRAY – – – – –

assignment
00hNumber of assigned PDOs VAR UINT8 rw no 04
01hPDO mapping object index of

VAR UINT16 rw no 1A00h1A00

assigned PDO

h

04

h

h

(TxPDO1)
(FHPP-Stan
dard)

02hPDO mapping object index of

assigned PDO

VAR UINT16 rw no 1A01h1A01

(TxPDO2)

h

(FPC/FHPP+)

03hPDO mapping object index of

assigned PDO

VAR UINT16 rw no 1A02h1A02

(TxPDO3)

h

(FHPP+)

04hPDO mapping object index of

assigned PDO

VAR UINT16 rw no 1A03h1A03

(TxPDO4)

h

(FHPP+)

Tab. 3.20 Object 1C13

h

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3 EtherCAT with FHPP

3.5.7 Sync Manager synchronization

Transmission and processing of cyclic process data is specified by the Sync Manager synchronization
process. Synchronization is controlled by Distributed Clocks DC è Page 52.
The EMCA supports the following synchronizations:
– Free Run (no synchronization)
– Synchronization with DC Sync (DC Sync Event)

Objects for Sync Manager synchronization

The following objects are available for Sync Manager synchronization:

Name (Name) Page

Index

1C32hSync manager 2 synchronization 50
1C33hSync manager 3 synchronization 51

Tab. 3.21 Objects for Sync Manager synchronization

3.5.8 Object 1C32

: Sync manager 2 synchronization

h

Sync Manager 2 synchronization is specified by the object.

Index/
Sub

Name/Discription Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1C32hSync manager 2

REC – – – – –

synchronization

00hNumber of synchronization

VAR UINT8 ro no – 0A

parameters

01hSynchronization type VAR UINT16 rw no Tab. 3.23 00
02hCycle time VAR UINT32 ro no – –
04hSynchronization types

VAR UINT16 ro no – –

supported

05hMin cycle time VAR UINT32 ro no – –
06hCalc and copy time VAR UINT32 ro no – –
08hGet cycle time VAR UINT16 rw no – 0000
09hDelay time VAR UINT32 ro no – –
0BhSM-event missed counter VAR UINT16 ro no – –
0ChCycle time too small VAR UINT16 ro no – –
20hSync Error VAR BOOL ro no – –

Tab. 3.22 Object 1C33

h

Value Description

00
02

h

h

Free Run: No synchronization
DC Sync0 Synchronization with DC Synco0 event

Tab. 3.23 Value range: Synchronization type

Default value

h

h

h

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3 EtherCAT with FHPP

3.5.9 Object 1C33h: Sync manager 3 synchronization

Sync Manager 3 synchronization is specified by the object.

Index/
Sub

Name/Discription Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1C33hSync manager 3

REC – – – – –

synchronization

00hNumber of synchronization

VAR UINT8 ro no – 0A

parameters
01hSynchronization type VAR UINT16 rw no Tab. 3.25 00
02hCycle time VAR UINT32 ro no – –
04hSynchronization types

VAR UINT16 ro no – –

supported
05hMin cycle time VAR UINT32 ro no – –
06hCalc and copy time VAR UINT32 ro no – –
08hGet cycle time VAR UINT16 rw no – 0000
09hDelay time VAR UINT32 ro no – –
0BhSM-event missed counter VAR UINT16 ro no – –
0ChCycle time too small VAR UINT16 ro no – –
20hSync Error VAR BOOL ro no – –

Tab. 3.24 Object 1C33

h

Value Description

00
02

h

h

Free Run: No synchronization
DC Sync0 Synchronization with DC Synco0 event

Tab. 3.25 Value range: Synchronization type

Default value

h

h

h

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3 EtherCAT with FHPP

3.6 Distributed Clocks DC

With Distributed Clocks DC the clocks in the EtherCAT Slave Controller ESC of all DC-capable network
participants on an EtherCAT network array can be synchronized. The first DC-capable slave in the
EtherCAT network usually takes charge of the task of Clock Masters with a reference clock (Ref Clock).
At cyclical intervals, Master transmits a synchronization datagram in which Clock Master writes the
current reference time (Ref Time) to the reference clock. All subsequent slaves read out this value.
EtherCAT Slave Controller ESC calculates the time from the reference time (Ref Time) and the run-time
established by the controller (Offset) DC(DC Time).
With every subsequent synchronization datagram, Distributed Clocks DC are synchronized continu
ously. With Distributed Clocks DC, cyclic synchronous processes can be executed (e.g. chronologically
synchronous adoption of setpoint value from process data or cyclic synchronous operation of several
axes). Transmission and processing of cyclic process data is controlled by the Sync Manager synchron
ization è Page 50.
In status transition IP (Init è PreOp), all Distributed Clocks DC in an EtherCAT network are configured
by the controller. In the status transitions (PreOp è SafeOp), DC-synchronization is established in the
EtherCAT network. Then the Clock Slaves are restored to status Operational (Op).
The diagram shows the DC-topology and synchronization of the EtherCAT network.

Master

Clock Slave

Ref Time

1) Synchronization datagram

1st Slave

Clock Master

Ref Clock

Ref Time

1) Ref Time Ref Time

2nd Slave

Clock Slave

DC TimeDC TimeDC Time DC Time

OffsetOffsetOffset Offset

Ref Time Ref Time

Ref Time

Fig. 3.6 DC-topology and synchronization of the EtherCAT network

3rd Slave ... Slave

Clock Slave

52 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

3 EtherCAT with FHPP

3.7 Process data communication

With Process data communication, process data (e.g. setpoint and actual values) are exchanged cyclic
ally between the EMCA and the network participants (e.g. controller). With each process data frame
that is run through, the process data are read and written to. In the EMCA, the controller for process
data communication is assigned permanently to Sync Managers 2 and 3. Transmission of mapped pro
cess data objects PDO (Process data objects) takes place via sync channels 2 and 3.
From status “Safe Operational”, EMCA process data communication is enabled. From this status on
wards, the EMCA transmits current actual values to the controller. When status “Operational” is
reached, incoming process data objects PDO are processed and executed by the EMCA. Synchroniza
tion of the EMCA can be controlled by Distributed Clocks DC è Page 52.

Controllers

Process data output

(transmitted data, e.g. setpoint value)

RxPDO

EMCA

RxPDO Mapping

Object 1600

… 1603

h

h

TxPDO Mapping

Process data input

(received data, e.g. actual value)

TxPDO

Object 1A00h … 1A03

Fig. 3.7 Access procedure via process data objects PDO

3.7.1 PDO Mapping

With PDO mapping, application-specific data sets for data interchange can be created.

Objects for PDO mapping

The following objects are available for mapping the PDO process data objects:

Index Name Page

1600h1st receive PDO mapping RxPDO1 54
1601h2nd receive PDO mapping RxPDO2 55
1602h3rd receive PDO mapping RxPDO3 56
1603h4th receive PDO mapping RxPDO4 57
1A00h1st transmit PDO mapping TxPDO1 58
1A01h2nd transmit PDO mapping TxPDO2 59
1A01h3rd transmit PDO mapping TxPDO3 60
1A01h4th transmit PDO mapping TxPDO4 61

Tab. 3.26 Objects for PDO mapping

h

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3 EtherCAT with FHPP

3.7.2 Object 1600h: 1st receive PDO mapping RxPDO1

Mapping for RxPDO1 is specified by the object.
The RxPDO1 transmits the FHPP standard data è Page 123.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1600h1st receive PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 ro no 05

h

PDO

01h1st output object to be

VAR UINT8 ro no Tab. 3.28 30000008

mapped

02h2nd output object to be

VAR UINT8 ro no 30010008

mapped

03h3rd output object to be

VAR UINT8 ro no 30020008

mapped

04h4th output object to be

VAR UINT8 ro no 30030008

mapped

05h5th output object to be

VAR INT32 ro no 30040020

mapped

Tab. 3.27 Object 1600

h

Sub-index Byte Description

FHPP-Standard, control data
Record selection mode Direct mode

01
02
03
04
05

h

h

h

h

h

1 CCON CCON
2 CPOS CPOS
3 REC_NO, set number (setpoint) CDIR
4 Reserved DEM_VAL1/PARA1, setpoint value 1
5 Reserved DEM_VAL2/PARA2, setpoint value 2
6

(target)
7
8

Tab. 3.28 Value range: … output object to be mapped

Default value

05

h

h

h

h

h

h

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3 EtherCAT with FHPP

3.7.3 Object 1601h: 2nd receive PDO mapping RxPDO2

Mapping for RxPDO2 is specified by the object.
The RxPDO2 transmits the Festo Parameter Channel (FPC) è Page 224 or the FHPP+ data è Page 239.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1601h2nd receive PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 ro no 04

04

h

h

PDO

01h1st output object to be

VAR UINT8 ro no Tab. 3.30 30100008

h

mapped

02h2nd output object to be

VAR UINT8 ro no 30110008

h

mapped

03h3rd output object to be

VAR UINT16 ro no 30120010

h

mapped

04h4th output object to be

VAR INT32 ro no 30130020

h

mapped

Tab. 3.29 Object 1601

h

Sub-index Byte Description

Festo Parameter Channel (FPC)

FHPP+ data

(default)

01
02
03

h

h

h

1 FPCC FHPP+ Byte 1
2 Subindex/Package ID FHPP+ Byte 2
3 PNU, parameter number FHPP+ Byte 3
4 FHPP+ Byte 4

04

h

5 PWE, parameter value FHPP+ Byte 5
6 FHPP+ Byte 6
7 FHPP+ Byte 7
8 FHPP+ Byte 8

Tab. 3.30 Value range: … output object to be mapped

Festo – EMCA-EC-C-HP-EN – 2017-11e – English 55

3 EtherCAT with FHPP

3.7.4 Object 1602h: 3rd receive PDO mapping RxPDO3

Mapping for RxPDO3 is specified by the object.
The RxPDO3 transmits the FHPP+ data è Page 239.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1602h3rd receive PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 ro no 08

h

PDO

01h1st output object to be

VAR UINT8 ro no Tab. 3.32 31010008

mapped

02h2nd output object to be

VAR UINT8 ro no 31020008

mapped

03h3rd output object to be

VAR UINT8 ro no 31030008

mapped

04h4th output object to be

VAR UINT8 ro no 31040008

mapped

05h5th output object to be

VAR UINT8 ro no 31050008

mapped

06h6th output object to be

VAR UINT8 ro no 31060008

mapped

07h7th output object to be

VAR UINT8 ro no 31070008

mapped

08h8th output object to be

VAR UINT8 ro no 31080008

mapped

Tab. 3.31 Object 1602

h

Default value

08

h

h

h

h

h

h

h

h

h

Sub-index Byte Description

FHPP+ data with FPC

FHPP+ data without FPC

(default)

01
02
03
03
04
04
04
04

h

h

h

h

h

h

h

h

1 FHPP+ Byte 1 FHPP+ Byte 9
2 FHPP+ Byte 2 FHPP+ Byte 10
3 FHPP+ Byte 3 FHPP+ Byte 11
4 FHPP+ Byte 4 FHPP+ Byte 12
5 FHPP+ Byte 5 FHPP+ Byte 13
6 FHPP+ Byte 6 FHPP+ Byte 14
7 FHPP+ Byte 7 FHPP+ Byte 15
8 FHPP+ Byte 8 FHPP+ Byte 16

Tab. 3.32 Value range: … output object to be mapped

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3 EtherCAT with FHPP

3.7.5 Object 1603h: 4th receive PDO mapping RxPDO4

Mapping for RxPDO4 is specified by the object.
The RxPDO4 transmits the FHPP+ data è Page 239.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1603h4th receive PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 ro no 08

h

PDO

01h1st output object to be

VAR UINT8 ro no Tab. 3.34 31090008

mapped

02h2nd output object to be

VAR UINT8 ro no 31100008

mapped

03h3rd output object to be

VAR UINT8 ro no 31110008

mapped

04h4th output object to be

VAR UINT8 ro no 31120008

mapped

05h5th output object to be

VAR UINT8 ro no 31130008

mapped

06h6th output object to be

VAR UINT8 ro no 31140008

mapped

07h7th output object to be

VAR UINT8 ro no 31150008

mapped

08h8th output object to be

VAR UINT8 ro no 31160008

mapped

Tab. 3.33 Object 1603

h

Default value

08

h

h

h

h

h

h

h

h

h

Sub-index Byte Description

FHPP+ data with FPC

FHPP+ data without FPC

(default)

01
02
03
03
04
04
04
04

h

h

h

h

h

h

h

h

1 FHPP+ Byte 9 FHPP+ Byte 17
2 FHPP+ Byte 10 FHPP+ Byte 18
3 FHPP+ Byte 11 FHPP+ Byte 19
4 FHPP+ Byte 12 FHPP+ Byte 20
5 FHPP+ Byte 13 FHPP+ Byte 21
6 FHPP+ Byte 14 FHPP+ Byte 22
7 FHPP+ Byte 15 FHPP+ Byte 23
8 FHPP+ Byte 16 FHPP+ Byte 24

Tab. 3.34 Value range: … output object to be mapped

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3 EtherCAT with FHPP

3.7.6 Object 1A00h: 1st transmit PDO mapping TxPDO1

Mapping for TxPDO1 is specified by the object.
The TxPDO1 transmits the FHPP standard data è Page 123

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1A00h1st transmit PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 rw no 05

h

PDO

01h1st input object to be

VAR UINT8 rw no Tab. 3.36 30200008

mapped

02h2nd input object to be

VAR UINT8 rw no 30210008

mapped

03h3rd input object to be

VAR UINT8 rw no 30220008

mapped

04h4th input object to be

VAR UINT8 rw no 30230008

mapped

05h5th input object to be

VAR INT32 rw no 30240020

mapped

Tab. 3.35 Object 1A00

h

Sub-index Byte Description

FHPP-Standard, status data
Record selection mode Direct mode

01
02
03
04
05

h

h

h

h

h

1 rSCON rSCON
2 SPOS SPOS
3 REC_NO, set number (actual) SDIR
4 RSB ACT_VAL1, actual value 1
5 ACT_VAL1, actual position ACT_VAL2, actual value 2
6
7
8

Tab. 3.36 Value range: … output object to be mapped

Default value

05

h

h

h

h

h

h

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3.7.7 Object 1A01h: 2nd transmit PDO mapping TxPDO2

Mapping for TxPDO2 is specified by the object.
The TxPDO2 transmits the Festo Parameter Channel (FPC) (default) è Page 224 or the FHPP+ data
è Page 239.

Index

Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1A01h2nd transmit PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 rw no 04

04

h

h

PDO

01h1st input object to be

VAR UINT8 rw no Tab. 3.38 30300008

mapped

02h2nd input object to be

VAR UINT8 rw no 30310008

mapped

03h3rd input object to be

VAR UINT16 rw no 30320010

mapped

04h4th input object to be

VAR INT32 rw no 30330020

mapped

Tab. 3.37 Object 1A01

h

Sub-index Byte Description

Festo Parameter Channel (FPC)

FHPP+ data

(default)

01
02
03

h

h

h

1 FPCS FHPP+ Byte 1
2 Subindex/Package ID FHPP+ Byte 2
3 PNU, parameter number FHPP+ Byte 3
4 FHPP+ Byte 4

04

h

5 PWE, parameter value FHPP+ Byte 5
6 FHPP+ Byte 6
7 FHPP+ Byte 7
8 FHPP+ Byte 8

Tab. 3.38 Value range: … input object to be mapped

h

h

h

h

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3.7.8 Object 1A02h: 3rd transmit PDO mapping TxPDO3

Mapping for TxPDO3 is specified by the object.
The TxPDO3 transmits the FHPP+ data è Page 239.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1A02h3rd transmit PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 rw no 08

h

PDO

01h1st input object to be

VAR UINT8 rw no Tab. 3.40 32010008

mapped

02h2nd input object to be

VAR UINT8 rw no 32020008

mapped

03h3rd input object to be

VAR UINT8 rw no 32030008

mapped

04h4th input object to be

VAR UINT8 rw no 32040008

mapped

05h5th input object to be

VAR UINT8 ro no 32050008

mapped

06h6th input object to be

VAR UINT8 ro no 32060008

mapped

07h7th input object to be

VAR UINT8 ro no 32070008

mapped

08h8th input object to be

VAR UINT8 ro no 32080008

mapped

Tab. 3.39 Object 1A02

h

Default value

08

h

h

h

h

h

h

h

h

h

Sub-index Byte Description

FHPP+ data with FPC

FHPP+ data without FPC

(default)

01
02
03
03
04
04
04
04

h

h

h

h

h

h

h

h

1 FHPP+ Byte 1 FHPP+ Byte 9
2 FHPP+ Byte 2 FHPP+ Byte 10
3 FHPP+ Byte 3 FHPP+ Byte 11
4 FHPP+ Byte 4 FHPP+ Byte 12
5 FHPP+ Byte 5 FHPP+ Byte 13
6 FHPP+ Byte 6 FHPP+ Byte 14
7 FHPP+ Byte 7 FHPP+ Byte 15
8 FHPP+ Byte 8 FHPP+ Byte 16

Tab. 3.40 Value range: … input object to be mapped

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3.7.9 Object 1A03h: 4th transmit PDO mapping TxPDO4

Mapping for TxPDO4 is specified by the object.
The TxPDO4 transmits the FHPP+ data è Page 239.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1A03h4th transmit PDO mapping REC – – – – –

00hNumber of objects in this

VAR UINT8 rw no 08

h

PDO

01h1st input object to be

VAR UINT8 rw no Tab. 3.42 32090008

mapped

02h2nd input object to be

VAR UINT8 rw no 32100008

mapped

03h3rd input object to be

VAR UINT8 rw no 32110008

mapped

04h4th input object to be

VAR UINT8 rw no 32120008

mapped

05h5th input object to be

VAR UINT8 ro no 32130008

mapped

06h6th input object to be

VAR UINT8 ro no 32140008

mapped

07h7th input object to be

VAR UINT8 ro no 32150008

mapped

08h8th input object to be

VAR UINT8 ro no 32160008

mapped

Tab. 3.41 Object 1A03

h

Default value

08

h

h

h

h

h

h

h

h

h

Sub-index Byte Description

FHPP+ data with FPC

FHPP+ data without FPC

(default)

01
02
03
03
04
04
04
04

h

h

h

h

h

h

h

h

1 FHPP+ Byte 9 FHPP+ Byte 17
2 FHPP+ Byte 10 FHPP+ Byte 18
3 FHPP+ Byte 11 FHPP+ Byte 19
4 FHPP+ Byte 12 FHPP+ Byte 20
5 FHPP+ Byte 13 FHPP+ Byte 21
6 FHPP+ Byte 14 FHPP+ Byte 22
7 FHPP+ Byte 15 FHPP+ Byte 23
8 FHPP+ Byte 16 FHPP+ Byte 24

Tab. 3.42 Value range: … input object to be mapped

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3.8 Mailbox communication

Via the mailbox communication (Mailbox communication) acyclic service data (e.g. parameter values or
event-controlled error messages are exchanged between controller and EMCA. The SDO data are read
from the incoming SDO frames. After processing the request, an answer or acknowledgement is written
to the SDO frame. In the EMCA, the controller for mailbox communication is assigned permanently to
Sync Managers 0 and 1. Transmission of service data objects SDO (Service data objects), Emergency
messages and SDO information takes place via sync channels 0 and 1.
Mailbox communication is enabled from status “Pre-Operational”.

Mailbox communication supports the following communication services:
– SDO communication (acyclic transmission of service data objects) è Page 62
– Emergency communication (event-controlled transmission of SDO errors) è Page 67
– SDO Information communication (acyclic transmission of Get OD list data) è Page 39

3.8.1 SDO Communication

SDOCommunication supports the following SDO services:
– Read command: Acyclic reading of parameter data (SDO upload) è Page 63
– Write command: Acyclic writing to parameter data (SDO download) è Page 64
– SDO Error transmission: SDO Event-controlled transmission of error code è Page 65

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3.8.2 SDO Read command (SDO upload)

Using the SDO read command, the controller can access parameter data (Value) of the CoE object dir
ectory CoE OD in the EMCA acyclically and can read them. Every request is confirmed by the EMCA with
a answer.

Controllers EMCA

CoE OD

Object

Request

SDO upload/Upload SDO ... request

(SDO read command)

Value

SDO upload/Upload SDO ... response

Answer

Fig. 3.8 Access procedure: Reading out parameter data

The SDOservice supports the following SDO read commands:

SDO Service

SDO upload expedited request Read para

SDO upload expedited response Answer (response)

SDO upload normal request 5 … 1,406 bytes of

SDO upload normal response Answer (response)

Upload SDO segmented request 1,407 … n bytes of

Upload SDO segmented response Answer (response)

1) The usage data are fragmented into packages, each of max. 7 bytes.

Description

meter data
(upload)

1 … 4 bytes of us
age data (expedi
ted)

usage data (nor
mal)

usage data1) (seg
mented)

Request (request)

Request (request)

Request (request)

Tab. 3.43 SDO Services: Read out parameter data

Note

The answer (upload ... response) from the EMCA must be waited for in any event!
The next SDO request cannot be transmitted until the EMCA has answered the read
command.

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3.8.3 SDO Write command (SDO download)

O write command, the controller can access parameter data (Value) in the CoE object directory in the
EMCA acyclically and can write to them. Every request is confirmed by the EMCA with an acknowledge
ment.

Controllers EMCA

CoE OD

Object

Request

SDO download/Download SDO ... request

(SDO write command)

Value

SDO download/Download SDO ... response

Acknowledgment

Fig. 3.9 Access procedure: Writing to parameter data

The SDO service supports the following SDO write commands:

SDO Service

SDO download expedited request Writing to
SDO download expedited response Acknowledgement (re

SDO download normal request 5 … 1,406 bytes of
SDO download normal response Acknowledgement (re

Download SDO segmented request 1,407 … n bytes of
Download SDO segmented response Acknowledgement (re

1) The usage data are fragmented into packages, each of max. 7 bytes.

Description

parameter
data (down
load)

1 … 4 bytes of us
age data (expedi
ted)

usage data (nor
mal)

usage data1) (seg
mented)

Request (request)

sponse)
Request (request)

sponse)
Request (request)

sponse)

Tab. 3.44 SDO Services: Writing to parameter data

Note

Dispense with SDO write commands (Download ... request) that refer to the objects
mapped into the PDO because the corresponding parameter data are otherwise over
written alternately in a chronologically undefined sequence by the transmitted process
data objects (PDO) and service data objects (SDO).

Note

Acknowledgement (download ... response) of the EMCA must be waited for in any event!
The next SDO request cannot be transmitted until the EMCA has acknowledged the
write command.

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3.8.4 SDO Error message (Abort SDO transfer request)

In the event of an error while reading or writing, the EMCA responds with an SDO error message (Abort
SDO transfer request). The cause of error is transmitted to the controller as an error code (abort codes)
in the data (Data) of the error message.

Controllers EMCA

Abort SDO transfer request

SDO Error

Fig. 3.10 Transmit error message

Example:

A write command is transmitted to the object “Statusword (6041

)” that only has read access. In the

h

error message, the error code “06 01 00 02h” is sent back.

SDO error code SDO abort codes

The following table describes all the SDO error codes for SDO error transmission:

Error code

Description

F3 F2 F1 F0

05 03 00 00hProtocol error: Toggle bit was not revised with segmented SDO transfer.
05 04 00 00hSDO protocol time violation
05 04 00 01hProtocol error: Client/server command specifier invalid or unknown
05 04 00 05hOutside the memory area
06 01 00 00hAccess type is not supported
06 01 00 01hRead access to an object that can only be written
06 01 00 02hWrite access to an object that can only be read
06 01 00 03hSubindex cannot be written to, subindex O must be 0 for write access
06 01 00 04hSDO complete access is not supported for objects with variable length, e.g. with

ENUM object types
06 01 00 05hLength of object exceeds size of mailbox
06 01 00 06hObject is assigned to RxPDO, SDO download is blocked
06 02 00 00hThe addressed object does not exist in the object directory.
06 04 00 41hThe object must not be entered into a PDO (e.g. ro-object in RPDO).
06 04 00 42hThe length of the objects entered in the PDO exceeds the PDO length
06 04 00 43hGeneral parameter error
06 04 00 47hOverflow of an internal variable/general error
06 06 00 00hAccess faulty due to a hardware problem
06 07 00 10hProtocol error: Length of the service parameter does not agree.
06 07 00 12hProtocol error: Length of the service parameter is too large.
06 07 00 13hProtocol error: Length of the service parameter is too small.
06 09 00 11hThe addressed subindex does not exist.
06 09 00 30hValue range for parameters was exceeded (only for write access)
06 09 00 31hParameter value is too big

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Error code

Description

F3 F2 F1 F0

06 09 00 32hParameter value is too small
06 09 00 36hMaximum value is smaller than the minimum value
08 00 00 00hGeneral error
08 00 00 20hData cannot be transmitted to the device or saved
08 00 00 21hData cannot be transmitted to the device or saved due to absence of master control
08 00 00 22hData cannot be transmitted to the device or saved due to the current status of the

device

08 00 00 23hDynamic generation of the object directory failed or no object directory is available

Tab. 3.45 SDO error codes

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3.8.5 Emergency Communication

The EMCA monitors the function of internal assemblies (e.g. output stage). Whenever an error occurs,
the configured error reaction is initiated and the corresponding Emergency message is transmitted to
the controller.
The EMCA also transmits a Emergency message if an error was acknowledged.

Objects for the EMCY operation

The following object is available for Emergency operation:

Index

1001

Name Page

Error register 68

h

Tab. 3.46 Objects for the Emergency operation

Start

0

Error free

1

2

Error occured

3

4

Fig. 3.11 Diagram: Error finite state machine

The following status transitions are possible:

no. Cause Description

0 Initialisation completed There is no error.
1 Error occurs No error is present and a new error occurs.

A Emergency message is transmitted with the error code of the
new error.

2 Error acknowledgment

not successful

Not all causes of error are remedied and an error was acknow
ledged è Page 126.

3 New error occurs An error is present and a new error occurs.

A Emergency message is transmitted with the error code of the
new error.

4 Error acknowledgment

successful

All causes of error have been eliminated and an error acknowledg
ment has been carried out è Page 126. The Emergency message
was transmitted with error code 0000h (No error/Error reset).

Tab. 3.47 Error status transitions

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3.8.6 Object 1001h: Error register

The defined type of error from the error register is issued via the object.

Index

Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1001hError register VAR UINT8 ro no Tab. D.22 0

Tab. 3.48 Object 1001

h

Error register and error types

1)

Bit

Description

0 Generic error: Error is present, OR operation of the bits 1 … 7
1 Current error: Current monitoring error
2 Voltage error: Voltage monitoring error
3 Temperature error: Temperature monitoring error
4 Communication error (overrun, error state): Communication error
5 Device profile specific error: device-profile-specific error
6 Reserved, fix = 0
7 Manufacturer specific error: Manufacturer-specific error

1) Bit = 0: No error present; Bit = 1: Error present

Tab. 3.49 Bit assignment Error register

Default value

h

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3.8.7 Error messages (Error code)

The following table lists all error messages that can occur during EtherCAT mode.

For additional information on the error messages (e.g. error response, cause and meas
ures) è page 371.

Further information about parameterisation in error management of the Festo Configura
tion Tool (FCT) è Page 371.

Error messages

Error code

Description Bit

E0 E1

2310
2312
2320
3210
3220
4210
4220
5100
5113
5441
5442
5444
5520

I²t warning motor 1 0x2D

h

I²t malfunction motor 1 0x0E

h

Overcurrent 1 0x0D

h

Intermediate circuit voltage exceeded 2 0x1A

h

Intermediate circuit voltage too low 2 0x1B

h

Output stage temperature exceeded 3 0x15

h

Output stage temperature too low 3 0x16

h

Logic voltage exceeded 2 0x17

h

Logic voltage too low 2 0x18

h

Limit switch positive 5 0x07

h

Limit switch negative 5 0x08

h

Homing 5 0x22

h

Firmware update execution error 5 0x0C

h

(Error
register)

FCT­Code

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Error messages

Error code

Description

E0 E1

5530

Parameter file invalid 5 0x0B

h

Save parameters 0x27
6310
6320

Homing required 5 0x28

h

Default parameter file invalid 5 0x02

h

FHPP+ incorrect parameterisation 0x20

FHPP+ incorrect value 0x21

Path calculation 0x25

FHPP incorrect record number 0x2C
7300

No index pulse found 5 0x23

h

Index pulse too close on proximity sensor 0x2E
7303
7400
8100
8101
8600
8611

Encoder 5 0x06

h

Software error 5 0x01

h

EtherCAT connection with master control 4 0x50

h

EtherCAT connection without master control 4 0x51

h

Standstill monitoring 5 0x37

h

Following error 5 0x2F

h

Bit
(Error
register)

FCT­Code

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Error messages

Error code

Description

E0 E1

8612

Software limit positive 5 0x11

h

Software limit negative 0x12
Positive direction locked 0x13
Negative direction locked 0x14
Target position behind negative software limit 0x29
Target position behind positive software limit 0x2A

Value range violated 0x4C
FF00
FF01
FF02
FF03
FF0A
FF0D
FF0E
FF10
FF11
FF12
FF13
FF15

Internal communication error CPUs 7 0x03

h

Non-permitted hardware 7 0x04

h

Offset determination for current measurement 7 0x09

h

General error 7 0x0A

h

Temperature central processing unit 7 0x19

h

Firmware update, invalid firmware 7 0x2B

h

Braking resistor 7 0x30

h

FCT connection with master control 7 0x32

h

Output stage temperature warning 7 0x33

h

Parameter file access 7 0x38

h

Trace warning 7 0x39

h

Homing method invalid 5 0x3B

h

Bit
(Error
register)

FCT­Code

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Error messages

Error code

Description

E0 E1

FF18
FF19
FF21
FF22
FF24
FF25
FF26
FF26
FF27
FF28

Diagnostic memory 7 0x3E

h

Record invalid 7 0x3F

h

System reset 7 0x41

h

Saving address data not possible 7 0x42

h

Parameter file not compatible with firmware 7 0x44

h

Safe Torque Off (STO) discrepancy time 7 0x4A

h

Safe Torque Off (STO) 7 0x34

h

Bootloader memory error 7 0x4D

h

Overload 24V Outputs 7 0x4E

h

System information 7 0x4F

h

Tab. 3.50 Error messages

Bit
(Error
register)

FCT­Code

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3 EtherCAT with FHPP

3.9 Device data

The device data of the EMCA are implemented in several CoE objects. The device-specific data includes
version numbers of the hardware and software. The device-specific data cannot be changed by the
user.

Objects for the device data

The following objects are available for the device data:

Index Name Page

1000
1008
1009
100A
1018

Tab. 3.51 Objects for the device data

3.9.1 Object 1000h: Device type

Via this object, the 8-digit device type code “Motor type” and “Communication profile” is output.

Index Name Object

1000hDevice type VAR UINT32 ro no Tab. 3.53 0002012D

Tab. 3.52 Object 1000

Device type 74

h

Manufacturer device name 74

h

Manufacturer hardware version 75

h

Manufacturer software version 75

h

Identity object 76

h

code

Data
type

Ac
cess

PDO
map
ping

h

Value
range

Default value

h

Value

Bit Description

(0002012Dh)

00

h

02

h

012D

h

31 … 24 Manufacturer-specific information
23 … 16 Servo drive
15 … 0 Communication profile CiA 301

Tab. 3.53 Value range: Device type

3.9.2 Object 1008h: Manufacturer device name

The device name of the manufacturer is output via the object.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

1008hManufacturer device name VAR VSTRING ro no –

1) ASCII string is product-dependent.

Tab. 3.54 Object 1008

74 Festo – EMCA-EC-C-HP-EN – 2017-11e – English

h

1)

3 EtherCAT with FHPP

3.9.3 Object 1009h: Manufacturer hardware version

The hardware version number is output via the object.

Index

Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1009hManufacturer hardware

VAR VSTRING ro no – Tab. 3.56

version

Tab. 3.55 Object 1009

h

Value Description

MxxxxPxxxxExxxx Hardware version number: ASCII character string, 15-character

Tab. 3.56 Default value: Manufacturer hardware version

Default value

3.9.4 Object 100A

: Manufacturer software version

h

The software version number is output via the object.

Index

Name Object

100AhManufacturer software

code

VAR VSTRING ro no – Tab. 3.58

Data
type

version

Tab. 3.57 Object 100A

h

Value Description

Mxxxx:xxxx:xxxx:xxxxByyyy:yyyy

Software version number: ASCII character string, 90-character
Pxxxx:xxxx:xxxx:xxxxByyyy:yyyy
Exxxx:xxxx:xxxx:xxxxByyyy:yyyy

Tab. 3.58 Default value: Manufacturer software version

Ac
cess

PDO
map
ping

Value
range

Default value

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3.9.5 Object 1018h: Identity object

The following information is issued about the object for identification of the EMCA:
– Festo registration code with EtherCAT Technology Group (ETG) (Vendor ID)
– Festo part number (Product code)
– Revision number of the EtherCAT interface
– Serial number

Index

Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

ping

1018hIdentity object REC – – – – –

00hHighest sub-index

VAR UINT8 ro no – 4

supported
01hVendor ID VAR UINT32 ro no – 0000001D
02hProduct code VAR UINT32 ro no – xxxxxxxx
03hRevision number VAR UINT32 ro no – xxxxxxxx
04hSerial number VAR UINT32 ro no – xxxxxxxx

1) Value is product-dependent

2) Value is device-dependent

Tab. 3.59 Object 1018

h

Default value

h

h

1)

h

2)

h

2)

h

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3.10 Load and save parameter sets

3.10.1 Object 20F1h: EEPROM command

Via the object, the default parameter set (factory setting) is loaded into RAM as the current parameter
set and into permanent memory as an application parameter set or the current parameter set (RAM) is
backed up into the application parameter set (permanent memory).

The object can only be used when the output stage is switched off.

Index Name Object

code

Data
type

Ac
cess

PDO
map

Value
range

Default value

ping

20F1hEEPROM command ARRAY – – – – –

00hNumber of entries VAR UINT8 ro no – 2
01hRestore factory settings VAR UINT32 wo no – 1
02hSave object values VAR UINT32 wo no – 1

Tab. 3.60 Object 20F1

h

h

h

h

For this, sub-indexes must be described with the ASCII text as a hexadecimal numeral.

Object Signature LSB MSB

20F1_01

20F1_02

ASCII (load) l o a d

h

Hex (64616F6Ch) 6C
ASCII (save) s a v e

h

Hex (65766173h) 73

h

h

6F

61

h

h

61

76

h

h

64

65

h

h

Tab. 3.61 ASCII text

In contrast to the normal SDO traffic, with this object the command is immediately acknowledged at the
start of processing. The internal storage cycle for saving the data can take some seconds. During this
time, no additional SDOs can be processed. Until the internal saving cycle is ended, sent SDOs are
answered with Generic error.

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3 EtherCAT with FHPP

3.11 Configuration of EtherCAT participants

Several steps are required in order to produce an operational EtherCAT interface.
We recommend the following procedure:

1. Parameterisation and commissioning with the Festo Configuration Tool (FCT).

2. In addition, the following settings on the fieldbus page:
– Device profile FHPP (register of operating parameters)
– Optional use of FPC and FHPP+ (FHPP+ Editor tab)

3. Incorporate the XML file in the project planning software.

3.12 Parameterisation with the Festo Configuration Tool (FCT)

Notes on parameterisation with the Festo Configuration Tool (FCT) è FCT help for the
PlugIn EMCA.

3.12.1 Parameterisation of the EtherCAT interface

With the help of the Festo Configuration Tool (FCT), settings at the EtherCAT interface can be read out
and configured. The aim is to configure the EtherCAT interface via the Festo Configuration Tool (FCT) in
such a way that the EMCA can establish EtherCAT communication with an EtherCAT controller.

Note

The FCT settings are taken over into the permanent memory of the EMCA only after
“Download”, “Save” and “Restart controller”.

3.12.2 Setting the optional use of FPC and FHPP+

In addition to the controller and status data, the following data can also be transmitted:
– Festo Parameter Channel (FPC) è Page 224.
– Expansion of the FHPP standard data (FHPP+) è Page 239.
Configuration and parameterisation are performed using the Festo Configuration Tool (FCT), page “Field
bus”, register “FHPP+ Editor”.

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3 EtherCAT with FHPP

3.13 Commissioning with the Festo Configuration Tool (FCT)

The first time the EMCA enters service is via the Festo Configuration Tool (FCT) è FCT help for Plu
gIn EMCA.

Note

With activation of FCT in the device control, the Festo Configuration Tool (FCT) takes
over master control via the EMCA. EtherCAT communication to the controller remains
enabled via the EtherCAT interface [X2/X3] but EtherCAT has no master control.
Commissioning with the Festo Configuration Tool (FCT) via the Ethernet interface [X1]
should first be done without the EtherCAT network (ports [X2/X3] open).

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3 EtherCAT with FHPP

3.14 Configuring the EtherCAT master

3.14.1 Device description file (ESI)

The following XML file should be used to configure the EMCA in the EtherCAT master (e.g. higher-order
controller).

Product type Description

Festo-EMCA-EC-FHPP-YYYYMMDD.xml1)EMCA-EC-67-...-EC with device profile “FHPP”

1) YYYY = year, MM = month, DD = day

Tab. 3.62 XML file for FHPP

The latest version of the XML file è www.festo.com/sp

3.14.2 Function element

The following function elements can be used to enable the EMCA.

Product type Description

Festo_Motion_FHPP_2.library Beckhoff TwinCAT 2

CODESYS, version 2.3

Festo_Motion_FHPP_3.library Beckhoff TwinCAT 3

CODESYS, version 3.5

Festo_Motion_FHPP.slr Omron Sysmac Studio

Tab. 3.63 Function elements for FHPP

The latest version of the function elements è www.festo.com/sp

3.14.3 Addressing of the EMCA

The EMCA supports the following addressing settings:
– Physical addressing
– Auto increment
– Fixed address
– Logical addressing

3.14.4 Cycle time

Data are processed by the EMCA in a cycle time of 2 … 15 ms.

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4 EtherNet/IP with FHPP

This part of the documentation describes connection and configuration of the EMCA in an EtherNet/IP
network. It is targeted at people who are already familiar with the bus protocol “EtherNet/IP”.

The Ethernet Industrial Protocol (EtherNet/IP) is an open standard for industrial networks. EtherNet/IP
is used for cyclical transmission of control and status data (I/O data) as well as acyclic transmission of
parameter data.
EtherNet/IP was developed by Rockwell Automation and the user organization “ODVA (Open DeviceNet
Vendor Association)” and standardised in the international standards series IEC 61158.

The integrated EtherNet/IP connections of the EMCA are implemented as a 2-port Ethernet switch with
two M12 connections. The EMCA is a pure EtherNet/IP adapter and requires an EtherNet/IP controller
(scanner) in order to be controlled via EtherNet/IP.
The EMCA supports the Device Level Ring function (DLR) and is able to communicate with an EtherNet/
IP Ring Supervisor. In case of a string failure, the EMCA receives the new path specifications of the Ring
Supervisor and uses them. Only the cyclic data transmission of the FHPP protocol and the EtherNet/IP
standard functions are supported.

EtherNet/IP is the implementation of Common Industrial Protocol (CIP) over TCP/IP and Ethernet
(IEEE 802.3). The Ethernet twisted-pair cable must be used as the transmission medium.

4.1 ODVA standards

The following documents, among others, can be obtained from this user organisation:

THE CIP NETWORKS LIBRARY: Volume 1 – Common Industrial Protocol (CIP)

This document describes the general fundamentals of the Common Industrial Protocols (CIP) (e.g.
transmission).

THE CIP NETWORKS LIBRARY: Volume 2 – EtherNet/IP Adaptation of CIP

These documents discuss the general fundamentals and embedding of EtherNet/IP into the Common
Industrial Protocols (CIP).

User organisation:

For additional information on the user organisation “ODVA (Open DeviceNet Vendor Association)”
è http://www.odva.org

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4.2 EtherNet/IP interface of the EMCA

The following integrated EtherNet/IP interfaces of the EMCA-...-EP are available for EtherNet/IP opera
tion:

1

1 LED indicator: LINK/ACTIVITY

(communication activity/line monitoring)
from Port 2, connection [X2]

2 LED indicator: MS (module status)
3 LED indicator: NS (network status)

Fig. 4.1 EtherNet/IP interface of the EMCA

4.2.1 EtherNet/IP display components

The status of EtherNet/IP is displayed over the following four LEDs.

LED Description

LINK/ACTIVITY, Port1

LINK/ACTIVITY, Port 2

3 42 56

The following EtherNet/IP statuses are displayed:
– EtherNet/IP communication

NS

MS

– Warnings/malfunctions
For additional information è page 378

4 LED indicator: LINK/ACTIVITY

(communication activity/line monitoring)
from Port 1, connection [X3]

5 Connection [X2]: EtherNet/IP, Port 2
6 Connection [X3]: EtherNet/IP, Port 1

Tab. 4.1 LED indicator

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4.2.2 EtherNet/IP connections

The EMCA is integrated into an EtherNet/IP network through the following connections.

Note

The EtherNet/IP interface of the EMCA is intended exclusively for connection to local,
industrial fieldbus networks.
Direct connection to a public telecommunications network is not permissible.

EtherNet/IP, Port 1 [X3]: pin allocation

Socket M12

Pin Designation Description
D-coded
5-pin

1

5

1 TD+ Transmitted data + (Transmit Data)

2 RD+ Received data + (Receive Data)

3 TD- Transmitted data – (Transmit Data)

4

2

4 RD- Received data – (Receive Data)

5 NC Not connected

3

Shield

Shield Screening (Shield) (socket housing is connection

to functional earth via RC link)

Tab. 4.2 EtherNet/I P, Port 1 [X3]: pin allocation

EtherNet/IP, Port 2 [X2]: pin allocation

Socket M12

Pin Designation Description
D-coded
5-pin

1

5

1 TD+ Transmitted data + (Transmit Data)

2 RD+ Received data + (Receive Data)

3 TD- Transmitted data – (Transmit Data)

4

2

4 RD- Received data – (Receive Data)

5 NC Not connected

3

Shield

Shield Screening (Shield) (socket housing is connection

to functional earth via RC link)

Tab. 4.3 EtherNet/I P, Port 2 [X2]: pin allocation

4.2.3 EtherNet/IP copper cabling

EtherNet/IP cables are 4-wire, screened copper cables. The maximum permissible segment length for
copper cabling is 100 m.

Use only EtherNet/IP-specific cabling for the industrial environment corresponding to
è EN 61784-5-3:2013-09

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4.3 Configuration EtherNet/IP stations

Several steps are required in order to produce an operational EtherNet/IP interface.
We recommend the following procedure:

1. Parameterisation and commissioning with the Festo Configuration Tool (FCT).

2. In addition, the following settings on the fieldbus page:
– Automatic assignment via DHCP or IP address, gateway and subnetwork mask and, in the Port

Configuration tab, automatic detection or speed and duplex mode.

– Optional use of FPC and FHPP+ (FHPP+ Editor tab)

3. Linking of the EDS file into the project planning software.

4.3.1 Parameterisation of the Ethernet/IP interface

With the help of the FCT, settings of the EtherNet/IP interface can be read and parameterised. The goal
is to configure the EtherNet/IP interface through the FCT in such a way that the EMCA can build up
EtherNet/IP communication with an EtherNet/IP controller.
The settings of the EtherNet/IP interface can be parameterised in the FCT.

Note

The FCT settings are taken over into the permanent memory of the EMCA only after
“Download”, “Save” and “Restart controller”.

4.3.2 Commissioning with the Festo Configuration Tool (FCT)

Notes on commissioning with the Festo Configuration Tool can be found in the Help for
the device-specific FCT plug-in.

4.3.3 Setting the IP address

A unique IP address must be assigned to each device in the network.

Assignment of already used IP addresses can result in temporary overloading of your
network.
You may need to contact your network administrator for manual assignment of a permiss
ible IP address.

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Static addressing with Festo Configuration Tool (FCT)

With the Festo Configuration Tool (FCT), the values for IP address, subnetwork mask and gateway ad
dress can be assigned on the “Fieldbus” page in the “Operating Parameters” tab.

Dynamic addressing

The dynamic addressing parameterised in the FCT is only used if:
– Obtain IP Address automatically has been selected in the FCT on the Fieldbus page in

the Operating parameters tab.

For dynamic addressing, there is the option of addressing either through DHCP or BOOTP. With auto
matic addressing, DHCP is set in the FCT. For addressing over BOOTP, the corresponding EtherNet/IP
object must be written directly. Both protocols are standard and are supported. If dynamic addressing
is set at device start or reset, an IP address is assigned to the device either through DHCP and an avail
able DHCP server or through the BOOTP protocol.

4.3.4 Setting the optional use of FPC and FHPP+

Besides the control and status bytes, additional I/O data can be transmitted è Sections A.1 and B.1.
This is set via FCT (“Fieldbus” page, “FHPP+ Editor” tab).

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4.4 Configure EtherNet/IP Master

4.4.1 Electronic data sheet (EDS)

To permit fast and simple commissioning, the capabilities of the EtherNet/IP interface of the EMCA are
described in an EDS file.

Type File

EMCA-EC-...-EP EDS_EMCA_1_8.EDS

Tab. 4.4 EDS files

By using an appropriate configuration tool, you can configure a device within a network.

For the most current version of the EDS file è www.festo.com/sp

The way in which the network is configured depends on the configuration software used. Follow the
instructions of the controller manufacturer for registering the EDS file of the EMCA.

4.4.2 Function element

The following function elements can be used to enable the EMCA.

Type Description

FHPP_MotionLib_Rockwell Rockwell Studio 5000
Festo_Motion_FHPP.slr Omron Sysmac Studio

Tab. 4.5 Function elements for FHPP

The latest version of the function elements è www.festo.com/sp

4.4.3 Cycle time

Data are processed by the EMCA in a cycle time of up to 5ms.

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5 Modbus TCP with FHPP

5 Modbus TCP with FHPP

Modbus TCP is an open communication protocol based on the master-slave architecture. It is an
established standard for communication via Ethernet-TCP/IP in automation technology.

The basic function of Modbus TCP is described in IEC 61158.
The standard port for Modbus TCP is 502.

The Ethernet control interface is used parallel to the Ethernet parameterisation interface
(FestoConfiguration Tool (FCT), web server). A maximum of one Modbus TCP connection at a time is
possible.
After the TCP connection has been made, it is normally kept open and only disconnected by the EMCA
incase of error, with a timeout set or through the counterpart station.
Communication with the FCT and the web server remains possible.

Data encoding

Modbus TCP/IP uses a “big-endian” transmission sequence. The most significant byte (MSB)
(è page 125) is sent first. The data is always processed as a register (2 bytes/word). Onthe control
side, it may be necessary to “turn” these 2 bytes. This affects the Modbus commands (Function code):
0x03, 0x10, 0x17 è Section 5.3.4.
This already takes place through the module if provided by Festo.

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Modbus telegram

In general, a Modbus telegram is constructed correspondingly è Tab. 5.1 (the most-significant byte is
always sent first).
If, for example, the EMCA is to be accessed by the computer through Modbus, the transaction
identifier, protocol identifier, message length and unit identifier must additionally be sent at the
beginning before the Function code is sent.

The assignment can be visualised and tested with the help of the “Modbus TCP Client”
software. è www.festo.com/sp

Byte
no.

1 2 Transaction number Freely selectable. Returned
2 Least-significant byte

Number
of bytes

Function Comments

Most-significant byte

again in the answer.
3 2 Protocol identifier Always 0 Most-significant byte
4 Least-significant byte
5 2 Number of bytes still to

6 Least-significant byte

follow

7 1 Address (unit identifier,

= n + 2, whereby n is the

number of data points from

byte 9.

Can be ignored (e.g. set to 0). –

Most-significant byte

slave ID)
8 1 Function code è Section 5.3.4 –
9 ... n Data è Section 5.3.4 –

Tab. 5.1 Structure of Modbus telegram

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5 Modbus TCP with FHPP

5.1 Modbus TCP interface of the EMCA

The Modbus connection is established via the Ethernet interface [X1] as an M12 socket. This can be
used in parallel for 2 additional TCP connections (one for the FCT parameterisation software and one for
the web server). As a Modbus TCP subscriber, the EMCA can be reached through the same IP address
as is used by FCT or the web server.
The following integrated Ethernet interfaces of the EMCA-...-DIO are available for Modbus operation:

1

2

3

1 Port [X1]: Ethernet input/output
2 LED indicator: ERROR

Fig. 5.1 Modbus interface of the EMCA

5.1.1 Modbus display components The status of Modbus is not indicated by LEDs. The operating statuses of the device are indicated by the “OK” and “ERROR” LEDs in case of Modbus TCP.

LED Description

The following operating statuses of the device are indicated:
– Behaviour during the switch-on phase

– Behaviour in the operating phase

ERROR LED

OK LED

Tab. 5.2 LED indicator

– Identification sequence active
For additional information è page 372

3 LED indicator: OK

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5.1.2 Ethernet port

The EMCA is integrated into a Modbus TCP network through the following connections.

Note

The Ethernet interface of the EMCA is intended exclusively for connection to local,
industrial fieldbus networks.
Direct connection to a public telecommunications network is not permissible.

Ethernet interface [X1]: pin allocation

Socket M12

Pin Designation Description
D-coded
5-pin

1

5

1 TD+ Transmitted data + (Transmit Data)

2 RD+ Received data + (Receive Data)

3 TD- Transmitted data – (Transmit Data)

4

2

4 RD- Received data – (Receive Data)

5 NC Not connected

3

Shield

Shield Screening (Shield) (socket housing is connection

to functional earth via RC link)

Tab. 5.3 Ethernet interface [X1]: pin allocation

5.1.3 Ethernet cabling

Shielded twisted-pair STP cables, Cat.5 or higher, must be used for cabling.

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5.2 Parameterisation of the Modbus TCP subscriber

Before connecting the EMCA to the Modbus master, parameterise the controller interface, device
profile, TCP port and timeout:
– with the FCT plug-in EMCA è Section 5.2.1

Connection of the EMCA with the PC è Description “Integrated drive with I/O and
Modbus TCP interfaces, EMCA-EC-DIO-...”

5.2.1 Parameterisation with the FCT plug-in EMCA

1. Create drive configuration è Help for the FCT plug-in EMCA.
– Define the control interface (Control Interface):

– “Digital I/O (Digital I/O)”

2. On the application data page (Application Data), determine the control interface (Control Interface):
– “Modbus TCP”

3. Optionally determine on the controller page (Controller):
– Enable with (Enabled by), determination of the required signals for controller enable:

– “Fieldbus” (Fieldbus)
– “Digital input ‘Enable’ and fieldbus” (Digital Input 'Enable' and Fieldbus) – factory setting

4. Optionally, on the Fieldbus page, Operation Parameters tab, define the following:
– Optionally, change TCP-Port (factory setting TCP-Port 502)
– Optionally activate the timeout (Timeout) (factory settings: not activated, 100 ms is the default

value when activated) è Section 5.3.12

5. Optionally, on the Fieldbuspage, FHPP+ Editor tab, define the following:
– Use the parameter channel (Use Parameter Channel):

– Checkbox not set: “FHPP Standard” – factory setting
– Checkbox set: “FHPP Standard + FPC”

6. Establish an online connection.

7. Activate the FCT device control (Device Control).

8. Download and save (Store) the parameters.

9. Optionally, on the Controller page, network settings tab (Network Settings), change the network
settings (Setup network settings):
– “DHCP server active” (DHCP server active, factory setting)
– “Obtain IP address automatically” (Obtain an IP adress automatically)
– “Use the following IP address” (fixed setting of IP address, subnet mask and standard gateway)

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5 Modbus TCP with FHPP

A restart is required after changing and storing the following parameters with the FCT
plug-in to make the settings active:
– Control interface (digital I/O, Modbus TCP)
– Interface parameters (TCP port, timeout)
– Controller parameters (enable logic)
– Network settings
– Message options (parameter channel)

After parameterisation and restart of the EMCA, the Modbus master can be configured è Section 5.3.

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5 Modbus TCP with FHPP

5.3 Configure Modbus master

5.3.1 IP address

The IP address of the EMCA as a Modbus TCP subscriber is identical to the IP address set in the FCT or
web server.

5.3.2 Function element

The following function elements can be used to enable the EMCA.

Typ Description

Festo_Motion_FHPP_2.library Beckhoff TwinCAT 2

CODESYS, Version 2.3

Festo_Motion_FHPP_3.library Beckhoff TwinCAT 3

CODESYS, Version 3.5
Festo_Motion_FHPP.slr Omron Sysmac Studio
FestoMotionFHPP_V14.al14 Siemens Steuerung

Tab. 5.4 Function elements for FHPP

The latest version of the function elements è www.festo.com/sp

5.3.3 Cycle time

Data are processed by the EMCA in a cycle time of up to 5ms.

5.3.4 Modbus command and address assignment

The following Modbus commands are available for processing process/device/error data:

Modbus commands Function code Page

Process Data

1)

Read process data (Read holding registers) 0x03 96
Write process data (Write multiple registers) 0x10 97
Read/write process data (Read/write multiple registers) 0x17 98
Error data
Read exception status (Read exception status) 0x07 99
Device data
Read device identification (Read device identification) 0x2B 100

1) Function code 0x17 is recommended for the reading and writing of process data. If this is not available on the control side, Function

codes 0x03 and 0x10 must be used.

Tab. 5.5 Overview of Modbus commands

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5 Modbus TCP with FHPP

The start address is always “0x0000” and the register values (Registers value) are
processed in the “Big endian” byte sequence.

5.3.5 Quantity of registers/Byte count values for process data

The FHPP device profile offers a versatile combination of FHPP data. Depending on the FHPP standard
data (FHPP), Festo parameter channel (FPC) and expanded FHPP standard data (FHPP+) used, the
Quantity of registers and Byte count values for the process data vary.

Quantity of
registers

Byte count FHPP data Process data structure

8 bytes 8 bytes 8 bytes 8 bytes

0x0004 0x08 FHPP FHPP
0x0008 0x10 FHPP/FHPP+ FHPP FHPP+
0x000C 0x18 FHPP FHPP+ FHPP+
0x0010 0x20 FHPP FHPP+ FHPP+ FHPP+
0x0008 0x10 FHPP/FPC FHPP FPC
0x000C 0x18 FHPP/FPC/FHPP+ FHPP FPC FHPP+
0x0010 0x20 FHPP FPC FHPP+ FHPP+

Tab. 5.6 Overview Quantity of registers/Byte count values for process data

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5.3.6 Read process data, Function code 0x03 (Read holding registers)

The table describes the structure of the “Read process data, Function code 0x03” command.

Significance

Read holding registers request (0x03)

Field Bytes Values Byte no.

Function code 1 0x03 8
Start address 2 0x0000 9, 10
Quantity of registers 2 0x0004 0x0008 0x000C 0x0010 11, 12

Read holding registers response (0x03)

Field Bytes Values Byte no.

Function code 1 0x03 8
Byte count 1 0x08 0x10 0x18 0x20 9
Register value 8 FHPP Standard (status data) 10 ... 17

8 FPC/FHPP+ 18 ... 25
8 FHPP+ 26 ... 33
8 FHPP+ 34 ... 41

Read holding registers exception (0x83)

Field Bytes Values Byte no.

Error code 1 0x83 8
Exception code 1 0x01: illegal function

0x02: illegal data address
0x03: illegal data value
0x04: server device failure

9

Tab. 5.7 Read process data, Function code 0x03

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5.3.7 Write process data, Function code 0x10 (Write multiple registers)

The table describes the structure of the “Write process data, Function code 0x10” command.

Significance

Write multiple registers request (0x10)

Field Bytes Values Byte no.

Function code 1 0x10 8
Start address 2 0x0000 9, 10
Quantity of registers 2 0x0004 0x0008 0x000C 0x0010 11, 12
Byte count 1 0x08 0x10 0x18 0x20 13
Register value 8 FHPP Standard (control data) 14 ... 21

8 FPC/FHPP+ 22 ... 29
8 FHPP+ 30 ... 37
8 FHPP+ 38 ... 45

Write multiple registers respone (0x10)

Field Bytes Values Byte no.

Function code 1 0x10 8
Start address 2 0x0000 9, 10
Quantity of registers 2 0x0004 0x0008 0x000C 0x0010 11, 12

Write multiple registers exception (0x90)

Field Bytes Values Byte no.

Error code 1 0x90 8
Exception code 1 0x01: illegal function

0x02: illegal data address
0x03: illegal data value
0x04: server device failure

9

Tab. 5.8 Write process data, Function code 0x10

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5.3.8 Read/write process data, Function code 0x17 (Read/write multiple registers)

The table describes the structure of the “Read/write process data, Function code 0x17” command.

Significance

Read/write multiple registers request (0x17)

Field Bytes Values Byte no.

Function code 1 0x17 8
Start address 2 0x0000 9, 10
Quantity of registers read 2 0x0004 0x0008 0x000C 0x0010 11, 12

è Read/write multiple registers response

(0x17), Register value
Start address write 2 0x0000 13, 14
Quantity of registers write 2 0x0004 0x0008 0x000C 0x0010 15, 16
Byte count write 1 0x08 0x10 0x18 0x20 17
Register value write 8 FHPP Standard (control data) 18 ... 25

8 FPC/FHPP+ 26 ... 33
8 FHPP+ 34 ... 41
8 FHPP+ 42 ... 49

Read/write multiple registers response (0x17)

Field Bytes Values Byte no.

Function code 1 0x17 8
Byte count 1 0x08 0x10 0x18 0x20 9
Register value read 8 FHPP Standard (status data) 10 ... 17

8 FPC/FHPP+ 18 ... 25
8 FHPP+ 26 ... 33
8 FHPP+ 34 ... 41

Read/write multiple registers exception (0x97)

Field Bytes Values Byte no.

Error code 1 0x97 8
Exception code 1 0x01: illegal function

9
0x02: illegal data address
0x03: illegal data value
0x04: server device failure

Tab. 5.9 Read/write process data, Function code 0x17

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5.3.9 Read exception status, Function code 0x07 (Read exception status)

The table describes the structure of the “Read exception status, Function code 0x07” command.

Significance

Read exception status request (0x07)

Field Bytes Values Byte no.

Function code 1 0x07 8

Read exception status response (0x07)

Field Bytes Values Byte no.

Function code 1 0x07 8
Output data 1 0x00: no exception (no exception)

9
0x01 ... 0xFF: Exception status (exception
status)

Read exception status exception (0x87)

Field Bytes Values Byte no.

Error code 1 0x87 8
Exception code 1 0x01: illegal function

9
0x02: illegal data address
0x03: illegal data value
0x04: server device failure

Tab. 5.10 Read exception status, Function code 0x07

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5 Modbus TCP with FHPP

5.3.10 Read device identification, Function code 0x2B (Read device identification)

The table describes the structure of the “Read device identification, Function code 0x2B” command.

Significance

Read device identification request (0x2B)

Field Bytes Values Byte no.

Function code 1 0x2B 8
MEI type 1 0x0E 9
Read device ID code 1 0x01: basic device identification

10

0x02: regular device identification

Object ID 1 0x00: (first object to be transferred) 11

Read device identification response (0x2B)

Field Bytes Values Byte no.

Function code 1 0x2B 8
MEI type 1 0x0E 9
Read device ID code 1 Same as request field 10
Conformity level 1 0x01: basic device identification

11

0x02: regular device identification
More follows 1 0x00: no more objects 12
Next object ID 1 0x00 13
No of objects 1 Number of objects in this message 14
Object 1 1 è Tab. 5.12 15 ...

... ...

Object n 1

Read device identification exception (0xAB)

Field Bytes Values Byte no.

Error code 1 0xAB 8
Exception code 1 0x01: illegal function

9
0x02: illegal data address
0x03: illegal data value
0x04: server device failure

Tab. 5.11 Read device identification, Function code 0x2B

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