1. Ingeniería

Electric drives
Product selection overview
Electric axes
Electric gantry axes
EGC-TB/-BS
EGC-HD-TB/-BS
ELGR/ELGG
DGE-ZR -KF/-RF
DGE-SP
ELGA-TB-G/ELGA-TB-RF
EGSK/EGSP
ELGL-LAS
DMES
Product features
Product
Drive mechanism
Guide
mechanism
Max. stroke
( Longer strokes on
request)
Max.
speed
Max.
acceleration
Repetition
accuracy
Max.
feed force
mm
m/s
m/s2
± mm
N
8500
5
50
0.1
2500
Rodless
EGC-TB
Toothed belt
Ball bearing
EGC-BS
Ball screw
Ball bearing
3000
2
15
0.02
3000
EGC-HD-TB
Toothed belt
Ball bearing
5000
5
40
0.1
1800
EGC-HD-BS
Ball screw
Ball bearing
2400
1.5
15
0.02
1300
ELGR/ELGG
Toothed belt
Plain bearing,
ball bearing
1500
1
3
50
0.1
350
DGE-ZR-KF
Toothed belt
Ball bearing
4500
3
50
0.1
1500
DGE-ZR-RF
Toothed belt
Roller guide
5000
10
50
0.1
1500
DGE-SP
Ball screw
Ball bearing
2000
1.2
6
0.02
1600
ELGA-TB-G
Toothed belt
Plain guide
8500
5
50
0.08
1300
ELGA-TB-RF
Toothed belt
Roller guide
7400
10
50
0.08
1300
EGSK/EGSP
Ball screw
Ball bearing
840
1.48/2
20
0.01/0.005/0.003
392/460
ELGL-LAS
Electric linear direct
drive
Air bearing
1750
4
50
0.01
450
Lead screw
Plain bearing or
ball bearing
1800
0.05
2.5
0.05
3000
DMES
Electric cantilever axes/slides/cylinders
DGEA
EGSL
EPCO
ESBF
DNCE-BS/-LS
DNCE-LAS
DFME-LAS
ADNE-LAS
Product features
Product
Drive mechanism
Guide mechanism
Max. stroke
Max. speed
Max. acceleration
Repetition accuracy
Max. feed force
mm
m/s
m/s
± mm
N
2
Rodless
DGEA
Toothed belt
Ball bearing
1000
3
50
0.05
1000
EGSL
Ball screw
Ball bearing
300
1.3
25
0.015
450
EPCO
Ball screw
Not applicable
400
0.5
10
0.02
650
ESBF
Ball screw
Not applicable
1500
1.35
25
0.01
17000
DNCE-BS
Ball screw
Not applicable *
800
1
6
0.02
2500
DNCE-LS
Lead screw
Not applicable *
800
0.07
1
0.07
1000
DNCE-LAS
Electric linear direct
drive
Plain bearing
400
3
125
0.02
202 (FMax )
DFME-LAS
Electric linear direct
drive
Plain bearing/
ball bearing
400
3
83
0.015
202 (FMax )
ADNE-LAS
Electric linear direct
drive
Plain bearing
45
1.9
–
0.1
51 (FMax )
With piston rod
Note: * The electric cylinder DNCE can be used together with the guide unit FENG to absorb lateral forces.
Drive technology
Drive mechanism
Features
Products
Toothed belt
• Cost-effective
• Long strokes
• High speed/dynamic response
• Short duty cycles
EGC-TB
EGC-HD-TB
DGE-ZR/-RF
ELGA-TB-B/-RF
DGEA
ELGR/ELGG
Lead screw
• Medium precision
• Self-locking/automatic locking
• Cost-effective
• Long duty cycles
• Positioning movements
DNCE-LS
DMES
Ball screw
• High precision
• Jerk-free movement
• High thrust force
• High load rigidity
• Medium duty cycles
EGC-BS
EGC-HD-BS
DGE-SP
EGSK/EGSP
EGSL
Linear direct drive
• Maximum dynamic response
• Extremely short duty cycles
• Jerk-free movement
• Very short minimum stroke
ELGL-LAS
DNCE-LAS
DFME-LAS
ADNE-LAS
EPCO
ESBF
DNCE-BS
Guide mechanism design
Features
Products
Plain bearing
• Cost-effective
• Low speed
• Long duty cycles
ELGA-TB-G
Roller bearing
• Cost-effective
• High speed up to 10 m/s
• Short duty cycles
ELGA-TB-RF
DGE-RF
Recirculating ball bearing
• High loads and torques
• High speed
• Short duty cycles
EGC
EGC-HD
DGE
EGSK/EGSP
ELGR/ELGG
(ball bearing)
EGSL
DGEA
Overview of controllers from Festo
Module
Compact
controller
Integrated
controller
CPX terminal
Modular controller
Robotic controller
Controller
CECC-D
CECC-LK
CODESYS
controller
CDPX
CODESYS
controller
CPX-CEC-C1
Motion controller
CPX-CEC-M1
Modular
controller
CECX-X-C1
Motion
controller
CECX-X-M1
Robotic
controller
CMXR-C1
Robotic controller
CMXR-C2
Single axis
(ptp
asynchronous)
Single axis
(ptp
asynchronous)
C1: single axis
M1: Interpolation
(2D)
Single axis
(ptp
asynchronous)
Interpolation
(2.5D)
Robotic
(3D)
Robotic
(3D)
Functionality
Maximum
number of
permissible
axes
4 axes:
8 axes:
one axis is treated one axis is treated as one CANopen participant. 128 participants
as one CANopen
(spec. acc. to CANopen).
participant.
128 participants
(spec. acc. to
CAN open).
6 axes interpolated, of which maximum
3 basic axes, 1 orientation axis, maximum
3 dependent auxiliary axes
Motion
• PtP
asynchronous
• PtP asynchronous
• 3D interpolation with -M1 variants
• Each axis moves with its own predefined parameter
• The axes do not reach their end positions at the same time and the path is not defined
3D path interpolation with an orientation
axis for kinematics with up to 4 degrees
of freedom. For example, threedimensional gantry with an axis of
­rotation on the front unit.
Special features
• Stand-alone
controller
• Integration of
two fast inputs
(200 khz)
• 4 IO-Link
masters for
CECC-LK
• CODESYS
V3 pbF
• Integrated
controller in
one display
• CODESYS
• Low-cost engineering with the Festo
Configuration Tool (FCT)
• Simple programming with Festo Teach
Language (FTL)
• An optional handheld control unit
• Reduced speed in manual operation
• Automatic repositioning after
interrupted movements
• Genuine orientation axes on the front
unit
• Integrated kinematic models
(for Cartesian systems, tripod, H and
T-gantry)
• Dynamic limiter for optimal cycle time
Sample
application
ptp = point-to-point
• Handling
systems
• Pick & place,
palletising
• Function integration on the
CPX terminal
• CODESYS
• Handling systems
• Pick & place, palletising
Other axes
(not mutually
interpolating) can
be actuated via
the integrated
CODESYS-PLC ­
(ptp asychronous).
Recommended:
16 axes
• CODESYS-PLC
• Encoder interface
• Interrupt function
• Fast clock pulse inputs
• Profibus master
• Two CANbus masters
• RS 232/ RS 485-A/422-A
• PLC Open
• SoftMotion
• CNC editor
• DXF import
• Cam disc editor
• PLC Open
• SoftMotion
• CNC editor
• DXF import
• Cam disc
editor
Path control, gluing, • Handling
systems
cutting, handling,
flying saw, cam disc • Pick & place,
palletising
Path control,
gluing, cutting,
handling, flying
saw, cam disc
• Enhanced
flexibility due to
CoDeSys PLC e.g.
integration of
vision system
• Tracking function
• Speedindependent path
switching points
with time
compensation,
e.g. for gluing
applications
Handling,
palletising,
gluing,
­dispensing,
­painting, cutting
Tracking
applications such
as processing
moving parts on a
conveyor belt or
synchronised
kinematic
movement with up
to 6 movements
Motors and controllers
Performance comparison of motors
Type
Servo (DC)
Stepper
Servo (AC)
Speed
Very low (<500 RPM)
Low/medium (1000 RPM)
High (6600 RPM)
Duty cycle
Low
Medium/high
High
Festo products
MTR-DCI
EMMS-ST/CMMS-ST
EMMS-AS/CMMx
Performance comparison of servo motors and servo controllers
60
NM
CMMP-AS
10
CMMS/D-AS
CMMS/O-ST
0
1000
2000
3000
4000
EMMS-AS + CMMP-AS
EMMS-AS + CMMS-AS/CMMD-AS
EMMS-ST + CMMS-ST/CMMO-S
5000
rpm
Product features controllers/drives
Product
Operating modes
Setpoint
specification
Fieldbus
Safety
Synchronisation
Motor feedback interface
MTR-DCI
• Position
• Force
• I/O interface
• FHPP protocol
• CANOpen
• Profibus DP
• DeviceNet
–
None
• Incremental encoder
(integrated)
MTR-DCI
CMMS-ST
EMMS-ST
• Position
• Speed
• Torque
• Synchronous
• Analogue (±10 V)
• I/O interface
• FHPP protocol
• CANOpen
• Profibus DP
• DeviceNet
STO up
to
cat. 3,
PLd
• Master/slave
• E-gearing
• Incremental encoder
(optional)
EMMS-ST
CMMS-ST
CMMO-ST
EPCO
EMMS-ST
• Position
• Speed
• Torque
• I/O interface
None
STO up
to
cat. 3,
PLe
None
• Incremental encoder
(optional)
EPCO
CMMO-ST
EMMS-ST
CMMS-AS
CMMD-AS
EMMS/E-AS
• Position
• Speed
• Torque
• Synchronous
• Analogue (±10 V)
• I/O interface
• FHPP protocol
• CANOpen
• Profibus DP
• DeviceNet
STO up
to
cat. 3,
PLd
• Master/slave
• E-gearing
• Absolute encoder
(EnDat)
• Single turn
(Standard)
• Multi turn
(optional)
EMMS/E-ASCMMS-/CMMD-AS
CMMP-AS
EMMS/E-AS
• Position
• Speed
• Torque
• Synchronous
• Analogue (±10 V)
• I/O interface
• FHPP protocol
• CANOpen
• PROFIBUS DP
• PROFINET RT
• DeviceNet
• EtherNet/IP
• EtherCAT
STO up
to cat. 3,
PLd
• Master/slave
• E-gearing
• E-camming
• Absolute encoder
(EnDat) and resolver
EMMS/E-AS
CMMP-AS
• CANOpen
• Profibus DP
• DeviceNet
–
None
• Incremental linear
encoder with
reference switch
DNCE-LAS
SFC-LACI
CMMP-AS-M...
SFC-LACI
DNCE-LAS
DFME-LAS
• Position
• Speed
• Feed force
• I/O (digital
inputs/outputs)
• FHPP protocol
STO up
to cat. 4,
PLe
DFME-LAS
CMFL
ADNE-LAS
• Speed
• Cycle rate
• End position
• I/O interface
None
–
None
• Incremental linear
encoder with
reference switch
ADNE-LAS
CMFL
Motor feedback technologies
Benefits
Incremental encoder
MTR-DCI
EMMS-ST
• Low-cost
• Zero position compensation/homing
typically required on power up
• MTR-DCI retains the last position on
power down (memory module)
• Standard to RS422
MTR-DCI
Single-turn absolute encoder
EMMS/E-AS
• Absolute values via one shaft revolution
• Inductive functional principle, not as
sensitive as optical encoders
EMMS-ASEMME-AS
Multi-turn absolute encoder
EMMS/E-AS
EMMS-ST
• Absolute value via one or more shaft
revolutions
• Zero position compensation not required
if the shaft has completed less than
4096 revolutions (12 bit)
• Inductive functional principle, not as
sensitive as optical encoders
Software
PositioningDrives
• The right solution with just a few pieces of basic information
• Selection and dimensioning of electric axis, motor and gearing
Festo Configuration Tool (FCT)
• Software for simple commissioning of the drive package (electromagnetic drive, motor and motor controller)
• Project and data management for all supported device types
Safety function to DIN EN 61800-5-2 and EN 60204-1
The Machinery Directive 2006/42/EC requires numerous safety
functions as protective measures for sufficient risk reduction.
Festo offers various solution designs for this: from the configurable or
programmable safety system CMGA to integrated safety functions
STO (Safe Torque Off ) in motor controllers, a second measuring
CMGA
CMMP-AS-_-M3
with STO module
system on linear axes for 2-channel measurement of speed and
position and clamping units. Our detailed solutions along with
descriptions, parts lists, circuit diagrams, user programs and Sistema
project files will help you to implement these safety functions easily
in your own applications.
EGC
with 2nd measuring system
EGC with clamping unit
on right and left
Errors and omissions excepted
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en 2013/12
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