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1. System summary

1-3

Festo P.BE-MTR-DCI-IO-EN en 1209d

1.1

Positioning with electric drives

1

Process control
and parameter
access through
the higher-order
controller

2

Software level:
Commissioning
with the Festo
Configuration
Tool software

3

Drive level with

– Motor unit
– Coupling
– Coupling

housing

– Axis

CANopen

I/O

RS232

1

2

3

Profibus
DeviceNet

Fig. 1/1:

Principle of a positioning system with motor unit MTR-DCI and positioning axis
DMES

The motor unit MTR-DCI enables the connected linear or rota-
tion axis to be placed in max. 15 positions (plus homing) with
separate speed adjustment.

The permitted positioning range can be limited by means of
software end positions.

Summary of Contents for MTR-DCI-...IO Series

Page 1: ...Description MTR DCI IO Description 539616 en 1209d 763197 Motor unit MTR DCI ...

Page 2: ...Adobe Reader CANopen and CiA are registered trademarks of the respective trademark owners in certain countries ...

Page 3: ... 73726 Esslingen Germany 2012 Internet http www festo com E Mail service_international festo com Reproduction distribution or sale of this document or communication of its contents to others without express authorization is prohibited Offenders will be liable for damages All rights reserved in the event that a patent utility model or design patent is registered ...

Page 4: ...Contents and general instructions II Festo P BE MTR DCI IO EN en 1209d ...

Page 5: ...electric drives 1 3 1 2 Components 1 6 1 3 Control and regulating functions 1 7 1 4 Operational reliability 1 9 1 5 Measuring reference system 1 10 1 5 1 Basis points and work range 1 10 1 5 2 Signs and directions 1 13 1 5 3 Homing 1 14 2 Mounting 2 1 2 1 General instructions 2 3 2 2 Dimensions of the motor unit 2 4 2 3 Mounting electric axes 2 5 3 Installation 3 1 3 1 Overview of installation 3 3...

Page 6: ...5 9 5 2 3 Teach the axis zero point and the software end positions 5 13 5 2 4 Positioning with position sets 5 15 5 2 5 Teach position sets 5 16 5 2 6 Test run 5 17 5 3 Commissioning with FCT 5 19 5 3 1 Installing the FCT 5 19 5 3 2 Procedure for commissioning with the Festo Configuration Tool 5 20 5 4 Communication with the higher order controller 5 22 5 4 1 I O function check 5 22 5 4 2 Descript...

Page 7: ...specifications A 3 A 2 Accessories A 6 A 3 Motor characteristic curves A 7 A 4 Converting measuring units A 13 B Supplementary information B 1 B 1 The Command Interpreter CI B 3 B 1 1 Procedure for data transfer B 4 B 1 2 CI commands B 8 B 1 3 CI Objects overview B 12 B 1 4 Object description B 16 C Index C 1 ...

Page 8: ...Contents and general instructions VI Festo P BE MTR DCI IO EN en 1209d ...

Page 9: ...arate manuals It is absolutely necessary to observe the Safety instructions as well as the designated use of the relevant components and modules Observe also the safety instructions in the operat ing instructions for the electric components used The MTR DCI and the connectable modules and cables may only be used as follows in accordance with designated use only in industrial applications without a...

Page 10: ...area must be prevented by suitable measures such as protective screens and warning signs Warning Electric axes can move suddenly with high force and at high speed Collisions can lead to serious injury to human beings and damage to components Make sure that nobody can gain access to the operating range of the axes or other connected actuators and that no objects lie in the positioning range while t...

Page 11: ...pair service or write to the following e mail address if you have any technical problems service_international festo com Scope of delivery The following items are supplied with motor unit MTR DCI Motor unit with integrated controller optionally with control panel Operating package on CD ROM User documentation descriptions Festo Configuration Tool with MTR DCI plugin User documentation quick refere...

Page 12: ...e between the following danger warnings Warning This means that failure to observe this instruction may result in serious personal injury or damage to property Caution This means that failure to observe this instruction may result in personal injury or damage to property Note This means that failure to observe this instruction may result in damage to property The following pictogram marks passages...

Page 13: ...ions tips and references to other sources of information Accessories Information on necessary or sensible accessories for the Festo product Environment Information on environment friendly use of Festo products Text markings The bullet indicates activities which may be carried out in any order 1 Figures denote activities which must be carried out in the numerical order specified Hyphens indicate ge...

Page 14: ...CI contents as described below Description Motor unit MTR DCI with I O interface P BE MTR DCI IO DE P BE MTR DCI IO EN P BE MTR DCI IO FR P BE MTR DCI IO IT P BE MTR DCI IO ES P BE MTR DCI IO SV Installation commissioning and diagnosis of electric axes with motor unit MTR DCI communication via I O interface Help system for software Festo Configuration Tool help contained in FCT software Function d...

Page 15: ...tic Software information Firmware version What is new Which FCT PlugIn V DME1 19 Supports the motor sizes MTR DCI 42 and 52 and the combination with the following positioning axes from Festo Motor unit Axis MTR DCI 42 DMES 25 MTR DCI 52 DMES 40 MTR DCI V1 0 0 V1 20 Supports the motor sizes MTR DCI 32 and 62 and the combination with the following positioning axes from Festo Motor unit Axis MTR DCI ...

Page 16: ...s and provide the power supply for the motor via the power electronics power electronics controller position controller DMES Type designation electric linear axis Drive Complete actuator consisting of controller motor measuring system and if applicable gear and linear axis EMC Electromagnetic compatibility Encoder Optical pulse generator rotor position transducer on the motor shaft of the MTR DCI ...

Page 17: ...ect positioning task Position set Positioning command defined in the position set table consisting of The number of the position set The absolute or relative basis of the nominal position The nominal position of the position set The positioning speed of the position set Project zero point PZ Basis point for all positions in positioning tasks Project zero point The project zero point forms the basi...

Page 18: ...sition positive max limit position of the stroke in the positive direction must not be exceeded during positioning Software end position negative min limit position in the negative direction must not be exceeded during positioning Teach mode Teach mode Operating mode for setting positions by moving to the target position e g when creating position sets Tab 0 3 Index of terms and abbreviations ...

Page 19: ...System summary 1 1 Festo P BE MTR DCI IO EN en 1209d Chapter 1 System summary ...

Page 20: ...em summary 1 1 1 1 Positioning with electric drives 1 3 1 2 Components 1 6 1 3 Control and regulating functions 1 7 1 4 Operational reliability 1 9 1 5 Measuring reference system 1 10 1 5 1 Basis points and work range 1 10 1 5 2 Signs and directions 1 13 1 5 3 Homing 1 14 ...

Page 21: ... software 3 Drive level with Motor unit Coupling Coupling housing Axis CANopen I O RS232 1 2 3 Profibus DeviceNet Fig 1 1 Principle of a positioning system with motor unit MTR DCI and positioning axis DMES The motor unit MTR DCI enables the connected linear or rota tion axis to be placed in max 15 positions plus homing with separate speed adjustment The permitted positioning range can be limited b...

Page 22: ...arameters Specifying a gear factor with external gears Uploading downloading of configuration data Saving different configurations in projects x x x x x Positioning records Compiling a position set table with set number target position positioning mode positioning speed acceleration x x Commissioning Homing Jog mode Teaching of positions Travel in individual steps Starting and stopping positioning...

Page 23: ...1 revolution e g deg deg s deg s2 x x Revolutions 2 Number of revolutions e g rev rev min rev min2 x Increments Increment based units of measurement e g inc inc s inc s2 1 Only with FCT when creating a project 2 Setting only with the control panel Settings Axis type Rotation axis Tab 1 2 Units of Measurement Setting the units of measurement influences only the dis play All the parameters in the co...

Page 24: ...correspondingly reduced positioning force Axis Linear or rotation axes as per catalogue Coupling with coupling housing For the axial attachment of Festo axes e g type DMES or type DNCE couplings and coupling housings are avail able as accessories The motor unit is connected to the axis by means of a clamping connection in the coupling housing Additional motor flanges are not therefore necessary Fu...

Page 25: ...2 Simplified diagram of the cascade regulator Profile position mode Positioning mode Operating mode for executing a position set or a direct posi tioning task with position control closed loop position con trol The target position defines the position to which the drive controller is to move The target position is interpreted either as an absolute or relative specification The set target posi tion...

Page 26: ...em of the axis are defined e g via a reference switch within the possible positioning path or with overcurrent eval uation n the case of movement to a stop For commissioning for testing or for demonstration the following functions are also available via the control panel of the MTR DCI H2 Positioning travel for defining the target position of a positioning record Settings Position set Positioning ...

Page 27: ...d stage temperature Current monitoring Voltage monitoring Recognizing faults in the internal voltage supply MTR DCI 62 detection of overvoltages in the inter mediate circuit brake chopper integrated Drag fault monitoring Software end position recognition Observe the following By the arrangement of the limit switches and if neces sary additionally by means of mechanical stops make sure that the axi...

Page 28: ...mmissioning a measuring reference system for refer encing the reference coordinates must be defined By means of the measuring system all absolute positions are defined and movement can be made to them 1 5 1 Basis points and work range The basis system of the MTR DCI is based on the axis zero point which is defined by the offset to the reference point Homing run The position of the reference point ...

Page 29: ...ons limit the permitted positioning range work stroke If the target position of a positioning command lies outside the software end positions the positioning command will not be processed and a fault status will be displayed Project zero point PZ is a basis point which the user can freely select within the work stroke and to which the actual position as well as the target positions in the position...

Page 30: ... zero point reference point for the project zero point and the software end positions Corresponds to the project zero point with the MTR DCI offset project zero point 0 The basis point for the axis zero point is the reference point A b c Offset axis zero point Defined distance of the axis zero point AZ from the reference point REF Software end positions limit the permitted positioning range work s...

Page 31: ...seful when using angular gear units or toothed belt drives A hom ing run must be carried out again if the direction is reversed The direction in which the work load moves depends on the gearing the spindle type left right rotating the algebraic signs on the positioning specifications and the set active direction 1 2 1 Factory setting for active direction 2 Reversal of direction Fig 1 3 Active dire...

Page 32: ... for reference switch in a negative direction default In order to search for the reference point and for positioning the drive in the axis zero point you can set two different speeds Homing sequence 1 Search for the reference point in accordance with the configured method 2 Move from reference point to axis zero point AZ offset axis zero point After successful homing the drive stands at the axis z...

Page 33: ...ignals that the stop has been reached When the maximum motor cur rent is reached at the same time as the motor is at a stand still the MTR DCI recognizes that the stop and therefore the reference position has been reached As the axis should not stand still at the stop the axis zero point offset must be 0 min 0 25 mm REF AZ REF 1 2 AZ 1 Stop in a negative direction 2 Stop in a positive direction Fi...

Page 34: ...hen the drive moves back REF AZ REF 1 2 AZ 1 Reference switch in negative direction 2 Reference switch in positive direction Fig 1 5 Search for reference switch reference travel method If the drive stands on the reference switch at the start of ref erence travel it will move in the opposite direction to the reference switch The drive then moves as usual to the axis zero point Note If a reference s...

Page 35: ...Mounting 2 1 Festo P BE MTR DCI IO EN en 1209d Chapter 2 Mounting ...

Page 36: ...2 Mounting 2 2 Festo P BE MTR DCI IO EN en 1209d Contents 2 Mounting 2 1 2 1 General instructions 2 3 2 2 Dimensions of the motor unit 2 4 2 3 Mounting electric axes 2 5 ...

Page 37: ... supply for the elec tronic components Note Handle all modules and components with great care Please note especially the following Screw connections must be fitted free of offset and mechanical tension Screws must be fitted accurately otherwise threads will be damaged The specified torques must be observed The modules must not be offset Contact surfaces must be clean avoid contact faults ...

Page 38: ...2 0 1 32 h8 12 h7 62 g10 62 0 1 40 j7 14 h7 Height H H0 H1 H2 65 3 0 4 21 6 0 15 41 5 0 3 70 8 0 4 26 5 0 6 54 5 0 4 94 8 0 4 37 0 9 76 5 0 4 128 0 5 60 8 0 35 128 0 5 Length L L1 L2 L3 L4 175 5 1 18 7 0 6 2 5 0 3 176 1 33 3 1 25 1 2 0 2 176 1 46 3 1 25 1 2 0 2 194 1 39 1 33 1 3 0 3 194 1 53 1 33 1 3 0 3 270 1 47 1 39 1 5 0 3 Width B B1 B2 33 8 0 3 46 3 0 4 44 8 0 4 53 3 0 4 63 8 0 4 69 5 0 4 105 ...

Page 39: ...he working mass sliding down if there is a sudden power failure With DMES Check whether additional external safety measures against spindle nut fracture are necessary e g toothed latches or moving bolts Make sure that the drive is fitted securely and is free of distortion the work space in which the axis moves is of sufficient size for operation with a work load the work load does not collide with...

Page 40: ...al shaft load Axial shaft load Maximum permitted shaft output torque of the gear 1 Fy N Fx N Mx Nm 70 20 1 0 230 80 7 5 320 100 12 0 360 70 25 2 1 With operating factor cb 1 0 3 hours operation daily no shocks direction of rotation constant The gear output torque or the motor unit is usually much lower see Technical specifications appendix A Mechanical specifications 2 MTR DCI 62 G22 In the start ...

Page 41: ...mechanical drive device machine frame In order to minimize the shaft offset Position the axis with the aid of the centring diameter D1 or D3 see Tab 2 1 relative to the rotary axis of the mechanism to be driven Fasten the motor unit with 4 screws and tighten the 4 screws with the specified tightening torque Motor unit MTR DCI 32 has 6 threads for different mounting variants axial parallel 4 screws...

Page 42: ...upling housing Additional motor flanges are not therefore necessary Fit the motor onto the permitted axis in accordance with the Øassembly instructions for the motor mounting kit recom mended in the catalogue 25 25 50 6xM3x6 32 4xM4x10 4xM3x7 4x 90 4x 90 28 4xM5x10 4X 90 45 4xM5x10 4x 90 30 MTR DCI 32 MTR DCI 42 MTR DCI 52 MTR DCI 62 Ø 32 Ø 32 Ø 36 Ø 50 Ø 40 Fig 2 2 Fastening the drive by means of...

Page 43: ...Installation 3 1 Festo P BE MTR DCI IO EN en 1209d Chapter 3 Installation ...

Page 44: ...DCI IO EN en 1209d Contents 3 Installation 3 1 3 1 Overview of installation 3 3 3 2 Earthing 3 6 3 3 Power supply 3 7 3 4 Serial interface 3 10 3 5 Input for external reference switch 3 12 3 6 Connecting the higher order controller 3 14 ...

Page 45: ...nics and trigger unexpected movements of the motor For cabling the electric components of the system use only the cables listed as accessories see Tab 3 2 This is the only way to ensure the system will work properly Caution Earth or ground loops can under circumstances cause EMC protective measures to become ineffective resulting in high compensating currents which will damage the motor unit e g w...

Page 46: ...supply D Sub 2 pin Plug Operating voltage connec tion with 2 high current contacts Controller D Sub 9 pin Plug Interface for connection to any PLC controller Reference switch M8x1 3 pin Socket Sensor input for switch type normally open contact in the design PNP e g SMT 8F Serial interface M8x1 4 pin Socket RS232 interface for para metrizing commissioning and diagnosing Tab 3 1 Overview of connecti...

Page 47: ...n Length m Voltage supply Power supply cable KPWR MC 1 SUB 9HC 2 5 5 10 I O control Pilot line KES MC 1 SUB 9HC 2 5 5 10 Serial interface Programming cable KDI MC M8 SUB 9 2 5 Homing Switch If necessary connecting cable with screw type lock KM8 M8 GSGD 0 5 1 2 5 Tab 3 2 Overview of cables accessories In order to guarantee compliance with the IP protection class Seal unused M8 connections with ISK ...

Page 48: ...erminal Earthing strap on free end of the power supply cable see assembly instructions for cable KPWR MC 1 SUB 9HC Caution Earth or mass loops can make EMC safety measures inef fective and allow high compensating currents to destroy the motor unit Connect only the cable screening of the power supply cable to the functional earth FE Do not connect the terminal GND with the housing screening or func...

Page 49: ... EN 60204 1 By the use of PELV power units protection against electric shock protection against direct and indirect contact is guar anteed in accordance with IEC DIN EN 60204 1 electrical equipment of machines general requirements Caution Damage to the device The voltage input of the motor unit has no special protec tion against overvoltage Make sure that the permitted voltage tolerance is not exc...

Page 50: ...73 A 20 2 A 20 5 A 20 6 19 A 20 Peak current 2 1 A 20 3 8 A 20 7 7 A 20 20 A 20 Tab 3 3 Power supply Recommendation Use a closed loop controlled power unit with high output reserve and external fuse MTR 32 MTR 42 MTR 52 MTR 62 Power unit closed loop controlled DC 24 V 3 A DC 24 V 6 A DC 24 V 10 A DC 48 V 20 A External fuse secondary side 5 A slow blowing 7 A slow blowing 10 A slow blowing 25 A slo...

Page 51: ... control cable or power supply cable to the functional earth FE Plug Pin Colour 1 Manual A1 A2 A1 black 1 MTR DCI 32 42 52 MTR DCI 62 POWER DC 24 V POWER DC 48 V A2 black 2 MTR DCI 32 42 52 62 POWER GND 2 1 Cable colours with power supply cable KPWR MC 1 SUB 9HC 2 Do not link the GND terminal to any housing screen or functional earth FE Tab 3 5 Connecting the power supply to the motor unit ...

Page 52: ...cessary remove the protective cap from the serial interface of the MTR DCI Connect the following terminals with the programming cable the connection socket on the MTR DCI a serial interface COMx of the diagnostic PC M8x1 socket Description 1 2 4 3 1 GND Ground 2 TXD RS232 transmitting cable 1 3 RXD RS232 receiving cable 1 4 Reserved for service personal Do not connect 1 The levels correspond to th...

Page 53: ...are package Information on transmitting CI commands via the serial interface can be found in appendix B 1 2 Note The RS232 interface is not electrically isolated It is not suitable for permanent connection to PC systems nor for use as a control interface Use this terminal only for commissioning Remove the programming cable in continuous opera tion Seal the terminal with the supplied protective cap...

Page 54: ... the end of the cable or use the connecting cable KM8 M8 with a screw type lock as an adapter Use e g the following proximity switches from Festo magnetic proximity switch SMT 8F inductive proximity switch SIEN M8B When selecting the sensor note that the accuracy of the switchover point of the sensor determines the accuracy of the reference point M8x1 socket Description 1 3 4 1 DC 24 V DC 24 V vol...

Page 55: ...he voltage is taken from the main supply with protection against ESD and incorrect polarity Use this connection only for the reference switch sensor supply Use of this connection as a power supply for other devices is not permitted The input for sensor signal REF complies in its electrical features with the input specification in the appendix Technical specifications ...

Page 56: ... signal cables reduce the immunity to interfer ence Do not therefore exceed the maximum permitted I O signal cable length of 30 m Sub D plug Colour 1 Description 1 9 1 white I1 Position set code Bit0 2 brown I2 Position set code Bit1 3 green I3 Position set code Bit2 4 yellow I4 Position set code Bit3 5 grey I5 START 6 pink I6 ENABLE 7 blue O1 READY 8 red O2 MOTION COMPLETE MC 9 black GND GROUND b...

Page 57: ...o P BE MTR DCI IO EN en 1209d Warning If a voltage is applied and the output pins are used incor rectly the device may be seriously damaged therefore Do not connect voltage to the outputs Note the current limit at the outputs ...

Page 58: ...3 Installation 3 16 Festo P BE MTR DCI IO EN en 1209d ...

Page 59: ...Control panel MTR DCI H2IO 4 1 Festo P BE MTR DCI IO EN en 1209d Chapter 4 Control panel MTR DCI H2IO ...

Page 60: ...Contents 4 Control panel MTR DCI H2IO 4 1 4 1 Composition and function of the control panel 4 4 4 2 The menu system 4 6 4 2 1 Accessing the main menu 4 6 4 2 2 Menu Diagnostic 4 8 4 2 3 Menu Settings 4 11 4 2 4 Menu Positioning 4 17 4 2 5 Menu command HMI control 4 20 ...

Page 61: ...is described as from chapter 5 2 With the MTR DCI R2 without control panel you can com mission the MTR DCI via the RS232 interface with FCT soft ware Instructions on this can be found in chapter 5 3 Caution Faults may occur if you attempt to access control and operating functions at the same time via the FCT and the control panel Make sure that the FCT the control panel and the control interface o...

Page 62: ...1 LC display 2 Operating buttons 3 LEDs Power green I F green red Error red 1 3 2 Fig 4 1 Control panel of the MTR DCI H2 With the 4 buttons on the control panel you can carry out all operating functions and settings as indicated in the menu The graphic LCD display shows all texts in English The dis play can be turned in 90 steps see menu command LCD adjustment The visual display of the operating ...

Page 63: ...ioning procedure Error mode confirm with Enter then automatic return to the status display Only when HMI on OK Confirms the current selection or entry Enter SAVE Saves parameter settings permanently in the EEPROM START STOP Starts or stops a positioning procedure only in Demo mode After stop Display the current position return to the higher order menu level with Menu Scrolls within a menu level in...

Page 64: ...rrent position of the drive xa the current setting of the device control HMI Human Machine Interface The main menu is accessed from the status display with the button Menu The current button function will be displayed in the lower lines of the LCD display Function Button With the arrow buttons on the control panel you can select a menu item from the list The current selection is marked with an arr...

Page 65: ...ffset of axis zero point Abs min pos 3 Stroke limitation Software end position negative Abs max pos 3 Stroke limitation Software end position positive Save Save parameters in EEPROM Homing param Homing method Select referencing homing method stop software limit switch g p Velocity v_sw Positioning speed for searching for the reference point Velocity v_s0 Positioning speed for moving to the axis ze...

Page 66: ... modify the setting directly in the main menu with the menu command HMI control 4 2 2 Menu Diagnostic In order to display the system data and the currently effective settings 1 Select Diagnostic in the main menu with the arrow buttons and press the Enter button 2 Select one of the following menu commands Position set table Pos set table Axis parameter Axis param System parameter System param Versi...

Page 67: ...lative r positioning Pos Target position Vel Positioning speed Axis param Menu command for displaying the following axis parameters and data Axis param 1 Description v max Maximum positioning speed x min Stroke limitation Software end position negative x max Stroke limitation Software end position positive x 0 Offset axis zero point feed 2 Feed constant 1 Measuring unit depends on measuring system...

Page 68: ...positioning movements In signal Hexadecimal representation of the inputs Bit 0 I0 Bit 1 I1 Bit 2 I2 Bit 3 I3 Bit 4 START Bit 5 ENABLE Out signal Hexadecimal representation of the outputs Bit 0 READY Bit 1 MOTION COMPLETE Ref switch on off Signal at reference switch input Mode e g mm Measuring system Hom meth bl pos bl neg sw pos sw neg Fixed stop in positive direction Fixed stop in negative direct...

Page 69: ...ts in the positioning range Parametrizing the axis system and programming the position sets 1 Select Settings in the main menu with the arrow buttons and press the Enter button 2 Select the axis type Axis type the axis parameters Axis param the reference run parameters Homing param the position set table Position set the password setting Password Axis type Design of the axis driven by the MTR DCI ...

Page 70: ...itch negative Abs max pos Stroke limitation Software limit switch positive Save Save parameter in EEPROM Note The set parameters become effective immediately after confirmation with OK Enter The settings are saved per manently in EEPROM with the menu command Save Save the parameter settings with the menu command Save Only then will the settings be retained even if the power supply is switched off ...

Page 71: ...oming to reference switch positive bl neg block negative Homing to fixed stop negative bl pos block positive Homing to fixed stop positive Velocity v_sw v_sw Speed for searching for the reference point Velocity v_s0 v_s0 Speed for moving to the axis zero point Save Save parameter in EEPROM Note The set parameters become effective immediately after confirmation with OK Enter The settings are saved ...

Page 72: ... relative position specification related to the current position Position xt Target position in the selected measuring system e g mm Velocity v Positioning speed in the selected measuring system e g mm s Save Save parameter in EEPROM Note The set parameters become effective immediately after confirmation with OK Enter The settings are saved per manently in EEPROM with the menu command Save Save th...

Page 73: ...a figure 0 9 2 Confirm your entry with Enter The next entry position will be displayed 3 After entering the third figure save your setting with SAVE Enter Enter password As soon as a password is active it will be scanned automati cally when the menu commands Positioning Settings or HMI control are accessed When the correct password is entered all parametrizing and control functions of the control ...

Page 74: ...firm your entry with OK Enter The next entry position will be displayed 3 Repeat the entry for the further entry positions 4 Enter the new password with 3 figures If you wish to deactivate the password enter 000 5 After entering the third figure save your setting with SAVE Enter Keep the password for the MTR DCI in a safe place e g with the internal documentation for your system If the active pass...

Page 75: ...ke sure that nobody can place his her hand in the positioning range there are no objects in the positioning range Note Before starting the reference run make sure that the positioning system is set up completely wired and supplied with power the parametrizing is completed Do not start a positioning run until the reference system has been defined by means of a reference run Note Please note that po...

Page 76: ...g the mechanical reference system First set the parameter in the menu Settings Homing parameter Factory setting Homing to reference switch in negative direction 3 Make sure that nobody can place his her hand in the positioning range of the moveable mass and that there are no objects in its path Start homing run with START Enter The following information is displayed the search speed v_sw the posit...

Page 77: ...Positioning run continuous loop for testing all position sets 0 14 in the position set table Parametrizing and referencing must be completed There must be at least two position sets in the memory With positioning run Demo posit tab all position sets 0 14 in the position set table will be processed one after the other If the position set table contains a position set with speed v 0 this position se...

Page 78: ... For selecting the menu commands Positioning and Settings you will require the setting HMI on Only then is the MTR DCI ready to process user entries on the control panel When selecting the menu commands you will be requested to modify the HMI setting HMI control You can also modify the setting directly with the menu command HMI control HMI 1 Device control on The device control is carried out manu...

Page 79: ...Commissioning 5 1 Festo P BE MTR DCI IO EN en 1209d Chapter 5 Commissioning ...

Page 80: ...Teach the axis zero point and the software end positions 5 13 5 2 4 Positioning with position sets 5 15 5 2 5 Teach position sets 5 16 5 2 6 Test run 5 17 5 3 Commissioning with FCT 5 19 5 3 1 Installing the FCT 5 19 5 3 2 Procedure for commissioning with the Festo Configuration Tool 5 20 5 4 Communication with the higher order controller 5 22 5 4 1 I O function check 5 22 5 4 2 Description of the...

Page 81: ... with the FCT writing e g downloading para meters or controlling e g with Move manually or when starting homing run When the MTR DCI is currently performing a positioning movement or when a movement is started during access e g via the control interface or via the control panel When parametrizing or operation is carried out with the control panel of the MTR DCI Please note the following The device...

Page 82: ...structions for the positioning drive Switch on reaction First commissioning Relative positioning movements can be carried out as soon as the device is switched on e g in order to position the axis in the permitted positioning range If an absolute positioning process is started the following error will be displayed LAST ACTUAL POSITION IS NOT SAVED PLEASE ENFORCE HOMING RUN Absolute positioning mov...

Page 83: ...n Instructions on this can be found in chapter 1 5 1 When the power supply is switched off wait for approx 5 seconds before switching the device on again Switch on the power supply for the MTR DCI When the power supply is switched on the MTR DCI automatically carries out an internal check Carry out parametrizing and commissioning with the control panel or the FCT as described in the following chap...

Page 84: ...ing Information on the current parametrizing of the motor unit can be found in the menu Diagnostic on the control panel Carry out the following steps in order to commission the MTR DCI the first time with the control panel Note the detailed description in the chapters specified Commissioning overview Chapter 1 Select the axis type and if necessary adapt the parametrizing to suit your axis 5 2 1 2 ...

Page 85: ...control interface of the MTR DCI function test 5 4 1 9 Before completing commissioning note the instructions on operation 6 1 Tab 5 1 Commissioning overview In order to restore the default settings the EEPROM can be deleted if required with the CI command 20F1 Data memory control directly via the serial interface see chapter B 1 2 5 2 1 Selecting the axis type 1 Select the axis type which matches ...

Page 86: ... 25 2 5 DMES 40 4 DMES 63 6 Rotation axis Degree or revolutions Linear axis 2 According to the type plate or technical specifications of the axis Metric 3 1 Values defined at factory Z spindle pitch of the axis mm 2 If an external gear is used the gear factor can be set with FCT 3 Pre setting metric inches can only be set with FCT Tab 5 2 Parametrizing the axis ...

Page 87: ...ation If necessary limit the motor current during homing run with the FCT software The motor current can be speci fied with 1 to 200 of the rated motor current depend ing on the specific application see FCT PlugIn help MTR DCI Caution If the homing method is changed the axis zero point offset is reset to zero Any settings implemented for the software end positions and the target positions in the p...

Page 88: ...t motor current motor torque A mNm 1 1 46 3 0 171 7 5 460 9 29 1076 200 Z 2 x rated motor current motor current motor torque A mNm 1 46 62 3 8 2 220 7 7 2 470 12 38 1450 1 Parameter specification in FCT relative motor current in of rated current setting range 1 200 2 Due to maximum current limitation the value does not rise further Tab 5 3 Current limitation Note Please note the following when ada...

Page 89: ...ties v_sw v_s0 1 inc s 41 27000 22 22400 17 16800 15 16800 Rated speed of the motor rot s inc s 55 66000 50 100000 50 100000 56 7 113400 1 of the rated speed of the motor max 50 Set the following homing parameters one after the other the Homing method the search speed for ascertaining the reference point Velocity v_sw the positioning speed to the axis zero point Velocity v_s0 Accept each setting w...

Page 90: ...rence switch in the search direction Select e g Settings Position set Position see also chapter 5 2 5 Move the drive to the desired position manually with the arrow buttons Interrupt the procedure with ESC menu in order that the position is not included in the position set table 2 Select Positioning Homing 3 Start homing run with START Enter After successful reference travel the drive stands at th...

Page 91: ...occurs during homing run quit the fault message with Enter if necessary check the function of the reference switch check the settings of the parameters If necessary position the drive in Teach mode so that at the start it stands in the search direction in front of the stop or reference switch Repeat homing run 5 2 3 Teach the axis zero point and the software end positions Prerequisites for teachin...

Page 92: ...arget positions in the position table Note that these values refer to the previous axis zero point Teach the software end positions and the target positions again Teach the negative software end position and the positive software end position 1 Select Settings Axis parameter Abs min pos or Abs max pos 2 Move the drive manually with the arrow buttons 3 Accept the position reached with OK Enter The ...

Page 93: ...as successful The axis zero point and the software end positions are set correctly Note Please note that position sets with speed v 0 or invalid target positions Fault TARGET POSITION OUT OF LIMIT cannot be carried out After successful homing run teach several position sets see chapter 5 2 5 First carry out a test run if necessary without a work load see chapter 5 2 6 If necessary optimize the set...

Page 94: ...ecification related to the current position Accept the value with OK Enter Note After each change of the positioning mode teach the target position of the position set otherwise the change of positioning mode will not be accepted 3 Teach the target position of the position set Select Position Move the drive to the desired target position manually with the arrow buttons Accept the position reached ...

Page 95: ...on movements which occur frequently one after the other and lead to deviations of the position values If necessary insert an absolute position set or homing run into the positioning cycle in order to cor rect deviations 5 2 6 Test run Caution Damage to components During operation it is not permitted to move to the mech anical end positions stops If movement is made to the end positions with a heav...

Page 96: ... position sets 0 14 in the position set table will be processed one after the other If the position set table contains a position set with speed v 0 neither this position set nor the following sets will be processed positioning run will be continued with posi tion set 0 With DEMO STOP Enter you can interrupt the positioning cycle Demo posit tab The current position set will be pro cessed before th...

Page 97: ... an updated PlugIn is provided If necessary consult Festo Note Administrator rights are required for installing the FCT The FCT is installed on your PC with an installation program The PlugIn MTR DCI is installed on your PC together with the installation program of the FCT 1 Close all programs 2 Place the Festo Configuration Tool CD in your CD ROM drive If Auto Run is activated on your system inst...

Page 98: ... FCT or open an existing project Add a device to the project with the PlugIn MTR DCI 4 Create the device connection online connection between the PC and the MTR DCI via the FCT tool bar It may be necessary here to have the same device names Device control In order that the FCT can control the connected MTR DCI the control interface of the MTR DCI must be deactivated and Controller enable must be s...

Page 99: ... for commissioning an MTR DCI With the PlugIn MTR DCI for the FCT the necessary paramet rizing can be carried out offline i e without the MTR DCI being connected to the PC This enables the actual commis sioning to be prepared e g in the design office when a new system is being planned Further information can be found in the PlugIn help Command Help Contents of installed PlugIns Festo manufacturer ...

Page 100: ...DCI with the menu com mand HMI control HMI off with FCT under Device control in the window General output FCT off In order to check the configuration and the axis set up enter a simple test program or simulate control by directly setting the inputs Please refer here to the function description of the control interface in chapter 5 4 2 Provide the necessary system inputs on the MTR DCI There must b...

Page 101: ... sets is carried out via the binary coding of inputs I1 Bit 0 I4 Bit 3 Positioning set I1 2 0 I2 2 1 I3 2 2 I4 2 3 0 0 0 0 0 1 1 0 0 0 2 0 1 0 0 3 1 1 0 0 4 0 0 1 0 5 1 0 1 0 6 0 1 1 0 7 1 1 1 0 8 0 0 0 1 9 1 0 0 1 10 0 1 0 1 11 1 1 0 1 12 0 0 1 1 13 1 0 1 1 14 0 1 1 1 15 Homing run 1 1 1 1 Tab 5 4 Binary code of the position set ...

Page 102: ... I6 Controller and power end stage enable Prerequisite there must be an 0 signal at START no fault A rising edge 1 at the ENABLE input causes the controller and the power end stage of the drive to be switched on A falling edge 0 at the ENABLE input causes the con troller and the power end stage of the drive to be switched off Current run will be discontinued When the power end stage is switched of...

Page 103: ...are switched off 1 0 Quit faults READY O1 Ready to operate All prerequisites for starting a positioning procedure are fulfilled Pin Level READY O1 0 System is not ready to operate ENABLE is not set or there is a fault 1 System is ready to operate ENABLE is set and no fault MC O2 Motion complete Shows that a positioning order has been completed and that the START input has been reset Pin Status MOT...

Page 104: ...he enable is active ENABLE signal 1 the controller reports readiness for operation i e READY signal 1 and MC signal 1 Motion Complete Start homing run If there are no faults and enable is active ENABLE 1 hom ing run input word I1 I4 1 positive edge at START input can be carried out When the START signal is set 1 the MC signal is reset 0 and the drive carries out homing run Disable Homing run can b...

Page 105: ...ut 0 delete the fault with a falling edge at ENABLE 0 repeat homing run Note With non self locking axes new homing run must always be carried out With self locking axes the existing reference point remains valid until new homing run is carried out When homing run has been successfully completed the MC signal is set again 1 After that any number of position ing procedures can be carried out ...

Page 106: ... ENABLE I6 POWER 1 0 Initialization t TR New homing run Enable Delete faults Homing run completed min 1 s HOMING ERROR 10 ms Discontinue Fault Fig 5 2 Pulse time diagram switch on homing run fault To explain the function the following internal states are also represented in the pulse time diagrams POWER Power supply FAULT Fault TR Target position reached TARGET REACHED ...

Page 107: ...be set until the START signal is reset 0 The next position set can then be started with a rising edge at the START input 1 Position reached The TR signal will be set with position sets when the nominal position is reached after approx 20 ms If the TR signal is set while the START signal is still at 1 the MC signal will remain at 0 until the START signal is reset This coupling of the START MC signa...

Page 108: ... is a rising edge at ENABLE 1 the READY output signalizes 1 that a new positioning task can be started If the fault cannot be eliminated this may be caused by a cable fracture 1 0 1 0 TR READY O1 1 0 1 0 START I5 1 0 FAULT Drive in motion Start 1 1 0 Position set I1 I4 1 0 MC O2 ENABLE I6 Nominal position reached Ready for operation t TR t t TR Start 2 Nominal position reached t t TR Cancel Enable...

Page 109: ...Operating maintenance and diagnosis 6 1 Festo P BE MTR DCI IO EN en 1209d Chapter 6 Operating maintenance and diagnosis ...

Page 110: ...N en 1209d Contents 6 Operating maintenance and diagnosis 6 1 6 1 Important user instructions 6 3 6 2 Diagnosis and fault display 6 6 6 2 1 General diagnostic possibilities 6 6 6 2 2 LED status displays 6 7 6 2 3 Fault messages on the display only type MTR DCI H2 6 9 ...

Page 111: ...ff wait for approx 10 seconds before switching the device on again Warning Risk of injury Parameterisation errors can cause injury to people and damage to property In the following cases reference travel is absolutely es sential in order that the basis coordinates and the work ing range can be set correctly when commissioning the first time after the homing method is changed with the fault LAST AC...

Page 112: ...permanent connection to PC systems nor as a control interface Use the connection only for parametrizing and diagnosis Password protection Protection by means of a password is not set when the prod uct is supplied from the factory In order to prevent unauthor ized or unintentional overwriting or modification of para meters in the device all download and control functions can be blocked Recommendati...

Page 113: ...mitted operating conditions of the motors and drives used e g in respect of the permitted positioning speeds Caution Damage to components Movement to the mechanical end positions is not per mitted during operation If movement is made to the end positions with a heavy load jamming may occur in the end positions Note Take into account any functions implemented within the framework of the EMERGENCY S...

Page 114: ...Section 6 2 3 Diagnostic data operating mode the current positioning set target and actual positions speed as well as information on I O communication can be accessed on the control panel Detailed diagnos tic possibility on the spot Section 4 2 2 Control interface The output READY indicates the readiness to operate The output MOTION COMPLETE indicates whether a positioning task is completed Simple...

Page 115: ... g positioning status controller enable ERROR POWER Status Operating voltage applied green Operating voltage not applied Check the operating voltage connection if necessary off Tab 6 2 Power LED ERROR Status Internal fault The motor unit is not ready to operate deactivated red No internal fault registered The motor unit is operational off Tab 6 3 Error LED ...

Page 116: ...l position not reached positioning procedure stopped Controller and power end stage not enabled red Ready to operate is not enabled Positioning procedure is completed Motion Complete Controller and power end stage not enabled green red Positioning mode Nominal position not reached positioning procedure runs Controller and power end stage enabled or fault off 1 Two colour LED 2 If there is no fault...

Page 117: ...ure lies in permitted range again after exceeding not reaching limit Warning In the event of non permitted operating temperatures the motor unit displays an appropriate warning If a positioning task is running it will not be interrupted Warning Cause HOT TEMPERATURE Operating temperature 70 C T 80 C Check whether drive is overloaded check the mechanical parts e g for stiffness reduce ambient tempe...

Page 118: ...arting a positioning set Possible causes Valid homing run has not yet been carried out You must carry out homing run The following applies up to firmware version V1 35 If the CI parameter 60FBh subindex 20h does not contain the value 240 0x00F0 over write this with value 240 0x00F0 see appendix B 1 4 MOTOR STOP Fault during the positioning procedure Possible cause The positioning procedure is disc...

Page 119: ...of the drive the speed of the positioning set POWER DOWN Voltage monitoring Possible causes Voltage supply too low MTR DCI 32 42 52 U 18 V MTR DCI 62 U 34 V Voltage dips under load Check the voltage supply Power unit too weak Supply line too long TARGET POSITION OUT OF LIMIT The specified nominal position is outside the permitted positioning range Check the software end positions the set nominal p...

Page 120: ...6 Operating maintenance and diagnosis 6 12 Festo P BE MTR DCI IO EN en 1209d ...

Page 121: ...Technical appendix A 1 Festo P BE MTR DCI IO EN en 1209d Appendix A Technical appendix ...

Page 122: ...cal appendix A 2 Festo P BE MTR DCI IO EN en 1209d Contents A Technical appendix A 1 A 1 Technical specifications A 3 A 2 Accessories A 6 A 3 Motor characteristic curves A 7 A 4 Converting measuring units A 13 ...

Page 123: ...rity level 2 30 g at 11 ms duration 5 shocks in each direction Protection against electric shock 1 protection against direct and indirect contact as per IEC DIN EN 60204 1 By connection to a PELV power unit Protected Extra Low Voltage Electromagnetic compatibility EMC 2 See conformity declaration www festo com Gear type Planetary gear Encoder with 4 fold evaluation 500 x4 2000 inc revolution MTR D...

Page 124: ... DCI G14 Gear reduction 13 73 1 2 stage Gear 1 Drive output speed Torsional backlash Drive output torque Degree of efficiency 1 min Nm 237 1 55 0 29 0 7 218 0 95 1 13 0 75 218 0 75 3 08 0 75 248 1 5 7 20 0 75 Mass moment of inertia Rotor Gear unit kg cm2 0 024 0 00149 0 323 0 00441 1 209 0 01711 3 3 0 035 Product weight kg 0 7 1 8 3 3 8 0 MTR DCI G22 Gear reduction ratio 22 21 1 Gear 1 Drive outpu...

Page 125: ... 20 20 A 20 I O specification 32 42 52 62 Signal level Specified as per DIN EN 61131 part 2 IEC 1131 2 LOW 5 V HIGH 15 V Positive switching Inputs Protection against incorrect polarity No Yes Electrical isolation No Optocoupler Number of digital logic inputs 6 Input current at 24 V input voltage mA 4 7 Max permitted input voltage DC V 30 30 Min input voltage DC V 0 30 Outputs Number of digital log...

Page 126: ...I MC M8 SUB 9 2 5 Homing Switch Switch magnetic Switch inductive SMT 8M M8D SIEN M8B Connecting cable with screw type lock KM8 M8 GSGD 0 5 1 2 5 Field bus connection incl logic power sup ply Field bus adapter IP54 FBA CO SUB 9 M12 User s manual in paper form German P BE MTR DCI IO DE English P BE MTR DCI IO EN French P BE MTR DCI IO FR Italian P BE MTR DCI IO IT Spanish P BE MTR DCI IO ES Swedish ...

Page 127: ... Technical appendix A 7 Festo P BE MTR DCI IO EN en 1209d A 3 Motor characteristic curves 1 Drive output torque of gear shaft M Nm 2 Current I A 3 Recommended mode 4 Impermissible range 5 Overload range ...

Page 128: ...A Technical appendix A 8 Festo P BE MTR DCI IO EN en 1209d MTR DCI 32 G14 MTR DCI 32 G7 I A M Nm n rpm 1 2 3 4 5 I A M Nm n rpm 1 2 3 4 5 Fig A 1 Motor characteristic curves MTR DCI 32 ...

Page 129: ...A Technical appendix A 9 Festo P BE MTR DCI IO EN en 1209d MTR DCI 42 G14 MTR DCI 42 G7 I A M Nm n rpm 1 2 3 4 5 I A M Nm n rpm 1 2 3 4 5 5 5 Fig A 2 Motor characteristic curves MTR DCI 42 ...

Page 130: ...A Technical appendix A 10 Festo P BE MTR DCI IO EN en 1209d I A M Nm n rpm 1 2 3 4 5 5 MTR DCI 52 G14 MTR DCI 52 G7 I A M Nm n rpm 1 2 3 4 5 5 Fig A 3 Motor characteristic curves MTR DCI 52 ...

Page 131: ...A Technical appendix A 11 Festo P BE MTR DCI IO EN en 1209d MTR DCI 62 G14 MTR DCI 62 G7 I A M Nm n rpm 1 2 3 4 5 I A M Nm n rpm 1 2 3 4 5 Fig A 4 Motor characteristic curves MTR DCI 62 ...

Page 132: ...A Technical appendix A 12 Festo P BE MTR DCI IO EN en 1209d MTR DCI 62 G22 I A M Nm n rpm 1 2 3 4 5 Fig A 5 Motor characteristic curves MTR DCI 62 ...

Page 133: ... relevant measuring system by means of a con version factor In the controller all parameters are always saved in increment specifications inc inc s inc s2 and are not converted until they are written in or read For the display conversion from the internal basis system into the pre set measuring system takes place within the firmware for representation on the PC monitor within the FCT software In t...

Page 134: ...terpolation 3 Gear reduction specification in 2 natural numbers for the numerator or denominator of the frac tion Tab A 5 Base parameters for the measuring system Drive Conversion factors UF Increments Millimetre Increments millimetres UF Millimetres increments UF Increments Inch Increments inches UF Inches increments UF MTR DCI 32 DMES 18 G7 G14 5400 10986 851211 13716 27906 602076 MTR DCI 42 DME...

Page 135: ... 1 inch 0 0254 m 1 1 360 rot μm inc UF m Ꮑinc mᏆ enc gear feed m Ꮑinc rot rot rot m rot Ꮖ μinch inc UF inch Ꮑ inc inch Ꮖ enc gear feed inch Ꮑinc rot rot rot inch rot Ꮖ enc gear feed m 1 0 0254 Ꮑinc rot rot rot m rot inch m Ꮖ UF m 0 0254 Ꮑinc m m inch Ꮖ rot inc UFrot Ꮑinc rot Ꮖ enc gear Ꮑinc rot rot rot Ꮖ ...

Page 136: ...V inc s Positioning speed to tar get position Search speed during refer ence travel Positioning speed to the axis zero point during ref erence travel µm inc Vμm x CFμm µm s x inc µm µinch inc Vμinch x 0 0254 x CFμm Vμinch x CFμinch µinch s x µm µinch x inc µm µinch s x inc µinch rot inc VRed x CFRed rot s x inc rot Acceleration a inc s2 Nominal acceleration µm inc aμm x CFμm µm s2 x inc µm µinch i...

Page 137: ...Supplementary information B 1 Festo P BE MTR DCI IO EN en 1209d Appendix B Supplementary information ...

Page 138: ...2 Festo P BE MTR DCI IO EN en 1209d Contents B Supplementary information B 1 B 1 The Command Interpreter CI B 3 B 1 1 Procedure for data transfer B 4 B 1 2 CI commands B 8 B 1 3 CI Objects overview B 12 B 1 4 Object description B 16 ...

Page 139: ...r via Service Data Objects SDO SDOs are used for normal parametrizing of the con troller Access to the SDOs is always made from the higher order controller host A clear number index subindex is assigned to each Object Access procedure The higher order controller sends the controller either a write command WRITE in order to modify a parameter of the Ob ject directory or a read command READ in order...

Page 140: ...for data transfer Caution In special application cases access with CI commands enables parametrizing and commissioning of the MTR DCI directly via the RS232 interface It is however not suitable for real time capable communication Control via the RS232 does not correspond to the designated use and requires e g an estimation of the risk by the user ambient conditions free of interference saving the ...

Page 141: ...roller to react unexpectedly and the motor may start uncontrolled Use the CI commands only if you already have experi ence of Service Data Objects Inform yourself about using the Objects in the CiA Draft Standard 402 before you use the CI commands of the Command Interpreter of the MTR DCI For data transfer you will require a commercially available terminal program or the CI terminal of the plugin ...

Page 142: ...protocol Transmission speed baud rate 9600 Baud Data format Asynchronous character frame 1 start bit 8 data bits 1 stop bit Parity None Transfer the commands with a terminal program In order to check the connection you can transmit the following command from the PC Command 310d h Reply 31310d h 1 CR 11 CR Use CI commands only if you already know their effects and if they are permitted for your MTR...

Page 143: ... values and parameters have been written correctly by downloading the current contents of the parameter or value with one of the following Read commands Transmission faults If there are transmission faults between the Host PC and the target device e g due to faults in the Host command Object 2FF0 FF CR will be transferred instead of the regular reply Possible causes incorrect starting character se...

Page 144: ...r Use CI commands only if you already know their effects and if they are permitted for your MTR DCI Access procedure The higher order controller sends the controller either a write command WRITE to modify a parameter in the object direc tory or a read command READ to read out a parameter For each command the higher order controller receives a response which either contains the value read or in the...

Page 145: ... read A checksum PS will be inserted in front of the CR All commands are entered as a character sequence without any empty spaces A hex character corresponds to a Char character in hex format Acc Command Reply W IIIISS value CR IIIISS value PS CR R IIIISS CR IIIISS value PS CR W write R read Syntax Explanation Starting character for Write or Read commands IIII Index in 4 hexadecimal figures 4H SS ...

Page 146: ...its without sign 0 232 1 INT32 8H 32 bits with sign 231 231 1 V STRING Corresponds to the preset string Note Direct transfer of values via the serial interface with CI commands always takes place in the basis system and requires conversion into increments All parameters are always saved in increments in the con troller and are not converted into the relevant measuring system until they are written...

Page 147: ... the value General information Tetrad Tn contains the bits bn bn 3 Example UINT8 Dec 26 Hex 1 A Bin 0 0 0 1 1 0 1 0 b7 b6 b5 b4 b3 b2 b1 b0 Tetrad T4 Tetrad T0 Checksum PS The checksum is formed from the sum of all sent bytes and shortened to 1 byte modulo 256 The other station must compare the sent command with the ecco of the controller and process the checksum Checksum Syntax IIIISS Checksum Fo...

Page 148: ...ce_Name device name of manufacturer Var V string 1008h 00h r Manufacturer_Hardware_Version hardware version of manufacturer Var V string 1009h 00h r Manufacturer_Firmware_Version firmware version of manufacturer Var V string 100Ah 00h r Group 2xxx Record_Number record number Array uint8 2032h 01h rw Scaling scalling Array uint8 20D0h 01h 02h rw rw Record_Table_Element position table element Struct...

Page 149: ...w Cycle_Number cycle number Var uint32 2FFFh 00h r Group 6xxx Control_Word control word Var uint16 6040h 00h w Status_Word status word Var uint16 6041h 00h r Operation_Mode operating mode Var int8 6060h 00h w Operation_Mode_Display display operat mode Var int8 6061h 00h r Position_Target_Value nominal position Var int 32 6062h 00h r Last_Position_Value last nominal position Var int 32 6063h 00h r ...

Page 150: ... int32 6081h 00h rw Profile_Acceleration acceleration Var int32 6083h 00h rw Encoder_Resolution encoder resolution Array uint32 608Fh 01h 02h r r Gear_Ratio gear ratio Array uint32 6091h 01h 02h rw rw Feed_Constant feed constant Array uint32 6092h 01h 02h rw Homing_Method homing method Var uint8 6098h 00h rw Homing_Velocities homing velocities Array uint32 6099h 01h 2h rw rw Position_Control_Param...

Page 151: ...ed drive funct Var uint32 6502h 00h r Drive_Manufacturer manufacturer name Var V string 6504h 00h r HTTP_Drive_Catalog_Address HTTP address of manufacturer Var V string 6505h 00h r Drive_Data drive data Array uint32 6510h 22h 31h 32h 40h 41h 42h 43h 45h A0h A1h r r r r rw r rw r rw r r read only w write only rw read and write rw write only Festo factory or service ...

Page 152: ...fter resetting Super Password super password 20FAh 02h V string rw Entering the super password Resets all passwords FCT password and HMI password object 20FB Contact the Festo Service if you require the super password 1 Name of the parameter in English German in brackets 2 CI object number 3 Subindices of the parameter 4 Class of the element 5 Type of the element 6 Description of the parameter 7 I...

Page 153: ...008h 00h Var V string r Description Designation of the drive Example MTR DCI 42S VCSC EG7 R2IO Manufacturer_Hardware_Version CI access 1009h 00h Var V string r Description Coding of the hardware version xx main version yy secondary version Format Vxx yy Manufacturer_Firmware_Version CI access 100Ah 00h Var V string r Description Coding of the firmware version xx main version yy secondary version F...

Page 154: ...wing Objects Intended for access via the CI interface Object 20E0 01h 03h record_table_element or Object 607Ah target_position Object 6081h profile_velocity Record Number 2032h 01h uint8 rw Record number Read or write Values 00 0x00 Reserved do not use CANopen 01 0x01 Reserved do not use CANopen 02 0x02 Position record 0 default 03 0x03 Position record 1 04 0x04 Position record 2 Position record 1...

Page 155: ...luences only the display All parameters are always saved in increments in the controller and are not converted into the relevant measuring system until they are written or downloaded Values 01 0x01 metric measuring units e g mm mm s mm s2 02 0x02 reserved cannot be set with MTR DCI 04 0x04 angle measuring units Degree e g degree degree s degree s2 08 0x08 for rotary movements rot rot min rot min2 ...

Page 156: ...elocity 02 2032h 03 1 The values are only saved in the position table with this command no move ment is made With Object 20E0 access is made partly to the same parameter as with the corresponding Objects 607A 6081 Different data types are converted accordingly when they are read and written Positioning Mode 20E0h 01h uint16 rw Positioning mode Values 0 0x0000 absolute positioning default 1 0x0001 ...

Page 157: ...5 3 mm s DMES 63 Default 0 0x00000000 Note Negative values will be set to zero The following applies for firmware V1 19 All values should be divisible by 200 otherwise they will be rounded Axis_Parameter CI access 20E2h 01h 03h Array int32 rw Description Specifying and reading the axis parameters e g for diagnosis Axis Length 20E2h 01h int32 rw Axis length in increments can be set as desired for f...

Page 158: ...current user specific settings Fix 1 0x01 Save data Note All user specific settings will be lost if deleted except for cycle number The status after deletion corresponds to the standard factory setting Always carry out a first commissioning after deleting the EEPROM The settings of the LCD parameters are lost when the EEPROM is deleted and must be carried out again With an unfavourable parameter s...

Page 159: ...e super password Resets all passwords FCT password and HMI password Object 20FB Contact the Festo Service if you require the super password Local_Password CI access 20FBh 00h Var V string rw Description Managing the local HMI password for enabling certain functions which are carried out via the control panel Value Fix 8 characters ASCII 7 bit Only the first 3 characters are evaluated Default 00000...

Page 160: ...f a transmission fault the value 0xFF will be transferred instead of the regular reply Device_Fault CI access 2FF1h 00h Var uint16 rw Description Read out or delete the active device fault Explanations of the fault messages can be found in chapter 6 2 3 Write Delete all device faults 0 0x0000 Read Bit 0 POSITION ERROR Bit 1 EMERGENCY STOP Bit 2 HOMING ERROR Bit 3 OVERHEATING Bit 4 POWER DOWN Bit 5...

Page 161: ...l status modifica tions triggered via the Control Word must be read back via the Status Word Object 6041 Only when the requested status can be read in the Status Word may a further command be written via the Control Word Typical values see Tab B 1 Value Mask Function 0x000F ENABLE OPERATION Controller enable 0x000D 0x000D VOLTAGE DISABLED end stage OFF 0x001F Start ABSOLUTE movement 0x005F Start R...

Page 162: ...uick stop active xxxx xxxx x0xx 1111 Fault Bit Value Comment Mask open 0x0000 Not ready to switch on pre initialization status 0x0021 Ready to switch on status after initialization 0x0027 Switched on operation enable power electronics and positioning are enabled 3 0x000F Fault there is a fault Bit 3 0x0008 4 0x0010 1 Voltage disabled end stage off 0 Voltage enabled end stage on Bit 4 0x0010 10 0x0...

Page 163: ...I IO 0x06 Homing mode Operation_Mode_Display CI access 6061h 00h Var int8 r Description Reading the operating mode of the controller Values See Object 6060h Position_Target_Value CI access 6062h 00h Var int32 r Description Nominal target position of the last positioning task in increments Value range 231 231 1 Last_Position_Value CI access 6063h 00h Var int32 r Description Last nominal position fo...

Page 164: ...Actual_Value CI access 606Ch 00h Var int32 r Description Current nominal speed value of speed regulator in increments Value range 231 231 1 Max_Current CI access 6073h 00h Var uint16 rw Description Maximum motor current in 1 1000 of the specified rated current Identical to Object 6510 41 No adaption is necessary for positioning axis DMES In homing mode Nominal value for the current regulator Limit...

Page 165: ...32 No movement is yet made Value range 231 231 1 Software_End_Positions CI access 607Bh 01h 02h Array int32 rw Description Software end positions in increments The offset to the axis zero point is entered A target position see Object 607Ah outside the end positions is not permitted and leads to a fault Plausibility rule Min limit Max limit Value range 231 231 1 Lower Limit lower limit value 607Bh ...

Page 166: ... 231 1 Polarity reversal of direction CI access 607Eh 00h Var uint8 rw Description The active direction of the position values is swapped Default 0 0x00 Values 0 0x00 position value vector normal 128 0x80 position value vector inverted multiplied by 1 Profile_Velocity CI access 6081h 00h Var int32 rw Description End speed for a positioning movement in increment s This will be saved in the position...

Page 167: ...Negative values will be set to zero The following applies for firmware V1 19 The value must be divisible by 4000 otherwise it will be rounded to the next permitted value Encoder_Resolution CI access 608Fh 01h 02h Array uint32 r Description Encoder resolution The encoder resolution is fixed and cannot be modified by the user The calculated value is derived from the fraction encoder increments motor...

Page 168: ...lutions 6091h 02h uint32 rw Gear ratio denominator Fix MTR DCI G7 4 0x000004 MTR DCI G14 289 0x000121 MTR DCI G22 77 0x00004D Write only Festo factory or service Feed_Constant CI access 6092h 01h 02h Array uint32 rw Description Feed constant feed shaft revolution Depends on type of linear axis Feed 6092h 01h uint32 rw Counter feed Specification of feed in μm Value range 1 232 1 Default Z Spindle p...

Page 169: ...s during homing run in inc s The following applies for firmware V1 19 The value must be divisible by 200 otherwise it will be rounded to the next permitted value Search REF 6099h 01h int32 rw Speed when searching for the reference point REF MTR DCI Value range depends on gear 32 G7 G14 200 33000 DMES 18 Z 0 6 1 3 mm s 42 G7 G14 200 50000 DMES 25 Z 0 9 3 4 6 mm s 52 G7 G14 200 50000 DMES 40 Z 0 14 ...

Page 170: ...ity speed gain 60FBh 13h uint16 rw Gain speed controller Value range 100 500 Default MTR DCI 32 500 MTR DCI 42 52 230 MTR DCI 62 200 I Fraction Velocity I share of speed 60FBh 14h uint16 rw I share speed controller Value range 100 500 Default MTR DCI 32 500 MTR DCI 42 52 320 MTR DCI 62 150 Gain Current 60FBh 15h uint16 rw Gain current controller Value range MTR DCI 32 200 1000 MTR DCI 42 52 200 80...

Page 171: ...t contain the value 240 0x00F0 overwrite this with value 240 0x00F0 Local_Digital_Inputs CI access 60FDh 00h uint32 r Description Mapping the digital inputs With MTR DCI IO Bit 0 15 Reserved 0 Bit 16 19 Current record number compare control byte 3 Bit 20 START Bit 21 ENABLE Bit 22 31 Reserved 0 Local_Digital_Outputs CI access 60FEh 01h 02h uint32 r Description Mapping the digital outputs Digital O...

Page 172: ... 01h uint32 rw Reserved serial number of the motor Write only Festo factory or service Supported_Drive_Modes CI access 6502h 00h Var uint32 r Description Not adjustable Fix 0x00000021 Drive_Manufacturer manufacturer name CI access 6504h 00h Var V string r Description Name of drive manufacturer Fix Festo AG Co KG HTTP_Drive_Catalog_Address HTTP address of manufacturer CI access 6505h 00h Var V stri...

Page 173: ... Object 6075h Values MTR DCI 32 730 MTR DCI 42 2000 MTR DCI 52 5000 MTR DCI 62 6190 Current Limit max motor current 6510h 41h uint16 rw Upper current limit value in 1 1000 of the rated motor current identical to Object 6073h Value range 1 2000 0x0001 0x07D0 Default 1500 0x05DC rated motor current x 1 5 Lower Current Limit min motor current 6510h 42h int16 r Lower current limit value in 1 1000 of t...

Page 174: ...ctual value of the current Controller Serial Number 6510h A0h uint32 rw Serial number of the controller in format 0xTTMYYSSS TT day 8 bit 0x01 0x1F M month 4 bit 0x1 0xC YY year 8 bit 0x00 0x63 SSS serial no 12 bit 0x001 0xFFF Write only Festo factory or service Firmware Number 6510h A1h UINT32 ro Version identification of the implemented firmware ...

Page 175: ...Index C 1 Festo P BE MTR DCI IO EN en 1209d Appendix C Index ...

Page 176: ...C Index C 2 Festo P BE MTR DCI IO EN en 1209d Contents C Index C 1 ...

Page 177: ...zero point XIV 1 11 5 13 B 30 B Basis points 1 10 Basis system 1 10 C Cable 3 5 Commissioning Procedure 5 3 With the control panel 5 6 With the Festo Configuration Tool FCT 5 19 Components 1 6 Connection 3 4 Control panel 4 4 Accessing the main menu 4 6 Button function overview 4 5 Menu system 4 6 Menu commands overview 4 7 Controller XIV 1 3 3 4 3 14 Coupling 1 6 ...

Page 178: ...0 Diagnosis 4 8 Fault messages 6 9 Overview 6 6 Dimensions 2 4 DME XIV Drive XIV 1 3 E Earthing 3 6 EMC XIV 3 6 Encoder XIV 1 8 F Fault 6 9 FCT XIV Install 5 19 Start 5 20 Festo Configuration Tool FCT XIV H HMI see device control XIV Homing Homing method XIV Homing Switch 1 6 Parameters 4 13 reference point 1 10 ...

Page 179: ...Homing mode XIV Homing mode see reference travel 1 8 I I O Diagnosis 4 10 Function check 5 22 Maximum current A 5 Signal level A 5 Important user instructions X Increments 1 5 A 13 L LED 6 7 M Maintenance 6 5 Menu commands overview 4 7 Menu system 4 6 Motor unit XV 1 6 Dimensions 2 4 Mounting 2 5 ...

Page 180: ...6 4 Enter 4 15 Modify deactivate 4 16 Set up 4 15 Pictograms XI PLC XV Position set XV Carry out 4 17 Discontinue Disable 5 29 Start 5 29 Position set table Create 4 14 Create 5 16 Display 4 9 Process 4 19 Positioning record 1 4 Positioning set 5 23 Power supply 3 4 3 7 Power unit 3 7 Prefix 1 13 Profile position mode XV Profile Position mode see positioning mode 1 7 Project zero point XV 1 11 Pro...

Page 181: ...itch XV 3 4 3 12 Relative 5 16 S Safety instructions VIII Scope of delivery IX Serial interface 3 4 3 10 Service IX Software end position 1 11 5 13 B 29 Negative XVI Positive XVI Start up behaviour 6 3 Switch on reaction 5 4 5 26 System parameters 4 10 T Target group IX Teach mode XVI 4 12 4 14 5 13 Teach target position 5 16 Technical specifications A 3 Text markings XI Transmission faults B 7 Tr...

Page 182: ...C Index C 8 Festo P BE MTR DCI IO EN en 1209d U Units of Measurement 1 5 A 13 Usable stroke 1 12 V Value ranges permitted B 7 Version XIII W Work range 1 10 ...

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