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Festo MTR-DCI, Manual

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Contents  and  general  instructions

X

Festo    P.BE−MTR−DCI−IO−EN    en  0606b

Important  user  instructions

Danger  categories

This  manual  contains  instructions  on  the  possible  dangers
which  may  occur  if  the  product  is  not  used  correctly.  These
instructions  are  marked  (Warning,  Caution,  etc.),  printed  on  a
shaded  background  and  marked  additionally  with  a  picto
gram.  A  distinction  is  made  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.

Please  note

This  means  that  failure  to  observe  this  instruction  may
result  in  damage  to  property.

The  following  pictogram  marks  passages  in  the  text  which
describe  activities  with  electrostatically  sensitive  compo
nents.

Electrostatically  sensitive  components  may  be  damaged  if
they  are  not  handled  correctly.

Summary of Contents for MTR-DCI

Page 1: ...Manual Type MTR DCI IO Manual 539 616 en 0606b 700 619 Motor unit MTR DCI...

Page 2: ...Adobe and Reader are either a registered trademark or a trademark of Adobe Systems Incorporated in the United States and or other countries...

Page 3: ...public of Germany 2006 Internet http www festo com E Mail service_international festo com The reproduction distribution and utilization of this document as well as the communicaton of its contents to...

Page 4: ...Contents and general instructions II Festo P BE MTR DCI IO EN en 0606b...

Page 5: ...1 1 1 Positioning with intelligent servo drives 1 3 1 1 1 Method of operation 1 8 1 1 2 Basis points and work range 1 10 1 2 Commissioning options 1 13 1 2 1 Control panel only type MTR DCI H2 1 14 1...

Page 6: ...ry out reference travel 5 15 5 2 4 Teach the axis zero point and the software end positions 5 17 5 2 5 Positioning with position sets 5 19 5 2 6 Teach position sets 5 20 5 2 7 Test run 5 21 5 3 Commis...

Page 7: ...cifications A 3 A 2 Accessories A 6 A 3 Motor characteristic curves A 7 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 7 B...

Page 8: ...Contents and general instructions VI Festo P BE MTR DCI IO EN en 0606b...

Page 9: ...parate 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...

Page 10: ...rea 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...

Page 11: ...t your local Festo repair 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 mo...

Page 12: ...tween 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 t...

Page 13: ...ons 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...

Page 14: ...instructions on commissioning and preliminary information Manuals on CD ROM for motor unit MTR DCI contents as described below Description Motor unit type MTR DCI with I O interface P BE MTR DCI IO DE...

Page 15: ...connection to the MTR DCI under Device data Firmware version on the control panel under Diagnostic Software information Firmware version What is new Which FCT PlugIn V DME1 19 Supports the motor sizes...

Page 16: ...ffset 0 DMES Type designation electric linear axis Controller Control electronics which evaluate the control signals and provide the power supply for the motor via the power electronics power electron...

Page 17: ...ject zero point PZ Basis point for all positions in positioning tasks Project zero point The project zero point forms the basis for all absolute position specifications e g in the position set table o...

Page 18: ...not be exceeded during positioning Software end position negative min limit position in the negative direction must not be exceeded duringpositioning Teach mode Teach mode Operating mode for setting...

Page 19: ...System summary 1 1 Festo P BE MTR DCI IO EN en 0606b Chapter 1...

Page 20: ...nts 1 System summary 1 1 1 1 Positioning with intelligent servo drives 1 3 1 1 1 Method of operation 1 8 1 1 2 Basis points and work range 1 10 1 2 Commissioning options 1 13 1 2 1 Control panel only...

Page 21: ...ng with intelligent servo drives 1 Higher order controller 2 Software level Festo Configuration Tool 3 Drive level Motor unit Coupling Coupling housing Axis 1 2 3 Fig 1 1 Basic circuit of a positionin...

Page 22: ...systems Festo offers accessories suited to the drive packages and linear drives see Festo delivery program or catalogue Components and accessories For setting up an electric drive with the MTR DCI yo...

Page 23: ...the input torque is not applied the slide will be braked The slide can move involuntarily when the positioning axis is mounted vertically there is no holding torque at the drive pin there are vibrati...

Page 24: ...Positioning travel for referencing the mechanical basis system For commissioning for testing or for demonstration the following functions are also available via the control panel of the MTR DCI H2 po...

Page 25: ...witching off the operating voltage Warning Note that the MTR DCI IO does not have a separate logic voltage supply In the event of an EMERGENCY STOP you should stop the drive by cancelling the ENABLE s...

Page 26: ...that if self locking drives are used new reference travel will not be necessary when the device is switched on again The deviation of the position is processed in the position controller and passed on...

Page 27: ...hey are transferred to the EEPROM The parameters which are loaded after the device has been switched on are saved in the non volatile EEPROM The parameters in the EEPROM are retained even after the po...

Page 28: ...ined distance from the reference point axis zero point offset and is the basis point of the software end positions and the project zero point By defining the axis zero point and the software end posit...

Page 29: ...for the axis zero point is the reference point a Offset axis zero point Defined distance of the axis zero point from the reference point b c Software end positions limit the permitted positioning ran...

Page 30: ...or displayed according to the measur ing system set either for the FCT or the control panel Axis Measuring system Example Linear axis metric 1 mm mm s mm s2 imperial 2 inch inch inch s inch s2 Rotati...

Page 31: ...erienced users may use the CI commands Further information see appendix B 1 Functions HMI FCT Parametrizing Selecting the axis type and the axis parameters Specifying a gear factor with external gears...

Page 32: ...hapter 4 a description of commission ing with the control panel as from chapter 5 2 1 2 2 Festo Configuration Tool FCT The Festo Configuration Tool or brief FCT is the software platform for configurin...

Page 33: ...installed by the FCT installation program Internet Explorer as from version 6 0 necessary for the print functions Interface Serial interface COMn as per RS232 9600 baud Screen resolution Screen resol...

Page 34: ...the FCT Activate the dynamic help via the menu Help with the command Dynamic help The dynamic help will be dis played in a dockable window Activate the element in the window for which you require help...

Page 35: ...pages of a book from the contents directory of the help Print a prepared print version of the help in Adobe PDF format or Rich Text format RTF The relevant file can be found under the following indic...

Page 36: ...1 System summary 1 18 Festo P BE MTR DCI IO EN en 0606b...

Page 37: ...Fitting 2 1 Festo P BE MTR DCI IO EN en 0606b Chapter 2...

Page 38: ...2 Fitting 2 2 Festo P BE MTR DCI IO EN en 0606b Contents 2 Fitting 2 1 2 1 General instructions 2 3 2 2 Dimensions of the motor unit 2 4 2 3 Fitting electric axes 2 5...

Page 39: ...y for the electronic components Please note Handle all modules and components with great care Please note especially the following Screw connections must be fitted free of offset and mechanical tensio...

Page 40: ...0 52 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...

Page 41: ...tional external safety measures against spindle nut fracture are necessary e g toothed latches or moving bolts You can then avoid the working mass sliding down if there is a sudden power failure Make...

Page 42: ...adial 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 dai...

Page 43: ...echanical 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...

Page 44: ...lamp in the coupling housing Additional motor flanges are not therefore necessary Further information can be found in appendix A 2 and in the operating instructions for the axis 25 25 50 M3 x6 6 dia 3...

Page 45: ...Installation 3 1 Festo P BE MTR DCI IO EN en 0606b Chapter 3...

Page 46: ...BE MTR DCI IO EN en 0606b Contents 3 Installation 3 1 3 1 Overview of installation 3 3 3 2 Power supply 3 6 3 3 Serial interface 3 9 3 4 Input for external reference switch 3 11 3 5 Connecting the hi...

Page 47: ...and trigger off unexpected movements of the motor Use only the cables listed as accessories for connecting the electric components of the system see Tab 3 2 Only in this way can you be sure that the s...

Page 48: ...b 2 pin Plug Operating voltage connec tion with 2 high current contacts Controller D Sub 9 pin With type MTR DCI IO Plug Interface for connecting any PLC controller Reference switch M8x1 3 pin Socket...

Page 49: ...Power supply Power supply cable KPWR MC 1 SUB 9HC 2 5 5 10 I O control Control cable KES MC 1 SUB 9HC 2 5 5 10 Serial interface Programmingcable KDI MC M8 SUB 9 2 5 Reference switch If necessary exten...

Page 50: ...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 ma...

Page 51: ...3 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 MT...

Page 52: ...cable or supply cable to functional earth FE Plug Pin Colour 1 Manual A1 black 1 MTR DCI 32 42 52 MTR DCI 62 POWER 24 V DC POWER 48 V DC A1 A2 A2 black 2 MTR DCI 32 42 52 62 POWER GND 2 1 Cable colou...

Page 53: ...length If necessary remove the protective cap from the serial interface of the MTR DCI Connect the following connections with the programming cable the connection socket on the MTR DCI a serial inter...

Page 54: ...ckage Information on transmitting CI commands via the serial interface can be found in chapter 7 Please note The RS232 interface is not electrically isolated It is not suitable for permanent connectio...

Page 55: ...r use the extension cable type KM8 M8 with screw lock ing as adapter for connecting the reference switch Use e g the following proximity switches from Festo electric proximity switch type SMT 8F induc...

Page 56: ...e 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...

Page 57: ...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 1 white I1 Position set code Bit0 1 2 brown...

Page 58: ...P BE MTR DCI IO EN en 0606b 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 curr...

Page 59: ...Control panel MTR DCI H2IO 4 1 Festo P BE MTR DCI IO EN en 0606b Chapter 4...

Page 60: ...ontents 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 Diagnostic menu 4 8 4 2 3 Menu Settings 4...

Page 61: ...escribed 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 Cauti...

Page 62: ...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 functio...

Page 63: ...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...

Page 64: ...rent 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 w...

Page 65: ...am Zero point 3 Offset of axis zero point p 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...

Page 66: ...modify the setting directly in the main menu with the menu command HMI control 4 2 2 Diagnostic menu In order to display the system data and the currently effective settings 1 Select Diagnostic in the...

Page 67: ...elative r positioning Pos Target position Vel Positioningspeed Axis param Menu command for displaying the following axis parameters and data Axis param 1 Description v max Maximumpositioningspeed x mi...

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 B...

Page 69: ...jects 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 ty...

Page 70: ...negative Abs max pos Stroke limitation Software limit switch positive Save Save parameter in EEPROM Please note The set parameters become effective immediately after confirmation with OK Enter The se...

Page 71: ...tive Homing 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 referenc...

Page 72: ...tive 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 S...

Page 73: ...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...

Page 74: ...irm 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...

Page 75: ...that nobody can place his her hand in the positioning range there are no objects in the positioning range Please note Before starting the reference run make sure that the positioning system is set up...

Page 76: ...e run for determining the mechanical reference system First set the parameter in the menu Settings Homing parameter Factory setting Homing to stop in negative direction 3 Make sure that nobody can pla...

Page 77: ...ositioning travel 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 Wi...

Page 78: ...or 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...

Page 79: ...Commissioning 5 1 Festo P BE MTR DCI IO EN en 0606b Chapter 5...

Page 80: ...erence travel 5 15 5 2 4 Teach the axis zero point and the software end positions 5 17 5 2 5 Positioning with position sets 5 19 5 2 6 Teach position sets 5 20 5 2 7 Test run 5 21 5 3 Commissioning wi...

Page 81: ...with the FCT writing e g downloading para meters or controlling e g with Move manually or when starting reference travel When the MTR DCI is currently performing a positioning movement or when a move...

Page 82: ...is started the following fault will be displayed LAST ACTUAL POSITION NOT SAVED PLEASE ENFORCE HOMING RUN Absolute positioning movements can only be carried out after reference travel Save position W...

Page 83: ...Do not save position see appendix B 1 4 Object 60FBh 20h You can then be sure that when the device is switched on only relative positioning is possible until reference travel is carried out Switching...

Page 84: ...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 chapters or in the FCT Plu...

Page 85: ...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...

Page 86: ...working area area 7 If necessary optimize the settings for position sets as well as for the basis coordinates and the working area 8 Check the function of the control interface of the MTR DCI functio...

Page 87: ...ons feed constant Feedcon or measuring system degree revolutions 3 Save the setting with SAVE Enter Axis type Feed constant mm revolution Measuring system Festopositioning axis 1 2 DMES 18 1 5 Metric...

Page 88: ...on If necessary limit the motor current during reference travel with the FCT software The motor current can be specified with 1 to 200 of the rated motor current depending on the specific application...

Page 89: ...or 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 re...

Page 90: ...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 reference travel p...

Page 91: ...referencing method Negative fixed stop near motor Positive fixed stop remote from motor 1 Axis moves at search speed vsw to the mechanical fixed stop 2 Axis moves at speed vs0 from the reference poin...

Page 92: ...t search speed vsw to the reference switch and reverses in order to ascertain the reference point 2 Axis then moves at speed vs0 from the reference point to the axis zero point Tab 5 5 Reference switc...

Page 93: ...ing reference travel the drive moves at first at the preset search speed v_sw according to the selected referencing method up to the mechanical fixed stop or reference switch and accepts the poition a...

Page 94: ...of the stop or reference switch Select e g Settings Position set Position see also chapter 5 2 6 Move the drive to the desired position manually with the arrow buttons Interrupt the procedure with ESC...

Page 95: ...curs during reference travel 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 mod...

Page 96: ...target 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 pos...

Page 97: ...uccessful The axis zero point and the software end positions are set correctly Please note Please note that position sets with speed v 0 or invalid target positions Fault TARGET POSITION OUT OF LIMIT...

Page 98: ...Enter Please 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 t...

Page 99: ...itioning cycle in order to correct deviations 5 2 7 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...

Page 100: ...ntains a position set with speed v 0 neither this position set nor the following sets will be processed positioning travel will be continued with position set 0 With DEMO STOP Enter you can interrupt...

Page 101: ...r an updated PlugIn is provided If necessary consult Festo Please note Administrator rights are required for installing the FCT The FCT is installed on your PC with an installation program The PlugIn...

Page 102: ...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 necessar...

Page 103: ...for commissioning an MTR DCI With the PlugIn MTR DCI for the FCT the necessary parame trizings can be carried out offline i e without the MTR DCI being connected to the PC This enables the actual comm...

Page 104: ...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 sim...

Page 105: ...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...

Page 106: ...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 swi...

Page 107: ...re 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...

Page 108: ...vel 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 refer ence travel Disable Reference travel can...

Page 109: ...in motion Start reference travel 1 0 Position set 15 I1 I4 1 0 MC O2 ENABLE I6 POWER 1 0 Initialization t TR New reference travel Enable Delete faults Reference travel completed min 1 s HOMING ERROR...

Page 110: ...e 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...

Page 111: ...here 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...

Page 112: ...5 Commissioning 5 34 Festo P BE MTR DCI IO EN en 0606b...

Page 113: ...Operating maintenance and diagnosis 6 1 Festo P BE MTR DCI IO EN en 0606b Chapter 6...

Page 114: ...en 0606b 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 display...

Page 115: ...owing cases reference travel is absolutely essential in order that the basis coordinates and the working range can be set correctly when commissioning the first time when the referencing method is cha...

Page 116: ...for 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 pro...

Page 117: ...ed 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...

Page 118: ...with MTR DCI H2 Diagnostic data operating mode the current positioning set target and actual positions speed as well as information on I O ommunication can be accessed on the control panel Detailed d...

Page 119: ...ROR POWER Status Operatingvoltage applied green Operating voltage not applied Check the operating voltage connection if necessary off Check the operating voltage connection if necessary Tab 6 2 Power...

Page 120: ...ched positioning procedure stopped red stopped Controller and power end stage not enabled Ready to operate is not enabled Positioning procedure is completed Motion Complete green red Motion Complete C...

Page 121: ...e 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...

Page 122: ...off The controller did not have enough residual energy to save the last position Remedy Apply current to the motor winding before you switch off the power supply Activate the controller and power end...

Page 123: ...f the drive the speed of the positioning set POWER DOWN Voltagemonitoring 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 sup...

Page 124: ...6 Operating maintenance and diagnosis 6 12 Festo P BE MTR DCI IO EN en 0606b...

Page 125: ...Technical appendix A 1 Festo P BE MTR DCI IO EN en 0606b Appendix A...

Page 126: ...A Technical appendix A 2 Festo P BE MTR DCI IO EN en 0606b Contents A Technical appendix A 1 A 1 Technical specifications A 3 A 2 Accessories A 6 A 3 Motor characteristic curves A 7...

Page 127: ...27 Severity level 2 30 g at 11 ms duration 5 shocks in each direction Electromagneticcompatibility EMC 1 See conformity declaration www festo com Protection against electric shock protection against d...

Page 128: ...MTR 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...

Page 129: ...20 20 A 20 I O specification 32 42 52 62 Signallevel Specified as per DIN EN 61131 part 2 IEC 1131 2 LOW 5 V HIGH 15 V Positiveswitching Inputs Protection against incorrect polarity No Yes Electrical...

Page 130: ...2 Type KSE 15 20 D05 D06 Clampinggroove 1 shaft 5 mm Clampinggroove 2 shaft 6 mm Type DME KG 18 MTR DCI 42 Type KSE 30 32 D06 D08 Clampinggroove 1 shaft 6 mm Clampinggroove 2 shaft 8 mm Type DME KG 25...

Page 131: ...echnical appendix A 7 Festo P BE MTR DCI IO EN en 0606b A 3 Motor characteristic curves 1 Drive output torque of gear shaft M Nm 2 Current I A 3 Recommended mode 4 Non permitted range 5 Overload capac...

Page 132: ...A Technical appendix A 8 Festo P BE MTR DCI IO EN en 0606b MTR DCI 32 G14 MTR DCI 32 G7 I A M Nm n 1 min 1 2 3 4 5 I A M Nm n 1 min 1 2 3 4 5 Fig A 1 Motor characteristic curves MTR DCI 32...

Page 133: ...A Technical appendix A 9 Festo P BE MTR DCI IO EN en 0606b MTR DCI 42 G14 MTR DCI 42 G7 I A M Nm n 1 min 1 2 3 4 5 I A M Nm n 1 min 1 2 3 4 5 5 5 Fig A 2 Motor characteristic curves MTR DCI 42...

Page 134: ...A Technical appendix A 10 Festo P BE MTR DCI IO EN en 0606b I A M Nm n 1 min 1 2 3 4 5 5 MTR DCI 52 G14 MTR DCI 52 G7 I A M Nm n 1 min 1 2 3 4 5 5 Fig A 3 Motor characteristic curves MTR DCI 52...

Page 135: ...A Technical appendix A 11 Festo P BE MTR DCI IO EN en 0606b MTR DCI 62 G14 MTR DCI 62 G7 I A M Nm n 1 min 1 2 3 4 5 I A M Nm n 1 min 1 2 3 4 5 Fig A 4 Motor characteristic curves MTR DCI 62...

Page 136: ...A Technical appendix A 12 Festo P BE MTR DCI IO EN en 0606b MTR DCI 62 G22 I A M Nm n 1 min 1 2 3 4 5 Fig A 5 Motor characteristic curves MTR DCI 62...

Page 137: ...Supplementary information B 1 Festo P BE MTR DCI IO EN en 0606b Appendix B...

Page 138: ...IO EN en 0606b 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 7 B 1 3 CI Objects overview B 11 B 1 4 Object descr...

Page 139: ...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 assigne...

Page 140: ...ontrol program of the host Use preferably the control panel or the FCT for commis sioning and parametrizing Use the control interface of the MTR DCI for control purposes Warning Injury to people and d...

Page 141: ...protocol Transmissionspeed 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 t...

Page 142: ...hat 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 transmissio...

Page 143: ...I commands only in special applications which require direct access to the controller Use CI commands only if you already know their effects and if they are permitted for your MTR DCI WRITE W Write co...

Page 144: ...y 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 Subindex...

Page 145: ...NG Corresponds to the preset string Please 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 p...

Page 146: ...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 t...

Page 147: ...vice_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...

Page 148: ...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 la...

Page 149: ...g_Velocities reference travel speeds Array uint32 6099h 01h 2h rw rw Position_Control_Parameter_Set parameters of the position controller Array uint16 60FBh 12h 15h 17h 20h rw Local_Digital_Inputs Loc...

Page 150: ...assword super password 20FAh 02h V string rw super password Entering the super password Resets all passwords FCT password and HMI password object 20FB Contact the Festo Service if you require the supe...

Page 151: ...08h 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 versio...

Page 152: ...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...

Page 153: ...ences 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 metr...

Page 154: ...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 Obje...

Page 155: ...Z 0 15 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_P...

Page 156: ...ent user specific settings Fix 1 0x01 Save data Please note All user specific settings will be lost if deleted except for cycle number The status after deletion corresponds to the standard factory set...

Page 157: ...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 Descriptio...

Page 158: ...int16 r Description Special object see section B 1 1 In the case of a transmission fault the value 0xFF will be transferred instead of the regular reply Device_Fault CI access 2FF1h 00h Var uint16 rw...

Page 159: ...ication is only permitted for service purpo ses If necessary consult Festo Control_Word CI access 6040h 00h Var uint16 w Description Modify the current regulator status or trigger an activity As statu...

Page 160: ...osition as RELATIVE Tab B 1 Typical values of the control word Status_Word CI access 6041h 00h Var uint16 r Description Download current controller or regulator status Typical values see Tab B 2 Defau...

Page 161: ...arget reached Motion Complete see also Object 6068 0 Motion not complete Bit 10 0x0400 11 0x0800 I2t fault 1 Internal limit active 0 Internal limit not active Bit 11 0x0800 13 0x2000 Fault in the refe...

Page 162: ...ion CI access 6063h 00h Var int32 r Description Last nominal position for standstill monitoring in increments Value range 231 231 1 Position_Actual_Value CI access 6064h 00h Var int32 r Description Cu...

Page 163: ...ositioning axis DMES In reference travel mode Nominal value for the current regulator Limits the motor force during reference travel towards the stop and in the event of a fault protects the stops dur...

Page 164: ...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 leds to a fault Plausibility rule Min limit M...

Page 165: ...231 231 1 Polarity change of polarity CI access 607Eh 00h Var uint8 rw Description The direction of the position values is swapped Default 0 0x00 Values 0 0x00 position value vector normal 128 0x80 p...

Page 166: ...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 6...

Page 167: ...utions 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 A...

Page 168: ...during reference travel 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 Spe...

Page 169: ...13h uint16 rw speed gain 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 of speed I...

Page 170: ...5 0x000F current position is saved at power off default 240 0x00F0 current position will not be saved at power off If the default setting is modified value 240 0x00F0 reference travel must be carried...

Page 171: ...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_Manufacture...

Page 172: ...32 730 MTR DCI 42 2000 MTR DCI 52 5000 MTR DCI 62 6190 Current Limit max motor 6510h 41h uint16 rw max motor current Upper current limit value in 1 1000 of the rated motor current identical to Object...

Page 173: ...0606b Drive_Data Controller Serial Number 6510h A0h uint32 rw Number 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 seri...

Page 174: ...ring system by means of a conversion factor In the controller all parameters are always saved in increment specifications inc inc s inc s2 and not converted until they are written or read For the disp...

Page 175: ...l interpolation 3 Gear reduction Specification in 2 natural numbers for counter or denominator of the fraction Tab B 3 Basis parameter for the measuring system Drive Conversion factors UF Increments m...

Page 176: ...ch 25 4 mm 1 minch 0 0254 mm 1 1 360 rot m inc UFmm inc mm enc gear feedmm inc rot rot rot mm rot inch inc UFminch inc minch enc gear feedminch inc rot rot rot minch rot enc gear feedmm 1 0 0254 inc r...

Page 177: ...peed V inc s Positioning speed to target position m inc V m x UF m m s x inc m target position Search speed during reference travel Positioning speed to the inch inc V inch x 0 0254 x UF m V inch x UF...

Page 178: ...Index C 1 Festo P BE MTR DCI IO EN en 0606b Appendix C...

Page 179: ...C Index C 2 Festo P BE MTR DCI IO EN en 0606b Contents C Index C 1...

Page 180: ...ints 1 10 Basis system 1 10 C Cable 1 6 3 5 Commissioning Possibilities 1 13 Procedure 5 3 With the control panel 5 7 With the Festo Configuration Tool FCT 5 23 Connection 3 4 Control panel 1 14 4 4 A...

Page 181: ...s 2 4 DME XIV Drive XIV E EMC XIV Encoder XIV 1 8 F Fault 6 9 FCT XIV Help system 1 16 Install 5 23 Start 5 24 Festo Configuration Tool FCT XIV 1 14 Firmware 1 9 Fitting 2 5 H HMI see device control X...

Page 182: ...m 1 12 Measuring units B 38 Menu commands overview 4 7 Menu system 4 6 Method of operation 1 8 Motor unit XV 1 4 Dimensions 2 4 O Object directory B 3 Operating mode XV 1 6 Profile position mode XV Re...

Page 183: ...3 4 3 6 Power unit 3 6 Profile position mode XV 1 6 Project zero point XV 1 10 Protection class 3 5 R Rated stroke 1 11 Reference travel XV 5 15 5 27 Carry out 4 18 Current limiting 5 11 Discontinue...

Page 184: ...are end position 1 10 5 17 B 28 Negative XVI Positive XVI Start up behaviour 6 3 Switch onreaction 5 4 5 30 System parameters 4 10 T Target group IX Teach mode XVI 4 12 4 14 5 17 Teach target position...

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