Motor unit MTR-DCI€¦ · Description MTR-DCI-...IO Description 539616 en 1209d [763197] Motor...

Description

MTR-DCI-...IO

Description539616en 1209d[763197]

Motor unitMTR-DCI

Adobe®, Reader®, CANopen® and CiA® are registeredtrademarks of the respective trademark owners in certaincountries.

Contents and general instructions

I

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 1209d. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE-MTR-DCI-IO-EN. . . . . . . . . . . . . . . . . . . . .

Order no. 539616. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© (Festo SE & Co. KG, D-73726 Esslingen, Germany, 2012) Internet: http://www.festo.comE-Mail: [email protected]

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.

Festo P.BE-MTR-DCI-IO-EN en 1209d


II Festo P.BE-MTR-DCI-IO-EN en 1209d


IIIFesto P.BE-MTR-DCI-IO-EN en 1209d

Contents

Designated use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Target group IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Scope of delivery IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manuals on motor unit MTR-DCI XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Information on the version XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Product-specific terms and abbreviations XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE-MTR-DCI-IO-EN en 1209d

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Procedure for commissioning 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Commissioning with the control panel (only MTR-DCI-...-H2) 5-6. . . . . . . . . . . .

5.2.1 Selecting the axis type 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting the homing parameter 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 Description of the I/Os 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.3 Function description (pulse-time diagram) 5-26. . . . . . . . . . . . . . . . . . .

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. . . . . . .


VFesto P.BE-MTR-DCI-IO-EN en 1209d

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE-MTR-DCI-IO-EN en 1209d


VIIFesto P.BE-MTR-DCI-IO-EN en 1209d

Designated use

The MTR-DCI motor unit is an intelligent servo motor consist-ing of DC motor, planetary gear, encoder and integrated con-trol electronics (positioning control and position regulator).

The mechanical layout and plug-in interface of the MTR-DCIhave been optimized for use with electric linear drives (e.g.DMES) from Festo. The motor unit can also be used for cus-tomer-specific positioning applications with slow spindledrives.

This manual deals with the basic functions of the MTR-DCIand the I/O interface of the MTR-DCI-...I0. Additional compo-nents as well as the field bus variants of the MTR-DCI are de-scribed in separate manuals.

It is absolutely necessary to observe the “Safety instructions”as well as the designated use of the relevant components andmodules. Observe also the safety instructions in the operat-ing instructions for the electric components used.

The MTR-DCI and the connectable modules and cables mayonly be used as follows:

– in accordance with designated use

– only in industrial applications

– without any modifications by the user. Only the conver-sions or modifications described in the documentationsupplied with the product are permitted.

– in faultless technical condition.

If additional commercially-available components such assensors and actuators are connected, the specified limits fortemperatures, electrical data, torques, etc. must not beexceeded.

Please observe the standards specified in the relevantchapters and comply with technical regulations, as well aswith national and local regulations.


VIII Festo P.BE-MTR-DCI-IO-EN en 1209d

Safety instructions

When commissioning and programming positioning systems,you must observe the safety regulations in this manual aswell as those in the operating instructions for the other com-ponents used.

The user must make sure that nobody is in the operatingrange of the connected actuators or axis system. Access tothe possible danger area must be prevented by suitablemeasures such as protective screens and warning signs.

WarningElectric axes can move suddenly with high force and athigh speed. Collisions can lead to serious injury to humanbeings and damage to components.

Make sure that nobody can gain access to the operatingrange of the axes or other connected actuators and that noobjects lie in the positioning range while the system is stillconnected to a power supply.

WarningFaults in parametrization can cause injury to people anddamage to property.

Enable the controller only if the axis system is correctlyinstalled and parametrized.


IXFesto P.BE-MTR-DCI-IO-EN en 1209d

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosingpositioning systems.

Service

Please consult your local Festo repair service or write to thefollowing e-mail address if you have any technical problems:

[email protected]

Scope of delivery

The following items are supplied with motor unit MTR-DCI:

– Motor unit with integrated controller, optionally withcontrol panel

– Operating package on CD-ROM:

– User documentation (descriptions)

– Festo Configuration Tool with MTR-DCI plugin

– User documentation (quick reference guide)

Available as accessories (see appendix A.2):

– Connecting cable

– Programming cable

– User documentation in paper form.


X Festo P.BE-MTR-DCI-IO-EN en 1209d

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich may occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc.), printed on ashaded background and marked additionally with a picto-gram. A distinction is made between the following dangerwarnings:

WarningThis means that failure to observe this instruction mayresult in serious personal injury or damage to property.

CautionThis means that failure to observe this instruction mayresult in personal injury or damage to property.

NoteThis means that failure to observe this instruction mayresult in damage to property.

The following pictogram marks passages in the text whichdescribe activities with electrostatically sensitive compo-nents.

Electrostatically sensitive components may be damaged ifthey are not handled correctly.


XIFesto P.BE-MTR-DCI-IO-EN en 1209d

Marking special information

The following pictograms mark passages in the textcontaining special information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation.

Accessories:Information on necessary or sensible accessories for theFesto product.

Environment:Information on environment-friendly use of Festo products.

Text markings

• The bullet indicates activities which may be carried out inany order.

1. Figures denote activities which must be carried out in thenumerical order specified.

– Hyphens indicate general activities.


XII Festo P.BE-MTR-DCI-IO-EN en 1209d

Manuals on motor unit MTR-DCI

This manual contains information on the method of oper-ation, as well as on mounting, installing and commissioningelectric positioning drives with motor unit MTR-DCI-...IO (I/Ointerface).

Information on components, e.g. the reference switch, can befound in the operating instructions supplied with the prod-uct.

Type Designation Contents

Operating package withbrief description+ descriptions(+ commissioningsoftware) on CD ROM

P.BE-MTR-DCI Brief description: Important instructionson commissioning and preliminaryinformation.Manuals on CD ROM: for motor unitMTR-DCI (contents as described below)

Description Motor unit MTR-DCI withI/O interfaceP.BE-MTR-DCI-IO-DEP.BE-MTR-DCI-IO-ENP.BE-MTR-DCI-IO-FRP.BE-MTR-DCI-IO-ITP.BE-MTR-DCI-IO-ESP.BE-MTR-DCI-IO-SV

Installation, commissioning anddiagnosis of electric axes with motorunit MTR-DCI; communication via I/Ointerface.

Help system for software Festo Configuration Toolhelp (contained in FCTsoftware)

Function description of the FestoConfiguration Tool (FCT) configurationsoftware.

Operating instructions Positioning axisDMES-...

Mounting and commissioning the linearaxis with slide shaft as drive element.

Further manuals Motor unit MTR-DCI withother communication in-terfaces e.g.P.BE-MTR-DCI-COP.BE-MTR-DCI-PB

Installing, commissioning and diagnos-ing electric axes with motor unit MTR-DCI; communication via the relevantfield bus.

Tab. 0/1: Documentation on the MTR-DCI


XIIIFesto P.BE-MTR-DCI-IO-EN en 1209d

Information on the version

The hardware version specifies the version status of themechanical parts and electronics of the MTR-DCI. The firm-ware version specifies the version status of the operatingsystem of the MTR-DCI.

You can find the specifications on the version status asfollows:

– Hardware version and firmware version in the FestoConfiguration Tool with active device connection to theMTR-DCI under “Device data”

– Firmware version on the control panel under [Diagnostic][Software information]

Firmwareversion

What is new? Which FCT PlugIn?

V-DME1.19 Supports the motor sizes MTR-DCI-42 and 52 and thecombination with the following positioning axes fromFesto:Motor unit AxisMTR-DCI-42 DMES-25MTR-DCI-52 DMES-40

MTR-DCI V1.0.0

V1.20 – Supports the motor sizes MTR-DCI-32 and 62 andthe combination with the following positioningaxes from Festo:Motor unit AxisMTR-DCI-32 DMES-18MTR-DCI-42 DMES-25MTR-DCI-52 DMES-40MTR-DCI-62 DMES-63

– Modifying the start-up reaction of all sizes

MTR-DCI V1.1.0

V1.35 – Function “Save position when switching off” re-moved.The CI-parameter 60FBh, subindex 20h, containsthe fixed value 240 (0x00F0) and cannot be over-written, see appendix B.1.4.

MTR-DCI V2.1.1.4

Tab. 0/2: Firmware versions


XIV Festo P.BE-MTR-DCI-IO-EN en 1209d

Product-specific terms and abbreviations

The following product-specific terms and abbreviations areused in this manual:

Term/abbreviation Meaning

0-signal 0 V present at input or output (positive logic, corresponds to LOW).

1-signal 24 V present at input or output (positive logic, corresponds to HIGH).

Axis Mechanical component of a drive which converts the motor revolutions intopositioning movements of a work load. An axis (e.g. positioning axisDMES-...) enables:– the work load to be fitted and guided– a reference switch to be fitted.

Axis zero point (AZ) Measuring basis point for the project zero point and the software endpositions. The basis point for the axis zero point is the reference point.Corresponds to the project zero point with the MTR-DCI (offset = 0).

Controller Control electronics which evaluate the control signals and provide thepower 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 ofthe MTR-DCI). The electric signals generated are sent to the controller,which then calculates the position and speed on the basis of the signalsreceived.

Festo ConfigurationTool (FCT)

Commissioning software with uniform project and data management for allsupported device types. The special requirements of a device type aresupported by PlugIns with the necessary descriptions and dialogues.

HMI HumanMachine Interface, with the MTR-DCI the control panel withLC display and 4 operating buttons.

Homing method Method for determination of the reference position: against a fixed stop(overload current/speed evaluation) or with reference switch.

Homing mode Operating mode in which a homing run is carried out.


XVFesto P.BE-MTR-DCI-IO-EN en 1209d


Homing run The reference position and therefore the source of the basis system of theaxis are defined by a homing run.

IOI/O

InputOutputInput and/or output

Jog mode Manual positioning in positive or negative direction (only on field busvariants of the MTR-DCI via the field bus or only with FCT or control panel).

Motor unit Integrated unit consisting of the controller, motor, measuring system and,if applicable, gears (e.g. motor unit MTR-DCI).

Operating mode Type of controller or internal operating mode of the controller.– Type of control: Record Select, Direct mode– Operating mode of the controller: Position profile mode, homing mode,

Demo mode, ...

PLC Programmable logic controller; in brief: controller: (PLC: progammablelogic controller)

Positioning mode(Profile position mode)

Operating mode for processing a position set or a direct 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). Theproject zero point forms the basis for all absolute position specifications(e.g. in the position set table or with direct control via the control or diag-nostic interface). The basis point for the project zero point is the axis zeropoint. With the MTR-DCI the project zero point PZ and the axis zero point AZare identical.

Reference point (REF) Basis point for the incremental measuring system. The reference pointdefines a known orientation or position within the positioning path of thedrive.

Reference switch External sensor (e.g. SMT-8 or SIEN) which serves for ascertaining thereference position and is connected directly to the controller.

Referencing Complete definition of the basis system of the axis with reference pointand, if applicable, zero point.


XVI Festo P.BE-MTR-DCI-IO-EN en 1209d


Software end position Programmable stroke limitation (basis point = axis zero point)– Software end position, positive:

max. limit position of the stroke in the positive direction; must not beexceeded during positioning.

– Software end position, negative:min. limit position in the negative direction; must not be exceededduring 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

System summary

1-1Festo P.BE-MTR-DCI-IO-EN en 1209d

Chapter 1

System summary

1. System summary

1-2 Festo P.BE-MTR-DCI-IO-EN en 1209d

Contents

1. System 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary


1.1 Positioning with electric drives

1 Process controland parameteraccess throughthe higher-ordercontroller

2 Software level:Commissioningwith the FestoConfigurationTool software

3 Drive level with

– Motor unit– Coupling– Couplinghousing

– 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 axisDMES

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

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

1. System summary


You can parametrize and commission the MTR-DCI as fol-lows:

– with the FCT software package via the RS232 interface ofyour PC

– with the optional control panel with display and 4 operat-ing buttons (only MTR-DCI-...-H2)

Coupling to a higher-order PLC/IPC is carried out in operationvia digital inputs/outputs.

Functions HMI FCT

Parameterisation – Selecting the axis type and the axis parameters– Specifying a gear factor (with external gears)– Uploading/downloading of configuration data– Saving different configurations in projects

x–––

xxxx

Positioningrecords

– Compiling a position set table with set number, targetposition, positioning mode, positioning speed,acceleration

x x

Commissioning – Homing– Jog mode– Teaching of positions– Travel in individual steps– Starting and stopping positioning procedures during

commissioning– Extended test functions, e.g. status displays– Testing or demonstrating the positioning records

xxx–

x–x

xxxx

xxx

Diagnostics/Service

– Reading and displaying diagnostic data x x

Tab. 1/1: Functions

1. System summary


All parameters are entered or displayed in the relevant setmeasuring units.

Units of Measurement Controlpanel

FCT

Linear axis Metric Metric units of measurement,e.g. mm, mm/s, mm/s2

x x

Customs du-ties 1)

Imperial units of measurement,e.g. inch, inch/s, inch/s2

– x

Increments Increment-based units of measurement,e.g. inc, inc/s, inc/s2

– –

Rotation axis Degree Angle dimension360° = 1 revolutione.g. deg, deg/s, deg/s2

x x

Revolutions 2) Number of revolutionse.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 controller are saved internallyin increments (inc, inc/s, inc/s2 ...) and are not converted untilthey are written or read.Measurements transmitted directly via RS232 are conductedon an increment basis (for conversion see appendix A.4).

1. System summary


1.2 Components

For setting up an electric drive with the MTR-DCI you willrequire the following components:

Motor unit MTR-DCI Motor with controller, available in four sizes, optionally withcontrol panel (type ...-H2).By means of different gear reductions, different require-ments can be fulfilled in respect of (gear unit) output torqueand (gear unit) output speed (see appendix A.1). High driveoutput torques with low drive output speeds are character-istic for positioning functions. With the smaller gear reduc-tion, the positioning speed of the axis can be increased withcorrespondingly reduced positioning force.

Axis Linear or rotation axes as per catalogue

Coupling with couplinghousing

For the axial attachment of Festo axes, e.g. type DMES-... ortype DNCE-..., couplings and coupling housings are avail-able as accessories. The motor unit is connected to the axisby means of a clamping connection in the coupling housing.Additional motor flanges are not therefore necessary. Fur-ther information can be found in the operating instructionsfor the axis.

Power supply cable for supplying the MTR-DCI with operating voltage via apower unit (DC 24 V / size 62: 48 V)

Programming cable Parametrizing the MTR-DCI during commissioning with theFCT

Homing Switch Sensor as per appendix A.2.

Accessories For positioning systems Festo offers special matching ac-cessories (see Festo delivery program or catalogue).

1. System summary


1.3 Control and regulating functions

The controller takes over the following tasks:

– specification of the nominal values

– regulation of the following factors: Position, speed, accel-

eration, current.

1 Motor controller

2 Regulator

3 Setpointvalue generator

4 Position control-ler

5 Velocity control

6 Current control

7 Output stage

8 Signal converter

MP PI

3

8

4

5 6 7

1

2

P

Fig. 1/2: Simplified diagram of the cascade regulator

Profile position mode Positioning modeOperating 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 drivecontroller is to move. The target position is interpreted eitheras an absolute or relative specification. The set target posi-tion is transferred to the setpoint value generator. This gen-erates a setpoint position value for the position controller.For position control the current settings for speed, accelera-tion, braking deceleration, etc. are taken into account.

1. System summary


Changes in position are recognized by the internal increment-al sensor (optical encoder). With a known starting point theactual position is calculated from the gear reduction and/orthe spindle slope.

Homing mode Homing.Execution of a positioning procedure in which the referencepoint and therefore the source of the measuring referencesystem of the axis are defined, e.g. via a reference switchwithin the possible positioning path or with overcurrent eval-uation n the case of movement to a stop.

For commissioning, for testing or for demonstration thefollowing functions are also available via the control panel ofthe MTR-DCI-...-H2:

– Positioning travel for defining the target position of apositioning record [Settings][Position set].

– Positioning travel for testing all positioning records in thepositioning record table [Demo posit tab].

– Positioning travel for testing a certain positioning recordin the positioning record table [Move posit set].

1. System summary


1.4 Operational reliability

An extensive system of sensors and monitoring functionsensure operational safety:

– i2t-monitoring

– Temperature monitoring (measuring the motor tempera-ture and the power end 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, makesure that the axis always lies within the permitted posi-tioning range.

1. System summary


Warning• Please note that the MTR-DCI-…IO does not have a sep-arate logic voltage supply.

• Check the measures which are necessary within theframework of your EMERGENCY STOP circuit for switch-ing your machine/system into a safe state in the eventof an EMERGENCY STOP.

• If corresponding EMERGENCY STOP circuitry is neces-sary for your application, use additional, separatedsafety limit switches (e.g. as normally closed limitswitches wired in series connection)

– Cancelling the ENABLE signal at the controller inter-face

– Switch off the load voltage.

1.5 Measuring reference system

For commissioning, a measuring reference system for refer-encing the reference coordinates must be defined. By meansof the measuring system all (absolute) positions are definedand 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 zeropoint which is defined by the offset to the reference point.

Homing run The position of the reference point REF is defined by a hom-ing run. When a homing run is finished, the drive stands atthe axis zero point AZ.

Homing method The homing method defines the way in which the referencepoint is determined.

Homing point REF forms the mechanical starting point of the measuring refer-ence system and is defined for the homing run by a referenceswitch or a fixed stop, depending on the homing method. Itis the reference point of the axis zero point.

1. System summary


Axis zero point AZ is shifted by a defined distance from the reference point REF(axis zero point offset) and is the basis point of the softwareend positions and the project zero point PZ. By defining theaxis zero point AZ and the software end positions you canlimit the work area of the linear axis to the permitted range(work stroke).

Software end positions limit the permitted positioning range (work stroke). If thetarget position of a positioning command lies outside thesoftware end positions, the positioning command will not beprocessed and a fault status will be displayed.

Project zero point PZ is a basis point which the user can freely select within thework stroke and to which the actual position as well as thetarget positions in the position set table refer. The axis zeropoint AZ is the basis point for the project zero point.

The project zero point PZ is specified with the MTR-DCI and isidentical to the axis zero point AZ (project zero point offset =0).

1. System summary


Measuring reference system: basis points and work range

d

e

Linear axis with homing method:Fixed stop negative

Rotation axis with homing method:Reference switch negative

REF Reference point: Point determined during homing run: reference switch or stop

AZ Axis 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.

Ab, c

Offset axis zero point: Defined distance of the axis zero point AZ from the reference point REFSoftware end positions: limit the permitted positioning range (work stroke).

de

Work stroke: Permitted positioning range.Rated stroke of the axis used

Tab. 1/3: Measuring reference system

1. System summary


1.5.2 Signs and directions

All offsets and position values are vectors (with a given al-gebraic sign, + or -). The active direction can be reversed onthe control panel (see 5.2.1) or via FCT. This can be usefulwhen 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 thegearing, the spindle type (left/right-rotating), the algebraicsigns on the positioning specifications, and the set activedirection.

+

—

+

—

1

2

1 Factory setting for active direction

2 Reversal of direction

Fig. 1/3: Active direction (using the example of MTR-DCI + DMES, axial gearing)

1. System summary


1.5.3 Homing

In the case of drives with incremental measuring system,homing must always be carried out after the drive is switchedon.

The following homing modes are permitted:

– Search for stop in a negative direction

– Search for stop in a positive direction

– Search for reference switch in a positive direction

– Search for reference switch in a negative direction(default).

In order to search for the reference point and for positioningthe drive in the axis zero point, you can set two differentspeeds.

Homing sequence:

1. Search for the reference point in accordance with theconfigured method.

2. Move from reference point to axis zero point AZ (offsetaxis zero point)

After successful homing the drive stands at the axis zeropoint AZ. On initial commissioning or following a change ofhoming method the axis zero offset is = 0; after homing thedrive is then positioned at the reference point (REF).

1. System summary


Search for fixed stop With this reference travel method, at first the drive moves atsearch speed in a negative or positive direction until itreaches the fixed stop. A rise in the motor current signals thatthe 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 thereference position, has been reached.

As the axis should not stand still at the stop, the axis zeropoint 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

Fig. 1/4: “Search for fixed stop” reference travel method

1. System summary


Search for reference switch With this reference travel method, at first the drive moves atsearch speed in a negative or positive direction until itreaches the limit switch. It then moves back at creep speed:The reference position lies at the point at which the referenceswitch becomes inactive again when 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 thereference switch. The drive then moves as usual to the axiszero point.

NoteIf a reference signal is not found by the “reference switch”homing method before the drive reaches a fixed stop, theMTR-DCI will stop and an error will be displayed (HOMINGERROR).

Mounting


Chapter 2

Mounting

2. Mounting


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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Mounting


2.1 General instructions

WarningElectric shock

Before carrying out mounting, installation and mainten-ance work, always switch off the power supply for the elec-tronic components.

NoteHandle all modules and components with great care.Please note especially the following:

– Screw connections must be fitted free of offset andmechanical 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).

2. Mounting


2.2 Dimensions of the motor unit

H0

H2

H1

B1B2

D1D2

D3

D4

L1

L2 L3

L4L55

13

T1

Sizes [mm] 32 42 52 62

Gear ratio G7/G14 G7 G14 G7 G14 G7/G14/G22

Diameter offlange/shaft

D D1D2D3D4

——21.5 h86 h7

42 g1042 ±0.125 h88 h7

52 g1052 ±0.132 h812 h7

62 g1062 ±0.140 j714 h7

Height H H0H1H2

65.3 ±0.421.6 ±0.1541.5 ±0.3

70,8 ±0,426,5 ±0,654,5 ±0,4

94.8 ±0.437 ±0,976.5 ±0.4

128 ±0.560.8 ±0.35128 ±0.5

Length L L1L2L3L4

175.5 ±1—18.7 ±0.62.5 ±0.3

176 ±133.3 ±125 ±12 ±0.2

176 ±146,3 ±125 ±12 ±0.2

194 ±139 ±133 ±13 ±0.3

194 ±153 ±133 ±13 ±0,3

270 ±147 ±139 ±15 ±0.3

Width B B1B2

33.8 ±0.346.3 ±0.4

44.8 ±0.453.3 ±0.4

63.8 ±0.469.5 ±0.4

105.1 ±0.4105.1 ±0.4

Depth T T1 6 M3: 7 / M4: 10 10 10

Tab. 2/1: Dimensions of the motor unit

2. Mounting


2.3 Mounting electric axes

Refer to the following documentation when mounting theelectric axis:

– Operating instructions for the axis used.

– Instructions for the components used.

WarningIf an axis is fitted in a sloping or vertical position, the workload may fall down and injure somebody.

• Use the motor unit preferably with self-locking or self-braking spindle drives. You can then avoid the workingmass sliding down if there is a sudden power failure.

• With DMES: Check whether additional external safetymeasures 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 sufficientsize for operation with a work load,

• the work load does not collide with any component of thedrive when the slide moves into the end position.

• Make sure that you observe the maximum permitted va-lues of the following variables: the basis point for forcesand torques is the centre of the shaft (L3 see Tab. 2/1).

2. Mounting


L3

L3 x 0.5

Fy

Fx

Fig. 2/1: Forces and torques

Forces and torques 32 42 52 62

MTR-DCI-...-G7 1-stage

– Radial shaft load– Axial shaft load– Maximum permitted shaft output torque of

the gear 1)

Fy [N]Fx [N]Mx [Nm]

40100.4

160500.8

200602.0

240504

MTR-DCI-...-G14 /G22 2-stage

– Radial shaft load– Axial shaft load– Maximum permitted shaft output torque of

the gear 1)

Fy [N]Fx [N]Mx [Nm]

70201.0

230807.5

32010012.0

3607025 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-up phase speed torque peaks up to 37 Nm are possible at 20 Apeak current.

Tab. 2/2: Permitted loading of the gear shaft

2. Mounting


NoteMotor unit MTR-DCI-62...-G22 can generate up to 37 Nm ata peak current of 20 A in the start-up phase.

• Make sure by calculating the dynamic loading that themaximum permitted shaft output torque of the gear isnot exceeded in the start-up phase (e.g. by reducing theload).

Use the thread on the front of the gear (see Fig. 2/2) formounting the MTR-DCI to a mechanical drive device (machineframe).

• In order to minimize the shaft offset: Position the axis withthe 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 the4 screws with the specified tightening torque.

Motor unit MTR-DCI-32 has 6 threads for different mountingvariants (axial, parallel); 4 screws must be used here.

Size Thread depth Tightening torque

MTR-DCI-32 M3 6 mm 1.2 Nm


M4 10 mm 2.9 Nm



Tab. 2/3: Tightening torques

2. Mounting


In order to fit Festo axes e.g. DMES or DGE axially, you willrequire couplings and coupling housings as accessories. Themotor unit is connected to the axis by means of a clamp in thecoupling housing. Additional motor flanges are not thereforenecessary.Fit the motor onto the permitted axis in accordance with theØassembly instructions for the motor mounting kit recom-mended in the catalogue.

25°

25°

50°

6xM3x6

32°

4xM4x10

4xM3x7

4x90° 4

x90°

28°

4xM5x10

4X90°

45°

4xM5x10

4x90°

30°

MTR-DCI-32 MTR-DCI-42

MTR-DCI-52 MTR-DCI-62

Ø 32

Ø32

Ø36

Ø50

Ø40

Fig. 2/2: Fastening the drive by means of the front threads (direct fastening)

Installation


Chapter 3

Installation

3. Installation


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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation


3.1 Overview of installation

WarningBefore carrying out installation and maintenance workalways switch off the power supply for the electroniccomponents.

You can thereby avoid:

– unexpected movements of the connected actuators

– non-defined switching states of the electroniccomponents.

CautionFaulty pre-assembled lines may destroy the electronicsand trigger unexpected movements of the motor.

• For cabling the electric components of the system, useonly the cables listed as accessories (see Tab. 3/2). Thisis the only way to ensure the system will work properly.

CautionEarth or ground loops can under circumstances cause EMCprotective measures to become ineffective, resulting inhigh compensating currents which will damage the motorunit (e.g. with faulty power supply).

• Connect only one cable shield (control cable or supplycable) to functional earth (FE).

The GND connection must not be connected to the hous-ing, the shield or functional earth (FE)!

3. Installation


1 Power supply

2 I/O control

3 Reference switch

4 Serial interface

1

2

3

4

Fig. 3/1: Connections on the MTR-DCI

Connection on the MTR-DCI Manual

Power supply – D-Sub, 2-pin– Plug

Operating voltage connec-tion with 2 high-currentcontacts

Controller – D-Sub, 9-pin– Plug

Interface for connection toany PLC controller

Referenceswitch

– M8x1, 3-pin– Socket

Sensor input for switchtype normally open contactin the design PNP, e.g.SMT-8F

Serialinterface

– M8x1, 4-pin– Socket

RS232 interface for para-metrizing, commissioningand diagnosing

Tab. 3/1: Overview of connections

3. Installation


If non-assigned plug connectors are touched, there is adanger that damage may occur to the MTR-DCI or to otherparts of the system as a result of ESD (electrostatic dis-charge). Place protective caps on unused connections inorder to prevent such discharges.

The plug connectors of the following Festo cables have beendesigned so that, when inserted and screwed tight, or if fittedwith protective covers, the connections on the MTR-DCI willcomply with protection class IP54.

Connection Cable Designation 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, connectingcable 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-M8 protective caps(accessories).

• Hand-tighten the union nuts/locking screws of the plugs.Observe the permissible tightening torques specified inthe documentation for the lines and plugs used.

Note• Lay all moveable motor and sensor cables free of bendsand free of mechanical stress, if necessary, in a dragchain.

• Observe the maximum specified cable lengths.

3. Installation


3.2 Earthing

Note• Connect the earth terminal of the MTR-DCI with low im-pedance (short cable with large cross section) to theearth potential.

This prevents interference from electromagnetic sourcesand ensures electromagnetic compatibility in accordancewith EMC directives.

In order to connect the MTR-DCI to the earth potential, useexclusively the following earth terminal:

– Earthing strap on free end of the power supply cable; seeassembly instructions for cable KPWR-MC-1-SUB-9HC-...

CautionEarth or mass loops can make EMC safety measures inef-fective and allow high compensating currents to destroythe motor unit.

• Connect only the cable screening of the power supplycable to the functional earth FE.

• Do not connect the terminal GND with the housing,screening, or functional earth FE!

• Never connect one of the power supply connections (seechapter 3.2, A1, A2) with FE or with the housing.

This will avoid damaging the device and impairing protec-tion against electromagnetic interference (EMC).

3. Installation


3.3 Power supply

Warning• In order to provide the electric power supply, use onlyPELV circuits as per IEC/DIN EN 60204-1 (ProtectiveExtra-Low Voltage, PELV).Take into account also the general requirements forPELV circuits as per IEC/DIN EN 60204-1.

• Use only power packs which guarantee reliable electri-cal isolation of the operating voltage as per IEC/DINEN 60204-1.

By the use of PELV power units, protection against electricshock (protection against direct and indirect contact) is guar-anteed in accordance with IEC/DIN EN 60204-1 (electricalequipment of machines, general requirements).

CautionDamage 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 notexceeded. The tolerance must also be observed directlyat the operating voltage connection of the MTR-DCI(see Tab. 3/3).

• Install an external fuse in the DC supply in order to limitthe available current (see Tab. 3/4).

3. Installation


The internal power and controller electronics are suppliedwith DC voltage via the power supply connection. The powersupply must fulfil the following requirements:

Specifications MTR-…-32 MTR-…-42 MTR-…-52 MTR-…-62

Rated voltage DC 24 V ±10 % DC 48 V +5...-1 %

Rated current 0.73 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

RecommendationUse a closed-loop controlled power unit with high outputreserve 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 fusesecondary side

5 A slow-blowing 7 A slow-blowing 10 A slow-blowing 25 A slow-blowing

Tab. 3/4: Selecting the power unit

A1 A2

A1 A2

Fig. 3/2: Connection example – power supply with externalfuse

3. Installation


• Use the following cable from Festo's accessories:

– power supply cable KPWR-MC-1-SUB-9HC

– cable length max. 10 m.

• Only connect one cable screen (control cable or powersupply 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 VPOWER 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-9HC2) 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

3. Installation


3.4 Serial interface

Serial interface for parametrizing, commissioning anddiagnosing

NoteTo connect a PC to the MTR-DCI, use the following cablefrom Festo's accessories:

– Programming cable KDI-MC-M8-SUB-9

– Cable length 2.5 m (maximum permitted signal cablelength).

• If necessary, remove the protective cap from the serialinterface of the MTR-DCI.

• Connect the following terminals with the programmingcable:

– 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 the RS232 standard and enable a datatransmission rate of 9600 bit/s

Tab. 3/6: Connecting the serial interface on the MTR-DCI

3. Installation


Information on commissioning and parametrizing theMTR-DCI via the serial interface can be found in chapter 5.3and in the help system for the FCT software package.Information on transmitting CI commands via the serialinterface can be found in appendix B.1.2.

NoteThe RS232 interface is not electrically isolated. It is notsuitable for permanent connection to PC systems, nor foruse 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 (ISK-M8).

3. Installation


3.5 Input for external reference switch

If you are not using a reference switch:

• Seal the connection with the protective cap supplied(ISK-M8).

Connecting the reference switch:

• Use the correct switch type “normally-open contact” inthe PNP variant for the reference switch.

• When connecting the reference switch use a sensor with ascrew-type lock (external thread M8x1) at the end of thecable 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 theswitchover point of the sensor determines the accuracy ofthe reference point.

M8x1 socket Description

1 34

1 DC +24 V DC +24 V voltage output(only for reference switch)

4 REF Contact reference switch

3 GND Ground

Tab. 3/7: Connection “Ref” (reference switch) on theMTR-DCI

The power supply for the reference switch (DC 24 V / Ground)is provided via pin 1/3.

3. Installation


CautionDamage to the device

The DC 24 V voltage at pin 1 does not have any specialprotection against overload; the voltage is taken from themain supply with protection against ESD and incorrectpolarity.

• Use this connection only for the reference switch(sensor supply).

Use of this connection as a power supply for other devicesis not permitted.

The input for sensor signal REF complies in its electricalfeatures with the input specification in the appendix“Technical specifications”.

3. Installation


3.6 Connecting the higher-order controller

Communication with the higher-order controller is made viathe control connection on the MTR-DCI

Use the control cable KES-MC-1-SUB-9 to connect theMTR-DCI to a higher-level controller (PLC).

CautionLong I/O signal cables reduce the immunity to interfer-ence.

• Do not, therefore, exceed the maximum permitted I/Osignal 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 (basis potential)

1) Cable colours of pilot line KES-MC-1-SUB-9

Tab. 3/8: “Controller” connection on the MTR-DCI

3. Installation


WarningIf 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.

3. Installation


Control panel (MTR-DCI-...-H2IO)


Chapter 4

Control panel (MTR-DCI-...-H2IO)

4. Control panel (MTR-DCI-...-H2IO)


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. . . . . . . . . . . . . . . . . . . . . . . . . . . . .



On the control panel, motor unit type MTR-DCI-...-H2 offers allthe functions necessary for commissioning, programming anddiagnosis. An overview of the button and menu functions forthe MTR-DCI-...IO can be found in this chapter. Commission-ing with the control panel 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.

CautionFaults may occur if you attempt to access control andoperating functions at the same time via the FCT and thecontrol panel.

• Make sure that the FCT, the control panel and the controlinterface of the MTR-DCI are not used at the same time.

NoteIf necessary, remove the protective foil from the displaybefore commissioning.



4.1 Composition and function of the control panel

The control panel enables commissioning directly on theMTR-DCI with the following functions:

– Parametrizing and referencing the axis

– Entering position sets

– Test functions e.g. for moving to individual position sets.

1 LC display

2 Operating buttons

3 LEDs– Power (green)– I/F (green/red)– Error (red)

1 32

Fig. 4/1: Control panel of the MTR-DCI-...-H2

With the 4 buttons on the control panel you can carry out alloperating 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 [LCDadjustment].

The visual display of the operating states is shown via 3 LEDs(see also chapter 6.2.2).

– Power: display of power supply

– I/F: ready to operate, positioning status

– Error: fault



Function Button

MENU Activated by the status display from themain menu Menu

ESC Rejects the current entry and switchesback in stages to the higher-order menulevel or status display

EMERG.STOP Interrupts the current positioningprocedure (> Error mode; confirm with<Enter>, then automatic return to thestatus display) Only when HMI = on.

OK Confirms the current selection or entryEnter

SAVE Saves parameter settings permanently inthe EEPROM

START/STOP Starts or stops a positioning procedure(only in Demo mode). After stop: Displaythe current position, return to thehigher-order menu level with <Menu>.

<- -> Scrolls within a menu level in order toselect a menu command. v

VEDIT Sets the parameter

Tab. 4/1: Button function (overview)

MTR-DCI...

Xa = 0.00 mm

HMI:off

<Menu>

} Diagnostic

positioning

Settings

S ESC <Menu>

<--> OK <Enter>

} HMI control

LCD adjustment

v ESC <Menu>

<--> OK <Enter>



4.2 The menu system

4.2.1 Accessing the main menu

When the power supply is switched on, the MTR-DCI auto-matically carries out an internal check. At first the displaybriefly shows the Festo Logo then changes to the statusdisplay. The status display shows the following information:

– the type designation of your MTR-DCI

– the current 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 thebutton <Menu>. The current button function will be displayedin the lower lines of the LCD display.

Function Button

<- -> With the arrow buttons on the control panel youcan select a menu item from the list. The currentselection is marked with an arrow (} Dia-gnostic). Select the menu itemS in order todisplay further menu items (HMI control...).

v

V

ESC With <Menu> you can interrupt the current entryand return in stages to the higher-order menulevel or status display.

Menu

OK With <Enter> you can confirm the currentselection or entry. Enter

Tab. 4/2: Button function (menu selection)



Menu command Description

} Diagnostic Display the system data and the currently effective settings (see chapter 4.2.2)

} Pos set table Display the position set table

} Axis param Display axis parameters and data

} System param Display system parameters and system data

} SW information Display the operating system version (firmware)

} Positioning 1) 2) Homing and positioning run for testing the position sets (see chapter 4.2.4)

} Move posit set Start positioning run “Position set”

} Demo posit tab Start positioning run “Position set table”

} Homing Start homing run

} Settings 1) 2) Select the drive, parametrizing, programming the position sets ... (see chapter 4.2.3)

} Axis type } Type DMES Positioning axis DMES

} Rotation drive Rotation axis with stop

} User config Any linear drive

} Axis param } Zero point 3) Offset 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 zero point


} Position set } Position no. Number of the position set (0...14)

} Pos set mode Set status: absolute or relative positioning

} Position 3) Target position of the position set

} Velocity Positioning speed of the position set


} Password Set up a local password with 3 figures for the control panel (see chapter 4.2.3).

} HMI control 1) Preset the device control via the control panel (see chapter 4.2.5)

} LCD adjustment Rotate the display in steps of 90°

1) If necessary password protection2) Control interface must be deactivated, see [HMI control] :HMI = on3) Teach mode

Tab. 4/3: Menu commands (overview)

} Diagnostic

} Pos.set table

Axis param

System param

SW information



For selecting the menu commands [Positioning] and [Settings]you will require the setting “HMI: on”. Only then is theMTR-DCI ready to process user entries on the control panel.

When selecting the menu commands, you will be requestedto modify the HMI setting.

You can also modify the setting directly in the main menuwith the menu command [HMI control].

4.2.2 Menu [Diagnostic]

In order to display the system data and the currently effectivesettings:

1. Select [Diagnostic] in the main menu with the arrowbuttons 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]

– Version of firmware of the MTR-DCI [SW information]

Function Button

<- -> You can “scroll through” thediagnostic data with the arrowbuttons.

v V

ESC With <Menu> you can return to thehigher-order menu level. Menu



[Pos. set table] Menu command for displaying the following entries in theposition set table:

[Pos. set table] Description

Nr Number of the position set (0...14)

a/r absolute (a) or relative (r) positioning

Pos Target position

Vel Positioning speed

[Axis param] Menu command for displaying the following axis parametersand 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 set2) Not for axis type “Rotation drive”



[System param] Menu command for displaying the following system para-meters and data:

[System param] Description

V power [V] Supply voltage

V dd [V] Voltage of display

I max [A] Maximum current

I act [A] Current current

Temp [°C] Operating temperature

Cycle Number of positioning movements

In signal Hexadecimal representation of the inputsBit 0: I0Bit 1: I1Bit 2: I2Bit 3: I3Bit 4: STARTBit 5: ENABLE

Out signal Hexadecimal representation of the outputsBit 0: READYBit 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 directionFixed stop in negative directionReference switch in positive directionReference switch in negative direction

Gear e.g. 6.75 Gear ratio of the MTR-DCI

} Settings

} Axis type

Axis param

Homing param

Position set

Password



4.2.3 Menu [Settings]

WarningDamage to or impairment of the mechanical components

With all teach procedures the motor turns or the connectedaxis starts to move.

• Make sure that:

– nobody can place his/her hand in the positioningrange

– there are no objects in the positioning range.

Parametrizing the axis system and programming the positionsets:

1. Select [Settings] in the main menu with the arrow buttonsand 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 (parameters seechapter 5.2.1)

[Axis type] Description

[Type DMES-...] Festo positioning axis

[Rotation drive] Specific rotation axis

[User config] Specific linear axis

[Save...] Save parameter in EEPROM



[Axis param] Teach mode for setting the axis parameters

[Axis param] Description

[Zero point] Offset of axis zero point

[Abs.min.pos] Stroke limitation: Software limit switch,negative

[Abs.max.pos] Stroke limitation: Software limit switch,positive


NoteThe set parameters become effective immediately afterconfirmation 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 thepower supply is switched off or if there is a powerfailure.



[Homing param] Setting the reference travel method and the speed duringreference travel.

The maximum speed during homing is limited to half themaximum positioning speed v_max (v_max see [Diagnostic][Axis param]).

[Hom. param] Param. Description

[Homing method] sw.neg(switch negative)

Homing to referenceswitch, negative= factory setting

sw.pos(switch positive)

Homing to referenceswitch, positive

bl.neg(block negative)

Homing to fixed stop,negative

bl.pos(block positive)

Homing tofixed stop, positive

[Velocity v_sw] v_sw Speed for searching forthe reference point

[Velocity v_s0] v_s0 Speed for moving to theaxis zero point

[Save...] Save parameter in EEPROM.


• Save the parameter settings with the menu command[Save]. Only then will the settings be retained even if thepower supply is switched off or if there is a powerfailure.



[Position set] Teach mode for programming the position set table.

[Position set] Param. Description

[Position nr] Nr Number of the position set [0...14]

[Pos set mode] [absolute/relative]

Positioning modeabsolute = absolute positionspecification, related to the projectzero pointrelative = relative positionspecification, related to the currentposition

[Position] xt Target position in the selectedmeasuring system e.g. [mm]

[Velocity] v Positioning speed in the selectedmeasuring system e.g. [mm/s]



• Save the parameter settings with [Save]. Only then willthe settings be retained even if the power supply isswitched off or if there is a power failure.

New Password:

[?xx] =

ESC <menu>

EDIT <--> OK <Enter>

Enter password:

[?xx] =

ESC <menu>




Set up a password

In order to prevent unauthorized or unintentional overwritingor modification of parameters in the device, access via thecontrol panel can be protected by a (local) password. Nopassword is specified at the factory (presetting 000).

[Password] Select [Settings] [Password] in the menu:

Enter a password with 3 figures. The current entry position ismarked with a question mark.

1. Use the arrow buttons to select a figure 0...9.

2. Confirm your entry with <Enter>. The next entry positionwill be displayed.

3. After entering the third figure, save your setting withSAVE <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 isentered, all parametrizing and control functions of the controlpanel are enabled until the power supply is switched off.

The current entry position is marked with a question mark.


2. Confirm your entry with <Enter>. The next entry positionwill be displayed.

3. Repeat the entry for the further entry positions.

When the third figure has been entered, access via thecontrol panel is enabled.

Enter password:

[?xx] =

ESC <menu>


New Password:

[?xx] =

ESC <menu>




Modify/deactivate password

[Password] Select [Settings] [Password] in the menu:

Enter the existing password with 3 figures. The current entryposition is marked with a question mark.


2. Confirm your entry with OK <Enter>. The next entryposition will be displayed.

3. Repeat the entry for the further entry positions.

4. Enter the new password with 3 figures. If you wish todeactivate the password, enter “000”.

5. After entering the third figure, save your setting withSAVE <Enter>.

• Keep the password for the MTR-DCI in a safe place, e.g.with the internal documentation for your system.

If the active password in the MTR-DCI should be lost in spiteof care being taken:you can delete the password by entering a master password.In this case please contact your Festo Service partner.



4.2.4 Menu [Positioning]

Start reference run or positioning run for testing the positionsets.

WarningDamage to or impairment of the mechanical components

With all positioning procedures the motor turns or theconnected axis starts to move.

• Make sure that:



Note• Before starting the reference run, make sure that:

– the positioning system is set up completely, wiredand supplied with power,

– the parametrizing is completed.

• Do not start a positioning run until the reference systemhas been defined by means of a reference run.

NotePlease note that position sets with speed v = 0 or invalidtarget positions (-> Fault TARGET POSITION OUT OF LIMIT)cannot be processed.

} Positioning

Move posit set

Demo posit tab

} Homing

...

Warning Motor moves

ESC <menu>

START <Enter>

HOMING

V_0 = 20 mm/s

v_sw = 10 mm/s

EMERG.STOP<Menu>



Carry out homing

1. Select [Positioning] in the main menu with the arrowbuttons and press the <Enter> button.

2. Select the menu command:

– [Homing]

[Positioning] Description Note

[Homing] Homing for determining themechanical reference system

First set the parameter in the menu [Settings][Homing parameter].Factory setting: Homing to reference switch innegative direction.

3. Make sure that nobody can place his/her hand in thepositioning range of the moveable mass and that thereare no objects in its path. Start homing run with START<Enter>.

The following information is displayed:

– the search speed v_sw

– the positioning speed to the axis zero point v_0.

Function

EMERG.STOP

With <Menu> you can interrupt the positioningprocedure (> Error mode EMERG.STOP;confirm with <Enter>, then automatic return tothe status display).

Menu

} Positioning

} Move posit set

Demo posit tab

Homing

...

Warning Motor moves

ESC <menu>

START <Enter>

Move posit set

Pos 1

Xt = 100.00 mm

v = 20 mm/s

Xa = 90.00 mm

EMERG.STOP<Menu>



Process position sets

1. Select [Positioning] in the main menu with the arrowbuttons and press the <Enter> button.

2. Select the menu command:

– Positioning run “Position set” [Move posit set] – or

– Positioning run “Position set table” [Demo posit tab]

[Positioning] Description Note

[Move posit set] Positioning run for testing a certainposition set in the position set table.

Parametrizing and referencing mustbe completed.

[Demo posit tab] Positioning run (continuous loop) fortesting all position sets (0...14) in theposition set table.

Parametrizing and referencing mustbe completed.There must be at least two positionsets in the memory.

With positioning run [Demo posit tab] all position sets 0...14in 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 set and all the following sets will not be pro-cessed; positioning run will be continued with position set 0.

3. Make sure that nobody can place his/her hand in thepositioning range of the moveable mass and that no ob-jects lie in its path. Start the positioning procedure withSTART <Enter>.

During the positioning run the following information isdisplayed:

– the active position set Pos...

– the target position xt

– the positioning speed v

– the current position xa.



Function

EMERG.STOP

With <Menu> you can interrupt the positioningprocedure (> Error mode EMERG.STOP; con-firm with <Enter>, then automatic return tothe status display).

Menu

DEMOSTOP

With <Enter> you can interrupt the positioningrun “Pos set table” [Demo pos tab].The current positioning set will be processedbefore the axis stops. A new start will bemade with position set 0.

Enter

4.2.5 Menu command [HMI control]

For selecting the menu commands [Positioning] and [Settings]you will require the setting “HMI: on”. Only then is theMTR-DCI ready to process user entries on the control panel.

When selecting the menu commands, you will be requestedto modify the HMI setting.

[HMI control] You can also modify the setting directly with the menucommand [HMI control].

HMI 1) Device control

on The device control is carried out manually via the controlpanel. The control interface of the MTR-DCI is deactivatedand the control enable is set. The actual status of theENABLE input then has no effect.

off The device control is carried out via the control interfaceof the MTR-DCI.

1) HumanMachine Interface

Commissioning


Chapter 5

Commissioning

5. Commissioning


Contents

5. Commissioning 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Procedure for commissioning 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Commissioning with the control panel (only MTR-DCI-...-H2) 5-6. . . . . . . . . . . .

5.2.1 Selecting the axis type 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting the homing parameter 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 Description of the I/Os 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.3 Function description (pulse-time diagram) 5-26. . . . . . . . . . . . . . . . . . .

5. Commissioning


5.1 Procedure for commissioning

WarningDanger of injury.

Electric axes can move suddenly with high force and athigh speed. Collisions can lead to serious injury to humanbeings and damage to components.

• Make sure that nobody can gain access to the operatingrange of the axis or of other connected actuators andthat no objects lie in the path of the axes while the sys-tem is still connected to a power supply (voltage).

NoteIn the following cases it is not permitted to access theMTR-DCI with the FCT writing (e.g. downloading para-meters) or controlling (e.g. with “Move manually” or whenstarting homing run):

– When the MTR-DCI is currently performing a positioningmovement 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 thecontrol panel of the MTR-DCI.

Please note the following:

• The device connection in the FCT must not be activatedwhen the control panel is being used for control (“HMIcontrol = on”).

• Control with the control panel (“HMI control = on”) mustnot be activated when the device connection in the FCTis activated.

• Control by the FCT must not be activated while the driveis in motion or when control is being carried out via I/Os.

5. Commissioning


Before commissioning

• Before commissioning the servo drive make sure that:

– the work space is of sufficient size for operation with awork load,

– the work load does not collide with the motor or thegear of the axis when the axis moves into the endposition.

• Please observe the notes in the operating instructions forthe positioning drive.

Switch-on reaction

First commissioning Relative positioning movements can be carried out as soon asthe device is switched on, e.g. in order to position the axis inthe permitted positioning range. If an absolute positioningprocess is started, the following error will be displayed: LASTACTUAL POSITION IS NOT SAVED! PLEASE ENFORCE HOMINGRUN. Absolute positioning movements can only be carriedout after a homing run.

• Execute a homing run every time the device is switchedon. For the homing method refer to chapter 1.5.3.

5. Commissioning


Switching on

NoteNote that the tolerance for the supply voltage must beobserved. The tolerance must also be observed directlyat the operating voltage connection of the MTR-DCI(see chapter 3.3).

Note• Make sure that the axis is within the permitted position-ing range when it is switched on. Instructions on this canbe 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-DCIautomatically carries out an internal check.

• Carry out parametrizing and commissioning with thecontrol panel or the FCT, as described in the followingchapters or in the FCT/PlugIn help.

• In order to complete commissioning note the instructionsfor operation in the FCT/PlugIn help and in chapter 6.1.

Diagnostic

positioning

Settings

} HMI control

LCD adjustment

5. Commissioning


5.2 Commissioning with the control panel (only MTR-DCI-...-H2)

Information on the button functions and on the menu com-position of the control panel can be found in chapter 4.

Device control

In order that the control panel can control the connectedMTR-DCI, the control interface of the MTR-DCI must bedeactivated and controller enable must be set [HMI = on].The actual status of the ENABLE input then has no effect.

Instructions on parametrizing and commissioning

Information on the current parametrizing of the motor unitcan be found in the menu [Diagnostic] on the control panel.

Carry out the following steps in order to commission theMTR-DCI the first time with the control panel: Note thedetailed description in the chapters specified.

Commissioning (overview) Chapter

1. Select the axis type and, if necessary, adapt theparametrizing to suit your axis.

5.2.1

2. Set the following parameters for reference travel:– Homing method– Search speed to reference point– Positioning speed to axis zero point

5.2.2

3. Carry out homing run. 5.2.2

4. Teach the following axis parameters for defining theaxis zero point and the working area:– Offset of the axis zero point to the reference point– Positive and negative software end positions.

5.2.3

} Settings

Axis type

Type DMES...

Rotation drive

User config

5. Commissioning


Commissioning (overview) Chapter

5. Enter several position sets (target position,positioning mode and positioning speed).

6. Carry out a test run to check the positioning reactionof the axis, as well as the basis coordinates and theworking area.

7. If necessary, optimize the settings for position sets aswell as for the basis coordinates and the working area.

5.2.4

8. Check the function of the control interface of theMTR-DCI (function test).

5.4.1

9. Before completing commissioning, note theinstructions on operation.

6.1

Tab. 5/1: Commissioning (overview)

In order to restore the default settings, the EEPROM can bedeleted, if required, with the CI command 20F1 (Data memorycontrol) directly via the serial interface (see chapter B.1.2).

5.2.1 Selecting the axis type

1. Select the axis type which matches your positioningsystem.

– Festo positioning axis [Type DMES]

– Rotation axis [Rotation drive]

– Linear axis [User config].

2. Depending on the entry requested, set axis-specificparameters by means of the arrow buttons:

– feed constant (Feedcon) or

– measuring system (degree/revolutions).

3. Save the setting with SAVE <Enter>.

5. Commissioning


Axis type Feed constant[mm/revolution]

Measuringsystem

Festo positioningaxis 1) 2)

DMES-18 1.5 Metric 3)

DMES-25 2.5

DMES-40 4

DMES-63 6

Rotation axis — Degree orrevolutions

Linear axis 2) According to the typeplate or technicalspecifications of theaxis

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

5. Commissioning


5.2.2 Setting the homing parameter

CautionDamage to components

The slide may only move against the fixed stop if the per-mitted impact energy is not exceeded. The permitted valuecan be found in the manual for your positioning axis.Impact energy = 0.5 x mass x speed2

For the protection of the mechanical components:

• Reduce the speed at which homing run is carried out.The speed can be specified at 0 % to 50 % of the ratedspeed depending on the specific application.

• If necessary, limit the motor current during homing runwith 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 helpMTR-DCI).

CautionIf the homing method is changed, the axis zero point offsetis reset to zero. Any settings implemented for the softwareend positions and the target positions in the positioningrecord table are retained. Note that these values refer tothe previous axis zero point.

• Always carry out a homing run after changing the refer-encing method.

• Then teach the offset of the axis zero point.

If the axis zero point is modified:

• Teach the software end positions and the target posi-tions again.

5. Commissioning


Current limiting

The motor current can be specified with 1 to 200 % of therated motor current depending on the specific application(see FCT/PlugIn help MTR-DCI).

Positioning axis DMES can carry out homing run with the fac-tory-set current limitation (150 % of the rated motor current).The current limitation need not be modified.

Current limitation 1) 32 42 52 62

100 % Z1 x rated motor current

motor currentmotor torque

AmNm

0.7330

2.0110

5.0300

6.19700

150 % (default) Z1.5 x rated motor current


AmNm

1.146

3.0171

7.5460

9.291076

200 % Z2 x rated motor current


AmNm

1.4662

3.8 2)

2207.7 2)

47012.381450

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

NotePlease note the following when adapting the currentlimitation:

– By means of a current limitation, the maximum possiblespeed of homing run will also be reduced. The set ratedspeed will therefore, in some cases, no longer beachieved.

– If the drive is arranged vertically, an increase in themotor current may be necessary. If the motor current istoo low, homing run cannot be carried out.

} Settings

Homing parameter

Homing method

Velocity v_B+W

Velocity v_s0

Save

5. Commissioning


Set parameters

The reference point is defined by means of a reference switchor fixed stop depending on the set homing method. If a hom-ing run to a mechanical end position is not possible in theapplication, an external sensor (reference switch) can be usedas reference signal (see also chapter 1.5.1).

Reference run parameters(factory setting)

32 42 52 62

Homing method Reference switch, negative (near motor)

Velocities v_sw, v_s0 % 1)

inc/s~41 %27000

~22 %22400

~17%16800

~15%16800

Rated speed of the motor rot/sinc/s

5566000

50100000

50100000

56,7113400

1)%of the rated speed of the motor; max. 50 %

• Set the following homing parameters one after theother:

– 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 with OK <Enter>. The setting will thenbecome effective in the drive.

• Save the parameter settings with the menu command[Save]. Only then will the settings be retained even if thepower supply is switched off or if there is a power failure.

• Finally, carry out a homing run, otherwise the previousreference system of the MTR-DCI will remain unmodified.

5. Commissioning


Start homing run

NoteWhen carrying out a homing run note that

– the drive must be in the permitted positioning range.

– the drive moves in the search direction according to theselected homing method and, at the start, must be posi-tioned in front of the fixed stop or reference switch.

1. If necessary, position the drive in the Teach mode so that,at the start, it is positioned in front of the fixed stop orreference switch in the search direction.

• Select e.g. [Settings] [Position set] [Position] (see alsochapter 5.2.5).

• Move the drive to the desired position manually withthe arrow buttons.

• Interrupt the procedure with ESC <menu>, in order thatthe 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 the axiszero point. During the initial commissioning procedure orafter changing the homing method, the offset of the axis zeropoint = 0; after a homing run the drive then stands at thereference point (= axis zero point).

} Positioning

Demo posit tab

Move posit set

Homing

5. Commissioning


Discontinue homing run

If necessary, homing run can be discontinued with the <Menu>button (EMERG STOP). If homing run is interrupted, the dis-play will show the fault message HOMING ERROR. If a correcthoming run has already been carried out, the previous refer-ence point will retain its validity.

• Quit the fault message with <Enter>.

• Repeat homing run.

Fault during homing run

If a fault 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 atthe start it stands in the search direction in front of thestop or reference switch.

• Repeat homing run.

5.2.3 Teach the axis zero point and the software end positions

Prerequisites for teaching the axis zero point and thesoftware end positions:

– Homing run was successful.

NoteWhen homing run to a stop, set the offset of the axis zeropoint to ≠ 0. You will then prevent movement to the mech-anical end positions during operation.

5. Commissioning


Teach the axis zero point:

1. Select [Settings] [Axis parameter] [Zero point].

2. Move the drive to the desired axis zero point manuallywith the arrow buttons.

3. Accept the position reached with OK <Enter>. The settingwill then become effective in the drive. The current posi-tion xa becomes the axis zero point (xa = 0).

NoteIf the axis zero point is modified:

Check existing settings of the software end positions andof target positions in the position table. Note that thesevalues refer to the previous axis zero point.

• Teach the software end positions and the targetpositions again.

Teach the negative software end position and the positivesoftware 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 settingwill then become effective in the drive.

4. Save the parameter settings with [Save]. Only then will thesettings be retained even if the power supply is switchedoff or if there is a power failure.

} Settings

Axis parameter

Zero point

Abs.min.pos

Abs.max.pos

Save

5. Commissioning


5.2.4 Positioning with position sets

WarningDamage to or impairment of the mechanical components.

With all positioning procedures the motor turns or theconnected axis starts to move.

• Make sure that:



The following conditions must be fulfilled:

– Homing run was successful.

– The axis zero point and the software end positions are setcorrectly.

NotePlease note that position sets with speed v = 0 or invalidtarget 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 settings for position sets as wellas for the basis coordinates and the working area(see chapter 5.2).

• After a successful test run you can teach the positions inthe position set table to which movement must be made.

5. Commissioning


5.2.5 Teach position sets

Enter the position sets as follows:

1. Activate the desired position set (0...14) with [Settings][Position set] [Position no].

2. Complete or correct the positioning mode of the positionset:

• Select [Pos. set mode].

• Set the positioning mode with the arrow buttons:absolute = absolute position specification, related

to the project zero pointrelative = relative position specification, related to

the current position.

• Accept the value with OK <Enter>.

NoteAfter each change of the positioning mode, teach thetarget position of the position set, otherwise the change ofpositioning mode will not be accepted.

3. Teach the target position of the position set:

• Select [Position].

• Move the drive to the desired target position manuallywith the arrow buttons.

• Accept the position reached with OK <Enter>. The set-ting of the target position and the positioning modewill then become effective in the drive.

4. Complete or correct the speed.

• Select [Velocity].

} Settings

Position set

Position no

Pos. set mode

Position

Velocity

Save

5. Commissioning


• Set the nominal speed with the arrow buttons.

• Accept the setting with OK <Enter>. The setting willthen become effective in the drive.

5. Save the position set with [Save]. Only then will thesettings be retained even if the power supply is switchedoff or if there is a power failure.

6. Enter the next position set.

Digitalization faults of the analogue-digital convertor canaccumulate in the case of relative position movements whichoccur frequently one after the other and lead to deviations ofthe position values. If necessary, insert an absolute positionset or homing run into the positioning cycle, in order to cor-rect deviations.

5.2.6 Test run


During operation it is not permitted to move to the mech-anical end positions (stops). If movement is made to theend positions with a heavy load, jamming may occur in theend positions.

• Set the offset of the axis zero point ≠ 0.

• Limit the positioning range by defining valid softwareend positions during commissioning (see chapter 1.5.1).

• Specify target positions only within the permitted posi-tioning range.

5. Commissioning


1. Enter several position sets in order to check the position-ing reaction (see chapter 5.2.5).

• Set the target positions at the limits of the positioningrange in order to check the software end positions.

• Set different speeds.

2. Select [Positioning] [Move posit set] in order to process acertain position set - or -

3. Select [Positioning] [Demo posit tab] in order to processall position sets. At least two position sets must be en-tered in the position set table.

With positioning run [Demo posit tab] all position sets0...14 in the position set table will be processed one afterthe other.

If the position set table contains a position set with speedv = 0, neither this position set nor the following sets willbe processed; positioning run will be continued with posi-tion set 0.

With DEMO STOP <Enter> you can interrupt the positioningcycle [Demo posit tab]. The current position set will be pro-cessed before the drive stops.

4. Start the test run.

• Check the positioning reaction.

• Check the displayed coordinates of the axis.

With EMERG.STOP <Menu> you can interrupt the currentpositioning procedure.

5. If necessary, optimize the settings for position sets as wellas for the basis coordinates and the working area.

} Positioning

Demo posit tab

Move posit set

Homing

5. Commissioning


5.3 Commissioning with FCT

5.3.1 Installing the FCT

NoteThe PlugIn MTR-DCI version V1.1.0 supports the followingmotor units of MTR-DCI-...IO:

– MTR-DCI-32: Firmware version V-DME 1.20

– MTR-DCI-42: Firmware version V-DME 1.19 / 1.20

– MTR-DCI-52: Firmware version V-DME 1.19 / 1.20

– MTR-DCI-62: Firmware version V-DME 1.20

• Check with later versions of the MTR-DCI to ascertainwhether an updated PlugIn is provided. If necessaryconsult Festo.

NoteAdministrator 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 theinstallation program of the FCT.

1. Close all programs.

2. Place the Festo Configuration Tool CD in your CD ROMdrive. If Auto Run is activated on your system, installationwill start automatically and you can omit steps 3 and 4.

3. Select [Execute] in the starting menu.

4. Enter D:\setup (if necessary replace D by the letter of yourCD ROM drive).

5. Follow the instructions on the display screen.

5. Commissioning


5.3.2 Procedure for commissioning with the Festo Configuration Tool

Starting the FCT

Carry out the following steps in order to commission theMTR-DCI with the FCT:

1. Connect the MTR-DCI to your PC via the RS232 interface.Note here the instructions in chapter 3.4.

2. Starting the FCT: Double-click on the Festo ConfigurationTool icon on the desktop.– or –switch to Windows and select the entry [Festo Software][Festo Configuration Tool] in the menu [Start].

3. Create a project in the FCT or open an existing project.Add a device to the project with the PlugIn MTR-DCI.

4. Create the device connection (online connection) betweenthe 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, thecontrol interface of the MTR-DCI must be deactivated and“Controller enable” must be set. The actual status of theENABLE input then has no effect. Switch to the window“Project output”, then select the register “Operate” andactivate under “Device control” first the control box“FCT/HMI” and then the control box “Enable”. The controlinterface of the MTR-DCI will then be deactivated and ControlEnable will be set by the FCT.

5. Commissioning


Instructions on parametrizing and commissioning

Further information can be found in the help for the FCT withthe command [Help] [Contents FCT general] e.g.

– Help on working with projects and on inserting a deviceinto a project.

– Help on defining the measuring reference system(referencing and basis coordinates).

The PlugIn MTR-DCI for the FCT supports all the steps necess-ary 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-DCIbeing connected to the PC. This enables the actual commis-sioning to be prepared, e.g. in the design office when a newsystem is being planned.

Further information can be found in the PlugIn help:Command [Help] [Contents of installed PlugIns] [Festo(manufacturer name)] [MTR-DCI (PlugIn name)] e.g.:

– for describing the dialogues of the “Device MTR-DCI”

– for describing the work steps for commissioning

– for the basic functions: Device connection, Device names,Device control and for password protection.

5. Commissioning


5.4 Communication with the higher-order controller

5.4.1 I/O function check

WarningDanger of injury. Faults in parametrizing can cause injuryto people and damage to property.

• Enable the controller only if the drive system is correctlyinstalled and parametrized.

In order that the MTR-DCI can be controlled via the controlinterface, the manual device control via the control panel /FCT software must be deactivated:

– automatically when the operating voltage is switched on(HMI = off)

– via the control panel of the MTR-DCI with the menu com-mand [HMI control] (HMI = off)

– with FCT under “Device control” in the window “Generaloutput”, (FCT = off).

In order to check the configuration and the axis set-up, entera simple test program or simulate control by directly settingthe inputs.

• Please refer here to the function description of the controlinterface in chapter 5.4.2.

• Provide the necessary system inputs on the MTR-DCI.There must be a 1-signal at the ENABLE input (controllerand power end stage enabled).

• Take into account also the output signals. There will be a1-signal at the READY output (readiness to operate) if thecontroller and the power end stage are enabled and if nofault has been recognized.

• Program or start homing run as well as some positioningmovements.

• Check the positioning reaction.

5. Commissioning


5.4.2 Description of the I/Os

Position sets I1 ... I4 Selection of the position sets is carried out via the binarycoding of inputs I1 (Bit 0) ... I4 (Bit 3).

Positioningset

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

5. Commissioning


START I5 The position set sequence is started with a rising edge at theSTART input.

Prerequisite:

– a 1-signal must be active at READY (no fault, ENABLE = 1),

– a 1-signal must be active at MC,

– the desired position set must be at I1 ... I4.

Pin Signal START (input)

I5 0> 1 Start of the position set

Processing of the position set can be discontinued with afalling edge at the ENABLE input (> 0). If started again, theposition set will be processed further as from the currentposition.

ENABLE 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 controllerand 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 switchedoff. Current run will be discontinued. When the power endstage is switched off, the drive becomes torque-free and goesinto a spin. The motor no longer receives current and thedrive can be shifted.

As long as the power supply is not switched off, the actualposition is registered even after the power end stage isswitched off. When enabled again the drive will standcontrolled be at the current position.

5. Commissioning


If there is a 1-signal at the ENABLE input, the controller andthe power end stage will be switched on. The current positionset will be processed at the next START signal.

Pin Status ENABLE

I6 1-signal Controller and power end stage areswitched on

0-signal Controller and power end stage areswitched off

1> 0 Quit faults

READY O1 Ready to operate. All prerequisites for starting a positioningprocedure 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 completeShows that a positioning order has been completed and thatthe START input has been reset.

Pin Status MOTION COMPLETE

O2 0-signal Positioning procedure is being carried out orthere is still a START signal at 1.

1-signal Positioning task is completed

5. Commissioning


5.4.3 Function description (pulse-time diagram)

Switch-on and homing run

Start-up reaction In order to guarantee that the system starts correctly, allinput signals must be stable when the power supply isswitched on (min. 1 s). After this the input signals arescanned:

If a fault occurs when the device is switched on, the STARTsignal> 1 will not be observed until the FAULT signal iscancelled.

If there are no faults and the 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), theMC signal is reset (> 0) and the drive carries out homingrun.

Disable Homing run can be discontinued like any position set with afalling edge at the ENABLE input (> 0).

Fault If homing run is discontinued by a cancelled ENABLE signal ora fault, the controller will set internally the FAULT signal (> 1,HOMING ERROR). The MC signal and the READY signal will bereset> 0.

5. Commissioning


NoteIf a fault occurs during homing run, you must do the fol-lowing before starting a new position set:

– if necessary, reset the START input (= 0),

– delete the fault with a falling edge at ENABLE (> 0),

– repeat homing run.

NoteWith non self-locking axes new homing run must always becarried out. With self-locking axes the existing referencepoint remains valid until new homing run is carried out.

When homing run has been successfully completed, the MCsignal is set again (> 1). After that, any number of position-ing procedures can be carried out.

5. Commissioning


1

0

1

0

(TR)

READY O1

1

0

1

0

START I5

1

0

(FAULT)

Drive in motion

Start homing run

1

0

Position set 15I1...I4

1

0

MC O2

ENABLE I6

(POWER)1

0

Initialization

t TR

New homing run

Enable

Delete faults

Homing runcompleted

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 alsorepresented in the pulse-time diagrams:(POWER) Power supply(FAULT) Fault(TR) Target position reached (TARGET REACHED)

5. Commissioning


Positioning procedures

Start positioningprocedure

If there are no faults and enable is active (ENABLE = 1), thepositioning procedure (input word I1 ... I4 = 1, positive edgeat START input) can be carried out. When the START signalis set (> 1), the MC signal (Motion Complete) is reset (> 0)and the drive moves to the specified target position. As longas the drive is in motion, the MC signal remains reset, andno other position set can be started with the START signal.

Disable With a falling edge at the ENABLE input (> 0), the outputsREADY and the MC are reset (> 0). A current positioningprocedure is discontinued. The starting signal will then beignored. When the ENABLE signal is enabled again> 1,READY and MC will still not be set until the START signal isreset (> 0). The next position set can then be started witha rising edge at the START input (> 1).

Position reached The TR signal will be set with position sets when the nominalposition is reached (after approx. 20 ms).If the TR signal is set while the START signal is still at 1, theMC signal will remain at 0 until the START signal is reset. Thiscoupling of the START/ MC signal enables signal confirmationfor the PLC Z(handshake function, see Fig. 5/3: Start 1).If the START signal is reset after the MC signal has confirmedthe start (MC> 0) and before the TR signal is set, the MCsignal will be set simultaneously with the TR signal when ithas reached the nominal value (MC, TR> 1, see Fig. 5/3:Start 2).

Fault During operation the outputs READY and MC will be reset ifthere is a fault. A fault is clearly indicated during operation bythe following I/O status:

– Operating voltage applied

– Inputs: ENABLE = 1 and START = 0

– Outputs: MC = 0 and READY = 0

5. Commissioning


NoteIf a fault occurs during operation, you must do thefollowing before starting a new position set:

– if necessary, reset the START input (= 0).

– delete the fault with a falling edge at ENABLE (> 0),

When the fault has been eliminated and there is a rising edgeat ENABLE (> 1) the READY output signalizes (> 1) that anew positioning task can be started. If the fault cannot beeliminated, 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 setI1...I4

1

0

MC O2

ENABLE I6

Nominal positionreached

Ready foroperation

t TR

t ≥ t TR

Start 2

Nominal positionreached

t ‹ t TR

Cancel Enable

Fig. 5/3: Pulse-time diagram (positioning procedure – start – nominal position reached –cancel)

Operating, maintenance and diagnosis


Chapter 6

Operating, maintenance and diagnosis

6. Operating, maintenance and diagnosis


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. . . . . . .



6.1 Important user instructions

Take the following instructions and recommendations intoaccount when programming positioning systems with electricaxes:

Start-up behaviour and referencing

Note• Make sure that the axis is within the permitted position-ing range when it is switched on.

• When the power supply is switched off, wait for approx.10 seconds before switching the device on again.

WarningRisk of injury.Parameterisation errors can cause injury to people anddamage 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 ACTUAL POSITION NOT SAVEDPLEASE ENFORCE HOMING RUN,

– with a non self-locking axis each time it is switchedon.

• Make sure that the axis is within the permitted posi-tioning range when it is switched on.



NoteWhen the coupling or clamping element in the couplinghousing is loosened, the motor can be turned on itslongitudinal axis. The reference position will then be lost.homing run must then be carried out at all costs even withself-locking axes.

Device connection

CautionThe RS232 interface is not electrically isolated. It is notintended for permanent connection to PC systems, nor as acontrol interface.

• Use the connection only for parametrizing anddiagnosis.

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 canbe blocked.

Recommendation:

• Protect the settings of your axis against undesired modifi-cations with a password:

– FCT password protection(8 characters, see PlugIn help MTR-DCI)

– HMI password protection with the MTR-DCI-...-H2(3 characters, see chapter 4.2.3)



Control in operation

WarningDanger of injury

Faults in parametrizing can cause injury to human beingsand damage to property if the controller is enabled with a1-signal at the ENABLE input.

• Enable the controller only if the axis system is correctlyinstalled and parametrized.

CautionNote the manufacturer’s specifications for the permittedoperating conditions of the motors and drives used, e.g. inrespect of the permitted positioning speeds.


Movement to the mechanical end positions is not per-mitted during operation. If movement is made to the endpositions with a heavy load, jamming may occur in the endpositions.

NoteTake into account any functions implemented within theframework of the EMERGENCY STOP concept correspon-dingly in the control programs.

Care and maintenance

The motor units do not require maintenance during theirspecified service life. Follow the maintenance instructions forthe components used.



6.2 Diagnosis and fault display

6.2.1 General diagnostic possibilities

The MTR-DCI offers the following possibilities of diagnosisand fault treatment:

Diagnosticpossibility

Brief description Advantages /Properties

Detaileddescription

LED display LEDs indicate the readiness tooperate, positioning status, faults andbus status.

Fast “on-the-spot”recognition offaults

Section 6.2.2

Control panelwith LC displaywithMTR-DCI-...-H2

Warnings, messages and faults aredisplayed directly on the LC display

Fast “on-the-spot”fault diagnosis

Section 6.2.3

Diagnostic data, operating mode, thecurrent positioning set, target andactual positions, speed as well asinformation on I/O communicationcan be accessed on the control panel.

Detailed diagnos-tic possibility“on-the-spot”

Section 4.2.2

Control interface The output READY indicates thereadiness to operate. The outputMOTION COMPLETE indicates whethera positioning task is completed.

Simple diagnosisvia the I/Ointerface

Section 5.4

FestoConfigurationTool

With active device connection:– Display of the current position set,

target and actual positions as wellas speed.

– Display the operating mode, specialoutputs and operating states asswell as fault messages of theconnected MTR-DCI.

Detailed diagnosisduring commis-sioning

Help for PlugInMTR-DCI

Tab. 6/1: Overview of diagnostic possibilities



6.2.2 LED status displays

The operating states are shown with 3 LEDs:

– (POWER)

– I/F (e.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



I/F 1) Status 2)

Ready for operation– Positioning procedure is completed

(Motion Complete)– Controller and power end stage enabled.green

Not ready to operate and enable missing– Nominal position not reached; positioning procedure

stopped– Controller and power end stage not enabledred

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 LED2) If there is no fault, i.e. LED ERROR = out

Tab. 6/4: LED “I/F” (interface/field bus)



6.2.3 Fault messages on the display (only type MTR-DCI-...-H2)

Messages Messages inform about operating states.

Message Cause

Attention!Motor moves...

Message at the start of a Teach procedure. Afterconfirmation with the <ENTER> button the drivemoves in the Teach mode.

Profile velocity= 0.Please teach v.

The menu command [Move posit set] is notprocessed because the positioning speed of thepositioning set v = 0. Modify the parametrizing orselect a different positioning set.

TemperatureOK

Operating temperature lies in permitted rangeagain after exceeding/not reaching limit.

Warning In the event of non-permitted operating temperatures, themotor unit displays an appropriate warning. If a positioningtask is running, it will not be interrupted.

Warning Cause

HOTTEMPERATURE

Operating temperature 70 °C < T < 80 °C,Check whether drive is overloaded, check themechanical parts, e.g. for stiffness, reduceambient temperature.

COLDTEMPERATURE

Operating temperature < -10 °C,if necessary, increase ambient temperature.

Fault If there is a fault, the drive will be stopped. The fault LED willflash.

• Eliminate the cause of the fault.

• Acknowledge the fault message.

– on the control panel with <Enter>,

– via I/O with a falling edge at the ENABLE signal,

– with the “Quit fault” button in the Festo ConfigurationTool.



Fault Possible cause

HARDWARE ERROR Device fault e.g. EEPROM defective.• Please contact your Festo Service.

HOMING ERROR Fault during homing runPossible causes:– homing run interrupted– Reference switch defective• If necessary, check the function of the reference switch• It is essential that you repeat the homing run.

i2t-ERROR Current monitoring i2t.Possible causeThe drive is blocked.• Check the mechanical parts of the drive.

LAST ACTUALPOSITION NOT SAVEDPLEASE ENFORCEHOMING RUN

When starting 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 procedurePossible causeThe positioning procedure is discontinued on the control panel withEMERG.STOP (<Menu> button).• Quit the fault on the control panel with <Enter>

OVERHEATING Overheating (operating temperature > 80 °C)Possible cause– Motor overloaded– Ambient temperature too high• Check ...

– that the limits are observed (motor characteristic curves)– the mechanical parts e.g. for stiffness.

• If necessary, reduce the ambient temperature.



Fault Possible cause

POSITION ERROR Position fault (drag fault)Possible causes:– The drive is blocked– The positioning speed is too high– The work load is too heavy• Check ...

– the mechanical parts of the drive– the speed of the positioning set.

POWER DOWN Voltage monitoringPossible causes:– Voltage supply too low

MTR-DCI 32/42/52: U < 18 VMTR-DCI 62: U < 34 V

– Voltage dips under load• Check the voltage supply.

– Power unit too weak?– Supply line too long?

TARGET POSITION OUTOF LIMIT

The specified nominal position is outside the permitted positioning range.• Check the ...

– software end positions– the set/nominal position– the reference of the nominal position (absolute or relative).

Technical appendix

A-1Festo P.BE-MTR-DCI-IO-EN en 1209d

Appendix A

Technical appendix

A. Technical 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical specifications

General

Protection class as per EN 60529 IP54 (Plug connector inserted or fitted with protec-tive cap)

Relative humidity 0 to 95 %, non-condensing

Temperature range– Operation– Storage/transport

0 ... +50 °C-25 ... +60 °C

Vibration As per DIN/IEC 68/EN 60068 part 2-6:Severity level 2:0.35 mm path at 10 ... 60 Hz;5 g acceleration at 60 ... 150 Hz

Shock As per DIN/IEC 68/EN 60068 part 2-27Severity level 2:±30 g at 11 ms duration;5 shocks in each direction

Protection against electric shock 1)

(protection against direct and indirect contactas 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/revolutionMTR-DCI-32: 300 x4—> 1200 inc/revolution

Temperature monitoring Switching off at temperature > 70 °C

Display resolution 128 x 64 pixels

Serial interface RS232, 9600 baud

1) The device is intended for industrial use.2) The maximum permitted I/O signal cable length is 30 m.



Mechanical data 32 42 52 62

MTR-DCI-...-G7: Gear reduction 6.75:1; 1-stage

Gear 1)

– Drive output speed– Torsional backlash– Drive output torque– Degree of efficiency

[1/min][°][Nm]–

481≤ 1.90.150.75

444≤ 1.30.590.8

444≤ 1.11.620.8

504≤ 1.03.780.8

Mass moment of inertia– Rotor– Gear unit

[kg cm2][kg cm2]

0.0240.00089

0.03230.00235

1.2090.01132

3.30.017

Product weight [kg] 0.7 1.7 3.1 7.6

MTR-DCI-...-G14: Gear reduction 13.73:1; 2-stage

Gear 1)


[1/min][°][Nm]–

237≤ 1.550.290.7

218≤ 0.951.130.75

218≤ 0.753.080.75

248≤ 1.57.200.75


[kg cm2] 0.0240.00149

0.3230.00441

1.2090.01711

3.30.035

Product weight [kg] 0.7 1.8 3.3 8.0

MTR-DCI-...-G22: Gear reduction ratio 22.21:1

Gear 1)


[1/min][°][Nm]–

– – – 153≤1.511.660.75


[kg cm2][kg cm2]

– – – 3.30.022

Product weight [kg] – – – 8.0

1) Permitted loading of gear shaft see chapter 2, Tab. 2/2



Electricalspecifications

32 42 52 62

Rated voltage 24 V DC ±10 % 48 V DC +5...-10 %

Rated current 0.73 A ±20 % 2 A ±20 % 5 A ±20 % 6.19 A ±20 %

Nominal torque(motor withoutgears)

30 mNm 110 mNm 300 mNm 700 mNm

Peak current 2.1 A ±20 % 3.8 A ±20 % 7.7 A ±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 logic outputs 2

Overload protection Yes

Maximum current [mA] 200 60

Rated current [mA] 100 50



A.2 Accessories

Connection Accessories Designation Length [m]

Voltage supply Power supply cable KPWR-MC-1-SUB-9HC-... 2.5 / 5 / 10

Serial interface Programming cable KDI-MC-M8-SUB-9-... 2.5

Homing Switch Switch, magneticSwitch, inductive

SMT-8M-...-M8DSIEN-...-M8B-...

–

Connecting cable withscrew-type lock

KM8-M8-GSGD.... 0.5 / 1 / 2 / 5

Field bus connectionincl. 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 P.BE-MTR-DCI-IO-SV



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



MTR-DCI-32...-G14

MTR-DCI-32...-G7I [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



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




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




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




MTR-DCI-62...-G22

I [A]

M [Nm]

n [rpm] 1 2

3 4

5




A.4 Converting measuring units

A measuring system must be defined for specifying the para-meters of the electric axis. In order to enable simple paramet-rizing for different application cases, the controller can be setvia the control panel or FCT so that the user can specify orread all variables directly in the desired units on the powertake-off, e.g.:

– the metric measuring system for linear movements (mm,mm/s, mm/s2)

– the angle measuring system for purely rotational move-ments (degree, degree/s, degree/s2) or (rot, rot/s, rot/s2)

– the imperial measuring system (inch, inch/s, inch/s2)

Each physical variable (position, speed and acceleration) isadapted to the relevant measuring system by means of a con-version factor.

In the controller all parameters are always saved in incrementspecifications (inc, inc/s, inc/s2) and are not converted untilthey are written in or read. For the display, conversion fromthe internal basis system into the (pre)set measuring systemtakes place within the firmware; for representation on the PCmonitor within the FCT software. In this way, the user doesnot need to carry out conversion when entering values orwhen reading on the control panel or in the FCT.Direct transfer of values via the serial interface with CI com-mands always takes place in the basis system and requiresconversion into increments.

Conversion is carried out via the parameters:

– Feed constant (depending on the drive type)

– Gear reduction

– Encoder resolution = physical measuring steps per motorrevolution. For the MTR-DCI: Pulse quadruplication by di-gital interpolation



Parameters MTR-DCI-32 MTR-DCI-42 MTR-DCI-52 MTR-DCI-62

Feed 1) DMES-18:1500 [μm/rot]

DMES-25:2500 [μm/rot]



Enc 2) 300 x 4 = 1200[incr/rot]

500 x 4 = 2000 [incr/rot]

Gear 3) MTR-DCI-...-G7 (6.75:1) } 27:4MTR-DCI-...-G14 (13.73:1) } 3969:289MTR-DCI-...-G22 (22.2:1) } 1710:77

1) Feed constant: dependent on the axis type, here DMES2) Encoder resolution on the MTR-DCI: pulse quadruplication by digital interpolation3) 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

540010986.851211

1371627906.602076


-G7-G14

540010986.851211

13716027906.602076


-G7-G14

33756866.782007

8572517441.626298


-G7-G14-G22

22504577.8546717402.597403

5715011627.75086518802.597403

Tab. A/6: Special conversion factors for the MTR-DCI with DMES



General conversion factors UF

1 [inch] = 25, 4 [mm]

1 [�inch] = 0, 0254 [�m]

1 [°] =1

360[rot]

[μm] } [inc]

UF�m �inc�m� =

enc× gear

feed�m

�incrot×

rot

rot�m

rot

�[μinch] } [inc]

UF�inch� inc�inch�= enc× gear

feed�inch

�incrot×

rot

rot

�inch

rot

�=

enc× gear

feed�m ×1

0,0254

� inc

rot×

rot

rot

�m

rot×

�inch

�m

�= UF�m × 0, 0254 �inc

�m×�m

�inch�

[rot] } [inc]UFrot �incrot� = enc× gear �inc

rot×

rotrot�



Physical variable Conversion into increments

Item POS [inc]

– Target position

– Reference point

– Project zero point

– Software end position,positive

– Software end position,negative

[µm]} [inc] = POSμm x CFμm [µm] x [inc/µm]

[µinch]} [inc] = POSμinch x (0.0254 x CFμm ) *= POSμinch x CFμinch

[µinch] x [µm/µinch] x [inc/µm]

[µinch] x [inc/µinch]

[rot]} [inc] = POSRed x CFRed [rot] x [inc/rot)

Speed V [inc/s] =

– Positioning speed to tar-get position

– Search speed during refer-ence travel

– Positioning speed to theaxis 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]} [inc] = aμinch x (0.0254* x CFμm) *= aμinch x CFμinch

[µm/s2] x [µm/µinch] x [inc/µm]

[µinch/s2] x [inc/µinch]

[rot]} [inc] = aRed x CFRed [rot/s2] x [inc/rot]

* Conversion [µm]} [µinch] : 1 µInch = 0.0254 µm

Tab. A/7: General formulae for conversion

Supplementary information

B-1Festo P.BE-MTR-DCI-IO-EN en 1209d

Appendix B

Supplementary information

B. Supplementary information

B-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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



B.1 The Command Interpreter (CI)

The commands implemented in the Command Interpreter ofthe MTR-DCI are based in respect of their content on the Ob-jects standardized by CANopen (CiA Draft Standard 402):Group 1xxx Device descriptionGroup 2xxx Festo objectsGroup 6xxx Objects as per CANopen

The CiA Draft Standard 402 deals with the concrete imple-mentation of CANopen in drive controllers.

Object directory The total of all parametrizing and control possibilities is re-ferred to as the Object directory. Access can be made to theObject directory of the controller 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) isassigned to each Object.

Access procedure The higher-order controller sends the controller either a writecommand (WRITE) in order to modify a parameter of the Ob-ject directory, or a read command (READ) in order to read outa parameter.

For each command the higher-order controller receives areply which either contains the value read or, in the case of awrite command, serves as an acknowledgement. The trans-ferred value (1, 2 or 4 data bytes) depends on the data typeof the Object to be read or written.

As from version 1.19, the firmware of the MTR-DCI offers thepossibility of simulating SDO access with CI commands viathe RS232 interface.



NoteIn order to restore the default settings you can, if required,delete the EEPROM via the serial interface with the CI com-mand 20F1h (Data memory control) (see chapter B.1.).User-specific settings will then be lost.

• Use CI commands only if you already have experience ofService Data Objects.

• If necessary, consult Festo.

B.1.1 Procedure for data transfer

CautionIn special application cases, access with CI commandsenables parametrizing and commissioning of the MTR-DCIdirectly via the RS232 interface. It is, however, not suitablefor real-time capable communication.

Control via the RS232 does not correspond to thedesignated use and requires e.g.:

– an estimation of the risk by the user

– ambient conditions free of interference

– saving the data transmission e.g. via the controlprogram 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 controlpurposes.



WarningInjury to people and damage to property.

Full access to the internal variables of the servo controllercan be made via CI commands. Incorrect operation cancause the controller to react unexpectedly and the motormay 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 DraftStandard 402 before you use the CI commands of theCommand Interpreter of the MTR-DCI.

For data transfer you will require a commercially-availableterminal program or the CI terminal of the plugin MTR-DCI inthe Festo Configuration Tool (FCT).



Carry out the following steps:

• Connect the MTR-DCI to your PC via the RS232 interface.Note here the instructions in chapter 3.4.

• If necessary, adapt the PC interface to the followingtransmission protocol.

Transmission 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 thefollowing command from the PC:

Command 310d h Reply 31310d h

1 <CR> 11 <CR>

• Use CI commands only if you already know their effectsand if they are permitted for your MTR-DCI. Note theObject list and the description of the commands as fromsection B.1.3.



Permitted value ranges Transferred parameters and values are checked by theMTR-DCI before being accepted.

– Non-permitted parameters will not be accepted.

– Values outside the permitted value range will be limitedto the next valid value.

NoteIn the case of non-permitted parameters or values, no faultmessage will appear in the reply, the value transferred willalways be returned.

Recommendation:

• Check that values and parameters have been writtencorrectly by downloading the current contents of theparameter or value with one of the following Readcommands:

Transmission faults If there are transmission faults between the Host (PC) and thetarget device, e. g. due to faults in the Host command, Object2FF0:FF<CR> will be transferred instead of the regular reply.

Possible causes:

– incorrect starting character, separating character orempty character

– incorrect hex figure

– incorrect value type.

Name Class IIII SS Type Acc

communication_error

Var 2FF0 00 UINT16 R

Value Comment

0xFF In the case of a transmission fault, the value <0xFF>will be transferred instead of the regular reply.



NoteTransmission of the command is repeated 8 times by thehost. After that the serial connection is regarded as unus-able and is interrupted. Transmission must then be initial-ized again.

B.1.2 CI commands

CautionLoss of data

The Command Interpreter (CI) contains commands whichreorganise or delete parts of the memory. Existing data aretherefore destroyed:

• Use preferably the FCT or the control panel for commis-sioning and parametrizing.

• Use the CI commands only in special applications whichrequire direct access to the controller.

• Use CI commands only if you already know their effectsand if they are permitted for your MTR-DCI.

Access procedure The higher-order controller sends the controller either a writecommand (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 aresponse which either contains the value read or, in the caseof a write command, serves as an acknowledgement. Thetransmitted value (1, 2 or 4 data bytes) depends on the datatype of the object to be read or written.

WRITE (W) Write commands (W) transfer a value in the specified formatto the MTR-DCI. As a reply, write commands will be reflectedexactly character by character from the controller of theMTR-DCI. A checksum <PS> will be inserted in front of the <CR>.



NoteThe following applies when the objects are written:

– Discrete values:A non-permitted value will not be accepted, the previ-ously valid value will be retained.

– Concrete values (e.g. lengths, speeds, etc.):A non-permitted value will be limited up to the nextpermitted minimum or maximum value.

READ (R) Read commands (R) transfer a value from the MTR-DCI. Thereply from the MTR-DCI controller contains the value read. Achecksum <PS> will be inserted in front of the <CR>.

All commands are entered as a character sequence withoutany empty spaces. A hex character corresponds to a Charcharacter in hex format.

Acc Command Reply

W =IIIISS:<value>CR =IIIISS:<value> <PS> <CR>

R ?IIIISS<CR> =IIIISS:<value> <PS> <CR>

W = writeR = read

Syntax Explanation

“=”, “?” Starting character for Write or Read commands

IIII Index in 4 hexadecimal figures (4H)

SS Subindex in 2 hexadecimal figures (2H)If the addressed Object does not have an indexedparameter, subindex <00> will be specified.

“:” Separating character

<Value> Data in a format depending on data type

<PS> Checksum in 2 hexadecimal figures (2H)

<CR> End character <Carriage Return> ($0D)



<Value> The transferred value (1, 2 or 4 data bytes) depends on thedata type of the Object to be read or written (see sectionB.1.4).

The following data types are supported:

Type Hex Format

UINT8 2H 8 bits without sign: 0...255

INT8 8 bits with sign: -128...127

UINT16 4H 16 bits without sign: 0...65535

INT16 16 bits with sign: -32768...32767

UINT32 8H 32 bits without sign: 0...(232-1)

INT32 8H 32 bits with sign: -(231)...(231-1)

V-STRING Corresponds to the preset string

NoteDirect transfer of values via the serial interface with CIcommands always takes place in the basis system andrequires conversion into increments.

All parameters are always saved in increments in the con-troller and are not converted into the relevant measuringsystem until they are written or downloaded. All physicalvariables (position, speed and acceleration) must be con-verted into increment values before they can be trans-ferred.

Further information on converting can be found insection A.4.



All values are transferred in hexadecimal figures; 1 characterrepresents 4 bits; it is known as a tetrad <Tn>. The first tetradtransferred contains the higher-value bits of 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 andshortened 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>

Format 2 hexadecimal figures

Type UINT8



B.1.3 CI Objects (overview)

NoteThe following table contains an overview of the CI Objects.The Objects may be used only for certain product variantsor only with limitations (e.g. writing only for service pur-poses):

• Note the detailed description in section B.1.4 if you areusing the Objects.

Name CI Objects

Class Type Index Subind. Access

Group 1xxx

Device_Type (device type) Var uint32 1000h 00h r

Manufacturer_Device_Name(device name of manufacturer)

Var V-string 1008h 00h r

Manufacturer_Hardware_Version(hardware version of manufacturer)


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 int32 20E0h 01h...03h rw, rw,rw

Axis_Parameters(axis parameters)

Struct int32 20E2h 01h...03h rw, rw,rw*

Data_Memory_Control (data memory control) Array uint8 20F1h 01h, 02h w, w

— Reserved— — — 20F2h — —

—Reserved— — — 20F3h — —

r = read only; w = write only; rw = read and write; rw* = write only Festo (factory or service).



Name CI ObjectsName

AccessSubind.IndexTypeClass

Group 2xxx continued

Password (password) Array V-string 20FAh 01h, 02h rw, rw

Local_Password (local password) Var V-string 20FBh 00h rw

User_Device_Name (device name of user) Var V-string 20FDh 00h rw

HMI_Parameter (HMI parameter) Array uint8 20FFh 01h, 02h rw, rw

Communication_Fault (transmission fault) Var uint16 2FF0h 00h r

Device_Fault (device fault) Var uint16 2FF1h 00h rw

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

Position_Actual_Value (current actual position) Var int32 6064h 00h r

Position_Window_Time (adjustment time position) Var uint16 6068h 00h rw*

Velocity_Target_Value (nominal speed value) Var int32 606Bh 00h r




Name CI ObjectsName

AccessSubind.IndexTypeClass

Group 6xxx (continued)

Velocity_Actual_Value (current act. speed value) Var int32 606Ch 00h r

Max_Current (maximum current) Var int16 6073h 00h rw

Motor_Rated_Current (rated motor current) Var uint32 6075h 00h r

Target_Position (target position) Var int32 607Ah 00h rw

Software_End_Positions (software end positions) Array int32 607Bh 01h, 02h rw

Offset_Axis_Zero_Point (offset axis zero point) Var int32 607Ch 00h rw

Polarity (reversal of direction) Var uint8 607Eh 00h rw

Profile_Velocity (speed) Var 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_Parameter_Set(parameters of the position controller)

Array uint16 60FBh 12h... 15h,17h, 20h

rw*

Local_Digital_Inputs (local digital inputs) Var uint32 60FDh 00h r

Local_Digital_Outputs (local digital outputs) Array uint32 60FEh 01h, 02h rw, rw

Motor_Type (motor type) Var uint16 6402h 00h rw

Motor_Data (motor data) Record uint32 6410h 01h rw*




Name CI Objects

Class Type Index Subind. Access

Group 6xxx (continued)

Supported_Drive_Modes (supported 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)


Drive_Data (drive data) Array uint32 6510h 22h31h32h40h41h42h43h45hA0hA1h

rrrrrwrrwrrw*r




B.1.4 Object description

Password

CI access 20FAh 01h...02h Array V-string rw/r

Description Managing the FCT password, entering the super password

FCT Password(FCT password)

20FAh 01h V-string rw

Password for the FCT softwareValue: <........> (Fix 8 characters (ASCII, 7-bit)Default: <00000000> (delivery status and after resetting)

Super Password(super password)

20FAh 02h V-string rw

Entering the super passwordResets 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 If available: description of the subindices

8 Read/write permission:r = read onlyw = write onlyrw = read and write

Fig. B/1: Representing the object entries

1 2 3 4 5

6

7

8



Group 1xxx

Device_Type

CI access 1000h 00h Var uint32 r

Description Classification of the device typeFix: 0

Manufacturer_Device_Name

CI access 1008h 00h Var V-string r

Description Designation of the driveExample: “MTR-DCI-42S-VCSC-EG7-R2IO”

Manufacturer_Hardware_Version


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)Format = “Vxx.yy”



Group 2xxx

Record_Number

CI access 2032h 01h Array 1) uint8 rw

Description Select a position record via the record number.

The record number is saved as the target for write and read operations on thefollowing Objects:– Intended for access via the CI interface:

– Object 20E0/01h...03h: record_table_elementor– Object 607Ah: target_position– Object 6081h: profile_velocity

Record Number 2032h 01h uint8 rw

Record number: Read or writeValues:00 (0x00): Reserved, do not use (CANopen)01 (0x01): Reserved, do not use (CANopen)02 (0x02): Position record 0 (default)03 (0x03): Position record 104 (0x04): Position record 2... Position record ...18 (0x12): Position record 16 (homing run)

1) Pseudo-array due to compatibility



Scaling

CI access 20D0h 01h, 02h Array uint8 rw

Description Measuring units and scalingDefinition of the measuring system used for displaying the values on the con-trol panel and the number (n) of positions after the decimal point.

Measuring Unit 20D0h 01h uint8 rw

Definition of the measuring unitThe setting of the measuring system influences only the display. All parametersare always saved in increments in the controller and are not converted into therelevant 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

15 (0x0F): reserved (cannot be set with MTR-DCI: increments)Default: 01 (0x01)

Scaling Size 20D0h 02h uint8 rw

Number of positions after the decimal pointValue range: 0...4 (0x00...0x04)Fix: 2 (cannot be set for MTR-DCI)



Record_Table_Element

CI access 20E0h 01h...03h Struct uint16, int32 rw

Description Editing the entries in the position table:1. Selecting the line (= position number) with Object 20322. Selection of the column under subindex 20E0: 01...03

20E0/01 20E0/02V

20E0/03

Recordnumber

Pos. setmode

Targetposition

Profilevelocity

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 thecorresponding Objects 607A, 6081.Different data types are converted accordingly when they are read and written.

Positioning Mode 20E0h 01h uint16 rw

Positioning modeValues:0 (0x0000): absolute positioning (default)1 (0x0001): relative positioning

Target Position 20E0h 02h int32 rw

Target position in increments (compare target position, Object 607A).Value range: -231...+(231-1) (0x80000000...0x7FFFFFFF)Default: 0



Record_Table_Element

Velocity(speed)

20E0h 03h int32 rw

Positioning speed in increments (compare profile velocity, Object 6081).Value rangeMTR-DCI-... Value range DMES-...

...-32...-G7 0...66000 Z 0...12 mm/s (DMES-18)

...-32...-G14 Z 0...6.0 mm/s (DMES-18)

...-42...-G7 0...100000 Z 0...18.5 mm/s (DMES-25)

...-42...-G14 Z 0...9.1 mm/s (DMES-25)

...-52...-G7 0...100000 Z 0...29.6 mm/s (DMES-40)

...-52...-G14 Z 0...14.6 mm/s (DMES-40)

...-62...-G7 0...113400 Z 0...50.4 mm/s (DMES-63)

...-62...-G14 Z 0...24.7 mm/s (DMES-63)

...-62...-G22 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_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 future extensions)Value range: -231...+(231-1)Default: 1

Gear Numerator(gear counter)

20E2h 02h int32 rw

Gear ratio – counter, reserved for future extensionsFix: 1

Gear denominator(gear denominator)

20E2h 03h int32 rw*

Gear ratio - denominator, reserved for future extensions.Fix: 1* Write only Festo (factory or service)



Data_Memory_Control

CI access 20F1h 01h...02h Array uint8 w

Description Commands for the EEPROM (non-volatile data storage)

Delete EEPROM 20F1h 01h uint8 w

When the Object is written and after Power Off/On the data in EEPROM isdeleted.Fix: 16 (0x10): Create factory settings (delete data in EEPROM)

Save Data 20F1h 02h uint8 w

The data in the EEPROMwill be overwritten with the current user-specificsettings.Fix 1 (0x01): Save data

NoteAll user-specific settings will be lost if deleted (except forcycle number). The status after deletion corresponds tothe standard factory setting.

• Always carry out a first commissioning after deleting theEEPROM.

• The settings of the LCD parameters are lost when theEEPROM is deleted and must be carried out again. Withan unfavourable parameter setting the LCD remainsblack.

• In case of problems: consult the Festo Service.

Note on firmware V1.19When the EEPROM is deleted the gear factor will be set tothe standard factory setting (= 6.75).

• To set the gear factor: consult the Festo Service.



Password

CI access 20FAh 01h, 02h Array V-string rw

Description Managing the FCT password, entering the super password

FCT Password 20FAh 01h V-string rw

Password for the FCT softwareValue: <........> (Fix 8 characters (ASCII, 7-bit)Default: <00000000> (status as at delivery and after reset)

Super Password 20FAh 02h V-string rw

Entering the super passwordResets 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 arecarried out via the control panel.Value: <........> (Fix 8 characters (ASCII, 7-bit)

Only the first 3 characters are evaluated.Default: <00000000> (status as at delivery and after reset)

User_Device_Name

CI access 20FDh 00h Var V-string rw

Description Designation of the drive by the user, max. 8 characters (ASCII, 7-bit).Default: <motor001>



HMI_Parameter (MMI parameter)

CI access 20FFh 01h, 02h Array uint8 rw

Description Parametrizing the MMI functions (only with MTR-DCI-...-H2...)

LCD Current 20FFh 01h uint8 rw

Value range: 1...5 (0x01...0x05). Default: 5 (0x05)

LCD Contrast 20FFh 02h uint8 rw

Value range: 0...63 (0x00...0x3F). Default: 0 (0x00)

Communication_Error

CI access 2FF0h 00h Var uint16 r

Description Special object, see section B.1.1.In the case of a transmission fault, the value <0xFF> will be transferred insteadof 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 ERRORBit 1 EMERGENCY STOPBit 2 HOMING ERRORBit 3 OVERHEATINGBit 4 POWER DOWNBit 5 i2t-ERRORBit 6 HARDWARE ERRORBit 7 TARGET POSITION OUT OF LIMITBit 8 LAST POSITION NOT SAVEDBit 9...15 Reserved = <0> 0x0000

Cycle_Number

CI access 2FFFh 00h Var uint32 r

Description Number of positioning records carried out, homing run etc.Value range: 0...(232-1)



Group 6xxx

NoteThe control parameters (6068h, 60FBh) of the MTR-DCI arepre-set. Modification 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 status modifications require a certain amount of time, all 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 RELATIVE movement

0x010F 0x0100 Stop movement

0x008F 0x0080 Reset fault + ENABLE OPERATIONReply without 0x0080 – mask

0x004F 0x0040 Set target position as RELATIVE

Tab. B/1: Typical values of the control word



Status_Word


Description Download current controller or regulator status.Typical values see Tab. B/2.Default: 0x0031

Bits 0...3, 5 and 6 show the status of the device.

Value (binary) Status (x = irrelevant for this status)

xxxx xxxx x0xx 0000 Not ready to switch onxxxx xxxx x1xx 0000 Switch on disabledxxxx xxxx x01x 0001 Ready to switch onxxxx xxxx x01x 0011 Switched onxxxx xxxx x01x 0111 Operation enabledxxxx xxxx x00x 0111 Quick stop activexxxx 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 andpositioning 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 0x0400 Nominal position reached<1>: Target 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 during homing run<1>: Homing error<0>: No homing error

Bit 13: 0x2000

Tab. B/2: Typical values of status word



Operation_Mode

CI access 6060h 00h Var int8 w

Description Operating mode of the controllerValues:0xFE: Demo mode (fixed sequence)0x01: Profile position mode (position controller with positioning mode)0x03: Reserved (Profile velocity mode, not available with MTR-DCI-IO)0x04: Reserved (Profile torque mode, not available with MTR-DCI-IO)0x06: Homing mode

Operation_Mode_Display

CI access 6061h 00h Var int8 r

Description Reading the operating mode of the controllerValues: See Object 6060h

Position_Target_Value


Description Nominal target position of the last positioning task in increments.Value range: -231...+(231-1)

Last_Position_Value


Description Last nominal position for standstill monitoring in increments.Value range: -231...+(231-1)

Position_Actual_Value


Description Current position of the drive in increments.Value range: -231...+(231-1)



Position_Window_Time

CI access 6068h 00h Var uint16 rw*

Description Readjustment time in milliseconds.Once the actual position has been in the target position window for this amountof time, the ”Target reached” bit will be set in the status word (object 6041).Range of values: 1...30000Default:MTR-DCI-32/42...: 100 msMTR-DCI-52...: 100 msMTR-DCI-62...: 400 ms* Write only Festo (factory or service)

Velocity_Target_Value

CI access 606Bh 00h Var int32 r

Description Current nominal speed value of speed regulator in increments.Value range: -231...+(231-1)

Velocity_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 Maximummotor current in 1/1000 of the specified rated current Identical toObject 6510/41. No adaption is necessary for positioning axis DMES-...In homing mode: Nominal value for the current regulator. Limits the motor forceduring homing run towards the stop and, in the event of a fault, protects thestops during homing run to a reference switch.Note that the current limitation also limits the maximum possible speed andthe nominal set speeds may not, therefore, be achieved or (e.g. in vertical oper-ation) homing run is not carried out.Value range: 1...2000 (0x0001...0x07D0)Default: 1500 (0x05DC) = rated motor current x 1.5



Motor_Rated_Current


Description Rated current of motor, value from type plate converted into mA. Identical toObject 6510h/40hValues:MTR-DCI-32: 730MTR-DCI-42: 2000MTR-DCI-52: 5000MTR-DCI-62: 6190

Target_Position

CI access 607Ah 00h Var int32 rw

Description Defining or reading a target position in incrementsThis will be saved in the position table in the column intended in the line ad-dressed by Object 2032. 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 isentered. A target position (see Object 607Ah) outside the end positions is notpermitted and leads to a fault.Plausibility rule: Min. limit ≤ Max. limitValue range: -231...+(231-1)

Lower Limit(lower limit value)

607Bh 01h int32 rw

Software end positionDefault: 0 (0x00000000)

Upper Limit(upper limit value)

607Bh 02h int32 rw

Software end positionMTR-DCI-... Default...-32...-G7 (G14) 2700000 DMES-18: Z 500 (246) mm...-42...-G7 (G14) 4500000 DMES-25: Z 833 (410) mm...-52...-G7 (G14) 3375000 DMES-40: Z 1000 (492) mm...-62...-G7 (G14) (G22) 3375000 DMES-63: Z 1500 (737) (456) mm



Offset_Axis_Zero_Point

CI access 607Ch 00h Var int32 rw

Description Offset axis zero point in increments.The offset axis zero point (home offset) defines the axis zero point <AZ> as themeasurement basis point relative to the physical reference point <REF>. The axiszero point (AZ) is calculated from: AZ = REF + offset axis zero point.The axis zero point is the basis point for the project zero point <PZ> and for thesoftware end positions. All positioning operations refer to the project zeropoint. On the MTR-DCI the project zero point is identical to the axis zero point.Default: 0 (0x00000000)Value range: -231...+(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) normal128 (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 table in the column intended in the lineaddressed by CI-Object 2032. No movement is yet made.Default: 0 (0x00000000)Value range:MTR-DCI-... Value range

...-32...-G7 (G14) 0...66000 DMES-18: Z 0...12 (6) mm/s

...-42...-G7(G14) 0...100000 DMES-25: Z 0...18.5 (9.1) mm/s

...-52...-G7 (G14) 0...100000 DMES-40: Z 0...29.6 (14.6) mm/s

...-62...-G7 (G14) (G22) 0...113400 DMES-63: Z 0...50.4 (24.7) (15.3) mm/s

The following applies to firmware V1.19: The value must be divisible by 200,otherwise it will be rounded to the next permitted value.



Profile_Acceleration

CI access 6083h 00h Var int32 rw

Description Acceleration for a positioning movement in increments/s2.Value range: 1...1800000 (0x0...0x001B7740)Default:MTR-DCI-32: 480000 (0x00075300)MTR-DCI-42: 480000 (0x00075300)MTR-DCI-52: 240000 (0x0003A980)MTR-DCI-62: 160000 (0x00027100)Note: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 resolutionThe encoder resolution is fixed and cannot be modified by the user. Thecalculated value is derived from the fraction “encoder-increments/motorrevolution”.

Encoder Increments 608Fh 01h uint32 r

Values:MTR-DCI-32: 300 (0x00000120)MTR-DCI-42/52/62: 500 (0x000001F4)

Motor Revolutions 608Fh 02h uint32 r

Fix = 1



Gear_Ratio

CI access 6091h 01h...02h Array uint32 rw*

Description Ratio of motor revolutions to spindle revolutions (drive output revolutions)(gear ratio = motor revolutions / spindle revolutions).

Motor Revolutions 6091h 01h uint32 rw*

Gear ratio – counter.Fix:MTR-DCI-...-G7: 27 (0x00001B)MTR-DCI-...-G14: 3969 (0x000F81)MTR-DCI-...-G22: 1710 (0x0006B8)* Write only Festo (factory or service)

Shaft Revolutions 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...232-1Default: Z Spindle pitch of axis type DMES-...MTR-DCI-32 + DMES-18: 1500 (0x0005DC)MTR-DCI-42 + DMES-25: 2500 (0x0009C4)MTR-DCI-52 + DMES-40: 4000 (0x000FA0)MTR-DCI-62 + DMES-63: 6000 (0x001770)

Shaft Revolutions 6092h 02h uint32 rw

Denominator(shaft revolution).Fix: 1 (0x00000001)



Homing_Method


Description Defines the method with which the drive carries out homing run.The MTR-DCI supports the following modes:Values Function

-17 (0xEF) Search for stop in negative direction-18 (0xEE) Search for stop in positive direction23 (0x17) Search for reference switch in positive direction27 (0x1B) Search for reference switch in negative direction (default)

Homing_Velocities

CI access 6099h 01h...02h Array uint32 rw

Description Speeds 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...14.8 (7.3) mm/s

...-62...-G7 (G14) (G22) 200...56600 DMES-63: Z 0...25.2 (12.4) (7.7) mm/s

Default:...-32... 27000 (0x006978) DMES-18: Z 5 (2.5) mm/s...-42... 22400 (0x005780) DMES-25: Z 4.2 (2) mm/s...-52... 16800 (0x0041A0) DMES-40: Z 5 (2.5) mm/s...-62... 16800 (0x005780) DMES-63: Z 7.5 (3.7) (2.3) mm/s

Search AZ 6099h 02h int32 rw

Speed of travel to the axis zero point AZValue range: see Object 6099/01h



Position_Control_Parameter_Set

CI access 60FBh 12h...15h,17h, 20h

Array uint16 rw

Description Control parameters as well as parameters for “quasi-absolute positionregistering”Write only in service cases.

Gain Position 60FBh 12h uint16 rw

Gain position controllerValue range: 1...200Default:MTR-DCI-32: 60 MTR-DCI-42/52/62: 35

Gain Velocity(speed gain)

60FBh 13h uint16 rw

Gain speed controllerValue range: 100...500Default: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 controllerValue range: 100...500Default:MTR-DCI-32: 500 MTR-DCI-42/52: 320 MTR-DCI-62: 150

Gain Current 60FBh 15h uint16 rw

Gain current controllerValue range:MTR-DCI-32: 200...1000 MTR-DCI-42/52: 200...800Default:MTR-DCI-32: 1000 MTR-DCI-42/52: 400 MTR-DCI-62: 300

Gain VelocityTrajectory

60FBh 17h uint16 rw

Gain speed controller – trajectory generatorValues: 1, 2Default:MTR-DCI-32: 1 MTR-DCI-42/52/62: 2



Position_Control_Parameter_Set

Save Position 60FBh 20h uint16 r

240 (0x00F0) = current position will not be saved at power-off.Homing run must be carried out each time the device is switched on.This value is fixed and cannot be overwritten.The following applies up to firmware version V1.35: If this parameter does notcontain the value 240 (0x00F0), overwrite this with value 240 (0x00F0).

Local_Digital_Inputs

CI access 60FDh 00h uint32 r

Description Mapping the digital inputsWith MTR-DCI-...IO:Bit 0...15: Reserved (= 0)Bit 16...19: Current record number (compare control byte 3)Bit 20: STARTBit 21: ENABLEBit 22...31: Reserved (= 0)

Local_Digital_Outputs

CI access 60FEh 01h...02h uint32 r

Description Mapping the digital outputs

Digital Outputs 60FEh 01h uint32 r

With MTR-DCI-...IO:Bit 0...15: Reserved (= 0)Bit 16: READYBit 17: MCBit 18...31: Reserved (= 0)

Mask 60FEh 02h uint32 r

With the MTR-DCI-...IO always 0 (writing not permitted).



Motor_Type


Description Classification of the motorFix: 0x0000 (cannot be set with MTR-DCI)

Motor_Data

CI access 6410h 01h Record uint32 rw

Description –

Serial Number 6410h 01h uint32 rw*

Reserved (serial number of the motor)* Write only Festo (factory or service)

Supported_Drive_Modes


Description Not adjustableFix: 0x00000021

Drive_Manufacturer (manufacturer name)


Description Name of drive manufacturer Fix: “Festo SE & Co. KG”

HTTP_Drive_Catalog_Address (HTTP address of manufacturer)


Description Internet address of the manufacturerFix: “www.festo.com”



Drive_Data

CI access 6510h 31h, 32h,40...43h, A0h

Array

Description General motor data

Following error 6510h 22h uint32 rw

Following error monitoring

Output StageTemp

(temp. end stage)

6510h 31h uint16 r

Temperature of the end stage in °C. -40...+85

Output Stage Max.Temp.

(max. temp. endstage)

6510h 32h uint16 r

Maximum temperature of the end stage in °C. Fix: 80

Motor RatedCurrent

6510h 40h uint32 r

Rate motor current in mA, identical to Object 6075h.Values:MTR-DCI-32: 730MTR-DCI-42: 2000MTR-DCI-52: 5000MTR-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 toObject 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 the rated motor currentValue range: -2000...-1 Default: -1500 (0xFA24)

I/O Control 6510h 43h uint16 rw

Activating/deactivating the I/O interface.Value: 0: Control via HMI (control panel) or FCT

Note: For controller enable with FCT controller, set ENABLEOPERATION (see Object 6040h).

1: Control via I/O (default)



Drive_Data

Current actualvalue

(current actualvalue)

6510h 45h int16 ro

Current actual value of the current

Controller SerialNumber

6510h A0h uint32 rw*

Serial number of the controller in format 0xTTMYYSSS:TT (day): 8 bit: 0x01...0x1F M (month): 4 bit: 0x1...0xCYY (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

Index

C-1Festo P.BE-MTR-DCI-IO-EN en 1209d

Appendix C

Index

C. Index

C-2 Festo P.BE-MTR-DCI-IO-EN en 1209d

Contents

C. Index C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Index

A

Absolute 5-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Access procedure B-3, B-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis XIV, 1-3, 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis parameters 4-9, 4-12, 5-13. . . . . . . . . . . . . . . . . . . . . . . .

Axis type 4-11, 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis zero point XIV, 1-11, 5-13, B-30. . . . . . . . . . . . . . . . . . . . .

B

Basis points 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Basis system 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

Cable 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningProcedure 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


D

Default settings 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Demo mode 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device control 4-20, 5-6, 5-20. . . . . . . . . . . . . . . . . . . . . . . . .

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. . . . . . . . . . . . . . . . . . . . . . . . . . .

HomingHoming method XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing Switch 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parameters 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .reference point 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Homing methodFixed stop 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing Switch 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode (see reference travel) 1-8. . . . . . . . . . . . . . . . .

I

I/ODiagnosis 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


O

Object directory B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating mode XV, 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Profile position mode XV. . . . . . . . . . . . . . . . . . . . . . . . . . . .Profile Position mode (see positioning mode) 1-7. . . . . . . .Teach mode XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameterisation 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Password 4-15, 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 tableCreate 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Protection class 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


R

Reference travel XV, 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Carry out 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Current limiting 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Discontinue [Disable] 5-13, 5-26. . . . . . . . . . . . . . . . . . . . . .Parameters 4-13, 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Start 5-12, 5-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference point XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference switch 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission protocol B-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor unit MTR-DCI€¦ · Description MTR-DCI-...IO Description 539616 en 1209d [763197] Motor...

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Transcript of Motor unit MTR-DCI€¦ · Description MTR-DCI-...IO Description 539616 en 1209d [763197] Motor...