Motor unit MTR-DCI - festo.com · Motor unit MTR-DCI. Adobe ... Festo P.BE-MTR-DCI-PB-EN en 1209a V...

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Description

MTR-DCI-...-PB

Description539624en 1209a[763205]

Motor unitMTR-DCI

Adobe®, Reader®, PROFIBUS®, PROFIBUS-DP®, CANopen®

and CiA® are registered brand names of the respective brandholders in certain countries.

Contents and general safety instructions

IFesto P.BE-MTR-DCI-PB-EN en 1209a

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

Edition en 1209a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Order-no. 539624. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© Festo AG & Co. KG, D-73726 Esslingen, 2012Internet: http://www.festo.comEmail: [email protected]

Reproduction, distribution or sale of this document orcommunication of its contents to others without expressauthorization is prohibited. Offenders will be liable for dam-ages. All rights reserved in the event that a patent, utilitymodel or design patent is registered.


II Festo P.BE-MTR-DCI-PB-EN en 1209a


IIIFesto P.BE-MTR-DCI-PB-EN en 1209a

Contents

Intended use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Target group IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

Documentation for MTR-DCI motor unit XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .About the version XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1. System overview 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 Dimensional reference system 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Points of reference and positioning range 1-11. . . . . . . . . . . . . . . . . . . .

1.5.2 Prefixes and directions 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.3 Reference travel 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Festo handling and positioning profile (FHPP) 1-18. . . . . . . . . . . . . . . . . . . . . . . .

2. Mounting 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General information 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dimensions of the motor unit 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Mounting the 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Power supply requirements 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE-MTR-DCI-PB-EN en 1209a

3.3.2 Shared supply with load and logic voltage(not for MTR-DCI-32) 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Separate supply with load and logic voltage 3-10. . . . . . . . . . . . . . . . . .

3.4 Serial interface 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Input for external reference switch 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 Connecting the higher-order controller 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.1 Fieldbus cable 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.2 Fieldbus bit rate and fieldbus length 3-17. . . . . . . . . . . . . . . . . . . . . . . .

3.6.3 Bus termination 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. The control panel (MTR-DCI-...-H2) 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 [Diagnostic] menu 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Settings] menu 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 [Positioning] menu 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Menu command [HMI control] 4-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

5.1 Commissioning procedure 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

5.2.1 Selecting the axis type 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting homing parameters 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Carrying out homing 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Teaching the axis zero point AZ and the software end positions 5-15. .

5.2.5 Teaching position set records 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Test run 5-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Setting PROFIBUS addresses 5-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with FCT 5-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Installing the FCT 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Procedure 5-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Overview of commissioning on the PROFIBUS 5-26. . . . . . . . . . . . . . . . . . . . . . . .

5.5 Configuration 5-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE-MTR-DCI-PB-EN en 1209a

5.5.1 Install device master file (GSD file) and icon files. 5-27. . . . . . . . . . . . . .

5.5.2 I/O configuration 5-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.3 Configuration with STEP 7 5-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.4 Startup parameter assignment 5-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.5 Response monitoring 5-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.6 Control commands 5-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Overview of control and parameter assignment methods 5-36. . . . . . . . . . . . . . .

5.6.1 DPV0 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 DPV1 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Festo profile for handling and positioning (FHPP) 5-37. . . . . . . . . . . . . . . . . . . . .

5.7.1 Supported operation modes 5-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2 Composition of the cyclical I/O data 5-39. . . . . . . . . . . . . . . . . . . . . . . .

5.7.3 Examples of control and status bytes 5-50. . . . . . . . . . . . . . . . . . . . . . .

5.8 Drive functions 5-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.1 Dimensional reference system 5-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.2 Homing 5-64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.3 Jog mode 5-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.4 Teaching via fieldbus 5-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.5 Record Select: Executing a position set record 5-70. . . . . . . . . . . . . . . .

5.8.6 Direct mode: Specification of a position or force 5-75. . . . . . . . . . . . . .

5.8.7 Standstill monitoring 5-79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 Notes on operation 5-81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. Diagnostics and fault display 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Overview of diagnostic options 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LED status displays 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Fault messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Overview 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Description of faults and warnings 6-8. . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Diagnostic memory 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Diagnosis via PROFIBUS-DP 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Diagnosis via parameter channel 6-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE-MTR-DCI-PB-EN en 1209a

A. Technical appendix A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Accessories A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Motor characteristic curves A-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4 Converting the units of measurement A-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Supplementary information B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 Parameter assignment B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data) B-3. . . . . .

B.1.2 Request identifiers, response identifiers, fault numbers B-5. . . . . . . .

B.1.3 Rules for request-response processing B-8. . . . . . . . . . . . . . . . . . . . . .

B.1.4 Parameter groups B-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.5 Overview of parameters B-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.6 Layout of the parameter entries B-20. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.7 Device data B-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.8 Diagnostics B-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.9 Process data B-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.10 Position set table (list of position set records) B-30. . . . . . . . . . . . . . . .

B.1.11 Project data B-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.12 Axis parameters for electric drives 1 B-41. . . . . . . . . . . . . . . . . . . . . . . .

B.2 The Command Interpreter (CI) B-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.1 Procedure for data transmission B-56. . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.2 CI commands B-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.3 CI objects (overview) B-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.4 Additional CI objects B-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 FHPP finite state machine B-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.1 Establishing “ready to operate” status B-87. . . . . . . . . . . . . . . . . . . . . .

B.3.2 Positioning B-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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


VIIFesto P.BE-MTR-DCI-PB-EN en 1209a

Intended use

The MTR-DCI-... motor unit is an intelligent servo motor con-sisting of DC motor, planetary gear, encoder and inte-grated control electronics. Positioning functions are charac-terised by high torques at low speeds.

The MTR-DCI has been optimised for use with Festo axes(e.g. DMES-... or DNCE-...).

This description deals with the basic logic functions of theMTR-DCI and the Profibus interface.

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

– As intended

– In industrial applications

– In perfect technical condition

– In their original state without unauthorised modifications(with the exception of the conversions or modificationsdescribed in the documentation supplied with the product)

• Observe the safety instructions and intended use in thedocumentation for all the components and modules.

• Observe the standards specified throughout, as well asthe regulations of the trade associations, the TechnicalInspection Association (TÜV), the Association of GermanElectricians (VDE) or relevant national regulations.

• Observe the limit values of all additional components(e.g. sensors, actuators).


VIII Festo P.BE-MTR-DCI-PB-EN en 1209a

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.

WarningElectrical axes can move with high force and at high speed.Collisions can lead to serious injury to human beings anddamage to components.

Make sure that nobody can reach into the operating rangeof the axes or other connected actuators and that no ob-jects lie in the positioning range while the system is stillconnected to a power supply.

WarningFaults in parameterisation can cause injury to humanbeings and damage to property.

Only enable the controller once the axis system has beeninstalled and parameterised by technically qualified staff.


IXFesto P.BE-MTR-DCI-PB-EN en 1209a

Target group

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

Service

Please consult your local Festo Service or write to the follow-ing e-mail address if you have any technical problems:

[email protected]

Scope of delivery

The following items are supplied with the MTR-DCI motorunit:

– 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 and fieldbus plug

– Programming cable

– User documentation in paper form


X Festo P.BE-MTR-DCI-PB-EN en 1209a

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich can occur if the product is not used correctly. Theseinstructions are marked Warning, Caution, etc., are printed ona shaded background and marked additionally with apictogram. A distinction is made between the followingdanger warnings:

Warning... means that failure to observe this instruction may resultin serious personal injury or damage to property.

Caution... means that failure to observe this instruction may resultin personal injury or damage to property.

Note... means that failure to observe this instruction may resultin damage to property.

Electrostatically sensitive devices: Incorrect handling canresult in damage to components.


XIFesto P.BE-MTR-DCI-PB-EN en 1209a

Identifying special information

The following pictograms mark passages in the text whichcontain special information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation

Accessories:Information on necessary or useful accessories

Environment:Information on the environment-friendly use of the products

Text designations

• 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 are used to mark general lists of information.


XII Festo P.BE-MTR-DCI-PB-EN en 1209a

Documentation for MTR-DCI motor unit

This description contains information on the mode ofoperation, assembly, installation and commissioning ofelectric valve actuators with the motor unitMTR-DCI-...-PB (PROFIBUS interface).

Information for additional components, e.g. the referenceswitches, can be found in the operating instructions suppliedwith the product in question.

Type Designation Content

Operating package withbrief description +descriptions on CD ROM

P.BP-MTR-DCI Brief description: Important instructionson commissioning and preliminaryinformation.Descriptions on CD-ROM: for MTR-DCI-...motor unit (contents as describedbelow)

Description Motor unit of type MTR-DCIwith PROFIBUS interfaceP.BE-MTR-DCI-PB-DEP.BE-MTR-DCI-PB-ENP.BE-MTR-DCI-PB-FRP.BE-MTR-DCI-PB-ITP.BE-MTR-DCI-PB-ESP.BE-MTR-DCI-PB-SV

Installation, commissioning anddiagnosis of electric axes with MTR-DCImotor unit; communication viaPROFIBUS interface.

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

Function description of the Festo Con-figuration Tool (FCT) configuration soft-ware.

Operating instructions Axes, e.g.DMES-... / DNCE-...

Installation and commissioning

Assembly instructions Fieldbus adapter FBA-... asper “Accessories” section

Connection and pin allocation

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


XIIIFesto P.BE-MTR-DCI-PB-EN en 1209a

About the version

Hardware version Specifies the version status of the mechanical parts and elec-tronics of the MTR-DCI.

Firmware version Specifies the version status of the operating system of theMTR-DCI.

You can find the version specifications as follows:

– Hardware version and firmware version under “Devicedata” in the Festo Configuration Tool with active deviceconnection to the MTR-DCI.

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

Firmwareversion

What is new? Which FCT plugin?

V1.00 andhigher

Supports the listed sizes of the MTR-DCI-PB in combina-tion with the following Festo axes:Motor unitAxesMTR-DCI-32... DMES-18; DNCE-32MTR-DCI-42... DMES-25; DNCE-32/40MTR-DCI-52... DMES-40; DNCE-40/63MTR-DCI-62... DMES-63; DNCE-63

MTR-DCI V2.0

Tab. 0/2: Firmware versions


XIV Festo P.BE-MTR-DCI-PB-EN en 1209a

Product-specific terms and abbreviations

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

Term/abbreviation Meaning

0-signal Means that there is a 0 V signal present at the input or output (positivelogic, corresponds to LOW)

1-signal Means that there is a 24 V signal present at the input or output (positivelogic, corresponds to HIGH)

Axis Mechanical component of a drive which converts the motor revolutionsinto positioning movements of a work load. An axis (e.g. positioning servoaxis DMES-...) enables the work load to be mounted and guided and thereference switch to be mounted.

Axis zero point (AZ) The axis zero point AZ is defined in relation to the homing point REF (the“reference” point). The software end positions and the project zero pointPZ are defined in relation to the AZ.

Controller Electronics which evaluate the sensor signals, calculate movements andforces and provide the power supply for the motor via the powerelectronics.

Drive Complete actuator, consisting of controller, motor, measuring systemand, if applicable, gear and 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 Configuration Tool(FCT)

Commissioning software with uniform project and data management forall supported device types. The special requirements of a device type aresupported with the necessary descriptions and dialogues by means ofplugins.

Force mode Control of forces by means of current regulation. The motor torque iscontrolled indirectly via the regulation of the current. All specification forforces/torques are defined in relation to the nominal motor torque (rela-tive to the nominal motor current). The actual force on the axis should bedetermined/checked during commissioning using external measuringdevices and adjusted.


XVFesto P.BE-MTR-DCI-PB-EN en 1209a


HMI HumanMachine Interface; on the MTR-DCI, this is the control panel withLCD display and 4 operating buttons.

Homing Anchors the dimensional reference system of the axis at a referenceswitch or fixed stop.

Homing method Method for finding the homing point REF: against a fixed stop or with areference switch.

Homing mode Operating mode in which homing is carried out.

Homing point (REF) The homing point (the ”reference” point = REF) defines a known posi-tion/orientation within the positioning path of the drive. It is the basicpoint of reference for the dimensional reference system.

Homing run The homing run defines the homing point and therefore the source of thedimensional reference system for the axis.

IOI/O

InputOutputInput and/or output

Jog mode Moving manually in positive or negative direction.

Load voltage,logic voltage

The load voltage supplies power to the power electronics of the con-troller and thus to the motor. The logic voltage supplies power to theevaluation and control logic of the controller.

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

Operation mode Is used in the following contexts:

– Type of access: Record Select, Direct Mode

– Internal logical state of the controller: Profile Position Mode,Profile Torque Mode (force mode), Homing Mode, Demo Mode, ...

PLC Programmable logic controller; or for short: the control system.

Position mode In the position mode, a target position is specified to which the motormust move. Changes in position are detected by the internal incrementgenerator (optical encoder). With a known starting point, the actual posi-tion of the work load is calculated from the gear reduction and (whereapplicable) the feed constant.


XVI Festo P.BE-MTR-DCI-PB-EN en 1209a


Position set record Positioning command defined in the position set table, consisting of:

– The number of the position set record

– The absolute or relative basis of the target position

– Target position

– Positioning speed

Project zero point (PZ) Point of reference for all positions in positioning tasks. The project zeropoint forms the basis for all absolute position specifications (e.g. in theposition set table or with direct control via the controller interface ordiagnostic interface). The point of reference for the project zero point isthe axis zero point.

Reference switch External sensor used for ascertaining the homing point; is directly con-nected to the controller.

Software end position Programmable stroke limitation (point of reference = 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 Operation mode for setting positions by moving to the target positione.g. when creating position set records.

Tab. 0/3: Index of terms and abbreviations

PROFIBUS-specific terms and abbreviations


0x1234 or 1234h Hexadecimal numbers are marked by the prefix “0x” or by the suffix“h.”

AK See response identifier and request identifier

BCD Binary coded decimal

Bus segment Bus cable between two terminating resistors. A bus segment containsmaximum 32 stations. A PROFIBUS system consists of at least one bussegment with at least two stations. With the aid of repeaters furtherbus segments can be connected.


XVIIFesto P.BE-MTR-DCI-PB-EN en 1209a


Consistency A data range which is defined as consistent is transmitted complete,i.e. in one bus cycle.

FPC Festo Parameter Channel

GSD/GSG file Device master file in which all specific features of the slave are saved(e.g. number of I/Os, number of diagnostic bytes etc.).

LSB Least significant bit

MSB Most significant bit

Octet 8 bits; basic type for PROFIBUS telegrams

Parameter channel (PKW) Telegram part used for transmitting parameters (PKW = parameteridentifier value)

Parameter identifier (ParID) Integral part of the parameter channel (PKW) which contains the re-quest and response identifiers (AK) and the parameter number (PNU).

Parameter number (PNU) Parameters which can be transmitted via the parameter channel areaddressed by their parameter number (PNU). The parameter numberis an integral part of the parameter identifier (ParID) and is used foridentifying or addressing the individual parameter.

ParID See parameter identifier

PKW See parameter channel

PNU See parameter number

Request identifier (AK) Integral part of the parameter channel in request telegrams specifyingthe type of request for processing of a parameter.

Repeater Tool for amplifying bus signals and for coupling segments over longdistances.

Request telegram Telegram sent from the master to the slave (request of master)

Response identifier (AK) Integral part of the parameter channel in response telegrams specify-ing the type of response from processing of a parameter.

Response telegram Telegram sent from the slave to the master (slave response)


XVIII Festo P.BE-MTR-DCI-PB-EN en 1209a


Subindex (IND) Integral part of the parameter channel which addresses an element ofan array parameter (sub-parameter number).

User data Telegram data without protocol frame data. The length of the userdata is defined in the configuration of the field bus slave.

Tab. 0/4: Index of terms and abbreviations for PROFIBUS

System overview

1-1Festo P.BE-MTR-DCI-PB-EN en 1209a

Chapter 1

System overview

1. System overview

1-2 Festo P.BE-MTR-DCI-PB-EN en 1209a

Contents

1.1 Positioning with electric drives 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Components 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Control and regulating functions 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Operational reliability 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Dimensional reference system 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 Points of reference and positioning range 1-12. . . . . . . . . . . . . . . . . . . .

1.5.2 Prefixes and directions 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.3 Reference travel 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Festo handling and positioning profile (FHPP) 1-19. . . . . . . . . . . . . . . . . . . . . . . .

1. System overview


1.1 Positioning with electric drives

1 Process controland parameteraccess throughthe higher-ordercontroller /fieldbus master

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 positioning system with the MTR-DCI

The motor unit MTR-DCI-...-DN with PROFIBUS allows posi-tioning of the connected linear or rotation axes in corres-pondence with the “Festo Handling and Positioning Profile”

1. System overview


You can parameterise and commission the MTR-DCI asfollows:

– 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)

– via PROFIBUS.

Functions HMI FCT PROFIBUS

Parameter as-signment

– Selecting the axis type and the axis para-meters

– Specifying a gear factor (for externalgears)

– Uploading/downloading configurationdata

– Saving different configurations in projects

x

–

–

–

x

x

x

x

x

x

x

(x)

Position records – Compiling a position set table with set re-cord number, target position, positioningmode, positioning speed, acceleration

x x x

Commissioning – Homing run

– Jog mode

– Teaching positions

– Moving in individual steps

– Starting and stopping positioning pro-cedures while commissioning

– Extended test functions e.g. statusdisplays

– Testing or demonstrating the positionrecords

x

x

x

–

x

(x)

x

x

x

x

X

X

X

x

x

x

x

X

X

X

x

Diagnostics/Service

– Reading and displaying diagnostics data x x –

1. System overview


All parameters are input or displayed corresponding to theset units of measurement.

Units of measurement Controlpanel

FCT Profibus

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

x x –

inch 1) Imperial units ofmeasurement, e.g. inch,inch/s, inch/s2

– x –

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

– – x

Axis ofrotation

Degree Angular dimensions360° = 1 revolutione.g. deg, deg/s, deg/s2

x x –

Revolutions2)

Number of revolutionse.g. rev, rev/min, rev/min2

x – –

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

– – x

1) Only with FCT when creating a project.2) Setting only with the control panel [Settings] [Axis type] [Rotation axis]

The setting of the units of measurement influences only thedisplay. All the parameters in the controller are saved intern-ally in increments (inc, inc/s, inc/s2 ...) and are not converteduntil they are written in or read.Dimensions transmitted via PROFIBUS or RS232 are based onincrements (for conversion see appendix A.4).

1. System overview


1.2 Components

To configure an electric drive with the MTR-DCI you will re-quire the following components:

Motor unit MTR-DCI Motor with controller, available in 4 sizes, optionally withcontrol panel (type ...-H2).By means of different gear reductions, differentrequirements can be fulfilled in respect of (gear unit) outputtorque and (gear unit) output speed (see appendix A.1).High torques with low rotational speed are typical forpositioning functions. With the smaller gear reduction, thetravel speed of the axis can be increased withcorrespondingly reduced 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 areavailable as accessories. The motor unit is connected to theaxis by means of a clamping connector in the couplinghousing. The use of supplementary motor flanges istherefore unnecessary. Additional information can be foundin the operating instructions for the axis.

Power supply cable Power supply to the MTR-DCI via a power supply unit.The power supply for the electronics (logic voltage) canalso take place separated from the load voltage (seesection 3.3).

Programming cable Parameterisation of the MTR-DCI during commissioning withthe FCT

Fieldbus adapter For separate power supply to the logic components.Protection class IP 54. Refer to sections 3.2.3 and A.2.

Fieldbus cable Operating the MTR-DCI on a higher-order controller(PLC/IPC).

Reference switch Sensor as per appendix A.2.

Accessories For positioning systems, Festo offers adapted matchingaccessories (see Festo product range or catalogue).

1. System overview


1.3 Control and regulating functions

The controller takes over the following tasks:

– Control via FHPP

– Specification of the nominal values

– Regulation of the following variables: position, speed,

acceleration, current.

1 Motor controller

2 Regulator

3 Nominalvalue generator

4 Positioncontroller

5 Speed regulator

6 Current regulator

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 controller

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 nominal value generator. This gener-ates a position nominal value for the position controller. Thecurrent settings for speed, acceleration, braking deceleration,etc. are taken into account for position control.

1. System overview


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

Profile torque mode Force control.Force control (open loop transmission control) via regulationof the motor current. This operating mode enables an extern-al torque nominal value (relative to the motor nominal cur-rent) to be specified to the controller. Power control takesplace indirectly via the regulation of the motor current. Allspecifications on forces/torques refer to the motor nominaltorque or current.

Referencing mode Reference travel.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 travel distance or with overcurrent evalu-ation in the case of movement to a stop.

For commissioning, for testing or for demonstration, the fol-lowing supplementary functions are also available via thecontrol panel of the MTR-DCI-...H2:

– Positioning travel for defining the target position of a pos-itioning record (teach mode), [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 overview


1.4 Operational reliability

An extensive system of sensors and monitoring functionsensures operational safety:

– i2t-monitoring

– Temperature monitoring (measuring the motor tempera-ture and the power output stage temperature)

– Current monitoring

– Voltage monitoring

– Detecting faults in the internal voltage supply

– MTR-DCI-62...: detection of overvoltages in the inter-mediate circuit; brake chopper integrated.

– Position lag error monitoring

– Software end position detection

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 permissible posi-tioning range.

1. System overview


Warning• Check the measures which are required within theframework of your EMERGENCY OFF circuit for switchingyour system into a safe state in the event of an EMER-GENCY STOP.

• If corresponding EMERGENCY OFF circuitry is necessaryfor your application, use additional, separated safetylimit switches (e.g. as normally closed limit switcheswired in series connection)

– For disconnecting the ENABLE signal at the controllerinterface,

– For switching off the load voltage as needed.

1. System overview


1.5 Dimensional reference system

For commissioning, a measuring reference system for refer-encing the reference coordinates must be defined. By meansof the measuring reference system, all (absolute) positionsare defined and can be moved to.

1.5.1 Points of reference and positioning range

The measuring reference system is defined as follows:

1. Reference travel for defining the reference point

2. Setting the zero point (axis zero point and project zeropoint offset)

3. Limiting the positioning range (software end positions).

Reference point REF Anchors the measuring reference system at either a referenceswitch or fixed stop in dependence on the reference travelmethod. (see also section “Reference travel”).

Axis zero point AZ Is a point at a distance displaced from the reference pointREF (this distance is the axis zero point offset).

Project zero point PZ Is a user-definable point of reference which can be selectedwithin the effective stroke and to which the actual position aswell as the target positions in the position set table refer.The project zero point is shifted by a defined distance to theaxis zero point AZ (project zero point offset). The project zeropoint PZ can only be set via FCT, CI object 21F4h or FHPPPNU 500 (not on the control panel).

Software end positions The permissible positioning range (effective stroke) is limitedby the settings of the software end positions. The softwareend positions refer to the axis zero point. If the target posi-tion of a positioning command lies outside of the softwarelimits, the positioning command will not be processed and anerror status will be set.

1. System overview


Measuring reference system

e

f

Linear axis with reference travel method:Fixed stop

Rotation axis with reference travel method:Reference switch

REFAZPZ

Reference point: point determined by the reference travel: reference switch or stop.Axis zero point: point of reference for the project zero point and software end positions.Project zero point: point of reference for the actual position and absolute positions of thepositioning record table.

ab, cd

Axis zero point offset: distance between axis zero point AZ and reference point REFSoftware end positions offsets: limit the permissible positioning range (effective stroke)Project zero point offset: distance from AZ

ef

Effective stroke: permitted travel rangeNominal stroke of the axis used

Tab. 1/1: Dimensional reference system

1. System overview


Point of reference Calculation rule

Axis zero point AZ = REF + a

Project zero point PZ = AZ + d = (REF + a) + d

Lower software end posi-tion

LSE = AZ + b = (REF + a) + b

Upper software end posi-tion

USE = AZ + c = (REF + a) + c

Tab. 1/2: Calculation rules for the measuring reference sys-tem with incremental measuring systems

1.5.2 Prefixes and directions

All offsets and position values are vectors (with prefix). The+/- active direction of the vectors can be assigned to the dir-ection of rotation of the motor shaft (view on the motorshaft). The factory setting for a clockwise direction of rotationis “+”; for an anti-clockwise direction of rotation, “-”. Theassignment can be reversed on the control panel (see chapter4.4) or via the FCT. This can be advantageous when usingright-angle or toothed belt gearboxes. A new reference travelis required after a reversal of direction.

The direction in which the effective load moves is dependenton the gear unit, the spindle type (clockwise/anti-clockwiserotation), the prefix for the position specifications (+/-) andthe active direction set:

1. System overview


+

—

1

2

+

—

1 Factory setting of the active direction

2 Reversal of direction by changing the active direction

Fig. 1/3: Setting the active direction (on example MTR-DCI +DMES, axial gear, clockwise rotating spindle)

1. System overview


1.5.3 Reference travel

In the case of drives with incremental measuring system, areference travel must always be carried out after the drive isswitched on. This is defined drive-specifically with the para-meter “Reference travel required” (PNU 1014, CI 23F6h).

The following reference travel modes are permissible:

– 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 (de-fault).

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

Reference travel sequence:

1. Search for the reference point in accordance with the con-figured method

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

3. Set at axis zero point:Current position = 0 – project zero point PZ offset

After successful reference travel, the drive stands at the axiszero point AZ. On initial start-up or following a change of ref-erence travel method the axis zero offset = 0; after referencetravel the drive is then positioned at the reference point REF.

1. System overview


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 and simultaneously the motor is at a stand-still, the MTR-DCI recognizes that the stop, and therefore thereference position, has been reached.

As the axis must not stand still at the stop, the axis zero pointoffset 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 overview


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. Then it moves back at crawl 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 is at the reference switch at the start of referencetravel, it will move in the opposite direction from the refer-ence switch. The drive then moves as usual to the axis zeropoint.

1. System overview


1.6 Festo handling and positioning profile (FHPP)

Tailored to handling and positioning tasks, Festo has devel-oped an optimised data profile, known as the “FestoHandling and Positioning Profile (FHPP)”.The FHPP enables uniform control and programming forFesto's various fieldbus systems and controllers.

In addition it defines the following for the user:

– The operation modes

– The I/O data structure

– The parameter objects

– The sequence control

Fieldbus communication

Record Select

Free access to allparameters –for reading and writing

. . .

Direct mode Parameter channel

Mode Position Velocity

. . .

1

2

3...

n

>

Fig. 1/6: The FHPP principle

Detailed information on the FHPP can be found in section 5.7.

1. System overview


Control and status bytes

Communication via the fieldbus takes place via 8 control andstatus bytes. Functions and status messages required duringoperation can be controlled directly – mostly with single-bitoperations.

Record Select

The Record Select mode can be used to execute position setrecords saved in the MTR-DCI.For this purpose, up to 31 position sets are parameterisedduring commissioning either using the Festo ConfigurationTool or taught via the control panel.

Direct mode

In the Direct mode the important positioning data are trans-ferred directly via the control bytes.

– The controller can determine and specify target positionsand speeds according to the current operating status,during running time. No limitation is imposed by thenumber of saved position set records.

– Alternatively, a torque (or force) can be specified relativeto the nominal motor current, which the MTR-DCI needsto apply.

Festo Parameter Channel (FPC)

The parameter channel lets the higher-order controller accessall parameter values of the controller via the fieldbus.A further 8 control and status bytes are used for this purpose.

1. System overview


Mounting


Chapter 2

Mounting

2. Mounting


Contents

2.1 General information 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dimensions of the motor unit 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Mounting the electric axes 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Mounting


2.1 General information

WarningDanger of electric shock, short circuiting or unexpecteddrive motion

• Always switch off all power supply before carrying outmounting, installation and maintenance work.

NoteHandle all modules and components with great care. Noteespecially the following:

– Screw connections must be fitted free of distortion andmechanical tension. Screws must be fitted accurately(otherwise threads will be damaged).

– The specified torques must be observed.

– The modules must not be offset from one another.

– 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 reduction 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 the electric axes

When mounting the electric axes, read and keep in mind thedocumentation for the axis used and the additional compo-nents.

WarningIf an axis is mounted in a sloping or vertical position,falling work loads could cause injuries.

• Use the motor unit preferably with self-locking or self-braking spindle drives. This prevents the work loadsliding down suddenly if there is a 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 mounted securely and is correctly aligned

• The working 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 safe values forthe following variables. The point of reference 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 safe shaft output torque for 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 safe shaft output torque for 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 appendix A, Mech-anical data.

2) MTR-DCI-62...-G22: In the start-up phase, torque peaks up to 37 Nm are possible at 20 A peakcurrent.

Tab. 2/2: Safe load for the gear shaft

2. Mounting


NoteMotor unit MTR-DCI-62-...-G22 can generate torque peaksof up to 37 Nm at a peak current of 20 A in the start-upphase.

• Make sure by calculating the dynamic loading thatthe maximum safe shaft output torque for the gear isnot exceeded even in the start-up phase (e.g. by reduc-ing the load).

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

• In order to minimise 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 type MTR-DCI-32 has a total of 6 threads fordifferent motor mounting variants (axial, parallel). In eachcase, only 4 screws must be used.

Size Thread /thread depth

Tightening torque

MTR-DCI-32-... M3 6 mm 1.2 Nm

MTR-DCI-42-... M3 7 mm 1.2 Nm

M4 10 mm 2.9 Nm

MTR-DCI-52-... M5 10 mm 5.9 Nm

MTR-DCI-62-... M5 10 mm 5.9 Nm

Tab. 2/3: Tightening torques

2. Mounting


To mount Festo axes e.g. type DMES- or type DNCE-, coup-lings and coupling housings are available as accessories. Themotor unit is connected to the axis by means of a clamp in thecoupling housing. Additional motor flanges are not thereforenecessary. Further information can be found in appendix A.2and in the operating instructions for the axis.

25°

25°

50°

M3 x6 (6)

dia. 32

32°

M 4 x10(4x)

M 3 x7 (4x)

dia.32

dia.36

4x90° 4

x90°

28°

M 5 x10(4X)

4X90°

45°

dia.50

M 5 x10(4x)

4x90°

30°

dia.40

MTR-DCI-32-... MTR-DCI-42-...

MTR-DCI-52-... MTR-DCI-62-...

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

Installation


Chapter 3

Installation

3. Installation


Contents

3.1 Overview of installation 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Earthing 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Power supply 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Power supply requirements 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Shared supply with load and logic voltage(not for MTR-DCI-32) 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Separate supply with load and logic voltage 3-10. . . . . . . . . . . . . . . . . .

3.4 Serial interface 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Input for external reference switch 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 Connecting the higher-order controller 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.1 Fieldbus cable 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.2 Fieldbus bit rate and fieldbus length 3-17. . . . . . . . . . . . . . . . . . . . . . . .

3.6.3 Bus termination 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation


3.1 Overview of installation

WarningDanger of electric shock, short circuiting or unexpecteddrive motion

• Always switch off all power supply before carrying outmounting, installation and maintenance work.

CautionEarth loops or ground loops could result in EMC protectivemeasures becoming ineffective, with high compensatingcurrents permanently damaging the motor unit.

• Connect only one cable screening to functional earth FE(preferably the screen for the power supply cable).

• Do not link the GND terminal to any housing, screen orfunctional earth FE !

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). Onlyin this way is proper system functioning ensured.

3. Installation


1 Parameterassignment

2 Reference switch

3 PLC controller

4 Power supply

1

2

3

4

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

Connection on the MTR-DCI Description

1 Parameter assign-ment

– M8x1, 4-pin

– Socket

RS232 interface for parameterising, commis-sioning and diagnosing with FCT

2 Reference switch – M8x1, 3-pin

– Socket

Sensor input for N.O. (normally open) switch typein PNP configuration

3 PLC controller – Sub-D, 9-pin

– Socket

Interface for connecting to a PLC controller

4 Power supply – Sub-D, 2-pin

– Plug

Connection with two high-current contacts

Tab. 3/1: Description of the connections

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 terminals in orderto prevent such discharges.

3. Installation


The plug connectors on the Festo cables listed in the follow-ing are of protection class IP54.

Connection Cable Designation Length [m]

Parameterisation Programming cable KDI-MC-M8-SUB-9-2.5 2.5 (max. 2.5)

Reference switch Connecting cable KM8-M8-GSGD-... 0.5 / 1 / 2 / 5

Power supply Power supply cable KPWR-MC-1-SUB-9HC-... 2.5 / 5 / 10(max. 10)

PLC controller Fieldbus adapter FBA-...for connecting the fieldbuscable

FBA-PB-SUB-9-3XM12 –

Tab. 3/2: Overview of cables (accessories)

To maintain the IP protection class:

• Seal unused M8 terminals with ISK-M8 protective caps(accessories)

• Tighten the union nuts/locking screws on the plugs byhand (torques: see documentation for cables and plugs).

CautionLong lines reduce immunity to interference (EMC).

• Do not exceed the specified maximum cable lengths.

Note• Lay all moveable motor and sensor cables free of bendsand free of mechanical stress, in a drag chain if ne-cessary.

3. Installation


3.2 Earthing

Note• Connect the earth terminal of the MTR-DCI with low im-pedance (short cable with large cross section area) tothe earth 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, useonly the following earth terminal:

– Earthing strap on free end of the power supply cable; seeassembly instructions for cable KPWR-MC-1-SUB-9HC-...(see chapter 3.3.2)

CautionEarth or ground loops can make EMC safety measuresineffective and allow high compensating currents to dam-age the 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 the impairing EMCprotection functions.

3. Installation


3.3 Power supply

3.3.1 Power supply requirements

Warning• To provide the electric power supply, use only PELVcircuits as per IEC/DIN EN 60204-1 (Protective Extra-LowVoltage = PELV).Take into account also the general requirements forPELV circuits as per IEC/DIN EN 60204-1.

• Use only power sources which provide reliable electricalisolation of the operating voltage as per IEC/DIN EN 60204-1.

The use of PELV power units guarantees protection againstelectric shock (protection against direct and indirect contact)in accordance with IEC/DIN EN 60204-1 (Electrical Equipmentof Machines, General Requirements).

CautionDevice damage from overvoltage

The voltage inputs of the motor unit have no internalprotection against overvoltage.

• Make sure that the permitted voltage tolerance is notexceeded. The tolerance must also be observed directlyat the operating voltage connections on the MTR-DCI(see appendix A.1).

• Install external fuses (see Tab. 3/3).

3. Installation


Load voltage The power electronics and thereby the motor are suppliedwith DC voltage via the power supply connection.} section 3.3.2

Logic voltage The logic components are either also supplied via the powersupply connection (except for MTR-DCI-32), or are suppliedseparately from the load voltage via the fieldbus adapterFBA-... } Section 3.3.3

The permitted voltages and currents can be found in appen-dix A.1.

RecommendationFor the load voltage supply, use a stabilised power supplyunit with high reserve capacity and external fuses.

Power supply units and fuses:

MTR-…-32 MTR-…-42 MTR-…-52 MTR-…-62

Recommendedpower unit(stabilised)

DC 24 V /3 A DC 24 V/6 A DC 24 V/10 A DC 48 V/20 A

External fuse,secondary

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

Tab. 3/3: Power supply units (for load voltage) and fuses

3. Installation


3.3.2 Shared supply with load and logic voltage(not for MTR-DCI-32)

A1 A2

A1 A2

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

• Use the power supply cableKPWR-MC-1-SUB-9HC-... (max. length of 10 m).

• Connect only one cable screening to the functional earthFE (preferably the screening of the power supply cable).

• Do not link the GND terminal to any housing, screen orfunctional earth FE!

Plug Pin Colour 1) Description

A1 A2

A1 Black (1) MTR-DCI-32/42/52:MTR-DCI-62:

POWER +24 VDCPOWER +48 VDC

A2 Black (2) MTR-DCI-32/42/52/62: POWER GND 2)

1) Cable colours with power supply cable KPWR-MC-1-SUB-9HC-...2) Do not connect the GND terminal to any housing, screen or functional earth (FE)!

Tab. 3/4: Connecting the power supply to the motor unit

3. Installation


3.3.3 Separate supply with load and logic voltage

With separate supply, the load voltage can be switched off(e.g. in the case of EMERGENCY-STOP), with logic voltagecontinuing to be applied and the controller remaining func-tional, retaining its reference position.

Supply with load voltage is as above (see 3.3.2).

The logic voltage, however, is supplied via the fieldbusadapter FBA-... (see Accessories chapter) :

1 Fieldbusconnection

2 Continuation ofthe fieldbus orterminatingresistor

3 Supply ofseparate logicvoltage

1 2 3

For the pin allocation and connection specification, see theinstallation manual of the fieldbus adapter.If connection3 is not used: apply a protective cap to main-tain the IP protection class (see A.2).

Switch-on sequence Do not switch on the logic voltage after the load voltage,since this may cause the MTR-DCI to switch off and back onagain (= reset).

Logic voltage failure If the logic voltage fails, the controller will switch off.For MTR-DCI-42/52/62: if the load voltage is still active,it will switch back on but will lose its reference position(= reset).

3. Installation


3.4 Serial interface

Serial interface for parameter assignment, commissioningand diagnosis

In order to connect a PC to the MTR-DCI, use exclusively thefollowing cable:– Programming cable KDI-MC-M8-SUB-9-2,5

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

2. Connect the following terminals using the programmingcable:

– The connection socket on the MTR-DCI

– A serial interface COMx on 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 staff – do notconnect!

1) The levels correspond to the RS232 standard and enable a datatransmission rate of 9600 bit/s

Tab. 3/5: Pin allocation for the serial interface on the MTR-DCI

3. Installation


Information on commissioning and parameterising 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.2.2.

NoteThe RS232 interface is not galvanically separated. It is notappropriate for permanent connection to PC systems, norfor use as a control interface.

• Use this terminal only for commissioning.

• Remove the programming cable in continuous opera-tion.

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

3. Installation


3.5 Input for external reference switch

If you are not using a reference switch:

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

When selecting the reference switch:

• For the reference switch, use the correct “normally-open”switch type in PNP configuration.

• Use a reference switch with screw-type lock (externalthread M8x1) at the cable end or – as adapter – the exten-sion cable KM8-M8-... with screw-type lock.

• When selecting the sensor, note that the accuracy of theswitchover point of the sensor determines the accuracy ofthe homing (reference) point.

Suitable proximity switches from Festo can be found in theappendix A.2 “Accessories”.

M8x1 socket Description

1 34

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

4 REF Reference switch contact

3 GND Ground

Tab. 3/6: REF connection (reference switch) on the MTR-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 on 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 safe.

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

3. Installation


3.6 Connecting the higher-order controller

Communication with the higher-order controller occurs viathe control connection on the MTR-DCI-... . This connection isused for infeed and continuation of the fieldbus line.

Connection Pin Designation Function

5 1

9 6

1 Screen/housing Connection to functional earth 2)

2 Logic_GND 1) Earth (GROUND) for logic voltage

3 RxD/TxD-P Receive/transmit data P

4 CNTR-P Control signal repeater

5 DGND Data reference potential (M5V)

6 VP Supply voltage positive (P5V)

7 Logic_POWER 1) Logic voltage 24 VDC

8 RxD/TxD-N Receive/transmit data N

9 n.c. Not connected

1) Only with separate logic voltage supply, see section 3.3.2) Connect only one cable screening to functional earth FE (preferably the screen for the

power supply cable).

Tab. 3/7: “I/F” connection (controller connection)

CautionDevice damage with other PROFIBUS devices

When using the separate logic voltage supply via the field-bus adapter FBA-... (see chapter Accessories) there will bea voltage of DC 24 V at pin 7.

• Check whether there is any hazard for other fieldbusstations.

• Observe the pin allocation in accordance with the as-sembly instructions for the fieldbus adapter.

3. Installation


3.6.1 Fieldbus cable

NoteIf installation has not been carried out correctly and if highbaud rates are used, data transmission errors may occuras a result of signal reflections and attenuations.Causes of the transmission faults may be:

– Missing or incorrect terminating resistor

– Incorrect screening/shield connection

– Branches

– Transmission over long distances

– Unsuitable cables

Observe the cable specifications. Refer to your controllermanual for information on the type of cable to be used.

NoteIf the MTR-DCI is mounted onto a moving part of a ma-chine, the fieldbus cable on the moving part must be pro-vided with strain relief. Please observe also the relevantregulations in EN 60204 part 1.

Use a twisted, screened 2-core cable for the fieldbus cable inaccordance with PROFIBUS specifications (EN 50170, cabletype A):

Surge impedance: 135-165 ohm (3-20 MHz)Capacitance per unit length: < 30 nF/kmLoop resistance: < 110 Ohm/kmCore diameter: > 0.64 mmCore cross-section: > 0.34 mm2

Bus length Exact specifications on the bus length can be found in thenext section and in the manuals for your control system.

3. Installation


3.6.2 Fieldbus bit rate and fieldbus length

NoteThe maximum permissible fieldbus segment lengths aredependent on the bit rate used.

• Observe the maximum permissible segment length(cable length without repeater) if you connect the MTR-DCI to a fieldbus segment.

• Avoid branch lines.

The bit rate is defined by the master and is automatically de-tected by the MTR-DCI-...-PB.

Bit rate Maximum segment length

9.6, 19.2, 45.45, 93.75 kBit/s 1200 m

187.5 kBit/s 1000 m

500 kBit/s 400 m

1500 kBit/s 200 m

1.5 ... 12 MBit/s 100 m

Tab. 3/8: Maximum fieldbus segment lengths for PROFIBUS-DP in dependence on the bit rate

3. Installation


3.6.3 Bus termination

NoteIf the MTR-DCI-...-PB is at the beginning or end of the field-bus segment, a bus termination will be required.

• Fit a bus termination resistor to both ends of a bus seg-ment.

If the fieldbus adapter FBA-... is used (see chapter A.2 “Acces-sories”), a conventional terminating resistor can be con-nected to the connection for fieldbus continuation2.

1 2 3

1 Fieldbus connection

2 Continuation of the fieldbus or terminating resistor

3 Supply of separate logic voltage

For the pin allocation and connection specification, see theinstallation manual of the fieldbus adapter.

The control panel (MTR-DCI-...-H2)


Chapter 4

The control panel (type MTR-DCI-...-H2)

4. The control panel (type MTR-DCI-...-H2)


Contents

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

4.3 [Diagnostic] menu 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Settings] menu 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 [Positioning] menu 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Menu command [HMI control] 4-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Motor unit MTR-DCI-...-H2 offers all functions required forcommissioning, programming and diagnostics on the controlpanel. An overview of the key and menu functions can befound in this chapter.Commissioning with the control panel is described fromchapter 5.2 onwards.With the MTR-DCI-...-R2 (without control panel), you canexecute commissioning of the MTR-DCI via the RS232 inter-face (with FCT software). Instructions on this can be found inchapter 5.3.

CautionSimultaneous access of control functions and operatingfunctions by the FCT and the control panel can causefaults.

• Make sure that FCT and the control panel are not in useat the same time.

NoteIf necessary, remove the protective film 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:

– Parameter assignment and referencing the axis (homing)

– Entering position set records

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

1 LCD display

2 Operatingbuttons

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 by means of menus. Thegraphical LCD display shows all texts in English. The displaycan be rotated in 90° steps; see menu command [LCD adjust-ment].

The operating statuses are indicated visually by 3 LEDs(see also section 6.2).

– Power: Power supply

– I/F: Communication status (red),positioning status (green)

– Error: Faults



Function Button

MENU Activates the main menu from thestatus display. Menu

ESC Rejects the current entry and switchesback in stages to the higher menu levelor 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 entry.Enter

SAVE Saves parameter settings permanentlyin the EEPROM.

START/STOP Starts or stops a positioning pro-cedure (only in Demo mode).After stop: display of current posi-tion; use <Menu> to return to thehigher menu level.

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

VEDIT Sets parameters.

Tab. 4/1: Button function (overview)

MTR-DCI...

Xa = 0.00 mm

HMI:off PB:none

<Menu>

} Diagnostic

Positioning

Settings

V 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 status dis-play. The status display shows the following information:

– The type designation of your MTR-DCI

– The current position of the drive xa = ....

– The current setting for device control(HMI = Human Machine Interface)

– The PROFIBUS address of the MTR-DCI (PB:...).

The main menu is accessed from the status display using the<Menu> button. The current button function will be displayedin the lower lines of the LCD display.

Function Button

<- -> You can use the arrow keys on the control panelto select a menu item from the list. The currentselection is marked with an arrow ( } Diagnos-tic). Select the menu itemV in order to displayfurther menu items (HMI control...).

v

V

ESC With <Menu> you can interrupt the current entryand return in stages to the higher menu level orstatus display.

Menu

OK With<Enter> you can confirm the current selectionor entry. Enter

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



Menu command Description

} Diagnostic Displays the system data and the currently effective settings(see section 4.3)

} Pos. set table Displays the position set table

} Axisparameter Displays axis parameters and data

} Systemparamet Displays system parameters and system data

} PROFIBUSDiag Displays PROFIBUS diagnosis data

} SWinformation Displays the operating system version (firmware)

} Positioning 1) 2) Homing and positioning runs for testing the position set records (see section 4.5)

} Moveposit set Starts the positioning run for “position set record”

} Demoposit tab Starts the positioning run for “position set table”

} Homing Starts the homing run

} Settings 1) 2) Selection of the drive, parameter assignment, programming the position set records...(see section 4.4)

} Axis type } TypeDMES-... Valve actuator DMES-...

} TypeDNCE-... Electric cylinder DNCE-...

} Rotationdrive Rotational axis with stop

} User config Any linear drive

} Axisparameter } 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... Saves parameters in EEPROM

} Homingparamet

} Homingmethod Selection of reference travel method (stop, software limit switch...)

} Velocity v_sw Positioning speed for searching for the homing point

} Velocity v_s0 Positioning speed for moving to the axis zero point


} Positionset } Positionnr. Number of the position set record (0...31)

} Possetmode Absolute or relative positioning

} Position 3) Target position of the position set record

} Velocity Positioning speed of the position set record


} Password edit Setsup a local passwordwith 3digits for the control panel (see section4.4).

} PBParameter Sets the PROFIBUS address

} HMI control 1) Presetting for device control via the control panel (see section 4.6)

} LCD adjustment Rotates the display in steps of 90°

1) May be password-protected 3) Teach mode2) Control interface must be deactivated; see [HMI control] :HMI = on

Tab. 4/3: Menu commands (overview)

} Diagnostic

} Pos.set table

Axis parameter

System paramet.

PROFIBUS Diag

SW information



4.3 [Diagnostic] menu

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

1. Use the arrow keys to select [Diagnostic] from the mainmenu and press the <Enter> button.

2. Select one of the following menu commands:

– Position set table [Pos. set table]

– Axis parameters [Axis parameter]

– System parameters [System paramet.]

– PROFIBUS diagnostic data [PROFIBUS Diag]

– Firmware version for the MTR-DCI [SW information]

Function Button

<- -> You can scroll through the diagnos-tic data with the arrow keys. v V

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



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

[Pos. set table] Description

Nr Number of the position record (0...31)

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

Pos Target position

Vel Positioning speed

[Axis parameter] 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 Axis zero point offset

feed 2) Feed constant

1) Unit of measurement depends on the measuring system set2) Not for axis type “Rotation drive”



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

[System param] Description

V power [V] Supply voltage

I max [A] Maximum current

I act [A] Current current

Temp [°C] Operating temperature

Cycle Number of positioning movements

Ref. switch on/off Signal at reference switch input

Mode e.g. mm System of measurement units

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 reduction ratio of the MTR-DCI



[PROFIBUS Diag] Menu command for displaying the following PROFIBUS dia-gnostics data:

[PROFIBUSDiag]

Description

ConState Configuration status.

– WaitPrm: Waiting for parameter assignment

– WaitCfg: Waiting for configuration

– DataEx: Data exchange

Bit rate Current bit rate

MasterAdr Address of the master

SlaveAdr Address of the MTR-DCI-...-PB

ActCFG Current bus configuration.

– invalid:

No configuration or incorrect configurationby master (e.g. by invalid GSD file)

– FHPP Std.:

Control via control bytes

– FHPP FPC:

Control via control bytes, parameter assign-ment via the parameter channel

GbDiagnosis Device-related diagnosis.

– ON: If there is a fault, request for diagnosis

will be sent.

– OFF: If there is a fault, request for diagnosiswill not be sent.

} Settings

} Axis type

Axis parameter

Homing paramet.

Position set

Password edit

PB Parameter



4.4 [Settings] menu

WarningInjury to persons and damage to property from collisions

With all positioning procedures, the motor turns and theconnected axis moves.

• Make sure that:

– Nobody can place their hands into the positioningrange

– There are no objects within the positioning range

For parameterising the axis system and programming theposition set records:

1. Use the arrow keys to select the [Settings] item from themain menu and press the <Enter> button.

2. Select the following:

– The axis type [Axis type]

– The axis parameters [Axis param]

– The homing parameters [Homing param]

– The position set table [Position set]

– The password setting [Password]

– The PROFIBUS address [PB parameter].

NoteThe parameters you have set take effect immediately uponconfirmation with OK <ENTER>.

• Save the parameter settings permanently in EEPROMwith the [Save]menu command. Only then will the set-tings be retained even if the power supply is switchedoff or if there is a power failure.



[Axis type] Type of axis driven by the MTR-DCI (for parameters seesection 5.2.1)

[Axis type] Description

[Type DMES-...] Festo servo axis

[Type DNCE-...] Festo electrical drive

[Rotation drive] Any rotational axis

[User config] Any linear axis

[Save...] Save parameters in EEPROM

[Axis parameter] Teach mode for setting the axis parameters

[Axis param] Description

[Zero point] Offset of the axis zero point

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

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




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

The maximum speed during homing is limited to half themaximum positioning speed v_max (for 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 homing point

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




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

[Position set] Param. Description

[Position nr] Nr Number of the position set record[0...31]

[Pos set mode] [absolute/relative]

Positioning modeabsolute = absolute positionspecification, related to the pro-ject zero pointrelative = relative positionspecification, related to thecurrent position

[Position] xt Target position in the selectedsystem of measuremente.g. [mm]

[Velocity] v Positioning speed in the selectedsystem of measuremente.g. [mm/s]


[PB parameter] Sets the PROFIBUS address of the MTR-DCI-...-PB

[PB parameter] Description

[PROFIBUSADR] PROFIBUS address of the MTR-DCI-...-PB

NoteThe parameters you have set take effect immediately uponconfirmation with OK <ENTER>.

• Save the parameter settings permanently in EEPROMwith the [Save]menu command. Only then will the set-tings be retained even if the power supply is switchedoff or if there is a power failure.

New Password:

[?xx] =

ESC <Menu>

EDIT <--> OK <Enter>

Enter Password:

[?xx] =

ESC <Menu>




Setting a password

In order to prevent unauthorised or unintentional overwritingor modification of parameters in the device, access via thecontrol panel can be protected by a “local” password. Nopassword has been preset at the factory (presetting = 000).

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

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

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

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

3. After entering the third digit, save your setting with SAVE<Enter>.

Entering a 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 parameterising and control functions of the con-trol panel are enabled until the power supply is switched off.

The current entry position is marked with a question mark.

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

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

3. Repeat the entry for the remaining entry positions.

Once the third digit has been confirmed, access via thecontrol panel is enabled.

Enter Password:

[?xx] =

ESC <Menu>


New Password:

[?xx] =

ESC <Menu>




Modifying/deactivating the password

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

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

1. Use the arrow keys to select a digit 0...9.

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

3. Repeat the entry for the remaining entry positions.

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

5. After entering the third digit, save your setting with SAVE<Enter>.

• Store the password in an appropriate place, e.g. with theinternal documentation for your system.

If the active password in the MTR-DCI is lost in spite of carebeing taken:If needed, the password can be deleted by entering a masterpassword. In this case please contact your Festo Servicepartner.



4.5 [Positioning] menu

Starting a homing run or a positioning run to test the positionset records.

WarningInjuries or damage to mechanical components

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

• Make sure that:



Note• Before starting a homing run, make sure that:

– The positioning system is set up and wiredcompletely, and is supplied with power.

– Parameterising is completed.

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

NoteNote that position set records with speed v=0 or an invalidtarget position (-> fault TARGET POSITION OUT OF LIMIT)will not be executed.

} Positioning

Move posit set

Demo posit tab

} Homing

...

Attention! Motor moves

ESC <Menu>

START <Enter>

HOMING

V_0 = 20 mm/s

v_sw = 10 mm/s

EMERG.STOP<Menu>



Homing

1. Use the arrow keys to select [Positioning] from the mainmenu and press the <Enter>button.

2. Select the menu command:

– [Homing]

[Positioning] Description Note

[Homing] Homing run to anchor the dimen-sional reference system

First set the parameters in the menu[Settings] [Homing parameter].Factory setting: homing to a referenceswitch in negative direction.

3. Make sure that nobody can reach into the positioningrange of the moveable load and that there are no ob-jects in its path. Start homing 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; con-firm with <Enter>, then automatic return to thestatus display).

Menu

} Positioning

} Move posit set

Demo posit tab

Homing

...

Attention! 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>



Executing position set records

1. Use the arrow keys to select [Positioning] from the mainmenu and press the <Enter>button.

2. Select the menu command:

– Positioning run for “position set record”[Move posit set] – or

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

[Positioning] Description Note

[Move posit set] Positioning run for testing aparticular position set record in theposition set table.

Parameters must have been com-pletely assigned and homing musthave been carried out.

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

Parameters must have been com-pletely assigned and homing musthave been carried out. At least twoposition set records must have beenassigned parameter v > 0.

In the [Demo posit tab] positioning run, all position set re-cords in the position set table are executed one after theother. If the position set table contains a position set recordwith speed v = 0, this position set record and all the followingrecords will not be executed; the positioning run will continuewith the first position set record.

3. Make sure that nobody can reach into the positioningrange of the moveable load and that there are no ob-jects in its path. Start the positioning procedure withSTART <Enter>.

During the positioning run, the following information is dis-played:

– 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;confirm with <Enter>, then automatic return tothe status display).

Menu

DEMOSTOP

With <Enter> you can interrupt the “Positionset table” positioning run [Demo posit tab] .The current positioning set will be executedbefore the axis stops. If you restart, the runwill begin with record 0.

Enter



4.6 Menu command [HMI control]

To select the menu commands [Positioning] and [Settings]you require the setting “HMI: on”. Only then is the MTR-DCIready to process user entries on the control panel. When se-lecting the menu commands, you will be prompted to modifythe HMI setting.

[HMI control] You can also modify the setting directly with the menu com-mand [HMI control].

HMI 1) Device control

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

off Device control is carried out via the control interface ofthe MTR-DCI.

1) HumanMachine Interface

NoteAccess to the MTR-DCI via HMI and FCT can be blocked viathe fieldbus (“HMIAccess locked”).

Commissioning


Chapter 5

Commissioning

5. Commissioning


Contents

5.1 Commissioning procedure 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

5.2.1 Selecting the axis type 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting homing parameters 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Carrying out homing 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Teaching the axis zero point AZ and the software end positions 5-15. .

5.2.5 Teaching position set records 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Test run 5-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Setting PROFIBUS addresses 5-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with FCT 5-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Installing the FCT 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Procedure 5-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Overview of commissioning on the PROFIBUS 5-26. . . . . . . . . . . . . . . . . . . . . . . .

5.5 Configuration 5-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Install device master file (GSD file) and icon files. 5-27. . . . . . . . . . . . . .

5.5.2 I/O configuration 5-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.3 Configuration with STEP 7 5-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.4 Startup parameter assignment 5-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.5 Response monitoring 5-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.6 Control commands 5-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Overview of control and parameter assignment methods 5-36. . . . . . . . . . . . . . .

5.6.1 DPV0 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 DPV1 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Festo profile for handling and positioning (FHPP) 5-37. . . . . . . . . . . . . . . . . . . . .

5.7.1 Supported operation modes 5-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2 Composition of the cyclical I/O data 5-39. . . . . . . . . . . . . . . . . . . . . . . .

5.7.3 Examples of control and status bytes 5-50. . . . . . . . . . . . . . . . . . . . . . .

5.8 Drive functions 5-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.1 Dimensional reference system 5-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.2 Homing 5-64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.3 Jog mode 5-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.4 Teaching via fieldbus 5-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning


5.8.5 Record Select: Executing a position set record 5-70. . . . . . . . . . . . . . . .

5.8.6 Direct mode: Specification of a position or force 5-75. . . . . . . . . . . . . .

5.8.7 Standstill monitoring 5-79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 Notes on operation 5-81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning


5.1 Commissioning procedure

Before 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 reach into the operatingrange of the axes or other connected actuators and thatno objects lie in the positioning range while the systemis still connected to a power supply.

NoteIn the following cases the MTR-DCI must not be accessedwith the FCT for writing (e.g. downloading parameters) orcontrolling (e.g. with “Move manually” or to start homing):

– 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 parameter assignment or operation is being car-ried out with the control panel of the MTR-DCI

Please note the following:

• Control by the FCT must not be activated while the driveis in motion or when control is being carried out via field-bus.

5. Commissioning


• Before commissioning the drive make sure that:

– The work space is of sufficient size for operation witha work load

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

• Please observe the notes in the operating instructions foryour axis.

Switching on

NoteNote that the tolerance for the supply voltage must beobserved. The tolerance must also be observed directly atthe operating voltage connection of the MTR-DCI(see appendix A.1).

Note• When the power supply is switched off, wait for approx.5 seconds before switching the device on again.

1. Switch on the power supply for the MTR-DCI. When thepower supply is switched on, the MTR-DCI automaticallycarries out an internal check.

2. Carry out parameterising and commissioning with thecontrol panel or the FCT, as described in the followingchapters or in the FCT/plugin help.

3. In order to complete commissioning note the instructionsfor operation in the FCT/plugin help and in section 5.9.

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 be deac-tivated and control panel enable must be set [HMI = on]. Theactual status of the ENABLE control bit then has no effect.

• Select [HMI control] = “on” and then OK <Enter>.

5. Commissioning


Overview of parameter assignment andcommissioning

Information on the current parameter assignment of the mo-tor unit can be found in the menu [Diagnostic] on the controlpanel.

Carry out the following steps in order to commission the MTR-DCI the first time with the control panel. Refer to the detaileddescription in the chapters specified.

Commissioning (overview)

Select the axis type and adapt the parameters. 5.2.1

Set the parameters for homing:

– Homing method

– Search speed to homing point

– Positioning speed to axis zero point

5.2.2

Carrying out homing. 5.2.3

Teach the axis zero point and the software end positions. 5.2.4

Teach position set records. 5.2.5

Test run. Optimise settings if needed. 5.2.6

Set PROFIBUS address. 5.2.7

Tab. 5/1: Commissioning (overview)

In order to restore the default settings you can, if necessary,delete the EEPROM directly via the serial interface with the CIcommand 20F1h (Data memory control) (see appendix B.2.2).

} Settings

Axis type

Type DMES...

Type DNCE...

Rotation drive

User config

5. Commissioning


5.2.1 Selecting the axis type

1. Select your axis type:

– Festo positioning axis [Type DMES-...]

– Festo electrical drive [Type DNCE-...]

– Any axis of rotation [Rotation drive]

– Any linear axis [User config]

2. Set axis-specific parameters as prompted using the arrowbuttons, e.g. feed constant, system of measurement,or counting direction.

Axis type Parameters

Type DMES A DMES size can be selected, according to the size of the MTR-DCI. The feedconstant is already configured.

Type DNCE – FeedCon: feed constant in [mm/rev](see documentation for your DNCE).

– Count direction: active direction (direction of motor rotation), left or right(see 1.5).

Rotation drive 1) Any rotary/semi-rotary drive:

– [Degrees] (360°/rev) or

– [Revolutions]

User config Any linear drive: Feed constant in [mm/rev] as per the documentation of yourlinear axis.

1) If an external gear is used, the gear factor can be set with FCT.

Tab. 5/2: Assigning parameters to the axis

3. Save the settings with SAVE <Enter>.

5. Commissioning


5.2.2 Setting homing parameters

When homing to stop:

CautionDamage to components.

The slide (or piston rod) may only move directly againstthe fixed stop if the permitted impact energy is not ex-ceeded (impact energy = 0.5 x mass x velocity2).

• The permitted value can be found in the manual for youraxis.

• If needed, reduce the speed at which homing is carriedout (see FCT plugin help).

• If necessary, limit the max. motor current during homing.

Current limitation When the max. motor current is reached and the motor isstationary, the MTR-DCI will detect a stop. The maximummotor current can be limited during homing (see FCT help orCI object 6073h).

Note– If the drive is arranged vertically, an increase in themotor current may be necessary. If the motor current istoo low, homing cannot be carried out or the unit maydetect a stop incorrectly.

– The set required speed cannot be reached if currentlimitation is too great.

5. Commissioning


Current limitation 1) 32 42 52 62

100 % Z1 x nominal motor current

Motor currentMotor torque

AmNm

0.7330

2.0110

5.0300

6.19700

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


AmNm

1.146

3.0171

7.5460

9.291076

200 % Z2 x nominal motor current


AmNm

1.4662

3.8 2)

2207.7 2)

47012.381450

1) Parameter specification in FCT: relative motor current in % of nominal current.2) Due to maximum current limitation the value does not rise further.

Tab. 5/3: Current limitation

Positioning axis DMES-... can execute the reference travelwith the factory-set current limiter (150 % of the rated motorcurrent). The current limiter need not be changed.

} Settings

Homing parameter

Homing method

Velocity v_sw

Velocity v_s0

Save

5. Commissioning


Setting parameters

1. Set the following homing parameters one after the other:

– Referencing method [Homing method], see sec-tion 1.5.3.

– Search speed for ascertaining the reference point[Velocity v_sw]

– Positioning speed to axis zero point [Velocity v_s0]

Factory pre-setting for homing parameters 32 42 52 62

Speeds v_sw, v_s0 % 1)

inc/s~41 %27000

~22 %22400

~17%16800

~15%16800

Rated motor speed rot/sinc/s

5566000

50100000

50100000

56,7113400

Homing method Reference switch, negative (near motor)

1)%of rated motor speed; max. 50 % for V_sw; max. 100 % for v_s0

2. Accept each setting with OK <Enter>. The setting will thentake effect in the drive.

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

5. Commissioning


5.2.3 Carrying out homing

The following conditions must be fulfilled for homing:

– The drive must be set up completely, wired and suppliedwith power.

– The MTR-DCI must be correctly parameterised.

During reference travel, at first the drive moves at the presetsearch speed v_sw corresponding to the selected referencetravel method, up to the mechanical fixed stop or to the ref-erence switch and after evaluation of the signal, accepts theposition as reference point REF (Fig. 5/11 ). The drive thenmoves at speed v_s0 to the axis zero point AZ (Fig. 5/12 ).

1 Move to thehoming point REF

2 Move to the axiszero point AZ

REF

AZ

2

1

Fig. 5/1: Homing (example: fixed stop, negative)

5. Commissioning


Starting homing

NoteNote that at the start the drive must be in front of the stopor reference switch (in terms of the search direction).

1. If necessary, position the drive in Teach mode so that,when viewed in terms of the search direction, it is in frontof the stop or reference switch at the start.

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

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

• End the procedure with ESC<menu> so that the posi-tion is not included in the position set table.

2. Select [Positioning] [Homing].

3. Start homing with START <Enter>.

NoteIf, with the “Reference switch” homing method, a referencesignal is not found before the drive reaches a fixedstop, the MTR-DCI will stop and display a fault(HOMING ERROR).

After successful homing the drive will be at the axis zeropoint AZ. With first commissioning, the offset of the axis zeropoint = 0; after homing the drive then stands at the homingpoint REF.

} Positioning

Demo posit tab

Move posit set

Homing

5. Commissioning


Discontinuing homing

If necessary, homing can be discontinued with the <Menu>button (EMERG STOP). If correct homing has already beencarried out, the previous homing point will retain its validity.

Error in the homing run

If a fault occurs during homing:

• Acknowledge the error 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,when viewed in terms of the search direction, it is in frontof the stop or reference switch at the start.

• Repeat the homing run.

5. Commissioning


5.2.4 Teaching the axis zero point AZ and the software end positions

NoteOverloading from constant pressing against a mechanicalstop.

• When referencing to a stop, set the offset of the axis zeropoint to ≠ 0 (at least 0.25 mm).The drive will then stand free of the stop after the refer-ence travel is completed.

Teach the axis zero point AZ:

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 take effect in the drive. The current position xabecomes the axis zero point (xa = 0).

NoteIf the axis zero point is modified:

Check existing settings of the software end positions and(if applicable) the project zero point and the target posi-tions in the position set table.Note that these values move together with the axis zeropoint AZ.

• Teach the software end positions, project zero point andthe target positions again if needed.

} Settings

Axis parameter

Zero point

Abs.min.pos

Abs.max.pos

Save

5. Commissioning


Teach the software end positions:

1. Select [Settings] [Axis parameter] [Abs.min.pos] or[Abs.max.pos].

2. Move the drive with the arrow keys.

3. Accept the position reached with OK <Enter>. The settingwill then take effect 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.

NoteThe project zero point PZ can only be set via FCT orPNU 500 / CI object 21F4h.

5. Commissioning


5.2.5 Teaching position set records

Requirements:

– The axis zero point and the software end positions havebeen set correctly.

– The homing run has been carried out successfully.

Enter the position set records as follows:

1. Activate the desired position record (1...31) with[Settings] [Position set] [Position nr]. OK <Enter>.

2. Select the positioning mode of the position set:

• Select [Pos set mode].

• Set the positioning mode with the arrow keys:absolute= absolute position specification, in relationto the project zero pointrelative = relative position specification, in relationto the current position

• Accept the value with OK<Enter>.

3. Teach the target position of the position record:

• Select [Position].

• Move the drive manually to the desired target positionwith the arrow keys.

• Accept the position reached with OK <Enter>. Thesetting of the target position and the positioningmode will then take effect in the drive.

4. Set the speed:

• Select [Velocity].

} Settings

Position set

Position nr

Pos set mode

Position

Velocity

Save

5. Commissioning


• Set the nominal speed with the arrow keys.

• Accept the setting with OK <Enter>. The setting willthen take effect in the drive.

Position records with speed v = 0 or invalid target positions(-> error TARGET POSITION OUT OF LIMIT) cannot be ex-ecuted.

5. Save the position set record with [Save]. Only then willthe settings be retained even if the power supply isswitched off or if there is a power failure.

6. Enter the next position record.

Digitalisation faults of the analog-digital converter can accu-mulate in the case of relative position movements whichoccur frequently one after the other, leading to deviations ofthe position values. If necessary, insert an absolute positionset or a homing run into the positioning cycle, in order to cor-rect deviations.

5. Commissioning


5.2.6 Test run

WarningInjury to persons and damage to property

With all positioning procedures, the motor turns and theconnected axis moves.

• Make sure that:



CautionDamage to components with DMES-...

The unit must not move onto mechanical end positions(stops) during operation. When the unit moves to the endpositions with a heavy load, blockage may occur in the endpositions.

• Limit the positioning range by defining valid softwareend positions during commissioning (see section 5.2.4).

1. Enter several position set records:

• Set 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 execute acertain position set record — or —

3. Select [Positioning] [Demo posit tab] in order to processall position set records. At least two position set recordsmust be entered in the position set table in order to usethis function.

In the [Demo posit tab] positioning cycle, all position setrecords 1...31 in the position set table will be executedone after the other. If the position set table contains a

} Positioning

Demo posit tab

Move posit set

Homing

5. Commissioning


position set with speed v = 0, neither this position setrecord nor the following records will be executed; thepositioning cycle will continue from the first position setrecord.

4. Start the test run.

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

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

• Check the positioning behaviour.

• Check the position details displayed.

5. If necessary, optimise the settings for position sets, andalso (if needed) for the points of reference and the work-ing range.

5. Commissioning


5.2.7 Setting PROFIBUS addresses

Before commissioning on the PROFIBUS, you must set a validstation number.

– Valid station numbers: 0 ... 125.

– The invalid station number 255 is preset.This is to make sure that a correct address is set duringcommissioning or when replacing.

– Addresses cannot be assigned by the master (the serviceSet_Slave_Address is not supported).

NoteStation numbers may only be assigned once per fieldbusmaster.

Set the station numbers as follows:

1. Select [Settings] [PB parameter] [PROFIBUS ADR](see also section 4.4).

2. The current address is displayed with <Enter>.

3. Set the desired address with the arrow buttons.

4. Accept the address with OK <Enter>.The set address becomes effective immediately and issaved against network failure.

} Settings

PB parameterPROFIBUS ADR

PROFIBUS address

7

ESC <Menu>

EDIT <--> SAVE <Enter>

5. Commissioning


5.3 Commissioning with FCT

The Festo Configuration Tool (FCT) is the software platform forconfiguring and commissioning different components anddevices from Festo.

The FCT consists of the following components:

– A framework as program start and entry point with uni-form project and data management for all supportedtypes of devices.

– A plugin for the special demands of each device type(e.g. MTR-DCI) with the necessary descriptions and dia-logues. The plugins are managed and started from theframework.

Printed information In order to use the complete Help or parts of it without a PC,you can use one of the following options:

• With the button “Print” in the Help window, print indi-vidual Help pages or all the pages of a book directly fromthe Help index.

• Print a prepared printed version of the Help in Adobe PDFformat or Rich Text Format (RTF):

Printed version Directory File

FCT help ...(FCT installation directory)\Help\ – FCT_de.pdf

– FCT_de.rtf

Plugin help(MTR-DCI)

...(FCT installation directory)\HardwareFamilies\Festo\MTR-DCI\V...\Help\

– MTR-DCI_de.pdf

– MTR-DCI_de.rtf

To print in Adobe PDF format, you will require Adobe Reader.

5. Commissioning


5.3.1 Installing the FCT

NoteThe plugin MTR-DCI V2.0.0 supports the following motorunits:

– MTR-DCI-...-PB: firmware version V1.00 and higher

• 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 MTR-DCI plugin is installed on your PC together with theFCT's installation program.

1. Close all programs.

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

3. Select [Run] in the Start menu.

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

5. Follow the instructions on the screen.

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5.3.2 Procedure

Starting the FCT

1. Connect the MTR-DCI to your PC via the RS232 port. To doso, follow the instructions in section 3.4.

2. Start the FCT:Double-click the FCT icon on the desktop.– or –Select the entry [Festo Software] [Festo ConfigurationTool] in the Windows [Start] menu.

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

4. Create the device connection (online connection) betweenthe PC and the MTR-DCI via the FCT tool bar. You mayneed to adjust the device name to match.

Device control

In order that the FCT can control the connected MTR-DCI, thecontrol interface of the MTR-DCI must be deactivated and“control enable” must be set for the FCT (FCT/HMI=On). Theactual status of the ENABLE control bit then has no effect.

• Access the “Project output” window, “Operate” tab, thenunder “Device control” activate first the box “FCT/HMI”and then the box “Enable.”The control interface of the MTR-DCI will then be deacti-vated and control will be enabled for the FCT.

5. Commissioning


Instructions on parameter assignment andcommissioning

FCT framework Information on working with projects and adding a device to aproject can be found in the Help for the FCT framework, usingthe command [Help] [Contents FCT General].

MTR-DCI plugin The MTR-DCI plugin for the FCT supports all the steps necess-ary for commissioning an MTR-DCI. You can assign any re-quired parameters offline, i.e. without the MTR-DCI beingconnected to the PC. This enables preparation for the actualcommissioning e.g. in the design office when planning a newsystem.

Further information can be found in the plugin help: Com-mand [Help] [Contents of installed plugins] [Festo (manufac-turer 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 namesand Device control, and for password protection

5. Commissioning


5.4 Overview of commissioning on the PROFIBUS

The following steps are required for commissioning the MTR-DCI as a fieldbus station:

1. Set the PROFIBUS address on the MTR-DCI:

• On the control panel (only with MTR-DCI-...-H2, seeSection 5.2.7), or

• With the Festo Configuration Tool (see FCT help).

Permitted address range: 0 ... 125 (in some caseslimited by the DP master used).

Modification by a DP master is not possible.

2. Install the GSD file and icon files, see section 5.5.1.

3. Configure the PROFIBUS master with the relevant con-figuration software (e.g. with STEP 7 Hardware Configura-tor), see section 5.5.3.

4. Test the fieldbus connection in online mode.

Details can be found in the following sections:

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5.5 Configuration

5.5.1 Install device master file (GSD file) and icon files.

If a new hitherto unknown device is to be incorporated in aconfiguration program when a PROFIBUS-DP system is to beconfigured, an appropriate device master file (GSD file)must be installed for this device. The device master file con-tains all the necessary information for the configuration pro-gram. You will require the appropriate icon files for repre-senting the device graphically.

Reference sources The enclosed documentation CD contains GSD files and iconfiles for the MTR-DCI in the “PROFIBUS” folder.Current GSD files and icon files can be found on the FestoInternet pages at:

– www.festo.com/download/

GSD file You will require one of the following GSD files for theMTR-DCI:

– mtr_0974.gsd – Englishmtr_0974.gsg – German(with DPV0 and DPV1 support)

– mtr00974.gsd – Englishmtr00974.gsg – German(only for older control systems/without DPV1 support)

5. Commissioning


Icon files In order to represent the MTR-DCI in your configuration soft-ware use the following icon files:

Normal operatingstatus

Diagnostic case Special operatingstatus

File:mtrdci_n.dib ormtrdci_n.bmp

File:mtrdci_d.dib ormtrdci_d.bmp

File:mtrdci_s.dib ormtrdci_s.bmp

Tab. 5/4: Icon files

Install GSD file and symbol files.

Depending on the configuration program used, install theGSD file and the icon files with the aid of the appropriatemenu command or copy the files manually into a particulardirectory of your programmer/PC.

5.5.2 I/O configuration

The GSD files support two alternative configurations:

– “Festo handling and positioning profile standard”GSD entry as “FHPP Standard”8 bytes of I/O data, consistent transmission

– “Festo handling and positioning profile with parameterchannel”GSD entry as “FHPP Standard + FPC”2 x 8 bytes of I/O data, consistent transmission

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5.5.3 Configuration with STEP 7

General information

The Simatic Manager software package is used for projectplanning and commissioning in conjunction with PROFIBUSmasters from Siemens or compatible masters. In order tounderstand this section, you should be sure of how to handleyour configuration program. If necessary, refer to the docu-mentation for the Simatic Manager. This manual refers to soft-ware version V 5.3.

An appropriate device master file (GSD file) for the MTR-DCImust be installed for configuration.With the STEP 7 Hardware Configurator you can load the filesvia the menu command [Options] [Install GSD file] in the“HW Config.” dialogue window.

Configurationprogram

File type Directory

STEP 7 HardwareConfigurator 1)

GSD file ...\STEP7\S7DATA\GSD

Bitmap files ...\STEP7\S7DATA\NSBMP

1) If you copy the GSD files when the Simatic Manager has already been started, you can update thehardware catalogue with the command [Options] [Update Catalog].

Tab. 5/5: Folder for GSD and icon files in STEP 7

5. Commissioning


Adding MTR-DCI as slave

The hardware configuration window represents graphicallythe structure of the master system. When the GSD file hasbeen installed, the MTR-DCI can be selected in the hardwarecatalogue. It can be found in the group [PROFIBUS-DP] [Addi-tional Field Devices] [Drives] [Festo] (see Fig. 5/2).

In order to add the MTR-DCI:

1. Drag the station type “Festo MTR-DCI” (DP-V0 and DP-V1)or “Festo MTR-DCI DP-V0” (3 ) out of the hardware cata-logue and onto the PROFIBUS line (1 ) of the DP mastersystem (drag & drop).

2. In the “Properties – PROFIBUS interface...” dialogue win-dow, enter the PROFIBUS address which you set with theFesto Configuration Tool or on the control panel, and con-firm with OK.

3. If necessary, enter other settings in the “Properties –DP slave” dialogue window (e.g. response monitoring,see section 5.5.5, or startup parameter assignment, seesection 5.5.4) and confirm with OK.The icon for the MTR-DCI is displayed on the line of theDP master system (2 ).

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1 2 3

1 PROFIBUS line

2 Icon for MTR-DCI

3 Festo MTR-DCI entry from GSD file

Fig. 5/2: Station selection STEP 7

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Configuring the slave properties

After clicking the icon for the MTR-DCI, you can configure the“Slave properties” in the lower part of the screen. Here youcan determine the number and size of the I/O ranges of theslave and assign address ranges of the master to them.

In order to configure the slave properties of the MTR-DCI:

1. Open the available modules (configurations) in the hard-ware catalogue under [Festo MTR-DCI ...].

2. Then drag the desired configuration (see section 5.5.2)with the mouse into the appropriate line under Slot/DPidentifier.

With STEP 7 a “universal module” is also offered for compati-bility reasons. This must not be used.

The MTR-DCI is a modular slave, but with only one permittedmodule. The configuration is defined only by the master.

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1 2 3

1 DP identifiers

2 I/O address range

3 Modules (configurations)

Fig. 5/3: Configuring the slave properties

When the configuration is concluded, transfer the data to themaster.

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5.5.4 Startup parameter assignment

When the connection is established, parameters are trans-ferred to the slave automatically from the master. These areparameters for extended configuration of the data exchange.These serve to guarantee improved compatibility with variousmasters.

– Configuration of the data exchange (connection settings).

Parameter Type Values

Diagnostic behaviour:device-related diag-nosis switched on/off

Bool = 0: In the case of a fault, diagnosis will be requested by themaster (default).

= 1: In the case of a fault, diagnosis will not be requested bythe master

Tab. 5/6: Configuration of the data exchange (connection settings)

Fig. 5/4: Properties of DP slave – parameter assignment

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5.5.5 Response monitoring

The response monitoring influences the reaction when field-bus communication fails, e.g. due to cable fracture. The MTR-DCI can be operated with active or inactive response monitor-ing.

With active response monitoring, the drive is stopped withthe emergency stop ramp after the response monitoring timehas expired, and then remains stationary in a controlled posi-tion.

With inactive response monitoring, the current drive functionis still carried out if fieldbus communication fails.

5.5.6 Control commands

FREEZE, SYNC and CLEAR_DATA are supported by the MTR-DCI in accordance with EN 50170.

The method of accessing these commands depends on thecontroller used. Please refer to the documentation for yourcontrol system.

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5.6 Overview of control and parameter assignment methods

5.6.1 DPV0

Control

Control with DPV0 takes place via the 8 cyclical control andstatus bytes, see section 5.7.2.

Parameter assignment

Parameter assignment with DPV0 takes place via theFesto parameter channel (FPC, further 8 I/O bytes), seesection B.1.1.

5.6.2 DPV1

Parameter assignment

Parameter assignment with DPV1 takes place via the para-meter channel as per PROFIdrive V3.1. This protocol is a com-patible expansion of the PKW protocol within the DPV1 userdata. This means that the parameters can be addressed withPNU, subindex etc.

The mode of operation of parameter assignment with DPV1depends on the DP master system used.Please refer here to the documentation from your controlsystem manufacturer.As an example of parameter assignment with DPV1, you willfind a functional description in the documentation for the S7modules for the MTR-DCI, type P.BE-MTR-DCI-S7-...

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5.7 Festo profile for handling and positioning (FHPP)

The MTR-DCI supports the Festo handling and positioningprofile FHPP (see also section 1.6).

5.7.1 Supported operation modes

The operation modes differ as regards the contents andmeaning of the cyclical I/O data and in the functions whichcan be accessed in the MTR-DCI.

Operation mode Description

Record Select 31 position set records can be saved in the MTR-DCI. A record con-tains all the parameters which are specified for a positioning task.The record number is transferred to the cyclical I/O data as a nom-inal or actual value.

Direct mode The positioning task is transferred directly in the I/O telegram. Onlythe most important nominal values (position, speed) are transferred.Supplementary parameters (e.g. acceleration) are defined by para-meter assignment.

Tab. 5/7: Overview of operation modes

Record Select

Preset operation mode when the SFC-DC is started up.

The MTR-DCI has 31 records (1 ... 31) which contain all theinformation necessary for a positioning task (+ record 0 =homing).

The record number which the MTR-DCI is to execute at thenext startup is transferred in the output data of the master.Its input data contains the last executed record number. Thepositioning task itself does not need to be still active.

5. Commissioning


The MTR-DCI cannot work in a stand-alone manner, i.e. it doesnot support any user program of its own. Records cannot beprocessed automatically using programmable logic. The drivecannot accomplish any practical tasks with in stand-alonemode; close coupling to the PLC is necessary.

Direct mode

In Direct mode, positioning tasks are formulated directly inthe master's output data.

Position mode The usual application is to calculate dynamically the nominaltarget values for each task, or just for some tasks. Adaptationto different workpiece sizes is therefore possible. In this case,it is not practical to assign parameters to the record list everytime. The positioning data are managed completely in the PLCand sent directly to the MTR-DCI. Here also, close couplingbetween the PLC and the MTR-DCI is necessary.

Force mode Alternatively, nominal values can be specified in Direct moderelative to the nominal motor current. This gives a torqueand, in the case of linear drives, a force (= force control).

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5.7.2 Composition of the cyclical I/O data

Concept A master exchanges the following data with the FHPP:

– Control and status bytes

– Record number or nominal position in the output data

– Feedback of actual position and record number in theinput data

– Additional mode-dependent nominal and actual values

– Parameters as per FPC

The FHPP protocol always provides 8 input bytes and 8 out-put bytes for this. The first 2 of these bytes are fixed. They areretained in each operation mode, and control the enabling ofthe MTR-DCI and the operation modes. Bytes 3 to 8 dependon the operation mode selected. Further control or statusbytes and nominal and actual values can be transferred here.

In the cyclical data a further 8 input bytes and 8 output bytesare permitted for transferring parameters in accordance withthe FPC protocol.

The acyclical data channel of the PROFIBUS (DPV1) is alsosupported.

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I/O data in the various operation modes

Direct mode

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

O data CCON CPOS CDIR Nominal value1 (speed)

Nominal value 2(position, force/torque, ...)

I data SCON SPOS SDIR Actual value 1(speed, force/torque)

Actual value 2(position)

Record Select


O data CCON CPOS Recordno. Reserved Reserved

I data SCON SPOS Recordno. RSB Actual position

Further 8 bytes of I/O data for parameter assign-ment as per FPC (see section B.1):

Festo FPC


O data Reserved Subindex Request identifier+ parameter number

Parameter value

I data Reserved Subindex Response identifier+ parameter number

Parameter value

5. Commissioning


Allocation of the control bytes (overview) 1)

CCON B7OPM2

B6OPM1

B5LOCK

B4–

B3 (F)RESET

B2BRAKE

B1STOP

B0ENABLE

Operation modeselection

HMIaccessblocked

– Resetfault

– Stop Enabledrive

CPOS B7–

B6CLEAR

B5TEACH

B4JOGN

B3JOGP

B2 (F)HOM

B1 (F)START

B0HALT

– Clear re-mainingposition-ing path

Teachvalue

Jogging,negative

Jogging,positive

Starthoming

Startposition-ing task

Halt

CDIR

(Directmodeonly)

B7FUNC

B6FAST

B5XLIM

B4VLIM

B3CONT

B2COM2

B1COM1

B0ABS

– – Deacti-vatestrokelimit

– – Control mode(position, force/torque, ...)

Abso-lute /Relative

1) – : Reserved; (F): edge-sensitive

Allocation of the status bytes (overview) 1)

SCON B7OPM2

B6OPM1

B5LOCK

B424VL

B3FAULT

B2WARN

B1OPEN

B0ENABLED

Operation modefeedback

DevicecontrolFCT/HMI

Loadvoltageapplied

Fault Warning Oper-ation en-abled

Drive en-abled

SPOS B7REF

B6STILL

B5DEV

B4MOV

B3TEACH

B2MC

B1ACK

B0HALT

Axis ref-erenced

Standstillmonitor-ing

Positionlag error

Axis ismoving

Acknowl-edgeteaching

MotionComplete

Acknowl-edgestart

Halt

SDIR

(Directmodeonly)

B7FUNC

B6FAST

B5XLIM

B4VLIM

B3CONT

B2COM2

B1COM1

B0ABS

Strokelimit re-ached

Speedlimit re-ached

Control mode feed-back (position,force/torque, ...)

Absolute/ Relative

1) – : reserved.

5. Commissioning


Description of the general control bytes

Control byte 1 (CCON)

Bit EN Description

B0ENABLE

Enable drive = 1: Drive (controller) enabled= 0: Drive (controller) blocked

B1STOP

Stop = 1: Operation enabled.Any faults will be deleted.

= 0: Stop 1 active (emergency ramp + cancel positioningtask). The axis stops with maximum braking ramp; thepositioning task is reset.

B2BRAKE

– Reserved, must be at 0

B3RESET

Reset fault An active fault is acknowledged/reset and the fault numberis deleted by means of a rising edge.

B4 – Reserved, must be at 0

B5LOCK

HMI access locked Controls access to the diagnostic interface:= 1: HMI and FCT may only observe the drive, the device

control (HMI control) cannot be taken over by HMI andFCT.

= 0: HMI or FCT may take over control of the device (in orderto modify parameters or to control inputs)

B6OPM1

Select OperatingMode = 00: Record Select= 01: Direct mode= 10: Reserved= 11: ReservedB7

OPM2

Control byte 1 (CCON) is used to control all states which mustbe available in all operation modes. The cooperation of thecontrol bits can be found under the description of the drivefunctions in section 5.8.

5. Commissioning


Control byte 2 (CPOS)

Bit EN Description

B0HALT

Halt = 1: “Halt” is not active= 0: “Halt” activated (braking ramp + do not cancel position-

ing task). The axis stops with a defined braking ramp;the positioning task remains active (the remaining pathcan be deleted with B6).

B1START

StartPositioning Task

The current nominal values will be transferred and position-ing started (record 0 = homing) by means of a rising edge.

B2HOM

Start Homing Homing with the set parameters is started by means of arising edge.

B3JOGP

Jog, positive The drive moves at the specified speed in the direction oflarger actual values, for as long as the bit is set. The move-ment begins with the rising edge and ends with the fallingedge.

B4JOGN

Jog, negative The drive moves at the specified speed in the direction ofsmaller actual values; see bit 3.

B5TEACH

Teach actual value With a falling edge, the current actual value of the position istransferred to the nominal value register of the currentlyaddressed position set record; see section 5.8.4.The Teach target is defined with PNU 520.

B6CLEAR

Clear remaining position-ing path

In the “Halt” status, a signal edge causes the positioningtask to be deleted and transfers the system to the “Ready”status.

B7–

– Reserved, must be at 0.

CPOS controls the positioning sequences as soon as the driveis enabled.

5. Commissioning


Description of the special control bytes– Direct mode

Control byte 3 (CDIR) – Direct mode

Bit EN Description

B0ABS

Absolute/ Relative = 0: Nominal value is absolute= 1: Nominal value is relative to last nominal value

B1COM1

ControlMode = 00: Position control= 01: Force mode= 10: Reserved= 11: ReservedB2

COM2

B3CONT


B4VLIM


B5XLIM

Stroke (X-) limit not active Force mode= 0: Stroke monitoring active= 1: Stroke monitoring not active

B6FAST


B7FUNC


Control byte 4 (nominal value 1) – Direct mode

Bit EN Description

B0 ... B7 Velocity Preselection of velocity in % of the maximum velocity

Control bytes 5... 8 (nominal value 2) – Direct mode

Bit EN Description

B0...B31 Position, force, ... Preselection of the position in increments or of theforce in % of nominal current

5. Commissioning


Description of the special control bytes– Record Select

Control byte 3 (record number) – Record Select

Bit EN Description

B0 ... B7 Record number Preselection of position set record number for Record Select

Control bytes 4... 8 – Record Select

Bit EN Description

B0 ... B7 – Reserved (= 0)

5. Commissioning


Description of the general status bytes

Status byte 1 (SCON)

Bit EN Description

B0ENABLED

Drive Enabled = 0: Drive blocked, controller not active= 1: Drive (controller) enabled

B1OPEN

OperationEnabled

= 0: Stop active= 1: Operation enabled, positioning possible

B2WARN

Warning = 0: Warning not active= 1: Warning active

B3FAULT

Fault = 0: No fault= 1: There is an active fault, or reaction to fault is active.

Fault number in diagnostic memory

B424VL

Supply Voltage is Applied = 0: No load voltage= 1: Load voltage applied

B5LOCK

Drive control by FCT/HMI = 0: Device control by PLC/fieldbus= 1: Device control by FCT/HMI

(PLC control is locked)

B6OPM1

DisplayOperatingMode

= 00: Record Select (Standard)= 01: Direct mode= 10: Reserved= 11: ReservedB7

OPM2

5. Commissioning


Status byte 2 (SPOS)

Bit EN Description

B0HALT

Halt = 0: Halt is active= 1: Halt is not active, axis can be moved

B1ACK

Acknowledge start = 0: Ready for start (homing, jog)= 1: Start carried out (homing, jog)

B2MC

Motion Complete = 0: Positioning task active= 1: Positioning task completed, possibly with faultNote: MC is first set after switching on (status “Driveblocked”)

B3TEACH

Acknowledge teaching = 0: Ready for teaching= 1: Teaching carried out, actual value transferred

B4MOV

Axis ismoving = 0: Speed of the axis < limit value= 1: Speed of the axis >= limit value

B5DEV

Deviation warning = 0: No position lag error= 1: Position lag error active

B6STILL

Standstill warning = 0: After MC, axis remains in tolerance window= 1: After MC, axis is outside tolerance window

B7REF

Axis is referenced = 0: Homing must be carried out= 1: Home information exist, homing does not need to be

carried out

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Description of the special status bytes– Record Select

Status byte 3 (record number) – Record Select

Bit EN Description

B0 ... B7 Record number Feedback of record number for Record Select (0...31)

Status byte 4 (RSB) – Record Select

Bit EN Description

B0 ... B7 Record Status Byte For allocation see SDIR for Direct mode

Status bytes 5 ... 8 (Position) – Record Select

Bit EN Description

B0...B31 Position, ... Feedback of position for Record Select:– Position in increments

5. Commissioning


Description of the special status bytes– Direct mode

Status byte 3 (SDIR) – Direct mode

Bit EN Description

B0-ABS Absolute/ Relative = 0: Nominal value is absolute= 1: Nominal value is relative to last nominal value

B1-COM1 Controlmode feedback = 00: Position mode= 01: Force mode= 10: Reserved= 11: Reserved

B2-COM2

B3-CONT – Reserved

B4-VLIM Speed (V-) limit reached Force mode= 1: Speed limit reached= 0: Speed limit not reached

B5-XLIM Stroke (X-) limit reached Force mode= 1: Stroke limit value reached= 0: Stroke limit value not reached

B6-FAST – Reserved

B7-FUNC – Reserved

Status byte 4 (actual 1) – Direct mode: Position mode

Bit EN Description

B0 ... B7 Velocity Feedback of velocity as % of the maximum velocity

Status byte 4 (actual 1) – Direct mode: Force mode

Bit EN Description

B0 ... B7 Torque In % of the nominal current (see 5.7.3, point 7)

Status bytes 5 ... 8 (actual value 2) – Direct mode

Bit EN Description

B0...B31 Position, ... Feedback of position in increments

5. Commissioning


5.7.3 Examples of control and status bytes

On the following pages you will find typical examples of con-trol and status bytes:

1. Establishing “ready to operate” status – Record Select

2. Establishing “ready to operate” status – Direct mode

3. Fault handling

4. Homing run

5. Positioning by Record Select

6. Direct mode: position mode

7. Direct mode: force mode

A description of the MTR-DCI's finite state machine can befound in section B.3.

0. Ensuring device control

Step/Description

Control bytes Status bytes

Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0

0.1 HMI devicecontrol = on

Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 0 0 0 x 0 0 SCON 0 0 1 1 0 0 0 0

Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

CPOS x 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

0: 0-signal; 1: 1-signal; x: not relevant (any); F: Edge positive

Tab. 5/8: Control and status bytes for “Device control active”

Description for 0. Ensuring device control:

0.1 Device control via the control panel or the FestoConfiguration Tool has been activated.To control the MTR-DCI via the PROFIBUS interface,device control by FCT/HMI must first be deactivated.

5. Commissioning


1. Establishing “ready to operate” status –Record Select

Step/Description



1.1 Basic status

(HMI device control =off )


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS x 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

1.2 Disable devicecontrol by FCT/HMI(optional)


CCON x x 1 x x x x x SCON x x 0 x x x x x


CPOS x x x x x x x x SPOS x x x x x x x x

1.3 Enable drive, en-able operation

(Record Select)


CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


Tab. 5/9: Control and status bytes for “Establishing 'ready to operate' status –Record Select”

Description for 1. Establishing “ready to operate” status:

1.1 Basic status of the drive when the supply voltage isswitched on.} Step 1.2 or 1.3

1.2 Disable device control by FCT/HMI (optional).Takeover of device control by FCT/HMI can be disabledwith CCON.B5 = 1 (LOCK).} Step 1.3

1.3 Enable drive in Record Select mode.} Homing: example 4, Tab. 5/12.

If there are faults after switching on or after setting CCON.B0(ENABLE):} Fault handling: see example 3, Tab. 5/11.

5. Commissioning


2. Establishing “ready to operate” status –Direct mode

Step/Description



2.1 Basic status

(HMI device control =off )


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS x 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

2.2 Disable devicecontrol by FCT/HMI


CCON x x 1 x x x x x SCON x x 0 x x x x x


CPOS x x x x x x x x SPOS x x x x x x x x

2.3 Enable drive,enable operation

(Direct mode)


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


Tab. 5/10: Control and status bytes for “Establishing 'ready to operate' status –Direct mode”

Description for 2. Establishing “ready to operate” status:

2.1 Basic status of the drive when the supply voltage isswitched on.} Step 2.2 or 2.3

2.2 Disable device control by FCT/HMI.Optionally, takeover of device control by FCT/HMI canbe disabled with CCON.B5 = 1 (LOCK).} Step 2.3

2.3 Enable drive in Direct mode.} Homing: example 4, Tab. 5/12.

If there are faults after switching on or after setting CCON.B0(ENABLE):} Fault handling: see example 3, Tab. 5/11.

5. Commissioning


3. Fault handling

Step/Description



3.1 Fault Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON x x x x x x x x SCON x x x x 1 x x x


CPOS x x x x x x x x SPOS x x x x x 0 x x

3.2 Warning Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON x x x x x x x x SCON x x x x x 1 x x


CPOS x x x x x x x x SPOS x x x x x 0 x x

3.3 Reset fault

with CCON.B3(RESET)


CCON 0 x x x F x x 1 SCON 0 x 0 1 0 0 0 0


CPOS x 0 0 0 0 0 x x SPOS x 0 0 0 0 1 0 1

3.4 Reset fault

with CCON.B0(ENABLE)


CCON 0 x x x 0 x x N SCON 0 x 0 1 0 0 x 0


CPOS x 0 0 0 0 0 x x SPOS x 0 0 0 0 1 x x


Tab. 5/11: Control and status bytes for “Fault handling”

5. Commissioning


Description for 3. Fault handling

For description of faults and warnings, see section 6.3.

3.1 A fault is shown with SCON.B3 (FAULT).} Positioning can no longer be undertaken.

3.2 A warning is shown with SCON.B2 (WARN).} Positioning is still possible.

3.3 Acknowledge malfunction with positive edge atCCON.B3 (RESET).} Malfunction bit SCON.B3 (FAULT) orSCON.B2 (WARN) are reset} SPOS.B2 (MC) is set} Drive is ready for operation.

3.4 Acknowledge malfunction with negative edge atCCON.B0 (ENABLE).} Malfunction bit SCON.B3 (FAULT) orSCON.B2 (WARN) are reset} SPOS.B2 (MC) is set} Reestablish operating status(see examples 1, Tab. 5/9 and 2, Tab. 5/10)

5. Commissioning


4. Homing (requires status 1.4 or 1.5)

Step/Description



4.1 Start homing Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS x 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1

4.2 Homing is inprogress


CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS x 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1

4.3 Homing con-cluded


CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1


Tab. 5/12: Control and status bytes for “Homing”

Description for 4. Homing:

4.1 A positive edge at CPOS.B2 (HOM, Start referencetravel) starts the reference travel. The start is confirmedwith SPOS.B1 (acknowledge start) as long as CPOS.B2(HOM) is set.

4.2 Movement of the axis is shown with SPOS.B4 (MOV,Axis is moving).

4.3 After successful homing, SPOS.B2 (MC, Motion Com-plete) and SPOS.B7 (REF) are set.

If there are faults during homing:} Fault handling: see example 3, Tab. 5/11.

5. Commissioning


5. Positioning by Record Select(requires status 1.3/2.3 and 4.)

Step/Description



5.1 Preselect recordnumber(control byte 3)

Byte3 Record number Byte 3 Record number

Re-cordno.

Record no. (0..0.31) Re-cordno.

Previous record no. (0...31)

5.2 Start positioningtask


CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

5.3 Positioning taskin progress


CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS x 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

Byte3 Record number Byte 3 Record number

Re-cordno.

Record no. (0..0.31) Re-cordno.

Current record no. (0..0.31)

5.4 Positioning taskconcluded


CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

Byte 5...8 Reserved Byte 5...8 Position

– Reserved Ac-tualposi-tion

Actual position (increments)


Tab. 5/13: Control and status bytes for “Positioning by Record Select”

5. Commissioning


Description for 5. Positioning by Record Select:

(steps 5.1 ... 5.4 conditional sequence)

Once “ready to operate” is established and homing has beencarried out, a positioning task can be started.

5.1 Preselect record number: Byte 3 of the output data0 = Homing run1...31 = Programmable position set records

5.2 With CPOS.B1 (START, Start job) the preselected posi-tioning job will be started. The start is confirmed withSPOS.B1 (acknowledge start) as long as CPOS.B1(START) is set.


5.4 At the end of the positioning task, SPOS.B2 (MC, Mo-tion Complete) is set.

If there are faults during positioning:} Fault handling: see example 3, Tab. 5/11.

5. Commissioning


6. Direct mode: Position mode(requires status 1.3/2.3 and 4.)

Step/Description



6.1 Preselect positionand speed(control bytes 4 and5...8)

Byte 4 RVelocity Byte 4 RVelocity

Speed Speed preselection(0...100 %)

Speed Speed response message(0...100 %)

Byte 5...8 Position Byte 5...8 Position

Nom-inalposi-tion

Nominal position (increments) Ac-tualposi-tion

Actual position (increments)



CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS

CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S

6.3. Positioning taskin progress


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

6.4 Positioning taskconcluded


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

0: 0-signal; 1: 1-signal; x: not relevant (any); F: Edge positiveS: Positioning condition: 0= absolute; 1 = relative

Tab. 5/14: Control and status bytes for “Positioning by Direct Mode”

5. Commissioning


Description for Direct mode – position mode:

(step 6.1 ... 6.4 conditional sequence)

Once “ready to operate” is established and homing has beencarried out, a nominal position must be preselected.

6.1 The nominal position is transferred in increments inbytes 5...8 of the output word.The nominal speed is transferred in % in byte 3(0 = no speed; 100 = max. speed).

6.2 With CPOS.B1 START (start positioning job) thepreselected positioning job will be started. The start isconfirmed with SPOS.B1 (acknowledge start) as long asCPOS.B1 (START) is set.


6.4 At the end of the positioning task, SPOS.B2 (MC,Motion Complete) is set.

If there are faults during positioning:} Fault handling: see example 3, Tab. 5/11.

5. Commissioning


7. Direct mode – Force mode(requires status 1.3/2.3 and 4)

Step/Description



7.1 Specify nominalvalue

4 Not relevant 4 Actual value in % of the nominal

current

5...8 Nominal value in % of the nominal

current

5...8 Actual positions in increments

7.2 Preparing forForce mode


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

Byte 3 FUNC FAST XUM – CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS

CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 x 0 0 0 0



CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 1 0

7.4 Positioning taskin progress(nominal value notreached)


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 1 0 0 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 1 0 0 1 0

7.5 Positioning taskin progress(nominal valuereached)


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 1 0

5. Commissioning


Step/Description

Status bytesControl bytesStep/Description B0B1B2B3B4B5B6B7ByteB0B1B2B3B4B5B6B7Byte

7.6 Positioning taskinterrupted (strokelimit or software endposition reached)


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 1 0 0 0 0 0

7.7 End positioningtask (e.g. with STOP)


CCON 0 1 x x 0 x 0 1 SCON 0 1 0 1 0 0 0 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 0 0

0: 0-signal; 1: 1-signal; x: not relevant (any); F: Edge positiveS: Path limitation (stroke limit): 0 = stroke limit active, 1 = stroke limit not active

Tab. 5/15: Control and status bytes for “Direct mode – Force mode”

Description for Force mode:

Once “ready to operate” is established and homing has beencarried out, a nominal value must be specified and the sys-tem must be prepared for operation in Force mode.

7.1 Specify the nominal value in % of nominal motor cur-rent.

7.2 Prepare Force mode: set bit CDIR.B1 COM1, and set bitCDIR.B5 XLIM depending on the desired level of strokelimitation.

7.3 Start the job with CPOS.B1 START. The start is con-firmed with SPOS.B1 (acknowledge start) as long asCPOS.B1 (START) is set.

5. Commissioning


7.4 or 7.5The corresponding bits are set in the status dependingon whether or not the nominal value is reached.

7.6 The positioning task is ended automatically when thestroke limit or software end position is reached. Thesystem switches back to position control.

7.7 The positioning task can be stopped from the controller,e.g. by means of STOP.

If there are faults during Force mode:See example 3, Table 5/13 Fault handling.

NoteIn Force mode, the nominal value can only be changedafter the last specification is reached (MC), by means of anew start pulse edge.

5. Commissioning


5.8 Drive functions

5.8.1 Dimensional reference system

Dimensional reference system 1)

e

f

LSE USE

TP/APg

REF Reference point (homing point) a Axis zero point offset

AZ Axis zero point b, c Software end positionoffsets

PZ Project zero point d Project zero point offset

LSE Lower software end position e Effective stroke

USE Upper software end position f Nominal stroke

TP, AP Target/actual position g Target/actual positionoffset

1) Example for the homing method: Fixed stop, negative

Tab. 5/16: Dimensional reference system

See also section 1.5.

5. Commissioning


Calculation rules for reference system

Point of reference Calculation rule

Axis zero point AZ = REF + a

Project zero point PZ = AZ + d = REF + a + d

Lower software end position LSE = AZ + b = REF + a + b

Upper software end position USE = AZ + c = REF + a + c

Target/actual position TP, AP = PZ + e = AZ + d + e = REF + a + d + e

Tab. 5/17: Calculation rules for reference system

5.8.2 Homing

After switching on, homing must be carried out before a posi-tioning task can be executed.

The drive homes to a stop or a reference switch. An increasein the motor current with the drive shaft motionless indicatesthat a stop has been reached. As the drive must not be al-lowed to push constantly against the stop, it must move atleast 0.25 mm back into the stroke range (axis zero point off-set).

Sequence:

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

2. Moving from the reference point to the axis zero point(axis zero point offset).

3. Setting at axis zero point:Current position = 0 – project zero point offset (i.e. –PZ).

5. Commissioning


Overview of parameters involved (see also section B.1.12)

Parameters involved Description FCT PNU CI

Axis zero point offset x 1010 607Ch

Homing method x 1011 6098h

Homing speeds x 1012 6099h

Homing required – 1014 23F6h

Maximum homing torque x 1015 23F7h

Start CPOS.B2 = positive edge: Start homing

Feedback SPOS.B1 = positive edge: Acknowledge startSPOS.B7 = drive homed to reference point

Requirement Device control by PLC/fieldbusController must be in status “Operation enabled”No active command for jogging

Tab. 5/18: Parameters involved in homing

Homing methods 1)

hex. dec. Description

17h 23 Search for reference switch in positive direction.

1Bh 27 Search for reference switch in negative direction.

EFh -17 Search for negative stop. The point found is the reference position. As theaxis must not stand still at the stop, the axis zero point offset must be ≠ 0.

EEh -18 Search for positive stop. The point found is the reference position. As theaxis must not stand still at the stop, the axis zero point offset must be ≠ 0.

1) For detailed description of homing methods see section 5.2.2.

Tab. 5/19: Overview of homing methods

5. Commissioning


5.8.3 Jog mode

In the “Operation enabled” status, the drive can be moved tothe left or right by jogging. This function is usually used for:

– Moving to teach positions

– Moving the drive out of the way (e.g. after a system fault)

– Manual positioning as a normal operating mode

Sequence

1. When one of the signals “Jog left / Jog right” is set, thedrive starts to move slowly. Due to the slow speed, a posi-tion can be defined very accurately.

2. If the signal remains set, the speed will be increased untilthe configured maximum speed is reached. In this waylarge strokes can be traversed quickly.

3. If the signal changes to 0, the drive will be braked.

4. If the drive reaches a software end position, it will stopautomatically. The software end position is not exceeded;the distance for stopping is accounted for according tothe ramp set. Here too, the system does not leave Joggingmode until Jogging = 0.

5. Commissioning


1 Low speed phase 1(slow travel)

2 Maximum speed forphase 2

3 Acceleration /deceleration

4 Duration of phase 1: CPOS.B3 orCPOS.B4(joggingpositive/negative)

Speed v (t)

t [s]

1

0

1

23

4

3

Fig. 5/5: Flow diagram for jogging mode

Overview of parameters involved (see section B.1.11)


Speed for phase 22 x 531 20ED/21h

Acceleration or deceleration3 x 532 20EE/21h

Duration of phase 14 x 534 20E9/21h

Start CPOS.B3 = positive edge: jogging positive (forwards)CPOS.B4 = positive edge: jogging negative (backwards)

Feedback SPOS.B4 = 1: drive is movingSPOS.B2 = 0: (Motion Complete)

Requirements Device control by PLC/fieldbusController must be in status “Operation enabled”

Tab. 5/20: Parameters involved in jogging mode

5. Commissioning


5.8.4 Teaching via fieldbus

Position values can be taught via the fieldbus. Previouslytaught position values will then be overwritten.

Sequence

1. The drive is moved to the desired position via joggingmode.

2. The user must make sure that the desired parameter isselected. For this the “Teach target” parameter and, ifapplicable, the correct position record address must beentered.

Teach target (PNU 520) For teaching:

= 1 (specification) Nominal position of the position setrecord

– Record Select:Position set record after controlbyte 3

– Direct mode:Position set record after PNU=400

= 2 Axis zero point

= 3 Project zero point

= 4 Lower software end position

= 5 Upper software end position

Tab. 5/21: Overview of teach targets

5. Commissioning


3. Teaching takes place via the handshake of the bits in thecontrol and status bytes CPOS/SPOS:

1 Ready for teaching

2 Value transferred

1

0

Acknow-ledgmentSPOS.B3

Teaching valueCPOS.B5

1 2

1

0

Fig. 5/6: Handshake when teaching

Note:The drive does not need to stop moving for teaching. How-ever, a speed of 1 m/s means that the actual positionchanges by 1 mm every millisecond. With the usual cycletimes of PLC + fieldbus + motor controller, there will still beinaccuracies of several millimetres even at a speed of only100 mm/s.

Overview of parameters involved (see sections B.1.10 and B.1.11)


Teach target – 1) 520 21FCh

Set number – 1) 400 2033h

Start CPOS.B5 = Falling edge: Teach value

Feedback signal SPOS.B3 = 1: Value transferred

Requirement Device control by PLC/fieldbusController must be in status “Operation enabled”

1) Teach function is made possible in the Festo Configuration Tool by special functions.

Tab. 5/22: Parameters involved for teaching

5. Commissioning


5.8.5 Record Select: Executing a position set record

In the status “Operation enabled”, a record can be started.This function is usually used for:

– Moving to any position in the record list by the PLC

– Processing a positioning profile by linking records

– Known target positions which seldom change (change offormula).

Sequence

1. Set the desired record number in the output data of themaster. Up till the start, the controller continues to re-spond with the number of the record last executed.

2. With a rising edge at START (CPOS.B1) the controller ac-cepts the record number and starts the positioning task.

3. The controller signals with the rising edge on Acknow-ledge Start that the PLC output data have been acceptedand that the positioning task is now active. The position-ing command is executed irrespective of whether Start(CPOS.B1) has been reset to zero or not.

4. When the record is concluded, MC (SPOS.B2) is set.

Possible causes of faults:

– Homing has not been carried out

– The target position and/or the preselect position cannotbe reached

– Invalid record number

5. Commissioning


Start/stop record

Nominal recordnumber in outputdata

StopCCON.B1 (STOP)

Acknowledge startSPOS.B1 (ACK)

Motion CompleteSPOS.B2 (MC)

Actual recordnumber ininput data

N - 1 N N + 1

N - 1 N

1

0

1

0

1

0

1

0

1

0

1

2

3

4

6

1

0

1

0

Axis is movingSPOS.B4 (MOV)

StartCPOS.B1 (START)

N + 1

5

1 Requirement:“Acknowledge Start” = 0

2 Rising edge on “Start” causes the newrecord number N to be accepted and“Acknowledge Start” to be set.

3 As soon as “Acknowledge Start” isdetected by the PLC, it can set “Start”back to 0.

4 The controller reacts with a fallingedge on “Acknowledge Start”.

5 As soon as “Acknowledge start” isdetected by the PLC, it can apply thenext record number.

6 A currently running positioning taskcan be stopped with “Stop”.

Fig. 5/7: Flow diagram for “start/stop record”

5. Commissioning


Stop record with Halt and continue

Target recordnumberOutput data


Motion completeSPOS.B2 (MC)

Actual recordnumberInput data

N - 1 N N + 1

N - 1 N

1

0

1

0

1

0

1

0

1

0

1

0


HaltCPOS.B0 (HALT)

1

0


1

0

Confirm haltSPOS.B0 (HALT)

1

2

1 Record is stopped with “Halt,” actualrecord number N is retained, “MotionComplete” remains reset

2 Rising edge on “Start” starts record Nagain, “Confirm Halt” is set

Fig. 5/8: Flow diagram for “stop record with Hold and continue”

5. Commissioning


Stop record with Hold and clear remainingpositioning path

Nominal recordnumber in outputdata


Motion CompleteSPOS.B2 (MC)

Actual recordnumberin input data

N - 1 N N + 1

N - 1 N

1

0

1

0

1

0

1

0

1

0

1

0


HaltCPOS.B0 (HALT)

N + 1

1

0


Clear remainingpositioning pathCPOS.B6 (CLEAR)

1

0

1

0

Confirm HaltSPOS.B0 (HALT)

1

2

1 Stop record 2 Clear remaining positioning path

Fig. 5/9: Flow diagram for “stop record with Halt and clear remaining positioning path”

5. Commissioning


Parameters involved (Record Select)

The entries in the position set table can be written via thefieldbus (PNU 401...407).

The composition of the position set table as per FHPP isdescribed in appendix B.1.10.



Absolute/relative positioning x 401 20E0/01h

Target position x 404 20E0/02h

Velocity x 406 20E0/03h

Acceleration / deceleration x 407 20E0/04h

Start CPOS.B1 = positive edge: StartJogging and homing have priority.

Feedback SPOS.B2 = 0: Motion CompleteSPOS.B1 = positive edge: Acknowledge startSPOS.B4 = 1: Drive is moving

Requirements Device control by PLC/fieldbusController must be in “Operation enabled” status.A valid record number is active

Tab. 5/23: Parameters involved for Record Select

5. Commissioning


5.8.6 Direct mode: Specification of a position or force

In the “Operation enabled” status, a positioning task is for-mulated directly in the I/O data, which are transmitted via thefieldbus. The nominal values for position or forces are man-aged in the PLC.

The function is used in the following situations:

– Moving to any position within the effective stroke

– The target positions are unknown during planning orchange frequently (several different workpiece positions)

A positioning profile formed by linking records can be imple-mented externally through the master.

Sequence for specification of a position:

1. The user sets the desired nominal position value and thepositioning mode (absolute/relative) in the PLC outputdata.

2. With a rising edge on START (CPOS.B1), the controlleraccepts the nominal position and starts the positioningtask.

3. After the start you must wait for MC before a new startcan be made.

4. When the nominal position is reached, MC (SPOS.B2) isset.

5. Commissioning


Sequence for specification of a torque/force:

NoteThe motor torque is controlled indirectly via regulation ofthe current. The actual force on the axis should be deter-mined/checked during commissioning using externalmeasuring devices and adjusted.

Force mode is prepared by switching the control mode. Thedrive remains stationary in a controlled position. The signal“MC” (Motion Complete) is used in this control mode to mean“executed”.

After the nominal value has been specified, the start signal(start bit) is sent and the torque (or force, in the case of alinear drive) is built up in the direction of the nominal value'ssign. The speed is limited to the value in the parameter“Speed limit”. Once this speed has been reached, the bit“Speed limit reached” is set in the status byte SDIR.

Once the nominal value has been reached, taking into ac-count the target window and the time window, the “MC” sig-nal is set. Force/torque continue to be controlled.

If the distance set in path/stroke monitoring (relative to thestart position) is exceeded, the bit “Stroke limit reached” isset in the status byte SDIR. The drive is braked with the emer-gency-stop ramp, is then held in a controlled position (thecurrent position), and the MC signal is set.

Possible causes of faults:

– Homing not carried out.

– Target position cannot be reached or lies outside the soft-ware end positions.

5. Commissioning


Starting the positioning task

Nominal values inoutput data

StartCPOS.B1

Acknowledge startSPOS.B1

Motion CompleteSPOS.B2

N - 1 N N + 1

1

0

1

0

1

0

1

0

N + 2

Fig. 5/10: Starting the positioning task

The sequence of the remaining control and status bits as wellas the functions Halt and Stop react as for the Record Selectfunction; see Fig. 5/7, Fig. 5/8 and Fig. 5/9.

5. Commissioning



Description FCT PNU CI

Position mode Acceleration / deceleration x 541 20EE/34h

Force mode 1) Stroke limitation x 510 60F6/01h

Minimum torque x 511 60F6/05h

Maximum torque x 512 6072h

Force target window (tolerance) x 552 60F6/03h

Damping time in [ms] x 553 60F6/04h

Max. permitted speed x 554 60F6/02h

Start CPOS.B1 = positive edge(CDIR.B0 = nominal position absolute/relative)

Feedback SPOS.B2 = 0: Motion CompleteSPOS.B1 = positive edge: Acknowledge startSPOS.B4 = 1: Drive is moving

Requirement Device control by PLC/fieldbusController must be in status “Operation enabled”

1) Other parameters:6071h Target torque 6076h Rated torque (nominal torque)6077h Actual torque 6087h Torque slope (torque ramp)6088h Torque profile type CDIR.B5 Stroke limitation active/inactive

Tab. 5/24: Parameters involved in Direct Mode

Note on Force mode:The motor torque is controlled indirectly via the regulationof the current. All specification for forces/torques are de-fined in relation to the nominal motor torque (relative tothe nominal motor current). The actual force on the axisshould be determined/checked during commissioningusing external measuring devices and adjusted.

5. Commissioning


5.8.7 Standstill monitoring

With standstill monitoring, the system can detect when thedrive leaves the target position window when in standstillstatus.

When the target position has been reached and MC has beensignalled in the status word, the drive switches to “standstill”status; bit SPOS.B6 (standstill monitoring) is reset. If, while inthis status, the drive is moved out of the standstill positionwindow by external forces or other influences and stays outfor a minimum defined time, bit SPOS.B6 is set.

As soon as the drive has been back in the standstill positionwindow for the defined standstill monitoring time, bitSPOS.B6 is reset.

1 Target position

2 Current position

3 Standstill monitoring(SPOS.B6)

4 Motion complete(SPOS.B2)

5 Standstill positionwindow

6 Target position win-dow

7 Adjustment time (po-sition window time)

8 Standstill monitoringtime

1

0

1

0

1

2

3

4

5 6

7

88

Fig. 5/11: Standstill monitoring

Standstill monitoring cannot be switched on or off explicitly.It becomes inactive when the standstill position window is setto the value “0”.

5. Commissioning



Parameter Description FCT PNU CI

Nominal position – 1040 6062h

Actual position – 1041 6064h

Standstill position window – 1042 2040h

Standstill monitoring time – 1043 2041h

Start SPOS.B2 = positive edge: Motion Complete

Feedback SPOS.B6 = 1: Drive has moved out of standstill position window.

Requirement Device control by PLC/fieldbusController in “operation enabled” state

Tab. 5/25: Parameters involved in standstill monitoring

5. Commissioning


5.9 Notes on operation

Start-up behaviour and homing

WarningIncorrect parameterisation can cause injury to people anddamage to property.

• In the following cases homing is absolutely essential inorder that the points of reference and the working rangecan be set correctly:

– Every time the logic voltage is switched on

– When the dimensional reference system (homingmethod, axis zero point, direction of rotation) hasbeen modified (compare object 607Eh)

– After a failed/cancelled homing run

• Before starting homing, make sure that the axis is infront of the reference switch or stop, in relation to thedirection of travel.

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.

• Carry out homing again.

Note• When the power supply is switched off, wait for approx.5 seconds before switching the device on again.

5. Commissioning


Device connection

CautionThe RS232 interface is not electrically isolated. It is notintended for permanent connection to PC systems or as acontroller interface.

• Use the connection only for parameterising and diag-nosis.

Controlling during operation

WarningDanger of injury.

Faults in parameter assignment can cause injury to peopleand damage to property when the controller is enabled.

• Only enable the controller once the axis system has beeninstalled and parameterised by technically qualifiedstaff.

CautionNote the manufacturer's specifications for the permittedoperating conditions of the motors and drives used, suchas the permitted positioning speeds, for example.

CautionDamage to components with DMES-...

Movement onto the mechanical end positions is not per-mitted during operation. When movement is made to theend positions with a heavy load, blockage may occur in theend positions.

NoteAny functions implemented for the purposes ofEMERGENCY-STOP procedures must also be taken intoaccount in the control programs

5. Commissioning


Password protection

In the factory settings, password protection is not active. Inorder to prevent unauthorised or unintentional overwriting ormodification of parameters in the device, all download andcontrol functions can be blocked.

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

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

– HMI password protection with the MTR-DCI-...H2(3 characters, see section 4.4).

Care and maintenance

The motor units do not require maintenance during their spe-cified service life. Follow the maintenance instructions for theaccessory components.

5. Commissioning


Diagnostics and fault display


Chapter 6

Diagnostics and fault display

6. Diagnostics and fault display


Contents

6.1 Overview of diagnostic options 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LED status displays 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Fault messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Overview 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Description of faults and warnings 6-8. . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Diagnostic memory 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Diagnosis via PROFIBUS-DP 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Diagnosis via parameter channel 6-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.1 Overview of diagnostic options

Overview ordered by type of diagnostic information:

Type of diagnostic informa-tion

Access via ... See ...

The fact that there is a fault LEDs on the MTR-DCI Section 6.2

FCT: virtual LEDs in the “Device status” window Plugin help

Profibus: status bytes SCON and SPOS Section 5.7.2

The current fault message in nor-mal text

Control panel of the MTR-DCI (type ...-H2 only) Display

FCT: text field in the “Device status” window Plugin help

Diagnostic memory: the last16 messages

FCT: in “Diagnosis” window (when connected todevice)

Plugin help

FPC: the second 8 bytes of cyclical fieldbuscommunication can likewise transmit the con-tents of the diagnostic memory.

SectionsB.1.1 and 6.4

Device-related diagnosis in ac-cordance with IEC 61158-6 Type 3

Diagnosis via the PROFIBUS-DP service“GetDiag”

Section 6.5

Parameter assignments Control panel: in [Diagnostic] menu Section 4.3

FCT Plugin help

Tab. 6/1: Diagnostic information by type



Overview ordered by type of access to diagnosticinformation:

Access Brief description Advantages /properties

Detailed de-scription

LEDs The LEDs indicate “ready to operate”status, positioning status, faults andbus status.

Fast“on-the-spot”recognition offaults

Section 6.2

Control panelon theMTR-DCI-...-H2

On the LCD display:messages, warnings and faults

Fast“on-the-spot”diagnosis

Section 6.3

In the [Diagnostic] menu:Diagnostic data, operation mode, cur-rent positioning set, target and actualpositions, speed, and information oncommunication via fieldbus.

Detailed“on-the-spot”diagnosis

Section 4.3

Festo Configura-tion Tool

With active device connection:

– Display of the current position set,

target and actual positions, andspeed

– Display of the operation mode,

special outputs and operatingstates, and fault messages from theconnected MTR-DCI

– Display of the bus status

– Display of the diagnostic memory

Detailed dia-gnosis duringcommissioning

MTR-DCI pluginhelp

PROFIBUS-DPdiagnosis

– Standard diagnosis

– Device-related diagnosis

– Diagnosis via FHPP status bytes

SCON and SPOS

Simple diagnosisvia fieldbus

Section 6.5

PROFIBUS viaFPC

– Expanded access to diagnostic data,e.g. diagnostic memory.

Detailed diagnos-is via fieldbus

Sections 6.4 and6.6

Tab. 6/2: Diagnostic information by access



6.2 LED status displays

Power supply

POWER Status

Load and logic voltages applied.

Green

Logic voltage is applied.Load voltage is not applied.

Flashing

No voltage is applied.

Off

Tab. 6/3: “Power” LED

Fault display

ERROR Status

Fault.The motor unit is not ready to operate.

Red

Warning.Check cause and rectify if necessary; see section 6.3.

Flashing

No internal fault reported.

Off

Tab. 6/4: “Error” LED



Bus status, positioning status and controller enable

I/F 1) Status

MC (green)

ON

OFF

Motion Complete 1)

– Positioning procedure has been com-

pleted or stopped (Motion Complete).Lit up green

ON

OFF

NoMotion Complete or fault/warning

– Target position not yet reached (posi-

tioning procedure is running) 2)

or

– Fault.

Off

1) Two-colour LED2) If there is no fault, i.e. LED ERROR = off.

Tab. 6/5: LED “I/F” – green Motion-Complete LED

I/F 1) Status

PROFIBUS (red)

ON

OFF

Data exchange active

– Normal operating status.

Off

ON

OFF

Address not parameterised

– Invalid bus address set.

Flashing red fast (5Hz)

ON

OFF

Waiting for connection

Flashing red slowly (1Hz)

1) Two-colour LED

Tab. 6/6: LED “I/F” – red PROFIBUS LED



6.3 Fault messages

Fault

Warningmessage

Fault message

Not all faults are equally serious. Either a warning or a faultmessage will appear, depending on the level of serious-ness.

6.3.1 Overview

Cat-egory

Name, display Description DeviceError 1)

Faultnumber

FaultLED

Statusbytes 2)

Fault POSITION ERROR Position lag error 0x0001 31 ON FAULT, DEV

Fault MOTOR STOP Motor emergencystop

0x0002 106 ON FAULT

Fault HOMING-ERROR Homing fault 0x0004 32 ON FAULT

Fault OVERHEATING Overtemperature(ActTemp > 80)

0x0008 101 ON FAULT

Fault LOAD-POWER-DOWN

Undervoltage atcontroller (loadvoltage)

0x0010 70 ON FAULT

Fault I2t-ERROR Overheating (i2tmonitoring)

0x0020 100 ON FAULT

Fault HARDWARE-ERROR User datadestroyed(checksum fault)

0x0040 52 ON FAULT

Fault TARGET POSITIONOUT OF LIMIT!

Position outsidesoftware endpositions

0x0080 2 ON FAULT

Warning ILLEGAL RECORDWARNING

Invalid record no. 0x0100 3 FLASH-ING

WARN

1) See object 2FF1/002) For FHPP status bytes, see section 5.7.2



Cat-egory

Statusbytes 2)

FaultLED

Faultnumber

DeviceError 1)

DescriptionName, display

Fault PLEASE ENFORCEHOMING RUN!

Not referenced(homing not carriedout)

0x0200 1 ON FAULT

Warning STANDSTILL-WARNING

Standstillmonitoring

0x4000 36 FLASH-ING

WARN,STILL

Fault PROFIBUS-INIT-ERROR

Hardwareinitialisation fault

0x8000 51 ON FAULT

Warning HOT TEMPERATURE Temperaturetoo high

– – FLASH-ING

WARN

Warning COLDTEMPERATURE

Temperaturetoo low

– – FLASH-ING

WARN

1) See object 2FF1/002) For FHPP status bytes, see section 5.7.2

Tab. 6/7: Faults and warnings with fault numbers and fault bits

6.3.2 Description of faults and warnings

Messages Messages give information regarding operating states.

Message Cause

Attention!Motor moves...

Message before the start of a positioning move-ment. After confirmation with the <ENTER> button,the drive starts moving.

Profile velocity= 0. Please setv.

The menu command [Move position set] is notbeing executed because the positioning speedof the position set record is v = 0. Modify theparameter assignment or select a differentposition set record.



Warnings Warnings have no effect on the behaviour of the drive. Thecause of the warning should however be eliminated so that itdoes not lead to a fault.When a warning occurs, the fault LED flashes and the outputWARNING is set (FHPP status bits, SCON.B2).

Warning Cause

HOTTEMPERATURE

Operating temperature 70 °C < T < 80 °C,may need to check whether drive is overloaded,check the mechanical parts (e.g. for stiffness),reduce ambient temperature.

COLDTEMPERATURE

Operating temperature < -10 °C,increase ambient temperature as appropriate.

STANDSTILL-WARNING

The axis has moved outside the standstillposition window.

ILLEGALRECORDWARNING

Invalid record number.

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

1. Eliminate the cause of the fault.

2. Acknowledge the fault message:

– With <Enter> on the control panel

– Via fieldbus with a falling edge on the ENABLE signal

– Via fieldbus with a rising edge on the RESET signalCCON.B3

– With the “Reset error” button in the FestoConfiguration Tool



Fault Possible cause

HARDWARE ERROR Device error, e.g. EEPROM defective.• Contact Festo Service.

HOMING ERROR Fault during homingPossible causes:

– Homing interrupted

– Reference switch defective• If necessary, check the function of the reference switch.• In all cases, be sure to repeat the homing run.

i2t-ERROR Current monitoring i2t.Possible cause:The drive is blocked.• Check the drive's mechanical components.

PLEASE ENFORCEHOMING RUN!

When starting a position set record.Possible causes:

– Valid homing has not yet been carried out.

– The homing (reference) position has been lost due to logic voltagefailure.

• You must carry out a homing run in all cases.

MOTOR STOP Fault during the positioning procedurePossible cause:The positioning procedure was interrupted on the control panel with EMER-G.STOP (<Menu> button).• Acknowledge 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 being observed (motor characteristic curves)

– The mechanical parts e.g. for stiffness

• If necessary, reduce the ambient temperature.



Fault Possible cause

POSITION ERROR Position lag errorPossible causes:

– The drive is blocked.

– The speed assigned in the parameters cannot be reached.

– The work load is too heavy.

• Check:

– The mechanical parts of the drive

– The speed of the positioning set record

LOAD POWER DOWN Voltage monitoringPossible causes:

– Load voltage too lowMTR-DCI 32/42/52: U < 18 VMTR-DCI 62: U < 34 V

– Voltage drops under load• Check the voltage supply:

– Power supply unit too weak?

– Supply line too long?

TARGET POSITION OUTOF LIMIT!

The specified target position is outside the permitted positioning range.• Check the following:

– The software end positions

– The target position

– The basis of the target position (absolute or relative)

PROFIBUS-INIT-ERROR PROFIBUS initialisation fault

– Hardware fault

• Servicing required.

Tab. 6/8: Fault messages



6.4 Diagnostic memory

The diagnostic memory contains the last 16 diagnostic mess-ages. It is secured if possible in the event of power failure.If it is full, the oldest element will be overwritten (circularbuffer).

Structure of the diagnostic memory

Parameter 1) 200 201 202

Format uint8 uint16 uint32

Meaning Diagnosis event Fault number Time

Subindex 1 Current diagnostic message

Subindex 2 Previous diagnostic message

... ...

Subindex 16 Oldest diagnostic message

1) (see section B.1.8)

Tab. 6/9: Diagnostic memory: structure

Configuration of the diagnostic memory with parameter 204 (see section B.1.8)

SI Description Specifi-cation

Min. Max.

1 = 1: Record incoming and outgoing*) faults= 2: Record only incoming faults

1 1 2

2 = 1: Time stamp resolution 10 ms= 2: Time stamp resolution 1 ms

1 1 2

3 Deleting the diagnostic memory.

– Writing with value = 1 deletes the diagnostic memory

– Read will always be answered with value = 0.

0 0 1

4 Number of valid entries in the diagnostic memory. 0 0 16

*) Outgoing fault = time when the fault was acknowledged (= reset).

Tab. 6/10: Diagnostic memory: configuration



The faults are divided into logical groups according to thefault numbers.

Group Name Comment

0 – No fault active

1 ... 19 Execution fault Examples: no homing, nominal position outside software endpositions, nominal value calculation not possible.Although the system is OK, a user command cannot be ex-ecuted. In most cases there is a fault in operation.Source: sequence control, controller

20..29 Parameter fault Example: software end positions outside the effective stroke.A parameter lies within the limit values, allowing it to be writ-ten by the user. During the recalculation by the controller,it was found to be invalid in the context of the other paramet-ers.Note: invalid parameters are rejected by the parameter pro-tocol and do not generate a fault in the controller.

30..49 Controller Examples: positioning timeout, homing not successful, posi-tion lag error too large, ...The task could not be executed correctly. No hardware faultcould be detected. Source: controller

50..69 Initialisation Fault when initialising the controller

70..79 Controller runtime Controller runtime fault: undervoltage, checksum

80 ... 89 – Reserved

90 ... 99 – Reserved

100 ... 109 Motor runtime Motor runtime: undervoltage, overtemperature, ...

110 ... 119 – Reserved

Tab. 6/11: Overview of fault numbers

A detailed description of the warnings and faults can befound in section 6.3.2.



6.5 Diagnosis via PROFIBUS-DP

The MTR-DCI supports the following diagnostic options viaPROFIBUS-DP:

– FHPP status bytes (see section 5.7.2):– SCON.B2: WARN – Warning– SCON.B3: FAULT – Fault– SPOS.B5: DEV – Position lag error– SPOS.B6: STILL – Standstill monitoring

– PROFIBUS-DP diagnosis :PROFIBUS service “GetDiag” with device-related diag-nosis (GbD) when activated.

The alarm model as per DPV1 is not supported.

Structure of DP diagnosis (GetDiag)

The MTR-DCI supports the “device-specific” diagnostics ofthe PROFIBUS service “GetDiag” in accordance withIEC 61158-6 Type 3.

NoteThe “identifier- or channel-related” diagnosis listed inIEC 61158-6 Type 3 is not supported.

How to request the DP diagnosis for a slave is described inthe manual for your DP master.



16 bytes are reserved in the MTR-DCI for DP diagnosis:

Byte Diagnostic address Description

0 Station status 1 Gives an overview of the communication status and thegeneral status of the MTR-DCI (see Tab. 6/13 and follow-ing).1 Station status 2

2 Station status 3

3 Master PROFIBUS address PROFIBUS address of the DP master via which parameterswere assigned on the MTR-DCI and which has both readand write access.

4 DP slave ID number Describes the DP slave type(for MTR-DCI = 0974h).

5

6 Header (for device-relateddiagnosis)

Specifies the length of the device-related diagnosis incl.header. 1)

7 Status type With the MTR-DCI always 0xA0(for “manufacturer-specific status”).

8 Slot no. With the MTR-DCI always 0x00(slot is ignored).

9 Specifier With the MTR-DCI always 0x00(no specification of the fault).

10 Device-related diagnosis 1:firmware version number

Version number of the firmware of the MTR-DCI: 2)

Byte 11: main versionByte 10: subsidiary version11

12 Device-related diagnosis 2:hardware version number

Version number of the hardware of the MTR-DCI: 2)

Byte 13: main versionByte 12: subsidiary version13

14 Device-related diagnosis 3:fault number

Fault number; see section 6.3, Tab. 6/8.

15

1) The MTR-DCI permanently enters the value “10” in this octet.2) E.g. “0x02 0x01” Z V1.02

Tab. 6/12: DP diagnosis (device-related diagnosis)



Station status 1

Bit 3 is especially of interest with station status 1. If this bit isset, it is useful to evaluate the device-related diagnosis.

Station status 1

Bit Meaning Explanation

0 Diag.Station_Non_Existent MTR-DCI no longer/not yet addressable.Possible causes:

– Operating voltage not applied

– Data transmission line interrupted

– Fault in data transmission line

1 Diag.Station_Not_Ready MTR-DCI is not yet ready for data exchange.

2 Diag.Cfg_Fault The configuration data received from the master are notthe same as those ascertained by the MTR-DCI.

3 Diag.Ext_Diag A device-related diagnosis exists. 1)

4 Diag.Not_Supported 1 = The MTR-DCI does not support the function re-quested.

5 Diag.Invalid_Slave_Response Always 0 (always reset to 0 by the MTR-DCI). 2)

6 Diag.Prm_Fault Last parameter assignment telegram faulty

7 Diag.Master_Lock Access by a different master (is set by the master)

1) Is set by the MTR-DCI when a new fault occurs (new fault message).2) Is set to 1 in the DP master when the response sent by the slave cannot be interpreted.

Tab. 6/13: Diagnostic bits of station status 1



Station status 2 (MTR-DCI-related bits only)

Station status 2


0 Diag.Prm_Req 1 = The master must reconfigure the MTR-DCI

1 Diag.Stat_Diag 1 = The master must request diagnostic data until thisbit is set to 0

2 – Always 1 (set to logical 1 by the MTR-DCI)

3 Diag.WD_On 1 = Response monitoring/watchdog activated

4 Diag.Freeze_Mode 1 = Freeze activated 1)

5 Diag.Sync_Mode 1 = Sync activated 1)

6 – Reserved

7 Diag.Deactivated Always 0 (always reset to 0 by the MTR-DCI)

1) Only in conjunction with a diagnostic message.


Station status 3

Station status_3


0...6 – Reserved

7 Diag.Ext_Diag_Overflow Is always logical 0 (set by the MTR-DCI).




6.6 Diagnosis via parameter channel

The Festo parameter channel or the parameter channel as perPROFIdrive (see section 5.6) offers the following methods ofaccessing diagnostic information (see PNU 201 to 205,section B.1.8):

– Current device fault (see also faults and warnings,section 6.3)

– Diagnostic memory (PNU 200, PNU 201, PNU 202)

– PROFIBUS diagnosis (PNU 206)

Technical appendix

A-1Festo P.BE-MTR-DCI-PB-EN en 1209a

Appendix A

Technical appendix

A. Technical appendix

A-2 Festo P.BE-MTR-DCI-PB-EN en 1209a

Contents

A.1 Technical data A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Accessories A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Motor characteristic curves A-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4 Converting the units of measurement A-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical data

General information

Protection class as per EN 60529 IP54 (plug connectors plugged in or fitted withprotective cap)

Relative humidity 0...95 %, non-condensing

Temperature range Operation: 0 ... +50 °CStorage/transport: -25 ... +60 °C

Vibration As per DIN/IEC 68/EN 60068 Part 2-6,severity level 1

Shock As per DIN/IEC 68/EN 60068 Part 2-27,severity level 1

Electromagnetic compatibility (EMC) 1) See declaration of conformity (www.festo.com)

Protection against electric shock(protection against direct and indirect contactas per IEC/DIN EN 60204-1)

Bymeans of PELV power circuit(Protected Extra-Low Voltage)

Gearing type Planetary gearing

Encoder (with 4x evaluation) 500 x 4—> 2000 inc/revolutionMTR-DCI-32: 300 x 4—> 1200 inc/revolution

Temperature monitoring Warning message at 70 °C < T < 80 °CSwitch off at temperature ≥ 80 °C

Display resolution 128 x 64 pixels

Serial interface RS232, 9600 bit/s

PROFIBUS interface IEC 61158. DPV0 and DPV1.

1) The device is intended for industrial use.



Mechanical data 32 42 52 62

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

Gear unit 1)

– Drive output speed– Torsional backlash– Drive output torque– Efficiency

[rpm][°][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

– Gearing

[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 unit 1)


[rpm][°][Nm]–

237≤ 1.550.290.7

218≤ 0.951.130.75

218≤ 0.753.080.75

248≤ 1.57.200.75


– Rotor

– Gearing

[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; 2-stage

Gear unit 1)


[rpm][°][Nm]–

– – – 153≤ 1.511.660.75


– Rotor

– Gearing

[kg cm2][kg cm2]

– – – 3.30.022

Product weight [kg] – – – 8.0

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



Electrical data MTR-…-32 MTR-…-42 MTR-…-52 MTR-…-62

Nominal voltage DC 24 V ±10 % Load DC 48 V +5/-10 %Logic*) DC 24 V ±10 %

Nominal current(load)

0.73 A 2 A 5 A 6.19 A

Peak current (load) 2.1 A 3.8 A 7.7 A 20 A

Nominal current(logic) *)

0.15 A

*) Only relevant with separated voltage supply.



A.2 Accessories

Port Accessories Designation Length [m]

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

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

Reference switch Switch, magneticSwitch, inductive

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

–

Connecting cable withscrew-type lock

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

Fieldbus connection in-cluding separate logicvoltage supply

Fieldbus adapter (IP54) FBA-PB-SUB-9-3XM12 –

Protective cap for main-taining protection class IP54 if separate power sup-ply not used

E.g. of binder: No.08-2424-010-000

–

User documentation in paper form

German P.BE-MTR-DCI-PB-DE

English P.BE-MTR-DCI-PB-EN

French P.BE-MTR-DCI-PB-FR

Italian P.BE-MTR-DCI-PB-IT

Spanish P.BE-MTR-DCI-PB-ES

Swedish P.BE-MTR-DCI-PB-SV



A.3 Motor characteristic curves

1 Drive output torque of gear shaft M [Nm]

2 Current I [A]

3 Recommended operation

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 the units of measurement

Unit of measurement systemsFor accessing parameters via FCT or the control panel, a unitof measurement system must be defined, e.g.:

– Metric unit of measurement system for linear motions(mm, mm/s, mm/s2)

– Imperial unit of measurement system for linear motions(inch, inch/s, inch/s2)

– Angle unit of measurement system for rotational motions(degree, degree/s, degree/s2) or (rev, rev/s, rev/s2)

Conversion In the controller, all parameters are saved in increments(inc, inc/s, inc/s2) and are not converted until they are writ-ten in or read.

– For the control panel, the values are converted from theinternal base system into the measurement system set inthe firmware.

– For representation of values on the PC monitor, they areconverted within the FCT software.

– The transfer of values via the serial interface using CIcommands is done in increments and requires conversionwithin the user software (PLC/IPC).

Parameters Conversion is carried out via the following parameters, de-pending on the axis type set:

– “feed”: feed constant (dependent on the axis type).

– “enc”: encoder resolution = physical measuring steps permotor revolution. On the MTR-DCI: pulse quadruplicationby digital interpolation.

– “gear”: gear reduction.



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]

DMES-40-...:4000 [μm/rot]

DMES-63-...:6000 [μm/rot]

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

500 x 4 = 2000 [incr/rev]

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 constants: dependent on the axis type; here, type DMES-...2) 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

fraction

Tab. A/1: Base parameters

Drive Conversion factors (CF)

Increments{ }Millimetre

Increments = millimetres*CF

Millimetres = increments/CF

Increments{ } Inch

Increments = inches*CF

Inches = increments/CF

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/2: Special conversion factors for the MTR-DCI with DMES-...



General conversion factors (CF)

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 ×rotrot

�m

rot

�[μinch] } [inc]

UF�inch � inc

�inch�= enc× gear

feed�inch

�incrot ×rotrot

�inch

rot

�=

enc× gear

feed�m ×1

0,0254

� incrot ×

rotrot

�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] = POSìm x CF

ìm [µm] x [inc/µm]

[µinch]} [inc] = POSìInch x (0.0254 x CF

ìm ) *= POS

ìInch x CFìInch

[µinch] x [µm/µinch] x [inc/µm]

[µinch] x [inc/µinch]

[rot]} [inc] = POSrot x CFrot [rev] x [inc/rev)

Speed V [inc/s] =

– Travel speed to target

position

– Search speed during

reference travel

– Travel speed to the axis

zero point duringreference travel

[µm]} [inc] = Vìm x CF

ìm [ìm/s] x [inc/ìm]

[µinch]} [inc] = VìInch x (0.0254* x CFìm) *

= VìInch x CFìInch

[ìinch/s] x [ìm/ìinch] x [inc/ìm]

[ìinch/s] x [inc/ìinch]

[rot]} [inc] = Vrot x CFrot [rev/s] x [inc/rev]

Acceleration a [inc/s2] =

– Nominal acceleration [µm]} [inc] = aìm x CF

ìm [ìm/s2] x [inc/ìm]

[µinch]} [inc] = aìInch x (0.0254* x CFìm) *

= aìInch x CFìInch

[ìm/s2] x [ìm/ìinch] x [inc/ìm]

[ìinch/s2] x [inc/ìinch]

[rot]} [inc] = arot x CFrot [rot/s2] x [inc/rot]

* Conversion [µm]} [µinch] : 1 ìInch = 0.0254 ìm

Tab. A/3: General formulae for conversion

Supplementary information

B-1Festo P.BE-MTR-DCI-PB-EN en 1209a

Appendix B

Supplementary information

B. Supplementary information

B-2 Festo P.BE-MTR-DCI-PB-EN en 1209a

Contents

B.1 Parameter assignment B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data) B-3. . . . . .

B.1.2 Request identifiers, response identifiers, fault numbers B-5. . . . . . . .

B.1.3 Rules for request-response processing B-8. . . . . . . . . . . . . . . . . . . . . .

B.1.4 Parameter groups B-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.5 Overview of parameters B-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.6 Layout of the parameter entries B-20. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.7 Device data B-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.8 Diagnostics B-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.9 Process data B-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.10 Position set table (list of position set records) B-30. . . . . . . . . . . . . . . .

B.1.11 Project data B-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.12 Axis parameters for electric drives 1 B-41. . . . . . . . . . . . . . . . . . . . . . . .

B.2 The Command Interpreter (CI) B-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.1 Procedure for data transmission B-56. . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.2 CI commands B-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.3 CI objects (overview) B-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.4 Additional CI objects B-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 FHPP finite state machine B-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.1 Establishing “ready to operate” status B-87. . . . . . . . . . . . . . . . . . . . . .

B.3.2 Positioning B-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



B.1 Parameter assignment

B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data)

The “Festo Parameter Channel” is used for the transmissionof parameters. It offers the following advantages:

Component Description

Parameter identifier ParID Contains:

– Parameter number PNU: identifies a parameter.

– Request/response identifier (AK): describes the task/response inthe form of a code number.

Subindex (IND) Addresses an element of an array parameter.

Parameter value (ParVal) Value of the parameter.If a parameter processing request cannot be carried out, a faultnumber will be shown in the response telegram instead of the value.The fault number describes the cause of the fault.

Tab. B/1: Components of the parameter channel

The Festo Parameter Channel FPC consists of 8 octets:

FPC


O data 0 IND ParID ParVal

I data 0 IND ParID ParVal

IND SubindexParID Parameter identifier: PNU and AKParVal Parameter value:

– With double word: bytes 5...8– With word: bytes 7, 8– With byte: byte 8

Tab. B/2: Structure of Festo Parameter Channel (FPC)



Parameter identifier (PKE)

The parameter identifier contains the task/response identifier(AK) and the parameter number (PNU). Spontaneous messa-ges via bit 11 are not supported by the MTR-DCI.

ParID

Byte 3 Byte 4

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Task ReqID (AK) res. PNU (parameter number)

Re-sponse

ResID (AK) res. PNU (parameter number)

ReqID (AK) Request identifier (read, write, ...)ResID (AK) Response identifier (transfer value, fault, ...)

The request/response identifier indicates the type of request or response(see section B.1.2).

PNU Parameter number – identifies and addresses the relevant parameter (see section B.1).

Tab. B/3: Structure of parameter identifier (PKE)



B.1.2 Request identifiers, response identifiers, fault numbers

Request identifiers:

ReqID Description Response identifier

Positive Negative

0 No request 0 –

1 Request parameter 1) 1, 2 7

2 Modify parameter value (word) 1) 1 7

3 Modify parameter value (double word) 1) 2 7

(4) – (Reserved - request description element) 2) – –

(5) – (Reserved - modify description element) 2) – –

6 Request parameter (array) 4, 5 7

7 Modify parameter value (array, word) 4 7

8 Modify parameter value (array, double word) 5 7

(9) – (Reserved - request array elements) 2) – –

(10) – (Reserved) 2) – –

11 Modify parameter value (byte) 1) 11 7

12 Modify parameter value (array, byte) 12 7

(13) – (Reserved - request lower limit value) 2) – –

(14) – (Reserved - request upper limit value) 2) – –

(15) – Reserved 2) – –

1) When using request numbers for simple variables to access parameters implemented as anarray, the subindex is ignored or set to 0. This means that the first element of an array is alwaysaddressed.

2) Requests with non-supported request numbers (ReqID) will be answered with responseidentifier 7 and fault number 22.

Tab. B/4: Request identifiers



If the request cannot be carried out, response identifier 7 willbe transmitted together with the corresponding fault number(negative response).

The following table shows the response identifiers:

ResID Description

0 No response

1 Parameter transferred (word)

2 Parameter transferred (double word)

(3) – (Reserved - description element transferred) 1)

4 Parameter value transferred (array, word)

5 Parameter value transferred (array, double word)

6 Number of array elements transferred

7 Request cannot be carried out (with fault number) 2)

(8) – (Reserved - no control signals accepted from PKW inter-face) 1)

(9) – (Reserved - spontaneous message – word) 1)

(10) – (Reserved - spontaneous message – double word) 1)

11 Parameter value transferred (byte)

12 Parameter value transferred (array, byte)

(13) – (Reserved - lower limit value transferred) 1)

(14) – (Reserved - upper limit value transferred) 1)

(15) – (Reserved) 1)

1) Not used for MTR-DCI2) For fault numbers, see following table

Tab. B/5: Response identifiers

If the parameter processing request cannot be carried out,a corresponding fault number will be transmitted in the re-sponse telegram (octets 7 and 8 of the FPC range). The fol-lowing table shows the possible fault numbers:



Fault numbers Description

0 0x00 Invalid PNU. The parameter does not exist.

1 0x01 Parameter value cannot be modified (read only)

(2) 0x02 – (Reserved - lower or upper limit value exceeded) 1)

3 0x03 Faulty subindex

4 0x04 No array

5 0x05 Incorrect data type

(6) 0x06 – (Reserved - setting not permitted – can only be reset) 1)

(7) 0x07 – (Reserved - description element cannot be modified) 1)

(8) 0x08 – (Reserved - PPO-Write requested in IR does not exist) 1)

9 0x09 Description data does not exist

(10) 0x10 – (Reserved - access group incorrect) 1)

11 0x0A No control signals accepted

(12) 0x0B – (Reserved - password incorrect) 1)

13 0x0C Text cannot be read in cyclical exchange

(14) 0x0D – (Reserved - name cannot be read in cyclical exchange) 1)

(15) 0x0E – (Reserved - text array does not exist) 1)

(16) 0x10 – (Reserved - PPO-Write missing) 1)

(17) 0x11 – (Reserved - request cannot be processed because of operating status) 1)

(18) 0x12 – (Reserved - other faults) 1)

(19) 0x13 – (Reserved - data cannot be read in cyclical exchange) 1)

(20) 0x14 – (Reserved - invalid value) 1)

(21) 0x15 – (Reserved - response too long) 1)

22 0x16 Invalid: attributes, number of elements, PNU or IND

(23) 0x17 – (Reserved - write request: invalid format) 1)

24 0x18 Write request: number of values is invalid

(...99) 0x64 – (Reserved - PROFIBUS)

100 0x65 – (Reserved - Festo: ReqID is not supported) 1)

(...255) 0xFF – (Reserved - Festo)

1) These fault numbers are not used



B.1.3 Rules for request-response processing

Rules Description

1 If the master sends the identifier for “No request”, the MTR-DCI replies with theresponse identifier for “No response”.

2 A request or response telegram always refers to a single parameter.

3 The master must continue to send a request until it receives the appropriate responsefrom the MTR-DCI.

4 The master recognizes the response to the request placed:

– By evaluating the response identifier

– By evaluating the parameter number (PNU)

– If applicable, by evaluating the subindex (IND)

– If applicable, by evaluating the parameter value

5 The MTR-DCI keeps providing the response until the master sends a new request.

6 a) A write request will only be carried out once by the MTR-DCI, even with cyclical repeti-tion of the same request.

b) Between two consecutive requests with the same request identifier (AK), parameternumber (PNU) and subindex (IND), the request identifier 0 (no request) must be sentand the master must wait for the response identifier 0 (no response). This is to ensurethat an “old” response is not interpreted as a “new” response.

Tab. B/6: Rules for request-response processing



Sequence of parameter processing

CautionObserve the following when modifying parameters:An FHPP write request referring to a modified parametermay only be sent once the response identifier “Parametervalue transferred” is received for the relevant parameterand (where applicable) index.

If for example you want to modify a position value in a posi-tion set table and then have the drive move to that position,the positioning command can only be given when the MTR-DCI has completed and confirmed the modification of theposition set table.

CautionIn order to be sure that an “old” response cannot be inter-preted as a “new” response, the request identifier 0 (norequest) must be sent and the response identifier 0 (noresponse) must then be received between two consecutiverequests with the same request identifier (AK), parameternumber (PNU) and subindex (IND).

Fault evaluation

In the case of requests which cannot be carried out, the slaveresponds as follows:

– Output of response identifier = 7

– Output of a fault number in bytes 7 and 8 of the para-meter channel (FPC)



Example of parameter assignment via DPV0

Parameters can be assigned (parameterised) to a position setrecord in the position set table via FPC as follows:

Step 1 Output status of the 8 bytes of FPC data:


Reserved Subindex ReqID/ResID + PNU Parameter value

O data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

I data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Step 2 Write record number 1 with absolute positioning:PNU 401, subindex 2 – modify parameter value, array, byte:ReqID 12 (0xC) with value 0x00.



O data 0x00 0x02 0xC1 0x91 Unused Unused Unused 0x00

I data 0x00 0x02 0xC1 0x91 0x00 0x00 0x00 0x00

Step 3 After receiving the I-data with ResID 0xC send O-data withReqID = 0x0 and wait for I-data with ResID = 0x0:



O data 0x00 0x02 0x01 0x91 Unused Unused Unused 0x00

I data 0x00 0x02 0x01 0x91 0x00 0x00 0x00 0x00



Step 4 Write record number 1 with target position 0x1234 (decimal4660 increments):PNU 404, subindex 2 – modify parameter value, array, doubleword: ReqID 8 (0x8) with value 0x00001234.



O data 0x00 0x02 0x81 0x94 0x00 0x00 0x12 0x34

I data 0x00 0x02 0x81 0x94 0x00 0x00 0x12 0x34

Step 5 After receiving the I-data with ResID 0x8 send O-data withReqID = 0x0 and wait for I-data with ResID = 0x0:



O data 0x00 0x02 0x01 0x94 0x00 0x00 0x12 0x34

I data 0x00 0x02 0x01 0x94 0x00 0x00 0x12 0x34

Step 6 Write record number 1 with speed 0x7743 (decimal 30531increments/s):PNU 406, subindex 2 – modify parameter value, array, doubleword: ReqID 8 (0x8) with value 0x00007743.



O data 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43

I data 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43

Step 7 After receiving the I-data with ResID 0x8 send O-data withReqID = 0x0 and wait for I-data with ResID = 0x0:



O data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43

I data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43



B.1.4 Parameter groups

Group PNU Description

Device data 100..199 Device identification and device-specific settings, versionnumbers, passwords, etc.

Diagnostic memory 200...299 Memory for diagnostic events: fault numbers, fault time,incoming/outgoing event

Process data 300...399 Current nominal and actual values, local I/Os, status dataetc.

Position set table(= list of position setrecords)

400...499 Each record contains all the nominal value parametersrequired for a positioning procedure.

Project data 500...599 Basic project settings. Maximum speed and acceleration,project zero point offset etc.} These parameters form the basis of the position settable.

Factor group 600...699 Reserved

Axis dataElectric drives 1

1000...1099 All axis-specific parameters for electric drives. Gear ratio,feed constant, homing parameters ...



B.1.5 Overview of parameters

This overview shows all defined parameters of the FHPP. Theparameters are described in section B.1.7.

Some additional parameters are only available via CI com-mands; see section B.2.4.

Name FHPP CI object

PNU Subind.1) Type Access 2) Index

Device data (see section B.1.7).

Standard parameters

Manufacturer Hardware Version BCD 100 – uint16 ro 2069h

Manufacturer Firmware Version BCD 101 – uint16 ro 206Ah

Version FHPP 102 – uint16 ro 2066h

Controller Serial Number 114 1...12d char ro 2072h

Extended parameters

Manufacturer Device Name 120 1...30d char ro 1008h

User Device Name 121 1...8 char rw 20FDh

Drive Manufacturer 122 1...30d char ro 6504h

HTTP Drive Catalog Address 123 1...30d char ro 6505h

Festo Order Number 124 1...30d char ro 6503h

1) Subindices of the parameter for FHPP with DPV0 (1...n)2) ro = read only, wo = write only, rw = read and write



Name CI objectFHPPName

IndexAccess 2)TypeSubind.1)PNU

Extended parameters, continued

Device Control 125 – uint8 rw 207Dh

LCD Parameter(LCD parameters)

126 1...4 uint8 r(w) 20FFh

Data Memory Control 127 1...2 uint8 wo 20F1h

Diagnostic memory (see section B.1.8)

Diagnostic Event 200 1...16d uint8 ro 20C8h

Fault Number 201 1...16d uint16 ro 20C9h

Time Stamp 202 1...16d uint32 ro 20CAh

Diagnostic Memory Parameter(diagnostic memory parameters)

204 1...4 uint8 rw 20CCh

Device Error(device fault)

205 – uint16 rw 2FF1h

PROFIBUS Diagnosis 206 1...6 uint8 ro 2FF2h

Process data (see section B.1.9)

Local Digital Inputs 303 – uint32 ro 60FDh

Local Digital Outputs 304 1...2 uint32 ro 60FEh

Cycle Number 305 – uint32 ro 2FFFh

Keypad Status 306 – uint8 ro 2FFEh






Position set table (list of position set records, see section B.1.10)

Record Number 400 – uint8 rw 2033h

Record Control Byte 1 401 1...32d uint8 rw 20EAh

Record Target Position 404 1...32d int32 rw 20ECh

Record Velocity 406 1...32d uint32 rw 20EDh

Record Acceleration(record acceleration/deceleration)

407 1...32d uint32 rw 20EEh

Project data (see section B.1.11)

Project data – general project data

Project Zero Point 500 – int32 rw 21F4h

Software End Positions 501 1...2 int32 rw 607Bh

Max. Velocity(max. permitted speed)

502 – uint32 rw 21F6h

Max. Acceleration(max. permitted acceleration)

503 – uint32 rw 21F7h

Project data – Force mode

Stroke Limit(stroke limitation)

510 – uint32 rw 60F6h

Min Torque(min. permitted torque)

511 – uint16 rw 60F6h

Max Torque(max. permitted torque)

512 – uint16 rw 6072h






Project data – teaching

Teach Target 520 – uint8 rw 21FCh

Project data – jogging mode

Jog Mode Velocity Phase 2 531 – int32 rw 20EDh

Jog Mode Acceleration 532 – uint32 rw 20EEh

Jog Mode Time Phase 1 534 – uint32 rw 20E9h

Project data - Direct mode: Position mode

Direct Mode Acceleration(Direct mode acceleration/deceleration)

541 – uint32 rw 20EEh

Project data – Direct mode: Force mode

Force Target Window 552 – uint16 rw 60F6h

Damping Time 553 – uint16 rw 60F6h

Speed Limit(max. permitted speed)

554 – uint32 rw 60F6h






Axis data, electric drives 1 (see section B.1.12)

Axis data, electric drives 1 – mechanical

Polarity(reversal of direction)

1000 – uint8 rw 607Eh

Encoder Resolution 1001 1...2 uint32 rw 608Fh

Gear ratio 1002 1...2 uint32 ro(wo) 6091h

Feed Constant 1003 1...2 uint32 rw 6092h

Position Factor 1004 1...2 uint32 rw 6093h

Axis Parameter(axis parameters)

1005 1...5 uint32 rw 20E2h






Axis data, electric drives 1 – homing

Offset Axis Zero Point(offset for axis zero point)

1010 – int32 rw 607Ch

Homing Method 1011 – int8 rw 6098h

Homing Velocities 1012 1...2 uint32 rw 6099h

Homing Required 1014 – uint8 ro 23F6h

Homing Max. Torque(max. torque for homing)

1015 – uint8 rw 23F7h

Axis data, electric drives 1 – control parameters

Halt Option Code 1020 – uint16 rw 605Dh

Fault Reaction Option Code 1021 – uint16 rw 605Eh

Target Position Window 1022 – uint32 rw 6067h

Position Window Time(adjustment time for position)

1023 – uint16 rw 6068h

Position Control Parameter Set(parameters of the position controller)

1024 18...21,23, 32d

uint16 rw 60FBh

Motor data 1025 1, 3 uint32 ro(wo) 6410h

Drive data 1026 1...8 uint32 ro(wo) 6510h






Axis data, electric drives 1 – electronic rating plate

Motor Type 1030 – uint16 ro 6402h

Max. Current 1034 – uint16 rw 6073h

Motor Rated Current(nominal motor current)

1035 – uint32 ro 6075h

Motor Rated Torque(nominal force/torque)

1036 – uint32 ro 6076h

Axis data, electric drives 1 – standstill monitoring

Position Target Value(nominal position)

1040 – int32 ro 6062h

Position Actual Value(current actual position)

1041 – int32 ro 6064h

Standstill Position Window 1042 – uint32 rw 2040h

Standstill Timeout(standstill monitoring time)

1043 – uint16 rw 2041h


Tab. B/7: Overview of FHPP parameters



B.1.6 Layout of the parameter entries

Encoder Resolution

PNU 1001 1...2 0...1 uint32 rw

Description Encoder resolution in increments / revolutionsThe encoder resolution is fixed and cannot be modified by the user.The calculated value is derived from the fraction (encoder increments/motor revolutions).

Encoder Increments 1001 1 0

Value range: 0 ... 232-1Default: 500

Motor Revolutions 1001 2 1

Fixed = 1

CI access 608Fh 01h...02h uint32 rw

1 Name of the parameter (sometimes with explanation in brackets)

2 Parameter number (PNU)

3 Subindices of the parameter for FHPP with DPV0– : The object has no subindex (simple variable)1...30: The object has subindices from 1..30

4 Subindices of the parameter for FHPP with DPV1

5 Variable type of element. If there is a subindex, the parameter is an “array”;“records” are not used

6 Description of the parameter

7 If applicable: explanation of the subindices

8 Read/write permission: ro = read onlywo = write onlyrw = read and write

9 Corresponding CI object (see section B.2)

Fig. B/1: Layout of the parameter entries

1 2 3 4 5

6

7

8

9



B.1.7 Device data

Standard parameters

Manufacturer Hardware Version BCD

PNU 100 – – uint16 ro

Description Hardware version, stated in BCD (Binary Coded Decimal): xxyy(xx = main version, yy = secondary version)

CI access 2069h 00h uint16 ro

Compare CI object 1009h

Manufacturer Firmware Version BCD


Description Firmware version, stated in BCD (Binary Coded Decimal): xxyy(xx = main version, yy = secondary version)

CI access 206Ah 00h uint16 ro

Compare CI object 100Ah

Version FHPP


Description Version number of the FHPP, stated in BCD (Binary Coded Decimal): xxyy(xx = main version, yy = secondary version)


Controller Serial Number

PNU 114 1...12d 0...11d char ro

Description 12-character code identifying the controller, e.g.: “TD15P0212345”

CI access 2072h 00h V-string ro



Extended parameters

Manufacturer Device Name

PNU 120 1...30d 0...29d char ro

Description Name of the drive. Example: “MTR-DCI-42S-VCSC-EG7-H2PB”


User Device Name

PNU 121 1...8 0...7 char rw

Description Device name assigned by the user.Max. 8 characters (ASCII, 7-bit) Default: “motor001”

CI access 20FDh 00h V-string rw

Drive Manufacturer

PNU 122 1...30d 0...29d char ro

Description Name of drive manufacturer. Fixed: “Festo AG & Co. KG”


HTTP Drive Catalog Address

PNU 123 1...30d 0...29d char ro

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


Festo Order Number

PNU 124 1...30d 0...29d char ro

Description The order number of the MTR-DCI-PB.




Device Control

PNU 125 – – uint8 rw

Description Activates device control of the controller via the controller interface.Corresponds to “HMI control” on the control panel and “FCT/HMI” in the FCT.0 (0x00): Control via controller interface OFF (PROFIBUS),

via HMI (control panel) and FCT ON1 (0x01): Control via controller interface OFF (default)

CI access 207Dh 00h uint8 rw

LCD Parameter (LCD parameters)

PNU 126 1...4 0...3 uint8 ro

Description Settings for the control panel (for MTR-DCI-...-H2 only)

LCD Current(LCD voltage)

126 1 0

Value range: 1...5 (0x01 ... 0x05). Default: 5The LCD display remains dark if the parameter setting is not correct.

LCD Contrast 126 2 1

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

Measure(units of measure-

ment)

126 3 2 CI: rw

Defines a system of measurement for the control panel.1: metric units of measurement (mm, mm/s, mm/s2)4: angular degrees8: revolutions

Scaling Factor 126 4 3 CI: rw

Number of decimal places (digits after the decimal point)Fixed: 2 (0x02): 2 decimal places

CI access 20FFh 01h...04h uint8 r(w)



Data Memory Control

PNU 127 1...2 0...1 uint8 wo

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

Delete EEPROM 127 1 0

When the object has been written and after Power Off/On, the data in theEEPROM is reset to the factory settings.Fixed: 16 (0x10): delete data in the EEPROM and restore factory settings.

Save Data 127 2 1

The data in EEPROM is overwritten with the current user-specific settings.Fixed 1 (0x01): save data.

CI access 20F1h 01h...02h uint8 wo

NoteAll user-specific settings will be lost during deletion(except for cycle number). The status after deletion cor-responds to the standard factory setting.

• Always carry out initial commissioning after deleting theEEPROM.

• The settings of the LCD parameters are lost when theEEPROM is deleted and may need to be set again. TheLCD display remains dark if the parameter setting is notcorrect.

• When the EEPROM is deleted, the fieldbus address isalso reset.



B.1.8 Diagnostics

For a description of the mode of operation of the diagnosticmemory: see section 6.4.Additional device faults and PROFIBUS diagnosis.

Diagnostic Event

PNU 200 1...16d 0...15d uint8 ro

Description Type of fault or diagnostic information saved in the diagnostic memory. Dis-plays whether an incoming or outgoing fault was saved.Value Type of diagnostic event0 (0x00) No fault (or diagnostic message deleted)1 (0x01) Incoming fault2 (0x02) Outgoing fault3 (0x03) (Reserved)4 (0x04) Overflow time stamp

Event 1 200 1 0

Active diagnostic event

Event 2 200 2 1

Previous diagnostic event

Event ... 200 ... ...

...

Event 16 200 16 15

Oldest saved diagnostic event

CI access 20C8h 01...10h uint8 ro



Fault Number

PNU 201 1...16d 0...15 uint16 ro

Description Fault number saved in the diagnostic memory; used for identifying the fault.For fault numbers, see 6.3

Event ... 201 ... ...

See PNU 200.

CI access 20C9h 01h...10h uint16 ro

Time Stamp

PNU 202 1...16d 0...15 uint32 ro

Description Time point of the diagnostic event since switch-on in the unit of measurementspecified in PNU 204/2.

Event ... 202 ... ...

See PNU 200.

CI access 20CAh 01h...10h uint32 ro



Diagnostic Memory Parameter (diagnostic memory parameters)

PNU 204 1...4 0...3 uint8 rw

Description Configuration of the diagnostic memory.

Fault Type 204 1 0

Incoming and outgoing faults1 (0x01): Record incoming and outgoing*) faults (default)2 (0x02): Record only incoming faults*) Outgoing fault = time when the fault was acknowledged (= reset).

Resolution 204 2 1

1 (0x01): Time stamp resolution 10 ms (default)2 (0x02): Time stamp resolution 1 ms

Clear Memory 204 3 2

Deletes diagnostic memory by writing value = 1.Read will always be answered with value = 1.

Number of Entries 204 4 3

Reads out the number of entries in the diagnostic memory.

CI access 20CCh 01h...04h uint8 rw/ro

Device Error (device fault)


Description Reading or deleting the active device fault.Read [bit 0...15]: see section 6.3, Tab. 6/7.Write 0 (0x0000): deletes all faults.

CI access 2FF1h 00h uint16 rw



PROFIBUS Diagnosis

PNU 206 1...6 0...5 uint8 ro

Description Reading the PROFIBUS diagnostic data

Connection State 206 1 0

Current connection state0 (0x00): Waiting for parameter assignment16 (0x10): Waiting for configuration32 (0x20): Data exchange

Bit rate 206 2 1

Current bit rate0 (0x00): 12 MBit/s 6 (0x06): 93.75 kBit/s1 (0x01): 6 MBit/s 7 (0x07): 45.45 kBit/s2 (0x02): 3 MBit/s 8 (0x08): 19.2 kBit/s3 (0x03): 1.5 MBit/s 9 (0x09): 9.6 kBit/s4 (0x04): 500 MBit/s 15, 255 (0x0F, 0xFF): No bit rate (default),5 (0x05): 187.5 kBit/s Bit rate search active

Master Address 206 3 2

Value range: 0 ... 125 (0x00 ... 0x7D). Default: 255 (0xFF)

Slave Address 206 4 3

Value range: 0 ... 125 (0x00 ... 0x7D). Default: 255 (0xFF)

Configuration 206 5 4

Current configuration0 (0x00): Invalid configuration1 (0x01): Festo FHPP standard (8 bytes I/O)2 (0x02): Festo FHPP standard + FPC (2 x 8 bytes I/O)

Settings(connection set-

tings)

206 6 5

0 (0x00): Device-related diagnosis ON (default)1 (0x01): Device-related diagnosis OFF

CI access 2FF2h 01h...06h uint8 ro



B.1.9 Process data

Local Digital Inputs


Description Map of the digital inputsBit 0, 1: Reserved (= 0)Bit 2: Reference switch (1 = reference switch is actuated)Bit 3 ... 15: Reserved (= 0)Bit 16 ... 20: Current record number (see also control byte 3)Bit 21: STOP (CCON.B1)Bit 22: ENABLE (CCON.B0)Bit 23: START (CPOS.B1)Bit 24 ... 31: Reserved (= 0)

CI access 60FDh 00h uint32 ro

Local Digital Outputs

PNU 304 1...2 0...1 uint32 ro

Description Map of the digital outputs

Local digitaloutputs

304 1 0

Bit 0...15 ReservedBit 16 MCBit 17 READYBit 18 EA_ACKBit 19 ERRORBit 20...31 Reserved

– 304 2 1

Bit 0...31 Reserved

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



Cycle Number


Description Number of position set records executed, homing runs etc.Value range: 0 ... (232-1)

CI access 2FFFh 00h uint32 ro

Keypad Status

PNU 306 5 4 uint8 ro

Description Polling of the control panel keypad (MTR-DCI-...-H2 only).

Bit Value Key0 1 Enter1 2 Menu2 4 Left3 8 Right

CI access 2FFEh 05h uint8 ro

B.1.10 Position set table (list of position set records)

PNU 400Record numberuint8

PNU 401RCB1 1)

uint8

PNU 404Target positionint32

PNU 406Velocityuint32

PNU 407Acceleration2)

uint32

0 Homing

1 ... ... ... ...

2 ... ... ... ...

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

31 ... ... ... ...

1) RCB = Record Control Byte. Defines whether positioning is relative or absolute.2) For MTR-DCI-...-PB: also valid for deceleration when braking.

Tab. B/8: Composition of the position set table (position set record list)



With FHPP, record selection for reading and writing is donevia the subindex of the PNUs 401 ... 407.Above PNU 400, the active record for positioning or teachingis selected (the record pointer).

Record Number


Description The active/selected record. Is also valid even when the drive is not in RecordSelect mode (e.g. during teaching). In Record Select mode this parameter istransferred to the cyclical I/O data.Value range: 0 ... 31 (0x00 ... 0x1F)

CI access 2033h 00h uint8 rw

Note: the CI object 2032h is intended for access via CI.

Record Control Byte 1

PNU 401 1...32d 0...31d uint8 rw

Description The record control byte 1 (RCB1) controls important settings for the positioningtask in Record Select mode.Bit 0: Nominal value absolute/relativeBit 1 ... 7: Reserved (= 0)Values:0 (0x00): Nominal value is absolute (default)1 (0x01): Nominal value is relative to the last nominal value / relaying value

Record 0 401 1 0

Record control byte for position set record 0 (homing)

Record ... 401 ... ...

Record control byte for position set record 1 ... 30

Record 31 401 32 31

Record control byte for position set record 31

CI access 20EAh 01h ... 20h uint8 rw

Note: the CI object 20E0h/01h is intended for access via CI.



Record Target Position

PNU 404 1...32d 0...31d int32 rw

Description Target positionof the positionset table. Positionnominal value asper PNU401 /RCB1absolute or relative, in increments. Default: 0Value range: -231...+(231-1) (0x80000000 ... 0x7FFFFFFF)

Record 0 404 1 0

Nominal position value for position set record 0 (homing)

Record ... 404 ... ...

Nominal position value for position set record 1 ... 30

Record 31 404 32 31

Nominal position value for position set record 31

CI access 20ECh 01h ... 20h int32 rw


Record Velocity

PNU 406 1...32d 0 ... 31d uint32 rw

Description Nominal speed value in increments/s. Default: 0.Value range: MTR-DCI-32: 0...66000. MTR-DCI-42/52: 0...100000.MTR-DCI-62: 0...113400

Record 0 406 1 0

Nominal speed value for position set record 0 (homing)

Record ... 406 ... ...

Nominal speed value for position set record 1 ... 30

Record 31 406 32 31

Nominal speed value for position set record 31

CI access 20EDh 01h ... 20h uint32 rw




Record Acceleration

PNU 407 1...32d 0 ... 31d uint32 rw

Description Nominal value for acceleration whenmoving and deceleration when braking,in increments/s2.The value is only valid for Position mode; it is ignored in Force mode.Value range:MTR-DCI-32/42: 40000...480000MTR-DCI-52/62: 40000...240000Default:MTR-DCI-32: 480000MTR-DCI-42: 480000MTR-DCI-52: 240000MTR-DCI-62: 160000

Record 0 407 1 0

Nominal acceleration/deceleration value for position set record 0 (homing)

Record ... 407 ... ...

Nominal acceleration/deceleration value for position set record 1 ... 30

Record 31 407 32 31

Nominal acceleration/deceleration value for position set record 31

CI access 20EEh 01h ... 20h uint32 rw




B.1.11 Project data

General project data

Project Zero Point (offset for project zero point)

PNU 500 – – int32 rw

Description Distance from axis zero point to project zero point.Point of reference for target positions in the position set table (see alsoPNU 404).Value range: -231...+(231-1). Default: 0

CI access 21F4h 00h int32 rw

Software End Positions

PNU 501 1...2 0...1 int32 rw

Description Software end positions in increments. The offset to the axis zero point isentered. Target positions outside the end positions are not permissible and willlead to a fault.A specification of 0 for both end positions deactivates the software end posi-tions.Plausibility rule: Min-Limit ≤ Max-LimitRange of values: -231...+(231-1)

Lower Limit 501 1 0

Lower software end position.

Upper Limit 501 2 1

Upper software end position.

CI access 607Bh 01h...02h int32 rw



Max. Velocity (max. permitted speed)


Description Max. permitted speed in [inc/s].The specifications in Direct mode and in the position set table are in relation tothis value.MTR-DCI-32: 66000 MTR-DCI-42: 100000MTR-DCI-52: 100000 MTR-DCI-62: 113400

CI access 21F6h 00h uint32 rw

Max. Acceleration (max. permitted acceleration/deceleration)


Description Max. permitted acceleration/deceleration in [inc/s2].The specifications in Direct mode and in the position set table are in relation tothis value.MTR-DCI-32/42: 480000 MTR-DCI-52/62: 240000




Force mode

Stroke Limit


Description Maximum permitted stroke when Force mode is active. With Force mode active,the distance between the actual position and the start positionmust not bemorethan the amount specified in this parameter. In this way you can ensure that, ifForce mode is activated bymistake (e.g.whenworkpiece is missing), the axiswillnot perform an uncontrolled movement. This parameter is evaluated in all con-troller modes inwhich the position controller is not active when the status “oper-ation enabled” is set.

The monitoring can be deactivated by setting the bit RCB1.B5.

Value range: 0...4,294,967,295 inc


Min. Torque (min. permitted force/torque)


Description This value represents the lowest permissible torque (or force) of the motor. Thevalue is given in 1/1000 of the nominal torque (6076h / PNU 509).

Value range: 0...1000 (0x03E8)


Max. Torque (max. permitted force/torque)


Description This value represents the highest permissible torque (or force) of the motor. Thevalue is given in 1/1000 of the nominal torque (6076h / PNU 509).

Value range: 0...1000 (0x03E8)




Teaching

Teach Target


Description The parameter defined is the one described by the actual position with the nextTeach command (see section 5.8.4).Values:1 (0x01): Target position in position set record (default)

– With Record Select: position set record as per FHPP control bytes– With Direct mode: position set record as per PNU=400

2 (0x02): Axis zero point3 (0x03): Project zero point4 (0x04): Lower software end position5 (0x05): Upper software end position

CI access 21FCh 00h uint8 rw



Jog mode

Jog Mode Velocity Phase 2


Description Speed in phase 2 (quick travel) in [inc/s]Value range:MTR-DCI-32: 66000 MTR-DCI-42: 100000MTR-DCI-52: 100000 MTR-DCI-62: 113400Default:MTR-DCI-32: 6600 MTR-DCI-42: 10000MTR-DCI-52: 10000 MTR-DCI-62: 11340

CI access 20EDh 21h int32 rw

Jog Mode Acceleration


Description Acceleration and deceleration in [inc/s2]

Value range:MTR-DCI-32/42: 40000...480000MTR-DCI-52/62: 40000...240000Default: 40000

CI access 20EEh 21h uint32 rw

Jog Mode Time Phase 1


Description Duration of phase 1 (slow travel) in [ms].Value range: 0...+(232-1)Default: 2000 (0x000007D0)

CI access 20E9h 21h uint32 rw



Direct mode: Position mode

Direct Mode Acceleration


Description Acceleration and deceleration in Direct mode in [inc/s2]Value range:MTR-DCI-32/42: 40000...480000MTR-DCI-52/62: 40000...240000Default:MTR-DCI-32: 480000 MTR-DCI-42: 480000MTR-DCI-52: 240000 MTR-DCI-62: 160000

CI access 20EEh 22h uint32 rw



Direct mode: Force mode

Force Target Window (target window for force/torque)


Description The amount by which the actual force (or actual torque) may deviate from thenominal force (nominal torque) and still be regarded as being within the targetwindow. The width of the window is therefore twice the value transferred, withthe nominal force in the centre of the window.The value is given in 1/1000 of the nominal torque (6076h / PNU 509).Value range: 0...65535. Default: 100.


Damping Time


Description Once the actual force (or actual torque) has been in the target window thisamount of time, the “target reached” bit will be set in the status word(= motion complete).Value range: 0...30000 ms. Default: 100 ms.


Speed Limit


Description Maximum permitted speed when Force mode is active.In this way the user can ensure that, if Force mode is activated by mistake (e.g.when workpiece is missing), the axis will not undergo uncontrolled accelerationand travel at high speed against a stop.This parameter is evaluated in all controller modes in which the position con-troller is not active when the status “operation enabled” is set.Value range: 1...4,294,967,295 inc/s




B.1.12 Axis parameters for electric drives 1

Mechanical parameters

Polarity (reversal of direction)


Description The direction of rotation of the motor can be reversed with this parameter(see Fig. 1/3). Homing must then be performed again.Values:0 (0x00) = Factory setting128 (0x80) = Direction of rotation of motor reversed

CI access 607Eh 00h uint8 rw

Encoder Resolution

PNU 1001 1...2 0...1 uint32 ro

Description Encoder resolution in [encoder increments / motor revolutions].

Encoder Increments 1001 1 0

Values (fixed): MTR-DCI-32: 300 (0x012C) MTR-DCI-42/52/62: 500 (0x01F4)


Fixed = 1

CI access 608Fh 01h...02h uint32 ro



Gear Ratio

PNU 1002 1...2 0...1 uint32 ro

Description Ratio of the internal motor revolutions to the external revolutions of the driveshaft of the MTR-DCI. The values are permanently set for each different internalgearing (see rating plate on the MTR-DCI).


Internal motor revolutions (gear ratio – numerator)G7 gearing: fixed: 27 (0x1B)G14 gearing: fixed: 3969 (0xF81)G22 gearing: fixed: 1710 (0x6AE)

Shaft Revolutions 1002 2 1

External revolutions of the drive shaft of the MTR-DCI(gear ratio – denominator).G7 gearing: fixed: 4 (0x04)G14 gearing: fixed: 289 (0x121)G22 gearing: fixed: 77 (0x4D)

CI access 6091h 01h...02h uint32 ro

Feed Constant Linear Axis

PNU 1003 1...2 0...1 uint32 rw

Description The feed constant specifies the distance (=feed) that the slide moves when thedrive shaft (spindle) of the linear axis performs one revolution (feed constant =feed / spindle revolution).

Feed 1003 1 0

Specification of feed (feed constant – counter) in [μm]When known axis types are selected on the control panel or in FCT, the value isentered automatically.

Shaft Revolutions 1003 2 1

Feed constant – denominator. Fixed: 1 (0x01)

CI access 6092h 01h...02h uint32 rw



Position Factor

PNU 1004 1...2 0...1 uint32 ro

Description Reads the conversion factor “number of sensor increments per 1 unit [feed onthe spindle]”.Additional external gears are not included in the calculations for this parameter(see PNU1005).

PositionFactor =

Encoder-Resolution * Gear RationFeed constant

Numerator 1004 1 0

Position factor – numerator.

Denominator 1004 2 1

Position factor – denominator.

CI access 6093h 01h...02h uint32 ro



Axis Parameter (axis parameters)

PNU 1005 1...5 0...4 uint32 rw

Description For specifying and reading the axis parameters

Axis Length 1005 1 0

Axis length in increments. Value range: 0...+(231-1)

Gear Numerator 1005 2 1

If external gearing is used:Gear ratio – numeratorValue range: 0...+(231-1)

Gear Denominator 1005 3 2

If external gearing is used:Gear ratio – denominatorValue range: 0...+(231-1)

Axis Type 1005 4 3

Type of axis:01 = DMES, 02 = DNCE, 03 = rotation deg, 04 = rotation rev, 05 = USER

Axis Size 1005 5 4

Nominal size of the axis, in accordance with the rating plate. When known axistypes are selected on the control panel or in FCT, the value is entered automati-cally (e.g. DMES-25 = 0x19).

CI access 20E2h 01h...05h uint32 rw



Homing parameters

Offset Axis Zero Point (offset for axis zero point)

PNU 1010 – – int32 rw

Description Offset for axis zero point in increments (distance from homing point).Value range: -231...+(231-1).

CI access 607Ch 00h int32 rw

Homing Method


Description Defines the method which the drive uses to carry out homing. The MTR-DCIsupports the following methods:Values Function-17 (0xEF): Search for stop in negative direction (default)-18 (0xEE): Search for stop in positive direction23 (17h): Search for reference switch in positive direction27 (0x1B): Search for reference switch in negative direction

CI access 6098h 00h int8 rw



Homing Velocities

PNU 1012 1...2 0...1 uint32 rw

Description Speeds during homing

Search REF 1012 1 0

Speed when searching for the homing point (reference point) REF, in [inc/s]Value range:MTR-DCI-32: 200...33000 MTR-DCI-42: 200...50000MTR-DCI-52: 200...50000 MTR-DCI-62: 200...56700Default:MTR-DCI-32: 27000 MTR-DCI-42: 22400MTR-DCI-52/62: 16800

Search AZ 1012 2 1

Speed whenmoving to the axis zero point AZ, in [inc/s]Value range:MTR-DCI-32: 27000 MTR-DCI-42: 22400MTR-DCI-52/62: 16800

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

Homing Required


Description Defines whether or not homing must be carried out after switching on in orderto carry out positioning tasks.WithMTR-DCI-PB, homing must always be carried out after switching on thelogic voltage supply.Value:0 (0x00): Reserved (no homing run necessary)1 (0x01): Homing run must be carried out (fixed)

CI access 23F6h 00h uint8 ro



Homing Max. Torque


Description Maximum current consumption during homing as a percentage of the nominalcurrent (see PNU 1035 / CI object 6075h).See also PNU 1034 (specification in 1/1000).Value range: 0 ... 200 (0xC8)Default: 150 (0x96)




Controller parameters

Halt Option Code


Description Describes the reaction to a Halt command.Fixed = 1: braking with Halt ramp

CI access 605Dh 00h uint16 ro

Fault Reaction Option Code


Description Describes the reaction to a fault.Fixed = 2: braking with emergency stop ramp

CI access 605Eh 00h uint16 ro

Target Position Window


Description Tolerance window in increments [inc]Amount by which the current position may deviate from the target position andstill be regarded as being within the target window. The width of the window istwice the value transferred, with the target position in the centre of the window.Value range: 0 ... +(232-1). Default: 750 (0x2EE)


Position Window Time (adjustment time for position)


Description Adjustment time in milliseconds [ms].Once the actual positionhasbeen in the target positionwindow this amount oftime, the bit “target reached”will be set in the statusword (=motioncomplete).Value range: 1 ... 30000 (0x7530)Default: 100 (0x64).




Position Control Parameter Set

PNU 1024 18...23, 32d 17...22, 31d uint16 rw

Description Control parameters.Modification is only permitted for servicing purposes.If necessary consult Festo.

Gain Position 1024 18d (CI: 12h) 17d

Gain for position controller.Value range: MTR-DCI-32: 1...100; MTR-DCI-42/52/62: 1...200Default: MTR-DCI-32: 20; MTR-DCI-42: 15; MTR-DCI-52: 10; MTR-DCI-62: 8

Gain Velocity 1024 19d (CI:13h) 18d

Gain for speed controller.Value range: MTR-DCI-32: 1...3000; MTR-DCI-42/52/62: 1...700Default: MTR-DCI-32: 2800; MTR-DCI-42/52: 600; MTR-DCI-62: 500

I-Fraction Velocity 1024 20d (CI:14h) 19d

Integral term for speed controller.Value range: 1...600Default: MTR-DCI-32: 80; MTR-DCI-42/52/62: 340

Gain Current 1024 21d (CI:15h) 20d

Gain for current controller.Value range: MTR-DCI-32: 1...1000; MTR-DCI-42/52/62: 1...800Default: MTR-DCI-32: 110; MTR-DCI-42/52/62: 150

I-Fraction 1024 22d (CI:16h) 21d

Integral term for current regulator.Value range: MTR-DCI-32/42/52: 0...1000Default: MTR-DCI-32: 90; MTR-DCI-42: 420; MTR-DCI-52: 350

Gain VelocityTrajectory

1024 23d (CI:17h) 22d

Gain for speed controller – trajectory generator.Value range: 1...2Default: 1

Save Position 1024 32d (CI:20h) 31d

Saves current position in the EEPROMwhen power is switched off.Fixed = 240 (0x00F0): current position is not saved at Power-Off.

CI access 60FBh 12h...17h, 20h uint16 rw



Motor Data

PNU 1025 1, 3 0, 2 uint32 ro/rw

Description Motor-specific data.

Serial Number 1025 1 0 ro

Serial number of the motor

Time Max. Current 1025 3 2 rw

Permissible duration for the maximummotor current (see Object 6073h).When the I2t-time expires, the current will be limited automatically to the nom-inal motor current in order to protect the motor (nominal motor current:PNU 1035 / CI object 6075h).The time specified is device-dependent (for MTR-DCI approx. 20 ms)Value range: 1 ... 32767Default: 100 (Z 2 s)Note: values which are too high can damage the motor.

CI access 6410h 01h, 03h uint32 ro/rw



Drive Data

PNU 1026 1...8 0...7 uint32 rw

Description General drive data

Output stage temp.(output stage

temp.)

1026 1 (CI: 01h) 0 uint32 rw

Temperature of the output stage in °C. Range of values: 0 ... 85

Output stagemax. temp.

(output stage max.temp)

1026 2 (CI: 02h) 1 uint32 rw

Maximum temperature of the output stage in °C. Fix: 80 (0x0050)

Motor nominalcurrent

(motor nominalcurrent)

1026 3 (CI: 03h) 2 uint32 rw

Motor nominal current in [mA]Value is automatically entered when an axis type is selected (PNU 1005/4).

Current limit(max. motor

current)

1026 4 (CI: 04h) 2 uint32 rw

Max. motor current in per mill of nominal current. Identical to PNU 1034.Range of values: 1...2000

Lower current limit(min. motor

current)

1026 5 (CI: 05h) 4 uint32 rw

= PNU1026.4 * (-1)

Device control(devicecontrol)

1026 6 (CI: 06h) 5 uint32 rw

Setting the device control (refer to PNU 125 / object 207Dh).0: Control via HMI (control panel) or FCT, no control via fieldbus1: Control via fieldbus – control interface (default)

Controller serialnumber

(controller serialnumber)

1026 7 (CI: 07h) 6 uint32 rw

Serial number of the controller in format 0xDDMYYSSS:DD (Day): 8 bits: 0x01...0x1FM (month): 4 bits: 0x1...0xCYY (Year): 8 bits: 0x00...0x63SSS (serial no.): 12 bits: 0x001...0xFFF

Following error(permissible

following error)

1026 8 (CI: 08h) 7 uint32 rw

Following error monitoring



Drive data (drive data)

CI 6510h 01h... Record ro/rw

Drive data 1) 6510h 01h...08h – uint32 rw

6510h 31h, 32h,40h, 41h42h, 43h,A0h, 22h

– uint16, uint16,uint32, uint16,int16, uint16,uint32, uint32

ro, roro, roro, rwro, ro

Current actualvalue (currentactual value)

6510 45h int 16 ro

Current actual value of the current.Note: Not available via FHPP.

Firmware design(firmware number)

6510 A1h – uint32 ro

Firmware version, specification in BCD (binary coded decimal): xxyy(xx = main version, yy = secondary version)Note: Identical to FHPP object PNU 101 (CI 206A)

1) Description similar to FHPP 1026/1...8

Electronic rating plate

Motor Type


Description Classification of the motor. Fixed: 0x0000.


Max. Current


Description Maximummotor current for homing in 1/1000 of the specified nominal current(see also PNU 1035).Note: keep in mind that the current limitation also limits the maximum possiblespeed (or force) and that higher nominal speeds may not therefore beachieved.Value range: 1 ... 2000 (0x0001 ... 0x07D0)Default: 1500 (0x05DC)




Motor Rated Current


Description Nominal motor current in [mA]; see also rating plate; identical to PNU 1026/3.


Motor Rated Torque


Description Nominal torque of the motor in [mNm]


Objects for standstill monitoring

Position Target Value

PNU 1040 – – int32 ro

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

CI access 6062h 00h int32 ro

Position Actual Value

PNU 1041 – – int32 ro

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

CI access 6064h 00h int32 ro



Standstill Position Window


Description Standstill position window in increments: distance which the drive can moveafter “Motion Complete” before standstill monitoring reports.Value range: 0...+(232-1). Default: 750 (0x02EE)


Standstill Timeout


Description Standstill monitoring time in [ms] : time for which the drive must be outside thestandstill position window before standstill monitoring responds.Value range: 0...65535 (0xFFFF). Default: 200 (0xC8)




B.2 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 standardised by CANopen (CiA Draft Standard 402):Group 1xxx Device descriptionGroup 2xxx Festo commandsGroup 6xxx Commands as per CANopen

The CiA Draft Standard 402 deals with the implementation ofCANopen in drive controllers.

Object directory The total of all parameterising and control possibilities is re-ferred to as the object directory. A unique number (index,subindex) is assigned to each object, and is used for acces-sing that object.

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 a parameter.

For each command the higher-order controller receives a re-sponse which either contains the value read or, in the case ofa write command, serves as an acknowledgement. The trans-mitted value (1, 2 or 4 data bytes) depends on the data typeof the object to be read or written.

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.2.).User-specific settings will then be lost.

• Use CI commands only if you already have experiencewith Service Data Objects.

• If necessary, consult Festo.



B.2.1 Procedure for data transmission

CautionIn special application cases, access with CI commandsenables parameterising and commissioning of the MTR-DCIdirectly via the RS232 interface, though it is not suitablefor real-time communication, such as for control. Control ofthe MTR-DCI via RS232 requires also:

– A risk estimate by the user

– Ambient conditions free of interference

– Back-up of the data transmission e.g. via the controlprogram of the host

• You should use the control panel or the FCT for commis-sioning and parameterisation.

• Note that controlling the MTR-DCI via RS232 is not inaccordance with the intended use of the device.

WarningInjury to people or damage to property.

Full access to the internal variables of the controller ispossible via CI commands. Incorrect operation can causethe controller to react unexpectedly and the motor maystart uncontrolled.

• Only use the CI commands if you already have experi-ence of using Service Data Objects.

• Read about using the objects in the CiA Draft Standard402 before you use the CI commands of the CommandInterpreter of the MTR-DCI.

For data transmission you will require a conventional terminalprogram or the CI terminal of the MTR-DCI plugin in the FestoConfiguration Tool.



Carry out the following steps:

• Connect the MTR-DCI to your PC via the RS232 port.Follow the instructions in section 3.4.

• If necessary, adapt the PC interface to the following trans-mission protocol.

Transmission protocol

Transmission speed 9600 bit/s

Data format Asynchronous character frame:

– 1 start bit

– 8 data bits

– No parity bit

– 1 stop bit

Tab. B/9: Specifications of the transmission protocol

• You can use the following command to initialise datatransmission and determine the MTR-DCI's responsereadiness:

Command 310D h Response 31310D h

1 <CR> 11 <CR>

• Select the commands in accordance with the object list insection B.1 or B.2.4.

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

• Transfer the commands using the FCT software or a con-ventional terminal program.For the command syntax see appendix B.2.2.



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

NoteIn the case of invalid parameters or values, an error mess-age will not appear in the response; rather, the receivedvalue will always be returned.

– Invalid parameters will not be accepted.

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

Recommendation:Check that values and parameters have been written correctlyby downloading the current contents of the parameter orvalue with one of the following Read commands:

Error messages If errors are made in commands (syntax faults), the value<0xFF> will be transmitted instead of the usual response.

Possible causes:

– Incorrect initial character, separating character or emptycharacter

– Incorrect hex digit

– Incorrect value type



B.2.2 CI commands

CautionLoss of data.

The Command Interpreter (CI) contains commands whichreorganise or delete parts of the memory. Existing data isdestroyed in this process:

• It is preferable to use the FCT or the control panel forcommissioning and parameterising.

• Use the CI commands only in special cases which requiredirect access to the controller.

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

WRITE (W) Write commands (W) transfer a value in the specified formatto the MTR-DCI. As a response, write commands will be re-flected back exactly character by character from the MTR-DCI.A checksum <PS> will be inserted in front of the <CR>.

READ (R) Read commands (R) transfer a value from the MTR-DCI. Theresponse contains the value read. A checksum <PS> will beinserted in front of the <CR>.

All commands are entered as a character sequence withoutany empty spaces. A hex character is a “char” character inhex format.

Acc 1) Command Response

W =IIIISS:<value><CR>2) =IIIISS:<value> <PS> <CR>

R ?IIIISS<CR> 2) =IIIISS:<value> <PS> <CR>

1) Access: W = write, R = read2) With checksum checking enabled (object 20F3h):

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

Tab. B/10:Syntax of a CI command/response



Syntax Explanation

“= ”, “?” Initial character for write or read commands

IIII Index in 4 hexadecimal digits (4H)

SS Subindex in 2 hexadecimal digits (2H)If the addressed object does not have an indexed para-meter, subindex <00> will be specified.

“:” Separating character

<value> Data in a format determined by the data type

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

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

Tab. B/11: Elements of syntax of a CI command/response

<value> The transferred value (1, 2 or 4 data bytes as a hex number)depends on the data type of the object to be read or written(see section B.1 or B.2.4).

The following data types are supported:

Type Hex Format

UINT8 2H 8 bits without plus/minus sign: 0...255

INT8 8 bits with plus/minus sign: -128 ... 127

UINT16 4H 16 bits without plus/minus sign:0 ... 65535

INT16 16 bits with plus/minus sign:-32768 ... 32767

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

INT32 32 bits with plus/minus sign:-231 ... +(231 -1)

V-string corresponds to the preset string

Tab. B/12:Data types



NoteThe following applies when writing to the objects:

– Discrete values (values from a value table):an invalid value will not be accepted; the previouslyvalid value will be retained.

– Continuous values (e.g. lengths, speeds, etc.): an invalidvalue will be limited to the nearest permitted value.

NoteThe transfer of values using CI commands via the serialinterface requires conversion into increments beforetransfer can take place. All parameters are always saved inincrements in the controller and are not converted into therelevant measuring system until they are written or read.

Further information on converting can be found in sec-tion A.4.

All values are transferred in hexadecimal figures; 1 characterrepresents 4 bits, and is known as a tetrad <Tn>. The first te-trad transferred contains the higher-value bits of the value.Generally: 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 higher-order controller must compare the sent commandwith the “echo” from the MTR-DCI and evaluate its checksum.

If checksum checking has been activated for telegrams re-ceived from the MTR-DCI (see CI object 20F3h), the higher-order controller must insert a checksum in front of the endcharacter (CR = Carriage Return).

Checksum (PS)

PS composi-tion

Sum of all sent bytes, abbreviated to 1 byte(modulo 256).W: asc(char) “=IIIISS:<value>” modulo 256R: asc(char) “?IIIISS” modulo 256

PS format 2 hexadecimal digits, UINT8

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

Tab. B/13: Checksum

Object 2FF0 Transmission error between host (PC) and destination device,e.g. due to error in host command:

– Incorrect initial character, separating character or emptycharacter

– Incorrect hex digit

– 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 error, the value <0xFF>will be transferred instead of the usual response.

0xFFFF Missing checksum (see CI object 20F3h).



B.2.3 CI objects (overview)

NoteThe following table contains an overview of the CI objects.Some of the objects may be used only for certain productvariants or only with limitations (e.g. writing only by FestoService).

When using the objects, refer to the detailed description:

– In section B.1 (sorted by PNU; see table columnFHPP – PNU) or

– In appendix B.2.4 (additional CI objects)

Name CI objects FHPP

Class Type Index Subind Access PNU Section

Group 1xxx

Device Type Var uint32 1000h – r – B.2.4

Manufacturer Device Name Var V-string 1008h – r 120 B.1.7

Manufacturer Hardware Version Var V-string 1009h – r – B.2.4

Manufacturer Firmware Version Var V-string 100Ah – r – B.2.4

Group 2xxx

Record Number Array uint8 2032h 01h rw – B.2.4

Record Number Var uint8 2033h – rw 400 B.1.10

Standstill Position Window Var uint32 2040h – rw 1042 B.1.12

r = read only, w = write only, rw = read and write



Name FHPPCI objectsName

SectionPNUAccessSubindIndexTypeClass

Group 2xxx continued

Standstill Timeout(standstill monitoring time)

Var uint16 2041h – rw 1043 B.1.12

Version FHPP Var uint16 2066h – r 102 B.1.7

Version FCT PlugIn min. Var V-string 2067h – r – B.2.4

Version FCT PlugIn opt. Var V-string 2068h – r – B.2.4

Manufacturer Hardware Version Var uint16 2069h – r 100 B.1.7

Manufacturer Firmware Version Var uint16 206Ah – r 101 B.1.7

Controller Serial Number Var V-string 2072h – r 114 B.1.7

Device Control Var uint8 207Dh – rw 125 B.1.7

Diagnostic Event Array uint8 20C8h 01h...10h

r 200 B.1.8

Fault Number Array uint16 20C9h 01h...10h

r 201 B.1.8

Time Stamp Array uint32 20CAh 01h...10h

r 202 B.1.8

Diagnostic Memory Parameter(diagnostic memory parameters)

Array uint8 20CCh 01h...04h

rw/r 204 B.1.8

Scaling(control panel settings)

Array uint8 20D0h 01h...02h

rw/r – B.2.4

Record Table Element(element in position set table)

Struct uint16,int32

20E0h 01h...04h

rw – B.2.4







Axis Parameters Struct uint32 20E2h 01h...05h

rw 1005 B.1.12

Controller Type Var uint8 20E3h – r – B.2.4

Jog Mode Time Phase 1 Array uint32 20E9h 21h rw 534 B.1.11

Record Control Byte 1 Array uint8 20EAh 01h...20h

rw 401 B.1.10

Record Target Position Array int32 20ECh 01h...20h

rw 404 B.1.10

Record Velocity Array uint32 20EDh 01h...20h

rw 406 B.1.10

Jog Mode Velocity Phase 2 int32 21h rw 531 B.1.11

Record Acceleration Array uint32 20EEh 01h...20h

rw 407 B.1.10

Jog Mode Acceleration 21h rw 532 B.1.11

Direct Mode Acceleration 22h rw 541 B.1.11

Data Memory Control Array uint8 20F1h 01h,02h

w 127 B.1.7

CI_ReceiveChecksumActive(CI checksum)

Var uint8 20F3h – rw – B.2.4

Password Array V-string 20FAh 01h,02h

rw/w – B.2.4







Local Password(HMI password)

Var V-string 20FBh – rw – B.2.4

User Device Name Var V-string 20FDh – rw 121 B.1.7

LCD Parameter(LCD parameters)

Array uint8 20FFh 01...04h

rw 126 B.1.7

Project Zero Point(project zero point offset)

Var int32 21F4h – rw 500 B.1.11

Max. Velocity Var uint32 21F6h – rw 502 B.1.11

Max. Acceleration Var uint32 21F7h – rw 503 B.1.11

Teach Target Var uint8 21FCh – rw 520 B.1.11

Homing Required Var uint8 23F6h – r 1014 B.1.12

Homing Max. Torque Var uint8 23F7h – rw 1015 B.1.12

Communication Error(transmission error)

Var uint16 2FF0h – r – B.2.2

Device Fault Var uint16 2FF1h – rw 205 B.1.8

PROFIBUS Diagnosis Array uint8 2FF2h 01h...06h

r 206 B.1.8

PROFIBUS address Var uint8 2FF3h – rw – B.2.4

Keypad Status Array uint8 2FFEh 05h r 306 B.1.9






Cycle Number uint32 2FFFh 1 r 305 B.1.9

Group 6xxx

Control Word Var uint16 6040h – rw – B.2.4

Status Word Var uint16 6041h – r – B.2.4

Halt Option Code Var uint16 605Dh – r 1020 B.1.12

Fault Reaction Option Code Var uint16 605Eh – r 1021 B.1.12

Operation Mode Var int8 6060h – rw – B.2.4

Operation Mode Display Var int8 6061h – r – B.2.4

Position Target Value Var int32 6062h – r 1040 B.1.12

Position Actual Value Var int32 6064h – r 1041 B.1.12

Position Window(tolerance window for position)

Var uint32 6067h – rw 1022 B.1.12

Position Window Time(adjustment time for position)

Var uint16 6068h – rw 1023 B.1.12

Velocity Demand Value(nominal speed value)

Var int32 606Bh – r – B.2.4

Velocity Actual Value (current ac-tual speed value)

Var int32 606Ch – r – B.2.4

Target Torque(nominal force/torque)

Var int16 6071h – rw – B.2.4






Group 6xxx (continued)

Max. Torque(max. permitted force/torque)

Var uint16 6072h – rw 512 B.1.11

Max. Current Var uint16 6073h – rw 1034 B.1.12

Motor Rated Current Var uint32 6075h – r 1035 B.1.12

Motor Rated Torque Var uint32 6076h – r 1036 B.1.12

Actual Torque(actual force/torque)

Var int16 6077h – r – B.2.4

Target Position Var int32 607Ah – rw – B.2.4

Software End Positions Array int32 607Bh 01h,02h

rw 501 B.1.11

Offset Axis Zero Point(offset for axis zero point)

Var int32 607Ch – rw 1010 B.1.12

Polarity(reversal of direction)

Var uint8 607Eh – rw 1000 B.1.12

Profile Velocity Var int32 6081h – rw – B.2.4

Profile Acceleration Var int32 6083h – rw – B.2.4

Torque Slope(change in torque)

Var uint32 6087h – r – B.2.4

Torque Profile Type Var int16 6088h – r – B.2.4

Encoder Resolution Array uint32 608Fh 01h,02h

r 1001 B.1.12







Gear Ratio Array uint32 6091h 01h,02h

r 1002 B.1.12

Feed Constant Linear Axis Array uint32 6092h 01h,02h

rw 1003 B.1.12

Position Factor Array uint32 6093h 01h...02h

r 1004 B.1.12

Homing Method Var int8 6098h – rw 1011 B.1.12

Homing Velocities Array uint32 6099h 01h...02h

rw 1012 B.1.12

Stroke Limit Array uint32 60F6h 01h rw 510 B.1.11

Speed Limit Array uint32 60F6h 02h rw 554 B.1.11

Force Target Window(target window for force/torque)

Array uint16 60F6h 03h rw 552 B.1.11

Damping Time Array uint16 60F6h 04h rw 553 B.1.11

Min. Torque(min. permitted force/torque)

Array uint16 60F6h 05h rw 511 B.1.11

Position Control Parameter Set(parameters of the position con-troller)

Array uint16 60FBh 12h...18h,20h

rw 1024 B.1.12

Local Digital Inputs Var uint32 60FDh – r 303 B.1.9

Local Digital Outputs Array uint32 60FEh 01h...02h

r 304 B.1.9

Motor Type Var uint16 6402h – r 1030 B.1.12







Motor Data Record uint32 6410h 01h,03h

r/rw 1025 B.1.12

Supported Drive Modes Var uint32 6502h – r – B.2.4

Festo Order Number Var V-string 6503h – r 124 B.1.7

Drive Manufacturer Var V-string 6504h – r 122 B.1.7

HTTP Drive Catalog Address(HTTP address of manufacturer)

Var V-string 6505h – r 123 B.1.7

Drive data Array uint32 6510h 31h,32h,40h,41h,42h,43h,A0h,45h,A1h

r/rw 1026 B.1.12


Tab. B/14:Overview of CI objects



B.2.4 Additional CI objects

Some objects cannot be accessed via the fieldbus, but onlyvia the CI interface. These objects are listed here.

Layout of the additional CI objects

Password

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

Description For managing the FCT password, entering the super password.

FCT Password 20FAh 01h V-string

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

Super Password 20FAh 02h V-string

For entering the super password.Resets all passwords (FCT password and HMI password, object 20FB).Contact Festo Service if you require the super password.

1 Name of the parameter (sometimeswith explanation 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 applicable: description of the subin-dices

8 Read/write permission:r = read only,w = write only,rw = read and write

Fig. B/2: Layout of the additional CI objects

1 2 3 4 5

6

7

8



Additional CI objects, group 1xxx

Device Type

CI access 1000h 00h Var uint32 r

Description Classification of the device type. Fixed = 0.

Manufacturer Hardware Version

CI access 1009h 00h Var V-string r

Description Hardware version in the format = “Vxx.yy”(xx = main version, yy = secondary version)

Manufacturer Firmware Version

CI access 100Ah 00h Var V-string r

Description Firmware version in the format = “Vxx.yy”(xx = main version, yy = secondary version)




Record Number

CI access 2032h 01h Array 1) uint8 rw

Description For selecting a position set record via the record number.There is a direct correlation with object 2033 (PNU 400).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...05h: Position Table Elementor– Object 607Ah: Target Position– Object 6081h: Profile Velocity– Object 6083h: Profile Acceleration– Object 6084h: Profile Deceleration

Record Number 2032h 01h uint8 rw

Read or write record number.Values:0 (0x00): Reserved, do not use (fieldbus direct record)1 (0x01): Reserved, do not use (FCT direct record)2 (0x02): Reference travel (position record 0)3 (0x03): Positioning record 1 (default)4 (0x04): Positioning record 2... Positioning record ...33 (0x21): Positioning record 31

1) Pseudo-array due to compatibility



Version FCT PlugIn Min.


Description Minimum version of the MTR-DCI FCT plugin required for commissioning theMTR-DCI. Format = “xx.yy” (xx = main version, yy = secondary version).

Version FCT PlugIn Opt.


Description Optimum version of the MTR-DCI FCT plugin for commissioning the MTR-DCI.Format = “xx.yy” (xx = main version, yy = secondary version).

Scaling (control panel settings)

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

Description Definition of the units of measurement used on the control panel and the num-ber of decimal places. See also CI object 20FFh/PNU 126.

Measuring Unit 20D0h 01h uint8 rw

Defines the unit of measurement (Z 20FF03h).The setting for the system of measurement units only affects the displayreadout. All parameters are always saved in increments in the controller andare not converted into the relevant measuring system until they are written orread.Values:1 (0x01): Metric units of measurement: e. g. mm, mm/s, mm/s2

4 (0x04): Angular units of measurement (360°), e.g. degrees, degrees/s, de-grees/s2

8 (0x08): Revolutions: rev, rev/min, rev/min2

15 (0x0F): Increments

Scaling Size 20D0h 02h uint8 r

Number of places after the decimal point. Fixed: 2. (Z 20FF04h).



Record Table Element

CI access 20E0h 01h ... 04h Struct uint16, int32 rw

Description For editing the entries in the position set table:1. The row (= position set record number) is selected with object 2032

(record pointer).2. The column is selected via subindex 20E0: 01...05

20E0/01 20E0/02V

20E0/03 20E0/04

RecordNumber

Pos Mode TargetPosition

ProfileVelocity

ProfileAcc.

02

2032h} 03 <1> <...>

...

The values are only saved in the position table with this command; no move-ment is made.Object 20E0 partly accesses the same parameters as with the correspondingobjects 607A, 6081, 6083, 6084, or with objects 20EA to 20EF provided forPROFIBUS.Different data types are converted accordingly when writing and reading.

Positioning mode 20E0h 01h uint16 rw

Positioning mode.Values:0 (0x0000): Absolute positioning (default)1 (0x0001): Relative positioning

Target Position 20E0h 02h int32 rw

Target position in increments (corresponds to object 607Ah).Value range: -231...+(231 -1) (0x80000000 ... 0x7FFFFFFF)Default: 0

Velocity 20E0h 03h int32 rw

Positioning speed in increments (corresponds to object 6081h).Value range:MTR-DCI-32: 0...66000 (0x101D0) MTR-DCI-42: 0...100000 (0x186A0)MTR-DCI-52: 0...100000 (0x186A0) MTR-DCI-62: 0...113400 (0x1BAF8)Default: 0



Record Table Element

Acceleration 20E0h 04h int32 rw

Acceleration in increments/s2 (Z object 6083h).Value range:MTR-DCI-32/42: 40000...480000 MTR-DCI-52/62: 40000...240000Default:MTR-DCI-32/42: 480000MTR-DCI-52: 240000MTR-DCI-62: 160000

Controller Type

CI access 20E3h 00h Var uint8 r

Description Type of controller.Values: 0 = without display screen; 1 = with display screen

CI_ReceiveChecksumActive (CI checksum required)

CI access 20F3h 00h Var uint8 rw

Description When checksum checking is activated, the CI commands to the MTR-DCI mustbe equipped with a checksum (see Tab. B/10). The checksum is calculatedaccording to Tab. B/13.Example: deactivate checksum: “=20F300:0012” (12 = checksum).The CI terminal integrated in FCT uses checksums automatically in appropriatecases.Values:0x00 Deactivated (default)0x01 Activated

Password (FCT password)

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

Description For managing the FCT password, entering the super password.

FCT Password 20FAh 01h V-string rw

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



Password (FCT password)

Super Password 20FAh 02h V-string w

For entering the super password.Resets all passwords (FCT password and HMI password, object 20FB). ContactFesto Service if you require the super password.

Local Password

CI access 20FBh 00h Var V-string rw

Description For managing the (local) HMI password to enable particular functions which arecarried out via the control panel.Value: <........> (fixed: 8 characters, ASCII, 7-bit)

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

Communication Error (transmission error)

CI access 2FF0h 00h Var uint16 r

Description Special object; see section B.2.2.In the event of a transmission error, the value <0x00FF> will be transferred in-stead of the usual response.

PROFIBUS Address

CI access 2FF3h 00h Var uint8 rw

Description PROFIBUS address of the MTR-DCI.Values: 0 ... 125 (0x00 ... 0x7D)Default: 255 (0xFF, invalid address)




Control Word

CI access 6040h 00h Var uint16 rw

Description For modifying the current controller status or triggering an action.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.Only when the requested status can be read in the Status Word, may a furthercommand be written via the Control Word.For typical values see Tab. B/15. For description see Tab. B/16.

Value Function

0x000F ENABLE OPERATION, controller enable

0x000D VOLTAGE DISABLE, output stage OFF

0x001F Start ABSOLUTE movement

0x005F Start RELATIVE movement

0x010F Stop movement

0x008F Reset fault + ENABLE OPERATION

0x004F Set target position as RELATIVE.

Tab. B/15: Typical values for Control Word



Bit Value Description

0 0x0001 Depends on operation mode (object 6060):

– Profile Position mode / Homing mode: change_set_immediately

– Profile Torque Mode (“Force” mode)1 0x0002

2 0x0004

3 0x0008

4 0x0010

5 0x0020


– Profile Position mode: absolute / relative

– (Homing Mode / Profile Torque Mode: reserved, set to 0)

7 0x0080 reset_fault


– Profile Position mode / Homing Mode: Halt

– Profile Torque Mode: Halt, position control active

9 0x0200 Reserved (= 0)

10 0x0400

11 0x0800 Jog Mode, positive (like FHPP CPOS.B3)

12 0x1000 Jog Mode, negative (like FHPP CPOS.B4)

13 0x2000 Teaching (like FHPP CPOS.B5)

14 0x4000 Reserved (= 0)

15 0x8000

Tab. B/16:Description of Control Word



Status Word


Description For reading the current controller/regulator status.For typical values see Tab. B/17. For description see Tab. B/18.

Bit Value Comment

— 0x0000 NOT_READY_TO_SWITCH_ONPreinitialisation status

— 0x0021 READY_TO_SWITCH_ONStatus after initialisation

— 0x0027 SWITCHED_ON + OPERATION_ENABLEPower electronics and positioning are enabled

3 0x000F FAULT – there is a fault(screen display at bit 3: 0x0008)

4 0x0010 VOLTAGE_DISABLEDStatus 1: output stage OFF

0: output stage ON(screen display at bit 4: 0x0010)

9 0x0200 1: enable logic, 0: disable logic

10 0x0400 1: TARGET_REACHED/MOTION_COMPLETE0: MOTION_NOT_COMPLETE.(screen display at bit 10: 0x0400)

11 0x0800 1: Internal limit active0: Internal limit not activeI2t is active(screen display at bit 11: 0x0800)

12 0x1000 1: New positioning task has been accepted orhoming run has finished.

13 0x2000 1: HOMING_ERROR0: HOMING_NO_ERROR(screen display at bit 13: 0x2000)

Tab. B/17: Typical values for Status Word



Bit Value Description

0 0x0001 Ready to switch on Bits 0 ... 3, 5 and 6 show the status of the device(x ... irrelevant for this status)Value (binary) Statusxxxx 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 reaction activexxxx xxxx x0xx 1000 Fault

1 0x0002 Switched on

2 0x0004 Operation enabled

3 0x0008 Fault

4 0x0010 Voltage enabled

5 0x0020 Quick stop

6 0x0040 Switch on disabled

7 0x0080 Warning (simple fault which does not require an emergency stop)

8 0x0100 Drive moves (corresponds to bit 4 of SPOS in FHPP)

9 0x0200 Master controller (corresponds to bit 5 of SCON in FHPP)

10 0x0400 Target reached (see also objects 6067 and 6068)

11 0x0800 Internal limit active


– Profile Position mode: Setpoint_acknowledge

– Homing mode: Homing_attained

– Profile Torque Mode: is running


– Profile Position mode: Following_error (position lag error)

– Homing mode: Homing_error

– Profile Torque Mode: stroke limit reached

14 0x4000 Manufacturer specific: Teach acknowledge(corresponds to bit 3 of SPOS in FHPP)

15 0x8000 Manufacturer specific: referencing performed(corresponds to bit 7 of SPOS in FHPP)

Tab. B/18:Description of Status Word



Operation Mode

CI access 6060h 00h Var int8 rw

Description Operation mode of the controller.Values:0xFE: Demo Mode (fixed sequence)0x01: Profile Position Mode (“Position” mode)0x03: (Reserved)0x04: Profile Torque Mode (“Force” mode)0x06: Homing Mode (homing run)

Operation Mode Display

CI access 6061h 00h Var int8 r

Description For reading the operation mode of the controller. For values, see object 6060h.

Velocity Demand Value

CI access 606Bh 00h Var int32 r

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

Velocity Actual Value

CI access 606Ch 00h Var int32 r

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

Target Torque


Description Target value for Force modeSpecifies the value in 1/1000 of the nominal value (6072h)



Actual Torque

CI access 6077h 00h Var int16 r

Description Actual value in Force mode in 1/1000 of the nominal value (6072h)

Target Position

CI access 607Ah 00h Var int32 rw

Description For defining or reading a target position in increments.This position is saved in the position table in the column provided in the lineaddressed by object 2032. No movement is made at this time.Value range: -231 ... +(231 -1)

Profile Velocity


Description Final speed for a positioning procedure, in increment/s.This position is saved in the position table in the column provided in the lineaddressed by object 2032. No movement is made at this time.Value range and default: see 20E003h.

Profile Acceleration


Description Acceleration for a positioning movement (compare 6081) in increments/s2.Value range and default: see 20E004h.

Torque Slope


Description Rate of change in torque (or force)Unit of measurement: 1/1000 of the nominal (rated) torque (6076h) persecondFixed: 10000 (0x2710)



Torque Profile Type


Description Type of profile used for a change in torque.Fixed: 0x0000 - Linear ramp

Supported Drive Modes


Description Drive modes supported.Fixed = 29h (41d)Bit 0: Profile position modeBit 1: Reserved (Velocity mode)Bit 2: Reserved (Profile velocity mode)Bit 3: Profile torque modeBit 4: (Reserved)Bit 5: Homing modeBit 6: Reserved (Interpolated positioning mode)Bit 7...15: (Reserved)Bit 16...31 Manufacturer-specific



B.3 FHPP finite state machine

Notes on the “operation enabled” state

The transition T3 leads to state S4, which itself contains itsown sub-state machine, the states of which are marked with“SAx” and the transitions of which are marked with “TAx”;see Fig. B/4. This enables a equivalent circuit diagram(Fig. B/3) to be used, in which the internal states SAx areomitted.

Switched off

S1 ControllerSwitched on

S3 DriveEnabled

S2 DriveBlocked

S5 Reaction

to malfunction

S6 Malfunction

From allstatuses

OperationEnabled

T6

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

S4

Fig. B/3: Equivalent circuit diagram for finite state machine

Transitions T4, T6 and T7* are executed from every sub-stateSAx and automatically have a higher priority than any transi-tion TAx.

Reaction to faults

T7 (“fault detected”) has the highest priority (and thereforereceives the asterisk “*”).

T7 is then executed from S5 + S6 when an fault with higherpriority occurs. This means that a serious fault can suppressa simple fault.



T7* always has thehighest priority.

Switched off

S1

Controller on

S4

Driveenabled

S2

Drive disabled

SA1

Ready

SA5

Jogging, positive

SA6

Jogging, negative

SA4

Homing beingexecuted

SA2

Positioning taskactive

SA3

Intermediate stop

S5

Reaction to fault

S6

Fault

From all states

S4

Operation enabled

T6

TA11

TA12

TA9

TA10

TA3

TA6

TA4

TA5

TA7

TA8

TA1TA2

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

Fig. B/4: Finite state machine



B.3.1 Establishing “ready to operate” status

T Internal conditions Actions of the user

T1 Drive has been switched on.No faults are ascertained.

T2 Load voltage applied.Fieldbus master is accepted as the higher-ordercontroller.

“Enable drive” = 1CCON = xxx0.xxx1

T3 “Stop” = 1CCON = xxx0.xx11

T4 “Stop” = 0CCON = xxx0.xx01

T5 “Enable drive” = 0CCON = xxx0.xxx0

T6 “Enable drive” = 0CCON = xxx0.xxx0

T7* Fault detected.

T8 Reaction to fault is complete, drive is stationary.

T9 There is no longer a fault.It was a serious fault.

“Acknowledge fault” = 0→ 1CCON = xxx0.Pxxx

T10 There is no longer a fault.It was a minor fault.

“Acknowledge fault” = 0→ 1CCON = xxx0.Pxx1

T11 Fault still exists. “Acknowledge fault” = 0→ 1CCON = xxx0.Pxx1

Key: P = positive edge, N = negative edge, x = any



B.3.2 Positioning

The following always applies:Transitions T4, T6 and T7* always have priority.

TA Internal conditions Actions of the user

TA1 Homing has been carried out. Start positioning task = 0→1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.00P1

TA2 Motion Complete = 1The current record has been completed. Thenext record is not to be executed automatically

“Halt” state is anyCCON = xxx0.xx11CPOS = 0xxx.xxx0

TA3 Motion Complete = 0 Halt = 1→0CCON = xxx0.xx11CPOS = 0xxx.xxx0

TA4 Halt = 1Start positioning task = 0→1Clear remaining positioning = 0CCON = xxx0.xx11CPOS = 00xx.xxP1

TA5 Record Select:

– An individual record has been completed.

– The next record is to be executed automati-cally.

CCON = xxx0.xx11CPOS = 0xxx.xxx1

Direct mode:

– A new positioning task has arrived.

CCON = xxx0.xx11CPOS = 0xxx.xx11

TA6 Clear remaining positioning = 0→ 1CCON = xxx0.xx11CPOS = 01xx.xxxx

TA7 Start homing = 0→1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.0Px1




TA Actions of the userInternal conditions

TA8 Homing completed or stopped (“Halt”). For “Halt” only:Halt = 1→0CCON = xxx0.xx11CPOS = 0xxx.xxxN

TA9 Jogging, positive = 0→ 1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.Pxx1

TA10 Either

– Jogging, positive = 1→ 0

– CCON = xxx0.xx11

– CPOS = 0xxx.0xx1or

– Halt = 1→0


– CPOS = 0xxx.xxxN

TA11 Jogging, negative = 1→ 0Halt = 1CCON = xxx0.xx11CPOS = 0xxP.xxx1

TA12 Either

– Jogging, negative= 1→ 0


– CPOS = 0xxN.xxx1or

– Halt = 1→0


– CPOS = 0xxx.xxxN




Features specific to different operation modes:

Operation mode Notes on specific features

Record Select No restrictions.

Direct mode TA2: The condition that no new record may be executed does not apply.TA5: A new record can be started at any time.

Index

C-1Festo P.BE-MTR-DCI-PB-EN en 1209a

Appendix C

Index

C. Index

C-2 Festo P.BE-MTR-DCI-PB-EN en 1209a

Contents

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

C. Index


A

Absolute 5-18, 5-50, B-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Access procedure B-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Axis parameters 4-9, 4-13, 5-16. . . . . . . . . . . . . . . . . . . . . . . .

Axis type 4-13, 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis zero point XIV, 1-11, 5-16, B-45. . . . . . . . . . . . . . . . . . . . .

B

Baud rate 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

BCD XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Bus segment XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

Cable 1-6, 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fieldbus 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Checksum B-59, B-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CLEAR_DATA 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningProcedure 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .with the control panel 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . .With the Festo Configuration Tool (FCT) 5-23. . . . . . . . . . . .

Components 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connections 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Consistency XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control 3-4, 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control panel 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Accessing the main menu 4-6. . . . . . . . . . . . . . . . . . . . . . . .Button function (overview) 4-5. . . . . . . . . . . . . . . . . . . . . . .Menu system 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Menu commands (overview) 4-7. . . . . . . . . . . . . . . . . . . . . .

C. Index


Controller XIV, 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Coupling 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cyclical I/O data 5-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Default settings 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Demo mode 5-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device connection 5-83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device control 4-22, 5-7, 5-25. . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostic memory 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostics 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Device-specific 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Error messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Overview 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parameter channel 6-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . .PROFIBUS-DP 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensional reference system 1-11. . . . . . . . . . . . . . . . . . . . .Calculation rules 5-65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Diagram 5-64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Direct mode 5-38, 5-39, 5-59, 5-76. . . . . . . . . . . . . . . . . . . . . .

Direction of rotation of the motor 1-13. . . . . . . . . . . . . . . . . . .

DP diagnosis 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drive XIV, 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E

Earthing 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Effective stroke 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC XIV, 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder XIV, XV, 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


F

Fault handling 5-54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault numbers 6-13, B-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FCT XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Installing 5-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Starting 5-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo Configuration Tool (FCT) XIV. . . . . . . . . . . . . . . . . . . . . . .

Festo Parameter Channel (FPC) B-3. . . . . . . . . . . . . . . . . . . . . .

FHPP 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbus bit rate 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbus cable 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbus length 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Force mode 5-39, 5-61, 5-76, B-36. . . . . . . . . . . . . . . . . . . . . . .

FREEZE 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fuses 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

G

GetDiag 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

GSD file XVII, 5-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

H

HMI (see device control) XV. . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing method XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing point XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference switch XVI, 3-4, 3-13. . . . . . . . . . . . . . . . . . . . . .

Homing mode XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing run XV, 5-13, 5-56, 5-65. . . . . . . . . . . . . . . . . . . . . . . .Current limitation 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Discontinuing 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Executing 4-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Starting 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I

I/O, Diagnostics 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O data, Cyclical 5-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Icon files 5-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Increments 1-5, A-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

J

Jog mode 5-67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LED 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Load voltage, Definition 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Logic voltageDefinition 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Failure 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LSB XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Measuring reference system 1-12. . . . . . . . . . . . . . . . . . . . . . .

Menu commands (overview) 4-7. . . . . . . . . . . . . . . . . . . . . . . .

Menu system 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor unit XV, 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Dimensions 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mounting 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

MSB XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Nominal stroke 1-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


O

Object directory B-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Octet XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating mode 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Profile position mode (see positioning mode) 1-7. . . . . . . .Profile torque mode (see force mode) 1-8. . . . . . . . . . . . . .

Operation mode XV, 5-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Direct mode 5-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing run 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Record Select 5-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Teach mode XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameter assignment 1-4, B-3. . . . . . . . . . . . . . . . . . . . . . . . .

Parameter channel B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameter channel (PKW) XVII. . . . . . . . . . . . . . . . . . . . . . . . .

Parameter identifier (ParID) XVII, B-3, B-4. . . . . . . . . . . . . . . .

Parameter number (PNU) XVII, B-4. . . . . . . . . . . . . . . . . . . . .

Parameter value (ParVal) B-3. . . . . . . . . . . . . . . . . . . . . . . . . . .

ParID XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Password 5-84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Entering 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Modifying/deactivating 4-17. . . . . . . . . . . . . . . . . . . . . . . . .Setting up 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PKW XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PNU XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Points of reference 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position mode 5-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position set 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Executing 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position set record XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Position set tableCompiling 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Creating 4-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Displaying 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Executing 4-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning range 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply 3-4, 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Requirements 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply unit 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply units 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply units and fuses, Requirements 3-8. . . . . . . . . .

Prefix 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PROFIBUS address 5-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profibus address, setting 4-15. . . . . . . . . . . . . . . . . . . . . . . . .

PROFIBUS-DPDiagnosis via parameter channel 6-18. . . . . . . . . . . . . . . . .Diagnostics 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile position mode (see positioning mode) 1-7. . . . . . . . . .

Profile torque mode (see force mode) 1-8. . . . . . . . . . . . . . . .

Project zero point XVI, 1-11, B-34. . . . . . . . . . . . . . . . . . . . . . .

Protection class 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R

Record Select 5-38, 5-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference travel, parameters 4-14. . . . . . . . . . . . . . . . . . . . . .

Reference travel methodFixed stop 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference switch 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ReferencingReference point 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference switch 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing mode (see Reference travel) 1-8. . . . . . . . . . . . . .

Relative 5-18, 5-50, B-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Repeater XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Request identifier (AK) XVII, B-4, B-5. . . . . . . . . . . . . . . . . . . . .

Request telegram XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Response identifier (AK) XVII, B-4, B-6. . . . . . . . . . . . . . . . . . .

Response monitoring 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Response telegram XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

S

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

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

Segment length 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial interface 3-4, 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Software end position 1-11, 5-16, B-34. . . . . . . . . . . . . . . . . .Negative XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Positive XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Standstill monitoring 5-80. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start-up behaviour 5-82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Station number, setting 5-22. . . . . . . . . . . . . . . . . . . . . . . . . . .

Strain relief 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Subindex (IND) XVIII, B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch-on sequence 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SYNC 5-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System parameters 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

T

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

Target position, teaching 5-18. . . . . . . . . . . . . . . . . . . . . . . . . .

Teach mode XVI, 4-13, 4-15, 5-16. . . . . . . . . . . . . . . . . . . . . . .

Teaching via fieldbus 5-69. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. Index


Technical data A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission errors B-58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission protocol B-57. . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

Units of measurement 1-5, A-13. . . . . . . . . . . . . . . . . . . . . . . .

User data XVIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

User instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Value ranges, permitted B-58. . . . . . . . . . . . . . . . . . . . . . . . . .

Version XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Transcript of Motor unit MTR-DCI - festo.com · Motor unit MTR-DCI. Adobe ... Festo P.BE-MTR-DCI-PB-EN en 1209a V...