Festo Электромотор MTR-DCI Bedienungsanleitung

zgDescriptionMTR-DCI-...-PBDescription539624en 1209a[763205]Motor unitMTR-DCI

Contents and general safety instructionsVIIIFesto P.BE-MTR-DCI-PB-EN en 1209aSafety instructionsWhen commissioning and programming positioning systems

5. Commissioning5-12Festo P.BE-MTR-DCI-PB-EN en 1209a5.2.3 Carrying out homingThe following conditions must be fulfilled for homing:– The drive must b

5. Commissioning5-13Festo P.BE-MTR-DCI-PB-EN en 1209aSt arting homingNoteNote that at the start the drive must be in front of the stopor reference swi

5. Commissioning5-14Festo P.BE-MTR-DCI-PB-EN en 1209aDiscontinuing homingIf necessary, homing can be discontinued with the <Menu>button (EMERG S

5. Commissioning5-15Festo P.BE-MTR-DCI-PB-EN en 1209a5.2.4 Teaching the axis zero point AZ and the software end positionsNoteOverloading from constant

5. Commissioning5-16Festo P.BE-MTR-DCI-PB-EN en 1209aTeach the software end positions:1. Select [Settings] [Axis parameter] [Abs.min.pos] or[Abs.max.p

5. Commissioning5-17Festo P.BE-MTR-DCI-PB-EN en 1209a5.2.5 Teaching position set recordsRequirements:– The axis zero point and the software end positi

5. Commissioning5-18Festo P.BE-MTR-DCI-PB-EN en 1209a•Set the nominal speed with the arrow keys.•Accept the setting with OK <Enter>. The setting

5. Commissioning5-19Festo P.BE-MTR-DCI-PB-EN en 1209a5.2.6 Test runWarningInjury to persons and damage to proper tyWith all positioning procedures, th

5. Commissioning5-20Festo P.BE-MTR-DCI-PB-EN en 1209aposition set with speed v = 0, neither this position setrecord nor the following records will be

5. Commissioning5-21Festo P.BE-MTR-DCI-PB-EN en 1209a5.2.7 Setting PROFIBUS add ressesBefore commissioning on the PROFIBUS, you must set a validstatio

Contents and general safety instructionsIXFesto P.BE-MTR-DCI-PB-EN en 1209aTarget groupThis manual is intended exclusively for technicians trained inc

5. Commissioning5-22Festo P.BE-MTR-DCI-PB-EN en 1209a5.3 Commissioning with FCTThe Festo Configuration Tool (FCT) is the software platform forconfigur

5. Commissioning5-23Festo P.BE-MTR-DCI-PB-EN en 1209a5.3.1 Installing the FCTNoteThe plugin MTR-DCI V 2.0.0 supports the following motorunits:– MTR-DC

5. Commissioning5-24Festo P.BE-MTR-DCI-PB-EN en 1209a5.3.2 ProcedureStarting the FCT1. Connect the MTR-DCI to your PC via the RS232 port. To doso, fol

5. Commissioning5-25Festo P.BE-MTR-DCI-PB-EN en 1209aInstructions on parameter assignment andcommissioningFCT framework Info rmation on working with p

5. Commissioning5-26Festo P.BE-MTR-DCI-PB-EN en 1209a5.4 Overview of commissioning on the PROFIBUSThe following steps are required for commissioning t

5. Commissioning5-27Festo P.BE-MTR-DCI-PB-EN en 1209a5.5 Configuration5.5.1 Install device master file (GSD file) and icon files.If a new hitherto unk

5. Commissioning5-28Festo P.BE-MTR-DCI-PB-EN en 1209aIcon files In order to represent the MTR-DCI in your configuration soft-ware use the following ic

5. Commissioning5-29Festo P.BE-MTR-DCI-PB-EN en 1209a5.5.3 Configuration with STEP 7General informationThe Simatic Manager software package is used fo

5. Commissioning5-30Festo P.BE-MTR-DCI-PB-EN en 1209aAddingMTR-DCIasslaveThe hardware configuration window represents graphicallythe structure of the

5. Commissioning5-31Festo P.BE-MTR-DCI-PB-EN en 1209a1 231PROFIBUS line2Icon for MTR-DCI3Festo MTR-DCI entry from GSD fileFig. 5/2: Station selection

Contents and general safety instructionsXFesto P.BE-MTR-DCI-PB-EN en 1209aImportant user instructionsDanger categoriesThis manual contains instruction

5. Commissioning5-32Festo P.BE-MTR-DCI-PB-EN en 1209aConfiguring the slave propertiesAfter clicking the icon for the M TR-DCI, you can configure the“S

5. Commissioning5-33Festo P.BE-MTR-DCI-PB-EN en 1209a1231DP identifiers2I/O address range3Modules (configurations)Fig. 5/3: Configuring the slave prop

5. Commissioning5-34Festo P.BE-MTR-DCI-PB-EN en 1209a5.5.4 Startup parameter assignmentWhen the connection is established, parameters are trans-ferred

5. Commissioning5-35Festo P.BE-MTR-DCI-PB-EN en 1209a5.5.5 Response monitoringThe response monito ring influences the reaction when field-bus communic

5. Commissioning5-36Festo P.BE-MTR-DCI-PB-EN en 1209a5.6 Ov erview of control and parameter assignment methods5.6.1 DPV0ControlControl with DPV0 takes

5. Commissioning5-37Festo P.BE-MTR-DCI-PB-EN en 1209a5.7 Festo profile for handling and positioning (FHPP)The MTR-DCI supports the Festo handling and

5. Commissioning5-38Festo P.BE-MTR-DCI-PB-EN en 1209aThe MTR-DCI cannot work in a stand-alo ne manner, i.e. it doesnot support any user program of its

5. Commissioning5-39Festo P.BE-MTR-DCI-PB-EN en 1209a5.7.2 Composition of the cyclical I/O dataConcept A master exchanges the follo w ing data with th

5. Commissioning5-40Festo P.BE-MTR-DCI-PB-EN en 1209aI/O data in the various operation modesDirect modeByte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte

5. Commissioning5-41Festo P.BE-MTR-DCI-PB-EN en 1209aAllocation of the control bytes (overview)1)CCONB7OPM2B6OPM1B5LOCKB4–B3 (F)RESETB2BRAKEB1STOPB0EN

Contents and general safety instructionsXIFesto P.BE-MTR-DCI-PB-EN en 1209aIdentifying special informationThe following pictograms mark passages in th

5. Commissioning5-42Festo P.BE-MTR-DCI-PB-EN en 1209aDescription of the general control bytesControl byte 1 (CCON)Bit EN DescriptionB0ENABLEEnable dri

5. Commissioning5-43Festo P.BE-MTR-DCI-PB-EN en 1209aControl byte 2 (CPOS)Bit EN DescriptionB0HALTHalt =1: “Halt”isnotactive= 0: “Halt” ac tivated (br

5. Commissioning5-44Festo P.BE-MTR-DCI-PB-EN en 1209aDescription of the special control bytes–DirectmodeControl byte 3 (CDIR) – Direct modeBit EN Desc

5. Commissioning5-45Festo P.BE-MTR-DCI-PB-EN en 1209aDescription of the special control bytes– R ecord SelectControl byte 3 (record number) – Record S

5. Commissioning5-46Festo P.BE-MTR-DCI-PB-EN en 1209aDescription of the general status bytesStatus byte 1 (SCON)Bit EN DescriptionB0ENABLEDDrive Enabl

5. Commissioning5-47Festo P.BE-MTR-DCI-PB-EN en 1209aStatus byte 2 (SPOS)Bit EN DescriptionB0HALTHalt =0: Haltisactive= 1: Halt is not active, axis ca

5. Commissioning5-48Festo P.BE-MTR-DCI-PB-EN en 1209aDescription of the special status bytes– R ecord SelectStatus byte 3 (record number) – Record Sel

5. Commissioning5-49Festo P.BE-MTR-DCI-PB-EN en 1209aDescription of the special status bytes–DirectmodeStatus byte 3 (SDIR) – Direct modeBit EN Descri

5. Commissioning5-50Festo P.BE-MTR-DCI-PB-EN en 1209a5.7.3 Examples of control and status bytesOn the following pages you will find typical examples o

5. Commissioning5-51Festo P.BE-MTR-DCI-PB-EN en 1209a1. Establishing “ready to operate” status –Record SelectStep/DescriptionControl bytes Status byte

Contents and general safety instructionsXIIFesto P.BE-MTR-DCI-PB-EN en 1209aDocumentation for MTR-DCI motor unitThis description contains information

5. Commissioning5-52Festo P.BE-MTR-DCI-PB-EN en 1209a2. Establishing “ready to operate” status –Direct modeStep/DescriptionControl bytes Status bytesB

5. Commissioning5-53Festo P.BE-MTR-DCI-PB-EN en 1209a3. Fault handlingStep/DescriptionControl bytes Status bytesByte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B

5. Commissioning5-54Festo P.BE-MTR-DCI-PB-EN en 1209aDescription for 3. Fault handlingFor description of faults and warnings, see section 6.3.3.1 A fa

5. Commissioning5-55Festo P.BE-MTR-DCI-PB-EN en 1209a4. Homing (requires status 1.4 or 1.5)Step/DescriptionControl bytes Status bytesByte B7 B6 B5 B4

5. Commissioning5-56Festo P.BE-MTR-DCI-PB-EN en 1209a5. Positioning by Record Select(requires status 1.3/2.3 and 4.)Step/DescriptionControl bytes Stat

5. Commissioning5-57Festo P.BE-MTR-DCI-PB-EN en 1209aDescription for 5. Positioning by Record Select:(steps 5.1 ... 5.4 conditional sequence)Once “rea

5. Commissioning5-58Festo P.BE-MTR-DCI-PB-EN en 1209a6. Direct mode: Position mode(requires status 1.3/2.3 and 4.)Step/DescriptionControl bytes Status

5. Commissioning5-59Festo P.BE-MTR-DCI-PB-EN en 1209aDescription for Direct mode – position mode:(step 6.1 ... 6.4 conditional sequence)Once “ready to

5. Commissioning5-60Festo P.BE-MTR-DCI-PB-EN en 1209a7. Direct mode – Force mode(requires status 1.3/2.3 and 4)Step/DescriptionControl bytes Status by

5. Commissioning5-61Festo P.BE-MTR-DCI-PB-EN en 1209aStep/DescriptionStatus bytesControl bytesStep/DescriptionB0B1B2B3B4B5B6B7ByteB0B1B2B3B4B5B6B7Byte

Contents and general safety instructionsXII IFesto P.BE-MTR-DCI-PB-EN en 1209aAbout the versionHardware version Specifies the version status of the me

5. Commissioning5-62Festo P.BE-MTR-DCI-PB-EN en 1209a7.4 or 7.5The corresponding bits are set in the status dependingon whether or not the nominal val

5. Commissioning5-63Festo P.BE-MTR-DCI-PB-EN en 1209a5.8 Drive functions5.8.1 Dimensional reference systemDimensional reference system1)efLSE USETP/AP

5. Commissioning5-64Festo P.BE-MTR-DCI-PB-EN en 1209aCalculation rules for reference systemPoint of reference Calculation ruleAxis zero point AZ =REF+

5. Commissioning5-65Festo P.BE-MTR-DCI-PB-EN en 1209aOverview of parameters involved (see also section B.1.12)Parameters involved Description FCT PNU

5. Commissioning5-66Festo P.BE-MTR-DCI-PB-EN en 1209a5.8.3 Jog modeIn the “Operation enabled” status, the drive can be moved tothe left or right by jo

5. Commissioning5-67Festo P.BE-MTR-DCI-PB-EN en 1209a1L ow speed phase 1(slow travel)2Maximum speed forphase 23Acceleration /deceleration4Duration of

5. Commissioning5-68Festo P.BE-MTR-DCI-PB-EN en 1209a5.8.4 Teaching via fieldbusPosition values can be taught via the fieldbus. Previouslytaught posit

5. Commissioning5-69Festo P.BE-MTR-DCI-PB-EN en 1209a3. Teaching takes place via the handshake of the bits in thecontrol and status bytes CPOS/SPOS:1R

5. Commissioning5-70Festo P.BE-MTR-DCI-PB-EN en 1209a5.8.5 Record Select: Executing a position set recordIn the status “Operation enabled”, a record c

5. Commissioning5-71Festo P.BE-MTR-DCI-PB-EN en 1209aStart/stop recordNominal recordnumber in outputdataStopCCON.B1 (STOP)Acknowledge startSPOS.B1 (AC

Contents and general safety instructionsXIVFesto P.BE-MTR-DCI-PB-EN en 1209aProduct-specific terms and abbreviationsThe following product-specific ter

5. Commissioning5-72Festo P.BE-MTR-DCI-PB-EN en 1209aStop record with Halt and continueTarget recordnumberOutput dataAcknowledge startSPOS.B1 (ACK)Mot

5. Commissioning5-73Festo P.BE-MTR-DCI-PB-EN en 1209aSt op record with Hold and clear remainingpositioning pathNominal recordnumber in outputdataAckno

5. Commissioning5-74Festo P.BE-MTR-DCI-PB-EN en 1209aParameters involved (Record Select)The entries in the position set table can be written via thefi

5. Commissioning5-75Festo P.BE-MTR-DCI-PB-EN en 1209a5.8.6 Direct mode: Specification of a position or forceIn the “Operation enabled” status, a posit

5. Commissioning5-76Festo P.BE-MTR-DCI-PB-EN en 1209aSequen ce for specification of a torque/force:NoteThe motor torque is controlled indirectly via r

5. Commissioning5-77Festo P.BE-MTR-DCI-PB-EN en 1209aStarting the positioning taskNominal values inoutput dataStartCPOS.B1Acknowledge startSPOS.B1Moti

5. Commissioning5-78Festo P.BE-MTR-DCI-PB-EN en 1209aOverview of parameters involved (see section B.1.11)Description FCT PNU CIPosition mode Accelerat

5. Commissioning5-79Festo P.BE-MTR-DCI-PB-EN en 1209a5.8.7 Standstill monitoringWith standstill monitoring, the system can detect when thedrive leaves

5. Commissioning5-80Festo P.BE-MTR-DCI-PB-EN en 1209aOverview of parameters involved (see section B.1.12)Parameter Description FCT PNU CINominal posit

5. Commissioning5-81Festo P.BE-MTR-DCI-PB-EN en 1209a5.9 Notes on operationStart-up behaviour and homingWarningIncorrect parameterisation can cause in

Contents and general safety instructionsXVFesto P.BE-MTR-DCI-PB-EN en 1209aTerm/abbreviation MeaningHMI Human Machine Interface; on the MTR-DCI, this

5. Commissioning5-82Festo P.BE-MTR-DCI-PB-EN en 1209aDevice connectionCautionThe RS232 interface is not electrically isolated. It is notintended for p

5. Commissioning5-83Festo P.BE-MTR-DCI-PB-EN en 1209aPassword protectionIn the factory settings, password protection is not active. Inorder to prevent

5. Commissioning5-84Festo P.BE-MTR-DCI-PB-EN en 1209a

Diagnostics and fault display6-1Festo P.BE-MTR-DCI-PB-EN en 1209aChapter 6Diagnostics and fault display

6. Diagnostics and fault display6-2Festo P.BE-MTR-DCI-PB-EN en 1209aContents6.1 Overview of diagnostic options 6-3...

6. Diagnostics and fault display6-3Festo P.BE-MTR-DCI-PB-EN en 1209a6.1 Overview of diagnostic optionsOverview ordered by type of diagnostic informati

6. Diagnostics and fault display6-4Festo P.BE-MTR-DCI-PB-EN en 1209aOverview ordered by type of access to diagnosticinformation:AccessBrief descriptio

6. Diagnostics and fault display6-5Festo P.BE-MTR-DCI-PB-EN en 1209a6.2 LED status displaysPower supplyPOWER StatusLoad and logic voltages applied.Gre

6. Diagnostics and fault display6-6Festo P.BE-MTR-DCI-PB-EN en 1209aBus status, positioning status and controller enableI/F1)StatusMC (green)ONOFFMoti

6. Diagnostics and fault display6-7Festo P.BE-MTR-DCI-PB-EN en 1209a6.3 Fault messagesFaultWarningmessageFault messageNot all faults are equally serio

Contents and general safety instructionsXVIFesto P.BE-MTR-DCI-PB-EN en 1209aTerm/abbreviation MeaningPosition set record Positioning command defined i

6. Diagnostics and fault display6-8Festo P.BE-MTR-DCI-PB-EN en 1209aCat-egoryStatusbytes2)FaultLEDFaultnumberDeviceError1)DescriptionName, displayFaul

6. Diagnostics and fault display6-9Festo P.BE-MTR-DCI-PB-EN en 1209aWarnings Warnings have no effect on the behaviour of the drive. Thecause of the wa

6. Diagnostics and fault display6-10Festo P.BE-MTR-DCI-PB-EN en 1209aFault Possible causeHARDWARE E RROR Device error, e.g. EEPROM defective.• Contact

6. Diagnostics and fault display6-11Festo P.BE-MTR-DCI-PB-EN en 1209aFault Possible causePOSITION ERROR Position lag errorPossible causes:–The drive i

6. Diagnostics and fault display6-12Festo P.BE-MTR-DCI-PB-EN en 1209a6.4 Diagnostic m emo ryThe diagnostic memory contains the last 16 diagnostic mess

6. Diagnostics and fault display6-13Festo P.BE-MTR-DCI-PB-EN en 1209aThe faults are divided into logical groups according to thefault numbers.GroupNam

6. Diagnostics and fault display6-14Festo P.BE-MTR-DCI-PB-EN en 1209a6.5 Diagnosis via PROFIBUS-DPThe MTR-DCI supports the following diagnostic option

6. Diagnostics and fault display6-15Festo P.BE-MTR-DCI-PB-EN en 1209a16 bytes are reserved in the MTR-DCI for DP diagnosis:ByteDiagnostic address Desc

6. Diagnostics and fault display6-16Festo P.BE-MTR-DCI-PB-EN en 1209aStation status 1Bit 3 is especially of interest with station status 1. If this bi

6. Diagnostics and fault display6-17Festo P.BE-MTR-DCI-PB-EN en 1209aStation status 2 (MTR-DCI-rel a ted bits only)Station status 2Bit Meaning Explana

Contents and general safety instructionsXVIIFesto P.BE-MTR-DCI-PB-EN en 1209aTerm/abbreviation MeaningConsistency A data range which is defined as con

6. Diagnostics and fault display6-18Festo P.BE-MTR-DCI-PB-EN en 1209a6.6 Diagnosis via parameter channelThe Festo parameter channel or the parameter c

Technical appendixA-1Festo P.BE-MTR-DCI-PB-EN en 1209aAppendix ATechnical appendix

A. Technical appendixA-2Festo P.BE-MTR-DCI-PB-EN en 1209aContentsA.1 Technical data A-3...A.2 Accessori

A. Technical appendixA-3Festo P.BE-MTR-DCI-PB-EN en 1209aA.1 Technical dataGeneral informationProtection class as per E N 60529 IP54 (plug connectors

A. Technical appendixA-4Festo P.BE-MTR-DCI-PB-EN en 1209aMechanical data 32 42 52 62MTR-DCI-...-G7: gear reduction 6.75:1; 1-stageGear unit1)– Drive o

A. Technical appendixA-5Festo P.BE-MTR-DCI-PB-EN en 1209aElectrical data MTR-…-32 MTR-…-42 MTR-…-52 MTR-…-62Nominal voltage DC 24 V ±10 % Load DC 48 V

A. Technical appendixA-6Festo P.BE-MTR-DCI-PB-EN en 1209aA.2 AccessoriesPort Accessories Designation Length [m]Power supply Power supply cable KPWR-MC

A. Technical appendixA-7Festo P.BE-MTR-DCI-PB-EN en 1209aA.3 Motor characteristic curves1Drive output torque of gear shaft M [Nm]2Current I [A]3Recomm

A. Technical appendixA-8Festo P.BE-MTR-DCI-PB-EN en 1209aMTR-DCI-32...-G14MTR-DCI-32...-G7I[A]M[Nm]n[rpm]12345I[A]M[Nm]n[rpm]12345Fig. A/1: Motor char

A. Technical appendixA-9Festo P.BE-MTR-DCI-PB-EN en 1209aMTR-DCI-42...-G14MTR-DCI-42...-G7I[A]M[Nm]n[rpm]12345I[A]M[Nm]n[rpm]1234555Fig. A/2: Motor ch

Adobe®, Reader®,PROFIBUS®,PROFIBUS-DP®,CANopen®and CiA®are registered brand names of the respective brandholders in certain countries.

Contents and general safety instructionsXVIIIFesto P.BE-MTR-DCI-PB-EN en 1209aTerm/abbreviation MeaningSubindex (IND) Integral part of the parameter c

A. Technical appendixA-10Festo P.BE-MTR-DCI-PB-EN en 1209aI[A]M[Nm]n[rpm]123455MTR-DCI-52...-G14MTR-DCI-52...-G7I[A]M[Nm]n[rpm]123455Fig. A/3: Motor c

A. Technical appendixA-11Festo P.BE-MTR-DCI-PB-EN en 1209aMTR-DCI-62...-G14MTR-DCI-62...-G7I[A]M[Nm]n[rpm]12345I[A]M[Nm]n[rpm]1234 5Fig. A/4: Motor ch

A. Technical appendixA-12Festo P.BE-MTR-DCI-PB-EN en 1209aMTR-DCI-62...-G22I[A]M[Nm]n[rpm]12345Fig. A/5: Motor characteristic curves MTR-DCI-62...

A. Technical appendixA-13Festo P.BE-MTR-DCI-PB-EN en 1209aA.4 Converting the units of measurementUnit of measurement systemsFor accessing parameters v

A. Technical appendixA-14Festo P.BE-MTR-DCI-PB-EN en 1209aParameters MTR-DCI-32 MTR-DCI-42 MTR-DCI-52 MTR-DCI-62Feed1)DME S -18-...:1500 [μm/rot]DME S

A. Technical appendixA-15Festo P.BE-MTR-DCI-PB-EN en 1209aGeneral conversion factors (CF)1[inch] = 25, 4 [mm]1[inch] = 0, 0254 [m]1[°] =1360[rot][μm

A. Technical appendixA-16Festo P.BE-MTR-DCI-PB-EN en 1209aPhysical variable Conversion into incrementsItem POS [inc]–Target posi t i o n–Reference poi

Supplemen tary informationB-1Festo P.BE-MTR-DCI-PB-EN en 1209aAppendix BSupplementary information

B. Supplementary informationB-2Festo P.BE-MTR-DCI-PB-EN en 1209aContentsB.1 Parameter assignment B-3...B.1.1 F

B. Supplementary informationB-3Festo P.BE-MTR-DCI-PB-EN en 1209aB.1 Parameter assignmentB.1.1 F esto Parameter Channel (FPC) for cyclical data (I/O da

System overview1-1Festo P.BE-MTR-DCI-PB-EN en 1209aChapter 1S ystem o verview

B. Supplementary informationB-4Festo P.BE-MTR-DCI-PB-EN en 1209aParameter identifier (PKE)The parameter identifier contains the task/response identifi

B. Supplementary informationB-5Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.2 Request identifiers, response identifiers, fault n umbersRequest identifiers:Req

B. Supplementary informationB-6Festo P.BE-MTR-DCI-PB-EN en 1209aIf the request cannot be carried out, response identifier 7 willbe transmitted togethe

B. Supplementary informationB-7Festo P.BE-MTR-DCI-PB-EN en 1209aFault numbers Description0 0x00 Invalid PNU. The parameter does not exist.1 0x01 Param

B. Supplementary informationB-8Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.3 R u les for request-response processingRules Description1 If the master sends th

B. Supplementary informationB-9Festo P.BE-MTR-DCI-PB-EN en 1209aSequence of parameter processingCautionObserve the following when modifying parameters

B. Supplementary informationB-10Festo P.BE-MTR-DCI-PB-EN en 1209aExample of parameter assignment via DPV0Parameters can be assigned (parameterised) to

B. Supplementary informationB-11Festo P.BE-MTR-DCI-PB-EN en 1209aS tep 4 Write record number 1 with target position 0x1234 (decimal4660 increments):PN

B. Supplementary informationB-12Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.4 Parameter groupsGroup PNU DescriptionDevice data 100..199 Device identification

B. Supplementary informationB-13Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.5 Overview of parametersThis o verview shows all defined parameters of the FHPP.

1. System overview1-2Festo P.BE-MTR-DCI-PB-EN en 1209aContents1.1 Positioning with electric drives 1-4...1.2 Componen

B. Supplementary informationB-14Festo P.BE-MTR-DCI-PB-EN en 1209aName CI objectFHPPNameIndexAccess2)TypeSubind.1)PNUExtended parameters, continuedDevi

B. Supplementary informationB-15Festo P.BE-MTR-DCI-PB-EN en 1209aName CI objectFHPPNameIndexAccess2)TypeSubind.1)PNUPosition set table (list of positi

B. Supplementary informationB-16Festo P.BE-MTR-DCI-PB-EN en 1209aName CI objectFHPPNameIndexAccess2)TypeSubind.1)PNUProject data – teachingTeac h Targ

B. Supplementary informationB-17Festo P.BE-MTR-DCI-PB-EN en 1209aName CI objectFHPPNameIndexAccess2)TypeSubind.1)PNUAxis data, electric drives 1 (see

B. Supplementary informationB-18Festo P.BE-MTR-DCI-PB-EN en 1209aName CI objectFHPPNameIndexAccess2)TypeSubind.1)PNUAxis data, electric drives 1 – hom

B. Supplementary informationB-19Festo P.BE-MTR-DCI-PB-EN en 1209aName CI objectFHPPNameIndexAccess2)TypeSubind.1)PNUAxis data, electric drives 1 – ele

B. Supplementary informationB-20Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.6 Layout of the pa rameter entriesEncoder Re solutionPNU 1001 1...2 0...1 uint32

B. Supplementary informationB-21Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.7 Device dataStandard parametersManufacturer Hardware V ersion BCDPNU 100 – – uin

B. Supplementary informationB-22Festo P.BE-MTR-DCI-PB-EN en 1209aExtended parametersManufacturer Device NamePNU 120 1...30d0...29dchar roDescription N

B. Supplementary informationB-23Festo P.BE-MTR-DCI-PB-EN en 1209aDevice ControlPNU 125 – – uint8 rwDescription Ac tivates device control of the c ontr

1. System overview1-3Festo P.BE-MTR-DCI-PB-EN en 1209a1.1 Positioning with electric drives1Process controland parameteraccess throughthe higher-orderc

B. Supplementary informationB-24Festo P.BE-MTR-DCI-PB-EN en 1209aData Memory ControlPNU 127 1...2 0...1 uint8 woDescription Commands for the EEPROM (n

B. Supplementary informationB-25Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.8 DiagnosticsFor a description of the mode of operation of the diagnosticmemory:

B. Supplementary informationB-26Festo P.BE-MTR-DCI-PB-EN en 1209aFault NumberPNU 201 1...16d0...15 uint16 roDescription Fault number saved in the diag

B. Supplementary informationB-27Festo P.BE-MTR-DCI-PB-EN en 1209aDiagnostic Memory Parameter (diagnostic memory parameters)PNU 204 1...4 0...3 uint8 r

B. Supplementary informationB-28Festo P.BE-MTR-DCI-PB-EN en 1209aPROFIBUS DiagnosisPNU 206 1...6 0...5 uint8 roDescription Reading the PROFIBUS diagno

B. Supplementary informationB-29Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.9 Process dataLocal Digital InputsPNU 303 – – uint32 roDescription Map of the dig

B. Supplementary informationB-30Festo P.BE-MTR-DCI-PB-EN en 1209aCycle NumberPNU 305 – – uint32 roDescription Number of position set rec ords executed

B. Supplementary informationB-31Festo P.BE-MTR-DCI-PB-EN en 1209aWith FHPP, record selection for reading and writing is donevia the subindex of the PN

B. Supplementary informationB-32Festo P.BE-MTR-DCI-PB-EN en 1209aRecord T arget PositionPNU 404 1...32d0...31dint32 rwDescription Target position of t

B. Supplementary informationB-33Festo P.BE-MTR-DCI-PB-EN en 1209aRecord Accelera tionPNU 407 1...32d0 ... 31duint32 rwDescription Nominal value for ac

1. System overview1-4Festo P.BE-MTR-DCI-PB-EN en 1209aYou can parameterise and commission the MTR-DCI asfollows:– with the FCT software package via th

B. Supplementary informationB-34Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.11 Project dataGeneral project d a taProject Zero Point (offset for project zero

B. Supplementary informationB-35Festo P.BE-MTR-DCI-PB-EN en 1209aMax. Velocity (max. permitted speed)PNU 502 – – uint32 rwDescription Max. permitted s

B. Supplementary informationB-36Festo P.BE-MTR-DCI-PB-EN en 1209aForce modeStroke LimitPNU 510 – – uint32 rwDescription Maximum permitted stroke when

B. Supplementary informationB-37Festo P.BE-MTR-DCI-PB-EN en 1209aTeachingTeach TargetPNU 520 – – uint8 rwDescription The parameter defined is the one

B. Supplementary informationB-38Festo P.BE-MTR-DCI-PB-EN en 1209aJog modeJog Mode Velocity Phase 2PNU 531 – – int32 rwDescription S peed in phase 2 (

B. Supplementary informationB-39Festo P.BE-MTR-DCI-PB-EN en 1209aDirect mode: Position modeDirect Mode AccelerationPNU 541 – – uint32 rwDescription Ac

B. Supplementary informationB-40Festo P.BE-MTR-DCI-PB-EN en 1209aDirect mode: Force modeForce Target Window (target window for force/torque)PNU 552 –

B. Supplementary informationB-41Festo P.BE-MTR-DCI-PB-EN en 1209aB.1.12 Axis parameters for electric drive s 1Mechanical parametersPolarity (reversal

B. Supplementary informationB-42Festo P.BE-MTR-DCI-PB-EN en 1209aGear RatioPNU 1002 1...2 0...1 uint32 roDescription Ratio of the internal motor revol

B. Supplementary informationB-43Festo P.BE-MTR-DCI-PB-EN en 1209aPosition FactorPNU 1004 1...2 0...1 uint32 roDescription Reads the conversion factor

1. System overview1-5Festo P.BE-MTR-DCI-PB-EN en 1209aAll parameters are input or displayed corresponding to theset units of measurement.Units of meas

B. Supplementary informationB-44Festo P.BE-MTR-DCI-PB-EN en 1209aAxis Parameter (axis parameters)PNU 1005 1...5 0...4 uint32 rwDescription For specify

B. Supplementary informationB-45Festo P.BE-MTR-DCI-PB-EN en 1209aHoming parametersOffset Axis Zero Point (offset for axis zero point)PNU 1010 – – int3

B. Supplementary informationB-46Festo P.BE-MTR-DCI-PB-EN en 1209aHoming VelocitiesPNU 1012 1...2 0...1 uint32 rwDescription Speeds during homingSearch

B. Supplementary informationB-47Festo P.BE-MTR-DCI-PB-EN en 1209aHoming Max. TorquePNU 1015 – – uint8 rwDescription Maximum current consumption during

B. Supplementary informationB-48Festo P.BE-MTR-DCI-PB-EN en 1209aController p arametersHalt Option CodePNU 1020 – – uint16 roDescription Describes the

B. Supplementary informationB-49Festo P.BE-MTR-DCI-PB-EN en 1209aPosition Control Parameter SetPNU 1024 18...23, 32d17...22, 31duint16 rwDescription C

B. Supplementary informationB-50Festo P.BE-MTR-DCI-PB-EN en 1209aMotor DataPNU 1025 1, 3 0, 2 uint32 ro/rwDescription Motor-specific data.Serial Numbe

B. Supplementary informationB-51Festo P.BE-MTR-DCI-PB-EN en 1209aDrive DataPNU 1026 1...8 0...7 uint32 rwDescription General drive dat aOutput stage t

B. Supplementary informationB-52Festo P.BE-MTR-DCI-PB-EN en 1209aDrive data (drive data)CI 6510h 01h... Record ro/rwDrive data1)6510h 01h...08h – uint

B. Supplementary informationB-53Festo P.BE-MTR-DCI-PB-EN en 1209aMotor Rated CurrentPNU 1035 – – uint32 roDescription Nominal motor c urrent in [ mA];

1. System overview1-6Festo P.BE-MTR-DCI-PB-EN en 1209a1.2 ComponentsTo configure an electric drive with the MTR-DCI you will re-quire the following co

B. Supplementary informationB-54Festo P.BE-MTR-DCI-PB-EN en 1209aStandstill Position WindowPNU 1042 – – uint32 rwDescription Standstill position windo

B. Supplementary informationB-55Festo P.BE-MTR-DCI-PB-EN en 1209aB.2 The Command Interpreter ( CI)The commands implemented in the Command Interpreter

B. Supplementary informationB-56Festo P.BE-MTR-DCI-PB-EN en 1209aB.2.1 Procedure for data transmissionCautionIn special application cases, access with

B. Supplementary informationB-57Festo P.BE-MTR-DCI-PB-EN en 1209aCarry out the following steps:•Connect the M TR-DCI to your PC via the RS232 port.Fol

B. Supplementary informationB-58Festo P.BE-MTR-DCI-PB-EN en 1209aPermitted value ranges Transferred parameters and values are checked by theMTR-DCI be

B. Supplementary informationB-59Festo P.BE-MTR-DCI-PB-EN en 1209aB.2.2 CI commandsCautionLoss of data.The Command Interpreter (CI) contains commands w

B. Supplementary informationB-60Festo P.BE-MTR-DCI-PB-EN en 1209aSyntax Explanation“= ”, “?” Initial character for write or read commandsIIII Index in

B. Supplementary informationB-61Festo P.BE-MTR-DCI-PB-EN en 1209aNoteThe follow i ng applies when writing to the objects:– Discrete values (values fro

B. Supplementary informationB-62Festo P.BE-MTR-DCI-PB-EN en 1209aChecksum <PS> The higher-order controller must compare the sent commandwith the

B. Supplementary informationB-63Festo P.BE-MTR-DCI-PB-EN en 1209aB.2.3 CI objects (overview)NoteThe following table contains an overview of the CI obj

1. System overview1-7Festo P.BE-MTR-DCI-PB-EN en 1209a1.3 Control and regulating functionsThe controller takes over the following tasks:– Control via

B. Supplementary informationB-64Festo P.BE-MTR-DCI-PB-EN en 1209aName FHPPCI objectsNameSectionPNUAccessSubindIndexTypeClassGroup 2xxx continuedStands

B. Supplementary informationB-65Festo P.BE-MTR-DCI-PB-EN en 1209aName FHPPCI objectsNameSectionPNUAccessSubindIndexTypeClassGroup 2xxx continuedAxis P

B. Supplementary informationB-66Festo P.BE-MTR-DCI-PB-EN en 1209aName FHPPCI objectsNameSectionPNUAccessSubindIndexTypeClassGroup 2xxx continuedLocal

B. Supplementary informationB-67Festo P.BE-MTR-DCI-PB-EN en 1209aName FHPPCI objectsNameSectionPNUAccessSubindIndexTypeClassCycle Number uint32 2FFFh

B. Supplementary informationB-68Festo P.BE-MTR-DCI-PB-EN en 1209aName FHPPCI objectsNameSectionPNUAccessSubindIndexTypeClassGroup 6xxx (continued)Max.

B. Supplementary informationB-69Festo P.BE-MTR-DCI-PB-EN en 1209aName FHPPCI objectsNameSectionPNUAccessSubindIndexTypeClassGroup 6xxx (continued)Gear

B. Supplementary informationB-70Festo P.BE-MTR-DCI-PB-EN en 1209aName FHPPCI objectsNameSectionPNUAccessSubindIndexTypeClassGroup 6xxx (continued)Moto

B. Supplementary informationB-71Festo P.BE-MTR-DCI-PB-EN en 1209aB.2.4 Additional CI objectsSome objects cannot be accessed via the fieldbus, but only

B. Supplementary informationB-72Festo P.BE-MTR-DCI-PB-EN en 1209aAdditional CI objects, group 1xxxDevice TypeCI access 1000h 00h Var uint32 rDescripti

B. Supplementary informationB-73Festo P.BE-MTR-DCI-PB-EN en 1209aAdditional CI objects, group 2xxxRecord NumberCI access 2032h 01h Array1)uint8 rwDesc

1. System overview1-8Festo P.BE-MTR-DCI-PB-EN en 1209aChanges in position are recognized by the internal increment-al encoder (optical encoder). With

B. Supplementary informationB-74Festo P.BE-MTR-DCI-PB-EN en 1209aVersion FCT PlugIn Min.CI access 2067h 00h Var V-string rDescription Minimum version

B. Supplementary informationB-75Festo P.BE-MTR-DCI-PB-EN en 1209aRecord T able ElementCI access 20E0h 01h ... 04h Struct uint16, int32 rwDescription F

B. Supplementary informationB-76Festo P.BE-MTR-DCI-PB-EN en 1209aRecord T able ElementAcceleration 20E0h 04h int32 rwAcceleration in increments/s2(Z o

B. Supplementary informationB-77Festo P.BE-MTR-DCI-PB-EN en 1209aPassword (FCT password)Super Password 20FAh 02h V-string wFor entering the super pass

B. Supplementary informationB-78Festo P.BE-MTR-DCI-PB-EN en 1209aAdditional CI objects, group 6xxxControl WordCI access 6040h 00h Var uint16 rwDescrip

B. Supplementary informationB-79Festo P.BE-MTR-DCI-PB-EN en 1209aBit Value Description0 0x0001Depends on operation mode (object 6060):–Profile Positio

B. Supplementary informationB-80Festo P.BE-MTR-DCI-PB-EN en 1209aStatus WordCI access 6041h 00h Var uint16 rDescription For rea ding t he c urrent con

B. Supplementary informationB-81Festo P.BE-MTR-DCI-PB-EN en 1209aBit Value Description0 0x0001 Readytoswitchon Bits 0 ... 3, 5 and 6 show the status o

B. Supplementary informationB-82Festo P.BE-MTR-DCI-PB-EN en 1209aOperation ModeCI access 6060h 00h Var int8 rwDescription Operation mode of the contro

B. Supplementary informationB-83Festo P.BE-MTR-DCI-PB-EN en 1209aActual TorqueCI access 6077h 00h Var int16 rDescription Ac tual value in Force mode i

1. System overview1-9Festo P.BE-MTR-DCI-PB-EN en 1209a1.4 Operational reliabilityAn extensive system of sensors and monitoring functionsensures operat

B. Supplementary informationB-84Festo P.BE-MTR-DCI-PB-EN en 1209aTorque Profile TypeCI access 6088h 00h Var uint32 rDescription Type of profile used f

B. Supplementary informationB-85Festo P.BE-MTR-DCI-PB-EN en 1209aB.3 FHPP finite state machineNotes on the “operation enabled” stateThe transition T3

B. Supplementary informationB-86Festo P.BE-MTR-DCI-PB-EN en 1209aT7* alway s has thehighest priority.Switched offS1Controller onS4DriveenabledS2Drive

B. Supplementary informationB-87Festo P.BE-MTR-DCI-PB-EN en 1209aB.3.1 Establishing “ready to operate” statusT Internal conditions Actions of the user

B. Supplementary informationB-88Festo P.BE-MTR-DCI-PB-EN en 1209aB.3.2 PositioningThe following always applies:Transitions T4, T6 and T7* always have

B. Supplementary informationB-89Festo P.BE-MTR-DCI-PB-EN en 1209aTA Actions of the userInternal conditionsTA8 Homing completed or stopped (“Halt”). Fo

B. Supplementary informationB-90Festo P.BE-MTR-DCI-PB-EN en 1209aFeatures specific to d ifferent operation modes:Operation mode Notes on specific feat

IndexC-1Festo P.BE-MTR-DCI-PB-EN en 1209aAppendix CIndex

C. IndexC-2Festo P.BE-MTR-DCI-PB-EN en 1209aContentsC. Index C-1...

C. IndexC-3Festo P.BE-MTR-DCI-PB-EN en 1209aAAbsolute 5-18, 5-50, B-31...Access procedure B-55...

Contents and general safety instructionsIFesto P.BE-MTR-DCI-PB-EN en 1209aOriginal de...Edition en 1209a...

1. System overview1-10Festo P.BE-MTR-DCI-PB-EN en 1209aWarning•Check the measures which are required within theframework o f your EMERGENCY OFF circui

C. IndexC-4Festo P.BE-MTR-DCI-PB-EN en 1209aController XIV, 1-3...Coupling 1-6...

C. IndexC-5Festo P.BE-MTR-DCI-PB-EN en 1209aFFault handling 5-54...Fault messages 6-7...

C. IndexC-6Festo P.BE-MTR-DCI-PB-EN en 1209aExecuting 4-19...S tarting 5-14...II/O

C. IndexC-7Festo P.BE-MTR-DCI-PB-EN en 1209aOObject directory B-55...Octet XVII...

C. IndexC-8Festo P.BE-MTR-DCI-PB-EN en 1209aPosition set tableCompiling 5-18...Creating 4-15...

C. IndexC-9Festo P.BE-MTR-DCI-PB-EN en 1209aRepeater XVII...Request identifier (AK) XVII, B-4, B-5...

C. IndexC-10Festo P.BE-MTR-DCI-PB-EN en 1209aTechnical data A-3...Transmission errors B-58...

1. System overview1-11Festo P.BE-MTR-DCI-PB-EN en 1209a1.5 Dimensional reference systemFor commissioning, a measuring reference system for refer-encin

1. System overview1-12Festo P.BE-MTR-DCI-PB-EN en 1209aMeasuring reference systemefLinear axis with reference travel method:Fixed stopRotation axis wi

1. System overview1-13Festo P.BE-MTR-DCI-PB-EN en 1209aPoint of reference Calculation ruleAxis zero point AZ =REF+ aProject zero point PZ =AZ+ d =(REF

1. System overview1-14Festo P.BE-MTR-DCI-PB-EN en 1209a+—12+—1Factory setting of the active direction2Reversal of direction by changing the active dir

1. System overview1-15Festo P.BE-MTR-DCI-PB-EN en 1209a1.5.3 Reference travelIn the case of drives with incremental measuring system, areference trave

1. System overview1-16Festo P.BE-MTR-DCI-PB-EN en 1209aSearch for fixed stop With this reference travel method, at first the drive moves atsearch spee

1. System overview1-17Festo P.BE-MTR-DCI-PB-EN en 1209aSearch for reference switch With this reference travel method, at first the drive moves atsearc

1. System overview1-18Festo P.BE-MTR-DCI-PB-EN en 1209a1.6 Festo handling and positioning profile (FHPP)Tailored t o handling and positioning tasks, F

1. System overview1-19Festo P.BE-MTR-DCI-PB-EN en 1209aControl and status bytesCommunication via the fieldbus takes place via 8 control andstatus byte

Contents and general safety instructionsIIFesto P.BE-MTR-DCI-PB-EN en 1209a

1. System overview1-20Festo P.BE-MTR-DCI-PB-EN en 1209a

Mounting2-1Festo P.BE-MTR-DCI-PB-EN en 1209aChapter 2Mounting

2. Mounting2-2Festo P.BE-MTR-DCI-PB-EN en 1209aContents2.1 General information 2-3...2.2 Dimensions of the m

2. Mounting2-3Festo P.BE-MTR-DCI-PB-EN en 1209a2.1 General informationWarningDanger of electric shock, short circuiting or unexpecteddrive motion•Alwa

2. Mounting2-4Festo P.BE-MTR-DCI-PB-EN en 1209a2.2 Dimensions of the motor unitH0H2H1B1B2D1D2D3D4L1L2L3L4L5513T1Sizes [mm] 32 42 52 62Gear reduction G

2. Mounting2-5Festo P.BE-MTR-DCI-PB-EN en 1209a2.3 Mounting the electric axesWhen mounting the electric axes, read and keep in mind thedocumentation f

2. Mounting2-6Festo P.BE-MTR-DCI-PB-EN en 1209aL3L3 x 0.5FyFxFig. 2/1: Fo rces and torquesForces and torques32 42 52 62MTR-DCI-...-G7 1-stage–Radial s

2. Mounting2-7Festo P.BE-MTR-DCI-PB-EN en 1209aNoteMotor unit MTR-DCI-62-...-G22 can generate torque peaksof up to 37 Nm at a peak current of 20 A in

2. Mounting2-8Festo P.BE-MTR-DCI-PB-EN en 1209aTo mount Festo axes e.g. type DMES- or type DNCE-, coup-lings and coupling housings are available as ac

Installation3-1Festo P.BE-MTR-DCI-PB-EN en 1209aChapter 3Installation

Contents and general safety instructionsIIIFesto P.BE-MTR-DCI-PB-EN en 1209aContentsIntended use VII...

3. Installation3-2Festo P.BE-MTR-DCI-PB-EN en 1209aContents3.1 Overview of installation 3-3...3.2 Earthing 3-6.

3. Installation3-3Festo P.BE-MTR-DCI-PB-EN en 1209a3.1 Overview of installationWarningDanger of electric shock, short circuiting or unexpecteddrive mo

3. Installation3-4Festo P.BE-MTR-DCI-PB-EN en 1209a1Parameterassignment2Reference switch3PL C controller4Power supply1234Fig. 3/1: Connections on the

3. Installation3-5Festo P.BE-MTR-DCI-PB-EN en 1209aThe plug connectors on the Festo cables listed in the follow-ing are of protection class IP54.Conne

3. Installation3-6Festo P.BE-MTR-DCI-PB-EN en 1209a3.2 Ear thingNote•Connect the earth terminal of the MTR-DCI with low im-pedance (short cable with l

3. Installation3-7Festo P.BE-MTR-DCI-PB-EN en 1209a3.3 Power supply3.3.1 Power supply requirementsWarning•To provide the electric power supply, use on

3. Installation3-8Festo P.BE-MTR-DCI-PB-EN en 1209aLoad voltage The power electronics and thereby the motor are suppliedwith DC voltage via the power

3. Installation3-9Festo P.BE-MTR-DCI-PB-EN en 1209a3.3.2 Shared supply with load and logic voltage(not for MTR-DCI-32)A1 A2A1 A2Fig. 3/2: Connection e

3. Installation3-10Festo P.BE-MTR-DCI-PB-EN en 1209a3.3.3 Separate supply with load and logic voltageWith separate supply, the load voltage can be swi

3. Installation3-11Festo P.BE-MTR-DCI-PB-EN en 1209a3.4 Serial interfaceSerial interface for parameter assignment, commissioningand diagnosisIn order

Contents and general safety instructionsIVFesto P.BE-MTR-DCI-PB-EN en 1209a3.3.2 Shared supply with load and logic voltage(not for MTR-DCI-32) 3-9...

3. Installation3-12Festo P.BE-MTR-DCI-PB-EN en 1209aInformation on commission i ng and parameterising theMTR-DCI via the serial interface can be found

3. Installation3-13Festo P.BE-MTR-DCI-PB-EN en 1209a3.5 Input for external reference switchIf you are not using a reference switch:•Seal the terminal

3. Installation3-14Festo P.BE-MTR-DCI-PB-EN en 1209aCautionDamage to the deviceThe DC +24 V voltage on pin 1 does not have any specialprotection again

3. Installation3-15Festo P.BE-MTR-DCI-PB-EN en 1209a3.6 Connecting the higher-order controllerCommunication with the higher-order controller occurs vi

3. Installation3-16Festo P.BE-MTR-DCI-PB-EN en 1209a3.6.1 Fieldbus cableNoteIf installation has not been carried out correctly and if highbaud rates a

3. Installation3-17Festo P.BE-MTR-DCI-PB-EN en 1209a3.6.2 Fieldbus bit rate and fieldbus lengthNoteThe maximum permissible fieldbus segment lengths ar

3. Installation3-18Festo P.BE-MTR-DCI-PB-EN en 1209a3.6.3 Bus terminationNoteIf the MTR-DCI-...-PB is at the beginning or end of the field-bus segment

The control panel (MTR-DCI-...-H2)4-1Festo P.BE-MTR-DCI-PB-EN en 1209aChapter 4The control panel (type MTR-DCI-...-H2)

4. The control panel (type MTR-DCI-...-H2)4-2Festo P.BE-MTR-DCI-PB-EN en 1209aContents4.1 Composition and function of the control panel 4-4...

4. The control panel (type MTR-DCI-...-H2)4-3Festo P.BE-MTR-DCI-PB-EN en 1209aMotor unit MTR-DCI-...-H2 offers all functions required forcommissioning

Contents and general safety instructionsVFesto P.BE-MTR-DCI-PB-EN en 1209a5.5.1 Install device master file (GSD file) and icon files. 5-27...

4. The control panel (type MTR-DCI-...-H2)4-4Festo P.BE-MTR-DCI-PB-EN en 1209a4.1 Composition and function of the control panelThe control panel enabl

4. The control panel (type MTR-DCI-...-H2)4-5Festo P.BE-MTR-DCI-PB-EN en 1209aFunction ButtonMENU Activates the main menu from thestatus display.MenuE

MTR-DCI...Xa= 0.00 mmHMI:off PB:none<Menu>} DiagnosticPositioningSettingsV ESC <Menu><--> OK <Enter>} HMI controlLCD adjustmen

4. The control panel (type MTR-DCI-...-H2)4-7Festo P.BE-MTR-DCI-PB-EN en 1209aMenu command Description} Diagnostic Displays the system data and the cu

} Diagnostic} Pos.set tableAxis parameterSystem paramet.PROFIBUS DiagSW information4. The control panel (type MTR-DCI-...-H2)4-8Festo P.BE-MTR-DCI-PB-

4. The control panel (type MTR-DCI-...-H2)4-9Festo P.BE-MTR-DCI-PB-EN en 1209a[Pos. set table] Menu command for displaying the following entries from

4. The control panel (type MTR-DCI-...-H2)4-10Festo P.BE-MTR-DCI-PB-EN en 1209a[System paramet.] Menu command for displaying the following system para

4. The control panel (type MTR-DCI-...-H2)4-11Festo P.BE-MTR-DCI-PB-EN en 1209a[PROFIBUS Diag] Menu command for displaying the following PROFIBUS dia-

} Settings} Axis typeAxis parameterHoming paramet.Position setPassword editPB Parameter4. The control panel (type MTR-DCI-...-H2)4-12Festo P.BE-MTR-DC

4. The control panel (type MTR-DCI-...-H2)4-13Festo P.BE-MTR-DCI-PB-EN en 1209a[Axis type] Type of axis driven by the MTR-DCI (for parameters seesecti

Contents and general safety instructionsVIFesto P.BE-MTR-DCI-PB-EN en 1209aA. Technical appendix A-1...A.1 T

4. The control panel (type MTR-DCI-...-H2)4-14Festo P.BE-MTR-DCI-PB-EN en 1209a[Homing paramet.] Setting the reference travel method and the speed dur

4. The control panel (type MTR-DCI-...-H2)4-15Festo P.BE-MTR-DCI-PB-EN en 1209a[Position set] T each mode for programming the position set table[Posit

New Password:[?xx] =ESC <Menu>EDIT <--> OK <Enter>Enter Password:[?xx] =ESC <Menu>EDIT <--> OK <Enter>4. The contr

Enter Password:[?xx] =ESC <Menu>EDIT <--> OK <Enter>New Password:[?xx] =ESC <Menu>EDIT <--> OK <Enter>4. The contr

4. The control panel (type MTR-DCI-...-H2)4-18Festo P.BE-MTR-DCI-PB-EN en 1209a4.5 [Positioning] menuStarting a homing run or a positioning run to tes

} PositioningMove posit setDemo posit tab} Homing...Attention! Motor movesESC <Menu>START <Enter>HOMINGV_0= 20 mm/sv_sw = 10 mm/sEMERG.STO

} Positioning} Move posit setDemo posit tabHoming...Attention! Motor movesESC <Menu>START <Enter>Move posit setPos 1Xt= 100.00 mmv = 20 mm

4. The control panel (type MTR-DCI-...-H2)4-21Festo P.BE-MTR-DCI-PB-EN en 1209aFunctionEMERG.STOPWith<Menu> you can interrupt the positioningpro

4. The control panel (type MTR-DCI-...-H2)4-22Festo P.BE-MTR-DCI-PB-EN en 1209a4.6 Menu command [HMI control]To select the menu commands [Positioning]

Commissioning5-1Festo P.BE-MTR-DCI-PB-EN en 1209aChapter 5Commissioning

Contents and general safety instructionsVIIFesto P.BE-MTR-DCI-PB-EN en 1209aIntended useThe MTR-DCI-... motor unit is an intelligent servo motor con-s

5. Commissioning5-2Festo P.BE-MTR-DCI-PB-EN en 1209aContents5.1 Commissioning procedure 5-4...5.2 Commissioning w

5. Commissioning5-3Festo P.BE-MTR-DCI-PB-EN en 1209a5.8.5 Record Select: Executing a position set record 5-70...5.8.6 Direct mode: Specif

5. Commissioning5-4Festo P.BE-MTR-DCI-PB-EN en 1209a5.1 Commissioning procedureBefore commissioningWarningDanger of injury.Electric axes can move sudd

5. Commissioning5-5Festo P.BE-MTR-DCI-PB-EN en 1209a•Beforecommissioningthedrivemakesurethat:– The work space is of sufficient size for operation with

DiagnosticPositioningSettings} HMI controlLCD adjustment5. Commissioning5-6Festo P.BE-MTR-DCI-PB-EN en 1209a5.2 Commissioning with the control panel (

5. Commissioning5-7Festo P.BE-MTR-DCI-PB-EN en 1209aOverview of parameter assignment andcommissioningInformation on the current parameter assignment o

} SettingsAxis typeType DMES...Type DNCE...Rotation driveUser config5. Commissioning5-8Festo P.BE-MTR-DCI-PB-EN en 1209a5.2.1 Selecting the axis type1

5. Commissioning5-9Festo P.BE-MTR-DCI-PB-EN en 1209a5.2.2 Setting homing parametersWhen homing to stop:CautionDamage to components.The slide (or pisto

5. Commissioning5-10Festo P.BE-MTR-DCI-PB-EN en 1209aCurrent limitation1)32 42 52 62100 % Z1 x nominal motor currentMotor currentMotor torqueAmNm0.733

} SettingsHoming parameterHoming methodVelocity v_swVelocity v_s0Save5. Commissioning5-11Festo P.BE-MTR-DCI-PB-EN en 1209aSetting parameters1. Set the