Festo Электромотор MTR-DCI Bedienungsanleitung

DescriptionMTR-DCI-...-DNDescription553531en 1209a[763221]Motor unitMTR-DCI

Contents and general safety instructionsVIIIFesto P.BE-MTR-DCI-DN-EN en 1209aC. The Command Interpreter (CI) C-1...C.

5. Commissioning5-2Festo P.BE-MTR-DCI-DN-EN en 1209aContents5. Commissioning 5-1...5.1 Commissioning proc

5. Commissioning5-3Festo P.BE-MTR-DCI-DN-EN en 1209a5.6.5 Direct task (Positioning mode, Force mode) 5-67...5.6.6 Standstill monitoring

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

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

5. Commissioning5-6Festo P.BE-MTR-DCI-DN-EN en 1209a1. Switch on the power supply for the MTR-DCI. When thepower supply is switched on, the MTR-DCI au

5. Commissioning5-7Festo P.BE-MTR-DCI-DN-EN en 1209a5.2 Commissioning with the control panel (MTR-DCI-...-H2 only)The control panel provides all the n

5. Commissioning5-8Festo P.BE-MTR-DCI-DN-EN en 1209aCommissioning (overview) Chap .1. Select the drive type and adapt the parameters to youraxis as ne

5. Commissioning5-9Festo P.BE-MTR-DCI-DN-EN en 1209a5.2.1 Setting the axis type1. Select your axis type in the [Settings] [Axis type] menu2. Set axis-

5. Commissioning5-10Festo P.BE-MTR-DCI-DN-EN en 1209a5.2.2 Setting the homing parametersInformation on homing to a reference switchNoteDamage to compo

5. Commissioning5-11Festo P.BE-MTR-DCI-DN-EN en 1209aCurrent limitation1)32 42 52 62100 % Z1 x nominal motor currentMotor currentMotor torqueAmNm0.733

Contents and general safety instructionsIXFesto P.BE-MTR-DCI-DN-EN en 1209aIntended useThe MTR-DCI-... motor unit is an intelligent servo motor con-si

5. Commissioning5-12Festo P.BE-MTR-DCI-DN-EN en 1209aFactory settin gs 32 42 52 62Speeds v_sw, v_s0 %1)inc/s~41 %27000~22 %22400~17 %16800~15 %16800Ra

5. Commissioning5-13Festo P.BE-MTR-DCI-DN-EN en 1209aCautionWhen the homing method is changed the axis zero offset isreset to zero. Any existing setti

5. Commissioning5-14Festo P.BE-MTR-DCI-DN-EN en 1209aAfter a successful homing the drive stops at the axis zeropoint AZ. With first commissioning or w

5. Commissioning5-15Festo P.BE-MTR-DCI-DN-EN en 1209aIf a fault occurs during homing:•Acknowledge the error message with <Enter>.•If necessary,

5. Commissioning5-16Festo P.BE-MTR-DCI-DN-EN en 1209aTeach the axis zero point AZ:1. Select [Settings] [Axis parameter] [Zero point].2. Move the drive

5. Commissioning5-17Festo P.BE-MTR-DCI-DN-EN en 1209a5.2.5 Teaching position set recordsEnter the position set records as follows:1. Activate the desi

5. Commissioning5-18Festo P.BE-MTR-DCI-DN-EN en 1209a5. Select [SAVE] to save the positioning set. Only then willthe settings be retained even if the

5. Commissioning5-19Festo P.BE-MTR-DCI-DN-EN en 1209a1. Enter several position set records:•Set target positions at the limits of the positioningrange

5. Commissioning5-20Festo P.BE-MTR-DCI-DN-EN en 1209a5.2.7 Setting bus parametersBefore commissioning on DeviceNet, valid bus parametersmust be set.St

5. Commissioning5-21Festo P.BE-MTR-DCI-DN-EN en 1209aBitrate(bitrate)– Possible bit rates:500 kbit, 250 kbit, 125 kbit–Aninvalid bit rate is preset (d

Contents and general safety instructionsXFesto P.BE-MTR-DCI-DN-EN en 1209aSafety instructionsWhen commissioning and programming positioning systems,yo

5. Commissioning5-22Festo P.BE-MTR-DCI-DN-EN en 1209aI/O data length– Possibledatalengths:– 8 bytes (for sequence control as per the FHPPstandard)– 16

5. Commissioning5-23Festo P.BE-MTR-DCI-DN-EN en 1209a5.3 Commissioning with FCTThe Festo Configuration Tool (FCT) is the software platform forconfigur

5. Commissioning5-24Festo P.BE-MTR-DCI-DN-EN en 1209aNoteAs of version V2.1.0, the plug-in MTR-DCI supports thefollo w i ng motor units:– MTR-DCI-...-

5. Commissioning5-25Festo P.BE-MTR-DCI-DN-EN en 1209a4. Create the device connection (online connection) betweenthe PC and the MTR-DCI via the FCT too

5. Commissioning5-26Festo P.BE-MTR-DCI-DN-EN en 1209aPlug-in help With the menu command [Help] [Contents of installed plugins][Festo (manufacturer nam

5. Commissioning5-27Festo P.BE-MTR-DCI-DN-EN en 1209a5.4 Commissioning a DeviceNet masterThe following sections describe the configuration and addres-

5. Commissioning5-28Festo P.BE-MTR-DCI-DN-EN en 1209a5.4.2 Configuration of the DeviceNet master (“I/O configuration”)Configuration with EDS file “EDS

5. Commissioning5-29Festo P.BE-MTR-DCI-DN-EN en 1209aAllen-Bradley Supporting Auto Device Replacement (ADR) from Allen-Bradley.The master controllers

5. Commissioning5-30Festo P.BE-MTR-DCI-DN-EN en 1209a5.5 Festo profile for handling and positioning (FHPP)5.5.1 Supported operating modesThe operating

5. Commissioning5-31Festo P.BE-MTR-DCI-DN-EN en 1209aThe MTR-DCI cannot work in a stand-alo ne manner, i. e. itdoes not suppor t any user program of i

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

5. Commissioning5-32Festo P.BE-MTR-DCI-DN-EN en 1209a5.5.2 Structure of the cyclic I/O data (FHPP standard)The FHPP protocol stipulates 8 bytes of inp

5. Commissioning5-33Festo P.BE-MTR-DCI-DN-EN en 1209aAllocation of the control bytes (overview)1)CCONB7OPM2B6OPM1B5LOCKB4–B3RESETB2BRAKEB1STOPB0ENABLE

5. Commissioning5-34Festo P.BE-MTR-DCI-DN-EN en 1209a5.5.3 Description of the I/O data (record selection)Description of the O data: Record selectionBy

5. Commissioning5-35Festo P.BE-MTR-DCI-DN-EN en 1209a5.5.4 Description of the I/O data (direct task)O data – Direct taskByte Bit EN Descr iption1 B0 .

5. Commissioning5-36Festo P.BE-MTR-DCI-DN-EN en 1209a5.5.5 Description of the control bytes CCON, CPOS, CDIRCCON Control byte 1 (CC O N) is used to co

5. Commissioning5-37Festo P.BE-MTR-DCI-DN-EN en 1209aCPOS Control byte 2 (CPOS) controls the positioning sequences assoon as the drive is enabled.Cont

5. Commissioning5-38Festo P.BE-MTR-DCI-DN-EN en 1209aCDIRControl byte CDIR is a special control byte for operating mode“Direct task”.Control byte 3 (C

5. Commissioning5-39Festo P.BE-MTR-DCI-DN-EN en 1209a5.5.6 Description of the status bytes SCON, SPOS, SDIR (RSB)Status byte 1 (SCON)Bit EN Descriptio

5. Commissioning5-40Festo P.BE-MTR-DCI-DN-EN en 1209aStatus byte 2 (SPOS)Bit EN DescriptionB0HALTHalt =0: Haltisactive= 1: Halt is not active, axis c

5. Commissioning5-41Festo P.BE-MTR-DCI-DN-EN en 1209aStatus byte 3 (SDIR) – Direct taskBit EN DescriptionB0ABSAbsolute/Relative= 0: Nominal value is a

Contents and general safety instructionsXIIFesto P.BE-MTR-DCI-DN-EN en 1209aImportant user instructionsDanger categoriesThis manual contains instructi

5. Commissioning5-42Festo P.BE-MTR-DCI-DN-EN en 1209a5.5.7 Examples of I/O da taThe following pages provide typical examples of the I/O dataaccording

5. Commissioning5-43Festo P.BE-MTR-DCI-DN-EN en 1209a1. Record selection: establish “ready to operate”status1.1 Basic status of the drive when the sup

5. Commissioning5-44Festo P.BE-MTR-DCI-DN-EN en 1209a2. Direct task: establish “ready to operate” status2.1 Basic status of the drive when the supply

5. Commissioning5-45Festo P.BE-MTR-DCI-DN-EN en 1209a3. Fault handlingFor description of faults and warnings, see section 6.4.3.1 A fault is shown wit

5. Commissioning5-46Festo P.BE-MTR-DCI-DN-EN en 1209aStep/DescriptionOdata IdataByte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B03.1 FaultByte

5. Commissioning5-47Festo P.BE-MTR-DCI-DN-EN en 1209a4. Homing (requires status 1.4 or 1.5)4.1 A positive edge at CPOS.B2 (HOM, S tart homing) startst

5. Commissioning5-48Festo P.BE-MTR-DCI-DN-EN en 1209a5. Record selection: Positioning mode(requires status 1.3/2.3 and 4.)Once “ready to operate ” is

5. Commissioning5-49Festo P.BE-MTR-DCI-DN-EN en 1209aStep/DescriptionOdata IdataByte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B05.1 Preselect

5. Commissioning5-50Festo P.BE-MTR-DCI-DN-EN en 1209a6. Direct task: Positioning mode(requires status 1.3/2.3 and 4.)Once “ready to operate ” is estab

5. Commissioning5-51Festo P.BE-MTR-DCI-DN-EN en 1209aStep/DescriptionOdata IdataByte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B06.1 Preselect

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

5. Commissioning5-52Festo P.BE-MTR-DCI-DN-EN en 1209a7. Direct task: Force mode(requires status 1.3/2.3 and 4)Once “ready to operate ” is established

5. Commissioning5-53Festo P.BE-MTR-DCI-DN-EN en 1209aStep/DescriptionOdata IdataByte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B07.1 Specify n

5. Commissioning5-54Festo P.BE-MTR-DCI-DN-EN en 1209aStep/DescriptionIdataOdataStep/DescriptionB0B1B2B3B4B5B6B7ByteB0B1B2B3B4B5B6B7Byte7.6 Positioning

5. Commissioning5-55Festo P.BE-MTR-DCI-DN-EN en 1209a5.6 Sequence control according to the FHPP standard5.6.1 HomingInformation on homing, reference c

5. Commissioning5-56Festo P.BE-MTR-DCI-DN-EN en 1209aOverview of parameters involved (see also section B.2.15)Parameters involved Description FCT PNU

5. Commissioning5-57Festo P.BE-MTR-DCI-DN-EN en 1209a5.6.2 Jog modeIn the “Operation enabled” state the drive can be moved byleft/right jogging. This

5. Commissioning5-58Festo P.BE-MTR-DCI-DN-EN en 1209a1L ow speed phase 1(slow travel)2Maximum speed forphase 23Acceleration /deceleration4Duration of

5. Commissioning5-59Festo P.BE-MTR-DCI-DN-EN en 1209a5.6.3 Teaching via FieldbusPosition values can be taught via the Fieldbus. Previouslytaught posit

5. Commissioning5-60Festo P.BE-MTR-DCI-DN-EN en 1209a1Ready for teaching2Value transferred10ResetSPOS.B3Teac h valueCPOS.B51210Fig. 5/3: Handshake whe

5. Commissioning5-61Festo P.BE-MTR-DCI-DN-EN en 1209a5.6.4 Record selection (Positioning mode)A positioning task in record selection mode is described

Contents and general safety instructionsXIVFesto P.BE-MTR-DCI-DN-EN en 1209aDescription of MTR-DCI motor unitThis description contains information on

5. Commissioning5-62Festo P.BE-MTR-DCI-DN-EN en 1209aPossible causes of faults:– No homing performed.– The target positi o n and/or the preselect posi

5. Commissioning5-63Festo P.BE-MTR-DCI-DN-EN en 1209aStart/stop recordNominal recordnumber in outputdataStop CCON.B1(STOP)Acknowledge S tartSPOS.B1 (A

5. Commissioning5-64Festo P.BE-MTR-DCI-DN-EN en 1209aStop record with Halt and continueNominal recordnumber in outputdataAcknowledge S tartSPOS.B1 (AC

5. Commissioning5-65Festo P.BE-MTR-DCI-DN-EN en 1209aSt op record with Hold and clear remaining posi-tioning pathNominal recordnumber out putdataAckno

5. Commissioning5-66Festo P.BE-MTR-DCI-DN-EN en 1209aParameters involved (Record structure)The entries in the position set table can be written via th

5. Commissioning5-67Festo P.BE-MTR-DCI-DN-EN en 1209a5.6.5 Direct task (Positioning mode, Force mode)In the “operation enabled” state (direct mode) a

5. Commissioning5-68Festo P.BE-MTR-DCI-DN-EN en 1209aStarting the positioning taskNominal positionoutput dataStartCPOS.B1Acknowledge S tartSPOS.B1Moti

5. Commissioning5-69Festo P.BE-MTR-DCI-DN-EN en 1209aOverview of parameters involved (see section B.2.9)Parameters involved Description FCT PNU CINomi

5. Commissioning5-70Festo P.BE-MTR-DCI-DN-EN en 1209aNote on Force modeThe motor torque is controlled indirectly via the regulationof the current. All

5. Commissioning5-71Festo P.BE-MTR-DCI-DN-EN en 1209aSequence1. The user specifies the desired nominal value (in % of therated motor torque) and the s

Contents and general safety instructionsXVFesto P.BE-MTR-DCI-DN-EN en 1209aAbout the versionThe hardware version specifies the version status of theme

5. Commissioning5-72Festo P.BE-MTR-DCI-DN-EN en 1209aOverview of parameters involved (see section B.2.9)Parameter Description FCT PNU CIForce mode1)St

5. Commissioning5-73Festo P.BE-MTR-DCI-DN-EN en 1209aStarting the positioning task / Force modeNominal torquespeed limitingoutput dataStart CPOS.B1Ack

5. Commissioning5-74Festo P.BE-MTR-DCI-DN-EN en 1209a5.6.6 Standstill monitoringWith standstill monitoring, the system can detect when thedrive leaves

5. Commissioning5-75Festo P.BE-MTR-DCI-DN-EN en 1209aOverview of parameters involved (see section B.2.15)Parameters involved Description FCT PNU CINom

5. Commissioning5-76Festo P.BE-MTR-DCI-DN-EN en 1209a5.7 The Festo Parameter Channel (FPC)5.7.1 Structure of the cyclic I/O data (FHPP-FPC)The paramet

5. Commissioning5-77Festo P.BE-MTR-DCI-DN-EN en 1209aParameter identifier (PKE)The parameter identifier contains the request or responseidentifier (AK

5. Commissioning5-78Festo P.BE-MTR-DCI-DN-EN en 1209a5.7.2 Request identifiers, response identifiers and error nu mbersThe request identifiers are sho

5. Commissioning5-79Festo P.BE-MTR-DCI-DN-EN en 1209aIf the request cannot be carried out, response identifier 7 willbe transmitted together with the

5. Commissioning5-80Festo P.BE-MTR-DCI-DN-EN en 1209aFault numbers Description0 0x00 Invalid PN U. The parameter does not exist.1 0x01 Parameter value

5. Commissioning5-81Festo P.BE-MTR-DCI-DN-EN en 1209a5.7.3 Rules for request-response processingRules Description1 If the master sends t he identifier

Contents and general safety instructionsXVIFesto P.BE-MTR-DCI-DN-EN en 1209aProduct-specific terms and abbreviationsAbbreviation MeaningAZ Axis zero p

5. Commissioning5-82Festo P.BE-MTR-DCI-DN-EN en 1209aSequence of parameter processingCautionObserve the following when modifying parameters:An FHPP co

5. Commissioning5-83Festo P.BE-MTR-DCI-DN-EN en 1209a5.7.4 Parameterisation exampleThe followi ng tables show an example of parameterising apositionin

5. Commissioning5-84Festo P.BE-MTR-DCI-DN-EN en 1209aS tep 4 Write record number 1 with target position 0x1234 (decimal4660 increments):PNU 404, subin

5. Commissioning5-85Festo P.BE-MTR-DCI-DN-EN en 1209a5.8 FHPP finite state machineNotes on the “operation enabled” stateThe transition T3 leads to sta

5. Commissioning5-86Festo P.BE-MTR-DCI-DN-EN en 1209aT7* always has thehighest priority.Switched offS1Controllerswitched onS4DriveenabledS2DriveBlocke

5. Commissioning5-87Festo P.BE-MTR-DCI-DN-EN en 1209a5.8.1 Establish “ready to operate” statusT Internal conditions Actions of the userT1 Drive has be

5. Commissioning5-88Festo P.BE-MTR-DCI-DN-EN en 1209a5.8.2 PositioningThe following always applies:Transitions T4, T6 and T7* always have priority.TAI

5. Commissioning5-89Festo P.BE-MTR-DCI-DN-EN en 1209aTA Actions of the userInternal conditionsTA8 Homing completed or stopped (“Halt”). For “Halt” onl

5. Commissioning5-90Festo P.BE-MTR-DCI-DN-EN en 1209a5.9 Notes on operationWhen programming positio ning systems with electrical axesfollow these inst

5. Commissioning5-91Festo P.BE-MTR-DCI-DN-EN en 1209aDevice connectionCautionThe RS232 interface is not electrically isolated. It is notintended for p

Contents and general safety instructionsXVIIFesto P.BE-MTR-DCI-DN-EN en 1209aAbbreviation MeaningMAC-ID Media Access Control IDentifier, see “Part ici

5. Commissioning5-92Festo P.BE-MTR-DCI-DN-EN en 1209aPassword protectionIn the factory settings, password protection is not active. Inorder to prevent

Diagnosis and error display6-1Festo P.BE-MTR-DCI-DN-EN en 1209aChapter 6Diagnosis and error display

6. Diagnosis and error display6-2Festo P.BE-MTR-DCI-DN-EN en 1209aContents6. Diagnosis and error display 6-1...6.1

6. Diagnosis and error display6-3Festo P.BE-MTR-DCI-DN-EN en 1209a6.1 Overview of diagnostic optionsT ype of diagnostic in-formationAccess via ... See

6. Diagnosis and error display6-4Festo P.BE-MTR-DCI-DN-EN en 1209aAccess Brief description Advan tages /propertiesSee...LEDs The LEDs indicate “ready

6. Diagnosis and error display6-5Festo P.BE-MTR-DCI-DN-EN en 1209a6.2 LED status displays1Power LED2I/F LED3Error LED123Fig. 6/1: LEDs on the control

6. Diagnosis and error display6-6Festo P.BE-MTR-DCI-DN-EN en 1209aI/F Bus Status1)GREEN “Network”ONOFFON “Operational”–System in “operational” state.O

6. Diagnosis and error display6-7Festo P.BE-MTR-DCI-DN-EN en 1209a6.3 Fault messages6.3.1 OverviewCate-goryName, display Description DeviceError1)Faul

6. Diagnosis and error display6-8Festo P.BE-MTR-DCI-DN-EN en 1209aCate-goryStatusbytes2)FaultLEDFaultnumberDeviceError1)DescriptionName, displayWarnin

6. Diagnosis and error display6-9Festo P.BE-MTR-DCI-DN-EN en 1209aWarnings Warnings have no effect on the behaviour of the drive. Thecause of the warn

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

Contents and general safety instructionsXVIIIFesto P.BE-MTR-DCI-DN-EN en 1209aTerm MeaningFesto ParameterChannel (FPC)Parameter access as pe r the “Fe

6. Diagnosis and error display6-10Festo P.BE-MTR-DCI-DN-EN en 1209aFault Possible cause RemedyDEVICENET INIT NOPARAMETER ERROREssential bus parameters

6. Diagnosis and error display6-11Festo P.BE-MTR-DCI-DN-EN en 1209aFault R emedyPossible causePOSITION E RROR Position error (following erro r).– The

6. Diagnosis and error display6-12Festo P.BE-MTR-DCI-DN-EN en 1209a6.4 Diagnosis using Fieldbus6.4.1OverviewThe MTR-DCI supports the following diagnos

6. Diagnosis and error display6-13Festo P.BE-MTR-DCI-DN-EN en 1209a6.4.2 Diagnostic memoryThe diagnostic memory contains the last 16 diagnostic mess-a

6. Diagnosis and error display6-14Festo P.BE-MTR-DCI-DN-EN en 1209aThe faults are divided into logical groups according to thefault numbers.GroupName

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

A. Technical appendixA-2Festo P.BE-MTR-DCI-DN-EN en 1209aContentsA. Technical appendix A-1...A.1 Technical d

A. Technical appendixA-3Festo P.BE-MTR-DCI-DN-EN en 1209aA.1 Tec hnical dataGeneral informationProtection c lass to EN 60529 IP54 (plug connectors plu

A. Technical appendixA-4Festo P.BE-MTR-DCI-DN-EN en 1209aMotor data 32 42 52 62Rated torque(Motor without gearbox)[mNm] 32 110 300 800MTR-DCI-...-G7:

A. Technical appendixA-5Festo P.BE-MTR-DCI-DN-EN en 1209aElectrical data 32 42 52 62Specifications forserial interfacesee section 3.4Specifications fo

Contents and general safety instructionsXIXFesto P.BE-MTR-DCI-DN-EN en 1209aTerm MeaningSoftware end position Programmable stroke limitation (point of

A. Technical appendixA-6Festo P.BE-MTR-DCI-DN-EN en 1209aFieldbus DataDesign– Physical layer– Data link layeras per ISO 11898 (corresponding to DS 102

A. Technical appendixA-7Festo P.BE-MTR-DCI-DN-EN en 1209aUserdocumentationinpaperformGerman P.BE-MTR-DCI-DN-DEEnglish P.BE-MTR-DCI-DN-ENFrench P.BE-MT

A. Technical appendixA-8Festo P.BE-MTR-DCI-DN-EN en 1209aA.3 Motor characteristic curves1Gear shaft driving torque M [Nm]2Current I [A]3Recommended op

A. Technical appendixA-9Festo P.BE-MTR-DCI-DN-EN en 1209aMTR-DCI-32...-G14MTR-DCI-32...-G7I[A]M[Nm]n [1/min]12345I[A]M[Nm]n [1/min]12345Fig. A/1: Moto

A. Technical appendixA-10Festo P.BE-MTR-DCI-DN-EN en 1209aMTR-DCI-42...-G14MTR-DCI-42...-G7I[A]M[Nm]n [1/min]12345I[A]M[Nm]n [1/min]1234555Fig. A/2: M

A. Technical appendixA-11Festo P.BE-MTR-DCI-DN-EN en 1209aI[A]M[Nm]n [1/min]123455MTR-DCI-52...-G14MTR-DCI-52...-G7I[A]M[Nm]n [1/min]123455Fig. A/3: M

A. Technical appendixA-12Festo P.BE-MTR-DCI-DN-EN en 1209aMTR-DCI-62...-G14MTR-DCI-62...-G7I[A]M[Nm]n [1/min]12345I[A]M[Nm]n [1/min]1234 5Fig. A/4: Mo

A. Technical appendixA-13Festo P.BE-MTR-DCI-DN-EN en 1209aMTR-DCI-62...-G22I[A]M[Nm]n [1/min]12345Fig. A/5: Motor characteristic cur ves MTR-DCI-62...

A. Technical appendixA-14Festo P.BE-MTR-DCI-DN-EN en 1209aA.4 Conversion of units of measurementA measuring system must be defined to allow the electr

A. Technical appendixA-15Festo P.BE-MTR-DCI-DN-EN en 1209aParameter MTR-DCI-32 MTR-DCI-42 MTR-DCI-52 MTR-DCI-62feed1)DME S -18-...:1500 [μm/rev]DME S

Contents and general safety instructionsXXFesto P.BE-MTR-DCI-DN-EN en 1209aTerm MeaningI/O Messaging (Implicitmessaging)I/O data transfer “I/O Messagi

A. Technical appendixA-16Festo P.BE-MTR-DCI-DN-EN en 1209aGeneral conversion factors UF1[inch] = 25.4 [mm]1[inch] = 0.0254 [m]1[°] =1360[rot][μm] &g

A. Technical appendixA-17Festo P.BE-MTR-DCI-DN-EN en 1209aPhysical variable Conversion into incrementsPosition POS [inc]–Target posi t i o n–Reference

A. Technical appendixA-18Festo P.BE-MTR-DCI-DN-EN en 1209a

Reference – Festo DeviceNet and FHPPB-1Festo P.BE-MTR-DCI-DN-EN en 1209aAppendix BReference – Festo DeviceNet and FHPP

B. Reference – Festo DeviceNet and FHPPB-2Festo P.BE-MTR-DCI-DN-EN en 1209aContentsB. Reference – Festo DeviceNet and FHPP B-1...

B. Reference – Festo DeviceNet and FHPPB-3Festo P.BE-MTR-DCI-DN-EN en 1209aB.1 DeviceNet Reference (Explicit Messaging)B.1.1 Parameter classesClass CL

B. Reference – Festo DeviceNet and FHPPB-4Festo P.BE-MTR-DCI-DN-EN en 1209aB.1.2 Object overview (class, attribute, instance)The object model is used

B. Reference – Festo DeviceNet and FHPPB-5Festo P.BE-MTR-DCI-DN-EN en 1209aDevice Data FHPPClass 1 00 (0x64) SeeSIPNUATTRINSTCLSDataMemoryControl–Data

B. Reference – Festo DeviceNet and FHPPB-6Festo P.BE-MTR-DCI-DN-EN en 1209aRecord Sets FHPPClass 104 (0x68) CLS INST ATTR PNU SI SeeRecord Control Byt

B. Reference – Festo DeviceNet and FHPPB-7Festo P.BE-MTR-DCI-DN-EN en 1209aAxis Data (drive data) FHPPClass 107 (0x6B) CLS INST ATTR PNU SI SeePolarit

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

B. Reference – Festo DeviceNet and FHPPB-8Festo P.BE-MTR-DCI-DN-EN en 1209aAxis Data (drive data) FHPPClass 1 07 (0x6B) SeeSIPNUATTRINSTCLSPosition Wi

B. Reference – Festo DeviceNet and FHPPB-9Festo P.BE-MTR-DCI-DN-EN en 1209aAxis Data (drive data) FHPPClass 1 07 (0x6B) SeeSIPNUATTRINSTCLSPosition Ac

B. Reference – Festo DeviceNet and FHPPB-10Festo P.BE-MTR-DCI-DN-EN en 1209aB.2 FHPP Reference (I/O messaging)B.2.1 Parameter groupsGroup PNU1)Descrip

B. Reference – Festo DeviceNet and FHPPB-11Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.2 Object overview (Parameter number (PNU)The follow i ng overview show

B. Reference – Festo DeviceNet and FHPPB-12Festo P.BE-MTR-DCI-DN-EN en 1209aNameFHPPNameSIPNUB.2.6 DiagnosisDiagnostic Event 200 1...16Fault Number 20

B. Reference – Festo DeviceNet and FHPPB-13Festo P.BE-MTR-DCI-DN-EN en 1209aNameFHPPNameSIPNUSoftware End Positions 501 1, 2Max. Velocity 502 –Max. Ac

B. Reference – Festo DeviceNet and FHPPB-14Festo P.BE-MTR-DCI-DN-EN en 1209aNameFHPPNameSIPNUEncoder Resolution 1001 1, 2Gear Ratio 1002 1, 2Feed Cons

B. Reference – Festo DeviceNet and FHPPB-15Festo P.BE-MTR-DCI-DN-EN en 1209aNameFHPPNameSIPNUB.2.18 Axis data, electric drive 1 – Electronic rating pl

B. Reference – Festo DeviceNet and FHPPB-16Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.3 Layout of the p a rameter entriesEncoder Re solutionFHPP 1001 1...2

B. Reference – Festo DeviceNet and FHPPB-17Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.4 Device data – Standard parametersManufacturer Hardware V ersionFHPP

1. S ystem overview1-2Festo P.BE-MTR-DCI-DN-EN en 1209aContents1. System overview 1-1...1.1 Positioning wi

B. Reference – Festo DeviceNet and FHPPB-18Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.5 Device data – Extended pa rametersManufacturer Device NameFHPP 120 1

B. Reference – Festo DeviceNet and FHPPB-19Festo P.BE-MTR-DCI-DN-EN en 1209aDevice ControlFHPP 125 – Var uint8 rwDescription Activates device control

B. Reference – Festo DeviceNet and FHPPB-20Festo P.BE-MTR-DCI-DN-EN en 1209aData Memory ControlFHPP 127 1, 2 Array uint8 rw1)Description Commands for

B. Reference – Festo DeviceNet and FHPPB-21Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.6 DiagnosisFor the mode of operation of the diagnostic memory:see sect

B. Reference – Festo DeviceNet and FHPPB-22Festo P.BE-MTR-DCI-DN-EN en 1209aFault NumberFHPP 201 1...16 Array uint16 roDescription Fault number sa ved

B. Reference – Festo DeviceNet and FHPPB-23Festo P.BE-MTR-DCI-DN-EN en 1209aDiagnostic Memory ParameterFHPP 204 1...4 Array uint8 rw/roDescription Con

B. Reference – Festo DeviceNet and FHPPB-24Festo P.BE-MTR-DCI-DN-EN en 1209aDeviceNet DiagnosisFHPP 206 1...6 Array uint8 roDescription Read the diagn

B. Reference – Festo DeviceNet and FHPPB-25Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.7 Process dataLocal Digital InputsFHPP 303 – Var uint32 roDescription

B. Reference – Festo DeviceNet and FHPPB-26Festo P.BE-MTR-DCI-DN-EN en 1209aCycle NumberFHPP 305 – Var uint32 roDescription Number of position set rec

B. Reference – Festo DeviceNet and FHPPB-27Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.8 Record listPNU 400Record numberuint8PNU 401RCB11)uint8PNU 404Target

1. System overview1-3Festo P.BE-MTR-DCI-DN-EN en 1209a1.1 Positioning with electric drives1Process control andparameter accessthrough thehigher-orderc

B. Reference – Festo DeviceNet and FHPPB-28Festo P.BE-MTR-DCI-DN-EN en 1209aRecord Control Byte 1FHPP 401 1...32 Array uint8 rwDescription The record

B. Reference – Festo DeviceNet and FHPPB-29Festo P.BE-MTR-DCI-DN-EN en 1209aRecord VelocityFHPP 406 1...32 Array uint32 rwDescription Speed setpoint i

B. Reference – Festo DeviceNet and FHPPB-30Festo P.BE-MTR-DCI-DN-EN en 1209aRecord Accelera tionFHPP 407 1...32 Array uint32 rwDescription Acceleratio

B. Reference – Festo DeviceNet and FHPPB-31Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.9 Project data – GeneralProject Zero PointFHPP 500 – Var int32 rwDescr

B. Reference – Festo DeviceNet and FHPPB-32Festo P.BE-MTR-DCI-DN-EN en 1209aMax. VelocityFHPP 502 – Var uint32 rwDescription Max. permitted speed in i

B. Reference – Festo DeviceNet and FHPPB-33Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.10 Project data – Force modeStroke LimitFHPP 510 – – uint32 rwDescript

B. Reference – Festo DeviceNet and FHPPB-34Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.11 Project data – TeachingTeach TargetFHPP 520 – Var uint8 rwDescripti

B. Reference – Festo DeviceNet and FHPPB-35Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.12 Project data – Jog modeJog Mode Velocity Phase 2FHPP 531 – Var uint

B. Reference – Festo DeviceNet and FHPPB-36Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.13 Project d ata – Direct mode: (Positioning mode)Direct Mode Accelera

B. Reference – Festo DeviceNet and FHPPB-37Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.14 Project data – Direct mode: (Force mode)Force Target WindowFHPP 552

1. System overview1-4Festo P.BE-MTR-DCI-DN-EN en 1209aYou can parameterise and commission the MTR-DCI as fol-lows:– Using the FCT software package and

B. Reference – Festo DeviceNet and FHPPB-38Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.15 Axis parameter, electric drive 1 – MechanicalPolarityFHPP 1000 – Va

B. Reference – Festo DeviceNet and FHPPB-39Festo P.BE-MTR-DCI-DN-EN en 1209aGear RatioFHPP 1002 1, 2 Array uint32 rwDescription Relationship of the in

B. Reference – Festo DeviceNet and FHPPB-40Festo P.BE-MTR-DCI-DN-EN en 1209aPosition FactorFHPP 1004 1, 2 Array uint32 rwDescription Reads the c onver

B. Reference – Festo DeviceNet and FHPPB-41Festo P.BE-MTR-DCI-DN-EN en 1209aAxis ParameterFHPP 1005 1...5 Array uint32 rwDescription For specifying an

B. Reference – Festo DeviceNet and FHPPB-42Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.16 Axis parameter, electric drives 1 – HomingOffset Axis Zero PointFHP

B. Reference – Festo DeviceNet and FHPPB-43Festo P.BE-MTR-DCI-DN-EN en 1209aHoming VelocitiesFHPP 1012 1, 2 Array uint32 rwDescription Speeds during h

B. Reference – Festo DeviceNet and FHPPB-44Festo P.BE-MTR-DCI-DN-EN en 1209aHoming Max. TorqueFHPP 1015 – Var uint8 rwDescription maximum current cons

B. Reference – Festo DeviceNet and FHPPB-45Festo P.BE-MTR-DCI-DN-EN en 1209aTarget Position WindowFHPP 1022 – Var uint32 rwDescription Tolerance windo

B. Reference – Festo DeviceNet and FHPPB-46Festo P.BE-MTR-DCI-DN-EN en 1209aPosition Control Parameter SetFHPP 1024 18...23, 32 Array uint16 rwDescrip

B. Reference – Festo DeviceNet and FHPPB-47Festo P.BE-MTR-DCI-DN-EN en 1209aMotor DataFHPP 1025 1, 3 Array uint32 rwDescription Motor-specific dataSer

1. System overview1-5Festo P.BE-MTR-DCI-DN-EN en 1209aAll values are entered and displayed according to the confi-gured units of measurement.Units of

B. Reference – Festo DeviceNet and FHPPB-48Festo P.BE-MTR-DCI-DN-EN en 1209aDrive DataFHPP 1026 1...8 Array uint32 rwDescription General Drive DataOut

B. Reference – Festo DeviceNet and FHPPB-49Festo P.BE-MTR-DCI-DN-EN en 1209aDrive DataCI 6510h 01h... Record ro/rwDrive data1)6510h 01h...08h – uint32

B. Reference – Festo DeviceNet and FHPPB-50Festo P.BE-MTR-DCI-DN-EN en 1209aMax. CurrentFHPP 1034 – Var uint16 rwDescription Maximum motor current for

B. Reference – Festo DeviceNet and FHPPB-51Festo P.BE-MTR-DCI-DN-EN en 1209aB.2.19 Axis parameter, electric drive 1 – Standstill monitoringPosition Ta

B. Reference – Festo DeviceNet and FHPPB-52Festo P.BE-MTR-DCI-DN-EN en 1209a

The Command Interpreter (CI)C-1Festo P.BE-MTR-DCI-DN-EN en 1209aAppendix CThe Command Interpreter (CI)

C. The Command Interpreter (CI)C-2Festo P.BE-MTR-DCI-DN-EN en 1209aContentsC. Reference – CANopen an d CI objects C-1...C.1

C. The Command Interpreter (CI)C-3Festo P.BE-MTR-DCI-DN-EN en 1209aC.1 Data transmissionC.1.1 ProcedureCautionIn special application cases, access usi

C. The Command Interpreter (CI)C-4Festo P.BE-MTR-DCI-DN-EN en 1209aCarry out the follow i ng steps:•Connect the MTR-DCI to your PC via the RS232 port.

C. The Command Interpreter (CI)C-5Festo P.BE-MTR-DCI-DN-EN en 1209aC.1.2 Structure of the CI commandsThe commands implemented in the Command Interpret

1. System overview1-6Festo P.BE-MTR-DCI-DN-EN en 1209a1.2 Fieldbus communication1.2.1 Data exchange using DeviceNetDeviceNet was developed by Rockwell

C. The Command Interpreter (CI)C-6Festo P.BE-MTR-DCI-DN-EN en 1209aAccess procedureThe higher-order controller sends the controller either a writecomm

C. The Command Interpreter (CI)C-7Festo P.BE-MTR-DCI-DN-EN en 1209aSyntax Explanation“=”, “?” Initial character for write or read commandsIIII Index a

C. The Command Interpreter (CI)C-8Festo P.BE-MTR-DCI-DN-EN en 1209aNoteDirect transfer of values via the serial interface with CIcommands always takes

C. The Command Interpreter (CI)C-9Festo P.BE-MTR-DCI-DN-EN en 1209aC.1.3 Checking the dataInvalid values Transferred parameters and values are checked

C. The Command Interpreter (CI)C-10Festo P.BE-MTR-DCI-DN-EN en 1209aIf the MTR-DCI detects a checksum error then, instead of thenormal response, the v

C. The Command Interpreter (CI)C-11Festo P.BE-MTR-DCI-DN-EN en 1209aC.2 CI ReferenceC.2.1 Object overview (Index, Subindex)The following overview show

C. The Command Interpreter (CI)C-12Festo P.BE-MTR-DCI-DN-EN en 1209aName SeeFHPPCIName SeePNUSIObjectGroup 2xxxRecord Number 2032h 01h – C.2.4Record N

C. The Command Interpreter (CI)C-13Festo P.BE-MTR-DCI-DN-EN en 1209aNameCI FHPPSeeObject SI PNUGroup 2xxx continuedAxis Parameter 20E2h 01h...05h 1005

C. The Command Interpreter (CI)C-14Festo P.BE-MTR-DCI-DN-EN en 1209aName SeeFHPPCIName SeePNUSIObjectGroup 2xxx continuedTeac h Target 21FCh – 520 B.2

C. The Command Interpreter (CI)C-15Festo P.BE-MTR-DCI-DN-EN en 1209aName SeeFHPPCIName SeePNUSIObjectGroup 6xxx (continued)Mode of Operation Display 6

1. System overview1-7Festo P.BE-MTR-DCI-DN-EN en 1209aI/O Messaging I/O messages are sent by a participant and can be receivedand processed by one or

C. The Command Interpreter (CI)C-16Festo P.BE-MTR-DCI-DN-EN en 1209aName SeeFHPPCIName SeePNUSIObjectGroup 6xxx (continued)Polarity(reversal of direct

C. The Command Interpreter (CI)C-17Festo P.BE-MTR-DCI-DN-EN en 1209aName SeeFHPPCIName SeePNUSIObjectGroup 6xxx (continued)Position Control Parameter

C. The Command Interpreter (CI)C-18Festo P.BE-MTR-DCI-DN-EN en 1209aC.2.2 Layout of the parameter entriesEncoder ResolutionCI 608Fh 01h...02h Arr ay u

C. The Command Interpreter (CI)C-19Festo P.BE-MTR-DCI-DN-EN en 1209aC.2.3 Communication Profile Area (1xxxh)Device TypeCI 1000h 00h Var uint32 roDescr

C. The Command Interpreter (CI)C-20Festo P.BE-MTR-DCI-DN-EN en 1209aC.2.4 Manufacturer Specific Profile Area (2xxxh)Record NumberCI 2032h 01h Array1)u

C. The Command Interpreter (CI)C-21Festo P.BE-MTR-DCI-DN-EN en 1209aScalingCI 20D0h 01h, 02h Array uint8 rw/roDescription Settings for the HMI control

C. The Command Interpreter (CI)C-22Festo P.BE-MTR-DCI-DN-EN en 1209aRecord T able ElementCI 20E0h 01h ... 05h Record uint16, int32 rwDescription For e

C. The Command Interpreter (CI)C-23Festo P.BE-MTR-DCI-DN-EN en 1209aController TypeCI 20E3h – Var uint8 rwDescription Type of controller.Values: 0 = w

C. The Command Interpreter (CI)C-24Festo P.BE-MTR-DCI-DN-EN en 1209aCommunication ErrorCI 2FF0h 00h Var uint16 roDescription If a transmission error o

C. The Command Interpreter (CI)C-25Festo P.BE-MTR-DCI-DN-EN en 1209aDeviceNet I/O Data lengthCI 2FF5h 00h Var uint8 rwDescription Protocol (data/devic

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

1. System overview1-8Festo P.BE-MTR-DCI-DN-EN en 1209aThe configuration data contains the source and targetaddresses of the data for the sender and re

C. The Command Interpreter (CI)C-26Festo P.BE-MTR-DCI-DN-EN en 1209aC.2.5 Standardised Device Profile Area (6xxxh)Control wordCI 6040h 00h Var uint16

C. The Command Interpreter (CI)C-27Festo P.BE-MTR-DCI-DN-EN en 1209aStatus wordCI 6041h 00h Var uint16 roDescription For reading the current controlle

C. The Command Interpreter (CI)C-28Festo P.BE-MTR-DCI-DN-EN en 1209aModes of OperationCI 6060h 00h Var int8 rwDescription Set the controller operation

C. The Command Interpreter (CI)C-29Festo P.BE-MTR-DCI-DN-EN en 1209aTarget TorqueCI 6071h 00h Var int32 roDescription Nominal value for Force mode. Sp

C. The Command Interpreter (CI)C-30Festo P.BE-MTR-DCI-DN-EN en 1209aProfile AccelerationCI 6083h 00h Var uint32 rwDescription Acceleration for a posit

C. The Command Interpreter (CI)C-31Festo P.BE-MTR-DCI-DN-EN en 1209aTorque Control parametersCI 60F6h 01h, 05h Record uint16/32 rwDescription Force mo

C. The Command Interpreter (CI)C-32Festo P.BE-MTR-DCI-DN-EN en 1209aSupported Drive ModesCI 6502h 00h Var uint32 roDescription Drive modes supported.

IndexD-1Festo P.BE-MTR-DCI-DN-EN en 1209aAppendix DIndex

D. IndexD-2Festo P.BE-MTR-DCI-DN-EN en 1209a

D. IndexD-3Festo P.BE-MTR-DCI-DN-EN en 1209aAAbsolute 5-18, 5-42, B-29...Access procedure C-6...

1. System overview1-9Festo P.BE-MTR-DCI-DN-EN en 1209aAs a “Group 2 Slave” the MTR-DCI-DN supports the followingdialogues, services, and object classe

D. IndexD-4Festo P.BE-MTR-DCI-DN-EN en 1209aControl panel 4-4...Accessing the main menu 4-6...Bu

D. IndexD-5Festo P.BE-MTR-DCI-DN-EN en 1209aEEarthing 3-6...EDS file XVI, XX...

D. IndexD-6Festo P.BE-MTR-DCI-DN-EN en 1209aHHMI (see device control) XVIII...Homing XVIII, 5-14, 5-91...

D. IndexD-7Festo P.BE-MTR-DCI-DN-EN en 1209aMMAC-ID XVII, XX, 5-21...Maintenance 5-93...

D. IndexD-8Festo P.BE-MTR-DCI-DN-EN en 1209aPassword 5-93...Activate 4-21...Entr

D. IndexD-9Festo P.BE-MTR-DCI-DN-EN en 1209aSSafety instructions X...SCON 5-40...

D. IndexD-10Festo P.BE-MTR-DCI-DN-EN en 1209aUUnits of measurement 1-5, A-14...User instructions XII...

1. System overview1-10Festo P.BE-MTR-DCI-DN-EN en 1209aDeviceNet Standard Classes ClassAssembly ObjectsCollection of the attributes of several objects

1. System overview1-11Festo P.BE-MTR-DCI-DN-EN en 1209a1.2.2 FHPP data profileFesto has developed an optimised data profile, known as the“Festo Handli

1. System overview1-12Festo P.BE-MTR-DCI-DN-EN en 1209a31 position set records can be saved in the MTR-DCI. A recordcontains all the parameters which

1. System overview1-13Festo P.BE-MTR-DCI-DN-EN en 1209aParam...293...1...Direct Task12...nRecord selectionPNU SI...DIR. B1/B2Force modePositioning

1. System overview1-14Festo P.BE-MTR-DCI-DN-EN en 1209a1.3 ComponentsTo construct an electrical drive with the MTR-DCI, you needthe following componen

1. System overview1-15Festo P.BE-MTR-DCI-DN-EN en 1209a1.4 Control and regulation functionsThe controller essentially performs the following tasks:– C

1. System overview1-16Festo P.BE-MTR-DCI-DN-EN en 1209aChanges in position are detected by the internal incrementgenerator (optical encoder). With a k

1. System overview1-17Festo P.BE-MTR-DCI-DN-EN en 1209a1.5 Operational safetyAn extensive system of sensors and monitoring functionsensures operationa

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

1. System overview1-18Festo P.BE-MTR-DCI-DN-EN en 1209aWarningFor the purposes of your EMERGENCY STOP procedures,check what mea sures are necessary fo

1. System overview1-19Festo P.BE-MTR-DCI-DN-EN en 1209a1.6 Dimensional reference systemFor commissioning, a dimensional reference system forhoming the

1. System overview1-20Festo P.BE-MTR-DCI-DN-EN en 1209aDimensional reference systemefLinear axis with the homing m ethod:Fixed stopRotational axis wit

1. System overview1-21Festo P.BE-MTR-DCI-DN-EN en 1209aPoint of reference Calculation ruleAxis zero point AZ =REF+ aProject zero point PZ =AZ+ d =(REF

1. System overview1-22Festo P.BE-MTR-DCI-DN-EN en 1209a+—12+—1Factory setting for active direction2Direction change by changing the active directionFi

1. System overview1-23Festo P.BE-MTR-DCI-DN-EN en 1209a1.6.3 HomingFor drives with incremental measuring systems, homing mustalways be done after swit

1. System overview1-24Festo P.BE-MTR-DCI-DN-EN en 1209aSearch for fixed stop In this homing method the drive initially moves at a searchspeed in a neg

1. System overview1-25Festo P.BE-MTR-DCI-DN-EN en 1209aSearch for reference switch In this homing method the drive initially moves at a searchspeed in

1. System overview1-26Festo P.BE-MTR-DCI-DN-EN en 1209a

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

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

2. Mounting2-2Festo P.BE-MTR-DCI-DN-EN en 1209aContents2. Mounting 2-1...2.1 General instructions 2-

2. Mounting2-3Festo P.BE-MTR-DCI-DN-EN en 1209a2.1 General instructionsWarningDanger of electric shock, short circuiting or unexpecteddrive motion!•Al

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

2. Mounting2-5Festo P.BE-MTR-DCI-DN-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-DN-EN en 1209aL3L3 x 0.5FyFxFig. 2/1: Forces and torquesForces and torques32 42 52 62MTR-DCI-...-G7 1-stage– Radial s

2. Mounting2-7Festo P.BE-MTR-DCI-DN-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-DN-EN en 1209aTo fit Festo axes e. g. type DMES-... or type DGE-..., couplingsand coupling housings are available as

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

3. Installation3-2Festo P.BE-MTR-DCI-DN-EN en 1209aContents3. Installation 3-1...3.1 Overview of insta

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

Contents and general safety instructionsIVFesto P.BE-MTR-DCI-DN-EN en 1209a3.3.1 Power supply requirements 3-7...3.3.2 Loa

3. Installation3-4Festo P.BE-MTR-DCI-DN-EN en 1209a1Serialinterface2ConnectionReference switch3Fieldbus interface(I/F)4Powersupply (Power)1234Fig. 3/1

3. Installation3-5Festo P.BE-MTR-DCI-DN-EN en 1209aThe plug connectors of the following Festo cables have beendesigned so that, when inserted and scre

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

3. Installation3-7Festo P.BE-MTR-DCI-DN-EN en 1209a3.3 Power supply3.3.1 Power supply requirementsWarning•In order to provide the electric power suppl

3. Installation3-8Festo P.BE-MTR-DCI-DN-EN en 1209a3.3.2 Load and logic voltageLoad voltage The power electronics and thereby the motor are suppliedwi

3. Installation3-9Festo P.BE-MTR-DCI-DN-EN en 1209aNote the following selection criteria for the MTR-DCI powersupply:– The power supply nominal curren

3. Installation3-10Festo P.BE-MTR-DCI-DN-EN en 1209aLogic voltage In operation, the logic voltage is connected via the FBA-...Fieldbus adapter separat

3. Installation3-11Festo P.BE-MTR-DCI-DN-EN en 1209a3.4 Serial interfaceSerial interface for parameter assignment, commissioningand diagnosisUse the f

3. Installation3-12Festo P.BE-MTR-DCI-DN-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-DN-EN en 1209a3.5 Input for external reference switchIf you are not using a reference switch:•Seal the connectio

Contents and general safety instructionsVFesto P.BE-MTR-DCI-DN-EN en 1209a5. Commissioning 5-1...5.1 Comm

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

3. Installation3-15Festo P.BE-MTR-DCI-DN-EN en 1209a3.6 Field bus3.6.1 Connecting the higher-order controllerCommunication with the higher-order contr

3. Installation3-16Festo P.BE-MTR-DCI-DN-EN en 1209aFor the logic voltage supply , please also follow the advice inchapter 3.3.2. Information on the c

3. Installation3-17Festo P.BE-MTR-DCI-DN-EN en 1209a3.6.2 Fieldbus cableNoteFaulty installation and high transmission rates may causedata transmission

3. Installation3-18Festo P.BE-MTR-DCI-DN-EN en 1209a3.6.3 Fieldbus bit rate and fieldbus lengthNoteThe maximum permitted length for fieldbus segments

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

4. The control panel (type MTR-DCI-...-H2 only)4-2Festo P.BE-MTR-DCI-DN-EN en 1209aContents4. The control panel (type MTR-DCI-...-H2 only) 4-1...

4. The control panel (type MTR-DCI-...-H2 only)4-3Festo P.BE-MTR-DCI-DN-EN en 1209aThe control panel of motor unit MTR-DCI-...-H2 enables com-missioni

4. The control panel (type MTR-DCI-...-H2 only)4-4Festo P.BE-MTR-DCI-DN-EN en 1209a4.1 Composition and function of the c ontrol panel1LC display2Opera

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

Contents and general safety instructionsVIFesto P.BE-MTR-DCI-DN-EN en 1209a5.6 Sequence control according to the FHPP standard 5-55...

4. The control panel (type MTR-DCI-...-H2 only)4-6Festo P.BE-MTR-DCI-DN-EN en 1209a4.2 The menu system4.2.1 Accessing the main menuWhen the power supp

4. The control panel (type MTR-DCI-...-H2 only)4-7Festo P.BE-MTR-DCI-DN-EN en 1209aMenu command Description} Diagnostic Displays th e system data a nd

4. The control panel (type MTR-DCI-...-H2 only)4-8Festo P.BE-MTR-DCI-DN-EN en 1209a4.3 [Diagnostic] menuFor displaying the currently active settings o

4. The control panel (type MTR-DCI-...-H2 only)4-9Festo P.BE-MTR-DCI-DN-EN en 1209aMenu command Description[Pos. set table] Nr The number of the posit

4. The control panel (type MTR-DCI-...-H2 only)4-10Festo P.BE-MTR-DCI-DN-EN en 1209aMenu command Description[DeviceNet-Diag] Bus diagnosis–No Power /B

4. The control panel (type MTR-DCI-...-H2 only)4-11Festo P.BE-MTR-DCI-DN-EN en 1209a4.4 [Positioning] menuWarningInjuries or damage to mechanical comp

Move position setPosition no.:[1...31] = _?ESC <Menu>EDIT <--> OK <Enter>Move position setAttention! Motor movesESC <Menu>STAR

Move position setPos 2xt= 220 mmv = 22 mm/sxa= 200 mmEMERG.STOP<Menu>Move posit setPos 2xt= 220 mm/sv = 22 mm/sxa= 220 mm/sESC<Menu>Demo p

HomingAttention! Motor moves.ESC <Menu>START <Enter>HomingV_sw = 20 mm/sv_s0 = 10 mm/sEMERG.STOP<Menu>4. The control panel (type MTR

4. The control panel (type MTR-DCI-...-H2 only)4-15Festo P.BE-MTR-DCI-DN-EN en 1209aEMERG.STOPPressing the <Menu> button cancels the homingrun (

Contents and general safety instructionsVIIFesto P.BE-MTR-DCI-DN-EN en 1209aB. Reference – Festo DeviceNet and FHPP B-1...B.1

4. The control panel (type MTR-DCI-...-H2 only)4-16Festo P.BE-MTR-DCI-DN-EN en 1209a4.5 [Settings] menuThe [Settings] menu contains all functions for

4. The control panel (type MTR-DCI-...-H2 only)4-17Festo P.BE-MTR-DCI-DN-EN en 1209a4.5.1 [Settings] [Axis type]Selection of the axis driven by the MT

4. The control panel (type MTR-DCI-...-H2 only)4-18Festo P.BE-MTR-DCI-DN-EN en 1209a4.5.2 [Settings] [Axis parameter]Teach mode for setting the axis p

4. The control panel (type MTR-DCI-...-H2 only)4-19Festo P.BE-MTR-DCI-DN-EN en 1209a4.5.3 [Settings] [Homing paramet.]Setting of the homing run method

4. The control panel (type MTR-DCI-...-H2 only)4-20Festo P.BE-MTR-DCI-DN-EN en 1209a4.5.4 [Settings] [Position set]Programming the position set table•

4. The control panel (type MTR-DCI-...-H2 only)4-21Festo P.BE-MTR-DCI-DN-EN en 1209a4.5.5 [Settings] [Password edit]In order to prevent unauthorised o

Enter Password:[?xx] =ESC <Menu>EDIT <--> OK <Enter>Enter Password:[?xx] =ESC <Menu>EDIT <--> OK <Enter>New Passwo

4. The control panel (type MTR-DCI-...-H2 only)4-23Festo P.BE-MTR-DCI-DN-EN en 1209a5. Confirm the digit with OK <Enter>.6. Set the digit for th

4. The control panel (type MTR-DCI-...-H2 only)4-24Festo P.BE-MTR-DCI-DN-EN en 1209a4.6 Menu command [HMI control]To select the [Positioni ng] and [Se

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