Festo MTR-DCI series User manual

Manual
Type MTR−DCI−...
Type MTR−DCI−...IO
Manual
539 616
en 0411NH
[677 795]
Motor unit
MTR−DCI

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Contents and general instructions
I
Festo P.BE−MTR−DCI−EN en 0411NH
Author G.Neumann−Rasaei..........................
Editor M.Holder...................................
Original German text...............................
Edition en 0411NH..................................
Designation P.BE−MTR−DCI−EN.........................
Order no. 539 616.................................
E (Festo AG&Co.KG, D73726Esslingen, Federal Republic of Germany, 2004)
Internet: http://www.festo.com
E−Mail: [e-mail]
Thecopying, distribution and utilization of this document as
well as thecommunication of its contents to others without
expressed authorization is prohibited.Offenders will be
held liablefor thepayment of damages.All rights arere
served, in particular theright to carry out patent, utility
model or ornamental design registration.

Contents and general instructions
II Festo P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions
III
Festo P.BE−MTR−DCI−EN en 0411NH
Contents
Designated useVII........................................................
Safety instructions VIII.....................................................
Target group IX..........................................................
Service IX...............................................................
Scopeof delivery IX
.......................................................
Important user instructions X..............................................
Product−specific terms and abbreviations XII...................................
Manuals on motor unit typeMTR−DCI XV......................................
Information on theversion XVI...............................................
1. Summary of components 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Positioning with intelligent drives1−3..................................
1.1.1 Method of operation 1−8.....................................
1.1.2Referencecoordinates and working area1−10....................
1.2EMERGENCY STOP concept 1−14.......................................
1.3 Possibilities of commissioning 1−15....................................
1.3.1 Control panel (MTR−DCI−...−H2) 1−16.............................
1.3.2Festo Configuration Tool (FCT) 1−16.............................
2. Fitting 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General instructions 2−3.............................................
2.2Dimensions of themotor unit 2−4.....................................
2.3 Fitting electric axes2−5..............................................
3. Installation 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview of installation 3−3..........................................
3.2 Power supply 3−6..................................................
3.3 Serial interface3−8.................................................
3.4Input for external referenceswitch 3−10.................................
3.5 Connecting thehigher−order controller3−12..............................

Contents and general instructions
IVFesto P.BE−MTR−DCI−EN en 0411NH
4. Control panel (MTR−DCI−...−H2−IO) 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Composition and function of thecontrol panel 4−4.......................
4.2Themenu system4−6...............................................
4.2.1 Accessing themain menu 4−6.................................
4.2.2"Diagnostic" menu 4−8......................................
4.2.3 Devicecontrol "HMIcontrol" 4−10..............................
4.2.4"Settings" menu 4−11
........................................
4.2.5 "Positioning" menu 4−17......................................
5. Commissioning 5−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Preparing for commissioning 5−3......................................
5.1.1 Check theconnection to themains power supply.5−3.............
5.1.2Check thedrive. 5−3.........................................
5.1.3 Installing and starting theFCT5−4.............................
5.2 Procedurefor commissioning 5−5.....................................
5.2.1 Commissioning with FCT5−8..................................
5.2.2Commissioning with control panel (MTR−DCI−...−H2) 5−10............
5.3 Parametrizing and referencing (MTR−DCI−...H2) 5−12.......................
5.3.1 Setting theaxis type5−12.....................................
5.3.2Setting thehoming parameters 5−12............................
5.3.3 Carrying out homing 5−17.....................................
5.3.4Teach theaxis zero point and thesoftwareend positions.5−20.......
5.4 Positioning with position sets (MTR−DCI−...H2) 5−22........................
5.4.1 Teach theposition sets 5−23...................................
5.4.2Test run 5−25...............................................
5.5 I/Ofunction test 5−26................................................
5.6 Instructions on operation 5−27.........................................
5.7 Diagnosis and fault display 5−31.......................................
5.7.1 General diagnostic possibilities5−31............................
5.7.2LEDstatus displays 5−32......................................
5.7.3 Fault messages on thedisplay (MTR−DCI−...H2) 5−34................

Contents and general instructions
V
Festo P.BE−MTR−DCI−EN en 0411NH
6. Communication with the higher−order controller 6−1. . . . . . . . . . . . . . . . . . . . .
6.1 Connecting theI/Ointerface6−3......................................
6.2Description of theI/Os6−5...........................................
6.3 Function description (pulse−timediagram) 6−8...........................
6.4I/Ospecification 6−11................................................
7. Communication via the serial interface 7−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 TheCommand Interpreter (CI)7−3.....................................
7.2 Procedurefor data transfer7−4.......................................
7.3 Object directory 7−7................................................
7.3.1 Objects for devicedescription 7−7.............................
7.3.2General Objects 7−8.........................................
7.3.3 Objects for parametrizing and commissioning 7−8................
7.3.4Objects for creating position sets 7−9...........................
7.3.5 Objects for controlling 7−10....................................
7.3.6 Objects for setting theoperating modeand control 7−10............
7.3.7 Objects for diagnosis 7−11....................................
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical specifications A−3..........................................
A.2 AccessoriesA−6....................................................
A.3 Motor characteristic curvesA−7.......................................
B. Supplementary information B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1 CI commands B−3..................................................
B.2Object description B−7..............................................
B.2.1 Object classification (overview) B−8............................
B.2.2 Group 1xxx B−10.............................................
B.2.3 Group 2xxx B−11.............................................
B.2.4 Group 6xxx B−21.............................................
B.3 Converting themeasuring units B−41...................................
C. Index C−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VIFesto P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions
VII
Festo P.BE−MTR−DCI−EN en 0411NH
Designated use
TheMTR−DCI motor unit is an intelligent servo motor consist
ing of DC motor, planetary gear, encoder and integrated con
trol electronics (positioning control and position regulator).
Themechanical layout and plug−in interfaceof theMTR−DCI
havebeen optimized for usewith electric linear drives (e.g.
typeDMES...) from Festo.Themotor unit can also beused
for customer−specific positioniing applications with slow
spindledrives.
This manual deals with thebasic functions of theMTR−DCI
and theI/Ointerfaceof theMTR−DCI−...I0. Additional compo
nents as well as thefield bus variants of theMTR−DCI arede
scribed in separatemanuals.
It is absolutely necessary to observethe"Technical safety
instructions" as well as thedesignated useof therelevant
components and modules.Observealso thesafety instruc
tions in theoperating instructions for theelectric components
used.
TheMTR−DCI and theconnectablemodules and cables may
only beused as follows:
inaccordancewith designated use
 only in industrial applications
 without any modifications by theuser Only theconver
sions or modifications described in thedocumentation
supplied with theproduct arepermitted.
infaultless technical condition.
If additional commercially−availablecomponents such as sen
sors and actuators areconnected, thespecified limits for
temperatures, electrical data, torques, etc.must not beex
ceeded.
Pleaseobservethestandards specified in therelevant
chapters and comply with technical regulations, as well as
with national and local regulations.

Contents and general instructions
VIII Festo P.BE−MTR−DCI−EN en 0411NH
Safety instructions
When commissioning and programming positioning systems,
you must observethesafety regulations in this manual as
well as thosein theoperating instructions for theother com
ponents used.
Theuser must makesurethat nobody is in theoperating
rangeof theconnected actuators or axis system.Access to
thepossibledanger area must beprevented by suitable
measures such as protectivescreens and warning signs.
Warning
Electric axes can movesuddenly with high forceand at
high speed.Collisions can lead to serious injury to human
beings and damageto components.
Makesurethat nobody can gain access to theoperating
rangeof theaxis or of other connected actuators and that
no objects liein thepath of theaxis whilethesystem is still
connected to a power supply.
Warning
Faults in parametrizing can causeinjury to peopleand
damageto property.
Enablethecontroller only if theaxis system is correctly
installed and parametrized.