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.

Contents and general instructions
IX
Festo P.BE−MTR−DCI−EN en 0411NH
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who haveexperiencein
installing, commissioning, programming and diagnosing posi
tioning systems.
Service
Pleaseconsult your local Festo repair serviceat thefollowing
e−mail address if you haveany technical problems.
[e-mail]
Scope of delivery
Thefollowing items aresupplied with motor unit typeMTR−
DCI:
 motor unit with integrated controller, optional with control
panel
FCT configuration package(Festo Configuration Tool)
User documentation on CD ROM
availableas accessory (see Appendix A.2)
 connecting cable
user documentation in paper form

Contents and general instructions
XFesto P.BE−MTR−DCI−EN en 0411NH
Important user instructions
Danger categories
This manual contains instructions on thepossibledangers
which can occur if theproduct is not used correctly.These
instructions aremarked (Warning, Caution, etc), printed on a
shaded background and marked additionally with a picto
gram.A distinction is madebetween thefollowing danger
warnings:
Warning
... This means that failureto observethis instruction may
result in serious personal injury or damageto property.
Caution
... This means that failureto observethis instruction may
result in personal injury or damageto property.
Please note
... This means that failureto observethis instruction may
result in damageto property.
Thefollowing pictogram marks passages in thetext which
describeactivities with electrostatically sensitivecompo
nents.
Electrostatically sensitivecomponents: Thesemay bedam
aged if they arenot handled correctly.

Contents and general instructions
XI
Festo P.BE−MTR−DCI−EN en 0411NH
Marking special information
Thefollowing pictograms mark passages in thetext contain
ing special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or useful accessories for theFesto
product.
Environment:
Information on theenvironment−friendly useof Festo prod
ucts.
Text markings
·Thebullet indicates activities which may becarried out in
any order.
1. Figures denoteactivities which must becarried out in the
numerical order specified.
Hyphens indicategeneral activities.

Contents and general instructions
XII Festo P.BE−MTR−DCI−EN en 0411NH
Product−specific terms and abbreviations
Thefollowing product−specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0−signal Thereis a 0V signal at theinput or output.
1−signal Thereis a 24 V signal at theinput or output.
Axis zero point (AZ) Measuring referencepoint for theproject zero point and thesoftware
end positions.Corresponds to theproject zero point in theMTR−DCI
(offset = 0).Thereferencepoint for theaxis zero point is thereference
point.
Axis Completeactuator, consisting of controller, motor, encoder, if appli
cable, gear and drive.
DriveMechanical component of an axis which defines theguidefor theposi
tioning movement, and enables thework load and thereference
switch to befitted.An exampleof a driveis thelinear drivetype
DMES...
ControllerControl electronics which evaluatethecontrol signals and providethe
power supply for themotor via thepower electronics.
DMES... Typedesignation, electric linear axis
E
A
I/O
Input
Output
Input and/or output
EMCElectromagnetic compatibility
Encoder with MTR−DCI: optical pulsegenerator (rotor position transducer).The
electric signals generated aresent to thecontroller, which then calcu
lates theposition and speed on thebasis of thesignals received.
FCT Festo Configuration Tool, softwarewith uniform project and data man
agement for all supported devicetypes.Thespecial wishes of a device
typearesupported by PlugIns with thenecessary descriptions and
dialogues.
Motor unit Integrated unit consisting of a controller and motor, e.g.motor unit
typeMTR−DCI.

Contents and general instructions
XIII
Festo P.BE−MTR−DCI−EN en 0411NH
Term/abbreviation Meaning
Positioning mode
(ProfilePosition mode)
Operating modefor processing a position set.
Position registering
(quasi−absolute)
If thereis a power failure, theactual position will besaved in a non−
volatilememory.Depending on theapplication this means that if self−
locking drives areused, (new) homing will not benecessary when the
deviceis switched on again.
Project zero point (PZ) Measuring basis point for all positions in positioning tasks (Project
Zero point).Theproject zero point forms thebasis for all absolute
position specifications (e.g.in theposition set tableor with direct
control via thecontrol or diagnostic interface).Basis point for the
project zero point is theaxis zero point (on theMTR−DCI theproject
zero point PZ and theaxis zero point AZ areidentical).
Referencing
(Homing mode)
Operating modein which homing is carried out.
Referencepoint (REF) Zero point of theaxis which is defined by referencetravel (homing).
On electric axes thezero point can beshifted to theaxis zero point
(offset axis zero point).
Referenceswitch External sensor (e.g.typeSME−8/SMT−8 or SIEN−...) which serves for
ascertaining thereferenceposition and is connected directly to the
MTR−DCI.
Referencing method Method for defining thereferenceposition: against a fixed stop (over
current/speed evaluation) or with referenceswitch.
Homing Thereferenceposition and thereforethesourceof themeasuring
referencesystem of theaxis will bedefined by thereferencetravel.
PLCProgrammablelogic controller; in brief: controller
Softwareend position Programmablestrokelimitation (referencepoint = axis zero point)
Software end position, positive:
Max.limit position in positivedirection (away from themotor); must
not beexceeded during positioning.
Software end position, negative:
Min.limit position in negativedirection (towards motor).Valuemust
not sink below this level during positioning.
Teach mode
(Teach mode)
Operating modefor setting positions by moving to thetarget position
e.g.when creating position sets.

Contents and general instructions
XIVFesto P.BE−MTR−DCI−EN en 0411NH
Term/abbreviation Meaning
Tip modeManual positioning in positiveor negativedirection (only on field bus
variants of theMTR−DCI or only with FCT )
Position set Positioning command defined in theposition set table, consistin of
target position, positioning modeand positioning speed.Maximum 15
position sets arepossibleon theMTR−DCI with I/Ocontrol.
Table.0/1:Index of terms and abbreviations

Contents and general instructions
XV
Festo P.BE−MTR−DCI−EN en 0411NH
Manuals on motor unit type MTR−DCI
This manual contains basic general information on operating,
fitting, installing and commissioning electric servo drives
with motor unit typeMTR−DCI−.... It also contains information
on thefunctions of theI/Ointerfacefor typeMTR−DCI−..IO as
well as on commissioning with theFesto Configuration tool"
(FCT) softwarepackage.
Product variants areavailablefor coupling to field bus sys
tems.Special information on this can befound in themanual
for therelevant product variant.
Information on components, e.g.thereferenceswitch can be
found in theoperating instructions supplied with theproduct.
Type Title Contents
Docu packagewith brief
description + manuals on
CD ROM
P.BE−MTR−DCI−UDOK Brief description: Important in
structions on commissioning and
preliminary information.
Manuals: Contents as described
below
Manual Motor controller MTR−DCI
P.BE−MTR−DCI−IO−DE
P.BE−MTR−DCI−IO−EN
P.BE−MTR−DCI−IO−FR
P.BE−MTR−DCI−IO−IT
P.BE−MTR−DCI−IO−ES
P.BE−MTR−DCI−IO−SV
Installation, commissioning and
diagnosis of electric axes with
motor unit typeMTR−DCI
Communication via theI/Ointer
face
Help system for softwareFCT help (contained in software
typeP.SW−FCT...)
Function descriptions of theFCT
configuration software
Further manuals Field bus variants
TypeP.BE−MTR−DCI−CO−...
TypeP.BE−MTR−DCI−PB−...
TypeP.BE−MTR−DCI−DN−...
Communication and commission
ing therelevant field bus
Operating instructions Electric servo drives
TypeDMES−...
Fitting and commissioning thelin
ear drivewith slidespindleas
driveelement.

Contents and general instructions
XVIFesto P.BE−MTR−DCI−EN en 0411NH
Information on the version
Thehardwareversion specifies theversion status of the
mechanical parts and electronics of theMTR−DCI.
Thefirmwareversion specifies theversion status of theoper
ating system of theMTR−DCI.
You can find thespecifications on theversion status as fol
lows:
Hardwareversion and firmwareversion in theFCT with
activedeviceconnection to theMTR−DCI under "Device
data"
 Firmwareversion on thecontrol panel under [Diagnostic]
[Softwareinformation]
Firmware
version
What is new? Which FCT PlugIn?
V−DME1.19 supports linear drives typeDMES−25, DMES−40MTR−DCI V01.00.00

Summary of components
1−1
Festo P.BE−MTR−DCI−EN en 0411NH
Chapter 1

1. Summary of components
1−2 Festo P.BE−MTR−DCI−EN en 0411NH
Contents
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.............................