Festo MTR-DCI-x-PB Series User manual

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Description
MTR-DCI-...-PB
Description
539624
en 1209a
[763205]
Motor unit
MTR-DCI

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

Contents and general safety instructions
I
Festo P.BE-MTR-DCI-PB-EN en 1209a
Original de.......................................
Edition en 1209a..................................
Designation P.BE-MTR-DCI-PB-EN.....................
Order-no. 539624..................................
© Festo AG & Co. KG, D-73726 Esslingen, 2012
Internet: http://www.festo.com
Email: service_internationa[email protected]
Reproduction, distribution or sale of this document or
communication of its contents to others without express
authorization is prohibited. Offenders will be liable for dam-
ages. All rights reserved in the event that a patent, utility
model or design patent is registered.

Contents and general safety instructions
II
Festo P.BE-MTR-DCI-PB-EN en 1209a

Contents and general safety instructions
III
Festo P.BE-MTR-DCI-PB-EN en 1209a
Contents
Intended use VII..........................................................
Safety instructions VIII.....................................................
Target group IX..........................................................
Service IX...............................................................
Scope of delivery IX.......................................................
Important user instructions X..............................................
Documentation for MTR-DCI motor unit XII.....................................
About the version XIII......................................................
Product-specific terms and abbreviations XIV...................................
PROFIBUS-specific terms and abbreviations XVI.................................
1. System overview 1-1...............................................
1.1 Positioning with electric drives 1-3....................................
1.2 Components 1-6...................................................
1.3 Control and regulating functions 1-7...................................
1.4 Operational reliability 1-9............................................
1.5 Dimensional reference system 1-11....................................
1.5.1 Points of reference and positioning range 1-11....................
1.5.2 Prefixes and directions 1-13...................................
1.5.3 Reference travel 1-15.........................................
1.6 Festo handling and positioning profile (FHPP) 1-18........................
2. Mounting 2-1.....................................................
2.1 General information 2-3.............................................
2.2 Dimensions of the motor unit 2-4.....................................
2.3 Mounting the electric axes 2-5........................................
3. Installation 3-1...................................................
3.1 Overview of installation 3-3..........................................
3.2 Earthing 3-6.......................................................
3.3 Power supply 3-7..................................................
3.3.1 Power supply requirements 3-7...............................

Contents and general safety instructions
IV
Festo P.BE-MTR-DCI-PB-EN en 1209a
3.3.2 Shared supply with load and logic voltage
(not for MTR-DCI-32) 3-9.....................................
3.3.3 Separate supply with load and logic voltage 3-10..................
3.4 Serial interface 3-11.................................................
3.5 Input for external reference switch 3-13.................................
3.6 Connecting the higher-order controller 3-15..............................
3.6.1 Fieldbus cable 3-16..........................................
3.6.2 Fieldbus bit rate and fieldbus length 3-17........................
3.6.3 Bus termination 3-18.........................................
4. The control panel (MTR-DCI-...-H2) 4-1................................
4.1 Composition and function of the control panel 4-4.......................
4.2 The menu system 4-6...............................................
4.2.1 Accessing the main menu 4-6.................................
4.3 [Diagnostic] menu 4-8..............................................
4.4 [Settings] menu 4-12................................................
4.5 [Positioning] menu 4-18..............................................
4.6 Menu command [HMI control] 4-22.....................................
5. Commissioning 5-1................................................
5.1 Commissioning procedure 5-4........................................
5.2 Commissioning with the control panel (only MTR-DCI-...-H2) 5-6............
5.2.1 Selecting the axis type 5-8...................................
5.2.2 Setting homing parameters 5-9...............................
5.2.3 Carrying out homing 5-12.....................................
5.2.4 Teaching the axis zero point AZ and the software end positions 5-15..
5.2.5 Teaching position set records 5-17..............................
5.2.6 Test run 5-19...............................................
5.2.7 Setting PROFIBUS addresses 5-21..............................
5.3 Commissioning with FCT 5-22.........................................
5.3.1 Installing the FCT 5-23........................................
5.3.2 Procedure 5-24.............................................
5.4 Overview of commissioning on the PROFIBUS 5-26........................
5.5 Configuration 5-27..................................................

Contents and general safety instructions
V
Festo P.BE-MTR-DCI-PB-EN en 1209a
5.5.1 Install device master file (GSD file) and icon files. 5-27..............
5.5.2 I/O configuration 5-28........................................
5.5.3 Configuration with STEP 7 5-29.................................
5.5.4 Startup parameter assignment 5-34.............................
5.5.5 Response monitoring 5-35....................................
5.5.6 Control commands 5-35......................................
5.6 Overview of control and parameter assignment methods 5-36...............
5.6.1 DPV0 5-36..................................................
5.6.2 DPV1 5-36..................................................
5.7 Festo profile for handling and positioning (FHPP) 5-37.....................
5.7.1 Supported operation modes 5-37...............................
5.7.2 Composition of the cyclical I/O data 5-39........................
5.7.3 Examples of control and status bytes 5-50.......................
5.8 Drive functions 5-63.................................................
5.8.1 Dimensional reference system 5-63.............................
5.8.2 Homing 5-64................................................
5.8.3 Jog mode 5-66..............................................
5.8.4 Teaching via fieldbus 5-68.....................................
5.8.5 Record Select: Executing a position set record 5-70................
5.8.6 Direct mode: Specification of a position or force 5-75..............
5.8.7 Standstill monitoring 5-79.....................................
5.9 Notes on operation 5-81..............................................
6. Diagnostics and fault display 6-1....................................
6.1 Overview of diagnostic options 6-3....................................
6.2 LED status displays 6-5.............................................
6.3 Fault messages 6-7.................................................
6.3.1 Overview 6-7..............................................
6.3.2 Description of faults and warnings 6-8..........................
6.4 Diagnostic memory 6-12.............................................
6.5 Diagnosis via PROFIBUS-DP 6-14......................................
6.6 Diagnosis via parameter channel 6-18..................................

Contents and general safety instructions
VI
Festo P.BE-MTR-DCI-PB-EN en 1209a
A. Technical appendix A-1.............................................
A.1 Technical data A-3..................................................
A.2 Accessories A-6....................................................
A.3 Motor characteristic curves A-7.......................................
A.4 Converting the units of measurement A-13...............................
B. Supplementary information B-1......................................
B.1 Parameter assignment B-3...........................................
B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data) B-3......
B.1.2 Request identifiers, response identifiers, fault numbers B-5........
B.1.3 Rules for request-response processing B-8......................
B.1.4 Parameter groups B-12.......................................
B.1.5 Overview of parameters B-13..................................
B.1.6 Layout of the parameter entries B-20............................
B.1.7 Device data B-21............................................
B.1.8 Diagnostics B-25............................................
B.1.9 Process data B-29...........................................
B.1.10 Position set table (list of position set records) B-30................
B.1.11 Project data B-34............................................
B.1.12 Axis parameters for electric drives 1 B-41........................
B.2 The Command Interpreter (CI) B-55.....................................
B.2.1 Procedure for data transmission B-56...........................
B.2.2 CI commands B-59...........................................
B.2.3 CI objects (overview) B-63.....................................
B.2.4 Additional CI objects B-71.....................................
B.3 FHPP finite state machine B-85........................................
B.3.1 Establishing “ready to operate” status B-87......................
B.3.2 Positioning B-88.............................................
C. Index C-1.........................................................

Contents and general safety instructions
VII
Festo P.BE-MTR-DCI-PB-EN en 1209a
Intended use
The MTR-DCI-... motor unit is an intelligent servo motor con-
sisting of DC motor, planetary gear, encoder and inte-
grated control electronics. Positioning functions are charac-
terised by high torques at low speeds.
The MTR-DCI has been optimised for use with Festo axes
(e.g. DMES-... or DNCE-...).
This description deals with the basic logic functions of the
MTR-DCI and the Profibus interface.
The MTR-DCI and the connectable modules and cables may
only be used as follows:
–Asintended
– In industrial applications
– In perfect technical condition
– In their original state without unauthorised modifications
(with the exception of the conversions or modifications
described in the documentation supplied with the product)
• Observe the safety instructions and intended use in the
documentation for all the components and modules.
• Observe the standards specified throughout, as well as
the regulations of the trade associations, the Technical
Inspection Association (TÜV), the Association of German
Electricians (VDE) or relevant national regulations.
• Observe the limit values of all additional components
(e.g. sensors, actuators).

Contents and general safety instructions
VIII
Festo P.BE-MTR-DCI-PB-EN en 1209a
Safety instructions
When commissioning and programming positioning systems,
you must observe the safety regulations in this manual as
well as those in the operating instructions for the other com-
ponents used.
The user must make sure that nobody is in the operating
range of the connected actuators or axis system. Access to
thepossibledangerareamustbepreventedbysuitable
measures such as protective screens and warning signs.
Warning
Electrical axes can move with high force and at high speed.
Collisions can lead to serious injury to human beings and
damage to components.
Make sure that nobody can reach into the operating range
of the axes or other connected actuators and that no ob-
jects lie in the positioning range while the system is still
connected to a power supply.
Warning
Faults in parameterisation can cause injury to human
beings and damage to property.
Only enable the controller once the axis system has been
installed and parameterised by technically qualified staff.