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
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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...............................

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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..................................................

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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
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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.........................................................

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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).

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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.

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing posi-
tioning systems.
Service
Please consult your local Festo Service or write to the follow-
ing e-mail address if you have any technical problems:
[e-mail]
Scopeofdelivery
The following items are supplied with the MTR-DCI motor
unit:
– Motor unit with integrated controller, optionally with
control panel
– Operating package on CD-ROM:
– User documentation (descriptions)
– Festo Configuration Tool with MTR-DCI plugin
– User documentation (quick reference guide)
Available as accessories (see Appendix A.2):
– Connecting cable and fieldbus plug
– Programming cable
– User documentation in paper form

Contents and general safety instructions
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Festo P.BE-MTR-DCI-PB-EN en 1209a
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which can occur if the product is not used correctly. These
instructions are marked Warning, Caution, etc., are printed on
a shaded background and marked additionally with a
pictogram. A distinction is made between the following
danger warnings:
Warning
... means that failure to observe this instruction may result
in serious personal injury or damage to property.
Caution
... means that failure to observe this instruction may result
in personal injury or damage to property.
Note
... means that failure to observe this instruction may result
in damage to property.
Electrostatically sensitive devices: Incorrect handling can
result in damage to components.

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Identifying special information
The following pictograms mark passages in the text which
contain special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information
Accessories:
Information on necessary or useful accessories
Environment:
Information on the environment-friendly use of the products
Text designations
• The bullet indicates activities which may be carried out in
any order.
1. Figures denote activities which must be carried out in the
numerical order specified.
– Hyphens are used to mark general lists of information.

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Documentation for MTR-DCI motor unit
This description contains information on the mode of
operation, assembly, installation and commissioning of
electric valve actuators with the motor unit
MTR-DCI-...-PB (PROFIBUS interface).
Information for additional components, e.g. the reference
switches, can be found in the operating instructions supplied
with the product in question.
Type Designation Content
Operating package with
brief description +
descriptions on CD ROM
P. B P - MT R - D C I Brief description: Important instructions
on commissioning and preliminary
information.
Descriptions on CD-ROM: for MTR-DCI-...
motor unit (contents as described
below)
Description Motor unit of type MTR-DCI
with PROFIBUS interface
P.BE-MTR-DCI-PB-DE
P.BE-MTR-DCI-PB-EN
P.BE-MTR-DCI-PB-FR
P.BE-MTR-DCI-PB-IT
P.BE-MTR-DCI-PB-ES
P.BE-MTR-DCI-PB-SV
Installation, commissioning and
diagnosis of electric axes with MTR-DCI
motor unit; communication via
PROFIBUS interface.
Help system for software Festo Configuration Tool
help (contained in FCT
software)
Function description of the Festo Con-
figuration Tool (FCT) configuration soft-
ware.
Operating instructions Axes, e.g.
DMES-... / DNCE-...
Installation and commissioning
Assembly instructions Fieldbus adapter FBA-... as
per “Accessories” section
Connection and pin allocation
Tab. 0/1: Documentation on the MTR-DCI

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Festo P.BE-MTR-DCI-PB-EN en 1209a
About the version
Hardware version Specifies the version status of the mechanical parts and elec-
tronics of the MTR-DCI.
Firmware version Specifies the version status of the operating system of the
MTR-DCI.
You can find the version specifications as follows:
– Hardware version and firmware version under “Device
data” in the Festo Configuration Tool with active device
connection to the MTR-DCI.
– Firmware version on the control panel under [Diagnostic]
[Software information]
Firmware
version
What is new? Which FCT plugin?
V1.00 and
higher
Supports the listed sizes of the MTR-DCI-PB in combina-
tion with the following Festo axes:
Motor unitAxes
MTR-DCI-32... DMES-18; DNCE-32
MTR-DCI-42... DMES-25; DNCE-32/40
MTR-DCI-52... DMES-40; DNCE-40/63
MTR-DCI-62... DMES-63; DNCE-63
MTR-DCI V2.0
Tab. 0/2: Firmware versions

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Product-specific terms and abbreviations
The following product-specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0-signal Means that there is a 0 V signal present at the input or output (positive
logic, corresponds to LOW)
1-signal Means that there is a 24 V signal present at the input or output (positive
logic, corresponds to HIGH)
Axis Mechanical component of a drive which converts the motor revolutions
into positioning movements of a work load. An axis (e.g. positioning servo
axis DMES-...) enables the work load to be mounted and guided and the
reference switch to be mounted.
Axis zero point (AZ) The axis zero point AZ is defined in relation to the homing point REF (the
“reference” point). The software end positions and the project zero point
PZ are defined in relation to the AZ.
Controller Electronics which evaluate the sensor signals, calculate movements and
forces and provide the power supply for the motor via the power
electronics.
Drive Complete actuator, consisting of controller, motor, measuring system
and, if applicable, gear and axis.
EMC Electromagnetic compatibility
Encoder Optical pulse generator (rotor position transducer on the motor shaft of
the MTR-DCI). The electric signals generated are sent to the controller,
which then calculates the position and speed on the basis of the signals
received.
Festo Configuration Tool
(FCT)
Commissioning software with uniform project and data management for
all supported device types. The special requirements of a device type are
supported with the necessary descriptions and dialogues by means of
plugins.
Force mode Control of forces by means of current regulation. The motor torque is
controlled indirectly via the regulation of the current. All specification for
forces/torques are defined in relation to the nominal motor torque (rela-
tive to the nominal motor current). The actual force on the axis should be
determined/checked during commissioning using external measuring
devices and adjusted.

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Term/abbreviation Meaning
HMI Human Machine Interface; on the MTR-DCI, this is the control panel with
LCD display and 4 operating buttons.
Homing Anchors the dimensional reference system of the axis at a reference
switch or fixed stop.
Homing method Method for finding the homing point REF: against a fixed stop or with a
reference switch.
Homing mode Operating mode in which homing is carried out.
Homing point (REF) The homing point (the ”reference” point = REF) defines a known posi-
tion/orientation within the positioning path of the drive. It is the basic
point of reference for the dimensional reference system.
Homing run The homing run defines the homing point and therefore the source of the
dimensional reference system for the axis.
I
O
I/O
Input
Output
Input and/or output
Jog mode Moving manually in positive or negative direction.
Load voltage,
logic voltage
The load voltage supplies power to the power electronics of the con-
troller and thus to the motor. The logic voltage supplies power to the
evaluation and control logic of the controller.
Motor unit Integrated unit consisting of a controller, motor, measuring system and,
if applicable, gears (e.g. motor unit type MTR-DCI).
Operation mode Is used in the following contexts:
– Type of access: Record Select, Direct Mode
– Internal logical state of the controller: Profile Position Mode,
Profile Torque Mode (force mode), Homing Mode, Demo Mode, ...
PLC Programmable logic controller; or for short: the control system.
Position mode In the position mode, a target position is specified to which the motor
must move. Changes in position are detected by the internal increment
generator (optical encoder). With a known starting point, the actual posi-
tion of the work load is calculated from the gear reduction and (where
applicable) the feed constant.

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Term/abbreviation Meaning
Position set record Positioning command defined in the position set table, consisting of:
– The number of the position set record
– The absolute or relative basis of the target position
– Target position
– Positioning speed
Project zero point (PZ) Point of reference for all positions in positioning tasks. The project zero
point forms the basis for all absolute position specifications (e.g. in the
position set table or with direct control via the controller interface or
diagnostic interface). The point of reference for the project zero point is
the axis zero point.
Reference switch External sensor used for ascertaining the homing point; is directly con-
nected to the controller.
Software end position Programmable stroke limitation (point of reference = axis zero point)
– Software end position, positive:
Max. limit position of the stroke in the positive direction; must not be
exceeded during positioning.
– Software end position, negative:
Min. limit position in the negative direction; must not be exceeded
during positioning.
Teach mode Operation mode for setting positions by moving to the target position
e.g. when creating position set records.
Tab. 0/3: Index of terms and abbreviations
PROFIBUS-specific terms and abbreviations
Term/abbreviation Meaning
0x1234 or 1234h Hexadecimal numbers are marked by the prefix “0x” or by the suffix
“h.”
AK See response identifier and request identifier
BCD Binary coded decimal
Bus segment Bus cable between two terminating resistors. A bus segment contains
maximum 32 stations. A PROFIBUS system consists of at least one bus
segment with at least two stations. With the aid of repeaters further
bus segments can be connected.

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Term/abbreviation Meaning
Consistency A data range which is defined as consistent is transmitted complete,
i.e. in one bus cycle.
FPC Festo Parameter Channel
GSD/GSG file Device master file in which all specific features of the slave are saved
(e.g. number of I/Os, number of diagnostic bytes etc.).
LSB Least significant bit
MSB Most significant bit
Octet 8 bits; basic type for PROFIBUS telegrams
Parameter channel (PKW) Telegram part used for transmitting parameters (PKW = parameter
identifier value)
Parameter identifier (ParID) Integral part of the parameter channel (PKW) which contains the re-
quest and response identifiers (AK) and the parameter number (PNU).
Parameter number (PNU) Parameters which can be transmitted via the parameter channel are
addressed by their parameter number (PNU). The parameter number
is an integral part of the parameter identifier (ParID) and is used for
identifying or addressing the individual parameter.
ParID See parameter identifier
PKW See parameter channel
PNU See parameter number
Request identifier (AK) Integral part of the parameter channel in request telegrams specifying
the type of request for processing of a parameter.
Repeater Tool for amplifying bus signals and for coupling segments over long
distances.
Request telegram Telegram sent from the master to the slave (request of master)
Response identifier (AK) Integral part of the parameter channel in response telegrams specify-
ing the type of response from processing of a parameter.
Response telegram Telegram sent from the slave to the master (slave response)

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Festo P.BE-MTR-DCI-PB-EN en 1209a
Term/abbreviation Meaning
Subindex (IND) Integral part of the parameter channel which addresses an element of
an array parameter (sub-parameter number).
User data Telegram data without protocol frame data. The length of the user
data is defined in the configuration of the field bus slave.
Tab. 0/4: Index of terms and abbreviations for PROFIBUS