Festo MTR-DCI User manual

Manual
Type MTR−DCI−...IO
Manual
539 616
en 0606b
[700 619]
Motor unit
MTR−DCI

Adobe®and Reader®are either a registered trademark or a
trademark of Adobe Systems Incorporated in the United
States and/or other countries.

Contents and general instructions
I
Festo P.BE−MTR−DCI−IO−EN en 0606b
Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 0606b. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE−MTR−DCI−IO−EN. . . . . . . . . . . . . . . . . . . . . .
Order no. 539 616. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
© (Festo AG&Co. KG, D73726 Esslingen, Federal Republic of
Germany, 2006)
Internet: http://www.festo.com
E−Mail: [e-mail]
The reproduction, distribution and utilization of this document
as well as the communicaton of its contents to others without
express authorization is prohibited. Offenders will be held
liable for the payment of damages. All rights reserved in the
event of the grant of a patent, utility module or design.

Contents and general instructions
II Festo P.BE−MTR−DCI−IO−EN en 0606b

Contents and general instructions
III
Festo P.BE−MTR−DCI−IO−EN en 0606b
Contents
Designated use VII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions VIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of delivery IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manuals on motor unit type MTR−DCI XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Information on the version XIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product−specific terms and abbreviations XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Positioning with intelligent servo drives 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Method of operation 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Basis points and work range 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Commissioning options 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Control panel (only type MTR−DCI−...−H2) 1−14. . . . . . . . . . . . . . . . . . . . .
1.2.2 Festo Configuration Tool (FCT) 1−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Fitting 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General instructions 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dimensions of the motor unit 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Fitting electric axes 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview of installation 3−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Power supply 3−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Serial interface 3−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Input for external reference switch 3−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Connecting the higher−order controller 3−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
IV Festo P.BE−MTR−DCI−IO−EN en 0606b
4. Control panel (MTR−DCI−...−H2IO) 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 [Diagnostic] menu 4−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Menu [Settings] 4−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4 [Positioning] menu 4−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.5 Menu command [HMI control] 4−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Commissioning 5−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Procedure for commissioning 5−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Commissioning with the control panel (only type MTR−DCI−...−H2) 5−7. . . . . . . .
5.2.1 Selecting the axis type 5−9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Setting the reference run parameters 5−10. . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Carry out reference travel 5−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Teach the axis zero point and the software end positions 5−17. . . . . . .
5.2.5 Positioning with position sets 5−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Teach position sets 5−20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.7 Test run 5−21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Commissioning with FCT 5−23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Installing the FCT 5−23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Procedure for commissioning with the Festo Configuration Tool 5−24. .
5.4 Communication with the higher−order controller 5−26. . . . . . . . . . . . . . . . . . . . . .
5.4.1 I/O function check 5−26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2 Description of the I/Os 5−27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.3 Function description (pulse−time diagram) 5−30. . . . . . . . . . . . . . . . . . .
6. Operating, maintenance and diagnosis 6−1. . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Important user instructions 6−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Diagnosis and fault display 6−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 General diagnostic possibilities 6−6. . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 LED status displays 6−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Fault messages on the display (only type MTR−DCI−...−H2) 6−9. . . . . . .

Contents and general instructions
V
Festo P.BE−MTR−DCI−IO−EN en 0606b
A. Technical appendix A−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical specifications A−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Accessories A−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Motor characteristic curves A−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Supplementary information B−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1 The Command Interpreter (CI) B−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.1 Procedure for data transfer B−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.2 CI commands B−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.3 CI Objects (overview) B−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.4 Object description B−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2 Converting the measuring units B−38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index C−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents and general instructions
VI Festo P.BE−MTR−DCI−IO−EN en 0606b

Contents and general instructions
VII
Festo P.BE−MTR−DCI−IO−EN en 0606b
Designated use
The MTR−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).
The mechanical layout and plug−in interface of the MTR−DCI
have been optimized for use with electric linear drives (e.g.
type DMES−...) from Festo. The motor unit can also be used
for customer−specific positioniing applications with slow
spindle drives.
This manual deals with the basic functions of the MTR−DCI
and the I/O interface of the MTR−DCI−...I0. Additional compo
nents as well as the field bus variants of the MTR−DCI are de
scribed in separate manuals.
It is absolutely necessary to observe the Safety instructions"
as well as the designated use of the relevant components and
modules. Observe also the safety instructions in the operat
ing instructions for the electric components used.
The MTR−DCI and the connectable modules and cables may
only be used as follows:
inaccordance with designated use
 only in industrial applications
 without any modifications by the user. Only the conver
sions or modifications described in the documentation
supplied with the product are permitted.
infaultless technical condition.
If additional commercially−available components such as
sensors and actuators are connected, the specified limits for
temperatures, electrical data, torques, etc. must not be
exceeded.
Please observe the standards specified in the relevant
chapters and comply with technical regulations, as well as
with national and local regulations.

Contents and general instructions
VIII Festo P.BE−MTR−DCI−IO−EN en 0606b
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
the possible danger area must be prevented by suitable
measures such as protective screens and warning signs.
Warning
Electric axes can move suddenly 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 gain access to the operating
range of the axes or other connected actuators and that no
objects lie in the positioning range while the system is still
connected to a power supply.
Warning
Faults in parametrization can cause injury to people and
damage to property.
Enable the controller only if the axis system is correctly
installed and parametrized.

Contents and general instructions
IX
Festo P.BE−MTR−DCI−IO−EN en 0606b
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing
positioning systems.
Service
Please consult your local Festo repair service or write to the
following e−mail address if you have any technical problems:
[e-mail]
Scope of delivery
The following items are supplied with motor unit type
MTR−DCI:
 motor unit with integrated controller, optionally with
control panel
 FCT configuration package (Festo Configuration Tool)
 user documentation on CD ROM
The following are available as accessories (see appendix A.2):
 connecting cable
 programming cable
 user documentation in paper form.

Contents and general instructions
XFesto P.BE−MTR−DCI−IO−EN en 0606b
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto
gram. A distinction is made between the following danger
warnings:
Warning
This means that failure to observe this instruction may
result in serious personal injury or damage to property.
Caution
This means that failure to observe this instruction may
result in personal injury or damage to property.
Please note
This means that failure to observe this instruction may
result in damage to property.
The following pictogram marks passages in the text which
describe activities with electrostatically sensitive compo
nents.
Electrostatically sensitive components may be damaged if
they are not handled correctly.

Contents and general instructions
XI
Festo P.BE−MTR−DCI−IO−EN en 0606b
Marking special information
The following pictograms mark passages in the text
containing special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information.
Accessories:
Information on necessary or sensible accessories for the
Festo product.
Environment:
Information on environment−friendly use of Festo products.
Text markings
·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 indicate general activities.

Contents and general instructions
XII Festo P.BE−MTR−DCI−IO−EN en 0606b
Manuals on motor unit type MTR−DCI
This manual contains information on the method of oper
ation, as well as on fitting, installing and commissioning
electric positioning drives with motor unit type MTR−DCI−...IO
(I/O interface).
Information on components, e.g. the reference switch, can be
found in the operating instructions supplied with the product.
Type Designation Contents
Docu package with brief
description + manuals on
CD ROM
P.BE−MTR−DCI−UDOK Brief description: Important instructions
on commissioning and preliminary
information.
Manuals on CD ROM: for motor unit
MTR−DCI−... (contents as described
below)
Description Motor unit type MTR−DCI
with I/O interface
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 type MTR−DCI; communication via
I/O interface.
Help system for software Festo Configuration Tool
help (contained in FCT
software)
Function description of the Festo
Configuration Tool (FCT) configuration
software.
Operating instructions Positioning axis
Type DMES−...
Fitting and commissioning the linear
axis with slide shaft as drive element.
Tab.0/1: Documentation on the MTR−DCI

Contents and general instructions
XIII
Festo P.BE−MTR−DCI−IO−EN en 0606b
Information on the version
The hardware version specifies the version status of the
mechanical parts and electronics of the MTR−DCI. The firm
ware version specifies the version status of the operating
system of the MTR−DCI.
You can find the specifications on the version status as
follows:
 Hardware version and firmware version in the Festo
Configuration Tool with active device connection to the
MTR−DCI under Device data"
 Firmware version on the control panel under [Diagnostic]
[Software information]
Firmware
version
What is new? Which FCT PlugIn?
V−DME1.19 Supports the motor sizes MTR−DCI−42 and 52 and the
combination with the following positioning axes from
Festo:
Motor unit Axis
MTR−DCI−42... DMES−25
MTR−DCI−52... DMES−40
MTR−DCI V1.0.0
V1.20  Supports the motor sizes MTR−DCI−32 and 62 and
the combination with the following positioning
axes from Festo:
Motor unit Axis
MTR−DCI−32... DMES−18
MTR−DCI−42... DMES−25
MTR−DCI−52... DMES−40
MTR−DCI−62... DMES−63
 Modifying the start−up reaction of all sizes
MTR−DCI V1.1.0
Tab.0/2: Firmware versions

Contents and general instructions
XIV Festo P.BE−MTR−DCI−IO−EN en 0606b
Product−specific terms and abbreviations
The following product−specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0−signal 0 V present at input or output (positive logic, corresponds to LOW).
1−signal 24 V present at 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 axis
type DMES−...) enables:
 the work load to be fitted and guided
areference switch to be fitted.
Axis zero point (AZ) Measuring basis point for the project zero point and the software end
positions. The basis point for the axis zero point is the reference point.
Corresponds to the project zero point with the MTR−DCI (offset = 0).
DMES−... Type designation, electric linear axis
Controller Control electronics which evaluate the control signals and provide the
power supply for the motor via the power electronics (power electronics +
controller + position controller).
Drive Complete actuator, consisting of controller, motor, measuring system and,
if applicable, gear and (linear) 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 by PlugIns with the necessary descriptions and dialogues.
HMI Human Machine Interface, with the MTR−DCI the control panel with
LCdisplay and 4 operating buttons.
Homing mode Operating mode in which reference travel is carried out.

Contents and general instructions
XV
Festo P.BE−MTR−DCI−IO−EN en 0606b
Term/abbreviation Meaning
I
O
I/O
Input
Output
Input and/or output
Motor unit Integrated unit consisting of the controller, motor, measuring system and, if
applicable, gears (e.g. motor unit type MTR−DCI).
Operating mode Type of controller or internal operating mode of the controller.
 Type of control: Record Select, Direct mode
 Operating mode of the controller: Position profile mode, Homing mode,
Demo mode, ...
PLC Programmable logic controller; in brief: controller: (PLC: progammable
logic controller)
Positioning mode
(Profile position mode)
Operating mode for processing a position set or a direct positioning task.
Position set Positioning command defined in the position set table, consisting of:
 The number of the position set
 The absolute or relative basis of the nominal position
 The nominal position of the position set
 The positioning speed of the position set
Project zero point (PZ) Basis point for all positions in positioning tasks (Project zero point). 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 control or diag
nostic interface). The basis point for the project zero point is the axis zero
point. With the MTR−DCI the project zero point PZ and the axis zero point AZ
are identical.
Reference point (REF) Basis point for the incremental measuring system. The reference point
defines a known orientation or position within the positioning path of the
drive.
Reference switch External sensor (e.g. type SMT−8 or SIEN−...) which serves for ascertaining
the reference position and is connected directly to the controller.
Reference travel The reference position and therefore the source of the basis system of the
axis are defined by the reference travel.
Referencing Complete definition of the basis system of the axis with reference point
and, if applicable, zero point.
Referencing method Method for defining the reference position: against a fixed stop
(overcurrent/speed evaluation) or with reference switch.

Contents and general instructions
XVI Festo P.BE−MTR−DCI−IO−EN en 0606b
Term/abbreviation Meaning
Software end position Programmable stroke limitation (basis point = 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
duringpositioning.
Teach mode
(Teach mode)
Operating mode for setting positions by moving to the target position,
e.g. when creating position sets.
Type mode Manual positioning in positive or negative direction (only on field bus
variants of the MTR−DCI via the field bus or only with FCT or control panel).
Tab.0/3: Index of terms and abbreviations

System summary
1−1Festo P.BE−MTR−DCI−IO−EN en 0606b
Chapter 1

1. System summary
1−2 Festo P.BE−MTR−DCI−IO−EN en 0606b
Contents
1. System summary 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Positioning with intelligent servo drives 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Method of operation 1−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Basis points and work range 1−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Commissioning options 1−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Control panel (only type MTR−DCI−...−H2) 1−14. . . . . . . . . . . . . . . . . . . . .
1.2.2 Festo Configuration Tool (FCT) 1−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . .