Festo MTR-DCI series Operating and installation instructions

Description
MTR-DCI-...-CO
Description
539630
en 1209a
[763213]
Motor unit
MTR-DCI

Adobe
®
, Reader
®
,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-CO-EN en 1209a
Original de.......................................
Edition en 1209a..................................
Designation P.BE-MTR-DCI-CO-EN.....................
Order-no. 539630..................................
© Festo AG & Co. KG, D-73726 Esslingen, 2012
Internet: http://www.festo.com
E-mail: [e-mail]
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
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Festo P.BE-MTR-DCI-CO-EN en 1209a

Contents and general safety instructions
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Festo P.BE-MTR-DCI-CO-EN en 1209a
Designated use IX........................................................
Safety instructions X.....................................................
Target group XI..........................................................
Service XI...............................................................
Scope of delivery XI.......................................................
Important user instructions XII..............................................
Manuals on motor unit type MTR-DCI XIV......................................
Informationontheversion XV...............................................
Product-specific terms and abbreviations XVI...................................
CANopen specific terms and abbreviations XVIII..................................
1. System overview 1-1...............................................
1.1 Positioning with electric drives 1-3....................................
1.2 Field bus communication 1-6.........................................
1.2.1 Data exchange in CANopen 1-6...............................
1.2.2 Data profiles FHPP and CiA 402 1-7............................
1.3 Components 1-10...................................................
1.4 Control and regulating functions 1-11...................................
1.5 Operational safety 1-13..............................................
1.6 Measuring reference system 1-15......................................
1.6.1 Reference points and positioning range 1-15.....................
1.6.2 Signs and directions 1-17.....................................
1.6.3 Reference run (homing) 1-19..................................
2. Mounting 2-1.....................................................
2.1 General instructions 2-3.............................................
2.2 Dimensions of the motor unit 2-4.....................................
2.3 Fitting electric axes 2-5..............................................

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Festo P.BE-MTR-DCI-CO-EN en 1209a
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 Requirements of the power supply 3-7.........................
3.3.2 Load and logic voltages 3-8...................................
3.4 Serial interface 3-11.................................................
3.5 Input for external reference switch 3-13.................................
3.6 Controller 3-15.....................................................
3.7 Connecting the field bus 3-18.........................................
3.7.1 Field bus cable 3-18..........................................
3.7.2 Fieldbus bit rate and fieldbus length 3-19........................
3.7.3 Bus termination with terminating resistors 3-20...................
4. Control panel (only type 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.................................
4.2.2 Selecting a menu command 4-6...............................
4.3 [Diagnostic] menu 4-8..............................................
4.4 [Positioning] menu 4-11..............................................
4.4.1 [Positioning] [Move position set] 4-12...........................
4.4.2 [Positioning] [Demo position table] 4-13.........................
4.4.3 [Positioning] [Homing] 4-14....................................
4.5 Menu [Settings] 4-16................................................
4.5.1 [Settings] [Axis type] 4-17.....................................
4.5.2 [Settings] [Axis parameter] 4-18................................
4.5.3 [Settings] [Homing paramet.] 4-19..............................
4.5.4 [Settings] [Position set] 4-20...................................
4.5.5 [Settings] [Password edit] 4-21.................................
4.5.6 [Settings] [CAN parameters] 4-23...............................
4.6 Menu command [HMI control] 4-25.....................................

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Festo P.BE-MTR-DCI-CO-EN en 1209a
5. Commissioning 5-1................................................
5.1 Procedure for commissioning 5-4.....................................
5.2 Commissioning with the control panel (only MTR-DCI-...H2) 5-7.............
5.2.1 Setting the axis type 5-9.....................................
5.2.2 Setting the reference travel parameters 5-10.....................
5.2.3 Starting a reference run 5-13..................................
5.2.4 Teach the axis zero point AZ and the software end positions 5-16.....
5.2.5 Teach position records 5-18...................................
5.2.6 Test run 5-20...............................................
5.2.7 Setting CAN parameters 5-22..................................
5.3 Commissioning with FCT 5-26.........................................
5.3.1 Installing the FCT 5-27........................................
5.3.2 Procedure 5-28.............................................
5.4 CommissioningonaCANopenmaster 5-30..............................
5.4.1 Overview of commissioning on the field bus 5-31..................
5.4.2 Configuration of the CANopen master (“I/O configuration”) 5-32.....
5.4.3 Communication 5-33.........................................
5.4.4 PDO mapping 5-34...........................................
5.5 Festo profile for handling and positioning (FHPP standard) 5-37.............
5.5.1 Supported operating modes 5-37...............................
5.5.2 Composition of the cyclic I/O data (FHPP standard) 5-39............
5.5.3 Description of the I/O data (Record select) 5-41...................
5.5.4 Description of the I/O data (Direct mode) 5-42....................
5.5.5 Description of the control bytes CCON, CPOS, CDIR 5-43............
5.5.6 Description of the status bytes SCON, SPOS, SDIR (RSB) 5-46.......
5.5.7 Examples of the I/O data 5-49.................................

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Festo P.BE-MTR-DCI-CO-EN en 1209a
5.6 Sequence control as per FHPP standard 5-62............................
5.6.1 Homing 5-62................................................
5.6.2 Jog mode 5-64..............................................
5.6.3 Teaching via field bus 5-66....................................
5.6.4 Record select (positioning mode) 5-68...........................
5.6.5 Direct mode (positioning mode, power operation) 5-74.............
5.6.6 Standstill monitoring 5-81.....................................
5.7 Notes on operation 5-83..............................................
6. Diagnostics and error display 6-1....................................
6.1 Overview of diagnostic possibilities 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 the messages, warnings and faults 6-8.............
6.4 Diagnostic memory 6-12.............................................
6.5 Diagnosis via CANopen 6-14..........................................
6.5.1 Node guarding (reaction to bus failure) 6-14......................
6.5.2 Emergency messages 6-15....................................
6.6 Diagnosis via parameter channel (FPC) 6-16.............................
A. Technical appendix A-1.............................................
A.1 Technical specifications A-3..........................................
A.2 Accessories A-6....................................................
A.3 Motor characteristic curves A-8.......................................
A.4 Conversion of the measuring units A-14.................................

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Festo P.BE-MTR-DCI-CO-EN en 1209a
B. Reference – Festo Handling and Positioning Profile (FHPP) B-1............
B.1 The Festo Parameter Channel (FPC) B-3................................
B.1.1 Composition of the cyclic I/O data (FHPP-FPC) B-3................
B.1.2 Task identifiers, Response identifiers and fault numbers B-5........
B.1.3 Rules for task reply processing B-8............................
B.1.4 Example of parametrizing B-10.................................
B.2 Parametrizing as per FHPP-FPC B-12....................................
B.2.1 General parameter structure B-12..............................
B.2.2 Object overview B-12.........................................
B.2.3 Representing the parameter entries B-19........................
B.2.4 Device data – Standard parameters B-20.........................
B.2.5 Device data – extended parameters B-21.........................
B.2.6 Diagnosis B-24..............................................
B.2.7 Processing data B-28.........................................
B.2.8 Record list B-30.............................................
B.2.9 Project data – General B-34....................................
B.2.10 Project data – Power operation B-36............................
B.2.11 Project data – Teach B-37.....................................
B.2.12 Project data – Jog mode B-38..................................
B.2.13 Project data – Direct mode (positioning mode) B-39................
B.2.14 Project data – Direct mode (power operation) B-40................
B.2.15 Axis parameter electric drives 1 – mechanical B-41.................
B.2.16 Axis parameter electric drives 1 – Reference travel (Homing) B-45....
B.2.17 Axis parameters electric drives 1 – Controller parameters B-47.......
B.2.18 Axis parameters electric drives 1 – Electronics Name plate B-51......
B.2.19 Axis parameters electric drives 1 – Standstill monitoring B-53........
B.3 Status machine FHPP B-54............................................
B.3.1 Create readiness to operate B-56...............................
B.3.2 Positioning B-57.............................................

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Festo P.BE-MTR-DCI-CO-EN en 1209a
C. Reference – CANopen and CI objects C-1...............................
C.1 Overview of CANopen objects (CiA 402) C-3.............................
C.1.1 Representing the parameter entries C-10........................
C.1.2 Communication profile area C-11...............................
C.1.3 Manufacturer specific profile area C-19..........................
C.1.4 CiA 402: Standardised Device Profile Area C-28...................
C.2 Finite status machine in accordance with CiA 402 C-43.....................
C.3 The Command Interpreter (CI) C-48.....................................
C.3.1 Procedure for data transmission C-48...........................
C.3.2 CI commands C-52...........................................
C.3.3 Overview of CI objects C-56....................................
C.3.4 Representation of additional CI objects C-63......................
D. Index D-1.........................................................

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Festo P.BE-MTR-DCI-CO-EN en 1209a
Designated use
The MTR-DCI motor unit is an intelligent servo motor consist-
ing of DC motor, planetary gear, encoder and integrated
control electronics (positioning control and position regu-
lator).
The MTR-DCI is optimized for use with Festo axes
(e. g. DMES-... or DNCE-...).
This manual deals with the basic functions of the MTR-DCI
and control via the CANopen field bus.
The fieldbus interface supports the Festo Fieldbus Handling
and Positioning Profile (FHPP), and permits as an alternative
the use of CIA-defined profile CiA 402.
The MTR-DCI and the connectable modules and cables may
only be used as follows:
–asdesignated
– in industrial applications
– in faultless technical condition
– in orignial condition without modification (only the con-
versions or modifications described in the documentation
supplied with the product are permitted).
• Follow the safety instructions and use all the components
and modules as described in the documentation.
• Please comply with national and local safety laws and
regulations.
• Note the maximum limits of all additional components
(e. g. sensors, actuators).

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Festo P.BE-MTR-DCI-CO-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
Electric 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 parametrizing can cause injury to human beings
and damage to property.
Only enable the controller if the axis system has been in-
stalled and parametrized by technically qualified staff.

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Festo P.BE-MTR-DCI-CO-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:
service_internationa[email protected]om
Scopeofdelivery
The following items are supplied with motor unit type
MTR-DCI:
– Motor unit with integrated controller, optionally with
control panel
– Operating package on CD ROM:
– User documentation (descriptions)
– Festo Configuration Tool with MTR-DCI plug-in
– User documentation (descriptions)
Available as accessories (see Appendix A.2):
– Connecting cable and fieldbus plug
– Programming cable
– User documentation in paper form

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Festo P.BE-MTR-DCI-CO-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), 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-CO-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 indicate general activities.

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Festo P.BE-MTR-DCI-CO-EN en 1209a
Manuals on motor unit type MTR-DCI
This description contains information on the method of
operation, as well as on mounting, installation and
commissioning of electric valve actuators with motor unit
type MTR-DCI-...-CO (CANopen interface).
Information on components, e. g. reference switches, can be
found in the operating instructions for the relevant product.
Type Designation Content
Operating package with
brief description +
descriptions (+
commissioning software)
on CD ROM
P. B P - M TR - D C I Brief description: Important instructions
on commissioning and preliminary
information.
Descriptions on CD ROM: Contents as
described below
Description Motor unit MTR-DCI with
CANopen interface
P.BE-MTR-DCI-CO-...
Installation, commissioning and
diagnosis of electric axes with motor
unit MTR-DCI; communication via
CANopen 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-...
Installing and commissioning the axes
Further descriptions Motor unit MTR-DCI with
other communication in-
terfaces e.g.
P.BE-MTR-DCI-IO-...
P.BE-MTR-DCI-PB-...
Installing, commissioning and diagnos-
ing electric axes with motor unit MTR-
DCI; communication via I/O interface or
via the relevant field bus.
Tab. 0/1: Documentation on the MTR-DCI

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Festo P.BE-MTR-DCI-CO-EN en 1209a
Informationontheversion
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.
Youcanfindthespecificationsontheversionstatusasfol-
lows:
– Hardware version and firmware version in the Festo
Configuration Tool with active device connection to
theMTR-DCIunder“Devicedata.”
– Firmware version on the control panel under [Diagnostic]
[Software information]
Firmware
version
What is new? Which FCT-PlugIn ?
V1.00 Supports the listed sizes of the MTR-DCI-CO in combina-
tion with the following axes from Festo:
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-CO V2.0.0
Tab. 0/2: Firmware versions

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Festo P.BE-MTR-DCI-CO-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 There is a 0 V signal present at the input or output (positive logic,
corresponds to LOW)
1-signal 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 axis
DMES-...) enables the attachment and guiding of the work load and the
attachment of a reference switch.
Axis zero point (AZ) Reference point for the software end positions and the project zero point
PZ. The axis zero point AZ is defined by a preset distance (offset) from the
reference point REF.
Controller Contains power electronics + regulator + position control, evaluates
sensor signals, calculates movements and forces and provides the power
supply for the motor via the power electronics.
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 with the necessary descriptions and dialogues by means of
PlugIns.
Festo Handling und Posi-
tioning Profile (FHPP)
Uniform field bus data profile for positioning controllers from Festo.
Parameter values, control and status bytes required during operation
can be written and read via the FHPP Object Directory.
Festo Parameter
Channel (FPC)
FHPP-specific parameter access via PDO 2.

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Festo P.BE-MTR-DCI-CO-EN en 1209a
Term/Abbreviation Meaning
FHPP standard FHPP sequence control via PDO 1.
HMI Human Machine Interface, with the MTR-DCI the control panel with
LC display and 4 operating buttons.
Homing Positioning procedure in which the reference point and therefore the
source of the measuring reference system are defined.
Homing mode Operating mode in which reference travel is carried out.
Homing (reference
travel) method
Method for finding the reference point REF: via the reference switch
within the possible positioning path or by overcurrent evaluation during
movement to a stop.
I
O
I/O
Input
Output
Input and/or output
Jog mode Manual positioning in positive or negative direction.
Load voltage, logic
voltage
The load voltage supplies the power electronics of the controller and
thereby the motor. The logic voltage supplies the evaluation and control
logic of the controller.
Motor unit Integrated unit consisting of the controller, motor, measuring system and,
if applicable, gears (e. g. motor unit type MTR-DCI).
Operating mode is used in the following correlations:
– Type of access: Record Select, Direct mode
– Internal logic status of the controller: Position Profile mode, Profile
Torque mode, Homing mode, ...
PLC Programmable logic controller; in brief: controller: PLC: progammable
logic controller).
Positioning mode
(profile position mode)
Operating mode for executing a position set or a direct positioning task
with position control (closed loop position control)
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 target position
– Target position
– Positioning speed
Power operation
(profile torque mode)
Operating mode for executing a direct positioning task with power
operation (open loop transmission control) with motor current regulation.

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Festo P.BE-MTR-DCI-CO-EN en 1209a
Term/Abbreviation Meaning
Project zero point (PZ)
(project zero point)
Reference point for all positions in positioning tasks. The project zero
point PZ forms the basis for all absolute position specifications (e. g. in
the position set table or with direct control via the controller or diagnos-
tic interface). The project zero point PZ is defined by a preset distance
(offset) from the axis zero point.
Reference point (REF) The reference point defines a known position/orientation within the posi-
tioning path of the drive. It is the basic reference point for the measuring
reference system.
Reference switch External sensor which serves for ascertaining the reference position and
is connected directly to the controller.
Referencing Defining the measuring reference system of the axis
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
during positioning.
Teach mode
(Teach mode)
Operating mode for setting positions by moving to the target position,
e. g. when creating positioning sets.
Tab. 0/3: Index of terms and abbreviations
CANopen specific terms and abbreviations
Term/abbreviation Meaning
0x1234 or 1234h Hexadecimal numbers are marked by a prefixed “0x” or by a suffixed
“h.”
BCD Binary coded decimal
EDS Electronic Data Sheet; contains the specific properties of the slave
(e. g. number of I/Os, parameters, etc.).
LSB Least significant bit (lower-value bit)
MSB Most significant bit (higher-value bit)