Festo MTR-DCI Manual
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Festo MTR-DCI Manual

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

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Summary of Contents for Festo MTR-DCI

  • Page 1 Motor unit MTR−DCI Manual Type MTR−DCI−...IO Manual 539 616 en 0606b [700 619]...
  • Page 2 ® ® Adobe and Reader are either a registered trademark or a trademark of Adobe Systems Incorporated in the United States and/or other countries.
  • Page 3 ....... . . 539 616 © (Festo AG & Co. KG, D 73726 Esslingen, Federal Republic of Germany, 2006) Internet: http://www.festo.com...
  • Page 4 Contents and general instructions Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 5: Table Of Contents

    ..... 1−14 1.2.2 Festo Configuration Tool (FCT) ......1−14 Fitting .
  • Page 6 ........5−23 5.3.2 Procedure for commissioning with the Festo Configuration Tool 5−24 Communication with the higher−order controller .
  • Page 7 ............C−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 8 Contents and general instructions Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 9: Designated Use

    (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.

  • Page 10: Safety Instructions

    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. VIII Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 11: Target Group

    Service Please consult your local Festo repair service or write to the following e−mail address if you have any technical problems: service_international@festo.com Scope of delivery The following items are supplied with motor unit type MTR−DCI:...

  • Page 12: Important User Instructions

    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. Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 13 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.

  • Page 14: Manuals On Motor Unit Type Mtr−Dci

    P.BE−MTR−DCI−IO−EN I/O interface. P.BE−MTR−DCI−IO−FR P.BE−MTR−DCI−IO−IT P.BE−MTR−DCI−IO−ES P.BE−MTR−DCI−IO−SV Help system for software Festo Configuration Tool Function description of the Festo help (contained in FCT Configuration Tool (FCT) configuration software) software. Operating instructions Positioning axis Fitting and commissioning the linear Type DMES−...

  • Page 15: Information On The Version

    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]...

  • Page 16: Product−Specific Terms And Abbreviations

    PlugIns with the necessary descriptions and dialogues. 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. Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 17 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. Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 18 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 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 19: System Summary

    System summary Chapter 1 1−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 20 ..... 1−14 1.2.2 Festo Configuration Tool (FCT) ......1−14 1−2...

  • Page 21: Positioning With Intelligent Servo Drives

    Positioning with intelligent servo drives Higher−order controller Software level: Festo Configuration Tool Drive level: Motor unit Coupling Coupling housing Axis Fig. 1/1: Basic circuit of a positioning system with motor unit type MTR−DCI−... and positioning axis type DMES−... 1−3 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 22 Coupling to a higher−order PLC/IPC is carried out in operation via digital inputs/outputs. For positioning systems Festo offers accessories suited to the drive packages and linear drives (see Festo delivery program or catalogue). Components and accessories For setting up an electric drive with the MTR−DCI you will...
  • Page 23 When the input torque is not applied, the slide will be braked. Coupling with coupling In order to fit Festo axes e.g. type DMES−... or type DGE−... housing axially, you will require couplings and coupling housings as accessories. The motor unit is connected to the axis by means of a clamp in the coupling housing.

  • Page 24: Operating Modes

    (Move posit set). Operational safety An extensive system of sensors and monitoring functions ensure operational safety: t−monitoring Temperature monitoring (measuring the motor tempera ture and the power end stage temperature) Current monitoring. 1−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 25 By the arrangement of the limit switches and, if necess · ary, by additional appropriate mechanical stops, make sure that the axis always lies within the permitted posi tioning range. 1−7 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 26: Method Of Operation

    Fig. 1/2: Simplified technical representation of the cascade regulator function The motor unit takes over the following tasks: specification of the nominal positions by positioning control comparison of the nominal and actual positions and position control sequence control via digital inputs and outputs. 1−8 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 27 Use CI commands only if you already have experience of · Service Data Objects. If necessary consult Festo. · The FLASH technology enables firmwareupdates to be loaded into the controller via the RS232 interface. If necessary con sult your local Festo Service. 1−9 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 28: Basis Points And Work Range

    The axis zero point is the basis point for the project zero point. The project zero point is specified with the MTR−DCI and is identical to the axis zero point (project zero point offset = 0). 1−10 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 29 (with type DMES−...: the stroke specified in the order). Vector representation for the referencing method: Fixed stop, negative Vector representation for the referencing method: Reference switch, negative Tab. 1/2: Basis system of the electric axis 1−11 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 30 (inch, inch/s, inch/s ...) and are not converted until they are written or read. Measurements transmitted directly via the RS232 refer to an increment basis (conversion see appendix B.2). 1−12 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 31: Commissioning Options

    Commissioning Reference travel Move in individual steps Start and stop positioning procedures during commissioning Extended test functions e.g. status displays Test or demonstrate the position sets Diagnostics / Read and display diagnostic data Service 1−13 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 32: Control Panel (Only Type Mtr−Dci−...−H2)

    4, a description of commission ing with the control panel as from chapter 5.2. 1.2.2 Festo Configuration Tool (FCT) The Festo Configuration Tool (or brief FCT) is the software platform for configuring and commissioning different compo nents or devices from Festo.
  • Page 33 An overview of commissioning with the FCT can be found in chapter 5.3. The help for the FCT contains the complete in formation on operating the Festo Configuration Tool. The device−specific PlugIns each have their own help files. You can use the complete help or parts thereof irrespective of a PC by printing them.
  • Page 34 The help for the PlugIn MTR−DCI contains the complete information on operating the PlugIn. You can open the help as follows: Command [Help] [Contents of installed PlugIns] [Festo · (manufacturer name)] [MTR−DCI (PlugIn name)]. Help button in the window range or dialogue of the ·...
  • Page 35 Printed version Directory File FCT help ...(FCT installation directory)\Help\ FCT_en.pdf FCT_en.rtf PlugIn help (MTR−DCI) ...(FCT installation directory)\HardwareFamilies\ MTR−DCI_en.pdf Festo\MTR−DCI\V...\Help\ MTR−DCI_en.rtf For using the print version in the Adobe PDF format you will require the Adobe Reader. 1−17 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 36 1. System summary 1−18 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 37 Fitting Chapter 2 2−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 38: Dimensions Of The Motor Unit

    ..........2−5 2−2 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 39 Screw connections must be fitted free of offset and mechanical tension. Screws must be fitted accurately (otherwise threads will be damaged). The specified torques must be observed. The modules must not be offset. Contact surfaces must be clean (avoid contact faults). 2−3 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 40 2.5 ±0.3 2 ±0.2 2 ±0.2 ±0.3 3 ±0,3 ±0.3 Width 33.8 ±0.3 44.8 ±0.4 63.8 ±0.4 105.1 ±0.4 46.3 ±0.4 53.3 ±0.4 69.5 ±0.4 105.1 ±0.4 Depth Tab. 2/1: Dimensions of the motor unit 2−4 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 41: Fitting Electric Axes

    Make sure that you observe the maximum permitted va · lues of the following variables: the basis point for forces and torques is the centre of the shaft (L3 see Tab. 2/1). 2−5 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 42 The gear output torque or the motor unit is usually much lower, see Technical specifications, appendix A, Mechanical specifications. MTR−DCI−62...−G22: In the start−up phase speed torque peaks up to 37 Nm are possible at 20 A peak current. Tab. 2/2: Permitted loading of the gear shaft 2−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 43 (axial, parallel); 4 screws must be used here. Size Thread depth Tightening torque MTR−DCI−32... 6 mm 1.2 Nm MTR−DCI−42... 10 mm 1.2 Nm 10 mm 2.9 Nm MTR−DCI−52... 10 mm 5.9 Nm MTR−DCI−62... 10 mm 5.9 Nm Tab. 2/3: Tightening torques 2−7 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 44 2. Fitting In order to fit Festo axes e.g. type DMES−... or type DGE−... axially, you will require couplings and coupling housings as accessories. The motor unit is connected to the axis by means of a clamp in the coupling housing. Additional motor flanges are not therefore necessary.

  • Page 45: Installation

    Installation Chapter 3 3−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 46 Connecting the higher−order controller ......3−13 3−2 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 47: Overview Of Installation

    (e.g. with faulty power supply). Connect only one cable shield (control cable or supply · cable) to functional earth (FE). The GND connection must not be connected to the hou sing, the shield or functional earth (FE)! 3−3 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 48 Sensor input for switch switch Socket type normally open contact in the design PNP, e.g. type SMT−8F Serial M8x1, 4−pin RS232 interface for interface Socket parametrizing, commis sioning and diagnosing Tab. 3/1: Overview of connections 3−4 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 49 Place protective caps on unused connections in order to prevent such discharges. The plug connectors of the following Festo cables have been designed so that, when inserted and screwed tight, or if fitted with protective covers, the connections on the MTR−DCI will comply with protection class IP54.

  • Page 50: Power Supply

    The tolerance must also be observed directly at the operating voltage connection of the MTR−DCI (see Tab. 3/3). Install an external fuse in the 24 V DC supply in order to · limit the available current (see Tab. 3/4). 3−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 51 48 V DC/10 A loop controlled) External fuse 5 A slow−blowing 7 A slow−blowing 10 A slow−blowing 25 A slow−blowing secondary side Tab. 3/4: Selecting the power unit Fig. 3/2: Connection example power supply with external fuse 3−7 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 52 3. Installation Use the following cable from Festo accessories: · power cable KPWR−MC−1−SUB−9HC−... cable length max. 10 m. Connect only one cable shield (control cable or supply · cable) to functional earth (FE). Plug Colour Manual black (1) MTR−DCI−32/42/52: POWER +24 V DC MTR−DCI−62:...

  • Page 53: Serial Interface

    Serial interface for parametrizing, commissioning and diagnosing Please note In order to connect a PC to the MTR−DCI, use exclusively the following cable from the Festo accessories: programming cable KDI−MC−M8−SUB−9−... cable length 2.5 m (maximum permitted signal cable length). If necessary, remove the protective cap from the serial ·...
  • Page 54 PC systems, nor as a control interface. Use this connection only for commissioning. · Disconnect the programming cable during continuous · operation. Seal the connection with the protective cap supplied · (type ISK−M8). 3−10 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 55: Input For External Reference Switch

    KM8−M8−... with screw lock ing as adapter for connecting the reference switch. Use e.g. the following proximity switches from Festo: electric proximity switch type SMT−8F−... inductive proximity switch type SIEN−...−M8B−...
  • Page 56 (sensor supply). Use of this connection as a power supply for other devices is not permitted. The input for sensor signal REF complies in its electrical features with the input specification in the appendix Technical specifications". 3−12 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 57: Connecting The Higher−Order Controller

    Position set code Bit2 yellow Position set code Bit3 grey START pink ENABLE blue READY MOTION COMPLETE (MC) black GROUND (basis potential) Cable colours with control cable type KES−MC−1−SUB−9 Tab. 3/8: Controller" connection on the MTR−DCI 3−13 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 58 If a voltage is applied and the output pins are used incor rectly, the device may be seriously damaged, therefore: Do not connect voltage to the outputs. · Note the current limit at the outputs. · 3−14 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 59: Control Panel (Mtr−Dci−...−H2Io)

    Control panel (MTR−DCI−...−H2IO) Chapter 4 4−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 60 4.2.5 Menu command [HMI control] ......4−20 4−2 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 61 Make sure that the FCT, the control panel and the control · interface of the MTR−DCI are not used at the same time. Please note If necessary, remove the protective foil from the display before commissioning. 4−3 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 62: Composition And Function Of The Control Panel

    90° steps, see menu command [LCD adjust ment]. The visual display of the operating states is shown via 3 LEDs (see also chapter 6.2.2). Power: display of power supply I/F: ready to operate, positioning status Error: fault 4−4 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 63 (only in Demo mode). After stop: Display the current position, return to the higher−order menu level with <Menu>. <− −> Scrolls within a menu level in order to select a menu command. EDIT Sets the parameter Tab. 4/1: Button function (overview) 4−5 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 64: The Menu System

    When the power supply is switched on, the MTR−DCI auto = 0.00 mm matically carries out an internal check. At first the display briefly shows the Festo Logo then changes to the status HMI:off display. The status display shows the following information: <Menu>...
  • Page 65 Settings Select the drive, parametrizing, programming the position sets ... (see chapter 4.2.3) } Axis type } Type DMES−... Festo linear axis with servo drive type DMES−... } Rotation drive Rotation axis with stop } User config Any linear drive...

  • Page 66: Diagnostic] Menu

    System parameter [System param] Version of firmware of the MTR−DCI [SW information] Function Button <− −> You can scroll through" the diagnostic data with the arrow buttons. With <Menu> you can return to the Menu higher−order menu level. 4−8 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 67 Stroke limitation: Software end position, negative x max Stroke limitation: Software end position, positive Offset axis zero point feed Feed constant Measuring unit depends on measuring system set Not for axis type Rotation drive" 4−9 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 68 Measuring system Hom.meth. bl.pos Fixed stop in positive direction bl.neg Fixed stop in negative direction sw.pos Reference switch in positive direction sw.neg Reference switch in negative direction Gear e.g. 6.75 Gear ratio of the MTR−DCI 4−10 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 69: Menu [Settings]

    Design of the axis driven by the MTR−DCI (parameters see chapter 5.2.1) [Axis type] Description [type DMES−...] Festo servo axis [Rotation drive] Specific rotation axis [User config] Specific linear axis [Save...] Save parameter in EEPROM 4−11 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 70 EEPROM with the menu command [Save...]: Save the parameter settings with the menu command · [Save]. Only then will the settings be retained even if the power supply is switched off or if there is a power failure. 4−12 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 71 EEPROM with the menu command [Save...]: Save the parameter settings with the menu command · [Save]. Only then will the settings be retained even if the power supply is switched off or if there is a power failure. 4−13 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 72 EEPROM with the menu command [Save...]: Save the parameter settings with [Save]. Only then will · the settings be retained even if the power supply is switched off or if there is a power failure. 4−14 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 73 2. Confirm your entry with <Enter>. The next entry position will be displayed. 3. Repeat the entry for the further entry positions. When the third figure has been entered, access via the control panel is enabled. 4−15 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 74 If the active password in the MTR−DCI should be lost in spite of care being taken: you can delete the password by entering a master password. In this case please contact your Festo Service partner. 4−16 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 75: Positioning] Menu

    Please note Please note that position sets with speed v = 0 or invalid target positions (−> Fault TARGET POSITION OUT OF LIMIT) cannot be processed. 4−17 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 76 EMERG.STOP<Menu> Function EMERG. With <Menu> you can interrupt the positioning STOP procedure (> Error mode EMERG.STOP; Menu confirm with <Enter>, then automatic return to the status display). 4−18 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 77 During the positioning run the following information is Pos 1 displayed: = 100.00 mm v = 20 mm/s the active position set Pos... = 90.00 mm EMERG.STOP<Menu> the target position x the positioning speed v the current position x 4−19 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 78: Menu Command [Hmi Control]

    The control interface of the MTR−DCI is deactivated and the control enable is set. The actual status of the ENABLE input then has no effect. The device control is carried out via the control interface of the MTR−DCI. Human Machine Interface 4−20 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 79: Commissioning

    Commissioning Chapter 5 5−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 80 ........5−23 5.3.2 Procedure for commissioning with the Festo Configuration Tool 5−24 Communication with the higher−order controller .

  • Page 81: Procedure For Commissioning

    FCT is activated. Control by the FCT must not be activated while the drive · is in motion or when control is being carried out via I/Os. 5−3 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 82 If the value cannot be saved, new reference travel is required for absolute positioning (−> Fault LAST ACTUAL POSITION IS NOT SAVED ...). 5−4 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 83 Instructions on this can be found in chapter 1.1.2. When the power supply is switched off, wait for approx. · 5 seconds before switching the device on again. 5−5 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 84 FCT, as described in the following chapters or in the FCT/PlugIn help. In order to complete commissioning note the instructions · for operation in the FCT/PlugIn help and in chapter 6.1. 5−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 85: Commissioning With The Control Panel (Only Type Mtr−Dci−...−H2)

    3. Carry out a reference run. 5.2.3 4. Teach the following axis parameters for defining the axis 5.2.4 zero point and the working area: Offset of the axis zero point to the reference point Positive and negative software end positions. 5−7 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 86 Tab. 5/1: Commissioning (overview) In order to restore the default settings, the EEPROM can be deleted, if required, with the CI command 20F1 (Data memory control) directly via the serial interface (see chapter B.1.2). 5−8 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 87: Selecting The Axis Type

    1. Select the axis type which matches your positioning Axis type system. Type DMES... Rotation drive Festo positioning axis [Type DMES−...] User config Rotation axis [Rotation drive] Linear axis [User config]. 2. Depending on the entry requested, set axis−specific parameters by means of the arrow buttons: feed constant (Feedcon) or measuring system (degree/revolutions).

  • Page 88: Setting The Reference Run Parameters

    Always carry out reference travel after changing the · referencing method. Then teach the offset of the axis zero point. · If the axis zero point is modified: teach the software end positions and the target · positions again. 5−10 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 89 If the drive is arranged vertically, an increase in the motor current may be necessary. If the motor current is too low, reference travel cannot be carried out. 5−11 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 90 [Save]. Only then will the settings be retained even if the power supply is switched off or if there is a power failure. Finally, carry out reference travel, otherwise the previous · reference system of the MTR−DCI will remain unmodified. 5−12 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 91 Positive fixed stop (remote from motor) 1 Axis moves at search speed v to the mechanical fixed stop. 2 Axis moves at speed v from the reference point to the axis zero point AZ. Tab. 5/4: Fixed stop" referencing method 5−13 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 92 Reference switch" referencing method Please note If, with the referencing method Reference switch", a refer ence signal is not found before the drive reaches a fixed stop, the MTR−DCI will stop and show a fault (HOMING ERROR). 5−14 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 93: Carry Out Reference Travel

    (Fig. 5/1 1). The drive then moves at speed v_s0 to the axis zero point (Fig. 5/1 2). Travel to the reference point Move to the axis zero point AZ Fig. 5/1: Reference travel (example: Fixed stop, negative) 5−15 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 94 With first commissioning or after a change of refer encing method the offset of the axis zero point = 0; after ref erence travel the drive then stands at the reference point (= axis zero point). 5−16 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 95: Teach The Axis Zero Point And The Software End Positions

    Reference travel was successful. Please note With referencing to the stop, set the offset of the axis zero point to 0. You will then prevent movement to the mech anical end positions during operation. 5−17 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 96 4. Save the parameter settings with [Save]. Only then will the settings be retained even if the power supply is switched off or if there is a power failure. 5−18 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 97: Positioning With Position Sets

    · as for the basis coordinates and the working area (see chapter 5.2). After a successful test run you can teach the positions in · the position set table to which movement must be made. 5−19 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 98: Teach Position Sets

    4. Complete or correct the speed. Select [Velocity]. · Set the nominal speed with the arrow buttons. · Accept the setting with OK <Enter>. The setting will · then become effective in the drive. 5−20 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 99: Test Run

    1. Enter several position sets in order to check the position ing reaction (see chapter 5.2.6). Set the target positions at the limits of the positioning · range in order to check the software end positions. Set different speeds. · 5−21 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 100 Check the displayed coordinates of the axis. · With EMERG.STOP <Menu> you can interrupt the current positioning procedure. 5. If necessary, optimize the settings for position sets as well as for the basis coordinates and the working area. 5−22 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 101: Commissioning With Fct

    FCT. 1. Close all programs. 2. Place the Festo Configuration Tool CD in your CD ROM drive. If Auto Run is activated on your system, installation will start automatically and you can omit steps 3 and 4.

  • Page 102: Procedure For Commissioning With The Festo Configuration Tool

    5. Commissioning 5.3.2 Procedure for commissioning with the Festo Configuration Tool Starting the FCT Carry out the following steps in order to commission the MTR−DCI with the FCT: 1. Connect the MTR−DCI to your PC via the RS232 interface. Note here the instructions in chapter 3.3.
  • Page 103 Further information can be found in the PlugIn help: Command [Help] [Contents of installed PlugIns] [Festo (manufacturer name)] [MTR−DCI (PlugIn name)] e.g.: for describing the dialogues of the Device MTR−DCI"...

  • Page 104: Communication With The Higher−Order Controller

    1−signal at the READY output (readiness to operate) if the controller and the power end stage are enabled and if no fault has been recognized. Program or start reference travel as well as some · positioning movements. Check the positioning reaction. · 5−26 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 105: Description Of The I/Os

    Selection of the position sets is carried out via the binary coding of inputs I1 (Bit 0) ... I4 (Bit 3). Positioning I1 (2 I2 (2 I3 (2 I4 (2 15 (Ref.travel) Tab. 5/6: Binary code of the position set 5−27 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 106 As long as the power supply is not switched off, the actual position is registered even after the power end stage is switched off. When enabled again the drive will stand controlled be at the current position. 5−28 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 107 Shows that a positioning order has been completed and that the START input has been reset. Status MOTION COMPLETE 0−signal Positioning procedure is being carried out or there is still a START signal at 1. 1−signal Positioning task is completed 5−29 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 108: Function Description (Pulse−Time Diagram)

    ENABLE (> 0), repeat reference travel. Please note With non self−locking axes new reference travel must always be carried out. With self−locking axes the existing reference point remains valid until new reference travel is carried out. 5−30 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 109 New reference travel Fig. 5/2: Pulse−time diagram (switch−on reference travel fault) To explain the function, the following internal states are also represented in the pulse−time diagrams: (POWER) Power supply (FAULT) Fault (TR) Target position reached (TARGET REACHED) 5−31 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 110 A fault is clearly indicated during operation by the following I/O status: Operating voltage applied Inputs: ENABLE = 1 and START = 0 Outputs: MC = 0 and READY = 0 5−32 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 111 Ï Ï Ï START Ï Ï Ï READY Drive in motion Ready for Nominal position Nominal position Cancel Enable operation reached reached Start 1 Start 2 Fig. 5/3: Pulse−time diagram (positioning procedure start nominal position reached cancel) 5−33 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 112 5. Commissioning 5−34 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 113: Operating, Maintenance And Diagnosis

    Operating, maintenance and diagnosis Chapter 6 6−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 114 ........6−7 6.2.3 Fault messages on the display (only type MTR−DCI−...−H2) ..6−9 6−2 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 115: Important User Instructions

    With self−locking axes the relation of the current axis position to the axis zero point is retained. No new reference travel is then necessary. Note here also the instructions in chapter 5.1. 6−3 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 116 Recommendation: Protect the settings of your axis against undesired modifi · cations with a password: FCT password protection (8 characters, see PlugIn help MTR−DCI) HMI password protection with the MTR−DCI−...−H2 (3 characters, see chapter 4.2.3) 6−4 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 117: Care And Maintenance

    EMERGENCY STOP concept correspon dingly in the control programs. Care and maintenance The motor units do not require maintenance during their specified service life. Follow the maintenance instructions for the components used. 6−5 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 118: Diagnosis And Fault Display

    MTR−DCI Tool target and actual positions as well sioning as speed. Display the operating mode, special outputs and operating states as swell as fault messages of the connected MTR−DCI. Tab. 6/1: Overview of diagnostic possibilities 6−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 119: Led Status Displays

    Tab. 6/2: Power LED ERROR Status Internal fault. The motor unit is not ready to operate (deactivated). No internal fault registered. The motor unit is operational. The motor unit is operational. Tab. 6/3: Error LED 6−7 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 120 Nominal position not reached (positioning procedure runs) (positioning procedure runs) Controller and power end stage enabled or fault Two −colour LED If there is no fault, i.e. LED ERROR = out Tab. 6/4: LED I/F" (interface/field bus) 6−8 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 121: Fault Messages On The Display (Only Type Mtr−Dci−...−H2)

    Eliminate the cause of the fault. · Acknowledge the fault message. · on the control panel with <Enter>, via I/O with a falling edge at the ENABLE signal, with the Quit fault" button in the Festo Configuration Tool. 6−9 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 122 6. Operating, maintenance and diagnosis Fault Possible cause HARDWARE ERROR Device fault e.g. EEPROM defective. Please contact your Festo Service. · HOMING ERROR Fault during reference travel Possible causes: Reference travel interrupted Reference switch defective If necessary, check the function of the reference switch ·...
  • Page 123 Supply line too long? TARGET POSITION OUT The specified nominal position is outside the permitted positioning range. OF LIMIT Check the ... · software end positions the set/nominal position the reference of the nominal position (absolute or relative). 6−11 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 124 6. Operating, maintenance and diagnosis 6−12 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 125 Technical appendix Appendix A A−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 126 ........A−7 A−2 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 127 Severity level 2: ±30 g at 11 ms duration; 5 shocks in each direction Electromagnetic compatibility (EMC) See conformity declaration (www.festo.com) Protection against electric shock By connection toi a PELV power unit (protection against direct and indirect contact (Protected Extra−Low Voltage) as per IEC/DIN EN 60204−1)

  • Page 128: A. Technical Appendix

    [°] Drive output torque [Nm] 11.66 Degree of efficiency 0.75 Mass moment of inertia Rotor [kg cm Gear unit [kg cm 0.022 Product weight [kg] Permitted loading of gear shaft see chapter 2, Tab. 2/2 A−4 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 129 Input current at 24 V input voltage [mA] > 4 > 7 Max. permitted input voltage [V DC] Min. input voltage [V DC] −30 Outputs Number of digital logic outputs Overload protection Maximum current [mA] Rated current [mA] A−5 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 130: A.2 Accessories

    MTR−DCI−62... Type KSE−42−50−D14−D20 Type DME−KG−63−... Clamping groove 1 (shaft @ 14mm) Clamping groove 2 (shaft @ 20 mm) User documentation in paper form German P.BE−MTR−DCI−IO−DE English P.BE−MTR−DCI−IO−EN French P.BE−MTR−DCI−IO−FR Italian P.BE−MTR−DCI−IO−IT Spanish P.BE−MTR−DCI−IO−ES Swedish P.BE−MTR−DCI−IO−SV A−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 131 A. Technical appendix Motor characteristic curves Drive output torque of gear shaft M [Nm] Current I [A] Recommended mode Non−permitted range Overload capacity A−7 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 132 A. Technical appendix MTR−DCI−32...−G7 n [1/min] I [A] M [Nm] MTR−DCI−32...−G14 n [1/min] I [A] M [Nm] Fig. A/1: Motor characteristic curves MTR−DCI−32... A−8 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 133 A. Technical appendix MTR−DCI−42...−G7 n [1/min] I [A] M [Nm] MTR−DCI−42...−G14 n [1/min] I [A] M [Nm] Fig. A/2: Motor characteristic curves MTR−DCI−42... A−9 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 134: A.3 Motor Characteristic Curves

    A. Technical appendix MTR−DCI−52...−G7 n [1/min] I [A] M [Nm] n [1/min] MTR−DCI−52...−G14 I [A] M [Nm] Fig. A/3: Motor characteristic curves MTR−DCI−52... A−10 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 135 A. Technical appendix MTR−DCI−62...−G7 I [A] n [1/min] M [Nm] MTR−DCI−62...−G14 n [1/min] I [A] M [Nm] Fig. A/4: Motor characteristic curves MTR−DCI−62... A−11 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 136 A. Technical appendix MTR−DCI−62...−G22 n [1/min] I [A] M [Nm] Fig. A/5: Motor characteristic curves MTR−DCI−62... A−12 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 137 Supplementary information Appendix B B−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 138: B. Supplementary Information

    ........B−38 B−2 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 139: Supplementary Information

    (1, 2 or 4 data bytes) depends on the data type of the Object to be read or written. As from version 1.19, the firmware of the MTR−DCI offers the possibility of simulating SDO access with CI commands via the RS232 interface. B−3 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 140: Procedure For Data Transfer

    Inform yourself about using the Objects in the CiA Draft · Standard 402 before you use the CI commands of the Command Interpreter of the MTR−DCI. For data transfer you will require a commercially−available terminal program. B−4 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 141 11 <CR> Use CI commands only if you already know their effects · and if they are permitted for your MTR−DCI. Note the Object list and the description of the commands as from section B.1.3. B−5 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 142 Name Class IIII Type communication_ 2FF0 UINT16 error Value Comment 0xFF In the case of a transmission fault, the value <0xFF> will be transferred instead of the regular reply. B−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 143: Ci Commands

    A non−permitted value will not be accepted, the previ ously valid value will be retained. Concrete values (e.g. lengths, speeds, etc.): A non−permitted value will be limited up to the next permitted minimum or maximum value. B−7 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 144 Checksum in 2 hexadecimal figures (2H) <CR> End character <Carriage Return> ($0D) <Value> The transferred value (1, 2 or 4 data bytes) depends on the data type of the Object to be read or written (see section B.1.4). B−8 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 145 All physical variables (position, speed and acceleration) must be con verted into increment values before they can be trans ferred. Further information on converting can be found in section B.2. B−9 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 146 The checksum is formed from the sum of all sent bytes and shortened to 1 byte (modulo 256). The other station must compare the sent command with the ecco" of the controller and process the checksum. Checksum Syntax IIIISS:<Checksum> Format 2 hexadecimal figures Type UINT8 B−10 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 147: B.1.3 Ci Objects (Overview)

    Data_Memory_Control (Data memory control) Array uint8 20F1h 01h, 02h w, w Reserved 20F2h Reserved 20F3h r = read only; w = write only; rw = read and write; rw* = write only Festo (factory or service). B−11 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 148 Target_Position (target position) int32 607Ah Software_End_Positions (software end positions) Array int32 607Bh 01h, 02h r = read only; w = write only; rw = read and write; rw* = write only Festo (factory or service). B−12 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 149 6510h 22h, 31h, r, r 32h, 40h, r, r 41h, 42h, 43h, 44...45h, r = read only; w = write only; rw = read and write; rw* = write only Festo (factory or service). B−13 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 150: Object Description

    (super password) (super password) Entering the super password Resets all passwords (FCT password and HMI password, object 20FB). Contact the Festo Service if you require the super password. Name of the parameter in English Description of the parameter (German in brackets)
  • Page 151 Coding of the hardware version (xx = main version, yy = secondary version) Format = Vxx.yy" Manufacturer_Firmware_Version CI access 100Ah V−string Description Coding of the firmware version (xx = main version, yy = secondary version) Format = Vxx.yy" B−15 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 152 01 (0x01): Reserved, do not use (CANopen) 02 (0x02): Position record 0 (default) 03 (0x03): Position record 1 04 (0x04): Position record 2 Position record ... 18 (0x12): Position record 16 (reference travel) Pseudo−array due to compatibility B−16 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 153 08 (0x08): for rotary movements: rot, rot/min, rot/min 15 (0x0F): reserved (cannot be set with MTR−DCI: increments) Default: 01 (0x01) Scaling Size 20D0h uint8 Number of positions after the decimal point Value range: 0...4 (0x00...0x04) Fix: 2 (cannot be set for MTR−DCI) B−17 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 154 Positioning Mode 20E0h uint16 Positioning mode Values: 0 (0x0000): absolute positioning (default) 1 (0x0001): relative positioning Target Position 20E0h int32 Target position in increments (compare target position, Object 607A). Value range: −2 ...+(2 −1) (0x80000000...0x7FFFFFFF) Default: 0 B−18 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 155 Gear Numerator 20E2h int32 (gear counter) (gear counter) Gear ratio counter, reserved for future extensions Fix: 1 Gear Denominator 20E2h int32 Gear ratio nominator, reserved for future extensions Fix: 1 Write only Festo (factory or service) B−19 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 156 In case of problems: consult the Festo Service. · Note on firmware V1.19 When the EEPROM is deleted the gear factor will be set to the standard factory setting (= 6.75). To set the gear factor: consult the Festo Service. · B−20 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 157 <00000000> (status as at delivery and after reset) Super Password 20FAh V−string Entering the super password Resets all passwords (FCT password and HMI password,Object 20FB). Contact the Festo Service if you require the super password. Local_Password CI access 20FBh V−string...
  • Page 158 HOMING ERROR Bit 3 OVERHEATING Bit 4 POWER DOWN Bit 5 t−ERROR Bit 6 HARDWARE ERROR Bit 7 TARGET POSITION OUT OF LIMIT Bit 8 LAST POSITION NOT SAVED Bit 9...15 Reserved = <0> 0x0000 B−22 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 159 Value range: 0...(2 −1) Group 6xxx Please note The control parameters (6068h, 60FBh) of the MTR−DCI are pre−set. Modification is only permitted for service purpo ses. If necessary consult Festo. Control_Word CI access 6040h uint16 Description Modify the current regulator status or trigger an activity.
  • Page 160 Switch on disabled xxxx xxxx x01x 0001 Ready to switch on xxxx xxxx x01x 0011 Switched on xxxx xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick stop active xxxx xxxx x0xx 1111 Fault B−24 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 161 Demo mode (fixed sequence) 0x01: Profile position mode (position controller with positioning mode) 0x03: Reserved (Profile velocity mode, not available with MTR−DCI−IO) 0x04: Reserved (Profile torque mode, not available with MTR−DCI−IO) 0x06: Homing mode (reference travel) B−25 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 162 If the actual position has been in the target position window this amount of time, the bit Target reached" will be set in the status word (Object 6041). Value range: 1...30000 Default: MTR−DCI−32/42...: 100 ms MTR−DCI−52...: 100 ms MTR−DCI−62...: 400 ms B−26 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 163 Default: 1500 (0x05DC) = rated motor current x 1.5 Motor_Rated_Current CI access 6075h uint32 Description Rated current of motor, value from type plate converted into mA. Identical to Object 6510h/40h Values: MTR−DCI−32: 730 MTR−DCI−42: 2000 MTR−DCI−52: 5000 MTR−DCI−62: 6190 B−27 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 164 (upper limit value) Software end position MTR−DCI−... Default DMES−18: Z 500 (246) mm ...−32...−G7(G14) 2700000 DMES−25: Z 833 (410) mm ...−42...−G7(G14) 4500000 DMES−40: Z 1000 (492) mm ...−52...−G7(G14) 3375000 DMES−63: Z 1500 (737)(456) mm ...−62...−G7(G14)(G22) 3375000 B−28 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 165 0...100000 DMES−40: Z 0...29.6(14.6) mm/s ...−52...−G7(G14) 0...113400 DMES−63: Z 0...50.4(24.7)(15.3) mm/s ...−62...−G7(G14)(G22) The following applies to firmware V1.19: The value must be divisible by 200, otherwise it will be rounded to the next permitted value. B−29 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 166 The encoder resolution is fixed and cannot be modified by the user. The calculated value is derived from the fraction encoder−increments/motor revolution". Encoder Increments 608Fh uint32 Values: MTR−DCI−32: 300 (0x00000120) MTR−DCI−42/52/62: 500 (0x000001F4) Motor Revolutions 608Fh uint32 Fix = 1 B−30 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 167 Motor Revolutions 6091h uint32 Gear ratio counter. Fix: MTR−DCI−...−G7: 27 (0x00001B) MTR−DCI−...−G14: 3969 (0x000F81) MTR−DCI−...−G22: 1710 (0x0006B8) * Write only Festo (factory or service) Shaft Revolutions 6091h uint32 Gear ratio denominator. Fix: MTR−DCI−...−G7: 4 (0x000004) MTR−DCI−...−G14: 289 (0x000121) MTR−DCI−...−G22: 77 (0x00004D)
  • Page 168 22400 (0x005780) DMES−25: Z 4.2(2) mm/s ...−42... 16800 (0x0041A0) DMES−40: Z 5(2.5) mm/s ...−52... 16800 (0x005780) DMES−63: Z 7.5(3.7)(2.3) mm/s ...−62... Search AZ 6099h int32 Speed of travel to the axis zero point AZ Value range: see Object 6099/01h B−32 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 169 Gain current controller Value range: MTR−DCI−32: 200...1000 MTR−DCI−42/52: 200...800 Default: MTR−DCI−32: 1000 MTR−DCI−42/52: 400 MTR−DCI−62: 300 Gain Velocity 60FBh uint16 Trajectory Trajectory Gain speed controller trajectory generator Values: 1, 2 Default: MTR−DCI−32: 1 MTR−DCI−42/52/62: 2 B−33 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 170 Mapping the digital outputs uint32 Digital Outputs 60FEh With MTR−DCI−...IO: Bit 0...15: Reserved (= 0) Bit 16: READY Bit 17: Bit 18...31: Reserved (= 0) Mask 60FEh uint32 With the MTR−DCI−...IO always 0 (writing not permitted). B−34 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 171 Fix: 0x0000 (cannot be set with MTR−DCI) Motor_Data CI access 6410h Record uint32 Description Serial Number 6410h uint32 Reserved (serial number of the motor) * Write only Festo (factory or service) Supported_Drive_Modes CI access 6502h uint32 Description Not adjustable Fix: 0x00000021 Drive_Manufacturer (manufacturer name) CI access 6504h V−string...
  • Page 172 I/O Control 6510h uint16 Activating/deactivating the I/O interface. Value: 0: Control via HMI (control panel) or FCT Note: For controller enable with FCT controller, set ENABLE OPERATION (see Object 6040h). 1: Control via I/O (default) B−36 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 173 Serial number of the controller in format 0xTTMYYSSS: TT (day): 8 bit: 0x01...0x1F M (month): 4 bit: 0x1...0xC YY (year): 8 bit: 0x00...0x63 SSS (serial no.): 12 bit: 0x001...0xFFF * Write only Festo (factory or service) B−37 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 174: Converting The Measuring Units

    Conversion is carried out via the parameters: Feed constant (depending on the drive type) Gear reduction Encoder resolution = physical measuring steps per motor revolution. With MTR−DCI: pulse quadruplication by digital interpolation. B−38 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 175 5400 137160 (+DMES−25) −G14 10986.851211 27906.602076 MTR−DCI−52... −G7 3375 85725 (+DMES−40) −G14 6866.782007 17441.626298 MTR−DCI−62... −G7 2250 57150 (+DMES−63) −G14 4577.854671 11627.750865 −G22 7402.597403 18802.597403 Tab. B/4: Special conversion factors for the MTR−DCI with DMES−... B−39 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 176 1 [minch] 1 [°] [rot] [ m] > [inc] gear feed [ inch] > [inc] gear minch minch minch feed minch gear minch feed 0.0254 + UF 0.0254 minch [rot] > [inc] + enc gear B−40 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 177 [ìinch/s ] x [inc/ìinch] ì inch ì inch [rot] > [inc] x UF [rot/s ] x [inc/rot] * Conversion [ m] > [ inch]: 1 ìinch = 0.0254 ìm Tab. B/5: General formulae for conversion B−41 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 178 Index Appendix C C−1 Festo P.BE−MTR−DCI−IO−EN en 0606b...

  • Page 179: C. Index

    ............C−1 C−2 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 180 ......5−7 With the Festo Configuration Tool (FCT) ...
  • Page 181 ........5−24 Festo Configuration Tool (FCT) ....
  • Page 182 ......... . . C−5 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 183 ........5−20 C−6 Festo P.BE−MTR−DCI−IO−EN en 0606b...
  • Page 184 ......... Software Festo Configuration Tool (FCT) .

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