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Festo MTR-DCI-...IO Series Description

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Motor unit
MTR-DCI
Description
MTR-DCI-...IO
Description
539616
en 1209d
[763197]

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  • Page 1 Motor unit MTR-DCI Description MTR-DCI-...IO Description 539616 en 1209d [763197]...
  • Page 2 ®, ® ® ® Adobe Reader , CANopen and CiA are registered trademarks of the respective trademark owners in certain countries.
  • Page 3 ........539616 © (Festo AG & Co. KG, D-73726 Esslingen, Germany, 2012) Internet: http://www.festo.com E-Mail: service_international@festo.com...
  • Page 4 Contents and general instructions Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 5: Table Of Contents

    3-12 Connecting the higher-order controller ......3-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 6 ........5-19 5.3.2 Procedure for commissioning with the Festo Configuration Tool 5-20 Communication with the higher-order controller .
  • Page 7 ............Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 8 Contents and general instructions Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • 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. DMES) from Festo. The motor unit can also be used for cus- tomer-specific positioning 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 1209d...

  • 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 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 1209d...
  • 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 Mtr-Dci

    MTR-DCI; communication via I/O P.BE-MTR-DCI-IO-EN 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. Positioning axis Operating instructions Mounting and commissioning the linear 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

    LC display and 4 operating buttons. Homing method Method for determination of the reference position: against a fixed stop (overload current/speed evaluation) or with reference switch. Homing mode Operating mode in which a homing run is carried out. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 17 External sensor (e.g. SMT-8 or SIEN) which serves for ascertaining the reference position and is connected directly to the controller. Referencing Complete definition of the basis system of the axis with reference point and, if applicable, zero point. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 18 Teach mode Operating mode for setting positions by moving to the target position, (Teach mode) e.g. when creating position sets. Tab. 0/3: Index of terms and abbreviations Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 19: System Summary

    System summary Chapter 1 System summary Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 20 ..........1-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 21: Positioning With Electric Drives

    The motor unit MTR-DCI enables the connected linear or rota- tion axis to be placed in max. 15 positions (plus homing) with separate speed adjustment. The permitted positioning range can be limited by means of software end positions. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 22 – Travel in individual steps – – Starting and stopping positioning procedures during commissioning – Extended test functions, e.g. status displays – – Testing or demonstrating the positioning records Diagnostics/ – Reading and displaying diagnostic data Service Tab. 1/1: Functions Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 23 All the parameters in the controller are saved internally in increments (inc, inc/s, inc/s ...) and are not converted until they are written or read. Measurements transmitted directly via RS232 are conducted on an increment basis (for conversion see appendix A.4). Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 24: Components

    Axis Linear or rotation axes as per catalogue Coupling with coupling For the axial attachment of Festo axes, e.g. type DMES-... or housing type DNCE-..., couplings and coupling housings are avail- able as accessories. The motor unit is connected to the axis by means of a clamping connection in the coupling housing.

  • Page 25: Control And Regulating Functions

    This gen- erates a setpoint position value for the position controller. For position control the current settings for speed, accelera- tion, braking deceleration, etc. are taken into account. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 26 [Settings][Position set]. – Positioning travel for testing all positioning records in the positioning record table [Demo posit tab]. – Positioning travel for testing a certain positioning record in the positioning record table [Move posit set]. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 27: Operational Reliability

    Software end position recognition. Observe the following: By the arrangement of the limit switches and, if neces- • sary, additionally by means of mechanical stops, make sure that the axis always lies within the permitted posi- tioning range. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 28: Measuring Reference System

    It is the reference point of the axis zero point. 1-10 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 29 AZ is the basis point for the project zero point. The project zero point PZ is specified with the MTR-DCI and is identical to the axis zero point AZ (project zero point offset = 1-11 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 30 Offset axis zero point: Defined distance of the axis zero point AZ from the reference point REF b, c Software end positions: limit the permitted positioning range (work stroke). Work stroke: Permitted positioning range. Rated stroke of the axis used Tab. 1/3: Measuring reference system 1-12 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 31: Signs And Directions

    (left/right-rotating), the algebraic signs on the positioning specifications, and the set active direction. — — Factory setting for active direction Reversal of direction Fig. 1/3: Active direction (using the example of MTR-DCI + DMES, axial gearing) 1-13 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 32: Homing

    After successful homing the drive stands at the axis zero point AZ. On initial commissioning or following a change of homing method the axis zero offset is = 0; after homing the drive is then positioned at the reference point (REF). 1-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 33 As the axis should not stand still at the stop, the axis zero point offset must be ≠ 0 (min. 0.25 mm). REF (-) — REF (+) Stop in a negative direction Stop in a positive direction Fig. 1/4: “Search for fixed stop” reference travel method 1-15 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 34 Note If a reference signal is not found by the “reference switch” homing method before the drive reaches a fixed stop, the MTR-DCI will stop and an error will be displayed (HOMING ERROR). 1-16 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 35: Mounting

    Mounting Chapter 2 Mounting Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 36 ......... . . Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 37: General Instructions

    – 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). Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 38: Dimensions Of The Motor Unit

    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 M3: 7 / M4: 10 Tab. 2/1: Dimensions of the motor unit Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 39: Mounting 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). Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 40 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 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 41 (axial, parallel); 4 screws must be used here. Size Thread depth Tightening torque MTR-DCI-32 6 mm 1.2 Nm MTR-DCI-42 7 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 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 42 2. Mounting In order to fit Festo axes e.g. DMES or 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 43: Installation

    Installation Chapter 3 Installation Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 44 3-12 Connecting the higher-order controller ......3-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 45: 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 hous- ing, the shield or functional earth (FE)! Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 46: Power Supply

    Sensor input for switch switch – Socket type normally open contact in the design PNP, e.g. SMT-8F Serial – M8x1, 4-pin RS232 interface for para- interface – Socket metrizing, commissioning and diagnosing Tab. 3/1: Overview of connections Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 47 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 48: Earthing

    FE! Never connect one of the power supply connections (see • chapter 3.2, A1, A2) with FE or with the housing. This will avoid damaging the device and impairing protec- tion against electromagnetic interference (EMC). Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 49: 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 DC supply in order to limit • the available current (see Tab. 3/4). Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 50 DC 48 V / 20 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 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 51 3. Installation Use the following cable from Festo's accessories: • – power supply cable KPWR-MC-1-SUB-9HC – cable length max. 10 m. Only connect one cable screen (control cable or power • supply cable) to the functional earth (FE). Plug Colour...

  • Page 52: Serial Interface

    RS232 receiving cable Reserved for service personal. Do not connect. The levels correspond to the RS232 standard and enable a data transmission rate of 9600 bit/s Tab. 3/6: Connecting the serial interface on the MTR-DCI 3-10 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 53 PC systems, nor for use as a control interface. Use this terminal only for commissioning. • Remove the programming cable in continuous opera- • tion. Seal the terminal with the supplied protective cap (ISK- • M8). 3-11 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 54: Input For External Reference Switch

    • screw-type lock (external thread M8x1) at the end of the cable or use the connecting cable KM8-M8 with a screw- type lock as an adapter. Use e.g. the following proximity switches from Festo: – magnetic proximity switch SMT-8F –...
  • Page 55 (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”. 3-13 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 56: 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 of pilot line KES-MC-1-SUB-9 Tab. 3/8: “Controller” connection on the MTR-DCI 3-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 57 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. • 3-15 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 58 3. Installation 3-16 Festo P.BE-MTR-DCI-IO-EN en 1209d...

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

    Control panel (MTR-DCI-...-H2IO) Chapter 4 Control panel (MTR-DCI-...-H2IO) Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 60 4-17 4.2.5 Menu command [HMI control] ......4-20 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 61: Control Panel (Mtr-Dci

    Make sure that the FCT, the control panel and the control • interface of the MTR-DCI are not used at the same time. Note If necessary, remove the protective foil from the display before commissioning. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 62: Composition And Function Of The Control Panel

    90° steps, see menu command [LCD adjustment]. 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 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 63: Control Panel (Mtr-Dci

    (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) Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • 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: Menu [Positioning]

    Preset the device control via the control panel (see chapter 4.2.5) LCD adjustment Rotate the display in steps of 90° If necessary password protection Control interface must be deactivated, see [HMI control] :HMI = on Teach mode Tab. 4/3: Menu commands (overview) Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 66: Menu [Diagnostic]

    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. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • 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” Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 68 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 1209d...

  • 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 positioning 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 1209d...
  • 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 1209d...
  • 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 1209d...
  • 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 1209d...
  • 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 1209d...
  • 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 1209d...

  • Page 75: Menu [Positioning]

    • has been defined by means of a reference run. 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 1209d...
  • 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 1209d...
  • Page 77 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 1209d...

  • 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 1209d...

  • Page 79: Commissioning

    Commissioning Chapter 5 Commissioning Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 80 ........5-19 5.3.2 Procedure for commissioning with the Festo Configuration Tool 5-20 Communication with the higher-order controller .

  • Page 81: 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. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 82 ACTUAL POSITION IS NOT SAVED! PLEASE ENFORCE HOMING RUN. Absolute positioning movements can only be carried out after a homing run. Execute a homing run every time the device is switched • on. For the homing method refer to chapter 1.5.3. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 83 • control panel or the 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. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 84: Commissioning With The Control Panel (Only Mtr-Dci

    5.2.2 4. Teach the following axis parameters for defining the 5.2.3 axis zero point and the working area: – Offset of the axis zero point to the reference point – Positive and negative software end positions. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 85: 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: –...
  • Page 86 Values defined at factory Z spindle pitch of the axis [mm] If an external gear is used, the gear factor can be set with FCT. Pre-setting metric; inches can only be set with FCT Tab. 5/2: Parametrizing the axis Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 87: Setting The Homing Parameter

    Always carry out a homing run after changing the refer- • encing 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 posi- • tions again. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 88 – If the drive is arranged vertically, an increase in the motor current may be necessary. If the motor current is too low, homing run cannot be carried out. 5-10 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 89 [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 a homing run, otherwise the previous • reference system of the MTR-DCI will remain unmodified. 5-11 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 90 During the initial commissioning procedure or after changing the homing method, the offset of the axis zero point = 0; after a homing run the drive then stands at the reference point (= axis zero point). 5-12 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 91: Teach The Axis Zero Point And The Software End Positions

    Homing run was successful. Note When homing run to a stop, set the offset of the axis zero point to ≠ 0. You will then prevent movement to the mech- anical end positions during operation. 5-13 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 92 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. 5-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 93: 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. 5-15 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 94: Teach Position Sets

    Accept the position reached with OK <Enter>. The set- • ting of the target position and the positioning mode will then become effective in the drive. 4. Complete or correct the speed. Select [Velocity]. • 5-16 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 95: Test Run

    Set the offset of the axis zero point ≠ 0. • Limit the positioning range by defining valid software • end positions during commissioning (see chapter 1.5.1). Specify target positions only within the permitted posi- • tioning range. 5-17 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 96 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. 5-18 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 97: 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 98: 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 3.4.
  • Page 99 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 100: 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 homing run as well as some positioning • movements. Check the positioning reaction. • 5-22 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 101: 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 (Homing run) Tab. 5/4: Binary code of the position set 5-23 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 102 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. 5-24 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 103 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 5-25 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 104: Function Description (Pulse-Time Diagram)

    If homing run is discontinued by a cancelled ENABLE signal or > a fault, the controller will set internally the FAULT signal ( HOMING ERROR). The MC signal and the READY signal will be > reset 5-26 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 105 When homing run has been successfully completed, the MC > signal is set again ( 1). After that, any number of position- ing procedures can be carried out. 5-27 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 106 Fig. 5/2: Pulse-time diagram (switch-on – homing run – 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) 5-28 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 107 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 5-29 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 108 ‹ t ≥ 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) 5-30 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 109: Operating, Maintenance And Diagnosis

    Operating, maintenance and diagnosis Chapter 6 Operating, maintenance and diagnosis Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 110 ........6.2.3 Fault messages on the display (only type MTR-DCI-...-H2) ..Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 111: Operating, Maintenance And Diagnosis

    – with the fault LAST ACTUAL POSITION NOT SAVED PLEASE ENFORCE HOMING RUN, – with a non self-locking axis each time it is switched Make sure that the axis is within the permitted posi- • tioning range when it is switched on. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 112 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) Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 113 Take into account any functions implemented within the framework of the 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. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 114: 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 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 115: Led Status Displays

    Check the operating voltage connection if necessary. 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. Tab. 6/3: “Error” LED Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 116 – Nominal position not reached (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) Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 117: Fault Messages On The Display (Only Type Mtr-Dci

    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. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 118 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 homing run Possible causes: – homing run interrupted – Reference switch defective • If necessary, check the function of the reference switch •...
  • Page 119 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 1209d...
  • Page 120 6. Operating, maintenance and diagnosis 6-12 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 121: A. Technical Appendix

    Technical appendix Appendix A Technical appendix Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 122 ........A-13 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 123: Technical Appendix

    By connection to a PELV power unit (protection against direct and indirect contact (Protected Extra-Low Voltage) as per IEC/DIN EN 60204-1) Electromagnetic compatibility (EMC) See conformity declaration (www.festo.com) Gear type Planetary gear Encoder (with 4-fold evaluation) 500 x4 —> 2000 inc/revolution MTR-DCI-32: 300 x4 —>...
  • Page 124 – 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 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 125 Input current at 24 V input voltage [mA] > 4 > 7 Max. permitted input voltage [DC V] Min. input voltage [DC V] Outputs Number of digital logic outputs Overload protection Maximum current [mA] Rated current [mA] Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 126: Accessories

    0.5 / 1 / 2 / 5 screw-type lock Field bus connection Field bus adapter (IP54) FBA-CO-SUB-9-M12 – incl. logic power sup- User's manual 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 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 127: Motor Characteristic Curves

    A. Technical appendix A.3 Motor characteristic curves Drive output torque of gear shaft M [Nm] Current I [A] Recommended mode Impermissible range Overload range Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 128 A. Technical appendix MTR-DCI-32...-G7 n [rpm] I [A] M [Nm] MTR-DCI-32...-G14 n [rpm] I [A] M [Nm] Fig. A/1: Motor characteristic curves MTR-DCI-32 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 129 A. Technical appendix MTR-DCI-42...-G7 n [rpm] I [A] M [Nm] MTR-DCI-42...-G14 n [rpm] I [A] M [Nm] Fig. A/2: Motor characteristic curves MTR-DCI-42 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 130 A. Technical appendix MTR-DCI-52...-G7 n [rpm] I [A] M [Nm] n [rpm] 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 1209d...
  • Page 131 A. Technical appendix MTR-DCI-62...-G7 I [A] n [rpm] M [Nm] MTR-DCI-62...-G14 n [rpm] I [A] M [Nm] Fig. A/4: Motor characteristic curves MTR-DCI-62 A-11 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 132 A. Technical appendix MTR-DCI-62...-G22 n [rpm] I [A] M [Nm] Fig. A/5: Motor characteristic curves MTR-DCI-62 A-12 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 133: Converting 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. For the MTR-DCI: Pulse quadruplication by di- gital interpolation A-13 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 134 27906.602076 MTR-DCI-42... 5400 137160 (+DMES-25) -G14 10986.851211 27906.602076 MTR-DCI-52... 3375 85725 (+DMES-40) -G14 6866.782007 17441.626298 MTR-DCI-62... 2250 57150 (+DMES-63) -G14 4577.854671 11627.750865 -G22 7402.597403 18802.597403 Tab. A/6: Special conversion factors for the MTR-DCI with DMES A-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 135 [inc] × enc × gear inch inch inch feed inch × enc × gear inch × × feed 0,0254 = UF × 0, 0254 m × inch [rot] [inc] × rot = enc × gear A-15 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 136 μinch μm) x CF [µinch/s ] x [inc/µinch] μinch μinch x CF [rot/s ] x [inc/rot] [rot] [inc] * Conversion [µm] [µinch] : 1 Inch = 0.0254 µ µ Tab. A/7: General formulae for conversion A-16 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 137: B. Supplementary Information

    Supplementary information Appendix B Supplementary information Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 138 ........B-16 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • 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. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 140: Procedure For Data Transfer

    20F1h (Data memory control) (see chapter B.1.). User-specific settings will then be lost. Use CI commands only if you already have experience of • Service Data Objects. If necessary, consult Festo. • B.1.1 Procedure for data transfer Caution In special application cases, access with CI commands enables parametrizing and commissioning of the MTR-DCI directly via the RS232 interface.
  • Page 141 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 or the CI terminal of the plugin MTR-DCI in the Festo Configuration Tool (FCT). Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 142 1 <CR> 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. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 143 – incorrect value type. 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. Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 144: Ci Commands

    Write commands (W) transfer a value in the specified format to the MTR-DCI. As a reply, write commands will be reflected exactly character by character from the controller of the MTR-DCI. A checksum <PS> will be inserted in front of the <CR>. Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 145 If the addressed Object does not have an indexed parameter, subindex <00> will be specified. “:” Separating character <Value> Data in a format depending on data type <PS> Checksum in 2 hexadecimal figures (2H) <CR> End character <Carriage Return> ($0D) Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 146 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 A.4. B-10 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 147 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-11 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 148: Ci Objects (Overview

    — Reserved — 20F2h — — — — — Reserved — 20F3h — — — — 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 1209d...
  • Page 149 6064h Position_Window_Time (adjustment time position) Var uint16 6068h Velocity_Target_Value (nominal speed value) int32 606Bh 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 1209d...
  • Page 150 01h, 02h rw, rw Motor_Type (motor type) uint16 6402h Motor_Data (motor data) Record uint32 6410h r = read only; w = write only; rw = read and write; rw* = write only Festo (factory or service). B-14 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 151 V-string 6504h HTTP_Drive_Catalog_Address V-string 6505h (HTTP address of manufacturer) Drive_Data (drive data) Array uint32 6510h r = read only; w = write only; rw = read and write; rw* = write only Festo (factory or service). B-15 Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 152: Object Description

    V-string (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 153 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-17 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 154 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 (homing run) Pseudo-array due to compatibility B-18 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 155 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-19 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 156 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-20 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 157 (gear counter) Gear ratio – counter, reserved for future extensions Fix: 1 Gear denominator 20E2h int32 (gear denominator) Gear ratio - denominator, reserved for future extensions. Fix: 1 * Write only Festo (factory or service) B-21 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 158 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-22 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 159 <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 160 TARGET POSITION OUT OF LIMIT Bit 8 LAST POSITION NOT SAVED Bit 9...15 Reserved = <0> 0x0000 Cycle_Number CI access 2FFFh uint32 Description Number of positioning records carried out, homing run etc. Value range: 0...(2 B-24 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 161 B. Supplementary information Group 6xxx 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 162 Bit 11: 0x0800 <1>: Internal limit active <0>: Internal limit not active 0x2000 Fault during homing run Bit 13: 0x2000 <1>: Homing error <0>: No homing error Tab. B/2: Typical values of status word B-26 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 163 Last_Position_Value CI access 6063h int32 Description Last nominal position for standstill monitoring in increments. Value range: -2 ...+(2 Position_Actual_Value CI access 6064h int32 Description Current position of the drive in increments. Value range: -2 ...+(2 B-27 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 164 ”Target reached” bit will be set in the status word (object 6041). Range of values: 1...30000 Default: MTR-DCI-32/42...: 100 ms MTR-DCI-52...: 100 ms MTR-DCI-62...: 400 ms * Write only Festo (factory or service) Velocity_Target_Value CI access 606Bh int32 Description Current nominal speed value of speed regulator in increments. Value range: -2 ...+(2...
  • Page 165 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-29 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 166 ...-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-30 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 167 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-31 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 168 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 169 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-33 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 170 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 Gain speed controller – trajectory generator Values: 1, 2 Default: MTR-DCI-32: 1 MTR-DCI-42/52/62: 2 B-34 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 171 Mapping the digital outputs Digital Outputs 60FEh uint32 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-35 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 172 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...
  • Page 173 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-37 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 174 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) Firmware Number 6510h UINT32 Version identification of the implemented firmware B-38 Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 175 Index Appendix C Index Festo P.BE-MTR-DCI-IO-EN en 1209d...

  • Page 176: C. Index

    ............Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 177 ......With the Festo Configuration Tool (FCT) ... .
  • Page 178 ........5-20 Festo Configuration Tool (FCT) ..... .
  • Page 179 ........Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 180 Protection class ........Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 181 ....... Transmission protocol ......Festo P.BE-MTR-DCI-IO-EN en 1209d...
  • Page 182 ........1-10 Festo P.BE-MTR-DCI-IO-EN en 1209d...

Table of Contents