Page 1 Motor unit MTR-DCI Description MTR-DCI-...-CO Description 539630 en 1209a [763213]...
Page 2 ® ® ® ® Adobe , Reader , CANopen and CiA are registered brand names of the respective brand holders in certain countries.
Page 3 ........539630 © Festo AG & Co. KG, D-73726 Esslingen, 2012 Internet: http://www.festo.com E-mail: service_international@festo.com...
Page 4 Contents and general safety instructions Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 5: Table Of Contents
..........Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 6 ........4-25 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 7 ......... . . 5-34 Festo profile for handling and positioning (FHPP standard) ... . .
Page 8 Conversion of the measuring units ....... . . A-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 9 Contents and general safety instructions Reference – Festo Handling and Positioning Profile (FHPP) ... . The Festo Parameter Channel (FPC) ....... .
Page 10 ............VIII Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 11: Designated Use
DC motor, planetary gear, encoder and integrated control electronics (positioning control and position regu- lator). The MTR-DCI is optimized for use with Festo axes (e. g. DMES-... or DNCE-...). This manual deals with the basic functions of the MTR-DCI and control via the CANopen field bus.
Page 12: Safety Instructions
Warning Faults in parametrizing can cause injury to human beings and damage to property. Only enable the controller if the axis system has been in- stalled and parametrized by technically qualified staff. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 13: Target Group
Service Please consult your local Festo Service or write to the follow- ing e-mail address if you have any technical problems: service_international@festo.com Scope of delivery...
Page 14: Important User Instructions
... means that failure to observe this instruction may result in personal injury or damage to property. Note ... means that failure to observe this instruction may result in damage to property. Electrostatically sensitive devices: Incorrect handling can result in damage to components. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 15 Information on the environment-friendly use of the products Text designations The bullet indicates activities which may be carried out in • any order. 1. Figures denote activities which must be carried out in the numerical order specified. – Hyphens indicate general activities. XIII Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 16: Manuals On Motor Unit Type Mtr-Dci
P.BE-MTR-DCI-CO-... unit MTR-DCI; communication via CANopen interface. Help system for software Festo Configuration Tool Function description of the Festo Con- help (contained in FCT figuration Tool (FCT) configuration soft- software) ware. Axes Operating instructions Installing and commissioning the axes e.
Page 17: Information On The Version
MTR-DCI. You can find the specifications on the version status as fol- lows: – 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 18: Product-Specific Terms And Abbreviations
PlugIns. Festo Handling und Posi- Uniform field bus data profile for positioning controllers from Festo. tioning Profile (FHPP) Parameter values, control and status bytes required during operation can be written and read via the FHPP Object Directory.
Page 19 – The absolute or relative basis of the target position – Target position – Positioning speed Power operation Operating mode for executing a direct positioning task with power (profile torque mode) operation (open loop transmission control) with motor current regulation. XVII Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 20: Canopen Specific Terms And Abbreviations
Hexadecimal numbers are marked by a prefixed “0x” or by a suffixed “h.” Binary coded decimal Electronic Data Sheet; contains the specific properties of the slave (e. g. number of I/Os, parameters, etc.). Least significant bit (lower-value bit) Most significant bit (higher-value bit) XVIII Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 21 A pair of CAN telegrams per object are transmitted. Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must be installed or switched in at the end of bus segment cables. Tab. 0/4: Index of CANopen terms and abbreviations Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 22 Contents and general safety instructions Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 23: System Overview
System overview Chapter 1 System overview Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 24 Reference run (homing) ........1-19 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 25: Positioning With Electric Drives
The motor unit type MTR-DCI-...-CO with CANopen fieldbus interface permits positioning of the connected linear or rota- tion axis: – corresponding to the device profile “CiA 402” from the user organisation CIA. – as per the “Festo Handling and Positioning Profile:” Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 26 – Moving in individual steps – – Starting and stopping positioning procedures while commissioning – Extended test functions e.g. status displays – Testing or demonstrating the position records Diagnostics/ – Reading and displaying diagnostic data Service Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 27 All parameters are saved internally in the controller in in- crements (inc, inc/s, inc/s ...) and are not converted until they are written or read. Dimensions transmitted by the RS232 or by the field bus refer to an increment basis (conversion see appendix A.4) Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 28: Field Bus Communication
PDO. Process Data Objects can be transmitted event-controlled, synchronous to a system pulse sequence or on demand. PDOs are transmitted by simple CAN messages and are suitable for transmitting cyclic data. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 29: Data Profiles Fhpp And Cia
For drives with a CANopen interface, the CANopen profile CiA 402 for control by the master can also be used as an al- ternative to the Festo profile. The CiA 402 profile is then also the internally implemented profile; the FHPP interface is mapped by an implementation of CiA 402.
Page 30 The record number is transferred to the cyclic I/O data as the nominal or actual value (FHPP standard). Detailed information on the FHPP can be found in chapter 5.5. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 31 1, 2... — ..TxPDO 1 RxPDO 1 TxPDO 2 RxPDO 2 TxSDO RxSDO 8 bytes I/O as per FHPP standard 8 bytes I/O as per FHPP FPC Fig. 1/2: Festo Handling und Positioning Profile (FHPP) Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 32: Components
Axis Linear or rotation axes as per catalogue Coupling with coupling In order to fit Festo axes, e.g. type DMES-... or type DNCE-..., housing couplings and coupling housings are available as accessor- ies. The motor unit is connected to the axis by means of a clamping connector in the coupling housing.
Page 33: Control And Regulating Functions
This gener- ates a nominal position value for the position controller. For position control, the current settings for speed, acceleration, braking deceleration, etc. are taken into account. 1-11 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 34 (Teach Mode), [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]. 1-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 35: Operational Safety
To detect a bus failure (wire break, master shutdown, ...) • activate Node Guarding as necessary on the CANopen master; see section 6.5.1. 1-13 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 36 If an EMERGENCY STOP circuit is necessary for your • application, use additional, separate safety limit switches (e. g. as normally closed limit switches wired in series). – Cancelling the ENABLE signal at the controller inter- face – Switch off the load voltage. 1-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 37: Measuring Reference System
If the target position of a positioning command lies outside the software end posi- tions, the positioning command will not be processed and an error status will be set. 1-15 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 38 Offset software end positions: limit the permitted positioning range (usable stroke). Offset project zero point: distance from AZ Effective stroke: Permitted positioning range Rated stroke of the axis used Tab. 1/2: Measuring reference system 1-16 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 39: Signs And Directions
Afte reversal new homing (reference travel) is then required. The direction in which the work load moves depends on the gear, the spindle type (left/right-hand turning), the sign for the position specifications (+/-) and the work direction set. 1-17 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 40 1. System overview — — Factory setting of the work direction Direction reversal by modifying the work direction Fig. 1/4: Setting the work direction (example MTR-DCI + DMES, axial gear, right-hand turning spindle) 1-18 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 41: Reference Run (Homing)
After successful reference travel 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). 1-19 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 42 As the axis must not stand still at the stop, the offset axis zero point must ≠ 0 (min. 0.25 mm). REF (-) — REF (+) Stop in a negative direction Stop in a positive direction Fig. 1/5: Homing methods “Search for stop...” 1-20 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 43 If the drive stands on the reference switch at the start of reference travel, it will move in the opposite direction to the reference switch. The drive then moves as usual to the axis zero point. 1-21 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 44 1. System overview 1-22 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 45: Mounting
Mounting Chapter 2 Mounting Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 46 ..........Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 47: 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-CO-EN en 1209a...
Page 48: Dimensions Of The Motor Unit
2.5 ±0.3 ±0.2 ±0.2 ±0.3 ±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-CO-EN en 1209a...
Page 49: Fitting Electric Axes
Make sure that you observe the maximum permitted • values 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-CO-EN en 1209a...
Page 50 The gear output torque of 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-CO-EN en 1209a...
Page 51 4 screws must be used. 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-CO-EN en 1209a...
Page 52 2. Mounting In order to fit Festo axes, e. g. type DMES-... or DNCE-..., couplings and coupling housings are available 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 53: Installation
Installation Chapter 3 Installation Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 54 ......3-19 3.7.3 Bus termination with terminating resistors ....3-20 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 55: Installation
Only in this way can you be sure that the system will work properly. Note Lay all moveable motor and sensor cables free of bends • and free of mechanical stress, if necessary, in a drag chain. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 56 If non-assigned plug connectors are touched, there is a danger that damage may occur to the MTR-DCI or to other parts of the system as a result of ESD (electrostatic dis- charge). Place protective caps on unused terminals in order to prevent such discharges. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 57 3. Installation The plug connectors on the Festo cables listed in the follow- ing are designed to conform to protection class IP54 when connectors are plugged in and secured, or when the connec- tions on the MTR-DCI are equipped with protective caps.
Page 58: Earthing
FE! Never connect one of the voltage connections (see • chapter 3.2, A1, A2) to FE or the housing. This will avoid damaging the device and impairing protec- tion against electromagnetic interference (EMC). Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 59: Power Supply
Make sure that the permitted voltage tolerance is • not exceeded. The tolerance must also be observed directly at the voltage connections of the MTR-DCI (see appendix A.1). Install external fuses (see Tab. 3/4). • Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 60: Load And Logic Voltages
With power units with additional output reserve (power boost), the output voltage remains constant even during overload. Power units with U/I characteristic curve and power reserve are therefore optimally suited for universal industrial use. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 61 External fuse (secondary side) 10 A 25 A slow-blowing slow-blowing slow-blowing slow-blowing Exception Tab. 3/4: Requirement for power units and fuses External fuse Earth connection (see chapter 3.2) Fig. 3/2: Example of connection – Power supply Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 62 If there is a failure of the logic voltage, the controller will switch itself off. With MTR-DCI 42, 52, 62: If the load voltage is still applied, the controller will switch itself on again, but is no longer referenced. 3-10 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 63: Serial Interface
RS232 transmitting cable RS232 receiving cable reserved for servicing personnel – do not connect. The levels correspond to the RS232 standard Data transfer rate: 9600 bit/s Tab. 3/6: Pin assignment of the serial interface on the MTR-DCI 3-11 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 64 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 protective cap supplied (ISK- • M8). 3-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 65: Input For External Reference Switch
Usea reference switch with screw locking (outer thread • M8x1) at the end of the cable or, as adapter, the connect- ing cable KM8-M8-... with screw locking. Use e. g. the following proximity switches from Festo: – Magnetic proximity switches SMT-8M-... –...
Page 66 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”. 3-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 67: Controller
There is a 9-pin Sub-D plug on the MTR-DCI-...-CO for connect- ing the field bus. This connection serves for the incoming and continuing field bus cables. Note Only the field bus plug FBA-CO-SUB-9-M12 from Festo complies with IP 54. Note The screening connection at pin 5 of the fieldbus interface is capacitively connected internally with high impedance to the housing.
Page 68 (= internal 24 V supply) CAN_V+ external supply 24 V – Screening/ connection to functional earth housing 1) internal or external supply of the bus interface see Tab. 3/9 Tab. 3/8: Connection “I/F” (controller connection) on the MTR-DCI-...-CO 3-16 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 69 DC 24 V at pin 9. Check whether there is any danger for other field bus • slaves. Note the pin assignment in accordance with the assem- • bly instructions for the field bus adapter. 3-17 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 70: Connecting The Field Bus
EN 60204 part 1. Use a twisted-pair, screened 4-wire cable as fieldbus cable. If you are using the Festo field bus plug, a cable diameter of 5 ... 8 or 7 ... 10 mm is permitted. Bus length Exact specifications on the bus length can be found in the next section and in the manuals for your control system.
Page 71: Fieldbus Bit Rate And Fieldbus Length
20 kbit 1000 m Tab. 3/10: Maximum fieldbus segment lengths depending on the bit rate Notes on setting the bit rate and further bus parameters on the control panel can be found in section 5.2.7. 3-19 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 72: Bus Termination With Terminating Resistors
If the MTR-DCI is to be connected at the end of the fieldbus, a terminating resistor (120 Ω, 0.25 W) must be installed in the fieldbus socket: Connect the terminating resistor between the cores for • CAN_H and CAN_L. 3-20 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 73: Control Panel (Only Type Mtr-Dci-...-H2)
Control panel (only type MTR-DCI-...-H2) Chapter 4 Control panel (only type MTR-DCI-...-H2) Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 74 ........4-25 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 75: Control Panel (Only Type Mtr-Dci
If necessary, use the possibility of blocking parametriz- • ing and positioning functions via the control panel (HMI access, see section 5.5.2) Note If applicable, remove any protective foil on the display before commissioning. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 76: Composition And Function Of The Control Panel
– Processing/testing individual positioning sets. LEDs The operating states are shown with 3 LEDs (see also chapter 6.2). – Power: Power supply – I/F: Bus communication Bus operating status: green Bus connection: red – Error: Error Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 77 After stop: Display of current position; use <Menu> to return to the higher-order menu level. <- -> Scrolls within a menu level in order to select a menu command. EDIT Sets parameters. Tab. 4/1: Button function (overview) Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 78: 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 dis- HMI:off <Menu> play. The status display shows the following information: –...
Page 79 Presetting the device control via the control panel (see chapter 4.6) LCD adjustment Rotate the display in steps of 90° If necessary password protection Teach mode Controller interface must be deactivated, see [HMI] control] :HMI = on Tab. 4/2: Menu commands (overview) Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 80: Diagnostic] Menu
2. Select a menu command (see Tab. 4/3 and Tab. 4/4). System paramet. CAN-BUS Diag Sodtware information <- -> You can scroll through the data with the arrow buttons. With the <Menu> button you can return to the higher-order menu. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 81 Reference switch in positive direction – sw.neg Reference switch in negative direction Gear Gear reduction of the motor unit (e.g. 6.75) Measuring unit depends on set measuring system not for axis type “Rotation drive” Tab. 4/3: [Diagnostic] menu (1) Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 82 Profiles Pre-set data profile. Controller or device profile used for communication between the CAN master and the MTR-DCI. – FHPP: The MTR-DCI is controlled as per the Festo Handling and Positioning Profile. – 402: The MTR-DCI is controlled as per 402.
Page 83: Positioning] Menu
(see chapter 4.4.3). Note Please note that position records with speed v = 0 or invalid target positions ( -> error TARGET POSITION OUT OF LIMIT) cannot be executed. 4-11 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 84: Positioning] [Move Position Set]
2. Start the positioning procedure with START <Enter>. Move position set Attention! Motor moves During positioning travel the following information is displayed: ESC <Menu> START <Enter> – the active positioning set e.g. Pos 2 4-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 85: Positioning] [Demo Position Table]
Pos 2 – the target position xt Demo position table Pos 2 = 220 mm – the positioning speed v = 22 mm/s = 220 mm – the current position xa. DEMO STOP<Enter> EMERG.STOP<Menu> 4-13 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 86: Positioning] [Homing]
During reference travel the drive moves slowly at reduced Homing V_sw = 20 mm/s search speed to the stop or reference switch and accepts the v_s0 = 10 mm/s position as the reference point. EMERG.STOP<Menu> 4-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 87 With the <Menu> button you can interrupt the STOP reference travel (> HOMING ERROR fault). Acknowledge the error message with • <Enter>. Repeat the reference run. • After successful reference travel the menu [Positioning] will be shown. 4-15 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 88: Menu [Settings]
EEPROM with the [SAVE...] menu command: Choose [SAVE...] to save the parameter settings. Only • then will the settings be retained even when the power supply is switched off or if there is a power failure. 4-16 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 89: Settings] [Axis Type]
SAVE You can save the settings permanently in EEPROM with the <Enter> button With the <Menu> button you can interrupt the activity and return to the higher-order menu. Save the settings with SAVE <Enter>. • 4-17 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 90: Settings] [Axis Parameter]
Choose [SAVE...] to save the parameter settings. Only then • will the settings be retained even when the power supply is switched off or if there is a power failure. 4-18 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 91: Settings] [Homing Paramet.]
Speed for searching for the reference point [Velocity v_s0] v_s0 Speed for moving to the axis zero point [SAVE...] Save parameters in EEPROM Tab. 4/8: Menu [Settings] [Homing paramet.] Choose [SAVE...] to save the parameter settings. • 4-19 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 92: Settings] [Position Set]
Choose [SAVE...] to save the parameter settings. Only then • will the settings be retained even when the power supply is switched off or if there is a power failure. 4-20 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 93: Settings] [Password Edit]
If the active password in the MTR-DCI should be lost in spite of care being taken: the password can be deleted by entering a master password. In this case please contact your Festo Service partner. Activate password Select the menu [Settings] [Password edit].
Page 94 New Password: Enter the new password with 3 figures or “000” in order [?xx] = to deactivate the old password: ESC<Menu> EDIT <--> OK <Enter> 4. Use the arrow buttons to select the first figure. 4-22 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 95: Settings] [Can Parameters]
CAN master and the MTR-DCI. – 402: The MTR-DCI is controlled as per 402. – FHPP: The MTR-DCI is controlled as per the Festo Handling and Posi- tioning Profile. [CAN Volt.Supply] internal, only MTR-DCI 42,52,62: Supply for the CAN interface, external see chapter 3.6.
Page 96 The settings in the menu [CAN parameter] are saved directly and permanently (including in the event of a power failure) in the EEPROM after confirmation with OK <Enter>. 4-24 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 97: Menu Command [Hmi Control]
With the <Menu> button you can interrupt the activ- ity and return to the higher-order menu. Access to the MTR-DCI via HMI and FCT can be blocked via the field bus as follows: – FHPP: Bit CCON.B5, “HMI Access locked”. 4-25 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 98 4. Control panel (only type MTR-DCI-...-H2) 4-26 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 99: Commissioning
Commissioning Chapter 5 Commissioning Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 100 ......... . . 5-34 Festo profile for handling and positioning (FHPP standard) ... . .
Page 101 ..........5-83 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 102: 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 the field bus. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 103 If there is a failure of the logic voltage, the controller will switch itself off. With MTR-DCI 42, 52, 62: If the load voltage is still applied, the controller will switch itself on again, but is no longer referenced. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 104 (see section C.3). User-spe- cific settings will then be lost. Use CI commands only if you already have experience of • Service Data Objects. If necessary consult Festo. • Warning Danger of injury. Faults in parametrizing can cause injury to human beings and damage to property.
Page 105: Commissioning With The Control Panel (Only Mtr-Dci
[Diagnostic] on the control panel. Carry out the following steps in order to commission the MTR-DCI the first time with the control panel: Note the detailed description in the sections specified. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 106 This step can be the first one. 5.4.1 9. Before completing commissioning, note the instruc- tions on operation. Tab. 5/1: Commissioning steps Note The project zero point PZ can only be set via FCT or CANopen/CI object 21F4 (FHHP PNU 500). Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 107: Setting The Axis Type
If the axis type is changed, a reset is absolutely necessary for adaption of the internal regulator settings. After changing the axis type/size, switch the power sup- • ply off and then on again (Power off/on). Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 108: Setting The Reference Travel Parameters
The maximum motor current during reference travel can be specified with 10 ... 200 % of the rated motor current (see help for the FCT or CI object 6073 5-10 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 109 [Settings] [Homing parameter] (see Tab. 5/5) Homing method Velocity v_sw 2. Accept each setting with OK <Enter>. The setting will then Velocity v_s0 SAVE take effect in the drive. 3. Save the parameter settings with the menu command [SAVE]. 5-11 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 110 Speed for searching for the reference point [Velocity v_s0] v_s0 Speed for moving to the axis zero point [SAVE...] Save parameters in EEPROM Further information on the reference travel (homing) method in chapter 1.6.3 Tab. 5/5: Reference travel parameters 5-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 111: Starting A Reference Run
Interrupt the procedure with ESC <Menu>, in order that • the position is not included in the position set table. 2. Select [Positioning] [Homing]. } Positioning Demo posit tab Move posit set 3. Start reference travel with START <Enter>. Homing 5-13 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 112 At the start of reference travel, the axis already stands behind the reference switch. – The reference switch is defective. – The axis is defective or fitted incorrectly, e. g. the coupling “does not grip.” 5-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 113 Check the settings of the parameters. • If necessary, position the drive in Teach mode so that at • the start it stands in the search direction in front of the stop or reference switch. Repeat the reference run. • 5-15 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 114: Teach The Axis Zero Point Az And The Software End Positions
Note that these values are shifted together with the axis zero point AZ. Teach the software end positions, the project zero point • and the target positions again if needed. 5-16 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 115 4. Save the parameter settings with [SAVE]. Only then will the settings be retained even when the power supply is switched off or if there is a power failure. 5-17 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 116: Teach Position Records
Accept the setting with OK <Enter>. The setting will • then take effect in the drive. Position records with speed v = 0 or invalid target positions (-> error TARGET POSITION OUT OF LIMIT) cannot be executed. 5-18 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 117 If necessary, insert an absolute position set or reference travel into the positioning cycle, in order to correct deviations. 5-19 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 118: Test Run
Homing 3. Select [Positioning] [Demo posit tab] in order to process all position sets. At least two position records must be entered in the position record table in order that this function can be used. 5-20 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 119 [Demo posit tab]. The current position record will be executed before the drive stops. Check the positioning behaviour. • Check the positions displayed. • 5. If necessary, optimize the settings for position records, and for the basis points and the working range. 5-21 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 120: Setting Can Parameters
3. Set the desired address with the arrow buttons. CAN Node ID 110 dec, 6e hex 4. Accept the address with OK <Enter>. The set address be- comes effective immediately and is saved against network ESC<Menu> failure. EDIT <--> OK <Enter> 5-22 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 121 3. Use the arrow keys to set the desired bit rate. CAN baud rate 1000 kBd 4. Accept the bit rate with OK “Enter”. The set bit rate is saved against network failure. ESC ”Menu” EDIT ”--” OK ”Enter” 5-23 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 122 5. Commissioning Data profile (CAN profile) – Possible data profiles: – FHPP: Control of the MTR-DCI is made as per Festo Handling and Positioning Profile. – CiA 402: The MTR-DCI is activated and parameterised in ac- cordance with CiA 402.
Page 123 3. Use the arrow keys to set the desired power supply. CAN volt.supply internal 4. Accept the setting with OK <Enter>. The setting takes effect immediately, and is saved against ESC<Menu> network failure. EDIT <--> OK <Enter> 5-25 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 124: Commissioning With Fct
5. Commissioning Commissioning with FCT The Festo Configuration Tool (FCT) is the software platform for configuring and commissioning different components and devices from Festo. The FCT consists of the following components: – a framework as program start and entry point with uni- form project and data management for all supported types of devices.
Page 125: Installing The 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, the installation will start automatically and you can omit steps 3 and 4.
Page 126: Procedure
– or – switch to the Windows menu [Start] and select the entry [Festo Software] [Festo Configuration Tool]. 3. Create a project in the FCT or open an existing project. Add a device to the project with the PlugIn MTR-DCI.
Page 127 By means of the CANopen interface, access to the MTR-DCI through the Festo Configuration Tool can be blocked (see section 5.5.2, FHPP control bit CCON.B5, CiA 402 control word Bit14). In this case the boxes “FCT control” and “Enable” are blocked (inactive).
Page 128: Commissioning On A Canopen Master
DS 402, The Draft Standard 402 defines the activation Version 2.0 of drives via CANopen. In order to understand this section, you should be familiar with CANopen and the specifications DS 301 and DS 402. 5-30 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 129: Overview Of Commissioning On The Field Bus
– External voltage supply May be restricted by the master used on the control panel (only with MTR-DCI-...-H2, see • section 5.2.7, or with the Festo Configuration Tool (see help for the • Festo Configuration Tool). 2. Configure the CANopen master (5.4.2): –...
Page 130: Configuration Of The Canopen Master ("I/O Configuration")
Obtainable from: The accompanying CD contains EDS files for the MTR-DCI in the “CANopen” folder. You will find the latest EDS files on the Festo website (www.festo.com). EDS file: For the MTR-DCI you will need one of the following EDS files (in English): –...
Page 131: Communication
Operational status with a special net- work management telegram (NMT). In this status communication via SDO and PDO is possible. With the aid of the NMT telegrams you can switch between the different states, if required. 5-33 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 132: Pdo Mapping
In FHPP mode the first PDO (8 bytes I/O data) for Transmit and Receive is intended for the Record Select and Direct modes; the second PDO (8 bytes I/O data) is used for FPC (Festo Parameter Channel) parameterization. Receive PDO 1 (FHPP standard) Operating...
Page 133 – Accept the set number 2032h – Accept nominal value (only if set number 0 is for “Direct set”. Otherwise the value from the set list applies to the specified set). – Execute control word 6040h. 5-35 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 134 (To avoid high bus loading caused by jitter on the position decoder). Transmit PDO 2 (CiA 402) Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Reserved (this PDO is not supported). 5-36 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 135: Festo Profile For Handling And Positioning (Fhpp Standard)
5. Commissioning Festo profile for handling and positioning (FHPP standard) 5.5.1 Supported operating modes The operating modes differ as regards their contents and the meaning of the cyclic I/O data and in the functions which can be accessed in the MTR-DCI.
Page 136 PLC and the MTR-DCI is necessary. Power operation Alternatively, nominal values relative to the rated motor cur- rennt can be specified as direct mode. This results in a rotary torque and with linear drives in a force (power control). 5-38 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 137: Composition Of The Cyclic I/O Data (Fhpp Standard)
In the cyclic data a further 8 bytes input data and 8 bytes output data are permitted for transmitting parameters in ac- cordance with the FPC protocol (Festo Parameter Channel). The I/O data and the parameters are described in section B.1.
Page 138 SDIR FUNC FAST XLIM VLIM CONT COM2 COM1 (only – – Stroke Velocity – Reply message con- absolute/ Direct limit limit trol mode (position, relative mode) reached reached force/torque, ...) – : reserved 5-40 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 139: Description Of The I/O Data (Record Select)
Record status see SDIR with Direct mode, chapter 5.5.6 byte (RSB) 5 ... 8 B0 ... B31 Position, ... Reply message of position for Record select: – position in increments (32-bit number, low byte first) 5-41 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 140: Description Of The I/O Data (Direct Mode)
(see control byte 3 CDIR) – Positioning mode Velocity in % of the maximum speed – Power operation Force/torque in % of the rated current 5 ... 8 B0...B31 Position Actual value 2 Reply message position in increments 5-42 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 141: Description Of The Control Bytes Ccon, Cpos, Cdir
Select Opera- = 00: Record select OPM1 ting Mode = 01: Direct mode = 10: reserved = 11: reserved OPM2 Switching between Record select and Direct mode is also permitted in the status “Ready.” 5-43 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 142 The Teach target is defined with PNU 520. Clear remai- In the “Hold” status a rising edge causes the positioning task to be CLEAR ning position deleted and transfer to the status “Ready.” – reserved – 5-44 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 143 := 0 – reserved VLIM := 0 Stroke (X-) Power control XLIM limit not active = 0: Stroke monitoring active = 1: Stroke monitoring not active – reserved FAST := 0 – reserved FUNC := 0 5-45 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 144: Description Of The Status Bytes Scon, Spos, Sdir (Rsb)
= 0: Device control through PLC/fieldbus FCT/ by FCT/MMI = 1: Device control through FCT/MMI (PLC control is Locked) Display Opera- = 00: Record select (standard) OPM1 ting Mode = 01: Direct mode = 10: reserved = 11: reserved OPM2 5-46 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 145 = 0: After MC axis remains in tolerance window STILL control = 1: After MC axis remains outside tolerance window Axis is = 0: Referencing must be carried out referenced = 1: Reference information exists, reference travel must not be carried 5-47 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 146 = 1: Speed limit reached = 0: Speed limit not reached Stroke (X-) Power operation XLIM LIMit reached = 1: Stroke limit value reached = 0: Stroke limit value not reached – reserved FAST – reserved FUNC 5-48 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 147: Examples Of The I/O Data
F: Edge positive Tab. 5/7: I/O data “Device control active” Device control via the control panel or the Festo Configuration Tool is activated. To control the MTR-DCI via the CANopen in- terface, device control must first be deactivated by FCT/MMI.
Page 148 (optional); F: Edge positive Tab. 5/8: I/O data “Record select: Create readiness to operate” If there are faults after switching on or after setting CCON.B0 (ENABLE): } Error treatment: see example 3, Tab. 5/10. 5-50 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 149 F: Edge positive Tab. 5/9: Control and status bytes “Create readiness to operate – Direct mode” If there are faults after switching on or after setting CCON.B0 (ENABLE): } Error treatment: see example 3, Tab. 5/10. 5-51 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 150 Independent of the data or device profile used, emergency telegrams are sent in the event of errors (not with warnings). Form and error code as per DS 301 and CiA 402; see sec- tion 6.5.2. 5-52 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 151 – CLEAR TEACH JOGN JOGP START HOLD Byte 2 STILL MOV TEACH HOLD CPOS 0 0 SPOS x 0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive Tab. 5/10: I/O data “Fault treatment” 5-53 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 152 SPOS 1 0 0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive Tab. 5/11: I/O data “Reference travel” If there are faults during reference travel: } Error treatment: see example 3, Tab. 5/10. 5-54 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 153 Movement of the axis is shown with SPOS.B4 (MOV, Axis moves). At the end of the positioning task, SPOS.B2 (MC, Mo- tion Complete) will be set. If there are faults during positioning: } Error treatment: see example 3, Tab. 5/10. 5-55 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 154 CPOS 0 0 SPOS Byte 5...8 reserved Byte 5...8 Position – reserved Actual Actual position (increments) posi- tion 0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive Tab. 5/12: I/O data “Record Select: positioning mode” 5-56 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 155 Movement of the axis is shown with SPOS.B4 (MOV, Axis moves). At the end of the positioning task, SPOS.B2 (MC, Mo- tion Complete) will be set. If there are faults during positioning: } Error treatment: see example 3, Tab. 5/10. 5-57 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 156 Byte 2 STILL MOV TEACH HOLD CPOS SPOS 0: 0-signal 1: 1-signal; x: not relevant (optional); F: Edge positive S: Positioning condition: 0= absolute; 1 = relative Tab. 5/13: I/O data “Direct mode: positioning mode” 5-58 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 157 The task can be discontinued by the controller e. g. with STOP. Note Modification of the nominal value with power operation is only possible with a new starting edge when the last speci- fied position (MC) has been reached. 5-59 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 158 Byte 2 – CLEAR TEACH JOGN JOGP START HOLD Byte 2 STILL MOV TEACH HOLD CPOS x SPOS 1 Byte 3 FUNC FAST – CONT COM2 COM1 Byte 3 FUNC FAST CONT COM2 COM1 CDIR SDIR 5-60 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 159 S: Path limitation (stroke limit) 0 = Stroke limit active, 1 = Stroke limit not active Tab. 5/14: I/O data Direct mode Power operation If there are malfunctions during force mode: See example 3, Tab. 5/13 Malfunction handling. 5-61 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 160: Sequence Control As Per Fhpp Standard
1. Search for the reference point in accordance with the configured method. 2. Move from reference point to axis zero point (corresponds to offset axis zero point AZ) 3. Set at axis zero point: Current position = 0 – offset project zero point PZ 5-62 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 161 Search for positive stop. The point found is the reference position. As the axis must not stand still at the stop, the offset axis zero point must be ≠ 0. Detailed description of the reference travel methods see section 1.6.3. Tab. 5/16: Overview of reference travel methods 5-63 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 162: Jog Mode
4. If the drive reaches a software end position, it will stop automatically. The software end position is not exceeded, the path for stopping depends on the ramp set. Jogging operation is also exited here when Jogging = 0. 5-64 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 163 CPOS.B4 = positive edge: Jog negative (backwards) Reply message (FHPP) SPOS.B4 = 1: Drive moves SPOS.B2 = 0: (Motion Complete) Requirement Device control by PLC/field bus Controller must be in status “Operation enabled” Tab. 5/17: Parameters involved in jogging mode 5-65 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 164: Teaching Via Field Bus
Axis zero point Project zero point Lower software end position Upper software end position Tab. 5/18: Overview of teach targets 3. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS: 5-66 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 165 SPOS.B3 = 1: Value transferred (FHPP) Requirement Device control by PLC/field bus Controller must be in status “Operation enabled” Teaching is made possible in the Festo Configuration Tool by means of special functions. Tab. 5/19: Teach parameters involved 5-67 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 166: Record Select (Positioning Mode)
PLC output data have been accepted and that the positioning task is now active. The positioning command will be processed irrespective of whether Start (CPOS.B1) has been reset to zero or not. 4. When the record is concluded, MC (SPOS.B2) is set. 5-68 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 167 5. Commissioning Causes of faults: – Referencing has not been carried out. – The target position and/or the preselect position cannot be reached. – Invalid record number. – Record not initialized. 5-69 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 168 As soon as “Quit Start” is recognized A currently running positioning task by the PLC, “Start” may be set to 0 can be stopped with “Stop” again Fig. 5/4: Sequence diagram Start/stop record 5-70 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 169 Record is stopped with “Hold,” actual Rising edge at “Start” starts record N record number N is retained, “Motion again, “Confirm Hold” is set Complete” remains reset Fig. 5/5: Sequence diagram for Stop record with Hold and Continue 5-71 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 170 SPOS.B2 (MC) The axis moves SPOS.B4 (MOV) Actual record N - 1 N +1 number Input data Stop record Delete remaining path Fig. 5/6: Sequence diagram for Stop record with Hold and delete remaining path 5-72 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 171 SPOS.B1 = positive edge: Quit Start SPOS.B4 = 1: Drive moves Requirements Device control by PLC/field bus Controller must be in status “Operation enabled” Record number must be valid Tab. 5/20: Parameters involved in Record Select mode 5-73 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 172: Direct Mode (Positioning Mode, Power Operation)
3. After the start you must wait for MC before a new start can be made. 4. When the nominal position is reached, MC (SPOS.B2) is set. 5-74 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 173 Hold and Stop react as with the function Record select, see Fig. 5/4, Fig. 5/5 and Fig. 5/6. Causes of faults: – No referencing carried out. – Target position cannot be reached or lies outside the soft- ware end positions. 5-75 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 174 (e. g. on a fixed stop). – Pressing and inserting procedures. – Special functions in which e. g. work items must be touched in order to receive position values. 5-76 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 175 Extend the rest time if the nominal force is already • achieved briefly due to the increased torque when start- ing (before reaching the work item). Power operation is prepared when the control mode is switched over. The drive stands with the position controlled. 5-77 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 176 “MC signal” is set. Causes of faults: – No referencing carried out. – Axis stands at the start of the positioning task in the soft- ware end position. 5-78 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 177 Controller must be in status “Operation enabled” 1) Further parameters: 6071h Target torque 6076h Rated torque 6077h Actual torque 6087h Torque slope 6088h Torque profile type CDIR.B5 Stroke limitation active/inactive Tab. 5/22: Parameters involved in Direct mode (power operation) 5-79 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 178 “Nominal value/stroke limitation reached.” The sequence of the remaining control and status bits as well as the functions Hold and Stop react as with the function Record select, see Fig. 5/4, Fig. 5/5 and Fig. 5/6. 5-80 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 179: Standstill Monitoring
Position window time Standstill monitoring time Fig. 5/9: Standstill monitoring The standstill monitoring cannot be switched on or off expli- citly. It becomes inactive when the standstill position window is set to the value “0”. 5-81 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 180 SPOS.B2 = positive edge: Motion Complete Reply message (FHPP) SPOS.B6 = 1: Drive has moved out of standstill position window Requirement Device control by PLC/field bus Controller must be in status “Drive enabled” Tab. 5/23: Parameters involved in standstill monitoring 5-82 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 181: Notes On Operation
The reference position will then be lost. Carry out a new reference run. • Note When the power supply is switched off, wait for approx. • 5 seconds before switching the device on again. 5-83 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 182 When movement is made to the end positions with a heavy load, blockage may occur in the end positions. Note Any functions implemented within the framework of the EMERGENCY-STOP concept must also be taken into account in the control programs 5-84 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 183 MTR-DCI) – HMI password protection for MTR-DCI-...-H2-... (3 characters, see chapter 4.5) Care and maintenance The motor units do not require maintenance during their specified service life. Follow the maintenance instructions for the components used. 5-85 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 184 5. Commissioning 5-86 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 185: Diagnostics And Error Display
Diagnostics and error display Chapter 6 Diagnostics and error display Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 186 6-15 Diagnosis via parameter channel (FPC) ......6-16 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 187: Diagnostics And Error Display
– Emergency Messages. – Nodeguarding. – Diagnostics via FHPP status bytes SCON and SPOS. Parametrizings and general status Control panel: in the [Diagnosis] menu Section 4.3 information Help for PlugIn Tab. 6/1: Diagnostic information according to type Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 188 – Diagnosis via FHPP status bytes SCON and SPOS. – Extended access to diagnostic data, Detailed diagno- Sections 6.4 and e. g. diagnostic memory via FPC sis via the field Tab. 6/2: Diagnostic information after reception Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 189: Led Status Displays
Fault. Device is not ready to operate. Check cause and rectify if necessary, see also section 6.3. FLASHES Warning. Check cause and rectify if neces- sary, see also section 6.3. No internal fault reported. Tab. 6/4: LED “Error” Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 190 – For example, at switch on, if not all bus parameters (node ID, CiA 402/FHPP, bit rate) are available. Two-colour LED as per DS 303-3. If occurring simultaneously, the red LED has priority – no “mixed” display of red and green. Tab. 6/5: “I/F” LED Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 191: Fault Messages
CAN bus fault: 0x8000 FAULT PARAMETER ERROR Bus parameter not set. Fault CAN-BUS NO EXT. CAN bus fault: 0x8000 FAULT SUPPLY VOLTAGE External CAN supply fault. see PNU 205/CO 2FF1/00 FHPP status bytes, see section 5.5.2 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 192: Description Of The Messages, Warnings And Faults
Profile velocity The menu command [Move position set] is not = 0. Please set processed because the positioning speed of the positioning set v = 0. Modify the parametrizing or select a different postioning set. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 193 ENABLE signal, – via the field bus with a rising edge at the RESET signal CCON.B3, – with the button “Quit error” in the Festo Configuration Tool. Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 194 – That the limits are complied – Temperature of power output with (motor characteristic stage too high. curves), – Ambient temperature too high – the mechanical system e.g. for sluggishness. If necessary, reduce the ambient • temperature. 6-10 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 195 – the software end positions, OUT OF LIMIT – The specified target position is – the target position, outside the permitted positioning – the reference of the nominal range. position (absolute or relative). Tab. 6/7: Fault messages 6-11 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 196: Diagnostic Memory
– Writing with value = 1 deletes the diagnostic memory – Read will always be answered with value = 0. Number of valid entries in the diagnostic memory. *) outgoing fault = time point when the fault was quitted. Tab. 6/9: Diagnostic memory: Configuration 6-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 197 Run time of motor Run time of motor: Undervoltage, overtemperature, 110 ... 119 – reserved Tab. 6/10: Overview of fault numbers A detailed description of the warnings and faults can be found in section 6.3.2. 6-13 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 198: Diagnosis Via Canopen
CAN telegrams to be exchanged. Refer to your master documentation for details on how to activate node guarding. 6-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 199: Emergency Messages
Hardware fault (EEPROM) Bit 5 8500 Motor fault (current monito- Bit 5 ring, cable break) 8600 Drag error Bit 5 Communication emergency messages as per DS 301 may also be signalled. Tab. 6/11: Emergency messages 6-15 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 200: Diagnosis Via Parameter Channel (Fpc)
6. Diagnostics and error display Diagnosis via parameter channel (FPC) The Festo parameter channel offers the following possibilities of access to diagnostic information: Diagnosis Section Diagnostic memory – PNU 200 compare (CO /CI 20C8h) sections B.2.6 – PNU 201 and 6.5 (CO /CI 20C9h) –...
Page 201: A. Technical Appendix
Technical appendix Apendix A Technical appendix Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 202 Conversion of the measuring units ....... . . A-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 203: Technical Appendix
Protection against direct and indirect contact as per IEC/DIN EN 60204-1 by PELV circuits (Pro- tected Extra-Low Voltage) Electromagnetic compatibility (EMC) see conformity declaration (www.festo.com) Gear type Planetary gear Encoder (with 4-fold evaluation) MTR-DCI-32: 300 x 4 —> 1200 Inc/revolution MTR-DCI-42,52,62: 500 x 4 —>...
Page 204 – Drive output torque [Nm] 11.66 – Efficiency – 0.75 Mass moment of inertia – Rotor [kg cm – – – – Gear [kg cm 0.022 Permitted loading of gear shaft see chapter 2, Tab. 2/2 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 205 Connection, see 3.3.2 Rated voltage DC 24 V ±10 % Rated current 0.15 A Peak current 0.8 A *) Only relevant for separate power supply Product weight MTR-DCI-...-G7 [kg] MTR-DCI-...-G14 [kg] MTR-DCI-...-G22 [kg] – – – Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 206: Accessories
KDI-MC-M8-SUB-9-... Reference switch Switch, magnetic SMT-8M-...-M8D – Switch, inductive SIEN-...-M8B-... Connecting cable with KM8-M8-GSGD..0.5 / 1 / 2 / 5 screw-type lock Field bus connection Field bus adapter (IP54) FBA-CO-SUB-9-M12 – incl. logic power supply Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 207 A. Technical appendix User documentation in paper form German P.BE-MTR-DCI-CO-DE English P.BE-MTR-DCI-CO-EN French P.BE-MTR-DCI-CO-FR Italian P.BE-MTR-DCI-CO-IT Spanish P.BE-MTR-DCI-CO-ES Swedish P.BE-MTR-DCI-CO-SV Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 208: Motor Characteristic Curves
A. Technical appendix Motor characteristic curves Drive output torque of gear shaft M [Nm] Current I [A] Recommended mode Non-permitted range Overload capacity Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 209 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... Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 210 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-10 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 211 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-11 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 212 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-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 213 A. Technical appendix MTR-DCI-62...-G22 n [1/min] I [A] M [Nm] Fig. A/5: Motor characteristic curves MTR-DCI-62... A-13 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 214: Conversion Of 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 A-14 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 215 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/2: Special conversion factors for the MTR-DCI with DMES-... A-15 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 216 [μinch] > [inc] × enc × gear inch inch inch feed inch × enc × gear inch × × feed 0.0254 = UF × 0.0254 m × inch [rev] > [inc] × rot = enc × gear A-16 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 217 UF [ìinch/s ] x [inc/ìinch] ì inch ì inch [rev] > [inc] x UF [rev/s ] x [inc/rev] * conversion [µm] > [µinch] : 1 ìinch = 0.0254 ìm Tab. A/3: General formulae for conversion A-17 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 218 A. Technical appendix A-18 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 219: B. Reference – Festo Handling And Positioning Profile (Fhpp)
Reference – Festo Handling and Positioning Profile (FHPP) Appendix B Reference – Festo Handling and Positioning Profile (FHPP) Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 220 B. Reference – Festo Handling and Positioning Profile (FHPP) Contents Reference – Festo Handling and Positioning Profile (FHPP) ... . The Festo Parameter Channel (FPC) ....... .
Page 221: Reference - Festo Handling And Positioning Profile (Fhpp
B. Reference – Festo Handling and Positioning Profile (FHPP) The Festo Parameter Channel (FPC) As an alternative to the Festo Parameter Channel for cyclic data (PDO2), parametrizing can also take place via the acyclic data channel. The corresponding SDO object number can be defined via the parameter number.
Page 222 B. Reference – Festo Handling and Positioning Profile (FHPP) FPC (PDO2) Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Output ParID (PKE) Value (PWE) data Input ParID (PKE) Value (PWE) data Subindex - for addressing an array element...
Page 223: B.1.2 Task Identifiers, Response Identifiers And Fault Numbers
B. Reference – Festo Handling and Positioning Profile (FHPP) B.1.2 Task identifiers, Response identifiers and fault numbers The Task identifiers are shown in the following table: ReqID Description Response identifier positive negative No task – Request parameter 1, 2 Modify parameter value (word) Modify parameter value (double word) –...
Page 224 B. Reference – Festo Handling and Positioning Profile (FHPP) If the task cannot be carried out, Response identifier 7 as well as the appropriate fault number will be transmitted (negative reply). The following table shows the Response identifiers: ResID Description...
Page 225 B. Reference – Festo Handling and Positioning Profile (FHPP) Fault numbers Description 0x00 Non-permitted PNU The parameter does not exist. 0x01 Parameter value cannot be modified (read only) 0x02 – (reserved - Lower or upper limit value exceeded) 0x03 Faulty subindex...
Page 226 B. Reference – Festo Handling and Positioning Profile (FHPP) B.1.3 Rules for task reply processing Rules Description If the master sends the identifier for “No task,” the MTR-DCI replies with the Response identifier for “No reply.” A task or reply telegram always refers to a single parameter.
Page 227 B. Reference – Festo Handling and Positioning Profile (FHPP) Sequence of parameter processing Caution Observe the following when modifying parameters: An FHPP control signal, which is to refer to a modified parameter, may only follow when the Response identifier “Parameter value transferred” is received for the relevant parameter and if applicable for the index.
Page 228: B.1.4 Example Of Parametrizing
B. Reference – Festo Handling and Positioning Profile (FHPP) B.1.4 Example of parametrizing The following tables show an example of parametrizing a positioning task in the position record table via FPC – (Festo Parameter Channel). Step 1 Output status of the 8 bytes of FPC data:...
Page 229 B. Reference – Festo Handling and Positioning Profile (FHPP) Step 4 Write record number 1 with target position 0x1234 (decimal 4660 increments): PNU 404, subindex 2 – Modify parameter value, array, double word: ReqID 8 (0x8) with value 0x00001234. Byte 1...
Page 230: Parametrizing As Per Fhpp-Fpc
B. Reference – Festo Handling and Positioning Profile (FHPP) Parametrizing as per FHPP-FPC B.2.1 General parameter structure Group Indices Description Device data 100..199 Device identification and device-specific settings, version numbers, identifier words, etc. Diagnostic memory 200...299 Memory for diagnostic events: Fault numbers, fault time,...
Page 231 B. Reference – Festo Handling and Positioning Profile (FHPP) You will find an overview of the available CANopen objects in section C.1. You will find an overview of the available CI ob- jects in section C.3.3. Name FHPP CANopen / CI...
Page 232 B. Reference – Festo Handling and Positioning Profile (FHPP) Name Name FHPP CANopen / CI Object Object Time stamp 1...16 20CAh 01h...10h B.2.6 20CAh 01h...10h Diagnostic memory parameter 1...4 20CCh 01h...04h B.2.6 20CCh 01h...04h Device fault – 2FF1h – / 00h B.2.6...
Page 233 B. Reference – Festo Handling and Positioning Profile (FHPP) Name Name FHPP CANopen / CI Object Object Max. speed – 21F6h – / 00h B.2.9 21F6h Max. acceleration – 21F7h – / 00h B.2.9 21F7h Project data - power operation (see section B.2.10) Stroke limit –...
Page 234 B. Reference – Festo Handling and Positioning Profile (FHPP) Name Name FHPP CANopen / CI Object Object Project data – Jog mode (see section B.2.12) Jog Mode Velocity Phase 2 – 20EDh B.2.12 2213h Jog mode acceleration – 20EEh B.2.12...
Page 235 B. Reference – Festo Handling and Positioning Profile (FHPP) Name Name FHPP CANopen / CI Object Object 1011 Homing method – 6098h – / 00h B.2.16 23F3h Homing speeds 1012 1, 2 6099h 01h, 02h B.2.16 23F4h 01h, 02h Homing required 1014 –...
Page 236 B. Reference – Festo Handling and Positioning Profile (FHPP) Name Name FHPP CANopen / CI Object Object Axis data electric drives 1 – electronic rating plate (see section B.2.18) Motor type 1030 – 6402h – / 00h B.2.18 2406h Max. current 1034 –...
Page 237: Representing The Parameter Entries
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.3 Representing the parameter entries Encoder resolution FHPP 1001 1...2 Array uint32 Description Encoder resolution in increments / revolutions The encoder resolution is fixed and cannot be modified by the user. The calculated value is derived from the fraction (encoder-increments/motor revolution).
Page 238: Device Data - Standard Parameters
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.4 Device data – Standard parameters Manufacturer Hardware Version FHPP – uint16 Description Hardware version, specification in BCD (binary coded decimals): xxyy (xx = main version, yy = secondary version) 2069 –...
Page 239: B.2.5 Device Data – Extended Parameters
CANopen / CI 20FDh – / 00h V-string Drive Manufacturer FHPP 1...30 Array char Description Name of drive manufacturer. Fixed: “Festo AG & Co. KG” CANopen / CI 6504h – / 00h V-string HTTP Drive Catalog Address FHPP 1...30 Array char Description Internet address of the manufacturer.
Page 240 B. Reference – Festo Handling and Positioning Profile (FHPP) Device Control FHPP – uint8 Description Activates device control of the controller via the controller interface. Corresponds to “HMI control” on the control panel and “FCT/HMI” on the FCT. 0 (0x00): Control via controller interface OFF.
Page 241 B. Reference – Festo Handling and Positioning Profile (FHPP) Data Memory Control FHPP 1, 2 Array uint8 Description Commands for the EEPROM (non-volatile data storage) Delete EEPROM 127 uint8 When the object has been written and after Power Off/On the data in the EEPROM are reset to the factory settings.
Page 242: Diagnosis
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.6 Diagnosis Function method of the diagnostic memory see section 6.4. Diagnostic Event FHPP 1...16 Array uint8 Description Type of diagnostic event saved in the diagnostic memory. Display whether an incoming or outgoing fault is saved.
Page 243 B. Reference – Festo Handling and Positioning Profile (FHPP) Fault Number FHPP 1...16 Array uint16 Description Fault number saved in the diagnostic memory, serves for identifying the fault. Fault numbers: see section B.2.6. Event ... 201 uint16 see PNU 200.
Page 244 B. Reference – Festo Handling and Positioning Profile (FHPP) Diagnostic Memory Parameter FHPP 1...4 Array uint8 rw/ro Description Configuration of the diagnostic memory. Fault type 204 uint8 Incoming and outgoing faults 1 (0x01): Record incoming and outgoing faults (default) 2 (0x02) Record only incoming faults *) outgoing fault = time point when the fault was quitted.
Page 245 B. Reference – Festo Handling and Positioning Profile (FHPP) CANopen Diagnosis FHPP 1...6 Array uint8 Description Read out the CANopen diagnostic data Connection state 206 uint8 Current status of the CANopen connection and status machine Connection state: 16, 32, 64 (0xX0):...
Page 246: Processing Data
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.7 Processing data Local Digital Inputs FHPP – uint32 Description Mapping the digital inputs Bit 0, 1: reserved (= 0) Bit 2: Reference switch (1 = reference switch is actuated) Bit 3 ... 15: reserved (= 0) Bit 16 ...
Page 247 B. Reference – Festo Handling and Positioning Profile (FHPP) Cycle Number FHPP – uint32 Description Number of positioning records executed, reference runs etc. Value range: 0 ... (2 CANopen / CI 2FFFh – / 00h uint32 Keypad Status FHPP –...
Page 248: Record List
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.8 Record list PNU 400 PNU 401 PNU 404 PNU 406 PNU 407 Record number RCB1 Target position Speed Acceleration uint8 uint8 int32 uint32 uint32 Homing 1) RCB = Record Control Byte. Defines whether positioning is relative or absolute.
Page 249 B. Reference – Festo Handling and Positioning Profile (FHPP) Record Control Byte 1 FHPP 1...32 Array uint8 Description Record control byte 1 (RCB1) controls important settings for the positioning task in Record Select mode. Bit 0: Nominal value absolute/relative Bit 1 ... 7: reserved (= 0)
Page 250 B. Reference – Festo Handling and Positioning Profile (FHPP) Record Velocity FHPP 1...32 Array uint32 Description Speed setpoint value in increments/s. CiA 402: Absolute values. FHPP: Specification relative to the maximum value in the project data. Two resolutions are possible: in percent or 1/1000 of the maximum value (see pro- ject data).
Page 251 B. Reference – Festo Handling and Positioning Profile (FHPP) Record Acceleration FHPP 1...32 Array uint32 Description Acceleration setpoint value. The value applies only to positioning; in force mode, the value is ignored. CiA 402: Absolute value in increments/s FHPP: Specification relative to maximum value in the project data.
Page 252: Project Data - General
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.9 Project data – General Project Zero Point (offset project zero point) FHPP – int32 Description Offset of axis zero point to project zero point. Reference point for target positions in the record table (compare PNU 404).
Page 253 B. Reference – Festo Handling and Positioning Profile (FHPP) Max. Velocity FHPP – uint32 Description Max. permitted speed in increments/s. The specifications in Direct mode and in the record table refer to this value. Default: MTR-DCI-32: 66000 MTR-DCI-42: 100000 MTR-DCI-52: 100000...
Page 254: Project Data - Power Operation
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.10 Project data – Power operation Stroke limit FHPP – – uint32 Description Maximum permitted stroke with active force control. With active force control, the actual position relative to the start position must not change by more than the amount specified in this parameter.
Page 255: Project Data - Teach
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.11 Project data – Teach Teach Target FHPP – uint8 Description The parameter defined is the one which is written with the actual position with the next Teach command (see section 5.6.3).
Page 256: Project Data - Jog Mode
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.12 Project data – Jog mode Jog Mode Velocity Phase 2 FHPP – int32 Description Speed in phase 2 (fast travel) in [inc/s] Value range: MTR-DCI-32: 66000 MTR-DCI-42: 100000 MTR-DCI-52: 100000...
Page 257: Project Data - Direct Mode (Positioning Mode
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.13 Project data – Direct mode (positioning mode) Direct Mode Acceleration FHPP – uint32 Description Acceleration and deceleration [inc/s Value range: MTR-DCI-32/42: 40000...480000 MTR-DCI-52/62: 40000...240000 Default: MTR-DCI-32: 480000 MTR-DCI-42: 480000 MTR-DCI-52: 240000 MTR-DCI-62: 160000 Value is automatically entered when an axis type is selected (PNU 1005/4).
Page 258: Project Data - Direct Mode (Power Operation
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.14 Project data – Direct mode (power operation) Force Target window FHPP – – uint16 Description This is the amount by which the actual force (actual torque) may differ from the nominal force (nominal torque), in order to be interpreted as still being in the target window.
Page 259: Axis Parameter Electric Drives 1 - Mechanical
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.15 Axis parameter electric drives 1 – mechanical Polarity (reversal of direction) FHPP 1000 – uint8 Description With this parameter the “+/-” direction of the position values (vectors) can be assigned to the direction of rotation of the motor shaft (see section 1.6.2). New reference travel is then required.
Page 260 B. Reference – Festo Handling and Positioning Profile (FHPP) Gear Ratio FHPP 1002 1, 2 Array uint32 Description Ratio of the internal motor revolutions to the external revolutions of the drive shaft of the MTR-DCI. The values are set fixed depending on the internal gear (see type plate of the MTR-DCI).
Page 261 B. Reference – Festo Handling and Positioning Profile (FHPP) Position Factor FHPP 1004 1, 2 Array uint32 Description Read the conversion factor number of sensor increments per 1 measured unit of feed at the shaft. Additional external gears are not taken into consideration in this parameter (see PNU1005).
Page 262 B. Reference – Festo Handling and Positioning Profile (FHPP) Axis Parameter Axis type 1005 uint32 (mechanical type) Type of axis Values: Type of axis 01 = DMES, 02 = DNCE, 03 = rotation deg, 04 = rotation rev, 05 = USER Modification of axis type influences the following parameters: –...
Page 263: Axis Parameter Electric Drives 1 - Reference Travel (Homing
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.16 Axis parameter electric drives 1 – Reference travel (Homing) Offset Axis Zero Point FHPP 1010 – int32 Description Offset axis zero point in increments (distance from reference point) Value range: -2 ...+(2...
Page 264 B. Reference – Festo Handling and Positioning Profile (FHPP) Homing Velocities FHPP 1012 1, 2 Array uint32 Description Speeds during homing in [inc/s]. Search REF 1012 uint32 Speed when searching for the reference point REF in [inc/s] Value range: MTR-DCI-32: 200...33000...
Page 265: Axis Parameters Electric Drives 1 - Controller Parameters
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.17 Axis parameters electric drives 1 – Controller parameters Hold Option Code FHPP 1020 – uint16 Description Describes the reaction to a Hold command. Fixed = 1: Brake with hold ramp...
Page 266 B. Reference – Festo Handling and Positioning Profile (FHPP) Position Control Parameter Set FHPP 1024 18...23, 32 Array uint16 Description Technical control parameters. Modification is only permitted for servicing purposes. If necessary consult Festo. Gain position 1024 18 (CI: 12h)
Page 267 B. Reference – Festo Handling and Positioning Profile (FHPP) Motor Data FHPP 1025 1, 3 Array uint32 Description Motor-specific data. Serial number 1025 uint32 Serial number of the motor Time max. current 1025 uint32 t time. Permitted duration of the maximum motor current (compare object 6073h).
Page 268 B. Reference – Festo Handling and Positioning Profile (FHPP) Drive Data FHPP 1026 1...8 Array uint32 Description General Drive Data Output stage temp. 1026 1 (CI: 01h) uint32 Temperature of the end stage in °C. Value range: 0 ... 85...
Page 269: Axis Parameters Electric Drives 1 - Electronics Name Plate
B. Reference – Festo Handling and Positioning Profile (FHPP) Drive Data 6510h 01h... Record ro/rw Drive Data 6510h 01h...08h – uint32 6510h 31h, 32h, – uint16, uint16, ro, ro 40h, 41h uint32, uint16, ro, ro 42h, 43h, int16, uint16, ro, rw...
Page 270 B. Reference – Festo Handling and Positioning Profile (FHPP) Maximum Current FHPP 1034 – uint16 Description Maximum motor current in 1/1000 of the rated current (compare PNU 1035 / 8075h). In Homing (reference travel) mode: The motor force limits the current during reference runs onto stops and, in the event of an error, protects the stops dur- ing reference runs onto a reference switch.
Page 271: Axis Parameters Electric Drives 1 - Standstill Monitoring
B. Reference – Festo Handling and Positioning Profile (FHPP) B.2.19 Axis parameters electric drives 1 – Standstill monitoring Position Target Value (nominal position) FHPP 1040 – int32 Description Target position of the last positioning task in increments. Value range: -2 ...
Page 272: Status Machine Fhpp
B. Reference – Festo Handling and Positioning Profile (FHPP) Status machine FHPP Notes on the “Operation enabled” state The transition T3 changes to status S4, which itself contains its own sub-status machine, the states of which are marked with “SAx” and the transitions of which are marked with “TAx”...
Page 273 B. Reference – Festo Handling and Positioning Profile (FHPP) From all states Switched off T7* always has the highest priority. Controller Reaction to faults switched on Drive disabled Fault Drive enabled Jogging positive TA10 Homing is Ready carried out TA11...
Page 274: B.3.1 Create Readiness To Operate
B. Reference – Festo Handling and Positioning Profile (FHPP) B.3.1 Create readiness to operate Internal conditions Activities of the user Drive is switched on. A fault cannot be ascertained. Load voltage applied. “Enable drive” = 1 Field bus master must be higher-order controller.
Page 275: Positioning
B. Reference – Festo Handling and Positioning Profile (FHPP) B.3.2 Positioning The following always applies: Transitions T4, T6 and T7* always have priority. Internal conditions Activities of the user Referencing is running. Start positioning task = 0→1 Stop = 1 CCON = xxx0.xx11...
Page 276 B. Reference – Festo Handling and Positioning Profile (FHPP) Internal conditions Activities of the user Referencing finished or stopped. Only for stop: Stop = 1→0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN Jogging positive = 0→1 Stop = 1 CCON = xxx0.xx11 CPOS = 0xx0.Pxx1...
Page 277: C. Reference – Canopen And Ci Objects
Reference – CANopen and CI objects Appendix C Reference – CANopen and CI objects Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 278 ........C-56 C.3.4 Representation of additional CI objects ..... . C-63 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 279: Reference - Canopen And Ci Objects
C.1.2 Manufacturer Device Name 1008h – / 00h B.2.5 Manufacturer hardware version 1009h – / 00h C.1.2 Manufacturer software version 100Ah – / 00h C.1.2 Guard time 100Ch – C.1.2 Life time factor 100Dh – C.1.2 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 280 – / 00h B.2.4 Controller serial number 2072h – / 00h B.2.4 Device control 207Dh – / 00h B.2.5 Diagnostic event 20C8h 01h...10h Array B.2.6 Fault number 20C9h 01h...10h Array B.2.6 Time stamp 20CAh 01h...10h Array B.2.6 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 281 Teach target 21FCh – / 00h B.2.11 Homing required 23F6h – / 00h 1014 B.2.16 Homing max. torque 23F7h – / 00h 1015 B.2.16 Device fault 2FF1h – / 00h B.2.6 CANopen Diagnosis 2FF2h 01h...06h Array B.2.6 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 282 – / 00h 1022 B.2.17 Position window time 6068h – / 00h 1023 B.2.17 Velocity demand value 606Bh – / 00h C.1.4 Velocity actual value 606Ch – / 00h C.1.4 Target torque 6071h – / 00h C.1.4 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 283 – / 00h C.1.4 Torque slope 6087h – / 00h C.1.4 Torque profile type 6088h – / 00h C.1.4 Position encoder resolution 608Fh 01h, 02h Array 1001 B.2.15 Gear ratio 6091h 01h, 02h Array 1002 B.2.15 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 284 B.2.18 Motor data 6410h 01h, 03h Array 1025 B.2.17 Supported drive modes 6502h – / 00h C.1.4 Drive catalog number 6503h – / 00h V-string 124 B.2.5 Drive manufacturer 6504h – / 00h V-string 122 B.2.5 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 285 – / 00h V-string 123 B.2.5 Drive Data 6510h 31h (01h), Record 1026 B.2.17 (Drive data) 32h (02h), 40h (03h), 41h (04h), 42h (05h), 43h (06h), A0h (07h), 22h (08h), 45h, A1h Tab. C/1: Overview of CANopen objects Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 286: Representing The Parameter Entries
= read and write at any time, rw2 = read, write during commissioning Description of the parameter Name and description of subindices, if present Corresponding FHPP parameter, if present Fig. C/1: Representing the parameter entries C-10 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 287: Communication Profile Area
Overtemperature of motor communication error (overrun, error state) Missing homing, error in homing, non-permitted target position, drag error, general hardware error reserved, fixed = 0 reserved, fixed = 0 Values: 0 = no error; 1 = error. C-11 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 288 PDOs are modified. For this an entry to this object by the master is essen- tial; see DS 301 specification. Default: 128 (0x00000080) Manufacturer device name CANopen / CI 1008h – / 00h V-string Description Type designation of the drive. Example: “MTR-DCI-42S-VCSC-EG7-R2IO” FHPP 1...25 Array char C-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 289 The Emergency protocol is supported. Default: 128 + Node-ID (0x80 + Node-ID) Inhibit time EMCY CANopen 1015h – uint16 Description Inhibit time for the emergency message. The value is multiplied by 100 μs. Default: 0 C-13 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 290 01h...04h Record uint32 Description Device identification Vendor ID 1018h uint32 Manufacturer identifier for Festo. Fixed: 29 (0x0000001d) Product code 1018h uint32 Product code for the Festo Configurator Revision number 1018h uint32 Firmware version, z. B. 0x0001000A for version 1.10 Serial number 1018h uint32 See object 6510/07h or 6510/A0h.
Page 291 Value range: 0 ... 255 (0x00 ... 0xFF) Inhibit time 1400h, uint16 1401h Inhibit time, not used for RPDO. Fixed: 0 (0x0000) Compatibility entry 1400h, – – 1401h reserved Event timer 1400h, uint16 1401h Event counter in [ms]. Default: 0 (0x0000) C-15 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 292 01h...04h uint32 PDO mapping for the n-th mapped application object, depending on the se- lected data/device profile: Sub-index FHPP CiA 402 Fixed: 0x30100008 Fixed: 0x60810020 Fixed: 0x30110008 Fixed: 0x60830020 Fixed: 0x30120010 – Fixed: 0x30130020 – C-16 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 293 Inhibit time. Fixed: 0 (0x0000) Compatibility entry 1800h, – – 1801h Reserved, must not be implemented (access attempts are answered with abort code). Event timer 1800h, uint16 1801h Event counter in [ms]. Default: 0 (0x0000) C-17 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 294 PDO mapping for the n-th mapped application object, depending on the se- lected data/device profile: Sub-index FHPP CiA 402 (not used) Fixed: 0x30300008 Fixed: 0x60410010 Fixed: 0x30310008 Fixed: 0x20320108 Fixed: 0x30320010 Fixed: 0x60610008 Fixed: 0x30330020 Fixed: 0x60640020 C-18 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 295: Manufacturer Specific Profile Area
20E0h, whereby the record element (column in Tab. C/2) with the sub-index is selected. From the value received via object 2032h, subtract 2 in order to get the internal record number. C-19 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 296 Corresponds to “HMI control” on the control panel and “FCT/HMI” on the FCT. 0 (0x00): Control via controller interface OFF. via HMI (control panel) and FCT ON 1 (0x01): Control via controller interface ON (default) FHPP – uint8 C-20 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 297 Time stamp CANopen / CI 20CAh 01h...10h Array uint32 Description Time point of the diagnostic event since switching on (unit as per PNU 204/2), see PNU 202 and 200, section B.2.6. FHPP 1...16 Array uint32 C-21 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 298 Determining the measuring unit system for the control panel 1 (0x01): Metric measuring units (mm, mm/s, mm/s 4 (0x04): Angle degree 8 (0x08): Revolutions Compare PNU126/20FFh. Scaling factor 20D0h uint8 Number of post-decimal positions Fixed = 2. Compare PNU126/20FFh. C-22 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 299 By way of object 20E0 access is effected in part to the same parameters as with the corresponding objects 607Ah, 6081h, 6083h, 6084h or objects 20EAh to 20EFh. Different data types are converted accordingly during writing and reading. C-23 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 300 Subindex dependent on data profile (Object 2FF2h/05h / PNU 206): – CiA 402: 20E9/00h – Var – FHPP: 20E9/21h – Array Description Time duration of phase 1 (T1) in [ms], see PNU 534, section B.2.12. FHPP – uint32 C-24 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 301 PNU 126, section B.2.5. LCD current 20FFh uint8 Voltage LCD contrast 20FFh uint8 Contrast Measure 20FFh uint8 Measuring units for the LCD display Scaling factor 20FFh uint8 Number of post-decimal positions FHPP 1...4 Array uint8 C-25 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 302 CANopen / CI 23F6h – / 00h uint8 Description Defines whether or not homing must be carried out after power-on in order to execute positioning tasks, see PNU 1014, section B.2.16. FHPP 1014 – uint8 C-26 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 303 Reserved for compatibility reasons. FHPP 1...6 Array uint8 Cycle number CANopen / CI 2FFFh – / 00h uint32 Description Number of positioning records executed, reference runs etc. see PNU 305, section B.2.7. FHPP – uint32 C-27 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 304: Cia 402: Standardised Device Profile Area
Teach: Apply current value 0x4000 HMI Access locked 0x8000 Symmetrical ramp transfer via PDO, i.e. acceleration value also for braking. Not when accessing via SDO or using the FCT. Tab. C/3: Description of control word C-28 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 305 – Profile torque mode: Stroke limit reached 0x4000 Teach acknowledge (corresponding to bit 3 of SPOS in FHPP) 0x8000 Homing performed (corresponds to bit 7 of SPOS in FHPP) Tab. C/4: Description of status word C-29 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 306 Position demand value (nominal position) CANopen / CI 6062h – / 00h int32 Description Target position of the last positioning task in increments. see PNU 1040, section B.2.19. FHPP 1040 – int32 In FHPP: “Position target value” C-30 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 307 Current nominal velocity value of speed regulator in increments. Value range: -2 ... +(2 Velocity actual value CANopen / CI 606Ch – / 00h int32 Description Current nominal velocity value of speed regulator in increments. Value range: -2 ... +(2 C-31 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 308 Description Actual value of torque during power operation. specified in permil of rated value Actual current value CANopen / CI 6078h – / 00h int32 Description Actual current value specified in permil of rated value C-32 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 309 FHPP: “Offset axis zero point” Polarity (reversal of direction) CANopen / CI 607Eh – / 00h uint8 Description The direction of the position values is reversed. see PNU 1000, section B.2.15. FHPP 1000 – uint8 C-33 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 310 Modification speed of torque (or of force) Unit: Permil of rated torque (6076h) per second Fixed: 10000 (0x2710) Torque Profile Type CI access 6088h uint32 Description Type of profile with which a torque modification is undertaken. Fixed: 0x0000 - Linear ramp C-34 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 311 (see type plate of the MTR-DCI). See PNU 1002, section B.2.15. Motor revolutions 6091h uint32 Integrated gear: Gear ratio - counter Shaft revolutions 6091h uint32 Integrated gear: Gear ratio - denominator FHPP 1002 1, 2 Array uint32 C-35 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 312 Homing Method (reference travel method) CANopen / CI 6098h – / 00h int8 Description Defines the method by which the drive performs homing, see PNU 1011, section B.2.16. Changing the homing method influences object 607Ch. FHPP 1011 – int8 C-36 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 313 PNU 1012, section B.2.16. Search REF 6099h uint32 Speed when searching for the reference point REF Search AZ 6099h uint32 Speed when moving to the axis zero point AZ FHPP 1012 1, 2 Array uint32 FHPP: “Homing velocities” C-37 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 314 This value represents the lowest permitted torque (force) of the motor. The torque) value is specified in 1/1000 of the rated torque (6076h / PNU 509). Value range: 0...1000 (0x03E8). FHPP 510/554/ – Array uint16/32 552/553/ C-38 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 315 CANopen / CI 60FBh 12h...17h, 20h Array uint16 Description Technical control parameters. Modification is only permitted for servicing purposes. If necessary consult Festo. Gain position 1024 12h (FHPP: 18) uint16 Gain position controller Gain Velocity 1024 13h (FHPP: 19) uint16...
Page 316 Motor-specific data, see PNU 1025, section B.2.17. Serial number 6410h uint32 Serial number of the motor Time Max. Current 6410h uint32 t time. Note: Values which are too high can damage the motor. FHPP 1025 1, 3 Array uint32 ro/rw C-40 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 317 FHPP: “Festo order number” Drive Manufacturer (manufacturer name) CANopen / CI 6504h – / 00h V-string Description Name of drive manufacturer. Fixed: “Festo AG & Co. KG” FHPP 1...30 Array char HTTP Drive Catalog Address (HTTP address of manufacturer) CANopen / CI 6505h –...
Page 318 22h (FHPP: 8) uint32 (FHPP: uint32) Drag fault monitoring Current actual value 6510h int16 Current actual value Firmware number 6510 uint32 FHPP 1026 1...8 Array uint32 ro/rw Object not available via FHPP FHPP PNU 101 C-42 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 319: Finite Status Machine In Accordance With Cia 402
Operation enabled quick stop active power enabled Fig. C/2: Status diagram CiA 402 C-43 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 320 “Quick stop active” The Quick stop function has been activated. The drive runs as para- meterized (ramp) and then stops. The power section and motor remain switched on, acceptance of positioning tasks is refused. C-44 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 321 No serious error present. “Switched on” Fault Reset = 0, Enable Operation = 0, Quick Stop = 1, -> “Operation enabled” Enable Voltage = 1, Switch on = 1. No serious error. C-45 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 322 Quick Stop, Enable Voltage and Switch on signals not 1. No serious error. 16 “Quick Stop active” Fault Reset = 0, Enable Operation = 1, Quick Stop = 1, Enable Volt- -> “Operation enabled” age = 1, Switch on = 1. No serious error. C-46 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 323 Note: Combined transition 3/4 (CiA 402 version 2.1.10 or higher) -> “Operation enabled” Fault Reset = 0, Enable Operation = 1, Quick Stop = 1, Enable Voltage = 1, Switch on = 1. No serious error present. Tab. C/6: Description of the transfer conditions C-47 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 324: The Command Interpreter (Ci
You should use the control panel or the FCT for commis- • sioning and parameterization. Note that control of the MTR-DCI via the RS232 does not • comply with designated use. C-48 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 325 User-specific settings will then be lost. Use CI commands only if you already have experience • with Service Data Objects. If necessary, consult Festo. • Warning Injury to people and damage to property. Full access to the internal variables of the servo controller is possible via CI commands.
Page 326 The table Tab. C/1 in section C.1 includes an overview of the CI objects. Some of the objects may be used only for certain product variants or only with limitation (e.g. writing only for service purposes). C-50 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 327 If there are faults in transmission (syntax faults), the value <0xFF> will be transmitted instead of the usual reply. Possible causes: – Incorrect initial character, separating character or empty character – Incorrect hex digit – Incorrect value type C-51 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 328: Ci Commands
MRE-DCI controller contains the downloaded value. A checksum <PS> will be inserted in front of the <CR>. All commands are entered as a character sequence without any empty spaces. A hex character is a Char character in hex format. C-52 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 329 (see overview in section C.1, Tab. C/1). The following data types are supported: Type Format UINT8 8 bits without sign: 0 ... 255 INT8 8 bits with sign: -128 ... 127 C-53 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 330 All values are transferred in hexadecimal figures; 1 character represents 4 bits; it is known as a tetrad <Tn>. The first tetrad transferred contains the higher-value bits of the value. Generally: Tetrad <Tn> contains the bits b ...b C-54 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 331 Transmission error between host (PC) and target device, e. g. due to error in host command: – Incorrect starting, separating or empty character, – Incorrect hex figure, – Incorrect value type. Name Class IIII Type communication_ 2FF0 UINT16 error C-55 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 332: Overview Of Ci Objects
Manufacturer Device Name 1008h – / 00h B.2.5 Manufacturer Hardware Version 1009h – / 00h C.1.2 Manufacturer Software Version 100Ah – / 00h C.1.2 Record Number 2032h Array C.1.3 Record Number 2033h – / 00h C.3.4 C-56 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 333 Array C.1.3 Record Table Element 20E0h 01h...05h Record C.1.3 Axis Parameter 20E2h 01h...05h Array 1005 B.2.15 Controller Type 20E3h – / 00h C.1.3 Jog Mode Time Phase 1 20E9h 00h / Var / B.2.12 Array C-57 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 334 – / 00h B.2.11 Homing Required 23F6h – / 00h 1014 B.2.16 Homing Max. Torque 23F7h – / 00h 1015 B.2.16 Communication Error 2FF0 – / 00h C.3.4 Device Fault 2FF1h – / 00h B.2.6 C-58 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 335 C.1.4 Position Actual Value 6064h – / 00h 1041 B.2.19 Position Window 6067h – / 00h 1022 B.2.17 Position Window Time 6068h – / 00h 1023 B.2.17 Velocity Demand Value 606Bh – / 00h C.1.4 C-59 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 336 – / 00h C.1.4 Motion Profile Type 6086h – / 00h C.1.4 Torque Slope 6087h – / 00h C.1.4 Torque Profile Type 6088h – / 00h C.1.4 Position Encoder Resolution 608Fh 01h, 02h Array 1001 B.2.15 C-60 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 337 Motor Data 6410h 01h, 03h Array 1025 B.2.17 Supported Drive Modes 6502h – / 00h C.1.4 Drive Catalog Number 6503h – / 00h V-string 124 B.2.5 Drive Manufacturer 6504h – / 00h V-string 122 B.2.5 C-61 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 338 V-string 123 B.2.5 Drive Data 6510h 31h (01h), Record 1026 B.2.17 (drive data) 32h (02h), 40h (03h), 41h (04h), 42h (05h), 43h (06h), A0h (07h), 22h (08h), 45h, A1h Tab. C/12: Overview of CANopen objects C-62 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 339: Representation Of Additional Ci Objects
– / 00h V-string Description Version of the FCT PlugIn MTR-DCI which is optimally suited for commissioning the MTR-DCI with the firmware version being used. Format = “xx.yy” (xx = main version, yy = secondary version) C-63 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 340 <00000000> (status upon delivery and after reset) Super password 20FAh V-string Entering the super password Resets all passwords (FCT password and HMI password, object 20FB). Contact Festo Service if you require the super password. Local Password 20FBh – / 00h V-string...
Page 341 Voltage supply to CAN interface. Specifies whether the interface is supplied internally or externally. External supply permits an electrically isolated bus connection, see section 3.6. Values: 0 (0x00): internal supply (default) 1 (0x01): external supply C-65 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 342 – Bit 4 in CI reversed polarity as with CiA 402. – In the Fault status, when power is applied to the axis, the status is indicated not as xxx8, but xxxA, meaning “Switched on” is set. C-66 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 343 Index Appendix D Index Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 344: D. Index
D. Index Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 345 ......with the Festo Configuration Tool (FCT) ... . .
Page 346 ......... . . Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 347 ........5-29 Festo Parameter Channel (FPC) ..... .
Page 348 ....1-12 Profile Position mode (see positioning mode) ..1-11 Profile Torque mode (see power operation) ..1-12 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 349 1-11 Profile Torque mode (see power operation) ..1-12 Project zero point ..1-15, B-14, B-34, C-5, C-26, C-58 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 350 ........3-18 Switch-on sequence ......3-10, 5-6 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 351 ......C-50 Value ranges, permitted ......C-51 Festo P.BE-MTR-DCI-CO-EN en 1209a...
Page 352 D. Index D-10 Festo P.BE-MTR-DCI-CO-EN en 1209a...

Festo MTR-DCI Series Description

Table of Contents

System Overview

Installation

Control Panel (Only Type Mtr-DCI- -H2)

Commissioning

Diagnostics and Error Display

Technical Appendix

Reference - Festo Handling and Positioning Profile (Fhpp)

Reference - Canopen and CI Objects

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Summary of Contents for Festo MTR-DCI Series