Festo Электромотор MTR-DCI Manuel d'utilisateur

DescriptionMTR-DCI-...IODescription539616en 1209d[763197]Motor unitMTR-DCI

Contents and general instructionsVIIIFesto P.BE-MTR-DCI-IO-EN en 1209dSafety instructionsWhen commissioning and programming positioning systems,you mu

5. Commissioning5-22Festo P.BE-MTR-DCI-IO-EN en 1209d5.4 Communication with the higher-order controller5.4.1 I/O function checkWarningDanger of injury

5. Commissioning5-23Festo P.BE-MTR-DCI-IO-EN en 1209d5.4.2 Description of the I/OsPosition sets I1 ... I4 Selection of the positi on sets is carried o

5. Commissioning5-24Festo P.BE-MTR-DCI-IO-EN en 1209dSTART I5 The position set sequence is started with a rising edge at theSTART input.Prerequisite:–

5. Commissioning5-25Festo P.BE-MTR-DCI-IO-EN en 1209dIf there is a 1-signal at the ENABLE input, the controller andthe power end stage will be switche

5. Commissioning5-26Festo P.BE-MTR-DCI-IO-EN en 1209d5.4.3 Function description (pulse-time diagram)Switch-on and homing runStart-up reaction In order

5. Commissioning5-27Festo P.BE-MTR-DCI-IO-EN en 1209dNoteIf a fault occurs during homing run, you must do the fol-lowing before starting a new positio

5. Commissioning5-28Festo P.BE-MTR-DCI-IO-EN en 1209d1010(TR)READY O11010START I510(FAULT)Drive in motionStart homing run10Position set 15I1...I410MC

5. Commissioning5-29Festo P.BE-MTR-DCI-IO-EN en 1209dPositioning proceduresStart positioningprocedureIftherearenofaultsandenableisactive(ENABLE=1),the

5. Commissioning5-30Festo P.BE-MTR-DCI-IO-EN en 1209dNoteIf a fault occurs during operation, you must do thefollowing before starting a new positio n

Operating, maintenance and diagnosis6-1Festo P.BE-MTR-DCI-IO-EN en 1209dChapter 6Operating, maintenance and diagnosis

Contents and general instructionsIXFesto P.BE-MTR-DCI-IO-EN en 1209dTarget groupThis manual is intended exclusively for technicians trained incontrol

6. Operating, maintenance and diagnosis6-2Festo P.BE-MTR-DCI-IO-EN en 1209dContents6. Operating, maintenance and diagnosis 6-1...

6. Operating, maintenance and diagnosis6-3Festo P.BE-MTR-DCI-IO-EN en 1209d6.1 Important user instructionsTake the following instructions and recommen

6. Operating, maintenance and diagnosis6-4Festo P.BE-MTR-DCI-IO-EN en 1209dNoteWhen the coupling or clamping element in the couplinghousing is loosene

6. Operating, maintenance and diagnosis6-5Festo P.BE-MTR-DCI-IO-EN en 1209dControl in operationWarningDanger of injuryFaults in parametrizing can caus

6. Operating, maintenance and diagnosis6-6Festo P.BE-MTR-DCI-IO-EN en 1209d6.2 Diagnosis and fault display6.2.1 General diagnostic possibilitiesThe MT

6. Operating, maintenance and diagnosis6-7Festo P.BE-MTR-DCI-IO-EN en 1209d6.2.2 LED status displaysThe operating states are shown with 3 LEDs:–(POWER

6. Operating, maintenance and diagnosis6-8Festo P.BE-MTR-DCI-IO-EN en 1209dI/F1)Status2)Ready for operation– Positioning procedure is completed(Motion

6. Operating, maintenance and diagnosis6-9Festo P.BE-MTR-DCI-IO-EN en 1209d6.2.3 Fault messages on the display (only type MTR-DCI-...-H2)Messages Mess

6. Operating, maintenance and diagnosis6-10Festo P.BE-MTR-DCI-IO-EN en 1209dFault Possible causeHARDWARE ERROR Device fault e.g. EEPROM defective.• Pl

6. Operating, maintenance and diagnosis6-11Festo P.BE-MTR-DCI-IO-EN en 1209dFault Possible causePOSITION ERROR Position fault (drag fault)Possible cau

Contents and general instructionsXFesto P.BE-MTR-DCI-IO-EN en 1209dImportant user instructionsDanger categoriesThis manual contains instructions on th

6. Operating, maintenance and diagnosis6-12Festo P.BE-MTR-DCI-IO-EN en 1209d

Technical appendixA-1Festo P.BE-MTR-DCI-IO-EN en 1209dAppendix ATechnical appendix

A. Technical appendixA-2Festo P.BE-MTR-DCI-IO-EN en 1209dContentsA. Technical appendix A-1...A.1 Technical s

A. Technical appendixA-3Festo P.BE-MTR-DCI-IO-EN en 1209dA.1 Technical sp ecificationsGeneralProtection class as per EN 60529 IP54 ( Plug connector in

A. Technical appendixA-4Festo P.BE-MTR-DCI-IO-EN en 1209dMechanical data 32 42 52 62MTR-DCI-...-G7: Gear reduction 6.75:1; 1-stageGear1)– Drive output

A. Technical appendixA-5Festo P.BE-MTR-DCI-IO-EN en 1209dElectricalspecifications32 42 52 62Rated voltage 24 V DC ±10 % 48 V DC +5...-10 %Rated curren

A. Technical appendixA-6Festo P.BE-MTR-DCI-IO-EN en 1209dA.2 AccessoriesConnection Accessories Designation Length [m]Voltage supply Power supply cable

A. Technical appendixA-7Festo P.BE-MTR-DCI-IO-EN en 1209dA.3 Motor characteristic curves1Drive output torque of gear shaft M [Nm]2Current I [A]3Recomm

A. Technical appendixA-8Festo P.BE-MTR-DCI-IO-EN en 1209dMTR-DCI-32...-G14MTR-DCI-32...-G7I[A]M[Nm]n[rpm]12345I[A]M[Nm]n[rpm]12345Fig. A/1: Motor char

A. Technical appendixA-9Festo P.BE-MTR-DCI-IO-EN en 1209dMTR-DCI-42...-G14MTR-DCI-42...-G7I[A]M[Nm]n[rpm]12345I[A]M[Nm]n[rpm]1234555Fig. A/2: Motor ch

Contents and general instructionsXIFesto P.BE-MTR-DCI-IO-EN en 1209dMarking special informationThe following pictograms mark passages in the textconta

A. Technical appendixA-10Festo P.BE-MTR-DCI-IO-EN en 1209dI[A]M[Nm]n[rpm]123455MTR-DCI-52...-G14MTR-DCI-52...-G7I[A]M[Nm]n[rpm]123455Fig. A/3: Motor c

A. Technical appendixA-11Festo P.BE-MTR-DCI-IO-EN en 1209dMTR-DCI-62...-G14MTR-DCI-62...-G7I[A]M[Nm]n[rpm]12345I[A]M[Nm]n[rpm]1234 5Fig. A/4: Motor ch

A. Technical appendixA-12Festo P.BE-MTR-DCI-IO-EN en 1209dMTR-DCI-62...-G22I[A]M[Nm]n[rpm]12345Fig. A/5: Motor characteristic curves MTR-DCI-62

A. Technical appendixA-13Festo P.BE-MTR-DCI-IO-EN en 1209dA.4 Converting measuring unitsA measuring system must be defined for specifying the para-met

A. Technical appendixA-14Festo P.BE-MTR-DCI-IO-EN en 1209dParameters MTR-DCI-32 MTR-DCI-42 MTR-DCI-52 MTR-DCI-62Feed1)DMES-18:1500 [μm/rot]DMES-25:250

A. Technical appendixA-15Festo P.BE-MTR-DCI-IO-EN en 1209dGeneral conversion factors UF1[inch] = 25, 4 [mm]1[inch] = 0, 0254 [m]1[°] =1360[rot][μm]}

A. Technical appendixA-16Festo P.BE-MTR-DCI-IO-EN en 1209dPhysical variable Conversion into incrementsItem POS [inc]– Target position– Reference point

Supplemen tary informationB-1Festo P.BE-MTR-DCI-IO-EN en 1209dAppendix BSupplementary information

B. Supplementary informationB-2Festo P.BE-MTR-DCI-IO-EN en 1209dContentsB. Supplementary information B-1...B.1 The

B. Supplementary informationB-3Festo P.BE-MTR-DCI-IO-EN en 1209dB.1 The Command Interpreter (CI)The commands implemented in the Command Interpreter of

Contents and general instructionsXIIFesto P.BE-MTR-DCI-IO-EN en 1209dManuals on motor unit MTR-DCIThis manual contains information on the method of op

B. Supplementary informationB-4Festo P.BE-MTR-DCI-IO-EN en 1209dNoteIn order to restore the default settings you can, if required,delete the EEPROM vi

B. Supplementary informationB-5Festo P.BE-MTR-DCI-IO-EN en 1209dWarningInjury to people and damage to property.Full access to the internal variables o

B. Supplementary informationB-6Festo P.BE-MTR-DCI-IO-EN en 1209dCarry out the follow i ng steps:•Connect the MTR-DCI to your PC via the RS232 interfac

B. Supplementary informationB-7Festo P.BE-MTR-DCI-IO-EN en 1209dPermitted value ranges Transferred parameters and values are checked by theMTR-DCI bef

B. Supplementary informationB-8Festo P.BE-MTR-DCI-IO-EN en 1209dNoteTransmission of the command is repeated 8 times by thehost. After that the serial

B. Supplementary informationB-9Festo P.BE-MTR-DCI-IO-EN en 1209dNoteThe following applies when the objects are written:– Discrete values:A non-permitt

B. Supplementary informationB-10Festo P.BE-MTR-DCI-IO-EN en 1209d<Value> The transferred value (1, 2 or 4 data bytes) depends on thedata type of

B. Supplementary informationB-11Festo P.BE-MTR-DCI-IO-EN en 1209dAll values are transferred in hexadecimal figures; 1 characterrepresents 4 bits; it i

B. Supplementary informationB-12Festo P.BE-MTR-DCI-IO-EN en 1209dB.1.3 CI Objects (overview)NoteThe following table contains an overview of the CI Obj

B. Supplementary informationB-13Festo P.BE-MTR-DCI-IO-EN en 1209dName CI ObjectsNameAccessSubind.IndexTypeClassGroup 2xxx continuedPassword (password)

Contents and general instructionsXIIIFesto P.BE-MTR-DCI-IO-EN en 1209dInformationontheversionThe hardware version specifies the version status of them

B. Supplementary informationB-14Festo P.BE-MTR-DCI-IO-EN en 1209dName CI ObjectsNameAccessSubind.IndexTypeClassGroup 6xxx (continued)Velocity_Actual_V

B. Supplementary informationB-15Festo P.BE-MTR-DCI-IO-EN en 1209dName CI ObjectsClass Type Index Subind. AccessGroup 6xxx (continued)Supported_Drive_M

B. Supplementary informationB-16Festo P.BE-MTR-DCI-IO-EN en 1209dB.1.4 Object descriptionPasswordCI access 20FAh 01h...02h Array V-string rw/rDescript

B. Supplementary informationB-17Festo P.BE-MTR-DCI-IO-EN en 1209dGroup 1xxxDevice_TypeCI access 1000h 00h Var uint32 rDescription Classification of th

B. Supplementary informationB-18Festo P.BE-MTR-DCI-IO-EN en 1209dGroup 2xxxRecord_NumberCI access 2032h 01h Array1)uint8 rwDescription Select a positi

B. Supplementary informationB-19Festo P.BE-MTR-DCI-IO-EN en 1209dScalingCI access 20D0h 01h, 02h Array uint8 rwDescription Measuring units and scaling

B. Supplementary informationB-20Festo P.BE-MTR-DCI-IO-EN en 1209dRecord_Table_ElementCI access 20E0h 01h...03h Struct uint16, int32 rwDescription Edit

B. Supplementary informationB-21Festo P.BE-MTR-DCI-IO-EN en 1209dRecord_Table_ElementVelocity(speed)20E0h 03h int32 rwPositioning speed in increments

B. Supplementary informationB-22Festo P.BE-MTR-DCI-IO-EN en 1209dData_Memory_ControlCI access 20F1h 01h...02h Array uint8 wDescription Commands for th

B. Supplementary informationB-23Festo P.BE-MTR-DCI-IO-EN en 1209dPasswordCI access 20FAh 01h, 02h Array V-string rwDescription Managing the FCT passwo

Contents and general instructionsXIVFesto P.BE-MTR-DCI-IO-EN en 1209dProduct-specific terms and abbreviationsThe following product-specific terms and

B. Supplementary informationB-24Festo P.BE-MTR-DCI-IO-EN en 1209dHMI_Parameter (MMI parameter)CI access 20FFh 01h, 02h Array uint8 rwDescription Param

B. Supplementary informationB-25Festo P.BE-MTR-DCI-IO-EN en 1209dGroup 6xxxNoteThe control parameters (6068h, 60FBh) of the MTR-DCI arepre-set. Modifi

B. Supplementary informationB-26Festo P.BE-MTR-DCI-IO-EN en 1209dStatus_WordCI access 6041h 00h Var uint16 rDescription Download current controller or

B. Supplementary informationB-27Festo P.BE-MTR-DCI-IO-EN en 1209dOperation_ModeCI access 6060h 00h Var int8 wDescription Operating mode of the control

B. Supplementary informationB-28Festo P.BE-MTR-DCI-IO-EN en 1209dPosition_Window_TimeCI access 6068h 00h Var uint16 rw*Description Readjustment time i

B. Supplementary informationB-29Festo P.BE-MTR-DCI-IO-EN en 1209dMotor_Rated_CurrentCI access 6075h 00h Var uint32 rDescription Rated current of motor

B. Supplementary informationB-30Festo P.BE-MTR-DCI-IO-EN en 1209dOffset_Axis_Zero_PointCI access 607Ch 00h Var int32 rwDescription Offset axis zero po

B. Supplementary informationB-31Festo P.BE-MTR-DCI-IO-EN en 1209dProfile_AccelerationCI access 6083h 00h Var int32 rwDescription Acceleration for a po

B. Supplementary informationB-32Festo P.BE-MTR-DCI-IO-EN en 1209dGear_RatioCI access 6091h 01h...02h Array uint32 rw*Description Ratio of motor revolu

B. Supplementary informationB-33Festo P.BE-MTR-DCI-IO-EN en 1209dHoming_MethodCI access 6098h 00h Var uint8 rwDescription Defines the method with whic

Contents and general instructionsXVFesto P.BE-MTR-DCI-IO-EN en 1209dTerm/abbreviation MeaningHoming run The reference position and therefore the sourc

B. Supplementary informationB-34Festo P.BE-MTR-DCI-IO-EN en 1209dPosition_Control_Parameter_SetCI access 60FBh 12h...15h,17h, 20hArray uint16 rwDescri

B. Supplementary informationB-35Festo P.BE-MTR-DCI-IO-EN en 1209dPosition_Control_Parameter_SetSave Position 60FBh 20h uint16 r240 (0x00F0) = current

B. Supplementary informationB-36Festo P.BE-MTR-DCI-IO-EN en 1209dMotor_TypeCI access 6402h 00h Var uint16 rwDescription Classification of the motorFix

B. Supplementary informationB-37Festo P.BE-MTR-DCI-IO-EN en 1209dDrive_DataCI access 6510h 31h, 32h,40...43h, A0hArrayDescription General motor dataFo

B. Supplementary informationB-38Festo P.BE-MTR-DCI-IO-EN en 1209dDrive_DataCurrent actualvalue(current actualvalue)6510h 45h int16 roCurrent ac tual v

IndexC-1Festo P.BE-MTR-DCI-IO-EN en 1209dAppendix CIndex

C. IndexC-2Festo P.BE-MTR-DCI-IO-EN en 1209dContentsC. Index C-1...

C. IndexC-3Festo P.BE-MTR-DCI-IO-EN en 1209dIndexAAbsolute 5-16...Access procedure B-3, B-8...

C. IndexC-4Festo P.BE-MTR-DCI-IO-EN en 1209dDDefault settings 5-7...Demo mode 5-17...D

C. IndexC-5Festo P.BE-MTR-DCI-IO-EN en 1209dHoming methodFixed stop 1-15...Homing Switch 1-16...

Contents and general instructionsXVIFesto P.BE-MTR-DCI-IO-EN en 1209dTerm/abbreviation MeaningSoftware end position Programmable stroke limitation (ba

C. IndexC-6Festo P.BE-MTR-DCI-IO-EN en 1209dOObject directory B-3...Operating mode XV, 1-7...

C. IndexC-7Festo P.BE-MTR-DCI-IO-EN en 1209dRReference travel XV, 5-23...Carry out 4-18...

C. IndexC-8Festo P.BE-MTR-DCI-IO-EN en 1209dUUnits of Measurement 1-5, A-13...Usable stroke 1-12...

System summary1-1Festo P.BE-MTR-DCI-IO-EN en 1209dChapter 1System summary

Adobe®,Reader®,CANopen®and CiA®are registeredtrademarks of the respective trademark owners in certaincountries.

1. System summary1-2Festo P.BE-MTR-DCI-IO-EN en 1209dContents1. System summary 1-1...1.1 Positioning with

1. System summary1-3Festo P.BE-MTR-DCI-IO-EN en 1209d1.1 Positioning with electric drives1Process controland parameteraccess throughthe higher-orderco

1. System summary1-4Festo P.BE-MTR-DCI-IO-EN en 1209dYou can parametrize and commission the MTR-DCI as fol-lows:– with the FCT software package via th

1. System summary1-5Festo P.BE-MTR-DCI-IO-EN en 1209dAll parameters are entered or displayed in the relevant setmeasuring units.Units of MeasurementCo

1. System summary1-6Festo P.BE-MTR-DCI-IO-EN en 1209d1.2 ComponentsFor setting up an electric drive with the MTR-DCI you willrequire the following com

1. System summary1-7Festo P.BE-MTR-DCI-IO-EN en 1209d1.3 ControlandregulatingfunctionsThe controller takes over the following tasks:– specification of

1. System summary1-8Festo P.BE-MTR-DCI-IO-EN en 1209dChanges in position are recognized by the internal increment-al sensor (optical encoder). With a

1. System summary1-9Festo P.BE-MTR-DCI-IO-EN en 1209d1.4 Operational reliabilityAn extensive system of sensors and monitoring functionsensure operatio

1. System summary1-10Festo P.BE-MTR-DCI-IO-EN en 1209dWarning•Please note that the MTR-DCI-…IO does not have a sep-arate logic voltage supply.•Check t

1. System summary1-11Festo P.BE-MTR-DCI-IO-EN en 1209dAxis zero point AZ is shifted by a defined dista nce from the r eference point REF(axis zero poi

Contents and general instructionsIFesto P.BE-MTR-DCI-IO-EN en 1209dOriginal de...Edition en 1209d...

1. System summary1-12Festo P.BE-MTR-DCI-IO-EN en 1209dMeasuring reference system: basis points and work rangedeLinear axis with homing method:Fixed st

1. System summary1-13Festo P.BE-MTR-DCI-IO-EN en 1209d1.5.2 Signs and directionsAll offsets and position values are vectors (with a given al-gebraic s

1. System summary1-14Festo P.BE-MTR-DCI-IO-EN en 1209d1.5.3 HomingIn the case of drives with incremental measuring system,homing m ust always be carri

1. System summary1-15Festo P.BE-MTR-DCI-IO-EN en 1209dSearch for fixed stop With this reference travel method, at first the drive moves atsearch speed

1. System summary1-16Festo P.BE-MTR-DCI-IO-EN en 1209dSearch for reference switch With this reference travel method, at first the drive moves atsearch

Mounting2-1Festo P.BE-MTR-DCI-IO-EN en 1209dChapter 2Mounting

2. Mounting2-2Festo P.BE-MTR-DCI-IO-EN en 1209dContents2. Mounting 2-1...2.1 General instructions 2-

2. Mounting2-3Festo P.BE-MTR-DCI-IO-EN en 1209d2.1 General instructionsWarningElectric shockBefore carrying out mounting, installation and mainten-anc

2. Mounting2-4Festo P.BE-MTR-DCI-IO-EN en 1209d2.2 Dimensions of the motor unitH0H2H1B1B2D1D2D3D4L1L2L3L4L5513T1Sizes [mm] 32 42 52 62Gear ratio G7/G1

2. Mounting2-5Festo P.BE-MTR-DCI-IO-EN en 1209d2.3 Mounting electric axesRefer to the following documentation when mounting theelectric axis:– Operati

Contents and general instructionsIIFesto P.BE-MTR-DCI-IO-EN en 1209d

2. Mounting2-6Festo P.BE-MTR-DCI-IO-EN en 1209dL3L3 x 0.5FyFxFig. 2/1: Forces and torquesForces and torques32 42 52 62MTR-DCI-...-G7 1-stage– Radial s

2. Mounting2-7Festo P.BE-MTR-DCI-IO-EN en 1209dNoteMotor unit MTR-DCI-62...-G22 can generate up to 37 Nm ata peak current of 20 A in the start-up phas

2. Mounting2-8Festo P.BE-MTR-DCI-IO-EN en 1209dIn order to fit Festo axes e.g. DMES or DGE axially, you willrequire couplings and coupling housings as

Installation3-1Festo P.BE-MTR-DCI-IO-EN en 1209dChapter 3Installation

3. Installation3-2Festo P.BE-MTR-DCI-IO-EN en 1209dContents3. Installation 3-1...3.1 Overview of insta

3. Installation3-3Festo P.BE-MTR-DCI-IO-EN en 1209d3.1 Overview of installationWarningBefore carrying out installation and maintenance workalways swit

3. Installation3-4Festo P.BE-MTR-DCI-IO-EN en 1209d1Power supply2I/O control3Reference switch4Serial interface1234Fig. 3/1: Connections on the MTR-DCI

3. Installation3-5Festo P.BE-MTR-DCI-IO-EN en 1209dIf non-assigned plug connectors are touched, there is adanger that damage may occur to the MTR-DCI

3. Installation3-6Festo P.BE-MTR-DCI-IO-EN en 1209d3.2 EarthingNote•Connect the earth terminal of the MTR-DCI with low im-pedance (short cable with la

3. Installation3-7Festo P.BE-MTR-DCI-IO-EN en 1209d3.3 Power supplyWarning•In order to provide the electric power supply, use onlyPELV circuits as per

Contents and general instructionsIIIFesto P.BE-MTR-DCI-IO-EN en 1209dContentsDesignated use VII...

3. Installation3-8Festo P.BE-MTR-DCI-IO-EN en 1209dThe internal power and controller electronics are suppliedwith DC voltage via the power supply conn

3. Installation3-9Festo P.BE-MTR-DCI-IO-EN en 1209d•Use the following cable from Festo's accessories:– power supply cable KPWR-MC-1-SUB-9HC– cabl

3. Installation3-10Festo P.BE-MTR-DCI-IO-EN en 1209d3.4 Serial interfaceSerial interface for parametrizing, commissioning anddiagnosingNoteTo connect

3. Installation3-11Festo P.BE-MTR-DCI-IO-EN en 1209dInformation on commissioning and parametrizing theMTR-DCI via the serial interface can be found in

3. Installation3-12Festo P.BE-MTR-DCI-IO-EN en 1209d3.5 Input for external reference switchIf you are not using a reference switch:•Seal the connectio

3. Installation3-13Festo P.BE-MTR-DCI-IO-EN en 1209dCautionDamage to the deviceThe DC 24 V voltage at pin 1 does not have any specialprotection agains

3. Installation3-14Festo P.BE-MTR-DCI-IO-EN en 1209d3.6 Connecting the higher-order controllerCommunication with the higher-order controller is made v

3. Installation3-15Festo P.BE-MTR-DCI-IO-EN en 1209dWarningIf a voltage is applied and the output pins are used incor-rectly, the device may be seriou

3. Installation3-16Festo P.BE-MTR-DCI-IO-EN en 1209d

Control panel (MTR-DCI-... -H2IO)4-1Festo P.BE-MTR-DCI-IO-EN en 1209dChapter 4Control panel (MTR-DCI-...-H2IO)

Contents and general instructionsIVFesto P.BE-MTR-DCI-IO-EN en 1209d4. Control panel (MTR-DCI-...-H2IO) 4-1...4.1 Compos

4. Control panel (MTR-DCI-...-H2IO)4-2Festo P.BE-MTR-DCI-IO-EN en 1209dContents4. Control panel (MTR-DCI-...-H2IO) 4-1...

4. Control panel (MTR-DCI-...-H2IO)4-3Festo P.BE-MTR-DCI-IO-EN en 1209dOn the control panel, motor unit type MTR-DCI-...-H2 offers allthe functions ne

4. Control panel (MTR-DCI-...-H2IO)4-4Festo P.BE-MTR-DCI-IO-EN en 1209d4.1 Composition and function of the c ontrol panelThe control panel enables com

4. Control panel (MTR-DCI-...-H2IO)4-5Festo P.BE-MTR-DCI-IO-EN en 1209dFunction ButtonMENU Activated by the status display from themain menuMenuESC Re

MTR-DCI...Xa= 0.00 mmHMI:off<Menu>} DiagnosticpositioningSettingsS ESC <Menu><--> OK <Enter>} HMI controlLCD adjustmentv ESC &

4. Control panel (MTR-DCI-...-H2IO)4-7Festo P.BE-MTR-DCI-IO-EN en 1209dMenu command Description} Diagnostic Display the system data and the currently

} Diagnostic} Pos.set tableAxis paramSystem paramSW information4. Control panel (MTR-DCI-...-H2IO)4-8Festo P.BE-MTR-DCI-IO-EN en 1209dFor selecting th

4. Control panel (MTR-DCI-...-H2IO)4-9Festo P.BE-MTR-DCI-IO-EN en 1209d[Pos. set table] Menu command for displaying the following entries in thepositi

4. Control panel (MTR-DCI-...-H2IO)4-10Festo P.BE-MTR-DCI-IO-EN en 1209d[System param] Menu command for displaying the follo w i ng system para-meters

} Settings} Axis typeAxis paramHoming paramPosition setPassword4. Control panel (MTR-DCI-...-H2IO)4-11Festo P.BE-MTR-DCI-IO-EN en 1209d4.2.3 Menu [Set

Contents and general instructionsVFesto P.BE-MTR-DCI-IO-EN en 1209dA. Technical appendix A-1...A.1 Technical

4. Control panel (MTR-DCI-...-H2IO)4-12Festo P.BE-MTR-DCI-IO-EN en 1209d[Axis param] Teach mode for setting the axis parameters[Axis param]Description

4. Control panel (MTR-DCI-...-H2IO)4-13Festo P.BE-MTR-DCI-IO-EN en 1209d[Homing param] Setting the reference travel method and the speed duringreferen

4. Control panel (MTR-DCI-...-H2IO)4-14Festo P.BE-MTR-DCI-IO-EN en 1209d[Position set] Teach mode for programming the position set table.[Position set

New Password:[?xx] =ESC <menu>EDIT <--> OK <Enter>Enter password:[?xx] =ESC <menu>EDIT <--> OK <Enter>4. Control p

Enter password:[?xx] =ESC <menu>EDIT <--> OK <Enter>New Password:[?xx] =ESC <menu>EDIT <--> OK <Enter>4. Control p

4. Control panel (MTR-DCI-...-H2IO)4-17Festo P.BE-MTR-DCI-IO-EN en 1209d4.2.4 Menu [Positioning]Start reference run or positioni ng run for testing th

} PositioningMove posit setDemo posit tab} Homing...Warning Motor movesESC <menu>START <Enter>HOMINGV_0= 20 mm/sv_sw = 10 mm/sEMERG.STOP&l

} Positioning} Move posit setDemo posit tabHoming...Warning Motor movesESC <menu>START <Enter>Move posit setPos 1Xt= 100.00 mmv = 20 mm/sX

4. Control panel (MTR-DCI-...-H2IO)4-20Festo P.BE-MTR-DCI-IO-EN en 1209dFunctionEMERG.STOPWith <Menu> you c an interrupt the positioningprocedur

Commissioning5-1Festo P.BE-MTR-DCI-IO-EN en 1209dChapter 5Commissioning

Contents and general instructionsVIFesto P.BE-MTR-DCI-IO-EN en 1209d

5. Commissioning5-2Festo P.BE-MTR-DCI-IO-EN en 1209dContents5. Commissioning 5-1...5.1 Procedure for comm

5. Commissioning5-3Festo P.BE-MTR-DCI-IO-EN en 1209d5.1 Procedure for commissioningWarningDanger of injury.Electric axes can move suddenly with high f

5. Commissioning5-4Festo P.BE-MTR-DCI-IO-EN en 1209dBefore commissioning•Before commissioning the servo drive make sure that:– the work space is of su

5. Commissioning5-5Festo P.BE-MTR-DCI-IO-EN en 1209dSwitching onNoteNote that the tolerance for the supply voltage must beobserved. The tolerance must

DiagnosticpositioningSettings} HMI controlLCD adjustment5. Commissioning5-6Festo P.BE-MTR-DCI-IO-EN en 1209d5.2 Commissioning with the control panel (

} SettingsAxis typeType DMES...Rotation driveUser config5. Commissioning5-7Festo P.BE-MTR-DCI-IO-EN en 1209dCommissioning (overview) Chapter5. Enter s

5. Commissioning5-8Festo P.BE-MTR-DCI-IO-EN en 1209dAxis type Feed constant[mm/revolution]MeasuringsystemFesto positioningaxis1) 2)DMES-18 1.5 Metric3

5. Commissioning5-9Festo P.BE-MTR-DCI-IO-EN en 1209d5.2.2 Setting the homing parameterCautionDamage to componentsThe slide may only move against the f

5. Commissioning5-10Festo P.BE-MTR-DCI-IO-EN en 1209dCurrent limitingThe motor current can be specified with 1 to 200 % of therated motor current depe

} SettingsHoming parameterHoming methodVelocity v_B+WVelocity v_s0Save5. Commissioning5-11Festo P.BE-MTR-DCI-IO-EN en 1209dSet parametersThe reference

Contents and general instructionsVIIFesto P.BE-MTR-DCI-IO-EN en 1209dDesignated useThe MTR-DCI motor unit is an intelligent servo motor consist-ing of

5. Commissioning5-12Festo P.BE-MTR-DCI-IO-EN en 1209dStart homing runNoteWhen carrying out a homing run note that– the drive must be in the permitted

5. Commissioning5-13Festo P.BE-MTR-DCI-IO-EN en 1209dDiscontinue homing runIf necessary, homing run can be discontinued with the <Menu>button (E

5. Commissioning5-14Festo P.BE-MTR-DCI-IO-EN en 1209dTeach the axis zero poin t:1. Select [Settings] [Axis parameter] [Zero point].2. Move the drive t

5. Commissioning5-15Festo P.BE-MTR-DCI-IO-EN en 1209d5.2.4 Positioning with position setsWarningDamage to or impairment of the mechanical components.W

5. Commissioning5-16Festo P.BE-MTR-DCI-IO-EN en 1209d5.2.5 Teach position setsEnter the position sets as follows:1. Activate the desired position set

5. Commissioning5-17Festo P.BE-MTR-DCI-IO-EN en 1209d•Set the nominal speed with the arrow buttons.•Accept the setting with OK <Enter>. The sett

5. Commissioning5-18Festo P.BE-MTR-DCI-IO-EN en 1209d1. Enter several position sets in order to check the positio n-ing reaction (see chapter 5.2.5).•

5. Commissioning5-19Festo P.BE-MTR-DCI-IO-EN en 1209d5.3 Commissioning with FCT5.3.1 Installing the FCTNoteThe PlugIn MTR-DCI version V1.1.0 supports

5. Commissioning5-20Festo P.BE-MTR-DCI-IO-EN en 1209d5.3.2 Procedure for commissioning with the Festo Configuration ToolStarting the FCTCarry out the

5. Commissioning5-21Festo P.BE-MTR-DCI-IO-EN en 1209dInstructions on parametrizing and commissioningFurther information can be found in the help for t