motor unit mtr-dci - festo.com · 3.6.1 connecting the higher-order controller 3-15..... 3.6.2...

Description

MTR-DCI-...-DN

Description553531en 1209a[763221]

Motor unitMTR-DCI

Adobe®, Reader®, DeviceNet®, Allen-Bradley®, CANopen®

and CiA® are registered brand names of the respective brandholders in certain countries.

Contents and general safety instructions

IFesto P.BE-MTR-DCI-DN-EN en 1209a

Original de. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition en 1209a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE-MTR-DCI-DN-EN. . . . . . . . . . . . . . . . . . . . .

Order no. 553531. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© Festo AG & Co. KG, D-73726 Esslingen, 2012Internet: http://www.festo.comE-mail: [email protected]

Reproduction, distribution or sale of this document orcommunication of its contents to others without expressauthorization is prohibited. Offenders will be liable fordamages. All rights reserved in the event that a patent,utility model or design patent is registered.


II Festo P.BE-MTR-DCI-DN-EN en 1209a


IIIFesto P.BE-MTR-DCI-DN-EN en 1209a

Contents

Intended use IX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Target group XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Service XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Scope of delivery XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Important user instructions XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Description of MTR-DCI motor unit XIV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .About the version XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Product-specific terms and abbreviations XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System overview 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Positioning with electric drives 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Fieldbus communication 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Data exchange using DeviceNet 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 FHPP data profile 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Components 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Control and regulation functions 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Operational safety 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Dimensional reference system 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Reference points and positioning range 1-19. . . . . . . . . . . . . . . . . . . . .

1.6.2 Plus/minus signs and directions 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.3 Homing 1-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Mounting 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General instructions 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dimensions of the motor unit 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Mounting the electric axes 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of installation 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Earthing 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Power supply 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE-MTR-DCI-DN-EN en 1209a

3.3.1 Power supply requirements 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Load and logic voltage 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Serial interface 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Input for external reference switch 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 Field bus 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.1 Connecting the higher-order controller 3-15. . . . . . . . . . . . . . . . . . . . . .

3.6.2 Fieldbus cable 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.3 Fieldbus bit rate and fieldbus length 3-18. . . . . . . . . . . . . . . . . . . . . . . .

4. The control panel (type MTR-DCI-...-H2 only) 4-1. . . . . . . . . . . . . . . . . . . . . . .

4.1 Composition and function of the control panel 4-4. . . . . . . . . . . . . . . . . . . . . . .

4.2 The menu system 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Accessing the main menu 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Selecting a menu command 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 [Diagnostic] menu 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Positioning] menu 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 [Positioning] [Move position set] 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 [Positioning] [Demo position table] 4-13. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 [Positioning] [Homing] 4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 [Settings] menu 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 [Settings] [Axis type] 4-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 [Settings] [Axis parameter] 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.3 [Settings] [Homing paramet.] 4-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.4 [Settings] [Position set] 4-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.5 [Settings] [Password edit] 4-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.6 [Settings] [BUS parameter] 4-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Menu command [HMI control] 4-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE-MTR-DCI-DN-EN en 1209a

5. Commissioning 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Commissioning procedure 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Commissioning with the control panel (MTR-DCI-...-H2 only) 5-7. . . . . . . . . . . .

5.2.1 Setting the axis type 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting the homing parameters 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Starting homing 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Teaching the axis zero point AZ and the software end positions 5-15. .

5.2.5 Teaching position set records 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Test run 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Setting bus parameters 5-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with FCT 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Installing the FCT 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Procedure 5-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Further information on FCT 5-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Commissioning a DeviceNet master 5-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Overview of commissioning on the Fieldbus 5-27. . . . . . . . . . . . . . . . . .

5.4.2 Configuration of the DeviceNet master (“I/O configuration”) 5-28. . . .

5.5 Festo profile for handling and positioning (FHPP) 5-30. . . . . . . . . . . . . . . . . . . . .

5.5.1 Supported operating modes 5-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Structure of the cyclic I/O data (FHPP standard) 5-32. . . . . . . . . . . . . .

5.5.3 Description of the I/O data (record selection) 5-34. . . . . . . . . . . . . . . . .

5.5.4 Description of the I/O data (direct task) 5-35. . . . . . . . . . . . . . . . . . . . .

5.5.5 Description of the control bytes CCON, CPOS, CDIR 5-36. . . . . . . . . . . .

5.5.6 Description of the status bytes SCON, SPOS, SDIR (RSB) 5-39. . . . . . .

5.5.7 Examples of I/O data 5-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE-MTR-DCI-DN-EN en 1209a

5.6 Sequence control according to the FHPP standard 5-55. . . . . . . . . . . . . . . . . . . .

5.6.1 Homing 5-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Jog mode 5-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.3 Teaching via Fieldbus 5-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.4 Record selection (Positioning mode) 5-61. . . . . . . . . . . . . . . . . . . . . . . .

5.6.5 Direct task (Positioning mode, Force mode) 5-67. . . . . . . . . . . . . . . . . .

5.6.6 Standstill monitoring 5-74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 The Festo Parameter Channel (FPC) 5-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.1 Structure of the cyclic I/O data (FHPP-FPC) 5-76. . . . . . . . . . . . . . . . . . .

5.7.2 Request identifiers, response identifiers and error numbers 5-78. . . . .

5.7.3 Rules for request-response processing 5-81. . . . . . . . . . . . . . . . . . . . . .

5.7.4 Parameterisation example 5-83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 FHPP finite state machine 5-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.1 Establish “ready to operate” status 5-87. . . . . . . . . . . . . . . . . . . . . . . . .

5.8.2 Positioning 5-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 Notes on operation 5-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. Diagnosis and error display 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Overview of diagnostic options 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LED status displays 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Fault messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Overview 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Description of the messages, warnings, and faults 6-8. . . . . . . . . . . . .

6.4 Diagnosis using Fieldbus 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Overview 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Diagnostic memory 6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Accessories A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Motor characteristic curves A-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4 Conversion of units of measurement A-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VIIFesto P.BE-MTR-DCI-DN-EN en 1209a

B. Reference – Festo DeviceNet and FHPP B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 DeviceNet Reference (Explicit Messaging) B-3. . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Parameter classes B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 Object overview (class, attribute, instance) B-4. . . . . . . . . . . . . . . . . . .

B.2 FHPP Reference (I/O messaging) B-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.1 Parameter groups B-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.2 Object overview (Parameter number (PNU) B-11. . . . . . . . . . . . . . . . . .

B.2.3 Layout of the parameter entries B-16. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.4 Device data – Standard parameters B-17. . . . . . . . . . . . . . . . . . . . . . . . .

B.2.5 Device data – Extended parameters B-18. . . . . . . . . . . . . . . . . . . . . . . . .

B.2.6 Diagnosis B-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.7 Process data B-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.8 Record list B-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.9 Project data – General B-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.10 Project data – Force mode B-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.11 Project data – Teaching B-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.12 Project data – Jog mode B-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.13 Project data – Direct mode: (Positioning mode) B-36. . . . . . . . . . . . . . .

B.2.14 Project data – Direct mode: (Force mode) B-37. . . . . . . . . . . . . . . . . . . .

B.2.15 Axis parameter, electric drive 1 – Mechanical B-38. . . . . . . . . . . . . . . . .

B.2.16 Axis parameter, electric drives 1 – Homing B-42. . . . . . . . . . . . . . . . . . .

B.2.17 Axis parameter, electric drive 1 – Controller B-44. . . . . . . . . . . . . . . . . .

B.2.18 Axis parameter, electric drive 1 – Electronic Type plate B-49. . . . . . . . .

B.2.19 Axis parameter, electric drive 1 – Standstill monitoring B-51. . . . . . . . .


VIII Festo P.BE-MTR-DCI-DN-EN en 1209a

C. The Command Interpreter (CI) C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 Data transmission C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.1 Procedure C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.2 Structure of the CI commands C-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.3 Checking the data C-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2 CI Reference C-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2.1 Object overview (Index, Subindex) C-11. . . . . . . . . . . . . . . . . . . . . . . . . .

C.2.2 Layout of the parameter entries C-18. . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2.3 Communication Profile Area (1xxxh) C-19. . . . . . . . . . . . . . . . . . . . . . . .

C.2.4 Manufacturer Specific Profile Area (2xxxh) C-20. . . . . . . . . . . . . . . . . . .

C.2.5 Standardised Device Profile Area (6xxxh) C-26. . . . . . . . . . . . . . . . . . . .

D. Index D-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


IXFesto P.BE-MTR-DCI-DN-EN en 1209a

Intended use

The MTR-DCI-... motor unit is an intelligent servo motor con-sisting of DC motor, planetary gear, encoder and inte-grated control electronics (position controller).

The MTR-DCI has been optimised for use with Festo axes (e.g.DMES-... or DNCE-...).

This manual deals with the basic functions of the MTR-DCIand controlling this via the Fieldbus DeviceNet interface.

The Fieldbus interface supports the Festo Fieldbus profile forhandling and positioning (FHPP).

The MTR-DCI and the connectable modules and cables mayonly be used as follows:

– As intended

– In industrial applications

– In perfect technical condition

– In their original state without unauthorised modifications(with the exception of the conversions or modificationsdescribed in the documentation supplied with theproduct).

• Follow the safety instructions and adhere to the intendeduse of each sub-assembly and module as described in thedocumentation.

• Please observe the standards specified in the relevantchapters, the regulations of professional associations, thetechnical monitoring group (TÜV), the VDE regulationsand the relevant national and local regulations.

• Be mindful of the limit values of all additional components(e. g. sensors, actuators).


X Festo P.BE-MTR-DCI-DN-EN en 1209a

Safety instructions

When commissioning and programming positioning systems,you must observe the safety regulations in this manual aswell as those in the operating instructions for the other com-ponents used.

The user must make sure that nobody is in the operatingrange of the connected actuators or axis system. Access tothe possible danger area must be prevented by suitablemeasures such as protective screens and warning signs.

WarningElectrical axes can move with high force and at high speed.Collisions can lead to serious injury to human beings anddamage to components.

Make sure that nobody can reach into the operating rangeof the axes or other connected actuators and that noobjects lie in the positioning range while the system is stillconnected to a power supply.

WarningFaults in parameterisation can cause injury to humanbeings and damage to property.

Only enable the controller once the axis system has beeninstalled and parameterised by technically qualified staff.


XIFesto P.BE-MTR-DCI-DN-EN en 1209a

Target group

This manual is intended exclusively for technicians trained incontrol and automation technology, who have experience ininstalling, commissioning, programming and diagnosing posi-tioning systems.

Service

Please consult your local Festo Service or write to the fol-lowing e-mail address if you have any technical problems:

[email protected]

Scope of delivery

The following items are supplied with the MTR-DCI motorunit:

– Motor unit with integrated controller, optionally withcontrol panel

– Operating package on CD-ROM:

– User documentation (descriptions)

– Festo Configuration Tool with MTR-DCI plug-in

– User documentation (quick reference guide)

Available as accessories (see Appendix A.2):

– Connecting cable and fieldbus plug

– Programming cable

– User documentation in paper form.


XII Festo P.BE-MTR-DCI-DN-EN en 1209a

Important user instructions

Danger categories

This manual contains instructions on the possible dangerswhich can occur if the product is not used correctly. Theseinstructions are marked (Warning, Caution, etc), printed on ashaded background and marked additionally with apictogram. A distinction is made between the followingdanger warnings:

Warning... means that failure to observe this instruction may resultin serious personal injury or damage to property.

Caution... means that failure to observe this instruction may resultin personal injury or damage to property.

Note... means that failure to observe this instruction may resultin damage to property.

Electrostatically sensitive devices: Incorrect handling canresult in damage to components.


XIIIFesto P.BE-MTR-DCI-DN-EN en 1209a

Identifying special information

The following pictograms mark passages in the text whichcontain special information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation

Accessories:Information on necessary or useful accessories

Environment:Information on the environment-friendly use of the products

Text designations

• The bullet indicates activities which may be carried out inany order.

1. Figures denote activities which must be carried out in thenumerical order specified.

– Hyphens indicate general activities.


XIV Festo P.BE-MTR-DCI-DN-EN en 1209a

Description of MTR-DCI motor unit

This description contains information on the mode ofoperation, as well as on assembly, installation andcommissioning of electric valve actuators with motorunit type MTR-DCI-...-DN (DeviceNet interface).

Information´on additional components, e. g. the referenceswitches, can be found in the operating instructions suppliedwith the product in question.

Type Designation Content

Operating package withbrief description anddescriptions (andcommissioning software)on CD-ROM

P.BP-MTR-DCI Brief description: important instructionson commissioning and preliminaryinformationDescriptions on CD-ROM: contents asdescribed below

Description Motor unit of type MTR-DCIwith DeviceNet interfaceP.BE-MTR-DCI-DN-...

Installation, commissioning anddiagnosis of electric drives with MTR-DCImotor unit; communication via theDeviceNet interface.

Help system for software Festo Configuration Toolhelp (contained in FCTsoftware)

Function description of the FestoConfiguration Tool (FCT) configurationsoftware

Operating instructions, ifpresent

Drivese.g. DMES-... / DNCE-...

Fitting and commissioning the drives

Further manuals Motor unit MTR-DCI withother communicationsinterfaces e.g.P.BE-MTR-DCI-IO-...P.BE-MTR-DCI-CO-...P.BE-MTR-DCI-PB-...

Installing, commissioning and diag-nosing electric axes with motor con-troller type MTR-DCI with communica-tion via I/O interface or via the relevantFieldbus.

Table 0/1: Documentation on the MTR-DCI


XVFesto P.BE-MTR-DCI-DN-EN en 1209a

About the version

The hardware version specifies the version status of themechanical parts and electronics of the MTR-DCI. The firm-ware version indicates the version status of the MTR-DCI'soperating system.

You can find the version specifications as follows:

– Hardware version and firmware version under “Devicedata” in the Festo Configuration Tool with active deviceconnection to the MTR-DCI

– Firmware version on the control panel under [Diagnostic][Software information]

Firmwareversion

What is new? Which FCT plug-in?

V1.00 Supports the listed sizes of the MTR-DCI-DN in combina-tion with the following Festo axes:Motor unit AxesMTR-DCI-32... DMES-18; DNCE-32MTR-DCI-42... DMES-25; DNCE-32/40MTR-DCI-52... DMES-40; DNCE-40/63MTR-DCI-62... DMES-63; DNCE-63

MTR-DCI-DN V2.1.0

Table 0/2: Firmware versions


XVI Festo P.BE-MTR-DCI-DN-EN en 1209a

Product-specific terms and abbreviations

Abbreviation Meaning

AZ Axis zero point

BCD Binary Coded Decimal number

EMC Electromagnetic compatibility

FCT Festo Configuration Tool

FHPP Festo Handling and Positioning Profile

FPC Festo Parameter Channel

IOI/O

Input,OutputInput and/or output

LSB Least significant bit

MSB Most significant bit

PZ Project zero point

REF REFerence point

PLC Programmable logic controller; or in short: Controller

Fieldbus specific abbreviations

0x1234 or1234h

Hexadecimal numbers are identified by

– a prefix of “0x” or

– a suffix of “h”

ATTR ATTRibute number (see “Object”, Table 0/4)

CI Command Interface

CLS CLaSS, Object class identifier (see “Object”, Table 0/4)

COS Change Of State (see “COS/Cyclic”, Table 0/4)

EDS Electronic Data Sheet (see “EDS file”, Table 0/4)

INST INSTance number (see “Object”, Table 0/4)


XVIIFesto P.BE-MTR-DCI-DN-EN en 1209a

Abbreviation Meaning

MAC-ID Media Access Control IDentifier, see “Participant address”

PNU Parameter number as per FHPP-FPC

Table 0/3: List of abbreviations

Term Meaning

Axis Mechanical component of a drive which converts the motor revolutionsinto positioning movements of a work load. An axis (e.g. positioning servoaxis DMES-...) enables the work load to be mounted and guided and thereference switch to be mounted.

Axis zero point (AZ) Reference point of the software end positions and the project zero posi-tion PZ. The axis zero point AZ is defined by a preset offset to the refer-ence point REF.

Drive Complete actuator, consisting of controller, motor, measuring systemand, if applicable, gear and axis

Operation mode Is used in the following contexts:

– Type of access: Record selection, direct task

– Internal logical state of the controller: Position Profile Mode, ProfileToque Mode, Homing Mode, ...

Controller Contains power electronics + controller + positioning control, analysessensor signals, calculates movements and forces, and provides the motorpower supply via the power electronics.

Encoder Optical pulse generator (rotor position transducer on the motor shaft ofthe MTR-DCI). The electric signals generated are sent to the controller,which then calculates the position and speed on the basis of the signalsreceived.

Festo Configuration Tool(FCT)

Commissioning software with uniform project and data management forall supported device types. The special requirements of a device type aresupported with the necessary descriptions and dialogues by means ofplug-ins.

Festo Handling and Posi-tioning Profile (FHPP)

Uniform field bus data profile for positioning controllers from Festo. Para-meter values, control bytes, and status bytes required during operationcan be directly read and written via the FHPP object directory.

FHPP standard Defines the sequence control as per the “Festo Handling und PositioningProfile”


XVIII Festo P.BE-MTR-DCI-DN-EN en 1209a

Term Meaning

Festo ParameterChannel (FPC)

Parameter access as per the “Festo Handling und Positioning Profile”

HMI HumanMachine Interface; on the MTR-DCI, this is the control panel withLCD display and 4 operating buttons.

Homing mode Operating mode in which homing is carried out.

Load voltage, logicvoltage

The load voltage supplies power to the power electronics of the con-troller and thus to the motor. The logic voltage supplies power to theevaluation and control logic of the controller.

Force mode(Profile Torque Mode)

Operating mode for performing a direct positioning task with force con-trol (open loop transmission control) by controlling the motor current.

Motor unit Integrated unit consisting of a controller, motor, measuring system and, ifapplicable, gears (e.g. motor unit type MTR-DCI)

Positioning mode(Profile Position mode)

Operating mode for executing a traversing record or a direct positioningtask with position control (closed loop position control)

Project zero point (PZ) Reference point for all positions in positioning tasks. The project zeropoint PZ forms the basis for all absolute position specifications (e.g. inthe position set table or with direct control via the controller interface ordiagnostic interface). The PZ is defined by an adjustable offset to the axiszero point.

Homing Definition of the dimensional reference system of the axis

Homing method Method for finding the homing point REF: via a reference switch insidethe possible traversing path or by overcurrent analysis when traversingagainst a stop.

Homing point (REF) The homing point (the “reference” point = REF) defines a known posi-tion/orientation within the positioning path of the drive. It is the basicpoint of reference for the dimensional reference system.

Reference switch External sensor used for ascertaining the homing point; is directly con-nected to the controller.

Homing run A positioning process used to defined the homing point and therefore thesource of the dimensional reference system for the axis.


XIXFesto P.BE-MTR-DCI-DN-EN en 1209a

Term Meaning

Software end position Programmable stroke limitation (point of reference = axis zero point)

– Software end position, positive:

Max. limit position of the stroke in the positive direction; must not beexceeded during positioning.

– Software end position, negative:

Min. limit position in the negative direction; must not be exceededduring positioning.

Teach mode(Teach mode)

Operation mode for setting positions by moving to the target positione. g. when creating position set records.

Jog mode Moving manually in positive or negative direction.

Position set record Positioning command defined in the position set table, consisting of:

– The number of the position set record

– The absolute or relative basis of the target position

– Target position

– Positioning speed

Fieldbus specific terms

Terminating resistor Resistor for minimizing signal reflections. Terminating resistors must beinstalled or switched in at the end of bus segment cables.

Bit Strobe All slaves are queried by a command from themaster. Used for transferring small quantities of data between a masterand one or more slaves, e.g. for synchronisation of input or output data(not supported by MTR-DCI)

COS/Cyclic The messages are sent from the master or slave cyclically (in a fixed timeinterval) or when a state change occurs. With COS messaging, a messageis generated “cyclically” when not status change occurs within a giventimeframe; for this reason, COS and Cyclic are often treated as the samemessage type.

Explicit Messaging Direct connection Explicit Messaging represents an (acyclic) low priority,point-to-point communications connection between two devices and istypically used for configuration and diagnostic purposes. Explicit mess-ages contain the address and value of an attribute and also an identifier(service code) describing how the data is to be handled.


XX Festo P.BE-MTR-DCI-DN-EN en 1209a

Term Meaning

I/O Messaging (Implicitmessaging)

I/O data transfer “I/O Messaging” is used for exchanging time-criticaldata (e.g. process data). An I/O message contains only data. All informa-tion defining how the data is to be handled is stored in the “Connection”object the message is assigned to.

I/O Polling The slaves are cyclically queried by the master.The master sends a polling command to a slave that also contains datafor the slave. If the slave has data for the master then it sends this to themaster. If a slave does not answer a polling request from the master thenthis leads to a timeout error.

EDS file Contains the specific properties of the DeviceNet slave (e.g. number ofI/Os, parameters, etc.). The DeviceNet configuration tool reads the EDSfiles of the devices in the network and uses these to calculate the con-figuration data that is subsequently loaded into the DeviceNet partici-pants.

Object An object is a collection of data (attributes). These attributes defineddifferent properties of a DeviceNet device and can be read and writtenover the bus. For access, see: “Object directory”

Object directory The object directory contains all device parameters and current processdata that is directly accessible via FHPP, the Fieldbus, or directly via CI.The object directory is subdivided into an area containing general deviceinformation (device identification, manufacturer name, etc.) and com-munication parameters, and an area describing the specific device func-tionality. An entry (object) in the object directory is identified byFHPP FPC: Parameter number PNUCI: Index and SubindexDeviceNet: class, instance, attribute

Participant address(node address)

Each of the up to 64 participants in a DeviceNet network has its ownMAC ID (Media Access Control Identifier); which is a component of theCAN identifier.

Table 0/4: Terminology

System overview

1-1Festo P.BE-MTR-DCI-DN-EN en 1209a

Chapter 1

System overview

1. System overview

1-2 Festo P.BE-MTR-DCI-DN-EN en 1209a

Contents

1. System overview 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Positioning with electric drives 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Fieldbus communication 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Data exchange using DeviceNet 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 FHPP data profile 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Components 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Control and regulation functions 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Operational safety 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Dimensional reference system 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.1 Reference points and positioning range 1-19. . . . . . . . . . . . . . . . . . . . .

1.6.2 Plus/minus signs and directions 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.3 Homing 1-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System overview


1.1 Positioning with electric drives

1 Process control andparameter accessthrough thehigher-ordercontroller /Fieldbus master

2 Software level:Commissioningwith the FestoConfiguration Toolsoftware

3 Drive level with

– Motor unit– Coupling– Couplinghousing

– Axis

CANopen

I/O

RS232

1 2

3

Profibus

DeviceNet

Fig. 1/1: Principle of positioning system with the MTR-DCI

The MTR-DCI-...-DN motor unit with DeviceNet fieldbus inter-face allows positioning of the connected linear or rotationalaxis in accordance with the “Festo Handling and PositioningProfile”

1. System overview


You can parameterise and commission the MTR-DCI as fol-lows:

– Using the FCT software package and the RS232 interfaceof your PC.

– With the optional control panel with display and 4 operat-ing buttons (MTR-DCI-...-H2 only).

– Over the Fieldbus.

Functions HMI FCT Field bus

Parameterassignment

– Selecting the axis type and the axis para-meters

– Specifying a gear factor (for externalgears)

– Uploading/downloading configurationdata

– Saving different configurations in projects

x

–

––

x

x

xx

x

x

x–

Position records – Compiling a position set table with setrecord number, target position, posi-tioning mode, positioning speed, acceler-ation

x x x

Commissioning – Homing

– Jog mode

– Teaching positions

– Moving in individual steps

– Starting and stopping positioning pro-cedures while commissioning

– Extended test functions e.g. status dis-plays

– Testing or demonstrating the positionrecords

xxx–x

(x)

x

xxxxx

x

x

xxxxx

x

x

Diagnosis/Service – Reading and displaying diagnostic data x x x

1. System overview


All values are entered and displayed according to the confi-gured units of measurement.

Units of measurement Controlpanel

FCT Field bus

Linear axis Metric Metric units,e. g. mm, mm/s, mm/s2

x x –

Inches 1) Imperial units,e. g. inch, inch/s, inch/s2

– x –

Increments Increment-based measuringunits, e. g. inc, inc/s, inc/s2

– – x

Rotationalaxis

Degrees Angular measurement360° = 1 revolutione. g. deg, deg/s, deg/s2

x x –

Revolutions 2) Number of revolutionse. g. rev, rev/min, rev/min2

x – –

Increments Increment-based measuringunits, e. g. inc, inc/s, inc/s2

– – x

1) Only with FCT when setting up a project.2) Setting only with the control panel [Settings] [Axis type] [Rotation axis]

The setting for the units of measurement influences only thedisplay. In the controller all parameters are always saved inincrement specifications (inc, inc/s, inc/s2 ...) and not con-verted until they are written or read.Measurements transmitted via Fieldbus or RS232 are basedon increments (for conversion see appendix A.4).

1. System overview


1.2 Fieldbus communication

1.2.1 Data exchange using DeviceNet

DeviceNet was developed by Rockwell Automation and theODVA (Open DeviceNet Vendor Association) as an openFieldbus standard based on the CAN protocol. DeviceNetbelongs to the class of CIP-based networks. CIP (CommonIndustrial Protocol) forms the application layer of DeviceNetand defines the exchange of the following data:

– Explicit messages with low priority, e.g. for configurationor diagnosis.

– I/O messages, e.g. time-critical process data

The Open DeviceNet Vendor Association (ODVA) is the userorganisation for DeviceNet. Publications on the DeviceNet/CIP specifications are provided at

– ODVA (Open DeviceNet Vendor Association)http://www.odva.org

– CI (ControlNet International )http://www.controlnet.org

Explicit Messaging Explicit messages consists of a request and a response. Thisallows services to be requested or executed directly from aparticipant.

Explicit messages contain (target) address, class, instance,attribute, and attribute value, as well as a service code fordata usage.

1. System overview


I/O Messaging I/O messages are sent by a participant and can be receivedand processed by one or more other participants. For I/Omessages, the following dialogues between the participantsare possible:

– The slaves can be cyclically queries by the master(polled I/O) or

– the messages are cyclically sent from the master orslave, or sent when a state change occurs (COS/Cyclic) or

– all slaves are queried by the master with a single com-mand (bit-strobe, not supported by the MTR-DCI).

The data field contains exclusively user data, protocol datais not specified. All information required for using the datais stored in the assigned “Connection Object”.

Up to 64 fieldbus nodes can be operated via the serialCAN bus in a DeviceNet network. The expansion of the net-work depends on the selected bit rate (125 kbps, 250 kbps or500 kbps). DeviceNet telegrams contain up to 8 bytes of userdata. If it is necessary to exchange larger amounts of data,then before sending the data has to be broken down bymeans of fragmentation, transmitted sequentially, and thenput together again in the recipient.

In contrast to other Fieldbus systems, the messages areidentified and not the bus participants. The participants maysend messages when the bus is free. Every bus participantdecides when they want to send data or request other busparticipants to send data. Bus conflicts are resolved byassigning a particular priority (Connection ID) to the mess-ages. The smaller the identifier, the higher the priority. BeforeDeviceNet devices can exchange messages using these IDs,they must first be appropriately configured.

1. System overview


The configuration data contains the source and targetaddresses of the data for the sender and receiver of themessages.

Object model Access to the data in DeviceNet occurs via objects. EveryDeviceNet participant has one or more objects of differentclasses. An object is an instance of a class:

– Standard classes describe (e.g.) basic properties, com-munications behaviour, or the parameters of individualchannels of a participant.

– Manufacturer-specific classes describe device-specificproperties or parameters.

Device profile Device profiles define the minimum available objects andcommunications functions for each device type. The MTR-DCIconforms to the DeviceNet specification of the device profile“Communication Adapter” (device type number 000Ch).

Predefined connection For simple slave devices, predefined master-slave connec-tions, so-called “Predefined Master/Slave Connection Set”,can be used to simplify the transfer of I/O data between thehigher-level control system (master) and the decentralisedperipherals (slaves). The MTR-DCI-DN operates according tothe specification “Predefined connection set, Group 2 slaveonly”.

1. System overview


As a “Group 2 Slave” the MTR-DCI-DN supports the followingdialogues, services, and object classes:

CAN ID Dialogue (Message Type)

10zzzzzz001 Master’s I/O Multicast Poll Command

10xxxxxx010 Master’s Change of State or Cyclic Acknowledge

10yyyyyy011 Slave’s Explicit/ Unconnected Response

10xxxxxx100 Master’s Explicit Request

10xxxxxx101 Master’s I/O Poll Command/Change of State/Cyclic

10xxxxxx110 Unconnected Explicit Request Messages

10xxxxxx111 Duplicate MAC ID Check Messages

CAN ID = Connection ID (DeviceNet)xxxxxx = MAC-ID (Destination)yyyyyy = MAC-ID (Source)zzzzzz = MAC ID (Multicast)

Service-Code Service-name

14 (0x0E) Get Attribute Single

16 (0x10) Set Attribute Single

75 (0x4B) Allocate Group 2 Identifier Set

76 (0x4C) Release Group 2 Identifier Set

DeviceNet Standard Classes Class

Identity ObjectsE.g. Manufacturer ID, Device type...

001

Message RouterFor forwarding “Explicit Messages” to other objects

002

DeviceNet ObjectsE.g. MAC-ID, bit rate...

003

1. System overview


DeviceNet Standard Classes Class

Assembly ObjectsCollection of the attributes of several objects so thatthe data can be sent to or received from severalobjects over a single connection.

004

Connection ObjectsManagement of the resources for “Explicit Messaging”and “I/O-Messaging”.

005

Acknowledge HandlerManagement and responses of receipt acknowledg-ments, acknowledgement timeouts, threshold valuesfor repetition attempts, etc.

043

Festo-specific Classes Class

Diagnostic memory 101

Diagnostic memory (administration) 102

Process data 103

Record list 104

Project data 105

Factor group 106

Axis data electrical drives 1 107

System errors 108

Fieldbus diagnosis 109

1. System overview


1.2.2 FHPP data profile

Festo has developed an optimised data profile, known as the“Festo Handling and Positioning Profile (FHPP)” tailored tohandling and positioning tasks. The FHPP enables uniformcontrol and programming for Festo's various Fieldbus sys-tems and controllers. Parameter values, control bytes, andstatus bytes required during operation can be directly readand written via the object directory.

Communication over the Fieldbus can be selected as cyclic(I/O messaging) or acyclic (Explicit messaging). A mixture ofthese is typical:

– Commissioning and application parameters are trans-ferred using “Explicit messaging”

– Parameter access in normal operation is done as perFHPP FPC (I/O messaging, additional 8 byte I/O) oroptionally using Explicit messaging

– Time-critical process control is done as per the FHPPstandard (“I/O messaging”, 8 byte I/O)

FHPP standard The content and meaning of the cyclical I/O data and thefunctions that can be accessed in the MTR-DCI differdepending on the operating mode.

Direct task:

As a direct task, tasks can be performed in positioning orforce mode. The positioning task is transferred directly in theI/O telegram. The key nominal values (position, speed, force/torque) are transmitted with it. Supplementary parametersare defined via the parameterisation (FHPP FPC or Explicitmessaging).

Record selection

With record positioning, tasks can be carried out in posi-tioning mode. The positioning data are indirectly set usingpositioning records, which are taught via FCT, the controlpanel, or the Fieldbus and then stored in the controller.

1. System overview


31 position set records can be saved in the MTR-DCI. A recordcontains all the parameters which are specified for a posi-tioning task. The record number is transferred to the cyclicalI/O data (FHPP standard) as a nominal or actual value.

FHPP-FPC Optionally, an additional 8 bytes of I/O data can be used as aparameterisation access via FPC (Festo Parameter Channel ).The additional bytes can be configured via the I/O datalength (HMI, FCT software).

Data profile Assembly Object Data 1)

Input Output Byte

FHPP standard 128 130 8

FHPP standard + FPC 129 131 16

1) Setting the data length, see CI object 2FF5

Tab. 1/5: Data profile

If the FPC is not required in normal operation, the data lengthcan be reduced to 8 bytes to optimise the PLC access forcyclic data transfer. Parameter changes can still be doneusing “Explicit messaging”.

Detailed information on FHPP can be found in chapter 5.5onwards.

1. System overview


Param

...

293 ...

1 ...

...

Direct Task

1

2...

n

Record selection

PNU SI

...DIR.B1/B2

Force modePositioning modePositioning mode

S/C POS

MTR-DCI-...-EDS

100...

1043

(cyclic data channel)I/O messaging

Parameterisation/Service data

( Assembly Instance 129/131)

–...

–

( Assembly Instance 128/130)

16 Byte Tx/Rx

Sequence control/Process data

Explicit messaging(acyclic data channel)

Class

...0x05 0x02

...

Group

...

66

...

...

1

AttrInst

8 Byte Tx/Rx

...CON.B6/B7S/C CON

S/C DIR

8 Byte Tx/Rx

...

... ...

0x09

...

...

...

...

(cyclic data channel)I/O messaging

FHPP standard + FHPP-FPC DeviceNetFHPP standard

Fig. 1/2: Festo Handling and Positioning Profile (FHPP)

1. System overview


1.3 Components

To construct an electrical drive with the MTR-DCI, you needthe following components:

Motor unit MTR-DCI Motor with controller, available in four sizes, optionally withcontrol panel (type ...-H2).By means of different gear reductions, different require-ments can be fulfilled in respect of (gear) drive outputtorque and (gear) drive output speed (see appendix A.1).Positioning functions are characterised by high torques atlow speeds. With the smaller gear reduction, the positioningspeed of the axis can be increased with correspondinglyreduced force.

Axis Linear or rotational axes as per catalogue

Coupling with couplinghousing

In order to fit Festo axes, e.g. type DMES-... or type DNCE-...,couplings and coupling housings are available as accessor-ies. The motor unit is connected to the axis by means of aclamping connector in the coupling housing. Additional mo-tor flanges are not therefore necessary. Further informationcan be found in the operating instructions for the axis.

Power supply cable Power supply to the MTR-DCI via a power unit. The powerfor the electronics (logic voltage) can also be supplied sep-arately from the load voltage (see section 3.3).

Programming cable For parameterisation of the MTR-DCI during commissioningwith the FCT

Fieldbus cable For connection of the MTR-DCI to any higher-order controller(PLC/IPC).

Reference switch Sensor as described in appendix A.2.

Accessories For positioning systems, Festo provides specially adaptedaccessories (see Festo product range or catalogue).

1. System overview


1.4 Control and regulation functions

The controller essentially performs the following tasks:

– Controlling via FHPP

– Specifying the nominal values

– Regulation of the following variables: position, speed,

acceleration, current.

1 Motor controller

2 Closed-loopcontrollers

3 Nominalvalue generator

4 Positioncontroller

5 Speed regulator

6 Current regulator

7 Output stage

8 Signal converter

MP PI

3

8

4

5 6 7

1

2

P

Fig. 1/3: Simplified diagram of the cascade controller

Profile position mode Position modeOperating mode for executing a positioning record or a directpositioning task with position control (closed loop positioncontrol)The target position defines the position that the drive con-troller should move to. The target position is interpreted aseither an absolute or relative value. The set target position ispassed to the nominal value generator. This then generates anominal position value for the position controller. For posi-tion control, the current settings for speed, acceleration,braking delay, etc. are taken into account.

1. System overview


Changes in position are detected by the internal incrementgenerator (optical encoder). With a known starting point, theactual position is calculated from the gear reduction and/orthe spindle pitch.

Profile torque mode Force modeForce control (open loop transmission control) by controllingthe motor current. This operating mode allows specificationof an external nominal torque value (relative to the nominalmotor current) for the controller. Force control occursindirectly via the control of the motor current. All specifica-tion for forces/torques are defined in relation to the nominalmotor torque or the nominal motor current.

Homing Mode HomingExecution of a positioning task for determining the referencepoint and thus also the origin of the dimensional referencesystem for the axis, e.g. via a reference switch within thepossible motion range or via overcurrent monitoring whenmoving against a stop.

The following additional functions for commissioning, testingor demonstration are available from the control panel of theMTR-DCI-...-H2:

– Positioning travel for defining the target position of a pos-itioning record (Teaching), [Settings] [Position set]

– Positioning run to test all position set records in the posi-tion set table [Demo posit tab].

– Positioning run for testing a certain position set record inthe position set table [Move posit set].

1. System overview


1.5 Operational safety

An extensive system of sensors and monitoring functionsensures operational safety:

– i2t-monitoring

– Temperature monitoring (measuring the motor tempera-ture and the power output stage temperature)

– Current monitoring

– Voltage monitoring

– Detecting faults in the internal voltage supply.

– MTR-DCI-62...: Identification of overvoltage in theintermediate circuit; brake chopper integrated.

– Following error monitoring

– Software end position detection

Please note the following:

• By the arrangement of the limit switches and, if neces-sary, additionally by means of mechanical stops, makesure that the axis always lies within the permitted posi-tioning range.

1. System overview


WarningFor the purposes of your EMERGENCY STOP procedures,check what measures are necessary for switching yoursystem into a safe state in the event of an EMERGENCYSTOP.

• If an EMERGENCY STOP circuit is required for yourapplication, use additional, separate safety limitswitches (e.g. as normally closed series-connectedswitches)

– for cancelling the ENABLE signal at the control inter-face,

– or for switching off the load voltage.

1. System overview


1.6 Dimensional reference system

For commissioning, a dimensional reference system forhoming the reference coordinates must be defined.The dimensional reference system defines all the (absolute)positions, which can then be approached.

1.6.1 Reference points and positioning range

The dimensional reference system is defined by:

1. Homing for determining the reference point

2. Setting the zero point (Offset between axis zero point andproject zero point)

3. Limiting of the travel range (software end positions)

Homing point REF anchors the dimensional reference system at a referenceswitch or fixed stop, depending on the homing methodchosen. (see also section “Homing”).

Axis zero point AZ is a point at a defined distance from the homing point REF(this distance is the axis zero point offset).

Project zero point PZ is a point of reference within the effective stroke which theuser can select, and to which both the actual position and thetarget positions in the position set table refer.The project zero point is a point at a defined distance fromthe axis zero point AZ (this distance is the project zero pointoffset). The project zero point PZ can only be set via FCT, orby using the CI object 21F4h, or FHPP PNU 500 (not at controlpanel).

Software end point Setting the software end points limits the permissible travelrange (effective stroke). The software end points are relativeto the axis zero point. If a positioning command's target posi-tion lies outside the software end positions, the positioningcommand will not be executed and a fault status will be set.

1. System overview


Dimensional reference system

e

f

Linear axis with the homing method:Fixed stop

Rotational axis with the homing method:Reference switch

REFAZPZ

Homing point (or reference point): point determined during the homing run: referenceswitch or stop.Axis zero point: point of reference for the project zero point and the software end positions.Project zero point: Reference point (= zero point) for actual position and absolute positionsin the position set table.

ab, cd

Axis zero point offset: distance between axis zero point AZ and homing point REFSoftware end position offsets: limits for the permitted positioning range (= effective stroke)Project zero point offset: distance from AZ

ef

Effective stroke: permitted positioning rangeNominal stroke of the axis used

Tab. 1/6: Dimensional reference system

1. System overview


Point of reference Calculation rule

Axis zero point AZ = REF + a

Project zero point PZ = AZ + d = (REF + a) + d

Lower software end posi-tion

LSE = AZ + b = (REF + a) + b

Upper software end posi-tion

USE = AZ + c = (REF + a) + c

Tab. 1/7: Calculation regulations for a dimensional reference system with incrementalmeasurement systems

1.6.2 Plus/minus signs and directions

All offsets and position values are vectors (with a given alge-braic sign, + or -). The +/- operating direction of the vectorscan be assigned to the rotation direction of the motor shaft(visual inspection of the motor shaft). The factory settings are“+” for clockwise rotation and “-” for anticlockwise rotation.The active direction can be reversed at the control panel (seechapter 4.5.2) or via FCT. This can be useful when usingangular gear units or toothed belt drives. Homing must becarried out again if the direction is reversed.

The direction in which the work load moves depends on thegearing, the spindle type (left/right-rotating), the algebraicsigns on the positioning specifications (+/-), and the cur-rently set active direction:

1. System overview


+

—

1

2

+

—

1 Factory setting for active direction

2 Direction change by changing the active direction

Fig. 1/4: Setting the active direction (using the example ofMTR-DCI + DMES, axial gearing, spindle rotating tothe right)

1. System overview


1.6.3 Homing

For drives with incremental measuring systems, homing mustalways be done after switching on. This is defined on adrive.specific basis using the parameter “Homing required”(PNU 1014, CI 23F6h).

The following homing modes are permitted:

– Search for stop in negative direction

– Search for stop in positive direction

– Search for reference switch in positive direction

– Search for reference switch in negative direction(default).

To locate the reference point and position the drive at theaxis zero point, two different speeds can be set.

Homing procedure:

1. Search for the reference point in accordance with theconfigured method

2. Move from the reference point to the axis zero point AZ(axis zero point offset)

3. Set at axis zero point:Current position = 0 – project zero point offset PZ

After a successful homing the drive stops at the axis zeropoint AZ. With first commissioning or when the homingmethod is changed, the offset of the axis zero point = 0; afterhoming the drive then stands at the homing point REF.

1. System overview


Search for fixed stop In this homing method the drive initially moves at a searchspeed in a negative or positive direction until it reaches thefixed stop. A rise in the motor current signals that the stophas been reached. When the maximum motor current isreached at the same time as the motor is at a standstill, theMTR-DCI recognizes that the stop, and therefore the refer-ence position, has been reached.

As the axis should not stand still at the stop, the axis zeropoint offset must be ≠ 0 (min. 0.25 mm).

+

—

REF (-)

AZ

REF (+)

1

2

AZ

1 Stop in negative direction

2 Stop in positive direction

Fig. 1/5: Homing methods “Search for fixed stop”

1. System overview


Search for reference switch In this homing method the drive initially moves at a searchspeed in a negative or positive direction until it reaches thelimit switch. It then moves back at creep speed: The refer-ence position lies at the point at which the reference switchbecomes inactive again when the drive moves back.

REF (-) AZ

REF (+)

1

2

AZ

+

—

1 Reference switch in negative direction

2 Reference switch in positive direction

Fig. 1/6: Homing methods “Search for reference switch”

If the drive is already at the reference switch when started, itmoves in the opposite direction to the reference switch. Thenthe drive runs as usual to the axis zero point.

1. System overview


Mounting


Chapter 2

Mounting

2. Mounting


Contents

2. Mounting 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General instructions 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Dimensions of the motor unit 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Mounting the electric axes 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. Mounting


2.1 General instructions

WarningDanger of electric shock, short circuiting or unexpecteddrive motion!

• Always switch off all power supply before carrying outmounting, installation and maintenance work.

NoteHandle all modules and components with great care. Noteespecially the following:

– Screw connections must be fitted free of distortion andmechanical tension. Screws must be fitted accurately(otherwise threads will be damaged).

– The specified torques must be observed.

– The modules must not be offset from one another.

– Contact surfaces must be clean (avoid contact faults).

2. Mounting


2.2 Dimensions of the motor unit

H0

H2

H1

B1B2

D1D2

D3

D4

L1

L2 L3

L4L55

13

T1

Sizes [mm] 32 42 52 62

Gear reduction G7/G14 G7 G14 G7 G14 G7/G14/G22

Diameter offlange/shaft

D D1D2D3D4

——21.5 h86 h7

42 g1042 ±0.125 h88 h7

52 g1052 ±0.132 h812 h7

62 g1062 ±0.140 j714 h7

Height H H0H1H2

65.3 ±0.421.6 ±0.1541.5 ±0.3

70.8 ±0.426.5 ±0.654.5 ±0.4

94.8 ±0.437 ±0.976.5 ±0.4

128 ±0.560.8 ±0.35128 ±0.5

Length L L1L2L3L4

175.5±1—18.7 ±0.62.5 ±0.3

176 ±133.3 ±125 ±12 ±0.2

176 ±146.3 ±125 ±12 ±0.2

194 ±139 ±133 ±13 ±0.3

194 ±153 ±133 ±13 ±0.3

270 ±147 ±139 ±15 ±0.3

Width B B1B2

33.8 ±0.346.3 ±0.4

44.8 ±0.453.3 ±0.4

63.8 ±0.469.5 ±0.4

105.1 ±0.4105.1 ±0.4

Depth T T1 6 M3: 7 / M4: 10 10 10

Tab. 2/1: Dimensions of the motor unit

2. Mounting


2.3 Mounting the electric axes

When mounting the electric axes, read and keep in mind thedocumentation for the axis used and the additional compo-nents.

WarningIf an axis is mounted in a sloping or vertical position, fal-ling work loads could cause injuries.

• Use the motor unit preferably with self-locking or self-braking spindle drives. This prevents the work loadsliding down suddenly if there is a power failure.

• With DMES-...: check whether additional external safetymeasures against spindle nut fracture are necessary(e. g. toothed latches or moving bolts).

Make sure that:

• The drive is mounted securely and is correctly aligned.

• The working space in which the axis moves is of sufficientsize for operation with a work load.

• The work load does not collide with any component of thedrive when the slide moves into the end position.

• Make sure that you observe the maximum safe values forthe following variables. The point of reference for forcesand torques is the centre of the shaft (L3 see Tab. 2/1).

2. Mounting


L3

L3 x 0.5

Fy

Fx

Fig. 2/1: Forces and torques

Forces and torques 32 42 52 62

MTR-DCI-...-G7 1-stage

– Radial shaft load– Axial shaft load– Maximum permissible shaft output torque

of the gear unit 1)

Fy [n]Fx [n]Mx [Nm]

40100.4

160500.8

200602.0

240504

MTR-DCI-...-G14/G22 2-stage

– Radial shaft load– Axial shaft load– Maximum permissible shaft output torque

of the gear unit 1)

Fy [n]Fx [n]Mx [Nm]

70201.0

230807.5

32010012.0

3607025 2)

1) With operating factor cb=1.0 (3 hours operation daily, no shocks, direction of rotation constant).The gear output torque or the motor unit is usually much lower, see Technical appendix A,Mechanical data.

2) MTR-DCI-62...-G22: In the start-up phase, torque peaks up to 37 Nm are possible at 20 A peakcurrent.

Tab. 2/2: Safe load for the gear shaft

2. Mounting


NoteMotor unit MTR-DCI-62-...-G22 can generate torque peaksof up to 37 Nm at a peak current of 20 A in the start-upphase.

• Make sure by calculating the dynamic loading thatthe maximum safe shaft output torque for the gear isnot exceeded even in the start-up phase (e.g. byreducing the load).

Use the thread on the front of the gear (see Fig. 2/2) whenmounting the MTR-DCI to a mechanical drive fixture (machineframe).

• In order to minimise the shaft offset: position the axis withthe aid of the centring diameter (D1 or D3, see Tab. 2/1)relative to the rotary axis of the mechanism to be driven.

• Fasten the motor unit with 4 screws and tighten the4 screws with the specified tightening torque.

Motor unit type MTR-DCI-32 has a total of 6 threads fordifferent mounting variants (axial, parallel). In each case only4 screws should be used.

Size Thread/threaddepth

Tightening torque

MTR-DCI-32-... M3 6 mm 1.2 Nm

MTR-DCI-42-... M3 7 mm 1.2 Nm

M4 10 mm 2.9 Nm

MTR-DCI-52-... M5 10 mm 5.9 Nm

MTR-DCI-62-... M5 10 mm 5.9 Nm

Tab. 2/3: Tightening torques

2. Mounting


To fit Festo axes e. g. type DMES-... or type DGE-..., couplingsand coupling housings are available as accessories. Themotor unit is connected to the axis by means of a clamp in thecoupling housing. Additional motor flanges are not thereforenecessary. Further information can be found in appendix A.2and in the operating instructions for the axis.

25°

25°

50°

M3 x6 (6)

32°

M 4 x10(4x)

M 3 x7 (4x)

4x90° 4

x90°

28°

M 5 x10(4X)

4X90°

45°

M 5 x10(4x)

4x90°

30°

MTR-DCI-32-... MTR-DCI-42-...

MTR-DCI-52-... MTR-DCI-62-...

Ø 32

Ø32

Ø36

Ø40

Ø50

Fig. 2/2: Mounting the drive by means of front threads (direct fastening)

Installation


Chapter 3

Installation

3. Installation


Contents

3. Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of installation 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Earthing 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Power supply 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Power supply requirements 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Load and logic voltage 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Serial interface 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Input for external reference switch 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 Field bus 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.1 Connecting the higher-order controller 3-15. . . . . . . . . . . . . . . . . . . . . .

3.6.2 Fieldbus cable 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.3 Fieldbus bit rate and fieldbus length 3-18. . . . . . . . . . . . . . . . . . . . . . . .

3. Installation


3.1 Overview of installation

WarningDanger of electric shock, short circuiting or unexpecteddrive motion!

• Always switch off all power supply before carrying outmounting, installation and maintenance work.

CautionFaulty pre-assembled lines may destroy the electronicsand trigger unexpected movements of the motor.

• When connecting the electric components of the systemuse the cables that are listed as accessories (seeTab. 3/2). This is the only way to ensure the system willwork properly.

Note• Lay all moveable motor and sensor cables free of bendsand free of mechanical stress, in a drag chain ifnecessary.

3. Installation


1 Serialinterface

2 ConnectionReference switch

3 Fieldbus interface(I/F)

4 Powersupply (Power)

1

2

3

4

Fig. 3/1: Connections on the MTR-DCI

Connection on the MTR-DCI Description

1 Serial interface – M8x1, 4-pin

– socket

RS232 interface for parameterising, commis-sioning and diagnosing with FCT

2 Reference switch – M8x1, 3-pin

– socket

Sensor input for N.O. (normally open) switch typein PNP configuration

3 Fieldbus interface – Sub-D, 9-pin

– Plug

Interface for connecting the higher-level controlsystem via Fieldbus (DeviceNet)

4 Power supply – Sub-D, 2-pin

– Plug

Connection with two high-current contacts

Tab. 3/1: Description of the connections

If non-assigned plug connectors are touched, there is adanger that damage may occur to the MTR-DCI or to otherparts of the system as a result of ESD (electrostatic dis-charge). Place protective caps on unused terminals in orderto prevent such discharges.

3. Installation


The plug connectors of the following Festo cables have beendesigned so that, when inserted and screwed tight, or if fittedwith protective covers, the connections on the MTR-DCI willcomply with protection class IP54.

CautionLong lines reduce immunity to interference (EMC).

• Do not exceed the specified maximum cable lengths.

Connection Cable Designation Length [m]

Serial interface Programming cable KDI-MC-M8-SUB-9-2,5 2.5 (max. 2.5)

Homing Switch Connecting cable KM8-M8-GSGD-... 0.5 / 1 / 2 / 5

Fieldbus interface Field bus plug for M12adapter

FBA-CO-SUB-9-M12 –

Voltage supply Power supply cable KPWR-MC-1-SUB-9HC-... 2.5 / 5 / 10(max. 10)

Tab. 3/2: Overview of cables (accessories)

To maintain the IP protection class:

• Seal unused M8 connections with ISK-M8 protective caps(accessories).

• Hand-tighten the union nuts/locking screws of the plugs:

Observe the permitted tightening torques specified in thedocumentation for the cables and connectors used.

3. Installation


3.2 Earthing

Note• Connect the earth terminal of the MTR-DCI with low im-pedance (short cable with large cross section) to theearth potential.

This prevents interference from electromagnetic sourcesand ensures electromagnetic compatibility in accordancewith EMC directives.

To connect the MTR-DCI to the earth potential use only thefollowing earthing connection:

– Earthing strap at the free end of the power supply cable;see assembly instructions for cable typeKPWR-MC-1-SUB-9HC-... (see chapter 3.3.2)

CautionEarth or mass loops can make EMC safety measures inef-fective and allow high compensating currents to destroythe motor unit.

• Connect only the cable screen of the power supply cableto the functional earth FE.

• Do not connect the GND connection to the housing,screening or functional earth FE!

• Never connect one of the power supply connections (seechapter 3.2, A1, A2) to the FE or the housing.

This will avoid damaging the device and impairing protec-tion against electromagnetic interference (EMC).

3. Installation


3.3 Power supply

3.3.1 Power supply requirements

Warning• In order to provide the electric power supply, use onlyPELV circuits as per IEC/DIN EN 60204-1 (ProtectiveExtra-Low Voltage, PELV).Take into account also the general requirements forPELV circuits as per IEC/DIN EN 60204-1.

• Use only power sources providing reliable electricalisolation of the operating voltage as per IEC/DINEN 60204-1.

By the use of PELV power units, protection against electricshock (protection against direct and indirect contact) is guar-anteed in accordance with IEC/DIN EN 60204-1 (electricalequipment of machines, general requirements).

CautionDevice damage from overvoltage

The voltage inputs of the motor unit have no internalprotection against overvoltage.

• Make sure that the permitted voltage tolerance is notexceeded. The tolerance must also be observed directlyat the operating voltage connections on the MTR-DCI(see appendix A.1).

• Install external fuses (see Tab. 3/4).

3. Installation


3.3.2 Load and logic voltage

Load voltage The power electronics and thereby the motor are suppliedwith DC voltage via the power supply connection.

• Use the power supply cable KPWR-MC-1-SUB-9HC-...(max length of 10 m).

• For the load voltage supply, use a stabilised power supplyunit with high reserve capacity and external fuses.

Plug Pin Colour 1) Description

A1 A2

A1 Black (1) MTR-DCI-32/42/52:MTR-DCI-62:

POWER DC +24 VPOWER DC +48 V

A2 Black (2) MTR-DCI-32/42/52/62: POWER GND 2)

1) Cable colours with power supply cable KPWR-MC-1-SUB-9HC-...2) Do not link the GND terminal to any housing, screen or functional earth (FE)!

Tab. 3/3: Connecting the power supply to the motor unit

Regulated DC motors consume many times their nominaloperating current when switched on or when producing thestartup torque. These consumers represent an overload orshort-circuit to the power supply at these times.Power supplies with a U/I output characteristic curve stillprovide the full output current (at a lower output voltage)under heavy loads or short-circuits.Power supplies with additional power reserves (Power Boost)provide a constant output voltage, even under overloadconditions. Power supplies with a U/I output characteristiccurve and additional power reserves are therefore optimallysuited for universal industrial use.

3. Installation


Note the following selection criteria for the MTR-DCI powersupply:

– The power supply nominal current should be at least thesame as the motor startup current (peak current).

– The motor tolerances should be allowed for with 20% -50% reserve power.

voltage supply MTR-…-32 MTR-…-42 MTR-…-52 MTR-…-62

Motor nominal current A 0.73 2 5 6.19

Motor peak current A 2.1 3.8 7.7 20

Nominal current of power sup-ply unit

A ≥ 3 ≥ 6 ≥ 10 ≥ 15 1)

External fusesecondary side

A 5 Aslow-blowing

7 Aslow-blowing

10 Aslow-blowing

25 Aslow-blowing

1) Exception

Tab. 3/4: Power supply and fuse requirements

1 external fuse

2 Earthingconnection (seechapter 3.2)

A1 A2

A1 A2

Fig. 3/2: Connection example – Power supply

3. Installation


Logic voltage In operation, the logic voltage is connected via the FBA-...Fieldbus adapter separately to the load voltage.

For MTR-DCI-42, 52, 62: For commissioning purposes, thelogic voltage can be optionally connected together with theload voltage via the power supply connection. In normal oper-ation, the logic voltagemust be connected separately to theload voltage via the FBA-... Fieldbus adapter.

With separate supply, the load voltage can be switched offe.g. in the case of EMERGENCY-STOP, with logic voltage con-tinuing to be applied and the controller remaining functionaland retaining its reference position.

Switch-on sequence Do not switch on the logic voltage after the load voltage,since this may cause the MTR-DCI to switch off and back onagain (= reset).

Logic voltage failure If the logic voltage fails, the controller will switch off.For MTR-DCI-42, 52, 62: if the load voltage is still active, thecontroller will switch back on but will lose its reference posi-tion.

Logic voltage supply 32 42 52 62

– In operation:via Fieldbus adapter FBA-...

x x x x

– For commissioning and para-meterisation:optionally via the power supplyconnection

— x x x

Tab. 3/5: Logic voltage supply

Information on the connection specifications of the Fieldbusadapter is provided in chapter 3.6.1 and also in the installa-tion manual of the Fieldbus adapter.

3. Installation


3.4 Serial interface

Serial interface for parameter assignment, commissioningand diagnosis

Use the following cable exclusively for connecting a PC to theMTR-DCI:– Programming cable KDI-MC-M8-SUB-9-2.5

• If necessary, remove the protective cap from the serialinterface of the MTR-DCI.

• Connect the following terminals with the programmingcable:

– The connection socket on the MTR-DCI.

– A serial interface COMx on the diagnostic PC.

M8x1 socket Description

1 2 4 3

1 GND Ground

2 TXD RS232 transmitting cable 1)

3 RXD RS232 receiving cable 1)

4 --- Reserved for service personnel –do not connect!

1) The levels conform to the RS232 standardData transfer rate: 9600 bit/s

Tab. 3/6: Pin allocation for the serial interface on theMTR-DCI

3. Installation


Information on commissioning and parameterising theMTR-DCI via the serial interface can be found in chapter 5.3and in the help system for the FCT software package.Information on transmitting CI commands via the serialinterface can be found in appendix C.1.2.

NoteThe RS232 communications port is not electrically isolated.It is not suitable for permanent connection to 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 connection with the protective cap supplied(ISK-M8).

3. Installation


3.5 Input for external reference switch

If you are not using a reference switch:

• Seal the connection with the protective cap supplied(ISK-M8).

When selecting the reference switch:

• For the reference switch, use the correct “N.O.”(normally-open) switch type in PNP configuration.

• Use a reference switch with a screw-type lock (externalthread M8x1) at the end of the cable, or use the connect-ing cable KM8-M8-... with a screw-type lock as an ad-apter.

Use (e.g.) the following Festo proximity sensors:

– magnetic proximity sensor SMT-8M-...

– inductive proximity sensor SIEN-...-M8B-...

• When selecting the sensor, note that the accuracy of theswitchover point of the sensor determines the accuracy ofthe homing (reference) point.

M8x1 socket Description

1 34

1 DC +24 V DC + 24 V voltage output(only for reference switch)

4 REF Reference switch contact

3 GND Ground

Tab. 3/7: REF connection (reference switch) on the MTR-DCI

The power supply for the reference switch (DC 24 V/Ground)is provided via pin 1/3.

3. Installation


CautionDamage to the device

The DC 24 V voltage on pin 1 does not have any specialprotection against overload; the voltage is taken from themain supply with protection against ESD and incorrectpolarity.

• Use the terminal only for the reference switch (sensorsupply).

Use of this connection as a power supply for other devicesis not safe.

The input for REF sensor signal complies in its electricalproperties with the input specifications in the appendix“Technical data”.

3. Installation


3.6 Field bus

3.6.1 Connecting the higher-order controller

Communication with the higher-order controller occurs via

the Fieldbus interface (I/F) on the MTR-DCI-...

To connect to the Fieldbus there is a 9-pin Sub-D plug on theMTR-DCI-...-DN. This connection is used for feed-in and con-tinuation of the Fieldbus line.

NoteOnly the FBA-CO-SUB-9-M12 Fieldbus adapter from Festoguarantees IP 54 protection.

NoteThe shield connection at pin 5 of the Fieldbus interface isinternally capacitively and high resistance connected tothe housing. This prevents compensating currents fromflowing via the shield of the Fieldbus cable (see Fig. 3/3).

1 Capacitiveconnection

2 Housing

51

96

1

2

Fig. 3/3: Shield connection inside the MTR-DCI

In normal operation, pins 6 and 9 must be supplied with 24 V(bus voltage and logic voltage supplies). The CAN bus(pins 2, 3, 7) potential is relative to the bus power supply(permits electrically isolated bus connection).

3. Installation


For the logic voltage supply, please also follow the advice inchapter 3.3.2. Information on the connection specifications ofthe Fieldbus adapter is provided in the installation manual ofthe Fieldbus adapter.

Connection Pin Designation Function

1

9

1 n.c. Not connected

2 CAN_L CAN bus Low

3 CAN GND CAN bus reference potential


5 CAN_SHLD Shield, capacitive connection to housing

6 CAN_V– Bus supply 0V / Logic voltage GND

7 CAN_H CAN bus High


9 CAN_V+ Bus supply 24 V / Logic voltage 24 V

– Shield/housing Connection to (FE) functional earth

Tab. 3/8: Fieldbus interface “I/F” at the MTR-DCI-...-DN

NoteAlways use a bus termination at both ends of the fieldbus.If the MTR-DCI is at the beginning or end of the fieldbussegment:

• Connect the terminating resistor (121 Ω, 0.25W)between the wires for CAN_H and CAN_L.

3. Installation


3.6.2 Fieldbus cable

NoteFaulty installation and high transmission rates may causedata transmission errors as a result of signal reflectionsand attenuations.Transmission errors can be caused by:

– missing or incorrect terminating resistor

– incorrect screened connection

– branches

– transmission over long distances

– inappropriate cables

Observe the cable specifications! For information on thecable type refer to the manual for your controller or to theDeviceNet specification.

NoteIf the MTR-DCI is mounted onto a moving part of amachine, the Fieldbus cable on the moving part must beprovided with strain relief. Please observe also the relevantregulations in EN 60204 part 1.

Use a shielded, twisted pair 4-wire cable as a fieldbus cable.When using a Festo fieldbus a cable diameter of 5 ... 8 or7 ... 10 mm is permitted.

Bus length Exact specifications on the bus length can be found in thenext section and in the manuals for your control system.

3. Installation


3.6.3 Fieldbus bit rate and fieldbus length

NoteThe maximum permitted length for fieldbus segments de-pends on the bit rate used. You will find detailed informa-tion in the manuals for your control system or bus inter-face or DeviceNet specification.

• Note the maximum permitted segment length (cablelength without repeater) if you are connecting the MTR-DCI to a fieldbus segment.

• Avoid branch lines.

Note• Refer to the manuals for your control system or bus in-terface in order to ascertain which T-adapter and maxim-um branch line length are permitted for your controller.

• Also take into account the sum of the branch line lengthswhen calculating the maximum permitted length of thefieldbus cable.

Bit rate Maximum segment length

500 kbps 100 m

250 kBit/s 250 m

125 kBit/s 500 m

Tab. 3/9: Maximum length of fieldbus segments as a func-tion of the bit rate

Information on setting the bit rate and further bus paramet-ers on the control panel can be found in section 5.2.7.

The control panel (type MTR-DCI-...-H2 only)


Chapter 4

The control panel (type MTR-DCI-...-H2 only)

4. The control panel (type MTR-DCI-...-H2 only)


Contents

4. The control panel (type MTR-DCI-...-H2 only) 4-1. . . . . . . . . . . . . . . . . . . . . . .

4.1 Composition and function of the control panel 4-4. . . . . . . . . . . . . . . . . . . . . . .

4.2 The menu system 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Accessing the main menu 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Selecting a menu command 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 [Diagnostic] menu 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Positioning] menu 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 [Positioning] [Move position set] 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 [Positioning] [Demo position table] 4-13. . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 [Positioning] [Homing] 4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 [Settings] menu 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 [Settings] [Axis type] 4-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 [Settings] [Axis parameter] 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.3 [Settings] [Homing paramet.] 4-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.4 [Settings] [Position set] 4-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.5 [Settings] [Password edit] 4-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.6 [Settings] [BUS parameter] 4-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Menu command [HMI control] 4-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



The control panel of motor unit MTR-DCI-...-H2 enables com-missioning directly on the MTR-DCI. An overview of the keyand menu functions can be found in this chapter.Commissioning with the control panel is described fromchapter 5.2 .

With the MTR-DCI-...-R2 (without control panel) you can com-mission the MTR-DCI via the RS232 interface (with FCT soft-ware). Instructions on this can be found in chapter 5.3.

CautionSimultaneous access of control functions and operatingfunctions by the FCT and the control panel can causefaults.

• Make sure that FCT and the control panel are not in useat the same time.

• If necessary, utilise the facility to disable parameterisa-tion and positioning functions from the control panel(HMI Access, see section 5.5.2).

NoteRemove the protective film from the display, if still fitted,before using it for the first time.



4.1 Composition and function of the control panel

1 LC display

2 Operatingbuttons

3 LEDs– Power (green)– I/F (green/red)– Error (red)

1 32

Fig. 4/1: Control panel of the MTR-DCI-...-H2-...

LC display The graphical LCD (128 x 64 pixels) shows all text in English.The display can be rotated if required; see the menucommands [LCD adjustment].

Membrane keyboard The 4 buttons on the membrane keyboard are used toperform menu-driven settings and commissioning functions:

– Parameter assignment and referencing the axis

– Teaching of standard applications and editing of posi-tioning sets

– Execution/Testing of individual positioning sets.

LEDs The operating statuses are indicated visually by 3 LEDs(see also chapter 6.2):

– Power: Power supply

– I/F: Bus status (Network, Module)

– Error: Faults



Function Button

MENU Activates the main menu from the status display.Menu

ESC Rejects the current entry and switches back in stages to the higher menulevel or status display.

EMERG.STOP Interrupts the current positioning procedure (> Error mode; confirmwith <Enter>, then automatic return to the status display). Only when HMI= on!

OK Confirms the current selection or entry.Enter

SAVE Saves parameter settings permanently in the EEPROM.

START/STOP Starts or stops a positioning procedure (only in Demo mode).After stop: display of current position; use <Menu> to return to thehigher menu level.

<- -> Scrolls within a menu level in order to select a menu command.v

VEDIT Sets parameters.

Tab. 4/1: Button function (overview)



4.2 The menu system

4.2.1 Accessing the main menu

When the power supply is switched on, the MTR-DCI auto-matically carries out an internal check. At first the displaybriefly shows the Festo logo, then changes to the status dis-play. The status display shows the following information:

– The type designation of your MTR-DCI

– The current position of the drive xa = ....

– The current setting for device control(HMI = Human Machine Interface)

The current button function is indicated in the lines at thebottom of the display:

<Menu> The main menu is accessed from the status dis-play using the <Menu> button.

4.2.2 Selecting a menu command

<- -> You can use the arrow buttons on the controlpanel to select a menu item from the list. Thecurrent selection is marked with an arrow( Diagnostic). SelectS to display furthermenu commands.

ESC You can use the <Menu> to cancel your currentinput and return to the status display, or toreturn from a submenu to the menu above.

OK The <Enter> button is used to confirm the currentselection or entry.

MTR-DCI...

Xa = 0.00 mm

HMI:off<Menu>

Diagnostic

PositioningSettings

* S ESC <Menu><--> OK <Enter>

HMI control

LCD adjustment

s ESC <Menu><--> OK <Enter>



Menu command Description

Diagnostic Displays the system data and the currently effective settings (see section 4.3)

Pos. set table Displays the position set table

Axis parameter Displays axis parameters and data

System paramet. Displays system parameters and system data

DeviceNet Diag Displays DeviceNet diagnosis data

SW information Displays the operating system version (firmware)

Positioning 1) 2) Homing and positioning runs for testing the position set records (see section 4.4)

Move posit set Starts the positioning run for “position set record”

Demo posit tab Starts the positioning run for “position set table”

Homing Starts the homing run

Settings 1) 2) Selection of the drive, parameter assignment, programming the position set records...(see section 4.5)

Axis type Type DMES-... Valve actuator DMES-...

Type DNCE-... Electric cylinder DNCE-...

Rotation drive Rotational axis with stop

User config Any linear drive

Axis parameter Zero point 3) Offset of axis zero point

Abs.min. pos 3) Stroke limitation: software end position, negative

Abs.max. pos 3) Stroke limitation: software end position, positive

SAVE... Saves parameters in EEPROM

Homing paramet. Homing method Selects referencing (homing) method (stop, software limitswitch...)

Velocity v_sw Positioning speed for searching for the homing point

Velocity v_s0 Positioning speed for moving to the axis zero point


Position set Position nr. Number of the position set record (0...14)

Pos set mode Absolute or relative positioning

Position 3) Target position of the position set record

Velocity Positioning speed of the position set record


Password edit Sets up a local password with 3 digits for the control panel (see chapter 4.5)

BUS parameter Setting Fieldbus parameters.

HMI control 1) Presetting for device control via the control panel (see chapter 4.6)

LCD adjustment Rotates the display in steps of 90°1) May be password-protected 3) Teach mode2) Control interface must be deactivated; see [HMI control] :HMI = on

Tab. 4/2: Menu commands (overview)



4.3 [Diagnostic] menu

For displaying the currently active settings of the position settable, axis and system parameters, status and diagnosticinformation on bus communication, and the firmware version:

1. From the main menu, select the [Diagnostic] menu.

2. Select a menu command (see Tab. 4/4).

<- -> You can page through the data using the arrowbuttons.

ESC Pressing the <Menu> button returns you to thehigher menu level.

Diagnostic

Pos.set tableAxis parameter

System paramet..DeviceNet Diag

SW information




[Pos. set table] Nr The number of the position set record

a/r – a = absolute positioning,

– r = relative positioning

Pos Target position

Vel Positioning speed

[Axis parameter] 1) v max Maximum positioning speed

x min Stroke limitation: Software end position, negative

x max Stroke limitation: Software end position, positive

x 0 Offset of the axis zero point

feed 2) Feed constant

[System param] V power Supply voltage [V]

I max Maximum current [A]

I act Current current [A]

Temp Operating temperature [°C]

Cycle Number of positioning movements

Ref.switch Reference switch (ON/OFF)

Mode Units of measurement e.g. mm

Hom.meth. – bl.pos Fixed stop in positive direction

– bl.neg Fixed stop in negative direction

– sw.pos Reference switch in positive direction

– sw.neg Reference switch in negative direction

Gear Gear reduction ratio of the drive (e.g. 6.75)

1) Unit of measurement depends on the measuring system set2) Not for axis type “Rotation drive”

Tab. 4/3: [Diagnostic] menu (1)




[DeviceNet-Diag] Bus diagnosis

– No Power /BUS-Off

Bus supply is not connected or the Fieldbus is not cor-rectly parameterised. Connection to the master is notpossible.

– Device Oper-ational

DeviceNet is in the “Data exchange” state and is con-nected to a master.

– Device inStandby

No connection to the DeviceNet master exists, device isready for operation.

– Minor Fault A recoverable fault has occurred (e.g. Timeout)

– UnrecoverableFault

A severe, unrecoverable fault has occurred (e.g. dupli-cate MAC ID), a reset is required to bring the device backinto operation.

Bit rate Set bit rate of the MTR-DCI:Values:125 k, 250k, 500 k(bit/s)

I/O data length I/O data length setting.

– 8 bytes: only for the FHPP standard (control of the

MTR-DCI is done as per the Festo Handling and Posi-tioning Profile)

– 16 bytes: FHPP standard and FPC (additional use of

the FPC for parameterising the MTR-DCI)

MAC ID DeviceNet address of the MTR-DCI(hexadecimal/decimal).

[SW information] MTR-DCI firmware version, e. g. V 1.20

Tab. 4/4: [Diagnostic] menu (2)



4.4 [Positioning] menu

WarningInjuries or damage to mechanical components.

With all positioning procedures, the motor turns and theconnected axis starts to move.

• Make sure that:

– Nobody can place their hands into the positioningrange.

– There are no objects within the positioning range.

Note• Before starting a homing run, make sure that:

– The positioning system is set up and wiredcompletely, and is supplied with power.

– Parameterising is completed.

• Do not start a positioning run until the reference systemhas been defined by homing (see chapter 4.4.3).

NoteNote that position set records with speed v=0 or an invalidtarget position (-> fault TARGET POSITION OUT OF LIMIT)will not be executed.

Move position set

Position no.:[1...31] = _?

ESC <Menu>

EDIT <--> OK <Enter>

Move position set

Attention! Motor moves

ESC <Menu>

START <Enter>



For selecting a positioning run or a homing run:

1. From the main menu, select the [Positioning] menu.

2. Select the menu command:

– [Move position set] to test a particular positioning setin the positioning set table (see chapter 4.4.1).

– [Demo posit tab] to run all position set records in theposition set table one after the other.

– [Homing] Homing run to determine the dimensionalreference system (see chapter 4.4.3).

4.4.1 [Positioning] [Move position set]

NoteDo not start a position set record until the referencesystem has been defined by homing.

To test a particular position set record in the position settable:

1. Select the position set number.

<- -> Select the desired number using the arrow buttons.

OK Confirm the selection using the <Enter> button.

ESC Pressing the <Menu> button cancels the action andreturns you to the higher menu level.

2. Start positioning with START <Enter>.

During the positioning run, the following information is dis-played:

– The active positioning set, e.g. Pos 2

Positioning

Move position setDemo posit tab

Homing

Move position set

Pos 2xt = 220 mm

v = 22 mm/sxa = 200 mm

EMERG.STOP<Menu>

Move posit set

Pos 2xt = 220 mm/s

v = 22 mm/sxa = 220 mm/s

ESC<Menu>

Demo position table

Attention! Motor moves

ESC <Menu>

START <Enter>

Demo position table

Pos 2xt = 220 mm

v = 22 mm/sxa = 220 mm

DEMO STOP<Enter>EMERG.STOP<Menu>



– The target position xt

– The positioning speed, v

– The current position xa

EMERG.STOP

Pressing the <Menu> button cancels the currentpositioning run (> Fault MOTOR STOP).

After the positioning run is finished:

ESC Pressing the <Menu> button returns you to theselection of the positioning set.

4.4.2 [Positioning] [Demo position table]

There must be at least two positioning sets in the memory.If the position set table contains a position set record withspeed v = 0, this position set record and all the followingrecords will not be executed; the positioning run will continuewith the first position set record.

To run all positioning sets in the position set table one afteranother:

• Start positioning with START <Enter>.

During the positioning run, the following information is dis-played:

– The active positioning set, e.g. Pos 2

– The target position xt

– The positioning speed, v

– The current position xa

Homing

Attention! Motor moves.

ESC <Menu>

START <Enter>

Homing

V_sw = 20 mm/sv_s0 = 10 mm/s

EMERG.STOP<Menu>



DEMO.STOP

Pressing <Enter> cancels the positioning run.The current positioning set is executed beforethe axis stops. On restart, the process beginswith the first positioning set.

EMERG.STOP

Pressing the <Menu> button cancels the currentpositioning run (> Fault MOTOR STOP).

4.4.3 [Positioning] [Homing]

Note• When performing a homing run, please also note theexplanation in chapter 5.2.

First set the parameters in the menu [Settings] [Homingparamet.]. (see chapter 4.5.3.). Factory setting: Homing tostop in negative direction.

To define the reference point through a homing run:

• Start homing with START <Enter>.

The following information is displayed:

– The search speed v_sw for moving to the reference point

– The positioning speed v_s0 to the axis zero point v_0.

During the homing run, the axis slowly moves with reducedsearch speed to the stop or reference switch and thenaccepts this position as the reference point.



EMERG.STOP

Pressing the <Menu> button cancels the homingrun (> Fault HOMING ERROR).

• Acknowledge the error message with<Enter>.

• Repeat the homing run.

After a successful homing run, the [Positioning] menu is dis-played.



4.5 [Settings] menu

The [Settings] menu contains all functions for parameterisingthe axis system and the positioning sets. Further informationon the individual menu commands is provided in the speci-fied chapters (see Tab. 4/5).

1. From the main menu, select the [Settings] menu

2. Select a menu command.

[Settings] Description Chapter

[Axis type] Selection of the axis driven by the MTR-DCI 4.5.1

[Axis parameter] Teach mode for setting the axis parameters 4.5.2

[Homing paramet.] Setting of the homing run method and the homing speed 4.5.3

[Position set] Teach mode for programming the position set table 4.5.4

[Password edit] Set up a local 3-character password for the control panel 4.5.5

[BUS parameter] Setting Fieldbus parameters 4.5.6

Tab. 4/5: [Settings] menu

NoteThe pre-set parameters take immediate effect when youpress OK <ENTER>. Choose [SAVE...] to save the settingspermanently to the EEPROM:

• Choose [SAVE...] to save the parameter settings. Onlythen will the settings be retained even if the powersupply is switched off or if there is a power failure.

Settings

Axis typeAxis parameter

Homing paramet.Position set

Password editBUS parameter



4.5.1 [Settings] [Axis type]

Selection of the axis driven by the MTR-DCI

[Axis type] Description

[Type DMES-...] Festo servo axis

[Type DNCE-...] Festo electrical drive

[Rotation drive] Specific rotation axis

[User config] Specific linear axis

Tab. 4/6: [Settings] [Axis type] menu

<- -> You use the arrow buttons to set the axis-specificproperties in accordance with the display prompts,e.g. feed constants, units of measurement, orcounting direction. (for details, see chapter 5.2.1)

SAVE Pressing the <Enter> button permanently saves thesettings in an EEPROM.


• Press SAVE <Enter> to save your settings.



4.5.2 [Settings] [Axis parameter]

Teach mode for setting the axis parameters.

• Select the following parameters to set the dimensionalreference system. Follow the instructions in chapter 5.2.4.

[Axis parameter] Description

[Zero point] Offset of the axis zero point

[Abs.min.pos] Stroke limitation: Software end position,negative

[Abs.max.pos] Stroke limitation: Software end position, posi-tive

[SAVE...] Save parameters in EEPROM

Tab. 4/7: [Settings] [Axis parameter] menu

<- -> Use the arrow buttons to move the axis to thedesired position.



• Choose [SAVE...] to save the parameter settings. Only thenwill the settings be retained even if the power supply isswitched off or if there is a power failure.



4.5.3 [Settings] [Homing paramet.]

Setting of the homing run method and the homing speed.Follow the instructions in chapter 5.2.2.

The maximum speed during homing is limited to half themaximum positioning speed v_max (for v_max see[Diagnostic] [Axis param] ).

[Hom. paramet.] Param. Description

[Homing method] sw.neg(switch negative)

Homing to reference switch, negative = factory setting

sw.pos(switch positive)

Homing to reference switch, positive

bl.neg(block negative)

Homing to fixed stop, negative

bl.pos(block positive)

Homing tofixed stop, positive

[Velocity v_sw] v_sw Speed for searching for the homing point

[Velocity v_s0] v_s0 Speed for moving to the axis zero point


Tab. 4/8: [Settings] [Homing paramet.] menu

• Choose [SAVE...] to save the parameter settings.



4.5.4 [Settings] [Position set]

Programming the position set table

• First select the desired position set number. The followingsettings related to the currently selected positioning set.When performing a homing run, please also note theexplanation in chapter 5.2.5.

[Position set] Param. Description

[Position nr.] Nr The number of the position set record

[Pos set mode] [abso-lute/relative]

Positioning modeabsolute = absolute position specification, related to the pro-ject zero pointrelative = relative position specification, related to the currentposition

[Position] xt Teach mode for setting the target position in the selected units ofmeasurement, e.g. [mm].Do not teach the positions until the reference system has beendefined by homing. (see chapter 4.4.3).

[Velocity] v Positioning speed in the selected system of measuremente.g. [mm/s]


Tab. 4/9: [Settings] [Position set] menu

<- -> Use the arrow buttons to move the axis to thedesired position or select the parameter setting.



• Choose [SAVE...] to save the parameter settings. Only thenwill the settings be retained even if the power supply isswitched off or if there is a power failure.



4.5.5 [Settings] [Password edit]

In order to prevent unauthorised or unintentional overwritingor modification of parameters in the device, access via thecontrol panel can be protected by a “local” password. Nopassword has been preset at the factory (presetting = 000).

• Keep the password for the MTR-DCI in a suitable location,such as in the internal documentation pack for yoursystem.

If the active password in the MTR-DCI is lost in spite of carebeing taken:If needed, the password can be deleted by entering a masterpassword. In this case please contact your Festo Servicepartner.

Activating the password

Select [Settings] [Password edit] in the menu.

Enter a password with 3 digits (0..9). The current entryposition is marked with a question mark.

1. Use the arrow keys to select a digit.

2. Confirm your entry with <Enter>.

3. Set a number for the next input position “?”.

4. After selecting the third digit, save the password withSAVE <Enter>.

After saving the password, access to all parameterisation andcontrol functions in the control panel is locked by a pass-word query.

New Password:

[?xx] =

ESC <Menu>EDIT <--> OK <Enter>

Enter Password:

[?xx] =


Enter Password:

[?xx] =


New Password:

[?xx] =




Entering a password

As soon as a password is active, it will be scanned automati-cally when the menu commands [Positioning], [Settings] or[HMI control] are accessed.

The current entry position is marked with a question mark.

1. Use the arrow buttons to select a digit 0...9.

2. Confirm your entry with <Enter>. The next entry positionwill be displayed.

3. Repeat the entry for the remaining entry positions.

When the correct password is entered, all parameterising andcontrol functions of the control panel are enabled until thepower supply is switched off.

Modifying/deactivating the password

Select [Settings] [Password edit] in the menu:

Enter the current password with 3 digits (0..9).The current entry position is marked with a question mark.

1. Set the first digit of the password using the arrowbuttons.

2. Confirm the digit with OK <Enter>.

3. Set the digit for the next input position “?”.

After entering the third digit of the current password youcan change or deactivate the password.

Enter 3 digits for the new password or enter “000” todeactivate the password:

4. Use the arrow keys to select the first digit.



5. Confirm the digit with OK <Enter>.

6. Set the digit for the next input position “?”.

7. After entering the third digit, save your setting with SAVE<Enter>.

4.5.6 [Settings] [BUS parameter]

Setting Fieldbus parameters.

[BUS parameter] Param. Description

[MAC ID] 0 ... 63(0 ...3fh)

Fieldbus address of the MTR-DCI.Representation:“0 dec, 0 hex”...“63 dec, 3f hex”

[Bit rate] 500 kbit/s,250 kbit/s,125 kbit/s

Fieldbus bit rate corresponding to the settings on the master.

[I/O DATA] 8 bytes16 bytes

I/O data length setting

– 8 bytes: only for the FHPP standard (control of the MTR-DCI

is done as per the Festo Handling and Positioning Profile)

– 16 bytes: FHPP standard and FPC (additional use of theFesto Parameter Channel for parameterising the MTR-DCI)

Tab. 4/10: [Settings] [BUS Parameter] menu

<- -> Select the parameter setting using the arrowbuttons.



The settings made in the [BUS Parameter] menu are saveddirectly and permanently (including in the event of a powerfailure) to the EEPROM when you confirm them withOK<Enter>.



4.6 Menu command [HMI control]

To select the [Positioning] and [Settings] menu commands the“HMI: on” setting is required. Only then is the MTR-DCI readyto process user entries on the control panel.When selecting the menu commands, you will be prompted tomodify the HMI setting.

You can also change the setting directly by selecting the [HMIcontrol] menu item.

HMI 1) Description

on Device control is carried out manually via the control panel. The control interface of theMTR-DCI is deactivated and control enable is set. The actual status of the FHPP controlbytes or the transmitted DS402 control word then has no effect.When control panel control is active the drive cannot be stopped with the STOP bit.

off Device control is carried out via the control interface of the MTR-DCI.

1) HumanMachine Interface

Tab. 4/11: States [HMI control]

<- -> Select the parameter setting using the arrowbuttons.



Access to the MTR-DCI via HMI and FCT can be blocked viathe Fieldbus in the following manner:

– FHPP: Bit CCON.B5, “HMI Access locked”.

HMI control

[on/off] = on?

HMI Access freeESC <Menu>

<--> OK <Enter>

Commissioning


Chapter 5

Commissioning

5. Commissioning


Contents

5. Commissioning 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Commissioning procedure 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Commissioning with the control panel (MTR-DCI-...-H2 only) 5-7. . . . . . . . . . . .

5.2.1 Setting the axis type 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Setting the homing parameters 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Starting homing 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Teaching the axis zero point AZ and the software end positions 5-15. .

5.2.5 Teaching position set records 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Test run 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Setting bus parameters 5-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Commissioning with FCT 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Installing the FCT 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Procedure 5-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Further information on FCT 5-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Commissioning a DeviceNet master 5-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Overview of commissioning on the Fieldbus 5-27. . . . . . . . . . . . . . . . . .

5.4.2 Configuration of the DeviceNet master (“I/O configuration”) 5-28. . . .

5.5 Festo profile for handling and positioning (FHPP) 5-30. . . . . . . . . . . . . . . . . . . . .

5.5.1 Supported operating modes 5-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Structure of the cyclic I/O data (FHPP standard) 5-32. . . . . . . . . . . . . .

5.5.3 Description of the I/O data (record selection) 5-34. . . . . . . . . . . . . . . . .

5.5.4 Description of the I/O data (direct task) 5-35. . . . . . . . . . . . . . . . . . . . .

5.5.5 Description of the control bytes CCON, CPOS, CDIR 5-36. . . . . . . . . . . .

5.5.6 Description of the status bytes SCON, SPOS, SDIR (RSB) 5-39. . . . . . .

5.5.7 Examples of I/O data 5-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Sequence control according to the FHPP standard 5-55. . . . . . . . . . . . . . . . . . . .

5.6.1 Homing 5-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Jog mode 5-57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.3 Teaching via Fieldbus 5-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.4 Record selection (Positioning mode) 5-61. . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning


5.6.5 Direct task (Positioning mode, Force mode) 5-67. . . . . . . . . . . . . . . . . .

5.6.6 Standstill monitoring 5-74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 The Festo Parameter Channel (FPC) 5-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.1 Structure of the cyclic I/O data (FHPP-FPC) 5-76. . . . . . . . . . . . . . . . . . .

5.7.2 Request identifiers, response identifiers and error numbers 5-78. . . . .

5.7.3 Rules for request-response processing 5-81. . . . . . . . . . . . . . . . . . . . . .

5.7.4 Parameterisation example 5-83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 FHPP finite state machine 5-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8.1 Establish “ready to operate” status 5-87. . . . . . . . . . . . . . . . . . . . . . . . .

5.8.2 Positioning 5-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 Notes on operation 5-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Commissioning


5.1 Commissioning procedure

Before commissioning

WarningDanger of injury.Electric axes can move suddenly with high force and athigh speed. Collisions can lead to serious injury to humanbeings and damage to components.

• Make sure no one is able to intervene in the action rangeof the axes or of any other connected actuators, and thatthere are no objects in the movement range as long asthe system is connected to a power source.

NoteIn the following cases the MTR-DCI must not be accessedwith the FCT for writing (e. g. downloading parameters) orcontrolling (e. g. with “Move manually” or to start homing):

– When the MTR-DCI is currently performing a positioningmovement or when a movement is started during access(e.g. via the control interface or via the control panel)

– When parameter assignment or operation is being car-ried out with the control panel of the MTR-DCI.

Please note the following:

• The device link in the Festo Configuration Tool (FCT )must not be active when control panel control (“HMIcontrol = on”) is activated.

• Control panel control (“HMI control = on”) must not beactive when the device link in the Festo ConfigurationTool is activated.

• Control by the FCT must not be activated while the driveis in motion or when control is being carried out viaFieldbus.

5. Commissioning


• Before commissioning the drive make sure that:

– The work space is of sufficient size for operation witha work load.

– The work load does not collide with the motor or thegear of the axis when the slide moves into the endposition.

• Please observe the notes in the operating instructions foryour axis.

Switching on

NoteNote that the tolerance for the supply voltage must beobserved. The tolerance must also be observed directly atthe operating voltage connection of the MTR-DCI (seechapter 3.3).

Note• When the power supply is switched off, wait for approx.5 seconds before switching the device on again.

When the logic voltage is connected via the Fieldbus adapter:

Switch-on sequence Do not switch on the logic voltage after the load voltage,since this may cause the MTR-DCI to switch off and back onagain (= reset).

Logic voltage failure If the logic voltage fails, the controller will switch off.MTR-DCI 42, 52, 62: if the load voltage is still active, thecontroller will switch back on but will lose its reference posi-tion.

5. Commissioning


1. Switch on the power supply for the MTR-DCI. When thepower supply is switched on, the MTR-DCI automaticallycarries out an internal check. Preset operating mode afterswitch-on: record selection.

2. Carry out parameterising and commissioning with thecontrol panel or the FCT, as described in the followingchapters or in the FCT/plug-in help.

3. In order to complete commissioning note the instructionsfor operation in the FCT/plug-in help and in section 5.9.

NoteTo restore the default settings the EEPROM can be deletedif necessary with CI object 20F1 (Data memory control)directly via the serial interface (see section C.1). User-specific settings will then be lost.

• Use CI commands only if you already have experience ofusing Service Data Objects.

• If necessary consult Festo.

WarningDanger of injury.

Faults in parameterisation can cause injury to humanbeings and damage to property. To ensure correct settingof the reference coordinates and the operating range it isessential to perform a homing run in the following cases:

– On initial commissioning,

– After a change of homing method,

– Every time the logic voltage supply is connected!

5. Commissioning


5.2 Commissioning with the control panel (MTR-DCI-...-H2 only)

The control panel provides all the necessary functions forcommissioning, parameterisation, diagnosis and operatorcontrol directly at the MTR-DCI. Positioning records and para-meters can be edited using the menu system. You can use theTeach functions to easily move to positions and load theseinto the position set table.

NoteThe project zero point PZ can only be set via FCT or byusing the CI object 21F4h (FHHP PNU 500).

Information on the button functions and on the menu com-position of the control panel can be found in Chapter 4.

Device control

In order that the control panel can control the connectedMTR-DCI, the control interface of the MTR-DCI must be deacti-vated and control panel enable must be set [HMI = on]. Theactual status of the FHPP control bit has no effect after this.

You will find information on the control enable in section 4.6.

Overview of parameter assignment andcommissioning

Information on the current parameter assignment of themotor unit can be found in the menu [Diagnostic] on thecontrol panel.

Carry out the following steps in order to commission theMTR-DCI the first time with the control panel. Refer to thedetailed description in the chapters specified.

Diagnostic

PositioningSettings

HMI control

LCD adjustment

5. Commissioning


Commissioning (overview) Chap.

1. Select the drive type and adapt the parameters to youraxis as necessary.

5.2.1

2. Set the following parameters for homing:– Homing method,– search speed to reference point,– positioning speed to axis zero point,

5.2.2

3. Carry out homing.– In the “fixed stop ...” homing method:

teach an axis zero point ≠ 0.

5.2.3

4. To define the axis zero point and the operating rangeteach-in the following axis parameters:

– Axis zero offset to reference point

– Positive and negative software end positions.

5.2.4

5. Enter multiple positioning sets (target position, posi-tioning mode, travel speed and accelerations).

5.2.5

6. Perform a test run to test the positioning response of theaxis, the reference coordinates and the operating range.

5.2.6

7. Optimise the positioning set configuration and the refer-ence coordinate and operating range settings asnecessary.

5.2.5

8. Switch on the Fieldbus interface of the MTR-DCI.This step may optionally be carried out first.

5.2.7and5.4.1

9. To complete the commissioning process refer to theinformation relating to operation of the unit.

5.9

Tab. 5/1: Commissioning steps

5. Commissioning


5.2.1 Setting the axis type

1. Select your axis type in the [Settings] [Axis type] menu

2. Set axis-specific parameters as prompted using the arrowbuttons, e.g. feed constant, system of measurement, orcounting direction.

Axis type Description Parameter

Type DMES Festo servo axis A DMES size can be selected, according to the size ofthe MTR-DCI. The feed constant is already configured.

Type DNCE Festo electrical drive – FeedCon: feed constant in [mm/rev](see the operating instructions for DNCE-...).

– Count direction: direction of motor rotation left orright (see chapter 1.6).

Rotation drive 1) Any rotational axis Any rotary/semi-rotary drive:

– [Degrees] (360°/rev) or

– [Revolutions]

User config Any linear axis Any linear drive: feed constant in [mm/rev] as per thedocumentation of your linear axis.

1) If an external gear is used, the gear factor can be set with FCT.

Tab. 5/2: Assigning parameters to the axis

3. Press SAVE <Enter> to save your axis type setting.

NoteAfter changing the axis type it is essential to perform areset in order to adapt internal controller settings.

• After changing the axis type/size, switch the powersupply off and back on again (Power off/on).

Settings

Axis typeType DMES...

Type DNCE...Rotation drive

User config

5. Commissioning


5.2.2 Setting the homing parameters

Information on homing to a reference switch

NoteDamage to components.

The slide may only move directly against a fixed stop if themaximum permitted impact energy is not exceeded (im-pact energy = 0.5 x mass x speed2).

• The permitted value can be found in the description foryour positioning axis.

• If necessary, reduce the speed at which movement to thestop is made. The speed can amount to 0 % to 50 % ofthe rated speed.

• When referencing to a stop, set the offset of the axis zeropoint ≠ 0 (see chapter 5.2.4).

• Protect sensitive stops by limiting the motor current.

The positioning axis DMES-... can conduct a homing run withthe preset current limitation (150 %). The current limitationneed not be modified.

Current limitation When the max. motor current is reached and the motor isstationary, the MTR-DCI will detect a stop. The maximummotor current during homing can be specified as 10...200 %of the rated motor current (see FCT help or CI object 66073h).

Note– If the drive is arranged vertically, an increase in themotor current may be necessary. If the motor current istoo low, homing cannot be carried out or the unit maydetect a stop incorrectly.

– The set required speed cannot be reached if currentlimitation is too great.

5. Commissioning


Current limitation 1) 32 42 52 62

100 % Z1 x nominal motor current

Motor currentMotor torque

AmNm

0.7330

2.0110

5.0300

6.19700

150 % (default) Z1.5 x nominal motor current


AmNm

1.146

3.0171

7.5460

9.291076

200 % Z2 x nominal motor current


AmNm

1.4662

3.8 2)

2207.7 2)

47012.381450

1) Parameter specification in FCT: relative motor current in % of nominal current. Setting range10...200 %.

2) Due to maximum current limiting the value does not rise further.

Tab. 5/3: Current limitation

Setting parameters

1. Select the homing parameters in the [Settings][Homingparameter] menu (see Tab. 5/5).

2. Accept each setting with OK <Enter>. The setting will thentake effect in the drive.

3. Save the parameter settings with the [SAVE]menu com-mand.

Settings

Homing parameterHoming method

Velocity v_swVelocity v_s0

SAVE

5. Commissioning


Factory settings 32 42 52 62

Speeds v_sw, v_s0 % 1)

inc/s~41 %27000

~22 %22400

~17 %16800

~15 %16800

Rated motor speed rot/sinc/s

5566000

50100000

50100000

56.7113400

Homing method Reference switch, negative (near motor)

1)%of the nominal motor speed; max. = 50 %

Tab. 5/4: Factory pre-setting for homing parameters

[Hom. paramet.] Param. Description

[Homing method] 1) sw.neg(switch negative)

Homing to reference switch, positive, negative

sw.pos(switch positive)

Homing to reference switch, positive

bl.neg(block negative)

Homing to fixed stop, negative

bl.pos(block positive)

Homing to fixed stop, positive

[Velocity v_sw] v_sw Speed for searching for the homing point

[Velocity v_s0] v_s0 Speed for moving to the axis zero point


1) Further information on homing methods is provided in chapter 1.6.3.

Tab. 5/5: Homing parameters

5. Commissioning


CautionWhen the homing method is changed the axis zero offset isreset to zero. Any existing settings of the software endpositions and target positions in the positioning set tableare retained. Note that these values move together withthe axis zero point AZ.

• After changing the homing method always perform ahoming run.

• Then teach-in the axis zero offset.

If the axis zero point is modified:

• Teach-in the new software end positions and target posi-tions.

5.2.3 Starting homing

NoteNote that at the start the drive must be in front of the stopor reference switch in terms of the search direction (seechapter 1.6.3).

1. If necessary, position the drive in Teach mode so that,when viewed in terms of the search direction, it is in frontof the stop or reference switch at the start.

• Select e.g. [Settings] [Position set] [Position] (see alsosection 5.2.5).

• Move the drive to the desired position manually withthe arrow buttons.

• End the procedure with ESC <Menu> so that the posi-tion is not included in the position set table.

2. Select [Positioning] [Homing].

3. Start homing with START <Enter>.

Positioning

Demo posit tabMove posit set

Homing

5. Commissioning


After a successful homing the drive stops at the axis zeropoint AZ. With first commissioning or when the homingmethod is changed, the offset of the axis zero point = 0; afterhoming the drive then stands at the homing point REF.

Discontinuing homing

If necessary, homing can be discontinued with the <Menu>button (EMERG STOP). If correct homing has already beencarried out, the previous homing point will retain its validity.

Error in the homing run

If the axis does not find a reference switch during homing, itkeeps moving until it encounters a stop. Then it comes to restat the stop and HOMING ERROR is displayed. Homing mustbe repeated after resetting the error message:

Reasons for this may be:

– Axis already positioned behind reference switch at start ofhoming,

– Reference switch defective,

– Axis defective or incorrectly mounted, e.g. clutch attach-ment slipping.

5. Commissioning


If a fault occurs during homing:

• Acknowledge the error message with <Enter>.

• If necessary, check the function of the reference switch.

• Check the settings of the parameters.

• If necessary, position the drive in Teach mode so that,when viewed in terms of the search direction, it is in frontof the stop or reference switch at the start.

• Repeat the homing run.

5.2.4 Teaching the axis zero point AZ and the software end positions

CautionDamage to components.

Movement to the mechanical end positions is not permit-ted during operation. During movement to the end posi-tions with a high load, the mechanical axis components(e.g. the lead screw) can block in the end positions.

• Set the offset of the axis zero point ≠ 0,e.g.+1.00 mm when referencing to a negative fixed stopor -1.00 mm when referencing to a positive fixed stop.

• Limit the positioning range by defining valid softwareend positions during commissioning (see section 1.6).

• Specify target positions within the permitted positioningrange only.

5. Commissioning


Teach the axis zero point AZ:

1. Select [Settings] [Axis parameter] [Zero point].

2. Move the drive to the desired axis zero point manuallywith the arrow buttons.

3. Accept the position reached with OK <Enter>. The settingwill then take effect in the drive. The current position xabecomes the axis zero point (xa = 0).

NoteIf the axis zero point is modified:

Check existing settings of the software end positions and(if applicable) the project zero point and the target posi-tions in the position set table.Note that these values move together with the axis zeropoint AZ.

• Teach the software end positions, project zero point andthe target positions again if needed.

Teach the software end positions:

1. Select [Settings] [Axis parameter] [Abs.min.pos] or[Abs.max.pos].

2. Move the drive with the arrow keys.

3. Accept the position reached with OK <Enter>. The settingwill then take effect in the drive.

4. Choose [SAVE] to save the parameter settings. Only thenwill the settings be retained even if the power supply isswitched off or if there is a power failure.

Settings

Axis parameterZero point

Abs.min.posAbs.max.pos

SAVE

5. Commissioning


5.2.5 Teaching position set records

Enter the position set records as follows:

1. Activate the desired position record (1...31) with[Settings] [Position set] [Position nr].

2. Select the positioning mode of the position set:

• Select [Pos set mode].

• Set the positioning mode with the arrow keys:absolute= absolute position specification,

in relation to the project zero pointrelative = relative position specification,

in relation to the current position.

• Accept the value with OK <Enter>.

3. Teach the target position of the position record:

• Select [Position].

• Move the drive manually to the desired target positionwith the arrow keys.

• Accept the position reached with OK <Enter>. Thesetting of the target position and the positioningmode will then take effect in the drive.

4. Set the speed:

• Select [Velocity].

• Set the nominal speed with the arrow keys.

• Accept the setting with OK <Enter>. The setting willthen take effect in the drive.

Position records with speed v = 0 or invalid target positions(-> error TARGET POSITION OUT OF LIMIT) cannot beexecuted.

Settings

Position setPosition nr

Pos set modePosition

VelocitySAVE

5. Commissioning


5. Select [SAVE] to save the positioning set. Only then willthe settings be retained even if the power supply isswitched off or if there is a power failure.

6. Enter the next position record.

Digitalisation errors of the analogue-digital converter canaccumulate in the case of relative position movements whichoccur frequently one after the other, leading to deviations ofthe position values. If necessary, insert an absolute positionset or a homing run into the positioning cycle, in order tocorrect deviations.

5.2.6 Test run

WarningInjury to persons and damage to property

With all positioning procedures, the motor turns and theconnected axis moves.

• Make sure that:

– Nobody can place their hands into the positioningrange,

– There are no objects within the positioning range.

CautionDamage to components

The unit must not move onto mechanical end positions(stops) during operation. When the unit moves to the endpositions with a heavy load, blockage may occur in the endpositions

• Limit the positioning range by defining valid softwareend positions during commissioning (see section 5.2.4).

5. Commissioning


1. Enter several position set records:

• Set target positions at the limits of the positioningrange in order to check the software end positions.

• Set different speeds.

2. Select [Positioning] [Move posit. set] in order to executea certain position set record — or —

3. Select [Positioning] [Demo posit tab] in order to processall position set records. At least two position set recordsmust be entered in the position set table in order to usethis function.

In the [Demo posit tab] positioning cycle, all position setrecords 1...31 in the position set table will be executedone after the other. If the position set table contains aposition set with speed v = 0, neither this position setrecord nor the following records will be executed; thepositioning cycle will continue from the first position setrecord.

4. Start the test run.

NoteWith EMERG.STOP <Menu> you can interrupt the currentpositioning procedure.

With DEMO STOP <Enter> you can interrupt the positioningcycle [Demo posit tab]. The current position set will beexecuted before the drive stops.

• Check the positioning behaviour.

• Check the position details displayed.

5. If necessary, optimise the settings for position sets, andalso (if needed) for the points of reference and theworking range.

Positioning

Demo posit tabMove posit set

Homing

5. Commissioning


5.2.7 Setting bus parameters

Before commissioning on DeviceNet, valid bus parametersmust be set.

Station number (MAC-ID)

– Valid station numbers: 0 ... 63.

– The invalid station number 255 is preset (control paneldisplay: ???).This is to make sure that a correct address is set duringcommissioning or when replacing.

Recommendation:Assign the station numbers in ascending order. Adapt thestation numbering to the machinery infrastructure of yourplant.

NoteStation numbers can only be assigned once per Fieldbusline.

Set the station numbers as follows:

1. Select [Settings] [Bus parameter] [MAC ID] (see alsosection 4.5).

2. Press <Enter> to display the current setting.

3. Use the arrow keys to set the desired bit rate.

4. Accept the setting with OK “Enter”.The set bit rate is saved permanently and protectedagainst network failure.

NoteThe set bit rate will not take effect until after a power off/on process!

Settings

Bus parameterMAC ID

Baud rate

500 kBd

ESC ”Menu”

EDIT ”--” OK ”Enter”

5. Commissioning


Bit rate (bit rate)

– Possible bit rates:500 kbit, 250 kbit, 125 kbit

– An invalid bit rate is preset (display on the control panel:“???”).This ensures that a correct bit rate must be set duringcommissioning or replacement.

NoteAll of the participants on a fieldbus line must use the samebit rate. Otherwise no communication will be possible.

Set the bit rate as follows:

1. Choose [Settings] [Bus parameter] [Baudrate](see also section 4.5).


3. Use the arrow keys to set the desired baud rate.

4. Accept the setting with OK <Enter>.The defined baud rate is permanently saved.

NoteThe defined baud rate only takes effect after a poweroff/on cycle!

Settings

Bus parameterBaudrate

Baudrate

500 kBd

ESC <Menu>


5. Commissioning


I/O data length

– Possible data lengths:

– 8 bytes (for sequence control as per the FHPPstandard)

– 16 bytes (8 bytes for sequence control as per theFHPP standard + an additional 8 bytes for parameter-ising via FHPP FPC)

– The default setting is an invalid data length(displayed on the control panel as “???”)This ensures that the correct data length has to beentered during commissioning or when replacing the unit.

Set the data length as follows:

1. Select [Settings] [Bus parameter] [I/O Datalength](see also section 4.5).


3. Set the desired length with the arrow buttons.The setting must agree with the configuration of theDeviceNet master (see chapter 5.4.2).

4. Accept the setting with OK <Enter>.The set data length becomes effective immediately and issaved against power failure.

Settings

Bus parameterI/O Datalength

I/O Datalength

8 Byte I/O Data

ESC <Menu>


5. Commissioning


5.3 Commissioning with FCT

The Festo Configuration Tool (FCT) is the software platform forconfiguring and commissioning different components anddevices 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 supportedtypes of devices,

– A plug-in for the special demands of each device type(e.g. MTR-DCI) with the necessary descriptions and dia-logues. The plug-ins are managed and started from theframework.

The MTR-DCI plug-in for the Festo Configuration Tool supportsall the steps necessary to commission an MTR-DCI. With theMTR-DCI plug-in for the Festo Configuration Tool thenecessary parameter settings can be performed offline - thatis, without connecting the MTR-DCI to the PC. This enablesthe actual commissioning procedure to be prepared inadvance, such as in the design office when planning a plantsetup.

5.3.1 Installing the FCT

The FCT is installed on your PC with an installation program.The MTR-DCI plug-in is installed on your PC together with theFCT's installation program.

NoteAdministrator rights are required for installing the FCT.

5. Commissioning


NoteAs of version V2.1.0, the plug-in MTR-DCI supports thefollowing motor units:

– MTR-DCI-...-DN: firmware version V1.00 and higher

• Check with later versions of the MTR-DCI to ascertainwhether an updated plug-in is provided. If necessaryconsult Festo.

1. Close all programs.

2. Place the Festo Configuration Tool CD in your CD ROMdrive. If Auto Run is activated on your system, the installa-tion will start automatically and you can omit steps 3and 4.

3. Select [Run] in the Start menu.

4. Enter D:\setup (if necessary replace D by the letter of yourCD ROM drive).

5. Follow the instructions on the screen.

5.3.2 Procedure

Starting the FCT

1. Connect the MTR-DCI to your PC via the RS232 port.Follow the instructions in section 3.4.

2. Start the FCT:Double-click the FCT icon on the desktop– or –Select the entry [Festo Software] [Festo ConfigurationTool] in the Windows [Start] menu.

3. Create a project in the FCT or open an existing project.Add a device to the project with the MTR-DCI plug-in.

5. Commissioning


4. Create the device connection (online connection) betweenthe PC and the MTR-DCI via the FCT tool bar. You mayneed to synchronise the device names.

Device control

In order that the FCT can control the connected MTR-DCI, thecontrol interface of the MTR-DCI must be deactivated and“control enable” must be set for the FCT (FCT/HMI = On). Theactual status of the ENABLE control bit then has no effect.

• Access the “Project output” window, “Operate” tab, thenunder “Device control” activate first the box “FCT/HMI”and then the box “Enable”.The control interface of the MTR-DCI will then be deacti-vated and control will be enabled for the FCT.

Access to the MTR-DCI by means of the Festo ConfigurationTool can be blocked via the DeviceNet interface (see section5.5.2, FHPP control bit CCON.B5, CiA 402 control word bit14).In this case the boxes “FCT control” and “Enable” are blocked(inactive).

5.3.3 Further information on FCT

Further information is provided in the Festo ConfigurationTool help:

FCT Help via the menu command [Help] [General FCT contents] e.g.

– for working with projects and on including a device in aproject,

– for defining the dimensional reference system (homingand reference coordinates),

– on setting the Fieldbus address.

5. Commissioning


Plug-in help With the menu command [Help] [Contents of installed plugins][Festo (manufacturer name)] [MTR-DCI (Plug-In-Name)], e.g.:

– For describing the dialogues of the “Device MTR-DCI”,

– For describing the work steps for commissioning,

– For the basic functions: Device connection, Device namesand Device control, and for password protection.

Printed information In order to use the complete Help or parts of it without a PC,you can use one of the following options:

• With the button “Print” in the Help window, print indi-vidual Help pages or all the pages of a book directlyfrom the Help index.

• Print a prepared printed version of the Help in Adobe PDFformat or Rich Text Format (RTF):

Printedversion

Directory File

FCT help ...(FCT installation directory)\Help\ – FCT_de.pdf

– FCT_de.rtf

Plug-in help(MTR-DCI)

...(FCT installation directory)\HardwareFamilies\Festo\MTR-DCI\V...\Help\

– MTR-DCI_de.pdf

– MTR-DCI_de.rtf

To print in Adobe PDF format, you will require Adobe Reader.

5. Commissioning


5.4 Commissioning a DeviceNet master

The following sections describe the configuration and addres-sing of the MTR-DCI on a DeviceNet interface or a DeviceNetmaster. In order to understand this section you should befamiliar with DeviceNet and know the specification.

5.4.1 Overview of commissioning on the Fieldbus

The following steps are required for commissioning theMTR-DCI as a Fieldbus station:

1. Configure the MTR-DCI:

– on the control panel (MTR-DCI-...-H2 only, see sec-tion 5.2.7), or

– with the Festo Configuration Tool (see FestoConfiguration Tool Help).

Settings Description

MAC-ID Permissible participant address (stationnumber)0 ... 63

Bit rate Permissible bit rates:500, 250, 125 kbit/s

I/O datalength I/O data length– 8 bytes (FHPP standard)– 16 bytes (FHPP standard + FHPP-FPC)

Tab. 5/6: Fieldbus-specific parameters of the MTR-DCI

2. Configure master (see section 5.4.2):

– Install EDS file, or

– manually configure.

3. Test the Fieldbus connection in online mode.

5. Commissioning


5.4.2 Configuration of the DeviceNet master (“I/O configuration”)

Configuration with EDS file “EDS files” are provided for configuration of the master.These files are installed using the configuration software ofthe master. For the detailed procedure refer to the manualsfor the configuration software used.

Sources:

The accompanying CD contains EDS files for the MTR-DCI inthe “DeviceNet” folder. You will also find the latest EDS fileson the Festo website at:

– www.festo.com/download/

EDS file:

For the MTR-DCI you will need one of the following EDS files(in English):

– MTR-DCI-aa-DN-bb1_0.eds

aa: Sizes 32, 42, 52, 62bb: I/O data length (bytes) 08, 16

– Graphic file: MTR-DCI.ico.

The configuration of the DeviceNet master must agree withthe parameterisation of the device, otherwise no connectionfor cyclic data exchange is possible. If necessary, the I/O datalength can be manually configured in the software for themaster.

Manual configuration Vendor Code 26 (=1Ah)Product Type 12 (=0Ch)Product Code 90x0 (decimal)

x: size (1st character) 3, 4, 5, 6

You can also find the appropriate device information under[Device] in the EDS file.

5. Commissioning


Allen-Bradley Supporting Auto Device Replacement (ADR) from Allen-Bradley.The master controllers from Rockwell Automation offer aspecial function, which supports automatic parameter set-ting of slave participants when a device is swapped forservicing. All writable parameters addressed in the EDS fileare uploaded by the master after commissioning and storedin the controller scanner. When the network is started,Explicit Messaging is used to automatically download theparameter values into the slave(s). This allows plant devicesto be swapped without an FCT project.

Omron Supporting the Auto-config mode of Omron controllers.With Omron controllers, the DeviceNet participants areconfigured using an Auto-config mode. Configuration ofnominal values using the DeviceNet configuration softwareis not required. The current network configuration automati-cally becomes the nominal configuration. The scanner alsoindependently performs an I/O mapping.

5. Commissioning


5.5 Festo profile for handling and positioning (FHPP)

5.5.1 Supported operating modes

The operating modes differ in the contents and meaning ofthe cyclical I/O data and in the functions which can beaccessed in the MTR-DCI.

Operating mode Description

Record selection (default) 31 position set records can be saved in the MTR-DCI. A record con-tains all the parameters which are specified for a positioning task.The record number is transferred to the cyclical I/O data (FHPP stan-dard) as a nominal or actual value.

Direct Task The positioning task is transferred directly in the I/O telegram (FHPPstandard). The key nominal values (position, speed, force/torque)are transmitted with it. Supplementary parameters are defined viathe parameterisation (FHPP FPC).

Tab. 5/7: Overview of operation modes

The mode is switched by the control byte CCON (see below)and the mode status is indicated in the status byte SCON.Definition by means of parameterisation is not possible.Switching between modes is only permissible in the “drivedisabled” or “drive enabled” state.

Record selection

Positioning drive The MTR-DCI has 31 records (1 ... 31) containing all theinformation necessary for a positioning task (+ set 0= homing).

The record number which the MTR-DCI is to execute at thenext startup is transferred in the output data of the master.Its input data contains the last executed record number.The positioning task itself does not need to be still active.

5. Commissioning


The MTR-DCI cannot work in a stand-alone manner, i. e. itdoes not support any user program of its own. Recordscannot be processed automatically using programmablelogic. The drive cannot accomplish any practical tasks instand-alone mode; close coupling to the PLC is alwaysnecessary.

There are also three records with special functions (whichcannot be executed in record selection mode):

– Record 32 contains the parameters for jog mode.

– Record 33 contains the parameters for direct mode.

– Record 34 is the direct record for the FCT software.

Direct task

In direct task mode positioning tasks are formulated directlyin the master's output data.

Positioning mode A typical application dynamically calculates the nominaltarget values for each task, or just for some tasks. Adaptationto different workpiece sizes is therefore possible. In this case,it is not practical to assign parameters to the record list everytime. The positioning data are managed completely in the PLCand sent directly to the MTR-DCI. Here also, close couplingbetween the PLC and the MTR-DCI is necessary.

Force mode Alternatively, nominal values can be specified in Direct moderelative to the nominal motor current. This gives a torqueand, in the case of linear drives, a force (= force control).

5. Commissioning


5.5.2 Structure of the cyclic I/O data (FHPP standard)

The FHPP protocol stipulates 8 bytes of input data and8 bytes of output data.

Further 8 byte I/O according to FHPP-FPCIn the cyclic data a further 8 bytes of input data and 8 bytesof output data are permissible for transmitting parametersaccording to the FPC protocol (Festo Parameter Channel).A description of the I/O data and the parameters is providedin section 5.7.

Data Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

O data Bytes 1 and 2 (fix)are retained in everyoperating mode andtransfer control andstatus bytes (e.g.CCon, SCON....) forenabling the MTR-DCI and setting theoperating modes

Bytes 3 to 8 depend on the selected operating mode (direct task,record selection) and transfer further control and/or status bytes(e.g. CDir, SDir...), as well as nominal and actual values:

– Record number or nominal position in the output data

– Feedback of actual position and record number in the input data

– Additional mode-dependent nominal and actual values.I data

I/O data: Record selection


O data CCON CPOS Record no. Reserved Reserved

I data SCON SPOS Record no. RSB Actual position

I/O data: Direct Task


O data CCON CPOS CDIR Nominalvalue 1(Velocity)

Nominal value 2(position, force/torque, ...)

I data SCON SPOS SDIR Actualvalue 1(position,force/torque, ...)

Actual value 2(Actual position)

5. Commissioning


Allocation of the control bytes (overview) 1)

CCON B7OPM2

B6OPM1

B5LOCK

B4–

B3RESET

B2BRAKE

B1STOP

B0ENABLE

Operating modeselection

MMIaccessBlocked

– Acknow-ledgefault

– Stop Enabledrive

CPOS B7–

B6CLEAR

B5TEACH

B4JOGN

B3JOGP

B2HOM

B1START

B0HALT

– Deleteremainingposition

Teachvalue

Jog nega-tive

Jog posi-tive

Starthoming

Startposi-tioningtask

Halt

CDIR

(directtaskonly)

B7FUNC

B6FAST

B5XLIM

B4VLIM

B3CONT

B2COM2

B1COM1

B0ABS

– – Deactivatestrokelimit

– – Control mode(position, force/torque, ...)

Absolute/Relative

1) – : Reserved

Allocation of the status bytes (overview) 1)

SCON B7OPM2

B6OPM1

B5LOCK

B424VL

B3FAULT

B2WARN

B1OPEN

B0ENABLED

Operating modeacknowledgement

FCT/HMIdevicecontrol

Loadvoltageapplied

Fault Warning Operationenabled

Driveenabled

SPOS B7REF

B6STILL

B5DEV

B4MOV

B3TEACH

B2MC

B1ACK

B0HALT

Drivehomed

Standstillmoni-toring

Followingerror

Axis ismoving

Acknow-ledgeteaching

Motioncomplete

Acknow-ledgestart

Halt

SDIR

(directtaskonly)

B7FUNC

B6FAST

B5XLIM

B4VLIM

B3CONT

B2COM2

B1COM1

B0ABS

– – Strokelimitreached

Speedlimitreached

– Control mode feed-back (position, force/torque, ...)

Absolute/Relative

1) – : reserved.

5. Commissioning


5.5.3 Description of the I/O data (record selection)

Description of the O data: Record selection

Byte Bit EN Description

1 B0 ... B7 CCON Control bytes, see chapter 5.5.5

2 B0 ... B7 CPOS

3 B0 ... B7 Recordnumber

Pre-selection of record number for record selection (0...31)

4 B0 ... B7 – Reserved (= 0)

5 ... 8 B0...B31 – Reserved (= 0)

Description of the I data: Record selection


1 B0 ... B7 SCON Status bytes, see chapter 5.5.6

2 B0 ... B7 SPOS

3 B0 ... B7 Recordnumber

Acknowledgement of record number for record selection(0...31)

4 B0 ... B7 Record statusbyte (RSB)

see SDIR for direct task, chapter 5.5.6

5 ... 8 B0 ... B31 Position, ... Acknowledgement of position for record selection:– Position in increments (32-bit number, Low byte first)

5. Commissioning


5.5.4 Description of the I/O data (direct task)

O data – Direct task


1 B0 ... B7 CCON Control bytes, see chapter 5.5.5

2 B0 ... B7 CPOS

3 B0 ... B7 CDIR

4 B0 ... B7 Velocity Nominal value 1: preselection of velocity in % of the maximumvelocity

5 ... 8 B0...B31 PositionForce, ...

Nominal value 2: preselection depending on the controller modeof operation (see control byte 3 CDIR)– Positioning mode: position in increments– Force mode: force/torque in % of the rated current

O data – Direct task


1 B0 ... B7 SCON Status bytes, see chapter 5.5.6

2 B0 ... B7 SPOS

3 B0 ... B7 SDIR

4 B0 ... B7 Velocity

Force/Torque

Actual value 1: acknowledgement depending on the controllermode of operation (see control byte 3 CDIR)– Positioning mode: preselection of speed in % of the

maximum speed– Force mode: force/torque in % of the rated current.

5 ... 8 B0...B31 Position Actual value 2: acknowledgement of position in increments

5. Commissioning


5.5.5 Description of the control bytes CCON, CPOS, CDIR

CCON Control byte 1 (CCON) is used to control all states that mustbe available in all operating modes. The cooperation of thecontrol bits can be found under the description of the drivefunctions in section 5.6.

Control byte 1 (CCON)

Bit EN Description

B0ENABLE

Drive Enable = 1: Drive (controller) enabled= 0: Drive (controller) blocked

B1STOP

Stop 1 = 1: Operation enabled.Any existing faults will be deleted.

= 0: Stop 1 active (emergency ramp + cancel positioning task). The axisstops with maximum braking ramp; the positioning task is reset.

B2BRAKE

– Reserved: = 0

B3RESET

Reset Error With a rising edge a fault is acknowledged (reset) and the fault valuecleared.

B4–

– Reserved: = 0

B5LOCK

HMI accesslocked

Controls access to the diagnostic interface of the drive.= 1: HMI and FCT may only observe the drive, the device control (HMI

control) cannot be taken over by HMI and FCT.= 0: HMI or FCT may take control of the device (in order to modify para-

meters or to control inputs)

B6OPM1

Select Oper-atingMode

= 00: Record selection= 01: Direct task= 10: Reserved= 11: ReservedB7

OPM2

1) Switching between record selection and direct task is additionally permitted in the “Ready” state.

5. Commissioning


CPOS Control byte 2 (CPOS) controls the positioning sequences assoon as the drive is enabled.

Control byte 2 (CPOS) – Record selection and direct task

Bit EN Description

B0HALT

Halt = 1: “Halt” is not active.= 0: “Halt” activated (braking ramp + do not cancel positioning task).

The axis stops with a defined braking ramp; the positioning taskremains active (the remaining positioning can be deleted with B6).

B1START

Start Posi-tioning Task

The current nominal values will be transferred and positioning started(record 0 = homing) bymeans of a rising edge.

B2HOM

Start Homing Homing with the defined parameters is started by means of a risingedge.

B3JOGP

Jog positive The drive moves at the specified speed or rotational speed towardslarger actual values, while the bit is set. The movement begins with therising edge and ends with the falling edge.

B4JOGN

Jog negative The drive moves at the pre-set speed (rotation) towards lower actualvalues; see bit 3.

B5TEACH

Teach actualvalue

At a falling edge the current actual position is imported into the setpointregister of the current addressed positioning set; see section 5.6.3.The Teach target is defined with PNU 520.

B6CLEAR

Clearremainingpositioningpath

In the “Halt” state a rising edge causes the positioning task to becleared and a transition to the “Ready” state

B7–

– Reserved: =0

5. Commissioning


CDIR Control byte CDIR is a special control byte for operating mode“Direct task”.

Control byte 3 (CDIR) – Direct task only

Bit EN Description

B0ABS

Absolute/Relative

= 0: Nominal value is absolute= 1: Nominal value is relative to last nominal value

B1COM1

ControlMode = 00: Positioning operation (see also 5.5.7 point 6)= 01: Force operation (see also 5.5.7 point 7)= 10: Reserved= 11: ReservedB2

COM2

B3CONT

– Reserved: = 0

B4VLIM

– Reserved: = 0

B5XLIM

Stroke (X-)limit not active

Force control:= 0: Stroke monitoring active= 1: Stroke monitoring not active

B6FAST

– Reserved: = 0

B7FUNC

– Reserved: = 0

5. Commissioning


5.5.6 Description of the status bytes SCON, SPOS, SDIR (RSB)

Status byte 1 (SCON)

Bit EN Description

B0ENABLED

Drive enabled = 0: Drive blocked, controller not active= 1: Drive (controller) enabled

B1OPEN

Operationenabled

= 0: Stop active= 1: Operation enabled, positioning possible

B2WARN

Warning = 0: Warning not present= 1: Warning present

B3FAULT

Fault = 0: No fault= 1: Fault present / fault response active.

Fault code in fault buffer

B424VL

Supply Voltageis Applied

= 0: No load voltage= 1: Load voltage applied

B5LOCK

Drive Controlby FCT/MMI

= 0: Device control by PLC/Fieldbus= 1: Device control by FCT/HMI

(PLC control is locked)

B6OPM1

Displayoperatingmode

= 00: Record selection (Standard)= 01: Direct task= 10: Reserved= 11: ReservedB7

OPM2

5. Commissioning


Status byte 2 (SPOS)

Bit EN Description

B0HALT

Halt = 0: Halt is active= 1: Halt is not active, axis can be moved

B1ACK

Acknowledgestart

= 0: Ready for start (homing, jog)= 1: Start carried out (homing, jog)

B2MC

MotionComplete

= 0: Positioning task active= 1: Positioning task completed, possibly with faultNote: MC is first set after switching on (status “Drive blocked”).

B3TEACH

AcknowledgeTeaching

= 0: Ready for teaching= 1: Teaching carried out, actual value transferred

B4MOV

Axis ismoving = 0: Speed of the axis < limit value= 1: Speed of the axis >= limit value

B5DEV

Drag Error = 0: No following error= 1: Following error active

B6STILL

Standstillcontrol

= 0: After MC, axis remains in tolerance window= 1: After MC, axis is outside tolerance window

B7REF

Axis isreferenced

= 0: Homing must be carried out= 1: Home information exist, homing does not need to be carried out

5. Commissioning


Status byte 3 (SDIR) – Direct task

Bit EN Description

B0ABS

Absolute/Relative

= 0: Nominal value is absolute= 1: Nominal value is relative to last nominal value

B1COM1

COntrolModefeed back

= 00: Positioning mode= 01: Force mode= 10: Reserved= 11: ReservedB2

COM2

B3CONT

– Reserved

B4VLIM

Speed (V-)LIMit reached

Force mode:= 1: Speed limit reached= 0: Speed limit not reached

B5XLIM

Stroke (X-)LIMit reached

Force mode:= 1: Stroke limit value reached= 0: Stroke limit value not reached

B6FAST

– Reserved

B7FUNC

– Reserved

5. Commissioning


5.5.7 Examples of I/O data

The following pages provide typical examples of the I/O dataaccording to the FHPP standard:

1. Record selection: establish “ready to operate” status

2. Direct task: establish “ready to operate” status

3. Fault handling

4. Homing

5. Record selection: Positioning mode

6. Direct task: Positioning mode

7. Direct task: Force mode

A description of the MTR-DCI's finite state machine can befound in section 5.8.

Ensuring device control

Step/Description

O data I data

Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0

0.1 HMI device con-trol = on

Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 0 0 0 x 0 0 SCON 0 0 1 1 0 0 0 0

Byte 2 – CLEAR TEACH JOGN JOGP HOM START HALT Byte 2 REF STILL DEV MOV TEACH MC ACK HALT

CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

0: 0 signal 1: 1 signal; x: not relevant (any); F: Edge positive

Tab. 5/8: I/O data: “Device control active”

Device control via the control panel or the Festo ConfigurationTool has been activated. To control the MTR-DCI via theDeviceNet interface, device control by FCT/HMI must firstbe deactivated.

5. Commissioning


1. Record selection: establish “ready to operate”status

1.1 Basic status of the drive when the supply voltage isswitched on. Step 1.2 or 1.3

1.2 Disable device control by FCT/HMI.Optionally, the takeover of device control by FCT/HMIcan be blocked with CCON.B5 = 1 (LOCK). Step 1.3

1.3 Enable drive (record selection) Homing: example 4, Tab. 5/12.

Step/Description

O data I data


1.1 Basic status

(HMI device control =off )


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

1.2 Disable devicecontrol by FCT/HMI


CCON x x 1 0 x x x x SCON x x 0 x x x x x


CPOS 0 x x x x x x x SPOS x x x x x x x x

1.3 Enable drive,enable operation

(Record Select)


CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


Tab. 5/9: I/O data “Record selection: establish ready to operate status”

If there are faults after switching on or after setting CCON.B0(ENABLE): Fault handling: see example 3, Tab. 5/11.

5. Commissioning


2. Direct task: establish “ready to operate” status

2.1 Basic status of the drive when the supply voltage isswitched on. Step 2.2 or 2.3

2.2 Disable device control by FCT/HMI.Optionally, the takeover of device control by FCT/HMIcan be blocked with CCON.B5 = 1 (LOCK). Step 2.3

2.3 Enable drive. (Direct Task) Homing: example 4, Tab. 5/12.

Step/Description

O data I data


2.1 Basic status

(HMI device control =off )


CCON 0 0 0 0 0 x 0 0 SCON 0 0 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0

2.2 Disable devicecontrol by FCT/HMI


CCON x x 1 0 x x x x SCON x x 0 x x x x x


CPOS 0 x x x x x x x SPOS x x x x x x x x

2.3 Enable drive,enable operation

(Direct Task)


CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1


Tab. 5/10: Control and status bytes for “Establish 'ready to operate' status – Direct task”

If there are faults after switching on or after setting CCON.B0(ENABLE): Fault handling: see example 3, Tab. 5/11.

5. Commissioning


3. Fault handling

For description of faults and warnings, see section 6.4.

3.1 A fault is shown with SCON.B3 (FAULT). Positioning can no longer be undertaken.

3.2 A warning is shown with SCON.B2 (WARN). Positioning is still possible.

3.3 Reset fault with positive edge on CCON.B3 (RESET). Fault bit SCON.B3 (FAULT) or SCON.B2 (WARN) isreset. SPOS.B2 (MC) is set Drive is ready for operation

3.4 Reset fault with negative edge on CCON.B0 (ENABLE). Fault bit SCON.B3 (FAULT) or SCON.B2 (WARN) isreset. SPOS.B2 (MC) is set Establish “ready to operate” status again(see examples 1, Tab. 5/9 and 2, Tab. 5/10)

5. Commissioning


Step/Description

O data I data


3.1 Fault Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON x x x 0 x x x x SCON x x x x 1 x x x


CPOS 0 x x x x x x x SPOS x x x x x 0 x x

3.2 Warning Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON x x x 0 x x x x SCON x x x x x 1 x x


CPOS 0 x x x x x x x SPOS x x x x x 0 x x

3.3 Reset fault

with CCON.B3(RESET)


CCON 0 x x 0 F x x 1 SCON 0 x 0 1 0 0 0 0


CPOS 0 0 0 0 0 0 x x SPOS x 0 0 0 0 1 0 1

3.4 Reset fault

with CCON.B0(ENABLE)


CCON 0 x x 0 0 x x N SCON 0 x 0 1 0 0 x 0


CPOS 0 0 0 0 0 0 x x SPOS x 0 0 0 0 1 x x


Tab. 5/11: I/O data “Fault handling”

5. Commissioning


4. Homing (requires status 1.4 or 1.5)

4.1 A positive edge at CPOS.B2 (HOM, Start homing) startsthe homing run. The start is confirmed with SPOS.B1(Acknowledge start) as long as CPOS.B2 (HOM) is set.

4.2 Movement of the axis is shown with SPOS.B4 (MOV,Axis is moving).

4.3 After successful homing, SPOS.B2 (MC, MotionComplete) and SPOS.B7 (REF) are set.

Step/Description

O data I data


4.1 Start homing Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1

4.2 Homing is inprogress


CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 1 0 1 SPOS 0 0 0 1 0 0 1 1

4.3 Homing con-cluded


CCON 0 x x 0 0 x 1 1 SCON 0 x 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1


Tab. 5/12: I/O data “Homing”

If there are faults during homing: Fault handling: see example 3, Tab. 5/11.

5. Commissioning


5. Record selection: Positioning mode(requires status 1.3/2.3 and 4.)

Once “ready to operate” is established and homing has beencarried out, a positioning task can be started (sequencedepends on steps 5.1 .... 5.4):

5.1 Preselect record number: Byte 3 of the output data0 = Homing run1...31 = Programmable position set records

5.2 With CPOS.B1 (START, Start task) the preselectedpositioning task is started. The start is confirmed withSPOS.B1 (Acknowledge start) as long as CPOS.B1(START) is set.


5.4 On completion of the positioning task SPOS.B2 (MC,Motion Complete) is set.

If there are faults during positioning: Fault handling: see example 3, Tab. 5/11.

5. Commissioning


Step/Description

O data I data


5.1 Preselect recordnumber (Byte 3)

Byte 3 Record number Byte 3 Record number

Record

no.

Record no. (0...31) Record

no.

Previous record no. (0...31)

5.2 Start task Byte 1 OPM2 OPM1 LOCK – RESET BRAKE STOP ENABL Byte 1 OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL

CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

5.3 Positioning taskin progress


CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

Byte 3 Record number Byte 3 Record number

Record

no.

Record no. (0...31) Record

no.

Current record no. (0...31)

5.4 Positioning taskconcluded


CCON 0 0 x 0 0 x 1 1 SCON 0 0 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

Byte 5...8 Reserved Byte 5...8 Position

– Reserved Actual

posi-

tion

Actual position (increments)


Tab. 5/13: I/O data “Record selection: Positioning mode”

5. Commissioning


6. Direct task: Positioning mode(requires status 1.3/2.3 and 4.)

Once “ready to operate” is established and homing has beencarried out, a nominal position must be preselected(sequence depends on steps 6.1 ... 6.4)

6.1 The nominal position is transferred in increments inbytes 5...8 of the output word.The nominal speed is transferred in % in byte 3(0 = no speed; 100 = max. speed).

6.2 With CPOS.B1 (START, Start positioning task) thepreselected positioning task is started. The start isconfirmed with SPOS.B1 (Acknowledge start) as long asCPOS.B1 (START) is set.


6.4 At the end of the positioning task, SPOS.B2 (MC,Motion Complete) is set.

If there are faults during positioning: Fault handling: see example 3, Tab. 5/11.

5. Commissioning


Step/Description

O data I data


6.1 Preselect positionand speed(bytes 4 and 5...8)

Byte 4 Velocity Byte 4 Velocity

Speed Speed preselection(0...100 %)

Speed Speed response message(0...100 %)

Byte 5...8 Position Byte 5...8 Position

Nom-

inal

posi-

tion

Nominal position(increments),

see section 5.5.2

Actual

posi-

tion

Actual position (increments),see section 5.5.2


CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1

Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS Byte 3 FUNC FAST XLIM VLIM CONT COM2 COM1 ABS

CDIR 0 0 0 0 0 0 0 S SDIR 0 0 0 0 0 0 0 S

6.3. Positioning taskin progress


CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1

6.4 Positioning taskconcluded


CCON 0 1 x 0 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS 0 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

0: 0 signal 1: 1 signal; x: not relevant (any); F: Edge positiveS: Positioning condition: 0= absolute; 1 = relative

Tab. 5/14: I/O data “Direct task: Positioning mode”

5. Commissioning


7. Direct task: Force mode(requires status 1.3/2.3 and 4)

Once “ready to operate” is established and homing has beencarried out, a nominal value must be specified and thesystem must be prepared for operation in Force mode.

7.1 Specify the nominal value in % of nominal motorcurrent. (Take account of friction influences of theconnected axis).

7.2 Prepare Force mode: set bit CDIR.B1 COM1, and set bitCDIR.B5 XLIM depending on the desired level of strokelimitation.

7.3 Start the positioning task with CPOS.B1 START. Thestart is confirmed with SPOS.B1 (Acknowledge start) aslong as CPOS.B1 (START) is set.

7.4 or 7.5The corresponding status bits are set depending onwhether or not the nominal value is reached.

7.6 The positioning task is ended automatically when thestroke limit or software end position is reached. Thesystem switches back to position control.

7.7 The positioning task can be stopped from the controller,e. g. by means of STOP.

NoteIn Force mode, the nominal value can only be changedafter the last specification is reached (MC), by means of anew start pulse edge.

5. Commissioning


Step/Description

O data I data


7.1 Specify nominalvalue

4 Not relevant 4 Actual value in % of the nominal

current

5...8 Nominal value in % of the nominal

current

5...8 Actual positions in increments

7.2 Preparing forForce mode


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1

Byte 3 FUNC FAST XUM – CONT COM2 COM1 ABS Byte 3 FUNC FAST XUM VUM CONT COM2 COM1 ABS

CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 x 0 0 0 0


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 1 0

7.4 Positioning taskin progress(nominal value notreached)


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 1 0 0 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 1 0 0 1 0

7.5 Positioning taskin progress(nominal valuereached)


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 1 0

5. Commissioning


Step/Description

I dataO dataStep/Description B0B1B2B3B4B5B6B7ByteB0B1B2B3B4B5B6B7Byte

7.6 Positioning taskinterrupted (strokelimit or software endposition reached)


CCON 0 1 x x 0 x 1 1 SCON 0 1 0 1 0 0 1 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 1 0 0 0 0 0

7.7 End positioningtask (e. g. with STOP)


CCON 0 1 x x 0 x 0 1 SCON 0 1 0 1 0 0 0 1


CPOS x 0 0 0 0 0 x 1 SPOS 1 0 0 0 0 1 x 1


CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 0 0 0 0 0

0: 0 signal 1: 1 signal; x: not relevant (any); F: Edge positiveS: Path limitation (stroke limit): 0 = stroke limit active, 1 = stroke limit not active

Tab. 5/15: I/O data Direct task: Force mode

If there are faults during Force mode:see example 3, table 5/13 Fault handling.

5. Commissioning


5.6 Sequence control according to the FHPP standard

5.6.1 Homing

Information on homing, reference coordinates, working area,and calculation rules for the reference system are provided inchapter 1.6

After switching on, homing must be carried out before a posi-tioning task can be executed (see parameter “HomingRequired”: FHPP PNU 1014 /CI 23F6h)

The drive homes to a stop or a reference switch. An increasein the motor current with the drive shaft motionless indicatesthat a stop has been reached. Since the drive must not per-manently rest at the stop, it must move a minimum of0.25 mm back into the stroke range (axis zero point offset).

Sequence:

1. Searching for the reference point in accordance with theconfigured method.

2. Moving from the reference point to the axis zero point(according to axis zero point offset AZ)

3. Setting at axis zero point:Current position = 0 – project zero point offset PZ

5. Commissioning


Overview of parameters involved (see also section B.2.15)

Parameters involved Description FCT PNU CI

Axis zero point offset x 1010 607Ch

Homing method x 1011 6098h

Homing speeds x 1012 6099h

Homing required – 1014 23F6h

Maximum homing torque x 1015 23F7h

Start (FHPP) CPOS.B2 = positive edge: Start homing

Feedback (FHPP) SPOS.B1 = positive edge: Acknowledge startSPOS.B7 = drive homed to reference point

Requirement Device control by PLC/FieldbusController must be in status “Operation enabled”No active command for jogging

Tab. 5/16: Parameters involved in homing

Homing methods 1)

hex dec Description

17h 23 Search for reference switch in positive direction.

1Bh 27 Search for reference switch in negative direction.

EFh -17 Search for negative stop. The point found is the reference position. As theaxis must not stand still at the stop, the axis zero point offset must be ≠ 0.

EEh -18 Search for positive stop. The point found is the reference position. As theaxis must not stand still at the stop, the axis zero point offset must be ≠ 0.

1) For a detailed description of homing methods see section 1.6.3

Tab. 5/17: Overview of homing methods

5. Commissioning


5.6.2 Jog mode

In the “Operation enabled” state the drive can be moved byleft/right jogging. This function is usually used for

– Approaching teach positions.

– Moving the drive out of the way (e.g. after a plant mal-function).

– Manual positioning as normal mode (manual feed).

Sequence

1. When one of the signals “Jog left / Jog right” is set, thedrive starts to move slowly. Due to the slow speed, a posi-tion can be defined very accurately.

2. If the signal remains set for longer than the configured“Phase 1 duration”, the speed is increased until the confi-gured maximum speed is reached. This enables largestrokes to be covered rapidly.

3. If the signal changes to 0, the drive is braked with thepre-set maximum deceleration.

4. If the drive reaches a software end position, it will stopautomatically. The software end position is not exceeded;the distance for stopping is accounted for according tothe defined ramp. Here too, the system does not leaveJogging mode until Jogging = 0.

5. Commissioning


1 Low speed phase 1(slow travel)

2 Maximum speed forphase 2

3 Acceleration /deceleration

4 Duration of phase 1 CPOS.B3 orCPOS.B4(joggingpositive/negative)

Speed v (t)

t [s]

1

0

1

23

4

3

Fig. 5/2: Flow diagram for jogging mode

Overview of parameters involved (see section B.2.9)


Speed of phase 2 in (inc/s) x 531 20ED/21

Acceleration or deceleration (Inc/s2) x 532 20EE/21

Duration of phase 1 in ms x 534 20E9/21

Start (FHPP) CPOS.B3 = positive edge: jogging positive (forwards)CPOS.B4 = positive edge: jogging negative (backwards)

Feedback (FHPP) SPOS.B4 = 1: Drive is movingSPOS.B2 = 0: (Motion Complete)

Requirement Device control by PLC/FieldbusController must be in status “Operation enabled”

Tab. 5/18: Parameters involved in jogging mode

5. Commissioning


5.6.3 Teaching via Fieldbus

Position values can be taught via the Fieldbus. Previouslytaught position values will then be overwritten.

Sequence

1. The drive is brought to the desired position either by jogmode or manually.

2. The user must make sure that the desired parameter isselected. To do this, the “Teach target” parameter and,where appropriate, the correct record address must bewritten.

Teach target(PNU 520)

For teaching

= 1 (default) Nominal position in the position setrecord.

– Record selection:Position set record aftercontrol byte 3

– Direct task:Position set record after PNU=400

= 2 Axis zero point

= 3 Project zero point

= 4 Lower software end position

= 5 Upper software end position

Tab. 5/19: Overview of teach targets

3. Teaching takes place via the handshake of the bits in thecontrol and status bytes CPOS/SPOS:

5. Commissioning


1 Ready for teaching

2 Value transferred

1

0

ResetSPOS.B3

Teach valueCPOS.B5

1 2

1

0

Fig. 5/3: Handshake when teaching

Note:The drive does not need to stop moving for teaching. How-ever, a speed of 1 m/s means that the actual positionchanges by 1 mm every millisecond. With the usual cycletimes of PLC + Fieldbus + motor controller, there will still beinaccuracies of several millimetres even at a speed of only100 mm/s.

Overview of parameters involved (see sections B.2.8 and B.2.9)


Teach target – 1) 520 21FEh

Record number – 1) 400 2190h

Start (FHPP) CPOS.B5 = Falling edge: Teach value

Acknowledgement(FHPP)

SPOS.B3 = 1: Value transferred


1) Teaching is made possible in the Festo Configuration Tool by special functions.

Tab. 5/20: Parameters involved in teaching

5. Commissioning


5.6.4 Record selection (Positioning mode)

A positioning task in record selection mode is described by arecord of nominal values.

In the “operation enabled” state, a record can be started viathe record number. This function is usually used for:

– Moving to any position in the record list by the PLC

– Processing a positioning profile by linking records

– Known target positions that seldom change (change offormula).

Sequence

1. Set the desired set number in the master's output data.Up till the start, the controller continues to respond withthe number of the record last executed.

2. With a rising edge at START (CPOS.B1) the controlleraccepts the record number and starts the positioningtask.

3. The controller signals with the rising edge on Acknow-ledge Start that the PLC output data have been acceptedand that the positioning task is now active. The posi-tioning command is executed regardless of whether Start(CPOS.B1) has been reset to zero or not.

4. When the record is concluded, MC (SPOS.B2) is set.

5. Commissioning


Possible causes of faults:

– No homing performed.

– The target position and/or the preselect position cannotbe reached.

– Invalid record number.

– Uninitialised record.

5. Commissioning


Start/stop record

Nominal recordnumber in outputdata

Stop CCON.B1(STOP)

Acknowledge StartSPOS.B1 (ACK)

Motion CompleteSPOS.B2 (MC)

Actual recordnumber input data

N – 1 N N + 1

N – 1 N

1

0

1

0

1

0

1

0

1

0

1

2

3

4

6

1

0

1

0

Axis is movingSPOS.B4 (MOV)

Start CPOS.B1(START)

N + 1

5

1 Precondition:“Acknowledge Start” = 0

2 Rising edge at “Start” results inapplication of the new record numberN and setting of “Acknowledge start”

3 As soon as “Acknowledge start” isdetected by the PLC, it can reset“Start” to 0

4 The controller responds with a fallingedge at “Acknowledge start”

5 As soon as “Acknowledge start” isdetected by the PLC, it can create thenext record number

6 An ongoing positioning operation canbe stopped with “Stop”

Fig. 5/4: Flow diagram for “start/stop record”

5. Commissioning


Stop record with Halt and continue

Nominal recordnumber in outputdata




N – 1 N N + 1

N – 1 N

1

0

1

0

1

0

1

0

1

0

1

0

Axis is movingSPOS.B4 (MC)

Halt CPOS.B0(HALT)

1

0


1

0

Confirm HaltSPOS.B0 (HALT)

1

2

1 Record is stopped with “Halt”, actualrecord number N is retained, “MotionComplete” remains reset

2 Rising edge on “Start” starts record Nagain, “Confirm Halt” is set

Fig. 5/5: Flow diagram for “stop record with Hold and continue”

5. Commissioning


Stop record with Hold and clear remaining posi-tioning path

Nominal recordnumber outputdata




N – 1 N N + 1

N – 1 N

1

0

1

0

1

0

1

0

1

0

1

0


Halt CPOS.B0(HALT)

N + 1

1

0


Delete remainingposition CPOS.B6(CLEAR)

1

0

1

0

Confirm HaltSPOS.B0 (HALT)

1

2

1 Stop record 2 Delete remaining position

Fig. 5/6: Flow diagram for “stop record with Halt and clear remaining positioning path”

5. Commissioning


Parameters involved (Record structure)

The entries in the position set table can be written via theFieldbus (see Tab. 5/21). Each individual nominal value isaddressed via a dedicated PNU. A record consists of the nom-inal values with the same subindex.

The composition of the position set table as per FHPP isdescribed in appendix B.2.8.


Record structure Description FCT PNU CI

Absolute/relative positioning x 401 20E0/01h

Target position x 404 20E0/02h

Speed x 406 20E0/03h

Acceleration x 407 20E0/04h

Start CPOS.B1 = positive edge: StartJogging and homing have priority.

Feedback SPOS.B2 = 0: Motion completeSPOS.B1 = positive edge: Acknowledge startSPOS.B4 = 1: Drive is moving

Requirements Device control by PLC/Fieldbus.Controller must be in “Operation enabled” status.A valid record number is active

Tab. 5/21: Parameters involved in record selection

5. Commissioning


5.6.5 Direct task (Positioning mode, Force mode)

In the “operation enabled” state (direct mode) a positioningtask is formulated directly in the I/O data transmitted overthe Fieldbus. The position nominal values for positioning orforce mode are stored in the PLC.

A positioning profile based on sequencing of records can beimplemented by means of external control by the master.

Positioning mode

The positioning mode is used in the following situations:

– Moving to any position within the effective stroke.

– The target positions are unknown during planning orchange frequently (several different workpiece positions).

Sequence

1. The user configures the desired nominal value (position)and the positioning condition (absolute/relative) inhis/her output data.

2. With a rising edge on START (CPOS.B1), the controlleraccepts the nominal position and starts the positioningtask.

3. After the start you must wait for MC before a new startcan be made.

4. When the nominal position is reached, MC (SPOS.B2) isset.

5. Commissioning


Starting the positioning task

Nominal positionoutput data

StartCPOS.B1

Acknowledge StartSPOS.B1

Motion CompleteSPOS.B2

N - 1 N N + 1

1

0

1

0

1

0

1

0

N + 2

Fig. 5/7: Starting the positioning task

The sequence of the remaining control and status bits as wellas the functions Halt and Stop react in the same way as theRecord Select function; see Fig. 5/4, Fig. 5/5 and Fig. 5/6.


– Homing not carried out.

– Target position cannot be reached or lies outside the soft-ware end positions.

5. Commissioning




Nominal value forpositioning mode

Max. permissible speed 1) x 502 21F6/00h

Direct mode acceleration in acceleration unit(inc/s2)

x 541 20EE/22h

Start(FHPP control byte)

CPOS.B1 = positive edge: Start(CDIR.B0 = nominal position absolute/relative)

Feedback(FHPP status byte)

SPOS.B2 = 0: Motion completeSPOS.B1 = positive edge: Acknowledge startSPOS.B4 = 1: Drive is moving


1) The master transmits a percentage value in the output data, which is multiplied by the maximumpermissible speed in order to obtain the final nominal speed.

Tab. 5/22: Parameters involved in a direct task (positioning mode)

Force mode

The force mode is used in the following situations:

– For clamping and holding workpieces, as well as for pro-cesses where workpieces must be aligned (e.g. to a fixedstop).

– Pressing and joining processes.

– Special functions where (e.g.) workpieces must be probedin order to obtain position values.

5. Commissioning


Note on Force modeThe motor torque is controlled indirectly via the regulationof the current. All specification for forces/torques aredefined in relation to the nominal motor torque (relative tothe nominal motor current). The actual force on the axisshould be determined/checked during commissioningusing external measuring devices and adjusted.

NoteThe following settings are necessary for parameterising theforce mode (see Tab. 5/23)

– Force window (permissible deviation from the nominalvalue obtained via Fieldbus).

– Speed limiting (the maximum speed that the driveshould reach. Without this specification, the drive wouldaccelerate unbraked if it encounters no opposing force(e.g. missing workpiece).

– Damping time (the time that the nominal force must beapplied before the “Motion complete” message is gener-ated).

• Extend the damping time if the nominal force is alreadyreached on startup (before reaching the workpiece) dueto the increased startup toque.

Force mode is prepared by switching the control mode. Thedrive remains stationary in a controlled position.

5. Commissioning


Sequence

1. The user specifies the desired nominal value (in % of therated motor torque) and the speed limit in his/her outputdata.

2. With a rising edge on Start (CPOS.B1) the controlleraccepts the nominal torque and begins applying force/torque in the direction indicated by the nominal value'ssign.

– Once this speed has been reached, the “Speed limitreached” bit is set in the (status byte SDIR).

– Once the nominal value has been reached, taking intoaccount the target window and the time window, the“MC” signal is set. The motor current continues to becontrolled.

– In the case of resistance, e.g. from a workpiece in thetraversing range, the drive pushes against theobstruction with a defined force (see Fig. 5/8).

– If the distance set in path/stroke monitoring (relativeto the start position) is exceeded, the bit “Stroke limitreached” is set in the status byte SDIR. The drive isbraked with the emergency-stop ramp, is then held ina controlled position (the current position), and theMC signal is set.


– Homing not carried out.

– Axis is at the SW end position when the positioning taskstarts.

5. Commissioning



Parameter Description FCT PNU CI

Force mode 1) Stroke limitation x 510 60F6/01h

Minimum torque x 511 60F6/05h

Maximum torque x 512 6072h

Force target window (tolerance) x 552 60F6/03h

Damping time in [ms] x 553 60F6/04h

Max. permitted speed x 554 60F6/02h

Start CPOS.B1 = positive edge(CDIR.B0 = nominal position absolute/relative)

Feedback SPOS.B2 = 0: Motion completeSPOS.B1 = positive edge: Acknowledge startSPOS.B4 = 1: Drive is moving


1) Other parameters:6071h Target torque 6076h Rated torque (nominal torque)6077h Actual torque 6087h Torque slope (torque ramp)6088h Torque profile type CDIR.B5 Stroke limitation active/inactive

Tab. 5/23: Parameters involved in a direct task (force mode)

5. Commissioning


Starting the positioning task / Force mode

Nominal torquespeed limitingoutput data

Start CPOS.B1



N – 1 N N + 1

1

0

1

0

1

0

1

0

1

0


1

2 3 4

1 Nominal torque / force reached 2 Axis is pressing against resistance

3 Resistance removed / overcome 4 SW end position / stroke limit reached

Fig. 5/8: Starting the positioning task / Force mode

The signal “MC” (Motion Complete) is used in this controlmode to mean “nominal value/stroke limit reached”. Thesequence of the remaining control and status bits as well asthe functions Halt and Stop react in the same way as theRecord Select function; see Fig. 5/4, Fig. 5/5 and Fig. 5/6.

5. Commissioning


5.6.6 Standstill monitoring

With standstill monitoring, the system can detect when thedrive leaves the target position window when in standstillstatus.

When the target position has been reached and MC has beensignalled in the status word, the drive switches to “standstill”status; bit SPOS.B6 (standstill monitoring) is reset. If thedrive is moved out of the standstill position window byexternal forces or other influences for a minimum definedtime, bit SPOS.B6 is set.

As soon as the drive is back in the standstill position windowfor the standstill monitoring time, bit SPOS.B6 is reset.

1 Target position

2 Actual position

3 Standstill monitoring(SPOS.B6)

4 Motion Complete(SPOS.B2)

5 Standstill positionwindow

6 Target positionwindow

7 Settling / Adjustmenttime (positionwindow time)

8 Standstill monitoringtime

1

0

1

0

1

2

3

4

5 6

7

88

Fig. 5/9: Standstill monitoring

Standstill monitoring cannot be explicitly switched on or off. Itbecomes inactive when the standstill position window is setto the value “0”.

5. Commissioning




Nominal position – 1040 6062h

Current position – 1041 6064h

Standstill position window – 1042 2040h

Standstill monitoring time – 1043 2041h

Start (FHPP) SPOS.B2 = positive edge: Motion complete

Feedback (FHPP) SPOS.B6 = 1: Drive has moved out of standstill position window

Requirement Device control by PLC/FieldbusController in “Operation enabled” state

Tab. 5/24: Parameters involved in standstill monitoring

5. Commissioning


5.7 The Festo Parameter Channel (FPC)

5.7.1 Structure of the cyclic I/O data (FHPP-FPC)

The parameter channel serves for the transmission of para-meters. The parameter channel comprises the following:

Components Description

Parameter identifier(PKE)

Parameter channel component which contains the request and responseidentifiers (AK) and the parameter number (PNU).The parameter number serves for identifying or addressing the individualparameter. The request or response identifier (AK) describes the requestor response as appropriate in the form of an identifier number.

Subindex (IND) Addresses an element of an array parameter (sub-parameter number).

Parameter value (PWE) Value of the parameter.If a task of the parameter processing cannot be carried out, an errornumber is shown instead of the value in the response telegram. The faultnumber describes the cause of the fault.

Tab. 5/1: Components of the parameter channel (FPC)

The parameter channel consists of 8 octets. The structure ofthe parameter channel as a factor of the size or type of theparameter value is shown in the following table:

FPC

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

O data 0 IND ParID (PKE) Value (PWE)

I data 0 IND ParID (PKE) Value (PWE)

IND Subindex – for addressing an array elementParID (PKE) Parameter Identifier – consists of ReqID or ResID and PNUValue (PWE) Parameter Value, parameter value:

– With double word: Bytes 5...8– With word: Bytes 7, 8– With byte: Byte 8

Tab. 5/2: Structure of parameter channel

5. Commissioning


Parameter identifier (PKE)

The parameter identifier contains the request or responseidentifier (AK) and the parameter number (PNU).

ParID

Octet 1 (byte 3) Octet 2 (byte 4)

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Task ReqID (AK) Reserved Parameter number (PNU)

Response ResID (AK) Reserved Parameter number (PNU)

ReqID (AK) Request identifier – task identifier (read, write, ...)ResID (AK) Response identifier – response identifier (transferred value, fault, ...)Value (PNU) Parameter Number – identifies and/or addresses the respective parameters

(see section 5.7). The task or response identifier indicates the type of task orresponse (see section 5.7.2).

Tab. 5/3: Structure of parameter identifier (PKE)

5. Commissioning


5.7.2 Request identifiers, response identifiers and error numbers

The request identifiers are shown in the following table:

ReqID Description Response identifier

Positive Negative

0 No request 0 –

1 Request parameter 1) 1, 2 7

2 Modify parameter value (word) 1) 1 7

3 Modify parameter value (double word) 1) 2 7

(4) – (Reserved – request description element) 2) – –

(5) – (Reserved – modify description element) 2) – –

6 Request parameter (array) 4, 5 7

7 Modify parameter value (array, word) 4 7

8 Modify parameter value (array, double word) 5 7

(9) – (Reserved – request array elements) 2) – –

(10) – (Reserved) 2) – –

11 Modify parameter value (byte) 1) 11 7

12 Modify parameter value (array, byte) 12 7

(13) – (Reserved – request lower limit value) 2) – –

(14) – (Reserved – request upper limit value) 2) – –

(15) reserved 2) – –

1) When access is made with request identifiers for simple variables to parameters which areimplemented as arrays, the subindex is ignored or set to 0. This means that it is always thefirst element of an array which is addressed.

2) Requests with non-supported request numbers (ReqID) will be answered with responseidentifier 7 and fault number 22.

Tab. 5/4: Request identifiers

5. Commissioning


If the request cannot be carried out, response identifier 7 willbe transmitted together with the corresponding fault number(negative response).

The following table shows the response identifiers:

ResID Description

0 No response

1 Parameter transferred (word)

2 Parameter transferred (double word)

(3) – (Reserved – description element transferred) 1)

4 Parameter value transferred (array, word)

5 Parameter value transferred (array, double word)

6 Number of array elements transferred

7 Request cannot be carried out (with fault number) 2)

(8) – (reserved – no higher order for PKW interface) 1)

(9) – (Reserved – spontaneous message – word) 1)

(10) – (Reserved – spontaneous message – double word) 1)

11 Parameter value transferred (byte)

12 Parameter value transferred (array, byte)

(13) – (Reserved – lower limit value transferred) 1)

(14) – (Reserved – upper limit value transferred) 1)

(15) – (Reserved) 1)

1) Not used for MTR-DCI2) For fault numbers, see following table

Tab. 5/5: Response identifiers

If the parameter processing request cannot be carried out, acorresponding fault number will be transmitted in theresponse telegram (octets 7 and 8 of the FPC range). The fol-lowing table shows the possible fault numbers:

5. Commissioning


Fault numbers Description

0 0x00 Invalid PNU. The parameter does not exist.

1 0x01 Parameter value cannot be modified (read only)

(2) 0x02 – (Reserved – lower or upper limit value exceeded) 1)

3 0x03 Faulty subindex

4 0x04 No array

5 0x05 Incorrect data type

(6) 0x06 – (Reserved – setting not permitted – can only be reset) 1)

(7) 0x07 – (Reserved – description element cannot be modified) 1)

(8) 0x08 – (Reserved – PPO-Write requested in IR does not exist) 1)

9 0x09 Description data does not exist

(10) 0x10 – (Reserved – access group incorrect) 1)

11 0x0A No higher-order

(12) 0x0B – (Reserved – password incorrect) 1)

13 0x0C Text cannot be read in cyclical exchange

(14) 0x0D – (Reserved – name cannot be read in cyclical exchange) 1)

(15) 0x0E – (Reserved – text array does not exist) 1)

(16) 0x10 – (Reserved – PPO-Write missing) 1)

(17) 0x11 – (Reserved – request cannot be processed because of operating status) 1)

(18) 0x12 – (Reserved – other faults) 1)

(19) 0x13 – (Reserved – data cannot be read in cyclical exchange) 1)

(20) 0x14 – (Reserved – invalid value) 1)

(21) 0x15 – (Reserved – response too long) 1)

22 0x16 Invalid: attributes, number of elements, PNU or IND

(23) 0x17 – (Reserved – write request: invalid format) 1)

24 0x18 Write request: number of values is invalid

(...99) 0x64 – (Reserved – PROFIBUS)

100 0x65 – (Reserved – Festo: ReqID is not supported) 1)

(...255) 0xFF – (Reserved – Festo)

1) These error numbers are not used

5. Commissioning


5.7.3 Rules for request-response processing

Rules Description

1 If the master sends the identifier for “No request”, the MTR-DCI replies with theresponse identifier for “No response”.

2 A request or response telegram always refers to a single parameter.

3 The master must continue to send a request until it receives the appropriate responsefrom the MTR-DCI.

4 The master recognizes the response to the request placed:

– by evaluating the response identifier,

– by evaluating the parameter number (PNU),

– if applicable, by evaluating the subindex (IND),

– If applicable, by evaluating the parameter value.

5 The MTR-DCI keeps providing the response until the master sends a new request.

6 a) A write request will only be carried out once by the MTR-DCI, even with cyclical repeti-tion of the same request.

b) Between two consecutive requests with the same request identifier (AK), parameternumber (PNU) and subindex (IND), the request identifier 0 (no request) must be sentand the master must wait for the response identifier 0 (no response). This is to ensurethat an “old” response is not interpreted as a “new” response.

Tab. 5/6: Rules for request-response processing

5. Commissioning


Sequence of parameter processing

CautionObserve the following when modifying parameters:An FHPP control signal, which is to refer to a modifiedparameter, may only follow when the response identifier“Parameter value transferred” is received for the relevantparameter and if applicable for the index.

If, e.g. a position value in a position register is to be modifiedand if movement is then to be made to this position, the posi-tioning command must not be given until the MTR-DCI hascompleted and confirmed the modification of the positionregister.

CautionIn order to be sure that an “old” response cannot be inter-preted as a “new” response, the request identifier 0 (norequest) must be sent and the response identifier 0 (noresponse) must then be received between two consecutiverequests with the same request identifier (AK), parameternumber (PNU) and subindex (IND).

Fault evaluation

In the case of requests which cannot be carried out, the slaveresponds as follows:

– Output of response identifier = 7

– Output of a fault number in bytes 7 and 8 of the para-meter channel (FPC).

5. Commissioning


5.7.4 Parameterisation example

The following tables show an example of parameterising apositioning task in the position set table via FPC (Festo Para-meter Channel).

Step 1 Output status of the 8 bytes of FPC data:


Reserved Subindex ReqID/ResID + PNU Parameter value

O data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

I data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Step 2 Write record number 1 with absolute positioning:PNU 401, subindex 2 – modify parameter value, array, byte:ReqID 12 (0xC) with value 0x00.



O data 0x00 0x02 0xC1 0x91 Unused Unused Unused 0x00

I data 0x00 0x02 0xC1 0x91 0x00 0x00 0x00 0x00

Step 3 After receiving the I-data with ResID 0xC send O-data withReqID = 0x0 and wait for I-data with ResID = 0x0:



O data 0x00 0x02 0x01 0x91 Unused Unused Unused 0x00

I data 0x00 0x02 0x01 0x91 0x00 0x00 0x00 0x00

5. Commissioning


Step 4 Write record number 1 with target position 0x1234 (decimal4660 increments):PNU 404, subindex 2 – modify parameter value, array, doubleword: ReqID 8 (0x8) with value 0x00001234.



O data 0x00 0x02 0x81 0x94 0x00 0x00 0x12 0x34

I data 0x00 0x02 0x81 0x94 0x00 0x00 0x12 0x34

Step 5 After receiving the I-data with ResID 0x8 send O-data withReqID = 0x0 and wait for I-data with ResID = 0x0:



O data 0x00 0x02 0x01 0x94 0x00 0x00 0x12 0x34

I data 0x00 0x02 0x01 0x94 0x00 0x00 0x12 0x34

Step 6 Write record number 1 with speed 0x7743(decimal 30531 increments/s):PNU 406, subindex 2 – modify parameter value, array, doubleword: ReqID 8 (0x8) with value 0x00007743.



O data 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43

I data 0x00 0x02 0x81 0x96 0x00 0x00 0x77 0x43

Step 7 After receiving the I-data with ResID 0x8 send O-data withReqID = 0x0 and wait for I-data with ResID = 0x0:



O data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43

I data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43

5. Commissioning


5.8 FHPP finite state machine

Notes on the “operation enabled” state

The transition T3 leads to state S4, which itself contains itsown sub-state machine, the states of which are marked with“SAx” and the transitions of which are marked with “TAx”;see Fig. 5/11. This enables a equivalent circuit diagram(Fig. 5/10) to be used, in which the internal states SAx areomitted.

Switched off

S1 Controllerswitched on

S3 Driveenabled

S2 Driveblocked

S5 Reaction

to fault

S6 Malfunction

From allstatuses

Operationenabled

T6

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

S4

Fig. 5/10: Equivalent circuit diagram for finite state machine

Transitions T4, T6 and T7* are executed from every sub-stateSAx and automatically have a higher priority than any transi-tion TAx.

Reaction to faults

T7 (“fault detected”) has the highest priority (and thereforereceives the asterisk “*”).

T7 is then executed from S5 + S6 when an fault with higherpriority occurs. This means that a serious fault can suppressa simple fault.

5. Commissioning


T7* always has thehighest priority.

Switched off

S1

Controllerswitched on

S4

Driveenabled

S2

DriveBlocked

SA1

Ready

SA5

Jogpositive

SA6

Jognegative

SA4

Homingis running

SA2

Positioning taskactive

SA3

Intermediate stop

S5

Reactionto faults

S6

Fault

From allstates

S4

Operation enabled

T6

TA11

TA12

TA9

TA10

TA3

TA6

TA4

TA5

TA7

TA8

TA1TA2

T2T5

T3T4

T1

T7*

T8

T10

T9

S5

T11

Fig. 5/11: Finite state machine

5. Commissioning


5.8.1 Establish “ready to operate” status

T Internal conditions Actions of the user

T1 Drive has been switched on.No faults are ascertained.

T2 Load voltage applied.Fieldbus master is accepted as the higher-ordercontroller.

“Enable drive” = 1CCON = xxx0.xxx1

T3 “Stop” = 1CCON = xxx0.xx11

T4 “Stop” = 0CCON = xxx0.xx01

T5 “Enable drive” = 0CCON = xxx0.xxx0

T6 “Enable drive” = 0CCON = xxx0.xxx0

T7* Fault detected.

T8 Reaction to fault is complete, drive is stationary.

T9 There is no longer a fault.It was a serious fault.

“Acknowledge fault” = 0→ 1CCON = xxx0.Pxxx

T10 There is no longer a fault.It was a minor fault.

“Acknowledge fault” = 0→ 1CCON = xxx0.Pxx1

T11 Fault still exists. “Acknowledge fault” = 0→ 1CCON = xxx0.Pxx1

Key: P = positive edge, N = negative edge, x = any

5. Commissioning


5.8.2 Positioning

The following always applies:Transitions T4, T6 and T7* always have priority.

TA Internal conditions Actions of the user

TA1 Homing has been carried out. Start positioning task = 0→ 1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.00P1

TA2 Motion Complete = 1The current record has been completed. Thenext record is not to be executed automatically

“Halt” state is anyCCON = xxx0.xx11CPOS = 0xxx.xxx0

TA3 Motion Complete = 0 Halt = 1→ 0CCON = xxx0.xx11CPOS = 0xxx.xxx0

TA4 Halt = 1Start positioning task = 0→ 1Clear remaining positioning = 0CCON = xxx0.xx11CPOS = 00xx.xxP1

TA5 Record selection:

– An individual record has been completed.

– The next record is to be executed automati-cally.

CCON = xxx0.xx11CPOS = 0xxx.xxx1

Direct task:

– A new positioning task has arrived.

CCON = xxx0.xx11CPOS = 0xxx.xx11

TA6 Clear remaining positioning = 0→ 1CCON = xxx0.xx11CPOS = 01xx.xxxx

TA7 Start homing = 0→ 1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.0Px1


5. Commissioning


TA Actions of the userInternal conditions

TA8 Homing completed or stopped (“Halt”). For “Halt” only:Halt = 1→ 0CCON = xxx0.xx11CPOS = 0xxx.xxxN

TA9 Jog positive = 0→ 1Halt = 1CCON = xxx0.xx11CPOS = 0xx0.Pxx1

TA10 Either

– Jogging, positive = 1→ 0

– CCON = xxx0.xx11

– CPOS = 0xxx.0xx1or

– Halt = 1→ 0


– CPOS = 0xxx.xxxN

TA11 Jog negative= 0→ 1Halt = 1CCON = xxx0.xx11CPOS = 0xxP.xxx1

TA12 Either

– Jogging, negative= 1→ 0


– CPOS = 0xxN.xxx1

or

– Halt = 1→ 0


– CPOS = 0xxx.xxxN


Features specific to different operation modes:

Operating mode Notes on specific features

Record selection No restrictions.

Direct Task TA2: The condition that no new record may be executed does not apply.TA5: A new record can be started at any time.

5. Commissioning


5.9 Notes on operation

When programming positioning systems with electrical axesfollow these instructions and recommendations:

Start-up behaviour and homing

WarningIncorrect parameterisation can cause injury to people anddamage to property.

• In the following cases homing is absolutely essential inorder that the points of reference and the working rangecan be set correctly:

– Every time the logic voltage is switched on.

– When the dimensional reference system (homingmethod, axis zero point, direction of rotation) hasbeen modified (see object 607Eh).

– After a failed/cancelled homing run

• Before starting homing, make sure that the axis is infront of the reference switch or stop, in relation to thedirection of travel.

NoteWhen the coupling or clamping element in the couplinghousing is loosened, the motor can be turned on itslongitudinal axis. The reference position will then be lost.

• Carry out homing again.

Note• When the power supply is switched off, wait for approx.5 seconds before switching the device on again.

5. Commissioning


Device connection

CautionThe RS232 interface is not electrically isolated. It is notintended for permanent connection to PC systems or as acontroller interface.

• Use the connection only for parameterising and diag-nosis.

Controlling during operation

WarningDanger of injury.

Faults in parameter assignment can cause injury to peopleand damage to property when the controller is enabled.

• Only enable the controller once the axis system has beeninstalled and parameterised by technically qualifiedstaff.

CautionNote the manufacturer's specifications for the permittedoperating conditions of the motors and drives used, suchas the permitted positioning speeds, for example.

CautionDamage to components with DMES-...

Movement onto the mechanical end positions is not per-mitted during operation. When movement is made to theend positions with a heavy load, blockage may occur in theend positions.

NoteAny functions implemented for the purposes ofEMERGENCY-STOP procedures must also be taken intoaccount in the control programs.

5. Commissioning


Password protection

In the factory settings, password protection is not active. Inorder to prevent unauthorised or unintentional overwriting ormodification of parameters in the device, all download andcontrol functions can be blocked.

• Recommendation:Protect the settings of your axis against undesired modifi-cations with a password:

– FCT password protection (8 characters, see MTR-DCIplug-in help).

– HMI password protection for MTR-DCI-...-H2-...(3 characters; see chapter 4.5).

Care and maintenance

The motor units do not require maintenance during theirspecified service life. Follow the maintenance instructions forthe accessory components.

Diagnosis and error display


Chapter 6

Diagnosis and error display

6. Diagnosis and error display


Contents

6. Diagnosis and error display 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Overview of diagnostic options 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 LED status displays 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Fault messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 Overview 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 Description of the messages, warnings, and faults 6-8. . . . . . . . . . . . .

6.4 Diagnosis using Fieldbus 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Overview 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Diagnostic memory 6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.1 Overview of diagnostic options

Type of diagnostic in-formation

Access via ... See ...

General status displays LED status displays on the MTR-DCI Section 6.2

FCT: virtual LEDs in the “Device status” win-dow

Plug-in help

Status bytes SCON and SPOS Section 5.5.2 / 6.4

Bus Status LED “I/F” on the MTR-DCI Section 6.2

DeviceNet class 109 Section 6.4

Current fault message(Text display)

Display of the MTR-DCI (type ...H2 only) Section 6.3

FCT: text field in the “Device status” window Plug-in help

DeviceNet class 108 Section 6.4

Diagnostic messages FCT in “Diagnosis” window (when connectedto device)

Plug-in help

DeviceNet classes 101/102 (diagnosticmemory)

Section 6.4.2 / 5.7.1

Display of the MTR-DCI (type ...H2 only) in the[Diagnose] menu

Section 4.3

Tab. 6/1: Diagnostic information by type



Access Brief description Advantages /properties

See...

LEDs The LEDs indicate “ready to operate”status, positioning status, faults andbus status.

Fast“on-the-spot”recognition offaults

Section 6.2

Control panel onthe MTR-DCI-...-H2

On the LCD display:messages, warnings and faults

Fast“on-the-spot”diagnosis

Section 6.3

In the [Diagnostic] menu:Diagnostic data, operation mode, cur-rent positioning set, target and actualpositions, speed, and information oncommunication via Fieldbus

Detailed“on-the-spot” di-agnosis

Section 4.3

Festo Configur-ation Tool

With active device connection:

– Display of the current position set,

target and actual positions, andspeed.

– Display of the operation mode,

special outputs and operatingstates, and fault messages from theconnected MTR-DCI.

– Virtual LEDs in the “Device status”

window

– Display of the bus status

– Display of the diagnostic memory

Detailed diag-nosis during com-missioning

MTR-DCI plug-inhelp

FHPP/DeviceNet Diagnosis via FHPP status bytes SCONand SPOS

Simple diagnosisvia Fieldbus

Section 6.4

Expanded access to diagnostic data,e.g. diagnostic memory

Detailed diag-nosis via Fieldbus

Section 6.4.2

Tab. 6/2: Diagnostic information by access



6.2 LED status displays

1 Power LED

2 I/F LED

3 Error LED

1 2 3

Fig. 6/1: LEDs on the control panel of the MTR-DCI-...

POWER GREEN Power supply

ON Load and logic voltages applied.

FLASH-ING

Logic voltage is applied.Load voltage is not applied.

OUT No voltage is applied.

Tab. 6/3: “Power” LED

ERROR RED Fault display

ON Fault. Device not ready for operation. Checkcause and rectify if necessary; see sec-tion 6.3.

FLASH-ING

Warning. Check cause and rectify ifnecessary; see section 6.3.

OUT No internal fault reported.

Tab. 6/4: “Error” LED



I/F Bus Status 1)

GREEN “Network”

ON

OFF

ON “Operational”

– System in “operational” state.

ON

OFF

FLASH-ING

“Device in Standby”

– MTR-DCI not yet place in the “Operational” state by the

master.

RED “Modules”

ON

OFF

OUT “No Power / BUS-Off”

– No bus connection or bus voltage not present.

ON

OFF

FLASH-ING

Warning “Minor fault”

– A recoverable fault has occurred, e.g. timeout when

establishing a connection.

ON

OFF

ON Fault “Unrecoverable fault”

– A irrecoverable fault has occurred, e.g. a duplicate MAC ID

was recognised.

1) Combined network and module status display as per the DeviceNet specification

Tab. 6/5: “I/F” LED



6.3 Fault messages

6.3.1 Overview

Cate-gory

Name, display Description DeviceError 1)

Faultnumber

FaultLED

Statusbytes 2)

Fault POSITION ERROR Following error 0x0001 31 ON FAULT, DEV

Fault MOTOR STOP Motor stop 0x0002 106 ON FAULT

Fault HOMING-ERROR Reference runfault

0x0004 32 ON FAULT

Fault OVERHEATING Overtemperature(ActTemp > 80°C)

0x0008 101 ON FAULT

Fault LOAD-POWER-DOWN

Load voltagemonitoring

0x0010 70 ON FAULT

Fault I2t-ERROR Current moni-toring (i2t)

0x0020 100 ON FAULT

Fault HARDWARE-ERROR Device fault 0x0040 52 ON FAULT

Fault TARGET POSITIONOUT OF LIMIT!

Nominal positionnot reachable

0x0080 2 ON FAULT

Warning ILLEGAL RECORD Invalid recordnumber

0x0100 3 FLASH-ING

WARN

Fault PLEASE ENFORCEHOMING RUN!

Homing required 0x0200 1 ON FAULT

Warning STANDSTILL-WARNING

Standstill moni-toring

0x4000 36 FLASH-ING

WARN,STILL

Fault INIT NO PARA-METER ERROR

Fault:Bus parametersnot set.

0x8000 51 ON FAULT

1) See PNU 205 / CI 2FF1/002) For FHPP status bytes, see section 5.5.2



Cate-gory

Statusbytes 2)

FaultLED

Faultnumber

DeviceError 1)

DescriptionName, display

Warning HOT TEMPERATURE Temperature toohigh

– – FLASHING WARN

Warning COLD TEMPERA-TURE

Temperature toolow

– – FLASHING WARN

1) See PNU 205 / CI 2FF1/002) For FHPP status bytes, see section 5.5.2

Tab. 6/6: Faults and warnings with fault numbers and fault bits

6.3.2 Description of the messages, warnings, and faults

Messages Messages give information regarding operating states

Notification Cause

Attention!Motor moves...

Message before the start of a positioning move-ment. After confirmation with the <ENTER> button,the drive starts moving.

Profile velocity= 0. Please setv.

The menu command [Move position set] is notbeing executed because the positioning speed ofthe position set record is v = 0. Modify theparameter assignment or select a differentposition set record.



Warnings Warnings have no effect on the behaviour of the drive. Thecause of the warning should however be eliminated so that itdoes not lead to a fault.When a warning occurs, the fault LED flashes and the outputWARNING is set (FHPP status bits, SCON.B2).

Warning Cause

HOTTEMPERATURE

Operating temperature 70°C < T < 80°C,may need to check whether drive is overloaded,check the mechanical parts (e.g. for stiffness),reduce ambient temperature.

COLDTEMPERATURE

Operating temperature < -10°C,increase ambient temperature as appropriate.

STANDSTILL-WARNING

The axis has moved outside the standstillposition window.

ILLEGALRECORDWARNING

Invalid record number.

Fault If there is a fault, the drive will be stopped. The fault LED willflash.

1. Eliminate the cause of the fault.

2. Acknowledge the fault message:

– With <Enter> on the control panel,

– Via Fieldbus with a falling edge on the ENABLE signal,

– Via Fieldbus with a rising edge on the RESET signalCCON.B3,

– With the “Acknowledge error” button in the FestoConfiguration Tool.



Fault Possible cause Remedy

DEVICENET INIT NOPARAMETER ERROR

Essential bus parameters not set.– MTR-DCI not on the bus.

• Set bus parameters (see sec-tion 5.2.7):– MAC-ID– Bit rate– I/O Data length

HARDWARE ERROR Device fault (EEPROM defective, oruser data damaged)

• Contact Festo Service.

I2t-ERROR Current monitoring i2t.– The drive is blocked

• Check the drive mechanism.

HOMING ERROR Error during homing– Homing run interrupted– Homing switch defective

• If necessary, check the function ofthe homing switch.

• It is essential that you repeathoming.

LOAD-POWER-DOWN Voltage monitoring– Load voltage too low

MTR-DCI 32/42/52: U < 18 VMTR-DCI 62: U < 34 V

– Voltage drops under load

• Check the power supply:– Power supply unit too weak?– Supply line too long?

MOTOR STOP Error during the positioning proced-ure– A positioning procedure has been

aborted on the control panel withEMERG.STOP (button “Menu”).

• Acknowledge the error on thecontrol panel with “Enter”

OVERHEATING Overheating(Operating temperature > 80 °C).– Temperature of power stage too

high.– Ambient temperature too high

• Check:– That the limits are complied

with (motor characteristiccurves),

– the mechanical parts e.g. forstiffness.

• If necessary, reduce the ambienttemperature.

PLEASE ENFORCEHOMING RUN

When starting a position set:– A valid homing process has not

yet been conducted.– Due to a logic voltage failure the

reference position has been lost.

• Carry out homing.



Fault RemedyPossible cause

POSITION ERROR Position error (following error).– The drive is blocked.– The parametrized speed cannot

be reached.– The work load is too heavy.

• Check:– The mechanics of the drive,– The speed of the positioning

record.

TARGET POSITIONOUT OF LIMIT

Target position error.

– The specified target position is

outside the permitted positioningrange.

– The software end positions

– The target position

– The basis of the target position

(absolute or relative).

Tab. 6/7: Fault messages



6.4 Diagnosis using Fieldbus

6.4.1 Overview

The MTR-DCI supports the following diagnostic options overDeviceNet:

– Status bytes (access via FHPP, see section 5.5.2)– SCON.B2: WARN – Warning– SCON.B3: FAULT – Fault– SPOS.B5: DEV – Following error– SPOS.B6: STILL – Standstill monitoring.

– DeviceNet classes 101, 102, 108, 109.

DeviceNet class INST 1) ATTR PNU 2) See...

101(65h)

Diagnostic mem-ory

Diagnosis event 01h...10h 01h 200 Section6.4.2B.2.6Malfunction number 01h...10h 02h 201

Timestamp 01h...10h 03h 202

102(66h)

Diagnostic mem-ory administration

– Record fault

– Resolution

– Delete buffer

– Number of entries

01h01h01h01h

01h02h03h04h

204 SectionB.2.6

108(6Ch)

Current fault, warnings 01h 01h 205 Section6.3 /B.2.6

109(6Dh)

Fieldbus dia-gnostics

– Bus status– Current bit rate– Current MAC ID– Current I/O data

length

01h01h01h01h

01h02h04h05h

206 SectionB.2.6

1) Access via Explicit Messaging2) Access via I/O Messaging (FHPP-FPC)

Tab. 6/8: Diagnosis via Fieldbus: DeviceNet classes



6.4.2 Diagnostic memory

The diagnostic memory contains the last 16 diagnostic mess-ages. It is secured if possible in the event of power failure.If it is full, the oldest element will be overwritten (circularbuffer).

Structure of the diagnostic memory

Parameter 1) PNU 200 PNU 201 PNU 202

Format uint8 uint16 uint32

Meaning Diagnosis event Fault number Time

Subindex 1 Current diagnostic message

Subindex 2 Previous diagnostic message

... ...

Subindex 16 Oldest diagnostic message

1) Access via Explicit Messaging see Tab. 6/8

Tab. 6/9: Diagnostic memory: Structure

Configuration of the diagnostic memory (PNU 204)

SI Description Specifi-cation

Min. Max.

1 = 1: Record incoming and outgoing 2) faults= 2: Record only incoming faults

1 1 2

2 = 1: Time stamp resolution 10 ms= 2: Time stamp resolution 1 ms

1 1 2

3 Deleting the diagnostic memory.

– Writing with value = 1 deletes the diagnostic memory

– Read will always be answered with value = 0.

0 0 1

4 Number of valid entries in the diagnostic memory. 0 0 16

1) Access via Explicit Messaging see Tab. 6/82) Outgoing fault = time when the fault was acknowledged.

Tab. 6/10: Diagnostic memory: configuration



The faults are divided into logical groups according to thefault numbers.

Group Name Comment

0 – No fault active

1 ... 19 Execution fault Examples: no homing, nominal position outside software endpositions, nominal value calculation not possible.Although the system is OK, a user command cannot be ex-ecuted. In most cases there is a fault in operation.Source: sequence control, controller.

20..29 Parameter fault Example: software end positions outside the effective stroke.A parameter lies within the limit values, allowing it to bewritten by the user. During the recalculation by the controller,it was found to be invalid in the context of the other para-meters.Note: invalid parameters are rejected by the parameter proto-col and do not generate a fault in the controller.

30..49 Closed-loop con-trollers

Examples: Positioning timeout, homing not successful, fol-lowing error too large, ...The task could not be executed correctly. No hardware faultcould be detected. Source: closed-loop controllers.

50..69 Initialisation Fault when initialising the controller.

70..79 Controller runtime Controller runtime fault: Undervoltage, checksum.

80 ... 89 – Reserved

90 ... 99 – Reserved

100 ... 109 Motor runtime Motor runtime: undervoltage, overtemperature, ...

110 ... 119 – Reserved

Tab. 6/11: Overview of fault numbers

A detailed description of the warnings and faults can befound in section 6.3.2.

Technical appendix

A-1Festo P.BE-MTR-DCI-DN-EN en 1209a

Appendix A

Technical appendix

A. Technical appendix

A-2 Festo P.BE-MTR-DCI-DN-EN en 1209a

Contents

A. Technical appendix A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical data A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Accessories A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Motor characteristic curves A-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4 Conversion of units of measurement A-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical data

General information

Protection class to EN 60529 IP54 (plug connectors plugged in or fitted with protectivecap)

Relative humidity 0 to 95 %, non-condensing

Temperature range Operation: 0 ... +50 °CStorage/transport: -25 ... +60 °C

Vibration and shock

– Vibration tested in accordance with DIN/IEC 68/EN 60068 parts 2-6;0.15 mm path at 10 ... 58 Hz;2 g acceleration at 58 ... 150 Hz

– Shock tested in accordance with DIN/IEC 68/EN 60068parts 2-27;±15 g at 11 ms duration;5 shocks in each direction

– Shock resistance Tested in accordance with DIN/IEC 68/EN 60068parts 2-29,±15 g at 6 ms duration;1000 shocks in each direction

Protection against electric shock 1) Protection by a PELV power unit against direct and indirectcontact as per IEC/DIN EN 60204-1(Protected Extra-Low Voltage)

Electromagnetic compatibility (EMC) 2) See declaration of conformity (www.festo.com)

Gearing type Planetary gearing

Encoder (with 4x evaluation) MTR-DCI-32: 300 x4—> 1200 Increments/RevolutionMTR-DCI-42, 52, 62: 500 x4—> 2000 Increments/Revol-ution

Temperature monitoring Warning message at 70 °C < T < 80 °CShut-down at temperature ≥ 80 °C

Display resolution 128 x 64 pixels

1) The device is intended for industrial use.2) The maximum permitted I/O signal cable length is 30 metres.



Motor data 32 42 52 62

Rated torque(Motor without gearbox)

[mNm] 32 110 300 800

MTR-DCI-...-G7: Gear reduction 6.75:1; 1-stage

Gear units 1)

– Drive output speed– Torsional backlash– Drive output torque– Efficiency

[rpm][°][Nm]–

481≤ 1.90.150.75

444≤ 1.30.590.8

444≤ 1.11.620.8

504≤ 1.03.780.8

Mass moment of inertia

– Rotor

– Gearing

[kg cm2][kg cm2]

0.0240.00089

0.03230.00235

1.2090.01132

3.30.017

MTR-DCI-...-G14: Gear reduction 13.73:1; 2-stage

Gear units 1)


[rpm][°][Nm]–

237≤ 1.550.290.7

218≤ 0.951.130.75

218≤ 0.753.080.75

248≤ 1.57.200.75


– Rotor

– Gearing

[kg cm2] 0.0240.00149

0.3230.00441

1.2090.01711

3.30.035

MTR-DCI-...-G22: Gear reduction ratio 22.21:1

Gear units 1)


[rpm][°][Nm]–

– – – 153≤ 1.511.660.75


– Rotor

– Gearing

[kg cm2][kg cm2]

– – – 3.30.022

1) For permitted loading of gear shaft, see chapter 2, Tab. 2/2



Electrical data 32 42 52 62

Specifications forserial interface

see section 3.4

Specifications for ref-erence switch input

see section 3.5

Load voltage supply

Connection Power (Pin A1, A2) see section 3.3

Rated voltage DC 24 V ±10 % DC 48 V +5...-10 %

Nominal current 0.73 A ±20 % 2 A ±20 % 5 A ±20 % 6.19 A ±20 %

Peak current 2.1 A ±20 % 3.8 A ±20 % 7.7 A ±20 % 20 A ±20 %

Fieldbus / Logic power supply *)

Connection For connections see chapter 3.3.2

Rated voltage DC 24 V ± 10%

Nominal current 0.15 A

Peak current 0.8 A

*) Only relevant with separated voltage supply.

Product weight 32 42 52 62

MTR-DCI-...-G7 [kg] 0.7 1.7 3.1 7.6

MTR-DCI-...-G14 [kg] 0.7 1.8 3.3 8.0

MTR-DCI-...-G22 [kg] – – – 8.0



Fieldbus Data

Design– Physical layer– Data link layer

as per ISO 11898 (corresponding to DS 102)as per CAN specification 2.0

DeviceNet Specification as per IEC62026 and EN50325Predefined connection set: Group 2 slave only

DeviceNet device type Communication Adapter (0x12)

Manufacturer ID Festo Corporation 26 (0x1A)

Address area (MAC ID) 0 ... 63

Bus termination resistor 121 Ω, 0.25W, external

Transmission rate 125, 250, 500 kbit/s

Interface

– Plug

– Electrical isolation

– Integrated bus termination

D-Sub, 9-pinyesno

Cable type dependent on cable length and fieldbus bit rate,see controller manual

A.2 Accessories

Connection Accessories Designation Length [m]

Voltage supply Power supply cable KPWR-MC-1-SUB-9HC-... 2.5 / 5 / 10

Serial interface Programming cable KDI-MC-M8-SUB-9-... 2.5

Homing Switch Switch, magneticSwitch, inductive

SMT-8M-...-M8DSIEN-...-M8B-...

–

Connecting cable withscrew-type lock

KM8-M8-GSGD.... 0.5 / 1 / 2 / 5

Fieldbus connectionincluding logic voltagepower supply

Fieldbus adapter (IP54) FBA-CO-SUB-9-M12 –



User documentation in paper form

German P.BE-MTR-DCI-DN-DE

English P.BE-MTR-DCI-DN-EN

French P.BE-MTR-DCI-DN-FR

Italian P.BE-MTR-DCI-DN-IT

Spanish P.BE-MTR-DCI-DN-ES

Swedish P.BE-MTR-DCI-DN-SV



A.3 Motor characteristic curves

1 Gear shaft driving torque M [Nm]

2 Current I [A]

3 Recommended operation

4 Impermissible range

5 Overload range



MTR-DCI-32...-G14

MTR-DCI-32...-G7I [A]

M [Nm]

n [1/min] 1 2

3

4

5

I [A]

M [Nm]

n [1/min] 1 2

3

4

5

Fig. A/1: Motor characteristic curves MTR-DCI-32...



MTR-DCI-42...-G14

MTR-DCI-42...-G7

I [A]

M [Nm]

n [1/min]1 2

3

4 5

I [A]

M [Nm]

n [1/min]1 2

3

4 5

5

5




I [A]

M [Nm]

n [1/min] 1 2

3 4 5

5

MTR-DCI-52...-G14

MTR-DCI-52...-G7

I [A]

M [Nm]

n [1/min]1 2

3 4 5

5




MTR-DCI-62...-G14

MTR-DCI-62...-G7

I [A]

M [Nm]

n [1/min] 1 2

3 4

5

I [A]

M [Nm]

n [1/min] 1 2

3 4 5




MTR-DCI-62...-G22

I [A]

M [Nm]

n [1/min] 1 2

3 4

5




A.4 Conversion of units of measurement

A measuring system must be defined to allow the electricalaxis parameters to be defined. To allow simple parameterisa-tion for different application cases, the control panel or FCTcan be used to configure the controller so that the user candirectly enter or read all dimensions in the desired units atthe drive. For example:

– Metric measuring system for linear movements (mm,mm/s, mm/s2)

– Angular measuring system for rotational movements(degree, degree/s, degree/s2) or (rev, rev/s, rev/s2)

– Imperial measuring system for linear movements (inch,inch/s, inch/s2)

Every physical value (position, speed, and acceleration) isconverted to the respective measuring system via aconversion factor.

In the controller, all parameters are always saved inincrement specifications (inc, inc/s, inc/s2) and not converteduntil they are written or read. For the display, conversion fromthe internal basis system into the (pre)set measuring systemtakes place within the firmware; for representation on the PCmonitor within the FCT software. In this way, the user doesnot need to carry out conversion when entering values orwhen reading on the control panel or in the FCT.Direct transfer of values via the serial interface with CI com-mands always takes place in the base system and firstrequires conversion into increments.

Conversion is carried out via the parameters:

– Feed constant (depending on the axis type)

– Gear reduction ratio

– Encoder resolution = physical measuring steps per motorrevolution. With MTR-DCI: pulse quadruplication by digitalinterpolation



Parameter MTR-DCI-32 MTR-DCI-42 MTR-DCI-52 MTR-DCI-62

feed 1) DMES-18-...:1500 [μm/rev]

DMES-25-...:2500 [μm/rev]

DMES-40-...:4000 [μm/rev]

DMES-63-...:6000 [μm/rev]

enc 2) 300 x 4 =1200 [incr/rev]

500 x 4 = 2000 [incr/rev]

gear 3) MTR-DCI-...-G7 (6.75:1) > 27:4MTR-DCI-...-G14 (13.73:1) > 3969:289MTR-DCI-...-G22 (22.2:1) > 1710:77

1) Feed constant: depends on axis type, here type DMES-...2) Encoder resolution for MTR-DCI: pulse quadruplication by digital interpolation3) Gear reduction: specification in 2 natural numbers for numerator and denominator of the fraction

Tab. A/12: Basis parameter for the measuring system

Drive Conversion factors CF

Increments< >millimetres

Increments = millimetres*CF

Millimetres = increments/CF

Increments< > inches

Increments = inches*CF

Inches = increments/CF

MTR-DCI-32-...(+DMES-18)

-G7-G14

540010986.851211

1371627906.602076


-G7-G14

540010986.851211

13716027906.602076


-G7-G14

33756866.782007

8572517441.626298


-G7-G14-G22

22504577.8546717402.597403

5715011627.75086518802.597403

Tab. A/13: Special conversion factors for the MTR-DCI with DMES-...



General conversion factors UF

1 [inch] = 25.4 [mm]

1 [inch] = 0.0254 [m]

1 [°] =1

360[rot]

[μm]> [inc]UFm inc

m =enc× gear

feedm

incrot ×rotrot

m

rot

[μinch]> [inc]

UFinch inc

inch = enc× gear

feedinch

incrot ×rotrot

inch

rot

=

enc× gear

feedm ×1

0,0254

incrot ×

rotrot

m

rot×

inch

m

= UFm × 0.0254 inc

m×minch

[rev]> [inc]UFrot incrot = enc× gear inc

rot×

rotrot



Physical variable Conversion into increments

Position POS [inc]

– Target position

– Reference point

– Project zero point

– Software end position,

positive

– Software end position,

negative

[µm]> [inc] = POSìm x UF

ìm [µm] x [inc/µm]

[µinch]> [inc] = POSìinch x (0.0254 x UF

ìm) *= POS

ìinch x UFìinch

[µinch] x [µm/µinch] x [inc/µm]

[µinch] x [inc/µinch]

[rev]> [inc] = POSrev x UFrev [rev] x [inc/rev)

Speed V [inc/s] =

– Positioning speed to tar-get position

– Search speed during a

homing run

– Positioning speed to theaxis zero point during ahoming run

[µm]> [inc] = Vìm x UF

ìm [ìm/s] x [inc/ìm]

[µinch]> [inc] = Vìinch x (0.0254* x UFìm) *

= Vìinch x UFìinch

[ìinch/s] x [ìm/ìinch] x [inc/ìm]

[ìinch/s] x [inc/ìinch]

[rev]> [inc] = Vrev x UFrev [rev/s] x [inc/rev]

Acceleration a [inc/s2] =

– Nominal acceleration [µm]> [inc] = aìm x UF

ìm [ìm/s2] x [inc/ìm]

[µinch]> [inc] = aìinch x (0.0254* x UFìm) *

= aìinch x UFìinch

[ìm/s2] x [ìm/ìinch] x [inc/ìm]

[ìinch/s2] x [inc/ìinch]

[rev]> [inc] = arev x UFrev [rev/s2] x [inc/rev]

* Conversion [µm]> [µinch] : 1 ìinch = 0.0254 ìm

Tab. A/14:General formulae for conversion

Reference – Festo DeviceNet and FHPP

B-1Festo P.BE-MTR-DCI-DN-EN en 1209a

Appendix B

Reference – Festo DeviceNet and FHPP

B. Reference – Festo DeviceNet and FHPP

B-2 Festo P.BE-MTR-DCI-DN-EN en 1209a

Contents

B. Reference – Festo DeviceNet and FHPP B-1. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 DeviceNet Reference (Explicit Messaging) B-3. . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1 Parameter classes B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.2 Object overview (class, attribute, instance) B-4. . . . . . . . . . . . . . . . . . .

B.2 FHPP Reference (I/O messaging) B-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.1 Parameter groups B-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.2 Object overview (Parameter number (PNU) B-11. . . . . . . . . . . . . . . . . .

B.2.3 Layout of the parameter entries B-16. . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.4 Device data – Standard parameters B-17. . . . . . . . . . . . . . . . . . . . . . . . .

B.2.5 Device data – Extended parameters B-18. . . . . . . . . . . . . . . . . . . . . . . . .

B.2.6 Diagnosis B-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.7 Process data B-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.8 Record list B-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.9 Project data – General B-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.10 Project data – Force mode B-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.11 Project data – Teaching B-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.12 Project data – Jog mode B-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.13 Project data – Direct mode: (Positioning mode) B-36. . . . . . . . . . . . . . .

B.2.14 Project data – Direct mode: (Force mode) B-37. . . . . . . . . . . . . . . . . . . .

B.2.15 Axis parameter, electric drive 1 – Mechanical B-38. . . . . . . . . . . . . . . . .

B.2.16 Axis parameter, electric drives 1 – Homing B-42. . . . . . . . . . . . . . . . . . .

B.2.17 Axis parameter, electric drive 1 – Controller B-44. . . . . . . . . . . . . . . . . .

B.2.18 Axis parameter, electric drive 1 – Electronic Type plate B-49. . . . . . . . .

B.2.19 Axis parameter, electric drive 1 – Standstill monitoring B-51. . . . . . . . .



B.1 DeviceNet Reference (Explicit Messaging)

B.1.1 Parameter classes

Class CLASS 1) Description

Device data 0x64 (100) Device identification and device-specific settings, versionnumbers, passwords, control panel queries, etc.

Diagnosis Buffer 0x65 (101) Memory for diagnostic events: fault numbers, fault time,incoming/outgoing event

Diagnosis BufferAdministration(Diagnosis buffermanagement)

0x66 (102) Management of the diagnosis buffer

Process Data 0x67 (103) Current nominal and actual values, local I/Os, status data,record number, etc.

Record Sets 0x68 (104) A record contains all the nominal value parameters requiredfor a positioning procedure

Project Data 0x69 (105) Basic project settings. Maximum speed and acceleration,offset project zero point etc. --> Parameters are the basisfor the record list

Factor group 0x6A (106) Reserved

Axis Data 0x6B (107) All axis-specific parameters for electric drives. Gear ratio,feed constant, homing parameters ...

System Diagnosis 0x6C (108) Read or clear the active device fault

Fieldbus diagnosisFieldbus diagnostics

0x6D (109) Current connection status and fieldbus settings, e.g. bitrate, I/O data length

1) Class number as per DeviceNet specification

Tab. B/1: Parameter classes (DeviceNet)



B.1.2 Object overview (class, attribute, instance)

The object model is used for data access via “Explicit Mess-aging” over DeviceNet. The following tables contain alldefined parameters and specify the class (CLS), attribute(ATTR) and instance (INST). For data addressing via the FPC(within the cyclic I/O data), the FHPP parameter number/sub-addressing is used.

The descriptions of the parameters can be found under thespecified FHPP parameter number PNU, in sections B.2.4 toB.2.19.

Device Data FHPP

Class 100 (0x64) CLS INST ATTR PNU SI See

Manufacturer Hardware Version 64h 01h 01h 100 — B.2.4

Manufacturer Firmware Version 64h 01h 02h 101 — B.2.4

Version FHPP 64h 01h 03h 102 — B.2.4

Controller Serial Number 64h 01h 08h 114 — B.2.4

Manufacturer Device Name 64h 01h 09h 120 — B.2.5

User Device Name 64h 01h 1Ah 121 — B.2.5

Drive Manufacturer 64h 01h 1Bh 122 — B.2.5

HTTP Drive Catalogue Address 64h 01h 1Ch 123 — B.2.5

Festo Order Number 64h 01h 1Dh 124 — B.2.5

Device Control 64h 01h 1Eh 125 — B.2.5

HMI Control – LCD Voltage 64h 01h 1Fh 126 1 B.2.5

– LCD Contrast 64h 01h 10h 126 2 B.2.5

– Unity 64h 01h 11h 126 3 B.2.5

– Scale 64h 01h 12h 126 4 B.2.5

Keypad Status 64h 01h 13h 306 — B.2.7



Device Data FHPP

Class 100 (0x64) SeeSIPNUATTRINSTCLS

DataMemoryControl

– Data Memory Erase 64h 01h 14h 127 1 B.2.5

– Data Memory Store 64h 01h 15h 127 2 B.2.5

Diagnosis Buffer FHPP


Diagnostic Event 65h 01h...10h 01h 200 1...16 B.2.6

Fault Number 65h 01h...10h 02h 201 1...16 B.2.6

Time Stamp 65h 01h...10h 03h 202 1...16 B.2.6

Diagnosis Buffer Administration FHPP


DiagnosisMemoryparameters

– Fault Type 66h 01h 01h 204 1 B.2.6

– Resolution 66h 01h 02h 204 2 B.2.6

– Clear Memory 66h 01h 03h 204 3 B.2.6

– Number of Entries 66h 01h 04h 204 4 B.2.6

Process Data FHPP


Local Digital Inputs 67h 01h 0Ah 303 — B.2.7

Local DigitalOutputs

– Outputs 67h 01h 14h 304 1 B.2.7

– Output Mask 67h 01h 15h 304 2 B.2.7

Cycle Number 67h 01h 1Eh 305 — B.2.7

Record Number 67h 01h 20h 400 — B.2.8



Record Sets FHPP


Record Control Byte 1 68h 01h...20h 01h 401 1...32 B.2.8

Record Target Position 68h 01h...20h 04h 404 1...32 B.2.8

Record Velocity 68h 01h...20h 06h 406 1...32 B.2.8

Record Acceleration 68h 01h...20h 07h 407 1...32 B.2.8

Project Data FHPP


Project Zero Point 69h 01h 01h 500 — B.2.9

SoftwareEndPositions

– Software Max. Position 69h 01h 02h 501 1 B.2.9

– Software Min. Position 69h 01h 03h 501 2 B.2.9

Max. Velocity 69h 01h 04h 502 — B.2.9

Max. Acceleration 69h 01h 05h 503 — B.2.9

Stroke Limit 69h 01h 0Ah 510 — B.2.10

Min. Torque 69h 01h 0Bh 511 — B.2.10

Max. Torque 69h 01h 0Ch 512 — B.2.10

Teach Target 69h 01h 14h 520 — B.2.11

Jog Mode Velocity Phase 2 69h 01h 1Fh 531 — B.2.11

Jog Mode Acceleration 69h 01h 20h 532 — B.2.11

Jog Mode Time Phase 1 69h 01h 22h 534 — B.2.11

Direct Mode Acceleration 69h 01h 29h 541 — B.2.13

Force Target Window 69h 01h 34h 552 — B.2.14

Damping Time 69h 01h 35h 553 — B.2.14

Speed Limit 69h 01h 36h 554 — B.2.14



Axis Data (drive data) FHPP

Class 107 (0x6B) CLS INST ATTR PNU SI See

Polarity 6Bh 01h 01h 1000 — B.2.15

EncoderResolution

– Encoder Increments 6Bh 01h 02h 1001 1 B.2.15

– Motor Revolutions 6Bh 01h 03h 1001 2 B.2.15

Gear ratio – Motor Revolutions 6Bh 01h 04h 1002 1 B.2.15

– Shaft Revolutions 6Bh 01h 05h 1002 2 B.2.15

FeedConstant

– Feed 6Bh 01h 06h 1003 1 B.2.15

– Feed Shaft Revolutions 6Bh 01h 07h 1003 2 B.2.15

PositionFactor

– Numerator 6Bh 01h 08h 1004 1 B.2.15

– Denominator 6Bh 01h 09h 1004 2 B.2.15

Axisparameters

– Axis Length 6Bh 01h 0Ah 1005 1 B.2.15

– Gear Numerator 6Bh 01h 0Bh 1005 2 B.2.15

– Gear Denominator 6Bh 01h 0Ch 1005 3 B.2.15

– Axis Type 6Bh 01h 0Dh 1005 4 B.2.15

– Axis Size 6Bh 01h 0Eh 1005 5 B.2.15

Offset Axis Zero Point 6Bh 01h 14h 1010 — B.2.16

Homing Method 6Bh 01h 15h 1011 — B.2.16

HomingVelocity

– Search REF 6Bh 01h 16h 1012 1 B.2.16

– Search AZ 6Bh 01h 17h 1012 2 B.2.16

Homing Required 6Bh 01h 18h 1014 — B.2.16

Homing Max. Torque 6Bh 01h 19h 1015 — B.2.16

Halt Option Code 6Bh 01h 1Eh 1020 — B.2.17

Fault Reaction Option Code 6Bh 01h 1Fh 1021 — B.2.17

Target Position Window 6Bh 01h 20h 1022 — B.2.17




Class 107 (0x6B) SeeSIPNUATTRINSTCLS

Position Window Time 6Bh 01h 21h 1023 — B.2.17

PositionControlParameterSet

– Gain Position 6Bh 01h 22h 1024 18 B.2.17

– Gain Velocity 6Bh 01h 23h 1024 19 B.2.17

– I-Fraction Velocity 6Bh 01h 24h 1024 20 B.2.17

– Gain Current 6Bh 01h 25h 1024 21 B.2.17

– I-Fraction 6Bh 01h 26h 1024 22 B.2.17

– Gain Velocity Trajectory 6Bh 01h 27h 1024 23 B.2.17

– Save Position 6Bh 01h 28h 1024 32 B.2.17

Motor Data – Serial Number 6Bh 01h 2Ch 1025 1 B.2.17

– Time Max. Current 6Bh 01h 2Dh 1025 3 B.2.17

Drive Data – Output Stage Temp 6Bh 01h 31h 1026 1 B.2.17

– Output Stage Max.Temp.

6Bh 01h 32h 1026 2 B.2.17

– Motor Rated Current 6Bh 01h 33h 1026 3 B.2.17

– Current Limit 6Bh 01h 34h 1026 4 B.2.17

– Lower Current Limit 6Bh 01h 35h 1026 5 B.2.17

– Device Control 6Bh 01h 36h 1026 6 B.2.17

– Controller Serial Number 6Bh 01h 37h 1026 7 B.2.17

– Following Error 6Bh 01h 38h 1026 8 B.2.17

Motor Type 6Bh 01h 3Ch 1030 – B.2.18

Max. Current 6Bh 01h 40h 1034 – B.2.18

Motor Rated Current 6Bh 01h 41h 1035 – B.2.18

Motor Rated Torque 6Bh 01h 42h 1036 – B.2.18

Position Target Value 6Bh 01h 44h 1040 – B.2.19




Class 107 (0x6B) SeeSIPNUATTRINSTCLS

Position Actual Value 6Bh 01h 45h 1041 – B.2.19

Standstill Position Window 6Bh 01h 46h 1042 – B.2.19

Standstill Timeout 6Bh 01h 47h 1043 – B.2.19

System Diagnosis FHPP

Class 108 (0x6C) CLS INST ATTR PNU SI See

Device Fault 6Ch 01h 01h 205 – B.2.6

Fieldbus Diagnosis FHPP

Class 109 (0x6D) CLS INST ATTR PNU SI See

DeviceNetDiagnosis

– Bus Status 6Dh 01h 01h 206 1 B.2.6

– Bit rate 6Dh 01h 02h 206 2 B.2.6

– Address (MAC ID) 6Dh 01h 04h 206 4 B.2.6

– Configuration(I/O Data length)

6Dh 01h 05h 206 5 B.2.6



B.2 FHPP Reference (I/O messaging)

B.2.1 Parameter groups

Group PNU 1) Description See...

Device data 100... Device identification and device-specific set-tings, version numbers, passwords, etc.

B.2.4, B.2.5

Diagnosis 200... Memory for diagnostic events: fault numbers,fault time, incoming/outgoing event, manage-ment of the diagnostic memory

B.2.6

Process data 300... Current nominal and actual values, local I/Os,status data, control panel queries, etc.

B.2.7

Record list 400... A record contains all the nominal value parame-ters required for a positioning procedure

B.2.8

Project data

– Force mode

– Teaching

– Jog mode

– Direct Task

500... Basic project settings. Maximum speed andacceleration, offset project zero point etc. -->Parameters are the basis for the record list.

B.2.9B.2.10B.2.11B.2.12B.2.13, B.2.14

Factor group 600... Reserved

Axis data electricaldrives 1

– Mechanics

– Homing

– Type plate

– Standstill moni-

toring

1000... All axis-specific parameters for electric drives.Gear ratio, feed constant, homing parameters...

B.2.15B.2.16B.2.18B.2.19

1) Parameter number as per FHPP-FPC

Tab. B/2: Parameter groups (FHPP)



B.2.2 Object overview (Parameter number (PNU)

The following overview shows all defined parameters of theFHPP with

– the parameter number PNU for parameterising as perFHPP FPC (I/O messaging),

You will find the descriptions of the parameters in sec-tions B.2.4 to B.2.19 (see “See” column).

An overview of available CI objects is provided in sec-tion C.2.1.

Name FHPP

PNU SI

B.2.4 Device data – Standard parameters

Manufacturer Hardware Version 100 –

Manufacturer Firmware Version 101 –

Version FHPP 102 –

Controller Serial Number 114 1...12

B.2.5 Device data – Extended parameters

Manufacturer Device Name 120 1...30

User Device Name 121 1...8

Drive Manufacturer 122 1...30

HTTP Drive Catalogue Address 123 1...30

Festo Order Number 124 1...30

Device Control 125 –

HMI Control 126 1...4

Data Memory Control 127 1, 2



Name FHPPName

SIPNU

B.2.6 Diagnosis

Diagnostic Event 200 1...16

Fault Number 201 1...16

Time Stamp 202 1...16

Diagnosis Memory Parameter 204 1...4

Device Fault 205 –

Diagnosis 206 1...6

B.2.7 Process data

Local Digital Inputs 303 –

Local Digital Outputs 304 1, 2

Cycle Number 305 –

Keypad Status 306 –

B.2.8 Record list

Record Number 400 –

Record Control Byte 1 401 1...32

Record Target Position 404 1...32

Record Velocity 406 1...32

Record Acceleration 407 1...32

B.2.9 Project data – General project data

Project Zero Point) 500 –



Name FHPPName

SIPNU

Software End Positions 501 1, 2

Max. Velocity 502 –

Max. Acceleration 503 –

B.2.10 Project data – Force mode

Stroke Limit 510 –

Min. Torque 511 –

Max. Torque 512 –

B.2.11 Project data – Teaching

Teach Target 520 –

B.2.12 Project data – Jog mode

Jog Mode Velocity Phase 2 531 –

Jog Mode Acceleration 532 –

Jog Mode Time Phase 1 534 –

B.2.13 Project data – Direct mode: (Positioning mode)

Direct Mode Acceleration 541 –

B.2.14 Project data – Direct task (Force mode)

Force Target Window 552 –

Damping Time 553 –

Speed Limit 554 –

B.2.15 Axis data, electric drive 1 – Mechanical

Polarity 1000 –



Name FHPPName

SIPNU

Encoder Resolution 1001 1, 2

Gear Ratio 1002 1, 2

Feed Constant 1003 1, 2

Position Factor 1004 1...2

Axis Parameter 1005 1...5

B.2.16 Axis data, electric drive 1 – Homing

Offset Axis Zero Point 1010 –

Homing Method 1011 –

Homing Velocities 1012 1, 2

Homing Required 1014 –

Homing Max. Torque 1015 –

B.2.17 Axis data, electric drive 1 – Control parameters

Halt Option Code 1020 –

Fault Reaction Option Code 1021 –

Target Position Window 1022 –

Position Window Time 1023 –

Position Control Parameter Set 1024 18...23, 32

Motor Data 1025 1, 3

Drive Data 1026 1...8



Name FHPPName

SIPNU

B.2.18 Axis data, electric drive 1 – Electronic rating plate

Motor Type 1030 –

Max. Current 1034 –

Motor Rated Current 1035 –

Motor Rated Torque 1036 –

B.2.19 Axis data, electric drive 1 – Standstill monitoring

Position Target Value 1040 –

Position Actual Value 1041 –

Standstill Position Window 1042 –

Standstill Timeout 1043 –



B.2.3 Layout of the parameter entries

Encoder Resolution

FHPP 1001 1...2 Array uint32 rw

Description Encoder resolution in increments / revolutionsThe encoder resolution is fixed and cannot be modified by the user. Thecalculated value is derived from the fraction (encoder increments/motorrevolutions).

Encoder Increments 1001 1 uint32 rw

Value range: 0 ... 232-1Default: 500

Motor Revolutions 1001 2 uint32 rw

Fixed = 1

CI 608Fh 01h...02h Array uint32 rw

DeviceNet 107 2...3 1 uint32 rw

1 Name of the parameter (sometimes with explanation in brackets)

2 PNU (parameter number)

3 Subindex of parameter, if present.

4 Variable type of the element

5 Data type of the element.

6 Read/write permission:ro = read only, wo = write only, rw = read and write

7 Description of the parameter

8 Name and description of the subindex when present (specified as per FHPP ifavailable)

9 Corresponding object (if present)CI: Column 2 Obj.number,3 Subindex (hex)DeviceNet: Column 2 Class,3 Instance,4 Attribute

Fig. B/6: Layout of the parameter entries

1 2 3 4 5 6

7

8

9



B.2.4 Device data – Standard parameters

Manufacturer Hardware Version

FHPP 100 – Var uint16 ro

Description Hardware version, stated in BCD (Binary Coded Decimal): xxyy(xx = main version, yy = secondary version)

CI 2069h 00h Var uint16 ro

DeviceNet 64h 01h 01h uint16 ro

Manufacturer Firmware Version


Description Firmware version, stated in BCD (Binary Coded Decimal): xxyy(xx = main version, yy = secondary version)

CI 206Ah 00h Var uint16 ro


Version FHPP


Description Version number of the FHPP, stated in BCD (Binary Coded Decimal): xxyy(xx = main version, yy = secondary version)



Controller Serial Number

FHPP 114 1...12 Array char ro

Description 12-character code for unique identification of the controller.Example: “TD15P0212345”

CI 2072h 00h Var V-string ro

DeviceNet 64h 01h 08h Short String ro



B.2.5 Device data – Extended parameters

Manufacturer Device Name


Description Type designation of the drive. Example: “MTR-DCI-42S-VCSC-EG14-H2DN”


DeviceNet 64h 01h 09h Short String ro

User Device Name

FHPP 121 1...8 Array char rw

Description Device name assigned by the user.Max. 8 characters (ASCII, 7-bit). Default: “motor001”

CI 20FDh 00h Var V-string rw

DeviceNet 64h 01h 0Ah Short String ro

Drive Manufacturer


Description Name of drive manufacturer. Fixed: “Festo AG & Co.KG”


DeviceNet 64h 01h 0Bh Short String ro

HTTP Drive Catalogue Address


Description Internet address of the manufacturer. Fixed: “www.festo.com”


DeviceNet 64h 01h 0Ch Short String ro

Festo Order Number


Description Order number of the motor unit, e. g. “533742”


DeviceNet 64h 01h 0Dh Short String ro



Device Control

FHPP 125 – Var uint8 rw

Description Activates device control of the controller via the controller interface.Corresponds to “HMI control” on the control panel and “FCT/HMI” in the FCT.0 (0x00): Control via control interface OFF,

via HMI (control panel) and FCT ON1 (0x01): Control via controller interface OFF (default)

CI 207Dh 00h Var uint8 rw

DeviceNet 64h 01h 0Eh uint8 rw

HMI Control

FHPP 126 1...4 Var uint8 ro

Description Settings for the HMI control panel (for MTR-DCI-...-H2 only)Only affects the values in the display: all parameters are stored in increments.

LCD Current(LCD voltage)

126 1 0 ro

Value range: 1...5 (0x01 ... 0x05). Default: 5

LCD Contrast 126 2 1 ro

Value range: 0...63 (0x00 ... 0x3F). Default: 0

Measuring unit 126 3 2 CI: rw

Measuring unit system for the control panel. See object 20D0h.1 (0x01): metric units of measurement (mm, mm/s, mm/s2)4 (0x04): angular degrees8 (0x08): revolutions

Scaling Factor 126 4 3 CI: rw

Number of decimal places. Fix = 2. See object 20D0h

CI 20FFh 01h...04h Array uint8 rw

DeviceNet 64h 01h 0Fh...12h uint8 rw



Data Memory Control

FHPP 127 1, 2 Array uint8 rw 1)

Description Commands for the EEPROM (non-volatile data storage)

Delete EEPROM 127 1 uint8 rw

When the object has been written, and after Power Off/On, the data in theEEPROM is reset to the factory settings.Fixed: 16 (0x10): delete data in the EEPROM and restore factory settings.Pay attention to the following note.

Save Data 127 2 uint8 rw

The data in EEPROM is overwritten with the current user-specific settings.Fixed 1 (0x01): save data

CI 20F1h 01h, 02h Array uint8 rw 1)

DeviceNet 64h 01h 14h, 15h uint8 rw 1)

1) When reading the reply “0” always occurs

NoteAll user-specific settings will be lost when the EEPROM isdeleted (except for the cycle number). The status afterdeletion corresponds to the standard factory setting.

• Always carry out initial commissioning after deleting theEEPROM.

• When the EEPROM is deleted, the field bus parametersare also reset!



B.2.6 Diagnosis

For the mode of operation of the diagnostic memory:see section 6.4.2.

Diagnostic Event

FHPP 200 1...16 Array uint8 ro

Description The type of the diagnostic event stored in the diagnostic memory.Displays whether an incoming or outgoing fault was saved.Value Type of diagnostic event0 (0x00) No fault (or fault message deleted)1 (0x01) Incoming fault2 (0x02) Outgoing fault3 (0x03) (Reserved)4 (0x04) Overflow time stamp

Event 1 200 1 uint8 ro

Active diagnostic event


Previous diagnostic event

Event ... 200 ... uint8 ro

...


Oldest saved diagnostic event

CI 20C8h 01h...10h Array uint8 ro

DeviceNet 65h 01h...10h 01h uint8 ro



Fault Number


Description Fault number saved in the diagnostic memory; used for identifying the fault.Fault numbers: see section B.2.6.


See PNU 200.

CI 20C9h 01h...10h Array uint16 ro


Time Stamp


Description Time of the diagnostic event since switch-on (Resolution time stamp, as perPNU 204/2. In the event of an overrun the time stamp jumps from 0xFFFFFFFFto 0, an entry: “Overrun time stamp” is created in the diagnostic memory(PNU 200).


See PNU 200.

CI 20CAh 01h...10h Array uint32 ro




Diagnostic Memory Parameter

FHPP 204 1...4 Array uint8 rw/ro

Description Configuration of the diagnostic memory.

Fault Type 204 1 uint8 rw

Incoming and outgoing faults1 (0x01): Record incoming and outgoing*) faults (default)2 (0x02): Record only incoming faults*) Outgoing fault = time when the fault was acknowledged.

Resolution 204 2 uint8 rw

Resolution time stamp.1 (0x01): Time stamp resolution 10 ms (default)2 (0x02): Time stamp resolution 1 ms

Clear Memory 204 3 uint8 rw

Deletes diagnostic memory by writing value = 1.Read will always be answered with value = 1.

Number of Entries 204 4 uint8 ro

Reads out the number of entries in the diagnostic memory.Value range: 0 ... 15 (0x00 ... 0x0F)

CI 20CCh 01h...04h Array uint8 rw/ro

DeviceNet 66h 01h 01h...04h uint8 rw/ro

Device Error


Description Read or clear the active device fault.Read [bit 0...15]: see section 6.3, Tab. 6/6.Write 0 (0x0000): Delete the active device fault.

CI 2FF1h 00h Var uint16 rw

DeviceNet 6Ch 01h 01h uint16 rw



DeviceNet Diagnosis


Description Read the diagnostic data

Bus Status 206 1 uint8 ro

Current bus status of the DeviceNet device:0x00: “No Power / BUS-OFF”0x01: “Unrecoverable Fault”0x04, 0x05: “Minor Fault”0x10: “Operational”0x40, 0x50: “Device in Standby”

Bit Rate 206 2 uint8 ro

Current bit rate.0 (0x00): 125 kBit/s1 (0x01): 250 kBit/s2 (0x02): 500 kbps255 (0xFF): Invalid bit rate (default)

– 206 3 uint8 ro

ReservedFixed: 0 (0x00)

Address 206 4 uint8 ro

Participant address(MAC ID).Value range: 0 ... 63 (0x00 ... 0x3F)Default: 255 (0xff ) - Invalid address

Configuration 206 5 uint8 ro

Current configuration:16 (0x10): Festo FHPP Standard (8 byte I/O)17 (0x11): Festo FHPP Standard + FPC (2 x 8 byte I/O)255 (0xff ): invalid value (default)

– 206 6 uint8 ro

Reserved

CI 2FF2h 01h...06h Array uint8 ro

DeviceNet 6Dh 01h 01h...05h uint8 ro



B.2.7 Process data

Local Digital Inputs


Description Map of the digital inputsBit 0, 1: Reserved (= 0)Bit 2: Reference switch (1 = reference switch is actuated)Bit 3 ... 15: Reserved (= 0)Bit 16 ... 20: Current record number (see control byte 3)Bit 21: STOP (CCON.B1)Bit 22: ENABLE (CCON.B0)Bit 23: START (CPOS.B1)Bit 24 ... 31: Reserved (= 0)

CI 60FDh 00h Var uint32 ro

DeviceNet 67h 01h 0Ah uint32 ro

Local Digital Outputs

FHPP 304 1, 2 Array uint32 ro

Description Map of the digital outputs

Digital Outputs 304 1 uint32 ro

Bit 0...15 ReservedBit 16 MCBit 17 READYBit 18 EA_ACKBit 19 ERRORBit 20...31 Reserved

Mask 304 2 uint32 ro

Bit 0...31 Reserved

CI 60FEh 01h, 02h Array uint32 ro

DeviceNet 67h 01h 14h, 15h uint32 ro



Cycle Number


Description Number of position set records executed, homing runs etc.Value range: 0 ... (232-1)

CI 2FFFh 00h Var uint32 ro

DeviceNet 67h 01h 1Eh uint32 ro

Keypad Status


Description Polling of the control panel keypad (MTR-DCI-...-H2 only).Bit Value Key0 1 Enter1 2 Menu2 4 Left3 8 Right

CI 2FFEh 05h Var uint8 ro




B.2.8 Record list

PNU 400Record numberuint8

PNU 401RCB1 1)

uint8

PNU 404Target positionint32

PNU 406speeduint32

PNU 407Accelerationuint32

0 Homing

1 ... ... ... ...

2 ... ... ... ...

... ... ... ... ...

31 ... ... ... ...

1) RCB = Record Control Byte. Defines whether positioning is relative or absolute.

Tab. B/3: Position set table structure (record list)

FHPP The record selection for reading and writing in FHPP is madevia the subindex of the PNUs 401 ... 407. Above PNU 400 theactive record for positioning or teaching is selected.

Record Number


Description The active/selected record. Is also valid even when the drive is not in Recordselection mode (e. g. during teaching). In Record selection mode this para-meter is transferred to the cyclical I/O data.Value range: 0 ... 31 (0x00 ... 0x1F)

CI 2033h – / 00h Var uint8 rw

DeviceNet 67h 01h 20h uint8 rw



Record Control Byte 1


Description The record control byte 1 (RCB1) controls important settings for the positioningtask in Record selection mode.Bit 0: Nominal value absolute/relativeBit 1 ... 7: Reserved (= 0)Values:0 (0x00): Nominal value is absolute (default)1 (0x01): Nominal value is relative to the last nominal value / relaying value

Record 0 401 1 uint8 rw

Record control byte for position set record 0 (homing)

Record ... 401 ... uint8 rw

Record control byte for position set record 1 ... 30


Record control byte for position set record 31

CI 20EAh 01h...20h Array uint8 rw

DeviceNet 68h 01h…20h 01h uint8 rw

Record Target Position

FHPP 404 1...32 Array int32 rw

Description Target position of the position set table in increments.Value range: -231...+(231 -1) (0x80000000 ... 0x7FFFFFFF)Default: 0

Record 0 404 1 int32 rw

Nominal position value for position set record 0 (homing)

Record ... 404 ... int32 rw

Nominal position value for position set record 1 ... 30

Record 31 404 32 int32 rw

Nominal position value for position set record 31

CI 20ECh 01h...20h Array int32 rw

DeviceNet 68h 01h…20h 04h int32 rw



Record Velocity


Description Speed setpoint in increments/sValue rangeMTR-DCI-... Value range DMES-...

...-32...-G7 0...66000 Z 0...12 mm/s (DMES-18)

...-32...-G14 Z 0...6.0 mm/s (DMES-18)

...-42...-G7 0...100000 Z 0...18.5 mm/s (DMES-25)

...-42...-G14 Z 0...9.1 mm/s (DMES-25)

...-52...-G7 0...100000 Z 0...29.6 mm/s (DMES-40)

...-52...-G14 Z 0...14.6 mm/s (DMES-40)

...-62...-G7 0...113400 Z 0...50.4 mm/s (DMES-63)

...-62...-G14 Z 0...24.7 mm/s (DMES-63)

...-62...-G22 Z 0...15.3 mm/s (DMES-63)Default: 0


Nominal speed value for position set record 0 (homing)


Nominal speed value for position set record 1 ... 30


Nominal speed value for position set record 31

CI 20EDh 01h...20h Array uint32 rw

Additional subindex of object 20EDh see PNU 531




Record Acceleration


Description Acceleration nominal value in increments/s2. The value is only valid for Positionmode; it is ignored in Force mode.Value range:MTR-DCI-32/42: 40000...480000MTR-DCI-52/62: 40000...240000Default:MTR-DCI-32: 480000 (0x00075300)MTR-DCI-42: 480000 (0x00075300)MTR-DCI-52: 240000 (0x0003A980)MTR-DCI-62: 160000 (0x00027100)


Nominal acceleration/deceleration value for position set record 0 (homing)


Nominal acceleration/deceleration value for position set record 1...30


Nominal acceleration/deceleration value for position set record 31

CI 20EEh 01h...20h Array uint32 rw

Additional subindices of object 20EEh see PNU 532 and 541




B.2.9 Project data – General

Project Zero Point

FHPP 500 – Var int32 rw

Description Distance from axis zero point to project zero point.Point of reference for target positions in the position set table (see PNU 404).Value range: -231...+(231-1). Default: 0

CI 21F4h 00h Var int32 rw

DeviceNet 69h 01h 01h int32 rw

Software End Positions

FHPP 501 1, 2 Array int32 rw

Description Software end positions in increments. The offset to the axis zero point isentered. Target positions outside the end positions are not permitted and willlead to a fault.An entry of 0 for both end positions deactivates the software end positions.Plausibility rule: Min-Limit ≤ Max-LimitRange of values: -231...+(231-1)

Lower Limit 501 1 int32

Lower software end position. Default: 0

Upper Limit 501 2 int32

Upper software end position. Default: 50 mm

CI 607Bh 01h, 02h Array int32 rw

DeviceNet 69h 01h 02h, 03h int32 rw



Max. Velocity


Description Max. permitted speed in increments/s.The specifications in Direct mode and in the position set table relate to thisvalue.Default:MTR-DCI-32: 66000 MTR-DCI-42: 100000MTR-DCI-52: 100000 MTR-DCI-62: 113400

CI 21F6h 00h Var uint32 rw


Max. Acceleration


Description Max. permitted acceleration in increments/s2.The specifications in Direct mode and in the position set table relate to thisvalue.Default:MTR-DCI-32/42: 480000MTR-DCI-52/62: 240000





B.2.10 Project data – Force mode

Stroke Limit

FHPP 510 – – uint32 rw

Description Maximum permitted stroke when Force mode is active. With Force mode active,the distance between the actual position and the start positionmust not bemorethan the amount specified in this parameter. In this way you can ensure that, ifForcemode is activatedbymistake (e. g. whenworkpiece ismissing), the axiswillnot perform an uncontrolled movement. This parameter is evaluated in all con-trollermodes inwhich thepositioncontroller is notactivewhenthe status“opera-tion enabled” is set.

The monitoring can be deactivated by setting the bit RCB1.B5.

Value range: 0...4.294.967.295 inc

CI 60F6h 01h uint32 rw

DeviceNet 69h 01h 0Ah uint32 rw

Min. Torque


Description This value represents the lowest permissible torque (or force) of the motor. Thevalue is given in 1/1000 of the nominal torque (6076h / PNU 509).

Value range: 0...1000 (0x03E8)

CI 60F6h 05h uint16 rw

DeviceNet 69h 01h 0Bh uint16 rw

Max. Torque


Description This value represents the highest permissible torque (or force) of the motor.The value is given in 1/1000 of the nominal torque (6076h / PNU 509).Value range: 0...1000 (0x03E8)

CI 6072h 00h Var uint16 rw

DeviceNet 69h 01h 0Ch uint16 rw



B.2.11 Project data – Teaching

Teach Target


Description The parameter defined is the one which is written with the actual position withthe next Teach command (see section 5.6.3).Values:1 (0x01): Target position in position set record (default).

– with Record Select: position set record as per FHPP control bytes– for Direct task: position set record as per PNU=400

2 (0x02): Axis zero point3 (0x03): Project zero point4 (0x04) Lower software end position5 (0x05) Upper software end position

CI 21FCh 00h Var uint8 rw




B.2.12 Project data – Jog mode

Jog Mode Velocity Phase 2


Description Speed in phase 2 (quick travel) in [inc/s]Value range:MTR-DCI-32: 66000 MTR-DCI-42: 100000MTR-DCI-52: 100000 MTR-DCI-62: 113400Default:MTR-DCI-32: 6600 MTR-DCI-42: 10000MTR-DCI-52: 10000 MTR-DCI-62: 11340Value is automatically entered when an axis type (PNU 1005/4) is selected.

CI 20EDh 21h Array uint32 rw

Additional subindices of object 20EDh see PNU 406

DeviceNet 69h 01h 1Fh uint32 rw

Jog Mode Acceleration


Description Acceleration and deceleration in [inc/s2]

Value range:MTR-DCI-32/42: 40000...480000MTR-DCI-52/62: 40000...240000Default: 40000Value is automatically entered when an axis type (PNU 1005/4) is selected.

CI 20EEh 21h Array uint32 rw



Jog Mode Time Phase 1


Description Duration of phase 1 (slow travel) in [ms].Value range: 0...+(232-1). Default: 2000 (0x000007D0)

CI 20E9h 21h Array uint32 rw




B.2.13 Project data – Direct mode: (Positioning mode)

Direct Mode Acceleration


Description Acceleration and deceleration in Direct task in [inc/s2]Value range:MTR-DCI-32/42: 40000...480000MTR-DCI-52/62: 40000...240000Default:MTR-DCI-32: 480000 MTR-DCI-42: 480000MTR-DCI-52: 240000 MTR-DCI-62: 160000Value is automatically entered when an axis type (PNU 1005/4) is selected.

CI 20EEh 22h Array uint32 rw





B.2.14 Project data – Direct mode: (Force mode)

Force Target Window


Description The amount by which the actual force (or actual torque) may deviate from thenominal force (nominal torque) and still be regarded as being within the targetwindow. The width of the window is therefore twice the value transferred, withthe nominal force in the centre of the window. The value is given in 1/1000 ofthe nominal torque (6076h / PNU 509). Value range: 0...65535. Default: 100.

CI 60F6h 03h – uint16 rw


Damping Time


Description Once the actual force (or actual torque) has been in the target windowthis amount of time, the “target reached” bit will be set in the status word(= motion complete).Value range: 0...30000 ms. Default: 100 ms.



Speed Limit


Maximum permitted speed when Force mode is active. In this way the user canensure that, if Force mode is activated by mistake (e. g. when workpiece ismissing), the axis will not undergo uncontrolled acceleration and travel at highspeed against a stop. This parameter is evaluated in all controller modes inwhich the position controller is not active when in the “operation enabled”state. Value range: 1...4.294.967.295 inc/s





B.2.15 Axis parameter, electric drive 1 – Mechanical

Polarity


Description This parameter can be used to assign the “+/-” effect of the positioning values(vectors) to the rotational direction of the motor shaft (see section 1.6.2).Homing must then be performed again.Values:0 (0x00) = Factory setting

(“+” represents clockwise rotation)128 (0x80) = reverse direction

(“+” represents anticlockwise rotation)

CI 607Eh 00h Var uint8 rw

DeviceNet 6Bh 01h 01h uint8 rw

Encoder Resolution

FHPP 1001 1, 2 Array uint32 rw

Description Encoder resolution in [encoder increments / motor revolutions].

Encoder Increments 1001 1 uint32 rw

Values (fixed):MTR-DCI-32: 300 (0x012C)MTR-DCI-42/52/62: 500 (0x01F4)Value is automatically entered when an axis type (PNU 1005/4) is selected.


Fixed = 1

CI 608Fh 01h, 02h Array uint32 rw

DeviceNet 6Bh 01h 02h,03h uint32 ro



Gear Ratio


Description Relationship of the internal motor rotation to the external rotation of theMTR-DCI drive shaft. The values are permanently set for each different internalgearing (see rating plate on the MTR-DCI).Gear ratio = motor revolutions / spindle revolutions


Internal motor revolutions (Gear ratio – numerator)Gearing G7: Fixed: 27 (0x1B)Gearing G14: Fixed: 3969 (0xF81)Gearing G22: Fixed: 1710 (0x6AE)

Shaft Revolutions 1002 2 uint32 rw

External revolutions of the drive shaft of the MTR-DCI(gear ratio – denominator).Gearing G7: Fixed: 4 (0x04)Gearing G14: Fixed: 289 (0x121)Gearing G22: Fixed: 77 (0x4D)

CI 6091h 01h, 02h Array uint32 rw

DeviceNet 6Bh 01h 04h, 05h uint32 ro

Feed Constant


Description The feed constant specifies the distance (=feed) that the slide moves when thedrive shaft (spindle) of the linear axis performs one revolution (feed constant =feed / spindle revolution).

Feed 1003 1 uint32 rw

Specification of feed (feed constant - counter) in [μm].When known axis types are selected on the control panel or in FCT, the valueis entered automatically.

Shaft Revolutions 1003 2 uint32 rw

Feed constant – denominator.Fixed: 1 (0x01)


DeviceNet 6Bh 01h 06h, 07h uint32 rw



Position Factor


Description Reads the conversion factor “number of sensor increments per 1 unit feed onthe spindle”.Additional external gears are not included in the calculations for this parameter(see PNU1005).

Position factor =

Encoder resolution * Gear ratioFeed constant

Numerator 1004 1 uint32 rw

Position factor – numeratorValue is automatically entered when an axis type (PNU 1005/4) is selected.

Denominator 1004 2 uint32 rw

Position factor – denominator


DeviceNet 6Bh 01h 08h, 09h uint32 ro



Axis Parameter


Description For specifying and reading the axis parameters

Axis Length 1005 1 uint32 rw

Axis length in increments. Value range: 0...+(231-1)

Gear Numerator 1005 2 uint32 rw

If external gearing is used:Gear ratio – numeratorValue range: 0...+(231-1)

Gear Denominator 1005 3 uint32 rw

If external gearing is used:Gear ratio – denominatorValue range: 0...+(231-1)

Axis Type 1005 4 uint32 rw

Type of axisValues: 01 = DMES, 02 = DNCE, 03 = rotation deg, 04 = rotation rev, 05 =USERChanging the axis type changes the following parameters:

– Values and permissible value range:407 Record acceleration531 Jog mode speed phase 2532 Jog mode acceleration541 Direct Mode Acceleration

– Values:502 Max. velocity503 Max. acceleration1001 Encoder resolution1003 Feed constant1004 Position factor1026/3 Drive data – motor rated current1035 Motor rated current

– Permissible value range:

406 Record velocity1012 Homing velocities

Axis Size 1005 5 uint32 rw

Nominal size of the axis, in accordance with the rating plate. When known axistypes are selected on the control panel or in FCT, the value is entered automati-cally (e.g. DMES-25 = 0x19).

CI 20E2h 01h...05h Record uint32 rw

DeviceNet 6Bh 01h 0Ah... 0Eh uint32 rw



B.2.16 Axis parameter, electric drives 1 – Homing

Offset Axis Zero Point


Description Offset for axis zero point in increments (distance from homing point)Value range: -231...+(231-1).

CI 607Ch 00h Var int32 rw

DeviceNet 6Bh 01h 14h int32 rw

Homing Method


Description Defines the method which the drive uses to carry out homing. The MTR-DCIsupports the following methods:Values Function-17 (0xEF): Search for stop in negative direction-18 (0xEE): Search for stop in positive direction23 (17h): Search for reference switch in positive direction27 (0x1B): Search for reference switch in negative directionChanging the homing method resets the following parameters to the factorysettings:

– 1010 Axis zero point offset

CI 6098h 00h Var int8 rw

DeviceNet 6Bh 01h 15h int8 rw



Homing Velocities


Description Speeds during homing in [inc/s].

Search REF 1012 1 uint32 rw

Speed when searching for the homing point (reference point) REF, in [inc/s]Value range:MTR-DCI-32: 200...33000 MTR-DCI-42: 200...50000MTR-DCI-52: 200...50000 MTR-DCI-62: 200...56700Default:MTR-DCI-32: 27000 MTR-DCI-42: 22400MTR-DCI-52/62: 16800

Search AZ 1012 2 uint32 rw

Speed whenmoving to the axis zero point AZ, in [inc/s]Value range:MTR-DCI-32: 200...33000 MTR-DCI-42: 200...50000MTR-DCI-52: 200...50000 MTR-DCI-62: 200...56700Default:MTR-DCI-32: 27000 MTR-DCI-42: 22400MTR-DCI-52/62: 16800


DeviceNet 6Bh 01h 16h, 17h uint32 rw

Homing Required


Description Defines whether or not homing must be carried out after switching on in orderto carry out positioning tasks.WithMTR-DCI-DN, homing must ALWAYS be carried out after switching on thelogic voltage supply!Fixed = 1: Homing must be carried out





Homing Max. Torque


Description maximum current consumption during homing, in percent of the ratedcurrent (see PNU 1035CI object 6075h).See PNU 1034 (specification in 1/1000).Value range: 0 ... 200 (0xC8). Default: 150 (0x96)


DeviceNet 6Bh 01h 1Ah uint8 rw

B.2.17 Axis parameter, electric drive 1 – Controller

Halt Option Code


Description Describes the response to a Halt commandFixed = 1: braking with Halt ramp

CI 605Dh 00h Var uint16 rw

DeviceNet 6Bh 01h 1Eh uint16 rw

Fault Reaction Option Code


Description Describes the reaction to a fault.Fixed = 2: braking with emergency stop ramp

CI 605Eh 00h Var uint16 rw

DeviceNet 6Bh 01h 1Fh uint16 rw



Target Position Window


Description Tolerance window in increments [inc]Amount by which the current position may deviate from the target position andstill be regarded as being within the target window. The width of the window istwice the value transferred, with the target position in the centre of the window.Value range: 0 ... +(232-1). Default: 750 (0x2EE)



Position Window Time (adjustment time for position)


Description Adjustment time in milliseconds [ms]Once the actual position has been in the target position window this amount oftime, the bit “target reached” will be set in the status word (= motion com-plete).Value range: 1 ... 30000 (0x7530)Default: 100 (0x64).





Position Control Parameter Set

FHPP 1024 18...23, 32 Array uint16 rw

Description Control parameters.Modification is only permitted for service purposes.If necessary consult Festo.

Gain Position 1024 18 (CI: 12h) rw

Gain for position controller.Value range:MTR-DCI-32:1...100; MTR-DCI-42/52/62: 1...200Default:MTR-DCI-32:20; MTR-DCI-42:15;MTR-DCI-52:10; MTR-DCI-62:8

Gain Velocity 1024 19 (CI: 13h) rw

Gain for speed controller.Value range: MTR-DCI-32: 1...3000; MTR-DCI-42/52/62: 1...700Default: MTR-DCI-32: 2800; MTR-DCI-42/52: 600; MTR-DCI-62: 500

I-Fraction Velocity 1024 20 (CI: 14h) rw

Integral term for speed controller.Value range: 1...600Default: MTR-DCI-32: 80; MTR-DCI-42/52/62: 340

Gain Current 1024 21 (CI: 15h) rw

Gain for current controllerValue range: MTR-DCI-32: 1...1000; MTR-DCI-42/52/62: 1...800Default: MTR-DCI-32: 110; MTR-DCI-42/52/62: 150

I Fraction 1024 22 (CI:16h) rw

Integral term for current regulatorValue range: MTR-DCI-32/42/52: 0...1000Default: MTR-DCI-32: 90; MTR-DCI-42: 420; MTR-DCI-52: 350

Gain VelocityTrajectory

1024 23 (CI: 17h) rw

Gain for speed controller – trajectory generator.Value range: 1...2. Default: 1

Save Position 1024 32 (CI: 20h) rw

Saves current position in the EEPROMwhen power is switched off.Fixed = 240 (0x00F0): current position is not saved at Power-Off.

CI 60FBh 12h...17h, 20h Array uint16 rw

DeviceNet 6Bh 01h 22h...28h uint16 rw



Motor Data


Description Motor-specific data

Serial Number 1025 1 uint32 rw

Serial number of the motor

Time Max. Current 1025 3 uint32 rw

I2t timePermissible duration for the maximummotor current (see Object 6073h).When the I2t-time expires, the current will be limited automatically to the ratedmotor current in order to protect the motor (nominal motor current:PNU 1035 CI object 6075h).The time specified is device-dependent (for MTR-DCI approx. 20 ms).Value range: 1 ... 32767Default: 100 (Z 2 s)Note: values which are too high can damage the motor!

CI 6410h 01h, 03h Record uint32 rw

DeviceNet 6Bh 01h 2Ch, 2Dh uint32 rw



Drive Data


Description General Drive Data

Output StageTemp.

1026 1 (CI: 01h) – uint32 rw

Temperature of the output stage in °C. Value range: 0 ... 85

Output StageMax. Temp.

1026 2 (CI:02h) – uint32 rw

Maximum temperature for the output stage in °C. Fixed: 80 (0x0050)

Motor RatedCurrent

1026 3 (CI: 03h) – uint32 rw

Motor rated current in [mA]Value is automatically entered when an axis type (PNU 1005/4) is selected.

Current Limit 1026 4 (CI: 04h) – uint32 rw

Maximummotor current in 1/1000 of nominal current. Identical to PNU 1034.Value range: 1...2000

Lower Current Limit 1026 5 (CI: 05h) – uint32 rw

= PNU1026,4 * (-1)

Device Control 1026 6 (CI: 06h) – uint32 rw

Setting the device controller (see PNU 125 / object 207Dh).0: Control via HMI (control panel) or FCT, no control via field bus1: Control via field bus – control interface (default)

Controller SerialNumber

1026 7 (CI: 07h) – uint32 rw

Serial number of the controller in format 0xDDMYYSSS:DD (day): 8 Bit: 0x01...0x1FM (month): 4 Bit: 0x1...0xCYY (year): 8 bit: 0x00...0x63SSS (serial no.): 12 bit: 0x001...0xFFF

Following error(permitted

following error)

1026 8 (CI: 08h) – uint32 rw

Following error monitoring



Drive Data

CI 6510h 01h... Record ro/rw

Drive data 1) 6510h 01h...08h – uint32 rw

6510h 31h, 32h,40h, 41h,42h, 43h,A0h, 22h

– uint16, uint16,uint32, uint16,uint16, uint16,uint32, uint32

ro, roro, roro, rwro, ro

Current actualvalue

6510 45h int 16 ro

Actual current value.Note: Not available via FHPP.

Firmware Version(Firmwarenumber)

6510 A1h – uint32 ro

Firmware version, stated in BCD (Binary Coded Decimal): xxyy(xx = main version, yy = secondary version)Note: Identical to FHPP object PNU 101 (CI 206A)

DeviceNet 6Bh 01h 31h...38h uint32 ro/rw

1) Description similar to FHPP 1026/1...8

B.2.18 Axis parameter, electric drive 1 – Electronic Type plate

Motor Type


Description Classification of the motor. Fixed: 0x0000


DeviceNet 6Bh 01h 3Ch uint16 rw



Max. Current


Description Maximummotor current for homing in 1/1000 of the specified nominal current(see PNU 1035 / 6075h).In homing mode: Limits the motor force during homing to the stop and - in theevent of an error - protects sensitive stops during homing to a reference switch.Note:Note that the current limitation also limits the maximum possible speed andthat (higher) nominal speeds may not therefore be achieved.Value range: 1 ... 2000 (0x0001 ... 0x07D0)Default: 1500 (0x05DC)



Motor Rated Current


Description Nominal motor current in [mA]; see type plate; identical to PNU 1026/3



Motor Rated Torque


Description Nominal torque of the MTR-DCI in [mNm]





B.2.19 Axis parameter, electric drive 1 – Standstill monitoring

Position Target Value

FHPP 1040 – Var int32 ro

Description Target position of the last positioning task, in increments.Value range: -231 ... +(231 -1)

CI 6062h 00h Var int32 ro

DeviceNet 6Bh 01h 44h int32 ro

Position Actual Value

FHPP 1041 – Var int32 ro

Description Current position of the drive in increments.Value range: -231 ... +(231 -1)


DeviceNet 6Bh 01h 45h int32 ro

Standstill Position Window


Description Standstill position window in increments: Distance that the drive can moveafter “Motion Complete” before standstill monitoring reports. Value range:0...+(232-1). Default: 750 (0x02EE)



Standstill Timeout


Description Standstill monitoring time in [ms] : time for which the drive must be outside thestandstill position window before standstill monitoring responds.Value range: 0...65535 (0xFFFF). Default: 200 (0x00C8)



The Command Interpreter (CI)

C-1Festo P.BE-MTR-DCI-DN-EN en 1209a

Appendix C

The Command Interpreter (CI)

C. The Command Interpreter (CI)

C-2 Festo P.BE-MTR-DCI-DN-EN en 1209a

Contents

C. Reference – CANopen and CI objects C-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 Data transmission C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.1 Procedure C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.2 Structure of the CI commands C-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.3 Checking the data C-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2 CI Reference C-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2.1 Object overview (Index, Subindex) C-11. . . . . . . . . . . . . . . . . . . . . . . . . .

C.2.2 Layout of the parameter entries C-18. . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2.3 Communication Profile Area (1xxxh) C-19. . . . . . . . . . . . . . . . . . . . . . . .

C.2.4 Manufacturer Specific Profile Area (2xxxh) C-20. . . . . . . . . . . . . . . . . . .

C.2.5 Standardised Device Profile Area (6xxxh) C-26. . . . . . . . . . . . . . . . . . . .



C.1 Data transmission

C.1.1 Procedure

CautionIn special application cases, access using CI commandsenables parameterising and commissioning of the MTR-DCIdirectly via the RS232 interface, but this method is notsuitable for real-time communication, e.g. for controltasks. Control of the MTR-DCI via RS232 requires also:

– a risk assessment by the user,

– ambient conditions free of interference,

– safeguarding of data transfer, such as by the host's con-trol program.

• You should use the control panel or the FCT for commis-sioning and parameterisation.

• Note that controlling the MTR-DCI via RS232 is not inaccordance with the intended use of the device.

WarningInjury to people or damage to property.

CI commands provide full access to the internal variablesof the servo controller. Incorrect operation may cause thecontroller to react unexpectedly and the motor may startup in an uncontrolled manner.

• Only use the CI commands if you already have experi-ence of using Service Data Objects.

• Read about using the objects in the CiA Draft Standard402 before you use the CI commands of the CommandInterpreter of the MTR-DCI.

For data transmission you will require a conventional terminalprogram or the CI terminal of the MTR-DCI plug-in in the FestoConfiguration Tool.



Carry out the following steps:

• Connect the MTR-DCI to your PC via the RS232 port.Follow the instructions in section 3.4.

• If necessary, adapt the PC interface to the following trans-mission protocol.

Transmission protocol

Transmission speed (baud rate) 9600 bit/s

Data format Asynchronous character frame:

– 1 start bit

– 8 data bits

– no parity bit

– 1 stop bit

Tab. C/1: Specifications of the transmission protocol

• Initialise the data transfer with the following command:

Command 310D h Response 31310D h

1 <CR> 11 <CR>

• Select the commands in accordance with the object list insection C.2.1, Tab. C/7.

• Use CI commands only if you already know their effectsand if they are permitted for your MTR-DCI.

• For the syntax of the commands see appendix C.1.2.



C.1.2 Structure of the CI commands

The commands implemented in the Command Interpreter ofthe MTR-DCI are based in respect of their content on the Ob-jects standardised by CANopen (CiA Draft Standard 402):Group 1xxx Device descriptionGroup 2xxx Festo objectsGroup 6xxx Objects as per CANopen

The complete description of all parameterisation and controlpossibilities is known as an “Object directory”. Each object isassigned a unique number (index, subindex), which is usedfor accessing that particular object.

CautionLoss of data.

The Command Interpreter (CI) contains commands whichreorganise or delete parts of the memory. Existing data isdestroyed in this process:

• It is preferable to use the FCT or the control panel forcommissioning and parameterising.

• Use the CI commands only in special cases which requiredirect access to the controller.

• Use CI commands only if you already know their effectsand if they are permitted for your MTR-DCI.

NoteIn order to restore the default settings you can, if neces-sary, delete the EEPROM via the serial interface with the CIcommand 20F1h (Data memory control) (see chapter C.1.).User-specific settings will then be lost.

• Use CI commands only if you already have experience ofService Data Objects.

• If necessary, consult Festo.



Access procedure

The higher-order controller sends the controller either a writecommand (WRITE) to modify a parameter in the object direc-tory, or a read command (READ) to read a parameter.

For each command the higher-order controller receives aresponse which either contains the value read or, in the caseof a write command, serves as an acknowledgement. Thetransmitted value (1, 2 or 4 data bytes) depends on the datatype of the object to be read or written.

WRITE (W) Write commands (W) transfer a value in the specified formatto the MTR-DCI. Write commands are always echoed back,character by character, from the controller of the MTR-DCI.A checksum <PS> will be inserted in front of the <CR>.

READ (R) Read commands (R) transfer a value from the MTR-DCI. Theresponse from the MTR-DCI controller contains the valueread. A checksum <PS> will be inserted in front of the <CR>.

All commands are entered as a character sequence withoutany empty spaces. A hex character corresponds to a Charcharacter in hex format.

Acc 1) Command Response

W

W 2)=IIIISS:<value><CR>=IIIISS:<value><PS><CR>

=IIIISS:<value><PS><CR>

R

R 2)?IIIISS<CR>?IIIISS<PS><CR>

=IIIISS:<value><PS><CR>

1) Access: W = write, R = read2) whenMTR-DCI checksum comparison is activated, see

section C.1.3

Tab. C/2: Syntax of a CI command/response



Syntax Explanation

“=”, “?” Initial character for write or read commands

IIII Index as 4 hexadecimal digits

SS Subindex as 2 hexadecimal digitsIf the addressed object does not have an indexed para-meter, subindex <00> will be specified.

“:” Separating character

<Value> Data in a format determined by the data type

<PS> Checksum as 2 hexadecimal digits (see section C.1.3)

<CR> End character <Carriage Return> ($0D)

Tab. C/3: Elements of syntax of a CI command/response

Data type

The transmitted value (1, 2 or 4 data bytes as hex digits)depends on the data type of the object to be read or written.The following data types are supported:

Type Hex Format

UINT8 2H 8 bits without plus/minus sign: 0...255

INT8 8 bits with plus/minus sign: -128 ... 127

UINT16 4H 16 bits without plus/minus sign: 0 ... 65535

INT16 16 bits with plus/minus sign: -32768 ... 32767

UINT32 8H 32 bits without plus/minus sign: 0 ...(232 -1)

INT32 32 bits with plus/minus sign: -231 ... +(231 -1)

V-string corresponds to the preset string

Tab. C/4: Data types



NoteDirect transfer of values via the serial interface with CIcommands always takes place in the base system andrequires conversion into increments.

All parameters are always saved in increments in the con-troller and are not converted into the relevant measuringsystem until they are written or read. All physical variables(position, speed and acceleration) must be converted intoincrement values before they can be transferred.

Further information on converting can be found inchapter A.4

All values are transferred in hexadecimal figures; 1 characterrepresents 4 bits, and is known as a tetrad <Tn>. The firsttetrad transferred contains the higher-value bits of the value.Generally: tetrad <Tn> contains the bits bn...bn+3

Example: UINT8 (2H)

Dec 26

Hex 1 A

Bin 0 0 0 1 1 0 1 0

b7 b6 b5 b4 b3 b2 b1 b0

Tetrad T4 Tetrad T0



C.1.3 Checking the data

Invalid values Transferred parameters and values are checked by the MTR-DCI before being accepted. In the case of invalid parametersor values, no error message will appear in the response, thevalues transferred are always returned.

NoteThe following applies when writing to the objects:

– Discrete values (values from a value list):A non-permitted value is not accepted, the existing validvalue is retained.

– Continuous values (values from a continuous interval):A non-permitted value is limited to the next permittedminimum or maximum value.

Recommendation:Check that values and parameters have been written correctlyby downloading the current contents of the parameter orvalue with one of the following Read commands.

Transmission error If a transmission error occurs between a higher-order con-troller and the MTR-DCI, instead on the normal response thevalue <0x00FF> is transmitted (see object 2FF0).

Possible causes:

– Incorrect initial character, separating character or emptycharacter

– Incorrect hex digit

– Incorrect value type

Checksum <PS> The higher-order controller must compare the sent commandwith the “echo” from the MTR-DCI and evaluate its checksum.Optionally, an additional checksum comparison by theMTR-DCI for received commands can also be activated(CI object 20F3h). The higher-order controller must theninsert a checksum before the termination character (CR =Carriage return).



If the MTR-DCI detects a checksum error then, instead of thenormal response, the value <0xFFFF> is transmitted (seeobject 2FF0h).

The checksum is calculated according to the capitalisation(uppercase/lowercase) of the command; the responsechecksum is always calculated based on uppercase letters.

Checksum <PS> W/R Command Response

Default(CI object 20F300:00)

W =IIIISS:<value><CR> =IIIISS:<value><PS><CR>

R ?IIIISS<CR> =IIIISS:<value><PS><CR>

Optionally(CI object 20F300:01)

W =IIIISS:<value><PS><CR> =IIIISS:<value><PS><CR>

R ?IIIISS><PS><CR> =IIIISS:<value><PS><CR>

W = write, R = read

Tab. C/5: Syntax of a command/response (optionally with checksum comparison by theMTR-DCI)

Checksum <PS>

Calculation Sum of all transmitted ASCII characters, reduced toone byte.W: <PS> = “=IIIISS:<value>” modulo 256R: <PS> = “?IIIISS” modulo 256

Example:Command =IIIISS:<value><CR>

=20F300:00ASCII > = 2 0 F 3 0 0 : 0 0HEX 3D+32+30+46+33+30+30+3A+30+30Sum 212hMod 256 212h mod 100h = 12hResponse =20F300:0012

Format 2 hexadecimal digits, UINT8

Tab. C/6: Checksum



C.2 CI Reference

C.2.1 Object overview (Index, Subindex)

The following overview shows all CI objects, whereappropriate with the corresponding FHPP numbers.

NoteThe table contains an overview of the CI objects. Theobjects may be used only for certain product variants oronly with limitations (e.g. writing only for servicing pur-poses). Pay attention to the detailed description of theobjects.

You will find the descriptions of the CI objects in the followingsections (see “See” column):

– Descriptions of the corresponding PNUs as per FHPP insections B.2.4 to B.2.19,

– Descriptions of the additional CI objects from sectionC.2.3 onwards.

Name CI FHPP See

Object SI PNU

Group 1xxx

Device Type 1000h – – C.2.3

Manufacturer Device Name 1008h – 120 B.2.5

Manufacturer Hardware Version 1009h – – C.2.3

Manufacturer Software Version 100Ah – – C.2.3



Name SeeFHPPCIName See

PNUSIObject

Group 2xxx

Record Number 2032h 01h – C.2.4

Record Number 2033h – – C.2.4

Standstill Position Window 2040h – 1042 B.2.19

Standstill Timeout 2041h – 1043 B.2.19

Version FHPP 2066h – 102 B.2.4

Version FCT Plug-In min. 2067h – – C.2.4

Version FCT Plug-In Opt. 2068h – – C.2.4

Manufacturer Hardware Version 2069h – 100 B.2.4

Manufacturer Software Version 206Ah – 101 B.2.4

Controller Serial Number 2072h – 114 B.2.4

Device Control 207Dh – 125 B.2.5

Diagnostic Event 20C8h 01h...10h 200 B.2.6

Fault Number 20C9h 01h...10h 201 B.2.6

Time Stamp 20CAh 01h...10h 202 B.2.6

Diagnostic Memory Parameter 20CCh 01h...04h 204 B.2.6

Scaling 20D0h 01h, 02h – C.2.4

Record Table Element 20E0h 01h...05h – C.2.4



Name CI FHPP See

Object SI PNU

Group 2xxx continued

Axis Parameter 20E2h 01h...05h 1005 B.2.15

Controller Type 20E3h – – C.2.4

Jog Mode Time Phase 1 20E9h 00h /21h

534 B.2.12

Record Control Byte 1 20EAh 01h...20h 401 B.2.8

Record Target Position 20ECh 01h...20h 404 B.2.8

Record Velocity 20EDh 01h...20h 406 B.2.8

21h 531 B.2.12

Record Acceleration 20EEh 01h...20h 407 B.2.8

21h 532 B.2.12

22h 541 B.2.13

Data Memory Control 20F1h 01h, 02h 127 B.2.5

CI_ReceiveChecksumActive 20F3h 00h – C.2.4

Password 20FAh 01h, 02h – C.2.4

Local Password 20FBh – – C.2.4

User Device Name 20FDh – 121 B.2.5

HMI Control 20FFh 01h...04h 126 B.2.5

Project Zero Point 21F4h – 500 B.2.9

Max. Velocity 21F6h – 502 B.2.9

Max. Acceleration 21F7h – 503 B.2.9




PNUSIObject

Group 2xxx continued

Teach Target 21FCh – 520 B.2.11

Homing Required 23F6h – 1014 B.2.16

Homing Max. Torque 23F7h – 1015 B.2.16

Communication Error 2FF0h – – C.2.4

Device Fault 2FF1h – 205 B.2.6

DeviceNet Diagnosis 2FF2h 01h...06h 206 B.2.6

DeviceNet Address 2FF3h – – C.2.5

DeviceNet bit rate 2FF4h – – C.2.5

DeviceNet I/O Data length 2FF5h – – C.2.5

Keypad Status 2FFEh – 306 B.2.7

Cycle Number 2FFFh – 305 B.2.7

Group 6xxx

Control word 6040h – – C.2.5

Status word 6041h – – C.2.5

Halt Option Code 605Dh – 1020 B.2.17

Fault Reaction Option Code 605Eh – 1021 B.2.17

Mode of Operation 6060h – – C.2.5




PNUSIObject

Group 6xxx (continued)

Mode of Operation Display 6061h – – C.2.5

Position Target Value 6062h – 1040 B.2.19

Position Actual Value 6063h – – C.2.5

Position Actual Value 6064h – 1041 B.2.19

Position Window 6067h – 1022 B.2.17

Position Window Time 6068h – 1023 B.2.17

Velocity Demand Value 606Bh – – C.2.5

Velocity Actual Value 606Ch – – C.2.5

Target Torque 6071h – – C.2.5

Max.Torque 6072h – 512 B.2.10

Max. Current 6073h – 1034 B.2.18

Motor Rated Current 6075h – 1035 B.2.18

Motor Rated Torque 6076h – 1036 B.2.18

Torque Actual Value 6077h – – C.2.5

Current actual value 6078h – – C.2.5

Target Position 607Ah – – C.2.5

Software End Positions 607Bh 01h, 02h 501 B.2.9

Home Offset 607Ch – 1010 B.2.16




PNUSIObject


Polarity(reversal of direction)

607Eh – 1000 B.2.15

Profile Velocity 6081h – – C.2.5

Profile Acceleration 6083h – – C.2.5

Motion Profile Type 6086h – – C.2.5

Torque Slope 6087h – – C.2.5

Torque Profile Type 6088h – – C.2.5

Position Encoder Resolution 608Fh 01h, 02h 1001 B.2.15

Gear Ratio 6091h 01h, 02h 1002 B.2.15

Feed Constant 6092h 01h, 02h 1003 B.2.15

Position Factor 6093h 01h, 02h 1004 B.2.15

Homing Method 6098h – 1011 B.2.16

Homing Velocities 6099h 01h, 02h 1012 B.2.16

Stroke Limit 60F6h 01h 510 B.2.10

Speed Limit 60F6h 02h 554 B.2.14

Force Target Window 60F6h 03h 552 B.2.14

Damping Time 60F6h 04h 553 B.2.14

Min. Torque 60F6h 05h 511 B.2.10




PNUSIObject


Position Control Parameter Set 60FBh 12h...17h,20h

1024 B.2.17

Local Digital Inputs 60FDh – 303 B.2.7

Local Digital Outputs 60FEh 01h, 02h 304 B.2.7

Motor Type 6402h – 1030 B.2.18

Motor Data 6410h 01h, 03h 1025 B.2.17

Supported Drive Modes 6502h – – C.2.5

Drive Catalogue Number 6503h – 124 B.2.5

Drive Manufacturer 6504h – 122 B.2.5

HTTP Drive Catalogue Address 6505h – 123 B.2.5

Drive Data 6510h 01h...08h

31h, 32h,40h, 41h42h, 43h,A0h, 22h

45hA1h

1026 B.2.17

Tab. C/7: Overview of CI objects



C.2.2 Layout of the parameter entries

Encoder Resolution

CI 608Fh 01h...02h Array uint32 rw2

Description Encoder resolution in increments / revolutionsThe encoder resolution is fixed and cannot be modified by the user. Thecalculated value is derived from the fraction (encoder increments/motorrevolutions).

Encoder Increments 1001 1 uint32 rw2

Value range: 0 ... 232-1Default: 500

Motor Revolutions 1001 2 uint32 rw2

Fixed = 1

FHPP 1001 1...2 Array uint32 rw2

1 Name of the parameter (sometimes with explanation in brackets)

2 Object number

3 Subindices of parameter, if present (–: no subindex, simple variable)

4 Element class

5 Element variable type

6 Read/write permission: ro = read only, wo = write only, rw = read and write,rw1 = read, write at any time,rw2 = read, write during commissioning

7 Description of the parameter

8 Name and description of subindices, if present

9 Corresponding FHPP parameter, if present

Fig. C/7: Layout of the parameter entries

1 2 3 4 5 6

7

8

9



C.2.3 Communication Profile Area (1xxxh)

Device Type


Description Classification of device type and functionality.Bit: 31 ... 16 15 ... 0

Additional information Device Profile NumberValue: 301 (0x012d)Additional information:0 (0x0000) – not used

Manufacturer Hardware Version


Description Hardware version in the format = “V xx.yy” (xx = main version, yy = secondaryversion)

See PNU 100 / object 2069h

Manufacturer Software Version

CI 100Ah 00h Var V-string ro

Description Firmware version in the format = “V xx.yy” (xx = main version, yy = secondaryversion)

See PNU 101 / object 206Ah



C.2.4 Manufacturer Specific Profile Area (2xxxh)

Record Number

CI 2032h 01h Array 1) uint8 rw

1) Pseudo-array due to compatibility

Description For selecting a position set record via the record number.The record number is saved as the target for write and read operations on thefollowing objects:

– object 20E0/01h...05h: Record Table Element

– or objects 607Ah, 6081h, 6083h

There is a direct correlation with object 2033h (PNU 401).

Record Number 2032h 01h uint8 rw

Reading or writing a record number.Values:0 (0x00): Direct position record1 (0x00): RS232 position record (FCT record)2 (0x02): Homing (position set record 0)3 (0x03): Position set record 1 (default)4 (0x04): Position set record 2... Position set record ...33 (0x21): Position set record 31

Version FCT Plug-In Min.

CI 2067h 00h Var V-string r

Description Minimum version of FCT MTR-DCI plug-in required for commissioning the MTR-DCI with the firmware version being used.Format = “xx.yy” (xx = main version, yy = secondary version)

Version FCT Plug-In Opt.

CI 2068h 00h Var V-string r

Description Version of FCT MTR-DCI plug-in optimally suited for commissioning of the MTR-DCI with the firmware version being used.Format = “xx.yy” (xx = main version, yy = secondary version)



Scaling

CI 20D0h 01h, 02h Array uint8 rw/ro

Description Settings for the HMI control panel (for MTR-DCI-...-H2 only)Only affects the values in the display: All parameters are stored in increments.

Measuring Unit 20D0h 01h uint8 rw

Defines a system of measurement for the control panel.1 (0x01): metric units of measurement (mm, mm/s, mm/s2)4 (0x04): angular degrees8 (0x08): revolutionsSee PNU126/20FFh.

Scaling Factor 20D0h 02h uint8 ro

Number of decimal places. Fixed = 2. See PNU126/20FFh.



Record Table Element

CI 20E0h 01h ... 05h Record uint16, int32 rw

Description For editing the entries in the position set table:1. Select line (= record number) with object 2032h.2. Select column via subindex 20E0h: 01...04

20E0/01 20E0/02V

20E0/03 20E0/04

RecordNumber

Pos-setMode

TargetPosition

ProfileVelocity

ProfileAcc.

02

2032h 03 <1> <...> ... ...

...

The values are only saved in the position table with this command; no move-ment is made.

Positioning Mode 20E0h 01h uint16 rw

Positioning mode (record control word). Values:0 (0x0000): Absolute positioning (default)1 (0x0001): Relative positioning

Target Position 20E0h 02h int32 rw

Target position in increments (Z object 607Ah).Value range: -231...+(231 -1) (0x80000000 ... 0x7FFFFFFF). Default: 0

Velocity 20E0h 03h int32 rw

Positioning speed in increments/s (Z object 6081h).Value range (depending on axis type, see object 20E2/04):MTR-DCI-... Value range

...-32...-G7 (G14) 0...66000 DMES-18: Z 0...12 (6) mm/s

...-42...-G7 (G14) 0...100000 DMES-25: Z 0...18.5 (9.1) mm/s

...-52...-G7 (G14) 0...100000 DMES-40: Z 0...29.6 (14.6) mm/s

...-62...-G7 (G14) (G22) 0...113400 DMES-63: Z 0...50.4 (24.7) (15.3) mm/s

Acceleration 20E0h 04h int32 rw

Acceleration in increments/s2 (Z object 6083h).Value range (depending on axis type, see object 20E2/04):MTR-DCI-32/42: 40000...480000 MTR-DCI-52/62: 40000...240000Default:MTR-DCI-32/42: 480000 (0x00075300)MTR-DCI-52: 240000 (0x0003A980)MTR-DCI-62: 160000 (0x00027100)

Object 20E0 accesses some of the same parameters as the corresponding objects 607Ah, 6081h,6083h, 6084h or objects 20EAh to 20EFh. Different data types are converted accordingly whenwriting and reading.



Controller Type

CI 20E3h – Var uint8 rw

Description Type of controller.Values: 0 = without display; 1 = with display.

CI_ReceiveChecksumActive


Description Enable checksum checking of received CI telegrams, see section C.1.2,Tab. C/2.Values:0 (0x00): disabled (default)1 (0x01): enabledExample: deactivate checksum: “=20F300:0012” (12 = checksum)

Password

CI 20FAh 01h, 02h Array V-string rw/ro

Description For managing the FCT password, entering the super password.

FCT Password 20FAh 01h V-string rw

Password for the FCT softwareValue: <........> (fixed: 8 characters, ASCII, 7-bit)Default: <00000000> (status upon delivery and after reset)

Super Password 20FAh 02h V-string ro

For entering the super password.Resets all passwords (FCT password and HMI password, object 20FB). ContactFesto Service if you require the super password.

Local Password

CI 20FBh 00h Var V-string rw

Description For managing the (local) HMI password to enable particular functions that canbe carried out via the control panel.Value: <........> (fixed: 8 characters, ASCII, 7-bit)

Only the first 3 characters are evaluated.Default: <00000000> (status upon delivery and after reset)



Communication Error

CI 2FF0h 00h Var uint16 ro

Description If a transmission error occurs then, instead of the the normal response, thefollowing values are transmitted (see also section C.1.2):Value:0x00FF: General transmission error0xFFFF: Deviation in buffer checksum comparison of the MTR-DCI

Precondition: See object 20F3h

DeviceNet Address


Description Participant address (MAC-ID).Value range: 0 ... 63 (0x00 ... 0x3F)The setting is permanently stored in the device. Switching over at runtime is notpossible. Any changes made do not take effect until the next time the device isswitched on again.Default: 255 (0xFF) – invalid address

DeviceNet bit rate (DeviceNet bit rate)


Description Setting the bit rate.Values:0 (0x00): 125 Mbit/s1 (0x01): 250 kbit/s2 (0x02): 500 kbit/s(0xFF): Invalid bit rate (default=255)

The setting is saved retentively in the device. Switchover during runtime is notpossible. Changes that are made only become effective after the next poweron.



DeviceNet I/O Data length


Description Protocol (data/device profile).Values:0 (0x00): Festo FHPP Standard (8 byte I/O) = default1 (0x01): Festo FHPP Standard + FPC (2 x 8 byte I/O)

If the FPC is not required during operation (e.g. because parameter changes areperformed using Explicit Messaging) then the data width can be reduced to8 bytes. This switches off the FPC and optimises the bus transmissions. Thesetting is permanently stored in the device. Switching over at runtime is notpossible. Any changes made do not take effect until the next time the device isswitched on again.



C.2.5 Standardised Device Profile Area (6xxxh)

Control word


Description For modifying the current controller status or triggering an action. Statuschanges triggered by the control word must be read back via the status word.Only after the requested status has been read from the status word may afurther command be written via the control word.For values see Tab. C/8

Bit Value Description

0 0x0001 Switch on Controlling the state transitions.These bits are evaluated together!1 0x0002 Enable Voltage

2 0x0004 Quick Stop – low-active!

3 0x0008 Enable Operation

4 0x0010 Mode-specific (object 6060h):

– Homing mode: Homing Operation Start

– Profile Position Mode / Torque Mode: New Setpoint (move to position)


– Homing Mode: reserved (set to 0)

– Profile Position Mode: reserved (change_set_immediately in recordselection and direct mode is not supported)

– Profile Torque Mode: =1: With stroke limitation; =0: Without stroke

limitation


– Profile Position Mode: absolute / relative

– Homing Mode: reserved (set to 0)

– Profile Torque Mode: reserved (set to 1)

7 0x0080 Fault Reset

8 0x0100 Halt as per Halt Option Code – object 605Dh.

9 0x0200 Reserved (= 0)

10 0x0400 Reserved (= 0)

11 0x0800 Jog positive: Move while set (as with FHPP CPOS.B3)

12 0x1000 Jog negative: Move while set (as with FHPP CPOS.B4)

13 0x2000 Teach: Apply current value

14 0x4000 Reserved (= 0)

15 0x8000 Reserved (= 0)

Tab. C/8: Description of Control Word



Status word


Description For reading the current controller/regulator status.

State machine description: see section 5.8

For values see Tab. C/9.

Bit Value Description

0 0x0001 Ready to switch on Bits 0 ... 3, 5 and 6 show the status of the device(x ... irrelevant for this status)Value (binary) Statusxxxx xxxx x0xx 0000 Not ready to switch onxxxx xxxx x1xx 0000 Switch on disabledxxxx xxxx x01x 0001 Ready to switch onxxxx xxxx x01x 0011 Switched onxxxx xxxx x01x 0111 Operation enabledxxxx xxxx x00x 0111 Quick stop activexxxx xxxx x0xx 1111 Fault reaction activexxxx xxxx x0xx 1000 Fault

1 0x0002 Switched on

2 0x0004 Operation enabled

3 0x0008 Fault

4 0x0010 Voltage enabled

5 0x0020 Quick Stop

6 0x0040 Switch on disabled

7 0x0080 Warning (simple fault which does not require an emergency stop)

8 0x0100 Drive moves (corresponds to bit 4 of SPOS in FHPP)

9 0x0200 Master control (corresponds to bit 5 of SCON in FHPP)

10 0x0400 Target reached (see also objects 6067 and 6068)

11 0x0800 Internal Limit active

12 0x1000 Depends on operation mode (object 6060):

– Profile Position mode: Setpoint Acknowledge

– Homing mode: Homing Attained

– Profile Torque Mode: is running

13 0x2000 Depends on operation mode (object 6060):

– Profile Position mode: Following Error

– Homing mode: Homing Error

– Profile Torque Mode: stroke limit reached

14 0x4000 Teach acknowledge (corresponds to bit 3 of SPOS in FHPP)

15 0x8000 Homing performed (corresponding to bit 7 of SPOS in FHPP)

Tab. C/9: Description of Status Word



Modes of Operation


Description Set the controller operation mode.Values:-2 (0xFE): Demo mode (fixed sequence)1 (0x01): Profile Position Mode (default, position controller with positioningmode)3 (0x03): Reserved4 (0x04): Profile Torque Mode (Force mode)6 (0x06): Homing Mode

Modes of Operation Display


Description Read current controller operation mode.For values, see object 6060h.

Position Actual Value


Description Current position of the drive in increments.Value range: -231 ... +(231 -1)Value is only updated at the end of a controller cycle.

Velocity Demand Value

CI 606Bh 00h Var int32 ro

Description Current nominal speed value of speed regulator in increments/s.Value range: -231 ... +(231 -1)

Velocity Actual Value

CI 606Ch 00h Var int32 ro

Description Current actual speed value of speed regulator in increments/s.Value range: -231 ... +(231 -1)



Target Torque


Description Nominal value for Force mode. Specified in 1/000 of the rated value(see PNU 512/ object 6072h).Value range: 200...1500

Torque Actual Value


Description Actual torque value in force mode. Specified in 1/000 of the rated value

Current Actual Value


Description Actual value of current. Specified in 1/000 of the rated value

Target Position

CI 607Ah 00h Var int32 rw

Description Target position in increments. See 20E0/02h.Writing the object does not yet trigger movement.The target position is stored in the position table in the column provided, on theline addressed by object 2032h or specified by the direct mode.Value range: -231 ... +(231 -1)

Profile Velocity


Description Final speed for a positioning procedure, in increment/s.Writing the object does not yet trigger movement.The speed is stored in the position table in the column provided, on the lineaddressed by object 2032h or specified by the direct mode.Value range and default: See 20E0/03h.



Profile Acceleration


Description Acceleration for a positioning movement in increments/s2.See 20E0/04hWriting the object does not yet trigger movement.The acceleration is stored in the position table in the column provided, on theline addressed by object 2032h or specified by the direct mode.Value range and default: See 20E0/04h.

Motion Profile Type


Description Type of the mode of acceleration ramp (linear, sin etc.).Fixed = -1 (0xFFFF): Linear ramp

Torque Slope

CI 6087h 00h Var uint32 r

Description Rate of change in torque (or force)Unit of measurement: 1/1000 of the nominal (rated) torque (6076h) persecondFixed: 10000 (0x2710)

Torque Profile Type

CI 6088h 00h Var uint32 r

Description Type of profile used for a change in torque.Fixed: 0x0000 - Linear ramp



Torque Control parameters

CI 60F6h 01h, 05h Record uint16/32 rw

Description Force mode (see section B.2.10)

Stroke Limit 60F6h 01h uint32 rw

Maximum permitted stroke when Force mode is active. With Force mode active,the distance between the actual position and the start position must not bemore than the amount specified in this parameter. In this way you can ensurethat, if Force mode is activated by mistake (e. g. when workpiece is missing),the axis will not perform an uncontrolled movement. This parameter is evalu-ated in all controller modes in which the position controller is not active whenthe status “operation enabled” is set. The monitoring can be deactivated bysetting the bit RCB1.B5. Value range: 0...4.294.967.295 inc

Speed Limit 60F6h 02h uint32 rw

Maximum permitted speed when Force mode is active. In this way the user canensure that, if Force mode is activated by mistake (e. g. when workpiece ismissing), the axis will not undergo uncontrolled acceleration and travel at highspeed against a stop. This parameter is evaluated in all controller modes inwhich the position controller is not active when the status “operation enabled”is set. Value range: 1...4.294.967.295 inc/s

Force TargetWindow (target

window for force/torque)

60F6h 03h uint16 rw

The amount by which the actual force (or actual torque) may deviate from thenominal force (nominal torque) and still be regarded as being within the targetwindow. The width of the window is therefore twice the value transferred, withthe nominal force in the centre of the window. The value is given in 1/1000 ofthe rated torque (6076h).Value range: 0...65535. Default: 100.

Damping Time 60F6h 04h uint16 rw

Once the actual force (or actual torque) has been in the target windowthis amount of time, the “target reached” bit will be set in the status word(= motion complete).Value range: 0...30000 ms. Default: 100 ms.

Min. Torque (min.permitted force/

torque)

60F6h 04h uint32 rw

This value represents the lowest permissible torque (or force) of the motor. Thevalue is given in 1/1000 of the nominal torque (6076h / PNU 509). Value range:0...1000 (0x03E8).

FHPP 510/554/552/553/511

– Array uint16/32 rw



Supported Drive Modes


Description Drive modes supported. Fixed = 29h (41d)Bit 0: Profile position modeBit 1: Reserved (Velocity mode)Bit 2: Reserved (Profile velocity mode)Bit 3: Profile torque modeBit 4: ReservedBit 5: Homing modeBit 6: Reserved (Interpolated positioning mode)Bits 7...31: Reserved

Index

D-1Festo P.BE-MTR-DCI-DN-EN en 1209a

Appendix D

Index

D. Index

D-2 Festo P.BE-MTR-DCI-DN-EN en 1209a

D. Index


A

Absolute 5-18, 5-42, B-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Access procedure C-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis XVII, 1-3, 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Axis type 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parameterisation 5-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Axis zero point XVII, 1-19, 5-16, B-43. . . . . . . . . . . . . . . . . . . .

B

Bit rate 5-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Bus parameter, Setting 4-23, 5-21. . . . . . . . . . . . . . . . . . . . . .

Bus termination 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

Cable 1-14, 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Field bus 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CCON 5-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CDIR 5-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CI XVI, C-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Classes 1-9, 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningAt the Fieldbus 5-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Procedure 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .with the control panel 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . .With the Festo Configuration Tool (FCT) 5-24. . . . . . . . . . . .

Components 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connections 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Control panel 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Accessing the main menu 4-6. . . . . . . . . . . . . . . . . . . . . . . .Button function (overview) 4-5. . . . . . . . . . . . . . . . . . . . . . .Menu system 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Menu commands (overview) 4-7. . . . . . . . . . . . . . . . . . . . . .Selecting a menu command 4-6. . . . . . . . . . . . . . . . . . . . . .

Controller XVII, 1-3, 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Coupling 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CPOS 5-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Data profile 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Demo mode 5-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device connection 5-92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device control 4-24, 5-8, 5-26. . . . . . . . . . . . . . . . . . . . . . . . .

Device profile 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DeviceNet 1-6, 5-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Classes B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Object directory B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnosis 4-8, B-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Fault messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Overview 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .via Fieldbus 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostic memory 6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensional reference system 1-20. . . . . . . . . . . . . . . . . . . . .

Dimensions 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Direct Task 1-11, 5-32, 5-36, 5-68. . . . . . . . . . . . . . . . . . . . . . .

Direction of motor rotation 1-21. . . . . . . . . . . . . . . . . . . . . . . .

Drive XVII, 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


E

Earthing 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDS file XVI, XX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDS file 5-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Effective stroke 1-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC 3-6, A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder XVII, 1-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Explicit messaging XIX, 1-6, B-3. . . . . . . . . . . . . . . . . . . . . . . .

F

Fault messages 6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault numbers 5-80, 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FCT XVI, XVII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Installing 5-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Starting 5-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo Configuration Tool (FCT) XVII. . . . . . . . . . . . . . . . . . . . . .

Festo Parameter Channel (FPC) XVIII, 5-77. . . . . . . . . . . . . . . .

FHPP XVI, XVII, 1-11, 5-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Finite state machine 5-86. . . . . . . . . . . . . . . . . . . . . . . . . . . .Parameter groups B-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parameter number (PNU) B-12. . . . . . . . . . . . . . . . . . . . . . .

FHPP standard 5-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Field bus 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbus bit rate 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbus cable 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbus length 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Force mode 5-32, 5-53, 5-70. . . . . . . . . . . . . . . . . . . . . . . . . . .

FPC XVI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


H

HMI (see device control) XVIII. . . . . . . . . . . . . . . . . . . . . . . . . .

Homing XVIII, 5-14, 5-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Current limitation 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Discontinuing 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Homing point XVIII, 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . .Method XVIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parameter 4-19, B-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference switch XVIII, 1-14, 3-4, 3-13. . . . . . . . . . . . . . . .Starting 4-14, 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing methodFixed stop 1-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Reference switch 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode XVIII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing Mode (see Homing) 1-16. . . . . . . . . . . . . . . . . . . . . . .

I

I/F 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O data 5-33, 5-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O data length 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O messaging XX, 1-7, B-11. . . . . . . . . . . . . . . . . . . . . . . . . . .

Implicit messaging XX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Increments 1-5, A-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Installation 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LED 6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Load voltage 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Logic voltage 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


M

MAC-ID XVII, XX, 5-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Maintenance 5-93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Menu commands (overview) 4-7. . . . . . . . . . . . . . . . . . . . . . . .

Menu system 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor unit XVIII, 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Dimensions 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Nominal stroke 1-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

O

Object XX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Object directory XX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .CIC-11DeviceNet B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .FHPP B-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ODVA 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating mode XVII, 1-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Profile Position Mode (see Positioning mode) XVIII, 1-15. .Profile Torque Mode (see Force mode) XVIII, 1-16. . . . . . . .

P

Parameter channel (FPC) 5-77. . . . . . . . . . . . . . . . . . . . . . . . . .

Parameter identifier (PKE) 5-77, 5-78. . . . . . . . . . . . . . . . . . . .

Parameter number (PNU) 5-78. . . . . . . . . . . . . . . . . . . . . . . . .

Parameter value (PWE) 5-77. . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameterisation 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


Password 5-93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Activate 4-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Entry 4-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Modifying/deactivating 4-22. . . . . . . . . . . . . . . . . . . . . . . . .Setup 4-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Password (see Password) 4-21. . . . . . . . . . . . . . . . . . . . . . . . .

Plus/minus signs 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PNU XVII, B-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Points of reference 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position set XIX, 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Run 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Starting 4-12, 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position set table 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Compiling 4-20, 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning mode 5-32, 5-68. . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply 3-4, 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Load voltage 3-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Logic voltage 3-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply unit 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile Position Mode (see Positioning mode) XVIII, 1-15. . . .

Profile Torque Mode (see Force mode) XVIII, 1-16. . . . . . . . . .

Project zero point XVIII, 1-19, B-13, B-32, C-13. . . . . . . . . . . .

Protection class 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R

Record selection 1-11, 5-31, 5-35. . . . . . . . . . . . . . . . . . . . . . .

Relative 5-18, 5-42, B-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Request/response identifier (AK) 5-78, 5-79. . . . . . . . . . . . . .

D. Index


S

Safety instructions X. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SCON 5-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Scope of delivery XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SDIR 5-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Segment length 3-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial interface 3-4, 3-11, C-3. . . . . . . . . . . . . . . . . . . . . . . . . .

Service XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software end position 1-19, 5-16, B-32. . . . . . . . . . . . . . . . . .Negative XIX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Positive XIX. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SPOS 5-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Standstill monitoring 5-75, B-52. . . . . . . . . . . . . . . . . . . . . . . .

Start-up behaviour 5-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Strain relief 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch-on sequence 3-10, 5-6. . . . . . . . . . . . . . . . . . . . . . . . . .

T

Target group XI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Teach mode XIX, 4-20, 5-16, 5-18. . . . . . . . . . . . . . . . . . . . . . .

Technical data A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terminating resistor XIX, 3-16. . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission errors C-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Transmission protocol C-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D. Index


U

Units of measurement 1-5, A-14. . . . . . . . . . . . . . . . . . . . . . . .

User instructions XII. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Version XV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

motor unit mtr-dci - festo.com · 3.6.1 connecting the higher-order controller 3-15..... 3.6.2...

Documents