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Description
MTR-DCI-...-PB
Description
539624
en 1209a
[763205]
Motor unit
MTR-DCI
Adobe
, Reader
, PROFIBUS
,
PROFIBUS-DP
,
CANopen
and CiA
are registered brand names of the respective brand

holders in certain countries.
Contents and general safety instructions
I Festo P.BE-MTR-DCI-PB-EN en 1209a
Original de . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Edition en 1209a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Designation P.BE-MTR-DCI-PB-EN . . . . . . . . . . . . . . . . . . . . .
Order-no. 539624 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Festo AG & Co. KG, D-73726 Esslingen, 2012
Internet: http://www.festo.com
Email: service_international@festo.com
Reproduction, distribution or sale of this document or
communication of its contents to others without express
authorization is prohibited. Offenders will be liable for dam-
ages. All rights reserved in the event that a patent, utility
model or design patent is registered.
II Festo P.BE-MTR-DCI-PB-EN en 1209a
III Festo P.BE-MTR-DCI-PB-EN en 1209a
Contents
Intended use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of delivery IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Important user instructions X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Documentation for MTR-DCI motor unit XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About the version XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product-specific terms and abbreviations XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS-specific terms and abbreviations XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. System overview 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Positioning with electric drives 1-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Components 1-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Control and regulating functions 1-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Operational reliability 1-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Dimensional reference system 1-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 Points of reference and positioning range 1-11 . . . . . . . . . . . . . . . . . . . .
1.5.2 Prefixes and directions 1-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.3 Reference travel 1-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 Festo handling and positioning profile (FHPP) 1-18 . . . . . . . . . . . . . . . . . . . . . . . .
2. Mounting 2-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General information 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Power supply requirements 3-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IV Festo P.BE-MTR-DCI-PB-EN en 1209a
3.3.2 Shared supply with load and logic voltage
(not for MTR-DCI-32) 3-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Separate supply with load and logic voltage 3-10 . . . . . . . . . . . . . . . . . .
3.4 Serial interface 3-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Input for external reference switch 3-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Connecting the higher-order controller 3-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Fieldbus cable 3-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2 Fieldbus bit rate and fieldbus length 3-17 . . . . . . . . . . . . . . . . . . . . . . . .
3.6.3 Bus termination 3-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. The control panel (MTR-DCI-...-H2) 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 [Diagnostic] menu 4-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 [Settings] menu 4-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 [Positioning] menu 4-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Menu command [HMI control] 4-22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Commissioning 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Commissioning procedure 5-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Commissioning with the control panel (only MTR-DCI-...-H2) 5-6 . . . . . . . . . . . .
5.2.1 Selecting the axis type 5-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Setting homing parameters 5-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Carrying out homing 5-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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 5-19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.7 Setting PROFIBUS addresses 5-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Commissioning with FCT 5-22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Installing the FCT 5-23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Procedure 5-24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Overview of commissioning on the PROFIBUS 5-26 . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Configuration 5-27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
V Festo P.BE-MTR-DCI-PB-EN en 1209a
5.5.1 Install device master file (GSD file) and icon files. 5-27 . . . . . . . . . . . . . .
5.5.2 I/O configuration 5-28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.3 Configuration with STEP 7 5-29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.4 Startup parameter assignment 5-34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.5 Response monitoring 5-35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.6 Control commands 5-35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Overview of control and parameter assignment methods 5-36 . . . . . . . . . . . . . . .
5.6.1 DPV0 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 DPV1 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Festo profile for handling and positioning (FHPP) 5-37 . . . . . . . . . . . . . . . . . . . . .
5.7.1 Supported operation modes 5-37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.2 Composition of the cyclical I/O data 5-39 . . . . . . . . . . . . . . . . . . . . . . . .
5.7.3 Examples of control and status bytes 5-50 . . . . . . . . . . . . . . . . . . . . . . .
5.8 Drive functions 5-63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.1 Dimensional reference system 5-63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.2 Homing 5-64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.3 Jog mode 5-66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.4 Teaching via fieldbus 5-68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.5 Record Select: Executing a position set record 5-70 . . . . . . . . . . . . . . . .
5.8.6 Direct mode: Specification of a position or force 5-75 . . . . . . . . . . . . . .
5.8.7 Standstill monitoring 5-79 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 Notes on operation 5-81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Diagnostics and fault 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 faults and warnings 6-8 . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Diagnostic memory 6-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Diagnosis via PROFIBUS-DP 6-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Diagnosis via parameter channel 6-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VI Festo P.BE-MTR-DCI-PB-EN en 1209a
A. Technical appendix A-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data A-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Accessories A-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Motor characteristic curves A-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4 Converting the units of measurement A-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. Supplementary information B-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1 Parameter assignment B-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data) B-3 . . . . . .
B.1.2 Request identifiers, response identifiers, fault numbers B-5 . . . . . . . .
B.1.3 Rules for request-response processing B-8 . . . . . . . . . . . . . . . . . . . . . .
B.1.4 Parameter groups B-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5 Overview of parameters B-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.6 Layout of the parameter entries B-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.7 Device data B-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.8 Diagnostics B-25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.9 Process data B-29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.10 Position set table (list of position set records) B-30 . . . . . . . . . . . . . . . .
B.1.11 Project data B-34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.12 Axis parameters for electric drives 1 B-41 . . . . . . . . . . . . . . . . . . . . . . . .
B.2 The Command Interpreter (CI) B-55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.1 Procedure for data transmission B-56 . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.2 CI commands B-59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.3 CI objects (overview) B-63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.4 Additional CI objects B-71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3 FHPP finite state machine B-85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.1 Establishing ready to operate status B-87 . . . . . . . . . . . . . . . . . . . . . .
B.3.2 Positioning B-88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index C-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VII Festo P.BE-MTR-DCI-PB-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. Positioning functions are charac-
terised by high torques at low speeds.
The MTR-DCI has been optimised for use with Festo axes
(e.g. DMES-... or DNCE-...).
This description deals with the basic logic functions of the
MTR-DCI and the Profibus interface.
The MTR-DCI and the connectable modules and cables may
only 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 modifications
described in the documentation supplied with the product)
Observe the safety instructions and intended use in the
documentation for all the components and modules.
Observe the standards specified throughout, as well as
the regulations of the trade associations, the Technical
Inspection Association (TV), the Association of German
Electricians (VDE) or relevant national regulations.
Observe the limit values of all additional components
(e.g. sensors, actuators).
VIII Festo P.BE-MTR-DCI-PB-EN en 1209a
Safety instructions
When commissioning and programming positioning systems,
you must observe the safety regulations in this manual as
well as those in the operating instructions for the other com-
ponents used.
The user must make sure that nobody is in the operating
range of the connected actuators or axis system. Access to
the possible danger area must be prevented by suitable
measures such as protective screens and warning signs.
Warning
Electrical axes can move with high force and at high speed.
Collisions can lead to serious injury to human beings and
damage to components.
Make sure that nobody can reach into the operating range
of the axes or other connected actuators and that no ob-
jects lie in the positioning range while the system is still
connected to a power supply.
Warning
Faults in parameterisation can cause injury to human
beings and damage to property.
Only enable the controller once the axis system has been
installed and parameterised by technically qualified staff.
IX Festo P.BE-MTR-DCI-PB-EN en 1209a
Target group
This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing posi-
tioning systems.
Service
Please consult your local Festo Service or write to the follow-
ing e-mail address if you have any technical problems:
service_international@festo.com
Scope of delivery
The following items are supplied with the MTR-DCI motor
unit:
Motor unit with integrated controller, optionally with
control panel
Operating package on CD-ROM:
User documentation (descriptions)
Festo Configuration Tool with MTR-DCI plugin
User documentation (quick reference guide)
Available as accessories (see Appendix A.2):
Connecting cable and fieldbus plug
Programming cable
User documentation in paper form
X Festo P.BE-MTR-DCI-PB-EN en 1209a
Important user instructions
Danger categories
This manual contains instructions on the possible dangers
which can occur if the product is not used correctly. These
instructions are marked Warning, Caution, etc., are printed on
a shaded background and marked additionally with a
pictogram. A distinction is made between the following
danger warnings:
Warning
... means that failure to observe this instruction may result
in serious personal injury or damage to property.
Caution
in personal injury or damage to property.
Note
in damage to property.
Electrostatically sensitive devices: Incorrect handling can
result in damage to components.
XI Festo P.BE-MTR-DCI-PB-EN en 1209a
Identifying special information
The following pictograms mark passages in the text which
contain special information.
Pictograms
Information:
Recommendations, tips and references to other sources of
information
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 in
any order.
1. Figures denote activities which must be carried out in the
numerical order specified.
Hyphens are used to mark general lists of information.
XII Festo P.BE-MTR-DCI-PB-EN en 1209a
Documentation for MTR-DCI motor unit
This description contains information on the mode of
operation, assembly, installation and commissioning of
electric valve actuators with the motor unit
MTR-DCI-...-PB (PROFIBUS interface).
Information for additional components, e.g. the reference
switches, can be found in the operating instructions supplied
with the product in question.
Type Designation Content
Operating package with
brief description +
descriptions on CD ROM
P.BP-MTR-DCI Brief description: Important instructions
on commissioning and preliminary
information.
Descriptions on CD-ROM: for MTR-DCI-...
motor unit (contents as described
below)
Description Motor unit of type MTR-DCI
with PROFIBUS interface
P.BE-MTR-DCI-PB-DE
P.BE-MTR-DCI-PB-EN
P.BE-MTR-DCI-PB-FR
P.BE-MTR-DCI-PB-IT
P.BE-MTR-DCI-PB-ES
P.BE-MTR-DCI-PB-SV
Installation, commissioning and
diagnosis of electric axes with MTR-DCI
motor unit; communication via
PROFIBUS interface.
Help system for software Festo Configuration Tool
help (contained in FCT
software)
Function description of the Festo Con-
figuration Tool (FCT) configuration soft-
ware.
Operating instructions Axes, e.g.
DMES-... / DNCE-...
Installation and commissioning
Assembly instructions Fieldbus adapter FBA-... as
per Accessories section
Connection and pin allocation
Tab. 0/1: Documentation on the MTR-DCI
XIII Festo P.BE-MTR-DCI-PB-EN en 1209a
About the version
Hardware version Specifies the version status of the mechanical parts and elec-
tronics of the MTR-DCI.
Firmware version Specifies the version status of the operating system of the
MTR-DCI.
You can find the version specifications as follows:
Hardware version and firmware version under Device
data in the Festo Configuration Tool with active device
connection to the MTR-DCI.
Firmware version on the control panel under [Diagnostic]
[Software information]
Firmware
version
What is new? Which FCT plugin?
V1.00 and
higher
Supports the listed sizes of the MTR-DCI-PB in combina-
tion with the following Festo axes:
Motor unitAxes
MTR-DCI-32... DMES-18; DNCE-32
MTR-DCI-42... DMES-25; DNCE-32/40
MTR-DCI-52... DMES-40; DNCE-40/63
MTR-DCI-62... DMES-63; DNCE-63
MTR-DCI V2.0
Tab. 0/2: Firmware versions
XIV Festo P.BE-MTR-DCI-PB-EN en 1209a
Product-specific terms and abbreviations
The following product-specific terms and abbreviations are
used in this manual:
Term/abbreviation Meaning
0-signal Means that there is a 0 V signal present at the input or output (positive
logic, corresponds to LOW)
1-signal Means that there is a 24 V signal present at the input or output (positive
logic, corresponds to HIGH)
Axis Mechanical component of a drive which converts the motor revolutions
into positioning movements of a work load. An axis (e.g. positioning servo
axis DMES-...) enables the work load to be mounted and guided and the
reference switch to be mounted.
Axis zero point (AZ) The axis zero point AZ is defined in relation to the homing point REF (the
reference point). The software end positions and the project zero point
PZ are defined in relation to the AZ.
Controller Electronics which evaluate the sensor signals, calculate movements and
forces and provide the power supply for the motor via the power
electronics.
Drive Complete actuator, consisting of controller, motor, measuring system
and, if applicable, gear and axis.
EMC Electromagnetic compatibility
Encoder Optical pulse generator (rotor position transducer on the motor shaft of
the MTR-DCI). The electric signals generated are sent to the controller,
which then calculates the position and speed on the basis of the signals
received.
Festo Configuration Tool
(FCT)
Commissioning software with uniform project and data management for
all supported device types. The special requirements of a device type are
supported with the necessary descriptions and dialogues by means of
plugins.
Force mode Control of forces by means of current regulation. The motor torque is
controlled indirectly via the regulation of the current. All specification for
forces/torques are defined in relation to the nominal motor torque (rela-
tive to the nominal motor current). The actual force on the axis should be
determined/checked during commissioning using external measuring
devices and adjusted.
XV Festo P.BE-MTR-DCI-PB-EN en 1209a
HMI Human Machine Interface; on the MTR-DCI, this is the control panel with
LCD display and 4 operating buttons.
Homing Anchors the dimensional reference system of the axis at a reference
switch or fixed stop.
Homing method Method for finding the homing point REF: against a fixed stop or with a
reference switch.
Homing mode Operating mode in which homing is carried out.
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 basic
point of reference for the dimensional reference system.
Homing run The homing run defines the homing point and therefore the source of the
dimensional reference system for the axis.
I
O
I/O
Input
Output
Input and/or output
Jog mode Moving manually in positive or negative direction.
Load voltage,
logic voltage
The load voltage supplies power to the power electronics of the con-
troller and thus to the motor. The logic voltage supplies power to the
evaluation and control logic of the controller.
Motor unit Integrated unit consisting of a controller, motor, measuring system and,
if applicable, gears (e.g. motor unit type MTR-DCI).
Operation mode Is used in the following contexts:
Type of access: Record Select, Direct Mode
Internal logical state of the controller: Profile Position Mode,
Profile Torque Mode (force mode), Homing Mode, Demo Mode, ...
PLC Programmable logic controller; or for short: the control system.
Position mode In the position mode, a target position is specified to which the motor
must move. Changes in position are detected by the internal increment
generator (optical encoder). With a known starting point, the actual posi-
tion of the work load is calculated from the gear reduction and (where
applicable) the feed constant.
XVI Festo P.BE-MTR-DCI-PB-EN en 1209a
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
Project zero point (PZ) Point of reference for all positions in positioning tasks. The project zero
point forms the basis for all absolute position specifications (e.g. in the
position set table or with direct control via the controller interface or
diagnostic interface). The point of reference for the project zero point is
the axis zero point.
Reference switch External sensor used for ascertaining the homing point; is directly con-
nected to the controller.
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 be
exceeded during positioning.
Software end position, negative:
Min. limit position in the negative direction; must not be exceeded
during positioning.
Teach mode Operation mode for setting positions by moving to the target position
e.g. when creating position set records.
Tab. 0/3: Index of terms and abbreviations
PROFIBUS-specific terms and abbreviations
0x1234 or 1234h Hexadecimal numbers are marked by the prefix 0x or by the suffix
h.
AK See response identifier and request identifier
BCD Binary coded decimal
Bus segment Bus cable between two terminating resistors. A bus segment contains
maximum 32 stations. A PROFIBUS system consists of at least one bus
segment with at least two stations. With the aid of repeaters further
bus segments can be connected.
XVII Festo P.BE-MTR-DCI-PB-EN en 1209a
Consistency A data range which is defined as consistent is transmitted complete,
i.e. in one bus cycle.
FPC Festo Parameter Channel
GSD/GSG file Device master file in which all specific features of the slave are saved
(e.g. number of I/Os, number of diagnostic bytes etc.).
LSB Least significant bit
MSB Most significant bit
Octet 8 bits; basic type for PROFIBUS telegrams
Parameter channel (PKW) Telegram part used for transmitting parameters (PKW = parameter
identifier value)
Parameter identifier (ParID) Integral part of the parameter channel (PKW) which contains the re-
quest and response identifiers (AK) and the parameter number (PNU).
Parameter number (PNU) Parameters which can be transmitted via the parameter channel are
addressed by their parameter number (PNU). The parameter number
is an integral part of the parameter identifier (ParID) and is used for
identifying or addressing the individual parameter.
ParID See parameter identifier
PKW See parameter channel
PNU See parameter number
Request identifier (AK) Integral part of the parameter channel in request telegrams specifying
the type of request for processing of a parameter.
Repeater Tool for amplifying bus signals and for coupling segments over long
distances.
Request telegram Telegram sent from the master to the slave (request of master)
Response identifier (AK) Integral part of the parameter channel in response telegrams specify-
ing the type of response from processing of a parameter.
Response telegram Telegram sent from the slave to the master (slave response)
XVIII Festo P.BE-MTR-DCI-PB-EN en 1209a
Subindex (IND) Integral part of the parameter channel which addresses an element of
an array parameter (sub-parameter number).
User data Telegram data without protocol frame data. The length of the user
data is defined in the configuration of the field bus slave.
Tab. 0/4: Index of terms and abbreviations for PROFIBUS
System overview
1-1 Festo P.BE-MTR-DCI-PB-EN en 1209a
Chapter 1
System overview
1. System overview
Contents
1.1 Positioning with electric drives 1-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Components 1-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Control and regulating functions 1-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Operational reliability 1-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Dimensional reference system 1-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.1 Points of reference and positioning range 1-12 . . . . . . . . . . . . . . . . . . . .
1.5.2 Prefixes and directions 1-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5.3 Reference travel 1-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 Festo handling and positioning profile (FHPP) 1-19 . . . . . . . . . . . . . . . . . . . . . . . .
1. System overview
1.1 Positioning with electric drives
1 Process control
and parameter
access through
the higher-order
controller /
fieldbus master
2 Software level:
commissioning
with the Festo
Configuration
Tool software
3 Drive level with
Motor unit
Coupling
Coupling
housing
Axis
CANopen
I/O
RS232
1 2
3
Profibus
DeviceNet
Fig. 1/1: Principle of positioning system with the MTR-DCI
The motor unit MTR-DCI-...-DN with PROFIBUS allows posi-
tioning of the connected linear or rotation axes in corres-
pondence with the Festo Handling and Positioning Profile
1. System overview
You can parameterise and commission the MTR-DCI as
follows:
with the FCT software package via the RS232 interface of
your PC
with the optional control panel with display and 4 operat-
ing buttons (only MTR-DCI-...-H2)
via PROFIBUS.
Functions HMI FCT PROFIBUS
Parameter as-
signment
Selecting the axis type and the axis para-
meters
Specifying a gear factor (for external
gears)
Uploading/downloading configuration
data
Saving different configurations in projects
x
x
x
x
x
x
x
x
(x)
Position records
Compiling a position set table with set re-
cord number, target position, positioning
mode, positioning speed, acceleration
x x x
Commissioning
Homing run
Jog mode
Teaching positions
Moving in individual steps
Starting and stopping positioning pro-
cedures while commissioning
Extended test functions e.g. status
displays
Testing or demonstrating the position
records
x
x
x
x
(x)
x
x
x
x
X
X
X
x
x
x
x
X
X
X
x
Diagnostics/
Service
Reading and displaying diagnostics data x x
1. System overview
All parameters are input or displayed corresponding to the
set units of measurement.
Units of measurement
Control
panel
FCT Profibus
Linear axis Metric Metric units of measurement,
e.g. mm, mm/s, mm/s
2
x x
inch
1)
Imperial units of
measurement, e.g. inch,
inch/s, inch/s
2
x
Increments Increment-based units of
measurement, e.g. inc, inc/s,
inc/s
2
x
Axis of
rotation
Degree Angular dimensions
360 = 1 revolution
e.g. deg, deg/s, deg/s
2
x x
Revolutions
2)
Number of revolutions
e.g. rev, rev/min, rev/min
2
x
Increments Increment-based units of
measurement, e.g. inc, inc/s,
inc/s
2
x
1)
Only with FCT when creating a project.
2)
Setting only with the control panel [Settings] [Axis type] [Rotation axis]
The setting of the units of measurement influences only the
display. All the parameters in the controller are saved intern-
ally in increments (inc, inc/s, inc/s
2
...) and are not converted
until they are written in or read.
Dimensions transmitted via PROFIBUS or RS232 are based on
increments (for conversion see appendix A.4).
1. System overview
1.2 Components
To configure an electric drive with the MTR-DCI you will re-
quire the following components:
Motor unit MTR-DCI Motor with controller, available in 4 sizes, optionally with
control panel (type ...-H2).
By means of different gear reductions, different
requirements can be fulfilled in respect of (gear unit) output
torque and (gear unit) output speed (see appendix A.1).
High torques with low rotational speed are typical for
positioning functions. With the smaller gear reduction, the
travel speed of the axis can be increased with
correspondingly reduced force.
Axis Linear or rotation axes as per catalogue
Coupling with coupling
housing
For the axial attachment of Festo axes, e.g. type DMES-... or
type DNCE-..., couplings and coupling housings are
available as accessories. The motor unit is connected to the
axis by means of a clamping connector in the coupling
housing. The use of supplementary motor flanges is
therefore unnecessary. Additional information can be found
in the operating instructions for the axis.
Power supply cable Power supply to the MTR-DCI via a power supply unit.
The power supply for the electronics (logic voltage) can
also take place separated from the load voltage (see
section 3.3).
Programming cable Parameterisation of the MTR-DCI during commissioning with
the FCT
Fieldbus adapter For separate power supply to the logic components.
Protection class IP 54. Refer to sections 3.2.3 and A.2.
Fieldbus cable Operating the MTR-DCI on a higher-order controller
(PLC/IPC).
Reference switch Sensor as per appendix A.2.
Accessories For positioning systems, Festo offers adapted matching
accessories (see Festo product range or catalogue).
1. System overview
1.3 Control and regulating functions
The controller takes over the following tasks:
Control via FHPP
Specification of the nominal values
Regulation of the following variables: position, speed,
acceleration, current.
1 Motor controller
2 Regulator
3 Nominal
value generator
4 Position
controller
5 Speed regulator
6 Current regulator
7 Output stage
8 Signal converter
M P PI
3
8
4
5 6 7
1
2
P
Fig. 1/2: Simplified diagram of the cascade controller
Profile position mode Positioning mode
Operating mode for executing a position set or a direct posi-
tioning task with position control (closed loop position con-
trol).
The target position defines the position to which the drive
controller is to move. The target position is interpreted either
as an absolute or relative specification. The set target posi-
tion is transferred to the nominal value generator. This gener-
ates a position nominal value for the position controller. The
current settings for speed, acceleration, braking deceleration,
etc. are taken into account for position control.
1. System overview
Changes in position are recognized by the internal increment-
al encoder (optical encoder). With a known starting point, the
actual position is calculated from the gear reduction and/or
the spindle pitch.
Profile torque mode Force control.
Force control (open loop transmission control) via regulation
of the motor current. This operating mode enables an extern-
al torque nominal value (relative to the motor nominal cur-
rent) to be specified to the controller. Power control takes
place indirectly via the regulation of the motor current. All
specifications on forces/torques refer to the motor nominal
torque or current.
Referencing mode Reference travel.
Execution of a positioning procedure in which the reference
point and therefore the source of the measuring reference
system of the axis are defined, e.g. via a reference switch
within the possible travel distance or with overcurrent evalu-
ation in the case of movement to a stop.
For commissioning, for testing or for demonstration, the fol-
lowing supplementary functions are also available via the
control panel of the MTR-DCI-...H2:
Positioning travel for defining the target position of a pos-
itioning record (teach mode), [Settings][Position set]
Positioning travel for testing all positioning records in the
positioning record table [Demo posit tab].
Positioning travel for testing a certain positioning record
in the positioning record table [Move posit set].
1. System overview
1.4 Operational reliability
An extensive system of sensors and monitoring functions
ensures operational safety:
i
2
t-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...: detection of overvoltages in the inter-
mediate circuit; brake chopper integrated.
Position lag error monitoring
Software end position detection
Observe the following:
By the arrangement of the limit switches and, if neces-
sary, additionally by means of mechanical stops, make
sure that the axis always lies within the permissible posi-
tioning range.
1. System overview
Warning
Check the measures which are required within the
framework of your EMERGENCY OFF circuit for switching
your system into a safe state in the event of an EMER-
GENCY STOP.
If corresponding EMERGENCY OFF circuitry is necessary
for your application, use additional, separated safety
limit switches (e.g. as normally closed limit switches
wired in series connection)
For disconnecting the ENABLE signal at the controller
interface,
For switching off the load voltage as needed.
1. System overview
1.5 Dimensional reference system
For commissioning, a measuring reference system for refer-
encing the reference coordinates must be defined. By means
of the measuring reference system, all (absolute) positions
are defined and can be moved to.
1.5.1 Points of reference and positioning range
The measuring reference system is defined as follows:
1. Reference travel for defining the reference point
2. Setting the zero point (axis zero point and project zero
point offset)
3. Limiting the positioning range (software end positions).
Reference point REF Anchors the measuring reference system at either a reference
switch or fixed stop in dependence on the reference travel
method. (see also section Reference travel).
Axis zero point AZ Is a point at a distance displaced from the reference point
REF (this distance is the axis zero point offset).
Project zero point PZ Is a user-definable point of reference which can be selected
within the effective stroke and to which the actual position as
well as the target positions in the position set table refer.
The project zero point is shifted by a defined distance to the
axis zero point AZ (project zero point offset). The project zero
point PZ can only be set via FCT, CI object 21F4
h
or FHPP
PNU 500 (not on the control panel).
Software end positions The permissible positioning range (effective stroke) is limited
by the settings of the software end positions. The software
end positions refer to the axis zero point. If the target posi-
tion of a positioning command lies outside of the software
limits, the positioning command will not be processed and an
error status will be set.
1. System overview
Measuring reference system
e
f
Linear axis with reference travel method:
Fixed stop
Rotation axis with reference travel method:
Reference switch
REF
AZ
PZ
Reference point: point determined by the reference travel: reference switch or stop.
Axis zero point: point of reference for the project zero point and software end positions.
Project zero point: point of reference for the actual position and absolute positions of the
positioning record table.
a
b, c
d
Axis zero point offset: distance between axis zero point AZ and reference point REF
Software end positions offsets: limit the permissible positioning range (effective stroke)
Project zero point offset: distance from AZ
e
f
Effective stroke: permitted travel range
Nominal stroke of the axis used
Tab. 1/1: 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. 1/2: Calculation rules for the measuring reference sys-
tem with incremental measuring systems
1.5.2 Prefixes and directions
All offsets and position values are vectors (with prefix). The
+/- active direction of the vectors can be assigned to the dir-
ection of rotation of the motor shaft (view on the motor
shaft). The factory setting for a clockwise direction of rotation
is +; for an anti-clockwise direction of rotation, -. The
assignment can be reversed on the control panel (see chapter
4.4) or via the FCT. This can be advantageous when using
right-angle or toothed belt gearboxes. A new reference travel
is required after a reversal of direction.
The direction in which the effective load moves is dependent
on the gear unit, the spindle type (clockwise/anti-clockwise
rotation), the prefix for the position specifications (+/-) and
the active direction set:
1. System overview
+
1
2
+
1 Factory setting of the active direction

2 Reversal of direction by changing the active direction
Fig. 1/3: Setting the active direction (on example MTR-DCI +
DMES, axial gear, clockwise rotating spindle)
1. System overview
1.5.3 Reference travel
In the case of drives with incremental measuring system, a
reference travel must always be carried out after the drive is
switched on. This is defined drive-specifically with the para-
meter Reference travel required (PNU 1014, CI 23F6h).
The following reference travel modes are permissible:
Search for stop in a negative direction
Search for stop in a positive direction
Search for reference switch in a positive direction
Search for reference switch in a negative direction (de-
fault).
In order to search for the reference point and for positioning
the drive in the axis zero point, you can set two different
speeds.
Reference travel sequence:
1. Search for the reference point in accordance with the con-
figured method
2. Move from reference point to axis zero point AZ (axis zero
point offset)
3. Set at axis zero point:
Current position = 0 project zero point PZ offset
After successful reference travel, the drive stands at the axis
zero point AZ. On initial start-up or following a change of ref-
erence travel method the axis zero offset = 0; after reference
travel the drive is then positioned at the reference point REF.
1. System overview
Search for fixed stop With this reference travel method, at first the drive moves at
search speed in a negative or positive direction until it
reaches the fixed stop. A rise in the motor current signals that
the stop has been reached. When the maximum motor cur-
rent is reached and simultaneously the motor is at a stand-
still, the MTR-DCI recognizes that the stop, and therefore the
reference position, has been reached.
As the axis must not stand still at the stop, the axis zero point
offset must be 0 (min. 0.25 mm).
+
REF (-)
AZ
REF (+)
1
2
AZ
1 Stop in a negative direction
2 Stop in a positive direction
Fig. 1/4: Search for fixed stop reference travel method
1. System overview
Search for reference switch With this reference travel method, at first the drive moves at
search speed in a negative or positive direction until it
reaches the limit switch. Then it moves back at crawl speed:
the reference position lies at the point at which the reference
switch becomes 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. 1/5: Search for reference switch reference travel method
If the drive is at the reference switch at the start of reference
travel, it will move in the opposite direction from the refer-
ence switch. The drive then moves as usual to the axis zero
point.
1. System overview
1.6 Festo handling and positioning profile (FHPP)
Tailored to handling and positioning tasks, Festo has devel-
oped an optimised data profile, known as the Festo
Handling and Positioning Profile (FHPP).
The FHPP enables uniform control and programming for
Festo's various fieldbus systems and controllers.
In addition it defines the following for the user:
The operation modes
The I/O data structure
The parameter objects
The sequence control
Fieldbus communication
Record Select
Free access to all
parameters
for reading and writing
. . .
Direct mode Parameter channel
Mode Position Velocity
. . .
1
2
3
...
n
>
Fig. 1/6: The FHPP principle
Detailed information on the FHPP can be found in section 5.7.
1. System overview
Control and status bytes
Communication via the fieldbus takes place via 8 control and
status bytes. Functions and status messages required during
operation can be controlled directly mostly with single-bit
operations.
Record Select
The Record Select mode can be used to execute position set
records saved in the MTR-DCI.
For this purpose, up to 31 position sets are parameterised
during commissioning either using the Festo Configuration
Tool or taught via the control panel.
Direct mode
In the Direct mode the important positioning data are trans-
ferred directly via the control bytes.
The controller can determine and specify target positions
and speeds according to the current operating status,
during running time. No limitation is imposed by the
number of saved position set records.
Alternatively, a torque (or force) can be specified relative
to the nominal motor current, which the MTR-DCI needs
to apply.
Festo Parameter Channel (FPC)
The parameter channel lets the higher-order controller access
all parameter values of the controller via the fieldbus.
A further 8 control and status bytes are used for this purpose.
1. System overview
Mounting
Chapter 2
Mounting
2. Mounting
Contents
2.1 General information 2-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Dimensions of the motor unit 2-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Mounting the electric axes 2-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Mounting
2.1 General information
Warning
Danger of electric shock, short circuiting or unexpected
drive motion
Always switch off all power supply before carrying out
mounting, installation and maintenance work.
Note
Handle all modules and components with great care. Note
especially the following:
Screw connections must be fitted free of distortion and
mechanical tension. Screws must be fitted accurately
(otherwise threads will be damaged).
The specified torques must be observed.
The modules must not be offset from one another.
Contact surfaces must be clean (avoid contact faults).
2. Mounting
2.2 Dimensions of the motor unit
H
0
H
2
H
1
B1
B2
D
1
D
2
D
3
D
4
L1
L2 L3
L4 L5
5
13
T1
Sizes [mm] 32 42 52 62
Gear reduction G7/G14 G7 G14 G7 G14 G7/G14/G22
Diameter of
flange/shaft
D D1
D2
D3
D4
21.5 h8
6 h7
42 g10
42 0.1
25 h8
8 h7
52 g10
52 0.1
32 h8
12 h7
62 g10
62 0.1
40 j7
14 h7
Height H H0
H1
H2
65.3 0.4
21.6 0.15
41.5 0.3
70.8 0.4
26.5 0.6
54.5 0.4
94.8 0.4
37 0.9
76.5 0.4
128 0.5
60.8 0.35
128 0.5
Length L L1
L2
L3
L4
175.51
18.7 0.6
2.5 0.3
176 1
33.3 1
25 1
2 0.2
176 1
46.3 1
25 1
2 0.2
194 1
39 1
33 1
3 0.3
194 1
53 1
33 1
3 0.3
270 1
47 1
39 1
5 0.3
Width B B1
B2
33.8 0.3
46.3 0.4
44.8 0.4
53.3 0.4
63.8 0.4
69.5 0.4
105.1 0.4
105.1 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 the
documentation for the axis used and the additional compo-
nents.
Warning
If an axis is mounted in a sloping or vertical position,
falling work loads could cause injuries.
Use the motor unit preferably with self-locking or self-
braking spindle drives. This prevents the work load
sliding down suddenly if there is a power failure.
With DMES-...: check whether additional external safety
measures 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 sufficient
size for operation with a work load
The work load does not collide with any component of the
drive when the slide moves into the end position
Make sure that you observe the maximum safe values for
the following variables. The point of reference for forces
and torques is the centre of the shaft (L3 see Tab. 2/1).
2. Mounting
L3
L3 x 0.5
F
y
F
x
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 safe shaft output torque for the
gear
1)
F
y
[N]
F
x
[N]
Mx [Nm]
40
10
0.4
160
50
0.8
200
60
2.0
240
50
4
MTR-DCI-...-G14/G22 2-stage
Radial shaft load
Axial shaft load
Maximum safe shaft output torque for the
gear
1)
F
y
[N]
F
x
[N]
M
x
[Nm]
70
20
1.0
230
80
7.5
320
100
12.0
360
70
25
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, Mech-
anical data.
2)
MTR-DCI-62...-G22: In the start-up phase, torque peaks up to 37 Nm are possible at 20 A peak
current.
Tab. 2/2: Safe load for the gear shaft
2. Mounting
Note
Motor unit MTR-DCI-62-...-G22 can generate torque peaks
of up to 37 Nm at a peak current of 20 A in the start-up
phase.
Make sure by calculating the dynamic loading that
the maximum safe shaft output torque for the gear is
not exceeded even in the start-up phase (e.g. by reduc-
ing the load).
Use the thread on the front of the gear (see Fig. 2/2) when
mounting the MTR-DCI to a mechanical drive fixture (machine
frame).
In order to minimise the shaft offset: position the axis with
the 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 the
4 screws with the specified tightening torque.
Motor unit type MTR-DCI-32 has a total of 6 threads for
different motor mounting variants (axial, parallel). In each
case, only 4 screws must be used.
Size Thread /
thread depth
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 mount Festo axes e.g. type DMES- or type DNCE-, coup-
lings and coupling housings are available as accessories. The
motor unit is connected to the axis by means of a clamp in the
coupling housing. Additional motor flanges are not therefore
necessary. Further information can be found in appendix A.2
and in the operating instructions for the axis.
25
25
50
M3 x6 (6)
dia. 32
32
M 4 x10(4x)
M 3 x7 (4x)
d
i
a
.
3
2
d
i
a
.
3
6
4
x
9
0
4
x
9
0
28
M 5 x10(4X)
4
X
9
0
45
d
i
a
.
5
0
M 5 x10(4x)
4
x
9
0
30
d
i
a
.
4
0
MTR-DCI-32-...
MTR-DCI-42-...
MTR-DCI-52-...
MTR-DCI-62-...
Fig. 2/2: Mounting the drive by means of front threads (direct fastening)
Installation
Chapter 3
Installation
3. Installation
Contents
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
(not for MTR-DCI-32) 3-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Separate supply with load and logic voltage 3-10 . . . . . . . . . . . . . . . . . .
3.4 Serial interface 3-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Input for external reference switch 3-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Connecting the higher-order controller 3-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Fieldbus cable 3-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2 Fieldbus bit rate and fieldbus length 3-17 . . . . . . . . . . . . . . . . . . . . . . . .
3.6.3 Bus termination 3-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Installation
3.1 Overview of installation
Warning
Danger of electric shock, short circuiting or unexpected
drive motion
Always switch off all power supply before carrying out
mounting, installation and maintenance work.
Caution
Earth loops or ground loops could result in EMC protective
measures becoming ineffective, with high compensating
currents permanently damaging the motor unit.
Connect only one cable screening to functional earth FE
(preferably the screen for the power supply cable).
Do not link the GND terminal to any housing, screen or
functional earth FE !
Caution
Faulty pre-assembled lines may destroy the electronics
and trigger unexpected movements of the motor.
For cabling the electric components of the system, use
only the cables listed as accessories (see Tab. 3/2). Only
in this way is proper system functioning ensured.
3. Installation
1 Parameter
assignment
2 Reference switch
3 PLC controller
4 Power supply
1
2
3
4
Fig. 3/1: Connections on the MTR-DCI
Connection on the MTR-DCI Description
1 Parameter assign-
ment
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 type
in PNP configuration
3 PLC controller
Sub-D, 9-pin
Socket
Interface for connecting to a PLC controller
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 a
danger that damage may occur to the MTR-DCI or to other
parts of the system as a result of ESD (electrostatic dis-
charge). Place protective caps on unused terminals in order
to prevent such discharges.
3. Installation
The plug connectors on the Festo cables listed in the follow-
ing are of protection class IP54.
Connection Cable Designation Length [m]
Parameterisation Programming cable KDI-MC-M8-SUB-9-2.5 2.5 (max. 2.5)
Reference switch Connecting cable KM8-M8-GSGD-... 0.5 / 1 / 2 / 5
Power supply Power supply cable KPWR-MC-1-SUB-9HC-... 2.5 / 5 / 10
(max. 10)
PLC controller Fieldbus adapter FBA-...
for connecting the fieldbus
cable
FBA-PB-SUB-9-3XM12
Tab. 3/2: Overview of cables (accessories)
To maintain the IP protection class:
Seal unused M8 terminals with ISK-M8 protective caps
(accessories)
Tighten the union nuts/locking screws on the plugs by
hand (torques: see documentation for cables and plugs).
Caution
Long lines reduce immunity to interference (EMC).
Do not exceed the specified maximum cable lengths.
Note
Lay all moveable motor and sensor cables free of bends
and free of mechanical stress, in a drag chain if ne-
cessary.
3. Installation
3.2 Earthing
Note
Connect the earth terminal of the MTR-DCI with low im-
pedance (short cable with large cross section area) to
the earth potential.
This prevents interference from electromagnetic sources
and ensures electromagnetic compatibility in accordance
with EMC directives.
In order to connect the MTR-DCI to the earth potential, use
only the following earth terminal:
Earthing strap on free end of the power supply cable; see
assembly instructions for cable KPWR-MC-1-SUB-9HC-...
(see chapter 3.3.2)
Caution
Earth or ground loops can make EMC safety measures
ineffective and allow high compensating currents to dam-
age the motor unit.
Connect only the cable screening of the power supply
cable to the functional earth FE.
Do not connect the terminal GND with the housing,
screening, or functional earth FE!
Never connect one of the power supply connections (see
chapter 3.2, A1, A2) with FE or with the housing.
This will avoid damaging the device and the impairing EMC
protection functions.
3. Installation
3.3 Power supply
3.3.1 Power supply requirements
Warning
To provide the electric power supply, use only PELV
circuits as per IEC/DIN EN 60204-1 (Protective Extra-Low
Voltage = PELV).
Take into account also the general requirements for
PELV circuits as per IEC/DIN EN 60204-1.
Use only power sources which provide reliable electrical
isolation of the operating voltage as per IEC/
DIN EN 60204-1.
The use of PELV power units guarantees protection against
electric shock (protection against direct and indirect contact)
in accordance with IEC/DIN EN 60204-1 (Electrical Equipment
of Machines, General Requirements).
Caution
Device damage from overvoltage
The voltage inputs of the motor unit have no internal
protection against overvoltage.
Make sure that the permitted voltage tolerance is not
exceeded. The tolerance must also be observed directly
at the operating voltage connections on the MTR-DCI
(see appendix A.1).
Install external fuses (see Tab. 3/3).
3. Installation
Load voltage The power electronics and thereby the motor are supplied
with DC voltage via the power supply connection.
}section 3.3.2
Logic voltage The logic components are either also supplied via the power
supply connection (except for MTR-DCI-32), or are supplied
separately from the load voltage via the fieldbus adapter
FBA-... }Section 3.3.3
The permitted voltages and currents can be found in appen-
dix A.1.
Recommendation
For the load voltage supply, use a stabilised power supply
unit with high reserve capacity and external fuses.
Power supply units and fuses:
MTR--32 MTR--42 MTR--52 MTR--62
Recommended
power unit
(stabilised)
DC 24 V /3 A DC 24 V/6 A DC 24 V/10 A DC 48 V/20 A
External fuse,
secondary
5 A slow-blowing 7 A slow-blowing 10Aslow-blowing 25Aslow-blowing
Tab. 3/3: Power supply units (for load voltage) and fuses
3. Installation
(not for MTR-DCI-32)
A1 A2
A1 A2
Fig. 3/2: Connection example power supply with external
fuse
Use the power supply cable
KPWR-MC-1-SUB-9HC-... (max. length of 10 m).
Connect only one cable screening to the functional earth
FE (preferably the screening of the power supply cable).
Do not link the GND terminal to any housing, screen or
functional earth FE!
Plug Pin Colour
1)
Description
A1 A2
A1 Black (1) MTR-DCI-32/42/52:
MTR-DCI-62:
POWER +24 VDC
POWER +48 VDC
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 connect the GND terminal to any housing, screen or functional earth (FE)!
Tab. 3/4: Connecting the power supply to the motor unit
3. Installation
3.3.3 Separate supply with load and logic voltage
With separate supply, the load voltage can be switched off
(e.g. in the case of EMERGENCY-STOP), with logic voltage
continuing to be applied and the controller remaining func-
tional, retaining its reference position.
Supply with load voltage is as above (see 3.3.2).
The logic voltage, however, is supplied via the fieldbus
adapter FBA-... (see Accessories chapter) :
1 Fieldbus
connection
2 Continuation of
the fieldbus or
terminating
resistor
3 Supply of
separate logic
voltage
1 2 3
For the pin allocation and connection specification, see the
installation manual of the fieldbus adapter.
If connection 3is not used: apply a protective cap to main-
tain the IP protection class (see A.2).
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 on
again (= 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,
it will switch back on but will lose its reference position
(= reset).
3. Installation
3.4 Serial interface
Serial interface for parameter assignment, commissioning
and diagnosis
In order to connect a PC to the MTR-DCI, use exclusively the
following cable:
Programming cable KDI-MC-M8-SUB-9-2,5
1. If necessary, remove the protective cap from the serial
interface of the MTR-DCI.
2. Connect the following terminals using the programming
cable:
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 staff do not
connect!
1)
The levels correspond to the RS232 standard and enable a data
transmission rate of 9600 bit/s
Tab. 3/5: Pin allocation for the serial interface on the MTR-
DCI
3. Installation
Information on commissioning and parameterising the
MTR-DCI via the serial interface can be found in chapter 5.3
and in the help system for the FCT software package.
Information on transmitting CI commands via the serial
interface can be found in appendix B.2.2.
Note
The RS232 interface is not galvanically separated. It is not
appropriate 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 terminal with the supplied protective cap (ISK-
M8).
3. Installation
3.5 Input for external reference switch
If you are not using a reference switch:
Seal the terminal with the supplied protective cap
(ISK-M8).
When selecting the reference switch:
For the reference switch, use the correct normally-open
switch type in PNP configuration.
Use a reference switch with screw-type lock (external
thread M8x1) at the cable end or as adapter the exten-
sion cable KM8-M8-... with screw-type lock.
When selecting the sensor, note that the accuracy of the
switchover point of the sensor determines the accuracy of
the homing (reference) point.
Suitable proximity switches from Festo can be found in the
appendix A.2 Accessories.
M8x1 socket Description
1 3 4
1 DC +24 V DC +24 V voltage output
(only for reference switch)
4 REF Reference switch contact
3 GND Ground
Tab. 3/6: 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
Caution
Damage to the device
The DC +24 V voltage on pin 1 does not have any special
protection against overload; the voltage is taken from the
main supply with protection against ESD and incorrect
polarity.
Use this connection only for the reference switch
(sensor supply).
Use of this connection as a power supply for other devices
is not safe.
The input for REF sensor signal complies in its electrical
properties with the input specifications in the appendix
Technical data.
3. Installation
3.6 Connecting the higher-order controller
Communication with the higher-order controller occurs via
the control connection on the MTR-DCI-... . This connection is
used for infeed and continuation of the fieldbus line.
Connection Pin Designation Function
5 1
9
6
1 Screen/housing Connection to functional earth
2)
2 Logic_GND
1)
Earth (GROUND) for logic voltage
3 RxD/TxD-P Receive/transmit data P
4 CNTR-P Control signal repeater
5 DGND Data reference potential (M5V)
6 VP Supply voltage positive (P5V)
7 Logic_POWER
1)
Logic voltage 24 VDC
8 RxD/TxD-N Receive/transmit data N
9 n.c. Not connected
1) Only with separate logic voltage supply, see section 3.3.
2) Connect only one cable screening to functional earth FE (preferably the screen for the
power supply cable).
Tab. 3/7: I/F connection (controller connection)
Caution
Device damage with other PROFIBUS devices
When using the separate logic voltage supply via the field-
bus adapter FBA-... (see chapter Accessories) there will be
a voltage of DC 24V at pin 7.
Check whether there is any hazard for other fieldbus
stations.
Observe the pin allocation in accordance with the as-
sembly instructions for the fieldbus adapter.
3. Installation
3.6.1 Fieldbus cable
Note
If installation has not been carried out correctly and if high
baud rates are used, data transmission errors may occur
as a result of signal reflections and attenuations.
Causes of the transmission faults may be:
Missing or incorrect terminating resistor
Incorrect screening/shield connection
Branches
Transmission over long distances
Unsuitable cables
Observe the cable specifications. Refer to your controller
manual for information on the type of cable to be used.
Note
If the MTR-DCI is mounted onto a moving part of a ma-
chine, the fieldbus cable on the moving part must be pro-
vided with strain relief. Please observe also the relevant
regulations in EN 60204 part 1.
Use a twisted, screened 2-core cable for the fieldbus cable in
accordance with PROFIBUS specifications (EN 50170, cable
type A):
Surge impedance: 135-165 ohm (3-20 MHz)
Capacitance per unit length: < 30 nF/km
Loop resistance: < 110 Ohm/km
Core diameter: > 0.64 mm
Core cross-section: > 0.34 mm
2
Bus length Exact specifications on the bus length can be found in the
next section and in the manuals for your control system.
3. Installation
3.6.2 Fieldbus bit rate and fieldbus length
Note
The maximum permissible fieldbus segment lengths are
dependent on the bit rate used.
Observe the maximum permissible segment length
(cable length without repeater) if you connect the MTR-
DCI to a fieldbus segment.
Avoid branch lines.
The bit rate is defined by the master and is automatically de-
tected by the MTR-DCI-...-PB.
Bit rate Maximum segment length
9.6, 19.2, 45.45, 93.75 kBit/s 1200 m
187.5 kBit/s 1000 m
500 kBit/s 400 m
1500 kBit/s 200 m
1.5 ... 12 MBit/s 100 m
Tab. 3/8: Maximum fieldbus segment lengths for PROFIBUS-
DP in dependence on the bit rate
3. Installation
3.6.3 Bus termination
Note
If the MTR-DCI-...-PB is at the beginning or end of the field-
bus segment, a bus termination will be required.
Fit a bus termination resistor to both ends of a bus seg-
ment.
If the fieldbus adapter FBA-... is used (see chapter A.2 Acces-
sories), a conventional terminating resistor can be con-
nected to the connection for fieldbus continuation 2.
1 2 3
1 Fieldbus connection
2 Continuation of the fieldbus or terminating resistor
3 Supply of separate logic voltage
For the pin allocation and connection specification, see the
installation manual of the fieldbus adapter.
The control panel (MTR-DCI-...-H2)
Chapter 4
The control panel (type MTR-DCI-...-H2)
4. The control panel (type MTR-DCI-...-H2)
Contents
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 [Diagnostic] menu 4-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 [Settings] menu 4-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 [Positioning] menu 4-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Menu command [HMI control] 4-22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor unit MTR-DCI-...-H2 offers all functions required for
commissioning, programming and diagnostics on the control
panel. An overview of the key and menu functions can be
found in this chapter.
Commissioning with the control panel is described from
chapter 5.2 onwards.
With the MTR-DCI-...-R2 (without control panel), you can
execute commissioning of the MTR-DCI via the RS232 inter-
face (with FCT software). Instructions on this can be found in
chapter 5.3.
Caution
Simultaneous access of control functions and operating
functions by the FCT and the control panel can cause
faults.
Make sure that FCT and the control panel are not in use
at the same time.
Note
If necessary, remove the protective film from the display
before commissioning.
4.1 Composition and function of the control panel
The control panel enables commissioning directly on the
MTR-DCI with the following functions:
Parameter assignment and referencing the axis (homing)
Entering position set records
Test functions e.g. for moving to individual position set
records
1 LCD display
2 Operating
buttons
3 LEDs
Power (green)
I/F (green/red)
Error (red)
1
3 2
Fig. 4/1: Control panel of the MTR-DCI-...-H2
With the 4 buttons on the control panel you can carry out all
operating functions and settings by means of menus. The
graphical LCD display shows all texts in English. The display
can be rotated in 90 steps; see menu command [LCD adjust-
ment].
The operating statuses are indicated visually by 3 LEDs
(see also section 6.2).
Power: Power supply
I/F: Communication status (red),
positioning status (green)
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 menu level
or status display.
EMERG.STOP Interrupts the current positioning
procedure (>Error mode; confirm with
<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 pro-
cedure (only in Demo mode).
After stop: display of current posi-
tion; use <Menu> to return to the
higher menu level.
<- -> Scrolls within a menu level in order to
select a menu command.
v
V
EDIT Sets parameters.
Tab. 4/1: Button function (overview)
MTR-DCI...
X
a
= 0.00 mm
HMI:off PB:none
<Menu>
} Diagnostic
Positioning
Settings
V ESC <Menu>
<--> OK <Enter>
} HMI control
LCD adjustment
v ESC <Menu>
<--> OK <Enter>
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 display
briefly 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 x
a
= ....
The current setting for device control
(HMI = Human Machine Interface)
The PROFIBUS address of the MTR-DCI (PB:...).
The main menu is accessed from the status display using the
<Menu> button. The current button function will be displayed
in the lower lines of the LCD display.
Function Button
<- -> You can use the arrow keys on the control panel
to select a menu item from the list. The current
selection is marked with an arrow ( }Diagnos-
tic). Select the menu itemVin order to display
further menu items (HMI control...).
v
V
ESC With <Menu> you can interrupt the current entry
and return in stages to the higher menu level or
status display.
Menu
OK With<Enter> you can confirm the current selection
or entry.
Enter
Tab. 4/2: Button function (menu selection)
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
} Systemparamet Displays system parameters and system data
} PROFIBUSDiag Displays PROFIBUS diagnosis data
} SWinformation Displays the operating system version (firmware)
} Positioning
1) 2)
Homing and positioning runs for testing the position set records (see section 4.5)
} 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 4.4)
} Axis type } Type DMES-... Valve actuator DMES-...
} Type DNCE-... Electric cylinder DNCE-...
} Rotationdrive 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
} Homingmethod Selection of reference travel method (stop, software limit switch...)
} Velocity v_sw Positioning speed for searching for the homing point
} Velocity v_s0 Positioning speed for moving to the axis zero point
} Positionset } Positionnr. Number of the position set record (0...31)
} Pos set mode Absolute or relative positioning
} Position
3)
Target position of the position set record
} Velocity Positioning speed of the position set record
} Passwordedit Sets upa local passwordwith 3digitsfor the control panel (see section4.4).
} PBParameter Sets the PROFIBUS address
} HMI control
1)
Presetting for device control via the control panel (see section 4.6)
} LCD adjustment Rotates the display in steps of 90
1)
May be password-protected
3)
Teach mode
2)
Control interface must be deactivated; see [HMI control] :HMI = on
Tab. 4/3: Menu commands (overview)
} Diagnostic
} Pos.set table
Axis parameter
System paramet.
PROFIBUS Diag
SW information
4.3 [Diagnostic] menu
In order to display the system data and the currently effective
settings:
1. Use the arrow keys to select [Diagnostic] from the main
menu and press the <Enter> button.
2. Select one of the following menu commands:
Position set table [Pos. set table]
Axis parameters [Axis parameter]
System parameters [System paramet.]
PROFIBUS diagnostic data [PROFIBUS Diag]
Firmware version for the MTR-DCI [SW information]
Function Button
<- -> You can scroll through the diagnos-
tic data with the arrow keys.
v V
ESC With <Menu> you can return to the
higher menu level.
Menu
[Pos. set table] Menu command for displaying the following entries from the
position set table:
[Pos. set table] Description
Nr Number of the position record (0...31)
a/r Absolute (a) or relative (r) positioning
Pos Target position
Vel Positioning speed
[Axis parameter] Menu command for displaying the following axis parameters
and data:
[Axis param]
1)
Description
v max Maximum positioning speed
x min Stroke limitation: software end position,
negative
x max Stroke limitation: software end position,
positive
x 0 Axis zero point offset
feed
2)
Feed constant
1)
Unit of measurement depends on the measuring system set
2)
Not for axis type Rotation drive
[System paramet.] Menu command for displaying the following system para-
meters and data:
[System param] Description
V power [V] Supply voltage
I max [A] Maximum current
I act [A] Current current
Temp [C] Operating temperature
Cycle Number of positioning movements
Ref. switch on/off Signal at reference switch input
Mode e.g. mm System of measurement units
Hom.meth.
bl.pos
bl.neg
sw.pos
sw.neg
Fixed stop in positive direction
Fixed stop in negative direction
Reference switch in positive direction
Reference switch in negative direction
Gear e.g. 6.75 Gear reduction ratio of the MTR-DCI
[PROFIBUS Diag] Menu command for displaying the following PROFIBUS dia-
gnostics data:
[PROFIBUS
Diag]
Description
ConState Configuration status.
WaitPrm: Waiting for parameter assignment
WaitCfg: Waiting for configuration
DataEx: Data exchange
Bit rate Current bit rate
MasterAdr Address of the master
SlaveAdr Address of the MTR-DCI-...-PB
ActCFG Current bus configuration.
invalid:
No configuration or incorrect configuration
by master (e.g. by invalid GSD file)
FHPP Std.:
Control via control bytes
FHPP FPC:
Control via control bytes, parameter assign-
ment via the parameter channel
GbDiagnosis Device-related diagnosis.
ON: If there is a fault, request for diagnosis
will be sent.
OFF: If there is a fault, request for diagnosis
will not be sent.
} Settings
} Axis type
Axis parameter
Homing paramet.
Position set
Password edit
PB Parameter
4.4 [Settings] menu
Warning
Injury to persons and damage to property from collisions
With all positioning procedures, the motor turns and the
connected axis moves.
Make sure that:
Nobody can place their hands into the positioning
range
There are no objects within the positioning range
For parameterising the axis system and programming the
position set records:
1. Use the arrow keys to select the [Settings] item from the
main menu and press the <Enter> button.
2. Select the following:
The axis type [Axis type]
The axis parameters [Axis param]
The homing parameters [Homing param]
The position set table [Position set]
The password setting [Password]
The PROFIBUS address [PB parameter].
Note
The parameters you have set take effect immediately upon
confirmation with OK <ENTER>.
Save the parameter settings permanently in EEPROM
with the [Save] menu command. Only then will the set-
tings be retained even if the power supply is switched
off or if there is a power failure.
[Axis type] Type of axis driven by the MTR-DCI (for parameters see
section 5.2.1)
[Axis type] Description
[Type DMES-...] Festo servo axis
[Type DNCE-...] Festo electrical drive
[Rotation drive] Any rotational axis
[User config] Any linear axis
[Save...] Save parameters in EEPROM
[Axis parameter] Teach mode for setting the axis parameters
[Axis param] Description
[Zero point] Offset of the axis zero point
[Abs.min.pos] Stroke limitation: software limit switch,
negative
[Abs.max.pos] Stroke limitation: software limit switch,
positive
[Homing paramet.] Setting the reference travel method and the speed during
reference travel.
The maximum speed during homing is limited to half the
maximum positioning speed v_max (for v_max see
[Diagnostic] [Axis param] ).
[Hom. param] 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 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
[Position set] Teach mode for programming the position set table
[Position set] Param. Description
[Position nr] Nr Number of the position set record
[0...31]
[Pos set mode] [absolute/
relative]
Positioning mode
absolute = absolute position
specification, related to the pro-
ject zero point
relative = relative position
specification, related to the
current position
[Position] xt Target position in the selected
system of measurement
e.g. [mm]
[Velocity] v Positioning speed in the selected
system of measurement
e.g. [mm/s]
[PB parameter] Sets the PROFIBUS address of the MTR-DCI-...-PB
[PB parameter] Description
[PROFIBUSADR] PROFIBUS address of the MTR-DCI-...-PB
Note
The parameters you have set take effect immediately upon
confirmation with OK <ENTER>.
Save the parameter settings permanently in EEPROM
with the [Save] menu command. Only then will the set-
tings be retained even if the power supply is switched
New Password:
[?xx] =
ESC <Menu>
EDIT <--> OK <Enter>
Enter Password:
[?xx] =
ESC <Menu>
Setting a password
In order to prevent unauthorised or unintentional overwriting
or modification of parameters in the device, access via the
control panel can be protected by a local password. No
password has been preset at the factory (presetting = 000).
[Password] Select [Settings] [Password] in the menu:
Enter a password with 3 digits. 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 position
will be displayed.
3. After entering the third digit, save your setting with SAVE
<Enter>.
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. When the correct password is
entered, all parameterising and control functions of the con-
trol panel are enabled until the power supply is switched off.
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 position
will be displayed.
3. Repeat the entry for the remaining entry positions.
Once the third digit has been confirmed, access via the
control panel is enabled.
Enter Password:
[?xx] =
ESC <Menu>
New Password:
[?xx] =
ESC <Menu>
Modifying/deactivating the password
[Password] Select [Settings] [Password] in the menu:
Enter the existing password with 3 digits. The current entry
position is marked with a question mark.
1. Use the arrow keys to select a digit 0...9.
2. Confirm your entry with OK<Enter>. The next entry position
will be displayed.
3. Repeat the entry for the remaining entry positions.
4. Enter the new password with 3 digits. If you wish to
deactivate the password, enter 000.
5. After entering the third digit, save your setting with SAVE
<Enter>.
Store the password in an appropriate place, e.g. with the
internal documentation for your system.
If the active password in the MTR-DCI is lost in spite of care
being taken:
If needed, the password can be deleted by entering a master
password. In this case please contact your Festo Service
partner.
4.5 [Positioning] menu
Starting a homing run or a positioning run to test the position
set records.
Warning
Injuries or damage to mechanical components
connected axis starts to move.
Make sure that:
range
Note
Before starting a homing run, make sure that:
The positioning system is set up and wired
completely, and is supplied with power.
Parameterising is completed.
Do not start a positioning run until the reference system
has been defined by homing.
Note
Note that position set records with speed v=0 or an invalid
target position (-> fault TARGET POSITION OUT OF LIMIT)
will not be executed.
} Positioning
Move posit set
Demo posit tab
} Homing
...
Attention! Motor moves
ESC <Menu>
START <Enter>
HOMING
V_
0
= 20 mm/s
v_sw = 10 mm/s
EMERG.STOP<Menu>
Homing
1. Use the arrow keys to select [Positioning] from the main
menu and press the <Enter>button.
2. Select the menu command:
[Homing]
[Positioning] Description Note
[Homing] Homing run to anchor the dimen-
sional reference system
First set the parameters in the menu
[Settings] [Homing parameter].
Factory setting: homing to a reference
switch in negative direction.
3. Make sure that nobody can reach into the positioning
range of the moveable load and that there are no ob-
jects in its path. Start homing with START <Enter>.
The following information is displayed:
The search speed, v_sw
The positioning speed to the axis zero point, v_0.
Function
EMERG.
STOP
With<Menu> you can interrupt the positioning
procedure (>Error mode EMERG.STOP; con-
firm with <Enter>, then automatic return to the
status display).
Menu
} Positioning
} Move posit set
Demo posit tab
Homing
...
Attention! Motor moves
ESC <Menu>
START <Enter>
Move posit set
Pos 1
X
t
= 100.00 mm
v = 20 mm/s
X
a
= 90.00 mm
EMERG.STOP<Menu>
Executing position set records
1. Use the arrow keys to select [Positioning] from the main
menu and press the <Enter>button.
2. Select the menu command:
Positioning run for position set record
[Move posit set] or
Positioning run for position set table
[Demo posit tab]
[Positioning] Description Note
[Move posit set] Positioning run for testing a
particular position set record in the
position set table.
Parameters must have been com-
pletely assigned and homing must
have been carried out.
[Demo posit tab] Positioning run (continuous loop) for
testing all position set records in the
position set table.
Parameters must have been com-
pletely assigned and homing must
have been carried out. At least two
position set records must have been
assigned parameter v > 0.
In the [Demo posit tab] positioning run, all position set re-
cords in the position set table are executed one after the
other. If the position set table contains a position set record
with speed v = 0, this position set record and all the following
records will not be executed; the positioning run will continue
with the first position set record.
3. Make sure that nobody can reach into the positioning
range of the moveable load and that there are no ob-
jects in its path. Start the positioning procedure with
START <Enter>.
During the positioning run, the following information is dis-
played:
The active position set, Pos...
The target position, x
t
The positioning speed, v
The current position, x
a
Function
EMERG.
STOP
With<Menu> you can interrupt the positioning
procedure (>Error mode EMERG.STOP;
confirm with <Enter>, then automatic return to
the status display).
Menu
DEMO
STOP
With <Enter> you can interrupt the Position
set table positioning run [Demo posit tab] .
The current positioning set will be executed
before the axis stops. If you restart, the run
will begin with record 0.
Enter
4.6 Menu command [HMI control]
To select the menu commands [Positioning] and [Settings]
you require the setting HMI: on. Only then is the MTR-DCI
ready to process user entries on the control panel. When se-
lecting the menu commands, you will be prompted to modify
the HMI setting.
[HMI control] You can also modify the setting directly with the menu com-
mand [HMI control].
HMI
1)
Device control
on Device control is carried out manually via the control
panel. The control interface of the MTR-DCI is deactivated
and control enable is set. The actual status of the ENABLE
control bit then has no effect.
off Device control is carried out via the control interface of
the MTR-DCI.
1)
Human Machine Interface
Note
Access to the MTR-DCI via HMI and FCT can be blocked via
the fieldbus (HMIAccess locked).
Commissioning
Chapter 5
Commissioning
5. Commissioning
Contents
5.1 Commissioning procedure 5-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Commissioning with the control panel (only MTR-DCI-...-H2) 5-6 . . . . . . . . . . . .
5.2.1 Selecting the axis type 5-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Setting homing parameters 5-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Carrying out homing 5-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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 5-19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.7 Setting PROFIBUS addresses 5-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Commissioning with FCT 5-22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Installing the FCT 5-23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Procedure 5-24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Overview of commissioning on the PROFIBUS 5-26 . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Configuration 5-27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.1 Install device master file (GSD file) and icon files. 5-27 . . . . . . . . . . . . . .
5.5.2 I/O configuration 5-28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.3 Configuration with STEP 7 5-29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.4 Startup parameter assignment 5-34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.5 Response monitoring 5-35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5.6 Control commands 5-35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Overview of control and parameter assignment methods 5-36 . . . . . . . . . . . . . . .
5.6.1 DPV0 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 DPV1 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Festo profile for handling and positioning (FHPP) 5-37 . . . . . . . . . . . . . . . . . . . . .
5.7.1 Supported operation modes 5-37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.2 Composition of the cyclical I/O data 5-39 . . . . . . . . . . . . . . . . . . . . . . . .
5.7.3 Examples of control and status bytes 5-50 . . . . . . . . . . . . . . . . . . . . . . .
5.8 Drive functions 5-63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.1 Dimensional reference system 5-63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.2 Homing 5-64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.3 Jog mode 5-66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.4 Teaching via fieldbus 5-68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Commissioning
5.8.5 Record Select: Executing a position set record 5-70 . . . . . . . . . . . . . . . .
5.8.6 Direct mode: Specification of a position or force 5-75 . . . . . . . . . . . . . .
5.8.7 Standstill monitoring 5-79 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 Notes on operation 5-81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Commissioning
5.1 Commissioning procedure
Before commissioning
Warning
Danger of injury.
Electric axes can move suddenly with high force and at
high speed. Collisions can lead to serious injury to human
beings and damage to components.
Make sure that nobody can reach into the operating
range of the axes or other connected actuators and that
no objects lie in the positioning range while the system
is still connected to a power supply.
Note
In the following cases the MTR-DCI must not be accessed
with the FCT for writing (e.g. downloading parameters) or
controlling (e.g. with Move manually or to start homing):
When the MTR-DCI is currently performing a positioning
movement 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:
Control by the FCT must not be activated while the drive
is in motion or when control is being carried out via field-
bus.
5. Commissioning
Before commissioning the drive make sure that:
The work space is of sufficient size for operation with
a work load
The work load does not collide with the motor or the
gear of the axis when the slide moves into the end
position
Please observe the notes in the operating instructions for
your axis.
Switching on
Note
Note that the tolerance for the supply voltage must be
observed. The tolerance must also be observed directly at
the operating voltage connection of the MTR-DCI
(see appendix A.1).
Note
When the power supply is switched off, wait for approx.
5 seconds before switching the device on again.
1. Switch on the power supply for the MTR-DCI. When the
power supply is switched on, the MTR-DCI automatically
carries out an internal check.
2. Carry out parameterising and commissioning with the
control panel or the FCT, as described in the following
chapters or in the FCT/plugin help.
3. In order to complete commissioning note the instructions
for operation in the FCT/plugin help and in section 5.9.
Diagnostic
Positioning
Settings
} HMI control
LCD adjustment
5. Commissioning
5.2 Commissioning with the control panel (only MTR-DCI-...-H2)
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 connected
MTR-DCI, the control interface of the MTR-DCI must be deac-
tivated and control panel enable must be set [HMI = on]. The
actual status of the ENABLE control bit then has no effect.
Select [HMI control] = on and then OK <Enter>.
5. Commissioning
Overview of parameter assignment and
commissioning
Information on the current parameter assignment of the mo-
tor unit can be found in the menu [Diagnostic] on the control
panel.
Carry out the following steps in order to commission the MTR-
DCI the first time with the control panel. Refer to the detailed
description in the chapters specified.
Commissioning (overview)
Select the axis type and adapt the parameters. 5.2.1
Set the parameters for homing:
Homing method
Search speed to homing point
Positioning speed to axis zero point
5.2.2
Carrying out homing. 5.2.3
Teach the axis zero point and the software end positions. 5.2.4
Teach position set records. 5.2.5
Test run. Optimise settings if needed. 5.2.6
Set PROFIBUS address. 5.2.7
Tab. 5/1: Commissioning (overview)
In order to restore the default settings you can, if necessary,
delete the EEPROM directly via the serial interface with the CI
command 20F1h (Data memory control) (see appendix B.2.2).
} Settings
Axis type
Type DMES...
Type DNCE...
Rotation drive
User config
5. Commissioning
5.2.1 Selecting the axis type
1. Select your axis type:
Festo positioning axis [Type DMES-...]
Festo electrical drive [Type DNCE-...]
Any axis of rotation [Rotation drive]
Any linear axis [User config]
2. Set axis-specific parameters as prompted using the arrow
buttons, e.g. feed constant, system of measurement,
or counting direction.
Axis type Parameters
Type DMES A DMES size can be selected, according to the size of the MTR-DCI. The feed
constant is already configured.
Type DNCE
FeedCon: feed constant in [mm/rev]
(see documentation for your DNCE).
Count direction: active direction (direction of motor rotation), left or right
(see 1.5).
Rotation drive
1)
Any rotary/semi-rotary drive:
[Degrees] (360/rev) or
[Revolutions]
User config Any linear drive: Feed constant in [mm/rev] as per the documentation 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. Save the settings with SAVE <Enter>.
5. Commissioning
5.2.2 Setting homing parameters
When homing to stop:
Caution
Damage to components.
The slide (or piston rod) may only move directly against
the fixed stop if the permitted impact energy is not ex-
ceeded (impact energy = 0.5 x mass x velocity
2
).
The permitted value can be found in the manual for your
axis.
If needed, reduce the speed at which homing is carried
out (see FCT plugin help).
If necessary, limit the max. motor current during homing.
Current limitation When the max. motor current is reached and the motor is
stationary, the MTR-DCI will detect a stop. The maximum
motor current can be limited during homing (see FCT help or
CI object 6073
h
).
Note
If the drive is arranged vertically, an increase in the
motor current may be necessary. If the motor current is
too low, homing cannot be carried out or the unit may
detect a stop incorrectly.
The set required speed cannot be reached if current
limitation is too great.
5. Commissioning
Current limitation
1)
32 42 52 62
100 %Z
1 x nominal motor current
Motor current
Motor torque
A
mNm
0.73
30
2.0
110
5.0
300
6.19
700
150 % (default) Z
1.5 x nominal motor current
Motor current
Motor torque
A
mNm
1.1
46
3.0
171
7.5
460
9.29
1076
200 %Z
2 x nominal motor current
Motor current
Motor torque
A
mNm
1.46
62
3.8
2)
220
7.7
2)
470
12.38
1450
1) Parameter specification in FCT: relative motor current in %of nominal current.
2) Due to maximum current limitation the value does not rise further.
Tab. 5/3: Current limitation
Positioning axis DMES-... can execute the reference travel
with the factory-set current limiter (150% of the rated motor
current). The current limiter need not be changed.
} Settings
Homing parameter
Homing method
Velocity v_sw
Velocity v_s0
Save
5. Commissioning
Setting parameters
1. Set the following homing parameters one after the other:
Referencing method [Homing method], see sec-
tion 1.5.3.
Search speed for ascertaining the reference point
[Velocity v_sw]
Positioning speed to axis zero point [Velocity v_s0]
Factory pre-setting for homing parameters 32 42 52 62
Speeds v_sw, v_s0 %
1)
inc/s
~41 %
27000
~22 %
22400
~17%
16800
~15%
16800
Rated motor speed rot/s
inc/s
55
66000
50
100000
50
100000
56,7
113400
Homing method Reference switch, negative (near motor)
1)
%of rated motor speed; max. 50 %for V_sw; max. 100 %for v_s0
2. Accept each setting with OK <Enter>. The setting will then
take effect in the drive.
3. Save the parameter settings with the [Save] menu com-
mand. Only then will the settings be retained even if the
power supply is switched off or if there is a power failure.
5. Commissioning
5.2.3 Carrying out homing
The following conditions must be fulfilled for homing:
The drive must be set up completely, wired and supplied
with power.
The MTR-DCI must be correctly parameterised.
During reference travel, at first the drive moves at the preset
search speed v_sw corresponding to the selected reference
travel method, up to the mechanical fixed stop or to the ref-
erence switch and after evaluation of the signal, accepts the
position as reference point REF (Fig. 5/1 1). The drive then
moves at speed v_s0 to the axis zero point AZ (Fig. 5/1 2).
1 Move to the
homing point REF
2 Move to the axis
zero point AZ
REF
AZ
2
1
Fig. 5/1: Homing (example: fixed stop, negative)
5. Commissioning
Starting homing
Note
Note that at the start the drive must be in front of the stop
or reference switch (in terms of the search direction).
1. If necessary, position the drive in Teach mode so that,
when viewed in terms of the search direction, it is in front
of the stop or reference switch at the start.
Select e.g. [Settings] [Position set] [Position] (see also
section 5.2.5).
Move the drive to the desired position manually with
the 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>.
Note
If, with the Reference switch homing method, a reference
signal is not found before the drive reaches a fixed
stop, the MTR-DCI will stop and display a fault
(HOMING ERROR).
After successful homing the drive will be at the axis zero
point AZ. With first commissioning, the offset of the axis zero
point = 0; after homing the drive then stands at the homing
point REF.
} Positioning
Demo posit tab
Move posit set
Homing
5. Commissioning
Discontinuing homing
If necessary, homing can be discontinued with the <Menu>
button (EMERG STOP). If correct homing has already been
carried out, the previous homing point will retain its validity.
Error in the homing run
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 front
of the stop or reference switch at the start.
Repeat the homing run.
5. Commissioning
5.2.4 Teaching the axis zero point AZ and the software end positions
Note
Overloading from constant pressing against a mechanical
stop.
When referencing to a stop, set the offset of the axis zero
point to 0 (at least 0.25mm).
The drive will then stand free of the stop after the refer-
ence travel is completed.
Teach the axis zero point AZ:
1. Select [Settings] [Axis parameter] [Zero point].
2. Move the drive to the desired axis zero point manually
with the arrow buttons.
3. Accept the position reached with OK <Enter>. The setting
will then take effect in the drive. The current position x
a
becomes the axis zero point (x
a
= 0).
Note
If 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 zero
point AZ.
Teach the software end positions, project zero point and
the target positions again if needed.
} Settings
Axis parameter
Zero point
Abs.min.pos
Abs.max.pos
Save
5. Commissioning
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 setting
will then take effect in the drive.
4. Save the parameter settings with [Save]. Only then will the
settings be retained even if the power supply is switched
Note
The project zero point PZ can only be set via FCT or
PNU 500 / CI object 21F4
h
.
5. Commissioning
5.2.5 Teaching position set records
Requirements:
The axis zero point and the software end positions have
been set correctly.
The homing run has been carried out successfully.
Enter the position set records as follows:
1. Activate the desired position record (1...31) with
[Settings] [Position set] [Position nr]. OK <Enter>.
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 point
relative = 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 position
with the arrow keys.
Accept the position reached with OK <Enter>. The
setting of the target position and the positioning
mode will then take effect in the drive.
4. Set the speed:
Select [Velocity].
} Settings
Position set
Position nr
Pos set mode
Position
Velocity
Save
5. Commissioning
Set the nominal speed with the arrow keys.
Accept the setting with OK <Enter>. The setting will
then take effect in the drive.
Position records with speed v = 0 or invalid target positions
(-> error TARGET POSITION OUT OF LIMIT) cannot be ex-
ecuted.
5. Save the position set record with [Save]. Only then will
the settings be retained even if the power supply is
switched off or if there is a power failure.
6. Enter the next position record.
Digitalisation faults of the analog-digital converter can accu-
mulate in the case of relative position movements which
occur frequently one after the other, leading to deviations of
the position values. If necessary, insert an absolute position
set or a homing run into the positioning cycle, in order to cor-
rect deviations.
5. Commissioning
5.2.6 Test run
Warning
Injury to persons and damage to property
connected axis moves.
Make sure that:
range
Caution
Damage to components with DMES-...
The unit must not move onto mechanical end positions
(stops) during operation. When the unit moves to the end
positions with a heavy load, blockage may occur in the end
positions.
Limit the positioning range by defining valid software
end positions during commissioning (see section 5.2.4).
1. Enter several position set records:
Set target positions at the limits of the positioning
range in order to check the software end positions.
Set different speeds.
2. Select [Positioning] [Move posit. set] in order to execute a
certain position set record or
3. Select [Positioning] [Demo posit tab] in order to process
all position set records. At least two position set records
must be entered in the position set table in order to use
this function.
In the [Demo posit tab] positioning cycle, all position set
records 1...31 in the position set table will be executed
one after the other. If the position set table contains a
} Positioning
Demo posit tab
Move posit set
Homing
5. Commissioning
position set with speed v = 0, neither this position set
record nor the following records will be executed; the
positioning cycle will continue from the first position set
record.
4. Start the test run.
Note
With EMERG.STOP <Menu> you can interrupt the current
positioning procedure.
With DEMO STOP <Enter> you can interrupt the positioning
cycle [Demo posit tab]. The current position set will be ex-
ecuted before the drive stops.
Check the positioning behaviour.
Check the position details displayed.
5. If necessary, optimise the settings for position sets, and
also (if needed) for the points of reference and the work-
ing range.
5. Commissioning
5.2.7 Setting PROFIBUS addresses
Before commissioning on the PROFIBUS, you must set a valid
station number.
Valid station numbers: 0 ... 125.
The invalid station number 255 is preset.
This is to make sure that a correct address is set during
commissioning or when replacing.
Addresses cannot be assigned by the master (the service
Set_Slave_Address is not supported).
Note
Station numbers may only be assigned once per fieldbus
master.
Set the station numbers as follows:
1. Select [Settings] [PB parameter] [PROFIBUS ADR]
(see also section 4.4).
2. The current address is displayed with <Enter>.
3. Set the desired address with the arrow buttons.
4. Accept the address with OK <Enter>.
The set address becomes effective immediately and is
saved against network failure.
} Settings
PB parameter
PROFIBUS ADR
PROFIBUS address
7
ESC <Menu>
EDIT <--> SAVE <Enter>
5. Commissioning
5.3 Commissioning with FCT
The Festo Configuration Tool (FCT) is the software platform for
configuring and commissioning different components and
devices from Festo.
The FCT consists of the following components:
A framework as program start and entry point with uni-
form project and data management for all supported
types of devices.
A plugin for the special demands of each device type
(e.g. MTR-DCI) with the necessary descriptions and dia-
logues. The plugins are managed and started from the
framework.
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 directly from
the Help index.
Print a prepared printed version of the Help in Adobe PDF
format or Rich Text Format (RTF):
Printed version Directory File
FCT help ...(FCT installation directory)\Help\
FCT_de.pdf
FCT_de.rtf
Plugin 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
5.3.1 Installing the FCT
Note
The plugin MTR-DCI V2.0.0 supports the following motor
units:
MTR-DCI-...-PB: firmware version V1.00 and higher
Check with later versions of the MTR-DCI to ascertain
whether an updated plugin is provided. If necessary
consult Festo.
Note
Administrator rights are required for installing the FCT.
The FCT is installed on your PC with an installation program.
The MTR-DCI plugin is installed on your PC together with the
FCT's installation program.
1. Close all programs.
2. Place the Festo Configuration Tool CD in your CD ROM
drive. If Auto Run is activated on your system, the installa-
tion will start automatically and you can omit steps 3
and 4.
3. Select [Run] in the Start menu.
4. Enter D:\setup (if necessary replace D by the letter of your
CD ROM drive).
5. Follow the instructions on the screen.
5. Commissioning
5.3.2 Procedure
Starting the FCT
1. Connect the MTR-DCI to your PC via the RS232 port. To do
so, 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 Configuration
Tool] 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 plugin.
4. Create the device connection (online connection) between
the PC and the MTR-DCI via the FCT tool bar. You may
need to adjust the device name to match.
Device control
In order that the FCT can control the connected MTR-DCI, the
control interface of the MTR-DCI must be deactivated and
control enable must be set for the FCT (FCT/HMI=On). The
actual status of the ENABLE control bit then has no effect.
Access the Project output window, Operate tab, then
under 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.
5. Commissioning
Instructions on parameter assignment and
commissioning
FCT framework Information on working with projects and adding a device to a
project can be found in the Help for the FCT framework, using
the command [Help] [Contents FCT General].
MTR-DCI plugin The MTR-DCI plugin for the FCT supports all the steps necess-
ary for commissioning an MTR-DCI. You can assign any re-
quired parameters offline, i.e. without the MTR-DCI being
connected to the PC. This enables preparation for the actual
commissioning e.g. in the design office when planning a new
system.
Further information can be found in the plugin help: Com-
mand [Help] [Contents of installed plugins] [Festo (manufac-
turer name) ] [MTR-DCI (plugin 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 names
and Device control, and for password protection
5. Commissioning
5.4 Overview of commissioning on the PROFIBUS
The following steps are required for commissioning the MTR-
DCI as a fieldbus station:
1. Set the PROFIBUS address on the MTR-DCI:
On the control panel (only with MTR-DCI-...-H2, see
Section 5.2.7), or
With the Festo Configuration Tool (see FCT help).
Permitted address range: 0 ... 125 (in some cases
limited by the DP master used).
Modification by a DP master is not possible.
2. Install the GSD file and icon files, see section 5.5.1.
3. Configure the PROFIBUS master with the relevant con-
figuration software (e.g. with STEP 7 Hardware Configura-
tor), see section 5.5.3.
4. Test the fieldbus connection in online mode.
Details can be found in the following sections:
5. Commissioning
5.5 Configuration
5.5.1 Install device master file (GSD file) and icon files.
If a new hitherto unknown device is to be incorporated in a
configuration program when a PROFIBUS-DP system is to be
configured, an appropriate device master file (GSD file)
must be installed for this device. The device master file con-
tains all the necessary information for the configuration pro-
gram. You will require the appropriate icon files for repre-
senting the device graphically.
Reference sources The enclosed documentation CD contains GSD files and icon
files for the MTR-DCI in the PROFIBUS folder.
Current GSD files and icon files can be found on the Festo
Internet pages at:
www.festo.com/download/
GSD file You will require one of the following GSD files for the
MTR-DCI:
mtr_0974.gsd English
mtr_0974.gsg German
(with DPV0 and DPV1 support)
mtr00974.gsd English
mtr00974.gsg German
(only for older control systems/without DPV1 support)
5. Commissioning
Icon files In order to represent the MTR-DCI in your configuration soft-
ware use the following icon files:
Normal operating
status
Diagnostic case Special operating
status
File:
mtrdci_n.dib or
mtrdci_n.bmp
File:
mtrdci_d.dib or
mtrdci_d.bmp
File:
mtrdci_s.dib or
mtrdci_s.bmp
Tab. 5/4: Icon files
Install GSD file and symbol files.
Depending on the configuration program used, install the
GSD file and the icon files with the aid of the appropriate
menu command or copy the files manually into a particular
directory of your programmer/PC.
5.5.2 I/O configuration
The GSD files support two alternative configurations:
Festo handling and positioning profile standard
GSD entry as FHPP Standard
8 bytes of I/O data, consistent transmission
Festo handling and positioning profile with parameter
channel
GSD entry as FHPP Standard + FPC
2 x 8 bytes of I/O data, consistent transmission
5. Commissioning
5.5.3 Configuration with STEP 7
General information
The Simatic Manager software package is used for project
planning and commissioning in conjunction with PROFIBUS
masters from Siemens or compatible masters. In order to
understand this section, you should be sure of how to handle
your configuration program. If necessary, refer to the docu-
mentation for the Simatic Manager. This manual refers to soft-
ware version V 5.3.
An appropriate device master file (GSD file) for the MTR-DCI
must be installed for configuration.
With the STEP 7 Hardware Configurator you can load the files
via the menu command [Options] [Install GSD file] in the
HW Config. dialogue window.
Configuration
program
File type Directory
STEP 7 Hardware
Configurator
1)
GSD file ...\STEP7\S7DATA\GSD
Bitmap files ...\STEP7\S7DATA\NSBMP
1) If you copy the GSD files when the Simatic Manager has already been started, you can update the
hardware catalogue with the command [Options] [Update Catalog].
Tab. 5/5: Folder for GSD and icon files in STEP 7
5. Commissioning
Adding MTR-DCI as slave
The hardware configuration window represents graphically
the structure of the master system. When the GSD file has
been installed, the MTR-DCI can be selected in the hardware
catalogue. It can be found in the group [PROFIBUS-DP] [Addi-
tional Field Devices] [Drives] [Festo] (see Fig. 5/2).
In order to add the MTR-DCI:
1. Drag the station type Festo MTR-DCI (DP-V0 and DP-V1)
or Festo MTR-DCI DP-V0 ( 3) out of the hardware cata-
logue and onto the PROFIBUS line ( 1) of the DP master
system (drag & drop).
2. In the Properties PROFIBUS interface... dialogue win-
dow, enter the PROFIBUS address which you set with the
Festo Configuration Tool or on the control panel, and con-
firm with OK.
3. If necessary, enter other settings in the Properties
DP slave dialogue window (e.g. response monitoring,
see section 5.5.5, or startup parameter assignment, see
section 5.5.4) and confirm with OK.
The icon for the MTR-DCI is displayed on the line of the
DP master system ( 2).
5. Commissioning
1 2 3
1 PROFIBUS line
2 Icon for MTR-DCI
3 Festo MTR-DCI entry from GSD file
Fig. 5/2: Station selection STEP 7
5. Commissioning
Configuring the slave properties
After clicking the icon for the MTR-DCI, you can configure the
Slave properties in the lower part of the screen. Here you
can determine the number and size of the I/O ranges of the
slave and assign address ranges of the master to them.
In order to configure the slave properties of the MTR-DCI:
1. Open the available modules (configurations) in the hard-
ware catalogue under [Festo MTR-DCI ...].
2. Then drag the desired configuration (see section 5.5.2)
with the mouse into the appropriate line under Slot/DP
identifier.
With STEP 7 a universal module is also offered for compati-
bility reasons. This must not be used.
The MTR-DCI is a modular slave, but with only one permitted
module. The configuration is defined only by the master.
5. Commissioning
1 2 3
1 DP identifiers
2 I/O address range
3 Modules (configurations)
Fig. 5/3: Configuring the slave properties
When the configuration is concluded, transfer the data to the
master.
5. Commissioning
5.5.4 Startup parameter assignment
When the connection is established, parameters are trans-
ferred to the slave automatically from the master. These are
parameters for extended configuration of the data exchange.
These serve to guarantee improved compatibility with various
masters.
Configuration of the data exchange (connection settings).
Parameter Type Values
Diagnostic behaviour:
device-related diag-
nosis switched on/off
Bool = 0: In the case of a fault, diagnosis will be requested by the
master (default).
= 1: In the case of a fault, diagnosis will not be requested by
the master
Tab. 5/6: Configuration of the data exchange (connection settings)
Fig. 5/4: Properties of DP slave parameter assignment
5. Commissioning
5.5.5 Response monitoring
The response monitoring influences the reaction when field-
bus communication fails, e.g. due to cable fracture. The MTR-
DCI can be operated with active or inactive response monitor-
ing.
With active response monitoring, the drive is stopped with
the emergency stop ramp after the response monitoring time
has expired, and then remains stationary in a controlled posi-
tion.
With inactive response monitoring, the current drive function
is still carried out if fieldbus communication fails.
5.5.6 Control commands
FREEZE, SYNC and CLEAR_DATA are supported by the MTR-
DCI in accordance with EN 50170.
The method of accessing these commands depends on the
controller used. Please refer to the documentation for your
control system.
5. Commissioning
5.6 Overview of control and parameter assignment methods
5.6.1 DPV0
Control
Control with DPV0 takes place via the 8 cyclical control and
status bytes, see section 5.7.2.
Parameter assignment
Parameter assignment with DPV0 takes place via the
Festo parameter channel (FPC, further 8 I/O bytes), see
section B.1.1.
5.6.2 DPV1
Parameter assignment
Parameter assignment with DPV1 takes place via the para-
meter channel as per PROFIdrive V3.1. This protocol is a com-
patible expansion of the PKW protocol within the DPV1 user
data. This means that the parameters can be addressed with
PNU, subindex etc.
The mode of operation of parameter assignment with DPV1
depends on the DP master system used.
Please refer here to the documentation from your control
system manufacturer.
As an example of parameter assignment with DPV1, you will
find a functional description in the documentation for the S7
modules for the MTR-DCI, type P.BE-MTR-DCI-S7-...
5. Commissioning
5.7 Festo profile for handling and positioning (FHPP)
The MTR-DCI supports the Festo handling and positioning
profile FHPP (see also section 1.6).
5.7.1 Supported operation modes
The operation modes differ as regards the contents and
meaning of the cyclical I/O data and in the functions which
can be accessed in the MTR-DCI.
Operation mode Description
Record Select 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 as a nom-
inal or actual value.
Direct mode The positioning task is transferred directly in the I/O telegram. Only
the most important nominal values (position, speed) are transferred.
Supplementary parameters (e.g. acceleration) are defined by para-
meter assignment.
Tab. 5/7: Overview of operation modes
Record Select
Preset operation mode when the SFC-DC is started up.
The MTR-DCI has 31 records (1 ... 31) which contain all the
information necessary for a positioning task (+ record 0 =
homing).
The record number which the MTR-DCI is to execute at the
next 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. it does
not support any user program of its own. Records cannot be
processed automatically using programmable logic. The drive
cannot accomplish any practical tasks with in stand-alone
mode; close coupling to the PLC is necessary.
Direct mode
In Direct mode, positioning tasks are formulated directly in
the master's output data.
Position mode The usual application is to calculate dynamically the nominal
target values for each task, or just for some tasks. Adaptation
to different workpiece sizes is therefore possible. In this case,
it is not practical to assign parameters to the record list every
time. The positioning data are managed completely in the PLC
and sent directly to the MTR-DCI. Here also, close coupling
between the PLC and the MTR-DCI is necessary.
Force mode Alternatively, nominal values can be specified in Direct mode
relative to the nominal motor current. This gives a torque
and, in the case of linear drives, a force (= force control).
5. Commissioning
5.7.2 Composition of the cyclical I/O data
Concept A master exchanges the following data with the FHPP:
Control and status bytes
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
Parameters as per FPC
The FHPP protocol always provides 8 input bytes and 8 out-
put bytes for this. The first 2 of these bytes are fixed. They are
retained in each operation mode, and control the enabling of
the MTR-DCI and the operation modes. Bytes 3 to 8 depend
on the operation mode selected. Further control or status
bytes and nominal and actual values can be transferred here.
In the cyclical data a further 8 input bytes and 8 output bytes
are permitted for transferring parameters in accordance with
the FPC protocol.
The acyclical data channel of the PROFIBUS (DPV1) is also
supported.
5. Commissioning
I/O data in the various operation modes
Direct mode
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
O data CCON CPOS CDIR Nominal value
1 (speed)
Nominal value 2
(position, force/torque, ...)
I data SCON SPOS SDIR Actual value 1
(speed, force/
torque)
Actual value 2
(position)
Record Select
O data CCON CPOS Recordno. Reserved Reserved
I data SCON SPOS Recordno. RSB Actual position
Further 8 bytes of I/O data for parameter assign-
ment as per FPC (see section B.1):
Festo FPC
O data Reserved Subindex Request identifier
+ parameter number
Parameter value
I data Reserved Subindex Response identifier
+ parameter number
Parameter value
5. Commissioning
Allocation of the control bytes (overview)
1)
CCON B7
OPM2
B6
OPM1
B5
LOCK
B4
B3 (F)
RESET
B2
BRAKE
B1
STOP
B0
ENABLE
Operation mode
selection
HMI
access
blocked
Reset
fault
Stop Enable
drive
CPOS B7
B6
CLEAR
B5
TEACH
B4
JOGN
B3
JOGP
B2 (F)
HOM
B1 (F)
START
B0
HALT
Clear re-
maining
position-
ing path
Teach
value
Jogging,
negative
Jogging,
positive
Start
homing
Start
position-
ing task
Halt
CDIR
(Direct
mode
only)
B7
FUNC
B6
FAST
B5
XLIM
B4
VLIM
B3
CONT
B2
COM2
B1
COM1
B0
ABS
Deacti-
vate
stroke
limit
Control mode
(position, force/
torque, ...)
Abso-
lute /
Relative
1)
: Reserved; (F): edge-sensitive
Allocation of the status bytes (overview)
1)
SCON B7
OPM2
B6
OPM1
B5
LOCK
B4
24VL
B3
FAULT
B2
WARN
B1
OPEN
B0
ENABLED
Operation mode
feedback
Device
control
FCT/HMI
Load
voltage
applied
Fault Warning Oper-
ation en-
abled
Drive en-
abled
SPOS B7
REF
B6
STILL
B5
DEV
B4
MOV
B3
TEACH
B2
MC
B1
ACK
B0
HALT
Axis ref-
erenced
Standstill
monitor-
ing
Position
lag error
Axis is
moving
Acknowl-
edge
teaching
Motion
Complete
Acknowl-
edge
start
Halt
SDIR
(Direct
mode
only)
B7
FUNC
B6
FAST
B5
XLIM
B4
VLIM
B3
CONT
B2
COM2
B1
COM1
B0
ABS
Stroke
limit re-
ached
Speed
limit re-
ached
Control mode feed-
back (position,
force/torque, ...)
Absolute
/ Relative
1)
: reserved.
5. Commissioning
Description of the general control bytes
Control byte 1 (CCON)
Bit EN Description
B0
ENABLE
Enable drive = 1: Drive (controller) enabled
= 0: Drive (controller) blocked
B1
STOP
Stop = 1: Operation enabled.
Any faults will be deleted.
= 0: Stop 1 active (emergency ramp + cancel positioning
task). The axis stops with maximum braking ramp; the
positioning task is reset.
B2
BRAKE
Reserved, must be at 0
B3
RESET
Reset fault An active fault is acknowledged/reset and the fault number
is deleted by means of a rising edge.
B4 Reserved, must be at 0
B5
LOCK
HMI access locked Controls access to the diagnostic interface:
= 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 over control of the device (in order
to modify parameters or to control inputs)
B6
OPM1
Select Operating Mode = 00: Record Select
= 01: Direct mode
= 10: Reserved
= 11: Reserved
B7
OPM2
Control byte 1 (CCON) is used to control all states which must
be available in all operation modes. The cooperation of the
control bits can be found under the description of the drive
functions in section 5.8.
5. Commissioning
Control byte 2 (CPOS)
Bit EN Description
B0
HALT
Halt = 1: Halt is not active
= 0: Halt activated (braking ramp + do not cancel position-
ing task). The axis stops with a defined braking ramp;
the positioning task remains active (the remaining path
can be deleted with B6).
B1
START
Start
Positioning Task
The current nominal values will be transferred and position-
ing started (record 0 = homing) by means of a rising edge.
B2
HOM
Start Homing Homing with the set parameters is started by means of a
rising edge.
B3
JOGP
Jog, positive The drive moves at the specified speed in the direction of
larger actual values, for as long as the bit is set. The move-
ment begins with the rising edge and ends with the falling
edge.
B4
JOGN
Jog, negative The drive moves at the specified speed in the direction of
smaller actual values; see bit 3.
B5
TEACH
Teach actual value With a falling edge, the current actual value of the position is
transferred to the nominal value register of the currently
addressed position set record; see section 5.8.4.
The Teach target is defined with PNU 520.
B6
CLEAR
Clear remaining position-
ing path
In the Halt status, a signal edge causes the positioning
task to be deleted and transfers the system to the Ready
status.
B7
Reserved, must be at 0.
CPOS controls the positioning sequences as soon as the drive
is enabled.
5. Commissioning
Description of the special control bytes
Direct mode
Control byte 3 (CDIR) Direct mode
Bit EN Description
B0
ABS
Absolute/ Relative = 0: Nominal value is absolute
= 1: Nominal value is relative to last nominal value
B1
COM1
Control Mode = 00: Position control
= 01: Force mode
= 10: Reserved
= 11: Reserved
B2
COM2
B3
CONT
B4
VLIM
B5
XLIM
Stroke (X-) limit not active Force mode
= 0: Stroke monitoring active
= 1: Stroke monitoring not active
B6
FAST
B7
FUNC
Control byte 4 (nominal value 1) Direct mode
Bit EN Description
B0 ... B7 Velocity Preselection of velocity in %of the maximum velocity
Control bytes 5... 8 (nominal value 2) Direct mode
Bit EN Description
B0...B31 Position, force, ... Preselection of the position in increments or of the
force in %of nominal current
5. Commissioning
Description of the special control bytes
Record Select
Control byte 3 (record number) Record Select
Bit EN Description
B0 ... B7 Record number Preselection of position set record number for Record Select
Control bytes 4... 8 Record Select
Bit EN Description
B0 ... B7 Reserved (= 0)
5. Commissioning
Description of the general status bytes
Status byte 1 (SCON)
Bit EN Description
B0
ENABLED
Drive Enabled = 0: Drive blocked, controller not active
= 1: Drive (controller) enabled
B1
OPEN
Operation
Enabled
= 0: Stop active
= 1: Operation enabled, positioning possible
B2
WARN
Warning = 0: Warning not active
= 1: Warning active
B3
FAULT
Fault = 0: No fault
= 1: There is an active fault, or reaction to fault is active.
Fault number in diagnostic memory
B4
24VL
Supply Voltage is Applied = 0: No load voltage
= 1: Load voltage applied
B5
LOCK
Drive control by FCT/HMI = 0: Device control by PLC/fieldbus
= 1: Device control by FCT/HMI
(PLC control is locked)
B6
OPM1
Display
Operating Mode
= 00: Record Select (Standard)
= 01: Direct mode
= 10: Reserved
= 11: Reserved
B7
OPM2
5. Commissioning
Status byte 2 (SPOS)
Bit EN Description
B0
HALT
Halt = 0: Halt is active
= 1: Halt is not active, axis can be moved
B1
ACK
Acknowledge start = 0: Ready for start (homing, jog)
= 1: Start carried out (homing, jog)
B2
MC
Motion Complete = 0: Positioning task active
= 1: Positioning task completed, possibly with fault
Note: MC is first set after switching on (status Drive
blocked)
B3
TEACH
Acknowledge teaching = 0: Ready for teaching
= 1: Teaching carried out, actual value transferred
B4
MOV
Axis is moving = 0: Speed of the axis < limit value
= 1: Speed of the axis >= limit value
B5
DEV
Deviation warning = 0: No position lag error
= 1: Position lag error active
B6
STILL
Standstill warning = 0: After MC, axis remains in tolerance window
= 1: After MC, axis is outside tolerance window
B7
REF
Axis is referenced = 0: Homing must be carried out
= 1: Home information exist, homing does not need to be
carried out
5. Commissioning
Description of the special status bytes
Record Select
Status byte 3 (record number) Record Select
Bit EN Description
B0 ... B7 Record number Feedback of record number for Record Select (0...31)
Status byte 4 (RSB) Record Select
Bit EN Description
B0 ... B7 Record Status Byte For allocation see SDIR for Direct mode
Status bytes 5 ... 8 (Position) Record Select
Bit EN Description
B0...B31 Position, ... Feedback of position for Record Select:
Position in increments
5. Commissioning
Description of the special status bytes
Direct mode
Status byte 3 (SDIR) Direct mode
Bit EN Description
B0-ABS Absolute/ Relative = 0: Nominal value is absolute
= 1: Nominal value is relative to last nominal value
B1-COM1 Control mode feedback = 00: Position mode
= 01: Force mode
= 10: Reserved
= 11: Reserved
B2-COM2
B3-CONT Reserved
B4-VLIM Speed (V-) limit reached Force mode
= 1: Speed limit reached
= 0: Speed limit not reached
B5-XLIM Stroke (X-) limit reached Force mode
= 1: Stroke limit value reached
= 0: Stroke limit value not reached
B6-FAST Reserved
B7-FUNC Reserved
Status byte 4 (actual 1) Direct mode: Position mode
Bit EN Description
B0 ... B7 Velocity Feedback of velocity as %of the maximum velocity
Status byte 4 (actual 1) Direct mode: Force mode
Bit EN Description
B0 ... B7 Torque In %of the nominal current (see 5.7.3, point 7)
Status bytes 5 ... 8 (actual value 2) Direct mode
Bit EN Description
B0...B31 Position, ... Feedback of position in increments
5. Commissioning
5.7.3 Examples of control and status bytes
On the following pages you will find typical examples of con-
trol and status bytes:
1. Establishing ready to operate status Record Select
2. Establishing ready to operate status Direct mode
3. Fault handling
4. Homing run
5. Positioning by Record Select
6. Direct mode: position mode
7. Direct mode: force mode
A description of the MTR-DCI's finite state machine can be
found in section B.3.
0. Ensuring device control
Step/
Description
Control bytes Status bytes
Byte B7 B6 B5 B4 B3 B2 B1 B0 Byte B7 B6 B5 B4 B3 B2 B1 B0
0.1 HMI device
control = 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 x 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: Control and status bytes for Device control active
Description for 0. Ensuring device control:
0.1 Device control via the control panel or the Festo
Configuration Tool has been activated.
To control the MTR-DCI via the PROFIBUS interface,
device control by FCT/HMI must first be deactivated.
5. Commissioning
1. Establishing ready to operate status
Record Select
Step/
Description
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 x 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0
1.2 Disable device
control by FCT/HMI
(optional)
CCON x x 1 x x x x x SCON x x 0 x x x x x
CPOS x x x x x x x x SPOS x x x x x x x x
1.3 Enable drive, en-
able operation
(Record Select)
CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1
CPOS x 0 0 0 0 0 0 1 SPOS 0 0 0 0 0 1 0 1
Tab. 5/9: Control and status bytes for Establishing 'ready to operate' status
Record Select
Description for 1. Establishing ready to operate status:
1.1 Basic status of the drive when the supply voltage is
switched on.
}Step 1.2 or 1.3
1.2 Disable device control by FCT/HMI (optional).
Takeover of device control by FCT/HMI can be disabled
with CCON.B5 = 1 (LOCK).
}Step 1.3
1.3 Enable drive in Record Select mode.
}Homing: example 4, Tab. 5/12.
If there are faults after switching on or after setting CCON.B0
(ENABLE):
}Fault handling: see example 3, Tab. 5/11.
5. Commissioning
2. Establishing ready to operate status
Direct mode
Step/
Description
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 x 0 0 0 0 0 0 0 SPOS 0 0 0 0 0 1 0 0
2.2 Disable device
control by FCT/HMI
CCON x x 1 x x x x x SCON x x 0 x x x x x
CPOS x x x x x x x x SPOS x x x x x x x x
2.3 Enable drive,
enable operation
(Direct 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 0 0 0 0 0 1 0 1
Tab. 5/10: Control and status bytes for Establishing 'ready to operate' status
Direct mode
Description for 2. Establishing ready to operate status:
2.1 Basic status of the drive when the supply voltage is
switched on.
}Step 2.2 or 2.3
2.2 Disable device control by FCT/HMI.
Optionally, takeover of device control by FCT/HMI can
be disabled with CCON.B5 = 1 (LOCK).
}Step 2.3
2.3 Enable drive in Direct mode.
}Homing: example 4, Tab. 5/12.
If there are faults after switching on or after setting CCON.B0
(ENABLE):
5. Commissioning
3. Fault handling
Step/
Description
3.1 Fault
CCON x x x x x x x x SCON x x x x 1 x x x
CPOS x x x x x x x x SPOS x x x x x 0 x x
3.2 Warning
CCON x x x x x x x x SCON x x x x x 1 x x
CPOS x 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 x F x x 1 SCON 0 x 0 1 0 0 0 0
CPOS x 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 x 0 x x N SCON 0 x 0 1 0 0 x 0
CPOS x 0 0 0 0 0 x x SPOS x 0 0 0 0 1 x x
Tab. 5/11: Control and status bytes for Fault handling
5. Commissioning
Description for 3. Fault handling
For description of faults and warnings, see section 6.3.
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 Acknowledge malfunction with positive edge at
CCON.B3 (RESET).
}Malfunction bit SCON.B3 (FAULT) or
SCON.B2 (WARN) are reset
}SPOS.B2 (MC) is set
}Drive is ready for operation.
3.4 Acknowledge malfunction with negative edge at
CCON.B0 (ENABLE).
}Malfunction bit SCON.B3 (FAULT) or
SCON.B2 (WARN) are reset
}SPOS.B2 (MC) is set
}Reestablish operating status
(see examples 1, Tab. 5/9 and 2, Tab. 5/10)
5. Commissioning
4. Homing (requires status 1.4 or 1.5)
Step/
Description
4.1 Start homing
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
CPOS x 0 0 0 0 F 0 1 SPOS 0 0 0 0 0 0 1 1
4.2 Homing is in
progress
CCON 0 x x x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
CPOS x 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 x 0 x 1 1 SCON 0 x 0 1 0 0 1 1
CPOS x 0 0 0 0 0 0 1 SPOS 1 0 0 0 0 1 0 1
Tab. 5/12: Control and status bytes for Homing
Description for 4. Homing:
4.1 A positive edge at CPOS.B2 (HOM, Start reference
travel) starts the reference travel. 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, Motion Com-
plete) and SPOS.B7 (REF) are set.
If there are faults during homing:
5. Commissioning
5. Positioning by Record Select
(requires status 1.3/2.3 and 4.)
Step/
Description
5.1 Preselect record
number
(control byte 3)
Byte3 Record number Byte 3 Record number
Re-
cord
no.
Record no. (0..0.31) Re-
cord
no.
Previous record no. (0...31)
5.2 Start positioning
task
CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1
CPOS x 0 0 0 0 0 F 1 SPOS 1 0 0 0 0 0 1 1
5.3 Positioning task
in progress
CCON 0 0 x x 0 x 1 1 SCON 0 0 0 1 0 0 1 1
CPOS x 0 0 0 0 0 1 1 SPOS 1 0 0 1 0 0 1 1
Byte3 Record number Byte 3 Record number
Re-
cord
no.
Record no. (0..0.31) Re-
cord
no.
Current record no. (0..0.31)
concluded
CCON 0 0 x x 0 x 1 1 SCON 0 0 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 5...8 Reserved Byte 5...8 Position
Reserved Ac-
tual
posi-
tion
Actual position (increments)
Tab. 5/13: Control and status bytes for Positioning by Record Select
5. Commissioning
Description for 5. Positioning by Record Select:
(steps 5.1 ... 5.4 conditional sequence)
Once ready to operate is established and homing has been
carried out, a positioning task can be started.
5.1 Preselect record number: Byte 3 of the output data
0 = Homing run
1...31 = Programmable position set records
5.2 With CPOS.B1 (START, Start job) the preselected posi-
tioning job will be started. The start is confirmed with
SPOS.B1 (acknowledge start) as long as CPOS.B1
(START) is set.
Axis is moving).
5.4 At the end of the positioning task, SPOS.B2 (MC, Mo-
tion Complete) is set.
If there are faults during positioning:
5. Commissioning
6. Direct mode: Position mode
(requires status 1.3/2.3 and 4.)
Step/
Description
6.1 Preselect position
and speed
(control bytes 4 and
5...8)
Byte 4 RVelocity Byte 4 RVelocity
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) Ac-
tual
posi-
tion
Actual position (increments)
task
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
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 task
in progress
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 1 1 SPOS 1 0 0 1 0 0 1 1
concluded
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
S: Positioning condition: 0= absolute; 1 = relative
Tab. 5/14: Control and status bytes for Positioning by Direct Mode
5. Commissioning
Description for Direct mode position mode:
(step 6.1 ... 6.4 conditional sequence)
carried out, a nominal position must be preselected.
6.1 The nominal position is transferred in increments in
bytes 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 job) the
preselected positioning job will be started. The start is
confirmed with SPOS.B1 (acknowledge start) as long as
CPOS.B1 (START) is set.
Axis is moving).
6.4 At the end of the positioning task, SPOS.B2 (MC,
Motion Complete) is set.
If there are faults during positioning:
5. Commissioning
7. Direct mode Force mode
(requires status 1.3/2.3 and 4)
Step/
Description
7.1 Specify nominal
value
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 for
Force 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
task
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
in progress
(nominal value not
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 1 0 0 x 1
CDIR 0 0 S x 0 0 1 0 SDIR 0 0 0 1 0 0 1 0
in progress
(nominal value
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 0 0 0 0 1 0
5. Commissioning
Step/
Description
Status bytes Control bytes Step/
Description
B0 B1 B2 B3 B4 B5 B6 B7 Byte B0 B1 B2 B3 B4 B5 B6 B7 Byte
interrupted (stroke
limit or software end
position 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 positioning
task (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
S: Path limitation (stroke limit): 0 = stroke limit active, 1 = stroke limit not active
Tab. 5/15: Control and status bytes for Direct mode Force mode
Description for Force mode:
carried out, a nominal value must be specified and the sys-
tem must be prepared for operation in Force mode.
7.1 Specify the nominal value in % of nominal motor cur-
rent.
7.2 Prepare Force mode: set bit CDIR.B1 COM1, and set bit
CDIR.B5 XLIM depending on the desired level of stroke
limitation.
7.3 Start the job with CPOS.B1 START. The start is con-
firmed with SPOS.B1 (acknowledge start) as long as
CPOS.B1 (START) is set.
5. Commissioning
7.4 or 7.5
The corresponding bits are set in the status depending
on whether or not the nominal value is reached.
7.6 The positioning task is ended automatically when the
stroke limit or software end position is reached. The
system switches back to position control.
7.7 The positioning task can be stopped from the controller,
e.g. by means of STOP.
If there are faults during Force mode:
See example 3, Table 5/13 Fault handling.
Note
In Force mode, the nominal value can only be changed
after the last specification is reached (MC), by means of a
new start pulse edge.
5. Commissioning
5.8 Drive functions
5.8.1 Dimensional reference system
Dimensional reference system
1)
e
f
LSE USE
TP/AP
g
REF Reference point (homing point) a Axis zero point offset
AZ Axis zero point b, c Software end position
offsets
PZ Project zero point d Project zero point offset
LSE Lower software end position e Effective stroke
USE Upper software end position f Nominal stroke
TP, AP Target/actual position g Target/actual position
offset
1)
Example for the homing method: Fixed stop, negative
Tab. 5/16: Dimensional reference system
See also section 1.5.
5. Commissioning
Calculation rules for reference system
Point of reference Calculation rule
Axis zero point AZ = REF + a
Project zero point PZ = AZ + d = REF + a + d
Lower software end position LSE = AZ + b = REF + a + b
Upper software end position USE = AZ + c = REF + a + c
Target/actual position TP, AP = PZ + e = AZ + d + e = REF + a + d + e
Tab. 5/17: Calculation rules for reference system
5.8.2 Homing
After switching on, homing must be carried out before a posi-
tioning task can be executed.
The drive homes to a stop or a reference switch. An increase
in the motor current with the drive shaft motionless indicates
that a stop has been reached. As the drive must not be al-
lowed to push constantly against the stop, it must move at
least 0.25 mm back into the stroke range (axis zero point off-
set).
Sequence:
1. Searching for the reference point in accordance with the
configured method.
2. Moving from the reference point to the axis zero point
(axis zero point offset).
3. Setting at axis zero point:
Current position = 0 project zero point offset (i.e. PZ).
5. Commissioning
Overview of parameters involved (see also section B.1.12)
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 CPOS.B2 = positive edge: Start homing
Feedback SPOS.B1 = positive edge: Acknowledge start
SPOS.B7 = drive homed to reference point
Requirement Device control by PLC/fieldbus
Controller must be in status Operation enabled
No active command for jogging
Tab. 5/18: 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 the
axis 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 the
axis must not stand still at the stop, the axis zero point offset must be 0.
1)
For detailed description of homing methods see section 5.2.2.
Tab. 5/19: Overview of homing methods
5. Commissioning
5.8.3 Jog mode
In the Operation enabled status, the drive can be moved to
the left or right by jogging. This function is usually used for:
Moving to teach positions
Moving the drive out of the way (e.g. after a system fault)
Manual positioning as a normal operating mode
Sequence
1. When one of the signals Jog left / Jog right is set, the
drive starts to move slowly. Due to the slow speed, a posi-
tion can be defined very accurately.
2. If the signal remains set, the speed will be increased until
the configured maximum speed is reached. In this way
large strokes can be traversed quickly.
3. If the signal changes to 0, the drive will be braked.
4. If the drive reaches a software end position, it will stop
automatically. The software end position is not exceeded;
the distance for stopping is accounted for according to
the ramp set. Here too, the system does not leave Jogging
mode until Jogging = 0.
5. Commissioning
1 Low speed phase 1
(slow travel)
2 Maximum speed for
phase 2
3 Acceleration /
deceleration
4 Duration of phase 1:
CPOS.B3 or
CPOS.B4
(jogging
positive/
negative)
Speed v (t)
t [s]
1
0
1
2
3
4
3
Fig. 5/5: Flow diagram for jogging mode
Overview of parameters involved (see section B.1.11)
Speed for phase 2 2 x 531 20ED/21h
Acceleration or deceleration 3 x 532 20EE/21h
Duration of phase 1 4 x 534 20E9/21h
Start CPOS.B3 = positive edge: jogging positive (forwards)
CPOS.B4 = positive edge: jogging negative (backwards)
Feedback SPOS.B4 = 1: drive is moving
SPOS.B2 = 0: (Motion Complete)
Requirements Device control by PLC/fieldbus
Tab. 5/20: Parameters involved in jogging mode
5. Commissioning
5.8.4 Teaching via fieldbus
Position values can be taught via the fieldbus. Previously
taught position values will then be overwritten.
Sequence
1. The drive is moved to the desired position via jogging
mode.
2. The user must make sure that the desired parameter is
selected. For this the Teach target parameter and, if
applicable, the correct position record address must be
entered.
Teach target (PNU 520) For teaching:
= 1 (specification) Nominal position of the position set
record
Record Select:
Position set record after control
byte 3
Direct mode:
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. 5/21: Overview of teach targets
5. Commissioning
3. Teaching takes place via the handshake of the bits in the
control and status bytes CPOS/SPOS:
1 Ready for teaching
2 Value transferred
1
0
Acknow-
ledgment
SPOS.B3
Teaching value
CPOS.B5
1 2
1
0
Fig. 5/6: 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 position
changes by 1 mm every millisecond. With the usual cycle
times of PLC + fieldbus + motor controller, there will still be
inaccuracies of several millimetres even at a speed of only
100 mm/s.
Overview of parameters involved (see sections B.1.10 and B.1.11)
Teach target
1)
520 21FCh
Set number
1)
400 2033h
Start CPOS.B5 = Falling edge: Teach value
Feedback signal SPOS.B3 = 1: Value transferred
1)
Teach function is made possible in the Festo Configuration Tool by special functions.
Tab. 5/22: Parameters involved for teaching
5. Commissioning
5.8.5 Record Select: Executing a position set record
In the status Operation enabled, a record can be started.
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 which seldom change (change of
formula).
Sequence
1. Set the desired record number in the output data of the
master. Up till the start, the controller continues to re-
spond with the number of the record last executed.
2. With a rising edge at START (CPOS.B1) the controller ac-
cepts the record number and starts the positioning task.
3. The controller signals with the rising edge on Acknow-
ledge Start that the PLC output data have been accepted
and that the positioning task is now active. The position-
ing command is executed irrespective of whether Start
(CPOS.B1) has been reset to zero or not.
4. When the record is concluded, MC (SPOS.B2) is set.
Possible causes of faults:
Homing has not been carried out
The target position and/or the preselect position cannot
be reached
Invalid record number
5. Commissioning
Start/stop record
Nominal record
number in output
data
Stop
CCON.B1 (STOP)
Acknowledge start
SPOS.B1 (ACK)
Motion Complete
SPOS.B2 (MC)
Actual record
number in
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 moving
SPOS.B4 (MOV)
Start
CPOS.B1 (START)
N + 1
5
1 Requirement:
Acknowledge Start = 0
2 Rising edge on Start causes the new
record number N to be accepted and
Acknowledge Start to be set.
3 As soon as Acknowledge Start is
detected by the PLC, it can set Start
back to 0.
4 The controller reacts with a falling
edge on Acknowledge Start.
5 As soon as Acknowledge start is
detected by the PLC, it can apply the
next record number.
6 A currently running positioning task
can be stopped with Stop.
Fig. 5/7: Flow diagram for start/stop record
5. Commissioning
Stop record with Halt and continue
Target record
number
Output data
Acknowledge start
SPOS.B1 (ACK)
Motion complete
SPOS.B2 (MC)
Actual record
number
Input data
N - 1 N N + 1
N - 1 N
1
0
1
0
1
0
1
0
1
0
1
0
Axis is moving
SPOS.B4 (MOV)
Halt
CPOS.B0 (HALT)
1
0
Start
CPOS.B1 (START)
1
0
Confirm halt
SPOS.B0 (HALT)
1
2
1 Record is stopped with Halt, actual
record number N is retained, Motion
Complete remains reset
2 Rising edge on Start starts record N
again, Confirm Halt is set
Fig. 5/8: Flow diagram for stop record with Hold and continue
5. Commissioning
Stop record with Hold and clear remaining
positioning path
Nominal record
number in output
data
Acknowledge start
SPOS.B1 (ACK)
Motion Complete
SPOS.B2 (MC)
Actual record
number
in input data
N - 1 N N + 1
N - 1 N
1
0
1
0
1
0
1
0
1
0
1
0
Axis is moving
SPOS.B4 (MOV)
Halt
CPOS.B0 (HALT)
N + 1
1
0
Start
CPOS.B1 (START)
Clear remaining
positioning path
CPOS.B6 (CLEAR)
1
0
1
0
Confirm Halt
SPOS.B0 (HALT)
1
2
1 Stop record 2 Clear remaining positioning path
Fig. 5/9: Flow diagram for stop record with Halt and clear remaining positioning path
5. Commissioning
Parameters involved (Record Select)
The entries in the position set table can be written via the
fieldbus (PNU 401...407).
The composition of the position set table as per FHPP is
described in appendix B.1.10.
Absolute/relative positioning x 401 20E0/01h
Target position x 404 20E0/02h
Velocity x 406 20E0/03h
Acceleration / deceleration x 407 20E0/04h
Start CPOS.B1 = positive edge: Start
Jogging and homing have priority.
Feedback SPOS.B2 = 0: Motion Complete
SPOS.B1 = positive edge: Acknowledge start
SPOS.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. 5/23: Parameters involved for Record Select
5. Commissioning
5.8.6 Direct mode: Specification of a position or force
In the Operation enabled status, a positioning task is for-
mulated directly in the I/O data, which are transmitted via the
fieldbus. The nominal values for position or forces are man-
aged in the PLC.
The function is used in the following situations:
Moving to any position within the effective stroke
The target positions are unknown during planning or
change frequently (several different workpiece positions)
A positioning profile formed by linking records can be imple-
mented externally through the master.
Sequence for specification of a position:
1. The user sets the desired nominal position value and the
positioning mode (absolute/relative) in the PLC output
data.
2. With a rising edge on START (CPOS.B1), the controller
accepts the nominal position and starts the positioning
task.
3. After the start you must wait for MC before a new start
can be made.
4. When the nominal position is reached, MC (SPOS.B2) is
set.
5. Commissioning
Sequence for specification of a torque/force:
Note
The motor torque is controlled indirectly via regulation of
the current. The actual force on the axis should be deter-
mined/checked during commissioning using external
measuring devices and adjusted.
Force mode is prepared by switching the control mode. The
drive remains stationary in a controlled position. The signal
MC (Motion Complete) is used in this control mode to mean
executed.
After the nominal value has been specified, the start signal
(start bit) is sent and the torque (or force, in the case of a
linear drive) is built up in the direction of the nominal value's
sign. The speed is limited to the value in the parameter
Speed limit. Once this speed has been reached, the bit
Speed limit reached is set in the status byte SDIR.
Once the nominal value has been reached, taking into ac-
count the target window and the time window, the MC sig-
nal is set. Force/torque continue to be controlled.
If the distance set in path/stroke monitoring (relative to the
start position) is exceeded, the bit Stroke limit reached is
set in the status byte SDIR. The drive is braked with the emer-
gency-stop ramp, is then held in a controlled position (the
current position), and the MC signal is set.
Possible causes of faults:
Homing not carried out.
Target position cannot be reached or lies outside the soft-
ware end positions.
5. Commissioning
Starting the positioning task
Nominal values in
output data
Start
CPOS.B1
Acknowledge start
SPOS.B1
Motion Complete
SPOS.B2
N - 1 N
N + 1
1
0
1
0
1
0
1
0
N + 2
Fig. 5/10: Starting the positioning task
The sequence of the remaining control and status bits as well
as the functions Halt and Stop react as for the Record Select
function; see Fig. 5/7, Fig. 5/8 and Fig. 5/9.
5. Commissioning
Description FCT PNU CI
Position mode Acceleration / deceleration x 541 20EE/34h
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 Complete
SPOS.B1 = positive edge: Acknowledge start
SPOS.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. 5/24: Parameters involved in Direct Mode
Note on Force mode:
The motor torque is controlled indirectly via the regulation
of the current. All specification for forces/torques are de-
fined in relation to the nominal motor torque (relative to
the nominal motor current). The actual force on the axis
should be determined/checked during commissioning
using external measuring devices and adjusted.
5. Commissioning
5.8.7 Standstill monitoring
With standstill monitoring, the system can detect when the
drive leaves the target position window when in standstill
status.
When the target position has been reached and MC has been
signalled in the status word, the drive switches to standstill
status; bit SPOS.B6 (standstill monitoring) is reset. If, while in
this status, the drive is moved out of the standstill position
window by external forces or other influences and stays out
for a minimum defined time, bit SPOS.B6 is set.
As soon as the drive has been back in the standstill position
window for the defined standstill monitoring time, bit
SPOS.B6 is reset.
1 Target position
2 Current position
3 Standstill monitoring
(SPOS.B6)
4 Motion complete
(SPOS.B2)
5 Standstill position
window
6 Target position win-
dow
7 Adjustment time (po-
sition window time)
8 Standstill monitoring
time
1
0
1
0
1
2
3
4
5 6
7
8 8
Fig. 5/11: Standstill monitoring
Standstill monitoring cannot be switched on or off explicitly.
It becomes inactive when the standstill position window is set
to the value 0.
5. Commissioning
Parameter Description FCT PNU CI
Nominal position 1040 6062h
Actual position 1041 6064h
Standstill position window 1042 2040h
Standstill monitoring time 1043 2041h
Start SPOS.B2 = positive edge: Motion Complete
Feedback SPOS.B6 = 1: Drive has moved out of standstill position window.
Controller in operation enabled state
Tab. 5/25: Parameters involved in standstill monitoring
5. Commissioning
5.9 Notes on operation
Start-up behaviour and homing
Warning
Incorrect parameterisation can cause injury to people and
damage to property.
In the following cases homing is absolutely essential in
order that the points of reference and the working range
can be set correctly:
Every time the logic voltage is switched on
When the dimensional reference system (homing
method, axis zero point, direction of rotation) has
been modified (compare object 607E
h
)
After a failed/cancelled homing run
Before starting homing, make sure that the axis is in
front of the reference switch or stop, in relation to the
direction of travel.
Note
When the coupling or clamping element in the coupling
housing is loosened, the motor can be turned on its
longitudinal 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
Caution
The RS232 interface is not electrically isolated. It is not
intended for permanent connection to PC systems or as a
controller interface.
Use the connection only for parameterising and diag-
nosis.
Controlling during operation
Warning
Danger of injury.
Faults in parameter assignment can cause injury to people
and damage to property when the controller is enabled.
Only enable the controller once the axis system has been
installed and parameterised by technically qualified
staff.
Caution
Note the manufacturer's specifications for the permitted
operating conditions of the motors and drives used, such
as the permitted positioning speeds, for example.
Caution
Damage to components with DMES-...
Movement onto the mechanical end positions is not per-
mitted during operation. When movement is made to the
end positions with a heavy load, blockage may occur in the
end positions.
Note
Any functions implemented for the purposes of
EMERGENCY-STOP procedures must also be taken into
account in the control programs
5. Commissioning
Password protection
In the factory settings, password protection is not active. In
order to prevent unauthorised or unintentional overwriting or
modification of parameters in the device, all download and
control 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-DCI
plugin help)
HMI password protection with the MTR-DCI-...H2
(3 characters, see section 4.4).
Care and maintenance
The motor units do not require maintenance during their spe-
cified service life. Follow the maintenance instructions for the
accessory components.
5. Commissioning
Diagnostics and fault display
Chapter 6
Diagnostics and fault display
6. Diagnostics and fault display
Contents
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 faults and warnings 6-8 . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Diagnostic memory 6-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Diagnosis via PROFIBUS-DP 6-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Diagnosis via parameter channel 6-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Overview of diagnostic options
Overview ordered by type of diagnostic information:
Type of diagnostic informa-
tion
Access via ... See ...
The fact that there is a fault LEDs on the MTR-DCI Section 6.2
FCT: virtual LEDs in the Device status window Plugin help
Profibus: status bytes SCON and SPOS Section 5.7.2
The current fault message in nor-
mal text
Control panel of the MTR-DCI (type ...-H2 only) Display
FCT: text field in the Device status window Plugin help
Diagnostic memory: the last
16 messages
FCT: in Diagnosis window (when connected to
device)
Plugin help
FPC: the second 8 bytes of cyclical fieldbus
communication can likewise transmit the con-
tents of the diagnostic memory.
Sections
B.1.1 and 6.4
Device-related diagnosis in ac-
cordance with IEC 61158-6 Type 3
Diagnosis via the PROFIBUS-DP service
GetDiag
Section 6.5
Parameter assignments Control panel: in [Diagnostic] menu Section 4.3
FCT Plugin help
Tab. 6/1: Diagnostic information by type
Overview ordered by type of access to diagnostic
information:
Access Brief description Advantages /
properties
Detailed de-
scription
LEDs The LEDs indicate ready to operate
status, positioning status, faults and
bus status.
Fast
on-the-spot
recognition of
faults
Section 6.2
Control panel
on the
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 actual
positions, speed, and information on
communication via fieldbus.
Detailed
on-the-spot
diagnosis
Section 4.3
Festo Configura-
tion Tool
With active device connection:
Display of the current position set,
target and actual positions, and
speed
Display of the operation mode,
special outputs and operating
states, and fault messages from the
connected MTR-DCI
Display of the bus status
Display of the diagnostic memory
Detailed dia-
gnosis during
commissioning
MTR-DCI plugin
help
PROFIBUS-DP
diagnosis
Standard diagnosis
Device-related diagnosis
Diagnosis via FHPP status bytes
SCON and SPOS
Simple diagnosis
via fieldbus
Section 6.5
PROFIBUS via
FPC
Expanded access to diagnostic data,
e.g. diagnostic memory.
Detailed diagnos-
is via fieldbus
Sections 6.4 and
6.6
Tab. 6/2: Diagnostic information by access
6.2 LED status displays
Power supply
POWER Status
Load and logic voltages applied.
Green
Logic voltage is applied.
Load voltage is not applied.
Flashing
No voltage is applied.
Off
Tab. 6/3: Power LED
Fault display
ERROR Status
Fault.
The motor unit is not ready to operate.
Red
Warning.
Check cause and rectify if necessary; see section 6.3.
Flashing
No internal fault reported.
Off
Tab. 6/4: Error LED
Bus status, positioning status and controller enable
I/F
1)
Status
MC (green)
ON
OFF
Motion Complete
1)
Positioning procedure has been com-
pleted or stopped (Motion Complete).
Lit up green
ON
OFF
No Motion Complete or fault/warning
Target position not yet reached (posi-
tioning procedure is running)
2)
or
Fault.
Off
1)
Two-colour LED
2)
If there is no fault, i.e. LED ERROR = off.
Tab. 6/5: LED I/F green Motion-Complete LED
I/F
1)
Status
PROFIBUS (red)
ON
OFF
Data exchange active
Normal operating status.
Off
ON
OFF
Address not parameterised
Invalid bus address set.
Flashing red fast (5Hz)
ON
OFF
Waiting for connection
Flashing red slowly (1Hz)
1)
Two-colour LED
Tab. 6/6: LED I/F red PROFIBUS LED
6.3 Fault messages
Fault
Warning
message
Fault message
Not all faults are equally serious. Either a warning or a fault
message will appear, depending on the level of serious-
ness.
6.3.1 Overview
Cat-
egory
Name, display Description Device
Error
1)
Fault
number
Fault
LED
Status
bytes
2)
Fault POSITION ERROR Position lag error 0x0001 31 ON FAULT, DEV
Fault MOTOR STOP Motor emergency
stop
0x0002 106 ON FAULT
Fault HOMING-ERROR Homing fault 0x0004 32 ON FAULT
Fault OVERHEATING Overtemperature
(ActTemp > 80)
0x0008 101 ON FAULT
Fault LOAD-POWER-
DOWN
Undervoltage at
controller (load
voltage)
0x0010 70 ON FAULT
Fault I2t-ERROR Overheating (i2t
monitoring)
0x0020 100 ON FAULT
Fault HARDWARE-ERROR User data
destroyed
(checksum fault)
0x0040 52 ON FAULT
Fault TARGET POSITION
OUT OF LIMIT!
Position outside
software end
positions
0x0080 2 ON FAULT
Warning ILLEGAL RECORD
WARNING
Invalid record no. 0x0100 3 FLASH-
ING
WARN
1)
See object 2FF1/00
2)
For FHPP status bytes, see section 5.7.2
Cat-
egory
Status
bytes
2)
Fault
LED
Fault
number
Device
Error
1)
Description Name, display
Fault PLEASE ENFORCE
HOMING RUN!
Not referenced
(homing not carried
out)
0x0200 1 ON FAULT
Warning STANDSTILL-
WARNING
Standstill
monitoring
0x4000 36 FLASH-
ING
WARN,
STILL
Fault PROFIBUS-INIT-
ERROR
Hardware
initialisation fault
0x8000 51 ON FAULT
Warning HOT TEMPERATURE Temperature
too high
FLASH-
ING
WARN
Warning COLD
TEMPERATURE
Temperature
too low
FLASH-
ING
WARN
1)
See object 2FF1/00
2)
For FHPP status bytes, see section 5.7.2
Tab. 6/7: Faults and warnings with fault numbers and fault bits
6.3.2 Description of faults and warnings
Messages Messages give information regarding operating states.
Message 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 set
v.
The menu command [Move position set] is not
being executed because the positioning speed
of the position set record is v = 0. Modify the
parameter assignment or select a different
position set record.
Warnings Warnings have no effect on the behaviour of the drive. The
cause of the warning should however be eliminated so that it
does not lead to a fault.
When a warning occurs, the fault LED flashes and the output
WARNING is set (FHPP status bits, SCON.B2).
Warning Cause
HOT
TEMPERATURE
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.
COLD
TEMPERATURE
Operating temperature < -10 C,
increase ambient temperature as appropriate.
STANDSTILL-
WARNING
The axis has moved outside the standstill
position window.
ILLEGAL
RECORD
WARNING
Invalid record number.
Fault If there is a fault, the drive will be stopped. The fault LED will
flash.
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 signal
CCON.B3
With the Reset error button in the Festo
Configuration Tool
Fault Possible cause
HARDWARE ERROR Device error, e.g. EEPROM defective.
Contact Festo Service.
HOMING ERROR Fault during homing
Possible causes:
Homing interrupted
Reference switch defective
If necessary, check the function of the reference switch.
In all cases, be sure to repeat the homing run.
i
2
t-ERROR Current monitoring i
2
t.
Possible cause:
The drive is blocked.
Check the drive's mechanical components.
PLEASE ENFORCE
HOMING RUN!
When starting a position set record.
Possible causes:
Valid homing has not yet been carried out.
The homing (reference) position has been lost due to logic voltage
failure.
You must carry out a homing run in all cases.
MOTOR STOP Fault during the positioning procedure
Possible cause:
The positioning procedure was interrupted on the control panel with EMER-
G.STOP (<Menu> button).
Acknowledge the fault on the control panel with <Enter>
OVERHEATING Overheating (operating temperature > 80 C)
Possible cause:
Motor overloaded
Ambient temperature too high
Check:
That the limits are being observed (motor characteristic curves)
The mechanical parts e.g. for stiffness
If necessary, reduce the ambient temperature.
Fault Possible cause
POSITION ERROR Position lag error
Possible causes:
The drive is blocked.
The speed assigned in the parameters cannot be reached.
The work load is too heavy.
Check:
The mechanical parts of the drive
The speed of the positioning set record
LOAD POWER DOWN Voltage monitoring
Possible causes:
Load voltage too low
MTR-DCI 32/42/52: U < 18 V
MTR-DCI 62: U < 34 V
Voltage drops under load
Check the voltage supply:
Power supply unit too weak?
Supply line too long?
TARGET POSITION OUT
OF LIMIT!
The specified target position is outside the permitted positioning range.
Check the following:
The software end positions
The target position
The basis of the target position (absolute or relative)
PROFIBUS-INIT-ERROR PROFIBUS initialisation fault
Hardware fault
Servicing required.
Tab. 6/8: Fault messages
6.4 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 (circular
buffer).
Structure of the diagnostic memory
Parameter
1)
200 201 202
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)
(see section B.1.8)
Tab. 6/9: Diagnostic memory: structure
Configuration of the diagnostic memory with parameter 204 (see section B.1.8)
SI Description Specifi-
cation
Min. Max.
1 = 1: Record incoming and outgoing
*)
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
*) Outgoing fault = time when the fault was acknowledged (= reset).
Tab. 6/10: Diagnostic memory: configuration
The faults are divided into logical groups according to the
fault numbers.
Group Name Comment
0 No fault active
1 ... 19 Execution fault Examples: no homing, nominal position outside software end
positions, 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 be writ-
ten by the user. During the recalculation by the controller,
it was found to be invalid in the context of the other paramet-
ers.
Note: invalid parameters are rejected by the parameter pro-
tocol and do not generate a fault in the controller.
30..49 Controller Examples: positioning timeout, homing not successful, posi-
tion lag error too large, ...
The task could not be executed correctly. No hardware fault
could be detected. Source: controller
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 be
found in section 6.3.2.
6.5 Diagnosis via PROFIBUS-DP
The MTR-DCI supports the following diagnostic options via
PROFIBUS-DP:
FHPP status bytes (see section 5.7.2):
SCON.B2: WARN Warning
SCON.B3: FAULT Fault
SPOS.B5: DEV Position lag error
SPOS.B6: STILL Standstill monitoring
PROFIBUS-DP diagnosis :
PROFIBUS service GetDiag with device-related diag-
nosis (GbD) when activated.
The alarm model as per DPV1 is not supported.
Structure of DP diagnosis (GetDiag)
The MTR-DCI supports the device-specific diagnostics of
the PROFIBUS service GetDiag in accordance with
IEC61158-6 Type 3.
Note
The identifier- or channel-related diagnosis listed in
IEC 61158-6 Type 3 is not supported.
How to request the DP diagnosis for a slave is described in
the manual for your DP master.
16 bytes are reserved in the MTR-DCI for DP diagnosis:
Byte Diagnostic address Description
0 Station status 1 Gives an overview of the communication status and the
general status of the MTR-DCI (see Tab. 6/13 and follow-
ing).
1 Station status 2
2 Station status 3
3 Master PROFIBUS address PROFIBUS address of the DP master via which parameters
were assigned on the MTR-DCI and which has both read
and write access.
4 DP slave ID number Describes the DP slave type
(for MTR-DCI = 0974h).
5
6 Header (for device-related
diagnosis)
Specifies the length of the device-related diagnosis incl.
header.
1)
7 Status type With the MTR-DCI always 0xA0
(for manufacturer-specific status).
8 Slot no. With the MTR-DCI always 0x00
(slot is ignored).
9 Specifier With the MTR-DCI always 0x00
(no specification of the fault).
10 Device-related diagnosis 1:
firmware version number
Version number of the firmware of the MTR-DCI:
2)
Byte 11: main version
Byte 10: subsidiary version
11
hardware version number
Version number of the hardware of the MTR-DCI:
2)
Byte 13: main version
Byte 12: subsidiary version
13
fault number
Fault number; see section 6.3, Tab. 6/8.
15
1)
The MTR-DCI permanently enters the value 10 in this octet.
2)
E.g. 0x02 0x01 Z V1.02
Tab. 6/12: DP diagnosis (device-related diagnosis)
Station status 1
Bit 3 is especially of interest with station status 1. If this bit is
set, it is useful to evaluate the device-related diagnosis.
Station status 1
Bit Meaning Explanation
0 Diag.Station_Non_Existent MTR-DCI no longer/not yet addressable.
Possible causes:
Operating voltage not applied
Data transmission line interrupted
Fault in data transmission line
1 Diag.Station_Not_Ready MTR-DCI is not yet ready for data exchange.
2 Diag.Cfg_Fault The configuration data received from the master are not
the same as those ascertained by the MTR-DCI.
3 Diag.Ext_Diag A device-related diagnosis exists.
1)
4 Diag.Not_Supported 1 = The MTR-DCI does not support the function re-
quested.
5 Diag.Invalid_Slave_Response Always 0 (always reset to 0 by the MTR-DCI).
2)
6 Diag.Prm_Fault Last parameter assignment telegram faulty
7 Diag.Master_Lock Access by a different master (is set by the master)
1)
Is set by the MTR-DCI when a new fault occurs (new fault message).
2)
Is set to 1 in the DP master when the response sent by the slave cannot be interpreted.
Tab. 6/13: Diagnostic bits of station status 1
Station status 2 (MTR-DCI-related bits only)
Station status 2
0 Diag.Prm_Req 1 = The master must reconfigure the MTR-DCI
1 Diag.Stat_Diag 1 = The master must request diagnostic data until this
bit is set to 0
2

Always 1 (set to logical 1 by the MTR-DCI)
3 Diag.WD_On 1 = Response monitoring/watchdog activated
4 Diag.Freeze_Mode 1 = Freeze activated
1)
5 Diag.Sync_Mode 1 = Sync activated
1)
6

Reserved
7 Diag.Deactivated Always 0 (always reset to 0 by the MTR-DCI)
1) Only in conjunction with a diagnostic message.
Station status 3
Station status_3
0...6

Reserved
7 Diag.Ext_Diag_Overflow Is always logical 0 (set by the MTR-DCI).
6.6 Diagnosis via parameter channel
The Festo parameter channel or the parameter channel as per
PROFIdrive (see section 5.6) offers the following methods of
accessing diagnostic information (see PNU 201 to 205,
section B.1.8):
Current device fault (see also faults and warnings,
section 6.3)
Diagnostic memory (PNU 200, PNU 201, PNU 202)
PROFIBUS diagnosis (PNU 206)
Technical appendix
A-1 Festo P.BE-MTR-DCI-PB-EN en 1209a
Appendix A
Technical appendix
A. Technical appendix
Contents
A.1 Technical data A-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Accessories A-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Motor characteristic curves A-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4 Converting the units of measurement A-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Technical data
General information
Protection class as per EN 60529 IP54 (plug connectors plugged in or fitted with
protective cap)
Relative humidity 0...95 %, non-condensing
Temperature range Operation: 0 ... +50 C
Storage/transport: -25 ... +60 C
Vibration As per DIN/IEC68/EN60068 Part 2-6,
severity level 1
Shock As per DIN/IEC 68/EN 60068 Part 2-27,
severity level 1
Electromagnetic compatibility (EMC)
1)
See declaration of conformity (www.festo.com)
Protection against electric shock
(protection against direct and indirect contact
as per IEC/DIN EN 60204-1)
By means of PELV power circuit
(Protected Extra-Low Voltage)
Gearing type Planetary gearing
Encoder (with 4x evaluation) 500 x 4 > 2000 inc/revolution
MTR-DCI-32: 300 x 4 > 1200 inc/revolution
Temperature monitoring Warning message at 70C < T < 80C
Switch off at temperature 80C
Display resolution 128 x 64 pixels
Serial interface RS232, 9600 bit/s
PROFIBUS interface IEC 61158. DPV0 and DPV1.
1)
The device is intended for industrial use.
Mechanical data 32 42 52 62
MTR-DCI-...-G7: gear reduction 6.75:1; 1-stage
Gear unit
1)
Drive output speed
Torsional backlash
Drive output torque
Efficiency
[rpm]
[]
[Nm]
481
1.9
0.15
0.75
444
1.3
0.59
0.8
444
1.1
1.62
0.8
504
1.0
3.78
0.8
Mass moment of inertia
Rotor
Gearing
[kg cm
2
]
[kg cm
2
]
0.024
0.00089
0.0323
0.00235
1.209
0.01132
3.3
0.017
Product weight [kg] 0.7 1.7 3.1 7.6
MTR-DCI-...-G14: gear reduction 13.73:1; 2-stage
Gear unit
1)
Drive output speed
Torsional backlash
Drive output torque
Efficiency
[rpm]
[]
[Nm]
237
1.55
0.29
0.7
218
0.95
1.13
0.75
218
0.75
3.08
0.75
248
1.5
7.20
0.75
Rotor
Gearing
[kg cm
2
] 0.024
0.00149
0.323
0.00441
1.209
0.01711
3.3
0.035
Product weight [kg] 0.7 1.8 3.3 8.0
MTR-DCI-...-G22: Gear reduction ratio 22.21:1; 2-stage
Gear unit
1)
Drive output speed
Torsional backlash
Drive output torque
Efficiency
[rpm]
[]
[Nm]
153
1.5
11.66
0.75
Rotor
Gearing
[kg cm
2
]
[kg cm
2
]
3.3
0.022
Product weight [kg] 8.0
1)
For permitted loading of gear shaft, see chapter 2, Tab. 2/2
Electrical data MTR--32 MTR--42 MTR--52 MTR--62
Nominal voltage DC 24 V 10 % Load DC 48 V +5/-10 %
Logic
*)
DC 24 V 10 %
Nominal current
(load)
0.73 A 2 A 5 A 6.19 A
Peak current (load) 2.1 A 3.8 A 7.7 A 20 A
Nominal current
(logic)
*)
0.15 A
*) Only relevant with separated voltage supply.
A.2 Accessories
Port Accessories Designation Length [m]
Power supply Power supply cable KPWR-MC-1-SUB-9HC-... 2.5 / 5 / 10
Serial interface Programming cable KDI-MC-M8-SUB-9-... 2.5
Reference switch Switch, magnetic
Switch, inductive
SMT-8M-...-M8D
SIEN-...-M8B-...
Connecting cable with

screw-type lock
KM8-M8-GSGD.... 0.5 / 1 / 2 / 5
Fieldbus connection in-
cluding separate logic
voltage supply
Fieldbus adapter (IP54) FBA-PB-SUB-9-3XM12
Protective cap for main-
taining protection class IP
54 if separate power sup-
ply not used
E.g. of binder: No.
08-2424-010-000
User documentation in paper form

German P.BE-MTR-DCI-PB-DE
English P.BE-MTR-DCI-PB-EN
French P.BE-MTR-DCI-PB-FR
Italian P.BE-MTR-DCI-PB-IT
Spanish P.BE-MTR-DCI-PB-ES
Swedish P.BE-MTR-DCI-PB-SV
A.3 Motor characteristic curves
1 Drive output torque of gear shaft M [Nm]
2 Current I [A]
3 Recommended operation
4 Impermissible range
5 Overload range
MTR-DCI-32...-G14
MTR-DCI-32...-G7
I [A]
M [Nm]
n [rpm]
1 2
3
4
5
I [A]
M [Nm]
n [rpm]
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 [rpm]
1 2
3
4
5
I [A]
M [Nm]
n [rpm]
1
2
3
4 5
5
5
I [A]
M [Nm]
n [rpm]
1
2
3 4 5
5
MTR-DCI-52...-G14
MTR-DCI-52...-G7
I [A]
M [Nm]
n [rpm]
1
2
3 4 5
5
MTR-DCI-62...-G14
MTR-DCI-62...-G7
I [A]
M [Nm]
n [rpm]
1
2
3 4
5
I [A]
M [Nm]
n [rpm] 1 2
3 4 5
MTR-DCI-62...-G22
I [A]
M [Nm]
n [rpm]
1 2
3 4
5
A.4 Converting the units of measurement
Unit of measurement systems
For accessing parameters via FCT or the control panel, a unit
of measurement system must be defined, e.g.:
Metric unit of measurement system for linear motions
(mm, mm/s, mm/s
2
)
Imperial unit of measurement system for linear motions
(inch, inch/s, inch/s
2
)
Angle unit of measurement system for rotational motions
(degree, degree/s, degree/s
2
) or (rev, rev/s, rev/s
2
)
Conversion In the controller, all parameters are saved in increments
(inc, inc/s, inc/s
2
) and are not converted until they are writ-
ten in or read.
For the control panel, the values are converted from the
internal base system into the measurement system set in
the firmware.
For representation of values on the PC monitor, they are
converted within the FCT software.
The transfer of values via the serial interface using CI
commands is done in increments and requires conversion
within the user software (PLC/IPC).
Parameters Conversion is carried out via the following parameters, de-
pending on the axis type set:
feed: feed constant (dependent on the axis type).
enc: encoder resolution = physical measuring steps per
motor revolution. On the MTR-DCI: pulse quadruplication
by digital interpolation.
gear: gear reduction.
Parameters MTR-DCI-32 MTR-DCI-42 MTR-DCI-52 MTR-DCI-62
Feed
1)
DMES-18-...:
1500 [m/rot]
DMES-25-...:
2500 [m/rot]
DMES-40-...:
4000 [m/rot]
DMES-63-...:
6000 [m/rot]
Enc
2)
300 x 4 =
1200 [incr/rev]
500 x 4 = 2000 [incr/rev]
Gear
3)
MTR-DCI-...-G7 (6.75:1) }27:4
MTR-DCI-...-G14 (13.73:1) }3969:289
MTR-DCI-...-G22 (22.2:1) }1710:77
1)
Feed constants: dependent on the axis type; here, type DMES-...
2)
Encoder resolution on the MTR-DCI: pulse quadruplication by digital interpolation
3)
Gear reduction: specification in 2 natural numbers for the numerator or denominator of the
fraction
Tab. A/1: Base parameters
Drive Conversion factors (CF)
Increments { }Millimetre
Increments = millimetres*CF
Millimetres = increments/CF
Increments { }Inch
Increments = inches*CF
Inches = increments/CF
MTR-DCI-32...
(+DMES-18)
-G7
-G14
5400
10986.851211
13716
27906.602076
MTR-DCI-42...
(+DMES-25)
-G7
-G14
5400
10986.851211
137160
27906.602076
MTR-DCI-52...
(+DMES-40)
-G7
-G14
3375
6866.782007
85725
17441.626298
MTR-DCI-62...
(+DMES-63)
-G7
-G14
-G22
2250
4577.854671
7402.597403
57150
11627.750865
18802.597403
Tab. A/2: Special conversion factors for the MTR-DCI with DMES-...
General conversion factors (CF)
1 [inch] =25, 4 [mm]
1 [inch] =0, 0254 [m]
1 [] =
1
360
[rot]
[m] }[inc]
UF
m

inc
m
=
enc gear
feed
m
inc
rot
rot
rot
m
rot
[inch] }[inc]
UF
inch

inc
inch
=
enc gear
feed
inch
inc
rot
rot
rot
inch
rot
=
enc gear
feed
m
1
0,0254
inc
rot
rot
rot
m
rot
inch
m
=UF
m
0, 0254
inc
m
m
inch
[rot] }[inc]
UF
rot

inc
rot
=enc gear

inc
rot
rot
rot
Physical variable Conversion into increments
Item POS [inc]
Target position
Reference point
Project zero point
Software end position,
positive
Software end position,
negative
[m] }[inc]
= POS
m
x CF
m
[m] x [inc/m]
[inch] }[inc]
= POS
Inch
x (0.0254 x CF
m
) *
= POS
Inch
x CF
Inch
[inch] x [m/inch] x [inc/m]
[inch] x [inc/inch]
[rot] }[inc]
= POS
rot
x CF
rot
[rev] x [inc/rev)
Speed V [inc/s] =
Travel speed to target
position
Search speed during
reference travel
Travel speed to the axis
zero point during
reference travel
[m] }[inc]
= V
m
x CF
m
[m/s] x [inc/m]
[inch] }[inc]
= V
Inch
x (0.0254* x CF
m)
*
= V
Inch
x CF
Inch
[inch/s] x [m/inch] x [inc/m]
[inch/s] x [inc/inch]
[rot] }[inc]
= V
rot
x CF
rot
[rev/s] x [inc/rev]
Acceleration a [inc/s
2
] =
Nominal acceleration
[m] }[inc]
= a
m
x CF
m
[m/s
2
] x [inc/m]
[inch] }[inc]
= a
Inch
x (0.0254* x CF
m)
*
= a
Inch
x CF
Inch
[m/s
2
] x [m/inch] x [inc/m]
[inch/s
2
] x [inc/inch]
[rot] }[inc]
= a
rot
x CF
rot
[rot/s
2
] x [inc/rot]
* Conversion [m] }[inch] : 1 Inch = 0.0254 m
Tab. A/3: General formulae for conversion
Supplementary information
B-1 Festo P.BE-MTR-DCI-PB-EN en 1209a
Appendix B
Supplementary information
B. Supplementary information
Contents
B.1 Parameter assignment B-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data) B-3 . . . . . .
B.1.2 Request identifiers, response identifiers, fault numbers B-5 . . . . . . . .
B.1.3 Rules for request-response processing B-8 . . . . . . . . . . . . . . . . . . . . . .
B.1.4 Parameter groups B-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.5 Overview of parameters B-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.6 Layout of the parameter entries B-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.7 Device data B-21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.8 Diagnostics B-25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.9 Process data B-29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.10 Position set table (list of position set records) B-30 . . . . . . . . . . . . . . . .
B.1.11 Project data B-34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1.12 Axis parameters for electric drives 1 B-41 . . . . . . . . . . . . . . . . . . . . . . . .
B.2 The Command Interpreter (CI) B-55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.1 Procedure for data transmission B-56 . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.2 CI commands B-59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.3 CI objects (overview) B-63 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.2.4 Additional CI objects B-71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3 FHPP finite state machine B-85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.1 Establishing ready to operate status B-87 . . . . . . . . . . . . . . . . . . . . . .
B.3.2 Positioning B-88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1 Parameter assignment
B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data)
The Festo Parameter Channel is used for the transmission
of parameters. It offers the following advantages:
Component Description
Parameter identifier ParID Contains:
Parameter number PNU: identifies a parameter.
Request/response identifier (AK): describes the task/response in
the form of a code number.
Subindex (IND) Addresses an element of an array parameter.
Parameter value (ParVal) Value of the parameter.
If a parameter processing request cannot be carried out, a fault
number will be shown in the response telegram instead of the value.
The fault number describes the cause of the fault.
Tab. B/1: Components of the parameter channel
The Festo Parameter Channel FPC consists of 8 octets:
FPC
O data 0 IND ParID ParVal
I data 0 IND ParID ParVal
IND Subindex
ParID Parameter identifier: PNU and AK
ParVal Parameter value:
With double word: bytes 5...8
With word: bytes 7, 8
With byte: byte 8
Tab. B/2: Structure of Festo Parameter Channel (FPC)
Parameter identifier (PKE)
The parameter identifier contains the task/response identifier
(AK) and the parameter number (PNU). Spontaneous messa-
ges via bit 11 are not supported by the MTR-DCI.
ParID
Byte 3 Byte 4
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Task ReqID (AK) res. PNU (parameter number)
Re-
sponse
ResID (AK) res. PNU (parameter number)
ReqID (AK) Request identifier (read, write, ...)
ResID (AK) Response identifier (transfer value, fault, ...)
The request/response identifier indicates the type of request or response
(see section B.1.2).
PNU Parameter number identifies and addresses the relevant parameter (see section B.1).
Tab. B/3: Structure of parameter identifier (PKE)
B.1.2 Request identifiers, response identifiers, fault numbers
Request identifiers:
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 using request numbers for simple variables to access parameters implemented as an
array, the subindex is ignored or set to 0. This means that the first element of an array is always
addressed.
2)
Requests with non-supported request numbers (ReqID) will be answered with response
identifier 7 and fault number 22.
Tab. B/4: Request identifiers
If the request cannot be carried out, response identifier 7 will
be 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 control signals accepted from PKW inter-
face)
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-DCI
2) For fault numbers, see following table
Tab. B/5: Response identifiers
If the parameter processing request cannot be carried out,
a corresponding fault number will be transmitted in the re-
sponse telegram (octets 7 and 8 of the FPC range). The fol-
lowing table shows the possible fault numbers:
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 control signals accepted
(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 fault numbers are not used
B.1.3 Rules for request-response processing
Rules Description
1 If the master sends the identifier for No request, the MTR-DCI replies with the
response 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 response
from 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), parameter
number (PNU) and subindex (IND), the request identifier 0 (no request) must be sent
and the master must wait for the response identifier 0 (no response). This is to ensure
that an old response is not interpreted as a new response.
Tab. B/6: Rules for request-response processing
Sequence of parameter processing
Caution
Observe the following when modifying parameters:
An FHPP write request referring to a modified parameter
may only be sent once the response identifier Parameter
value transferred is received for the relevant parameter
and (where applicable) index.
If for example you want to modify a position value in a posi-
tion set table and then have the drive move to that position,
the positioning command can only be given when the MTR-
DCI has completed and confirmed the modification of the
position set table.
Caution
In order to be sure that an old response cannot be inter-
preted as a new response, the request identifier 0 (no
request) must be sent and the response identifier 0 (no
response) must then be received between two consecutive
requests with the same request identifier (AK), parameter
number (PNU) and subindex (IND).
Fault evaluation
In the case of requests which cannot be carried out, the slave
responds as follows:
Output of response identifier = 7
Output of a fault number in bytes 7 and 8 of the para-
meter channel (FPC)
Example of parameter assignment via DPV0
Parameters can be assigned (parameterised) to a position set
record in the position set table via FPC as follows:
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 with
ReqID = 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
Step 4 Write record number 1 with target position 0x1234 (decimal
4660 increments):
PNU 404, subindex 2 modify parameter value, array, double
word: ReqID 8 (0x8) with value 0x00001234.
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 with
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, double
word: 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 with
O data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43
I data 0x00 0x02 0x01 0x94 0x00 0x00 0x77 0x43
B.1.4 Parameter groups
Group PNU Description
Device data 100..199 Device identification and device-specific settings, version
numbers, passwords, etc.
Diagnostic memory 200...299 Memory for diagnostic events: fault numbers, fault time,
incoming/outgoing event
Process data 300...399 Current nominal and actual values, local I/Os, status data
etc.
Position set table
(= list of position set
records)
400...499 Each record contains all the nominal value parameters
required for a positioning procedure.
Project data 500...599 Basic project settings. Maximum speed and acceleration,
project zero point offset etc.
}These parameters form the basis of the position set
table.
Factor group 600...699 Reserved
Axis data
Electric drives 1
1000...1099 All axis-specific parameters for electric drives. Gear ratio,
feed constant, homing parameters ...
B.1.5 Overview of parameters
This overview shows all defined parameters of the FHPP. The
parameters are described in section B.1.7.
Some additional parameters are only available via CI com-
mands; see section B.2.4.
Name FHPP CI object
PNU Subind.
1)
Type Access
2)
Index
Device data (see section B.1.7).
Standard parameters
Manufacturer Hardware Version BCD 100 uint16 ro 2069h
Manufacturer Firmware Version BCD 101 uint16 ro 206Ah
Version FHPP 102 uint16 ro 2066h
Controller Serial Number 114 1...12
d
char ro 2072h
Extended parameters
Manufacturer Device Name 120 1...30
d
char ro 1008h
User Device Name 121 1...8 char rw 20FDh
Drive Manufacturer 122 1...30
d
char ro 6504h
HTTP Drive Catalog Address 123 1...30
d
char ro 6505h
Festo Order Number 124 1...30
d
char ro 6503h
1)
Subindices of the parameter for FHPP with DPV0 (1...n)
2)
ro = read only, wo = write only, rw = read and write
Name CI object FHPP Name
Index Access
2)
Type Subind.
1)
PNU
Extended parameters, continued
Device Control 125 uint8 rw 207Dh
LCD Parameter
(LCD parameters)
126 1...4 uint8 r(w) 20FFh
Data Memory Control 127 1...2 uint8 wo 20F1h
Diagnostic memory (see section B.1.8)
Diagnostic Event 200 1...16
d
uint8 ro 20C8h
Fault Number 201 1...16
d
uint16 ro 20C9h
Time Stamp 202 1...16
d
uint32 ro 20CAh
Diagnostic Memory Parameter
(diagnostic memory parameters)
204 1...4 uint8 rw 20CCh
Device Error
(device fault)
205 uint16 rw 2FF1h
PROFIBUS Diagnosis 206 1...6 uint8 ro 2FF2h
Process data (see section B.1.9)
Local Digital Inputs 303 uint32 ro 60FDh
Local Digital Outputs 304 1...2 uint32 ro 60FEh
Cycle Number 305 uint32 ro 2FFFh
Keypad Status 306 uint8 ro 2FFEh
1)
2)
Index Access
2)
Type Subind.
1)
PNU
Position set table (list of position set records, see section B.1.10)
Record Number 400 uint8 rw 2033h
Record Control Byte 1 401 1...32
d
uint8 rw 20EAh
Record Target Position 404 1...32
d
int32 rw 20ECh
Record Velocity 406 1...32
d
uint32 rw 20EDh
Record Acceleration
(record acceleration/deceleration)
407 1...32
d
uint32 rw 20EEh
Project data (see section B.1.11)
Project data general project data
Project Zero Point 500 int32 rw 21F4h
Software End Positions 501 1...2 int32 rw 607Bh
Max. Velocity
(max. permitted speed)
502 uint32 rw 21F6h
Max. Acceleration
(max. permitted acceleration)
503 uint32 rw 21F7h
Project data Force mode
Stroke Limit
(stroke limitation)
510 uint32 rw 60F6h
Min Torque
(min. permitted torque)
511 uint16 rw 60F6h
Max Torque
(max. permitted torque)
512 uint16 rw 6072h
1)
2)
Index Access
2)
Type Subind.
1)
PNU
Project data teaching
Teach Target 520 uint8 rw 21FCh
Project data jogging mode
Jog Mode Velocity Phase 2 531 int32 rw 20EDh
Jog Mode Acceleration 532 uint32 rw 20EEh
Jog Mode Time Phase 1 534 uint32 rw 20E9h
Project data - Direct mode: Position mode
Direct Mode Acceleration
(Direct mode acceleration/deceleration)
541 uint32 rw 20EEh
Project data Direct mode: Force mode
Force Target Window 552 uint16 rw 60F6h
Damping Time 553 uint16 rw 60F6h
Speed Limit
(max. permitted speed)
554 uint32 rw 60F6h
1)
2)
Index Access
2)
Type Subind.
1)
PNU
Axis data, electric drives 1 (see section B.1.12)
Axis data, electric drives 1 mechanical
Polarity
(reversal of direction)
1000 uint8 rw 607Eh
Encoder Resolution 1001 1...2 uint32 rw 608Fh
Gear ratio 1002 1...2 uint32 ro(wo) 6091h
Feed Constant 1003 1...2 uint32 rw 6092h
Position Factor 1004 1...2 uint32 rw 6093h
Axis Parameter
(axis parameters)
1005 1...5 uint32 rw 20E2h
1)
2)
Index Access
2)
Type Subind.
1)
PNU
Axis data, electric drives 1 homing
Offset Axis Zero Point
(offset for axis zero point)
1010 int32 rw 607Ch
Homing Method 1011 int8 rw 6098h
Homing Velocities 1012 1...2 uint32 rw 6099h
Homing Required 1014 uint8 ro 23F6h
Homing Max. Torque
(max. torque for homing)
1015 uint8 rw 23F7h
Axis data, electric drives 1 control parameters
Halt Option Code 1020 uint16 rw 605Dh
Fault Reaction Option Code 1021 uint16 rw 605Eh
Target Position Window 1022 uint32 rw 6067h
Position Window Time
(adjustment time for position)
1023 uint16 rw 6068h
Position Control Parameter Set
(parameters of the position controller)
1024 18...21,
23, 32
d
uint16 rw 60FBh
Motor data 1025 1, 3 uint32 ro(wo) 6410h
Drive data 1026 1...8 uint32 ro(wo) 6510h
1)
2)
Index Access
2)
Type Subind.
1)
PNU
Axis data, electric drives 1 electronic rating plate
Motor Type 1030 uint16 ro 6402h
Max. Current 1034 uint16 rw 6073h
Motor Rated Current
(nominal motor current)
1035 uint32 ro 6075h
Motor Rated Torque
(nominal force/torque)
1036 uint32 ro 6076h
Axis data, electric drives 1 standstill monitoring
Position Target Value
(nominal position)
1040 int32 ro 6062h
Position Actual Value
(current actual position)
1041 int32 ro 6064h
Standstill Position Window 1042 uint32 rw 2040h
Standstill Timeout
(standstill monitoring time)
1043 uint16 rw 2041h
1)
2)
Tab. B/7: Overview of FHPP parameters
B.1.6 Layout of the parameter entries
Encoder Resolution
PNU 1001 1...2 0...1 uint32 rw
Description Encoder resolution in increments / revolutions
The encoder resolution is fixed and cannot be modified by the user.
The calculated value is derived from the fraction (encoder increments/
motor revolutions).
Encoder Increments 1001 1 0
Value range: 0 ... 2
32
-1
Default: 500
Motor Revolutions 1001 2 1
Fixed = 1
CI access 608Fh 01h...02h uint32 rw
1 Name of the parameter (sometimes with explanation in brackets)
2 Parameter number (PNU)
3 Subindices of the parameter for FHPP with DPV0
: The object has no subindex (simple variable)
1...30: The object has subindices from 1..30
4 Subindices of the parameter for FHPP with DPV1
5 Variable type of element. If there is a subindex, the parameter is an array;
records are not used
6 Description of the parameter
7 If applicable: explanation of the subindices
8 Read/write permission: ro = read only
wo = write only
rw = read and write
9 Corresponding CI object (see section B.2)
Fig. B/1: Layout of the parameter entries
1 2 3 4 5
6
7
8
9
B.1.7 Device data
Standard parameters
Manufacturer Hardware Version BCD
PNU 100 uint16 ro
Description Hardware version, stated in BCD (Binary Coded Decimal): xxyy
(xx = main version, yy = secondary version)
CI access 2069h 00h uint16 ro
Compare CI object 1009h
Manufacturer Firmware Version BCD
PNU 101
uint16 ro
Description Firmware version, stated in BCD (Binary Coded Decimal): xxyy
CI access 206Ah 00h uint16 ro
Compare CI object 100Ah
Version FHPP
PNU 102
uint16 ro
Description Version number of the FHPP, stated in BCD (Binary Coded Decimal): xxyy
Controller Serial Number
PNU 114 1...12
d
0...11
d
char ro
Description 12-character code identifying the controller, e.g.: TD15P0212345
CI access 2072h 00h V-string ro
Extended parameters
Manufacturer Device Name
PNU 120 1...30
d
0...29
d
char ro
Description Name of the drive. Example: MTR-DCI-42S-VCSC-EG7-H2PB
User Device Name
PNU 121 1...8 0...7 char rw
Description Device name assigned by the user.
Max. 8 characters (ASCII, 7-bit) Default: motor001
CI access 20FDh 00h V-string rw
Drive Manufacturer
PNU 122 1...30
d
0...29
d
char ro
Description Name of drive manufacturer. Fixed: Festo AG & Co. KG
HTTP Drive Catalog Address
PNU 123 1...30
d
0...29
d
char ro
Description Internet address of the manufacturer. Fixed: www.festo.com
Festo Order Number
PNU 124 1...30
d
0...29
d
char ro
Description The order number of the MTR-DCI-PB.
Device Control
PNU 125 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 controller interface OFF (PROFIBUS),
via HMI (control panel) and FCT ON
1 (0x01): Control via controller interface OFF (default)
CI access 207Dh 00h uint8 rw
LCD Parameter (LCD parameters)
PNU 126 1...4 0...3 uint8 ro
Description Settings for the control panel (for MTR-DCI-...-H2 only)
LCD Current
(LCD voltage)
126 1 0
Value range: 1...5 (0x01 ... 0x05). Default: 5
The LCD display remains dark if the parameter setting is not correct.
LCD Contrast 126 2 1
Value range: 0...63 (0x00 ... 0x3F). Default: 0
Measure
(units of measure-
ment)
126 3 2 CI: rw
Defines a system of measurement for the control panel.
1: metric units of measurement (mm, mm/s, mm/s
2
)
4: angular degrees
8: revolutions
Scaling Factor 126 4 3 CI: rw
Number of decimal places (digits after the decimal point)
Fixed: 2 (0x02): 2 decimal places
CI access 20FFh 01h...04h uint8 r(w)
Data Memory Control
PNU 127 1...2 0...1 uint8 wo
Description Commands for the EEPROM (non-volatile data storage)
Delete EEPROM 127 1 0
When the object has been written and after Power Off/On, the data in the
EEPROM is reset to the factory settings.
Fixed: 16 (0x10): delete data in the EEPROM and restore factory settings.
Save Data 127 2 1
The data in EEPROM is overwritten with the current user-specific settings.
Fixed 1 (0x01): save data.
CI access 20F1h 01h...02h uint8 wo
Note
All user-specific settings will be lost during deletion
(except for cycle number). The status after deletion cor-
responds to the standard factory setting.
Always carry out initial commissioning after deleting the
EEPROM.
The settings of the LCD parameters are lost when the
EEPROM is deleted and may need to be set again. The
LCD display remains dark if the parameter setting is not
correct.
When the EEPROM is deleted, the fieldbus address is
also reset.
B.1.8 Diagnostics
For a description of the mode of operation of the diagnostic
memory: see section 6.4.
Additional device faults and PROFIBUS diagnosis.
Diagnostic Event
PNU 200 1...16
d
0...15
d
uint8 ro
Description Type of fault or diagnostic information saved in the diagnostic memory. Dis-
plays whether an incoming or outgoing fault was saved.
Value Type of diagnostic event
0 (0x00) No fault (or diagnostic message deleted)
1 (0x01) Incoming fault
2 (0x02) Outgoing fault
3 (0x03) (Reserved)
4 (0x04) Overflow time stamp
Event 1 200 1 0
Active diagnostic event
Event 2 200 2 1
Previous diagnostic event
Event ... 200 ... ...
...
Event 16 200 16 15
Oldest saved diagnostic event
CI access 20C8h 01
.
..10
h
uint8 ro
Fault Number
PNU 201 1...16
d
0...15 uint16 ro
Description Fault number saved in the diagnostic memory; used for identifying the fault.
For fault numbers, see 6.3
Event ... 201 ... ...
See PNU 200.
CI access 20C9h 01h...10h uint16 ro
Time Stamp
PNU 202 1...16
d
0...15 uint32 ro
Description Time point of the diagnostic event since switch-on in the unit of measurement
specified in PNU 204/2.
Event ... 202 ... ...
See PNU 200.
CI access 20CAh 01h...10h uint32 ro
Diagnostic Memory Parameter (diagnostic memory parameters)
PNU 204 1...4 0...3 uint8 rw
Description Configuration of the diagnostic memory.
Fault Type 204 1 0
Incoming and outgoing faults
1 (0x01): Record incoming and outgoing
*)
faults (default)
2 (0x02): Record only incoming faults
*) Outgoing fault = time when the fault was acknowledged (= reset).
Resolution 204 2 1
1 (0x01): Time stamp resolution 10 ms (default)
2 (0x02): Time stamp resolution 1 ms
Clear Memory 204 3 2
Deletes diagnostic memory by writing value = 1.
Read will always be answered with value = 1.
Number of Entries 204 4 3
Reads out the number of entries in the diagnostic memory.
CI access 20CCh 01h...04h uint8 rw/ro
Device Error (device fault)
PNU 205 uint16 rw
Description Reading or deleting the active device fault.
Read [bit 0...15]: see section 6.3, Tab. 6/7.
Write 0 (0x0000): deletes all faults.
CI access 2FF1h 00h uint16 rw
PROFIBUS Diagnosis
PNU 206 1...6 0...5 uint8 ro
Description Reading the PROFIBUS diagnostic data
Connection State 206 1 0
Current connection state
0 (0x00): Waiting for parameter assignment
16 (0x10): Waiting for configuration
32 (0x20): Data exchange
Bit rate 206 2 1
Current bit rate
0 (0x00): 12 MBit/s 6 (0x06): 93.75 kBit/s
1 (0x01): 6 MBit/s 7 (0x07): 45.45 kBit/s
2 (0x02): 3 MBit/s 8 (0x08): 19.2 kBit/s
3 (0x03): 1.5 MBit/s 9 (0x09): 9.6 kBit/s
4 (0x04): 500 MBit/s 15, 255 (0x0F, 0xFF): No bit rate (default),
5 (0x05): 187.5 kBit/s Bit rate search active
Master Address 206 3 2
Value range: 0 ... 125 (0x00 ... 0x7D). Default: 255 (0xFF)
Slave Address 206 4 3
Value range: 0 ... 125 (0x00 ... 0x7D). Default: 255 (0xFF)
Configuration 206 5 4
Current configuration
0 (0x00): Invalid configuration
1 (0x01): Festo FHPP standard (8 bytes I/O)
2 (0x02): Festo FHPP standard + FPC (2 x 8 bytes I/O)
Settings
(connection set-
tings)
206 6 5
0 (0x00): Device-related diagnosis ON (default)
1 (0x01): Device-related diagnosis OFF
CI access 2FF2h 01h...06h uint8 ro
B.1.9 Process data
Local Digital Inputs
PNU 303 uint32 ro
Description Map of the digital inputs
Bit 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 also control byte 3)
Bit 21: STOP (CCON.B1)
Bit 22: ENABLE (CCON.B0)
Bit 23: START (CPOS.B1)
Bit 24 ... 31: Reserved (= 0)
CI access 60FDh 00h uint32 ro
Local Digital Outputs
PNU 304 1...2 0...1 uint32 ro
Description Map of the digital outputs
Local digital
outputs
304 1 0
Bit 0...15 Reserved
Bit 16 MC
Bit 17 READY
Bit 18 EA_ACK
Bit 19 ERROR
Bit 20...31Reserved
304 2 1
Bit 0...31 Reserved
CI access 60FEh 01h...02h uint32 ro
Cycle Number
PNU 305 uint32 ro
Description Number of position set records executed, homing runs etc.
Value range: 0 ... (2
32
-1)
CI access 2FFFh 00h uint32 ro
Keypad Status
PNU 306 5 4 uint8 ro
Description Polling of the control panel keypad (MTR-DCI-...-H2 only).
Bit Value Key
0 1 Enter
1 2 Menu
2 4 Left
3 8 Right
CI access 2FFEh 05h uint8 ro
B.1.10 Position set table (list of position set records)
PNU 400
Record number
uint8
PNU 401
RCB1
1)
uint8
PNU 404
Target position
int32
PNU 406
Velocity
uint32
PNU 407
Acceleration
2)
uint32
0 Homing
1 ... ... ... ...
2 ... ... ... ...
... ... ... ... ...
31 ... ... ... ...
1) RCB = Record Control Byte. Defines whether positioning is relative or absolute.
2) For MTR-DCI-...-PB: also valid for deceleration when braking.
Tab. B/8: Composition of the position set table (position set record list)
With FHPP, record selection for reading and writing is done
via the subindex of the PNUs 401 ... 407.
Above PNU 400, the active record for positioning or teaching
is selected (the record pointer).
Record Number
PNU 400 uint8 rw
Description The active/selected record. Is also valid even when the drive is not in Record
Select mode (e.g. during teaching). In Record Select mode this parameter is
transferred to the cyclical I/O data.
Value range: 0 ... 31 (0x00 ... 0x1F)
CI access 2033h 00h uint8 rw
Note: the CI object 2032h is intended for access via CI.
Record Control Byte 1
PNU 401 1...32
d
0...31
d
uint8 rw
Description The record control byte 1 (RCB1) controls important settings for the positioning
task in Record Select mode.
Bit 0: Nominal value absolute/relative
Bit 1 ... 7: Reserved (= 0)
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 0
Record control byte for position set record 0 (homing)
Record ... 401 ... ...
Record control byte for position set record 1 ... 30
Record 31 401 32 31
Record control byte for position set record 31
CI access 20EAh 01h ... 20h uint8 rw
Note: the CI object 20E0h/01h is intended for access via CI.
Record Target Position
PNU 404 1...32
d
0...31
d
int32 rw
Description Target positionof the positionset table. Positionnominal value as per PNU401/
RCB1absolute or relative, inincrements. Default: 0
Value range: -2
31
...+(2
31
-1) (0x80000000 ... 0x7FFFFFFF)
Record 0 404 1 0
Nominal position value for position set record 0 (homing)
Record ... 404 ... ...
Nominal position value for position set record 1 ... 30
Record 31 404 32 31
Nominal position value for position set record 31
CI access 20ECh 01h ... 20h int32 rw
Record Velocity
PNU 406 1...32
d
0 ... 31
d
uint32 rw
Description Nominal speed value in increments/s. Default: 0.
Value range: MTR-DCI-32: 0...66000. MTR-DCI-42/52: 0...100000.
MTR-DCI-62: 0...113400
Record 0 406 1 0
Nominal speed value for position set record 0 (homing)
Record ... 406 ... ...
Nominal speed value for position set record 1 ... 30
Record 31 406 32 31
Nominal speed value for position set record 31
CI access 20EDh 01h ... 20h uint32 rw
Record Acceleration
PNU 407 1...32
d
0 ... 31
d
uint32 rw
Description Nominal value for acceleration when moving and deceleration when braking,
in increments/s
2
.
The value is only valid for Position mode; it is ignored in Force mode.
Value range:
MTR-DCI-32/42: 40000...480000
MTR-DCI-52/62: 40000...240000
Default:
MTR-DCI-32: 480000
MTR-DCI-42: 480000
MTR-DCI-52: 240000
MTR-DCI-62: 160000
Record 0 407 1 0
Nominal acceleration/deceleration value for position set record 0 (homing)
Record ... 407 ... ...
Nominal acceleration/deceleration value for position set record 1 ... 30
Record 31 407 32 31
Nominal acceleration/deceleration value for position set record 31
CI access 20EEh 01h ... 20h uint32 rw
B.1.11 Project data
General project data
Project Zero Point (offset for project zero point)
PNU 500 int32 rw
Description Distance from axis zero point to project zero point.
Point of reference for target positions in the position set table (see also
PNU 404).
Value range: -2
31
...+(2
31
-1). Default: 0
CI access 21F4h 00h int32 rw
Software End Positions
PNU 501 1...2 0...1 int32 rw
Description Software end positions in increments. The offset to the axis zero point is
entered. Target positions outside the end positions are not permissible and will
lead to a fault.
A specification of 0 for both end positions deactivates the software end posi-
tions.
Plausibility rule: Min-Limit Max-Limit
Range of values: -2
31
...+(2
31
-1)
Lower Limit 501 1 0
Lower software end position.
Upper Limit 501 2 1
Upper software end position.
CI access 607Bh 01h...02h int32 rw
Max. Velocity (max. permitted speed)
PNU 502 uint32 rw
Description Max. permitted speed in [inc/s].
The specifications in Direct mode and in the position set table are in relation to
this value.
MTR-DCI-32: 66000 MTR-DCI-42: 100000
MTR-DCI-52: 100000 MTR-DCI-62: 113400
CI access 21F6h 00h uint32 rw
Max. Acceleration (max. permitted acceleration/deceleration)
PNU 503 uint32 rw
Description Max. permitted acceleration/deceleration in [inc/s
2
].
The specifications in Direct mode and in the position set table are in relation to
this value.
MTR-DCI-32/42: 480000 MTR-DCI-52/62: 240000
Force mode
Stroke Limit
PNU 510 uint32 rw
Description Maximum permitted stroke when Force mode is active. With Force mode active,
the distance betweenthe actual position andthe start position must not be more
than the amount specified in this parameter. In this way you can ensure that, if
Force mode is activated bymistake (e.g. when workpiece is missing), the axis will
not perform an uncontrolled movement. This parameter is evaluated in all con-
troller modes in which the position controller is not active whenthe status oper-
ation enabled is set.
The monitoring can be deactivated by setting the bit RCB1.B5.
Value range: 0...4,294,967,295 inc
Min. Torque (min. permitted force/torque)
PNU 511 uint16 rw
Description This value represents the lowest 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)
Max. Torque (max. permitted force/torque)
PNU 512 uint16 rw
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)
Teaching
Teach Target
PNU 520 uint8 rw
Description The parameter defined is the one described by the actual position with the next
Teach command (see section 5.8.4).
Values:
1 (0x01): Target position in position set record (default)
With Record Select: position set record as per FHPP control bytes
With Direct mode: position set record as per PNU=400
2 (0x02): Axis zero point
3 (0x03): Project zero point
4 (0x04): Lower software end position
5 (0x05): Upper software end position
CI access 21FCh 00h uint8 rw
Jog mode
Jog Mode Velocity Phase 2
PNU 531 int32 rw
Description Speed in phase 2 (quick travel) in [inc/s]
Value range:
MTR-DCI-32: 66000 MTR-DCI-42: 100000
MTR-DCI-52: 100000 MTR-DCI-62: 113400
Default:
MTR-DCI-32: 6600 MTR-DCI-42: 10000
MTR-DCI-52: 10000 MTR-DCI-62: 11340
CI access 20EDh 21h int32 rw
Jog Mode Acceleration
PNU 532 uint32 rw
Description Acceleration and deceleration in [inc/s
2]
Value range:
MTR-DCI-32/42: 40000...480000
MTR-DCI-52/62: 40000...240000
Default: 40000
CI access 20EEh 21h uint32 rw
Jog Mode Time Phase 1
PNU 534 uint32 rw
Description Duration of phase 1 (slow travel) in [ms].
Value range: 0...+(2
32
-1)
Default: 2000 (0x000007D0)
CI access 20E9h 21h uint32 rw
Direct mode: Position mode
Direct Mode Acceleration
PNU 541 uint32 rw
Description Acceleration and deceleration in Direct mode in [inc/s
2
]
Value range:
MTR-DCI-32/42: 40000...480000
MTR-DCI-52/62: 40000...240000
Default:
MTR-DCI-32: 480000 MTR-DCI-42: 480000
MTR-DCI-52: 240000 MTR-DCI-62: 160000
CI access 20EEh 22h uint32 rw
Direct mode: Force mode
Force Target Window (target window for force/torque)
PNU 552 uint16 rw
Description The amount by which the actual force (or actual torque) may deviate from the
nominal force (nominal torque) and still be regarded as being within the target
window. The width of the window is therefore twice the value transferred, with
the nominal force in the centre of the window.
The value is given in 1/1000 of the nominal torque (6076h / PNU 509).
Value range: 0...65535. Default: 100.
Damping Time
PNU 553 uint16 rw
Description Once the actual force (or actual torque) has been in the target window this
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
PNU 554 uint32 rw
Description Maximum permitted speed when Force mode is active.
In this way the user can ensure that, if Force mode is activated by mistake (e.g.
when workpiece is missing), the axis will not undergo uncontrolled acceleration
and travel at high speed against a stop.
This parameter is evaluated in all controller modes in which the position con-
troller is not active when the status operation enabled is set.
Value range: 1...4,294,967,295 inc/s
B.1.12 Axis parameters for electric drives 1
Mechanical parameters
Polarity (reversal of direction)
PNU 1000 uint8 rw
Description The direction of rotation of the motor can be reversed with this parameter
(see Fig. 1/3). Homing must then be performed again.
Values:
0 (0x00) = Factory setting
128 (0x80) = Direction of rotation of motor reversed
CI access 607Eh 00h uint8 rw
Encoder Resolution
PNU 1001 1...2 0...1 uint32 ro
Description Encoder resolution in [encoder increments / motor revolutions].
Encoder Increments 1001 1 0
Values (fixed): MTR-DCI-32: 300 (0x012C) MTR-DCI-42/52/62: 500 (0x01F4)
Fixed = 1
CI access 608Fh 01h...02h uint32 ro
Gear Ratio
PNU 1002 1...2 0...1 uint32 ro
Description Ratio of the internal motor revolutions to the external revolutions of the drive
shaft of the MTR-DCI. The values are permanently set for each different internal
gearing (see rating plate on the MTR-DCI).
Internal motor revolutions (gear ratio numerator)
G7 gearing: fixed: 27 (0x1B)
G14 gearing: fixed: 3969 (0xF81)
G22 gearing: fixed: 1710 (0x6AE)
Shaft Revolutions 1002 2 1
External revolutions of the drive shaft of the MTR-DCI
(gear ratio denominator).
G7 gearing: fixed: 4 (0x04)
G14 gearing: fixed: 289 (0x121)
G22 gearing: fixed: 77 (0x4D)
CI access 6091h 01h...02h uint32 ro
Feed Constant Linear Axis
PNU 1003 1...2 0...1 uint32 rw
Description The feed constant specifies the distance (=feed) that the slide moves when the
drive shaft (spindle) of the linear axis performs one revolution (feed constant =
feed / spindle revolution).
Feed 1003 1 0
Specification of feed (feed constant counter) in [m]
When known axis types are selected on the control panel or in FCT, the value is
entered automatically.
Shaft Revolutions 1003 2 1
Feed constant denominator. Fixed: 1 (0x01)
CI access 6092h 01h...02h uint32 rw
Position Factor
PNU 1004 1...2 0...1 uint32 ro
Description Reads the conversion factor number of sensor increments per 1 unit [feed on
the spindle].
Additional external gears are not included in the calculations for this parameter
(see PNU1005).
PositionFactor =
Encoder-Resolution * Gear Ration
Feed constant
Numerator 1004 1 0
Position factor numerator.
Denominator 1004 2 1
Position factor denominator.
CI access 6093h 01h...02h uint32 ro
Axis Parameter (axis parameters)
PNU 1005 1...5 0...4 uint32 rw
Description For specifying and reading the axis parameters
Axis Length 1005 1 0
Axis length in increments. Value range: 0...+(2
31
-1)
Gear Numerator 1005 2 1
If external gearing is used:
Gear ratio numerator
31
-1)
Gear Denominator 1005 3 2
If external gearing is used:
Gear ratio denominator
31
-1)
Axis Type 1005 4 3
Type of axis:
01 = DMES, 02 = DNCE, 03 = rotation deg, 04 = rotation rev, 05 = USER
Axis Size 1005 5 4
Nominal size of the axis, in accordance with the rating plate. When known axis
types are selected on the control panel or in FCT, the value is entered automati-
cally (e.g. DMES-25 = 0x19).
CI access 20E2h 01h...05h uint32 rw
Homing parameters
Offset Axis Zero Point (offset for axis zero point)
PNU 1010 int32 rw
Description Offset for axis zero point in increments (distance from homing point).
Value range: -2
31
...+(2
31
-1).
CI access 607Ch 00h int32 rw
Homing Method
PNU 1011 int8 rw
Description Defines the method which the drive uses to carry out homing. The MTR-DCI
supports the following methods:
Values Function
-17 (0xEF): Search for stop in negative direction (default)
-18 (0xEE): Search for stop in positive direction
23 (17h): Search for reference switch in positive direction
27 (0x1B): Search for reference switch in negative direction
CI access 6098h 00h int8 rw
Homing Velocities
PNU 1012 1...2 0...1 uint32 rw
Description Speeds during homing
Search REF 1012 1 0
Speed when searching for the homing point (reference point) REF, in [inc/s]
Value range:
MTR-DCI-32: 200...33000 MTR-DCI-42: 200...50000
MTR-DCI-52: 200...50000 MTR-DCI-62: 200...56700
Default:
MTR-DCI-32: 27000 MTR-DCI-42: 22400
MTR-DCI-52/62: 16800
Search AZ 1012 2 1
Speed when moving to the axis zero point AZ, in [inc/s]
Value range:
MTR-DCI-32: 27000 MTR-DCI-42: 22400
MTR-DCI-52/62: 16800
CI access 6099h 01h...02h uint32 rw
Homing Required
PNU 1014 uint8 ro
Description Defines whether or not homing must be carried out after switching on in order
to carry out positioning tasks.
With MTR-DCI-PB, homing must always be carried out after switching on the
logic voltage supply.
Value:
0 (0x00): Reserved (no homing run necessary)
1 (0x01): Homing run must be carried out (fixed)
CI access 23F6h 00h uint8 ro
Homing Max. Torque
PNU 1015 uint8 rw
Description Maximum current consumption during homing as a percentage of the nominal
current (see PNU 1035 / CI object 6075h).
See also PNU 1034 (specification in 1/1000).
Value range: 0 ... 200 (0xC8)
Default: 150 (0x96)
Controller parameters
Halt Option Code
PNU 1020 uint16 ro
Description Describes the reaction to a Halt command.
Fixed = 1: braking with Halt ramp
CI access 605Dh 00h uint16 ro
Fault Reaction Option Code
PNU 1021 uint16 ro
Description Describes the reaction to a fault.
Fixed = 2: braking with emergency stop ramp
CI access 605Eh 00h uint16 ro
Target Position Window
PNU 1022 uint32 rw
Description Tolerance window in increments [inc]
Amount by which the current position may deviate from the target position and
still be regarded as being within the target window. The width of the window is
twice the value transferred, with the target position in the centre of the window.
Value range: 0 ... +(2
32
-1). Default: 750 (0x2EE)
Position Window Time (adjustment time for position)
PNU 1023 uint16 rw
Description Adjustment time in milliseconds [ms].
Once the actual positionhas beeninthetarget positionwindowthis amount of
time, the bit target reached will be set inthe status word(=motioncomplete).
Value range: 1 ... 30000 (0x7530)
Default: 100 (0x64).
PNU 1024 18...23, 32
d
17...22, 31
d
uint16 rw
Description Control parameters.
Modification is only permitted for servicing purposes.
If necessary consult Festo.
Gain Position 1024 18
d
(CI: 12h) 17
d
Gain for position controller.
Value range: MTR-DCI-32: 1...100; MTR-DCI-42/52/62: 1...200
Default: MTR-DCI-32: 20; MTR-DCI-42: 15; MTR-DCI-52: 10; MTR-DCI-62: 8
Gain Velocity 1024 19
d
(CI:13h) 18
d
Gain for speed controller.
Default: MTR-DCI-32: 2800; MTR-DCI-42/52: 600; MTR-DCI-62: 500
I-Fraction Velocity 1024 20
d
(CI:14h) 19
d
Integral term for speed controller.
Value range: 1...600
Default: MTR-DCI-32: 80; MTR-DCI-42/52/62: 340
Gain Current 1024 21
d
(CI:15h) 20
d
Gain for current controller.
Default: MTR-DCI-32: 110; MTR-DCI-42/52/62: 150
I-Fraction 1024 22
d
(CI:16h) 21
d
Integral term for current regulator.
Value range: MTR-DCI-32/42/52: 0...1000
Default: MTR-DCI-32: 90; MTR-DCI-42: 420; MTR-DCI-52: 350
Gain Velocity
Trajectory
1024 23
d
(CI:17h) 22
d
Gain for speed controller trajectory generator.
Value range: 1...2
Default: 1
Save Position 1024 32
d
(CI:20h) 31
d
Saves current position in the EEPROM when power is switched off.
Fixed = 240 (0x00F0): current position is not saved at Power-Off.
CI access 60FBh 12h...17h, 20h uint16 rw
Motor Data
PNU 1025 1, 3 0, 2 uint32 ro/rw
Description Motor-specific data.
Serial Number 1025 1 0 ro
Serial number of the motor
Time Max. Current 1025 3 2 rw
Permissible duration for the maximum motor current (see Object 6073h).
When the I
2
t-time expires, the current will be limited automatically to the nom-
inal motor 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 ... 32767
Default: 100 (Z 2 s)
Note: values which are too high can damage the motor.
CI access 6410h 01h, 03h uint32 ro/rw
Drive Data
PNU 1026 1...8 0...7 uint32 rw
Description General drive data
Output stage temp.
(output stage
temp.)
1026 1 (CI: 01h) 0 uint32 rw
Temperature of the output stage in C. Range of values: 0 ... 85
Output stage
max. temp.
(output stage max.
temp)
1026 2 (CI: 02h) 1 uint32 rw
Maximum temperature of the output stage in C. Fix: 80 (0x0050)
Motor nominal
current
(motor nominal
current)
1026 3 (CI: 03h) 2 uint32 rw
Motor nominal current in [mA]
Value is automatically entered when an axis type is selected (PNU 1005/4).
Current limit
(max. motor
current)
1026 4 (CI: 04h) 2 uint32 rw
Max. motor current in per mill of nominal current. Identical to PNU 1034.
Range of values: 1...2000
Lower current limit
(min. motor
current)
1026 5 (CI: 05h) 4 uint32 rw
= PNU1026.4 * (-1)
Device control
(device
control)
1026 6 (CI: 06h) 5 uint32 rw
Setting the device control (refer to PNU 125 / object 207Dh).
0: Control via HMI (control panel) or FCT, no control via fieldbus
1: Control via fieldbus control interface (default)
Controller serial
number
(controller serial
number)
1026 7 (CI: 07h) 6 uint32 rw
Serial number of the controller in format 0xDDMYYSSS:
DD (Day): 8 bits: 0x01...0x1F
M (month): 4 bits: 0x1...0xC
YY (Year): 8 bits: 0x00...0x63
SSS (serial no.): 12 bits: 0x001...0xFFF
Following error
(permissible
following error)
1026 8 (CI: 08h) 7 uint32 rw
Following error monitoring
Drive data (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,
int16, uint16,
uint32, uint32
ro, ro
ro, ro
ro, rw
ro, ro
Current actual
value (current
actual value)
6510 45h int 16 ro
Current actual value of the current.
Note: Not available via FHPP.
Firmware design
(firmware number)
6510 A1h uint32 ro
Firmware version, specification in BCD (binary coded decimal): xxyy
Note: Identical to FHPP object PNU 101 (CI 206A)
1)
Description similar to FHPP 1026/1...8
Electronic rating plate
Motor Type
PNU 1030 uint16 ro
Description Classification of the motor. Fixed: 0x0000.
Max. Current
PNU 1034 uint16 rw
Description Maximum motor current for homing in 1/1000 of the specified nominal current
(see also PNU 1035).
Note: keep in mind that the current limitation also limits the maximum possible
speed (or force) and that higher nominal speeds may not therefore be
achieved.
Value range: 1 ... 2000 (0x0001 ... 0x07D0)
Default: 1500 (0x05DC)
Motor Rated Current
PNU 1035 uint32 ro
Description Nominal motor current in [mA]; see also rating plate; identical to PNU 1026/3.
Motor Rated Torque
PNU 1036 uint32 ro
Description Nominal torque of the motor in [mNm]
Objects for standstill monitoring
Position Target Value
PNU 1040 int32 ro
Description Target position of the last positioning task, in increments.
Value range: -2
31
... +(2
31
-1)
CI access 6062h 00h int32 ro
Position Actual Value
PNU 1041 int32 ro
Description Current position of the drive in increments.
Value range: -2
31
... +(2
31
-1)
CI access 6064h 00h int32 ro
Standstill Position Window
PNU 1042 uint32 rw
Description Standstill position window in increments: distance which the drive can move
after Motion Complete before standstill monitoring reports.
32
-1). Default: 750 (0x02EE)
Standstill Timeout
PNU 1043 uint16 rw
Description Standstill monitoring time in [ms] : time for which the drive must be outside the
standstill position window before standstill monitoring responds.
Value range: 0...65535 (0xFFFF). Default: 200 (0xC8)
B.2 The Command Interpreter (CI)
The commands implemented in the Command Interpreter of
the MTR-DCI are based in respect of their content on the ob-
jects standardised by CANopen (CiA Draft Standard 402):
Group 1xxx Device description
Group 2xxx Festo commands
Group 6xxx Commands as per CANopen
The CiA Draft Standard 402 deals with the implementation of
CANopen in drive controllers.
Object directory The total of all parameterising and control possibilities is re-
ferred to as the object directory. A unique number (index,
subindex) is assigned to each object, and is used for acces-
sing that object.
Access procedure The higher-order controller sends the controller either a write
command (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 a re-
sponse which either contains the value read or, in the case of
a write command, serves as an acknowledgement. The trans-
mitted value (1, 2 or 4 data bytes) depends on the data type
of the object to be read or written.
Note
In order to restore the default settings you can, if required,
delete the EEPROM via the serial interface with the CI com-
mand 20F1h (Data memory control) (see chapter B.2.).
User-specific settings will then be lost.
Use CI commands only if you already have experience
with Service Data Objects.
If necessary, consult Festo.
B.2.1 Procedure for data transmission
Caution
In special application cases, access with CI commands
enables parameterising and commissioning of the MTR-DCI
directly via the RS232 interface, though it is not suitable
for real-time communication, such as for control. Control of
the MTR-DCI via RS232 requires also:
A risk estimate by the user
Ambient conditions free of interference
Back-up of the data transmission e.g. via the control
program of the host
You should use the control panel or the FCT for commis-
sioning and parameterisation.
Note that controlling the MTR-DCI via RS232 is not in
accordance with the intended use of the device.
Warning
Injury to people or damage to property.
Full access to the internal variables of the controller is
possible via CI commands. Incorrect operation can cause
the controller to react unexpectedly and the motor may
start uncontrolled.
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 Standard
402 before you use the CI commands of the Command
Interpreter of the MTR-DCI.
For data transmission you will require a conventional terminal
program or the CI terminal of the MTR-DCI plugin in the Festo
Configuration 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 9600 bit/s
Data format Asynchronous character frame:
1 start bit
8 data bits
No parity bit
1 stop bit
Tab. B/9: Specifications of the transmission protocol
You can use the following command to initialise data
transmission and determine the MTR-DCI's response
readiness:
Command 310D
h
Response 31310D
h
1 <CR> 11 <CR>
Select the commands in accordance with the object list in
section B.1 or B.2.4.
Use CI commands only if you already know their effects
and if they are permitted for your MTR-DCI.
Transfer the commands using the FCT software or a con-
ventional terminal program.
For the command syntax see appendix B.2.2.
Permitted value ranges Transferred parameters and values are checked by the
MTR-DCI before being accepted.
Note
In the case of invalid parameters or values, an error mess-
age will not appear in the response; rather, the received
value will always be returned.
Invalid parameters will not be accepted.
Values outside the permitted value range will be limited
to the nearest valid value.
Recommendation:
Check that values and parameters have been written correctly
by downloading the current contents of the parameter or
value with one of the following Read commands:
Error messages If errors are made in commands (syntax faults), the value
<0xFF> will be transmitted instead of the usual response.
Possible causes:
Incorrect initial character, separating character or empty
character
Incorrect hex digit
Incorrect value type
B.2.2 CI commands
Caution
Loss of data.
The Command Interpreter (CI) contains commands which
reorganise or delete parts of the memory. Existing data is
destroyed in this process:
It is preferable to use the FCT or the control panel for
commissioning and parameterising.
Use the CI commands only in special cases which require
direct access to the controller.
Use CI commands only if you already know their effects
and if they are permitted for your MTR-DCI.
WRITE (W) Write commands (W) transfer a value in the specified format
to the MTR-DCI. As a response, write commands will be re-
flected back exactly character by character from 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. The
response contains the value read. A checksum <PS> will be
inserted in front of the <CR>.
All commands are entered as a character sequence without
any empty spaces. A hex character is a char character in
hex format.
Acc
1)
Command Response
W =IIIISS:<value><CR>
2)
=IIIISS:<value> <PS> <CR>
R ?IIIISS<CR>
2)
=IIIISS:<value> <PS> <CR>
1)
Access: W = write, R = read
2) With checksum checking enabled (object 20F3h):
W: =IIIISS:<value><PS><CR> R: ?IIIISS<PS><CR>
Tab. B/10: Syntax of a CI command/response
Syntax Explanation
= , ? Initial character for write or read commands
IIII Index in 4 hexadecimal digits (4H)
SS Subindex in 2 hexadecimal digits (2H)
If 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 in 2 hexadecimal digits (2H)
<CR> End character <Carriage Return> ($0D)
Tab. B/11: Elements of syntax of a CI command/response
<value> The transferred value (1, 2 or 4 data bytes as a hex number)
depends on the data type of the object to be read or written
(see section B.1 or B.2.4).
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 ... (2
32
-1)
INT32 32 bits with plus/minus sign:
-2
31
... +(2
31
-1)
V-string corresponds to the preset string
Tab. B/12: Data types
Note
The following applies when writing to the objects:
Discrete values (values from a value table):
an invalid value will not be accepted; the previously
valid value will be retained.
Continuous values (e.g. lengths, speeds, etc.): an invalid
value will be limited to the nearest permitted value.
Note
The transfer of values using CI commands via the serial
interface requires conversion into increments before
transfer can take place. All parameters are always saved in
increments in the controller and are not converted into the
relevant measuring system until they are written or read.
Further information on converting can be found in sec-
tion A.4.
All values are transferred in hexadecimal figures; 1 character
represents 4 bits, and is known as a tetrad <Tn>. The first te-
trad transferred contains the higher-value bits of the value.
Generally: tetrad <Tn> contains the bits b
n
...b
n+3
Example: UINT8
Dec 26
Hex 1 A
Bin 0 0 0 1 1 0 1 0
b
7
b
6
b
5
b
4
b
3
b
2
b
1
b
0
Tetrad T
4
Tetrad T
0
Checksum <PS> The higher-order controller must compare the sent command
with the echo from the MTR-DCI and evaluate its checksum.
If checksum checking has been activated for telegrams re-
ceived from the MTR-DCI (see CI object 20F3h), the higher-
order controller must insert a checksum in front of the end
character (CR = Carriage Return).
Checksum (PS)
PS composi-
tion
Sum of all sent bytes, abbreviated to 1 byte
(modulo 256).
W: asc(char) =IIIISS:<value> modulo 256
R: asc(char) ?IIIISS modulo 256
PS format 2 hexadecimal digits, UINT8
Syntax W: =IIIISS:<value><PS><CR>
R: ?IIIISS<PS><CR>
Tab. B/13: Checksum
Object 2FF0 Transmission error between host (PC) and destination device,
e.g. due to error in host command:
Incorrect initial character, separating character or empty
character
Incorrect hex digit
Incorrect value type
Name Class IIII SS Type Acc
communication_
error
Var 2FF0 00 UINT16 R
Value Comment
0xFF In the case of a transmission error, the value <0xFF>
will be transferred instead of the usual response.
0xFFFF Missing checksum (see CI object 20F3h).
B.2.3 CI objects (overview)
Note
The following table contains an overview of the CI objects.
Some of the objects may be used only for certain product
variants or only with limitations (e.g. writing only by Festo
Service).
When using the objects, refer to the detailed description:
In section B.1 (sorted by PNU; see table column
FHPP PNU) or
In appendix B.2.4 (additional CI objects)
Name CI objects FHPP
Class Type Index Subind Access PNU Section
Group 1xxx
Device Type Var uint32 1000h r B.2.4
Manufacturer Device Name Var V-string 1008h r 120 B.1.7
Manufacturer Hardware Version Var V-string 1009h r B.2.4
Manufacturer Firmware Version Var V-string 100Ah r B.2.4
Group 2xxx
Record Number Array uint8 2032h 01h rw B.2.4
Record Number Var uint8 2033h rw 400 B.1.10
Standstill Position Window Var uint32 2040h rw 1042 B.1.12
r = read only, w = write only, rw = read and write
Name FHPP CI objects Name
Section PNU Access Subind Index Type Class
Group 2xxx continued
Standstill Timeout
(standstill monitoring time)
Var uint16 2041h rw 1043 B.1.12
Version FHPP Var uint16 2066h r 102 B.1.7
Version FCT PlugIn min. Var V-string 2067h r B.2.4
Version FCT PlugIn opt. Var V-string 2068h r B.2.4
Manufacturer Hardware Version Var uint16 2069h r 100 B.1.7
Manufacturer Firmware Version Var uint16 206Ah r 101 B.1.7
Controller Serial Number Var V-string 2072h r 114 B.1.7
Device Control Var uint8 207Dh rw 125 B.1.7
Diagnostic Event Array uint8 20C8h 01h...
10h
r 200 B.1.8
Fault Number Array uint16 20C9h 01h...
10h
r 201 B.1.8
Time Stamp Array uint32 20CAh 01h...
10h
r 202 B.1.8
Diagnostic Memory Parameter
(diagnostic memory parameters)
Array uint8 20CCh 01h...
04h
rw/r 204 B.1.8
Scaling
(control panel settings)
Array uint8 20D0h 01h...
02h
rw/r B.2.4
Record Table Element
(element in position set table)
Struct uint16,
int32
20E0h 01h...
04h
rw B.2.4
Axis Parameters Struct uint32 20E2h 01h...
05h
rw 1005 B.1.12
Controller Type Var uint8 20E3h r B.2.4
Jog Mode Time Phase 1 Array uint32 20E9h 21h rw 534 B.1.11
Record Control Byte 1 Array uint8 20EAh 01h...
20h
rw 401 B.1.10
Record Target Position Array int32 20ECh 01h...
20h
rw 404 B.1.10
Record Velocity Array uint32 20EDh 01h...
20h
rw 406 B.1.10
Jog Mode Velocity Phase 2 int32 21h rw 531 B.1.11
Record Acceleration Array uint32 20EEh 01h...
20h
rw 407 B.1.10
Jog Mode Acceleration 21h rw 532 B.1.11
Direct Mode Acceleration 22h rw 541 B.1.11
Data Memory Control Array uint8 20F1h 01h,
02h
w 127 B.1.7
CI_ReceiveChecksumActive
(CI checksum)
Var uint8 20F3h rw B.2.4
Password Array V-string 20FAh 01h,
02h
rw/w B.2.4
Local Password
(HMI password)
Var V-string 20FBh rw B.2.4
User Device Name Var V-string 20FDh rw 121 B.1.7
LCD Parameter
(LCD parameters)
Array uint8 20FFh 01...
04h
rw 126 B.1.7
Project Zero Point
(project zero point offset)
Var int32 21F4h rw 500 B.1.11
Max. Velocity Var uint32 21F6h rw 502 B.1.11
Max. Acceleration Var uint32 21F7h rw 503 B.1.11
Teach Target Var uint8 21FCh rw 520 B.1.11
Homing Required Var uint8 23F6h r 1014 B.1.12
Homing Max. Torque Var uint8 23F7h rw 1015 B.1.12
Communication Error
(transmission error)
Var uint16 2FF0h r B.2.2
Device Fault Var uint16 2FF1h rw 205 B.1.8
PROFIBUS Diagnosis Array uint8 2FF2h 01h...
06h
r 206 B.1.8
PROFIBUS address Var uint8 2FF3h rw B.2.4
Keypad Status Array uint8 2FFEh 05h r 306 B.1.9
Cycle Number uint32 2FFFh 1 r 305 B.1.9
Group 6xxx
Control Word Var uint16 6040h rw B.2.4
Status Word Var uint16 6041h r B.2.4
Halt Option Code Var uint16 605Dh r 1020 B.1.12
Fault Reaction Option Code Var uint16 605Eh r 1021 B.1.12
Operation Mode Var int8 6060h rw B.2.4
Operation Mode Display Var int8 6061h r B.2.4
Position Target Value Var int32 6062h r 1040 B.1.12
Position Actual Value Var int32 6064h r 1041 B.1.12
Position Window
(tolerance window for position)
Var uint32 6067h rw 1022 B.1.12
Position Window Time
(adjustment time for position)
Var uint16 6068h rw 1023 B.1.12
Velocity Demand Value
(nominal speed value)
Var int32 606Bh r B.2.4
Velocity Actual Value (current ac-
tual speed value)
Var int32 606Ch r B.2.4
Target Torque
(nominal force/torque)
Var int16 6071h rw B.2.4
Group 6xxx (continued)
Max. Torque
(max. permitted force/torque)
Var uint16 6072h rw 512 B.1.11
Max. Current Var uint16 6073h rw 1034 B.1.12
Motor Rated Current Var uint32 6075h r 1035 B.1.12
Motor Rated Torque Var uint32 6076h r 1036 B.1.12
Actual Torque
(actual force/torque)
Var int16 6077h r B.2.4
Target Position Var int32 607Ah rw B.2.4
Software End Positions Array int32 607Bh 01h,
02h
rw 501 B.1.11
Offset Axis Zero Point
(offset for axis zero point)
Var int32 607Ch rw 1010 B.1.12
Polarity
(reversal of direction)
Var uint8 607Eh rw 1000 B.1.12
Profile Velocity Var int32 6081h rw B.2.4
Profile Acceleration Var int32 6083h rw B.2.4
Torque Slope
(change in torque)
Var uint32 6087h r B.2.4
Torque Profile Type Var int16 6088h r B.2.4
Encoder Resolution Array uint32 608Fh 01h,
02h
r 1001 B.1.12
Gear Ratio Array uint32 6091h 01h,
02h
r 1002 B.1.12
Feed Constant Linear Axis Array uint32 6092h 01h,
02h
rw 1003 B.1.12
Position Factor Array uint32 6093h 01h...
02h
r 1004 B.1.12
Homing Method Var int8 6098h rw 1011 B.1.12
Homing Velocities Array uint32 6099h 01h...
02h
rw 1012 B.1.12
Stroke Limit Array uint32 60F6h 01h rw 510 B.1.11
Speed Limit Array uint32 60F6h 02h rw 554 B.1.11
Force Target Window
(target window for force/torque)
Array uint16 60F6h 03h rw 552 B.1.11
Damping Time Array uint16 60F6h 04h rw 553 B.1.11
Min. Torque
(min. permitted force/torque)
Array uint16 60F6h 05h rw 511 B.1.11
(parameters of the position con-
troller)
Array uint16 60FBh 12h...
18h,
20h
rw 1024 B.1.12
Local Digital Inputs Var uint32 60FDh r 303 B.1.9
Local Digital Outputs Array uint32 60FEh 01h...
02h
r 304 B.1.9
Motor Type Var uint16 6402h r 1030 B.1.12
Motor Data Record uint32 6410h 01h,
03h
r/rw 1025 B.1.12
Supported Drive Modes Var uint32 6502h r B.2.4
Festo Order Number Var V-string 6503h r 124 B.1.7
Drive Manufacturer Var V-string 6504h r 122 B.1.7
HTTP Drive Catalog Address
(HTTP address of manufacturer)
Var V-string 6505h r 123 B.1.7
Drive data Array uint32 6510h 31h,
32h,
40h,
41h,
42h,
43h,
A0h,
45h,
A1h
r/rw 1026 B.1.12
Tab. B/14: Overview of CI objects
B.2.4 Additional CI objects
Some objects cannot be accessed via the fieldbus, but only
via the CI interface. These objects are listed here.
Layout of the additional CI objects
Password
CI access 20FAh 01h...02h Array V-string rw/r
Description For managing the FCT password, entering the super password.
FCT Password 20FAh 01h V-string
Password for the FCT software
Value: <........> (fixed: 8 characters, ASCII, 7-bit)
Default: <00000000> (status upon delivery and after resetting)
Super Password 20FAh 02h V-string
For entering the super password.
Resets all passwords (FCT password and HMI password, object 20FB).
Contact Festo Service if you require the super password.
1 Name of the parameter (sometimes
with explanation in brackets)
2 CI object number
3 Subindices of the parameter
4 Class of the element
5 Type of the element
6 Description of the parameter
7 If applicable: description of the subin-
dices
8 Read/write permission:
r = read only,
w = write only,
rw = read and write
Fig. B/2: Layout of the additional CI objects
1 2 3 4 5
6
7
8
Additional CI objects, group 1xxx
Device Type
CI access 1000h 00h Var uint32 r
Description Classification of the device type. Fixed = 0.
Manufacturer Hardware Version
CI access 1009h 00h Var V-string r
Description Hardware version in the format = Vxx.yy
Manufacturer Firmware Version
CI access 100Ah 00h Var V-string r
Description Firmware version in the format = Vxx.yy
Record Number
CI access 2032h 01h Array
1)
uint8 rw
Description For selecting a position set record via the record number.
There is a direct correlation with object 2033 (PNU 400).
The record number is saved as the target for write and read operations on the
following objects:
Intended for access via the CI interface:
Object 20E0/01h...05h: Position Table Element
or
Object 607Ah: Target Position
Object 6081h: Profile Velocity
Object 6083h: Profile Acceleration
Object 6084h: Profile Deceleration
Record Number 2032h 01h uint8 rw
Read or write record number.
Values:
0 (0x00): Reserved, do not use (fieldbus direct record)
1 (0x01): Reserved, do not use (FCT direct record)
2 (0x02): Reference travel (position record 0)
3 (0x03): Positioning record 1 (default)
4 (0x04): Positioning record 2
... Positioning record ...
33 (0x21): Positioning record 31
1)
Pseudo-array due to compatibility
Version FCT PlugIn Min.
Description Minimum version of the MTR-DCI FCT plugin required for commissioning the
MTR-DCI. Format = xx.yy (xx = main version, yy = secondary version).
Version FCT PlugIn Opt.
Description Optimum version of the MTR-DCI FCT plugin for commissioning the MTR-DCI.
Format = xx.yy (xx = main version, yy = secondary version).
Scaling (control panel settings)
CI access 20D0h 01h, 02h Array uint8 rw/r
Description Definition of the units of measurement used on the control panel and the num-
ber of decimal places. See also CI object 20FFh/PNU 126.
Measuring Unit 20D0h 01h uint8 rw
Defines the unit of measurement (Z 20FF03h).
The setting for the system of measurement units only affects the display
readout. All parameters are always saved in increments in the controller and
are not converted into the relevant measuring system until they are written or
read.
Values:
1 (0x01): Metric units of measurement: e. g. mm, mm/s, mm/s
2
4 (0x04): Angular units of measurement (360), e.g. degrees, degrees/s, de-
grees/s
2
8 (0x08): Revolutions: rev, rev/min, rev/min
2
15 (0x0F): Increments
Scaling Size 20D0h 02h uint8 r
Number of places after the decimal point. Fixed: 2. (Z 20FF04h).
CI access 20E0h 01h ... 04h Struct uint16, int32 rw
Description For editing the entries in the position set table:
1. The row (= position set record number) is selected with object 2032
(record pointer).
2. The column is selected via subindex 20E0: 01...05
20E0/01 20E0/02
V
20E0/03 20E0/04
Record
Number
Pos Mode Target
Position
Profile
Velocity
Profile
Acc.
02
2032h}
03 <1> <...>
...
The values are only saved in the position table with this command; no move-
ment is made.
Object 20E0 partly accesses the same parameters as with the corresponding
objects 607A, 6081, 6083, 6084, or with objects 20EA to 20EF provided for
PROFIBUS.
Different data types are converted accordingly when writing and reading.
Positioning mode 20E0h 01h uint16 rw
Positioning mode.
Values:
0 (0x0000): Absolute positioning (default)
1 (0x0001): Relative positioning
Target Position 20E0h 02h int32 rw
Target position in increments (corresponds to object 607Ah).
Value range: -2
31
...+(2
31
-1) (0x80000000 ... 0x7FFFFFFF)
Default: 0
Velocity 20E0h 03h int32 rw
Positioning speed in increments (corresponds to object 6081h).
Value range:
MTR-DCI-32: 0...66000 (0x101D0) MTR-DCI-42: 0...100000 (0x186A0)
MTR-DCI-52: 0...100000 (0x186A0) MTR-DCI-62: 0...113400 (0x1BAF8)
Default: 0
Acceleration 20E0h 04h int32 rw
Acceleration in increments/s
2
(Z object 6083h).
Value range:
MTR-DCI-32/42: 40000...480000 MTR-DCI-52/62: 40000...240000
Default:
MTR-DCI-32/42: 480000
MTR-DCI-52: 240000
MTR-DCI-62: 160000
Controller Type
CI access 20E3h 00h Var uint8 r
Description Type of controller.
Values: 0 = without display screen; 1 = with display screen
CI_ReceiveChecksumActive (CI checksum required)
CI access 20F3h 00h Var uint8 rw
Description When checksum checking is activated, the CI commands to the MTR-DCI must
be equipped with a checksum (see Tab. B/10). The checksum is calculated
according to Tab. B/13.
Example: deactivate checksum: =20F300:0012 (12 = checksum).
The CI terminal integrated in FCT uses checksums automatically in appropriate
cases.
Values:
0x00 Deactivated (default)
0x01 Activated
Password (FCT password)
CI access 20FAh 01h, 02h Array V-string rw/w
Description For managing the FCT password, entering the super password.
FCT Password 20FAh 01h V-string rw
Password for the FCT software
Default: <00000000> (status upon delivery and after reset)
Password (FCT password)
Super Password 20FAh 02h V-string w
For entering the super password.
Resets all passwords (FCT password and HMI password, object 20FB). Contact
Festo Service if you require the super password.
Local Password
CI access 20FBh 00h Var V-string rw
Description For managing the (local) HMI password to enable particular functions which are
carried out via the control panel.
Only the first 3 characters are evaluated.
Default: <00000000> (status upon delivery and after reset)
Communication Error (transmission error)
CI access 2FF0h 00h Var uint16 r
Description Special object; see section B.2.2.
In the event of a transmission error, the value <0x00FF> will be transferred in-
stead of the usual response.
PROFIBUS Address
CI access 2FF3h 00h Var uint8 rw
Description PROFIBUS address of the MTR-DCI.
Values: 0 ... 125 (0x00 ... 0x7D)
Default: 255 (0xFF, invalid address)
Control Word
CI access 6040h 00h Var uint16 rw
Description For modifying the current controller status or triggering an action.
As status modifications require a certain amount of time, all status modifica-
tions triggered via the Control Word must be read back via the Status Word.
Only when the requested status can be read in the Status Word, may a further
command be written via the Control Word.
For typical values see Tab. B/15. For description see Tab. B/16.
Value Function
0x000F ENABLE OPERATION, controller enable
0x000D VOLTAGE DISABLE, output stage OFF
0x001F Start ABSOLUTE movement
0x005F Start RELATIVE movement
0x010F Stop movement
0x008F Reset fault + ENABLE OPERATION
0x004F Set target position as RELATIVE.
Tab. B/15: Typical values for Control Word
Bit Value Description
0 0x0001 Depends on operation mode (object 6060):
Profile Position mode / Homing mode: change_set_immediately
Profile Torque Mode (Force mode)
1 0x0002
2 0x0004
3 0x0008
4 0x0010
5 0x0020
Profile Position mode: absolute / relative
(Homing Mode / Profile Torque Mode: reserved, set to 0)
7 0x0080 reset_fault
Profile Position mode / Homing Mode: Halt
Profile Torque Mode: Halt, position control active
9 0x0200 Reserved (= 0)
10 0x0400
11 0x0800 Jog Mode, positive (like FHPP CPOS.B3)
12 0x1000 Jog Mode, negative (like FHPP CPOS.B4)
13 0x2000 Teaching (like FHPP CPOS.B5)
14 0x4000 Reserved (= 0)
15 0x8000
Tab. B/16: Description of Control Word
Status Word
Description For reading the current controller/regulator status.
For typical values see Tab. B/17. For description see Tab. B/18.
Bit Value Comment
0x0000 NOT_READY_TO_SWITCH_ON
Preinitialisation status
0x0021 READY_TO_SWITCH_ON
Status after initialisation
0x0027 SWITCHED_ON + OPERATION_ENABLE
Power electronics and positioning are enabled
3 0x000F FAULT there is a fault
(screen display at bit 3: 0x0008)
4 0x0010 VOLTAGE_DISABLED
Status 1: output stage OFF
0: output stage ON
9 0x0200 1: enable logic, 0: disable logic
10 0x0400 1: TARGET_REACHED/MOTION_COMPLETE
0: MOTION_NOT_COMPLETE.
11 0x0800 1: Internal limit active
0: Internal limit not active
I
2
t is active
12 0x1000 1: New positioning task has been accepted or
homing run has finished.
13 0x2000 1: HOMING_ERROR
0: HOMING_NO_ERROR
Tab. B/17: Typical values for Status Word
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) Status
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx 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 controller (corresponds to bit 5 of SCON in FHPP)
10 0x0400 Target reached (see also objects 6067 and 6068)
11 0x0800 Internal limit active
Profile Position mode: Setpoint_acknowledge
Homing mode: Homing_attained
Profile Torque Mode: is running
Profile Position mode: Following_error (position lag error)
Homing mode: Homing_error
Profile Torque Mode: stroke limit reached
14 0x4000 Manufacturer specific: Teach acknowledge
(corresponds to bit 3 of SPOS in FHPP)
15 0x8000 Manufacturer specific: referencing performed
(corresponds to bit 7 of SPOS in FHPP)
Tab. B/18: Description of Status Word
Operation Mode
CI access 6060h 00h Var int8 rw
Description Operation mode of the controller.
Values:
0xFE: Demo Mode (fixed sequence)
0x01: Profile Position Mode (Position mode)
0x03: (Reserved)
0x04: Profile Torque Mode (Force mode)
0x06: Homing Mode (homing run)
Operation Mode Display
CI access 6061h 00h Var int8 r
Description For reading the operation mode of the controller. For values, see object 6060h.
Velocity Demand Value
CI access 606Bh 00h Var int32 r
Description Current nominal speed value of speed regulator in increments/s.
Value range: -2
31
... +(2
31
-1)
Velocity Actual Value
CI access 606Ch 00h Var int32 r
Description Current actual speed value of speed regulator in increments/s.
Value range: -2
31
... +(2
31
-1)
Target Torque
Description Target value for Force mode
Specifies the value in 1/1000 of the nominal value (6072h)
Actual Torque
CI access 6077h 00h Var int16 r
Description Actual value in Force mode in 1/1000 of the nominal value (6072h)
Target Position
CI access 607Ah 00h Var int32 rw
Description For defining or reading a target position in increments.
This position is saved in the position table in the column provided in the line
addressed by object 2032. No movement is made at this time.
Value range: -2
31
... +(2
31
-1)
Profile Velocity
Description Final speed for a positioning procedure, in increment/s.
This position is saved in the position table in the column provided in the line
addressed by object 2032. No movement is made at this time.
Value range and default: see 20E003h.
Profile Acceleration
Description Acceleration for a positioning movement (compare 6081) in increments/s
2
.
Value range and default: see 20E004h.
Torque Slope
Description Rate of change in torque (or force)
Unit of measurement: 1/1000 of the nominal (rated) torque (6076h) per
second
Fixed: 10000 (0x2710)
Torque Profile Type
Description Type of profile used for a change in torque.
Fixed: 0x0000 - Linear ramp
Supported Drive Modes
Description Drive modes supported.
Fixed = 29h (41d)
Bit 0: Profile position mode
Bit 1: Reserved (Velocity mode)
Bit 2: Reserved (Profile velocity mode)
Bit 3: Profile torque mode
Bit 4: (Reserved)
Bit 5: Homing mode
Bit 6: Reserved (Interpolated positioning mode)
Bit 7...15: (Reserved)
Bit 16...31 Manufacturer-specific
B.3 FHPP finite state machine
Notes on the operation enabled state
The transition T3 leads to state S4, which itself contains its
own sub-state machine, the states of which are marked with
SAx and the transitions of which are marked with TAx;
see Fig. B/4. This enables a equivalent circuit diagram
(Fig. B/3) to be used, in which the internal states SAx are
omitted.
Switched off
S1 Controller
Switched on
S3 Drive
Enabled
S2
Drive
Blocked
S5
Reaction
to malfunction
S6
Malfunction
From all
statuses
Operation
Enabled
T6
T2
T5
T3
T4
T1
T7*
T8
T10
T9
S5
T11
S4
Fig. B/3: Equivalent circuit diagram for finite state machine
Transitions T4, T6 and T7* are executed from every sub-state
SAx and automatically have a higher priority than any transi-
tion TAx.
Reaction to faults
T7 (fault detected) has the highest priority (and therefore
receives the asterisk *).
T7 is then executed from S5 + S6 when an fault with higher
priority occurs. This means that a serious fault can suppress
a simple fault.
T7* always has the
highest priority.
Switched off
S1
Controller on
S4
Drive
enabled
S2
Drive disabled
SA1
Ready
SA5
Jogging, positive
SA6
Jogging, negative
SA4
Homing being
executed
SA2
Positioning task
active
SA3
Intermediate stop
S5
Reaction to fault
S6
Fault
From all states
S4
Operation enabled
T6
TA11
TA12
TA9
TA10
TA3
TA6
TA4
TA5
TA7
TA8
TA1
TA2
T2
T5
T3
T4
T1
T7*
T8
T10
T9
S5
T11
Fig. B/4: Finite state machine
B.3.1 Establishing 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-order
controller.
Enable drive = 1
CCON = xxx0.xxx1
T3 Stop = 1
CCON = xxx0.xx11
T4 Stop = 0
CCON = xxx0.xx01
T5 Enable drive = 0
CCON = xxx0.xxx0
T6 Enable drive = 0
CCON = 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 1
CCON = xxx0.Pxxx
T10 There is no longer a fault.
It was a minor fault.
Acknowledge fault = 0 1
CCON = xxx0.Pxx1
T11 Fault still exists. Acknowledge fault = 0 1
CCON = xxx0.Pxx1
Key: P = positive edge, N = negative edge, x = any
B.3.2 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 = 01
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.00P1
TA2 Motion Complete = 1
The current record has been completed. The
next record is not to be executed automatically
Halt state is any
CCON = xxx0.xx11
CPOS = 0xxx.xxx0
TA3 Motion Complete = 0 Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxx0
TA4 Halt = 1
Start positioning task = 01
Clear remaining positioning = 0
CCON = xxx0.xx11
CPOS = 00xx.xxP1
TA5 Record Select:
An individual record has been completed.
The next record is to be executed automati-
cally.
CCON = xxx0.xx11
CPOS = 0xxx.xxx1
Direct mode:
A new positioning task has arrived.
CCON = xxx0.xx11
CPOS = 0xxx.xx11
TA6 Clear remaining positioning = 0 1
CCON = xxx0.xx11
CPOS = 01xx.xxxx
TA7 Start homing = 01
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.0Px1
TA Actions of the user Internal conditions
TA8 Homing completed or stopped (Halt). For Halt only:
Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA9 Jogging, positive = 0 1
Halt = 1
CCON = xxx0.xx11
CPOS = 0xx0.Pxx1
TA10 Either
Jogging, positive = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.0xx1
or
Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
TA11 Jogging, negative = 1 0
Halt = 1
CCON = xxx0.xx11
CPOS = 0xxP.xxx1
TA12 Either
Jogging, negative= 1 0
CCON = xxx0.xx11
CPOS = 0xxN.xxx1
or
Halt = 1 0
CCON = xxx0.xx11
CPOS = 0xxx.xxxN
Features specific to different operation modes:
Operation mode Notes on specific features
Record Select No restrictions.
Direct mode TA2: The condition that no new record may be executed does not apply.
TA5: A new record can be started at any time.
Index
C-1 Festo P.BE-MTR-DCI-PB-EN en 1209a
Appendix C
Index
C. Index
Contents
C. Index C-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index
A
Absolute 5-18, 5-50, B-31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access procedure B-55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis XIV, 1-3, 1-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis parameters 4-9, 4-13, 5-16 . . . . . . . . . . . . . . . . . . . . . . . .
Axis type 4-13, 5-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis zero point XIV, 1-11, 5-16, B-45 . . . . . . . . . . . . . . . . . . . . .
B
Baud rate 3-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCD XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bus segment XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C
Cable 1-6, 3-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus 3-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checksum B-59, B-62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CLEAR_DATA 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning
Procedure 5-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
with the control panel 5-7 . . . . . . . . . . . . . . . . . . . . . . . . . . .
With the Festo Configuration Tool (FCT) 5-23 . . . . . . . . . . . .
Components 1-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections 3-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Consistency XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control 3-4, 3-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control panel 4-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessing the main menu 4-6 . . . . . . . . . . . . . . . . . . . . . . . .
Button function (overview) 4-5 . . . . . . . . . . . . . . . . . . . . . . .
Menu system 4-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Menu commands (overview) 4-7 . . . . . . . . . . . . . . . . . . . . . .
C. Index
Controller XIV, 1-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Coupling 1-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cyclical I/O data 5-40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D
Default settings 5-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Demo mode 5-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device connection 5-83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device control 4-22, 5-7, 5-25 . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostic memory 6-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics 4-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device-specific 6-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error messages 6-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview 6-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter channel 6-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS-DP 6-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensional reference system 1-11 . . . . . . . . . . . . . . . . . . . . .
Calculation rules 5-65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagram 5-64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions 2-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Direct mode 5-38, 5-39, 5-59, 5-76 . . . . . . . . . . . . . . . . . . . . . .
Direction of rotation of the motor 1-13 . . . . . . . . . . . . . . . . . . .
DP diagnosis 6-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive XIV, 1-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
E
Earthing 3-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Effective stroke 1-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EMC XIV, 3-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder XIV, XV, 1-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error messages 6-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index
F
Fault handling 5-54 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault messages 6-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault numbers 6-13, B-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FCT XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing 5-24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting 5-25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Festo Configuration Tool (FCT) XIV . . . . . . . . . . . . . . . . . . . . . . .
Festo Parameter Channel (FPC) B-3 . . . . . . . . . . . . . . . . . . . . . .
FHPP 1-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus bit rate 3-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus cable 3-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus length 3-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Force mode 5-39, 5-61, 5-76, B-36 . . . . . . . . . . . . . . . . . . . . . . .
FREEZE 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fuses 3-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
G
GetDiag 6-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GSD file XVII, 5-28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
H
HMI (see device control) XV . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing method XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing point XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference switch XVI, 3-4, 3-13 . . . . . . . . . . . . . . . . . . . . . .
Homing mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing run XV, 5-13, 5-56, 5-65 . . . . . . . . . . . . . . . . . . . . . . . .
Current limitation 5-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Discontinuing 5-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index
Executing 4-19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting 5-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I
I/O, Diagnostics 4-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I/O data, Cyclical 5-40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Icon files 5-29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Increments 1-5, A-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
J
Jog mode 5-67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
L
LED 6-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Load voltage, Definition 3-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Logic voltage
Definition 3-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Failure 3-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LSB XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
M
Measuring reference system 1-12 . . . . . . . . . . . . . . . . . . . . . . .
Menu commands (overview) 4-7 . . . . . . . . . . . . . . . . . . . . . . . .
Menu system 4-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor unit XV, 1-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions 2-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting 2-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MSB XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
N
Nominal stroke 1-12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index
O
Object directory B-55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Octet XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode 1-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Profile position mode (see positioning mode) 1-7 . . . . . . . .
Profile torque mode (see force mode) 1-8 . . . . . . . . . . . . . .
Operation mode XV, 5-38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Direct mode 5-38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing run 5-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Record Select 5-38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Teach mode XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P
Parameter assignment 1-4, B-3 . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter channel B-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter channel (PKW) XVII . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter identifier (ParID) XVII, B-3, B-4 . . . . . . . . . . . . . . . .
Parameter number (PNU) XVII, B-4 . . . . . . . . . . . . . . . . . . . . .
Parameter value (ParVal) B-3 . . . . . . . . . . . . . . . . . . . . . . . . . . .
ParID XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Password 5-84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Entering 4-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modifying/deactivating 4-17 . . . . . . . . . . . . . . . . . . . . . . . . .
Setting up 4-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PKW XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PLC XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PNU XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Points of reference 1-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position mode 5-39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position set 1-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Executing 4-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position set record XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index
Position set table
Compiling 5-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Creating 4-15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Displaying 4-9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Executing 4-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Positioning range 1-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power supply 3-4, 3-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Requirements 3-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power supply unit 3-7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power supply units 3-8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power supply units and fuses, Requirements 3-8 . . . . . . . . . .
Prefix 1-13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS address 5-22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Profibus address, setting 4-15 . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIBUS-DP
Diagnosis via parameter channel 6-18 . . . . . . . . . . . . . . . . .
Diagnostics 6-14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Profile position mode (see positioning mode) 1-7 . . . . . . . . . .
Profile torque mode (see force mode) 1-8 . . . . . . . . . . . . . . . .
Project zero point XVI, 1-11, B-34 . . . . . . . . . . . . . . . . . . . . . . .
Protection class 3-5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
R
Record Select 5-38, 5-71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference travel, parameters 4-14 . . . . . . . . . . . . . . . . . . . . . .
Reference travel method
Fixed stop 1-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference switch 1-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Referencing
Reference point 1-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference switch 1-6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Referencing mode (see Reference travel) 1-8 . . . . . . . . . . . . . .
Relative 5-18, 5-50, B-31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index
Repeater XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Request identifier (AK) XVII, B-4, B-5 . . . . . . . . . . . . . . . . . . . . .
Request telegram XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Response identifier (AK) XVII, B-4, B-6 . . . . . . . . . . . . . . . . . . .
Response monitoring 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Response telegram XVII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S
Safety instructions VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of delivery IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Segment length 3-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Serial interface 3-4, 3-11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software end position 1-11, 5-16, B-34 . . . . . . . . . . . . . . . . . .
Negative XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Positive XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standstill monitoring 5-80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start-up behaviour 5-82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Station number, setting 5-22 . . . . . . . . . . . . . . . . . . . . . . . . . . .
Strain relief 3-16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Subindex (IND) XVIII, B-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switch-on sequence 3-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SYNC 5-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System parameters 4-10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
T
Target group IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target position, teaching 5-18 . . . . . . . . . . . . . . . . . . . . . . . . . .
Teach mode XVI, 4-13, 4-15, 5-16 . . . . . . . . . . . . . . . . . . . . . . .
Teaching via fieldbus 5-69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C. Index
Technical data A-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transmission errors B-58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transmission protocol B-57 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
U
Units of measurement 1-5, A-13 . . . . . . . . . . . . . . . . . . . . . . . .
User data XVIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User instructions X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
V
Value ranges, permitted B-58 . . . . . . . . . . . . . . . . . . . . . . . . . .
Version XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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