Festo MTR-DCI-...IO Series Bedienungs- und Montageanleitung

Description

MTR-DCI-...IO

Description

539616

en 1209d

[763197]

Motor unit

MTR-DCI

Adobe

®,

Reader

,CANopen

and CiA

are registered

trademarks of the respective trademark owners in certain

countries.

Contents and general instructions

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

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

Edition en 1209d..................................

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

Order no. 539616..................................

Internet: http://www.festo.com

E-Mail: 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

model or design patent is registered.

Contents and general instructions

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

Contents and general instructions

III

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

Contents

Designated use VII........................................................

Safety instructions VIII.....................................................

Target group IX..........................................................

Service IX...............................................................

Scope of delivery IX.......................................................

Important user instructions X..............................................

Manuals on motor unit MTR-DCI XII..........................................

Information on the version XIII...............................................

Product-specific terms and abbreviations XIV...................................

1. System summary 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 Measuring reference system 1-10......................................

1.5.1 Basis points and work range 1-10..............................

1.5.2 Signs and directions 1-13.....................................

1.5.3 Homing 1-14................................................

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

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

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

2.3 Mounting 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..................................................

3.4 Serial interface 3-10.................................................

3.5 Input for external reference switch 3-12.................................

3.6 Connecting the higher-order controller 3-14..............................

Contents and general instructions

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

4. Control panel (MTR-DCI-...-H2IO) 4-1.................................

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

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

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

4.2.2 Menu [Diagnostic] 4-8.......................................

4.2.3 Menu [Settings] 4-11.........................................

4.2.4 Menu [Positioning] 4-17.......................................

4.2.5 Menu command [HMI control] 4-20.............................

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

5.1 Procedure for commissioning 5-3.....................................

5.2 Commissioning with the control panel (only MTR-DCI-...-H2) 5-6............

5.2.1 Selecting the axis type 5-7...................................

5.2.2 Setting the homing parameter 5-9.............................

5.2.3 Teach the axis zero point and the software end positions 5-13.......

5.2.4 Positioning with position sets 5-15..............................

5.2.5 Teach position sets 5-16......................................

5.2.6 Test run 5-17...............................................

5.3 Commissioning with FCT 5-19.........................................

5.3.1 Installing the FCT 5-19........................................

5.3.2 Procedure for commissioning with the Festo Configuration Tool 5-20..

5.4 Communication with the higher-order controller 5-22......................

5.4.1 I/O function check 5-22.......................................

5.4.2 Description of the I/Os 5-23...................................

5.4.3 Function description (pulse-time diagram) 5-26...................

6. Operating, maintenance and diagnosis 6-1............................

6.1 Important user instructions 6-3.......................................

6.2 Diagnosis and fault display 6-6.......................................

6.2.1 General diagnostic possibilities 6-6............................

6.2.2 LED status displays 6-7......................................

6.2.3 Fault messages on the display (only type MTR-DCI-...-H2) 6-9.......

Contents and general instructions

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

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

A.1 Technical specifications A-3..........................................

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

A.3 Motor characteristic curves A-7.......................................

A.4 Converting measuring units A-13.......................................

B. Supplementary information B-1......................................

B.1 The Command Interpreter (CI) B-3.....................................

B.1.1 Procedure for data transfer B-4...............................

B.1.2 CI commands B-8...........................................

B.1.3 CI Objects (overview) B-12....................................

B.1.4 Object description B-16.......................................

C. Index C-1.........................................................

Contents and general instructions

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

Contents and general instructions

VII

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

Designated use

The MTR-DCI motor unit is an intelligent servo motor consist-

ing of DC motor, planetary gear, encoder and integrated con-

trol electronics (positioning control and position regulator).

The mechanical layout and plug-in interface of the MTR-DCI

have been optimized for use with electric linear drives (e.g.

DMES) from Festo. The motor unit can also be used for cus-

tomer-specific positioning applications with slow spindle

drives.

This manual deals with the basic functions of the MTR-DCI

and the I/O interface of the MTR-DCI-...I0. Additional compo-

nents as well as the field bus variants of the MTR-DCI are de-

scribed in separate manuals.

It is absolutely necessary to observe the “Safety instructions”

as well as the designated use of the relevant components and

modules. Observe also the safety instructions in the operat-

ing instructions for the electric components used.

The MTR-DCI and the connectable modules and cables may

only be used as follows:

– in accordance with designated use

– only in industrial applications

– without any modifications by the user. Only the conver-

sions or modifications described in the documentation

supplied with the product are permitted.

– in faultless technical condition.

If additional commercially-available components such as

sensors and actuators are connected, the specified limits for

temperatures, electrical data, torques, etc. must not be

exceeded.

Please observe the standards specified in the relevant

chapters and comply with technical regulations, as well as

with national and local regulations.

Contents and general instructions

VIII

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

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

thepossibledangerareamustbepreventedbysuitable

measures such as protective screens and warning signs.

Warning

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 gain access to 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.

Warning

Faults in parametrization can cause injury to people and

damage to property.

Enable the controller only if the axis system is correctly

installed and parametrized.

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