Festo MTR-DCI-...IO Series Description

Motor unit
MTR-DCI

Description

MTR-DCI-...IO

Description

539616
en 1209d
[763197]

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trademarks of the respective trademark owners in certain
countries.

Contents and general instructions

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

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

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

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

© (Festo AG & Co. KG, D-73726 Esslingen, Germany, 2012)
Internet: http://www.festo.com
E-Mail: [email protected]

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

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

I

Contents and general instructions

II

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

Contents and general instructions

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..............................

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

III

Contents and general instructions

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 positio n 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.......

IV

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

Contents and general instructions

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.........................................................

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

V

Contents and general instructions

VI

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

Contents and general instructions

Designated use

The MTR-DCI motor unit is an intelligent servo motor consist­ing of DC motor, planetary gear, encoder and integrated con­trol 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 cus­tomer-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 compo­nents as well as the field bus variants of the MTR-DCI are de­scribed 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 operat­ing 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.

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

Please observe the standards specified in the relevant
chapters and comply with technical regulations, as well as
with national and local regulations.

VII

Contents and general instructions

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 com­ponents 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.

VIII

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

Contents and general instructions

Target group

This manual is intended exclusively for technicians trained in
control and automation technology, who have experience in
installing, commissioning, programming and diagnosing
positioning systems.

Service

Please consult your local Festo repair service or write to the
following e-mail address if you have any technical problems:

Scopeofdelivery

[email protected]

The following items are supplied with motor unit MTR-DCI:

– 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

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

– Programming cable

– User documentation in paper form.

IX

Contents and general instructions

Important user instructions

Danger categories

This manual contains instructions on the possible dangers
which may occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc.), printed on a
shaded background and marked additionally with a picto­gram. A distinction is made between the following danger
warnings:

Warning

This means that failure to observe this instruction may
result in serious personal injury or damage to property.

Caution

This means that failure to observe this instruction may
result in personal injury or damage to property.

Note

This means that failure to observe this instruction may
result in damage to property.

The following pictogram marks passages in the text which
describe activities with electrostatically sensitive compo­nents.

X

Electrostatically sensitive components may be damaged if
they are not handled correctly.

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

Contents and general instructions

Marking special information

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

Pictograms

Information:
Recommendations, tips and references to other sources of
information.

Accessories:
Information on necessary or sensible accessories for the
Festo product.

Environment:
Information on environment-friendly use of Festo products.

Text markings

•

The bullet indicates activities which may be carried out in
any order.

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

– Hyphens indicate general activities.

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

XI

Contents and general instructions

Manuals on motor unit MTR-DCI

This manual contains information on the method of oper­ation, as well as on mounting, installing and commissioning
electric positioning drives with motor unit MTR-DCI-...IO (I/O
interface).

Information on components, e.g. the reference switch, can be
found in the operating instructions supplied with the prod­uct.

Type

Operating package with
brief description
+descriptions
(+ commissioning
software) on CD ROM

Description Motor unit MTR-DCI with

Help system for software Festo Configuration Tool

Operating instructions Positioning axis

Designation Contents

P.BE-MTR-DCI Brief description: Important instructions

I/O interface

P.BE-MTR-DCI-IO-DE
P.BE-MTR-DCI-IO-EN
P.BE-MTR-DCI-IO-FR
P.BE-MTR-DCI-IO-IT
P.BE-MTR-DCI-IO-ES
P.BE-MTR-DCI-IO-SV

help (contained in FCT
software)

DMES-...

on commissioning and preliminary
information.
Manuals on CD ROM: for motor unit
MTR-DCI (contents as described below)

Installation, commissioning and
diagnosis of electric axes with motor
unit MTR-DCI; communication via I/O
interface.

Function description of the Festo
Configuration Tool (FCT) configuration
software.

Mounting and commissioning the linear
axis with slide shaft as drive element.

Further manuals Motor unit MTR-DCI with

other communication in­terfaces e.g.

P.BE-MTR-DCI-CO
P.BE-MTR-DCI-PB

Tab. 0/1: Documentation on the MTR-DCI

XII

Installing, commissioning and diagnos­ing electric axes with motor unit MTR­DCI; communication via the relevant
field bus.

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

Contents and general instructions

Informationontheversion

The hardware version specifies the version status of the
mechanical parts and electronics of the MTR-DCI. The firm­ware version specifies the version status of the o perating
system of the MTR-DCI.

You can find the specifications on the version status as
follows:

– Hardware version and firmware version in the Festo

Configuration Tool with active device connection to the
MTR-DCI under “Device data”

– Firmware version on the control panel under [Diagnostic]

[Software information]

Firmware

What is new? Which FCT PlugIn?

version

V-DME1.19 Supports the motor sizes MTR-DCI-42 and 52 and the

combination with the following positionin g axes from
Festo:

Motor unit Axis

MTR-DCI-42 DMES-25
MTR-DCI-52 DMES-40

V1.20 – Supports the motor sizes MTR-DCI-32 and 62 and

the combination with the following positioning
axes from Festo:

Motor unit Axis

MTR-DCI-32 DMES-18
MTR-DCI-42 DMES-25
MTR-DCI-52 DMES-40
MTR-DCI-62 DMES-63

MTR-DCI V1.0.0

MTR-DCI V1.1.0

– Modifying the start-up reaction of all sizes

V1.35 – Function “Save position when switching off” re-

moved.
The CI-parameter 60FB
the fixed value 240 (0x00F0) and cannot be over­written, see appendix B.1.4.

Tab. 0/2: Firmware versions

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

, s ubindex 20h,contains

h

MTR-DCI V2.1.1.4

XIII

Contents and general instructions

Product-specific terms and abbr eviations

The following product-specific terms and abbreviations are
used in this manual:

Term/abbreviation

0-signal 0 V present at input or output (positive logic, corresponds to LOW).

1-signal 24 V present at input or output (positive logic, corresponds to HIGH).

Axis Mechanical component of a drive which converts the motor revolutions into

Axis zero point (AZ) Measuring basis point for the project zero point and the software end

Controller Control electronics which evaluate the control signals and provide the

DMES Type designation, electric linear axis

Drive Complete actuator, c onsisting of c ontroller, motor, measuring system and,

Meaning

positioning movements of a work load. An axis (e.g. positioning axis
DMES-...) enables:
– the work load to be fitted and guided
– a reference switch to be fitted.

positions. The basis point for the axis zero point is the reference point.
Corresponds to the project zero point with the MTR-DCI (offset = 0).

power supply for the motor via the power electronics (power electronics +
controller + position controller).

if applicable, gear and (linear) 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)

HMI Human Machine Interface, with the MTR-DCI the control panel with

Homing meth od Method for determination of the reference position: against a fixed stop

Homing mode Operating mode in which a homing run is carried out.

Commissioning software with uniform project and data management for all
supported device types. The special requirements of a device type are
supported by PlugIns with the necessary descriptions and dialogues.

LC display and 4 operating buttons.

(overload current/speed evaluation) or with reference switch.

XIV

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

Contents and general instructions

Term/abbreviation Meaning

Homing run The reference position and therefore the source of the basis system of the

axis are defined by a homing run.

I
O
I/O

Jog mode Manual positioning in positive or negative direction (only on field bus

Motor unit Integrated unit consisting of the controller, motor, measuring system and,

Operating mode Type of controller or internal operating mode of the controller.

PLC Programmable logic controller; in brief: controller: (PLC: progammable

Positioning mode
(Profile position mode)

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

Input
Output
Input a nd/or output

variants of the MTR-DCI via the field bus or only with FCT or control panel).

if applicable, gears (e.g. motor unit MTR-DCI).

– Type of control: Record Select, Direct mode
– Operating mode of the controller: Position profile mode, homing mode,

Demo mode, ...

logic controller)

Operating mode for processing a position set or a direct positioning task.

– The number of the position set
– The absolute or relative basis of the nominal position
– The nominal position of the position set
– The positioning speed of the position set

Project zero point (PZ) Basis point for all positions in positioning tasks (Project zero point). The

Reference point (REF) Basis point for the incremental measuring system. The reference point

Reference switch External sensor (e.g. SMT-8 or SIEN) which serves for ascertaining the

Referencing Complete definition of the basis system of the axis with reference point

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

project zero point forms the basis for all abso lut e position specifications
(e.g. in the position set table or with direct c ontrol via the control or diag­nostic interface). The basis point for the project zero point is the axis zero
point. With the MTR-DCI the project zero point PZ and the axis zero point AZ
are identical.

defines a known orientation or position within the positioning path of the
drive.

reference position and is connected directly to the controller.

and, if applicable, zero point.

XV

Contents and general instructions

Term/abbreviation Meaning

Software end position Programmable stroke limitation (basis point = 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
(Teach mode)

Operating mode for setting positions by moving to the target position,
e.g. when creating position sets.

Tab. 0/3: Index of terms and abbreviations

XVI

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

System summary

Chapter 1

System summary

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

1-1

1. System summary

Contents

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................................................

1-2

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

1. System summary

1.1 Positioning with electric drives

Process control

1

and parameter
access through
the higher-order
controller

12

2

Software level:
Commissioning
with the Festo
Configuration
Tool software

3

Drive level with

–Motorunit
– Coupling
– Coupling

housing

–Axis

I/O
CANopen

RS232

Profibus
DeviceNet

3

Fig. 1/1: Principle of a positioning system with motor unit MTR-DCI and positioning axis

DMES

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

The motor unit MTR-DCI enables the connected linear or rota­tion axis to be placed in max. 15 positions (plus homing) with
separate speed adjustment.

The permitted positioning range can be limited by means of
software end positions.

1-3

1. System summary

You can parametrize 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)

Coupling to a higher-order PLC/IPC is carried out in operation
via digital inputs/outputs.

Functions

Parameterisation – Selecting the axis type and the axis parameters

– Specifying a gear factor (with external gears)
– Uploading/downloading of configuration data
– Saving different configurations in projects

Positioning
records

Commissioning –Homing

Diagnostics/
Service

– Compiling a position set table with set number, target

position, positioning mode, positioning speed,
acceleration

–Jogmode
– Teaching of positions
– Travel in individual steps
– Starting and stopping positioning procedures during

commissioning
– Extended test functions, e.g. status displays
– Testing or demonstrating the positioning records

– Reading and displaying diagnostic data x x

HMI FCT

x
–
–
–

x x

x
x
x
–

x
–
x

x
x
x
x

x
x
x
x

x
x
x

Tab. 1/1: Functions

1-4

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

1. System summary

All parameters are entered or displayed in the relevant set
measuring units.

Units of Measurement

Linear axis

Rotation axis Degree Angle dimension

1)

Only with FCT when creating a project.

2)

Setting only with the control panel [Settings] [Axis type] [Rotation axis]

Metric Metric units of measurement,

2

2

Customs du-

1)

ties

e.g. mm, mm/s, mm/s

Imperial units of measurement,
e.g. inch, inch/s, inch/s

Increments Increment-based units of measurement,

e.g. inc, inc/s, inc/s

2

360° = 1 revolution

2

2

Revolutions

e.g. deg, deg/s, deg/s

2)

Number of revolutions
e.g. rev, rev/min, rev/min

Increments Increment-based units of measurement,

e.g. inc, inc/s, inc/s

2

Control
panel

x x

– x

– –

x x

x –

– –

FCT

Tab. 1/2: Units of Measurement

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

Setting the units of measurement influences only the dis­play. All the parameters in the controller are saved internally
in increments (inc, inc/s, inc/s

2

...) and are not converted until
they are written or read.
Measurements transmitted directly via RS232 are conducted
on an increment basis (for conversion see appendix A.4).

1-5

1. System summary

1.2 Components

For setting up an electric drive with the MTR-DCI you will
require the following components:

Motor unit MTR-DCI Motor with controller, available in four 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 drive
output torques with low drive output speeds are character­istic for positioning functions. With the smaller gear reduc­tion, the positioning speed of the axis can be increased with
correspondingly reduced positioning 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 connection in the coupling housing.
Additional motor flanges are not therefore necessary. Fur­ther information can be found in the operating instructions
for the axis.

Power supply cable for supplying the MTR-DCI with operating voltage via a

power unit (DC 24 V / size 62: 48 V)

Programming cable Parametrizing the MTR-DCI during commissioning with the

FCT

Homing Switch Sensor as per appendix A.2.

Accessories For positioning systems Festo offers special matching ac-

cessories (see Festo delivery program or catalogue).

1-6

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

1. System summary

1.3 Controlandregulatingfunctions

The controller takes over the following tasks:

– specification of the nominal values

– regulation of the following factors: Position, speed, accel-

eration, current.

1

Motor controller

2

Regulator

3

Setpoint
value generator

4

Position control­ler

5

Velocity control

6

Current control

1

3

P

4

2

567

PI

P

8

M

7

Output stage

8

Signal converter

Fig. 1/2: Simplified diagram of the cascade regulator

Profile position mode Positioning mode

Operating mode for executing a position set or a direct posi­tioning task with position control (closed loop position con­trol).
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 posi­tion is transferred to the setpoint value generator. This gen­erates a setpoint position value for the position controller.
For position control the current settings for speed, accelera­tion, braking deceleration, etc. are taken into account.

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

1-7

1. System summary

Changes in position are recognized by the internal increment­al sensor (optical encoder). With a known starting point the
actual position is calculated from the gear reduction and/or
the spindle slope.

Homing mode Homing.

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 positioning path or with overcurrent eval­uation n the case of movement to a stop.

For commissioning, for testing or for demonstration the
following functions are also available via the control panel of
the MTR-DCI-...-H2:

– Positioning travel for defining the target position of a

positioning record [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].

1-8

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

1. System summary

1.4 Operational reliability

An extensive system of sensors and monitoring functions
ensure operational safety:

–i

– Temperature monitoring (measuring the motor tempera-

ture and the power end stage temperature)

– Current monitoring

– Voltage monitoring

2

t-monitoring

– Recognizing faults in the internal voltage supply.

– MTR-DCI-62...: detection of overvoltages in the inter-

mediate circuit; brake chopper integrated.

– Drag fault monitoring

– Software end position recognition.

Observe the following:

•

By the arrangement of the limit switches and, if neces­sary, additionally by means of mechanical stops, make
sure that the axis always lies within the permitted posi­tioning range.

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

1-9

1. System summary

Warning

•

Please note that the MTR-DCI-…IO does not have a sep­arate logic voltage supply.

•

Check the measures which are necessary within the
framework of your EMERGENCY STOP circuit for switch­ing your machine/system into a safe state in the event
of an EMERGENCY STOP.

•

If corresponding EMERGENCY STOP circuitry is neces­sary for your application, use additional, separated
safety limit switches (e.g. as normally closed limit
switches wired in series connection)

– Cancelling the ENABLE signal at the controller inter-

face

– Switch off the load voltage.

1.5 Measuring reference system

For commissioning, a measuring reference system for refer­encing the reference coordinates must be defined. By means
of the measuring system all (absolute) positions are defined
and movement can be made to them.

1.5.1 Basis points and work range

The basis system of the MTR-DCI is based on the axis zero
point which is defined by the offset to the reference point.

Homing run The position of the reference point REF is defined by a hom-

ing run. When a homing run is finished, the drive stands at
the axis zero point AZ.

Homing method The homing method defines the way in which the reference

Homing point REF forms the mechanical starting point of the measuring refer-

1-10

point is determined.

ence system and is defined for the homing run by a reference
switch or a fixed stop, depending on the homing method. It
is the reference point of the axis zero point.

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

1. System summary

Axis zero point AZ is shifted by a defined distance from the reference point REF

(axis zero point offset) and is the basis point of the software
end positions and the project zero point PZ. By defining the
axis zero point AZ and the software end positions you can
limit the work area of the linear axis to the permitted range
(work stroke).

Software end positions limit the permitted positioning range (work stroke). If the

target position of a positioning command lies outside the
software end positions, the positioning command will not be
processed and a fault status will be displayed.

Project zero point PZ is a basis point which the user can freely select within the

workstrokeandtowhichtheactualpositionaswellasthe
target positions in the position set table refer. The axis zero
point AZ is the basis point for the project zero point.

The project zero point PZ is specified with the MTR-DCI and is
identical to the axis zero point AZ (project zero point offset =

0).

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

1-11

1. System summary

Measuring reference system: basis points and work range

Linear axis with homing method:
Fixed stop negative

Rotation axis with homing method:
Reference switch negative

d

e

REF Reference point: Point determined during homing run: reference switch or stop

AZ Axis zero point: reference point for the project zero point and the software end positions.

Corresponds to the project zero point with the MTR-DCI (offset project zero point = 0).
The basis point for the axis zero point is the reference point.

A
b, c

d
e

Offset axis zero point: Defined distance of the axis zero point AZ from the reference point REF
Software end positions: limit the permitted positioning range (work stroke).

Work stroke: Permitted positioning range.
Rated stroke of the axis used

Tab. 1/3: Measuring reference system

1-12

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

1. System summary

1.5.2 Signs and directions

All offsets and position values are vectors (with a given al­gebraic sign, + or -). The active direction can be reversed on
the control panel (see 5.2.1) or via FCT. This can be useful
when using angular gear units or toothed belt drives. A hom­ing run must be ca rried out again if the direction is reversed.

The direction in which the work load moves depends on the
gearing, the spindle type (left/right-rotating), the algebraic
signs on the positioning specifications, and the set active
direction.

1

2

+

—

+

—

Factory setting for active direction

1

2

Reversal of direction

Fig. 1/3: Active direction (using the exa mple of MTR-DCI + DMES, axial gearing)

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

1-13

1. System summary

1.5.3 Homing

In the case of drives with incremental measuring system,
homing must always be carried out after the drive is switched
on.

The following homing modes are permitted:

– 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

(default).

In order to search for the reference point and for positioning
the drive in the axis zero point, you can set two different
speeds.

Homing sequence:

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

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

After successful homing the drive stands at the axis zero
point AZ. On initial commissioning or following a change of
homing method the axis zero offset is = 0; after homing the
drive is then positioned at the reference point (REF).

1-14

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

1. System summary

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 cur­rent is reached at the same time as the motor is at a stand­still, the MTR-DCI recognizes that the stop, and therefore the
reference position, has been reached.

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

+

1

AZ

REF (-)

2

1

Stop in a negative direction

2

Stop in a positive direction

Fig. 1/4: “Search for fixed stop” reference travel method

—

AZ

REF (+)

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

1-15

1. System summary

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. It then moves back at creep speed:
The reference position lies at the point at which the reference
switch becomes inactive again when the drive moves back.

+

1

REF (-)

AZ

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 stands on the reference switch at the start of ref­erence travel, it will move in the opposite direction to the
reference switch. The drive then moves as usual to the axis
zero point.

—

REF (+)

1-16

Note

If a reference signal is not found by the “reference switch”
homing method before the drive reaches a fixed stop, the
MTR-DCI will stop and an error will be displayed (HOMING
ERROR).

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

Mounting

Chapter 2

Mounting

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

2-1

2. Mounting

Contents

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

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

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

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

2-2

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

2. Mounting

2.1 General instructions

Warning

Electric shock
Before carrying out mounting, installation and mainten-

ance work, always switch off the power supply for the elec­tronic components.

Note

Handle all modules and components with great care.
Please note especially the following:

– Screw connections must be fitted free of offset and

mechanical tension. Screws must be fitted accurately

(otherwise threads will be damaged).
– The specified torques must be observed.
– The modules must not be offset.
– Contact surfaces must be clean (avoid contact faults).

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

2-3

2. Mounting

2.2 Dimensions of the motor unit

13

T1

D2

5

L1

L5

L2

L4

L3

D3

D4

D1

H0

H2

H1

B1
B2

Sizes [mm] 32 42 52 62

Gear ratio G7/G14 G7 G14 G7 G14 G7/G14/G22

Diameter of
flange/shaft

Height H H0

Length L L1

D D1

D2
D3
D4

H1
H2

L2
L3
L4

—
—

21.5 h8
6h7

65.3 ±0.4

21.6 ±0.15

41.5 ±0.3

175.5 ±1
—

18.7 ±0.6

2.5 ±0.3

42 g10
42 ±0.1
25 h8
8h7

70,8 ±0,4
26,5 ±0,6
54,5 ±0,4

176 ±1

33.3 ±1
25 ±1
2±0.2

176 ±1
46,3 ±1
25 ±1
2±0.2

52 g10
52 ±0.1
32 h8
12 h7

94.8 ±0.4
37 ±0,9

76.5 ±0.4

194 ±1
39 ±1
33 ±1
3±0.3

194 ±1
53 ±1
33 ±1
3±0,3

62 g10
62 ±0.1
40 j7
14 h7

128 ±0.5

60.8 ±0.35
128 ±0.5

270 ±1
47 ±1
39 ±1
5±0.3

Width B B1B233.8 ±0.3

46.3 ±0.4

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

Tab. 2/1: Dimensions of the motor unit

2-4

44.8 ±0.4

53.3 ±0.4

63.8 ±0.4

69.5 ±0.4

105.1 ±0.4

105.1 ±0.4

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

2. Mounting

2.3 Mounting electric axes

Refer to the following documentation when mounting the
electric axis:

– Operating instructions for the axis used.

– Instructions for the components used.

Warning

If an axis is fitted in a sloping or vertical position, the work
load may fall down and injure somebody.

•

Use the motor unit preferably with self-locking or self-

braking spindle drives. You can then avoid the working

mass sliding down if there is a sudden 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 fitted securely and is free of distortion,

•

the work 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 permitted va­lues of the following variables: the basis point for forces
and torques is the centre of the shaft (L3 see Tab. 2/1).

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

2-5

2. Mounting

L3

F

Fig. 2/1: Forces and torques

L3 x 0.5

y

F

x

Forces and torques

32 42 52 62

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

– Radial shaft load
– Axial shaft load
– Maximum permitted shaft output torque of

the gear

1)

Fy[N]
F

[N]

x

Mx [Nm]

40
10

0.4

160
50

0.8

200
60

2.0

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

– Radial shaft load
– Axial shaft load
– Maximum permitted shaft output torque of

the gear

1)

With operating factor cb = 1.0 (3 hours operation daily, no shocks, direction of rotation constant).

1)

Fy[N]
F

[N]

x

M

[Nm]

x

70
20

1.0

230
80

7.5

320
100

12.0

The gear output torque or the motor unit is usually much lower, see Technical specifications,
appendix A, Mechanical specifications.

2)

MTR-DCI-62...-G22: In the start-up phase speed torque peaks up to 37 Nm are possible at 20 A
peak current.

Tab. 2/2: Permitted loading of the gear shaft

240
50
4

360
70
25

2)

2-6

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

2. Mounting

Note

Motor unit MTR-DCI-62...-G22 can generate 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 permitted shaft output torque of the gear is

not exceeded in the start-up phase (e.g. by reducing the

load).

Use the thread on the front of the gear (see Fig. 2/2) for
mounting the MTR-DCI to a mechanical drive device (machine
frame).

•

In order to minimize 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 MTR-DCI-32 has 6 threads for different mounting
variants (axial, parallel); 4 screws must be used here.

Size

MTR-DCI-32 M3 6mm 1.2 Nm

MTR-DCI-42 M3 7mm 1.2 Nm

MTR-DCI-52 M5 10 mm 5.9 Nm

MTR-DCI-62 M5 10 mm 5.9 Nm

Thread depth Tightening torque

M4 10 mm 2.9 Nm

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

Tab. 2/3: Tightening torques

2-7

2. Mounting

In order to fit Festo axes e.g. DMES or DGE axially, you will
require couplings and coupling housings 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.
Fit the motor onto the permitted axis in accordance with the
Øassembly instructions for the motor mounting kit recom­mended in the catalogue.

Ø32

6xM3x6

MTR-DCI-32

25°

25°

MTR-DCI-52

30°

50°

4x 90°

MTR-DCI-42

28°

Ø36

Ø32

32°

4x 90°

4xM4x10

4xM3x7

MTR-DCI-62

45°

Ø40

4xM5x10

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

2-8

4x 90°

4X 90°

Ø50

4xM5x10

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

Installation

Chapter 3

Installation

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

3-1

3. Installation

Contents

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

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

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

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

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

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

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

3-2

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

3. Installation

3.1 Overview of installation

Warning

Before carrying out installation and maintenance work
always switch off the power supply for the electronic
components.

You can thereby avoid:

– unexpected movements of the connected actuators

– non-defined switching states of the electronic

components.

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). This

is the only way to ensure the system will work properly.

Caution

Earth or ground loops can under circumstances cause EMC
protective measures to become ineffective, resulting in
high compensating currents which will damage the motor
unit (e.g. with faulty power supply).

•

Connect only one cable shield (control cable or supply

cable) to functional earth (FE).
The GND connection must not be connected to the hous-

ing, the shield or functional earth (FE)!

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

3-3

3. Installation

1

Power supply

2

I/O control

3

Reference switch

4

3

4

Serial interface

2

1

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

ConnectionontheMTR-DCI

Power supply – D-Sub, 2-pin

–Plug

Manual

Operating voltage connec­tion with 2 high-current
contacts

3-4

Controller – D-Sub, 9-pin

–Plug

Reference
switch

Serial
interface

– M8x1, 3-pin
–Socket

– M8x1, 4-pin
–Socket

Tab. 3/1: Overview of connections

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

Interface for connection to
any PLC controller

Sensor input for switch
type normally open contact
in the design PNP, e.g.
SMT-8F

RS232 interface for para­metrizing, commissioning
and diagnosing

3. Installation

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 dis­charge). Place protective caps on unused connections in
order to prevent such discharges.

The plug connectors of the following Festo cables have been
designed so that, when inserted and screwed tight, or if fitted
with protective covers, the connections on the MTR-DCI will
comply with protection class IP54.

Connection

Voltage supply Power supply cable KPWR-MC-1-SUB-9HC 2.5/5/10

I/O control Pilot line KES-MC-1-SUB-9HC 2.5/5/10

Serial interface Programming cable KDI-MC-M8-SUB-9 2.5

Homing Switch If necessary, connecting

Cable Designation Length [m]

KM8-M8-GSGD 0.5/1/2/5

cable with screw-type lock

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

In order to guarantee compliance with the IP protection class:

•

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

•

Hand-tighten the union nuts/locking screws of the plugs.
Observe the permissible tightening torques specified in
the documentation for the lines and plugs used.

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

Note

•

Lay all moveable motor and sensor cables free of bends

and free of mechanical stress, if necessary, in a drag

chain.

•

Observe the maximum specified cable lengths.

3-5

3. Installation

3.2 Earthing

Note

•

Connect the earth terminal of the MTR-DCI with low im­pedance (short cable with large cross section) 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
exclusively the following earth terminal:

– Earthing strap on free end of the power supply cable; see

assembly instructions for cable KPWR-MC-1-SUB-9HC-...

Caution

Earth or mass loops can make EMC safety measures inef­fective and allow high compensating currents to destroy
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 impairing protec­tion against electromagnetic interference (EMC).

3-6

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

3. Installation

3.3 Power supply

Warning

•

In order 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 packs which guarantee reliable electri-

cal isolation of the operating voltage as per IEC/DIN

EN 60204-1.

By the use of PELV power units, protection against electric
shock (protection against direct and indirect contact) is guar­anteed in accordance with IEC/DIN EN 60204-1 (electrical
equipment of machines, general requirements).

Caution

Damage to the device.
The voltage input of the motor unit has no special protec-

tion against overvoltage.

•

Make sure that the permitted voltage tolerance is not

exceeded. The tolerance must also be observed directly

at the operating voltage connection of the MTR-DCI

(see Tab. 3/3).

•

Install an external fuse in the DC supply in order to limit

the available current (see Tab. 3/4).

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

3-7

3. Installation

The internal power and controller electronics are supplied
with DC voltage via the power supply connection. The power
supply must fulfil the following requirements:

Specifications

Rated voltage DC 24 V ±10 % DC 48 V +5...-1 %

Rated current 0.73 A ±20 % 2A±20% 5A±20% 6.19 A ±20 %

Peak current 2.1A±20% 3.8A±20% 7.7A±20% 20 A ±20 %

MTR-…-32 MTR-…-42 MTR-…-52 MTR-…-62

Tab. 3/3: Power supply

Recommendation

Use a closed-loop controlled power unit with high output
reserve and external fuse:

MTR-…-32 MTR-…-42 MTR-…-52 MTR-…-62

Power unit (closed­loop controlled)

External fuse
secondary side

DC 24 V /3 A DC 24 V/ 6 A DC 24 V/ 10 A DC 48 V / 20 A

5 A slow-blowing 7 A slow-blowing 10 A slow-blowing 25 A slow-blowing

Tab. 3/4: Selecting the power unit

3-8

A1 A2

A1 A2

Fig. 3/2: Connection example – power supply with external

fuse

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

3. Installation

•

Use the following cable from Festo's accessories:

– power supply cable KPWR-MC-1-SUB-9HC

– cable length max. 10 m.

•

Only connect one cable screen (control cable or power
supply cable) to the functional earth (FE).

Plug

A1

1)

Cable colours with power supply cable KPWR-MC-1-SUB-9HC

2)

Do not link the GND terminal to any housing, screen or functional earth (FE)!

A2

Pin Colour

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

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

1)

Manual

MTR-DCI-62:

Tab. 3/5: Connecting the power supply to the motor unit

POWER D C +24 V
POWER D C +48 V

2)

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

3-9

3. Installation

3.4 Serial interface

Serial interface for parametrizing, commissioning and
diagnosing

Note

To connect a PC to the MTR-DCI, use the following cable
from Festo's accessories:

– Programming cable KDI-MC-M8-SUB-9
– Cable length 2.5 m (maximum permitted signal cable

length).

•

If necessary, remove the protective cap from the serial
interface of the MTR-DCI.

•

Connect the following terminals with the programming
cable:

– the connection socket on the MTR-DCI

– a serial interface COMx of the diagnostic PC.

M8x1 socket

1243

1)

The levels correspond to the RS232 standard and enable a data
transmission rate of 9600 bit/s

Description

1 GND Ground

2 TXD RS232 transmitting cable

3 RXD RS232 receiving cable

4 --- Reserved for service personal.

Do not connect.

1)

1)

3-10

Tab. 3/6: Connecting the serial interface on the MTR-DCI

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

3. Installation

Information on commissioning and parametrizing 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.1.2.

Note

The RS232 interface is not electrically isolated. It is not
suitable for permanent connection to PC systems, nor for
use as a control interface.

•

Use this terminal only for commissioning.

•

Remove the programming cable in continuous opera-

tion.

•

Seal the terminal with the supplied protective cap (ISK-

M8).

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

3-11

3. Installation

3.5 Input for external reference switch

If you are not using a reference switch:

•

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

Connecting the reference switch:

•

Use the correct switch type “normally-open contact” in
the PNP variant for the reference switch.

•

When connecting the reference switch use a sensor with a
screw-type lock (external thread M8x1) at the end of the
cableorusetheconnectingcableKM8-M8withascrew­type lock as an adapter.

Use e.g. the following proximity switches from Festo:

– magnetic proximity switch SMT-8F

– inductive proximity switch SIEN-...-M8B

•

When selecting the sensor, note that the accuracy of the
switchover point of the sensor determines the accuracy of
the reference point.

M8x1 socket

134

Description

1 DC +24 V DC +24 V voltage output

(only for reference switch)

4 REF Contact reference switch

3 GND Ground

Tab. 3/7: Connection “Ref” (reference switch) on the

MTR-DCI

3-12

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

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

3. Installation

Caution

Damage to the device
The DC 24 V voltage at 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 permitted.

The input for sensor signal REF complies in its electrical
features with the input specification in the appendix
“Technical specifications”.

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

3-13

3. Installation

3.6 Connecting the higher-order controller

Communication with the higher-order controller is made via
the control connection on the MTR-DCI

Use the control cable KES-MC-1-SUB-9 to connect the
MTR-DCI to a higher-level controller (PLC).

Caution

Long I/O signal cables reduce the immunity to interfer­ence.

•

Do not, therefore, exceed the maximum permitted I/O
signal cable length of 30 m.

Sub-D plug

1

9

1)

Cable colours of pilot line KES-MC-1-SUB-9

Colour

1 white I1 Position set code Bit0

2 brown I2 Position set code Bit1

3 green I3 Position set code Bit2

4 yellow I4 Position set code Bit3

5 grey I5 START

6 pink I6 ENABLE

7 blue O1 READY

8 red O2 MOTION COMPLETE (MC)

9 black GND GROUND (basis potential)

1)

Description

Tab. 3/8: “Controll er” connection on the MTR-DCI

3-14

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

3. Installation

Warning

If a voltage is applied and the output pins are used incor­rectly, the device may be seriously damaged, therefore:

•

Do not connect voltage to the outputs.

•

Note the current limit at the outputs.

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

3-15

3. Installation

3-16

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

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

Chapter 4

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

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

4-1

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

Contents

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.............................

4-2

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

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

On the control panel, motor unit type MTR-DCI-...-H2 offers all
the functions necessary for commissioning, programming and
diagnosis. An overview of the button and menu functions for
the MTR-DCI-...IO can be found in this chapter. Commission­ing with the control panel is described as from chapter 5.2.
With the MTR-DCI-...-R2 (without control panel) you can com­mission the MTR-DCI via the RS232 interface (with FCT soft­ware). Instructions on this can be found in chapter 5.3.

Caution

Faults may occur if you attempt to access control and
operating functions at the same time via the FCT and the
control panel.

•

Make sure that the FCT, the control panel and the control

interface of the MTR-DCI are not used at the same time.

Note

If necessary, remove the protective foil from the display
before commissioning.

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

4-3

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

4.1 Composition and function of the control panel

The control panel enables commissioning directly on the
MTR-DCI with the following functions:

– Parametrizing and referencing the axis

– Entering position sets

– Test functions e.g. for moving to individual position sets.

1

LC display

1

2

3

2

Operating buttons

3

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

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 as indicated in the menu.
The graphic LCD display shows all texts in English. The dis­play can be turned in 90° steps, see menu command [LCD
adjustment].

The visual display of the operating states is shown via 3 LEDs
(see also chapter 6.2.2).

– Power: display of power supply

4-4

– I/F: ready to operate, positioning status

– Error: fault

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

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

Function Button

MENU Activated by the status display from the

ESC Rejects the current entry and switches

EMERG.STOP Interrupts the current positioning

OK Confirms the current selection or entry

SAVE Saves parameter settings permanently in

main menu

back in stages to the higher-order menu
level or status display

procedure (> Error mode; confirm with
<Enter>, then automatic return to the
status display) Only when HMI = on.

the EEPROM

Menu

Enter

START/STOP Starts or stops a positioning procedure

(only in Demo mode). After stop: Display
the current position, return to the
higher-order menu level with <Menu>.

<- -> Scrolls within a menu level in order to

select a menu command.

EDIT Sets the parameter

Tab. 4/1: Button function (overview)

v

V

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

4-5

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

4.2 The menu system

4.2.1 Accessing the main menu

MTR-DCI...

= 0.00 mm

X

a

HMI:off
<Menu>

} Diagnostic

positioning

Settings
S ESC <Menu>

<--> OK <Enter>

} HMI control

LCD adjustment

v ESC <Menu>

<--> OK <Enter>

When the power supply is switched on, the MTR-DCI auto­matically carries out an internal check. At first the display
briefly shows the Festo Logo then changes to the status
display. 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 of the device control

(HMI = Human Machine Interface)

The main menu is accessed from the status display with the
button <Menu>. The current button function will be displayed
in the lower lines of the LCD display.

Function

<- -> With the arrow buttons on the control panel you

can select a menu item from the list. The current
selection is marked with an arrow (} Dia­gnostic). Select the menu item S in order to
display further menu items (HMI control...).

Button

v

V

4-6

ESC With <Menu> you can interrupt the current entry

and return in stages to the higher-order menu
level or status display.

OK With <Enter> you can confirm the current

selection or entry.

Tab. 4/2: Button function (menu selection)

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

Menu

Enter

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

}

g

p

Menu command Description

} Diagnostic Display the system data and the currently effective settings (see chapter 4.2.2)

} Pos set table Display the position set table

} Axis param Display axis parameters and data

} System param Display system parameters and system data

} SW information Display the operating system version (firmware)

1) 2)

1) 2)

1)

Homing and positioning run for testing the position sets (see chapter 4.2.4)

Select the drive, parametrizing, programming the po sition sets ... (see chapter 4.2.3)

} Rotation drive Rotation axis with stop

} User config Any linear drive

3)

} Abs.min.pos

} Abs.max.pos

} Save... Save p arameters in EEPROM

} Velocity v_sw Po sitioning speed for searching for the reference point

} Velocity v_s0 Positioning speed for moving to th e axis z ero point

} Save... Save p arameters in EEPROM

} Pos set mode Set status: absolute or relative positioning

} Position

} Velocity Positioning speed of the position set

} Save... Save p arameters in EEPROM

Preset the device control via the control panel (see chapter 4.2.5)

3)

Offset of axis zero point

3)

Stroke limitation: Software end position, negative

3)

Stroke limitation: Software end position, positive

Target position of the position set

} Positioning

} Move posit set Start po sitioning run “Position set”

} Demo posit tab Start positioning run “Position set table”

} Homing Start homing run

} Settings

} Axis type } Type DMES Positioning axis DMES

} Axis param } Zero point

} Homing param } Homing method Select referencing (homing) method (stop, software limit switch...)

} Position set } Position no. Number of the position set (0...14)

} Password Set up a local password with 3 figures for the control panel (see chapter 4.2.3).

} HMI control

} LCD adjustment Rotate the display in steps of 90°

1)

If necessary password protection

2)

Control interface must be deactivated, see [HMI control] :HMI = on

3)

Teach mode

Tab. 4/3: Menu commands (overview)

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

4-7

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

For selecting the menu commands [Positioning] and [Settings]
you will require the setting “HMI: on”. Only then is the
MTR-DCI ready to process user entries on the control panel.

When selecting the menu commands, you will be requested
to modify the HMI setting.

You can also modify the setting directly in the main menu
with the menu command [HMI control].

4.2.2 Menu [Diagnostic]

Inordertodisplaythesystemdataandthecurrentlyeffective
settings:

} Diagnostic

} Pos.set table

Axis param

System param
SW information

1. Select [Diagnostic] in the main menu with the arrow
buttons and press the <Enter> button.

2. Select one of the following menu commands:

– Position set table [Pos. set table]

– Axis parameter [Axis param]

– System parameter [System param]

– Version of firmware of the MTR-DCI [SW information]

Function

<- -> You can “scroll through” the

diagnostic data with the arrow
buttons.

ESC With <Menu> you can return to the

higher-order menu level.

Button

v

Menu

V

4-8

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

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

[Pos. set table] Menu command for displaying the following entries in the

position set table:

[Pos. set table]

Nr Number of the position set (0...14)

a/r absolute (a) or relative (r) positioning

Pos Target position

Vel Positioning speed

Description

[Axis param] Menu command for displaying the following axis parameters

and data:

[Axis param]

vmax Maximum positioning speed

xmin Stroke limitation: Software end position,

xmax Stroke limitation: Software end position,

1)

Description

negative

positive

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

x0 Offset axis zero point

2)

feed

1)

Measuring unit depends on measuring system set

2)

Not for axis type “Rotation drive”

Feed constant

4-9

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

[System param] Menu command for displaying the foll o w i ng system para-

meters and data:

[System param]

Vpower [V] Supply voltage

Vdd [V] Voltage of display

Imax [A] Maximum current

Iact [A] Current current

Temp [°C] Operating temperature

Cycle Number of positioning movements

In signal Hexadecimal representation of the inputs

Bit 0: I0
Bit 1: I1
Bit 2: I2
Bit 3: I3
Bit 4: START
Bit 5: ENABLE

Out signal Hexadecimal representation of the outputs

Bit 0: READY
Bit 1: MOTION COMPLETE

Description

4-10

Ref. switch on/off Signal at reference switch input

Mode e.g. mm Measuring system

Hom.meth. –bl.pos

–bl.neg
–sw.pos
–sw.neg

Gear e.g. 6.75 Gear ratio of the MTR-DCI

Fixed stop in positive direction
Fixed stop in negative direction
Reference switch in positive direction
Reference switch in negative direction

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

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

4.2.3 Menu [Settings]

Warning

Damage to or impairment of the mechanical components
With all teach procedures the motor turns or the connected

axis starts to move.

•

Make sure that:

– nobody can place his/her hand in the positioning

– there are no objects in the positioning range.

range

Parametrizing the axis system and programming the position
sets:

} Settings

1. Select [Settings] in the main menu with the arrow buttons
and press the <Enter> button.

} Axis type

Axis param

Homing param
Position set
Password

2. Select:

– the axis type [Axis type]

– the axis parameters [Axis param]

– the reference run parameters [Homing param]

– the position set table [Position set]

– the password setting [Password].

[Axis type] Design of the axis driven by the MTR-DCI (parameters see

chapter 5.2.1)

[Axis type]

Description

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

[Type DMES-...] Festo positioning axis

[Rotation drive] Specific rotation axis

[User config] Specific linear axis

[Save...] Save parameter in EEPROM

4-11

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

[Axis param] Teach mode for setting the axis parameters

[Axis param]

[Zero point] Offset of axis zero point

[Abs.min.pos] Stroke limitation: Software limit switch,

[Abs.max.pos] Stroke limitation: Software limit switch,

[Save...] Save parameter in EEPROM

Description

negative

positive

Note

The set parameters become effective immediately after
confirmation with OK <Enter>. The settings are saved per­manently in EEPROM with the menu command [Save...]:

•

Save the parameter settings with the menu command
[Save]. Only then will the settings be retained even if the
power supply is switched off or if there is a power
failure.

4-12

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

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

[Homing param] 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 (v_max see [Diagnostic]
[Axis param] ).

[Hom. param]

[Homing method] sw.neg

[Velocity v_sw] v_sw Speed for searching for

[Velocity v_s0] v_s0 Speed for moving to the

[Save...] Save parameter in EEPROM.

Param. Description

Homing to reference

(switch negative)

sw.pos
(switch positive)

bl.neg
(block negative)

bl.pos
(block positive)

switch, negative
= factory setting

Homing to reference
switch, positive

Homing to fixed stop,
negative

Homing to
fixed stop, positive

the reference point

axis zero point

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

Note

The set parameters become effective immediately after
confirmation with OK <Enter>. The settings are saved per­manently in EEPROM with the menu command [Save...]:

•

Save the parameter settings with the menu command
[Save]. Only then will the settings be retained even if the
power supply is switched off or if there is a power
failure.

4-13

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

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

[Position set]

[Position nr] Nr Number of the position set [0...14]

[Pos set mode] [absolute/

[Position] x

[Velocity] v Positioning speed in the selected

[Save...] Save parameter in EEPROM

Param. Description

Positioning mode

relative]

t

absolute = absolute position
specification, related to the project
zero point
relative = relative position
specification, related to the current
position

Target position in the selected
measuring system e.g. [mm]

measuring system e.g. [mm/s]

Note

The set parameters become effective immediately after
confirmation with OK <Enter>. The settings are saved per­manently in EEPROM with the menu command [Save...]:

4-14

•

Save the parameter settings with [Save]. Only then will
the settings be retained even if the power supply is
switched off or if there is a power failure.

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

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

Set up a password

In order to prevent unauthorized or unintentional overwriting
or modification of parameters in the device, access via the
control panel can be protected by a (local) password. No
password is specified at the factory (presetting 000).

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

New Password:
[?xx] =

ESC <menu>

EDIT <--> OK <Enter>

Enter password:
[?xx] =

ESC <menu>

EDIT <--> OK <Enter>

Enter a password with 3 figures. The current entry position is
marked with a question mark.

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

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

3. After entering the third figure, save your setting with
SAVE <Enter>.

Enter password

As soon as a password is active, it will be scanned automati­cally when the menu commands [Positioning], [Settings] or
[HMI control] are accessed. When the correct password is
entered, all parametrizing and control functions of the control
panel are enabled until the power supply is switched off.

The current entry position is marked with a question mark.

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

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

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

3. Repeat the entry for the further entry positions.

When the third figure has been entered, access via the
control panel is enabled.

4-15

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

Modify/deactivate password

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

Enter password:
[?xx] =

ESC <menu>

EDIT <--> OK <Enter>

New Password:
[?xx] =

ESC <menu>

EDIT <--> OK <Enter>

Enter the existing password with 3 figures. The current entry
position is marked with a question mark.

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

2. Confirm your entry with OK <Enter>. The next entry
position will be displayed.

3. Repeat the entry for the further entry positions.

4. Enter the new password with 3 figures. If you wish to
deactivate the password, enter “000”.

5. After entering the third figure, save your setting with
SAVE <Enter>.

•

KeepthepasswordfortheMTR-DCIinasafeplace,e.g.
with the internal documentation for your system.

If the active password in the MTR-DCI should be lost in spite
of care being taken:
you can delete the password by entering a master password.
In this case please contact your Festo Service partner.

4-16

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

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

4.2.4 Menu [Positioning]

Start reference run or positioning run for testing the position
sets.

Warning

Damage to or impairment of the mechanical components
With all positioning procedures the motor turns or the

connected axis starts to move.

•

Make sure that:

– nobody can place his/her hand in the positioning

range

– there are no objects in the positioning range.

Note

•

Before starting the reference run, make sure that:

– the positioning system is set up completely, wired

and supplied with power,

– the parametrizing is completed.

•

Do not start a positioning run until the reference system
has been defined by means of a reference run.

Note

Please note that position sets with speed v = 0 or invalid
target positions (-> Fault TARGET POSITION OUT OF LIMIT)
cannot be processed.

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

4-17

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

Carry out homing

} Positioning

1. Select [Positioning] in the main menu with the arrow
buttons and press the <Enter> button.

Move posit set

Demo posit tab

} Homing

2. Select the menu command:

–[Homing]

[Positioning] Description Note

[Homing] Homing for determining the

mechanical reference system

...

Warning Motor moves

3. Make sure that nobody can place his/her hand in the
positioning range of the moveable mass and that there

First set the parameter in the menu [Settings]
[Homing parameter].
Factory setting: Homing to reference switch in
negative direction.

are no objects in its path. Start homing run with START

ESC <menu>

START <Enter>

HOMING

V_0= 20 mm/s
v_sw = 10 mm/s

<Enter>.

The following information is displayed:

– the search speed v_sw

EMERG.STOP<Menu>

4-18

– 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;
confirm with <Enter>, then automatic return to
the status display).

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

Menu

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

Process position sets

} Positioning

1. Select [Positioning] in the main menu with the arrow
buttons and press the <Enter> button.

} Move posit set

Demo posit tab

Homing

2. Select the menu command:

– Positioning run “Position set” [Move posit set] – or

– Positioning run “Position set table” [Demo posit tab]

[Positioning]

[Move posit set] Positioning run for testing a certain

[Demo posit tab] Positioning run (continuous loop) for

...

Warning Motor moves

Description Note

position set in the position set table.

testing all position sets (0...14) in the
position set table.

With positioning run [Demo posit tab] all position sets 0...14
in the position set table will be processed one after the other.
If the position set table contains a position set with speed v =

ESC <menu>
START <Enter>

0, this position set and all the fol l o wing sets will not be pro­cessed; positioning run will be continued with position set 0.

Parametrizing and referencing must
be completed.

Parametrizing and referencing must
be completed.
There must be at least two position
sets in the memory.

Move posit set

Pos 1

= 100.00 mm

X

t

v = 20 mm/s

= 90.00 mm

X

a

EMERG.STOP<Menu>

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

3. Make sure that nobody can place his/her hand in the
positioning range of the moveable mass and that no ob­jects lie in its path. Start the positioning procedure with
START <Enter>.

During the positioning run the following information is
displayed:

– the active position set Pos...

– the target position x

t

– the positioning speed v

– the current position x

a.

4-19

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

Function

EMERG.
STOP

DEMO
STOP

With <Menu> you can interrupt the positioning
procedure (> Error mode EMERG.STOP; con­firm with <Enter>, then automatic return to
the status display).

With <Enter> you can interrupt the positioning
run “Pos set table” [Demo pos tab].
The current positioning set will be processed
before the axis stops. A new start will be
made with position set 0.

4.2.5 Menu command [HMI control]

For selecting the menu commands [Positioning] and [Settings]
you will require the setting “HMI: on”. Only then is the
MTR-DCI ready to process user entries on the control panel.

When selecting the menu commands, you will be requested
to modify the HMI setting.

[HMI control] You can also modify the setting directly with the menu

command [HMI control].

Menu

Enter

4-20

1)

HMI

on The device control is carried out manually via the control

off The device control is carried out via the control interface

1)

Human Machine Interface

Device control

panel. The control interface of the MTR-DCI is deactivated
and the control enable is set. The ac tual status of the
ENABLE input then has no effect.

of the MTR-DCI.

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

Commissioning

Chapter 5

Commissioning

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

5-1

5. Commissioning

Contents

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 positio n 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...................

5-2

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

5. Commissioning

5.1 Procedure for 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 gain access to the operating
range of the axis or of other connected actuators and
that no objects lie in the path of the axes while the sys­tem is still connected to a power supply (voltage).

Note

In the following cases it is not permitted to access the
MTR-DCI with the FCT writing (e.g. downloading para­meters) or controlling (e.g. with “Move manually” or when
starting homing run):

– 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 parametrizing or operation is carried out with the

control panel of the MTR-DCI.

Pleasenotethefollowing:

•

The device connection in the FCT must not be activated
when the control panel is being used for control (“HMI
control = on”).

•

Control with the control panel (“HMI control = on”) must
not be activated when the device connection in the FCT
is activated.

•

Control by the FCT must not be activated while the drive
is in motion or when control is being carried out via I/Os.

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

5-3

5. Commissioning

Before commissioning

•

Before commissioning the servo 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 axis moves into the end
position.

•

Pleaseobservethenotesintheoperatinginstructionsfor
the positioning drive.

Switch-on reaction

First commissioning Relative positioning movements can be carried out as soon as

the device is switched on, e.g. in order to position the axis in
the permitted positioning range. If an absolute positioning
process is started, the following error will be displayed: LAST
ACTUAL POSITION IS NOT SAVED! PLEASE ENFORCE HOMING
RUN. Absolute positioning movements can only be carried
out after a homing run.

•

Execute a homing run every time thedeviceisswitched
on. For the homing method refer to chapter 1.5.3.

5-4

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

5. Commissioning

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 chapter 3.3).

Note

•

Make sure that the axis is within the permitted position­ing range when it is switched on. Instructions on this can
be found in chapter 1.5.1.

•

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

•

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.

•

Carry out parametrizing and commissioning with the
control panel or the FCT, as described in the following
chapters or in the FCT/PlugIn help.

•

In order to complete commissioning note the instructions
for operation in the FCT/PlugIn help and in chapter 6.1.

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

5-5

5. Commissioning

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

Informationonthebuttonfunctionsandonthemenucom­position of the control panel can be found in chapter 4.

Device control

Diagnostic
positioning

Settings

} HMI control

LCD adjustment

In order that the control panel can control the connected
MTR-DCI, the control interface of the MTR-DCI must be
deactivated and controller enable must be set [HMI = on].
The actual status of the ENABLE input then has no effect.

Instructions on parametrizing and commissioning

Information on the current parametrizing of the motor 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: Note the
detailed description in the chapters specified.

Commissioning (overview)

1. Select the axis type and, if necessary, adapt the
parametrizing to suit your axis.

2. Set the following parameters for reference travel:
– Homing method
– Search speed to reference point
– Positioning speed to axis zero point

Chapter

5.2.1

5.2.2

5-6

3. Carry out homing run. 5.2.2

4. Teach the following axis parameters for defining the
axis zero point and the working area:
– Offset of the axis zero point to the reference point
– Positive and negative software end positions.

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

5.2.3

5. Commissioning

Commissioning (overview) Chapter

5. Enter several position sets (target position,
positioning mode and positioning speed).

6. Carry out a test run to check the positioning reaction
of the axis, as well as the basis coordinates and the
working area.

7. If necessary, optimize the settings for position sets as
well as for the basis c oordinates and the working area.

8. Check the function of the control interface of the
MTR-DCI (function test).

9. Before completing commissioning, note the
instructions on operation.

5.2.4

5.4.1

6.1

Tab. 5/1: Commissioning (overview)

In order to restore the default settings, the EEPROM can be
deleted, if required, with the CI command 20F1 (Data memory
control) directly via the serial interface (see chapter B.1.2).

5.2.1 Selecting the axis type

} Settings

Axis type

Type DMES...

Rotation drive

User config

1. Select the axis type which matches your positioning
system.

– Festo positioning axis [Type DMES]

– Rotation axis [Rotation drive]

– Linear axis [User config].

2. Depending on the entry requested, set axis-specific
parameters by means of the arrow buttons:

– feed constant (Feedcon) or

– measuring system (degree/revolutions).

3. Save the setting with SAVE <Enter>.

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

5-7

5. Commissioning

Axis type Feed constant

[mm/revolution]

Festo positioning

1) 2)

axis

DMES-18 1.5 Metric

Measuring
system

3)

DMES-25 2.5

DMES-40 4

DMES-63 6

Rotation axis — Degree or

revolutions

Linear axis

2)

According to the type

Metric

3)

plate or technical
specifications of the
axis

1)

Values defined at factory Z spindle pitch of the axis [mm]

2)

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

3)

Pre-setting metric; inches can only be set with FCT

Tab. 5/2: Parametrizing the axis

5-8

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

5. Commissioning

5.2.2 Setting the homing parameter

Caution

Damage to components
The slide may only move against the fixed stop if the per-

mitted impact energy is not exceeded. The permitted value
can be found in the manual for your positioning axis.
Impact energy = 0.5 x mass x speed

For the protection of the mechanical components:

•

Reduce the speed at which homing run is carried out.
The speed can be specified at 0 % to 50 % of the rated
speed depending on the specific application.

2

•

If necessary, limit the motor current during homing run
with the FCT software. The motor current can be speci­fied with 1 to 200 % of the rated motor current depend­ing on the specific application (see FCT/PlugIn help
MTR-DCI).

Caution

If the homing method is changed, the axis zero point offset
is reset to zero. Any settings implemented for the software
end positions and the target positions in the positioning
record table are retained. Note that these values refer to
the previous axis zero point.

•

Always carry out a homing run after changing the refer­encing method.

•

Then teach the offset of the axis zero point.

If the axis zero point is modified:

•

Teach the software end positions and the target posi­tions again.

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

5-9

5. Commissioning

Current limiting

The motor current can be specified with 1 to 200 % of the
rated motor current depending on the specific application
(see FCT/PlugIn help MTR-DCI).

Positioning axis DMES can carry out homing run with the fac­tory-set current limitation (150 % of the rated motor current).
The current limitation need not be modified.

Current limitation

100 % Z
1 x rated motor current

150 % (default) Z

1.5 x rated motor current

200 % Z
2 x rated motor current

1)

Parameter specification in FCT: relative motor current in % of rated current, setting range 1...200.

2)

Due to maximum current limitation the value does not rise further.

1)

motor current
motor torque

motor current
motor torque

motor current
motor torque

A
mNm

A
mNm

A
mNm

32 42 52 62

0.73
30

1.1
46

1.46
62

2.0
110

3.0
171

3.8
220

5.0
300

7.5
460

2)

7.7
470

2)

Tab. 5/3: Current limitation

Note

Please note the following wh en adapting the current
limitation:

– By means of a current limitation, the maximum possible

speed of homing run will also be reduced. The set rated
speed will therefore, in some cases, no longer be
achieved.

6.19
700

9.29
1076

12.38
1450

5-10

– If the drive is arranged vertically, an increase in the

motor current may be necessary. If the motor current is
too low, homing run cannot be carried out.

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

5. Commissioning

Set parameters

The reference point is defined by means of a reference switch
or fixed stop depending on the set homing method. If a hom­ing run to a mechanical end position is not possible in the
application, an external sensor (reference switch) can be used
as reference signal (see also chapter 1.5.1).

Reference run parameters

32 42 52 62

(factory setting)

Homing method Reference switch, negative (near motor)

Velocities v_sw, v_s0 %

Rated speed of the motor rot/s

1)

% of the rated speed of the motor; max. 50 %

} Settings

Homing parameter

Homing method

Velocity v_

Velocity v_

Save

B+W

s0

•

Set the followi ng homing parameters one after the
other:

– the [Homing method]

– the search speed for ascertaining the reference point

1)

inc/s

inc/s

~41 %
27000

55
66000

~22 %
22400

50
10000050100000

~17%
16800

[Velocity v_sw]

– the positioning speed to the axis zero point

[Velocity v_s0].

~15%
16800

56,7
113400

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

•

Accept each setting with OK <Enter>. The setting will then
become effective in the drive.

•

Save the parameter settings with the menu command
[Save]. Only then will the settings be retained even if the
power supply is switched off or if there is a power failure.

•

Finally, carry out a homing run, otherwise the previous
reference system of the MTR-DCI will remain unmodified.

5-11

5. Commissioning

Start homing run

Note

When carrying out a homing run note that
– the drive must be in the permitted positioning range.
– the drive moves in the search direction according to the

selected homing method and, at the start, must be posi­tioned in front of the fixed stop or reference switch.

1. If necessary, position the drive in the Teach mode so that,
at the start, it is positioned in front of the fixed stop or
reference switch in the search direction.

} Positioning

Demo posit tab

Move posit set

Homing

•

Select e.g. [Settings] [Position set] [Position] (see also
chapter 5.2.5).

•

Move the drive to the desired position manually with
the arrow buttons.

•

Interrupt the procedure with ESC <menu>, in order that
the position is not included in the position set table.

2. Select [Positioning] [Homing].

3. Start homing run with START <Enter>.

After successful reference travel the drive stands at the axis
zero point. During the initial commissioning procedure or
after changing the homing method, the offset of the axis zero
point = 0; after a homing run the drive then stands at the
reference point (= axis zero point).

5-12

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

5. Commissioning

Discontinue homing run

If necessary, homing run can be discontinued with the <Menu>
button (EMERG STOP). If homing run is interrupted, the dis­play will show the fault message HOMING ERROR. If a correct
homing run has already been carried out, the previous refer­ence point will retain its validity.

•

Quit the fault message with <Enter>.

•

Repeat homing run.

Fault during homing run

If a fault occurs during homing run:

•

quit the fault 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 at
the start it stands in the search direction in front of the
stop or reference switch.

•

Repeat homing run.

5.2.3 Teach the axis zero point and the software end positions

Prerequisites for teaching the axis zero point and the
software end positions:

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

– Homing run was successful.

Note

When homing run to a stop, set the offset of the axis zero
point to ≠ 0. You will then prevent movement to the mech­anical end positions during operation.

5-13

5. Commissioning

Teach the axis zero point:

} Settings

Axis parameter

Zero point
Abs.min.pos

Abs.max.pos

Save

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 become effective in the drive. The current posi­tion x

becomes the axis zero point (xa=0).

a

Note

If the axis zero point is modified:
Check existing settings of the software end positions and

of target positions in the position table. Note that these
values refer to the previous axis zero point.

•

Teach the software end positions and the target
positions again.

Teach the negative software end position and the positive
software end position:

1. Select [Settings] [Axis parameter] [Abs. min.pos] or
[Abs.max.pos].

2. Move the drive manually with the arrow buttons.

3. Accept the position reached with OK <Enter>. The setting
will then become effective in the drive.

4. Save the parameter settings with [Save]. Only then will the
settings be retained even if the power supply is switched
off or if there is a power failure.

5-14

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

5. Commissioning

5.2.4 Positioning with position sets

Warning

Damage to or impairment of the mechanical components.
With all positioning procedures the motor turns or the

connected axis starts to move.

•

Make sure that:

– nobody can place his/her hand in the positioning

range

– there are no objects in the positioning range.

The following conditions must be fulfilled:

– Homing run was successful.

– The axis zero point and the software end positions are set

correctly.

Note

Please note that position sets with speed v = 0 or invalid
target positions (-> Fault TARGET POSITION OUT OF LIMIT)
cannot be carried out.

•

After successful homing run, teach several position sets
(see chapter 5.2.5).

•

First carry out a test run, if necessary, without a work load
(see chapter 5.2.6).

•

If necessary, optimize the settings for position sets as well
as for the basis coordinates and the working area
(see chapter 5.2).

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

•

After a successful test run you can teach the positions in
the position set table to which movement must be made.

5-15

5. Commissioning

5.2.5 Teach position sets

Enter the position sets as follow s:

} Settings

Position set

Position no
Pos. set mode

Position
Velocity

Save

1. Activate the desired position set (0...14) with [Settings]
[Position set] [Position no].

2. Complete or correct the positioning mode of the position
set:

•

Select [Pos. set mode].

•

Set the positioning mode with the arrow buttons:
absolute = absolute position specification, related

to the project zero point

relative = relative position specification, related to

the current position.

•

Accept the value with OK <Enter>.

Note

After each change of the positioning mode, teach the
target position of the position set, otherwise the change of
positioning mode will not be accepted.

5-16

3. Teach the target position of the position set:

•

Select [Position].

•

Move the drive to the desired target position manually
with the arrow buttons.

•

Accept the position reached with OK <Enter>. The set­ting of the target position and the positioning mode
will then become effective in the drive.

4. Complete or correct the speed.

•

Select [Velocity].

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

5. Commissioning

•

Set the nominal speed with the arrow buttons.

•

Accept the setting with OK <Enter>. The setting will
then become effective in the drive.

5. Save the position set 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 set.

Digitalization faults of the analogue-digital convertor can
accumulate in the case of relative position movements which
occur frequently one after the other and lead to deviations of
the position values. If necessary, insert an absolute position
set or homing run into the positioning cycle, in order to cor­rect deviations.

5.2.6 Test run

Caution

Damage to components
During operation it is not permitted to move to the mech-

anical end positions (stops). If movement is made to the
end positions with a heavy load, jamming may occur in the
end positions.

•

Set the offset of the axis zero point ≠ 0.

•

Limit the positioning range by defining valid software
end positions during commissioning (see chapter 1.5.1).

•

Specify target positions only within the permitted posi­tioning range.

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

5-17

5. Commissioning

1. Enter several position sets in order to check the position­ing reaction (see chapter 5.2.5).

•

Set the target positions at the limits of the positioning
range in order to check the software end positions.

•

Set different speeds.

} Positioning

Demo posit tab

Move posit set

Homing

2. Select [Positioning] [Move posit set] in order to process a
certain position set - or -

3. Select [Positioning] [Demo posit tab] in order to process
all position sets. At least two position sets must be en­tered in the position set table.

With positioning run [Demo posit tab] all position sets

0...14 in the position set table will be processed one after
the other.

If the position set table contains a position set with speed
v = 0, neither this position set nor the following sets will
be processed; positioning run will be continued with posi­tion set 0.

With DEMO STOP <Enter> you can interrupt the positioning
cycle [Demo posit tab]. The current position set will be pro­cessed before the drive stops.

4. Start the test run.

5-18

•

Check the positioning reaction.

•

Check the displayed coordinates of the axis.

With EMERG.STOP <Menu> you can interrupt the current
positioning procedure.

5. If necessary, optimize the settings for position sets as well
as for the basis coordinates and the working area.

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

5. Commissioning

5.3 Commissioning with FCT

5.3.1 Installing the FCT

Note

The PlugIn MTR-DCI version V1.1.0 supports the following
motor units of MTR-DCI-...IO:

– MTR-DCI-32: Firmware version V-DME 1.20
– MTR-DCI-42: Firmware version V -DME 1.19 / 1.20
– MTR-DCI-52: Firmware version V-DME 1.19 / 1.20
– MTR-DCI-62: Firmware version V-DME 1.20

•

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 PlugIn MTR-DCI is installed on your PC together with the
installation program of the FCT.

1. Close all programs.

2. Place the Festo Configuration Tool CD in your CD ROM
drive. If Auto Run is activated on your system, installation
will start automatically and you can omit steps 3 and 4.

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

3. Select [Execute] in the starting menu.

4. Enter D:\setup (if necessary replace D by the letter of your
CD ROM drive).

5. Follow the instructions on the display screen.

5-19

5. Commissioning

5.3.2 Procedure for commissioning with the Festo Configuration Tool

Starting the FCT

Carry out the following steps in order to commission the
MTR-DCI with the FCT:

1. Connect the MTR-DCI to your PC via the RS232 interface.
Note here the instructions in chapter 3.4.

2. Starting the FCT: Double-click on the Festo Configuration
Tool icon on the desktop.
–or–
switch to Windows and select the entry [Festo Software]
[Festo Configuration Tool] in the menu [Start].

3. Create a project in the FCT or open an existing project.
Add a device to the project with the PlugIn MTR-DCI.

4. Create the device connection (online connection) between
thePCandtheMTR-DCIviatheFCTtoolbar.
It may be necessary here to have the same device names.

Device control

In order that the FCT can control the connected MTR-DCI, the
control interface of the MTR-DCI must be deactivated and
“Controller enable” must be set. The actual status of the
ENABLE input then has no effect. Switch to the window
“Project output”, then select the register “Operate” and
activate under “Device control” first the control box
“FCT/HMI” and then the control box “Enable”. The control
interface of the MTR-DCI will then be deactivated and Control
Enable will be set by the FCT.

5-20

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

5. Commissioning

Instructions on parametrizing and commissioning

Further information can be found in the help for the FCT with
the command [Help] [Contents FCT general] e.g.

– Help on working with projects and on inserting a device

into a project.

– Help on defining the measuring reference system

(referencing and basis coordinates).

The PlugIn MTR-DCI for the FCT supports all the steps necess­ary for commissioning an MTR-DCI.

With the PlugIn MTR-DCI for the FCT the necessary paramet­rizing can be carried out offline, i.e. without the MTR-DCI
being connected to the PC. This enables the actual commis­sioning to be prepared, e.g. in the design office when a new
system is being planned.

Further information can be found in the PlugIn help:
Command [Help] [Contents of installed PlugIns] [Festo
(manufacturer 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,

Device control and for password protection.

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

5-21

5. Commissioning

5.4 Communication with the higher-order controller

5.4.1 I/O function check

Warning

Danger of injury. Faults in parametrizing can cause injury
to people and damage to property.

•

Enable the controller only if the drive system is correctly
installed and parametrized.

In order that the MTR-DCI can be controlled via the control
interface, the manual device control via the control panel /
FCT software must be deactivated:

– automatically when the operating voltage is switched on

(HMI = off)

– via the control panel of the MTR-DCI with the menu com-

mand [HMI control] (HMI = off)

– with FCT under “Device control” in the window “General

output”, (FCT = off).

In order to check the configuration and the axis set-up, enter
a simple test program or simulate control by directly setting
the inputs.

•

Please refer here to the function description of the control
interface in chapter 5.4.2.

•

Provide the necessary system inputs on the MTR-DCI.
There must be a 1-signal at the ENABLE input (controller
and power end stage enabled).

5-22

•

Take into account also the output signals. There will be a
1-signal at the READY output (readiness to operate) if the
controller and the power end stage are enabled and if no
fault has been recognized.

•

Program or start homing run as well as some positioning
movements.

•

Check the positioning reaction.

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