Festo MTR-DCI series User Manual

Motor unit

MTR−DCI

Manual

Type MTR−DCI−...
Type MTR−DCI−...IO

Manual

539 616
en 0411NH
[677 795]

Adobe® and Reader® are either a registered trademark or a
trademark of Adobe Systems Incorporated in the United
States and/or other countries.

Contents and general instructions

Author G. Neumann−Rasaei. . . . . . . . . . . . . . . . . . . . . . . . . .

Editor M. Holder. . . . . . . . . . . . . . . .

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Original German text. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edition

Designation

Order no. 539 616 . . . . . . . . . . . . . . . . . . . . .

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

. . .

en 0411NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P.BE−MTR−DCI−EN. . . . . . . . . . . . . . . . . . . . . . . . .

E (Festo AG&Co. KG, D73726 Esslingen, Federal Republic of Germany, 2004)
Internet: http://www.festo.com

E−Mail: [e-mail]

The copying, distribution and utilization of

this document as
well as the communication of its contents to others without
expressed authorization is prohibited. Offenders will be
held liable for the payment of damages. All rights are re
served, in

particular the right to carry out patent, utility

model or ornamental design registration.

Festo P.BE−MTR−DCI−EN en 0411NH

I

Contents and general instructions

II

Festo P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions

Contents

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

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

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

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

Scope of delivery IX

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

Product−specific terms and abbreviations XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manuals on motor unit

Information on the version XVI .

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type MTR−DCI XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1. Summary of components 1−1 . .

1.1 Positioning with intelligent drives 1−3 . . .

1.1.1 Method of operation 1−8 . . . . . . . . . . . . .

1.1.2 Reference coordinates and working area 1−10 . . . . . . . . . . . . . .

1.2EMERGENCY STOP concept 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Possibilities of commissioning 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Control panel (MTR

1.3.2Festo Configuration Tool (FCT) 1−16 . . . . . . . .

2. Fitting 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General instructions 2−3 . . . . . . . . . . . . . . . . .

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

2.3 Fitting electric axes2−5 . . . . . . . . . . . . . . . . . . . . .

3. Installation 3−1 . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of installation 3−3 . . . . . . . . . . . . . . . . .

3.2 Power supply 3−6 . . . . . . . . . . . . . . . . . . . .

3.3 Serial interface3−8 . . . . . . . . . . . . . . .

3.4 Input for external reference switch 3−10 . . . .

3.5 Connecting the higher−order controller 3−12 . . . . . . . . . .

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−DCI−...−H2) 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Festo P.BE−MTR−DCI−EN en 0411NH

III

Contents and general instructions

4. Control panel (MTR−DCI−...−H2−IO) 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.2The menu system4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.2.2"Diagnostic" menu 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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4.2.3 Device control "HMI control" 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4"Settings" menu 4−11

4.2.5 "Positioning" menu 4−17 . . . . .

5. Commissioning 5−1 . . . . . . . . . . . . . . . . .

5.1 Preparing for commissioning 5−3 . . . . . . . . . . . . .

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5.1.1 Check the connection to the mains power supply.5−3 . . . . . . . . . . . .

5.1.2 Check the drive. 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 I

5.2 Procedure for commissioning 5−5 . . . . . . . .

5.2.1 Commissioning with FCT 5−8 . . . . . . . . . . . . . . .

nstalling and starting the FCT 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5.2.2 Commissioning with control panel (MTR−DCI−...−H2) 5−10 . . . . . . . . . . . .

5.3 Parametrizing and ref

5.3.1 Setting the axis type5−12 . . . . . . . . . . .

5.3.2Setting the homing parameters 5−12 . . . . . . . . . . . . . . .

erencing (MTR−DCI−...H2) 5−12 . . . . . . . . . . . . . . . . . . . . . . .

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5.3.3 Carrying out homing 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4Teach the axis zero point and the software end positions.5−20 . . . . . . .

5.4 Positioning with position sets (MTR−DCI−...H2) 5−22 . . . . . . . . . . . .

5.4.1 Teach the position sets 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2Test run 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 I/O function test 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Instructions on operation 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5.7 Diagnosis and fault display 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.1 General diagnostic possibilities 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.2LED status displays 5−32 . . . . .

5.7.3 Fault messages on the display (MTR−DCI−...H2) 5−34 . . . .

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IV

Festo P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions

6. Communication with the higher−order controller 6−1 . . . . . . . . . . . . . . . . . . . . .

6.1 Connecting the I/O interface6−3 . . . . . . . . . . . . . . .

6.2 Description of the I/Os 6−5 . . . . . . . . . . . . . . . . . . .

6.3 Function description (pulse−time diagram) 6−8 . . . . . . . . . . . . . . . . . .

6.4 I/O specification 6−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7. Communication via the serial interface 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 The Command

7.2 Procedure for data transf

7.3 Object directory 7−7 . . .

7.3.1 Objects for device

7.3.2General Objects 7−8 . . . . . . . . . . .

7.3.3 Objects for parametrizing and commissioning 7−8 . . . . . . . . . . . .

Interpreter (CI) 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

er 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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description 7−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7.3.4 Objects for creating position sets 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.5 Objects for controlling 7−10 . .

7.3.6 Objects for setting the operating mode and control 7−10 . . .

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7.3.7 Objects for diagnosis 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A. Technical appendix A−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Technical
A.2 AccessoriesA−6 .

specifications A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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A.3 Motor characteristic curvesA−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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B. Supplementary information B−1 . . .

B.1 CI commands B−3 . . . . . . . . . . . .

B.2 Object description B−7 . . . . . .

B.2.1 Object classification (overview) B−8 . . .

B.2.2 Group 1xxx B−10 . . . . . . . . . . . . . . . . . . . .

B.2.3 Group 2xxx B−11 . . . . . . . . . . . . . . . . . . . . .

B.2.4 Group 6xxx B−21 . . . . . . . . . . . . . . . . . . . . . .

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B.3 Converting the measuring units B−41 . . . . . . . . . . . . . . . . . . .

C. Index C−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Festo P.BE−MTR−DCI−EN en 0411NH

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V

Contents and general instructions

VI

Festo P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions

Designated use

The MTR−DCI motor unit is an intelligent servo motor consist
ing of DC motor, planetary gear, encoder and integrated con
trol electronics (positioning control and position regulator).

The mechanical layout and plug−in interface of the

MTR−DCI
have been optimized for use with electric linear drives (e.g.
type DMES...) from Festo. The motor unit can also be used
for customer−specific positioniing applications with slow
spindle drives.

This manual deals

with the basic functions of the MTR−DCI
and the I/O interface of the MTR−DCI−...I0. Additional compo
nents as well as the field bus variants of the MTR−DCI are de
scribed in separate manuals.

It is absolutely necessary to observe the "Technical safety
instructions" as well as the designated use of the relevant
components and modules. Observe also the safety instruc
tions in the ope

rating 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.

Festo P.BE−MTR−DCI−EN en 0411NH

If additional commercially−available components such as sen
sors and actuators are connected, the specifi

ed limits for
temperatures, electrical data, torques, etc. must not be ex
ceeded.

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

national and local regulations.

with

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 com
ponents used.

The user must make sure that nobody is

in the operating
range of the connected actuators or axis system. Access to
the possible danger area must be prevented by suitable
measures such as protective screens and warning signs.

Warning

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 axis while the system is still
connected to a power supply.

Warning

Faults in parametrizing 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−EN en 0411NH

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 posi
tioning systems.

Service

Please consult your local Festo repair service at the following
e−mail address if you have any technical problems.

[e-mail]

Scope of delivery

The following items are supplied with motor unit type MTR−
DCI:

Festo P.BE−MTR−DCI−EN en 0411NH

 motor unit with integrated controller, optional with control

panel

FCT configuration package (Festo Configuration Tool)

User documentation on CD ROM

available as accessory (see Appendix

 connecting cable

user documentation in paper form

A.2)

IX

Contents and general instructions

Important user instructions

Danger categories

This manual contains instructions on the possible dangers
which can occur if the product is not used correctly. These
instructions are marked (Warning, Caution, etc), printed on a
shaded background and marked additionally with a picto
gram. A distinction is
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.

made between the following danger

Please 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 compo
nents.

Electrostatically sensitive components: These may be dam
aged if they are not handled correctly.

X

Festo P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions

Marking special information

The following pictograms mark passages in the text contain
ing special information.

Pictograms

Information:
Recommendations, tips and references to other sources of

information.

Accessories:
Information on necessary or useful accessories for the Fe
product.

Environment:
Information on the environment−friendly use of Festo prod
ucts.

sto

Festo P.BE−MTR−DCI−EN en 0411NH

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.

XI

Contents and general instructions

Product−specific terms and abbreviations

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

Term/abbreviation

0−signal There is a 0 V signal at the input or output.

1−signal There is a 24 V signal at the input or output.

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

Axis Complete actuator, consisting of controller, motor, encoder, if appli

Drive Mechanical component of an axis which defines the guide for the posi

Controller Control electronics which evaluate the control signals and provide the

DMES... Typ e designation, electric linear axis

E
A
I/O

EMC Electromagnetic compatibility

Encoder with MTR−DCI: optical pulse generator (rotor position transducer). The

Meaning

end positions. Corresponds to the project zero point in the MTR−DCI
(offset = 0). The reference point for the axis zero point is the reference
point.

cable, gear and drive.

tioning movement, and enables the work load and the reference
switch to be fitted. An example of a drive is the linear drive type
DMES...

power supply for the motor via the power electronics.

Input
Output
Input and/or output

electric signals generated are sent to the controller, which then calcu

lates the position and speed on the basis of the signals received.

FCT Festo Configuration Tool, software with uniform project and data man

Motor unit Integrated unit consisting of a controller and motor, e.g. motor unit

XII

agement for all supported device types. The special wishes of a device
type are supported by PlugIns with the necessary descriptions and
dialogues.

type MTR−DCI.

Festo P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions

Term/abbreviation Meaning

Positioning mode
(Profile Position mode)

Position registering
(quasi−absolute)

Project zero point (PZ) Measuring basis point for all positions in positioning tasks (Project

Referencing
(Homing mode)

Reference point (REF) Zero point of the axis which is defined by reference travel (homing).

Reference switch External sensor (e.g. type SME−8/SMT−8 or SIEN−...) which serves for

Referencing method Method for defining the reference position: against a fixed stop (over

Homing The reference position and therefore the source of the measuring

Operating mode for processing a position set.

If there is a power failure, the actual position will be saved in a non−

volatile memory. Depending on the application this means that if self−
locking drives are used, (new) homing will not be necessary when the
device is switched on again.

Zero point). The project zero point forms the basis for all absolute
position specifications (e.g. in the position set table or with direct
control via the control or diagnostic interface). Basis point for the
project zero point is the axis zero point (on the MTR−DCI the project
zero point PZ and the axis zero point AZ are identical).

Operating mode in which homing is carried out.

On electric axes the zero point can be shifted to the axis zero point

(offset axis zero point).

ascertaining the reference position and is connected directly to the
MTR−DCI.

current/speed evaluation) or with reference switch.

reference system of the axis will be defined by the reference travel.

PLC Programmable logic controller; in brief: controller

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

Teach mode
(Teach mode)

Festo P.BE−MTR−DCI−EN en 0411NH

Software end position, positive:

Max. limit position in positive direction (away from the motor); must
not be exceeded during positioning.

Software end position, negative:

Min. limit position in negative direction (towards motor). Value must
not sink below this level during positioning.

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

XIII

Contents and general instructions

Term/abbreviation Meaning

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

Position set Positioning command defined in the position set table, consistin of

variants of the MTR−DCI or only with FCT )

target position, positioning mode and positioning speed. Maximum 15
position sets are possible on the MTR−DCI with I/O control.

Table.0/1: Index of terms and abbreviations

XIV

Festo P.BE−MTR−DCI−EN en 0411NH

Contents and general instructions

Manuals on motor unit type MTR−DCI

This manual contains basic general information on operating,
fitting, installing and commissioning electric servo drives

with motor unit type MTR−DCI−.... It also contains information

on the functions of the I/O interface for type MTR−DCI−..IO as

ell as on commissioning with the Festo Configuration tool"

w
(FCT) software package.

Product variants are available for coupling to field bus sys
tems. Special information on this can be found in the manual
for the relevant product variant.

Information

on components, e.g. the reference switch can be

found in the operating instructions supplied with the product.

Type

Docu package with brief
description + manuals on
CD ROM

Manual Motor controller MTR−DCI

Help system for software FCT help (contained in software

Further manuals Field bus variants

Operating instructions Electric servo drives

Title Contents

P.BE−MTR−DCI−UDOK Brief description: Important in

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

type P.SW−FCT...)

Type P.BE−MTR−DCI−CO−...
Type P.BE−MTR−DCI−PB−...
Type P.BE−MTR−DCI−DN−...

Type DMES−...

structions on commissioning and
preliminary information.
Manuals: Contents as described
below

Installation, commissioning and
diagnosis of electric axes with
motor unit type MTR−DCI
Communication via the I/O inter
face

Function descriptions of the FCT
configuration software

Communication and commission
ing the relevant field bus

Fitting and commissioning the lin
ear drive with slide spindle as
drive element.

Festo P.BE−MTR−DCI−EN en 0411NH

XV

Contents and general instructions

Information on the version

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 oper
ating system of the MTR−DCI.

You
lows:

 Hardware version and firmware version in the FCT with

can find the specifications on the version status as fol

active device connection to the MTR−DCI under "Device
data"

 Firmware version on the control pan

el under [Diagnostic]

[Software information]

Firmware

What is new? Which FCT PlugIn?

version

V−DME1.19 supports linear drives type DMES−25, DMES−40 MTR−DCI V01.00.00

XVI

Festo P.BE−MTR−DCI−EN en 0411N H

Summary of components

Chapter 1

Festo P.BE−MTR−DCI−EN en 0411NH

1−1

1. Summary of components

Contents

1. Summary of components 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Positioning with intelligent drives 1

1.1.1 Method of operation 1−8 . . . . . . . . .

1.1.2 Reference coordinates and working area 1−10 . . . . . . . . . .

1.2EMERGENCY STOP concept 1−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Possibilities of commissioning 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Control panel (MTR−DCI−...−H2) 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2Festo Configuration Tool (FCT) 1−16 . . .

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

. . . . . . . . . .

. . . . . . . .

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

−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1−2

Festo P.BE−MTR−DCI−EN en 0411NH

1. Summary of components

1.1 Positioning with intelligent drives

The integrated electronics of the MTR−DCI enable the motor
unit to be placed in max. 15 positions (+ homing) with separ
ately adjustable speeds. The permitted positioning range can
be limited by means

Parametrizing with a PC is possible via the RS232 interface
with the FCT software package. The optional control panel
with display and 4 operating buttons enables positions and
speeds to be parametrized
chapter 1.3 )

Coupling to a higher−order PLC/IPC can be accomplished via
digital inputs/outputs (MTR−DCI−...IO) or with the appropriate
product variants via the field bus (in preparation: DeviceNe
CANopen, PROFIBUS−DP).

Festo offers accessories to suit positioning systems.
These accessories match the drive packages and linear drives
(see Festo delivery program or catalogue).

of software end positions.

directly on the drive. (see also

t,

Festo P.BE−MTR−DCI−EN en 0411NH

1−3

1. Summary of components

1

Higher−order
controller e.g.
Festo type FEC...

2 Software level:

Festo
Configuration

Tool

3 Motor/controller

level:
MTR−DCI +
coupling

4 Drive level e.g.

linear drive type

DMES−...

Components

1

2

3

1−4

4

Fig.1/1: Principle of an electric axis with the MTR−DCI−...

Festo P.BE−MTR−DCI−EN en 0411N H

1. Summary of components

For setting up an electric axis you will require the following
components:

Motor unit MTR−DCI, optional with control panel

Linear drive e.g. servo drive in slide design with self−locking sliding thread

drive, guide: sliding or roll

er guide type DMES−... with acces
sories (see table Table1/1) and if applicable further compo
nents for the drive, e.g. a mechanical guide, coupling, coupl
ing housing etc.

Motor unit

1 MTR−DCI−32−...

2 MTR−DCI−42−...

3 MTR−DCI−52−...

4 MTR−DCI−62−...

2)

1)

1)

2)

Drive

DMES−18

DMES−25

DMES−40

DMES−63

1

2

3

4

1)

available

Table1/1: Axis variants with the DMES−...

2)

in preparation

Festo P.BE−MTR−DCI−EN en 0411NH

1−5

1. Summary of components

Power unit for operating and load voltage supply.

MTR−DCI...−32/42/52: 24 V DC

MTR−DCI...−62: 48 V DC

Cable for transmission of information between higher−order con

troller, PC and MTR−DCI−... (see accessories).

nce switch optional: suitable sensor (normally−open) as reference switch

Refere

e.g. type SME−8/SMT−8 or SIEN−....

Gear reduction

High drive torques with low drive speeds are characteristic

for positioning functions. By means of two different gear re
ductions per unit size, different requests can be fulfilled with
the MTR−DCI in
(gear drive) speed. With the smaller gear reduction, the posi
tioning speed of the axis can be increased with correspon
dingly reduced positioning force.

respect of (gear drive torque) torque and

1−6

Size

Type MTR−DCI...G7, gear reduction 6.75:1

42 0.59 Nm 444 ±10% [1/min]

52 1.62 Nm 444 ±10% [1/min]

Type MTR−DCI...G14, gear reduction 13.73:1

42 1.13 Nm 218 ±10% [1/min]

52 3.08 Nm 218 ±10% [1/min]

Torque Speed

Table1/2: Gear reduction

Festo P.BE−MTR−DCI−EN en 0411N H

1. Summary of components

Operating modes

Profile position mode Normal operation for positioning

Homing mode Positioning travel for referencing the mechanical reference

system.

For commissioning, for testing or for demonstration the fol
lowing functions are also available via the control panel
the MTR−DCI−...H2:

 Positioning travel for ascertaining the target position of a

position set (Teach mode)

 Positioning travel for testing all position sets in the posi

tion set table (Demo posit. tab.)

of

 Positioning travel for

position set table (Move posit. set.)

testing a certain position set in the

Operational safety

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

Temperature monitoring (measuring the motor tempera

ture and the power end stage temperature)

 Voltage monitoring

 Recognizing faults in the internal

 Recognizing overvoltages in the intermediate circuit

(only type MTR−DCI−62...)

 Drag fault monitoring

 Software end position recognition

voltage supply.

Festo P.BE−MTR−DCI−EN en 0411NH

1−7

1. Summary of components

1.1.1 Method of operation

In the positioning mode, a certain position is specified to

which the motor is to move. The current position is obtained
from the information from the internal increment sensor (op
tical encoder). The position results
and the spindle pitch.

As the actual position is saved in a non−volatile memory in
the event of a power failure, a "quasi−absolute" position reg
istering can be implemented if a

The deviation of the position is processed in the position
controller and passed on to the speed regulator.

from the gear reduction

self−locking drive is used.

1 Motor controller

2 Controller

3 Nominal value

generator

4 Position

3

567

P

4

PI

P

controller

2

8

5 Speed regulator

6 Current regulator

1

7 End stage

8 Signal convertor

Fig.1/2: Simplified technical representation of the cascade regulator function

The motor unit takes over the following tasks:

specification of the nominal positions by positioning con

trol

 comparison of the nominal and actual positions and posi

tion control

M

1−8

Festo P.BE−MTR−DCI−EN en 0411N H

1. Summary of components

sequence control via digital inputs and outputs

The MTR−DCI possesses three memory ranges in which it
manages parameters:

The default settings and firmware are saved in the mem

ory (FLASH−Memory). The data

from the FLASH are
loaded when the device is switched on the first time or
when the EEPROM has been deleted.

The parameters which are currently used and which can

be modifie

d with the control panel or FCT software are
saved in the internal, volatile memory (RAM). When the
modifications have been saved, they are transferred to
the EEPROM.

The parameters which ar

e loaded after the device has
been switched on are saved in the non−volatile EEPROM.
The parameters in the EEPROM are retained even after
the power supply has been switched

off.

Please note

In order to restore the default settings you can, if necess
ary, delete the EEPROM via the serial interface with the CI
command 20F1 (Data memory control) (see chapter 7)

.

User−specific settings will then be lost.

· Use CI commands only if you already have experience of

Service Data Objects.

· If necessary consult the Festo Service.

The FLASH technology enables a firmware update (e.g. for
customer−specific firmware) to be loaded into the controller
via the RS 232 interface also at a

later stage. If necessary

consult the Festo Service.

Festo P.BE−MTR−DCI−EN en 0411NH

1−9

1. Summary of components

1.1.2 Reference coordinates and working area

The measuring reference system of the MTR−DCI is based on
the axis zero point which is defined via the offset to the refer
ence point. The position of the referenc
the referencing method. The measuring reference system is
defined with homing. When the homing is finished, the drive
stands at the axis zero point. The working
DCI is defined by software end positions which refer to the
axis zero point.

Reference point REF forms the mechanical reference point of the axis coordinate

system and is

defined by homing with a reference switch or a
fixed stop, depending on the referencing method. It is the
basis point of the axis zero point.

e point is defined by

area of the MTR−

Axis zero point AZ is shifted by a d

efined distance from the reference point (axis
zero point offset) and is the basis point of the software end
positions and the project zero point. By defining the axis zero
point and the software end

positions you can limit the work
ing area of the linear axis to the permitted range (working
stroke).

Project zero point PZ is a basis point within the working stroke which the user can

select and to which both th

e actual position and the target
positions in the position set table refer. The axis zero point is
the basis point for the project zero point.

The project zero point is specified for the MTR−DCI

and is

identical to the axis zero point (project zero point offset = 0).

1−10

Festo P.BE−MTR−DCI−EN en 0411N H

1. Summary of components

Reference coordinates and working area

Linear axis

1)

Rotation axis

2)

REF Reference point: The measuring reference point to which movement is made in the homing

and to which the axis zero point refers.

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

positions. Corresponds to the project zero point in the MTR−DCI (offset project zero point =

e basic point for the axis zero point is the reference point.

0). Th

a Offset axis zero point: Defined distance of the axis zero point to the reference point

b,c Software end positions: limit the permitted positioning range (working 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 display

ed.

1 Working stróke: Permitted positioning range. The working area of the axis is thereby de

fined.

2 Rated stroke: Rated stroke of the drive used, see Technical Specifications for the drive (with

DMES−... the stroke specified in the order).

1)

Vector representation for the referencing method: Fixed stop, negative

2)

Vector representation for the referencing method: Reference switch, negative

Table1/3:Measuring reference system of the electric axis

Festo P.BE−MTR−DCI−EN en 0411NH

1−11

1. Summary of components

All position values (offset, software end positions, target
positions...) have a mathematical sign and must be adapted
to the position of the relevant reference point.

Value

+

1)

Linear axis Rotation axis

Positive values face from
the reference point in the
direction away from the

Positive angles face from
the reference point in a
clockwise direction.

2)

motor.

 Negative values face from

the reference point in the
direction towards the

Negative angles face from
the reference point in an
anti−clockwise direction.

motor.

1)

Factory setting

2)

Angle measurements are specified viewed towards the motor

shaft.

All values are entered or displayed according to the measur
ing system set either for the FCT or the control panel.

Measuring system

1)

Linear axis

metric

inch

Rotation axis degree

3)

rev

2)

1)

Metric measuring units e.g.
mm, mm/s, mm/s

Imperial measuring units e.g.
inch, inch/s, inch/s

2

2

Angle measuring units in de
grees e.g. degree, degree/s,
degree/s

Revolutions
e.g. rev, rev/min, rev/min

2

2

1−12

1) Presetting for selecting the axis type on the control panel

2) Setting only with FCT when a project is started or via [Projekt]
[Properties].

3) Setting only with the control panel [Settings]

[Axis type] [Rotation

axis]

Festo P.BE−MTR−DCI−EN en 0411N H

1. Summary of components

The setting of the measuring system on the control panel
influences only the display.
All the parameters in the controller are always saved in in
crements (inch, inch/s, inch/s

2 ... ) and are not converted

until they are written or read.
Measurements transmitted directly via the RS232 refer to an
increment basis (conversion see appendix B.3)

Festo P.BE−MTR−DCI−EN en 0411NH

1−13

1. Summary of components

1.2 EMERGENCY STOP concept

Please note

Check within the framework of your EMERGENCY STOP
concept
to ascertain the measures necessary for putting your ma
chine / system into a safe state in the event
of an EMERGENCY ST
voltage)

Warning

Note that the MTR−DCI−...I/O does not have a separate
logic voltage supply. In the event of an EMERGE NCY STOP,
you should stop the drive by cancelling the ENABLE signal
at the I/O interfac

· Use additional separate safety limit switches if an

EMERGENCY STOP circuit is required for your applica
tion.

 With these switches you can cancel the ENABLE sig

nal at the I/O interface

or switch off the ope

· By the arrangement of the limit switches and, if necess

ary, by additional appropriate mechanical stops, make
sure that the axis always lies within the permitted posi
tioning range.

OP (e.g. switching off the operating

e. (see chapter 6)

rating voltage.

1−14

Festo P.BE−MTR−DCI−EN en 0411N H

1. Summary of components

1.3 Possibilities of commissioning

You can parametrize and commission the MTR−DCI as follows:

 directly on the control panel (HMI, only type MTR−

DCI−...H2)

 via the RS−232 interface (with FCT software)

The MTR−DCI can also be parametrized

and commissioned
with the Command Interpreter via the RS−232 interface. The
CI commands listed in the Object Directory can be trans
mitted to the MTR−DCI with all commercially−available ter
minal programs. O

nly experienced users may use the CI com

mands. Further information see chapter 7.

Functions

Parametrizing Selecting the axis type and the axis parameters

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

Position sets  Compiling a position set table with set number,

target position, positioning mode, positioning
speed

Commissioning  Homing

 Moving in individual steps
 Starting and stopping positioning procedures dur

ing commissioning
Extended test functions e.g. status dislpays
Testing or demonstrating the position sets

Diagnosis/Service  Reading and displaying diagnostic data x x

HMI FCT

x

−

−

−

x x

x

−

x

−
x

x
x

x
x

x
x

x
x
x

Festo P.BE−MTR−DCI−EN en 0411NH

1−15

1. Summary of components

1.3.1 Control panel (MTR−DCI−...−H2)

The control panel offers all functions necessary for commis
sioning, programming, diagnosing and operating directly on
the MTR−DCI− ...

The control panel provides the necessary input masks in
menus for editing position sets and paramete
tioning system is set up completely, you can move easily to
positions and transfer them to the position set table.

Information on the operating elements and the menu struc
ture can be
ing with the control panel as from chapter 5.2.2.

found in chapter 4, a description of commission

1.3.2Festo Configuration Tool (FCT)

The Festo Configuration Tool (or brief FCT) is the software
platform for configuring and commissioning different compo
nents or devices from Festo.

rs. If your posi

1−16

The FCT consists of the following components:

a framework as a program starting and entry

uniform project and data management for all supported
device types.

a PlugIn for the special demands of each device type (e.g.

MTR−DCI) with the necessary descriptions and dialogues.

PlugIns are managed and started from the frame

The
work.

The PlugIn MTR−DCI for the FCT supports all the steps necess
ary for commissioning an MTR−DCI.

The software can run on all usual PCs with a
operating system.

Festo P.BE−MTR−DCI−EN en 0411N H

point with

current Windows

1. Summary of components

Minimum technical requirements

PC processor of the Pentium classe as from

Supported operating
systems

Run−time environment
+
software

Interface Serial interface <COMn> as per RS232,

Screen resolution Screen resolution as from 800 x 600 points,

900 MHz
 128 MByte RAM
 100 MByte free memory space on the

hard disc

 Microsoft Windows® 2000 / XP

 CD ROM for installation
 Microsoft® .NET framework version

1.1, incl. necessary language package

(if required can be installed by the FCT

installation program)
 Internet Explorer as from version 6.0

(necessary for the print

9600 baud

(for using the dynamic helps at least 1024 x

768)

functions)

An overview of commissioning with the FCT can be found in
chapter 5.2.1. The help for the FCT contains the complete
information on operating the Festo Configuration Tool. The
device−specific PlugIns each hav

e their own help files. You
can use the complete help or parts thereof irrespective of a
PC by printing them.

Festo P.BE−MTR−DCI−EN en 0411NH

1−17

1. Summary of components

The FCT help system

The FCT offers various possibilities of obtaining information
or help with operation.

· Install and start the program as described in chapter 5

FCT help You can open the help for the FCT as follows:

· Access the help in the menu [Help] with the command

[Contents FCT general].

With function button F1 you can open directly a context−re
lated help.

Dynamic help For permanent display of conte

xt−related information you can

use the integrated dynamic help of the FCT:

· Activate the dynamic help via the menu [Help] with the

command [Dynamic help]. The dynamic hellp will be dis
played in a dockable window.

· Activate the element in the window for which you require

help, e.g. with a mouse click. If window areas or dia
logues of the PlugIn are activated, the contents of the
relevant PlugIn

will be dislpayed autmatically in the dy

namic help.

Help for PlugIn MTR−DCI The help for the PlugIn MTR−DCI contains the complete in

formation on operating the PlugIn.

You can open the help as follows:

· Command [Help] [Contents of installed PlugIns] [Festo

(manufacturer name)] [MTR−DCI (PlugIn name)].

· Help button in the window range or dialogue of the Plu

gIn.

· Button F1 in the active window range or dialogue of the

PlugIn.

1−18

Festo P.BE−MTR−DCI−EN en 0411N H

1. Summary of components

Printed information In order to use the complete help or parts thereof indepen

dently of a PC, you can use one of the following possibilities:

· Use the "Print" button of the help window to print out

directly individual pages of the help or all the pages of a
book from the contents directory of the help.

· Print the prepared print version of the help in the Adobe

PDF or Rich Text format (RTF).
The relevant file can be found under the following indices:

Printed version

FCT help ...(FCT installation directory)\Help\ FCT_de.pdf

PlugIn help
(MTR−DCI)

Directory File

FCT_de.rtf

...(FCT installation directory)\HardwareFamilies\

Festo\MTR−DCI\V...\Help\

MTR−DCI_de.pdf
MTR−DCI_de.rtf

For using the print version in the Adobe PDF format you will
require the Adobe Reader.

Festo P.BE−MTR−DCI−EN en 0411NH

1−19

1. Summary of components

1−20

Festo P.BE−MTR−DCI−EN en 0411N H

Fitting

Chapter 2

Festo P.BE−MTR−DCI−EN en 0411NH

2−1

2. Fitting

Contents

2. Fitting 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

2.3 Fitting electric axes2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . .

. . . .

.

2−2

Festo P.BE−MTR−DCI−EN en 0411NH

2. Fitting

2.1 General instructions

Warning

· Make sure that the complete system is disconnected

from the electric power supply before you carry out work
on the system. Disconnect the system from the power
supply by means of the main switch

.

Please 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−EN en 0411NH

2−3

2. Fitting

2.2 Dimensions of the motor unit

13

10

5

L1

Fig.2/1: Dimensions of the motor unit

Size

Gear ratio G7 G14 G7 G14

Diameter D [mm] D1

Height H [mm] H0

Length L [mm] L1

Width B [mm] B1

D2

L5

L4

L3

L2

H0

H2

D1

D3

D4

H1

B1
B2

H3

MTR−DCI−42 MTR−DCI−52

g10

D2

±0,1

D3

h8

D4

h7

±0,4

H1 ...
H2

±0,4

H3 ...

±1

L2

±1

L3

±1

L4 ...

±0.4

B2

±0.4

42
42
25
8

70,8
26,5
54,5
42,3

176
33,3

25
2

±0,2

44,8
53,3

±0,15

176

46,3
25
2

±0,2

52
52
32
12

94,8
37
76,5
60,7

194
39
33
3

±0,3

63,8
69,5

±0,2

194
53
33
3

±0,3

2−4

Festo P.BE−MTR−DCI−EN en 0411NH

2. Fitting

2.3 Fitting electric axes

Refer to the following documentation when fitting the electric
axis:

 Operating instructions for the electric linear 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.

· Check whether additional external safety measures are

necessary (e.g. toothed latches or moveable bolts).

· Use the motor unit preferably with self−locking spindle

drives.

You can then avoid the working mass sliding down if there
is a sudden power failure.

Festo P.BE−MTR−DCI−EN en 0411NH

Make sure that:

· the drive is fitted firmly and is free of tension on the

fastening flange

· 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 the motor or the gear

of the axis when the axis moves into the end position.

2−5

2. Fitting

· Make sure that you observe the maximum permitted va

lues of the following variables:

 axial force Fx

 radial force F

 drive torque M

y

x

Mechanical data * MTR−DCI−42 MTR−DCI−52

G7 G14 G7 G14

Flange [mm] 42 52

shaft loading radial F

shaft loading axial F

Torque Mx [Nm] 0,59 1,13 1,62 3,08

* The reference point for forces and torques is the centre of the shaft.

y

x

[N] 160 230 200 320

[N] 50 80 60 100

Table2/1: Maximum shaft loading and (gear drive) torques

2−6

Festo P.BE−MTR−DCI−EN en 0411NH

2. Fitting

Use the 4 threads on the front of the gear for fastening the
drive.

Size

MTR−DCI−42−... M3 10 deep 1.2 Nm

MTR−DCI−52−... M5 10 deep 5.9 Nm

28°

4x

90°

32

36

@

@

Thread Tightening torque

M4 10 deep 2.9 Nm

32°

M4x10

M3x10

90°

4x

40

@

30°

M5x10

90°

4x

Table2/2: Fastening the drive by means of the front threads

(tightening torque)

· Position the drive with the aid of a centring diameter of

motor unit D1 or D3 (see fig. 2/1), in order to minimize
the shaft offset.

· Fasten the drive to the motor housing with the 4 fastening

screws and tighten the screws with the specified torque
(see Table2/2).

Festo P.BE−MTR−DCI−EN en 0411NH

2−7

2. Fitting

Fitting the coupling and coupling housing

Connecting elements (coupling, coupling housing, clamping
element) for axial fitting (e.g. for type DMES... or DGE...) are

available as accessories.
As an alternative to axial fitting, a corner gear is being
planned.
on all four sides of the drive (in preparation).

The motor unit is connected to the coupling housing by
means of a clamping device on the circumfere
housing. Additional motor flanges are not therefore necess
ary.

This will enable the motor unit to be fitted parallel

nce of the gear

Connecting element

1 Coupling Typ e

2

Coupling housing with

3

 clamping element

4

4 fastening screws

4

1

MTR−DCI−42−... MTR−DCI−52−...

KSE−30−32−D06−D08
 Clamping hub 1

 Clamping hub 2

Typ e
DME−KG−25−...

Table2/3: Fitting accessories

(shaft @ 6 mm)

(shaft @ 8 mm)

Typ e
KSE−42−50−D12−D12
 Clamping hub 1

(shaft @ 12mm)

 Clamping hub 2

(shaft @ 12 mm)

Typ e
DME−KG−40−...

2

3

2−8

Festo P.BE−MTR−DCI−EN en 0411NH

2. Fitting

Fit first the clamping hubs of the coupling on motor unit MTR−

DCI and on nthe servo drive (type DMES...)

1. Press clamping hub 2 onto the drive shaft of the MTR−
DCI−... until the end of the drive shaft

inner surface.
Note the specified gap (x) between the clamping hub and
the motor unit (see Fig.2/2).

is flush with the hub

1 Clamping hub 1

of the coupling

2 Clamping hub 2

3 Drive shaft

4 Hub inner surface

5 Ring gear

Gap x [mm]

MTR−DCI−42 14,4

MTR−DCI−52 15,5

Gap y [mm]

DMES−25−... 8,3

DMES−40−... 16,5

Fig.2/2: Fitting the coupling type KSE−...

4

2

3

2

5

1

Festo P.BE−MTR−DCI−EN en 0411NH

2−9

2. Fitting

2. Grease the clamping hub slightly before tightening it. You
can then be sure that the clamping connection can easily
be loosened.

3. Tighten the greased clamping screw with the torque
specified (see

Table2/4). The screws must not protrude.

4. Press clamping hub 1 onto the drive shaft of the servo
drive until the end of the drive shaft is flush with the hub
inner surface.
Note the specified gap (y)

between the clamping hub and

the drive (see Fig.2/2).

5. Repeat steps 2 and 3 in order to fasten clamping hub 1 to
the servo drive.

6. Press the ring gear onto one of the clamping hubs.

the coupling housing type DME−KG...:

Fit

1. Fasten the coupling housing type DME−KG...
screws on the servo drive (tightening torque: see
Table2/4).

2. Press the clamping element into the hole in the side of the
coupling housing.

3. Press the motor with correctly placed clamping hub
the coupling housing (if necessary turn the motor).

4. Tighten the screw of the clamping element with the
torque specified (see Table2/4).

Tightening torque

Clamping screws of the hubs 4 Nm 8 Nm

1

Fastening screws of the coupling housing 2.9 Nm 5.9 Nm

2

2−10

MTR−DCI−42 MTR−DCI−52

Festo P.BE−MTR−DCI−EN en 0411NH

with all 4

into

2. Fitting

Tightening torque MTR−DCI−52MTR−DCI−42

Screw of the clamping element 1.2 Nm 9.9 Nm

3

1

1

Table2/4: Fitting the coupling and the coupling housing

2

3

Festo P.BE−MTR−DCI−EN en 0411NH

2−11

2. Fitting

2−12

Festo P.BE−MTR−DCI−EN en 0411NH

Installation

Chapter 3

Festo P.BE−MTR−DCI−EN en 0411NH

3−1

3. Installation

Contents

3. Installation 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Overview of installation 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Power supply 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Serial interface3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Input for external reference switch 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Connecting the higher−order controller 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . .

. . . .

3−2

Festo P.BE−MTR−DCI−EN en 0411NH

3. Installation

3.1 Overview of installation

Warning

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

You can thereby avoid:

unexpected movements of the connected actuators

 non−defined switching states of

the electronic compo

nents.

Caution

Incorrectly prepared cables may damage the electronics
and trigger off unexpected movements of the motor.

· Use only the cables listed as accessories for connecting

the electric components of the system (see Table3/1).
Only in this way can you guarantee the correct function
ing of the system.

Please 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.

Festo P.BE−MTR−DCI−EN en 0411NH

3−3

3. Installation

1 Power supply

2 Controller

3 Reference switch

4 Serial interface

4

3

2

1

Fig.3/1: Connections on the MTR−DCI

Connection on the MTR−DCI

Power supply  DSub−9W2

Controller  Sub−D 9−pin

Reference

switch

 Plug

 with type MTR−

DCI−IO..: Plug

 M8, 3−pin
 Socket

Description

Operating voltage connec
tion with high−current con
tacts

Interface for connecting
any PLC controller

Sensor input for reference
switch

3−4

Serial inter
face

 M8, 4−pin
 Socket

RS232 interface for
parametrizing, commis
sioning and diagnosing

Festo P.BE−MTR−DCI−EN en 0411NH

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 dis
charge). 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

protective covers, the connections on the MTR−DCI will

with
comply with protection class IP54. Appropriate protective
caps are included in delivery.

Connection

Power supply Supply cable KPWR−MC−1−SUB−9HC−... 2,5 / 5 / 10

Controller Control cable KES−MC−1−SUB−9HC−... 2,5 / 5 / 10

Reference switch e.g. type SME−8F−.../SMT−8F or extension cable type KM8−M8−...

Serial interface Programming cable KDI−MC−M8−SUB−9−... 2,5

Cable Designation Length [m]

Table3/1: Cables (accessories)

In order to guarantee compliance with the IP protection class:

· Tighten the union nuts/locking screws of the plugs by

hand.

· Seal unused connections with protective caps.

Warning

If the output pins are used incorrectly when a 24 V DC volt
age is applied, the device may be seriously damaged.

· Do not, therefore, connect voltage to the outputs.

· Note the current limitation at the outputs (see chapter

6.4)

Festo P.BE−MTR−DCI−EN en 0411NH

3−5

3. Installation

3.2 Power supply

Warning

Use only power units which guarantee reliable electrical
isolation of the operating voltages as per EN 61558−2−6
(alternatively EN 60742) with at least 4 kV isolation resis
tance (Protected Extra Low Voltage PELV). Switch

power
packs are permitted, providing they guarantee reliable
isolation in accordance with EN 60950 / VDE 0805.

By the use of PELV power units, protection against electric
shock (protection against direct and indirect contact) is guar

eed in accordance with EN 60204−1 / IEC 204. Safety

ant
transformers with the adjacent symbol must be used for sup
plying PELV networks. The device must be earthed to ensure
that it functions correctly

(e.g. EMC).

The internal power and controller electronics are supplied
with DC voltage via the power supply connection.

3−6

Plug

A1

A2

Pin Description

A1 +24 V DC

A2 GND

Table3/2: "Power supply" connection on the MTR−

DCI−42/52

Festo P.BE−MTR−DCI−EN en 0411NH

3. Installation

The power supply must fulfil the following requirements:

Title

Power supply 24 VDC ±10% 24 VDC ±10%

Rated current (motor) 2 A ± 20% 5.1 A ± 20%

Peak current 3.8 A 7 A

MTR−DCI−42 MTR−DCI−52

Please note

Note that the tolerance for the supply voltage must be
observed. The tolerance must be observed directly at the
operating voltage connection of the MTR−DCI.

· Use cables of sufficient diameter and of sufficient length

for the power supply:

 Connecting cable KPWR−MC−1...
 Cable length max. 10 m.

· Use a closed−loop power unit with:

24 VDC / 6 A for MTR−DCI− 42−...
24 VDC / 10 A for MTR−DCI− 52−...

Festo P.BE−MTR−DCI−EN en 0411NH

3−7

3. Installation

3.3 Serial interface

Serial interface for parametrizing, commissioning and diag
nosing

Warning

If the input pin (pin 4) is used incorrectly when a 24 V DC
voltage is applied, the device may be seriously damaged.

The input (pin 4) is intended exclusively for authorized
Festo service

· Do not, therefore, apply voltage to pin 4.

· Use only the programming cable from Festo.

· If necessary, remove the protective cap from the serial

personnel.

interface of the MTR−DCI.

· Connect the following connections with the programming

cable:

3−8

the connection socket on the MTR−DCI

a serial interface COMx of the diagnostic PC.

M8 socket

1 243

1)

The levels correspond to the RS232 standard and enable a data

transmission rate of 9600 Baud

Description

1 GND Ground

2 TXD RS232 transmitting cable

3 RXD RS232 receiving cable

4 −−− reserved − do not connect

Table3/3:Serial interface on the MTR−DCI

Festo P.BE−MTR−DCI−EN en 0411NH

1)

1)

3. Installation

Information on commissioning and parametrizing the MTR−
DCI via the serial interface can be found in chapter 5.2.1 and
in the help system for the FCT software package.
Information on transmitting CI commands via the serial

inter

face can be found in chapter 7.

Please note

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

· Use this connection only for commissioning.

· Do not exceed the maximum permitted signal cable

length of 2.5 m.

· Disconnect the diagnostic cable during continuous oper

ation.

· Seal the connection with the protective cap supplied

(type ISK−M8).

Festo P.BE−MTR−DCI−EN en 0411NH

3−9

3. Installation

3.4 Input for external reference switch

If you are not using a reference switch:

· Seal the connection with the protective cap supplied (type

ISK−M8).

Connecting the reference switch:

· Use the correct switch type "normally−open" for the refer

ence switch.

· For connecting the reference switch use a cable with rotat

ing thread sleeve on the end of the cable e.g. type
SME−8F−.../SMT−8F or extension cable type KM8−M8−...

· When selecting the sensor, note that the accuracy of the

switchover point of the sensor determines the accuracy of
the reference point.

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

3−10

 ele

ctric proximity switch SME−8 /SMT−8 (can be fitted in

the sensor groove of the drive profile).

Switching accuracy:

 SME−8: 0.2 mm (±0.1 mm)

 SMT−8: 0.4 mm (±0.2 mm).

 inductive proximity switch SIEN−..−M8 (can be used in

slide design in

conjunction with switching lug SF/support
angle HWS);
Switching accuracy: 0,08 mm.

Festo P.BE−MTR−DCI−EN en 0411NH

3. Installation

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

Caution

Damage to the device
The 24 V DC voltage at pin 1 does not have any special

protection against overload; the voltage is taken from the
main supply after the ESD and protection against incorrect
polarity.

· Use this connection only for the reference switch. Use of

this connection as power supply is not permitted.

The input for sensor signal REF complies in its electrical fea
tures with the input spe

cification in the appendix "Technical

specifications."

Festo P.BE−MTR−DCI−EN en 0411NH

M8 socket

143

Description

1 + 24 V DC + 24 V DC voltage output for

reference switch

4 REF Contact reference switch

3 GND Ground

Table3/4: "Reference switch" connection on the MTR−DCI

3−11

3. Installation

3.5 Connecting the higher−order controller

Information on controlling via bus systems can be found in
the manuals for the relevant field bus variant of the MTR−

DCI−... (in preparation).

In the case of control via digital I/Os (type MTR−DCI−IO...) note

th

e instructions on connecting and on the function of the I/O

interface in chapter 6.

3−12

Festo P.BE−MTR−DCI−EN en 0411NH

Control panel (MTR−DCI−...−H2−IO)

Chapter 4

Festo P.BE−MTR−DCI−EN en 0411NH

4−1

4. Control panel (MTR−DCI−...−H2−IO)

Contents

4. Control panel (MTR−DCI−...−H2−IO) 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.2The menu system4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.2.2"Diagnostic" menu 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Device control "HMI control" 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4"Settings" menu 4−11

4.2.5 "Positioning" menu 4−17 . . . . .

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

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

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

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

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

. . . . .

4−2

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

Motor unit type MTR−DCI−...H2 offers on the control panel all
functions necessary for commissioning, programming and
diagnosing − ... An overview of the button and menu functions
for the MTR−DCI−IO can be found in this chapter.
ing with the control panel is described as from chapter 5.2.2.
Control panel functions for the field bus variants can be found
in the manual for the relevant product variant.

Commission

With the MTR−DCI−...H1 (without

control panel) you can com
mission the MTR−DCI via the RS−232 interface (with FCT soft
ware). Instructions on this can be found in chapter 5.2.1.

Caution

Faults may occur if you attempt to access control and oper
ating functions at the same time by 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.

Please note

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

Festo P.BE−MTR−DCI−EN en 0411NH

4−3

4. Control panel (MTR−DCI−...−H2−IO)

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 positioning sets

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

1 LC display

2 Operating

buttons

3 LEDs

 power (green)
 I/F (green/red)
 Error (red)

1

Fig.4/2: 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
can be turned in 90° steps, see menu command [LCD adjust
ment].

The visual display of the operating states is shown via 3 LEDs
(see also chapter 5.7.2).

 Power: Display of the readiness

 I/F: Positioning status

 Error: Faults

2

to operate

3

. The display

4−4

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

Function Button

MENU activated by the status display from the

main menu Menu

ESC rejects the current entry and switches

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

EMERG.STOP interrupts the current positioning proce

dure (> Error mode; confirm with <En
ter>, then automatic return to the status
display)

OK confirms the current selection or entry

SAVE saves parameter settings permanently

in the EEPROM

START/STOP starts or stops (demo mode only) a po

sitioning procedure. After stop: Display
of the current position, with <Menu> re
turn to the higher−order menu level.

<− −> scrolls within a menu level in order to

select a menu command.

EDIT sets the parameter

Table4/1: Button function (overview)

Enter

v

V

Festo P.BE−MTR−DCI−EN en 0411NH

4−5

4. Control panel (MTR−DCI−...−H2−IO)

4.2 The menu system

4.2.1 Accessing the main menu

MTR–DCI...
Xa = 0.00 mm

HMI:off
<Menu>

} Diagnostic

positioning

Settings
S ESC <Menu>

<––> OK <Enter>

} HMI control

LCD adjustment

S ESC <Menu>

<––> OK <Enter>

When the power supply is switched on, the MTR−DCI auto
matically carries out an internal check. At first the display
shows the Festo Logo then changes to the status display. The
status display shows the following information:

e type designation of your MTR−DCI

th

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...).

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 selec

tion or entry.

Button

v

V

Menu

Enter

4−6

Table4/2: Button function (menu selection)

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

} yp

} p

}

Menu commands Description

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

} Pos.set table Display of the position set table

} Axis param Display of axis parameters and data

} System param Display of system parameters and data

} SW information Display of the operating system version (firmware)

1) 2)

1) 2)

1)

Homing and positioning travel for testing the position sets (see chapter 4.2.5)

Selection of the drive, parametrizing, programming the position sets ... (see chapter

4.2.4)

} Rotation drive Rotation axis with stop

} User config Any linear drive

3)

} Abs.min.pos

} Abs.max.pos

Offset of axis zero point

3)

Stroke limitation: Software end position, negative

3)

Stroke limitation: Software end position, positive

} Save... Save parameter in EEPROM

switch...)

} Velocity v_sw Positioning speed for searching for the reference point

} Velocity v_s0 Positioning speed for moving to the axis zero point

} Save... Save parameter in EEPROM

} Pos set mode Record status: absolute or relative positioning

} Position

3)

Target position of the position set

} Velocity Positioning speed of the position set

} Save... Save parameter in EEPROM

Presetting the device control via the control panel (see chapter 4.2.3)

} Positioning

} Move pos. set Star t positioning travel "Position set"

} Demo pos. table Start positioning travel "Position set table"

} Homing Star t homing

} Settings

} Axis type } Typ e DMES−... Festo linear axis with servo drive type DMES−..

} Axis param } Zero point

} Homing param } Homing method Selection of referencing (homing) method (stop, software limit

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

} Password Setting up a local password with 3 figures for the control panel (see chapter 4.2.4).

} HMI control

} LCD adjustment Turning the display in 90° degree steps

1)

if necessary password protection

2)

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

3)

Teach mode

Table4/3:Menu commands (overview)

Festo P.BE−MTR−DCI−EN en 0411NH

4−7

4. Control panel (MTR−DCI−...−H2−IO)

4.2.2"Diagnostic" menu

In order to display the system data and the currently effective
settings:

} Diagnostic

1. Use the arrow buttons in the main menu to select [Diag
nostic] and press the <Enter>button.

} Pos.set table

Axis param

System param
Software information

2. Select one of the

 Position set table

following menu commands:

 Axis parameter [Axis param]

 System parameter [System param]

Version of firmware of the MTR−DCI e.g. V−DME 1.19

[Software information]

Function

<− −> Yo u can "scroll through" the dia

gnostic data with the arrow but
tons.

ESC With <Menu> you can return to the

higher−order menu level.

Button

v

Menu

V

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

position set table:

[Position set ta

Description

ble]

4−8

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

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

Pos Target position

Vel Positioning speed

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

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

and data:

[Axis param]

v max Maximum positioning speed

x min Stroke limitation: Software end position, nega

x max Stroke limitation: Software end position, posi

x 0 Offset axis zero point

2)

feed

1)

Measuring unit depends on measuring system set

2)

not for axis type "Rotation drive"

1)

Description

tive

tive

Feed constant (e.g. thread pitch)

[System param] Menu command for displaying the following system para

meters and data:

[System param]

V power [V] Power supply

V dd [V] Voltage for display

I max [A] Maximum current

I act [A] Current current

Temp [°C] Operating temperature

Description

Festo P.BE−MTR−DCI−EN en 0411NH

Cycle Number of positioning cycles

In−signal hexadecimal representation of the inputs

Bit 0: E0
Bit 1: E1
Bit 2: E2
Bit 3: E3
Bit 4: START
Bit 5: ENABLE

4−9

4. Control panel (MTR−DCI−...−H2−IO)

[System param] Description

Out−signal hexadecimal representation of the outputs

Ref. switch on/off Signal at reference switch input

Mode e.g. mm Measuring system

Hom.meth. bl.pos

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

Bit 0: READY
Bit 1: MOTION COMPLETE

bl.neg
sw.pos
sw.neg

Fixed stop in positive direction
Fixed stop in negative direction

Reference switch in positive direction
Reference switch in negative direction

4.2.3 Device control "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.

electing the menu commands, you will be requested

When s
to modify the HMI setting.

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

mand [HMI control].

1)

HMI

Device control

4−10

on The device control is carried out manually via the control

off The device control is carried out via the control interface

1)

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

of the MTR−DCI.

Human Machine Interface

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

4.2.4"Settings" menu

For parametrizing the axis system and programming the posi
tion sets:

} Settings

1. Use the arrow buttons to select [Settings] in the main
menu and press the <Enter>button.

} Axis type

Axis param

Homing param
Position set
Password

2. Select:

the axis type [Axis type]

the axis parame

ters [Axis param]

the referencing parameters [Homing param]

the position set table [Position set]

the password setting [Password]

[Axis type] Design of axis driven by the MTR−DCI.

[Axis type]

[Type DMES−...] Festo linear axis with servo drive type DMES−...

[Rotation drive] Rotation axis

Parameters

The selection defines the following settings:
the feed constant e.g.

MTR−DCI 42 + DMES−25: 2.5 mm / spindle revolution
MTR−DCI 42 + DMES−40: 4 mm / spindle revolution

the measuring system (metric)

The following setting is necessary:
Measuring system in degrees or revolutions (degrees /revolutions)

[User config] Any linear drive

The selection defines the following settings:
the measuring system (metric)
The following setting is necessary:
the feed constant (Feedcon) in mm per revolution of the axis drive shaft (see

type plate or technical data for the drive).

Festo P.BE−MTR−DCI−EN en 0411NH

4−11

4. Control panel (MTR−DCI−...−H2−IO)

[Axis param] Teach mode for setting the axis parameters

Warning

During the teach procedure for specifying the axis zero
point and the stroke limitation, the motor turns or the con
nected axis starts to move.

· 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.

[Axis param]

[Zero point] Offset of axis zero point

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

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

[Save...] Save parameter in EEPROM

Description

tive

tive

Please note

The set parameters become effective immediately after
confirmation with OK <ENTER>. The settings are saved per
manently 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 fail
ure.

4−12

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

[Homing param] Setting the referencing method and the speeds during hom

ing.

The maximum speed during homing is limited to half the
maximum positioning speed v_max (v_max see [Diagnostics]
[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

(switch negative)

sw.pos
(switch positive)

bl.neg
(block negative)

bl.pos
(block positive)

Homing to reference
switch, negative
= factory setting

Homing to reference
switch, positive

Homing to fixed stop, ne
gative

Homing to
fixed stop, positive

the reference point

axis zero point

Please note

The set parameters become effective immediately after
confirmation with OK <ENTER>. The settings are saved per
manently 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 fail
ure.

Festo P.BE−MTR−DCI−EN en 0411NH

4−13

4. Control panel (MTR−DCI−...−H2−IO)

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

Warning

During the teach procedure for specifying the target posi
tion, the motor turns or the connected axis starts to move.

· 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.

[Position set]

[Position no.] no. Number of the position set [0..14]

[Pos set mode] [absolu

[Position] xt Target position in the selected

[Velocity] v Positioning speed in the selected

[Save...] Save parameter in EEPROM

Param. Description

te/rela
tive]

Positioning mode
absolute = absolute position spe
cification, related to the project
zero point
relative = relative position specifi
cation, related to the current posi
tion

measuring system e.g. [mm]

measuring system e.g. [mm/s]

Please note

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

· 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.

4−14

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

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).

Set up a password

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

New 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

Enter password:
[?xx] =

ESC <Menu>

EDIT <––> OK <Enter>

2.Confirm your entrry 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 automatically
scanned when the menu commands [Positioning], [Settings]
or [HM I control] are accessed. When the correct password is
entered, all parametrzing and control functions of th
panel are enabled until the power supply is switched off.

The current entry position is marked with a question mark.

1. Use the arrow buttons to select a 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 con
trol panel is enabled.

e control

Festo P.BE−MTR−DCI−EN en 0411NH

4−15

4. Control panel (MTR−DCI−...−H2−IO)

Modify/deactivate password

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

Enter 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

New Password:
[?xx] =

ESC <Menu>

EDIT <––> OK <Enter>

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>.

· Keep the password for the MTR−DCI in a safe place, e.g. in

the internal documentation for your system.

If the active password in the MTR−DCI should be lost in spite
of care being taken:

can delete it by entering a master password. In this case

you
please contact your Festo Service partner.

4−16

Festo P.BE−MTR−DCI−EN en 0411NH

4. Control panel (MTR−DCI−...−H2−IO)

4.2.5 "Positioning" menu

Start homing or positioning travel for testing the position
sets.

Please note

· Make sure before star ting homing that:

the positioning system is set up completely, wired

the parametrizing is completed.

· Do not start positioning travel until the reference system

has been defined by homing.

Warning

Danger of injury
With all positioning procedures the motor turns or the con

nected axis starts to move.

· 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.

and supplied with power.

Festo P.BE−MTR−DCI−EN en 0411NH

Please note

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

4−17

4. Control panel (MTR−DCI−...−H2−IO)

Carry out homing

} Positioning

1. Use the arrow buttons to select [Positioning] in the main
menu and press the <Enter>button.

Move posit set

Demo pos table

} Homing

[Positioning]

[Homing] Homing for determining the mechani

...

Warning Motor moves

2. Select the menu command:

 Homing [Homing]

Description Please note

cal reference system

3. Make sure that nobody can place his/her hand in the

positioning range of the moveable mass and that no ob
jects lie in its path. Start homing with START <Enter>

ESC <Menu>
START <Enter>

HOMING

V0 = 20 mm/s
v_sw = 10 mm/s

EMERG.STOP<Menu>

The following information is displayed:

the search speed v_sw

the positioning speed to the axis zero point v_0.

Function

First set the parameter in the menu
[Settings] [Homing parameter].
Factory setting: Homing to stop in ne
gative direction

4−18

EMERG
.STOP

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

Festo P.BE−MTR−DCI−EN en 0411NH

Menu

4. Control panel (MTR−DCI−...−H2−IO)

Carry out position sets

} Positioning

1. Use the arrow buttons to select [Positioning] in the main
menu and press the <Enter>button.

} Move posit set

Demo posit tab

Homing

2. Select the menu command:

 Positioning travel "Position set" [Move posit set]  or

 Positioning travel "Position set table" [

tab]

[Positioning]

[Move posit set ] Positioning travel for testing a cer

[Demo posit tab] Positioning travel (continuous loop)

...

Warning Motor moves

Description Please note

tain position set in the position set
table.

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

With positioning travel [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

ESC <Menu>
START <Enter>

v = 0

, this position set and all the following sets will not be
processed; positioning travel will be continued with position
set 0.

Demo posit

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
Xt = 100.00 mm
v = 20 mm/s
Xa = 90.00 mm
EMERG.STOP<Menu>

Festo P.BE−MTR−DCI−EN en 0411NH

3. Make sure that nobody can place his/her hand in the

positioning range of the moveable mass

and that no ob
jects lie in its path. Start the positioning procedure with
START <Enter>.

During position travel the following information is displayed:

the active position set Pos...

the target position x

t

the speed v

the current position xa.

4−19

4. Control panel (MTR−DCI−...−H2−IO)

Function

EMERG.
STOP

DEMO
STOP

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

With <Enter> you can interrupt the positioning
travel "Position 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.

Menu

Enter

4−20

Festo P.BE−MTR−DCI−EN en 0411NH

Commissioning

Chapter 5

Festo P.BE−MTR−DCI−EN en 0411NH

5−1

5. Commissioning

Contents

5. Commissioning 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Pre

5.2 Procedure for commissioning 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Parametrizing and referencing (MTR−DCI−...H2) 5−12 . . . . . . . . . . . . . . . . . . . . . . .

5.4 Positioning with position sets

5.5 I/O function test 5−26 . . . . . . . . . . . . . . . . . .

5.6 Instructions on operation 5−27 . . . . . . . . . . . . . . .

5.7 Diagnosis and fault display 5−31 . . . . . . . . . . . . . . . . . .

paring for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Check the connection to the

5.1.2 Check the drive. 5−3 . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Installing and starting the FCT 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Commissioning with

5.2.2 Commissioning with control panel (MTR−DCI−...−H2) 5−10

5.3.1 Se

5.3.2Setting the homing paramete

5.3.3 Carrying out homing 5−17 . . . . . . . . . . . . . . .

5.3.4Teach the axis zero point and the software end positions.5−20 . . . . . . .

5.4.1 Teach the position sets 5−23 . . . . . . . . . . . .

5.4.2Test run 5−25 . . . . . . . . . . . . . . . . . . . . .

5.7.1 General diagnostic possibilities 5−31 . . . . . . . . . . . . . . . . . . . . . .

5.7.2LED status displays 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7.3 Fault messages on the display (MTR−DCI−...H2) 5−34 . . . . . . . . . . . . . . . .

tting the axis type5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

mains power supply.5−3 . . . . . . . . . . . . .

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

. . .

FCT 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

rs 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

(MTR−DCI−...H2) 5−22 . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

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

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

. . . . . .

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

5−2

Festo P.BE−MTR−DCI−EN en 0411NH

5. Commissioning

5.1 Preparing for commissioning

5.1.1 Check the connection to the mains power supply.

Please note

Note that the tolerance for the supply voltage must be
observed. The tolerance must be observed directly at the
operating voltage connection of the MTR−DCI.

5.1.2 Check the drive.

The correct values can be found

in chapter 3.2 and in the

technical specifications in the appendix.

· 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

 that the servo drive is within the permitted positioning

range when it is switched on.

· Please observe the notes in the operating instructions for

the servo drive.

Festo P.BE−MTR−DCI−EN en 0411NH

5−3

5. Commissioning

5.1.3 Installing and starting 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.

Please note

The PlugIn MTR−DCI version V01.00.00 supports the follow
ing motor units of type MTR−DCI−...IO:

 Firmware version as from V−DME 1.19
Check with later versions of the MTR−DCI, whether an up

dated

PlugIn is provided. If necessaryy, please consult the

Festo Service.

Please note

Administrator rights are required for installing the FCT.

5−4

You can install the FCT from the CD ROM as follows:

1. Close all programs.

2. Place the CD Festo Configuration Tool in your CD ROM
drive. If Auto Run is

activated on your system, the installa

tion will start automatically and you can omit steps 3 and

4.

3. Select [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 screen.

Festo P.BE−MTR−DCI−EN en 0411NH

5. Commissioning

5.2 Procedure for commissioning

Caution

Faults may occur if you attempt to access control and oper
ating functions at the same time by 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.

Please note

In the following cases it is not permitted to access the
MTR−DCI with the FCT writing (e.g. downloading para
meters) or controlling (e.g. with "Move manually" or when
starting homing):

When the MTR−DCI

movement or when a movement is started during access
(e.g. via the control interface or via the control panel).

When parametrizing or operation with the control panel

takes place on the MTR−DCI.

Please note the following:

· 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.

is currently performing a positioning

Festo P.BE−MTR−DCI−EN en 0411NH

5−5

5. Commissioning

For commissioning an axis formed of the MTR−DCI and a drive
(e.g. type DMES...), the mechanical composition must be
configured (type of drive) and a measuring reference system
(referencing and refe

rence coordinates) must be defined. By
means of the measuring reference system, all positions are
defined and movement can be made to them, e.g. with a posi
tion set from the

· Switch on the power supply for the MTR−DCI.

position set table.

When the power supply is switched on, the MTR−DCI auto
matically carries out an internal check.

Warning

Danger of injury.
Faults in parametrizing can cause injury to people and
damage to property. In the following cases homing is ur
gently necessary in order that the reference coordinates
and the working ar

ea can be set correctly:
 with the first commissioning
when the referencing method is changed
 with the fault LAST ACTUAL POSITION NOT SAVED
 with a non self−locking axis each time it is switched on.

5−6

· Check (if your drive has been configured at the factory)

the settings in the menu [Diagnostic].

· Carry out parametrizing and commissioning with the con

trol panel or the FCT, as described in the following
chapters and in the FCT/PlugIn help.
Explanations of reference coordinates and the working
area can be

· In order to complete commissioning note the instructions

found in chapter 1.1.2.

for operation in the FCT/PlugIn help and in chapter 5.6

Festo P.BE−MTR−DCI−EN en 0411NH

5. Commissioning

Please note

In order to restore the default settings you can, if necess
ary, deleted the EEPROM directly via the serial interface
with the CI command 20F1 (Data memory control) (see
chapte

r 7). User−specific settings will then be lost.

· Use CI commands only if you already have experience of

Service Data Objects.

· If necessary consult the Festo Service.

Festo P.BE−MTR−DCI−EN en 0411NH

5−7

5. Commissioning

5.2.1 Commissioning with FCT

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 3.3.

2. Starting the
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 FC
Add a device to the project with the PlugIn MTR−DCI.

4.Create the device connection (online connection) between
the PC and the MTR−DCI via the F
It may be necessary here to have the same device names.

FCT Double−click on the Festo Configuration

T or open an existing project.

CT tool bar.

Device control

In order that the FCT can control the connected MTR−DCI, the

control interface of the MTR−DCI must be deactivated and the
controller enable must be set. The actual status of the EN
ABLE

input then has no effect. Access the window "General
output," register "Operate" and activate under "Device con
trol" first the control box "Separate I/O" and then the control
box "Enable." The
be deactivated and the control enable of the FCT is set.

control interface of the MTR−DCI will then

5−8

Festo P.BE−MTR−DCI−EN en 0411NH

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 adding a device to a

project

help on de

fining the measuring reference system (refer

encing and reference coordinates)

The PlugIn MTR−DCI for the FCT supports all the steps necess
ary for commissioning an MTR−DCI.

With the PlugIn

MTR−DCI for the FCT the necessary parame
trizings can be carried out offline, i.e. without the MTR−DCI
being connected to the PC. This enables the actual commis
sioning 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: Com
mand [Help] [Contents of installed PlugIns] [Festo (manufac
turer name)]

[MTR−DCI (PlugIn name)] e.g.:

 for describing the dialogues of the "Device MTR−DCI"

 for describing the work steps for commissioning

 for the basic functions: Device connection, Device names,

Device control and for password prote

ction.

Festo P.BE−MTR−DCI−EN en 0411NH

5−9

5. Commissioning

5.2.2 Commissioning with control panel (MTR−DCI−...−H2)

Working with the control panel

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

Device control

Diagnostic

positioning

Setting

} 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 deacti
vated and the controller enable must be set. [HMI = on].
actual status of the ENABLE input then has no effect.

Instructions on parametrizing and commissioning

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.

The

5−10

Commissioning (overview)

Chap
ter

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

2. Set the following parameters for homing:
 Referencing method
Search speed to reference point
 Positioning speed to axis zero point

3. Carry out homing. 5.3.3

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−EN en 0411NH

5.3.1

5.3.2

5.3.4

5. Commissioning

Commissioning (overview) Chap

ter

5. Enter several position sets (Target position, Positioning
mode and Positioning speed)

6. Carry out a test run to check the travel behaviour of the
axis, as well as the reference coordinates and the work
ing area.

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

8.Check the function of the contol interface of the MTR−DCI
(function test).

9. In order to complete commissioning note the instructions
on operation.

5.4

5.5

5.6

Festo P.BE−MTR−DCI−EN en 0411NH

5−11

5. Commissioning

5.3 Parametrizing and referencing (MTR−DCI−...H2)

5.3.1 Setting the axis type

} Setting

Axis type

Type DMES...

Rotation drive

User config

1. Select the servo drive which matches your positioning
system.

Festo servo drive [type DMES−...]

 Rotation axis [Rotation drive]

 Any linear drive [User config]

2.If necessary, use the arrow buttons to set
parameters, depending on the entry request (see also
chapter 4.2.4).

Feed constant (Feedcon) or

measuring system (degree / revolutions).

3. Save the setting with SAVE<Enter>.

5.3.2Setting the homing parameters

In order to search for the reference point and for positioning

the drive in the axis zero point, you can set two different
speeds. The maximum possible speed is limited at the factory
to 50%

of the rated speed of the drive.

Depending on the referencing method, the reference point is
defined by means of a reference switch or fixed stop.

axis−specific

5−12

Festo P.BE−MTR−DCI−EN en 0411NH

5. Commissioning

Notes on referencing to the fixed stop

"Fixed stop" referencing method

Negative fixed stop (near motor) = factory setting

 Positive fixed stop (remote from motor)

Festo P.BE−MTR−DCI−EN en 0411NH

1 Axis moves at search speed v
2 Axis moves at speed vs0 from the reference point to the axis zero

point AZ.

to the mechanical fixed stop.

sw

Please note

homing may only be carried out directly against the fixed
stop, if the permitted impact pulse is not exceeded.

Maximum impact pulse = mass x speed
Please refer to the manual for your servo

drive for the per

mitted value.

5−13

5. Commissioning

Caution

Damage to components
The MTR−DCI moves to the stop during homing at 1.5 times
the rated motor torque. (150% of the rated current)

· Limit the maximum current during homing by means of

FCT software (see help for PlugIn MTR−DCI)
 CI command "Object 6073 Max. current" (see appen

dix B.1)

Please note that the current limitation also limits

the maxi
mum possible speed and that (higher) nominal speeds
may not therefore be achieved.

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, the end positions may

become blocke

· Set the offset of the axis zero point š 0.

· Limit the positioning range by defining valid softwere

d.

end positions during commissioning (see chapter 1.1.2).

· Specify target positions only within the permitted posi

tioning range.

5−14

Festo P.BE−MTR−DCI−EN en 0411NH

5. Commissioning

Notes on referencing to the reference switch

If homing 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 1.1.2).

Referencing method "Reference switch"

 Reference switch, negative (near motor)

 Reference switch, positive (remote from motor)

Festo P.BE−MTR−DCI−EN en 0411NH

1 Axis moves at search speed vsw to the reference switch, and it

reverses to ascertain the reference point.

2 Then axis moves at speed vs0 from the reference point to the axis

zero point.

5−15

5. Commissioning

} Settings

Homing parameter

Homing method

Velocity v_

Velocity v_

Save

Setting parameters

· Set the following homing parameters one after the other:

sw

s0

the referencing method [Homing method]

the search speed for ascertaining the reference point

[Velocity v_sw]

the positioning speed to the

axis zero point. [Velocity

v_s0].

Caution

If the referencing method is changed, the offset of the axis
zero point will be reset to zero. Existing settings of the soft
ware end positions and of the target positions of the posi
tion set table will be retained. Note that these values refer
to the previous axis zero point.

· Always carry out homing 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 posi

tions again.

· 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 homing, otherwise the previous refer

ence system of the MTR−DCI will remain unmodified.

5−16

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5. Commissioning

5.3.3 Carrying out homing

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

The drive moves during homing at first at the preset search
speed v_sw corresponding to the selected referencing
method up to the mechanical fixed stop (or reference
and when the signal has beeen evaluated, takes up the posi
tion as reference point. (Fig.5/1 1)

range of the axis or of other connected actuators and
that no objects lie in the path of the axis while the sys
tem is still connected to

a power supply.

switch)

The drive then moves at speed v_s0 to the axis zero point.
(Fig.5/1

2)

1 Travel to the

reference point
REF

2 Travel to the axis

zero point AZ

Fig.5/1: Homing (example: Fixed stop, negative)

Festo P.BE−MTR−DCI−EN en 0411NH

REF

1

AZ

2

5−17

5. Commissioning

After successful homing the drive stands at the axis zero
point. With first commissioning or after a change of referenc
ing method the offset of the axis zero point = 0; the drive
then stands afte

r homing at the reference point (= axis zero

point).

Starting homing

The following conditions must be fulfilled for homing:

The axis must be set up completely, wired and supplied

with power.

The MTR−DCI must be correctly parametrized.

Please note

When carrying out homing note that:
the drive must be in the permitted positioning range.
the drive moves in the search direction corresponding to

the seleced referencing method and at the
standin front of the stop or reference switch.

start must

5−18

1. Position the drive in the Teach mode so that at the start in
the search direction it standsin front of the stop or refer
ence switch.

· Select e.g. [Settings] [Position set] [Position] (see also

chapter 5.4.1).

· 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.

Festo P.BE−MTR−DCI−EN en 0411NH