G 1

Motor unit MTRDCI
Description
Type MTRDCI...PB
Description 539 624 en 0612NH [682 489]
Adobe ad Reader are brands or registered trademarks of Adobe Systems Incorporated in the USA and/or other countries.
Contents and general safety instructions
Original . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . German text Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . en 0612NH Designation . . . . . . . . . . . . . . . . . . . . . P.BEMTRDCIPBEN Orderno. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539 624
Festo AG & Co.KG, D73726 Esslingen, 2006 Internet: http://www.festo.com Email: service_international@festo.com The copying, distribution and utilisation of this document as well as the communication of its contents to others with out expressed authorisation is prohibited. Violations give rise to compensation. All rights are reserved, in particular the right to carry out patent, utility model or ornamental design registration.
Festo P.BEMTRDCIPBEN en 0612NH
II
Contents
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Scope of delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important user instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Documentation for MTRDCI motor unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . About the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Productspecific terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PROFIBUSspecific terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1. 1.1 1.2 1.3 1.4 1.5 2. 2.1 2.2 2.3 3. 3.1 3.2 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII VIII IX IX IX X XII XIII XIV XVI 11
Positioning with electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Function overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Dimensional reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Festo handling and positioning profile (FHPP) . . . . . . . . . . . . . . . . . . . . . . . . 116 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensions of the motor unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mounting the electric axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 23 24 25 31
3.3 3.4
Overview of installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.2.1 Power supply requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.2.2 Shared supply with load and logic voltage (not for type MTRDCI32) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 3.2.3 Separate supply with load and logic voltage . . . . . . . . . . . . . . . . . . 39 Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310 Input for external reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312 III
3.5
Connecting the higherorder controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.1 Fieldbus cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.2 Fieldbus baud rate and fieldbus length . . . . . . . . . . . . . . . . . . . . . . 3.5.3 Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The control panel (MTRDCI...H2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
314 315 316 317 41
4. 4.1 4.2 4.3 4.4 4.5 4.6 5. 5.1 5.2
Composition and function of the control panel . . . . . . . . . . . . . . . . . . . . . . . 44 The menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.2.1 Accessing the main menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 [Diagnostic] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 [Settings] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412 [Positioning] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418 Menu command [HMI control] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with the control panel (only type MTRDCI...H2) . . . . . . . . . 5.2.1 Selecting the axis type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.2 Setting homing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3 Carrying out homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.4 Teaching the axis zero point AZ and the software end positions . . 5.2.5 Teaching position set records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.6 Test run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.7 Setting PROFIBUS addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 Installing the FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of commissioning on the PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . 51 54 56 58 59 512 515 517 519 521 522 523 524 526
5.3
5.4
IV
5.5
5.6
5.7
5.8
5.9 6. 6.1 6.2 6.3
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.1 Install device master file (GSD file) and icon files. . . . . . . . . . . . . . . 5.5.2 I/O configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.3 Configuration with STEP 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.4 Startup parameter assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.5 Response monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.6 Control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of control and parameter assignment methods . . . . . . . . . . . . . . . 5.6.1 DPV0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6.2 DPV1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Festo profile for handling and positioning (FHPP) . . . . . . . . . . . . . . . . . . . . . 5.7.1 Supported operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.7.2 Composition of the cyclical I/O data . . . . . . . . . . . . . . . . . . . . . . . . 5.7.3 Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . . Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.1 Dimensional reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.2 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.3 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.4 Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.5 Record Select: Executing a position set record . . . . . . . . . . . . . . . . 5.8.6 Direct mode: Specification of a position or force . . . . . . . . . . . . . . 5.8.7 Standstill monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operation, maintenance and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . .
527 527 528 529 534 535 535 536 536 536 537 537 539 550 563 563 564 566 568 570 575 579 581 61
6.4 6.5 6.6
Overview of diagnostic options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 6.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 6.3.2 Description of faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612 Diagnosis via PROFIBUSDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614 Diagnosis via parameter channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
A. A.1 A.2 A.3 B. B.1
Technical appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor characteristic curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Supplementary information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data) . . . . . . B.1.2 Request identifiers, response identifiers, fault numbers . . . . . . . . B.1.3 Rules for requestresponse processing . . . . . . . . . . . . . . . . . . . . . . B.1.4 Parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.5 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.6 Layout of the parameter entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.7 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.8 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.9 Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.10 Position set table (list of position set records) . . . . . . . . . . . . . . . . B.1.11 Project data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.12 Axis parameters for electric drives 1 . . . . . . . . . . . . . . . . . . . . . . . . The Command Interpreter (CI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.1 Procedure for data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.2 CI commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.3 CI objects (overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.4 Additional CI objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conversion of units of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.4.1 Establishing ready to operate" status . . . . . . . . . . . . . . . . . . . . . . B.4.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A1 A3 A5 A7 B1 B3 B3 B5 B8 B12 B13 B20 B21 B25 B29 B30 B34 B41 B55 B56 B59 B63 B71 B85 B89 B91 B92 C1
B.2
B.3 B.4
C.
VI
Intended use
The MTRDCI... motor unit is an intelligent servo motor con sisting of DC motor, planetary gear, encoder and inte grated control electronics. Positioning functions are charac terised by high torques at low speeds. The MTRDCI has been optimised for use with Festo axes (e.g.DMES... or DNCE...). This manual deals with the basic functions of the MTRDCI and the Profibus interface.
The MTRDCI and the connectable modules and cables may only be used as follows: As intended In industrial applications In perfect technical condition In their original state without unauthorised modifications (with the exception of the conversions or modifications described in the documentation supplied with the product)
Follow the safety instructions and adhere to the intended use of each subassembly and module as described in the documentation. Comply with the standards specified throughout, as well as national and local laws and technical regulations. Be mindful of the limit values of all additional components (e.g. sensors, actuators).
VII
Safety instructions
When commissioning and programming positioning systems, you must observe the safety regulations in this manual as well as those in the operating instructions for the other com ponents used. The user must make sure that nobody is in the operating range of the connected actuators or axis system. Access to the possible danger area must be prevented by suitable measures such as protective screens and warning signs.
Warning Electrical axes can move with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components. Make sure that nobody can reach into the operating range of the axes or other connected actuators and that no ob jects lie in the positioning range while the system is still connected to a power supply.
Warning Faults in parameterisation can cause injury to human beings and damage to property. Only enable the controller once the axis system has been installed and parameterised by technically qualified staff.
VIII
Target group
This manual is intended exclusively for technicians trained in control and automation technology, who have experience in installing, commissioning, programming and diagnosing posi tioning systems.
Service
Please consult your local Festo Service or write to the follow ing email address if you have any technical problems: service_international@festo.com
Scope of delivery
The following items are supplied with the MTRDCI motor unit: Motor unit with integrated controller, optionally with control panel Operating package on CDROM: User documentation (descriptions) Festo Configuration Tool with MTRDCI plugin
User documentation (quick reference guide)
Available as accessories (see Appendix A.2): Connecting cables and fieldbus plugs Programming cable User documentation in paper form
IX
Important user instructions Danger categories

This manual contains instructions on the possible dangers which can occur if the product is not used correctly. These instructions are marked Warning, Caution, etc., are printed on a shaded background and marked additionally with a pictogram. A distinction is made between the following danger warnings:
Warning ... means that failure to observe this instruction may result in serious personal injury or damage to property.
Caution ... means that failure to observe this instruction may result in personal injury or damage to property.
Note ... means that failure to observe this instruction may result in damage to property.
Electrostatically sensitive devices: Incorrect handling can result in damage to components.
Identifying special information

The following pictograms mark passages in the text which contain special information. Pictograms Information: Recommendations, tips and references to other sources of information
Accessories: Information on necessary or useful accessories
Environment: Information on the environmentfriendly use of the products
Text designations
The bullet indicates activities which may be carried out in any order.
1. Figures denote activities which must be carried out in the numerical order specified. Hyphens are used to mark general lists of information.
XI
Documentation for MTRDCI motor unit

This manual contains information on the method of operation, as well as on fitting, installing and commissioning electric positioning drives with motor unit of type MTRDCI...PB (PROFIBUS interface). Information for additional components, e.g. the reference switches, can be found in the operating instructions supplied with the product in question. Type
Operating package with brief description + manuals on CD ROM
Designation
P.BPMTRDCI
Content
Brief description: Important instructions on commissioning and preliminary information. Descriptions on CDROM: for MTRDCI... motor unit (contents as described below) Installation, commissioning and diagnosis of electric axes with MTRDCI motor unit; communication via PROFIBUS interface.
Description
Motor unit of type MTRDCI with PROFIBUS interface P.BEMTRDCIPBDE P.BEMTRDCIPBEN P.BEMTRDCIPBFR P.BEMTRDCIPBIT P.BEMTRDCIPBES P.BEMTRDCIPBSV Festo Configuration Tool help (contained in FCT software) Axes, e.g. DMES... / DNCE... Fieldbus adapter FBA... as per Accessories" section
Help system for software
Function description of the Festo Con figuration Tool (FCT) configuration soft ware. Installation and commissioning Connection and pin allocation
Operating instructions Assembly instructions
Tab. 0/1: Documentation on the MTRDCI
XII
About the version

Hardware version Firmware version Specifies the version status of the mechanical parts and elec tronics of the MTRDCI. Specifies the version status of the operating system of the MTRDCI.
You can find the version specifications as follows: Hardware version and firmware version under Device data" in the Festo Configuration Tool with active device connection to the MTRDCI. Firmware version on the control panel under [Diagnostic] [Software information] Which FCT plugin?
Firmware version
V1.00 and higher
What is new?
Supports the listed sizes of the MTRDCIPB in combina tion with the following Festo axes: Motor unitAxes MTRDCI32... DMES18; DNCE32 MTRDCI42... DMES25; DNCE32/40 MTRDCI52... DMES40; DNCE40/63 MTRDCI62... DMES63; DNCE63
MTRDCI V2.0
Tab. 0/2: Firmware versions
XIII
Productspecific terms and abbreviations

The following productspecific terms and abbreviations are used in this manual: Term/abbreviation
0signal 1signal Axis
Meaning
Means that there is a 0 V signal present at the input or output (positive logic, corresponds to LOW) Means that there is a 24 V signal present at the input or output (positive logic, corresponds to HIGH) Mechanical component of a drive which converts the motor revolutions into positioning movements of a work load. An axis (e.g. positioning servo axis DMES...) enables the work load to be mounted and guided and the reference switch to be mounted. The axis zero point AZ is defined in relation to the homing point REF (the reference" point). The software end positions and the project zero point PZ are defined in relation to the AZ. Electronics which evaluate the sensor signals, calculate movements and forces and provide the power supply for the motor via the power electronics. Complete actuator, consisting of controller, motor, measuring system and, if applicable, gear and axis. Electromagnetic compatibility Optical pulse generator (rotor position transducer on the motor shaft of the MTRDCI). The electric signals generated are sent to the controller, which then calculates the position and speed on the basis of the signals received. Commissioning software with uniform project and data management for all supported device types. The special requirements of a device type are supported with the necessary descriptions and dialogues by means of plugins. Control of forces by means of current regulation. The motor torque is controlled indirectly via the regulation of the current. All specification for forces/torques are defined in relation to the nominal motor torque (rela tive to the nominal motor current). The actual force on the axis should be determined/checked during commissioning using external measuring devices and adjusted.
Axis zero point (AZ)
Controller
Drive EMC Encoder
Festo Configuration Tool (FCT)
Force mode
XIV
Term/abbreviation
HMI Homing Homing method Homing mode Homing point (REF)
Meaning
Human Machine Interface; on the MTRDCI, this is the control panel with LCD display and 4 operating buttons. Anchors the dimensional reference system of the axis at a reference switch or fixed stop. Method for finding the homing point REF: against a fixed stop or with a reference switch. Operating mode in which homing is carried out. The homing point (the "reference" point = REF) defines a known posi tion/orientation within the positioning path of the drive. It is the basic point of reference for the dimensional reference system. The homing run defines the homing point and therefore the source of the dimensional reference system for the axis. Input Output Input and/or output Moving manually in positive or negative direction. The load voltage supplies power to the power electronics of the con troller and thus to the motor. The logic voltage supplies power to the evaluation and control logic of the controller. Integrated unit consisting of a controller, motor, measuring system and, ifapplicable, gears (e.g. motor unit type MTRDCI). Is used in the following contexts: Type of access: Record Select, Direct Mode Internal logical state of the controller: Profile Position Mode, ProfileTorque Mode (force mode), Homing Mode, DemoMode, ... Programmable logic controller; or for short: the control system. In the position mode, a target position is specified to which the motor must move. Changes in position are detected by the internal increment generator (optical encoder). With a known starting point, the actual posi tion of the work load is calculated from the gear reduction and (where applicable) the feed constant.
Homing run I O I/O Jog mode Load voltage, logicvoltage Motor unit Operation mode
PLC Position mode
XV
Term/abbreviation
Position set record
Meaning
Positioning command defined in the position set table, consisting of: The number of the position set record The absolute or relative basis of the target position Target position Positioning speed Point of reference for all positions in positioning tasks. The project zero point forms the basis for all absolute position specifications (e.g. in the position set table or with direct control via the controller interface or diagnostic interface). The point of reference for the project zero point is the axis zero point. External sensor used for ascertaining the homing point; is directly con nected to the controller. Programmable stroke limitation (point of reference = axis zero point) Software end position, positive: Max. limit position of the stroke in the positive direction; must not be exceeded during positioning. Software end position, negative: Min. limit position in the negative direction; must not be exceeded during positioning. Operation mode for setting positions by moving to the target position e.g.when creating position set records.
Project zero point (PZ)
Reference switch Software end position
Teach mode
Tab. 0/3: Index of terms and abbreviations
PROFIBUSspecific terms and abbreviations

Term/abbreviation
0x1234 or 1234h AK BCD Bus segment
Meaning
Hexadecimal numbers are marked by the prefix 0x" or by the suffix h." See response identifier and request identifier Binary coded decimal Bus cable between two terminating resistors. A bus segment contains maximum 32 stations. A PROFIBUS system consists of at least one bus segment with at least two stations. With the aid of repeaters further bus segments can be connected.
XVI
Term/abbreviation
Consistency FPC GSD/GSG file LSB MSB Octet Parameter channel (PKW) Parameter identifier (ParID) Parameter number (PNU)
Meaning
A data range which is defined as consistent is transmitted complete, i.e. in one bus cycle. Festo Parameter Channel Device master file in which all specific features of the slave are saved (e.g. number of I/Os, number of diagnostic bytes etc.). Least significant bit Most significant bit 8 bits; basic type for PROFIBUS telegrams Telegram part used for transmitting parameters (PKW = parameter identifier value) Integral part of the parameter channel (PKW) which contains the re quest and response identifiers (AK) and the parameter number (PNU). Parameters which can be transmitted via the parameter channel are addressed by their parameter number (PNU). The parameter number is an integral part of the parameter identifier (ParID) and is used for identifying or addressing the individual parameter. See parameter identifier See parameter channel See parameter number Integral part of the parameter channel in request telegrams specifying the type of request for processing of a parameter. Tool for amplifying bus signals and for coupling segments over long distances. Telegram sent from the master to the slave (request of master) Integral part of the parameter channel in response telegrams specify ing the type of response from processing of a parameter. Telegram sent from the slave to the master (slave response)
ParID PKW PNU Request identifier (AK) Repeater Request telegram Response identifier (AK) Response telegram
XVII
Term/abbreviation
Subindex (IND) User data
Meaning
Integral part of the parameter channel which addresses an element of an array parameter (subparameter number). Telegram data without protocol frame data. The length of the user data is defined in the configuration of the field bus slave.
Tab. 0/4: Index of terms and abbreviations for PROFIBUS
XVIII
System overview
Chapter 1
11
1. System overview
Contents
1.1 1.2 1.3 1.4 1.5 Positioning with electric drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Function overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Dimensional reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Festo handling and positioning profile (FHPP) . . . . . . . . . . . . . . . . . . . . . . . . 116
12
1. System overview
1.1
Positioning with electric drives Components
1 Higherorder
controller
2 Software level:
Festo Configura tion Tool
3 Drive level:
Motor unit Coupling Coupling housing Axis
Fig. 1/1: Principle of positioning system with the MTRDCI
13
1. System overview
To construct a positioning system with the MTRDCI, you need the following components: Motor unit MTRDCI Motor with controller, available in four sizes, optionally with control panel (type ...H2). By means of different gear reductions, different require ments can be fulfilled in respect of (gear) drive output torque and (gear) drive output speed (see appendix A.1). Positioning functions are characterised by high torque at low speeds. With the smaller gear reduction, the positioning speed of the axis can be increased with correspondingly reduced force. Linear or rotational axes as per catalogue To fit Festo axes e.g. type DMES... or type DNCE..., coup lings and coupling housings are available as accessories. The motor unit is connected to the axis by means of a clamp in the coupling housing. Additional motor flanges are not therefore necessary. Further information can be found in appendix A.2 and in the operating instructions for the axis. For supplying power to the MTRDCI via a power supply unit. The power supply to the electronics (the logic voltage) can (in the case of the MTRDCI32: must) be separate from the load voltage (see section 3.2). For separate power supply to the logic components. Protec tion class IP54. See sections 3.2.3 and A.2. For connection of the MTRDCI to any higherorder controller (PLC/IPC). For parameterising the MTRDCI during commissioning with the aid of FCT Sensor as described in appendix A.2. For positioning systems, Festo provides specially adapted accessories (see Festo catalogue).
Axis Coupling with coupling housing
Power supply cable
Fieldbus adapter Fieldbus cable Programming cable Reference switch
14
1. System overview
You can parameterise and commission the MTRDCI as follows: Functions

Parameter as signment Selecting the axis type and the axis para meters Specifying a gear factor (for external gears) Uploading/downloading configuration data Saving different configurations in projects Compiling a position set table with set re cord number, target position, positioning mode, positioning speed, acceleration Homing run Jog mode Teaching positions Moving in individual steps Starting and stopping positioning pro cedures while commissioning Extended test functions e.g. status displays Testing or demonstrating the position records
Directly on the control panel (HMI, only type MTRDCI...H2) Via the RS232 interface, with FCT software Via PROFIBUS (see section 5.4) HMI
x x
FCT
x x x x x
PROFIBUS
x x x (x) x
Position records
Commissioning
x x x x (x) x x
x x x x x x x x
x x x x x x x
Diagnosis/Service Reading and displaying diagnostic data
The MTRDCI can also be parameterised and commissioned with the Command Interpreter via the RS232 interface (see section B.2). The CI commands must only be operated by experienced users.
15
1. System overview
1.2
Function overview
3
1 Motor controller 2 Regulator 3 Nominal

value generator
5 P 4 PI
6 P
4 Position
controller
5 Speed regulator 6 Current regulator 7 Output stage 8 Signal converter

1
Fig. 1/2: Simplified diagram of the cascade controller
Profile position mode
Position mode In the position mode, a target position is specified to which the motor must move. Changes in position are detected by the internal increment generator (optical encoder). With a known starting point, the actual position of the work load is calculated from the gear reduction and (where applicable) the feed constant. The positioning tasks are specified as fol lows: Via Record Select: in max. 31 position set records (+ hom ing) with separately adjustable speeds, accelerations and decelerations. Via Direct tasking: the positioning task is transmitted directly in the I/O telegram via the fieldbus with the ap propriate nominal values.
If the logic voltage fails, the actual position cannot be saved. Even when automaticlocking axes are used, homing must always be carried out again. 16
1. System overview
Profile torque mode
Force mode: Control of forces by means of current regulation. With force mode, you enter a nominal value relative to the MTRDCI s nominal motor current (see section 5.8.6). Positioning run to anchor the dimensional reference system.
Homing mode
MTRDCI...H2
For commissioning, testing or demonstration the following functions are also available on the control panel of the MTRDCI...H2: Positioning run for defining the target position of a posi tion set (Teach mode) Positioning run to test all position set records in the posi tion set table (Demo posit. tab.) Positioning run for testing a certain position set record in the position set table (Move posit. set.)
17
1. System overview
Memory types
The MTRDCI has three types of memory: FLASH The FLASH memory stores the default settings and the firm ware. The data from the FLASH memory are loaded when the device is switched on the first time or when the EEPROM has been deleted. The volatile RAM memory stores the parameters which are currently being used and which can be modified using the control panel or FCT software. When the modifications are saved, they are transferred to the EEPROM. The nonvolatile EEPROM stores the parameters which are loaded after the device has been switched on. The para meters in the EEPROM are retained even after the power sup ply has been switched off.
RAM
EEPROM
Note In order to restore the default settings you can, if necess ary, delete the EEPROM via the serial interface with the CI command 20F1h (Data memory control) (see chapter B.2). Userspecific settings will then be lost.
Use CI commands only if you already have experience of
using Service Data Objects.

If necessary consult Festo.
The FLASH technology enables firmware updates to be loaded into the controller via the RS232 interface. If necess ary consult your local Festo Service.
18
1. System overview
Operational safety
An extensive system of sensors and monitoring functions ensures operational safety: i2tmonitoring Temperature monitoring (measuring the motor tempera ture and the power output stage temperature) Current monitoring Voltage monitoring Detecting faults in the internal voltage supply Type MTRDCI62...: detecting overvoltages in the intermediate circuit; brake chopper integrated.
Position lag error monitoring Software end position detection
Warning For the purposes of your EMERGENCY STOP procedures, check what measures are necessary for switching your system into a safe state in the event of an EMERGENCY STOP.
If an EMERGENCY STOP circuit is required for your
application, use additional, separate safety limit switches (e.g. as normally closed seriesconnected switches): For cancelling the ENABLE signal at the control inter face Or for switching off the load voltage
By the arrangement of the limit switches and, if necess
ary, by additional mechanical stops, make sure that the axis always lies within the permitted positioning range.
19
1. System overview
1.3
Dimensional reference system

The homing run determines the position of the homing point (reference point = REF). When homing is concluded, the axis stands at the axis zero point AZ. The homing method defines how the homing point REF is determined. anchors the dimensional reference system at a reference switch or fixed stop, depending on the homing method chosen. is a point at a defined distance from the homing point REF (this distance is the axis zero point offset). The software end positions and the project zero point are defined in relation to the axis zero point. limit the permitted positioning range (the effective stroke). If a positioning commands target position lies outside the soft ware end positions, the positioning command will not be executed and a fault status will be set. is a point of reference within the effective stroke which the user can select, and to which both the actual position and the target positions in the position set table refer. The project zero point is a point at a defined distance from the axis zero point AZ (this distance is the project zero point offset). The offset of the project zero point cannot be ad justed via the control panel.
Homing
Homing method Homing point REF
Axis zero point AZ
Software end positions
Project zero point PZ
110
1. System overview
Dimensional reference system: points of reference and positioning range

Linear axis with the homing method: Fixedstop, negative
e
Rotational axis with the homing method: Reference switch, negative
REF AZ PZ
Homing point (or reference point): point determined during the homing run: reference switch or stop. Axis zero point: point of reference for the project zero point and the software end positions. Project zero point: point of reference (= zero point) for actual position and absolute posi tions in the position set table. Axis zero point offset: distance between axis zero point AZ and homing point REF Software end position offsets: limits for the permitted positioning range (= effective stroke) Project zero point offset: distance from AZ Effective stroke: permitted positioning range Nominal stroke of the axis used
a b, c d e f
Tab. 1/5: Dimensional reference system
111
1. System overview
Plus/minus signs and directions

All offsets and position values are vectors (with a given alge braic sign, + or ). The active direction can be reversed on the control panel (see 5.2.1) or via FCT. This can be useful when using angular gear units or toothed belt drives. Homing must be carried out again if the direction is reversed. The direction in which the work load moves depends on the gearing, the spindle type (left/rightrotating), the algebraic signs on the positioning specifications, and the set active direction.
+
1 Factory setting for active direction 2 Reversal of direction

Fig. 1/3: Active direction (using the example of MTRDCI + DMES, axial gearing)
112
1. System overview
Units of measurement
All values are entered and displayed according to the units of measurement set: Units of measurement
Linear axis Metric Inches 1) Increments Rotational axis Degrees Metric units, e.g. mm, mm/s, mm/s2 Imperial measuring units e.g.inch, inch/s, inch/s2 Incrementbased units, e.g.inc, inc/s, inc/s2 Angle measurement 360 = 1 revolution e.g. deg, deg/s, deg/s2 Control panel FCT x x x x x PROFIBUS x
Revolutions 2) Number of revolutions e.g. rev, rev/min, rev/min2 Increments

1) 2)
Incrementbased units, e.g.inc, inc/s, inc/s2
Only with FCT when setting up a project. Setting only with the control panel [Settings] [Axis type] [Rotationaxis]
The setting for the units of measurement influences only the display. In the controller all parameters are always saved in increment specifications (inc, inc/s, inc/s2 ...) and not con verted until they are written or read. Measurements transmitted via PROFIBUS or RS232 are based on increments (for conversion see appendix B.3).
113
1. System overview
1.4
Homing methods
The following diagrams show the MTRDCI + DMES with axial gearing and with the factory setting for active direction. Fixed stop" homing method
Negative fixed stop (near motor)
Positive fixed stop (remote from motor)
1 Slide moves at search speed vsw to the mechanical fixed stop. 2 Slide moves at speed vs0 from the homing point REF to the axis zero point AZ.
Tab. 1/6: Fixed stop"homing method
114
1. System overview
Reference switch" homing method

Reference switch, negative (near motor) = factory setting
Reference switch, positive (remote from motor)
1 Slide moves at search speed vsw to the reference switch and reverses in order to ascertain the homing point. 2 It then moves at speed vs0 from the homing point REF to the axis zero point AZ.
Tab. 1/7: "Reference switch"homing method
115
1. System overview
1.5
Festo handling and positioning profile (FHPP)

Tailored to handling and positioning tasks, Festo has devel oped an optimised data profile, known as the Festo Handling and Positioning Profile (FHPP)". The FHPP enables uniform control and programming for Festos various fieldbus systems and controllers. In addition it defines the following for the user: The operation modes The I/O data structure The parameter objects The sequence control
...
Fieldbus communication Record Select 1 > 2 3 ... n
Mode
Direct mode
Position Velocity
Parameter channel Free access to all parameters for reading and writing
...
Fig. 1/4: The FHPP principle Detailed information on the FHPP can be found in section 5.7.
116
1. System overview
Control and status bytes Communication via the fieldbus takes place via 8 control and status bytes. Functions and status messages required during operation can be controlled directly mostly with singlebit operations.
Record Select The Record Select mode can be used to execute position set records saved in the MTRDCI. For this purpose, up to 31 position sets are parameterised during commissioning either using the Festo Configuration Tool or taught via the control panel. Direct mode In the Direct mode the important positioning data are trans ferred directly via the control bytes. The controller can determine and specify target positions and speeds according to the current operating status, during running time. No limitation is imposed by the number of saved position set records. Alternatively, a torque (or force) can be specified relative to the nominal motor current, which the MTRDCI needs to apply.
Festo Parameter Channel (FPC) The parameter channel lets the higherorder controller access all parameter values of the controller via the fieldbus. A further 8 control and status bytes are used for this purpose.
117
1. System overview
118
Mounting
Chapter 2
21
2. Mounting
Contents
2.1 2.2 2.3 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensions of the motor unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mounting the electric axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 24 25
22
2. Mounting
2.1
General information
Warning Danger of electric shock, short circuiting or unexpected drive motion
Always switch off all power supply before carrying out
mounting, installation and maintenance work.
Note Handle all modules and components with great care. Note especially the following: Screw connections must be fitted free of distortion and mechanical tension. Screws must be fitted accurately (otherwise threads will be damaged). The specified torques must be observed. The modules must not be offset from one another. Contact surfaces must be clean (avoid contact faults).
23
2. Mounting
2.2
13
Dimensions of the motor unit
T1
D2
D3
D1
H0 H2 H1
5 L1
L5 L2
L4 L3
D4
B1 B2
Sizes [mm]
Gear reduction Diameter of flange/shaft D D1 D2 D3 D4 H0 H1 H2 L1 L2 L3 L4 B1 B2 T1
32
G7/G14 21.5 h8 6 h7
42
G7 42 42 25 8 g10 0.1 h8 h7 G14
52
G7 52 52 32 12 g10 0.1 h8 h7 G14
62
G7/G14/G22 62 62 40 14 g10 0.1 j7 h7
Height
65.3 0.4 70.8 0.4 21.6 0.15 26.5 0.6 41.5 0.3 54.5 0.4 175.51 18.7 0.6 2.5 0.3 33.8 0.3 46.3 0.4 6 176 1 33.3 1 25 1 2 0.2 44.8 0.4 53.3 0.4 M3: 7 / M4: 10 176 1 46.3 1 25 1 2 0.2
94.8 0.4 37 0.9 76.5 0.4 194 39 33 3 1 1 1 0.3 194 53 33 3 1 1 1 0.3
128 0.5 60.8 0.35 128 0.5 270 47 39 5 1 1 1 0.3
Length
Width Depth
B T
63.8 0.4 69.5 0.4 10
105.1 0.4 105.1 0.4 10
Tab. 2/1: Dimensions of the motor unit
24
2. Mounting
2.3
Mounting the electric axes

When mounting the electric axes, read and keep in mind the documentation for the axis used and the additional compo nents.
Warning If an axis is mounted in a sloping or vertical position, falling work loads could cause injuries.
Use the motor unit preferably with selflocking or self
braking spindle drives. This prevents the work load sliding down suddenly if there is a power failure.
With DMES...: check whether additional external safety
measures against spindle nut fracture are necessary (e.g. toothed latches or moving bolts). Make sure that:

The drive is mounted securely and is correctly aligned The working space in which the axis moves is of sufficient size for operation with a work load The work load does not collide with any component of the drive when the slide moves into the end position Make sure that you observe the maximum safe values for the following variables. The point of reference for forces and torques is the centre of the shaft (L3 see Tab. 2/1).
25
2. Mounting
L3 L3 x 0.5
Fx
Fy
Fig. 2/1: Forces and torques Forces and torques

Type MTRDCI...G7 1stage Radial shaft load Axial shaft load Maximum safe shaft output torque for the gear 1) Type MTRDCI...G14 /G22 2stage Radial shaft load Axial shaft load Maximum safe shaft output torque for the gear 1)
1)
32
42
52
62
Fy [N] Fx [N] Mx [Nm]
40 10 0.4
160 50 0.8
200 60 2.0
240 50 4
Fy [N] Fx [N] Mx [Nm]
70 20 1.0
230 80 7.5
320 100 12.0
360 70 25 2)
With operating factor cb=1.0 (3 hours operation daily, no shocks, direction of rotation constant). The gear output torque or the motor unit is usually much lower, see Technical appendix A, Mech anical data. 2) MTRDCI62...G22: In the startup phase, torque peaks up to 37Nm are possible at 20 A peak current.
Tab. 2/2: Safe load for the gear shaft
26
2. Mounting
Note Motor unit MTRDCI62...G22 can generate torque peaks of up to 37 Nm at a peak current of 20 A in the startup phase.
Make sure by calculating the dynamic loading that
the maximum safe shaft output torque for the gear is not exceeded even in the startup phase (e.g. by reduc ing the load). Use the thread on the front of the gear (see Fig. 2/2) when mounting the MTRDCI to a mechanical drive fixture (machine frame).
In order to minimise the shaft offset: position the axis with the aid of the centring diameter (D1 or D3, see Tab. 2/1) relative to the rotary axis of the mechanism to be driven. Fasten the motor unit with 4 screws and tighten the 4screws with the specified tightening torque.
Motor unit type MTRDCI32 has 6 threads for different mounting variants (axial, parallel). 4 screws only are used in each case. Size Thread / threaddepth
M3 M3 M4 MTRDCI52... MTRDCI62... M5 M5 6 mm 7 mm 10 mm 10 mm 10 mm
Tightening torque
MTRDCI32... MTRDCI42...
1.2 Nm 1.2 Nm 2.9 Nm 5.9 Nm 5.9 Nm
Tab. 2/3: Tightening torques
27
2. Mounting
To mount Festo axes e.g. type DMES or type DNCE, coup lings and coupling housings are available as accessories. The motor unit is connected to the axis by means of a clamp in the coupling housing. Additional motor flanges are not therefore necessary. Further information can be found in appendix A.2 and in the operating instructions for the axis.
MTRDCI32...
25
MTRDCI42...
28 32
dia. 32 4x 90 dia. 36 dia. 32 4x 90 M 4 x10(4x) 50 M 3 x7 (4x)
M3 x6 (6)
25
MTRDCI52...
30
MTRDCI62...
45
4x 90
dia. 40
dia. 50
4X 90
M 5 x10(4X)
M 5 x10(4x)
Fig. 2/2: Mounting the drive by means of front threads (direct fastening)
28
Installation
Chapter 3
31
3. Installation
Contents
3.1 3.2 Overview of installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Power supply requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Shared supply with load and logic voltage (not for type MTRDCI32) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.3 Separate supply with load and logic voltage . . . . . . . . . . . . . . . . . . Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input for external reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting the higherorder controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.1 Fieldbus cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.2 Fieldbus baud rate and fieldbus length . . . . . . . . . . . . . . . . . . . . . . 3.5.3 Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 36 36 38 39 310 312 314 315 316 317
3.3 3.4 3.5
32
3. Installation
3.1
Overview of installation
Warning Danger of electric shock, short circuiting or unexpected drive motion
Always switch off all power supply before carrying out
mounting, installation and maintenance work.
Caution Earth loops or ground loops could result in EMC protective measures becoming ineffective, with high compensating currents permanently damaging the motor unit.
Connect only one cable screening to functional earth FE
(preferably the screen for the power supply cable).

Do not link the GND terminal to any housing, screen or
functional earth FE !
Caution Incorrectly preassembled cables could damage the elec tronic components and trigger off unexpected movements of the motor.
Use only the cables listed as accessories for connecting
the electric components of the system (see Tab. 3/2). Only in this way can you be sure that the system will function correctly.
33
3. Installation
1 Parameter
assignment
1 2
2 Reference switch 3 PLC controller 4 Power supply 3
Fig. 3/1: Connections on the MTRDCI Connection on the MTRDCI

1 2 3 4 Parameter assign ment Reference switch PLC controller Power supply M8x1, 4pin Socket M8x1, 3pin Socket SubD, 9pin Socket SubD, 2pin Plug
Description
RS232 interface for parameterising, commis sioning and diagnosing with FCT Sensor input for N.O. (normally open) switch type in PNP configuration Interface for connecting to a PLC controller Connection with two highcurrent contacts
Tab. 3/1: Description of the connections If nonassigned plug connectors are touched, there is a danger that damage may occur to the MTRDCI or to other parts of the system as a result of ESD (electrostatic dis charge). Place protective caps on unused terminals in order to prevent such discharges.
34
3. Installation
The plug connectors on the Festo cables listed in the follow ing are of protection class IP54. Connection
Parameter assignment Reference switch Power supply PLC controller
Cable
Programming cable Extension cable Supply cable Fieldbus adapter FBA... forconnecting the fieldbus cable
Designation
KDIMCM8SUB92,5 KM8M8GSGD... KPWRMC1SUB9HC... FBAPBSUB93XM12
Length [m]
2.5 (max. 2.5) 0.5 / 1 / 2 / 5 2.5 / 5 / 10 (max. 10)
Tab. 3/2: Overview of cables (accessories) To maintain the IP protection class:
Seal unused M8 connections with type ISKM8 protective caps (accessories) Tighten the union nuts/locking screws on the plugs by hand (torques: see documentation for cables and plugs)
Caution Long lines reduce immunity to interference (EMC).

Do not exceed the specified maximum cable lengths.
Note Lay all moveable motor and sensor cables free of bends and free of mechanical stress, in a drag chain if ne cessary.
35
3. Installation
3.2 3.2.1
Power supply Power supply requirements
Warning To provide the electric power supply, use only PELV circuits as per IEC/DIN EN 602041 (Protective ExtraLow Voltage = PELV). Take into account also the general requirements for PELV circuits as per IEC/DIN EN602041.
Use only power sources which provide reliable electrical
isolation of the operating voltage as per IEC/ DINEN602041. The use of PELV power units guarantees protection against electric shock (protection against direct and indirect contact) in accordance with IEC/DIN EN 602041 (Electrical Equipment of Machines, General Requirements).
Caution Device damage from overvoltage The voltage inputs of the motor unit have no internal protection against overvoltage.
Make sure that the permitted voltage tolerance is not
exceeded. The tolerance must also be observed directly at the operating voltage connections on the MTRDCI (see appendix A.1).
Install external fuses (see Tab. 3/3).
36
3. Installation
Load voltage
The power electronics and thereby the motor are supplied with DC voltage via the power supply connection. } section 3.2.2 The logic components are either also supplied via the power supply connection (except for the MTRDCI32), or are sup plied separately from the load voltage via the fieldbus adapter FBA } section 3.2.3 The permitted voltages and currents can be found in appen dix A.1.
Logic voltage
Recommendation For the load voltage supply, use a stabilised power supply unit with high reserve capacity and external fuses.
Power supply units and fuses: MTR32

Recommended power unit (stabilised) External fuse, secondary 24 VDC/3 A
MTR42
24 VDC/6 A
MTR52
24 VDC/10 A
MTR62
48 VDC/20 A
5 A slowblowing
7 A slowblowing
10 A slowblowing 25 A slowblowing
Tab. 3/3: Power supply units (for load voltage) and fuses
37
3. Installation
3.2.2
Shared supply with load and logic voltage (not for type MTRDCI32)
A1
A2
A1
A2
Fig. 3/2: Connection example power supply with external fuse
Use power cable KPWRMC1SUB9HC... (max. length 10 m). Connect only one cable screening to functional earth FE (preferably the screen for the power supply cable). Do not link the GND terminal to any housing, screen or functional earth FE! Colour 1)
Black (1)
Plug
Pin
A1
Description
MTRDCI32/42/52: MTRDCI62: MTRDCI32/42/52/62: POWER +24 VDC POWER +48 VDC POWER GND 2)
A2 A1 A2
Black (2)
1) Cable colours with power cable type KPWRMC1SUB9HC... 2) Do not link the GND terminal to any housing, screen or functional earth (FE)!
Tab. 3/4: Connecting the power supply to the motor unit
38
3. Installation
3.2.3
Separate supply with load and logic voltage

With separate supply, the load voltage can be switched off (e.g. in the case of EMERGENCYSTOP), with logic voltage continuing to be applied and the controller remaining func tional, retaining its reference position. Supply with load voltage is as above (see 3.2.2). The logic voltage, however, is supplied via the fieldbus adapter FBA... (see Accessories chapter) :
1 Fieldbus
connection
2 Continuation of
the fieldbus or terminating resistor
3 Supply of
separate logic voltage
2 3
For the pin allocation and connection specification, see the installation manual of the fieldbus adapter. If connection 3 is not used: apply a protective cap to main tain the IP protection class (see A.2).
Switchon sequence
Do not switch on the logic voltage after the load voltage, since this may cause the MTRDCI to switch off and back on again (= reset). If the logic voltage fails, the controller will switch off. For MTRDCI42/52/62: if the load voltage is still active, itwill switch back on but will lose its reference position (=reset).
Logic voltage failure
39
3. Installation
3.3
Serial interface
Serial interface for parameter assignment, commissioning and diagnosis For connecting a PC to the MTRDCI, use the following cable only: Programming cable KDIMCM8SUB92,5
1. If necessary, remove the protective cap from the serial interface of the MTRDCI. 2. Connect the following terminals using the programming cable: The connection socket on the MTRDCI A serial interface COMx on the diagnostic PC Description
1 2 3 4 GND TXD RXD Ground RS232 transmitting cable 1) RS232 receiving cable 1) Reserved for service staff do not connect!
M8x1 socket
1
1)
The levels correspond to the RS232 standard and enable a data transmission rate of 9600 baud
Tab. 3/5: Pin allocation for the serial interface on the MTR DCI
310
3. Installation
Information on commissioning and parameterising the MTRDCI via the serial interface can be found in chapter 5.3 and in the help system for the FCT software package. Information on transmitting CI commands via the serial interface can be found in appendix B.2.2.
Note The RS232 interface is not electrically isolated. It is not suitable for permanent connection to PC systems, nor as a control interface.
Use this terminal only for commissioning. Disconnect the programming cable during continuous
operation.
Seal the terminal with the protective cap supplied
(typeISKM8).
311
3. Installation
3.4
Input for external reference switch

If you are not using a reference switch:
Seal the terminal with the protective cap supplied (type ISKM8).
When selecting the reference switch:
For the reference switch, use the correct normallyopen" switch type in PNP configuration. Use a reference switch with screw locking (external thread M8x1) at the end of the cable, or use the extension cable type KM8M8... with screw locking as an adapter. When selecting the sensor, note that the accuracy of the switchover point of the sensor determines the accuracy of the homing (reference) point.
Suitable proximity switches from Festo can be found in the appendix A.2 Accessories".
M8x1 socket
1
Description
+24 VDC + 24 VDC voltage output (onlyfor reference switch) Reference switch contact Ground
4 1 4 3 3
REF GND
Tab. 3/6: REF connection (reference switch) on the MTRDCI The power supply for the reference switch (24 VDC / Ground) is provided via pin 1/3.
312
3. Installation
Caution Damage to the device The 24 VDC voltage on pin 1 does not have any special protection against overload; the voltage is taken from the main supply with protection against ESD and incorrect polarity.
Use this connection only for the reference switch
(sensorsupply). Use of this connection as a power supply for other devices is not safe. The input for REF sensor signal complies in its electrical properties with the input specifications in the appendix Technical data".
313
3. Installation
3.5
Connecting the higherorder controller

Communication with the higherorder controller occurs via the control connection on the MTRDCI... . This connection is used for infeed and continuation of the fieldbus line.
Connection
5 1
Pin
1 2
Designation
Screen/housing Logic_GND 1) RxD/TxDP CNTRP DGND VP Logic_POWER 1) RxD/TxDN n.c.
Function
Connection to functional earth 2) Earth (GROUND) for logic voltage Receive/transmit data P Control signal repeater Data reference potential (M5V) Supply voltage positive (P5V) Logic voltage 24 VDC Receive/transmit data N Not connected
3 4 5 6 7 8 9
1) Only with separate logic voltage supply, see section 3.2. 2) Connect only one cable screening to functional earth FE (preferably the screen for the power supply cable).
Tab. 3/7: I/F" connection (controller connection)
Caution Device damage with other Profibus devices When the logic voltage is supplied separately via the field bus adapter FBA... (see Accessories chapter), there is a voltage of 24 VDC on pin 7.
Check whether this endangers other fieldbus stations. Follow the pin allocation set out in the installation man
ual of the fieldbus adapter.
314
3. Installation
3.5.1
Fieldbus cable
Note If installation has not been carried out correctly and if high baud rates are used, data transmission errors may occur as a result of signal reflections and attenuations. Causes of the transmission faults may be: Missing or incorrect terminating resistor Incorrect screening/shield connection Branches Transmission over long distances Unsuitable cables Observe the cable specifications. Refer to your controller manual for information on the type of cable to be used.
Note If the MTRDCI is mounted onto a moving part of a ma chine, the fieldbus cable on the moving part must be pro vided with strain relief. Please observe also the relevant regulations in EN60204 part 1. Use a twisted, screened 2core cable for the fieldbus line in accordance with PROFIBUS specifications (EN 50170, cable type A): Surge impedance: Capacitance per unit length: Loop resistance: Core diameter: Core crosssection: Bus length 135165 ohm (320 MHz) < 30 nF/km < 110 Ohm/km > 0.64 mm > 0.34 mm2
Exact specifications on the bus length can be found in the next section and in the manuals for your control system.
315
3. Installation
3.5.2
Fieldbus baud rate and fieldbus length

Note The maximum permitted fieldbus segment lengths depend on the baud rate used.
Adhere to the maximum permitted segment length
(cable length without repeater) if you connect the MTRDCI to a fieldbus segment.
Avoid branch lines.
The baud rate is defined by the master and is automatically detected by the MTRDCI...PB. Baud rate
9,6; 19,2; 45,45; 93,75 kBaud 187.5 kBaud 500 kBaud 1500 kBaud 1.5 ... 12 MBaud
Maximum segment length

1200 m 1000 m 400 m 200 m 100 m
Tab. 3/8: Maximum fieldbus segment lengths for PROFIBUS DP in relation to the baud rate
316
3. Installation
3.5.3
Bus termination
Note If the MTRDCI...PB is at the beginning or end of the field bus segment, a bus termination will be required.
Fit a bus termination resistor to both ends of a bus seg
ment. If the fieldbus adapter FBA... is used (see chapter A.2 Accessories"), a conventional terminating resistor can be connected to the connection for fieldbus continuation 2.
1 1 Fieldbus connection
2 3
2 Continuation of the fieldbus or terminating resistor 3 Supply of separate logic voltage

For the pin allocation and connection specification, see the installation manual of the fieldbus adapter.
317
3. Installation
318
The control panel (MTRDCI...H2)
Chapter 4
41
4. The control panel (type MTRDCI...H2)
Contents
4.1 4.2 4.3 4.4 4.5 4.6 Composition and function of the control panel . . . . . . . . . . . . . . . . . . . . . . . 44 The menu system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 4.2.1 Accessing the main menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 [Diagnostic] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 [Settings] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412 [Positioning] menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418 Menu command [HMI control] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
42
On the control panel, motor unit type MTRDCI...H2 offers all the functions necessary for commissioning, programming and diagnosis. An overview of the button functions and menu functions can be found in this chapter. Commissioning with the control panel is described starting from section 5.2. With the MTRDCI...R2 (without control panel) you can commission the MTRDCI via the RS232 interface (with FCT software). Instructions on this can be found in section 5.3.
Caution Simultaneous access of control functions and operating functions by the FCT and the control panel can cause faults.
Make sure that FCT and the control panel are not in use
at the same time.
Note If necessary, remove the protective film from the display before commissioning.
43
4.1
Composition and function of the control panel

The control panel enables commissioning directly on the MTRDCI with the following functions: Parameter assignment and referencing the axis (homing) Entering position set records Test functions e.g. for moving to individual position set records
1 LCD display 2 Operating

buttons
3 LEDs
Power (green) I/F (green/red) Error (red) Fig. 4/1: Control panel of the MTRDCI...H2 With the 4 buttons on the control panel you can carry out all operating functions and settings by means of menus. The graphical LCD display shows all texts in English. The display can be rotated in 90 steps; see menu command [LCD adjust ment]. The operating statuses are indicated visually by 3LEDs (seealso section 6.2). Power: I/F: Error: Power supply Communication status (red), positioning status (green) Faults
44
Function
MENU ESC Activates the main menu from the status display. Rejects the current entry and switches back in stages to the higher menu level or status display. Interrupts the current positioning procedure (> Error mode; confirm with <Enter>, then automatic return to the status display). Only when HMI = on! Confirms the current selection or entry.
Button
Menu
EMERG.STOP
OK SAVE START/STOP
Enter
Saves parameter settings permanently in the EEPROM. Starts or stops a positioning pro cedure (only in Demo mode). After stop: display of current posi tion; use <Menu> to return to the higher menu level. Scrolls within a menu level in order to select a menu command.
v
< >
EDIT
Sets parameters.
Tab. 4/1: Button function (overview)
45
4.2 4.2.1
The menu system Accessing the main menu

When the power supply is switched on, the MTRDCI auto matically carries out an internal check. At first the display briefly shows the Festo logo, then changes to the status dis play. The status display shows the following information: The type designation of your MTRDCI The current position of the drive xa = .... The current setting for device control (HMI = Human Machine Interface) The Profibus address of the MTRDCI (PB:...)
MTRDCI... Xa = 0.00 mm
HMI:off <Menu> PB:none
} Diagnostic
Positioning Settings V ESC <Menu> <> OK <Enter>
The main menu is accessed from the status display using the <Menu> button. The current button function will be displayed in the lower lines of the LCD display. Function Button
v
} HMI control
LCD adjustment v <> ESC <Menu> OK <Enter>
< >
You can use the arrow keys on the control panel to select a menu item from the list. The current selection is marked with an arrow (} Diagnos tic). Select the menu item V in order to display further menu items (HMI control...). With <Menu> you can interrupt the current entry and return in stages to the higher menu level or status display. With<Enter> you can confirm the current selection or entry.
ESC
Menu
OK
Enter
Tab. 4/2: Button function (menu selection)
46
Menu command
} Diagnostic } Pos. set table } Axis parameter } System paramet } PROFIBUS Diag } SW information } Positioning 1) 2) } Move posit set } Demo posit tab } Homing } Settings 1) 2) } Axis type yp
Description
Displays the system data and the currently effective settings (see section4.3) Displays the position set table Displays axis parameters and data Displays system parameters and system data Displays PROFIBUS diagnosis data Displays the operating system version (firmware) Homing and positioning runs for testing the position set records (see section 4.5) Starts the positioning run for "position set record" Starts the positioning run for "position set table" Starts the homing run Selection of the drive, parameter assignment, programming the position set records... (see section 4.4) } Type DMES... } Type DNCE... } Rotation drive } User config } Zero point 3) } Abs.min.pos 3) } Abs.max.pos 3) } Save... Servo drive, type DMES... Electrical drive, type DNCE... Rotational axis with stop Any linear drive Offset of axis zero point Stroke limitation: software end position, negative Stroke limitation: software end position, positive Saves parameters in EEPROM Selects referencing (homing) method (stop, software limit switch...) Positioning speed for searching for the homing point Positioning speed for moving to the axis zero point Saves parameters in EEPROM Number of the position set record (0...31) Absolute or relative positioning Target position of the position set record Positioning speed of the position set record Saves parameters in EEPROM
} Axis p parameter
} Homing g paramet
} Homing method } Velocity v_sw } Velocity v_s0 } Save...
} Position set
} Position nr. } Pos set mode } Position 3) } Velocity } Save...
} Password edit } PB Parameter } }

1) 2)
Sets up a local password with 3 digits for the control panel (see section 4.4). Sets the PROFIBUS address Presetting for device control via the control panel (see section 4.6) Rotates the display in steps of 90
HMI control 1) LCD adjustment
3) Teach mode May be passwordprotected Control interface must be deactivated; see [HMI control]:HMI = on
Tab. 4/3: Menu commands (overview)
47
4.3
[Diagnostic] menu
In order to display the system data and the currently effective settings:
} Diagnostic
1. Use the arrow keys to select [Diagnostic] from the main menu and press the <Enter> button. 2. Select one of the following menu commands: Position set table [Pos. set table] Axis parameters [Axis parameter] System parameters [System paramet.] PROFIBUS diagnostic data [PROFIBUS Diag] Firmware version for the MTRDCI [SW information] Button
You can scroll through the diagnos tic data with the arrow keys. With <Menu> you can return to the higher menu level.
v V
} Pos.set table
Axis parameter System paramet. PROFIBUS Diag SW information
Function
< >
ESC
Menu
48
[Pos. set table]
Menu command for displaying the following entries from the position set table: [Pos. set table]
Nr a/r Pos Vel
Description
Number of the position record (0...31) Absolute (a) or relative (r) positioning Target position Positioning speed
[Axis parameter]
Menu command for displaying the following axis parameters and data: [Axis param] 1)
v max x min x max x0 feed 2)
1) 2)
Description
Maximum positioning speed Stroke limitation: software end position, negative Stroke limitation: software end position, positive Axis zero point offset Feed constant
Unit of measurement depends on the measuring system set Not for axis type Rotation drive"
49
[System paramet.]
Menu command for displaying the following system para meters and data: [System param]
V power I max I act Temp Cycle Ref. switch Mode Hom.meth. [V] [A] [A] [C]
Description
Supply voltage Maximum current Current current Operating temperature
Number of positioning movements on/off e.g. mm bl.pos bl.neg sw.pos sw.neg Signal at reference switch input System of measurement units Fixed stop in positive direction Fixed stop in negative direction Reference switch in positive direction Reference switch in negative direction Gear reduction ratio of the MTRDCI
Gear
e.g. 6.75
410
[PROFIBUS Diag]
Menu command for displaying the following Profibus diag nostic data: [Profibus diag]
ConState
Description
Configuration status. WaitPrm: Waiting for parameter assignment WaitCfg: Waiting for configuration DataEx: Data exchange Current baud rate Address of the master Address of the MTRDCI...PB Current bus configuration. invalid: No configuration or incorrect configuration by master (e.g. by invalid GSD file) FHPP Std.: Control via control bytes FHPP FPC: Control via control bytes, parameter assign ment via the parameter channel Devicerelated diagnosis. ON: If there is a fault, request for diagnosis will be sent. OFF: If there is a fault, request for diagnosis will not be sent.
Baud rate MasterAdr SlaveAdr ActCFG
GbDiagnosis
411
4.4
[Settings] menu
Warning Injury to persons and damage to property from collisions With all positioning procedures, the motor turns and the connected axis moves.
Make sure that:
Nobody can place their hands into the positioning range There are no objects within the positioning range For parameterising the axis system and programming the position set records:
} Settings
1. Use the arrow keys to select the [Settings] item from the main menu and press the <Enter> button. 2. Select the following: The axis type [Axis type] The axis parameters [Axis param] The homing parameters [Homing param] The position set table [Position set] The password setting [Password] The PROFIBUS address [PB parameter]
} Axis type
Axis parameter Homing paramet. Position set Password edit PB Parameter
Note The parameters you have set take effect immediately upon confirmation with OK <ENTER>.
Save the parameter settings permanently in EEPROM
with the [Save] menu command. Only then will the set tings be retained even if the power supply is switched off or if there is a power failure.
412
[Axis type]
Type of axis driven by the MTRDCI (for parameters see section 5.2.1) [Axis type]
[Type DMES...] [Type DNCE...] [Rotation drive] [User config] [Save...]
Description
Festo servo axis Festo electrical drive Any rotational axis Any linear axis Save parameters in EEPROM
[Axis parameter]
Teach mode for setting the axis parameters [Axis param]

[Zero point] [Abs.min.pos] [Abs.max.pos] [Save...]
Description
Offset of the axis zero point Stroke limitation: software limit switch, negative Stroke limitation: software limit switch, positive Save parameters in EEPROM
413
[Homing paramet.]
Sets the homing method and the speeds during the homing run. The maximum speed during homing is limited to half the maximum positioning speed v_max (for v_max see [Diagnostic] [Axis param]). [Hom. param]
[Homing method]
Param.
sw.neg (switch negative) sw.pos (switch positive) bl.neg (block negative) bl.pos (block positive)
Description
Homing to reference switch, negative = factory setting Homing to reference switch, positive Homing to fixed stop, negative Homing to fixed stop, positive Speed for searching for the homing point Speed for moving to the axis zero point
[Velocity v_sw] [Velocity v_s0] [Save...]
v_sw v_s0
Save parameters in EEPROM
414
[Position set]
Teach mode for programming the position set table [Position set]
[Position nr] [Pos set mode]
Param.
Nr
Description
Number of the position set record [0...31]
[absolute/ Positioning mode relative] absolute = absolute position specification, related to the pro ject zero point relative = relative position specification, related to the current position xt Target position in the selected system of measurement e.g.[mm] Positioning speed in the selected system of measurement e.g.[mm/s]
[Position]
[Velocity]
[Save...]
Save parameters in EEPROM
[PB parameter]
Sets the PROFIBUS address of the MTRDCI...PB [PB parameter]

[ProfibusADR]
Description
PROFIBUS address of the MTRDCI...PB
Note The parameters you have set take effect immediately upon confirmation with OK <ENTER>.
Save the parameter settings permanently in EEPROM
with the [Save] menu command. Only then will the set tings be retained even if the power supply is switched off or if there is a power failure.
415
Setting a password
In order to prevent unauthorised or unintentional overwriting or modification of parameters in the device, access via the control panel can be protected by a local" password. No password has been preset at the factory (presetting = 000). [Password]
New Password: [?xx] = ESC <Menu> OK <Enter>
Select [Settings] [Password] in the menu: Enter a password with 3 digits. The current entry position is marked with a question mark. 1. Use the arrow buttons to select a digit 0...9. 2. Confirm your entry with <Enter>. The next entry position will be displayed. 3. After entering the thirddigit, save your setting with SAVE <Enter>.
EDIT <>
Entering a password
Enter Password: [?xx] = ESC <Menu> OK <Enter>
EDIT <>
As soon as a password is active, it will be scanned automati cally when the menu commands [Positioning], [Settings] or [HMI control] are accessed. When the correct password is entered, all parameterising and control functions of the con trol panel are enabled until the power supply is switched off. The current entry position is marked with a question mark. 1. Use the arrow buttons to select a digit 0...9. 2. Confirm your entry with <Enter>. The next entry position will be displayed. 3. Repeat the entry for the remaining entry positions. Once the third digit has been confirmed, access via the control panel is enabled.
416
Modifying/deactivating the password

[Password]
Enter Password: [?xx] = ESC <Menu> OK <Enter>
Select [Settings] [Password] in the menu: Enter the existing password with 3 digits. The current entry position is marked with a question mark. 1. Use the arrow keys to select a digit 0...9. 2. Confirm your entry with OK<Enter>. The next entry position will be displayed. 3. Repeat the entry for the remaining entry positions.
EDIT <>
New Password: [?xx] = ESC <Menu> OK <Enter>
4. Enter the new password with 3 digits. If you wish to deactivate the password, enter 000". 5. After entering the third digit, save your setting with SAVE <Enter>.
EDIT <>
Keep the password in a safe place, e.g. with the internal documentation for your system.
If the active password in the MTRDCI is lost in spite of care being taken: If needed, the password can be deleted by entering a master password. In this case please contact your Festo Service partner.
417
4.5
[Positioning] menu
Starting a homing run or a positioning run to test the position set records.
Warning Injuries or damage to mechanical components With all positioning procedures, the motor turns and the connected axis starts to move.
Make sure that:
Nobody can place their hands into the positioning range There are no objects within the positioning range
Note Before starting a homing run, make sure that: The positioning system is set up and wired completely, and is supplied with power. Parameterising is completed.
Do not start a positioning run until the reference system
has been defined by homing.
Note Note that position set records with speed v=0 or an invalid target position (> fault TARGET POSITION OUT OF LIMIT) will not be executed.
418
Homing
} Positioning
1. Use the arrow keys to select [Positioning] from the main menu and press the <Enter>button. 2. Select the menu command: Description
Homing run to anchor the dimen sional reference system
Move posit set Demo posit tab
} Homing
[Homing] Note
First set the parameters in the menu [Settings] [Homing parameter]. Factory setting: homing to a reference switch in negative direction.
[Positioning]
[Homing]
...
Attention! Motor moves
3. Make sure that nobody can reach into the positioning range of the moveable load and that there are no ob jects in its path. Start homing with START <Enter>.
ESC <Menu> START <Enter>
HOMING
V_0 = 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
EMERG. STOP With<Menu> you can interrupt the positioning procedure (> Error mode EMERG.STOP; con firm with <Enter>, then automatic return to the status display).
Menu
419
Executing position set records

} Positioning
1. Use the arrow keys to select [Positioning] from the main menu and press the <Enter>button. 2. Select the menu command: Positioning run for position set record" [Move posit set] or Positioning run for position set table" [Demo posit tab] Note
Parameters must have been com pletely assigned and homing must have been carried out. Parameters must have been com pletely assigned and homing must have been carried out. At least two position set records must have been assigned parameter v > 0.
} Move posit set

Demo posit tab Homing
[Positioning]
[Move posit set]
Description
Positioning run for testing a particular position set record in the position set table. Positioning run (continuous loop) for testing all position set records in the position set table.
[Demo posit tab]
...
Attention! Motor moves
ESC <Menu> START <Enter>
In the [Demo posit tab] positioning run, all position set re cords in the position set table are executed one after the other. If the position set table contains a position set record with speed v = 0, this position set record and all the following records will not be executed; the positioning run will continue with the first position set record. 3. Make sure that nobody can reach into the positioning range of the moveable load and that there are no ob jects in its path. Start the positioning procedure with START <Enter>.
Move posit set

Pos 1 Xt = 100.00 mm v = 20 mm/s Xa = 90.00 mm EMERG.STOP<Menu>
During the positioning run, the following information is dis played: The active position set, Pos... The target position, xt
420
The positioning speed, v The current position, xa
Function
EMERG. STOP With<Menu> you can interrupt the positioning procedure (> Error mode EMERG.STOP; confirm with <Enter>, then automatic return to the status display). With <Enter> you can interrupt the Position set table" positioning run [Demo posit tab]. The current positioning set will be executed before the axis stops. If you restart, the run will begin with record 0.
Menu
DEMO STOP
Enter
421
4.6
Menu command [HMI control]

To select the menu commands [Positioning] and [Settings] you require the setting HMI: on". Only then is the MTRDCI ready to process user entries on the control panel. When se lecting the menu commands, you will be prompted to modify the HMI setting.
[HMI control]
You can also modify the setting directly with the menu com mand [HMI control]. HMI 1) Device control
on Device control is carried out manually via the control panel. The control interface of the MTRDCI is deactivated and control enable is set. The actual status of the ENABLE control bit then has no effect. Device control is carried out via the control interface of the MTRDCI.
off
1) Human Machine Interface
Note Access to the MTRDCI via HMI and FCT can be blocked via the fieldbus (HMIAccess locked").
422
Commissioning
Chapter 5
51
5. Commissioning
Contents
5.1 5.2 Commissioning procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with the control panel (only type MTRDCI...H2) . . . . . . . . . 5.2.1 Selecting the axis type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.2 Setting homing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3 Carrying out homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.4 Teaching the axis zero point AZ and the software end positions . . 5.2.5 Teaching position set records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.6 Test run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.7 Setting PROFIBUS addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commissioning with FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 Installing the FCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of commissioning on the PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.1 Install device master file (GSD file) and icon files. . . . . . . . . . . . . . . 5.5.2 I/O configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.3 Configuration with STEP 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.4 Startup parameter assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.5 Response monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.6 Control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of control and parameter assignment methods . . . . . . . . . . . . . . . 5.6.1 DPV0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6.2 DPV1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Festo profile for handling and positioning (FHPP) . . . . . . . . . . . . . . . . . . . . . 5.7.1 Supported operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.7.2 Composition of the cyclical I/O data . . . . . . . . . . . . . . . . . . . . . . . . 5.7.3 Examples of control and status bytes . . . . . . . . . . . . . . . . . . . . . . . 54 56 58 59 512 515 517 519 521 522 523 524 526 527 527 528 529 534 535 535 536 536 536 537 537 539 550
5.3
5.4 5.5
5.6
5.7
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5.8
5.9
Drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.1 Dimensional reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.2 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.3 Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.4 Teaching via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8.5 Record Select: Executing a position set record . . . . . . . . . . . . . . . . 5.8.6 Direct mode: Specification of a position or force . . . . . . . . . . . . . . 5.8.7 Standstill monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Notes on operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
563 563 564 566 568 570 575 579 581
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5.1
Commissioning procedure Before commissioning

Warning Danger of injury. Electric axes can move suddenly with high force and at high speed. Collisions can lead to serious injury to human beings and damage to components.
Make sure that nobody can reach into the operating
range of the axes or other connected actuators and that no objects lie in the positioning range while the system is still connected to a power supply.
Note In the following cases the MTRDCI must not be accessed with the FCT for writing (e.g. downloading parameters) or controlling (e.g. with Move manually" or to start homing): When the MTRDCI is currently performing a positioning movement or when a movement is started during access (e.g. via the control interface or via the control panel) When parameter assignment or operation is being car ried out with the control panel of the MTRDCI Please note the following:
Control by the FCT must not be activated while the drive
is in motion or when control is being carried out via field bus.
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Before commissioning the drive make sure that: The work space is of sufficient size for operation with a work load The work load does not collide with the motor or the gear of the axis when the slide moves into the end position
Please observe the notes in the operating instructions for your axis.
Switching on
Note Note that the tolerance for the supply voltage must be observed. The tolerance must also be observed directly at the operating voltage connection of the MTRDCI (seeappendix A.1).
Note When the power supply is switched off, wait for approx. 5 seconds before switching the device on again. 1. Switch on the power supply for the MTRDCI. When the power supply is switched on, the MTRDCI automatically carries out an internal check. 2. Carry out parameterising and commissioning with the control panel or the FCT, as described in the following chapters or in the FCT/plugin help. 3. In order to complete commissioning note the instructions for operation in the FCT/plugin help and in section 5.9.
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5.2
Commissioning with the control panel (only type MTRDCI...H2)

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 Settings } HMI control LCD adjustment
In order that the control panel can control the connected MTRDCI, the control interface of the MTRDCI must be deacti vated and control panel enable must be set [HMI=on]. The actual status of the ENABLE control bit then has no effect.
Select [HMI control] = on" and then OK <Enter>.
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Overview of parameter assignment and commissioning

Information on the current parameter assignment of the mo tor unit can be found in the menu [Diagnostic] on the control panel. Carry out the following steps in order to commission the MTRDCI the first time with the control panel. Refer to the detailed description in the chapters specified. Commissioning (overview)
Select the axis type and adapt the parameters. Set the parameters for homing: Homing method Search speed to homing point Positioning speed to axis zero point Carrying out homing. Teach the axis zero point and the software end positions. Teach position set records. Test run. Optimise settings if needed. Set PROFIBUS address. 5.2.1 5.2.2
5.2.3 5.2.4 5.2.5 5.2.6 5.2.7
Tab. 5/1: Commissioning (overview) In order to restore the default settings you can, if necessary, delete the EEPROM directly via the serial interface with the CI command 20F1h (Data memory control) (see appendix B.2.2).
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5.2.1
Selecting the axis type

1. Select your axis type: Festo positioning axis [Type DMES...] Festo electrical drive [Type DNCE...] Any axis of rotation [Rotation drive] Any linear axis [User config]
} Settings Axis type Type DMES... Type DNCE... Rotation drive User config
2. Set axisspecific parameters as prompted using the arrow buttons, e.g. feed constant, system of measurement, orcounting direction. Axis type
Type DMES Type DNCE
Parameters
A DMES size can be selected, according to the size of the MTRDCI. The feed constant is already configured. FeedCon: feed constant in [mm/rev] (see documentation for your DNCE). Count direction: active direction (direction of motor rotation), left or right (see 1.3). Any rotary/semirotary drive: [Degrees] (360/rev) or [Revolutions] Any linear drive: Feed constant in [mm/rev] as per the documentation of your linear axis.
Rotation drive 1)
User config
1) If an external gear is used, the gear factor can be set with FCT.
Tab. 5/2: Assigning parameters to the axis 3. Save the settings with SAVE <Enter>.
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5.2.2
Setting homing parameters When homing to stop:

Caution Damage to components. The slide (or piston rod) may only move directly against the fixed stop if the permitted impact energy is not ex ceeded (impact energy = 0.5 x mass x velocity2).
The permitted value can be found in the manual for your
axis.
If needed, reduce the speed at which homing is carried
out (see FCT plugin help).

If necessary, limit the max. motor current during homing.
Current limitation
When the max. motor current is reached and the motor is stationary, the MTRDCI will detect a stop. The maximum motor current can be limited during homing (see FCT help or CI object 6073h). Note If the drive is arranged vertically, an increase in the motor current may be necessary. If the motor current is too low, homing cannot be carried out or the unit may detect a stop incorrectly. The set required speed cannot be reached if current limitation is too great.
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Current limitation 1)
100 % Z 1 x nominal motor current Motor current Motor torque A mNm A mNm A mNm
32
0.73 30 1.1 46 1.46 62
42
2.0 110 3.0 171 3.8 2) 220
52
5.0 300 7.5 460 7.7 2) 470
62
6.19 700 9.29 1076 12.38 1450
150 % (default) Z Motor current 1.5 x nominal motor current Motor torque 200 % Z 2 x nominal motor current Motor current Motor torque
1) Parameter specification in FCT: relative motor current in % of nominal current. 2) Due to maximum current limitation the value does not rise further.
Tab. 5/3: Current limitation Positioning axis type DMES... can carry out homing with the factoryset current limitation (150 %). The current limitation need not be modified.
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Setting parameters
} Settings Homing parameter Homing method Velocity v_sw Velocity v_s0 Save
1. Set the following homing parameters one after the other: Referencing method [Homing method], see sec tion1.4. Search speed for ascertaining the reference point [Velocity v_sw] Positioning speed to axis zero point [Velocity v_s0] 32
~41 % 27000 55 66000
Factory presetting for homing parameters

Speeds v_sw, v_s0 Rated motor speed Homing method % 1) inc/s rot/s inc/s
42
~22 % 22400 50 100000
52
~17% 16800 50 100000
62
~15% 16800 56,7 113400
Reference switch, negative (near motor)
1) % of rated motor speed; max. 50 % for V_sw; max. 100 % for v_s0
2. Accept each setting with OK <Enter>. The setting will then take effect in the drive. 3. Save the parameter settings with the [Save] menu com mand. Only then will the settings be retained even if the power supply is switched off or if there is a power failure.
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5.2.3
Carrying out homing

The following conditions must be fulfilled for homing: The drive must be set up completely, wired and supplied with power. The MTRDCI must be correctly parameterised.
During homing the drive moves at first at the preset search speed v_sw, according to the selected referencing method, up to the mechanical fixed stop or reference switch, and once the signal has been evaluated, the drive accepts the position as the homing point (reference point = REF) (Fig. 5/11). The drive then moves at speed v_s0 to the axis zero point AZ (Fig. 5/1 2).
1 Move to the
homing point REF
REF
2 Move to the axis

zero point AZ
1 AZ
Fig. 5/1: Homing (example: fixed stop, negative)
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Starting homing
Note Note that at the start the drive must be in front of the stop or reference switch (in terms of the search direction). 1. If necessary, position the drive in Teach mode so that, when viewed in terms of the search direction, it is in front of the stop or reference switch at the start.
Select e.g. [Settings] [Position set] [Position] (see also section 5.2.5). Move the drive to the desired position manually with the arrow buttons. End the procedure with ESC<menu> so that the posi tion is not included in the position set table.
} Positioning Demo posit tab Move posit set Homing
2. Select [Positioning] [Homing]. 3. Start homing with START <Enter>.
Note If, with the Reference switch" homing method, a reference signal is not found before the drive reaches a fixed stop, the MTRDCI will stop and display a fault (HOMING ERROR).
After successful homing the drive will be at the axis zero pointAZ. With first commissioning, the offset of the axis zero point = 0; after homing the drive then stands at the homing point REF.
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Discontinuing homing
If necessary, homing can be discontinued with the <Menu> button (EMERG STOP). If correct homing has already been carried out, the previous homing point will retain its validity.
Error in the homing run

If a fault occurs during homing:

Acknowledge the error message with <Enter>. If necessary, check the function of the reference switch. Check the settings of the parameters. If necessary, position the drive in Teach mode so that, when viewed in terms of the search direction, it is in front of the stop or reference switch at the start. Repeat the homing run.
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5.2.4
Teaching the axis zero point AZ and the software end positions
Note Overloading from constant pressing against a mechanical stop.
When homing to a stop, set the offset of the axis zero
point to 0 (at least 0.25 mm). The drive will then be free of the stop after the homing run is completed. Teach the axis zero point AZ:
} Settings Axis parameter Zero point Abs.min.pos Abs.max.pos Save
1. Select [Settings] [Axis parameter] [Zero point]. 2. Move the drive to the desired axis zero point manually with the arrow buttons. 3. Accept the position reached with OK <Enter>. The setting will then take effect in the drive. The current position xa becomes the axis zero point (xa = 0). Note If the axis zero point is modified: Check existing settings of the software end positions and (if applicable) the project zero point and the target posi tions in the position set table. Note that these values move together with the axis zero point AZ.
Teach the software end positions, project zero point and
the target positions again if needed.
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Teach the software end positions: 1. Select [Settings] [Axis parameter] [Abs.min.pos] or [Abs.max.pos]. 2. Move the drive with the arrow keys. 3. Accept the position reached with OK <Enter>. The setting will then take effect in the drive. 4. Save the parameter settings with [Save]. Only then will the settings be retained even if the power supply is switched off or if there is a power failure.
Note The project zero point PZ can only be set via FCT or PNU500 / CI object 21F4h.
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5.2.5
Teaching position set records

Requirements: The axis zero point and the software end positions have been set correctly. The homing run has been carried out successfully.
Enter the position set records as follows:

} Settings Position set Position nr Pos set mode Position Velocity Save
1. Activate the desired position record (1...31) with [Settings] [Position set] [Position nr]. OK <Enter>. 2. Select the positioning mode of the position set:

Select [Pos set mode]. Set the positioning mode with the arrow keys: absolute= absolute position specification, in relation to the project zero point relative = relative position specification, in relation to the current position Accept the value with OK<Enter>.
3. Teach the target position of the position record:

Select [Position]. Move the drive manually to the desired target position with the arrow keys. Accept the position reached with OK <Enter>. The setting of the target position and the positioning mode will then take effect in the drive.
4. Set the speed:
Select [Velocity].
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Set the nominal speed with the arrow keys. Accept the setting with OK <Enter>. The setting will then take effect in the drive.
Position records with speed v = 0 or invalid target positions (> error TARGET POSITION OUT OF LIMIT) cannot be ex ecuted. 5. Save the position set record with [Save]. Only then will the settings be retained even if the power supply is switched off or if there is a power failure. 6. Enter the next position record. Digitalisation faults of the analogdigital converter can accu mulate in the case of relative position movements which occur frequently one after the other, leading to deviations of the position values. If necessary, insert an absolute position set or a homing run into the positioning cycle, in order to cor rect deviations.
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5.2.6
Test run
Warning Injury to persons and damage to property With all positioning procedures, the motor turns and the connected axis moves.
Make sure that:
Nobody can place their hands into the positioning range There are no objects within the positioning range
Caution Damage to components with DMES... The unit must not move onto mechanical end positions (stops) during operation. When the unit moves to the end positions with a heavy load, blockage may occur in the end positions.
Limit the positioning range by defining valid software
end positions during commissioning (see section 5.2.4). 1. Enter several position set records:
Set target positions at the limits of the positioning range in order to check the software end positions. Set different speeds.
} Positioning Demo posit tab Move posit set Homing
2. Select [Positioning] [Move posit. set] in order to execute a certain position set record or 3. Select [Positioning] [Demo posit tab] in order to process all position set records. At least two position set records must be entered in the position set table in order to use this function. In the [Demo posit tab] positioning cycle, all position set records 1...31 in the position set table will be executed one after the other. If the position set table contains a
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5. Commissioning
position set with speed v = 0, neither this position set record nor the following records will be executed; the positioning cycle will continue from the first position set record. 4. Start the test run. Note With EMERG.STOP <Menu> you can interrupt the current positioning procedure.
With DEMO STOP <Enter> you can interrupt the positioning cycle [Demo posit tab]. The current position set will be ex ecuted before the drive stops.

Check the positioning behaviour. Check the position details displayed.
5. If necessary, optimise the settings for position sets, and also (if needed) for the points of reference and the work ing range.
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5.2.7
Setting PROFIBUS addresses

Before commissioning on the PROFIBUS, you must set a valid station number. Valid station numbers: 0 ... 125. The invalid station number 255 is preset. This is to make sure that a correct address is set during commissioning or when replacing. Addresses cannot be assigned by the master (the service Set_Slave_Address is not supported). Note Station numbers may only be assigned once per fieldbus master.
Set the station numbers as follows:

} Settings PB parameter PROFIBUS ADR
1. Select [Settings] [PB parameter] [PROFIBUS ADR] (seealso section 4.4). 2. The current address is displayed with <Enter>.
PROFIBUS address 7 EDIT <> ESC <Menu> SAVE <Enter>
3. Set the desired address with the arrow buttons. 4. Accept the address with OK <Enter>. The set address becomes effective immediately and is saved against network failure.
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5.3
Commissioning with FCT

The Festo Configuration Tool (FCT) is the software platform for configuring and commissioning different components and devices from Festo. The FCT consists of the following components: A framework as program start and entry point with uni form project and data management for all supported types of devices. A plugin for the special demands of each device type (e.g.MTRDCI) with the necessary descriptions and dia logues. The plugins are managed and started from the framework.
Printed information
In order to use the complete Help or parts of it without a PC, you can use one of the following options:
With the button Print" in the Help window, print indi vidual Help pages or all the pages of a book directly from the Help index. Print a prepared printed version of the Help in Adobe PDF format or Rich Text Format (RTF): File
FCT_de.pdf FCT_de.rtf MTRDCI_de.pdf MTRDCI_de.rtf
Printed version Directory

FCT help Plugin help (MTRDCI) ...(FCT installation directory)\Help\ ...(FCT installation directory)\HardwareFamilies\ Festo\MTRDCI\V...\Help\
To print in Adobe PDF format, you will require Adobe Reader.
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5.3.1
Installing the FCT

Note The plugin MTRDCI V2.0.0 supports the following motor units: MTRDCI...PB: firmware version V1.00 and higher
Check with later versions of the MTRDCI to ascertain
whether an updated plugin is provided. If necessary consult Festo.
Note Administrator rights are required for installing the FCT.
The FCT is installed on your PC with an installation program. The MTRDCI plugin is installed on your PC together with the FCTs installation program. 1. Close all programs. 2. Place the Festo Configuration Tool CD in your CD ROM drive. If Auto Run is activated on your system, the installa tion will start automatically and you can omit steps 3 and4. 3. Select [Run] in the Start menu. 4. Enter D:\setup (if necessary replace D by the letter of your CD ROM drive). 5. Follow the instructions on the screen.
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5.3.2
Procedure Starting the FCT

1. Connect the MTRDCI to your PC via the RS232 port. To do so, follow the instructions in section 3.3. 2. Start the FCT: Doubleclick the FCT icon on the desktop. or Select the entry [Festo Software] [Festo Configuration Tool] in the Windows [Start] menu. 3. Create a project in the FCT or open an existing project. Add a device to the project with the MTRDCI plugin. 4. Create the device connection (online connection) between the PC and the MTRDCI via the FCT tool bar. You may need to adjust the device name to match.
Device control
In order that the FCT can control the connected MTRDCI, the control interface of the MTRDCI must be deactivated and control enable" must be set for the FCT (FCT/HMI=On). The actual status of the ENABLE control bit then has no effect.
Access the Project output" window, Operate" tab, then under Device control" activate first the box FCT/HMI" and then the box Enable." The control interface of the MTRDCI will then be deacti vated and control will be enabled for the FCT.
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Instructions on parameter assignment and commissioning

FCT framework Information on working with projects and adding a device to a project can be found in the Help for the FCT framework, using the command [Help] [Contents FCT General]. The MTRDCI plugin for the FCT supports all the steps necess ary for commissioning an MTRDCI. You can assign any re quired parameters offline, i.e. without the MTRDCI being connected to the PC. This enables preparation for the actual commissioning e.g. in the design office when planning a new system. Further information can be found in the plugin help: Com mand [Help] [Contents of installed plugins] [Festo (manufactu rer name)] [MTRDCI (plugin name)], e.g.: For describing the dialogues of the Device MTRDCI" For describing the work steps for commissioning For the basic functions: Device connection, Device names and Device control, and for password protection
MTRDCI plugin
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5.4
Overview of commissioning on the PROFIBUS

The following steps are required for commissioning the MTRDCI as a fieldbus station: 1. Set the PROFIBUS address on the MTRDCI:
On the control panel (only for type MTRDCI...H2, seesection 5.2.7), or With the Festo Configuration Tool (see FCT help). Permitted address range: 0 ... 125 (in some cases limited by the DP master used).
Modification by a DP master is not possible.
2. Install the GSD file and icon files, see section 5.5.1. 3. Configure the PROFIBUS master with the relevant con figuration software (e.g. with STEP 7 Hardware Configura tor), see section 5.5.3. 4. Test the fieldbus connection in online mode. Details can be found in the following sections:
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5.5 5.5.1
Configuration Install device master file (GSD file) and icon files.
If a new hitherto unknown device is to be incorporated in a configuration program when a PROFIBUSDP system is to be configured, an appropriate device master file (GSD file) must be installed for this device. The device master file con tains all the necessary information for the configuration pro gram. You will require the appropriate icon files for repre senting the device graphically.
Obtainable from:
This documentation CD contains GSD files and icon files for the MTRDCI in the PROFIBUS" folder. Current GSD files and icon files can be found on Festos Internet pages under: www.festo.com/fieldbus
GSD file
You will require one of the following GSD files for the MTRDCI: mtr_0974.gsd englisch mtr_0974.gsg deutsch (with DPV0 and DPV1 support) mtr00974.gsd englisch mtr00974.gsg deutsch (only for older control systems/without DPV1 support)
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Icon files
In order to represent the MTRDCI in your configuration soft ware use the following icon files: Normal operating status Diagnostic case Special operating status
File: mtrdci_n.dib or mtrdci_n.bmp
File: mtrdci_d.dib or mtrdci_d.bmp
File: mtrdci_s.dib or mtrdci_s.bmp
Tab. 5/4: Icon files
Install GSD file and symbol files.

Depending on the configuration program used, install the GSD file and the icon files with the aid of the appropriate menu command or copy the files manually into a particular directory of your programmer/PC.
5.5.2
I/O configuration
The GSD files support two alternative configurations: Festo handling and positioning profile standard" GSD entry as FHPP Standard" 8 bytes of I/O data, consistent transmission Festo handling and positioning profile with parameter channel" GSD entry as FHPP Standard + FPC" 2 x 8 bytes of I/O data, consistent transmission
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5.5.3 Configuration with STEP 7

General information The Simatic Manager software package is used for project planning and commissioning in conjunction with PROFIBUS masters from Siemens or compatible masters. In order to understand this section, you should be sure of how to handle your configuration program. If necessary, refer to the docu mentation for the Simatic Manager. This manual refers to soft ware version V 5.3. An appropriate device master file (GSD file) for the MTRDCI must be installed for configuration. With the STEP 7 Hardware Configurator you can load the files via the menu command [Options] [Install GSD file] in the HW Config." dialogue window. Configuration program
STEP 7 Hardware Configurator 1)
File type
Directory
GSD file Bitmap files
...\STEP7\S7DATA\GSD ...\STEP7\S7DATA\NSBMP
1) If you copy the GSD files when the Simatic Manager has already been started, you can update the hardware catalogue with the command [Options] [Update Catalog].
Tab. 5/5: Folder for GSD and icon files in STEP 7
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Adding MTRDCI as slave The hardware configuration window represents graphically the structure of the master system. When the GSD file has been installed, the MTRDCI can be selected in the hardware catalogue. It can be found in the group [PROFIBUSDP] [Addi tional Field Devices] [Drives] [Festo] (see Fig. 5/2). In order to add the MTRDCI: 1. Drag the station type Festo MTRDCI" (DPV0 and DPV1) or Festo MTRDCI DPV0" ( 3 ) out of the hardware cata logue and onto the Profibus line ( 1 ) of the DP master system (drag & drop). 2. In the Properties PROFIBUS interface..." dialogue win dow, enter the PROFIBUS address which you set with the Festo Configuration Tool or on the control panel, and con firm with OK. 3. If necessary, enter other settings in the Properties DPslave" dialogue window (e.g. response monitoring, see section 5.5.5, or startup parameter assignment, see section 5.5.4) and confirm with OK. The icon for the MTRDCI is displayed on the line of the DPmaster system ( 2 ).
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5. Commissioning
1 PROFIBUS line 2 Icon for MTRDCI

Fig. 5/2: Station selection STEP 7
3 Festo MTRDCI entry from GSD file
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5. Commissioning
Configuring the slave properties After clicking the icon for the MTRDCI, you can configure the Slave properties" in the lower part of the screen. Here you can determine the number and size of the I/O ranges of the slave and assign address ranges of the master to them. In order to configure the slave properties of the MTRDCI: 1. Open the available modules (configurations) in the hard ware catalogue under [Festo MTRDCI ...]. 2. Then drag the desired configuration (see section 5.5.2) with the mouse into the appropriate line under Slot/DP identifier. With STEP 7 a universal module" is also offered for compati bility reasons. This must not be used. The MTRDCI is a modular slave, but with only one permitted module. The configuration is defined only by the master.
532
5. Commissioning
1 1 DP identifiers 2 I/O address range
3 3 Modules (configurations)
Fig. 5/3: Configuring the slave properties When the configuration is concluded, transfer the data to the master.
533
5. Commissioning
5.5.4
Startup parameter assignment

When the connection is established, parameters are transfer red to the slave automatically from the master. These are parameters for extended configuration of the data exchange. These serve to guarantee improved compatibility with various masters. Configuration of the data exchange (connection settings). Values
= 0: In the case of a fault, diagnosis will be requested by the master (default). = 1: In the case of a fault, diagnosis will not be requested by the master
Parameter
Diagnostic behaviour: devicerelated diag nosis switched on/off
Type
Bool
Tab. 5/6: Configuration of the data exchange (connection settings)
Fig. 5/4: Properties of DP slave parameter assignment
534
5. Commissioning
5.5.5 Response monitoring

The response monitoring influences the reaction when field bus communication fails, e.g. due to cable fracture. The MTRDCI can be operated with active or inactive response monitoring. With active response monitoring, the drive is stopped with the emergency stop ramp after the response monitoring time has expired, and then remains stationary in a controlled posi tion. With inactive response monitoring, the current drive function is still carried out if fieldbus communication fails.
5.5.6 Control commands

FREEZE, SYNC and CLEAR_DATA are supported by the MTRDCI in accordance with EN 50170. The method of accessing these commands depends on the controller used. Please refer to the documentation for your control system.
535
5. Commissioning
5.6 5.6.1
Overview of control and parameter assignment methods DPV0 Control

Control with DPV0 takes place via the 8 cyclical control and status bytes, see section 5.7.2.
Parameter assignment
Parameter assignment with DPV0 takes place via the Festo parameter channel (FPC, further 8 I/O bytes), see section B.1.1.
5.6.2
DPV1 Parameter assignment

Parameter assignment with DPV1 takes place via the parame ter channel as per PROFIdrive V3.1. This protocol is a compa tible expansion of the PKW protocol within the DPV1 user data. This means that the parameters can be addressed with PNU, subindex etc. The mode of operation of parameter assignment with DPV1 depends on the DP master system used. Please refer here to the documentation from your control system manufacturer. As an example of parameter assignment with DPV1, you will find a functional description in the documentation for the S7 modules for the MTRDCI, type P.BEMTRDCIS7...
536
5. Commissioning
5.7
Festo profile for handling and positioning (FHPP)

The MTRDCI supports the Festo handling and positioning profile FHPP (see also section 1.5).
5.7.1
Supported operation modes

The operation modes differ as regards the contents and mea ning of the cyclical I/O data and in the functions which can be accessed in the MTRDCI.
Operation mode
Record Select
Description
31 position set records can be saved in the MTRDCI. A record con tains all the parameters which are specified for a positioning task. The record number is transferred to the cyclical I/O data as a nom inal or actual value. The positioning task is transferred directly in the I/O telegram. Only the most important nominal values (position, speed) are transferred. Supplementary parameters (e.g. acceleration) are defined by para meter assignment.
Direct mode
Tab. 5/7: Overview of operation modes
Record Select
Preset operation mode when the SFCDC is started up. The MTRDCI has 31 records (1 ... 31) which contain all the information necessary for a positioning task (+ record 0 = homing). The record number which the MTRDCI is to execute at the next startup is transferred in the output data of the master. Its input data contains the last executed record number. The positioning task itself does not need to be still active.
537
5. Commissioning
The MTRDCI cannot work in a standalone manner, i.e. it does not support any user program of its own. Records cannot be processed automatically using programmable logic. The drive cannot accomplish any practical tasks with in standalone mode; close coupling to the PLC is necessary.
Direct mode
In Direct mode, positioning tasks are formulated directly in the masters output data. Position mode The usual application is to calculate dynamically the nominal target values for each task, or just for some tasks. Adaptation to different workpiece sizes is therefore possible. In this case, it is not practical to assign parameters to the record list every time. The positioning data are managed completely in the PLC and sent directly to the MTRDCI. Here also, close coupling between the PLC and the MTRDCI is necessary. Alternatively, nominal values can be specified in Direct mode relative to the nominal motor current. This gives a torque and, in the case of linear drives, a force (= force control).
Force mode
538
5. Commissioning
5.7.2
Concept
Composition of the cyclical I/O data

A master exchanges the following data with the FHPP: Control and status bytes Record number or nominal position in the output data Feedback of actual position and record number in the input data Additional modedependent nominal and actual values Parameters as per FPC
The FHPP protocol always provides 8 input bytes and 8 out put bytes for this. The first 2 of these bytes are fixed. They are retained in each operation mode, and control the enabling of the MTRDCI and the operation modes. Bytes 3 to 8 depend on the operation mode selected. Further control or status bytes and nominal and actual values can be transferred here. In the cyclical data a further 8 input bytes and 8 output bytes are permitted for transferring parameters in accordance with the FPC protocol. The acyclical data channel of the PROFIBUS (DPV1) is also supported.
539
5. Commissioning
I/O data in the various operation modes

Direct mode
Byte 1 O data I data CCON SCON Byte 2 CPOS SPOS Byte 3 CDIR SDIR Byte 4 Nominal value 1 (speed) Actual value 1 (speed, force/ torque) Byte 5 Byte 6 Byte 7 Byte 8
Nominal value 2 (position, force/torque, ...) Actual value 2 (position)
Record Select
Byte 1 O data I data CCON SCON Byte 2 CPOS SPOS Byte 3 Byte 4 Byte 5 Reserved Actual position Byte 6 Byte 7 Byte 8
Record no. Reserved Record no. RSB
Further 8 bytes of I/O data for parameter assign ment as per FPC (see section B.1):
Festo FPC
Byte 1 O data I data Reserved Reserved Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Subindex Request identifier Parameter value +parameter number Subindex Response identifier Parameter value + parameter number
540
5. Commissioning
Allocation of the control bytes (overview) 1)

CCON B7 OPM2 B6 OPM1 B5 LOCK HMI access blocked B5 TEACH Teach value B4 B3 (F) RESET Reset fault B3 JOGP Jogging, positive B2 BRAKE B1 STOP Stop B0 ENABLE Enable drive B0 HALT Halt
Operation mode selection CPOS B7 B6 CLEAR Clear re maining position ing path B6 FAST
B4 JOGN Jogging, negative
B2 (F) HOM Start homing
B1 (F) START Start position ing task B1 COM1
CDIR (Direct mode only)
B7 FUNC
B5 XLIM Deacti vate stroke limit
B4 VLIM
B3 CONT
B2 COM2
B0 ABS Abso lute / Relative
Control mode (position, force/ torque, ...)
1)
: Reserved; (F): edgesensitive
Allocation of the status bytes (overview) 1)

SCON B7 OPM2 B6 OPM1 B5 LOCK Device control FCT/HMI B5 DEV B4 24VL Load voltage applied B4 MOV Axis is moving B4 VLIM Speed limit re ached B3 FAULT Fault B2 WARN Warning B1 OPEN Oper ation en abled B1 ACK B0 ENABLED Drive en abled B0 HALT
Operation mode feedback SPOS B7 REF Axis ref erenced SDIR (Direct mode only)
1)
B6 STILL
B3 TEACH
B2 MC
Standstill Position monitor lag error ing B6 FAST B5 XLIM Stroke limit re ached
Acknowl Motion Acknowl Halt edge Complete edge teaching start B3 CONT B2 COM2 B1 COM1 B0 ABS Absolute / Relative
B7 FUNC
Control mode feed back (position, force/torque, ...)
: reserved.
541
5. Commissioning
Description of the general control bytes

Control byte 1 (CCON)
Bit B0 ENABLE B1 STOP EN Enable drive Stop Description = 1: Drive (controller) enabled = 0: Drive (controller) blocked = 1: Operation enabled. Any faults will be deleted. = 0: Stop 1 active (emergency ramp + cancel positioning task). The axis stops with maximum braking ramp; the positioning task is reset. Reserved, must be at 0 An active fault is acknowledged/reset and the fault number is deleted by means of a rising edge. Reserved, must be at 0 Controls access to the diagnostic interface: = 1: HMI and FCT may only observe the drive, the device control (HMI control) cannot be taken over by HMI and FCT. = 0: HMI or FCT may take over control of the device (in order to modify parameters or to control inputs) = 00: = 01: = 10: 10 = 11: Record Select Direct mode Reserved Reserved
B2 BRAKE B3 RESET B4 B5 LOCK
Reset fault HMI access locked
B6 OPM1 B7 OPM2
Select Operating Mode
Control byte 1 (CCON) is used to control all states which must be available in all operation modes. The cooperation of the control bits can be found under the description of the drive functions in section 5.8.
542
5. Commissioning
Control byte 2 (CPOS)

Bit B0 HALT EN Halt Description = 1: Halt" is not active = 0: Halt" activated (braking ramp + do not cancel position ing task). The axis stops with a defined braking ramp; the positioning task remains active (the remaining path can be deleted with B6). The current nominal values will be transferred and position ing started (record 0 = homing) by means of a rising edge. Homing with the set parameters is started by means of a rising edge. The drive moves at the specified speed in the direction of larger actual values, for as long as the bit is set. The move ment begins with the rising edge and ends with the falling edge. The drive moves at the specified speed in the direction of smaller actual values; see bit3. With a falling edge, the current actual value of the position is transferred to the nominal value register of the currently addressed position set record; see section 5.8.4. The Teach target is defined with PNU 520. In the Halt" status, a signal edge causes the positioning task to be deleted and transfers the system to the Ready" status. Reserved, must be at 0.
B1 START B2 HOM B3 JOGP
Start Positioning Task Start Homing Jog, positive
B4 JOGN B5 TEACH
Jog, negative Teach actual value
B6 CLEAR B7
Clear remaining position ing path
CPOS controls the positioning sequences as soon as the drive is enabled.
543
5. Commissioning
Description of the special control bytes Direct mode

Control byte 3 (CDIR) Direct mode
Bit B0 ABS B1 COM1 B2 COM2 B3 CONT B4 VLIM B5 XLIM B6 FAST B7 FUNC Stroke (X) limit not active EN Absolute/ Relative Control Mode Description = 0: Nominal value is absolute = 1: Nominal value is relative to last nominal value = 00: = 01: = 10: 10 = 11: Position control Force mode Reserved Reserved
Reserved, must be at 0 Reserved, must be at 0 Force mode = 0: Stroke monitoring active = 1: Stroke monitoring not active Reserved, must be at 0 Reserved, must be at 0
Control byte 4 (nominal value 1) Direct mode

Bit B0 ... B7 EN Velocity Description Preselection of velocity in % of the maximum velocity
Control bytes 5... 8 (nominal value 2) Direct mode

Bit EN Description Preselection of the position in increments or of the force in % of nominal current
B0...B31 Position, force, ...
544
5. Commissioning
Description of the special control bytes Record Select

Control byte 3 (record number) Record Select
Bit B0 ... B7 EN Record number Description Preselection of position set record number for Record Select
Control bytes 4... 8 Record Select

Bit B0 ... B7 EN Description Reserved (= 0)
545
5. Commissioning
Description of the general status bytes

Status byte 1 (SCON)
Bit EN Description = 0: Drive blocked, controller not active = 1: Drive (controller) enabled = 0: Stop active = 1: Operation enabled, positioning possible = 0: Warning not active = 1: Warning active = 0: No fault = 1: There is an active fault, or reaction to fault is active. Fault number in diagnostic memory = 0: No load voltage = 1: Load voltage applied = 0: Device control by PLC/fieldbus = 1: Device control by FCT/HMI (PLC control is locked) = 00: = 01: = 10: 10 = 11: Record Select (Standard) Direct mode Reserved Reserved
B0 Drive Enabled ENABLED B1 OPEN B2 WARN B3 FAULT B4 24VL B5 LOCK B6 OPM1 B7 OPM2 Operation Enabled Warning Fault
Supply Voltage is Applied Drive control by FCT/HMI
Display Operating Mode
546
5. Commissioning
Status byte 2 (SPOS)

Bit B0 HALT B1 ACK B2 MC EN Halt Acknowledge start Motion Complete Description = 0: Halt is active = 1: Halt is not active, axis can be moved = 0: Ready for start (homing, jog) = 1: Start carried out (homing, jog) = 0: Positioning task active = 1: Positioning task completed, possibly with fault Note: MC is first set after switching on (status Drive blocked") = 0: Ready for teaching = 1: Teaching carried out, actual value transferred = 0: Speed of the axis < limit value = 1: Speed of the axis >= limit value = 0: No position lag error = 1: Position lag error active = 0: After MC, axis remains in tolerance window = 1: After MC, axis is outside tolerance window = 0: Homing must be carried out = 1: Home information exist, homing does not need to be carried out
B3 TEACH B4 MOV B5 DEV B6 STILL B7 REF
Acknowledge teaching Axis is moving Deviation warning Standstill warning Axis is referenced
547
5. Commissioning
Description of the special status bytes Record Select

Status byte 3 (record number) Record Select
Bit B0 ... B7 EN Record number Description Feedback of record number for Record Select (0...31)
Status byte 4 (RSB) Record Select

Bit B0 ... B7 EN Record Status Byte Description For allocation see SDIR for Direct mode
Status bytes 5 ... 8 (Position) Record Select

Bit EN Description Feedback of position for Record Select: Position in increments
B0...B31 Position, ...
548
5. Commissioning
Description of the special status bytes Direct mode

Status byte 3 (SDIR) Direct mode
Bit B0ABS B1COM1 B2COM2 B3CONT B4VLIM Speed (V) limit reached EN Absolute/ Relative Control mode feedback Description = 0: Nominal value is absolute = 1: Nominal value is relative to last nominal value = 00: = 01: = 10: = 11: Position mode Force mode Reserved Reserved
Reserved Force mode = 1: Speed limit reached = 0: Speed limit not reached Force mode = 1: Stroke limit value reached = 0: Stroke limit value not reached Reserved Reserved
B5XLIM
Stroke (X) limit reached
B6FAST B7FUNC
Status byte 4 (actual 1) Direct mode: Position mode

Bit B0 ... B7 EN Velocity Description Feedback of velocity as % of the maximum velocity
Status byte 4 (actual 1) Direct mode: Force mode

Bit B0 ... B7 EN Torque Description In % of the nominal current (see 5.7.3, point 7)
Status bytes 5 ... 8 (actual value 2) Direct mode

Bit EN Description Feedback of position in increments
B0...B31 Position, ...
549
5. Commissioning
5.7.3
Examples of control and status bytes

On the following pages you will find typical examples of con trol and status bytes: 1. Establishing ready to operate" status Record Select 2. Establishing ready to operate" status Direct mode 3. Fault handling 4. Homing run 5. Positioning by Record Select 6. Direct mode: position mode 7. Direct mode: force mode A description of the MTRDCIs finite state machine can be found in section B.4.
0. Ensuring device control

Step/ D Description i ti
0.1 HMI device control = on
Control bytes
Byte
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0
OPM2 OPM1 LOCK 24VL FAULT WARN OPEN ENABL
B7 B6 B5 B4 B3 B2 B1 B0 Byte
OPM2 OPM1 LOCK RESET BREAK STOP ENABL Byte 1
CCON 0
Byte 2
0 0
0 0
0 0
0
JOGP
x
HOM
0
START
0
HALT
SCON 0
Byte 2 REF
0
STILL
1
DEV
1
MOV
0
TEACH
0
MC
0
ACK
0
HALT
CLEAR TEACH JOGN
CPOS x 0: 0signal; 1: 1signal;
SPOS 0
x: not relevant (any);
F: Edge positive
Tab. 5/8: Control and status bytes for Device control active"
Description for 0. Ensuring device control: 0.1 Device control via the control panel or the Festo Configuration Tool has been activated. To control the MTRDCI via the PROFIBUS interface, device control by FCT/HMI must first be deactivated.
550
5. Commissioning
1. Establishing ready to operate" status RecordSelect

1.1 Basic status (HMI device control = off ) 1.2 Disable device control by FCT/HMI (optional)
Control bytes
Byte
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0
CCON 0
Byte 2
0 0 x x 0 0
0 0
LOCK
0 0
0
JOGP
x
HOM
0
START
0
HALT
SCON 0
Byte 2 REF
0
STILL
0
DEV
1
MOV
0
TEACH
0
MC
0
ACK
0
HALT
CLEAR TEACH JOGN
CPOS x
Byte 1
0 x
JOGP
0 x
HOM
0
STOP
0
ENABL
SPOS 0
Byte 1
0 x
STILL
0 0
DEV
0
24VL
0 x
TEACH
1 x
MC
0 x
ACK
0 x
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON x
Byte 2
1 x
LOCK
x x
x
START
x
HALT
SCON x
Byte 2 REF
x
MOV
CLEAR TEACH JOGN
CPOS x 1.3 Enable drive, en en able operation (Record Select) 0: 0signal;

Byte 1
x 0
JOGP
x x
HOM
x
STOP
x
ENABL
SPOS x
Byte 1
x 0
STILL
x 0
DEV
x
24VL
x 0
TEACH
x 0
MC
x 1
ACK
x 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x 1: 1signal;
SPOS 0
F: Edge positive
Tab. 5/9: Control and status bytes for Establishing ready to operate status RecordSelect"
Description for 1. Establishing ready to operate" status: 1.1 Basic status of the drive when the supply voltage is switched on. } Step 1.2 or 1.3 Disable device control by FCT/HMI (optional). Takeover of device control by FCT/HMI can be disabled with CCON.B5 = 1 (LOCK). } Step 1.3 Enable drive in Record Select mode. } Homing: example 4, Tab. 5/12.
1.2
1.3
If there are faults after switching on or after setting CCON.B0 (ENABLE): } Fault handling: see example 3, Tab. 5/11.
551
5. Commissioning
2. Establishing ready to operate" status Directmode

2.1 Basic status (HMI device control = off ) 2.2 Disable device control by FCT/HMI
Control bytes
Byte
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0
CCON 0
Byte 2
0 0 x x 1 0
0 0
LOCK
0 0
0
JOGP
x
HOM
0
START
0
HALT
SCON 0
Byte 2 REF
0
STILL
0
DEV
1
MOV
0
TEACH
0
MC
0
ACK
0
HALT
CLEAR TEACH JOGN
CPOS x
Byte 1
0 x
JOGP
0 x
HOM
0
STOP
0
ENABL
SPOS 0
Byte 1
0 x
STILL
0 0
DEV
0
24VL
0 x
TEACH
1 x
MC
0 x
ACK
0 x
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON x
Byte 2
1 x
LOCK
x x
x
START
x
HALT
SCON x
Byte 2 REF
x
MOV
CLEAR TEACH JOGN
CPOS x 2.3 Enable drive, enable operation (Direct mode) 0: 0signal;

Byte 1
x 0
JOGP
x x
HOM
x
STOP
x
ENABL
SPOS x
Byte 1
x 1
STILL
x 0
DEV
x
24VL
x 0
TEACH
x 0
MC
x 1
ACK
x 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x 1: 1signal;
SPOS 0
F: Edge positive
Tab. 5/10: Control and status bytes for Establishing ready to operate status Directmode"
Description for 2. Establishing ready to operate" status: 2.1 Basic status of the drive when the supply voltage is switched on. } Step 2.2 or 2.3 Disable device control by FCT/HMI. Optionally, takeover of device control by FCT/HMI can be disabled with CCON.B5 = 1 (LOCK). } Step 2.3 Enable drive in Direct mode. } Homing: example 4, Tab. 5/12.
2.2
2.3
If there are faults after switching on or after setting CCON.B0 (ENABLE): } Fault handling: see example 3, Tab. 5/11. 552
5. Commissioning
3. Fault handling
3.1 Fault
Control bytes
Byte
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0
CCON x
Byte 2
x x x x x 0 x 0
x x
LOCK
x x
x
JOGP
x
HOM
x
START
x
HALT
SCON x
Byte 2 REF
x
STILL
x
DEV
x
MOV
1
TEACH
x
MC
x
ACK
x
HALT
CLEAR TEACH JOGN
CPOS x 3.2 Warning

Byte 1
x x
JOGP
x x
HOM
x
STOP
x
ENABL
SPOS x
Byte 1
x x
STILL
x x
DEV
x
24VL
x x
TEACH
0 1
MC
x x
ACK
x x
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON x
Byte 2
x x
LOCK
x x
x
START
x
HALT
SCON x
Byte 2 REF
x
MOV
CLEAR TEACH JOGN
CPOS x 3.3 Reset fault with CCON.B3 CCON B3 (RESET) 3.4 Reset fault with CCON.B0 CCON B0 (ENABLE) 0: 0signal;
Byte 1
x F
JOGP
x x
HOM
x
STOP
x
ENABL
SPOS x
Byte 1
x x
STILL
x 0
DEV
x
24VL
x 0
TEACH
0 0
MC
x 0
ACK
x 0
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
LOCK
x 0
x
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x
Byte 1
0 0
JOGP
0 x
HOM
x
STOP
x
ENABL
SPOS x
Byte 1
0 x
STILL
0 0
DEV
0
24VL
0 0
TEACH
1 0
MC
0 x
ACK
1 0
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
x 0
x
START
N
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x 1: 1signal;
SPOS x
F: Edge positive
Tab. 5/11: Control and status bytes for Fault handling"
553
5. Commissioning
Description for 3. Fault handling For description of faults and warnings, see section 6.3. 3.1 3.2 3.3 A fault is shown with SCON.B3 (FAULT). } Positioning can no longer be undertaken. A warning is shown with SCON.B2 (WARN). } Positioning is still possible. Reset fault with positive edge on CCON.B3 (RESET). } Fault bit SCON.B2 (FAULT) or SCON.B3 (WARN) is reset } SPOS.B2 (MC) is set. } Drive is ready to operate. Reset fault with negative edge on CCON.B0 (ENABLE). } Fault bit SCON.B2 (FAULT) or SCON.B3 (WARN) is reset } SPOS.B2 (MC) is set } Establish ready to operate" status again (see examples 1, Tab. 5/9 and 2, Tab. 5/10)
3.4
554
5. Commissioning
4. Homing (requires status 1.4 or 1.5)

4.1 Start homing
Control bytes
Byte
Byte 1
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0
CCON 0
Byte 2
x 0 x 0 x 0
x 0
LOCK
x 0
0
JOGP
x
HOM
1
START
1
HALT
SCON 0
Byte 2 REF
x
STILL
0
DEV
1
MOV
0
TEACH
0
MC
1
ACK
1
HALT
CLEAR TEACH JOGN
CPOS x 4.2 Homing is in progress

Byte 1
0 0
JOGP
F x
HOM
0
STOP
1
ENABL
SPOS 0
Byte 1
0 x
STILL
0 0
DEV
0
24VL
0 0
TEACH
0 0
MC
1 1
ACK
1 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
LOCK
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x 4.3 Homing con con cluded

Byte 1
0 0
JOGP
1 x
HOM
0
STOP
1
ENABL
SPOS 0
Byte 1
0 x
STILL
0 0
DEV
1
24VL
0 0
TEACH
0 0
MC
1 1
ACK
1 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x 0: 0signal; 1: 1signal;
SPOS 1
F: Edge positive
Tab. 5/12: Control and status bytes for Homing"
Description for 4. Homing: 4.1 A positive edge at CPOS.B2 (HOM, Start homing) starts the homing run. The start is confirmed with CCON.B1 (Acknowledge start) as long as CPOS.B2 (HOM) is set. Movement of the axis is shown with SPOS.B4 (MOV, Axis is moving). After successful homing, SPOS.B2 (MC, Motion Com plete) and SPOS.B7 (REF) are set.
4.2 4.3
If there are faults during homing: } Fault handling: see example 3, Tab. 5/11.
555
5. Commissioning
5. Positioning by Record Select (requires status 1.3/2.3 and 4.)

5.1 Preselect record number (control byte 3) 5.2 Start positioning task
Control bytes
Byte
Byte3
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0
Record number
Record number Byte 3
Re cord no.
Byte 1
Record no. (0..0.31)
Re cord no.
ENABL Byte 1
Previous record no. (0...31)
OPM2 OPM1
LOCK
RESET BREAK
STOP
OPM2 OPM1 LOCK
24VL
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
0 0 0 0
x 0
LOCK
x 0
0
JOGP
x
HOM
1
START
1
HALT
SCON 0
Byte 2 REF
0
STILL
0
DEV
1
MOV
0
TEACH
0
MC
1
ACK
1
HALT
CLEAR TEACH JOGN
CPOS x 5.3 Positioning task in progress

Byte 1
0 0
JOGP
0 x
HOM
F
STOP
1
ENABL
SPOS 1
Byte 1
0 0
STILL
0 0
DEV
0
24VL
0 0
TEACH
0 0
MC
1 1
ACK
1 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x
Byte3
SPOS 1
Byte 3
Record number
Record number
Re cord no. 5.4 Positioning task concluded

Byte 1
Record no. (0..0.31)
Re cord no.
ENABL Byte 1
Current record no. (0..0.31)
OPM2 OPM1
LOCK
RESET BREAK
STOP
OPM2 OPM1 LOCK
24VL
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
0 0
x 0
x 0
0
JOGP
x
HOM
1
START
1
HALT
SCON 0
Byte 2 REF
0
STILL
0
DEV
1
MOV
0
TEACH
0
MC
1
ACK
1
HALT
CLEAR TEACH JOGN
CPOS x
Byte 5...8
SPOS 1
Byte 5...8
Reserved
Position
Reserved
Ac tual posi tion
Actual position (increments)
0: 0signal;
1: 1signal;
F: Edge positive
Tab. 5/13: Control and status bytes for Positioning by Record Select"
556
5. Commissioning
Description for 5. Positioning by Record Select: (steps 5.1 ... 5.4 conditional sequence) Once ready to operate" is established and homing has been carried out, a positioning task can be started. 5.1 Preselect record number: Byte 3 of the output data 0 = Homing run 1...31 = Programmable position set records With CPOS.B1 (START, Start task) the preselected posi tioning task is started. The start is confirmed with CCON.B1 (Acknowledge start) as long as CPOS.B1 (START) is set. Movement of the axis is shown with SPOS.B4 (MOV, Axis is moving). At the end of the positioning task, SPOS.B2 (MC, Mo tion Complete) is set.
5.2
5.3 5.4
If there are faults during positioning: } Fault handling: see example 3, Tab. 5/11.
557
5. Commissioning
6. Direct mode: Position mode (requires status 1.3/2.3 and 4.)

Step/ D Description i ti Control bytes
Byte
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0
RVelocity
RVelocity Byte 4
6.1 Preselect position Byte 4 and speed Speed (control bytes 4 and 5 8) 5...8)
Byte 5...8
Speed preselection (0...100 %)

Position
Speed
Byte 5...8
Speed response message (0...100 %)

Position
Nom Nominal position (increments) inal posi tion 6.2 Start positioning task
Byte 1 OPM2 OPM1 LOCK RESET BREAK STOP ENABL
Ac tual posi tion

Byte 1
Actual position (increments)
OPM2 OPM1 LOCK
24VL
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
1 0
FAST
x 0
XLIM
x 0
VLIM
0
JOGP
x
HOM
1
START
1
HALT
SCON 0
Byte 2 REF
1
STILL
0
DEV
1
MOV
0
TEACH
0
MC
1
ACK
1
HALT
CLEAR TEACH JOGN
CPOS x
Byte 3 FUNC
0
CONT
0 0 x
HOM
F 0
STOP
1
ABS
SPOS 1
Byte 3 FUNC
0
FAST
0
XLIM
0
VLIM
0 0 0
TEACH
0 0 0
MC
1 0 1
ACK
1
ABS
COM2 COM1
CONT COM2 COM1
CDIR 6.3. Positioning task in progress

Byte 1
0 1 0 1 0
0
LOCK
0 0
JOGP
S
ENABL
SDIR
Byte 1
0 1
STILL
0 0
DEV
0
24VL
S 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
LOCK
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x 6.4 Positioning task concluded

Byte 1
0 0
JOGP
0 x
HOM
1
STOP
1
ENABL
SPOS 1
Byte 1
0 1
STILL
0 0
DEV
1
24VL
0 0
TEACH
0 0
MC
1 1
ACK
1 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x
SPOS 1
0: 0signal; 1: 1signal; x: not relevant (any); S: Positioning condition: 0= absolute; 1 = relative
F: Edge positive
Tab. 5/14: Control and status bytes for Positioning by Direct Mode"
558
5. Commissioning
Description for Direct mode position mode: (step 6.1 ... 6.4 conditional sequence) Once ready to operate" is established and homing has been carried out, a nominal position must be preselected. 6.1 The nominal position is transferred in increments in bytes 5...8 of the output word. The nominal speed is transferred in % in byte 3 (0 = no speed; 100 = max. speed). With CPOS.B1 (START, Start positioning task) the pres elected positioning task is started. The start is con firmed with CCON.B1 (Acknowledge start) as long as CPOS.B1 (START) is set. Movement of the axis is shown with SPOS.B4 (MOV, Axis is moving). At the end of the positioning task, SPOS.B2 (MC, Motion Complete) is set.
6.2
6.3 6.4
If there are faults during positioning: } Fault handling: see example 3, Tab. 5/11.
559
5. Commissioning
7. Direct mode Force mode (requires status 1.3/2.3 and 4)

7.1 Specify nominal value
Control bytes
Byte 4
Status bytes
B7 B6 B5 B4 B3 B2 B1 B0 Actual value in % of the nominal current Actual positions in increments
B7 B6 B5 B4 B3 B2 B1 B0 Byte Not relevant 4
5...8
Nominal value in % of the nominal current

OPM2 OPM1 LOCK RESET BREAK STOP ENABL
5...8
7.2 Preparing for Force mode
Byte 1
Byte 1
OPM2 OPM1 LOCK
24VL
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
1 0
FAST
x 0
XUM
x 0
0
JOGP
x
HOM
1
START
1
HALT
SCON 0
Byte 2 REF
1
STILL
0
DEV
1
MOV
0
TEACH
0
MC
1
ACK
1
HALT
CLEAR TEACH JOGN
CPOS x
Byte 3 FUNC
0
CONT
0 0 x
HOM
0 1
STOP
1
ABS
SPOS 1
Byte 3 FUNC
0
FAST
0
XUM
0
VUM
0 0 0
TEACH
1 0 0
MC
0 0 1
ACK
1
ABS
COM2 COM1
CONT COM2 COM1
CDIR 7.3 Start positioning task

Byte 1
0 1 0
FAST
S
LOCK
0 0
JOGP
0
ENABL
SDIR
Byte 1
0 1
STILL
0 0
DEV
x
24VL
0 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
XUM
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x
Byte 3 FUNC
0
CONT
0 0 x
HOM
F 1
STOP
1
ABS
SPOS 1
Byte 3 FUNC
0
FAST
0
XUM
0
VUM
0 0 0
TEACH
0 0 0
MC
1 1 1
ACK
1
ABS
COM2 COM1
CONT COM2 COM1
CDIR 7.4 Positioning task in progress (nominal value not reached)

Byte 1
0 1 0
FAST
S
LOCK
0 0
JOGP
0
ENABL
SDIR
Byte 1
0 1
STILL
0 0
DEV
0
24VL
0 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
XUM
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x
Byte 3 FUNC
0
CONT
0 0 x
HOM
x 1
STOP
1
ABS
SPOS 1
Byte 3 FUNC
0
FAST
0
XUM
1
VUM
0 0 0
TEACH
0 0 0
MC
x 1 1
ACK
1
ABS
COM2 COM1
CONT COM2 COM1
CDIR 7.5 Positioning task in progress (nominal value reached)

Byte 1
0 1 0
FAST
S
LOCK
0 0
JOGP
0
ENABL
SDIR
Byte 1
0 1
STILL
0 0
DEV
1
24VL
0 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
XUM
x 0
1
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x
Byte 3 FUNC
0
CONT
0 0
x 1
1
ABS
SPOS 1
Byte 3 FUNC
0
FAST
0
XUM
0
VUM
0 0
1 0
x 1
1
ABS
COM2 COM1
CONT COM2 COM1
CDIR
SDIR
560
5. Commissioning
Step/ Description
7.6 Positioning task interrupted (stroke limit or software end position reached)
Control bytes
Byte
Byte 1
Status bytes
B5 B4 B3 B2 B1 B0 Byte
ENABL Byte 1
B7 B6
OPM2 OPM1
B7 B6 B5 B4 B3
OPM2 OPM1 LOCK 24VL
B2 B1 B0
OPEN ENABL
LOCK
RESET BREAK
STOP
FAULT WARN
CCON 0
Byte 2
1 0
FAST
x 0
XUM
x 0
0
JOGP
x
HOM
1
START
1
HALT
SCON 0
Byte 2 REF
1
STILL
0
DEV
1
MOV
0
TEACH
0
MC
1
ACK
1
HALT
CLEAR TEACH JOGN
CPOS x
Byte 3 FUNC
0
CONT
0 0 x
HOM
x 1
STOP
1
ABS
SPOS 1
Byte 3 FUNC
0
FAST
0
XUM
0
VUM
0 0 0
TEACH
1 0 0
MC
x 0 0
ACK
1
ABS
COM2 COM1
CONT COM2 COM1
CDIR 7.7 End positioning task (e.g. with STOP)

Byte 1
0 1 0
FAST
S
LOCK
0 0
JOGP
0
ENABL
SDIR
Byte 1
0 1
STILL
1 0
DEV
0
24VL
0 1
HALT
OPM2 OPM1
RESET BREAK
OPM2 OPM1 LOCK
FAULT WARN
OPEN ENABL
CCON 0
Byte 2
x 0
XUM
x 0
0
START
1
HALT
SCON 0
Byte 2 REF
1
MOV
CLEAR TEACH JOGN
CPOS x
Byte 3 FUNC
0
CONT
0 0
x 1
1
ABS
SPOS 1
Byte 3 FUNC
0
FAST
0
XUM
0
VUM
0 0
1 0
x 0
1
ABS
COM2 COM1
CONT COM2 COM1
CDIR
SDIR
0: 0signal; 1: 1signal; x: not relevant (any); F: Edge positive S: Path limitation (stroke limit): 0 = stroke limit active, 1 = stroke limit not active
Tab. 5/15: Control and status bytes for Direct mode Force mode"
Description for Force mode: Once ready to operate" is established and homing has been carried out, a nominal value must be specified and the system must be prepared for operation in Force mode. 7.1 7.2 Specify the nominal value in % of nominal motor cur rent. Prepare Force mode: set bit CDIR.B1 COM1, and set bit CDIR.B5 XLIM depending on the desired level of stroke limitation. Start the positioning task with CPOS.B1 START. The start is confirmed with CCON.B1 (Acknowledge start) as long as CPOS.B1 (START) is set.
7.3
561
5. Commissioning
7.4 or 7.5 The corresponding bits are set in the status depending on whether or not the nominal value is reached. 7.6 The positioning task is ended automatically when the stroke limit or software end position is reached. The system switches back to position control. The positioning task can be stopped from the controller, e.g. by means of STOP.
7.7
If there are faults during Force mode: See example 3, Table 5/13 Fault handling.
Note In Force mode, the nominal value can only be changed after the last specification is reached (MC), by means of a new start pulse edge.
562
5. Commissioning
5.8 5.8.1
Drive functions Dimensional reference system
Dimensional reference system 1)

e LSE
g
USE TP/AP
REF AZ PZ LSE USE TP, AP

1)
Reference point (homing point) Axis zero point Project zero point Lower software end position Upper software end position Target/actual position
a b, c d e f g
Axis zero point offset Software end position offsets Project zero point offset Effective stroke Nominal stroke Target/actual position offset
Example for the homing method: Fixed stop, negative
Tab. 5/16: Dimensional reference system
See also section 1.3.
563
5. Commissioning
Calculation rules for reference system

Point of reference
Axis zero point Project zero point Lower software end position Upper software end position Target/actual position
Calculation rule
AZ PZ LSE USE TP, AP = REF + a = AZ + d = AZ + b = AZ + c = PZ + e = REF + a + d = REF + a + b = REF + a + c = AZ + d + e = REF + a + d + e
Tab. 5/17: Calculation rules for reference system
5.8.2
Homing
After switching on, homing must be carried out before a posi tioning task can be executed. The drive homes to a stop or a reference switch. An increase in the motor current with the drive shaft motionless indicates that a stop has been reached. As the drive must not be allo wed to push constantly against the stop, it must move at least 0.25 mm back into the stroke range (axis zero point offset). Sequence: 1. Searching for the reference point in accordance with the configured method. 2. Moving from the reference point to the axis zero point (axis zero point offset). 3. Setting at axis zero point: Current position = 0 project zero point offset (i.e. PZ).
564
5. Commissioning
Overview of parameters involved (see also section B.1.12)

Parameters involved Description Axis zero point offset Homing method Homing speeds Homing required Maximum homing torque Start Feedback Requirement CPOS.B2 = positive edge: Start homing SPOS.B1 = positive edge: Acknowledge start SPOS.B7 = drive homed to reference point Device control by PLC/fieldbus Controller must be in status Operation enabled" No active command for jogging FCT x x x x PNU 1010 1011 1012 1014 1015 CI 607Ch 6098h 6099h 23F6h 23F7h
Tab. 5/18: Parameters involved in homing Homing methods 1)

hex. 17h 1Bh EFh EEh dec. 23 27 17 18 Description Search for reference switch in positive direction. Search for reference switch in negative direction. Search for negative stop. The point found is the reference position. As the axis must not stay at the stop, the axis zero point offset must be 0. Search for positive stop. The point found is the reference position. As the axis must not stay at the stop, the axis zero point offset must be 0.
1) For detailed description of homing methods see section 5.2.2.
Tab. 5/19: Overview of homing methods
565
5. Commissioning
5.8.3
Jog mode
In the Operation enabled" status, the drive can be moved to the left or right by jogging. This function is usually used for: Moving to teach positions Moving the drive out of the way (e.g. after a system fault) Manual positioning as a normal operating mode
Sequence 1. When one of the signals Jog left / Jog right" is set, the drive starts to move slowly. Due to the slow speed, a posi tion can be defined very accurately. 2. If the signal remains set, the speed will be increased until the configured maximum speed is reached. In this way large strokes can be traversed quickly. 3. If the signal changes to 0, the drive will be braked. 4. If the drive reaches a software end position, it will stop automatically. The software end position is not exceeded; the distance for stopping is accounted for according to the ramp set. Here too, the system does not leave Jogging mode until Jogging = 0.
566
5. Commissioning
1 Low speed phase 1

(slow travel)
2 Maximum speed for

phase 2
Speed v (t)
3 1
2 3
3 Acceleration /
deceleration
t [s] CPOS.B3 or CPOS.B4 (jogging positive/ negative)

1
4 Duration of phase 1:
Fig. 5/5: Flow diagram for jogging mode
Overview of parameters involved (see section B.1.11)

Parameters involved Description Speed for phase 2 2 Acceleration or deceleration 3 Duration of phase 1 4 Start Feedback Requirements FCT x x x PNU 531 532 534 CI 20ED/21h 20EE/21h 20E9/21h
CPOS.B3 = positive edge: jogging positive (forwards) CPOS.B4 = positive edge: jogging negative (backwards) SPOS.B4 = 1: drive is moving SPOS.B2 = 0: (Motion Complete) Device control by PLC/fieldbus Controller must be in status Operation enabled"
Tab. 5/20: Parameters involved in jogging mode
567
5. Commissioning
5.8.4
Teaching via fieldbus

Position values can be taught via the fieldbus. Previously taught position values will then be overwritten. Sequence 1. The drive is moved to the desired position via jogging mode. 2. The user must make sure that the desired parameter is selected. For this the Teach target" parameter and, if applicable, the correct position record address must be entered. Teach target (PNU 520) For teaching:
= 1 (specification) Nominal position of the position set record Record Select: Position set record after control byte3 Direct mode: Position set record after PNU=400 Axis zero point Project zero point Lower software end position Upper software end position
=2 =3 =4 =5
Tab. 5/21: Overview of teach targets
568
5. Commissioning
3. Teaching takes place via the handshake of the bits in the control and status bytes CPOS/SPOS:
1 Ready for teaching 2 Value transferred

Teaching value CPOS.B5
Acknow ledgment SPOS.B3
1
Fig. 5/6: Handshake when teaching
Note: The drive does not need to stop moving for teaching. How ever, a speed of 1 m/s means that the actual position changes by 1 mm every millisecond. With the usual cycle times of PLC + fieldbus + motor controller, there will still be inaccuracies of several millimetres even at a speed of only 100 mm/s. Overview of parameters involved (see sections B.1.10 and B.1.11)
Parameters involved Description Teach target Set number Start Feedback Requirement
1)
FCT 1) 1)
PNU 520 400
CI 21FCh 2033h
SPOS.B5 = falling edge: Teaching value SPOS.B2 = 1: Value transferred Device control by PLC/fieldbus Controller must be in status Operation enabled"
Teach function is made possible in the Festo Configuration Tool by special functions.
Tab. 5/22: Parameters involved for teaching
569
5. Commissioning
5.8.5
Record Select: Executing a position set record

In the status Operation enabled", a record can be started. This function is usually used for: Moving to any position in the record list by the PLC Processing a positioning profile by linking records Known target positions which seldom change (change of formula).
Sequence 1. Set the desired record number in the output data of the master. Up till the start, the controller continues to re spond with the number of the record last executed. 2. With a rising edge at START (CPOS.B1) the controller ac cepts the record number and starts the positioning task. 3. The controller signals with the rising edge on Acknow ledge Start that the PLC output data have been accepted and that the positioning task is now active. The position ing command is executed irrespective of whether Start (CPOS.B1) has been reset to zero or not. 4. When the record is concluded, MC (SPOS.B2) is set. Possible causes of faults: Homing has not been carried out The target position and/or the preselect position cannot be reached Invalid record number
570
5. Commissioning
Start/stop record
1
Nominal record number in output data
N1
0
N+1
Stop CCON.B1 (STOP)

0
6
1
Start CPOS.B1 (START)

0
3 2
1
Acknowledge start SPOS.B1 (ACK)

0
Motion Complete SPOS.B2 (MC)

0
Axis is moving SPOS.B4 (MOV)

0
Actual record number in input data
N1
0
N+1
1 Requirement:
Acknowledge Start" = 0 record number N to be accepted and Acknowledge Start" to be set.
4 The controller reacts with a falling

edge on Acknowledge Start". detected by the PLC, it can apply the next record number.
2 Rising edge on Start" causes the new 5 As soon as Acknowledge start" is
3 As soon as Acknowledge Start" is

detected by the PLC, it can set Start" back to 0.
6 A currently running positioning task

can be stopped with Stop".
Fig. 5/7: Flow diagram for start/stop record"

571
5. Commissioning
Stop record with Halt and continue

1
N1
0
N+1
Halt CPOS.B0 (HALT)

0

0
Confirm Halt SPOS.B0 (HALT)

0

0

0
Axis is moving SPOS.B4 (MC)

0
N1
0
1 Record is stopped with Halt," actual

record number N is retained, Motion Complete" remains reset
2 Rising edge on Start" starts record N

again, Confirm Halt" is set
Fig. 5/8: Flow diagram for stop record with Hold and continue"
572
5. Commissioning
Stop record with Hold and clear remaining positioning path

1
N1
0
N+1
Halt CPOS.B0 (HALT)

0

0
Clear remaining positioning path CPOS.B6 (CLEAR)
2
0
Confirm Halt SPOS.B0 (HALT)

0

0

0
Axis is moving SPOS.B4 (MOV)

0
N1
0
N+1
1 Stop record 2 Clear remaining positioning path Fig. 5/9: Flow diagram for stop record with Halt and clear remaining positioning path"
573
5. Commissioning
Parameters involved (Record Select)

The entries in the position set table can be written via the fieldbus (PNU 401...407). The composition of the position set table as per FHPP is described in appendix B.1.10.

Parameters involved Description Absolute/relative positioning Target position Velocity Acceleration / deceleration Start Feedback CPOS.B1 = positive edge: Start Jogging and homing have priority. SPOS.B2 = 0: Motion Complete SPOS.B1 = positive edge: Acknowledge start SPOS.B4 = 1: Drive is moving Device control by PLC/fieldbus Controller must be in Operation enabled" status. A valid record number is active FCT x x x x PNU 401 404 406 407 CI 20E0/01h 20E0/02h 20E0/03h 20E0/04h
Requirements
Tab. 5/23: Parameters involved for Record Select
574
5. Commissioning
5.8.6
Direct mode: Specification of a position or force

In the Operation enabled" status, a positioning task is for mulated directly in the I/O data, which are transmitted via the fieldbus. The nominal values for position or forces are man aged in the PLC. The function is used in the following situations: Moving to any position within the effective stroke The target positions are unknown during planning or change frequently (several different workpiece positions)
A positioning profile formed by linking records can be imple mented externally through the master. Sequence for specification of a position: 1. The user sets the desired nominal position value and the positioning mode (absolute/relative) in the PLC output data. 2. With a rising edge on START (CPOS.B1), the controller accepts the nominal position and starts the positioning task. 3. After the start you must wait for MC before a new start can be made. 4. When the nominal position is reached, MC (SPOS.B2) is set.
575
5. Commissioning
Sequence for specification of a torque/force: Note The motor torque is controlled indirectly via regulation of the current. The actual force on the axis should be deter mined/checked during commissioning using external measuring devices and adjusted. Force mode is prepared by switching the control mode. The drive remains stationary in a controlled position. The signal MC" (Motion Complete) is used in this control mode to mean executed". After the nominal value has been specified, the start signal (start bit) is sent and the torque (or force, in the case of a linear drive) is built up in the direction of the nominal values sign. The speed is limited to the value in the parameter Speed limit". Once this speed has been reached, the bit Speed limit reached" is set in the status byte SDIR. Once the nominal value has been reached, taking into ac count the target window and the time window, the MC" signal is set. Force/torque continue to be controlled. If the distance set in path/stroke monitoring (relative to the start position) is exceeded, the bit Stroke limit reached" is set in the status byte SDIR. The drive is braked with the emer gencystop ramp, is then held in a controlled position (the current position), and the MC signal is set. Possible causes of faults: Homing not carried out. Target position cannot be reached or lies outside the soft ware end positions.
576
5. Commissioning
Starting the positioning task

1
Nominal values in output data

0
N1
N+1
N+2
Start CPOS.B1
0
Acknowledge start SPOS.B1

0
Motion Complete SPOS.B2

0
Fig. 5/10: Starting the positioning task The sequence of the remaining control and status bits as well as the functions Halt and Stop react as for the Record Select function; see Fig. 5/7, Fig. 5/8 and Fig. 5/9.
577
5. Commissioning

Description Position mode Force mode 1) Acceleration / deceleration Stroke limitation Minimum torque Maximum torque Force target window (tolerance) Damping time in [ms] Max. permitted speed Start Feedback CPOS.B1 = positive edge (CDIR.B0 = nominal position absolute/relative) SPOS.B2 = 0: Motion Complete SPOS.B1 = positive edge: Acknowledge start SPOS.B4 = 1: Drive is moving Device control by PLC/fieldbus Controller must be in status Operation enabled" 6076h Rated torque (nominal torque) 6087h Torque slope (torque ramp) CDIR.B5 Stroke limitation active/inactive FCT x x x x x x x PNU 541 510 511 512 552 553 554 CI 20EE/34h 60F6/01h 60F6/05h 6072h 60F6/03h 60F6/04h 60F6/02h
Requirement
1) Other parameters: 6071h Target torque 6077h Actual torque 6088h Torque profile type
Tab. 5/24: Parameters involved in Direct Mode
Note on Force mode: The motor torque is controlled indirectly via the regulation of the current. All specification for forces/torques are de fined in relation to the nominal motor torque (relative to the nominal motor current). The actual force on the axis should be determined/checked during commissioning using external measuring devices and adjusted.
578
5. Commissioning
5.8.7
Standstill monitoring
With standstill monitoring, the system can detect when the drive leaves the target position window when in standstill status. When the target position has been reached and MC has been signalled in the status word, the drive switches to standstill" status; bit SPOS.B6 (standstill monitoring) is reset. If, while in this status, the drive is moved out of the standstill position window by external forces or other influences and stays out for a minimum defined time, bit SPOS.B6 is set. As soon as the drive has been back in the standstill position window for the defined standstill monitoring time, bit SPOS.B6 is reset.
1 Target position 2 Actual position 3 Standstill monitoring

(SPOS.B6)
4 Motion Complete
(SPOS.B2)
2 8
1
5 Standstill position
window
3
0 1
6 Target position win

dow
7 Monitoring time
(position window time)
4
0
8 Standstill monitoring
time Fig. 5/11: Standstill monitoring Standstill monitoring cannot be switched on or off explicitly. Itbecomes inactive when the standstill position window is set to the value 0".
579
5. Commissioning

Parameter Description Nominal position Actual position Standstill position window Standstill monitoring time Start Feedback Requirement SPOS.B2 = positive edge: Motion Complete SPOS.B6 = 1: Drive has moved out of standstill position window. Device control by PLC/fieldbus Controller in operation enabled" state FCT PNU 1040 1041 1042 1043 CI 6062h 6064h 2040h 2041h
Tab. 5/25: Parameters involved in standstill monitoring
580
5. Commissioning
5.9
Notes on operation Startup behaviour and homing

Warning Incorrect parameterisation can cause injury to people and damage to property.
In the following cases homing is absolutely essential in
order that the points of reference and the working range can be set correctly: Every time the logic voltage is switched on When the dimensional reference system (homing method, axis zero point, direction of rotation) has been modified (compare object 607Eh) After a failed/cancelled homing run
Before starting homing, make sure that the axis is in
front of the reference switch or stop, in relation to the direction of travel.
Note When the coupling or clamping element in the coupling housing is loosened, the motor can be turned on its longitudinal axis. The reference position will then be lost.
Carry out homing again.
Note When the power supply is switched off, wait for approx. 5 seconds before switching the device on again.
581
5. Commissioning
Device connection
Caution The RS232 interface is not electrically isolated. It is not intended for permanent connection to PC systems or as a controller interface.
Use the connection only for parameterising and diag
nosis.
Controlling during operation

Warning Danger of injury. Faults in parameter assignment can cause injury to people and damage to property when the controller is enabled.
Only enable the controller once the axis system has been
installed and parameterised by technically qualified staff. Caution Note the manufacturers specifications for the permitted operating conditions of the motors and drives used, such as the permitted positioning speeds, for example. Caution Damage to components with DMES... Movement onto the mechanical end positions is not per mitted during operation. When movement is made to the end positions with a heavy load, blockage may occur in the end positions. Note Any functions implemented for the purposes of EMERGENCYSTOP procedures must also be taken into account in the control programs
582
5. Commissioning
Password protection
In the factory settings, password protection is not active. In order to prevent unauthorised or unintentional overwriting or modification of parameters in the device, all download and control functions can be blocked.
Recommendation: Protect the settings of your axis against undesired modifi cations with a password: FCT password protection (8 characters, see MTRDCI plugin help) HMI password protection with the MTRDCI...H2 (3characters, see section 4.4).
Care and maintenance

The motor units do not require maintenance during their spe cified service life. Follow the maintenance instructions for the accessory components.
583
5. Commissioning
584
Operation, maintenance and diagnostics
Chapter 6
61
6. Operation, maintenance and diagnostics
Contents
6.1 6.2 6.3 Overview of diagnostic options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 6.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 6.3.2 Description of faults and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Diagnostic memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612 Diagnosis via PROFIBUSDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614 Diagnosis via parameter channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
6.4 6.5 6.6
62
6.1
Overview of diagnostic options

Overview ordered by type of diagnostic information:
Type of diagnostic infor mation

The fact that there is a fault
Access via ...
See ...
LEDs on the MTRDCI FCT: virtual LEDs in the Device status" window Profibus: status bytes SCON and SPOS
Section 6.2 Plugin help Section 5.7.2 Display Plugin help Plugin help Sections B.1.1 and 6.4 Section 6.5 Section 4.3 Plugin help
The current fault message in normal text Diagnostic memory: the last 16messages
Control panel of the MTRDCI (type ...H2 only) FCT: text field in the Device status" window FCT: in Diagnosis" window (when connected to device) FPC: the second 8 bytes of cyclical fieldbus communication can likewise transmit the con tents of the diagnostic memory.
Devicerelated diagnosis in accor dance with IEC 611586 Type 3 Parameter assignments
Diagnosis via the PROFIBUSDP service GetDiag" Control panel: in [Diagnostic] menu FCT
Tab. 6/1: Diagnostic information by type
63
Overview ordered by type of access to diagnostic information: Access Brief description Advantages / properties
Fast onthespot" recognition of faults Fast onthespot" diagnosis Detailed onthespot" diagnosis
Detailed description
Section 6.2
LEDs
The LEDs indicate ready to operate" status, positioning status, faults and bus status. On the LCD display: messages, warnings and faults In the [Diagnostic] menu: Diagnostic data, operation mode, cur rent positioning set, target and actual positions, speed, and information on communication via fieldbus.
Control panel on the MTRDCI...H2
Section 6.3
Section 4.3
Festo Configura tion Tool
With active device connection: Display of the current position set, target and actual positions, and speed Display of the operation mode, special outputs and operating states, and fault messages from the connected MTRDCI Display of the bus status Display of the diagnostic memory Standard diagnosis Devicerelated diagnosis Diagnosis via FHPP status bytes SCON and SPOS Expanded access to diagnostic data, e.g. diagnostic memory.
Detailed diag nosis during commissioning
MTRDCI plugin help
PROFIBUSDP diagnosis
Simple diagnosis via fieldbus
Section 6.5
PROFIBUS via FPC
Detailed diagno sis via fieldbus
Sections 6.4 and 6.6
Tab. 6/2: Diagnostic information by access
64
6.2
LED status displays Power supply

POWER Status
Load and logic voltages applied. Green Logic voltage is applied. Load voltage is not applied. Flashing No voltage is applied. Off
Tab. 6/3: Power" LED
Fault display
ERROR Status
Fault. The motor unit is not ready to operate. Red Warning. Check cause and rectify if necessary; see section 6.3. Flashing No internal fault reported. Off
Tab. 6/4: Error" LED
65
Bus status, positioning status and controller enable

I/F 1)
MC (green)
ON OFF
Status
Motion Complete 1) Positioning procedure has been com pleted or stopped (Motion Complete). Complete) No Motion Complete or fault/warning Target position not yet reached (posi tioning procedure is running) 2) or Fault.
Lit up green
ON OFF
Off
1) 2)
Twocolour LED If there is no fault, i.e. LED ERROR = off.
Tab. 6/5: LED I/F" green MotionComplete LED I/F 1)

PROFIBUS (red)
ON OFF
Status
Data exchange active Normal operating status.
Off
ON OFF
Address not parameterised Invalid bus address set.
Flashing red fast (5Hz)

ON OFF
Waiting for connection
Flashing red slowly (1Hz)

1)
Twocolour LED
Tab. 6/6: LED I/F" red PROFIBUS LED
66
6.3
Fault messages
Fault
Not all faults are equally serious. Either a warning or a fault message will appear, depending on the level of serious ness.
Fault message
Warning message
6.3.1
Cate gory
Fault Fault Fault Fault Fault
Overview
Name, display
POSITION ERROR MOTOR STOP HOMINGERROR OVERHEATING LOADPOWER DOWN I2tERROR HARDWAREERROR TARGET POSITION OUT OF LIMIT! ILLEGAL RECORD WARNING
Description
Position lag error Motor emergency stop Homing fault Overtemperature (ActTemp > 80) Undervoltage at controller (load volt age) Overheating (i2t monitoring) User data destroyed (checksum fault) Position outside software end posi tions Invalid record no.
Device Error 1)
0x0001 0x0002 0x0004 0x0008 0x0010
Fault number
31 106 32 101 70
Fault LED
ON ON ON ON ON
Status bytes 2)
FAULT, DEV FAULT FAULT FAULT FAULT
Fault Fault Fault
0x0020 0x0040 0x0080
100 52 2
ON ON ON
FAULT FAULT FAULT
Warn ing
1) 2)
0x0100
FLASH ING
WARN
See object 2FF1/00 For FHPP status bytes, see section 5.7.2
67
Cate gory
Fault
Name, display
PLEASE ENFORCE HOMING RUN! STANDSTILL WARNING PROFIBUSINIT ERROR HOT TEMPERATURE COLD TEMPERA TURE
Description
Not referenced (homing not carried out) Standstill monitor ing Hardware initialisa tion fault Temperature toohigh Temperature toolow
Device Error 1)
0x0200
Fault number
1
Fault LED
ON
Status bytes 2)
FAULT
Warn ing Fault Warn ing Warn ing

1) 2)
0x4000 0x8000
36 51
FLASH ING ON FLASH ING FLASH ING
WARN, STILL FAULT WARN WARN
See object 2FF1/00 For FHPP status bytes, see section 5.7.2
Tab. 6/7: Faults and warnings with fault numbers and fault bits
6.3.2
Description of faults and warnings

Messages give information regarding operating states. Message
Attention! Motor moves... Profile velocity = 0. Please set v.
Messages
Cause
Message before the start of a positioning move ment. After confirmation with the <ENTER> button, the drive starts moving. The menu command [Move position set] is not being executed because the positioning speed ofthe position set record is v = 0. Modify the parameter assignment or select a different postion set record.
68
Warnings
Warnings have no effect on the behaviour of the drive. The cause of the warning should however be eliminated so that it does not lead to a fault. When a warning occurs, the fault LED flashes and the output WARNING is set (FHPP status bits, SCON.B2). Warning
HOT TEMPERATURE
Cause
Operating temperature 70 C < T < 80 C, may need to check whether drive is overloaded, check the mechanical parts (e.g. for stiffness), reduce ambient temperature. Operating temperature < 10 C, increase ambient temperature as appropriate. The axis has moved outside the standstill position window. Invalid record number.
COLD TEMPERATURE STANDSTILL WARNING ILLEGAL RECORD WARNING
Fault
If there is a fault, the drive will be stopped. The fault LED will flash. 1. Eliminate the cause of the fault. 2. Acknowledge the fault message: With <Enter> on the control panel Via fieldbus with a falling edge on the ENABLE signal Via fieldbus with a rising edge on the RESET signal CCON.B3 With the Reset error" button in the Festo Configuration Tool
69
Fault
HARDWARE ERROR HOMING ERROR
Possible cause
Device error, e.g. EEPROM defective. Contact Festo Service. Fault during homing Possible causes: Homing interrupted Reference switch defective If necessary, check the function of the reference switch. In all cases, be sure to repeat the homing run. Current monitoring i2t. Possible cause: The drive is blocked. Check the drives mechanical components. When starting a position set record. Possible causes: Valid homing has not yet been carried out. The homing (reference) position has been lost due to logic voltage failure. You must carry out a homing run in all cases. Fault during the positioning procedure Possible cause: The positioning procedure was interrupted on the control panel with EMERG.STOP (<Menu> button). Acknowledge the fault on the control panel with <Enter> Overheating (operating temperature >80 C) Possible cause: Motor overloaded Ambient temperature too high Check: That the limits are being observed (motor characteristic curves) The mechanical parts e.g. for stiffness If necessary, reduce the ambient temperature. Position lag error Possible causes: The drive is blocked. The speed assigned in the parameters cannot be reached. The work load is too heavy. Check: The mechanical parts of the drive The speed of the positioning set record
i2tERROR
PLEASE ENFORCE HOMING RUN!
MOTOR STOP
OVERHEATING
POSITION ERROR
610
Fault
LOAD POWER DOWN
Possible cause
Voltage monitoring Possible causes: Load voltage too low MTRDCI 32/42/52: U < 18 V MTRDCI 62: U < 34 V Voltage drops under load Check the voltage supply: Power supply unit too weak? Supply line too long? The specified target position is outside the permitted positioning range. Check the following: The software end positions The target position The basis of the target position (absolute or relative) PROFIBUS initialisation fault Hardware fault Servicing required.
TARGET POSITION OUT OF LIMIT!
PROFIBUSINITERROR
Tab. 6/8: Fault messages
611
6.4
Diagnostic memory
The diagnostic memory contains the last 16 diagnostic mess ages. It is secured if possible in the event of power failure. Ifit is full, the oldest element will be overwritten (circular buffer). Structure of the diagnostic memory
Parameter 1) Format Meaning Subindex 1 Subindex 2 ... Subindex 16
1)
200 uint8 Diagnosis event
201 uint16 Fault number
202 uint32 Time
Current diagnostic message Previous diagnostic message ... Oldest diagnostic message
(see section B.1.8)
Tab. 6/9: Diagnostic memory: structure Configuration of the diagnostic memory with parameter 204 (see section B.1.8)
SI Description Specifi cation 1 1 0 Min. Max.
1 2 3
= 1: Record incoming and outgoing*) faults = 2: Record only incoming faults = 1: Time stamp resolution 10 ms = 2: Time stamp resolution 1 ms Deleting the diagnostic memory. Writing with value = 1 deletes the diagnostic memory Read will always be answered with value = 0. Number of valid entries in the diagnostic memory.
1 1 0
2 2 1
16
*) Outgoing fault = time when the fault was acknowledged (= reset).
Tab. 6/10: Diagnostic memory: configuration 612
The faults are divided into logical groups according to the fault numbers. Group
0 1 ... 19
Name
Execution fault
Comment
No fault active Examples: no homing, nominal position outside software end positions, nominal value calculation not possible. Although the system is OK, a user command cannot be execu ted. In most cases there is a fault in operation. Source: sequence control, controller Example: software end positions outside the effective stroke. A parameter lies within the limit values, allowing it to be writ ten by the user. During the recalculation by the controller, itwas found to be invalid in the context of the other parame ters. Note: invalid parameters are rejected by the parameter proto col and do not generate a fault in the controller. Examples: positioning timeout, homing not successful, posi tion lag error too large, ... The task could not be executed correctly. No hardware fault could be detected. Source: controller Fault when initialising the controller Controller runtime fault: undervoltage, checksum Reserved Reserved Motor runtime: undervoltage, overtemperature, ... Reserved
20..29
Parameter fault
30..49
Controller
50..69 70..79 80 ... 89 90 ... 99 100 ... 109 110 ... 119
Initialisation Controller runtime Motor runtime
Tab. 6/11: Overview of fault numbers A detailed description of the warnings and faults can be found in section 6.3.2.
613
6.5
Diagnosis via PROFIBUSDP

The MTRDCI supports the following diagnostic options via PROFIBUSDP: FHPP status bytes (see section 5.7.2): SCON.B2: WARN Warning SCON.B3: FAULT Fault SPOS.B5: DEV Position lag error SPOS.B6: STILL Standstill monitoring PROFIBUSDP diagnosis : PROFIBUS service GetDiag" with devicerelated diag nosis (GbD) when activated.
The alarm model as per DPV1 is not supported.
Structure of DP diagnosis (GetDiag)

The MTRDCI supports the devicerelated" diagnosis of the Profibus service GetDiag" in accordance with IEC 611586 Type 3.
Note The identifier or channelrelated" diagnosis listed in IEC611586 Type 3 is not supported. How to request the DP diagnosis for a slave is described in the manual for your DP master.
614
16 bytes are reserved in the MTRDCI for DP diagnosis: Byte

0 1 2 3
Diagnostic address
Station status 1 Station status 2 Station status 3 Master PROFIBUS address
Description
Gives an overview of the communication status and the general status of the MTRDCI MTR DCI (see Tab. Tab 6/13 and follow follow ing). g)
PROFIBUS address of the DP master via which parameters were assigned on the MTRDCI and which has both read and write access. Describes the DP slave type (for MTRDCI MTR DCI = 0974h). 0974h) Specifies the length of the devicerelated diagnosis incl. header. 1) With the MTRDCI always 0xA0 (for manufacturerspecific status"). With the MTRDCI always 0x00 (slot is ignored). With the MTRDCI always 0x00 (no specification of the fault). Version number of the firmware of the MTRDCI: 2) Byte 11: main version Byte 10: subsidiary version Version number of the hardware of the MTRDCI: 2) Byte 13: main version Byte 12: subsidiary version Fault number; see section 6.3, Tab. 6/8.
4 5 6 7 8 9 10 11 12 13 14 15
1) 2)
DP slave ID number
Header (for devicerelated diagnosis) Status type Slot no. Specifier Devicerelated diagnosis 1: firmware version number Devicerelated diagnosis 2: hardware version number Devicerelated diagnosis 3: fault number
The MTRDCI permanently enters the value 10" in this octet. E.g. 0x02 0x01" Z V1.02
Tab. 6/12: DP diagnosis (devicerelated diagnosis)
615
Station status 1 Bit 3 is especially of interest with station status 1. If this bit is set, it is useful to evaluate the devicerelated diagnosis. Station status 1 Bit
0
Meaning
Diag.Station_Non_Existent
Explanation
MTRDCI no longer/not yet addressable. Possible causes: Operating voltage not applied Data transmission line interrupted Fault in data transmission line MTRDCI is not yet ready for data exchange. The configuration data received from the master are not the same as those ascertained by the MTRDCI. A devicerelated diagnosis exists. 1) 1 = The MTRDCI does not support the function re quested. Always 0 (always reset to 0 by the MTRDCI). 2) Last parameter assignment telegram faulty Access by a different master (is set by the master)
1 2 3 4 5 6 7
1) 2)
Diag.Station_Not_Ready Diag.Cfg_Fault Diag.Ext_Diag Diag.Not_Supported Diag.Invalid_Slave_Response Diag.Prm_Fault Diag.Master_Lock
Is set by the MTRDCI when a new fault occurs (new fault message). Is set to 1 in the DP master when the response sent by the slave cannot be interpreted.
Tab. 6/13: Diagnostic bits of station status 1
616
Station status 2 (MTRDCIrelated bits only) Station status 2 Bit

0 1 2 3 4 5 6 7
Meaning
Diag.Prm_Req Diag.Stat_Diag Diag.WD_On Diag.Freeze_Mode Diag.Sync_Mode Diag.Deactivated
Explanation
1 = The master must reconfigure the MTRDCI 1 = The master must request diagnostic data until this bit is set to 0 Always 1 (set to logical 1 by the MTRDCI) 1 = Response monitoring/watchdog activated 1 = Freeze activated 1) 1 = Sync activated 1) Reserved Always 0 (always reset to 0 by the MTRDCI)
1) Only in conjunction with a diagnostic message.
Station status 3 Station status_3 Bit

0...6 7
Meaning
Diag.Ext_Diag_Overflow
Explanation
Reserved Is always logical 0 (set by the MTRDCI).
617
6.6
Diagnosis via parameter channel

The Festo parameter channel or the parameter channel as per PROFIdrive (see section 5.6) offers the following methods of accessing diagnostic information (see PNU 201 to 205, section B.1.8): Current device fault (see also faults and warnings, section6.3) Diagnostic memory (PNU 200, PNU 201, PNU 202) PROFIBUS diagnosis (PNU 206)
618
Technical appendix
Appandix A
A1
A. Technical appendix
Contents
A.1 A.2 A.3 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor characteristic curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A3 A5 A7
A2
A.1
Technical data
General information
Protection class as per EN60529 Relative humidity Temperature range Vibration IP54 (plug connectors plugged in or fitted with protective cap) 0...95 %, noncondensing Operation: 0... +50C Storage/transport: 25... +60C As per DIN/IEC 68/EN60068 part 26, severity level 2: 0.35 mm path at 10 ... 60 Hz; 5 g acceleration at 60 ... 150 Hz As per DIN/IEC 68/EN60068 part 227, severity level 2: 30 g at 11 ms duration; 5 shocks in each direction See declaration of conformity (www.festo.com) By means of PELV power circuit (Protected ExtraLow Voltage) Planetary gearing 500 x 4 > 2000 inc/revolution MTRDCI32: 300 x 4 > 1200 inc/revolution Warning at 70 C < T < 80 C Shutdown at temperature 80 C 128 x 64 pixels RS232, 9600 baud IEC 61158. DPV0 and DPV1.
Shock
Electromagnetic compatibility (EMC) 1) Protection against electric shock (protection against direct and indirect contact as per IEC/DIN EN 602041) Gearing type Encoder (with 4x evaluation) Temperature monitoring Display resolution Serial interface PROFIBUS interface
1)
The device is intended for industrial use.
A3
Mechanical data
32
42
52
62
Type MTRDCI...G7: Gear reduction ratio 6.75:1; 1stage Gearing 1) Driving speed Torsional backlash Driving torque Efficiency Mass moment of inertia Rotor Gearing Product weight [1/min] [] [Nm] [kg cm2] [kg cm2] [kg] 481 1.9 0.15 0.75 0.024 0.00089 0.7 444 1.3 0.59 0.8 0.0323 0.00235 1.7 444 1.1 1.62 0.8 1.209 0.01132 3.1 504 1.0 3.78 0.8 3.3 0.017 7.6
Type MTRDCI...G14: Gear reduction ratio 13.73:1; 2stage Gearing 1) Driving speed Torsional backlash Driving torque Efficiency Mass moment of inertia Rotor Gearing Product weight [1/min] [] [Nm] [kg cm2] [kg] 237 1.55 0.29 0.7 0.024 0.00149 0.7 218 0.95 1.13 0.75 0.323 0.00441 1.8 218 0.75 3.08 0.75 1.209 0.01711 3.3 248 1.5 7.20 0.75 3.3 0.035 8.0
MTRDCI...G22: Gear reduction ratio 22.21:1; 2stage Gearing 1) Driving speed Torsional backlash Driving torque Efficiency Mass moment of inertia Rotor Gearing Product weight
1)
[1/min] [] [Nm] [kg cm2] [kg cm2] [kg]
153 1.5 11.66 0.75 3.3 0.022 8.0
For permitted loading of gear shaft, see chapter 2, Tab. 2/2
A4
Electrical data
Nominal voltage Nominal current (load) Peak current (load) Nominal current (logic) *)
MTR32
MTR42
24VDC10 %
MTR52
MTR62
Load 48 VDC +5/10 % Logic*) 24 VDC 10 %
0.73 A 2.1 A
2A 3.8 A
5A 7.7 A 0.15 A
6.19 A 20 A
*) Only relevant with separated voltage supply.
A.2
Accessories
Accessory
Supply cable Programming cable Switch, magnetic Switch, inductive Extension cable with screwtype lock
Connection
Power supply Serial interface Reference switch
Designation
KPWRMC1SUB9HC... KDIMCM8SUB9... SMT8F/8M...M8D SIEN...M8B... KM8M8GSGD.... FBAPBSUB93XM12 E.g. of binder: No. 082424010000
Length [m]
2.5 / 5 / 10 2.5 0.5 / 1 / 2 / 5
Fieldbus connection in cluding separate logic voltage supply
Fieldbus adapter (IP54) Protective cap for main taining protection class IP54 if separated power supply not used
A5
Size
MTRDCI32...
Coupling
Type KSE1520D05D06 Clamping groove 1 (shaft @ 5 mm) Clamping groove 2 (shaft @ 6 mm) Type KSE3032D06D08 Clamping groove 1 (shaft @ 6 mm) Clamping groove 2 (shaft @ 8 mm) Type KSE4250D12D12 Clamping groove 1 (shaft @ 12mm) Clamping groove 2 (shaft @ 12 mm) Type KSE4250D14D20 Clamping groove 1 (shaft @ 14mm) Clamping groove 2 (shaft @ 20 mm)
Coupling housing
Type DMEKG18...
MTRDCI42...
Type DMEKG25...
MTRDCI52...
Type DMEKG40...
MTRDCI62...
Type DMEKG63...
User documentation in paper form

German English French Italian Spanish Swedish P.BEMTRDCIPBDE P.BEMTRDCIPBEN P.BEMTRDCIPBFR P.BEMTRDCIPBIT P.BEMTRDCIPBES P.BEMTRDCIPBSV
A6
A.3
Motor characteristic curves
1 Gear shaft driving torque M [Nm] 2 Current I [A] 3 Recommended operation 4 Impermissible range 5 Overload range
A7
n [1/min]
MTRDCI32...G7
I [A]
3 4
M [Nm]
n [1/min]
MTRDCI32...G14
I [A]
3 4
M [Nm]
Fig. A/1: Motor characteristic curves MTRDCI32...
A8
n [1/min]
MTRDCI42...G7
2 5
I [A]
3 4 5
M [Nm]
n [1/min]
MTRDCI42...G14
2 5
I [A]
3 4 5
M [Nm]
A9
MTRDCI52...G7 n [1/min]
I [A]
M [Nm] n [1/min]
MTRDCI52...G14
2 5
I [A]
M [Nm]
A10
I [A]
M [Nm] MTRDCI62...G14 n [1/min]
2 5
I [A]
M [Nm]
A11
I [A]
M [Nm]
A12
Supplementary information
Appendix B
B1
B. Supplementary information
Contents
B.1 Parameter assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data) . . . . . . B.1.2 Request identifiers, response identifiers, fault numbers . . . . . . . . B.1.3 Rules for requestresponse processing . . . . . . . . . . . . . . . . . . . . . . B.1.4 Parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.5 Overview of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.6 Layout of the parameter entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.7 Device data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.8 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.9 Process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.10 Position set table (list of position set records) . . . . . . . . . . . . . . . . B.1.11 Project data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1.12 Axis parameters for electric drives 1 . . . . . . . . . . . . . . . . . . . . . . . . The Command Interpreter (CI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.1 Procedure for data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.2 CI commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.3 CI objects (overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2.4 Additional CI objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Conversion of units of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . FHPP finite state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.4.1 Establishing ready to operate" status . . . . . . . . . . . . . . . . . . . . . . B.4.2 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B3 B3 B5 B8 B12 B13 B20 B21 B25 B29 B30 B34 B41 B55 B56 B59 B63 B71 B85 B89 B91 B92
B.2
B.3 B.4
B2
B.1
Parameter assignment
B.1.1 Festo Parameter Channel (FPC) for cyclical data (I/O data)
The Festo Parameter Channel" is used for the transmission of parameters. It offers the following advantages: Component
Parameter identifier ParID
Description
Contains: Parameter number PNU: identifies a parameter. Request/response identifier (AK): describes the task/response in the form of a code number. Addresses an element of an array parameter. Value of the parameter. If a parameter processing request cannot be carried out, a fault number will be shown in the response telegram instead of the value. The fault number describes the cause of the fault.
Subindex (IND) Parameter value (ParVal)
Tab. B/1: Components of the parameter channel
The Festo Parameter Channel FPC consists of 8 octets: FPC

Byte 1 O data I data IND ParID ParVal 0 0 Byte 2 IND IND Byte 3 Byte 4 ParID ParID Byte 5 Byte 6 Byte 7 ParVal ParVal Byte 8
Subindex Parameter identifier: PNU and AK Parameter value: With double word: bytes 5...8 With word: bytes 7, 8 With byte: byte 8
Tab. B/2: Structure of Festo Parameter Channel (FPC)
B3
Parameter identifier (ParID)

The parameter identifier contains the task/response identifier (AK) and the parameter number (PNU). Spontaneous messa ges via bit 11 are not supported by the MTRDCI. ParID
Byte 3 Bit Task Re sponse 15 14 13 12 11 10 9 8 Byte 4 7 6 5 4 3 2 1 0
ReqID (AK) ResID (AK)
res. PNU (parameter number) res. PNU (parameter number)
ReqID (AK) ResID (AK)
PNU
Request identifier (read, write, ...) Response identifier (transfer value, fault, ...) The request/response identifier indicates the type of request or response (see section B.1.2). Parameter number identifies and addresses the relevant parameter (see section B.1).
Tab. B/3: Structure of parameter identifier (PKE)
B4
B.1.2 Request identifiers, response identifiers, fault numbers

Request identifiers: ReqID Description Response identifier
Positive 0 1 2 3 (4) (5) 6 7 8 (9) (10) 11 12 (13) (14) (15)
1)
Negative 7 7 7 7 7 7 7 7
No request Request parameter 1) Modify parameter value (word) 1) Modify parameter value (double word) 1) (Reserved request description element) 2) (Reserved modify description element) 2) Request parameter (array) Modify parameter value (array, word) Modify parameter value (array, double word) (Reserved request array elements) 2) (Reserved) 2) Modify parameter value (byte) 1) Modify parameter value (array, byte) (Reserved request lower limit value) 2) (Reserved request upper limit value) 2) Reserved 2)
0 1, 2 1 2 4, 5 4 5 11 12
When using request numbers for simple variables to access parameters implemented as an array, the subindex is ignored or set to 0. This means that the first element of an array is always ad dressed. 2) Requests with nonsupported request numbers (ReqID) will be answered with response identifier 7 and fault number 22.
Tab. B/4: Request identifiers
B5
If the request cannot be carried out, response identifier 7 will be transmitted together with the corresponding fault number (negative response). The following table shows the response identifiers: ResID
0 1 2 (3) 4 5 6 7 (8) (9) (10) 11 12 (13) (14) (15)
Description
No response Parameter transferred (word) Parameter transferred (double word) (Reserved description element transferred) 1) Parameter value transferred (array, word) Parameter value transferred (array, double word) Number of array elements transferred Request cannot be carried out (with fault number) 2) (Reserved no control signals accepted from PKW inter face) 1) (Reserved spontaneous message word) 1) (Reserved spontaneous message double word) 1) Parameter value transferred (byte) Parameter value transferred (array, byte) (Reserved lower limit value transferred) 1) (Reserved upper limit value transferred) 1) (Reserved) 1)
1) Not used for MTRDCI 2) For fault numbers, see following table
Tab. B/5: Response identifiers If the parameter processing request cannot be carried out, acorresponding fault number will be transmitted in the re sponse telegram (octets 7 and 8 of the FPC range). The fol lowing table shows the possible fault numbers: B6
Fault numbers
0 1 (2) 3 4 5 (6) (7) (8) 9 (10) 11 (12) 13 (14) (15) (16) (17) (18) (19) (20) (21) 22 (23) 24 (...99) 100 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x10 0x0A 0x0B 0x0C 0x0D 0x0E 0x10 0x11 0x12 0x13 0x14 0x15 0x16 0x17 0x18 0x64 0x65
Description
Invalid PNU. The parameter does not exist. Parameter value cannot be modified (read only) (Reserved lower or upper limit value exceeded) 1) Faulty subindex No array Incorrect data type (Reserved setting not permitted can only be reset) 1) (Reserved description element cannot be modified) 1) (Reserved PPOWrite requested in IR does not exist) 1) Description data does not exist (Reserved access group incorrect) 1) No control signals accepted (Reserved password incorrect) 1) Text cannot be read in cyclical exchange (Reserved name cannot be read in cyclical exchange) 1) (Reserved text array does not exist) 1) (Reserved PPOWrite missing) 1) (Reserved request cannot be processed because of operating status) 1) (Reserved other faults) 1) (Reserved data cannot be read in cyclical exchange) 1) (Reserved invalid value) 1) (Reserved response too long) 1) Invalid: attributes, number of elements, PNU or IND (Reserved write request: invalid format) 1) Write request: number of values is invalid (Reserved PROFIBUS) (Reserved Festo: ReqID is not supported) 1) (Reserved Festo)
(...255) 0xFF
1)
These fault numbers are not used
B7
B.1.3 Rules for requestresponse processing

Rules
1 2 3 4
Description
If the master sends the identifier for No request", the MTRDCI replies with the response identifier for No response". A request or response telegram always refers to a single parameter. The master must continue to send a request until it receives the appropriate response from the MTRDCI. The master recognizes the response to the request placed: By evaluating the response identifier By evaluating the parameter number (PNU) If applicable, by evaluating the subindex (IND) If applicable, by evaluating the parameter value The MTRDCI keeps providing the response until the master sends a new request. a) A write request will only be carried out once by the MTRDCI, even with cyclical repeti tion of the same request. b) Between two consecutive requests with the same request identifier (AK), parameter number (PNU) and subindex (IND), the request identifier 0 (no request) must be sent and the master must wait for the response identifier 0 (no response). This is to ensure that an old" response is not interpreted as a new" response.
5 6
Tab. B/6: Rules for requestresponse processing
B8
Sequence of parameter processing

Caution Observe the following when modifying parameters: An FHPP write request referring to a modified parameter may only be sent once the response identifier Parameter value transferred" is received for the relevant parameter and (where applicable) index. If for example you want to modify a position value in a posi tion set table and then have the drive move to that position, the positioning command can only be given when the MTR DCI has completed and confirmed the modification of the position set table.
Caution In order to be sure that an old" response cannot be inter preted as a new" response, the request identifier 0 (no request) must be sent and the response identifier 0 (no response) must then be received between two consecutive requests with the same request identifier (AK), parameter number (PNU) and subindex (IND).
Fault evaluation
In the case of requests which cannot be carried out, the slave responds as follows: Output of response identifier = 7 Output of a fault number in bytes 7 and 8 of the para meter channel (FPC)
B9
Example of parameter assignment via DPV0

Parameters can be assigned (parameterised) to a position set record in the position set table via FPC as follows: Step 1
Byte 1 Byte 2
Output status of the 8 bytes of FPC data:

Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Subindex ReqID/ResID + PNU O data I data 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Parameter value 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Step 2
Write record number 1 with absolute positioning: PNU 401, subindex 2 modify parameter value, array, byte: ReqID 12 (0xC) with value 0x00.
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Reserved Subindex ReqID/ResID + PNU O data I data 0x00 0x00 0x02 0x02 0xC1 0xC1 0x91 0x91
Parameter value Unused 0x00 Unused 0x00 Unused 0x00 0x00 0x00
Step 3
After receiving the Idata with ResID 0xC send Odata with ReqID = 0x0 and wait for Idata with ResID = 0x0:
Parameter value Unused 0x00 Unused 0x00 Unused 0x00 0x00 0x00
B10
Step 4
Write record number 1 with target position 0x1234 (decimal 4660 increments): PNU 404, subindex 2 modify parameter value, array, double word: ReqID 8 (0x8) with value 0x00001234.
Step 5
After receiving the Idata with ResID 0x8 send Odata with ReqID = 0x0 and wait for Idata with ResID = 0x0:
Step 6
Write record number 1 with speed 0x7743 (decimal 30531 increments/s): PNU 406, subindex 2 modify parameter value, array, double word: ReqID 8 (0x8) with value 0x00007743.
Step 7
After receiving the Idata with ResID 0x8 send Odata with ReqID = 0x0 and wait for Idata with ResID = 0x0:
B11
B.1.4 Parameter groups

Group
Device data Diagnostic memory Process data Position set table (= list of position set records) Project data
PNU
100..199 200...299 300...399 400...499
Description
Device identification and devicespecific settings, version numbers, passwords, etc. Memory for diagnostic events: fault numbers, fault time, incoming/outgoing event Current nominal and actual values, local I/Os, status data etc. Each record contains all the nominal value parameters required for a positioning procedure. Basic project settings. Maximum speed and acceleration, project zero point offset etc. } These parameters form the basis of the position set table. Reserved All axisspecific parameters for electric drives. Gear ratio, feed constant, homing parameters ...
500...599
Factor group Axis data Electric drives 1
600...699 1000...1099
B12
B.1.5 Overview of parameters

This overview shows all defined parameters of the FHPP. The parameters are described in section B.1.7. Some additional parameters are only available via CI com mands; see section B.2.4. Name FHPP
PNU Subind.1) Type
CI object
Access 2) Index
Device data (see section B.1.7).

Standard parameters Manufacturer Hardware Version BCD Manufacturer Firmware Version BCD Version FHPP Controller Serial Number Extended parameters Manufacturer Device Name User Device Name Drive Manufacturer HTTP Drive Catalog Address Festo Order Number
1) 2)
100 101 102 114
1...12d
uint16 uint16 uint16 char
ro ro ro ro
2069h 206Ah 2066h 2072h
120 121 122 123 124
1...30d 1...8 1...30d 1...30d 1...30d
char char char char char
ro rw ro ro ro
1008h 20FDh 6504h 6505h 6503h
Subindices of the parameter for FHPP with DPV0 (1...n) ro = read only, wo = write only, rw = read and write
B13
Name
FHPP
PNU Subind.1) Type Access 2)
CI object
Index
Extended parameters, continued Device Control LCD Parameter (LCD parameters) Data Memory Control 125 126 127 1...4 1...2 uint8 uint8 uint8 rw r(w) wo 207Dh 20FFh 20F1h
Diagnostic memory (see section B.1.8)

Diagnostic Event Fault Number Time Stamp Diagnostic Memory Parameter (diagnostic memory parameters) Device Error (device fault) PROFIBUS Diagnosis 200 201 202 204 205 206 1...16d 1...16d 1...16d 1...4 1...6 uint8 uint16 uint32 uint8 uint16 uint8 ro ro ro rw rw ro 20C8h 20C9h 20CAh 20CCh 2FF1h 2FF2h
Process data (see section B.1.9)

Local Digital Inputs Local Digital Outputs Cycle Number Keypad Status
1) 2)
303 304 305 306
1...2
uint32 uint32 uint32 uint8
ro ro ro ro
60FDh 60FEh 2FFFh 2FFEh
B14
Name
FHPP
CI object
Index
Position set table (list of position set records, see section B.1.10)
Record Number Record Control Byte 1 Record Target Position Record Velocity Record Acceleration (record acceleration/deceleration) 400 401 404 406 407 1...32d 1...32d 1...32d 1...32d uint8 uint8 int32 uint32 uint32 rw rw rw rw rw 2033h 20EAh 20ECh 20EDh 20EEh
Project data (see section B.1.11)

Project data general project data Project Zero Point Software End Positions Max. Velocity (max. permitted speed) Max. Acceleration (max. permitted acceleration) Project data Force mode Stroke Limit (stroke limitation) Min Torque (min. permitted torque) Max Torque (max. permitted torque)
1) 2)
500 501 502 503
1...2
int32 int32 uint32 uint32
rw rw rw rw
21F4h 607Bh 21F6h 21F7h
510 511 512
uint32 uint16 uint16
rw rw rw
60F6h 60F6h 6072h
B15
Name
FHPP
CI object
Index
Project data teaching Teach Target Project data jogging mode Jog Mode Velocity Phase 2 Jog Mode Acceleration Jog Mode Time Phase 1 Project data Direct mode: Position mode Direct Mode Acceleration (Direct mode acceleration/deceleration) Project data Direct mode: Force mode Force Target Window Damping Time Speed Limit (max. permitted speed)
1) 2)
520
uint8
rw
21FCh
531 532 534
int32 uint32 uint32
rw rw rw
20EDh 20EEh 20E9h
541
uint32
rw
20EEh
552 553 554
rw rw rw
60F6h 60F6h 60F6h
B16
Name
FHPP
CI object
Index
Axis data, electric drives 1 (see section B.1.12)

Axis data, electric drives 1 mechanical Polarity (reversal of direction) Encoder Resolution Gear Ratio Feed Constant Position Factor Axis Parameter (axis parameters)
1) 2)
1000 1001 1002 1003 1004 1005
1...2 1...2 1...2 1...2 1...5
uint8 uint32 uint32 uint32 uint32 uint32
rw rw r(w) rw rw rw
607Eh 608Fh 6091h 6092h 6093h 20E2h
B17
Name
FHPP
CI object
Index
Axis data, electric drives 1 homing Offset Axis Zero Point (offset for axis zero point) Homing Method Homing Velocities Homing Required Homing Max. Torque (max. torque for homing) 1010 1011 1012 1014 1015 1...2 int32 int8 uint32 uint8 uint8 rw rw rw ro rw 607Ch 6098h 6099h 23F6h 23F7h
Axis data, electric drives 1 control parameters Halt Option Code Fault Reaction Option Code Target Position Window Position Window Time (adjustment time for position) Position Control Parameter Set (parameters of the position controller) Motor Data Drive Data
1) 2)
1020 1021 1022 1023 1024 1025 1026
18...21, 23, 32d 1, 3 1...8
uint16 uint16 uint32 uint16 uint16 uint32 uint32
rw rw rw rw rw r(w) r(w)
605Dh 605Eh 6067h 6068h 60FBh 6410h 6510h
B18
Name
FHPP
CI object
Index
Axis data, electric drives 1 electronic rating plate Motor Type Max. Current Motor Rated Current (nominal motor current) Motor Rated Torque (nominal force/torque) 1030 1034 1035 1036 uint16 uint16 uint32 uint32 ro rw ro ro 6402h 6073h 6075h 6076h
Axis data, electric drives 1 standstill monitoring Position Target Value (nominal position) Position Actual Value (current actual position) Standstill Position Window Standstill Timeout (standstill monitoring time)
1) 2)
1040 1041 1042 1043
int32 int32 uint32 uint16
ro ro rw rw
6062h 6064h 2040h 2041h
Tab. B/7: Overview of FHPP parameters
B19
B.1.6 Layout of the parameter entries 1 2 3 4 5 8
Encoder Resolution
PNU 1001 1...2 0...1 uint32 rw
6 7
Description
Encoder resolution in increments / revolutions The encoder resolution is fixed and cannot be modified by the user. The calculated value is derived from the fraction (encoder increments/ motor revolutions). 1001 1 0
Encoder Increments
Value range: 0 ... 2321 Default: 500 Motor Revolutions 1001 Fixed = 1 CI access 608Fh 01h...02h uint32 rw 2 1
1 Name of the parameter (sometimes with explanation in brackets) 2 Parameter number (PNU) 3 Subindices of the parameter for FHPP with DPV0
: 1...30: The object has no subindex (simple variable) The object has subindices from 1..30
4 Subindices of the parameter for FHPP with DPV1 5 Variable type of element. If there is a subindex, the parameter is an array";
records" are not used
6 Description of the parameter 7 If applicable: explanation of the subindices 8 Read/write permission: ro = read only
wo = write only rw = read and write
9 Corresponding CI object (see section B.2)

Fig. B/1: Layout of the parameter entries
B20
B.1.7 Device data Standard parameters

Manufacturer Hardware Version BCD
PNU Description CI access 100 uint16 ro
Hardware version, stated in BCD (Binary Coded Decimal): xxyy (xx = main version, yy = secondary version) 2069h 00h uint16 ro
Compare CI object 1009h
Manufacturer Firmware Version BCD

Firmware version, stated in BCD (Binary Coded Decimal): xxyy (xx = main version, yy = secondary version) 206Ah 00h uint16 ro
Compare CI object 100Ah
Version FHPP
Version number of the FHPP, stated in BCD (Binary Coded Decimal): xxyy (xx = main version, yy = secondary version) 2066h 00h uint16 ro
Controller Serial Number

PNU Description CI access 114 1...12d 0...11d char ro
12character code identifying the controller, e.g.: TD15P0212345" 2072h 00h Vstring ro
B21
Extended parameters
Manufacturer Device Name
Name of the drive. Example: MTRDCI42SVCSCEG7H2PB" 1008h 00h Vstring ro
User Device Name

PNU Description CI access 121 1...8 0...7 char rw
Device name assigned by the user. Max. 8 characters (ASCII, 7bit) Default: motor001" 20FDh 00h Vstring rw
Drive Manufacturer
Name of drive manufacturer. Fixed: Festo AG & Co. KG" 6504h 00h Vstring ro
HTTP Drive Catalog Address

Internet address of the manufacturer. Fixed: www.festo.com" 6505h 00h Vstring ro
Festo Order Number

The order number of the MTRDCIPB. 6503h 00h Vstring ro
B22
Device Control
PNU Description 125 uint8 rw
Activates device control of the controller via the controller interface. Corresponds to HMI control" on the control panel and FCT/HMI" in the FCT. 0 (0x00): Control via controller interface OFF (PROFIBUS), via HMI (control panel) and FCT ON 1 (0x01): Control via controller interface OFF (default) 207Dh 00h uint8 rw
CI access
LCD Parameter (LCD parameters)

PNU Description 126 1...4 0...3 uint8 ro
Settings for the control panel (for MTRDCI...H2 only)
LCD Current 126 1 0 (LCD voltage) Value range: 1...5 (0x01 ... 0x05). Default: 5 The LCD display remains dark if the parameter setting is not correct. LCD Contrast 126 2 1
Value range: 0...63 (0x00 ... 0x3F). Default: 0 Measure 126 3 2 (units of measure measure ment) Defines a system of measurement for the control panel. 1: metric units of measurement (mm, mm/s, mm/s2) 4: angular degrees 8: revolutions Scaling Factor 126 4 3 CI: rw
CI: rw
Number of decimal places (digits after the decimal point) Fixed: 2 (0x02): 2 decimal places CI access 20FFh 01h...04h uint8 r(w)
B23
Data Memory Control

PNU Description 127 1...2 0...1 uint8 wo
Commands for the EEPROM (nonvolatile data storage) 1 0
Delete EEPROM 127
When the object has been written and after Power Off/On, the data in the EEPROM is reset to the factory settings. Fixed: 16 (0x10): delete data in the EEPROM and restore factory settings. Save Data 127 2 1
The data in EEPROM is overwritten with the current userspecific settings. Fixed1 (0x01): save data. CI access 20F1h 01h...02h uint8 wo
Note All userspecific settings will be lost during deletion (except for cycle number). The status after deletion cor responds to the standard factory setting.
Always carry out initial commissioning after deleting the
EEPROM.
The settings of the LCD parameters are lost when the
EEPROM is deleted and may need to be set again. The LCD display remains dark if the parameter setting is not correct.
When the EEPROM is deleted, the fieldbus address is
also reset.
B24
B.1.8 Diagnostics
For a description of the mode of operation of the diagnostic memory: see section 6.4. Additional device faults and PROFIBUS diagnosis. Diagnostic Event
PNU Description 200 1...16d 0...15d uint8 ro
Type of fault or diagnostic information saved in the diagnostic memory. Dis plays whether an incoming or outgoing fault was saved. Value Type of diagnostic event 0 (0x00) No fault (or diagnostic message deleted) 1 (0x01) Incoming fault 2 (0x02) Outgoing fault 3 (0x03) (Reserved) 4 (0x04) Overflow time stamp Event 1 200 1 0
Active diagnostic event Event 2 200 2 1
Previous diagnostic event Event ... 200 ... Event 16 200 16 15 ... ...
Oldest saved diagnostic event CI access 20C8h 01...10h uint8 ro
B25
Fault Number
PNU Description 201 1...16d 0...15 uint16 ro
Fault number saved in the diagnostic memory; used for identifying the fault. Forfault numbers, see 6.3 ... ...
Event ... 201
See PNU 200. CI access 20C9h 01h...10h uint16 ro
Time Stamp
PNU Description 202 1...16d 0...15 uint32 ro
Time point of the diagnostic event since switchon in the unit of measurement specified in PNU 204/2. ... ...
Event ... 202
See PNU 200. CI access 20CAh 01h...10h uint32 ro
B26
Diagnostic Memory Parameter (diagnostic memory parameters)

PNU Description 204 1...4 0...3 uint8 rw
Configuration of the diagnostic memory. 1 0
Fault Type 204
Incoming and outgoing faults 1 (0x01): Record incoming and outgoing*) faults (default) 2 (0x02): Record only incoming faults *) Outgoing fault = time when the fault was acknowledged (= reset). Resolution 204 2 1
1 (0x01): Time stamp resolution 10 ms (default) 2 (0x02): Time stamp resolution 1 ms Clear Memory 204 3 2
Deletes diagnostic memory by writing value = 1. Read will always be answered with value = 1. Number of Entries 204 4 3
Reads out the number of entries in the diagnostic memory. CI access 20CCh 01h...04h uint8 rw/ro
Device Error (device fault)

Reading or deleting the active device fault. Read [bit 0...15]: see section 6.3, Tab. 6/7. Write 0 (0x0000): deletes all faults. 2FF1h 00h uint16 rw
CI access
B27
PROFIBUS Diagnosis
Reading the PROFIBUS diagnostic data 1 0
Connection State 206
Current connection state 0 (0x00): Waiting for parameter assignment 16 (0x10): Waiting for configuration 32 (0x20): Data exchange Baud Rate 206 2 1 6 (0x06): 93.75 kBaud 7 (0x07): 45.45 kBaud 8 (0x08): 19.2 kBaud 9 (0x09): 9.6 kBaud 15, 255 (0x0F, 0xFF): no baud rate (default), baud rate search active 2
Current baud rate 0 (0x00): 12 MBaud 1 (0x01): 6 MBaud 2 (0x02): 3 MBaud 3 (0x03): 1.5 MBaud 4 (0x04): 500 MBaud 5 (0x05): 187.5 kBaud Master Address 206 3
Value range: 0 ... 125 (0x00 ... 0x7D). Default: 255 (0xFF) Slave Address 206 4 3
Value range: 0 ... 125 (0x00 ... 0x7D). Default: 255 (0xFF) Configuration 206 5 4
Current configuration 0 (0x00): Invalid configuration 1 (0x01): Festo FHPP standard (8 bytes I/O) 2 (0x02): Festo FHPP standard + FPC (2 x 8 bytes I/O) Settings 206 6 5 (connection set set tings) 0 (0x00): Devicerelated diagnosis ON (default) 1 (0x01): Devicerelated diagnosis OFF CI access 2FF2h 01h...06h uint8 ro
B28
B.1.9 Process data

Local Digital Inputs
PNU Description 303 uint32 ro
Map of the digital inputs Bit 0, 1: Reserved (= 0) Bit 2: Reference switch (1 = reference switch is actuated) Bit 3 ... 15: Reserved (= 0) Bit 16 ... 20: Current record number (see also control byte 3) Bit 21: STOP (CCON.B1) Bit 22: ENABLE (CCON.B0) Bit 23: START (CPOS.B1) Bit 24 ... 31: Reserved (= 0) 60FDh 00h uint32 ro
CI access
Local Digital Outputs

Map of the digital outputs 0
Local digital 304 1 outputs Bit 0...15 Reserved Bit 16 MC Bit 17 READY Bit 18 EA_ACK Bit 19 ERROR Bit 20...31 Reserved 304 2
Bit 0...31 Reserved CI access 60FEh 01h...02h uint32 ro
B29
Cycle Number
Number of position set records executed, homing runs etc. Value range: 0 ... (2321) 2FFFh 00h uint32 ro
Keypad Status
PNU Description 306 5 4 uint8 ro
Polling of the control panel keypad (MTRDCI...H2 only). Bit Value Key 0 1 Enter 1 2 Menu 2 4 Left 3 8 Right 2FFEh 05h uint8 ro
CI access
B.1.10 Position set table (list of position set records)

PNU 400
Record number uint8 0 1 2 ... 31 ... ... ... ... ... ... ... ...
PNU 401
RCB1 1) uint8
PNU 404
Target position int32
PNU 406
Velocity uint32 Homing ... ... ... ...
PNU 407
Acceleration2) uint32
... ... ... ...
1) RCB = Record Control Byte. Defines whether positioning is relative or absolute. 2) For MTRDCI...PB: also valid for deceleration when braking.
Tab. B/8: Composition of the position set table (position set record list)
B30
With FHPP, record selection for reading and writing is done via the subindex of the PNUs 401 ... 407. Above PNU 400, the active record for positioning or teaching is selected (the record pointer). Record Number
The active/selected record. Is also valid even when the drive is not in Record Select mode (e.g. during teaching). In Record Select mode this parameter is transferred to the cyclical I/O data. Value range: 0 ... 31 (0x00 ... 0x1F) 2033h 00h uint8 rw
CI access
Note: the CI object 2032h is intended for access via CI.
Record Control Byte 1

PNU Description 401 1...32d 0...31d uint8 rw
The record control byte 1 (RCB1) controls important settings for the positioning task in Record Select mode. Bit 0: Nominal value absolute/relative Bit 1 ... 7: Reserved (= 0) Values: 0 (0x00): Nominal value is absolute (default) 1 (0x01): Nominal value is relative to the last nominal value / relaying value 1 0
Record 0 401
Record control byte for position set record 0 (homing) Record ... 401 ... ...
Record control byte for position set record 1 ... 30 Record 31 401 32 31
Record control byte for position set record 31 CI access 20EAh 01h ... 20h uint8 rw
Note: the CI object 20E0h/01h is intended for access via CI.
B31
Record Target Position

PNU Description 404 1...32d 0...31d int32 rw
Target position of the position set table. Position nominal value as per PNU 401 / RCB1 absolute or relative, in increments. Default: 0 Value range: 231...+(2 311) (0x80000000 ... 0x7FFFFFFF) 1 0
Record 0 404
Nominal position value for position set record 0 (homing) Record ... 404 ... ...
Nominal position value for position set record 1 ... 30 Record 31 404 32 31
Nominal position value for position set record 31 CI access 20ECh 01h ... 20h int32 rw
Record Velocity
PNU Description 406 1...32d 0 ... 31d uint32 rw
Nominal speed value in increments/s. Default: 0. Value range: MTRDCI32: 0...66000. MTRDCI42/52: 0...100000. MTRDCI62: 0...113400 1 0
Record 0 406
Nominal speed value for position set record 0 (homing) Record ... 406 ... ...
Nominal speed value for position set record 1 ... 30 Record 31 406 32 31
Nominal speed value for position set record 31 CI access 20EDh 01h ... 20h uint32 rw
B32
Record Acceleration
PNU Description 407 1...32d 0 ... 31d uint32 rw
Nominal value for acceleration when moving and deceleration when braking, inincrements/s2. The value is only valid for Position mode; it is ignored in Force mode. Value range: MTRDCI32/42: 40000...480000 MTRDCI52/62: 40000...240000 Default: MTRDCI32: 480000 MTRDCI42: 480000 MTRDCI52: 240000 MTRDCI62: 160000 1 0
Record 0 407
Nominal acceleration/deceleration value for position set record 0 (homing) Record ... 407 ... ...
Nominal acceleration/deceleration value for position set record 1 ... 30 Record 31 407 32 31
Nominal acceleration/deceleration value for position set record 31 CI access 20EEh 01h ... 20h uint32 rw
B33
B.1.11 Project data General project data

Project Zero Point (offset for project zero point)
PNU Description 500 int32 rw
Distance from axis zero point to project zero point. Point of reference for target positions in the position set table (see also PNU404). Value range: 231...+(2 311). Default: 0 21F4h 00h int32 rw
CI access
Software End Positions

PNU Description 501 1...2 0...1 int32 rw
Software end positions in increments. Their offset to the axis zero point is en tered. Target positions outside the end positions is not permitted and will lead to a fault. Specifying 0 for both end positions deactivates the software end positions. Plausibility rule: Min. limit Max. limit Value range: 231...+(2 311) 1 0
Lower Limit 501
Lower software end position. Upper Limit 501 2 1
Upper software end position. CI access 607Bh 01h...02h int32 rw
B34
Max. Velocity (max. permitted speed)

Max. permitted speed in [inc/s]. The specifications in Direct mode and in the position set table are in relation to this value. MTRDCI32: 66000 MTRDCI42: 100000 MTRDCI52: 100000 MTRDCI62: 113400 21F6h 00h uint32 rw
CI access
Max. Acceleration (max. permitted acceleration/deceleration)

Max. permitted acceleration/deceleration in [inc/s2]. The specifications in Direct mode and in the position set table are in relation to this value. MTRDCI32/42: 480000 MTRDCI52/62: 240000
CI access
21F7h
00h
uint32
rw
B35
Force mode
Stroke Limit
Maximum permitted stroke when Force mode is active. With Force mode active, the distance between the actual position and the start position must not be more than the amount specified in this parameter. In this way you can ensure that, if Force mode is activated by mistake (e.g. when workpiece is missing), the axis will not perform an uncontrolled movement. This parameter is evaluated in all con troller modes in which the position controller is not active when the status oper ation enabled" is set. The monitoring can be deactivated by setting the bit RCB1.B5. Value range: 0...4.294.967.295 inc
CI access
60F6h
01h
uint32
rw
Min. Torque (min. permitted force/torque)

This value represents the lowest permissible torque (or force) of the motor. The value is given in 1/1000 of the nominal torque (6076h / PNU 509). Value range: 0...1000 (0x03E8)
CI access
60F6h
05h
uint16
rw
Max. Torque (max. permitted force/torque)

This value represents the highest permissible torque (or force) of the motor. The value is given in 1/1000 of the nominal torque (6076h / PNU 509). Value range: 0...1000 (0x03E8)
CI access
6072h
00h
uint16
rw
B36
Teaching
Teach Target
The parameter defined is the one described by the actual position with the next Teach command (see section 5.8.4). Values: 1 (0x01): Target position in position set record (default) With Record Select: position set record as per FHPP control bytes With Direct mode: position set record as per PNU=400 2 (0x02): Axis zero point 3 (0x03): Project zero point 4 (0x04): Lower software end position 5 (0x05): Upper software end position 21FCh 00h uint8 rw
CI access
B37
Jog mode
Jog Mode Velocity Phase 2
Speed in phase 2 (quick travel) in [inc/s] Value range: MTRDCI32: 66000 MTRDCI42: 100000 MTRDCI52: 100000 MTRDCI62: 113400 Default: MTRDCI32: 6600 MTRDCI42: 10000 MTRDCI52: 10000 MTRDCI62: 11340 20EDh 21h int32 rw
CI access
Jog Mode Acceleration

Acceleration and deceleration in [inc/s2] Value range: MTRDCI32/42: 40000...480000 MTRDCI52/62: 40000...240000 Default: 40000 20EEh 21h uint32 rw
CI access
Jog Mode Time Phase 1

Duration of phase 1 (slow travel) in [ms]. Value range: 0...+(2321) Default: 2000 (0x000007D0) 20E9h 21h uint32 rw
CI access
B38
Direct mode: Position mode

Direct Mode Acceleration
Acceleration and deceleration in Direct mode in [inc/s2] Value range: MTRDCI32/42: 40000...480000 MTRDCI52/62: 40000...240000 Default: MTRDCI32: 480000 MTRDCI42: 480000 MTRDCI52: 240000 MTRDCI62: 160000 20EEh 22h uint32 rw
CI access
B39
Direct mode: Force mode

Force Target Window (target window for force/torque)
The amount by which the actual force (or actual torque) may deviate from the nominal force (nominal torque) and still be regarded as being within the target window. The width of the window is therefore twice the value transferred, with the nominal force in the centre of the window. The value is given in 1/1000 of the nominal torque (6076h / PNU 509). Value range: 0...65535. Default: 100. 60F6h 03h uint16 rw
CI access
Damping Time
Once the actual force (or actual torque) has been in the target window this amount of time, the target reached" bit will be set in the status word (= motion complete). Value range: 0...30000 ms. Default: 100 ms. 60F6h 04h uint16 rw
CI access
Speed Limit
Maximum permitted speed when Force mode is active. In this way the user can ensure that, if Force mode is activated by mistake (e.g. when workpiece is missing), the axis will not undergo uncontrolled acceleration and travel at high speed against a stop. This parameter is evaluated in all controller modes in which the position con troller is not active when the status operation enabled" is set. Value range: 1...4.294.967.295 inc/s 60F6h 02h uint32 rw
CI access
B40
B.1.12 Axis parameters for electric drives 1 Mechanical parameters

Polarity (reversal of direction)
The direction of rotation of the motor can be reversed with this parameter (seeFig. 1/3). Homing must then be performed again. Values: 0 (0x00) = Factory setting 128 (0x80) = Direction of rotation of motor reversed 607Eh 00h uint8 rw
CI access
Encoder Resolution
Encoder resolution in [encoder increments / motor revolutions]. 1 0
Encoder Increments 1001
Values (fixed): MTRDCI32: 300 (0x012C) MTRDCI42/52/62: 500 (0x01F4) Motor Revolutions 1001 Fixed = 1 CI access 608Fh 01h...02h uint32 ro 2 1
B41
Gear Ratio
Ratio of the internal motor revolutions to the external revolutions of the drive shaft of the MTRDCI. The values are permanently set for each different internal gearing (see rating plate on the MTRDCI). 1 0
Motor Revolutions 1002
Internal motor revolutions (gear ratio numerator) G7 gearing: fixed: 27 (0x1B) G14 gearing: fixed: 3969 (0xF81) G22 gearing: fixed: 1710 (0x6AE) Shaft Revolutions 1002 2 1
External revolutions of the drive shaft of the MTRDCI (gear ratio denominator). G7 gearing: fixed: 4 (0x04) G14 gearing: fixed: 289 (0x121) G22 gearing: fixed: 77 (0x4D) CI access 6091h 01h...02h uint32 ro
Feed Constant Linear Axis

The feed constant specifies the distance (=feed) that the slide moves when the drive shaft (spindle) of the linear axis performs one revolution (feed constant = feed / spindle revolution). Feed 1003 1 0
Specification of feed in [m] (feed constant numerator). When known axis types are selected on the control panel or in FCT, the value is entered automatically. Shaft Revolutions 1003 2 1
Feed constant denominator. Fixed: 1 (0x01) CI access 6092h 01h...02h uint32 rw
B42
Position Factor
Reads the conversion factor number of sensor increments per 1 unit [feed on the spindle]". Additional external gears are not included in the calculations for this parameter (see PNU1005). PositionFactor + EncoderResolution * Gear Ration Feedconstant
Numerator 1004
Position factor numerator. Denominator 1004 2 1
Position factor denominator. CI access 6093h 01h...02h uint32 ro
B43
Axis Parameter (axis parameters)

For specifying and reading the axis parameters 1 0
Axis Length 1005
Axis length in increments. Value range: 0...+(2311) Gear Numerator 1005 2 1
If external gearing is used: Gear ratio numerator Value range: 0...+(2311) Gear Denominator 1005 3 2
If external gearing is used: Gear ratio denominator Value range: 0...+(2311) Axis Type 1005 4 3
Type of axis: 01 = DMES, 02 = DNCE, 03 = rotation deg, 04 = rotation rev, 05 = USER Axis Size 1005 5 4
Nominal size of the axis, in accordance with the rating plate. When known axis types are selected on the control panel or in FCT, the value is entered automati cally (e.g. DMES25 = 0x19). CI access 20E2h 01h...05h uint32 rw
B44
Homing parameters
Offset Axis Zero Point (offset for axis zero point)
PNU Description CI access 1010 int32 rw
Offset for axis zero point in increments (distance from homing point). Value range: 231...+(2 311). 607Ch 00h int32 rw
Homing Method
Defines the method which the drive uses to carry out homing. The MTRDCI supports the following methods: Values Function 17 (0xEF): Search for stop in negative direction (default) 18 (0xEE): Search for stop in positive direction 23 (17h): Search for reference switch in positive direction 27 (0x1B): Search for reference switch in negative direction 6098h 00h int8 rw
CI access
B45
Homing Velocities
Speeds during homing 1 0
Search REF 1012
Speed when searching for the homing point (reference point) REF, in [inc/s] Value range: MTRDCI32: 200...33000 MTRDCI42: 200...50000 MTRDCI52: 200...50000 MTRDCI62: 200...56700 Default: MTRDCI32: 27000 MTRDCI42: 22400 MTRDCI52/62: 16800 Search AZ 1012 2 1
Speed when moving to the axis zero point AZ, in [inc/s] Value range: MTRDCI32: 27000 MTRDCI42: 22400 MTRDCI52/62: 16800 CI access 6099h 01h...02h uint32 rw
Homing Required
PNU Description 1014 uint8 ro
Defines whether or not homing must be carried out after switching on in order to carry out positioning tasks. With MTRDCIPB, homing must ALWAYS be carried out after switching on the logic voltage supply. Value: 0 (0x00): Reserved (no homing run necessary) 1 (0x01): Homing run must be carried out (fixed) 23F6h 00h uint8 ro
CI access
B46
Homing Max. Torque

Maximum current consumption during homing as a percentage of the nominal current (see PNU 1035 / CI object 6075h). See also PNU 1034 (specification in 1/1000). Value range: 0 ... 200 (0xC8) Default: 150 (0x96) 23F7h 00h uint8 rw
CI access
B47
Controller parameters
Halt Option Code
Describes the reaction to a Halt command. Fixed = 1: braking with Halt ramp 605Dh 00h uint16 ro
Fault Reaction Option Code

Describes the reaction to a fault. Fixed = 2: braking with emergency stop ramp 605Eh 00h uint16 ro
Target Position Window

Tolerance window in increments [inc] Amount by which the current position may deviate from the target position and still be regarded as being within the target window. The width of the window is twice the value transferred, with the target position in the centre of the window. Value range: 0 ... +(2321). Default: 750 (0x2EE) 6067h 00h uint32 rw
CI access
Position Window Time (adjustment time for position)

Adjustment time in milliseconds [ms]. Once the actual position has been in the target position window this amount of time, the bit target reached" will be set in the status word (= motion complete). Value range: 1 ... 30000 (0x7530) Default: 100 (0x64). 6068h 00h uint16 rw
CI access
B48
Position Control Parameter Set

PNU Description 1024 18...23, 32d 17...22, 31d uint16 rw
Control parameters. Modification is only permitted for servicing purposes. If necessary consult Festo. 18d (CI: 12h) 17d
Gain Position 1024
Gain for position controller. Value range: MTRDCI32: 1...100; MTRDCI42/52/62: 1...200 Default: MTRDCI32: 20; MTRDCI42: 15; MTRDCI52: 10; MTRDCI62: 8 Gain Velocity 1024 19d (CI:13h) 18d
Gain for speed controller. Value range: MTRDCI32: 1...3000; MTRDCI42/52/62: 1...700 Default: MTRDCI32: 2800; MTRDCI42/52: 600; MTRDCI62: 500 IFraction Velocity 1024 20d (CI:14h) 19d
Integral term for speed controller. Value range: 1...600 Default: MTRDCI32: 80; MTRDCI42/52/62: 340 Gain Current 1024 21d (CI:15h) 20d
Gain for current controller. Value range: MTRDCI32: 1...1000; MTRDCI42/52/62: 1...800 Default: MTRDCI32: 110; MTRDCI42/52/62: 150 IFraction 1024 22d (CI:16h) 21d
Integral term for current regulator. Value range: MTRDCI32/42/52: 0...1000 Default: MTRDCI32: 90; MTRDCI42: 420; MTRDCI52: 350 Gain Velocity 1024 23d (CI:17h) 22d Trajectory Gain for speed controller trajectory generator. Value range: 1...2 Default: 1 Save Position 1024 32d (CI:20h) 31d
Saves current position in the EEPROM when power is switched off. Fixed = 240 (0x00F0): current position is not saved at PowerOff. CI access 60FBh 12h...17h, 20h uint16 rw
B49
Motor Data
PNU Description 1025 1, 3 0, 2 uint32 ro/rw
Motorspecific data. 1 0 ro
Serial Number 1025
Serial number of the motor Time Max. Current 1025 3 2 rw
Permissible duration for the maximum motor current (see Object 6073h). When the I2ttime expires, the current will be limited automatically to the nom inal motor current in order to protect the motor (nominal motor current: PNU1035 / CI object 6075h). The time specified is devicedependent (for MTRDCI approx. 20 ms) Value range: 1 ... 32767 Default: 100 (Z 2 s) Note: values which are too high can damage the motor. CI access 6410h 01h, 03h uint32 ro/rw
B50
Drive Data
PNU Description 1026 1...8 0...7 uint32 ro/rw
General motor data. ro
Output Stage 1026 1 0 Temp Temp. Temperature of the output stage in C (CI: 6510/31h)
Output Stage 1026 2 1 ro Max Temp Max. Temp. Maximum temperature for the output stage in C. Fixed: 80 (CI: 6510/32h) Motor Rated 1026 3 2 Current Nominal motor current in mA (CI: 6510/40h) Current Limit 1026 4 3 ro
ro
Maximum motor current during homing in [mA], identical to PNU 1034. (CI: 6510/41h) Lower Current Limit 1026 5 4 ro
PNU1026/4 * (1) (CI: 6510/42h) Device Control 1026 6 5 rw
Sets which sources of control signals will be recognised by the drive (see also PNU 125 / CI object 207Dh). 0: Control via HMI (control panel) or FCT, no control via PROFIBUS 1: Control via PROFIBUS (default) (CI: 6510/43h)
B51
Drive Data
Controller Serial 1026 7 6 Number Serial number of the controller in format 0xTTMYYSSS: TT (day): 8 bit: 0x01 ... 0x1F M (month): 4 bit: 0x1 ... 0xC YY (year): 8 bit: 0x00...0x63 SSS (serial no.): 12 bit: 0x001...0xFFF (CI: 6510/A0h) CI access 6510h 31h, 32h, 40h, 41h, 42h, 43h, A0h uint16 uint16 uint32 uint16 int16 uint16 uint32 ro
r r r r r rw r
B52
Electronic rating plate

Motor Type
Classification of the motor. Fixed: 0x0000. 6402h 00h uint16 ro
Max. Current
Maximum motor current for homing in 1/1000 of the specified nominal current (see also PNU 1035). Note: keep in mind that the current limitation also limits the maximum possible speed (or force) and that higher nominal speeds may not therefore be achieved. Value range: 1 ... 2000 (0x0001 ... 0x07D0) Default: 1500 (0x05DC) 6073h 00h uint16 rw
CI access
Motor Rated Current

Nominal motor current in [mA]; see also rating plate; identical to PNU 1026/3. 6075h 00h uint32 ro
Motor Rated Torque

Nominal torque of the motor in [mNm] 6076h 00h uint32 ro
B53
Objects for standstill monitoring

Position Target Value
PNU Description CI access 1040 int32 ro
Target position of the last positioning task, in increments. Value range: 231 ... +(231 1) 6062h 00h int32 ro
Position Actual Value

PNU Description CI access 1041 int32 ro
Current position of the drive in increments. Value range: 231 ... +(231 1) 6064h 00h int32 ro
Standstill Position Window

Standstill position window in increments: distance which the drive can move after Motion Complete" before standstill monitoring reports. Value range: 0...+(2321). Default: 750 (0x02EE) 2040h 00h uint32 rw
CI access
Standstill Timeout
Standstill monitoring time in [ms] : time for which the drive must be outside the standstill position window before standstill monitoring responds. Value range: 0...65535 (0xFFFF). Default: 200 (0xC8) 2041h 00h uint16 rw
CI access
B54
B.2
The Command Interpreter (CI)

The commands implemented in the Command Interpreter of the MTRDCI are based in respect of their content on the ob jects standardised by CANopen (CiA Draft Standard 402): Group 1xxx Device description Group 2xxx Festo commands Group 6xxx Commands as per CANopen The CiA Draft Standard 402: deals with the implementation of CANopen in drive controllers.
Object directory
The total of all parameterising and control possibilities is re ferred to as the object directory. A unique number (index, subindex) is assigned to each object, and is used for acces sing that object. The higherorder controller sends the controller either a write command (WRITE) to modify a parameter in the object direc tory, or a read command (READ) to read a parameter. For each command the higherorder controller receives a re sponse which either contains the value read or, in the case of a write command, serves as an acknowledgement. The trans mitted value (1, 2 or 4 data bytes) depends on the data type of the object to be read or written.
Access procedure
B55
B.2.1 Procedure for data transmission

Caution In special application cases, access with CI commands enables parameterising and commissioning of the MTRDCI directly via the RS232 interface, though it is not suitable for realtime communication, such as for control. Control of the MTRDCI via RS232 requires also: A risk estimate by the user Ambient conditions free of interference Backup of the data transmission e.g. via the control program of the host
You should use the control panel or the FCT for commis
sioning and parameterisation.

Note that controlling the MTRDCI via RS232 is not in
accordance with the intended use of the device. Warning Injury to people or damage to property. Full access to the internal variables of the controller is possible via CI commands. Incorrect operation can cause the controller to react unexpectedly and the motor may start uncontrolled.
Only use the CI commands if you already have experi
ence of using Service Data Objects.

Read about using the objects in the CiA Draft Standard
402 before you use the CI commands of the Command Interpreter of the MTRDCI. For data transmission you will require a conventional terminal program or the CI terminal of the MTRDCI plugin in the Festo Configuration Tool.
B56
Carry out the following steps:
Connect the MTRDCI to your PC via the RS232 port. Follow the instructions in section 3.3. If necessary, adapt the PC interface to the following trans mission protocol.
Transmission protocol
Transmission speed (baud rate) Data format 9600 baud Asynchronous character frame: 1 start bit 8 data bits No parity bit 1 stop bit
Tab. B/9: Specifications of the transmission protocol
You can use the following command to initialise data transmission and determine the MTRDCIs response readiness:
Response 31310D h 11 <CR>
Command 310D h 1 <CR>
Select the commands in accordance with the object list in section B.1 or B.2.4. Use CI commands only if you already know their effects and if they are permitted for your MTRDCI. Transfer the commands using the FCT software or a con ventional terminal program. For the command syntax see appendix B.2.2.
B57
Permitted value ranges
Transferred parameters and values are checked by the MTRDCI before being accepted. Note In the case of invalid parameters or values, an error mess age will not appear in the response; rather, the received value will always be returned. Invalid parameters will not be accepted. Values outside the permitted value range will be limited to the nearest valid value.
Recommendation: Check that values and parameters have been written correctly by downloading the current contents of the parameter or value with one of the following Read commands:
Error messages
If errors are made in commands (syntax faults), the value <0xFF> will be transmitted instead of the usual response. Possible causes: Incorrect initial character, separating character or empty character Incorrect hex digit Incorrect value type
B58
B.2.2 CI commands
Caution Loss of data. The Command Interpreter (CI) contains commands which reorganise or delete parts of the memory. Existing data is destroyed in this process:
It is preferable to use the FCT or the control panel for
commissioning and parameterising.

Use the CI commands only in special cases which require
direct access to the controller.

Use CI commands only if you already know their effects
and if they are permitted for your MTRDCI. WRITE (W) Write commands (W) transfer a value in the specified format to the MTRDCI. As a response, write commands will be re flected back exactly character by character from the MTRDCI. A checksum <PS> will be inserted in front of the <CR>. Read commands (R) transfer a value from the MTRDCI. The response contains the value read. A checksum <PS> will be inserted in front of the <CR>. All commands are entered as a character sequence without any empty spaces. A hex character is a char" character in hex format. Acc 1) Command
W R
1)
READ (R)
Response
=IIIISS:<value> <PS> <CR> =IIIISS:<value> <PS> <CR>
=IIIISS:<value><CR>2) ?IIIISS<CR> 2)
Access: W = write, R = read 2) With checksum checking enabled (object 20F3h): W: =IIIISS:<value><PS><CR> R: ?IIIISS<PS><CR>
Tab. B/10: Syntax of a CI command/response
B59
Syntax
= ", ?" IIII SS
Explanation
Initial character for write or read commands Index in 4 hexadecimal digits (4H) Subindex in 2 hexadecimal digits (2H) If the addressed object does not have an indexed para meter, subindex <00> will be specified. Separating character Data in a format determined by the data type Checksum in 2 hexadecimal digits (2H) End character <Carriage Return> ($0D)
:" <value> <PS> <CR>
Tab. B/11: Elements of syntax of a CI command/response <value> The transferred value (1, 2 or 4 data bytes as a hex number) depends on the data type of the object to be read or written (see section B.1 or B.2.4). The following data types are supported: Type
UINT8 INT8 UINT16 INT16 UINT32 INT32 Vstring 8H 4H
Hex
2H
Format
8 bits without plus/minus sign: 0...255 8 bits with plus/minus sign: 128 ... 127 16 bits without plus/minus sign: 0 ... 65535 16 bits with plus/minus sign: 32768 ... 32767 32 bits without plus/minus sign: 0 ... (2321) 32 bits with plus/minus sign: 231 ... +(231 1)
corresponds to the preset string
Tab. B/12: Data types
B60
Note The following applies when writing to the objects: Discrete values (values from a value table): an invalid value will not be accepted; the previously valid value will be retained. Continuous values (e.g. lengths, speeds, etc.): an invalid value will be limited to the nearest permitted value. Note The transfer of values using CI commands via the serial interface requires conversion into increments before transfer can take place. All parameters are always saved in increments in the controller and are not converted into the relevant measuring system until they are written or read. Further information on converting can be found in section B.3. All values are transferred in hexadecimal figures; 1 character represents 4 bits, and is known as a tetrad <Tn>. The first te trad transferred contains the highervalue bits of the value. Generally: tetrad <Tn> contains the bits bn...bn+3 Example: UINT8
Dec Hex Bin 1 0 b7 0 b6 0 b5 1 b4 26 A 1 b3 0 b2 1 b1 0 b0
Tetrad T4
Tetrad T0
B61
Checksum <PS>
The higherorder controller must compare the sent command with the echo" from the MTRDCI and evaluate its checksum. If checksum checking has been activated for telegrams re ceived from the MTRDCI (see CI object 20F3h), the higher order controller must insert a checksum in front of the end character (CR = Carriage Return). Checksum (PS)
PS composi tion Sum of all sent bytes, abbreviated to 1 byte (modulo 256). W: asc(char) =IIIISS:<value>" modulo 256 R: asc(char) ?IIIISS" modulo 256 2 hexadecimal digits, UINT8 W: =IIIISS:<value><PS><CR> R: ?IIIISS<PS><CR>
PS format Syntax
Tab. B/13: Checksum Object 2FF0 Transmission error between host (PC) and destination device, e.g. due to error in host command: Incorrect initial character, separating character or empty character Incorrect hex digit Incorrect value type Class
Var
Name
communication_ error
IIII
2FF0
SS
00
Type
UINT16
Acc
R
Value
0xFF
Comment
In the case of a transmission error, the value <0xFF> will be transferred instead of the usual response. Missing checksum (see CI object 20F3h).
0xFFFF
B62
B.2.3 CI objects (overview)

Note The following table contains an overview of the CI objects. Some of the objects may be used only for certain product variants or only with limitations (e.g. writing only by Festo Service). When using the objects, refer to the detailed description: Name In section B.1 (sorted by PNU; see table column FHPP PNU) or In appendix B.2.4 (additional CI objects) CI objects
Class Group 1xxx Device Type Manufacturer Device Name Manufacturer Hardware Version Manufacturer Firmware Version Group 2xxx Record Number Record Number Standstill Position Window ro = read only, wo = write only Array Var Var uint8 uint8 uint32 2032h 2033h 2040h 01h rw rw rw 400 B.2.4 B.1.10 Var Var Var Var uint32 1000h r r r r 120 B.2.4 B.1.7 B.2.4 B.2.4 Type Index Subind Access
FHPP
PNU Section
Vstring 1008h Vstring 1009h Vstring 100Ah
1042 B.1.12
B63
Name
CI objects
Class Type Index Subind Access
FHPP
PNU Section
Group 2xxx continued Standstill Timeout (standstill monitoring time) Version FHPP Version FCT PlugIn min. Version FCT PlugIn opt. Manufacturer Hardware Version Manufacturer Firmware Version Controller Serial Number Device Control Diagnostic Event Fault Number Time Stamp Diagnostic Memory Parameter (diagnostic memory parameters) Scaling (control panel settings) Record Table Element (element in position set table) ro = read only, wo = write only Var Var Var Var Var Var Var Var Array Array Array Array Array Struct uint16 uint16 2041h 2066h 01h... 10h 01h... 10h 01h... 10h 01h... 04h 01h... 02h 01h... 04h rw r r r r r r rw r r r rw/r rw/r rw 1043 B.1.12 102 100 101 114 125 200 201 202 204 B.1.7 B.2.4 B.2.4 B.1.7 B.1.7 B.1.7 B.1.7 B.1.8 B.1.8 B.1.8 B.1.8 B.2.4 B.2.4
Vstring 2067h Vstring 2068h uint16 uint16 2069h 206Ah
Vstring 2072h uint8 uint8 uint16 uint32 uint8 uint8 uint16, int32 207Dh 20C8h 20C9h 20CAh 20CCh 20D0h 20E0h
B64
Name
CI objects
FHPP
PNU Section
Group 2xxx continued Axis Parameters Controller Type Jog Mode Time Phase 1 Record Control Byte 1 Record Target Position Record Velocity Jog Mode Velocity Phase 2 Record Acceleration Jog Mode Acceleration Direct Mode Acceleration Data Memory Control CI_ReceiveChecksumActive (CI checksum) Password ro = read only, wo = write only Array Var Array uint8 uint8 20F1h 20F3h Array Struct Var Array Array Array Array uint32 uint8 uint32 uint8 int32 uint32 int32 uint32 20EEh 20E2h 20E3h 20E9h 20EAh 20ECh 20EDh 01h... 05h 21h 01h... 20h 01h... 20h 01h... 20h 21h 01h... 20h 21h 22h 01h, 02h 01h, 02h rw r rw rw rw rw rw rw rw rw w rw rw/w 1005 B.1.12 534 401 404 406 531 407 532 541 127 B.2.4 B.1.11 B.1.10 B.1.10 B.1.10 B.1.11 B.1.10 B.1.11 B.1.11 B.1.7 B.2.4 B.2.4
Vstring 20FAh
B65
Name
CI objects
FHPP
PNU Section
Group 2xxx continued Local Password (HMI password) User Device Name LCD Parameter (LCD parameters) Project Zero Point (project zero point offset) Max. Velocity Max. Acceleration Teach Target Homing Required Homing Max. Torque Communication Error (transmission error) Device Fault PROFIBUS Diagnosis PROFIBUS address Keypad Status ro = read only, wo = write only Var Var Array Var Var Var Var Var Var Var Var Array Var Array Vstring 20FBh Vstring 20FDh uint8 int32 uint32 uint32 uint8 uint8 uint8 uint16 uint16 uint8 uint8 uint8 20FFh 21F4h 21F6h 21F7h 21FCh 23F6h 23F7h 2FF0h 2FF1h 2FF2h 2FF3h 2FFEh 01... 04h 01h... 06h 05h rw rw rw rw rw rw rw r rw r rw r rw r 121 126 500 502 503 520 B.2.4 B.1.7 B.1.7 B.1.11 B.1.11 B.1.11 B.1.11
1014 B.1.12 1015 B.1.12 205 206 306 B.2.2 B.1.8 B.1.8 B.2.4 B.1.9
B66
Name
CI objects
Class Type uint32 Index 2FFFh Subind Access 1 r
FHPP
PNU 305 Section B.1.9
Cycle Number
Group 6xxx Control Word Status Word Halt Option Code Fault Reaction Option Code Operation Mode Operation Mode Display Position Target Value Position Actual Value Position Window (tolerance window for position) Position Window Time (adjustment time for position) Velocity Demand Value (nominal speed value) Velocity Actual Value (current actual speed value) Target Torque (nominal force/torque) ro = read only, wo = write only Var Var Var Var Var Var Var Var Var Var Var Var Var uint16 uint16 uint16 uint16 int8 int8 int32 int32 uint32 uint16 int32 int32 int16 6040h 6041h 605Dh 605Eh 6060h 6061h 6062h 6064h 6067h 6068h 606Bh 606Ch 6071h rw r r r rw r r r rw rw r r rw B.2.4 B.2.4
1020 B.1.12 1021 B.1.12 B.2.4 B.2.4
1040 B.1.12 1041 B.1.12 1022 B.1.12 1023 B.1.12 B.2.4 B.2.4 B.2.4
B67
Name
CI objects
FHPP
PNU Section
Group 6xxx (continued) Max. Torque (max. permitted force/torque) Max. Current Motor Rated Current Motor Rated Torque Actual Torque (actual force/torque) Target Position Software End Positions Offset Axis Zero Point (offset for axis zero point) Polarity (reversal of direction) Profile Velocity Profile Acceleration Torque Slope (change in torque) Torque Profile Type Encoder Resolution ro = read only, wo = write only Var Var Var Var Var Var Array Var Var Var Var Var Var Array uint16 uint16 uint32 uint32 int16 int32 int32 int32 uint8 int32 int32 uint32 int16 uint32 6072h 6073h 6075h 6076h 6077h 607Ah 607Bh 607Ch 607Eh 6081h 6083h 6087h 6088h 608Fh 01h, 02h 01h, 02h rw rw r r r rw rw rw rw rw rw r r r 512 B.1.11
1034 B.1.12 1035 B.1.12 1036 B.1.12 501 B.2.4 B.2.4 B.1.11
1010 B.1.12 1000 B.1.12 B.2.4 B.2.4 B.2.4 B.2.4
1001 B.1.12
B68
Name
CI objects
FHPP
PNU Section
Group 6xxx (continued) Gear Ratio Feed Constant Linear Axis Position Factor Homing Method Homing Velocities Stroke Limit Speed Limit Force Target Window (target window for force/torque) Damping Time Min. Torque (min. permitted force/torque) Position Control Parameter Set (parameters of the position con troller) Local Digital Inputs Local Digital Outputs Motor Type ro = read only, wo = write only Array Array Array Var Array Array Array Array Array Array Array uint32 uint32 uint32 int8 uint32 uint32 uint32 uint16 uint16 uint16 uint16 6091h 6092h 6093h 6098h 6099h 60F6h 60F6h 60F6h 60F6h 60F6h 60FBh 01h, 02h 01h, 02h 01h... 02h 01h... 02h 01h 02h 03h 04h 05h 12h... 18h, 20h 01h... 02h r rw r rw rw rw rw rw rw rw rw 1002 B.1.12 1003 B.1.12 1004 B.1.12 1011 B.1.12 1012 B.1.12 510 554 552 553 511 B.1.11 B.1.11 B.1.11 B.1.11 B.1.11
1024 B.1.12
Var Array Var
60FDh 60FEh 6402h
r r r
303 304
B.1.9 B.1.9
1030 B.1.12
B69
Name
CI objects
FHPP
PNU Section
Group 6xxx (continued) Motor Data Supported Drive Modes Festo Order Number Drive Manufacturer HTTP Drive Catalog Address (HTTP address of manufacturer) Drive Data Record uint32 Var Var Var Var Array uint32 6410h 6502h 01h, 03h 31h, 32h, 40h, 41h, 42h, 43h, A0h r/rw r r r r r/rw 1025 B.1.12 124 122 123 B.2.4 B.1.7 B.1.7 B.1.7
Vstring 6503h Vstring 6504h Vstring 6505h uint32 6510h
1026 B.1.12
ro = read only, wo = write only
Tab. B/14: Overview of CI objects
B70
B.2.4 Additional CI objects

Some objects cannot be accessed via the fieldbus, but only via the CI interface. These objects are listed here.
Layout of the additional CI objects 1

Password
6 7
CI access Description FCT Password
20FAh
01h...02h Array
Vstring
rw/r
For managing the FCT password, entering the super password. 20FAh 01h Vstring
Password for the FCT software Value: <........> (fixed: 8 characters, ASCII, 7bit) Default: <00000000> (status upon delivery and after resetting) Super Password 20FAh 02h Vstring
For entering the super password. Resets all passwords (FCT password and HMI password, object 20FB). Contact Festo Service if you require the super password.
1 Name of the parameter (sometimes

with explanation in brackets)
6 Description of the parameter 7 If applicable: description of the subin

dices
2 CI object number 3 Subindices of the parameter 4 Class of the element 5 Type of the element
8 Read/write permission:
r = read only, w = write only, rw = read and write
Fig. B/2: Layout of the additional CI objects
B71
Additional CI objects, group 1xxx

Device Type
CI access Description 1000h 00h Var uint32 r
Classification of the device type. Fixed = 0.
Manufacturer Hardware Version

CI access Description 1009h 00h Var Vstring r
Hardware version in the format = Vxx.yy" (xx = main version, yy = secondary version)
Manufacturer Firmware Version

CI access Description 100Ah 00h Var Vstring r
Firmware version in the format = Vxx.yy" (xx = main version, yy = secondary version)
B72

Record Number
CI access Description 2032h 01h Array 1) uint8 rw
For selecting a position set record via the record number. There is a direct correlation with object 2033 (PNU 400). The record number is saved as the target for write and read operations on the following objects: Intended for access via the CI interface: Object 20E0/01h...05h: Position Table Element or Object 607Ah: Target Position Object 6081h: Profile Velocity Object 6083h: Profile Acceleration Object 6084h: Profile Deceleration 01h uint8 rw
Record Number 2032h
Reading or writing record number Values: 0 (0x00): Reserved, do not use (CANopen) 1 (0x01): Reserved, do not use (CANopen) 2 (0x02): Homing (position set record 0) 3 (0x03): Position set record 1 (default) 4 (0x04): Position set record 2 ... Position set record ... 33 (0x21): Position set record 31
1)
Pseudoarray due to compatibility
B73
Version FCT PlugIn Min.

Minimum version of the MTRDCI FCT plugin required for commissioning the MTRDCI. Format = xx.yy" (xx = main version, yy = secondary version).
Version FCT PlugIn Opt.

Optimum version of the MTRDCI FCT plugin for commissioning the MTRDCI. Format = xx.yy" (xx = main version, yy = secondary version).
Scaling (control panel settings)

CI access Description 20D0h 01h, 02h Array uint8 rw/r
Definition of the units of measurement used on the control panel and the num ber of decimal places. See also CI object 20FFh/PNU 126. 01h uint8 rw
Measuring Unit 20D0h
Defines the unit of measurement (Z 20FF03h). The setting for the system of measurement units only affects the display re adout. All parameters are always saved in increments in the controller and are not converted into the relevant measuring system until they are written or read. Values: 1 (0x01): Metric units of measurement: e.g. mm, mm/s, mm/s2 4 (0x04): Angular units of measurement (360), e.g. degrees, degrees/s, degrees/s2 8 (0x08): Revolutions: rev, rev/min, rev/min2 15 (0x0F): Increments Scaling Size 20D0h 02h uint8 r
Number of places after the decimal point. Fixed: 2. (Z 20FF04h).
B74
Record Table Element

CI access Description 20E0h 01h ... 04h Struct uint16, int32 rw
For editing the entries in the position set table: 1. The row (= position set record number) is selected with object 2032 (recordpointer). 2. The column is selected via subindex 20E0: 01...05
20E0/01 Record Number 02 2032h} 03 <1> <...> Pos Mode 20E0/02 V Target Position 20E0/03 Profile Velocity 20E0/04 Profile Acc.
... The values are only saved in the position table with this command; no move ment is made. Object 20E0 partly accesses the same parameters as with the corresponding objects 607A, 6081, 6083, 6084, or with objects 20EA to 20EF provided for PROFIBUS. Different data types are converted accordingly when writing and reading. Positioning mode 20E0h 01h uint16 rw
Positioning mode. Values: 0 (0x0000): Absolute positioning (default) 1 (0x0001): Relative positioning Target Position 20E0h 02h int32 rw
Target position in increments (corresponds to object 607Ah). Value range: 231...+(2 31 1) (0x80000000 ... 0x7FFFFFFF) Default: 0 Velocity 20E0h 03h int32 rw
Positioning speed in increments (corresponds to object 6081h). Value range: MTRDCI32: 0...66000 (0x101D0) MTRDCI42: 0...100000 (0x186A0) MTRDCI52: 0...100000 (0x186A0) MTRDCI62: 0...113400 (0x1BAF8) Default: 0
B75
Record Table Element

Acceleration 20E0h 04h int32 rw
Acceleration in increments/s2 (Z object 6083h). Value range: MTRDCI32/42: 40000...480000 MTRDCI52/62: 40000...240000 Default: MTRDCI32/42: 480000 MTRDCI52: 240000 MTRDCI62: 160000
Controller Type
CI access Description 20E3h 00h Var uint8 r
Type of controller. Values: 0 = without display screen; 1 = with display screen
CI_ReceiveChecksumActive (CI checksum required)

CI access Description 20F3h 00h Var uint8 rw
When checksum checking is activated, the CI commands to the MTRDCI must be equipped with a checksum (see Tab. B/10). The checksum is calculated according to Tab. B/13. Example: deactivate checksum: =20F300:0012" (12 = checksum). The CI terminal integrated in FCT uses checksums automatically in appropriate cases. Values: 0x00 Deactivated (default) 0x01 Activated
Password (FCT password)

CI access Description 20FAh 01h, 02h Array Vstring rw/w
For managing the FCT password, entering the super password. 01h Vstring rw
FCT Password 20FAh
Password for the FCT software Value: <........> (fixed: 8 characters, ASCII, 7bit) Default: <00000000> (status upon delivery and after reset)
B76
Password (FCT password)

Super Password 20FAh 02h Vstring w
For entering the super password. Resets all passwords (FCT password and HMI password, object 20FB). Contact Festo Service if you require the super password.
Local Password
CI access Description 20FBh 00h Var Vstring rw
For managing the (local) HMI password to enable particular functions which are carried out via the control panel. Value: <........> (fixed: 8 characters, ASCII, 7bit) Only the first 3 characters are evaluated. Default: <00000000> (status upon delivery and after reset)
Communication Error (transmission error)

CI access Description 2FF0h 00h Var uint16 r
Special object; see section B.2.2. In the event of a transmission error, the value <0x00FF> will be transferred in stead of the usual response.
PROFIBUS Address
CI access Description 2FF3h 00h Var uint8 rw
PROFIBUS address of the MTRDCI. Values: 0 ... 125 (0x00 ... 0x7D) Default: 255 (0xFF, invalid address)
B77

Control Word
CI access Description 6040h 00h Var uint16 rw
For modifying the current controller status or triggering an action. As status modifications require a certain amount of time, all status modifica tions triggered via the Control Word must be read back via the Status Word. Only when the requested status can be read in the Status Word, may a further command be written via the Control Word. For typical values see Tab. B/15. For description see Tab. B/16.
Value
0x000F 0x000D 0x001F 0x005F 0x010F 0x008F 0x004F
Function
ENABLE OPERATION, controller enable VOLTAGE DISABLE, output stage OFF Start ABSOLUTE movement Start RELATIVE movement Stop movement Reset fault + ENABLE OPERATION Set target position as RELATIVE.
Tab. B/15: Typical values for Control Word
B78
Bit
0 1 2 3 4 5 6
Value
0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040
Description
Depends on operation mode (object 6060): Profile Position mode / Homing mode: mode change_set_immediately change set immediately ( Force mode) Profile Torque Mode (Force"
Depends on operation mode (object 6060): Profile Position mode: absolute / relative (Homing Mode / Profile Torque Mode: reserved, set to 0) reset_fault Depends on operation mode (object 6060): Profile Position mode / Homing Mode: Halt Profile Torque Mode: Halt, position control active Reserved (= 0)
7 8
0x0080 0x0100
9 10 11 12 13 14 15
0x0200 0x0400 0x0800 0x1000 0x2000 0x4000 0x8000
Jog Mode, positive (like FHPP CPOS.B3) Jog Mode, negative (like FHPP CPOS.B4) Teaching (like FHPP CPOS.B5) Reserved (= 0)
Tab. B/16: Description of Control Word
B79
Status Word
For reading the current controller/regulator status. For typical values see Tab. B/17. For description see Tab. B/18.
Bit
3 4
Value
0x0000 0x0021 0x0027 0x000F 0x0010
Comment
NOT_READY_TO_SWITCH_ON Preinitialisation status READY_TO_SWITCH_ON Status after initialisation SWITCHED_ON + OPERATION_ENABLE Power electronics and positioning are enabled FAULT there is a fault (screen display at bit 3: 0x0008) VOLTAGE_DISABLED Status 1: output stage OFF 0: output stage ON (screen display at bit 4: 0x0010) 1: enable logic, 0: disable logic 1: TARGET_REACHED/MOTION_COMPLETE 0: MOTION_NOT_COMPLETE. (screen display at bit 10: 0x0400) 1: Internal limit active 0: Internal limit not active I2t is active (screen display at bit 11: 0x0800) 1: New positioning task has been accepted or homing run has finished. 1: HOMING_ERROR 0: HOMING_NO_ERROR (screen display at bit 13: 0x2000)
9 10
0x0200 0x0400
11
0x0800
12 13
0x1000 0x2000
Tab. B/17: Typical values for Status Word
B80
Bit
0 1 2 3 4 5 6 7 8 9 10 11 12
Value
0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080 0x0100 0x0200 0x0400 0x0800 0x1000
Description
Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning (simple fault which does not require an emergency stop) Manufacturer specific: drive is moving (SPOS.B4) Remote, SCON.B5 Target reached (see also objects 6067 and 6068) Internal limit active Depends on operation mode (object 6060): Profile Position mode: Setpoint_acknowledge Homing mode: Homing_attained Profile Torque Mode: is running Depends on operation mode (object 6060): Profile Position mode: Following_error (position lag error) Homing mode: Homing_error Profile Torque Mode: stroke limit reached Manufacturer specific: Teaching acknowledgement Manufacturer specific: homing in progress Bits 0 ... 3, 5 and 6 show the status of the device (x ... irrelevant for this status) Value (binary) ( y) Status xxxx xxxx x0xx 0000 Not ready d to switch i h on xxxx xxxx x1xx 0000 Switch on disabled xxxx xxxx x01x 0001 Ready to switch on xxxx xxxx x01x 0011 Switched on xxxx xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick stop active xxxx xxxx x0xx 1111 Fault reaction active xxxx xxxx x0xx 1000 Fault
13
0x2000
14 15
0x4000 0x8000
Tab. B/18: Description of Status Word
B81
Operation Mode
CI access Description 6060h 00h Var int8 rw
Operation mode of the controller. Values: 0xFE: Demo Mode (fixed sequence) 0x01: Profile Position Mode (Position" mode) 0x03: (Reserved) 0x04: Profile Torque Mode (Force" mode) 0x06: Homing Mode (homing run)
Operation Mode Display

CI access Description 6061h 00h Var int8 r
For reading the operation mode of the controller. For values, see object 6060h.
Velocity Demand Value

CI access Description 606Bh 00h Var int32 r
Current nominal speed value of speed regulator in increments/s. Value range: 231 ... +(231 1)
Velocity Actual Value

CI access Description 606Ch 00h Var int32 r
Current actual speed value of speed regulator in increments/s. Value range: 231 ... +(231 1)
Target Torque
Target value for Force mode Specifies the value in 1/1000 of the nominal value (6072h)
B82
Actual Torque
CI access Description 6077h 00h Var int16 r
Actual value in Force mode in 1/1000 of the nominal value (6072h)
Target Position
CI access Description 607Ah 00h Var int32 rw
For defining or reading a target position in increments. This position is saved in the position table in the column provided in the line addressed by object 2032. No movement is made at this time. Value range: 231 ... +(231 1)
Profile Velocity
Final speed for a positioning procedure, in increment/s. This position is saved in the position table in the column provided in the line addressed by object 2032. No movement is made at this time. Value range and default: see 20E003h.
Profile Acceleration
Acceleration for a positioning movement (compare 6081) in increments/s2. Value range and default: see 20E004h.
Torque Slope
Rate of change in torque (or force) Unit of measurement: 1/1000 of the nominal (rated) torque (6076h) per second Fixed: 10000 (0x2710)
B83
Torque Profile Type

Type of profile used for a change in torque. Fixed: 0x0000 Linear ramp
Supported Drive Modes

Drive modes supported. Fixed = 29h (41d) Bit 0: Profile position mode Bit 1: Reserved (Velocity mode) Bit 2: Reserved (Profile velocity mode) Bit 3: Profile torque mode Bit 4: (Reserved) Bit 5: Homing mode Bit 6: Reserved (Interpolated positioning mode) Bit 7...15: (Reserved) Bit 16...31 Manufacturerspecific
B84
B.3
Conversion of units of measurement

For accessing parameters via FCT or the control panel, a system of measurement must be defined, e.g.: Metric measuring system for linear movements (mm,mm/s, mm/s2) Imperial measuring system for linear movements (inch,inch/s, inch/s2) Angle measuring system for rotational movements (degree, degree/s, degree/s2) or (rev, rev/s, rev/s2)
System of units of measurement
Conversion
In the controller, all parameters are always saved in in crements (inc, inc/s, inc/s2) and not converted until they are written or read. For the control panel, the values are converted from the internal base system into the system of measurement set in the firmware. To display values on the PC monitor, they are converted in the FCT software. The transfer of values using CI commands via the serial interface is done in increments and requires conversion in the user software (PLC/IPC).
Parameters
Conversion is carried out via the following parameters, depending on the axis type set: feed": feed constant (depending on the axis type). enc": encoder resolution = physical measuring steps per motor revolution. With MTRDCI: pulse quadruplication by digital interpolation gear": gear reduction.
B85
Parameter
feed 1) enc 2) gear 3)
MTRDCI32
DMES18...: 1500 [m/rev] 300 x 4 = 1200[incr/rev]
MTRDCI42
DMES25...: 2500 [m/rev]
MTRDCI52
DMES40...: 4000 [m/rev]
MTRDCI62
DMES63...: 6000 [m/rev]
500 x 4 = 2000 [incr/rev] > 27:4 > 3969:289 > 1710:77
MTRDCI...G7 (6.75:1) MTRDCI...G14 (13.73:1) MTRDCI...G22 (22.2:1)
1) 2) 3)
Feed constant: depends on axis type, here type DMES... Encoder resolution for MTRDCI: pulse quadruplication by digital interpolation Gear reduction: specification in 2 natural numbers for numerator and denominator of the fraction
Tab. B/19: Base parameters
Drive
Conversion factors (UF)

Increments < > millimetres Increments= mllimetres*UF Millimetres = increments/UF Increments < > inches Increments= inches*UF Inches = increments/UF 13716 27906.602076 137160 27906.602076 85725 17441.626298 57150 11627.750865 18802.597403
MTRDCI32... (+DMES18) MTRDCI42... (+DMES25) MTRDCI52... (+DMES40) MTRDCI62... (+DMES63)
G7 G14 G7 G14 G7 G14 G7 G14 G22
5400 10986.851211 5400 10986.851211 3375 6866.782007 2250 4577.854671 7402.597403
Tab. B/20: Special conversion factors for the MTRDCI with DMES...
B86
General conversion factors (UF)

1[inch] + 25, 4[mm] 1[minch] + 0, 0254[mm] 1[] + 1 [rev] 360 [m] > [inc] inc + enc gear UFmm m m feed mm
inc rev mm rev
rot rev
[inch] > [inc] UFminch
gear minc + enc feed inch

minch
inc rot rev rev minch rev
rev rev minch mm
enc gear 1 feed mm 0,0254
inc rev mm ret
+ UF mm [rev] > [inc] inc + enc UFrev rev
inc 0, 0254 m m inc gear rev
mm minch rot rev
B87
Physical variable
Position Target position Homing point Project zero point Software end position, positive Software end position, negative Velocity Positioning speed to target position Search speed during homing Positioning speed to the axis zero point during homing Acceleration Target acceleration
Conversion into increments

POS [inc] [m] > [inc] [inch] > [inc] = POSm x UFm = POSinch x (0.0254 x UFm ) * = POSinch x UFinch = POSrev x UFrev [m] x [inc/m] [inch] x [m/inch] x [inc/m] [inch] x [inc/inch] [rev] x [inc/rev)
[rev] > [inc] V [inc/s] = [m] > [inc] [inch] > [inc]
= Vm x UFm = Vinch x (0.0254* x UFm) * = Vinch x UFinch = Vrev x UFrev
[m/s] x [inc/m] [inch/s] x [m/inch] x [inc/m] [inch/s] x [inc/inch] [rev/s] x [inc/rev]
[rev] > [inc] a [inc/s2] = [m] > [inc] [inch] > [inc]
= am x UFm = ainch x (0.0254* x UFm) * = ainch x UFinch = arev x UFrev
[m/s2] x [inc/m] [m/s2] x [m/inch] x [inc/m] [inch/s 2] x [inc/inch] [rev/s 2] x [inc/rev]
[rev] > [inc] * Conversion [m] > [inch]: 1 inch = 0.0254 m
Tab. B/21: General formulae for conversion
B88
B.4
FHPP finite state machine

Notes on the operation enabled" state The transition T3 leads to state S4, which itself contains its own substate machine, the states of which are marked with SAx" and the transitions of which are marked with TAx"; see Fig. B/4. This enables a equivalent circuit diagram (Fig. B/3) to be used, in which the internal states SAx are omitted.
Switched off From all states
T7* S1
Controller on
S5 Reaction to fault
S5
T1 S2 Drive disabled T5 T2 T9 S6
T8 Fault T10
T11
S3 Drive enabled T6 S4 T4 T3
Operation enabled
Fig. B/3: Equivalent circuit diagram for finite state machine Transitions T4, T6 and T7* are executed from every substate SAx and automatically have a higher priority than any transi tion TAx. Reaction to faults T7 (fault detected") has the highest priority (and therefore receives the asterisk *"). T7 is then executed from S5 + S6 when an fault with higher priority occurs. This means that a serious fault can suppress a simple fault.
B89
Switched off T7* always has the highest priority. S1 Controller on
From all states T7* S5 Reaction to fault
T1 S2 Drive disabled S6 T9
T8
T11
Fault
T5 S4 T6
T2 T10
Drive enabled
T4
T3
SA5 Jogging, positive
TA9 TA10
SA1
TA7 Ready TA8
SA4 Homing being executed
SA6 Jogging, negative
TA11 TA12 TA2 TA1
SA2 Positioning task active
TA5 TA6
TA4 SA3
TA3
Intermediate stop S4 Operation enabled
Fig. B/4: Finite state machine
B90
B.4.1 Establishing ready to operate" status
T
T1 T2
Internal conditions
Drive has been switched on. No faults are ascertained. Load voltage applied. Fieldbus master is accepted as the higherorder controller.
Actions of the user
Enable drive" = 1 CCON = xxx0.xxx1 Stop" = 1 CCON = xxx0.xx11 Stop" = 0 CCON = xxx0.xx01 Enable drive" = 0 CCON = xxx0.xxx0 Enable drive" = 0 CCON = xxx0.xxx0
T3 T4 T5 T6 T7* T8 T9 T10 T11 Fault detected. Reaction to fault is complete, drive is stationary. There is no longer a fault. It was a serious fault. There is no longer a fault. It was a minor fault. Fault still exists.
Acknowledge fault" = 0 1 CCON = xxx0.Pxxx Acknowledge fault" = 0 1 CCON = xxx0.Pxx1 Acknowledge fault" = 0 1 CCON = xxx0.Pxx1
Key: P = positive edge, N = negative edge, x = any
B91
B.4.2 Positioning
The following always applies: Transitions T4, T6 and T7* always have priority. TA
TA1
Internal conditions
Homing has been carried out.
Actions of the user

Start positioning task = 01 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.00P1 Halt" state is any CCON = xxx0.xx11 CPOS = 0xxx.xxx0 Halt = 1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxx0 Halt = 1 Start positioning task = 01 Clear remaining positioning = 0 CCON = xxx0.xx11 CPOS = 00xx.xxP1
TA2
Motion Complete = 1 The current record has been completed. The next record is not to be executed automatically Motion Complete = 0
TA3
TA4
TA5
Record Select: An individual record has been completed. The next record is to be executed automati cally. Direct mode: A new positioning task has arrived.
CCON = xxx0.xx11 CPOS = 0xxx.xxx1
CCON = xxx0.xx11 CPOS = 0xxx.xx11 Clear remaining positioning = 0 1 CCON = xxx0.xx11 CPOS = 01xx.xxxx Start homing = 01 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.0Px1
TA6
TA7
B92
TA
TA8
Internal conditions
Homing completed or stopped (Halt").
Actions of the user

For Halt" only: Halt = 1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN Jogging, positive = 0 1 Halt = 1 CCON = xxx0.xx11 CPOS = 0xx0.Pxx1 Either Jogging, positive = 1 0 CCON = xxx0.xx11 CPOS = 0xxx.0xx1 or Halt = 1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN Jogging, negative = 1 0 Halt = 1 CCON = xxx0.xx11 CPOS = 0xxP.xxx1 Either Jogging, negative= 1 0 CCON = xxx0.xx11 CPOS = 0xxN.xxx1 or Halt = 1 0 CCON = xxx0.xx11 CPOS = 0xxx.xxxN
TA9
TA10
TA11
TA12
Features specific to different operation modes:

Operation mode Notes on specific features
Record Select Direct mode No restrictions. TA2: The condition that no new record may be executed does not apply. TA5: A new record can be started at any time.
B93
B94
Index
Appendix C
C1
C. Index
Contents
C.
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C1
C2
C. Index
A
Absolute Access procedure Axis Axis parameters Axis type Axis zero point 517 , 549 , B31 B55 XIV , 14 49 , 413 , 515 413 , 58 XIV , 110 , 515 , B45
B
Baud rate BCD Bus segment 316 XVI XVI
C
Cable Fieldbus Checksum CLEAR_DATA Commissioning Procedure With the control panel With the Festo Configuration Tool (FCT) Components Connections Consistency Control Control panel Accessing the main menu Button function (overview) Menu system Menu commands (overview)
14 , 35 315 B59 , B62 535 54 56 522 13 34 XVII 34 , 314 44 46 45 46 47 C3
C. Index
Controller Cyclical I/O data
XIV 539
D
Default settings Demo mode Device connection Device control Diagnostic memory Diagnostics Devicerelated Error messages Overview Parameter channel PROFIBUSDP Dimensional reference system Calculation rules Diagram Dimensions Direct mode DP diagnosis Drive 57 519 582 422 , 56 , 524 612 48 614 67 63 618 614 110 , 111 564 563 24 537 , 538 , 558 , 575 614 XIV
E
Effective stroke EMC Encoder Error messages 111 XIV XIV , XV , 16 67
C4
C. Index
F
Fault handling Fault messages Fault numbers FCT Installing Starting Festo Configuration Tool (FCT) Festo Parameter Channel (FPC) FHPP Fieldbus baud rate Fieldbus cable Fieldbus length Firmware Force control Force mode FREEZE Fuses 553 67 613 , B6 XIV 523 524 XIV B3 116 316 315 316 18 17 17 , 538 , 560 , 575 , B36 535 37
G
GetDiag GSD file 614 XVII , 527
H
HMI (see device control) Homing Homing method Homing point Reference switch
XV XV XV XV , 110 XVI , 14 , 34 , 312 C5
C. Index
Homing method Fixed stop Reference switch Homing methods Homing mode Homing run Current limitation Discontinuing Executing Parameters Starting
114 115 114 XV , 17 XV , 512 , 555 , 564 59 514 419 414 513
I
I/O, Diagnostics I/O data, Cyclical Icon files Increments 410 539 528 113 , B85
J
Jog mode 566
L
LED Load voltage, Definition Logic voltage Definition Failure LSB 65 37 37 39 XVII
C6
C. Index
M
Measuring units Menu commands (overview) Menu system Motor unit Dimensions Mounting MSB 113 47 46 XV , 14 24 25 XVII
N
Nominal stroke 111
O
Object directory Octet Operation mode Direct mode Homing run Record Select Teach mode B55 XVII XV , 537 537 512 537 XVI
P
Parameter assignment Parameter channel Parameter channel (PKW) Parameter identifier (ParID) Parameter number (PNU) Parameter value (ParVal) ParID
15 , B3 B3 XVII XVII , B3 , B4 XVII , B4 B3 XVII C7
C. Index
Password Entering Modifying/deactivating Setting up PKW PLC Plus/minus signs PNU Points of reference Position mode Position set Executing Position set record Position set table Compiling Creating Displaying Executing Positioning range Power supply Requirements Power supply unit Power supply units Power supply units and fuses, Requirements PROFIBUS address Profibus address, setting PROFIBUSDP Diagnosis via parameter channel Diagnostics Profile position mode Profile torque mode Project zero point Protection class C8
583 416 417 416 XVII XV 112 XVII 110 538 15 418 XVI 517 415 49 420 110 34 , 36 36 36 37 37 521 415 618 614 16 17 XVI , 110 , B34 35
C. Index
R
Record Select Relative Repeater Request identifier (AK) Request telegram Response identifier (AK) Response monitoring Response telegram 537 , 570 517 , 549 , B31 XVII XVII , B4 , B5 XVII XVII , B4 , B6 535 XVII
S
Safety instructions Scope of delivery Segment length Serial interface Service Software end position Negative Positive Standstill monitoring Startup behaviour Station number, setting Strain relief Subindex (IND) Switchon sequence SYNC System parameters VIII IX 316 34 , 310 IX 110 , 515 , B34 XVI XVI 579 581 521 315 XVIII , B3 39 535 410
C9
C. Index
T
Target group Target position, teaching Teach mode Teaching via fieldbus Technical data Transmission errors Transmission protocol IX 517 XVI , 413 , 415 , 515 568 A3 B58 B57
U
Units of measurement User data User instructions B85 XVIII X
V
Value ranges, permitted Version B58 XIII
C10

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Motor unit MTRDCI

Description 539 624 en 0612NH [682 489]

Contents and general safety instructions

Contents and general safety instructions

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

314 315 316 317 41

4. 4.1 4.2 4.3 4.4 4.5 4.6 5. 5.1 5.2

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

5.9 6. 6.1 6.2 6.3

6.4 6.5 6.6

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

A. A.1 A.2 A.3 B. B.1

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

User documentation (quick reference guide)

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Important user instructions Danger categories

Electrostatically sensitive devices: Incorrect handling can result in damage to components.

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Identifying special information

Accessories: Information on necessary or useful accessories

Environment: Information on the environmentfriendly use of the products

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Documentation for MTRDCI motor unit

Help system for software

Operating instructions Assembly instructions

Tab. 0/1: Documentation on the MTRDCI

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

About the version

Tab. 0/2: Firmware versions

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Productspecific terms and abbreviations

Axis zero point (AZ)

Drive EMC Encoder

Festo Configuration Tool (FCT)

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

PLC Position mode

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Project zero point (PZ)

Reference switch Software end position

Tab. 0/3: Index of terms and abbreviations

PROFIBUSspecific terms and abbreviations

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Festo P.BEMTRDCIPBEN en 0612NH

Contents and general safety instructions

Tab. 0/4: Index of terms and abbreviations for PROFIBUS

Tab. 1/6: Fixed stop"homing method

Reference switch" homing method