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Festo Электромотор MTR-DCI manuali

Manuali dei proprietari e guide per l'utente per Accessori per gli impianti elettrici Festo Электромотор MTR-DCI.
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Festo Электромотор MTR-DCI Manuale Utente (316 pagine)


Marchio: Festo | Categoria: Accessori per gli impianti elettrici | Dimensione: 3.23 MB |

 

Indice

Motor unit

1

Intended use

11

Safety instructions

12

Target group

13

Scopeofdelivery

13

Important user instructions

14

Danger categories

14

About the version

17

Abbreviation Meaning

18

to the refer

19

Term Meaning

20

Table 0/4: Terminology

22

System overview

23

Profibus

25

DeviceNet

25

1.2 Fieldbus communication

28

1. System overview

32

Festo-specific Classes Class

32

1.2.2 FHPP data profile

33

Input Output Byte

34

FHPP standard 128 130 8

34

1.3 Components

36

1.5 Operational safety

39

between axis zero point and

41

Dimensional reference system

42

1.6.3 Homing

45

must be ≠ 0 (min. 0.25 mm )

46

Mounting

49

2.1 General instructions

51

2. Mounting

52

Sizes [mm] 32 42 52 62

52

position the axis with

55

MTR-DCI-32

56

MTR-DCI-42

56

MTR-DCI-52

56

MTR-DCI-62

56

Installation

57

3.1 Overview of installation

59

3.2 Earthing

62

3.3 Power supply

63

3.3.2 Load and logic voltage

64

3.4 Serial interface

67

3.6.2 Fieldbus cable

73

Chapter 4

75

Function Button

79

MTR-DCI

80

= 0.00 mm

80

Menu command Description

81

4.3 [Diagnostic] menu

82

of the axis zero point

83

4.4 [Positioning] menu

85

4.4.3 [Positioning] [Homing]

88

4.5 [Settings] menu

90

4.5.1 [Settings] [Axis type]

91

Activating the password

95

Entering a password

96

Commissioning

99

Contents

100

5.1 Commissioning procedure

102

Before commissioning

102

Switching on

103

} HMI control

105

to reference point

106

5.2.1 Setting the axis type

107

of the axis zero

108

Setting parameters

109

5.2.3 Starting homing

111

Discontinuing homing

112

Error in the homing run

112

of the axis zero point ≠ 0

113

5.2.6 Test run

116

} Positioning

117

Demo posit tab

117

Move posit set

117

5.2.7 Setting bus parameters

118

Station nu mber (MAC-ID)

118

Bitrate(bitrate)

119

I/O data length

120

5.3 Commissioning with FCT

121

5.3.1 Installing the FCT

121

5.3.2 Procedure

122

Record selection

128

Direct task

129

Record no

130

5. Commissioning

131

O data – Direct task

133

“Direct task”

136

Status byte 1 (SCON)

137

Status byte 2 (SPOS)

138

5.5.7 Examples of I/O da ta

140

Ensuring device control

140

3. Fault handling

143

7. Direct task: Force mode

150

Description

151

Odata Idata

151

5.6.1 Homing

153

5.6.2 Jog mode

155

5.6.3 Teaching via Fieldbus

157

N–1 N N+1

161

Stop record

163

Delete remaining position

163

Positioning mode

165

Force mode

167

Parameter identifier (PKE)

175

Fault numbers Description

178

Fault evaluation

180

5.8 FHPP finite state machine

183

5.8.2 Positioning

186

5.9 Notes on operation

188

Device connection

189

Controlling during operation

189

Password protection

190

Care and maintenance

190

Diagnosis and error display

191

6.2 LED status displays

195

6.3 Fault messages

197

6.3.1 Overview

197

Fault Possible cause Remedy

200

• Check:

201

6.4 Diagnosis using Fieldbus

202

6.4.2 Diagnostic memory

203

Technical appendix

205

A.1 Tec hnical data

207

DC 48 V +5...-10 %

209

A.2 Accessories

210

A. Technical appendix

211

Userdocumentationinpaperform

211

General conversion factors UF

220

Appendix B

223

B.1.1 Parameter classes

225

B.2.1 Parameter groups

232

Device Control

241

HMI Control

241

B.2.6 Diagnosis

243

Fault Number

244

Time Stamp

244

Diagnostic Memory Parameter

245

Device Error

245

DeviceNet Diagnosis

246

B.2.7 Process data

247

Cycle Number

248

Keypad Status

248

B.2.8 Record list

249

Record Control Byte 1

250

Record T arget Position

250

Record Velocity

251

Record Accelera tion

252

B.2.9 Project data – General

253

Max. Velocity

254

Max. Acceleration

254

Stroke Limit

255

Min. Torque

255

Max. Torque

255

Teach Target

256

Jog Mode Velocity Phase 2

257

Jog Mode Acceleration

257

JogModeTimePhase1

257

Direct Mode Acceleration

258

Force Target Window

259

Damping Time

259

Speed Limit

259

Polarity

260

Encoder Re solution

260

Gear Ratio

261

Feed Constant

261

Position Factor

262

Offset Axis Zero Point

264

Homing Method

264

Homing Velocities

265

Homing Required

265

Homing Max. Torque

266

Halt Option Code

266

Fault Reaction Option Code

266

Target Position Window

267

Motor Data

269

Drive Data

270

Motor Type

271

Max. Current

272

Motor Rated Current

272

Motor Rated Torque

272

The Command Interpreter (CI)

275

C.1 Data transmission

277

C.1.1 Procedure

277

Access procedure

280

Data type

281

C.1.3 Checking the data

283

C.2 CI Reference

285

Name See

286

Encoder Resolution

292

Device Type

293

Record T able Element

296

Communication Error

298

DeviceNet Address

298

DeviceNet I/O Data length

299

Torque Control parameters

305

Supported Drive Modes

306

Appendix D

307

D. Index

308

Festo Электромотор MTR-DCI Manuale Utente (306 pagine)


Marchio: Festo | Categoria: Accessori per gli impianti elettrici | Dimensione: 3.22 MB |

 

Indice

Motor unit

1

Intended use

9

Safety instructions

10

Target group

11

Scopeofdelivery

11

Important user instructions

12

Danger categories

12

About the version

15

Term/abbreviation Meaning

17

System overview

21

Profibus

23

DeviceNet

23

1.2 Components

26

1.4 Operational reliability

29

The project zero

31

distance from AZ

32

1.5.2 Prefixes and directions

33

1.5.3 Reference travel

35

must be ≠ 0 (min. 0.25 mm)

36

Mode Position Velocity

38

1. System overview

40

Mounting

41

2.1 General information

43

2. Mounting

44

Sizes [mm] 32 42 52 62

44

position the axis with

47

MTR-DCI-32

48

MTR-DCI-42

48

MTR-DCI-52

48

MTR-DCI-62

48

Installation

49

3.1 Overview of installation

51

3.2 Ear thing

54

3.3 Power supply

55

(not for MTR-DCI-32)

57

3.4 Serial interface

59

3.6.1 Fieldbus cable

64

3.6.3 Bus termination

66

Chapter 4

67

Function Button

71

4.2 The menu system

72

4.2.1 Accessing the main menu

72

of axis zero point

73

4.3 [Diagnostic] menu

74

4.4 [Settings] menu

78

of the axis zero point

79

Setting a password

82

Entering a password

82

4.5 [Positioning] menu

84

} Homing

85

} Move posit set

86

Move posit set

86

Function

87

Commissioning

89

5.1 Commissioning procedure

92

Before commissioning

92

Switching on

93

5.2.1 Selecting the axis type

96

When homing to stop:

97

Setting parameters

99

5.2.3 Carrying out homing

100

St arting homing

101

Discontinuing homing

102

Error in the homing run

102

of the axis zero

103

5.2.6 Test run

107

5.3 Commissioning with FCT

110

5.3.1 Installing the FCT

111

5.3.2 Procedure

112

Starting the FCT

112

Device control

112

5.5 Configuration

115

5.5.2 I/O configuration

116

5.5.5 Response monitoring

123

5.5.6 Control commands

123

Record Select

125

Direct mode

126

5. Commissioning

128

Festo FPC

128

Control byte 2 (CPOS)

131

–Directmode

132

– R ecord Select

133

Status byte 1 (SCON)

134

Status byte 2 (SPOS)

135

0. Ensuring device control

138

3. Fault handling

141

6. Direct mode: Position mode

146

7. Direct mode – Force mode

148

5.8 Drive functions

151

5.8.2 Homing

152

5.8.3 Jog mode

154

5.8.4 Teaching via fieldbus

156

N-1 N N+1

160

5.9 Notes on operation

169

Start-up behaviour and homing

169

Device connection

170

Controlling during operation

170

Password protection

171

Care and maintenance

171

Diagnostics and fault display

173

Contents

174

6.2 LED status displays

177

Power supply

177

Fault display

177

6.3 Fault messages

179

6.3.1 Overview

179

6.4 Diagnostic m emo ry

184

6.5 Diagnosis via PROFIBUS-DP

186

Technical appendix

191

A.1 Technical data

193

A. Technical appendix

195

A.2 Accessories

196

*Conversion[µm]

206

[µinch] : 1 ìInch = 0.0254 ìm

206

Supplemen tary information

207

B.1 Parameter assignment

209

Parameter identifier (

210

B. Supplementary information

213

Fault numbers Description

213

Fault evaluation

215

B.1.4 Parameter groups

218

B.1.5 Overview of parameters

219

Name CI objectFHPPName

220

for axis zero point)

224

B.1.7 Device data

227

Standard parameters

227

Extended parameters

228

Device Control

229

B.1.8 Diagnostics

231

Fault Number

232

Time Stamp

232

Device Error (device fault)

233

PROFIBUS Diagnosis

234

B.1.9 Process data

235

Record T arget Position

238

Record Velocity

238

Record Accelera tion

239

B.1.11 Project data

240

General project d a ta

240

Force mode

242

Teaching

243

Jog mode

244

Direct mode: Position mode

245

Direct mode: Force mode

246

Mechanical parameters

247

Gear Ratio

248

Feed Constant Linear Axis

248

Position Factor

249

Homing parameters

251

Homing Velocities

252

Homing Required

252

Homing Max. Torque

253

Controller p arameters

254

Motor Data

256

Drive Data

257

Electronic rating plate

258

Standstill Position Window

260

Standstill Timeout

260

B.2.2 CI commands

265

B.2.3 CI objects (overview)

269

Name FHPPCI objectsName

270

Device Type

278

Record Number

279

Record T able Element

281

Control Word

284

Value Function

284

Status Word

286

Bit Value Comment

286

Torque Profile Type

290

Supported Drive Modes

290

B.3 FHPP finite state machine

291

B.3.2 Positioning

294

Appendix C

297

Festo Электромотор MTR-DCI Manuale Utente (182 pagine)


Marchio: Festo | Categoria: Accessori per gli impianti elettrici | Dimensione: 2.66 MB |

 

Indice

Motor unit

1

Designated use

9

Safety instructions

10

Target group

11

Scopeofdelivery

11

Important user instructions

12

Danger categories

12

Marking special information

13

Manuals on motor unit MTR-DCI

14

Informationontheversion

15

Term/abbreviation Meaning

17

System summary

19

Profibus

21

DeviceNet

21

1.2 Components

24

1.4 Operational reliability

27

to the reference point

28

1. System summary

30

1.5.2 Signs and directions

31

1.5.3 Homing

32

must be ≠ 0 (min. 0.25 mm)

33

Mounting

35

2.1 General instructions

37

2. Mounting

38

Sizes [mm] 32 42 52 62

38

2.3 Mounting electric axes

39

Position the axis with

41

MTR-DCI-32

42

MTR-DCI-42

42

MTR-DCI-52

42

MTR-DCI-62

42

Installation

43

3.1 Overview of installation

45

3.2 Earthing

48

3.3 Power supply

49

3.4 Serial interface

52

3. Installation

58

Chapter 4

59

Function Button

63

MTR-DCI

64

= 0.00 mm

64

} Diagnostic

64

} HMI control

64

Menu command Description

65

} Pos.set table

66

axis zero point

67

} Axis type

69

Set up a password

73

Enter password

73

Modify/deactivate password

74

4.2.4 Menu [Positioning]

75

} Homing

76

} Move posit set

77

Move posit set

77

Commissioning

79

Before commissioning

82

Switch-on reaction

82

Switching on

83

5.2.1 Selecting the axis type

85

of the axis zero point

87

Current limiting

88

Set parameters

89

Start homing run

90

Discontinue homing run

91

Fault during homing run

91

5.2.5 Teach position sets

94

5.2.6 Test run

95

} Positioning

96

Demo posit tab

96

5.3 Commissioning with FCT

97

5.3.1 Installing the FCT

97

Starting the FCT

98

Device control

98

5.4.1 I/O function check

100

5.4.2 Description of the I/Os

101

Switch-on and homing run

104

Positioning procedures

107

Chapter 6

109

Contents

110

Device connection

112

Password protection

112

Control in operation

113

Care and maintenance

113

6.2.2 LED status displays

115

Fault Possible cause

118

Technical appendix

121

A.1 Technical sp ecifications

123

A. Technical appendix

124

Mechanical data 32 42 52 62

124

A.2 Accessories

126

General conversion factors UF

135

Supplemen tary information

137

B.1.2 CI commands

144

B.1.3 CI Objects (overview)

148

B. Supplementary information

149

Name CI ObjectsName

149

Name CI Objects

151

Group 1xxx

153

Group 2xxx

154

20E0/01 20E0/02

156

Record_Table_Element

157

Axis_Parameter

157

Password

159

Local_Password

159

User_Device_Name

159

Group 6xxx

161

Status_Word

162

Motor_Rated_Current

165

Target_Position

165

Software_End_Positions

165

Offset_Axis_Zero_Point

166

Profile_Velocity

166

Profile_Acceleration

167

Encoder_Resolution

167

Gear_Ratio

168

Feed_Constant

168

Homing_Method

169

Homing_Velocities

169

Local_Digital_Inputs

171

Local_Digital_Outputs

171

Drive_Data

173

Appendix C

175

Festo Электромотор MTR-DCI Manuale Utente (352 pagine)


Marchio: Festo | Categoria: Accessori per gli impianti elettrici | Dimensione: 3.37 MB |

 

Indice

Motor unit

1

Designated use

11

Safety instructions

12

Target group

13

Scopeofdelivery

13

Important user instructions

14

Danger categories

14

Informationontheversion

17

from the

18

Term/Abbreviation Meaning

19

Term/abbreviation Meaning

20

System overview

23

Profibus

25

DeviceNet

25

1.2 Field bus communication

28

1. System overview

31

1.3 Components

32

1.5 Operational safety

35

axis zero point and project

37

of the axis zero point)

37

Measuring reference system

38

1.6.2 Signs and directions

39

1.6.3 Reference run (homing)

41

Mounting

45

2.1 General instructions

47

2. Mounting

48

Sizes [mm] 32 42 52 62

48

2.3 Fitting electric axes

49

Position the axis with

51

MTR-DCI-32

52

MTR-DCI-42

52

MTR-DCI-52

52

MTR-DCI-62

52

Installation

53

3.1 Overview of installation

55

3.2 Earthing

58

3.3 Power supply

59

3.3.2 Load and logic voltages

60

– via power supply — x x x

62

3.4 Serial interface

63

3.6 Controller

67

3. Installation

68

3.7 Connecting the field bus

70

3.7.1 Field bus cable

70

1000 kbit (1 Mbit) 40 m

71

20 kbit 1000 m

71

Chapter 4

73

Function Button

77

MTR-DCI

78

= 0.00 mm

78

Menu command Description

79

4.3 [Diagnostic] menu

80

4.4 [Positioning] menu

83

4.4.3 [Positioning] [Homing]

86

4.5 Menu [Settings]

88

4.5.1 [Settings] [Axis type]

89

Activate password

93

Enter password

94

Modify/deactivate password

94

4.5.6 [Settings] [

95

Commissioning

99

Contents

100

Before commissioning

102

Switching on

103

} HMI control

105

5.2.1 Setting the axis type

107

of the axis

108

Setting parameters

109

} Positioning

111

Demo posit tab

111

Move posit set

111

Discontinue reference travel

112

Error in the reference run

112

≠ 0, e. g. +1.00 for homing

114

5.2.5 Teach position records

116

5.2.6 Test run

118

5.2.7 Setting CAN parameters

120

Station number (CA N Node ID)

120

Bit rate (CAN bit rate)

121

Data profile (CAN profile)

122

(not with MTR-DCI-32)

123

5.3 Commissioning with FCT

124

5.3.1 Installing the FCT

125

5.3.2 Procedure

126

Start the FCT

126

Device control

126

5.4.3 Communication

131

5.4.4 PDO mapping

132

PDO mapping in FHPP

132

PDO mapping with CiA 402

133

5. Commissioning

134

Receive PDO 2 (CiA 402)

134

Transmit PDO 1 (CiA 402)

134

Transmit PDO 2 (CiA 402)

134

Record select

135

Direct mode

136

Output data – direct mode

140

Input data – direct mode

140

Status byte 1 (SCON)

144

Status byte 2 (SPOS)

145

Safeguard device control

147

3. Error treatment

150

Description

158

Output data Input data

158

5.6.1 Homing

160

axis zero point x 1010 607Ch

161

5.6.2 Jog mode

162

5.6.3 Teaching via field bus

164

N-1 N N+1

169

Stop record

170

Delete remaining path

170

Parameters involved

171

Positioning mode

172

Power operation

174

Position window time

179

5.7 Notes on operation

181

Device connection

182

Control during operation

182

Password protection

183

Care and maintenance

183

Diagnostics and error display

185

6.2 LED status displays

189

6.3 Fault messages

191

6.3.1 Overview

191

Fault Possible cause Remedy

194

• Carry out homing

195

• Check:

195

6.4 Diagnostic m emo ry

196

6.5 Diagnosis via CANopen

198

6.5.2 Emergency messages

199

Technical appendix

201

A.1 Technical specifications

203

A. Technical appendix

204

Motor data 32 42 52 62

204

DC 48 V + 5 ... -10 %

205

A.2 Accessories

206

Userdocumentationinpaperform

207

General conversion factors UF

216

Appendix B

219

Parameter identifier (PKE)

222

Fault numbers Description

225

Rules Description

226

Evaluating faults

227

B.2.2 Object overview

230

Name see

233

CANopen / CIFHPP

233

axis zero point 1010

234

Encoder res olution

237

Device Control

240

HMI Control (MMI parameter)

240

B.2.6 Diagnosis

242

Fault Number

243

Time Stamp

243

Diagnostic Memory Parameter

244

Device fault

244

CANopen Diagnosis

245

B.2.7 Processing data

246

Cycle Number

247

Keypad Status

247

B.2.8 Record list

248

Record Control Byte 1

249

Record T arget Position

249

Record Velocity

250

Record Acceleration

251

B.2.9 Project data – General

252

Max. Velocity

253

Stroke limit

254

B.2.11 Project data – Teac h

255

Jog Mode Veloc ity Phase 2

256

Jog Mode Acceleration

256

Jog Mode Veloc ity Phase 1

256

Direct Mode Accelera tion

257

Force Target window

258

Damping Time

258

Speed Limit

258

Encoder Re solution

259

Gear Ratio

260

Feed Constant

260

Position Factor

261

Axis Parameter

261

Offset Axis Zero Point

263

Homing Velocities

264

Motor Data

267

Drive Data

268

Motor Type

269

Maximum Current

270

Rated Motor Current

270

Rated Motor Torque

270

B.3 Status machine F HPP

272

Fig. B/8: Status machine

273

B.3.2 Positioning

275

Appendix C

277

FHPPCANopen

280

CANopen FHPP

283

Device type

287

Error register

287

Pre-defined error field

288

COB-ID SYN C message

288

Manufacturer device n a me

288

Identity object

290

Diagnostic event

297

Fault number

297

Time stamp

297

Diagnostic memory parameter

298

Record table element

299

Axis parameter

300

Controller type

300

Jogmodetimephase1

300

Data memory control

301

User device name

301

HMI control (MMI parameter)

301

Bit Value Description

304

axis zero point”

309

Position Encoder Resolution

311

Homing Speeds

313

Torque Control parameters

314

Status diagram CiA 402

319

Description of the states

320

Condition for status

322

C.3.2 CI commands

328

C.3.3 Overview of CI objects

332

Controlword CiA 402

342

Statusword CiA 402

342

Appendix D

343

D. Index

344




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