Handling Module HSP−−AE...The handling module of type HSx−AE−... is intended for use in...

Description

Type HSP−�−AE−IO−�

Description541 946en 0708a [716 606]

Handling ModuleHSP−...−AE

Adobe® and Reader® are registered trade marks of Adobe Systems Incorporated inthe USA and/or other countries.

Contents and general safety instructions

IFesto P.BE−HSP−AE−IO−EN en 0708a

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

Edition en 0708a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Designation P.BE−HSP−AE−IO−EN. . . . . . . . . . . . . . . . . . . . . .

Order�no. 541 946. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E (Festo AG & Co. KG, D�73726 Esslingen, Germany, 2007)Internet: http://www.festo.comE−mail: [email protected]

Copying and distributing this document as well as utilisingand communicating its contents is prohibited without ex�pressed authorisation. Offenders will be held liable for com�pensation of damages. All rights reserved, in particular theright to carry out patent, utility model or ornamental designregistration.


II Festo P.BE−HSP−AE−IO−EN en 0708a


IIIFesto P.BE−HSP−AE−IO−EN en 0708a

Contents

Intended use VII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety instructions VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group IX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

Descriptions of the HSx−...−AE handling module XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Information on the version XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Product−specific terms and abbreviations XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System overview 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Handling technology with electric servo motors 1−3 . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Design and operational principle 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Version and components 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Control elements of the motor unit 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

2. Mounting 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Mounting instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Mounting the handling module 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Types of mounting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Mounting components 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Mounting the motor unit 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Turning the motor unit (HSP−...−GE type only) 2−11 . . . . . . . . . . . . . . . . .

2.4.2 Swivelling the motor unit (HSP−...−GE type only) 2−12 . . . . . . . . . . . . . . .

2.5 Static adjustment of the mechanical end positions 2−14 . . . . . . . . . . . . . . . . . . . .

2.5.1 Setting the z stroke 2−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Setting the y−stroke 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.3 Setting the noise absorption (rubber buffers) 2−18 . . . . . . . . . . . . . . . . .


IV Festo P.BE−HSP−AE−IO−EN en 0708a

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

3.1 Installation instructions 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Electrical connection of the motor unit 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Overview of the installation 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Earthing 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 Requirements of the power supply 3−9 . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 Serial interface 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5 I/O control 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Proximity sensors (optional) 3−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. The control panel 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Design and function of the control panel 4−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 The menu system 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Accessing the main menu 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Selecting a menu command 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 [Diagnostic] menu 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Positioning] menu 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 [Positioning] [Move position set] 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 [Positioning] [Homing] 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Menu [Settings] 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 [Settings] [HSx Setup] [HSx Mode] 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 [Settings] [HSx Setup] [Position set] 4−15 . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.3 [Settings] [HSx Setup] [Count Direction] 4−17 . . . . . . . . . . . . . . . . . . . . . .

4.5.4 [Settings] [HSx Setup] [Delivery Status] 4−20 . . . . . . . . . . . . . . . . . . . . . .

4.5.5 [Settings] [HM Type] 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.6 [Settings] [Password Edit] 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 [HMI Control] menu command 4−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE−HSP−AE−IO−EN en 0708a

5. Commissioning with the control panel 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Preparations for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Commissioning procedure 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Reference points and limitation of the work range 5−8 . . . . . . . . . . . . . . . . . . . .

5.3.1 Homing 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Limitation of the work range in HSx mode 5−10 . . . . . . . . . . . . . . . . . . . .

5.4 Teaching typical �Pick&Place" positioning records 5−13 . . . . . . . . . . . . . . . . . . . .

5.4.1 HSx mode 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.3 Teach procedure 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Creating individual command records 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Command records for inching operation 5−19 . . . . . . . . . . . . . . . . . . . . .

5.5.2 Pick&Place positioning records 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.3 Instructions for parameterising the command records 5−25 . . . . . . . . . .

5.5.4 Execution of individual positioning records (test run) 5−32 . . . . . . . . . .

5.6 Sequence control via I/O interface 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 I/O function check 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Description of the I/Os 5−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.3 Switching on and homing 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.4 Inching operation 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.5 Pick&Place (positioning/force mode) 5−43 . . . . . . . . . . . . . . . . . . . . . . .

6. Operation and maintenance 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Important user instructions 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Service and maintenance instructions 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1 Lubrication 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.2 Replacement of the spring clamping elements 6−9 . . . . . . . . . . . . . . . .

6.2.3 Replacement of the rubber buffers 6−10 . . . . . . . . . . . . . . . . . . . . . . . . .

7. Diagnostics 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 General diagnostics options 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 LED status displays 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Error messages on the display 7−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Mechanical defect 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE−HSP−AE−IO−EN en 0708a

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

A.1 Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Dimensions and product weight A−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Characteristic curves A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.1 Travel time and speed A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.2 Motor force and insertion force A−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4 Accessories A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.1 Handling module accessories A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.2 Lines for connecting the motor unit A−13 . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.3 User’s manual A−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index B−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VIIFesto P.BE−HSP−AE−IO−EN en 0708a

Intended use

The handling module of type HSx−AE−... is intended for use inautomated equipment in the field of handling and assemblytechnology.The handling module is particularly suitable for handlingsmall parts at high speed, e.g. when inserting or reposition�ing parts in the automobile industry.

Makes sure you observe the specified technical safety instructions and adhere to the intended use of the respectivesub−assemblies and modules unconditionally. Please alsoobserve the safety instructions specified in the operatinginstructions for the components used.

Please observe the standards specified in the relevantchapters and comply with the regulations of the trade associ�ation and the German Technical Control Board (TÜV), the VDEconditions as well as the relevant national regulations.

The handling module and the modules and cables which canbe connected are only to be used as follows:

� As intended

� Only in an industrial environment

� In original status without unauthorised modifications(only those conversions or modifications described in thedocumentation supplied with the product are permitted)

� In perfect technical condition

If conventional accessory components such as sensors andactuators are connected, the specified limits for tempera�tures, electrical data, pressures, torques, etc. should be com�plied with.


VIII Festo P.BE−HSP−AE−IO−EN en 0708a

Safety instructions

When commissioning and programming positioning systems,the safety regulations in this manual as well as those in theoperating instructions for the other components used shouldbe observed unconditionally.

The user must make sure that nobody is within the sphere ofinfluence of the connected actuators or axis system. Accessto the potential danger area must be prevented by suitablemeasures such as barriers and warning signs.

WarningElectric drives can move suddenly with high force and athigh speed. Collisions can cause serious injuries or destroycomponents.

Make sure that nobody can reach into the sphere of influ�ence of the axes or other connected actuators and that noitems are within the positioning range while the system isconnected to energy sources.

WarningParameterisation errors can cause personal injury andmaterial damage.

Only enable the controller if the axis system has been installed and parameterised professionally.


IXFesto P.BE−HSP−AE−IO−EN en 0708a

Target group

This description is intended exclusively for technicianstrained in control and automation technology, who have experience in installing, commissioning, programming anddiagnosing positioning systems.

Service

Please consult your local Festo service or write to the follow�ing e−mail address if you have any technical requirements:

[email protected]

Scope of delivery

Included in the scope of delivery:

� Handling module and motor unit with integratedcontroller

� Operator package

� Brief description

� CDROM with descriptions and FCT software package

Information about accessories for mounting and installationcan be found in Chapter 1.1.2. Ordering information andfurther accessories can be found in Appendix A.4.


X Festo P.BE−HSP−AE−IO−EN en 0708a

Important user instructions

Danger categories

This description contains notes on potential dangers whichmay occur if the product is used incorrectly. These notes aremarked with a signal word (Warning, Caution etc) printed on a shaded background and additionally with a pictogram. A distinction is made between the following danger warnings:

Warning... means that failure to observe this note may result inserious personal injury or material damage.

Caution... means that failure to observe this note may result inpersonal injury or material damage.

Note... means that failure to observe this note may result inmaterial damage.

Furthermore, the following pictogram marks passages in the text which describe activities with electrostaticallysensitive devices.

Electrostatically sensitive devices: incorrect handling canresult in damage to components.


XIFesto P.BE−HSP−AE−IO−EN en 0708a

Identification of specific information

The following pictograms mark passages in the text whichcontain specific information.

Pictograms

Information:Recommendations, tips and references to other sources ofinformation

Accessories:Information on necessary or useful accessories for the Festo product

Environment:Information on the environmentally−friendly use of Festoproducts

Text designations

· Bullet points indicate activities which may be carried outin any sequence.

1. Digits indicate activities which must be carried out in thespecified sequence.

� Arrowheads indicate general lists.


XII Festo P.BE−HSP−AE−IO−EN en 0708a

Descriptions of the HSx−...−AE handling module

This description contains basic general information on themode of operation, mounting, installation and commission�ing. It also contains information on functions of the I/O inter�face, as well as on commissioning with the �Festo Configur�ation Tool" (FCT) software package.

Product variants are available for coupling to fieldbus sys�tems. Specific information can be found in the descriptionsfor the respective product variants.

Information on components can be found in the operatinginstructions supplied with the relevant product.

Type Designation Contents

Operator package P.BP−HSP_HSW−AE Contains a brief description +CDROM with:� Descriptions� FST software package (incl. help

system)

Brief description � Important commissioninginstructions and preliminaryinformation

Descriptions P.BE−HSP−AE−IO−DEP.BE−HSP−AE−IO−ENP.BE−HSP−AE−IO−FRP.BE−HSP−AE−IO−ITP.BE−HSP−AE−IO−ESP.BE−HSP−AE−IO−SV

P.BE−HSW−AE−IO−DEP.BE−HSW−AE−IO−ENP.BE−HSW−AE−IO−FRP.BE−HSW−AE−IO−ITP.BE−HSW−AE−IO−ESP.BE−HSW−AE−IO−SV

� Installation, commissioning anddiagnostics of handling moduleswith electric servo motor

� Communication via I/O interface

Help system forsoftware

�(included in the FCT software)

Functional descriptions of the FCTconfiguration software


XIIIFesto P.BE−HSP−AE−IO−EN en 0708a

Information on the version

The hardware version specifies the version status of themechanics and electronics of the MTR−DCI−HM.

The firmware version specifies the version status of theoperating system of the MTR−DCI.

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

� Hardware version and firmware version in the FCT withactive linkage to the MTR−DCI−HM under �Device data"

� Firmware version at the control panel under [Diagnostic][SW information]

Firmware version What is new? Which FCT plug−in?

V−HM1.20 For handling modules with motor unit Type MTR−DCI−...−IO−HM including integratedcontroller and I/O interface,+ supports handling module type:� HSP−12/16/25−AE−IO� HSP−12/16/25−AE−IO−SD� HSP−12/16/25−AE−IO−GE� HSP−12/16/25−AE−IO−SD−GE

V1.0.0 or higher

V−HM 1.25 or higher Revised specifications for insertion torque/force(see Appendix A.1, �Parameterisation" table,insertion force)

V−HM 2.09 or higher + inching operation,+ supports additional handling module type:� HSW−10/12/16−AE−IO� HSW−10/12/16−AE−IO−SD� HSW−10/12/16−AE−IO−GE� HSW−10/12/16−AE−IO−SD−GE

V2.0.0 or higher


XIV Festo P.BE−HSP−AE−IO−EN en 0708a

Product−specific terms and abbreviations

The following product−specific terms and abbreviations areused in this description:

Term / abbreviation Meaning

Command record Job defined in the command record table e.g.� Positioning records for positioning within the angle of rotation� Command records for conversion to inching mode

Controller Control electronics which evaluate the control signals and provide thepower supply for the motor via the power electronics.

Counting direction The counting direction is specified for the view on the motor shaft. Positive counting direction means:Positive position specifications and torques take effect in clockwisedirection from the reference point.Negative position specifications and torques take effect inanti−clockwise direction from the reference point.Negative counting direction means:Positive position specifications and torques take effect in anti−clockwise direction from the reference point.Negative position specifications and torques take effect in clockwisedirection from the reference point.The factory presetting of the counting direction is �negative".

Degrees (°) Angular dimension related to 360° full angle

EMC Electromagnetic compatibility

Festo Configuration Tool(FCT)

Software with uniform project and data management for all supporteddevice types. The specific requirements of a device type are supportedby plug−ins with the necessary descriptions and dialogues.

Handling module Complete actuator, comprising motor unit and moving mechanics.

HMI /MMS Human Machine Interface; control panel at the MTR−DCI with LC display and 4 control keys.

Homing The reference position and hence the origin of the reference system ofthe axis are defined by homing. With the HSx−AE handling module,homing is always performed in negative direction against the fixedstop (pick position).The drive runs at low speed in the direction of the pick position untilthe fixed stop is reached.


XVFesto P.BE−HSP−AE−IO−EN en 0708a


Homing mode Operation mode in which homing is carried out

HSx... Handling module, device of type HSP−AE−... or HSW−AE−...

HSx mode Teach mode for referencing and automatic parametrising ofpositioning records for pick & place standard applications (can besubsequently edited via positioning record table).

IO

IO

InputOutputInput and/or output

Inching operation Individual positioning of the swivel lever in positive or negativedirection, e.g. when approaching teach positions during manuallyoperated feed processes or when moving the swivel lever away in the event of a system fault. Functions:� Individual steps at slow speed for precise positioning� Continuous travel at increasing speed for large strokes

Logic 0 0 V is at an input or output (positive logic, corresponds to LOW).

Logic 1 24 V is at an input or output (positive logic, corresponds to HIGH).

Motor unit Integrated unit comprising controller, encoder and motor, e.g. motorunit type MTR−DCI−... .

MTR−DCI−... Type code of the motor unit

PLC Programmable logic controller; in brief: controller

Positioning/force modechangeover

Automatic changeover from positioning mode to force mode afterreaching the setpoint position. Prerequisite: insertion force � 0. Theinsertion force F is specified by parameterising the positioning record.

Positioning record Positioning task defined in the command table, comprising:� Number of the positioning record (0...14)� Absolute or relative reference of the setpoint position� Insertion force in the end positions, see also �Positioning/force

mode changeover"� Setpoint position of the positioning record� Positioning speed of the positioning record

Profile position mode Operation mode for position−controlled execution of a positioningrecord

Profile torque mode Operation mode for torque−controlled execution of a positioningrecord


XVI Festo P.BE−HSP−AE−IO−EN en 0708a


Referencing Complete definition of the dimensional reference system withreference point and, if applicable, zero point

Referencing method Method for defining the reference position: against a fixed stop(overload current evaluation/speed evaluation) or with referenceswitch.With the HSx−...−AE−... referencing always takes place against thenegative fixed stop = pick position.

Reference point Point of reference for the incremental measuring system. Thereference point defines a known position within the drive’s travel.

Slotted guide plate Mechanical component of the handling module which specifies thepath guide for the pick and place movement.

Software end position Stroke limit, reference point = (axis) zero point� Software end position, positive:

max. limit position of the stroke in positive direction; must not beexceeded during positioning.

� Software end position, negative:min. limit position in negative direction; must not be fallen short ofduring positioning.

Swivel lever Mechanical component of the handling module which carries out thepick and place movement and enables the effective load to bemounted. The movement takes place via the slotted guide plate andcross guide.

Teach mode (teachoperation)

Parameterisation of positioning records by approaching the targetposition, see also HSx�mode

Tab.�0/1: Index of terms and abbreviations

System overview

1−1Festo P.BE−HSP−AE−IO−EN en 0708a

Chapter 1

1. System overview

1−2 Festo P.BE−HSP−AE−IO−EN en 0708a

Contents

1. System overview 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Handling technology with electric servo motors 1−3 . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Design and operational principle 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Version and components 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Control elements of the motor unit 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1. System overview


1.1 Handling technology with electric servo motors

1.1.1 Design and operational principle

The handling module performs pick and place movementswith a maximum of 15 positions which are parameterised bymeans of command records:

� Two end positions (pick and place positions)

� Optionally up to 13 intermediate positions (e.g. as wait position or ejection position)

1 Higher−ordercontroller

2 Software level:FestoConfigurationTool (FCT)

3 Drive level

� Motor unit� Handlingmodule

1

2

3

Fig.�1/1: Handling technology with electric servo motors (schematic diagram)

1. System overview


The motor unit basically takes over the following tasks:

� Regulation of position, speed, acceleration, current(torque)

� Sequence control via digital inputs and outputs

Due to the contour control and cross guide, there is a forcedsequence of vertical and horizontal movement (y−z path). Thework range can be set mechanically:

� Linear stroke (y) for horizontal adjustment of the �Pick"or �Place" position.The adjustment is made with the adjusting screws of theslotted guide plates.

� Working stroke (z) for the compensation of differencesin height, e.g. between a rotary indexing table and atransfer system.The adjustment is made with the stop screws on theswivel lever.

1 Maximum linearstroke

2 Working stroke(z).

3 Adjustment rangeof the slottedguide plate forthe adjustment of the linearstroke (y)

z

1

2

y y

2 z

3

Fig.�1/2: Work range

1. System overview


3

1

2

4

5

6

7

1 Two adjustable slotted guide plates for contour controlvia roller bearing guide

2 Swivel lever

3 Two adjusting screws (y−stroke)

4 Two linear guides arranged in cross−form (cross guide)

5 Two stops in the end positions with rubber buffers,each with a mounting rail for proximity sensors

6 Two adjusting screws (z−stroke)

7 Sub−base with variable mounting options

Fig.�1/3: Design

1. System overview


Spring clamping elements mounted under the stops pressthe swivel lever into the path guide and enable high repeti�tion accuracy when positioning in the end positions. Brakingtakes place in the taught end positions (pick and place posi�tions) by means of the motor unit. The rubber buffers inthe stops silence (exclusively) the impact noise.

Optionally, the end positions can be sensed with proximitysensors of type SMT−8... (evaluation by PLC). The switchingstatus of the proximity sensors can be observed through theinspection window if the housing cover is mounted.

Commissioning

The HSP−AE−... is parameterised and commissioned:

� Directly on the control panel (HMI). The user interface,with its display and four control keys, allows the positionand speed to be parameterised directly at the drive.

� Via the RS−232 interface (with FCT software).

The handling module can also be parameterised and commis�sioned with the Command Interpreter via the RS232 inter�face. The CI commands listed in the object directory can betransferred to the motor unit with any commercially−avail�able terminal program. Only experienced users may operatethe module by means of CI commands. If necessary, consultyour local Festo service.

1. System overview


Functions HMI FCT

Parameterisation � Selection of the handling module� Uploading/downloading of configuration data� Saving different configurations in projects

x��

xxx

Command records

Creation of a table with:� Positioning records comprising the record number,

setpoint position, (absolute/relative) positioningbehaviour, positioning speed, insertion force (−> positioning/force mode changeover)

� Command records for conversion to +/− inching mode

x

x

x

x

Commissioning � Homing� Inching operation� Travel in individual steps� Starting and stopping positioning procedures during

commissioning� Advanced test functions e.g. status displays� Testing or demonstration of individual positioning

records

xx�x

�x

xxxx

xx

Diagnostics/Service

� Reading and displaying diagnostic data x x

Tab.�1/1: Functions

HSP mode

Standard sequences can be parameterised in a simplifiedteach procedure (HSP�mode). In �HSP Mode" teach mode,reference points and setpoint positions of the positioningrecords are taught:

� Reference point and zero point of the reference system (= �Pick" stop)

� The permissible positioning range (software end posi�tions)

� End positions

� Intermediate positions

1. System overview


HSP mode Description

1 Typical pick and place movement with positioning/forcemode changeover in pos. 0 and pos. 1 for precise endposition travel to the stops (= mechanical end position).

2 Pick and place movement additionally with wait positions(pos 2 and pos 3) directly over the workpiece (support)(pos. 2 and pos. 3) directly over the workpiece (support),e.g. for insertion procedures at different speeds or forhandling components of different height.handling components of different height.

3 Pick and place movement additionally with setup position(mid−position, pos. 2), e.g. as ejection position for rejectparts.parts.

4 Pick and place movement for insertion procedures withdefined force; positioning/forcemode changeover indefined force; positioning/force mode changeover in pos. 2 and pos. 3 for precise end position travel from thewait positions (without stop).wait positions (without stop).

5 Pick and place movement for insertion procedures with/

5 p pdefined force; positioning/force mode changeover forprecise end position travel from the wait positionsprecise end position travel from the wait positions(without stop). Additional setup position (mid−positionpos 4) e g as ejection position for reject partspos. 4), e.g. as ejection position for reject parts.

Tab.�1/2: Pick and place (standard applications)

The parameterisation of the positioning records is preset inHSP mode to allow low−vibration operation with precise posi�tioning in the mechanical end positions for standard applica�tions. The swivel lever runs against the mechanical stop withthe set force due to the conversion from positioning mode toforce mode after reaching the setpoint position.

1. System overview


For specific applications, the parameterisation of the com�mand records can be modified after teaching. Positioningrecords for further intermediate positions can be added. Furthermore, you can insert command records for the conversion to inching mode, e.g. when approaching teachpositions, during manually operated feed processes orwhen moving the swivel lever away in the event of a system fault.Relative positioning motion and inching operation canalso be carried out if the reference system has not beenreferenced.

1. System overview


Operation modes

Profile Position Mode Positioning mode (record selection):

Positioning runs according to the configured command records:

� For travel to a target position

� With absolute or relative position specification

� With speed adjustment

� With predefined acceleration and braking ramp

Options:

� Conversion to inching mode for continuous positioning ofthe swivel lever in positive or negative direction with ad�justable maximum speed.

� Automatic changeover from positioning mode to forcemode after reaching the setpoint position. Prerequisite:insertion force � 0.

Profile Torque Mode Force mode.Operation mode for precise positioning of the handling module in the mechanical end positions. A defined force can be exerted for positioning at the stop if a nominal value isspecified.

The following functions for commissioning, testing or demon�stration are also available via the control panel:

� Positioning travel for referencing the incremental reference system (homing mode).

� Teach runs for the automatic parameterisation of positioning records for typical pick and place applications(HSP mode)

� Positioning run for testing a certain command record(Move Position Set)

1. System overview


Operational reliability

A complex system of sensors and monitoring functions ensures operational reliability:

� i2t monitoring

� Temperature monitoring (measurement of the outputstage temperature)

� Voltage failure monitoring

� Current monitoring

� Contouring error monitoring

� Software end position detection

� Position monitoring

NoteCheck within the framework of your EMERGENCY−STOP concept to ascertain which measures are required to putyour machine/system into a safe status in the event ofEMERGENCY−STOP (e.g. switching off the operating voltage).

WarningObserve that the MTR−DCI−...IO−HM−... does not have aseparate logic voltage supply.

· If an EMERGENCY−STOP circuit is required for yourapplication, use additional separated safety limitswitches (e.g. as normally−closed contacts in seriesconnection) to switch off the operating voltage.

1. System overview


1.1.2 Version and components

The handling module of type HSP−...−AE−... is supplied in threesizes with the motor unit mounted:

Handling module Motor unit

HSP−12−AE−... MTR−DCI−42−...−G07−H2−...−HM



Tab.�1/3: Motor unit

The motor unit consists of a DC motor, planetary gear unit,encoder and integrated control electronics (positioningcontrol and position controller). Control panel, powersupply interfaces and control interfaces are integrated inthe motor unit. A clamp coupling is used to connect themotor unit and the drive. As a further variant, a very com�pact motor attachment can be implemented with asingle−stage right−angle gear unit (see Tab.�1/4).

You will require the following components to connect themotor unit (cable available as accessory).

Power supply unit For power supply: 24 VDC

Power supply cable For connecting the MTR−DCI−...−HM to the power supply

Control cable For information transfer between the higher−order controllerand the motor unit

Programming cable For information transfer between the PC and the motor unit

1. System overview


Other accessories (Tab.�1/5):

� Kits for mounting, installation

� Adapters for mounting components (e.g. for grippers,semi−rotary drives)

Ordering information can be found in Appendix A.4, Acces�sories. Instructions for mounting further accessories in conjunctionwith Festo components are summarised in the �Handlingtechnology" system description.

Type Version

HSP−...−AE−...−IO Motor attachment via flange

HSP−...−AE−IO−...−GE Motor attachment via single−stageright−angle gear unit,motor position variable

HSP−...−AE−IO−SD−...(−GE)

Handling module as above, withadditional protective cover and sidewallsThe �SD" version is recommendedfor stand−alone operation.

Tab.�1/4: Handling module versions

1. System overview


Type/application

Type HMB−...Mounting kitsfor mounting with elbows and slot nuts e.g. onprofile columns

Type MKRP−...Installation kit (A)� Flexible protective conduit for moving tubes� Cable holder on the cross guide� Adapter bracket for mounting e.g. on a

sub−base or structure� Cover profile for cable installation in the

grooves of the sub−base or side walls

(A)

Type HAPG−...Adapter kit (B) and, in some cases, additionaladapter plates (C) for mounting attachment com�ponents (gripper, semi−rotary drive)

(B)

(C)

Tab.�1/5: Accessories: kits

1. System overview


1.2 Control elements of the motor unit

1 Control panel (LC display andtouch−sensitivekeypad)

2 Status indicators(LEDs)

3 Electrical connections

1 2 3

Fig.�1/4: Control elements of the motor unit

Component Description Reference

Control panel The control panel has an LCD graphics display (128 x 64 dots). Operation takes place by means of a touch−sensitive keypad withfour keys, with which all functions can be accessed via menus.

Chapter 4

Status indicators The operating statuses are visually indicated by three LEDs:� Operating voltage (�Power")� Positioning status/bus status �I/F" (= interface/fieldbus)� �Error"

Chapter 7.2

Connections The motor unit has the following connections:

� Power supply� I/O control� RS232 interface to PC

Chapter 3

1. System overview


1.3 Festo Configuration Tool (FCT)

The Festo Configuration Tool (abbreviated as FCT) is the soft�ware platform for configuring and commissioning differentcomponents and devices from Festo. The FCT consists of thefollowing components:

� A framework as program start and entry point with uni�form project and data management for all supportedtypes of devices.

� A plug−in for each of the special demands of a device type(e.g. MTR−DCI−HM) with the necessary descriptions anddialogues. The plug−ins are managed and started fromthe framework.

The MTR−DCI−HM plug−in for the FCT supports all steps re�quired for commissioning the handling module.

The FCT is installed on your PC with an installation program.The plug−in is installed on your PC together with the installa�tion program of the FCT.

NoteAdministrator rights are required for installing the FCT.

The FCT is installed from the CD ROM as follows:

1. Close all programs.

2. Insert the Festo Configuration Tool CD in your CD ROMdrive. If Auto−Run is activated on your system, the in�stallation starts automatically and you can skip steps 3and 4.

3. Select [Execute] in the Start menu.

4. Enter D:\setup (if necessary replace D with the letter ofyour CD ROM drive).

5. Follow the instructions on the screen.

1. System overview


The FCT help system

The FCT provides various options for obtaining information orhelp on operation.

The help function for the FCT includes all information for theoperation of the Festo Configuration Tool. The device−specificplug−ins each have their own help files.

Printed information In order to use the complete help or parts of it independentlyof a PC, you can use one of the following options:

· Use the �Print" button in the Help window to print individ�ual pages of the Help or all the pages of a book directlyfrom the table of contents for the help.

· Print a prepared printed version of the help in Adobe PDFformat. The relevant file can be found under the followingdirectories:

Printed version Directory File

FCT help ...(FCT installation directory)\Help\ � FCT_de.pdf� FCT_en.pdf

Plug−in help(MTR−DCI−HM)

...(FCT installation directory)\HardwareFamilies\Festo\MTR−DCI−HM\V...\Help\

� MTR−DCI−HM_de.pdf� MTR−DCI−HM_en.pdf

To print in Adobe PDF format, you will require Adobe Reader.

1. System overview


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

· Access the help in the [Help] menu with the [General FCTcontents] command.

You can use the F1 function key to directly open a context−related help page.

Plug−in help The help for the �MTR−DCI−HM" plug−in includes the completeinformation on operating the plug−in.

The help is opened as follows:

· Command [Help] [Contents of installed plug−in] [Festo(manufacturer name)] [MTR−DCI−HM (plug−in name)].

· Help button in the window area or dialog of the plug−in

· F1 key after activating a window area or dialog of theplug−in

Dynamic help To permanently display context−specific information, you canuse the FCT’s integrated dynamic help:

· Activate the dynamic help via the [Help] menu with the[Dynamic Help] command. The dynamic help is displayedin a dockable window.

· Activate the element in the window for which you wish todisplay help, e.g. with a mouse click. If window areas ordialogs of the plug−in are activated, the contents of therelevant plug−in are displayed automatically in the dy�namic help.

Mounting


Chapter 2

2. Mounting


Contents

2. Mounting 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Mounting instructions 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Mounting the handling module 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Types of mounting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Mounting components 2−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Mounting the motor unit 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Turning the motor unit (HSP−...−GE type only) 2−11 . . . . . . . . . . . . . . . . .

2.4.2 Swivelling the motor unit (HSP−...−GE type only) 2−12 . . . . . . . . . . . . . . .

2.5 Static adjustment of the mechanical end positions 2−14 . . . . . . . . . . . . . . . . . . . .

2.5.1 Setting the z stroke 2−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Setting the y−stroke 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.3 Setting the noise absorption (rubber buffers) 2−18 . . . . . . . . . . . . . . . . .

2. Mounting


2.1 Mounting instructions

WarningUncontrolled movements of the connected actuators anduncontrolled movements of loose conduits can cause per�sonal injury or material damage.

Switch off the power supply prior to the assembly work:

� Compressed air supply for the mounting components

� Operating voltage supply for the motor

NoteHandle all modules and components with great care. Observe especially the following:

� Screw connections must be fitted without distortion andmechanical tension. Screws must be fitted accurately(otherwise threads will be damaged).

� Comply with the specified torques.

� Avoid offset between the modules.

� Contact surfaces must be clean (avoid contact errors).

Observe also the mounting instructions in the packageinsert supplied with modules and components subse�quently ordered.

2. Mounting


CautionThe reference system and the end positions must betaught again in the event of mechanical modifications aftercommissioning. Carry out the corresponding commission�ing steps:

� After turning/swivelling the motor unit (HSP−...−GE type).

� After setting the y−stroke.

� After setting the z−stroke.

� In the event of changing loads, taking into account themodified effective load.

2. Mounting


2.2 Mounting the handling module

2.2.1 Types of mounting

The handling module is supplied ready−to install:

· Make sure the mounting surface can support the weightof the handling module.

· Mount the handling module only onto a flat, fixed surface.

· Remove the protective cover from the handling modulebefore mounting it.

Select one of the following types of mounting:

� Mounting via the side walls (user−specific hole pattern)

� Direct mounting via the four through−holes in the sub−base (dimensions, see Appendix A.2)

� Mounting on the rear side of the sub−base (example: see Fig.�2/1):

� With slot nuts of type HMBN−5−M5

� With adapter kits of type HMBK−ND (slot nut, spacerrings, socket head screws) and type HMBV−ND (slotnut, spacer rings, socket head screws, mountingbracket)

Recommendation:Fasten the handling module preferably vertically to one or two profile columns with the HMBK−ND and HMBV−NDadapter kits.

2. Mounting


1

2

3

1

1 Adapter kits (accessories)

2 Sub−base

3 Side walls

Fig.�2/1: Mounting example

2. Mounting


NoteObserve that two profile columns are required for stablemounting of the HSP−25−... .

· Place the handling module so that you can always reachthe control sections.

· Make sure the installation is free of mechanical stress.Tighten the mounting screws evenly.

· Make sure there is sufficient space to connect the supplycables and hoses.

· Avoid, if possible, stress to the supply lines due to rotaryand swivel motion of the handling module.

2. Mounting


2.3 Mounting components

NoteExcessive forces and torques can destroy the drive andmechanics. Make sure you comply with the maximum per�missible values for the following characteristics:� Force Fx, Fy, Fz� Torques Mx, My and Mz

Max. characteristic load values for the cross guide(vertical operation)

For the max. characteristicload values of the cross guide(vertical operation), thefollowing applies for dynamicand static stress:

Mx

Mzul

�My

Mzul

� Mz

Mzul

� 1

The reference point for forcesand torques is the centre of thecross guide on the guide slide.

Mper: see following table.

Maximum load Mper HSP−12 HSP−16 HSP−25

Dynamic torque 1) 1.1 Nm 2.4 Nm 3.2 Nm

Static torque 2) 5 Nm 10 Nm 15 Nm

1) When complying with the maximum effective load2) For press−in and joining procedures without dynamic load

2. Mounting


NoteNatural resonances due to vibrations of the effective loadcan cause damage.

· Mount the centres of mass of the effective load, there�fore, as closely as possible to the axes of symmetry ofthe cross guide.

Recommendation: Use the HAPG−... adapter kit. The standard hole pattern of theuniversal adapter forms the interface to selected Festo prod�ucts, e.g. micro grippers. Mount the effective load (adapterplate, rotary drive and/or gripper, gripper finger, workpiece)within the mounting surface of the universal adapter.

· Check whether additional mounting components andadapter plates are necessary. An overview can be found in the sales documentation forthe handling module of type HSP−...−AE−...

1 Universal adapter

2 Mounting surfacewith standardhole pattern

3 Adapter plate

4 Holder for cablebinder

5 Hose guides (2x)

1

2

3

4

5

Fig.�2/2: Adapter kit (accessory)

2. Mounting


2.4 Mounting the motor unit

In the case of the HSP−...−AE handling modules, the motor unitis pre−assembled upon delivery.

� Mounting via flange (HSP−... type)

� Mounting via flange and right−angle gear unit (HSP−...−GEtype)

NoteReplacing or repairing the motor unit requires setting workwith very fine adjustments.

· Make sure the product is overhauled only by our repairservice.

1 Type HSP−...

2 Type HSP−...−GE

1 2

Fig.�2/3: Mounting the motor unit

In the case of handling modules of type HSP−...−GE, you canturn or swivel the motor unit.

� Turn the motor unit 360° in steps of 90° (see Chapter 2.4.1).

� Swivel the motor unit ± 90° (see Chapter 2.4.2).

2. Mounting


NoteObserve that turning/swivelling the motor unit is only per�missible with handling modules of type HSP−...−GE. In thecase of handling modules with direct mounting, the align�ment of the motor unit is specified at the factory.

2.4.1 Turning the motor unit (HSP−...−GE type only)

1 Motor clamp

x = Do not undothe gear unitclamping!

1

Fig.�2/4: Turning the motor unit (HSP−...−GE type only)

NoteLoosen only the screw of the motor clamp. In particular, screws secured with blanking plugs must notbe loosened.

1. Loosen the motor clamp.

2. Turn the motor unit into the desired position.

2. Mounting


3. Tighten the motor clamp with the specified torque.

Tightening torque HSP−12 HSP−16 HSP−25

Motor clamp 2 Nm 2 Nm 5 Nm

· To carry out the functional check, swivel the moveablemass into the end positions by hand.

2.4.2 Swivelling the motor unit (HSP−...−GE type only)

1 Mounting screws1

Fig.�2/5: Swivelling the motor unit (HSP−...−GE type only)

1. First of all turn the motor unit so that the display does nothit the sub−base when the motor unit is swivelled (seeChapter 2.4.1).

2. Loosen the four mounting screws on the motor flange.

3. Swivel the drive 90° in the desired direction.

4. Tighten the four mounting screws with the specifiedtorque (alignment on centring collar).

2. Mounting


Tightening torques HSP−12 HSP−16 HSP−25

Motor flangeMounting screws

M4x123 Nm

M4x163 Nm

M5x166 Nm

· To carry out the functional check, swivel the moveablemass into the end positions by hand.

· If necessary, correct the alignment of the motor unit.

2. Mounting


2.5 Static adjustment of the mechanical end positions

· Remove the protective cover of the handling module forthe static adjustment.

2.5.1 Setting the z stroke

1 Setting the pickposition

2 Setting the placeposition

12

Fig.�2/6: Setting the z−stroke

1. Loosen the lock nut of the adjusting screw (z−stroke).

2. Use an Allen key to turn the adjusting screw until the pickposition is reached, while holding the lock nut in position.

3. Tighten the lock nut (torque:�1�Nm).

4. Repeat the procedure to set the place position.

2. Mounting


2.5.2 Setting the y−stroke

WarningPersonal injury and material damage.

Uncontrolled movements of the actuators while setting they−stroke can cause injuries and, if slotted guide plate partsare loose, can damage the handling module.

· Switch off the power supply for the drive before youloosen the mounting screws of the slotted guide plateparts.

· After setting the y−stroke: make sure all mountingscrews of the slotted guide plate parts are screwedtight.

1. Loosen the mounting screws of the right−hand and left−hand slotted guide plate parts just enough to enable theslotted guide plate parts to be moved.

1 Two mountingscrews of theslotted guideplate part

2 One additionalmounting screwof the slottedguide plate part(HSP−16/25−AE−...only)

x = Do not loosenthe mountingscrews of thecentre bit on theHSP−16/25−AE−...! 12 1 2

Fig.�2/7: Setting the y−stroke: mounting screws

2. Mounting


NoteLoosen only the mounting screws of both slotted guideplate parts 1 and 2 (type HSP−16/25−...). With HSP−16−...and HSP−25−..., the mounting screws of the centre bit 3between the slotted guide plate parts must not be loos�ened.

2. Turn the adjusting screws (y−stroke) until the slottedguide plate parts reach the desired pick or place position.With the side walls mounted: set the adjusting screwswith an Allen key through the through−hole in the sidewalls.

1 Mounting screws(left−hand slottedguide plate part)

2 Adjusting screw(y−stroke,left−hand slottedguide plate part)

3 Stop strip

1

2

31

Fig.�2/8: Setting the y−stroke: alignment without offset

For alignment without offset:

3. Press the slotted guide plate parts vertically down againstthe aluminium stop strip of the horizontal guide rail, whiletightening the mounting screws of the slotted guideplate parts (tightening torque: 6�Nm).

2. Mounting


NoteCheck manually after each adjustment (drive dead):

� Whether the desired end position has been reached.

� Whether the slotted guide plate parts are aligned with�out offset.

For the manual check:

· Swivel the moveable mass into the end positions by hand.

· Make sure the double rollers run jerk−free in the pathguide.

· If necessary, correct the alignment of the slotted guideplate parts.

2. Mounting


2.5.3 Setting the noise absorption (rubber buffers)

1 Rubber buffers 1 1

Fig.�2/9: Setting the rubber buffers

The rubber buffers in the stops are used to reduce the noise inthe end positions and not to cushion the impact forces. Therubber buffers are screwed approx. 0.5 mm out of the stopon delivery.

Set the cushioning components after commissioning so thatthere is only slight metallic impact and the noise is as low aspossible. The cushioning components can be readjusted ifthe impact noises increase considerably during operation.

Installation


Chapter 3

3. Installation


Contents

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

3.1 Installation instructions 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Electrical connection of the motor unit 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Overview of the installation 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Earthing 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 Requirements of the power supply 3−9 . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 Serial interface 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5 I/O control 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Proximity sensors (optional) 3−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation


3.1 Installation instructions

WarningUncontrolled movements of the connected actuators anduncontrolled movements of loose conduits can cause per�sonal injury or material damage.

Switch off the power supply prior to any installation ormaintenance work:

� Compressed air supply for the connected components

� Operating voltage supply

In this way, you can avoid:

� Uncontrolled movements of the connected actuators.

� Undefined switching states of the electronics.

Note· Lay all flexible lines so that they are free of kinks andfree of mechanical stress; if necessary use chain linktrunking.

· Comply with the specified maximum line lengths.

Make sure the moving pneumatic hoses and electric lines arelaid securely (example: see Fig.�3/1):

· Lay the lines and hoses upwards along the vertical guiderail.

· Fasten the lines and hoses with cable binders:

� To the cable binder holder of the universal adapter or guide them through the two cable ducts of theuniversal adapter.

� To the cable binder holder of the cross guide.

3. Installation


· Guide the lines and hoses through the through−hole in thesub−base or use protective conduits for the installation.

The MKRP−... installation kit (see �Accessories" chapter) en�ables the secure guidance of the hoses and lines in a flexibleinstallation tube. The installation tube is fastened with theholders to the cross guide and with an adapter bracket e.g. to the sub−base or mounting. The installation tube may befilled up to max. 70 %.

1 Cable binderholder (universaladapter)

2 Cable ducts

3 Cable binderholder (cross guide)

4 Protectiveconduit

5 Through−hole1

2

3

45

Fig.�3/1: Installation (example)

3. Installation


3.2 Electrical connection of the motor unit

3.2.1 Overview of the installation

Do not touch unassigned plug connectors as this may causeESD (electrostatic discharge) which could damage the motorunit or other parts of the system. Place protective caps on unused terminals to prevent suchdischarges.

CautionFaulty pre−assembled lines may destroy the electronicsand trigger unexpected movements of the motor.

· Use only lines specified as accessories for the installa�tion of the system (see Tab.�3/2). Only in this way canyou be sure that the system will work properly.

1 Serial interface

2 No function (donot connect)

3 I/O control

4 Power supply(POWER)

1

2

3

4

Fig.�3/2: Terminals of the motor unit

3. Installation


Terminal on the MTR−DCI−HM Description

1 Serial inter�face

� M8x1, 4−pin� Socket

RS232 interface forparameterisation,commissioning anddiagnostics

2 No function � M8x1, 3−pin� Socket

Do not connect! Sealthe terminal with theprotective cap sup�plied (ISK−M8 type).

3 I/O control � Sub−D 9−pin� With type MTR−

DCI−...−IO−HM:plug

Interface forconnection to any PLCcontroller

4 Power supply � Sub−D, 2−pin� Plug

Operating voltageconnection with high−current contacts

Tab.�3/1: Overview of terminals

The plug connectors of the following Festo lines have beendesigned so that, when inserted and screwed tight, protec�tion class IP54 is achieved for the motor unit (protection classof the handling module: IP40).

Connection Line Designation Length [m]

Power supply Supply line KPWR−MC−1−SUB−9HC−... 2.5 / 5 / 10 (max)

I/O control Pilot line KES−MC−1−SUB−9HC−... 2.5 / 5 / 10 (max)

Serial interface Programming line KDI−MC−M8−SUB−9−... 2.5 (max)

Tab.�3/2: Connection (accessories)

3. Installation


To ensure the IP protection class is complied with:

· Tighten the union nuts/locking screws of the plugs byhand.

· Seal unused terminals with protective caps.

Observe the permissible tightening torques specified in thedocumentation for the lines and plugs used

3. Installation


3.2.2 Earthing

Note· Connect the earth terminal of the MTR−DCI with lowimpedance to the earth potential (short line with largecross section).

In this way, you can avoid interference from electromag�netic sources and ensure electromagnetic compatibility inaccordance with the EMC guidelines.

To connect the MTR−DCI to the earth potential, use only oneof the following earth terminals (earthing strip at free end):

� Supply line, see assembly instructions for type KPWR−MC−1−SUB−9HC−...

� Pilot line, see assembly instructions for type KES−MC−1−SUB−9HC−...

CautionEarthing or mass loops can make EMC safety measuresineffective and allow high compensating currents to de�stroy the motor unit:

· Connect only the cable screen of the supply line or thecable screen of the pilot line to the functional earth (FE).

· Do not connect the GND terminal to the housing, screenor functional earth FE.

3. Installation


3.2.3 Requirements of the power supply

Warning· Use only PELV circuits as per IEC/DIN EN�60204−1 (pro�tective extra−low voltage, PELV) for the electric powersupply.Take into account also the general requirements forPELV circuits as per IEC/DIN EN�60204−1.

· Use only power sources that guarantee safe electricalisolation of the operating voltage as per IEC/DIN EN60204−1.

Protection against electric shock (protection against directand indirect contact) is ensured in accordance with IEC/DINEN 60204−1 (electrical equipment of machines, general re�quirements) by using PELV circuits.

CautionDamage to the device caused by overvoltage

The voltage inputs of the motor unit have no internal fuseprotection against overvoltage.

· Make sure the permissible voltage tolerance is not ex�ceeded. The tolerance must also be complied with di�rectly at the voltage connections of the MTR−DCI (seeAppendix A.1).

· Install external fuses (see Tab.�3/4).

Load voltage The power electronics and hence the motor are supplied withdirect voltage via the power supply.

Use the supply line of type KPWR−MC−1−SUB−9HC−... (max length of 10 m).

3. Installation


· Use a regulated power supply unit with high output re�serve and an external fuse for the load voltage supply.

Plug Pin Colour 1) Description

A1 Black (1) MTR−DCI−42/52: POWER +24 VDC

A2 Black (2) MTR−DCI−42/52: POWER GND

A1 A2� Screen/

housingConnect only one cable screen � supply line or pilotline � to functional earth FE(see Chapter 3.2.2)!

1) Cable colours with supply line of type KPWR−MC−1−SUB−9HC−...

Tab.�3/3: Connection between the power supply and the motor unit

Closed−loop controlled DC motors have a much higher currentconsumption during the switch−on or starting torque than inrated operation. These consumers cause a brief overloading ofthe power supply or a short circuit.Power supply units with U/I output curve continue to providethe full output current (at reduced output voltage) even in theevent of a higher load or short circuit. At power supply unitswith additional output reserve (�Power Boost"), the output volt�age remains constant even in the event of overload.Power supply units with both properties (U/I curve and �PowerBoost") are ideally suitable for universal industrial use.

Observe the following selection criteria for the power supplyof the MTR−DCI:

� The rated current of the power supply unit should corre�spond at least to the motor starting current (peak cur�rent).

� Motor tolerances with 20% − 50% output reserve shouldbe considered.

3. Installation


Power supply MTR−�−42 MTR−�−52

Nominal motor current A 2 5

Peak motor current A 3.8 7.7

Nominal current of power sup�ply unit

A � 6 � 10

External fuse secondary side

A 7 Aslow−blow

10 Aslow−blow

Tab.�3/4: Requirements for power supply units and fuses

1 External fuse

2 Earth terminal (seeChapter 3.2.2)

A1 A2

A1 A2

1

2

Fig.�3/3: Power supply connection example

CautionEarth or mass loops can make EMC safety measures inef�fective and allow high compensating currents to destroythe motor unit. Observe the instructions on the earth ter�minal in Chapter 3.2.2.

3. Installation


3.2.4 Serial interface

Serial interface for parameterisation, commissioning anddiagnostics

To connect a PC, use the KDI−MC−M8−SUB−9−... programmingline with a cable length of 2.5 m.

· If necessary, remove the protective cap from the serialinterface of the motor unit.

· Connect the following terminals with the programmingline:

� The socket of the motor unit

� A COMx serial interface of the diagnostic PC

M8 socket Description

1 GND Ground

2 TXD RS232 transmitting line 1)

3 RXD RS232 receiving line 1)

1 2 4 3 4 −−− Reserved for service staff � do not connect!

1) The levels correspond to the RS232 standard.

Tab.�3/5: �RS232" terminal (serial interface) on the motorunit

3. Installation


Information on commissioning and parameterising the hand−ling module via the serial interface can be found in the helpsystem for the FCT software package.

NoteThe RS232 interface is not electrically isolated. It is notsuitable for permanent connection to PC systems, or as acontrol interface.

· Use this terminal only for commissioning.

· Remove the diagnostic line in continuous operation.

· Seal the terminal with the protective cap supplied (ISK−M8 type).

3.2.5 I/O control

For sequence control via digital I/O, observe the instructionsin Chapter 5.6.

CautionLong I/O signal lines reduce the resistance to interference.

· Therefore comply with the maximum permissible I/Osignal line length of 30 m.

Use the KES−MC−1−SUB−9 control line for connecting themotor unit to a higher−order controller (PLC).

WarningIf voltage is applied and the output pins are handled incor�rectly, the device may become seriously damaged.

· Do not apply voltage to the outputs.

· Observe the current limitation at the outputs (see I/Ospecification, Appendix A.1).

3. Installation


SUB−D plug Colour 1) Description

11 White E1 Input for positioning record coding bit 0

1

2 Brown E2 Input for positioning record coding bit 1

3 Green E3 Input for positioning record coding bit 2

94 Yellow E4 Input for positioning record coding bit 3

9

5 Grey E5 Input for START bit

6 Pink E6 Input for ENABLE bit

7 Blue A1 READY output

8 Red A2 MOTION COMPLETE (MC) output

9 Black GND GROUND (reference potential)

� Screen/housing

FE Connect only one cable screen � supply line orpilot line � to functional earth FE(see Chapter 3.2.2)!

1) Cable colours with control cable of type KES−MC−1−SUB−9

Tab.�3/6: �I/O" terminal (controller connection) on the motor unit

3. Installation


3.3 Proximity sensors (optional)

Optionally, proximity sensors of type SMT−8 can be used bythe higher−order controller (PLC) to sense the end positions.

1. Remove the protective cover (if mounted) of the handlingmodule.

2. Push the proximity sensor into the slot of the sensor rail.The electric proximity sensors are triggered by magnets inthe stop screws.

3. Attach the proximity sensor in the end positions. Read�justment of the stop silencers is not necessary.

The lines of the proximity sensors must not reach into thework range of the handling module:

1. Clamp the lines in the groove of the side walls and thesub−base.

2. Secure the lines using the cover profile of the installationkit (cut to length).

3. Guide the lines through the through−hole in the sub−baseto the rear.

3. Installation


1 Sensor slot

2 Stopscrews

3 Cover profile

4 Side walls

5 Through−hole

1

2

3

4

5

Fig.�3/4: Installation of the proximity sensor

The control panel


Chapter 4

4. The control panel


Contents

4. The control panel 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Design and function of the control panel 4−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 The menu system 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Accessing the main menu 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Selecting a menu command 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 [Diagnostic] menu 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Positioning] menu 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 [Positioning] [Move position set] 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 [Positioning] [Homing] 4−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Menu [Settings] 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.1 [Settings] [HSx Setup] [HSx Mode] 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 [Settings] [HSx Setup] [Position set] 4−15 . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.3 [Settings] [HSx Setup] [Count Direction] 4−17 . . . . . . . . . . . . . . . . . . . . . .

4.5.4 [Settings] [HSx Setup] [Delivery Status] 4−20 . . . . . . . . . . . . . . . . . . . . . .

4.5.5 [Settings] [HM Type] 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.6 [Settings] [Password Edit] 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 [HMI Control] menu command 4−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



4.1 Design and function of the control panel

The motor unit of the handling module provides on the control panel all functions required for commissioning, pro�gramming and diagnostics. An overview of the key and menufunctions can be found in this chapter. Commissioning withthe control panel is described from Chapter 5.1 onwards.

CautionErrors may occur if control and operating functions areaccessed simultaneously via the serial interface, the control interface and the control panel.

· Make sure the serial interface, the control interface andthe control panel of the motor unit are not used simulta�neously.

1 LC display

2 Keyboard

1 2

Fig.�4/1: Control panel of the motor unit

LC display The graphic LCD shows all text in English. The display can berotated 180° in reading direction if necessary, see [LCDadjustment] menu command.

NoteIf necessary, remove the protective foil from the LC displaybefore the initial start−up.



Keyboard The following settings and functions for commissioning areenabled via menus using four keys of the touch−sensitivekeyboard.

� Parameterisation and referencing of the drive

� Teaching of standard applications and editing of position�ing records

� Execution/testing of individual positioning records

Function Key

MENU Activates the main menu from thestatus display Menu

ESC Rejects the current input and returnsin steps to the higher−order menu levelor status display

EMERG.STOP Interrupts the current positioningprocedure (> MOTOR STOP error;confirm with <Enter>, then automaticreturn to the status display)

OK Confirms the current selection or inputEnter

SAVE Saves parameter settings permanentlyin the EEPROM

Enter

START Starts a positioning procedure

<− −> Scrolls within a menu level in order toselect a menu command v

EDIT <− −> Sets parameters or moves the swivellever to the desired position during theteach procedure [Position]

V

Tab.�4/1: Key function (overview)



4.2 The menu system

4.2.1 Accessing the main menu

The MTR−DCI automatically carries out an internal check afterthe supply voltage is applied. At first the display brieflyshows the Festo logo and then switches to the status display.

The status display shows the following information:

� The type designation of your motor unit

� The current type of the handling module (e.g. HSP−...)

� The current position of the drive áa

� The current setting of the device control (HMI = Human Machine Interface = control panel)

The current key function is displayed in the bottom lines ofthe display:

<Menu> The main menu is accessed from the status display with the <Menu> key.

4.2.2 Selecting a menu command

<− −> You can use the arrow buttons to select a menucommand from the list. The current selection ismarked with an arrow (} Diagnostic). Select S in order to display further menu commands.

ESC You can use the <Menu> key to interrupt the currentinput and return to the status display or to thehigher−order menu from a sub−menu.

OK You can use the <Enter> key to confirm the currentselection or input.

MTR–DCI–XX–IO–HMHSPáa = 0 degHMI = off<Menu>

} DiagnosticPositioningSettingsS ESC <Menu><––> OK <Enter>

} HMI ControlLCD Adjustment

s ESC <Menu><––> OK <Enter>



Menu command Description

} [Diagnostic] Displays the system data and the currently effective settings (see Chapter 4.3)

[Pos Set Table] Displays the parameters of the command record table

[Limit Param] Displays limit values e.g. vmax, software end positions

[System Param] Displays system parameters and data

[SW Information] Displays the operating system version (firmware)

} [Positioning] 1) 2) Positioning travel for testing the positioning records and for referencing (see Chapter 4.4)

[Move Position Set] Starts the positioning travel according to the selected command record

[Homing] Starts homing (travel to position 0)

} [Settings] 1) 2) Parameterisation, editing of the positioning records... (see Chapter 4.5)

[HSx Setup] [HSx Mode] 3) Teaching of typical pick and place sequences (5 standard ap�plications)

[Position Set] Editing of the command record table

[Position no.] Number of the command record (0...14). The following set�tings apply to the selected command record.

� [Pos.Set.Mode] 4) Specification of the positioning be�haviour:� Absolute/relative reference of the

(abs./rel.) position specification� Inching operation (Jog. pos /

Jog. neg.)

Abs. Rel. Jog.

� [Position] Setpoint position (positioning mode) x 5) x � 6)

� [Velocity] Speed of travel x x x

� [Torque] or [Force] Conversion to force mode when re�aching the setpoint position

x � �

� [Save...] Saves parameters to the EEPROM

[Count Direction] Reverses the counting direction

[Delivery Status] All settings made in [HSP Setup] and all positioning recordsare overwritten with the factory settings.

[HM type] Selection of the handling module according to the design (e.g. HSP−... or HSW−... type)

[Password] Set up of a local password with 3 digits for the control panel (see Chapter 4.5)

} [HMI control] 1) Presetting of the device control via the control panel (see Chapter 4.6)

} [LCD adjustment] Turns the display in steps of 180°

1) Password protection if necessary2) Control interface must be deactivated, see [HMI control]:HMI=on3) Teach operation4) Not adjustable for positions 0 and 1 (default: absolute)5) Not adjustable for positions 0 and 1 (teaching only possible in HSP mode)6) Default: software end position

Tab.�4/2: Menu structure (overview)



4.3 [Diagnostic] menu

In order to display the system data and the currently effectivesettings:

1. Select the [Diagnostic] menu in the main menu.

2. Select a menu command (see Tab.�4/3).

<− −> You can scroll through the data with the arrowkeys.

ESC You can use the <Menu> key to return to thehigher−order menu.


[Pos. Set Table] No. Number of the command record (0..14)

f... f Absolute positioning, with positioning/force modechangeover when reaching the setpoint position

p Absolute positioning (no positioning/force mode change�over)

r Relative positioning

jp Inching operation in positive direction

jn Inching operation in negative direction

Pos Setpoint position

Vel Speed of travel

[Limit Param] v max Maximum speed of travel

á min �Pick" software end position

á max �Place" software end position

á 0 Zero point offset

} DiagnosticPos.Set TableLimit ParamSystem ParamSW Information




[System Param] V power Supply voltage [V]

V dd Voltage of the display [V]

I max Maximum current [A]

I act Actual current [A]

Temp Operating temperature [°C]

Cycle Number of positioning cycles

In−signal Hexadecimal representation of the inputsBit 0 E1Bit 1 E2Bit 2 E3Bit 3 E4Bit 4 E5 STARTBit 5 E6 ENABLE

Out−signal Hexadecimal representation of the outputsBit 0 READYBit 1 MOTION COMPLETE

Mode Degree (system of units = degrees)

Hom.meth. bl.neg Referencing always takes place at the �Pick" fixed stop

Gear Gear reduction of the motor unit (e.g. 6.75)

[SW Information] Version of the firmware of the motor unit e.g. V−HM 1.20

Tab.�4/3: [Diagnostic] menu



4.4 [Positioning] menu

WarningPersonal injury or damage to the mechanics.

The swivel lever travels at high speed during positioningprocedures, depending on the presetting.

· Therefore make sure:

� Nobody reaches into the positioning/gripping range.

� There are no foreign items within the positioning/gripping range.

Note· Before starting a positioning run, make sure:

� The handling module is constructed completely,wired and supplied with power.

� The parameterisation is completed.

To select a positioning run or homing run:

1. Select the [Positioning] menu in the main menu.

2. Select the menu command:

� [Move position set] to test a certain command record(see Chapter 4.4.1).

� [Homing] for referencing after switching on the operating voltage (see Chapter 4.4.2).

} PositioningMove position setHoming

Move Position SetPosition no.[0..14] = _?

ESC <Menu>EDIT <––> OK <Enter>

Move Position SetAttention! Motor moves

ESC <Menu>START <Enter>

Move Position SetPos 2át = 100 degv = 20 deg/sáa = 90 deg

EMERG.STOP<menu>



4.4.1 [Positioning] [Move position set]

NoteDo not start an absolute positioning record until the reference system has been defined by homing (seeChapter 4.4.2).

1. Select the number of the command record.

<− −> You can use the arrow keys to set the desirednumber.

OK You can accept the selection with the <Enter>key.

ESC You can use the <Menu> key to interrupt theoperation and return to the higher−order menu.

2. Start the command record.

When executing a positioning record:

START The swivel lever automatically travels to thespecified position after pressing the <Enter>key. The following information is displayed:

Pos...á tvá a

active command recordsetpoint positionspeed of travelcurrent position

EMERG.STOP

You can use the <Menu> key to interrupt thecurrent positioning procedure (> MOTORSTOP error).

Move Position SetPos 2át = –3 degv = 20 deg/sáa = 90 deg

JOG START<ENTER>ESC <Menu>

HomingAttention! Motor moves.


HomingV_rp = 157 deg/s

EMERG.STOP<menu>



In inching operation mode:

START The swivel lever is moved at increasingspeed in the direction of the end position by pressing the <Enter> key. The followinginformation is displayed:

Pos...á t

vá a

active command recordafter start: end position after stop: actual positionmaximum speedcurrent position

STOP The drive stops when the <Enter> key is re�leased or the end position reached.

ESC You can use the <Menu> key to interrupt theoperation and return to the higher−ordermenu.

4.4.2 [Positioning] [Homing]

NoteObserve also the explanations in Chapter 5.3 on homing.

To define the reference point by homing:

· Start homing with the <Enter> key. The search speed v_rp is shown is displayed duringhoming.

During homing the drive runs slowly at reduced searchspeed to the stop of the pick position and accepts theposition as reference point (= zero point). After settling(after approx. 20�ms) the drive is at the zero point áa = 0.

EMERG.STOP

You can use the <Menu> key to interrupthoming (> HOMING ERROR error).



After aborting homing:

1. Acknowledge the error message with <Enter>.

2. Repeat the homing run.

The [Positioning] menu is displayed after successfully homing.



4.5 Menu [Settings]

WarningPersonal injury or damage to the mechanics.

The swivel lever travels automatically during teach pro�cedures in HSx mode.

Therefore make sure:


� There are no foreign items within the positioning/grip�ping range.

The [Settings] menu includes all the functions required forparameterising and commissioning the drive (see Tab.�4/4).Further information on the individual menu commands can befound in the specified chapters:

Menu com�mand

Description Chapter

[HSx Setup][HSx Mode]

Teaching typical pick and place sequences 4.5.1

[HSx Setup][Position Set]

Editing the command records 4.5.2

[HSx Setup][Count Direction]

Reverses the counting direction of all positions 4.5.3

[HSx Setup][Delivery Status]

All settings made in [HSP Setup] and all positioning records arereset to the factory setting.

4.5.4

[HM Type] 1) Selection of the handling module according to the device type (e.g.HSP−...) for adapting the device parameters and set−up functions.

4.5.5

[Password Edit] Setting up a local password with 3 digits for the control panel 4.5.6

1) Up to version V−HM 2.0 for service only

Tab.�4/4: [Settings] menu

} SettingsHSP Setup

HSP ModePosition SetCount DirectionDelivery Status

HM TypePassword Edit

HSx ModeAttention! Motor moves.




4.5.1 [Settings] [HSx Setup] [HSx Mode]

The �Pick & Place" positions, the reference point and the soft�ware end positions are determined when teaching in HSxmode. Additional intermediate positions are parameterisedaccording to the selected HSx mode. All setpoint positionsare preset in HSx mode as absolute values. The speed andforce presettings are selected to allow low−vibration oper�ation with standard applications. The positioning/force modechangeover in the end positions or wait positions enablesprecise end position movement to the stop.

NoteObserve the instructions on carrying out the teach pro�cedure in Chapter 5.4.

1. Select the most suitable HSx mode for your application.

<− −> You can use the arrow keys to set the desired HSx mode.

OK You can confirm the selection with the <Enter>key.

ESC You can use the <Menu> key to interrupt therespective operation and return to thehigher−order menu.

2. Start the teach procedure.

START You can start the teach procedure with the<Enter> key. Depending on the selectedmode, all positions are taught one after theother (end positions 0 and 1, intermediatepositions). Confirm each position with OK. Intermediatepositions can be adjusted with the arrowkeys prior to confirmation.

HSx Mode[1...5] = ?

ESC <Menu><––> OK <Enter>

HSW Mode 1Pos0 = 1 deg.Pos1 = 194 deg.

ESC <Menu>SAVE <Enter>

Position no.[0..14] = _?




3. Save the taught positions.

NoteThe positioning records 0 ... 4 are overwrittenby saving the taught positions in HSx mode.Positioning records > 4 remain unchanged.

SAVE You can save the taught positions with the<Enter> key. Only then does the setting become

effective in the drive and is retained afterswitching off the power supply.

4.5.2 [Settings] [HSx Setup] [Position set]

To edit the command records, first select the number of thedesired record. All following settings apply to this commandrecord.

Please observe the following restrictions:

� The positioning records 0 and 1 are reserved for the endpositions and are automatically parameterised whenteaching in HSx mode. The default settings of the speed[Velocity] and force [Force] can be modified, the settingsof the end positions [Position] and positioning method[Pos Set Mode = absolute] are fixed.

� Which settings are possible for the command records2...14 depend on which positioning method is set [Pos. Set Mode] (see Chapter 5, Tab.�5/4).

1. Select the number of the positioning record [Position no.].

2. Set the positioning method of the command record with[Pos.set.mode]:

� Positioning record with absolute positioning.The setpoint position refers to the project zero point.

} HSx SetupPosition Set

Position no.Pos Set ModeVelocityPositionForceSave



� Positioning record with relative positioning.The setpoint position refers to the current position ofthe swivel lever when starting the command record.

� Command record for conversion to inching mode. Ininching mode, the swivel lever can be moved continu�ously at increasing speed up to the software end posi�tion (e.g. on the control panel by pressing the ENTERkey). The direction of movement depends on the set�ting [Pos. Set Mode] [Jog positive/Jog negative] andthe parameter [Count Direction] (see Chapter 4.5.3).

3. Set the following parameters according to the selectedcommand record.

� Relative or absolute target position for positioningrecords no. 2...14

� Setting of the positioning speed for positioning re�cords or the maximum speed for inching operation

� Specification of an insertion force (%, relative to thenominal motor torque) for conversion to force modewhen reaching the setpoint position (absolute posi�tioning records no. 2..14 only).Fset: display of the current settingFtarg: input of the new value

<− −> You can move the swivel lever into thedesired position or set the desired nu�merical value with the arrow keys.

OK You can accept the selection with the<Enter> key. The set parametersimmediately take effect afterconfirmation with OK <ENTER>.

ESC You can use the <Menu> key to interruptthe respective operation and return tothe higher−order menu.

Position[deg]= 200.0Motor moves!

ESC <Menu>EDIT<––> OK <Enter>

Velocity[deg/s]=1000 ?


Force [% of Fnom]Fset= 80 %Ftarg= ?




4. Then select [Save] in order to save the positioning record.All settings are displayed. Check the displayed settingsand confirm the positioning record with OK<Enter>.

NoteThe settings are saved permanently in EEPROMwith the [Save...] menu command:

· Save the parameter settings with [SAVE].Only then will the settings be retained evenafter switching off the power supply or in theevent of a power failure.

Further notes on creating the command records can be foundin Chapter 5.5.

4.5.3 [Settings] [HSx Setup] [Count Direction]

All offsets, position values and torques are vectors (withsign). The +/− active direction of the vectors can be assignedto the direction of rotation of the motor shaft (view on themotor shaft). The factory presetting of the counting directionis �negative". The factory setting is �−" for clockwise rotationand �+" for anti−clockwise rotation. The assignment can bereversed on the control panel or via the FCT.



NoteThe direction in which the effective load moves depends onthe prefix of the vector (+/−) and the counting direction set.

If the counting direction is modified, observe the modifiedpositioning behaviour and the effects on the existing com�mand records:

� Pick & place positions have been swapped. Due tochanging the pick position, a homing run must be carried out.

� The positioning behaviour and effect of the insertionforce are in the opposite direction.

� Intermediate positions are mirrored.

Countingdirection

Description HSW Mode HSP Mode

Negative(factory setting)

Setting the countingdirection anti−clockwise.� Positive angles and

torques take effect inanti−clockwise directionfrom the reference point.

� Negative angles andtorques take effect inclockwise direction.

0

1

−

+−−−−−−−−

−−−−−−−−

−+

1 0

23

Positive Setting the countingdirection clockwise. � Positive angles and

torques take effect inclockwise direction fromthe reference point.

� Negative angles andtorques take effect inanti−clockwise direction.

0

1

−

+

−−−−−−−−

−−−−−−−−

− +

0 1

32





To set the counting direction:

1. Select [Settings] [HSx Setup] [Count Direction]

<− −> You can set the desired value with the arrowkeys.

OK You can accept the selection with the <Enter>key.

ESC You can use the <Menu> key to interrupt theoperation and return to the higher−ordermenu.

2. Select:

� �Positive" to set the counting direction in clockwisedirection.

� �Negative" to set the counting direction inanti−clockwise direction.

After changing the counting direction, you will be requested to carry a homing run.

3. Start homing with START <Enter>. Observe that thereference point is not defined according to the countingdirection until the homing run has been completedsuccessfully.

After changing the counting direction:

· Check the validity of existing position and force specifica�tions in the command record table (usually only valid forsymmetric applications).

Recommendation:Teach the positioning records again after changing thecounting direction.





4.5.4 [Settings] [HSx Setup] [Delivery Status]

All settings made by the user are reset to the factory setting.All entries in the command record table are deleted.

NoteIn order to prevent unauthorized or unintentional deletionof the parameters, access via the control panel can be pre�vented with a (local) password (see Chapter 4.5.6).

OK You can accept the factory settings with the<Enter> key.

ESC You can use the <Menu> key to interrupt theoperation and return to the higher−order menu.

If the counting direction is changed by the factory setting,you will be requested to carry out a homing run:

· Start the homing run with START <Enter>. Observe that thereference point is not defined according to the countingdirection until the homing run has been completed suc�cessfully.

After returning to the factory setting:

· Carry out a teach procedure in HSx mode in order to define the reference system and the end positions (see Chapter 5.1).



4.5.5 [Settings] [HM Type]

The function is available with firmware version V−HM 2.09 orhigher. For service staff only.

NoteThe device type has already been preset at the factory. If the device type is changed, the factory pre−settings are adapted to the new device type.

· Make sure the selected type corresponds to the con�nected device.

If necessary, change the device type as follows:

� [HSP] for device type HSP−...−AE−...

� [HSW] for device type HSW−...−AE−...

<− −> You can set the desired device type with thearrow keys.

OK You can accept the selection with the <Enter> key.The [HSP Setup] or [HSW Setup] setup menu com�mand is then displayed according to the type ofhandling module set under [HM type].

ESC You can use the <Menu> key to interrupt the oper�ation and return to the higher−order menu.

HM Type[HSP/HSW] = HSW?


} SettingsHSx SetupHM TypePassword Edit

New Password:[?xx] =




4.5.6 [Settings] [Password Edit]

Access via the control panel can be protected by a (local)password in order to prevent unauthorized or unintentionaloverwriting or modification of parameters in the device. Nopassword has been preset at the factory (presetting = 000).

Store the password at an appropriate place, e.g. with the internal documentation for your system.

If the password is lost in spite of taking care: The password can be deleted by entering a master passwordif necessary. In this case please contact your Festo servicepartner.

Activating a password

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

Enter a password with three digits 0..9. The current inputposition is marked with a question mark.

1. Use the arrow keys to select a digit.

2. Confirm your input with <Enter>.

3. Set a digit for the next input position �?".

4. Save the password with SAVE <Enter> after selecting thethird digit.

Access to all parameter and control functions of the controlpanel is only possible with the password after saving it.

Enter Password:[?xx] =


Enter Password:[?xx] =




Password query

As soon as a password is active, it is automatically queriedwhen the [Positioning], [Settings] or [HMI control] menu com�mand is called.

The current input position is marked with a question mark.

1. Set the first digit of the password with the arrow keys.

2. Confirm the digit with <Enter>.

3. Set the digit for the next input position �?".

All parameterisation and control functions of the controlpanel are enabled until the power supply is switched off afterentering the correct password.

Changing/deactivating the password

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

Enter the previous password with 3 digits (0..9). The current input position is marked with a question mark.

1. Set the first digit of the old password with the arrow keys.

2. Confirm the digit with OK <Enter>.

3. Set the digit for the next input position �?".

You can change or deactivate the password after selectingthe third digit of the old password.

New Password:[?xx] =




Enter the new password with 3 digits or �000" in order to deactivate the password:

4. Use the arrow keys to select the first digit.

5. Confirm the digit with <Enter>.

6. Specify the digit for the next input position �?".

7. Save your setting with SAVE <Enter> after selecting the lastdigit.

4.6 [HMI Control] menu command

To select the [Positioning] and [Settings] menu commands,the �HMI: on" setting is required. Only then is the motor unitready to process user inputs on the control panel.

When selecting the menu commands, you are requested tomodify the HMI setting.

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

HMI 1) Device control

on The device is controlled manually via the control panel.The control interface of the motor unit is deactivated andthe control enable is set. The actual status of the ENABLE input is then ineffective.

off The device is controlled via the control interface of themotor unit.

1) Human Machine Interface

HMI Control[on/off] = on?


Commissioning with the control panel


Chapter 5

5. Commissioning with the control panel


Contents

5. Commissioning with the control panel 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Preparations for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Commissioning procedure 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Reference points and limitation of the work range 5−8 . . . . . . . . . . . . . . . . . . . .

5.3.1 Homing 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Limitation of the work range in HSx mode 5−10 . . . . . . . . . . . . . . . . . . . .

5.4 Teaching typical �Pick&Place" positioning records 5−13 . . . . . . . . . . . . . . . . . . . .

5.4.1 HSx mode 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.3 Teach procedure 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Creating individual command records 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Command records for inching operation 5−19 . . . . . . . . . . . . . . . . . . . . .

5.5.2 Pick&Place positioning records 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.3 Instructions for parameterising the command records 5−25 . . . . . . . . . .

5.5.4 Execution of individual positioning records (test run) 5−32 . . . . . . . . . .

5.6 Sequence control via I/O interface 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 I/O function check 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Description of the I/Os 5−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.3 Switching on and homing 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.4 Inching operation 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.5 Pick&Place (positioning/force mode) 5−43 . . . . . . . . . . . . . . . . . . . . . . .



5.1 Preparations for commissioning

WarningInjuries or damage to the mechanics

· Make sure:


� There are no foreign objects within the positioning/gripping range.

� There are no hoses or cables within the positioning/gripping range.

� The working space in the positioning/gripping rangeis of sufficient size for operation with an effectiveload.

· If necessary, carry out a separate test run to checkwhether the mounting components are working properly.Please observe the instructions in the operating instruc�tions for the components.

Checking the mounting components

Without effectiveload

� Correct assignment of the supply ports� Gripping speed� Proximity sensor function

With effective load � Effective load is gripped firmly

· Move the swivel lever manually to check:

� Whether the end positions (stops) have been reached.

� Whether the slotted guide plate parts are alignedwithout offset.

· If necessary, correct the stroke setting and the alignmentof the slotted guide plate parts. Observe the adjust�ment instructions in Chapter 2.5.



Switching on

NoteObserve that the tolerance for the supply voltage must becomplied with. The tolerance must also be complied withdirectly at the operating voltage connection of the MTR−DCI(see Chapter 3.2.3).

· Switch on the power supply for the MTR−DCI. The MTR−DCIautomatically carries out an internal check after thesupply voltage is applied.

The status display on the control panel shows the followinginformation:

� The type designation of your MTR−DCI

� The current handling module type (e.g. HSW, HSP)

� The current position of the drive áa in degrees

� The current setting of the device control (HMI = Human Machine Interface = control panel)

NoteHoming must be performed each time after the device isswitched on. Exception: relative positioning motion andinching operation can also be carried out if the refer�ence system has not been referenced.

Referencing takes place automatically during the initialstart−up of the HSx.

Instructions for homing:

� During the initial start−up Chapter 5.3.2

� Via the control panel Chapter 4.4.2

� Via the I/O control interface Chapter 5.6

� With FCT software FCT plug−in help

MTR–DCI–XX–IO–HMHSxáa = 0 degHMI = off

<Menu>



5.2 Commissioning procedure

CautionErrors may occur if control and operating functions areaccessed simultaneously via different user interfaces.

Observe the following:

� The device connection in the FCT must not be activated ifthe control system is activated on the control panel(�HMI control = on ").

� Control via the control panel must not be activated if thedevice connection in the FCT is activated.

� Control by the FCT must not be activated while the drive is in motion or control processes are taking place via I/Os.

In the following cases it is not permissible to access theMTR−DCI with the FCT writing (e.g. downloading para�meters) or controlling (e.g. with �Move manually" or whenstarting homing):

� If the MTR−DCI is currently in positioning motion or if amovement is started during access (e.g. via the controlinterface or control panel)

� If parameterisation or operation is taking place with thecontrol panel on the MTR−DCI

· Make sure the FCT, the control panel and the controlinterface of the MTR−DCI are not used simultaneously.



CautionDamage to the mechanics

The rubber buffers in the fixed stops are used for noiseabsorption. Running against a fixed stop generates impactloads in the drive train. This can cause damage to the gearunit, for example.

· Approach the fixed stops only with low energy.

· Teach the end positions (pos. 0 and pos. 1) in HSP mode and observe the referencing instructions (see Chapter 5.3). You can then be sure that the hand−ling module moves to the end position in a controlledmanner during operation.

Device control via the control panel

In order for the control panel to control the connected MTR−DCI, you must adapt the device control accordingly [HMI = on]. The control interface of the MTR−DCI is thendeactivated and the control enable is set.

You will be requested to modify the HMI setting when selecting the menu commands [Settings] [...] and [Positioning]. You can modify the setting also directly in the main menu using the [HMI control] menu command.

Instructions for the initial start−up

Check the factory presetting of the handling module type inthe menu and select, if applicable, your handling moduletype. The menu [Settings] [...Setup] will then include the cor�rect setup functions.

During the initial start−up, the zero point, the software endpositions and the end positions (Pos 0 and Pos 1) must bedefined by a teach procedure in HSP mode in order to com�pletely reference the reference system (see Chapter 5.3.2).



Carry out the following steps for the initial start−up. Observethe detailed description in the specified chapters.

Initial start−up (overview) Chapter

1. Teach the HSP mode which corresponds to your application.� End position travel (HSP mode 1)� End position travel with intermediate positions (HSP modes 2...5).It is possible to adapt the parameterisation after the teach procedure.

5.4

2. If necessary, optimise the positioning records. 5.5

3. If necessary, parameterise additional positioning records. 5.5

4. Test the function of the control interface of the MTR−DCI. 5.6

5. Before completing commissioning, observe the instructions for operation. 6.1

Readjusting

After commissioning, adjust the silencers (rubber buffers) sothat there is only slight metallic impact in dynamic operationand the noise is kept as low as possible. The rubber bufferscan be readjusted if the impact noises increase considerablyduring operation (see Chapter 2.5.3).



5.3 Reference points and limitation of the work range

5.3.1 Homing

The reference point is determined by a homing run to thefixed stop. Homing is always carried out at the stop of thepick position. The search speed is specified at the factory so that the end positions can be taught reliably even at lowapplied load or without any applied load at all.

Homing must be carried out in the following cases:

� In the event of the error REFERENCE IS NOT DEFINED!

� Each time after the device is switched on

You will be requested to carry out homing if:� The counting direction is changed.� You return to the factory setting.

During homing, the drive moves at reduced speed slowly upto the stop of the pick position and accepts the position á0after settling (approx. 20 ms) as reference point and for thecalculation of pos. 0. The drive is at the pick position afterhoming (pos. 0).

The following position specifications refer to the referencepoint (= zero point) after successfully homing:

� The software end positions

� All absolute setpoint positions

Relative positioning motion and inching operation can also becarried out if the reference system has not been referenced.



1 �Pick" stop

2 Reference point =zero point

ÇÇ ÇÇ

1

2

−+

Fig.�5/1: Reference point (counting direction: negative)

Starting homing

Homing is automatically performed in HSx mode when teaching the �Pick&Place" sequences:

To start homing manually, select one of the following options:

� Menu [Positioning] [Homing] on the control panel (see Chapter 4.4.2)

� I/O control interface, command record 15 (see Chapter 5.6.3)

� FCT software



Aborting homing

Homing can be aborted with the <Menu> key (EMERG.STOP> HOMING ERROR) if necessary.

The homing run must be repeated after the error mess�age has been acknowledged:

· Acknowledge the error message with <Enter>.

· Repeat the homing run.

5.3.2 Limitation of the work range in HSx mode

Information on carrying out the teach procedure in HSx�mode can be found in Chapter 5.4.

In HSx mode the following definition of the reference system and work range is automatically made duringeach teach procedure:

� Homing run for the definition of the reference point

� Calculation of the end positions

� Calculation of the software end positions

The drive moves at first at the factory−set search speed to the stop of the pick position and accepts the position á0 aftersettling (approx. 20 ms) as reference point and for the cal�culation of pos. 0.

Position á1 is accepted for the calculation of pos. 1 after themovement to the stop of the place position and the settlingtime. The drive is at the place position (pos. 1) after the teachprocedure.



End positions The end positions are calculated from the taught positions:

Pos�0 � a0 � D01

Pos�1 � a1 � D01

á0 = stop of the pick position

á1 = stop of the place position

The offset is determined at the factory and compensates devi�ations due to the mechanics (e.g. due to the rubber buffers orgear backlash):

Offset HSP−12−AE−... HSP−16/25−AE−...

D01~1° ~2°

Software end positions The software end positions ámin, ámax limit the positioningrange. The software end positions are redefined when teach�ing in HSx mode:

amin � Pos�0� D02

amax � Pos�1� D02

Offset HSP−12−AE−... HSP−16/25−AE−...

D02k 5° k 2°

NoteIf no teach procedure is carried out in HSx mode, the soft�ware end positions have been preset at the factory:

� ámin = −5°

� ámax = 205°



1 �Pick" stop

2 End position(pos. 0)

3 Zero point

4 Software endposition ámin

5 �Place" stop

6 End position(pos. 1)

7 Software endposition ámax

ÇÇ

7 4

3

+ �

6

5

2

ÇÇ

1

D02 D02D01D01

+ �

Fig.�5/2: Reference points and limitation of the work range (counting direction: negative)



5.4 Teaching typical �Pick&Place" positioning records

5.4.1 HSx mode

HSx mode supports the programming of five typical �Pick&Place" positioning records. The positioning records areparameterised automatically in teach mode. Teaching takesplace at reduced speed.

Depending on the HSx mode selected, the end positions andintermediate positions are taught in the sequence of position�ing records 0....4. The reference point and software end posi�tions are calculated simultaneously when teaching pos. 0 andpos. 1 (see Chapter 5.3.2). An additional homing run via [Posi�tioning] [Homing] is not required.

All setpoint positions are preset in HSx mode as absolutevalues. The speed and insertion force presettings are se�lected to allow low−vibration operation with standard applica�tions. The positioning/force mode changeover in the endpositions or wait positions enables a precise end position run against the stop (see Section 5.4.2, Insertion force)

The following representation of the �Pick&Place" applicationsrefers to the factory setting of the counting direction [Count direction] = negative. Observe the instructions inChapter 4.5.3 when changing the counting direction.

No = Number of the command recordF = Positioning/force mode changeover, direction of the

insertion force (+) or (−)P = Positioning mode

} SettingsHM TypeHSx Setup

HSx ModePosition SetCount DirectionDelivery Status

Password Edit

−+

1 0

23



HSx Mode No. P/F Position Percentage

1 0 F (−) End position, pos. 0 (pick) 0 %

011 F (+) End position, pos. 1 (place) 100 %

2 0...1 ...like HSx mode 1

23 2 P Wait position 12,5 %

01 3 P Wait position 87,5 %

3

2

0...1 ...like HSx mode 1

01

2

2 P Mid−position 50 %


23 2 F (−) Wait position 12,5 %

01 3 F (+) Wait position 87,5 %


23 4 2 F (−) Wait position 12,5 %

01

23

3 F (+) Wait position 87,5 %

4 P Mid−position 50 %

Tab.�5/1: �Pick&Place" sequences for standard applications



5.4.3 Teach procedure

WarningPersonal injury or damage to the mechanics

The swivel lever travels automatically during teach pro�cedures in HSx mode.

· Make sure:


� There are no foreign items within the positioning/gripping range.

Note· Make sure the stops are reached. Make sure there areno workpieces or other objects within the positioning orgripper range.

· Check the running behaviour during the teachprocedure.

· Interrupt the teach procedure immediately if:

� Metallic impact of the adjusting screws can be heard.

� The double rollers do not run smoothly in thepath guide.

� The mechanical end positions are not reached.

� The effective load falls down.

· Observe the instructions in Chapter 6 when eliminatingfaults.

Aborting the teach procedure

If necessary, the teach procedure can be aborted with the<Menu> key (EMERG. STOP).

HSx ModeAttention! Motor moves.


HSx Mode 2Pos 0 = 1 degM = 549 mNm.

Next?ESC <Menu>START <Enter>

HSx Mode 1Pos0 = 1 deg.Pos1 = 194 deg....

ESC <Menu>SAVE <Enter>



Starting the teach procedure

All positions of the selected sequence are approached individually during the teach procedure and must each beacknowledged.

1. Select the menu command [Settings] [HSx Setup] [HSP Mode] in the main menu.

2. Start the teach procedure with START <Enter>. The drive positions itself first at the stop of the pickposition (pos. 0).

The taught nominal value of the position is displayed. At positions with changeover from positioning to forcemode, the default value of the insertion force isadditionally displayed.

3. Start the teach procedure for the place position (pos. 1)with START <Enter>.

4. In HSx mode [2]�...�[5]:

· Start the teach procedure for the intermediatepositions 2...4 with START <Enter>.

· If necessary, correct the current position using the arrow keys on the control panel.

· Start the teach procedure for the next position.

5. After the last teach procedure, confirm the position withOK <ENTER>.

6. Save the taught positions with <SAVE>. Only then does the setting become effective in the drive and is retainedafter switching off the power supply.

HSx Mode[1...5] = ?




NoteThe positioning records 0 ... 4 are overwritten by savingthe taught positions in HSx mode. Positioning records > 4remain unchanged.

The following default values are transferred to the commandrecord table when saving the positions:

� Absolute reference of the taught setpoint positions ()

� The speed v of the positioning procedure

� The insertion force

Parameter HSP−12 HSP−16 HSP−25

[Pos.Set Mode] Absolute

[Velocity] 1400 °/s 1048 °/s 800 °/s

[Force] 1) 0 % or 80 %

1) Directional variable; active direction depends on the prefix andcounting direction set. 100% = force at nominal motor torque.Value valid for firmware � .V−HM2.09 (up to V−HM2.09 [Torque]see. Appendix A.1, �Parameterisation" table)

Tab.�5/2: Factory parameterisation in HSx mode

After the teach procedure:

· If necessary, carry out a test run. Observe the instructionsfor carrying out a test run in Chapter 5.5.4.

· If the settings of your application need to be modified:observe the parameterisation instructions in Chapter5.5.2. and 5.5.3.

· Teach further intermediate positions if necessary (see Chapter 5.5.2.)



5.5 Creating individual command records

With [Settings] [HSx Setup] [Position set], you can:

� Make individual adjustments to the command records atyour application.

� Create command records for the activation of inchingoperation.

� Create new positioning records for the activation of inter�mediate positions.

Which settings are possible for the command records depend on which positioning method is set [Pos. Set Mode](see Chapter 4.5.2).

The command records are displayed on the control panelunder [Diagnostic]. You can query the complete current para�meterisation of a command record with [Settings] [HSx Setup][Position Set] [Save].

Deleting/disabling command records

Individual command records can only be deleted with the FCTsoftware.

The following functions of the control panel are used to deletecommand records:

� All positioning records are deleted by restoring the fac�tory setting with [Settings] [HSx Setup] [Delivery Status].

� The command records 0 to 4 are overwritten by savingthe taught positions in HSx mode; the command records5..14 are not overwritten.

Disabling positioning records:Command records with the speed of v = 0 are not executed.



5.5.1 Command records for inching operation

The drive can be moved individually in �+/−" direction in inching mode:

� By tapping the ENTER key on the control panel.

� By the START/STOP signal at input E5.

Homing is not required for this purpose.

Inching operation is used:

� To approach teaching positions.

� To move the swivel lever to an intermediate position (e.g. to avoid collisions after a system fault or prior tohoming).

� As operation mode for manual positioning (manually operated feed).

Conversion to inching mode is performed by means of twocommand records with the property:

� [Pos.Set.Mode] = �Jog positive" for swivelling the lever in�+" direction or

� [Pos.Set.Mode] = �Jog negative" for swivelling the lever in��" direction

The drive starts to move slowly during inching (inching = 1).The direction of movement depends on the setting of the[Count direction] parameter (see Chapter 4.5.3). The slowspeed allows positions to be defined accurately. If the signalremains set for longer than the parameterised �phase 1period", the speed is increased until the configured maximumspeed (phase 2) is reached.



The drive stops automatically if it reaches a software end position. Inching mode is stopped automatically if the swivel lever runs against the stop (nominal/actual speed monitoring).

1 Low speed (phase 1)

2 Maximum speed(phase 2)

3 Acceleration/delay

4 Duration of phase 1Inching

t

1

23

4

3

Stop

v

t

Vmax

1

0

Fig.�5/3: Inching operation flow diagram



Parameterising

1. Activate the desired record number 2...14 with [Settings][HSx Setup] [Position Set] [Position no.].

2. Set the following parameters one after the other:

Parameter Description

[Pos.Set.mode] �Jog. +" Swivels the lever in �−" direction

�Jog. −" Swivels the lever in �+" direction

[Velocity] Maximum speed setting (phase 2): 50...300 °/sCommand records with the speed of v = 0 are notexecuted.

Tab.�5/3: [Position set] menu: �inching operation" para�meterisation

The software end position is set as setpoint position in inching mode (fixed). The software end position can be parameterised only in HSx mode or by homing.

3. Finally, select [Save] in order to save the command record.All settings are displayed. Check the displayed settingsand confirm the command record with OK <Enter>.

NoteThe settings in the drive do not take effect until they aresaved with [Save]. Only in this way are the settings re�tained even if the power supply is switched off or if there isa power failure.


Position no.Pos Set ModePositionVelocityForceSave



Activating/deactivating inching mode on the controlpanel

· Select [Positioning] [Move position set] to execute the�Jog" command record (see Chapter 4.4.1).

NoteCommand records for conversion to inching mode withspeed v = 0 are not executed (message: Profile velocity = 0. Please teach v).

The command record is not executed if the setpointposition is invalid (error: TARGET POSITION OUT OF LIMIT).

· Check the software end positions (if necessary, carry out the teach procedure in HSxmode).

· If inching mode is active, the drive can be moved manually in �+" or �−" direction on the control panel:

� Start by inching and holding the ENTER key.

� Stop by letting go of the ENTER key.

For information on sequence control via I/O, refer to Chapter 5.6.4




5.5.2 Pick&Place positioning records

Note· Teach your pick and place positioning records preferablyin HSx mode.

· Make sure pos. 0 and pos. 1 are saved in the positioningrecord table before editing the positioning records. If necessary, carry out a teach procedure in HSx mode. In this way, system settings are adapted to yourhandling module.

NoteThe settings do not become effective in the drive until theyare saved with the [Save] menu command. Only in this wayare the settings retained even if the power supply isswitched off or if there is a power failure.

Parameterising the positioning records 0 and 1(end positions)

The positioning records 0 and 1 are reserved for the end posi�tions and are automatically parameterised when teaching inHSx mode.

The end positions settings [Position] and the positioningmethod [Pos Set Mode = absolute] are fixed.

The default speed [Velocity] and force [Force] settings can bechanged:

1. Activate the desired positioning record (0 or 1) with [Settings] [HSx Setup] [Position Set] [Position no.].

2. Select [Velocity] or [Force] to modify the setting. Observe the parameterisation instructions in the followingsection 5.5.3.

3. Then select [Save] in order to save the positioning record.All current settings are displayed.

} HSx SetupPosition set

Position no.Pos set modePositionVelocityForceSave



4. Check the settings shown and confirm the positioningrecord with [OK].

Parameterising the positioning records 2...14 (intermediate positions)

If your application requires intermediate positions, a maxi�mum of 13 intermediate positions (pos. 2...14) can be taught.

Activate the desired record number 2...14 with [Settings] [HSx Setup] [Position Set] [Position no.].

1. Set the positioning method of the positioning record with[Pos.Set.Mode]:

� Positioning record with absolute positioning. The set�point position refers to the project zero point.

� Positioning record with relative positioning. The set�point position refers to the current position of theswivel lever when starting the command record.

2. Set the other parameters of the positioning record. Observe the instructions in the following section 5.5.3.

3. Then select [Save] in order to save the positioning record.All settings are displayed. Check the displayed settingsand confirm the positioning record with OK <Enter>.


Position no.Pos Set ModePositionVelocityForceSave



5.5.3 Instructions for parameterising the command records

[Pos.Set.Mode] Which settings are possible for the command records 2...14depend on which positioning method is set [Pos. Set Mode].

Recordb

Para�t

Description [Pos. Set Mode]number meter Abs. 1) Rel. Jog.

�Pick&Place"

0...1 [Position] Default: end position (�Pick", �Place") 2) x �ÎÎÎÎÎÎÎÎÎ

�

[Velocity] Speed setting x � ÎÎÎÎÎÎ�

[Force] 3) Positioning/force mode changeover:Specification of an insertion force for the con�version to force mode after reaching the set�point position.

x � �

2...14 [Position] Specification of the nominal values for inter�mediate positions

x x ÎÎÎÎÎÎ�

[Velocity] Speed setting x x �

[Force] 3) Positioning/force mode changeover:Specification of an insertion force for the con�version to force mode after reaching the set�point position.

x � �

Inching operation

2...14 [Position] Default: software end position 2) � � x

[Velocity] Maximum speed setting (phase 2) � � x

1) Fixed for record 0, 1 (default: absolute)2) Parameterisation only in HSx mode or by homing3) Up to firmware version V2.09: [Torque] = torque of the motor in mNm

From firmware version V2.09 [Force] = force in % related to the motor force at nominal motortorque

Tab.�5/4: Parameters of the command records, according to the positioning method



CautionUnexpected movement of the handling module

Observe that existing settings for the setpoint position cancause unexpected positioning behaviour after the conver�sion to absolute/relative positioning. The setpoint positionrefers to a new starting point (zero point or current posi�tion).

· Check the currently set setpoint position under [Save]after each modification to the absolute or relative refer�ence.

Recommendation:

· Teach the setpoint position again after modifying theabsolute or relative reference.

[Position] If your application requires intermediate positions, a maxi�mum of 13 intermediate positions (pos. 2...14) can betaught. The end positions (pos. 0 and pos. 1) can be para�meterised only in HSx mode.

· Do not teach the positions until the reference system hasbeen referenced.

· Select intermediate positions, if possible, in the linearsections of the slotted guide plate. Positioning in thecurve ranges of the slotted guide plate is not reliable dueto the play of the cam roller of the swivel lever.

1 Non−linearsections

2 Linear section iny−direction

3 Linear section inz−direction 1

2

3 3



The specifications in angular degrees can be converted approximately into linear paths using the following table:

Size y−direction1° = ...

z−direction1° = ...

HSP−12−..−AE 0.4...0.6 mm 0.45...0.6 mm

HSP−16−..−AE 0.75...1 mm 0.8...1 mm

HSP−25−..−AE 1...1.5 mm 1.1...1.5 mm

If the target position is invalid, the positioning record is notexecuted and the error TARGET POSITION OUT OF LIMIT isdisplayed.

[Velocity] Speed of the positioning procedure.The average speed is 50 % of the set speed. Positioningrecords with a speed of v = 0 are not executed.

The achievable positioning time for the relevant size is set byentering the speed in °/s. It does not makes sense to set thedrive to the maximum permissible speed in operation. Thetotal cycle time and the maximum oscillation amplitude in�crease extremely due to the subsequent oscillation.

For insertion procedures, the speed in the vertical linearrange must be reduced.

· Perform insertion procedures preferably in force mode.The speed for force mode has been set at the factory.



NoteThe permissible kinetic impact energy at the end stopapplies for certain mass−speed combinations. It must not be exceeded. The cycle time must not fall below theshortest permissible time.

· Comply with the values for the travel time in relation tothe effective load.

Parameter HSP−12−... HSP−16−... HSP−25−...

Speed [Velocity] [°/s] 50...1602 50...1180 50...1048

Minimum permissible cycletime tt

s 0.8 1 1.2



Determining the cycle time

DefinitionCycle time tt= travel time t + dwell time te

t: The time which the handling module requires in orderto travel from the pick position stop to the place posi�tion stop and back again (permissible values, see fol�lowing characteristic curves).

te: The time which the handling module remains in thepick and place positions.

DefinitionEffective load m = applied load on the vertical guide rail,e.g. adapter, swivel drive, gripper and workpiece

The travel time dependent on the effective load and the corre�sponding speed setting can be estimated using the followingdiagrams. The shortest achievable travel time t is repre�sented, taking into account the repetition accuracy and opti�mised oscillation and positioning behaviour.

1600400

m [kg]

t [ms]

1.4

0

0.2

0.4

0.6

0.8

1,0

1.2

1.0

1.6 HSP−12−AE

HSP−16−AE

HSP−25−AE

800 1200 2000

Fig.�5/4: Travel time t dependent on the effective load m



HSP−12−AE−...t [s]

200 1200400 600 800 1400100000

0.4

0.81.0

0.6

0.2

v [°/s]v [°/s]

HSP−16−AE−...t [s]

200 400 600 800 10000

0

0.4

0.8

1.0

0.6

0.2

v [°/s]

HSP−25−AE−...

200 400 600 800100

0

1.2

0.8

1.6

0.4

300 500 700

t [s]

v [°/s]

Fig.�5/5: Travel time−speed diagram



Positioning/force mode changeover

[Force] Specification of an insertion force for the conversion to forcemode after reaching the setpoint position. Force mode can beset for all positioning records with absolute position specifi�cation via the [Force] parameter. The entry is made in percentrelated to the force at nominal motor torque (= 100%). Formotor torque/force specifications, refer to Appendix A.3.2.

NoteFirst select a setting in the mid range (recommended forstandard applications: 80 %). Change the values until thedesired insertion force is achieved.

Operation mode [Force] 1)

Positioning mode 0 %

Positioning/force mode 20...150 %

1) Directional variable; active direction depends on the prefix andcounting direction set. Values are valid with firmware � .V−HM2.09or higher

When travelling to a stop at a force >100%, the force is auto�matically reduced to 99% after five minutes to prevent per�manent overloading of the motor.

[Force] = 0 % Positioning modeIf no precise mechanical end position is required, you canreduce the cycle time (travel time) by setting the insertionforce in the command record table to zero. In this case theoperation mode is not changed. The drive positions the swivellever in the setpoint position at the set speed [Velocity] andremains there, position−controlled. Advantage: shorter travel time and therefore higher cyclerate.



[Force] = 20...150 % Positioning/force mode.The drive first positions the swivel lever at the set speed [Velocity]. Once the setpoint position is reached, the drivemoves at constant factory−set speed to the stop without stopping and �presses" against it with the set force. At thenext positioning command the drive positions itself againwith the nominal motor torque.Advantage: precise reaching and backlash−free holding of the mechanical end position.

5.5.4 Execution of individual positioning records (test run)

NotePositioning records with speed of v = 0 are not executed(message: Profile velocity = 0. Please teach v).

· Modify the parameterisation or select a different posi�tioning record.

The positioning record is not executed if the setpointposition is invalid (error: TARGET POSITION OUT OF LIMIT).

· Check:

� The software end positions (carry out the teach pro�cedure in HSx mode).

� The setpoint position.

� The setpoint position reference (absolute or relative).

· During a test run, check:

� That the effective load is held safely.

� The travel time dependent on the effective load.

� The adjustment of the end positions.

� The setting of the stop silencers.

� If necessary, that the proximity sensors are workingproperly.



Starting a test run

1. Start first at reduced speed.Reduce first the nominal speed of the positioning recordfor the test run or create positioning records with ap�propriate parameterisation for a test run.

2. Increase the speed up to the subsequent operatingspeed. Please refer to the calculations for your applica�tion.

3. Select [Positioning] [Move position set] in order to executea certain positioning record (see Chapter 4.4.1) or start atest run via the I/O interface (see Chapter �5.6).

Interrupting the test run

Caution· Interrupt the test run if:

� Metallic impact of the adjusting screws can be heard.

� The double rollers do not run smoothly in thepath guide.

� The end positions are not reached.

� The effective load falls down.

The test run can be interrupted as follows:

� With the <Menu> key (EMERG.STOP).

� By removing the ENABLE signal at the I/O interface.

· Observe the instructions in Chapter 6 when eliminatingfaults.

· If necessary, optimise the settings for positioning records.




5.6 Sequence control via I/O interface

5.6.1 I/O function check

WarningDanger of injury. Parameterisation errors can cause per�sonal injury and material damage.

· Enable the controller only once the drive system hasbeen installed and parameterised professionally.

Device control In order for the MTR−DCI to be controlled via the control inter�face, the manual device control must be deactivated via thecontrol panel / FCT software:

� Automatically when switching on the operating voltage(HMI = off ).

� Via the control panel of the MTR−DCI with the menucommand [HMI control] (HMI = off).

� With FCT in the �Project output" window, select the �Operate" tab and activate the �FCT / HMI" checkboxunder �Device Control".

Function check In order to check the configuration and axis set−up, first entera simple test program or simulate the control by directly set�ting the inputs.

· Please observe the functional description of the controlinterface in Chapter 5.6.2.

· Make the necessary system inputs available on the MTR−DCI. Logic 1 must be at the ENABLE input (controllerand output stage enabled).

· Observe also the output signals. Logic 1 is at theREADY output (ready status) if the controller and the output stage are enabled and no error has beendetected.



· Program or start the homing run as well as some position�ing motion.

· Check the positioning behaviour.

5.6.2 Description of the I/Os

Command record: E1 ... E4 The command records are selected via the binary coding ofthe inputs E1 (bit 0) ... E4 (bit 3).

Command record E1 (20) E2 (21) E3 (22) E4 (23)

0 (pick position) 0 0 0 0

1 (place position) 1 0 0 0

2 0 1 0 0

3 1 1 0 0

4 0 0 1 0

5 1 0 1 0

6 0 1 1 0

7 1 1 1 0

8 0 0 0 1

9 1 0 0 1

10 0 1 0 1

11 1 1 0 1

12 0 0 1 1

13 1 0 1 1

14 0 1 1 1

15 (homing) 1 1 1 1

Tab.�5/5: Binary coding of the command record



15 command records (0...14) are freely selectable in the I/Ovariant. Records 0 and 1 are reserved for the end positions(pos. 0 and pos. 1). Record 15 starts a homing run. The otherrecords include intermediate positions or set inching mode.

START E5 The command record is started by a rising edge at the STARTinput.

Prerequisite:

� Logic 1 is at READY (no error, ENABLE = 1).

� Logic 1 is at MC.

� The desired command record is at E1 ... E4.

Pin Status START (input)

E5 0 > 1 Start of the command record

The execution of the command record can be aborted by afalling edge at the ENABLE input (> 0). If restarted, the com�mand record is executed again from the current position.

ENABLE E6 Controller and output stage enable

Prerequisite:

� Logic 0 is at START.

� No error

The controller and the output stage of the drive are switchedon by a rising edge (> 1) at the ENABLE input.The controller and the output stage of the drive are switchedoff by a falling edge (> 0) at the ENABLE input. The currenttravel is aborted.



CautionUncontrolled movement

The motor is not energised if the output stage is switchedoff. Depending on the positioning and mounting position,the swivel lever can automatically move downwards withthe effective load.

As long as the power supply is not switched off, the actualposition is registered even after the enable is switched off.When enabled again, the drive is at the current position (controlled). It is not necessary to carry out a new homingrun.

The controller and the output stage are switched on if logic 1is at the ENABLE input. The current command record is ex�ecuted at the next START signal.

Pin Status ENABLE

E6 Logic 1 Controller and output stage is switched on

Logic 0 Controller and output stage is switched off

1 > 0 Acknowledge error

READY A1 Ready status, all requirements for starting a command recordare fulfilled.

Pin Status READY

A1 Logic 0 System is not ready for operation� Logic 0 is at ENABLE or� Error

Logic 1 System is ready for operation.� Logic 1 is at ENABLE and� No error



MC A2 Motion complete Indicates that an order has been completed and the STARTinput has been reset.

Pin Status MOTION COMPLETE

A2 Logic 0 Positioning procedure is being carried out orthe START signal is still at 1.

Logic 1 Positioning task is completed

To illustrate the function, the following internal statusesare also represented in the pulse−time diagrams:(POWER) Power supply(FAULT) Error(TR) Target position reached (TARGET REACHED).



5.6.3 Switching on and homing

Start−up behaviour In order to ensure the system starts up correctly, all inputsignals must be stable after switching on the power supply(min. 1 s). Only then are the input signals queried.

If an error already occurs during the switch−on procedure, the START signal > 1 is not observed as long as the FAULTsignal is present.

If there are no errors and enable is active (ENABLE signal = 1),the controller reports the ready status, i.e. (READY signal > 1and MC signal = 1 (Motion Complete).

Start homing If there are no errors and enable is active (ENABLE = 1), homing (input word E1 ... E4 = 1, positive edge at STARTinput) can be carried out. After setting the START signal (> 1), the MC signal is reset (>�0) and the drive carries outthe homing run. The MC signal is reset (> 1) after hominghas been completed successfully. Then any number of posi�tioning procedures can be carried out.

Disable Homing can be aborted like any positioning record by a falling edge at the ENABLE input (> 0).

Error If the homing run is aborted by removing the ENABLE signalor by an error, the controller sets the FAULT signal internally(> 1, HOMING ERROR). The MC signal and the READY signalare reset > 0.

NoteIf an error occurs during homing, before starting a newcommand record, you must:

� Reset the START input (=0) if necessary.

� Delete the error by a falling edge at ENABLE (> 0).

� Repeat homing.



(TR)

READY A1

START E5

(FAULT)

Drive in motion

Start homing

Positioning record 15E1...E4

MC A2

ENABLE E6

(POWER)

Initialisation

New homing run

Enable

Delete error

Homing terminated

Abort > error

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

t TR

min. 1 s

� 10 ms

ÏÏÏÏÏÏ

ÏÏÏÏ

ÏÏÏÏ

ÏÏÏÏ

ÏÏÏÏÏÏÏÏÏÏÏÏ

HOMING

ERROR

Fig.�5/6: Pulse−time diagram (switch on � homing � error)



5.6.4 Inching operation

Inching operation Inching operation can be performed if there are no errors andenable is active:

� Input word E1 ... E4 is present

� Positive edge at START input)

After setting the START signal (>�1), the MC signal (MotionComplete) is reset (> 0) and the drive travels as long as thestart signal is present.

Stop The MC output is set by a falling edge at the START input (> 0). (> 1). The drive is stopped. In inching mode, the TR signal is immediately set after stopping (falling edge atSTART input (> 0). Inching operation can be resumed by arising edge at the START input (> 1).

Disable The READY and MC outputs are reset by a falling edge at the ENABLE input (> 0). (> 0). The current positioning pro�cedure is aborted. The start signal is then ignored. If theENABLE signal is enabled again > 1, READY and MC arenot set until the START signal is reset (> 0). The next com�mand record can then be started by a rising edge at theSTART input (> 1).

Stop reached Inching operation is stopped if the swivel lever runs againstthe stop.

Error The READY and MC outputs are reset if an error occurs duringoperation. An error is clearly determined during operation bythe following I/O status:

� Inputs: ENABLE = 1 and START = 0

� Outputs: MC = 0 and READY = 0.



NoteIf an error occurs during operation, before starting a newcommand record, you must:

� Reset the START input (=0) if necessary.

� Delete the error with a falling edge at ENABLE (> 0).

If the fault has been eliminated and there is a rising edge at ENABLE (>1), the READY output signals (>�1) that a newpositioning task can be started. If the error cannot be elimin�ated, a wire break may be the cause.

ÏÏÏÏÏÏ

ÏÏÏÏÏÏ

1

0

1

0

(TR)

READY A1

1

0

1

0

START/STOPE5

1

0

(FAULT)

Drive in motion

Start

1

0

CommandrecordE1...E4

1

0

MC A2

ENABLE E6

StopReady foroperation

JOG +/ JOG−

Fig.�5/7: Pulse−time diagram (inching operation)



5.6.5 Pick&Place (positioning/force mode)

Start The positioning procedure (input word E1 ... E4 positive edgeat START input) can be carried out if there are no errors andenable is active (ENABLE = 1). After setting the START signal(>�1), the MC signal (Motion Complete) is reset (> 0) and thedrive travels to the specified target position. As long as thedrive is in motion, the MC signal remains reset and no othercommand record can be started with the START signal.

Disable The READY outputs and the MC are reset by a falling edge at the ENABLE input (> 0). (> 0). The current positioningprocedure is aborted. The start signal is then ignored.

If the ENABLE signal is enabled again (>)1, READY and MCare not set until the START signal is reset (> 0). The nextpositioning record can then be started by a rising edge atthe START input (> 1).

Position reached The TR signal is set in positioning mode after adjusting thesetpoint position (after approx. 20 ms). In the case of posi�tioning records with positioning/force mode changeover, the TR signal is not set until the nominal force and positioningat the stop (blocking) are set.

If the TR signal is set while the START signal is still at 1, the MC signal remains at 0 until the START signal is reset. This coupling of START/MC signal enables signal confirmationfor the PLC (handshake function).

If the START signal is reset after the MC signal has confirmedthe start (MC > 0) and before the TR signal is set, the MCsignal is set at the same time as the TR signal (MC, TR > 1)after reaching the nominal position.



Error The READY and MC outputs are reset if an error occurs duringoperation. An error is clearly determined during operation bythe following I/O status:

� Inputs: ENABLE = 1 and START = 0

� Outputs: MC = 0 and READY = 0.

NoteIf an error occurs during operation, before starting a newcommand record, you must:

� Reset the START input (= 0) if necessary.

� Delete the error with a falling edge at ENABLE (> 0).

If the fault has been eliminated and there is a rising edge at ENABLE (>�1), the READY output signals (>�1) that a new positioning task can be started. If the error cannot be eliminated, a wire break may be the cause.



ÏÏÏÏ

ÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏ

ÏÏÏÏÏÏ

1

0

1

0

(TR)

READY A1

1

0

1

0

START E5

1

0

(FAULT)

Drive in motion

Start

1

0

Positioningrecords E1...E4

1

0

MC A2

ENABLE E6

Setpoint position reached

Ready foroperation

t TR

t � t TR

Start

Setpointpositionreached

t � t TR

Abort

Nominal force achieved

Enable

[Force] = 0 [Force] � 0

ÏÏÏÏÏÏ� 10 ms

Fig.�5/8: Pulse−time diagram (positioning procedure � without positioning/force modechangeover � with changeover � abort)



Operation and maintenance


Chapter 6

6. Operation and maintenance


Contents

6. Operation and maintenance 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Important user instructions 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Service and maintenance instructions 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1 Lubrication 6−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.2 Replacement of the spring clamping elements 6−9 . . . . . . . . . . . . . . . .

6.2.3 Replacement of the rubber buffers 6−10 . . . . . . . . . . . . . . . . . . . . . . . . .



6.1 Important user instructions

Observe the following instructions and recommendationsduring operation:

Password protection

The factory setting does not provide active protection by apassword. All download and control functions can be blockedin order to prevent unauthorised or unintentional overwritingor modification of parameters in the device.

· Protect the settings of your handling module against acci�dental modifications with a password:

� FCT password protection (8 characters, see MTR−DCI−...−HM plug−in help)

� HMI password protection for MTR−DCI−...−HM (3 digits, see Chapter 4.5.6)

Device connection

The RS232 interface is not electrically isolated. It is not in�tended for permanent connection to PC systems or as a con�troller interface:

· Use the connection only for commissioning and diagnostics.

· Remove the diagnostic line in continuous operation.

· Seal the terminal with the protective cap supplied (ISK−M8 type).



Changing the mechanics or effective load


Parameterisation errors can cause damage if you enablethe controller with logic 1 at the ENABLE input.

Mechanical changes e.g. y−z stroke settings, turning/swivellingof the motor unit are not permissible after commissioning.

If mechanical changes are required:

· Teach the reference system and the end positions again.Carry out the respective commissioning steps describedin Chapter 5.1ff.

In the event of changing loads:

· Adjust the travel speed setting, taking into account thechanged effective load (see Chapter 5.5.3).

· Readjust the stop silencers in the event of loud stoppingimpact (see Chapter 2.5.3).



Operation


· Make sure, within the angle of rotation of the movablemass at the drive, that:

� Nobody reaches into the swivel direction of the move�able mass.

� There are no foreign items.

· Make sure the handling module is set into motion only ifthe protective cover or crate is fitted.

· Only enable the controller if the axis system has beeninstalled and parameterised professionally.

· In the following cases, perform a homing run for thecorrect setting of the reference coordinates and the workrange:

� Each time after switching on the power supply

� In the event of the error REFERENCE IS NOT DEFINED

CautionDamage to the mechanics

Running against a fixed stop generates impact loads in thedrive train. Blockages in the end positions cannot be ruledout when travelling to an end position with a heavy load.This can cause damage to the gear unit, for example.

· Approach the fixed stops only with low energy.



Positioning of the swivel lever

CautionDamage due to the freely running load.

The swivel lever may move accidentally if:

� The handling module is mounted vertically.

� There is no holding torque at the drive pin.

� There are vibrations.

· Position the swivel lever in mid−position before switchingoff the machine.

NoteThe drive is under load in the end positions.

· Position the swivel lever in mid−position, not in the endpositions, when the machine is at a standstill.



6.2 Service and maintenance instructions

· Observe the maintenance instructions in thedocumentation of the components used.The motor units are maintenance−free during the specifiedservice life.

· If the handling module or the motor unit is defective: send the handling module to Festo for repairs.

· Clean the outside of the handling module with a softcloth.

· Check the rubber buffers and spring clamping elementsregularly for wear (see Table Tab.�6/1).

Shorten the checking intervals:

� In the event of high thermal loads.

� If there is excessive accumulation of dirt.

� If fat solvent fluids or fumes are in the vicinity.

Inspection Spring clamping element Rubber buffer

Test cycle Every 2 million strokes (approx.every 2 months)*)

Every 2 million strokes (approx. every 2 months)*)

Signs of wear Play of the vertical guide rail inthe end positions in horizontaldirection

Loud impact noises

Replacement cycle After 5 million switching cycles Every 10 million strokes (approx. 1 year) *)

*) At 0.5 Hz in dual operation mode

Tab.�6/1: Inspection of the rubber buffers and spring clamping elements



6.2.1 Lubrication

· Grease the surfaces of the cross guide if they are nolonger covered with grease (e.g. after cleaning).

· Swing the movable mass into the end positions by handand lubricate the specified points:

Cross guide

Lubrication points � Slotted guide plate path and rollerbearing

� Guide rails

Lubrication interval

� Every 10 million switching cycles

Lubricating grease � LUB−KC1

Tab.�6/2: Greasing the cross guide

1 Guide rails

2 Roller bearing

3 Slotted guideplate path

1

23



6.2.2 Replacement of the spring clamping elements

1 Spring clampingelement

2 Guide carriage

1 2

Fig.�6/1: Replacement of the spring clamping elements

Note· Use only original parts when replacing the spring clamping elements.

· Avoid unnecessary wear of the cross guide and slottedguide plates due to excessive pressing force. The speci�fied pre−tension of the spring clamping element is suffi�cient for backlash−free guidance.

1. Switch off the power supply for the drive.

2. Remove the protective cover and the side walls.

3. Move the cross guide into mid−position.

4. Use an Allen key to screw out the defective clamping element.

5. Move the cross guide into the end position.



6. Screw in the new clamping element until it touches theguide carriage slightly.

7. Then tighten the clamping element with approx. another1/2 turn (pre−tension 0.5�mm). The vertical guide rail isnow backlash−free.

8. Mount the side walls and protective cover.

6.2.3 Replacement of the rubber buffers

Fig.�6/2: Replacement of the rubber buffers

1. Switch off the power supply for the drive.

2. Remove the protective cover.

3. Use an appropriate tool (e.g. pliers or screwdriver) to remove the rubber buffers.

4. Press a new rubber buffer into the stop.

5. Mount the protective cover.

Diagnostics


Chapter 7

7. Diagnostics


Contents

7. Diagnostics 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 General diagnostics options 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 LED status displays 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Error messages on the display 7−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Mechanical defect 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7. Diagnostics


7.1 General diagnostics options

The motor unit provides the following diagnostics and errordisplay options:

� LEDs indicate the ready status, positioning status anderrors.

� The outputs of the control interface:

� READY indicates ready status.

� MOTION COMPLETE indicates whether a positioningtask has been completed.

� The control panel:

� The LC display shows diagnostics data, error messages, the operation mode, the current positioning record, setpoint and actual positions as well as the speed.

� The FCT (with active device connection):

� Displays the current positioning record, setpoint andactual positions as well as the speed.

� Displays the operation mode, outputs and operatingstatuses as well as error messages of the connectedmotor unit.

7. Diagnostics


7.2 LED status displays

The operating statuses are visually indicated by means ofthree�LEDs:

� Operating voltage LED (POWER)

� I/F LED e.g. positioning status, controller enable (I/F = interface / fieldbus)

� Error LED (ERROR).

Operating voltage

POWER Status

Operating voltage applied

green

Operating voltage not applied; check the operatingvoltage connection if necessary.

off

voltage connection if necessary.

Error display

ERROR Status

Error.The motor unit is not ready for operation (deactivated).

red

No internal error indicated. The motor unit is ready for operation.

off

The motor unit is ready for operation.

7. Diagnostics


Positioning status and controller enable

I/F 1) Status 2)

Ready for operation� Positioning procedure is completed

(Motion Complete)green

(Motion Complete).� Controller and output stage enabled

Not ready for operation and enable missing� Setpoint position not reached (positioning

procedure stopped)red

procedure stopped)� Controller and output stage not enabled

Ready for operation; not enabled� Positioning procedure is completed

(Motion Complete).� Controller and output stage not enabled

green/red

Positioning mode� Setpoint position not reached (positioning

procedure running)C t ll d t t t bl d

off

p g� Controller and output stage enabled

or� Error

1) Two−colour LED2) If there is no error, i.e. LED ERROR = off

7. Diagnostics


7.3 Error messages on the display

Messages Messages inform about operating statuses.

Message Cause

Attention!Motor moves...

Message at the start of a teach procedure. Afteracknowledgement with the <ENTER> key, the drivetravels in teach mode.

Profile velocity= 0. Pleaseteach v.

The [Move position set] menu command is notexecuted because the positioning speed of thepositioning record is v = 0. Modify theparameterisation or select a different positioningrecord.

Temperature ok Operating temperature is within the permissiblerange again after exceeding/falling below it.

Warning The motor unit displays a corresponding warning in the eventof impermissible operating temperature. If a positioning taskis running, it is not interrupted. The error LED flashes.

Warning Cause

HOTTEMPERATURE

Operating temperature 70°C < T < 80°C,if necessary, check whether drive is overloaded,check mechanics, e.g. for sluggishness, reduceambient temperature.

COLDTEMPERATURE

Operating temperature < −10 °C,increase ambient temperature if necessary.

7. Diagnostics


Error The drive is stopped in the event of an error. The error LED isilluminated.

· Eliminate the cause of the error.

· Acknowledge the error message:

� With <Enter> on the control panel.

� Via I/O with a falling edge of the ENABLE signal.

� With the �Acknowledge error" key in the FestoConfiguration Tool.

Error Possible cause

HARDWARE ERROR Device error e.g. EEPROM defective· Contact Festo service.

HOMING ERROR Error during homingPossible cause:Homing was interrupted.· Make sure homing is repeated.

i2t−ERROR Current monitoring i2tPossible cause:The drive is blocked.· Check the mechanical system of the drive.

MECHANICAL LINKAGEIS NOT ON

The motor is stopped after approx. 1.5 motor revolutions duringteaching and homing:· Check the mechanical connection between the motor unit and handling

module.· Contact Festo service.

MOTOR STOP Error during the positioning procedurePossible cause:The positioning procedure was aborted on the control panel with EMERG.STOP (<Menu> key).· Acknowledge the error on the control panel with <Enter>.

7. Diagnostics


Error Possible cause

OVERHEATING Overheating (operating temperature > 80°C)Possible cause:� Motor overloading� Ambient temperature too high· Check:

� That the limits are complied with (motor characteristic curves).� The mechanics e.g. for sluggishness.

· If necessary, reduce the ambient temperature.

POSITION ERROR Position error (contouring error)Possible causes:� The drive is blocked.� The positioning speed is too high.� The effective load is too heavy.· Check:

� The mechanics of the drive.� The speed of the positioning record.

POWER DOWN Voltage monitoringPossible causes:� Supply voltage too low (V < 18 V)� Voltage drops under load· Check the power supply:

� Power supply unit too weak?� Supply line too long?

REFERENCE IS NOTDEFINED! PLEASE ENFORCEHOMING RUN!

When starting a positioning record:No homing run has been carried out or a homing run was stopped afterswitching on the power supply. The reference point (zero point) has not been defined.· You must carry out a homing run.

TARGET POSITION OUTOF LIMIT

The specified setpoint position is outside the permissible positioning range.· Check:

� The software end positions (if necessary, carry out the teach pro�cedure in HSx mode).

� The setpoint position.� The setpoint position reference (absolute or relative).

7. Diagnostics


7.4 Mechanical defect

Malfunction Possible cause Remedial action

Loud impact in the endposition

Rubber buffers not screwed outenough or overloaded� Effective load too heavy� Speed of moveable mass too

high

� Adjust rubber buffers (see Chapter 2.5.3).

� Reduce positioning speed (see Chapter 5.5.2).

Rubber buffer defective Replace rubber buffer (see Chapter 6.2.3).

Bouncing in the endposition

The setting of the z−stroke has beenchanged and no longer correspondsto the taught end position.

Teach the end positions in an HSx mode.

Malfunctions duringposition sensing viaproximity sensors

Position of proximity sensorsincorrect

Correct position of proximitysensors.

proximity sensors(optional, only via PLC) Incorrect proximity sensor type

usedUse only proximity sensors of type SMT−8−...

Proximity sensor defective Replace proximity sensor.

Ferritic parts in the vicinity of theproximity sensor

Use parts of non−magneticmaterials.

End positions notreached

Incorrect setting of the y−stroke andz−stroke

Adjust end positions (see Chapter 2.5).

Double rollers notrunning smoothly in thepath guide

Slotted guide plate parts are offset Align slotted guide plate partswithout offset (see Chapter 2.5.2).

Play of vertical guiderail in the end positions

Spring clamping element defective Replace spring clamping element.

7. Diagnostics


Technical appendix

A−1Festo P.BE−HSP−AE−IO−EN en 0708a

Appendix A

A. Technical appendix

A−2 Festo P.BE−HSP−AE−IO−EN en 0708a

Contents

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

A.1 Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Dimensions and product weight A−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Characteristic curves A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.1 Travel time and speed A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.2 Motor force and insertion force A−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4 Accessories A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.1 Handling module accessories A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.2 Lines for connecting the motor unit A−13 . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.3 User’s manual A−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical data

General information

Protection class as per EN�60529 Handling module: IP40Motor unit: IP54

Insulation protection class F

Relative air humidity 0 to 95 %, non condensing

Temperature range� Operation� Storage/transport

0 ... +50°C−25�... +60°C

Oscillation As per DIN/IEC 68/EN�60068 Part 2−6, severity level 2:0.35�mm path at 10...60 Hz5 g acceleration at 60...150�Hz

Shock As per DIN/IEC 68/EN�60068 Part 2−27, severity level 2:±30 g at 11�ms duration5 shocks in each direction

Protection against electric shock Protection against direct and indirect contact as perIEC/DIN EN 60204−1: by PELV circuit (protected extra−low voltage)

Electromagnetic compatibility (EMC) 1) 2)

See declaration of conformity (www.festo.com)

Temperature monitoring Silicon absolute temperature sensor,shut−down at temperature > 70°C

Display resolution 128 x 64 pixels

Mounting position Vertical operation preferred (guide rail vertically downwards)

End position cushioning (noise absorp�tion only)

Adjustable rubber buffers

Lubrication Cross guide with service life basic lubrication,re−lubrication recommended after 10 million strokes(Festo special grease: LUB−KC1, silicone−free).

1) The component is intended for use in industrial environments.2) The maximum permissible I/O signal line length is 30 m.



Drive HSP−12−... HSP−16−... HSP−25−...

Gear unit type Planetary gear unit

Number of increments/revolution 500

Encoder (with 4−fold evaluation) 500 x 4 �> 2000 inc/revolution

Gear reduction 6.752 (7:1);1−stage

13.73 (14:1);2−stage

13.73 (14:1);2−stage

Repetition accuracy

� End positions [°] ±0.01 ±0.01 ±0.02

� Intermediate positions [°] < 1.5 < 1.5 < 2

Nominal voltage [V DC] 24 ±10 % 24 ±10 %

Peak current [A] 3.8 ±20 % 7.7 ±20 %

Nominal current (motor) [A] 2 ±20 % 5.1 ±20 %

Rated output (motor) [W] 48 122.4

Nominal motor torque [mNm] 540±20 % 1099±20 % 3296 ±20 %



Parameterisation HSP−12−... HSP−16−... HSP−25−...

Parameterisation interface Serial interface, 9600 baud

End−position adjustment Adjusting screws in y−directionAdjusting screws in z−direction

Stroke ranges

� y−stroke [mm] 52...68 90...110 130...170

� z−stroke [mm] 20...30 35...50 50...70

Max. permissible characteristic loadvalues of the cross guide 1)

[Nm] 1.1 2.4 3.2values of the cross guide 1)

� Dynamic torque Mper with verticaloperation in compliance with themaximum effective load

Mx

M�zul�

My

M�zul� Mz

M�zul� 1

� Static torque MOzul [Nm] with verticaloperation for press in and joining

[Nm] 5 10 15operation for press−in and joiningprocedures without dynamic load

Mox

Mozul�

Moy

Mozul� Moz

Mozul� 1

Insertion force 2)

� [Torque] Firmware V−HM1.20 Setting rangeRecommended setting

[mNm][mNm]

135�1013540

275�20601099

824�61803296

� [Torque] Firmware �V−HM1.25Setting rangeRecommended setting

[mNm][mNm]

67�506270

137�1030 549

412�30901648

� [Force] Firmware �V−HM2.09Setting rangeRecommended setting

20 ... 150 % of Fnom80 % of FnomFnom = force at nominal motor torque

Shortest permissible cycle timeCycle time tt = travel time t + dwell time te

[s] 0.8 1.0 1.2

Max. positioning speed vmax [°/s] 1602 1179 1048

1) The torques refer to the centre of the cross guide.2) Directional variable; active direction depends on the prefix and counting direction set.



I/O specification HSP−12/16 HSP−25

Signal levelSpecified as per DIN EN 61131 Part 2 (IEC�1131−2)

Specified as per DIN EN 61131Part 2 (IEC1131−2)� LOW<5V� HIGH>15V� Positive switching

Inputs

� Protection against incorrect polarity No Yes

� Electrical isolation No Optocoupler

� Number of digital logic inputs 6

� Input current at 24 V input voltage [mA] > 4 > 7

� Max. permissible input voltage [VDC] 30 30

� Min. input voltage [VDC] 0 −30

Outputs

� Number of digital logic outputs 2

� Overload protection Yes

� Maximum peak current [mA] 200 60

� Nominal current [mA] 100 50



A.2 Dimensions and product weight

The complete CAD data are available for downloading atwww.festo.com/de/engineering.

Dimen�sions

Type HSP−...−AE−... HSP−...−AE−...GEsions[mm] Size 12 16 25 12 16 25

B1 ±3 308 339 372 159 178 203

B2 ±2 93 111 115 93 111 115

B3 ±0.5 56 60 62 56 60 62

B4 71 70 90 59 70 100

H1 120 160 200 120 160 200

H2 ±0.2 34 44 75 34 44 75

H3 92.5 115 147 278 291 321

H11 ±3 � � � 312 343 391

@ D2 3.5 4.3 4.5 3.5 4.3 4.5

@ D3 6.2 8.0 10 6.2 8.0 10

@ D4 13 13 13 13 13 13

L1 ±0.6 200 280 370 200 280 370

L4 15 15 15 15 15 15

L5 100 90 45 100 90 45

L6 � 100 280 � 100 280



HSP−...−AE−...

HSP−...−AE−...GE

Fig.�A/1: Dimensions of the handling module



Dimension[mm]

HSP−12−... HSP−16−... HSP−25−... Sub−base

H1 40 20 40 L1

H1

H2 40 ±0.2 100 ±0.2 100 ±0.2

H2

@ D1 (x4) 6.3 6.3 6.3

1H

L1 155 ±0.6 235 ±0.6 325 ±0.6 D1

Fig.�A/2: Through−holes for mounting to the sub−base

Product weight fortype:

HSP−12−... HSW−16... HSP−25−...

...−AE 3.70 kg 5.30 kg 9.00 kg

...−AE−SD 4.50 kg 6.60 kg 10.70 kg

...−AE−GE 4.00 kg 5.70 kg 10.10 kg

...−AE−SD−GE 4.80 kg 7.00 kg 11.80 kg

Basic design, increases in weight due to accessories can be found in the relevant product docu�mentation.



A.3 Characteristic curves

A.3.1 Travel time and speed

DefinitionEffective load m = applied load on the vertical guide rail, e.g. adapter, semi−rotary drive, gripper and workpiece

Travel time t = time which the handling module requires in order to travelfrom the stop of the pick position to the stop of the place position and back.

1600400

m [kg]

t [ms]

1.4

0

0.2

0.4

0.6

0.8

1,0

1.2

1.0

1.6 HSP−12−AE

HSP−16−AE

HSP−25−AE

800 1200 2000

Fig.�A/3: Travel time t dependent on the effective load m

The shortest achievable travel time t is represented in the�Travel time−speed" diagram, taking into account the repeti�tion accuracy and optimised oscillation and positioning be�haviour.



HSP−12−AE−...t [s]

200 1200400 600 800 1400100000

0.4

0.81.0

0.6

0.2

v [°/s]v [°/s]

HSP−16−AE−...t [s]

200 400 600 800 10000

0

0.4

0.8

1.0

0.6

0.2

v [°/s]

HSP−25−AE−...

200 400 600 800100

0

1.2

0.8

1.6

0.4

300 500 700

t [s]

v [°/s]

Fig.�A/4: Travel time−speed diagram



A.3.2 Motor force and insertion force

100 200 300 400 500 600

0

10

Fm [N]

800 900

15

700

5

0

Mm [mNm]Mnom

HSP−12−AEStroke [mm]52

60

68

200 400 600 800 1000 1200

0

5

10

1400 1600

15

18000

Mm [mNm]

HSP−16−AEStroke [mm]90

100

110

Mnom

Fm [N]

1000 2000 30000

10

20

Fm [N]

Mm [mNm]

4000 5000

30

0

HSP−25−AE

Mnom

130

150

170

Stroke [mm]

Fig.�A/5: Motor force diagram



A.4 Accessories

A.4.1 Handling module accessories

Designation HSP−12−... HSP−16−... HSP−25−...

Installation kit MKRP−1 MKRP−2 MKRP−3

Adapter kit 1) HAPG−70 HAPG−71 HAPG−72

Cover kit BSD−HSP−12 BSD−HSP−16 BSD−HSP−25

Stop cushioning Rubber buffer

Spring clamping element Original spare part for HSP

Mounting kitAngle bracket

HMBK−NDHMBV−ND

Slot nut HMBN−5−M5

Proximity sensor (optional) SMT−8(M)−...

1) Mounting instructions for further accessories in conjunction with Festo components are summarized in the �Handling technology" system description.

A.4.2 Lines for connecting the motor unit

Lines 2.5 m long 5 m long 10 m long

Pilot line KES−MC−1−SUB−9−2.5 KES−MC−1−SUB−9−5 KES−MC−1−SUB−9−10

Supply line KPWR−MC−M8−SUB−9−2.5 � �

Programming line KDI−MC−1−SUB−9HC−2.5 KDI−MC−1−SUB−9HC−5 KDI−MC−1−SUB−9HC−10



A.4.3 User’s manual

User’s manual in paper form

German P.BE−HSP−AE−IO−DE

English P.BE−HSP−AE−IO−EN

French P.BE−HSP−AE−IO−FR

Italian P.BE−HSP−AE−IO−IT

Spanish P.BE−HSP−AE−IO−ES

Swedish P.BE−HSP−AE−IO−SV

Index

B−1Festo P.BE−HSP−AE−IO−EN en 0708a

Appendix B

B. Index

B−2 Festo P.BE−HSP−AE−IO−EN en 0708a

B. Index


A

Absolute 4−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Accessories 1−14 , A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adjusting screw 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

Command record XIV , 4−15 , 5−19 . . . . . . . . . . . . . . . . . . . . .

Command record table 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection electrical 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I/O control 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Line 3−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Serial interface 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wiring 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control elements 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control panel 4−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Access the main menu 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . Key function 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Menu structure 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Selection of a menu command 4−5 . . . . . . . . . . . . . . . . . . .

Controller XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Counting direction XIV , 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . .

Cross guide 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Characteristic load values 2−8 . . . . . . . . . . . . . . . . . . . . . . .

Cycle time 5−28 , 5−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


D

Device control 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnostics 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display of diagnostic data 4−7 . . . . . . . . . . . . . . . . . . . . . . . Error messages 7−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LED displays 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mechanical defects 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions A−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E

Earthing 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC XIV , 3−8 , A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

End positions 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . y−stroke 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . z−stroke 2−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Error 7−4 , 7−6 , 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F

Factory setting 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FCT XIV , 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Force mode XV , 1−10 , 5−31 , 5−43 . . . . . . . . . . . . . . . . . . . . . .

H

Handling module XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HMI (see device control) XIV , 4−24 . . . . . . . . . . . . . . . . . . . . .

Homing XIV , 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Abort 5−10 , 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Start 4−11 , 5−9 , 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode XV , 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


HSP mode XV , 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameterisation 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach procedure 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Abort 5−15 , 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Start 5−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HSx mode 4−14 , 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I

I/OAddressing of the positioning records 5−35 . . . . . . . . . . . . Delete error 5−41 , 5−44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enable 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Function check 5−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Maximum peak current A−6 . . . . . . . . . . . . . . . . . . . . . . . . . Pulse−time diagram 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . Signal level A−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Terminal 3−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inching operation XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inching operation , 4−15 , 5−19 Abort 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Insertion force 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Interface serial 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LED 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Lines A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Load voltage 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Lubrication A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Motor unit XV , 1−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mounting 2−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Terminal 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


O

Operation modeHoming mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HSP mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Profile Position Mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . Profile Torque Mode XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach mode XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operational principle 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

P

Parameterisation 4−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Absolute/relative 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Force 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Password 4−22 , 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Activate 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Change/deactivate 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . Query 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PELV 3−9 , A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning mode XV , 1−10 , 5−43 . . . . . . . . . . . . . . . . . . . . . . Abort 5−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Start 5−43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning record XV , 5−23 , 5−35 . . . . . . . . . . . . . . . . . . . . . Create 5−18 , 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delete 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Start 4−10 , 5−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning/force mode changeover XV , 5−13 . . . . . . . . . . . .

Power supply 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Load voltage 3−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply unit 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile Position Mode 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile Torque Mode 1−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


Proximity sensor 3−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

R

Reference point XVI , 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Referencing method XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Relative 4−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Replace spring clamping element 6−9 . . . . . . . . . . . . . . . . . . .

Rubber bufferReplace 6−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set 2−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

S

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

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

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

Setpoint position 5−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Slotted guide plate XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software end position XVI , 5−11 . . . . . . . . . . . . . . . . . . . . . . .

Speed 5−27 , A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Stop 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch on 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch−on behaviour 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Swivel lever XVI , 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


T

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

Teach procedure 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technical data A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Travel time 5−29 , A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Types of mounting 2−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

U

User instructions X . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Version XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

W

Work range 5−10 , 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Y

y−stroke 1−3 , 2−15 , A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Z

z−stroke 1−3 , 2−14 , A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Zero point 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Date post:	08-Aug-2020
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Handling Module HSP−−AE...The handling module of type HSx−AE−... is intended for use in...

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