Handling module HSP−−AE - Festo · 2020. 3. 28. · HSP mode Teach operation for referencing and automatic parametrizing of positiog sets for pick and place standard applications

Manual

Type HSP−�−AE−IO−�

Manual541 946

en 0510NH

[691 172]

Handling moduleHSP−...−AE

Adobe® and Reader® are either a registered trademark or a

trademark of Adobe Systems Incorporated in the United

States and/or other countries.

Contents and general instructions

IFesto P.BE−HSP−AE−IO−EN en 0510NH

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

Edition en 0510NH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

E (Festo AG�&�Co. KG, D�73726 Esslingen, Federal Republicof Germany, 2005)Internet: http://www.festo.comE−Mail: [email protected]

The reproduction, distribution and utilization of this document

as well as the communicaton of its contents to others withoutexpress authorization is prohibited. Offenders will be heldliable for the payment of damages. All rights reserved in theevent of the grant of a patent, utility module or design.


II Festo P.BE−HSP−AE−IO−EN en 0510NH


IIIFesto P.BE−HSP−AE−IO−EN en 0510NH

Contents

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

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

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

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

Manuals on the handling module type HSP−...−AE XV . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Information on the version XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Handling with electric positioning motors 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Design and components 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Method of operation 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Operating elements on the motor unit 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

2.1 Instructions on fitting 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Fitting the handling module 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Fastening options 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Attachment components 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Fitting the motor unit 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Turning the motor unit (only type HSP−...−GE) 2−10 . . . . . . . . . . . . . . . . .

2.4.2 Swivelling the motor unit (only type HSP−...−GE) 2−11 . . . . . . . . . . . . . . .

2.5 Static adjustment of the mechanical end positions 2−13 . . . . . . . . . . . . . . . . . . . .

2.5.1 Setting the z−stroke 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Setting the y−stroke 2−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.3 Replacing the silencers (rubber buffers) 2−17 . . . . . . . . . . . . . . . . . . . . .


IV Festo P.BE−HSP−AE−IO−EN en 0510NH

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

3.1 Notes on installation 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

3.2.1 Power supply 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Serial interface 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 I/O control 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Proximity switch (optional) 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

4.2 The menu system 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.2.2 Selecting a menu command 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 [Diagnostic] menu 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Positioning] menu 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 [Positioning] [Move positioning set] 4−11 . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 [Positioning] [Homing] 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.5.1 [Settings] [HSP setup] [HSP mode] 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 [Settings] [HSP setup] [Positioning set] 4−15 . . . . . . . . . . . . . . . . . . . . . .

4.5.3 [Settings] [HSP setup] [Count direction] 4−17 . . . . . . . . . . . . . . . . . . . . . .

4.5.4 [Settings] [HSP setup] [Delivery status] 4−19 . . . . . . . . . . . . . . . . . . . . . .

4.5.5 [Settings] [HM type] 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.6 [Settings] [Password edit] 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Menu command [HMI control] 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VFesto P.BE−HSP−AE−IO−EN en 0510NH

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

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

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

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

5.3.1 Reference travel 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Limits of the work range in HSP mode 5−10 . . . . . . . . . . . . . . . . . . . . . . .

5.4 Teaching typical �Pick and place" positioning sets 5−13 . . . . . . . . . . . . . . . . . . . .

5.4.1 HSP mode 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

5.5 Parametrizing via the positioning set table 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Notes on parametrizing 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Creating new positioning sets (intermediate positions) 5−27 . . . . . . . . .

5.5.3 Adapting existing positioning sets 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.4 Processing individual positioning sets (test run) 5−29 . . . . . . . . . . . . . .

5.5.5 Delete positioning sets 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Communication with the higher−order controller 5−31 . . . . . . . . . . . . . . . . . . . . . .

5.6.1 I/O function check 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Description of the I/Os 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.3 Description of function (pulse−time diagram) 5−36 . . . . . . . . . . . . . . . . .

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

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

6.2 Instructions on care and maintenance 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1 Replacing the spring clamping elements 6−8 . . . . . . . . . . . . . . . . . . . . .

6.2.2 Replacing the rubber buffers 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7. Diagnosis 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 General diagnostic possibilities 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

7.4 Mechanical fault 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


VI Festo P.BE−HSP−AE−IO−EN en 0510NH

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

A.1 Technical specifications A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Dimensions A−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.1 Through holes for attachment to the base plate A−8 . . . . . . . . . . . . . . .

A.3 Characteristic curves A−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.1 Setting the speed via the positioning time A−9 . . . . . . . . . . . . . . . . . . .

A.3.2 Setting the insert torque A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.3 Positioning time t as a factor of the work load m A−11 . . . . . . . . . . . . . .

A.4 Accessories A−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.1 Accessories for tha handling module A−12 . . . . . . . . . . . . . . . . . . . . . . . .

A.4.2 Cable for connecting the motor unit A−12 . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.3 User documentation A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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


VIIFesto P.BE−HSP−AE−IO−EN en 0510NH

Designated use

Handling module type HSP−AE−... has been designed for use

in automated component assembly in handling and fitting

systems.

The handling module is particularly suitable for handling

small parts at high speed, e.g. when inserting or turning parts

in the automotive industry.

It is absolutely necessary to observe the �Safety instructions"

as well as the designated use of the relevant components and

modules. Observe also the safety instructions in the operat�

ing instructions for the electric components used.

Please observe the standards specified in the relevant

chapters and comply with technical regulations, as well as

with national and local regulations.

The handling module and the modules and cables which can

be connected are only to be used as follows:

� in accordance with designated use

� only in industrial applications

� without any modifications by the user. Only the conver�

sions or modifications described in the documentation

supplied with the product are permitted.

� in faultless technical condition.

If additional commercially−available components such as

sensors and actuators are connected, the specified limits for

temperatures, electrical data, pressures, torques, etc. must

be observed.


VIII Festo P.BE−HSP−AE−IO−EN en 0510NH

Safety instructions

When commissioning and programming positioning systems,

you must observe the safety regulations in this manual as

well as those in the operating instructions for the other

components used.

The user must make sure that nobody is in the operating

range of the connected actuators or axis system. Access to

the possible danger area must be prevented by suitable

measures such as protective screens and warning signs.

WarningElectric axes can move suddenly with high force and at

high speed. Collisions can lead to serious injury to human

beings and damage to components.

Make sure that nobody can gain access to the operating

range of the axes or other connected actuators and that no

objects lie in the positioning range while the system is still

connected to a power supply.

WarningFaults in parametrization can cause injury to people and

damage to property.

Enable the controller only if the axis system is correctly

installed and parametrized.

Target group

This manual is intended exclusively for technicians trained in

control and automation technology, who have experience in

installing, commissioning, programming and diagnosing

positioning systems.


IXFesto P.BE−HSP−AE−IO−EN en 0510NH

Service

Please consult your local Festo repair service or write to the

following e−mail address if you have any technical problems:

[email protected]

Scope of delivery

Included in scope of delivery:

� handling module and motor unit with integrated controller

� user documentation on CD ROM (in paper form can be

ordered as accessory).

Information on accessories for fitting and installation can be

found in chapter 1.1.1. Information on ordering and further

accessories can be found in appendix A.4.


X Festo P.BE−HSP−AE−IO−EN en 0510NH

Important user instructions

Danger categories

This manual contains instructions on the possible dangers

which may occur if the product is not used correctly. These

instructions are marked (Warning, Caution, etc.), printed on a

shaded background and marked additionally with a picto�

gram. A distinction is made between the following danger

warnings:

WarningThis means that failure to observe this instruction may

result in serious personal injury or damage to property.

CautionThis means that failure to observe this instruction may

result in personal injury or damage to property.

Please noteThis means that failure to observe this instruction may

result in damage to property.

The following pictogram marks passages in the text which

describe activities with electrostatically sensitive compo�

nents.

Electrostatically sensitive components may be damaged if

they are not handled correctly.


XIFesto P.BE−HSP−AE−IO−EN en 0510NH

Marking special information

The following pictograms mark passages in the text

containing special information.

Pictograms

Information:

Recommendations, tips and references to other sources of

information.

Accessories:

Information on necessary or sensible accessories for the

Festo product.

Environment:

Information on environment−friendly use of Festo products.

Text markings

· The bullet indicates activities which may be carried out in

any order.

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

numerical order specified.

� Hyphens indicate general activities.


XII Festo P.BE−HSP−AE−IO−EN en 0510NH

Product−specific terms and abbreviations

The following product−specific terms and abbreviations are

used in this manual:

Term/abbreviation Meaning

0−signal 0 V at input or output (positive logic, corresponds to LOW)

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

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

Count direction The count direction is specified viewed down onto the motor shaft. Positive count direction means:

Positive position specifications and torques have an effect from thereference point in the clockwise direction.Negative count direction means:Negative position specifications and torques have an effect from the

reference point in the clockwise direction.The factory pre−setting of the count direction is �negative".

EMC Electromagnetic compatibility

Encoder Optical pulse generator (rotor position transducer). The electric signalsgenerated are sent to the controller, which then calculates the position

and speed on the basis of the signals received.

Festo Configuration Tool(FCT)

Software with uniform project and data management for all supporteddevice types. The special wishes of a device type are supported by

PlugIns with the necessary descriptions and dialogues.

Handling module Complete actuator, consisting of motor unit and moving mechanicalparts.

Homing mode Operating mode in which reference travel is carried out.

HSP mode Teach operation for referencing and automatic parametrizing of positiogsets for pick and place standard applications (can be edited later via

positioning set table).

IO

I/O

InputOutput

Input and/or output

Motor unit Integrated unit consisting of the controller, encoder and motor, e.g. motor unit type MTR−DCI−...


XIIIFesto P.BE−HSP−AE−IO−EN en 0510NH


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

PLC Programmable logic controller; in brief: controller

Positioning set Positioning command defined in the positioning set table, consisting of:� the number of the positioning set (0 ... 14)

� the absolute or relative reference of the nominal position� Insert torque for reducing the torque when the nominal position is

reached� nominal position of the positioning set

� positioning speed of the positioning set

Profile Position mode(positioning mode)

Operating mode for position−controlled processing of a positioning set

Profile Torque mode(positioning mode)

Operating mode for torque−controlled processing of a positioning set

Reference point Reference point for the incremental measuring system. The referencepoint defines a known position/orientation within the positioning path of

the drive.

Reference travel The reference position and therefore the source of the measuringreference system of the axis will be defined by the reference travel.

Use the following method to do this:� Reference travel against a negative fixed stop

The drive moves at low speed in the direction of the pick position untilthe fixed stop is reached.

Referencing Complete definition of the measuring reference system with referencepoint and, if applicable, zero point

Referencing method Method for defining the reference position: against a fixed stop(overcurrent/speed evaluation) or with reference switch.

On the HSP−...−AE−... referencing always takes place against the negativefixed stop = pick position.

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

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

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

� Software end position, negative:min. limit position in the negative direction; must be reached during

positioning.


XIV Festo P.BE−HSP−AE−IO−EN en 0510NH


Swivel lever Mechanical component of the handling module which carries out the pickand place movement and enables the work load to be mounted. The

movement takes place via the link and cross guide.

Teach mode Operating mode, e.g. for setting positions by moving to the targetposition when creating positioning sets; see also HSP mode

Torque switching Reduction of the torque for moving to the end position. The transitionfrom position−controlled operation to torque−controlled operation takes

place when the nominal position is reached if M � 0 Nmm. The torque isspecified either automatically in the HSP mode or if the positioning set is

parametrized.

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


XVFesto P.BE−HSP−AE−IO−EN en 0510NH

Manuals on the handling module type HSP−...−AE

This manual contains basic general information on operating,

fitting, installing and commissioning the I/O interface. It also

contains information on the functions of the I/O interface, as

well as on commissioning with the �Festo Configuration Tool"

(FCT) software package.

Product variants are available for coupling to field bus sys�

tems. Special information on this can be found in the manual

for the relevant product variant.

Information on components can be found in the operating

instructions supplied with the relevant product.

Version Designation Contents

Docu package with brief

description + manuals on

CD ROM

P.BE−HSP−AE−UDOK Brief description: Important

instructions on commissioning

and preliminary information.

Manuals: Contents as described

below

Manuals Handling module HSP−...−AEP.BE−HSP−AE−IO−DE

P.BE−HSP−AE−IO−EN

P.BE−HSP−AE−IO−FR

P.BE−HSP−AE−IO−IT

P.BE−HSP−AE−IO−ES

P.BE−HSP−AE−IO−SV

� Installing, commissioning and

diagnosing handling modules

with electric servomotor

� Communication via the I/O

interface

Help system for software Festo Configuration Tool Help

(contained in the FCT software)

Function descriptions of the FCT

configuration software


XVI Festo P.BE−HSP−AE−IO−EN en 0510NH

Information on the version

The hardware version specifies the version status of the

mechanical parts and electronics of the MTR−DCI.

The firmware version specifies the version status of the

operating system of the MTR−DCI.

You can find the specifications on the version status as

follows:

� Hardware version and firmware version in the FCT with

active device connection to the MTR−DCI under �Device

data"

� Firmware version on the control panel under [Diagnostic]

[SW information]

Firmware version What is new? Which FCT PlugIn?

V−HM1.20 For handling modules with motor unit type

MTR−DCI−...−IO−HM including integrated controller

and I/O interface.

Supports type:

� HSP−12−AE−IO

� HSP−12−AE−IO−SD

� HSP−12−AE−IO−GE

� HSP−12−AE−IO−SD−GE









V1.0.0

System summary

1−1Festo P.BE−HSP−AE−IO−EN en 0510NH

Chapter 1

1. System summary

1−2 Festo P.BE−HSP−AE−IO−EN en 0510NH

Contents

1. System summary 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Handling with electric positioning motors 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Design and components 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Method of operation 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Operating elements on the motor unit 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1. System summary


1.1 Handling with electric positioning motors

1 Higher−levelcontroller e.g.Festo type FEC...

2 Software level:FestoConfiguration Tool

3 Motor/controllerlevel:MTR−DCI−...−HM+�coupling

4 Drive level:handling module

1

2

3

4

Fig.�1/1: Handling with electric positioning motors (principle)

1. System summary


1.1.1 Design and components

Design HSP−12−...HSP−16−...HSP−25−...

Type HSP−...−AE−...−IOMotor fastening with flange

Type HSP−...−AE−IO−...−GEMotor fastening via single−stage

right−angle gear unit

Motor position variable

Type HSP−...−AE−IO−SD−...(−GE)Handling module as above, also

with protective cover and side

plates

The �SD" design is recom�

mended for stand−alone mode.

Tab.�1/1: Designs of the handling module

1. System summary


Handling module type HSP−...−AE−... is supplied as standard

with motor unit already mounted.

� Size HSP−12/16/25−...

� Drive type electric

� Motor unit with integrated controller and control panel

HSP−12/16−AE−...: motor unit type MTR−DCI−42−...−HM

HSP−25: motor unit type MTR−DCI−52−...−HM

� I/O control

You will require the following components for connecting the

motor unit (cable obtainable as accessory).

Power unit for power supply: 24 V DC

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

Control cable for the transfer of information between the higher−order

controller and the motor unit

Programming cable for transfer of information between the PC and the motor

unit

Further accessories:

� Kits for mounting, installation

� Adapters (e.g. for grippers, rotary drives).

Information on ordering can be found in appendix A.4,

Accessories.

Instructions on fitting further accessories in conjunction with

Festo components are described in the chapter �Handling

technology" in the system manual.

1. System summary


Accessories

Fastening kit HMB−...for fitting with angled pieces and sliding blocks

e.g. on profile columnns

Installation kit MKRP−... (A)� Flexible protective tube for moving tubing

� Cable support on the cross guide

� Adapter bracket for fastening e.g. on to a

base plate or structure

� Cover profile for cable bearing in the grooves

of the base plate or side plates

(A)

Adapter kit HAPG−... (B) and in some casesadditional adapter plates (C)for fastening add−on components

(grippers, swivel drive)

(B)

(C)

Tab.�1/2: Kits (can be ordered as accessory)

1. System summary


1.1.2 Method of operation

3

1

2

4

5

6

7

1 2 adjustable guide links for path control via rollerbearing guide

2 Swivel lever

3 2 adjusting screws (y−stroke)

4 2 linear guides arranged in cross−form (cross guide)

5 2 stops in the end positions with rubber buffers andeach with a fastening rail for proximity switches

6 2 adjusting screws (z−stroke)

7 Base plate with variable fitting and fasteningpossibilities

Fig.�1/2: Structure

1. System summary


Due to path control and the cross guide there is a forced

movement in vertical and horizontal directions (y−z path).

When the HSP is fitted, the following can be set indepen�

dently of each other:

� of the y−stroke of the pick and place positions

� of the z−stroke, e.g. differences in height, between a

rotary indexing table and a transfer system.

z

y

� z

� y

Spring clamping elements fitted under the stops press the

swivel lever into the path guide and enable high repetition

accuracy in positioning in the end positions. Braking takes

place in the taught end positions (pick and place positions)

by the motor unit. The rubber buffers in the stops cushion

(exclusively) the impact noise.

If desired, the end positions can be scanned with proximity

switches of type SMT−8−... (evaluation by PLC). The switching

status of the proximity switches can be observed through the

viewing window when the housing cover is fitted on.

The motor unit consists of DC motor, planetary gear, encoder

and integrated control electronics (positioning control and

position encoder). Energy supply and control interfaces are

integrated in the housing of the motor unit. The free−of−play

connection between the motor unit and the drive takes place

via a clamp coupling. As a further variant, a very compact

motor add−on unit can be implemented with a single−stage

right−angle gear unit.

1. System summary


The integrated electronics of the motor unit regulate pick and

place movements with separately adjustable positions

� 2 end positions (pick and place positions)

� max. 13 intermediate positions (e.g. as waiting position

or reject position).

The motor unit takes over the following tasks:

� specification of the nominal positions by positioning

control

� postion encoding and torque control

� sequence control via digital inputs and outputs

(CANopen, PROFIBUS in preparation).

Commissioning

Parametrizing and commissioning of the HSP−AE−... is carried

out:

� directly on the control panel HMI). The user interface with

display and four operating buttons enables positions and

the speed to be parametrized directly on the drive.

� via the RS232 interface (with FCT software).

1. System summary


Functions HMI FCT

Parametrizing � Selecting the handling module

� Uploading/downloading configuration data

� Saving different configurations in projects

x

�

�

x

x

x

Positioning sets � Compiling a positioning set table with set number,

target position, absolute/relative reference, posi�

tioning speed, insert torque (torque switching)

x x

Commissioning � Reference travel

� Moving in individual steps

� Starting and stopping positioning procedures

during commissioning

� Extended test functions e.g. status dislpays

� Testing or demonstrating the positioning sets

x

�

x

�

x

x

x

x

x

x

Diagnostics/

Service

� Reading and displaying diagnostic data x x

The handling module can also be parametrized and commis�

sioned with the Command Interpreter via the RS232 inter�

face. The CI commands listed in the Object Directory can be

transmitted to the motor unit with all commercially−available

terminal programs. Only experienced users may use the

CI�commands. If necessary consult the Festo Service.

HSP mode

Standard sequences can be parametrized in a simplified

Teach procedure (HSP mode). In the Teach mode �HSP

mode" reference points and nominal positions of the posi�

tioning sets are taught.

� Reference points and zero point of the reference system

(= Pick stop)

� The permitted positioning range (software end positions)

� End positions

� Intermediate positions

1. System summary


The parametrizing of the positioning sets is preset in the HSP

mode so that for standard applications there is vibration−free

operation with exact positioning in the mechanical end posi�

tions. By means of torque switching the swivel lever moves

with reduced torque to the mechanical stop.

For special applications the parametrizing of the positioning

sets can be modified after teaching. Positioning sets for

further intermediate positions can be added. You can insert

positioning sets, e.g. in order to carry out emergency travel

with a relative positioning movement in �Step mode".

Relative positioning movements can also be carried out if the

reference system has not yet been referenced.

1. System summary


Pick and place (standard applications) Teach with ...

Pick and place movement with torque switching in Pos 0 and

Pos 1 for precise end position travel to the stops (= mechanical

end position).

HSP mode 1

01

Pick and place movement additionally with waiting positions

(Pos 2 and Pos 3) directly over the work item/support e g for

HSP mode 2(Pos 2 and Pos 3) directly over the work item/support, e.g. for

insert procedures with different speeds or for handling compo�

nents of different heights

23nents of different heights.

01

Pick and place movement additonally with setup position

(mid−position Pos 2), e.g. as reject position for bad parts.

HSP mode 3

2

01

2

Pick and place movement for insert procedures with defined

force;

HSP mode 4force;

torque switching in Pos 2 and Pos 3 for precise end position

travel from the waiting positions.01

23g p

01

Pick and place movement for insert procedures with defined HSP mode 5Pick and place movement for insert procedures with defined

force; Torque switching in Pos 2 and Pos 3 for precise end

position travel from the waiting positions Additonal setup

HSP mode 5

23 4position travel from the waiting positions. Additonal setupposition (mid−position Pos 2), e.g. as reject position for bad

01

23 4

position (mid position Pos 2), e.g. as reject position for bad

parts. 01

Tab.�1/3: Pick and place (standard applications)

1. System summary


Operating modes

Profile position mode Normal operation for positioning.

Individual positioning travel in accordance with the

configured positioning sets:

� moves to a target position with absolute or relative

dimensions,

� at speed which can be set,

� with predefined acceleration and braking ramp,

� with optional torque switching (automatic switching in

the nominal position from Profile position mode into

Profile torque mode, if insert torque M � 0).

Profile torque mode Operating mode for positioning the handling module in the

mechanical end positions. For positioning at the stop, a

defined force can be exerted if a nominal torque value is

specified.

Homing mode Positioning travel for referencing the incremental reference

system.

For commissioning, for testing or for demonstration the

following functions are also available via the control panel:

� Teach travel for automatic parametrizing of positioning

sets for typical pick and place applications (HSP mode)

� Positioning travel for testing a certain positioning set in

the positioning set table (Move position set).

1. System summary


Operational safety

An extensive system of sensors and monitoring functions

ensure operational safety:

� i2t−monitoring

� Temperature monitoring

(measurement of the power end stage temperature)

� Voltage failure monitoring

� Current monitoring

� Drag fault monitoring

� Software end position recognition

Please noteCheck within the framework of your EMERGENCY STOP

concept to ascertain the measures necessary for putting

your machine/system into a safe state in the event of an

EMERGENCY STOP (e.g. switching off the operating

voltage).

WarningNote that the MTR−DCI−...−IO−HM−... does not have a

separate logic voltage supply.

· If an EMERGENCY STOP circuit is required for your

application, use additional separate safety limit

switches (e.�g. as normally−closed contacst in a series

circuit) for switching off the operating voltage.

1. System summary


1.2 Operating elements on the motor unit

1 Control panel(LC�display andtouch−sensitivekeypad)

2 Status indicators(LEDs)

3 Electrical connections

1 2 3

Fig.�1/3: Operating elements on the motor unit

Element Description Reference

Control panel The control panel has an LCD graphics display (128 x 64 dots).

Operator control is by means of a touch−sensitive keypad with

four keys, with which all functions can be accessed by menu.

Chapter 4

Status display The visual display of the operating states is shown with 3 LEDs:

� Operating voltage �Power"

� Positioning status/bus status �I/F" (= interface/field bus)

� �Error" fault

Chapter 7.2

Connections The motor unit has the following connections:

� Power supply

� I/O control

� RS232 interface to PC

Chapter 3

1. System summary


1.3 Festo Configuration Tool (FCT)

The Festo Configuration Tool (or brief FCT) is the software

platform for configuring and commissioning different compo�

nents or devices from Festo. The FCT consists of the following

components:

� a framework as a program starting and entry point with

uniform project and data management for all supported

device types.

� a PlugIn for the special demands of each device type

(e.g.�MTR−DCI−HM) with the necessary descriptions and

dialogues. The PlugIns are managed and started from the

framework.

The PlugIn MTR−DCI−HM for the FCT supports all the steps

necessary for commissioning the handling module.

The FCT is installed on your PC with an installation program.

The PlugIn is installed on your PC together with the installa�

tion program of the FCT.

Please noteAdministrator rights are required for installing the FCT.

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

1. Close all programs.

2. Place the CD Festo Configuration Tool in your CD ROM

drive. If Auto Run is activated on your system, the

installation will start automatically and you can omit

steps�3 and 4.

3. Select [Execute] in the starting menu.

4. Enter D:\setup (if necessary replace D by the letter of

your CD ROM drive).

5. Follow the instructions on the screen.

1. System summary


The FCT help system

The FCT offers various possibilities of obtaining information

or help with operation.

The help for the FCT contains the complete information on

operating the Festo Configuration Tool. The device−specific

PlugIns each have their own help files.

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

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

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

directly individual pages of the help or all the pages of a

book from the contents directory of the help.

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

or Rich Text format (RTF).

The relevant file can be found under the following

directories:

Printed version Directory File

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

� FCT_en.rtf

PlugIn help

(MTR−DCI−...−HM)

...(FCT installation directory)\HardwareFamilies\

Festo\MTR−DCI−HM\V...\Help\

� MTR−DCI−HM_en.pdf

� MTR−DCI−HM_en.rtf

For using the print version in the Adobe PDF format you will

require the Adobe Reader.

1. System summary


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

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

[Contents FCT general].

With function button F1 you can open directly a context−

related help.

Help for PlugIn The help for the PlugIn �MTR−DCI−HM" contains the complete

information on operating the PlugIn.

You can open the help as follows:

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

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

· Help button in the window range or dialogue of the

PlugIn.

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

PlugIn.

Dynamic help For permanent display of context−related information you can

use the integrated dynamic help of the FCT:

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

command [Dynamic help]. The dynamic help will be

displayed in a dockable window.

· Activate the element in the window for which you require

help, e.g. with a mouse click. If window areas or dia�

logues of the PlugIn are activated, the contents of the

relevant PlugIn will be displayed automatically in the

dynamic help.

Fitting


Chapter 2

2. Fitting


Contents

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

2.1 Instructions on fitting 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Fitting the handling module 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Fastening options 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Attachment components 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Fitting the motor unit 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Turning the motor unit (only type HSP−...−GE) 2−10 . . . . . . . . . . . . . . . . .

2.4.2 Swivelling the motor unit (only type HSP−...−GE) 2−11 . . . . . . . . . . . . . . .

2.5 Static adjustment of the mechanical end positions 2−13 . . . . . . . . . . . . . . . . . . . .

2.5.1 Setting the z−stroke 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Setting the y−stroke 2−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.3 Replacing the silencers (rubber buffers) 2−17 . . . . . . . . . . . . . . . . . . . . .

2. Fitting


2.1 Instructions on fitting

WarningSudden unexpected movement of the connected actuators

and uncontrolled movements of loose tubing can cause

injury to human beings or damage to property.

Switch off the following before undertaking fitting:

� the compressed air supply to the attached components

� the operating voltage supply for the motor.

Please noteHandle all modules and components with great care.

Please note especially the following:

� Screw connections must be fitted free of offset and

mechanical tension. Screws must be fitted accurately

(otherwise threads will be damaged).

� The specified torques must be observed.

� The modules must not be offset.

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

Observe also the installation instructions supplied with

modules and components ordered at a later stage.

CautionIf mechanical modifications have been undertaken since

commissioning, the reference system and the end posi�

tions must be taught again. Carry out the following com�

missioning steps:

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

� after setting the y−stroke,

� after setting the z−stroke,

� If the load changes, take the modified work load into

consideration.

2. Fitting


2.2 Fitting the handling module

2.2.1 Fastening options

The handling module is supplied ready fitted:

· Make sure that the fastening surface can support the

weight of the handling module.

· Fasten the handling module only onto a flat fixed surface.

· Remove the protective cover of the handling module

before fitting.

Select one of the following fastening methods:

� Fastening via the side plates (user−specific hole pattern).

� Direct fastening via 4 through holes in the base plate

(dimensions see appendix, A.2.1).

� Fastening on the rear of the base plate (example see

Fig.�2/1)

� with sliding blocks type HMBN−5−M5 or

� with fastening kit type HMBK−ND and connecting

bracket type HMBV−ND.

Recommendation:

Fasten the handling module preferably vertically with fasten�

ing kit HMBK−ND and connecting bracket HMBV−ND to one or

two profile columns.

2. Fitting


Fig.�2/1: Example of fitting (accessories)

Please noteNote that two profile columns are required for stable

fastening of the HSP−25−... .

2. Fitting


· Position the handling module so that you can easily reach

the operating parts.

· Make sure that the handling module is fitted free of

mechanical stress. Tighten the fastening screws evenly.

· Make sure there is sufficient space for connecting the

power cables and compressed air tubing.

· Avoid where possible mechanical stress of the supply

lines due to rotary and swivel movements of the handling

module.

2. Fitting


2.3 Attachment components

Please noteExcessive forces and torques can damage the drive and

the mechanical components. Make sure that you observe

the maximum permitted values of the following variables:

� force Fx, Fy, Fz� torques Mx, My and Mz.

Max. loading values for the cross guide (vertical operation)

For the max. loading values ofthe cross guide (vertical

operation) the following appliesfor dynamic and static loading:

Mx

Mper�

My

Mper� Mz

Mper� 1

The reference point for forcesand torques is the centre of the

cross guide on the guide slide.

Mper see following table.

Maximum loadingMper (permitted)

HSP−12 HSP−16 HSP−25

Dynamic torque 1) 1.1 Nm 2.4 Nm 3.2 Nm

Static toeque 2) 5 Nm 10 Nm 15 Nm

1) When observing the maximum work load2) For press−in and joining procedures without dynamic loading

2. Fitting


Please noteNatural resonances when the work load vibrates can cause

damage.

· Place the mass centre of gravity of the work load, there�

fore, as near as possible to the axes of symmetry of the

cross guide.

Recommendation:

Use adapter kit type HAPG−...�. The standard hole pattern of

the universal adapter forms the interface to selected Festo

products, e.g. micro grippers. Mount the work load (adapter

plate, rotary drive and/or gripper, gripper finger, work item)

within the mounting surface of the universal adapter.

· Check to see if additional fastening elements and adapter

plates are necessary. An overview of this can be found in

the sales documentation for the handling module type

HSP−...−AE−...�.

1 Universal adapter

2 Mounting surface

with standardhole pattern

3 Adapter plate

4 Support for cablebinder

5 Tubing guides (2x)

1

2

3

4

5

Fig.�2/2: Adapter kit (accessory)

2. Fitting


2.4 Fitting the motor unit

In the case of the handling modules HSP−... and HSP−...−GE,

the motor unit is supplied ready fitted.

� Fastening with flange (type HSP−...)

� Fastening with flange and right−angle gear

(type HSP−...−GE)

Please noteReplacement or repair of the motor unit requires settings

with very fine adjustments.

· Make sure that the product is overhauled only by our

repair service.

1 Type HSP−...

2 Type HSP−...−GE

1 2

Fig.�2/3: Fitting the motor unit

In the case of handling modules type HSP−...−GE you can turn

or swivel the motor unit.

� Turning the motor unit 90° ... 360° (see chapter 2.4.1)

� Swivelling the motor unit ±90° (see chapter 2.4.2)

2. Fitting


Please noteNote that turning/swivelling the motor unit is only

permitted with handling modules type HSP−...−GE.

In the case of handling modules with direct fastening, the

alignment of the motor unit is specified at the factory.

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

1 Clamping themotor

2 Do not lose thegear clamping

12

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

Please noteLoosen only the fastening screw of the motopr clamp.

In particular, screws which are locked with sealing plugs,

may not be loosened.

1. Loosen the motor clamp.

2. Screw the motor unit into the desired position.

2. Fitting


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

· In order to carry out the functional check, swivel the

moveable mass by hand into the end positions.

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

1 Fastening screws1

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

1. First of all turn the motor unit so that the display does not

touch the base plate when the motor unit is swivelled

(see�chapter 2.4.1).

2. Loosen the four fastening screws of the motor flange.

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

4. Tighten the four fastening screws with the specified

torque (alignment on centring collar).

2. Fitting


Tightening torques HSP−12 HSP−16 HSP−25

Motor flangeFastening screws

M4x123 Nm

M4x163 Nm

M5x166 Nm

· In order to carry out the functional check, swivel the

moveable mass by hand into the end positions.

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

2. Fitting


2.5 Static adjustment of the mechanical end positions

· For static adjustment, remove the protective cover of the

handling module.

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 locking nut of the adjusting screw (z−stroke).

2. Use a hexagon socket screw key to turn the adjusting

screw at the same time with counter force against the

locking screw until the pick position is reached.

3. Tighten the locking screw (torque�1�Nm).

4. Repeat the procedure for setting the place position.

2. Fitting


2.5.2 Setting the y−stroke

WarningInjury to people and damage to property.

Sudden unexpected movements of the actuators during

the setting of the y−stroke can cause injuries and loose link

parts can damage the handling module.

· Switch off the power supply for the drive before you

loosen the fastening screws of the link parts.

· After setting the y−stroke: Make sure that the fastening

screws of the link parts are screwed tight.

1. Loosen the fastening screws of the right−hand and left−

hand link parts just enough to enable the link parts to be

shifted.

1 Two fasteningscrews of the linkpart

2 One additionalfastening screwof the link part(onlyHSP−16/25−AE−...)

3 Do not loosen thetwo fasteningscrews of thecentre piece (only

HSP−16/25−AE−...)

12 1 2

3

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

2. Fitting


Please noteLoosen only the fastening screws of both link parts 1 and2 (type HSP−16/25−...). The fastening screws of the centre

piece 3 between the link parts on the HSP−16−... and

HSP−25−... must not be loosened.

2. Turn the adjusting screws (y−stroke) until the link parts

reach the desired pick or place position.

If side plates are fitted: set the adjusting screws with a

hexagon socket screw key through the holes in the side

plates.

1 Fastening screws(left−hand linkpart)

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

3 Stop strip

1

2

31

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

2. Fitting


For alignment free of offset:

3. Press the link parts down vertically against the aluminium

stop strip of the horizontal guide rail, while you tighten

the fastening screws of the link parts (tightening torque

6�Nm).

Please noteCarry out a manual check after each adjustment

(drive without power):

� Has the desired end position been reached?

� Are the link parts aligned without offset?

For the manual check:

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

· When doing this, check that the double rollers run

smoothly in the path guide.

· If necessary, correct the alignment of the link parts.

2. Fitting


2.5.3 Replacing the silencers (rubber buffers)

1 Rubber buffer 1 1

Fig.�2/9: Setting the rubber buffers

The rubber buffers in the stops serve for reducing noise in

the end positions and not for cushioning the impact forces.

When supplied, the rubber buffers project approx. 0.5 mm

out of the stop.

After commissioning, adjust the cushioning elements so that

there is just a metallic impact and the noise is kept as low as

possible. If the impact noises become loud during operation,

the rubber buffers should be readjusted.

2. Fitting


Installation


Chapter 3

3. Installation


Contents

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

3.1 Notes on installation 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

3.2.1 Power supply 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Serial interface 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 I/O control 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Proximity switch (optional) 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Installation


3.1 Notes on installation

WarningSudden unexpected movement of the connected actuators

and uncontrolled movements of loose tubing can cause

injury to human beings or damage to property.

Before carrying out installation and maintenance work,

switch off the following:

� the compressed air supply of the connected components

� the operating voltage supply.

You can thereby avoid:

� unexpected movements of the connected actuators

� non−defined switching states of the electronic

components.

Make sure that the moving pneumatic tubing and electric

cables are laid correctly (example see Fig.�3/1):

· Lay the cables and tubing upwards along the vertical

guide rail.

· Fasten the cables and tubing with cable binders as

follows:

� on the cable binder support of the universal adapter

or pass them through the two cable channels of the

universal adapter,

� on the cable binder support of the cross guide.

· Pass the cables and tubing through the hole in the base

plate or use protective tubing.

3. Installation


Installation kit MKRP−... (see chapter �Accessories") enables

the tubing and cables to be grouped together in a flexible

installation tube. The installation tube is fastened with the

support on the cross guide and with the adapter bracket e.g.

on the base plate or the structure. The installation tube may

be filled to max. 70 %.

1 Cable bindersupport(universaladapter)

2 Cable ducts

3 Cable bindersupport(cross�guide)

4 Protective tubing

5 Through hole1

2

3

45

Fig.�3/1: Installation (example)

3. Installation


3.2 Electrical connection of the motor unit

CautionIncorrectly prepared cables may damage the electronic

components and trigger off unexpected movements of the

motor.

· Use only the cables listed as accessories for connecting

the electric components of the system (see Tab.�3/2).

Only in this way can you be sure that the system will

function correctly.

Please note· Lay all moving cables free of bends and free of mechan�

ical stress, if necessary use a drag chain.

· Observe the maximum specified cable lengths.

1 Serial interface

2 Without function

(do not connect)

3 I/O control

4 Power supply(POWER)

1

2

3

4

Fig.�3/2: Connections of the motor unit

3. Installation


Connection Description

1 Serialinterface

� M8, 4−pin� Socket

RS232 interface forparametrizing,

commissioning anddiagnosing

2 Withoutfunction

� M8, 3−pin� Socket

Do not connect Seal the connection

with the protectivecap supplied (type

ISK−M8).

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

MTR−DCI−...−IO−HM:plug

Interface forconnecting any PLC

controller

4 Power supply � DSub−9W2� Plug

Operating voltageconnection with

high−current contacts

Tab.�3/1: Overview of connections

Do not touch the contacts of non−assigned plugs as this may

cause ESD (electrostatic discharge) which could damage the

motor unit or other parts of the system. Place protective caps

on unused connections in order to prevent such discharges.

The plug connectors of the following Festo cables have been

designed so that, when inserted and screwed tight or if fitted

with protective covers for the motor unit, they will comply

with protection class IP54 (protection clas of handling mod�

ule: IP40).

3. Installation


Connection Cable Designation Length [m]

Power supply Supply cable KPWR−MC−1−SUB−9HC−... 2.5 / 5 / 10

I/O control Control cable KES−MC−1−SUB−9HC−... 2.5 / 5 / 10

Serial interface Programming cable KDI−MC−M8−SUB−9−... 2.5

Tab.�3/2: Cables (accessories)

In order to guarantee compliance with the IP protection class:

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

hand.

· Seal unused connections with protective caps.

Observe the permitted tightening torques specified in the

documentation for the cables and connectors used.

3. Installation


3.2.1 Power supply

By the use of PELV power units, protection against electric

shock (protection against direct and indirect contact) is

guaranteed in accordance with IEC/DIN EN 60204−1

(electrical equipment of machines, general requirements).

Warning· In order to provide the electric power supply, use only

PELV circuits as per IEC/DIN EN 60204−1 (ProtectiveExtra−Low Voltage, PELV).

Take into account also the general requirements for

PELV circuits as per IEC/DIN EN 60204−1.

· Use only power packs which guarantee reliableelectrical isolation of the operating voltage as per

IEC/DIN EN�60204−1.

The internal power and controller electronics are supplied

with DC voltage via the power supply connection.

Plug Pin Colour 1) Description

O1 black (1) POWER +24 V DC

O1 O2

O2 black (2) POWER GND

1) Cable colours with power cable type KPWR−MC−1−SUB−9HC−...

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

3. Installation


Please noteFor the power supply use only one of the following cables

from the Festo:

� power cable KPWR−MC−1−SUB−9HC−...

� cable length max. 10 m.

CautionDamage to the device.

The 24 V DC voltage input of the motor unit has no internal

fuse.

· Note that the tolerances for the power supplies must be

observed, see Tab.�3/4. The tolerance must also be

observed directly at the power connection of the motor

unit.

· Install an external fuse in the 24 V DC supply in order to

limit the available current (see Fig.�3/3).

O1 O2

A1 A2

Fig.�3/3: Connection example � power supply with

external�fuse

3. Installation


The power supply must fulfil the following requirements:

Power supply HSP−12/16−AE−...MTR−DCI−42−...−HM

HSP−25−AE−...MTR−DCI−52−...−HM

Rated voltage 24 V DC ±10 % 24 V DC ±10 %

Rated current 2 A ±20 % 5.1 A ±20 %

Peak current 1) 3.8 A ±20 % 7 A ±20 %

Power unit fuse (secondary side) 7 A, slow−blowing 10 A, slow−blowing

1) Power unit with 40 % power reserve required

Tab.�3/4: Power supply specifications

Please noteOperation of the handling module can cause a voltage dip

due to the dynamic change in loading (> POWER DOWN

fault). Therefore use a closed−circuit power unit with highoutput reserve:

� 24 V DC / 6 A peak current for MTR−DCI−42−...−HM

� 24 V DC / 10 A peak current for MTR−DCI−52−...−HM

3. Installation


3.2.2 Serial interface

Serial interface for parametrizing, commissioning and

diagnosing

Please noteUse the following cable from Festo for connecting a PC:

� programming cable KDI−MC−M8−SUB−9−...

� cable length 2.5 m.

· If necessary, remove the protective cap from the serial

interface of the motor unit.

· Connect the following connections with the programming

cable:

� the connector socket of the motor unit

� a serial interface COMx of the diagnostic PC.

M8 socket Description

1 GND Ground

2 TXD RS232 transmitting cable 1)

3 RXD RS232 receiving cable 1)

1 2 4 34 −−− Reserved for servicing personnel

� do not connect!

1) The levels comply with the RS232 standard

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

motor unit

3. Installation


Information on commissioning and parametrizing the

handling module via the serial interface can be found in the

help system for the FCT software package.

Please noteThe RS232 interface is not electrically isolated. It is not

suitable for permanent connection to PC systems, nor as a

control interface.

· Use this connection only for commissioning.

· Disconnect the diagnostic cable during continuous

operation.

· Seal the connection with the protective cap supplied

(type ISK−M8).

3.2.3 I/O control

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

note the instructions on the function of the I/O interface in

chapter 5.6.

CautionLong I/O signal cables reduce the immunity to

interference.

· Do not, therefore, exceed the maximum permitted

I/O�signal cable length of 30 m.

Use control cable KES−MC−1−SUB−9 for connecting the motor

unit to a higher−order controller (PLC).

3. Installation


Sub−D plugs Colour 1) Description

11 white I1 Input positioning set coding Bit0

1

2 brown I2 Input positioning set coding Bit1

3 green I3 Input positioning set coding Bit2

94 yellow I4 Input positioning set coding Bit3

9

5 grey I5 Input STOP bit

6 pink I6 Input ENABLE bit

7 blue O1 READY output

8 red O2 MOTION COMPLETE (MC) output

9 black GND GROUND (reference potential)

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

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

WarningIf a voltage is applied and the output pins are used

incorrectly, the device may be seriously damaged,

therefore:

· Do not connect voltage to the outputs.

· Note the current limit at the outputs, (see I/O specifica�

tion, appendix A.1).

3. Installation


3.3 Proximity switch (optional)

As an option, you can use proximity switch type SMT−8 for

scanning the end positions with the higher−order controller

(PLC).

1. Remove the protective cover of the handling module.

2. Push the proximity switch into the groove of the sensor

rail. The electric proximity switches are triggered by

magnets in the stop screws.

3. Fasten the proximity switch in the end position. Subse�

quent adjustment of the stop cushioning is not necessary.

Please noteThe cables of the proximity switches must not lie in the

working range of the handling module.

· Clamp the cables in the groove of the side plates and

the base plate.

· Secure the cables with the aid of the cover profile of the

installation kit (cut to size).

· Pass the cables back through the through hole in the

base plate.

1 Sensor slot

2 Stop screws

3 Cover profile

4 Side plates

5 Through hole

1

2

3

4

5

Fig.�3/4: Fitting the proximity switch

The control panel


Chapter 4

4. The control panel


Contents

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

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

4.2 The menu system 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.2.2 Selecting a menu command 4−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 [Diagnostic] menu 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 [Positioning] menu 4−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 [Positioning] [Move positioning set] 4−11 . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 [Positioning] [Homing] 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

4.5.1 [Settings] [HSP Setup] [HSP mode] 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.2 [Settings] [HSP Setup] [Positioning set] 4−15 . . . . . . . . . . . . . . . . . . . . . .

4.5.3 [Settings] [HSP Setup] [Count direction] 4−17 . . . . . . . . . . . . . . . . . . . . .

4.5.4 [Settings] [HSP Setup] [Delivery status] 4−19 . . . . . . . . . . . . . . . . . . . . . .

4.5.5 [Settings] [HM type] 4−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5.6 [Settings] [Password edit] 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Menu command [HMI control] 4−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



The motor unit of the handling module offers on the control

panel all functions necessary for commissioning, program�

ming and diagnosing. An overview of the button and menu

functions can be found in this chapter. Commissioning with

the control panel is described as from chapter 5.1.

CautionFaults may occur if control and operating functions are

accessed at the same time via the serial interface, the

control interface and the control panel.

· Make sure that the serial interface, the control interface

and the control panel are not used at the same time.

Please noteIf applicable, remove any protective foil on the display

before commissioning.



4.1 Composition and function of the control panel

1 LC display

2 Touch−sensitivekeyboard

1 2

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

LC display The graphic LCD (128 x 64 points) shows all texts in English.

The display can be turned in 180° steps, see menu command

[LCD adjustment].

Touch−sensitive keyboard The touch−sensitive keyboard offers the following settings

and functions for commissioning menu−controlled via four

butttons.

� parametrizing and referencing the drive

� teaching standard applications and editing positioning

sets

� processing/testing individual positioning sets.



Function Button

MENU Activates the main menu from thestatus display. Menu

ESC Rejects the current entry and switchesback in stages to the higher−order menu

level or status display.

EMERG.STOP Interrupts the current positioningprocedure (> MOTOR STOP fault;

confirm with <Enter>, then automaticreturn to the status display).

OK Confirms the current selection or entry.Enter

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

VEDIT Sets parameters

V

Tab.�4/1: Button function (overview)



4.2 The menu system

4.2.1 Accessing the main menu

When the power supply is switched on, the MTR−DCI auto�

matically carries out an internal check. At first the display

briefly shows the Festo Logo then changes to the status

display.

The status display shows the following information:

� the type designation of your 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 button function will be displayed in the lower

lines of the display:

<Menu> The main menu is accessed from the status

display with the <Menu> button.

4.2.2 Selecting a menu command

<− −> With the arrow buttons on the control panel you can

select a menu command from the list. The current

selection is marked with an arrow (} Diagnostic).

Select S in order to display further menu com�

mands.

ESC With the<menu> button you can interrupt the current

entry and return to the status display or from a sub−

menu to the higher−order menu.

OK With the <Enter> button you can confirm the current

selection or entry.

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] Display of the system data and the currently effective settings (see chapter 4.3)

[Pos. set table] Display of parameters of the positioning set table

[Limit param] Display of limit values e.g. vmax, software end positions

[System param] Display system parameters and data

[SW information] Display the operating system version (firmware)

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

[Move position set] Starts positioning travel according to the positioning set selected

[Homing] Starting reference travel (move to position 0)

} [Settings] 1) 2) Parametrizing, programming the positioning sets ... (see chapter 4.5)

[HSP Setup] [HSP mode] 3) Teaching typical �Pick&place" sequences (5 standard applications)

[Position set] Editing the positioning set table

[Position nr] Number of the positioning set (0...14)

[Pos set mode] 5) Absolute or relative positioning

[Torque] 4) Insert torque for reducing the torque when

the nominal position is reached

[Position] 3) 5) Nominal position of the positioning set

[Velocity] Positioning speed of the positioning set

[Save...] Save parameters in EEPROM

[Count direction] Reversing the count direction

[Delivery status] All settings undertaken in [HSP Setup] and all positioning sets are

overwritten with the factory settings.

[HM type] Only for servicing personnel: selecting the handling module according to design

(e.g. type HSP−... or HSW−...)

[Password] Setting up a local password with 3 figures for the control panel (see chapter 4.5)

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

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

1) If necessary password protection2) Control interface must be deactivated, see [HMI control]: HMI = on3) Teach mode4) Only possible with absolute positioning5) Cannot be set for positions 0 and 1

3

Tab.�4/2: Menu structure (overview)



4.3 [Diagnostic] menu

In order to display the system data and the currently effective

settings:

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

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

<− −> You can scroll through the data with the arrow

buttons.

ESC With the <Menu> button you can return to the

higher−order menu.


[Pos. set table] No. Number of the positioning set (0...14)

M/P/R � M = absolute positioning, with torque switching when the nominal position is reached

� P = absolute positioning, without torque switching� R = relative positioning

Pos Target position

Vel Positioning speed

[Limit param] v max Maximum positioning speed

á min Software end position �Pick"

á max Software end position �Place"

á 0 Offset of zero point

} DiagnosticPos.set tableLimit paramSystem paramSW information




[System param] V power Supply voltage [V]

V dd Voltage of 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 I0

Bit 1 I1Bit 2 I2

Bit 3 I3Bit 4 START

Bit 5 ENABLE

Out signal Hexadecimal representation of the outputsBit 0 READY

Bit 1 MOTION COMPLETE

Mode Degree (measurement system = degrees)

Hom.meth. bl.negReferencing is always made to the fixed stop �Pick"

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

WarningDamage to or impairment of the mechanical components

With all positioning procedures the motor turns and the

swivel lever of the connected handling module moves at

high speed depending on the pre−setting.

· Make sure that:

� nobody can place his/her hand in the positioning

range

� there are no objects in the positioning path.

Please note· Before starting reference travel, make sure that:

� the handling module is set up completely, wired and

supplied with power.

� the parametrizing is completed.

Selecting positioning travel or reference travel:

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

2. Select the menu command:

� [Move positioning set] for testing a certain positioning

set in the positioning set table (see chapter 4.4.1).

� [Homing] for referencing after the operating voltage

has been switched on (see chapter 4.4.2).

} PositioningMove positioning

setHoming

Move positioning setPosition no.[0..14] = _?

ESC <Menu>EDIT <––> OK <Enter>

Move positioning setWarning Motor moves

ESC <Menu>START <Enter>

Move positioning setPos 2át = 100 degv = 20 deg/sáa = 90 deg

EMERG.STOP<menu>

Move posit set Pos 2át = 100 degv = 20 deg/sáa = 100 deg

ESC<menu>



4.4.1 [Positioning] [Move positioning set]

Please noteDo not start a positioning set until the reference system

has been defined by reference travel (see chapter 4.4.2).

1. Select the number of the positioning set.

<− −> You can set the desired number with the arrow

buttons.

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

ESC With the <Menu> button you can interrupt the

activity and return to the higher−order menu.

2. Start the positioning procedure with START <Enter>.

During positioning travel the following information is

displayed:

� the active positioning set e.g. Pos 2

� the target position át

� the positioning speed v

� the current position áa

EMERG.

STOP

With the <Menu> button you can interrupt the

current positioning procedure (> MOTOR

STOP fault).

When positioning travel is completed:

ESC With the <Menu> button you can return to the

selection of the positioning set.

HomingAttention! Motor moves.

ESC <menu>START <Enter>

HomingV_rp = 157 deg/s

EMERG.STOP<menu>



4.4.2 [Positioning] [Homing]

Please note· Note also the instructions on carrying out reference

travel in chapter 5.3.

Defining the reference point by means of reference travel:

· Start reference travel with the <Enter> button.

The search speed V_rp is shown on the display during

reference travel.

During reference travel the drive moves slowly at reduced

search speed to the stop of the pick position and accepts

the position as the reference point (= zero point). After

settling time (approx. nach ca 20 ms) te drive is posi�

tioned at the zero point áa = 0.

EMERG.

STOP

With the <Menu> button you can interrupt the

reference travel (> HOMING ERROR fault).

If necessary, reference travel can be interrupted with the

<Menu> button (EMERG.STOP > HOMING ERROR fault).

· Quit the fault message with <Enter>.

· Repeat reference travel.

After successful reference travel the menu [Positioning] will

be shown.



4.5 Menu [Settings]


In all teaching procedures the motor turns or the

connected handling module starts to move.

· Make sure that:


range of the handling module

� there are no objects in the positioning range.

The menu [Settings] contains all the functions necessary for

parametrizing and commissioning the drive (see Tab.�4/4).

Further information on the individual menu commands can be

found in the chapters specified.

Menu command Description Chapter

[HSP Setup][HSP mode]

Teaching typical pick and place sequences 4.5.1

[HSP Setup][Position set]

Editing the positioning set table 4.5.2

[HSP Setup][Count direction]

Reversing the count direction of all positions 4.5.3

[HSP Setup][Delivery status]

All settings undertaken in [HSP Setup] and all positioning setsare reset to the factory settings.

4.5.4

[HM type] 1) Selecting the handling module according to device type (e.g. HSP−...) for adapting the device parameters and the setup

functions.

4.5.5

[Password edit] Setting up a local password with 3 figures for the control panel 4.5.6

1) Only for service personnel. Not contained in version V−HM 1.20.

Tab.�4/4: Menu [Settings]

} SettingsHSP Setup

HSP modePosition setCount directionDelivery status

HM typePassword edit

HSP modeAttention! Motor moves.


HSP mode 1Pos0 = 1 deg.Pos1 = 194 deg.

ESC <menu>SAVE <Enter>



4.5.1 [Settings] [HSP Setup] [HSP mode]

Creating the positioning sets for typical pick and place

sequences.

· Note the instructions on carrying out the teach procedure

in chapter 5.4.



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

<− −> You can set the desired HSP mode with the

arrow buttons.

OK You can confirm the selection with the <Enter>

button.

2. Starting the Teach procedure.

START You can start the teach procedure with the

<Enter> button. Depending on the selected

mode, all positions will be taught one after the

other (the end positions Pos 0 and Pos 1, inter�

mediate positions).

3. Saving the taught positions.

Please noteDuring saving positioning sets Pos 0...4 will be overwritten.

SAVE You can save the taught positions with the

<Enter> button. Only then does the setting

become effective in the drive and is retained

when the power supply is switched off.

HSP mode[1...5] = ?

ESC <menu><––> OK <Enter>

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

ESC <menu>EDIT <––> OK <Enter>



4.5.2 [Settings] [HSP Setup] [Positioning set]

· You must observe the instructions on parametrizing the

positioning sets in chapter 5.5.

Editing the positioning sets.

1. Select the number of the positioning set [Position nr].

<− −> You can set the desired number 0...14 with the

arrow buttons.

OK You can accept the selection with the <Enter>

button.



2. Select for the current positioning set:

� [Pos set mode] for setting a relative or absolute

positioning movement for intermediate positions

(Pos�0, 1: factory setting absolute, cannot be edited)

� [Torque] for teaching the insert torque (torque switch�

ing only if [Pos set mode] = absolute)

� [Position] for teaching the target position for all inter�

mediate positions (Pos 0, 1: Teaching only possible in

HSP mode)

� [Velocity] for setting the positioning speed.

} HSP SetupPositioning set

Position nrPos set modeTorquePositionVelocitySave



START You can start the teach procedure with the

<Enter> button.

<− −> You can set the parameters with the arrow

buttons.


button.



Please notePositioning sets with the speed v = 0 are not processed.

If the target position is not valid, the positioning set will

not be processed and the fault TARGET POSITION OUT OF

LIMIT will be displayed.

3. Save all the settings of the current positioning set with the

menu command [Save].

Please noteThe set parameters become effective immediately after

confirmation with OK <ENTER>. The settings are saved per�

manently in EEPROM with the menu command [Save...]:

· Save the parameter settings with [SAVE]. Only then will

the settings be retained even if the power supply is

switched off or if there is a power failure.



4.5.3 [Settings] [HSP Setup] [Count direction]

The factory pre−setting of the count direction is �negative".

The count direction is specified viewed down onto the motor

shaft.

Count direction, negative*

Negative angles and torqueshave effect from the reference

point in the clockwise direction.2

+

−

3p23

01

* Factory setting

Count direction, positive

Positive angles and torqueshave effect from the reference

point in the clockwise direction. 2 3

+

−p 2 3

10

If the count direction is modified, note the modified position�

ing behaviour and the effects on the already existing position�

ing sets:

� The pick and place positions are swapped. Due to the

modified pick position, reference travel must be carried

out.

� Positioning behaviour, as well as the effect of the holding/

insert torque M take place in the opposite direction.

� Intermediate positions are mirrored.





Setting the count direction

1. Select [Settings] [HSP Setup] [Count direction]

<− −> You can set the desired value with the arrow

buttons.


button.



2. Select:

� �positive" for setting the count direction in a

clockwise direction

� �negative" for setting the count direction in an

anti−clockwise direction.

After modifying the count direction,you will be requested to

carry out reference travel.

3. Start the reference travel with START <Enter>. Note that

the count direction of the reference point is not defined

until reference travel has been successfully completed.

When the count direction is modified:

· Check the validity of existing position and torque specifi�

cations in the positioning set table (usually only valid with

symetric applications).

Recommendation: Teach the positioning sets again if the

count direction has been modified.





4.5.4 [Settings] [HSP Setup] [Delivery status]

All settings undertaken by the user will be reset to the factory

settings. All entries in the positioning set table will be deleted.

Please noteIn order to prevent unauthorized or unintentional deletion

of the parameters, access via the control panel is only

possible with a (local) password (see chapter 4.5.6).

OK You can accept the factory settings with the

<Enter> button.



If the count direction is modified by the factory setting, you

will be requested to carry out reference travel:

· Start reference travel with START <Enter>. Note that the

count direction of the reference point is not defined until

reference travel has been successfully completed.

After returning to the factory setting:

· Carry out a Teach procedure in HSP mode in order to

define the reference system and the end positions

(see�chapter 5.1).



4.5.5 [Settings] [HM type]

This function is not yet available in version V−HM 1.20: Device

type �HSP" is preset at the factory and cannot be modified.

CautionOnly for service personal

If the device type is modified, the factory pre−settings will

be adapted to the device type.

If necessary, modify 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 the

arrow buttons.


button. The setup menu commands [HSP Setup]

or [HSW Setup] corresponding to the type of the

handling module set under [HM type] will then be

displayed.



HM type[HSP/HSW] = HSW?


} SettingsHSW SetupHM typePassword edit

New Password:[?xx] =




4.5.6 [Settings] [Password edit]

In order to prevent unauthorized or unintentional overwriting

or modification of parameters in the device, access via the

control panel is only possible with a (local) password. No

password is specified at the factory (presetting 000).

· Keep the password in a safe place, e.g. with the internal

documentation for your system.

If the password is lost in spite of care being taken:

you can delete the password by entering a master password.

In this case please contact your Festo Service partner.

Activate password

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

Enter a password with 3 figures 0 ... 9. The current entry

position is marked with a question mark.

1. Use the arrow buttons to select a figure.

2. Confirm your entry with <Enter>.

3. Set a figure for the next entry position �?".

4. After entering the third figure, save the password with

SAVE <Enter>.

After saving, access to all parameter functions and control

functions of the control panel is only possible with a pass�

word.

Enter password:[?xx] =


Enter password:[?xx] =




Password request

As soon as a password is active, it will be scanned automati�

cally when the menu commands [Positioning], [Settings] or

[HMI control] are accessed.

The current entry position is marked with a question mark.

1. Set the first figure of the password with the arrow

buttons.

2. Confirm the figure with <Enter>.

3. Set the figure for the next entry position �?".

When the correct password is entered, all parametrizing and

control functions of the control panel are enabled until the

power supply is switched off.

Modify/deactivate password

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

Enter the previous password with 3 figures 0...9. The current

entry position is marked with a question mark.

1. Set the first figure of the previous password with the

arrow buttons.

2. Confirm the figure with OK <Enter>.


After selecting the 3rd. figure of the previous password,

you can modify or deactivate the password.

New password:[?xx] =




Enter the new password with 3 figures or �000" in order

to deactivate the password:

4. Use the arrow buttons to select the first figure.

5. Confirm the figure with <Enter>.


7. After selecting the 3rd. figure, save your setting with

SAVE�<Enter>.

4.6 Menu command [HMI control]

In order to select the menu commands [Positioning] and

[Settings], you must enter the setting �HMI on". Only then is

the motor unit ready to process user entries on the control

panel.

When selecting the menu commands, you will be requested

to modify the HMI setting.

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

command [HMI control].

HMI 1) Device control

on The device control is carried out manually via the controlpanel. The control interface of the motor unit is deactiva�

ted and the control enable is set. The actual status of theENABLE input then has no effect.

off The device control is carried out via the control interfaceof the motor 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 Preparing for commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

5.3.1 Reference travel 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Limits of the work range in HSP mode 5−10 . . . . . . . . . . . . . . . . . . . . . . .

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

5.4.1 HSP mode 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

5.5 Parametrizing via the positioning set table 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Notes on parametrizing 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Creating new positioning sets (intermediate positions) 5−27 . . . . . . . . .

5.5.3 Adapting existing positioning sets 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.4 Processing individual positioning sets (test run) 5−29 . . . . . . . . . . . . . .

5.5.5 Delete positioning sets 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Communication with the higher−order controller 5−31 . . . . . . . . . . . . . . . . . . . . . .

5.6.1 I/O function check 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Description of the I/Os 5−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.3 Description of function (pulse−time diagram) 5−36 . . . . . . . . . . . . . . . . .



5.1 Preparing for commissioning


· Make sure that:



� there are no objects in the positioning range

� there are no cables or tubing in the positioning range

� the work space is of sufficient size for operation with

a work load.

· Exhaust the add−on components and check, if necessary,

the function of the add−on components in a separate test

run. Please observe the notes in the operating instruc�

tions for the components.

Checking the add−on components

Without work load � Check the correct assignment of thecompressed air connections

� The gripping speed� The function of the proximity switches

With load � Check that the work load is gripped firmly

· Check the following by moving the swivel lever manually:

� whether the end positions (stops) have been reached

� whether the link parts are aligned without offset.

· If necessary, correct the stroke setting and the alignment

of the link parts. Note here the instructions on adjustment

in chapter 2.4.2.



Switching on

Please noteNote that the tolerance for the supply voltage must be

observed. The tolerance must also be observed directly at

the operating voltage connection of the MTR−DCI

(see�chapter 3.2.1).

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

When the power supply is switched on, the MTR−DCI

automatically carries out an internal check.

The status display on the control panel shows the following

information:

� the type designation of your MTR−DCI

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

� the current position of the drive áa in degrees

� the current setting of the device control

(HMI = Human Machine Interface = control panel).

Please noteReference travel must be carried out each time the device

is switched on. Exception: Relative positioning movements

can also be carried out if the reference system has not yet

been referenced.

When the HSP is commissioned for the first time, referenc�

ing takes place automatically. Notes on carrying out refer�

ence travel

� for the first commissioning (see chapter 5.3.2)

� via the control panel (see chapter 4.4.2)

� via the I/O control interface (see chapter 5.6)

� FCT (see FCT help).

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

<Menu>



5.2 Commissioning procedure

CautionDamage to the mechanical components

The rubber buffers in the fixed stops serve for silencing.

Movement to a fixed stop creates shocklike loadings in the

drive string. This can lead to e.�g. damage to the gears.

· Move to the fixed stops only with low energy.

· Teach the end positions Pos 0 and Pos 1 in HSP mode

and note the instructions on referencing (see chap. 5.3).

You can then be sure that the handling module moves

controlled to the end position during operation.

CautionFaults may occur if control and operating functions are

accessed simultaneously via different user interfaces.

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

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



Please noteIn the following cases it is not permitted to access the

MTR−DCI with the FCT writing (e.g. downloading para�

meters) or controlling (e.g. with �Move manually" or when

starting reference travel):

� when the MTR−DCI is currently performing a positioning

movement or when a movement is started during access

(e.g. via the control interface or via the control panel)

� when parametrizing or operation is undertaken with the

control panel on the MTR−DCI.

Please note the following:

· The device connection in the FCT must not be activated

when the control panel is being used for control

(�HMI�control = on").

· Control with the control panel (�HMI control = on") must

not be activated when the device connection in the FCT

is activated.

· Control by the FCT must not be activated while the drive

is in motion or when control is being carried out via I/Os.

Controlling the device via the control panel

In order that the control panel can control the connected

MTR−DCI, you must adapt the device control accordingly

[HMI�= on]. The control interface of the MTR−DCI is then

deactivated and the control enable is set.

When selecting the menu commands [Settings] [...] and

[Positioning], you will be requested to modify the HMI setting.

You can also modify the setting directly in the main menu

with the menu command [HMI control].



Instructions on first commissioning

Please noteOnly for service personal

Check the factory presetting of the type of the handling

module in the menu and select, if applicable, the type of

your handling module. The menu [Settings] [...Setup] will

then contain the correct setup functions.

Please noteDuring the first commissioning, the zero point, the soft�

ware end positions and the end positions Pos 0 and Pos 1

must be defined by a teach procedure in HSP mode for

complete referencing of the reference system

(see chapter 5.3.2).

Carry out the first commissioning as follows. Note the

detailed description in the chapters specified.

First commissioning (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).After the teach procedure, it is possible to adapt the parametrizing via the

positioning set table.

5.4

2. If necessary, optimize the positioning sets via the positioning set table. 5.5

3. If necessary, parametrize additional positioning sets via the positioning set table. 5.5

4. Check the function of the contol interface of the MTR−DCI. 5.6

5. Before completing commissioning, note the instructions on operation. 6.1



5.3 Reference points and limits of the work range

5.3.1 Reference travel

Please noteReference travel must be carried out at all costs in the

following cases:

� with the fault REFERENCE IS NOT DEFINED!

� each time the device is switched on.

Relative positioning movements can also be carried out if

the reference system has not yet been referenced.

The reference point is determined by reference travel to the

fixed stop. Reference travel is always carried out at the stop

of the pick position.

Please noteIf the counting direction is modified [Settings] [HSP Setup]

[Count direction], the pick position will also be modified

(see also chapter 4.5.3).

The following position specifications refer to the reference

point (= zero point) after successful reference travel:

� the software end positions

� all absolute nominal positions.

During reference travel the drive moves slowly at reduced

search speed to the stop of the pick position and accepts the

position as the reference point (= zero point). After the set�

tling time (after approx. 20 ms) the drive is at the zero point

áa = 0.

The search speed is specified at the factory such that the end

positions can be reached reliably even at low mass or without

additional mass.



1 �Pick" stop

2 Reference point =

zero point

ÇÇÇÇ

ÇÇÇÇ

1

2

+ �

Fig.�5/1: Reference travel (negative count direction)

Start of reference travel

Reference travel can be started as follows:

� Menu [Positioning] [Homing] on the control panel

(see�chapter 4.4.2)

� I/O control interface, positioning set 15

(see chapter 5.6.3)

� FCT software

Reference travel is carried out automatically:

� during teaching of the �Pick&Place" sequences in

HSP�mode (Teach the pick position).



If the counting direction is modified by [Settings] [HSP Setup]

[Count direction] or [Delivery status], you will be requested to

carry out reference travel.

Discontinuing reference travel

If necessary, reference travel can be discontinued with the

<Menu> key (EMERG.STOP > HOMING ERROR).

Reference travel must be repeated when the fault message

has been quitted:

· Quit the fault message with <Enter>.

· Repeat reference travel.

5.3.2 Limits of the work range in HSP mode

Information on carrying out the teach procedure in HSP mode

can be found in chapter 5.4.

In HSP mode the following definition of the reference system

and of the work range will be carried out automatically during

each teach procedure:

� reference travel for defining the reference point

� calculating the end positions

� calculating 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 time (approx. 20 ms) as reference point and for calcu�

lating Pos 1.

After travel to the stop of the place position and the settling

time, position á1 will be accepted for calculating Pos 1.



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 size−dependent offset is determined at the factory and

compensates mechanically caused deviations (e.g. by the

rubber buffers or by the gear play):

Offset HSP−12−AE−... HSP−16/25−AE−...

D011° 2°

Software end positions The software end positions ámin, ámax limit the positioning

range. During teaching in HSP mode the software end posi�

tions will be newly defined:

amin � Pos�0� D02

amax � Pos�1� D02

Offset HSP−12−AE−... HSP−16/25−AE−...

D02K5° K2°

Please noteIf no teach procedure is carried out in HSP mode, the

software end positions are 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 limits of the work range



5.4 Teaching typical �Pick&Place" positioning sets

5.4.1 HSP mode

The HSP mode supports the programming of 5 typical

�Pick&Place" positioning sets. The positioning sets are

parametrized automatically in the Teach mode. Teaching

takes place at reduced speed.

Depending on the HSP mode selected, the end positions and

the intermediate positions are taught in the sequence of posi�

tioning sets 0 ... 4. During teaching of Pos 0 und Pos 1, the

reference point and the software end positions are calculated

at the same time (see also chapter 5.3.2). (Additional) refer�

ence travel via [Positioning] [Homing] is not required.

All nominal positions are preset in HSP mode as absolute

values. The presettings for speed and torque are selected

such that vibration−free operation is possible with standard

applications. The torque switching in the end or waiting posi�

tions enables precise end position movement to the stop

(see�also section 5.4.2, Insert torque).

The following representation of the �Pick&Place" applications

refers to the factory setting of the count direction [Count

direction] = negative. Note the instructions in chapter 4.5.3 if

you are modifying the count direction.

} SettingsHM typeHSP Setup


Password edit

01

+ −



HSP mode No. P/M Position Position

1 0 M (−) End position Pos 0 0 %

011 M (+) End position Pos 1 100 %

2 0...1 as HSP mode 1

23 2 P Waiting position 12.5 %

01 3 P Waiting position 87.5 %

3

2

0...1 as HSP mode 1

01

2

2 P Mid−position 50 %


23 2 M (−) Waiting position 12.5 %

01 3 M (+) Waiting position 87.5 %


23 4 2 M (−) Waiting position 12.5 %

01

23

3 M (+) Waiting position 87.5 %

4 P Mid−position 50 %

No = Number of the positioning setM = Position−controlled, with torque switching, direction of insert torque (+) or (−)

P = Position−controlled

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



5.4.3 Teach procedure


In all teaching procedures the motor turns or the

connected handling module starts to move.

· Make sure that:



� there are no objects in the positioning range.

Please note· Make sure that the stops are reached. Make sure that

there are no work items or other objects in the position�

ing or gripper range.

· Check the running behaviour during the Teach

procedure.

· Interrupt the Teach procedure immediately if:

� there is a metallic knocking of the stop screws

� the double rollers do not run smoothly in the path

guide

� the mechanical end positions are not reached

� the work load falls down.

· For eliminating faults, please refer to the instructions in

chapter 6.

Discontinuing the Teach procedure

If necessary, the Teach procedure can be discontinued with

the <Menu> button (EMERG.STOP).

HSP modeAttention! Motor moves.

ESC <Menu>START <Enter>

HSP mode 2Pos 0 = 1 degM = 549 Nmm.

Next?ESC <Menu>START <Enter>

HSP 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 be

quitted.

1. Select the menu command [Settings] [HSP 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 starting

position Pos 0.

The taught nominal value of the position is shown on the

display. In the case of positions with torque switching the

default value of the insert torque is also shown.

3. Start the Teach procedure of delivery position Pos 1 with

START <Enter>.

4. In HSP modes [2] ... [5]:

· Start the Teach procedure of intermediate positions

2�...�4 with START <Enter>.

· If necessary, correct the current position with the

arrow buttons on the control panel.

· Start the Teach procedure of the next position.

5. After the last Teach confirm the position with OK <ENTER>.

6. Save the taught positions with <SAVE>. Only then does the

setting become effective in the drive and is retained when

the power supply is switched off.

HSP mode[1...5] = ?

ESC <Menu><––> OK <Enter>



Please noteWhen the taught positions are saved in HSP mode, the

positioning sets will be overwritten 0 ... 4. Positioning sets>�4 remain unmodified.

Factory parametrizing

The taught positions and the following parametrizing of the

postioning sets are saved in the positioning set table when

they are accepted:

� the taught nominal position (absolute reference)

� the speed of the positioning procedure

� with torque switching: the insert torque M.

Parameters HSP−12 HSP−16 HSP−25

[Pos set mode] a / r absolute absolute absolute

[Torque] ±20 % M [Nmm] 270 549 1648

[Velocity] v [°/s] 1400 1048 800

Tab.�5/2: Factory parametrizing in HSP mode

· If necessary, carry out a test run. Note the instructions on

carrying out a test run in chapter 5.5.4.

If your application requires modification of the settings:

· Note the instructions on parametrizing in chapter 5.5.1.

· If necessary, teach further intermediate positions via the

positioning set table (chapter 5.5.2).

· If necessary, modify the parameters via the positioning

set table (chapter 5.5.3).



5.5 Parametrizing via the positioning set table

Please note· During commissioning use preferably an HSP mode for

teaching your �Pick&Place" positioning sets.

· Make sure that Pos 0 and Pos 1 are saved in the posi�

tioning set table before editing the positioning set table.

If necessary, carry out a Teach procedure in HSP mode.

In this way, system settings will be adapted to your

handling module.

· You must observe the instructions on parametrizing in

chapter 5.5.1.

With [Position set] you can make individual adaptions of the

positioning sets to your application.

Menucommand

Param. Description

[Pos.set.mode] � absolute� relative

Reference of the position specification of the positioning set� at the zero point = absolute

� at the current position = relativeCannot be edited for Pos 0 and Pos 1 (factory setting = <absolute>)

[Torque] M [Nmm] Reducing the torque to the specified value when the nominalposition is reached (only if [Pos.set.mode] <absolute>)

[Position] át [deg] Teaching the nominal value for intermediate positions (Pos�2�...�14)Nominal values for Pos 0 and Pos 1 are taught in [HSP mode] and

cannot be edited.

[Velocity] v [°/s] Setting the speed. The average speed of the positioning procedureamounts to 50 % of the set speed.

Tab.�5/3: Parametrizing the positioning sets

} SettingsHM typeHSP Setup


Password edit



5.5.1 Notes on parametrizing

CautionUnexpected movement of the handling module

Note that existing settings of the nominal position and of

the insert torque can lead to unexpected positioning be�

haviour after conversion of the absolute/relative position�

ing. The nominal position refers to a new starting point

(zero point or current position).

· Check the currently set nominal position under [Save]

after every modification to the absolute or relative

reference.

Recommendation:

· Teach the nominal position again after modification to

the absolute or relative reference.

Nominal position

[Position]

If your application requires (further) intermediate positions,

maximum 13 intermediate positions Pos 2 ... 14 can be

taught. Positions Pos 0 and Pos 1 can only be taught in

HSP�mode (not via the positioning set table).

· Select intermediate positions where possible in the linear

sections of the link guide. Due to the play of the curve roll

of the swivel lever, positioning in the curve sections of the

link guide is not reliable.

1 Non−linearsections

2 Linear section inthe y−direction

3 Linear section in

the z−direction 1

2

3 3



The specifications in angle degrees can be converted approxi�

mately into linear paths with the aid of 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

Speed [Velocity] = speed of the positioning procedure.

The average speed amounts to 50 % of the set speed.

With the speed entry in °/s the achievable positioning time

for the relevant size can be set. In operation there is no sense

in setting the drive at the maximum permitted speed, as the

complete cycle time and the maximum vibration amplitude

increase extremely due to the subsequent oscillation.

Please noteFor insert procedures the speed in the vertical linear range

must be reduced.

· Use preferably torque switching for insert procedures.

With torque switching the speed is specified at the

factory.

Blocking positioning sets:

Positioning sets with the speed v = 0 are not processed.



Please noteThe permitted kinetic impact force at the end stop applies

for certain mass−speed combinations. It must not be ex�

ceeded.

· Make sure that the permitted values for the positioning

time as a factor of the work load are observed.

· Make sure that the pulse time does not drop below theshortest permitted time.

Parameters HSP−12−... HSP−16−... HSP−25−...

Speed [Velocity] [°/s] 50 ... 1602 50 ... 1179 50 ... 1048

Minimum permitted pulsetime tt

s 0.8 1 1.2

Recommended speed forstandard applications

[°/s] 1400 1048 800



Ascertaining the pulse time

DefinitionPulse time tt = positioning time t + dwell time te

t: The time which the handling module requires in order

to move from the stop of the pick position to the stop

of the place position and back (permitted values see

following characteristic curves).

te: The time during which the handling module remains in

the Pick&Place positions.

With the following diagrams, the travel time as a factor of the

work load and the corresponding speed setting can be ascer�

tained. The shortest achievable travel time t is represented

taking into account the repetition accuracy and an optimized

oscillation and positioning behaviour.

m�[kg]

t�[ms]

Fig.�5/3: Travel time t as a factor of the work load m

DefinitionWork load m = additional mass on the vertical guide rail,

e.g. adapter, swivel drive, gripper and work item



HSP−12−AE−...

HSP−16−AE−...

HSP−25−AE−...

Fig.�5/4: Setting the travel time via the speed

A shorter travel time amd therefore a higher pulse rate is

possible in the end positions without torque switching. If a

precise mechanical end position is not required, [Torque] = 0

can be set via the parametrizing of the positioning set table.



Insert torque [Torque] In order to reach the mechanical end position accurately andstop free of play, the torque can be reduced to the insert

torque when the nominal position is reached (torque switch�

ing). The torque switching can be set for all positioning sets

with absolute position specification.

Operation without torque switching

If a precise mechanical end position is not required, you can

shorten the pulse time (travel time) by setting the insert

torques in the positioning set table to zero. No torque switch�

ing then takes place. When controlling the end positions

(Pos�0, Pos 1), the drive does not move to the stop, but posi�

tions itself with rated motor torque in the nominal position

and remains there controlled. No torque switching then takes

place. Advantage: shorter travel time and therefore higher

pulse rate.

Operation with torque switching

In operation torque switching means:

The drive positions itself at first at the set speed [Velocity]

and with the rated torque. When the nominal position is

reached, the torque will be reduced to the value set with

[Torque]. The drive moves torque−controlled at a constant,

factory−specified speed to the stop (= mechanical end posi�

tion) and �presses" torque−controlled against the stop. At the

next positioning command the drive positions itself again

with the rated motor torque.



1 Torque switchingin Pos 0 and Pos 1

2 Torque switchingin Pos 2 and Pos 3

1

3 2

0

M = [Torque]v = const


M = Mratedv = [Velocity]

M = Mratedv = [Velocity]



1

2

Fig.�5/5: Parametrizing with torque switching

Parameters HSP−12−... HSP−16−... HSP−25−...

Rated motor torque Mrated [Nmm] 540 1098.7 3296.1

Insert torqueM = [Torque] ±20 %

[Nmm] +67 ... +506−67 ... −506

+137 ... +1030−137 ... −1030

+412 ... +3090−412 ... −3090

Recommended insert torquefor standard applications

[Nmm] 270 549 1648



1 y−stroke 52 mm

2 y−stroke 60 mm

3 y−stroke 68 mm

HSP−12−AE−...

123

1 y−stroke 90 mm

2 y−stroke 100 mm

3 y−stroke 110 mm

HSP−16−AE−...

123

1 y−stroke 130 mm

2 y−stroke 150 mm

3 y−stroke 170 mm

HSP−25−AE−...

123

Fig.�5/6: Setting the insert torque



5.5.2 Creating new positioning sets (intermediate positions)

Please note· Make sure that a Teach procedure has been carried out

in HSP mode for defining the end positions

(see chapter 5.4).

· Note the instructions on parametrizing in chapter 5.5.1.

Please noteThe settings do not become effective in the drive until

they are saved with [Save]. Only then will the settings be

retained even if the power supply is switched off or if there

is a power failure.

1. Activate the desired positioning set with [Settings]

[HSP�Setup] [Position set] [Position nr] <2> ... <14>.

2. Select the nominal position as reference position with

[Pos set mode]:

� the zero point = absolute � or �

� the current position = relative.

3. Reducing the torque when the nominal position is

reached (prerequisite: [Pos set mode] = absolute)

· Set the desired torque under [Torque]. If there is no

reduction in torque, set [Torque] = 0.

4. Set the desired nominal position of the positioning set

under [Position].

5. Set the speed under [Velocity].

6. Then select [Save] in order to save the positioning set. All

settings will be displayed. Check the settings shown and

confirm the positioning set with OK <Enter>.

} HSP SetupPosition set

Position nrPos set modeTorquePositionvelocitySave





5.5.3 Adapting existing positioning sets

Please noteThe settings do not become effective in the drive until

they are saved with [Save]. Only then will the settings be

retained even if the power supply is switched off or if there

is a power failure.

The positioning set table is shown under [Diagnostic]. You can

scan the complete current parametrizing of a positioning set

with [Settings] [HSP Setup] [Position set] [Save].

1. Activate the desired positioning set (0...14) with [Settings]

[HSP Setup] [Position set] [Position nr].

2. Select the desired parameter for modifying an existing

positioning set. Note the instructions on parametrizing in

chapter 5.5.1.

3. Then select [Save] in order to save the positioning set.

All current settings will be displayed. Check the settings

shown and confirm the positioning set with [OK].







5.5.4 Processing individual positioning sets (test run)

Please notePositioning sets with speed v = 0 will not be processed

(message: Profile velocity = 0. Please teach v).

· Modify the parametrizing or select a different postioning

set.

If the nominal position is not valid, the positioning set will

not be processed (fault: TARGET POSITION OUT OF LIMIT).

· Check the ...

� software end positions (if necessary, carry out Teach

procedure in HSP mode),

� nominal position,

� the reference of the nominal position (absolute or

relative).

· During a test run check:

� that the work load is held safely

� the positioning time as a factor of the work load

� the adjustment of the end positions

� the setting of the stop cushioning

� if necessary, that the proximity switches are

functioning correctly.

1. For the test run, reduce first the nominal speed of the

positioning set or create positioning sets with appropriate

parametrizing for a test run.

· Now start at reduced speed.

· Increase speed until the operating speed is reached.

Pease refer to the calculations for your application for

the speed required.

2. Select [Positioning] [Move position set] in order to process

a certain positioning set or start a test run via the I/O

interface (see chapter 5.6).

} PositioningMove position setHoming



Interrupting the test run

Caution· Interrupt the test run if:

� there is a metallic knocking of the stop screws

� the double rollers do not run smoothly in the path

guide

� the end positions are not reached

� the work load falls down.

The test run can be interrupted as follows:

� With the <menu> button (EMERG.STOP).

� By cancelling the ENABLE signal at the I/O interface.

· For eliminating faults, please refer to the instructions in

chapter 6.

· If necessary, optimize the settings for positioning sets.

5.5.5 Delete positioning sets

Individual positioning sets cannot be deleted. The following

functions also cause positioning sets to be deleted:

� Restoring the factory setting wwith [Settings] [HSP Setup]

[Delivery status] will delete all positioning sets.

� Saving the taught positions in HSP mode will overwrite

the positioning sets 0 ... 4; the positioning sets 4 ... 15 willnot be overwritten.

Blocking positioning sets:

Positioning sets with the speed v = 0 are not processed.



5.6 Communication with the higher−order controller

5.6.1 I/O function check

WarningDanger of injury. Faults in parametrizing can cause injury

to people and damage to property.

· Enable the controller only if the axis system is correctly


In order to control the MTR−DCI via the control interface you

must deactivate the manual device control:

� via the control panel of the MTR−DCI with the menu

command [HMI control] (HMI = off),

� with FCT under �Device control" (FCT = off).

When the operating voltage is switched on, the control

interface is activated (HMI = off ).

In order to check the configuration and the set−up, enter a

simple test program or simulate control by directly setting the

inputs.

· Please refer here to the function description of the control

interface in chapter 5.6.2.

· Provide the necessary system inputs on the MTR−DCI.

There must be a 1−signal at the ENABLE input (controller

and power end stage enabled).

· Take into account also the output signals which are out�

put. There will be a 1−signal at the READY output (readi�

ness to operate) if the controller and the power end stage

are enabled and if no fault has been recognized.

· Program or start reference travel as well as some

positioning movements.

· Check the behaviour of the handling module.



5.6.2 Description of the I/Os

Positioning set: I1 ... I4 The positioning sets are selected with the binary coding of

inputs I1 (Bit 0) ... I4 (Bit3).

Positioning set I1 (20) I2 (21) I3 (22) I4 (23)

0 (intake position) 0 0 0 0

1 (delivery 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 (Reference travel) 1 1 1 1

Tab.�5/4: Binary code of the positioning set

15 positioning sets (0...14) can be freely selected in the I/O

variant. Positioning sets 0 and 1 are reserved for the end

positions Pos 0 and Pos 1. Positioning set 15 starts reference

travel. The remaining positioning sets contain intermediate

positions.



START: I5 The positioning set is started with a rising edge at the START

input.

Prerequisites:

� a 1−signal must be active at READY (no fault, ENABLE = 1),

� a 1−signal must be active at MC,

� the desired positioning set must be at I1 ... I4.

Pin Signal START (input)

I5 0 > 1 Start of the positioning set

Processing of the positioning set can be interrupted with a

falling edge at the ENABLE input (> 0). If started again, the

positioning set will be processed further as from the current

position.

ENABLE: I6 Controller and power end stage enable

Prerequisites:

� There must be an 0−signal at START

� No fault

A rising edge (> 1) at the ENABLE input causes the controller

and the power end stage of the drive to be switched on.

A falling edge (> 0) at the ENABLE input causes the controller

and the power end stage of the drive to be switched off.

Current travel will be interrupted. When enabled again thedrive will be at the current position and controlled.



CautionUncontrolled movement

When the power end stage is switched off, the motor is no

longer supplied with current. The drive becomes free of

torque and goes into a spin.

If the motor is no longer supplied with current, the drive can

be shifted. Depending on positioning and mounting position,

the swivel lever can move downwards automatically with the

work load.

As long as the power supply is not switched off, the actual

position is registered even after the enable is switched off. It

is not necessary to carry out new reference travel.

Pin Status ENABLE

I6 1−signal Controller and power end stage areswitched on

0−signal Controller and power end stage areswitched off

1 > 0 Quit fault



READY: O1 Ready for operation, all preconditions for starting a position�

ing set are fulfilled.

Pin Status READY

O1 0−signal System is not ready to operate� There must be an 0−signal at or� Fault

1−signal System is ready to operate� There must be an 1−signal at ENABLE and� No fault

MC: O2 Motion complete

Shows that a positioning order has been completed and that

the START input has been reset.

Pin Status MOTION COMPLETE

O2 0−signal Positioning procedure is being carried out orthe START signal is still at 1.

1−signal Positioning task is completed



5.6.3 Description of function (pulse−time diagram)

To explain the function, the following internal signals are alsorepresented in the pulse−time disgrams:

POWER Power supply

FAULT Fault

TR Target reached

Switch−on and reference travel

1

0

1

0

TR

READY O1

1

0

1

0

START I5

1

0

FAULT

Drive in motion

StartReference travel

1

0

Position. set 15 I1...I4

1

0

MC O2

ENABLE I6

POWER1

0

CancelInitialization

t TR

Newreference travel

Enable

Deletefaults

Reference travecompleted

min. 1 s

HOMING

ERROR

� 10 ms

Cancel > Faults

ÏÏÏÏ

ÏÏ

Fig.�5/7: Pulse−time diagram (switch−on � reference travel � fault)



Switch−on behaviour In order to guarantee that the system starts correctly, all

input signals must be stable when the power supply is

switched on (min. 1 s). Only then are the input signals

scanned.

If a fault occurs when the device is switched on, the START

signal > 1 will not be observed until the FAULT signal is

cancelled.

If there are no faults and the enable is active (ENABLE signal

= 1), the controller reports readiness for operation, i.e.

(READY signal > 1 and MC signal = 1 (Motion Complete).

Please notePositioning sets with relative positioning specification can

if necessary also be started without reference travel. Posi�

tioning sets with absolute positioning specification can

only be started after reference travel. In operation, refer�

ence travel must be carried out each time the device is

switched on.

Start reference travel If there are no faults and enable is active (ENABLE = 1), refer�

ence travel (input word I1 ... I4 = 1, positive edge at START

input) can be started. When the START signal (> 1) is set,

the MC signal (Motion Complete) is reset (> 0), the drive

carries out the reference travel.

Disable Reference travel can be interrupted like any positioning set

with a falling edge at the ENABLE input (> 0).

Fault If reference travel is interrupted by a cancelled ENABLE signal

or due to a fault, the controller will set internally the FAULT

signal (> 1, HOMING ERROR). The MC signal and the READY

signal will be reset > 0.

When reference travel has been successfully completed, the

MC signal is set again (> 1). After that, any number of posi�

tioning procedures can be carried out.



Please noteIf a fault occurs during reference travel, you must do the

following before starting a new positioning set:

� delete the fault with a falling edge at ENABLE (> 0),

� if necessary, reset the START input (= 0),

� repeat reference travel.

Positioning procedures

ÏÏÏÏ

ÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏÏ

ÏÏÏÏÏÏ

1

0

1

0

TR

READY O1

1

0

1

0

START I5

1

0

FAULT

Drive in motion

Start

1

0

Position. set I1 ... I4

1

0

MC O2

ENABLE I6

Nominal positionreached

Ready foroperation

t TR

t � t TR

Start

Nominalpositionreached

t t TR

Cancel

Nominaltorque reached

Enable

[Torque] = 0 [Torque] � 0

ÏÏÏÏ� 10 ms

Fig.�5/8: Pulse−time diagram (positioning procedure � without torque switching � with

torque switching � cancel)



Start positioning

procedure

If there are no faults and enable is active (ENABLE = 1),

reference travel (input word I1 ... I4, positive edge at START

input) can be started. When the START signal is set (> 1),

the MC signal (Motion Complete) is reset (> 0), the drive

moves to the specified target position. As long as the drive

is in motion, the MC signal remains reset, and no other

positioning set can be started with the START signal.

Disable With a falling edge at the ENABLE input (> 0), the outputs

READY and the MC are reset. (> 0). A current positioning

procedure is interrupted. The starting signal will then be

ignored.

When the ENABLE signal > 1 is enabled again, READY and

MC will still not be set until the START signal is reset (> 0).

The next positioning set can then be started with a rising

edge at the START input (> 1).

Position reached The TR signal will be set with positioning sets without torque

switching when the nominal position is reached (after approx.

20 ms). In the case of positioning sets with torque switching,

the TR signal will not be set until the nominal torque and posi�

tioning at the stop (blocking) are reached.

If the TR signal is set when the START signal is still at 1, the

MC signal will remain at 0 until the START signal is reset. This

coupling of START / MC signal enables signal confirmation for

the PLC (handshake function).

If the START signal is reset after the MC signal has confirmed

the start (MC > 0) and before the TR signal is set, the MC

signal will be set at the same time as the TR signal (MC,

TR > 1) when the nominal position is reached.

Fault During operation the outputs READY and MC will be reset if

there is a fault. A fault in operation is clearly indicated by the

following I/O status:

� Inputs: ENABLE = 1 and START = 0

� Outputs: MC = 0 and READY = 0.



Please noteIf a fault occurs during operation, you must do the follow�

ing before starting a new positioning set:

� delete the fault with a falling edge at ENABLE (> 0),

� if necessary, reset the START input (= 0).

When the fault has been eliminated and there is a rising edge

at ENABLE (> 1), the READY output (> 1) signalizes that a

new positioning order can be started. If the fault cannot be

eliminated, this may be caused by a cable fracture.

Further instructions on fault treatment via the I/O interface

can be found in Fig.�5/7. Information about the fault mess�

ages can be found in chapter 7.3.

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 Instructions on care and maintenance 6−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1 Replacing the spring clamping elements 6−8 . . . . . . . . . . . . . . . . . . . . .

6.2.2 Replacing the rubber buffers 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6.1 Important user instructions

Note the following instructions and recommendations during

operation:


· Make sure that:


range of the moveable mass

� there are no objects in the positioning path.

· Make sure that the handling module is set into motion

only when the protective cover or screen is fitted.

Subsequent adjustment

After commissioning, adjust the stop cushioning so that in

dynamic operation there is just a metallic impact and the

noise is kept as low as possible.

CautionIf mechanical modifications have been undertaken since

commissioning, the reference system and the end posi�

tions must be taught again. Carry out the following com�

missioning steps:

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

� after setting the y−stroke,

� after setting the z−stroke,

� if the load changes, repeat the test taking the modified

work load into consideration.



Password protection

Protection by means of a password is not set at the factory. In

order to prevent unauthorized or unintentional overwriting or

modification of parameters in the device, all download and

control functions can be blocked.

Recommendation:

· Protect the settings of your handling module against

undesired modifications with a password:

� FCT password protection

(8�characters, see PlugIn help MTR−DCI−...−HM)

� HMI password protection with MTR−DCI−...−HM

(3�figures, see chapter 4.5.6)

Start−up behaviour and referencing

WarningDanger of injury.

Faults in parametrizing can cause injury to people and

damage to property. In the following cases a reference run

is absolutely essential in order that the reference coordi�

nates and the working range can be set correctly:

� with the fault REFERENCE IS NOT DEFINED

� each time the logic voltage supply is switched on.

Device connection

CautionThe RS232 interface is not electrically isolated. It is

intended for permanent connection to PC systems and not

as a control interface.

· Use the connection only for parametrizing and

diagnosis.



Control in operation

WarningDanger of injury

Faults in parametrizing can cause injury to human beings

and damage to property if the controller is enabled with a

1−signal at the ENABLE input.

· Enable the controller only if the axis system is correctly


· Make sure that reference travel is carried out after

faults.

CautionDamage to the mechanical components

The rubber buffers in the fixed stops serve for silencing.

Movement to a fixed stop creates shocklike loadings in the

drive string. If movement is made to the end positions with

a heavy load, jamming may occur in the end positions. This

can lead to e.�g. damage to the gears.

· Move to the fixed stops only with low energy.

CautionNote the manufacturer’s specifications for the permitted

operating conditions of the motors and drives used, e.g. in

respect of the permitted speeds.

Please noteTake into account any functions implemented within the

framework of the EMERGENCY STOP concept correspon�

dingly in the control programs.



Recommendation

The motor stands under load in the end positions. Position

the swivel lever in mid−position when the machine is at a

stand.

Switching off

WarningDamage due to the freely running load

The swivel lever can move involuntarily if:

� the handling module is mounted vertically,

� there is no holding torque at the drive pin,

� there are vibrations.

· Position the swivel lever of the handling module there�

fore in mid−position before the device is switched off.



6.2 Instructions on care and maintenance

· Follow the maintenance instructions for the components

used. The motor units are maintenance−free during the

specified service life.

· If the handling module or the motor unit is defective:

Send the handling module to Festo for repairs.

· If the handling module is dirty, clean the exterior with a

soft cloth.

After commissioning, adjust the silencers (rubber bffers) so

that in dynamic operation there is just a metallic impact and

the noise is kept as low as possible. If the impact noises be�

come loud during operation, the rubber buffers should be

readjusted.

· Check regularly the rubber buffers and the spring

clamping elements for wear.

Testing 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 a horizontal

direction

Loud knocking

Replacement cycle After 5 million switching cycles Every 10 million strokes (approx 1 year) *)

*) At 0.5 Hz in dual operation mode

· Check to see if more frequent tests are required.

This may be the case with:

� high temperatures

� excessive dirt

� when there are fats solvent fluids or fumes in the

vicinity.



6.2.1 Replacing the spring clamping elements

1 Spring clampingelement

2 Guide carriage

1 2

Fig.�6/1: Replacing the spring clamping elements

Please note· Use only original parts when replacing the spring

clamping elements.

· Avoid unnecessary wear on the cross guide and links

due to excessive pressing force. The specified

pre−tension of the spring clamping element is sufficient

for play−free guidance.

1. Switch off the power supply for the drive.

2. Remove the protective cover and the side plates.

3. Move the cross guide into the mid−position.

4. Use a hexagon socket screw key to unscrew the defective

clamping element.

5. Move the cross guide into the end position.



6. Screw in the new clamping element until it just touches

the guide carriage.

7. Then tighten the clamping element with approx. another

1/2 turn (pre−tension 0.5�mm). The vertical guide rail is

then free of play.

8. Fasten the side plates and protective cover.

6.2.2 Replacing the rubber buffers

Fig.�6/2: Replacing the rubber buffers

1. Switch off the power supply for the drive.

2. Remove the protective cover.

3. Use a suitable tool (e.g. pliers or screwdriver) to remove

the rubber buffers.

4. Press a new rubber buffer into the stop.

5. Fasten the protective cover.



Diagnosis


Chapter 7

7. Diagnosis


Contents

7. Diagnosis 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 General diagnostic possibilities 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

7.4 Mechanical fault 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7. Diagnosis


7.1 General diagnostic possibilities

The motor unit offers the following possibilities of diagnosis

and fault treatment:

� LEDs indicate the readiness to operate, positioning status

and faults.

� The outputs of the controller interface:

� READY indicates the readiness to operate.

� MOTION COMPLETE indicates whether a positioning

task is completed.

� The control panel:

� The LC display shows diagnostic data, fault messages,

the operating mode, the current positioning set, target

and actual positions as well as speed.

� The FCT (with active device connection):

� Displays the current positioning set, target and actual

positions as well as speed.

� Displays the operating mode, outputs and operating

states as swell as fault messages of the connected

motor unit.

7. Diagnosis


7.2 LED status displays

The operating states are shown with 3 LEDs:

� operating voltage LED (POWER)

� I/F LED e.g. positioning status, controller enable

(I/F = interface / field bus)

� Fault LED (ERROR).

Operating voltage

POWER Status

Operating voltage applied

green

Operating voltage not applied, if necessary checkoperating voltage connection.

off

operating voltage connection.

Positioning status and controller enable

I/F 1) Status 2)

Ready for operation� Positioning procedure is completed

(Motion Complete)green

(Motion Complete)� Controller and power end stage enabled

Not ready to operate and enable missing� Nominal position not reached

(positioning procedure stopped)red

(positioning procedure stopped)� Controller and power end stage not enabled

Ready to operate, enable missing� Positioning procedure is completed

(Motion Complete)

green/red

(Motion Complete)� Controller and power end stage not enabled

7. Diagnosis


Status 2)I/F 1)

Positioning mode� Nominal position not reached

(positioning procedure runs)C t ll d d t bl d

off

p g p� Controller and power end stage enabled

or� Fault

1) Two −colour LED2) If there is no fault, i.e. LED ERROR = out

Fault display

ERROR Status

Fault.The motor unit is not ready to operate (deactivated).

red

No internal fault registered. The motor unit is operational.

off

The motor unit is operational.

7. Diagnosis


7.3 Fault messages on the display

Messages Messages inform about operating states.

Message Cause

Warning Motormoves...

Message at the start of a Teach procedure. Afterconfirmation with the <ENTER> button the drive

moves in the Teach mode.

Profile velocity= 0. Please

teach v.

The menu command [Move position set] is notprocessed because the positioning speed of the

positioning set v = 0. Modify the parametrizing orselect a different postioning set.

Temperature OK Operating temperature lies in permitted rangeagain after exceeding/not reaching limit.

Warning In the event of non−permitted operating temperatures, the

motor unit displays an appropriate warning. If a positioning

task is running, it will not be interrupted. The fault LED will

flash.

Warning Cause

HOTTEMPERATURE

Operating temperature 70 °C < T < 80 °C,check whether drive is overloaded, check the

mechanical parts, e.g. for stiffness, reduceambient temperature.

COLDTEMPERATURE

Operating temperature < −10 °C,if necessary, increase ambient temperature.

7. Diagnosis


Fault If there is a fault, the drive will be stopped. The fault LED will

flash.

· Eliminate the cause of the fault.

· Acknowledge the fault message.

� on the control panel with <Enter>,

� via I/O with a falling edge at the ENABLE signal,

� with the �Quit fault" button in the Festo Configuration

Tool.

Fault Possible cause

HARDWARE ERROR Device fault e.g. EEPROM defective.· In this case please contact your Festo Service.

HOMING ERROR Fault during reference travelPossible cause:

� Reference travel interrupted· It is essential that you repeat the reference run.

i2t−ERROR Current monitoring i2t.Possible cause:

� The drive is blocked.· Check the mechanical parts of the drive.

MECHANICAL LINKAGEIS NOT ON

During Teaching and during reference travel the motor is stopped after1.5�motor revolutions:

· Check the mechanical connection between the motor unit and thehandling module.

· Please contact your Festo Service.

MOTOR STOP Fault during the positioning procedurePossible cause:

� The positioning procedure is discontinued on the control panel withEMERG.STOP (<Menu> button).

· Quit the fault on the control panel with <Enter>.

7. Diagnosis


Fault Possible cause

OVERHEATING Overheating (operating temperature > 80 °C)Possible cause:

� Motor overloaded� Ambient temperature too high

· Check:� that the limits are observed (motor characteristic curves)

� the mechanical parts e.g. for stiffness.· If necessary, reduce the ambient temperature.

POSITION ERROR Position fault (drag fault)Possible causes:

� The drive is blocked� The positioning speed is too high

� The work load is too heavy· Check:

� the mechanical parts of the drive� the speed of the positioning set.

POWER DOWN Voltage monitoringPossible causes:

� Voltage supply too low (V < 18V)� Voltage drop under load.

· Check the voltage supply:� power unit too weak?

� supply line too long?

REFERENCE IS NOTDEFINED!

PLEASE ENFORCEHOMING RUN!

When starting a positioning set:After the power supply was switched on, no reference run was carried out

yet or a reference run was stopped. The reference point (zero point) is notdefined.

· You must carry out reference travel.

TARGET POSITION OUTOF LIMIT

The specified nominal position is outside the permitted positioning range.· Check the ...

� software end positions ((if necessary, carry out Teach procedure inHSP mode)

� nominal position� the reference of the nominal position (absolute or relative).

7. Diagnosis


7.4 Mechanical fault

Fault Possible cause Remedy

Hard knocking in theend position

Rubber buffers not unscrewedenough or overloaded

� Work load too heavy� Speed of moveable mass too high

� Set rubber buffers (see chapter 2.5.3)

� Reduce positioning speed (see chapter 5.5.3)

Rubber buffer defective Replace rubber buffer (see chapter 6.2.2)

Bouncing in the endposition

The setting of the z−stroke has beenmodified and is no longer the same

as the taught end position.

Teaching the end positions via anHSP mode

Faults in positionscanning via proximity

switch (optional only

Position of proximity switchesincorrect

Correct position of proximityswitches.

switch (optional, onlyvia PLC) Incorrect type of proximity switch

usedUse only proximity switches oftype�SMT−8−...

Proximity switch defective Replace proximity switch

Ferritic parts in the vicinity of theproximity switch

Use parts made of non−magneticmaterials

End positions notreached

Setting of the y−stroke and thez−stroke not correct

Adjust end positions (see chapter 2.5).

The double rollers donot run smoothly in the

path guide

Link parts offset Align link parts free of offset (see chapter 2.5.2).

Play of the verticalguide rail in the end

positions

Spring clamping element defective Replace spring clamping element.

7. Diagnosis


Technical appendix

A−1Festo P.BE−HSP−AE−IO−EN en 0510NH

Appendix A

A. Technical appendix

A−2 Festo P.BE−HSP−AE−IO−EN en 0510NH

Contents

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

A.1 Technical specifications A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Dimensions A−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2.1 Through holes for attachment to the base plate A−8 . . . . . . . . . . . . . . .

A.3 Characteristic curves A−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.1 Setting the speed via the positioning time A−9 . . . . . . . . . . . . . . . . . . .

A.3.2 Setting the insert torque A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3.3 Positioning time t as a factor of the work load m A−11 . . . . . . . . . . . . . .

A.4 Accessories A−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.1 Accessories for tha handling module A−12 . . . . . . . . . . . . . . . . . . . . . . . .

A.4.2 Cable for connecting the motor unit A−12 . . . . . . . . . . . . . . . . . . . . . . . . .

A.4.3 User documentation A−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



A.1 Technical specifications

General information HSP−12/16−AE−... HSP−25−AE−...

Protection class as per EN�60529 Handling module: IP40Motor unit: IP54

Relative humidity 0 to 95 %, non−condensing

Temperature range� Operation

� Storage/transport

0 ... +50�°C

−25 ... +60�°C

Vibration As per DIN/IEC 68/EN�60068 part 2−6, severity 2: 0.35�mm path at 10�...�60 Hz

5�g acceleration at 60�...�150�

Shock As per DIN/IEC 68/EN�60068 part 2−27 severity 2:±30 g at 11�ms duration

5 shocks in each direction

Electromagnetic compatibility 1)

EMC interference emission

EMC interference immunity

See conformity declaration (www.festo.com)

Protection against electric shock Protection against direct and indirect contact as perIEC/DIN EN 60204−1 by PELV circuits

(Protected�Extra−Low Voltage)

Rotary position encoder Optical encoder

No. of increments/revolutions 500

Temperature monitoring Silicon absolute temperature sensorSwitch−off at temperatures > 70 °C

Display resolution 128 x 64 pixels

Type of motor fastening Can be screwed on or clamped to the gear flange

Gear type Planetary gear

Gear reduction 6.752 (7:1); single−stage 13.73 (14:1); 2−stage

1) The device is intended for industrial use.The maximum permitted I/O signal cable length is 30 m.



Mechanical components HSP−12−... HSP−16−... HSP−25−...

Lubrication Cross guide with service life basis lubrication, further lubrication recommended after 10 million

strokes (Festo special grease: LUB−KC1, silicon−free)

End bearing adjustment Adjusting screws in the y−directionAdjusting screws in the z−direction

Stroke ranges

� y−stroke [mm] 52 ... 68 90 ... 110 130 ... 170

� z−stroke [mm] 20 ... 30 35 ... 50 50 ... 70

Shortest possible pulse timePulse time tt = positioning time t

+ dwell time te

[s] 0.8 1.0 1.2

Max. positioning speed vmax [°/s] 1602 1179 1048

Max. insert torque Mmax ±20 % [Nmm] 506 1030 3090

Rated motor torque Mrated ±20 % [Nmm] 540 1098.7 3296.1

Repetition accuracy

� End positions [°] ±0.01 ±0.01 ±0.02

� Intermediate positions [°] < 1.5 < 1.5 < 2

Max. permitted loading values of thecross guide *

[Nm] 1.1 2.4 3.2cross guide *

� Dynamic torque Mper with verticaloperation and observance of max.

work load

Mx

M�per�

My

M�per� Mz

M�per� 1

� Static torque MOper [Nm] with verticaloperation for injection and joining

[Nm] 5 10 15p

operation for injection and joining

procedures without dynamic loadingMox

Moper�

Moy

Moper� Moz

Moper� 1

* The torques refer to the centre of the cross guideper = permitted



Electrical specifications HSP−12/16−AE−... / HSP−25−AE−... /

MTR−DCI−42−...−HM MTR−DCI−52−...−HM

Rated voltage [V DC] 24 ±10 % 24 ±10 %

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

Peak current [A] 3.8 ±20 % 7.7 ±20 %

Rated output (motor) [W] 48 122.4

Parameterizing interface Serial interface, 9600 Baud

I/O specification MTR−DCI−42−...−HM MTR−DCI−52−...−HM

Signal level Specified as per DIN EN 61131 part 2 (IEC 1131−2)

� LOW < 5 V

� HIGH > 15 V

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

Maximum permitted input voltage [V DC] 30 0

Minimum input voltage [V DC] 0 −30

Outputs

Number of digital logic outputs 2

Overload protection Flow resistance 1

Maximum current [mA] 200 60

Rated current [mA] 100 50



A.2 Dimensions

Dimensions[ ]

Type HSP−...−AE−... HSP−...−AE−...−GE[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

H4 40 20 40 40 20 40

H11 ±3 � � � 312 343 391

@ D1 (4x) 6.3 6.3 6.3 6.3 6.3 6.3

@ 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

L2 ±0.2 170 250 340 170 250 340

L3 7.5 7.5 7.5 7.5 7.5 7.5

L4 15 15 15 15 15 15

L5 100 90 45 100 90 45

L6 � 100 280 � 100 280

Download CAD data under www.festo.com/en/engineering



HSP−...−AE−...

HSP−...−AE−...−GE

Fig.�A/1: Dimensions of the handling module



A.2.1 Through holes for attachment to the base plate

Dimension[mm]

HSP−12−... HSP−16−... HSP−25−... Base plate

H1 40 20 40 L1

H1

H2 40 ±0.2 100 ±0.2 100 ±0.2

H2

@ D1 6.3 6.3 6.3

1H

L1 200 ±0.6 280 ±0.6 370 ±0.6 D1



A.3 Characteristic curves

A.3.1 Setting the speed via the positioning time

HSP−12−AE−...

HSP−16−AE−...

HSP−25−AE−...

Fig.�A/2: Diagram of speed v (t)



A.3.2 Setting the insert torque

1 Stroke 52 mm

2 Stroke 60 mm

3 Stroke 68 mm

HSP−12−AE−...

123

1 Stroke 90 mm

2 Stroke 100 mm

3 Stroke 110 mm

HSP−16−AE−...

123

1 Stroke 130 mm

2 Stroke 150 mm

3 Stroke 170 mm

HSP−25−AE−...

123

Fig.�A/3: Diagram of insert torque



A.3.3 Positioning time t as a factor of the work load m

DefinitionWork load m = additional mass on the vertical guide rail

e.g. adapter, swivel drive, gripper and work item

Positioning time t = the time which the handling module requires in order

to move from the stop of the pick position to the stop of the place position

and back.

m�[kg]

t�[ms]

Fig.�A/4: Diagram of positioning time t(m)



A.4 Accessories

A.4.1 Accessories for tha handling module

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

Fastening kitConnecting bracket

HMBK−NDHMBV−ND

Sliding block HMBN−5−M5

Proximity switch (optional) SMT−8(F)−...

1) Instructions on fitting further accessories in conjunction with Festo components are summarizedin the system manual �Handling technology".

A.4.2 Cable for connecting the motor unit

Cable 2.5 m 5 m 10 m

Control cable KES−MC−1−SUB−9−2,5 KES−MC−1−SUB−9−5 KES−MC−1−SUB−9−10

Supply cable KPWR−MC−M8−SUB−9−2,5 � �

Programming cable KDI−MC−1−SUB−9HC−2,5 KDI−MC−1−SUB−9HC−5 KDI−MC−1−SUB−9HC−10



A.4.3 User documentation

User documentation 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 0510NH

Appendix B

B. Index

B−2 Festo P.BE−HSP−AE−IO−EN en 0510NH

Contents

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

B. Index


A

Absolute 4−15, 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Accessories 1−6, A−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adjusting screw 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C

Cable A−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commissioning 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connection, electrical 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cable 3−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cable guide 3−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O control 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial interface 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control panel 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Accessing the main menu 4−6 . . . . . . . . . . . . . . . . . . . . . . . Button function 4−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Menu structure 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Selecting a menu command 4−6 . . . . . . . . . . . . . . . . . . . . .

Controller XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Count direction XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Modify 4−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cross guide 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Loading values 2−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D

Device control 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Diagnosis 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displaying diagnostic data 4−8 . . . . . . . . . . . . . . . . . . . . . .

Fault messages 7−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LED displays 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mechanical faults 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions A−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


E

EMC XII, A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder XII, A−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

End positions 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . y−stroke 2−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

z−stroke 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F

Factory setting 4−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fastening options 2−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault 7−5, 7−6, 7−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FCT XII, 1−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

H

Handling module XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HMI control 4−23, 5−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Homing mode XII, 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HSP mode XII, 1−12, 4−14, 5−13 . . . . . . . . . . . . . . . . . . . . . . . . .

Discontinue the Teach procedure 5−15 . . . . . . . . . . . . . . . . Parametrizing 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Start the teach procedure 5−16 . . . . . . . . . . . . . . . . . . . . . .

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

I

I/OAddressing the positioning sets 5−32 . . . . . . . . . . . . . . . . .

Connection 3−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delete faults 5−37, 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Enable 5−33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Function check 5−31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Maximum current A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pulse−time diagram 5−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . Signal level A−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch−on behaviour 5−37 . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


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

Insert torque 5−24, A−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Interface, serial 3−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

L

LED 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Lubrication A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

M

Motor unit XII, 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connection 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fitting 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rated torque A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

N

Nominal position 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

O

Operating elements 1−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating mode

Homing mode XII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HSP mode XII, 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile Position mode XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . Teach mode XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating principle 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


P

Parametrizing 4−13, 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Absolute/relative 5−18, 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . Insert torque 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Password 4−21, 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Activate 4−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Modify/deactivate 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Request 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PELV (Protected Extra−Low Voltage) 3−8, A−3 . . . . . . . . . . . . . .

Pictograms XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning set XIII, 4−14, 4−15, 5−32 . . . . . . . . . . . . . . . . . . . .

Adapt 5−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Block 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Create 5−18, 5−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Delete 5−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Discontinue [Disable] 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . Start 4−11, 5−39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Test 5−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning set table 4−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning time A−9, A−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power supply 3−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fuse 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Power supply unit 3−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile position mode 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Profile torque mode 1−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Proximity switch 3−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Pulse time 5−21, 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


R

Reference point XIII, 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Reference travel XIII, 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Discontinue [Cancel] 5−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . Discontinue [Disable] 5−37 . . . . . . . . . . . . . . . . . . . . . . . . . .

Start 4−12, 5−9, 5−37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Referencing XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Referencing method XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Relative 4−15, 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rubber bufferReplace 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Set 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

S

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

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

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

Slotted guide plate XIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software end position XIII, 5−11 . . . . . . . . . . . . . . . . . . . . . . . .

Speed 5−20, A−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Spring clamping element, replace 6−8 . . . . . . . . . . . . . . . . . . .

Stop 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switching off 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switching on 5−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Swivel lever XIV, 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. Index


T

Target group VIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

Text markings XI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Torque switching XIV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Set 5−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Switch off 5−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Travel time 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

V

Version XVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

W

Work range 5−10, 5−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Y

y−stroke 1−7, 2−14, A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Z

z−stroke 1−7, 2−13, A−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Zero point 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Handling module HSP−−AE - Festo · 2020. 3. 28. · HSP mode Teach operation for referencing and automatic parametrizing of positiog sets for pick and place standard applications

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