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.
Contents and general instructions
II Festo P.BE−HSP−AE−IO−EN en 0510NH
Contents and general instructions
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 . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents and general instructions
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.
Contents and general instructions
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.
Contents and general instructions
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:
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.
Contents and general instructions
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.
Contents and general instructions
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.
Contents and general instructions
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−...
Contents and general instructions
XIIIFesto P.BE−HSP−AE−IO−EN en 0510NH
Term/abbreviation Meaning
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.
Contents and general instructions
XIV Festo P.BE−HSP−AE−IO−EN en 0510NH
Term/abbreviation Meaning
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
Contents and general instructions
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
Contents and general instructions
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
� HSP−16−AE−IO
� HSP−16−AE−IO−SD
� HSP−16−AE−IO−GE
� HSP−16−AE−IO−SD−GE
� HSP−25−AE−IO
� HSP−25−AE−IO−SD
� HSP−25−AE−IO−GE
� HSP−25−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
1−3Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−9Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−11Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−12 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−13Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−14 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−15Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−16 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−17Festo P.BE−HSP−AE−IO−EN en 0510NH
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
1−18 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−1Festo P.BE−HSP−AE−IO−EN en 0510NH
Chapter 2
2. Fitting
2−2 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−3Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−5Festo P.BE−HSP−AE−IO−EN en 0510NH
Fig.�2/1: Example of fitting (accessories)
Please noteNote that two profile columns are required for stable
fastening of the HSP−25−... .
2. Fitting
2−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
· 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
2−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−9Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−11Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−12 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−13Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−14 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−15Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−16 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−17Festo P.BE−HSP−AE−IO−EN en 0510NH
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
2−18 Festo P.BE−HSP−AE−IO−EN en 0510NH
Installation
3−1Festo P.BE−HSP−AE−IO−EN en 0510NH
Chapter 3
3. Installation
3−2 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−3Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−9Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−11Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−12 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−13Festo P.BE−HSP−AE−IO−EN en 0510NH
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
3−14 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
4−1Festo P.BE−HSP−AE−IO−EN en 0510NH
Chapter 4
4. The control panel
4−2 Festo P.BE−HSP−AE−IO−EN en 0510NH
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. The control panel
4−3Festo P.BE−HSP−AE−IO−EN en 0510NH
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. The control panel
4−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
4. The control panel
4−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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. The control panel
4−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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>
4. The control panel
4−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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. The control panel
4−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
Menu command Description
[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
4. The control panel
4−9Festo P.BE−HSP−AE−IO−EN en 0510NH
Menu command Description
[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. The control panel
4−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. The control panel
4−11Festo P.BE−HSP−AE−IO−EN en 0510NH
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. The control panel
4−12 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. The control panel
4−13Festo P.BE−HSP−AE−IO−EN en 0510NH
4.5 Menu [Settings]
WarningDamage to or impairment of the mechanical components
In all teaching procedures the motor turns or the
connected handling module starts to move.
· Make sure that:
� nobody can place his/her hand in the positioning
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.
ESC <menu>START <Enter>
HSP mode 1Pos0 = 1 deg.Pos1 = 194 deg.
ESC <menu>SAVE <Enter>
4. The control panel
4−14 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
ESC With the <Menu> button you can interrupt the
activity and return to the higher−order menu.
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. The control panel
4−15Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
ESC With the <Menu> button you can interrupt the
activity and return to the higher−order menu.
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
4. The control panel
4−16 Festo P.BE−HSP−AE−IO−EN en 0510NH
START You can start the teach procedure with the
<Enter> button.
<− −> You can set the parameters 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.
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. The control panel
4−17Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
HomingAttention! Motor moves.
ESC <menu>START <Enter>
4. The control panel
4−18 Festo P.BE−HSP−AE−IO−EN en 0510NH
Setting the count direction
1. Select [Settings] [HSP Setup] [Count direction]
<− −> You can set the desired value 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. 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.
HomingAttention! Motor moves.
ESC <menu>START <Enter>
4. The control panel
4−19Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
ESC With the <Menu> button you can interrupt the
activity and return to the higher−order menu.
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. The control panel
4−20 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
OK You can accept the selection with the <Enter>
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.
ESC With the <Menu> button you can interrupt the
activity and return to the higher−order menu.
HM type[HSP/HSW] = HSW?
ESC <menu><––> OK <Enter>
} SettingsHSW SetupHM typePassword edit
New Password:[?xx] =
ESC <menu>EDIT <––> OK <Enter>
4. The control panel
4−21Festo P.BE−HSP−AE−IO−EN en 0510NH
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] =
ESC <menu>EDIT <––> OK <Enter>
Enter password:[?xx] =
ESC <menu>EDIT <––> OK <Enter>
4. The control panel
4−22 Festo P.BE−HSP−AE−IO−EN en 0510NH
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>.
3. Set the figure for the next entry position �?".
After selecting the 3rd. figure of the previous password,
you can modify or deactivate the password.
New password:[?xx] =
ESC <menu>EDIT <––> OK <Enter>
4. The control panel
4−23Festo P.BE−HSP−AE−IO−EN en 0510NH
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>.
6. Set the figure for the next entry position �?".
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?
ESC <menu><––> OK <Enter>
4. The control panel
4−24 Festo P.BE−HSP−AE−IO−EN en 0510NH
Commissioning with the control panel
5−1Festo P.BE−HSP−AE−IO−EN en 0510NH
Chapter 5
5. Commissioning with the control panel
5−2 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−3Festo P.BE−HSP−AE−IO−EN en 0510NH
5.1 Preparing for commissioning
WarningDamage to or impairment of the mechanical components
· Make sure that:
� nobody can place his/her hand in the positioning
range of the handling module
� 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.
5. Commissioning with the control panel
5−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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].
5. Commissioning with the control panel
5−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−9Festo P.BE−HSP−AE−IO−EN en 0510NH
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).
5. Commissioning with the control panel
5−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−11Festo P.BE−HSP−AE−IO−EN en 0510NH
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°
5. Commissioning with the control panel
5−12 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−13Festo P.BE−HSP−AE−IO−EN en 0510NH
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
HSP modePosition setCount directionDelivery status
Password edit
01
+ −
5. Commissioning with the control panel
5−14 Festo P.BE−HSP−AE−IO−EN en 0510NH
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 %
4 0...1 as HSP mode 1
23 2 M (−) Waiting position 12.5 %
01 3 M (+) Waiting position 87.5 %
5 0...1 as HSP mode 1
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. Commissioning with the control panel
5−15Festo P.BE−HSP−AE−IO−EN en 0510NH
5.4.3 Teach procedure
WarningDamage to or impairment of the mechanical components
In all teaching procedures the motor turns or the
connected handling module starts to move.
· Make sure that:
� nobody can place his/her hand in the positioning
range of the handling module
� 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>
5. Commissioning with the control panel
5−16 Festo P.BE−HSP−AE−IO−EN en 0510NH
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>
5. Commissioning with the control panel
5−17Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−18 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
HSP modePosition setCount directionDelivery status
Password edit
5. Commissioning with the control panel
5−19Festo P.BE−HSP−AE−IO−EN en 0510NH
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
5. Commissioning with the control panel
5−20 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−21Festo P.BE−HSP−AE−IO−EN en 0510NH
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
5. Commissioning with the control panel
5−22 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
5. Commissioning with the control panel
5−23Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−24 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−25Festo P.BE−HSP−AE−IO−EN en 0510NH
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 = [Torque]v = const
M = Mratedv = [Velocity]
M = Mratedv = [Velocity]
M = [Torque]v = const
M = [Torque]v = const
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
5. Commissioning with the control panel
5−26 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−27Festo P.BE−HSP−AE−IO−EN en 0510NH
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
} HSP SetupPosition set
Position nrPos set modeTorquePositionVelocitySave
5. Commissioning with the control panel
5−28 Festo P.BE−HSP−AE−IO−EN en 0510NH
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].
} HSP SetupPosition set
Position nrPos set modeTorquePositionVelocitySave
} HSP SetupPosition set
Position nrPos set modeTorquePositionVelocitySave
5. Commissioning with the control panel
5−29Festo P.BE−HSP−AE−IO−EN en 0510NH
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
5. Commissioning with the control panel
5−30 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−31Festo P.BE−HSP−AE−IO−EN en 0510NH
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
installed and parametrized.
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. Commissioning with the control panel
5−32 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−33Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−34 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
5. Commissioning with the control panel
5−35Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Commissioning with the control panel
5−36 Festo P.BE−HSP−AE−IO−EN en 0510NH
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)
5. Commissioning with the control panel
5−37Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−38 Festo P.BE−HSP−AE−IO−EN en 0510NH
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)
5. Commissioning with the control panel
5−39Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
5. Commissioning with the control panel
5−40 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
6−1Festo P.BE−HSP−AE−IO−EN en 0510NH
Chapter 6
6. Operation and maintenance
6−2 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Operation and maintenance
6−3Festo P.BE−HSP−AE−IO−EN en 0510NH
6.1 Important user instructions
Note the following instructions and recommendations during
operation:
WarningDamage to or impairment of the mechanical components
· Make sure that:
� nobody can place his/her hand in the positioning
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.
6. Operation and maintenance
6−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
6. Operation and maintenance
6−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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
installed and parametrized.
· 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.
6. Operation and maintenance
6−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Operation and maintenance
6−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Operation and maintenance
6−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Operation and maintenance
6−9Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
6. Operation and maintenance
6−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
Diagnosis
7−1Festo P.BE−HSP−AE−IO−EN en 0510NH
Chapter 7
7. Diagnosis
7−2 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−3Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−9Festo P.BE−HSP−AE−IO−EN en 0510NH
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
7−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Technical appendix
A−3Festo P.BE−HSP−AE−IO−EN en 0510NH
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.
A. Technical appendix
A−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
A. Technical appendix
A−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Technical appendix
A−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
A. Technical appendix
A−7Festo P.BE−HSP−AE−IO−EN en 0510NH
HSP−...−AE−...
HSP−...−AE−...−GE
Fig.�A/1: Dimensions of the handling module
A. Technical appendix
A−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Technical appendix
A−9Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Technical appendix
A−10 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Technical appendix
A−11Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Technical appendix
A−12 Festo P.BE−HSP−AE−IO−EN en 0510NH
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. Technical appendix
A−13Festo P.BE−HSP−AE−IO−EN en 0510NH
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
A. Technical appendix
A−14 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
B−3Festo P.BE−HSP−AE−IO−EN en 0510NH
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
B−4 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
B−5Festo P.BE−HSP−AE−IO−EN en 0510NH
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
B−6 Festo P.BE−HSP−AE−IO−EN en 0510NH
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
B−7Festo P.BE−HSP−AE−IO−EN en 0510NH
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
B−8 Festo P.BE−HSP−AE−IO−EN en 0510NH
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Top Related