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SEW movidrive md_60a User Manual

Absolute positioning
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Edition
®
MOVIDRIVE
MD_60A
Absolute Positioning
03/2001
Manual
1051 0117 / EN

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Summary of Contents for SEW movidrive md_60a

  • Page 1 Edition ® MOVIDRIVE MD_60A Absolute Positioning 03/2001 Manual 1051 0117 / EN...
  • Page 2 SEW-EURODRIVE...

  • Page 3: Table Of Contents

    1 Important Notes...................... 4 2 System Description....................5 Application fields .................... 5 Application examples ..................6 3 Project Planning ..................... 7 Pre-requisites ....................7 Functional description ..................8 Scaling of the drive ..................9 Limit switches and machine zero ..............10 Process data assignment................
  • Page 4 ® Documentation ® ® ® → → Safety and warning instructions ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 5: System Description

    Application fields ® ® • ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 6: Application Examples

    Application examples Storage and retrieval unit for high-bay warehouse 04430AXX Fig. 1: Application example of a storage and retrieval unit for high-bay warehouse Hoist 00786AXX Fig. 2: Application example of a hoist ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 7: Project Planning

    Pre-requisites plus® PC and software ® ® ® Licence ® ® Inverters, motors and encoders ® ® ® ® ® ® ® ® → ® ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 8: Functional Description

    Functional description Functional characteristics Travel unit Maximum possible travel distance 1/10 mm 26.2144 m 262.144 m 262 144 m ® Operating modes 04427AXX Fig. 3: Data exchange via process data = Process output data = Process input data = Control word = Status word = Target position high = Actual position high...

  • Page 9: Scaling Of The Drive

    Scaling of the drive Activating the absolute encoder 04429AEN Fig. 4: Activating the absolute encoder ® ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 10: Limit Switches And Machine Zero

    Limit switches and machine zero Machine zero → Software limit switches ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 11: Process Data Assignment

    Process data assignment 04427AXX Fig. 5: Data exchange via process data = Process output data = Process input data = Control word = Status word = Target position high = Actual position high = Target position low = Actual position low Process output data 15 14 13 12 11 10 9...
  • Page 12 Process input data 15 14 13 12 11 10 9 Inverter status/fault code Motor turning (n ≠ 0) Inverter ready IPOS reference (= drive referenced) Target position reached Brake released Fault/warning CW limit switch CCW limit switch PE2 Actual position high PE3 Actual position low 15 14 13 12 11 10 9 15 14 13 12 11 10 9...

  • Page 13: Installation

    Software MOVITOOLS ® 04431AEN Fig. 6: MOVITOOLS window Licence ® ® ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 14: Basic Unit With "Absolute Encoder Interface Type Dip11A" Option

    Basic unit with "absolute encoder interface type DIP11A" option X13: ® MOVIDRIVE /Controller inhibit DIØØ DIØ1 Enable/rapid stop Reset DIØ2 DIØ3 No function /Limit switch CW DIØ4 DIØ5 /Limit switch CCW Reference X13:DIØØ...DIØ5 DCOM VO24 +24V output ↔ Reference potential binary signals DGND R ON ↔...

  • Page 15: Bus Installation

    Bus installation Overview MDV (MDS) INTERBUS CANopen PROFIBUS PROFIBUS INTERBUS-S CAN-Bus DEVICE-NET FMS / DP Module Ident. PD(2) PD(1) PD(0) NA(6) NA(5) NA(4) NA(3) NA(2) ↔ ↔ R ON NA(1) NA(0) DR(1) DR(0) Mod/ STATE GUARD COMM BUS- ADRESS NA(5) NA(4) NA(3) NA(2)
  • Page 16 PROFIBUS (DFP11A) ® Technical data Option PROFIBUS fieldbus interface type DFP11A Part number 822 724 1 Startup and diagnostic tool MOVITOOLS software and DBG11A keypad PROFIBUS • PROFIBUS-DP to EN 50170 V2 / DIN E 19245 P3 FMS / DP Protocol options •...
  • Page 17 PROFIBUS (DFP21A) ® Technical data Option PROFIBUS fieldbus interface type DFP21A Part number 823 618 6 Startup and diagnostic tool MOVITOOLS software and DBG11A keypad Protocol option PROFIBUS-DP to EN 50170 V2 / DIN E 19245 P3 PROFIBUS Automatic detection of baud rate from Supported baud rates 9.6 kbaud –...
  • Page 18 INTERBUS (DFI11A) Technical data Option INTERBUS fieldbus interface type DFI11A Part number 822 723 3 Startup and diagnostic tool MOVITOOLS software and DBG11A keypad INTERBUS-S Module Ident. Remote bus input: 9-pin sub D plug Remote bus output: 9-pin sub D socket Connection RS-485 transmission technology, 6-core shielded and twisted-pair cable...
  • Page 19 INTERBUS with fiber optic cable (DFI21A) Technical data Option INTERBUS fieldbus interface type DFI21A (FO) Part number 823 093 5 Startup and diagnostic tool MOVITOOLS software, DBG11A keypad and CMD tool INTERBUS Supported baud rates 500 kbaud and 2 Mbaud, selection via DIP switch Remote bus input: 2 F-SMA plugs Remote bus output: 2 F-SMA plugs Connection...
  • Page 20 CAN bus (DFC11A) Technical data Option CAN fieldbus interface type DFC11A Part number 822 725 X Startup and diagnostic tool MOVITOOLS software and DBG11A keypad CAN-Bus Can be selected via DIP switch: • 125 kbaud Supported baud rates • 250 kbaud •...
  • Page 21 CANopen (DFO11A) Technical data Option CANopen fieldbus interface type DFO11A Part number 823 162 1 Startup and diagnostic tool MOVITOOLS software and DBG11A keypad CANopen Can be selected via DIP switch: • 125 kbaud PD(2) PD(1) Supported baud rates • 250 kbaud PD(0) NA(6)
  • Page 22 DeviceNet (DFD11A) Technical data Option DeviceNet fieldbus interface type DFD11A Part number 822 887 6 Startup and diagnostic tool MOVITOOLS software and DBG11A keypad DEVICE-NET Can be selected via DIP switch: • 125 kbaud Supported baud rates • 250 kbaud •...
  • Page 23 System bus (SBus) SBus wiring diagram Control unit Control unit Control unit X11: X11: X11: REF1 REF1 REF1 AI11 AI11 AI11 AI12 AI12 AI12 AGND AGND AGND REF2 REF2 REF2 S 11 S 11 S 11 S 12 S 12 S 12 system bus system bus...

  • Page 24: Connecting The Limit Switches

    Connecting the limit switches 04437AXX Fig. 15: Connecting the limit switches = Clockwise drive inverter = Travel distance LS CW = Limit switch clockwise LS CCW = Limit switch counterclockwise ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 25: Startup

    General information ® ® ® → Licence ® ® Preliminary work ® ® ® ® • → ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 26: Starting The "Absolute Positioning" Program

    Starting the "absolute positioning" program General information 04440AEN Fig. 16: Starting the "absolute positioning" program Initial startup Fieldbus parameters 04441AEN Fig. 17: Setting the fieldbus parameters ® MOVIDRIVE MD_60A, Absolute Positioning...
  • Page 27 Scaling 04442AEN Fig. 18: Setting the scaling • • ® MOVIDRIVE MD_60A, Absolute Positioning...
  • Page 28 ± • • → Limit switches, ramps, speeds and limits 04443AEN Fig. 19: Setting limit switches, ramps and speeds ® MOVIDRIVE MD_60A, Absolute Positioning...
  • Page 29 Saving changes 04444AEN Fig. 20: Saving changes Download 04445AEN Fig. 21: Download window Switching to the monitor 04446AEN Fig. 22: Monitor Yes/No ® MOVIDRIVE MD_60A, Absolute Positioning...
  • Page 30 Repeating startup 04447AEN Fig. 23: Absolute positioning monitor → Monitor Controller in the monitor ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 31: Parameters

    Parameters Parameter number Parameter Setting P100 Setpoint source FIELDBUS / SBus P101 Control signal source FIELDBUS / SBus P136 Stop ramp 0.5 s P137 Emergency ramp 0.5 s P600 Binary input DIØ1 ENABLE/RAP.STOP P601 Binary input DIØ2 Reset P602 Binary input DIØ3 NO FUNCTION P603 Binary input DIØ4...

  • Page 32: Starting The Drive

    Starting the drive Operating modes Control word:Bit Operating mode PA1:12 PA1:11 Jog mode "0" "1" Automatic mode "1" "1" Invalid "1" "0" Invalid "0" "0" ® MOVIDRIVE MD_60A, Absolute Positioning...
  • Page 33 Jog mode 04448AEN Fig. 24: Jog mode Note ® MOVIDRIVE MD_60A, Absolute Positioning...
  • Page 34 Automatic mode 04449AEN Fig. 25: Automatic mode Notes ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 35: Operation And Service

    Timing diagrams Jog mode PA1:0 PA1:1 PA1:2 PA1:11 PA1:12 PA1:9 PA1:10 PA1:13 n [1/min] DBØØ 04450AXX Fig. 26: Timing diagram of jog mode PA1:1 = Enable/rapid stop (1) = Start jog mode, Jog+ PA1:2 = Enable/stop (2) = Selection rapid speed PA1:11 = Mode selection (3) = Start jog mode, Jog- PA1:12 = Mode selection...
  • Page 36 Automatic mode PA1:0 PA1:1 PA1:2 PA1:11 PA1:12 PA1:13 PA1:14 PA1:8 0001 hex 0000 hex 0001 hex 86A0 hex 24F8 hex C350 hex PE1:3 n [1/min] DBØØ 04451AXX Fig. 27: Timing diagram of automatic mode PA1:1 = Enable/rapid stop (1) = Start jog mode PA1:2 = Enable/stop (2) = Position 50000 reached PA1:11 = Mode selection...
  • Page 37 Moving clear of limit switches ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 38: Error Information

    Error information • • • • • • • • • • • • • Reset 02771AEN Fig. 28: Reset with MOVITOOLS Timeout active ® MOVIDRIVE MD_60A, Absolute Positioning...

  • Page 39: Error Messages

    Error messages Display 01038AXX → ® List of faults ® MOVIDRIVE MD_60A, Absolute Positioning...
  • Page 40 Error Name Response P Possible cause Action code No error • Extend deceleration ramps • Check connecting harness DC link Immediate DC link voltage too high for braking resistor overvoltage shut-off • Check technical data of braking resistor • Reduce load •...
  • Page 41 Error Name Response P Possible cause Action code With DIP11A option only: The encoder signals a fault, e.g. power failure. • Connection cable between • Check absolute encoder the encoder and DIP does connection not meet the requirements • Check motor leads DIP encoder Emergency (twisted pair, shielded)
  • Page 42 10/2000...
  • Page 43 10/2000...
  • Page 44 SEW-EURODRIVE GmbH & Co · P.O. Box 3023 · D-76642 Bruchsal/Germany · Phone +49-7251-75-0 Fax +49-7251-75-1970 · http://www.sew-eurodrive.com · sew@sew-eurodrive.com...

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