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SEW MOVIDRIVE MDX61B Manual

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Drive Technology \ Drive Automation \ System Integration \ Services
Manual
®
MOVIDRIVE
MDX61B
Internal Synchronous Operation (ISYNC)
Edition 06/2011
19295626 / EN

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Summary of Contents for SEW MOVIDRIVE MDX61B

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services Manual ® MOVIDRIVE MDX61B Internal Synchronous Operation (ISYNC) Edition 06/2011 19295626 / EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    Contents Contents Important Information ..................4 Documentation .................... 4 Bus systems....................4 Operating mode "synchronous operation" ..........4 Structure of the safety notes ............... 5 System Description..................... 6 Application fields ..................6 Functional description ................. 6 State machine for internal synchronous operation........8 Controlling internal synchronous operation..........

  • Page 4: Important Information

    Important Information Documentation Important Information MOVIDRIVE¬Æ MDX61B Internal Synchronous Operation (ISYNC) INFORMATION • This manual does not replace the detailed operating instructions. • Only trained personnel are allowed to perform installation and startup. Adhere to all applicable accident prevention regulations and the ®...

  • Page 5: Structure Of The Safety Notes

    Important Information Structure of the safety notes Structure of the safety notes 1.4.1 Meaning of the signal words The following table shows the grading and meaning of the signal words for safety notes, notes on potential risks of damage to property, and other notes. Signal word Meaning Consequences if disregarded...

  • Page 6: System Description

    System Description Application fields System Description Application fields The internal synchronous operation function enables a group of motors to be operated at a synchronous angle in relation to one another or with an adjustable proportional relationship (electronic gear). Internal synchronous operation is particularly suited for the following industries and applications: •...
  • Page 7 System Description Functional description 2.2.3 Disengaging Disengaging means the slave exits synchronous operation. This process can be triggered manually by setting a system variable, or can be event-driven using an external signal. Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation (ISYNC)

  • Page 8: State Machine For Internal Synchronous Operation

    System Description State machine for internal synchronous operation State machine for internal synchronous operation The individual functions of internal synchronous operation are controlled using a state machine. The state machine has the six main states shown in the following figure. See also the chapter Operating principle and functions (page 16).

  • Page 9: Controlling Internal Synchronous Operation

    System Description Controlling internal synchronous operation 2.3.1 Six main states The state machine distinguishes between the six states Z0 to Z5. See also the chapter Operating principle and functions (page 16). • State Z0 = Free mode speed control The slave drives moves in free-running mode with speed control. The reference to the master drive can be stored in a difference counter.

  • Page 10: Project Planning

    Project Planning Application examples Project Planning Application examples 3.1.1 Master/slave operation of two drives Basic unit MDX61B...-5_3-4-0T Master Slave 4040685195 Figure 2: Master/slave operation 3.1.2 Master/slave operation of two drives with virtual encoder as master MDX61B...-5_3-4-0T MDX61B...-5_3-4-0T IPOS-Variables H370 Master = virtual encoder Slave 2 Slave 1 4040687883...
  • Page 11 Project Planning Application examples 3.1.3 Group configuration: Master and equal-ranked slaves, e.g. multiple column hoist MDX61B...-5_3-4-0T MDX61B...-5_3-4-00 SBus SBus SBus Slave 3 Slave 1 Slave 2 Master 4040690571 Figure 4: Group configuration 3.1.4 Group configuration with virtual encoder MDX61B...-5_3-4-0T IPOS-Variables H370 SBus SBus...

  • Page 12: Requirements

    ® • MOVIDRIVE MDX60B 3.2.1 PC and software ® You need the SEW MOVITOOLS software package version 4.10 or higher to use ® internal synchronous operation. To use MOVITOOLS , you must have a PC with one of ® ®...
  • Page 13 Project Planning Requirements 3.2.3 Inverters ® • The MOVIDRIVE MDX61B...-5_3-4-0T application version already includes the technology function for internal synchronous operation. ® • Internal synchronous operation has been implemented for MOVIDRIVE MDX61B and places the following requirements on the drive system: –...

  • Page 14: Project Planning Information

    Project Planning Project planning information Project planning information • Do not use internal synchronous operation with systems that have a rigid mechanical connection. • Equip slave inverters with a braking resistor. • During project planning, bear in mind that the slave must be able to reduce the angle differential between itself and the master to zero at any time.

  • Page 15: Synchronous Start/Stop

    Project Planning Synchronous start/stop Synchronous start/stop In certain applications, such as a two-column hoist, it is essential to make sure that the master and slave can start and stop synchronously. This is a prerequisite for proper operation. INFORMATION As a result, combinations in which the master is more dynamic than the slave are not permitted.

  • Page 16: Operating Principle And Functions

    Operating Principle and Functions Controlling internal synchronous operation Operating Principle and Functions Controlling internal synchronous operation plus® Internal synchronous operation is controlled using IPOS variables within the plus® IPOS program, in the following referred to as "application". All states of internal synchronous operation can be viewed and set in a variable range from H360 to H450, which is reserved for internal synchronous operation.
  • Page 17 Operating Principle and Functions Main state machine 4.2.1 Six main states The state machine distinguishes between six states (Z0 to Z5). These states are stored plus® in the IPOS variable H427 SynchronousState. See also the chapter "System vari- ables for internal synchronous operation" (page 86). State H427 Description Free-running mode n-control...

  • Page 18: Startup Cycle Mode Control

    Operating Principle and Functions Startup cycle mode control Startup cycle mode control 4.3.1 Time-controlled synchronizing During time-controlled synchronizing, the existing difference of position between the master and slave drive (64-bit counter) is compensated by accelerating or decelerating the slave drive to the synchronization speed. The required time depends on the synchro- nization speed, the synchronization ramp, and the lag distance (H434 LagDistance32).
  • Page 19 Operating Principle and Functions Startup cycle mode control 4.3.2 Position-dependent synchronizing Position-dependent synchronizing means that the slave drive only moves in sync with the master drive once the master drive has covered a specified distance. The specified distance must be stored in increments in relation to the master in the H417 Startup- CycleMasterLength variable.
  • Page 20 Operating Principle and Functions Startup cycle mode control 4.3.3 Startup cycle state machine Startup cycle control reacts in the main states Z0 and Z1. Synchronizing the slave to the master can be performed either manually, event-driven, or with interrupt control. The startup cycle mode is defined with the H410 StartupCycleMode system variable.
  • Page 21 Operating Principle and Functions Startup cycle mode control Startup cycle state machine in H412 StartupCycleState: Interrupt and H415!=0 Waiting on H414>=H415 Delay Interrupt (EZ3) (EZ2) Coupling and resetting of engaging counter H414=H414-H415 Interrupt and (EZ4) H415==0 IPOS program AutoRestart AutoRestart deactivated automatic Interrupt is...
  • Page 22 Operating Principle and Functions Startup cycle mode control 55.7mm Master StartupCycleCounter- DI02 Slave MaxValue StartupCycle MasterLength StartupCycleCounterMaxValue 4044019723 Figure 13: Application example for startup cycle mode 2 [1] Starting position of the punch Half a machine cycle [2] Sensor Synchronous operation [3] Print mark Disengaging and repositioning [4] Machine cycle...
  • Page 23 Operating Principle and Functions Startup cycle mode control • Position-controlled engaging(StartupCycleMode = 3) Engaging is initiated by the H414 StartupCycleCounter position counter. Engag- ing takes place automatically if the StartupCycleCounter value is greater than the H415 StartupCycleCounterMaxValue counter overrun value. In this case, StartupCycleCounterMaxValue must be greater than the total number of input master encoder pulses in the startup cycle, master cycle and stop cycle.
  • Page 24 Operating Principle and Functions Startup cycle mode control Startup cycle state machine in H412 StartupCycleState: AutoRestart Counter control AutoRestart (EZ1) deactivated ³ H414 H415 ® Coupling and resetting of deactivated engaging counter (EZ0) H414=H414-H415 IPOS program 4044021387 Figure 15: Startup cycle state machine with position control (startup cycle mode 3) System variable H411 StartupCycleModeControl →...

  • Page 25: Synchronous Operation

    Operating Principle and Functions Synchronous operation Synchronous operation Control takes place with a P-controller. The master and slave pulses are evaluated with the corresponding scaling factors and added up to a 64-bit value after comparison. The P-controller together with the precontrol and subsequent limiting to the maximum speed provide the speed setpoint for the speed controller.
  • Page 26 Operating Principle and Functions Synchronous operation 4044024075 Figure 16: Block circuit diagram for internal synchronous operation Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation (ISYNC)
  • Page 27 Operating Principle and Functions Synchronous operation 4.4.1 Correction function (RegisterScale / RegisterLoop) A correction value can be entered via H389 RegisterLoopOut, which is added by the difference counter. To avoid speed step changes, this correction value is not added at once but is limited by the value H390 RegisterLoopDXDTOut (resolution in inc/ms).
  • Page 28 Operating Principle and Functions Synchronous operation 4.4.2 Slave drive subject to slip If synchronous operation is required from a drive that is subject to slip, the synchronous ® encoder function must be activated in MOVIDRIVE B. The ratio between motor encoder and distance encoder must be specified as numerator/denominator factor in the plus®...

  • Page 29: Offset Cycle Type

    Operating Principle and Functions Offset cycle type Offset cycle type INFORMATION Main state Z3 (synchronous operation) is a prerequisite for offset processing. Offset processing means that an offset is added to the difference counter (main state Z3) during synchronous operation. In this way, the slave drive obtains a new synchroni- zation point and the resulting angle difference is reduced to zero by the control.
  • Page 30 Operating Principle and Functions Offset cycle type 4.5.3 Offset state machine Offset control only reacts to specified events in main state Z3 (synchronous drive). The setting is made using the H360 OffsetCycleMode system variable. Additional functions can be programmed with the H361 OffsetCycleModeControl system variable. System variable H360 OffsetCycleMode →...
  • Page 31 Operating Principle and Functions Offset cycle type System variable H361 OffsetCycleModeControl: Name Description The "AutoRestart" function enables you to determine whether the offset processing cycle should be triggered only once or several times. AutoRestart = 0: AutoRestart deactivated. The offset processing cycle using position control can be run through once.
  • Page 32 Operating Principle and Functions Offset cycle type 4.5.4 Restart after terminated offset processing NOTICE When processing an offset during the internal synchronous operation (ISYNC), the machine/system cannot immediately be re-started under certain circumstances in the phase synchronous operation ISYNC after a termination of an offset processing (e.g. with an emergency stop). Termination results in a lag error because the slave does not run synchronously with the master during offset processing.
  • Page 33 Operating Principle and Functions Offset cycle type Program suggestion // Insert this variable definition in the initialization part // Initialize variable interrupt Vint.Control = 2; // Interrupt Task 3 Vint.IntNum = 1; // Interr. no. 1 Vint.SrcVar = numof(SynchronousState);// Source variable to be monitored Vint.CompVar = 3;...

  • Page 34: Stop Cycle State Machine

    Operating Principle and Functions Stop cycle state machine Stop cycle state machine "Stop cycle" is the name of the process where angular synchronous operation between the slave and master drives is stopped and the slave drive enters free running mode. This means the slave drive can be moved with speed control or held in its current posi- tion with position control.

  • Page 35: Virtual Encoder

    Operating Principle and Functions Virtual encoder Virtual encoder The virtual encoder (system variables H370 to H377) is a software counter that can be used as the master encoder for synchronous operation (assignment MasterSource H430 = H376). A system bus connection enables the software counter reading to be transferred to other axes.
  • Page 36 Operating Principle and Functions Virtual encoder • Example 2: An axis is to be positioned using a virtual encoder and internal synchronous operation. The speed should be n = 1500 rpm, acceleration and deceleration ramps should be 0.1 s. The target position is 409600 inc (= 100 revolutions). 1500 1/min 0,1s 0,1s...
  • Page 37 Operating Principle and Functions Virtual encoder VEncoderMode = 2 → Endless counter with adjustable acceleration and speed H373 VEncoderNSetpoint [1 inc/ms] → Setpoint velocity H377 VEncoderdNdT [1 inc/ms → Acceleration INFORMATION To determine the values of H373VEncoderNSetpoint and H377VEncoderdNdT → VEncoderMode = 0. VEncoderMode = 2 →...
  • Page 38 Operating Principle and Functions Virtual encoder → Determining VEncoderNSetpoint: n [1/min] x 4096 inc x GFSlave VEncoderNSetpoint [inc/ms] = 60000 [inc/min] x GFMaster 1000 [1/min] x 4096 inc x 160 VEncoderNSetpoint [inc/ms] = 60000 [inc/min] x 1 VEncoderNSetpoint [inc/ms] = 10923 [inc/ms] →...

  • Page 39: Important Notes

    Operating Principle and Functions Important notes Important notes • The possibility of specifying a signed distance in variables H417 StartupCycle- MasterLength and H366 OffsetCycleMasterLength for the master drive means it is important to check the direction of rotation of the master drive. It is also important to note that the scaling factor can also be entered as signed value in H428 GFMaster.
  • Page 40 Your SEW- EURODRIVE contact can tell you the number of teeth in the gear pairs.

  • Page 41: Internal Synchronous Operation Via Sbus

    Operating Principle and Functions Internal synchronous operation via SBus Example Two drives with different gear unit reduction ratios are to be moved at a synchronous angle to the master drive at the same output speed n = 20 rpm. 55,7 55,7 i = 10 i = 7...

  • Page 42: Startup

    Startup General information Startup General information Correct project planning and installation are the prerequisites for successful startup. ® Refer to the MOVIDRIVE MDX60B/61B system manual for detailed project planning instructions. Check the installation and the encoder connection ® • by following the installation instructions in the MOVIDRIVE MDX60B/61B operating instructions •...

  • Page 43: Starting Up Internal Synchronous Operation

    Startup Starting up internal synchronous operation Starting up internal synchronous operation 5.3.1 General information • In the [Execute Program] group, click the [Shell] button under [Parameters/Diagnos- tics]. The SHELL program is started. • Set the P916 Ramp type parameter to "I-SYNCHR. OPERATION". This setting activates internal synchronous operation.
  • Page 44 SBus and the necessary parameter settings for the master inverter. This sample program shows the basic principles of the procedure. SEW-EURODRIVE cannot be held liable for incorrect program functions or parameter settings and the conse- quences thereof.
  • Page 45 Startup Starting up internal synchronous operation plus® IPOS sample program master inverter /*=============================================================================================== =================================================================================================* IPOS source file The program places the actual position of the master H511 on the SBus. The following parameters must be set for this purpose: P880 Protocol SBus 1 :SBUS MOVILINK P881 SBus 1 address :e.g.
  • Page 46 The next page show an IPOS sample program for cyclical data transmission via SBus for the slave inverter. This sample program shows the basic principles of the procedure. SEW-EURODRIVE cannot be held liable for incorrect program functions or parameter settings and the consequences thereof. Required...
  • Page 47 IPOS sample program slave inverter /*============================================================================================= IPOS source file for synchronous drive control ----------------------------------------------------------------------------------------------- SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Str. 42 76646 Bruchsal, Germany sew@sew-eurodrive.com http://www.SEW-EURODRIVE.com =============================================================================================== The following parameters have to be set for communication via SBus: P880 Protocol SBus 1...
  • Page 48 Startup Starting up internal synchronous operation 5.3.3 Startup with slave subject to slip with absolute encoder on the slave distance The absolute position of a connected and evaluated absolute encoder is used as the master for internal synchronous operation. The absolute encoder can be connected as follows: ®...

  • Page 49: Startup Interface For Internal Synchronous Operation

    Startup Startup interface for internal synchronous operation Startup interface for internal synchronous operation INFORMATION This chapter describes the "New startup" function of a synchronous operation appli- cation as an example. ® If you have questions during startup, refer to the MOVITOOLS online help.
  • Page 50 Startup Startup interface for internal synchronous operation 4046107403 Figure 29: Enter project name and path Select the project name and path for the new startup. In the [Signature] edit box, you can sign the device with a signature. Click [Next >>] to continue. The [General synchronous drive parameters] window opens. If you have selected MOVIDRIVE B as the [Device type:], you can enter the following values in addition to the slave source: •...
  • Page 51 Startup Startup interface for internal synchronous operation 4046109067 Figure 30: Entering general synchronous drive parameters Enter the general synchronous operation parameters. Select the options required for starting up your application with internal synchronous operation. Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation (ISYNC)
  • Page 52 In other words, include the individual gear unit reduction stages in the calculation separately: × × × × × × − n/2 = number of gear stages. Your SEW contact can tell you the number of teeth in the gear pairs. Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation (ISYNC)
  • Page 53 Startup Startup interface for internal synchronous operation Slave additional If there is an additional gear for a further ratio reduction (torque), this additional gear gear i reduction ratio must be treated like another gear unit reduction ratio and is also included in the calculation.
  • Page 54 Startup Startup interface for internal synchronous operation Master distance The master distance refers to the length of travel performed by the master per revolution of the output. Master distance = Travel length [in user travel units] per output revolution In many applications, the length of travel is described to a sufficient degree of accuracy by the calculated circumference of the drive wheel: Master distance = D x Π, where D = diameter of the drive wheel [in user travel units].
  • Page 55 In other words, include the individual gear unit reduction stages in the calculation separately: × × × × × × − n/2 = number of gear stages. Your SEW contact can tell you the number of teeth in the gear pairs. Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation (ISYNC)
  • Page 56 Startup Startup interface for internal synchronous operation Master additional If there is an additional gear for a further ratio reduction (torque), this additional gear gear i reduction ratio must be treated like another gear unit reduction ratio and is also included in the calculation.
  • Page 57 Startup Startup interface for internal synchronous operation Slave distance The slave distance relates to the length of travel performed by the slave per revolution of the output. Slave distance = Travel length [in user travel units] per output revolution In many applications, the length of travel is described to a sufficient degree of accuracy by the calculated circumference of the drive wheel: Slave distance = D x Π, where D = diameter of the drive wheel [in user travel units].
  • Page 58 Startup Startup interface for internal synchronous operation 5.4.3 User parameters In order to activate additional startup interface dialog boxes to make additional entries, click the following check boxes so that a small check mark appears in them. • Show user parameters/definition and initialization of IPOS variables •...
  • Page 59 Startup Startup interface for internal synchronous operation 5.4.4 Virtual encoder General The virtual encoder (→ IPOS variables H370 –H377) is a software counter that can be information on used as the master encoder for synchronous operation without using the startup inter- virtual encoders face (→...
  • Page 60 Startup Startup interface for internal synchronous operation Virtual encoder In mode 0, the virtual encoder works with linear, adjustable acceleration, adjustable mode 0 velocity, and target position. The virtual encoder is controlled and monitored using variables H370 to H377: Variable Meaning H370 VEncoderMode = 0 Selection of encoder operating mode...
  • Page 61 Startup Startup interface for internal synchronous operation Virtual encoder In mode 2, the virtual encoder works as an endless counter with linear, adjustable mode 2 acceleration and adjustable velocity. The virtual encoder is controlled and monitored using variables H370 to H377: Variable Meaning H370 VEncoderMode = 2...
  • Page 62 Startup Startup interface for internal synchronous operation Virtual encoder mode 3 In mode 3, the virtual encoder works with linear, adjustable acceleration and decelera- tion as well as with adjustable speed and target position. The virtual encoder is controlled and monitored using variables H370 to H377: Variable Meaning H370 VEncoderMode = 3...
  • Page 63 Startup Startup interface for internal synchronous operation plus® 5.4.5 Definition and initialization of IPOS variables In the "Speed setpoint for the stop cycle state" input field, enter the required setpoint with the resolution [0.2 rpm]. Ensure that the required speed corresponds to the maximum speed (parameter 302/312) because otherwise this speed cannot be achieved.
  • Page 64 Startup Startup interface for internal synchronous operation 5.4.6 Startup cycle type Startup cycle type The ISYNC technology function provides different modes such as synchronizing travel to the master and triggering this synchronization process. For more information, see "Startup cycle type" and "Mode 1" to "Mode 4". plus®...
  • Page 65 Startup Startup interface for internal synchronous operation Startup cycle type Startup cycle using binary inputs. mode 1 StartupCycleMode = 1 If the startup cycle process is started in event-driven mode using a binary input, you must select the terminal in the input field "Please select binary input" that triggers the startup cycle process (e.g.
  • Page 66 Startup Startup interface for internal synchronous operation Startup cycle type Interrupt and position control with DI02 or C track (X14). mode 2 StartupCycleMode = 2 An edge at binary input DI02 or on the X14:3 C-track triggers the startup cycle process (interrupt-controlled).
  • Page 67 Startup Startup interface for internal synchronous operation Interrupt source • Variable: H411 StartupCycleModeControl – 0 = DI02 – 1 = X14 C track • Status: R/W • Description: Bit 2: InterruptSelect (in mode 2) The interrupt-controlled start of the startup cycle process is triggered either by a rising edge (level change - "0"...
  • Page 68 Startup Startup interface for internal synchronous operation Startup cycle type Position control. mode 3 StartupCycleMode = 3 The startup cycle process is initiated by the StartupCycleCounter position counter (H414). If the StartupCycleCounter value is greater than the StartupCycleCounter- MaxValue (H415) counter overrun value, the startup cycle takes place automatically. In this case, StartupCycleCounterMaxValue must be greater than the total number of input master encoder pulses in the startup cycle, master cycle and stop cycle.
  • Page 69 Startup Startup interface for internal synchronous operation Startup cycle type In the "Startup cycle type" input field, select whether you want the slave drive to synchro- nize in a time-controlled or position-dependent manner. You can select from the follow- ing startup cycle modes: Time-controlled Time-controlled synchronization means the existing position differential between the synchronizing...
  • Page 70 Startup Startup interface for internal synchronous operation Position-depen- With this synchronizing mechanism, the slave drive moves in sync with the master drive dent engaging once the master drive has covered the specified distance. The specified distance is entered in the "Master distance" edit field in master incre- ments.
  • Page 71 Startup Startup interface for internal synchronous operation 5.4.7 Offset control Offset control mode 0 H360 OffsetCycleMode = 0 = Offset via IPOS program If the offset cycle is initiated manually using an IPOS application program, the value 4 must be assigned to the SynchronousState system variable (H427) in the program sequence.
  • Page 72 Startup Startup interface for internal synchronous operation Offset control H360 OffsetCycleMode = 1 = Offset via input terminals. mode 1 If the offset cycle is started using event-control via a binary input, you must enter the terminal in the "Select binary input" edit box that triggers the offset cycle. If the startup interface is not used ->...
  • Page 73 Startup Startup interface for internal synchronous operation Offset control mode 3 H360 OffsetCycleMode = 3 = Offset via position control With internal synchronous operation, the offset cycle can be started automatically. In this case, the start signal for the offset cycle is generated internally by the overflow of the offset counter that reached the specified master distance.
  • Page 74 Startup Startup interface for internal synchronous operation AutoRestart offset • Variable: H361 OffsetCycleModeControl – 0 = AutoRestart deactivated – 1 = AutoRestart activated • Status: R/W • Description: Bit 0: AutoRestart (in mode 3) The "AutoRestart" function allows you to determine whether the offset cycle is to be triggered "only"...
  • Page 75 Startup Startup interface for internal synchronous operation Maximum counter • Variable: H365 OffsetCycleCounterMaxValue value offset • Value range: 0 – 7FFFFFFFhex master incr. • Status: R/W • Description: In mode 3: Length limit for the automatic offset cycle The "Counter maximum value" edit box makes it possible to set the master distance at which the offset counter overruns and the start of the offset cycle is triggered internally.
  • Page 76 Startup Startup interface for internal synchronous operation Offset value • Variable: H367 OffsetCycleValue • Value range: 0 – 7FFFFFFFhex slave incr. • Status: R/W • Description: Offset value for slave drive Position-depending offset cycle: Specified distance for the master drive in offset processing.
  • Page 77 Startup Startup interface for internal synchronous operation Mode 0 Manual stop cycle by plus® IPOS program StopCycleMode = 0 The slave ceases synchronous operation with the master when the application assigns the value 5 to the SynchronousState system variable (H427). Manual –...
  • Page 78 Startup Startup interface for internal synchronous operation Mode 1: Stop cycle via binary inputs StopCycleMode = 1 Event-driven stop cycle via binary input. The StopCycleInputMask variable (H403) defines which binary input triggers the stop cycle process. The process is started as soon as level "1"...
  • Page 79 Startup Startup interface for internal synchronous operation State after stop • Variable: H401 StopCycleModeControl cycle – 0 = Stop cycle in main state 0 (n-controlled) – 1 = Stop cycle in main state 1 (x-controlled) • Status: R/W • Description: Bit 0: FreeMode Internal synchronous operation enables you to distinguish between two free-running states.
  • Page 80 Startup Startup interface for internal synchronous operation Online monitor lag distance In the "Lag distance" menu, the current lag distance of the active application can be recorded and analyzed more closely using the "Zoom" function. To do so, switch between "Measure" and "Zoom" for the required function using the pulldown menu on the left side of the screen.
  • Page 81 Startup Startup interface for internal synchronous operation Online monitor startup cycle (only in startup cycle mode 2) In the "Startup cycle" menu, the current state of the startup cycle machine is displayed. Here, you can see which startup cycle event the application is waiting for. Manual –...
  • Page 82 Startup Startup interface for internal synchronous operation 5.4.10 Save/download/compile Save Click "Yes" to save the data to a file (*.is1) using the project name and path you have defined at the start. This file can then be opened later if you want to edit it again. Download To finish startup of internal synchronous operation, click "Download".
  • Page 83 Startup Startup interface for internal synchronous operation plus® Compiler The Compiler interface for IPOS programming opens. The interface appears with a plus® program text and with an IPOS source file called "Projectname.ipc". plus® The settings made in the startup interface are used for initializing the IPOS variables for controlling internal synchronous operation.
  • Page 84 Startup Startup interface for internal synchronous operation 5.4.11 Parameters of internal synchronous operation Stiffness setpoint • Value range: 0.1 – 1 – 2 The stiffness value influences how "hard" the synchronous operation control loop is. Basically, this refers to the speed with which the synchronous operation controller responds to compensate for differentials at its input.
  • Page 85 Startup Startup interface for internal synchronous operation This parameter indicates the duration of the synchronization procedure. Make sure that the synchronization speed (catch-up speed) is faster than the maximum value for the master speed during operation. The synchronization speed is limited by the maximum speed (P302). P241 Synchr.

  • Page 86: System Variables For Internal Synchronous Operation

    System Variables for Internal Synchronous Operation System Variables for Internal Synchronous Operation Variable Name and value range Status Description Offset control H360 OffsetCyleMode The OffsetCycleMode variable is used to set how an offset cycle is to be started. The following offset modes can be selected: 0 to 3 Offset mode plus®...
  • Page 87 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H363 OffsetCycleInputMask Selects the binary input with which the offset cycle will be started (OffsetCycleMode 1) when there is a rising edge at this input (level change "0" to "1").
  • Page 88 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H372 VEncoderState No function H373 VEncoderNSetpoint Setpoint speed of the virtual encoder in 1 incr./ms 0 to 32767 H374 VEncoderNActual Actual speed of the virtual encoder in 1 incr./ms H375 VEncoderXSetpoint Target position of the virtual encoder in incr.
  • Page 89 System Variables for Internal Synchronous Operation Variable Name and value range Status Description Stop cycle mode control H400 StopCycleMode Stop cycle mode 0 to 1 This variable is used to specify how the stop cycle mode functions: plus® = 0: Stop cycle via IPOS program = 1: Stop cycle via input terminals H401...
  • Page 90 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H411 StartupCycleModeControl Activates different functions Bit 0: Auto restart (in modes 2 and 3) The "AutoRestart" function allows you to determine whether the startup cycle is to be triggered "only" once or several times. Either a single or a continuous enable is set for running through the startup cycle process.
  • Page 91 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H412 StartupCycleState Controlling the various modes Max. 0 to 4 (depending on mode) The value 1 must be assigned to the startup cycle state (StartupCycleState H412 = 1) in order to initiate running through the startup cycle process using interrupt control or position control.
  • Page 92 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H417 StartupCycleMasterLength Specified distance for the master drive for position-dependent startup cycle. The slave has synchronized to the master within this distance. The master length is the specified distance for the master drive in the position- dependent startup cycle, within which the slave synchronizes with the master.
  • Page 93 System Variables for Internal Synchronous Operation Variable Name and value range Status Description General variables H425 Synchronous mode No function H426 SynchronousModeControl Activates different functions Bit 0: PosTrim (only active in main state Z1 "x-control") = 0: The drive remains in the current position subject to position control. = 1: Causes the slave drive to move to TargetPos (H492) during position control in free running mode (main state 1) but without ramp.
  • Page 94 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H426 SynchronousModeControl Bit 4: State Change Bit 4 can be used to disable automatic state change of variable H427 SynchronousState. Automatic state change is carried out during startup and stop cycles or offset processing when controller inhibit is active or the operating mode is changed.
  • Page 95 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H431 SlaveSource Actual position source 0 to 1023 = 0: X15 > 0: Pointer to variable Example: H431 = 510 // Actual position source X14 (H510 ActPos_Ext) Specify the source of the slave increments for the actual value of the slave axis.
  • Page 96 System Variables for Internal Synchronous Operation Variable Name and value range Status Description H442 MasterTrimX14 Virtual axis -32768 to 32767 Pulse number 1 incr./ms The MasterTrimX14 IPOS variable (H442) represents the simplest variant of a virtual encoder without ramp generator. If the physical encoder on terminal X14 is activated by the startup interface (if not using the startup interface →...

  • Page 97: Ipos Plus® Sample Programs

    ® IPOSplus Sample Programs Example 1 plus® IPOS Sample Programs INFORMATION The following sample programs show only the basic principles of the procedure. No liability can be inferred from faulty program functions and the consequences thereof! Example 1 7.1.1 Task A slave drive is to be operated at a synchronous angle to a master drive.
  • Page 98 Sample Programs Example 1 plus® 7.1.2 IPOS program /*============================================================================= IPOS source file for Synchronous Drive Control SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Str. 42 D76646 Bruchsal sew@sew-eurodrive.de http://www.SEW-EURODRIVE.de ===============================================================================*/ #pragma var 300 309 #pragma globals 310 349 #include <const.h> #include <Example01.h> // Header file with variable designations and initialization function...
  • Page 99 ® IPOSplus Sample Programs Example 1 7.1.3 Header file with variable designation /***************************************************************************** Example01.h Data and startup header file for IPOS+ Compiler. For Startup after power on call "InitSynchronization();" Data file Movidrive Synchronous Drive Control Version 1.0 *****************************************************************************/ #define SynchronousMode H425 #define SynchronousModeControl H426...
  • Page 100 ® IPOSplus Sample Programs Example 1 #define VEncoderMode H370 #define VEncoderModeControl H371 #define VEncoderState H372 #define VEncoderNSetpoint H373 #define VEncoderNActual H374 #define VEncoderXSetpoint H375 #define VEncoderXActual H376 #define VEncoderdNdT H377 //Startup data from: 08.08.2000 - 16:35:22 InitSynchronization() for (H0=128; H0<=457; H0++) // Reset variables greater than H128 *H0=0;...

  • Page 101: Example 2

    ® IPOSplus Sample Programs Example 2 Example 2 7.2.1 Task Extruded material is to be cut with a flying saw. The travel increments of the extruded material are used as master increments at input X14 of the saw feed drive = slave drive. The slave drive waits in its start position.
  • Page 102 Sample Programs Example 2 plus® 7.2.2 IPOS program /*============================================================================= IPOS source file for synchronous drive control SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Str. 42 D76646 Bruchsal sew@sew-eurodrive.de http://www.SEW-EURODRIVE.de ===============================================================================*/ #pragma var 300 309 #pragma globals 310 349 #include <const.h> #include <Example01.h> // Header file with variable designations and initialization function...
  • Page 103 ® IPOSplus Sample Programs Example 2 7.2.3 Header file with variable designation /***************************************************************************** Example01.h Data and startup header file for IPOS+ Compiler. For Startup after power on call "InitSynchronization();" Data file Movidrive Synchronous Drive Control Version 1.0 *****************************************************************************/ #define SynchronousMode H425 #define SynchronousModeControl H426...
  • Page 104 ® IPOSplus Sample Programs Example 2 #define VEncoderMode H370 #define VEncoderModeControl H371 #define VEncoderState H372 #define VEncoderNSetpoint H373 #define VEncoderNActual H374 #define VEncoderXSetpoint H375 #define VEncoderXActual H376 #define VEncoderdNdT H377 //Startup data from: 08.08.2000 - 15:54:37 InitSynchronization() for (H0=128; H0<=457; H0++) // Reset variables greater than H128 *H0=0;...

  • Page 105: Example 3

    ® IPOSplus Sample Programs Example 3 Example 3 7.3.1 Task A slave drive is to be operated at a synchronous angle to a master drive. The gear units used in this case are the same and have a gear ratio of 1:1. The master and slave inverters are connected via SBus.

  • Page 106: Ipos Program Master Inverter

    IPOS program master inverter /*=========================================================================== IPOS source file Example01.h =============================================================================*/ #include <const.h> SCTRCYCL Position; // SEW standard structure for the _SbusCommDef statement SCTRCYCL SynchID; /*=========================================================================== Main function (IPOS initial function) =============================================================================*/ main() /*=========================================================================== Initialization =============================================================================*/ Position.ObjectNo=1100;...

  • Page 107: Ipos Plus® Program Slave Inverter

    ===============================================================================*/ #pragma var 300 309 #pragma globals 310 349 #include <const.h> #include<Example03.h> // Header file with variable designations and initialization function SREC Position; // SEW standard structure for the statement _SBusCommDef */============================================================================== Mainfunction (IPOS start function) ===============================================================================*/ main() */---------------------------------------------------------...

  • Page 108: Header File With Variable Designation

    ® IPOSplus Sample Programs Header file with variable designation Header file with variable designation /***************************************************************************** ISync.h Data and startup header file for IPOS+ Compiler. Data file Movidrive Synchronous Drive Control Version 1.0 *****************************************************************************/ #define SynchronousMode H425 #define SynchronousModeControl H426 #define SynchronousState H427 #define GFMaster H428...
  • Page 109 ® IPOSplus Sample Programs Header file with variable designation #define VEncoderMode H370 #define VEncoderModeControl H371 #define VEncoderState H372 #define VEncoderNSetpoint H373 #define VEncoderNActual H374 #define VEncoderXSetpoint H375 #define VEncoderXActual H376 #define VEncoderdNdT H377 //Startup data from: 08.08.2000 - 16:14:58 InitSynchronization() for (H0=128;...

  • Page 110: Index

    Index Index OffsetCycleCounterMaxValue .......87 OffsetCycleInputMask..........87 Application examples for internal synchronous operation ............10 OffsetCycleMasterLength ........87 Application fields for internal synchronous OffsetCycleMode ...........86 operation ..............6 OffsetCycleModeControl........86 OffsetCycleState ............86 OffsetCycleValue ...........87 Correction function (RegisterScale/RegisterLoop).27 Operating principle and functions of internal synchronous operation ........16 Embedded safety notes ...........5 Position-dependent offset processing....29 Project planning information ........14...
  • Page 111 Index Startup cycle mode control........18 SynchronousMode ..........93 Position-dependent synchronizing .....19 SynchronousModeControl .......93, 94 Time-controlled synchronizing ......18 SynchronousState ..........94 Startup cycle state machine ........20 System description ..........6 StartupCycleCounter..........91 System variables ...........86 StartupCycleCounterMaxValue......91 StartupCycleDelayDI02..........91 StartupCycleInputMask ..........91 Time-controlled offset processing ......29 StartupCycleMasterLength........92 StartupCycleMode ..........89 StartupCycleModeControl ........90 VEncoderMode ............87 StartupCycleState ..........91...
  • Page 116 SEW-EURODRIVE—Driving the world SEW-EURODRIVE Driving the world SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 D-76642 Bruchsal/Germany Phone +49 7251 75-0 Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com...

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