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SEW-Eurodrive MOVI-PLC Manual

SEW-Eurodrive MOVI-PLC Manual

Freely programmable motion and logic controller, application solution synccrane
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Drive Technology \ Drive Automation \ System Integration \ Services
®
MOVI-PLC
Application Solution
"SyncCrane"
Manual
Edition 03/2008
11666617 / EN

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Summary of Contents for SEW-Eurodrive MOVI-PLC

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services ® MOVI-PLC Application Solution “SyncCrane“ Manual Edition 03/2008 11666617 / EN...
  • Page 2 SEW-EURODRIVE – Driving the world...

  • Page 3: Table Of Contents

    Startup........................ 31 Prerequisites ..................... 31 Preliminary work ..................31 Starting the SyncCrane program .............. 33 Parameters/H variables of the MOVI-PLC® ..........49 Drive inverter parameters ................. 50 Group signals.................... 50 Program overview of the PLC program............. 53 Operation ......................55 Starting the drive ..................
  • Page 4 System description..................77 Project planning for auxiliary drives ............79 Startup of auxiliary drives................83 Operation of auxiliary drives ..............89 Appendix......................93 Frequently asked questions ..............93 Address List ...................... 94 Index ......................... 103 Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 5: General Information

    Make sure that the operating instructions and manuals are available to persons responsible for the plant and its operation, as well as to persons who work independently on the unit. You must also ensure that the documentation is legible. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 6: Exclusion Of Liability

    ® – or "MOVIFIT MC" operating instructions and corresponding manuals ® – or "MOVIDRIVE MDX60B / 61B" operating instructions and corresponding manuals ® – or "MOVITRAC B Basic Unit" operating instructions and corresponding manuals Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 7: Description

    This solution approach allows the following applications: • Applications with high requirements on the dynamic properties. • Applications that are susceptible to vibration due to mechanical conditions (e.g. due to high elasticity and/or unfavorable load distribution between the drivelines). Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 8 Characteristics of emergency mode Characteristics of emergency mode: • Jog mode (with motor encoder or without encoder). • Group / individual axis control of the connected axes. • Deactivation of the selected absolute encoder detection and monitoring. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 9: Application Examples

    Example 1: Multiple column hoist with positioning and synchronization based on ® HIPERFACE motor encoder. Master Slave 511850891 Example 2: Gantry crane with indirect positioning and automatic slip compensation by means of absolute encoder evaluation. Master Slave 511852427 Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 10: Functional Principle Of Indirect Positioning And Synchronization

    The following figure shows direct position control with position correction. DIP 11B – IPOS – 536585611 Maximum velocity Speed controller Maximum acceleration Actual speed Profile generator Absolute encoder plus® Position controller IPOS IPOS program Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 11 Description Functional principle of indirect positioning and synchronization The following figure shows the speed profile (motor encoder) for direct position control. V [m/s] t [s] 774628875 Optimal speed process Real speed process Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 12 The following figure shows indirect position control with absolute encoder. DIP 11B Calc MOVI-PLC Delta Inc – – X15 Pos 536587275 Maximum velocity Actual position motor encoder Maximum acceleration Setpoint position motor encoder Profile generator Absolute encoder Position controller Actual speed Speed controller Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 13 This leads to a higher dynamic response and thus to improved operating characteristics for dynamic positioning applications. This solution with indirect positioning has been successfully implemented at SEW- EURODRIVE for some time in the area of SRUs with cornering ability, etc. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 14 Download SynchronousState = MDX_GEAR_OFFSET Slave – SynchronousState = DeltaInc > PosWindowDynamic DeltaInc SynchronousSpeed = VESpeed * Raising MDX_GEAR_INGEAR (DeltaInc > PosWindowStatic) && SynchronousSpeed= Staticspeed (DeltaInc < PosWindowDynamic) Virt Encoder DeltaInc OffsetCycleValue = DeltaInc 536582283 Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 15: Program Identification

    You can use the MOVITOOLS MotionStudio software package to identify the program ® that was loaded last into the MOVI-PLC From the menu, choose [Diagnostics]/[MOVI-PLC: Information and Remote Control]. The "Information" tab page shows the current application. 832287115 Part number A loaded SyncCrane application module can be identified by the part number 18219543.xx...

  • Page 16: Project Planning

    ® • Subsequent configuration of the individual axis for operation with MOVI-PLC DriveStartup. Make sure that different SBus individual addresses are specified. Assign the numbers in increasing order beginning with 1. It is important that the communication is set to 1 Mbaud.

  • Page 17: Functional Description

    ® • When external HIPERFACE /SSI absolute encoders are processed, the motor target position is adjusted during the travel process so that possible slip can be compensated. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 18 Emergency mode • The drive is moved clockwise or counterclockwise using two bits for direction selection. • Velocity and ramp can be specified via fieldbus as required. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 19: Scaling The Drive

    ScaleAbsEncNum S S caleFactorAbsEncoder ScaleAbsEncDenom Encoding scaling factor (SHELL parameter 955), for example, for laser distance encoder: × o o r Inc Encoder Resolution Encoder Scaling Fact ScaleFactorAbsEncoder ScaleAbsEncNum ScaleFactorAbsEncoder ScaleAbsE n n cDenom Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 20: Limit Switches, Reference Cams And Machine Zero

    You can enter a reference offset during startup if the machine zero is not located on the reference cam. The following formula applies: Machine zero = reference position + reference offset This way, you can alter the machine zero without having to move the reference cam. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 21: Process Data Assignment

    Actual position virtual encoder in automatic mode high Actual position virtual encoder in automatic mode low Diagnostic bits high byte, low byte Diagnostic bits high byte, low byte PI10 Diagnostic bits high byte, low byte Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 22 Mode selection bit 2 Mode: 0: Reserved 1: Jog mode single/group 2: Reference mode single/group 3: Positioning mode single/group 4: Automatic mode group 5: Emergency mode single/group Bit 14 Reserved Bit 15 Disable SWLS Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 23 Process output data word 9 – Acceleration ramp [ms] in automatic mode with limitation in jog/positioning mode Acceleration Process output data word 10 – Deceleration ramp [ms] in automatic mode with limitation in jog/positioning mode Deceleration Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 24 Assignment is configurable Diagnostics variables, e.g. pow- ered Process input data word 9 – Assignment is configurable Diagnostics variables, e.g. error Process input data word 10 – Assignment is configurable Diagnostics variables, e.g. InGear Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 25: Software Limit Switches

    2 (PO). • For unsynchronized motion PO1:15 / SW LS = TRUE • For synchronized motion (automatic mode) PO1:15 / SW LS = TRUE and PO2:15 / SW LS = TRUE Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 26: Hardware Limit Switches

    – The drives have moved clear of the limit switch once they change from unit status "9" (limit switch approached) to "A". – You can interrupt the motion sequence by deselecting the operating mode. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 27: Safe Stop

    The 7-segment display shows a "U" to indicate Safe stop active state. For more information on the Safe stop function, refer to the following publications: ® • Safe disconnection for MOVIDRIVE MDX60B/61B - Conditions ® • Safe disconnection for MOVIDRIVE MDX60B/61B - Applications Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 28: Installation

    SyncCrane.exe. Technology version ® The "SyncCrane" application module can only be used with MOVI-PLC unit version (T2). The application modules cannot be used with units in the standard version. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 29: Wiring Diagram Movidrive® Mdx61B

    Ref. potential binary signal X10: TF/TH input Ref. potential binary signals DGND /Brakee DBØØ Relay contact/Ready* DOØ1-C DOØ1-NO DOØ1-NC DOØ2 /Fault* +24V output VO24 VI24 +24V input Ref. potential binary signals DGND 672388747 * Factory setting Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 30: Bus Installation Profibus Dhp11B

    Installation Bus installation PROFIBUS DHP11B Bus installation PROFIBUS DHP11B NOTE ® For information on the bus installation, refer to the "MOVI-PLC DHP11B Control Card" manual. DHP11B LED 1 LED 2 LED 3 LED 4 LED 5 LED 6 LED 7...

  • Page 31: Startup

    MOVIDRIVE MDX61B with synchronous SERV&IPOS operating mode motor ® 2. Configure the individual axes using the "DriveStartup for MOVI-PLC " tool for ® operation with the MOVI-PLC . Make sure that different SBus single addresses are assigned and that the baud rate is set to 1 MBaud.
  • Page 32 "DriveStartup for MOVI-PLC tool" ® Start up the individual MOVIDRIVE axes as follows: 1. Open [MotionStudio] / [Technology Editors] / [DriveStartup for MOVI-PLC]. ® 2. Perform DriveStartup to prepare the MOVIDRIVE axes for operation with the MOVI- ®...

  • Page 33: Starting The Synccrane Program

    Startup Starting the SyncCrane program Starting the SyncCrane program ® Make a right mouse click on 0:MOVI-PLC and select [Application modules]/[Sync- ® Crane for MOVI-PLC 511968651 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 34 Online diagnostics and control mode The button is disabled if • you are not online • the application module has not been detected [Startup] Open the startup screen Click this button to take the application into operation. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 35 Risk of crushing if the motor starts up unintentionally. Severe or fatal injuries. • Stop the system before you begin startup and bring the system into a safe condition. • Make sure that the system cannot be activated during startup. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 36 Selection of startup steps Step 1 Project settings Step 2 Individual axis/scaling factors group Step 3 Scaling factors virtual axis Step 4 Axis parameter group Step 5 Synchronous operation parameters Step 6 Monitoring functions Step 7 Download Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 37 8, 9, and 10. Configuration of auxiliary drives If you want to use more auxiliary drives, you have to set the selection field to "Yes" before starting the wizard. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 38 SSI encoder. Place of encoder detection From this field you can select whether the encoder is mounted on the motor shaft or on the track, for example when the system is prone to slip. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 39 This field lets you invert the direction of rotation of the motor. Calculate The determined position resolution for the motor encoder system is entered in the input fields "Increments" and "Distance". The determined scaling factors are limited to 2 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 40 If you use a laster distance measuring instrument in the above example, you can directly enter the resolution specified by the manufacturer, for instance 8 increments/ mm, in the input fields [Increments] and [Distance]. Do NOT press the [Calculate] button in this case. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 41 User units for position reso- After having selected the unit for the position setpoint in this selection field, lution you have to activate it by clicking the "Calculate" button. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 42 The input fields described in steps 3 are not relevant for you if you choose the "Group" option in the dropdown menu "Individual axis/scaling factor group" described in chapter 3 "Selecting the individual startup steps". In this case, the values from "Scaling the synchronous encoder" are used. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 43 Startup Starting the SyncCrane program Result of encoder A description of the input fields on this window is already included in the description for scaling the previous windows. 672756491 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 44 When selecting reference travel type 2 or 3, the cam is searched with speed 1 and 2 reference travel velocity 1. Next moving clear of the cam takes place (and then ended) with reference travel velocity 2. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 45 Enter a value at least 10 % higher than the maximum positioning and/ speed controller or jog speed. 5.3.7 Step 5: Synchronous operation parameters This window is used to make the settings for indirect synchronization. 672852491 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 46 P228 Filter precontrol DRS Setpoint filter for the master speed. The setting range is 0 ... 100 ms. P971 Synchronization Setpoint for optimizing the synchronization behvior of the ® ® phase MOVIDRIVE individual axes and the MOVI-PLC Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 47 "IPOSinPosition" message does not change after having reached the target. Lag error window The motion is stopped when the position difference between the synchronous encoders of the axis system is exceeded in the monitoring window. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 48 Startup Starting the SyncCrane program 5.3.9 Step 7: Downloading data ® The data are loaded to the MOVI-PLC as soon as you have entered all parameters. 511982475 The following functions are performed during download: • MPLC program is downloaded •...

  • Page 49: Parameters/H Variables Of The Movi-Plc

    • saving the startup data • intermediate saving of diagnostics variables ® • mapping process data communication between bus master and MOVI-PLC ® The following table shows the data buffer MOVI-PLC H variables 0 ... 1450. Segment H variables Saved data...

  • Page 50: Drive Inverter Parameters

    Bit 0 True= Axis1 InGear AND Axis2 InGear AND..Bit 1 Axis LogAdr 1 "InGear" Bit 2 Axis LogAdr 2 "InGear" Bit 3 Axis LogAdr 3 "InGear" Bit 4 Axis LogAdr 4 "InGear" Bit 5 Bit 6 Bit 7 536597259 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 51 The following figure shows the group signal "one" of the connected axes in fault state. Axis 1 inverter error Inverter error Axis 2 inverter error Axis 3 inverter error Axis n inverter error 536598923 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 52 LagFailure (ABS(gVEInterfaceOut.VirtualAxisData.ActualPositionJerkLim - gAxisSync- Crane[j].ActPosExt))< H[E_LAGWINDOWFAILURE]),j) AllInGear (gAxisInterfaceOut[j].InGear) ,j) AllInAdjustPosition (ABS(gStatusbits.AdjustPosition - gAxisSyncCrane[j].ActPosExt ))< H[E_POSWINDOW]),j) MonitoringExtEnc (ABS(gAxisSyncCrane[j].ActPosMot - gAxisSyncCrane[j].ActPosExt))< H[E_EXTENCWINDOW]),j) AdjustPosition Cyclically calculated adjustment position nCalcDummy := nCalcDummy + gAxisSyncCrane[j].ActPosExt; gStatusbits.AdjustPosition := nCalcDummy/ snActNumberOfAxis; Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 53: Program Overview Of The Plc Program

    Axis control: axis 1 Diagnostics axis 1 fbAxixControlGearA1 Axis control: axis 2 Diagnostics axis 2 fbAxixControlGearA2 Axis control: axis 8 Diagnostics axis 8 fbAxixControlGearA2 fbOutSignals Status bit gsPODat PI Data PO1-PO10 536592267 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 54 The following table shows the program overview for the PLC program with 2 connected axes. TASK1_MAIN_PRG TASK2_VE Main program Virtual encoder Function • AxisConfiguration • VEAxisControl • InSignals • Interface • AxisControl • OutSignals Run time [ms] Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 55: Operation

    0.2 rpm. • Moving the axes without encoder evaluation is supported. • Unsynchronized motion sequence is supported for controlling single axes or a group of axes. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 56: Diagnostics Monitor

    To control the application module without higher-level controller, click the [Controller] button. Jog mode – unsynchronized Interface description Mode selection PO1:Bit11 = TRUE PO1:Bit12 = FALSE PO1:Bit13 = FALSE Jog + PO1:9 Jog– PO1:10 Disable SWLS PO1:15 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 57 The specified ramp time is used for accelerating/ decelerating the drive. The specified velocity of the jog mode is compared to the velocity limit and limited if necessary. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 58 Velocity specification PO8 in [rpm] or [user units] Velocity limit Startup parameter Jerk limitation Startup parameter Position limiting Software limit switch startup parameter Ramp specification PO9 Acceleration ramp in [ms] PO10 Deceleration ramp in [ms] Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 59: Referencing Mode

    2, and subsequently all axes are referenced to the specified reference position. • Reference type Cam DI00 CCW to X31:3 of the ® MOVI-PLC For a description, see reference type cam CW but in reversed search direction Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 60: Positioning Mode - Unsynchronized

    This monitoring function can be deactivated with the input bit Disable SWLS. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 61 Position setpoint PO6 and PO7 in [inc] Velocity specification Velocity limit Startup parameter Jerk limitation Startup parameter Position limiting Software limit switch startup parameter Ramp specification • PO9 acceleration ramp • PO10 deceleration ramp Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 62: Automatic Mode

    Initialization is repeated in the following cases: • Selecting an operating mode • Positive edge of Start • Reset of the axes following an encoder error • Drives change to "A" state (technology function) Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 63 All axis in position Adjust the virtual encoder Virtual encoder in position Encoupling the axis All axis InGear Ready for virtual encoder Control the virtual encoder ( jog mode or positioning) Cyclic slip compensation 536573963 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 64 The slave axes signal during the movement whether a lag warning error was issued by means of feedback bits. Refer to the following chapters for detailed informa- tion on the adjustment mode and synchronization functions. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 65 Functional description The calculated position offset is compensated by a positioning movement of the slave axes with the specified speed and ramp limits. "InPosition" is signaled back after completed compensation movement. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 66 For information/descriptions of the ISYNC technol- ® description ogy function, refer to the "MOVIDRIVE MDX61B Internal Synchronous Operation (ISYNC)" manual. For information on slip compensation, refer to the section "Functional principle of indirect positioning and synchronization" (see page 10). Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 67: Emergency Mode

    The specified velocity of the jog mode is compared to the velocity limit and limited if necessary. Automatic mode cannot be selected anymore when the digital input (set emergency mode DI01 X31:4) is activated. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 68: Additional Functions

    Diagnostics function, which monitors the bus communication to the master controller cyclically. If this condition is violated, feedback is provided by the described status bits and an error message in the IEC. Prerequisite Control via the PROFIBUS interface Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 69: Cycle Diagrams

    • PO8 = Setpoint velocity • PO9 = Acceleration ramp • PO10 = Deceleration ramp • PO45 = Target position for positioning mode (unsynchronized) • PO67 = Target position for automatic mode (synchronized) Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 70 Axis starts when the jog– bit is set Position Description PO1:8 Start PO1:9 Jog + PO1:10 Jog– PO1:11 "0" Mode 2 PO1:12 "0" Mode 2 PO1:13 "0" Mode 2 PI45 Actual position 32 bit Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 71 The drive is referenced once the PI1:2 message (IPOS reference) is set. Position Description PO1:8 Start PO1:11 "0" Mode 2 PO1:12 "1" Mode 2 PO1:13 "0" Mode 2 PI1:2 IPOS reference PI45 Actual position 32 bit Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 72 Positioning finished. PI1:3 message (IPOS in position) set. Position Description PO1:8 Start PO1:11 "0" Mode 2 PO1:12 "1" Mode 2 PO1:13 "1" Mode 2 PO45 Setpoint position PI1:3 IPOS in position PI45 Actual position 32 bit Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 73 Feedback "Axis system synchronized – ready for virtual encoder" Positioning of the virtual encoder mode selected Start of movement PO2:8 input "start" Positioning finished. PI2:3 message (virtual encoder in position) set. Decoupling of axis system by deselecting the operating mode Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 74 PO2:12 "1" Mode 2 PO2:13 "0" Mode 2 PO67 Setpoint position virtual encoder PI2:3 IPOS in position PI2:4 Axis system synchronized – ready for virtual encoder PI67 Actual position of axis system 32 bit Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 75 Axis starts when the jog+ bit is set Axis starts when the jog– bit is set Position Description PO1:8 Start PO1:9 Jog + PO1:10 Jog– PO1:11 "1" Mode 2 PO1:12 "1" Mode 2 PO1:13 "1" Mode 2 PI1:0 Motor turning Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 76: 6.10 Fault Information

    Communication while accessing the wizard was interrupted. All setpoints are cleared internally. FF0208h E_MPLC_SYNCCRANE_LAGERROR The set lag error was exceeded in automatic mode (distance from external encoder position to virtual master encoder). The axis system is stopped. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 77: Auxiliary Drive (Auxiliary Axis)

    Many applications with the SyncCrane application module are characterized by ® controlling several sequences of motion via a common interface between MOVI-PLC and the higher-level fieldbus master. In many crane applications, for example, more auxiliary drives are required in addition to the feed axes synchronized using the SyncCrane application module in order to control the lifting and Z movement of the load suspension.
  • Page 78 The hydraulic unit is operated without encoder by specifying a setpoint speed. SyncCrane PO10 PI10 AuxAxis 1..4 AuxAxis1 AuxAxis2 AuxAxis4 PO17 PI17 PO32 PI32 MOVI SBus 2 SBus 1 SyncCrane A1 SyncCrane A2 SyncCrane A3 SyncCrane A8 ® MOVI-PLC 675365643 Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 79: Project Planning For Auxiliary Drives

    17 ... 20 Axis 2 PD – 29 ... 32 25 ... 28 21 ... 24 Axis 3 PD – – 29 ... 32 25 ... 28 Axis 4 PD – – – 29 ... 32 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 80 Pos 16 bit Pos 32 bit Velocity Control word Control word Control word Setpoint velocity Setpoint velocity Setpoint velocity Setpoint ramp Setpoint position 32 high Setpoint ramp Setpoint position 16 Setpoint position 32 low Reserved Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 81 Pos 16 bit Pos 32 bit Velocity Status word Status word Status word Actual speed Actual speed Actual speed Reserved Actual position 32 high Reserved Actual position 16 Actual position 32 low Actual position 16 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 82 The SyncCrane application module is designed for controlling a maximum of 4 ® additional auxiliary drives. The inverters are connected via CAN2 of the MOVI-PLC (X:32) with a baud rate of 500 kBaud. The inverters have to be set with SBus address 9 ... 12. It is recommended that you make the setting using the DriveStartup tool.

  • Page 83: Startup Of Auxiliary Drives

    Startup of auxiliary drives 7.3.1 Starting the "Auxiliary axis" program Make a right mouse clock on Serial 0:MOVI-PLC and select [MotionStudio] / [Diagnostics] / [Application Builder] / [AuxiliaryAxis_E.mon] Initial screen The initial screen of the "Auxiliary Axis" application is opened.
  • Page 84 • the application module has not been detected Cancel Click this button to exit the startup wizard. NOTE If you want to load saved application data, choose [File] / [Open settings] from the menu. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 85 The specified SBus address is shown in this field. Process data profile You can choose one of three process data profiles. The following functions are supported: • Positioning 16 bit • Positioning 32 bit • Velocity specification Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 86 You can enter values with two decimal places. Gear ratio External ratio Calculate The determined position resolution for the motor encoder system is entered in the input fields "Increments" and "Distance". The determined scaling factors are limited to 2 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 87 Maximum speed jog You can limit the specified jog speed by entering the value. mode Maximum motor speed Enter a value at least 10 % higher than the maximum positioning and/or jog speed. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 88 757909899 NOTE ® Activating the "ResetCold" input element will reset the MOVI-PLC after having downloaded the input values. As SBus communication with the connected inverters is interrupted briefly, they will signal "SBUS2 timeout" until fault F46 is acknowledged.

  • Page 89: Operation Of Auxiliary Drives

    • Specify the process output data words, travel parameters, velocity, and ramp. If no velocity is specified, the axis will move at 0.2 rpm. Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 90 During ongoing operation, the monitor can be opened via [MotionStudio] / [Diagnostics] tor: Monitor mode / [Application Builder] / [AuxiliaryAxis_E.mon]. In monitor mode, the process input and process output data transferred via fieldbus are displayed in decoded format. 757917195 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 91 [H_STARTADDRESS_A1] + 25 SCALE_SOURCE – [H_STARTADDRESS_A1] + 26 SCALE_TYPE – [H_STARTADDRESS_A1] + 27 SCALE_VALUE – [H_STARTADDRESS_A1] + 28 SCALE_RESOLUTION – [H_STARTADDRESS_A1] + 29 SCALE_GEARINGRATIO – [H_STARTADDRESS_A1] + 30 SCALE_EXTRATIO – [H_STARTADDRESS_A1] + 31 SCALE_SPEEDRES – Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 92 [H_STARTADDRESS_A1] + 46 LIM_Ramp2 – [H_STARTADDRESS_A1] + 47 LIM_MAXSPEEDAUTO – [H_STARTADDRESS_A1] + 48 LIM_MAXSPEEDJOG – [H_STARTADDRESS_A1] + 49 LIM_MAXSPEED – [H_STARTADDRESS_A2+ 0 Structure axis 2 [H_STARTADDRESS_A3+ 0 Structure axis 3 [H_STARTADDRESS_A4+ 0 Structure axis 4 Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 93: Appendix

    Which values have to be entered in the wizard in the "SingleAxisScaling" input fields if solely a motor encoder is to be used? • Fill all fields by clicking on the "Default" button. • Enter value "1" in the numerator and denominator fields. Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 94: Address List

    Paris SEW-USOCOME Tel. +33 1 64 42 40 80 Zone industrielle Fax +33 1 64 42 40 88 2, rue Denis Papin F-77390 Verneuil I'Etang Additional addresses for service in France provided on request! Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 95 Sofia BEVER-DRIVE GmbH Tel. +359 2 9151160 Bogdanovetz Str.1 Fax +359 2 9151166 BG-1606 Sofia bever@fastbg.net Cameroon Sales Douala Electro-Services Tel. +237 33 431137 Rue Drouot Akwa Fax +237 33 431137 B.P. 2024 Douala Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 96 Bodega 6, Manzana B http://www.sew-eurodrive.com.co Santafé de Bogotá sewcol@sew-eurodrive.com.co Croatia Sales Zagreb KOMPEKS d. o. o. Tel. +385 1 4613-158 Service PIT Erdödy 4 II Fax +385 1 4613-158 HR 10 000 Zagreb kompeks@inet.hr Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 97 Hong Kong SEW-EURODRIVE LTD. Tel. +852 2 7960477 + 79604654 Sales Unit No. 801-806, 8th Floor Fax +852 2 7959129 Service Hong Leong Industrial Complex contact@sew-eurodrive.hk No. 4, Wang Kwong Road Kowloon, Hong Kong Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 98 Tel. +82 51 832-0204 No. 1720 - 11, Songjeong - dong Fax +82 51 832-0230 Gangseo-ku master@sew-korea.co.kr Busan 618-270 Latvia Sales Riga SIA Alas-Kuul Tel. +371 7139253 Katlakalna 11C Fax +371 7139386 LV-1073 Riga http://www.alas-kuul.com info@alas-kuul.com Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 99 10 Settlers Crescent, Ferrymead Fax +64 3 384-6455 Christchurch sales@sew-eurodrive.co.nz Norway Assembly Moss SEW-EURODRIVE A/S Tel. +47 69 24 10 20 Sales Solgaard skog 71 Fax +47 69 24 10 40 Service N-1599 Moss http://www.sew-eurodrive.no sew@sew-eurodrive.no Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 100 Fax +421 2 33595 200 SK-831 06 Bratislava sew@sew-eurodrive.sk http://www.sew-eurodrive.sk Žilina SEW-Eurodrive SK s.r.o. Tel. +421 41 700 2513 Industry Park – PChZ Fax +421 41 700 2514 ulica M.R.Štefánika 71 sew@sew-eurodrive.sk SK-010 01 Žilina Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 101 Fax +41 61 417 1700 Service CH-4142 Münchenstein bei Basel http://www.imhof-sew.ch info@imhof-sew.ch Thailand Assembly Chonburi SEW-EURODRIVE (Thailand) Ltd. Tel. +66 38 454281 Sales 700/456, Moo.7, Donhuaroh Fax +66 38 454288 Service Muang sewthailand@sew-eurodrive.com Chonburi 20000 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 102 Additional addresses for service in the USA provided on request! Venezuela Assembly Valencia SEW-EURODRIVE Venezuela S.A. Tel. +58 241 832-9804 Sales Av. Norte Sur No. 3, Galpon 84-319 Fax +58 241 838-6275 Service Zona Industrial Municipal Norte http://www.sew-eurodrive.com.ve Valencia, Estado Carabobo ventas@sew-eurodrive.com.ve sewfinanzas@cantv.net Manual – MOVI-PLC® Application Solution "SyncCrane"...

  • Page 103: Index

    ...........20 Operation of auxiliary drives ........89 Diagnostics monitor..........56 Documentation applicable.............6 Parameters Drive Inverter .............50 MOVI-PLC®............49 Emergency mode .........8, 18, 67 PLC program, program overview ......53 Exclusion of liability ..........6 Positioning mode .........8, 17, 60 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 104 Structure of the safety notes ........5 SyncCrane Initital screen............34 Starting program ..........33 Startup steps............36 Synchronization, indirect ........10 Synchronous mode ..........66 System bus (SBus1), connection ......30 System description for auxiliary drives....77 Wiring diagram MOVIDRIVE® MDX61B....29 Manual – MOVI-PLC® Application Solution "SyncCrane"...
  • Page 107 SEW-EURODRIVE – Driving the world...
  • Page 108 Drive Technology \ Drive Automation \ System Integration \ Services How we’re driving the world With people who With comprehensive With uncompromising think fast and With a worldwide With drives and controls knowledge in virtually quality that reduces the develop the service network that is that automatically every branch of...

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