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SEW Movidrive mdx61b Manual

"drivesync via fieldbus" application
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Drive Technology \ Drive Automation \ System Integration \ Services
Manual
®
MOVIDRIVE
MDX61B
"DriveSync via Fieldbus"
Application
Edition 08/2010
17004411 / EN

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Summary of Contents for SEW Movidrive mdx61b

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services Manual ® MOVIDRIVE MDX61B "DriveSync via Fieldbus" Application Edition 08/2010 17004411 / EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    Contents Contents General Information .................... 6 Use of the manual..................6 Structure of the safety notes ............... 6 1.2.1 Meaning of the signal words ............6 1.2.2 Structure of the section-related safety notes ....... 6 1.2.3 Structure of the embedded safety notes........6 Right to claim under warranty ..............
  • Page 4 Contents Installation ......................27 ® MOVITOOLS software ................27 ® 5.1.1 MOVITOOLS ................27 5.1.2 Application variant ..............27 Wiring diagram for incremental encoder master / MDX61B slave .... 28 Wiring diagram for MDX61B master / MDX61B slave ......29 ®...
  • Page 5 Contents Positioning mode ..................77 7.5.1 Cancelation conditions............... 78 Synchronous operation ................79 7.6.1 Cancelation conditions............... 80 7.6.2 Example for synchronous operation .......... 80 Cycle diagrams ..................82 7.7.1 Jog mode ................... 83 7.7.2 Referencing mode ..............84 7.7.3 Positioning mode ............... 85 7.7.4 Synchronous operation..............

  • Page 6: General Information

    SEW-EURODRIVE, have read through the manual care- fully and understood it. If you are unclear about any of the information in this documen- tation, or if you require further information, contact SEW-EURODRIVE.

  • Page 7: Right To Claim Under Warranty

    SEW-EURODRIVE to ensure safe operation and to achieve the specified product char- acteristics and performance requirements. SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of the documentation. In such cases, any liabil- ity for defects is excluded.

  • Page 8: Safety Notes

    • Knowledge of this documentation and other applicable documentation. • SEW-EURODRIVE recommends additional product training for the products which are operated with this software. In addition to that, they must be familiar with the relevant safety regulations and laws, especially with the requirements of the performance levels according to DIN EN ISO 13849-1 and all other standards, directives and laws specified in this doc- umentation.

  • Page 9: Bus Systems

    Safety Notes Bus systems Bus systems A bus system makes it possible to adapt frequency inverters and/or motor starters to the particulars of the machinery within wide limits. There is the risk that a change of param- eters that cannot be detected externally can result in unexpected, though not uncon- trolled, system behavior.

  • Page 10: System Description

    System Description Areas of application System Description Areas of application The "DriveSync via fieldbus" application module makes it possible to implement con- veyor systems and machinery with drives that have to move at a synchronous angle oc- casionally or permanently. The program can be used for the master drive and the slave drive.

  • Page 11: Application Examples

    System Description Application examples Application examples The "DriveSync via fieldbus" application module offers a wide range of possible applica- tions. Some examples are given in this section. 3.2.1 Finite (linear) movement of the master and slave axis Example 1: Hoist Master Slave 3031192715...

  • Page 12: Finite (Linear) Movement Of The Slave Axis And Infinite Movement Of The Master Axis

    System Description Application examples 3.2.2 Finite (linear) movement of the slave axis and infinite movement of the master axis Example 3: Belt drive with embossing punch (flying saw) Master Slave 3031391755 • Master axis: Belt drive [1] Operating mode: Speed specification, i.e. jog mode •...
  • Page 13 System Description Application examples Example 5: Electronic replacement of the mechanical vertical shaft. Master Slave 1 Slave n 3031399179 • Master axis: Belt drive [1] Operating mode: Synchronous operation with master value transfer to the subse- quent slaves via SBus object. •...

  • Page 14: Program Identification

    System Description Program identification Program identification ® You can use the MOVITOOLS software package to identify which application program ® was last loaded into the MOVIDRIVE MDX61B unit. Proceed as follows: ® • Connect MOVIDRIVE to the PC via the serial port. ®...

  • Page 15: Project Planning

    The "DriveSync via fieldbus" application module is implemented as an IPOS pro- ® gram and forms part of the SEW MOVITOOLS software package from version 4.30. In ® order to use MOVITOOLS , you must have a PC with one of the following operating sys- ®...

  • Page 16: Functional Description

    Project Planning Functional description Functional description 4.2.1 Functional characteristics The "DriveSync via fieldbus" application offers the following functional characteristics: • Jog mode The drive is moved clockwise or counterclockwise using two bits for direction selec- tion. The speed and the ramp can be varied via fieldbus. •...

  • Page 17: Additional Startup Functions

    Project Planning Functional description 4.2.2 Additional startup functions You can choose the following additional functions at startup: • Encoder in positioning mode (IPOS encoder source) – Positive connection: ® The incremental encoder, sin/cos encoder, or Hiperface encoder can be con- nected to terminal X15 of the DEH11B / DER11B option.

  • Page 18: Scaling Of The Drive

    Project Planning Scaling of the drive Scaling of the drive The controller must be able to detect the number of encoder pulses (increments) per travel unit to position the drive. The scaling function is used to set a user unit suitable to the application.

  • Page 19: Drive With External Encoder (Non-Positive Connection)

    Project Planning Scaling of the drive 4.3.2 Drive with external encoder (non-positive connection) In this case, you must have activated and scaled the external encoder before starting up the "DriveSync via fieldbus" application module. To do so, make the following set- tings in the Shell program before starting up the "DriveSync via fieldbus"...

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

    Project Planning Limit switches, reference cams and machine zero Limit switches, reference cams and machine zero Note the following points during project planning: • The software limit switches must be located within the travel range of the hardware limit switches. •...

  • Page 21: Process Data Assignment

    Project Planning Process data assignment Process data assignment The machine control (PLC) sends 6 process output data words (PO1 – PO6) to the in- verter and receives 6 process input data words (PI1 – PI6) from the inverter. 3044175371 PO= Process output data PO1 = Control word 2 PO2 = Target position high PO3 = Target position low...

  • Page 22: Process Output Data

    Project Planning Process data assignment 4.5.1 Process output data The process output data words are assigned as follows: • PO1: Control word 2 15 14 13 12 11 10 9 Controller inhibit/ /SW LS off enable Offset Enable/rapid stop Set zero point Enable/stop Mode high /Hold control...

  • Page 23: Process Input Data

    Project Planning Process data assignment 4.5.2 Process input data The process input data words are assigned as follows: • PI1: Status word 15 14 13 12 11 10 9 Inverter status/error code Drive synchronous Inverter ready IPOS reference (= drive referenced) Target position reached Brake released Error/warning...

  • Page 24: Software Limit Switches

    Project Planning Software limit switches Software limit switches 4.6.1 General information The "software limit switch" monitoring function is used to ensure that the target position is set to appropriate values. During this process, it is not important where the drive is positioned.
  • Page 25 Project Planning Software limit switches In referencing mode, the software limit switches are not active, which means the drive can move past the software limit switches during reference travel. Case no. 2 • Requirements: – Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set. –...

  • Page 26: Safe Stop

    Project Planning Safe stop Case no. 3 • Requirement: – Bit 15 "/SWLS" in the process output data word 1 (PO1) is set. SWLS CCW SWLS CW 3044210443 The monitoring function is deactivated in the modes "jog" and "referencing". The drive can be moved within the travel area of the software limit switches and from the valid positioning range into the area of the software limit switches without an error message being generated.

  • Page 27: Installation

    Installation ® MOVITOOLS software Installation ® MOVITOOLS software ® 5.1.1 MOVITOOLS ® The "DriveSync via fieldbus" application module is part of the MOVITOOLS software ® (version 4.30 and higher). Proceed as follows to install MOVITOOLS on your com- puter: ® •...

  • Page 28: Wiring Diagram For Incremental Encoder Master / Mdx61B Slave

    Installation Wiring diagram for incremental encoder master / MDX61B slave Wiring diagram for incremental encoder master / MDX61B slave ® MOVIDRIVE MDX61B slave X13: DIØØ /Controller inhibit DIØ1 No enable DIØ2 IPOS input (material sensor) DIØ3 Reference cam DIØ4 /LS CW or no function DIØ5 /LS CCW or no function DCOM...

  • Page 29: Wiring Diagram For Mdx61B Master / Mdx61B Slave

    Installation Wiring diagram for MDX61B master / MDX61B slave Wiring diagram for MDX61B master / MDX61B slave ® ® MOVIDRIVE MDX61B - Slave MOVIDRIVE MDX61B - Master X12: X12: DGND System bus reference System bus reference DGND Sc11 System bus high...

  • Page 30: Movidrive ® Mdx61B Bus Installation

    Installation ® MOVIDRIVE MDX61B bus installation ® MOVIDRIVE MDX61B bus installation 5.4.1 Overview For bus installation, comply with the information in the relevant fieldbus manuals sup- ® plied with the fieldbus interfaces. Refer to the MOVIDRIVE MDX60B/61B operating in- structions for information on installing the system bus (SBus). DFP21B DFI 21B DFE 11B...

  • Page 31: Profibus (Dfp21B)

    DFP21B PROFIBUS DP" manual. You can order this manual from SEW-EURODRIVE. ® You can download the unit master data files (GSD) and type files for MOVIDRIVE MDX61B from the SEW homepage (under the heading "Software") to simplify startup. Technical data Option...

  • Page 32: Interbus With Fiber Optic Cable (Dfi21B)

    INTERBUS with fiber optic cable (DFI21B) ® For more detailed information, refer to the "MOVIDRIVE MDX61B Fieldbus Interface DFI21B INTERBUS with Fiber Optic Cable" manual. You can order this manual from SEW-EURODRIVE. Technical data Option INTERBUS fieldbus interface type DFI21B (FO) Part number...

  • Page 33: Interbus (Dfi11B)

    MDX61B bus installation 5.4.4 INTERBUS (DFI11B) ® For more detailed information, refer to the "MOVIDRIVE MDX61B Fieldbus Interface DFI11B INTERBUS" manual. This manual can be ordered from SEW-EURODRIVE. Technical data Option INTERBUS fieldbus interface type DFI11B Part number 824 309 3 DFI 11B ®...

  • Page 34: Canopen (Dfc11B)

    MDX61B bus installation 5.4.5 CANopen (DFC11B) ® For more detailed information, refer to the "MOVIDRIVE MDX60B/61B Communication and Fieldbus Device Profile" manual. You can order this manual from SEW- EURODRIVE. Technical data Option CANopen fieldbus interface type DFC11B Part number...

  • Page 35: Devicenet (Dfd11B)

    DeviceNet (DFD11B) ® For more detailed information, refer to the "MOVIDRIVE MDX61B Fieldbus Interface DFD11B DeviceNet" manual. This manual can be ordered from SEW-EURODRIVE. ® You can download the EDS files for MOVIDRIVE MDX61B from the SEW homepage (under the heading "Software") to simplify startup.

  • Page 36: Ethernet (Dfe11B)

    MDX61B bus installation 5.4.7 Ethernet (DFE11B) ® For more detailed information, refer to the "MOVIDRIVE MDX61B Fieldbus Interface DFE11B Ethernet" manual. This manual can be ordered from SEW-EURODRIVE. Technical data Option Ethernet fieldbus interface type DFE11B Part number 1820 036 2 DFE 11B ®...

  • Page 37: Connecting The System Bus (Sbus 1)

    20 or 30 nodes, depending on the length of the cables and the cable capacity. The SBus supports transmission technology compliant with ISO 11898. The "Serial Communication" manual contains detailed information about the system bus that can be ordered from SEW-EURODRIVE. 5.5.1 SBus wiring diagram...
  • Page 38 Installation Connecting the system bus (SBus 1) Terminating resis- • Switch on the system bus terminating resistor (S12 = ON) at the start and end of the system bus connection. Switch off the terminating resistor on the other units (S12 = OFF).

  • Page 39: Startup

    Startup General information Startup General information Correct project planning and installation are the prerequisites for successful startup. For ® detailed project planning information, refer to the MOVIDRIVE MDX60/61B system manual. Check the installation, the encoder connection and the installation of the fieldbus options ®...

  • Page 40: Starting The "Drivesync Via Fieldbus" Program

    Startup Starting the "DriveSync via fieldbus" program Starting the "DriveSync via fieldbus" program 6.3.1 General information • Start [MOVITOOLS] / [Shell]. • From the folder "ApplicationBuilder applications", choose the file <DriveSync appli- cation module>. 3091793931 Manual – MOVIDRIVE® MDX61B "DriveSync via Fieldbus" Application...

  • Page 41: Initial Screen

    Startup Starting the "DriveSync via fieldbus" program 6.3.2 Initial screen The initial screen of the "DriveSync via fieldbus" application opens. 3091818123 • To commence startup of the "DriveSync via fieldbus" application, click the [Startup] button. The following chapters describe the next steps. •...

  • Page 42: Fieldbus Parameters And Drive Configuration

    Startup Starting the "DriveSync via fieldbus" program 6.3.3 Fieldbus parameters and drive configuration 3091824395 Make the following settings in this window: • Setting fieldbus parameters: Set the required fieldbus parameters. Fixed parame- ters are grayed out and cannot be changed. The system bus 2 (SBus2) can be set if the DFC11B option is installed.
  • Page 43 Startup Starting the "DriveSync via fieldbus" program • Setting the drive configuration: Set the drive configuration. Master / slave configuration: ® Only one drive may be started up as the master in a group of several MOVIDRIVE MDX61B inverters. Applications with variable master/slave relationship are not sup- ported.

  • Page 44: Setting Distance And Velocity Scaling Factors

    Startup Starting the "DriveSync via fieldbus" program 6.3.4 Setting distance and velocity scaling factors You can set the scaling factors for distance and speed in this window. 3092149387 Make the following settings in this window: • "Source of actual position" selection field: Select which encoder is to be used for distance measurement in positioning: –...
  • Page 45 Startup Starting the "DriveSync via fieldbus" program Calculating the • Example 1: Motor encoder or absolute encoder on the motor shaft (source ac- scaling factors tual position) – Choose the unit you require in the selection field "Diameter of driving wheel" or "Spindle pitch"...
  • Page 46 Startup Starting the "DriveSync via fieldbus" program Converting the dis- The scaling factor for distance (pulses/distance) is used to determine the user travel unit tance resolution (e.g. mm, revolutions, ft). For positioning with a motor encoder, the scaling factor for dis- into user units tance can be calculated automatically.
  • Page 47 Startup Starting the "DriveSync via fieldbus" program INFORMATION If the numerator (pulses) or denominator (distance) are non-integer values, the con- version can be made more accurate if both numerator and denominator are multiplied by the same expansion factor (e.g. 10, 100, 1000, etc.). Doing so will not limit the travel range.

  • Page 48: Determining The Modulo Parameters For Infinite Motion Sequences

    [MOVITOOLS] / [Shell] / [Display] / [Motor encoder data]. If you do not use a ® Hiperface encoder, contact SEW-EURODRIVE. – "Additional gear unit number of teeth / numerator" input fields Enter the respective values. – [Calculate] button To calculate the modulo parameters, click the <Calculation>...
  • Page 49 Transmission ratio: 104,37 Step 1: Determining the number of teeth of the gear unit Please contact SEW-EURODRIVE when determining the numbers of teeth. In this ex- ample, the following numbers of teeth were determined: Z1 = 17 / Z2 = 74 / Z3 = 8 / Z4 = 33 / Z5 = 16 / Z6 = 93...
  • Page 50 Startup Starting the "DriveSync via fieldbus" program Result: • Modulo numerator = 113553 • Modulo denominator = 1088 • Modulo encoder resolution = 4096 Step 3: Check the modulo range of representation and determine the maximum target position This step is performed automatically after the numerator/denominator factors have been entered in the startup interface.

  • Page 51: Setting Limits

    Startup Starting the "DriveSync via fieldbus" program 6.3.6 Setting limits You can set the limits for travel range and velocity in this window. 3092882315 • "Limit switch" group – "Software LS CCW" and "Software LS CW" input fields The software limit switches can only be edited in finite positioning mode. Enter the travel range between software limit switches CCW/CW.
  • Page 52 Startup Starting the "DriveSync via fieldbus" program • "Reference travel" group – "Reference offset" input field Enter the reference offset in the unit set in the parameters. – Dropdown menu "Reference type" The reference travel type defines the movement sequence for recording the me- chanical zero point.

  • Page 53: Configuring The Master-Slave Interface

    Startup Starting the "DriveSync via fieldbus" program 6.3.7 Configuring the master-slave interface In the "Synchronous operation" mode, you can use this window to set how the encoder master value is to be transferred from the master to the slave drive. The selection op- tions are displayed depending on the master or slave drive you have selected (see chap- ter "Fieldbus parameters and drive configuration").
  • Page 54 Startup Starting the "DriveSync via fieldbus" program Important: When connecting a motor encoder to X15 of the encoder card, the PPR count is quadrupled and scaled to 4096 increments/motor revolution for position control. This signal can be routed from the encoder card via the incremental encoder sim- ulation output (X14) to a downstream inverter.
  • Page 55 Startup Starting the "DriveSync via fieldbus" program • "Content of send object" display window ® The content of the information that is sent to other MOVIDRIVE drive inverters or received by them via SBus depends on the encoder source you have selected (see dropdown menu "Set position source for synchronous operation").

  • Page 56: Setting Parameters For Synchronous Operation (Part 1)

    Startup Starting the "DriveSync via fieldbus" program – "Timeout response" dropdown menu You can set a timeout response for SBus 1 operation. – "Baud rate" option The set baud rate of the SBus1 is displayed. The input fields for SBus monitoring are disabled if no SBus object is sent or received.
  • Page 57 Startup Starting the "DriveSync via fieldbus" program 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 Master Slave...
  • Page 58 Startup Starting the "DriveSync via fieldbus" program Example Task: Startup of a synchronous application with slip, e.g. gantry crane with steel crane rollers on steel rails. Solution: Evaluation of an additional absolute encoder for slip compensation Master Slave 3094642443 Do the following: •...
  • Page 59 Startup Starting the "DriveSync via fieldbus" program • Set the parameters of the absolute encoder system for position control for the master and slave axes in the "DriveSync via fieldbus" application module. – The started up absolute encoder is to be used for position control in the master and slave axes.
  • Page 60 Startup Starting the "DriveSync via fieldbus" program • Parameterize the absolute encoder system for synchronous operation control of the slave axis (see following figure). – The started up absolute encoder is to be used for position control in the master and slave axes.
  • Page 61 Startup Starting the "DriveSync via fieldbus" program • Parameterize the absolute encoder system for synchronous operation control of the slave axis (see following figure). – In the "Parameters for synchronous operation (part 1)" window, you have to enter the exact ratio between the set IPOS encoder system (= absolute encoder) and the motor encoder of the slave axis.

  • Page 62: Setting Parameters For Synchronous Operation (Part 2)

    Startup Starting the "DriveSync via fieldbus" program 6.3.9 Setting parameters for synchronous operation (part 2) 3095852299 • "Start conditions engaging/disengaging" group Dropdown menu "Engaging condition": You can define here how the engaging se- quence is started. The inverter must be enabled and "Synchronous operation" must be set.
  • Page 63 Startup Starting the "DriveSync via fieldbus" program • "Synchronization process" group "Time-based" option (recommended): When time-based engaging is selected, the synchronization process has a specified speed and ramp. Engaging is possible in the positive or negative direction of rotation of the master drive. "Position-based"...

  • Page 64: 6.3.10 Download

    Startup Starting the "DriveSync via fieldbus" program 6.3.10 Download Click [Download] when you have entered all the parameters you require. The data is loaded into the inverter. Startup is now complete. 3096077451 plus® • Stopping an IPOS program that may have been started •...

  • Page 65: Parameters And Ipos Plus® Variables

    Startup ® Parameters and IPOSplus variables plus® Parameters and IPOS variables plus® The following parameters and IPOS variables are set automatically during startup and are loaded into the inverter during the download. Parameter number P... Index Description Setting 8461 Setpoint source FIELDBUS FIELDBUS or RS485 in control 8462...
  • Page 66 Startup ® Parameters and IPOSplus variables Parameter number P... Index Description Setting 8939 Baud rate SBus2 Can be set 8623 Reference offset Can be set 8626 Reference travel type Can be set Linear or internal synchronous 8632 Ramp type operation 8729 Actual position source Can be set...
  • Page 67 Startup ® Parameters and IPOSplus variables plus® IPOS variable Description H080 SBus switch ON H088 Pointer SBus master H089 Virtual encoder operating mode H090 Virtual encoder control bit H091 Virtual encoder status H092 Virtual encoder setpoint velocity H093 Virtual encoder actual velocity value H094 Virtual encoder setpoint position H095...

  • Page 68: Recording Ipos Plus® Variables

    Startup ® Recording IPOSplus variables plus® Recording IPOS variables plus® IPOS variables can be recorded during operation using the "Scope" program in ® MOVITOOLS plus® The two 32-Bit IPOS variables H474 and H475 are available for recording. Two plus® pointer variables (H125/H126) to H474 and H475 can be used to record any IPOS variable using the "Scope"...

  • Page 69: Operation And Servicing

    Operation and Servicing Starting the drive Operation and Servicing Starting the drive Following the download, switch to the monitor of the "DriveSync via fieldbus" application module by selecting "Yes". Select the operating mode as follows: • With control via fieldbus/system bus: Use bits 11 and 12 from "PO1:Control word 2" INFORMATION Note the following points when starting the drive.

  • Page 70: Monitor Mode

    Operation and Servicing Monitor mode • Synchronous operation (DI11 = "1" and DI12 = "1") As soon as the engaging conditions defined during startup are met, the slave drive axis follows the master value signal of the synchronous operation master drive de- fined during startup.
  • Page 71 Operation and Servicing Monitor mode 3105775371 Manual – MOVIDRIVE® MDX61B "DriveSync via Fieldbus" Application...

  • Page 72: Diagnostics Monitor: Control Mode

    Operation and Servicing Monitor mode 7.2.1 Diagnostics monitor: Control mode You can change from monitor to control mode when the inverter is in "CONTROLLER INHIBIT" state (PA1:0 = "1"). To do so, click on [Control]. In this mode, the "DriveSync via fieldbus"...

  • Page 73: Diagnostics Monitor: Status Of Internal Synchronous Operation

    Operation and Servicing Monitor mode 7.2.2 Diagnostics monitor: Status of internal synchronous operation 3105889291 "Master trim X14" input field If master drive X14 is selected, you can enter a value to simulate incoming incremental encoder signals (inc/ms). Manual – MOVIDRIVE® MDX61B "DriveSync via Fieldbus" Application...

  • Page 74: Jog Mode

    Operation and Servicing Jog mode Jog mode • PO1:12 = "0" and PO1:11 = "0" 3107486219 • The direction of rotation is specified via the binary signals "Jog +" (DI10) and "Jog -" (DI09). Jog mode is effective when the drive is referenced and the software limit switches have been defined up to 3 position windows in front of the software limit switch range.

  • Page 75: Cancelation Conditions

    Operation and Servicing Jog mode 7.3.1 Cancelation conditions The following overview shows the conditions under which jog mode can be canceled. Cancelation condition Description DI00 = "0" or PO1:0 = "1" Not recommended! The output stage switches off and the drive is not shut down in a controlled fashion but coasts to a stop or the mechanical brake is applied.

  • Page 76: Referencing Mode

    Operation and Servicing Referencing mode Referencing mode • PO1:12 = "0" and PO1:11 = "1" The reference position is defined through reference travel (e.g. to one of the two hardware limit switches). 3107494283 • Ensure that you have set the correct reference travel type (P903) before starting reference travel.

  • Page 77: Cancelation Conditions

    Operation and Servicing Positioning mode 7.4.1 Cancelation conditions The following overview shows the conditions under which referencing mode can be can- celed. Cancelation condition Description DI00 = "0" or PO1:0 = "1" Not recommended! The output stage switches off and the drive is not shut down in a controlled fashion but coasts to a stop or the mechanical brake is applied.

  • Page 78: Cancelation Conditions

    Operation and Servicing Positioning mode • Set PO1:8 "Start" to "1" to start positioning. You can specify the target position scaled in user units via the fieldbus with PO2/PO3. You can set the positioning ramp in pro- cess output data word PO5. plus®...

  • Page 79: Synchronous Operation

    Operation and Servicing Synchronous operation Synchronous operation • PO1:12 = "1" and PO1:11 = "1" In synchronous mode, the actual position is adjusted to the setpoint position based on the "Internal synchronous operation (ISYNC)" technology function. 3107589899 • Set PO1:8 "Start" to "1" to start synchronous operation. As soon as the engaging event defined during startup occurs, the slave drive synchronizes with the master value of the master with time or position control.

  • Page 80: Cancelation Conditions

    Operation and Servicing Synchronous operation 7.6.1 Cancelation conditions The following overview shows the conditions under which synchronous mode can be canceled. Cancelation condition Description DI00 = "0" or PO1:0 = "1" Not recommended! The output stage switches off and the drive is not shut down in a controlled fashion but coasts to a stop or the mechanical brake is applied.
  • Page 81 Operation and Servicing Synchronous operation • Interruptions, e.g. in case an inverter error is detected – Stop the drives, e.g. via PO1:2 = "0" (Enable/halt). Reset the selection of the op- erating mode. Set PO1:8 (Start) to "0". – The axis system is dissolved. The drives are no longer in sync. –...

  • Page 82: Cycle Diagrams

    Operation and Servicing Cycle diagrams Cycle diagrams The cycle diagrams only apply to enabled inverters that are ready for operation. This is indicated by an "A" in the 7-segment display. You can see this by sending a query for the output terminals or via the process data in- terface.

  • Page 83: Jog Mode

    Operation and Servicing Cycle diagrams 7.7.1 Jog mode 50ms PA1:8 PA1:9 PA1:10 PA1:11 PA1:12 n [1/min] PA 2 -PA 2 3112682763 Axis starts when the "Jog +" bit is set Axis starts when the "Jog –" bit is set PO1:8 Start PO1:9 Jog +...

  • Page 84: Referencing Mode

    Operation and Servicing Cycle diagrams 7.7.2 Referencing mode [3] [4] PA1:8 50ms PA1:11 PA1:12 DIO3: PE1:2 n [1/min] P901 P902 P902 3112824971 Axis starts when the "Start" bit is set DI03 "Reference cam" is reached, which reverses the direction of rotation (applies to reference travel type 3).

  • Page 85: Positioning Mode

    Operation and Servicing Cycle diagrams 7.7.3 Positioning mode 50ms PA1:8 PA1:11 PA1:12 PE1:3 n [1/min] 3113041803 Automatic absolute selected Start positioning (target position = PO3) Target position reached PO1:8 Start PO1:11 Mode low PO1:12 Mode high PO1:3 Target position reached Manual –...

  • Page 86: Synchronous Operation

    Operation and Servicing Cycle diagrams 7.7.4 Synchronous operation Master drive in positioning mode [1] [2] [3] [5] [6] [10] [11] [12] PA1:8 PA1:11 PA1:12 PE1:3 PE1:1 PE1:5 PE1:8..15 3113161355 DI00 "CONTROLLER INHIBIT" = "1" DI01 "ENABLE/STOP" = "1" PO1:1 "ENABLE/RAPID STOP" = "1" PO1:1 "ENABLE/HALT"...
  • Page 87 Operation and Servicing Cycle diagrams Slave drive in syn- chronous mode [10] [11] [12] PA1:8 PA1:11 PA1:12 PE1:0 PE1:1 PE1:5 PE1:8..15 n [1/min] Master Slave 3113382923 DI00 "/CONTROLLER INHIBIT" = "1" DI01 "ENABLE/STOP" = "1" PO1:1 "ENABLE/RAPID STOP" = "1" PO1:1 "ENABLE/HALT"...

  • Page 88: Moving Clear Of Hardware Limit Switches

    Operation and Servicing Cycle diagrams 7.7.5 Moving clear of hardware limit switches Once a hardware limit switch (DI04 = "0" or DI05 ="0") has been reached, the bit PI1:5 "Error" is set and the drive comes to a standstill using an emergency stop. Proceed as follows to move the drive clear of the limit switch: •...

  • Page 89: Error Information

    Operation and Servicing Error information Error information 7.8.1 Error memory The error memory (P080) stores the last five error messages (errors t-0 to t4). The error message of longest standing is deleted whenever more than five error messages have occurred. The following information is stored when a malfunction occurs: Error that has occurred ·...

  • Page 90: Inverter Waiting For Data

    Operation and Servicing Error messages and list of errors 7.8.4 Inverter waiting for data If the inverter is controlled via a communication interface (fieldbus, RS485 or SBus) and the power was switched off and back on again or a fault reset was performed, then the enable remains ineffective until the inverter receives valid data again via the interface, which is monitored with a timeout.

  • Page 91: Error List

    Operation and Servicing Error messages and list of errors 7.9.3 Error list ® The following table shows a selection from the complete error list (see MOVIDRIVE operating instructions). Only those faults that can occur in this application are listed. The factory set error response is listed in the "Response P"...
  • Page 92 Operation and Servicing Error messages and list of errors Error Suberror Response Code Designation Code Designation Possible cause Measure Encoder not connected, defective encoder, defec- tive encoder cable Encoder error X15 - Speed range exceeded. Encoder at X15 turns faster than 6542 rpm. Encoder error X15 - Card is defective.
  • Page 93 Operation and Servicing Error messages and list of errors Error Suberror Response Code Designation Code Designation Possible cause Measure • Check encoder connection • Extend ramps • Encoder connected incor- • Set P component to higher rectly value • Acceleration ramps too •...

  • Page 94: Index

    Index Index Exclusion of liability..........7 Application example Finite (linear) movement of the master and slave axis ........11 Fieldbus, uncontrolled system behavior ....9 Finite (linear) movement of the slave axis and Functional characteristics ........16 infinite movement of the master axis ....12 Application examples Finite movements with master and slave axes ..12 Initial screen............41...
  • Page 95 Index Setting distance and velocity scaling factors ..44 Setting fieldbus parameters and Operating modes ...........69 drive configuration ..........42 Jog mode ............74 Setting parameters for synchronous Monitor mode .............70 operation (part 1) ..........56 Positioning mode ..........77 Setting parameters for synchronous Referencing mode..........76 operation (part 2) ..........62 Synchronous operation ........79 Setting the limits ............51...
  • Page 96 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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