SEW movidrive MDX60B User Manual
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SEW movidrive MDX60B User Manual

Communication and fieldbus unit profile
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Drive Technology \ Drive Automation \ System Integration \ Services
®
MOVIDRIVE
MDX60B/61B
Communication and Fieldbus Unit Profile
Manual
Edition 04/2009
11264926 / EN

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  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services ® MOVIDRIVE MDX60B/61B Communication and Fieldbus Unit Profile Manual Edition 04/2009 11264926 / EN...
  • Page 2 SEW-EURODRIVE – Driving the world...

  • Page 3: Table Of Contents

    1 General Information ....................6 How to use the documentation ..............6 Structure of the safety notes ................6 Rights to claim under limited warranty ............7 Exclusion of liability ..................7 Copyright......................7 2 Safety Notes ......................8 Other applicable documentation ..............8 General notes on bus systems...............
  • Page 4 6.4.2 Engineering via fieldbus ..............73 6.4.3 Engineering via fieldbus and controller ..........73 6.4.4 Diagnostics via WEB server .............. 74 6.4.5 Motion control ................... 74 7 SEW Unit Profile ....................75 Process data ....................76 Process data configuration ................78 Process data description................79 Sequence control ..................
  • Page 5 Serial communication (RS485) via interface adapters ....... 118 8.4.1 Engineering via interface adapters (serial) ........118 8.4.2 Taking the USB11A interface adapter into operation ...... 118 8.4.3 Configuring serial communication ........... 121 8.4.4 Serial communication parameter (RS485) ........123 Communication SBus (CAN) via interface adapter ........124 8.5.1 Engineering via interface adapters (SBus) ........

  • Page 6: General Information

    General Information How to use the documentation General Information Handbuch How to use the documentation The documentation is an integral part of the product and contain important information on operation and service. The documentation is written for all employees who assemble, install, startup, and service this product.

  • Page 7: Rights To Claim Under Limited Warranty

    Exclusion of liability You must observe this documentation and the documentation of the connected units from SEW-EURODRIVE to ensure safe operation and to achieve the specified product characteristics and performance requirements. SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of the operating instructions.

  • Page 8: Safety Notes

    Safety Notes Other applicable documentation Safety Notes Other applicable documentation Only electrical specialists are allowed to perform installation and startup observing ® relevant accident prevention regulations and the MOVIDRIVE MDX60B/61B operating instructions. Read through these documents carefully before you commence installation and startup ®...

  • Page 9: Introduction

    Introduction Content of the manual Introduction Content of the manual ® The manual describes the communication interfaces of the MOVIDRIVE MDX60B/61B inverter: • 2 serial interfaces • 2 CAN interfaces, one via DFC11B option card • Fieldbus or Ethernet interface depending on the installed option card The manual provides a description of the connection, configuration parameters, as well as of the process and parameter data exchange via the communication interfaces of ®...

  • Page 10: Communication Interfaces Of Movidrive® B

    Introduction Communication interfaces of MOVIDRIVE® B ® Communication interfaces of MOVIDRIVE DFP 21B System bus reference DGND System bus High SC1 1 ADDRESS System bus Low SC12 DIØØ DIØØ DIØ1 DIØ1 DIØ2 DIØ2 DIØ3 DIØ3 DIØ4 DIØ4 DIØ5 DIØ5 DCOM* * DCOM* * VO2 4 VO2 4...

  • Page 11: Overview Of Communication Interfaces

    SEW fieldbus gateway to fieldbus systems, such as PROFIBUS, DeviceNet, etc. • to an engineering PC via PC via PC CAN interface or SEW fieldbus gateway Terminal X13:10 / X13:11 RS485 interface for networking up to 32 devices, for example for connecting ®...

  • Page 12: Serial Interfaces Of Movidrive ® B

    DC 5 V (from electronics supply) RS485 + (Rx/Tx) RS485 - (Rx/Tx) GND (electronics ground) Connection You can connect one of the following SEW options to the XT socket: options • DBG60B keypad 64252AXX Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile...
  • Page 13 Serial Interfaces of MOVIDRIVE® B Connecting and installing RS485 interfaces • UWS21B interface adapter (RS485 signals [1] to RS232 signals [2]) MOVIDRIVE ® MDX60/61B COM 1-99 UWS21B 64306AXX ® The UWS21B option is used to equip a MOVIDRIVE B with a potential-free RS232 interface.
  • Page 14 The serial interface XT is not electrically isolated. It must be used for point-to-point isolation connections only. Terminating • Matching terminating resistors are integrated in all SEW components. resistor Cable length • Maximum cable length: 3 m (5 m for shielded cables) Baud rate •...

  • Page 15: Connection Using Terminals X13:10 And X13:11

    Interface adapter UWS11A (RS232 signals to RS485 signals) • DOP11B operator terminal ® • Other SEW drives, such as MOVIMOT • Other interface adapters, such as COM server or other RS485 master devices Wiring diagram of the RS485 interface (X13) X13:...

  • Page 16: Shielding And Routing Cables

    • When interconnecting the units, make sure that always only one master (e.g. DOP11B, engineering PC) is connected and active. • Operating several masters on an RS485 network with SEW drives is not permitted ® (see chapter "MOVILINK via RS485").

  • Page 17: Configuration Parameters Of The Serial Interfaces

    Serial Interfaces of MOVIDRIVE® B Configuration parameters of the serial interfaces Configuration parameters of the serial interfaces The following parameters are used to set communication via the two serial interfaces. The factory setting of the individual parameters is underlined. Parameter No.

  • Page 18: Movilink ® Protocol Via Rs485 Transmission Method

    Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method ® MOVILINK protocol via RS485 transmission method 4.3.1 Transmission method An asynchronous, serial transmission method is used which is supported by the UART ® modules common in digital technology. This means the MOVILINK protocol can be implemented in nearly all controllers and master modules.
  • Page 19 Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method ® RS485 timeout For MOVIDRIVE , the maximum permitted time inverval between two cyclic request interval of the telegrams is set using parameter P812 RS485 Timeout interval. The system must inverter receive a valid request telegram during this time period.
  • Page 20 Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method Processing The inverter only processes request telegrams that were received without errors and request/response were correctly addressed. The following reception errors are detected: telegrams • Parity error • Character frame error •...

  • Page 21: Telegrams

    The protocol does not include coding of the user data. The content of user data is explained in detail in the "SEW unit profile" chapter. Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile...
  • Page 22 Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method Structure of the The following figure shows the structure of the request telegram, which the master request telegram sends to the inverter. Each telegram starts with an idle time on the bus, the so-called start pause, followed by a start delimiter.

  • Page 23: Addressing And Transmission Method

    Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method 4.3.3 Addressing and transmission method Address byte The address byte indicates the slave address independent of the direction of data. This (ADR) means the ADR character in a request telegram specifies the address of the inverter that is to receive the request.
  • Page 24 Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method Group addressing Every inverter has a setable group address in addition to its individual address. In this (multicast) way, the user can group various participants and address the individual participants of a group simultaneously using group addressing.
  • Page 25 Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method Broadcast address Broadcast address 255 can be used to address all inverter stations. The request telegram with broadcast address 255 sent by the master is received by all inverters but is not responded to.

  • Page 26: Structure And Length Of User Data

    The standard PDU types consist of the MOVILINK parameter channel and a process data channel. For the coding of the parameter channel and process data, refer to chapter "SEW unit profile". Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile...
  • Page 27 Serial Interfaces of MOVIDRIVE® B MOVILINK® protocol via RS485 transmission method The following figure shows the structure of a request telegram with the standard PDU types. The associated response telegram has the same structure except for the SD2 start character..Idle...
  • Page 28 EXOR PD3 low: F4 hex calculated BCC: 57 hex 01494BEN For a description of process data and the structure of the 8-byte parameter data channel, refer to chapter "SEW unit profile". Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile...

  • Page 29: Other Unit Functions Via Rs485 Interfaces

    Serial Interfaces of MOVIDRIVE® B Other unit functions via RS485 interfaces Other unit functions via RS485 interfaces In addition to process and parameter data exchange between PC, keypad and ® MOVIDRIVE B, the RS485 interfaces can also be used for the following functions: •...
  • Page 30 Serial Interfaces of MOVIDRIVE® B Other unit functions via RS485 interfaces P811 RS485 group address must be set to the same value for master and slave. For master/slave operation via RS485 interface, set P811 RS485 Group address to a value greater than 100.
  • Page 31 Serial Interfaces of MOVIDRIVE® B Other unit functions via RS485 interfaces Overview of functions of master/slave operation Master Slave P700 operating mode P100 Setpoint P700 Operating P750 Slave setpoint Function source mode 1 VFC & GROUP VFC & GROUP Speed synchronization: SPEED (RS485+SBus1) VFC &...
  • Page 32 Serial Interfaces of MOVIDRIVE® B Other unit functions via RS485 interfaces Speed The actual speed of the master is transferred to the slave. Set the torque ratio for the synchronization slave inverter using P751 Scaling slave setpoint. Leave P324 Slip compensation 1/P334 Slip compensation 2 of the slave at the value as the startup setting.

  • Page 33: Using The Rs485 Interfaces In Ipos Plus

    • directly access the process data transmitted via RS485 using the commands GETSYS PO data and SETSYS PI data. • access process and parameter data of other SEW drives connected via RS485 using ® the MOVILINK command. For this purpose, set the bus type to the value "1" for accessing the XT socket (master functionality), and to value "2"...

  • Page 34: Can Interfaces Of Movidrive® B

    B units for master/slave operation. ® • For exactly synchronizing several MOVIDRIVE B units (ISYNC). • For connection to an engineering PC via PC-CAN interface or SEW fieldbus gate- way. • For sending and receiving user-defined data (CAN layer 2 communication) in plus® IPOS ®...
  • Page 35 CAN Interfaces of MOVIDRIVE® B Connecting and installing CAN Wiring diagram Controlunit Controlunit Controlunit S 11 S 11 S 11 System bu s System bu s S 12 S 12 S 12 Terminating resistor Terminating resistor Terminating resistor S 13 S 13 S 13 S 14...

  • Page 36: Shielding And Routing Cables

    CAN Interfaces of MOVIDRIVE® B Connecting and installing CAN TIPS • Do not operate both CAN interfaces with 1000 kBaud to limit the interrupt load for ® MOVIDRIVE If a CAN interface is operated wtih 1000, the other CAN interface must be set to 125 kBaud.
  • Page 37 CAN Interfaces of MOVIDRIVE® B Connecting and installing CAN CAN cable • Use a 2 x 2-core twisted and shielded copper cable (data transmission cable with specification braided copper shield). The cable must meet the following specifications: – Cable cross section 0.25 - 0.75 mm (AWG 23 - AWG 19) –...

  • Page 38: Configuration Parameters Of The Can Interfaces

    CAN Interfaces of MOVIDRIVE® B Configuration parameters of the CAN interfaces Configuration parameters of the CAN interfaces Set the following parameters to enable communication via CAN interfaces: Parameter No. Name Setting Meaning 100 Setpoint source SBus 1/2 The inverter obtains its setpoint from the SBus. The inverter receives its control commands 101 Control signal source SBus 1/2...

  • Page 39: Movilink ® Profile Via Can

    CAN ® The MOVILINK profile via CAN (SBus) is an application profile from SEW- EURODRIVE specifically adjusted to SEW inverters. This chapter serves to support you with diagnostics and creating own applications. 5.3.1 Telegrams Different telegram types were defined for communication with a master (e.g. controller).
  • Page 40 CAN Interfaces of MOVIDRIVE® B MOVILINK® profile via CAN Creating the The following table shows the relationship between the type of telegram and the address ® identifiers when creating the identifiers for SBus MOVILINK telegrams: Identifier Telegram type 8 × SBus address + 3 Process output data telegram (PO) 8 ×...
  • Page 41 MOVIDRIVE responds with a process input data telegram within a maximum of 1 millisecond. The coding of process input and output data words is described in chapter "SEW unit profile". Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile...
  • Page 42 CAN Interfaces of MOVIDRIVE® B MOVILINK® profile via CAN Group process The master sends the group process data telegram to one or more slaves with the same data telegram for SBus group address. It has the same structure as the process output data telegram. 3 process data This telegram can be used for sending the same setpoint values to several slaves which words...
  • Page 43 CAN Interfaces of MOVIDRIVE® B MOVILINK® profile via CAN Fragmentation type: Fragmentation type Meaning First fragment Middle fragment Last fragment "Fragmentation count" begins with "0" and is increased by one with each fragment. Sequence First, the master transmits all fragments to the slave. Once the slave has accepted trans- mission, it returns as many fragmented process data as it has received.

  • Page 44: Parameter Setting Via Can (Sbus Movilink ® )

    ® MOVILINK parameter channel SYNC SBus 63801AEN For a detailed description of the parameter channel structure, refer to the "SEW unit profile" chapter. In conjunction with the CAN bus, it is important to distinguish between synchronized and non-synchronized parameters: •...

  • Page 45: Canopen Profile Via Can

    4.02 of CAN in automation (siehe www.can-cia.de). A specific unit profile, such as DS 402, is not implemented. An EDS file for configuring CANopen master systems is available for download at www.sew-eurodrive.de under "Documentation/Software". The CANopen profile provides the following COB-ID (Communication Object Identifier) and functions: ®...

  • Page 46: Configuring The Canopen Interface Of Mdx B And Network Management (Nmt)

    CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN ® MOVIDRIVE B saves all parameters to the non-volatile memory card; that is, the settings of the CANopen communication range (CANopen index 0x1000 - 0x1FFF) are also reset to the last available value once the system is restarted. The CANopen communication range can be reset to its original settings using the NMT ®...
  • Page 47 CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN The unit states can be changed at any time using NMT services. Possible commands: • Node_Start indication [6] • Node_Stop indication [7] • Enter_Pre-Operational_State indication [8] • Reset_Node indication [10] This command is used to reset the entire inverter. This means an inverter fault is acknowledged and the default settings in the object directory and the CANopen communication range (0x1000 to 0x1FFF) become active.

  • Page 48: Process Data Exchange

    CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN 5.4.2 Process data exchange ® MOVIDRIVE B can send up to 10 process input data words (PI data) and receive up to 10 process output data words via CANopen. 10 process data words can be assigned different PDOs using CANopen mapping.
  • Page 49 CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN TIPS Observe the following notes: ® • With MOVIDRIVE B, 29-bit COB IDs and RTR telegrams are not permitted for re- questing TxPDOs. Therefore, bits 29 and 28 - 11 of the PDO COB IDs must always ®...
  • Page 50 CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN Various transmission modes can be selected for each TX-PDO: • Synchronous (value 0 - 240): When the next SYNC pulse is received (it does not matter whether the value is 0 or ®...
  • Page 51 CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN Mapping process Only the 10 objects from index 2020 (PO1 - 10) can be mapped to RX-PDO 1 - 3. data in the A PDO can contain a maximum of 4 of these 16-bit values. CANopen PDOs Name Index (hex)

  • Page 52: Sync Object

    CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN 5.4.3 SYNC object The SYNC object is used to transfer the process data of several PDOs consistently and ® at a specific time to the process data buffer of MOVIDRIVE B. All the PDOs which are to be synchronized with the SYNC object have to be operated in transmission mode 0 - ®...

  • Page 53: The Emergency Object

    CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN 5.4.4 The emergency object ® The emergency object is always sent once by MOVIDRIVE B when an error is detected ® and when this error no longer exists. MOVIDRIVE B sends an emergency object in the event of the following errors.

  • Page 54: Heartbeat And Lifetime

    CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN 5.4.5 Heartbeat and lifetime ® Heartbeat and The following applies: A MOVIDRIVE B node either uses the heartbeat protocol or the lifetime lifetime protocol. Combined operation is not possible under any circumstances. Lifetime (guarding) The CANopen controller sends a node-guarding object with set RTR bit to the ®...

  • Page 55: Parameter Access Via Sdo

    MOVIDRIVE CANopen only allows the "read" and "write" services for manufacturer-specific object via ® SDO. If you want to use the SEW-specific services of the MOVILINK fieldbus unit profile (e.g. "read minimum", "read maximum", "read default", "write volatile", ...), you can do so using objects 0x2066 and 0x2067.

  • Page 56: Hard Synchronization For Synchronous Operation Or Positioning Several Mdx-B Units

    CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN For a detailed description of the management byte, refer to the chapter "SEW unit profile". In the event of an error, "abort SDO" signals a general error. You can read the ®...

  • Page 57: Other Unit Properties In The Canopen Profile

    CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN 5.4.8 Other unit properties in the CANopen profile • The master/slave functionality is not available with the CANopen profile but only with ® the MOVILINK profile via SBUS. plus® • The CANopen via SBus communication profile also affects the following IPOS functions: ®...
  • Page 58 CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN Index Subindex Function Access Type Mappable Default value RX-PDO1 mapping parameter 1600 no. of entries UNSIGNED8 1600 1. Mapping UNSIGNED32 20200110hex 1600 2. Mapping UNSIGNED32 20200210hex 1600 3. Mapping UNSIGNED32 20200310hex 1600 4.
  • Page 59 CAN Interfaces of MOVIDRIVE® B CANopen profile via CAN Index Subindex Function Access Type Mappable Default value TX-PDO3 mapping parameter 1A02 no. of entries UNSIGNED8 1A02 1. Mapping UNSIGNED32 20210710hex 1A02 2. Mapping UNSIGNED32 20210810hex 1A02 3. Mapping UNSIGNED32 20210910hex 1A02 4.

  • Page 60: Other Unit Functions Via Can Interfaces

    CAN Interfaces of MOVIDRIVE® B Other unit functions via CAN interfaces Other unit functions via CAN interfaces In addition to the exchange of process and parameter data between controller and ® MOVIDRIVE B, the CAN interfaces can be used for other additional functions, such as plus®...

  • Page 61: Using Can Interfaces In Ipos Plus® (Depending On The Profile)

    Depending on the chosen profile (P880/890), the data are read or written in ® CANopen format (low byte first) or in MOVILINK format (high byte first). • access process and parameter data of other SEW drives connected via CAN using ® the MOVILINK command. ®...

  • Page 62: Using Can Interfaces In Ipos Plus® (Independent Of The Profile)

    CAN Interfaces of MOVIDRIVE® B Other unit functions via CAN interfaces plus® 5.5.3 Using CAN interfaces in IPOS (independent of the profile) Variable telegrams were introduced to create an open CAN bus interface. You have the free choice of the identifier with which to send the telegrams with the variable telegrams; the 8 bytes of data on the CAN bus are used for the content of two variables.

  • Page 63: Using Can Interfaces For Integrated Synchronous Operation (Isync Via Sbus)

    CAN Interfaces of MOVIDRIVE® B Other unit functions via CAN interfaces 5.5.4 Using CAN interfaces for integrated synchronous operation (ISYNC via SBus) ® Refer to the "MOVIDRIVE MDX61B Internal Synchronous Operation" manual for detailed information. If you do not only want to synchronize several axes but also want to implement connec- tion via fieldbus/SBus to a higher-level controller, we recommend that you use the ®...
  • Page 64 CAN Interfaces of MOVIDRIVE® B Other unit functions via CAN interfaces plus® It is created in IPOS using the _SBusCommDef command: Structure Element Setting ObjectNo See 1A SCREC Format 4 (4-byte, Motorola format) DPointer C The H variable (Hxxx) defined under 2 B is selected as setpoint source for the position using H430 MasterSource.
  • Page 65 CAN Interfaces of MOVIDRIVE® B Other unit functions via CAN interfaces 5. Other important points A If internal synchronization is operated via SBus, all units connected to this SBus (except for 1 C) have to be synchronized to the same synchronization telegram (see 1 B).
  • Page 66 CAN Interfaces of MOVIDRIVE® B Other unit functions via CAN interfaces ® 6. Settings in MOVITOOLS MotionStudio 12111AEN 12112AEN The following parameters are important in parameter groups P88x and P89x for ® MOVIDRIVE • P880/P890 Protocol SBus 1/2 ® Only the MOVILINK protocol allows for this synchronization •...

  • Page 67: Fieldbus Interfaces Via Option Card For Movidrive ® B

    Fieldbus Interfaces via Option Card for MOVIDRIVE® B Other unit functions via CAN interfaces ® Fieldbus Interfaces via Option Card for MOVIDRIVE ® MOVIDRIVE MDX61B (not MDX60B) can be equipped with a fieldbus option card for easy connection to the following bus systems: •...

  • Page 68: Installing A Fieldbus Option Card In Movidrive ® Mdx61B

    Fieldbus Interfaces via Option Card for MOVIDRIVE® B Installing a fieldbus option card in MOVIDRIVE® MDX61B ® Installing a fieldbus option card in MOVIDRIVE MDX61B TIPS Only SEW-EURODRIVE personnel may install or remove option cards for ® MOVIDRIVE MDX61B size 0. ® •...

  • Page 69: Before You Start

    Fieldbus Interfaces via Option Card for MOVIDRIVE® B Installing a fieldbus option card in MOVIDRIVE® MDX61B 6.1.1 Before you start Observe the following notes before installing or removing an option card: • Disconnect the inverter from the power. Switch off the DC 24 V and the line voltage. •...

  • Page 70: Basic Procedure For Installing/Removing An Option Card (Mdx61B, Sizes 1 - 6)

    Fieldbus Interfaces via Option Card for MOVIDRIVE® B Installing a fieldbus option card in MOVIDRIVE® MDX61B 6.1.2 Basic procedure for installing/removing an option card (MDX61B, sizes 1 - 6) 60039AXX 1. Remove the two retaining screws holding the card retaining bracket. Pull the card retaining bracket out evenly from the slot (do not twist!).

  • Page 71: Parameters For Configuring Communication Via Fieldbus Option

    Fieldbus Interfaces via Option Card for MOVIDRIVE® B Parameters for configuring communication via fieldbus option Parameters for configuring communication via fieldbus option The following parameters are used for configuring the communication in addition to the DIP switches on the fieldbus option cards. The factory setting of the individual parameters is underlined.
  • Page 72 SBus1, SBus2 or by DPRAM. The inverters must not be synchronized from 970 DPRAM synchronization On/off interfaces at the same time. SEW- EURODRIVE recommends to set P885/895 to an identifier that is not used in the entire CAN network. You need parameters P888 and P916 to implement synchronization with interpolating setpoint processing.

  • Page 73: Process And Parameter Access Via Fieldbus

    Fieldbus Interfaces via Option Card for MOVIDRIVE® B Process and parameter access via fieldbus Process and parameter access via fieldbus The access to process and parameter data differs strongly depending on the bus systems and controller used. What applies to most bus systems is that up to 10 process input data words (PI) with 16 bits each are sent to the controller and up to 10 process output data words (PO) with ®...

  • Page 74: Diagnostics Via Web Server

    Fieldbus Interfaces via Option Card for MOVIDRIVE® B Other unit functions via fieldbus option card The engineering access via controller and fieldbus is described in the relevant manuals for the fieldbus options. 6.4.4 Diagnostics via WEB server The fieldbus options for industrial Ethernet (DFE32B and DFE33B) have a web server ®...

  • Page 75: Sew Unit Profile

    SEW Unit Profile Other unit functions via fieldbus option card SEW Unit Profile ® MOVIDRIVE offers digital access to all drive parameters and functions via the commu- nication interfaces. The drive inverter is controlled via the fast, cyclical process data. Via this process data channel, you can enter setpoints, such as setpoint speed, ramp gen- erator time for acceleration/deceleration, etc.

  • Page 76: Process Data

    SEW Unit Profile Process data Process data Process data (PD) are all time-critical (realtime) data of a process that have to be processed or transmitted quickly. They are characterized by high dynamic properties and actuality. Process data are, for example, setpoints and actual values of the drive inverter, but also peripheral states of limit switches.
  • Page 77 SEW Unit Profile Process data NOTICE For safety reasons, you must also always enable the drive inverter at the terminals for control via process data. Consequently, you must wire or program the terminals in such a way that the inverter is enabled via the binary inputs.

  • Page 78: Process Data Configuration

    SEW Unit Profile Process data configuration Process data configuration ® The MOVIDRIVE inverter can be controlled with 1 to 10 (with RS485 with 1 to 3) process data words via the communication interfaces. The number of process input data (PI) and process output data (PO) is identical.

  • Page 79: Process Data Description

    SEW Unit Profile Process data description Process data description The process data description defines the content of the process data to be transmitted. The user can individually assign all the process data words. The following 6 fieldbus parameters are available for defining the first three process data words: •...
  • Page 80 SEW Unit Profile Process data description Assignment Meaning Scaling NO FUNCTION The setting NO FUNCTION has the effect that the drive inverter does not use this process output data word for processing set- points. The content of the process output data word programmed to NO FUNCTION is ignored although the controller might specifiy a real setpoint via the fieldbus system.
  • Page 81 SEW Unit Profile Process data description Assignment Meaning Scaling ® SLIP Set to SLIP means the MOVIDRIVE inverter interprets the trans- 1 digit = 0.2 / min mitted process output data word as slip compensation value. Specifying the slip compensation via fieldbus automatically dis- ables parameters P324 Slip compensation 1 and P334 Slip com- pensation 2.
  • Page 82 SEW Unit Profile Process data description Special cases of Setting the process output data description separately allows for a great variety of PO data combinations. Not all of them are technically meaningful, however. processing In addition to the process output data, the digital input terminals are generally also used.
  • Page 83 SEW Unit Profile Process data description PO/PI data The process input data of the inverter (actual values, condition information, etc.) can be processing read by all communication interfaces of the inverter and is therefore not connected with the control signal and setpoint source.
  • Page 84 SEW Unit Profile Process data description Actual value The parameters Actual value description PI1 - PI3 define the content of the process description of PI input data words transmitted by the drive inverter to the higher-level controller (see data figure below). Each process data word is defined with an individual parameter. There- fore, three parameters are necessary for describing the process input data.
  • Page 85 SEW Unit Profile Process data description Assignment Meaning Scaling IPOS PI-DATA Set to IPOS PI (IPOS Process Input Data), an individual actual Three words with plus® value can be transmitted from the IPOS program to the individually higher-level controller via process input data. This setting allows...
  • Page 86 SEW Unit Profile Process data description Positive speed values correspond to a CW rotation with proper connection of the motor, or to CW = UPWARDS for hoist applications. NOTICE Consistent handling of the two process output data words for positions.

  • Page 87: Sequence Control

    SEW Unit Profile Sequence control Sequence control 7.4.1 Definition of the control word The control word is 16 bits wide. Each bit has been assigned a drive inverter function. The low byte consists of eight fixed function bits that are always valid. The assignment of the more significant control bits varies for the different control words.

  • Page 88: Linking Safety-Relevant Control Commands

    SEW Unit Profile Sequence control 7.4.2 Linking safety-relevant control commands Basically, the control commands • CONTROLLER INHIBIT • RAPID STOP / STOP • STOP • HOLD CONTROL • ENABLE can be activated simultaneously using the set control signal source, the binary inputs, plus®...

  • Page 89: Control Commands

    SEW Unit Profile Sequence control For safety reasons, the basic control block is defined in such a way that the inverter with the control word setting 0000 will assume the state No enable because all commercially available fieldbus master systems will reset the ouputs to 0000 in the event of an error.
  • Page 90 SEW Unit Profile Sequence control Control command The control command Stop will have the inverter brake the motor at the stop ramp. If "Stop" the process ramp is transmitted via the fieldbus system, this control command will use the currently indicated ramp value as brake ramp. Else, the drive inverter uses the typical integrator ramp for this control command depending on the set parameters and integrator set.

  • Page 91: Control Word 1

    SEW Unit Profile Sequence control 7.4.4 Control word 1 Control word 1 includes the most important drive functions of the basic control block as ® well as the function bits for setpoint functions that are generated in the MOVIDRIVE inverter in the higher-order byte.

  • Page 92: Control Word 2

    SEW Unit Profile Sequence control 7.4.5 Control word 2 Control word 2 contains the function bits for the most important drive functions in the basis control block; the virtual input terminals in the higher-order part. These are freely- programmable input terminals that are not physically available due to missing hardware (option cards).

  • Page 93: Status Word Definition

    SEW Unit Profile Sequence control 7.4.6 Status word definition The status word is 16 bits wide. The less significant byte, the basic status block, consists of eight status bits with fixed definition that reflect the most important drive states. The assignment of the more significant status bits varies for different status words.

  • Page 94: Status Word 1

    SEW Unit Profile Sequence control Fault/warning With bit 5 in the status word, the inverter signals a possible fault or warning. The result of a fault is always that the inverter is no longer ready for operation. A warning, how- ever, can occur temporarily without affecting the operating behavior of the inverter.

  • Page 95: Status Word 2

    SEW Unit Profile Sequence control 7.4.8 Status word 2 Status word 2 contains both the status information in the basis status block and the virtual output terminals DO10 - DO17 in the higher-level byte. By programming the terminal functions for the output terminals, all the conventional signals can be processed via the fieldbus system.

  • Page 96: Status Word 3

    SEW Unit Profile Sequence control 7.4.9 Status word 3 plus® Status word 3 contains the IPOS status messages for positioning tasks in addition to the condition information in the basic status block. The unit status or the fault number is indicated in the more significant status byte. Depending on the fault bit, the unit status is displayed for fault bit = 0 or for problems (fault bit = 1), the error number.

  • Page 97: 7.4.10 Fault Number And Unit Status

    SEW Unit Profile Sequence control 7.4.10 Fault number and unit status You find a current list with fault numbers and unit states in the parameter directory matching the firmware of your units. For more detailed information, refer to the ®...
  • Page 98 SEW Unit Profile Sequence control Fault number The fault code is shown in a 7-segment display. The following display sequence is used (fault code) (e.g. fault code 100): Flashes, ca. 1 s Display off, ca. 0.2 s Hundreds (if available), ca. 1 s Display off, ca.

  • Page 99: Monitoring Functions

    SEW Unit Profile Monitoring functions Monitoring functions ® For safe operation of the MOVIDRIVE inverter via the communication interfaces, additional monitoring functions have been implemented that may trigger an operator- defined drive function in case of a bus error. Two individual parameters are available for each communication interface.
  • Page 100 SEW Unit Profile Monitoring functions Timeout monitoring is useful for all communciation interfaces. However, it may vary considerably between the individual bus systems. Parameters for fieldbus timeout Value range Unit Seconds Range 0.01 s to 650.00 s in 10-ms steps Special case 0 or 650.00 = Fieldbus timeout disabled...

  • Page 101: Setting The Inverter Parameters

    SEW Unit Profile Setting the inverter parameters Setting the inverter parameters The drive parameters of the inverter are usually accessed using the bus-specific READ and WRITE services. Additional services can be executed for all bus system using the ® MOVILINK parameter channel.

  • Page 102: Structure Of The Movilink ® Parameter Channel

    Management byte Bits 0 - 3 contain the service identifier and define the service to be executed. Bits 4 and bit 5 specify the data length in bytes; it should be set to 4 bytes for all SEW drive inverters.
  • Page 103 SEW Unit Profile Setting the inverter parameters Bit 6 is the handshake bit. It has a different meaning depending on the bus system: • With SBus 1 (CAN) and set handshake bit (= 1), the response telegram is sent after the synchronization message (see chapter 5.3.2)
  • Page 104 SEW Unit Profile Setting the inverter parameters Read default This service can be used to determine the factory setting (default) of a drive parameter. Coding takes place in the same manner as the parameter value. Read Scale This service can be used to determine the scaling of a parameter. The inverter provides a so-called measurement index and a conversion index.
  • Page 105 SEW Unit Profile Setting the inverter parameters Read attribute This service can be used for reading the access attributes and the index of the next parameter. The following table shows the coding of the data for this parameter service. Byte 4...

  • Page 106: Return Codes Of Parameterization

    SEW Unit Profile Setting the inverter parameters 7.6.2 Return codes of parameterization In the event of an incorrect parameter setting, the drive inverter sends back various return codes to the master that set the parameters. These codes provide detailed information about what caused the error. All of these return codes are structured in accordance with EN 50170.
  • Page 107 Setting the inverter parameters Additional code The additional code contains SEW-specific return codes for faulty parameterization of the drive inverter. These codes are returned to the master under Error class 8 = Other error. The following table shows all possible codings for the additional code.
  • Page 108 SEW Unit Profile Setting the inverter parameters ® MOVILINK Additional code Error class High Description 0x00 No Error 0x10 Illegal Index 0x11 Not yet implemented 0x12 Read only 0x13 Parameter Blocking 0x14 Setup runs 0x15 Value too large 0x16 Value too small...

  • Page 109: Example: Reading A Parameter (Read)

    SEW Unit Profile Setting the inverter parameters 7.6.3 Example: Reading a parameter (READ) A parameter is read via communication interfaces with a read request from the ® programmable controller of the MOVIDRIVE inverter (see figure below). SERVER CLIENT 1. Read request (e.g. read ramp t11 up CW = Index 8470...

  • Page 110: Example: Writing A Parameter (Write)

    SEW Unit Profile Setting the inverter parameters Since this is a read service, the sent data bytes (bytes 4 - 7) and the data length (in the management byte) are ignored and do not need to be set. The inverter now processes the read service and sends the service confirmation back by changing the handshake bit.
  • Page 111 0 = No error while executing service 1 = Error while executing service 0/1 = Bit value is changed The data length is 4 bytes for all parameters of SEW drive inverters. Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile...
  • Page 112 SEW Unit Profile Setting the inverter parameters Using the WRITE service as an example, the following figure represents a process of setting parameters between the controller and inverter using a cyclic PDU type. To sim- plify the sequence, only the management byte of the parameter channel is shown here.

  • Page 113: Notes On Parameterization

    SEW Unit Profile Notes on parameterization Notes on parameterization ® By parameterizing the MOVIDRIVE inverter via the fieldbus system, you can generally reach all drive parameters. As some drive parameters are directly connected with the communciation via fieldbus system, you should observe the following notes on parameterization.

  • Page 114: Operating Movitools ® Motionstudio

    MotionStudio software package for establishing communication with the units. The SEW Communication Server allows you to create communication channels. Once the channels are established, the units communicate via these communication channels using their communication options. You can operate up to four communication channels at the same time.

  • Page 115: First Steps

    ® ® 1. Start MOVITOOLS MotionStudio in the WINDOWS start menu via the following path: "Start\Program\SEW\MOVITOOLS MotionStudio\MOVITOOLS MotionStu- dio" 2. Create a project with name and storage location. 8.2.2 Establishing communication and scanning the network ® Proceed as follows to establish a communication with MOVITOOLS...

  • Page 116: Communication Mode

    Operating MOVITOOLS® MotionStudio Communication mode Communication mode 8.3.1 Overview ® MOVITOOLS MotionStudio differentiates between "online" and "offline" communica- tion mode. You can select the communication mode. Unit-specific offline or online tools are provided depending on the communication mode you have selected. The following figure illustrates the two types of tools: Offline-Tool Online-Tool...

  • Page 117: Selecting Communication Mode (Online Or Offline)

    Operating MOVITOOLS® MotionStudio Communication mode The "online" communication mode is "NOT" a response message which informs you that you are currently connected to the unit or that your unit is ready for communication. • Should you require this feedback, observe section "Setting the cyclical accessibility ®...

  • Page 118: Serial Communication (Rs485) Via Interface Adapters

    Since your unit supports the "serial" communication option, you can use a suitable inter- face adapter for engineering. The interface adapter is additional hardware that you can obtain from SEW- EURODRIVE. You can use it to connect your engineering PC to the corresponding communication option of the unit.
  • Page 119 Operating MOVITOOLS® MotionStudio Serial communication (RS485) via interface adapters Connecting The following figure shows how the USB11A interface adapter [2] is connected with ® USB11A to MOVIDRIVE B [4] and with the PC [1] using the XT socket [3]. ® MOVIDRIVE 64340AXX USB11A with two connection cables (included in the scope of delivery)
  • Page 120 4. Click on [Browse] and go to the MOVITOOLS MotionStudio installation folder. 5. Enter the following path: "..\Program Files\SEW\MotionStudio\Driver\FTDI_V2" 6. Click the [Next] button to install the driver and assign the first free COM port of the PC to the interface adapter.

  • Page 121: Configuring Serial Communication

    Operating MOVITOOLS® MotionStudio Serial communication (RS485) via interface adapters 8.4.3 Configuring serial communication You must have a serial connection between your PC and the units you want to configure. You can establish one, for example, using the USB11A interface adapter. Proceed as follows to configure serial communication: 1.
  • Page 122 Operating MOVITOOLS® MotionStudio Serial communication (RS485) via interface adapters 3. Press the [Edit] button [3] on the right side of the "Configure communication plugs" window. This will display the settings for the "Serial" communication type. 12078AEN 4. If necessary, change the preset communication parameters on the tab pages [Basic settings] and [Advanced settings].

  • Page 123: Serial Communication Parameter (Rs485)

    COM port Serial port connected to the inter- • If there is no value entered face adapter here, the SEW Communication Server uses the first available port. • A USB interface adapter is indi- cated by the addition "(USB)".

  • Page 124: Communication Sbus (Can) Via Interface Adapter

    To connect the PC CAN interface to the unit, you need an additional connection cable with terminating resistor. The scope of delivery of the PC CAN interface from SEW includes a prefabricated connection cable on the unit with terminating resistor. There- fore, only this PC CAN interface is described in the following chapter.
  • Page 125 ® USB-CAN inter- the CAN interfaces of MOVIDRIVE face to the unit The figure shows how the USB-CAN interface adapter [2] from SEW-EURODRIVE is ® connected with MOVIDRIVE B [4] and with the PC [1] using the SBus interface [3].

  • Page 126: Configuring Communication Via Sbus

    Operating MOVITOOLS® MotionStudio Communication SBus (CAN) via interface adapter 8.5.3 Configuring communication via SBus You need an SBus connection between your PC and the units you want to configure. You can use a USB-CAN interface for this purpose. Proceed as follows to configure an SBus communication: 1.
  • Page 127 Operating MOVITOOLS® MotionStudio Communication SBus (CAN) via interface adapter 3. Press the [Edit] button [3] on the right side of the "Configure communication plugs" window. 12113ADE This will display the settings for the "SBus" communication type. 4. It might be necessary to change the preset communication parameters on the tab pages [Basic settings] and [Advanced settings].

  • Page 128: Communication Parameters For Sbus

    Operating MOVITOOLS® MotionStudio Communication SBus (CAN) via interface adapter 8.5.4 Communication parameters for SBus The following table describes the [Basic setting] for the SBus communication channel: Communication Description Note parameters Baud rate Transmission speed with which the • Adjustable values (permitted connected PC communicates with total cable length): the unit in the network via the com-...

  • Page 129: Communication Via Ethernet, Fieldbus Or Sbusplus

    Operating MOVITOOLS® MotionStudio Communication via Ethernet, fieldbus or SBUSplus plus Communication via Ethernet, fieldbus or SBUS 8.6.1 Connecting the unit with the PC via Ethernet plus The engineering access via Ethernet, fieldbus options or SBUS is described in detail in the relevant manuals of the fieldbus option cards. Executing functions with the units 8.7.1 Parameterizing units in the parameter tree...

  • Page 130: Starting Up The Units (Online)

    Operating MOVITOOLS® MotionStudio Executing functions with the units 5. Expand the "Parameter tree" up to the node you require. 12079AEN 6. Double-click to display a particular group of unit parameters. 7. Press the enter key to finalize any changes you make to numerical values in the input fields.

  • Page 131: Unit-Internal Scope

    Operating MOVITOOLS® MotionStudio Bus monitor 8.7.4 Unit-internal scope ® The unit-internal scope memory of MOVIDRIVE lets you record unit states or process data and have them displayed on your PC for diagnostic purposes. You will find ® additional information in the online help of MOVITOOLS MotionStudio.

  • Page 132: Bus Diagnostics

    Bus Diagnostics Checking the parameter setting Bus Diagnostics ® The MOVIDRIVE inverter offers all kinds of diagnostic information for bus operation. These diagnostic options include the process data description parameters as well as the menu area P090 - P099 with the parameters for bus diagnostics. These parameters allow for easy communication diagnostics using even DBG60B.
  • Page 133 Bus Diagnostics Checking the parameter setting ® The figure below gives an overwie of the communication parameters of MOVIDRIVE FIELDBUS System bus 1/2 RS485 Setting of the bus parameters 880/890 CAN profile on the fieldbus option card 881/891 SBus address 1/2 78x IP parameters 882/892 SBus group address 1/2 819 Fieldbus timeout interval...

  • Page 134: Diagnostics Of Process Input And Output Data

    Bus Diagnostics Diagnostics of process input and output data Diagnostics of process input and output data After having set the communication parameters, you should check the process data which are sent from and to the controller. Ensure the correct sequence of bytes ("Motorola"...

  • Page 135: Diagnostic Options For Rs485 Communication

    – Is the bus designed as linear bus structure (without stub lines, not a tree or star structure)? – No additional terminating resistors must be connected to units from SEW- EURODRIVE. • Have baud rate, timeout interval, and addresses/address ranges been set so they are suitable for the interaction of all units? •...
  • Page 136 Bus Diagnostics Diagnostic options for RS485 communication • MoviTele (mttele) MoviTele is a test program you can use to send individual process or parameter data telegrams. The response of the unit is displayed in decimal or hexadecimal notation. Specify the COM port by choosing [Setting] / [Communication ports] from the menu. The baud rate has a fixed setting of 9600 Baud.

  • Page 137: Diagnostic Options For Can Communication

    Bus Diagnostics Diagnostic options for CAN communication Diagnostic options for CAN communication ® In the event of problems in the communication of MOVIDRIVE using the CAN interfaces, first check all the parameters of this interface. If parameters P100 and P101 are set to "SBus1/SBus2", you can monitor the transmitted setpoints and actual values using parameters P094 - P099.
  • Page 138 CAN. Filter settings, the definition of a trace file to which the read-in data is written, and other analysis options offer all the functions required for diagnosing the CAN. To start the programs, shortcuts are created under [Start] / [Programs] / [SEW] / [sCAN ®...

  • Page 139: Diagnostic Options For Communication Via Fieldbus Option Card

    Bus Diagnostics Diagnostic options for communication via fieldbus option card • The length [2] of non-fragmented process data telegrams is 6 bytes = 3 words. • Setting the period [5] to 0 ms means a telegram is sent when pressing the space bar. If the period is set to a time >...

  • Page 140: Index

    Index Index Actual value description of process input data ..84 Diagnostic ........135 Acyclic data exchange ........21 Diagnostics ............74 Additional ............. 9 Diagnostics of process input and output data .. 134 Addressing ............23 Fieldbus monitor ........134 Addressing and transmission method Fieldbus monitor parameters .....
  • Page 141 Operating ............114 Reading a parameter (example) ....109 Option card Writing a parameter (example) ....110 Install and remove ........70 SEW ..............75 Other ..........29 Other applicable documentation ......8 Signal Inverter ready ..........93 PO data enabled .......... 93 Parameter ............
  • Page 143 SEW-EURODRIVE – Driving the world...
  • Page 144 Internet, available Anywhere. today. around the clock. 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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