SEW MOVITRAC 31 series Manual
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SEW MOVITRAC 31 series Manual

Fieldbus unit profile
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MOVITRAC
31..
Frequency Inverter
Fieldbus Unit Profile
Manual
Edition 04/98
08/198/96

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  • Page 1 ® MOVITRAC 31.. Frequency Inverter Fieldbus Unit Profile Manual Edition 04/98 08/198/96...
  • Page 2 (→ section x.x) means: Further information can be found in section x.x of this User Manual. Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and specifications. The manufacturer reserves the right to make changes to the technical data and designs as well as the user interface herein described, which are in the interest of technical progress.
  • Page 3 Preface Preface ® This Fieldbus Unit Profile Manual describes the operation of the MOVITRAC 31.. frequency inverter when connected to a higher-level automation system via a fieldbus option pcb. In addition to descriptions of all the fieldbus parameters, the various control concepts and potential applications are dealt with in the form of brief examples of programs.

  • Page 4: Table Of Contents

    Contents Page Introduction ............. 6 Overview of Functions .
  • Page 5 Contents Instructions to the User when Adjusting Parameters......48 5.4.1 Factory Setting ............49 5.4.2 Saving to EEPROM.

  • Page 6: Introduction

    ® 31.. inverters meet these requirements and can be linked to systems such as The SEW MOVITRAC the open, standardized serial bus systems PROFIBUS-DP, PROFIBUS-FMS and INTERBUS-S by ® using fieldbus option pcbs. The MOVITRAC 31..

  • Page 7: Overview Of Functions

    Introduction Overview of Functions ® Thanks to its high-performance, universal fieldbus interface, the MOVITRAC 31.. inverter enables connections to be made with higher-level automation systems via a wide range of fieldbuses, such as INTERBUS-S, PROFIBUS-DP, PROFIBUS-FMS, etc. The underlying behaviour of the inverter, known as the unit profile, is independent of the fieldbus and is thus uniform.
  • Page 8 Overview of Functions the bus. A rapid stop will be practical for many applications, but it is also possible to freeze the last setpoints, so that the drive can continue with the last valid setpoints (e.g. conveyor belt). As the functionality of the control terminals is also ensured when the inverter is operated in the fieldbus mode, fieldbus-independent emergency stop concepts can still be implemented via the inverter’s terminals.

  • Page 9: Inverter Control With Process Data

    Inverter Control with Process Data Inverter Control with Process Data By Process Data (PD) we mean all time-critical (real time) data in a process which have to be processed or transferred at high speed. These data are characterized by the fact that they are highly dynamic and always up to date.
  • Page 10 Inverter Control with Process Data 1. ENABLE the inverter on the terminal side Apply a +24 V signal on input terminal 41 (Function CW/STOP) (e.g. set jumper as shown below). Size 0 Size 1 - 4 Use this jumper to enable the Jumper installed when supplied Use this jumper to enable the Jumper installed when supplied...

  • Page 11: Process Data Configuration

    Process input data (PI) 00313AEN ® Fig. 3: Process data channel for the SEW MOVITRAC 31.. inverter The process data configuration settings are made via the fieldbus option pcb, either through the hardware (e.g. FFI 31A) or via the fieldbus master at the start of the bus system (e.g. PROFIBUS-DP).

  • Page 12: Setpoint Description For The Po Data

    Inverter Control with Process Data AW 44 AW 42 Process output data (PO) AW 40 Fieldbus CONTROL MODE PLC address area FAULT EW 44 EW 42 Process input data (PI) EW 40 00315AEN Fig. 5: Process data mapping in the PLC Process Data Description The process data description defines the content of the process data to be transmitted.

  • Page 13: Process Data Description

    Inverter Control with Process Data P560: PO1 SETP. DESCRIPT. P562: PO2 SETP. DESCRIPT. P564: PO3 SETP. DESCRIPT. Control word 1 Control word 1 Control word 1 Control word 2 Control word 2 Control word 2 Speed setpoint Speed setpoint Speed setpoint Current setpoint Current setpoint Current setpoint...
  • Page 14 Inverter Control with Process Data ® Consequently, the speed setpoint processing of the MOVITRAC 31.. inverter is subject to the priorities shown in the table. Processing priority in the inverter Setpoint source Highest priority: Internal fixed setpoints Motorized potentiometer Fieldbus setpoint Lowest priority: Analog setpoint (unipolar) If the speed setpoint is not specified via the bus system, the analogue input will become the setpoint...
  • Page 15 Inverter Control with Process Data CAUTION! When handling the position setpoints in the application program of the higher-level automation unit, make sure that both process output data words containing the position data are dealt with consistently, i.e. that the position setpoint high is always transmitted together with the position setpoint low! Otherwise the inverter might approach undefined positions, as e.g.
  • Page 16 Inverter Control with Process Data ® Slip Compensation (SLIP) (not for MOVITRAC 31.., size 0) ® The SLIP setting causes the MOVITRAC 31.. inverter to interpret the transmitted process output data word as slip compensation value. Scaling of the slip compensation value in the unit [1/min] see Section 3.3.5.

  • Page 17: Po Data Processing In The Inverter

    Inverter Control with Process Data 3.3.2 PO Data Processing in the Inverter Separate setting of the process output data description allows a multitude of combinations to be set though not all of them make sense from a technical point of view. Table 5 gives a selection of combinations, which are technically expedient.

  • Page 18: Actual Value Description Of The Pi Data

    Inverter Control with Process Data Duplicate Usage of the Process Output Data Channel If several process output data words contain the same setpoint description, only the process output data word which is read first will be valid. The processing sequence in the inverter is PO1 - PO2 - PO3, i.e.
  • Page 19 Inverter Control with Process Data Process input data words PI1 to PI3 serve to transfer the parameters listed in the table below via the process data channel. 32-bit values, such as e.g. the actual position, are transmitted in two process data words.

  • Page 20: Enable Fieldbus Setpoints

    Inverter Control with Process Data Actual Position (POSITION LO/HI) Position actual values must be spread over two process data words, as the position is generally transmitted as integer32. This means you have to specify both the Position Actual Value High and the Position Actual Value Low (Fig.

  • Page 21: Scaling Of The Process Data

    Inverter Control with Process Data When the PO1-PO3 Setpoint Description parameters are changed the process output data are automatically disabled through the Enable Fieldbus Setpoints = NO setting. Only when the Enable Fieldbus Setpoints = YES setting is initiated (e.g. by the higher-level control) will the process output data channel be enabled again for processing.
  • Page 22 Inverter Control with Process Data Example: Scaling of the speed in the process data channel This example shows the coding you must apply to transfer the speed setpoint through the process data channel so that the drive will operate at 400 1/min in CLOCKWISE direction of rotation or at 750 1/min in COUNTER CLOCKWISE direction of rotation.
  • Page 23 Inverter Control with Process Data Scaling of the Current The Current Setpoint , Apparent Current Actual Value and Active Current Actual Value process data are given in per cent of the inverter rated current [% I ] and mapped as signed values to the process data word (16-bit-integer).
  • Page 24 Inverter Control with Process Data Scaling of the Position Position values generally are 32-bit values and therefore must be transmitted in two process data words. It is up to the user to decide in which process data word he wishes to transmit the more significant part of the position (high word) and the less significant part of the position (low).

  • Page 25: Definition Of The Control Word

    Inverter Control with Process Data Definition of the Control Word The control word is 16 bits long. Each bit has an inverter function assigned to it. The low byte comprises 8 function bits with a permanent definition each, which are always valid. The assignment of the more significant control bits varies for the different control words.
  • Page 26 Inverter Control with Process Data Input terminals: CW/STOP CCW/STOP terminal processing ENABLE /CONTOLLER INHIBIT Fieldbus control word: Bit 0: controller inhibit/enable Bit 1: enable/rapid stop control word processing Bit 2: enable/stop Terminal processing function Rapid stop Stop Enable Controller inhibit Controller inhibit Contr.
  • Page 27 Inverter Control with Process Data While the inverter is generally enabled with the Enable command, there is a choice of three control commands to stop the drive, i.e. - Controller Inhibit - Rapid Stop - Stop. In addition, the inverter can at any time be stopped via the input terminals, independent of the control command which is being sent.
  • Page 28 Inverter Control with Process Data The Stop Control Command The Stop control command causes the inverter to ramp to rest. If the process ramp is transmitted via the fieldbus system, this control command will use the specified ramp value as value for the deceleration ramp.

  • Page 29: Control Word 1

    Inverter Control with Process Data This bit is OR’d with the input terminal function Parameter Set Selection , i.e. a logic “1” on the input terminal OR in the control word bit will activate parameter set 2! Resetting the Inverter after a Fault Bit 6 of the control word resets the inverter via the process data channel in the case of a fault.
  • Page 30 Inverter Control with Process Data Motorized Potentiometer Function via Fieldbus Fieldbus control of the motorized potentiometer setpoint function works the same as control via the standard input terminals. Set parameter P150 Motorized Potentiometer = YES to activate the motorized potentiometer function. In this case a speed setpoint which might be specified via another process data word will no longer be considered.

  • Page 31: Control Word 2

    Inverter Control with Process Data 3.4.3 Control Word 2 In addition to the function bits for the most important drive functions in the basic control block, control word 2, in its more significant section, contains the virtual input terminals. These terminals are freely programmable input terminals, which are not physically available however since the requisite hardware (option pcb) is not fitted.
  • Page 32 Inverter Control with Process Data ® Fig. 18 shows control word 2 for the MOVITRAC 31.. inverter without digital input terminal expansion, e.g. when the FEN Speed Measurement option is fitted. As no optional physical input terminals are available, these can be mapped completely to the virtual terminals of the fieldbus. Virtual input terminals Permanently defined 15 14 13 12 11 10 9...

  • Page 33: Definition Of The Status Word

    Inverter Control with Process Data Definition of the Status Word The status word is 16 bits long. The less significant byte, the basic status block, comprises 8 status bits with a permanent definition, which reflect the most important drive conditions. The assignment of the more significant status bits varies for the different status words.
  • Page 34 Inverter Control with Process Data The Enable Controller Status Bit Bit 0 of the status word is determined from the combination of the input terminals and the control command contained in the control word. Fig. 20 shows the reaction of the Controller Enable status bit as a function of the Enable control command and the actual speed respectively.

  • Page 35: Status Word 1

    Inverter Control with Process Data Bit 1: Ready for Operation Bit 5: Fault/Warning Inverter not ready for operation Fault Inverter is ready for operation Warning If status word 1 is active (factory setting), bit 5 = 1 will at the same time signal the fault code in the more significant byte of status word 1.

  • Page 36: Status Word 2

    Inverter Control with Process Data ® ® The following table contains a list of MOVITRAC 31... unit conditions. Fault coding see MOVITRAC 31.. Parameter List under Index 12: Fault t-4. Code (decimal) Unit status Controller inhibit No enable Start magnetization Stop magnetization Rapid stop Heating current...

  • Page 37: Active Input Terminal Functions

    Inverter Control with Process Data With the exception of terminal 61 the virtual output terminals can be programmed to any function. The following table shows the assignment of the virtual output terminals to the standard and optional output terminals and their functionality. Virtual Assigned Functionality...
  • Page 38 Inverter Control with Process Data The signal levels applied to activate the functions via the virtual terminals of control word 2 are the same as those for the standard terminal strip. Consequently, a function, which is activated by applying a signal level of “+24 V” on the input terminals, requires a logic “1” to be applied on the virtual terminal. Functions which are active when low (e.g.

  • Page 39: Active Output Terminal Functions

    Inverter Control with Process Data Active Output Terminal Functions The following table shows all possible terminal functions for the virtual terminals. Generally, only those output terminal functions can be used which are functionally available. As, for instance, simultaneous operation of the fieldbus and the synchronous operation is not possible (due to terminal assignment), the synchronous operation terminal functions cannot be used via the fieldbus.

  • Page 40: Principle Mode Of Operation

    Inverter Control with Process Data 3.8.2 Principle method of functioning The I/O-module functionality is only available in the operating modes U/f-control or speed control (P770 operating mode = U/f-control or speed control), as the output terminal assignment IPOS-OUTPUT 1...8 is used. Thereby the first eight input terminals are assigned to the output terminal assignments IPOS-OUTPUT 1...8 according to the following table: Input terminal Assignemt via output terminal assignment...
  • Page 41 Inverter Control with Process Data Status word 2 Control word 2 Virtual output terminals Virtual input terminals 72 71 70 69 64 63 62 61 54 53 52 51 50 Terminal programming: P600 Terminal 42 = NO FUNCTION P612 Terminal 72 = OUTPUT IPOS 2 Physical inputs 41 42 43 47 48 49 61 62...

  • Page 42: Monitoring Functions

    Monitoring Functions Monitoring Functions ® To ensure safe operation of the MOVITRAC 31.. inverter when in the fieldbus mode, additional fieldbus monitoring functions were implemented which e.g. trigger a certain drive function in the case of a bus error. The required drive response can be set by the user. The two fieldbus parameters P571 Fieldbus Timeout P572...

  • Page 43: Rapid Stop With Warning

    Monitoring Functions In respect of inverter responses to a fieldbus timeout a distinction is made between warnings and faults. In both cases the red V1 LED and the fault message Fieldbus Timeout signal an interruption of the fieldbus communications link. While, in the case of a warning, this fault indication is automatically cancelled when the bus system starts up again, in the case of a fault the inverter must be completely RESET with one of the available reset options (via the keypad, terminal or fieldbus).

  • Page 44: Immediate Switch-Off With Fault

    Monitoring Functions 4.2.6 Immediate Switch-off with Fault When the time set for the fieldbus timeout parameter has elapsed, the inverter will carry out an immediate switch-off, i.e. the output stage will be disabled and the mechanical motor brake activated immediately. Motors which are not fitted with a mechanical brake will coast to rest if this fault response is initiated.

  • Page 45: Fault Fieldbus Timeout

    Monitoring Functions Fault Fieldbus Timeout If no valid user data have been received within the time set for the fieldbus timeout parameter ( P571 Fieldbus Timeout ), the set fault response ( P571 Timeout Response ) and a fault or warning are issued. ®...

  • Page 46: Setting Inverter Parameters

    Setting Inverter Parameters Setting Inverter Parameters The drive parameters are read/written via the fieldbus system, using the READ and WRITE services of the application layer (layer 7). If layer 7 is absent, a suitable application layer needs to be emulated, i.e.

  • Page 47: Data Length/Coding

    Setting Inverter Parameters 5.1.2 Data Length/Coding ® The parameter data length for MOVITRAC 31.. frequency inverters amounts to a constant 4 bytes for all parameters. You can find detailed information about data length and coding as well as ® information on minimums and maximums in the MOVITRAC 31..

  • Page 48: Writing A Parameter (Write)

    Setting Inverter Parameters Writing a Parameter (WRITE) Writing a parameter is carried out via the fieldbus interface in a similar way to reading a parameter. ® A Write Request from the automation equipment informs the MOVITRAC 31.. frequency inverter of the parameter index to be written, together with the new parameter data.

  • Page 49: Factory Setting

    Setting Inverter Parameters 5.4.1 Factory Setting All parameters are reset to the default value when activating the factory setting. For fieldbus operation, this means that the fieldbus control mode is exited, and that all fieldbus parameters are reset to the default values.

  • Page 50: Parameter Lock

    Setting Inverter Parameters 5.4.3 Parameter Lock The parameter lock prevents adjustable parameters from being changed in any way by activation of P800 Parameter Lock = Yes. Activating the parameter lock is useful when the inverter parameters have been completely adjusted and no further changes are necessary. Amongst other things, this parameter enables you to stop any change to the drive parameters being made on the hand-held keypad, for example.

  • Page 51: Error Code

    Error Class 8 = Other Error, only Error Code = 0 (Other Error Code) is defined, with a detailed breakdown provided in Additional Code. 5.5.3 Additional Code The Additional Code contains the SEW-specific return codes for faulty inverter parameter adjustment. They are returned to the master under Error Class 8 = Other Error . Add. code Add. code...

  • Page 52: Special Return Codes (Special Cases)

    Setting Inverter Parameters 5.5.4 Special Return Codes (Special Cases) Faults in parameter adjustment which cannot be identified from layer 7 of the fieldbus system or from the inverter system software are treated as special cases. This involves the following possible faults, depending on the fieldbus option pcb in use: - Incorrect coding of a service via a parameter channel - Incorrect indication of service length via a parameter channel...

  • Page 53: Diagnosis Using The Fieldbus Monitor Parameters

    Commissioning and Diagnosis Diagnosis Using the Fieldbus Monitor Parameters ® The MOVITRAC 31.. frequency inverter provides a large amount of diagnostic information for fieldbus operation. In addition to the fieldbus parameters, diagnostic tools also include menu range P070 - P079, which contains the fieldbus monitor parameters. These parameters allow simple diagnosis of the fieldbus application from the inverter.

  • Page 54: Diagnosis Of Process Input Data

    Commissioning and Diagnosis In order to provide the user with even simpler access to these control values and setpoints, the ® MOVITRAC 31.. frequency inverter offers a direct insight into process data received via the fieldbus system, using the fieldbus monitor parameters P074 PO1 setpoint (hex) P076 PO2 setpoint (hex) P078 PO3 setpoint (hex)

  • Page 55: Mc_Shell Fieldbus Monitor

    Commissioning and Diagnosis MC_SHELL Fieldbus Monitor The fieldbus monitor function can be used with the PC user interface MC_SHELL, version 2.40 or higher (Fig. 31). This function provides a user-friendly method of commissioning and diagnosis for the use of the inverter in conjunction with the fieldbus. The two operating modes Monitor and Control provide a choice between a purely diagnostic mode in which the process data channels can only be viewed, and a control mode in which modifications can also be carried out via the PC.

  • Page 56: Verification Of Parameter Adjustment

    Commissioning and Diagnosis Verification of Parameter Adjustment ® All MOVITRAC 31.. frequency inverter parameters can be read or written via both the serial interface and the fieldbus interface. Thus either the hand-held keypad or the MC_SHELL PC program can be used for checking the adjustment of parameters via the fieldbus system.

  • Page 57: Application Examples

    Application Examples Application Examples ® This section gives two examples of applications that demonstrate how to operate the MOVITRAC 31.. inverter with a fieldbus connection and control it via the fieldbus option pcb. Control Using Two Process Data Words This example uses the process data description parameters P560 PO1 Setpoint Description: Control Word 1...

  • Page 58: Commissioning

    Application Examples Only parameter set 1 and ramp generator set 1 are used. The drive shall accelerate using an acceleration ramp generator of 1.5 s, decelerate using a deceleration ramp generator of 2 s and carry out a rapid stop within 200 ms. The inverter is also to recognize a bus error that lasts longer than 100 ms and to use the rapid stop to bring the drive to a standstill.
  • Page 59 Application Examples 6. Program the input terminals 42 and 43 to NO FUNCTION to enable the inverter on the terminal side via the jumper (installed before). NO FUNCTION TERMINAL 42 NO FUNCTION TERMINAL 43 00344AEN Fig. 37: Programming terminals 42 and 43 from the keypad 7.

  • Page 60: S5 Application Program

    CONT : U OB1: Control command : SPB = ENAB Trigger enable : SPA FB 10 NAME: SEW : UN E Control command : BE : SPB = STOP Trigger stop : UN E 1.2 Control command...

  • Page 61: Start-Up Parameter Setting Via A Fieldbus

    Application Examples 7.1.4 Start-up Parameter Setting via Fieldbus The manual configuration procedure described in section 7.1.2 can also be carried out automatically by the higher-level fieldbus master, i.e. all the drive parameters can be set automatically via the fieldbus when the control system starts up. In order to automatically set start-up parameters, please ®...

  • Page 62: Objective

    Application Examples 7.2.1 Objective The inverter is to be controlled by means of three process data words. The process output data Control Word 1, Speed Setpoint and Ramp are to be specified by the higher-level control unit. Conversely, the inverter is to return the process input data Status Word 1, Speed Actual Value and Apparent Current Actual Value to the higher-level control unit.
  • Page 63 Application Examples 2. Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb. For this example, configure the process data length to “3PD”. For the option FFI 31.. (INTERBUS-S), for example, this can be done via the DIP switches on the option pcb. In the case of PROFIBUS-DP (option FFP 31..), the process data length is configured in the master module.
  • Page 64 Application Examples 8. Program the fieldbus parameter Fieldbus Timeout to 100 ms and the parameter Timeout Response to Rapid Stop as set out in the Objective. 0.10 s FIELDBUS TIME OUT RAPID STOP TIME OUT RESPONSE 00345ADE Fig. 48: Programming the fieldbus timeout and timeout response from the keypad Now enter all parameters specific to the drive, such as motor parameters, frequency ®...

  • Page 65: S5 Application Program

    : U E 1.2 Control command OB1: : SPB = ENAB Trigger enable : SPA FB 10 : UN E 1.1 NAME: SEW : U E 1.2 Control command : BE : SPB = STOP Trigger stop : UN E 1.2...

  • Page 66: Start-Up Parameter Setting Via Fieldbus

    Application Examples 7.2.4 Start-up Parameter Setting via a Fieldbus The manual configuration procedure described in section 7.2.2. can also be carried out automatically by the higher-level fieldbus master, i.e. all the drive parameters can be set automatically via the fieldbus when the control system starts up. In order to automatically set start-up parameters, please ®...

  • Page 67: Commissioning

    Application Examples The sensor signals at the input terminals X3:42, X3:43, X3:47, X14:48 and X14:49 of the inverter are supposed to control the relay at the output terminal X3:62 of the inverter in the control via an AND function. Only the first set of parameters and the first set of ramps are used. The drive shall accelerate and brake using the ramps specified in the factory setting.
  • Page 68 Application Examples 4. Set the inverter control mode parameter at Fieldbus. FIELDBUS CONTROL MODE 00343AEN Fig. 53: Switching to control mode fieldbus using keypad 5. The process data-description parameters PO1, PI1, PO2 and PI2 are changed according to the application specification. STATUS WORD 2 setpoint description PO1 STATUS WORD 2...

  • Page 69: S5 - Application Program

    Application Examples 8. Program the output terminals to the corresponding IPOS-outputs, which are assigned to the input terminals 42 ... 50 (→ section 3.8.2) IPOS-OUTPUT 7 IPOS-OUTPUT 4 = input terminal 47 = input terminal 50 TERMINAL 62 TERMINAL 69 IPOS-OUTPUT 6 IPOS-OUTPUT 3 = input terminal 43...
  • Page 70 : SPA FB 10 : UN E 1.2 Switch-over : SPB = LINK of the setpoints: NAME: SEW : L KH 3000 CW rotation 75 % of P202 : BE : T AW 34 as speed [%] setpoint : SPA = STEU...

  • Page 71: Positioning With Ipos Via Fieldbus

    Application Examples Fig. 62 again shows the logic mapping of the input and output terminals of the inverter onto the status and control word 2. Within the PLC the I/O-information on the common relation commands can be programmed. : U I 32.6 input terminal 42 : U I 32.5 input terminal 43 : U I 32.4 input terminal 47 : U I 32.3 input terminal 48...

  • Page 72: Implementation Possibilities With Ipos

    Application Examples 7.4.2 Implementation Possibilities with IPOS Generally different possibilities of carrying out a positioning operation via fieldbus arise. The following variants, for example, can be implemented with IPOS: – The fieldbus position setpoint is used as IPOS-manual operation-setpoint. – The fieldbus position setpoint is used for the command GOPA in the IPOS automatic program. –...

  • Page 73: Commissioning

    Application Examples IPOS automatic program Control word 2 ***************************** Virtual WAITI... input terminals Status word 2 Virtual SETO... output terminals 01149AEN Fig. 64: Fieldbus applications with IPOS automatic program and control word 2/status word 2 7.4.4 Commissioning Wire the inverter in accordance with the installation and operating instructions. For operation with the fieldbus, connect the inverter to an external 24 V supply (terminals X3:30 and X2:40).
  • Page 74 Application Examples 3. Activate the factory setting. FACTORY SETTING 00342AEN Fig. 66: Activating the factory setting via the keypad 4. Set the inverter control mode parameter at Fieldbus FIELDBUS CONTROL MODE 00343AEN Fig. 67: Switching to control mode fieldbus using keypad 5.
  • Page 75 Application Examples 8. Program the input terminals X3:42, X3:43 and X3:47. /LIMIT SWITCH CW TERMINAL 42 /LIMIT SWITCH CCW TERMINAL 43 NO FUNCTION TERMINAL 47 01153AEN Fig. 71: Programming of the terminals X3:42, X3:43 and X3:47 9. Set the rapid stop ramp, as the drive is decelerated along the rapid stop ramp in case of a bus fault.

  • Page 76: S5 Application Program

    Application Examples FELDBUS STEUERMODE Process output data (PO) FAULT Control word 2 Position high Position low IPOS automatic program ***************************** Carry out reference travel GOPA Implement fieldbus position setpoint 01154AEN Fig. 74: Implementation of the position setpoint in the IPOS automatic program 15.Activate the IPOS automatic program in the inverter by initiating the control command Enable via the fieldbus and start the IPOS program with MC_SHELL.

  • Page 77: Index

    Index Index Active input terminals 25, 37 EEPROM Active output terminals Deactivate save function Actual value description PI data Emergency stop concept Actual position Error Actual value of apparent current Additional code Actual value of speed Error class No function Error code Relative actual value of speed Status word 1 / Status word 2...
  • Page 78 Index Status word Assignment of the basic control ® Parameter list MOVITRAC 31.. block Parameter lock Basic control block Parameter setting Coding of the unit conditions Cyclical Status word 1 Data length/coding Status word 2 Index addressing Status word 2 with virtual output Process data configuration terminals Reading a parameter...

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