SEW-Eurodrive MOVIDRIVE MD*60A Series Addendum To The System Manual
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SEW-Eurodrive MOVIDRIVE MD*60A Series Addendum To The System Manual

Round axle
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Drive Inverter
Addendum to the System Manual
MD_60A
Round Axle
Edition 06/2000
0°
315°
45°
0
7
1
270°
6
2
90°
3
5
4
225°
135°
180°

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Summary of Contents for SEW-Eurodrive MOVIDRIVE MD*60A Series

  • Page 1 ® MOVIDRIVE MD_60A Drive Inverter Addendum to the System Manual Round Axle Edition 06/2000 0° 315° 45° 270° 90° 225° 135° 180° ® ®...
  • Page 2 Important Notes • This information does not replace the detailed operating instructions! • Installation and startup only by trained personnel observing applicable accident prevention ® regulations and the MOVIDRIVE operating instructions! • Read through this manual carefully before you commence installation and startup of ®...

  • Page 3: Table Of Contents

    Contents System Description ..................4 Project Planning ..................7 2.1 Pre-requisites ........................7 2.1.1 PC and software ....................7 2.1.2 Inverters, motors and encoders ............... 7 2.2 Functional description...................... 8 2.3 Scaling of the drive ......................9 2.4 Reference cam and machine zero .................. 10 2.5 Notes on position measurement ..................

  • Page 4: System Description

    System Description System Description A large number of movements have to be controlled in automated conveyor and logistics applications in order to transport the material. Linear movements in the form of trolleys and hoists, and rotary movements with rotary tables, play an important part in these applications. Rotary movements often occur in pulses (rotary indexing tables) in which the material is moved on by a certain number of degrees every cycle.
  • Page 5 System Description The “round axle” application allows you to make the following combinations: • Control of the inverter – using binary inputs – using a fieldbus interface • Motor shaft/load connection – Interlocking (= slip-free) connection → No external encoder is required, the signals from the motor encoder are used for positioning.
  • Page 6 System Description – Non-positive connection (= with slip) → An external encoder is required for positioning. It must be assured that one revolution of the system generates a whole number of increments (= whole number ratio between the external encoder and the system). Flying referencing (= setting a new zero point on every revolution) is not possible and unnecessary because of the whole number ratio.

  • Page 7: Project Planning

    Project Planning Project Planning Pre-requisites 2.1.1 PC and software plus® The round axle is implemented as an IPOS program and forms part of the SEW MOVITOOLS software package. In order to use MOVITOOLS, you must have a PC with one of the following ®...

  • Page 8: Functional Description

    Project Planning Functional description The ”round axle” application offers the following functional characteristics: • 16 table positions can be defined and selected. • Positions are specified in relation to angle [°] or [mm]. • The travel speed can be selected as required for each positioning movement. •...

  • Page 9: Scaling Of The Drive

    Project Planning Scaling of the drive The control needs to know the number of encoder pulses (increments) per travel unit so it can calculate the travel information and position the drive correctly. Drives without an external encoder (interlocking connection): In drives without an external encoder, you can have scaling performed automatically by the round axle startup procedure.

  • Page 10: Reference Cam And Machine Zero

    Project Planning Reference cam and machine zero You can enter a reference offset during startup of the round axle if you do not want the machine zero (= reference point for positioning) to be located on the reference position. The following formula applies: Machine zero = Reference position + Reference offset In this way, you can alter the machine zero without having to move the reference cam.

  • Page 11: Binary Coding Of The Table Positions

    Project Planning Binary coding of the table positions The table positions must be specified in binary coded format and the corresponding checkbacks are also in binary code. This means DI14 (DO13) = 2 and DI17 (DO16) = 2 DI14 (DO13) DI15 (DO14) DI16 (DO15) DI17 (DO16)

  • Page 12: Process Data Assignment

    Project Planning Process data assignment The ”round axle” application can also be controlled using a fieldbus. The virtual terminals in control ® word 2 are used for this (→ MOVIDRIVE Fieldbus Unit Profile). The terminal expansion board type DIO11A must not be installed in this case. Two types of control are differentiated: Using the positions saved in the inverter.
  • Page 13 Project Planning The assignment of the process input data words is as follows: • PI1 status word 2 Virtual output terminals Fixed definition 15 14 13 12 11 10 0: Output stage enabled 1: Inverter ready for operation 2: PO data enabled 3: Current integrator set 4: Current parameter set 5: Fault/Warning...

  • Page 14: Installation

    Installation Installation Software The round axle is part of the SEW MOVITOOLS software package (version 2.30 and higher). Proceed as follows to install MOVITOOLS on your computer: Insert the MOVITOOLS CD into the CD ROM drive of your PC. Select “Start/Run...”. Type “{Drive letter of your CD drive}:setup”...

  • Page 15: With Movidrive® Terminal Expansion Board Option Type Dio11A

    Installation ® With MOVIDRIVE terminal expansion board option type DIO11A With an interlocking connection between the motor shaft and the load (no external encoder necessary) or a non-positive connection and an incremental encoder as the external encoder. MDV (MDS) X13: DIØØ...

  • Page 16: Function Of Input Terminals Di10

    Installation Function of input terminals DI10...DI17 The operating modes are set using binary inputs X22:DI1Ø...DI12. Operating modes: Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Jog mode “0” “0” “0” Teach mode “1” “0” “0” Referencing mode “0”...

  • Page 17: Bus Installation

    Installation Bus installation Please refer to the information in the relevant addendums to the operating instructions for information about bus installation. These addendums are included with the DFP11A, DFI11A, DFC11A and DFD11A fieldbus interfaces. Please refer to the operating instructions for information about installing the system bus (SBus).

  • Page 18: Profibus

    Installation 3.4.1 PROFIBUS The PROFIBUS documentation package contains detailed information. This package can be obtained from SEW, publication number 0919 3235. This documentation package contains the ® GSD files and type files for MOVIDRIVE in order to help with project planning and to facilitate startup.

  • Page 19: Interbus

    Installation 3.4.2 NTER The INTERBUS documentation package contains detailed information. This package can be obtained from SEW, publication number 0919 326X. Technical data: INTERBUS-S Option INTERBUS fieldbus interface type DFI11A Module Ident. Part number 822 723 3 Resources for DBG11A keypad startup/diagnosis MOVITOOLS or MX_SHELL PC program Connection...

  • Page 20: Can Bus

    Installation 3.4.3 CAN bus The CAN bus documentation package contains detailed information. This package can be obtained from SEW, order number 0919 3308. Technical data: Option CAN fieldbus interface type DFC11A CAN-Bus Part number 822 725 X Resources for DBG11A keypad startup/diagnosis MOVITOOLS or MX_SHELL PC program Supported baud...

  • Page 21: Devicenet

    Installation 3.4.4 DeviceNet The DeviceNet documentation package contains detailed information. This package can be obtained from SEW, order number 0919 5254. Technical data: DEVICE-NET Option DeviceNet fieldbus interface type DFD11A Part number 822 887 6 Resources for DBG11A keypad startup/diagnosis MOVITOOLS or MX_SHELL PC program Supported Can be selected via DIP switch:...

  • Page 22: Startup

    Startup Startup General information Correct project planning and installation are the pre-requisites for successful startup. Refer to the ® MOVIDRIVE system manual for detailed project planning instructions. The system manual forms ® part of the MOVIDRIVE documentation package (publication number 0919 3219). Check the installation, including the encoder connection, by following the installation instructions ®...
  • Page 23 Startup II. Determining parameters Resolution per revolution of the rotary table. The following incremental values result from one revolution of the rotary table: – Motor encoder resolution = 1024 × 4 × 34.65 = 141926 – External encoder resolution = 2048 × 4 × 64 / 16 = 32768 Encoder scaling parameter P955.

  • Page 24: Starting The "Round Axle" Program

    Startup Starting the “round axle” program • Start <Shell>. • In Shell, start “Startup/Round axle”. 03460AEN Fig. 22: Starting the “round axle” program • Enter the activation code when you start the program for the first time, in order to register the program.

  • Page 25: Setting The General Parameters

    Startup 4.3.1 Setting the general parameters Initial startup: The window for setting the general parameters appears after registration if the round axle program has been started for the first time. 03463AEN Fig. 24: General parameters of the round axle You have to make the following settings in this window: •...
  • Page 26 Startup • Enter the reference offset. The entry is made in the user units of the scaling. – Enter the reference offset. The reference offset corrects the machine zero. The following formula applies: Machine zero = Reference position + Reference offset. Please note that the reference offset must refer to an angle between 0 and 360°...

  • Page 27: Entering Table Positions

    Startup 4.3.2 Entering table positions 03466AEN Fig. 25: Entering table positions You have to make the following settings in this window: • Jogging mode – Enter the valid speeds and the ramp for jogging mode. • You can define up to 16 table positions in this window. –...
  • Page 28 Startup In this window, you define how many table positions are available. Once startup has been completed, you can alter the values of individual positions in teach mode although you cannot add any new positions. You have to repeat the startup procedure in order to add new positions. Press “Next>>”...
  • Page 29 Startup Repeat startup: The round axle monitor appears if the round axle is started after the startup procedure has already been performed. 03470AEN Fig. 28: Round axle monitor Pressing <Startup> calls up the window for setting the general parameters. You can then perform the startup.

  • Page 30: Parameters

    Startup Parameters The round axle startup automatically sets the following parameters: Parameter number Parameters Setting Setpoint source BIPOL./FIX.SETPT Control signal source Terminals Binary input DIØ1 Enable/rapid stop Binary input DIØ2 Reset Binary input DIØ3 Reference cam Binary input DIØ4 No function Binary input DIØ5 No function Binary input DI1Ø...

  • Page 31: Startup With Fieldbus

    Startup Startup with fieldbus A differentiation is made between two control types for startup with fieldbus: Using the positions stored in the inverter. Selecting the target position using the virtual input terminals. In this case, binary inputs DI1Ø – 17 are actuated using the fieldbus (virtual terminals) and they have exactly the same function as when the round axle is controlled using the input terminals of the DIO11A option (→...

  • Page 32: Specifying A Variable Target Position Using The Fieldbus

    Startup 4.5.2 Specifying a variable target position using the fieldbus Start up the fieldbus with the following process data settings: • PO1 = “Control word 2” (P870) • PI1 = “Status word 2” (P873) • PO2 = “IPOS PO-DATA” (P871) •...

  • Page 33: Assignment Of Process Output Data Words

    Startup 4.5.3 Assignment of process output data words • PO1 control word 2 Virtual input terminals Fixed definition 15 14 13 12 11 10 0: Controller inhibit/Enable 1: Enable/Rapid stop 2: Enable/Stop 3: Stop control 4: Integrator switching 5: Parameter set switching 6: Reset 7: Reserved virtual terminal 1 = P610 binary input DI1Ø...

  • Page 34: Assignment Of Process Input Data Words

    Startup 4.5.4 Assignment of process input data words • PI1 status word 2 Virtual output terminals Fixed definition 15 14 13 12 11 10 0: Output stage enabled 1: Inverter ready for operation 2: PO data enabled 3: Current integrator set 4: Current parameter set 5: Fault/Warning 6: Limit switch CW activated...

  • Page 35: Starting The Drive

    Startup Starting the drive After downloading the startup data, select “Yes” to switch to the round axle monitor. The operating mode is set using binary inputs DI1Ø...DI12. 4.6.1 Operating modes Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Jogging mode “0”...
  • Page 36 Startup • Automatic mode with position optimization – Positioning travel with position optimization so the shortest route to the destination is always taken. • Automatic mode with direction of rotation inhibit (clockwise – counterclockwise) – Movement with absolute positioning in a fixed direction of rotation. –...

  • Page 37: Referencing Mode

    Startup 4.6.2 Referencing mode Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Referencing mode “0” “1” “0” The reference position is defined by reference travel to the reference cam. The reference offset is set during startup and you can use it to alter the machine zero without having to move the reference cam.

  • Page 38: Jogging Mode

    Startup 4.6.3 Jogging mode Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Jogging mode “0” “0” “0” You can move the drive clockwise or counterclockwise manually In jogging mode using “1” signals at binary inputs DI14 “Jog +” or DI15 “Jog -.” You can move in slow speed (DI16 = “0”) or rapid speed (DI16 = “1”) when doing so.

  • Page 39: Teach Mode

    Startup 4.6.4 Teach mode Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Teach mode “1” “0” “0” In teach mode, you can save the current position of the drive as a new table position. You must first move to the position you want to save as a new table position.

  • Page 40: Automatic Mode

    Startup 4.6.5 Automatic mode In automatic mode, you can select a table position using binary outputs DI14...DI17. The positions are in binary coded format. You can set the type of the accelerating ramp using parameter P916 “Ramp type”. It is only possible to select table cells in which there are position entries. Any table cell without a position is ignored.
  • Page 41 Startup Automatic, clockwise positioning (AUTO CW): Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Automatic, clockwise positioning “0” “0” “1” Positioning is performed with absolute positioning in the positive direction of rotation (CW). 03475AEN Fig. 39: Automatic, clockwise positioning ®...
  • Page 42 Startup Automatic, counterclockwise positioning (AUTO CCW): Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Automatic, counterclockwise positioning “1” “0” “1” Positioning is performed with absolute positioning in the negative direction of rotation (CCW). 03476AEN Fig. 40: Automatic, counterclockwise positioning ®...
  • Page 43 Startup Automatic, clockwise pulse mode (AUTO clock CW): Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Automatic, clockwise pulse mode “0” “1” “1” The positions entered in the table are evaluated as step widths for relative positioning in the positive direction of rotation (CW).
  • Page 44 Startup Automatic, counterclockwise pulse mode (AUTO clock CCW): Binary input Operating mode DI1Ø: Mode (2 DI11: Mode (2 DI12: Mode (2 Automatic, counterclockwise pulse mode “1” “1” “1” The positions entered in the table are evaluated as step widths for relative positioning in the negative direction of rotation (CCW).

  • Page 45: Operation And Servicing

    Operation and Servicing Operation and Servicing Timing diagrams The following preconditions apply to timing diagrams: • DIØØ “/Controller inhibit” = “1” and • DIØ1 “Enable/rapid stop” = “1” signals. Binary output DBØØ “/Brake” is set. The brake is released and the drive stops with position control. 5.1.1 Referencing mode and automatic mode with position optimization 03481AEN...

  • Page 46: Jogging Mode And Teach Mode

    Operation and Servicing 5.1.2 Jogging mode and teach mode 03483AEN Fig. 44: Timing diagram for jogging mode and teach mode ® MOVIDRIVE Round Axle...

  • Page 47: Fault Information

    Operation and Servicing Fault information The fault memory (P080) stores the last five fault messages (faults t-0...t-4). The fault message of longest standing is deleted whenever more than five fault messages have occurred. The following information is stored when a malfunction takes place: Fault which occurred •...

  • Page 48: Fault Messages

    Operation and Servicing Fault messages The fault or warning code is displayed in BCD format. The following display sequence is adhered Flashes, approx. 1 s Display off, approx. 0.2 s Tens digit, approx. 1 s Display off, approx. 0.2 s Ones digit, approx.
  • Page 49 Operation and Servicing List of faults: ® The following table shows a selection from the complete list of faults (→ MOVIDRIVE MD_60A operating instructions). It only lists those faults which can occur specifically with the round axle. A dot in the “P” column means that the response is programmable (P83_ Fault response). The factory set fault response is listed in the “Response”...
  • Page 50 Operation and Servicing Fault Name Response P Possible cause Action code • Lag error Immediate - Incremental encoder connected - Check incremental encoder shut-off incorrectly connection - Accelerating ramps too short - Increase length of ramps - P-component of positioning controller - Set P-component to higher value too small - Set speed controller parameters...
  • Page 52 We are available, wherever you need us. Worldwide. SEW-EURODRIVE right around the globe is transmission with manufacturing and assem- your competent partner in matters of power bly plants in most major industrial countries. SEW-EURODRIVE GmbH & Co · P.O.Box 30 23 · D-76642 Bruchsal/Germany Tel.

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