SEW-Eurodrive MOVIPRO SDC Manual
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SEW-Eurodrive MOVIPRO SDC Manual

SEW-Eurodrive MOVIPRO SDC Manual

With devicenet interface
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Drive Technology \ Drive Automation \ System Integration \ Services
Manual
®
MOVIPRO
SDC
With DeviceNet Interface
Edition 03/2010
16779215 / EN

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Summary of Contents for SEW-Eurodrive MOVIPRO SDC

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services Manual ® MOVIPRO With DeviceNet Interface Edition 03/2010 16779215 / EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    Contents Contents General Information .................... 5 Use of the manual..................5 Structure of the safety notes ............... 5 Right to claim under limited warranty ............6 Exclusion of liability..................6 Copyright notice ..................6 Other applicable documentation ..............6 General safety notes for bus systems............6 Safety functions ..................
  • Page 4 Contents ® Operation of MOVITOOLS MotionStudio ............64 ® About MOVITOOLS MotionStudio ............64 First steps ....................65 Connection mode..................66 Communication via Ethernet..............68 Executing functions with the units ............. 72 ® Parameterization of MOVIPRO ............... 75 10.1 Startup assistant ..................75 10.2 Storing unit data..................

  • Page 5: General Information

    General Information Use of the manual General Information Use of the manual The manual is part of the product and contains important information. The manual is for everyone working with this product. The manual must be accessible and legible. Make sure that persons responsible for the system and its operation, as well as persons who work independently on the unit, have read through the manual carefully and understood it.

  • Page 6: Right To Claim Under Limited Warranty

    General Information Right to claim under limited warranty Right to claim under limited warranty A requirement of fault-free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the manual. Therefore, read the manual before you start operating the device! Exclusion of liability You must comply with the information contained in the manual to ensure safe operation...

  • Page 7: Safety Functions

    General Information Safety functions Safety functions ® MOVIPRO may not perform any safety functions unless they are described and ex- pressly approved. For safety applications, ensure that the information in the following publication is ob- served: ® • MOVIPRO SDC – Functional Safety Use only those components in safety applications that were explicitly designed and de- livered for this purpose by SEW-EURODRIVE.

  • Page 8: Application Modules In Movitools ® Motionstudio

    ® Application Modules in MOVITOOLS MotionStudio ® Application modules for MOVIPRO ® Application Modules in MOVITOOLS MotionStudio ® Application modules for MOVIPRO 2.1.1 Description Drive task Industrial drive tasks usually require more than motor speed control. The inverter often has to control complex motion sequences and take on typical PLC tasks. Solution with SEW-EURODRIVE offers various standardized control programs, so-called application ®...
  • Page 9 ® Application Modules in MOVITOOLS MotionStudio ® Application modules for MOVIPRO 2.1.2 Available application modules ® The following application modules are available for MOVIPRO SDC. • Bus positioning • Extended positioning via bus • Modulo positioning • Table positioning • Sensor based positioning via bus •...
  • Page 10 ® Application Modules in MOVITOOLS MotionStudio ® Application modules for MOVIPRO Extended bus The "Extended bus positioning" application module has the following functions: positioning • Variable number of target positions • The travel speed for positioning and the acceleration and deceleration ramps are specified variably by the PLC.
  • Page 11 ® Application Modules in MOVITOOLS MotionStudio ® Application modules for MOVIPRO Modulo positioning The "Modulo positioning" application module has the following functions: • Fieldbuses with 4 or 6 process data words are supported. • Target position specified via 2 process data words •...
  • Page 12 ® Application Modules in MOVITOOLS MotionStudio ® Application modules for MOVIPRO Sensor-based The "Sensor-based positioning" application module has the following functions: positioning • Variable and unlimited number of target positions • Freely adjustable travel speed (changes can be made during travel for linear positioning ramps) •...
  • Page 13 ® Application Modules in MOVITOOLS MotionStudio ® Application modules for MOVIPRO Automotive The "Automotive AMA0801" application module offers the following functions: AMA0801 • The "Automotive AMA0801" application module makes it possible to implement lifting devices, conveyor systems and machinery with drives that have to move at a synchronous angle to one another occasionally or permanently.

  • Page 14: Startup

    Startup Startup procedure Startup Startup procedure ® The following illustration gives an overview of the MOVIPRO startup procedure and lists other applicable documentation: Motor startup → Refer to the operating instructions of the motor for more information. ® ® MOVIPRO startup →...
  • Page 15 Startup Check list for startup 3.2.2 Unit installation Perform the following steps: ® 1. Install the components according to the information in the MOVIPRO operating in- structions: – Supply system cable – Motor cable – Braking resistor – DC 24 V backup voltage ®...

  • Page 16: Installation Notes

    Installation Notes Fieldbus connection Installation Notes INFORMATION ® For information on the assembly and the installation of MOVIPRO , refer to the ® "MOVIPRO SDC" operating instructions. For a simple application, this section contains information on how to install the DeviceNet.
  • Page 17 Installation Notes Fieldbus connection 4.1.2 X4242: DeviceNet output The following table provides information about this connection: Function DeviceNet output Connection type M12, 5-pole, female, A-coded Wiring diagram 2264816267 Assignment Name Function Drain Shield/equipotential bonding DC 24 V output Reference potential CAN_H CAN data line (high) CAN_L...

  • Page 18: Shielding And Routing The Bus Cables

    Installation Notes Shielding and routing the bus cables Shielding and routing the bus cables The DeviceNet interface supports RS485 transmission technology and requires the cable type A to EN 50170 specified as the physical medium for DeviceNet. This cable must be a shielded, twisted-pair cable. Correct shielding of the bus cable attenuates electrical interference that can occur in in- dustrial environments.

  • Page 19: Setting The Station Address (Devicenet)

    Installation Notes Setting the station address (DeviceNet) Setting the station address (DeviceNet) INFORMATION Any changes to the station address during operation become effective after the power supply has been interrupted (DC 24 V reset). Use the S2 DIP switch in the DeviceNet module to set the DeviceNet station address of ®...
  • Page 20 Installation Notes Setting the station address (DeviceNet) The following table uses DeviceNet address 17 as an example to show how to de- termine the DIP switch settings for any bus address: DIP switch setting Significance DIP 1 = ON DIP 2 = OFF DIP 3 = OFF DIP 4 = OFF DIP 5 = ON...

  • Page 21: Status And Error Messages

    Installation Notes Status and error messages Status and error messages ® The 7-segment display informs about the status of the MOVIPRO unit. In case of re- peated malfunctions, contact the SEW Service staff. The display of the three-digit 7-segment display shows the current status of the unit. If several statuses or errors are active at the same time, the error with the highest priority is displayed.
  • Page 22 Installation Notes Status and error messages 4.4.2 Inverter status The inverter status is indicated by displaying the address/number of the axis and the cor- responding status code in the form of A1.y. INFORMATION The unit status display takes priority over the inverter status display. If the mainte- nance switch is switched off of a fieldbus error occurs, no inverter status is displayed.
  • Page 23 Installation Notes Status and error messages 4.4.3 Inverter error In case of an inverter error, the status display alternatively shows the address/number of the axis and 3 times the corresponding error code. The following figure shows the display for an "Overtemperature" error of axis 1: 1806505867 ®...
  • Page 24 Installation Notes Status and error messages Status LED S2 LED status Status or cause of error Remedy • The firmware of the fieldbus gateway Flashing green – is running properly. Flashing green/ • Data backup is created/restored. – orange Lights up orange • Boot process is active.

  • Page 25: Configuration And Startup On The Devicenet Fieldbus

    The files will be installed. For more details on how to install the EDS file, refer to the Allen Bradley documentation for RSNetWorx. 3. After installation, the device is available in the device list under the entry [Vendor] / [SEW EURODRIVE GmbH]. Manual – MOVIPRO® SDC with DeviceNet Interface...

  • Page 26: Configuring The Plc And Master (Devicenet Scanner)

    Configuration and Startup on the DeviceNet Fieldbus Configuring the PLC and master (DeviceNet scanner) Configuring the PLC and master (DeviceNet scanner) The following samples refer to the usage of an Allen-Bradley-PLC ControlLogix 1756- L61 together with the RSLogix 5000 programming software and the DeviceNet configu- ration software RSNetWorx for DeviceNet.
  • Page 27 Configuration and Startup on the DeviceNet Fieldbus Configuring the PLC and master (DeviceNet scanner) By reading the "device properties" in online mode, the process data (Pd) configuration ® of MOVIPRO can be checked. 2632314635 The "Pd configuration" parameter shows the number (1 – 64) of process data words (PD) that was set via RSNetWorx and defines the I/O parameters for the DeviceNet scanner.
  • Page 28 Configuration and Startup on the DeviceNet Fieldbus Configuring the PLC and master (DeviceNet scanner) Changes to the PD configuration only become effective after a power on reset (DC 24 V reset). 2632318219 ® After adding MOVIPRO to the "scan list", the number of polled I/O bytes must be set to 2 x number of PD (e.g.

  • Page 29: Configuration Examples In Rslogix 5000

    Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 Configuration examples in RSLogix 5000 ® 5.3.1 MOVIPRO with 8 process data words ® 1. Set the respective DIP switches on the MOVIPRO • adjust the baud rate to the DeviceNet •...
  • Page 30 Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 Make sure that this CPS command is executed after the automatically (by DeviceNet Tag Generator) generated DNet_ScannerInputsRoutine. 2632534027 ® In order to copy the data from the new data structure to MOVIPRO , a CPS com- mand is added into the "MainRoutine"...
  • Page 31 Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 ® Now actual values can be read from MOVIPRO and setpoint values can be written. 1968348683 ® 5.3.2 Access to parameters of MOVIPRO ® In order to get an easy-to-use read access to parameters of the MOVIPRO via explicit messages and the register object, follow these steps: 1.
  • Page 32 Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 2. Define the following controller tags: 2633117451 3. Create a rung to execute the "ReadParameter" command: 2633119883 • For the contact, select the "ReadParameterStart" tag • For message control, select the "ReadParameter" tag 4.
  • Page 33 Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 5. Set the target unit in the "Communication" tab page: 2633124747 The path consists of: • Name of the scanner (e. g. DNet_Scanner) • 2 (always 2) • Slave address (e.
  • Page 34 Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 ® You can check the value in the MOVITOOLS MotionStudio parameter tree (see fig- ure below). The tooltip of a parameter displays for example index, subindex, factor, etc. of the parameter. 2632606091 Only a few changes are required for parameter write access.
  • Page 35 Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 Fill the other fields in the following sequence: • Source Element = WriteParameterRequest.Index • Source Length = 12 • Destination = WriteParameterResponse.Index • Class = 7 • Instance = 2 •...
  • Page 36 Configuration and Startup on the DeviceNet Fieldbus Configuration examples in RSLogix 5000 5.3.3 Access to unit parameters of lower-level units The parameters of the "PFA-..." power section that is connected to the SBus 1 of the "PFH-..." communication and control unit are accessed in the same way as the unit pa- rameters of the "PFH-..."...

  • Page 37: Devicenet Operating Characteristics

    DeviceNet Operating Characteristics Process data exchange DeviceNet Operating Characteristics Process data exchange 6.1.1 Polled I/O ® The polled I/O messages correspond to the process data telegrams to MOVIPRO . Up ® to 64 process data words can be exchanged between the controller and MOVIPRO this case.
  • Page 38 DeviceNet Operating Characteristics Process data exchange 6.1.3 Bit-strobe I/O Bit-strobe I/O messages are not contained in the SEW fieldbus profile. The messages represent a DeviceNet-specific process data exchange. The master sends a broadcast message that is 8 bytes (= 64 bits) long. One bit in this message is assigned to each station in accordance with its address.

  • Page 39: Common Industrial Protocol (Cip)

    DeviceNet Operating Characteristics Common Industrial Protocol (CIP) Common Industrial Protocol (CIP) DeviceNet is integrated into the Common Industrial Protocol (CIP). In the Common In- dustrial Protocol, all unit data can be accessed via objects. The following options are in- ® tegrated in MOVIPRO with DeviceNet interface.
  • Page 40 DeviceNet Operating Characteristics Common Industrial Protocol (CIP) "Extended device status coding" table Value Description [binary] 0000 Unknown 0010 At least one faulty I/O connection 0101 No I/O connection established 0110 At least one I/O connection active Supported ser- The following table shows the services supported by the identity object: vices Service code Name...
  • Page 41 DeviceNet Operating Characteristics Common Industrial Protocol (CIP) Connection • The connection object defines the process and parameter connections. object • Class code: 05 Class None of the class attributes are supported. Instance Communication Explicit message Polled I/O Bit-strobe I/O Instance 1 – 3 The following table provides an overview of instance 1 of the connection object: Attribute Access...
  • Page 42 DeviceNet Operating Characteristics Common Industrial Protocol (CIP) Register object • The register object is used to access an SEW parameter index. • Class code: 07 Class None of the class attributes are supported. ® The MOVILINK parameter services are mapped in the 9 instances of the register ob- ject.
  • Page 43 DeviceNet Operating Characteristics Common Industrial Protocol (CIP) Description of the parameter channel: Input Get_Attribute_Single READ (Instance 1) Get_Attribute_Single Output (Instance 2) Set_Attribute_Single WRITE Get_Attribute_Single Output (Instance 3) Set_Attribute_Single WRITE VOLATILE Input READ MINIMUM Get_Attribute_Single (Instance 4) DPRAM Input Get_Attribute_Single READ MAXIMUM (Instance 5) Input Get_Attribute_Single...
  • Page 44 DeviceNet Operating Characteristics Common Industrial Protocol (CIP) Instance 1 – 9 The following table provides an overview of instance 1 of the register object: Attribute Access Name Data type Default value Description [hex] Bad Flag BOOLEAN 0 = good 1 = bad Direction BOOLEAN 00 = Input register...
  • Page 45 DeviceNet Operating Characteristics Common Industrial Protocol (CIP) ® Parameter object • The fieldbus parameters of the MOVIPRO can be addressed directly via the instance with the parameter object. • In exceptional cases, you can also use the parameter object to access SEW parameters.

  • Page 46: Return Codes Of The Parameterization Via Explicit Messages

    DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages Supported ser- The following table shows the services supported by the parameter object: vices Service code [hex] Service Name Class Instance Get_Attribute_Single Set_Attribute_Single – Return codes of the parameterization via explicit messages 6.3.1 SEW-specific return codes The return codes that SEW units issue in case of incorrect parameterization are inde-...
  • Page 47 DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages If a timeout is triggered for the explicit messages, this connection type for the explicit messages is disconnected automatically providing that the polled I/O or bit-strobe con- nections are not in the ESTABLISHED state. This is the default setting of DeviceNet. The connection for explicit messages must be re-established to communicate with these ®...
  • Page 48 DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages ® 6.3.5 MOVILINK -specific return codes ® The following table lists the MOVILINK protocol-specific error messages and their cod- ing in the DeviceNet response telegram. General Additional Error name Corresponds Corresponds to ®...
  • Page 49 DeviceNet Operating Characteristics Return codes of the parameterization via explicit messages 6.3.6 Additional code The additional code contains SEW-specific return codes for incorrect parameter setting of the inverters. General Error Additional Meaning Code code 0x00 No Error 0x10 Illegal Index 0x11 Not yet implemented 0x12...

  • Page 50: Definitions

    DeviceNet Operating Characteristics Definitions Definitions Term Description Allocate Provides a service for setting up a connection. Attributes Attribute of an object class or instance. Describes the characteristics of the object class or instance in more detail. BIO – Bit-strobe I/O All stations can be addressed with a broadcast message.

  • Page 51: Error Diagnostics For Operation On The Devicenet Fieldbus

    Error Diagnostics for Operation on the DeviceNet Fieldbus Diagnostic procedure Error Diagnostics for Operation on the DeviceNet Fieldbus Diagnostic procedure The diagnostic procedures described in the following section demonstrate the fault anal- ysis methods for the following problems: ® • MOVIPRO does not work on DeviceNet ®...

  • Page 52: Process Data Description

    Process Data Description Overview of process data Process Data Description Overview of process data The following illustration provides an overview of the assignment of the process output/ ® input data (PO/PI) of MOVIPRO SDC: ® Power section based on MOVIDRIVE platform ®...

  • Page 53: Movipro ® Status Word

    Process Data Description ® MOVIPRO status word ® MOVIPRO status word ® The following figure shows the assignment of the MOVIPRO status word: ® Master ← 15 14 13 12 ← MOVIPRO Maintenance switch (mains OFF) 1 – 5: Reserved = 0 ®...

  • Page 54: Digital Inputs And Outputs

    Process Data Description Digital inputs and outputs Digital inputs and outputs The following figure shows the assignment of the output and input data for the digital in- puts/outputs (12 DI/4 DIO): 4 – 15: Reserved = 0 3: Binary output DO03 2: Binary output DO02 1: Binary output DO01 0: Binary output DO00...

  • Page 55: Process Data Of Power Section

    Process Data Description Process data of power section Process data of power section ® The process data words of the integrated power section on the MOVIDRIVE platform are assigned differently depending on the application module used. The number of pro- cess data words can vary between 1 - 6 depending on the application module.
  • Page 56 Process Data Description Process data of power section Control word 1 The integrated power section is controlled via control word 1. The following illustration shows the assignment of control word 1: Master → 15 14 13 12 ® → MOVIPRO 0: Controller inhibit 1: Enable 2: Enable/stop...
  • Page 57 Process Data Description Process data of power section Meaning Explanation Reserved For reserved bits, the value 0 must be transferred for later use Direction of rotation for motor potenti- 0 = CW direction of rotation ometer 1 = CCW direction of rotation 9 –...
  • Page 58 Process Data Description Process data of power section Setpoint speed Set to SPEED, the power section considers the setpoint value transferred via this pro- cess data word to be the speed setpoint if the selected operating mode (P700/P701 op- erating mode 1/2) allows a speed setpoint. If there is no speed setpoint programmed al- though a communication interface (FIELDBUS) has been set as setpoint source, the power section will use speed setpoint = 0.
  • Page 59 Process Data Description Process data of power section Bits 8 – 15 are assigned depending on the value of bit 5 according to the following table: Bit 5 Assignment of bits 8 – 15 ® No error/warning MOVIPRO unit status Unit status: •...
  • Page 60 Process Data Description Process data of power section 8.5.3 "Extended bus positioning" application module The process output and input data words of the "Extended bus positioning" application module are assigned as follows: • PO1: Control word 2 • PO2: Target pos. high •...
  • Page 61 Process Data Description Process data of power section 8.5.4 "Modulo positioning" application module The process output and input data words of the "Modulo positioning" application module are assigned as follows: • PO1: Control word 2 • PO2: Target pos. high •...
  • Page 62 Process Data Description Process data of power section 8.5.5 "Table positioning" application module The process output and input data words of the "Table positioning" application module are assigned as follows: • PO1: Control word 2 • PI1: Status word For further information, refer to the following documentation: Documentation Publication number ®...
  • Page 63 Process Data Description Process data of power section 8.5.7 "Automotive AMA0801" application module Depending on the operating mode, the process output and input data words of the "Automotive AMA0801" application module are assigned as follows: • PO1: Control word 2 •...

  • Page 64: Operation Of Movitools ® Motionstudio

    ® Operation of MOVITOOLS MotionStudio ® About MOVITOOLS MotionStudio ® Operation of MOVITOOLS MotionStudio ® About MOVITOOLS MotionStudio 9.1.1 Tasks The software package enables you to perform the following tasks with consistency: • Establishing communication with units • Executing functions with the units 9.1.2 Establishing communication with other units ®...

  • Page 65: First Steps

    ® Operation of MOVITOOLS MotionStudio First steps First steps 9.2.1 Starting the software and creating a project ® Proceed as follows to start MOVITOOLS MotionStudio and create a project: ® 1. Start the MOVITOOLS MotionStudio from the Windows start menu via: [Start]/[Programs]/[SEW]/[MOVITOOLS-MotionStudio]/[MOVITOOLS-MotionStudio] 2.

  • Page 66: Connection Mode

    ® Operation of MOVITOOLS MotionStudio Connection mode Connection mode 9.3.1 Overview ® MOVITOOLS MotionStudio differentiates between the "online" and "offline" communi- cation mode. You can select the communication mode yourself. Depending on the se- lected communication mode, you can choose offline or online tools specific to your unit. The following figure illustrates the two types of tools: 2451049995 [1] Hard drive of the engineering PC...
  • Page 67 ® Operation of MOVITOOLS MotionStudio Connection mode INFORMATION • 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 com- munication. Should you require this feedback, observe section "Setting the cycli- cal accessibility test"...

  • Page 68: Communication Via Ethernet

    ® Operation of MOVITOOLS MotionStudio Communication via Ethernet Communication via Ethernet 9.4.1 Connection of PC/laptop The following figure shows the connection between a PC/laptop and the engineering in- ® terface of the MOVIPRO 1204936459 Service interface (Ethernet RJ45) Conventional Ethernet cable ®...
  • Page 69 ® Operation of MOVITOOLS MotionStudio Communication via Ethernet 7. Enter the same IP addresses for the subnet mask and the standard gateway as for the other Ethernet stations in this local network. 8. For the engineering PC, enter an IP address that meets the following conditions: •...
  • Page 70 ® Operation of MOVITOOLS MotionStudio Communication via Ethernet In the example, "ETHERNET" is activated as the communication type for the first communication channel [2]. 3. Click [Edit] [3] in the right section of the window. This will display the settings for the "Ethernet" communication type. 4.
  • Page 71 ® Operation of MOVITOOLS MotionStudio Communication via Ethernet 9.4.4 Setting communication parameters for SMLP Proceed as follows to set the Ethernet communication parameters: 1. Change the set communication parameters if necessary. Refer to the detailed de- scription of the communication parameters for SMLP. NOTE: During a unit scan, the system recognizes only units that are in the same (lo- ®...

  • Page 72: Executing Functions With The Units

    ® Operation of MOVITOOLS MotionStudio Executing functions with the units 9.4.5 Communication parameters for SMLP The following table describes the communication parameters for SMLP: Communication parameters Description Note Timeout Waiting time in ms that the client • Default setting: 1000 ms waits for a response from the •...
  • Page 73 ® Operation of MOVITOOLS MotionStudio Executing functions with the units 9.5.2 Reading or changing unit parameters To read or change unit parameters, proceed as follows: 1. Switch to the required view (project view or network view). 2. Select the communication mode: •...
  • Page 74 ® Operation of MOVITOOLS MotionStudio Executing functions with the units 9.5.3 Starting up units (online) Proceed as follows to start up the units (online): 1. Switch to the network view. 2. Click on "Switch to online mode" [1] in the toolbar. 2451061643 [1] "Switch to online mode"...

  • Page 75: Parameterization Of Movipro

    ® Parameterization of MOVIPRO Startup assistant ® Parameterization of MOVIPRO 10.1 Startup assistant 10.1.1 Encoder startup ® 1. Start MOVITOOLS MotionStudio and create a new project. For more information, ® refer to chapter "Operation of MOVITOOLS MotionStudio" (page 64). 2. Click on the [Startup] button [1] to call the startup wizard. 2097970443 [1] [Startup] button Manual –...
  • Page 76 ® Parameterization of MOVIPRO Startup assistant 3. Click on the [Next] button [1] to go to the next step of the startup wizard. You can go back and forth in the wizard using the [Back] and [Next] buttons. The settings are not lost.
  • Page 77 ® Parameterization of MOVIPRO Startup assistant 5. Select the motor and synchronous encoder by clicking on 2071858955 If your encoder is not equipped with an electronic nameplate, enter the encoder data manually. Click and select the required data. The required infor- mation is specified on the nameplate of the motor.
  • Page 78 ® Parameterization of MOVIPRO Startup assistant INFORMATION To enable quick unit replacement, you have to manually download the unit data to the memory card after startup. 10.1.2 Motor startup 1. Perform an encoder startup (page 75) and complete it by clicking on the [Download and motor startup] button.
  • Page 79 ® Parameterization of MOVIPRO Startup assistant 10.1.3 Complete startup Perform a complete startup to make all the necessary settings for operation of the drive. 1. Select a motor configuration: • Stand-alone motor [1] ® MOVIPRO controls a single motor. First, select the operating mode "vector-con- trolled/servo".
  • Page 80 ® Parameterization of MOVIPRO Startup assistant 4. Select the motor type and click [Next]. Enter the following values according to the motor configuration: • Nominal motor voltage [1] • Nominal motor frequency [2] • Nominal line voltage [3] • Error response [4] •...
  • Page 81 ® Parameterization of MOVIPRO Startup assistant 8. Enter the values of the speed controller and click [Next]. Enter the download values of the drive parameters. Download values deviating from the suggested values are highlighted in yellow. To accept all suggested download values, click on [Apply proposal] [1].
  • Page 82 ® Parameterization of MOVIPRO Startup assistant 9. To save the startup parameters, click on [Download 1] or [Next] [2]. The buttons have the following functions: Button Function ® [Download] Downloading the startup parameters to MOVIPRO ® [Finish] Downloading the startup parameters to MOVIPRO and completing startup 2071875979 [1] [Download] button...

  • Page 83: 10.2 Storing Unit Data

    ® Parameterization of MOVIPRO Storing unit data 10.1.5 Optimizing a speed controller Optimize the speed controller by changing the download values of the drive parameters. 10.2 Storing unit data ® ® The MOVIPRO unit allows for a quick unit replacement. The MOVIPRO unit is equipped with a replaceable memory card on which all unit data can be stored.
  • Page 84 ® Parameterization of MOVIPRO Storing unit data 5. Click the [Start upload] [3] button to start the data backup. 2069868555 [1] "Enable" checkbox for PFH-.. unit type [2] "Enable" checkbox for PFA-.. unit type [3] [Start upload] button [4] "Auto restore" checkbox INFORMATION ®...

  • Page 85: 10.3 Overview Of Parameters

    ® Parameterization of MOVIPRO Overview of parameters 10.3 Overview of parameters The following table shows an overview of all parameters. Factory settings are under- lined. Numerical values are displayed with the complete setting range. Parameter Name Value Display values Process values Speed Display value User display...
  • Page 86 ® Parameterization of MOVIPRO Overview of parameters Parameter Name Value 133 / 143 Ramp t11 / t21 down CCW 0 – 2 – 2000 s 134 / 144 Ramp t12 / t22 UP = DOWN 0 – 10 – 2000 s 135 / 145 S pattern t12 / t22 0 –...
  • Page 87 ® Parameterization of MOVIPRO Overview of parameters Parameter Name Value Synchronous encoder monitoring Mains OFF monitoring Mains OFF response time 0 – 5 s Mains OFF response Phase failure monitoring Motor temperature protection Sensor type 1 No sensor Sensor type 2 No sensor Gear unit/motor monitoring Response to vibration/warning...
  • Page 88 ® Parameterization of MOVIPRO Overview of parameters Parameter Name Value Energy-saving function Energy-saving function Unit functions Setup Factory setting Parameter lock Reset statistics data No action Brake operation 820 / 821 4-quadrant operation 1/2 Error responses Response to "external fault" Emergency stop/fault Response to "motor overload"...
  • Page 89 ® Parameterization of MOVIPRO Overview of parameters Parameter Name Value Gain X controller 0.1 – 0.5 – 32 Positioning ramp 1 0.01 – 1 – 20 s Positioning ramp 2 0.01 – 1 – 20 s Travel speed CW 0 – 1500 – 6000 rpm Travel speed CCW 0 –...

  • Page 90: 10.4 Explanation Of The Parameters

    ® Parameterization of MOVIPRO Explanation of the parameters 10.4 Explanation of the parameters The parameters are explained below. The parameters are divided into 10 groups. The parameter names correspond to their representation in the parameter tree. The factory setting is indicated by underline. 10.4.1 Symbols The following symbols explain the parameters: These parameters are switch-selectable and available in parameter sets 1 and...
  • Page 91 ® Parameterization of MOVIPRO Explanation of the parameters the inverter. The synchronous motor with KTY and the asynchronous motor is turned off when 110 % is reached. P008 DC link volt- The displayed value is the voltage measured in the DC link circuit. P009 output cur- Apparent current, displayed in AC A.
  • Page 92 ® Parameterization of MOVIPRO Explanation of the parameters P017 Work Total of the active electrical energy the motor has consumed; storage cycle every 15 min. P018 / P019 KTY Display 0 %: Motor is not in operation at max. ambient temperature. utilization 1 / 2 Display 110 %: Cut-off point of motor.
  • Page 93 ® Parameterization of MOVIPRO Explanation of the parameters For a list of possible fault responses, refer to P83x Fault responses (page 117). The following information is stored at the time of the fault and can be displayed in the event of a fault: •...
  • Page 94 ® Parameterization of MOVIPRO Explanation of the parameters The ramp times refer to a setpoint step change of ∆n = 3000 rpm. The ramp takes effect when the speed setpoint is changed and the enable is revoked via the CW/CCW termi- nal.
  • Page 95 ® Parameterization of MOVIPRO Explanation of the parameters P139 / P149 Ramp Setting range: Yes/No monitoring 1 / 2 If you set the deceleration ramps to a value that is a lot shorter than can be physically accomplished in this system, the turning drive will be stopped after expiration of the monitoring time.
  • Page 96 ® Parameterization of MOVIPRO Explanation of the parameters The setting of all parameters important for speed control is supported by the startup ® functions of MOVITOOLS MotionStudio. Direct alterations to individual controller pa- rameters are reserved for optimization by specialists. Acceleration Filter f.
  • Page 97 ® Parameterization of MOVIPRO Explanation of the parameters P206 Sampling The sampling time for n-control is only effective in CFC and servo operating modes. time n-controller Setting range: 1 ms / 0.5 ms The setting 0.5 ms improves speed control for dynamic drives with low moment of iner- tia.
  • Page 98 ® Parameterization of MOVIPRO Explanation of the parameters P207 Load precon- The load precontrol VFC is only effective in operating modes with VFC-n control. trol VFC Setting range: –150 – off – 150 % This parameter determines the initial value of slip control upon enable. A setting greater than 0 % causes the slip control to be subject to pre-stressing, which means that the motor develops higher torque when it is enabled.
  • Page 99 ® Parameterization of MOVIPRO Explanation of the parameters P301/P311 Mini- Setting range: 0 – 15 – 6100 rpm mum speed 1/2 Speed value, the lower limit of which must not be exceeded even when zero is selected as the setpoint. The minimum speed also applies when n <...
  • Page 100 ® Parameterization of MOVIPRO Explanation of the parameters P32x/P33x Motor adjustment 1/2 P320/P330 Auto- Setting range: On/off matic adjustment Only effective in the "VFC" and "V/f" operating modes. The function is only useful for sin- gle motor operation. The inverter sets P322/P332 IxR adjustment 1/2 (page 100) auto- matically at each enable and stores the value.
  • Page 101 ® Parameterization of MOVIPRO Explanation of the parameters P323/P333 Pre- Setting range: 0 – 2 s magnetization time The premagnetization value of the matching motor is set as the factory setting. Premagnetization serves to establish a high motor torque and starts when the inverter AUTO is enabled.
  • Page 102 ® Parameterization of MOVIPRO Explanation of the parameters Set the following parameters: Parameters Setting/meaning P341 Type of cooling (page 103) Self-ventilation or forced cooling Binary output can be programmed to: Prewarning if motor utilization 1/2 exceeds a value of 100 %. In this case, the programmed output is set to "0"...
  • Page 103 ® Parameterization of MOVIPRO Explanation of the parameters Set the following parameters: Parameters Meaning P344 Motor protection interval Corresponds to the machine cycle of the application. Range: (page 103) 0.1 s – 20 s. INFORMATION Activating the function does not trigger monitoring or protection of the con- nected motor.
  • Page 104 ® Parameterization of MOVIPRO Explanation of the parameters is connected properly and the reference point and travel positions are defined cor- rectly when using this parameter. NOTE: Altering the "Direction of rotation reversal" parameter after the system has been referenced causes the system to lose its reference point for the absolute posi- tion.
  • Page 105 ® Parameterization of MOVIPRO Explanation of the parameters P505 Synchro- Setting range: Yes/No nous encoder • No: An open circuit between frequency inverter and synchronous encoder is not monitoring directly detected. In case of a defective connection, error "A1.F08" (speed monitoring) will be issued in enabled state unless it was deactivated.
  • Page 106 ® Parameterization of MOVIPRO Explanation of the parameters P54x Gear unit/motor monitoring These parameters are used to set the response to be triggered in the event of a motor or gear unit problem. The binary inputs have to be set accordingly for this purpose. The error responses will also be triggered in the "controller inhibit"...
  • Page 107 ® Parameterization of MOVIPRO Explanation of the parameters P544 Oil aging/ Factory setting: Display fault overtemperature If the oil aging sensor signals overtemperature, the inverter will respond with the set re- sponse. P545 Oil aging/ Factory setting: Display fault ready If the oil aging sensor signals ready, the inverter will respond with the set response.
  • Page 108 ® Parameterization of MOVIPRO Explanation of the parameters P562 Current limit Setting range: 0 – 50 – 150 % Current limitation that is permitted with operating frequency f . There is a linear gradient between current limitation A and current limitation B. AUTO P563 Frequency B Setting range: 0 –...
  • Page 109 ® Parameterization of MOVIPRO Explanation of the parameters Effective with Effect when Fac- inverter status Function tory- Inhib- set to "0" signal "1" signal Enabled ited IPOS input Function depending on the application module Reference cam Not activated Activated Start referencing for Start reference the application travel...
  • Page 110 ® Parameterization of MOVIPRO Explanation of the parameters All operating modes can be set for parameter set 1. Only operating modes without en- coder feedback can be set for parameter set 2 (see group 1). Without new startup, the operating mode may only be changed within a group. Group Parameter set 1/2 Unit and option...
  • Page 111 ® Parameterization of MOVIPRO Explanation of the parameters P71x Standstill current P710/P711 Stand- Setting range: 0 – 50 % I still current 1/2 The standstill current is used for injecting an adjustable current into the motor when the motor is at a standstill and the brake is applied. The standstill current can be switched off by "/controller inhibit = 0".
  • Page 112 ® Parameterization of MOVIPRO Explanation of the parameters functions, such as premagnetization, brake control, etc. It always requires an additional enable via terminals. "1" /controller inhibit "0" "1" CW/stop "0" "1" Enable/ stop "0" "1" /Brake "0" Start offset Integrator input Stop setpoint...
  • Page 113 ® Parameterization of MOVIPRO Explanation of the parameters "1" Enable "0" Premagnetization time Post-magentization time Brake Brake appl. release time time n set n start-stop "1" /BRAKE "0" "1" Output stage in "0" "1" Rotary field in "0" 278749067 P730/P733 Brake Setting range: On/off function 1/2 This function determines whether the brake is to be activated when the enable is with-...
  • Page 114 ® Parameterization of MOVIPRO Explanation of the parameters The "Speed skip" function makes it possible to prevent the motor speed from remaining within a certain speed window. This suppresses vibration and noise, in particular in ma- chines with pronounced mechanical resonance. P740/P742 Skip Setting range: 0 –...
  • Page 115 ® Parameterization of MOVIPRO Explanation of the parameters 10.4.9 P8xx Unit functions P80x Setup P802 Factory set- Setting range: No / standard / delivery condition ting You can use P802 to reset the factory settings stored in the EPROM for almost all pa- rameters.
  • Page 116 ® Parameterization of MOVIPRO Explanation of the parameters P803 Parameter Setting range: On/off lock INFORMATION Startup is not possible when P803 is set to ON. By setting P803 to "ON", you can prevent any modification of parameters. The parame- ter lock does not have any effect on the following parameters: •...
  • Page 117 ® Parameterization of MOVIPRO Explanation of the parameters P83x Fault The following responses can be programmed: responses Response Description No response No error is displayed and no error response is triggered. The signaled error is ignored. ® Display fault The fault is displayed (in the 7-segment display and in MOVITOOLS Motion- Studio).
  • Page 118 ® Parameterization of MOVIPRO Explanation of the parameters P832 Response to Factory setting: Emergency stop/fault "Motor overload" P832 programs the fault response that is triggered in the event of motor overload. Make one of the following settings to monitor motor overload: •...
  • Page 119 ® Parameterization of MOVIPRO Explanation of the parameters – a manual reset is performed using the input terminal, ® – a manual reset is performed using the serial interface (MOVITOOLS MotionStudio, higher-level controller), – there is a transition to 24 V backup mode, or the inverter is switched off. Five automatic resets are then possible.
  • Page 120 ® Parameterization of MOVIPRO Explanation of the parameters P864 PWM fre- Setting range: 4 / 8 / 16 kHz quency CFC P864 can be used in "CFC" and "Servo" operating mode to set the switching frequency at the inverter output for parameter set 1. The cycle frequency is set to a fixed value and is not automatically reduced with high unit utilization.
  • Page 121 ® Parameterization of MOVIPRO Explanation of the parameters Assignment Description Status word 1 Status information of the inverter Status word 2 Status information of the inverter Actual speed [%] Current actual speed value in % of n plus® IPOS PI-DATA Feedback of a 16-bit coded value for IPOS (application modules only).
  • Page 122 ® Parameterization of MOVIPRO Explanation of the parameters P900 Reference Setting range: −(2 −1) – 0 – (2 −1) offset Reference offset (zero offset) is used to determine the machine zero (origin). The follow- ing applies: Machine zero = reference point + reference offset The reference offset always refers to the encoder set via P941 Source actual position (page 129).
  • Page 123 ® Parameterization of MOVIPRO Explanation of the parameters – Reference position = First zero pulse or falling edge to the left of the reference – Machine zero = reference point + reference offset • Type 2: CW end of the reference cam –...
  • Page 124 ® Parameterization of MOVIPRO Explanation of the parameters P904 Reference Setting range: Yes/No travel to zero pulse plus® • Yes: Reference travel takes place to the zero pulse of the selected IPOS encoder. • No: Reference travel takes place to the falling edge of the reference cam. P905 Hiperface Setting range: −(2 −1) –...
  • Page 125 ® Parameterization of MOVIPRO Explanation of the parameters P913/P914 Travel Setting range: 0 – 1500 – 6000 rpm speed CW/CCW Specifies the speed used for positioning. The setting must be adjusted to the maximum motor speed. INFORMATION P302/P312 Maximum speed 1/2 (page 99) limits P913/P914; always set P302/P312 to a value greater (about 10 %) than P913/P914 to prevent lag errors.
  • Page 126 ® Parameterization of MOVIPRO Explanation of the parameters P916 Ramp type This parameter specifies the type of positioning ramp. This influences the speed or ac- celeration characteristics during positioning. Ramp type Positioning characteristics Linear Optimum time, however block-shaped acceleration characteristic Square Softer acceleration and higher torque demand than "linear".
  • Page 127 ® Parameterization of MOVIPRO Explanation of the parameters P92x IPOS monitoring P920/P921 SW Setting range: −(2 −1) – 0 – (2 −1) limit switch CW/ The software limit switches let the user limit the range in which travel commands are ac- cepted.
  • Page 128 ® Parameterization of MOVIPRO Explanation of the parameters P93x IPOS special functions P930 Override Setting range: On/off The override function makes it possible to change the travel speed for positioning oper- plus® ations which is programmed in the IPOS program. The speed can be altered within the range from 0 to 150 % of the specifically programmed speed.
  • Page 129 ® Parameterization of MOVIPRO Explanation of the parameters P94x IPOS encoder P941 Source of Setting range: Motor encoder / Ext. Encoder actual position Defines the encoder to which the application module positions. P948 Automatic Setting range: On/off encoder replace- ® This parameter is only effective with HIPERFACE encoders.

  • Page 130: Service

    Service Unit replacement Service 11.1 Unit replacement 11.1.1 Notes on replacing units ® ® The MOVIPRO unit allows for a quick unit replacement. The MOVIPRO unit is equipped with a replaceable memory card on which all unit data can be stored. If a unit has to be replaced, the plant can be started up again quickly by simply re-plug- ging the memory card.
  • Page 131 Service Unit replacement ® 6. Switch on the new MOVIPRO unit. 7-segment display: Status LED S2: Flashes green/orange Restoring the data backup of the communication and control unit. This can take several minutes. ® Do not switch off the MOVIPRO unit during this time.

  • Page 132: Service Unit

    Service Service unit 11.2 Service unit ® The service unit is used for startup, diagnostics, and maintenance of the MOVIPRO unit. It is equipped with a status display and a service interface The following figure shows the service unit: 18014399568351371 [1] Service unit [2] Status display [3] Ethernet service interface (Ethernet RJ45)

  • Page 133: Movipro ® Sdc Error List

    Service ® MOVIPRO SDC error list ® 11.3 MOVIPRO SDC error list The factory set error response is listed in the "Response (P)" column. "(P)" means that the response can be set with parameter P83_error response. Error Suberror Code Designation Response (P) Code Designation Possible cause...
  • Page 134 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure plus® Invalid IPOS command • Incorrect command • Check the content of the detected during program memory and, if execution of the necessary, correct. Emergency plus®...
  • Page 135 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure Read or write error on Error while accessing • Restore factory settings, EEPROM power section EEPROM perform reset and reset parameters. NV memory read error •...
  • Page 136 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure Error – Watchdog timer from/to Error in communication Consult SEW Service Watchdog Immediate dis- option. between system soft- option connection ware and option soft- ware Positioning lag error •...
  • Page 137 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure ® HIPERFACE encoder: Track signal error ® HIPERFACE encoder: Cali- Incorrect calibration of • Restore factory settings bration error encoder (P802) • Repeat encoder startup ®...
  • Page 138 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure Start condition error with "VFC Only in "VFC & hoist" • Check startup data and & hoist" mode: perform new startup, if necessary. The motor could not be •...
  • Page 139 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure Oil aging warn- Display error Oil aging warning Error message from the Schedule oil change oil aging sensor Oil aging error Error message from the SEW-EURODRIVE recom- Display error Oil aging error...
  • Page 140 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure Plausibility check Check the cables of the sine tracks or replace the encoder ® HIPERFACE encoder: Unknown encoder type ® HIPERFACE encoder: Cor- rupt encoder nameplate data ®...
  • Page 141 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure SSI encoder: Insufficient clock Set a higher cycle frequency frequency SSI encoder: Encoder signals Check encoder parameteriza- programmable error tion SSI encoder: No high level •...
  • Page 142 Service ® MOVIPRO SDC error list Error Suberror Code Designation Response (P) Code Designation Possible cause Measure ® 16430 HIPERFACE synchronous Replace inverter encoder: Internal encoder error 16431 16432 16433 16434 ® HIPERFACE synchronous 16444 encoder: Analog voltages not within tolerance ®...

  • Page 143: Additional Documentation

    Additional Documentation Additional Documentation For additional information, refer to the following documentation: Documentation Publication number ® "MOVITOOLS MotionStudio" manual 16791215/EN ® MOVITOOLS online help ® "MOVIDRIVE MD_60A Bus Positioning Application Module" manual 0918421x/EN ® "MOVIDRIVE MDX61B Extended Bus Positioning Application Module" man- 11335114/EN ®...

  • Page 144: Address List

    Address List Address List Germany Headquarters Bruchsal SEW-EURODRIVE GmbH & Co KG Phone +49 7251 75-0 Assembly plant Ernst-Blickle-Straße 42 Fax +49 7251 75-1970 Sales 76646 Bruchsal, Germany http://www.sew-eurodrive.de P.O. box sew@sew-eurodrive.de Postfach 3023 • D-76642 Bruchsal Service Compe- Mitte SEW-EURODRIVE GmbH &...

  • Page 145: Index

    Index Index Brake application time 2 ........113 Brake function............112 Active current ............90 Brake function 1........... 113 Process data ............59 Brake function 2........... 113 Actual position............90 Brake operation ........... 116 Actual speed Brake release time 1..........113 Process data ............59 Brake release time 2..........
  • Page 146 Index Configuration DeviceNet Communication channel ........69 Connection...........16, 17 Configuration and startup on the Operating characteristics ........37 DeviceNet fieldbus ..........25 Process data exchange ........37 Validity of EDS files for the DHF41B option..25 Return codes .............46 Configuration examples in RSLogix 5000 ....29 Setting the address........19, 20 ®...
  • Page 147 Index Filter actual speed value ........96 Fixed setpoints 1 / 2 ..........95 Jerk time ..............128 Frequency A............107 Frequency B............108 Frequency C ............108 Lag error window ..........127 Frequency of the inverter ........90 Laptop Connection............68 Limits 1 ..............98 Gain acceleration precontrol ........96 Limits 2 ..............98 Gain X controller ..........124 Load precontrol CFC ..........96...
  • Page 148 Index ® MOVIPRO Parameter channel Control word............52 Description............43 IP address............68 Parameter description Status word ............53 Overview of parameters in table form....85 Subnet mask ............68 P2xx Controller parameters .......95 ® MOVIPRO – DeviceNet connection .....17 P3xx Motor parameters ........98 ® MOVITOOLS MotionStudio P5xx Monitoring functions........
  • Page 149 Index Process data P013 Current parameter set ........91 Active current .............59 P014 Heat sink temperature ........91 Actual speed ............59 P015 Operating hours..........91 P016 Enable hours ..........91 Control word............52 Control word 1............56 P017 Work .............92 Description ............52 P02x Analog setpoints ...........92 Inputs ..............54 P03x Binary inputs of basic unit......92 Inverter...............55...
  • Page 150 Index P324/334 Slip compensation 1/2 ......101 P603 Binary input DI04 ........108 P330 Automatic adjustment 2 ......100 P604 Binary input DI05 ........108 P331 Boost 2 ............100 P605 Binary input DI06 ........108 P606 Binary input DI07 ........108 P332 IxR adjustment 2.........100 P34x Motor protection ..........101 P7xx Control functions.........
  • Page 151 Index P852 User-defined unit ........119 P962 Modulo denominator........129 P86x Modulation ..........119 P963 Modulo encoder resolution ......129 P860 PWM frequency 1 ........119 P861 PWM frequency 2 ........119 P862 PWM fix 1 ...........119 Ramp P863 PWM fix 2 ...........119 Process data............58 P864 PWM frequency CFC........120 Ramp generators ...........93 P87x Process data description......120...
  • Page 152 Index Right to claim under limited warranty .......6 Speed monitoring..........104 Routing the bus cables ..........18 Speed monitoring 1..........104 Speed monitoring 2..........104 Speed ramps 1 ............93 Speed ramps 2 ............93 S pattern t12 / t22 ..........94 Speed skip ............113 Safety functions ............7 Speed task 1............128 Safety notes Speed-controlled drive...
  • Page 153 Index Unit Validity of EDS files for the DHF41B option...25 Error codes ............133 Velocity precontrol ..........125 Unit data Storing unit data..........83 Unit functions ............115 Work ..............92 Unit not in the network ...........14 Unit replacement ..........83, 130 Unit status ..........21, 23, 24 X4201 ..............16 Unit type ..............92 X4202 ..............17...
  • Page 156 SEW-EURODRIVE—Driving the world SEW-EURODRIVE Driving the world SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 D-76642 Bruchsal/Germany Phone +49 7251 75-0 Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com...

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