SEW-Eurodrive Movidrive MD 60A Series Manual
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SEW-Eurodrive Movidrive MD 60A Series Manual

Drive inverter internal synchronous operation
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T
®
MOVIDRIVE
MD_60A
Drive Inverter
Manual
Internal Synchronous Operation
Edition 11/2000
U L
U L
C
®
®

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Summary of Contents for SEW-Eurodrive Movidrive MD 60A Series

  • Page 1 ® MOVIDRIVE MD_60A Drive Inverter Manual Internal Synchronous Operation Edition 11/2000 ® ®...
  • 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 1.1 Application fields ......................4 1.2 Functional description...................... 4 1.3 State machine of internal synchronous operation............5 1.4 Controlling internal synchronous operation ..............5 Project Planning ..................6 2.1 Application examples ....................... 6 2.2 Pre-requisites ........................8 2.2.1 PC and software ....................

  • Page 4: System Description

    System Description System Description Application fields The internal synchronous operation function enables a group of motors to be operated at a synchronous angle in relation to one another or with an adjustable proportional relationship (electronic gear). Internal synchronous operation is particularly suited to the following sectors and applications: •...

  • Page 5: State Machine Of Internal Synchronous Operation

    System Description State machine of internal synchronous operation The individual functions of internal synchronous operation are controlled using something referred to as a state machine. This state machine is divided into five main states. Automatic transfer Synchronous operation Offset control or IPOS program Automatic Offset...

  • Page 6: Project Planning

    Project Planning Project Planning Application examples a) Master/slave mode of two drives Basic unit MDV/MDS60A...-5_3-4-06 Master Slave 03779AEN Fig. 2: Master/slave mode b) Master/slave mode of two drives with virtual encoder as master MDV/MDS60A...-5_3-4-06 MDV/MDS60A...-5_3-4-06 IPOS-Variablen H370 Master = virtual encoder Slave 2 Slave 1 03780AEN...
  • Page 7 Project Planning c) Group configuration: Master and equivalent slaves, e.g. multiple column hoist MDV/MDS60A...-5_3-4-06 SBus SBus SBus Slave 3 Slave 3 Slave 1 Slave 2 Master Master 03558AEN Fig. 4: Group configuration d) Group configuration with virtual master encoder: MDV/MDS60A...-5_3-4-06 SBus SBus Master = virtual encoder...

  • Page 8: Pre-Requisites

    Project Planning Pre-requisites 2.2.1 PC and software You need the SEW MOVITOOLS software package in order to be able to use internal synchronous operation. In order to use MOVITOOLS, you must have a PC with one of the following operating ®...

  • Page 9: Motors And Encoders

    Project Planning 2.2.4 Motors and encoders ® • For operation on MOVIDRIVE MDV60A: – Asynchronous servomotors CT/CV, high-resolution sin/cos encoder installed as standard. – AC motors DT/DV/D with incremental encoder option, preferably high-resolution sin/cos encoder. ® • For operation on MOVIDRIVE MDS60A: –...

  • Page 10: Project Planning Notes

    Project Planning Project planning notes • Do not use internal synchronous operation with systems that have a rigid mechanical connection. • Fit slave inverters with a braking resistor. • During project planning for the synchronous operation application, bear in mind that the slave must be able to reduce the angle differential between itself and the master to zero at any time.

  • Page 11: Synchronous Start/Stop

    Project Planning Synchronous start/stop In certain applications such as a two-column hoist, it is essential to make sure that the master and slave can start and stop in synchronicity. This is a prerequisite for correct operation. As a result, combinations in which the master is more dynamic than the slave are not permitted. The following table shows the possible master/slave combinations and the required settings for synchronous start/stop.

  • Page 12: Installation

    Installation Installation Software ® 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" and press the Enter key. ®...

  • Page 13: Connecting The Incremental Encoder Master To Movidrive ® Slave

    Installation ® Connecting the incremental encoder master to MOVIDRIVE slave ® X13: MOVIDRIVE slave DIØØ /Controller inhibit DIØ1 No function DIØ2 No function DIØ3 Enable/rapid stop* DIØ4 IPOS input DIØ5 IPOS input DCOM Reference X13:DIØØ...DIØ5 VO24 +24V output DGND Ref. potential for binary signals ST11 RS-485+ ST12...

  • Page 14: Connecting Movidrive ® Master To Movidrive ® Slave

    Installation ® ® Connecting MOVIDRIVE master to MOVIDRIVE slave ® ® X13: X13: MOVIDRIVE master MOVIDRIVE slave /Controller inhibit DIØØ DIØØ /Controller inhibit CW/stop* DIØ1 DIØ1 No function DIØ2 No function CCW/stop* DIØ2 DIØ3 Enable/rapid stop* Enable/rapid stop* DIØ3 DIØ4 DIØ4 IPOS input n11/n21*...

  • Page 15: Sbus Connection Of Master/Slave(S)

    Installation SBus connection of master/slave(s) The "System Bus" manual contains detailed information about the system bus (SBus). This manual can be obtained from SEW, publication number 0918 0915. Max. 64 CAN bus stations can be interconnected using the system bus (SBus). The SBus supports transmission systems compliant with ISO 11898.

  • Page 16: 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 17: Starting Up With X14 - X14 Connection

    Startup 4.3.2 Starting up with X14 – X14 connection ® The incremental encoder simulation from X14 of a MOVIDRIVE master inverter is used as the master for internal synchronous operation. Make sure that system variable H430 MasterSource = 0 is set in the slave inverter. Only then is X14 active as the source for the master increments. 4.3.3 Starting up with SBus connection The master and slave(s) are interconnected via the SBus, for example in a group configuration.

  • Page 18: Working Method And Functions

    Operating Principle and Functions Operating Principle and Functions Controlling internal synchronous operation plus® plus® Internal synchronous operation is controlled using IPOS variables within the IPOS program, referred to below as the "application." All states of internal synchronous operation can be viewed and set in a variable range from H360 to H446 which is reserved for internal synchronous operation (see the section on system variables).
  • Page 19 Operating Principle and Functions The state machine differentiates between six (6) states saved in the SynchronousState variable (H427). State Description Free running n-control → The slave drive can be moved with speed - SynchronousState = 0 control using H439 ( SpeedFreeMode ), a 64-bit difference counter saves the distortion.

  • Page 20: Startup Cycle Mode Control

    Operating Principle and Functions Startup cycle mode control 5.3.1 Time-controlled synchronization process During the time-controlled synchronization process, the existing position differential between the master and slave drive (64-bit counter) is cancelled out by accelerating or decelerating to the synchronization speed. The time needed depends on the synchronization speed, the synchronization ramp and the lag distance (H434, LagDistance32 ).

  • Page 21: Startup Cycle State Machine

    Operating Principle and Functions 5.3.3 Startup cycle state machine Startup cycle mode control reacts in the main states Z0 and Z1 (→ Fig. 13). The startup cycle process of the slave to the master can be performed either manually, event-driven or with interrupt control.
  • Page 22 Operating Principle and Functions Startup cycle state machine in (H412) StartupCycleState : Interrupt and H415!=0 Waiting on H414>=H415 Delay Interrupt (EZ3) (EZ2) Engaging and resetting of engaging counter Interrupt and H414=H414-H415 H415==0 (EZ4) IPOS program AutoRestart AutoRestart deactivated automatic Interrupt is Interrupt enabled deactivated...
  • Page 23 Operating Principle and Functions Startup cycle state machine in (H412) StartupCycleState : AutoRestart Counter control AutoRestart (EZ1) deactivated ≥ H414 H415 → Engaging and deactivated resetting of (EZ0) engaging counter IPOS program H414=H414-H415 03408AEN Fig. 20: Startup cycle state machine with position control (engaging mode 3) Variable H411 ( StartupCycleModeControl ) →...

  • Page 24: Stop Cycle State Machine

    Operating Principle and Functions Stop cycle state machine Stop cycle mode control reacts in the main states Z3 and Z4 (→ Fig. 13). The stop cycle process of the slave can either be performed manually or automatically. The stop cycle mode is defined with the StopCycleMode system variable (H400).

  • Page 25: Offset Control

    Operating Principle and Functions Offset control 5.5.1 Time-controlled offset processing In this state, an offset is added to the difference counter (H367, OffsetCycleValue ). The slave drive moves an offset by the reduction in the angle differential to zero (time-controlled synchronization →...
  • Page 26 Operating Principle and Functions • OffsetCycleMode = 2: Reserved • OffsetCycleMode = 3: Position control in conjunction with variables H364 ( OffsetCycleCounter ) and H365 ( OffsetCycleCounterMaxValue ), with remaining distance carryover. [1/min] Slave OffsetCycleMasterLength (H366) [Incr.] Master OffsetCycleCounterMaxValue (H365) 03792AXX Fig.

  • Page 27: Synchronous Operation

    Operating Principle and Functions Synchronous operation Control takes place with a P-controller (P910 "Gain X controller"). The master and slave pulses are evaluated with the corresponding weighting factors and added to a 64-bit value after comparison. The P-controller together with the feedforward (P228 "Feedforward filter") and subsequent limiting to the maximum speed forms the speed setpoint for the speed controller.

  • Page 28: Virtual Encoder

    Operating Principle and Functions Virtual encoder 5.7.1 Virtual encoder without ramp generator The MasterTrimX14 IPOS variable (H442) represents the most simple variant of a virtual encoder. If the physical encoder is activated (assignment H430 = 0), then k pulses are physically added to the master encoder every millisecond, observing the correct sign, by assigning MasterTrimX14 = k.

  • Page 29: Important Notes

    Operating Principle and Functions Variable H371 ( VEncoderModeControl ): Name Value 0 Value 1 The value of VEncoderNSetpoint (H373) is set to 0 AxisStop Axis stop deactivated (stop of the virtual axis) once after a unit fault occurs. Important notes •...

  • Page 30: System Variables Of Internal Synchronous Operation

    System Variables of Internal Synchronous System Variables of Internal Synchronous Operation Variable Name and range of values Status Description Offset control Offset mode = 0: Offset via IPOS program OffsetCycleMode H360 = 1: Offset via input terminals 0 to 3 = 2: Reserved = 3: Offset via position control Activation of various functions...
  • Page 31 System Variables of Internal Synchronous Variable Name and range of values Status Description Stop cycle mode control Stop cycle mode StopCycleMode H400 = 0: Disengaging via IPOS program 0 to 1 = 1: Disengaging via input terminals Activation of various functions Bit 0: FreeMode H401 StopCycleModeControl...
  • Page 32 System Variables of Internal Synchronous Variable Name and range of values Status Description General variables H425 SynchronousMode No function Activation of various functions Bit 0: PosTrim (only active in main state Z1 "X-control") = 0: Activated H426 SynchronousModeControl = 1: Movement to TargetPos (H492) Bit 1: LagError (in state 3 →...

  • Page 33: Sample Ipos Programs

    Sample IPOS Programs Sample IPOS Programs Example 1: Objective: A slave drive is to be operated at a synchronous angle to a master drive. The gear units used in this case are the same. The gear ratio is 1:1. The master and slave inverters are connected via X14. Control of the slave inverter is via the binary inputs.
  • Page 34 Sample IPOS Programs IPOS program: /*============================================= IPOS source file for Synchronous Drive Control --------------------------------------------- SEW-Eurodrive GmbH & Co. Ernst-Blickle-Str. 42 D-76646 Bruchsal sew@sew-eurodrive.de http://www.SEW-EURODRIVE.de ===============================================*/ #pragma #pragma globals #include <const.h> #include <Example01.h> // Header file with // variable designations // and initialization function /*============================================= Main function (IPOS start function) ===============================================*/...
  • Page 35 Sample IPOS Programs #define ReSprintClose H444 #define Reserved7 H445 #define MFilterTime H446 // Variables for StartupCycle, StopCycle and OffsetCycle #define StopCycleMode H400 #define StopCycleModeControl H401 #define StopCycleState H402 #define StopCycleInputMask H403 #define StartupCycleMode H410 #define StartupCycleModeControl H411 #define StartupCycleState H412 #define StartupCycleInputMask H413 #define StartupCycleCounter...

  • Page 36: Example 2

    Sample IPOS Programs Example 2: Objective: Extruded material is to be cut off using a flying saw. The travel increments of the extruded material are used as master increments at input X14 of the saw feed drive = slave drive. The slave drive waits in its start position.
  • Page 37 Sample IPOS Programs IPOS program: /*============================================= IPOS source file for Synchronous Drive Control --------------------------------------------- SEW-Eurodrive GmbH & Co. Ernst-Blickle-Str. 42 D-76646 Bruchsal sew@sew-eurodrive.de http://www.SEW-EURODRIVE.de ===============================================*/ #pragma #pragma globals #include <const.h> #include <io.h> #include <Example02.h> // Header file with // variable designations // and initialization function #define LINEAR // Positioning with linear ramp...
  • Page 38 Sample IPOS Programs Freigabe; // Enable drive _GoAbs(GO_WAIT, 0); // Move to start position Halt; // Inhibit drive Rampenform=SYNCHRONLAUF; // Activate internal synchronous operation _SetSys(SS_RAMPTYPE, Rampenform); Freigabe; // Enable drive Header file with variable designation: /***************************************************************** Example02.h Data and startup header file for IPOS+ Compiler. For startup after power on call "InitSynchronization();"...
  • Page 39 Sample IPOS Programs #define RegisterLoopDXDTOut H390 // Variables for Virtual Encoder #define VEncoderMode H370 #define VEncoderModeControl H371 #define VEncoderState H372 #define VEncoderNSetpoint H373 #define VEncoderNActual H374 #define VEncoderXSetpoint H375 #define VEncoderXActual H376 #define VEncoderdNdT H377 // Startup data from: 08.08.2000 - 15:54:37 InitSynchronization() for (H0=128;...

  • Page 40: Example 3

    Sample IPOS Programs Example 3: Objective: A slave drive is to be operated at a synchronous angle to a master drive. The gear units used in this case are the same. The gear ratio is 1:1. The master and slave inverters are connected via SBus. Control of the slave inverter is via the binary inputs.
  • Page 41 Sample IPOS Programs IPOS program master inverter: /*============================================= IPOS source file ===============================================*/ #include <const.h> SCTRCYCL Position; // SEW standard structure for the _SbusCommDef statement SCTRCYCL SynchID; /*============================================= Main function (IPOS initial function) ===============================================*/ main() /*------------------------------------- Initialization --------------------------------------*/ SynchID.ObjectNo=1090; // Describe the SEW standard structure: SynchID.CycleTime=5;...
  • Page 42 Sample IPOS Programs IPOS program slave inverter: /*============================================= IPOS source file for Synchronous Drive Control --------------------------------------------- SEW-Eurodrive GmbH & Co. Ernst-Blickle-Str. 42 D-76646 Bruchsal sew@sew-eurodrive.de http://www.SEW-EURODRIVE.de ===============================================*/ #pragma #pragma globals #include <const.h> #include <Example03.h> // Header file with // variable designations // and initialization function SCREC Position;...
  • Page 43 Sample IPOS Programs Header file with variable designation: /***************************************************************** Example03.h Data and startup header file for IPOS+ Compiler. For startup after power on call "InitSynchronization();" Datafile Movidrive Synchronous Drive Control Version 1.0 *******************************************************************/ #define SynchronousMode H425 #define SynchronousModeControl H426 #define SynchronousState H427 #define...
  • Page 44 Sample IPOS Programs // Startup data from: 08.08.2000 - 16:14:58 InitSynchronization() for (H0=128; H0<=457; H0++) // Reset variables greater than H128 *H0=0; _Memorize(MEM_LDDATA); _Wait(100); GFMaster = 1; // Evaluation of master increments GFSlave = 1; // Evaluation of slave increments MasterSource = 200;...
  • Page 46 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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