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SEW-Eurodrive MOVIPRO Manual

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Drive Technology \ Drive Automation \ System Integration \ Services
Manual
®
MOVIPRO
SDC
with EtherNet/IP and Modbus/TCP Interface
Edition 07/2010
16990811 / EN

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Summary of Contents for SEW-Eurodrive MOVIPRO

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services Manual ® MOVIPRO with EtherNet/IP and Modbus/TCP Interface Edition 07/2010 16990811 / EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    Data exchange via Modbus/TCP – examples ........... 61 Modbus Protocol (Modbus/TCP) ..............66 Introduction ....................66 Protocol structure ..................68 Connection management ................73 Parameter access via Modbus/TCP ............74 Error codes (exception codes) ..............78 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 4: Table Of Contents

    12.5 "PFA-..." power section parameter information ........131 Service ......................169 13.1 Unit replacement ..................169 13.2 Encoder exchange .................. 171 13.3 Service unit ..................... 171 13.4 MOVIPRO® SDC error list..............172 Additional Documentation ................183 Index......................... 184 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 5: General Information

    This is the formal structure of an embedded safety note: • SIGNAL WORD Nature and source of hazard. Possible consequence(s) if disregarded. – Measure(s) to prevent the danger. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 6: Rights To Claim Under Limited Warranty

    In such cases, any liability for defects is excluded. Other applicable documentation This document does not replace the detailed operating instructions. Only electrical spe- ® cialists are allowed to install and start up MOVIPRO observing the applicable accident ® prevention regulations and the MOVIPRO SDC operating instructions.

  • Page 7: Hoist Applications

    Copyright © 2010 – SEW-EURODRIVE. All rights reserved. Unauthorized duplication, modification, distribution or any other use of the whole or any part of this documentation is strictly prohibited. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 8 • No programming experience required • Quick familiarization, therefore quicker configuration and startup ® • All movement functions are controlled directly in the MOVIPRO ® Scope of delivery The application modules are included in the MOVITOOLS MotionStudio software and ®...
  • Page 9 The "Bus positioning" application module has the following functions: • Variable and unlimited number of target positions • Freely adjustable travel speed for positioning • Maximum travel distance ± 32700 mm 1984436491 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 10 Maximum travel distance ± 262100 mm • Operation is possible with 4 instead of 6 process data words. The variable specifica- tion of the ramp type is not used in this case. 1984444811 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 11 The encoder must be mounted to the application without slip. Table positioning The "Table positioning" application module has the following functions: • Control via fieldbus • 32 table positions in inverter • Freely adjustable travel speed 1984678283 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 12 Variable and unlimited number of target positions • Freely adjustable travel speed (changes can be made during travel for linear posi- tioning ramps) • Maximum travel distance ± 32700 m 1984845707 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 13 Setpoints specification is either variable or binary. • The program is used to control individual drives. In synchronous operation mode, these drives can be synchronized to a master drive. 2123860875 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 14: Startup

    • The MOVIPRO unit is connected to Ethernet. ® • A connection has been established between the engineering PC and the MOVIPRO unit. ® – Except for the lower byte, the engineering PC and the MOVIPRO unit have the same IP address.
  • 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 Ether- net.
  • Page 17 SEW-EURODRIVE recommends not to connect any non-SEW ® end units to MOVIPRO . Connect non-SEW devices via a network component that supports the IGMP snooping functionality (e.g. managed switch). Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 18: The Integrated Ethernet Switch

    (e.g. units from SEW-EURODRIVE). Units that do not have this integrated function can fail due to high network loads. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 19: Tcp/Ip Addressing And Subnetworks

    10 = Network address 1.22.3 = node address 128 – 191 172.16.52.4 172.16 = Network address 52.4 = node address 192 – 223 192.168.10.4 192.168.10 = Network address 4 = node address Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 20 If this is not the case, the station addresses the standard gateway (router), which must be part of the actual network. The standard gateway then takes on the job of transmitting the data packages. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 21: Setting The Ip Address Parameters

    ® MOVIPRO unit. ® If the IP address parameters have been assigned to the MOVIPRO unit via a DHCP server, you can only change the parameters by adjusting the settings of the DHCP server. The options mentioned above for changing the IP address parameters only come into effect once the supply voltage (DC 24 V) has been switched off and back on again.

  • Page 22: Shielding And Routing The Bus Cables

    Shielding and routing the bus cables 4.4.3 SEW Address Editor ® You can also use the SEW Address Editor to access the IP settings of the MOVIPRO ® unit without the Ethernet settings of the PC and MOVIPRO having to match.

  • Page 23: Status And Error Messages

    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 24 Incorrect interpretation of display U = "Safe stop" active. Severe or fatal injuries. The display U = "Safe stop" active is not safety-related and must not be used as a safety function. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 25 3 times the corresponding error code. The following figure shows the display for an "Overtemperature" error of axis 1: 1806505867 ® For a list of error codes, refer to section "Service / Error list of MOVIPRO SDC" (page 172). 4.6.4 Status LED ®...
  • Page 26 SEW Service staff. Status LED S3 LED status Status or cause of error Remedy Lights up green • Program is running. – • No program is loaded. • Replace the SD card. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 27: Ethernet/Ip – Configuration And Startup

    ® ter and startup of the MOVIPRO for fieldbus operation. Prerequisite is the correct con- ® nection and setting of the IP address parameters of the MOVIPRO according to section "Installation notes" (page 16). ® Validity of the EDS file for MOVIPRO INFORMATION Do not edit or amend the entries in the EDS file.
  • Page 28 2. In the "IO Configuration" folder [1], select the entry "1769-L32E Ethernet Port LocalENB" [2] as the Ethernet communication interface. 3. Right-click and select "New Module" from the context menu. The selection window "Select module" appears. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 29 "163" in the "Output Assembly Instance" input field [8]. The input pa- ® rameters of the PLC must be linked to the output instance of the MOVIPRO Set a maximum value of "8" (16 bits) as the data length in the selection fields "Input Size"...

  • Page 30: Configuration Example In Rslogix 5000

    4 ms. Longer cycle times can be implemented without any problems. ® • Click [OK]. You have now configured the process data exchange with a MOVIPRO Configuration example in RSLogix 5000 This section illustrates the configuration of the process data exchange between Ether- ®...
  • Page 31 ® 4. Copy the data from the MOVIPRO to the new data structure. To do so, add a CPS ® command in the "MainRoutine" [1] that reads in the data of the MOVIPRO from the controller tags. 9007201223074571 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 32 ® ® MOVIPRO to the controller tags and copies them to the MOVIPRO 9007201223077259 6. Save the project and transfer it to the PLC. 7. Switch to RUN mode of the PLC. The data exchange via EtherNet/IP is now acti- ®...
  • Page 33 This section describes the startup of MOVIPRO as a speed-controlled drive. INFORMATION ® For information on the process data interface of the MOVIPRO , refer to section "Pro- cess data description" (page 81). Ensure that the following requirements have been met: •...
  • Page 34 EtherNet/IP – Configuration and Startup Configuration example in RSLogix 5000 ® 5. Now you can read the actual values and determine the setpoints of the MOVIPRO 9007201224045067 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 35: Access To Unit Parameters

    EtherNet/IP – Configuration and Startup Access to unit parameters Access to unit parameters ® This section describes the configuration of the read and write access to the MOVIPRO unit parameters using explicit messages and the register object. 5.4.1 Reading parameters 1.
  • Page 36 Path Browser. 9007201225176587 [1] "Browse" button [2] "Ethernet" branch Do not select the "Connected" checkbox because both the controller and the ® MOVIPRO option permit only a limit number of connections. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 37 Once the read command has been answered, ReadParameterResponse.Index should name the index that was read and ReadParameterResponse.Data should ® contain the data that was read. In this example, the timeout delay of the MOVIPRO (index 8606) set by the scanner has been read (012C = 0.3 s).
  • Page 38 Fill the other fields in the following order: "Source Element" = "WriteParameterRequest.Index" "Source Length" = "12" (bytes) "Destination" = "WriteParameterResponse.Index" "Class" = "7" (hex) "Instance" = "2" "Attribute" = "4" (hex) "Service Code" = "10" (hex) Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 39 ® You can check the value in the MOVITOOLS MotionStudio parameter tree or the PLC Editor. The tooltip of a parameter displays for example index, subindex, factor, etc. of the parameter. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 40: Access To Unit Parameters Of The Integrated Power Section

    Access to unit parameters of the integrated power section The access to the unit parameters of the internal power section is identical to the access ® to the "PFH.." communication and control unit of MOVIPRO The only difference is that you have to set the following indexes: •...

  • Page 41: Ethernet Industrial Protocol (Ethernet/Ip)

    The timeout status can be reset via EtherNet/IP as follows: • via reset service of the identity object (class 0x01, instance 0x01, undetermined at- tribute) • By re-establishing the connection • Via the reset bit in the control word Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 42: Cip Object Directory

    Minor Revision USINT Status WORD see table under "Coding of attri- bute 5 status" Serial number UDINT Unique serial number Product Name SHORT_ SEW-MOV- Product name STRING IPRO Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 43 Classes ARRAY of 01 00 02 00 UINT 04 00 06 00 07 00 0F 00 64 00 F5 00 F6 00 Number Available UINT 0009 Maximum number of con- nections Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 44 Get_Attribute_Single 6.3.3 Assembly object ® • The assembly object is used to access the MOVIPRO process data. I/O connec- tions can be created for the instances of the assembly object to exchange cyclic pro- cess data. • Class code: 04...
  • Page 45 WRITE parameter OUTPUT READ WRITE VOLATILE parameter INPUT READ MINIMUM Invalid INPUT READ MAXIMUM Invalid INPUT READ DEFAULT Invalid INPUT READ SCALING Invalid INPUT READ ATTRIBUTE Invalid INPUT READ EEPROM Invalid Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 46 (Instance 5) Input Get_Attribute_Single READ DEFAULT (Instance 6) Input Get_Attribute_Single READ SCALING (Instance 7) Input Get_Attribute_Single READ ATTRIBUTE (Instance 8) Input Get_Attribute_Single READ EEPROM (Instance 9) EtherNet/IP SEW fieldbus profile 879804555 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 47 Subchannel 1 BYTE control unit Subaddress 2 BYTE Reserved (must be "0") Subchannel 2 BYTE Reserved (must be "0") Supported ser- vices Service code [hex] Service Name Instance 0x0E Get_Attribute_Single 0x10 Set_Attribute_Single Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 48 Link Path Size USINT No link is specified Link Path Packed Not used EPATH Descriptor WORD 0000 Read/write parameter Data type EPATH 00C7 UINT Data Size USINT Data length in bytes Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 49 Link Path Size USINT No link is specified Link Path Packed Not used EPATH Descriptor WORD 0000 Read/write parameter Data type EPATH 00C8 UDINT Data Size USINT Data length in bytes Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 50 Data type Subaddress 1 BYTE Subchannel 1 BYTE Subaddress 2 BYTE Subchannel 2 BYTE Data Len Low BYTE Data Len High BYTE Reserved BYTE Reserved BYTE BYTE Vardata Array of BYTE Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 51 Name Server 2 UDINT 00000000 DNS is not supported Domain Name STRING sew.de Host Name STRING Not used Supported ser- vices Service code [hex] Service Name Class Instance Get_Attributes_All – Get_Attribute_Single Set_Attribute_Single – Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 52 ARRAY of 00 0F 69 xx MAC ID 6 USINTs xx xx xx SEW MAC OUI: 00 0F 69 Supported ser- vices Service code [hex] Service Name Class Instance Get_Attributes_All – Get_Attribute_Single Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 53 Return codes of the parameterization via explicit messages If a parameter request via explicit messages fails, you can determine the cause via an ® error code. An error can be generated by MOVIPRO , the EtherNet/IP system or by a timeout.
  • Page 54 Manufacturer-specific error Invalid parameter Invalid parameter. This error message is used when a parameter does not satisfy the requirements of the specification and/or the requirements of the application. 21 - FF Reserved Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 55 Communication not initialized 0x11 Mouse conflict 0x12 Illegal Bus 0x13 FCS Error 0x14 PB Init 0x15 SBUS - Illegal Fragment Count 0x16 SBUS - Illegal Fragment Type 0x17 Access denied Not used Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 56 Value invalid 0x1E Setup started 0x1F Buffer overflow 0x20 "No Enable" 0x21 End of File 0x22 Communication Order 0x23 "IPOS Stop" Required 0x24 Autosetup 0x25 Encoder Nameplate Error 0x29 PLC State Error Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 57: Configuration And Startup Of Modbus/Tcp

    This section provides you with information on the configuration the Modbus/TCP master ® and startup of the MOVIPRO for fieldbus operation. Prerequisite is the correct connec- ® tion and setting of the IP address parameters of the MOVIPRO according to section "Installation notes" (page 16). Unit description file for Modbus/TCP INFORMATION There are no specific unit description files for Modbus/TCP.
  • Page 58 DHCP server, select the radio button "Client/Server configuration" in the section "IP address configuration". 5. In the "Ethernet configuration" section, select the checkbox "Ethernet II". 6. In the "Module utilities" group, select the "IO Scanning" radio button. 2306177163 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 59 4. Click on the button "Confirm" to confirm the rack configuration and the global config- uration. ® 5. After uploading and starting the program, the LED S1 of MOVIPRO lights up green. For detailed information about the status LEDs, refer to section "Status and error messages"...

  • Page 60: Configuration Examples In Pl7 Pro

    Now actual values can be read from MOVIPRO and setpoint values can be written. The process data should correspond with the values displayed in the parameter tree or in the respective application module. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 61: Data Exchange Via Modbus/Tcp – Examples

    All the other examples merely describe the Modbus/TCP part of the telegram. The TCP/ IP part of the telegram, as well as establishing and dropping a TCP/IP connection are not explained in detail. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 62 Only bytes 0-11 are returned in the response telegram of port 502 of the Modbus/TCP slave, where all values remain unchanged with the exception of byte 5. Byte 5 (low byte length field) is corrected to value 6. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 63 Process input data word 1 0xAA Data mapping and defini- 0xBB Data Process input data word 2 tion, see section "Process 0xCC data description" 0xDD Process input data word 3 0xEE Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 64 1) The unit identifier 0 and 0xFF is used to access the parameters of the "PFH..." communication and control unit directly. With unit identifier 20 (0x14), the request is passed on to the integrated power section "PFA...". Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 65 1) The unit identifier 0 and 0xFF is used to access the parameters of the "PFH..." communication and control unit directly. With unit identifier 20 (0x14), the request is passed on to the integrated power section "PFA...". Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 66: Modbus Protocol (Modbus/Tcp)

    ) is a special case, it allows for writing (and reading) the timeout monitoring time. INFORMATION For Schneider Electric control systems: The address range often starts with 40001 , which corresponds to an offset with the value "0". Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 67 FC16, FC23 300 – FFFF Reserved Special Fieldbus timeout Fieldbus timeout FC3, FC16 Parameter P819: 16-bit value, tim- case: 219E interval, read interval, write value eout interval in ms (8606 value Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 68: Protocol Structure

    Number of function codes data bytes + 1 (Unit identifier) ® Unit identifier (slave address) This is the slave address. In order to access the MOVIPRO pro- cess data, it must be set to "0" (0x00) or 255 (0xFF). The following address assignments apply to the parameter chan- nel access (Offset 200 - 203 •...
  • Page 69 Number of following bytes 9..Data 2 – ... Data bytes depending on the length Exception: Byte Designation Meaning/permitted values 0 – 6 MBAP header See section "Header" Function code Exception Code Error code Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 70 Word count (high) Number of words (register) Word count (low) Number of words (register) Exception: Byte Designation Meaning/permitted values 0 – 6 MBAP header See section "Header" Function code Exception Code Error code Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 71 Number of following bytes Data 2 – ... Data bytes depending on the length Exception: Byte Designation Meaning/permitted values 0 – 6 MBAP header See section "Header" Function code Exception Code Error code Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 72 Value (example) 0x00 VendorName "SEW-EURODRIVE" 0x01 ProductCode Mandatory Basic "SEW MOVIPRO" 0x02 MajorMinorRevisions "823 568 0.10" (e.g.) ASCII string 0x03 VendorUrl "www.sew.de" 0x04 ProductName Optional Regular "SEW MOVIPRO" 0x05 ModelName " " Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 73: Connection Management

    In the event of a cable break or a socket error of a controlling connection, the fieldbus timeout in the unit will be displayed once the timeout interval has elapsed. Then a new controlling connection can be established. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 74: Parameter Access Via Modbus/Tcp

    This method corresponds to the alternative concept according to the Modbus specifica- tions (appendix A) "Network Messaging Specification for the Modbus/TCP Protocol: Version 1.1". Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 75 Procedure with FC23 With FC23 the result is returned directly in the response. Master / Slave / Modbus client Modbus server FC23 Request with acyclic command FC3 Response with acyclic result 2305967115 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 76 For detailed information, see section "Header" (page 68). ® The description of the MOVILINK parameter data (8 bytes) and their mapping to reg- ® isters 200 – 203 is described in section "MOVILINK parameter channel. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 77 (administration = write 4 bytes / subindex = 0) • Offset 201 = 219E (Index = 8606) • Offset 202 = 0 (data high) • Offset 203 = 01F4 (data low = 500) Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 78: Error Codes (Exception Codes)

    SLAVE DEVICE BUSY There is already a controlling connection (either via another Modbus controller or another fieldbus system) GATEWAY PATH UNAVAILABLE The data cannot be forwarded to a subsystem. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 79: Operation On Ethernet/Ip And Modbus/Tcp – Error Diagnostics

    For more diagnostic information, refer to the online status display in the EtherNet/IP master (scanner), in the Modbus/TCP master and the corresponding online help. ® 9.1.1 Step 1: Check the status LED S1 of MOVIPRO For detailed information on the individual LED statuses, refer to section "Status LED of ® MOVIPRO ".

  • Page 80: Fieldbus Timeout

    "Connected", the data exchange between master (scanner) ® and slave is active. If the data is not transferred correctly to MOVIPRO via EtherNet/IP or Modbus/TCP, the following steps will assist you in finding the cause for the problem.

  • Page 81: Process Data Description

    ← 12 DI Stat. word 3026197387 ® 10.2 MOVIPRO control word ® The following figure shows the assignment of the MOVIPRO control word: ® Master → 15 14 → MOVIPRO 0 – 4: Reserved = 0 5: Reset application 6: Reset system 7: Reserved = 0 8 –...
  • Page 82 MOVIPRO error ® The following table shows the diagnostics information of the MOVIPRO unit that is pro- cessed in the higher-level PLC application. The signals are transferred to the controller via parameters and, if necessary, via the process data channel.

  • Page 83: Digital Inputs And Outputs

    8: Binary input DI08 9: Binary input DI09 10: Binary input DI10 11: Binary input DI11 12: Binary input DI12 13: Binary input DI13 14: Binary input DI14 15: Binary input DI15 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 84: Process Data Of Power Section

    The process output/input data words of a speed-controlled drive (no application module loaded) are assigned as follows: • PO1: Control word 1 • PO2: Setpoint speed • PO3: Ramp • PI1: Status word 1 • PI2: Actual speed • PI3: Active current Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 85 1 = Parameter set 2 Reset If there is an error in the inverter power section, an error reset is requested by changing this bit from 0 to 1 to 1. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 86 The following figure shows the prioritization for the evaluation of bits relevant for enable in control word 1: Enable Hold control Stop Immediate stop Controller inhibit Processing enable 9007200623660683 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 87 = 1 (error). The error bit is reset by resetting the error, and the current unit status is displayed. ® For the meaning of error numbers, refer to section "Error list of MOVIPRO SDC" (page 172).
  • Page 88 PI1: Status word • PI2: Actual velocity • PI3: Actual position For further information, refer to the following documentation: Documentation Publication number ® "MOVIDRIVE MD_60A Bus Positioning Application Module" manual 0918421x/EN Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 89 PI4: Actual velocity • PI5: Active current • PI6: Unit utilization For further information, refer to the following documentation: Documentation Publication number ® "MOVIDRIVE MDX61B Extended Bus Positioning Application Module" 11335114/EN manual Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 90 • PI4: Actual velocity • PI5: Active current • PI6: Unit utilization For further information, refer to the following documentation: Documentation Publication number ® "MOVIDRIVE MDX60B/61B Modulo Positioning Application" manual 11349212/EN Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 91 PI1: Status word • PI2: Actual velocity • PI3: Actual position For further information, refer to the following documentation: Documentation Publication number "MOVIDRIVE MDX61B Sensor-Based Positioning Via Bus Application" 11313528/EN manual Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 92 PI5: Position difference master-slave or 16 single-bit cams • PI6: Active current For further information, refer to the following documentation: Documentation Publication number ® "MOVIDRIVE MDX61B AMA0801 Automotive Application Module" manual 16629612/EN Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 93: Movitools ® Motionstudio – Operation

    • MotionStudio ® • MOVITOOLS ® All functions communicate using tools. MOVITOOLS MotionStudio provides the right tools for every unit type. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 94: First Steps

    MotionStudio differentiates between "online" and "offline" communica- tion 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. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 95 Perform the "Upload (unit->PC)" function if you want to transfer the changes to your RAM. • Save your project so that the changes can be stored on the hard disk [1] of your engineer- ing PC [3]. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 96 [1] "Switch to online mode" symbol [2] "Switch to offline mode" symbol 2. Select the unit node. 3. Right-click to open the context menu and display the tools for configuring the unit. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 97: Communication Via Ethernet

    Service interface (Ethernet RJ45) Conventional Ethernet cable ® of MOVIPRO Ethernet interface of the laptop ® The following table shows the IP address and the subnet mask of the MOVIPRO Standard IP address 192.168.10.4 Subnet mask 255.255.255.0 Setting the IP...
  • Page 98 Proceed as follows to start the Address Editor: ® 1. Close MOVITOOLS MotionStudio. 2. Start the Address Editor from the Windows start menu via: [Start] / [Programs] / [SEW] / MOVITOOLS MotionStudio] / [Address Editor (Address Tool)] Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 99 3. Wait until the network scan starts automatically. The default setting for the waiting time (scan timeout) is 3 s [2]. As a result, the current addresses of all Ethernet stations in the connected network will be displayed. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 100 1. Select the desired card. To do so, click "Select network card" [3] in the toolbar. 2. Start the network scan manually. To do so, click "Start network scan" [1] in the tool- bar. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 101 DHCP startup configuration (if supported by the unit) 2. Transmit the address changes to the Ethernet station. Click on [Download] [2]. 3. Switch the unit off and on again in order to apply the changes. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 102 11.4.3 Configuring the communication channel via Ethernet Proceed as follows to configure a communication channel for Ethernet: 1. Click on "Configure communication plugs" [1] in the toolbar. 2451145227 [1] "Configure communication plugs" symbol Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 103 PC that is running on MOVITOOLS MotionStudio. If you have units that are outside the local network segment, add the IP addresses of these units to the list of SMLP servers. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 104 2. Add an IP address by opening the context menu and selecting [Add IP address] [1].. 2451339787 [1] [Add IP address] button [2] "IP address" input field 3. Enter the IP address in the input field [2] and click the [OK] button. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 105 This can be units that are not ready for communication (for example because they have not been started up yet) Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 106: Executing Functions With The Units

    Then, the "Parameter tree" view opens on the right section of the screen. 5. Expand the "Parameter tree" up to the node you require. 2451390987 6. Double-click to display a particular group of unit parameters. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 107 4. Open the context menu and select the command [Startup] / [Startup]. The Startup wizard opens. 5. Follow the instructions of the startup wizard and then load the startup data onto your unit. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 108: Encoder Configuration

    MotionStudio and create a new project. For more information, ® refer to section "Operation of MOVITOOLS MotionStudio" (page 93). 2. Click on the [Startup] button [1] to call the startup wizard. 2097970443 [1] [Startup] button Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 109 Encoder data is uploaded into the startup wizard. You can edit the encoder data manually. [Do not apply data] [3] Encoder data is not uploaded into the startup wizard. You must edit the encoder data manually. 2071861387 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 110 "Deselect", if there is no encoder connected or if the application does not require an encoder. • "Position monitoring on" in order to determine the source of the actual values. 1942875915 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 111 Proceed as follows to select an SEW encoder manually encoders manually 1. Click [SEW encoder]. 2. Enter the encoder designation in the respective fields according to the specification on the encoder name plate. 1942880907 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 112 2. Specify the ratio between the motor and the encoder. INFORMATION You can measure the ratio with the startup software. This is only possible once the en- tire application has been installed. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 113 ® MOVIPRO – Parameterization Encoder configuration Measuring the ratio Proceed as follows to measure the ratio with the startup software: 1. Click the [Measure ratio] button. 3027605515 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 114 Encoder configuration 2. Provide for the measure requested under in the following figure and check the "Completed" checkbox. 3. Click [Start]. 4. Click [Manual mode] to start the manual mode. 3027663755 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 115 ® MOVIPRO – Parameterization Encoder configuration 5. Start the manual mode and move the axis by at least one motor revolution. Then stop the drive (apply brake). 3027750923 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 116 6. The determined data is displayed under . Further, there is information regarding the validity of the data under 3027897867 7. If the data is valid, click [Quit manual mode] and [OK] to quit the manual mode. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 117 ® MOVIPRO – Parameterization Encoder configuration 8. Click [Apply data] to apply the determined data. Now the data is entered as ratio value. 3027977611 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 118 Transferring encoder data to MOVIPRO and ini- tializing motor startup 2071854091 INFORMATION To enable quick unit replacement, you have to manually download the unit data to the memory card after startup. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 119: Motor Startup

    Several identical motors [2] ® MOVIPRO controls several motors of the same power rating. In this case, you have to specify whether the motor coupling is mechanically rigid or loose/non-ex- istent. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 120 [1] "Stand-alone motor" radio button [2] "Several identical motors" radio button [3] "Several different motors" radio button 2. Click [Next] to continue. 3. Check the displayed data of the motor encoder and click [Next]. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 121 For more information about application modules, refer to section "Application mod- ® ules in MOVITOOLS MotionStudio (page 8)". Click [Next] to continue. 7. Select the control mode of the drive and click [Next]. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 122 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]. 2071878411 [1] [Apply proposal] button Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 123 – Error response – Temperature sensor type – Download values of the drive parameters 12.2.3 Optimizing a speed controller Optimize the speed controller by changing the download values of the drive parameters. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 124: 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. If a unit has to be replaced, the plant can be started up again quickly by simply re-plug- ging the memory card.
  • Page 125 INFORMATION Performing a reference travel will change several parameters. This is why you should perform a data backup and store your data on the SD card prior to the reference travel. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 126: Pfa-..." Power Section Parameter Overview

    0 – 2 – 2000 s 131 / 141 Ramp t11 / t21 down CW 0 – 2 – 2000 s 132 / 142 Ramp t11 / t21up CCW 0 – 2 – 2000 s Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 127 Direction of rotation reversal 1 / 2 Monitoring functions Speed monitoring 500 / 502 Speed monitoring 1 / 2 Motor/regenerative 501 / 503 Delay time 1/2 0 – 1 – 10 s Encoder monitoring motor Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 128 0 – 2 s Speed skip function 740 / 742 Skip window center 1 / 2 0 – 1500 – 6000 rpm 741 / 743 Skip width 1/2 0 – 300 rpm Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 129 0 – 50 – 6000 rpm Reference travel type [0] Left zero pulse Reference travel to zero pulse Hiperface offset (motor) -1) – (2 Cam distance Display value IPOS travel parameters Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 130 Actual position source Motor encoder Automatic encoder replacement detection IPOS Modulo function Modulo function Modulo numerator 1 – (2 Modulo denominator 1 – 2 Modulo encoder resolution 1 – 4096 – 65535 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 131: Pfa-..." Power Section Parameter Information

    Active current in the range 0 – 200 % I . The display value is positive when torque is in rent positive sense of rotation; negative when torque is in negative sense of rotation. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 132 DC 24 V supply. Storage cycle every 15 min. P016 Enable hours Total number of hours for which the inverter was in "Enabled" operating status; storage cycle every 15 min. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 133 For a list of possible error responses, refer to P83x error responses (page 156). The following information is stored at the time of the error and can be displayed in the event of a error: • Status ("0" or "1") of the binary inputs/outputs Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 134 P132 Ramp t11 up CCW / P142 Ramp t21 up CCW CW/CCW P133 Ramp t11 down CCW / P143 Ramp t21 down CCW Setting range: 0 – 2 – 2000 s Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 135 After the set time expires, the output stage AUTO is inhibited and the brake applied even if zero speed has not yet been reached. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 136 ( P70x Operating modes). • Servo operating modes: The speed controller is only active in "Servo & torque con- trol" when speed limiting is active (P70x Operating modes). Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 137 The differentiator is programmed. AUTO P204 Filter actual Setting range: 0 – 32 ms speed value Filter time constant of the actual speed value filter. AUTO Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 138 Setting range: 0,1 – 0,5 – 32 controller The parameter corresponds to the proportional gain of a position controller and is only effective in conjunction with the activated "Hold control" function. AUTO Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 139 The current limit effective in the field weakening range can be calculated using the fol- lowing formula: Current limit = (1.15 × f ) × setting value of P303 / P313 base is the current speed frequency. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 140 The I×R value of the matching motor is set as the factory setting. AUTO In "VFC" operating mode, this parameter acts on the parameters of the calculated motor model which establish the torque. An automatic setting takes place with P320/P330 Au- Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 141 If the motor also has to be protected against failure of the ventilation, blockage of air ducts, etc., it is also necessary to employ protection in the form of a TF positive tem- perature coefficient thermistor or TH bimetallic switch. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 142 PLC. P007 Motor utilization 2 In setting P340 = "One servomotor" without function (page 132) P832 Response to "Motor over- In setting P340 = "One servomotor" without function load" (page 157) Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 143 Clockwise (positive) is defined as rotation to the right and counterclockwise as rota- tion to the left. This definition is implemented when the motor is connected according to the SEW designation. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 144 You can prevent the speed monitoring from responding too sensitively by setting the delay time accordingly. The current limit must be reached permanently for the dura- tion of the delay time before monitoring responds. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 145 Once a phase failure has been detected, the output stage is inhibited and the brake is applied. The error message "A1.F06" (phase failure) is issued. The error response is "Immediate switch-off with inhibit". The error can only be remedied by executing a unit reset. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 146 Once the drive vibration sensor signals a warning, the inverter will respond with the set response. P541 Response to Factory setting: Rapid stop/warning vibration/error Once the drive vibration sensor signals an error, the inverter will respond with the set response. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 147 Refer to the "Explosion- Proof AC Motors" operating instructions for more information. The following rules always apply: • Frequency A < frequency B < frequency C < rated motor frequency Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 148 The rated motor frequency is 50 Hz for star connection and 87 Hz for delta con- AUTO nection. After startup with an Ex-e motor, the current limit C is approximately equal to the rated motor frequency I Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 149 Brake wear moni- Brake is worn Brake is ok toring 1) Important for operating modes with encoder feedback: The parameter set must not be changed more often than every two seconds. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 150 "Servo & torque control" encoder or resolver "Servo & IPOS" P702 Motor cate- Setting range: Rotatory/Linear gory This parameter is set automatically during startup. It shows the connected motor type. AUTO Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 151 If a new enable takes place before expiration of the measurement interval, there will be no calculation of a new resistance value. The existing resistance value will still be used. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 152 Setting range: 0 – 30 – 500 rpm offset 1/2 There is no enable for stop setpoint + start offset (start setpoint) > n Movement with n is never possible if the stop setpoint is > n Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 153 The brake application time of the matching motor is set as the factory setting. Serves to set the time required for application of the mechanical brake. This parameter AUTO prevents a sagging of the drive (particularly in hoists). Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 154 P740/P742 Skip Setting range: 0 – 1500 – 600 rpm window center 1/2 P741 / P743 Skip Setting range: 0 – 300 rpm width 1 / 2 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 155 "8.8.8" appears on the 7-segment display during the reset. The previous operating sta- tus of the inverter appears on the display after the factory settings have been restored. P802 automatically reverts to "No". Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 156 4-quadrant operation to be switched on and off for parameter sets 1/2. 4-quad- ® rant operation is possible if a braking resistor is connected to MOVIPRO (CCW/CW; motor/regenerative). P820/P821 must be set to "OFF" if there is no braking resistor con- ®...
  • Page 157 P839 Response to Factory setting: No response "Positioning inter- If P924 "Positioning interruption" detection (page 166)’ is set to "On", the response set ruption" here is triggered when a positioning sequence is interrupted. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 158 Actual P850 USER [1/s] speed P851 (1500 min ) P852 279044491 P850 Scaling fac- Setting range: 1 – 65535 tor numerator P851 Scaling fac- Setting range: 1 – 65535 tor denominator Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 159 Control signals for start/stop, etc. Setpoint speed Selection of a speed setpoint in % of n plus® IPOS PO data Specification of a 16-bit coded value for IPOS (application module only) Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 160 On: The process output data that was last sent from the fieldbus controller becomes effective. • Off: The last valid process output data remain in effect. NOTE: If the process data assignment is changed, P876 is automatically set to "Off". Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 161 The speed is in effect until the reference cam has been reached. P902 Reference Setting range: 0 – 50 – 6000 rpm speed 2 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 162 – Reference position = First zero pulse or falling edge to the right of the left limit switch. – Machine zero = reference point + reference offset – Reference travel should take place to zero pulse. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 163 The cam distance is displayed after a successful reference travel. Ideally, it is half of the encoder resolution after 4-fold evaluation. Relocate the cam if necessary. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 164 The ramp generator is deactivated. The position specifications sent cyclically by the external controller are interpolated linearly. For configuration, one process output data word must be set to "position high" and another one to "position low". Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 165 Software limit switches can- not prevent this from happening. Deactivation: Set both parameter values to 0 for endless travel so that the software limit switch function is deactivated. Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 166 9 additional assembler commands per millisecond. Ex- ample: Task 1 + 2 additional assembler commands/ms = 3 assembler commands/ms Task 2 + 7 additional assembler commands/ms = 9 assembler commands/ms Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 167 Simulation of the gear unit by entering the number of teeth of the gear unit and the ad- ditional gear. Modulo denominator = Denominator gear unit i × denominator additional gear i Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 168 Resolution of the selected IPOS encoder system in increments. plus® The IPOS encoder resolution for positioning to the motor encoder is set to 4096 in- crements (prerequisite is an encoder resolution of 512 to 2048). Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 169: Service

    ® 3. Remove the memory card of the unit via the service cover plate on the MOVIPRO housing cover. ® 4. Insert the memory card into a new MOVIPRO unit via the service cover plate.
  • Page 170 7-segment display: Status LED S3: Lights up green The data of the communication and control unit has been restored. Perform a DC 24 V reset by switching the MOVIPRO ® off and then back on again. 7-segment display: – Boot sequence in progress.

  • Page 171: Encoder Exchange

    13.3 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:...

  • Page 172: Movipro® Sdc Error List

    DC link voltage too high • Extend deceleration ramps high in 2Q operation • Check supply cable to the DC link over- Immediate dis- braking resistor voltage connection • Check technical data of braking resistor Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 173 Reload the application module Heat sink temperature Thermal overload of inverter Reduce load and/or ensure too high or defective adequate cooling temperature sensor Overtempera- Emergency ture stop (P) Overtemperature switched-mode power supply Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 174 Consult SEW service if the "Undefined opcode" error occurs again error System mal- Immediate dis- "Protection fault" error function connection "Illegal word operand access" error "Illegal instruction access" error "Illegal external bus access" error Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 175 Limit switches are con- tion Reference Immediate dis- nected incorrectly • Check reference travel type travel connection (P) • Reference travel type was setting and required param- changed during reference eters. travel Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 176 TTL encoder 16385 stop encoder: Broken wire TTL synchronous 16896 encoder: Error in amplitude control TTL synchronous Set the correct system numera- encoder: Incorrectly tor/denominator values. 16898 set numerator/denomi- nator values Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 177 1216 1280 1388 ® HIPERFACE syn- 16385 chronous encoder: Track signal error ® HIPERFACE syn- Incorrect calibration of encoder • Restore factory settings 16386 chronous encoder: (P802) • Repeat encoder startup Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 178 • Check P345/P346 ture sensor Motor protec- Emergency • Select a larger motor tion stop (P) No thermal motor model available monitoring error Temperature sensor short circuit Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 179 5 Hz exceeded Hz exceeded • Shorten duration of opera- tion" error stop tion below 5 Hz Rapid stop/ Internal communica- • Check startup "Timeout" error warning tion timeout • Check wiring Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 180 SSI encoder: Voltage 12 V voltage supply broken in Check SSI encoder voltage supply SSI encoder: Clocking Check connection to SSI or data line interrupted encoder SSI encoder: Change of position Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 181 16419 Internal encoder error 16420 16421 16422 16423 16424 ® ® ® 16425 HIPERFACE syn- MOVIPRO and HIPERFACE Check wiring chronous encoder: encoder connection interrupted 16426 Communication error 16427 16428 16429 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 182 17153 nals programmable error CANopen synchronous 17154 encoder: Change of position CANopen synchronous Check encoder 17155 encoder: Emergency signal 17156 CANopen synchronous Replace the encoder encoder: Internal 17157 encoder error 17158 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 183: Additional Documentation

    MDX61B Extended Bus Positioning Application Module" manual ® "MOVIDRIVE MDX60B/61B Modulo Positioning Application" manual ® "MOVIDRIVE MDX61B Sensor-Based Positioning Via Bus Application" manual ® "MOVIDRIVE MDX61B Table Positioning Application" manual ® "MOVIPRO SDC" operating instructions Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...

  • Page 184: Index

    TCP/IP interface object........51 Binary input DI06 ..........148 Vardata object............50 Binary input DI07 ..........148 Communication channel Binary inputs of basic unit ......133, 148 Configuration ........... 103 Binary outputs of basic unit ........133 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 185 Data exchange via Modbus/TCP – examples ..61 Process data exchange ........41 Writing and reading process data ......62 Examples for data exchange via Modbus/TCP Data storage Parameter access..........64 Storing unit data..........124 Exclusion of liability..........6 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 186 Mapping and addressing ........66 Inverter Parameter access via Modbus/TCP ....74 Process data ............84 Protocol structure..........68 Inverter status ............24 Services (function codes) ........67 Parameters ............132 Modulation ............159 Inverter statuses ............25 Modulo denominator ..........167 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 187 Parameterizing units in the parameter tree..106 Ethernet link ............52 Reading/changing unit parameters....106 Identity ...............42 Partial startup Message router ..........43 Procedure ............123 Parameter ............48 Settings............121 Register..............45 Vardata ............50, 51 Connection............97 Object, identity ............42 P-gain n-controller ..........137 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 188 P137 Emergency ramp t14 ........135 P139 Ramp monitoring 1 ........135 P14x Speed ramps 2 ...........134 P144 Ramp t22 UP=DOWN ........ 135 P147 Emergency ramp t24 ........135 P149 Ramp monitoring 2 ........135 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 189 P742 Skip window center 2 .........154 P522 Phase failure monitoring ......145 P743 Skip width 2 ..........154 P53x Motor temperature protection......146 P8xx Unit functions ..........155 P530 Sensor type 1 ..........146 P80x Setup ............155 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 190 Reference travel type...........161 P906 Cam distance..........163 Register object............45 P91x IPOS travel parameters ......163 Repair ..............23 P910 Gain X controller .........163 Reset behavior.............158 P911 Positioning ramp 1 ........163 Reset statistics data..........156 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 191 Component description........171 Service Status displays Inverter status ............24 Parameters ............132 Inverter statuses ..........25 Status LED.............25 Replacing units ..........169 Status messages ..........23, 25 Unit replacement..........169 Unit status ..........23, 25, 26 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 192 0 ... 9 Terminal assignment..........148 4-quadrant operation 1 ........156 Time constant n-controller........137 4-quadrant operation 2 ........156 Timeout response ..........41 7-segment display..........23, 171 Explicit messages ..........53 Torque limit ............140 Travel speed CW/CCW........164 Manual – MOVIPRO® SDC with EtherNet/IP and Modbus/TCP Interface...
  • Page 196 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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