Page 1 *16998413_1216* Drive Technology \ Drive Automation \ System Integration \ Services Manual ® MOVIPRO with EtherNet/IP™ or Modbus/TCP Fieldbus Interface Edition 12/2016 16998413/EN...
Page 2 SEW-EURODRIVE—Driving the world...
Page 3: Table Of Contents
Table of contents Table of contents General information........................ 8 About this documentation .................... 8 Structure of the safety notes ................... 8 1.2.1 Meaning of signal words ................ 8 1.2.2 Structure of section-related safety notes............ 8 1.2.3 Structure of embedded safety notes .............. 9 Rights to claim under limited warranty ................ 10 Exclusion of liability....................... 10 Other applicable documentation ................... 10...
Page 4 Table of contents 5.2.2 Changing the IP address parameters after successful initial startup ... 29 5.2.3 Deactivating/activating the DHCP .............. 30 5.2.4 Address Editor from SEW‑EURODRIVE............ 30 Connection to the Ethernet network................ 31 5.3.1 The integrated Ethernet switch .............. 31 5.3.2 Device connection – Ethernet network............
Page 5 Table of contents 8.2.3 Addressing drive via the "IO Scanning" function .......... 93 Requirements for fieldbus operation ................ 94 Project planning examples.................... 94 8.4.1 Configuring process data exchange............. 94 8.4.2 Data exchange via Modbus/TCP .............. 95 Modbus protocol (Modbus/TCP) .................. 101 Description ........................ 101 9.1.1 Mapping and addressing................
Page 6 Table of contents 11.3.5 Example: Delivery status................ 126 ® 11.3.6 MOVIPRO ADC CCU Application modules .......... 127 ® 11.4 Process image of MOVIPRO ADC with R15 regenerative power supply .... 131 11.4.1 Regenerative power supply control word ........... 131 11.4.2 Regenerative power supply status word ............ 131 11.4.3 Configuring regenerative power supply............
Page 7 Table of contents 13.7.3 Parameter group 2: Controller parameters .......... 199 13.7.4 Parameter group 3: Motor parameters............ 202 13.7.5 Parameter group 5: Monitoring functions ........... 209 13.7.6 Parameter group 6: Terminal assignment .......... 215 13.7.7 Parameter group 7: Control functions ............ 216 13.7.8 Parameter group 8: Device functions............
Page 8: General Information
General information About this documentation General information About this documentation This documentation is an integral part of the product. The documentation is written for all employees who assemble, install, start up, and service this product. Make sure this documentation is accessible and legible. Ensure that persons respons- ible for the machinery and its operation as well as persons who work on the product independently have read through the documentation carefully and understood it.
Page 9: Structure Of Embedded Safety Notes
General information Structure of the safety notes Meaning of the hazard symbols The hazard symbols in the safety notes have the following meaning: Hazard symbol Meaning General hazard Warning of dangerous electrical voltage Warning of hot surfaces Warning of risk of crushing Warning of suspended load Warning of automatic restart 1.2.3...
Page 10: Rights To Claim Under Limited Warranty
General information Rights to claim under limited warranty Rights to claim under limited warranty Read the information in this documentation. This is essential for fault-free operation and fulfillment of any rights to claim under limited warranty. Read the documentation before you start working with the product. Exclusion of liability Read the information in this documentation, otherwise safe operation is impossible.
Page 11: Safety Notes
Safety notes Preliminary information Safety notes Preliminary information The following general safety notes have the purpose to avoid injury and damage to property. They primarily apply to the use of products described in this documentation. If you use additional components also observe the relevant warning and safety notes. Target group Specialist for Any mechanical work may only be performed by adequately qualified personnel.
Page 12: Functional Safety Technology
Safety notes Functional safety technology Functional safety technology The product must not perform any safety functions without a higher-level safety sys- tem, unless explicitly allowed by the documentation. Hoist applications To avoid danger of fatal injury by falling hoists, observe the following points when us- ing the product in lifting applications: •...
Page 13: Introduction
Introduction Content of this documentation Introduction Content of this documentation This documentation describes the operation of the following units on the fieldbus sys- ® tem EtherNet/IP™ or Modbus/TCP: MOVIPRO SDC and MOVIPRO® ADC. Short designation in the documentation The following short designations are used in this documentation. Type designation Short designation ®...
Page 14: Function Overview Of Movipro Sdc And Movipro Adc
Introduction Function overview of MOVIPRO® SDC and MOVIPRO® ADC The following figure shows an overview of the functions and options of ® ® MOVIPRO SDC and MOVIPRO ADC: Additional Energy-efficient due to communication interfaces: optional connection of energy management components PLUS ▪...
Page 15: Application Modules
Introduction Application modules Application modules In industry applications, an inverter must not only perform speed control but also con- trol complex motion sequences and take over typical tasks of the Programmable Logic Controller (PLC). SEW‑EURODRIVE offers various standardized control programs, so-called application modules, for "positioning"...
Page 16: Engineering With Movitools
Introduction Application modules ® 3.4.3 Engineering with MOVITOOLS MotionStudio ® Consistent engineering is possible with the MOVITOOLS MotionStudio software package from SEW‑EURODRIVE. This software offers all the tools necessary for automation and startup of drives: Plugin Plugin Startup Gateway configurator Plugin Parameter tree MOVITOOLS...
Page 17: Application Modules For Movipro® Sdc
Introduction Application modules for MOVIPRO® SDC Application modules MOVIPRO® ® Application modules for MOVIPRO ® MOVIPRO SDC, the drive data of the power section "PFA-..." are transparently passed through. You only have to parameterize the desired application module of the power section to match your requirements.
Page 18: Application Modules For Movipro® Adc
Introduction Application modules for MOVIPRO® ADC Available CCU application modules ® The following CCU application modules are available for MOVIPRO ADC: • Transparent 6PD • Velocity control • Rapid/creep speed positioning • Bus positioning The CCU application modules run in the communication and control unit "PFH-...". You can parameterize the CCU application modules in the Application Configurator controller software.
Page 19 Introduction Application modules for MOVIPRO® ADC "Bus positioning" CCU application module The "bus positioning" CCU application module is used for variable positions in con- junction with different speeds and ramps (e.g. hoist). The positioning is carried out via the built-in motor encoder or an optional distance en- coder.
Page 20: Movipro Movipro
Introduction Application modules of the power section "PFA-..." ® ® 3.6.2 MOVIPRO ADC as programmable device (MOVI‑PLC ® Free programming via MOVI‑PLC ® SEW‑EURODRIVE offers the freely programmable MOVI‑PLC motion and logic con- troller for solving complex machine automation tasks in a flexible manner. ®...
Page 21: Bus Positioning" Ipos
Introduction Application modules of the power section "PFA-..." PLUS® 3.7.1 "Bus positioning" IPOS application module PLUS® The "Bus positioning" IPOS application module offers the following functions: • Variable and unlimited number of target positions • Freely adjustable travel speed for positioning •...
Page 22: Plus® Application Module
Introduction Application modules of the power section "PFA-..." PLUS® 3.7.2 "Extended positioning via bus" IPOS application module PLUS® The "Extended positioning via bus" IPOS application module offers the following functions: • Variable number of target positions • The travel speed for positioning and the acceleration and deceleration ramps are specified variably by the PLC.
Page 23: Modulo Positioning" Ipos
Introduction Application modules of the power section "PFA-..." PLUS® 3.7.3 "Modulo positioning" IPOS application module PLUS® The "Modulo positioning" IPOS application module offers the following functions: • Supports fieldbuses with 4 or 6 process data words • Target position specified via 2 process data words •...
Page 24: Plus® Application Module
Introduction Application modules of the power section "PFA-..." PLUS® 3.7.4 "Automotive AMA0801" IPOS application module PLUS® The IPOS application module "Automotive AMA0801" offers the following func- tions: • Implementation of lifting units and conveyor systems • Switchable process data interface. Setpoints specification is either variable or bin- ary.
Page 25: Startup
Startup Startup procedure Startup Startup procedure The following illustration gives an overview of the startup procedure of the device and lists other applicable documentation: 1. Device startup For information, refer to: ® • "MOVIPRO SDC Decentralized Drive and Position Controller" operating in- structions ®...
Page 26: Installation Notes
Installation notes Industrial Ethernet networks Installation notes INFORMATION The description of the assembly and installation of the device can be found in the ® ® MOVIPRO SDC Decentralized Drive and Position Controller" and "MOVIPRO Decentralized Drive and Application Controller" operating instructions. This chapter contains information only on how to install Ethernet.
Page 27 Installation notes Industrial Ethernet networks Network class The first byte of the IP address determines the network class and as such represents the division into network addresses and node addresses: Range of values Network Example: Complete network Meaning (Byte 1 of IP ad- class address dress)
Page 28: Shielding And Routing Bus Cables
Installation notes Industrial Ethernet networks Exemplary standard gateway: 192.168.10.1 The standard gateway establishes a connection to other networks. A network node that wants to address another node uses a logical AND operation of the IP address and subnet mask to determine whether the node is in the same network. If this is not the case, the network node addresses the standard gateway (router), which must be part of the actual network.
Page 29: Setting The Ip Address Parameter On The Device
Installation notes Setting the IP address parameter on the device Setting the IP address parameter on the device 5.2.1 Initial startup The DHCP protocol is activated on the device in the factory. The IP address paramet- ers are therefore expected from a DHCP server. INFORMATION There is a free DHCP server with the designation "BOOTP Utility"...
Page 30: Deactivating/Activating The Dhcp
Installation notes Setting the IP address parameter on the device 5.2.3 Deactivating/activating the DHCP You can display and set the type of IP address assignment in the engineering soft- ware in the parameter tree of the unit in parameter DHCP Startup Control: •...
Page 31: Connection To The Ethernet Network
Installation notes Connection to the Ethernet network Connection to the Ethernet network 5.3.1 The integrated Ethernet switch The device is equipped with an integrated 2 port Ethernet switch for connecting the fieldbus technology. The following network topologies are supported: • Tree topology •...
Page 32 Installation notes Connection to the Ethernet network • X4232_12 (RJ45 connector) • X4233_11 (M12 connector) • X4233_12 (M12 connector) To connect the device to the Ethernet, connect one of the Ethernet interfaces to the other network node using a category 5, class D twisted-pair cable in accordance with IEC 11801, edition 2.0.
Page 33 Installation notes Connection to the Ethernet network Connection cable NOTICE The RJ45 socket can be damaged when inserting commercially available RJ45 patch cables without push-pull connector housing. Damage to the RJ45 socket. • Only plug suitable push-pull RJ45 mating connectors according IEC 61076‑3‑117 into push-pull RJ45 sockets.
Page 34 Installation notes Connection to the Ethernet network Status and error messages The status display on the device cover shows the current device status. In case of re- peated malfunctions, contact the SEW‑EURODRIVE Service. If several statuses or faults are active at the same time, the status display shows the status or fault with the highest priority.
Page 35 Installation notes Connection to the Ethernet network Code Meaning Possible cause Measure A1.7 Position hold control A1.8 Factory setting A1.9 Limit switch reached A1.A Technology option plus® A1.c IPOS reference travel A1.D Flying start A1.E Calibrate encoder A1.F Fault display (→ 2 248) A1.U "Safe torque off"...
Page 36 Installation notes Connection to the Ethernet network Code Meaning Possible cause Measure Internal communication error While backing up data or restoring a data backup: Wait a few minutes until the display changes. In normal operation: • Disconnect the device from the AC 400 V supply and the DC 24 V supply voltage for at least 30 s.
Page 37 Installation notes Connection to the Ethernet network Code Meaning Possible cause Measure SF23 Error during data recovery, Controller not inhibited Set the device to one of the data recovery to device failed following states: • Controller inhibit (A1.1) • Safe torque off (A1.U) SF99 Internal system error SF110...
Page 38 Installation notes Connection to the Ethernet network Status LED S2 Status LED Possible cause Measure Flashing The firmware of the communica- – green tion and control unit is running correctly. Flashing Data backup is created/restored. – green/orange Lights up or- Boot is active.
Page 39: Configuration And Startup Of Ethernet/Ip
Configuration and startup of EtherNet/IP™ Device description file for EtherNet/IP™ (EDS file) Configuration and startup of EtherNet/IP™ This chapter provides you with information on the configuration of the EtherNet/IP™ master (PLC) and startup of the device for fieldbus operation. Requirements for correct configuration and startup are: •...
Page 40: Configuration With Rslogix 5000 Up To Version V19
Configuration and startup of EtherNet/IP™ Configuration of the EtherNet/IP™ master 6.2.1 Configuration with RSLogix 5000 up to version V19 The following example describes configuration of the Allen Bradley control ControlLo- gix 1756_L61 with RSLogix 5000 Version V19. For the Ethernet communication, a 1756-EN2TR EtherNet/IP™ interface is used. Proceed as follows: 1.
Page 41 Configuration and startup of EtherNet/IP™ Configuration of the EtherNet/IP™ master 5. Click [OK]. ð The following window is displayed. 18014400474821899 6. In the edit box [1], enter the name of the EtherNet/IP™ interface with which the data are stored in the controller tags. 7.
Page 42 Configuration and startup of EtherNet/IP™ Configuration of the EtherNet/IP™ master 11. Click [OK]. ð The following window is displayed. 15115056395 12. Open the tab [1]. 13. Enter the cycle time (data rate) in the edit box [2]. The device supports a cycle time of a minimum of 4 ...
Page 43: Configuration With Rslogix 5000 As Of Version V20
Configuration and startup of EtherNet/IP™ Configuration of the EtherNet/IP™ master 6.2.2 Configuration with RSLogix 5000 as of version V20 The following example describes configuration of the Allen Bradley controller Control- Logix 1756_L71 with Studio 5000 Logix Designer, version V24 (up to Version V20: RSLogix 5000).
Page 44 Configuration and startup of EtherNet/IP™ Configuration of the EtherNet/IP™ master 6. Click the [Create] button [3]. ð The following window is displayed. 16759276939 7. In the edit box [3], enter the name of the EtherNet/IP™ interface with which the data are stored in the controller tags. 8.
Page 45 Configuration and startup of EtherNet/IP™ Configuration of the EtherNet/IP™ master 10. Select the communication format and the process data arrangement. ð You can select up to 120 PI/PO (process input data/process output data words) with 16 Bit respectively. The device usually uses 8 PI/PO for communication with the internal power section "PFA-..."...
Page 46: Device Level Ring Topology
Configuration and startup of EtherNet/IP™ Device Level Ring topology Device Level Ring topology 6.3.1 Description INFORMATION The device supports announce telegrams only. Beacon telegrams on the fieldbus are ignored and just forwarded by the device. If a Device Level Ring topology (DLR topology) is used, 2 new telegrams are shown on the fieldbus.
Page 47: Hardware And Software Configuration
Configuration and startup of EtherNet/IP™ Requirements for fieldbus operation Cycle time RPI (Requested Packet Interval) in ms The device supports a cycle time of a minimum of 4 ms. The minimum timeout interval of the fieldbus is thus 128 ms (4 × 32). 6.3.4 Hardware and software configuration There is no need to make any special settings in the EtherNet/IP™...
Page 48: Project Planning Examples
Configuration and startup of EtherNet/IP™ Project planning examples Project planning examples ® 6.5.1 MOVIPRO as positioning drive – configuring process data exchange The following example describes the configuration of the process data exchange ® between an EtherNet/IP™ master (PLC) and MOVIPRO as positioning drive in Studio 5000 Logix Designer.
Page 49 Configuration and startup of EtherNet/IP™ Project planning examples 16760603787 6. Save the project and transfer it to the PLC. 7. Switch to RUN mode of the PLC. 18014400477830667 8. Check if the process data correspond to the values that are displayed in the para- ®...
Page 50 Configuration and startup of EtherNet/IP™ Project planning examples ® 6.5.2 MOVIPRO as speed-controlled drive – configuring process data exchange The following example describes the configuration of the process data exchange ® between an EtherNet/IP™ master (PLC) and MOVIPRO as speed-controlled drive in Studio 5000 Logix Designer.
Page 51 Configuration and startup of EtherNet/IP™ Project planning examples 6. To enable process data exchange between the device and the PLC, insert the cor- responding CPS instructions in the MainRoutine. Make sure that the CPS com- mands copy the entire structure rather than a single data value. 16760603787 7.
Page 52 Configuration and startup of EtherNet/IP™ Project planning examples 6.5.3 Access to device parameters with RSLogix 5000 The procedure to access device parameters depends on the version of the RSLo- gix 5000 programming software and the firmware version of the device (support of DLR topology).
Page 53 Configuration and startup of EtherNet/IP™ Project planning examples Access to device parameters without DLR support with RSLogix 5000 up to version V19 The following example describes the configuration of read and write access to the device parameters with RSLogix 5000, Version V19. Reading parameters Proceed as follows: 1.
Page 54 Configuration and startup of EtherNet/IP™ Project planning examples 3. To be able to perform the read request, adapt the program of the PLC as follows: 18014399382395787 4. Click the button in the MSG block. ð The following window is displayed. 9007200127693963 5.
Page 55 Configuration and startup of EtherNet/IP™ Project planning examples 7. Open the tab [1]. 18014400479917579 8. Click the button [2]. ð A module manager is displayed. 9. Via "I/O Configuration" > "Ethernet", select the target device with which you want to establish communication. 10.
Page 56 Configuration and startup of EtherNet/IP™ Project planning examples 11. Save the project and transfer it to the PLC. 12. Enter the following controller tags values: 19132371595 Controller tag Value ReadParameterStart ReadParameterRequest.Index Index of the parameter to be read ReadParameter_Request.SubAddress 1 ReadParameter_Request.SubChannel 1 ReadParameter_Request.SubAddress 2 ReadParameter_Request.SubChannel 2...
Page 57 Configuration and startup of EtherNet/IP™ Project planning examples 14. Check if the process data correspond to the values that are displayed in the para- ® meter tree of the engineering software MOVITOOLS MotionStudio. 17894369291 ð When you move the mouse over the parameter, the tooltip shows the index, subindex, factor, etc.
Page 58 Configuration and startup of EtherNet/IP™ Project planning examples Name Data structure WriteParameterResponse SEW_Parameter_Channel WriteParameterStart BOOL 3. To be able to perform the write request, adapt the program of the PLC as follows: 18014399382579339 4. Click the button in the MSG block. ð...
Page 59 Configuration and startup of EtherNet/IP™ Project planning examples 7. Open the tab [1]. 16761643403 8. Click the button [2]. ð A module manager is displayed. 9. Via "I/O Configuration" > "Ethernet", select the target device with which you want to establish communication. 10.
Page 60 Configuration and startup of EtherNet/IP™ Project planning examples 11. Save the project and transfer it to the PLC. 12. Enter the following controller tags values: 19132375179 Controller tag Value WriteParameterStart WriteParameterRequest.Index Index of the parameter to be described. WriteParameterRequest.Data Value to be written in the parameter. WriteParameter_Request.SubAddress 1 WriteParameter_Request.SubChannel 1 WriteParameter_Request.SubAddress 2...
Page 61 Configuration and startup of EtherNet/IP™ Project planning examples 14. Check if the process data correspond to the values that are displayed in the para- ® meter tree of the MOVITOOLS MotionStudio engineering software. 17894369291 ð When you move the mouse over the parameter, the tooltip shows the index, subindex, factor, etc.
Page 62 Configuration and startup of EtherNet/IP™ Project planning examples Reading parameters Proceed as follows: 1. Create the user-defined data type "SEW_ParameterChannel". It allows you to or- ganize the process data in a structure and simplifies access to the data elements. INFORMATION To ensure proper operation of the parameter channel, do change the order of the variables.
Page 63 Configuration and startup of EtherNet/IP™ Project planning examples 4. Click the button in the MSG block. ð The following window is displayed. 15215569931 5. Make the following settings in the specified sequence: Window element Setting/value Source Element ReadParameter_Request.Index Source Length (Bytes) Destination Element ReadParameter_Response.Index Service Code (Hex)
Page 64 Configuration and startup of EtherNet/IP™ Project planning examples 6. Open the tab [1]. 16761256459 7. Click the button [2]. ð A module manager is displayed. 8. Via "I/O Configuration" > "Ethernet", select the target device with which you want to establish communication. 9.
Page 65 Configuration and startup of EtherNet/IP™ Project planning examples 11. Save the project and transfer it to the PLC. 12. Enter the following controller tags values: 19132371595 Controller tag Value ReadParameter_Start ReadParameter_Request.Index Index of the parameter to be read ReadParameter_Request.SubAddress 1 ReadParameter_Request.SubChannel 1 ReadParameter_Request.SubAddress 2 ReadParameter_Request.SubChannel 2...
Page 66 Configuration and startup of EtherNet/IP™ Project planning examples 14. Check if the process data correspond to the values that are displayed in the para- ® meter tree of the MOVITOOLS MotionStudio engineering software. 17894369291 ð When you move the mouse over the parameter, the tooltip shows the index, subindex, factor, etc.
Page 67 Configuration and startup of EtherNet/IP™ Project planning examples Name Data structure WriteParameter_Request SEW_ParameterChannel WriteParameter_Data DINT WriteParameter MESSAGE 3. To be able to perform the write request, adapt the program of the PLC as follows: 9007214470335883 4. Click the button in the MSG block. ð...
Page 68 Configuration and startup of EtherNet/IP™ Project planning examples 6. Open the tab [1]. 16761639563 7. Click the button [2]. ð A module catalog is displayed. 8. Via "I/O Configuration" > "Ethernet", select the target device with which you want to establish communication. 9.
Page 69 Configuration and startup of EtherNet/IP™ Project planning examples 11. Save the project and transfer it to the PLC. 12. Enter the following controller tags values: 19132375179 Controller tag Value WriteParameter_Start WriteParameter_Request.Index Index of the parameter to be described. WriteParameter_Data Value to be written in the parameter. WriteParameter_Request.SubAddress 1 WriteParameter_Request.SubChannel 1 WriteParameter_Request.SubAddress 2...
Page 70 Configuration and startup of EtherNet/IP™ Project planning examples 14. Check if the process data correspond to the values that are displayed in the para- ® meter tree of the MOVITOOLS MotionStudio engineering software. 17894369291 ð When you move the mouse over the parameter, the tooltip shows the index, subindex, factor, etc.
Page 71: Ethernet Industrial Protocol (Ethernet/Ip™)
Ethernet Industrial Protocol (EtherNet/IP™) Description Ethernet Industrial Protocol (EtherNet/IP™) Description The EtherNet Industrial Protocol (EtherNet/IP™) is an open communication standard based on the classic Ethernet protocols TCP/IP and UDP/IP. EtherNet/IP™ was defined by the Open DeviceNet Vendor Association (ODVA) and ControlNet International (CI).
Page 72: Timeout Response
Ethernet Industrial Protocol (EtherNet/IP™) Timeout response Timeout response The timeout state is initiated by the unit. The EtherNet/IP™ master sets the timeout in- terval while establishing a connection. The EtherNet/IP™ specification refers to a "Re- quested Packet Interval (RPI)" rather than a timeout interval in this case. ®...
Page 73 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.1 Identity object • Contains general information on the EtherNet/IP™ device. • Class code: 01 Class Attrib- Name Data type Default value Description cess Revision UINT 0001 Revision 1 Max Instance UINT 0001 Maximum instance Instance 1 The following table provides an overview via instance 1 of the identity object:...
Page 74 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.2 Message router object • Contains information on the implemented objects. • Class code: 02 Class Attrib- Access Name Data type Default value Description Revision UINT 0001 Revision 1 Instance 1 The following table provides an overview via instance 1 of the identity object: Attrib- Access Name...
Page 75 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.3 Assembly object • Accesses the process data of the device. To exchange cyclic process data, I/O connections are established to the instances of the assembly object. • Class code: 04 Class Attrib- Name Data type Default value...
Page 76 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.4 Register object • Accesses the SEW parameter index. • Class code: 07 Class Attrib- Name Data type Default value Description cess Max Instance UINT 0009 Maximum instance ® MOVILINK services are mapped in the 9 instances of the register object. These ®...
Page 77 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory ® Description of the 12-byte MOVILINK 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 Get_Attribute_Single READ MINIMUM (Instance 4) DPRAM Input Get_Attribute_Single READ MAXIMUM...
Page 78 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory Instance 1 – 9 The following table provides an overview of instances 1 – 9 of the identity object: Attrib- Name Data type Default value Description cess Bad Flag BOOL • Value 0: good •...
Page 79 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.5 Parameter object • Also accesses the SEW parameter index. • Class code: 0F INFORMATION Access to an SEW parameter index via the parameter object is complicated and prone to errors. Therefore, only use the parameter object in exceptional cases if the EtherNet/IP™ master does not support parameterization via the mechanisms of the register object.
Page 80 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory Instance 2 – SEW parameter subindex The following table provides an overview of instance 2 of the parameter object: Attrib- Name Data type Default value Description cess Parameter value UINT 0000 Low byte contains the subindex. Link Path Size USINT No link is specified...
Page 81 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory Entity 5 – SEW read/write The following table provides an overview of instance 5 of the parameter object: Attrib- Name Data type Default value Description cess • Set service: Performs write access to the parameter that is addressed in the instances 1 – 4.
Page 82 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.6 Vardata object • This manufacturer-specific object allows for engineering with software tools from SEW‑EURODRIVE. • Class code: 64 Class None of the class attributes are supported. Instance 1 The following table provides an overview of instance 1 of the Vardata object: Attrib- Name Data type...
Page 83 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.7 TCP/IP interface object • Allows for configuration of the IP parameters via EtherNet/IP™. • Class code: F5 Class Attrib- Name Data type Default value Description cess Revision UINT 0001 Revision 1 Max Instance UINT 0001 Maximum instance...
Page 84 Ethernet Industrial Protocol (EtherNet/IP™) CIP object directory 7.4.8 EtherNet link object • Contains information on the Ethernet communication interface. • Class code: F6 Class Attrib- Name Data type Default value Description cess Revision UINT 0001 Revision 1 Max Instance UINT 0002 Maximum instance Number of The device has two TCP/IP inter-...
Page 85: Return Codes For Parameterization Via "Explicit Messages
Ethernet Industrial Protocol (EtherNet/IP™) Return codes for parameterization via "explicit messages" Return codes for parameterization via "explicit messages" If a parameter request via "explicit messages" fails, you can determine the cause via a fault code. An error is generated as follows: •...
Page 86 Ethernet Industrial Protocol (EtherNet/IP™) Return codes for parameterization via "explicit messages" Byte offset Function Example: Parameter response telegram Additional code ® Word 1 (high byte) MOVILINK error class The return code 16#0000_0810 from the example has the following meaning: ® •...
Page 87: General Error Codes
Ethernet Industrial Protocol (EtherNet/IP™) Return codes for parameterization via "explicit messages" 7.5.1 General error codes General Designation Description Error Code Success Successful Connection failure A connection-specific service has failed. Resource unavailable The source required for performing the service is unavailable. –...
Page 88: Movilink -Specific Return Codes
Ethernet Industrial Protocol (EtherNet/IP™) Return codes for parameterization via "explicit messages" ® 7.5.2 MOVILINK -specific return codes ® ® The following table shows the MOVILINK -specific return codes (MOVILINK "Error Class" and "Additional Code") in the event of an incorrect parameterization: ®...
Page 89: Timeout Response Of "Explicit Messages
Ethernet Industrial Protocol (EtherNet/IP™) Technical data of the EtherNet/IP™ interface 7.5.3 Timeout response of "explicit messages" The timeout status is triggered by the EtherNet/IP™ slave. The EtherNet/IP™ master sets the timeout interval while establishing a connection. The EtherNet/IP™ specifica- tion refers to an "Expected packet rate" rather than a timeout interval in this case. The "Expected Packet Rate"...
Page 90: Configuration And Startup Of Modbus/Tcp
Configuration and startup of Modbus/TCP Device description file for Modbus/TCP Configuration and startup of Modbus/TCP This chapter provides you with information on the configuration of the Modbus/TCP- Master (PLC) and startup of the device for fieldbus operation. Requirements for correct configuration and startup are: •...
Page 91: Configuring Hardware (Control Structure)
Configuration and startup of Modbus/TCP Configuration of the Modbus/TCP master 8.2.1 Configuring hardware (control structure) Proceed as follows: 1. Start PL7 PRO and enter the PLC type. 2. Enter the hardware configuration of the PLC in the application browser under "STATION" > "Configuration" > "Hardware Configuration". 18014400140458891 ®...
Page 92: Setting Ethernet Component
Configuration and startup of Modbus/TCP Configuration of the Modbus/TCP master 8.2.2 Setting Ethernet component Proceed as follows: 1. Open the hardware configurator in PL7 PRO. 2. Double-click on the Ethernet component (in this case: ETY4103). ð The configuration window is displayed. 18014399339035147 3.
Page 93: Addressing Drive Via The "Io Scanning" Function
Configuration and startup of Modbus/TCP Configuration of the Modbus/TCP master 8.2.3 Addressing drive via the "IO Scanning" function Proceed as follows: 1. Open the Ethernet component in the hardware configurator of PL7 PRO. 2. Open the tab [1]. In this tab, select the Modbus/TCP nodes with which cyclical data should be exchanged.
Page 94: Requirements For Fieldbus Operation
Configuration and startup of Modbus/TCP Requirements for fieldbus operation Requirements for fieldbus operation Correct startup of the device is prerequisite for fieldbus operation. For further informa- tion, refer to chapter "Parameter setting" (→ 2 154). Project planning examples 8.4.1 Configuring process data exchange The following example describes the configuration of the process data exchange between the Modbus/TCP master (PLC) and the device in PL7 PRO.
Page 95: Data Exchange Via Modbus/Tcp
Configuration and startup of Modbus/TCP Project planning examples 8.4.2 Data exchange via Modbus/TCP As there are many fieldbus master systems and software solutions available for Mod- bus/TCP for standard PCs, there is not "one reference controller" the examples are based on. This chapter gives detailed examples regarding the telegram structure. INFORMATION The telegram structure from the examples can be used for troubleshooting in case of errors in the telegram structure in your own applications.
Page 96 Configuration and startup of Modbus/TCP Project planning examples Process data exchange The process data exchange is performed either via FC3 (read) and FC16 (write), or FC23 (read and write). Process data exchange via FC16 The Modbus/TCP part for writing of 3 process data words (setpoints) each via FC16 to port 502 of a Modbus/TCP slave is structured as follows: Byte Value...
Page 97 Configuration and startup of Modbus/TCP Project planning examples Process data exchange via Service FC23 During process data exchange via FC23, the Modbus/TCP part that is used to write and read 3 process data words (PD) each is structured as follows: Byte Value Meaning...
Page 98 Configuration and startup of Modbus/TCP Project planning examples Response telegram The following data bytes are returned in the response telegram of the Modbus/TCP slave: Byte Value Meaning Interpretation Help 0x00 Transaction identifier – 0x00 Protocol identifier For detailed description see 0x00 Number of bytes after byte 5 Modbus/TCP specification...
Page 99 Configuration and startup of Modbus/TCP Project planning examples Parameter access ® Parameter channel via the MOVILINK parameter channel is performed via FC23 ® (write and read). The job to the MOVILINK service and retrieving the response is realized in one Modbus/TCP service. Parameter access via Service FC23 The TCP/IP telegram is structured as follows for reading a parameter: Byte Value...
Page 100 Configuration and startup of Modbus/TCP Project planning examples Response telegram ® The response telegram then contains the response to the MOVILINK read service. Byte Value Meaning Interpretation Help 0x00 Transaction identifier – 0x00 Protocol identifier 0x00 Number of bytes after byte 5: Length field Must be equal to 11 for the For detailed description...
Page 101: Modbus Protocol (Modbus/Tcp)
Modbus protocol (Modbus/TCP) Description Modbus protocol (Modbus/TCP) Description Modbus/TCP is an open protocol based on TCP/IP. It was one of the first protocol types to become standard in industrial Ethernet interfaces for process data exchange. Modbus/TCP has the following characteristics: •...
Page 102: Services (Function Codes)
Modbus protocol (Modbus/TCP) Description 9.1.2 Services (function codes) For process data exchange, parameter data exchange and device identification, the device provides the following 4 FC (Function Codes) services. • FC3 – Read holding registers Allows for reading one or several registers. •...
Page 103: Protocol Structure
Modbus protocol (Modbus/TCP) Protocol structure Protocol structure The Modbus protocol consists of a header and function code data. The header is the same for all request and response telegrams as well as for error messages (exceptions). Depending on the "function code", a different number of data is attached to the header.
Page 104: Service Fc3 - Read Holding Registers
Modbus protocol (Modbus/TCP) Protocol structure Device identifier Option/interface ® MOVIPRO power section "PFA‑..." ® 16 – 21 MOVIPRO slaves on the external CAN-Bus • The 7 bytes of the header are followed by the "function code" and the data. 9.2.2 Service FC3 – Read holding registers The service "FC03 –...
Page 105: Service Fc16 - Write Multiple Registers
Modbus protocol (Modbus/TCP) Protocol structure 9.2.3 Service FC16 – Write multiple registers The service "FC16 – Write multiple registers" is used to write a variable number of re- gisters. MBAP Header Function Code Data (FC16) Transaction ID Protocol ID Length Unit ID Write Word Bytes...
Page 106: Service Fc23 - Read/Write Multiple Registers
Modbus protocol (Modbus/TCP) Protocol structure 9.2.4 Service FC23 – Read/write multiple registers With the service "FC23 – Read/write multiple registers", you can simultaneously write and read a variable number of registers. The write access is carried out first. Prefer- ably, this service is used for the process data. MBAP Header Function Code Data (FC23) Transaction ID...
Page 107: Service Fc43 - Read Device Identifications
Modbus protocol (Modbus/TCP) Protocol structure 9.2.5 Service FC43 – Read device identifications The service "FC43 – Read device identifications" is also referred to as MEI transport (Modbus Encapsulated Interface Transport). It tunnels services and method calls. The service "Read device identification" is tunneled with the MEI-Type 0x0E. In accord- ance with Modbus specifications, there are 3 blocks ("Basic", "Regular"...
Page 108: Connection Management
Modbus protocol (Modbus/TCP) Connection management Objects ® MOVIPRO Object ID Designation Type Category Value (example) 0x00 VendorName SEW‑EURODRIVE 0x01 ProductCode Mandatory Basic SEW MOVIPRO 0x02 MajorMinorRevisons 823 568 0.10 ASCII string 0x03 VendorUrl www.sew.de 0x04 ProductName Optional Regular SEW MOVIPRO 0x05 ModelName –...
Page 109: Closing A Connection
Modbus protocol (Modbus/TCP) Connection management 9.3.2 Closing a connection A connection is deleted from the internal connection list under the following conditions: • The keep-alive time is over. The server does no longer receive responses after- wards. • The socket returns a fault. •...
Page 110: Parameter Access Via Modbus/Tcp
Modbus protocol (Modbus/TCP) Parameter access via Modbus/TCP Parameter access via Modbus/TCP ® A parameter access via the MOVILINK parameter channel in registers 200 – 203 via Modbus/TCP requires the services FC03, FC16 or FC23 (write and read access). Write access is used for storing acyclic requests in the corresponding registers. Read services read the responses from the same registers.
Page 111: Protocol Structure
Modbus protocol (Modbus/TCP) Parameter access via Modbus/TCP 9.4.3 Protocol structure MBAP Header Function Code Data MOVILINK ® Write Transaction ID Protocol ID Length Unit ID Write Address Write Word Count Byte Count Request: (0x00) (0x00) (1+6+8) (0x10) (0x200) (0x04) (0x8) Parameter Data Write Transaction ID Protocol ID...
Page 112 Modbus protocol (Modbus/TCP) Parameter access via Modbus/TCP You can access the parameter channel with FC03, FC16 and FC23. You can assign a task to the parameter channel in the administration byte when using a write access. ® The task itself is a MOVILINK service such as "Write", "WriteVolatile"...
Page 113: Fault Codes (Exception Codes)
Modbus protocol (Modbus/TCP) Fault codes (exception codes) • Bit 6 (handshake bit) ® Is used as acknowledgment bit between client and server. As the MOVILINK parameter channel is transmitted cyclically, the service execution must be triggered by edge control via the handshake bit. For this purpose, the value of this bit is toggled for each new service to be executed.
Page 114: Technical Data, Modbus/Tcp Interface
Modbus protocol (Modbus/TCP) Technical data, Modbus/TCP interface Technical data, Modbus/TCP interface ® Modbus/TCP MOVIPRO Automatic 10 MBd/100 MBd baud rate detection Connection technology M12 (D-coded) or RJ45 (push-pull) Integrated switch Supports auto-crossing, Auto-negotiation. Maximum line length 100 m according to IEEE Std 802.3, 200 Edi- tion 4 byte IP address or MAC-ID (00-0F-69-xx-xx-xx)
Page 115: Error Diagnostics For Operation On Ethernet/Ip™ And Modbus/Tcp
Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP Checking the status LEDs of the device Error diagnostics for operation on EtherNet/IP™ and Modbus/ The diagnostics procedures described in the following section describes the integra- tion of the device into an Ethernet network and the error analysis method for the fol- lowing problems: •...
Page 116: Checking The Status Led And The Status Display At The Fieldbus Master
Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP Checking the status LED and the status display at the fieldbus master 10.2 Checking the status LED and the status display at the fieldbus master Use the documentation of the controller or the master module for checking the status LED and the status display.
Page 117: Fieldbus Timeout
Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP Fieldbus timeout 10.4 Fieldbus timeout WARNING Risk of crushing if the drive keeps running unintentionally after a communication timeout or fault elimination. Severe or fatal injuries or damage to property. • Note that the communication timeout resets automatically as soon as communic- ation with the lower-level device is reestablished.
Page 118: Process Data Description
Process data description General process sequence Process data description 11.1 General process sequence The process sequence that is exchanged between the fieldbus master and the device depends on the device type. The following figures show the process sequences between fieldbus master and device.
Page 119: Movipro ® Sdc Control Word
Process data description MOVIPRO® SDC process sequence ® 11.2.1 MOVIPRO SDC control word ® The MOVIPRO SDC control word is defined as follows: ® MOVIPRO SDC control word (2 bytes) Meaning Coding and function 0 – 4 – Reserved = 0 Restart application If there is a fault in the communication and control unit "PFH-...,"...
Page 120: Digital Inputs And Outputs
Process data description MOVIPRO® SDC process sequence 11.2.3 Digital inputs and outputs The input/output bytes of the device for 12DI/4DIO (digital inputs/digital outputs) are defined as follows: Digital outputs 15 14 13 12 11 10 9 15 14 13 12 11 10 9 Digital inputs 17986358283 Digital inputs (DI)
Page 121: Example: Delivery Status
Process data description MOVIPRO® SDC process sequence 11.2.4 Example: Delivery status PLUS® In the delivery state, or if no IPOS application module is loaded, the device con- tains the process data words of the speed-controlled drive. In the case of the speed- controlled drive, the device is addressed with 3 process data words.
Page 122: Movipro ® Adc Process Sequence
Process data description MOVIPRO® ADC process sequence MOVIPRO® process sequence ® 11.3 MOVIPRO ADC process sequence ® The process data interface is open in MOVIPRO ADC. As a result, you have the fol- lowing options: ® • Parameterize MOVIPRO ADC with CCU application modules The CCU application modules are commissioned and configured with the control- ler software Application Configurator.
Page 123 Process data description MOVIPRO® ADC process sequence ® 11.3.1 MOVIPRO ADC control word ® The MOVIPRO ADC control word is defined as follows: ® MOVIPRO ADC control word (2 bytes) Meaning Coding and function The data on the SD memory card is downloaded to ®...
Page 124 Process data description MOVIPRO® ADC process sequence ® MOVIPRO ADC status word (2 bytes) Meaning Coding and function Bits 8 – 15 are assigned depending on the value of bits 8 – 15 Device status/warning/error number 6 and 7 (see the following table). ®...
Page 125: Movipro Adc Control Word
Process data description MOVIPRO® ADC process sequence 11.3.3 Data backup via PLC process data specification The backup of device data can be controlled by the PLC via process data. Prerequis- ite for this is that you have enabled the data management functions in the data man- ®...
Page 126: Example: Delivery Status
Process data description MOVIPRO® ADC process sequence Digital inputs (2 bytes) Meaning Digital input DI05 Digital input DI06 Digital input DI07 Digital input DI08 Digital input DI09 Digital input DI10 Digital input DI11 Digital input DI12 Digital input DI13 Digital input DI14 Digital input DI15 Digital outputs (DO) Digital outputs (1 byte)
Page 127 Process data description MOVIPRO® ADC process sequence ® 11.3.6 MOVIPRO ADC CCU Application modules ® As a parameterizable device, MOVIPRO ADC contains standardized and directly ex- ecutable CCU application modules. The CCU application modules run in the commu- nication and control unit "PFH-...". The application modules are configured and para- meterized with the controller software Application Configurator.
Page 128 Process data description MOVIPRO® ADC process sequence "Velocity control" CCU application module ® MOVIPRO ADC is addressed with 3 process data words with the "velocity control" application module. PD assignment SEW Controller CCU: Velocity control ® MOVIPRO Steuerwort ® MOVIPRO Statuswort PD numbering 17963395595...
Page 129 Process data description MOVIPRO® ADC process sequence "Bus positioning" CCU application module ® MOVIPRO ADC is addressed with 6 process data words with the "bus positioning" CCU application module. PD assignment SEW Controller CCU: Buspositionierung ® MOVIPRO Steuerwort ® MOVIPRO Statuswort PD numbering 17963388427...
Page 130 Process data description MOVIPRO® ADC process sequence Configuring CCU application module A CCU application module is commissioned as an axis in the Application Configurator controller software. Proceed as follows: 1. Start the Application Configurator and create a new configuration. 2. Insert a single axis into the configuration. Click on the symbol [1]. 18150922123 ð...
Page 131: Process Image Of Movipro
Process data description Process image of MOVIPRO® ADC with R15 regenerative power supply Process image of MOVIPRO® ADC with R15 regene rative power supply ® 11.4 Process image of MOVIPRO ADC with R15 regenerative power supply Devices with R15 regenerative power supply option are a special case. The following ®...
Page 132: Configuring Regenerative Power Supply
Process data description Process image of MOVIPRO® ADC with R15 regenerative power supply 11.4.3 Configuring regenerative power supply The R15 regenerative power supply is commissioned as an axis in the Application Configurator controller software. Proceed as follows: 1. Start the Application Configurator and create a new configuration. 2.
Page 133: Process Image Of Drive Functions Of The Power Section "Pfa
Process data description Process image of drive functions of the power section "PFA-..." 11.5 Process image of drive functions of the power section "PFA-..." The following drive functions are available for the power section "PFA-...": • Speed-controlled drive – delivery state PLUS® •...
Page 134 Process data description Process image of drive functions of the power section "PFA-..." PO1: Control word The control word of the speed-controlled drive controls the power section "PFA-...". The control word is defined as follows: Speed-controlled drive control word (2 bytes) Meaning Coding and function 0 = Enable...
Page 135 Process data description Process image of drive functions of the power section "PFA-..." PO2: Setpoint speed If the adjusted operating mode (P700/P701 Operating mode 1/2) allows a speed set- point, the power section "PFA-..." interprets the transferred numerical value as a speed setpoint.
Page 136: Bus Positioning" Ipos Plus® Application Module
Process data description Process image of drive functions of the power section "PFA-..." PI2: Actual speed The power section "PFA-..." returns the current actual speed value to the PLC. The exact actual speed can only be sent back when the power section can determine the actual motor speed using speed feedback.
Page 137: Extended Positioning Via Bus" Ipos
Process data description Process image of drive functions of the power section "PFA-..." PLUS® 11.5.3 "Extended positioning via bus" IPOS application module The device is addressed with 6 process data words with the "Extended positioning via PLUS® bus" IPOS application module. PD assignment PLUS®...
Page 138: Automotive Ama0801" Ipos
Process data description Process image of drive functions of the power section "PFA-..." PLUS® 11.5.5 "Automotive AMA0801" IPOS application module The device is addressed with 6 process data words with the "Automotive AMA0801" PLUS® IPOS application module. PD assignment PLUS® SEW-Controller IPOS : Automotive AMA0801...
Page 139: Operation With The Movitools Motionstudio Engineering Software
® Operation with the MOVITOOLS MotionStudio engineering software About MOVITOOLS® MotionStudio ® Operation with the MOVITOOLS MotionStudio engineering software About MOVITOOL S® MotionStud ® 12.1 About MOVITOOLS MotionStudio 12.1.1 Tasks ® MOVITOOLS MotionStudio engineering software enables you to perform the fol- lowing tasks with consistency: •...
Page 140: First Steps
® Operation with the MOVITOOLS MotionStudio engineering software First steps 12.2 First steps 12.2.1 Starting the software and creating a project Proceed as follows: 1. Select the following item from the Windows start menu: [Start] / [Pro- grams] / [SEW] / [MOVITOOLS MotionStudio] / [MOVITOOLS MotionStudio] ®...
Page 141: Connection Mode
® Operation with the MOVITOOLS MotionStudio engineering software First steps 5. If necessary, change the preset communication parameters. When doing so, refer to the detailed description of the communication channels. 6. Scan your network via the "Device scan" icon [1] in the toolbar. 27021598896943499 12.2.3 Connection mode...
Page 142 ® Operation with the MOVITOOLS MotionStudio engineering software First steps Depending on the selected connection mode, you can choose offline or online tools specific to your device. The following figure illustrates the two types of tools: Offline tool Online tool 18014399752675211 [1] Hard drive of the engineering PC [3] Engineering PC...
Page 143: Configuring Devices
® Operation with the MOVITOOLS MotionStudio engineering software First steps • For functions (online tools) that should directly influence the unit, switch to online mode by using the icon [1]. • For functions (offline tools) that should directly influence the unit, switch to offline mode by using the icon [2].
Page 144: Communication Via Ethernet
® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet 3. Select the tool for configuring the device (in this example the command [Startup] > [Parameter tree]). 9007201701096203 12.3 Communication via Ethernet 12.3.1 Connecting the device with the PC via Ethernet The following figure shows the network with direct communication using Ethernet: ETHERNET EURODRIVE...
Page 145: Establishing Communication With The Address Editor
® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet ® Parameter requests from the MOVITOOLS MotionStudio engineering software are transferred to a switch [3] via Ethernet [2] from an engineering PC [1] using the Ether- net interface. The switch [3] then directly passes on the parameter requests to the Eth- ernet interface of the devices [4].
Page 146 ® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet Searching Ethernet nodes You can use the Address Editor to find Ethernet nodes in a network. It can also be used for detecting new Ethernet nodes. The Address Editor also helps you locate the detected Ethernet nodes.
Page 147 ® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet Adjusting the IP address of the Ethernet nodes Proceed as follows: 1. Start the Address Editor and scan the network. 2. Double-click in the area behind the setting [1] of the Ethernet node you want to change.
Page 148: Configuring The Communication Channel Via Ethernet
® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet Setting the engineering PC appropriately for the network Proceed as follows: 1. Select the network settings in the Windows control panel. 2. Select the Internet protocol version 4 "TCP/IPv4" in the adapter properties. 3.
Page 149 ® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet 1. Establish the communication channel via Ethernet (→ 2 140). 2. Set the SMLP protocol parameters in the following window in the "SMLP settings" tab [1] (→ 2 150). 18328429835 "SMLP settings" tab "IP addresses of SMLP server" tab Timeout "Excluded IP addresses"...
Page 150 ® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet Ethernet parameters for SMLP The following table shows the communication parameters for SMLP: Ethernet para- Description Information meter • Default setting: 1000 ms Waiting time in ms that the client waits for a reply from •...
Page 151 ® Operation with the MOVITOOLS MotionStudio engineering software Communication via Ethernet Communication ports used The following table shows the communication ports that are used by the ® MOVITOOLS MotionStudio engineering software: Number of the Application Description communication port For the services of the SMLP and ETH server 300 (TCP/UDP) for using a PC as Ethernet gate-...
Page 152: Executing Functions With The Units
® Operation with the MOVITOOLS MotionStudio engineering software Executing functions with the units 12.4 Executing functions with the units 12.4.1 Reading or changing unit parameters Proceed as follows: 1. Switch to the required view (project view or network view). 2. Select the connection mode: •...
Page 153: Starting Up Units (Online)
® Operation with the MOVITOOLS MotionStudio engineering software Executing functions with the units 12.4.2 Starting up units (online) Proceed as follows: 1. Switch to the network view. 2. Switch to online mode by using the icon [1]. 18014399693512203 3. Select the unit you want to startup. 4.
Page 154: Parameter Setting
Parameter setting PC/laptop connection Parameter setting 13.1 PC/laptop connection The following figure shows the connection between a PC/laptop and the Ethernet ser- vice interface of the device: 1204936459 Ethernet service interface (Ethernet RJ45) of the device Commercially available Ethernet cable Ethernet interface of the laptop The following table shows the IP address and the subnet mask of the engineering in- terface of the device:...
Page 155: Configuring Device - Checklist
Parameter setting Configuring device – checklist 13.2 Configuring device – checklist Proceed as follows: ü You have installed the ® MOVITOOLS MotionStudio engineering software on the engineering PC, V6.20 or later. ü You have already downloaded the device description file (EDS file) from SEW‑EURODRIVE → www.sew-eurodrive.com and saved it locally to the engin- eering PC.
Page 156: Parameterizing The Power Section "Pfa
Parameter setting Parameterizing the power section "PFA-..." 13.3 Parameterizing the power section "PFA-..." INFORMATION To be able to replace the device quickly, save the device data to the SD memory card following successful startup (data management). Parameterization of the power section "PFA-..." takes several process steps: 1.
Page 157 Parameter setting Parameterizing the power section "PFA-..." Encoder Condition SICK-STEGMANN AG 100 MSSI, AG 626, Only the 24‑bit version is supported. ATM90, ATM60 SICK-STEGMANN Only the 15‑bit version is supported. ARS 60 • The interface is parameterized to "SSI". • 24 data bits and one error bit are set. SICK DME5000-.11, •...
Page 158 Parameter setting Parameterizing the power section "PFA-..." CANopen encoder Encoder Condition • The termination switch is set to "ON". TR‑Electronic • The node ID is set to "1" via the 6‑ DIP switch. CE‑58 CANopen • The number of increments per revolution is pro- grammed to the standard value, "4096".
Page 159 Parameter setting Parameterizing the power section "PFA-..." Commencing startup WARNING Risk of crushing from uncontrolled start-up of the motor, if the start-up is aborted due ® to using an inadmissible version of the MOVITOOLS MotionStudio engineering software. Severe or fatal injuries. ®...
Page 160 Parameter setting Parameterizing the power section "PFA-..." 3. Startup the motor with the motor encoder. 4. If the drive is equipped with an electronic nameplate, you can transfer the read-off data. 9007201326602379 Setting Description Transfer of encoder data to the startup assistant. Accept data permanently It is not possible to edit the encoder data.
Page 161 Parameter setting Parameterizing the power section "PFA-..." Setting Description Edit manually Manual selection and configuration of the encoder. Read-out of the connected encoder. The following encoders from SEW‑EURODRIVE can be read out only automatically: • E.7S Detect automatically • E..H •...
Page 162 Parameter setting Parameterizing the power section "PFA-..." Editing SEW‑EURODRIVE encoders Proceed as follows: 1. Click on the encoder grouping [SEW encoders]. 2. Enter the encoder designation in the respective fields according to the specifica- tion on the name plate. 18014400452362891 ®...
Page 163 Parameter setting Parameterizing the power section "PFA-..." Editing approved encoders Certain third-party encoders are approved by SEW‑EURODRIVE and can be operated (→ 2 156). Proceed as follows: 1. Click on the encoder grouping [Approved encoders]. 2. Select the encoder from the SEW‑EURODRIVE database. 18014400452364811 ®...
Page 164 Parameter setting Parameterizing the power section "PFA-..." Specify encoder mounting Proceed as follows: 1. Go to the "Mounting" tab. 2. Select the counting direction of the encoder. 18565989515 Specify translation ratio Proceed as follows: 1. If you know the translation ratio between the encoder and motor, enter it in the cor- responding edit boxes.
Page 165 Parameter setting Parameterizing the power section "PFA-..." 18014401537145739 3. Carry out the steps – ® Manual – MOVIPRO with EtherNet/IP™ or Modbus/TCP Fieldbus Interface...
Page 166 Parameter setting Parameterizing the power section "PFA-..." 4. Move the axis by at least one motor revolution in manual mode. 18014401537232907 ð The ascertained data is shown under , and its validity under ® Manual – MOVIPRO with EtherNet/IP™ or Modbus/TCP Fieldbus Interface...
Page 167 Parameter setting Parameterizing the power section "PFA-..." 18014401537379851 5. If the data is valid, stop the drive, exit manual mode and accept the data. ð The ascertained data is entered as ratio value. ® Manual – MOVIPRO with EtherNet/IP™ or Modbus/TCP Fieldbus Interface...
Page 168 Parameter setting Parameterizing the power section "PFA-..." Completing the encoder startup Proceed as follows: • Complete the encoder startup. 9007201326595083 Setting Description Load into the device (PC Transfers the encoder data to the device. → target system) Download and motor startup Transfers the encoder data to the device and starts the motor startup.
Page 169: Startup The Motor
Parameter setting Parameterizing the power section "PFA-..." 13.3.2 Startup the motor Proceed as follows: ü The encoder startup is performed (→ 2 159). 1. Select the setting [Download and motor startup] in the startup assistant for en- coder startup. ð The startup assistant for motor startup is displayed. Follow the instructions of the startup assistant.
Page 170 Parameter setting Parameterizing the power section "PFA-..." Setting Description If the following situation exists: Perform complete startup • Initial startup of the motor (→ 2 170) • Performance of extensive changes (e.g. motor or encoder change) When startup settings of the motor values (e.g. Perform partial startup supply or motor voltage) or download values of the (→ 2 173)
Page 171 Parameter setting Parameterizing the power section "PFA-..." Setting Description The device controls several motors with different Several different motors power rating. 2. Verify the displayed data of the motor encoder, if available. 3. Select the motor type and specify the motor values. 9007201326631563 4.
Page 172 Parameter setting Parameterizing the power section "PFA-..." 7. 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 the button [Apply proposal]. 18589443723 8.
Page 173 Parameter setting Parameterizing the power section "PFA-..." Carrying out partial startup During a partial startup, you specify the following settings: • Nominal motor voltage • Rated motor frequency • Rated line voltage • Error response • Temperature sensor type • Download values of the drive parameters Optimizing a speed controller During an optimization of the speed controller, you change the download values of the...
Page 174: Parameterizing The Communication And Control Unit "Pfh
Parameter setting Parameterizing the communication and control unit "PFH-..." 13.4 Parameterizing the communication and control unit "PFH-..." INFORMATION To be able to replace the device quickly, save the device data to the SD memory card following successful startup (data management). 13.4.1 Factory installed gateway program ®...
Page 175 Parameter setting Parameterizing the communication and control unit "PFH-..." ® 1. In the network view of MOVITOOLS MotionStudio, select the communication and control unit. 2. Select the [Application modules] > [Application Configurator] menu command in the context menu. ð The Application Configurator is displayed. 9007202822997131 Description Click this button to open the configuration interface in order to create a new...
Page 176 Parameter setting Parameterizing the communication and control unit "PFH-..." Description Use this button to load an existing configuration from a file *.AppConfig.zip. Click this button to open the diagnostics interface with the following functions: • Overview: Status of the device and module diagnostics •...
Page 177 Parameter setting Parameterizing the communication and control unit "PFH-..." Description The toolbar contains the icons for the following tasks: • Add single axis ® • Add multi-axis applications (not available for MOVIPRO ADC) • Delete axes • Select axis-/device-independent functions (e.g. brake test) •...
Page 178 Parameter setting Parameterizing the communication and control unit "PFH-..." Insert and configure axes ® Only single-axis modules can be inserted for MOVIPRO ADC. Proceed as follows: 1. Create a new configuration (→ 2 176). 2. Click the [Single axis] icon in the configuration interface. ð...
Page 179 Parameter setting Parameterizing the communication and control unit "PFH-..." Advanced configuration settings For some CCU application modules, there are special settings, e.g. the interval of the toggle bit for the SEW controller (line 0). Proceed as follows: 1. Open the configuration interface (→ 2 176). 2.
Page 180 Parameter setting Parameterizing the communication and control unit "PFH-..." Description In this area, you specify the assignment of the binary input and output terminals of the device. This setting is only for devices with maintenance switch monitoring. This section displays the used/free process data words. 5.
Page 181: Movipro ® Adc As Programmable Device
Parameter setting Parameterizing the communication and control unit "PFH-..." Description If you enter a name in this edit box, it will be listed in the report. This group displays the following information on the CCU application module that is installed offline on your PC and online on the device: •...
Page 182 Parameter setting Parameterizing the communication and control unit "PFH-..." Create an IEC Project Proceed as follows: ® 1. In the network view of MOVITOOLS MotionStudio, select the communication and control unit "PFH‑...". 2. In the context menu, select the [Programming] >[Create new PLC Editor project] menu command.
Page 183: Storing Device Data
Parameter setting Storing device data 13.5 Storing device data The device allows for a quick device replacement. It is equipped with a replaceable SD memory card on which all device data can be stored. If the device has to be re- placed, the plant can be started up again quickly by simply exchanging the SD memory card.
Page 184 Parameter setting Storing device data 9007204387282699 5132541707 Description Enabling this check box permits data backup via PLC. Enabling this check box ensures that the data is backed up automatically when a device replacement is detected. If the check box is not activated during upload, the data can only be restored manually via "Download".
Page 185: Pfa
Parameter setting "PFA-..." power section parameter overview 13.6 "PFA-..." power section parameter overview The following table shows an overview of all parameters: • Factory setting values are in bold. • Numerical values are displayed with the complete setting range. 0.. Display values 00.
Page 186 Parameter setting "PFA-..." power section parameter overview 0.. Display values 08. Fault memory Name Range/factory setting 080 – 084 Error t-0 – t-4 – 094 – 096 PO1 – PO3 setpoint – 097 – 099 PI1 – PI3 actual value – 1) PI = process input data word, PO = process output data word 1..
Page 187 Parameter setting "PFA-..." power section parameter overview 3.. Motor parameters 32./33. Motor adjustment 1/2 Name Range/factory setting 322/332 IxR adjustment 1/2 0 – 100% 323/333 Premagnetization time 1/2 0 – 2 s 324/334 Slip compensation 1/2 0 – 500 min 3.. Motor parameters 34. Motor protection Name Range/factory setting 340/342 Motor protection 1/2 341/343 Cooling type 1/2 Fan cooled Motor protection interval...
Page 188 Parameter setting "PFA-..." power section parameter overview 5.. Monitoring functions 56. Ex‑e motor current limitation Name Range/factory setting Frequency C 0 – 25 – 104 Hz Current limit C 0 – 100 – 200% 6.. Terminal assignment 60. Digital inputs of basic device Name Range/factory setting Digital input DI02 No function Digital input DI03 No function...
Page 189 Parameter setting "PFA-..." power section parameter overview 8.. Device functions 83. Error responses Name Range/factory setting Response to "external error" Emergency stop/malfunction Response to "motor overload" Emergency stop/malfunction Response to "lag error" Emergency stop/malfunction Response to "TF signal" No response Response to "timeout SBus 1"...
Page 190 Parameter setting "PFA-..." power section parameter overview 9.. IPOS parameters 91. IPOS travel parameters Name Range/factory setting Positioning ramp 2 0.01 – 1 – 20 s Travel speed CW 0 – 1500 – 6000 min Travel speed CCW 0 – 1500 – 6000 min Velocity precontrol -99.99 – 0 – 100 – 199.99% Ramp type Linear Ramp mode Mode 1 Bus setpoint source 0 – 499 – 1023 9..
Page 191: Parameter Descriptions
Parameter setting Parameter descriptions 13.7 Parameter descriptions Observe the following: • The parameter descriptions are divided into 10 parameter groups. • The parameter names correspond to their representation in the parameter tree. • The following symbols are used in the parameter descriptions: 2 Parameters which are switch-selectable and available in parameter sets 1 and Parameters which can be changed only in inverter status "Inhibited"...
Page 192 Parameter setting Parameter descriptions P005 Active current Active current in the range 0 – 200% of the nominal device current I (signed) The display value is positive when torque is in positive sense of rotation; negative when torque is in negative sense of rotation. P006/P007 Motor utilization 1/2 Current thermal motor utilization of the connected motor in the range 0 – 200% The motor utilization is calculated using the motor temperature emulation in the...
Page 193 Parameter setting Parameter descriptions P012 Error status Error number and error in text form P013 Current parameter set Parameter set 1 or 2 P014 Heat sink temperature Heat sink temperature of the device in the range −40 – 125°C P015 Operating hours The total of hours in which the device was connected to the supply system or an ex- ternal DC 24 V supply.
Page 194 Parameter setting Parameter descriptions P03. Digital inputs of basic device P030 – P035 Digital inputs DI00 – DI05 Current state of the input terminals DI00 – DI05 (→ 2 215) and the current function assignment INFORMATION The digital input DI00 is always assigned the function “/controller inhibit”. P05. Digital outputs basic device P050 Digital output DB00 Current state of the binary output and the current function assignment P07.
Page 195 Parameter setting Parameter descriptions P08. Fault memory P080 – P084 Faults t-0 – t-4 The device has 5 fault memories (t-0 to t4-). The faults (→ 2 224) are saved in chro- nological sequence. The last fault result is stored in the fault memory t-0. In the case of more than 5 faults, the oldest fault result is deleted from the fault memory t-4.
Page 196: Parameter Group 1: Setpoints / Ramp Generators
Parameter setting Parameter descriptions 13.7.2 Parameter group 1: Setpoints / ramp generators The following settings are defined in this parameter group: • Speed ramps • Fixed speed setpoints P13./P14. Speed ramps 1/2 P130 – P133 / P140 – P143 ramp t11 / t21 up/down CW/CCW 1 Setting range: 0 – 2 – 2000 s Specifically, the parameters are: •...
Page 197 Parameter setting Parameter descriptions P135/P145 S pattern t12/t22 1 Setting range: 0 – 3 (0 = Off, 1 = weak, 2 = medium, 3 = strong) In order to achieve gentler drive acceleration, the 2nd ramp (t12/t22) can be rounded with 3 pattern grades. 898213899 Setpoint input Speed without S pattern Speed with S pattern A started S pattern is interrupted by the stop ramp ...
Page 198 Parameter setting Parameter descriptions P139/P149 Ramp monitoring 1/2 1 Setting range: On/Off If you set the deceleration ramps to a value that is much shorter than can be physic- ally achieved in the system, the turning drive will be stopped once the monitoring time has expired.
Page 199: Parameter Group 2: Controller Parameters
Parameter setting Parameter descriptions 13.7.3 Parameter group 2: Controller parameters The following settings are defined in this parameter group: • Speed control • Hold control P20. Speed control The speed control function is available only in parameter set 1. The speed controller of the power section "PFA-..." is a PI-controller. The speed con- trol works in the following operating modes: •...
Page 200 Parameter setting Parameter descriptions AUTO P200 P gain speed controller Setting range: 0.01 – 2 – 32 Gain factor of the P‑component of the speed controller AUTO P201 Time constant n-control Setting range: 0 – 10 – 3000 ms Integration time constant of the speed controller The I‑component reacts inversely proportionate to the time constant: A large numer- ical value results in a small I-component.
Page 201 Parameter setting Parameter descriptions P206 Sampling time n-control The parameter is only effective in "CFC and "Servo" operating modes. Setting range: 1 ms/0.5 ms Setting the time to 0.5 ms improves speed control for dynamic drives with low moment of inertia. P207 Load precontrol VFC The parameter is effective only in the operating modes with "VFC n-control".
Page 202: Parameter Group 3: Motor Parameters
Parameter setting Parameter descriptions 13.7.4 Parameter group 3: Motor parameters This parameter group is used to adjust the device to the motor. The parameters can be set separately for parameter set 1 and 2. Thus, 2 different motors can be operated alternately on the same device without requiring a new setting. P30./P31.
Page 203 Parameter setting Parameter descriptions AUTO P303/P313 Current limit 1/2 1 Setting range: 0 – 150% of the nominal motor data I The factory setting for the current limitation is set to 150% I of the matching motor. The internal current limitation is based on the apparent current. In the operating modes "V/f"...
Page 204 Parameter setting Parameter descriptions In operating modes "V/f" and "VFC & Group": Manual adjustment of the parameter is required in order to increase the starting torque by raising the output voltage in the range below the base speed. In operating mode "VFC ": Manual adjustment of the parameter is normally not re- quired.
Page 205 Parameter setting Parameter descriptions AUTO P323/P333 Premagnetization time 1/2 1 Setting range: 0 – 20 s 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 device is enabled. AUTO P324/P334 Slip compensation 1/2 1 The parameter is only effective in "VFC,"...
Page 206 Parameter setting Parameter descriptions The following signal and display functions are available in conjunction with motor pro- tection: Parameter Signal and display function P006/P007 Motor utilization 1/2 Motor utilization for parameter set 1/2 (→ 2 192) Error response of the device when the motor P832 Response to "Motor overload"...
Page 207 Parameter setting Parameter descriptions Parameter Signal and display function P832 Response to "Motor overload" No function in this setting (→ 2 225) The following parameters must be set: Parameter Meaning Machine cycle of the application. P344 Interval for motor protection (→ 2 207) Setting range: 0.1 – 20 s INFORMATION Activating the function does not trigger monitoring or protection of the connected mo- tor.
Page 208 Clockwise (positive) is defined as rotation to the right and counterclockwise as rotation to the left. This definition is implemented when the motor is connected accord- ing to the description from SEW EURODRIVE. AUTO P350/P351 Change direction of rotation 1/2 1...
Page 209: Parameter Group 5: Monitoring Functions
Parameter setting Parameter descriptions 13.7.5 Parameter group 5: Monitoring functions The processes of the drive-specific parameters are monitored with this parameter group in order to be able to respond to inadmissible deviations. Some of the monitor- ing functions are available separately in both parameter sets. Activation of a monitor- ing function triggers an error response (→ 2 224).
Page 210 Parameter setting Parameter descriptions P504 Synchronous encoder monitoring Setting range: On/Off • Setting "on:" A wire break between the device and synchronous encoder will be detected directly when using sin/cos encoders and TTL encoders. In the case of a defective connection, the error message "A1.F14" (encoder) is displayed. The error message is also generated in the inhibited state of the device.
Page 211 Parameter setting Parameter descriptions P53. Motor temperature protection AUTO P530 Sensor type 1 Setting range: No Sensor / TF/TH / TF/TH DEU / KTY / KTY DEU Selection of the sensor used for motor protection in parameter set 1 • Setting "TF/TH": Set the response with P835 Response ’TF-Message’ (→ 2 226). •...
Page 212 Parameter setting Parameter descriptions Response Description Rapid stop/malfunction The drive is braked with the stop ramp t13/t23 (→ 2 197). Once the stop speed is reached, the output stage is inhib- ited and the brake is applied. The error is signaled immediately. The ready signal is revoked.
Page 213 Parameter setting Parameter descriptions If the oil aging sensor signals an error, the device carries out the set response. P544 Oil aging/over-temperature Factory setting: Display error If the oil aging sensor signals an over-temperature, the device carries out the set re- sponse.
Page 214 Parameter setting Parameter descriptions AUTO P560 Current limit Ex-e motor Setting range: On/Off • Setting "On:" Current limitation for Ex‑e motors is active. The current limiting is already activated during startup for the Ex-e operation selected and approved mo- tors. The current limit (→ 2 203) can no longer be changed when the protection function is active.
Page 215: Parameter Group 6: Terminal Assignment
Parameter setting Parameter descriptions 13.7.6 Parameter group 6: Terminal assignment The binary inputs of the device are programmed with this parameter group. P60. Digital inputs of basic device P601 – P604 Digital inputs DI02 – DI05 The digital inputs can be programmed to the following functions: Function In effect with Effective in...
Page 216: Parameter Group 7: Control Functions
Parameter setting Parameter descriptions 13.7.7 Parameter group 7: Control functions The the fundamental control properties of the device are programmed with this para- meter group. These functions are carried out automatically upon activation of the device and influence its behavior in certain operating modes. INFORMATION When using incremental encoders (resolver, push-pull TTL, RS422, sin/cos, ®...
Page 217 Parameter setting Parameter descriptions P71. Standstill current P710/P711 Standstill current 1/2 1 Setting range: 0 – 50% of the nominal motor current I Imprints an adjustable current (in % of the nominal motor current I ) into the motor during motor standstill and closed brake. The standstill current can be switched off by "/controller inhibit = 0".
Page 218 Parameter setting Parameter descriptions P72. Setpoint stop function With activated setpoint stop function, the device automatically generates an enable in dependence on the main setpoint. All required functions such as premagnetization, brake control, etc. are enabled. An additional enable via terminals must still occur in any case, however.
Page 219 Parameter setting Parameter descriptions P721/P724 Stop setpoint 1/2 1 Setting range: 0 – 30 – 500 min In the "VFC & Hoist" operating mode, the minimum stop setpoint is internally limited to ‑1 16 min P722/P725 Start offset 1/2 1 Setting range: 0 – 30 – 500 min • If the start setpoint (stop setpoint + start offset) is greater than the maximum speed, no enable occurs.
Page 220 Parameter setting Parameter descriptions P730/P733 Brake function 1/2 1 Setting range: ON/OFF Determines whether the brake is activated when the enable is revoked (enable = "0"). In a hoist, the brake is always active in controlled operation. AUTO P731/P734 Brake release time 1/2 1 Setting range: 0 – 2 s The brake release time of the matching motor is set as the factory setting.
Page 221 Parameter setting Parameter descriptions P741/P743 Skip bandwidth 1/2 1 Setting range: 0 – 300 min P77. Energy-saving function Energy can be saved in the operation of pumps, fans, conveyor belts etc. In this pro- cedure, the magnetization of the asynchronous motor is controlled depending on the load by adapting the voltage-frequency ratio;...
Page 222: Parameter Group 8: Device Functions
Parameter setting Parameter descriptions 13.7.8 Parameter group 8: Device functions Specific device functions are defined with this parameter group. P80. Setup P802 Factory setting Setting range: No / standard / delivery state Reestablishes the factory setting for the parameter saved in EEPROM. INFORMATION Before you reset the parameter, save the set parameter values with the ®...
Page 223 Parameter setting Parameter descriptions P803 Parameter lock Setting range: On/Off • Setting "on:" The device can no longer be started. Any adjustment to the paramet- ers is prevented. The following parameters are excluded from the inhibit: – P803 Parameter lock –...
Page 224 Parameter setting Parameter descriptions P83. Error responses With these parameters, you set the response for occurring errors and faults. The following table shows possible error responses: Response Description No response An error is not displayed, nor is an error response per- formed.
Page 225 Parameter setting Parameter descriptions Response Description Emergency stop/Warn- The drive is braked with the emergency stop ramp t14/t24 (→ 2 197). Once the stop speed is reached, the output stage is inhib- ited and the brake applied. The error is signaled immediately. The ready signal is not revoked.
Page 226 Parameter setting Parameter descriptions AUTO P835 Response to "TF signal" Factory setting: No response Triggered via the temperature sensor monitoring of the temperature sensor TF or TH in the motor winding, as applicable. P836 Response 'Timeout SBus 1' Factory setting: Emergency stop/malfunction Triggered via the system bus timeout monitoring.
Page 227 Parameter setting Parameter descriptions P841 Auto reset Setting range: On/Off DANGER Risk of crushing if the motor starts up automatically after an auto reset. Fatal or severe injuries and damage to property. • Do not use the auto-reset function with drives where an automatic restart could represent a danger to people or devices.
Page 228 Parameter setting Parameter descriptions P850 Scaling factor numerator Setting range: 1 – 65535 P851 Scaling factor denominator Setting range: 1 – 65535 P852 User-defined unit Factory setting: 1/min The user unit can comprise a maximum of 8 ASCII characters. The user unit is shown in the parameter P001 User display (→ 2 191).
Page 229 Parameter setting Parameter descriptions P87. Process data description P870/P871/P872 Setpoint description PO1/PO2/PO3 Defines the content of the process output data words PO1/PO2/PO3. The power sec- tion "PFA-..." can only allocate the corresponding setpoints according to this specifica- tion. Specifically, the parameters are: Parameter Factory setting P870 Setpoint description PO1...
Page 230 Parameter setting Parameter descriptions P873/P874/P875 Actual value description PI1/PI2/PI3 Defines the content of the process input data words PI1/PI2/PI3. The power section "PFA-..." can only allocate the corresponding actual values according to this specifica- tion. Specifically, the parameters are: Parameter Factory setting P873 Actual value description PI1 Status word 1...
Page 231: Parameter Group 9: Ipos Parameters
Parameter setting Parameter descriptions 13.7.9 Parameter group 9: IPOS parameters PLUS® These parameters can only be used in connection with IPOS application modules. DANGER Risk of crushing if the motor starts up unintentionally. Fatal or severe injuries and damage to property. •...
Page 232 Parameter setting Parameter descriptions P900 Reference offset Setting range: -(2 -1) – 0 – (2 Zero position correction for calculating the machine zero All absolute positioning commands refer to the machine zero. The machine zero is calculated as follows: Machine zero = reference position + reference offset The reference position is determined in the reference travel.
Page 233 Parameter setting Parameter descriptions P903 Reference travel type Setting range: 0 – 8 Reference travel strategy with which the machine zero of a system is specified. This defines a travel mode for searching for a reference cam, for example. This parameter also specifies the search direction for the reference cam in the indi- vidual referencing phases.
Page 234 Parameter setting Parameter descriptions – Machine zero: Reference position + reference offset – Reference cam and limit switches must be flush. • Type 7: Reference cam flush with CCW limit switch – First search direction: CCW – Reference point: First zero pulse or falling edge to the right of the reference –...
Page 235 Parameter setting Parameter descriptions PLUS® Setting value for the P controller of the position control loop in the IPOS applica- tion module In the basic setting, the value of the parameter P210 P‑gain hold controller (→ 2 201) is accepted. P911/912 Positioning ramp 1/2 Setting range: 0.01 – 1 – 20 s Value set for the ramp used during the positioning operation.
Page 236 Parameter setting Parameter descriptions P916 Ramp type Specifies the type of positioning ramp. This influences the speed or acceleration char- acteristics during positioning. The following ramp types are possible: Ramp type Positioning characteristics Linear Optimum time, however block-shaped acceleration character- istic Squared Softer acceleration, but higher torque demand than Ramp type...
Page 237 Parameter setting Parameter descriptions P918 Bus setpoint source Setting range: 0 – 499 – 1023 PLUS® Sets the source for the setpoint in the IPOS application module when operating ® with EtherCAT P92. IPOS monitoring P920/P921 SW limit switch CW/CCW PLUS® The software limit switches are only monitored in IPOS Operating modes.
Page 238 Parameter setting Parameter descriptions P924 Positioning interruption detection Setting range: On/Off Adjusts whether an interruption of the positioning process (withdrawal of enable) is monitored. The error response is set in the parameter P839 Response to 'Positioning interruption' (→ 2 226). P93. IPOS Special functions P930 Override Setting range: On/Off Enables the change to the travel speed of the positioning processes programmed in...
Page 239 Parameter setting Parameter descriptions P94. IPOS encoder P941 Source of actual position Setting range: Motor encoder/Ext. Encoder PLUS® Defines the encoder to which the IPOS application module positions. P948 Automatic encoder replacement detection ® The parameter is only effective with HIPERFACE encoders.
Page 240 Parameter setting Parameter descriptions P961 Modulo numerator Setting range: 1 – (2 - 1) Simulation of the gear unit The modulo numerator is calculated with the tooth numbers of gear unit and additional transmission as follows: Modulo numerator = Numerator gear unit i × numerator additional transmission i P962 Modulo denominator Setting range: 1 – (2 - 1)
Page 241: Parameter Overview Of Encoder Option
Parameter setting Parameter overview of encoder option 13.8 Parameter overview of encoder option The encoder option is parameterized by the startup (→ 2 156). You have to specify the encoder connected to device and the corresponding resolution. addition, make adjustments parameter tree ®...
Page 242 Parameter setting Parameter overview of encoder option Parameter Description • Setting "On": A sin/cos or TTL encoder directly detects a wire break between the device and the encoder. In the case of a defective connection, the error message "A1.F14" (encoder) is displayed. The error message is also generated in the inhibited state of the device.
Page 243: Service
Service Device replacement Service 14.1 Device replacement The device allows for a quick device replacement. It is equipped with a replaceable SD memory card on which all device data is stored. If the device has to be replaced, the plant can be started up again quickly by simply exchanging the SD memory card. 14.1.1 Prerequisites for successful device replacement Observe the following:...
Page 244 Service Device replacement 7-segment display: Status LED S2: flashing green/orange The data backup of the communication and control unit is restored. This can take several minutes. Do not switch off the device during this process! > 5 minutes Chapter Incorrect version of "SD memory card bootloader software as spare part"...
Page 245: Sd Memory Card As Spare Part
Service Device replacement 14.1.3 SD memory card as spare part If you have ordered an SD card as spare part, it is possible that the versions of the bootloader software are different for the SD memory card and your device. In this case, the device remains in the following state for more than 5 minutes: 7-segment display Status LED S2...
Page 246: Reference Travel After Device Or Encoder Replacement
Service Reference travel after device or encoder replacement 14.2 Reference travel after device or encoder replacement 14.2.1 Incremental encoder If incremental encoders are used for positioning, a reference travel must be performed after device startup. This way, no special measures are required. 14.2.2 Absolute encoder The device stores the position of absolute encoders with 32 bit.
Page 247: Ethernet Service Interface
Service Service unit 14.3.1 Ethernet service interface The Ethernet service interface connects the device with an engineering PC for config- uration and maintenance purposes. Tools required Wrench with wrench size 8 Required material Ethernet cables with RJ45 plug connectors Connecting the engineering PC with the Ethernet service interface 1.
Page 248: List Of Power Section Errors
Service List of power section errors 14.4 List of power section errors 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. Code Meaning Response Sub- Meaning Possible cause Measure...
Page 249 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code • Speed/current con- • Reduce load Speed Immediate Inverter in current troller (in VFC op- monitoring stop (P) limiting or in slip • Increase delay erating mode limit time setting (P501/...
Page 250 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code • Encoder cable or Encoder Immediate Encoder not con- Check encoder cable shield not connec- stop nected, defective and shield for correct ted correctly encoder, defect- connection, short cir- ive encoder cable cuit and wire breaks.
Page 251 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code ® • Encoder cable or Encoder Immediate HIPERFACE Check encoder cable shield not connec- stop coder on motor and shield for correct ted correctly encoder reports connection, short cir- an error cuit and wire breaks.
Page 252 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code • Restore factory EEPROM Rapid stop 0 Read or write Error while accessing settings, perform error on EEPROM reset and reset EEPROM power parameters section •...
Page 253 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code • Motor too hot, TF/ • Let motor cool off TF/TH trig- No re- Thermal motor TH has triggered and reset error sponse (P) protection error •...
Page 254 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code • Rotary encoder • Check rotary en- Lag error Immediate Positioning lag connected incor- coder connection stop (P) error rectly • Extend ramps • Acceleration ramps •...
Page 255 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code System Rapid stop Timeout system Error during commu- Check system bus bus 1 bus CAN1 nication via system connection timeout bus 1. TTL en- Immediate TTL encoder: coder stop...
Page 256 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code ® Encoder Rapid stop 1 Hiperface communic- coder: Track sig- ation nal error ® • Restore delivery Hiperface Incorrect calibration of state (P802) coder: Calibration encoder error •...
Page 257 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code ® Encoder Rapid stop 16400 HIPERFACE Device and Check wiring ® communic- distance encoder: HIPERFACE distance 16448 ation Communication encoder connection in- 16512 error terrupted 16576 16640 16704...
Page 258 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code • Check startup data Start con- Immediate Start condition Only in "VFC & and perform new dition stop error with "VFC & hoist" operating startup, if neces- hoist"...
Page 259 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code EE-ROM Immediate Power section Inverter electronics Send the device to checksum stop parameters disrupted, possibly SEW‑EURODRIVE for due to effect of EMC repair. Control unit data influence or a defect.
Page 260 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code • Check voltage sup- Oil aging Display Oil aging ready Oil aging sensor is not ply of oil aging ready sig- error (P) signal ready for operation sensor •...
Page 261 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code Internal Rapid stop/ Communication Not able to establish a When using the ap- "Timeout" warning error with the connection with the plication module error power section "PFA-..."...
Page 262 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code Absolute Immediate Plausibility check Check to cables of the encoder stop sine tracks or replace the encoder. ® Hiperface coder: Unknown encoder type ® Hiperface coder: Corrupt encoder name- plate data...
Page 263 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code ® Absolute Immediate Hiperface encoder stop coder: Analog voltages not within tolerance ® Hiperface • Dirt Replace the encoder. coder: Critical • Transmitter broken transmitter cur- rent ®...
Page 264 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code Absolute Immediate EnDat encoder: encoder stop Plausibility check EnDat encoder: Replace the encoder. internal encoder error EnDat encoder: Check the encoder internal encoder parameterization. warning Absolute Immediate CANopen en-...
Page 265 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code ® Absolute Immediate 16418 HIPERFACE Replace the encoder. encoder stop distance encoder: 16419 internal encoder 16420 fault 16421 16422 16423 16424 ® Absolute Immediate 16425 HIPERFACE Device and Check the wiring.
Page 266 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code Absolute Immediate 16640 SSI distance en- Code tape or mirror Remove dirt. encoder stop coder: Error mes- dirty sage of encoder, Code tape/mirror and Check the alignment error bit of en- encoder not aligned and orientation of the...
Page 267 Service List of power section errors Code Meaning Response Sub- Meaning Possible cause Measure code Absolute Immediate 16960 EnDat distance Check encoder para- encoder stop encoder: internal meterization encoder warning 17152 CANopen dis- No PDO data from Check interface or tance encoder: CANopen distance en- configuration...
Page 268: Index
Index Index Icons Automotive AMA0801 ® IPOSPLUS application module..... 24 "Explicit messages" error code...... 85 Process data .......... 138 Due to timeout .......... 89 Auto-negotiation .......... 31 General error codes ........ 87 ® MOVILINK -specific ........ 88 Numerical Brake function, parameter ......... 219 Braking operation, parameter ......
Page 269 Index Components Device replacement........... 243 Service unit........... 246 Device status .......... 37, 38 Configuration DHCP EtherNet/IP™ master ........ 39 Deactivate/Activate......... 30 Modbus/TCP master ........ 90 Description ............. 28 Configuration example EtherNet/IP™ Digital inputs, parameter ...... 194, 215 Accessing parameters........ 52 Direction of motor rotation, parameter....
Page 270 Index Ethernet nodes Fault responses .......... 248 Adjusting the IP address ...... 147 FC16 – Write multiple registers ...... 105 Search ............ 146 FC23 – Read/write multiple registers .... 106 Ethernet plug connector ........ 32, 33 FC3 – Read holding registers...... 104 Ethernet service interface........
Page 271 Index ® IPOSPLUS travel parameters ...... 234 FC43 – Read device identifications.... 107 Modulation, parameter ........ 228 Modulo positioning Laptop ® IPOSPLUS application module..... 23 Addressing ........... 148 Process data .......... 137 Laptop, connect with ......... 154 Motor Lifting applications .......... 12 Explosion-proof, current limiting parameter..
Page 272 Index Process data structure ......... 131 Status messages.......... 34 Status word .......... 131 Outputs ® MOVIPRO binary, parameter ......... 194 Control word .......... 119 Digital, process data exchange .... 120, 125 Parameterizing .......... 156 Overview of functions ® Process data in the delivery state .... 121 MOVIPRO ADC ..........
Page 273 Index P86. Modulation .......... 228 Power section P87. Process data description...... 229 Application modules ........ 20 P90. IPOS reference travel ....... 231 Overview of parameters ....... 185 P91. IPOS travel parameters ...... 234 Parameterizing .......... 156 P92. IPOS monitoring........ 237 Perform startup..........
Page 274 Index ® MOVIPRO ADC with regenerative power sup- Service ply.............. 131 Device replacement........ 243 ® MOVIPRO SDC .......... 118 Device status.......... 37, 38 ® MOVIPRO , general........ 118 Service interface.......... 246 Process values, parameters ...... 191 Service unit............ 246 Product names ............ 10 Setpoint stop function, parameter .....
Page 275 Index ® MOVIPRO SDC .......... 119 Subnet mask .......... 27 Studio 5000 Logix Designer Technical data Accessing device parameters ...... 61 EtherNet/IP™ interface ........ 89 Configuring EtherNet/IP™ master.... 43 Modbus/TCP interface........ 114 Configuring process data exchange.. 48, 50 Timeout behavior Subnet mask ............
Page 280 SEW-EURODRIVE—Driving the world SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 76642 BRUCHSAL GERMANY Phone +49 7251 75-0 Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com...

SEW-Eurodrive MOVIPRO Ethernet/IP Manual

1 General Information

2 Safety Notes

3 Introduction

4 Startup

5 Installation Notes

6 Configuration and Startup of Ethernet/Ip

7 Ethernet Industrial Protocol (Ethernet/Ip™)

8 Configuration and Startup of Modbus/Tcp

9 Modbus Protocol (Modbus/Tcp)

10 Error Diagnostics for Operation on Ethernet/Ip™ and Modbus/Tcp

11 Process Data Description

ADC with R15 Regenerative Power Supply

12 Operation with the MOVITOOLS Motionstudio Engineering Software

13 Parameter Setting

14 Service

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