SEW-Eurodrive MOVIDRIVE CES11A Manual
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SEW-Eurodrive MOVIDRIVE CES11A Manual

SEW-Eurodrive MOVIDRIVE CES11A Manual

Multi-encoder card
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*22747850_0316*
Drive Technology \ Drive Automation \ System Integration \ Services
Manual
®
®
MOVIDRIVE
Modular, MOVIDRIVE
System
CES11A Multi-Encoder Card
Edition 03/2016
22747850/EN

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Summary of Contents for SEW-Eurodrive MOVIDRIVE CES11A

  • Page 1 *22747850_0316* Drive Technology \ Drive Automation \ System Integration \ Services Manual ® ® MOVIDRIVE Modular, MOVIDRIVE System CES11A Multi-Encoder Card Edition 03/2016 22747850/EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    Table of contents Table of contents General information........................  5 About this documentation .................... 5 Structure of the safety notes ................... 5 1.2.1 Meaning of signal words ................  5 1.2.2 Structure of section-related safety notes............  6 1.2.3 Structure of embedded safety notes ..............   6 Rights to claim under limited warranty ................ 7 Exclusion of liability...................... 7 Other applicable documentation .................. 7...
  • Page 4 Table of contents 5.1.4 Example: Determining the number of encoder increments per motor revolution   28 Parameterization of the approved encoder.............. 29 5.2.1 SSI encoder ....................  29 5.2.2 CANopen encoder..................  31 ® 5.2.3 HIPERFACE encoders ................  31 Startup .............................   32 General startup instructions .................. 32 Startup procedure ...................... 32 Error messages ........................

  • Page 5: General Information

    General information About this documentation General information About this documentation This documentation is an integral part of the product. The documentation is intended for all employees who perform assembly, installation, startup, and service work on the 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 device in- dependently have read through the documentation carefully and understood it.

  • Page 6: Structure Of Section-Related Safety Notes

    General information Structure of the safety notes 1.2.2 Structure of section-related safety notes Section-related safety notes do not apply to a specific action but to several actions pertaining to one subject. The hazard symbols used either indicate a general hazard or a specific hazard.

  • Page 7: 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 unit! Exclusion of liability Read the information in this documentation, otherwise safe operation is impossible.

  • Page 8: Safety Notes

    Safety notes Safety functions Safety notes Safety functions ® ® The MOVIDRIVE modular and MOVIDRIVE system drive inverters may not perform safety functions without higher-level safety systems. Use higher-level safety systems to ensure protection of equipment and personnel. Lifting applications ®...

  • Page 9: System Description

    System description Fields of application System description Fields of application ® The CES11A multi-encoder card expands the MOVIDRIVE modular and ® MOVIDRIVE system application inverters by an additional encoder connection. This offers the following possibilities: • The encoder can be used as distance encoder or as motor encoder. •...

  • Page 10: Application Examples

    System description Application examples Application examples ® 3.3.1 Absolute positioning with combi encoders (HIPERFACE , SSI, EnDat) Apart from an incremental signal (SIN/COS, TTL, HTL) for speed control, combi en- coders also have a signal for the absolute position. This absolute position is usually transmitted via a serial interface.

  • Page 11: Absolute Positioning With Synchronous Encoder

    System description Application examples 3.3.2 Absolute positioning with synchronous encoder With systems subject to slip, it is not possible to detect the position via the motor en- coder. This is why an additional measuring system is required for the track. Measuring systems can be laser distance encoders, barcode encoders, draw-wire encoders or length scales.

  • Page 12: Multi-Motor Operation With Parameter Set Changeover

    System description Application examples 3.3.3 Multi-motor operation with parameter set changeover RUN ERR 17426208395 Motor encoder 1 on X15 of the basic unit Motor encoder 2 on X17 of the CES11A multi-encoder card When an additional CES11A multi-encoder card is plugged in the axis module, 2 mo- tor encoders can be connected to an MDA single-axis module.

  • Page 13: Suitable Encoders

    System description Suitable encoders Suitable encoders Manufacturer Designation Interface Encoder type Balluff BTL5-S112 Linear Balluff BTL5-S112B Linear Dimetix FLS-C 10 Linear Elgo LIMAX2 Linear Heidenhain ECN113 EnDat2.1 Rotational Heidenhain ECN1313 EnDat2.1 Rotational Heidenhain EQN1125 EnDat2.1 Rotational Heidenhain EQN1325 EnDat2.1 Rotational Heidenhain EQN425 EnDat2.1...
  • Page 14 System description Suitable encoders Manufacturer Designation Interface Encoder type SEW‑EURODRIVE EK0H HIPERFACE Rotational SEW‑EURODRIVE EK1H HIPERFACE Rotational SEW‑EURODRIVE ES1H HIPERFACE Rotational SEW‑EURODRIVE ES2H HIPERFACE Rotational SEW‑EURODRIVE ES3H HIPERFACE Rotational SEW‑EURODRIVE ES4H HIPERFACE Rotational SEW‑EURODRIVE ES7H HIPERFACE Rotational SEW‑EURODRIVE EV1H HIPERFACE Rotational SEW‑EURODRIVE AS7Y...
  • Page 15 System description Suitable encoders Manufacturer Designation Interface Encoder type Sick DME4000-xx9 0.1 mm CANopen Linear Sick DME4000-xx9 1 mm CANopen Linear Sick DME4000-xx7 / DME5000-xx7 HIPERFACE Linear Sick AFM60B Rotational Sick AFM60E Rotational Sick DME3000-111 Linear Sick DME5000-1x1 0.1 mm Linear Sick DME5000-1x1 1 mm...

  • Page 16: Assembly/Installation Instructions

    Assembly/Installation instructions Before you start Assembly/Installation instructions Before you start Observe the following notes before installing or removing the CES11A multi-en- coder card: • Disconnect the inverter from the power. Disconnect the DC  24  V supply and the supply system voltage. •...
  • Page 17 Assembly/Installation instructions Installing the multi-encoder card – MOVIDRIVE® modular 3. Remove the cover [1] from the front of the application inverter. 18014412495194507 4. Remove the plastic cover [1] at the card slot. 18014412495192075 Manual – CES11A Multi-Encoder Card...
  • Page 18 Assembly/Installation instructions Installing the multi-encoder card – MOVIDRIVE® modular INFORMATION Hold the multi-encoder card by its edges only. 5. Take the multi-encoder card [1] and insert it in the slot with slight pressure. 18014412495196939 6. Screw in the card with the specified tightening torque . 18014412495199371 7.

  • Page 19: Installing The Multi-Encoder Card - Movidrive System

    Assembly/Installation instructions Installing the multi-encoder card – MOVIDRIVE® system Installing the multi- encoder card – MOVIDRIVE ® system ® Installing the multi-encoder card – MOVIDRIVE system Observe the notes in chapter "Electrical Installation" in the inverter operating instruc- tions. 1. Disconnect the application inverter from the power supply. Disconnect the DC 24 V supply and the line voltage.
  • Page 20 Assembly/Installation instructions Installing the multi-encoder card – MOVIDRIVE® system 5. Take the multi-encoder card [1] and insert it in the slot with slight pressure. 15160623243 6. Screw in the card with the specified tightening torque . 15160625675 Manual – CES11A Multi-Encoder Card...

  • Page 21: Connection And Terminal Assignment

    Assembly/Installation instructions Connection and terminal assignment 7. Install the cover [1] at the front of the application inverter. 14578455307 Connection and terminal assignment Part number Multi-encoder card type CES11A: NOTICE The connections on X17 must not be installed or removed during operation. Electrical components in the encoder or on the encoder card could be destroyed.

  • Page 22: Terminal Assignment Of Ttl, Htl, Sin/Cos Encoder

    Assembly/Installation instructions Connection and terminal assignment 4.5.1 Terminal assignment of TTL, HTL, SIN/COS encoder Card Terminal Connection Brief description A (COS+) (K1) Signal track A (COS+) (K1) X17:1 B (SIN+) (K2) Signal track B (SIN+) (K2) X17:2 Signal track C (K0) X17:3 Reserved –...

  • Page 23: Terminal Assignment Endat Encoder

    Assembly/Installation instructions Connection and terminal assignment 4.5.3 Terminal assignment EnDat encoder Card Terminal Connection Brief description A (COS+) Signal track A (COS+) X17:1 B (SIN+) Signal track B (SIN+) X17:2 PULSE+ Clock signal X17:3 DATA+ Data line X17:4 Reserved – X17:5 X17:6 -TEMP_M...

  • Page 24: Terminal Assignment Ssi And Sin/Cos Combination Encoders

    Assembly/Installation instructions Connection and terminal assignment 4.5.5 Terminal assignment SSI and SIN/COS combination encoders Card Terminal Connection Brief description A (COS+) Signal track A (COS+) X17:1 B (SIN+) Signal track B (SIN+) X17:2 PULSE+ Clock signal X17:3 DATA+ Data line X17:4 Reserved –...

  • Page 25: Encoder Connection

    Assembly/Installation instructions Encoder connection Encoder connection 4.6.1 General installation notes Encoder connection Description Connecting socket on the card 15-pole D-sub socket Maximum encoder cable length • HTL encoder ES7C and EG7C: 100 m • Standard HTL encoder: 100 m • Other encoders: 100 m, see note [1] Core cross section Min.

  • Page 26: Project Planning

    Project planning Absolute encoder selection Project planning Absolute encoder selection When selecting the absolute encoder, the following points should be considered to achieve optimum travel characteristics and good dynamic properties in the system: • Position measurement should be conducted without slip. The rotary encoders should be driven with no slip.

  • Page 27: Laser Distance Measuring Instruments

    Project planning Absolute encoder selection 5.1.2 Laser distance measuring instruments Distance measurement with laser systems is based on a runtime measurement of pulsed infrared beams. Various measurement values have to be processed in the en- coder to determine an accurate position value with this procedure. The result is a delay in position measurement with these systems of up to 50 ...

  • Page 28: Example: Determining The Number Of Encoder Increments Per Motor Revolution

    Project planning Absolute encoder selection 5.1.4 Example: Determining the number of encoder increments per motor revolution The following example shows, how the amount of generated encoder increments of a distance encoder per motor revolution is determined. 17426501003 ® Startup via MOVISUITE engineering software Specifications: •...

  • Page 29: Parameterization Of The Approved Encoder

    Project planning Parameterization of the approved encoder Parameterization of the approved encoder The following points must be observed in the design and construction of encoders and when setting their parameters: 5.2.1 SSI encoder INFORMATION The following applies for all parameterizable SSI encoders: •...
  • Page 30 Project planning Parameterization of the approved encoder – The resolution must be set to 0.1 mm or 1 mm. – Set parameter "AvgDst" to "Fast". • SICK OLM100 – You have to set "24 data bits + error bit". – Set the resolution to 0.1 mm. •...

  • Page 31: Canopen Encoder

    Project planning Parameterization of the approved encoder 5.2.2 CANopen encoder • TR CE 58 CANopen – The termination switch must be set to "ON". – The node ID must be set to 1 via the 6-fold DIP switch. – The number of increments per revolution must be set to the standard value 4096.

  • Page 32: Startup

    Startup General startup instructions Startup General startup instructions INFORMATION ® You need the MOVISUITE SEW‑EURODRIVE engineering software for startup. ® • The encoder startup must be performed connected to MOVIDRIVE modular/ ® MOVIDRIVE system. The mechanics coupled to the external encoder must be movable via a suitable setpoint and control signal source.

  • Page 33: Error Messages

    Error messages Fault 14 Encoder 2 Error messages Fault 14 Encoder 2 Suberror: 14.1 Description: Position comparison check Response: Encoder 2 – latest critical error Cause Measure - Comparison between raw position and track counter faulty - Check the track signal wiring. with absolute encoders.
  • Page 34 Error messages Fault 14 Encoder 2 Suberror: 14.8 Description: Signal level monitoring Response: Encoder 2 – latest critical error Cause Measure - Error while monitoring signal level; vector exceeds permitted - Check the resolver mounting position. limit. Suberror: 14.9 Description: Quadrant check Response: Encoder 2 –...
  • Page 35 Error messages Fault 14 Encoder 2 Suberror: 14.15 Description: System error Response: Encoder 2 – latest critical error Cause Measure - Encoder evaluation signals a system error. - Multi-turn encoder left the configured range. - Check limits. - Check correct settings of encoder numerator/denominator factors.
  • Page 36 Error messages Fault 14 Encoder 2 Suberror: 14.22 Description: Internal fault – critical Response: Encoder 2 – latest critical error Cause Measure - Encoder signals internal fault status. - Check wiring. - Check interference source (light beam interrupted, reflector, data cable, etc.). - Replace encoder.

  • Page 37: Technical Data

    Technical data CES11A multi-encoder card Technical data CES11A multi-encoder card 8.1.1 Voltage supply The multi-encoder card is supplied by the basic unit. 8.1.2 Encoder supply Terminal designation Specification Power consumption Nominal power loss 24 V < 3 W Operating power 15 W Encoder supply 12 V X17:15...
  • Page 40 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...

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