SEW-Eurodrive MOVIDYN User Manual
  1. Manuals
  2. Brands
  3. SEW-Eurodrive Manuals
  4. Controller
  5. MOVIDYN
  6. User manual

SEW-Eurodrive MOVIDYN User Manual

Servo controller
Hide thumbs Also See for MOVIDYN:
Table of Contents

Advertisement

Quick Links

Download this manual
MOVIDYN
®
Servo Controller
Fieldbus Unit Profile
User Manual
Edition 04/96
16/042/95

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MOVIDYN and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for SEW-Eurodrive MOVIDYN

Summary of Contents for SEW-Eurodrive MOVIDYN

  • Page 1 MOVIDYN ® Servo Controller Fieldbus Unit Profile User Manual Edition 04/96 16/042/95...
  • Page 2 (→ section x.x) means: Further information can be found in section x.x of this user manual. Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and specifications. The manufacturer reserves the right to make changes to the technical data and designs as well as the user interface herein described, which are in the interest of technical progress.
  • Page 3 Fieldbus Documentation Fieldbus Documentation ® This Fieldbus Unit Profile User Manual describes the operation of the MOVIDYN 51.. servo controller when connected to a higher-level automation system via a fieldbus option pcb. In addition to descriptions of all the fieldbus parameters, the various control concepts and potential applications are dealt with.

  • Page 4: Table Of Contents

    3.4.1.4 Resetting the Servo Controller after a Fault......29 ® MOVIDYN Fieldbus Unit Profile...
  • Page 5 Special Return Codes (Special Cases) ....... . 48 ® MOVIDYN Fieldbus Unit Profile...
  • Page 6 Index ............... 77 ® MOVIDYN Fieldbus Unit Profile...

  • Page 7: Introduction

    PROFIBUS-DP, PROFIBUS-FMS, INTERBUS-S or ® CAN by using different fieldbus option pcbs. The MOVIDYN 51.. also enables connections to other fieldbus systems to be made thanks to the powerful, universal structure of its fieldbus interface.

  • Page 8: Overview Of Functions

    Overview of Functions Overview of Functions ® Thanks to its high-performance, universal fieldbus interface, the MOVIDYN 51.. servo controller enables connections to be made with higher level automation systems via a wide range of fieldbuses, such as INTERBUS-S, PROFIBUS-DP, PROFIBUS-FMS or CAN. The underlying behaviour of the servo controller, known as the unit profile, is independent of the fieldbus and is thus uniform.
  • Page 9 The use of a fieldbus system in drive technology requires additional monitoring functions, such as ® fieldbus timeout or special emergency stop concepts. The monitoring functions of the MOVIDYN 51.. can be matched to the specific application for which it is to be used. This feature enables you, for instance, to specify which error response the servo controller should trigger if an error should occur in the bus.

  • Page 10: Process Data Control

    After the servo controller is set to the factory settings, this parameter is set to ANALOGUE INPUT . The servo controller parameters are set to accept the setpoints from the fieldbus with the setting FIELDBUS. The MOVIDYN servo controller will now respond to the process output data transmitted by the higher-level automation unit.
  • Page 11 P302 MA (X21.8) = NO FUNCTION 4. Setpoint Source = FIELDBUS Program the setpoint source to FIELDBUS to control the servo controller via fieldbus. P110 Setpoint source = FIELDBUS ® Fig. 2: Commissioning the MOVIDYN 51.. servo controller MD0244AE ® MOVIDYN Fieldbus Unit Profile...

  • Page 12: Process Data Configuration

    PD 2 P D 3 Process input data (PI) ® Fig. 3: Process data channel for the MOVIDYN 51.. servo controller MD0245AE The process data configuration settings are made via the fieldbus option pcb, either through the hardware switches or via the fieldbus master at the start-up of the bus system (e.g. PROFIBUS-DP).

  • Page 13: Process Data Description

    (setpoints) are to be transmitted to the servo controller from the control unit, and which process ® input data (actual values) are to be transferred from the MOVIDYN 51.. servo controller in the opposite direction to the higher-level control unit for your particular application. The following six...

  • Page 14: No Function (No Function)

    3.3.1.2 Speed Setpoint (SPEED) ® The Setpoint Description POx = Speed setting causes the MOVIDYN servo controller to interpret the setpoint transmitted in this process data word as speed setpoint. The speed setpoint specified via the fieldbus will only be effective in the ”speed control” mode (P100 mode = SPEED CONTROL).

  • Page 15: Current Setpoint (Current)

    Scaling of the speed setpoint see Section 3.3.5. 3.3.1.3 Current Setpoint (CURRENT) ® The Setpoint Description POx = Current setting causes the MOVIDYN servo controller to interpret the setpoint specified in this process data word as current setpoint. The current setpoint specified via the fieldbus will only be effective in the ”torque control”...

  • Page 16: Speed Limit (Max. Speed)

    3.3.1.7 Slip Compensation (SLIP) ® Entering the slip via the fieldbus is not possible in the case of the MOVIDYN 51.. servo controller! 3.3.1.8 Process Ramp (RAMP) ®...

  • Page 17: Control Word 1 / Control Word 2

    Table 3: Suitable combinations for the setpoint description of PO data In addition to the process output data from the fieldbus system the digital input terminals and, in ® special cases, the analogue setpoint from the MOVIDYN 51.. servo controller are used, too. ®...

  • Page 18: No Speed Setpoint Entry From The Fieldbus System

    3.3.2.2 No Control Word Entry from the Fieldbus System If no control word is transmitted to the servo controller via the process output data, control of the ® MOVIDYN 51.. servo controller is exclusively via the digital input terminals. 3.3.2.3 Duplicate Usage of the Process Output Data Channel If several process output data words contain the same setpoint description, only the process output data word which is read first will be valid.

  • Page 19: 32-Bit Process Output Data

    If you assign NO FUNCTION to a process input data word, the servo controller will not update this ® process input data word. In this case, the MOVIDYN 51.. will always return a value of 0000 the higher level control system.

  • Page 20: Speed Actual Value (Speed)

    Section 3.3.5 3.3.3.3 Apparent Current Actual Value (APPARENT CURRENT) ® As the MOVIDYN 51.. servo controller for reasons of physics only works with the active current, the APPARENT CURRENT setting is identical with the ACTIVE CURRENT setting. Both variants return the active current (Q component) (see also Section 3.3.3.4).

  • Page 21: Enable Factory Setting Of The Fieldbus Setpoints Parameter

    There are four different process data types: - Speed [1/min] - Current [% rated current] - Ramp [ms] - Position [degrees]. ® MOVIDYN Fieldbus Unit Profile...

  • Page 22: Scaling Of The Speed

    1digit = 0.1 % IN Reference: Servo controller rated current -3276.8 % ..0..+3276.7 % Range: 8000 ..0..7FFF Apparent current actual value Applies to: Active current actual value Table 7: Scaling of Current process data ® MOVIDYN Fieldbus Unit Profile...

  • Page 23: Scaling Of The Ramp

    It is up to the user to decide in which process data word he wishes to transmit the more significant part of the position (high word) and the less significant part of the position (low). The position is therefore transmitted as signed 32-bit integer. Table 9 shows the scaling for Position process data. ® MOVIDYN Fieldbus Unit Profile...
  • Page 24 -35 ⋅ 4096 = -143360   = FFFD D000 Position LO 35 revs CCW Position HI 0001 3000 Position 2: 19 ⋅ 4096 = 77824   = 0001 3000 Position LO 19 revs CW Position HI ® MOVIDYN Fieldbus Unit Profile...

  • Page 25: Definition Of The Control Word

    (Fig. 12). All other functions, which can be activated both via the terminals and via the control word, are processed as OR functions. ® MOVIDYN Fieldbus Unit Profile...
  • Page 26 0000 in the case of a fault or malfunction. In this case the servo controller will carry out a rapid stop and then activate the mechanical brake. ® MOVIDYN Fieldbus Unit Profile...

  • Page 27: Controlling The Servo Controller With A 0-2 Bit

    X = irrelevant lowest priority ® Fig. 13: Coding of the control commands of the MOVIDYN 51.. servo controller MD0257AE While the servo controller is generally enabled with the Enable command, there is a choice of three control commands to stop the drive, i.e.
  • Page 28 If not, the servo controller will use the parameterized ramp generators for this control command, depending on the selected ramp generator set: P121 Ramp 1 down CLOCKWISE [s] P123 Ramp 1 down COUNTERCLOCKWISE [s] P131 Ramp 2 down CLOCKWISE [s] P133 Ramp 2 down COUNTERCLOCKWISE [s] ® MOVIDYN Fieldbus Unit Profile...

  • Page 29: Activating The Hold Control

    Bit 6 of the control words resets the servo controller via the process data channel in the case of a fault. Every set can only be initiated with a 0/1 transition in the control word (see Table 10). All other reset options continue to be active. ® MOVIDYN Fieldbus Unit Profile...

  • Page 30: Control Word 1

    51.. feature allows you to individually implement your fieldbus drive application making full use of all unit functions via the fieldbus interface. ® Fig. 17 shows the control word 2 assignment for the standard MOVIDYN 51.. unit. Virtual input terminals...

  • Page 31: Definition Of The Status Word

    – Reserved – ® Table 12: Virtual input terminal functions for the MOVIDYN 51.. servo controller Definition of the Status Word The status word is 16 bits long. The less significant byte, the basic status block, comprises 8 status bits with a permanent definition, which reflect the most important drive conditions. The assignment of the more significant status bits varies for the different status words.

  • Page 32: The Controller Enabled Status Bit

    The servo controller is not ready to respond, if ® - the MOVIDYN 51.. signals a fault - the factory setting is ongoing (set-up) - no mains voltage is present, only the external 24V ®...

  • Page 33: The Fieldbus Mode Active Signal

    Switch CCW. If one of the limit switches is actuated, an internal emergency stop is effected independent of the specified control word, i.e. the drive ramps to rest using the emergency stop ramp, and the corresponding status bits in the status word of the servo controller are set accordingly. This ® MOVIDYN Fieldbus Unit Profile...

  • Page 34: Status Word 1

    02: etc. etc. Fig. 20: Assignment of status word 1 MD0264AE ® ® Table 16 contains a list of MOVIDYN 51... unit conditions. Fault coding see MOVIDY N 51.. Parameter List under Index 16: Fault t-4 . Code (decimal) Unit status –...

  • Page 35: Status Word 2

    Fig. 21 shows the assignment of status word 2. Virtual output terminal Permanently defined 15 14 13 12 11 10 9 Controller enabled MOVIDYN ready for operation Fieldbus mode active Active ramp generator set Reserved Fault / warning...

  • Page 36: Active Input Terminal Functions

    Rapid stop Controller inhibit Stop Rapid stop Stop Stop Controller inhibit Enable Rapid stop Stop Enable Controller inhibit Setpoint processing Fig. 22: Connecting the safety-relevant control signals from the input terminals and the fieldbus MD0266AE ® MOVIDYN Fieldbus Unit Profile...

  • Page 37: Active Output Terminal Functions

    /Limit switch CW /Limit switch CCW Table 18: Connecting the input terminals and the control word bits Active Output Terminal Functions The functionality of the output terminals is in no way limited by the fieldbus mode. ® MOVIDYN Fieldbus Unit Profile...

  • Page 38: Monitoring Functions

    Monitoring Functions Monitoring Functions ® To ensure safe operation of the MOVIDYN 51.. servo controller when in the fieldbus mode, additional fieldbus monitoring functions were implemented which e.g. trigger a certain drive function in the case of a bus error. The required drive response can be set by the user. The two fieldbus parameters...

  • Page 39: Rapid Stop With Warning

    ( P150 Emergency Stop Ramp ) and signal a fault (fault 28). To clear this fault you must reset the servo controller at the keypad, via the terminals or the fieldbus. ® MOVIDYN Fieldbus Unit Profile...

  • Page 40: Immediate Switch-Off With Fault

    3) Connect the mains supply. 4.2.8 No Response The servo controller continues to operate using the process output data last received until the bus system will send new process data again. No fault signal is issued. ® MOVIDYN Fieldbus Unit Profile...

  • Page 41: Fault Fieldbus Timeout

    ( P791 Fieldbus Timeout ) is triggered and a fault or warning issued. ® Depending on the set fault response the MOVIDYN 51.. servo controller will give out three different fault messages. In all three cases the fault messages signal that no valid user data have been received from the fieldbus system.

  • Page 42: Servo Controller Parameter Setting

    51.. servo controller is generally carried out according to a master-slave pattern, i.e. the servo controller only supplies the information requested if asked to do ® so by the higher-level automation equipment. Thus MOVIDYN 51.. invariably has slave functionality only (Fig. 23).

  • Page 43: Data Length/Coding

    Controller Parameters 5.1.2 Data Length/Coding ® The parameter data length for MOVIDYN 51.. servo controllers amounts to a constant 4 bytes for all parameters. You can find detailed information about data length and coding as well as information ® on minimums and maximums in the MOVIDY N 51..

  • Page 44: Writing A Parameter (Write)

    Writing a parameter is carried out via the fieldbus interface in a similar way to reading a parameter. ® A Write Request from the automation equipment informs the MOVIDYN 51.. servo controller of the parameter index to be written, together with the new parameter data. When it receives the write request, the servo controller is instructed to re-define the transferred drive parameter ( Write Indication ).

  • Page 45: Factory Setting

    During parameter adjustment, it should be borne in mind that all parameters written via the fieldbus ® system are normally stored in the servo controller. The MOVIDYN 51.. servo controller uses an EEPROM as resident storage, and the life of this is limited by the number of save operations.

  • Page 46: Parameter Lock

    These return codes are structured according to DIN 19245 Part 2. A distinction is made between the following elements: Error Class Error Code Additional Code ® MOVIDYN Fieldbus Unit Profile...

  • Page 47: Error Class

    The Additional Code contains the SEW-specific return codes for faulty servo controller parameter adjustment. They are sent back to the master under Error Class 8 = Other Error . Table 23 displays all possible codings for the Additional Code. ® MOVIDYN Fieldbus Unit Profile...

  • Page 48: Special Return Codes (Special Cases)

    - Incorrect indication of service length via a parameter channel - Drive parameter accessing error Further information can be found in the User Manual for the relevant fieldbus option pcb in the section entitled “Parameter Adjustment Return Codes”. ® MOVIDYN Fieldbus Unit Profile...

  • Page 49: Diagnosis Using The Fieldbus Monitor Parameters

    Fieldbus timeout P792 Timeout response ® Table 24: Fieldbus parameters of the MOVIDYN 51.. servo controller Diagnosis of Process Output Data Faulty operation of the servo controller can normally be traced back to a faulty application program. This means that false control information or setpoints are occasionally sent to the servo controller from the higher-level control.

  • Page 50: Diagnosis Of Process Input Data

    0006 01F4 0000 ® Fig. 26: Process output data diagnosis with MOVIDYN 51.. MD0270AE These fieldbus monitor parameters allow all process data to be analyzed using the MD_SHELL PC program. In addition, MD_SHELL offers an interpretation of the process output data conforming to the unit profile, such as a display of speed setpoints in units of [1/min].

  • Page 51: Md_Shell Fieldbus Monitor

    Diagnosis Using the Fieldbus Monitor In Monitor mode , the MD_SHELL fieldbus monitor allows the setpoints and actual values exchanged ® between the higher-level control unit and the MOVIDYN 51.. servo controller to be continuously and clearly viewed and analyzed.

  • Page 52: Verification Of Parameter Adjustment

    Fieldbus Option PCB Type The fieldbus monitor parameter P091 Fieldbus Type shows which fieldbus system will be supported ® by the fieldbus option pcb used. Because the fieldbus interface on the MOVIDYN 51.. servo controller is universal, this parameter is for information only.

  • Page 53: Fieldbus Baud Rate

    Adjustment of this address is carried out using a hardware switch on the fieldbus option pcb (see the user manual for the option pcb). This parameter will be set at 0 for fieldbus systems which do not need station addressing. ® MOVIDYN Fieldbus Unit Profile...

  • Page 54: Application Examples

    Application Examples Application Examples ® This section gives two examples of applications that demonstrate how to operate the MOVIDYN 51.. servo controller with a fieldbus connection and control it via the fieldbus option pcb. Control Using Control Word 1 and Speed...

  • Page 55: Commissioning

    To operate with the fieldbus, connect the servo controller to an external 24V supply (see ® Installation and Operating Instructions MOVIDYN ). Insert a jumper between terminals X21.5 and X21.12 in order to enable the servo controller on the terminal side (Fig. 31).
  • Page 56 8) Program the fieldbus parameter Fieldbus Timeout to 100ms and the parameter Timeout Response to Rapid Stop as set out in the Objective. Fieldbus timeout [s] 0.10 Timeout response RAPID STOP Fig. 35: Programming the fieldbus timeout and timeout response via MD_SHELL MD0279AE ® MOVIDYN Fieldbus Unit Profile...

  • Page 57: S5 Application Program

    Fig. 37: Programming the ramp generators used in the application program MD0281AE Fig. 38 shows the S5 program for this application example. In the upper section the setpoint is specified depending on input E1.3. Actual control of the servo controller via the control word starts ® MOVIDYN Fieldbus Unit Profile...

  • Page 58: Set Start-Up Parameters Via Fieldbus

    STOP :L KH 0000 Write rapid stop :T PW 132 to control word ® Fig. 38: Example of an S5 program for control of the MOVIDYN 51.. servo controller via the process data MD0282AE 7.1.4 Set Start-up Parameters via Fieldbus The manual configuration procedure described in Section can also be carried out automatically by the higher-level fieldbus master, i.e.

  • Page 59: Control Using Control Word 1 / Speed / Ramp

    Control word 1 Ramp setpoint Speed Apparent current Status word 1 actual value actual value Process input data (PI) Fig. 39: Application example for control of the servo controller using three process data words MD0284AE ® MOVIDYN Fieldbus Unit Profile...

  • Page 60: Objective

    To operate with the fieldbus, connect the servo controller to an external 24V supply (see ® Installation and Operating Instructions MOVIDYN ). Insert a jumper between terminals X21.5 and X21.12 in order to enable the servo controller on the terminal side (Fig. 40).
  • Page 61 5) Now commission the drive in accordance with the installation and operating instructions. 6) Set the setpoint source parameter of the servo controller at fieldbus. Setpoint source FIELDBUS Fig. 42: Switching to setpoint source fieldbus via MD_SHELL MD0287AE ® MOVIDYN Fieldbus Unit Profile...
  • Page 62 Rapid stop ramp [s] 0.20 Fig. 47: Programming the rapid stop ramp for the Rapid Stop control command MD0292AE All the parameters for this application example have now been assigned. ® MOVIDYN Fieldbus Unit Profile...

  • Page 63: S5 Application Program

    . Similarly, when the Stop control command is given, the deceleration ramp generator is first transferred from MW102 to PW136 (ramp) and the Stop control command is then transferred to the control word with the coding 0000 ® MOVIDYN Fieldbus Unit Profile...

  • Page 64: Set Start-Up Parameters Via Fieldbus

    :T PW 132 to control word ® Fig. 48: Example of an S5 program for control of the MOVIDYN 51.. servo controller via the process data MD0293AE The process input data Status Word 1 , Speed Actual Value and Active Current Actual Value can be processed with the load command (e.g.

  • Page 65: Positioning Using Ipos Via Fieldbus

    7.3.1 Objective ® The MOVIDYN servo controller shall receive different position setpoints via the fieldbus system and then perform the positioning as instructed. Control of this process shall be via the fieldbus master. In addition, the current actual position and the status of the servo controller shall be reported back to the higher-level master.

  • Page 66: Implementation Options Using Ipos

    AIO11 option, which are not physically available when the fieldbus option pcb is plugged in, are then mirrored as virtual terminals in control word 2 or status word 2 to the fieldbus system (Fig. 50). ® MOVIDYN Fieldbus Unit Profile...

  • Page 67: Commissioning

    AFC 11A (CAN) options, for example, this can be done via the DIP switches on the option pcb. In the case of the PROFIBUS-DP (AFP 11A option), the process data length is configured in the master module. Please see the User Manuals on the relevant fieldbus option pcb for further information. ® MOVIDYN Fieldbus Unit Profile...
  • Page 68 Enable Fieldbus Setpoints = NO . Change the setting of P790 Enable Fieldbus Setpoints = YES to enable the fieldbus setpoints again. Enable fieldbus setpoints Fig. 55: Enabling the fieldbus setpoints via MD_SHELL MD0300AE ® MOVIDYN Fieldbus Unit Profile...
  • Page 69 16) Now create the IPOS automatic program and use the GOPA command to make use of the position setpoints specified from the fieldbus. Fig. 61 shows the minimum program which is necessary in order to use the position setpoint from the fieldbus interface. ® MOVIDYN Fieldbus Unit Profile...

  • Page 70: S5 Application Program

    Write setpoint position low IMPORTANT! Make sure that the position values are dealt with consistently, i.e. that position high and position low will supply the correct 32-bit position value within a program and bus cycle! ® MOVIDYN Fieldbus Unit Profile...

  • Page 71: Index

    PI, 20 Manual - P792 time out response, 38, 39 Application examples, 54; 59 - user notes on activation, 45 ® Fault message, also see MOVIDYN 51.. Baud rate Installation and Operating Instructions display of, 53 ® - coding, see MOVIDYN 51..
  • Page 72 - basic status block, 31 - via fieldbus, also see Fieldbus Option - bit 0-7 function, 32 pcb User Manual; 42 - coding of MOVIDYN 51.. unit status, 34 - writing a parameter, 44 - status word 1, 34 Process...
  • Page 73 SEW-EURODRIVE GmbH & Co · P.O.Box 30 23 · D-76642 Bruchsal/Germany Tel. +49-7251-75-0 · Fax +49-7251-75-19 70 · Telex 7 822 391 http://www.SEW-EURODRIVE.com · sew...

Table of Contents