SEW-Eurodrive MOVIDRIVE Product Manual
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SEW-Eurodrive MOVIDRIVE Product Manual

SEW-Eurodrive MOVIDRIVE Product Manual

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*31972160_824*
Drive Technology \ Drive Automation \ System Integration \ Services
Product Manual
Application Inverter
®
MOVIDRIVE
technology
Edition 8/2024
31972160/EN

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Summary of Contents for SEW-Eurodrive MOVIDRIVE

  • Page 1 *31972160_824* Drive Technology \ Drive Automation \ System Integration \ Services Product Manual Application Inverter ® MOVIDRIVE technology Edition 8/2024 31972160/EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    CIO21A and CID21A input/output cards ............... 56 CES11A multi-encoder card .................. 58 Multi-encoder card with incremental encoder simulation CES12A ....... 60 4.10 CFE21A EtherNet/IP and Modbus TCP fieldbus card  .......... 62 4.11 CFL21A fieldbus card for POWERLINK................ 63 4.12 CFN21A fieldbus card for PROFINET ................ 65 ® Product Manual – MOVIDRIVE technology...
  • Page 4 Project planning for functional safety.................  194 Definitions ........................ 194 Underlying standards .................... 194 Integrated safety technology.................. 195 Safety requirements.................... 212 Safe digital inputs (F-DI..) ................... 230 Safe digital outputs (F-DO..) .................. 233 "Brake test" diagnostics function................. 237 Data exchange with higher-level controller .............. 249 Response times ...................... 279 ® Product Manual – MOVIDRIVE technology...
  • Page 5 Brake chopper output.................... 389 10.7 Temperature evaluation .................... 390 10.8 Brake control output.................... 390 10.9 Inputs/outputs ...................... 391 10.10 System bus and module bus cabling ................ 391 10.11 Encoders........................ 394 ® 10.12 MOVILINK DDI  ...................... 395 10.13 Fieldbus cables and cable routing ................ 398 ® Product Manual – MOVIDRIVE technology...
  • Page 6 Fieldbus interface fault description ................ 670 13.11 Device replacement .................... 673 13.12 Service – functional safety .................. 674 13.13 SEW‑EURODRIVE Service .................. 688 13.14 Shutdown ........................ 688 13.15 Extended storage...................... 688 13.16 IT security guidelines for secure disposal .............. 689 13.17 Waste disposal...................... 690 ® Product Manual – MOVIDRIVE technology...
  • Page 7 Table of Contents Inspection and maintenance ....................  691 Appendix ..........................  692 15.1 Abbreviation key ...................... 692 Contacting SEW-EURODRIVE....................  694 Index ............................  695 ® Product Manual – MOVIDRIVE technology...

  • Page 8: General Information

    Death or severe injuries  WARNING Possibly dangerous situation Minor injuries  CAUTION NOTICE Possible damage to property Damage to the product or its envi- ronment INFORMATION Useful information or tip: Simplifies handling of the product. ® Product Manual – MOVIDRIVE technology...
  • Page 9 Embedded safety notes are directly integrated into the instructions just before the de- scription of the dangerous step. This is the formal structure of an embedded safety note:   SIGNAL WORD! Type and source of danger. Possible consequence(s) if disre- garded. Measure(s) to prevent danger. ® Product Manual – MOVIDRIVE technology...

  • Page 10: Decimal Separator In Numerical Values

    The product names mentioned in this documentation are trademarks or registered trademarks of the respective titleholders. Copyright notice ©  2024  SEW‑EURODRIVE. All rights reserved. Copyright law prohibits the unautho- rized reproduction, modification, distribution and use of this document – in whole or in part. ® Product Manual – MOVIDRIVE technology...

  • Page 11: Safety Notes

    All system-specific specifications and regulations Ensure that systems in which the product is installed are equipped with additional monitoring and protection devices. Observe the applicable safety regulations and leg- islation governing technical work equipment and accident prevention regulations. ® Product Manual – MOVIDRIVE technology...

  • Page 12: Target Group

    The product can be set to different access levels. Certain parameters are protected by these access levels. Authentication is implemented by using static access data. This data is not used to defend against attacks on IT security but to protect against uninten- tional modification. ® Product Manual – MOVIDRIVE technology...

  • Page 13: Designated Use

    "Technical data" in the documentation. Always comply with the data and conditions. Unintended or improper use of the product may result in severe injury to persons and damage to property. ® Product Manual – MOVIDRIVE technology...
  • Page 14 • As a device for implementing the safety functions according to EN 61800-5-2 2.5.2 Restrictions under the European WEEE Directive 2012/19/EU Options and accessories from SEW-EURODRIVE may only be used in combination with products from SEW-EURODRIVE. 2.5.3 Lifting applications To avoid danger of fatal injury due to falling hoists, observe the following points when using the product in lifting applications: •...

  • Page 15: Transport

    2.6.1 Transport information - size 5 Observe the following information: • Hold inverters of size  5 by the handling points provided on the rear panel of the housing. 21435628299 ® Product Manual – MOVIDRIVE technology...
  • Page 16 Transport information - size 7 Observe the following information: • Transport the inverter using the carrying bar [1] included in the scope of delivery. • Secure the carrying bar against axial displacement using both split pins [2]. 35809245451 ® Product Manual – MOVIDRIVE technology...

  • Page 17: Creating A Safe Working Environment

    Let the product and its accessories cool down before touching it. • Do not touch any surfaces of the product during operation, except for the control elements. • Also observe the labels and hazard symbols on the product. ® Product Manual – MOVIDRIVE technology...
  • Page 18 3. Check that no voltage is applied. 4. Ground and short-circuit. 5. Cover or isolate neighboring live parts. Depending on the situation, it is possible to deviate from rules 4 and 5. Observe stan- dard EN 50110-1. ® Product Manual – MOVIDRIVE technology...
  • Page 19 Observe the following waiting period after disconnecting the supply voltage and before performing any electrical work: 10 minutes. • Ensure that the unit is de-energized. • Also observe the labels and hazard symbols on the product. ® Product Manual – MOVIDRIVE technology...

  • Page 20: Installation/Assembly

    Direct power supply Ground connection 2.10.2 Regenerative operation The drive is operated as a generator due to the kinetic energy of the system/machine. Before opening the connection box, secure the output shaft against rotation. ® Product Manual – MOVIDRIVE technology...

  • Page 21: Startup/Operation

    Risk of burns: The surface temperature of the product can exceed 60 °C during opera- tion. Do not touch the product during operation. Let the product cool down before touching it. ® Product Manual – MOVIDRIVE technology...

  • Page 22: Product Description

    • MOVIKIT software modules across various devices This end-to-end solution offers you the following advantages: • Easy changeover between control cabinet technology and decentralized technolo- • Fast and simple startup • Low training complexity ® Product Manual – MOVIDRIVE technology...

  • Page 23: Movidrive ® Technology

    Accessories for connecting and controlling motors and brakes • Prefabricated motor and encoder cables For use in harsh environments, the inverters can be supplied with painted PCBs. The coating of the printed circuit boards increases their resistance against environmental influences. ® Product Manual – MOVIDRIVE technology...
  • Page 24 "Description and technical data" (→ 2 124) Prefabricated cables "Description and technical data" (→ 2 290) Module bus cable "Overview and cable assignment" (→ 2 322) System bus cable "Overview and cable assignment" (→ 2 323) Usable motor encoders "Overview" (→ 2 150) CMM11A or CMM21A memory module "Overview " (→ 2 92) ® Product Manual – MOVIDRIVE technology...

  • Page 25: Movi-C ® Controller

    Large selection of MOVIKIT software modules for motion control Further information can be found in the following documents: ® • "UHX25A MOVI-C CONTROLLER standard" manual ® ® • "MOVI-C – Automation with MOVI-C CONTROLLER" manual ® Product Manual – MOVIDRIVE technology...
  • Page 26 Large selection of MOVIKIT software modules for motion control Further information can be found in the following documents: ® • "MOVI-C CONTROLLER progressive UHX65A" manual ® ® • "MOVI-C – Automation with MOVI-C CONTROLLER" manual ® Product Manual – MOVIDRIVE technology...
  • Page 27 1) Roughly recommended guide value for the "parameterizing instead of programming" approach: Number of axes subject to the size of ® the user program in MOVIRUN flexible and not strictly limited if the minimum task cycle time is not specified. ® Product Manual – MOVIDRIVE technology...

  • Page 28: Technologies

    Alternatively, they can be used as stand-alone controllers for machines ® or lines. MOVI-C CONTROLLERs then take over smooth communication with the ® ® PLUS lower-level devices – e.g., MOVIDRIVE inverters – via EtherCAT /SBus and their clock-synchronous connection to the motion/application. ® The performance class of a MOVI-C...
  • Page 29 The selection of functions is always the same: technical product data, documentation, spare parts, troubleshooting and con- tact. That's exactly what you need for your product right now. ® Product Manual – MOVIDRIVE technology...
  • Page 30 On the SEW‑EURODRIVE homepage, the Online Support section offers a wealth of product-related information on the following topics: Engineering and selection Drive selection, product configuration, motor-inverter characteristics, energy efficiency tools, Safety Configuration Library for easy planning of functionally safe concepts ® Product Manual – MOVIDRIVE technology...

  • Page 31: Setpoint Processing

    "Drive" category software module Standard delivery state: ® Enabling, e.g., for MOVIKIT Velocity Drive, ® MOVIKIT  Torque Drive.. ® Enabling, e.g., for MOVIKIT Positioning Drive, ® MOVIKIT  RapidCreepPositioning Drive.. ® Enabling for customer-specific MOVIKIT software modules ® Product Manual – MOVIDRIVE technology...
  • Page 32 PLC with mo- ® tion control functionality and EtherCAT master. The CiA402 drive profile offers stan- dardized functions such as cyclic synchronous torque (CST), cyclic synchronous velo- city (CSV) or cyclic synchronous position (CSP). ® Product Manual – MOVIDRIVE technology...

  • Page 33: Control Topologies

    Depending on the variant, the inverters from the MOVI-C modular automa- tion system have a different number of digital inputs and outputs, analog inputs and outputs, and relays and can be controlled via these. ® Product Manual – MOVIDRIVE technology...
  • Page 34 The drive function is delivered at speed and safely with graphic editors using the pre- ® defined MOVIKIT   Drive software modules. Each drive axis is controlled individually via the network. Data is stored on a memory card, for example, via a data exchange function. ® Product Manual – MOVIDRIVE technology...
  • Page 35 50  kinematic models, a large number of mechanical configurations are already covered. functions kinematic models custom-made SEW‑EURODRIVE. Data is stored via a data exchange function on a memory card in ® the MOVI-C CONTROLLER. ® Product Manual – MOVIDRIVE technology...

  • Page 36: Motor Control

    Synchronous motors with and without encoder For further information, refer to chapter "Project planning of the device" (→ 2 137). 3.7.2 Control mode The characteristics of the motor connected to the inverter are influenced by the control modes used. ® Product Manual – MOVIDRIVE technology...
  • Page 37 • Application-specific speed adjustment • Standby mode • Reduced motor losses due to innovative control modes (flux optimization) • Utilization of braking energy through energy recovery ® Product Manual – MOVIDRIVE technology...

  • Page 38: Technology Functions

    You can use the PID controller for temperature control, pressure control or other applications, for example. The PID controller can be switched on and off. ® Product Manual – MOVIDRIVE technology...

  • Page 39: Technical Data

    CSA. 1) For products with functional safety, the requirements from the Low Voltage Directive are fulfilled by the Machinery Directive. 2) The selectable approvals UKCA (Great Britain) and NM (Morocco) are mutually exclusive. ® Product Manual – MOVIDRIVE technology...
  • Page 40 Directive S. I. 2012/3032 for limiting the use of certain hazardous sub- stances in electrical and electronic equipment The UL and cUL mark indicates UL approval. cUL is equally eligible for approval by the CSA. ® Product Manual – MOVIDRIVE technology...
  • Page 41 Directive S. I. 2012/3032 for limiting the use of certain hazardous sub- stances in electrical and electronic equipment The UL and cUL mark indicates UL approval. cUL is equally eligible for approval by the CSA. ® Product Manual – MOVIDRIVE technology...
  • Page 42 Low Voltage Directive S. I. 2016/1101 • Directive S. I. 2012/3032 for limiting the use of certain hazardous sub- stances in electrical and electronic equipment The cUR mark states the UL approval for this component. ® Product Manual – MOVIDRIVE technology...

  • Page 43: General Technical Data

    IEC 60721-3-2; class 2K11, non-condensing, no condensation Deviating from the standard: Temperature -25 °C to +70 °C Operation Stationary use, weatherproof IEC 60721-3-3; class 3K22, non-condensing, no condensation Deviating from the standard: Temperature 0 °C to +40 °C ® Product Manual – MOVIDRIVE technology...
  • Page 44 The specifications are characteristic values for the device test. The specifications are based on the test characteristic values according to IEC 60721-3-3 and correspond to class 3M5 according to EN 60721-3-3:1995. The tests carried out in this context are time-limited vibration cycles. ® Product Manual – MOVIDRIVE technology...
  • Page 45 Technical data Environmental conditions Vibration (sinusoidal) 2 – 200 Hz: 1 g Vibration (noise) 10 – 200 Hz: 0.3 m 200 – 500 Hz: 0.1 m Corresponds to approx. 0.95 g  = r.m.s. acceleration value) Shocks (half sine) 10 g at 11 ms shock duration ® Product Manual – MOVIDRIVE technology...

  • Page 46: Technical Data Of The Mdx9.A

    0025 0032 0040 0055 0070 0095 Minimum braking resistance value R Ω BR_min Brake chopper continuous power Brake chopper peak power 200% × apparent output power S Connection contacts X2 – "Plug connector " (→ 2 381) ® Product Manual – MOVIDRIVE technology...
  • Page 47 DC link circuit and depends, among other things, on the level of its voltage, the control mode, and the operating point. Typically, the maximum output voltage in motor operation is approx. 8% below the line voltage. ® Product Manual – MOVIDRIVE technology...
  • Page 48 – 4 kHz = 4 kHz at f at f 2.5 kHz 2.5 kHz 100% × I 100% × I Continuous output current at f = 0 Hz – at f = 4 kHz at f = 2.5 kHz Apparent output power S ® Product Manual – MOVIDRIVE technology...
  • Page 49 Nominal line voltage (in accordance with 380 – 500 V EN 50160) V line Nominal current AC I Line frequency f 50 – 60 ±5% line Controlled rectifier – Connection contacts X1 – M12, each terminal is available twice. ® Product Manual – MOVIDRIVE technology...
  • Page 50 Permitted number of times power may be switched on/off per minute Minimum switch-off time for power off Mass 1) To calculate the thermal power loss, add the values of "24 V power consumption" and "Nominal power loss of the power section". ® Product Manual – MOVIDRIVE technology...
  • Page 51 Type 0070 0093 0140 Power section nominal power loss Power consumption 24 V Interference suppression – EMC filter limit value category C2 according to EN 61800-3 PE connection – M4 screw M4 screw and M6 bolt ® Product Manual – MOVIDRIVE technology...
  • Page 52 Minimum braking resistance value R Ω BR_min Brake chopper continuous power 11.6 16.7 22.7 33.5 Brake chopper peak power 200% × apparent output power S "Plug connector Connection contacts X2 – M8 bolt M10 bolt " (→ 2 381) ® Product Manual – MOVIDRIVE technology...

  • Page 53: Electronics Data Mdx9.A

    If inductive loads are connected to digital outputs, you must install an external protec- tive element (freewheeling diode). Specification Quantity Design Type 2 according to IEC 61131-2 Cycle time 1 ms Response time 175 ms plus cycle time Maximum output current 50 mA ® Product Manual – MOVIDRIVE technology...
  • Page 54 Quantity Output voltage Depending on external DC 24 V voltage supply Current-carrying capacity 150 mA, 3.6 W (no inductive loads) X10:1 DB0/DB00 Connection X10:2 GND Connection contacts "Plug connector" (→ 2 381) Maximum cable length between inverter and 30 m brake control ® Product Manual – MOVIDRIVE technology...
  • Page 55 HTL encoder ES7C, EG7C, EK8C, max. 300 m ® HIPERFACE encoder with sin/cos signals 1 V , max. 100 m SEW-EURODRIVE encoder (RS485) with sin/cos signals 1 V , max. 100 m Encoder with RS422 signals, max. 100 m Encoder supply voltage 1 (X15:15) DC 12 V, ±10% Encoder supply voltage 3 (X15:13) DC 24 V, -10%, +20%...

  • Page 56: Cio21A And Cid21A Input/Output Cards

    2 analog inputs (current/voltage) • 2 analog outputs (current/voltage) Input/output card CID21A is used to increase the number of digital inputs and outputs of the basic device: • 4 digital inputs • 4 digital outputs ® Product Manual – MOVIDRIVE technology...
  • Page 57 Capacitive load: ≤ 300 nF Inductive load: ≤ 500 µH Reset status: 0 V Range of values: 0 – 20 mA; 4 – 20 mA Resolution: 11 bit Tolerance: ±3% Current output Load resistance: 500 Ω Capacitive load: ≤ 300 nF Inductive load: none Reset status: 0 mA ® Product Manual – MOVIDRIVE technology...

  • Page 58: Ces11A Multi-Encoder Card

    The additional encoder can be used as a distance encoder or as a motor encoder. For more information, refer to chapters "Ter- minal assignment" > "CES11A/CES12A multi-encoder card" (→ 2 412) and "Applicable motor encoders from SEW‑EURODRIVE" (→ 2 150). ® Product Manual – MOVIDRIVE technology...
  • Page 59 HTL encoder ES7C, EG7C, EK8C, max. 300 m ® HIPERFACE encoder with sin/cos signals 1 V , max. 100 m SEW-EURODRIVE encoder (RS485) with sin/cos signals 1 V , max. 100 m Encoder with RS422 signals, max. 100 m EnDat-2.1 encoder with sin/cos signals 1 V , max. 100 m SSI encoder with or without sin/cos signals 1 V...

  • Page 60: Multi-Encoder Card With Incremental Encoder Simulation Ces12A

    Supported encoders X17, HIPERFACE encoder with sin/cos signals 1 V , max. 100 m – Maximum cable length SEW-EURODRIVE encoder (RS485) with sin/cos signals 1 V , max. 100 m Encoder with RS422 signals, max. 100 m EnDat-2.1 encoder with sin/cos signals 1 V , max. 100 m SSI encoder with or without sin/cos signals 1 V...
  • Page 61 EG7R, EG7S, EH7R, EH7S, EI8C, EI8R, EK1H, EK8C, EK8R, EK8S, ES7C, ES7R, ES7S, resolver, RH1M), 2048 periods per revo- lution (AG7W, AG7Y, AH7Y, AK8W, AK8Y, AS7W, AS7Y). General Unit Specification Part number – 28307380 Power consumption 24 V Maximum power consumption 24 V (including 12 + 1.2 encoder supply) ® Product Manual – MOVIDRIVE technology...

  • Page 62: Cfe21A Ethernet/Ip Tm And Modbus Tcp Fieldbus Card

    [3] Status LED Status of the fieldbus connection [4] Fieldbus card nameplate – MAC address of the fieldbus card [5] Fieldbus interface Ethernet connection (port 1) (RJ45 socket) [6] Fieldbus interface Ethernet connection (port 2) (RJ45 socket) ® Product Manual – MOVIDRIVE technology...

  • Page 63: Cfl21A Fieldbus Card For Powerlink

    POWERLINK slave (CiA402 drive profile) • Integrated switch with cut-through procedure ® The POWERLINK fieldbus interface can only be used in MOVIDRIVE technology with the L-0. device variant. When using the fieldbus interface, you can communicate di- ® rectly with the devices via POWERLINK and use the MOVISUITE engineering soft- ware for startup, diagnostics, and parameterization purposes.
  • Page 64 Technical data CFL21A fieldbus card for POWERLINK 4.11.2 Connections and LEDs 34487706251 Designation Terminal/LED Function Status LED Operating state Status LED Operating state Status LED Status Nameplate MAC address Fieldbus interface Connection Fieldbus interface Connection ® Product Manual – MOVIDRIVE technology...

  • Page 65: Cfn21A Fieldbus Card For Profinet

    An integrated web server also makes it possible to access diagnostic values quickly and easily using a standard Internet browser. You can access this web server at the following address: http: //IP address of the device. ® Product Manual – MOVIDRIVE technology...
  • Page 66 [3] Status LED Status of the fieldbus connection [4] Fieldbus interface nameplate – MAC address of the fieldbus interface [5] Fieldbus interface PROFINET port (port 1) (RJ45 socket) [6] Fieldbus interface PROFINET port (port 2) (RJ45 socket) ® Product Manual – MOVIDRIVE technology...
  • Page 67 Integrated Ethernet switch switching technology Cut through Ethernet switch latency period 5.5 µs Ethertype 8892 PROFINET ® Ethertype 88B5 SEW MOVI‑C Address Editor Port numbers used Port overview, see Online Support GSD file name GSDML-Vx.xy-SEW-MOVI-C-MOVIDRIVE-yyymmdd-hhmmss ® Product Manual – MOVIDRIVE technology...

  • Page 68: Cfp21A Fieldbus Card For Profibus

    Connections and LEDs 34407949579 Designation Terminal/LED Function DIP switch DIP switch for setting the PROFIBUS address Status LED Operating state of the fieldbus Status LED Operating state of the PROFIBUS interface Fieldbus interface PROFIBUS connection ® Product Manual – MOVIDRIVE technology...
  • Page 69 C0 hex, CD hex, CD hex = 14 process data word (14 I/O words) C0 hex, CE hex, CE hex = 15 process data word (15 I/O words) C0 hex, CF hex, CF hex = 16 process data word (16 I/O words) ® Product Manual – MOVIDRIVE technology...
  • Page 70 • PL e according to EN ISO 13849-1 • Internal connection to the motor encoder, the external encoder, safe communica- tion, and the STO • Parameters of the safety option are included in the device data set ® Product Manual – MOVIDRIVE technology...
  • Page 71 SBC, EDM EDM, SBC, EDM, SBC, EDM, SBC, Multi-encoder input ® Safe PROFIsafe, Safety over EtherCAT , CIP Safety communication For more information, refer to the Product manual > chapter "Project planning for functional safety" (→ 2 194). ® Product Manual – MOVIDRIVE technology...
  • Page 72 Maximum 3800 m above sea level Part numbers of the safety options Safety options Part number ® MOVISAFE CSB21A 28233360 ® MOVISAFE CSS21A 28233379 ® MOVISAFE CSB31A 28233387 ® MOVISAFE CSS31A 28233395 ® MOVISAFE CSA31A 28266412 ® Product Manual – MOVIDRIVE technology...

  • Page 73: Technical Data - Functional Safety

    1 mA Connection contacts Plug connectors - 1 conductor: 0.25 – 1.5 mm - 2 conductors: 0.25 – 0.5 mm (Twin conductor end sleeve) Maximum cable length 30 m 1) Each drive unit always requires a power consumption of 300 mW. ® Product Manual – MOVIDRIVE technology...
  • Page 74 Sine (-)/signal cable (-) signal track for encoder 3 PULSE- Clock signal (-) for encoder 2 DATA- Signal cable (-) for encoder 2 DC 24 V encoder supply S24VG Tempera- Temperature sensor TF/TH/KTY/PK ture sensor+ DC 12 V encoder supply S12VG ® Product Manual – MOVIDRIVE technology...
  • Page 75 HTL encoder interface (encoder 1) Pulses per revolution Input frequency < 1520 Hz Signal level • Encoder signal LOW (logical "0"): 0 V – +3 V • Encoder signal HIGH (logical "1"): Encoder supply voltage -3.5 V – +30 V Maximum length of the encoder cable 30 m ® Product Manual – MOVIDRIVE technology...
  • Page 76 Speed filter time 1 – 300 ms Time interval in which position changes of the encoder are added up to obtain the speed by division. Also sets the response time of the speed- related safety sub-functions. ® Product Manual – MOVIDRIVE technology...
  • Page 77 The time between 2 updated positions is the refresh time. The reso- lution is 1 µs. Static tolerance band (≈10% of the entire Static tolerance band for monitoring range of values) the absolute position. Setting value in encoder increments. ® Product Manual – MOVIDRIVE technology...
  • Page 78 SSI frame length ≥ 48 bits Number of all data bits and status bits. Position data ≥ 32 bits Number of data bits. Coding of position data as binary code and Gray code Maximum length of the encoder cable 100 m ® Product Manual – MOVIDRIVE technology...
  • Page 79 With the UEA31A SSI combi-box, it is possible to connect 2 SSI distance encoders to ® the CSA31A safety option of a MOVIDRIVE modular/system/technology. To do this, connect X17 of the CSA31A safety option to X17 of the UEA31A SSI combi-box. Use only the connection cable approved and assembled by SEW‑EURODRIVE for this...
  • Page 80 Connection for SSI encoder 2/encoder 3 Connection type D‑sub plug connector, 15‑pin socket contact Connection diagram Assignment Contact Function res. Reserved res. Reserved CLK + Clock line Data + Signal cable (+) res. Reserved res. Reserved res. Reserved Reference potential ® Product Manual – MOVIDRIVE technology...
  • Page 81 Connection for external SSI encoder supply voltage Connection type Pluggable terminal block (push-in spring connection), 3.5 mm, 3-pole Connection diagram Assignment Contact Function 24 V Connection of external DC 24 V encoder supply voltage Reference potential DC V 24 encoder voltage supply from CSA31A ® Product Manual – MOVIDRIVE technology...
  • Page 82 With the decentralized FEA31A SSI combi-box, it is possible to connect 2  SSI dis- ® tance encoders to the CSA31A safety option of a MOVIDRIVE modular/system/tech- nology. To do this, connect X17 of the CSA31A safety option to X3225 of the FEA31A SSI combi-box.
  • Page 83 The following table provides information about this connection: Function Connection for SSI encoder 2 Connection type M23, insulator, P part 12-pin, female, +20°-coded Connection diagram Assignment Contact Function CLK +, encoder Clock line CLK -, encoder Negated clock line res. Reserved ® Product Manual – MOVIDRIVE technology...
  • Page 84 Connection for SSI encoder 3 Connection type M23, insulator, P part 12-pin, female, +20°-coded Connection diagram Assignment Contact Function CLK +, encoder Clock line CLK -, encoder Negated clock line res. Reserved res. Reserved res. Reserved res. Reserved ® Product Manual – MOVIDRIVE technology...
  • Page 85 Encoder interface X17 of the safety options CSS31A and CSB31A INFORMATION The encoder interface X17 is not used for functional safety with the safety options CSS31A and CSB31A. For more information, see chapter "CES11A multi-encoder card". ® Product Manual – MOVIDRIVE technology...
  • Page 86 Internal voltage drop < DC 1.3 V Pulsed voltage supply (if acti- • 2 ms open (LOW) vated) • Period duration, pulsed voltage supply: 8 ms Permitted cable length 30 m per sensor Leakage current (F-SSx dis- < 0.1 mA abled) ® Product Manual – MOVIDRIVE technology...
  • Page 87 Load capacitance (1 ms test ≤ 50 nF pulse duration) Capacitance to GND/PE ≤ 10 nF (sourcing/sinking only) Load capacitance with diode ≤ 12 µF decoupling Load inductance ≤ 100 µH Load inductance with overrun- ≤ 40 H ning clutch Minimum load resistance > 130 Ω ® Product Manual – MOVIDRIVE technology...
  • Page 88 EN  ISO  13849-1 is reduced to PL  d, and the achievable Safety Integrity Level ac- cording to EN  61800-5-2 is reduced to SIL  2. A fault exclusion is necessary for the wiring between the safety relay and the STO input. ® Product Manual – MOVIDRIVE technology...
  • Page 89 EN ISO 13849-1 is reduced to PL d. Continue to observe the installation requirements. When using the F-DO0x outputs in the single-channel, sourcing output connection −9 variant, the PFH value increases to 5.3 × 10  1/h. ® Product Manual – MOVIDRIVE technology...
  • Page 90 EN ISO 13849-1 is reduced to PL d. Continue to observe the installation requirements. When using the F-DO0x outputs in the single-channel, sourcing output connection −9 variant, the PFH value increases to 5.3 × 10  1/h. ® Product Manual – MOVIDRIVE technology...
  • Page 91 2) For speed and relative position. 3) For speed and absolute position. Key: • Encoder 1: Motor encoder • Encoder 2: External encoder • Encoder 3: 2nd External encoder • PL: Maximum performance level that can be achieved ® Product Manual – MOVIDRIVE technology...

  • Page 92: Cmm11A Or Cmm21A Memory Module

    The memory module can be simply removed or plugged in when it is switched off. Type designation Part number CMM11A memory module 28230760 CMM21A memory module 28285344 ® Product Manual – MOVIDRIVE technology...

  • Page 93: Cbg11A Keypad

    Door mounting frame COG11A available A COG11A door mounting frame is available for using the keypad remotely on a con- trol panel or control cabinet door. In this case, the UKS52A cable is also required. ® Product Manual – MOVIDRIVE technology...
  • Page 94 78 × 64 Screen type Monochrome display Engineering interface USB 2.0 mini B, female Connection interface D-sub 9-pin, female Mechanical strength 3M5 according to DIN EN 60721‑3-3: 1995 5M1 according to DIN EN 60721‑3-5: 1997 ® Product Manual – MOVIDRIVE technology...

  • Page 95: Cbg21A Keypad

    Door mounting frame COG11A available A COG11A door mounting frame is available for using the keypad remotely on a con- trol panel or control cabinet door. In this case, the UKS52A cable is also required. ® Product Manual – MOVIDRIVE technology...
  • Page 96 320 × 240 Screen type Color display Engineering interface USB 2.0 mini B, female Connection interface D-sub 9-pin, female Mechanical strength 3M5 according to DIN EN 60721-3-3: 1995 5M1 according to DIN EN 60721-3-5: 1997 ® Product Manual – MOVIDRIVE technology...

  • Page 97: Cbg22A Local Keypad

    In this case, the UKS52A cable is also re- quired. If the CBG22A local keypad is plugged directly onto the inverter, manual mode cannot be used. ® Product Manual – MOVIDRIVE technology...
  • Page 98 320 × 240 Screen type Color display Engineering interface USB 2.0 mini B, female Connection interface D-sub 9-pin, female Mechanical strength 3M5 according to DIN EN 60721-3-3: 1995 5M1 according to DIN EN 60721-3-5: 1997 ® Product Manual – MOVIDRIVE technology...

  • Page 99: Door Mounting Frame Cog11A

    • Closed: 169 × 79.6 × 42 • Open: 315 × 79.6 × 29 Maximum metal thickness of the control 7 mm cabinet door Space required to open the cover 200 mm For further information, refer to the installation instructions "Door mounting frame COG11A". ® Product Manual – MOVIDRIVE technology...

  • Page 100: Usm21A Interface Adapter

    X32 Service interface of the inverter. The following figure shows the USM21A interface adapter: 18014432680689163 USB socket type B Bus status display RJ10 socket Interface adapter status display 4.21.2 Technical data USM21A interface adapter Part number 28231449 ® Product Manual – MOVIDRIVE technology...

  • Page 101: Braking Resistors Bw

    A flat-type resistor has internal thermal protection (fuse cannot be replaced) that inter- rupts the current circuit in the event of overload. The configuration guidelines and the documented assignments of the drive inverter and braking resistor must be adhered ® Product Manual – MOVIDRIVE technology...
  • Page 102 2  identical braking resistors are connected in parallel for some inverter/resistor com- binations. In this case, protect each braking resistor against overload and overtemper- ature using a thermal overload relay. The temperature switches must be connected in series for braking resistors in the BW..-T series. ® Product Manual – MOVIDRIVE technology...
  • Page 103 1) The tripping current must be reduced by 2% / 10 K at an ambient temperature above 40 °C. Assignment The assignment considers the maximum possible peak braking power of the inverter. Braking resistor BW120-001 BW100-002/M BW100-001 BW100-002 BW100-006-T 0020 0020 0025 0025 MDX9.A-..-5.3.. 0032 0032 0040 0040 ® Product Manual – MOVIDRIVE technology...
  • Page 104 1) The tripping current must be reduced by 2% / 10 K at an ambient temperature above 40 °C. Assignment The assignment considers the maximum possible peak braking power of the inverter. Braking resistor BW047-010-T BW147-T BW247-T 0055 MDX9.A-..-5.3.. 0070 0095 ® Product Manual – MOVIDRIVE technology...
  • Page 105 1) The tripping current must be reduced by 2% / 10 K at an ambient temperature above 40 °C. Assignment The assignment considers the maximum possible peak braking power of the inverter. Braking resistor BW027-016-T BW027-024-T BW027-042-T 0125 MDX9.A-..-5.3.. 0160 0070 MDX9.A-..-2.3.. 0093 ® Product Manual – MOVIDRIVE technology...
  • Page 106 BW915-T 0240 0320 MDX9.A-..-5.3.. 0620 (Parallel connection of 2 braking resistors) 0750 (Parallel connection of 2 braking resistors) 0140 MDX9.A-..-2.3.. 0213 (Parallel connection of 2 braking resistors) 0290 (Parallel connection of 2 braking resistors) ® Product Manual – MOVIDRIVE technology...
  • Page 107 The assignment considers the maximum possible peak braking power of the inverter. Braking resistor BW010-024 BW010-050-T BW010-108-T 0460 MDX9.A-..-5.3.. 0910 (Parallel connection of 2 braking resistors) 1130 (Parallel connection of 2 braking resistors) 0213 MDX9.A-..-2.3.. 0290 0420 (Parallel connection of 2 braking resistors) ® Product Manual – MOVIDRIVE technology...
  • Page 108 The assignment considers the maximum possible peak braking power of the inverter. Braking resistor BW006-025-01 BW006-050-01 BW106-T BW206-T 0620 MDX9.A-..-5.3.. 0750 1490 (Parallel connection of 2 braking resistors) MDX9.A-..-2.3.. 0570 (Parallel connection of 2 braking resistors) ® Product Manual – MOVIDRIVE technology...
  • Page 109 2500 (Parallel connection of 2 braking resis- tors) 3000 (Parallel connection of 2 braking resis- tors) 0420 0840 (Parallel connection of 2 braking resis- MDX9.A-..-2.3.. tors) 0570 1080 (Parallel connection of 2 braking resis- tors) ® Product Manual – MOVIDRIVE technology...
  • Page 110 The assignment considers the maximum possible peak braking power of the inverter. Braking resistor BW003-420-T BW002-070 1770 2200 2500 MDX9.A-..-5.3.. 3000 3800 (Parallel connection of 2 braking resistors) 4700 (Parallel connection of 2 braking resistors) 5880 (Parallel connection of 2 braking resistors) 0840 MDX9.A-..-2.3.. 1080 ® Product Manual – MOVIDRIVE technology...
  • Page 111 Unit General electronics data Cross section 0.75 – 2.5 Tightening torque Switching capacity DC 2 A / DC 24 V (DC 11) and AC 2 A / AC 230 V (AC 11) Switch contact (NC contact) – according to EN 60730 ® Product Manual – MOVIDRIVE technology...
  • Page 112 10.5 – – BW010-050-T 10.5 – – BW010-108-T – – BW004-050-01 10.5 – – BW005-070 10.5 – – BW002-070 10.5 – – BW005-170-T 10.5 – – BW006-025-01 10.5 – – BW006-050-01 10.5 – – ® Product Manual – MOVIDRIVE technology...
  • Page 113 Mounting dimensions in mm Cable gland BW003-420-T 10.5 – – BW1.0-170 10.5 – – Frame resistor 9007218129614603 Braking resistor Main dimensions in mm Mounting dimensions in mm Cable gland BW027-042-T M25 + M12 BW015-042-T M25 + M12 ® Product Manual – MOVIDRIVE technology...
  • Page 114 Technical data Braking resistors BW.../BW...-T Flat-type resistor 9007218129619467 Braking resistor Main dimensions in mm Mounting dimensions in mm Connection length in mm BW100-001 – – BW100-002 – – BW120-001 resistor 27.5 Length of connections: 130 mm ® Product Manual – MOVIDRIVE technology...
  • Page 115 Part number Braking resistor BS003 8131511 BW100-001 BS005 813152X BW100-002 Dimension sheet and dimensions 1455849867 [1] Grommet [2] Mounting rail fastening HS001 for mounting rail installation (can be ordered sep- arately, part number 8221944) ® Product Manual – MOVIDRIVE technology...
  • Page 116 0020 – 0040 0055 – 0095 0125 – 0160 0240 – 0320 0460 – 0750 0910 – 1490 1770 – 3000 3800 – 5880 MDX9.A-..-2.3.. – 0070 – 0093 0140 0213 – 0290 0420 – 0570 0840 – 1080 – – ® Product Manual – MOVIDRIVE technology...
  • Page 117 Line filter Main dimensions in mm Mounting dimensions in mm Connection NF0055-503 – NF0120-503 – NF0220-503 – 9007218145873675 Line filter Main dimensions in mm Mounting dimensions in mm NF0420-513 NF0910-523 NF1800-523 NF2700-503 NF5400-503 648.5 ® Product Manual – MOVIDRIVE technology...
  • Page 118 MDX9.A-..-5.3.. 0020 – 0055 0070 – 0125 0125 – 0160 0240 – 0320 0460 – 0750 0910 – 1490 – MDX9.A-..-2.3.. – 0070 – 0093 0140 0213 – 0290 0420 – 0570 0840 – 1080 – ® Product Manual – MOVIDRIVE technology...
  • Page 119 Line choke Main dimensions in mm Mounting dimensions in mm Connection ND0070-503 ND0160-503 ND0300-503 ND0420-503 20917778571 Line choke Main dimensions in mm Mounting dimensions in mm Connection ND0910-503 ND1800-503 ND3000-503 – 11 × 22 slot- ted hole ® Product Manual – MOVIDRIVE technology...

  • Page 120: Hf.. Output Filters

    0910 (parallel MDX9.A-..-5.3.. 0020 – 0040 0055 – 0095 0125 – 0160 0240 – 0320 (parallel con- connection of nection of 2 fil- 2 filters) ters) MDX9.A-..-2.3.. – 0070 – 0093 0140 0213 – 0290 0420 0570 ® Product Manual – MOVIDRIVE technology...
  • Page 121 Technical data HF.. output filters 4.25.4 Dimension drawings and dimensions 9007218523812619 Output filter Main dimensions in mm Mounting dimensions in mm Connection HF0055-503 – HF0125-503 – HF0240-503 – HF0460-503 – HF0650-503 HF1150-503 ® Product Manual – MOVIDRIVE technology...

  • Page 122: Hd.. Output Chokes

    MDX9.A-..-5.3.. 0020 – 0095 0125 – 0160 0240 – 0320 0460 – 0750 0910 – 1490 1770 – 3000 – MDX9.A-..-2.3.. 0070 – 0093 0140 0213 – 0420 0420 – 0840 1080 – – ® Product Manual – MOVIDRIVE technology...
  • Page 123 Main dimensions in mm Mounting dimensions in mm Connection HD0125-503 62.5 72.5 HD0240-503 92.5 82.5 HD0460-503 122.5 112.5 HD1000-503 143.5 HD2000-503 35975896715 Output choke Main dimensions in mm Mounting dimensions in mm Connection HD6000-503 ® Product Manual – MOVIDRIVE technology...
  • Page 124 Assignment to inverter DC link choke ZD010-0200 ZD040-0070 ZD140-0020 ZD330-0006 MDX9.A-..-5.3.. 0020 – 0070 0095 – 0240 0320 – 0750 0910 – 1490 MDX9.A-..-2.3.. 0070 0093 – 0213 0290 – 0570 0840 – 1080 ® Product Manual – MOVIDRIVE technology...
  • Page 125 Dimension drawings and dimensions DC link choke ZD010.. -UZ -UZ´ +UZ +UZ´ 9007203134416907 [1] Connecting terminal [2] Ground stud Main dimensions in mm Mounting dimensions in mm Mass DC link choke ZD010-0200 64.75 13.25 0.56 ® Product Manual – MOVIDRIVE technology...
  • Page 126 ZD.. DC link choke DC link choke ZD040.. / ZD140.. / ZD330.. with and without cover 9007203134363787 Terminal stud Ground stud Main dimensions in mm Mounting dimensions in mm Mass DC link choke ZD040-0070 ZD140-0020 164.5 ZD330-0006 ® Product Manual – MOVIDRIVE technology...

  • Page 127: Standard Accessories

    Shield plate scope of delivery and strain re- Size 5 for coaxial cable of the 28270789 lief ® MOVILINK DDI cable Shield plate Sizes 6 – 8 for coaxial cable of the 28297040 ® MOVILINK DDI cable ® Product Manual – MOVIDRIVE technology...

  • Page 128: Connector

    Motor connection 19148380 DC 24 V supply voltage 19148410 Brake control 1 – 4 19151314 Brake control 5 – 8 19147392 Signal connection 1 19148615 Signal connection 2 19148623 Signal connection 3 19148631 STO single connector (without jumpers) 19155611 STO-E connector (with jumpers) 18177905 ® Product Manual – MOVIDRIVE technology...

  • Page 129: Dimension Drawings

    Technical data Dimension drawings 4.30 Dimension drawings 4.30.1 Size 1 43257161739 Ø12 BW120-001 BW100-002/M 9007228129660043 ® Product Manual – MOVIDRIVE technology...
  • Page 130 Technical data Dimension drawings 4.30.2 Size 2 43257165067 Ø12 BW120-001 BW100-002/M 9007228129263883 ® Product Manual – MOVIDRIVE technology...
  • Page 131 Technical data Dimension drawings 4.30.3 Size 3 43257168395 Ø12 9007228129266315 ® Product Manual – MOVIDRIVE technology...
  • Page 132 Technical data Dimension drawings 4.30.4 Size 4 43258234123 Ø12 9007228129268747 ® Product Manual – MOVIDRIVE technology...
  • Page 133 Technical data Dimension drawings 4.30.5 Size 5 43258237451 9007228129271179 ® Product Manual – MOVIDRIVE technology...
  • Page 134 Technical data Dimension drawings 4.30.6 Size 6 42922242827 Ø13 9007228129273611 ® Product Manual – MOVIDRIVE technology...
  • Page 135 Technical data Dimension drawings 4.30.7 Size 7 42922258955 Ø23 9007234990992651 ® Product Manual – MOVIDRIVE technology...
  • Page 136 Technical data Dimension drawings 4.30.8 Size 8 42922262283 Ø23 (225) 42205426315 ® Product Manual – MOVIDRIVE technology...

  • Page 137: Project Planning Of The Device

    The drive consists of a gearmotor that is supplied by an inverter. Required information about the machine to be driven • Technical data and ambient conditions • Positioning accuracy • Speed setting range • Calculation of the travel cycle ↓ ® Product Manual – MOVIDRIVE technology...
  • Page 138 EMC measures ↓ Select the 24 V voltage supply • Determine the current demand of the 24 V voltage supply. • Observe the requirements for the voltage tolerance. ↓ Ensure that all requirements have been met. ® Product Manual – MOVIDRIVE technology...

  • Page 139: Control Mode

    Without a rotary encoder, the elec- tric rotor frequency is calculated in a model. In this case, stable stationary operation of the mode at < 0.5 Hz is not possible. ® Product Manual – MOVIDRIVE technology...
  • Page 140 For this reason, the CFC control mode is suitable for drives with highly dy- namic motion control. ® 5.3.4 ELSM ® The ELSM control mode enables operation of permanent-field synchronous motors without an encoder. ® Product Manual – MOVIDRIVE technology...
  • Page 141 (example: winding drive). If the speed is too low, the system shuts down with a fault message. The transition speed can be reached either by an external drive or by speed control of the inverter in the FCB 05. ® Product Manual – MOVIDRIVE technology...
  • Page 142 1) Valid in voltage control range, in field weakening range < 5 ms. Characteristic values for setpoint resolution PLUS ® ELSM Torque – 32 bit (0.001% M NMot Rotational speed 32 bit (0.0001 min ® Product Manual – MOVIDRIVE technology...
  • Page 143 /10 for all control modes. PLUS ® ELSM 2.5 kHz 250 Hz 4 kHz 400 Hz 250 Hz 400 Hz ≥ 8 kHz 599 Hz 250 Hz 500 Hz FCBs that can be activated for selected control mode PLUS ® Designation ELSM Output stage inhibit ® Product Manual – MOVIDRIVE technology...
  • Page 144 FCBs requiring a position encoder: Position control – – Interpolated position control – – Reference travel – Rotor position identification – – – Position hold control – – – – Brake test – – ® Product Manual – MOVIDRIVE technology...

  • Page 145: Drive Selection

    All AC motors from SEW‑EURODRIVE have the required voltage endurance. The connected third-party motor has to be designed in inverter mode for these DC link voltages. ® Product Manual – MOVIDRIVE technology...
  • Page 146 There is no evaluation of the motor model. Thermal overload of windings is possible since the sensor is only installed in one winding. For additional information on the thermal motor protection, refer to the documentation of the motors. ® Product Manual – MOVIDRIVE technology...
  • Page 147 Further information The thermal motor protection without temperature sensor is active as long as the in- verter is in operation and supplied with at least DC 24 V. ® Product Manual – MOVIDRIVE technology...
  • Page 148 The series connection of the TH contacts (normally closed) is not subject to any restriction if joint monitoring is provided. • If the TF temperature sensors are available in motors, the temperature sensors of up to 3 motors can be connected in series. ® Product Manual – MOVIDRIVE technology...
  • Page 149 In case of motors with speed feedback, the speed sensor must also be approved for potentially explosive atmospheres. The speed sensor can be directly connected to the inverter. INFORMATION For further information, refer to the associated catalogs and the operating instructions of the explosion-protected motors. ® Product Manual – MOVIDRIVE technology...
  • Page 150 DC  24  V control voltage, a maximum current of 150  mA and a power rating of 3.6 W. As a result, a power contactor with DC 24 V coil voltage or a suitable brake rectifier from SEW‑EURODRIVE can be controlled directly. The brake is switched with this power contactor. ® Product Manual – MOVIDRIVE technology...

  • Page 151: Recommendations For Motor And Inverter Selection

    The basis for motor selection are the limit characteristic curves of the motors in in- verter operation. The limit characteristic curve states the torque characteristic of the motor depending on the speed. The dynamic and thermal limits must be observed when selecting the motor. ® Product Manual – MOVIDRIVE technology...
  • Page 152 Typical dynamic limit characteristic of an asynchronous motor in the VFC /CFC control mode 9007238743734155 Maximum torque for the motor-inverter combination Rotational speed until the maximum torque M of the motor-inverter combination is available. ® Product Manual – MOVIDRIVE technology...
  • Page 153 ® Typical dynamic limit characteristic of a synchronous motor in ELSM control mode 9007238743740171 Maximum torque for the motor-inverter combination Rotational speed until the maximum torque M of the motor-inverter combination is available. ® Product Manual – MOVIDRIVE technology...
  • Page 154 The U/f control mode is an encoder-less mode and calculates the actual speed value. The calculation is always based on the electrical values of the motor. Therefore, infor- mation from a potentially existing encoder system is not used. ® Product Manual – MOVIDRIVE technology...
  • Page 155 Due to these characteris- tics, the values of a synchronous servomotor are almost reached. ® Product Manual – MOVIDRIVE technology...
  • Page 156 CMP40/..50/..63 for speeds above 4500 min • CMP71/..80/..100 for speeds above 3000 min • CM3C63/..71/..80/..100 for speeds above 3000 min SEW‑EURODRIVE recommends using the following temperature sensors: • KTY84 – 130 (SEW‑EURODRIVE designation: KY) • Pt1000 (SEW-EURODRIVE designation: PK) ® Product Manual – MOVIDRIVE technology...

  • Page 157: Motor/Inverter Characteristic Curves

    PLUS When using motor encoders in VFC or CFC control mode, we recommend using encoders from SEW-EURODRIVE with at least 128 sine cycles or 1024 inc/revolution. Motor/inverter characteristic curves For motor/inverter characteristic curves, refer to the SEW‑EURODRIVE website. Inverter selection The inverter is selected based on the course of the output current over time.
  • Page 158 The characteristic load cycle consists of a base load and an overload period. In the base load period, the output current must not exceed the specified value. After the base load period, overload is possible again. out1 out2 18014415982173963 ® Product Manual – MOVIDRIVE technology...
  • Page 159  = 40 °C The table below applies to size 7 MDX91A-3000-.. inverters and to size 8: Overload current I Overload time t Base load current I Required base load time t out 1 out 2 150% 30 s 150 s ® Product Manual – MOVIDRIVE technology...
  • Page 160 EN  61800‑5‑1, an overvoltage protection device must be connected upstream to reduce the overvoltages from category III to category II. Derating due to the line voltage and temperature INFORMATION Interpolate linearly for voltages between 400 V and 500 V. ® Product Manual – MOVIDRIVE technology...
  • Page 161 16 kHz = 51% - (T - 40 °C) × 1.6% cont 4 kHz = 119% - (T - 40 °C) × 2.4% cont Size 6 8 kHz = 89% - (T - 40 °C) × 2% cont 16 kHz = 59% - (T - 40 °C) × 1.4% cont ® Product Manual – MOVIDRIVE technology...

  • Page 162: Braking Resistor Selection

    Cyclic duration factor Braking time Cycle duration INFORMATION The cycle duration must not exceed 120 s. The overload factor k can be determined using the diagrams in chapter "Overload factor k" (→ 2 163) and the cyclic duration factor cdf. ® Product Manual – MOVIDRIVE technology...
  • Page 163 100% cdf (continuous braking power) of the brak- ing resistor. Overload factor k Flatpack resistors 10 % 100 % 18014419041960715 Cyclic duration factor in % Overload factor k ® Product Manual – MOVIDRIVE technology...
  • Page 164 25 % 40 % 60 % 100 % 9007242996955915 Cyclic duration factor in % Overload factor k 1.12 Grid resistors 10 % 100 % 18014401500012171 Cyclic duration factor in % Overload factor k 1.12 ® Product Manual – MOVIDRIVE technology...
  • Page 165 , see chapter "Technical data"  (→  2 39). This en- BRmin sures that the brake chopper is not damaged. ≥ R BRmin The continuous braking power toward the braking resistor must not exceed the appar- ent output power of the inverter. ® Product Manual – MOVIDRIVE technology...
  • Page 166 4) Select the braking resistor Selected braking resistor: BW247-T. Resistance value R = 47 Ω Peak braking power: 14.3 kW, see chapter "Technical data and assignment to an in- verter" (→ 2 103). Current-carrying capacity at 100% cdf: 2 kW ® Product Manual – MOVIDRIVE technology...

  • Page 167: Supply System Cables And Motor Cables

    The structure of a line connection is described in chapter "Power connection" (→ 2 433). Observe the country-specific and system-spe- cific regulations when selecting the cross section of the supply system cable. ® Product Manual – MOVIDRIVE technology...
  • Page 168 Fuse/miniature cir- cuit breaker INFORMATION Recommended cross section The values are only recommendations. They are no substitute for detailed project planning of the cables depending on the concrete application and considering the ap- plicable regulations. ® Product Manual – MOVIDRIVE technology...
  • Page 169 1200 1200 4 kHz 1200 1200 1200 8 kHz 16 kHz MDX9.A-..-2.3.. Size 5 – 6 0070 0093 0140 0213 – 0290 0420 – 1080 Maximum motor cable length in m for shielded cables PWM frequency 4 kHz 8 kHz 16 kHz ® Product Manual – MOVIDRIVE technology...

  • Page 170: Emc-Compliant Installation According To En 61800-3

    On the motor side Inverter HF.. output filter NF.. line filter Shielded cables HD.. output choke Sizes 1 – 3 – – Sizes 1 – 3 – HD.. or HF.. – Sizes 1 – 7 – Sizes 1 – 6 HD.. or HF.. – Size 7 HD.. – ® Product Manual – MOVIDRIVE technology...
  • Page 171 Select the use of an output filter during startup. INFORMATION The EMC limit values for interference emission are not specified for voltage supply systems without grounded star point (IT systems). The efficiency of filters is severely limited. ® Product Manual – MOVIDRIVE technology...

  • Page 172: Line Components

    150 kHz to 30 MHz at the line connection. In addition, a line filter dampens the interference from the grid affecting the inverter. The choice of line filter depends on the nominal line current and the line voltage of the in- verter. ® Product Manual – MOVIDRIVE technology...
  • Page 173 4. During project planning, note that leakage currents which are as low as possible occur in the system for operational reasons. 5. If the operational leakage currents are too high, you can distribute the current sup- ply among several RCDs. ® Product Manual – MOVIDRIVE technology...

  • Page 174: Components On The Output Side

    200 V: Voltage drop V ≤ 13% drop • at 400 V: Voltage drop V ≤ 6.5% drop • at 500 V: Voltage drop V ≤ 5% drop These values refer to an output frequency of 50 Hz. ® Product Manual – MOVIDRIVE technology...
  • Page 175 21 – 149 Hz - with and without UZ connection 100% 100% 150 – 250 Hz - with and without UZ connection 100% 100% Short-time operation without speed derating, e.g., startup • Filter current 100% for 5 min every 60 min permitted ® Product Manual – MOVIDRIVE technology...
  • Page 176 Project planning of the device Components on the output side Wiring diagram L1 L2 L3 -Uz +Uz W +R -R U1 V1 W1 U U2 V2 W2 33412335115 [1] Grid [2] Inverter [3] Output filter [4] Motor ® Product Manual – MOVIDRIVE technology...

  • Page 177: Supply Voltage Selection

    The following table shows the power consumption of the 24  V supply depending on the used cards and installed options: Cards Unit Power consumption Maximum without I/O, encoder power consumption CIO21A CID21A CES11A 12.8 CES12A 13.2 CF..21A ® Product Manual – MOVIDRIVE technology...
  • Page 178 Power demand of the inputs (basic device): 1 × 0.1 W = 0.1 W Power demand of the brake control at DB00: 24 V × 0.1 A = 2.4 W Power demand of the binary outputs: 4 × 24 V × 0.05 A = 4.8 W Total power demand: 45.6 W ® Product Manual – MOVIDRIVE technology...

  • Page 179: Energy-Saving Functions

    Energy consumption in standby mode The "Standby mode" energy-saving function reduces the DC  24  V power consump- tion. For further information, refer to chapter "Power consumption of the 24  V sup- ply" (→ 2 177). ® Product Manual – MOVIDRIVE technology...

  • Page 180: Fcb Concept

    FCB  02 stops the drive with the preset profile value "Maximum deceleration". This value is limited by the "Application limit – deceleration". FCB 02 is active (default) when no other FCB is selected. FCB 02 is selected by the system, not by the operator. ® Product Manual – MOVIDRIVE technology...
  • Page 181 To prevent this from happening, the axis can calculate intermediate values (interpo- late) if it knows the controller cycle. The inverter can be set to different cycle times of higher-level controllers. ® Product Manual – MOVIDRIVE technology...
  • Page 182 From here, the shortest distance is determined and the direction of rotation for positioning is specified accordingly. FCB 10 Interpolated position control FCB 10 is used for cyclic preselected position setpoints from higher-level controllers. ® Product Manual – MOVIDRIVE technology...
  • Page 183 FCB 18 Rotor position identification For the operation of permanent magnet synchronous motors, the exact position infor- mation of the rotor is required for closed-loop control. ® Product Manual – MOVIDRIVE technology...
  • Page 184 FCB  25 should only be called up if no output filter is used. Otherwise, the FCB provides incorrect results because of the output filter inductance. Calling up FCB 25 is generally recommended for third-party motors. FCB 18 must be executed afterward for encoder calibration with synchronous motors, if required. ® Product Manual – MOVIDRIVE technology...
  • Page 185 FCBs are deselected. This makes it possible to always stop in a position-controlled manner. In position-controlled mode, FCB  26 has lag error monitoring. When the stop is reached, the brake remains released and the motor remains energized. ® Product Manual – MOVIDRIVE technology...
  • Page 186 – – Maximum deceleration – – – – – – Jerk time – – – – – – Maximum – – – torque Q1 to Q4 Always active Depending on FCB setting – Inactive ® Product Manual – MOVIDRIVE technology...

  • Page 187: Ul-Compliant Installation

    = DC 30 V) and limited out- put current (I = 8 A) as an external DC 24 V voltage source. - UL certification does not apply to operation in voltage supply systems with a non- grounded star point (IT systems). ® Product Manual – MOVIDRIVE technology...
  • Page 188 AUTRES ÉLÉMENTS DU CONTRÔLEUR ET LES REMPLACER S'ILS SONT EN- DOMMAGÉS. EN CAS DE GRILLAGE DE L'ÉLÉMENT TRAVERSÉ PAR LE COUR- ANT DANS UN RELAIS DE SURCHARGE, LE RELAIS TOUT ENTIER DOIT ÊTRE REMPLACÉ. ® Product Manual – MOVIDRIVE technology...
  • Page 189 Class: CA, CB, CD, CF, G, J, K-1, K-5, RK1, RK5, T MDX9.A-0025-5.3-4-.. (1) 50 A/600 V 50 A/500 V 3RV2011-1CA10, 2.5 A Class: CA, CB, CD, CF, G, J, K-1, K-5, RK1, RK5, T ® Product Manual – MOVIDRIVE technology...
  • Page 190 Class: J, K-1, RK1, MDX9.A-0620-5.3-4-.. (5) 125 A/600 V 125 A/500 V 3RV2041-4JA10, 63 A Class: J, K-1, RK1, MDX9.A-0750-5.3-4-.. (5) 125 A/600 V 125 A/500 V 3RV2041-4KA10, 75 A Class: J, K-1, RK1, ® Product Manual – MOVIDRIVE technology...
  • Page 191 – 125 A/240 V 3RV2031-4VA10, 45 A MDX9.A-0570-2.3-4-.. (5) – 125 A/240 V 3RV2041-4JA10, 63 A MDX9.A-0840-2.3-4-.. (6) – 225 A/240 V 3RV2041-4YA10, 93 A MDX9.A-1080-2.3-4-.. (6) – 225 A/240 V 3RV2041-4YA10, 93 A ® Product Manual – MOVIDRIVE technology...
  • Page 192 The trip current is adjusted to 150% of the rated motor current. 5.16.5 Surrounding air temperature rating For surrounding air temperature rating, refer to chapter "General technical data". 5.16.6 Derating For derating, refer to chapter "Selecting an inverter" of the product manual. ® Product Manual – MOVIDRIVE technology...
  • Page 193 Project planning of the device UL-compliant installation 5.16.7 Other ratings Type rating Open type Pollution degree Max. altitude 2000 m 5.16.8 Wiring diagrams For wiring diagrams, refer to chapter "Wiring diagrams". ® Product Manual – MOVIDRIVE technology...

  • Page 194: Project Planning For Functional Safety

    Performance Level (PL) according to EN ISO 13849‑1 Safety class/ underlying standard • Safety Integrity Level (SIL) according to EN 61800‑5‑2, EN 61508 and EN 62061 Note the versions of the relevant standards on the declaration of conformity or on the TÜV certificate. ® Product Manual – MOVIDRIVE technology...

  • Page 195: Integrated Safety Technology

    Furthermore, an external encoder can be connected which is evaluated by the inverter. ® • Safety option MOVISAFE CSS21A – 4 safe single-channel digital inputs or 2 safe two-channel digital inputs ® Product Manual – MOVIDRIVE technology...
  • Page 196 ® A safe state of the MOVISAFE  CS..A safety option is defined as follows: • The internal safe digital output F-DO_STO is disabled. This activates the STO safety sub-function. ® Product Manual – MOVIDRIVE technology...
  • Page 197 PWM signals are locked, i.e. STO is activated. This locking requires a reset by switching the DC 24 V supply voltage of the device or the DC 24 V switching signal at the STO inputs F_STO_P1 and F_STO_P2 off and back on. ® Product Manual – MOVIDRIVE technology...
  • Page 198 Since the application-related data set is enabled only with the matching key data set on the pluggable safety key, the location reference can be established in this way. It is the user's responsibility to save the location reference of the pluggable safety key in the system. ® Product Manual – MOVIDRIVE technology...
  • Page 199 The publication of the acceptance does not replace the acceptance itself to be carried out. For the publication of the acceptance, the "checksum of the acceptance report" of the safety option is made known. ® Product Manual – MOVIDRIVE technology...
  • Page 200 The STO safety sub-function corre- sponds to a non-controlled stop according to EN 60204‑1, stop category 0. 18014400480354315 = STO safety sub-function active = Speed = Time = Point in time at which STO is activated. ® Product Manual – MOVIDRIVE technology...
  • Page 201 SS1-t – Safe Stop 1 with time control When the SS1-t safety sub-function is active, the motor is brought to a standstill elec- trically. The STO safety sub-function will be triggered after a specified, safety-related time. ® Product Manual – MOVIDRIVE technology...
  • Page 202 The safety-relevant period of time Δt allows the drive to come to a stop. In the event of a fault, the drive does not come to a stop and becomes de-energized at the time t (STO). ® Product Manual – MOVIDRIVE technology...
  • Page 203 = SS1-r safety sub-function monitored = STO safety sub-function active = Speed = Time = Point of time when SS1-r is activated and motor deceleration is triggered. = Point in time at which STO is activated. ® Product Manual – MOVIDRIVE technology...
  • Page 204 The safety-relevant period of time Δt allows the drive to come to a stop. In the event of a fault, the drive does not come to a stop and only becomes de-energized at the time t (STO). ® Product Manual – MOVIDRIVE technology...
  • Page 205 = SS2-r safety sub-function monitored = STO safety sub-function active = Speed = Time = Point in time when SS2-r is activated and motor deceleration is triggered. = Point in time at which SOS is activated. ® Product Manual – MOVIDRIVE technology...
  • Page 206 18014400480443915 = SLS safety sub-function monitored = SLS safety sub-function is triggered = Speed = Time = Point in time at which SLS is activated. = Point in time at which SLS is deactivated. ® Product Manual – MOVIDRIVE technology...
  • Page 207 (usually STO or SS1). 18014400480458635 = SDI safety sub-function monitored = SDI safety sub-function is triggered = Speed = Time = Point in time at which SDI is activated. = Point in time when SDI is deactivated. ® Product Manual – MOVIDRIVE technology...
  • Page 208 18014400480461451 = SLI safety sub-function monitored = SLI safety sub-function is triggered = Speed = Distance = Point at which SLI is activated. = Point at which SLI is deactivated. Δs = Safe increment ® Product Manual – MOVIDRIVE technology...
  • Page 209 Violation of the defined position range will disable the safe signal. 18014400686852363 = SCA safety sub-function is triggered = Speed = Distance = Lower limit of the position range = Upper limit of the position range ® Product Manual – MOVIDRIVE technology...
  • Page 210 Additional safety measures might have to be implemented (e.g. safety brake system). In the case of application-related safety sub-functions that require stopping the hazardous motion safely, an additional safety brake system may be necessary on an application-specific basis. ® Product Manual – MOVIDRIVE technology...
  • Page 211 Generation of the "application data" checksum of the key data set on the safety key. • A modified parameter setting clears the "validation" status. As a result, the safety key is connected with the respective parameterization by down- loading the parameters. ® Product Manual – MOVIDRIVE technology...

  • Page 212: Safety Requirements

    6.4.2 Approved devices ® The MOVIDRIVE technology device variant is permitted in all sizes for safety-related applications (STO function). ® ® The following safety options MOVISAFE CS..A can be used in MOVIDRIVE technol- ogy: ® Device MOVISAFE CS.21A CS.31A ®...
  • Page 213 The 0V24_Out and 24V_Out supply voltages of the device may only be used to supply the device-internal STO input. The cable length must not exceed 30 m. This connection variant is not permitted for STO group disconnection. ® Product Manual – MOVIDRIVE technology...
  • Page 214 PL  e in accordance with EN  ISO  13849-1 and SIL  3 in accordance with EN 61800-5-2 at least once every 3 months with the line voltage applied in order to achieve full test coverage. Adhere to the following test procedure for this purpose. ® Product Manual – MOVIDRIVE technology...
  • Page 215 • Only guards with back-step protection may be used at the STO input of the device. The guards must be connected to the CS..A safety option via a safety relay or a safety controller. ® Product Manual – MOVIDRIVE technology...
  • Page 216 – A maximum of 3 switch-on test pulses may be generated in sequence at an in- terval of 2  ms. Wait for at least 500  ms after any packet before you generate another switch-on test pulse or another switch-on test pulse packet. ® Product Manual – MOVIDRIVE technology...
  • Page 217 Users can perform this assessment with the aid of the respective product documenta- tion or by testing. Furthermore, it must be ensured that the system moves at a speed greater than the minimum speed at least every 3 months. ® Product Manual – MOVIDRIVE technology...
  • Page 218 In order to implement a safety sub-function with AK0H or AK1H encoders, the motor must be started with SERVO control mode. The following inverter settings are recommended: • Activation of lag error monitoring • Activation of speed monitoring • Activation of encoder monitoring ® Product Manual – MOVIDRIVE technology...
  • Page 219 Error_v_SinCos = Actual speed x 0.3% + Quantization error_v ® In the case of safety encoders with MOVILINK DDI, an additional error of 0.4% of the actual speed is added to the process-related quantization error: ® Product Manual – MOVIDRIVE technology...
  • Page 220 For the process values to have identical signs in the inverter as well, the encoder pa- ® rameter Counting direction (8708.6) of the MOVISAFE CSS..A safety options must be set as follows, depending on the inverter parameters Direction of rotation reversal (8362.2) and Counting direction (8381.6). ® Product Manual – MOVIDRIVE technology...
  • Page 221 The maximum operating speed must remain below the set value by the quantization factor. The maximum angular error of the position value formed by the sin/cos encoder evalu- ation, relating to the motor shaft, results as follows: • 2160° × scaling_factor_denominator / scaling_factor_numerator Parameters involved: • Scaling_factor_numerator ® Product Manual – MOVIDRIVE technology...
  • Page 222 SSI evaluation cycle. This applies in particular to encoders that are directly connected with the motor shaft. For single-turn encoders, the following maximum speeds apply under the respec- tive conditions (see following tables). • 2000 min ® Product Manual – MOVIDRIVE technology...
  • Page 223 The barcode encoder is used for determining the "speed" process value: In the case of position jumps, the calculated speed is incorrect and can lead to false tripping of the safety sub-functions or to a critical fault. ® Product Manual – MOVIDRIVE technology...
  • Page 224 Encoder concepts Permitted encoder combinations The following encoder combinations are permitted. Encoder 1 Encoder 2 Encoder 3 See chapter FS motor en- – – 1-encoder concept – FS motor en- coder coder ® Product Manual – MOVIDRIVE technology...
  • Page 225 The SS1, SS2, SOS, SLS, SSM, SSR, SDI and SLI safety sub-functions are supported. If the EI7C FS is used as a safe motor encoder, the SS1, SLS, SSM, SSR and SDI safety sub-functions are supported. ® Product Manual – MOVIDRIVE technology...
  • Page 226 The demand for diversity is a fundamental part of this consideration. A vague assess- ment of this diversity is not permitted. It must be clearly provable that the encoder combination meets one of the listed requirements. ® Product Manual – MOVIDRIVE technology...
  • Page 227 There is an incremental encoder and an absolute encoder attached to the drive train, which are connected to the encoder 1 and encoder 2 interfaces of the device. The two encoders are evaluated in parallel by the device and the safety option. ® Product Manual – MOVIDRIVE technology...
  • Page 228 On the drive train, the absolute encoder is configured as encoder  2 and encoder  3. Encoder 2 is evaluated in parallel by the inverter and the safety option, encoder 3 is evaluated exclusively by the safety option. ® Product Manual – MOVIDRIVE technology...
  • Page 229 • Max. length of the encoder cable: 100 m • Use the prefabricated encoder cables from SEW-EURODRIVE. Observe the fol- lowing requirements if you use other encoder cables: – Encoder cable length ≤ 50 m The cross section of each core of the encoder cable must be ≥ 0.25 mm .

  • Page 230: Safe Digital Inputs (F-Di

    Unassigned inputs need not be wired. An open input is always read as a "0" signal. The safe state of the safe digital inputs is the output of "logical 0" on the associated process values. ® Product Manual – MOVIDRIVE technology...
  • Page 231 A deviation is tolerated for the pa- rameterized discrepancy time. An input fault occurs if the deviation from the expected signal state exceeds the discrepancy time. The discrepancy time can be adjusted for each input pair via a parameter. ® Product Manual – MOVIDRIVE technology...
  • Page 232 If one of the following functions is assigned to the safe digital input, the interlocking function of an F-DI must not be activated: • Acknowledge faults • Unlatch F-DI • Unlatch F-DI and acknowledge faults • Muting • SLI increment enable • SBT clearance • Test mode ® Product Manual – MOVIDRIVE technology...

  • Page 233: Safe Digital Outputs (F-Do

    The following functions can be assigned to the safe digital outputs: • None Control of the safe digital output F‑DO takes place via the safe process data. If no safe process data has been activated, the safe digital output is open (logically "0"). ® Product Manual – MOVIDRIVE technology...
  • Page 234 Destruction of the brake rectifier BMK/BMV. • Do not connect the brake rectifier BMK/BMV to the safe digital output F-DO. • Connect the brake rectifier exclusively to the brake output DB00 of the unit. ® Product Manual – MOVIDRIVE technology...
  • Page 235 A test pulse duration of 1  ms is to be used for the safe disconnection of ® ® MOVISAFE   CS..A with maximum MOVIDRIVE   modular, ® ® MOVIDRIVE  system, and MOVIDRIVE  technology units. ® Product Manual – MOVIDRIVE technology...
  • Page 236 Internal safe digital output F-DO_STO The safety option has an internal safe digital output for switching the inverter's internal ® STO function as well as 3 additional axes of the MOVIDRIVE  modular/system/tech- nology application inverter. No other components may be connected to the inverter's STO terminal X6.

  • Page 237: Brake Test" Diagnostics Function

    CONTROLLER. The call must be ensured by the user. 2. The brake test is called up via a safe digital input F-DI.. and optionally via a digital input DI. The call must be ensured by the user. ® Product Manual – MOVIDRIVE technology...
  • Page 238 SEW‑EURODRIVE recommends calling up via a safe digital input or a safety controller. The test rate must be defined by the user in a machine-specific way. Applicative and standards requirements must be taken into consideration when doing so. ® Product Manual – MOVIDRIVE technology...
  • Page 239 In systems in which the motor shaft and brake are not coupled in a backlash-free man- ner, the user must check whether the brake test still detects a defective brake. A con- figured backlash must not mask a defective brake. ® Product Manual – MOVIDRIVE technology...
  • Page 240 The following figures are examples and can vary depending on the actual load situation and the respective setting. • More information about the individual test steps can be found in chapter "Step-by- step brake test procedure". ® Product Manual – MOVIDRIVE technology...
  • Page 241 The following example figures apply to applications with a configured load torque of M > 0 (5 test steps), e.g. hoist. • Positive direction of movement / positive test direction 9007228411639179 • Positive direction of movement / negative test direction 9007228411644683 ® Product Manual – MOVIDRIVE technology...
  • Page 242 Project planning for functional safety "Brake test" diagnostics function • Negative direction of movement / positive test direction 9007228411648267 • Negative direction of movement / negative test direction 9007228416003851 ® Product Manual – MOVIDRIVE technology...
  • Page 243 The following example figures apply to applications with a configured load torque of M = 0 (3 test steps), e.g. horizontal drive. • Positive direction of movement / positive test direction 9007228416008587 • Positive direction of movement / negative test direction 9007228416012171 ® Product Manual – MOVIDRIVE technology...
  • Page 244 Moving clear takes place in the following sub-steps: • The drive moves to the set target position. The movement takes place in the set di- rection of movement. The target position is specified via the Track. ® Product Manual – MOVIDRIVE technology...
  • Page 245 The magnitude and direction of the actual torque supplied by the inverter is monitored. The recorded actual torque (arithmetic mean value) must be greater than the Torque specification minus the Tolerance torque specification of the respective brake. ® Product Manual – MOVIDRIVE technology...
  • Page 246 Select the parameter settings of the "FCB 01 output stage inhibit" drive function as follows: – 0: Release brake/deactivate DynaStop® with FCB01 – enable – 1: Apply brake in event of STO This corresponds to the default setting in the delivery state. ® Product Manual – MOVIDRIVE technology...
  • Page 247 Perfor- mance Level (PL), the encoder must be designed as a safety encoder. You can select the following encoders from SEW‑EURODRIVE in the "Assist CS..." parameterization tool: • ES7S/EG7S/EK8S ® Product Manual – MOVIDRIVE technology...
  • Page 248 If other brakes or drives are present in a multi-axis system and are mechanically coupled to the drive to be tested, these brakes must be released and the drives must be torque-free or follow the drive under test synchronously. ® Product Manual – MOVIDRIVE technology...

  • Page 249: Data Exchange With Higher-Level Controller

    In the "System" profile variant, an additional 16 bit and a 32 bit process value are transferred. The safe speed, the safe position, and the SCA status can be transferred via the process values. ® Product Manual – MOVIDRIVE technology...
  • Page 250 The module with the designation F-I/O module (12/5 bytes) V2.6 is required for data exchange via PROFIsafe with the CSS21A, CSS31A, and CSA31A safety options. The remaining 5  bytes are required for the telegram backup according to the PROFIsafe communication. ® Product Manual – MOVIDRIVE technology...
  • Page 251 (ACK_NEC) quired for re- integration of the safety op- tion DBX0.2 "F00008_198" BOOL 1: Acknowl- edgment for (ACK_REI) reintegration DBX0.3 "F00008_198" BOOL Variable for re-parameter- (IPAR_EN) ization (not supported by the safety op- tion) ® Product Manual – MOVIDRIVE technology...
  • Page 252 Substitute values are output. DIAG Non-failsafe information about faults which have occurred in the F-control system is made available for service purposes via the DIAG variable. For further information, refer to the relevant F‑control system manual. ® Product Manual – MOVIDRIVE technology...
  • Page 253 Each safety option must be created by the user in the safety program. For establishing the operation of the safety function, defined variables are available that can be named ® differently depending on the Safety over EtherCAT main device. ® Product Manual – MOVIDRIVE technology...
  • Page 254 The connection ID is set in the main device. FSoE watchdog time ® The Safety over EtherCAT connection monitoring time must be set in the main device. The range of values is from 24 ms to 60 000 ms. ® Product Manual – MOVIDRIVE technology...
  • Page 255 "Via CIP Safety™ originator" and "Via parameterization". In the delivery state, the Ad- dress assignment mode parameter is set to "Via CIP Safety™ originator". The startup can thereby be performed via the engineering tool of the fail-safe controller. ® Product Manual – MOVIDRIVE technology...
  • Page 256 1 to 9999. The following requirement must be fulfilled for this purpose: • The inverter is already integrated in the EtherNet/IP™ network in the engineering tool of the fail-safe controller. ® Product Manual – MOVIDRIVE technology...
  • Page 257 The Safety Configuration Time Stamp (SCTS) is the time stamp of the application- specific configuration data of the safety option. The SCTS is transferred in the CIP date and time format as a hex value. ® Product Manual – MOVIDRIVE technology...
  • Page 258 F‑process data profile For safety sub-functions that are not used, the selection via the safe process output data must be set to "1" (not selected) and the reserve bits must be set to "0". ® Product Manual – MOVIDRIVE technology...
  • Page 259 Fault ac- No acknowledgment. knowledg- Fault acknowledgment (0 → 1 edge). ment Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve SSX1 Activate SSx1. Deactivate SSx1. SSX2 Activate SSx2. Deactivate SSx2. Reserve Reserve Reserve Reserve ® Product Manual – MOVIDRIVE technology...
  • Page 260 F-DI01 process value: "high". F-DI02 F-DI02 process value: "low" or fault. F-DI02 process value: "high". F-DI03 F-DI03 process value: "low" or fault. F-DI03 process value: "high". Reserve Reserve Reserve Not ac- Device accepted cepted Device not accepted. ® Product Manual – MOVIDRIVE technology...
  • Page 261 Byte Bit Name Value Description Activate STO. Deactivate STO. Reserve Reserve Reserve Reserve Reserve Enable F- No acknowledgment. Acknowledgment of latched F-DI (0 → 1 edge). Fault ac- No acknowledgment. knowl- Fault acknowledgment (0 → 1 edge). edgment ® Product Manual – MOVIDRIVE technology...
  • Page 262 Enable F-DO00 output (close). F-DO01 Disable F-DO01 output (open). Enable F-DO01 output (close). Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve SSx1 Activate SSx1. Deactivate SSx1. SSx2 Activate SSx2. Deactivate SSx2. Reserve Reserve Reserve Reserve ® Product Manual – MOVIDRIVE technology...
  • Page 263 F-DI01 process value: "high". F-DI02 F-DI02 process value: "low" or fault. F-DI02 process value: "high". F-DI03 F-DI03 process value: "low" or fault. F-DI03 process value: "high". Reserve Reserve Reserve Not accepted 0 Device accepted. Device not accepted. ® Product Manual – MOVIDRIVE technology...
  • Page 264 SSx1 SSx1 not active or limit value violation/fault. SSx1 is active. SSx2 SSx2 not active or limit value violation/fault. SSx2 is active. Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve Reserve ® Product Manual – MOVIDRIVE technology...
  • Page 265 Fault ac- No acknowledgment. knowledg- Fault acknowledgment (0 → 1 edge). ment F-DO00 Disable F-DO00 output (open). Enable F-DO00 output (close). F-DO01 Disable F-DO01 output (open). Enable F-DO01 output (close). Reserve Reserve Reserve Reserve Reserve Reserve ® Product Manual – MOVIDRIVE technology...
  • Page 266 Deactivate SLI2. SLS1 Activate SLS1. Deactivate SLS1. SLS2 Activate SLS2. Deactivate SLS2. SLS3 Activate SLS3. Deactivate SLS3. SLS4 Activate SLS4. Deactivate SLS4. SSR1 Activate SSR1. Deactivate SSR1. SSR2 Activate SSR2. Deactivate SSR2. Reserve Reserve ® Product Manual – MOVIDRIVE technology...
  • Page 267 The safety option is in fault-free operation. At least one warning in the safety option is ac- tive. Fault status The safety option is in fault-free operation. At least one fault in the safety option. ® Product Manual – MOVIDRIVE technology...
  • Page 268 SDI1 is active. SDI2 SDI2 not active or limit value violation/fault. SDI2 is active. SLI1 SLI1 not active or limit value violation/fault. SLI1 is active. SLI2 SLI2 not active or limit value violation/fault. SLI2 is active. ® Product Manual – MOVIDRIVE technology...
  • Page 269 SSM2 not active or limit value violation/fault. SSM2 is active. SSM3 SSM3 not active or limit value violation/fault. SSM3 is active. SSM4 SSM4 not active or limit value violation/fault. SSM4 is active. Reserve Reserve ® Product Manual – MOVIDRIVE technology...
  • Page 270 The validity for the set process values ("Process value 1" and "Process value 2") is signaled via the "Actual process value 1 qualifier" or "Actual process value 2 qualifier" bits. The "Qualifier" bit is always "0" if an "Actual process value" is set to "Not used". ® Product Manual – MOVIDRIVE technology...
  • Page 271 Fault ac- No acknowledgment. knowledg- Fault acknowledgment (0 → 1 edge). ment F-DO00 Disable F-DO00 output (open). Enable F-DO00 output (close). F-DO01 Disable F-DO01 output (open). Enable F-DO01 output (close). Reserve Reserve Reserve Reserve Reserve Reserve ® Product Manual – MOVIDRIVE technology...
  • Page 272 Activate SLS2. Deactivate SLS2. SLS3 Activate SLS3. Deactivate SLS3. SLS4 Activate SLS4. Deactivate SLS4. SSR1 Activate SSR1. Deactivate SSR1. SSR2 Activate SSR2. Deactivate SSR2. SLP1 Activate SLP1. Deactivate SLP1. SLP2 Activate SLP2. Deactivate SLP2. ® Product Manual – MOVIDRIVE technology...
  • Page 273 Activate direct referencing. selection Execute Direct referencing is not performed. direct ref- Direct referencing is performed. erencing Activation Deactivate reference travel. reference Activate reference travel. travel Reference Reference cam actuated. Reference cam not actuated. ® Product Manual – MOVIDRIVE technology...
  • Page 274 F‑DI01 process value: "high". F-DI02 F‑DI02 process value: "low" or fault. F‑DI02 process value: "high". F-DI03 F‑DI03 process value: "low" or fault. F‑DI03 process value: "high". Reserve Reserve Reserve Not accepted Device accepted. Device not accepted. ® Product Manual – MOVIDRIVE technology...
  • Page 275 SSR1 is active. SSR2 SSR2 not active or limit value violation/fault. SSR2 is active. SLP1 SLP1 is active. SLP1 not active or limit value violation/fault. SLP2 SLP2 is active. SLP2 not active or limit value violation/fault. ® Product Manual – MOVIDRIVE technology...
  • Page 276 With the "System" profile variant, a 16-bit value and a 32-bit value are transmitted in addition to the bits described in the "Technology" profile variant. Process value 1 (16 bits) • Speed in user unit (high word) ® Product Manual – MOVIDRIVE technology...
  • Page 277 The "Actual process value x qualifier" bit is not set to "0" because referencing with the "Position in user unit" parameterization has not taken place. The status of the refer- encing is transferred to the "Referenced" bit. ® Product Manual – MOVIDRIVE technology...
  • Page 278 If the F-DO function selection is set to "none", the outputs are disabled (logically "0"). If the F-DO function selection is set to "STO" or "SBC", the opening of the outputs is delayed by the activated function after the SSx ramp. ® Product Manual – MOVIDRIVE technology...

  • Page 279: Response Times

    F-DO_STO and the external safe digital outputs F-DO.. and to setting the fault status of the safe process input data (F-PI). • The response times of the safety options in relation to the safe digital outputs (F- DO) apply for ohmic loads ≤30 kΩ. ® Product Manual – MOVIDRIVE technology...
  • Page 280 ENC_VEL date time speed (8708.3) + 9 × T _Task _ENC_VEL Processing time encoder acceleration = SSI frame rate × (SSI fault tolerance + 3) + filter ENC_ACC without update time time acceleration (8708.2) + 9 × T _Task _ENC_ACC ® Product Manual – MOVIDRIVE technology...
  • Page 281 The following applies to a 1-encoder system: _ENC_VEL_COMBINED ENC_VEL_COMBINED ENC_VEL • For encoder systems in which the speed value is calcu- lated from the values of 2 encoders: = MAX (T (encoder A), T (en- ENC_VEL_COMBINED ENC_VEL ENC_VEL coder B)) ® Product Manual – MOVIDRIVE technology...
  • Page 282 All response times must be multiplied by the factor 1.002. Calculation factor Calculation specification response time _InputProcessing_F-DI _Sys _InputProcessing_F-DI _Sys SS1-r + SSx‑r monitoring delay t (8706.9) + _InputProcessing_F-DI _Sys brake application time (8706.15) + actual_speed/SSx‑r decel- eration a (8706.10) + SSx‑r jerk time (8706.11) ® Product Manual – MOVIDRIVE technology...
  • Page 283 4) If ramp monitoring = linear, then the jerk time = 0 The information that a safety sub-function was activated via a safe digital input is available on the safe process data 4 ms after activation. ® Product Manual – MOVIDRIVE technology...
  • Page 284 SLS ramp start at actual speed = 1  = actual speed - limit speed (8706.24) _Start _InputProcessing_F-PA _Sys + T + monitoring delay t (8706.53) _InputProcessing_F-PO _Sys + T _InputProcessing_F-PO _Sys + 2 × T _InputProcessing_F-PO _Sys + T + monitoring delay (8706.76) _InputProcessing_F-PO _Sys ® Product Manual – MOVIDRIVE technology...
  • Page 285 (8706.11) _ENC_POS_Combined _Sys _ENC_VEL_Combined _Sys For systems in which an encoder is responsible for the posi- tion and a 2nd encoder is responsible for the speed, the fol- lowing applies: _ENC_VEL_Combined ENC_POS_Combined _Sys ® Product Manual – MOVIDRIVE technology...
  • Page 286 2) If SBC enable (8706.14) = no, then the brake application time = 0 3) If ramp monitoring = linear, then jerk time = 0 4) If ramp monitoring = linear, then the jerk time = 0 ® Product Manual – MOVIDRIVE technology...
  • Page 287 _Sys SLA with parameterized fault response: • + 2 × T _ENC_ACC_Combined _Sys • SS1-t + 2 × T + SSx‑t delay t (8706.8) + Brake _ENC_ACC_Combined _Sys application time (8706.15) • SS2-t + SSx‑t delay t (8706.8) _ENC_ACC_Combined _Sys ® Product Manual – MOVIDRIVE technology...
  • Page 288 (8705.32), EDM drop-out delay (8705.33)) + T + Brake ap- _Sys plication time (8706.15) Additional fault response STO and STO on + Maximum (EDM pick-up delay _InputProcessing_F-DI_Deselection F-PI (8705.32), EDM drop-out delay (8705.33)) + 2 × T + Brake _Sys application time (8706.15) ® Product Manual – MOVIDRIVE technology...
  • Page 289 _InputProcessing_F-DI_Deselection (8705.32), EDM drop-out delay (8705.33)) + T _Sys 1) If SBC enable (8706.14) = no, then the brake application time = 0 2) If ramp monitoring = linear, then jerk time = 0 ® Product Manual – MOVIDRIVE technology...

  • Page 290: Prefabricated Cables

    Connection cable: Connector → connector for cable carrier installa- tion Connection cable extension: Connector → connector for cable car- rier installation Connection cable: Connector → open end for fixed installation Connection cable: Connector → open end for cable carrier installa- tion ® Product Manual – MOVIDRIVE technology...

  • Page 291: Power Cable

    "Motor cables ../SM.. " (→ 2 292) "Motor extension cable ../ SM.. " (→ 2 292) "Brakemotor cable ../SB.. for /BK and /BZD brakes " (→ 2 293) "Brakemotor cable ../SB.. for /BZ brakes " (→ 2 293) "Brakemotor extension cable ../SB.. for /BK, /BZD and /BZ brakes " (→ 2 294) ® Product Manual – MOVIDRIVE technology...
  • Page 292 4 × 4 mm – 28125169 Motor exten- sion cable 4 × 6 mm – 28125177 SMB / M40 SMB / M40 4 × 10 mm – 28125185 SpeedTec SpeedTec 4 × 16 mm – 28125193 ® Product Manual – MOVIDRIVE technology...
  • Page 293 Open end 4 × 6 mm + 3 × 28125401 28125428 BZ.. brake 1.5 mm SBB / M40 4 × 10 mm + 3 × 28125436 28125444 1.5 mm SpeedTec 4 × 16 mm + 3 × 28125452 28125460 1.5 mm ® Product Manual – MOVIDRIVE technology...
  • Page 294 + 3 × BK../BZ..D/ – 28125509 1.5 mm BZ.. brakes SBB / M40 SMB / M40 4 × 10 mm + 3 × – 28125517 1.5 mm SpeedTec SpeedTec 4 × 16 mm + 3 × – 28125525 1.5 mm ® Product Manual – MOVIDRIVE technology...
  • Page 295 "Motor cables ../SM.. " (→ 2 296) "Motor extension cables ../SM.. " (→ 2 296) "Brakemotor cables ../SB.. for /BK and /BP brakes " (→ 2 297) "Brakemotor extension cables ../SB.. for /BK, /BP, and /BY brakes " (→ 2 298) "Brakemotor cables ../SB.. for /BY brakes " (→ 2 299) ® Product Manual – MOVIDRIVE technology...
  • Page 296 SpeedTec-ready SpeedTec-ready 4 × 16 mm – 13350056 4 × 16 mm – 18156819 SMC / M58 SMC / M58 4 × 25 mm – 18156827 SpeedTec-ready SpeedTec-ready 4 × 35 mm – 18156835 ® Product Manual – MOVIDRIVE technology...
  • Page 297 SBB / M40 4 × 10 mm 13350218 13350242 3 × 1.5 mm SpeedTec-ready 4 × 16 mm 13350226 13350250 3 × 1.5 mm 1) The cable contains 3 cores but only 2 cores are used. ® Product Manual – MOVIDRIVE technology...
  • Page 298 + 3 × 13350102 – brakes 1.5 mm SpeedTec-ready SpeedTec-ready 4 × 16 mm + 3 × 13350110 – 1.5 mm SBC / M58 4 × 16 mm + 3 × SMC / M58 18156843 – 1.5 mm SpeedTec-ready SpeedTec-ready ® Product Manual – MOVIDRIVE technology...
  • Page 299 Motor hybrid cable for CMP..-/CM3C.. motors with/without brake, in encoder-less version Overview CM3C../SH.. /BZD CM3C../SH.. /BZ CM3C../SH.. /BK CM3C../SH.. --> [2] --> [1] 39916302859 [1] "Motor/brakemotor cable ../SH.. " (→ 2 300) [2] "Motor extension cables ../SH.. " (→ 2 301) ® Product Manual – MOVIDRIVE technology...
  • Page 300 4 × 4 mm  + 18191312 brakemotor 3 × 1 mm  + Open end – cable 4 × 0.34 mm 4 × 6 mm  + 18191320 3 × 1.5 mm  + – 4 × 0.34 mm SHB / M40 SpeedTec 4 × 10 mm  + 18191339 3 × 1.5 mm  + – 4 × 0.34 mm ® Product Manual – MOVIDRIVE technology...
  • Page 301 Motor exten- 3 × 1 mm  + – sion cable 4 × 0.34 mm 4 × 6 mm  + 18191371 3 × 1.5 mm  + – 4 × 0.34 mm SHB / M40 SHB / M40 SpeedTec 4 × 10 mm  + SpeedTec 18191398 3 × 1.5 mm  + – 4 × 0.34 mm ® Product Manual – MOVIDRIVE technology...

  • Page 302: Encoder Cable

    CM3C.. /KK /AK0H 18014431391548811 All prefabricated encoder cables with connectors on the motor side are designed in SpeedTec. Encoder connection basic device (resolvers can only be connected to X15) D-sub → Encoder connection multi-encoder card ® Product Manual – MOVIDRIVE technology...
  • Page 303 Inverter side Fixed instal- Cable carrier lation installation Cable cross sec- Encoder type Connector type Connector type Part number tion RH1M re- 5 × 2 × 0.25 mm 13356356 13356364 solver Open end D-sub 15 4 × 2 × 0.25 mm AK0H encoder 13356291 13356305 + 2 × 0.5 mm ® Product Manual – MOVIDRIVE technology...
  • Page 304 01995391 01995405 CMP(Z).. /KK /AK0H /KKS /EK1H CMP(Z).. /SM.. /AK1H CMP(Z).. /SB.. CMP(Z).. /KKS /AK0H /EK1H /AK1H 18014413270582027 Encoder connection basic device (resolvers can only be connected to X15) D-sub → Encoder connection multi-encoder card ® Product Manual – MOVIDRIVE technology...
  • Page 305 Cable carrier lation installation Cable cross sec- Encoder type Connector type Connector type Part number tion RH1M re- 5 × 2 × 0.25 mm 13356356 13356364 solver Open end D-sub 15 AK0H / 4 × 2 × 0.25 mm AK1H / EK1H 13356291 13356305 + 2 × 0.5 mm encoder ® Product Manual – MOVIDRIVE technology...
  • Page 306 /AS7W /AG7W /AS7W /AG7W 18140408 /AS7Y /AG7Y /AS7Y /AG7Y 45036011090014603 Encoder connection basic unit (resolvers can only be connected to X15) D-sub → Encoder connection multi-encoder card (A..Y encoders can only be connected to X17) ® Product Manual – MOVIDRIVE technology...
  • Page 307 Motors with integrated plug connector for encoder signals with connection cover, connection type A1GA. The signals for thermal monitoring of the motor are not present in the encoder cable. ® Product Manual – MOVIDRIVE technology...
  • Page 308 Motors with terminal strip in the terminal box for encoder signals and thermal monitoring. The signals for thermal monitoring of the motor are present in the encoder cable. ® Product Manual – MOVIDRIVE technology...
  • Page 309 Motor side Inverter side Cable car- Fixed in- rier installa- stallation tion Connector type Cable cross section Connector type Part number 5 × 2 × 0.25 mm + 2 × 0.5 mm 13602659 13623206 5 × 2 × 0.25 mm + 2 × 0.5 mm D-sub 15 28111435 28111443 4 × 2 × 0.25 mm + 2 × 0.5 mm 13621998 18195393 ® Product Manual – MOVIDRIVE technology...
  • Page 310 Encoder extension cable with two M23 Motor side Inverter side Fixed in- Cable car- stallation rier installa- tion Connector type Cable cross section Connector type Part number 4 × 2 × 0.25 mm + 2 × 0.5 mm 13623192 13621971 5 × 2 × 0.25 mm + 2 × 0.5 mm 28111451 28111478 ® Product Manual – MOVIDRIVE technology...

  • Page 311: Cables For Movilink® Ddi

    Multi-cable technology larger than 10 mm For cross sections larger than 10 mm , the coaxial cable is routed separately in a cable. Individual coaxial cables are available as prefabricated cables. Six plugging positions are available. ® Product Manual – MOVIDRIVE technology...
  • Page 312 MOVIDRIVE ® • MOVITRAC advanced ® • MOVIMOT flexible [1 - 5] DRN../DR2S../DR2L.. [6 - 10] CMP../CM3C.. CMSB.. ® MOVIGEAR classic [11 - 15] [1 - 5] [16 - 20] [6 - 10] 36028826510616587 ® Product Manual – MOVIDRIVE technology...
  • Page 313 MOVILINK DDI con- nection. The cable for connecting the motor and the brake must be laid separately. The cable is used for the following inverters: ® • MOVIDRIVE ® • MOVITRAC advanced ® Product Manual – MOVIDRIVE technology...
  • Page 314 Fixed installation Open [25] 28143892 4 × 10 + 4 × 1.5 + coaxial cable Fixed installation Open [26] 28124332 4 × 1.5 + 4 × 1 + coaxial cable Cable carrier installation Open ® Product Manual – MOVIDRIVE technology...
  • Page 315 4 × 6 + 4 × 1.5 + coaxial cable Cable carrier installation cut off cut off [52] 28123379 4 × 10 + 4 × 1.5 + coaxial cable Cable carrier installation cut off cut off ® Product Manual – MOVIDRIVE technology...
  • Page 316 Reserved Pink Not prefabricated Do not connect Reserved Violet Not prefabricated Do not connect Yellow/ YE/GN Not prefabricated Protective earth connec- green tion ® Violet Coaxial connector MOVILINK  DDI Insulate each unconnected conductor end. ® Product Manual – MOVIDRIVE technology...
  • Page 317 Brake connection 15 Pink Not prefabricated Brake connection 13 Violet Not prefabricated Brake connection 14 Yellow/ YE/GN Not prefabricated Protective earth connec- green tion ® Violet Coaxial connector MOVILINK  DDI Insulate each unconnected conductor end. ® Product Manual – MOVIDRIVE technology...
  • Page 318 Not prefabricated served connect Connection Brake + Violet Not prefabricated Brake + Connection Yellow/ YE/GN – Not prefabricated Protective green earth ® Coaxial con- MOVILINK   Violet – nector Insulate each unconnected conductor end. ® Product Manual – MOVIDRIVE technology...
  • Page 319 N (or phase L2) Reserved Pink Not prefabricated Do not connect Brake connection, phase Violet Not prefabricated Yellow/ YE/GN Not prefabricated Protective earth connec- green tion ® Violet Coaxial connector MOVILINK Insulate each unconnected conductor end. ® Product Manual – MOVIDRIVE technology...
  • Page 320 DC 24 V connection Reserved Pink Not prefabricated Do not connect Reserved Violet Not prefabricated Do not connect Yellow/ YE/GN Not prefabricated Protective earth connec- green tion ® Violet Coaxial connector MOVILINK Insulate each unconnected conductor end. ® Product Manual – MOVIDRIVE technology...
  • Page 321 Pink Not prefabricated Braking resistor connec- resistor tion Reserved Violet Not prefabricated Do not connect Yellow/ YE/GN Not prefabricated Protective earth connec- green tion ® Violet Coaxial connector MOVILINK Insulate each unconnected conductor end. ® Product Manual – MOVIDRIVE technology...

  • Page 322: Module Bus Cable

    7.5.1 Overview 18027071371 [1] Connector, black [2] Connector, red The module bus cable is used when two inverters are connected with one another in the DC link, see also the "DC link connection" manual. ® Product Manual – MOVIDRIVE technology...

  • Page 323: System Bus Cable

    When using an RJ45 connector with 8-pin assignment at this point, mal- functions or defects may occur at the connected devices. When RJ45 cables are being used, it must be ensured that the RJ45 connectors are equipped with all contacts. ® Product Manual – MOVIDRIVE technology...
  • Page 324 If you use system bus cables from other manufacturers, it is necessary to comply with ® the relevant requirements of the "EtherCAT Technology Group" (ETG). On this sub- ® ject, note the "EtherCAT Installation Guideline" from the ETG. ® Product Manual – MOVIDRIVE technology...
  • Page 325 The prefabricated system bus cables are assigned according to EIA/TIA-568A. Also use this assignment for prefabrication in the field. Contact Conductor color Function White/green Green White/orange Reserved – Reserved – Orange Reserved – Reserved – ® Product Manual – MOVIDRIVE technology...

  • Page 326: Device Structure

    Device structure Inverter Device structure Inverter 8.1.1 Size 1 [21] [20] [10] [22] [11] [12] [23] [13] [14] [24] [10] [15] [25] [16] [17] [18] [19] 27021618527309579 ® Product Manual – MOVIDRIVE technology...
  • Page 327 [21] X16: MOVILINK DDI connection [22] X15: Motor encoder connection [23] X10: Brake control and motor temperature monitoring [24] X2: Motor and braking resistor connection [25] EMC contact screw on the back of the inverter ® Product Manual – MOVIDRIVE technology...
  • Page 328 Device structure Inverter 8.1.2 Size 2 [21] [20] [10] [22] [11] [12] [23] [13] [14] [24] [11] [25] [15] [16] [17] [18] [19] 27021618527312011 ® Product Manual – MOVIDRIVE technology...
  • Page 329 [21] X16: MOVILINK DDI connection [22] X15: Motor encoder connection [23] X10: Brake control and motor temperature monitoring [24] X2: Motor and braking resistor connection [25] EMC contact screw on the back of the inverter ® Product Manual – MOVIDRIVE technology...
  • Page 330 Device structure Inverter 8.1.3 Size 3 [21] [20] [10] [22] [11] [12] [23] [13] [14] [24] [11] [15] [25] [16] [17] [18] [19] 27021618527314443 ® Product Manual – MOVIDRIVE technology...
  • Page 331 [21] X16: MOVILINK DDI connection [22] X15: Motor encoder connection [23] X10: Brake control and motor temperature monitoring [24] X2: Motor and braking resistor connection [25] EMC contact screw on the back of the inverter ® Product Manual – MOVIDRIVE technology...
  • Page 332 Device structure Inverter 8.1.4 Size 4 [21] [20] [10] [22] [11] [12] [23] [13] [14] [11] [24] [15] [16] [25] [17] [18] [19] 27021618527316875 ® Product Manual – MOVIDRIVE technology...
  • Page 333 [21] X16: MOVILINK DDI connection [22] X15: Motor encoder connection [23] X10: Brake control and motor temperature monitoring [24] X2: Motor and braking resistor connection [25] EMC contact screw on the back of the inverter ® Product Manual – MOVIDRIVE technology...
  • Page 334 Device structure Inverter 8.1.5 Size 5 [22] [23] [21] [24] [10] [25] [11] [12] [13] [14] [11] [15] [26] [16] [26] [17] [18] [19] [20] 27021619245585931 ® Product Manual – MOVIDRIVE technology...
  • Page 335 [24] X10: Brake control and motor temperature monitoring [25] X2: Motor and braking resistor connection [26] EMC contact screw on the top and another EMC contact screw on the right side of the inverter ® Product Manual – MOVIDRIVE technology...
  • Page 336 Device structure Inverter 8.1.6 Size 6 [22] [23] [21] [24] [10] [11] [12] [13] [25] [14] [11] [15] [16] [17] [26] [18] [19] [20] 18014422386194059 ® Product Manual – MOVIDRIVE technology...
  • Page 337 [22] X16: MOVILINK DDI connection [23] X15: Motor encoder connection [24] X2: Motor and braking resistor connection [25] X10: Brake control and motor temperature monitoring [26] EMC contact screw on the right side of the inverter ® Product Manual – MOVIDRIVE technology...
  • Page 338 Device structure Inverter 8.1.7 Size 7 [24] [25] [21] [10] [22] [11] [12] [26] [13] [23] [14] [27] [15] [16] [17] [18] [28] [19] [20] 18014436009888011 ® Product Manual – MOVIDRIVE technology...
  • Page 339 [24] X16: MOVILINK DDI connection [25] X15: Motor encoder connection [26] X2: Motor and braking resistor connection [27] X10: Brake control and motor temperature monitoring [28] EMC contact screw on the right side of the inverter ® Product Manual – MOVIDRIVE technology...
  • Page 340 Device structure Inverter 8.1.8 Size 8 [24] [10] [25] [11] [21] [26] [12] [22] [13] [27] [23] [14] [15] [16] [26] [17] [18] [27] [19] [20] 9007241460164107 ® Product Manual – MOVIDRIVE technology...
  • Page 341 DDI connection [25] X15: Motor encoder connection [26] Braking resistor connection [27] X2: Motor connection [28] X10: Brake control and motor temperature monitoring [27] EMC contact screw on the right side of the inverter ® Product Manual – MOVIDRIVE technology...

  • Page 342: Movisafe ® Cs

    0 2 0 5 K W 0 6 / 1 9 0 3 8 6 28292606859 Safety option hardware ID Channel A firmware version (0205 = firmware version 2.05) Channel B firmware version (0205 = firmware version 2.05) ® Product Manual – MOVIDRIVE technology...
  • Page 343 (MDX9.A..-T00) If you have any questions about compatibility, please contact SEW‑EURODRIVE Service with the serial number of your device. ® For the CS..A safety option with firmware version  2.05, the MOVIDRIVE firmware version 4.00 or later is required. ® For the CSA31A safety option with firmware version 3.02, the MOVIDRIVE firmware version 7.00 or later is required.
  • Page 344 MOVISAFE® CS..A safety option device structure ® 8.2.5 MOVISAFE CSB21A/CSS21A 4700 0015 E223 282D F-RUN F-ERR 9007219622060299 [1] XS: Slot for the pluggable safety key [2] "F-RUN" LED [3] "F-ERR" LED [4] X60: F-DIx and F-DOx connection ® Product Manual – MOVIDRIVE technology...
  • Page 345 F-RUN F-ERR 20370612875 [1] XS: Slot for the pluggable safety key [2] "F-RUN" LED [3] "F-ERR" LED [4] X17: Connection of 2nd encoder (not used for functional safety) [5] X60: F-DIx and F-DOx connection ® Product Manual – MOVIDRIVE technology...
  • Page 346 6 8 2 D F-RUN F-ERR 32397079819 [1] XS: Slot for the pluggable safety key [2] "F-RUN" LED [3] "F-ERR" LED [4] X17: Second encoder port (for use for functional safety) [5] X60: F-DIx and F-DOx connection ® Product Manual – MOVIDRIVE technology...

  • Page 347: Nameplates

    The following figure shows an example of the position of the nameplates and labels on the inverter: 50610950539 [1] Brief nameplate [2] Performance data nameplate [3] System nameplate [4] Product label 8.3.2 Example of short nameplate 50623668875 [1] Device status ® Product Manual – MOVIDRIVE technology...
  • Page 348 You will be redirected to the Digital Services of SEW‑EURODRIVE. There, you have access to product-specific data, docu- ments, and further services. In the "Documentation" > "Data and documents" area, the product manual of the device with further information is available. ® Product Manual – MOVIDRIVE technology...

  • Page 349: Type Designation

    Control via fieldbus L = Inverter with POWERLINK CiA402 Technology level 0 = Standard design Application level ® 0 = Standard/MOVIKIT Velocity Drive ® 1 = MOVIKIT Positioning Drive 2 = Customized solution ® Product Manual – MOVIDRIVE technology...

  • Page 350: Card Slots

    Type designation Description Slot CFE21A, CFN21A, CFP21A, CFL21A Fieldbus cards CES11A Multi-encoder card CES12A Multi-encoder card with incremental encoder sim- ulation CS..A Safety option CID21A, CIO21A Input/output cards ® Product Manual – MOVIDRIVE technology...
  • Page 351 Device structure Card slots 9007219859743499 Connector panel of basic unit Fieldbus card slot Slot safety option/multi-encoder card Slot for input/output cards ® Product Manual – MOVIDRIVE technology...

  • Page 352: Mechanical Installation

    INFORMATION Special bending spaces are required according to EN  61800‑5‑1 for cables with a cross section of 10 mm and larger. Increase the size of the spaces if necessary. ® Product Manual – MOVIDRIVE technology...

  • Page 353: Preparing The Control Cabinet Back Panel

    2. Cut the internal thread in the holes according to the screw size used. 9007215129195275 Inverter Dimensions of the device base plate in mm Size 1 Size 2 Size 3 Size 4 Size 5 Size 6 Size 7 Size 8 ® Product Manual – MOVIDRIVE technology...

  • Page 354: Installing Inverter Sizes 1 - 8

    [1] from the top. 2. Push the inverter backwards to insert the retaining screws [2] into the upper holes in the device base plate. 3. Lower the inverter. 4. Tighten the retaining screws [1] and [2]. ® Product Manual – MOVIDRIVE technology...

  • Page 355: Installing The Shield Plate For The Power Section

    No shield terminals for the power section are supplied with the sizes. Use commer- cially available shield terminals for installing the shielding of motor, brake and braking resistor cables. Apply the shielding as closely as possible to the inverter. ® Product Manual – MOVIDRIVE technology...

  • Page 356: Installing The Shield Plate For Signal Cables

    9.7.2 Installing the bottom shield plate Proceed as follows: 1. Insert the shield plate [2] so that you can fasten it with the screw [1] in the position [3] shown in the figure. 9007226776248075 ® Product Manual – MOVIDRIVE technology...
  • Page 357 DDI from size 5 and larger. The shield plate is not yet installed on the unit. 1. Insert the shield plate [2] so that you can fasten it with the screw [1] in the position [3] shown. 18014432994211979 ® Product Manual – MOVIDRIVE technology...

  • Page 358: Removing And Attaching The Safety Cover

    18014413087937291 3. Place the safety cover [1] into the upper recess and move it towards the inverter until it clicks into place. 4. Always attach the safety cover [1] after having carried out installation work. ® Product Manual – MOVIDRIVE technology...

  • Page 359: Removing And Reinstalling The Touch Guards

    The following figure shows an example of the touch guards of the inverter: 42739197451 Cover Touch guard for connection of supply system and DC link Touch guard for connection of motor and braking resistor ® Product Manual – MOVIDRIVE technology...
  • Page 360 The following figure shows an example of the touch guards of the inverter: 42739199883 Cover Touch guard for connection of supply system and DC link Touch guard for connection of motor and braking resistor ® Product Manual – MOVIDRIVE technology...
  • Page 361 The following figure shows an example of the touch guards of the inverter: 42739202315 Cover Touch guard for connection of motor and braking resistor Touch guard for connection of supply system and DC link Touch guard for connection of DC link before DC link choke ® Product Manual – MOVIDRIVE technology...
  • Page 362 Touch guard for connection of motor and braking resistor, part 1 Touch guard for connection of motor and braking resistor, part 2 Touch guard for connection of supply system and DC link Touch guard for connection of DC link before DC link choke ® Product Manual – MOVIDRIVE technology...

  • Page 363: Installing A Card

    3. Remove the safety cover [1] from the front of the inverter. The slot in which the card is installed depends on the card used. 18014412808876555 4. Remove the plastic cover [1] of the card slot using a screwdriver. 15160620811 ® Product Manual – MOVIDRIVE technology...
  • Page 364 INFORMATION Hold the card by its edges only. 5. Take the card [1] and insert it into the slot with slight pressure. 15160623243 6. Screw in the card with the specified "tightening torque" (→ 2 381). 15160625675 ® Product Manual – MOVIDRIVE technology...

  • Page 365: Installing Braking Resistors

    10 kW vertical horizontal up to 22 kW vertical horizontal up to 44 kW vertical Not permitted Not permitted Not permitted 1) Corresponds to mounting position 1, 2, 5, 6. 2) Corresponds to mounting position 3, 4. ® Product Manual – MOVIDRIVE technology...
  • Page 366 The following table shows the permitted mounting positions of the braking resistors: Grid resistor, Wire resistor Flat type resistor frame resistor 18512455307 18512457739 The BW003-420-T and BW1.0-170 braking resistors may only be used in position 1. ® Product Manual – MOVIDRIVE technology...
  • Page 367 3. Push the inverter backwards to insert the retaining screws [2] into the upper holes in the device base plate. 4. Lower the inverter. 5. Install the shield plate; see chapter "Mechanical installation" (→ 2 352). 6. Tighten the retaining screws [1] and [2]. ® Product Manual – MOVIDRIVE technology...
  • Page 368 Installing flatpack resistors without a support plate Observe the following information: • Use the spacer bolts included in the scope of delivery for installation. • The spacer bolts must ensure a distance between the braking resistor and the mounting plate. ® Product Manual – MOVIDRIVE technology...

  • Page 369: Installing The Line Choke

    Observe the following minimum distances and mounting positions for convection cooling: Permitted Distance in mm mounting position On the side Downwards Upwards 1, 2, 3, 4 • Observe the following permitted mounting positions during installation: 49906004235 ® Product Manual – MOVIDRIVE technology...

  • Page 370: Installing The Line Filter

    Observe the following minimum distances and mounting positions for convection cooling: Permitted mount- Distance in mm ing position On the side Downward Upward 3 and 4 • Observe the following permitted mounting positions during installation: 49742030347 ® Product Manual – MOVIDRIVE technology...

  • Page 371: Mounting The Output Filter

    Observe the following minimum distances and mounting positions for convection cooling: Permitted mount- Distance in mm ing position On the side Downward Upward 3 and 4 • Observe the following permitted mounting positions during installation: 49906001291 ® Product Manual – MOVIDRIVE technology...

  • Page 372: Mounting The Output Choke

    Observe the following minimum distances and mounting positions for convection cooling: Permitted mount- Distance in mm ing position On the side Downward Upward 3 and 4 • Observe the following permitted mounting positions during installation: 49905998347 ® Product Manual – MOVIDRIVE technology...

  • Page 373: Mounting The Keypad

    2. Push the top of the keypad toward the inverter [2] until it audibly clicks into place. ð As soon as the connection to the inverter is established, the start menu is dis- played. 49740573579 ® Product Manual – MOVIDRIVE technology...
  • Page 374 Proceed as follows: 1. Press and hold the red unlatch button [1] of the keypad downwards. 2. Tilt the top of the keypad forward. 3. Remove the keypad from the recess on the front. 49740571147 ® Product Manual – MOVIDRIVE technology...

  • Page 375: Mounting The Cbg22A Local Keypad

    COG11A door mounting frame. The key switch activates manual mode in the local keypad. 9007250463743243 ® MOVITRAC classic inverter D-Sub cable, 9-pin CBG22A local keypad Door mounting frame COG11A Key switch ® Product Manual – MOVIDRIVE technology...

  • Page 376: Electrical Installation

    Ensure that shielded cables are connected in an HF-compatible manner, e.g. by using grounding clamps or EMC screw fittings, so that the braided shield has a large connection surface. • Do not use the cable shield of signal cables for the equipotential bonding. ® Product Manual – MOVIDRIVE technology...
  • Page 377 If the motor cable and brake cable are combined in a shared cable, the cable must have an inner shield separating the brake cables from the motor cores. The cables also possess an overall shield. If the brake cable is routed separately, SEW‑EURODRIVE recommends using a shielded brake cable. ® Product Manual – MOVIDRIVE technology...
  • Page 378 Encoder SEW‑EURODRIVE recommends using prefabricated encoder cables. The shield of prefabricated cables from SEW‑EURODRIVE is connected via the con- nector. SEW‑EURODRIVE offers the option of additionally mounting the shield using a shield plate supplied. ® Product Manual – MOVIDRIVE technology...
  • Page 379 [4] PE busbar [11] Brake cable [5] HF connection of PE busbar/mounting plate [12] Grounding clamp [6] Supply system cable [13] Electronics shield plate [7] Power shield plate (depending on size) [14] HF connection ® Product Manual – MOVIDRIVE technology...

  • Page 380: Installation Instructions

    (IT systems). The efficiency of line filters is severely limited. Voltage systems with grounded Use only for nominal line voltages up to max. 240 V. outer conductor. ® Product Manual – MOVIDRIVE technology...
  • Page 381 Sizes 1 – 4 minal Sizes 5 – 8 Sizes 1 – 3 X1/X2 Screw ter- minal Size 4 X1/X2 0.75 0.75 1) SEW‑EURODRIVE recommends using conductor end sleeves for installation with screw terminals and flexible cable. ® Product Manual – MOVIDRIVE technology...
  • Page 382 Sizes 5 – 8 – – Sizes 1 – 3 X1/X2 0.25 0.25 Screw ter- minal Size 4 X1/X2 "–" Not permitted 1) SEW‑EURODRIVE recommends using conductor end sleeves for installation with screw terminals and flexible cable ® Product Manual – MOVIDRIVE technology...
  • Page 383 Inverter Braking resistor Protective element/ Line contactor preventive measure required? Sizes 1 – 3 No BW.. – BW.. Flat design – BW.. as PTC – BW.. External overload relay BW..-T External overload relay ® Product Manual – MOVIDRIVE technology...
  • Page 384 DC  24  V voltage supply, have to meet the requirements according to SELV (Safety Extra Low Voltage) or PELV (Protective Extra Low Voltage) to ensure protective sepa- ration. The installation must meet the requirements for protective separation. ® Product Manual – MOVIDRIVE technology...

  • Page 385: Connection To Power Terminals

    1. Attach the heat shrink tubing at the ring lug. 2. Connect the cables. If the device is connected using one cable, the plastic cover in the connection block must not be removed. 9007236401887627 ® Product Manual – MOVIDRIVE technology...
  • Page 386 Designing the connection with 2 cables Proceed as follows: 1. Attach a heat shrink tubing at the ring lugs. 2. Remove the plastic covers in the connection block. 37147149067 3. Connect the two cables. 42922486923 ® Product Manual – MOVIDRIVE technology...
  • Page 387 1. The plastic covers must be broken out in different ways depending on the cross section used. Size 5 Sizes 6 – 8 2. Fit the plastic covers at the individual connections. Size 5 Sizes 6 – 8 ® Product Manual – MOVIDRIVE technology...

  • Page 388: Supply Voltage

    Whether an external 24 V supply is required for MDX91A-.. depends on the load, e.g. the encoder supply and the outputs. 24 V 15027024779 Select the cross section of the supply cable according to the power demand of the devices to be supplied. ® Product Manual – MOVIDRIVE technology...

  • Page 389: Line Fuses

    Connect the braking resistor to the connections +R and -R. • Note that the maximum permissible cable length between the braking resistor and inverter is 100 m. • Use a shielded cable or twisted single conductors. ® Product Manual – MOVIDRIVE technology...

  • Page 390: Temperature Evaluation

    • Note the different project planning criteria to determine the length of brake cable and motor cable. • Connect the brakes and/or brake control units to terminal strip  X10 (DB0/DB00 and GND). ® Product Manual – MOVIDRIVE technology...

  • Page 391: Inputs/Outputs

    Some of the automation components are: ® • MOVI-C CONTROLLER • Inverter ® • PC with MOVISUITE engineering software ® • MOVI-PLC I/O system ® ® PLUS • Additional EtherCAT stations on the EtherCAT /SBus ® Product Manual – MOVIDRIVE technology...
  • Page 392 2. Connect the system bus cables between the individual automation components. 3. Connect the connectors to the bus input X30 IN. 4. Connect the connectors to the bus output X30 OUT. 5. Fix the system bus cables to the shield plate. ® Product Manual – MOVIDRIVE technology...
  • Page 393 The module bus cable is not included in the scope of delivery of the inverter and must ® be ordered separately. For more information, refer to the manual "MOVIDRIVE sys- tem/technology DC link connection". Connecting the module bus cable Proceed as follows: The connectors of the module bus cables are red and black.

  • Page 394: 10.11 Encoders

    The maximum cable length might be reduced depending on the technical data of the respective encoder. Observe the specifications of the encoder manufacturer. Information on the maximum cable lengths can be found in the TD of the corre- sponding encoder interface. ® Product Manual – MOVIDRIVE technology...

  • Page 395: Movilink Ddi

    To avoid communication errors, the exposed length of the coaxial cable must not exceed 50 cm. For more information, refer to the addendum to the "Digital Motor ® Integration MOVILINK DDI Toolset 1" operating instructions. ® Product Manual – MOVIDRIVE technology...
  • Page 396 Integration MOVILINK DDI Toolset 1" operating instructions. Connection example size 5 The following figure shows an example of the connection with separate routing of power and coaxial cables for the inverters of size 5: 9007238074949643 ® Product Manual – MOVIDRIVE technology...
  • Page 397 – 8: 42879019787 Route the coaxial cable in such a way that it passes through the two tabs. Connect the shield of the coaxial cable to the terminal provided for this purpose. ® Product Manual – MOVIDRIVE technology...

  • Page 398: 10.13 Fieldbus Cables And Cable Routing

    Proceed as follows when routing the fieldbus cables: 1. Remove the safety cover; see the chapter "Removing and attaching the safety cover" (→ 2 358). 2. Connect both the cables to the connections X40 and X41 on the card. 26077413387 ® Product Manual – MOVIDRIVE technology...
  • Page 399 Electrical installation Fieldbus cables and cable routing 3. Route the cables as shown and press both the cables into the clips. 26077416971 4. Attach the safety cover again. 26077420555 ® Product Manual – MOVIDRIVE technology...

  • Page 400: 10.14 Cio21A And Cid21A Input/Output Card

    Ensure identical parameterization of the digital outputs. 10.14.6 Cable lengths and shielding The maximum cable length of connections at the inputs and outputs is 30 m. Cables outside the control cabinet must be shielded. ® Product Manual – MOVIDRIVE technology...
  • Page 401 Flatpack resistors have internal thermal protection (fuse cannot be replaced) that in- terrupts the current circuit in the event of overload. The configuration guidelines and the documented assignments of the drive inverter and braking resistor must be ad- hered to. ® Product Manual – MOVIDRIVE technology...
  • Page 402 The signal contact is only evaluated in the PLC. If the internal temperature switch responds, note the following: • The PLC must disconnect the power supply. • There is no direct response in the inverter. ® Product Manual – MOVIDRIVE technology...
  • Page 403 Line contactor Braking resistor Inverter Internal temperature switch or overload re- Connection 1 INFORMATION When using connection variant  1 (connection of braking resistor without line con- tactor), the inverter must be supplied with external DC 24 V. ® Product Manual – MOVIDRIVE technology...
  • Page 404 10.15.3 Connecting braking resistors Proceed as follows: 1. Connect the braking resistor to +R and -R. 2. For BW..-...-01 braking resistors, use connections 1 and 3. Connection  2 is re- served and may not be used. ® Product Manual – MOVIDRIVE technology...

  • Page 405: 10.18 Terminal Assignment

    The assignment "Reserved" means that no cable may be connected to this connec- tion. INFORMATION The technical data for the power and control electronics connections is provided in the Product manual > chapter "Technical data" (→ 2 39). ® Product Manual – MOVIDRIVE technology...
  • Page 406 Protective earth connection Size 4 Terminal Contact Function X1:L1 X1:L2 Connection for supply system X1:L3 X1:-U DC link connection X1:+U Protective earth connection X2:U X2:V Motor connection X2:W X2:+R Braking resistor connection X2:-R Protective earth connection ® Product Manual – MOVIDRIVE technology...
  • Page 407 X10:GND Reference potential X10:TF1 Sensor input for temperature evaluation of the motor X10:GND Reference potential Terminal Contact Function X30 OUT ® PLUS EtherCAT /SBus system bus X30 IN SEW‑EURODRIVE Service interface Interface for keypad ® Product Manual – MOVIDRIVE technology...
  • Page 408 X22:4 VO24 DC 24 V voltage output X22:5 X6:1 F_STO_P1 DC +24 V input F_STO_P1 X6:2 F_STO_M DC 0 V input F_STO_M X6:3 F_STO_P2 DC +24 V input F_STO_P2 X6:4 Reference potential X6:5 24 V STO_OUT = DC 24 V supply of F_STO_P1 and F_STO_P2 ® Product Manual – MOVIDRIVE technology...
  • Page 409 Signal track C X15:12 DATA- Data cable for electronic nameplate X15:13 Encoder supply 24 V S24VG X15:14 Temperature Temperature sensor TF/TH/KTY+/PK sensor+ X15:15 Encoder supply 12 V S12VG 1) For encoders from SEW‑EURODRIVE with electronic nameplate. ® Product Manual – MOVIDRIVE technology...
  • Page 410 Electrical installation Terminal assignment ® X15: HIPERFACE encoder and SEW-EURODRIVE encoder with RS485 interface Terminal Contact Function X15:1 cos+ Cosine+ X15:2 sin+ Sine+ X15:3 Reserved – X15:4 DATA+ Signal cable+ X15:5 Reserved – X15:6 Temperature Reference potential temperature sensor TF/TH/KTY-/PK...
  • Page 411 Digital output 1, freely programmable X52:7 DO11 Digital output 2, freely programmable X52:8 DO12 Digital output 3, freely programmable X52:9 DO13 Digital output 4, freely programmable X52:10 Reference potential for digital outputs DO10 – DO13 ® Product Manual – MOVIDRIVE technology...
  • Page 412 Signal track C X17:12 DATA- Data cable for electronic nameplate X17:13 Encoder supply 24 V S24VG X17:14 Temperature Temperature sensor TF/TH/KTY+/PK sensor+ X17:15 Encoder supply 12 V S12VG 1) For encoders from SEW‑EURODRIVE with electronic nameplate. ® Product Manual – MOVIDRIVE technology...
  • Page 413 Electrical installation Terminal assignment ® X17: HIPERFACE encoder and SEW-EURODRIVE encoder with RS485 interface Terminal Contact Function X17:1 cos+ Cosine+ X17:2 sin+ Sine+ X17:3 Reserved – X17:4 DATA+ Data line+ X17:5 Reserved – X17:6 Temperature Reference potential temperature sensor TF/TH/KTY-/PK...
  • Page 414 X17:9 cos- Signal track cosine- X17:10 sin- Signal track sine- X17:11 PULSE- Clock signal- X17:12 DATA- Data line- X17:13 Encoder supply 24 V S24VG X17:14 Temperature Temperature sensor TF/TH/KTY+/PK sensor+ X17:15 Encoder supply 12 V S12VG ® Product Manual – MOVIDRIVE technology...
  • Page 415 – X19:6 Reserved – X19:7 Reserved – X19:8 Reference potential X19:9 Signal track A X19:10 Signal track B X19:11 Signal track C X19:12 Reserved – X19:13 Reserved – X19:14 Reserved – X19:15 Reserved – ® Product Manual – MOVIDRIVE technology...

  • Page 416: 10.19 Electrical Installation - Functional Safety

    CSS31A and CSB31A only: Connection of 2nd encoder Not used for functional safety. X17:1 to 15 • Only with CSA31A • Assignment depending on connected encoder (see chapter "Technical data > X17 encoder interface for CSA31A" (→ 2 74)). ® Product Manual – MOVIDRIVE technology...
  • Page 417 Settings in the "Assist CS.." parameterization tool: • Choose the one-channel connection type. • Depending on the requirement with respect to safety technology, activate or deac- tivate the "crossfault monitoring" and pulsed voltage supply of the sensor supply. ® Product Manual – MOVIDRIVE technology...
  • Page 418 A two-channel sensor with contacts is connected via the sensor supply F-SS0 and F- SS1. Note the detailed assignment of the safe digital inputs (F-DI..) to the sensor sup- ply F-SS0 and F-SS1 in chapter "Electrical installation" > "Terminal assignment". ® Product Manual – MOVIDRIVE technology...
  • Page 419 SS.. sensor supply and an associated safe digital input F-DI.. (sensor jumpered). Severe or fatal injuries. • Make sure that a short circuit between the sensor supply F-SS.. and an associ- ated safe digital input F-DI.. is not possible. ® Product Manual – MOVIDRIVE technology...
  • Page 420 Choose the two-channel connection type (equivalent/non-equivalent). • Activate or deactivate the pulsed sensor voltage supply, depending on the safety requirements. • Parameterize the permitted discrepancy time between the two input signals of the sensor you are using. ® Product Manual – MOVIDRIVE technology...
  • Page 421 SS.. sensor supply and an associated safe digital input F-.. (sensor jumpered). Severe or fatal injuries. • Make sure that a short circuit between the sensor supply F-SS.. and an associ- ated safe digital input F-DI.. is not possible. ® Product Manual – MOVIDRIVE technology...
  • Page 422 MOVISAFE ® CS..A F-SS0 F-SS1 3, 4, 7, 8 F-DI00 F-DI01 F-DI02 F-DI03 +24V DC 24 V OSSD1 OSSD2 9007235848491659 [1] OSSD-capable sensor (e.g. scanner or light grid) [2] External DC 24 V voltage supply ® Product Manual – MOVIDRIVE technology...
  • Page 423 Short circuit between sourcing output and a supply voltage that lies within the ® range of 15 to 30 V and has the same ground potential as the MOVISAFE  CS..A safety card. • Short circuit between the sinking output and the reference potential or a voltage < 6 V. ® Product Manual – MOVIDRIVE technology...
  • Page 424 In the event of short circuits, a high short-circuit current can occur for a short time. Depending on the DC 24 V supply voltage used, this can cause a voltage dip that lim- ® ® its the operation of MOVIDRIVE  modular or MOVIDRIVE  system and/or individual assemblies.
  • Page 425   CS..A safety option can also detect the following faults when the output is enabled: • Short circuit between different sourcing outputs • Short circuit between sourcing output and reference potential 0 V • Overload at each output • Wire break F-DO (if activated) ® Product Manual – MOVIDRIVE technology...
  • Page 426 In the event of short circuits, a high short-circuit current can occur for a short time. Depending on the DC 24 V supply voltage used, this can cause a voltage dip that af- ® ® fects the operation of MOVIDRIVE   modular or MOVIDRIVE   system and/or indi- vidual assemblies.
  • Page 427 Ensuring the availability of touch guards. • Handling overvoltages and undervoltages. • Avoiding insulation faults. • Detecting ground faults or short circuits in externally installed lines. • Guaranteeing the required interference immunity against electromagnetic interfer- ence. ® Product Manual – MOVIDRIVE technology...
  • Page 428 "External safety controller require- ments" (→ 2 215) must be adhered to in regard to the test pulses. • If F_STO_P1 and F_STO_P2 are connected to DC 24 V and if F_STO_M is con- nected to GND, STO is deactivated. ® Product Manual – MOVIDRIVE technology...
  • Page 429 In the delivery state, the following terminals are bridged on STO connection X6: F_STO_P1 F_STO_M F_STO_P2 0V24_OUT 24 V_OUT 27743538443 STO terminal X6 Two-pole sourcing output F_STO_P1 F-DO_P1 F_STO_M F-DO_P2 F_STO_P2 0V24_OUT 24 V_OUT 27743543947 External safety device STO terminal X6 ® Product Manual – MOVIDRIVE technology...
  • Page 430 The supply voltages 0V24_Out (X6:4) and 24V_Out (X6:5) must not be used to sup- ply the external safety device. Single-pole sourcing output F-DO_P F_STO_P1 F_STO_M F_STO_P2 0V24_OUT 24 V_OUT 27743633163 External safety device STO terminal X6 ® Product Manual – MOVIDRIVE technology...
  • Page 431 Group disconnection via CS..A The safety option has an internal safe digital output for switching the inverter's internal ® STO function as well as 3 additional axes of the MOVIDRIVE  modular/system/tech- nology inverter. No other components may be connected to the inverter's STO termi- nal X6.
  • Page 432 24 V_OUT 24 V_OUT 36101842699 ® ® [1] STO terminal X6 of a MOVI-C MOVIDRIVE with a CS..A safety option ® ® [2] STO terminal X6 of a MOVI-C MOVIDRIVE without a CS..A safety option ® Product Manual – MOVIDRIVE technology...

  • Page 433: 10.20 Wiring Diagrams

    U1 V1 W1 U2 V2 W2 72057607916833419 [1] Fuses [2] Line contactor [3] Line choke (optional) [4] Line filter (optional) [5] Braking resistor (optional) [6] Output choke or output filter (both optional) [7] Motor ® Product Manual – MOVIDRIVE technology...
  • Page 434 In the event of a line connection without line contactor, the temperature evaluation of the braking resistor must be ensured via a digital input on the inverter. • Parameterize the connected digital input to monitor the braking resistor tempera- ture evaluation. ® Product Manual – MOVIDRIVE technology...
  • Page 435 L1´ L2´ L3´ MDX9.A.. U1 V1 W1 U2 V2 W2 54043209407696267 [1] Fuses [2] Line choke (optional) [3] Line filter (optional) [4] Braking resistor (optional) [5] Output choke or output filter (both optional) [6] Motor ® Product Manual – MOVIDRIVE technology...
  • Page 436 INFORMATION The selection of the brake control and the shown connection diagrams only represent one of the many possibilities. For further information, refer to the catalogs and the op- erating instructions of the motors. ® Product Manual – MOVIDRIVE technology...
  • Page 437 The meaning of the symbols can be found in chapter "Key" (→ 2 436). DB00 BMK 1.5 BMK 3.0 BMKB 1.5 9007213579236747 BMV brake control – 2 coils The meaning of the symbols can be found in chapter "Key" (→ 2 436). DB00 DC 24 V 14373482507 ® Product Manual – MOVIDRIVE technology...
  • Page 438 BMV brake control – 1 coil The meaning of the symbols can be found in chapter "Key" (→ 2 436). DC 24 V DB00 9007213628235915 BMS, BME brake control The meaning of the symbols can be found in chapter "Key" (→ 2 436). DB00 14324554891 ® Product Manual – MOVIDRIVE technology...
  • Page 439 Wiring diagrams BMP brake control The meaning of the symbols can be found in chapter "Key" (→ 2 436). DB00 14324544523 BG, BGE brake control The meaning of the symbols can be found in chapter "Key" (→ 2 436). DB00 14324565259 ® Product Manual – MOVIDRIVE technology...
  • Page 440 Connection of the brake with 3-wire technology (standard) Connection of the brake with 2-wire technology (optional). In this case, there is no connection from terminal X14:14 of the brake module to terminal 3a of the auxiliary terminal strip. ® Product Manual – MOVIDRIVE technology...
  • Page 441 Connection of the brake with 3-wire technology (standard) Connection of the brake with 2-wire technology (optional). In this case, there is no connection from terminal X14:14 of the brake module to terminal 3a of the auxiliary terminal strip. ® Product Manual – MOVIDRIVE technology...
  • Page 442 The meaning of the symbols can be found in chapter "Key" (→ 2 436). 200...500V Res. Res. EI8Z/.k8Z 42869783691 10.20.3 Connection of CIO21A and CID21A input/output cards Digital inputs and outputs DI10 DI11 DI12 DI13 DO10 DO11 DO12 DO13 18014412829087243 Higher-level controller ® Product Manual – MOVIDRIVE technology...
  • Page 443 Current input REF1 AI21 AI22 AI31 AI32 REF2 9007213575398539 Connection to the terminals AI31 and AI32 is carried out analogously to the connec- tion to the terminals AI21 and AI22 shown in the wiring diagrams. ® Product Manual – MOVIDRIVE technology...
  • Page 444 AOV2 and GND shown in the wiring diagram. Current output AOV2 AOC2 AOV3 AOC3 18014412830272395 Connection to the terminals AOC3 and GND is carried out analogously to the connec- tion to the terminals AOC2 and GND shown in the wiring diagram. ® Product Manual – MOVIDRIVE technology...

  • Page 445: 10.21 Pc Connection

    This cable is necessary for connecting the interface adapter to the inverter and must be ordered separately. USB connection cable, type USB A-B. The cable is included in the scope of de- livery of the interface adapter. ® Product Manual – MOVIDRIVE technology...
  • Page 446 Activate "Ethernet" at Communication/Network type. The inverter can only be scanned if you assign an IP address to the inverter. The as- signment takes place via the SEW MOVI-C Address Editor or a third-party addressing tool. ® Product Manual – MOVIDRIVE technology...
  • Page 447 10.21.3 Connection via a keypad ® The connection to the MOVISUITE engineering software can be made using the CBG11A and CBG21A keypads. 9007221133853707 USB cable, type USB A-Mini-B, 25643517 Keypad, here the CBG21A as an example ® Product Manual – MOVIDRIVE technology...

  • Page 448: Startup

    4. Check the setting of the parameter Drive train > ASx drive train > Controller > Mo- ® tor behavior > Hoist preload in the MOVISUITE engineering software. Set the pa- rameter in accordance with the lifting application requirements. ® Product Manual – MOVIDRIVE technology...
  • Page 449 If you want to change the direction of rotation without a standstill, use a drive with encoder. • Control the drive at a setpoint speed that corresponds to a speed ≥ 1.5 × nominal slip of the motor. ® Product Manual – MOVIDRIVE technology...

  • Page 450: Startup Requirements

    Ethernet cable and access via EtherCAT /Ethernet/PROFINET Part number Scope of delivery 28231449 • USM21A interface adapter • Serial interface cable with 2 RJ10 connectors • USB cable (A-B) • Serial interface cable RJ10 ↔ D-sub 9 18123864 ® Product Manual – MOVIDRIVE technology...

  • Page 451: Setting The Ethercat® Id

    Products with a customer-specific parameter set are marked with .../P... in the type designation. 11.5 Startup of third-party motors Asynchronous mo- The nameplate data of the motor must be entered during startup: tors • Nominal motor speed • Rated motor frequency ® Product Manual – MOVIDRIVE technology...
  • Page 452 • Nominal motor voltage • Nominal motor torque • Nominal motor speed • Nominal motor frequency • Optional: – Number of poles – Mechanical power – Power factor ® Product Manual – MOVIDRIVE technology...

  • Page 453: Startup With Movisuite Engineering Software

    This is set using switch S3 "Module bus operating mode". For further information, refer to the "DC link connection" manual. If the inverters are not connected to each other via a DC link connection, always set switch "S3" to switch position "Master". ® Product Manual – MOVIDRIVE technology...

  • Page 454: Startup With The Cbg11A Keypad

    – with or without brake – with or without motor sensor (TF, TH, KY and PK) The startup of other motors can only be performed with the CBG21A keypad or with ® the MOVISUITE engineering software. ® Product Manual – MOVIDRIVE technology...
  • Page 455 1. Change the digit within a number by using the <left/right> arrow keys. 2. The editable digit is underlined. 3. Change the value of the digit by using the <up/down> arrow keys. 4. Confirm the number with the <OK> key. ® Product Manual – MOVIDRIVE technology...

  • Page 456: Startup With The Cbg21A Keypad

    You can carry out the startup of other motors with the MOVISUITE engineering soft- ware. Further information can be found in the product manual > chapter "Startup" > "Start- up with the CBG21A keypad", including the sub-chapters. ® Product Manual – MOVIDRIVE technology...
  • Page 457 Change the digit within a number by using the <left/right> arrow keys. • The editable digit is highlighted. • Change the value of the digit by using the <up/down> arrow keys. • Confirm the number with the <OK> key. ® Product Manual – MOVIDRIVE technology...

  • Page 458: Startup Of Motors With The Movilink Ddi Interface

    The process is started by switching on the inverter. This function is only supported if the inverter is in the delivery state. The status of the inverter is "AC" (Auto Configuration) during the data transfer from the electronic nameplate. You can obtain more information from the SEW‑EURODRIVE hotline. ® Product Manual – MOVIDRIVE technology...

  • Page 459: 11.11 Control Options

    – DI05: Error reset – DI06: no function • Digital outputs – DB00: Brake output (fixed function) – DOR: No function – D00: Ready – D01: Output stage enabled – D02: Error – D03: STO active ® Product Manual – MOVIDRIVE technology...

  • Page 460: 11.12 Application-Related Startup

    – "Save": The value that was present at the time of opening the speed control loop is retained. If the load torque has not changed, no adjustment is necessary when closing the speed control loop. ® Product Manual – MOVIDRIVE technology...
  • Page 461 Digital input 2 8334.12 3-wire control – enable/stop (FCB13) Pushbutton, NC contact Digital input 3 8334.13 3-wire control – negative direction of ro- Pushbutton, NO contact tation Digital input 4 8334.14 Reset Pushbutton, NO contact ® Product Manual – MOVIDRIVE technology...
  • Page 462 Acceleration according to the source Application limit deceleration (FCB 13) DI01 3-wire control – positive direction of rotation DI02 3-wire control – enable/stop DI03 3-wire control – negative direction of rotation Analog input setpoint Motor speed Start/stop speed ® Product Manual – MOVIDRIVE technology...
  • Page 463 Switch, NO contact rection of rotation Digital input 3 8334.13 Motor potentiometer up Pushbutton, NO contact Digital input 4 8334.14 Motor potentiometer down Pushbutton, NO contact Digital input 5 8334.14 Reset Pushbutton, NO contact ® Product Manual – MOVIDRIVE technology...
  • Page 464 As long as the signal at "Motor potentiometer down" is present, the motor speed is decreased along the deceleration ramp (index 8377.31) until it reaches the minimum speed. The minimum speed is maintained. Revoking of the output stage inhibit via "FCB 05 – fixed setpoints, positive direction of rotation" ® Product Manual – MOVIDRIVE technology...
  • Page 465 This is only possible if fieldbus communication is interrupted or disrupted. To use the muting function, you must configure it as follows using the "Assist CS" ® of the MOVISUITE engineering software: ® Product Manual – MOVIDRIVE technology...
  • Page 466 – ac- During activation, the inverter performs a fault reset once. tivation The drive only starts in combination with a selected direction of rotation (signal "positive direction of rotation" or "negative direction of rotation"). ® Product Manual – MOVIDRIVE technology...
  • Page 467 You control the functions of the prioritized terminal control via the signals at the digital inputs. • When the prioritized terminal control is activated, the inverter resets the present fault once (fault reset). • Further digital inputs (e.g. from limit switches or external faults) are still evaluated. ® Product Manual – MOVIDRIVE technology...
  • Page 468 "Prioritized terminal control – positive direction of rotation" • "Prioritized terminal control – negative direction of rotation" • "Prioritized terminal control – speed 2" Velocity • "Speed 1 DT1" • "Speed 2 DT1" • "Speed 1 DT2" • "Speed 2 DT2" ® Product Manual – MOVIDRIVE technology...
  • Page 469 Via a message bit • Via the visual 7-segment display • Via the "DRIVE" LED For devices without a 7-segment display, the "DRIVE" LED flashes green with a frequency of 1 Hz (= manual mode/prioritized terminal control). ® Product Manual – MOVIDRIVE technology...
  • Page 470 The inverter no longer responds to the signals at the digital inputs of the prioritized terminal control. • The inverter only responds to the parameters and signals of the original control source (e.g. fieldbus signals, other inverter functions, etc.). ® Product Manual – MOVIDRIVE technology...

  • Page 471: Startup Of The Movisafe® Cs..a Safety Option

    Severe or fatal injuries. • Before parameterization, make sure the system is in idle state. INFORMATION No safety sub-function is enabled in the delivery state of the safety option. The safety option permanently activates STO. ® Product Manual – MOVIDRIVE technology...
  • Page 472 Hover the mouse over the respective parameter to view the limit values in ® MOVISUITE 11.13.3 Startup options Requirements For a successful startup, you need the "Assist CS.." parameterization tool. You can ® call up the "Assist CS.." parameterization tool directly in MOVISUITE (download from www.sew-eurodrive.com). ® Product Manual – MOVIDRIVE technology...
  • Page 473 "Function assignment" area. The "Assist CS.." parameterization tool creates a parameter set from all of the pa- rameters. ® Product Manual – MOVIDRIVE technology...
  • Page 474 28643836683 3. The acceptance of the STO function can be performed as part of the acceptance of the complete system or the acceptance of the F-PLC. ® Product Manual – MOVIDRIVE technology...
  • Page 475 4. Form the maximum value from the following values for the selected output: • Value of display parameter "Maximum duration test pulse A" (Index 8703.37) • Value of display parameter "Maximum duration test pulse B" (Index 8703.8) 5. Block the selected output for at least 10 seconds. ® Product Manual – MOVIDRIVE technology...
  • Page 476 Encoder 3 is an SSI encoder that is evaluated exclusively by the CSA31A safety option. The encoder function is assigned in the Assist CS.. tool in the "Encoder function" dia- log. For a 1‑encoder concept, set the function assignment for this encoder to "Process value". ® Product Manual – MOVIDRIVE technology...
  • Page 477 This is why the selected process value for speed and acceleration is typically assigned to encoder  1, which is the motor encoder, and the selected comparison value is as- signed to the second encoder, which is typically an SSI distance encoder. ® Product Manual – MOVIDRIVE technology...
  • Page 478 If an SBT brake test is not used, an encoder type that is not supported by the safety option can also be used. The SBT brake test uses solely encoder 1 and re- quires a safe motor encoder. ® Product Manual – MOVIDRIVE technology...
  • Page 479 If the pairing process does not work, you have the option of starting the process manually via the Assist CS.. parameterization tool. ® 1. Select the menu item "MOVILINK DDI encoder". 2. Then select the menu item "Perform pairing". ® Product Manual – MOVIDRIVE technology...
  • Page 480 The travel path is not physically limited, the drives can travel as far as required. This means that after moving around the modulo range once or several times, the system is back in the same position. ® Product Manual – MOVIDRIVE technology...
  • Page 481 Under this condition, each single-turn raw position value is uniquely mapped to an absolute position in user units within the configured modulo range. • Behavior when switching on: If referencing was performed before switch-off, the encoder is immediately refer- enced when switched on. ® Product Manual – MOVIDRIVE technology...
  • Page 482 The "speed" and "acceleration" process values must be calculated for the SS1‑r, SS2‑r, SLS, SSM, SSR, SLI, SLP safety sub-functions and for the SBT brake test diagnostic function. • The "Position" process value is used for the SOS, SDI, SLI, SLP and SCA safety sub-functions. ® Product Manual – MOVIDRIVE technology...
  • Page 483 F-DO_STO and all safe digital outputs F‑DO assigned to the STO function are disabled. The safe digital outputs F-DO as- signed to the SBC function are already disabled. ® Product Manual – MOVIDRIVE technology...
  • Page 484 The status of the safety sub-function is displayed in the following areas: ® • Diagnostics > MOVISAFE CS..A, speed function status • Safe process input data (SSx1, SSx2) Fault response during limit value violation No fault response with limit value violation. ® Product Manual – MOVIDRIVE technology...
  • Page 485 The SSx function cannot be reactivated with an existing limit value violation. It can only be acknowledged if the SSx function is de- activated. After acknowledgment, the final state of the SSx function is active immedi- ately. ® Product Manual – MOVIDRIVE technology...
  • Page 486 The status of the safety sub-function is displayed in the following areas: ® • Diagnostics > MOVISAFE CS..A, speed function status • Safe process input data (SSx1, SSx2) Fault response during limit value violation No fault response with limit value violation. ® Product Manual – MOVIDRIVE technology...
  • Page 487 If the Inverter control parameter is set to "Active with limiting", the stop ramp of the in- verter is limited to the following values: • Minimum value of the SSx deceleration • Maximum value of the parameterized jerk time ® Product Manual – MOVIDRIVE technology...
  • Page 488 The SOS safety sub-function monitors the drive position with the parameterized posi- tional tolerance. If the Inverter control parameter is set to "Active", activating the SOS safety sub-func- tion results in the activation of the FCB19 Position hold control drive function in the in- verter. ® Product Manual – MOVIDRIVE technology...
  • Page 489 An exceeded limit acceleration must be acknowledged. With the "Only F-PI" fault re- sponse, the status of the SLA function is reset automatically if the limit acceleration is held again. A safe protocol must be selected for this purpose. ® Product Manual – MOVIDRIVE technology...
  • Page 490 Monitoring delay t2 parameter. The actual speed is monitored for exceeding the parameterized maximum speed during the monitoring delay. The Ramp start at actual speed parameter defines whether the monitoring ramp be- gins at the maximum speed or the actual speed. ® Product Manual – MOVIDRIVE technology...
  • Page 491 CSA31A safety option evaluates 3 encoders and the Safety over ® EtherCAT or CIP Safety™ safety protocol is selected, a total of 4 instances of the SLS and SSM safety sub-function are available. Activation Number of instances: 4 ® Product Manual – MOVIDRIVE technology...
  • Page 492 Speed hysteresis v1 (8706.57). Activation Number of instances: 2 The SSR safety sub-functions can be activated via the following sources: • F-DI (function assignment) • Safe process output data (SSR1, SSR2) • Permanently activated ® Product Manual – MOVIDRIVE technology...
  • Page 493 CIP Safety™ safety protocol is selected, a total of 4 instances of the SLS and SSM safety sub-function are available. Activation Number of instances: 4 The SSM function is active if the limit value is not "0". ® Product Manual – MOVIDRIVE technology...
  • Page 494 If the entered value is exceeded, the safety sub-function is triggered and the status of the safety sub-function changes from "1" to "0". ® Product Manual – MOVIDRIVE technology...
  • Page 495 The function can be activated by means of a safe digital input F‑DI via safe process data (SDI 1, SDI 2), or the function can be activated permanently via the parameteri- zation. ® Product Manual – MOVIDRIVE technology...
  • Page 496 Deceleration a • Effective direction • Maximum speed INFORMATION The SLI function and SLI increment enable must not be activated at the same time. With simultaneous control, the parameterized stop state is not canceled. ® Product Manual – MOVIDRIVE technology...
  • Page 497 The status of the SLI safety sub-function is active as soon as the safety sub-function has been activated and no limit value has been exceeded. In the stop state, the status bits of the STO and SOS safety sub-functions behave as described in the safety sub- functions. ® Product Manual – MOVIDRIVE technology...
  • Page 498 5 minutes after activation via emergency mode. If the "Encoder fault muting" function has been automatically deactivated, all sources must first cancel activation before another activation. Each ending of the "Encoder fault muting" function activates the start inhibit. ® Product Manual – MOVIDRIVE technology...
  • Page 499 Connection to the keypad is interrupted if the "EDM muting" function was activated using the keypad. After automatic deactivation of the "EDM muting" function, all sources must revoke their activation prior to a new activation of the function. ® Product Manual – MOVIDRIVE technology...
  • Page 500 CS..A, position function status • Safe process input data (SCA1, SCA2, SCA3, SCA4) in the "Technology" and "System" profile variants. • Safe process input data process value 1 (SCA status) in the "System" profile vari- ant. ® Product Manual – MOVIDRIVE technology...
  • Page 501 Fault response during limit value violation • If the SLP limit position including the stopping distance is exceeded, the STO safety sub-function is activated without a brake application time as a fault re- sponse. ® Product Manual – MOVIDRIVE technology...
  • Page 502 The auxiliary contacts of the external switching element can be de- signed as an NO contact or typically as an NC contact. The user is responsible for en- suring its safety-related suitability. ® Product Manual – MOVIDRIVE technology...
  • Page 503 SSx2 • Only F-PI The fault response "F-PI" can only be carried out if a safe protocol has been se- lected. In addition to the configured fault response, the EDM output is switched off. ® Product Manual – MOVIDRIVE technology...
  • Page 504 This is also the case if the safety option continues to report "referenced". For safe referencing, 3 referencing types are available for encoders: • Referencing via parameters • Direct referencing • Reference travel to cams The position must be within the position limits after referencing. ® Product Manual – MOVIDRIVE technology...
  • Page 505 If the reference position is changed or after a rotary absolute encoder has been re- placed, the checksum changes and a new validation is required. The ParCRCBus also changes. This requires a change in the safety control system. ® Product Manual – MOVIDRIVE technology...
  • Page 506 The offset is calculated when activating (0 → 1 edge) direct referenc- ing. During referencing, the drive must be in an idle state and the position must not move by more than the parameterized positional tolerance (basic settings) for 500 ms. ® Product Manual – MOVIDRIVE technology...
  • Page 507 The parameterized maximum speed must not be exceeded. When leaving the reference cam in the parameterized direction of move- ment, a rising edge is detected, which performs the referencing and sets the bit "Ref- erenced". ® Product Manual – MOVIDRIVE technology...
  • Page 508 The hardware position switch (NC contact) is read‑in at the safe digi- tal input F-DI of the CSA31A safety card and the "Slip adjustment – cam" function is assigned to the safe digital input F-DI in the function assignment. Only single-channel sensors are permitted. ® Product Manual – MOVIDRIVE technology...
  • Page 509 The signal processing time is calculated as follows:  = Filter F_DI + 6 ms = Signal processing duration ] = s Filter F_DI = Input filter time parameter (8704.2) [Filter F_DI] = s ® Product Manual – MOVIDRIVE technology...
  • Page 510 The brake test can optionally be called up via a safe signal or in combination with a standard signal and a safe signal. The desired control is selected in the "Assist CS..." parameterization tool. To do so, call up the Activation by SBT clearance parameter in the "Brake test" menu. ® Product Manual – MOVIDRIVE technology...
  • Page 511 2. Confirm your entries with the [Log in and continue] button. The "Parameter setting" window opens. The processing of the individual menu items is described in the fol- lowing chapters. "Checksum overview" menu The checksums are needed after completing the configuration for accepting the re- spective functions. ® Product Manual – MOVIDRIVE technology...
  • Page 512 "Safe inputs" menu 9007228399570059 If the brake test is to be started via a safe digital input (F-DI..), select the relevant F- DI.. in accordance with its connection (single/dual channel, etc.). ® Product Manual – MOVIDRIVE technology...
  • Page 513 (F-DO) in accordance with its connection (single/dual channel, etc.). "Encoder" menu (only for CSS..A) 9007228400018827 Select the safety encoder that is used from the "Encoder type" list. Set the counting di- rection to match the encoder settings in the AS1 drive train. ® Product Manual – MOVIDRIVE technology...
  • Page 514 [Apply from device] button or select the safety encoder used from the "Designation" list. Adjust the other encoder settings (e.g. counting direction). Encoder 2 and encoder 3 are not compatible with the brake test and are only available for other functions of the safety option. ® Product Manual – MOVIDRIVE technology...
  • Page 515 "Encoder function" menu (only for CSA31A) 39306115083 Adjust the other encoder settings (e.g. direction of rotation reversal). The function as- signment is only relevant for further safety sub-functions such as SLS and SLP. "F communication" menu 9007228400025611 ® Product Manual – MOVIDRIVE technology...
  • Page 516 Safe brake control must be activated to configure the brake test. Set "SBC enable" to "1" for this purpose. Menus "SSx" to "SCA" Menus "SSx" to "SCA" are not required to configure the brake test. ® Product Manual – MOVIDRIVE technology...
  • Page 517 The brake test starts solely with the "SBT clearance" signal (F-DI.. or F- PO). • "0" Starting the safe brake test requires that both signals be set, "SBT clearance" (F‑DI.. or F‑PO) and "SBT enable" (DI or PO). ® Product Manual – MOVIDRIVE technology...
  • Page 518 3. steps • The duration must make it possible to determine the actual torques. SEW‑EURODRIVE recommends durations greater than 0.5 s. With a high level of device utilization, the minimum duration can also be greater. ® Product Manual – MOVIDRIVE technology...
  • Page 519 Maximum permitted deviation of actual moving clear duration in compar- ison to the calculated duration. The duration that is expected is calculated from the following parameter settings: • Distance • Maximum speed • Acceleration • Filter times encoder 1 ® Product Manual – MOVIDRIVE technology...
  • Page 520 The values for the menu items described in the table are used for both brakes. • "0": For brake 2, the values for the menu items described in the table can be entered separately. ® Product Manual – MOVIDRIVE technology...
  • Page 521 "SBC" The output takes over the function of the SBC safe brake control and the functional control DB00 from the inverter. The SBT brake test tests the brake that is controlled with this output. ® Product Manual – MOVIDRIVE technology...
  • Page 522 You will find the current drive functions in the inverter in chapter "FCB concept". More information about the FCB concept is described in the inverter product manual. • Pay attention to compatibility with the safety sub-functions. Refer to chapter "Safety sub-functions" for more information. ® Product Manual – MOVIDRIVE technology...
  • Page 523 The user must ensure the IT safety of the safety protocol network according to EN 61508. INFORMATION Before making changes to the set safety protocol at the CS..A safety option, you must physically disconnect the connection to the safe control (F-host). ® Product Manual – MOVIDRIVE technology...
  • Page 524 The safety option must be configured in the device configuration via drag and drop from the hardware catalog into the slot of the SEW-EURODRIVE drive system en- abled for it. The following settings must be checked so that fault-free PROFIsafe communication with the safety option can be established: –...
  • Page 525 ® ® – ESI device description file (EtherCAT XML/ESI files MOVI-C ® ® MOVIDRIVE modular/system/technology, XML/ESI files MOVI-C ® MOVIDRIVE modular/system CiA402). Download at www.sew-eurodrive.com. Always use the latest device description file. ® Product Manual – MOVIDRIVE technology...
  • Page 526 Setting Safety over EtherCAT® main device SCU-1/EC in the SafePLC2 configuration tool ® The devices with the MOVISAFE CS..A safety options are implemented and avail- able as of version SafePLC2 1.7.1.8081. Proceed as follows: 1. Start the SafePLC2 configuration tool. ® Product Manual – MOVIDRIVE technology...
  • Page 527 Startup Startup of the MOVISAFE® CS..A safety option ® 2. Integrate a corresponding Safety over EtherCAT main device into the project. ® Product Manual – MOVIDRIVE technology...
  • Page 528 3. The devices are available in the library under [Slaves] > [Axis]. Add a device into the project according to the wiring diagram. 4. Select the profile matching the safety option used. 33765168651 5. Make the required settings. ® Product Manual – MOVIDRIVE technology...
  • Page 529 Set this value to "4". • "Parameter CRC" choice box ® For this value, refer to MOVISUITE once you have successfully parameterized the CS..A safety option using the "Assist CS.." parameterization tool. 6. Call up the function block diagram. ® Product Manual – MOVIDRIVE technology...
  • Page 530 Startup Startup of the MOVISAFE® CS..A safety option 7. After creating the appropriate profile, transfer this profile to the function block dia- gram of the SafePLC2 configuration tool using the corresponding green arrow. 33764895755 ® Product Manual – MOVIDRIVE technology...
  • Page 531 IEC Editor. Proceed as follows: ® 1. Create or open a corresponding IEC project or MOVISUITE project. 2. Click the [Project] > [Project Settings] menu item in the IEC Editor. 33037484171 ® Product Manual – MOVIDRIVE technology...
  • Page 532 IEC Editor. 33764887307 Proceed in the following order: 1. Double-click an FSoE slot of the safety option used. The allocation window opens. ® Product Manual – MOVIDRIVE technology...
  • Page 533 2. Assign a free FSoE slot to the safety controller. 3. Repeat these steps for all FSoE slots. 4. Log on the project on the safety controller. 5. Upload the configuration to the SEW-EURODRIVE controller. 6. Create a boot project. 7. Restart the system.
  • Page 534 "Assist CS..." software tool, you must perform the following steps. 1. Scan the device. 2. Right-click the upper half of the device. In the "Tools" context menu, select the software tool "Assist CS..". 34912293259 ® Product Manual – MOVIDRIVE technology...
  • Page 535 5. Enter the password and log in. When logging in for the first time, you must enter the password twice. 6. To enable CIP Safety™ communication, first go to "F-communication". 34912504843 ® Product Manual – MOVIDRIVE technology...
  • Page 536 If more inputs/outputs are required for the Exclusive Owner Connection, up to 16 INT can be used. • Safety option CSS..A/CSA31A in the "System" profile variant – Safety Input: 12 SINT – Safety Output: 5 SINT – Exclusive Owner Input: 5 INT ® Product Manual – MOVIDRIVE technology...
  • Page 537 If more inputs/outputs are required for the Exclusive Owner Connection, up to 16 INT can be used. Configuration example Perform the following steps to configure a safety device from SEW-EURODRIVE in RSLogix Studio 5000. ü Make sure you are using at least version 30 of the software.
  • Page 538 March 01, 2022 00:00:00 March 01, 2022 01:00:00 March 01, 2022 02:00:00 March 01, 2022 03:00:00 March 01, 2022 04:00:00 March 01, 2022 05:00:00 March 01, 2022 06:00:00 March 01, 2022 07:00:00 March 01, 2022 08:00:00 ® Product Manual – MOVIDRIVE technology...
  • Page 539 5. Make sure that you are in the online mode of the RSLogix Studio 5000 engineering tool. Load the safety network number into the safety option via the [Set] button and check the connection. 34928190475 ® Product Manual – MOVIDRIVE technology...
  • Page 540 Assigning a safety target via parameterization This chapter describes the basic startup procedure for CIP™  Safety communication when the CIP™  Safety target is assigned by the scanner software via CIP™. Both ® parts – MOVISUITE and RSLogix – are described. ® Product Manual – MOVIDRIVE technology...
  • Page 541 To configure the CIP  Safety™ communication in MOVISUITE using the integrated "Assist CS..." software tool, you must perform the following steps. 1. To enable CIP Safety™ communication, first go to "F-communication". 34912504843 2. Select the entry "CIP Safety" under "Protocol type". 34928232587 ® Product Manual – MOVIDRIVE technology...
  • Page 542 5. After completing the complete configuration, download the parameters to the safety option. Perform a transfer when the configuration is complete. Programming in RSLogix Studio 5000 This chapter explains how to exchange data within the RSLogix Studio 5000 program- ming environment ® Product Manual – MOVIDRIVE technology...
  • Page 543 The data types to be created must correspond to the size of the safety process data interface. This may differ depending on the safety option. In this case, the CSB..A safety option is used. • Structure of the user-defined data 34928542731 ® Product Manual – MOVIDRIVE technology...
  • Page 544 "Safety" or "Standard" depending on the use of the variables. The variables/instances must be created in the "Controller Tags". • Safety variables can only be changed in the safety program. • Only standard variables can be used in the non-safe program. ® Product Manual – MOVIDRIVE technology...
  • Page 545 The following routine is the minimum realizable program that must be written to trans- fer information from the safety interface to the program or to send information from the program to the safety interface. 34929180171 ® Product Manual – MOVIDRIVE technology...
  • Page 546 (safe state = STO + brake de-energized). You must take this into account in the machine or system control system. ® Product Manual – MOVIDRIVE technology...
  • Page 547 All other mechanical elements that have an influence on the position values, such as diameter of the drive wheel. Procedure for acceptance of speed and acceleration 1. Calculations for speed and acceleration are printed on the acceptance report in chapter "Creating an acceptance report". ® Product Manual – MOVIDRIVE technology...
  • Page 548 Structure of the acceptance report The acceptance report that is generated as a PDF file contains the following informa- tion: • System information • Parameters of the safety option • Overview of checksums • Communication data ® Product Manual – MOVIDRIVE technology...
  • Page 549 No safety sub-function is enabled in the delivery state of the safety option. The safety option permanently activates STO. The parameterization of safe communication is not reset automatically. To do so, set the protocol to "No protocol" in the "Assist CS.." parameterization tool. ® Product Manual – MOVIDRIVE technology...
  • Page 550 2. Select the menu item "Change password". In the "Old password" edit box, enter the old password. 3. In the edit boxes "New password" and "Enter new password again", enter the new password and confirm your entries. ® Product Manual – MOVIDRIVE technology...

  • Page 551: Operation

    4 function keys that are assigned according to the context. The assigned func- tions are shown in the color display above the keys. USB 2.0 Mini B interface, female (PC connection) Locking element D-sub interface, 9-pin, female Nameplate ® Product Manual – MOVIDRIVE technology...
  • Page 552 Change the digit within a number by using the <left/right> arrow keys. • The editable digit is highlighted. • Change the value of the digit by using the <up/down> arrow keys. • Confirm the number with the <OK> key. ® Product Manual – MOVIDRIVE technology...
  • Page 553 The selectable functions are shown on the display of the local keypad in the form of icons. Start menu Monitoring ® MOVISAFE CS.. DIP switch Process data Digital inputs/outputs Operating and energy data Device information Fault memory Gateway operation Settings ® Product Manual – MOVIDRIVE technology...

  • Page 554: Operation - Functional Safety

    Parameterization in the event of a limit value violation • Parameterization with pending input, output or encoder fault • Parameterization during active brake test • Parameterization with active errors in the EDM safety sub-function ® Product Manual – MOVIDRIVE technology...
  • Page 555 Operating state "Safe state" after critical fault No F-process data communication occurs in the "Safe state" operating state. All safe digital inputs and outputs are disconnected. The "Safe state" operating state can be resolved only by deactivation and reactivation. ® Product Manual – MOVIDRIVE technology...
  • Page 556 The following applies if 2 brakes are tested with the brake test: • The "OK" test result applies to both brakes tested. • The "NOK" test result applies to the brake at which a fault occurs. This can be brake 1 or brake 2. ® Product Manual – MOVIDRIVE technology...
  • Page 557 Maximum travel distance in opposite direction of movement. Safe digital outputs Parameter Description F-DO STO "1": STO safety sub-function is active. F-DO00 "1": Safe digital output F-DO00 is active. F-DO01 "1": Safe digital output F-DO01 is active. ® Product Manual – MOVIDRIVE technology...
  • Page 558 Torque input settings when considering the Tolerance torque input is unacceptably high. • In step 3 during "active" brake testing, it is detected that the inverter is generating the required test torque in the wrong direction of movement. ® Product Manual – MOVIDRIVE technology...

  • Page 559: Security

    12.3 IT security 12.3.1 Hardening measures Perform the following hardening measures: • Regularly check if updates are available for your products. • Report incidents concerning IT security by e-mail to cert@sew‑eurodrive.com. ® Product Manual – MOVIDRIVE technology...
  • Page 560 To prevent misuse of these service accesses, network access must be restricted ac- cording to the state of the art. For more information, refer to section "IT security of the environment" (→ 2 13). 12.3.3 Guidelines for user account management The device has no user accounts. ® Product Manual – MOVIDRIVE technology...

  • Page 561: Service

    ð Information on the history of the fault messages can be found in the "Fault memory" node [4]. 36028818994022283 Fault status of the main component Fault status of the subcomponent Display of the status bits Fault memory Fault status Device status Status ® Product Manual – MOVIDRIVE technology...

  • Page 562: Resetting Fault Messages

    The output stage is deactivated and the brake is applied. reset Inhibit output stage Self-reset means: Eliminating the cause of the fault results in acknowledgment of the fault. The inverter automatically resumes the operation before the fault occurred. The drive can restart automatically. ® Product Manual – MOVIDRIVE technology...

  • Page 563: Fault Messages With Parameterizable Response

    No response sponse to an external fault (e.g., • Warning triggered by terminal or control • Application stop (with word). output stage inhibit) • Emergency stop (with output stage inhibit) • Inhibit output stage. ® Product Manual – MOVIDRIVE technology...
  • Page 564 • Warning ing threshold for electromechani- • Application stop (with cal capacity utilization (index output stage inhibit) 8336.2). • Emergency stop (with output stage inhibit) • Inhibit output stage. ® Product Manual – MOVIDRIVE technology...
  • Page 565 8622.20 • No response Response to external braking External braking resistor fault resistor fault • Warning • Application stop (with output stage inhibit) • Emergency stop (with output stage inhibit) • Inhibit output stage. ® Product Manual – MOVIDRIVE technology...

  • Page 566: Responses To Fault Acknowledgement

    Check the supply system. • Output stage is inhibited. • Communication is pos- sible. Module bus is not ready. Check the module bus connection. – flashing Startup state Startup state is active. – flashing ® Product Manual – MOVIDRIVE technology...
  • Page 567 Output stage is inhibited. The drive is not controlled by the out- put stage. The brake is applied; without the brake, the motor coasts to a halt. FCB 01 can be selected from various sources. ® Product Manual – MOVIDRIVE technology...
  • Page 568 Fault displays of the 7-segment display The inverter detects any faults that occur and displays them as a fault code. Each fault is clearly defined by its fault code and the associated attributes: • Fault response ® Product Manual – MOVIDRIVE technology...
  • Page 569 500 ms 124 ms 1000 ms 124 ms 1000 ms 124 ms 9007211336799115 In the example shown, a two-digit fault code with subfault is displayed (fault 07.01). ® Product Manual – MOVIDRIVE technology...

  • Page 570: Status And Operating Displays Of The Leds

    The "flashing sequence" state means that both LEDs of the assembly alternately flash in yellow or green. The LED color is alternately assigned to the LEDs, e.g. the "F-RUN" LED flashes green, the "F-ERR" LED flashes yellow, and vice versa. ® Product Manual – MOVIDRIVE technology...
  • Page 571 Process data communication is not possible. Green "SAFE_OPERATIONAL" state Flashing (1 Hz) Mailbox and process data communication is possible. Safety-related output signals are not output. Green "OPERATIONAL Mode" state Illuminated Mailbox and process data communication is possible. ® Product Manual – MOVIDRIVE technology...
  • Page 572 A physical connection to a neighboring device was detected. No data is being exchanged via the Ethernet port. Green Link available, bus activity. Flickering A physical connection to a neighboring device was detected. Data is being exchanged via the Ethernet port. ® Product Manual – MOVIDRIVE technology...
  • Page 573 Switch-off time: 250 ms Green The PROFINET interface is operating – without errors. Permanently lit Green, flashing The PROFINET interface is in energy- – saving mode (PROFIenergy mode). Cyclic duration factor: 500 ms Switch-off time: 3000 ms ® Product Manual – MOVIDRIVE technology...
  • Page 574 Illuminated • Check the fieldbus connection. The timeout time of the controlling con- nection has expired. • Check the master/scanner. Flashing The status is reset by restarting commu- • Check all Ethernet connections. nication. ® Product Manual – MOVIDRIVE technology...
  • Page 575 An unrecoverable error has occurred on • Switch on the device again. the device. • Reset the device to the factory Illuminated settings. • If this fault occurs repeatedly, re- place the device or contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 576 None of the SoA, SoC, PReq, or PRes message types detected. Green "PRE_OPERATIONAL_1Mode" state Flashing once Only acyclic communication is possible. Green "PRE_OPERATIONAL_2Mode" state Flashing twice Acyclic and cyclic communication are possible. Process data not valid. Green "READY_TO_OPERATE_Mode" state Flashing three times ® Product Manual – MOVIDRIVE technology...
  • Page 577 Cyclic duration factor: 500 Switch-off time: 500 ms All LEDs No physical connection to further Ethernet nodes was detected. LED at the respective Data is being sent or received via the Ethernet port. Ethernet port Green/yellow, flashing ® Product Manual – MOVIDRIVE technology...
  • Page 578 SEW‑EURODRIVE Service. The PROFIBUS address is set to 0 or to • Check the PROFIBUS address that is set in the device. a value greater than 125. Flashing with 2 Hz • Perform a reset of the device. ® Product Manual – MOVIDRIVE technology...

  • Page 579: Fault Description On Basic Device

    Check the DC 24 V supply voltage. The voltage fluctuations are too strong. The cur- – Stabilize the voltage. rent controller of the intelligent power supply – Check the supply. module cannot compensate for them. – Check the project planning. ® Product Manual – MOVIDRIVE technology...
  • Page 580 Response: Line phase failure Cause Measure Line phase missing. Check the supply system cable. Poor line voltage quality. Check the supply (fuses, contactor, line compo- nents). DC link voltage periodically too low. Check line voltage. ® Product Manual – MOVIDRIVE technology...
  • Page 581 – Reduce the acceleration. – Check the motor cable, motor, and line phases. The encoder is not connected correctly. Check the encoder connection. The encoder has the incorrect direction of rota- Check the direction of rotation. tion. ® Product Manual – MOVIDRIVE technology...
  • Page 582 PWM frequency or the load. current to such an extent that the required mag- – Increase user-defined current limit. netizing current cannot be set. – Connect a smaller motor. ® Product Manual – MOVIDRIVE technology...
  • Page 583 Error: 9.5 (0905hex | 2309dec) Description: Maximum output frequency exceeded Response: Output stage inhibit Cause Measure The maximum output frequency has been ex- – Reduce maximum rotation speed/maximum ceeded. speed. – Reduce setpoint. ® Product Manual – MOVIDRIVE technology...
  • Page 584 In ELSM® control mode, the standstill current Activate rotor position measurement and perform function can only be used if the rotor position can the drive function "FCB 25 Motor parameter mea- be measured. surement". ® Product Manual – MOVIDRIVE technology...
  • Page 585 Error: 10.1 (0A01hex | 2561dec) Description: Initialization error Response: Application stop + output stage inhibit Cause Measure Fault detected in the init task. The return code is Check the program. Contact SEW-EURODRIVE not equal to 0. Service. ® Product Manual – MOVIDRIVE technology...
  • Page 586 Response: Application stop + output stage inhibit Cause Measure Unknown program command (illegal opcode) de- Check the program. Contact SEW-EURODRIVE tected in Data Flexibility program. Service. The version of the MOVIKIT® software module in – Adjust the firmware version of the device ac-...
  • Page 587 Response: Application stop + output stage inhibit Cause Measure Watchdog has detected a fault. The program Check the program. Contact SEW-EURODRIVE runtime exceeds the permitted time. Service. Execution time of PDI task or PDO task exceeds – Use slicing mode.
  • Page 588 Error: 10.12 (0A0Chex | 2572dec) Description: Runtime warning Response: Warning Cause Measure The program requires more runtime than has Check the program. Contact SEW-EURODRIVE been configured. Service. Error: 10.20 (0A14hex | 2580dec) Description: Application error – warning Response: Warning Cause Measure Error detected in the application program.
  • Page 589 Response: Warning with self reset Cause Measure Error detected in the application program. Check the program. Contact SEW-EURODRIVE Service. Error: 10.25 (0A19hex | 2585dec) Description: Application error – application stop + output stage with self-reset Response: Application stop + output stage inhibit with self reset...
  • Page 590 – Check air circulation. reached. – Ensure sufficient cooling. The fan is defective. Prewarning threshold Contact SEW‑EURODRIVE Service. reached. The temperature sensor is defective. Prewarning Contact SEW‑EURODRIVE Service. threshold reached. Air convection is unfavorable. Check air convection. ® Product Manual – MOVIDRIVE technology...
  • Page 591 Error: 11.7 (0B07hex | 2823dec) Description: Wire break at temperature sensor of heat sink Response: Output stage inhibit Cause Measure Wire break at temperature sensor of heat sink. Contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 592 Error: 12.23 (0C17hex | 3095dec) Description: Digital motor integration – timeout Response: Output stage inhibit Cause Measure Communication with intelligent brake rectifier dis- Check the connection. rupted. ® Product Manual – MOVIDRIVE technology...
  • Page 593 Encoder type not known and not supported by – Check the encoder type. device. – Contact SEW‑EURODRIVE Service. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 594 Description: Internal warning Response: Encoder – warning Cause Measure The encoder has signaled a warning. – Check the wiring. – Check interference sources (light beam inter- rupted, reflector, signal cables, etc.). – Clean the sensor. ® Product Manual – MOVIDRIVE technology...
  • Page 595 – Check for EMC-compliant installation. – Check the encoder. Replace if necessary. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 596 – Check the wiring. – Check the startup parameters. – Check the encoder settings. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 597 Permanent high level of data signal detected. – Check the wiring. – Check the encoder. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 598 Permanent low level of data signal detected. – Check the wiring. – Check the encoder. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 599 – Check interference sources (light beam inter- rupted, reflector, signal cables, etc.). – Replace the encoder. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 600 The encoder of the digital motor integration has – Check for EMC-compliant installation. detected a fault. The exact cause of the fault is – Replace the encoder. displayed in the fault status of the subslave. ® Product Manual – MOVIDRIVE technology...
  • Page 601 – Check for EMC-compliant installation. – Replace the encoder. – Replace the encoder card. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 602 – Check for EMC-compliant installation. – Check the encoder. Replace if necessary. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 603 Response: Encoder 2 – latest critical fault Cause Measure The amount resulting from the level of the two Check the mounting position of the resolver. track signals A and B exceeds the permitted limit. ® Product Manual – MOVIDRIVE technology...
  • Page 604 Error: 14.11 (0E0Bhex | 3595dec) Description: Encoder data timeout Response: Encoder 2 – latest critical fault Cause Measure Communication to the encoder has failed. Contact SEW-EURODRIVE Service. Internal fault detected in resolver evaluation. Check for EMC-compliant installation. ® Product Manual – MOVIDRIVE technology...
  • Page 605 – Check the voltage supply. – Check for EMC-compliant installation. – Check the wiring. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 606 Permanent high level of data signal. – Check the wiring. – Check the encoder. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 607 – Check interference sources (light beam inter- rupted, reflector, signal cables, etc.). – Replace the encoder. INFORMATION In "Emergency mode" manual mode, you can move the drive even with a faulty external posi- tion encoder. ® Product Manual – MOVIDRIVE technology...
  • Page 608 SUITE® in the [Diagnostics] > [Fault memory T.] parameter group in the "Internal" parameter. INFORMATION In "Emergency mode" manual mode, you can move the drive using the motor encoder even if the external position encoder is faulty. ® Product Manual – MOVIDRIVE technology...
  • Page 609 13.8.13 Fault 16 Startup Error: 16.1 (1001hex | 4097dec) Description: Incomplete motor startup Response: Output stage inhibit Cause Measure The motor has not been started up or not started Perform complete motor startup. up completely. ® Product Manual – MOVIDRIVE technology...
  • Page 610 Choose a suitable control mode. When starting up a synchronous third-party mo- Perform a motor parameter measurement using tor, some control modes and drive functions are the FCB 25 drive function. only permitted after motor parameter measure- ment. ® Product Manual – MOVIDRIVE technology...
  • Page 611 – Assign an encoder for the position control in the quired for position control that is used as the drive train configuration. source for calculating the actual position. – If an encoder is present, only use FCBs without positioning control. ® Product Manual – MOVIDRIVE technology...
  • Page 612 Error: 16.21 (1015hex | 4117dec) Description: Negative nominal slip determined Response: Output stage inhibit Cause Measure Negative slip determined at startup. – Check the settings for nominal speed and nom- inal frequency. – Perform startup again. ® Product Manual – MOVIDRIVE technology...
  • Page 613 Description: User-defined current limit too low for standstill current Response: Output stage inhibit Cause Measure User-defined current limit value too low for con- – Increase user-defined current limit. figured standstill current. – Reduce standstill current. ® Product Manual – MOVIDRIVE technology...
  • Page 614 Error: 16.60 (103Chex | 4156dec) Description: Parameter setting for 3-wire control not valid Response: Warning Cause Measure No 3-wire control stop terminal parameterized. Set stop terminal parameters. ® Product Manual – MOVIDRIVE technology...
  • Page 615 Error: 18.3 (1203hex | 4611dec) Description: Task system – warning Response: Warning Cause Measure A fault was detected while processing the internal – Acknowledge the warning. task system. – If the warning occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 616 Cause Measure Watchdog has detected an error. The software is – Switch the device off and on again. not operating within the intended cycle time. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 617 Position setpoint outside software limit switches. Check the position setpoint. Position setpoint outside modulo positioning Check the position setpoint. range. Position in user unit generates number overflow Check the position in the user unit. in the system unit. ® Product Manual – MOVIDRIVE technology...
  • Page 618 Description: Drive train changeover not allowed Response: Application stop + output stage inhibit Cause Measure Drive train changeover requested while output Inhibit the output stage before changing to an- stage is enabled. other drive train. ® Product Manual – MOVIDRIVE technology...
  • Page 619 – Acknowledge the fault. – Reconnect the consumers with the device, one after the other, until the fault message appears once again. – Connect a consumer with a lower current con- sumption or eliminate the short circuit. ® Product Manual – MOVIDRIVE technology...
  • Page 620 Response: Output stage inhibit Cause Measure Switching delay between STO signals F-STO_P1 – Check the STO wiring. and F-STO_P2. – Make sure that both STO signals are switched to low level. – Acknowledge the fault. ® Product Manual – MOVIDRIVE technology...
  • Page 621 Replace the drive. Error: 21.5 (1505hex | 5381dec) Description: Incompatible slave Response: Output stage inhibit Cause Measure The firmware versions of the slaves used are not Update the inverter and/or the slave. compatible with one another. ® Product Manual – MOVIDRIVE technology...
  • Page 622 Error: 21.10 (150Ahex | 5386dec) Description: Connection type not configured correctly Response: Output stage inhibit Cause Measure The connection type of the connected drive can- Set the connection type on the drive correctly. not be determined. ® Product Manual – MOVIDRIVE technology...
  • Page 623 A slave of digital motor integration has detected a Observe the fault message of the subslave. critical fault. Identify the exact cause of this fault message and take the appropriate measures to eliminate the fault. ® Product Manual – MOVIDRIVE technology...
  • Page 624 The power section has detected a critical fault. Observe the fault message of the power section subcomponent. Identify the exact cause of this fault message and take the appropriate measures to eliminate the fault. ® Product Manual – MOVIDRIVE technology...
  • Page 625 Response: Emergency stop + output stage inhibit Cause Measure Timeout in parameter communication at the com- – Switch the device off and on again. munication interface of the power section. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 626 Error: 24.3 (1803hex | 6147dec) Description: Overlapping cam windows in track Response: Warning Cause Measure Cam window limits of a track overlap. Adjust the cam window limits in such a way that they are flush. ® Product Manual – MOVIDRIVE technology...
  • Page 627 – If the fault occurs repeatedly, replace the device/memory module. Contact SEW‑EURODRIVE Service. – Perform basic initialization. Contact SEW‑EURODRIVE Service for this. ® Product Manual – MOVIDRIVE technology...
  • Page 628 – Restore delivery state. Note that doing so will reset all data in the non-volatile memory to the values at delivery. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. – Perform basic initialization. Contact SEW‑EURODRIVE Service for this. ® Product Manual – MOVIDRIVE technology...
  • Page 629 Wrong version of calibration data of control elec- Contact SEW‑EURODRIVE Service. tronics. Error: 25.16 (1910hex | 6416dec) Description: Power section calibration data – CRC error Response: Output stage inhibit Cause Measure Faulty calibration data of power section. Contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 630 Initialization of replaceable memory module failed – Contact SEW‑EURODRIVE Service. after restoring delivery state. – Perform basic initialization. Contact SEW‑EURODRIVE Service for this. ® Product Manual – MOVIDRIVE technology...
  • Page 631 Error: 25.51 (1933hex | 6451dec) Description: Replaceable memory module of safety option – initialization error Response: Warning Cause Measure Initialization of the replaceable memory module of Contact SEW‑EURODRIVE Service. the safety option failed. ® Product Manual – MOVIDRIVE technology...
  • Page 632 Error: 26.3 (1A03hex | 6659dec) Description: Power section emergency shutdown Response: Output stage inhibit Cause Measure The power section has detected a critical fault Contact SEW‑EURODRIVE Service. and requested external emergency shutdown. ® Product Manual – MOVIDRIVE technology...
  • Page 633 Description: FCB 11/12 – Hardware limit switch and reference cam not flush Response: Emergency stop + output stage inhibit Cause Measure Hardware limit switch and reference cam not Make sure that the reference cam and the hard- mounted flush. ware limit switch are mounted flush. ® Product Manual – MOVIDRIVE technology...
  • Page 634 ® Product Manual – MOVIDRIVE technology...
  • Page 635 Significantly different values determined in the – Check whether the motor is properly connected. 3 phases while measuring stator resistances. – Check all contact points on the motor and in- verter. – Check the motor and motor cable for damage. ® Product Manual – MOVIDRIVE technology...
  • Page 636 "Modulo maximum" parameter. Error: 28.15 (1C0Fhex | 7183dec) Description: FCB 25 – Timeout Response: Output stage inhibit Cause Measure Measuring of rotor resistance, leakage induc- Contact SEW‑EURODRIVE Service. tance, and stator inductance not completed. ® Product Manual – MOVIDRIVE technology...
  • Page 637 Reversing is forbidden in the current operating mode, so when the target position is overrun, the drive triggers an error and stops in the permitted direction. ® Product Manual – MOVIDRIVE technology...
  • Page 638 – Make sure that the reference offset is smaller than the "Modulo maximum" limit value. – When using a single-turn absolute encoder, make sure that the reference offset is not larger than one encoder revolution. ® Product Manual – MOVIDRIVE technology...
  • Page 639 – Check the wiring of the hardware limit switches. at the same time. – Check the parameter setting of the digital in- puts. – Check the parameter setting of the process out- put data. ® Product Manual – MOVIDRIVE technology...
  • Page 640 Description: Limit switches swapped Response: Emergency stop + output stage inhibit Cause Measure Position of negative software limit switch greater Check the positions of the software limit switches. than position of positive software limit switch. ® Product Manual – MOVIDRIVE technology...
  • Page 641 The motor temperature determined via the tem- – Let the motor cool down. perature model exceeds the maximum permitted – Check for motor overload. motor temperature. – Check whether the correct temperature sensor has been configured. ® Product Manual – MOVIDRIVE technology...
  • Page 642 – Check whether the correct temperature sensor sensor has fallen below -50 °C. has been configured. – Heat the motor. Short circuit in the long connection to the temper- Check the wiring of the temperature sensor. ature sensor of the motor. ® Product Manual – MOVIDRIVE technology...
  • Page 643 Error: 31.15 (1F0Fhex | 7951dec) Description: Temperature sensor motor 2 – prewarning Response: Thermal motor protection 2 – prewarning threshold Cause Measure Motor temperature determined via the tempera- Check for motor overload. ture sensor has exceeded the prewarning threshold. ® Product Manual – MOVIDRIVE technology...
  • Page 644 Fault detected at temperature sensor 3 of the mo- Observe the fault code of the main component. tor. Identify the exact cause of this fault message and take the appropriate measures to eliminate the fault. ® Product Manual – MOVIDRIVE technology...
  • Page 645 Description: Error while transferring parameter set Response: Output stage inhibit Cause Measure Error while downloading parameter set to device. – Check the wiring of system bus and module bus. – Start the download again. ® Product Manual – MOVIDRIVE technology...
  • Page 646 Error detected during current measurement. Contact SEW‑EURODRIVE Service. Error: 33.2 (2102hex | 8450dec) Description: Firmware – checksum error Response: Output stage inhibit System state: Fault acknowledgment with CPU reset Cause Measure Error calculating firmware checksum. Contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 647 Cause Measure A plugged-in memory module was detected dur- Switch off the device. Remove the memory ing device start. However, the internal memory module and restart the device. was set as the storage location. ® Product Manual – MOVIDRIVE technology...
  • Page 648 System state: Fault acknowledgment with CPU reset Cause Measure The fieldbus used is not compatible with the basic – For devices with pluggable fieldbus card, re- unit. place the card. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 649 Response: Emergency stop + output stage inhibit Cause Measure An activated technology function requires a Determine the required technology level ("Tech- higher technology level. nology level – required level" parameter) and enter its activation key. ® Product Manual – MOVIDRIVE technology...
  • Page 650 (DB 00/SBC). – Check whether the selected connection is com- patible with the monitoring of brake control. – Check the connection and configuration of the input signal "Brake control 2 – status". ® Product Manual – MOVIDRIVE technology...
  • Page 651 There is a mechanical stiffness or blockage. – Check the mechanical components for stiffness. – Check the mechanical components for block- age. Supply voltage too low or line phase missing. Check the supply voltage. ® Product Manual – MOVIDRIVE technology...
  • Page 652 Increase the P component of the position control- ler. The speed controller is parameterized incorrectly. Check the controller parameters. Lag error window too small. Increase the lag error window. Supply voltage too low or line phase missing. Check the supply voltage. ® Product Manual – MOVIDRIVE technology...
  • Page 653 – Check the network load in the communications network. – Close unneeded engineering connections that are open in parallel (e.g. parameter access via managing EDGE devices, asset management tools, network scanners, etc.). – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 654 The fieldbus interface has detected a critical fault. Observe the fault code of the fieldbus interface subcomponent. Identify the exact cause of this fault message and take the appropriate measures to eliminate the fault. ® Product Manual – MOVIDRIVE technology...
  • Page 655 Safety option variant does not match inverter Use the correct safety option variant. type. In the double axis of a MOVIDRIVE® modular ap- Use the correct safety card variant. plication inverter, only safety cards without en- coder interface may be used.
  • Page 656 Observe the fault code of the power supply unit subcomponent. Identify the exact cause of this fault message and take the appropriate measures to eliminate the fault. The fault response is executed in the inverter. ® Product Manual – MOVIDRIVE technology...
  • Page 657 Response: Emergency stop + output stage inhibit Cause Measure Checksum error detected during module bus – Switch the device off and on again. communication. – Reset the fault. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 658 – When using an I/O card, check the installation. card and basic unit (SPI bus). – Check for EMC-compliant installation. – Switch the device off and on again. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 659 Description: Current at analog current input too small Response: Analog input – 4 mA limit undershot Cause Measure Input current at analog input below 4 mA. – Check the wiring. – Check the parameterization of the analog input. ® Product Manual – MOVIDRIVE technology...
  • Page 660 5 Hz for a longer period of time. – Check behavior in idle state. For instance, acti- vate the "FCB 01 output stage inhibit" drive func- tion for position hold control on the device. ® Product Manual – MOVIDRIVE technology...

  • Page 661: Power Section Fault Description

    Error: 17.6 (1106hex | 4358dec) Description: Watchdog error Response: Block rectifier Cause Measure CPU watchdog has detected a fault. – Switch the devices off and on again. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 662 – Acknowledge the fault. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. 24 V power supply unit overloaded. Check the project planning for the power de- mand. ® Product Manual – MOVIDRIVE technology...
  • Page 663 – If the fault occurs repeatedly, replace the device/memory module. Contact SEW‑EURODRIVE Service. – Perform basic initialization. Contact SEW‑EURODRIVE Service for this. ® Product Manual – MOVIDRIVE technology...
  • Page 664 Response: Remote – standard fault Cause Measure Faulty data detected in non-volatile memory sys- – Check whether the data on the non-volatile tem. memory is formatted for another device. – Reformat the memory system (perform basic initialization). ® Product Manual – MOVIDRIVE technology...
  • Page 665 – Restore delivery state. Note that doing so will reset all data in the non-volatile memory to the values at delivery. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. – Perform basic initialization. Contact SEW‑EURODRIVE Service for this. ® Product Manual – MOVIDRIVE technology...
  • Page 666 Description: Process data timeout Response: Remote – warning with self-reset Cause Measure A timeout has occurred in process data transfer. – Switch devices off and back on again. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 667 – Check the motor phases. There is a problem with the output filter. – Activate the output filter during startup of the drive train. – Check assignment of output filter and inverter. Output stage defective. Contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 668 U, V, W. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. Phase module not ready for operation. – Switch device off and back on again. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 669 Response: Remote – standard fault with self reset Cause Measure The rectifier has detected a fault. – Switch the device off and on again. – If the fault occurs repeatedly, contact SEW- EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...

  • Page 670: 13.10 Fieldbus Interface Fault Description

    Error: 18.7 (1207hex | 4615dec) Description: Fatal software error Response: Remote – critical fault Cause Measure Fatal software error. – Switch the device off and on again. – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 671 – Check the network load in the communications network. – Close unneeded engineering connections that are open in parallel (e.g. parameter access via managing EDGE devices, asset management tools, network scanners, etc.). – If the fault occurs repeatedly, contact SEW‑EURODRIVE Service. ® Product Manual – MOVIDRIVE technology...
  • Page 672 The port statistics check has detected that the –​ C heck the network. number of faulty frames has exceeded the Tx – Check wiring of network. threshold (Ethernet Errors). – Check for EMC-compliant installation. ® Product Manual – MOVIDRIVE technology...

  • Page 673: 13.11 Device Replacement

    By plugging the keypad into another inverter and activating data transmission, data is transferred to the inverter. After the transmission is complete, the inverter is im- mediately ready for operation for the specific application. ® Product Manual – MOVIDRIVE technology...

  • Page 674: 13.12 Service - Functional Safety

    Any changes to the CS..A safety option can be performed only by SEW‑EURODRIVE. • Firmware modifications Only SEW‑EURODRIVE is authorized to make modifications to the firmware. • Repair Only SEW‑EURODRIVE is authorized to repair the CS..A safety option. • Warranty ® Product Manual – MOVIDRIVE technology...
  • Page 675 Fault in the operating state "Parameterization": Flashing (0.5 Hz) • Fault in parameterization • No parameterization exists • Current parameter set not consistent with the safety key • Inconsistent parameterization Green Fault-free operation Illuminated Device off ® Product Manual – MOVIDRIVE technology...
  • Page 676 - Several inverter faults were acknowledged. Death or severe injuries • To prevent automatic restart in the aforementioned cases, the parameter Fault status after startup (8703.240) must be parameterized to "Start inhibit". The "Start inhibit" state must be acknowledged. ® Product Manual – MOVIDRIVE technology...
  • Page 677 At a safe digital input with detected fault, the fault must first be resolved and the safe state established before acknowledging the FS input fault. In this way, a safety sub- function is not erroneously selected after acknowledgment of an FS input fault. ® Product Manual – MOVIDRIVE technology...
  • Page 678 Please note that the safety key may only be inserted or removed when the device is switched off. Error messages If there is a fault in the safety option, the inverter indicates that the safety option is re- porting a fault. ® Product Manual – MOVIDRIVE technology...
  • Page 679 The "Current initial fault" fault status shows the fault that occurred first in the safety op- tion with the corresponding fault code, subfault code and fault description. For internal purposes, additional fault codes are displayed. ® Product Manual – MOVIDRIVE technology...
  • Page 680 F-PLC. A diagnostic alarm does not trigger a fault response in the F-PLC (de- fault setting of the safety option in the F-PLC). The safety option has PROFIsafe and assembly-specific fault codes. All fault codes of the CS..A safety option are listed in a fault table. ® Product Manual – MOVIDRIVE technology...
  • Page 681 The fault memory is organized as a ring memory. The most recently occur- ring fault is shown in line 0 of the list. If there are more than 50 entries, the oldest fault is overwritten. ® Product Manual – MOVIDRIVE technology...
  • Page 682 SDI and SOS safety sub-functions are deselected and the SLI incre- ment enable has been canceled. 3. Acknowledge the system fault. 4. If necessary, re-select the deselected SDI and SOS safety sub-functions and set the SLI increment enable again. ® Product Manual – MOVIDRIVE technology...
  • Page 683 Muting • Activate test mode. Before acknowledging an input fault, ensure the following: • No person is in the hazardous area of the system. • No DC 24 V signal is present at the corresponding inputs. ® Product Manual – MOVIDRIVE technology...
  • Page 684 If the correct device is selected, the emergency mode ID is displayed. Confirm sig- naling of the correct device. To do this, enter the displayed emergency mode ID in reverse order and click OK. ® Product Manual – MOVIDRIVE technology...
  • Page 685 When replacing the previous CSA31A with a new CSA31A without saved referencing data, the referencing is preserved on encoders that are not incrementally evaluated if the safety key from the previously used safety option continues to be used. ® Product Manual – MOVIDRIVE technology...
  • Page 686 As an alternative, a new referencing can be per- formed. ® ® Device replacement with MOVI-C without PC for MOVIDRIVE  technology ® The MOVI-C system provides the option of storing the application data set of the in- verter and the data set of the safety option on the memory module in the inverter.
  • Page 687 If the checksums differ, check the corresponding functions again. 9. Publish the successful acceptance. INFORMATION ® After replacing the safety key of the MOVISAFE   CSA31A safety option, you must perform the referencing of the CSA31A again. ® Product Manual – MOVIDRIVE technology...

  • Page 688: 13.13 Sew-Eurodrive Service

    If a fault cannot be repaired, contact SEW‑EURODRIVE Service, see chapter "Con- tacting SEW-EURODRIVE" (→ 2 694). Always specify the digits of the status label when contacting the SEW-EURODRIVE electronics service team. This will enable our Service personnel to assist you more ef- fectively.

  • Page 689: 13.16 It Security Guidelines For Secure Disposal

    You can delete a customer data backup using the MOVISUITE engineering software. To do so, in the parameter configuration of the corresponding device under [Basic set- ting] > [Data backup] > [Backup of customer-specific device parameters] click the [De- lete] button. ® Product Manual – MOVIDRIVE technology...

  • Page 690: Waste Disposal

    WEEE Directive. Dispose of the product and its accessories according to the national regulations of your country. For further information, contact the responsible SEW‑EURODRIVE branch or an au- thorized partner of SEW‑EURODRIVE. ® Product Manual – MOVIDRIVE technology...

  • Page 691: Inspection And Maintenance

    However, it is recommended that you check the following components regularly: • Connection cables: If cables become damaged or fatigued, replace them immediately. • Cooling fins: Remove any deposits to ensure sufficient cooling. INFORMATION Only SEW‑EURODRIVE may repair the inverters. ® Product Manual – MOVIDRIVE technology...

  • Page 692: Appendix

    Motor power of the asynchronous motor Nominal motor power (rated power) Power loss – Pulse width modulation Ω Value of the braking resistance Ω Minimum value of the braking resistance BR_min Ω Input resistance Apparent output power ® Product Manual – MOVIDRIVE technology...
  • Page 693 DC 24 V to supply STO_P1 and STO_P2 Supply voltage of encoders DC 12 V supply voltage of encoders S12VG DC 24 V supply voltage of encoders S24VG Voltage supply for electronics and brake ϑ °C Ambient temperature – ... with output stage inhibit ® Product Manual – MOVIDRIVE technology...

  • Page 694: Contacting Sew-Eurodrive

    Contacting SEW-EURODRIVE Contacting SEW-EURODRIVE You can find the worldwide contact data and locations on the SEW‑EURODRIVE website via the following link or the QR code shown below. https://www.sew-eurodrive.de/contacts-worldwide ® Product Manual – MOVIDRIVE technology...

  • Page 695: Index

    Step 2: Load torque test (optional) .... 245 CBG11A keypad .......... 455 Step 4: Passive brake testing (optional).. 246 Symbols ............ 456 Braking resistor CBG21A keypad .......... 457 Thermal overload .........  167 Icons ............. 458 Braking resistor selection ........ 162 CBG22A local keypad........ 551 Braking resistors.......... 401 ® Product Manual – MOVIDRIVE technology...
  • Page 696 Starting the "Assist CS.." parameterization tool CSB31A profile variant "Technology" .............. 511 Process input data ........ 263 Connecting the system bus cable .....  392 Process output data........ 261 Connection CSS21A/CSS31A profile variant "Technology" Brake ............ 377 Process input data ........ 267 ® Product Manual – MOVIDRIVE technology...
  • Page 697 140 ® MOVISUITE .......... 561 Embedded safety notes ......... 9 Digital inputs ............ 391 EMC-compliant installation Digital outputs............  391 Installation example ........ 379 Dimension sheets Encoder ............... 37 BW.. braking resistors ........ 112 Electronic nameplate ........ 150 ® Product Manual – MOVIDRIVE technology...
  • Page 698 Extended storage .......... 688 PROFIsafe version 2.6 ......... 250 External safety controller ........ 215 F‑process data profile ........ 258 CSA31A profile variant "System".... 276 Fault CSA31A profile variant "Technology" ... 271 Fault messages .......... 563 CSB21A profile variant "Technology" ... 259 ® Product Manual – MOVIDRIVE technology...
  • Page 699 "RUN" LED ........... 578 Description .............  56 "US1" LED ............ 573 Technical data .......... 57 LEDs .............. 66 Terminal assignment ........ 411 Lifting applications ........ 14, 448 Input/output card CIO21A Line components Terminal assignment ........ 410 Line contactor .......... 172 ® Product Manual – MOVIDRIVE technology...
  • Page 700 ND.. line choke .......... 118 Muting safe process output data (F-PO).. 499 Assignment to inverter........ 118 Prerequisites.......... 472 Description ...........  118 Process............ 473 Dimension sheets.........  119 Test mode............. 500 Dimensions...........  119 Part number Part number.......... 118 BS.. touch guard ........... 115 ® Product Manual – MOVIDRIVE technology...
  • Page 701 Requirements for brake control .... 150 Restriction of use .......... 14 Schematic illustration of the project planning Rights to claim under limited warranty .... 10 procedure .............  137 Rotor adjustment .......... 141 Selection of the braking resistor .... 162 Rotor position measurement...... 141 ® Product Manual – MOVIDRIVE technology...
  • Page 702 Safety encoders approved by SEW‑EURODRIVE Separation, protective .......... 20 for AC motors and asynchronous servomotors Service ............... 561 .............. 218 Evaluating fault messages...... 561 for servomotors .......... 218 Extended storage.......... 688 Safety notes Fault diagnostics........... 679 Designation in the documentation .... 8 ® Product Manual – MOVIDRIVE technology...
  • Page 703 SSR – Safe Speed Range.........  208 Characteristic safety values CSB..A and CSS..A Standard accessories ........ 127 ................ 89 Standby mode ...........  179 General electrical data........ 73 Startup ...............  448 General technical data...... 43, 72 HD.. output choke ......... 122 ® Product Manual – MOVIDRIVE technology...
  • Page 704  413 Warning notes X17: SEW‑EURODRIVE encoder .... 413 Structure of the embedded safety notes... 9 X17: SEW‑EURODRIVE encoder with RS485 Wiring diagrams interface............ 413 Brake control.......... 436 X17: SSI and sin/cos combi encoder ...  414 ® Product Manual – MOVIDRIVE technology...
  • Page 705 Power connection.........  433 ZD.. DC link choke .......... 124 Workbench ............ 137 Description............ 124 Dimension sheets ......... 125 Dimensions ........... 125 X18, X19..............  80 Part number .......... 124 X3224_1 ..............  83 Technical data .......... 124 X3224_2 ..............  84 X65 .............. 81 ® Product Manual – MOVIDRIVE technology...
  • Page 708 SEW-EURODRIVE—Driving the world SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Str. 42 76646 BRUCHSAL GERMANY Tel. +49 7251 75-0 Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com...

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