Sew Movidrive Setup Positioning

UL®

UL®C

T

MOVIDRIVE® MD_60ADrive Inverter

Addendum to the System Manual

Table Positioning with Bus Control

Edition 01/200110

51 0

311

/ 040

1

P R O F I

B U S

PROCESS FIELD BUS

Device Net

SBus

2 MOVIDRIVE® Table Positioning with Bus Control

Important Notes

• Read through this manual carefully before you commence installation and startup ofMOVIDRIVE® drive inverters with table positioning and bus control.This manual assumes that the user has access to and is familiar with the documentation onthe MOVIDRIVE® system, in particular the MOVIDRIVE® system manual.

• Safety notes:Always follow the safety and warning instructions contained in this manual!Safety notes are marked as follows:

Electrical hazard, e.g. during live working.

Mechanical hazard, e.g. when working on hoists.

Important instructions for safe and fault-free operation of the driven machine/system, e.g. pre-setting before startup.

• In this manual, cross references are marked with a“→,“ e.g.:(→ Sec. X.X) means: Furtherinformation can be found in section X.X of this manual.

• A requirement of fault-free operation and fulfillment of any rights to claim under guarantee isthat this information is observed.

• This information does not replace the detailed operating instructions!• Installation and startup only by trained personnel observing applicable accident prevention

regulations and the MOVIDRIVE® operating instructions!

Contents

MOVIDRIVE® Table positioning with Bus Control 3

1 System Description.....................................................................................4

2 Project Planning ........................................................................................52.1 Pre-requisites ..................................................................................................................5

2.1.1 PC and software ...................................................................................................52.1.2 Inverters, motors and encoders ...........................................................................5

2.2 Functional description...................................................................................................... 62.3 Scaling of the drive ..........................................................................................................72.4 Limit switches, reference cams and machine zero...........................................................82.5 Reference travel ...............................................................................................................82.6 Binary coding of the table positions.................................................................................92.7 Virtual terminals ............................................................................................................10

3 Installation............................................................................................. 123.1 Software ........................................................................................................................123.2 MOVIDRIVE® basic unit ................................................................................................133.3 MOVIDRIVE® with absolute encoder interface DIP11A .................................................143.4 Bus installation ..............................................................................................................15

3.4.1 PROFIBUS (DFP11A)..........................................................................................163.4.2 INTERBUS (DFI11A) ...........................................................................................173.4.3 INTERBUS with fiber optic cable (DFI21A) .........................................................183.4.4 CAN bus (DFC11A) .............................................................................................193.4.5 CANopen (DFO11A)............................................................................................203.4.6 DeviceNet (DFD11A)...........................................................................................213.4.7 System bus (SBus).............................................................................................22

3.5 Function of input terminals DI12 – DI17 ........................................................................233.6 Connecting the limit switches ........................................................................................23

4 Startup.................................................................................................. 244.1 General information .......................................................................................................244.2 Preliminary work............................................................................................................ 244.3 Start the "Table Positioning using Fieldbus" program ....................................................24

4.3.1 Setting the general parameters...........................................................................254.3.2 Entering table positions ......................................................................................28

4.4 Parameters .................................................................................................................... 314.5 Assignment of process data words................................................................................ 324.6 Starting the drive ........................................................................................................... 33

4.6.1 Operating modes ................................................................................................334.6.2 Referencing mode ..............................................................................................344.6.3 Jog mode ........................................................................................................... 354.6.4 Teach mode........................................................................................................364.6.5 Automatic mode .................................................................................................37

5 Operation and Service ............................................................................... 385.1 Timing diagrams............................................................................................................38

5.1.1 Referencing mode and automatic mode .............................................................385.1.2 Jog mode and teach mode .................................................................................395.1.3 Moving clear of limit switches ............................................................................40

5.2 Program identification ...................................................................................................415.3 Fault information............................................................................................................425.4 Fault messages .............................................................................................................. 43


1 System Description

1 System Description

Application fields:

Table positioning with bus control is particularly suited to the following sectors and applications:• Materials handling technology

– Trolleys

– Hoists– Rail vehicles

• Logistics– Storage and retrieval units for high-bay warehouses

– Transverse carriages

• Palletizing/handling

– Multi-axis handling robots– Gantries

Table positioning with bus control offers the following advantages in these applications:• User-friendly user interface

• You only have to enter the parameters required for table positioning and bus operation (ratios,speeds, diameters, bus parameters)

• User-friendly application programs guide you through the process of setting parameters, sothere is no need for complicated programming

• Monitor mode for optimum diagnosis• You do not need any programming experience• It does not take long to become familiar with the system

• 32 table positions can be defined and selected by means of a fieldbus/system bus

MOVIDRIVE® Table Positioning with Bus Control 5

Project Planning 2

2 Project Planning

2.1 Pre-requisites

2.1.1 PC and software

Table positioning with bus control is implemented as an IPOSplus® program and forms part of theSEW MOVITOOLS software package. In order to use MOVITOOLS, you need a PC with one of thefollowing operating systems: Windows 95®, Windows 98® or Windows NT® version 4.0.

2.1.2 Inverters, motors and encoders

• InvertersTable positioning with bus control can be performed using MOVIDRIVE® MDV60A orMOVIDRIVE® MDS60A. You need the MOVIDRIVE® option according to the bus type you aregoing to use. However, you do not need one of these options if you are going to use the systembus (SBus) which is provided as a standard.An external encoder is required for positioning in applications with a non-positive connectionbetween motor shaft and load. Absolute encoder interface type DIP11A is required if an absoluteencoder is being used as well.Table positioning with bus control is not an option with MOVIDRIVE® MDF60A, since there is noencoder feedback.

• Motors

– For operation on MOVIDRIVE® MDV60A:CT/CV asynchronous servomotors, encoder installed as standard.DT/DV/D AC motors with incremental encoder option.

– For operation on MOVIDRIVE® MDS60A:Synchronous DS/DY servomotors, resolver installed as standard.

• External encoders

– Interlocking connection between motor shaft and load:No external encoder required.

– Non-positive connection between motor shaft and load:External encoder is required in addition to the motor encoder/resolver.Incremental encoder as external encoder → Connection to the basic unit X14:Absolute encoder as external encoder → Connection to the DIP11A option X62:

• Possible combinations

ConnectionMotor shaft load

Interlocking, noexternal encoder required Non-positive, external encoder required

Encoder type, ext. encoder - Incremental encoder Absolute encoder

Reference travel Yes Yes No

Bus type→ Required option

PROFIBUS → DFP11AINTERBUS → DFI11A or DFI21ACAN bus → DFC11A or DFO11A

DeviceNet → DFD11ASystem bus (SBus) → No option necessary

Other MOVIDRIVE® option required No No Absolute encoder interface

Type DIP11A


2 Project Planning

2.2 Functional description

The "table positioning with bus control" application offers the following functional characteristics:• 32 table positions can be defined and selected.• The travel speed can be selected as required for each positioning movement.

• The ramp can be set separately for each positioning movement.• Software limit switches can be defined and evaluated.• Incremental encoders or absolute encoders can be evaluated as external encoders.

The functions are implemented with four operating modes:

• Jog mode– The drive is moved to the left or the right using two virtual binary inputs.– Two speeds can be selected using a virtual binary input, namely rapid traverse and creep

traverse for fine positioning.

• Teach mode

– Movement can be performed to every single position in jog mode and then saved in teachmode.

• Referencing mode

– Reference travel is started with a start command at a virtual binary input. Reference travelestablishes the reference point (machine zero) for absolute positioning operations.

• Automatic mode

– Selection of the target position using five virtual binary inputs (binary coded).– Sending back the selected target position prior to movement using five virtual binary outputs

(binary coded).– Confirmation that the selected position has been reached, using the "Target position reached"

virtual binary output.


Project Planning 2

2.3 Scaling of the drive

The control needs to know the number of encoder pulses (increments) per travel unit so it cancalculate the travel information and position the drive correctly.

Drives without external encoder (positive connection):In drives without external encoder, you can have the table positioning startup procedure performthe scaling automatically. The process requires the following data:• Diameter of the drive wheel or the spindle pitch

• Gear unit ratio (i gear unit)• Additional gear ratio (i additional gear)

The pulses/distance scaling factor [inc/mm] is then calculated using the following formula:Pulses = 4096 × igear unit × iadditional gearDistance = π × ddrive wheel or sspindle pitch

You can also enter the pulses/distance directly. If you enter a unit other than millimeters [mm] asthe travel unit, then this user unit is also used for the position of the software limit switches, thereference offset and the table positions.

Drive with external encoder (non-positive connection):

In this case, you must have activated and scaled the external encoder before starting up the tablepositioning. Make the following settings in Shell in order to do this:

• Set P941 "Source actual position", EXT. ENCODER (X14) with incremental encoder orABSOLUTE ENCODER (DIP). You can also make this setting during the startup of the tablepositioning.

02770AENFig. 1: Setting the actual position source

• Set P942 – P944 encoder factor numerator, encoder factor denominator and encoder scalingext. encoder correctly before you start-up the table positioning program. These settings aremade by starting up the absolute encoder interface DIP11A.

Calculation of the scaling is now blocked during startup of the table positioning.For more information about scaling an external encoder, please refer to the "IPOSplus® Positioningand Sequence Control System" manual (publication number 0919 1712) and the "Positioning withAbsolute Encoder and Absolute Encoder Interface DIP11A" manual (publication number0919 5912).


2 Project Planning

2.4 Limit switches, reference cams and machine zero

Note the following points during project planning:• The software limit switches must be located within the travel range of the hardware limit

switches.• When defining the reference position (position of the reference cam) and the software limit

switches, make sure they do not overlap. Fault message F78 "IPOS SW limit switch" is generatedin the event of an overlap during referencing.

• You can enter a reference offset during startup of the table positioning if you do not want themachine zero (= reference point for table positioning) to be located on the reference position.The following formula applies: Machine zero = Reference position + Reference offsetIn this way, you can alter the machine zero without having to move the reference cam.

2.5 Reference travel

Note the following points during project planning of the reference travel:• Reference travel to reference cam

Reference travel takes place to the falling edge of the reference cam. This means the accuracy ofthe reference position depends on the switching accuracy of the reference cam.

• Reference travel to limit switchThe drive is moved one motor revolution (= 4096 increments) away from the limit switch inorder to position the drive at a certain distance from the limit switch after reference travel to thelimit switch.

• Reference travel to encoder zero pulseThe encoder zero pulse must be evaluated if positioning accuracy of less than 0.3 mm isrequired. The falling edge of the reference cam then does not mark the reference position. Itindicates that the next encoder zero pulse represents the reference position.Evaluation of the encoder zero pulse must be activated using variable H127 (CAM_ZP). Thesetting takes place by selecting "Execute Program/Assembler" in MOVITOOLS Manager and editvariable H127.

– H127 = 1 → Evaluation of encoder zero pulse– H127 ≠ 1 → Evaluation of falling edge of reference cam


Project Planning 2

2.6 Binary coding of the table positions

The table positions must be specified in binary coded format and the corresponding checkbacksare also in binary code. This means DI13 (DO12) = 20 and DI17 (DO16) = 24.

No. DI13 (DO12) DI14 (DO13) DI15 (DO14) DI16 (DO15) DI17 (DO16)

0 "0" "0" "0" "0" "0"

1 "1" "0" "0" "0" "0"

2 "0" "1" "0" "0" "0"

3 "1" "1" "0" "0" "0"

4 "0" "0" "1" "0" "0"

5 "1" "0" "1" "0" "0"

6 "0" "1" "1" "0" "0"

7 "1" "1" "1" "0" "0"

8 "0" "0" "0" "1" "0"

9 "1" "0" "0" "1" "0"

10 "0" "1" "0" "1" "0"

11 "1" "1" "0" "1" "0"

12 "0" "0" "1" "1" "0"

13 "1" "0" "1" "1" "0"

14 "0" "1" "1" "1" "0"

15 "1" "1" "1" "1" "0"

16 "0" "0" "0" "0" "1"

17 "1" "0" "0" "0" "1"

18 "0" "1" "0" "0" "1"

19 "1" "1" "0" "0" "1"

20 "0" "0" "1" "0" "1"

21 "1" "0" "1" "0" "1"

22 "0" "1" "1" "0" "1"

23 "1" "1" "1" "0" "1"

24 "0" "0" "0" "1" "1"

25 "1" "0" "0" "1" "1"

26 "0" "1" "0" "1" "1"

27 "1" "1" "0" "1" "1"

28 "0" "0" "1" "1" "1"

29 "1" "0" "1" "1" "1"

30 "0" "1" "1" "1" "1"

31 "1" "1" "1" "1" "1"


2 Project Planning

2.7 Virtual terminals

The "table positioning with fieldbus" application is controlled using a fieldbus or system bus. Thevirtual terminals in control word 2 are used for this (→ MOVIDRIVE® Fieldbus Unit Profile). Aprocess data word (PO1, PI1) is required for this. The DIO11A input/output card must not beinstalled.

03513AENFig. 2: Process data channel

The process output data word has the following assignment:

• PO1 control word 2

03986AENFig. 3: PO1 control word

P 1

P 1

E QO

I

Process input data (PI)

Process output data (PO)

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

8:9:

10:11:12:13:14:15:

Fixed definitionVirtual input terminals

0: Controller inhibit/Enable1: Enable/Rapid stop2: Enable/Stop3: Stop control4: Integrator switching5: Parameter set switching6: Reset7: Reserved

virtual terminal 1 = P610 binary input DI1Øvirtual terminal 2 = P611 binary input DI11virtual terminal 3 = P612 binary input DI12virtual terminal 4 = P613 binary input DI13virtual terminal 5 = P614 binary input DI14virtual terminal 6 = P615 binary input DI15virtual terminal 7 = P616 binary input DI16virtual terminal 8 = P617 binary input DI17


Project Planning 2

The process input data word has the following assignment:

• PI1 status word 2

03985AENFig. 4: PI1 status word

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

8:9:

10:11:12:13:14:15:

Fixed definitionVirtual output terminals

0: Motor is rotating1: Inverter ready for operation2: IPOS reference3: Target position reached4: Brake open5: Fault/Warning6: Limit switch CW activated7: Limit switch CCW activated

virtual terminal 1 = P630 binary output DO1Øvirtual terminal 2 = P631 binary output DO11virtual terminal 3 = P632 binary output DO12virtual terminal 4 = P633 binary output DO13virtual terminal 5 = P634 binary output DO14virtual terminal 6 = P635 binary output DO15virtual terminal 7 = P636 binary output DO16virtual terminal 8 = P637 binary output DO17


3 Installation

3 Installation

3.1 Software

Table positioning with bus control is a part of the SEW MOVITOOLS® software package. Proceedas follows to install MOVITOOLS® on your computer:

1. Insert the MOVITOOLS® CD into the CD ROM drive of your PC.2. Select "Start/Run...".3. Type "Drive letter of your CD drive:setup" and press the Enter key.

4. The MOVITOOLS® setup menu appears. Follow the instructions of the installation wizard.

You can now use Program Manager to start MOVITOOLS® . If a MOVIDRIVE® unit is connected toyour PC, select the correct port (PC COM port) and set point-to-point connection. Select <Update>to display the inverter in the "Connected Units" window.

02745AENFig. 5: MOVITOOLS® window


Installation 3

3.2 MOVIDRIVE® basic unit

You must wire up the MOVIDRIVE® basic unit as shown in the following wiring diagram,irrespective of the bus type you are using.

02799AENFig. 6: Wiring diagram for MOVIDRIVE® basic unit

Note:An external encoder is required for positioning in applications with a non-positive connectionbetween the motor shaft and the load.• Incremental encoder as external encoder: connection to basic unit X14• Absolute encoder as external encoder: DIP11A option required, connection to X62

X14:

X15:

X13:DIØØDIØ1DIØ2DIØ3DIØ4DIØ5

DCOMVO24DGNDST11ST12

123456789

1011

X10:TF1

DGNDDBØØ

DOØ1-CDOØ1-NODOØ1-NC

DOØ2VO24VI24

DGND

123456789

10

1

5

5

1

6

9

9

6

MDV (MDS)

X11

X12

S11S12

X13

X10

X14 X15ENCODER IN/OUT ENCODER IN

(RESOLVER IN)

12345

1234567891011

12345678910

123

SUPPLY OUT 24V=

mA V↔R ON OFF↔

MOVIDRIVE®

TF inputRef. potential for binary signals/Brake

Relay contact /faultNormally open/faultNormally closed/fault

Ready+24V output+24V inputRef. potential for binary signals

/Controller inhibitEnable/rapid stopResetReference cam/Limit switch CW/Limit switch CCWRef. X13:DIØØ...DIØ5+24V outputRef. potential for binary signalsRS-485+RS-485-

Motor encoder:Incremental encoder (MDV) or resolver (MDS)(connection MOVIDRIVE )operating instructions→ ®

External encoder connection,Incremental encoder 5 V TTL

(connection operating instructions MOVIDRIVE )→®


3 Installation

3.3 MOVIDRIVE® with absolute encoder interface DIP11A

For non-positive connection between motor shaft and load, with an absolute encoder as externalencoder. Please adhere to the installation instructions in "Positioning with Absolute Encoder andAbsolute Encoder Interface DIP11A" manual (0919 5904) when connecting the absolute encoder.

03988AENFig. 7: Wiring diagram with DIP11A

X14:

X15:

X62:



123456789

1011

X10:

X60:

X61:

TF1DGNDDBØØ


DOØ2VO24VI24

DGND

DI1ØDI11DI12DI13DI14DI15DI16DI17

DCOMDGND

DO1ØDO11DO12DO13DO14DO15DO16DO17DGND

123456789

10

123456789

10

123456789

1

1

5

5

5

1

6

6

9

9

9

6

= +-24 V

MDV (MDS)

X11

X12

S11S12

X13

X10


(RESOLVER IN)

12345

1234567891011

12345678910

123

SUPPLY OUT 24V=

mA V↔R ON OFF↔

DIP

123456789

10

123456789

X60

X61

X62

X14:

X15:

X62:



123456789

1011

X10:

X60:

X61:

TF1DGNDDBØØ


DOØ2VO24VI24

DGND

DI1ØDI11DI12DI13DI14DI15DI16DI17

DCOMDGND

DO1ØDO11DO12DO13DO14DO15DO16DO17DGND

123456789

10

123456789

10

123456789

1

1

5

5

5

1

6

6

9

9

9

6

= +-24 V

Reference X22:DI1Ø...DI17Reference potential binary signals

Reference potential binary signals

MOVIDRIVE®

DIP11A

SSIinterface

Gray code

No function,since virtual terminalsare active!

No function,since virtual terminalsare active!

Absolute encoderConnection manual "Positioning with DIP11A

Absolute Encoder and Absolute Encoder Option"(

)→

TF inputReference potential binary signals/Brake

Relay contact/faultNO relay/faultNC relay /fault

Referenced+24V output+24V inputReference potential binary signals

Motor encoder:Incremental encoder (MDV) or resolver (MDS)

(Connection MOVIDRIVE operating instructions)→®

Input external encoder,Incremental encoder 5 V TTL

(Connection MOVIDRIVE operating instructions)→ ®

/Controller inhibitEnable/rapid stopResetReference cam/Limit switch CW/Limit switch CCWReference X13:DIØØ...DIØ5+24V outputReference potential binary signalsRS-485+RS-485-


Installation 3

3.4 Bus installation

Please refer to the information in the relevant addenda to the operating instructions for informationabout bus installation. These addenda are included with the DFP11A, DFI11A, DFI21A, DFC11A,DFO11A and DFD11A fieldbus interfaces. Please refer to the operating instructions for informationabout installing the system bus (SBus).

02800AXXFig. 8: Bus types

DFPPROFIBUSFMS / DP

DFPPROFIBUS

DP

DFIINTERBUS-SModule Ident.

227

DFCCAN-Bus

BUS-

S1

BIO

PIO

DFD

Mod/

DEVICE-NET

S2DR(0)DR(1)NA(0)NA(1)

NA(2)NA(3)NA(4)

10NA(5)

X30

OFF

Net

12345

P R O F I

B U S

PROCESS FIELD BUS

Device Net

MDV (MDS)

X11

X12

S11S12

X13

X10


(RESOLVER IN)

12345

1234567891011

12345678910

123

SUPPLY OUT 24V=

mA V↔R ON OFF↔

SBus

DFO

PD(2)PD(1)PD(0)NA(6)

NA(5)NA(4)NA(3)NA(2)

NA(1)NA(0)DR(1)DR(0)

BUSOFF

STATE

GUARD

COMM

S1

11

012

34

CANopen

12

34

12

34

nc

R

S2

X30 CANopen

3

0

12

34

DFIINTERBUS

ADRESS

X30PROFIBUS

DP


3 Installation

3.4.1 PROFIBUS (DFP11A)

The PROFIBUS documentation package contains detailed information. This package can beobtained from SEW, publication number 0919 3235. This documentation package contains theGSD files and type files for MOVIDRIVE® in order to help with project planning and to facilitatestartup.

Technical data:

01009AENFig. 9: Front view of DFP11A

Pin assignment:

01222BENFig. 10: Assignment of 9-pin sub D plug to DIN 19245

Option PROFIBUS fieldbus interface type DFP11A

Part number 822 724 1

Resources for startup/diagnosis

DBG11A keypadMOVITOOLS® or MX_SHELL PC program

Protocolvariants

PROFIBUS-DP to EN 50170 V2 / DIN E 19245 P3PROFIBUS-FMS to EN 50170 V2 / DIN E 19245 P3

Mixed mode PROFIBUS DP/FMS (combi-slave)

Supportedbaud rates

Automatic detection of baud rate:

9.6 kbaud19.2 kbaud93.75 kbaud

187.5 kbaud500 kbaud

1500 kbaud

Connection 9-pin sub D socketAssignment to EN 50170 V2 / DIN 19245 P3

Bus termination Can be activated for cable type A (up to 1500 kbaud)to EN 50170 V2 / DIN 19245 P3

Station address 0 – 125, can be set using DIP switch

Defaultbus parameter

Min-TSDR for FMS/DP or DP modecan be selected via DIP switch

GSD file SEW_6000.GSD

DP identity number 6000hex = 24576dec

384569

RxD/TxD-P (B/ )BRxD/TxD-N (A/ )ACNTR-PDGND (M5V)VP (P5V)DGND (M5V)

E QQ

connector housing and cable shield!Conductive connection between

cablesTwisted-pair signal

connector9-pin sub D


Installation 3

3.4.2 INTERBUS (DFI11A)

The INTERBUS documentation package contains detailed information. This package can beobtained from SEW, publication number 0919 326X.

Technical data:

01

01008AENFig. 11: Front view of DFI11A

Pin assignment:

01046AENFig. 12: Assignment of 9-pin sub D socket of the incoming remote bus cable

01047AENFig. 13: Assignment of 9-pin sub D plug of the outgoing remote bus cable

Option INTERBUS fieldbus interface type DFI11A



DBG11A keypadMOVITOOLS or MX_SHELL PC program

Connection Remote bus input: 9-pin sub D plugRemote bus output: 9-pin sub D socket

RS-485 transmission technology, 6-core shielded and twisted-pair cable

Module ID E3hex = 227dec

DFIINTERBUS-SModule Ident.

227

4 LED Green

1 LED Red

×

×

DIP switch to set theprocess data count

X30:Remote bus input

X31:Remote bus output

61723

/DODO/DIDI

COM

E QQ

BrownGrayPink

YellowGreen

connector housing and cable shield!Conductive connection between

connector9-pin sub DTwisted-pair signal

cables

6172359

/DODO/DIDI

COM

E QQ

BrownGrayPinkYellowGreen

connector housing and cable shield!Conductive connection betweenBridged

cablesTwisted-pair signal

connector9-pin sub D


3 Installation

3.4.3 INTERBUS with fiber optic cable (DFI21A)

The INTERBUS FO documentation package contains detailed information. This package can beobtained from SEW, publication number 1051 3531.

Technical data:

➀ DIP switch for process data length, PCP lengthand baud rate

➁ Diagnostic LEDs

03904AXXFig. 14: Front view of DFI21A

Connection assignment:

Option INTERBUS fieldbus interface type DFI21A




CMD tool

Supportedbaud rates

500 kbaud and 2 Mbaudcan be set via DIP switch

Connection Remote bus input: 2 F-SMA plugsRemote bus output: 2 F-SMA plugs

optically regulated FO interfaceoptical converter (RS-485/FO) possible

Item Signal Direction FO core color

➂ FO remote IN Receive data Orange (OG)

➃ Incoming remote bus Send data Black (BK)

➄ FO remote OUT Receive data Black (BK)

➅ Continuing remote bus Send data Orange (OG)

DFIINTERBUS

3

2

1

4

5

6


Installation 3

3.4.4 CAN bus (DFC11A)

The CAN bus documentation package contains detailed information. This package can be obtainedfrom SEW, order number 0919 3308.

Technical data:

01010AENFig. 15: Front view of DFC11A

Pin assignment:

01013AENFig. 16: Assignment of 9-pin sub D connection

Option CAN fieldbus interface type DFC11A

Part number 822 725 X



Supported baud rates

can be selected via DIP switch:

125 kbaud250 kbaud

500 kbaud1000 kbaud

Connection 9-pin sub D plugAssignment to CiA standard

2-core twisted cable to ISO 11898

Bus termination Can be switched on using DIP switch (120Ω)

ID range 3 – 1020Base ID: 0 – 63, can be selected using DIP switch

DFCCAN-Bus

LED Green: TxD

LED Red: RxD

DIP switch to set processdata length and baud rate

DIP switch to set thebase ID and to switchthe terminationresistor on/off

X30: Bus connection

6723

DGNDCAN HighCAN LowDGND

E QQ

9-pin sub D connectorTwisted-pairsignal cables

Conductive connection betweenconnector housing and cable shield!


3 Installation

3.4.5 CANopen (DFO11A)

The CANopen documentation package contains detailed information. This package can be obtainedfrom SEW, order number 1051 3566.

Technical data:

➀ DIP switch for process data length, module IDand baud rate

➁ Display and diagnostic LEDs

➂ DIP switch for terminating resistor➃ Bus connection

03905AXXFig. 17: Front view of DFO11A

Pin assignment:

01013AENFig. 18: Assignment of 9-pin sub D connection

Option CAN fieldbus interface type DFO11A




Supported baud rates

can be selected via DIP switch:

125 kbaud250 kbaud

500 kbaud1000 kbaud

Connection 9-pin sub D plugAssignment to CiA standard

2-core twisted cable to ISO 11898

Bus termination Can be switched on using DIP switch (120Ω)

ID range 3 – 1020Base ID: 0 – 63, can be selected using DIP switch

3

2

1

4

DFO

PD(2)PD(1)PD(0)NA(6)

NA(5)NA(4)NA(3)NA(2)

NA(1)NA(0)DR(1)DR(0)

BUSOFF

STATE

GUARD

COMM

S1

11

012

34

CANopen

12

34

12

34

nc

R

S2

X30 CANopen

3

0

12

34

6723

DGNDCAN HighCAN LowDGND

E QQ

9-pin sub D connectorTwisted-pairsignal cables

Conductive connection betweenconnector housing and cable shield!


Installation 3

3.4.6 DeviceNet (DFD11A)

The DeviceNet documentation package contains detailed information. This package can beobtained from SEW, order number 0919 5254.

Technical data:

02024AENFig. 19: Front view of DFD11A

Terminal assignment:The assignment of connecting terminals is described in the DeviceNetspecification Volume I, Appendix A.

02119AENFig. 20: DeviceNet terminal assignment

Option DeviceNet fieldbus interface type DFD11A




Supportedbaud rates

can be selected via DIP switch:125 kbaud250 kbaud500 kbaud

Connection 5-pin Phoenix terminalAssignment to DeviceNet specification

(Volume I, Appendix B)

Permittedline cross section According to DeviceNet specification

Bus termination Use of bus connectors with integrated bus terminating resistor (120 Ω) at the start and

finish of the bus segment.

Address range which can be set(MAC-ID)

0 – 63can be selected via DIP switch

Pin no. Meaning Meaning Color

1 V- 0V24 Black

2 CAN_L CAN_L Blue

3 DRAIN DRAIN Bright

4 CAN_H CAN_H White

5 V+ 24V Red

BUS-

S1

BIO

PIO

DFD

Mod/

DEVICE-NET

S2DR(0)DR(1)NA(0)NA(1)

NA(2)NA(3)NA(4)

10NA(5)

X30

OFF

Net

12345

DIP switch for setting thenode address (MAC-ID)and the baud rate

LED display

X30: Bus connection

1

2

3

4

5

DFD11Aoption card


3 Installation

3.4.7 System bus (SBus)

The "System Bus" manual contains detailed information about the system bus (SBus). This manualcan be obtained from SEW, publication number 0918 0915.

Max. 64 CAN bus stations can be interconnected using the system bus (SBus). The SBus supportstransmission systems compliant with ISO 11898.

02205AENFig. 21: System bus connection

Special note:• Use a 2-core twisted and shielded copper cable (data transmission cable with shield comprising

copper braiding). Connect the shield at either end to the electronics shield clamp of MOVIDRIVE®

or the master control and ensure the shield is connected over a large area. Also connect theends of the shield to DGND.The cable must meet the following specifications:- Conductor cross section 0.75 mm2 (AWG18)- Cable resistance 120 Ω at 1 MHz- Capacitance per unit length ≤ 40 pF/m (12 pF/ft) at 1 kHzSuitable cables are CAN bus or DeviceNet cables, for example.

• The permitted total cable length depends on the baud rate setting of the SBus:250 kbaud → 160 m (528 ft)500 kbaud → 80 m (264 ft)1000 kbaud → 40 m (132 ft)

• Switch on the system bus terminating resistor (S12 = ON) at the start and finish of the systembus connection. Switch off the terminating resistor on the other units (S12 = OFF).

• There must not be any potential displacement between the units which are connected togetherusing the SBus. Take suitable measures to avoid a potential displacement, e.g. by connectingthe unit ground connectors using a separate lead.

X11: X11: X11:REF1AI11AI12

AGNDREF2

REF1AI11AI12

AGNDREF2

REF1AI11AI12

AGNDREF2

12345

12345

12345

X12: X12: X12:DGNDSC11SC12

DGNDSC11SC12

DGNDSC11SC12

123

123

123

S 12S 11

S 12S 11 S 11

S 12ON OFF ON OFF ON OFF

y y y y

Controlunit Controlunit Controlunit

Systembusref. potential



systembushigh systembushigh systembushighsystembus low systembus low systembus low

system busterminating resistor




Installation 3

3.5 Function of input terminals DI12 – DI17

The functions of virtual binary inputs DI12 – DI17 differ according to the operating mode setting.The operating modes are set using virtual binary inputs DI1Ø and DI11.

Operating modes:

Function of virtual binary inputs DI12 – DI17:

3.6 Connecting the limit switches

The cams of the limit switches must cover the travel range up to the stop.

Only use limit switches with NC contacts (low-active)!

02746AENFig. 22: Connecting the limit switches

Operating mode Jog mode Teach mode Referencing mode Automatic mode

DI1Ø: Mode Low "0" "1" "0" "1"

DI11: Mode High "0" "0" "1" "1"


DI12: Function 1 Reserved Strobe Start referencing Start positioning

DI13: Function 2 Jog positive Position 20 Reserved Position 20

DI14: Function 3 Jog negative Position 21 Reserved Position 21

DI15: Function 4 Rapid traverse Position 22 Reserved Position 22

DI16: Function 5 Reserved Position 23 Reserved Position 23

DI17: Function 6 Reserved Position 24 Reserved Position 24

CW li

mit

switc

h

Distance of travel

CW drive inverter

CCW

lim

it sw

itch


4 Startup

4 Startup

4.1 General information

Correct project planning and installation are the pre-requisites for successful startup. Refer to theMOVIDRIVE® system manual for detailed project planning instructions. The system manual formspart of the MOVIDRIVE® documentation package (publication number 0919 3219).

Check the installation, including the encoder connection, by following the installation instructionsin the MOVIDRIVE® MD_60A operating instructions and in this manual (Sec. 3, page 12).

If you are using an absolute encoder as the external encoder (connection on DIP11A X62:), pleasealso refer to the installation and startup instructions in the "Positioning with Absolute Encoder andAbsolute Encoder Card DIP11A" manual (publication number 0919 5912).

4.2 Preliminary work

Perform the following steps before startup:• Connect the inverter to the PC using the serial port (RS-232, USS21A on PC-COM).• Install MOVITOOLS on the PC (Sec. 3.1, page 12) and start the program.

• Start up the inverter using <Shell>.– With MOVIDRIVE® MDV60A and DT/DV/D motors, in VFC-n-CTRL& IPOS operating mode.– With MOVIDRIVE® MDV60A and CT/CV motors, in CFC & IPOS operating mode.

– With MOVIDRIVE® MDS60A and DS/DY motors, in SERVO & IPOS operating mode.• Only for operation with an external encoder (absolute or incremental encoder).

– Absolute encoder: Start up the DIP11A absolute encoder interface; this sets parameterP942 – P944 (→ "Positioning with Absolute Encoder and Absolute Encoder Interface DIP11A"manual, publication number 0919 5912).

– Incremental encoder: Set P942 – P944 encoder factor numerator, encoder factordenominator and encoder scaling ext. encoder in Shell. Refer to "IPOSplus® Positioning andSequence Control System" manual 0919 1712 for a detailed description of the parameters.

• "0" signal at terminal X13:1 (DIØØ, /Controller inhibit).

4.3 Start the "Table Positioning using Fieldbus" program

• Start <Shell>.• In Shell, start "Startup/Table Positioning using Fieldbus".

03989AENFig. 23: Starting the "Table Positioning" program


Startup 4

4.3.1 Setting the general parameters

Initial startup:The window for setting the fieldbus parameters appears if the table positioning program has beenstarted for the first time.

03990AENFig. 24: Setting the fieldbus parameters

You have to make the following settings in this window:• Set the correct fieldbus type.• Set the "Bus address", "Timeout time", "Timeout response" and "Baud rate" settings, if necessary.


4 Startup

The window with the general parameters appears after the "Fieldbus Parameters" window.

03991AENFig. 25: Setting the general parameters

You have to make the following settings in this window:• If you are not using an external encoder: Calculate the pulses/distance scaling factor.

– Select the "Drive Wheel Diameter" or "Spindle Pitch" box and enter the value in millimeters[mm].

– Enter the ratio (i) values for the gear unit and additional gear.

– Press <Calculate> to calculate the scaling factor. The pulses/distance are entered in the unitinc/mm.

You can also enter the scaling factor directly. In this case, you can enter a unit of your choice forthe distance. This unit (user travel unit) is then used for the position of the software limitswitches, the reference offset and the table positions.It is not possible to calculate the scaling for drives with an external encoder.


Startup 4

• Enter software limit switches and the reference offset. The entries are made in the user units ofthe scaling.– Enter the position of the software limit switches. A line of numbers then appears in the

bottom half of the screen. This represents the travel distance delimited by the software limitswitches.Make sure the positions of the software limit switches are within the travel distance of thehardware limit switches and that they do not overlap the reference position. Entering zero forboth software limit switches causes them to be deactivated.

– Enter the reference offset. The reference offset corrects the machine zero. The followingformula applies: Machine zero = Reference position + Reference offset.

• Setting the source actual position:– Motor encoder (X15) for operation without an external encoder.

– EXT. ENCODER (X14) with an incremental encoder as the external encoder.– ABSOLUTE ENCODER (DIP) with an absolute encoder as the external encoder.

• Select the correct type of reference travel (0 – 7).

Refer to the "IPOSplus® Positioning and Sequence Control System" manual, publication number0919 1704, for a detailed description of the reference travel types.A fault message is activated if impermissible values are entered. In this case, refer to the notes withthe fault message.Press "Next>>" when you have entered all the values. The window then appears for entering thetable positions.

02791AXX

Type 0: No reference travel. The reference position is the current position orthe zero pulse to the left of the current position.Machine zero = Zero pulse CCW of the current position + Reference offset

Type 1: The reference position is the CCW end of the reference cam.Machine zero = Reference point + Reference offset

Type 2: The reference position is the CW end of the reference cam.Machine zero = Reference point + Reference offset

Type 3: The reference position is the CW limit switch. No reference cam isrequired for this.Machine zero = Reference point + Reference offset

Type 4: The reference position is the CCW limit switch. No reference cam isrequired for this.Machine zero = Reference point + Reference offset

Type 5: No reference travel. The reference position is the current positionwithout reference to a zero pulse.Machine zero = Current position + Reference offset

Type 6: The reference position is the CCW end of the reference cam.Machine zero = Reference point + Reference offset

Type 7: The reference position is the CW end of the reference cam.Machine zero = Reference point + Reference offset

] [ZP

] [

] [

] [CAM

] [CAM

] [CAM

] [CAM

] [


4 Startup

4.3.2 Entering table positions

03992AENFig. 26: Entering table positions

You have to make the following settings in this window:• Jog mode

– Enter the valid speeds and the ramp for jog mode.

• You can define up to 32 table positions in this window.

– Enter the position.The table positions are entered in mm or the user travel unit which you have defined. Youalways have to enter absolute position values in relation to the machine zero established bythe reference mark and reference offset. The table entry 500 [mm] means the drive runsclockwise for 500 mm; -1500 [mm] means 1500 mm in counterclockwise direction.

– Enter the ramp time and the speed.

Furthermore, you must enter the ramp time [s] and the speed [rpm] for each table position.This ramp time and speed are used for movement to this table position.


Startup 4

Important:The ramp time always refers to a speed step change of ∆n = 3000 rpm. This speed is reachedafter an acceleration time of 1/3 s if 1 s is entered as the ramp time and 1000 rpm as thespeed.

Click on position box no. 0 and enter the position. Use the tab key to jump to the ramp and thespeed and enter the values. A new line appears if you press ALT + H. Press the tab key to jumpto the new position box. The string of numbers in the bottom half of the screen indicates tablepositions which have already been entered. Press the ENTER key to update the table entries onthe string of numbers.Press ALT + L to delete the bottom row of the table.

In this window, you define how many table positions are available. Once startup has beencompleted, you can alter the values of individual positions in teach mode although you cannotadd any new positions. You have to repeat the startup procedure in order to add new positions.

Press "Next>>" when you have entered the table positions you want. The program prompts you tosave the values you have set. The download window appears after the settings have been saved.Press <Download>. All necessary settings are automatically made in the inverter and the "TablePositioning" IPOS program is started.

03993AENFig. 27: Download window

AUTO


4 Startup

After the download, the program asks you if you want to switch to the monitor.

03994AENFig. 28: Monitor Yes/No

Select "Yes" to switch to the monitor. You can start in the operating mode you want there. Select"No" to exit the table positioning with bus control and switch to the Shell window.

Repeat startup:The table positioning monitor also appears if the table positioning with bus control is started afterthe startup procedure has already been performed.

03995AENFig. 29: Table positioning monitor

Pressing <Startup> calls up the window for setting the general parameters. You can then performthe startup.


Startup 4

4.4 Parameters

The table positioning startup automatically sets the following parameters:

These parameters must not be altered after startup!

Parameter number ParametersProcess data

wordBit

Setting

100 Setpoint source Fieldbus or SBus

101 Control signal source Fieldbus

600 Binary input DIØ1 Enable/rapid stop

601 Binary input DIØ2 Reset

602 Binary input DIØ3 Reference cam

603 Binary input DIØ4 /CW limit switch

604 Binary input DIØ5 /CCW limit switch

610 Binary input DI1Ø PO1:8 IPOS input: Mode Low

611 Binary input DI11 PO1:9 IPOS input: Mode High

612 Binary input DI12 PO1:10 IPOS input: Function 1






620 Binary output DOØ1 /Fault

621 Binary output DOØ2 Referenced

630 Binary output DO1Ø PI1:8 IPOS output: Mode Low

631 Binary output DO11 PI1:9 IPOS output: Mode High

632 Binary output DO12 PI1:10 IPOS output: Value 1





637 Binary output DO17 PI1:15 IPOS output: Position reached


4 Startup

4.5 Assignment of process data words

Assignment of the process output data word• PO1 control word 2

03986AENFig. 30: PO1 control word

Assignment of the process input data word

• PI1 status word 2

03985AENFig. 31: PI1 status word

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

8:9:

10:11:12:13:14:15:

Fixed definitionVirtual input terminals

0: Controller inhibit/Enable1: Enable/Rapid stop2: Enable/Stop3: Stop control4: Integrator switching5: Parameter set switching6: Reset7: Reserved

virtual terminal 1 = P610 binary input DI1Øvirtual terminal 2 = P611 binary input DI11virtual terminal 3 = P612 binary input DI12virtual terminal 4 = P613 binary input DI13virtual terminal 5 = P614 binary input DI14virtual terminal 6 = P615 binary input DI15virtual terminal 7 = P616 binary input DI16virtual terminal 8 = P617 binary input DI17

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

8:9:

10:11:12:13:14:15:

Fixed definitionVirtual output terminals

0: Motor is rotating1: Inverter ready for operation2: IPOS reference3: Target position reached4: Brake open5: Fault/Warning6: Limit switch CW activated7: Limit switch CCW activated

virtual terminal 1 = P630 binary output DO1Øvirtual terminal 2 = P631 binary output DO11virtual terminal 3 = P632 binary output DO12virtual terminal 4 = P633 binary output DO13virtual terminal 5 = P634 binary output DO14virtual terminal 6 = P635 binary output DO15virtual terminal 7 = P636 binary output DO16virtual terminal 8 = P637 binary output DO17


Startup 4

4.6 Starting the drive

After downloading the startup data, select "Yes" to switch to the table positioning monitor. Theoperating mode is set using virtual binary inputs DI1Ø "Mode Low" and DI11 "Mode High".

4.6.1 Operating modes

• Jog mode

– The drive is moved to the left or the right using virtual binary inputs DI13 (PO1:11) and DI14(PO1:12).

– Two speeds can be selected using virtual binary input DI15 (PO1:13), namely rapid traverseand creep traverse for fine positioning.

• Teach mode– Movement can be performed to every single position in jog mode and then stored in teach

mode. The table cell is selected using virtual binary inputs DI13 – DI17 (PO1:11 – 15).

• Referencing mode– Reference travel is started with a start command at virtual binary input DI12 (PO1:10).

Reference travel establishes the reference point (machine zero) for absolute positioningoperations.

• Automatic mode– Selecting the target position using five virtual binary inputs DI13 – DI17 (PO1:11 – 15), binary

coded.– Sending back the selected target position prior to movement using five virtual binary outputs

DO12 – DO16 (PI1:10 – 14), binary coded.– Acknowledging that the selected position has been reached, using virtual binary output DO17

(PI:15).

You have to select "Referencing mode" operating mode if the drive has not yet been referenced or ifyou want to reference it again. Make this selection using DI1Ø (PO1:8) "Mode Low" = "0" and DI11(PO1:9) "Mode High" = "1".It is not possible to select teach mode and automatic mode unless reference travel has beenperformed.


DI1Ø: Mode Low "0" "1" "0" "1"

DI11: Mode High "0" "0" "1" "1"


4 Startup

4.6.2 Referencing mode

• DI1Ø (PO1:8) = "0" and DI11 (PO1:9) = "1"The reference position is defined by reference travel to the reference cam. The reference offset isset during startup and you can use it to alter the machine zero without having to move thereference cam.The following formula applies: Machine zero = Reference position + Reference offset

03996AENFig. 32: Referencing mode

• The correct type of reference travel must be set. If it is not, repeat the table positioning startupand set the type of reference travel you want.

• Apply "1" signals to DIØØ "/Controller inhibit" and DIØ1 "Enable/rapid stop".

• Start reference travel using a "1" signal on DI12 (PO1:10) "Start reference travel". The "1" signalon DI12 (PO1:10) must be present for the entire duration of the reference travel.

• If the drive reaches the reference position (DIØ3 "Reference cam" = "1"), the drive continuesmoving at reference speed 2 and stops with position control when it leaves the referenceposition (DIØ3 "1" → "0"). Binary output DOØ2 "IPOS reference" is set (= ”1” signal). The "1"signal at DI12 (PO1:10) can now be revoked.

The drive has now been referenced. Now set the operating mode you require.


Startup 4

4.6.3 Jog mode

• DI1Ø (PO1:8) = "0" and DI11 (PO1:9) = "0"In jog mode, you can move the drive clockwise or counterclockwise manually using "1" signals atbinary inputs DI13 (PO1:11) "Jog +" or DI14 (PO112) "Jog -." You can move in creep traverse– DI15 (PO1:13) = "0" – or rapid traverse – DI15 (PO1:13) = "1" – when doing so.

Jog mode is required for:– Moving to new table positions in order to save them in teach mode.

– For service purposes when the drive should be moved independently of the automatic functionsof the system.

03997AENFig. 33: Jog mode


4 Startup

4.6.4 Teach mode

• DI1Ø (PO1:8) = "1" and DI11 (PO1:9) = "0"In teach mode, you can save the current position of the drive as a new table position. You mustfirst move to the position you want to save as a new table position. This movement must be in jogmode.

03998AENFig. 34: Teach mode

Enter the new position as follows:• Move to the position in jog mode.• Switch to teach mode, DI10 (PO1:8) = "1" and DI11 (PO1:9) = "0".

• Use DI13 – DI17 (PO1:11 – 15) to select the table cell (no.) into which the new position shouldbe written. The positions are in binary code, DI13 = "1" means table cell no. 1 (20) and DI17 = "1"means table cell no. 16 (24). DI13 – DI17 must get a "0" signal in order to select no. 0. For tablecell no. 3, DI13 (20) and DI14 (21) must get "1" signals.

• Apply the signal sequence "0" - "1" - "0" to binary input DI12 (PO1:10). This writes the newposition to the selected table cell. Binary output DO17 (PI1:15) "Position reached" is set. Theposition is now saved in the non-volatile memory.


Startup 4

4.6.5 Automatic mode

• DI1Ø (PO1:8) = "1" and DI11 (PO1:9) = "1"In automatic mode, you can select a table position using binary outputs DI13 – DI17 (PO1:11 – 15). The positions are in binary code, DI13 = "1" means table cell no. 1 (20) and DI17 = "1" means table cell no. 16 (24). DI13 – DI17 must get a "0" signal in order to select no. 0.

It is only possible to select table cells in which there are position entries. Any table cell without aposition is ignored.

Positioning travel is started with a "1" signal on binary input DI12 (PO1:10) "Start positioning." The"1" signal must be active on DI12 (PO1:10) throughout the entire positioning travel otherwise thedrive stops.

03999AENFig. 35: Automatic mode

The drive stops with position control when the selected position is reached.The blue bar shows the selected table cell. The current position of the drive is displayed as anumerical value in the "Current position" window and in graphical format with a green arrow on theline of numbers.


5 Operation and Service


5.1 Timing diagrams

The following preconditions apply to timing diagrams:• DIØØ "/Controller inhibit" = "1" and

• DIØ1 "Enable/rapid stop" = "1" signals.Binary output DBØØ "/Brake" is set. The brake is released and the drive stops with position control.

5.1.1 Referencing mode and automatic mode

02763AENFig. 36: Timing diagram of referencing mode and automatic mode

3000

1000 0

-100

0

Auto

mat

ic m

ode

activ

atedStar

t pos

ition

ing

trave

l

Tabl

e po

sitio

n no

. 5ap

proa

ched

Tabl

e po

sitio

n no

. 3ap

proa

ched

Tabl

e po

sitio

n no

. 8ap

proa

ched

Refe

renc

e po

int

appr

oach

ed

Star

t ref

eren

ce tr

avel

Refe

renc

e m

ode

activ

ated

n [1

/min

]

DIØ3

Refe

renc

e ca

m

DI1Ø

Mod

e lo

w

DI11

Mod

e hi

gh

DI12

Func

tion

1

DI13

Func

tion

2

DI14

Func

tion

3

DI15

Func

tion

4

DI16

Func

tion

6

DI17

Func

tion

7

DOØ2

Axis

refe

renc

ed

DO17

Posi

tion

appr

oach

ed

Hand

shak

e w

ith P

LC

Tabl

e po

sitio

n no

. 5se

lect

ed

Tabl

e po

sitio

n no

. 8se

lect

ed

Tabl

e po

stio

n no

. 3se

lect

ed


Operation and Service 5

5.1.2 Jog mode and teach mode

02768AENFig. 37: Timing diagram for jog mode and teach mode

n [1

/min

]20

0 20 0

-20

-200

DI1Ø

Mod

e Lo

w

DI11

Mod

e Hi

gh

DI12

Func

tion

1

DI13

Func

tion

2

DI14

Func

tion

3

DI15

Func

tion

4

DI16

Func

tion

6

DI17

Func

tion

7

DOØ2

Axis

refe

renc

ed

DO17

Posi

tion

appr

oach

ed

Save

new

pos

ition

Tabl

e po

sitio

n no

. 3se

lect

edTe

ach

mod

eac

tivat

ed

Rapi

d m

ode

activ

e

Jogg

ing

nega

tive

Jog

mod

eac

tivat

ed

Rapi

d m

ode

activ

e

Jogg

ing

posi

tive



5.1.3 Moving clear of limit switches

When you move onto a limit switch (DIØ4 or DIØ5 = "0"), binary output DOØ1 (/Fault) is set to "0"and bit PI1:5 (Fault/Warning) is set to "1." The drive is stopped with an emergency stop(→ Sec. 5.3, page 42).

Proceed as follows to move the drive clear again:1. Set jog mode as the operating mode, DI1Ø (PO1:8) = "1" and DI11 (PO1: 9) = "0."2. Set bit PO1:6 (Reset) to "1"; binary output DOØ1 (/Fault) is set to "1" and bit PI1:5 (Fault/

Warning) is set to "0."3. Leave bit PO1:6 set to "1." This means the drive is automatically moved clear at a motor speed

of n = 100 rpm.4. Once the drive has moved clear, DIØ4 or DIØ5 is set from "0" → "1." Now set PO1:6 to "0" and

set the required operating mode, for example automatic mode, DI1Ø (PO1:8) = "1" and DI11 (PO1:9) = "1").

04000AEN➀ Limit switch reached

➀ Movement clear of limit switch

Fig. 38: Moving clear of limit switches

1 2

DIØØ/Controller inhibit

DIØ1Enable/stop

DIØ4/Limit switch right

Mode select

PA1:9)Mode select

DO

PE1:5Error/Warning

PA1: 6Reset

DIØ4 (PA1:8)

DI11 (

Ø1/Error

Jog modeAutomatic

modeAutomatic

mode



5.2 Program identification

There are two ways to identify the type and version of the IPOS application being used:1. With PC and MOVITOOLS

– Select "Execute Program/Compiler" in MOVITOOLS Manager.– In the Compiler, select "Display/Program Information". A window containing the program

information appears.

04032AENFig. 39: Program information in the Compiler

2. Using the DBG11A keypad, no PC required– Read the identification code of variable H128. The identification code is encrypted as

follows:

04033AENFig. 40: Identification code

ProgramID = 1_00002_100

Version: 100 means V1.00

Application: 00001 = Table positioning00002 = Table positioning with bus control00003 = Bus positioning 3PD00004 = Bus positioning 6PD00005 = Absolute value positioning00010 = Winding calculator, torque control00011 = Winding calculator, speed control00012 = Winding calculator, jockey control00100 = Crane control

1 = Positioning2 = Winding technology3 = Sequence control4 = Multiple application



5.3 Fault information

The fault memory (P080) stores the last five fault messages (faults t-0...t-4). The fault message oflongest standing is deleted whenever more than five fault messages have occurred. The followinginformation is stored when a malfunction takes place:Fault which occurred • Status of the binary inputs/outputs • Operational status of the inverter •Inverter status • Heat sink temperature • Speed • Output current • Active current • Unit utilization •DC link circuit voltage • ON hours • Enable hours • Parameter set • Motor utilization.There are three switch-off responses depending on the fault; the inverter is inhibited when in faultstatus:• Immediate switch-off

The unit can no longer brake the drive; the output stage goes to high resistance in the event of afault and the brake is applied immediately (DBØØ "/Brake" = "0").

• Rapid stop:The drive is braked with the stop ramp t13/t23. Once the stop speed is reached, the brake isapplied (DBØØ "/Brake" = "0"). The output stage goes to high-resistance after the brake reactiontime has elapsed (P732 / P735).

• Emergency stop:The drive is braked with the emergency ramp t14/t24. Once the stop speed is reached, the brakeis applied (DBØØ "/Brake" = "0"). The output stage goes to high-resistance after the brakereaction time has elapsed (P732 / P735).

RESET: A fault message can be acknowledged by:• Switching the supply system off and on again.

Recommendation: Observe a minimum switch-off time of 10 s for the supply system contactorK11.

• Reset by binary input DI02. Startup of the table positioning causes this binary input to beassigned the "Reset" function.

• Press the reset button in the MOVITOOLS manager.

02771AENFig. 41: Reset with MOVITOOLS

• Manual reset in Shell (P840 = "YES" or [Parameter] / [Manual reset])• Manual reset using the DBG11A (pressing the <E> key in the event of a fault gives direct access

to parameter P840)

Timeout active:If the inverter is controlled via a communications interface (fieldbus, RS-485 or SBus) and thepower was switched off and back on again or a fault reset was performed, then the enable remainsineffective until the inverter once again receives valid data via the interface which is monitored witha timeout.



5.4 Fault messages

The fault or warning code is displayed in BCD format. The following display sequence is adheredto:

The display switches over to the operating display following a reset or if the fault or warning codeonce more resumes the value "0".

List of faults:

The following table shows a selection from the complete list of faults (→ MOVIDRIVE® MD_60Aoperating instructions). It only lists those faults which can occur specifically with table positioning.A dot in the "P" column means that the response is programmable (P83_ Fault response).The factory set fault response is listed in the "Response" column.

01038AXXFig. 42: Fault message

Flashes, approx. 1 s

Display off, approx. 0.2 s

Tens digit, approx. 1 s


Ones digit, approx. 1 s


Fault code

Name Response P Possible cause Action

00 No fault -

07 DC link overvoltage

Immediate shut-off

DC link voltage too high - Extend deceleration ramps- Check feeder cable to braking

resistor- Check technical data of braking

resistor



08 n-monitoring Immediate shut-off

- Speed controller or current controller (in VFC operating mode without encoder) operating at setting limit due to mechanical overload or phase fault in the power system or motor.

- Encoder not connected correctly or incorrect direction of rotation.

- nmax is exceeded during torque control.

- Reduce load- Increase deceleration time setting

(P501 or P503)

- Check encoder connection, possibly swap over A/A and B/B in pairs

- Check encoder voltage supply- Check current limitation- Increase length of ramps, if

appropriate- Check motor cable and motor- Check mains phases

14 Encoder Immediate shut-off

- Encoder cable or shield not connected correctly

- Short circuit/open circuit in encoder cable

- Encoder defective

Check encoder cable and shield for correct connection, short circuit and open circuit.

26 External terminal

Emergency stop

• Read in external fault signal via programmable input

Eliminate specific cause of fault; reprogram terminal if appropriate.

27 Limit switches missing

Emergency stop

- Open circuit/both limit switches missing.

- Limit switches swapped over in relation to motor sense of rotation

- Check wiring of limit switches.- Swap over limit switch

connections.- Reprogram terminals

28 Timeout fieldbus

Rapid stop • No master-slave communication took place within the configured response monitoring period.

- Check master communication routine

- If appropriate, extend fieldbus timeout time (P819) or switch off monitoring

29 Limit switch reached

Emergency stop

Limit switch was reached in IPOS operating mode.

- Check travel range.- Correct user program.

31 TF sensor No response • - Motor too hot, TF has tripped- Motor TF not connected or connected

incorrectly- Connection of MOVIDRIVE® and TF

interrupted on motor- Jumper missing between X10:1 &

X10:2.With MDS: X15:9 – X15:5 connection missing.

- Let motor cool down and reset fault- Check connections/link between

MOVIDRIVE® and TF.- If no TF is connected:

Jumper X10:1 to X10:2.With MDS: Jumper X15:9 to X15:5

- Set P834 to "No response"

36 No option Immediate shut-off

- Type of option pcb not allowed.- Setpoint source, control signal source

or operating mode not allowed for this option pcb.

- Incorrect encoder type set for DIP11A.

- Use correct option card.- Set correct setpoint source (P100).- Set correct control signal source

(P100).- Set correct operating mode (P700

or P701).- Set correct encoder type.

39 Reference travel

Immediate shut-off

- No reference cams- Limit switches not connected correctly- Type of reference travel was altered

during reference travel

Check reference travel type setting and conditions required for it

Fault code




42 Lag error Immediate shut-off

• - Incremental encoder connected incorrectly.

- Accelerating ramps too short- P-component of positioning controller

too small- Speed controller parameters incorrect

- Value for lag error tolerance too small

- Check incremental encoder connection

- Increase length of ramps- Set P-component to higher value

- Set speed controller parameters again

- Increase lag error tolerance- Check encoder, motor and mains

phase wiring.- Check mechanical components can

move freely, possibly blocked up

78 IPOS SW limit switches

No response Only in IPOS operating mode:Programmed target position is outside travel range delimited by software limit switches.

- Check user program- Check position of software limit

switches

92 DIP work area Emergency stop

Only with DIP11A option:Drive has moved beyond the permitted work area of the absolute encoder. Setting of encoder type/work area DIP parameters may be incorrect.

Check position offset and zero offset parameters

93 DIP encoder fault

Emergency stop

Only with DIP11A option:The encoder signals a fault, e.g. power failure.- Connection cable between the encoder

and DIP does not meet the requirements (twisted pair, shielded).

- Cycle frequency too high for cable length.

- Permitted max. speed/acceleration of encoder exceeded.

- Encoder defective.

- Check absolute encoder connection.- Check connection cable.

- Set correct cycle frequency.

- Reduce max. traveling velocity or ramp.

- Fit new absolute encoder.

94 EEPROM checksum

Immediate switch-off

Inverter electronics disrupted, possibly due to effect of EMC or a defect.

Send the unit in for repair.

95 DIP plausibility error

Emergency stop

Only with DIP11A option:Unable to determine a plausible position.- Incorrect encoder type set.- IPOS travel parameter set incorrectly- Numerator/denominator factor set

incorrectly.

- Zero adjustment performed.- Encoder defective.

- Set correct encoder type.- Check IPOS travel parameter.- Check traveling velocity.- Correct numerator/denominator

factor.- Reset after zero adjustment.- Fit new absolute encoder.

Fault code


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SEW-EURODRIVE GmbH & Co · Postfach 30 23 · D-76642 BruchsalTel. (07251)75-0 · Fax (07251)75-19 70 · Telex 7 822 391

http://www.SEW-EURODRIVE.de · [email protected]

Documents

Sew Movidrive Setup Positioning