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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
4 MOVIDRIVE® Table Positioning with Bus Control
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
6 MOVIDRIVE® Table Positioning with Bus Control
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.
MOVIDRIVE® Table Positioning with Bus Control 7
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).
8 MOVIDRIVE® Table Positioning with Bus Control
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
MOVIDRIVE® Table Positioning with Bus Control 9
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"
10 MOVIDRIVE® Table Positioning with Bus Control
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
MOVIDRIVE® Table Positioning with Bus Control 11
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
12 MOVIDRIVE® Table Positioning with Bus Control
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
MOVIDRIVE® Table Positioning with Bus Control 13
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 )→®
14 MOVIDRIVE® Table Positioning with Bus Control
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:
X13:DIØØDIØ1DIØ2DIØ3DIØ4DIØ5
DCOMVO24DGNDST11ST12
123456789
1011
X10:
X60:
X61:
TF1DGNDDBØØ
DOØ1-CDOØ1-NODOØ1-NC
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
X14 X15ENCODER IN/OUT ENCODER IN
(RESOLVER IN)
12345
1234567891011
12345678910
123
SUPPLY OUT 24V=
mA V↔R ON OFF↔
DIP
123456789
10
123456789
X60
X61
X62
X14:
X15:
X62:
X13:DIØØDIØ1DIØ2DIØ3DIØ4DIØ5
DCOMVO24DGNDST11ST12
123456789
1011
X10:
X60:
X61:
TF1DGNDDBØØ
DOØ1-CDOØ1-NODOØ1-NC
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-
MOVIDRIVE® Table Positioning with Bus Control 15
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
X14 X15ENCODER IN/OUT ENCODER IN
(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
16 MOVIDRIVE® Table Positioning with Bus Control
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
MOVIDRIVE® Table Positioning with Bus Control 17
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
Part number 822 723 3
Resources for startup/diagnosis
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
18 MOVIDRIVE® Table Positioning with Bus Control
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
Part number 823 093 5
Resources for startup/diagnosis
DBG11A keypadMOVITOOLS® or MX_SHELL PC program
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
MOVIDRIVE® Table Positioning with Bus Control 19
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
Resources for startup/diagnosis
DBG11A keypadMOVITOOLS® or MX_SHELL PC program
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!
20 MOVIDRIVE® Table Positioning with Bus Control
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
Part number 823 162 1
Resources for startup/diagnosis
DBG11A keypadMOVITOOLS® or MX_SHELL PC program
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!
MOVIDRIVE® Table Positioning with Bus Control 21
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
Part number 822 887 6
Resources for startup/diagnosis
DBG11A keypadMOVITOOLS® or MX_SHELL PC program
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
22 MOVIDRIVE® Table Positioning with Bus Control
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
Systembusref. potential
Systembusref. potential
systembushigh systembushigh systembushighsystembus low systembus low systembus low
system busterminating resistor
system busterminating resistor
system busterminating resistor
MOVIDRIVE® Table Positioning with Bus Control 23
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"
Operating mode Jog mode Teach mode Referencing mode Automatic mode
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
24 MOVIDRIVE® Table Positioning with Bus Control
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
MOVIDRIVE® Table Positioning with Bus Control 25
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.
26 MOVIDRIVE® Table Positioning with Bus Control
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.
MOVIDRIVE® Table Positioning with Bus Control 27
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
] [
28 MOVIDRIVE® Table Positioning with Bus Control
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.
MOVIDRIVE® Table Positioning with Bus Control 29
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
30 MOVIDRIVE® Table Positioning with Bus Control
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.
MOVIDRIVE® Table Positioning with Bus Control 31
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
613 Binary input DI13 PO1:11 IPOS input: Function 2
614 Binary input DI14 PO1:12 IPOS input: Function 3
615 Binary input DI15 PO1:13 IPOS input: Function 4
616 Binary input DI16 PO1:14 IPOS input: Function 5
617 Binary input DI17 PO1:15 IPOS input: Function 6
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
633 Binary output DO13 PI1:11 IPOS output: Value 2
634 Binary output DO14 PI1:12 IPOS output: Value 4
635 Binary output DO15 PI1:13 IPOS output: Value 8
636 Binary output DO16 PI1:14 IPOS output: Value 16
637 Binary output DO17 PI1:15 IPOS output: Position reached
32 MOVIDRIVE® Table Positioning with Bus Control
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
MOVIDRIVE® Table Positioning with Bus Control 33
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.
Operating mode Jog mode Teach mode Referencing mode Automatic mode
DI1Ø: Mode Low "0" "1" "0" "1"
DI11: Mode High "0" "0" "1" "1"
34 MOVIDRIVE® Table Positioning with Bus Control
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.
MOVIDRIVE® Table Positioning with Bus Control 35
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
36 MOVIDRIVE® Table Positioning with Bus Control
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.
MOVIDRIVE® Table Positioning with Bus Control 37
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.
38 MOVIDRIVE® Table Positioning with Bus Control
5 Operation and Service
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
MOVIDRIVE® Table Positioning with Bus Control 39
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
40 MOVIDRIVE® Table Positioning with Bus Control
5 Operation and Service
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
MOVIDRIVE® Table Positioning with Bus Control 41
Operation and Service 5
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
42 MOVIDRIVE® Table Positioning with Bus Control
5 Operation and Service
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.
MOVIDRIVE® Table Positioning with Bus Control 43
Operation and Service 5
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
Display off, approx. 0.2 s
Ones digit, approx. 1 s
Display off, approx. 0.2 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
44 MOVIDRIVE® Table Positioning with Bus Control
5 Operation and Service
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
Name Response P Possible cause Action
MOVIDRIVE® Table Positioning with Bus Control 45
Operation and Service 5
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
Name Response P Possible cause Action
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