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MOVI-PLC®

Application Solution “SyncCrane“

ManualEdition 03/200811666617 / EN

SEW-EURODRIVE – Driving the world

1 General Information ............................................................................................ 51.1 Structure of the safety notes ....................................................................... 51.2 Right to claim under limited warranty.......................................................... 51.3 Exclusion of liability..................................................................................... 61.4 Other applicable documentation ................................................................. 6

2 Description .......................................................................................................... 72.1 Fields of application .................................................................................... 72.2 Application examples .................................................................................. 92.3 Functional principle of indirect positioning and synchronization ............... 102.4 Program identification ............................................................................... 15

3 Project Planning................................................................................................ 163.1 Prerequisites ............................................................................................. 163.2 Functional description ............................................................................... 173.3 Scaling the drive ....................................................................................... 193.4 Limit switches, reference cams and machine zero ................................... 203.5 Process data assignment.......................................................................... 213.6 Software limit switches.............................................................................. 253.7 Hardware limit switches ............................................................................ 263.8 Safe stop................................................................................................... 27

4 Installation ......................................................................................................... 284.1 Software MotionStudio.............................................................................. 284.2 Wiring diagram MOVIDRIVE® MDX61B................................................... 294.3 Bus installation PROFIBUS DHP11B ....................................................... 304.4 Connecting system bus (SBus 1).............................................................. 30

5 Startup................................................................................................................ 315.1 Prerequisites ............................................................................................. 315.2 Preliminary work ....................................................................................... 315.3 Starting the SyncCrane program .............................................................. 335.4 Parameters/H variables of the MOVI-PLC® ............................................. 495.5 Drive inverter parameters ......................................................................... 505.6 Group signals............................................................................................ 505.7 Program overview of the PLC program..................................................... 53

6 Operation ........................................................................................................... 556.1 Starting the drive....................................................................................... 556.2 Diagnostics monitor .................................................................................. 566.3 Jog mode – unsynchronized ..................................................................... 566.4 Referencing mode..................................................................................... 596.5 Positioning mode – unsynchronized ......................................................... 606.6 Automatic mode ........................................................................................ 626.7 Emergency mode...................................................................................... 676.8 Additional functions................................................................................... 686.9 Cycle diagrams ......................................................................................... 696.10 Fault information ....................................................................................... 76

Manual – MOVI-PLC® Application Solution "SyncCrane"
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7 Auxiliary Drive (Auxiliary Axis)........................................................................ 777.1 System description.................................................................................... 777.2 Project planning for auxiliary drives .......................................................... 797.3 Startup of auxiliary drives.......................................................................... 837.4 Operation of auxiliary drives ..................................................................... 89

8 Appendix............................................................................................................ 938.1 Frequently asked questions ...................................................................... 93

9 Address List ...................................................................................................... 94

Index ................................................................................................................. 103

Manual – MOVI-PLC® Application S
olution "SyncCrane"

1Structure of the safety notesGeneral Information

MOVI-PLC® Application Solution "SyncCrane"1 General Information1.1 Structure of the safety notes

The safety notes in these operating instructions are structured as follows:

1.2 Right to claim under limited warrantyA requirement of fault-free operation and fulfillment of any rights to claim under limitedwarranty is that you adhere to the information in the MOVIFIT®, MOVIDRIVE® orMOVITRAC® documentation. Consequently, read the operating instructions andmanuals before you start working with the unit!

Make sure that the operating instructions and manuals are available to personsresponsible for the plant and its operation, as well as to persons who work independentlyon the unit. You must also ensure that the documentation is legible.

Symbol SIGNAL WORD!Nature and source of hazard.

Possible consequence(s) if disregarded.• Measure(s) to avoid the hazard.

Symbol Signal word Meaning Consequences if disregarded

Example:

General hazard

Specific hazard,e.g. electric shock

HAZARD! Imminent hazard Severe or fatal injuries

WARNING! Possible hazardous situation Severe or fatal injuries

CAUTION! Possible hazardous situation Minor injuries

STOP! Possible damage to property Damage to the drive system or its environment

NOTE Useful information or tip. Simplifies the handling of the drive system

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1 clusion of liabilityeneral Information

1.3 Exclusion of liabilityYou must comply with the information contained in the operating instructions to ensuresafe operation of MOVIFIT®, MOVIDRIVE® or MOVITRAC® and to achieve thespecified product characteristics and performance requirements. SEW-EURODRIVEassumes no liability for injury to persons or damage to equipment or property resultingfrom non-observance of these operating instructions. In such cases, any liability fordefects is excluded.

1.4 Other applicable documentation• This manual does not replace the detailed operating instructions and the

corresponding manuals.

• Installation and startup of the inverter only by trained personnel observing therelevant accident prevention regulations and the following documents:

– "MOVIFIT® FC" operating instructions and corresponding manuals

– or "MOVIFIT® MC" operating instructions and corresponding manuals

– or "MOVIDRIVE® MDX60B / 61B" operating instructions and correspondingmanuals

– or "MOVITRAC® B Basic Unit" operating instructions and corresponding manuals

ExG


2Fields of applicationDescription

2 Description2.1 Fields of application

The SyncCrane application module is used to implement applications in which drivesmove at a synchronous angle to one another permanently or occassionally, such as:

• Lifting devices

• Cranes

• Hoists

• Travel carriages

The IEC program controls up to 8 MOVIDRIVE® individual axes. In Automatic mode, itsends a virtual master signal to the individual axes switched in synchronous operation.Control of 4 additional auxiliary drives (e.g. pushers/hydraulic units, etc.) is supported.

2.1.1 Advantages of the SyncCrane applicationThe SyncCrane application offers the following advantages:

• Only one MOVI-PLC® is required for controlling the individual axes.

• Open IEC programming lets users make application-specific adjustments.

• The software wizard ensures guided startup and comprehensive diagnosticfunctions.

• High degree of similarity with "SEW application modules".

• In addition to the motor encoder, external absolute encoders (HIPERFACE®/SSI)can be connected and evaluated.

• Common setpoint for automatic mode is ensured by controlling the single axis viavirtual encoder.

• Indirect positioning or indirect synchronization allows for safe system operation in thefollowing cases:

• Different wear of the drive axes

• Slip, for example between drive gear and steel rail

• Design susceptible to vibration

This application solution provides the user with an easy-to-use and guided startupstandard solution based on the principle of "indirect positioning/synchronization".

This solution approach allows the following applications:

• Applications with high requirements on the dynamic properties.

• Applications that are susceptible to vibration due to mechanical conditions (e.g. dueto high elasticity and/or unfavorable load distribution between the drivelines).


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2 elds of applicationescription

2.1.2 Characteristics of positioning mode and jog mode

Characteristics of positioning mode and jog mode:

• Positioning mode based on motor encoder with optional indirect position adjustmentbased on external synchronous encoder.

• Override function for reaching the target in an optimized manner by straightening thelinear deceleration ramp.

• Group / individual axis control of the connected axes.

• Software limit switch evaluation

2.1.3 Characteristics of referencing modeCharacteristics of referencing mode:

• Referencing the motor encoder system to the specified reference offset.

• Depending on the reference travel type, referencing is performed to a standstillposition or the axis system is referenced to a cam position via search travel.

• Adjusting the external encoder signal to the specified reference offset.

• Group control for all connected axes.

• Single-axis control when using the "standstill" reference travel type.

2.1.4 Characteristics of automatic modeCharacteristics of automatic mode:

• Automatic alignment of the physical axes with each restart.

• Synchronous operation with automatic indirect synchronization of the externalencoder system to the virtual encoder position.

• Virtual master value processing with jerk-limited ramp specification.

• Group control for all connected axes.

• Automatic interruption of the motion sequence if an axis fails and/or the specifiedsynchronicity is violated.

2.1.5 Characteristics of emergency modeCharacteristics of emergency mode:

• Jog mode (with motor encoder or without encoder).

• Group / individual axis control of the connected axes.

• Deactivation of the selected absolute encoder detection and monitoring.

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2Application examplesDescription

2.2 Application examplesThe SyncCrane application module offers a wide range of possible applications. Someexamples are given in this section.

Example 1: Multiple column hoist with positioning and synchronization based onHIPERFACE® motor encoder.

Example 2: Gantry crane with indirect positioning and automatic slip compensation bymeans of absolute encoder evaluation.

511850891

511852427

SlaveMaster

SlaveMaster


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2 nctional principle of indirect positioning and synchronizationescription

2.3 Functional principle of indirect positioning and synchronization2.3.1 The Problem

Existing applications with evaluation of the absolute encoder as IPOS encoder (seeIPOS manual chapter "Position detection and Positioning") limit the control dynamicsdue to the properties of the absolute encoder systems and the mechanical conditions(e.g. mounting of the encoder system).

Due to mechanical feedback, the entire system is susceptible to vibrations, which oftenrequires complex optimization of the control parameters on site.

The IPOS-based application module "DriveSync" was implemented according to thisprinciple. Especially when it comes to lifting devices and assembly-hall cranes, whereevaluation of an absolute encoder is necessary in addition, compromises have to bemade in project planning with respect to dynamics.

The SyncCrane application solution simplifies startup and operation.

2.3.2 Conventional solution: Direct position control with absolute encodersThe necessary SHELL parameters are determined during guided startup (SHELL/DIPstartup). Direct position control is part of the firmware. This means no additionalprogramming is required.

During the positioning operation, the cyclically read-in actual position (absolute encoder/motor encoder position) is read in by the profile generator and corrected by adjustmentof the n-controller in case of deviations.

Deviations caused, for example, by slip between motor encoder and absolute encoderthus directly affect the speed profile of the drive.

The following figure shows direct position control with position correction.

536585611

vmax Maximum velocity nC Speed controlleramax Maximum acceleration nact Actual speedPG Profile generator ABS Absolute encoderPC Position controller IPOS IPOSplus® program

DIP 11B

PG PC nC

M

–

+

nact

Vmax

amax

IPOS

–

+

X62

ABS

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2Functional principle of indirect positioning and synchronizationDescription

The following figure shows the speed profile (motor encoder) for direct position control.

774628875

[1] Optimal speed process[2] Real speed process

V [m/s]

t [s]

[1][2]


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2.3.3 SyncCrane solution with indirect position control

Unlike direct position control, the absolute encoder signal is only evaluated for correct-ing the specified target position.

During the travel process, the speed profile of the drive is therefore not changed.

Susceptibility to vibration caused by retroactive effects, for example deviations betweenthe absolute encoder detection and motor encoder detection, are minimized in this way.

The user can optimize time delays in absolute encoder sensing and setpoint processingby setting an "override". The override causes an early and softer run-in to target, whichsuppresses overshoots.

This function is part of the SyncCrane application module.

The following figure shows indirect position control with absolute encoder.

536587275

vmax Maximum velocity POSact Actual position motor encoderamax Maximum acceleration POSset Setpoint position motor encoderPG Profile generator ABS Absolute encoderPC Position controller nact Actual speednC Speed controller

Calc

Delta IncPGMOVI-PLC PC nC

M

Posact

Posset

nactX15 Pos

act

Vmax

amax

DIP 11B

+ +

– –

X62

ABS

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2Functional principle of indirect positioning and synchronizationDescription

The following figure shows the speed profile (motor encoder) with override for indirectposition control.

2.3.4 ConclusionThe table below contains a comparison of both solutions and their effects on internalposition control.

Result The following properties do not have an effect on the speed profile of the drive but onthe target position of the position controller if positioning tasks are solved using indirectposition control:

• Slip

• Properties of the absolute encoder

• Mechanical elasticities between absolute encoder sensing and the drive

This leads to a higher dynamic response and thus to improved operating characteristicsfor dynamic positioning applications.

This solution with indirect positioning has been successfully implemented at SEW-EURODRIVE for some time in the area of SRUs with cornering ability, etc.

536580619

V [m/s]

t [s]

Optimal speed process

Real speed process

Direct position control Indirect position control

Mechanical mounting Direct effect No direct effect

Position resolution Direct effect No direct effect

Properties, such as time delay Direct effect No direct effect

Dynamic response that can be achieved

Low due to summation of nega-tive effects

High

Startup effort High, since optimum setting has to be found iteratively

Low

Effort for implementation in the program

No Only parameter setting effort when function modules are available.


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2.3.5 SyncCrane solution indirect synchronization to virtual master encoder

Due to the mentioned positive characteristics in relation to indirect positioning, we arecurrently testing if this can also be applied to synchronous operation.

We are working on the approach to superimpose a higher-level control loop for slipcompensation on the firmware function "internal synchronous operation".

Internal control loop: Angular synchronous operation of the motor encoder

Angular synchronous operation is ensured by using the "internal synchronousoperation" technology function.

The specified value for the virtual master is created via SBus object from the MOVI-PLC®. The optimum master value is ensured for the physical axes because the mastervalue can be specified with limited jerk.

The controller parameters can be set "hard" by direct coupling of the drive trains.

Higher-level control loop: Indirect synchronization

To prevent mechanical strain, e.g. caused by slight differences in the crane wheel diam-eter of gantry cranes, the actual position value read in via an absolute encoder must becompared with the position setpoint of the virtual encoder and corrected if necessary.This is implemented by the higher-level indirect synchronization.

The cyclically calculated difference value triggers a compensation movement if specifiedposition windows are exceeded (distinction is made between dynamic and static case).The dynamics of the compensation movement is set during startup.

The following figure shows indirect synchronization.

536582283

X62Slave

VirtEncoder

Download

SynchronousState

= MDX_GEAR_OFFSET

SynchronousSpeed

= VESpeed * Raising

SynchronousSpeed= Staticspeed

OffsetCycleValue = DeltaInc

DeltaInc > PosWindowDynamic

(DeltaInc > PosWindowStatic) &&

(DeltaInc < PosWindowDynamic)

DeltaInc

DeltaInc–

+

DeltaInc

SynchronousState

SynchronousState =

MDX_GEAR_INGEAR

ABS

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2Program identificationDescription

2.4 Program identificationYou can use the MOVITOOLS MotionStudio® software package to identify the programthat was loaded last into the MOVI-PLC®.

From the menu, choose [Diagnostics]/[MOVI-PLC: Information and Remote Control].The "Information" tab page shows the current application.

832287115

Part number A loaded SyncCrane application module can be identified by the part number 18219543.xx

Version The current main version of the application module is displayed in this field.

Release The current release of the application module is displayed in this field.


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3 erequisitesoject Planning

3 Project Planning3.1 Prerequisites3.1.1 PC and software

The SyncCrane application module is implemented in the MOVI-PLC® as IEC code andis part of the MOVITOOLS MotionStudio® software version 5.5 and later.

You require a PC with one of the following operating systems to use the MOVITOOLS®

MotionStudio:

• Windows® 95

• Windows® 98

• Windows® NT 4.0

• Windows® 2000

• Windows® XP

You also require:

• MOVITOOLS® MotionStudio version 5.5 or higher.

• Libraries 2020 or higher.

3.1.2 InverterMOVIDRIVE® • MOVIDRIVE® B with encoder feedback.

• Optional absolute encoder evaluation or HIPERFACE® encoder evaluation.

• Firmware 824 854 0.18 or higher.

• Prior motor startup of the individual axes using the SHELL software

• If required, prior startup of the external HIPERFACE® encoder or absolute encoderusing the SHELL software. The IPOS encoder source SHELL parameter 941, IPOSencoder source must remain set to motor encoder.

• Subsequent configuration of the individual axis for operation with MOVI-PLC® viaDriveStartup. Make sure that different SBus individual addresses are specified.Assign the numbers in increasing order beginning with 1. It is important that thecommunication is set to 1 Mbaud.

• Only PROFIBUS is supported for connection to the bus master with the DHP11Boption.

Connection of motor shaft and load

Positive connectionExternal encoder is not required

Non-positive connectionExternal encoder required

External encoder type Absolute encoder Incremental encoder Absolute encoder

Bus type (required option)

PROFIBUS

Additional MOVIDRIVE® option required

DEH11B or DER11BDIP11B / DEH11B / DER11B

PrPr


3Functional descriptionProject Planning

3.1.3 Motors / gear units

• Asynchronous or synchronous servomotors with motor encoder

• Gear unit / additional gear

• Optimum control behavior is only achieved with mechanically identical design ofslave axes (same gear ration, wheel diameter, etc.).

3.1.4 MOVI-PLC®

• T2 version

3.2 Functional descriptionThe SyncCrane application has the following functional characteristics:

Jog mode

• The drive is moved clockwise or counterclockwise using two bits for directionselection.

• Velocity and ramp can be specified via fieldbus as required.

Referencing mode

• Position adjustment is initiated with the start signal of the external encoder.

• Reference travel establishes the reference point (machine zero) for absolutepositioning operations.

• Three different reference travel types are supported.

Positioning mode

• The target position is specified by the process output data words PO4 and PO5. Thespeed and the ramp can be varied using the fieldbus. The current actual position isreported back via the process input data words PI4 and PI5. The program cyclicallyqueries the target position so that position changes are possible during ongoingpositioning.

• When external HIPERFACE®/SSI absolute encoders are processed, the motortarget position is adjusted during the travel process so that possible slip can becompensated.

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3 nctional descriptionoject Planning

Automatic mode

• Automatic mode is used as motion control based on the technology function "InternalSynchronous Operation" (ISYNC) and is controlled in the inverter. Once automaticmode is selected, the axis system is adjusted to a common "adjust position" inpositioning mode and the axis system is synchronized accordingly. The axis systemcan then be moved using the virtual master encoder.

• Master value specification via virtual encoder is made either in jog or positioningmode.

• The startup wizard lets you specifiy a jerk time for the virtual encoder.

• Position deviations between virtual encoder position and external synchronousencoder are compensated cyclically during ongoing movement. This is to adjust, forexample, varying wear on the drive wheels without limiting positioning accuracy.

Emergency mode

• The drive is moved clockwise or counterclockwise using two bits for directionselection.

• Velocity and ramp can be specified via fieldbus as required.

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3Scaling the driveProject Planning

3.3 Scaling the driveThe drives are always scaled in increments.

3.3.1 Determining the scaling factors for motor encoder/absolute encoderThe objective is to map all actual position values via the determined scaling factors tothe absolute encoder.

These values are:

• Specified positions for positioning operation of the physical axes

• Position setpoints in synchronous operation via the virtual encoder and cyclicalcompensation between virtual and absolute encoder

• Feedback of actual positions of the physical axes and the virtual master encoder

For draw-wire encoder:

Encoding scaling factor (SHELL parameter 955), for example, for laser distanceencoder:

ScaleFactorMotEncoderEncoder Resolution Gear Box Numerator= ×

×π DDiameter Gear Box Denominator

Inc

mm

ScaleFactorMotEncoder

×[ ][ ]

== ScaleMotEncNum

ScaleMotEncDenom

ScaleFactorAbsEncoderEncoder Resolution Encoder Scaling Fact= × oor Gear Box Numerator

Diameter Gear Box Denominator

Inc

mm

×× ×

[ ][ ]π

SScaleFactorAbsEncoderScaleAbsEncNum

ScaleAbsEncDenom=

ScaleFactorAbsEncoderEncoder Resolution Encoder Scaling Fact= × oor Inc

mm

ScaleFactorAbsEncoderScaleAbsEncNum

ScaleAbsE

1

[ ][ ]

=nncDenom

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3 mit switches, reference cams and machine zerooject Planning

Conversions The following applies:

This means the motor encoder position is calculated as follows with a specified absoluteencoder position:

As well as the absolute encoder position

3.3.2 Determining the scaling factors for virtual encoder

• Setpoint specification refers to the actual position of the absolute encoder.

• The actual position is displayed in the resolution of the absolute encoder.

• The position setpoint is converted internally into the motor encoder.

• Enter the values determined for the external encoder system as conversion factors.

3.4 Limit switches, reference cams and machine zeroNote the following points during project planning:

• The software limit switches must be located within the travel range of the hardwarelimit switches.

• When defining the reference position (position of the reference cam) and thesoftware limit switches, make sure they do not overlap.

• You can enter a reference offset during startup if the machine zero is not located onthe reference cam.

The following formula applies: Machine zero = reference position + reference offset

This way, you can alter the machine zero without having to move the reference cam.

ScaleFactorMotEncoder

MotEncoderPos

ScaleFactorAbsEncoder

Ab=

ssEncoderPos

MotEncoderPosScaleFactorMotEncoder AbsEncoderPos

ScaleFact= ×

oorAbsEncoder

AbsEncoderPosScaleFactorAbsEncoder MotEncoderPos

ScaleFact= ×

oorMotEncoder

NOTEThe user interface limits the scaling factors to 216.

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3Process data assignmentProject Planning

3.5 Process data assignmentThe higher-level controller (PLC) sends 10 process output data words (PO1 ... PO10)via PROFIBUS. The MOVI-PLC® sends 10 process input data words (PI1 ... PI10) to thehigher-level controller . An extension to 32 process data words is possible as an option.

The following figure shows data exchange with 10 process data words:

The position values are specified/returned in [inc.] or in the user-defined units [mm] or[1/10 mm].

511853963

PO= Process output data

PO1 Control word 1

PO2 Control word 2

PO3 Axis selection:• 1 ... 8 for single-axis operation• 99 for group drive

PO4 Target position with single axis selection in positioning mode "high"

PO5 Target position with single axis selection in positioning mode "low"

PO6 Target position virtual encoder in automatic mode high

PO7 Target position virtual encoder in automatic mode low

PO8 Setpoint speed in [rpm] / [mm/s] / [m/min]

PO9 Acceleration ramp [in ms based on Δn of 3000 rpm]

PO10 Deceleration ramp [in ms based on Δn of 3000 rpm]

PI= Process input data

PI1 Status word 1

PI2 Status word 2

PI3 Axis selection:• 1 ... 8 for single-axis operation• 99 for group drive

PI4 Actual position with single axis selection in positioning mode "high"

PI5 Actual position with single axis selection in positioning mode "low"

PI6 Actual position virtual encoder in automatic mode high

PI7 Actual position virtual encoder in automatic mode low

PI8 Diagnostic bits high byte, low byte



PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10

PI1 PI2 PI3 PI4 PI5 PI6 PI7 PI8 PI9 PI102

2

2

2

0

1

2

3

2

2

2

4

5

6

2

4

6

1

3

5

X32

2

4

6

1

3

5

X33

X30

2

4

6

1

3

5

8

10

12

7

9

11

X31

X34

MOVI-PLC

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3 ocess data assignmentoject Planning

Expanding the process data words to a number of 32 means the following single-axispositions are transferred:

3.5.1 Process output data wordsThe process output data words are assigned as follows:

PI= Process input data

PI11 Actual position axis 1 positioning mode high

PI12 Actual position axis 1 positioning mode low





PI17 ... PI32

See chapter "Auxiliary Drives (Auxiliary Axis)" (see page 77).

Data word Bit no. Description

Process output data word 1 Bit 0 /Controller inhibit

Bit 1 Enable/rapid stop

Bit 2 Enable/stop

Bit 3 Reserved

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Fault reset

Bit 7 Reserved

Bit 8 Start

Bit 9 Jog +

Bit 10 Jog–

Bit 11 Mode selection bit 20



Mode:0: Reserved1: Jog mode single/group2: Reference mode single/group3: Positioning mode single/group4: Automatic mode group5: Emergency mode single/group

Bit 14 Reserved

Bit 15 Disable SWLS

Bit 15

Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8

Bit 0

Bit 1

Bit 2Bit 3Bit 4Bit 5Bit 6

Bit 7

PrPr


3Process data assignmentProject Planning

Process output data word 2 (Control word virtual encoder)

Bit 0 Reserved

Bit 1 Reserved

Bit 2 Reserved

Bit 3 Reserved

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved

Bit 8 Start

Bit 9 Jog +

Bit 10 Jog–




Mode:0: Reserved1: Jog mode single/group2: Reference mode single/group3: Positioning mode single/group4: Automatic mode group5: Emergency mode single/group

Bit 14 Reserved

Bit 15 Disable SWLS

Process output data word 3Axis number

– Single axis selection: 1 ... 8Group selection: 99

Process output data word 4Target position high byte

– Position specification for physical axis in positioning mode (not synchronized)

Process output data word 5Target position low byte

– Position specification for physical axis in positioning mode (not synchronized)

Process output data word 6Target position high byte

– Position specification for virtual axis in positioning mode (synchronized)

Process output data word 7Target position low byte

– Position specification for virtual axis in positioning mode (synchronized)

Process output data word 8Setpoint velocity

– Setpoint speed [rpm] / in user-defined units in jog/position-ing mode

Process output data word 9Acceleration

– Acceleration ramp [ms] in automatic mode with limitation in jog/positioning mode

Process output data word 10Deceleration

– Deceleration ramp [ms] in automatic mode with limitation in jog/positioning mode


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3 ocess data assignmentoject Planning

3.5.2 Process input data words

The process input data words have the following meaning:


Process input data word 1 Bit 0 Motor turning

Bit 1 Frequency inverter ready for operation

Bit 2 Axis referenced

Bit 3 In position

Bit 4 Selected mode active

Bit 5 Frequency inverter fault/warning


Bit 7 External encoder fault

Bit 8 ... 15

(with single selection)Inverter/error status

Process input data word 2 Bit 0 Virtual incremental encoder turning

Bit 1 Reserved

Bit 2 Reserved

Bit 3 Virtual incremental encoder in position

Bit 4 Axes synchronous/Ready for virtual encoder

Bit 5 Lag error

Bit 6 Virtual incremental encoder fault/warning

Bit 7 MLC LifeCycleBit

Bit 8 ... 15

Reserved

Process input data word 3Selected axis number

– Single axis selection: 1 ... 8Axis system: 99

Process input data word 4Actual position high byte

– Actual position in user-defined units with single-axis selection (not synchronized)

Process input data word 5Actual position low byte

– Actual position in user-defined units with single-axis selection (not synchronized)

Process input data word 6Actual position high byte

– Actual position virtual master encoder in user-defined units (synchronized)

Process input data word 7Actual position low byte

– Actual position virtual master encoder in user-defined units (synchronized)

Process input data word 8Diagnostics variables, e.g. pow-ered

– Assignment is configurable

Process input data word 9 Diagnostics variables, e.g. error


Process input data word 10 Diagnostics variables, e.g. InGear


Bit 15


Bit 0

Bit 1


Bit 7

PrPr


3Software limit switchesProject Planning

3.6 Software limit switchesThe software limit switch monitoring function is used to check that the target position isset to appropriate values. During this process, it is not important where the drive ispositioned.

In contrast to the monitoring of the hardware limit switches, the monitoring function forthe software limit switches makes it possible to detect whether there is an error in thetarget specifications before the axis starts to move.

3.6.1 Moving clear of the software limit switchMoving outside the software limit switches is also possible. For this purpose, theDisableLS bit is assigned in automatic mode in process output data word 1 (PO1) and/or process output data word 2 (PO).

• For unsynchronized motion PO1:15 / SW LS = TRUE

• For synchronized motion (automatic mode) PO1:15 / SW LS = TRUE and PO2:15 /SW LS = TRUE

Process input data word 11Axis 1 actual position high byte

– Actual position axis 1 in user-defined units

Process input data word 12Axis 1 actual position low byte











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3 ardware limit switchesoject Planning

3.7 Hardware limit switches3.7.1 Preliminary work

Hardware limit switch processing is not supported by default. If you still want to use hard-ware limit switches, you will have to perform the following steps:

• Example of 2 inverters each of them with own hardware limit switches:

– Connect the CW hardware limit switch of inverter 1 in series with inverter 2.

– Set a hardware input for each inverter to "/Hardware limit switch CW".

– Connect the CW hardware limit switches to the two inputs.

– Wire the CCW hardware limit switch in an analogous manner.

3.7.2 Fault responseIn the event of a fault, the drive inverter goes to status F29 "Limit switch approached".Ongoing movements are interrupted with the "Emergency stop ramp".

3.7.3 Moving clear of the hardware limit switchCorrect the operating mode selection in such a way that travel movement away from thehardware limit switch position can be triggered.

You can use one of the following ways to do so:

• Move group unsynchronized away from the limit switch:

– Select "jog" mode.

– Specify the jog direction away from the limit switch position.

– Acknowledge the fault.

– The travel movement is started.

– The drives have moved clear of the limit switch once they change from unit status"9" (limit switch approached) to "A".

– You can interrupt the motion sequence by deselecting the operating mode.

• Move group synchronized away from the limit switch:

– Select "automatic" mode.

– Select the jog mode of the virtual encoder.

– Specify the jog direction away from the limit switch position.

– Acknowledge the fault.

– The travel movement is started.

– The drives have moved clear of the limit switch once they change from unit status"9" (limit switch approached) to "A".

– You can interrupt the motion sequence by deselecting the operating mode.

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3Safe stopProject Planning

3.8 Safe stopA Safe stop can only be achieved by safe disconnection of the jumpers at terminal X17(with safety switch or safety PLC).

The 7-segment display shows a "U" to indicate Safe stop active state.

For more information on the Safe stop function, refer to the following publications:

• Safe disconnection for MOVIDRIVE® MDX60B/61B - Conditions

• Safe disconnection for MOVIDRIVE® MDX60B/61B - Applications

27

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4 ftware MotionStudiostallation

4 Installation4.1 Software MotionStudio

The MOVITOOLS® "SyncCrane" application module is part of the MOVITOOLS®

MotionStudio software (version 5.50 and higher). For older MOVITOOLS® MotionStudioversions or for updates of the application module, you can execute the installation fileSyncCrane.exe.

Technology versionThe "SyncCrane" application module can only be used with MOVI-PLC® unit version(T2). The application modules cannot be used with units in the standard version.

SoIn


4Wiring diagram MOVIDRIVE® MDX61BInstallation

4.2 Wiring diagram MOVIDRIVE® MDX61B

672388747

* Factory setting

X13:

X14:

X15:

123456789

1011

Option DEH11B

1

8

9

15

X10:TF1

DGNDDBØØ

DOØ1-CDOØ1-NODOØ1-NC

DOØ2VO24VI24

DGND

123456789

TF/TH inputRef. potential binary signals/Brakee Relay contact/Ready* NOC NCC/Fault*+24V output+24V inputRef. potential binary signals

DIØØDIØ1DIØ2DIØ3DIØ4DIØ5DCOMVO24DGNDST11ST12

/Controller inhibitNo functionNo functionNo functionNo functionNo functionReference X13:DIØØ...DIØ5+24V outputRef.potential binary signalsRS-485+RS-485–

MOVIDRIVE® slaves 1 ... 8

InputExternal encoder

Option DEH11BMotor encoder(Connection: operating instr. MOVIDRIVE®)

(Connection: operating instr. MOVIDRIVE®)

15

1

8

9

Option DEH11B (motor encoder):high-resolution sin/cos encoder,

HIPERFACE® encoder or incremental encoder(CT/CV or DT/DV/D motors)

Option DEH11B:Incremental encoder TTL/RS-422

with DC 24 V supply

Imax = 180 mA

X16:123456

DiØ6DoØ3DoØ4

DiØ7

DoØ5DGND

No functionNo functionNo functionRef. potential binary signal

No functionNo function

X62:

Option DIP11BSSI absolute encoder

1

5

6

9

Option DIP11B (SSI encoder):

X12:123

DGNDSC11SC12

System bus+System bus–

20

21

22

23

24

25

26

S-Bus coupling

DIO 00 ReferenceCamDIO 01 SetEmergencyModeDIO 02 ReservedDIO 03 ReservedDIO 04 FailureDetectedDIO 05 ReservedDIO 06 ReservedDIO 07 Reserved

DHP11B

X3

1X

32

X3

3X

30

X3

4

10

29

30

4 s installation PROFIBUS DHP11Bstallation

4.3 Bus installation PROFIBUS DHP11B

4.4 Connecting system bus (SBus 1)

NOTEFor information on the bus installation, refer to the "MOVI-PLC® DHP11B ControlCard" manual.

511959435

DHP11B

X31

LED 1

LED 2LED 3LED 4LED 5

LED 6

LED 7X

32

X33

X30

X34

20

21

22

23

24

25

26

13

123

123

1

1

2

123

123

511960971

X12:DGNDSC11SC12

123

S 11

S 13S 14

ON OFF

X12:DGNDSC11SC12

123

S 12S 11

S 13S 14

ON OFF

X12:DGNDSC11SC12

123

S 11

S 13S 14

S 12

ON OFF

Control unit Control unit Control unit

System busReference

System busReference

System busReference

System busHigh System busHigh System busHighSystem busLow System busLow System busLow

System busTerminating resistor

System busTerminating resistor

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5PrerequisitesStartup

5 Startup5.1 Prerequisites

Correct project planning and installation are the prerequisites for successful startup. Fordetailed project planning information, refer to the "MOVIDRIVE® MDX60/61B" systemmanual.

Check the installation, the encoder connection and the installation of the DHP11Bcontrol card by following the installation instructions in the "MOVIDRIVE® MDX60B/61B"operating instructions, in the fieldbus manuals, and in the document at hand("Installation" chapter).

For additional information, refer to the following documents:

• For information on the theory of operation of the MPLCMotion_MDX library as wellas on the startup of MOVIDRIVE® inverters with MOVI-PLC®, refer to the"MPLCMotion_MDX Library for MOVI-PLC®" manual.

• For notes on the theory of operation of the MPLCTecGearMotion_MDX library, referto the "MPLCTec..._MDX MPLCTecVirtualEncoder Libraries for MOVI-PLC®"manual.

• For supplementary notes on the theory of operation of the "internal synchronousoperation" technology function, refer to the "MOVIDRIVE® MDX61B InternerSynchronous Operation (ISYNC)" manual.

5.2 Preliminary workPerform the following steps before startup of the SyncCrane application:

5.2.1 Startup of the individual MOVIDRIVE® axesStart up the individual MOVIDRIVE® axes as follows:

1. Perform a startup of the individual axes using the SHELL software. Select thefollowing operating mode:

2. Configure the individual axes using the "DriveStartup for MOVI-PLC®" tool foroperation with the MOVI-PLC®. Make sure that different SBus single addresses areassigned and that the baud rate is set to 1 MBaud.

MOVIDRIVE® MDX61B with asynchronous motor

Operating mode CFC&IPOS / VFC N-control & IPOS

MOVIDRIVE® MDX61B with synchronous motor

SERV&IPOS operating mode


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5 eliminary workartup

5.2.2 Starting up the individual MOVIDRIVE® axes using the "DriveStartup for MOVI-PLC® tool"

Start up the individual MOVIDRIVE® axes as follows:

1. Open [MotionStudio] / [Technology Editors] / [DriveStartup for MOVI-PLC].

2. Perform DriveStartup to prepare the MOVIDRIVE® axes for operation with the MOVI-PLC®.

3. Assign different SBus addresses (1 ... 8) in increasing order, beginning with 1.

4. Select [Parameter tree] / [Unit function] / [Serial communication SBUS2] and setparameter P894, SBUS2 baud rate to 125 kBaud.

5. Select [Parameter tree] / [Unit function] / [Serial communication SBUS1] and setparameter P884, SBUS1 baud rate to 1 MBaud.

511964555

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5Starting the SyncCrane programStartup

5.3 Starting the SyncCrane programMake a right mouse click on 0:MOVI-PLC® and select [Application modules]/[Sync-Crane for MOVI-PLC®].

511968651


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5 arting the SyncCrane programartup

5.3.1 Initial screen

The initial screen of the "SyncCrane" application is opened.

511970187

Initial screen

[Cancel] User interface is closed without saving

[Help] Button for opening the online help file

[Monitor] Online diagnostics and control modeThe button is disabled if• you are not online• the application module has not been detected

[Startup] Open the startup screenClick this button to take the application into operation.

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If you want to load saved application data, choose [File] / [Open settings] from the menu.

If you have modified the settings, you can save them by selecting [File] / [Save settings]from the menu, or you can check them by selecting [File] / [View settings] from the menu.

HAZARD!Risk of crushing if the motor starts up unintentionally.

Severe or fatal injuries. • Stop the system before you begin startup and bring the system into a safe

condition. • Make sure that the system cannot be activated during startup.


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5.3.2 Selecting the individual startup steps

For initial startup, you have to perform each step one after the other. If you perform a re-startup, you can directly go to the required startup step. The "Download" step is requiredas last step both for partial and complete startup.

511971723

Selection of startup steps

Step 1 Project settings

Step 2 Individual axis/scaling factors group

Step 3 Scaling factors virtual axis

Step 4 Axis parameter group

Step 5 Synchronous operation parameters

Step 6 Monitoring functions

Step 7 Download

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5.3.3 Step 1: Project settings

511973259

Field Description

SyncCrane configuration This input field is used to specifiy the number of individual axes in the axis system. The value range is limited to 1...8.

Configuration process input data word 8...10

Use the selection fields to choose the information you want to have transmitted via process input data words 8, 9, and 10.

Configuration of auxiliary drives If you want to use more auxiliary drives, you have to set the selection field to "Yes" before starting the wizard.


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5.3.4 Step 2: Individual axis/scaling factors group (position scaling)Position scaling This window is used to define the basic settings for position scaling.

511974795

Field Description

Source actual position This selection field lets you choose between motor encoder and external synchronous encoder and/or SSI encoder.

Place of encoder detection From this field you can select whether the encoder is mounted on the motor shaft or on the track, for example when the system is prone to slip.

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Scaling the motor encoder

On this startup screen you determine the position resolution for the motor encoder.

511976331

Field Description

Diameter Use these input fields to specify the mechanical data.You can enter values with two decimal places.Gear ratio

External ratio

Counting direction This field lets you invert the direction of rotation of the motor.

Calculate The determined position resolution for the motor encoder system is entered in the input fields "Increments" and "Distance".The determined scaling factors are limited to 216.


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40


Scaling the syn-chronous encoder

On this startup screen you determine the position resolution for the synchronousencoder. If the synchronous encoder is mounted to the motor shaft, some input fieldsare disabled and show default values of the motor encoder.

511977867

Field Description

Diameter Use these input fields to specify the mechanical data.You can enter values with two decimal places.Gear ratio

External ratio

Startup of the synchronous encoder:

Encoder type Choose the encoder type from this field.

Encoder scaling This field is used to enter a value for approximating the physical resolution of the absolute encoder with the resolution of the motor encoder system.This selection field directly influences the control behavior of the application module.

Counting direction In this field you can invert the counting direction of the synchronous encoder depending on the direction of rotation of the motor.

Encoder resolution This field is used to enter the resolution of the absolute encoder.


NOTEIf you use a laster distance measuring instrument in the above example, you candirectly enter the resolution specified by the manufacturer, for instance 8 increments/mm, in the input fields [Increments] and [Distance]. Do NOT press the [Calculate]button in this case.

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Result of encoder scaling

This window is used to determine the resolution between motor encoder and synchro-nous encoder, and to define the user units for the position setpoint.

511979403

Field Description

Calculate Press this button to determine the values for the "Motor encoder" and "Synchronous encoder" input fields resulting from the position resolution units of motor encoder and synchronous encoder.

User units for position reso-lution

After having selected the unit for the position setpoint in this selection field, you have to activate it by clicking the "Calculate" button.


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5.3.5 Step 3: Scaling the virtual encoderScaling the virtual encoder

A description of the input fields on this window is already included in the description forthe previous windows.

Enter the values from the already determined values from the "Scaling the synchronousencoder" field in the "Scaling the virtual encoder" field.

511980939

NOTEThe input fields described in steps 3 are not relevant for you if you choose the "Group"option in the dropdown menu "Individual axis/scaling factor group" described inchapter 3 "Selecting the individual startup steps".

In this case, the values from "Scaling the synchronous encoder" are used.

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Result of encoder scaling

A description of the input fields on this window is already included in the description forthe previous windows.

672756491


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5.3.6 Step 4: Parameters and limitsParameters and limits

This window is used to set the limits for travel range and velocity.

672848139

Group Field Description

Limit switch Software LS CW

The software limit switches limit the permissible travel range for the "Jog", "Positioning", and "Automatic" operating modes.The specified value refers to the increments of the synchronous encoder.The wizard does not support the activation of hardware limit switches.

Software LS CCW

Reference travel

Reference offset

Enter the reference offset in increments in relation to the synchronous encoder.

Reference type The reference travel type defines the movement sequence for detect-ing the mechanical zero point. You can choose between 3 different reference travel types.

Type 1 Standstill (individual axis or group drive)

Type 2 Synchronized search travel of the group for right end reference cam (MOVI-PLC DI00 X31:3)

Type 3 Synchronized search travel of the group for left end reference cam (MOVI-PLC DI00 X31:3)

Reference speed 1 and 2

When selecting reference travel type 2 or 3, the cam is searched with reference travel velocity 1.Next moving clear of the cam takes place (and then ended) with reference travel velocity 2.

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5.3.7 Step 5: Synchronous operation parametersThis window is used to make the settings for indirect synchronization.

Limits Maximum speed position-ing

You can limit the specified positioning speed by entering the value.

Maximum speed jog mode

You can limit the specified jog speed by entering the value.

P302 Nmax speed controller

Enter a value at least 10 % higher than the maximum positioning and/or jog speed.


672852491


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46



Positioning controller

Synchronization mode Two procedures are supported for compensating the position difference between virtual master value and absolute encoder position:• Offset state machine: Acyclic ramp-guided position

correction. Recommended is an entry of 120% in the [PosSpeed Raising Factor Dynamic] input field.

• Register loop: Cyclic position correction. Recommended is an entry of 100 % in the [PosSpeed Raising Factor Dynamic] input field.

PosWindow dynamic The IEC program determines cyclically the difference between the virtual master value and the actual position of the synchronous encoder. The difference is corrected when the difference position exceeds the specified "dynamic position window".

PosSpeed Raising Factor Dynamic

The difference position is corrected using the synchronous speed. This is the multiplication of the virtual setpoint speed with the PosSpeed Raising Factor Dynamic.

PosSpeed Static The sycnhronous speed is set to this value when the virtual master encoder is at standstill. Compensation movements at standstill are performed at reduced velocity.

Parameters for optimiza-tion

Virtual encoder jerk time The positioning behavior of systems prone to vibration can be improved significantly by specifying a jerk limit of the virtual encoder.

P228 Filter precontrol DRS Setpoint filter for the master speed. The setting range is 0 ... 100 ms.

P971 Synchronization phase

Setpoint for optimizing the synchronization behvior of the MOVIDRIVE® individual axes and the MOVI-PLC®.

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5.3.8 Step 6: Monitoring functions

This window is used to set the monitoring functions.

672860427

Field Description

Position monitoring The specified value in relation to the synchronous encoder influences the "IPOSinPosition" message. The value must be set in such a way that the "IPOSinPosition" message does not change after having reached the target.

Lag error window The motion is stopped when the position difference between the synchronous encoders of the axis system is exceeded in the monitoring window.


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5.3.9 Step 7: Downloading data

The data are loaded to the MOVI-PLC® as soon as you have entered all parameters.

The following functions are performed during download:

• MPLC program is downloaded

• Startup parameters are downloaded

• MPLC program is started

511982475

NOTEBefore you click the [Download] button, make sure that all applications of theMOVITOOLS® MotionStudio are closed (PLC Editor, parameter tree, etc.).

Do not start any applications and do not change to other applications after havingpressed the [Download] button.

Wait until download is complete. Download is complete when the initial screen of theapplication module appears.

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5Parameters/H variables of the MOVI-PLC®Startup

5.4 Parameters/H variables of the MOVI-PLC®

The wizard for startup, operation, and diagnostics of the application module is imple-mented in the SEW-EURODRIVE ApplicationBuilder. The ApplicationBuilder uses theremanent "H variables" of the MOVI-PLC® for:

• saving the startup data

• intermediate saving of diagnostics variables

• mapping process data communication between bus master and MOVI-PLC®.

The following table shows the data buffer MOVI-PLC® H variables 0 ... 1450.

Segment H variables Saved data

1st segment

H000 SwitchMonitor H H0001 PO1. . . H0099 PO99H0101 PI1. . . H0199 PI99

Process input data words and process output data words

The setpoint source can be switched from fieldbus to RS-485 via the variable H0000. This allows for controlling the application module by means of the control mode of the Appli-cationBuilder or a DOP operator terminal.

2nd segment

H0200 Axis status bits (e.g. InGear). . . H0218

Status bits of the indi-vidual axes

–

3rd segment

H0220 Axis 1. . . DiagnosticsH0249 e.g. InverterState

Diagnostics variables of individual axes

• Actual positions• Currents• Operating states, etc.


. . .

. . .

. . .


4th segment

H0600 VirtualAxis. . . DiagnosticsH0629 e.g. ActualSpeed

Diagnostics variables of the virtual axis

• Actual positions• Actual speed, etc.

H0630 Reserved. . .H0739

5th segment

H0740 AppBuilder. . . Startup Rand Single AxisScalingH1450

Startup data of the ApplicationBuilder

• Scaling factors• Limits, etc.


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5 rive inverter parametersartup

5.5 Drive inverter parametersThe following parameters are written to the drive inverter each time the startup wizardis opened or the program is started:

5.6 Group signals5.6.1 Bit-coded representation

Group signals are displayed in bit code.

The group signal makes the following possible:

• Evaluating the status of the individual axes by interpreting the logical axis address

• Querying the status of the entire axis system by interpreting the group signal (bit "0")

For example, the "InGear" signal would be displayed as follows:

Parameter number Index Description Setting

350 8537 Motor direction of rota-tion

Normal/inverted

945 8891 Encoder type Ext. Encoder

950 8777 Encoder type DIP Ext. DIP encoder

946 8894 Counting direction Ext. Encoder

951 8776 Counting direction Ext. DIP encoder

944 8787 Scaling factor Ext. Encoder

955 8784 Scaling factor Ext. DIP encoder

302 8517 Max. motor speed Motor parameters

971 9226 Synchronization phase –

536597259

Bit 0 True= Axis1 InGear AND Axis2 InGear AND....

Bit 1 Axis LogAdr 1 "InGear"




Bit 5

Bit 6

Bit 7

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5Group signalsStartup

5.6.2 Documentation of implemented group signals

The creation of "Bit 0" is treated differently for the implemented group signals.

Group signals, for the interpretation of which "all axes" must have the same status, areANDed.

The following figure shows the group signal "all" connected axes in engaged state.

Group signals, for the evaluation of which it is relevant if any of the connected axes hasa fault, are ORed.

The following figure shows the group signal "one" of the connected axes in fault state.

536595595

536598923

ANDAxis 1 in gear

Axis 2 in gear

Axis 3 in gear

...

Axis n in gear

All axes in gear

ORAxis 1 inverter error

Axis 2 inverter error

Axis 3 inverter error

Axis n inverter error

...

Inverter error


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5 roup signalsartup

The implemented group signals are documented in the following table:

Meaning H[...] Logic Creation of the axis-related single bit

AllConnected 212 AND (gAxisInterfaceOut[j].Connected),j)

AllInPosition 200 AND (ABS(gsPIData.TargetPos32 -gAxisSyncCrane[j].ActPosExt ))< H[E_POSWINDOW]),j)

Active 201 OR (ABS(gAxisInterfaceOut[j].InverterData.ActualSpeed)) > 50),j)

AllPowered 202 AND (gAxisInterfaceOut[j].Powered) ,j

AllReady 203 AND (gAxisIntefaceOut[j].InverterData.InverterStatus)> 0) ,j)

InverterError 204 OR (gAxisInterfaceOut[j].InverterError),j)

FBError 205 OR (gAxisInterfaceOut[j].FBError),j

AllReferenced 206 AND (gAxisInterfaceOut[j].InverterData.Referenced),j)

AllRequestedModeActive 208 AND gAxisInterfaceIn[j].AxisMode = gAxisInterfaceOut[j].ActualAxisMode),j)

LagWarning 207 OR (ABS(gVEInterfaceOut.VirtualAxisData.ActualPositionJerkLim - gAxisSync-Crane[j].ActPosExt))< H[E_LAGWINDOWWARNING]),j)

LagFailure 208 OR (ABS(gVEInterfaceOut.VirtualAxisData.ActualPositionJerkLim - gAxisSync-Crane[j].ActPosExt))< H[E_LAGWINDOWFAILURE]),j)

AllInGear 209 AND (gAxisInterfaceOut[j].InGear) ,j)

AllInAdjustPosition 211 AND (ABS(gStatusbits.AdjustPosition - gAxisSyncCrane[j].ActPosExt ))< H[E_POSWINDOW]),j)

MonitoringExtEnc 213 OR (ABS(gAxisSyncCrane[j].ActPosMot - gAxisSyncCrane[j].ActPosExt))< H[E_EXTENCWINDOW]),j)

AdjustPosition 210 Cyclically calculated adjustment positionnCalcDummy := nCalcDummy + gAxisSyncCrane[j].ActPosExt; gStatusbits.AdjustPosition := nCalcDummy/ snActNumberOfAxis;

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5Program overview of the PLC programStartup

5.7 Program overview of the PLC programThe following figure shows the program structure TASK1_MAIN_PRG:

536592267

Axis Factors

(AppBuilder)

AxisConfiguration

fbConfig

gsA

xis

Inte

rfaceIn

.Axis

1..

.12

Virtual Axis Factors

(AppBuilder)

PI

Source: H-Variables

or Profibus

fbInSignals

PO Data

Program for

sequence control

fbInterface

Axis control: axis 1

fbAxixControlGearA1


fbAxixControlGearA2

PO

fbOutSignals


fbAxixControlGearA2

gsPODat

PO1-PO10

Axis

1A

xis

2A

xis

8

Axis

1A

xis

2A

xis

8

gsPIData

PI1- PI10

Status bit

TASK1_MAIN_PRGH-Variables

Databuffer

Diagnostics axis 1

Diagnostics axis 2

Diagnostics axis 8

gsA

xis

Inte

rfaceO

ut.A

xis

1... 8

gsA

xis

SyncC

rane.A

xis

1... 8

gsS

tatu

sB

its

PI Data

cylic free wheeling TASK


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5 ogram overview of the PLC programartup

Overview of program run times of the different TASKsThe following table shows the program overview for the PLC program with 2 connectedaxes.

TASK1_MAIN_PRGMain program

TASK2_VEVirtual encoder

Function • AxisConfiguration• InSignals• Interface• AxisControl• OutSignals

• VEAxisControl

Run time [ms] 17 5

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6Starting the driveOperation

6 Operation6.1 Starting the drive

After the download, switch to the monitor of the SyncCrane application module.

6.1.1 Operating modes for fieldbus control

NOTESelection of the modes and plausible feedback of the status bits are only ensured if anaxis number (99 for broadcast, or 1 ... 12 for single axis mode) is transferred viaprocess data word 3.

Operating mode PO1:13

PO1:12

PO1:11

Description

Default 0 0 0 No axis is moved.

Jog mode 0 0 1 • An individual axis or the group can be moved via the Jog+ and Jog– inputs.

• The travel parameters velocity, acceleration ramp and deceleration ramp can be specified via process output data words PD8, PD9, and PD10.If no velocity is specified, the axis will move at 0.2 rpm.

• Unsynchronized motion sequence is supported for controlling single axes or a group of axes.

Referencing mode 0 1 0 • Motor encoder and absolute encoder position are referenced when start is set.

• Reference travel establishes the reference point (machine zero) for positioning operations.

• Single axis control is only supported for referencing to the standstill position.

• Group control is supported.

Positioning mode 0 1 1 • After a target position has been specified (PO4, PO5) and start has been set, the referenced single axis or group can be moved.

• The travel parameters velocity, acceleration ramp and deceleration ramp can be specified via process output data words PD8, PD9, and PD10. If no velocity is specified, the axis will move at 0.2 rpm.


Automatic mode(virtual encoder and synchronous operation)

1 0 0 • When start is set, the group is aligned and the technology function "internal synchronous operation" is activated.

• Controlling the virtual encoder lets you move the axis system (jog mode or positioning mode).

• For group control, only synchronized motion sequences are supported.

Emergency mode 1 0 1 • Emergency mode can be activated by selecting [ApplicationBuilder] / [ProjectSettings] / [Emergency Mode] YES and restarting the controller.

• An individual axis or the group can be moved via the Jog+ and Jog– inputs.

• The travel parameters velocity, acceleration ramp and deceleration ramp can be specified using process output date words PD8, PD9, PD10. If no velocity is specified, the axis will move at 0.2 rpm.

• Moving the axes without encoder evaluation is supported.


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6 iagnostics monitorperation

6.2 Diagnostics monitor6.2.1 Diagnostics monitor: Monitor mode

During ongoing operation, you can open the monitor using the following menu path:

[MotionStudio]/[Application modules]/[SyncCrane for MOVI-PLC]

In monitor mode, the process input and process output data transferred via fieldbus aredisplayed in decoded format.

6.2.2 Diagnostics monitor: Control modeTo control the application module without higher-level controller, click the [Controller]button.

6.3 Jog mode – unsynchronized

512022411

Interface description

Mode selection PO1:Bit11 = TRUEPO1:Bit12 = FALSEPO1:Bit13 = FALSE

Jog + PO1:9

Jog– PO1:10

Disable SWLS PO1:15

DO


6Jog mode – unsynchronizedOperation

Axis number PO3 Broadcast 99 or single axis mode 1 ... 12

Velocity specification PO8 in [rpm] or [user units]

Velocity limit Startup parameter

Overlapping Startup parameter

Position limiting Software limit switch startup parameter

Ramp specification PO9 Acceleration ramp in [ms]PO10 Deceleration ramp in [ms]

Brief description After selecting a direction of rotation, the single axis (PO3 1 ... 4) or the entire axis system (PO3 = 99) can be operated in jog mode. If software limit switches were assigned, the travel range is restricted to these limits.

Prerequisite • Operating mode is selected• Drive is enabled

Functional description

The direction is selected using Jog+ or Jog-. If the software limit switch right is set > software limit switch left, the travel range is limited to 3 position windows (startup) before the respective software limit switch.If the Disable SWLS bit is set, the limitation of the travel range is deactivated.For the travel movement, positioning indirectly takes place to the external encoder.Without evaluation the limit switches, the axis can be moved endlessly.The drive stops with position control if the direction selection is not enabled or both directions are selected at the same time.The specified ramp time is used for accelerating/decelerating the drive.The specified velocity of the jog mode is compared to the velocity limit and limited if necessary.


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6 g mode – unsynchronizedperation

6.3.1 Supplement jog mode of the virtual axis - synchronized

For documentation of the operating mode, see above. For differences in the interface,see below.

Mode selection PO2:Bit11 = TRUEPO2:Bit12 = FALSEPO2:Bit13 = FALSE

Prerequisite All axes are engaged. This is indicated by PI2:4 "Axes synchronous".Prerequisite: • "Automatic" mode is selected and "Start" is set via

process data word 1.• The axes are enabled (display "A: technology

function" of the 7-segment display)

Jog + PO2:9

Jog– PO2:10

Disable SWLS PO2:15



Jerk limitation Startup parameter



JoO


6Referencing modeOperation

6.4 Referencing mode


Mode selection PO1:Bit11 = FALSEPO1:Bit12 = TRUEPO1:Bit13 = FALSE

Start referencing PO1:8


Speed selection –


Ramp specification –

Reference travel type Startup parameter

Reference offset • Startup parameter• Specification of actual position of the encoder after reference travel

has been completed.

Reference speed 1 Setpoint speed for search travel to the reference cam

Reference speed 2 Setpoint speed for moving clear of the reference cam

Brief description Depending on the selected reference type, the encoders (motor encoder and external or absolute encoders) are set to the specified reference offset at a standstill or by traveling to a cam.

Prerequisite • Axes have been mechanically aligned, e.g. in jog mode.

• Operating mode is selected and start is set• Drive is enabled


Encoder adjustment is initiated using bit PO1:8 “Start”.The individual axes have to be aligned mechanically prior to reference travel, e.g. by selecting single axis in jog mode.The following movement is carried out depending on the reference type:• Standstill reference type

The actual position of the drives is the reference point. Enable is withdrawn and reference travel type 8 is started in the inverter.Individual axes can be referenced using this reference type only.

• Reference type Cam CW to X31:3 of the MOVI-PLC®

Reference point is the reference cam mounted to CW. The motion sequence is controlled via the synchronous operation of the axis system. The synchronous operation system is moved with refer-ence speed 1 until an edge occurs at input X31:3 and is then stopped. By reversing the travel direc-tion, the cam is then moved clear of with reference speed 2, and subsequently all axes are referenced to the specified reference position.

• Reference type Cam DI00 CCW to X31:3 of the MOVI-PLC®

For a description, see reference type cam CW but in reversed search direction

59

60

6 sitioning mode – unsynchronizedperation

6.5 Positioning mode – unsynchronized


Mode selection PO1:Bit11 = TRUEPO1:Bit12 = TRUEPO1:Bit13 = FALSE

Start referencing PO1:8

Disable SWLS PO1:15


Position setpoint PO4 and PO5 in [inc]

Velocity specification PO8


Overlapping Startup parameter


Ramp specification • PO9 acceleration ramp• PO10 deceleration ramp

Jerk limitation –

Brief description Movement takes place to the specified target position when the setpoint position is selected and start is set. It is possible to move an individual axis (PO3 1 ... 12) or the entire axis system (PO3 = 99).



The positioning sequence is started using bit PO1:8 Start.The user specifies the absolute target position via fieldbus.Speed and ramp times are adopted from the specified process data words and compared to the limitations from the startup.The position specification can be changed during ongoing operation. When the drive reaches the target position, it stops with position control and sends back the “In position” signal by setting bit PO1:3.If software limit switches are defined, the target position will be checked cyclically for plausibility. If a position is specified, which lies outside the software limit switch range, a fault message will be issued and the ongoing movement will be stopped. This monitoring function can be deactivated with the input bit Disable SWLS.

PoO


6Positioning mode – unsynchronizedOperation

6.5.1 Supplement positioning mode of the virtual axis - synchronized

The following table shows the differences in the interface. Prerequisite is that "Auto-matic" mode is selected with "Start" set via process data word 1.


Mode selection PO2:Bit11 = TRUEPO2:Bit12 = TRUEPO2:Bit13 = FALSE

Prerequisite All axes are engaged. This is indicated by PI2:4 "Axes synchronous".Prerequisite: • "Automatic" mode is selected and "Start" is set via process data word

1.• The axes are enabled (display "A: technology function" of the 7-

segment display)

Start PO2:8

Disable SWLS PO2:15

Position setpoint PO6 and PO7 in [inc]

Velocity specification PO8


Jerk limitation Startup parameter


Ramp specification • PO9 acceleration ramp• PO10 deceleration ramp

61

62

6 tomatic modeperation

6.6 Automatic modeSelecting "Automatic" mode means a sequencer is run through and the followingfunctions are processed:

Initialization is repeated in the following cases:

• Selecting an operating mode

• Positive edge of Start

• Reset of the axes following an encoder error

• Drives change to "A" state (technology function)

Automatic mode is initialized • The axis system is adjusted to the calculated common "adjust position".

• The virtual encoder position is referenced to the adjust position.

• "Synchronous operation" mode is activated

Cyclical program section: Processing the virtual encoder

• Cyclical processing of the virtual setpoints• Cyclical correction/slip compensation between the virtual

master encoder position and the read-in external encoder position in synchronous operation.

• Monitoring of lag error, encoder error, and inverter error

AuO


6Automatic modeOperation

The following figure shows the automatic mode:

536573963

Initializing

Adjust the MOVIDRIVE

axis

Adjust the virtual

encoder

All axis in position

Encoupling the axis

Virtual encoder in position

Control the virtual

encoder ( jog mode or

positioning)

All axis InGear

Ready for virtual encoder

Cyclic slip

compensation

63

64


6.6.1 Interface description


Mode selection PO1:Bit11 = FALSEPO1:Bit12 = FALSEPO1:Bit13 = TRUE

Mode selection virtual encoder

See description jog mode/positioning mode (supplement virtual encoder)

Start PO1:8

Axis number PO3 Broadcast 99

Position setpoint PO6 and PO7 virtual master encoder position

Position limiting Startup parameter limitation of virtual master encoder

Ramp specification • PO9 acceleration ramp [ms]• PO10 deceleration ramp [ms]

Brief description The entire system is moved synchronously in automatic mode.

Prerequisite • Operating mode is selected and start is set• Drive is enabled• No axis fault present• No lag error• No external encoder error• No error on PI1:Bit 6


Automatic mode enables the user to operate the axis system synchronously. After selecting automatic mode or upon changing to the inverter status "A", the slave axes are adjusted to a calculated "adjust position". The slave axes signal a completed adjustment process via feedback bit PO2:Bit4 "Axes synchronous".From this time on, the axis system can be moved by controlling the virtual encoder. This is done by activating PO2 and jog mode or positioning mode.The axis system follows the actual value of the virtual encoder according to the principle of indirect synchronization. This means the setpoint is converted for the motor encoder to a position setpoint of the internal synchronous operation. At the same time, slip is compensated by monitoring the external encoder position. The slave axes signal during the movement whether a lag warning error was issued by means of feedback bits.Refer to the following chapters for detailed informa-tion on the adjustment mode and synchronization functions.

AuO


6Automatic modeOperation

6.6.2 Submode adjustment mode

The following figure shows the calculation of the adjustment position, for example for 3slave axes.


536577291

Position [inc]

ActPos Slave3

32 inc

ActPos Slave2

12 inc

ActPos Slave1

-15 inc

10 20 30 40-30 -20 -10 0

AdjustPos = (-15 inc + 12 inc + 32 inc )/ 3

= 9,67 inc


Mode selection Not required (adjust position is determined cyclically)

Brief description The absolute position offset of all connected axes is read in and then the mean position deviation is calculated. At the start of the adjustment process, all axes are adjusted to this position.

Functional description The calculated position offset is compensated by a positioning movement of the slave axes with the specified speed and ramp limits. "InPosition" is signaled back after completed compensation movement.

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66


6.6.3 Submode synchronous mode

The following figure shows synchronous mode with absolute encoder sensing.


536572299

MDx Slave 1

MOVI-PLC

DHP

11B

DHE/

DHR

11B

MDxB DIP

21B

X33X12

X15

X14

X62

Motor with

Motor-Encoder

Absolute

SSI-Encoder

e.g.Laser

MDxB DIP

21B

X12

X15

X14

X62

Motor with

Motor-Encoder

Absolute

SSI-Encoder

e.g.Laser

MDx Slave 2

DHE/

DHR

11B


Velocity limit Startup parameters synchronization speed

Ramp limit Startup parameters synchronization ramp

Master source Virtual master encoder

Slave source ISYNC Motor encoder

Slave source slip detection External HIPERFACE® encoder or absolute encoder

Slip compensation Startup parameter

Brief description The technology function ISYNC ensures angular synchronism between master and motor encoder.At a higher level, the position difference between the virtual master encoder and the absolute encoder system (or external HIPERFACE® encoder) is detected and corrected via a control element.



For information/descriptions of the ISYNC technol-ogy function, refer to the "MOVIDRIVE® MDX61B Internal Synchronous Operation (ISYNC)" manual.For information on slip compensation, refer to the section "Functional principle of indirect positioning and synchronization" (see page 10).

AuO


6Emergency modeOperation

6.7 Emergency mode


Mode selection PO1:Bit11 = TRUEPO1:Bit12 = FALSEPO1:Bit13 = TRUE

Jog + PO1:9

Jog– PO1:10





Digital input You can influence the emergency mode by activating the digital input "SetEmergencyMode-DI01 X31:4":• DI01 SetemergencyMode = False: The position-controlled procedure

switches the inverter to "speed specification" mode.• DI01 SetemergencyMode = True: The position-controlled procedure

switches the inverter to "speed specification" mode and disables the external encoder or absolute encoder, if installed. In this way, the drive can even be moved with a defective absolute encoder.

Brief description If emergency mode was activated using the user interface, the drive can also be moved in the event of an encoder error.

Prerequisite • Operating mode is selected• Drive is enabled• MOVI-PLC® was restarted


The direction is selected using Jog+ or Jog-. The travel movement is triggered by a specified speed. Once emergency mode is selected using the ApplicationBuilder startup, other operating modes cannot be selected any longer.The drive stops with position control if the direction selection is not enabled or both directions are selected at the same time.The specified ramp time is used for accelerating/decelerating the drive.The specified velocity of the jog mode is compared to the velocity limit and limited if necessary.Automatic mode cannot be selected anymore when the digital input (set emergency mode DI01 X31:4) is activated.

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6 ditional functionsperation

6.8 Additional functions6.8.1 External encoder monitoring function

6.8.2 Lag error window monitoring function

6.8.3 Fieldbus master monitoring function


Lag error window Startup parameter

Time monitoring Startup parameter

Brief description To detect wire breakage of draw-wire encoders, the positions between motor encoder and synchronous encoder are sensed cyclically during ongoing movement.If this condition is violated, feedback is provided by the described status bits and an error message in the IEC.

Prerequisite Ongoing movement (actual speed > 50 prm)


Lag error prewarning window Startup parameter

Time monitoring Startup parameter

Brief description In Automatic mode, a position comparison is made cyclically between the calculated averaged position of all axes involved, and the position offset of eeach axis to the reference position.If this condition is violated, feedback is provided by the described status bits and an error message in the IEC.

Prerequisite • Ongoing movement• Automatic active


Operating principle Diagnostics function, which monitors the bus communication to the master controller cyclically. If this condition is violated, feedback is provided by the described status bits and an error message in the IEC.

Prerequisite Control via the PROFIBUS interface

AdO


6Cycle diagramsOperation

6.9 Cycle diagramsThe following conditions apply to the cycle diagrams:

• Startup has been performed correctly

• DI00 "/Controller inhibit" = "1" (no inhibit)

• PO1:1 = "1" (Enable/halt)

• PO1:2 = "1" (Enable/stop)

• PO3 = "99" for group control or "1 ... 12" for single axis selection

The values for the dynamic parameters are transferred using the following processoutput data words:

• PO8 = Setpoint velocity

• PO9 = Acceleration ramp

• PO10 = Deceleration ramp

• PO45 = Target position for positioning mode (unsynchronized)

• PO67 = Target position for automatic mode (synchronized)

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6 ycle diagramsperation

6.9.1 Jog mode

536573963

[1] Axis starts when the jog+ bit is set[2] Axis starts when the jog– bit is set

Position Description

PO1:8 Start

PO1:9 Jog +

PO1:10 Jog–

PO1:11 "0" Mode 20

PO1:12 "0" Mode 21

PO1:13 "0" Mode 22

PI45 Actual position 32 bit

PA1:12

[1]

PA1:9

PA1:10

PA1:11

PE45

PA1:8

PA1:13

[2]

CO



6.9.2 Referencing mode

536593931

[1] Referencing starts when the start bit is set[2] The drive is referenced once the PI1:2 message (IPOS reference) is set.


PO1:8 Start

PO1:11 "0" Mode 20

PO1:12 "1" Mode 21

PO1:13 "0" Mode 22

PI1:2 IPOS reference


PE1:2

PA1:8

PE45

eg. 54896

> 6 s

PA1:12

PA1:11

PA1:13

[1] [2]

0

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72


6.9.3 Positioning mode

The following figure shows unsynchronized positioning operation of the individual axis/group.

536590603

[1] Start positioning[2] Positioning is interrupted by revoking start[3] Positioning[4] Positioning finished. PI1:3 message (IPOS in position) set.


PO1:8 Start

PO1:11 "0" Mode 20

PO1:12 "1" Mode 21

PO1:13 "1" Mode 22

PO45 Setpoint position

PI1:3 IPOS in position


PE1:3

PE45

PA1:8

PA1:12

PA1:11

PA1:13

[1] [2] [3] [4]

CO



6.9.4 Automatic mode

The following figure show synchronized positioning mode of the group with positioningof the virtual encoder.

536575627

[1] Automatic mode selected[2] Activation of operating mode with the start input[3] Feedback "Axis system synchronized – ready for virtual encoder"[4] Positioning of the virtual encoder mode selected[5] Start of movement PO2:8 input "start"[6] Positioning finished. PI2:3 message (virtual encoder in position) set.[7] Decoupling of axis system by deselecting the operating mode

PE2:3

PE67

PA1:8

PA1:12

PA1:11

PA1:13

PA2:11

PA2:8

PA2:12

PA2:13

PE2:4

[2] [3] [5][1] [4] [6] [7]

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74



PO1:8 Start (automatic mode)

PO1:11 "0" Mode 20 (automatic mode)

PO1:12 "0" Mode 21

PO1:13 "1" Mode 22

PO2:8 Start (start of virtual encoder)

PO2:11 "1" Mode 20 (positioning mode of the virtual encoder)

PO2:12 "1" Mode 21

PO2:13 "0" Mode 21

PO67 Setpoint position virtual encoder

PI2:3 IPOS in position

PI2:4 Axis system synchronized – ready for virtual encoder

PI67 Actual position of axis system 32 bit

CO



6.9.5 Emergency mode

The following figure shows unsynchronized emergency mode of the individual axis/group.

The following additional prerequisites apply to emergency mode:

• X31:4 (DI01 set emergency mode) was set.

• MOVI-PLC® was restarted with set DI01.

536588939

[1] Axis starts when the jog+ bit is set[2] Axis starts when the jog– bit is set


PO1:8 Start

PO1:9 Jog +

PO1:10 Jog–

PO1:11 "1" Mode 20

PO1:12 "1" Mode 21

PO1:13 "1" Mode 22

PI1:0 Motor turning

PE1:0

500 [1/min]

– 500 [1/min]

PA1:12

[1]

PA1:9

PA1:10

PA1:11

PA1:8

PA1:13

[2]

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76

6 ult informationperation

6.10 Fault information

Error code

Description Description

FF0201h E_MPLC_INVALIDNUMBEROFAXIS Invalid number of axes. A maximum of 12 axes can be selected.

FF0202h E_MPLC_INVALIDACTAXISNUMBER Invalid axis selection. Permitted:• PO3 = 99 (group control)• PO3 = 1 ... 12 (single axis control)

FF0203h E_MPLC_SYNCCRANE_LIMITSWITCHCW The specified position or actual position is outside the defined software limit switch.

FF0204h E_MPLC_SYNCCRANE_LIMITSWITCHCCW The specified position or actual position is outside the defined software limit switch.

FF0205h E_MPLC_SYNCCRANE_FIELDBUSTIMEOUT Fieldbus communication was interrupted. All setpoints are cleared internally.

FF0206h E_MPLC_SYNCCRANE_EXTENCODER External encoder provides implausible val-ues. Axis system is stopped in automatic mode.

FF0207h E_MPLC_SYNCCRANE_HMIFAILURE Communication while accessing the wizard was interrupted. All setpoints are cleared internally.

FF0208h E_MPLC_SYNCCRANE_LAGERROR The set lag error was exceeded in automatic mode (distance from external encoder position to virtual master encoder). The axis system is stopped.

FaO


7System descriptionAuxiliary Drive (Auxiliary Axis)

7 Auxiliary Drive (Auxiliary Axis)7.1 System description7.1.1 Fields of application

Many applications with the SyncCrane application module are characterized bycontrolling several sequences of motion via a common interface between MOVI-PLC®

and the higher-level fieldbus master.

In many crane applications, for example, more auxiliary drives are required in additionto the feed axes synchronized using the SyncCrane application module in order tocontrol the lifting and Z movement of the load suspension.

Example: Hall crane with 3 motion axes:

Up to 4 auxiliary axes can be integrated without additional programming work. TheApplicationBuilder wizard is available for startup and diagnostics.

Users can choose between 3 different profiles to cover an as large as possibleapplication area:

• Position 16 bit

• Position 32 bit

• Velocity

One of the 3 profiles can be set for each of the 4 auxiliary axes. The profile is accessedusing 4 process data words.

682447883

Axis Description

X Motion sequence of the synchronized feed axes controlled via SyncCrane interface.

Z Position-controlled axis for moving the load suspension.

Y Position-controlled axis for lifting movement of the load suspension.

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7 stem descriptionuxiliary Drive (Auxiliary Axis)

7.1.2 Application examples

• Hall crane with 2 additional auxiliary axes for handling the load suspension using the"positioning 32 bit" profile.

• Moving platform with position-controlled lancet drive for automating the load transfervia auxiliary axis using the "positioing 16 bit" profile.

• Travel carriage with control of an additional hydraulic unit using the "velocity" profile.The hydraulic unit is operated without encoder by specifying a setpoint speed.

675365643

SyncCrane

PO1

PO10

PI1

PI10

AuxAxis 1..4

PO17

PO32

PI17

PI32

AuxAxis1 AuxAxis2 AuxAxis4

SBus 2

SBus 1

SyncCrane A1 SyncCrane A2 SyncCrane A8SyncCrane A3

2

2

2

2

0

1

2

3

2

2

2

4

5

6

2

4

6

1

3

5

X32

2

4

6

1

3

5

X33

X30

2

4

6

1

3

5

8

10

12

7

9

11

X3

1X

34

MOVIPLC

MOVI-PLC®

SyA


7Project planning for auxiliary drivesAuxiliary Drive (Auxiliary Axis)

7.2 Project planning for auxiliary drives7.2.1 Functional description

Functional characteristics

The auxiliary drives provide the following functional characteristics:

7.2.2 Process data assignmentThe higher-level controller (PLC) sends a process data range of 4 PD for each auxiliarydrive via PROFIBUS.

The following figure shows data exchange with 4 process data words:

Addressing of process data words:

Mode Profile 1Pos 16 bit

Profile 2Pos 32 bit

Profile 3Velocity

Mode 0 Default mode Default mode Default mode

Mode 1 Jog mode Jog mode Jog mode with velocity specification1)

1) with startup of the "velocity" profile.

Mode 2 Referencing mode Referencing mode Default mode

Mode 3 Positioning mode Positioning mode Default mode

Mode Description

Jog mode • The drive is moved clockwise or counterclockwise with position control using two bits for direction selection.

• Velocity and ramp can be specified via fieldbus as required depending on the profile.

Jog mode with star-tup of the "velocity" profile

• The set operating mode can also be used without encoder.• The drive is moved clockwise or counterclockwise using two bits for direction

selection.• Velocity and ramp can be specified via fieldbus as required.

Referencing mode • Reference travel and position adjustment of the external encoder are initiated with the start signal.

• Reference travel establishes the reference point (machine zero) for absolute positioning operations.

Positioning mode • When the axes are referenced and start is set, the received target position results in a positioning operation.

• Velocity and ramp can be specified via fieldbus as required depending on the profile.

657595787

Number of auxiliary drives 1 2 3 4

Axis 1 PD 29 ... 32 25 ... 28 21 ... 24 17 ... 20

Axis 2 PD – 29 ... 32 25 ... 28 21 ... 24

Axis 3 PD – – 29 ... 32 25 ... 28

Axis 4 PD – – – 29 ... 32

PO1 PO2 PO3 PO4

PI1 PI2 PI3 PI42

2

2

2

0

1

2

3

2

2

2

4

5

6

2

4

6

1

3

5

X3

2

2

4

6

1

3

5

X3

3X

30

2

4

6

1

3

5

8

10

12

7

9

11

X3

1X

34

MOVI-PLC

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7 oject planning for auxiliary drivesuxiliary Drive (Auxiliary Axis)

Process output data words

PO1 = Control word 1

512061835

Bit no. Description

Bit 0 /Controller inhibit

Bit 1 Enable/rapid stop

Bit 2 Enable/stop

Bit 3 Reserved

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Fault reset

Bit 7 Reserved

Bit 8 Start

Bit 9 Jog+

Bit 10 Jog–

Bit 11 Mode 20

Bit 12 Mode 21

Bit 13 Reserved

Bit 14 Ramp switch-over

Bit 15 Disable SWLS

Process output data word

Profile 1Pos 16 bit

Profile 2Pos 32 bit

Profile 3Velocity

PO1 Control word Control word Control word

PO2 Setpoint velocity Setpoint velocity Setpoint velocity

PO3 Setpoint ramp Setpoint position 32 high Setpoint ramp

PO4 Setpoint position 16 Setpoint position 32 low Reserved

Bit 15


Bit 0

Bit 1


Bit 7

PrA


7Project planning for auxiliary drivesAuxiliary Drive (Auxiliary Axis)

Process input data words

PI1 = Status word 1

512061835

Bit no. Description

Bit 0 Motor turning

Bit 1 Frequency inverter ready for operation

Bit 2 IPOS axis referenced

Bit 3 IPOS in position

Bit 4 Brake released


Bit 6 Limit switch CW

Bit 7 Limit switch CCW

Bit 8 ... 15

Inverter/error status

Process input data word Profile 1Pos 16 bit

Profile 2Pos 32 bit

Profile 3Velocity

PO1 Status word Status word Status word

PO2 Actual speed Actual speed Actual speed

PO3 Reserved Actual position 32 high Reserved

PO4 Actual position 16 Actual position 32 low Actual position 16

Bit 15


Bit 0

Bit 1


Bit 7

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7 oject planning for auxiliary drivesuxiliary Drive (Auxiliary Axis)

7.2.3 Control configuration

The SyncCrane application module is designed for controlling a maximum of 4additional auxiliary drives. The inverters are connected via CAN2 of the MOVI-PLC®

(X:32) with a baud rate of 500 kBaud.

The inverters have to be set with SBus address 9 ... 12. It is recommended that youmake the setting using the DriveStartup tool.

Number of auxiliary axes 1 2 3 4

SBus baud rate (kBaud) 500 500 500 500

SBus address axis 1 9 9 9 9

SBus address axis 2 – 10 10 10

SBus address axis 3 – – 11 11

SBus address axis 4 – – – 12

673516811

PrA


7Startup of auxiliary drivesAuxiliary Drive (Auxiliary Axis)

7.3 Startup of auxiliary drives7.3.1 Starting the "Auxiliary axis" program

Make a right mouse clock on Serial 0:MOVI-PLC and select [MotionStudio] /[Diagnostics] / [Application Builder] / [AuxiliaryAxis_E.mon]

Initial screen The initial screen of the "Auxiliary Axis" application is opened.

Proceed as follows to perform initial startup:

• Begin initial startup of the individual axes with axis 1. To do so, choose "Axis 1" fromthe "Select individual axis number" selection field.

• Enter the number of required auxiliary axes in the "Maximum number of axes"selection field. You can choose a maximum of 4 axes.

• Define the start address for the operating variables (startup and diagnosticsvariables) in the "H start address" input field. Start address 1200 is recommended forthe SyncCrane application module.

• "H start index" is the converted start index of the variable range.

757873931

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7 artup of auxiliary drivesuxiliary Drive (Auxiliary Axis)

The following display elements are available for diagnostic purposes:

• PD start address

• H variable

• Startup

• H start index

Button Description

Startup Click here to trigger startup of the application.The following chapters describe the next steps.

Monitor The button is disabled if• you are not online• the application module has not been detected

Cancel Click this button to exit the startup wizard.

NOTEIf you want to load saved application data, choose [File] / [Open settings] from themenu.

StA



Fieldbus parameters

This window is used to specify the process data profile of your auxiliary axis.

757879691

Field Description

Active axis number You can read the selected axis number from this field.

SBus address The specified SBus address is shown in this field.

Process data profile You can choose one of three process data profiles. The following functions are supported:• Positioning 16 bit• Positioning 32 bit• Velocity specification

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86


Calculating the scaling factors

On this startup screen you determine the position resolution for the selected encodersystem.

757885835

Field Description

Diameter Enter the mechanical data in this field. You can enter values with two decimal places.Gear ratio

External ratio


StA



Parameters and limits

In this window you can set the travel range and velocity limits.

757891723


Limit switch Software limit switch CW

The software limit switches limit the permitted travel range for the following operating modes:• Jog• Positioning• AutomaticThe specified value refers to the increments of the synchronous encoder.The processing of hardware limit switches is not intended.

Software limit switch CCW

Hardware limit switches Choose whether you want hardware limit switches to be evaluated. They are evaluated on MOVIDRIVE® as follows:• X13:5 DI04 with /Limit switch CW• X13:6 DI05 with /Limit switch CCW

Reference travel

Reference offset Enter the reference offset in increments in relation to the synchronous encoder.

Reference type The reference type defines the movement sequence for detecting the mechanical zero point.

Limits Maximum speed posi-tioning

You can limit the specified positioning speed by entering the value.

Maximum speed jog mode

You can limit the specified jog speed by entering the value.

Maximum motor speed Enter a value at least 10 % higher than the maximum positioning and/or jog speed.

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Downloading data The data are loaded to the MOVI-PLC® as soon as you have entered the startupparameters.

757909899

NOTEActivating the "ResetCold" input element will reset the MOVI-PLC® after havingdownloaded the input values.

As SBus communication with the connected inverters is interrupted briefly, they willsignal "SBUS2 timeout" until fault F46 is acknowledged.

StA


7Operation of auxiliary drivesAuxiliary Drive (Auxiliary Axis)

7.4 Operation of auxiliary drives7.4.1 Starting the drive

After the download, switch to the monitor of the Auxiliary axis application module.

Operating modes (fieldbus control)

Operating mode PO1:13 PO1:12 PO1:11 Description

Default 0 0 0 No axis is moved.

Jog mode 0 0 1 • Individual axes or the group can be moved via the Jog+ and Jog- inputs.

• Specify the following values:• Process output data words• Travel parameters• Velocity• Ramp

If no velocity is specified, the axis will move at 0.2 rpm.

Referencing mode 0 1 0 • The IPOS encoder position is referenced when start is set.

• Reference travel establishes the reference point (machine zero) for positioning operations.

Positioning mode 0 1 1 • The referenced single axis can be moved once a target position is specified and start is set.

• Specify the process output data words, travel parameters, velocity, and ramp. If no velocity is specified, the axis will move at 0.2 rpm.

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7 peration of auxiliary drivesuxiliary Drive (Auxiliary Axis)

Diagnostics moni-tor: Monitor mode

During ongoing operation, the monitor can be opened via [MotionStudio] / [Diagnostics]/ [Application Builder] / [AuxiliaryAxis_E.mon].

In monitor mode, the process input and process output data transferred via fieldbus aredisplayed in decoded format.

757917195

OA


7Operation of auxiliary drivesAuxiliary Drive (Auxiliary Axis)

Parameters Startup automatically sets the following parameters:

Parameter number Parameter Setting

SHELL P302 Maximum speed 1 Specified value from "parameters and limits"

SHELL P920 CW SW limit switch Specified value from "parameters and limits"

SHELL P921 CCW SW limit switch Specified value from "parameters and limits"

SHELL P603 Binary input DI04 /Limit switch CW or no function

SHELL P604 Binary input DI05 /Limit switch CCW or no function

SHELL P903 Reference travel type Specified value from "parameters and limits"

SHELL P900 Reference offset Specified value from "parameters and limits"

H2047 H_STARTADDRESS –

Hxxx + 1 H_OFFSET –

Hxxx + 2 H_OFFSETAXIS –

Hxxx + 3 PD_STARTADDRESS –

Hxxx + 4 PD_OFFSET –

Hxxx + 5 H_IBSTATUS_A1 –




Hxxx + 9 MONITOR_CTRL –

Hxxx + 10 H_STARTADDRESS_A1 –



Hxxx + 13 H_STARTADDRESS_4 –

Hxxx + 14 H_MAXAXISNUMBER –

Hxxx + 15 H_ACTAXISNUMBER –

Hxxx + 16 H_AUXIBSTATUS –

[H_STARTADDRESS_A1] + 0 PO1 –




[H_STARTADDRESS_A1] + 10 PI1 –




[H_STARTADDRESS_A1] + 20 BUS_ADDRESS –

[H_STARTADDRESS_A1] + 21 BUS_PDPROIFILE –

[H_STARTADDRESS_A1] + 25 SCALE_SOURCE –

[H_STARTADDRESS_A1] + 26 SCALE_TYPE –

[H_STARTADDRESS_A1] + 27 SCALE_VALUE –

[H_STARTADDRESS_A1] + 28 SCALE_RESOLUTION –

[H_STARTADDRESS_A1] + 29 SCALE_GEARINGRATIO –

[H_STARTADDRESS_A1] + 30 SCALE_EXTRATIO –

[H_STARTADDRESS_A1] + 31 SCALE_SPEEDRES –

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7 peration of auxiliary drivesuxiliary Drive (Auxiliary Axis)

[H_STARTADDRESS_A1] + 32 SCALE_INC –

[H_STARTADDRESS_A1] + 33 SCALE_DISTANCE –

[H_STARTADDRESS_A1] + 34 SCALE_NUMERATOR –

[H_STARTADDRESS_A1] + 35 SCALE_DENOMINATOR –

[H_STARTADDRESS_A1] + 40 LIM_LSCCW –

[H_STARTADDRESS_A1] + 41 LIM_LSCW –

[H_STARTADDRESS_A1] + 42 LIM_HWLS –

[H_STARTADDRESS_A1] + 43 LIM_REFOFFSET –

[H_STARTADDRESS_A1] + 44 LIM_REFTYPE –

[H_STARTADDRESS_A1] + 45 LIM_Ramp1 –

[H_STARTADDRESS_A1] + 46 LIM_Ramp2 –

[H_STARTADDRESS_A1] + 47 LIM_MAXSPEEDAUTO –

[H_STARTADDRESS_A1] + 48 LIM_MAXSPEEDJOG –

[H_STARTADDRESS_A1] + 49 LIM_MAXSPEED –

[H_STARTADDRESS_A2+ 0 PO1 Structure axis 2



Parameter number Parameter Setting

OA


8Frequently asked questionsAppendix

8 Appendix8.1 Frequently asked questions

• Why do the axes not signal "Connected"?

• Was "DriveStartup" performed for each individual axis?

• Are the SBus addresses of the inverters different?

• Is the SBus wiring correct (terminating resistors)?

• Why does the enabled drive vibrate without mode selection?

• Check the calculated scaling factors and position windows.

• Which values have to be entered in the wizard in the "SingleAxisScaling" input fieldsif solely a motor encoder is to be used?

• Fill all fields by clicking on the "Default" button.

• Enter value "1" in the numerator and denominator fields.

93

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9 ddress List

9 Address List

Germany

HeadquartersProductionSales

Bruchsal SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 BruchsalP.O. BoxPostfach 3023 • D-76642 Bruchsal

Tel. +49 7251 75-0Fax +49 7251 75-1970http://[email protected]

Service Compe-tence Center

Central SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 1 D-76676 Graben-Neudorf

Tel. +49 7251 75-1710Fax +49 7251 [email protected]

North SEW-EURODRIVE GmbH & Co KGAlte Ricklinger Straße 40-42 D-30823 Garbsen (near Hannover)


East SEW-EURODRIVE GmbH & Co KGDänkritzer Weg 1D-08393 Meerane (near Zwickau)


South SEW-EURODRIVE GmbH & Co KGDomagkstraße 5D-85551 Kirchheim (near München)


West SEW-EURODRIVE GmbH & Co KGSiemensstraße 1D-40764 Langenfeld (near Düsseldorf)


Electronics SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 Bruchsal


Drive Service Hotline / 24 Hour Service +49 180 5 SEWHELP+49 180 5 7394357

Additional addresses for service in Germany provided on request!

France

ProductionSalesService

Haguenau SEW-USOCOME 48-54, route de Soufflenheim B. P. 20185F-67506 Haguenau Cedex

Tel. +33 3 88 73 67 00 Fax +33 3 88 73 66 00http://[email protected]

Production Forbach SEW-EUROCOME Zone Industrielle Technopôle Forbach SudB. P. 30269F-57604 Forbach Cedex

Tel. +33 3 87 29 38 00

AssemblySalesService

Bordeaux SEW-USOCOME Parc d'activités de Magellan62, avenue de Magellan - B. P. 182F-33607 Pessac Cedex

Tel. +33 5 57 26 39 00Fax +33 5 57 26 39 09

Lyon SEW-USOCOME Parc d'Affaires RooseveltRue Jacques TatiF-69120 Vaulx en Velin

Tel. +33 4 72 15 37 00Fax +33 4 72 15 37 15

Paris SEW-USOCOME Zone industrielle 2, rue Denis Papin F-77390 Verneuil I'Etang

Tel. +33 1 64 42 40 80Fax +33 1 64 42 40 88

Additional addresses for service in France provided on request!

A


9Address List

Algeria

Sales Alger Réducom 16, rue des Frères ZaghnounBellevue El-Harrach16200 Alger


Argentina


Buenos Aires SEW EURODRIVE ARGENTINA S.A.Centro Industrial Garin, Lote 35Ruta Panamericana Km 37,51619 Garin

Tel. +54 3327 4572-84Fax +54 3327 [email protected]://www.sew-eurodrive.com.ar

Australia


Melbourne SEW-EURODRIVE PTY. LTD.27 Beverage DriveTullamarine, Victoria 3043


Sydney SEW-EURODRIVE PTY. LTD.9, Sleigh Place, Wetherill Park New South Wales, 2164


Austria


Wien SEW-EURODRIVE Ges.m.b.H. Richard-Strauss-Strasse 24A-1230 Wien

Tel. +43 1 617 55 00-0Fax +43 1 617 55 00-30http://[email protected]

Belarus

Sales Minsk SEW-EURODRIVE BYRybalkoStr. 26BY-220033 Minsk

Tel.+375 (17) 298 38 50Fax +375 (17) 29838 [email protected]

Belgium


Brüssel SEW Caron-Vector S.A.Avenue Eiffel 5B-1300 Wavre


Service Compe-tence Center

Industrial Gears SEW Caron-Vector S.A.Rue de Parc Industriel, 31BE-6900 Marche-en-Famenne


Brazil

ProductionSalesService

Sao Paulo SEW-EURODRIVE Brasil Ltda.Avenida Amâncio Gaiolli, 152 - Rodovia Presi-dente Dutra Km 208Guarulhos - 07251-250 - SPSAT - SEW ATENDE - 0800 7700496


Additional addresses for service in Brazil provided on request!

Bulgaria

Sales Sofia BEVER-DRIVE GmbHBogdanovetz Str.1BG-1606 Sofia

Tel. +359 2 9151160Fax +359 2 [email protected]

Cameroon

Sales Douala Electro-ServicesRue Drouot AkwaB.P. 2024Douala

Tel. +237 33 431137Fax +237 33 431137

95

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Canada


Toronto SEW-EURODRIVE CO. OF CANADA LTD. 210 Walker Drive Bramalea, Ontario L6T3W1


Vancouver SEW-EURODRIVE CO. OF CANADA LTD.7188 Honeyman Street Delta. B.C. V4G 1 E2


Montreal SEW-EURODRIVE CO. OF CANADA LTD.2555 Rue Leger LaSalle, Quebec H8N 2V9


Additional addresses for service in Canada provided on request!

Chile


Santiago de Chile

SEW-EURODRIVE CHILE LTDA.Las Encinas 1295Parque Industrial Valle GrandeLAMPARCH-Santiago de ChileP.O. BoxCasilla 23 Correo Quilicura - Santiago - Chile


China

ProductionAssemblySalesService

Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd.No. 46, 7th Avenue, TEDATianjin 300457

Tel. +86 22 25322612Fax +86 22 [email protected]://www.sew-eurodrive.cn


Suzhou SEW-EURODRIVE (Suzhou) Co., Ltd.333, Suhong Middle RoadSuzhou Industrial ParkJiangsu Province, 215021


Guangzhou SEW-EURODRIVE (Guangzhou) Co., Ltd.No. 9, JunDa RoadEast Section of GETDDGuangzhou 510530


Shenyang SEW-EURODRIVE (Shenyang) Co., Ltd.10A-2, 6th RoadShenyang Economic Technological Develop-ment AreaShenyang, 110141


Wuhan SEW-EURODRIVE (Wuhan) Co., Ltd.10A-2, 6th RoadNo. 59, the 4th Quanli Road, WEDA430056 Wuhan

Tel. +86 27 84478398Fax +86 27 84478388

Additional addresses for service in China provided on request!

Colombia


Bogotá SEW-EURODRIVE COLOMBIA LTDA. Calle 22 No. 132-60Bodega 6, Manzana BSantafé de Bogotá


Croatia

SalesService

Zagreb KOMPEKS d. o. o.PIT Erdödy 4 IIHR 10 000 Zagreb


A


9Address List

Czech Republic

Sales Praha SEW-EURODRIVE CZ S.R.O.Business Centrum Praha Lužná 591CZ-16000 Praha 6 - Vokovice

Tel. +420 255 709 601Fax +420 220 121 237http://[email protected]

Denmark


Kopenhagen SEW-EURODRIVEA/SGeminivej 28-30DK-2670 Greve


Egypt

SalesService

Cairo Copam Egypt for Engineering & Agencies33 EI Hegaz ST, Heliopolis, Cairo

Tel. +20 2 22566-299 + 1 23143088Fax +20 2 22594-757http://www.copam-egypt.com/ [email protected]

Estonia

Sales Tallin ALAS-KUUL ASReti tee 4EE-75301 Peetri küla, Rae vald, Harjumaa

Tel. +372 6593230Fax +372 [email protected]

Finland


Lahti SEW-EURODRIVE OYVesimäentie 4FIN-15860 Hollola 2

Tel. +358 201 589-300Fax +358 3 [email protected]://www.sew-eurodrive.fi

ProductionAssemblyService

Karkkila SEW Industrial Gears OYValurinkatu 6FIN-03600 Karkkila

Tel. +358 201 589-300Fax +358 201 [email protected]://www.sew-eurodrive.fi

Gabon

Sales Libreville Electro-ServicesB.P. 1889Libreville

Tel. +241 7340-11Fax +241 7340-12

Great Britain


Normanton SEW-EURODRIVE Ltd.Beckbridge Industrial Estate P.O. Box No.1GB-Normanton, West- Yorkshire WF6 1QR


Greece

SalesService

Athen Christ. Boznos & Son S.A.12, Mavromichali StreetP.O. Box 80136, GR-18545 Piraeus

Tel. +30 2 1042 251-34 Fax +30 2 1042 251-59http://[email protected]

Hong Kong


Hong Kong SEW-EURODRIVE LTD.Unit No. 801-806, 8th FloorHong Leong Industrial ComplexNo. 4, Wang Kwong Road Kowloon, Hong Kong

Tel. +852 2 7960477 + 79604654Fax +852 2 [email protected]

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Hungary

SalesService

Budapest SEW-EURODRIVE Kft.H-1037 BudapestKunigunda u. 18

Tel. +36 1 437 06-58Fax +36 1 437 [email protected]

India


Vadodara SEW-EURODRIVE India Private LimitedPlot No. 4, GIDCPOR Ramangamdi • Vadodara - 391 243Gujarat

Tel. +91 265 2831086Fax +91 265 2831087http://[email protected]@seweurodriveindia.com

Ireland

SalesService

Dublin Alperton Engineering Ltd. 48 Moyle RoadDublin Industrial EstateGlasnevin, Dublin 11

Tel. +353 1 830-6277Fax +353 1 [email protected]://www.alperton.ie

Israel

Sales Tel-Aviv Liraz Handasa Ltd. Ahofer Str 34B / 22858858 Holon

Tel. +972 3 5599511Fax +972 3 5599512http://[email protected]

Italy


Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s.Via Bernini,14 I-20020 Solaro (Milano)


Ivory Coast

Sales Abidjan SICASte industrielle et commerciale pour l'Afrique165, Bld de MarseilleB.P. 2323, Abidjan 08

Tel. +225 2579-44Fax +225 2584-36

Japan


Iwata SEW-EURODRIVE JAPAN CO., LTD 250-1, Shimoman-no,IwataShizuoka 438-0818


Korea


Ansan-City SEW-EURODRIVE KOREA CO., LTD. B 601-4, Banweol Industrial Estate 1048-4, Shingil-DongAnsan 425-120


Busan SEW-EURODRIVE KOREA Co., Ltd.No. 1720 - 11, Songjeong - dongGangseo-kuBusan 618-270


Latvia

Sales Riga SIA Alas-KuulKatlakalna 11CLV-1073 Riga

Tel. +371 7139253Fax +371 7139386http://[email protected]

A


9Address List

Lebanon

Sales Beirut Gabriel Acar & Fils sarlB. P. 80484Bourj Hammoud, Beirut

Tel. +961 1 4947-86 +961 1 4982-72+961 3 2745-39Fax +961 1 4949-71 [email protected]

Lithuania

Sales Alytus UAB IrsevaNaujoji 19LT-62175 Alytus

Tel. +370 315 79204Fax +370 315 [email protected]://www.sew-eurodrive.lt

Luxembourg


Brüssel CARON-VECTOR S.A.Avenue Eiffel 5B-1300 Wavre


Malaysia


Johore SEW-EURODRIVE SDN BHD No. 95, Jalan Seroja 39, Taman Johor Jaya81000 Johor Bahru, JohorWest Malaysia


Mexico


Queretaro SEW-EURODRIVE MEXIKO SA DE CVSEM-981118-M93Tequisquiapan No. 102Parque Industrial QueretaroC.P. 76220Queretaro, Mexico


Morocco

Sales Casablanca Afit5, rue Emir AbdelkaderMA 20300 Casablanca

Tel. +212 22618372Fax +212 [email protected]

Netherlands


Rotterdam VECTOR Aandrijftechniek B.V. Industrieweg 175 NL-3044 AS RotterdamPostbus 10085NL-3004 AB Rotterdam


New Zealand


Auckland SEW-EURODRIVE NEW ZEALAND LTD. P.O. Box 58-428 82 Greenmount driveEast Tamaki Auckland


Christchurch SEW-EURODRIVE NEW ZEALAND LTD. 10 Settlers Crescent, FerrymeadChristchurch


Norway


Moss SEW-EURODRIVE A/SSolgaard skog 71N-1599 Moss

Tel. +47 69 24 10 20Fax +47 69 24 10 40http://[email protected]

99

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9 ddress List

Peru


Lima SEW DEL PERU MOTORES REDUCTORES S.A.C.Los Calderos, 120-124Urbanizacion Industrial Vulcano, ATE, Lima


Poland


Lodz SEW-EURODRIVE Polska Sp.z.o.o.ul. Techniczna 5 PL-92-518 Łódź


24 Hour Service Tel. +48 602 739 739(+48 602 SEW SEW)

[email protected]

Portugal


Coimbra SEW-EURODRIVE, LDA.Apartado 15 P-3050-901 Mealhada


Romania

SalesService

Bucureşti Sialco Trading SRL str. Madrid nr.4 011785 Bucuresti

Tel. +40 21 230-1328Fax +40 21 230-7170 [email protected]

Russia


St. Petersburg ZAO SEW-EURODRIVE P.O. Box 36 195220 St. Petersburg Russia

Tel. +7 812 3332522 +7 812 5357142Fax +7 812 3332523http://[email protected]

Senegal

Sales Dakar SENEMECA Mécanique GénéraleKm 8, Route de Rufisque B.P. 3251, Dakar

Tel. +221 338 494 770Fax +221 338 494 [email protected]

Serbia

Sales Beograd DIPAR d.o.o.Ustanicka 128aPC Košum, IV floorSCG-11000 Beograd

Tel. +381 11 347 3244 / +381 11 288 0393Fax +381 11 347 [email protected]

Singapore


Singapore SEW-EURODRIVE PTE. LTD. No 9, Tuas Drive 2 Jurong Industrial Estate Singapore 638644

Tel. +65 68621701Fax +65 68612827http://[email protected]

Slovakia

Sales Bratislava SEW-Eurodrive SK s.r.o.Rybničná 40SK-831 06 Bratislava

Tel. +421 2 33595 202Fax +421 2 33595 [email protected]://www.sew-eurodrive.sk

Žilina SEW-Eurodrive SK s.r.o.Industry Park – PChZulica M.R.Štefánika 71SK-010 01 Žilina


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9Address List

Banská Bystrica

SEW-Eurodrive SK s.r.o.Rudlovská cesta 85SK-974 11 Banská Bystrica


Košice SEW-Eurodrive SK s.r.o.Slovenská ulica 26SK-040 01 Košice


Slovenia

SalesService

Celje Pakman - Pogonska Tehnika d.o.o.UI. XIV. divizije 14SLO - 3000 Celje

Tel. +386 3 490 83-20Fax +386 3 490 [email protected]

South Africa


Johannesburg SEW-EURODRIVE (PROPRIETARY) LIMITEDEurodrive House Cnr. Adcock Ingram and Aerodrome RoadsAeroton Ext. 2Johannesburg 2013P.O.Box 90004Bertsham 2013


Capetown SEW-EURODRIVE (PROPRIETARY) LIMITED Rainbow ParkCnr. Racecourse & Omuramba RoadMontague GardensCape TownP.O.Box 36556Chempet 7442 Cape Town

Tel. +27 21 552-9820Fax +27 21 552-9830Telex 576 [email protected]

Durban SEW-EURODRIVE (PROPRIETARY) LIMITED2 Monaceo PlacePinetownDurbanP.O. Box 10433, Ashwood 3605


Spain


Bilbao SEW-EURODRIVE ESPAÑA, S.L. Parque Tecnológico, Edificio, 302E-48170 Zamudio (Vizcaya)


Sweden


Jönköping SEW-EURODRIVE ABGnejsvägen 6-8S-55303 JönköpingBox 3100 S-55003 Jönköping


Switzerland


Basel Alfred lmhof A.G.Jurastrasse 10 CH-4142 Münchenstein bei Basel


Thailand


Chonburi SEW-EURODRIVE (Thailand) Ltd.700/456, Moo.7, DonhuarohMuang Chonburi 20000


Slovakia

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9 ddress List

Tunisia

Sales Tunis T. M.S. Technic Marketing Service5, Rue El Houdaibiah 1000 Tunis

Tel. +216 71 4340-64 + 71 4320-29Fax +216 71 [email protected]

Turkey


Istanbul SEW-EURODRIVE Hareket Sistemleri San. ve Tic. Ltd. Sti. Bagdat Cad. Koruma Cikmazi No. 3 TR-34846 Maltepe ISTANBUL

Tel. +90 216 4419164, 3838014, 3738015Fax +90 216 3055867http://[email protected]

Ukraine

SalesService

Dnepropetrovsk SEW-EURODRIVEStr. Rabochaja 23-B, Office 40949008 Dnepropetrovsk


USA

ProductionAssemblySalesService

Greenville SEW-EURODRIVE INC. 1295 Old Spartanburg Highway P.O. Box 518Lyman, S.C. 29365

Tel. +1 864 439-7537Fax Sales +1 864 439-7830Fax Manuf. +1 864 439-9948Fax Ass. +1 864 439-0566Telex 805 550 http://[email protected]


San Francisco SEW-EURODRIVE INC. 30599 San Antonio St.Hayward, California 94544-7101


Philadelphia/PA SEW-EURODRIVE INC. Pureland Ind. Complex 2107 High Hill Road, P.O. Box 481Bridgeport, New Jersey 08014


Dayton SEW-EURODRIVE INC.2001 West Main Street Troy, Ohio 45373


Dallas SEW-EURODRIVE INC.3950 Platinum Way Dallas, Texas 75237


Additional addresses for service in the USA provided on request!

Venezuela


Valencia SEW-EURODRIVE Venezuela S.A.Av. Norte Sur No. 3, Galpon 84-319Zona Industrial Municipal NorteValencia, Estado Carabobo

Tel. +58 241 832-9804Fax +58 241 838-6275http://[email protected]@cantv.net

A


Index

Index

AAdditional functions................................................68

External encoder monitoring function ................68Fieldbus master monitoring function ..................68Lag error window monitoring function ................68

Adjustment mode ...................................................65Advantages ..............................................................7Application examples ...............................................9Automatic mode ...........................................8, 18, 62Auxiliary axis ..........................................................77

Fields of application ...........................................77Operation ...........................................................89Project planning .................................................79System description.............................................77

Auxiliary drive.........................................................77Fields of application ...........................................77Project planning .................................................79Startup ...............................................................83System description.............................................77

Auxiliary drivesOperation ...........................................................89

BBus installation PROFIBUS DHP11B.....................30

CConnecting system bus (SBus1)............................30Cycle diagrams ......................................................69

Automatic mode .................................................73Emergency mode...............................................75Jog mode ...........................................................70Positioning mode ...............................................72Referencing mode..............................................71

DDetermining the scaling factors

Motor encoder/absolute encoder .......................19virtual encoder ...................................................20

Diagnostics monitor................................................56Documentation

applicable.............................................................6

EEmergency mode.........................................8, 18, 67Exclusion of liability ..................................................6

FFAQs......................................................................93Fault information ....................................................76Fields of application .................................................7Frequently asked questions...................................93Functional description............................................17

GGroup signals.........................................................50

HH variables of the MOVI-PLC®..............................49

IIndirect position control ..........................................12Indirect positioning, functional principle .................10Indirect sychronization ...........................................10Inerter requirements ..............................................16Installation

MotionStudio Software.......................................28

JJog mode .....................................................8, 17, 56

LLimit switches ........................................................20

MMachine zero .........................................................20MotionStudio, Installation.......................................28MOVIDRIVE® MDX61B

Wiring diagram...................................................29MOVI-PLC®

Parameters/H variables .....................................49

OOperation ...............................................................55Operation of auxiliary drives ..................................89

PParameters

Drive Inverter .....................................................50MOVI-PLC®.......................................................49

PLC program, program overview...........................53Positioning mode .........................................8, 17, 60

103

104

Index

Positioning, indirect ................................................10Prerequisites

Motor / gear unit.................................................17Startup ...............................................................31

Process data assignment.......................................21Process input data words.......................................24Process output data words ....................................22PROFIBUS DHP11B, Bus installation....................30Program identification ............................................15Project planning for auxiliary drives .......................79

RReference cams.....................................................20Referencing mode........................................8, 17, 59Requirements

Inverter...............................................................16MOVI-PLC®.......................................................17Software.............................................................16

Right to claim under limited warranty .......................5

SSafe stop................................................................27Safety notes

Structure ..............................................................5Scaling factors for motor encoder/absolute encoder..

19Scaling factors for virtual encoder..........................20Scaling the drive ....................................................19Software limit switches...........................................25Software requirements ...........................................16Starting the drive....................................................55Startup ...................................................................31

MOVIDRIVE® individual axes............................31Preliminary work ................................................31Prerequisites ......................................................31

Startup of auxiliary drives.......................................83Structure of the safety notes ....................................5SyncCrane

Initital screen......................................................34Starting program ................................................33Startup steps......................................................36

Synchronization, indirect ........................................10Synchronous mode ................................................66System bus (SBus1), connection...........................30System description for auxiliary drives...................77

WWiring diagram MOVIDRIVE® MDX61B................29

Manual – MOVI-PLC® Application S
olution "SyncCrane"

SEW-EURODRIVE – Driving the world

How we’re driving the world

With people whothink fast anddevelop thefuture with you.

With a worldwide service network that isalways close at hand.

With drives and controlsthat automaticallyimprove your productivity.

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With uncompromisingquality that reduces thecost and complexity ofdaily operations.

With a global presencethat offers responsive and reliable solutions. Anywhere.

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With online informationand software updates,via the Internet, availablearound the clock.

Drive Technology \ Drive Automation \ System Integration \ Services

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SEW-EURODRIVE GmbH & Co KGP.O. Box 3023 · D-76642 Bruchsal / GermanyPhone +49 7251 75-0 · Fax +49 7251 [email protected]

movi-plc® application solution / manuals – applications ... · 12 manual – movi-plc®...

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