Sew eurodrive mdx61b коды ошибок

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  Drive Technology Drive Automation System Integration Services ® MOVIDRIVE MDX61B DIP11B / DEH21B Absolute Encoder Cards Manual Edition 12/2007 11702613 / EN…
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  SEW-EURODRIVE – Driving the world…

• Page 3: Table Of Contents

  1 General Information ………………..5 Structure of the safety notes …………….5 Right to claim under warranty ……………. 5 Exclusion of liability ………………5 2 Safety Notes ………………….6 Other applicable documentation …………..6 Safety functions ………………… 6 Hoist applications ………………. 6 Product names and trademarks …………..

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  9 Application Example ……………….. 52 Storage and retrieval system with extended positioning via bus….52 10 Error Messages ………………..54 ® 10.1 MOVIDRIVE MDX61B with DIP11B/DEH21B option……… 54 11 Technical Data …………………. 55 11.1 Electronics data DIP11B option …………..55 11.2 Electronics data DIP11B option …………..

• Page 5: General Information

  SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of these operating in- structions. In such cases, any liability for defects is excluded.

• Page 6: Safety Notes

  Safety Notes Other applicable documentation Safety Notes Other applicable documentation • Only electrical specialists are allowed to perform installation and startup observing ® relevant accident prevention regulations and the MOVIDRIVE MDX60B/61B oper- ating instructions: • Read through this publication carefully before you commence installation and startup of the DIP11B/DEH21B options.

• Page 7: System Description

  System Description Areas of application System Description Areas of application ® The DIP11B/DEH21B absolute encoder card options expands the MOVIDRIVE sys- tem to include an SSI connection for absolute encoders. This permits positioning func- plus® tions to be implemented with IPOS that offer the following opportunities: •…

• Page 8: Applicable Absolute Encoders

  System Description Applicable absolute encoders Applicable absolute encoders Connect only those encoders listed in the following table to the DIP11B and the DEH21B option. Manufacturer Encoder designation Order designation Comments Hübner HMG161-S24 H2048 (AH7Y) Rotary encoder Heidenhain ROQ 424 (AV1Y) 586638-82 Rotary encoder Elgo…

• Page 9: Dip11B/Deh21B And Processing In Iposplus

  System Description DIP11B/DEH21B and processing in IPOSplus® plus® DIP11B/DEH21B and processing in IPOS Direct position control with Absolute absolute encoder encoder (case 1) DIP11B DEH21B GO Wait… Profile Position n contr. generator controller plus® IPOS actual program 62681AEN plus® • Direct position control in IPOS by means of the absolute encoder connected via DIP11B/DEH21B option.

• Page 10: Encoder Sensing

  System Description Encoder sensing Processing of the absolute encoder Absolute position in the encoder plus® IPOS pro- DIP11B System gram (case 3) DEH21B variable plus® IPOS program 62683AEN • The position information of the absolute encoder is automatically reflected in an IP- plus®…

• Page 11: Control Functions

  System Description Control functions Control functions • Touch-Probe function Touch probe makes it possible to detect the current position of the absolute encoder with minimum time delay. For example, this makes it possible to register positions very precisely using proximity switch signals and process these positions in the pro- gram.

• Page 12: Assembly/Installation

  NOTES ® • The DEH21B option card can be installed in MOVIDRIVE MDX61B sizes 0 to 6. Only SEW-EURODRIVE staff may install or remove the DEH21B option for ® MOVIDRIVE MDX61B size 0. • The DEH21B option card must be plugged into the encoder slot.

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  Assembly/Installation Mounting the DEH21B option card Basic procedure for installing and removing option cards (MDX61B, sizes 1 to 6) 60039AXX ® Figure 1: Installing an option card in MOVIDRIVE MDX61B sizes 1 to 6 1. Remove the retaining screws holding the card retaining bracket. Pull the card retain- ing bracket out evenly from the slot (do not twist).

• Page 14: Notes For Combining Dip11B With Dio11B

  DIP11B with DIO11B Parameter 61.. effective for DIP11B with or with- out fieldbus card 1) H483 is only documented for compatibility reasons. SEW-EURODRIVE recommends to use the H520 ® variable with MOVIDRIVE Terminal assign- ment of the output Function Option terminals (DO10 …

• Page 15: Connection And Terminal Description Of The Dip11B Option

  Assembly/Installation Connection and terminal description of the DIP11B option Connection and terminal description of the DIP11B option Part number Absolute encoder card option type DIP11B: 824 969 5 NOTE The DIP11B option must be supplied with 24V DC. Observe the ‘Project Planning’ ®…

• Page 16: Connection And Terminal Description Of The Deh21B Option

  Assembly/Installation Connection and terminal description of the DEH21B option Connection and terminal description of the DEH21B option Part number Encoder card option DEH21B: 1820 818 5 NOTE The DC 24 V power supply of an encoder connected to X62 is ensured when X60 is ®…

• Page 17: Dc 24 V Power Supply Of The Dip11B/Deh21B

  Assembly/Installation DC 24 V power supply of the DIP11B/DEH21B DC 24 V power supply of the DIP11B/DEH21B The DIP11B/DEH21B absolute encoder cards must be supplied with DC 24 V at the 24VIN voltage input (DIP11B at X61:9, DEH21B at X60:1) You have the following two options to provide this DC 24 V power supply.

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  Assembly/Installation DC 24 V power supply of the DIP11B/DEH21B Option 2: Exter- DC 24 V power supply via an external 24 V power supply unit. This is necessary when nal power supply • the total load of all outputs of the basic unit and the currently connected options (in- cluding encoder) is more than 400 mA.

• Page 19: Connecting An Absolute Encoder

  Assembly/Installation Connecting an absolute encoder Connecting an absolute encoder General installa- • Max. line length DIP11B/DEH21B option (inverter) — absolute encoder: tion notes 100 m (328 ft) with a capacitance per unit length 120 nF/km (exception: 10 m (33 ft) for Stahl WCS2-LS311, WCS3) •…
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  Assembly/Installation Connecting an absolute encoder Wiring diagram for the Y cable: DIP11B, DEH21B max. 100 m (328 ft) DC 24 V 7 WH 9 WH DC 24 V AV1Y 3 PK 8 PK 8 GY 9 GY 10 BN 5 BN 14 BK 1 BK 6 VT…

• Page 21: Project Planning

  Project Planning Encoder selection Project Planning Encoder selection When selecting the absolute encoder, the following points should be considered to achieve optimum travel characteristics and good dynamic properties in the system: • Position measurement should be conducted without slip. Operate the encoder in positive engagement via toothed belt. Avoid all friction wheel connections.

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  Project Planning Encoder selection Calculation of position resolution with encoder mounted to motor shaft: → i x 4096 / (π x 150 mm) = 217 increments/mm Calculation of position resolution with encoder mounted on the line: → 4096 / (π x 65 mm) = 20 increments/mm Result: The ratio between the position resolution of the motor/track is 10.9 (greater than 8).

• Page 23: Configuring The Encoders

  Project Planning Configuring the encoders Configuring the encoders The following points must be observed in the design and construction of encoders and when setting their parameters: • For all configurable encoders applies: – The interface must be set to «SSI». –…

• Page 24: Startup

  Startup General startup notes Startup General startup notes ® The drive must be started up in conjunction with the MOVIDRIVE MDX61B drive invert- ® er as described in the MOVIDRIVE MDX60B/61B system manual. It must be possible to move the drive using a suitable setpoint and control source. Make sure that •…

• Page 25: Startup With Pc And Movitools

  Startup Startup with PC and MOVITOOLS® ® Startup with PC and MOVITOOLS ® MOVITOOLS software version 4.60 or higher is required for startup with a PC. General informa- • Terminal X13:1 (DIØØ «/CONTROLLER.INHIBIT») must receive a «0» signal! tion ® •…

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  Startup Startup with PC and MOVITOOLS® Commencing • In the «Execute Program» selection field, press the «Shell» button under «Parame- startup ters/Diagnosis». The Shell program is started. • In the Shell program, select [Startup]/[DIP/DEH21B Startup] menu command. 11850AEN Figure 5: Open DIP/DEH21B-startup ®…
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  Startup Startup with PC and MOVITOOLS® New startup of DIP11B/DEH21B 11853AEN Figure 6: Set desired startup • Choose one of the following options and click the [Next] button: – Completely new startup of the DIP11B/DEH21B option card after initial installa- tion, for example –…
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  Startup Startup with PC and MOVITOOLS® Setting the cycle frequency 11854AEN Figure 7: Setting the cycle frequency • Set the cycle frequency at which the DIP11B/DEH21B reads the absolute information of the absolute encoder. 100% cycle frequency corresponds to the nominal frequen- cy.
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  Startup Startup with PC and MOVITOOLS® Select absolute encoder 11859AEN Figure 8: Select absolute encoder • Select the connected absolute encoder from the list of possible encoders. • Click [Next]. Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards…
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  Startup Startup with PC and MOVITOOLS® Choose the incre- ments or user units option 11855AEN Figure 9: Select increment option • Select one of the two options «I would like to use increments» or «I would like to use operation units». Click [Next] to continue. Manual –…
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  Startup Startup with PC and MOVITOOLS® Set the operation range of the encoder 10773AEN Figure 10: Setting the relation between connected encoder and motor encoder • You will have to move the drive by a few motor revolutions to set the relation between connected encoder and motor encoder.
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  Startup Startup with PC and MOVITOOLS® Manual operation 10715AEN Figure 11: Setting reference travel in manual operation • Use buttons [F7=variable speed], [F8=slow speed] or [F9=fast speed] to set the set- point speed. • Set binary input DI00 «/Controller inhibit» to the value «1». •…
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  Startup Startup with PC and MOVITOOLS® plus® Enter IPOS parameters 11240AEN plus® Figure 12: Enter IPOS parameters plus® • Enter all parameters (P910 et seq.) that are important for IPOS programming. The parameters become effective in «…&IPOS» operating mode only. •…
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  Startup Startup with PC and MOVITOOLS® Set parameters for reference travel 10760AEN Figure 13: Set parameters for reference travel • A reference travel is necessary for precise assignment of the absolute encoder value to a mechanical reference point. Enter the necessary parameters (P900 et seq.). Click [Next] to start reference travel.
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  Startup Startup with PC and MOVITOOLS® Start reference travel 10761AEN Figure 14: Start reference travel • If you want to perform reference travel by manual operation, click the [Manual oper- ation] button. The «Manual operation» window opens (→ section «Perform reference travel by manual operation»).
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  Startup Startup with PC and MOVITOOLS® Perform reference travel by manual operation 10762AEN Figure 15: Perform reference travel by manual operation • Set binary input DI00 «/Controller inhibit» to «1». • Use buttons [F2=CCW] and [F3=CW] to set direction of rotation. •…
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  Startup Startup with PC and MOVITOOLS® Identifying the cur- rent absolute posi- tion 10763AEN Figure 16: Enter reference offset as incremental value • Enter the numeric value that the current position is to correspond to in increments in the «Reference offset» entry field. Click [Next] to continue. Manual –…
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  Startup Startup with PC and MOVITOOLS® Saving the DIP/DEH21 parameters 11856AEN Figure 17: Save DIP parameters • Click [Finish] to transmit data to the inverter. This means the initial start is complete. Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards…
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  Startup Startup with PC and MOVITOOLS® Restartup of the If the startup of the DIP11B/DEH21B option has been performed before, the following DIP11B/DEH21B window appears. 11857AEN Figure 18: Restartup of the DIP11B/DEH21B • Select the option «Encoder adjustment with existing DIP/DEH21B startup» (e. g. after replacement of the absolute encoder).
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  Startup Startup with PC and MOVITOOLS® Encoder adjust- ment 10766AEN Figure 19: Encoder adjustment • Select one of the following options, depending on the particular application: – The absolute encoder has been replaced. The position offset was set so that the plus®…
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  Startup Startup with PC and MOVITOOLS® Start reference travel 10767AEN Figure 20: Perform reference travel • If you want to perform reference travel by manual operation, click the [Manual oper- ation] button. The «Manual operation» window opens (→ section «Perform reference travel by manual operation»).
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  Startup Startup with PC and MOVITOOLS® Perform reference travel by manual operation 10768AEN Figure 21: Perform reference travel by manual operation • Set binary input DI00 «/Controller inhibit» to the value «1». • Use buttons [F2=CCW] and [F3=CW] to set direction of rotation. •…

• Page 43: Manual Startup

  T&R LA41K • Elgo LIMAX2 You must check whether other encoders are suitable and released for use by SEW-EURODRIVE. Set P35x Direc- Move the drive in the positive direction at low speed. If the actual position P003 counts tion of motor…

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  Startup Manual startup Set P955 Encoder Set P955 to «1» if there is no motor encoder (no speed control). The position information scaling from the absolute encoder is multiplied by this value. The parameter is set so the travel information ratio between the motor encoder and the absolute encoder is as close to «1» as possible.
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  Startup Manual startup ® If there is no motor encoder installed (no speed control by MOVIDRIVE ), we recom- mend that you at least make an estimation of the relationship between encoder resolu- tion and motor revolution. Use a value of 4,096 increments per motor revolution for the motor encoder.

• Page 46: Unit Functions

  Unit Functions Encoder evaluation Unit Functions Encoder evaluation All connected encoders are always evaluated regardless of the operating mode (P700). Operating modes with positioning (VFC-n-Reg. & IPOS, CFC & IPOS, SERVO & IPOS) always require a motor encoder at X15. The actual positions can be evaluated with the touch-probe function.

• Page 47: Display Values

  Unit Functions Display values Reference travel NOTE The reference travel and the associated parameters P900 … P903 as well as the reference travel commands refer to the motor position (X15) and therefore to the motor encoder. The message «Axis referenced» refers to a referencing of the motor position. plus®…

• Page 48: Diagnostics Option In The Shell Program

  Unit Functions Diagnostics option in the Shell program Diagnostics option in the Shell program You have the option to display the current program status (such as the current actual position of the absolute encoder). Proceed as follows: In Shell, open the menu item [Display]/[IPOS Information]. 11242AEN The window [IPOS status display] opens.

• Page 49: Ipos Plus®

  P6.. IPOSplus® Parameters Parameter description P60. P600 plus® IPOS Parameters Parameter description plus® The following is a description of the IPOS parameters. The factory setting is indi- cated by underline. P072 Option/firm- Displays the encoder card currently installed in the encoder slot and the program ver- ware encoder slot sion.

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  P6.. IPOSplus® Parameters Parameter description P60. P600 P950 Encoder The absolute encoder connected to the DIP11B/DEH21B option at X62 is selected. At type present, encoders can be selected from the following list: • VISOLUX EDM • T&R CE65, CE58, CE100 MSSI •…
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  P6.. IPOSplus® Parameters Parameter description P60. P600 P954 Zero offset Setting range: –(2 –1) … 0 … 2 –1 Zero offset is used for assigning the value you want to a specific position. The range of values can adopt positive or negative position values. The maximum valid parameter must not be exceeded.

• Page 52: Application Example

  Application Example Storage and retrieval system with extended positioning via bus Application Example Storage and retrieval system with extended positioning via bus The «Extended positioning via bus» application module is particularly suited to applica- tions in which it is necessary to move to any number of positions at different speeds and with different acceleration ramps.

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  Application Example Storage and retrieval system with extended positioning via bus Operating modes The functions are implemented with three operating modes: • Jog mode – The drive is moved clockwise or counter clockwise via bit 9 or 10 in the control word (PO1).

• Page 54: Error Messages

  Error Messages MOVIDRIVE® MDX61B with DIP11B/DEH21B option Error Messages ® 10.1 MOVIDRIVE MDX61B with DIP11B/DEH21B option The factory set error response appears in the «Response (P)» column. (P) indicates that plus® the response is programmable (via IPOS Sub- Fault Response Designation error Designation…

• Page 55: Technical Data

  Technical Data Electronics data DIP11B option Technical Data 11.1 Electronics data DIP11B option Description Function Connection binary inputs X60:1 … 8 DI10 … DI17 isolated via optocoupler, scanning time 1 ms, PLC compatible (EN 61131) Internal resistance = 3 kΩ, I = 10 mA Signal level (EN 61131) «1»…

• Page 56: Index

  Index Index Mounting the DEH21B ……… 12 Mounting the DIP11B ……..12 Absolute encoder connection Terminal description of DEH21B ….16 General installation notes ……19 Terminal description of DIP11B ….15 Wiring diagrams and prefabricated cables …19 Installing and removing option cards ….13 Applicable absolute encoders …….8 IPOSplus®…

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  Index Terminal description of DEH21B ……16 Terminal description of DIP11B ……15 Unit functions …………46 Diagnostics option in the Shell program ..48 Display values ……….47 Encoder evaluation ……..46 Functions relevant for absolute encoders ..46 Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards…
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  SEW-EURODRIVE – Driving the world…
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  Internet, available Anywhere. today. around the clock. SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 · D-76642 Bruchsal / Germany Phone +49 7251 75-0 · Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com…

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  Drive Technology Drive Automation System Integration Services Manual ® MOVIDRIVE MDX61B Automotive AMA0801 Application Module Edition 04/2009 16629612 / EN…
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  SEW-EURODRIVE—Driving the world…

• Page 3: Table Of Contents

  1 General Notes ………………….5 Structure of the safety notes …………….5 Right to claim under warranty ……………. 5 Exclusion of liability ………………5 Copyright………………….6 Other applicable documentation …………..6 2 System Description………………..7 Areas of application ………………7 Application examples ………………

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  6 Operation and Service ………………70 Starting the drive ………………70 6.1.1 Operating modes with variable setpoint selection……71 6.1.2 Operating modes with binary setpoint specification……72 Referencing mode………………73 Jog mode ………………… 74 Teach operation (binary setpoint selection) ……….75 Cycle diagrams ………………..

• Page 5: General Notes

  General Notes Structure of the safety notes General Notes Structure of the safety notes The safety notes in this manual are structured as follows: Pictogram SIGNAL WORD Type and source of danger. Possible consequence(s) if the safety notes are disregarded. •…

• Page 6: Copyright

  General Notes Copyright Copyright © 2008 — SEW-EURODRIVE. All rights reserved. Copyright law prohibits the unauthorized duplication, modification, distribution, and use of this document, in whole or in part. Other applicable documentation • This manual does not replace the detailed operating instructions and the correspond- ing manuals.

• Page 7: System Description

  System Description Areas of application System Description Areas of application The «Automotive AMA0801» application module makes it possible to implement lifting devices, conveyor systems and machinery with drives that have to move at a synchro- nous angle to one another occasionally or permanently. The «Automotive AMA0801″…

• Page 8: Application Examples

  System Description Application examples Application examples The «Automotive AMA0801» application module offers a wide range of possible applica- tions. Some examples are given in this section. Finite (linear) Example 1: Lifting device with smooth component transfer (with binary setpoint specifi- movement of the cation) master and slave…

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  System Description Application examples Example 3: Gantry crane with slip compensation through absolute encoder evaluation Master Slave 57039AXX • Master axis: Linear axis Operating mode: Positioning mode using additional absolute encoder (IPOS encod- • Slave axis: Linear axis Operating mode: Synchronous operation using an additional absolute encoder •…

• Page 10: Project Planning

  Project Planning Prerequisites Project Planning Prerequisites plus® PC and software The «Automotive AMA0801» application module is implemented as IPOS program ® and is part of the SEW MOVITOOLS MotionStudio software package from version ® 5.5x. To run MOVITOOLS MotionStudio, you need a PC with one of the following op- ®…

• Page 11: Functional Description

  Project Planning Functional description Functional description Functional char- The «Automotive AMA0801» application module offers the following functional charac- acteristics teristics: • Jog mode The drive is moved clockwise or counterclockwise using two bits for direction selec- tion. When activating variable setpoint specification, you can change velocity and ramp via fieldbus during ongoing movement.

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  Project Planning Functional description • Binary setpoint specification – Fieldbuses with 6 process data words are supported. – Up to 16 target positions are selected by requesting a table position. – Each target position is fed back as an individual bit. The following applies: Position n + position window >…

• Page 13: Scaling Of The Drive

  Project Planning Scaling of the drive The following steps are carried out each time the inverter re-enters position control: – Check whether the actual position is located within one of the stored table posi- tions. Search always begins from table position 0 to 15 and is aborted as soon as the first valid position is found.

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  Project Planning Scaling of the drive Drive with exter- In this case, you must have activated and scaled the external encoder before starting nal encoder (non- up the «AMA0801» application module. To do so, make the following settings in the Shell positive connec- program before starting the Automotive AMA0801 application module (siehe following tion)

• Page 15: Limit Switches, Reference Cams And Machine Zero

  Project Planning Limit switches, reference cams and machine zero Limit switches, reference cams and machine zero Note the following points during project planning: • The software limit switches must be located within the travel range of the hardware limit switches. •…

• Page 16: Process Data Assignment

  Project Planning Process data assignment Process data assignment The higher-level controller (PLC) sends 6 process output data words via fieldbus (PO1 … PO6) to the inverter and receives six process input data words (PI1 … PI6) from the inverter. 56163AXX Figure 1: Data exchange via 6 process data 3.5.1 Assignment of process output data in the «variable setpoint specification»…

• Page 17: Assignment Of Process Input Data In The «Variable Setpoint Specification» Operating Mode

  Project Planning Process data assignment 3.5.2 Assignment of process input data in the «variable setpoint specification» operating mode • PI1: Status word 15 14 13 12 11 10 9 Inverter status/fault code Drive synchronous Inverter ready IPOS reference (= drive referenced) Target position reached Brake released Fault/warning…

• Page 18: Assignment Of Process Output Data In The «Binary Setpoint Specification» Operating Mode

  Project Planning Process data assignment 3.5.3 Assignment of process output data in the «binary setpoint specification» operating mode • PO1: Control word 2 15 14 13 12 11 10 9 /SWLS off Controller inhibit/Enable SyncOffset Enable/Rapid stop Mode 2 Enable/stop Mode 2 Reserved Ramp scaling…

• Page 19: Assignment Of Process Input Data In The «Binary Setpoint Specification» Operating Mode

  Project Planning Process data assignment 3.5.4 Assignment of process input data in the «binary setpoint specification» operating mode • PI1: Status word 15 14 13 12 11 10 9 Inverter status/fault code Drive synchronous Inverter ready IPOS reference (= drive referenced) Target position reached Brake released Fault/warning…

• Page 20: Assignment Of Binary Inputs And Outputs On Movidrive ® B

  Project Planning Process data assignment ® 3.5.5 Assignment of binary inputs and outputs on MOVIDRIVE Binary input Assignment X13:1 (DI00) /Controller inhibit X13:2 (DI01) Enable/Stop X13:3 (DI02 Error reset X13:4 (DI03) Reference cam X13:5 (DI04) /LIM. SWITCH CW X13.6 (DI05) /LIM.

• Page 21: Software Limit Switches

  Project Planning Software limit switches Software limit switches General informa- The «software limit switch» monitoring function is used to check that the target position tion is set to appropriate values. During this process, it is not important where the drive is positioned.

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  Project Planning Software limit switches drive can move past the software limit switches during reference travel. Example 2 • Requirements: – Bit 15 «/SWLS» in the process output data word 1 (PO1) is not set. – The drive is outside the software limit switches. 11120AEN The following error message appears once the drive is enabled: 10983AEN…

• Page 23: Safe Stop

  Project Planning Safe stop Example 3 • Prerequisite: – Bit 15 «/SWLS» in the process output data word 1 (PO1) is set. 11121ADE The monitoring function is deactivated in «Jog mode» and «Referencing mode». The drive can be moved within the travel area of the software limit switches and from the valid positioning range into the area of the software limit switches without an error message being generated.

• Page 24: Functions

  Project Planning Functions Functions 3.8.1 «Position monitoring» function The «Position monitoring» function is to monitor the travel profile during the positioning process. Unintended operating statuses that result in the target position being exceeded are detected and an according error response is triggered. Prerequisites •…

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  Project Planning Functions • Enable signal briefly deactivated before reaching the target One lose input terminal (wiring error) e,g, X13.1 «enable» results in single uninten- tional speed reductions during the positioning process.. The deceleration of the drive is triggered via the stop ramp. If the rive is in «Standstill», the operator receives a «No enable»…
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  Project Planning Functions • Enable sign is briefly removed with the deceleration ramp already triggered (position monitoring = off) The following effect might occur when the enable signal is removed with the decel- eration ramp already triggered and the position monitoring deactivated: The drive exceeds the target position, reverses and moves to the target position with- out an error message.
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  Project Planning Functions • Enable sign is briefly removed with the deceleration ramp already triggered (position monitoring = on) Whenever the enable terminal is connected, the activated position monitoring checks whether the target position can still be approached directly with the calculated travel profile (no error) or whether it would be exceeded (error) A suitable error response will abort the positioning process and generate an error message.

• Page 28: Smooth Component Transfer» Function

  Project Planning Functions 3.8.2 «Smooth component transfer» function The «smooth component transfer» function is implemented for startup in the «binary set- point specification» mode. • Smooth component transfer without offset f(x) v [m/s] 63440AXX Start of the positioning movement [2], [4] Travel at setpoint speed «Smooth component transfer»…

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  Project Planning Functions Prerequisite • Axis is referenced • Selected positioning operating mode: – Bidirectional smooth component transfer – Positive smooth component transfer – Negative smooth component transfer • The position where smooth component transfer takes place is within the start and tar- get position Functional By selecting one of the following operation modes…

• Page 30: Cam Controller» Function

  Project Planning Functions 3.8.3 «Cam controller» function The «cam controller» function is implemented for startup in the «binary setpoint specifi- cation» mode. Prerequisite • Axis is referenced • Inverter is ready for operation Functional Output cams are mirrored to process output data word 5 (PO5) via IPOS encoder status description queries.

• Page 31: Automatic Alignment» Function

  Project Planning Functions 3.8.4 «Automatic alignment» function The «automatic adjustment» function is implemented for startup in the «binary setpoint specification» mode. Prerequisite • «Automatic adjustment» function was activated in AMA0801 during startup. • Axis is referenced • Inverter is ready for operation •…

• Page 32: Correction Value» Function

  Project Planning Functions 3.8.5 «Correction value» Function The «correction value» function is implemented for startup in the «binary setpoint speci- fication» mode. Prerequisite • Axis is referenced • Inverter is ready for operation Functional Using the «correction value» function allows for correcting the setpoint positions stored description in the table by a variable correction value (adding the correction value to the table value).

• Page 33: Installation

  Installation MOVITOOLS® MotionStudio Installation ® MOVITOOLS MotionStudio ® MOVITOOLS The «AMA0801» application module is available in MOVITOOLS MotionStudio from ® ® MotionStudio version 5.5x. Proceed as follows to install MOVITOOLS MotionStudio on your comput- ® • Insert the MOVITOOLS MotionStudio CD into the CD-ROM drive of your PC. ®…

• Page 34: Mdx61B Master (No Synchronous Operation) Wiring Diagram

  Installation MOVIDRIVE® MDX61B master (no synchronous operation) wiring diagram ® MOVIDRIVE MDX61B master (no synchronous operation) wiring diagram ® MOVIDRIVE MDX61B X12: DGND System bus Reference SC11 System bus High SC12 System bus Low X13: /Controller inhibit DIØØ Enable/Rapid stop DIØ1 DIØ2 Reset…

• Page 35: Movidrive® Mdx61B Bus Installation

  Installation MOVIDRIVE® MDX61B bus installation ® MOVIDRIVE MDX61B bus installation Overview For bus installation, comply with the information in the relevant fieldbus manuals sup- ® plied with the fieldbus interfaces. Refer to the MOVIDRIVE MDX60B/61B operating in- structions for information on installing the system bus (SBus). DFP21B DFI 21B DFE 11B…

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  Installation MOVIDRIVE® MDX61B bus installation ® PROFIBUS For more detailed information, refer to the «MOVIDRIVE MDX61B Fieldbus interface (DFP21B) DFP21B PROFIBUS DP» manual. This manual can be ordered from SEW-EURODRIVE. You can download the unit master data files (GSD) and type files ®…
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  Installation MOVIDRIVE® MDX61B bus installation ® INTERBUS with For more detailed information, refer to the «MOVIDRIVE MDX61B Fieldbus Interface fiber optic cable DFI21B INTERBUS with Fiber Optic Cable» manual. You can order this manual from (DFI21B) SEW-EURODRIVE. Technical Data Option INTERBUS fieldbus interface type DFI21B (FO) Part number 824 311 5…
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  Installation MOVIDRIVE® MDX61B bus installation ® INTERBUS For more detailed information, refer to the «MOVIDRIVE MDX61B Fieldbus Interface (DFI11B) DFI11B INTERBUS» manual. This manual can be ordered from SEW-EURODRIVE. Technical Data Option INTERBUS fieldbus interface type DFI11B Part number 824 309 3 DFI 11B ®…
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  Installation MOVIDRIVE® MDX61B bus installation CANopen For detailed information, refer to the «Communication» manual, which can be ordered (DFC11B) from SEW-EURODRIVE. Technical Data Option CANopen fieldbus interface type DFC11B Part number 824 317 4 DFC 11B ® Resources for startup and diagnostics MOVITOOLS MotionStudio software and DBG60B keypad Setting using parameter P894:…
• Page 40
  Installation MOVIDRIVE® MDX61B bus installation ® DeviceNet For more detailed information, refer to the «MOVIDRIVE MDX61B Fieldbus Interface (DFD11B) DFD11B DeviceNet» manual. This manual can be ordered from SEW-EURODRIVE. ® You can download the EDS files for MOVIDRIVE MDX61B from the SEW homepage (under the heading «Software») to facilitate startup.
• Page 41
  Installation MOVIDRIVE® MDX61B bus installation ® Ethernet For more detailed information, refer to the «MOVIDRIVE MDX61B Fieldbus Interface (DFE11B) DFE11B Ethernet» manual. This manual can be ordered from SEW-EURODRIVE. Technical Data Option Ethernet fieldbus interface type DFE11B Part number 1820 036 2 DFE 11B ®…

• Page 42: Connecting The System Bus (Sbus 1)

  Installation Connecting the system bus (SBus 1) Connecting the system bus (SBus 1) Only if P816 «SBus baud rate» = 1000 kbaud: ® ® Do not combine MOVIDRIVE compact MCH4_A units with other MOVIDRIVE units in the same system bus combination. The units may be combined at baud rates ≠…

• Page 43
  Installation Connecting the system bus (SBus 1) Terminating resis- • Switch on the system bus terminating resistor (S12 = ON) at the start and end of the system bus connection. Switch off the terminating resistor on the other units (S12 = OFF).

• Page 44: Startup

  Startup General prerequisites Startup General prerequisites Correct project planning and installation are the prerequisites for successful startup. Re- ® fer to the MOVIDRIVE MDX60/61B system manual for detailed project planning infor- mation. Check the installation, the encoder connection and the installation of the fieldbus inter- ®…

• Page 45: Starting The «Ama0801» Program

  Startup Starting the «AMA0801» program Starting the «AMA0801» program ® General Informa- • Start MOVITOOLS MotionStudio. tion • From the «Automotive» folder, select the file <AMA0801> (see figure below). 11942AEN Figure 10: Start the «AMA0801» program Manual – MOVIDRIVE® MDX61B Automotive AMA 0801 Application Module…

• Page 46
  Startup Starting the «AMA0801» program Initial screen The initial screen of the «Automotive AMA0801» application opens (see figure below). 11943AEN Figure 11: Initial screen of the AMA0801 application • To commence startup of the «Automotive AMA0801» application, click the <Startup> button.
• Page 47
  Startup Starting the «AMA0801» program Fieldbus parame- ters and drive configuration 11944AEN Figure 12: Fieldbus parameters and drive configuration Make the following settings in this window: • Setting fieldbus parameters: Set the required fieldbus parameters. Fixed parame- ters are grayed out and cannot be changed. If a fieldbus interface (DFP, DFI, DFC, DFD or DFE) is plugged into the fieldbus slot, then PROFIBUS, INTERBUS, INTERBUS with FO, CANopen, DEVICENET or ETH- ERNET can also be selected.
• Page 48
  Startup Starting the «AMA0801» program • Master/slave configuration (drive configuration) Only one drive is allowed to be started up as the master in a group of several ® MOVIDRIVE MDX61B drive inverters. Applications with variable master/slave rela- tionships are not supported. –…
• Page 49
  Startup Starting the «AMA0801» program Setting the dis- You can set the scaling factors for distance and speed in this window. tance and veloc- ity scaling factors 11945AEN Figure 13: Setting distance and velocity scaling factors Make the following settings in this window: •…
• Page 50
  Startup Starting the «AMA0801» program Calculating the • Example 1: Motor encoder or absolute encoder on the motor shaft (source ac- scaling factors tual position) – Choose the unit you require in the selection field «Diameter of driving wheel» or «Spindle pitch»…
• Page 51
  Startup Starting the «AMA0801» program Converting the dis- The scaling factor for distance (increments / distance) is used to determine the user trav- tance resolution el unit (e.g. mm, revolutions, ft). For positioning with a motor encoder, the scaling factor into user units for distance can be calculated automatically.
• Page 52
  Startup Starting the «AMA0801» program If the numerator (pulses) or denominator (distance) are non-integer values, the conver- sion can be made more accurate if both numerator and denominator are multiplied by the same expansion factor (e.g. 10, 100, 1000, etc.). Doing so will not limit the travel range.
• Page 53
  Startup Starting the «AMA0801» program Setting the limits You can use this window to set the limits for travel range and velocity. 11946AEN Figure 14: Setting limits • «Limit switches» group box – «Software limit switch CCW/CW» edit boxes Enter the travel range between software limit switches CCW/CW. If you enter the value «0», the monitoring function is disabled.
• Page 54
  Startup Starting the «AMA0801» program field. – «Maximum velocity in jog mode» edit box You can limit the jog speed specified by PO4 by entering a value into this field. – «Maximum velocity of the speed controller» edit box Enter a value at least 10% higher than the maximum positioning or jog speed. In addition, the limit values are converted into user units and displayed.
• Page 55
  Startup Starting the «AMA0801» program • «Smooth component transfer offset» edit box. If the offset value is set to 0, the speed will be reduced up to standstill. Increasing the offset value means increasing the speed at the ‘smooth component transfer’ position. •…
• Page 56
  Startup Starting the «AMA0801» program Cam controller 11948AEN Figure 16: Cam controller You can define the output level of the cam by entering the cam position: • Cam CCW < cam CW In the cam area, the output bit is set to TRUE •…
• Page 57
  Startup Starting the «AMA0801» program Synchronous In this window, you configure the slave interface. operation inter- face slave 12011ADE Figure 17: Configuring the slave interface The following settings are required in the «Slave interface» section: • «Setpoint position input» selection field You can choose from the following options: –…
• Page 58
  Startup Starting the «AMA0801» program – «Virtual master encoder» option The master value of the master drive is simulated by the virtual encoder simula- tion. In «synchronous mode», the relevant values for target position (PO2 and PO3), set speed (PO4) and acceleration (PO5) are transferred using process out- put data words PO2 to PO5.
• Page 59
  Startup Starting the «AMA0801» program • «Calculate» button The scaling factors determined from the specified values are displayed in the «Scal- ing factor master / slave/ display fields. The following settings are required in the «Synchronization process» section: • «Synchronization speed» edit box Enter the maximum speed setpoint for synchronization with the master drive.
• Page 60
  Startup Starting the «AMA0801» program tor. – «SBus connection via X12» option The actual value is transferred via SBus This variant is used, for example, in a system prone to slip (IPOS encoder = ext. encoder, or absolute encoder, or sev- eral drive slaves).
• Page 61
  Startup Starting the «AMA0801» program Monitoring func- tions 12128AEN Figure 19: Monitoring functions • «Automatic adjustment» selection field Set to «Yes»: Automatic adjustment (independent of the specified position) is active. With a binary setpoint selection, you can use this function to track the internal target position of the position control.
• Page 62
  Startup Starting the «AMA0801» program • «Position monitoring» selection field Set to «Yes»: Position monitoring activated. The position monitoring is to monitor the travel profile during positioning processes. Unintended operating statuses that result in the target position being exceeded are detected and the «Emergency stop/mal- function error response is triggered.
• Page 63
  Startup Starting the «AMA0801» program Download Click <Download> when you have entered all the parameters you require. The data is loaded into the inverter. Startup is now complete. 11954AEN Figure 20: Downloading data The following functions are performed during download: plus®…

• Page 64: Parameters And Ipos Plus® Variables

  Startup Parameters and IPOSplus® variables plus® Parameters and IPOS variables plus® The following parameters and IPOS variables are set automatically during startup and are loaded into the inverter during the download. D = Display Parameter number P… Description S = Setting plus®…

• Page 65
  Startup Parameters and IPOSplus® variables D = Display Parameter number P… Description S = Setting plus® IPOS variable H… R = Reserved Scaling of the drive P941 Actual position source for position S = IPOS encoder control H010 REM_ScalingType S = 0: Diameter Scaling of the drive S = 1: Spindle pitch H011…
• Page 66
  Startup Parameters and IPOSplus® variables D = Display Parameter number P… Description S = Setting plus® IPOS variable H… R = Reserved Binary setpoints (skip window if variable process data processing was selected) REM_SpeedAuto_1 S = rpm Speed 1 positioning mode REM_SpeedAuto_2 S = rpm Speed 2 positioning mode…
• Page 67
  Startup Parameters and IPOSplus® variables D = Display Parameter number P… Description S = Setting plus® IPOS variable H… R = Reserved Cam controller (skip window if variable process data processing was selected) REM_Cam_1_Min S = limit value CCW limit cam 1 in user Cam 1 CCW limit units REM_Cam_1_Max…
• Page 68
  Startup Parameters and IPOSplus® variables D = Display Parameter number P… Description S = Setting plus® IPOS variable H… R = Reserved REM_Cam_14_Max S = limit value CCW limit cam 14 in user Cam 14 CW limit units REM_Cam_15_min S = limit value CCW limit cam 15 in user Cam 15 CCW limit units REM_Cam_15_Max…
• Page 69
  Startup Parameters and IPOSplus® variables D = Display Parameter number P… Description S = Setting plus® IPOS variable H… R = Reserved ISYNC-2 (skip window if master/slave configuration is not «2») P240 Synchronization speed S = rpm P241 Synchronization ramp S = ms P228 Precontrol filter DRS…

• Page 70: Operation And Service

  Operation and Service Starting the drive Operation and Service Starting the drive Following the download, switch to the «AMA0801» application module monitor by select- ing «Yes.» (see figure below). 11955AEN Figure 21: Monitor of the AMA0801 application module Select the operating mode as follows: •…

• Page 71: Operating Modes With Variable Setpoint Selection

  Operation and Service Starting the drive 6.1.1 Operating modes with variable setpoint selection PO1:11 PO1:12 PO1:13 Operating mode Mode 2 Mode 2 Mode 2 Jog mode Referencing mode Positioning mode Synchronous operation • Jog mode Once you have selected the direction of rotation, the single axis can be moved in jog mode.

• Page 72: Operating Modes With Binary Setpoint Specification

  Operation and Service Starting the drive 6.1.2 Operating modes with binary setpoint specification PO1:11 PO1:12 PO1:13 Operating mode Mode 2 Mode 2 Mode 2 Jog mode Referencing mode Positioning mode with smooth component trans- Synchronous operation Reserved Teach mode Positioning mode with smooth component transfer in positive direction Positioning mode with smooth component transfer in negative direction…

• Page 73: Referencing Mode

  Operation and Service Referencing mode Referencing mode Mode selection • PO1:11 = «1» • PO1:12 = «0» • PO1:13 = «0» Prerequisite The operating mode is selected and start is set The drive is in enabled condition (excep- tion: reference travel type Operating princi- Reference travel is triggered via PO1:8 «Start».

• Page 74: Jog Mode

  Operation and Service Jog mode Jog mode Mode selection • PO1:11 = «0» • PO1:12 = «0» • PO1:13 = «0» Prerequisite The operating mode is selected and the drive is enabled. Operating princi- The direction is selected via PO1:9 «Jog +» or PO1:10 «Jog». If the CW software limit switch is set to a higher value than the CCW software limit switch, the travel range will be limited up to 3 position windows before the corresponding software limit switch.

• Page 75: Teach Operation (Binary Setpoint Selection)

  Operation and Service Teach operation (binary setpoint selection) Teach operation (binary setpoint selection) Mode selection • PO1:11 = «1» • PO1:12 = «0» • PO1:13 = «1» Strobe • PO1:8 edge change «FALSE» – «TRUE» – «FALSE» Start • PO1:8 edge change (delayed by 100 ms) «FALSE» – «TRUE» – «FALSE» Teach position •…

• Page 76: Cycle Diagrams

  Operation and Service Cycle diagrams Cycle diagrams The following conditions apply to the cycle diagrams: • Startup has been performed correctly • DIØØ «/CONTROLLER INHIBIT» = «1» (no lock) • DIØ1 «ENABLE/STOP» = «1» With control via fieldbus/system bus, you must set the following bits in control word PO1: •…

• Page 77
  Operation and Service Cycle diagrams Referencing mode [3] [4] PA1:8 50ms PA1:11 PA1:12/13 DIO3: PE1:2 n [1/min] P901 P902 P902 54964CXX Figure 23: Cycle diagram: Referencing mode PO1:8 Start PO1:11 Mode low PO1:12 Mode middle PO1:13 Mode high DI03 Reference cam PI1:2 IPOS reference Start of reference travel (reference travel type 2)
• Page 78
  Operation and Service Cycle diagrams Positioning mode 50ms PA1:8 PA1:11/13 PA1:12 PE1:3 n [1/min] 56250CXX Figure 24: Cycle diagram: positioning mode PO1:8 = Start PO1:11 = Mode low PO1:12 = Mode middle PO1:13 = Mode high PI1:3 = Target position reached = Automatic absolute selected = Start positioning (target position = PA3) = Target position reached…
• Page 79
  Operation and Service Cycle diagrams Moving clear of Once a hardware limit switch (DI04 = «0» or DI05 =»0″) has been reached, the bit PI1:5 hardware limit «Fault» is set and the drive comes to a standstill using an emergency stop. switches Proceed as follows to move the drive clear of the limit switch: •…

• Page 80: Error Information

  Operation and Service Error information Error information The error memory (P080) stores the last five error messages (errors t-0…t-4). The error message of longest standing is deleted whenever more than five error messages have occurred. The following information is stored when a malfunction occurs: «Error occurred», «status of the binary inputs/outputs», «operating status of the inverter», «inverter status», «heat sink temperature», «speed», «output current», «active current», «unit utilization», «DC link voltage», «ON hour», «enable hours», «parameter set», «motor…

• Page 81: Error Messages

  Operation and Service Error messages Error messages Error message The fault code is shown in a 7-segment display. The following display sequence is used via 7-segment (e.g. fault code 100): display Flashes, ca. 1 s Display off, ca. 0.2 s Hundreds (if available), ca.

• Page 82
  Operation and Service Error messages Error list The factory set error response appears in the «Response (P)» column. (P) indicates that plus® the response is programmable (via P83_error response or with IPOS ). In the event of error 108, (P) indicates that the response can be programmed via P555 DCS error response In the event of error 109, (P) indicates that the response can be programmed via P556 DCS alarm response Error…
• Page 83
  Operation and Service Error messages Error Suberror Response Code Designation Code Designation Possible cause Measure: Encoder not connected, defective encoder, defec- tive encoder cable Encoder fault X15 — speed range exceeded. Encoder at X15 turns faster than 6542 rpm. Encoder fault X15 — defec- tive card Error in the quadrant eval- uation.
• Page 84
  Operation and Service Error messages Error Suberror Response Code Designation Code Designation Possible cause Measure: • Check encoder connection • Extend ramps • Set P component to higher • Encoder connected incor- value rectly • Reset speed controller • Acceleration ramps too parameters short •…

• Page 85: Index

  Index Index Acknowledging error messages (reset) ….80 Jog mode …………74 Application example Finite (linear) movement of the master and Moving clear of hardware limit switches ….. 79 slave axis ………..8 Areas of application of the AMA0801 application module …………..7 Operating modes with variable setpoint selection ………….

• Page 86
  Index ……….47 System description ……….7 Teach operation (binary setpoint selection) ..75 Technology version ……….33 Wiring diagram MDX 61B master (no synchronous operation) ……..34 Manual – MOVIDRIVE® MDX61B Automotive AMA0801 Application Module…
• Page 88
  SEW-EURODRIVE—Driving the world SEW-EURODRIVE Driving the world SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 D-76642 Bruchsal/Germany Phone +49 7251 75-0 Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com…

Diagnostics

9

Error and alarm messages

9.2.1

106

INFORMATION

If you receive error messages that are not described here, proceed as follows:

•

Under what circumstances did the error occur?

•

Save the current configuration set

•

Document the error code and the suberror code

•

Contact SEW-EURODRIVE Service

Fatal error code

F1001, error 108, subcode 001

Error message

Configuration data not loaded correctly to option DCS..B.

Cause

Connection interrupted while loading the program to the DCS..B option.

Remedy

Reload the configuration files. Then switch the DCS..B off and on again.

Fatal error code

F1003, error 108, subcode 002

Error message

Invalid configuration data for software version of the DCS..B option.

Cause

Option DCS..B was configured using a wrong software version.

Remedy

Parameterize the DCS..B option with the permitted MOVISAFE

Next, switch DCS..B option off and on again.

Fatal error code

F1007, error 108, subcode 003

Error message

Unit was programmed with incorrect software interface.

Cause

Program or configuration data was loaded into the unit with an incorrect MOVISAFE

software.

Remedy

Check the DCS..B version and parameterize it again using a valid MOVISAFE

ware. Then switch the DCS..B option off and on again.

Fatal error code

F1401/1402, error 108, subcode 019/020

Error message

Error while calculating configuration data.

Remedy

Replace the DCS..B option and send it together with error number to SEW Service for

further inspection.

Fatal error code

F1403/1404, error 108, subcode 021/022

Error message

CRC of configuration data invalid.

Cause

Configuration data have not been uploaded correctly.

Remedy

Upload configuration data into unit.

Fatal error code

F1405/1406, error 108, subcode 023/024

Error message

Error during internal transmission of configuration data.

Remedy

Replace the DCS..B option and send it together with error number to SEW Service for

further inspection.

Manual – MOVIDRIVE® MDX61B Safety Module Option MOVISAFE® DCS..B

®

software version.

®

®

soft-

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