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Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services MOVIDRIVE® MDX61B Extended Positioning via Bus Application Edition 04/2005 11335114 / EN FA362820 Manual SEW-EURODRIVE – Driving the world 1 Important Notes...................................................................................................... 4 1.1 Explanation of the icons ................................................................................. 4 1.2 Safety notes and general information ............................................................ 5 2 System Description................................................................................................ 6 2.1 Application areas ........................................................................................... 6 2.2 Application example ....................................................................................... 7 2.3 Program identification .................................................................................... 8 3 Project Planning ..................................................................................................... 9 3.1 Prerequisites .................................................................................................. 9 3.2 Description of functions................................................................................ 10 3.3 Scaling the drive .......................................................................................... 10 3.4 Limit switches, reference cams and machine zero ...................................... 13 3.5 Process data assignment............................................................................. 14 3.6 Software limit switches................................................................................. 16 3.7 IPOSplus® processing speed ........................................................................ 18 3.8 Safe stop ...................................................................................................... 19 3.9 SBus send object ......................................................................................... 19 4 Installation ............................................................................................................ 20 4.1 MOVITOOLS® software ............................................................................... 20 4.2 Wiring diagram for MOVIDRIVE® MDX61B ................................................. 21 4.3 Bus installation for MOVIDRIVE® MDX61B ................................................. 22 4.4 System bus connection (SBus 1) ................................................................. 29 4.5 Connecting hardware limit switches............................................................. 30 5 Startup................................................................................................................... 31 5.1 General information ..................................................................................... 31 5.2 Preliminary work........................................................................................... 31 5.3 Starting the "Extended positioning via bus" program ................................... 32 5.4 Parameters and IPOSplus® variables ........................................................... 43 5.5 Recording IPOSplus® variables .................................................................... 45 6 Operation and Service ......................................................................................... 46 6.1 Starting the drive .......................................................................................... 46 6.2 Monitor mode ............................................................................................... 48 6.3 Jog mode ..................................................................................................... 49 6.4 Referencing mode........................................................................................ 50 6.5 Automatic mode ........................................................................................... 52 6.6 Cycle diagrams ............................................................................................ 54 6.7 Fault information .......................................................................................... 58 6.8 Error messages............................................................................................ 59 7 Compatibility between MOVIDRIVE® A / B / compact....................................... 61 7.1 Important notes ............................................................................................ 61 8 Index ...................................................................................................................... 65 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 3 1 Important notes Explanation of the icons 1 ImportantHandnbuch otes Always follow the safety and warning instructions contained in this section! 1.1 Explanation of the icons Hazard Indicates an imminently hazardous situation which, if not avoided, WILL result in death or serious injury. Warning Indicates an imminently hazardous situation caused by the product which, if not avoided, WILL result in death or serious injury. You will also find this signal to indicate the potential for damage to property. Caution Indicates a potentially hazardous situation which, if not avoided, MAY result in minor injury or damage to products. Note Indicates a reference to additional information, for example on startup, or other useful data. Documentation reference Indicates a reference to a document, such as operating instructions, catalog, data sheet. 4 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Important notes Safety notes and general information 1 1.2 Safety notes and general information Risk of an electrical shock Possible consequences: Death or serious injury. Only electrical specialists are allowed to install and start up MOVIDRIVE® drive inverters observing the applicable accident prevention regulations and the MOVIDRIVE® operating instructions. Potentially hazardous situation which, if not avoided, may result in damage to products or the surrounding area. Possible consequences: Damage to the product Read through this manual carefully before you commence installation and startup of MOVIDRIVE® drive inverters with this application module. This manual does not replace the detailed operating instructions! A requirement of fault-free operation and the possibility of any rights to claim under guarantee is that you observe the information in the documentation. Documentation reference This manual was written assuming that the user is familiar with the MOVIDRIVE® documentation, in particular the MOVIDRIVE® system manual. In this manual, cross references are marked with "→". For example, (→ Sec. X.X) means: Further information can be found in section X.X of this manual. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 5 2 System Description Application areas 2 System Description 2.1 Application areas The "Extended positioning via bus" application module is particularly suited to applications in which it is necessary to move to any number of positions at different speeds and with different acceleration ramps. Positioning to an external encoder is necessary when there is a non-positive connection between the motor shaft and the load. In this case, either an incremental encoder or an absolute encoder can be used. The "Extended positioning via bus" application module is especially suitable for the following branches of industry and applications: • Materials handling technology – Trolleys – Hoists – Rail vehicles • Logistics – Storage and retrieval systems – Transverse carriages The "Extended positioning via bus" module offers the following advantages in these applications: • User-friendly user interface. • You only have to enter the parameters required for "Extended bus positioning" (ratios, speeds, diameters). • Guided parameter setting process instead of complicated programming. • Monitor mode for optimum diagnostics. • Users do not require any programming experience. • Long travel distances possible (218 × travel unit) • Either an incremental encoder or an absolute encoder can be used as the external encoder. • It does not take long to get to know the system. 6 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus System Description Application example 2 2.2 Application example Transverse carriage A transverse carriage represents a typical application example of the "Extended positioning via bus" application module. The following figure shows a transverse carriage in a high-bay warehouse. Goods to be moved in and out of storage are transported between the shelf aisles and the distribution table. The transverse carriage has to cover long distances in this process. It also has to accelerate with different ramps and move at different speeds depending on the load. Figure 1: Application example of a transverse carriage Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 04823AXX 7 2 System Description Program identification 2.3 Program identification You can use the MOVITOOLS® software package to identify which application program was last loaded into the MOVIDRIVE® MDX61B unit. Proceed as follows: • Connect MOVIDRIVE® to the PC via the serial port. • Start MOVITOOLS®. • In MOVITOOLS® start the program "Shell". • In the Shell program, choose [Display] / [IPOS Information...]. Figure 2: IPOS information in Shell 06710AEN • The "IPOS-Status" window appears. The entries in this window tell you which application software is stored in MOVIDRIVE® MDX61B. Figure 3: Display of the current IPOS program version 11022AEN 8 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Project Planning Prerequisites 3 3 Project Planning 3.1 Prerequisites PC and software The "Extended positioning via bus" application module is implemented as an IPOSplus® program and forms part of the SEW MOVITOOLS® software package from version 4.20. In order to use MOVITOOLS®, you must have a PC with one of the following operating systems: Windows® 95, Windows® 98, Windows NT® 4.0 or Windows® 2000. SIMATIC S7 sample projects There is a SIMATIC S7 sample project for you to try out the functionality of the "Extended positioning via bus" module. To access this sample project, go to the SEW homepage (www.sew-eurodrive.de) and select the heading "Software." Inverters, motors and encoders Application version Encoder feedback MOVIDRIVE® MDX61B • Inverters "Extended positioning via bus" can only be implemented on MOVIDRIVE® MDX61B units in application version (...-0T). It is essential for the "Extended positioning via bus" module to have encoder feedback, which means it cannot be implemented with MOVIDRIVE® MDX60B. "Extended positioning via bus" uses 4 or 6 process data words. A MOVIDRIVE® option will be required (→ table extract "Possible combinations" below), depending on the bus type used. An external encoder is required for positioning in applications with a non-positive connection between the motor shaft and the load. If an absolute encoder is used as the external encoder, the MOVIDRIVE® option "Absolute encoder interface type DIP11B" is also required. • Motors – For operation on MOVIDRIVE® MDX61B with option DEH11B: CT/CV asynchronous servomotors (encoder installed as standard) or DR/DT/DV AC motors with encoder option (Hiperface®, sin/cos or TTL). – For operation on MOVIDRIVE® MDX61B with option DER11B: CM/DS synchronous servomotors, resolver installed as standard. • External encoders – Interlocking connection between the motor shaft and the load: An external encoder is not required. If you also want to use an external encoder for positioning when there is an interlocking connection, you have to proceed in the same way as with a non-positive connection. – Non-positive connection between the motor shaft and the load: An external encoder is required in addition to the motor encoder/resolver. Incremental encoder as external encoder: Connection to basic unit at X14. Absolute encoder as external encoder: Connection to option DIP11 at X62. • Possible combinations Encoder type (external encoder) Bus type (required option) Additional MOVIDRIVE® option required Motor shaft/load connection Interlocking: External encoder is not required Non-positive: External encoder required - Incremental Absolute encoder encoder PROFIBUS → DFP / InterBus → DFI / CAN-Bus → DFC / DeviceNet → DFD / Ethernet → DFE / System bus (SBus) → no option required DEH11B or DER11B DIP11 / DEH11B / DER11B Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 9 3 Project Planning Description of functions 3.2 Description of functions Functional characteristics The "Extended positioning via bus" application offers the following functional characteristics: • Any number of target positions can be specified via the fieldbus. • Speed selection via fieldbus (for the LINEAR and JERK LIMITED ramp functions, the changes can be made during movement). • Activation of software limit switches. • Cyclical checkback of actual speed, actual position in the user unit, active current and unit utilization via process output data. • Confirmation of the target position to which movement has taken place via bit PI1:3 "Target position reached" in the status word. • Source actual position (motor encoder, external encoder or absolute encoder) can be selected. • Simple connection to the machine control (PLC). • Four (4) process data items instead of six (6) can be used for operation ( ... in this case, the ramp function does not have to be specified). Three operating modes • Jog mode (PO2:11 = "1" and PO2:12 = "0") – The drive is moved clockwise or counterclockwise using bits 9 or 10 in control word 2 (PO1). – The speed and ramps are variable and are specified by the PLC via the fieldbus. • Referencing mode (PO1:11 = "0" and PO1:12 = "1") – Reference travel is started with bit 8 in control word 2 (PO1). Reference travel establishes the reference point (machine zero) for absolute positioning operations. • Automatic mode (PO1:11 = "1" and PO1:12 = "1") – Positioning is started in automatic mode with bit 8 in control word 2 (PO1). – The target position is specified using process output data words PO2 and PO3. – The actual position is signaled back cyclically in user travel units using process input data words PI2 and PI3. – The set speed is specified using process output data word PO4. – The actual speed is signaled back cyclically using process input data word PI4. – Acceleration and deceleration ramps are specified using process output data words PO5 and PO6. – The active current and unit utilization are signaled back cyclically using process input data words PI5 and PI6. – Confirmation that the selected position has been reached is sent via bit 3 of the status word (PI1) "Target position reached." The maximum possible travel distance depends on the travel unit set. Examples: • Travel unit [1/ 10 mm] → max. possible travel distance = 26.2 m • Travel unit [mm] → max. possible travel distance = 262 m 3.3 Scaling the drive The controller must be able to detect the number of encoder pulses (increments) per travel unit to position the drive. The scaling function is used to set a user unit suitable to 10 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Project Planning Scaling the drive 3 the application. Drive without external encoder (interlocking connection) In drives without an external encoder, the system can calculate the scaling automatically during startup of the extended positioning via bus function. Enter the following data: • Diameter of the drive wheel (ddrive wheel) or slope of the spindle (sspindle) • Gear ratio of the gear unit (igear unit, speed-reduction) • Gear ratio of the additional gear (igear unit, speed-reduction) The following scaling factors are calculated: • Pulses / distance scaling factor [inc/mm] using the formula: Pulses = 4096 × igear unit × iadditional gear Distance = Π × ddrive wheel or Π × sspindle • Speed scaling factor Numerator factor in [1/min] and denominator value in "speed unit". You can also enter the distance and speed scaling factors directly. If you enter a unit other than [mm] or [1/10 mm] as the travel unit, this user unit will also be used for the position of the software limit switches, the reference offset and the maximum travel distances. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 11 3 Project Planning Scaling the drive Drive with external encoder (nonpositive connection) In this case, you must have activated and scaled the external encoder before starting the "Extended positioning via bus" module. To do so, make the following settings in the Shell program before starting the extended positioning via bus module (→ following figure). 10091AEN • P941 Source actual position If an incremental encoder or an absolute encoder (DIP11) is connected, set P941 to "EXT. ENCODER (X14)". You can also make this setting during the startup procedure of the extended positioning via bus module. • P942 Encoder factor numerator / P943 Encoder factor denominator / P944 Encoder scaling ext. encoder The scaling calculation function is now blocked during startup of the extended positioning via bus module. • For more information about scaling an external encoder, refer to the "IPOSplus® Positioning and Sequence Control System" manual. • When using an absolute encoder, note the startup instructions in the "MOVIDRIVE® MDX61B0 Absolute Encoder Card DIP11B" manual. 12 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Project Planning Limit switches, reference cams and machine zero 3 3.4 Limit switches, reference cams and machine zero Note the following points during project planning: • The software limit switches must be located within the travel range of the hardware limit switches. • When defining the reference position (position of the reference cam) and the software limit switches, make sure they do not overlap. Fault message F78 "IPOS SW limit switch" is generated in the event of an overlap during referencing. • You can enter a reference offset during startup if you do not want the machine zero to be located on the 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. Please also refer to the information in the section "Software limit switches". Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 13 3 Project Planning Process data assignment 3.5 Process data assignment The machine control (PLC) sends 6 process output data words (PO1 ... PO6) to the inverter and receives 6 process input data words (PI1 ... PI6) from the inverter. PA PA1 PA2 PA3 P A4 PA5 P A6 PE1 PE2 PE3 PE4 PE5 PE6 PE Figure 4: Data exchange via process data PA = Process output data PA1 = Control word 2 PA2 = Target position high PA3 = Target position low PA4 = Set speed (IPOS PO data) PA5 = Accelerating ramp (IPOS PO data) PA6 = Deceleration ramp (IPOS PO data) 56163AXX PE = Process input data PE1 = Status word (IPOS PI data) PE2 = Actual position high (IPOS PI data) PE3 = Actual position low (IPOS PI data) PE4 = Actual speed (IPOS PI data) PE5 = Active current (IPOS PI data) PE6 = Unit utilization (IPOS PI data) Process output data The assignment of the process output data words is as follows: • PO1: Control word 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 /SWLS Controller inhibit/Enable Reserved Enable/Rapid stop Reserved Enable/Stop Mode high /Hold control Mode low Jog Jog + Ramp switchover Parameter set switchover Fault reset Start Reserved • PA2 + PA3: Target position PA2 Target position high PA3 Target position low 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Target position [user unit] • PA4: Setpoint speed 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Setpoint speed [1/min] • PA5 + PA6: Acceleration ramp and deceleration ramp PA5 Acceleration ramp PA6 Deceleration ramp 14 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Project Planning Process data assignment 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Ramps [s] Process input data The assignment of the process input data words is as follows: • PE1: Status word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Inverter status/fault code Motor turning (n ≠ 0) Inverter ready IPOS reference (= drive referenced) Target position reached Brake released Fault/warning CW limit switch CCW limit switch • PE2 + PE3: Actual position PE2 Actual position high PE3 Actual position low 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Actual position [user unit] • PE4: Actual speed PE4 Actual speed 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Actual speed [1/min] • PE5: Active current PE5 Active current 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 Active current [% rated unit current] • PE6: Unit utilization PE6 Unit utilization 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 Unit utilization [% I × t] Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 15 3 Project Planning Software limit switches 3.6 Software limit switches General information The "software limit switch" monitoring function is used to check that the target position is set to appropriate values. During this process, it is not important where the drive is positioned. In contrast to the monitoring of the hardware limit switches, the monitoring function for the software limit switches makes it possible to detect whether there is an error in the target specifications before the axis starts to move. The software limit switches are active when the axis is referenced; that is, when Bit 1 "IPOS reference" is set in PI1. Moving clear of the software limit switch When using an absolute encoder or Multiturn Hiperface® encoder it may be necessary for the drive to be moved within the range of the software limit switches (for example, after an encoder has been replaced). For this purpose, Bit 15 in the process output data word 1 (PO1) is set to "/SWLS" (= Moving clear of the software limit switch). Bit 15 "/SWLS" is only available in jog mode and referencing mode. If Bit 15 is set, the drive can be moved out of the valid positioning range into the area of the software limit switches (→ Example 3). Example 1 It is necessary to differentiate between the following three examples: • Prerequisites: – Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set. – Drive is within valid positioning area – Software limit switch monitoring function is active. 10981AEN In jog mode, the drive runs until it is three position windows (P922) before the software limit switch and then stays there. In automatic mode, the drive can be positioned up to the software limit switches but not beyond. In referencing mode, the software limit switches are not active, which means the drive can move past the software limit switches during reference travel. 16 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Project Planning Software limit switches 3 Example 2 • Prerequisites: – Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set. – The drive is outside the software limit switches. The following error message appears once the drive is enabled: 10982AEN 10983AEN You can confirm the error message by pressing the reset button. The monitoring function is deactivated. In the area of the software limit switches, the drive can be moved at two different speeds as follows: – Closer toward the travel range of the software limit switch at reference speed 2 (P902). – Away from the travel range of the software limit switches at maximum speed. The monitoring function is reactivated when: – The actual position of the drive set using P941 enters the permitted positioning range again. – A positioning job is issued via the opposite software limit switch. – The unit is switched off and on again. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 17 3 Project Planning IPOSplus® processing speed Example 3 • Prerequisite: – Bit 15 "/SWLS" in the process output data word 1 (PO1) is set. 10984AEN The monitoring function is deactivated in the "Jog mode" and "Referencing mode" operating modes. 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. The speed can be varied. Changing the monitoring function of the software limit switches during operation! Possible consequences: Risk of injury. You must not change the monitoring function of the software limit switches (PO1, Bit 15 "/SWLS") during operation (i.e. when the axis is in motion). 3.7 IPOSplus® processing speed The speed of the IPOSplus® program in MOVIDRIVE® MDX61B can be changed using the following parameters: • P938 IPOS speed TASK1, setting range 0 - 9 • P939 IPOS speed TASK2, setting range 0 - 9 Setting value "0" for both parameters results in the same IPOSplus® processing speed as for MOVIDRIVE® MD_60A. • P938 = 0 ‫ ־‬TASK1 = 1 command/ms • P938 = 0 ‫ ־‬TASK2 = 2 commands/ms Values greater than zero are added to the IPOSplus® processing speed of MOVIDRIVE® MD_60A. Note that the total of the commands per millisecond (commands/ms) for TASK1 and TASK2 must not be greater than 9. If you start up the application module on a MOVIDRIVE® MDX61B unit, the parameters will be set as follows to ensure a sequence with optimized timing: • P938 = 5 ‫ ־‬TASK1 = 1 command / ms + 5 commands / ms = 6 commands / ms • P939 = 4 ‫ ־‬TASK2 = 2 commands / ms + 4 commands / ms = 6 commands / ms 18 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Project Planning Safe stop 3 3.8 Safe stop A "Safe stop" can only be achieved by safe disconnection of the jumpers at terminal X17 (through safety switch or safety PLC). The "Safe stop active" state is indicated by a "U" in the 7-segment display. In the application module, this state is treated in the same way as the "CONTROLLER INHIBIT" state. For more information on the "Safe stop" function, refer to the following publications: • MOVIDRIVE® MDX60B / 61B Safe Disconnection - Conditions • MOVIDRIVE® MDX60B/61B Safe Disconnection - Applications 3.9 SBus send object You have the option of setting up an SBus send object for transferring the cyclical actual position of the drive. In this way, the "Extended positioning via bus" module can be used as a master for the "DriveSync" application module or any IPOSplus® program. Activating the To set up the SBus send object, set the IPOSplus® variable H115 SwitchSBUS to "1" and SBus send object restart the IPOSplus® program (→following screenshot). Settings for the SBus objects 11010AXX The send and synchronization objects are initialized automatically once the IPOSplus® program has been restarted. The content of the send object is set to IPOSplus® encoder. ObjectNo CycleTime Offset Format DPointer Send object 2 1 0 4 IPOS Encoder Synchronization object 1 5 0 0 - Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 19 4 Installation MOVITOOLS® software 4 Installation 4.1 MOVITOOLS® software MOVITOOLS® The "Extended positioning via bus" application module is part of the MOVITOOLS® software (version 4.20 and higher). Proceed as follows to install MOVITOOLS® on your computer: • Insert the MOVITOOLS® CD into the CD-ROM drive of your PC. • The MOVITOOLS® setup menu is started. Follow the instructions of the installation wizard. You can now use the Program Manager to start MOVITOOLS®. Proceed as follows to perform startup for the inverter using the MOVITOOLS® Manager: • Select the language you want in the "Language" selection field. • In the "PC Interface" selection field, select the PC port (e.g. COM 1) to which the inverter is connected. • In the "Device Type" field, select "Movidrive B". • In the "Baudrate" field, select the baud rate set on the basic unit with the DIP switch S13 (standard setting → "57.6 kBaud"). • Click the button to display the connected inverter. Application version Figure 5: MOVITOOLS® window 10985AEN The "Extended positioning via bus" application module can only be used on MOVIDRIVE® units in application version (...-0T). The application modules cannot be used with units in the standard version (-00). 20 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Installation Wiring diagram for MOVIDRIVE® MDX61B 4 4.2 Wiring diagram for MOVIDRIVE® MDX61B SBus 24 V -=+ X12: DGND 1 SC11 2 SC12 3 X13: DIØØ 1 DIØ1 2 DIØ2 3 DIØ3 4 DIØ4 5 DIØ5 6 DCOM 7 VO24 8 DGND 9 ST11 10 ST12 11 X10: TF1 1 DGND 2 DBØØ 3 DOØ1-C 4 DOØ1-NO 5 DOØ1-NC 6 DOØ2 7 VO24 8 VI24 9 DGND 10 System bus Reference System bus High System bus Low MOVIDRIVE ® MDX61B /Controller inhibit Enable/Rapid stop Reset Reference cam /Limit switch right /Limit switch left Reference X13:DIØØ...DIØ5 +24V output Reference potential binary signals RS-485 + RS-485 - TF-/TH input Reference potential binary signals /Brake Relay contact Ready Relay NO contact Relay NC contact /Fault +24V output +24V input Reference potential binary signals DEH11B DER1 1B 15 1 98 15 1 X14: Input for external encoder (HIPERFACE®, sin/cos or 5V TTL) or X14-X14 connection 9 8 (Connection: MOVIDRIVE® MDX60B/61B operating instructions) 98 15 1 95 61 X15: Motor encoder: For DEH11B: HIPERFACE®, sin/cos or 5V TTL For DER11B: Resolver 6-pole, 3,5 VAC_eff 4kHz (Connection: MOVIDRIVE® MDX60B/61B operating instructions) DER11B 15 1 98 95 61 Figure 6: Wiring diagram for MOVIDRIVE® MDX61B with option DEH11B or DER11B X15 X14 X15 X14 DEH11B 15 1 98 98 15 1 55257AEN Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 21 4 Installation Bus installation for MOVIDRIVE® MDX61B 4.3 Bus installation for MOVIDRIVE® MDX61B Overview For the bus installation, please note the information in the relevant fieldbus manuals supplied with the fieldbus interfaces. Please refer to the MOVIDRIVE® MDX60B/61B operating instructions for information on installing the system bus (SBus). DFP21B RUN BUS FAULT 01 20 21 22 23 24 25 26 nc ADDRESS DFI 21B 0 20 21 22 1 2 4 2M 0,5M UL CC BA RD FO1 FO2 TR DFI 11B 01 20 21 22 1 24 2M 0,5M UL RC BA RD TR X31/OUT X30/IN X30 95 61 DFC 11B ON OFF R nc S1 3 2 1 X31 1 6 9 5 X30 DFE 11B 01 20 21 22 23 24 25 26 27 nc DHCP Status 100MBit link/act. X30 IP (LSB) X33/OUT X32/IN X31 X31 DFD 11B MOD/ Net PIO BIO BUSOFF 01 NA(5) NA(4) NA(3) S1 NA(2) NA(1) NA(0) DR(1) DR(0) PD(4) PD(3) PD(2) S2 PD(1) PD(0) F3 F2 F1 1 2 3 4 5 X30 MAC ID: 00-0F-69-FF-FF-06 IP: PROF I PROCESS FIELD BUS BUS Figure 7: Bus types SBus ETHERNET Device Net 56363AXX 22 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Installation Bus installation for MOVIDRIVE® MDX61B 4 PROFIBUS (DFP21B) For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus interface DFP21B PROFIBUS DP" manual. This manual can be ordered from SEW-EURODRIVE. You can download the unit master data files (GSD) and type files for MOVIDRIVE® MDX61B from the SEW homepage (under the heading "Software") to facilitate startup. Technical data DFP21B RUN 1. BUS FAULT 2. 01 20 21 22 3. 23 24 25 26 nc ADDRESS 95 4. 61 Option Part number Resources for startup/diagnostics Protocol option Supported baud rates Connection Bus termination Station address GSD file DP ident number Max. number of process data Mass PROFIBUS fieldbus interface type DFP21B 824 240 2 MOVITOOLS® software and DBG60B keypad PROFIBUS DP and DP-V1 to IEC 61158 Automatic baud rate detection from 9.6 kbaud ... 12 Mbaud 9-pin Sub-D socket Assignment to IEC 61158 Not integrated, must be implemented in the PROFIBUS connector. 0 ... 125, can be set using DIP switch SEWA6003.GSD 6003 hex = 24579 dec 10 process data 0.2 kg (0.44 lb) X31 1. Green LED: RUN 2. Red LED: BUS FAULT 3. DIP switch for setting the station address. 55274AXX 4. 9-pin sub D socket: bus connection Pin assignment [2] RxD/TxD-P 3 6 5 RxD/TxD-N 8 CNTR-P 4 DGND (M5V) 5 [3] 91 VP (P5V/100mA) 6 DGND (M5V) 9 [1] Figure 8: Assignment of 9-pin sub D plug to IEC 61158 55276AXX (1) 9-pin sub D connector (2) Twist the signal wires together! (3) Conductive connection is necessary between the plug housing and the shield! Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 23 4 Installation Bus installation for MOVIDRIVE® MDX61B INTERBUS with fiber optic cable (DFI21B) For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface DFI21B INTERBUS with Fiber Optic Cable" manual. This manual can be ordered from SEW-EURODRIVE. Technical data DFI 21B 0 20 21 22 1 1. 2 4 2M 0,5M UL CC BA RD 2. FO1 FO2 TR 3. Option Part number Resources for startup/diagnostics Supported baud rates Connection Mass INTERBUS fieldbus interface type DFI21B (FO) 824 311 5 MOVITOOLS® software, DBG60B keypad and CMD tool 500 kbaud and 2 Mbaud, can be selected via DIP switch Remote bus input: 2 F-SMA connectors Remote bus output: 2 F-SMA connectors Optically controlled FO interface 0.2 kg (0.44 lb) X31/OUT X30/IN 4. X33/OUT X32/IN 5. 6. 1. DIP switches for setting the process data length, PCP length and baud rate 2. Diagnostic LEDs 3. FO: Remote IN 4. FO: Incoming remote bus 5. FO: Remote OUT 55288AXX 6. FO: Outgoing remote bus Connection assignment Position 3 4 5 6 Signal FO remote IN Incoming remote bus FO remote OUT Outgoing remote bus Direction Receive data Send data Receive data Send data Wire color of FO cable Orange (OG) Black (BK) Black (BK) Orange (OG) 24 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Installation Bus installation for MOVIDRIVE® MDX61B 4 INTERBUS (DFI11B) For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface DFI11B INTERBUS" manual. This manual can be ordered from SEW-EURODRIVE. Technical data DFI 11B 01 20 21 22 1 1. 24 2M 0,5M UL RC BA 2. RD TR Option Part number Resources for startup/diagnostics Supported baud rates Connection Module ID Max. number of process data Mass INTERBUS fieldbus interface type DFI11B 824 309 3 MOVITOOLS® software and DBG60B keypad 500 kbaud and 2 Mbaud, can be selected via DIP switch Remote bus input: 9-pin sub D connector Remote bus output: 9-pin Sub-D socket RS-485 transmission technology, 6-core shielded and twisted-pair cable E3hex = 227dec 6 process data 0.2 kg (0.44 lb) 3. X30 X31 4. 1. DIP switches for setting the process data length, PCP length and baud rate 2. Diagnostic LEDs: 4 x green LED (UL, RC, BA, TR); 1 x red LED (RD) 3. 9-pin sub D plug: Remote bus input 55278AXX 4. 9-pin sub D socket: Remote bus output Pin assignment Conductor color abbreviations to IEC 757. (1) (4) (2) GN YE PK GY BN 6 /DO 1 DO 7 /DI 2 DI 3 COM (3) /DO DO /DI DI COM 6 1 7 2 3 5 9 (5) (2) GN YE PK GY BN (3) 04435AXX Figure 9: Assignment of the 9-pin sub D socket of the incoming remote bus cable and the 9-pin sub D plug of the outgoing remote bus cable (1) 9-pin sub D socket of the incoming remote bus cable (2) Twist the signal wires together! (3) Conductive connection is necessary between the plug housing and the shield! (4) 9-pin sub D plug of the outgoing remote bus cable (5) Jumper pin 5 with pin 9! Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 25 4 Installation Bus installation for MOVIDRIVE® MDX61B CANopen (DFC11B) For more information, refer to the "Communication" manual. This manual can be ordered from SEW-EURODRIVE (provisionally from 03/2005). Technical data DFC 11B Option Part number Resources for startup/diagnostics ON OFF R 1. nc S1 Supported baud rates 3 2 2. 1 X31 1 6 3. 9 5 Connection Bus termination Address range Mass X30 CANopen fieldbus interface type DFC11B 824 317 4 MOVITOOLS® software and DBG60B keypad Setting using parameter P894: • 125 kbaud • 250 kbaud • 500 kbaud • 1000 kbaud 9-pin sub D connector (X30) Assignment to CiA standard 2-core twisted cable to ISO 11898 Can be activated using DIP switch (120 Ω) 1 ... 127, can be selected using DIP switch 0.2 kg (0.44 lb) 1. DIP switch for setting the bus terminating resistor 2. X31: CAN bus connection 55284AXX 3. X30: 9-pin sub D plug: CAN bus connection Connection MOVIDRIVE® - CAN The DFC11B option is connected to the CAN bus at X30 or X31 in the same way as the SBus in the basic unit (X12). In contrast to the SBus1, SBus2 is electrically isolated and made available via option DFC11B. Pin assignment (X30) (1) (2) 6 DGND 7 CAN High 2 CAN Low 3 DGND (3) Figure 10: Assignment of 9-pin sub D socket of the bus cable 06507AXX (1) 9-pin Sub-D socket (2) Twist the signal wires together! (3) Conductive connection is necessary between the plug housing and the shield! 26 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Installation Bus installation for MOVIDRIVE® MDX61B 4 DeviceNet (DFD11B) For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface 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. Technical data DFD 11B MOD/ Net PIO 1. BIO BUSOFF 0 NA(5) NA(4) NA(3) NA(2) NA(1) NA(0) DR(1) DR(0) PD(4) PD(3) PD(2) PD(1) PD(0) F3 F2 F1 1 S1 2. S2 Option Part number Resources for startup/diagnostics Supported baud rates Connection Permitted line cross section Bus termination Address range that can be set (MAC-ID) Mass DeviceNet fieldbus interface type DFD11B 824 972 5 MOVITOOLS® software and DBG60B keypad Can be selected using DIP switch: • 125 kbaud • 250 kbaud • 500 kbaud 5-pin Phoenix terminal Assignment according to DeviceNet specification (Volume I, Appendix A) According to DeviceNet specification Use of bus connectors with integrated bus terminating resistor (120 Ω) at the start and finish of a bus segment. 0 ... 63, can be selected using DIP switch 0.2 kg (0.44 lb) 1 2 3 3. 4 5 X30 1. LED display 2. DIP switch for setting the node address (MAC-ID), the process data lengths and baud rate 55280AXX 3. 5-pin Phoenix terminal: bus connection Terminal assignment The assignment of connecting terminals is described in the DeviceNet specification Volume I, Appendix A. Terminal X30:1 X30:2 X30:3 X30:4 X30:5 Description V- (0V24) CAN_L DRAIN CAN_H V+ (+24 V) Color Black (BK) Blue (BU) Blank White (WH) Red (RD) Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 27 4 Installation Bus installation for MOVIDRIVE® MDX61B Ethernet (DFE11B) For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface DFE11B Ethernet" manual. This manual can be ordered from SEW-EURODRIVE. Technical data DFE 11B 01 20 21 IP (LSB) 22 23 24 1. 25 26 27 nc DHCP Status 2. 100MBit link/act. Option Part number Resources for startup/diagnostics Automatic baud rate detection Connection Addressing Mass Ethernet fieldbus interface type DFE11B 1820 036 2 MOVITOOLS® software and DBG60B keypad 10 MBaud / 100 MBaud RJ45 modular jack 8-8 4 byte IP address 0.2 kg (0.44 lb) 3. X30 MAC ID: 00-0F-69-FF-FF-06 IP: 4. 1. DIP switch for setting the least significant bytes (LSB) of the IP address 2. LED "Status" (red/yellow/green), "100 MBit" (green), "link/act" (green) 3. X30: Ethernet connection 56362AXX 4. MAC address MOVIDRIVE® / Ethernet connection To connect DFE11B to Ethernet, connect the Ethernet interface X30 (RJ45 plug connector) to the hub or switch provided using a twisted-pair cable to category 5, class D in accordance with IEC 11801 edition 2.0. To do this, use a patch cable. [6] [3] [2] [1] 6 123 A B Figure 11: Pin assignment of an RJ45 plug connector 54174AXX A = Front view B = View from back [3] Pin 3 RX+ Receive Plus [1] Pin 1 TX+ Transmit Plus [2] Pin 2 TX– Transmit Minus [6] Pin 6 RX– Receive Minus If you want to connect the DFE11B option card directly to your project planning computer, you require a cross over cable. 28 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Installation System bus connection (SBus 1) 4 4.4 System bus connection (SBus 1) Only if P816 "SBus baud rate" = 1000 kbaud: MOVIDRIVE® compact MCH4_A units must not be combined with other MOVIDRIVE® units in the same system bus combination. The units may be combined at baud rates ≠ 1000 kbaud. Max. 64 CAN bus stations can be addressed using the system bus (SBus). Use a repeater after 20 or 30 stations, depending on the length of the cables and the cable capacity. The SBus supports transmission technology compliant with ISO 11898. The "Serial Communication" manual contains detailed information about the system bus. This manual can be ordered from SEW-EURODRIVE. SBus wiring diagram Control unit Systembus Terminating resistor S 11 S 12 S 13 S 14 ON OFF Systembus Ref. X12: DGND 1 Systembus High SC11 2 Systembus Low SC12 3 Control unit Systembus Terminating resistor S 11 S 12 S 13 S 14 ON OFF Systembus Ref. X12: DGND 1 Systembus High SC11 2 Systembus Low SC12 3 Control unit Systembus Terminating resistor S 11 S 12 S 13 S 14 ON OFF Systembus Ref. X12: DGND 1 Systembus High SC11 2 Systembus Low SC12 3 Figure 12: System bus connection 54534AEN Cable specification • Use a 4-core twisted and shielded copper cable (data transmission cable with braided copper shield). The cable must meet the following specifications: – Core cross section 0.25 ... 0.75 mm2 (AWG 23 ... AWG 18) – Line resistance 120 Ω at 1 MHz – Capacitance per unit length ≤ 40 pF/m (12 pF/ft) at 1 kHz Suitable cables include CAN bus or DeviceNet cables. Shielding • Connect the shield to the electronics shield clamp on the inverter or master controller and make sure it is connected over a wide area at both ends. Cable length • The permitted total cable length depends on the baud rate setting of the SBus (P816): – 125 kbaud → 320 m (1056 ft) – 250 kbaud → 160 m (528 ft) – 500 kbaud → 80 m (264 ft) – 1000 kbaud → 40 m (132 ft) Terminating resistor • 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). • There must not be any potential displacement between the units connected with the SBus. Take suitable measures to avoid potential displacement, such as connecting the unit ground connectors using a separate line. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 29 4 Installation Connecting hardware limit switches 4.5 Connecting hardware limit switches The cams of the hardware limit switches must cover the travel range up to the stop. Only use hardware limit switches with normally closed contacts (low-active)! CW X ES CCW ES CW Figure 13: Connecting hardware limit switches CW = Clockwise drive inverter X = travel distance LS CW = CW hardware limit switch LS CCW = CCW hardware limit switch 04437AXX Make sure the hardware limit switch is assigned correctly. This means clockwise movement (CW) should be towards the clockwise hardware limit switch (LS CW) and counterclockwise movement (CCW) should be towards the counterclockwise hardware limit switch (LS CCW). 30 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup General information I 5 0 5 Startup 5.1 General information Correct project planning and installation are the prerequisites for successful startup. Refer to the MOVIDRIVE® MDX60/61B system manual for detailed project planning instructions. Check the installation, the encoder connection and the installation of the fieldbus cards by following the installation instructions in the MOVIDRIVE® MDX60B/61B operating instructions, in the fieldbus manuals and in this manual (→ Sec. Installation). Use an absolute encoder as the external encoder (connect to DIP11B, X62). Also note the information on installation and startup in the "MOVIDRIVE® MDX61B Absolute Encoder Card DIP11B" manual. 5.2 Preliminary work Perform the following steps before starting up the "Extended positioning via bus" module: • Connect the "Xterminal" connection on the inverter to PC-COM via the UWS21A option (serial interface). • Install the MOVITOOLS® software (version 4.20 or higher). • Start up the inverter with "MOVITOOLS/Shell." – MDX61B with asynchronous motor: CFC operating modes / VFC n-control – MDX61B with synchronous motor: SERVO operating modes • Only for operation with an external encoder (absolute or incremental encoder): – Absolute encoder: Start up the DIP11B absolute encoder card. The parameters P942 ... P944 are set during this process (→ "MOVIDRIVE® MDX61B Absolute encoder Card DIP11B" manual). – Incremental encoder: Set the parameters 942 ... P944 Encoder factor numerator, Encoder factor denominator and Encoder scaling ext. encoder in the Shell program. Refer to the "IPOSplus® Positioning and Sequence Control System" manual for a detailed description of the parameters. • In [MOVITOOLS] / [Shell] / choose the menu item [Startup] and select the application "Extended positioning via bus." • Enter a "0" signal at terminal DIØØ "/CONTROLLER INHIBIT/". Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 31 5 I Startup Starting the "Extended positioning via bus" program 0 5.3 Starting the "Extended positioning via bus" program General information • Start [MOVITOOLS] / [Shell]. • Choose [Startup] / [Extended positioning via bus.] Figure 14: Starting the "Extended positioning via bus" program 11013AEN 32 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup Starting the "Extended positioning via bus" program I 5 0 Setting the fieldbus parameters Once the "Extended positioning via bus" module has been started, all parameters important for extended bus positioning are read. If a valid application module has not yet been loaded into the inverter, the following window appears after extended positioning via bus has been started: Figure 15: Setting the fieldbus parameters 11014AEN You have to make the following settings in this window: • Setting the fieldbus parameters: Set the fieldbus parameters. Fixed parameters are grayed out and cannot be changed. The system bus (SBus) can always be set; no option is required. If a fieldbus card (DFP, DFI, DFC, DFD or DFE) is plugged into the fieldbus slot, PROFIBUS, INTERBUS, CAN, DEVICENET or ETHERNET can also be selected. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 33 5 I Startup Starting the "Extended positioning via bus" program 0 Setting the distance and speed scaling factors You can set the scaling factors for distance and speed in this window. Figure 16: Setting the scaling 11015AEN You have to make the following settings in this window: • Source actual position selection field: Select which encoder is to be used for distance measurement in positioning: – MOTOR ENCODER (X15) – EXT. ENCODER (X14) with an incremental encoder as the external encoder. – ABSOLUTE ENCODER (DIP) with an absolute encoder as the external encoder or on the motor shaft. If you use an absolute encoder, you must start up the DIP11B option before you start the "Extended positioning via bus" application module! 34 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup Starting the "Extended positioning via bus" program I 5 0 Calculating the scaling factors • Example 1: Motor encoder or absolute encoder on the motor shaft (source actual position) – Choose the unit you require in the selection field "Diameter of driving wheel" or "Spindle slope" (only for motor encoder). For the unit you can choose from millimeters [mm] or 1/10 millimeters [1/10 mm]. – In the "Gearing ratio" input field enter the ratio of the gear unit. In the "External ratio" input field enter the gear ratio of the additional gear. – In the "Unit for speed" selection field, choose from [mm/s], [m/min] and [1/min]. – For positioning with an absolute encoder, in the "Place of absolute encoder" se- lection field, choose "Motor shaft". – Click the button. The "distance" and "speed" scaling factors are cal- culated by the program. • Example 2: External encoder or absolute encoder on the track (source actual position) When using an external encoder or an absolute encoder on the track, you have to calculate the distance scaling factor manually. The scaling factor for the speed can be calculated automatically (→ following section) or manually (→ example 2). Automatic calculation of the scaling factor for speed: • In the "Source actual position" selection field, select the entry "Motor encoder". • Enter a value in the "Diameter of driving wheel" field or the "Spindle slope" field. Select the unit [mm] or [1/10 mm] in the adjacent selection field. • In the input fields "Gearing ratio" and "External ratio" enter the respective values for the gear ratios. • Click the button. The scaling factor for speed is calculated by the program. Calculating the distance scaling factor: • In the "Source actual position" selection field, select the entry "External encoder" or "Absolute encoder". For positioning with an absolute encoder, in the "Place of absolute encoder" selection field, choose the entry "Way". • In the group box "Scaling factor for distance", enter the number of pulses supplied by the encoder per travel unit in the "Increments" input field. The unit of the pulses is always increments [inc]. In the "Distance" input field, enter the corresponding track distance. • In the "Scaling factor for distance" group box, enter the unit of the scaling factor for the distance in the "Unit" input field. Any other information, such as the software limit switch, reference offset or the target position are specified in the selected unit. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 35 5 I Startup Starting the "Extended positioning via bus" program 0 Converting the distance resolution into user travel units The scaling factor for distance (increments / distance) is used to determine the user travel unit (e.g. mm, revolutions, ft). For positioning with a motor encoder, the scaling factor for distance can be calculated automatically. The following units can be selected for the automatic calculation: • mm • 1/10 mm When using an external encoder or an absolute encoder on the track, you have to calculate the distance scaling factor manually (→ Examples 1 and 2). Example 1: A drive is to be positioned using an Absolute encoder on the track. The speed is to be given in the unit [m/min]. • Drive data: – Gear unit ratio (i gear unit) = 12.34 – Gear ratio of the additional gear (i additional gear) = 1 – Diameter of the carrying wheel = 200 mm • Encoder data: – Type: Stahltronik WCS3 absolute encoder – Physical resolution = 1 increment / 0.8mm – Encoder scaling P955 = x8 (→ set automatically during startup of the DIP11B op- tion). • Automatic calculation of the scaling factor for speed: Numerator / denominator = 32759 / 1668 unit [m/min] • Calculating the scaling factor for distance manually: – Electrical resolution = 1 increment / 0.8 mm × P955 encoder scaling Result: 1 increment / 0.8 mm × 8 = 8 [inc/0.8 mm] Result: Pulses / Distance = 80 / 8 [mm] Example 2: A drive is to be positioned using an external encoder on the track. • Drive data: – Gear unit ratio (i gear unit) = 12.34 – Gear ratio of the additional gear (i additional gear) = 1 • Encoder data: – Physical resolution = 1024 increments / revolution – Diameter of the carrying wheel (dcarrying wheel) = 65 mm – Encoder scaling P944 = x2 • Calculating the scaling factor for distance manually: – Pulses = Number of increments / revolution × 4 × P944 Pulses = 1024 increments / revolution × 4 × 2 = 8192 increments – Distance = Π × dcarrying wheel Distance = 3.14 × 65 mm = 204.2 mm Result: Pulses / distance = 8192 / 204 unit [mm] If the numerator (pulses) or denominator (distance) are non-integer values, the conversion can be made more accurate if both numerator and denominator are multiplied by the same expansion factor (e.g. 10, 100, 1000, etc.). This expansion does not limit the maximum travel range. The maximum value for "pulses" or the "distance" is 32767. 36 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup Starting the "Extended positioning via bus" program I 5 0 Converting the speed into user travel units In the group box "Calculation of the scaling", choose one of the three entries in the dropdown menu "Unit for speed". The scaling factors can be calculated automatically. The following speed units are available: • 1/min • mm/sec • m/min If you want to enter the speed in a different unit, you can calculate the scaling factor for speed (→ following example). Example 1: A drive is to be positioned using an Absolute encoder on the track. The speed is to be specified in mm/s. • Drive data: – Gear unit ratio (i gear unit) = 15.5 – Gear ratio of the additional gear (i additional gear) = 2 – Diameter of the drive wheel (ddrive wheel) = 200 mm • Encoder data: – Type: Stahltronik WCS2 linear distance measuring system – Physical resolution = 0.833 mm ‫ ־‬1.2 increments /mm – Encoder scaling P955 = x8 (→ set automatically during startup of the DIP11B op- tion) • Numerator = igear unit × iadd. gear × 60 Numerator = 15.5 × 2 × 60 = 1860 • Denominator = Π × ddrive wheel (or spindle slope) Denominator = 3.14 × 200 = 628 Unit = mm/s If the numerator or denominator are non-integer values, the conversion can be made more accurate if both numerator and denominator are multiplied by the same expansion factor (e.g. 10, 100, 1000, etc.). This expansion does not limit the maximum travel range. The maximum value for the numerator or denominator is 32767. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 37 5 I Startup Starting the "Extended positioning via bus" program 0 Setting the ramp times and limits Figure 17: Setting ramp times and limits 11016AEN In this window, you can enter the position of the software limit switches, the reference offset, the reference travel type, ramp times and limits. The entries are made in the user units of the scaling. • In the input fields "Software limit switch CCW / CW", enter the position of the software limit switches. Make sure the positions of the software limit switches are within the travel distance of the hardware limit switches and that they do not overlap the reference position. If you enter the value "0" in both input fields, the software limit switches are deactivated. • In the "Reference offset" input field, enter the reference offset. The machine zero is corrected using the reference offset. The following formula applies: Machine zero = reference position + reference offset 38 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup Starting the "Extended positioning via bus" program I 5 0 • Select the correct type of reference travel (0 8) from the "Reference travel type" se- lection box. The reference travel type specifies the reference travel strategy with which the machine zero of a machine should be established. The IPOSplus® variable H127 ZeroPulse specifies whether reference travel should react to an edge change of the reference cam ("0") or the following zero pulse of the encoder ("1"). The IPOSplus® variable H127 can be edited using the IPOS Compiler. Type 0: The reference position is the first zero pulse CCW of the ] [ starting position of the reference travel. ZP 55260AXX Type 1: The reference position is the CCW end of the reference cam. ] [ Machine zero = reference position + reference offset H127 = "1" Referencing to encoder zero pulse CAM 54947AXX H127 = "0" Referencing to edge change Type 2: The reference position is the CW end of the reference cam. ] [ Machine zero = reference position + reference offset CAM H127 = "1" Referencing to encoder zero pulse 54948AXX H127 = "0" Referencing to edge change Type 3: The reference position is the CW hardware limit switch. No ] [ reference cam is required. After leaving the hardware limit switch (positive edge), the drive continues to move clear of it by 4096 incre- 54949AXX ments. Machine zero = reference position + reference offset – 4096 Type 4: The reference position is the CCW hardware limit switch. No ] [ reference cam is required. After leaving the hardware limit switch (positive edge), the drive continues to move clear of it by 4096 incre- 54950AXX ments. Machine zero = reference position + reference offset + 4096 Type 5: No reference travel. The reference position is the current po- ] [ sition without reference to a zero pulse. Machine zero = current position + reference offset 54951AXX Type 6: The reference position is the CW end of the reference cam. ] [ Machine zero = reference position + reference offset CAM 54952AXX Type 7: The reference position is the CCW end of the reference cam. ] [ Machine zero = reference position + reference offset CAM 54953AXX Type 8: No reference travel. The reference position is the current po- ] [ sition without reference to a zero pulse. In contrast to type 5, type 8 reference travel can also be performed when the system status is not 54951AXX set to "A". Machine zero = current position + reference offset Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 39 5 I Startup Starting the "Extended positioning via bus" program 0 Setting the ramp times in jog and automatic mode • In the "Ramp values" group box, enter the ramp times in the input fields "Ramp value jog mode" and "Ramp value auto.mode (1) and (2)". Bit 15 in process output data word 1 is used to change between ramp 1 and ramp 2 in automatic mode. The corresponding acceleration is displayed in the unit [mm/s2]. The ramp time always refers to a speed of 3000 min–1. For a ramp time of 1 s the drive would be accelerated to a speed of 1500 min–1 in 500 ms. Download The download window appears after the settings have been saved. Figure 18: Download window 10824AEN Click the button. All the required settings are made automatically in the inverter, and the IPOSplus® program for "Extended positioning via bus" is started. 40 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup Starting the "Extended positioning via bus" program I 5 0 After the download, the program asks you if you want to start the monitor. In the monitor, you can run a diagnostic of your application and check the control signals. Figure 19: Start monitor: Yes/No 11023AEN Select to switch to the monitor where you can start it in the required operating mode. Select to switch to MOVITOOLS/Shell. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 41 5 I Startup Starting the "Extended positioning via bus" program 0 Monitor If "Extended positioning via bus" is started after the startup procedure has been performed, the monitor appears immediately. Figure 20: Extended positioning via bus monitor 11018AEN [1] PO1 control word 2, decoded into individual bits [2] PI1 status word, decoded into individual bits [3] Process data in decimal format and with user units [4] Status of the binary inputs of the basic unit [5] Position of the software limit switches and current position of the drive Repeated startup Press if you want to repeat startup. A window appears in which you can enter the settings for the fieldbus parameters (→ Section "Setting fieldbus parameters"). 42 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup Parameters and IPOSplus® variables I 5 0 5.4 Parameters and IPOSplus® variables The following parameters and IPOSplus® variables are set automatically during startup and are loaded into the inverter during the download: Parameter number P... 100 101 Index 8461 8462 Description Setpoint source Control signal source Value Fieldbus Fieldbus 300 Start/stop speed 1 0 301 Minimum speed 1 0 302 Maximum speed 1 Can be set in the interface 600 8335 Binary input DI01 Enable/Rapid stop 601 8336 Binary input DI02 No function 602 8337 Binary input DI03 Reference cam 603 8338 Binary input DI04 /Right limit switch 604 8339 Binary input DI05 /CCW limit switch 605 8919 Binary input DI06 (MDX61B only) No change 606 8920 Binary input DI07 (MDX61B only) No change 610 8340 Binary input DI10 611 8341 Binary input DI11 612 8342 Binary input DI12 613 8343 Binary input DI13 No function 614 8344 Binary input DI14 615 8345 Binary input DI15 616 8346 Binary input DI16 617 8347 Binary input DI17 620 8350 Binary output D001 /Fault 621 8351 Binary output D002 Ready 630 8352 Binary output D010 631 8353 Binary output D011 632 8354 Binary output D012 633 8355 Binary output D013 No function 634 8356 Binary output D014 635 8357 Binary output D015 636 8358 Binary output D016 637 8359 Binary output D017 700 8574 Operating mode ... & IPOS 730 8584 Brake function 1 ON 813 8600 SBus address 815 8602 SBus timeout delay 816 8603 SBus baud rate Can be set in the interface 819 8606 Fieldbus timeout delay 831 8610 Response fieldbus timeout 836 8615 Response SBus timeout Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 43 5 I Startup Parameters and IPOSplus® variables 0 Parameter number P... 870 871 872 873 874 875 876 Index 8304 8305 8306 8307 8308 8309 8622 Description Setpoint description PO1 Setpoint description PO2 Setpoint description PO3 Actual value description PI1 Actual value description PI2 Actual value description PI3 PO data enable 900 8623 Reference offset 903 8626 Reference travel type 941 Source actual position Value Control word 2 IPOS PO-DATA ON Can be set in the interface IPOSplus® variable H1 H2 H3 H4 H5 H6 H7 H8 H102 H103 H104 H115 H125 H126 H127 H496 SLS_right H497 SLS_left H509 ActPos_Abs H510 ActPos_Ext H511 ActPos_Mot H1002 Description Max. motor speed in automatic mode Max. motor speed in jog mode Scaling factor for distance numerator Scaling factor for distance denominator Scaling factor for speed numerator Scaling factor for speed denominator Ramp 1 Ramp 2 Drive wheel diameter (x1000) Gear ratio (x1000) Additional gear ratio (x1000) Switch SBUS Pointer to Scope variable H474 Pointer to Scope variable H475 Referencing to encoder zero pulse Software limit switch CW (INCR) Software limit switch CCW (INCR) Actual position DIP Actual position X14 Actual position X15 ScopeDelay Do not alter these parameters and IPOSplus® variables after startup! 44 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Startup Recording IPOSplus® variables I 5 0 5.5 Recording IPOSplus® variables IPOSplus® variables can be recorded during operation using the "Scope" program in MOVITOOLS® This is only possible for the MOVIDRIVE® MDX61B inverter. The two 32-Bit IPOSplus® variables H474 and H475 are available for recording. Two pointer variables (H125/H126) to H474 and H475 can be used to record any IPOSplus® variable using the "Scope" program: • H125 → Scope474Pointer • H126 → Scope475Pointer The number of the IPOSplus® variable that is to be recorded in "Scope" must be entered in the variable window of the IPOS Assembler or Compiler in one of the pointer variables H125 or H126. Example The IPOSplus® variable H511 Current motor position is to be recorded. Proceed as follows: • In the "Scope" program, enter the value 511 in variable H125 in the variable window. 10826AXX • In the "Scope" program, choose [File] / [New]. Set channel 3 to IPOS variable H474 LOW and channel 4 to IPOS variable H474 HIGH. The "Scope" program now records the value of the IPOSplus® variable H511. 10827AEN • The pointer variables are copied to the IPOSplus® variable H474 or H475 in TASK 3 of the IPOSplus®. • The speed (commands / ms) of TASK3 is dependent on the processor utilization of MOVIDRIVE® MDX61B. • The time (ms) needed in Task 3 to copy the values from the pointer variables to the IPOSplus® variables H474 and H475 is stored in variable H1002. If the value is zero, the copying process lasts less than 1 ms. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 45 6 I Operation and Service Starting the drive 0 6 Operation and Service 6.1 Starting the drive Following the download, switch to the "Extended positioning via bus" monitor by selecting "Yes." You can select the operating mode using bits 11 and 12 of "PO1: Control word 2". Note the following points to start the drive. This procedure applies to all operating modes: • Binary inputs DIØØ "/CONTROLLER INHIBIT/" and DIØ3 "ENABLE/RAPID STOP" must be assigned a "1" signal. • For control via fieldbus or system bus: Set the control bit PO1:0 "CONTROLLER INHIBIT/ENABLE" = "0" and the control bits PO1:1 "ENABLE/RAPID STOP" and PO1:2 "ENABLE/STOP" = "1". Operating modes The process output data word 1 (PO1) has the following assignment: • PO1: Control word 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 /SWLS Controller inhibit/ enable Ramp 1/2 (4 PD) Enable/ Rapid stop Reserved Enable/stop Mode select 21 Mode select 20 Jog– Jog+ Hold control Ramp switchover Parameter set switchover Fault reset Start Reserved The option "Moving clear of the software limit switches" in jog mode (Bit 15:/SWLS) is only available in conjunction with MOVIDRIVE® MDX61B. • Jog mode (DI11 = "1" and DI12 = "0") – In jog mode, the drive can be moved CW or CCW via bits 9 and 10 in control word 2 (PO1). – The speed in jog mode can be varied and is specified by the PLC via the bus. • Referencing mode (DI11 = "0" and DI12 = "1") In referencing mode, reference travel can be started via bit 8 in control word 2 (PO1). Reference travel establishes the reference position (machine zero) for absolute positioning operations. 46 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Operation and Service Starting the drive I 6 0 • Automatic mode (DI11 = "1" and DI12 = "1") The target position is based on the machine zero, which was determined beforehand by reference travel. Reference travel is mandatory. The maximum possible travel distance depends on the travel unit set. Examples: • Travel unit [1/ 10 mm] → Travel distance = 3.27 m • Travel unit [mm] → Travel distance = 32.7 m Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 47 6 I Operation and Service Monitor mode 0 6.2 Monitor mode The "Extended positioning via bus" monitor mode displays the data that is transmitted via the fieldbus. The process input and output data are read in cyclically and displayed in hexadecimal format. Figure 21: Monitor mode 11018AEN • The process input and output data are displayed in the middle of the window. • You can change the control source by selecting the radio button "Monitor" or "Control": – Monitor: The process data are read from a machine control via fieldbus. – Control: The process data are specified via a PC. The drive can be controlled with a PC without a machine control. You can use the mouse to set or delete the individual bits in control word PO1. You have to enter the values in the input fields PO2 "Setpoint speed" and PO3 "Target position" as numerical values. To send the process data to the inverter, click the button. 48 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Operation and Service Jog mode I 6 0 6.3 Jog mode • PO1:12 = "0" and PO1:11 = "1" You can use the jog mode when the unit is serviced to move the drive independent of the automatic mode. No reference travel is required beforehand. Figure 22: Jog mode 11019AEN • Start the drive by setting the control bit PO1:9 "Jog+" or PO1:10 "Jog–". This means you can move the drive in both directions. If the setting "Jog+" or "Jog–" is deleted, the drive stops. • The speed is specified via PO2: Setpoint speed. Please also refer to the information in Sec. "Software limit switches." Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 49 6 I Operation and Service Referencing mode 0 6.4 Referencing mode • PO1:12 = "1" and PO1:11 = "0" The reference position is defined by reference travel (e.g. to one of the two hardware limit switches). Figure 23: Referencing mode 11020AEN • Ensure that you have set the correct reference travel type (P903) before starting reference travel. If this is not the case, restart the startup procedure and set the required type of reference travel. • Set PO1:8 "Start" to "1" to start reference travel. The "1" signal must be present for the entire duration of the reference travel. Once reference travel has been completed successfully, PI1:2 "IPOS reference" is set. The "1" signal at PO1:8 "Start" can now be revoked. The drive is now referenced. • You can set the speeds for reference travel in parameters P901 and P902. 50 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Operation and Service Referencing mode I 6 0 • The stop ramp (P136) is used for reference travel. If reference travel is interrupted by revoking the start bit, positioning ramp 1 (P911) is used. • If referencing is set to the hardware limit switches (type 3 and 4), the drive continues to turn for 4096 increments after leaving the hardware limit switch. • Please also refer to the information in Sec. "Software limit switches." Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 51 6 I Operation and Service Automatic mode 0 6.5 Automatic mode • PO1:12 = "1" and PO1:11 = "1" In automatic mode, the drive can be positioned absolutely based on the machine zero point (reference position) (the axis must be referenced): 1. The target position is specified via PO2 and PO3, the speed via PO2, the acceleration ramp via PO5 and the brake ramp via PO6. 2. With control via four process data, the positioning ramp can be switched between two ramps specified at startup via PO1:15. 3. If the ramp function (P916) is set to "LINEAR" or "JERK LIMITED", you can change the speed and ramp time while the drive is moving. With all other ramp types, you can only change the speed and the ramp time when the drive is at standstill or if the axis is not enabled. Figure 24: Automatic mode 11021AEN • Set PO1:8 "Start" to "1" to start positioning. The "1" signal must be present for the entire duration of the positioning procedure. 52 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Operation and Service Automatic mode I 6 0 • Once positioning has been completed successfully, PI1:3 "Target position reached" is set. The drive comes to a standstill subject to position control. • The drive moves immediately to a new position if control bit PO1:8 "Start" is set and a new target position is specified via PO3. The inverter signals the actual position to the control cyclically using process input data words PI2 and PI3. In addition, the inverter signals the actual speed, the active current and the unit utilization to the control via PI4, PI5 and PI6. Example: Specify the target position in the double word Required target position: +70000 mm (11170 hex). Content of PO2 and PO3 hexadecimal: • POSITION HI:1 • POSITION LO:1170 Content of PO2 and PO3 decimal: • POSITION HI:1 • POSITION LO: 4464 If the PLC specifies a negative target position, this is represented as follows in the two process data words: • Required position: –70000 mm (FFFF EE90hex) Content of PO2 and PO3 hexadecimal: – POSITION HI: FFFF – POSITION LO: EE90 Content of PO2 and PO3 decimal: – POSITION HI: – 1 – POSITION LO: 61072 • Parameter P917 Ramp mode is used to determine the use of positioning ramp 2 (P912). If P917 is set to MODE 1, deceleration for travel to target position (spot braking) takes place with positioning ramp 2 (P912). • If the travel speed changes during travel (P917 = MODE 1), positioning ramp 1 (P911) is used for deceleration. • If the travel speed changes during travel when P917 is set to MODE 2, positioning ramp 2 (P912) is always used for deceleration. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 53 6 I Operation and Service Cycle diagrams 0 6.6 Cycle diagrams The following conditions apply to the cycle diagrams: • DIØØ "/CONTROLLER INHIBIT" = "1" (no lock) • DIØ1 "ENABLE/RAPID STOP" = "1" • PO1:1 "ENABLE/RAPID STOP" = "1" • PA1:2 "ENABLE/STOP" = "1" The output DB00 "/Brake" is set, the brake is released and the drive stops subject to position control (→ 7-segment display = "A") Jog mode PA1:8 PA1:9 PA1:10 PA1:11 PA1:12 n [1/min] PA 2 0 -PA 2 [1] [2] 50ms Figure 25: Cycle diagram: Jog mode PA1:8 PA1:9 PA1:10 PA1:11 PA1:12 = Start = Jog + = Jog – = Mode Low = Mode High [1] = Axis starts when the bit "Jog +" is set [2] = Axis starts when the bit "Jog –" is set 54963AXX 54 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Referencing mode PA1:8 PA1:11 PA1:12 DIO3: PE1:2: n 1/min] P901 P902 0 Operation and Service Cycle diagrams I 6 0 [1] [2] 50ms [3] [4] Figure 26: Cycle diagram: Referencing mode PA1:8 PA1:11 PA1:12 DI03 PE1:2 = Start = Mode Low = Mode High = Reference cam = IPOS reference 54964AXX [1] = Start of reference travel (reference travel type 2) [2] = Drive reaches reference cam [3] = Drive leaves reference cam [4] = When the drive is at a standstill, PE1:2 "IPOS reference" is set. The drive is now referenced. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 55 6 I Operation and Service Cycle diagrams 0 Automatic mode [1] [2] [3] [2] [3] PA1:8 50ms PA1:11 PA1:12 PE1:3 n [1/min] PA2 0 Figure 27: Cycle diagram: Automatic mode PA1:8 PA1:11 PA1:12 PE1:3 = Start = Mode Low = Mode High = Target position reached [1] = Automatic absolute selected [2] = Start positioning (target position = PA3) [3] = Target position reached 56250AXX 56 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Operation and Service Cycle diagrams I 6 0 Moving clear of hardware limit switches Once a hardware limit switch (DI04 = "0" or DI05 ="0") has been reached, the bit PE1:5 "Fault" is set and the drive comes to a standstill using an emergency stop. Proceed as follows to move the drive clear again: • Jog mode: Set the bits PA1:9 "Jog+" = "0" and PA1:10 "Jog– " = "0". • Automatic mode: Set bit PA1:8 "Start" = "0". • Set bit PA1:6 "Reset" to "1". The bit PE1:5 "Fault" is deleted. • The drive automatically moves clear of the hardware limit switch at the speed spec- ified in P902 Reference speed 2. • Once the drive has moved clear of the hardware limit switch, you can delete PA1:6 "Reset" and select the required operating mode. [1] [2] [3] PA1:11 50ms PA1:12 PA1:6 DIO4 PE1:5 n [1/min] PA2 0 P902 Figure 28: Cycle diagram: Moving clear of limit switches 54968AXX PA1:11= Mode Low PA1:12= Mode High PA1:6 = Reset PE1:5 = Fault DI04 = CW limit switch [1] = The drive has reached the CW hardware limit switch and comes to a halt using an emergency stop ramp. [2] = PA1:6 "Reset" is set. Drive moves clear of hardware limit switch. [3] = Drive moves clear of hardware limit switch If the hardware limit switch with which the drive has come into contact is faulty (no positive edge at DI04 or DI05 as the drive moves clear), the drive must be stopped by revoking the enable (terminal or bus). Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 57 6 I Operation and Service Fault information 0 6.7 Fault information The fault memory (P080) stores the last five fault messages (faults t-0 to t-4). The oldest fault message is deleted whenever more than five fault messages have occurred. The following information is stored when a malfunction occurs: Fault that occurred • Status of binary inputs/outputs • Operating status of the inverter • Inverter status • Heat sink temperature • Speed • Output current • Active current • Unit utilization • DC link voltage • ON hours • Enable hours • Parameter set • Motor utilization. There are three switch-off responses depending on the fault; the inverter remains blocked in fault status: • Immediate switch-off: The unit can no longer brake the drive; the output stage goes to high resistance in the event of a fault and the brake is applied immediately (DBØØ "/Brake" = "0"). • Rapid stop: The drive is braked with the stop ramp t13/t23. The brake is applied once the stop speed is reached (DBØØ "/Brake" = "0"). The output stage goes to high resistance after the brake reaction time has elapsed (P732 / P735). • Emergency stop: The drive is braked with the emergency ramp t14/t24. The brake is applied once the stop speed is reached (DBØØ "/Brake" = "0"). The output stage goes to high resistance after the brake reaction time has elapsed (P732 / P735). Reset A fault message can be acknowledged by: • Switching the power supply off and on again. Recommendation: Observe a minimum switch-off time of 10 s for the supply system contactor K11. • Reset via binary input DIØ3. Startup of the "Sensor based positioning via bus" application causes this binary input to be assigned with the "Reset" function. • Only for control with fieldbus/system bus: "0"→∀1"→"1"signal at Bit PO1:6 in control word PO1. • Press the reset button in the MOVITOOLS® Manager. Figure 29: Reset with MOVITOOLS® 10842AEN • Manual reset in MOVITOOLS/Shell (P840 = "YES" or [Parameter] / [Manual reset]). • Manual reset with DBG60B (MDX61B) or DBG11A (MCH4_A). Timeout active If the inverter is controlled via a communication interface (fieldbus, RS485 or SBus) and the power was switched off and back on again or a fault reset was performed, then the enable remains ineffective until the inverter receives valid data again via the interface, which is monitored with a timeout. 58 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Operation and Service Error messages I 6 0 6.8 Error messages Display The error or warning code is displayed in binary coded format. The following display sequence is adhered to: Flashes, ca. 1 s Display off, ca. 0.2 s Tens, ca. 1 s Display off, ca. 0.2 s Ones, ca. 1 s Display off, ca. 0.2 s 01038AXX Following a reset or if the error or warning code resumes the value “0“, the display switches to the operating display again. List of errors The following table shows a selection from the complete error list (→ MOVIDRIVE® operating instructions). Only those errors are listed that can occur specifically with this application. A dot in the "P" column indicates that the response is programmable (P83_ Fault response). The factory set fault response appears in the "Response" column. Error code Designation 00 No fault 07 UZ overvoltage 08 n-monitoring 10 IPOS-ILLOP Response Immediate switch-off Immediate switch-off Emergency stop P Possible cause Action • DC link voltage too high • • • Speed controller or current controller (in VFC operating mode without encoder) operating at setting limit due • • • • • to mechanical overload or phase failure in the power supply or motor. Encoder not connected correctly or incorrect direction of rotation. nmax is exceeded during torque control. • • • • • • Incorrect command detected during • running of IPOSplus® program. • Incorrect conditions during command • execution. • Extend deceleration ramps Check connection leads to the braking resistor Check technical data of braking resistor Reduce load Increase deceleration time setting (P501 or P503) Check encoder connection, swap A/A and B/B pairs if necessary Check encoder voltage supply Check current limitation Extend ramps if necessary Check motor cable and motor Check mains phases Check program memory content and correct if necessary. Load correct program into program memory. Check program sequence (→ IPOSplus® manual) Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 59 6 I Operation and Service Error messages 0 Error code Designation 14 Encoder 25 EEPROM 28 Fieldbus Timeout 29 Limit switch reached 31 TF sensor 36 No option 42 Lag fault 94 EEPROM checksum Response Immediate switch-off Rapid stop Rapid stop Emergency stop None Response Immediate switch-off Immediate switch-off Immediate switch-off P Possible cause Action • Encoder cable or shield not connected correctly Check encoder cable and shield for correct • Short circuit/broken encoder wire connection, short circuit and broken wire. • Encoder defective Access to the EEPROM of the memory card has failed • Call up default setting, perform reset and set parameters again. • Contact SEW service if the error occurs again. • Replace memory card. No communication between master and • • slave within the projected response moni- • toring. A limit switch was reached in IPOSplus® • operating mode. • Check communications routine of the master Extend fieldbus timeout time (P819)/deactivate monitoring Check travel range. Correct user program. • • •• • Motor too hot, TF sensor has tripped TF sensor of motor not connected or not connected properly • • Connection of MOVIDRIVE® and TF on motor interrupted No jumper between X10:1 and X10:2. • • Let motor cool off and reset fault Check connections/link between MOVIDRIVE® and TF. If no TF is connected: Jumper X10:1 with X10:2. Set P835 to "NO RESPONSE" • Type of option card not allowed. • Use correct option card. • Setpoint source, control signal source • Set correct setpoint source (P100). or operating mode not permitted for this • Set correct control signal source (P101). option card. • Set correct operating mode (P700 or P701). • Incorrect encoder type set for DIP11A. • Set the correct encoder type. • Incremental encoder connected incor- • Check rotary encoder connection rectly • Extend ramps • Accelerating ramps too short • Set P component to higher value •• P component of positioning controller too small • • Set speed controller parameters again Increase lag fault tolerance • Speed controller parameters set incor- • Check encoder, motor and mains phase wiring rectly • Check mechanical components can move freely, • Value of lag fault tolerance too small possibly blocked up Inverter electronics disrupted, possibly due to effect of EMC or a defect. Send the unit in for repair. 60 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Compatibility between MOVIDRIVE® A / B / compact Important notes 7 7 Compatibility between MOVIDRIVE® A / B / compact 7.1 Important notes The "Extended positioning via bus" application module for MOVIDRIVE® MDX61B offers a number of additional functions that are not available with MOVIDRIVE® MD_60A or MOVIDRIVE® compact. This section provides you with information on the differences between the application module when using a MOVIDRIVE® MD_60A or MOVIDRIVE® compact unit and gives you important information on project planning. Project planning for MOVIDRIVE® MD_60A / MOVIDRIVE® compact • Drive inverter It is essential for the "Extended positioning via bus" application module to have encoder feedback, which means it can only be implemented with the following drive inverters: – MOVIDRIVE® MDV60A / MDS60A – MOVIDRIVE® compact MCV / MCS – MOVIDRIVE® compact MCH41A /MCH42A • Bus installation for MOVIDRIVE® MDV / MDS60A Extended positioning via bus uses 6 process data words. As a result, it is only possible to use the "PROFIBUS" and "INTERBUS with fiber optic cable" fieldbus types. When one of these two fieldbus types is used, MOVIDRIVE® MDV / MDS60A requires one of the options DFP21A, DFP11A or DFI21A. Please read the information in the relevant fieldbus manuals. Compatibility between the hardware terminals Compared to MOVIDRIVE® MD_60A, MOVIDRIVE® MDX61B has two extra digital inputs (DI06, DI07) and three additional digital outputs (DO03, DO04, DO05). The additional hardware inputs and outputs are set to "No function" during initial startup and are not processed in the program. Software limit switches Recording IPOSplus® variables The function to move clear of the software limit switches is only possible for MOVIDRIVE® MD_60A, MOVIDRIVE® compact MCx / MCH from the following firmware versions: – MOVIDRIVE® MD_60A: 823 854 5.15 – MOVIDRIVE® compact MCx: 823 859 6.14 – MOVIDRIVE® comapct MCH: 823 947 9.17 Recording IPOSplus® variables using the MOVITOOLS® program "Scope" is only possible with MOVIDRIVE® MDX61B. SBus send object for DriveSync Slave If you use MOVIDRIVE® MD_60A or MOVIDRIVE® compact MCx / MCH, you do not have the option of setting up an SBus send object to transfer the actual position. It is also not possible to integrate the "DriveSync" application module. Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 61 7 Compatibility between MOVIDRIVE® A / B / compact Important notes Wiring diagrams MOVIDRIVE® compact MCH4_A X11: DIØØ 1 DIØ1 2 DIØ2 3 DIØ3 4 DIØ4 5 DIØ5 6 DCOM 7 VO24 8 DGND 9 - = 24 V + X12: DBØØ 1 DOØ1-C 2 DOØ1-NO 3 DOØ1-NC 4 DOØ2/AO1 5 VI24 6 DGND 7 /Controller inhibit Enable/Rapid stop Reset Reference cam /Limit switch CW /Limit switch CCW Ref. X10:DIØØ...DIØ5 +24V output Reference potential binary signals /Brake Relay contact ready NO relay contact NC relay contact /Fault +24V input Reference potential binary signals X14: External encoder input (HIPERFACE®, sin/cos or 5 V TTL) or X14-X14 connection (Connection → operating instructions MOVIDRIVE® compact MCH) X15: Motor enc. (HIPERFACE®, sin/cos or 5 V TTL) (Connection → operating instructions MOVIDRIVE® compact MCH) PROF I PROCESS FIELD BUS BU S X30: (MCH41A) 95 PROFIBUS DP connection 61 (Connection → operating instructions MOVIDRIVE® compact MCH) X30: (MCH42A) LWL Remote IN Receive data X31: (MCH42A) LWL Remote IN Send data X32: (MCH42A) LWL Remote OUT Receive data X33: (MCH42A) LWL Remote OUT Send data Figure 30: MOVIDRIVE® compact MCH4_A INTERBUS FO connection Connection → operating instructions MOVIDRIVE® compact MCH) X15 Encoder IN X14 Encoder I/O UL CC BA RD TR FO1 FO2 X11 Remote IN X30 IN Remote IN X31 OUT Remote OUT X32 IN Remote OUT X33 OUT 1 2 3 4 X11 5 6 7 8 9 1 2 X12 3 4 5 6 7 1 DIØØ 2 DIØ1 3 DIØ2 4 DIØ3 5 DIØ4 6 DIØ5 7 DCOM 8 VO24 9 DGND 1 DBØØ 2 DOØ1-C 3 DOØ1-NO 4 DOØ1-NC 5 DOØ2 6 VI24 7 DGND MCH 42A X12 56269AEN 62 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus Compatibility between MOVIDRIVE® A / B / compact Important notes 7 - =+ 24 V MOVIDRIVE® compact MCV / MCS X10: REF1 1 AI11 2 REF2 3 AI12 4 SC11 5 AI21 6 SC12 7 AGND 8 DIØØ 9 DIØ1 10 DIØ2 11 DIØ3 12 DIØ4 13 DIØ5 14 DCOM 15 VO24 16 DGND 17 DOØ1-C 18 DOØ2 19 DOØ1-NO 20 DBØØ 21 DOØ1-NC 22 DGND 23 VI24 24 +10 V -10 V System bus High TF-/TH input System bus Low Reference potential analog signals /Controller inhibit Enable/Rapid stop Reset Reference cam /Limit switch CW /Limit switch CCW Ref. X10:DIØØ...DIØ5 +24V output Reference potential binary signals Relay contact ready /Fault NO relay contact /Brake NC relay contat Reference potential binary signals +24V input 6 1 X14: (MCV/MCS) External encoder input, Incremental encoder 5 V TTL, 9 5 (Connection → operating instructions MOVIDRIVE® compact MCV/MCS) 9 5 X15: (MCV/MCS) Motor encoder: Incremental encoder (MCV) or resolver (MCS) 6 1 (Connection → operating instructions MOVIDRIVE® compact MCV/MCS) 9 5 X30: (MCV/MCS41A) PROFIBUS DP connection 6 1 (Connection → operating instructions MOVIDRIVE® compact MCV/MCS41A) 61 95 95 61 X14 X15 ENCODER I/O ENCODER IN PROFIBUS DP X30 95 61 RUN BUS FAULT REF1 1 2 REF2 3 4 Ai11 Sc11 5 6 AI12 SC12 7 8 AI21 DIØØ 9 10 AGND DIØ2 11 12 DIØ1 DIØ4 13 14 DIØ3 DCOM 15 16 DIØ5 DGND 17 18 VO24 DOØ2 19 20 DOØ1-C DBØØ 21 22 DOØ1-NO DGND 23 24 DOØ1-NC MCV41A X10 VI24 PROF I PROCESS FIELD BUS BU S Figure 31: MOVIDRIVE® compact MCV / MCS 56273AEN Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 63 7 Compatibility between MOVIDRIVE® A / B / compact Important notes X13: DIØØ 1 DIØ1 2 DIØ2 3 DIØ3 4 DIØ4 5 DIØ5 6 DCOM 7 VO24 8 DGND 9 ST11 10 ST12 11 MOVIDRIVE® /Controller inhibit Enable/Rapid stop Reset Reference cam /Limit switch CW /Limit switch CCW Ref. X13:DIØØ...DIØ5 +24V output Reference potential binary signals RS485+ RS485- X60 6 1 X14: Input external encoder, incremental encoder 5 V TTL 9 5 (Connection → MOVIDRIVE® operating instructions) 9 5 X15: Motor encoder: Incremental encoder (MDV) or resolver (MDS) 6 1 (Connection → MOVIDRIVE® operating instructions) X61 DIP 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 - 24=V+ 24 V += - X10: TF1 1 DGND 2 DBØØ 3 DOØ1-C 4 DOØ1-NO 5 DOØ1-NC 6 DOØ2 7 VO24 8 VI24 9 DGND 10 X60: DI1Ø 1 DI11 2 DI12 3 DI13 4 DI14 5 DI15 6 DI16 7 DI17 8 DCOM 9 DGND 10 X61: DO1Ø 1 DO11 2 DO12 3 DO13 4 DO14 5 DO15 6 DO16 7 DO17 8 DGND 9 TF input Reference potential binary signals /Brake Relay contact ready NO relay NC relay /Fault +24V output +24V input Reference potential binary signals DIP11A IPOS input IPOS input IPOS input IPOS input IPOS input IPOS input IPOS input IPOS input Ref. X22:DI1Ø...DI17 Reference potential binary signals IPOS output IPOS output IPOS output IPOS output IPOS output IPOS output IPOS output IPOS output Reference potential binary signals X62 MDV (MDS) 1 2 3 4 5 S11 S12 1 2 3 1 2 3 4 5 6 7 8 9 10 11 X11 mA « V R ON « OFF X12 1 2 3 4 X10 5 6 7 8 9 X13 10 Supply out 24V= X14 X15 ENCODER IN/OUT ENCODER IN (Resolver IN) X62: SSI interface 9 5 Absolute encoder Connection → "Positioning with Gray code 6 1 Absolute encoder and Absolute Encoder Card DIP11A" manual) Figure 32: MOVIDRIVE® MDV / MDS60_A 56268AEN 64 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 8 Index 8 Index A Automatic mode ..................................................52 Automatic operation Relative positioning mode ............................53 B Bus control ..........................................................22 C Compatibility between MOVIDRIVE® A / B / compact .....................................................................61 Cycle diagrams ...................................................54 Absolute/relative automatic mode ................56 Jog mode ......................................................54 Referencing mode ........................................55 E Error messages Display ..........................................................59 List of errors ..................................................59 I Identification ..........................................................8 Important notes .....................................................4 Explanation of the icons .................................4 Installation Application version .......................................20 CANopen (DFC11B) .....................................26 DeviceNet (DFD11B) ....................................27 Ethernet (DFE11B) .......................................28 INTERBUS (DFI11B) ....................................25 INTERBUS with FO (DFI21B) ......................24 MDX61B with bus control .............................22 MOVITOOLS ................................................20 PROFIBUS (DFP21B) ..................................23 Software .......................................................20 System bus connection (SBus) ....................29 Wiring diagram for MDX 61B with options DEH11B and DER11B .....................21 J Jog mode ............................................................49 M Malfunction information .......................................58 Reset ............................................................58 Timeout .........................................................58 Monitor mode ......................................................48 Move clear of hardware limit switches ................57 O Operating modes Automatic mode ............................................47 Referencing mode ........................................46 P Program identification ...........................................8 Project planning Automatic mode ........................................... 47 Jog mode ..................................................... 46 Limit switches, reference cams and machine zero .................................. 13 Reference travel .......................................... 46 Safe stop ...................................................... 19 Scaling the drive .......................................... 10 Software limit switches ................................ 16 R Recording IPOS variables .................................. 45 Referencing mode .............................................. 50 S Safety notes ......................................................... 5 Scaling the drive ................................................. 10 Drive with external encoder ......................... 12 Drive without external encoder .................... 11 Shutdown response Emergency stop ........................................... 58 Immediate switch-off .................................... 58 Rapid stop .................................................... 58 Software limit switches ....................................... 16 Moving clear of the software limit switch ..... 16 Starting the drive ................................................ 46 Startup ................................................................ 31 General information ..................................... 31 Parameters and IPOS variables .................. 43 Preliminary work .......................................... 31 Setting ramp times and limits ....................... 38 Setting the distance and speed scaling factors ............................................. 34 Setting the fieldbus parameters ................... 33 Start program ............................................... 32 System bus (SBus) Connection ................................................... 29 W Wiring diagram for MDX 61B with options DEH11B and DER11B ...................................................... 21 Manual – MOVIDRIVE® MDX61B Extended Positioning via Bus 65 Address List Address List Germany Headquarters Production Sales Bruchsal SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 42 D-76646 Bruchsal P.O. Box Postfach 3023 · D-76642 Bruchsal Tel. +49 7251 75-0 Fax +49 7251 75-1970 http://www.sew-eurodrive.de sew@sew-eurodrive.de Service Central Competence Center Gear units / Motors SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 1 D-76676 Graben-Neudorf Tel. +49 7251 75-1710 Fax +49 7251 75-1711 sc-mitte-gm@sew-eurodrive.de Central Electronics SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 42 D-76646 Bruchsal Tel. +49 7251 75-1780 Fax +49 7251 75-1769 sc-mitte-e@sew-eurodrive.de North SEW-EURODRIVE GmbH & Co KG Alte Ricklinger Straße 40-42 D-30823 Garbsen (near Hannover) Tel. +49 5137 8798-30 Fax +49 5137 8798-55 sc-nord@sew-eurodrive.de East SEW-EURODRIVE GmbH & Co KG Dänkritzer Weg 1 D-08393 Meerane (near Zwickau) Tel. +49 3764 7606-0 Fax +49 3764 7606-30 sc-ost@sew-eurodrive.de South SEW-EURODRIVE GmbH & Co KG Domagkstraße 5 D-85551 Kirchheim (near München) Tel. +49 89 909552-10 Fax +49 89 909552-50 sc-sued@sew-eurodrive.de West SEW-EURODRIVE GmbH & Co KG Siemensstraße 1 D-40764 Langenfeld (near Düsseldorf) Tel. +49 2173 8507-30 Fax +49 2173 8507-55 sc-west@sew-eurodrive.de Drive Service Hotline / 24 Hour Service +49 180 5 SEWHELP +49 180 5 7394357 Additional addresses for service in Germany provided on request! France Production Sales Service Assembly Sales Service Haguenau SEW-USOCOME 48-54, route de Soufflenheim B. P. 20185 F-67506 Haguenau Cedex Bordeaux SEW-USOCOME Parc d’activités de Magellan 62, avenue de Magellan - B. P. 182 F-33607 Pessac Cedex Lyon SEW-USOCOME Parc d’Affaires Roosevelt Rue Jacques Tati F-69120 Vaulx en Velin Paris SEW-USOCOME Zone industrielle 2, rue Denis Papin F-77390 Verneuil I’Etang Additional addresses for service in France provided on request! Tel. +33 3 88 73 67 00 Fax +33 3 88 73 66 00 http://www.usocome.com sew@usocome.com Tel. +33 5 57 26 39 00 Fax +33 5 57 26 39 09 Tel. +33 4 72 15 37 00 Fax +33 4 72 15 37 15 Tel. +33 1 64 42 40 80 Fax +33 1 64 42 40 88 Algeria Sales Alger Réducom 16, rue des Frères Zaghnoun Bellevue El-Harrach 16200 Alger Tel. +213 21 8222-84 Fax +213 21 8222-84 Argentina Assembly Sales Service Buenos Aires SEW EURODRIVE ARGENTINA S.A. Centro Industrial Garin, Lote 35 Ruta Panamericana Km 37,5 1619 Garin Tel. +54 3327 4572-84 Fax +54 3327 4572-21 sewar@sew-eurodrive.com.ar 66 Address List Australia Assembly Sales Service Austria Assembly Sales Service Belgium Assembly Sales Service Brazil Production Sales Service Bulgaria Sales Cameroon Sales Canada Assembly Sales Service Chile Assembly Sales Service China Production Assembly Sales Service Melbourne Sydney SEW-EURODRIVE PTY. LTD. 27 Beverage Drive Tullamarine, Victoria 3043 SEW-EURODRIVE PTY. LTD. 9, Sleigh Place, Wetherill Park New South Wales, 2164 Tel. +61 3 9933-1000 Fax +61 3 9933-1003 http://www.sew-eurodrive.com.au enquires@sew-eurodrive.com.au Tel. +61 2 9725-9900 Fax +61 2 9725-9905 enquires@sew-eurodrive.com.au Wien SEW-EURODRIVE Ges.m.b.H. Richard-Strauss-Strasse 24 A-1230 Wien Tel. +43 1 617 55 00-0 Fax +43 1 617 55 00-30 http://sew-eurodrive.at sew@sew-eurodrive.at Brüssel SEW Caron-Vector S.A. Avenue Eiffel 5 B-1300 Wavre Tel. +32 10 231-311 Fax +32 10 231-336 http://www.caron-vector.be info@caron-vector.be Sao Paulo SEW-EURODRIVE Brasil Ltda. Avenida Amâncio Gaiolli, 50 Caixa Postal: 201-07111-970 Guarulhos/SP - Cep.: 07251-250 Additional addresses for service in Brazil provided on request! Tel. +55 11 6489-9133 Fax +55 11 6480-3328 http://www.sew.com.br sew@sew.com.br Sofia BEVER-DRIVE GmbH Bogdanovetz Str.1 BG-1606 Sofia Tel. +359 2 9532565 Fax +359 2 9549345 bever@fastbg.net Douala Electro-Services Rue Drouot Akwa B.P. 2024 Douala Tel. +237 4322-99 Fax +237 4277-03 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 Street LaSalle, Quebec H8N 2V9 Additional addresses for service in Canada provided on request! Tel. +1 905 791-1553 Fax +1 905 791-2999 http://www.sew-eurodrive.ca l.reynolds@sew-eurodrive.ca Tel. +1 604 946-5535 Fax +1 604 946-2513 b.wake@sew-eurodrive.ca Tel. +1 514 367-1124 Fax +1 514 367-3677 a.peluso@sew-eurodrive.ca Santiago de Chile SEW-EURODRIVE CHILE LTDA. Las Encinas 1295 Parque Industrial Valle Grande LAMPA RCH-Santiago de Chile P.O. Box Casilla 23 Correo Quilicura - Santiago - Chile Tel. +56 2 75770-00 Fax +56 2 75770-01 ventas@sew-eurodrive.cl Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd. No. 46, 7th Avenue, TEDA Tianjin 300457 Tel. +86 22 25322612 Fax +86 22 25322611 gm-tianjin@sew-eurodrive.cn http://www.sew.com.cn 67 Address List China Assembly Sales Service Colombia Assembly Sales Service Croatia Sales Service Czech Republic Sales Denmark Assembly Sales Service Estonia Sales Finland Assembly Sales Service Gabon Sales Great Britain Assembly Sales Service Greece Sales Service Hong Kong Assembly Sales Service Suzhou SEW-EURODRIVE (Suzhou) Co., Ltd. 333, Suhong Middle Road Suzhou Industrial Park Jiangsu Province, 215021 P. R. China Bogotá SEW-EURODRIVE COLOMBIA LTDA. Calle 22 No. 132-60 Bodega 6, Manzana B Santafé de Bogotá Zagreb KOMPEKS d. o. o. PIT Erdödy 4 II HR 10 000 Zagreb Praha SEW-EURODRIVE CZ S.R.O. Business Centrum Praha Luná 591 CZ-16000 Praha 6 - Vokovice Kopenhagen SEW-EURODRIVEA/S Geminivej 28-30, P.O. Box 100 DK-2670 Greve Tallin Lahti ALAS-KUUL AS Paldiski mnt.125 EE 0006 Tallin SEW-EURODRIVE OY Vesimäentie 4 FIN-15860 Hollola 2 Libreville Electro-Services B.P. 1889 Libreville Normanton SEW-EURODRIVE Ltd. Beckbridge Industrial Estate P.O. Box No.1 GB-Normanton, West- Yorkshire WF6 1QR Athen Christ. Boznos & Son S.A. 12, Mavromichali Street P.O. Box 80136, GR-18545 Piraeus Hong Kong SEW-EURODRIVE LTD. Unit No. 801-806, 8th Floor Hong Leong Industrial Complex No. 4, Wang Kwong Road Kowloon, Hong Kong Tel. +86 512 62581781 Fax +86 512 62581783 suzhou@sew.com.cn Tel. +57 1 54750-50 Fax +57 1 54750-44 sewcol@sew-eurodrive.com.co Tel. +385 1 4613-158 Fax +385 1 4613-158 kompeks@net.hr Tel. +420 a220121236 Fax +420 220121237 http://www.sew-eurodrive.cz sew@sew-eurodrive.cz Tel. +45 43 9585-00 Fax +45 43 9585-09 http://www.sew-eurodrive.dk sew@sew-eurodrive.dk Tel. +372 6593230 Fax +372 6593231 veiko.soots@alas-kuul.ee Tel. +358 201 589-300 Fax +358 3 780-6211 http://www.sew-eurodrive.fi sew@sew.fi Tel. +241 7340-11 Fax +241 7340-12 Tel. +44 1924 893-855 Fax +44 1924 893-702 http://www.sew-eurodrive.co.uk info@sew-eurodrive.co.uk Tel. +30 2 1042 251-34 Fax +30 2 1042 251-59 http://www.boznos.gr info@boznos.gr Tel. +852 2 7960477 + 79604654 Fax +852 2 7959129 sew@sewhk.com 68 Address List Hungary Sales Service Budapest India Assembly Sales Service Technical Offices Baroda Bangalore Mumbai Ireland Sales Service Israel Sales Italy Assembly Sales Service Ivory Coast Sales Dublin Tel-Aviv Milano Abidjan Japan Assembly Sales Service Korea Assembly Sales Service Latvia Sales Lebanon Sales Toyoda-cho Ansan-City Riga Beirut SEW-EURODRIVE Kft. H-1037 Budapest Kunigunda u. 18 Tel. +36 1 437 06-58 Fax +36 1 437 06-50 office@sew-eurodrive.hu SEW-EURODRIVE India Pvt. Ltd. Plot No. 4, Gidc Por Ramangamdi · Baroda - 391 243 Gujarat SEW-EURODRIVE India Private Limited 308, Prestige Centre Point 7, Edward Road Bangalore SEW-EURODRIVE India Private Limited 312 A, 3rd Floor, Acme Plaza Andheri Kurla Road, Andheri (E) Mumbai Tel. +91 265 2831086 Fax +91 265 2831087 mdoffice@seweurodriveindia.com Tel. +91 80 22266565 Fax +91 80 22266569 salesbang@seweurodriveinindia.com Tel. +91 22 28348440 Fax +91 22 28217858 salesmumbai@seweurodriveindia.com Alperton Engineering Ltd. 48 Moyle Road Dublin Industrial Estate Glasnevin, Dublin 11 Tel. +353 1 830-6277 Fax +353 1 830-6458 Liraz Handasa Ltd. Ahofer Str 34B / 228 58858 Holon Tel. +972 3 5599511 Fax +972 3 5599512 lirazhandasa@barak-online.net SEW-EURODRIVE di R. Blickle & Co.s.a.s. Via Bernini,14 I-20020 Solaro (Milano) Tel. +39 02 96 9801 Fax +39 02 96 799781 sewit@sew-eurodrive.it SICA Ste industrielle et commerciale pour l’Afrique 165, Bld de Marseille B.P. 2323, Abidjan 08 Tel. +225 2579-44 Fax +225 2584-36 SEW-EURODRIVE JAPAN CO., LTD 250-1, Shimoman-no, Iwata Shizuoka 438-0818 Tel. +81 538 373811 Fax +81 538 373814 sewjapan@sew-eurodrive.co.jp SEW-EURODRIVE KOREA CO., LTD. B 601-4, Banweol Industrial Estate Unit 1048-4, Shingil-Dong Ansan 425-120 Tel. +82 31 492-8051 Fax +82 31 492-8056 master@sew-korea.co.kr SIA Alas-Kuul Katlakalna 11C LV-1073 Riga Tel. +371 7139386 Fax +371 7139386 info@alas-kuul.ee Gabriel Acar & Fils sarl B. P. 80484 Bourj Hammoud, Beirut Tel. +961 1 4947-86 +961 1 4982-72 +961 3 2745-39 Fax +961 1 4949-71 gacar@beirut.com 69 Address List Lithuania Sales Luxembourg Assembly Sales Service Malaysia Assembly Sales Service Mexico Assembly Sales Service Morocco Sales Netherlands Assembly Sales Service New Zealand Assembly Sales Service Norway Assembly Sales Service Peru Assembly Sales Service Poland Assembly Sales Service Alytus UAB Irseva Merkines g. 2A LT-62252 Alytus Tel. +370 315 79204 Fax +370 315 56175 info@irseva.lt http://www.sew-eurodrive.lt Brüssel CARON-VECTOR S.A. Avenue Eiffel 5 B-1300 Wavre Tel. +32 10 231-311 Fax +32 10 231-336 http://www.caron-vector.be info@caron-vector.be Johore SEW-EURODRIVE SDN BHD No. 95, Jalan Seroja 39, Taman Johor Jaya 81000 Johor Bahru, Johor West Malaysia Tel. +60 7 3549409 Fax +60 7 3541404 kchtan@pd.jaring.my Queretaro SEW-EURODRIVE, Sales and Distribution, S. A. de C. V. Privada Tequisquiapan No. 102 Parque Ind. Queretaro C. P. 76220 Queretaro, Mexico Tel. +52 442 1030-300 Fax +52 442 1030-301 scmexico@seweurodrive.com.mx Casablanca S. R. M. Société de Réalisations Mécaniques 5, rue Emir Abdelkader 05 Casablanca Tel. +212 2 6186-69 + 6186-70 + 618671 Fax +212 2 6215-88 srm@marocnet.net.ma Rotterdam VECTOR Aandrijftechniek B.V. Industrieweg 175 NL-3044 AS Rotterdam Postbus 10085 NL-3004 AB Rotterdam Tel. +31 10 4463-700 Fax +31 10 4155-552 http://www.vector.nu info@vector.nu Auckland Christchurch SEW-EURODRIVE NEW ZEALAND LTD. P.O. Box 58-428 82 Greenmount drive East Tamaki Auckland SEW-EURODRIVE NEW ZEALAND LTD. 10 Settlers Crescent, Ferrymead Christchurch Tel. +64 9 2745627 Fax +64 9 2740165 sales@sew-eurodrive.co.nz Tel. +64 3 384-6251 Fax +64 3 384-6455 sales@sew-eurodrive.co.nz Moss SEW-EURODRIVE A/S Solgaard skog 71 N-1599 Moss Tel. +47 69 241-020 Fax +47 69 241-040 sew@sew-eurodrive.no Lima SEW DEL PERU MOTORES REDUCTORES S.A.C. Los Calderos, 120-124 Urbanizacion Industrial Vulcano, ATE, Lima Tel. +51 1 3495280 Fax +51 1 3493002 sewperu@sew-eurodrive.com.pe Lodz SEW-EURODRIVE Polska Sp.z.o.o. ul. Techniczna 5 PL-92-518 Lodz Tel. +48 42 67710-90 Fax +48 42 67710-99 http://www.sew-eurodrive.pl sew@sew-eurodrive.pl 70 Address List Portugal Assembly Sales Service Romania Sales Service Russia Assembly Sales Service Senegal Sales Coimbra Bucuresti St. Petersburg Dakar Serbia and Montenegro Sales Beograd Singapore Assembly Sales Service Slovakia Sales Slovenia Sales Service South Africa Assembly Sales Service Singapore Sered Celje Johannesburg Capetown Durban SEW-EURODRIVE, LDA. Apartado 15 P-3050-901 Mealhada Tel. +351 231 20 9670 Fax +351 231 20 3685 http://www.sew-eurodrive.pt infosew@sew-eurodrive.pt Sialco Trading SRL str. Madrid nr.4 011785 Bucuresti Tel. +40 21 230-1328 Fax +40 21 230-7170 sialco@sialco.ro ZAO SEW-EURODRIVE P.O. Box 36 195220 St. Petersburg Russia Tel. +7 812 3332522 +7 812 5357142 Fax +7 812 3332523 http://www.sew-eurodrive.ru sew@sew-eurodrive.ru SENEMECA Mécanique Générale Km 8, Route de Rufisque B.P. 3251, Dakar Tel. +221 849 47-70 Fax +221 849 47-71 senemeca@sentoo.sn DIPAR d.o.o. Kajmakcalanska 54 SCG-11000 Beograd Tel. +381 11 3088677 / +381 11 3088678 Fax +381 11 3809380 dipar@yubc.net SEW-EURODRIVE PTE. LTD. No 9, Tuas Drive 2 Jurong Industrial Estate Singapore 638644 Tel. +65 68621701 Fax +65 68612827 sewsingapore@sew-eurodrive.com SEW-Eurodrive SK s.r.o. Trnavska 920 SK-926 01 Sered Tel. +421 31 7891311 Fax +421 31 7891312 sew@sew-eurodrive.sk Pakman - Pogonska Tehnika d.o.o. UI. XIV. divizije 14 SLO – 3000 Celje Tel. +386 3 490 83-20 Fax +386 3 490 83-21 pakman@siol.net SEW-EURODRIVE (PROPRIETARY) LIMITED Eurodrive House Cnr. Adcock Ingram and Aerodrome Roads Aeroton Ext. 2 Johannesburg 2013 P.O.Box 90004 Bertsham 2013 SEW-EURODRIVE (PROPRIETARY) LIMITED Rainbow Park Cnr. Racecourse & Omuramba Road Montague Gardens Cape Town P.O.Box 36556 Chempet 7442 Cape Town SEW-EURODRIVE (PROPRIETARY) LIMITED 2 Monaceo Place Pinetown Durban P.O. Box 10433, Ashwood 3605 Tel. +27 11 248-7000 Fax +27 11 494-3104 dross@sew.co.za Tel. +27 21 552-9820 Fax +27 21 552-9830 Telex 576 062 dswanepoel@sew.co.za Tel. +27 31 700-3451 Fax +27 31 700-3847 dtait@sew.co.za 71 Address List Spain Assembly Sales Service Sweden Assembly Sales Service Switzerland Assembly Sales Service Thailand Assembly Sales Service Tunisia Sales Turkey Assembly Sales Service Ukraine Sales Service USA Production Assembly Sales Service Assembly Sales Service Bilbao SEW-EURODRIVE ESPAÑA, S.L. Parque Tecnológico, Edificio, 302 E-48170 Zamudio (Vizcaya) Tel. +34 9 4431 84-70 Fax +34 9 4431 84-71 sew.spain@sew-eurodrive.es Jönköping SEW-EURODRIVE AB Gnejsvägen 6-8 S-55303 Jönköping Box 3100 S-55003 Jönköping Tel. +46 36 3442-00 Fax +46 36 3442-80 http://www.sew-eurodrive.se info@sew-eurodrive.se Basel Alfred lmhof A.G. Jurastrasse 10 CH-4142 Münchenstein bei Basel Tel. +41 61 41717-17 Fax +41 61 41717-00 http://www.imhof-sew.ch info@imhof-sew.ch Chon Buri SEW-EURODRIVE (Thailand) Ltd. Bangpakong Industrial Park 2 700/456, Moo.7, Tambol Donhuaroh Muang District Chon Buri 20000 Tel. +66 38 454281 Fax +66 38 454288 sewthailand@sew-eurodrive.co.th Tunis T. M.S. Technic Marketing Service 7, rue Ibn EI Heithem Z.I. SMMT 2014 Mégrine Erriadh Tel. +216 1 4340-64 + 1 4320-29 Fax +216 1 4329-76 Istanbul SEW-EURODRIVE Hareket Sistemleri Sirketi Bagdat Cad. Koruma Cikmazi No. 3 TR-34846 Maltepe ISTANBUL Tel. +90 216 4419163 + 216 4419164 + 216 3838014 Fax +90 216 3055867 sew@sew-eurodrive.com.tr Dnepropetrovsk SEW-EURODRIVE Str. Rabochaja 23-B, Office 409 49008 Dnepropetrovsk Tel. +380 56 370 3211 Fax +380 56 372 2078 sew@sew-eurodrive.ua Greenville SEW-EURODRIVE INC. 1295 Old Spartanburg Highway P.O. Box 518 Lyman, S.C. 29365 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 481 Bridgeport, 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! Tel. +1 864 439-7537 Fax Sales +1 864 439-7830 Fax Manuf. +1 864 439-9948 Fax Ass. +1 864 439-0566 Telex 805 550 http://www.seweurodrive.com cslyman@seweurodrive.com Tel. +1 510 487-3560 Fax +1 510 487-6381 cshayward@seweurodrive.com Tel. +1 856 467-2277 Fax +1 856 845-3179 csbridgeport@seweurodrive.com Tel. +1 937 335-0036 Fax +1 937 440-3799 cstroy@seweurodrive.com Tel. +1 214 330-4824 Fax +1 214 330-4724 csdallas@seweurodrive.com 72 Address List Venezuela Assembly Sales Service Valencia SEW-EURODRIVE Venezuela S.A. Av. Norte Sur No. 3, Galpon 84-319 Zona Industrial Municipal Norte Valencia, Estado Carabobo Tel. +58 241 832-9804 Fax +58 241 838-6275 sewventas@cantv.net sewfinanzas@cantv.net 73 Address List 74 SEW-EURODRIVE – Driving the world Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services How we’re driving the world With people who think fast and develop the future with you. With a worldwide service network that is always close at hand. With drives and controls that automatically improve your productivity. With comprehensive knowledge in virtually every branch of industry today. With uncompromising quality that reduces the cost and complexity of daily operations. With a global presence that offers responsive and reliable solutions. Anywhere. SEW-EURODRIVE Driving the world With innovative technology that solves tomorrow’s problems today. With online information and software updates, via the Internet, available 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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