movidrive® mdx61b internal synchronous operation (isync
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Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services
MOVIDRIVE® MDX61BInternal Synchronous Operation (ISYNC)
ManualEdition 06/200511365412 / EN
SEW-EURODRIVE – Driving the world
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 3
Contents
1 Important Notes................................................................................................. 4
2 System Description........................................................................................... 52.1 Application fields ....................................................................................... 52.2 Description of functions............................................................................. 52.3 State machine of internal synchronous operation ..................................... 62.4 Controlling internal synchronous operation............................................... 7
3 Project Planning................................................................................................ 83.1 Application examples ................................................................................ 83.2 Prerequisites ........................................................................................... 113.3 Project planning notes ............................................................................ 123.4 Synchronous start/stop ........................................................................... 13
4 Installation ....................................................................................................... 144.1 Software.................................................................................................. 144.2 Encoder and resolver connection............................................................ 154.3 Connecting the incremental encoder master to MOVIDRIVE® slave...... 164.4 Connecting the MOVIDRIVE® master to MOVIDRIVE® slave................ 184.5 Connecting the absolute encoder master to MOVIDRIVE® slave........... 194.6 System bus connection of master to slave.............................................. 21
5 Working Method and Functions..................................................................... 225.1 Controlling internal synchronous operation............................................. 225.2 Main state machine................................................................................. 225.3 Startup cycle control ............................................................................... 245.4 Synchronous operation ........................................................................... 305.5 Offset cycle type ..................................................................................... 345.6 Stop cycle state machine ........................................................................ 395.7 Virtual encoder........................................................................................ 405.8 Important notes ....................................................................................... 445.9 Internal synchronous operation via SBus................................................ 46
6 Startup.............................................................................................................. 476.1 General information ................................................................................ 476.2 Preliminary work...................................................................................... 476.3 Starting up internal synchronous operation............................................. 486.4 Internal synchronous operation startup interface.................................... 53
7 System Variables for Internal Synchronous Operation............................... 88
8 IPOSplus® Sample Programs .......................................................................... 988.1 Example 1 ............................................................................................... 988.2 Example 2 ............................................................................................. 1008.3 Example 3 ............................................................................................. 103
9 Index............................................................................................................... 107
1 Important Notes
4 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
1 Important Notes
Documentation • Read through this manual carefully before you commence installation and startup ofMOVIDRIVE® drive inverters with internal synchronous operation.
• This manual assumes that the user has access to and is familiar with the MOVI-DRIVE® documentation, in particular the MOVIDRIVE® system manual.
• In this manual, cross-references are marked with "Æ". For example, (Æ section X.X)means: Further information can be found in section X.X of this manual.
• As a prerequisite for fault-free operation and fulfillment of warranty claims, you mustadhere to the information in the documentation.
Bus systems General safety notes for bus systemsThis communication system allows you to adjust the MOVIDRIVE® drive inverter to yourspecific application conditions with the highest accurately. As with all bus systems, thereis a danger of modifications to the parameters that are not visible from outside (in rela-tion to the inverter), which give rise to changes in the inverter behavior. This may resultin unexpected (not uncontrolled) system behavior.
Safety and warning instructions
Always observe the safety and warning instructions in this documentation.
• This manual does not replace the detailed operating instructions.• Only trained personnel may perform installation and startup observing appli-
cable accident prevention regulations and the MOVIDRIVE® operating instruc-tions.
Electrical hazardPossible consequences: Severe or fatal injuries.
Hazard Possible consequences: Severe or fatal injuries.
Hazardous situationPossible consequences: Slight or minor injuries.
Harmful situationPossible consequences: Damage to the unit and the environment.
Tips and useful information
2System DescriptionApplication fields
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 5
2 System Description2.1 Application fields
The internal synchronous operation function enables a group of motors to be operatedat a synchronous angle in relation to one another or with an adjustable proportionalrelationship (electronic gear). Internal synchronous operation is particularly suited to thefollowing sectors and applications:• Beverage industry
– Filling stations• Multiple column hoist• Synchronous material transport• Extruder applications, cutting material off the roll to length
– Flying saw– Rotating knife
• Packaging technology
Advantages of internal synchronous operation
• Option of position-dependent catch-up Æ smooth synchronizing without over-shooting
• Option of position-dependent offset• Signed input of the master gear factor• Option of synchronization with a virtual encoder• Option of synchronized SBus connection between master and slave• Software solution Æ no option card required
2.2 Description of functionsThe internal synchronous operation function is a special firmware/technology function,which only expects increments from a master. The master can either be• The X14 input or• Any IPOSplus® variable (virtual master drive), for example in connection with the
SBus or a virtual encoder.
Catch-up The time-controlled catch-up mechanism has been implemented. A variation betweenthe angle of the slave drive and the master drive resulting from free running is reducedto zero.In addition, a special type of catch-up can be employed. The slave drive moves at a syn-chronous angle to the master drive following a specified number of master increments(position-dependent catch-up). With this catch-up mechanism, the slave drive moveswith a quadratic ramp.
Synchronous operation
Synchronous operation comprises various functions. For example, it is possible tooperate with a specified offset over a specific travel distance. The offset between themaster and slave drive comes into effect after a specified number of master increments.
Stop cycle The slave exits synchronous operation as a result of the stop cycle process. This pro-cess can be manually started by setting a system variable or can be event-driven usingan external signal.
2 System DescriptionState machine of internal synchronous operation
6 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
2.3 State machine of internal synchronous operationThe individual functions of internal synchronous operation are controlled using a statemachine. The state machine has the six main states shown in the following figure(Æ Section 6 "Operating Principle and Functions").
6 main states The state machine distinguishes between the six states Z0 to Z5 (Æ Section 6 "Oper-ating Principles and Functions").• State Z0 = Free-running speed control
The slave drive moves in free-running mode with speed control. The reference to themaster drive can be stored in a difference counter.
• State Z1 = Free running position controlThe slave drive stops subject to position control and therefore does not drift out ofposition. The reference to the master drive can be stored as desired.
• State Z2 = Startup cycleThe slave drive is synchronized with the master drive using time or position control.
06628AENFig. 1: Overview of the state machine for internal synchronous operation
Free moden-control
Z0
SynchronousdriveZ3
Free modex-control
Z1
Coupling stateZ2
Engaging control orIPOS program
Stop cycle stateZ5
Offset cycle stateZ4
Engaging control orIPOS program
Decoupling control orIPOS program
IPOS program
Decoupling control orIPOS program
Offset controlor IPOS program
Automatictransfer
Automatictransfer
Automatictransfer
Automatictransfer
2System DescriptionControlling internal synchronous operation
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 7
• State Z3 = Synchronous operationThe slave drive moves synchronously with the master drive.
• State Z4 = OffsetIn synchronous operation, an offset can be set subject to time or position control.
• State Z5 = Stop cycleThe slave drive exits synchronous operation.
2.4 Controlling internal synchronous operationInternal synchronous operation is controlled using IPOSplus® variables within theIPOSplus® application program. All states can be viewed and set in a variable range fromH360 to H446, which is reserved for internal synchronous operation.
3 Project PlanningApplication examples
8 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
3 Project Planning3.1 Application examplesMaster/slave operation of two drives
Master/slave operation of two drives with virtual encoder as master
06671AENFig. 2: Master/slave operation
X15X15
MDX61B...-5_3-4-0TBasic unit
X14 X14
Master Slave
Hip
erfa
ce
,R
esolv
er
Sin
/cos
encoder
®
Hip
erfa
ce
,R
esolv
er
Sin
/cos
encoder
®
06672AENFig. 3: Master/slave operation with virtual encoder
X15X15
MDX61B...-5_3-4-0TMDX61B...-5_3-4-0T
X14 X14
Master = virtual encoder Hip
erfa
ce
®,R
esolv
er
Sin
/cos
encoder
Hip
erfa
ce
®,R
esolv
er
Sin
/cos
encoder
Slave 1 Slave 2
IPOS-VariablesH370...
3Project PlanningApplication examples
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 9
Group configuration: Master and equal-ranked slaves, e.g. multiple column hoist
Group configuration with virtual encoder
06673AENFig. 4: Group configuration
X15X15X15 X15
MDX61B...-5_3-4-0T
SBusSBus SBus
Slave 1 Slave 2 Slave3
Sin/cos encoder
Sin/cos encoder
Sin/cos encoder
Sin/cos encoder
Master
MDX61B...-5_3-4-00
06674AENFig. 5: Group configuration with virtual master encoder
X15X15 X15
MDX61B...-5_3-4-0T
SBus SBus
Slave 1 Slave 2 Slave 3
Sin/cos encoder
Sin/cos encoder
Sin/cos encoder
Master = virtual encoder
IPOS-VariablesH370...
3 Project PlanningApplication examples
10 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Slave drive subject to slip with absolute encoder
06679AENFig. 6: Slave drive subject to slip
X15X15
MDX61B...-5_3-4-0TBasic unit
X14Synchronous encoder
SBus
SlaveSin/cos
encoder
Sin/cosencoder
Master
3Project PlanningPrerequisites
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 11
3.2 PrerequisitesPC and software You need the software package SEW MOVITOOLS® version 4.10 and higher from
SEW-EURODRIVE to be able to use internal synchronous operation. To use MOVI-TOOLS®, you must have a PC with one of the following operating systems:Windows® 95, Windows® 98, Windows® NT 4.0 or Windows® 2000.
IPOSplus®
CompilerThe user program for internal synchronous operation must be created using IPOSplus®
Compiler. Do not use the assembler (on-screen programming) for this purpose.IPOSplus® variables H360 to H450 are defined for internal synchronous operation.
Inverter • The MOVIDRIVE® MDX61B...-5_3-4-0T application version already includes thetechnology function for internal synchronous operation.
• Internal synchronous operation has been designed for MOVIDRIVE® MDX61B andplaces the following requirements on the drive system:– Encoder feedback– Operation modes "CFC", "SERVO" or "VFC-n control" with master/slave connec-
tion via X14-X14• Only parameter set 1 is available; parameter set 2 cannot be used.• The DRS11 synchronous operation board is not supported and therefore may not be
used.
Motors and encoders
• For operation on MOVIDRIVE® MDX61B:– CT/CV asynchronous servomotor, high-resolution sin/cos encoder (installed as
standard) or Hiperface® encoder.– AC motor DT/DV/D with incremental encoder option, preferably high-resolution
sin/cos encoder or Hiperface® encoder.– DS/CM synchronous servomotors, resolver (installed as standard) or Hiperface®
encoderHigh-resolution speed detection is required for optimum operation of internal synchro-nous operation. The encoders installed as standard on CT/CV and DS/CM motors fulfillthese requirements. If you use DT/DV/D motors, we recommend using Hiperface®
encoders or high-resolution sin/cos encoders ES1S, ES2S or EV1S.
Internal synchronous operation cannot be realized with• MOVIDRIVE® MDX60B
3 Project PlanningProject planning notes
12 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
3.3 Project planning notes• Do not use internal synchronous operation with systems that have a rigid mechanical
connection.• Equip slave inverters with a braking resistor.• During project planning, bear in mind that the slave must be able to reduce the angle
differential between itself and the master to zero at any time. For this reason, set themaximum speed (P302) of the slave to a value greater than the maximum speed ofthe master. When doing so, take the scaling factors of master and slave into account.
• Provide for a sufficient torque reserve for the slave drive. • During the time-controlled catch-up process, the catch-up speed of the slave drive
must be faster than the maximum speed of the master drive.• If possible, always use the same type of drives for internal synchronous operation.• In the case of multiple column drives, always use the same motors and the same
gear units (identical ratios).• When drives of the same type are operating as a synchronized group (e.g. multiple
column hoist), the drive that carries the highest proportion of the load during opera-tion must be selected as the master.
• Connect the slave motor encoder to terminal X15 (ENCODER IN) and the masterincremental encoder to terminal X14 (ENCODER IN/OUT) (Æ MOVIDRIVE®
MDX60B/61B operating instructions).• Master is incremental encoder on terminal X14. Use an incremental encoder with the
highest possible resolution (max. 200 kHz).• Operation with SBus Æ Setting up a cyclical data transfer in an IPOSplus® program:
– Group configuration: SBus connection between the master and all slave drives ispermitted
– SBus synchronization with transfer of the SBus synchronization ID– Transferring the position of the master drive
• Direct open circuit monitoring is possible for X14-X14 connection via the para-meter encoder monitoring X14. Indirect open circuit monitoring is possible duringoperation with SBus using the SBus timeout response (P836).
3Project PlanningSynchronous start/stop
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 13
3.4 Synchronous start/stopIn certain applications, such as a two-column hoist, you must make sure that the masterand slave can start and stop synchronously. This is a prerequisite for proper operation.
The following table shows the possible master/slave combination and the required set-tings for synchronous start/stop.
As a result, combinations in which the master is more dynamic than the slave are not permitted.
Master Slave Master parameters Slave parameters Comment
MDX61B MDX61B DOá2 = Output stage onDIá3 = Enable/rapid stop (factory setting)DIá1 and DIá2 = No function
Connect master binary output DOá2 to slave binary output DIá3.
Strictly observe the following:• The brake function must be active in the master and the slave (P730 "Brake function
1" = ON).• With asynchronous motors: The brake release time (P731) of the master must be
increased by the premagnetizing time (P323) of the slave drive.
4 InstallationSoftware
14 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
4 Installation4.1 Software
Proceed as follows to install MOVITOOLS® 4.10 on your computer:1. Insert the MOVITOOLS® CD into the CD ROM drive of your PC.2. Select "Start/Run...".3. Enter "{drive letter of your CD drive}:setup" and select the Enter button.4. The MOVITOOLS® setup menu appears. Follow the instructions of the installation
wizard. You will be guided through the installation automatically.You can now use the Program Manager to start MOVITOOLS®. If a MOVIDRIVE® B unitis connected to your PC, select the correct port (PC COM port), and select peer-to-peerconnection. Select <Update> to display the inverter in the "Connected Inverters" window.
10383AENFig. 7: MOVITOOLS® initial screen
4InstallationEncoder and resolver connection
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 15
4.2 Encoder and resolver connection
General installation notes
• Max. line length inverter – encoder/resolver: 100 m (330 ft) with a capacitance perunit length  120 nF/km (193 nF/mile).
• Core cross section: 0.20 ... 0.5 mm2 (AWG 24 ... 20)• If you cut off a core of the encoder/resolver cable: Isolate the core at the end.• Use shielded cables with twisted pair cores, and connect the shield on both ends
over a large surface area:– At the encoder in the cable gland or in the encoder plug– At the inverter in the housing of the sub D connector
• Route the encoder/resolver cable separately from the power cables.
Shielding Connect the shield of the encoder/resolver cable over a large area.
On the inverter Connect the shield on the inverter end in the housing of the sub D connector.
On the encoder/ resolver
Connect the shield on the encoder/resolver end only in the cable gland. For drives witha plug connector, connect the shield on the encoder plug.
Pre-fabricated cables
• SEW-EURODRIVE offers pre-fabricated cables for connecting encoders/resolvers.We recommend using these pre-fabricated cables.
The following wiring diagrams do not show the view of the cable end, but for:• with plugs / sockets: View on motor plugs/sockets• with unit sockets: View on unit socketThe core colors specified in the wiring diagrams are in accordance with the color codespecified in IEC 757 and correspond to the core colors used in the pre-fabricated cablesfrom SEW.The "SEW Encoder Systems" manual contains detailed information and can be obtainedfrom SEW.
01939BXXFig. 8: Connect the shield in the sub D connector
52392AXXFig. 9: Connect the shield on the grounding clip of the encoder
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10
11 12
1 2 3 4 5 6 7 8 9 10 11 12
11 12
4 InstallationConnecting the incremental encoder master to MOVIDRIVE® slave
16 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
4.3 Connecting the incremental encoder master to MOVIDRIVE® slave
06685BENFig. 10: Connecting the incremental encoder master to MOVIDRIVE® slave
X13:
X14:
X15:
X15:
123456789
1011
OptionDEH11B/DER11B
1
8
9
15
X10:TF1
DGNDDBØØ
DOØ1-CDOØ1-NODOØ1-NC
DOØ2VO24VI24DGND
123456789
10
TF/TH inputReference potential for binary signals/Brake
Relay contact/Ready*Normally open contact relayNormally closed contact relay
/Malfunctions*+24V output+24V inputReference potential for binary signals
DIØØDIØ1DIØ2DIØ3DIØ4DIØ5
DCOMVO24DGNDST11ST12
/Controller inhibitNo functionNo functionEnable/rapid stop*IPOS inputIPOS inputReference X13:DIØØ...DIØ5+24V outputReference potential for binary signalsRS-485+RS-485-
MOVIDRIVE -Slave®
*Factory settingExternalencoder input
OptionDEH11B
OptionDER11B
Motor encoder
Resolver
(Connection: MOVIDRIVEoperating instructions)
®
15
1
8
9
1
5
6
9Option DEH11B (Motor encoder):high-resolution sind/cos encoder
Hiperface encoder, or incremental encoder(CT/CV- or DT/DV/D motors)
®
Option DER11B (Motor encoder):Resolver
(DS/CM motors)
Option DEH11B / DER11B (Master):Incremental encoder TTL/RS-422
with 24V supplyI = 180 mA
DC
max
(Connection: MOVIDRIVEoperating instructions)
®
The options DEH11B/DER11B with encoder input X15 cannot be connected at thesame time.
4InstallationConnecting the incremental encoder master to MOVIDRIVE® slave
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 17
AV1H HIPERFACE® encoder connection
Connect the AV1H Hiperface® encoder as follows:
Part numbers of the pre-fabricated cables:• For fixed routing: 818 015 6• For cable carrier routing: 818 165 9
Part numbers of the pre-fabricated extension cables:• For fixed routing: 199 539 1• For cable carrier routing: 199 540 5
Sin/cos encoder connection
Connect the sin/cos encoder as follows:
Part numbers of the pre-fabricated cables:• For fixed routing: 817 960 3• For cable carrier routing: 818 168 3
06570BXXFig. 11: Connecting the AV1H Hiperface® encoder as external encoder to the MOVIDRIVE®
master
X14:
1
8
9
15
1
9
2
10
4
12
15
8
max. 100 m (330 ft)
3
4
5
6
8
7
12
11
RD
BU
YE
GN
BK
VT
RDBU-GY
GYPK-PK
� �
AV1H
3
4 5
6
9
10
11
12
1
2 7
8
COS
REFCOS
SIN
REFSIN
DATA+
DATA-
US
06230CXXFig. 12: Connecting sin/cos encoder as external encoder to MOVIDRIVE® master
EV1S / EV1R 1
9
2
10
3
11
15
8
X14:max. 100 m (330 ft)
� �
1
8
9
15
4 InstallationConnecting the MOVIDRIVE® master to MOVIDRIVE® slave
18 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
4.4 Connecting the MOVIDRIVE® master to MOVIDRIVE® slave
54707AENFig. 13: Connection MOVIDRIVE® master to MOVIDRIVE® slave and required connection for synchronous start/stop
X13:
X14:
X15:
X15:
X10:
123456789
1011
Option DEH11B /DER11B
X13:
X14:
X15:
X15:
X10:
1
8
9
15
1
8
9
15
TF1DGNDDBØØ
DOØ1-CDOØ1-NODOØ1-NC
DOØ2VO24VI24DGND
123456789
10
TF1DGNDDBØØDOØ1-CDOØ1-NODOØ1-NCDOØ2VO24VI24DGND
123456789
10
TF inputReference potential for binary signals/Brake
Relay contact/Ready*Normally open contact relayNormally closed contact relay
/Malfunction*+24V output+24V inputReference potential for binary signals
Reference potential for binary signals
Motor standstillNormally open contact relay
Normally closed contact relay
TF inputReference potential for binary signals
/Brake
Output stage on+24 V output
+24V input
DIØØDIØ1DIØ2DIØ3DIØ4DIØ5
DCOMVO24DGNDST11ST12
DIØØDIØ1DIØ2DIØ3DIØ4DIØ5
DCOMVO24DGNDST11ST12
123456789
1011
*Fac
tory
set
ting
MOVIDRIVE -Master®
/Controller inhibitCW/Stop*
CCW/Stop*Enable/rapid stop*
n11/n21*Ext. fault
Reference X13:DIØØ...DIØ5+24V
Reference potential for binary signalsRS-485+RS-485-
/Controller inhibitNo functionNo functionEnable/rapid stop*IPOS inputIPOS inputReference X13:DIØØ...DIØ5+24V outputReference potential for binary signalsRS-485+RS-485-
MOVIDRIVE -Slave®
*Factory setting
External encoder input
Option DEH11B /DER11BIncremental encoder
simulation
Option DEH11BMotor encoder:
Incremental encoder
(Connection MOVIDRIVEoperating instructions)
®
Option DEH11B
Option DER11BOption DER11B
Motor encoder:
ResolverResolver
Incremental encoder
15
1
8
9
15
1
8
9
1
5
6
9
1
5
6
9
[1][1]
[2][2]
[3][3]
(Connection MOVIDRIVEoperating instructions)
®
(Connection MOVIDRIVEoperating instructions)
®
(Connection MOVIDRIVEoperating instructions)
®
1 Necessary connection for synchronous start/stop (Æ Section Synchronous start/stop)
2 For the X14-X14 connection, it is essential to comply with section "X14-X14 connection" and the following instructions.
3 When a fault occurs in the slave drive, the master can be stopped regardless of para-meter P830 Response EXT. FAULT.
The options DEH11B/DER11B with encoder input X15 cannot be connected at thesame time.
4InstallationConnecting the absolute encoder master to MOVIDRIVE® slave
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 19
X14-X14 connection
4.5 Connecting the absolute encoder master to MOVIDRIVE® slaveInternal 24 VDC supply
06660AXXFig. 14: Connection MOVIDRIVE® master X14 to MOVIDRIVE® slave X14
1
9
2
10
3
11
15
8
7
1
9
2
10
3
11
15
8
7
max. 10 m (33 ft)
� �
1
8
9
15
1
8
9
15
Please note:• With MOVIDRIVE® master: Jumper X14:7 with X14:8.• Do not connect MOVIDRIVE® master X14:15 and MOVIDRIVE® slave X14:15.• SEW-EURODRIVE offers a pre-fabricated cable for easy and trouble-free master
(X14)/slave (X14) connection. You can order this cable from SEW-EURODRIVEunder part number 817 958 1.
06675AXXFig. 15: Connecting the absolute encoder master to MOVIDRIVE® slave
4 InstallationConnecting the absolute encoder master to MOVIDRIVE® slave
20 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
External 24 VDC supply
Connecting HIPERFACE® encoder to DT../DV../D, CT../CV motors
We recommend the HIPERFACE® encoders AS1H, ES1H and AV1H for operation withMOVIDRIVE® MDX61B. The encoder is connected via plug connectors.
Part numbers of the pre-fabricated cables:• For fixed routing: 1332 453 5• For cable carrier routing: 1332 455 1
Part numbers of the pre-fabricated extension cables:• For fixed routing: 199 539 1• For cable carrier routing: 199 540 5
06676AENFig. 16: Connecting the absolute encoder master to MOVIDRIVE® slave
1
5
6
9
DIP11B
1638
24 VDC
DGND
Data +Data -Cycle +Cycle -
max. 100 m (330 ft)
06558AXXFig. 17: Connecting HIPERFACE® encoder as master to MOVIDRIVE® slave
1
9
2
10
12
4
14
6
8
15
1
8
9
15
X15:max. 100 m (330 ft)
3
4
5
6
7
8
9
10
11
12
RD
BU
YE
GN
VT
BK
BN
WH
GY-PK
RD-BU
PK
GY
AS1H/ES1H/AV1H
� �
3
4 5
6
9
10
11
12
1
2 7
8
Important for DT/DV or CT/CV motors: TF or TH is not connected with the encoder cablebut must be connected using an additional 2-core shielded cable.
4InstallationSystem bus connection of master to slave
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 21
4.6 System bus connection of master to slave
Max. 64 CAN bus stations can be interconnected using the system bus (SBus). TheSBus supports transmission technology compliant with ISO 11898.The "Serial Communication" manual contains detailed information about the system busthat can be ordered from SEW-EURODRIVE.
Cable specification
• Use a 2-core twisted and shielded copper cable (data transmission cable withbraided copper shield). The cable must meet the following specifications:– Core cross-section 0.75 mm2 (AWG 18)– Line resistance 120 Ê at 1 MHz– Capacitance per unit length  40 pF/m (12 pF/ft) at 1 kHzSuitable cables include CAN bus or DeviceNet cables.
Cable length • The permitted total cable length depends on the baud rate setting of the SBus(P816):– 125 kBaud Æ 320 m (1056 ft)– 250 kBaud Æ 160 m (528 ft)– 500 kBaud Æ 80 m (264 ft)– 1000 kBaud Æ 40 m (132 ft)
Terminating resistor
• Switch on the system bus terminating resistor (S12 = ON) at the start and end of thesystem bus connection. Switch off the terminating resistor on the other units (S12 =OFF).
Shielding • Connect the shield at either end to the electronics shield clamp of the inverter or themaster control, ensuring the shield is connected over a large area, and connect theends of the shield to DGND.
Only when P816 "SBus baud rate" = 1000 kBaud:MOVIDRIVE® compact MCH4_A units cannot be combined with other MOVIDRIVE®
units in the same system bus combination.The units are allowed to be mixed when baud rates Á 1000 kBaud.
06615AENFig. 18: System bus connection (example: one master and two slaves)
X12:DGNDSC11SC12
123
S 12S 11
S 13S 14
ON OFFX12:
DGNDSC11SC12
123
S 12S 11
S 13S 14
ON OFFX12:
DGNDSC11SC12
123
S 11
S 13S 14
S 12
ON OFF
� �
Master Slave 1 Slave 2
System busReference
System busReference
System busReference
System bus high System bus high System bus highSystem bus low System bus low System bus low
System busTerminating resistor
System busTerminating resistor
System busTerminating resistor
� �
• There must not be any potential displacement between the units connected with theSBus. Take suitable measures to prevent potential displacement, such as con-necting the unit ground connectors using a separate cable.
5 Working Method and FunctionsControlling internal synchronous operation
22 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
5 Working Method and Functions5.1 Controlling internal synchronous operation
Internal synchronous operation is controlled using IPOSplus® variables within theIPOSplus® program (in the following referred to as "application"). All states of internalsynchronous operation can be viewed and set in a variable range from H360 to H450which is reserved for internal synchronous operation (Æ "System variables" section). Allvariables that are connected to internal synchronous operation have symbolic names.These variables are shown below in bold and italics.
5.2 Main state machineThe following figure shows the states of the main machine and possible state changesof internal synchronous operation (H427 Æ SynchronousState).
06629AENFig. 19: Main state machine of internal synchronous operation with sub-state machines
[1] Startup cycle state machine[2] Stop cycle state machine[3] Offset state machine
[3][3] [2][2][3][3] [2][2]
[1][1][1][1][1][1][1][1][1][1][1][1]
[2][2]
Free moden-control
Z0
Synchronousdrive Z3
Free modex-control
Z1
Coupling stateZ2
H411.12 = 0:time-controlled synch.
H411.12 = 1:position-dependent synch.
Coupling control orIPOS program
Stop cycle state/decouplin
gZ5
H401.0 = 0: n-controlH401.0 = 1: x-control
Offset cycle stateZ4
H361.12 = 0: time-controlled offset processing
H361.12 = 1:position-dependentoffset processing
Coupling control orIPOS program
H411.12=0: H434 Drag Distance = 0H411.12=1: H414 Counter > H417 Master Length
Disengaging control orIPOS program
H401.0 = 0
H401.0=1
IPOS program
Decoupling control orIPOS program
H361.12=0: H434 Lag Distance = 0H361.12=1: H364 Counter > H366 Master Length
Offset controlor IPOS program
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5Working Method and FunctionsMain state machine
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 23
6 main states The state machine distinguishes between six states (Z0 to Z5). These states are storedin the IPOSplus® variable H427 SynchronousState (Æ section 7 "System variables").
Additional functions with H426
Additional functions can be selected using the bits of the H426 SynchronousModeControl IPOSplus® variable (Æ section 7 "System Variables").
State H427 Description
SynchronousState = 0Free-running n-controlThe slave drive can be moved subject to speed control at the speed entered in H439 SpeedFreeMode.
SynchronousState = 1 Free-running x-controlThe slave drive is held in its current position.
SynchronousState = 2Startup cycle phaseSynchronization takes place subject either to time or position control depending on bit 12 in H411 StartupCycleModeControl.
SynchronousState = 3 "Hard" synchronous operationThe slave drive follows the master drive at the same angle.
SynchronousState = 4OffsetThe offset is set subject to time or position control depending onbit 12 in H361 OffsetCycleModeControl.
SynchronousState = 5 Stop cycle phaseThe slave drive goes into the stop cycle using the t11 ramp (P130).
Bit Name Description
0 PosTrim
= 0: Deactivated= 1: Causes the slave drive to move to TargetPos (H492) without ramp during position control in free-running mode (state 1). This setting should therefore only be used for position corrections.
1 LagError
= 0: State 3, operating mode not equal to positioning, ramp type not equal to internal synchronous operation Æ Lag error monitoring.= 1: State 3, operating mode not equal to positioning, ramp type not equal to internal synchronous operation Æ No lag error monitoring.
2 RegisterScale= 0: The values of the correction mechanism are written to the difference counter 1:1.= 1: The values are scaled with GFSlave.
3 ZeroPointMode
= 0: Feedforward is decoupled with "Set DRS zero point".= 1: Feedforward is maintained (speed synchronization with reference to the drive), which means the slave continues to move at the same speed as the master.
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5 Working Method and FunctionsStartup cycle control
24 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
5.3 Startup cycle controlTime-controlled catch-up process
During the time-controlled catch-up process, the existing difference of position betweenthe master and slave drive (64-bit counter) is compensated by accelerating or deceler-ating the slave drive to the catch-up speed. The time required depends on the catch-upspeed, the catch-up ramp, and the lag distance (H434 LagDistance32). The followingdiagram shows the speed profile of the slave drive during the entire process (e.g. at aconstant master speed).
The catch-up speed nCatch and the catch-up ramp aCatch are set using parameters P240synchronization speed and P241 synchronization ramp. These two parameters are alsoused by the DRS11B synchronous operation board.Catch-up takes place in two steps:• First, the speed of the slave drive is adjusted to the speed of the master drive by
using a specified ramp (speed synchronism).• In the second step, the still existing angle differential (H434 LagDistance32) is
reduced to zero by accelerating or decelerating the drive (positional synchronism).
06630AENFig. 20: Speed profile of the time-controlled catch-up process
nMaster
t [s]
nSlave
0 txasynch.
P241
t0
nsynch. [rpm]
P240LagDistance32 ( ) H434
eff. lag distance
at time t
�
X
tX
LagDistance32 ( ) H434
eff. lag distance
at time t
�
0
t0
Observe the following points for setting the controller:• nmax slave (P302) Ã nCatch (P240)
The output speed of the slave drive must be equal to or greater than the output speedof the master drive.
Observe the following during project planning:• Provide for a sufficient torque reserve for the slave drive.
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5Working Method and FunctionsStartup cycle control
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 25
Position-dependent catch-up process
In this catch-up process, the slave drive only moves synchronously with the master driveonce the master drive has covered a specified distance. The specified distance must bestored in increments in relation to the master in the H417 StartupCycleMasterLengthvariable. Note that the slave drive must start with speed zero.
Catch-up takes place as follows (with reference to a constant master speed):• in the range 0% to 20% and 80% to 100%: the slave drive moves with a quadratic
ramp• in the range 20% to 80%: the slave drive moves with a linear rampAfter the startup cycle distance, the slave has covered half the distance of the master(with reference to the drive).
06631AENFig. 21: Speed profile for the position-dependent catch-up process
[rpm]
[rpm]
Slave
A control element was added to prevent the loss of master increments during the tran-sition from the position-dependent catch-up process to synchronous operation. In thisway, a specific differential increment value (H389 RegisterLoopOut) in each samplingstep is added to the 64-bit difference counter by a certain number of increments (H390RegisterLoopDXDTOut).The element only takes effect in main state Z3 (synchronous operation) and can bewritten directly by the user.The following parameters should be set as given below to achieve exact results in theposition-dependent catch-up process:• H390 RegisterLoopDXDXOut = 2 The remaining travel distance can be reduced to
zero.• H426 SynchronousModeControl.2 (RegisterScale - H426) = 1 results in multiplica-
tion with GFSlave.
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5 Working Method and FunctionsStartup cycle control
26 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Startup cycle state machine
Startup cycle control reacts in the main states Z0 and Z1. The startup cycle process ofthe slave to the master can be performed either manually, event-driven, or with interruptcontrol.The startup cycle mode is defined with the H410 StartupCycleMode system variable.Additional functions can be programmed with the H411 StartupCycleModeControlsystem variable.
System variable H410 StartupCycleMode Æ startup cycle mode:• Manual startup cycle (StartupCycleMode = 0)
The startup cycle process starts when the application assigns the value 2 to the H427SynchronousState system variable.
• Event-driven starting (StartupCycleMode = 1)The startup cycle process is started event-driven via binary input. The H413 Startup-CycleInputMask system variable defines which binary input triggers the startup cycleprocess. The process is started as soon as a "1" level is present at the defined binaryinput. The terminal latency is 1 ms.
• Interrupt-controlled startup cycle (StartupCycleMode = 2)A signal edge at binary input DI02 or on the C track X14:3 triggers the startup cycleprocess (interrupt-controlled). To do this, binary input DI02 must be programmed to"No function". A delay in relation to the master cycle can be defined for the startupcycle process start using the H415 StartupCycleCounterMaxValue system variable.The response time of the sensor can be taken into account using the H416StartupCycleDelayDI02 system variable (1 digit = 0.1 ms). This parameter is alsoeffective for the startup cycle with X14:3 (C track).
06632AENFig. 22: Event-driven starting of the position-dependent startup cycle process
06633AENFig. 23: Interrupt-controlled starting of the position-dependent startup cycle process
n [rpm]Slave
x [Incr.]Master
"1"
"0"
DI..
StartupCycleMasterLength (H417)
≥ 1 ms
n [rpm]Slave
x [Incr.]Master
"1"
"0"
DIØ2(X14:3)
StartupCycleCounterMaxValue (H415)
StartupCycleMasterLength (H417)
150 μs
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5Working Method and FunctionsStartup cycle control
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 27
Startup cycle state machine in H412 StartupCycleState:
Application example
In figure 25, the following application example is shown for startup cycle mode 2: The center of a moving workpiece is to be stamped by a punch. The presence of a work-piece and the starting time for synchronization are determined by a sensor [2], whichscans a print mark [3] on the workpiece. Synchronizing, stamping, and repositioning [7]are to be performed within one machine cycle [4].
The mechanical structure is as follows:iMaster = 10iSlave = 7dMaster = dSlave = 55.7 mmLength of a machine cycle = 200 mm
06634AENFig. 24: Startup cycle state machine with interrupt control (startup cycle mode 2)
Interruptdeactivated
(EZ0)
Delay(EZ3)
Coupling andresetting of
engaging counterH414=H414-H415
(EZ4)
Interrupt isenabled(EZ1)
Waiting onInterrupt
(EZ2)
automatic
IPOS program
AutoRestartdeactivated
IPOS program
H414>=H415
AutoRestart
Interrupt andH415!=0
Interrupt andH415==0
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5 Working Method and FunctionsStartup cycle control
28 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
In a position-dependent startup cycle, the slave covers half the distance of the master(half the H417 StartupCycleMasterLength). The punch is then positioned above thecenter of the workpiece after exactly half a machine cycle [5], and the actual stampingprocess can start.
Determining H417 StartupCycleMasterLength:4096 inc corresponds to 1/10 x 55.7 mm x 3.14(4096 inc x 10) / (55.7 mm x 3.14) = 234.07 inc/mmÆ StartupCycleMasterLength = 200 mm x 234.0749 inc/mm = 46815 incÆ GFMaster = 7Æ GFSlave = 10Æ StartupCycleMode = 2Æ StartupCycleCounterMaxValue = xxx (a delay for the startup cycle process can beprogrammed)
53433AXXFig. 25: Application example for startup cycle mode 2
[1] Starting position of the punch [5] Half a machine cycle[2] Sensor [6] Synchronous operation[3] Print mark [7] Stop cycle and repositioning[4] Machine cycle
55.7mm
[1]
[2]
[4]
[3]
[5]
t
n
StartupCycleCounter-
MaxValue
StartupCycleCounterMaxValue
StartupCycle
MasterLength
DI02 nSlave
nMaster
[6]
[7]
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5Working Method and FunctionsStartup cycle control
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 29
• Position-controlled startup cycle (StartupCycleMode = 3) The startup cycle process is initiated by the H414 StartupCycleCounter positioncounter. If the StartupCycleCounter value is greater than the H415 StartupCycleCounterMaxValue counter overrun value, the startup cycle begins automatically. Inthis case, StartupCycleCounterMaxValue must be greater than the total number ofmaster encoder pulses in the startup cycle, master cycle, and stop cycle.
Startup cycle state machine in H412 StartupCycleState:
H411 StartupCycleModeControl system variable Æ Additional functions:
06635AENFig. 26: Position-controlled starting of the position-dependent startup cycle process
nSlave [rpm]
xMaster [Incr.]StartupCycleCounterMaxValue (H415)
StartupCycleCounter (H414)
2.StartupCycleMasterLength (H417) 1.
[1] Synchronous operation and stop cycle time[2] Stop cycle is performed for the slave, time for repositioning to the initial position
06636AENFig. 27: Startup cycle state machine with position control (startup cycle mode 3)
Bit Name Description
0 AutoRestartModes 2 and 3
= 0: AutoRestart deactivated.= 1: AutoRestart.
1 StartupDisableModes 2 and 3
= 0: Coupling possible= 1: Startup cycle disabled
2 InterruptSelectMode 2
= 0: DI02.= 1: X14 C track
12 StartupMode = 0: Time-controlled catch-up process means the existing difference in posi-tion between master and slave is eliminated using the catch-up speed (P240 synchronization speed) and the catch-up ramp (P241 synchronization ramp).= 1: Position-dependent catch-up process means that the slave moves syn-chronously with the master when the master has covered the distance defined in StartupCycleMasterLength. Important: The starting speed of the slave must be zero!
deactivated(EZ0)
Countercontrol(EZ1)
H414 H415
Coupling andresetting of
engaging counterH414=H414-H415
�
�
IPOS program
AutoRestartdeactivated
AutoRestart
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5 Working Method and FunctionsSynchronous operation
30 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
5.4 Synchronous operationControl takes place with a P-controller. The master and slave pulses are evaluated withthe corresponding scaling factors and added up to a 64-bit value after comparison. TheP-controller together with the feedforward and subsequent limiting to the maximumspeed provide the speed setpoint for the speed controller. A control element was added to prevent the loss of master increments during the tran-sition from the position-dependent catch-up process to synchronous operation. In thisway, a certain increment differential in each sampling step is added to the 64-bit differ-ence counter by a certain number of increments (H390 RegisterLoopDXDTOut). Thesetup only takes effect in main state Z3 (synchronous operation) and can be writtendirectly by the user.
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5Working Method and FunctionsSynchronous operation
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 31
06694AENFig. 28: Block circuit diagram for internal synchronous operation
H44
2M
aste
r Trim
X14
X14
Mas
terS
ourc
e(H
430)
=0
H43
0M
aste
rSou
rce
+ +1
H44
6M
Filte
rTim
eH
428
GFM
aste
r1/
GFS
lave
(H42
9)S
yncE
ncod
erN
um(H
435)
Syn
cEnc
oder
Den
om(H
436)
H43
7S
lave
Trim
H38
9R
egis
terL
oopO
ut
+-
++
Syn
chro
nous
Stat
eH42
7)=1
&&
Stop
Cyc
leM
odeC
ontro
l.1(X
Con
trolM
ode-
H40
1)=1
Spee
dFre
eMod
e(H
439)
Syn
chro
nous
Stat
e(H
427)
=0
++ +
-
H39
0R
egis
terL
oopD
XD
TOut
H42
9G
FSla
ve
0
Syn
chro
nous
Stat
e(H
427)
=3
Syn
chro
nous
Mod
eCon
trol.2
(Reg
iste
rSca
le-H
426)
=0
1
H43
1S
lave
Sou
rce
H42
9G
FSla
ve
0
LagD
ista
nce6
4Low
(H43
2)La
gDis
tanc
e64H
igh(
H43
3)
11/
H42
9G
FSla
ve
Syn
cEnc
oder
Num
(H43
5)S
yncE
ncod
erD
enom
(H43
6)
+ -H
431
Sla
veS
ourc
e
H49
2Ta
rget
Pos S
ynch
rono
usSt
ate(
H42
7)=1
&&
Syn
chro
nous
Mod
eCon
trol.0
(Pos
Trim
-H42
6)=1
n max
n max
-nm
ax
-nm
ax
0
0 0
2 1R
eSpr
intC
lose
(444
)
Syn
chro
nous
Stat
e(H
427)
=0
Spee
dFre
eMod
e(H
439)
+-
00
Feed
forw
ard
filte
r DR
SP
228
H44
2M
aste
r Trim
X14 M
aste
rSou
rce
(H43
0)=0
H43
0M
aste
rSou
rce
H44
6M
Filte
rTim
eH
428
GFM
aste
r1/
GFS
lave
(H42
9)S
yncE
ncod
erN
um(H
435)
Syn
cEnc
oder
Den
om(H
436)
H43
7S
lave
Trim
H38
9R
egis
terL
oopO
ut
Syn
chro
nous
Stat
eH42
7)=1
&&
Stop
Cyc
leM
odeC
ontro
l.1(X
Con
trolM
ode-
H40
1)=1
Spee
dFre
eMod
e(H
439)
Syn
chro
nous
Stat
e(H
427)
=0
H39
0R
egis
terL
oopD
XD
TOut
H42
9G
FSla
ve
Syn
chro
nous
Stat
e(H
427)
=3
Syn
chro
nous
Mod
eCon
trol.2
(Reg
iste
rSca
le-H
426)
=0
H43
1S
lave
Sou
rce
H42
9G
FSla
ve
LagD
ista
nce6
4Low
(H43
2)La
gDis
tanc
e64H
igh(
H43
3)
1/H
429
GFS
lave
Syn
cEnc
oder
Num
(H43
5)S
yncE
ncod
erD
enom
(H43
6)
H43
1S
lave
Sou
rce
H49
2Ta
rget
Pos S
ynch
rono
usSt
ate(
H42
7)=1
&&
Syn
chro
nous
Mod
eCon
trol.0
(Pos
Trim
-H42
6)=1
ReS
prin
tClo
se(4
44)
Syn
chro
nous
Stat
e(H
427)
=0
Spee
dFre
eMod
e(H
439)
P22
8
(Syn
chro
nous
Mod
eCon
trol.3
(Zer
oPoi
ntM
ode-
H42
6)=0
&&S
ynch
rono
usSt
ate(
H42
7)=3
&&
set D
RS
zero
poin
t)II
(Syn
chro
nous
Stat
e(H
427)
=1&
&St
opC
ycle
Mod
eCon
trol.1
(XC
ontro
lMod
e-H
401)
=0)
Acc
eler
atio
nfo
rwar
d
Set
DR
Sze
ropo
int
Xco
ntro
ller
P91
0 Spee
dse
tpoi
nt
00
I
5 Working Method and FunctionsSynchronous operation
32 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Correction function (RegisterScale / RegisterLoop)
A correction value can be entered via H389 RegisterLoopOut, which is added by the dif-ference counter. To prevent speed jumps, this correction value is not added at once butis limited by the value H390 RegisterLoopDXDTOut (resolution in inc/ms).
Example A correction value of 10000 inc is to be added to the difference counter within 500 ms:• 10000 inc / 500 ms = 20 inc/ms• H389 RegisterLoopOut = 10000• H390 RegisterLoopDXDTOut = 20In this case, the correction value of 10000 inc is reduced at 20 inc/ms, which means thecorrection lasts 500 ms.
Please note:• The limitation H390 RegisterLoopDXDTOut must be written with a value. If no value
is written, a correction factor entered in H389 RegisterLoopOut will be ineffective.The max. correction per millisecond is limited by H390 RegisterLoopXDTOut tovalues of –30000 to 30000.
• The slave scaling factor is taken into account during correction if H426.2 Register-Scale = 1. In this case, the correction value entered in H389 RegisterLoopOut actsdirectly on the output shaft. If the slave scaling factor is not to be taken into account,then set H426.2 RegisterScale = 0.
• As soon as the value of H389 RegisterLoopOut has been added to the differencecounter, H389 RegisterLoopOut is automatically overwritten with the value "0".
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5Working Method and FunctionsSynchronous operation
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 33
Slave drive subject to slip
If synchronous operation is required for a drive that is subject to slip, the synchronousencoder function must be activated in MOVIDRIVE® B. The ratio between motorencoder and synchronous encoder must be specified as numerator/denominator factorin the IPOSplus® variables H435 SyncEncoderNum and H436 SyncEncoderDenom:• Numerator factor (H435 SyncEncoderNum):
– Distance per motor encoder revolution [inc/mm]• Denominator factor (H436 SyncEncoderDenom):
– Distance per synchronous encoder revolution [inc/mm]
The source of the slave encoder must be entered in the H431 SlaveSource systemvariable.
The controller setting can be adjusted via P910 Gain X controller.
06679AENFig. 29: Hardware configuration
Variable Name Value Meaning
H431 SlaveSource
= 0 Source of actual position is X15
> 0 Pointer to variableExample: H431 = 510 // Source of actual position X14 (H510 ActPos_Ext)
X15X15
MDX61B...-5_3-4-0TBasic unit
X14Synchronous encoder
SBus
Slave
Sin/cosencoder
Sin/cosencoder
Master
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5 Working Method and FunctionsOffset cycle type
34 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
5.5 Offset cycle type
The offset cycle means that an offset is added to the difference counter (main state Z3)during synchronous operation. In this way, the slave drive receives a new synchroniza-tion point, and the resulting differential angle is reduced to zero by the control. Actualsynchronous operation is reestablished once the new synchronization point has beenreached. The offset value can be signed.
Time-controlled offset cycle
In this state, an offset is added to the difference counter (H367 OffsetCycleValue). Thedifferential angle is reduced to zero by accelerating or decelerating the slave drive to thesynchronization speed (P240), and the slave drive has moved through an offset.The time needed for this process depends on the synchronization speed (P240), thesynchronization ramp (P241), and the master speed.
Position-dependent offset cycle
In this state, the slave drive drives at an offset whose value is entered in H367 Offset-CycleValue. The offset is processed within a certain master length that is stored in theH366 OffsetCycleMasterLength system variable. As a result, the slave has driven at anoffset according to the defined master length.The offset is modified step by step and is added to the value of the difference counter.The offset value is calculated section by section with reference to a constant masterspeed (Æ following figure).
The slave drive moves at variable speeds in the ranges 0% to 20% and 80% to 100%.In the range 20% to 80%, the slave drive moves at constant speed.
Main state Z3 (synchronous drive) is a prerequisite for the offset cycle.
06637AENFig. 30: Speed profile for position-dependent offset cycle
0
nMaster
[rpm]
xMaster [Incr.]
nSlave
20% 60%
xSlaveOffsetCycleValue
H367[Incr.]
20%OffsetCycleMasterLength
H366
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5Working Method and FunctionsOffset cycle type
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 35
Offset state machine
Offset control only reacts to specified events in main state Z3 (synchronous drive). Thesetting is made using the H360 OffsetCycleMode system variable where additional func-tions can be programmed with the H361 OffsetCycleModeControl system variable.
H360 OffsetCycleMode system variable Æ Offset mode:• OffsetCycleMode = 0
A manual offset cycle using the IPOSplus® application program is run by setting theH427 SynchronousState system variable to the value 4.
• OffsetCycleMode = 1Offset cycle using binary inputs ("1" level) with H363 OffsetCycleInputMask systemvariable with a resolution of 1 ms.
• OffsetCycleMode = 2 Æ reserved• OffsetCycleMode = 3
Position control in conjunction with variables H364 OffsetCycleCounter and H365OffsetCycleCounterMaxValue, with remaining distance carryover.
06638AENFig. 31: Position-dependent offset cycle controlled by binary inputs
06639AENFig. 32: Position-controlled and position-dependent offset cycle
x [rpm]Slave
x [Incr.]Master
Offs
etC
ycle
Valu
e(H
367)
OffsetCycleMasterLength (H366)
"1"
"0"
DI..
x [rpm]Slave
x [Incr.]Master
Offs
etC
ycle
Valu
e(H
367)
OffsetCycleMasterLength (H366)
OffsetCycleCounterMaxValue (H365)
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I
5 Working Method and FunctionsOffset cycle type
36 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
H360 OffsetCycleModeControl system variable:
Offset state machine in H362 OffsetCycleState:
Offset cycle is initiated by the master increment counter (H364 OffsetCycleCounter).The offset is processed automatically if the value of the offset counter is greater than thecounter end value (H365 OffsetCycleCounterMaxValue).In position-dependent offset cycle, the counter end value (H365 OffsetCycleCounter-MaxValue) must be greater than the master length within which the offset is reduced andthe new synchronization point is reached. The counter start value can be used to set themaster increments counter to an initial value from which this offset counter begins tocount.The offset control using position control is configured as a cycle (offset state machine)and can adopt different offset states (OZ0 to OZ1). Offset cycle is deactivated in theoffset state OZ0 (H362 OffsetCycleState = 0).Value 1 must be assigned to the offset state (H362 OffsetCycleState = 1) to run throughthe cycle and enable offset counter monitoring.If the offset counter H364 OffsetCycleCounter is greater than the counter end value(H365 OffsetCycleCounterMaxValue), the offset is processed, and the offset counter isreset. The offset state changes to OZ0 directly afterwards, or remains in OZ1.
Bit Name Description
0 AutoRestart(mode 3)
The "AutoRestart" function enables you to determine whether the offset cycle should be triggered only once or several times.= 0: AutoRestart deactivated. The offset processing cycle using position control can be run through once.= 1: AutoRestart activated. The offset processing cycle using position control can be restarted after having been run through once.
1 OffsetDisable(mode 3)
Offset cycle using position control can usually be disabled during the initialization phase of the IPOSplus® program. A disabled offset can be re-enabled at any time in the main program.= 0: Offset processing using position control is enabled= 1: Offset processing using position control is disabled.
12 OffsetMode
= 0: Time-controlled offset processing. An offset is added to the difference counter. By reducing this difference, the slave moves at an offset (P240 synchronous speed and P241 synchronous ramp are valid).= 1: Position-dependent offset cycle. The slave drive moves at an offset using the value stored in the OffsetCycleValue system variable when the master drive has covered the distance defined in the OffsetCycleMasterLength system variable.
06640AENFig. 33: Offset state machine
deactivated(OZ0)
Countermonitoring
(OZ1)
H364 H365
Offset andresetting of
offset counterH364=H364-H365
�
�
IPOS program
AutoRestartdeactivated
AutoRestart
00
I
5Working Method and FunctionsOffset cycle type
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 37
Restart after termination of the offset cycle
In this case, the following must be differentiated:• Time-dependent offset cycle: Here, only the offset value H367 OffsetCycleValue
is written to the difference counter H434 LagDistance32 at the start of the offset pro-cess. Consequently, the reference between master and slave can thereby be veryeasily reestablished during restart in which the lag distance H434 LagDistance32 isprocessed.
• Position-dependent offset cycle: Since the offset value H367 OffsetCycleValue isprocessed here position-dependent to the master length stored in H366 OffsetCycleMasterLength, the desired offset cannot be "abruptly" written to the differencecounter. Consequently, it is not possible to only process the value in H434LagDistance32 during a restart. The restart strategy can appear different dependingon the application:– Reset lag distance with "set DRS zero point" and the new startup cycle process.
Depending on the application, you must ensure that the original reference to themaster is lost.
– Perform a positioning process to reduce the value of the established lag distanceand reestablish the reference to the master.
– Perform a position-dependent startup cycle process with calculated distances formaster and slave that take for the offset distance already processed into accountin order to reestablish a defined reference between master and slave.
– Perform a time-dependent startup cycle process with writing of the differencecounter with the difference between the offset distance already traveled and theoriginally specified offset distance.
For a positioning process, it may be very important to know how much of the originaloffset value was already processed. This value is shown at the moment of cancellationin the H434 LagDistance32 variable. Note that this lag distance still changes immedi-ately after the offset cancellation due to the stopping of the master and slave axis. Forthis reason, this value can be temporarily stored at the moment of cancellation usingvariable interrupt. For any positioning processes, we recommend that you also tempo-rarily save the current position of master and slave with the same interrupt.Below is a suggestion for an IPOSplus® program with which the values of LagDistance32,the master and the slave position, can be saved at the moment of termination using vari-able interrupt.
When processing an offset during the internal synchronous operation (ISYNC), themachine/system cannot immediately be re-started under certain circumstances in thephase synchronous operation ISYNC after a termination of an offset processing (e.g.,with an emergency stop). Due to the termination, a lag fault results because the slavedoes not run synchronous with the master during the offset processing.
Restarting a machine/system after an offset termination is application-dependent wherethere is no general solution. In fact, the optimal solution for the application can be pro-grammed in the IPOSplus® taking into account all system states.
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5 Working Method and FunctionsOffset cycle type
38 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Program suggestion
Using variable interrupt, the positions of master and slave are stored in the variables"Slave_Pos", and "Master_Pos" at the moment of cancellation. Using this data and thecurrent master and slave position, a positioning process or a new offset process, forexample, can be started application-dependent with new position values to reestablishthe reference between master and slave.
// Insert this variable definition in the initialization part// Initialize variable interruptVint.Control = 2; // Interrupt Task 3Vint.IntNum = 1; // Interr. no.: 1Vint.SrcVar = numof(SynchronousState);// Source variable to be monitoredVint.CompVar = 3; //Vint.Mode = 10; // single interrupt if "SourceVar ==
// CompVar"Vint.Priority = 1; // Priority of interr.
// (1-10; 10 = highest priority)Vint.IntEvent = 0;
/*============================================= Task3===============================================*/Task3() { //-------------------Variable interrupt activate ------------------------------ if( (SynchronousState == Offset_processing) && (Offset_active == no) ) { Offset_active = yes; _SetVarInterrupt( Vint,fn_VarInterrupt ); LagDistanceEstop = 0; } //------------------------------------------------------------------------- if( (SynchronousState == Synchronous_operation) && (Offset_active == yes) ) { Offset_active = no; } }
/*============================================= Variable interrupt=============================================*/fn_VarInterrupt() { LagDistanceEstop = -LagDistance32; Slave_Pos = ActPos_Mot; Master_Pos = *MasterSource; }
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5Working Method and FunctionsStop cycle state machine
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 39
5.6 Stop cycle state machine"Stop cycle" is the name of the process where that angular synchronous operationbetween the slave and master drives is stopped and the slave drive enters the free run-ning mode. The slave drive can be moved with speed control or held in its current posi-tion with position control.
Stop cycle mode control
Stop cycle mode control reacts in the main states Z3 (synchronous operation) and Z4(offset). The stop cycle process of the slave can either be performed manually or auto-matically. The stop cycle mode is stipulated using the H400 StopCycleMode systemvariable. Additional functions can be programmed using the H401 StopCycleModeControl system variable.During the stop cycle, the drive changes to speed 0 using ramp t11 (P130) with positioncontrol or the speed defined in the H439 SpeedFreeMode system variable with speedcontrol.
H400 StopCycleMode system variable Æ stop cycle mode:• StopCycleMode = 0
Manual stop cycle. The slave ceases synchronous operation with the master whenthe application assigns the value 5 to the H427 SynchronousState system variable.
• StopCycleMode = 1Event-driven stop cycle via binary input. The H403 StopCycleInputMask system vari-able defines which binary input triggers the stop cycle process. The process isstarted as soon as a "1" level is present at the defined binary input. The terminallatency is 1 ms.
H401 StopCycleModeControl system variable Æ additional functions
06641AENFig. 34: Event-driven stop cycle
Bit Name Description
0 FreeMode = 0: Stop cycle in main state 0 (speed control)= 1: Stop cycle in main state 1 (position control)
11)
1) This setting is only effective in the Z1 main state (position control).
XControlMode = 0: Difference counter is cleared.= 1: The difference counter stores the delay between the master and the slave
n [rpm]Slave
t [s]
"1""0"
DI..
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5 Working Method and FunctionsVirtual encoder
40 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
5.7 Virtual encoderThe virtual encoder (system variables H370 to H377) is a software counter that can beused as the master encoder for synchronous operation (assignment MasterSourceH430 = H376). A system bus connection enables the software counter reading to betransferred to other axes. SBus synchronization with the sync-ID (P885) for unit syn-chronization (every 5 ms) is required for this purpose.The virtual encoder operates in a 1 ms cycle and is processed independently of the cur-rent synchronous operation state. It creates a travel profile depending on the travelingvelocity (H373) and the set ramp (H377). The virtual encoder is started by assigning avalue other than the actual position (H376) to the target position (H375) and its velocity> 0. The virtual encoder is stopped (VEncoderMode = 0) when the H374 VEncoderXActual value reaches the H375 VEncoderXSetpoint value.
Selecting the operating mode of the encoder in system variable H370 (VEncoderMode)
VEncoderMode = 3 Æ Standard positioning mode with adjustable acceleration,deceleration, velocity, and target position
H377VEncoderdNdT has 16 bit resolution, which means that 10000 h must be set toincrement by 1 inc/ms.
• Example 1:The virtual encoder velocity (H373VEncoderNSetpoint) = 100 inc/ms is to be reached in15 ms.100 inc/ms : 15 ms = 6.6666667 inc/ms2
6.6666667 inc/ms2 x 216 = 436906.6667dec inc/ms2 = 6AAAAhex inc/ms2
Æ H377 VEncoderNdT = 6AAAAhex inc/ms2 (or 110 1010 1010 1010 1010bin)
06642AXXFig. 35: Structural image of virtual encoder with ramp generator
+
VEncoderNSetpoint
H373
VEncoderdNdT
H377
VEncoderXSetpoint
H375
+
-+
VEncoderNActual
H374
VEncoderXActual
H376
z-1
H373VEncoderNSetpoint [1 inc/ms] Æ Set velocityH375VEncoderXSetpoint [1 inc] Æ Target positionH377VEncoderdNdT [1/1216 inc/ms2] Æ Acceleration and deceleration
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5Working Method and FunctionsVirtual encoder
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 41
• Example 2:An axis is to be positioned using a virtual encoder and internal synchronous operation.The speed should be n = 1500 rpm, acceleration and deceleration ramps should be0.1 s. The target position is 409600 inc (= 100 revolutions).
H373VEncoderNSetpoint = 1500 rpm x 4096 inc = 6144000 inc/min = 102 inc/msÆ H373 VEncoderNSetpoint = 102H377VEncoderdNdT = (102 inc/ms : 100 ms) x 216 = 66846.72 inc/ms2 (=1051 Ehex)Æ VEncoderdNdT = 66846
Æ H375 VEncoderXSetpoint = 409600Æ H428GFMaster = H429 GFSlave = 1
53087AXX
0,1s 0,1s
n
t
1500 rpm
409600 inc.
The scaling with 216 is performed through the startup interface.For VEncoderdNdT, the value 1.02 must be entered.(Æ 102 inc/ms : 100 ms)
If internal synchronous operation is started using the startup interface, enter the value1.02.However, if the variable VEncoderdNdT is initialized by the programmer in theIPOSplus® program, the value 664846 must be entered to reach the required 1500 rpm.
To avoid jerks, H377VEncoderdNdT must be set to at least 10000hex. The maximumvalue that can be entered is 32768.
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5 Working Method and FunctionsVirtual encoder
42 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
VEncoderMode = 2 Æ Endless counter with adjustable acceleration and velocity
VEncoderMode = 2 Æ Endless counter with adjustable acceleration and velocityVEncoderMode = 1 Æ reservedVEncoderMode = 0 Æ Mode with linear, adjustable acceleration, adjustablevelocity, and target position
The entries for H373VEncoderNSetpoint and H377VEncoderdNdT are entered aswhole numbers. Use highest possible resolution for best results.The following applies to determining the acceleration and velocity of the virtual encoder:
n = motor speed
tA = acceleration time
• Example 1:An axis is to move synchronously with a virtual encoder whose velocity is 1000 rpm. Theaxis should accelerate to this velocity within 0.5 s. The maximum velocity of the axisshould be 3000 rpm, which means it must be possible to increase the velocity to thisvalue.Conversion from rpm to inc/ms:To achieve the highest possible resolution, VEncoderNSetpoint is set to the maximuminput value of 32767 inc/ms.3000 rpm x 4096 inc = 12288000 inc/min = 204.8 inc/msÆ Determining GFSlave:
v1 = desired velocity
H373VEncoderNSetpoint [1 inc/ms] Æ Set velocityH377VEncoderdNdT [1 inc/ms2] Æ Acceleration
For determining the values of H373VEncoderNSetpoint and H377VEncoderdNdT ÆVEncoderMode = 0.
H373VEncoderNSetpoint [1 inc/ms] Æ Set velocityH375VEncoderXSetpoint [1 inc] Æ Target positionH377VEncoderdNdT [1 inc/ms2] Æ Acceleration
VEncoderdNdT [inc/ms ]=2 VEncoderNSetpoint [inc/ms]
t [ms]A
GFSlave =VEncoderNSetpoint [inc/ms]
v [inc/ms]1
=32767 [inc/ms]
204,8 [inc/ms]= 160
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5Working Method and FunctionsVirtual encoder
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 43
Æ Determining VEncoderNSetpoint:
Æ Determining VEncoderdNdT:
tA = acceleration timeÆ VEncoderNdT = 22 inc/ms2
Æ Results:H373 VEncoderNSetpoint = 10923 inc/msH375 VEncoderXSetpoint = xxxH377 VEncoderdNdT = 22 inc/ms2
H428 GFMaster = 1H429 GFSlave = 160
• Example 2:A speed is to be specified with a resolution of 0.2 rpm, and it should be possible to adjustthe ramp in a range of 0.5 to 5 s.The following selection is made:H373 VEncoderNSetpoint = 5000 inc/ms (corresponds to 1000 rpm)H377 VEncoderdNdT = 10 inc/ms2 (1 = 5 s ramp, 10 = 0.5 s ramp)H428 GFMaster = 25H429 GFSlave = 1831
H371 VEncoderModeControl system variable Æ additional functions
Bit Name Description
0 AxisStop= 0: Axis stop deactivated= 1: The value for H373 VEncoderNSetpoint is set to 0 (stop of the virtual axis) once if a unit fault occurs.
VEncoderNSetpoint [inc/ms] =
VEncoderNSetpoint [inc/ms] =
n [1/min] x 4096 inc x GFSlave
60000 [inc/min] x GFMaster
1000 [1/min] x 4096 inc x 160
60000 [inc/min] x 1
VEncoderNSetpoint [inc/ms] = 10923 [inc/ms]
VEncoderdNdT =[inc/ms ]2 VEncoderNSetpoint [inc/ms]
t [ms]A
10923 [inc/ms]
500 [ms]=
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5 Working Method and FunctionsImportant notes
44 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
5.8 Important notes• The possibility of specifying a signed distance in variables H417 StartupCycle
MasterLength and H366 OffsetCycleMasterLength for the master drive means it isimportant to check the direction of rotation of the master drive. It is also important tonote that the scaling factor can also be entered as a signed value in H428 GFMaster.
• A lag error is only triggered (P923 Lag error window) in main state Z3 (synchronousoperation).
• Set zero point: The 64-bit counter can be cleared by programming an input terminalwith "Set DRS zero point".
• A value other than zero should be entered in the H390 RegisterLoopDXDTOutsystem variable to achieve exact results in the position-dependent catch-up processand to enable any remaining distance to be reduced. In addition, the function Regis-terScale must be activated so that the correction value is multiplied by the scalingfactor of the slave.Æ Example:H390 RegisterLoopDXDTOut = 2H426 SynchronousModeControl.2 (RegisterScale – H426) = 1
Master/slave scaling factors
The objective of phase-synchronous operation is to move two or more drives at theoutput – and thus the line – synchronously in relation to one another. The synchronousoperation controller required for this purpose only processes incremental information ofa master encoder and a slave encoder. Therefore, the actual gear unit and additionalgear ratios of the application must be reproduced using factors in order to achieve syn-chronization in a specific proportionality ratio.When using two identical drives (with the same gear unit reduction ratios, same addi-tional gears, etc.), this means the proportionality ratio is 1:1.If there are unequal gear unit reduction ratios, they are taken into account with themaster drive by the scaling factor H428 GFMaster and with the slave drive by the scalingfactor H429 GFSlave.The H428 GFMaster scaling factor evaluates the master increments, which the synchro-nous operation controller obtains as setpoints. The GFMaster scaling factor alsoincludes the slave gear unit reduction ratio, the slave encoder resolution, any existingadditional slave gear, and the master length.Æ Calculating H428 GFMaster:GFMaster = Slave gear unit reduction ratio x Slave additional gear x Master lengthThe master length relates to the length of travel performed by the master per revolutionof the output.Æ Calculating H429 GFSlave:GFSlave = Master gear unit reduction ratio x Master additional gear x Slave lengthThe slave length relates to the length of travel performed by the slave per revolution ofthe output.
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5Working Method and FunctionsImportant notes
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 45
• Master/slave gear unit reduction ratioAs a rule, the master or slave gear unit reduction ratios are obtained from the infor-mation on the nameplate of the drive. You can either directly read the value or cal-culate it from the quotient of the rated speed/output speed.For forwards and backwards movements in a restricted travel range, it is generallysufficient to scale up the gear unit reduction ratio read from the nameplate orobtained by calculation to between two and four decimal places (depending on themaximum possible resolution of the scaling factor).
• Master/slave additional gear ratioIf there is an additional gear for a further ratio reduction, this additional gear reductionratio must be treated like another gear unit reduction ratio and is also included in thecalculation.
• Master/slave lengthThe master or slave length relates to the length of travel performed by themaster/slave per revolution at the output.In many applications, the length of travel is described to a sufficient degree of accu-racy by the calculated circumference of the drive wheel. As the number can be anirrational number, it is recommended that you calculate the length of travel for end-less applications according to the mechanical system used.– Applications with a chain sprocket as transmission element:
Travel length = Number of teeth of the chain sprocket x Chain link length– Applications with a gear rack as transmission element:
Travel length = Number of teeth of the gear x Tooth clearance (tip-to-tip) of thegear rack
– Applications with a toothed belt as transmission element:Travel length = Number of teeth of the gear wheel x Tooth clearance (center-to-center) of the toothed belt
– Applications with a spindle as the transmission element:Travel length = Spindle pitch
For synchronous operation applications, we recommended that you include theindividual numbers of teeth of the gear pairs in the scaling factor calculation; i.e.,include the individual gear unit reduction stages in the calculation separately.Your SEW-EURODRIVE contact can tell you the number of teeth in the gear pairs.
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5 Working Method and FunctionsInternal synchronous operation via SBus
46 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Example Two drives with different gear unit reduction ratios are to be moved at a synchronousangle with the same output speed n2 = 20 rpm.
Æ Requirement: n2_Master = n2_Slave
GFSlave = 10GFMaster = 7
Two further examples with different output speeds n2 of master and slave are shown inthe following table.
5.9 Internal synchronous operation via SBusWorking principle A cyclical SBus telegram transfers a master position (e.g., the actual position of the
master or the value of the virtual encoder) from the master to the slaves via the SBusconnection. Sending and transferring the master position at equal intervals avoidsaliasing. Therefore, the time slices of the inverter are synchronized with a synchroniza-tion message.
53088AXX
Setpoint speedn2 [rpm] n1 [rpm] Gear unit
reduction ratio i Scaling factor
Example 1Master
20200 10 7 GFMaster
Slave 140 7 10 GFSlave
Example 2Master 20 200 10 7 GFMaster
Slave 10 70 7 10 GFSlave
Example 3Master 20 200 10 7 GFMaster
Slave 40 280 7 10 GFSlave
n 2 n 2
Master
i = 10
Slave
i = 7
55,7 mm
55,7mm
The master increments are multiplied by H446 MFilterTime (default setting: MFilterTime=1) regardless of the scaling factors GFMaster and GFSlave.
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6StartupGeneral information
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 47
6 Startup6.1 General information
Correct project planning and installation are the prerequisites for successful startup.Refer to the MOVIDRIVE® MDX60B/61B system manual for detailed project planninginstructions.Check the installation and the encoder connection• Using the installation instructions in the MOVIDRIVE® MDX60B/61B operating
instructions• According to the information in this manual
6.2 Preliminary workPerform the following steps before starting up internal synchronous operation:• Connect the inverter to the PC via the serial interface (RS 232, UWS21A on PC
COM). • Terminal X13:1 (DIØØ "/CONTROL.INHIBIT") must receive a "0" signal.• Start the MOVITOOLS® 4.10 program• Select the language you want in the "Language" group.• Select the PC port (e.g. COM 1) to which the inverter is connected from the
"PC-COM" drop down menu.• In the "Device type" group, select the "Movidrive B" radio button.• In the "Baud rate" group, select the "57.6 kbaud" radio button (default setting).• Click [Update] to display the connected inverter.
10383AENFig. 36: MOVITOOLS® initial screen
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6 StartupStarting up internal synchronous operation
48 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
6.3 Starting up internal synchronous operationGeneral information
• In the [Execute Program] group, click the [Shell] button under [Parameters/Diag-nosis]. The SHELL program is started.
• Set the P916 Ramp type parameter to "I-SYNCHR. OPERAT.". This setting activatesinternal synchronous operation. Execute the P916 Ramp type parameter with the_SetSys(SS_RAMTYPE, Hxx) command in the IPOSplus® application program. Inthis case, variable Hxx must have the value 6.
• Set the P700 Operating mode parameter to the correct operating mode (CFC &IPOS/SERVO & IPOS/VFC-n-CTRL. & IPOS).
• Start/stop cycle using interrupt: To prevent assigning terminal functions twice, set theselected input terminal (Æ following figure e.g., DI04 and DI05) in the correspondingparameter group 60x or 61x to "NO FUNCTION".
• Startup/stop cycle using binary inputs: To prevent assigning the terminal functiontwice, set the selected input terminal (Æ following figure e.g., DI04 and DI05) in thecorresponding parameter group 60x or 61x to "IPOS INPUT".
10991AENFig. 37: Parameter settings in the Shell program for starting up internal synchronous operation
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6StartupStarting up internal synchronous operation
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 49
Starting up with SBus connection
The master and slave(s) are connected via the SBus (for example, in a group configu-ration). The master position is transmitted via this SBus. Transmitting position setpointsrequires control loop synchronization between the master and slave. Comply with thefollowing points when starting up the SBus:
With the master inverter:• Create the two SBus transmit objects (SCOM TRANSMIT CYCLIC) "Synchronization
ID" and "Master position". Both object numbers must be greater than 1050. In addi-tion, the object number of the synchronization ID must be less (= with higher priority)than the object number of the master position.
• The number of the "Synchronization ID" transmit object must not be the same as itsown P885 parameter value.
• The set SBus address (P881) must not be the same as the slave SBus addresses.• The "Cycle time" in the SCOM command for the synchronization ID must be 5 ms.• The "Cycle time" in the SCOM command for the master position must be 1 ms.
Required parameter settings
The next page shows an IPOSplus® sample program for cyclical data transmission viaSBus and the necessary parameter settings for the master inverter. This sample pro-gram shows the basic principles of the procedure. SEW-EURODRIVE cannot be heldliable for incorrect program functions or parameter settings and the consequencesthereof.
10993AENFig. 38: Necessary parameter settings for the master inverter (example)
It is essential that the telegram with the master position in the IPOSplus® program iscreated before the synchronization telegram in the IPOSplus®.
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50 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
IPOSplus® sample program master inverter
With the slave inverter:• Create the SBus receive object (SCOM RECEIVE) "Master position".• The P885 parameter value must be the same as the number of the "Synchronization
ID" transmit object.• The slaves must have different SBus addresses (P881).
/*================================================================================================================================================================================================*/IPOS source fileThe program places the actual position of the master H511 on the SBus.
The following parameters must be set for this purpose:
P880 Protocol SBus 1P881 Address SBus 1P884 Baud rate SBus 1P885 Synchronization ID SBus 1
:SBUS MOVILINK:e.g., "0":e.g., "500" (default setting):e.g., "0" (may not be the same as SBus object "Synchr.ID")
===============================================================================================*/include <const.h>#include <io.h>SCTRCYCL Masterposition, Synchronisations_Id;
/*===============================================================================================Main function (IPOS initial function)=================================================================================================*/main (){/*===============================================================================================Initialization=================================================================================================*/
Masterposition.ObjectNo=1100;Masterposition.CycleTime = 1;Masterposition.Offset = 0;Masterposition.Format = 4;Masterposition.Dpointer = 511;Masterposition.Result = 0;
// Address of the object// time interval [ms]
// Object length: 4 bytes// Pointer to H511 ActPos_Mot (motor position)
Synchronisations_Id.ObjectNo = 1090;Synchronisations_Id.CycleTime = 5;Synchronisations_Id.Offset = 0;Synchronisations_Id.Format = 0;Synchronisations_Id.DPointer = 0;Synchronisations_Id.Result = 0;
// Address of the synchronization identifier// Time interval of the synchr. telegram
_SBusCommDef(SCD_TRCYCL, Masterposition);_SBusCommDef(SCD_TRCYCL, Synchronizations_Id);_SBusCommOn();
// Create data objects// for cyclical data transmission using// Start data transmission
/*===============================================================================================Main program loop=================================================================================================*/while(1){}}
Make sure that• The entry Variable is selected in the [Master encoder] input field of the [General
synchronous operation parameters] startup window.• The value of the D pointer (SCOM command structure) is selected in the "Variable
used" input field; e.g., H200, according to the IPOSplus® sample program 3 (Æ Sec-tion IPOSplus® program samples).
• The system variable H430 MasterSource = 200 is set in the slave inverter.Only then is the SBus active as the source for the master increments.
The next page shows an IPOSplus® sample program for cyclical data transmission viaSBus for the slave inverter. This sample program shows the basic principles of the pro-cedure. SEW-EURODRIVE cannot be held liable for incorrect program functions orparameter settings and the consequences thereof.
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Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 51
Required parameter settings
IPOSplus® sample program slave inverter
10994AENFig. 39: Required parameter settings for the slave inverter (example)
/*=============================================================================================IPOS source filefor Synchronous Drive Control-----------------------------------------------------------------------------------------------SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Str. 4276646 Bruchsal, Germanysew@sew-eurodrive.dehttp://www.SEW-EURODRIVE.de===============================================================================================The following parameters have to be set for communication via the SBus:
P880 Protocol SBus 1P881 Address SBus 1P884 Baud rate SBus 1P885 Synchronization ID SBus 1
: SBUS MOVILINK: e.g., "2" (not the same address as the master): e.g., "500 kbaud" (default setting): e.g., "1090" (see IPOS program master)
================================================================================================*/#pragma var 300 309#pragma globals 310 349
#include <constb.h>#include <iob.h>#include <Winkelsynchronlauf_1.h>SCREC Masterposition;long Position_Master;
// Note: In this case, the master position is present // on H313
/*==============================================================================================Main function (IPOS start function)================================================================================================*/main (){
/*==============================================================================================Startup================================================================================================*/InitSynchronization();
Masterposition.ObjectNo = 1100;Masterposition.Format = 4;Masterposition.Dpointer = numof (Position_Master);MasterSource = numof (Position_Master);_SBusCommDef(SCD_REC,Masterposition);_SBusCommOn();
// Number of the data object// Length of the received object: 4 bytes// Target address// Transfer master position// Set up data object// Start data transmission
/*==============================================================================================Main program loop================================================================================================*/while(1)
{}
}
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6 StartupStarting up internal synchronous operation
52 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Startup with slave subject to slip with absolute encoder on the slave length
The absolute position of a connected and evaluated absolute encoder is used as themaster for internal synchronous operation. The absolute encoder can be connected asfollows:• To X62 of the DIP11B option (Æ only for MOVIDRIVE® MDX61B sizes 1 to 6)• To X14 of the DEH11B (HIPERFACE®) or DER11B (resolver) option
Make sure that• The entry SSI encoder is selected in the [Master encoder] input field of the [General
synchronous operation parameters] startup window.• The slave source is set correctly in the H431 SlaveSource system variable:
– H431 = 0 Source of actual position is X15– H431 > 0 Pointer to variable; e.g., H431 = 510 // Source actual position X14
(H510 ActPos_Ext)
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6StartupInternal synchronous operation startup interface
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 53
6.4 Internal synchronous operation startup interface
In the MOVITOOLS® manager, select the special program "ISYNC" under [ExecuteProgram]. The startup window for internal synchronous operation appears. In the fol-lowing, this window is referred to as basic menu.
Click the function you require in the basic menu:• New startup: to perform startup for a new project• Edit an existing startup: to edit the files of an existing project• Monitor an existing synchronous drive application: to monitor an existing ISYNC
project during operation; e.g., diagnosing the drive state, recording the lag error.
The "Directory and project name" window opens.
This section exemplifies the "New startup" function of a synchronous operationapplication.If you have questions during startup, please refer to the MOVITOOLS® online help.
10992AENFig. 40: Basic menu of the startup interface for internal synchronous operation
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6 StartupInternal synchronous operation startup interface
54 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Select the project name and path for the new startup. In the [Signature] input field, youcan sign the device with a signature.Click [Next >>] to continue. The [General synchronous drive parameters] window opens.If you have selected MOVIDRIVE B as the [Device type:], in addition to the slave source,you can also enter the following values:• Variables used• Synchronous encoder numerator• Synchronous encoder denominator
10995AENFig. 41: Enter project name and path
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6StartupInternal synchronous operation startup interface
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 55
Enter the general synchronous operation parameters. Select the options required forstarting up your application with internal synchronous operation.
10995AENFig. 42: Entering general synchronous drive parameters
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6 StartupInternal synchronous operation startup interface
56 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
6.4.1 Master scaling factorPreliminary remark
The objective of phase-synchronous operation is to move the outputs of two or moredrives – and thus the track – synchronously in relation to one another. The synchronousoperation controller required for this only processes the incremental information from amaster encoder and a slave encoder. This means the actual gear units and additionalgear ratios of the application must be represented by factors to achieve synchronizationwithin a certain proportionality ratio.If there are two identical drives, that is, with the same gear unit reduction ratios, thesame additional gears, etc., the proportionality ratio is 1:1.• Variable: H428 GFMaster• Value range:
– –32768 to 32767 (16-bit – up to firmware version .72)– –2147483648 to 2147483648 (32-bit – from firmware version .10)
• Status: R/W• Description: Scaling factor of the master incrementsThe GFMaster scaling factor evaluates the master increments entered into the synchro-nous operation controller as setpoints.This GFMaster scaling factor also includes the slave gear unit reduction ratio, the slaveencoder resolution, the slave additional gear, and the master length. As a result, thisGFMaster scaling factor is calculated as follows:GFMaster = ± Slave gear unit reduction ratio × Slave additional gearBy entering a signed GFMaster scaling factor, it is possible for the master and slave tobe working with opposite directions of rotation. This reverses the direction of rotation ofthe slave drive in the software, without swapping over encoder signal tracks.
Slave gear unit reduction ratio iS
The slave gear unit reduction ratio can generally be obtained from the information on thenameplate of the drive. The value can either be read off directly, or it can easily becalculated by taking the quotient of the rated speed/output speed.For forward and backward movements in a restricted travel range, it is generally suffi-cient to scale up the gear unit reduction ratio from the nameplate or obtained by calcu-lating to two and four decimal places (depending on the maximum possible resolution ofthe scaling factor).In particular for synchronous operation applications in endless mode, we recommendthat you include the individual numbers of teeth of the gear pairs in the scaling factorcalculation. In other words, include the individual gear unit reduction stages in thecalculation separately:
n/2 = number of gear stages.Your SEW contact can tell you the number of teeth in the gear pairs.
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Slave additional gear iVS
If there is an additional gear for a further ratio reduction (torque), this additional gearreduction ratio must be treated like another gear unit reduction ratio and is also includedin the calculation.
m/2 = number of additional gear stages.
Slave encoder resolution
In MOVIDRIVE®/MOVIDRIVE® compact, the incoming encoder pulses are evaluatedfourfold both at terminal X15 of the motor encoder (slave) and at terminal X14 of anexternal encoder (master).Slave encoder resolution = encoder nameplate information [data pulses/revolution] × 4If motors with SEW encoders are used as slave drives, the slave encoder resolution isalways 4096 increments per revolution.
Master length The master length refers to the length of travel performed by the master per revolutionof the output.Master length = Travel length [in user travel units] per output revolutionIn many applications, the length of travel is described to a sufficient degree of accuracyby the calculated circumference of the drive wheel:Master length = D x Π, where D = Diameter of the drive wheel [in user travel units]. However, the number Π = 3.14159… is an irrational number. This means there can bean infinite number of decimal places, and the number always must be rounded up ordown. In the case of endless applications, we therefore recommend that you calculatethe length of travel according to the mechanical system used, as follows:
If you do not know the mechanical data such as the gear unit reduction ratios, additionalgear, etc., the GFMaster scaling factor can also be calculated as described below. How-ever, this method is not recommended for endless applications because it lacks accu-racy.GFMaster = ± Slave increments × Master length [in user travel units]In order to do this, you must either know or already have calculated the travel resolutionof the master and slave.
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Application Travel length
Chain sprocket as transmission element Number of teeth of the chain sprocket × chain link length
Gear rack as transmission element Number of teeth of the gear unit × Tooth clearance (tip-to-tip) of the gear rack
Toothed belt as transmission element Number of teeth of the gear wheel × Tooth clear-ance (center-to-center) of the toothed belt
Spindle as transmission element Travel length = Spindle pitch
Travel distanceMasterIncrementsMasterTravel resolution of the master
−−
=
Travel distanceSlaveIncrementsSlaveTravel resolution of the slave
−−
=
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Positive/negative GFMaster
By entering a positive or negative GFMaster scaling factor, it is possible for the masterand slave to be working with opposite directions of rotation. This reverses the directionof rotation of the slave drive in the software, without swapping over encoder signaltracks.
DRS11A The following factors are identical in direct comparison to the DRS11A synchronousoperation board:• Slave scaling factor GFSlave = Master gear ratio factor (parameter P221)• 1/2 Master scaling factor GFMaster 1/2 = Slave gear ratio factor (parameter P222)
6.4.2 Slave scaling factorThe objective of angular-synchronous operation is to move two or more drives at theoutput and therefore the distance synchronous to one another. The synchronous oper-ation controller required for this only processes the incremental information from amaster encoder and a slave encoder. This means the actual gear units and additionalgear ratios of the application must be represented by factors to achieve synchronizationwithin a certain proportionality ratio.If there are two identical drives, that is, with the same gear unit reduction ratios, thesame additional gears, etc., the proportionality ratio is 1:1.• Variable: H429 GFSlave• Value range:
– 1 to 32767 (16-bit – up to firmware version .72)– 1 to 2147483648 (32-bit – from firmware version .10)
• Status: R/W• Description: Scaling factor of the slave incrementsThe GFSlave scaling factor evaluates the slave increments put into the synchronousoperation controller as actual values.This GFSlave scaling factor also includes the master gear unit reduction ratio, themaster encoder resolution, the master additional gear and the slave length. As a result,this GFSlave scaling factor is calculated as follows:GFSlave = ± Master gear unit reduction ratio × Master additional gear
Master gear unit reduction ratio iM
The master gear unit reduction ratio is generally obtained from the information on thenameplate of the drive. The value can either be read off directly, or it can easily becalculated by taking the quotient of the rated speed/output speed.For forward and backward movements in a restricted travel range, it is generally suffi-cient to scale up the gear unit reduction ratio from the nameplate or obtained by calcu-lating to two and four decimal places (depending on the maximum possible resolution ofthe scaling factor).In particular for synchronous operation applications in endless mode, we recommendthat you include the individual numbers of teeth of the gear pairs in the scaling factorcalculation. In other words, include the individual gear unit reduction stages in thecalculation separately:
n/2 = number of gear stages.Your SEW contact can tell you the number of teeth in the gear pairs.
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Master additional gear iVM
If there is an additional gear for a further ratio reduction (torque), this additional gearreduction ratio must be treated like another gear unit reduction ratio and is also includedin the calculation.
m/2 = number of additional gear stages.
Master encoder resolution
In MOVIDRIVE®/MOVIDRIVE® compact, the incoming encoder pulses are evaluatedfourfold both at terminal X15 of the motor encoder (slave) and at terminal X14 of anexternal encoder (master).Master encoder resolution = Encoder nameplate information [pulses/revolution] × 4If a MOVIDRIVE®/MOVIDRIVE® compact is used as the master (X14-X14 connection),the master encoder resolution is generally 4096 increments per revolution.
Slave length The slave length relates to the length of travel performed by the slave per revolution ofthe output.Slave length = Travel length [in user travel units] per output revolutionIn many applications, the length of travel is described to a sufficient degree of accuracyby the calculated circumference of the drive wheel.Slave length = D x Π, where D = Diameter of the drive wheel [in user travel units]. However, the number Π = 3.14159... is an irrational number. This means there can bean infinite number of decimal places, and the number must always be rounded up ordown. In the case of endless applications, we therefore recommend that you calculatethe length of travel according to the mechanical system used, as follows:
The GFSlave scaling factor can also be calculated as described below if you do notknow the mechanical data such as the gear unit reduction ratios, additional gear, etc.However, this method is not recommended for endless applications because it lacksaccuracy.GFSlave = Master increments × Slave length [in user travel units].In order to do this, you must either know or already have determined the travel resolutionof the master and slave.
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Application Travel length
Chain sprocket as transmission element Number of teeth of the chain sprocket × Chain link length
Gear rack as transmission element Number of teeth of the gear unit × Tooth clearance (tip-to-tip) of the gear rack
Toothed belt as transmission element Number of teeth of the gear wheel × Tooth clear-ance (center-to-center) of the toothed belt
Spindle as transmission element Travel length = Spindle pitch
Travel distanceMasterIncrementsMasterTravel resolution of the master
−−
=
Travel distanceSlaveIncrementsSlaveTravel resolution of the slave
−−
=
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DRS11A The following factors are identical in direct comparison to the DRS11A synchronousoperation board:• Slave scaling factor GFSlave = Master gear ratio factor (parameter P221)• 1/2 Master scaling factor GFMaster 1/2 = Slave gear ratio factor (parameter P222)
6.4.3 Application parametersIn order to activate additional startup interface dialog boxes to make additional entries,click the following check boxes so that a small check mark appears in them.• Show user parameters/definition and initialization of IPOS variables• Show shell parameters• Start cycle mode control setup• Offset control Setup • Stop cycle mode control setup
Dropdown menu "Uncoupling of the master": this setting affects the behavior of the slavedrive in angular-synchronous operation during "Set zero point"; i.e. as long as there is a"1" level at the terminal programmed for this."YES": normally, the slave drive remains stopped during "Set zero point"; i.e., while thedifference counter is zeroed."NO": speed synchronization between master and slave drive: during "Set zero point",the slave drive continues speed governed movement using the same value and orien-tation as the master speed, depending on the scaling factors of the master and slave.
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6.4.4 Virtual encoderGeneral information on the virtual encoder
The virtual encoder (Æ IPOS variables H370 to H377) is a software counter that can beused as the master encoder for synchronous operation without using the startup inter-face (Æ assignment MasterSource H430 = H376). Using a system bus connection(SCOM command), you can transfer this software counter from the "generator" of thevirtual encoder to other MOVIDRIVE® inverters. To do this, it is necessary to have SBussynchronization with the sync-ID (P817) for unit synchronization (every 5 ms).The virtual encoder operates in a 1 ms cycle and is processed independently of the cur-rent synchronous operation state. It creates a travel profile depending on the travelingvelocity (H373) and the set ramp (H377). The virtual encoder is started by assigning avalue other than the actual position (H376) to the target position (H375). The virtualencoder is stopped (VEncoderMode = 0) when the VEncoderXActual value (H374)reaches the VEncoderXSetpoint value (H375).
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Virtual encoder mode 0
In mode 0, the virtual encoder works with linear, adjustable acceleration, adjustablevelocity, and target position. The virtual encoder is controlled and monitored using thevariables H370 – H377:
Virtual encoder mode 1
This mode is reserved and cannot be used.
Variable Meaning
H370 VEncoderMode = 0 Selection of encoder operating mode
H371 VEncoderModeControl Reset speed setpoint after device error:1 = Axis stop activated in the event of a unit fault0 = Axis stop deactivated in the event of a unit faultNO = Velocity of the virtual encoder is not resetYES = Velocity of the virtual encoder is reset once
H372 VEncoderState No function
H373 VEncoderNSetpoint [1 inc/ms] Set velocity (setting range 0.1 – 1000 –10000)
H374 VEncoderNActual [1 inc/ms] Actual velocity
H375 VEncoderXSetpoint [1 inc] Target position
H376 VEncoderXActual [inc] Actual position
H377 VEncoderdNdT [1 inc/ms2] Acceleration (setting range: 0.1 – 10 – 100)
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Virtual encoder mode 2
In mode 2, the virtual encoder works as an endless counter with linear, adjustable accel-eration and adjustable velocity. The virtual encoder is controlled and monitored usingthe variables H370 to H377:
Variable Meaning
H370 VEncoderMode = 2 Select the operating mode: Endless counter
H371 VEncoderModeControl Reset speed setpoint after unit fault:1 = Axis stop activated in the event of a unit fault0 = Axis stop deactivated in the event of a unit faultNO = Velocity of the virtual encoder is not resetYES = Velocity of the virtual encoder is reset once
H372 VEncoderState No function
H373 VEncoderNSetpoint [1 inc/ms] Set velocity (setting range 0.1 – 1000 –10000)
H374 VEncoderNActual [1 inc/ms] Actual velocity
H375 VEncoderXSetpoint [1 inc] No function
H376 VEncoderXActual [inc] Actual position
H377 VEncoderdNdT [1 inc/ms2] Acceleration (setting range: 0.1 – 10 – 100)
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Virtual encoder mode 3
In mode 3, the virtual encoder works with linear, adjustable acceleration and decelera-tion as well as with adjustable velocity and target position. The virtual encoder is con-trolled and monitored using the variables H370 – H377:
Variable Meaning
H370 VEncoderMode = 3 Select the operating mode: Positioning mode with acceleration and deceleration ramps
H371 VEncoderModeControl No function
H372 VEncoderState No function
H373 VEncoderNSetpoint [1 inc/ms] Set velocity (setting range 0.1 – 1000 –10000)
H374 VEncoderNActual [1 inc/ms] Actual velocity
H375 VEncoderXSetpoint [1 inc] Target position
H376 VEncoderXActual [inc] Actual position
H377 VEncoderdNdT [1 inc/ms2] Acceleration/deceleration (setting range: 0.1 – 10000 – 32768)
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6.4.5 Definition and initialization of IPOSplus® variables
In the "Speed free mode" input field, enter the required setpoint with the resolution[0.2 rpm]. Ensure that the required speed corresponds to the maximum speed (param-eter 302/312) because otherwise this speed cannot be achieved.In the "Master trim X14" input field, enter the number of increments that X14 should beadded to every ms.In the "Direction Block" radio button, you can choose one of the following options:• "Off": Both directions of rotation are enabled• "Block CW": Only CCW direction of rotation• "Block CCW": Only CW direction of rotationIn the "M filter time" input field, enter the corresponding value for the calculation of theabsolute master scaling factor. The default setting is 1.
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6.4.6 Startup cycle type
Startup cycle type
The ISYNC technology function provides different modes such as synchronizing travelto the master and triggering this synchronization process. For more information, see"Startup cycle type" and "Mode 1" to "Mode 4".
Startup cycle type mode 0
Manual startup cycle using IPOSplus® program.
• Variable: H410 StartupCycleMode• Value range: 0= Startup cycle via IPOS program• Status: R/W• Description: Startup cycle modeStartupCycleMode = 0If the startup cycle is performed manually using an IPOS application program, the value2 must be assigned to the SynchronousState (H427) system variable in the programsequence.SynchronousState = 2; The startup cycle process is started immediately afterwards.
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Startup cycle type mode 1
Starting cycle using binary inputs.
StartupCycleMode = 1If the startup cycle process is started in event-driven mode using a binary input, youmust select the terminal in the input field "Please select binary input" that triggers thestartup cycle process (e.g., DI04). Alternatively, you can enter the terminal designationin the corresponding drop down menu (DIxx). When doing this, you can use the inputterminals of the basic unit (DI00 – DI05) or of the option card (DI10 – DI17). If you donot use the startup interface, the required binary input can be selected via the H403StartupCycleInputMask system variable. The startup cycle process is started as soon as a "1" level is present at the definedbinary input. The terminal latency is 1 ms.
n [rpm]Slave
x [ Incr .]Master
"1"
"0"
DI. .
StartupCycleMasterLength (H417)
≥ 1 ms
Mode 1: to prevent assigning the terminal function twice, set the selected input terminalin the corresponding parameter group 60x or 61x to IPOS INPUT.
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Startup cycle type mode 2
Interrupt and position control with DI02 or C track (X14).
StartupCycleMode = 2An edge at binary input DI02 or on the X14:3 C-track triggers the startup cycle process(interrupt-controlled). To do this, binary input DI02 must be programmed to "No func-tion". A delay in relation to the master cycle can be defined for the start of the actualstartup cycle process in conjunction with the StartupCycleCounterMaxValue (H415)variable. The response time of the sensor can be taken into account using theStartupCycleDelayDI02 variable (H416) (1 digit = 0.1 ms). This parameter is also effec-tive for the startup cycle with X14:3 (C track).
n [rpm]Slave
x [ Incr .]Master
"1"
"0"
DIØ2(X14:3)
StartupCycleCounterMaxV alue (H415)
StartupCycleMasterLength (H417)
≥ 1 ms
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Interrupt source • Variable: H411 StartupCycleModeControl– 0 = DI02– 1 = X14 C track
• Status: R/W• Description: Bit 2: InterruptSelect (in mode 2)The interrupt-controlled start of the startup cycle process is triggered either by a risingedge (level change "0" -> "1") at binary input DI02; e.g., caused by a sensor signal or arising edge (level change "0" -> "1") of the X14:3 track. When using the rising edge atthe binary input DI02, set the parameter of this input to "No function".Please make the appropriate selection in the "Interrupt source" input field:• "Binary input DI02": A rising edge (level change "0" -> "1") at binary input DI02 trig-
gers the startup cycle process.• "X14:3 C-track": a rising edge (level change "0" -> "1") on the X14:3 C-track triggers
the startup cycle process.
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Startup cycle type mode 3
Position control
StartupCycleMode = 3The startup cycle process is initiated by the StartupCycleCounter position counter(H414). If the StartupCycleCounter value is greater than the StartupCycleCounterMax-Value (H415) counter overrun value, the startup cycle takes place automatically. In thiscase, StartupCycleCounterMaxValue must be greater than the total number of masterencoder pulses in the startup cycle, master cycle, and stop cycle.
1. Synchronous operation and stop cycle2. Stop cycle is performed for the slave, time for repositioning to the initial position
n[rpm]
Slave
x [ Incr .]MasterStartupCycleCounterMaxV alue (H415)
StartupCycleCounter (H414)
2.StartupCycleMasterLength (H417) 1.
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Startup cycle type
In the "Startup cycle type" input field, select whether you want the slave drive to synchro-nize in a time-controlled or position-dependent manner. You can select from the fol-lowing startup cycle modes:
Time-controlled catch-up process
During the time-controlled synchronization process, the existing position differentialbetween the master and slave drive (64-bit counter) is equalized by accelerating ordecelerating to the synchronization speed. The time required depends on the catch-upspeed, the catch-up ramp, and the lag distance (H434, LagDistance32). The followingfigure shows the speed profile of the slave drive during the entire process; e.g., at a con-stant master speed.
• Variable: H411StartupCycleModeControl– 0 = time-controller catch-up process– 1 = position-depending catch-up process
• Status: R/W• Description: Bit 12: StartupModeIn this input field, select whether the slave drive should be synchronized in a time-con-trolled or position-dependent manner.The startup cycle or synchronization means that the slave drive reaches the synchroni-zation point specified by the master. In the actual synchronous operation, which follows(main state Z3), the control adopts this synchronization point and attempts to maintain it.During the time-controlled startup cycle, the existing or resulting angle differentialbetween the master and slave drive (64-bit counter) is eliminated by accelerating ordecelerating to the synchronization speed (P240). The time needed for this depends onthe synchronization speed (P240), the synchronization ramp (P241) and the lagdistance (H434, LagDistance32).The lag distance depends on the master speed value so that the master speed alsoinfluences the time-controlled startup cycle.
nMaster
t [s]
nSlave
0 t xasynch
P241
t0
nsynch [rpm]P240
LagDistance32 ( ) H434Eff. lag distanceat time t
�
X
tX
LagDistance32 ( ) H434Eff. lag distanceat time t
�
0
t0
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Position-dependent startup cycle
With this catch-up mechanism, the slave drive moves in synchronicity with the masterdrive once the master drive has covered the specified distance.The specified distance is entered in the "Master length" input field in master increments.If the startup interface is not used -> the H417 StartupCycleMasterLength systemvariable. The restriction is that the slave drive starts with speed zero.The accelerating ramp is automatically calculated by the internal synchronous operationfirmware depending on the specified distance.The slave drive reaches the synchronization point after the specified travel length andirrespective of time. This means the position-dependent startup cycle is independent ofthe master speed and produces "smooth" synchronization.
Master length startup cycle
• Variable: H417 StartupCycleMasterLength• Value range: 0 – 7FFFFFFFhex master incr.• Status: R/W• Description: Specified distance for the master drive for position-dependent startup
cycle.The master length is the distance within which the slave synchronizes with the master.The reference for this type of startup cycle is the length of travel covered by the masterdrive. It is entered in master increments.
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6.4.7 Offset control
Offset control mode 0
H360 OffsetCycleMode = 0 = Offset via IPOS programIf the offset cycle is initiated manually using an IPOS application program, the value 4must be assigned to the SynchronousState system variable (H427) in the programsequence.The offset cycle is started immediately afterwards.
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Offset control mode 1
H360 OffsetCycleMode = 1 = Offset via input terminals.
If the offset cycle is started using event-control via a binary input, you must enter the ter-minal in the "Please select binary input" input field that triggers the offset cycle. If thestartup interface is not used -> system variable OffsetCycleInputMask H363. The pro-cess is started as soon as level "1" is present at the defined binary input. The terminallatency is 1 ms.
Which binary input should be selected?
Select the required binary input: the offset cycle will be started when there is a risingedge at this input (level change: "0" -> "1"). To do this, either directly click the dot to theleft of the corresponding terminal name or enter the terminal name "DIxx" directly in thetext box provided. When doing this, you can use either the input terminals of the basicunit (DI00 – DI05) or of the option card (DI10 – DI17). To avoid conflicting terminal function assignments, the parameter of the selected inputterminal must be set to "no function" or "IPOS input" in the corresponding parametergroup 60x or 61x.
Offset control mode 2
H360 OffsetCycleMode = 2 = reservedThis mode of the offset cycle is currently reserved and cannot be used.
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Offset control mode 3
H360 OffsetCycleMode = 3 = Offset via position controlWith internal synchronous operation, the offset cycle can be started automatically. Inthis case, the start signal for the offset cycle is generated internally when the offsetcounter that reached the specified master length overruns. This can be performed cycli-cally.The offset cycle is initiated by the master increments counter (OffsetCycleCounterH364). The offset is processed automatically if the value of the offset counter exceedsthat of the counter maximum value. If the startup interface is not used -> System variableOffsetCycleCounterMaxValue H365. In the position-dependent offset cycle, the counter maximum value (OffsetCycleCounterMaxValue H365) must be greater than the master length within which the offset must beeliminated and the new synchronization point reached.The counter start value can be used to set the master increments counter to an initialvalue from which this offset counter begins to count.The offset cycle using position control is cyclically executed (offset machine) and canaccept varying offset states (OZ0 – OZ1).The offset cycle is deactivated in offset state OZ0 (OffsetCycleState H362 = 0).The value 1 must be assigned to the offset state (OffsetCycleState H362 = 1) in orderto start running through the cycle and to enable offset counter monitoring. If the offsetcounter (OffsetCycleCounter H364) is greater than the counter maximum value (Offset-CycleCounterMaxValue H365), the offset is processed and the offset counter is reset.The offset state changes to OZ0 immediately afterwards, or remains in OZ1.
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AutoRestart offset
• Variable: H361 OffsetCycleModeControl– 0 = AutoRestart deactivated– 1 = AutoRestart activated
• Status: R/W• Description: Bit 0: AutoRestart (in mode 3)The "AutoRestart" function allows you to determine whether the offset cycle is to be trig-gered "only" once or several times. Either a single or a continuous enable is set for run-ning through the offset cycle. Make the appropriate selection in the "AutoRestart" inputfield:• "OFF": When AutoRestart is deactivated, the offset cycle can be run through exactly
once using position control.• "ON": When AutoRestart is activated, the offset cycle can be restarted using position
control after having been first run through.
Offset cycle • Variable: H361 OffsetCycleModeControl– 0 = Offset cycle possible– 1 = Offset cycle disabled
• Status: R/W• Description: Bit 1 OffsetDisable (in mode 3)It is possible to set a general disable on the offset cycle using position control. "General"means during the initialization phase of the IPOS program; a disable which has been setcan again be revoked at any time in the main program. Make the appropriate selectionin the "Offset cycle" input field:• "Activated": General enable for the offset cycle using position control.• "Deactivated": General disable for the offset cycle using position control.
Automatic start offset
The value 1 must be assigned to the offset state (OffsetCycleState H362 = 1) in orderto trigger the offset cycle using position control. Make the appropriate selection in the"Automatic start" input field:• "ON": The change from offset state OZ0 to OZ1 takes place automatically after the
program starts.• "OFF": The change from offset state OZ0 to OZ1 must be programmed manually in
the IPOS application program.
Counter start value offset
• Variable: H364 OffsetCycleCounter• Value range: 0 – 7FFFFFFFhex master incr.• Status: R/W• Description: Master counter for offset cycleThe "Counter start value" input field enables the offset counter to be set to any initialvalue from which it begins to count the master increments. The reference for this inputvalue is the travel length covered by the master drive. It is entered in master increments.Enter the required start value for the offset counter (master incr.) in the "Counter startvalue" input field.
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Counter maximum value offset
• Variable: H365 OffsetCycleCounterMaxValue• Value range: 0 – 7FFFFFFFhex master incr.• Status: R/W• Description: In mode 3: Length limit for the automatic offset cycleThe "Counter end value" input field makes it possible to set the master length at whichthe offset counter overruns and the start of the offset cycle is triggered internally. It isalso the length of the cycle after which successive automatic offset cycles can takeplace. The reference for this input value is the travel length covered by the master drive.It is entered in master increments. Enter the required end value for the offset counter(master incr.) in the "Counter end value" input field.
Offset process • Variable: H361 OffsetCycleModeControl– 0 = time-controlled offset cycle– 1 = position-dependent offset cycle
• Status: R/W• Description: Bit 12: OffsetModeIn this input field, select whether the offset cycle should be time-controlled or position-dependent. Offset cycle means that an offset is added to the difference counter (mainstate Z3) during synchronous operation. Through this, the slave drive receives a newsynchronization point and the resulting angle difference is reduced to zero by the con-trol. Actual synchronous operation (main state Z3) is reestablished once the new syn-chronization point has been reached. The offset value may be signed (+/–). Main state3 (synchronous operation) is a prerequisite for the offset cycle processing.
Time-controlled offset cycle
In this state, an offset is added to the difference counter. If the startup interface is notused -> system variable OffsetCycleValue H367. By accelerating or decelerating to thesynchronization speed (P240), the angle differential is reduced to zero and the slavedrive moves through an offset. The time needed for this depends on the synchronizationspeed (P240), the synchronization ramp (P241) and the master speed (see section"Startup cycle mode control", additional notes -> time-controlled catch-up process).The offset value must be entered in the input field of the same name. If the startup inter-face is not used -> System variable OffsetCycleValue H367.
Position-dependent offset cycle
In this state, the slave drive is offset after the master drive has covered a specified dis-tance. The specified distance is entered in the "Master length" input field in master incre-ments. If the startup interface is not used -> System variable OffsetCycleMasterLengthH366.The accelerating ramp is automatically calculated by the internal synchronous operationfirmware depending on the specified distance. The slave drive reaches the new synchronization point after the specified travel length– irrespective of time. This means the position-dependent offset cycle is independent ofthe master speed and results in "smooth" processing of the offset as well as a "smooth"startup cycle to the new synchronization point.The offset value must be entered in the input field of the same name. If the startup inter-face is not used-> System variable OffsetCycleValue H367.
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Offset value • Variable: H367 OffsetCycleValue• Value range: 0 – 7FFFFFFFhex master incr.• Status: R/W• Description: Offset value for slave driveThe offset to be processed is the value that is added to the difference counter and thatrepresents the angle differential to be reduced to zero by the offset control. The offsetvalue is the difference between the old and the new synchronization point. The offsetvalue may by signed (+/–).The reference for this input value is the travel length by which the slave drive should beahead or behind the master drive. It is entered in master increments. Enter the requiredvalue for the offset (master incr.) in the "Offset value" input field.
6.4.8 Stop cycle mode controlStop cycle mode control
You can put stop cycle mode control into operation using this dialog box.To do this, click the appropriate button in the top part of the interface to select therequired stop cycle mode.Stop cycle mode control responds in the main states Z3 (synchronous operation) andZ4 (offset). The stop cycle process of the slave can either be performed manually orautomatically. The stop cycle mode is defined with the StopCycleMode system variable(H400). Additional functions can be programmed with the StopCycleModeControlsystem variable (H401). During the stop cycle, the drive changes to speed 0 along ramp t11 (P130) with x-con-trol; alternatively, with n-control, the drive changes to the speed defined in the Speed-FreeMode system variable (H439).
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Mode 0: Manual stop cycle by IPOSplus® program
StopCycleMode = 0The slave ceases synchronous operation with the master when the application assignsthe value 5 to the SynchronousState system variable (H427).
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Mode 1: Stop cycle via binary inputs
StopCycleMode = 1Event-driven stop cycle via binary input. The StopCycleInputMask variable (H403)defines which binary input triggers the stop cycle process. The process is started assoon as level "1" is present at the defined binary input. The terminal latency is 1 ms.
Which binary input should be selected?
Select the required binary input. The stop cycle will be started when there is a risingedge at this input (level change "0" -> "1"). To do this, either directly click the dot to theleft of the corresponding terminal name or enter the terminal name "DIxx" directly in thetext box provided. When doing this, you can use either the input terminals of the basicunit (DI00 – DI05) or of the option card (DI10 – DI17).Mode 1: To avoid conflicting terminal function assignments, set the selected input ter-minal to "IPOS input" in the corresponding parameter group 60x or 61x.
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State after stop cycle
• Variable: H401 StopCycleModeControl– 0 = Stop cycle in main state 0 (n-control)– 1 = Stop cycle in main state 1 (x-control)
• Status: R/W• Description: Bit 0: FreeModeInternal synchronous operation enables you to distinguish between two free-runningstates.The slave drive can either be moved with speed control using a specified setpoint(SpeedFree Mode H439) or held in its current position with position control.In free running n-control, a 64-bit difference counter stores the delay.You can use this input field to select which of these two free-running states the slavedrive should adopt after the stop cycle. Make the corresponding selection in the "Finalstate" input field:• "0 (n-control)": Stop cycle into main state 0 -> Free-running n-control• "1 (x-control)": Stop cycle into main state 1 -> Free-running x-control
6.4.9 Online monitorOnline monitor main state
You can use the online monitor to observe the current main state of the synchronousoperation application. To exit the program, click [Next]. The basic menu opens. In thebasic menu, click [Exit program].
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Online monitor lag distance
In the "Lag distance" menu, the current lag distance of the active application can berecorded and analyzed more closely using the "Zoom" function. To do so, switchbetween "Measure" and "Zoom" for the required function using the pulldown menu onthe left side of the screen. The scope functionality for the lag distance is particularlyhelpful for system optimization and fault diagnostics to obtain information on the courseof the lag error. The lag error is also displayed in digital form at the top of the screen.The current main state of the synchronous operation application and the value of theIPOS variable MasterTrimX14 is also displayed at the top of the screen.
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Online monitor startup cycle (only in startup cycle mode 2)
In the "Coupling" menu, the current state of the startup cycle machine is displayed. Here,you can see which startup cycle event the application is waiting for.
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6.4.10 Save/download/compilerSave Click "Yes" to save the data to a file (*.is1) using the project name and path you have
defined at the start. This file can then be opened later if you want to edit it again.
Download To finish startup of internal synchronous operation, click "Download".
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Compiler The compiler interface for IPOSplus® programming opens automatically. The interfaceappears with a program text that has already been created and that has an IPOSplus®
source file called "Projectname.ipc".
The settings made in the startup interface are used for initializing the IPOSplus® vari-ables for controlling internal synchronous operation.This initialization involves calling a routine once from within the above-mentionedIPOSplus® application program after it has started.The name of the initialization routine is "InitSynchronization()". It is located in the"Projektname.h" header file which is bound in the header file.You can now create further user-specific program sections and insert them into theexisting text. That way, you enhance the IPOSplus® program that will be downloaded tothe inverter and run there.When the program text is complete, save the entire IPOSplus® program again. Next,compile the program into machine language. To do so, click the "Compile and load file"icon [1] to load the compiled program into the inverter. Then click the "Start program"icon [2] to start the program.You can now start the startup interface's online monitor for internal synchronous opera-tion. The compiler interface is still in the background and may be closed.
[1] [2]
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6.4.11 Parameters of internal synchronous operation
Stiffness setpoint • Value range: 0,1 ... 1 ... 2The stiffness value influences how "hard" the synchronous operation control loop is.Basically, this refers to the speed with which the synchronous operation controllerresponds to compensate for differentials at its input.The user must optimize this value depending on the on-site situation. If the lag error limitis reached, the value is too small or the control loop too soft. If the slave drive vibrates,jerks and an audible buzzing noise is heard, the value is too large or the control loop toohard.The factory setting of 1 is recommended as the initial value.
Set zero point (terminal programming)
Here, you can assign the DRS SET ZERO function to any programmable binary input.This sets the difference counter to zero and deletes any possible angular misalignment: • "1" signal = Counter is set to zero• "1" -> 0 new reference point for synchronous operationThis function is needed during startup if the master and the slave need to be calibratedwith one another.
P130 Ramp t11 to the right [s]
• Parameter: P130 Ramp t11 to the right [s]• Value range: 0 ... 0,5 ... 2000 sThis ramp is used during the stop cycle.The ramp times refer to a setpoint change of Ín = 3000 rpm. The ramp takes effect whenthe speed setpoint is changed and the enable is withdrawn via the RIGHT/LEFT ter-minal.
Monitoring when not in the "Internal synchronous operation" function (parameters for lag error monitoring)
• "On": If internal synchronous operation is deactivated during the "Synchronous oper-ation" operating mode (Z3) by changing the ramp type P916, it is possible to continuelag error monitoring for internal synchronous operation.
• "Off": However, to avoid lag errors, e.g. during positioning with IPOSplus®, it is advis-able either to switch off monitoring when not in the "Internal synchronous operation"function or to switch to the stop cycle state (Z5) before deactivating internal synchro-nous operation.
P228 Feedforward filter
• Parameter: P228 Feedforward filter• Value range: 0 ... 23 ... 100 sSetpoint filter for feedforward of synchronous operation control.
P240 Synchr. speed [rpm] (parameter for time-controlled process)
• Parameter: P240 Synchronization speed [rpm]• Value range: 0 ... 1500 ... 5500 rpmThis parameter indicates the speed of the catch-up process. Make sure that the syn-chronization speed (catch-up speed) is faster than the maximum value for the masterspeed during operation.The synchronization speed is limited by the maximum speed (P302).
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P241 Synchr.-Ramp [s] (Parameter for time-controlled operation)
• Parameter: P241 Synchronization ramp [s]• Value range: 0 ... 0,5 ... 50 sValue of the acceleration ramp for synchronizing the slave with the master. The value 0should be entered if the slave is to synchronize with the master using maximum possibleacceleration.
P834 Lag error response
• Parameter: P834 LAG ERROR response• Value range: Programmable responses (see MOVIDRIVE® system manual, Sec.
Parameters). Factory setting: EMERG.STOP/FAULTP834 programs the fault response, which is triggered by the lag error monitoring of syn-chronous operation and of positioning mode IPOSplus®.
P923 Lag error window
• Parameter: P923 Lag error window• Value range: 0 ... 5000 ... 7FFFFFFFhex inc.The lag error window defines a permissible difference value between the setpoint andactual position. A lag error message or response is triggered if the limit is exceeded. Thisresponse can be adjusted using P834 "Lag error response".Deactivation: Lag error monitoring is deactivated when the value is set to 0.
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7 System Variables for Internal Synchronous OperationVariable Name and range of values Status Description
Offset control
H360 OffsetCyleMode0 to 3
R/W The OffsetCycleMode variable is used to set how an offset cycle is to be started. The following offset modes can be selected:Offset-Mode= 0: Offset via IPOSplus® program= 1: Offset via input terminals= 2: Reserved = 3: Offset via position control
H361 OffsetCycleModeControl R/W Activation of various functions
Bit 0: AutoRestart (in mode 3)The "AutoRestart" function allows you to determine whether the offset cycle is to be triggered "only" once or several times.= 0: AutoRestart deactivated
When AutoRestart is deactivated, the offset processing cycle can be run through exactly once using position control.
= 1: AutoRestart activatedWhen AutoRestart is activated, the offset cycle can be restarted using posi-tion control after having been first run through.
Bit 1: OffsetDisable (in mode 3)It is possible to set a general disable on the offset cycle using position control. "General" means during the initialization phase of the IPOS program; a disable which has been set can again be revoked at any time in the main program.= 0: Offset cycle possible= 1: Offset cycle disabled
Bit 12: OffsetMode= 0: Time-controlled offset cycle
In this state, an offset is added to the difference counter. The angle differential is reduced to zero by accelerating or decelerating to P240 synchronization speed, and the slave drive moves through an offset. The time needed for this depends on the synchronization speed (P240), the synchronization ramp (P241) and the master speed.
= 1: Position-dependent offset cycleIn this state, the slave drive is offset after the master drive has moved a specified distance. The specified distance is entered in the "Master length" input field in master increments. The accelerating ramp is automatically cal-culated by the internal synchronous operation firmware depending on the specified distance. The slave drive reaches the new synchronization point after the specified travel length irrespective of time. This means the position-dependent offset cycle is independent of the master speed and produces "smooth" processing of the offset as well as a "smooth" startup cycle to the new synchronization point.
H362 OffsetCycleStateMax. 0 to 1 (depending on OffsetCycleMode)
R/W Control of the various modesOffset control can have different states depending on the OffsetCycleMode H360 selected:=0: Offset cycle is deactivated in offset state 0 (with position control).=1: Monitoring of the offset counter is enabled (with position control).
In order to initiate running through a cycle and to enable monitoring of the offset counter, the offset state (OffsetCycleState H362 = 1) should be assigned the value "1".
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H363 OffsetCycleInputMask R/W Selects the binary input with which the offset cycle will be started (Offset Cycle Mode 1) when there is a rising edge at this input (level change "0" to "1"). Terminal mask (identical to H483 "InputLevel")Bit Binary input Unit0 DI00 Basic unit (with fixed assignment "Controller disable")1 DI01 Basic unit2 DI02 Basic unit3 DI03 Basic unit4 DI04 Basic unit5 DI05 Basic unit6 DI10 DIO11B option7 DI11 DIO11B option8 DI12 DIO11B option9 DI13 DIO11B option10 DI14 DIO11B option11 DI15 DIO11B option12 DI16 DIO11B option13 DI17 DIO11B optionTo avoid conflicting terminal function assignments, set the parameter of the selected input terminal to "No function" or "IPOS input" in the corresponding parameter groups 60x or 61x.
H364 OffsetCycleCounter0 to 7FFFFFFFhex
R/W Master counter for offset cycleThe reference for this input value is the travel length covered by the master drive. It is entered in master increments. Enter the required start value for the offset counter (master increments) here.
H365 OffsetCycleCounterMaxValue0 to 7FFFFFFFhex
R/W In mode 3: Length limit for the automatic offset cycleOffsetCycleCounterMaxValue can be used to set the master length at which the offset counter overruns and the start of the offset cycle is triggered internally. It is also the length of the cycle after which successive automatic offset cycles can take place. The reference for this input value is the travel length covered by the master drive. It is entered in master increments. Enter the required end value for the offset counter (master increments) here.
H366 OffsetCycleMasterLength0 to 7FFFFFFFhex
R/W Position-dependent offset cycle: Specified distance for the master drive during offset cycle.OffsetCycleMasterLength is the distance that is traveled within the offset cycle. The reference for this input value is the travel length covered by the master drive. It is entered in master increments. Enter the required master travel length (master increments) here.
H367 OffsetCycleValue0 to 7FFFFFFFhex
R/W Offset value for slave driveThe offset to be processed is the value that is added to the difference counter and that represents the angle differential to be reduced to zero by the offset con-trol. The offset value is the difference between the old and the new synchronization point. The offset value may by signed (+/–). The reference for this input value is the travel length by which the slave drive should be ahead or behind the master drive. It is entered in master increments. Assign the required value of the offset (master increments) to the OffsetCycleValue.
Virtual encoder
H370 VEncoderMode0 to 3
R/W Virtual encoder operating mode= 0: In mode 0, the virtual encoder works with linear, adjustable acceleration,
adjustable velocity, and target position.= 1: Reserved= 2: Endless counter with linear, adjustable acceleration and adjustable speed.= 3: Standard mode (positioning mode): The virtual encoder operates in
mode 3 with with linear, adjustable acceleration and deceleration as well as with adjustable speed and target position.
H371 VEncoderModeControl R/W Bit 0: AxisStop= 0: Deactivated
(Speed of the virtual encoder is not reset)= 1: Axis stop in the event of a unit fault
(Speed of the virtual encoder is reset once)When a unit fault occurs, the speed of the virtual encoder is set once to zero (VEncoderNSetpoint H373 = 0). This setting stops the virtual axis.
H372 VEncoderState R/W No function
H373 VEncoderNSetpoint0 to 32767
R/W Setpoint speed of the virtual encoder in 1 incr./ms
H374 VEncoderNActual R/W Actual speed of the virtual encoder in 1 incr./ms
Variable Name and range of values Status Description
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H375 VEncoderXSetpoint R/W Target position of the virtual encoder in incr.
H376 VEncoderXActual R/W Current position of the virtual encoder in incr.
H377 VEncoderNdT R/W Acceleration ramp of the virtual encoderThe resolution is:Mode 0 + 2: Ramp in [1 incr./ms2]Mode 3: Ramp in [1/216 incr./ms2]In mode 3, the specified value is scaled by 216 via the startup interface. On the other hand, if the variable VEncderdNdT is written by the programmer in the IPOSplus® program, scaling by 216 must be taken into account in mode 3 (see sec. "Virtual encoder"). NOTE: To avoid jerks, the variable VEncoderdNdT in mode 3 must be set at least to the value 65536 (65536 = 1 incr./ms).
Control element
H389 RegisterLoopOut R/W Value to be reduced in connection with RegisterLoopDXDTOut To make the start cycle even more accurate, a correction value in [incr.] can be added to the difference counter via RegisterLoopOut. However, this correction value is only added once by the firmware, i.e. RegisterLoopOut H389 is over-written automatically with zero once the correction has been made. You can use bit 2 from SynchronousModeControl to set whether this correction value should be scaled using the slave scaling factor.
H390 RegisterLoopDXDTOut–30000 to 30000
R/W Control element limitation with resolution [incr./ms]Max. addition (64-bit counter) per msRegisterLoopDXDTOut is used to specify how a possible correction value output through RegisterLoopOut is to be added to the difference counter. That is, the correction value is not added at once, but in x [incr./ms]. Example: A correction value of 2000 incr. is specified via RegisterLoopOut. Reg-isterLoopDXDTOut is set to 50 -> 50 incr./ms are added to the difference counter. This means that the correction value is processed in 40 ms.
Variable Name and range of values Status Description
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Variable Name and range of values Status Description
Stop cycle mode control
H400 StopCycleMode0 to 1
R/W Stop cycle modeThis variable is used to specify how the stop cycle mode functions:= 0: Stop cycle via IPOSplus® program= 1: Stop cycle via input terminals
H401 StopCycleModeControl R/W Activation of various functionsBit 0: FreeMode= 0: Stop cycle into main state 0 (n-control) -> speed control= 1: Stop cycle into main state 1 (x-control) -> position controlBit 1: x-control modeWhen switching to x-control after the stop cycle, you can select whether the difference counter should be zeroed, i.e. the reference between master and slave is then lost.= 0: Difference counter is zeroed
The reference between master and slave is lost.= 1: Difference counter active, delay between master and slave is maintained
Difference counter is not zeroed, i.e. reference between master and slave is maintained.
H402 StopCycleState No function
H403 StopCycleInputMask R/W Selects the binary input with which the stop cycle will be initiated(StopCycleMode 1) when there is a rising edge at this input (level change "0" -> "1").
Terminal window (identical to H483 "InputLevel") in mode 1 onlyBit Binary input Unit0 DI00 Basic unit (with fixed assignment "Controller disable")1 DI01 Basic unit2 DI02 Basic unit3 DI03 Basic unit4 DI04 Basic unit5 DI05 Basic unit6 DI10 DIO11B option7 DI11 DIO11B option8 DI12 DIO11B option9 DI13 DIO11B option10 DI14 DIO11B option11 DI15 DIO11B option12 DI16 DIO11B option13 DI17 DIO11B optionTo avoid conflicting terminal function assignments, the parameter of the selected input terminal must be set to "No function" or "IPOS input" in the corresponding parameter groups 60x or 61x.
Startup cycle mode control
H410 StartupCycleMode0 to 3
R/W Startup cycle modeThis variable is used to specify how the startup cycle mode functions:= 0: Startup cycle via IPOSplus® program= 1: Startup cycle via input terminals= 2: Startup cycle using interrupt control= 3: Startup cycle via position control
H411 StartupCycleModeControl R/W Activation of various functions
Bit 0: Auto restart (in modes 2 and 3)The "AutoRestart" function allows you to determine whether the startup cycle is to be triggered "only" once or several times. Either a single or a continuous enable is set for running through the startup cycle process. = 0: AutoRestart deactivated
When AutoRestart is deactivated, the startup cycle process can be run through exactly once by interrupt control or position control.
= 1: AutoRestart activatedWhen AutoRestart is activated, the startup cycle process can be restarted by interrupt control or position control after having been run through first.
Bit 1: StartupDisable (in modes 2 and 3)= 0: Startup cycle possible= 1: Startup cycle disabledIt is possible to set a general disable for the startup cycle using interrupt con-trol or position control. "General" means during the initialization phase of the IPOS program; a disable which has been set can again be revoked at any time in the main program.
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Bit 2: InterruptSelect (in mode 2)The interrupt-controlled start of the startup cycle process is triggered either by a rising edge (level change "0" -> "1") at binary input DI02; e.g., caused by a sensor signal or a rising edge (level change "0"-> "1") on the X14:3 C track. When using the rising edge at the binary input DI02, set the parameter of this input to "No function".= 0: DI02
A rising edge (level change "0" -> "1") at binary input DI02 triggers the startup cycle process.
= 1: X14C trackA rising edge (level change "0" -> "1") on the X14:3 C track triggers the startup cycle process.
Bit 12: StartupModeIn StartupMode, you can choose between two startup cycle types= 0: Time-controlled catch-up process
The angle differential (existing or arising) between the master and slave drives (64-bit counter) is reduced through acceleration or decelera-tion at P240 synchr. speed. The time required for this is dependent on P240 synchr. speed; P241 synchr. ramp, as well as on the lag distance (H434, LagDistance32).
= 1: Position-dependent catch-up processIn this synchronization type, the slave drive moves synchronously with the masterdrive when the master drive has moved a specified distance. The specified distance is entered in the "Master length" input field in master increments. In the course of this, note the following: The slave drive starts with speed zero. The accelerating ramp is automatically calculated by the internal synchronous operation firmware depending on the specified distance. The slave drive reaches the synchronization point after the specified travel length – regardless of the time. This means the position-dependent startup cycle is independent of the master speed and produces "smooth" synchronization.
H412 StartupCycleStateMax. 0 to 4 (depending on mode)
R/W Control of the various modesThe value 1 must be assigned to the startup cycle state (StartupCycleState H412 = 1) in order to initiate running through the startup cycle process using interrupt control or position control.= 0: Interrupt is deactivated (the change from startup cycle state EZ0 to EZ1
must be manually programmed in the IPOS application program).= 1: Interrupt is enabled (the change from startup cycle state EZ0 to EZ1
takes place automatically after the program is started).= 2: The drive waits for the interrupt signal.= 3: Delay, i.e. the interrupt signal was detected. StartupCycleCounterMax-
Value is active.= 4: Startup cycle and resetting the startup counter.Note: If AutoRestart is deactivated (H411.0 = 0), the value 1 must be assigned to StartupCycleState (H412), otherwise the startup cycle will not be performed. If the value 0 is assigned to StartupCycleState, then the counter is reset and the reference to the master is lost.
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H413 StartupCycleInputMask R/W Selects the binary input with which the start cycle will be initiated (StopCycle Mode 1) when there is a rising edge at this input (level change "0" -> "1").
Terminal window (identical to H483 InputLevel) in mode 1 onlyBit Binary input Unit0 DI00 Basic unit (with fixed assignment "Controller disable")1 DI01 Basic unit2 DI02 Basic unit3 DI03 Basic unit4 DI04 Basic unit5 DI05 Basic unit6 DI10 DIO11B option7 DI11 DIO11B option8 DI12 DIO11B option9 DI13 DIO11B option10 DI14 DIO11B option11 DI15 DIO11B option12 DI16 DIO11B option13 DI17 DIO11B optionTo avoid conflicting terminal function assignments, the parameter of the selected input terminal must be set to "No function" or "IPOS input" in the corresponding parameter groups 60x or 61x.
H414 StartupCycleCounter 0 – 7FFFFFFFhex master incr.
R/W Master counter for the startup cycleThe startup cycle is initiated when the value of StartupCycleCounter (H414) is greater than the value of StartupCycleCounterMaxValue (H415). The "Counter start value" input field enables the startup cycle counter to be set to any initial value from which it begins to count the master increments. The reference for this input value is the travel length covered by the master drive. It is entered in master increments.
H415 StartupCycleCounterMaxValue0 – 7FFFFFFFhex master incr.
R/W In mode 2: Delay for startup cycle processThe "Counter end value" input field makes it possible to delay the interrupt-controlled start of the startup cycle process. The reference for this input value is the travel length covered by the master drive. It is entered in master incre-ments.In mode 3: Length limit for automatic startup cycle.The "Counter end value" input field makes it possible to set the master length at which the startup cycle counter overruns and the start of the startup cycle process is triggered internally. It is also the length of the cycle after which a successive automatic startup cycle can take place. The reference for this input value is the travel length covered by the master drive. It is entered in master increments.
H416 StartupCycleDelayDI02–32768 to 32767
R/W Delay in units of 0.1 msDelay time of the sensor connected to touch probe input 2.StartupCycleDelay can be used to take into account a delay from DI02 for the interrupt-controlled start of the startup cycle process. The delay of the sensor connected at DI02 is entered in [0.1 ms].
H417 StartupCycleMasterLength R/W Specified distance for the master drive for position-dependent startup cycle.The slave has synchronized to the master within this distance.The master length is the specified distance for the master drive in the position-dependent startup cycle, within which the slave synchronizes with the master. The master length is entered here in [1 incr.].
Variable Name and range of values Status Description
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Variable Name and range of values Status Description
General variables
H425 Synchronous mode No function
H426 SynchronousModeControl R/W Activation of various functions
Bit 0: PosTrim (only active in main state Z1 "x-control")= 0: The drive remains in the current position subject to position control.= 1: Causes the slave drive to move to TargetPos (H492) during position
control in free-running mode (state 1) but without ramp. Therefore, only use for position correction or to avoid drifting.
During the stop cycle into main state Z1 "x-control", the system stores the current position as the setpoint for internal position control when the speed ZERO is reached. If the "Slave trim in free-running mode" function is deactivated, the setpoint is overwritten by the value of TargetPos H492 and position control is based on this setpoint. This function is not suitable for positioning tasks because movement takes place to the TargetPos H492 at maximum speed and with the minimum ramp (zero ramp) when the function is deactivated.Make the appropriate selection in the "Slave trim in free-running mode" input field:OFF: PosTrim active, i.e. the position setpoint corresponds to the current position when speed ZERO is reached.ON: PosTrim deactivated, i.e. position setpoint is the TargetPos H492.
Bit 1: LagError (in state 3 Æ Synchronous operation)= 0: Lag error monitoring
If internal synchronous operation is deactivated during the "Synchro-nous operation" operating mode (Z3) by changing the ramp type P916, it is possible to continue lag error monitoring for internal synchronous operation.
= 1: No lag error monitoringHowever, to avoid lag errors, such as during positioning withIPOSplus®, it is advisable either to switch off monitoring when not in the "Int. synchronous operation" or to switch to the stop cycle state (Z5) before deactivating internal synchronous operation.
Note: The "Lag error monitoring" or "No lag error monitoring" setting is active when the drive is in state 3 (synchronous operation) even if the "I-synchron.operat." ramp type is subsequently changed to another oper-ating mode.
Bit 2: RegisterScale= 0: Increments to be corrected are not scaled (1:1).= 1: Increments are scaled with slave gear ratio factor (GFSlave).RegisterScale can be used to select whether the correction value set in H389 RegisterLoopOut is to be scaled with the slave gear ratio factor or not (see also H389 RegisterLoopOut).
Bit 3: Zero PointMode (uncoupling of the master)This setting influences the behavior of the slave drive in angular-synchro-nous operation during "Set zero point", i.e. as long as there is a 1 level at the terminal programmed for this.= 0: Feedforward / master is uncoupled
The slave drive remains at a standstill during "Set zero point", i.e. while the difference counter is zeroed.
= 1: Feedforward / master is maintained (speed synchronization), i.e. the slave continues to move at the same speed as the master.During "Set zero point", the slave drive continues moving subject to speed control using the same value and orientation as the master speed, depending on the scaling factors of the master and slave.
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H427 SynchronousState0 to 5
R/W Main machine integrated synchronous operation= 0: Free-running mode n-control= 1: Free-running mode x-control= 2: Startup cycle= 3: Synchronous operation= 4: Offset cycle= 5: Stop cycleThe main state machine distinguishes between the states mentioned previ-ously (Z0 – Z5), which are stored in the IPOSplus® variable H427 Synchro-nousState. The state can be changed by writing the synchronous state in the IPOSplus® program. Ensure, however, that the correct transitions in accordance with the main state machine are observed (see also Sec. "Main state machine").
H428 GFMaster–2,000,000,000 to 2,000,000,000
R/W Scaling factor of the master increments, value = iSlave.The GFMaster scaling factor evaluates the master increments entered as setpoints into the synchronous operation controller. This GFMaster scaling factor also includes the slave gear unit reduction ratio, the slave encoder resolution, the slave additional gear and the master length (see also Sec. Important Notes).
H429 GFSlave1 to 2,000,000,000
R/W Scaling factor of the slave increments, value = iMaster.The GFSlave scaling factor evaluates the slave increments entered into the synchronous operation controller as actual values. This GFSlave scaling factor includes the master gear unit reduction ratio, the master encoder resolution, the master additional gear and the slave length (see also Sec. "Important Notes").
H430 MasterSource0 to 1023
R/W Source of the master increments= 0: X14 + virtual axis (H442)> 0: Pointer to variableThe source of the master increments must be specified for the setpoint of the synchronous operation controller. The following sources for the master increments are available:• "Encoder X14": External encoder on terminal X14• "SSIEncoder": Absolute encoder on terminal X62 (DIP11A)• "Variable": IPOS variable as source of master increments• "Virtual encoder": Virtual encoderIf you select "Variable", a list box called "Variables used" appears. In this box, you must select the variable number of the IPOS variable where the master increments are stored.If you select "Virtual encoder", you must make additional entries in an extra dialog box "Virtual encoder mode selection".
H431 SlaveSource0 to 1023
R/W Source of the actual position= 0: X15> 0: Pointer to variableExample: H431 = 510 // source actual position X14 (H510 ActPos_Ext)Specify the source of the slave increments for the actual value of the slave axis. Note: If you select "X14" or "Variable" you must also enter the ratio of the motor encoder [incr./mm] to the synchronous encoder [incr./mm] (see also H435 and H436).The following sources for slave increments are available in the "Slave source" selection field:• "Encoder X15: Motor encoder on terminal X15• "Encoder X14: External encoder on terminal X14
(IPOS variable H510 ActPos_Ext)• "SSIEncoder: Absolute encoder on terminal X62 with DIP11B
(IPOS variable H509 ActPos_Abs)• "Variable": IPOS variable as source of master incrementsIf you select a variable as the source for the source of the slave informa-tion, you must enter the number of the variable here (H1 – H1023).
H432 LagDistance64Low R/- Lower 32 bits of the 64-bit counter
H433 LagDistance64High R/- Upper 32 bits of the 64-bit counter
H434 LagDistance32 R/- 32-bit lag distance in relation to GFSlave
Variable Name and range of values Status Description
Pi
fkVA
Hz
n
7 System Variables for Internal Synchronous OperationInternal synchronous operation startup interface
96 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
H435 SyncEncoderNum0 to 10000
R/W Synchronous encoder factor numerator (slave motor encoder revolution [incr./mm])= 0: Synchronous encoder calculation deactivatedIf synchronous operation is required from a drive that is subject to slip, the synchronous encoder function must be activated. To do so, the ratio between the motor encoder and synchronous encoder must be entered as the numerator/denominator factor.
H436 SyncEncoderDenom0 to 10000
R/W Synchronous encoder factor denominator (slave synchronous encoder revolution [incr./mm])= 0: Synchronous encoder calculation deactivatedIf synchronous operation is required from a drive that is subject to slip, the synchronous encoder function must be activated. To do so, the ratio between the motor encoder and synchronous encoder must be entered as the numerator/denominator factor.
H437 SlaveTrim R/W The firmware automatically adds the value of H437 to the difference counter once and then zeroes the counter.
H438 XMasterPos R/- Display value of the master counter during startup cycle process and offset cycle processing.
H439 SpeedFreeMode R/W Speed setpoint in free running n-control in 0.2 rpmIn the main state "Free running n-control" (SynchronousState = 0), the slave drive can be operated with speed control using a speed setpoint (SpeedFreeMode <> 0). A 64-bit difference counter stores the resulting angular misalignment.Example: The axis is to move at a speed of 1500 rpm after disengaging.
A setpoint of 7500 entered in variable H439 corresponds to a speed of 1500 rpm.
H440 Reserved4
H441 Reserved5
H442 MasterTrimX14-32768 to 32767
R/W Virtual axisPulse number 1 incr./msThe MasterTrimX14 IPOS variable (H442) represents the simplest variant of a virtual encoder without ramp generator. If the physical encoder on ter-minal X14 is activated by the startup interface (if not using the startup inter-face -> assign H430 = 0), the assignment MasterTrimX14 = k means that pulses are physically added to the external encoder on terminal X14 every ms. The number of pulses added is defined by k and the pulses are added with observance of the sign (+/- character).This means it is possible to apply an offset to terminal X14 as a physical source of master increments, or even to dispense completely with a phys-ical encoder. This means that assigning MasterTrimX14 = k activates an endless counter as a virtual source of master increments. Important: Terminal X14 can no longer be used as an encoder simulation for X15 if you are using the virtual encoder.
H443 Reserved6
H444 ReSprintClose0 to 2
R/W Direction of rotation inhibit= 0: Both directions of rotation are enabled= 1: Only CCW direction of rotation= 2: Only CW direction of rotationIn some applications, the slave is never allowed to follow the master if the master changes direction. This means it is possible to prevent the slave drive from changing its direction of rotation in spite of the fact that phase-synchronous operation is active. The lag error limit may be reached depending on its setting, in which case a lag error is generated. The synchronization point is not lost until the lag error limit is reached. This means the slave drive restarts in the permitted direction of rotation once the master has returned, including the synchronization point.
H445 Reserved7
Variable Name and range of values Status Description
75002 rpm.0
1500 rpm=
Pi
fkVA
Hz
n
7System Variables for Internal Synchronous OperationInternal synchronous operation startup interface
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 97
H446 MFilterTime1 to 30
R/W Interpolation time in ms= 1: Without filter 30: Scaling up, absolute scaling factor of the master pulses= GFMaster x MFilterTimeThe MFilterTime variable (H446) acts for interpolation of the incoming master pulses. Increasing it causes the scaling of the master pulses to be changed:Absolute master gear ratio factor = GFMaster (H428) x MFilterTime (H446). Make sure the result does not exceed 2147483648.
Variable Name and range of values Status Description
Pi
fkVA
Hz
n
8 IPOSplus® Sample ProgramsExample 1
98 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
8 IPOSplus® Sample Programs
8.1 Example 1Task A slave drive is to be operated at a synchronous angle to a master drive. The gear units
used in this case are the same and have a gear ratio of 1:1. The master and slaveinverters are connected via X14. The slave inverter is controlled via the binary inputs.Binary inputs X13:5 (DIá4) and X13:6 (DIá5) should be used for controlling the startupand stop cycle processes. Both binary inputs must be programmed to "NO FUNCTION".• "1" signal on DIá4 Æ starts the startup cycle process. The startup cycle process
should be position-dependent and be completed after 10,000 master increments.• "1" signal on DIá5 Æ starts the stop cycle process.The necessary IPOSplus® system variables are set in the initialization function.
IPOSplus® program
This following sample programs only show the basic principles of the procedure. Noliability can be inferred from faulty program functions and the consequences thereof!
06643AXXFig. 43: Event-driven start and stop cycles
nSlave
xMaster
"1"
"0"
"1"
"0"
DIØ4 DIØ5
StartupCycleMasterLength (H417)
= 10000
/*=============================================================================IPOS source filefor Synchronous Drive ControlSEW-EURODRIVE GmbH & Co KGErnst-Blickle-Str. 4276646 Bruchsal, Germanysew@sew-eurodrive.dehttp://www.SEW-EURODRIVE.de===============================================================================*/
#pragma var 300 309#pragma globals 310 349#include <const.h>#include <Example01.h> // Header file with variable designations and initialization function
*/============================================================================Main function (IPOS start function)===============================================================================*/
main (){*/---------------------------------------------------------Startup----------------------------------------------------------*/InitSynchronization(); // Call the initialization function/*---------------------------------------------------------Main program loop-----------------------------------------------------------*/while (1){}}
8IPOSplus® Sample ProgramsExample 1
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 99
Header file with variable designation
/*****************************************************************************Example01.hData and startup header file for IPOS+ Compiler.For Startup after power on call "InitSynchronization();"Data file Movidrive Synchronous Drive Control Version 1.0*****************************************************************************/
#define SynchronousMode#define SynchronousModeControl#define SynchronousState#define GFMaster#define GFSlave#define MasterSource#define Reserved1#define LagDistance64Low#define LagDistance64High#define LagDistance32#define Reserved2#define Reserved3#define SlaveTrim#define XMasterPos#define SpeedFreeMode#define Reserved4#define Reserved5#define MasterTrimX14#define Reserved6#define ReSprintClose#define Reserved7#define MFilterTime
H425H426H427H428H429H430H431H432H433H434H435H436H437H438H439H440H441H442H443H444H445H446
// Variables for StartupCycle, StopCycle and OffsetCycle
#define StopCycleMode#define StopCycleModeControl#define StopCycleState#define StopCycleInputMask
H400H401H402H403
#define StartupCycleMode#define StartupCycleModeControl#define StartupCycleState#define StartupCycleInputMask#define StartupCycleCounter#define StartupCycleCounterMaxValue#define StartupCycleDelayDI02#define StartupCycleMasterLength
H410H411H412H413H414H415H416H417
#define OffsetCycleMode#define OffsetCycleModeControl#define OffsetCycleState#define OffsetCycleInputMask#define OffsetCycleCounter#define OffsetCycleCounterMaxValue#define OffsetCycleMasterLength#define OffsetCycleValue
H360H361H362H363H364H365H366H367
// Variables to Register Control
#define RegisterLoopOut#define RegisterLoopDXDTOut
H389H390
// Variables for virtual encoder
#define VEncoderMode#define VEncoderModeControl#define VEncoderState#define VEncoderNSetpoint#define VEncoderNActual#define VEncoderXSetpoint#define VEncoderXActual#define VEncoderdNdT
H370H371H372H373H374H375H376H377
//Startup data from: 08.08.2000 - 16:35:22
InitSynchronization(){for (H0=128; H0<=457; H0++){*H0=0;}_Memorize(MEM_LDDATA);_Wait(100);
// Reset variables greater than H128
GFMaster = 1;GFSlave = 1;MFilterTime = 1;StartupCycleMode = 1;
// Evaluation of master increments// Evaluation of slave increments// Processing of master increments w/o filter// Startup cycle mode 1: Event-driven starting of the startup cycle // process
StartupCycleInputMask= 16;StartupCycleMasterLength= 10000;_BitSet (StartupCycleModeControl, 12);RegisterLoopDXDTOut= 2;StopCycleMode= 1;StopCycleInputMask= 32;}
// Selection of terminal DI04 for startup cycle// Length of master travel until startup cycle finished// Selection of "Position-dependent startup cycle process"// Limiting of correction mechanism// Stop cycle mode 1: Event-driven starting of the stop cycle process// Selection of terminal DI05 for stop cycle
8 IPOSplus® Sample ProgramsExample 2
100 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
8.2 Example 2Task Extruded material is to be cut off using a flying saw. The travel increments of the
extruded material are used as master increments at input X14 of the saw feed drive =slave drive. The slave drive waits in its start position. The startup cycle process is initi-ated with position control by the StartupCycleCounter position counter (H414). Theextruded material is sawn during synchronous operation. The slave drive disengagesafter the sawing operation and moves back to its start position. The gear ratio is 1:1.
03866AXXFig. 44: Flying saw
06644AXXFig. 45: Position-controlled initiation of the startup cycle process (* slave is disengaged)
Important notes:• Reference travel type 3 (P903) is set for reference travel.• The reference offset (P900) is set to 300,000, for example.• The left and right limit switches must have their parameters set and must be con-
nected.
nSlave
xMaster
StartupCycleCounterMaxValue (H415)
= 100000
StartupCycleCounter (H414)
*StartupCycleMasterLength (H417)
= 25000
50000
8IPOSplus® Sample ProgramsExample 2
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 101
IPOSplus® program
/*=============================================================================IPOS source filefor Synchronous Drive ControlSEW-EURODRIVE GmbH & Co KGErnst-Blickle-Str. 4276646 Bruchsal, Germany
sew@sew-eurodrive.dehttp://www.SEW-EURODRIVE.de===============================================================================*/
#pragma var 300 309#pragma globals 310 349
#include <const.h>#include <Example01.h> // Header file with variable designations and initialization function
#define LINEAR 0#define SYNCHRONLAUF 6#define HALT _BitClear (ControlWord, 2)#define FREIGABE _BitSet (ControlWord, 2)
// Positioning with linear ramp// Internal synchronous operation// Right bit is cleared// Right bit is set
long Rampenform, tmp;*/==============================================================================Main function (IPOS start function)===============================================================================*/main (){*/---------------------------------------------------------Startup----------------------------------------------------------*/InitSynchronization();Rampenform = LINEAR; // Positioning ramp_SetSys(SS_RAMPTYPE, Rampenform);
while (!DI=00); // Wait for high (1) level on DI00 "/Controller inhibit"
_Go0((GO0_C_W_ZP);_GoAbs(GO_WAIT, 0);
// Referencing with reference type 3 / right limit switch// P900 "Reference offset": 300000 increments// Move to start position
Rampenform=SYNCHRONLAUF;_SetSys(SS_RAMPTYPE, Rampenform);
// Activate internal synchronous operation
StartupCycleCounter = 0;StartupCycleState = 1;
// Reset counter// Activate startup cycle control
/*----------------------------------------------------------Main program loop-----------------------------------------------------------*/
while (1){tmp = StartupCycleCounter;if ((tmp>50000)&&(SynchronousState==3)){Halt;SynchronousState=5;Rampenform = LINEAR;_SetSys(SS_RAMPTYPE,Rampenform);Freigabe;_GoAbs(GO_WAIT, 0);Halt;
// Save startup cycle counter in temporary memory// Change ramp type// if counter > 50000 master incr.// and drive in synchronous operation// inhibit drive// Disengage (in position control)// Positioning ramp
// Enable drive// Move to start position// inhibit drive
Rampenform = SYNCHRONLAUF;_SetSys(SS_RAMPTYPE,Rampenform);Freigabe;}}}
// Activate internal synchronous operation
// Enable drive
8 IPOSplus® Sample ProgramsExample 2
102 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Header file with variable designation
/*****************************************************************************Example01.hData and startup header file for IPOS+ Compiler.For Startup after power on call "InitSynchronization();"Data file Movidrive Synchronous Drive Control Version 1.0*****************************************************************************/
#define SynchronousMode#define SynchronousModeControl#define SynchronousState#define GFMaster#define GFSlave#define MasterSource#define Reserved1#define LagDistance64Low#define LagDistance64High#define LagDistance32#define Reserved2#define Reserved3#define SlaveTrim#define XMasterPos#define SpeedFreeMode#define Reserved4#define Reserved5#define MasterTrimX14#define Reserved6#define ReSprintClose#define Reserved7#define MFilterTime
H425H426H427H428H429H430H431H432H433H434H435H436H437H438H439H440H441H442H443H444H445H446
// Variables for StartupCycle, StopCycle and OffsetCycle
#define StopCycleMode#define StopCycleModeControl#define StopCycleState#define StopCycleInputMask
H400H401H402H403
#define StartupCycleMode#define StartupCycleModeControl#define StartupCycleState#define StartupCycleInputMask#define StartupCycleCounter#define StartupCycleCounterMaxValue#define StartupCycleDelayDI02#define StartupCycleMasterLength
H410H411H412H413H414H415H416H417
#define OffsetCycleMode#define OffsetCycleModeControl#define OffsetCycleState#define OffsetCycleInputMask#define OffsetCycleCounter#define OffsetCycleCounterMaxValue#define OffsetCycleMasterLength#define OffsetCycleValue
H360H361H362H363H364H365H366H367
// Variables to Register Control
#define RegisterLoopOut#define RegisterLoopDXDTOut
H389H390
// Variables for virtual encoder
#define VEncoderMode#define VEncoderModeControl#define VEncoderState#define VEncoderNSetpoint#define VEncoderNActual#define VEncoderXSetpoint#define VEncoderXActual#define VEncoderdNdT
H370H371H372H373H374H375H376H377
//Startup data from: 08.08.2000 - 15:54:37
InitSynchronization(){for (H0=128; H0<=457; H0++){*H0=0;}_Memorize(MEM_LDDATA);_Wait(100);GFMaster= 1;GFSlave= 1;MFilterTime= 1;StartupCycleMode= 3;_BitSet(StartupCycleModeControl, 0);StartupCycleCounterMaxValue= 100000;StartupCycleMasterLength= 25000;_BitSet (StartupCycleModeControl, 12);RegisterLoopDXDTOut= 2;_BitSet(StopCycleModeControl, 0);_BitSet(SynchronousModeControl, 0);_BitSet (SynchronousModeControl, 1);}
// Reset variables greater than H128
// Evaluation of master increments// Evaluation of slave increments// Processing of master increments w/o filter// Startup cycle mode 3: Position-controlled starting of the startup cycle// AutoRestart of startup cycle activated// Overrun value of the startup cycle counter// Length of master travel until startup cycle finished// Selection of "Position-dependent startup cycle process"// Limiting of correction mechanism// Stop cycle in main state 1 (x-control)// "Movement to TargetPos (H492)" activated// No lag error monitoring
8IPOSplus® Sample ProgramsExample 3
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 103
8.3 Example 3Task A slave drive is to be operated at a synchronous angle to a master drive. The gear units
used in this case are the same and have a gear ratio of 1:1. The master and slaveinverters are connected via SBus. The slave inverter is controlled via the binary inputs.Binary inputs X13:5 (DIá4) and X13:6 (DIá5) should be used for controlling the startupand stop cycle processes. Both binary inputs must be programmed to "NO FUNCTION".• "1" signal on DIá4 Æ starts the startup cycle process. The startup cycle process
should be position-dependent and be completed after 10,000 master increments.• "1" signal on DIá5 Æ starts the stop cycle process.
The necessary IPOSplus® system variables are set in the initialization function.Two transmit data objects (master position H511 and synchronization ID) are set up inthe main program of the master inverter and sent on the SBus when cyclical data trans-mission starts.One receive data object for the master position sent on the SBus is set up in the mainprogram of the slave inverter and cyclical data transmission is started.The master and slave inverters must have different SBus addresses (P881).
06645AXXFig. 46: Event-driven start and stop cycles
nSlave
"1"
"0"
"1"
"0"
DIØ4 DIØ5
StartupCycleMasterLength (H417)= 10000
xMaster
Note the following settings of the master inverter (Æ Sec. 5.3):• The number of the "Synchronization ID" transmit object must not be the same as
parameter value P885.• The "Cycle time" in the SCOM command for the synchronization ID must be 5 ms.• The "Cycle time" in the SCOM command for the master position must be 1 ms.• The master telegram must be created before the synchronization telegram.
Note the following settings of the slave inverter (Æ Sec. 5.3):• The P885 parameter value must be the same as the number of the "Synchronization
ID" transmit object.• The H430 MasterSource system variable must be the same as the value of the
D pointer (Æ SCOM command structure).
8 IPOSplus® Sample ProgramsExample 3
104 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
IPOSplus® program master inverter
/*===========================================================================IPOS source file Example01.h=============================================================================*/#include <const.h>
SCTRCYCL Position;SCTRCYCL SynchID;
// SEW standard structure for the _SbusCommDef statement
/*===========================================================================Main function (IPOS initial function)=============================================================================*/main (){
/*===========================================================================Initialization=============================================================================*/
Position.ObjectNo=1100;Position.CycleTime=1;Position.Offset=0;Position.Format=4;Position.DPointer=511;Position.Result=0;
// SEW standard structure is written:// Number of the data object 1100 (32-bit master position to // be sent/H511) is sent on the SBus (cycle time 1 ms, MOTOROLA format)
SynchID.ObjectNo=1090;SynchID.CycleTime=5;SynchID.Offset=0;SynchID.Format=0;SynchID.DPointer=0;SynchID.Result=0;
// SEW standard structure is written:// Number of the data object 1090 (sync telegram to be sent)// is sent on the SBus (cycle time 5 ms)
_SBusCommDef(SCD_TRCYCL, Position);_SBusCommDef(SCD_TRCYCL, SynchID);
// Creating the transmit data objects// for cyclical data transmission using// an SBus connection
_SBusCommOn (); // Initialization of the send data objects and start of the// cyclical data transmission via SBus
/*===========================================================================Main program loop=============================================================================*/while(1){}}
8IPOSplus® Sample ProgramsExample 3
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 105
IIPOSplus® program slave inverter
Header file with variable designation
/*============================================================================IPOS source filefor Synchronous Drive ControlSEW-EURODRIVE GmbH & Co KGErnst-Blickle-Str. 4276646 Bruchsal, Germanysew@sew-eurodrive.dehttp://www.SEW-EURODRIVE.de===============================================================================*/
#pragma var 300 309#pragma globals 310 349
#include <const.h>#include<Example03.h> // Header file with variable designations and initialization function
SREC Position;_SBusCommDef
// SEW standard structure for the statement
*/==============================================================================Main function (IPOS start function)===============================================================================*/main (){*/---------------------------------------------------------Startup----------------------------------------------------------*/InitSynchronization(); // Call the initialization function
Position.ObjectNo = 1100;Position.Format=4;Position.DPOinter =200;
// SEW standard structure is written:// Number of the data object 1100 (32-bit master position to be received)// is sent to variable H200
_SBusCommDef(SCD_REC, Position); // Creating a receive data object for cyclical // data transmission using an SBus connection
_SBusCommOn(); // Initialization of the receive data object and start of// cyclical data transmission via SBus
/*----------------------------------------------------------Main program loop-----------------------------------------------------------*/while(1){}}
/*****************************************************************************ISync.hData and startup header file for IPOS+ Compiler.Data file Movidrive Synchronous Drive Control Version 1.0*****************************************************************************/
#define SynchronousMode#define SynchronousModeControl#define SynchronousState#define GFMaster#define GFSlave#define MasterSource#define Reserved1#define LagDistance64Low#define LagDistance64High#define LagDistance32#define Reserved2#define Reserved3#define SlaveTrim#define XMasterPos#define SpeedFreeMode#define Reserved4#define Reserved5#define MasterTrimX14#define Reserved6#define ReSprintClose#define Reserved7#define MFilterTime
H425H426H427H428H429H430H431H432H433H434H435H436H437H438H439H440H441H442H443H444H445H446
// Variables for StartupCycle, StopCycle and OffsetCycle
#define StopCycleMode#define StopCycleModeControl#define StopCycleState#define StopCycleInputMask
H400H401H402H403
8 IPOSplus® Sample ProgramsExample 3
106 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
#define StartupCycleMode#define StartupCycleModeControl#define StartupCycleState#define StartupCycleInputMask#define StartupCycleCounter#define StartupCycleCounterMaxValue#define StartupCycleDelayDI02#define StartupCycleMasterLength#define OffsetCycleMode#define OffsetCycleModeControl#define OffsetCycleState
H410H411H412H413H414H415H416H417H360H361H362
#define OffsetCycleInputMask#define OffsetCycleCounterMaxValue#define OffsetCycleMasterLength#define OffsetCycleValue
H363H364H365H366H367
// Variables to Register Control
#define RegisterLoopOut#define RegisterLoopDXDTOut
H389H390
// Variables for virtual encoder
#define VEncoderMode#define VEncoderModeControl#define VEncoderState#define VEncoderNSetpoint#define VEncoderNActual#define VEncoderXSetpoint#define VEncoderXActual#define VEncoderdNdT
H370H371H372H373H374H375H376H377
//Startup data from: 08.08.2000 - 16:14:58InitSynchronization()
{for (H0=128; H0<=457; H0++) // Reset variables greater than H128{*H0=0;}_Memorize(MEM_LDDATA);_Wait(100);
GFMaster = 1; // Evaluation of master increments
GFSlave = 1; // Evaluation of slave incrementsMasterSource = 200; // Source of master increments:
// Variable H200 "Master position" (via SBus)MFilterTime = 1; // Processing of master increments w/o filterStartupCycleMode = 1; // Startup cycle mode 1: Event-driven initiation
// of the startup cycle process via binary inputStartupCycleInputMask = 16; // Selection of terminal DI04 for startup cycleStartupCycleMasterLength = 10000; // Overrun value of the startup cycle counter_BitSet(StartupCycleModeControl, 12); // Selection of "Position-dependent startup cycle
// process"RegisterLoopDXDTOut = 2; // Limiting of correction mechanismStopCycleMode = 1; // Stop cycle mode 1: Event-driven initiation of
// the stop cycle process via binary inputStopCycleInputMask = 32; // Selection of terminal DI05 for stop cycle
}
Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 107
9Index
9 IndexAApplication examples for internal synchronous operation ...............................................................8Application fields for internal synchronous operation ...............................................................5
CCorrection function (RegisterScale / RegisterLoop) .....................................................32
DDescription of functions .........................................5
GGFMaster ............................................................95GFSlave ..............................................................95
IInstallation ...........................................................14
AV1H Hiperface® encoder connection .........17Connecting Hiperface® encoder to
DT/DV/D and CT/CV motors ...........20Installation notes for connecting encoder
and resolver .....................................15MOVITOOLS® software ...............................14Sin/cos encoder connection .........................17Wiring diagram absolute encoder as master
and MOVIDRIVE® as slave .............19Wiring diagram encoder as master and
MOVIDRIVE® as slave ....................16Wiring diagram MOVIDRIVE® master to
MOVIDRIVE® slave .........................18Wiring diagram MOVIDRIVE® master X14
to MOVIDRIVE® slave X14 .............19IPOSplus® sample programs ...............................98
LLagDistance32 ....................................................95LagDistance64High .............................................95LagDistance64Low .............................................95
MMain state machine .............................................22Main states of internal synchronous operation .....6Master/slave scaling factors ................................44MasterSource ......................................................95MasterTrimX14 ...................................................96MFilterTime .........................................................97
NNotes, important ....................................................4
OOffset cycle type ................................................ 34Offset state machine .......................................... 35OffsetCycleCounter ............................................ 89OffsetCycleCounterMaxValue ............................ 89OffsetCycleInputMask ........................................ 89OffsetCycleMasterLength .................................. 89OffsetCycleMode ............................................... 88OffsetCycleModeControl .................................... 88OffsetCycleState ................................................ 88OffsetCycleValue ............................................... 89Operating principle and functions of internal synchronous operation ....................................... 22
PPosition-dependent offset cycle ......................... 34Prerequisites for internal synchronous operation ............................................................ 11
Inverter ........................................................ 11IPOSplus® Compiler ..................................... 11Motors and encoders ................................... 11PC and software .......................................... 11
Project planning notes ....................................... 12
RRegisterLoopDXDTOut ...................................... 90RegisterLoopOut ................................................ 90Reserved4 .......................................................... 96Reserved5 .......................................................... 96Reserved6 .......................................................... 96Reserved7 .......................................................... 96ReSprintClose .................................................... 96
SSafety notes ......................................................... 4Safety notes for bus systems ............................... 4Slave drive subject to slip .................................. 33SlaveSource ....................................................... 95SlaveTrim ........................................................... 96SpeedFreeMode ................................................ 96Startup
Important parameter settings before startup ............................................. 48
Preliminary work .......................................... 47Starting up with SBus connection ................ 49
Startup cycle control .......................................... 24Time-controlled catch-up process ............... 24
Startup cycle mode controlPosition-dependent catch-up process ......... 25
9
108 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation
Index
Startup cycle state machine ................................26StartupCycleCounter ...........................................93StartupCycleCounterMaxValue ...........................93StartupCycleDelayDI02 .......................................93StartupCycleInputMask .......................................93StartupCycleMasterLength .................................93StartupCycleMode ..............................................91StartupCycleModeControl ...................................91StartupCycleState ...............................................92State machine .......................................................6Stop cycle state machine ....................................39StopCycleInputMask ...........................................91StopCycleMode ...................................................91StopCycleModeControl .......................................91StopCycleState ...................................................91SyncEncoderDenom ...........................................96SyncEncoderNum ...............................................96Synchronous operation control ...........................30Synchronous start/stop .......................................13
Possible master/slave combinations ............13SynchronousMode ..............................................94SynchronousModeControl ..................................94SynchronousState ...............................................95System bus (SBus) connection of master to slave ...............................................................21System description ................................................5System variables .................................................88
TTime-controlled offset cycle ............................... 34
VVEncoderMode .................................................. 89VEncoderModeControl ....................................... 89VEncoderNActual ............................................... 89VEncoderNdT .................................................... 90VEncoderNSetpoint ........................................... 89VEncoderState ................................................... 89VEncoderXActual ............................................... 90VEncoderXSetpoint ............................................ 90Virtual encoder ................................................... 40
WWarning instructions ............................................ 4
XXMasterPos ....................................................... 96
Address List
11/2006 109
Address ListGermany
HeadquartersProductionSales
Bruchsal SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 BruchsalP.O. BoxPostfach 3023 • D-76642 Bruchsal
Tel. +49 7251 75-0Fax +49 7251 75-1970http://www.sew-eurodrive.desew@sew-eurodrive.de
Service Competence Center
CentralGear units / Motors
SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 1 D-76676 Graben-Neudorf
Tel. +49 7251 75-1710Fax +49 7251 75-1711sc-mitte-gm@sew-eurodrive.de
CentralElectronics
SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 Bruchsal
Tel. +49 7251 75-1780Fax +49 7251 75-1769sc-mitte-e@sew-eurodrive.de
North SEW-EURODRIVE GmbH & Co KGAlte Ricklinger Straße 40-42 D-30823 Garbsen (near Hannover)
Tel. +49 5137 8798-30Fax +49 5137 8798-55sc-nord@sew-eurodrive.de
East SEW-EURODRIVE GmbH & Co KGDänkritzer Weg 1D-08393 Meerane (near Zwickau)
Tel. +49 3764 7606-0Fax +49 3764 7606-30sc-ost@sew-eurodrive.de
South SEW-EURODRIVE GmbH & Co KGDomagkstraße 5D-85551 Kirchheim (near München)
Tel. +49 89 909552-10Fax +49 89 909552-50sc-sued@sew-eurodrive.de
West SEW-EURODRIVE GmbH & Co KGSiemensstraße 1D-40764 Langenfeld (near Düsseldorf)
Tel. +49 2173 8507-30Fax +49 2173 8507-55sc-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
ProductionSalesService
Haguenau SEW-USOCOME 48-54, route de Soufflenheim B. P. 20185F-67506 Haguenau Cedex
Tel. +33 3 88 73 67 00 Fax +33 3 88 73 66 00http://www.usocome.comsew@usocome.com
AssemblySalesService
Bordeaux SEW-USOCOME Parc d'activités de Magellan62, avenue de Magellan - B. P. 182F-33607 Pessac Cedex
Tel. +33 5 57 26 39 00Fax +33 5 57 26 39 09
Lyon SEW-USOCOME Parc d'Affaires RooseveltRue Jacques TatiF-69120 Vaulx en Velin
Tel. +33 4 72 15 37 00Fax +33 4 72 15 37 15
Paris SEW-USOCOME Zone industrielle 2, rue Denis Papin F-77390 Verneuil I'Etang
Tel. +33 1 64 42 40 80Fax +33 1 64 42 40 88
Additional addresses for service in France provided on request!
Algeria
Sales Alger Réducom 16, rue des Frères ZaghnounBellevue El-Harrach16200 Alger
Tel. +213 21 8222-84Fax +213 21 8222-84
Argentina
AssemblySalesService
Buenos Aires SEW EURODRIVE ARGENTINA S.A.Centro Industrial Garin, Lote 35Ruta Panamericana Km 37,51619 Garin
Tel. +54 3327 4572-84Fax +54 3327 4572-21sewar@sew-eurodrive.com.ar
Address List
110 11/2006
Australia
AssemblySalesService
Melbourne SEW-EURODRIVE PTY. LTD.27 Beverage DriveTullamarine, Victoria 3043
Tel. +61 3 9933-1000Fax +61 3 9933-1003http://www.sew-eurodrive.com.auenquires@sew-eurodrive.com.au
Sydney SEW-EURODRIVE PTY. LTD.9, Sleigh Place, Wetherill Park New South Wales, 2164
Tel. +61 2 9725-9900Fax +61 2 9725-9905enquires@sew-eurodrive.com.au
Townsville SEW-EURODRIVE PTY. LTD.12 Leyland StreetGarbutt, QLD 4814
Tel. +61 7 4779 4333Fax +61 7 4779 5333enquires@sew-eurodrive.com.au
Austria
AssemblySalesService
Wien SEW-EURODRIVE Ges.m.b.H. Richard-Strauss-Strasse 24A-1230 Wien
Tel. +43 1 617 55 00-0Fax +43 1 617 55 00-30http://sew-eurodrive.atsew@sew-eurodrive.at
Belgium
AssemblySalesService
Brüssel SEW Caron-Vector S.A.Avenue Eiffel 5B-1300 Wavre
Tel. +32 10 231-311Fax +32 10 231-336http://www.caron-vector.beinfo@caron-vector.be
Brazil
ProductionSalesService
Sao Paulo SEW-EURODRIVE Brasil Ltda.Avenida Amâncio Gaiolli, 50Caixa Postal: 201-07111-970Guarulhos/SP - Cep.: 07251-250
Tel. +55 11 6489-9133Fax +55 11 6480-3328http://www.sew.com.brsew@sew.com.br
Additional addresses for service in Brazil provided on request!
Bulgaria
Sales Sofia BEVER-DRIVE GmbHBogdanovetz Str.1BG-1606 Sofia
Tel. +359 2 9151160Fax +359 2 9151166bever@fastbg.net
Cameroon
Sales Douala Electro-ServicesRue Drouot AkwaB.P. 2024Douala
Tel. +237 4322-99Fax +237 4277-03
Canada
AssemblySalesService
Toronto SEW-EURODRIVE CO. OF CANADA LTD. 210 Walker Drive Bramalea, Ontario L6T3W1
Tel. +1 905 791-1553Fax +1 905 791-2999http://www.sew-eurodrive.cal.reynolds@sew-eurodrive.ca
Vancouver SEW-EURODRIVE CO. OF CANADA LTD.7188 Honeyman Street Delta. B.C. V4G 1 E2
Tel. +1 604 946-5535Fax +1 604 946-2513b.wake@sew-eurodrive.ca
Montreal SEW-EURODRIVE CO. OF CANADA LTD.2555 Rue Leger Street LaSalle, Quebec H8N 2V9
Tel. +1 514 367-1124Fax +1 514 367-3677a.peluso@sew-eurodrive.ca
Additional addresses for service in Canada provided on request!
Chile
AssemblySalesService
Santiago de Chile
SEW-EURODRIVE CHILE LTDA.Las Encinas 1295Parque Industrial Valle GrandeLAMPARCH-Santiago de ChileP.O. BoxCasilla 23 Correo Quilicura - Santiago - Chile
Tel. +56 2 75770-00Fax +56 2 75770-01www.sew-eurodrive.clventas@sew-eurodrive.cl
Address List
11/2006 111
China
ProductionAssemblySalesService
Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd.No. 46, 7th Avenue, TEDA Tianjin 300457
Tel. +86 22 25322612Fax +86 22 25322611gm-tianjin@sew-eurodrive.cnhttp://www.sew-eurodrive.com.cn
AssemblySalesService
Suzhou SEW-EURODRIVE (Suzhou) Co., Ltd.333, Suhong Middle RoadSuzhou Industrial ParkJiangsu Province, 215021P. R. China
Tel. +86 512 62581781Fax +86 512 62581783suzhou@sew.com.cn
Additional addresses for service in China provided on request!
Colombia
AssemblySalesService
Bogotá SEW-EURODRIVE COLOMBIA LTDA. Calle 22 No. 132-60Bodega 6, Manzana BSantafé de Bogotá
Tel. +57 1 54750-50Fax +57 1 54750-44http://www.sew-eurodrive.com.cosewcol@sew-eurodrive.com.co
Croatia
SalesService
Zagreb KOMPEKS d. o. o.PIT Erdödy 4 IIHR 10 000 Zagreb
Tel. +385 1 4613-158Fax +385 1 4613-158kompeks@net.hr
Czech Republic
Sales Praha SEW-EURODRIVE CZ S.R.O.Business Centrum Praha Lužná 591CZ-16000 Praha 6 - Vokovice
Tel. +420 220121234Fax +420 220121237http://www.sew-eurodrive.czsew@sew-eurodrive.cz
Denmark
AssemblySalesService
Kopenhagen SEW-EURODRIVEA/SGeminivej 28-30, P.O. Box 100DK-2670 Greve
Tel. +45 43 9585-00Fax +45 43 9585-09http://www.sew-eurodrive.dksew@sew-eurodrive.dk
Estonia
Sales Tallin ALAS-KUUL ASMustamäe tee 24EE-10620 Tallin
Tel. +372 6593230Fax +372 6593231veiko.soots@alas-kuul.ee
Finland
AssemblySalesService
Lahti SEW-EURODRIVE OYVesimäentie 4FIN-15860 Hollola 2
Tel. +358 201 589-300Fax +358 3 780-6211sew@sew.fihttp://www.sew-eurodrive.fi
Gabon
Sales Libreville Electro-ServicesB.P. 1889Libreville
Tel. +241 7340-11Fax +241 7340-12
Great Britain
AssemblySalesService
Normanton SEW-EURODRIVE Ltd.Beckbridge Industrial Estate P.O. Box No.1GB-Normanton, West- Yorkshire WF6 1QR
Tel. +44 1924 893-855Fax +44 1924 893-702http://www.sew-eurodrive.co.ukinfo@sew-eurodrive.co.uk
Greece
SalesService
Athen Christ. Boznos & Son S.A.12, Mavromichali StreetP.O. Box 80136, GR-18545 Piraeus
Tel. +30 2 1042 251-34 Fax +30 2 1042 251-59http://www.boznos.grinfo@boznos.gr
Address List
112 11/2006
Hong Kong
AssemblySalesService
Hong Kong SEW-EURODRIVE LTD.Unit No. 801-806, 8th FloorHong Leong Industrial ComplexNo. 4, Wang Kwong Road Kowloon, Hong Kong
Tel. +852 2 7960477 + 79604654Fax +852 2 7959129sew@sewhk.com
Hungary
SalesService
Budapest SEW-EURODRIVE Kft.H-1037 BudapestKunigunda u. 18
Tel. +36 1 437 06-58Fax +36 1 437 06-50office@sew-eurodrive.hu
India
AssemblySalesService
Baroda SEW-EURODRIVE India Pvt. Ltd.Plot No. 4, GidcPor Ramangamdi • Baroda - 391 243Gujarat
Tel. +91 265 2831086Fax +91 265 2831087http://www.seweurodriveindia.commdoffice@seweurodriveindia.com
Technical Offices Bangalore SEW-EURODRIVE India Private Limited308, Prestige Centre Point7, Edward RoadBangalore
Tel. +91 80 22266565Fax +91 80 22266569salesbang@seweurodriveinindia.com
Ireland
SalesService
Dublin Alperton Engineering Ltd. 48 Moyle RoadDublin Industrial EstateGlasnevin, Dublin 11
Tel. +353 1 830-6277Fax +353 1 830-6458
Israel
Sales Tel-Aviv Liraz Handasa Ltd. Ahofer Str 34B / 22858858 Holon
Tel. +972 3 5599511Fax +972 3 5599512lirazhandasa@barak-online.net
Italy
AssemblySalesService
Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s.Via Bernini,14 I-20020 Solaro (Milano)
Tel. +39 02 96 9801Fax +39 02 96 799781http://www.sew-eurodrive.itsewit@sew-eurodrive.it
Ivory Coast
Sales Abidjan SICASte industrielle et commerciale pour l'Afrique165, Bld de MarseilleB.P. 2323, Abidjan 08
Tel. +225 2579-44Fax +225 2584-36
Japan
AssemblySalesService
Iwata SEW-EURODRIVE JAPAN CO., LTD 250-1, Shimoman-no,IwataShizuoka 438-0818
Tel. +81 538 373811Fax +81 538 373814sewjapan@sew-eurodrive.co.jp
Korea
AssemblySalesService
Ansan-City SEW-EURODRIVE KOREA CO., LTD. B 601-4, Banweol Industrial Estate Unit 1048-4, Shingil-DongAnsan 425-120
Tel. +82 31 492-8051Fax +82 31 492-8056http://www.sew-korea.co.krmaster@sew-korea.co.kr
Latvia
Sales Riga SIA Alas-KuulKatlakalna 11CLV-1073 Riga
Tel. +371 7139253Fax +371 7139386http://www.alas-kuul.cominfo@alas-kuul.com
Address List
11/2006 113
Lebanon
Sales Beirut Gabriel Acar & Fils sarlB. P. 80484Bourj Hammoud, Beirut
Tel. +961 1 4947-86 +961 1 4982-72+961 3 2745-39Fax +961 1 4949-71 gacar@beirut.com
Lithuania
Sales Alytus UAB IrsevaNaujoji 19LT-62175 Alytus
Tel. +370 315 79204Fax +370 315 56175info@irseva.lthttp://www.sew-eurodrive.lt
Luxembourg
AssemblySalesService
Brüssel CARON-VECTOR S.A.Avenue Eiffel 5B-1300 Wavre
Tel. +32 10 231-311Fax +32 10 231-336http://www.caron-vector.beinfo@caron-vector.be
Malaysia
AssemblySalesService
Johore SEW-EURODRIVE SDN BHD No. 95, Jalan Seroja 39, Taman Johor Jaya81000 Johor Bahru, JohorWest Malaysia
Tel. +60 7 3549409Fax +60 7 3541404sales@sew-eurodrive.com.my
Mexico
AssemblySalesService
Queretaro SEW-EURODRIVE MEXIKO SA DE CVSEM-981118-M93Tequisquiapan No. 102Parque Industrail QueretaroC.P. 76220Queretaro, Mexico
Tel. +52 442 1030-300Fax +52 442 1030-301http://www.sew-eurodrive.com.mxscmexico@seweurodrive.com.mx
Morocco
Sales Casablanca Afit5, rue Emir AbdelkaderMA 20300 Casablanca
Tel. +212 22618372Fax +212 22618351richard.miekisiak@premium.net.ma
Netherlands
AssemblySalesService
Rotterdam VECTOR Aandrijftechniek B.V. Industrieweg 175 NL-3044 AS RotterdamPostbus 10085NL-3004 AB Rotterdam
Tel. +31 10 4463-700Fax +31 10 4155-552http://www.vector.nuinfo@vector.nu
New Zealand
AssemblySalesService
Auckland SEW-EURODRIVE NEW ZEALAND LTD. P.O. Box 58-428 82 Greenmount driveEast Tamaki Auckland
Tel. +64 9 2745627Fax +64 9 2740165http://www.sew-eurodrive.co.nzsales@sew-eurodrive.co.nz
Christchurch SEW-EURODRIVE NEW ZEALAND LTD. 10 Settlers Crescent, FerrymeadChristchurch
Tel. +64 3 384-6251Fax +64 3 384-6455sales@sew-eurodrive.co.nz
Norway
AssemblySalesService
Moss SEW-EURODRIVE A/SSolgaard skog 71N-1599 Moss
Tel. +47 69 241-020Fax +47 69 241-040http://www.sew-eurodrive.nosew@sew-eurodrive.no
Peru
AssemblySalesService
Lima SEW DEL PERU MOTORES REDUCTORES S.A.C.Los Calderos, 120-124Urbanizacion Industrial Vulcano, ATE, Lima
Tel. +51 1 3495280Fax +51 1 3493002http://www.sew-eurodrive.com.pesewperu@sew-eurodrive.com.pe
Address List
114 11/2006
Poland
AssemblySalesService
Lodz SEW-EURODRIVE Polska Sp.z.o.o.ul. Techniczna 5 PL-92-518 Lodz
Tel. +48 42 67710-90Fax +48 42 67710-99http://www.sew-eurodrive.plsew@sew-eurodrive.pl
Portugal
AssemblySalesService
Coimbra SEW-EURODRIVE, LDA. Apartado 15 P-3050-901 Mealhada
Tel. +351 231 20 9670Fax +351 231 20 3685http://www.sew-eurodrive.ptinfosew@sew-eurodrive.pt
Romania
SalesService
Bucuresti Sialco Trading SRL str. Madrid nr.4 011785 Bucuresti
Tel. +40 21 230-1328Fax +40 21 230-7170 sialco@sialco.ro
Russia
AssemblySalesService
St. Petersburg ZAO SEW-EURODRIVE P.O. Box 36 195220 St. Petersburg Russia
Tel. +7 812 3332522 +7 812 5357142Fax +7 812 3332523http://www.sew-eurodrive.rusew@sew-eurodrive.ru
Senegal
Sales Dakar SENEMECA Mécanique GénéraleKm 8, Route de Rufisque B.P. 3251, Dakar
Tel. +221 849 47-70Fax +221 849 47-71senemeca@sentoo.sn
Serbia and Montenegro
Sales Beograd DIPAR d.o.o.Ustanicka 128aPC Košum, IV floorSCG-11000 Beograd
Tel. +381 11 347 3244 / +381 11 288 0393Fax +381 11 347 1337dipar@yubc.net
Singapore
AssemblySalesService
Singapore SEW-EURODRIVE PTE. LTD. No 9, Tuas Drive 2 Jurong Industrial Estate Singapore 638644
Tel. +65 68621701Fax +65 68612827http://www.sew-eurodrive.com.sgsewsingapore@sew-eurodrive.com
Slovakia
Sales Bratislava SEW-Eurodrive SK s.r.o.Rybnicna 40SK-83107 Bratislava
Tel. +421 2 49595201Fax +421 2 49595200http://www.sew.sksew@sew-eurodrive.sk
Zilina SEW-Eurodrive SK s.r.o.ul. Vojtecha Spanyola 33SK-010 01 Zilina
Tel. +421 41 700 2513Fax +421 41 700 2514sew@sew-eurodrive.sk
Banská Bystrica SEW-Eurodrive SK s.r.o.Rudlovská cesta 85SK-97411 Banská Bystrica
Tel. +421 48 414 6564Fax +421 48 414 6566sew@sew-eurodrive.sk
Slovenia
SalesService
Celje Pakman - Pogonska Tehnika d.o.o.UI. XIV. divizije 14SLO - 3000 Celje
Tel. +386 3 490 83-20Fax +386 3 490 83-21pakman@siol.net
Address List
11/2006 115
South Africa
AssemblySalesService
Johannesburg SEW-EURODRIVE (PROPRIETARY) LIMITEDEurodrive House Cnr. Adcock Ingram and Aerodrome RoadsAeroton Ext. 2Johannesburg 2013P.O.Box 90004Bertsham 2013
Tel. +27 11 248-7000Fax +27 11 494-3104http://www.sew.co.zadross@sew.co.za
Capetown SEW-EURODRIVE (PROPRIETARY) LIMITED Rainbow ParkCnr. Racecourse & Omuramba RoadMontague GardensCape TownP.O.Box 36556Chempet 7442 Cape Town
Tel. +27 21 552-9820Fax +27 21 552-9830Telex 576 062dswanepoel@sew.co.za
Durban SEW-EURODRIVE (PROPRIETARY) LIMITED2 Monaceo PlacePinetownDurbanP.O. Box 10433, Ashwood 3605
Tel. +27 31 700-3451Fax +27 31 700-3847dtait@sew.co.za
Spain
AssemblySalesService
Bilbao SEW-EURODRIVE ESPAÑA, S.L. Parque Tecnológico, Edificio, 302E-48170 Zamudio (Vizcaya)
Tel. +34 9 4431 84-70Fax +34 9 4431 84-71http://www.sew-eurodrive.essew.spain@sew-eurodrive.es
Sweden
AssemblySalesService
Jönköping SEW-EURODRIVE ABGnejsvägen 6-8S-55303 JönköpingBox 3100 S-55003 Jönköping
Tel. +46 36 3442-00Fax +46 36 3442-80http://www.sew-eurodrive.seinfo@sew-eurodrive.se
Switzerland
AssemblySalesService
Basel Alfred lmhof A.G.Jurastrasse 10 CH-4142 Münchenstein bei Basel
Tel. +41 61 417 1717Fax +41 61 417 1700http://www.imhof-sew.chinfo@imhof-sew.ch
Thailand
AssemblySalesService
Chon Buri SEW-EURODRIVE (Thailand) Ltd.Bangpakong Industrial Park 2700/456, Moo.7, Tambol DonhuarohMuang DistrictChon Buri 20000
Tel. +66 38 454281Fax +66 38 454288sewthailand@sew-eurodrive.com
Tunisia
Sales Tunis T. M.S. Technic Marketing Service7, rue Ibn EI Heithem Z.I. SMMT2014 Mégrine Erriadh
Tel. +216 1 4340-64 + 1 4320-29Fax +216 1 4329-76tms@tms.com.tn
Turkey
AssemblySalesService
Istanbul SEW-EURODRIVE Hareket Sistemleri San. ve Tic. Ltd. Sti. Bagdat Cad. Koruma Cikmazi No. 3 TR-34846 Maltepe ISTANBUL
Tel. +90 216 4419163 / 164 3838014/15Fax +90 216 3055867sew@sew-eurodrive.com.tr
Ukraine
SalesService
Dnepropetrovsk SEW-EURODRIVEStr. Rabochaja 23-B, Office 40949008 Dnepropetrovsk
Tel. +380 56 370 3211Fax +380 56 372 2078http://www.sew-eurodrive.uasew@sew-eurodrive.ua
Address List
116 11/2006
USA
ProductionAssemblySalesService
Greenville SEW-EURODRIVE INC. 1295 Old Spartanburg Highway P.O. Box 518Lyman, S.C. 29365
Tel. +1 864 439-7537Fax Sales +1 864 439-7830Fax Manuf. +1 864 439-9948Fax Ass. +1 864 439-0566Telex 805 550 http://www.seweurodrive.comcslyman@seweurodrive.com
AssemblySalesService
San Francisco SEW-EURODRIVE INC. 30599 San Antonio St.Hayward, California 94544-7101
Tel. +1 510 487-3560Fax +1 510 487-6381cshayward@seweurodrive.com
Philadelphia/PA SEW-EURODRIVE INC. Pureland Ind. Complex 2107 High Hill Road, P.O. Box 481Bridgeport, New Jersey 08014
Tel. +1 856 467-2277Fax +1 856 845-3179csbridgeport@seweurodrive.com
Dayton SEW-EURODRIVE INC.2001 West Main Street Troy, Ohio 45373
Tel. +1 937 335-0036Fax +1 937 440-3799cstroy@seweurodrive.com
Dallas SEW-EURODRIVE INC.3950 Platinum Way Dallas, Texas 75237
Tel. +1 214 330-4824Fax +1 214 330-4724csdallas@seweurodrive.com
Additional addresses for service in the USA provided on request!
Venezuela
AssemblySalesService
Valencia SEW-EURODRIVE Venezuela S.A.Av. Norte Sur No. 3, Galpon 84-319Zona Industrial Municipal NorteValencia, Estado Carabobo
Tel. +58 241 832-9804Fax +58 241 838-6275http://www.sew-eurodrive.com.vesewventas@cantv.netsewfinanzas@cantv.net
SEW-EURODRIVE – Driving the world
How we’re driving the world
With people whothink fast anddevelop thefuture with you.
With a worldwide service network that isalways close at hand.
With drives and controlsthat automaticallyimprove your productivity.
With comprehensiveknowledge in virtuallyevery branch ofindustry today.
With uncompromisingquality that reduces thecost and complexity ofdaily operations.
With a global presencethat offers responsive and reliable solutions. Anywhere.
With innovativetechnology that solvestomorrow’s problemstoday.
With online informationand software updates,via the Internet, availablearound the clock.
Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services
SEW-EURODRIVEDriving the world
SEW-EURODRIVE GmbH & Co KGP.O. Box 3023 · D-76642 Bruchsal / GermanyPhone +49 7251 75-0 · Fax +49 7251 75-1970sew@sew-eurodrive.com
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