drivesync via fieldbus' application · movidrive"drivesync via fieldbus" application...

*23041315_0816*Drive Technology \ Drive Automation \ System Integration \ Services

Revision

MOVIDRIVE® MDX61B"DriveSync via Fieldbus" Application

Edition 08/2016 23041315/EN

SEW-EURODRIVE GmbH & Co KGP.O. Box 302376642 Bruchsal/GermanyPhone +49 7251 75-0Fax +49 7251 [email protected]

www.sew-eurodrive.com

1 Important information

Revision – "DriveSync via Fieldbus" Application2

1 Important information

INFORMATION• This revision is part of the MOVIDRIVE® MDX61B "DriveSync via Fieldbus" applic-

ation manual, part number 17004411, edition 08/2010. It contains the followingchanges:– The entire chapter 2.4 "Bus systems" is replaced.– Textual change due to MOVITOOLS® MotionStudio as a software requirement

in the second list item in chapter 6.2 "Preliminary work".– Textual change and new screenshot regarding the start of the application

module with MOVITOOLS® MotionStudio in chapter 6.3.1 "General Informa-tion".

– New screenshot in chapter 6.3.2 "Initial screen"– The entire chapter 6.3.3 "Fieldbus parameters and drive configuration" was

completely replaced.– Altered text in section "Calculating the scaling factors" in chapter 6.3.4 "Setting

distance and velocity scaling factors"– Textual change in the first note in chapter 6.3.9 "Setting parameters for syn-

chronous operation".– Textual change in the first item in list "Position-based engaging" chapter 6.3.9

"Setting parameters for synchronous operation".– New IPOSPLUS® variable H098 added to the table in chapter 6.4 "Parameters

and IPOSPLUS® variables"– Addition of the "Set zero point" function in chapter 7.6 "Synchronous operation"– Corrections in chapter 7.7.5 "Moving clear of hardware limit switches"

• Installation and startup may only be performed by qualified personnel ob-serving the relevant accident prevention regulations and the following docu-ments:– MOVIDRIVE® MDX60B/61B operating instructions– MOVIDRIVE® MDX61B "DriveSync via fieldbus" application manual

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2Bus systems

Revision – "DriveSync via Fieldbus" Application 3

2 Bus systemsA bus system makes it possible to adapt electronic drive components to the particularsof the machinery within wide limits. There is a risk that a change of parameters thatcannot be detected externally may result in unexpected (but not uncontrolled) systembehavior and may have a negative impact on operational safety, system availability, ordata security.Especially in Ethernet-based networked systems and with engineering interfaces,make sure that unauthorized access is prevented.Use IT-specific safety standards to increase access protection to the ports. For a portoverview, refer to the respective technical data of the used device.

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3 StartupPreliminary work


3 Startup3.1 Preliminary work

You need the MOVITOOLS® MotionStudio engineering software for startup.You can download the latest version of the software from the SEW‑EURODRIVE web-site under "Documentation/Software".

3.2 Starting the program "DriveSync via Fieldbus"3.2.1 General information

• Start MOVITOOLS® MotionStudio and scan your network in online mode.• Highlight the MOVIDRIVE® device for which you want to open the application

module.• Open the context menu by clicking the right mouse button and select the menu

item [Application modules] / [DriveSync for MOVIDRIVE].

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3StartupStarting the program "DriveSync via Fieldbus"


3.2.2 Initial screenThe initial screen of the "DriveSync via fieldbus" application opens.

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3 StartupStarting the program "DriveSync via Fieldbus"


3.2.3 Fieldbus parameters and drive configuration

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Make the following settings in this window:

Setting the fieldbus parametersSet the fieldbus parameters. Fixed parameters are grayed out and cannot bechanged.The system bus 2 (SBus 2) can be set if the DFC11B option is installed.If the DFC11B option is installed, you can choose between the protocols MOVILINK®

and CANopen.If a fieldbus interface (DFP, DFI, DFC, DFD or DFE) is plugged into the fieldbus optionslot, then PROFIBUS,INTERBUS, INTERBUS with FO, CANopen, DeviceNet™ orEthernet can also be selected.You can expand the usual indication of the inverter status from 4 to 8 bits via the"Status word resolution" selection. The following table shows possible statuses:

State DescriptionStatus word resolution= "0"

4 bit status response (Compatibility mode):The display of the inverter status is limited to 4 bit.This means that the "Safe state" device status is in-dicated as "Controller inhibit".

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3StartupStarting the program "DriveSync via Fieldbus"


State DescriptionStatus word resolution= "1"

8 bit status feedback:A complete byte is now used for the inverter statusdisplay. This means "11" is now sent back for the"Safe state" device status.

Operating modeThe selected operating mode is displayed.MOVIDRIVE® MDX61B with asynchronous motors: CFC&IPOS or SERVO&IPOSMOVIDRIVE® MDX61B with servomotors: SERVO&IPOSIf no permitted operating mode is selected, an error message will prompt you to per-form startup using MOVITOOLS® / Shell.

Setting the drive configurationSet the drive configuration.

Master/slave con-figuration

Only one drive may be started up as the master in a group of several MOVIDRIVE®

MDX61B drive inverters. Applications with variable master/slave relationship are notsupported.• "Master drive" option: You can select the following operating modes: "Jog mode",

"Referencing mode" and "Positioning mode". The "synchronous operation" modecannot be selected. Startup is completed with the startup window "Master/slaveconnection" (see chapter "Configuring the master/slave connection"). When callingthe blocked mode "synchronous operation", the drive stops and remains in the cur-rent position with position control.

• "Slave drive" option: You can select the following operating modes: "Jog mode","Referencing mode", "Positioning mode" and "Synchronous mode".

Finite/infinite mo-tion sequence

• "Finite (linear)" option: This is the default setting. Examples are hoists, spindledrives, etc. with finite position reference.

• "Infinite (rotary with modulo)" option: This option is used for endless sequences ofmotion, such as conveyor belts or rotary tables. Positioning is also possible with in-finite gear unit ratios (i gear) without position drift.

3.2.4 Setting the distance and speed scaling factors

Calculating the scaling factors• Case 1: Motor encoder or absolute encoder on the motor shaft (source of ac-

tual position)– Enter the setpoint value in [mm] in the selection field "Drive wheel diameter" or

"Spindle pitch" (only with motor encoder). The user-defined unit of the bus set-point is specified in the following choice box. For the unit, you can choosebetween [mm] or 1/10 millimeter [1/10 mm].

– In the "i gear" input field, enter the ratio of the gear unit. In the "i subgear" inputfield, enter the gear ratio of the additional gear.

– In the "Unit of speed" choice box, choose between [mm/s], [m/min] and [1/min].– For positioning with an absolute encoder, choose "Motor shaft" in the "Position

of absolute encoder" choice box.

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3 StartupStarting the program "DriveSync via Fieldbus"


– Click the [Calculation] button. The "distance" and "speed" scaling factors arecalculated by the program.

• Case 2: External encoder or absolute encoder on the track (source of actualposition)When using an external encoder or an absolute encoder on the track, you have tocalculate the distance scaling factor manually. The scaling factor for the speed canbe calculated automatically (see next chapter) or manually (see example 2).Automatic calculation of the velocity scaling factor:– In the "Source of actual position" choice box, select the entry "Motor encoder".– Enter a value in the "Diameter of drive wheel" field or the "Spindle pitch" field.

You can select the unit for scaling the bus setpoint [mm] or [1/10 mm] in the ad-jacent choice box.

– In the input fields "i gear" and "i subgear", enter the respective values for thegear ratios.

– Click the [Calculation] button. The scaling factor for speed is calculated by theprogram.

Calculating the distance scaling factor:– In the "Source of actual position" choice box, select either "External encoder" or

"Absolute encoder". For positioning with an absolute encoder, choose "On thetrack" in the "Position of absolute encoder" choice box.

– In the group box "Scaling factor for distance", enter the number of pulses sup-plied by the encoder per travel unit in the "Pulses" input field. The unit of thepulses is always increments [inc]. In the "Distance" input field, enter the corres-ponding track distance.

– In the "Scaling factor for distance" group box, enter the unit of the scaling factorfor the distance in the "Unit" input field. Any other information, such as the soft-ware limit switch, reference offset or the target position are specified in the se-lected unit.

3.2.5 Setting parameters for synchronous operation (part 2)...

INFORMATIONWhen in "synchronous operation" mode, the inputs DI01 (enable) or DI00 (/controllerinhibit) are set to "0" instead of the mentioned disengaging conditions, the slave drivestops in the selected operating mode.When the slave drive is engaged again, a possible offset is processed. The referenceto the master axis will not be lost.

...• "Synchronization process" group

...Time-controlled startup cycle– ...– ...Position-based engaging

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3StartupParameters and IPOSplus variables


– Engaging distance: The dynamics of the synchronization process are determ-ined by the entered, signed distance. The slave drive moves synchronouslywith the master drive from the engagement moment until the distance isreached.

– ...

3.3 Parameters and IPOSPLUS® variablesParametersandIPOSplusvariables

The following parameters and IPOSPLUS® variables are set automatically during startupand are loaded into the inverter during the download.

IPOSPLUS® variable Description... ...H098 Variable for changing the resolution of the status word

using bit 0

... ...

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4 Operation and ServiceSynchronous operation


4 Operation and Service4.1 Synchronous operation

• Set zero point:Before starting the engaging process, you can reset the difference counter of in-ternal synchronous operation via bit PO1:13 "Set zero point". The "Set zero point"function is executed as long as bit PO1:13 is set. This is why the input must be re-set when bit 0 ("drive synchronous") is set in status word 1.

4.2 Cycle diagrams4.2.1 Moving clear of hardware limit switches

Once a hardware limit switch (DI04 = "0" or DI05 ="0") has been reached, the bit PI1:5"Error" is set and the drive comes to a standstill using an emergency stop.Proceed as follows to move the drive clear of the limit switch:• Activate positioning mode: Set bit PO1:11 "Mode low" to "0" and bit PO1:12 "Mode

high" to "1".• Set bit PO1:6 "Reset" to "1". The bit PI1:5 "Error" is deleted.• The drive automatically moves clear of the hardware limit switch at the speed spe-

cified in P902 Reference speed 2.• Once the drive has moved clear of the hardware limit switch, you can delete PA1:6

"Reset" and select the required operating mode.

[1] [2] [3]

PA1:6 50ms

PA1:8

PA1:11

PA1:12

DI04

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(P902)

0

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4Operation and ServiceCycle diagrams


[1] The drive has reached the CW hardware limit switch and comes to a haltusing an emergency stop ramp.

[2] PO1:6 "Reset" is set. Drive moves clear of hardware limit switch.

[3] Drive moved clear of hardware limit switch.

PO1:11

Mode low

PO1:12

Mode high

PO1:6 Reset

DI04 Positive hardware limit switch

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