manual ipos+ - positioning and sequence control · 2 movidrive® iposplus® important notes...

10/262/97

MOVIDRIVE®

Drive Inverters

Manual

IPOSplus® Positioning and Sequence Control

Edition 07/200009

19 1

712

/ 070

0

UL®C UL®

2 MOVIDRIVE® IPOSplus®

Important Notes

Important Notes

• Read through this manual carefully before you start to install and commissionMOVIDRIVE® drive inverters with IPOSplus®.This manual assumes that the user has access to and is familiar with the documentation onthe MOVIDRIVE® system, in particular the system manual and the operating instructions.

• Safety notes:Always follow the safety and warning instructions contained in this manual!Safety notes are marked as follows:

Electrical hazard, e.g. during live working.

Mechanical hazard, e.g. when working on hoists.

Important instructions for safe and fault-free operation of the driven machine/system, e.g. pre-setting before commissioning.

• General safety notes for IPOSplus® :The IPOSplus® positioning control allows you to match the MOVIDRIVE® drive inverter to thespecifics of your application to a very high degree. As with all positioning systems there is,however, the risk of a programming error in the program, which may result in unexpected(not uncontrolled, though!) system behavior.

• Each unit is manufactured and tested to current SEW-EURODRIVE technical standards andspecifications.The manufacturer reserves the right to make changes to the technical data and designs aswell as the user interface herein described, which are in the interest of technical progress.A requirement of fault-free operation and fulfillment of any rights to claim under guarantee isthat this information is observed.

• We are only discussing the MX_SHELL user interface in this manual. All functions displayedin this document can also be performed in IPOSplus® ASSEMBLER MOVITOOLS.

Revisions of the preceding edition 02/99 are indicated by a gray line in the margin.

Contents

MOVIDRIVE® IPOSplus® 3

Contents1 System Description............................................................................. 4

1.1 General information ...............................................................................................41.2 Characteristics of the IPOSplus® sequence and positioning control system ...........41.3 Options in conjunction with IPOSplus®.....................................................................................4

1.4 Control of the MOVIDRIVE® inverter......................................................................51.5 Setpoint selection ..................................................................................................51.6 Technical data........................................................................................................5

2 Position detection and positioning........................................................... 62.1 Encoder evaluation.................................................................................................62.2 Encoder combinations ...........................................................................................7

3 Creating, Activating, Storing and Loading Programs ..................................... 93.1 Creating programs.................................................................................................93.2 Saving/loading programs.....................................................................................113.3 Starting/stopping programs.................................................................................12

4 IPOSplus® Programming ..................................................................... 134.1 Basic information.................................................................................................134.2 Digital inputs/outputs ..........................................................................................154.3 Analog inputs/outputs..........................................................................................184.4 Brief introduction to IPOSplus® programming by way of examples ......................194.5 Task 1 and task 2.................................................................................................21

5 IPOSplus® Parameters ........................................................................ 235.1 Setting the user travel units .................................................................................235.2 P90_ IPOS reference travel..................................................................................245.3 P91_ IPOS travel parameters...............................................................................295.4 P92_ IPOS monitoring.........................................................................................315.5 P93_ IPOS special functions................................................................................325.6 P94_ IPOS variables ............................................................................................325.7 P95_ DIP .............................................................................................................33

6 IPOSplus® with Options....................................................................... 346.1 External encoder ..................................................................................................346.2 IPOSplus® and Fieldbus ........................................................................................396.3 IPOSplus® and Synchronous Operation ................................................................44

7 Command Set ................................................................................. 537.1 Overview of commands .......................................................................................537.2 Arithmetic commands..........................................................................................557.3 Bit commands......................................................................................................567.4 Communication commands.................................................................................577.5 Positioning commands ........................................................................................667.6 Program commands ............................................................................................697.7 Set commands.....................................................................................................727.8 Special unit commands .......................................................................................787.9 Comparison commands.......................................................................................82

8 Survey of System Variables ................................................................. 83

9 Sample Programs............................................................................. 879.1 General information .............................................................................................879.2 Sample program "Hoist" .......................................................................................899.3 Sample program "Jog mode" ...............................................................................969.4 Sample program "Table positioning" ..................................................................100

10 Fault Messages .............................................................................. 10510.1 Processing.........................................................................................................10510.2 List of faults.......................................................................................................106

11 Index ........................................................................................... 112


1 System Description

1 System Description

1.1 General information

The IPOSplus® positioning and sequence control system is integrated into every MOVIDRIVE®

inverter as standard. With IPOSplus® , control functions and positioning tasks can be performedeither simultaneously or independently of one another. The IPOSplus® sequence control system makes it possible to run a user program, irrespective ofany encoder feedback or the selected control modes (VFC, CFC, SERVO). In conjunction with encoder feedback, the IPOSplus® positioning control provides a high-perfor-mance point-to-point positioning capability.Programs for IPOSplus® are written exclusively using the MX_SHELL PC user interface. Commis-sioning the inverter, accessing parameters and editing variables are possible either with theMX_SHELL PC interface or the DBG11A operator panel. (Note: The DBG11A can only be used forcommissioning in VFC mode.)

1.2 Characteristics of the IPOSplus® sequence and positioning control system

• Program execution independent of encoder feedback and operating mode• The user program is continued even if the unit develops a malfunction (troubleshooting

is possible in the user program)• Two user programs can be run in parallel and independently of one another (task 1 –

interrupt-capable – and task 2) • The user programs can contain up to 800 program lines• User-friendly and comprehensive control options for the MOVIDRIVE® inverter• Possibility of accessing available options (terminal expansion board, fieldbus interfaces,

synchronous operation board, operator panel)• Extensive options for communication via system bus (S-bus), RS-485, RS-232 and field-

bus interfaces (direct communication with the MOVIMOT® is possible)• Processing of digital and analog input/output signals

• Positioning with selectable travel speed and positioning ramp• Feedforward for position, speed and torque control loops with minimized lag error• Absolute encoder processing• Table positioning with up to 128 positions• 2 touch probe inputs• LINEAR, SINE and SQUARED ramp shapes• Status and monitoring functions:

Lag error monitoring, position signal, software and hardware limit switches• 8 possible reference travel types• Possibility of changing the target position, travel speed, positioning ramp and torque

whilst movement is in progress• "Endless positioning" (continuous uni-directional operation) is possible• Override function

1.3 Options in conjunction with IPOSplus®

• DBG11A keypad• Serial interfaces, types USS21A (RS-232 and RS-485) and USS11A (RS-232)• Terminal expansion board, type DIO11A• Absolute encoder board, type DIP11A• Fieldbus interfaces: PROFIBUS, type DFP11A, INTERBUS, type DFI11A, CAN bus, type

DFC11A• Synchronous operation board, type DRS11A


System Description 1

1.4 Control of the MOVIDRIVE® inverter

MOVIDRIVE® inverters can be controlled as follows:• Control via input terminals on the unit• IPOS plus® control word on "system variable" H484• RS-485 interface• Fieldbus interface• S-bus (system bus)

Control via input terminals and the IPOSplus® control word are always in effect. The active status ofany other control source is defined by the setting of setpoint source P100, control source P101 orthe process data assignment P870 – P872.

1.5 Setpoint selection

Depending on the application, the following possibilities are available for setpoint selection with theMOVIDRIVE® inverter:

• Analog setpoints• Fixed setpoints• Fixed setpoints and analog setpoints• Motor potentiometer• Master-slave mode with S-bus• Master-slave mode with RS-485• DPA/DPI setpoint (only with DPA11A/DPI11A option)• DRS setpoint (only with DRS11A option)• Fieldbus/fieldbus monitor setpoint (only with fieldbus interface option)• IPOSplus® position setpoint

The question of whether encoder feedback is required for setpoint processing depends on whichoperating mode is selected. The setpoint which is actually active depends on the following settings:

• Operating mode P700• Setpoint source P100• Setting of the input terminal parameters P600 – P604, P610 – P617• Fieldbus process output data assignment/monitor mode• Selection of manual operation in MX_SHELL / DBG11A keypad

1.6 Technical data

Encoder resolution IPOSplus® always operates with 4096 increments / motor revolution(pre-requisite: encoder resolution of 512, 1024 or 2048 pulses / motor revolution or resolver)

Max. program length of task 1 and task 2: Approx. 800 program lines in total (max. 512 per task)(max. 1000 program and remark lines in the editor)

Command processing time Task 1:Task 2:

1.0 ms / program line0.5 ms / program line

Variables: 512, of which 128 (0 – 127) can be stored to non-volatile memoryValue range: -231 – +( 231 - 1)

Touch probe inputs: 2 inputs, processing time 200 �s

Sampling interval of digital and analog inputs:

1 – 5 ms

Digital inputs/outputs: Basic unit:DIO11A option:

6 inputs / 3 outputs8 inputs / 8 outputs

Analog inputs/outputs: Basic unit:DIO11A option:

1 input (0 – 10 V, ±10 V, 0 – 20 mA, 4 – 20 mA)1 input (0 – 10 V, ±10 V, 0 – 20 mA)2 outputs (±10 V, 0 – 20 mA, 4 – 20 mA)


2 Position detection and positioning


2.1 Encoder evaluation

MOVIDRIVE® offers three positioning methods:• external encoder• motor encoder (incremental encoder/resolver)• absolute encoderThe values are indicated in system variables for processing.The connections for motor encoder (X15) and external encoder (X14) are located on the MDV...and MDS... control electronics. The MDF... control electronics do not have these connections. Theconnection fo the absolute encoder is located on the DIP11A (X62) option card.

All connected encoders will always be evaluated independent of the operating mode (P700). Opera-ting modes with positioning mode (VFC-n-Reg. & IPOS, CFC & IPOS, SERVO & IPOS) alwaysrequire a motor encoder at X15. The actual positions can be evaluated with the touch-probefunction.

The position values are always available to the IPOSplus® control in variables H509 to 511. Enco-ders connected to X14 and X15 can always be detected and processed further in the IPOSplus® pro-gram, even if the positioning is not done with IPOSplus® . Positioning with the IPOSplus® commands(GO...) always requires a motor encoder. The motor encoder submits a high-quality speed signal tothe MOVIDRIVE® unit.

Encoder type

Absolute encoder at DIP11AP941: Absolute encoder (DIP)

Incremental encoder reconstructionP941: External encoder (X14)

Incremental encoder / ResolverP941: Motor encoder (X15)

Connection X62 / DIP11A X14 / Basic unit X15 / Basic unit

Actual value on variable H509 / ACTPOS. ABS H510 / ACTPOS. EXT H511 / ACTPOS. MOT

Resolution Absolute position after conver-sion with: zero point offset (P954), position offset (P953), counting direction (P951)

Actual encoder bar number (with quadruple evaluation)

always 4096 inc./motor rotation, independent of actual encoder resolution

Touch-probe

Edge at DI02 H503 / TP. POS1ABS H506 / TP. POS1EXT H507 / TP. POS1MOT

Edge an DI03 H502 / TP. POS2ABS H504 / TP. POS2EXT H505 / TP. POS2MOT

max. delay time 1 ms < 100 �s < 100 �s


Position detection and positioning 2

2.2 Encoder combinations

Direct position control and motor encoder

02742AEN

• This combination requires an incremental encoder / resolver (X15) at the motor.

• Positioning commands, e.g. "GOA ..." , are executed in IPOSplus® in reference to the source actual position (here: absolute encoder (DIP)).

Direct position control with motor encoder and external encoder

02743AEN

• This combination requires an incremental encoder / resolver (X15) at the motor for speed feedback.

• There is an automatic slip compensation between incre-mental encoder / resolver of the motor and the external encoder.


• The actual control dynamic that can be accomplished depends on the properties and the mechanical installa-tion of the external encoder as well as the position reso-lution.

• see section 6.1

Direct position control with absolute encoder and motor encoder

01886AEN

• There is a direct position control in IPOSplus® with an absolute encoder connected via the DIP11A option.

• An incremental encoder / resolver (X15) is required at the motor for speed feedback.

• There is an automatic slip compensation between incre-mental encoder / resolver of the motor and the absolute encoder.


• The actual control dynamic that can be accomplished depends on the properties and the mechanical installa-tion of the absolute encoder as well as the position resolution..

• see “Positioning with DIP11A absolute encoder“ manual

M

vmax amax

+ +

--

Profilegenerator

Positioncontrol n control

nact.Posact.

M

vmax amax

+ +

-

-

X14

Externalencoder

Profilegenerator


nact.

GO Wait ...

M

vmax amax

+ +

-

-

DIP

Absoluteencoder

Profilegenerator

IPOSprogram

plus®


nact.



Position control with incremental encoder on motor, processing of absolute encoder position in IPOSplus® program

01887AEN

• There is a position control in IPOSplus® with the motor encoder connected to X15.

• An incremental encoder / resolver (X15) is required at the motor for speed feedback.

• The high control dynamic of the inverter can be used directly for positioning.

• The position information of the absolute encoder is automatically entered into an IPOSplus® variable and can be processed via program control.

• Reference travel is redundant by using the DIP11A option.


Processing of absolute encoder position in IPOSplus® program

01888BEN

• The position information of the absolute encoder is automatically entered into an IPOSplus® variable and can be processed via program control.

• This DIP11A option can be used to replace applications in which the positioning was executed with rapid speed/creep speed via several initiators.

• No incremental encoder / resolver (X15) is required at the motor for speed feedback, a standard asynchronous motor can be used.


GO Wait ...

JMP H ...

M

vmax amax

+ +

--

DIP

Profilegenerator

IPOSprogram

plus®

Positioncontrol

Systemvariable

n control

nact.

Absoluteencoder

Posact.

M

DIP

IPOSprogram

plus®

Systemvariable

Absoluteencoder

nsetp.


Creating, Activating, Storing and Loading Programs 3

3 Creating, Activating, Storing and Loading Programs

Help function: Help texts can be displayed for all selected program commands, system variables and parameters by pressing function key F1.

For help when editing programs: Main menu "Help", "Key assignment" menu item whilst the program window is active.

3.1 Creating programs

Program editorA PC with the MX_SHELL user interface is required for creating programs. It is only possible toenter IPOSplus® command lines when the "Program" window is open and active. The "Program"window is opened using the "IPOS" / "Program" menu item. The top line ① of an active windowappears in a different color to indicate it is an active window. The bottom line ② displays the func-tion keys available for the active window.The bottom line of the visible program ③ shows the program line number of the selected line. Thepercentage value following it shows the program memory usage.

01357BENFig. 1: Program window

The program header ④ comprises the first three lines of the "Program" window. The values for theuser travel units NUMERATOR, DENOMINATOR and DIMENSION are entered in the first two lines(� Sec. 5.1). The values in the program header can be selected with the tab key in order to beedited. The changes are then confirmed by pressing the enter key. The third line displays the operating states of the task 1 and task 2 user programs:• START (program is running);• P-STOP (program execution stopped);• BREAK (program is only processed as far as the selected line);• STEP (program is processed line-by-line by pressing the F7 key).

ÀÁ

Â

Ã



Inserting command linesPress the insert key with the "Program" window active to call up the selection table of commandgroups.It is possible to access the required commands by selecting the command groups or by enteringthe first few letters of the command.

01358AENFig. 2: Selection window for commands

An input screen opens when you select a command. Press the tab key to jump from text box to textbox. Navigate within these text boxes by pressing the arrow keys. Press the enter key to transferthe selected arguments into the command. Numbers are entered using the number keys.Once all arguments have been entered into the command, the command line is added to the userprogram by pressing the enter key. The line is added above the line which is selected. Press thedelete key to delete selected command lines.

01359AENFig. 3: Input screen for commands

Copying, moving and deleting command lines as a blockBlocks of commands can be selected by pressing <Shift> + <Cursor Up/Down> and inserted ordeleted by pressing <Ctrl> + <Insert> or <Delete>. Press <Shift> + <Insert> to move selected com-mand lines.

Inserting complete programsComplete programs can be inserted into an open IPOS program starting from the current cursorposition. Do this by calling up the program in offline mode using the [Load file] menu item andconfirm using [Insert at cursor].

Renumbering jump flagsPressing <Ctrl> + <F3> causes the jump marks to be renumbered in ascending order.


Creating, Activating, Storing and Loading Programs 3

3.2 Saving/loading programs

01336BENFig. 4: Saving and loading IPOSplus® programs

A user program programmed using IPOSplus® only runs on a MOVIDRIVE® inverter. To do so, itmust be transferred to the inverter first. Once the program has been transferred successfully (awindow with a transfer bar appears briefly), it is immediately stored in the non-volatile memory ofthe inverter.IPOS programs can also be transferred from one MOVIDRIVE® to another MOVIDRIVE® using theDBG11A operator panel. This is done using parameters P807 (Copy MDX � DBG) and P806 (CopyDBG � MDX).

Note: Remark lines in the user program are not saved in the inverter. Therefore, the recommendedcourse is to save the user program to a PC first.

Saving/loading user programs from/to a PC/inverter:The following table shows how user programs can be loaded/saved:

Table 1: Loading/saving programs

Command Program window

Communi-cation Source Target

UPLOAD (F3) Active Online Inverter Program windowDOWNLOAD (F2) Active Online Program window InverterLoad inverter - Offline Inverter PCSave to inverter - Offline PC InverterLoad inverter - Online Inverter to be selected Current inverterSave to inverter - Online Current inverter Inverter to be selectedLoad file - Offline File Program windowSave (to new) file - Offline Program window FileLoad file - Online File Inverter, program window

(simultaneously)Save (to new) file - Online Program window, inverter

(option)File

E Q

MX_SHELL

EEPROM

EEPROMSave to inverter

Communication:online

Comm

unication: offline

Communication: onlineLoad inverter

selectable

simulta-neous

InverterMOVIDRIVE®

DBG11A

File

Load inverterSave to inverter

Communication: offline

Load file

Load file

Save fileSave to new

file

Save fileSave to new file

Copy DBG --> MDX(P806)

Copy MDX --> DBG(P807)

Programwindow

F2 D

ownl

oad

F3 U

ploa

d



3.3 Starting/stopping programs

A user program has to be transferred to the inverter before it can be started. If positioning com-mands are to be carried out in the user program, parameter P700 (Operating modes) must be setto the required operating mode "& IPOS".

Table 2: Starting/stopping programs

Diagnosis options in task 1When the user program in task 1 is running, a program pointer in the "Program" window to the leftof the command lines displays the command line which is about to be processed.

Table 3: Diagnosis options in task 1

With the DBG11A keypadTask 1 can be started and stopped using the DBG11A keypad (P931) and the status of task 2(started/stopped) can be displayed (P932).

Function Key Description

START <F9> Press the F9 key (RUN) whilst the "Program" window is active to start the user program. The display in the header of the "Program" window changes from "Task 1: P-STOP" to "Task 1: START". Task 2 is started using a programming command (� Sec. 4.5). Once the program has been started using the F9 key, it is automatically run through continu-ously. In the event of a power outage and failure of the 24 V backup voltage, processing of the program is automatically restarted in program line 1 as soon as the voltage is applied once again.

P-STOP <F8> Pressing the F8 key (P-STOP) causes the program to stop. The drive does not come to a standstill; any positioning task will be completed. If the F9 key is pressed to start the pro-gram, processing of the program continues in the line where it was stopped.

A/P-STOP <F5> The F5 key (A/P-STOP) causes the program to be stopped. The program is reset and the drive is brought to a halt. Processing of the program starts from line 1 if the program is started with the F9 key.

Function Key Description

STEP <F7> The user program can be processed in individual steps by pressing the F7 key (STEP). The program changes to P-STOP status once a program line has been processed.

GOTO CURSOR <F4> Pressing the F4 key (GOTO CURSOR) causes the user program to be processed only as far as the selected line.

Function Parame-ters Description

Start/stop task 1 P931 Task 1 is started or stopped.

Display task 2 P932 Displays whether task 2 has been started or stopped.


IPOSplus® Programming 4

4 IPOSplus® Programming

4.1 Basic information

Programs are entered via screens (see Sec. 3). Entry of IPOSplus® user programs is exclusivelypossible with the MX_SHELL user interface.The user program can be up to 800 program lines long.

Program header:

It is only necessary to define user travel units in the program header of user programs in whichpositioning commands are used (� Sec. 5.1).

Task 1 / Task 2:

The IPOSplus® positioning and sequence control permits a user program to be split into 2 sub-routines (task 1 and task 2) which can run in parallel and independently of one other.(� Sec. 4.5).

Remarks:

Remarks can be inserted anywhere in the user program, like command lines.Remarks can only be saved on the PC; they are discarded when downloaded to the inverter.

Program branches:

Program branches are possible with jump flags (Mxx) in conjunction with jump commands(JMPxx Mxx). Jump flags can be inserted in front of any command line. As a result, there is noneed to number the program lines.

Subroutine system:

Subroutines can be called up with a CALL command (CALL Mxx). The corresponding jumpflags (Mxx) are inserted in front of the first command in the subroutine. A subroutine ends witha return command (RET). The return command causes program processing to jump back to theline below the CALL command. The subsequent program lines are then processed. Nested sub-routines are possible, but nesting depth should not exceed 16.

Program loops:

Program loops consist of a loop beginning (LOOPB) and a loop end (LOOPE). The number oftimes the loop is processed is defined in the argument of the LOOPB command. Nested loopsare possible, but nesting depth should not exceed 16.

Safety note:Subroutines must never be exited with a jump into a main program or into another subroutine. Conditional exiting of the subroutine must be performed by jumping to the end (RET) of the subroutine.

Safety note:Program loops must never be exited with a jump command. Jump commands are allowed within a program loop.



Positioning commands:

The IPOSplus® positioning control permits point-to-point positioning of the MOVIDRIVE® drive.The IPOSplus® positioning control automatically generates a travel profile and monitors travelperformance when a travel command is being processed.

Digital and analog inputs/outputs:

Digital and analog inputs/outputs are processed through variables. Furthermore, digital inputscan be evaluated directly by means of a jump command.

Access to system values/parameters:

The drive parameters which are listed in Sec. 7 as arguments for the GETSYS and SETSYScommands are referred to below as system values. These system values can be used as fol-lows:• Reading with the GETSYS command, e.g. active current and actual speed.• Writing with the SETSYS command, e.g. fixed setpoint and fault reset.• System values can also be read and written using the system variables (H458 – H511).• The MOVLNK command makes it possible to change all parameters of the directly connected

inverter or to exchange parameters with other MOVIDRIVE® inverters via SBus or RS-485.

Variables:

All variables (H0 – H511) can be read and written. The variables have a range of values from -231

– +231 - 1. Variables H0 – H127 are stored in the non-volatile memory if they are entered in thevariable list (via PC, DBG11A operator panel or fieldbus), or if they are saved in the IPOS programwith the "MEM" command. Variables H458 – H511 contain frequently used unit values which areupdated cyclically (every ms). These variables are referred to below as system variables and areexplained in more detail in Sec. 8.

Structure of a program line

Command syntax:

01360BENFig. 5: Structure of a program line

Be careful when writing system variables! The effects are described in Sec. 8.

<M:xx> <Command> <Argument 1> <Operator> <Argument 2> <M:yy>

jump target label;only with jump commands

second command operator;not with every command

operator (only with arithmetic commands)

first command operator;appears with each command

command; defines the operation to beexecuted; appears in every command line

jump address label;may be inserted in each command line



4.2 Digital inputs/outputs

4.2.1 Digital inputs

Direct interrogation

The terminal level of digital inputs can be interrogated in the IPOSplus® program by means of jumpcommands. When doing this, it is necessary to select the terminal level (HI/LO) in the input screenwhich should lead to the jump command being performed. Terminals which are going to be usedfor this function must be identified with a "1" in the terminal mask. All defined terminals must havethe selected terminal level in order to fulfill the jump condition for the jump command.

01361AENFig. 6: Input screen for a jump command dependent on input terminals

Example:Jump if the signals at inputs DI03 and DI04 are high (1), otherwise the following command line isprocessed:

01789AENFig. 7: Sample jump command dependent on terminal level

Interrogation via system variables

The terminal levels of the digital inputs of the basic unit DI00 – DI05 and the DIO11A or DIP11Aoption DI10 – DI17 are cyclically replicated on the system variable H483 (INPUT LVL). In theprocess, the bits of the H483 system variable are each assigned to one hardware input (� Table 4).Bits 6 – 13 of the H483 system variable equal 0 if there is no DIO11A/DIP11A present.

Table 4: Assignment of H483 system variable to digital input terminals

Digital inputs Binary inputs option DIO11A/DIP11A Binary inputs, basic unit

Terminal X...

Terminal designation

22:860:8DI17

22:760:7DI16

22:660:6DI15

22:560:5DI14

22:460:4DI13

22:360:3DI12

22:260:2DI11

22:160:1DI10

13:6

DI05

13:5

DI04

13:4

DI03

13:3

DI02

13:2

DI01

13:1

DI00

Bits of H483 system variable 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Significance 213 212 211 210 29 28 27 26 25 24 23 22 21 20

Mxx: JMP HI/LO I 00 00000000 000000 , Mxx

DI00DI05DI10DI17

jump target

level

Jump address label Jump targetreserved DIO11A/DIP11AX22:8 ... X22:1X60:8...X60:1

Basic unitX13:6 ... X13:1



The digital inputs in the IPOSplus® program can be interrogated through the value of variableH483. This is useful for interrogating inputs via which a binary-coded value is to be transferred,e.g. for selecting a table position (� example in Table 5).

* If all input terminals of the DIO11A/DIP11A are at 0 level.

Table 5: Example of transmitting a binary coded value via input terminals

If only particular inputs are to be evaluated, e.g. the first input of the DIO11A option, one way ofachieving this is to combine the BMOV and JMP commands (� Sec. 4.2.2 for additional expla-natory information).

4.2.2 Digital outputsReading digital outputs:

The terminal levels of the digital outputs of the basic unit DB00 – DO02 and the DIO11A orDIP11A option DO10 – DO17 are cyclically replicated on the system variable H482 (OUTPUTLVL). In the process, the bits of the H482 system variable are each assigned to one hardwareoutput (� Table 6).

Table 6: Assignment of H482 system variable to digital output terminals

The individual terminal levels of digital outputs can be evaluated with the BMOV command in theIPOSplus® program. The BMOV command copies a bit from system variable H482 (OUTPUT LVL)to any bit position (significance) of another variable. The terminal level of output DO02 is inter-rogated using the following sample program. To do this, bit 2 of system variable H482 is copiedto bit 0 (significance 20) of H200. This makes it easy to interrogate (0 or 1) the terminal levelwith a JMP command.

Alternatively, individual or several terminal levels of digital outputs can be filtered out by a logicaloperation with system variable H482 (OUTPUT LVL) (� Sec. 7.2 AND command). The terminallevel of output DO02 is interrogated using the following sample program:

Example: Read inputs Binary inputs, basic unit

Terminal X...Terminal designation

13:6DI05

13:5DI04

13:4DI03

13:3DI02

13:2DI01

13:1DI00

Significance 25 24 23 22 21 20

Terminal level 1 0 0 0 1 1Weighting 1 � 25 0 � 24 0 � 23 0 � 22 1 � 21 1 � 20

Variable value H483 32 + 0 + 0 + 0 + 2 + 1 = 35*

Read digital outputs Binary outputs option DIO11A Binary outputs, basic unit

Terminal X...


23:861:8DO17

23:761:7DO16

23:661:6DO15

23:561:5DO14

23:461:4DO13

22:361:3DO12

23:261:2DO11

23:161:1DO10

10:7

DO02

10:4

DO01

10:3

DB00Bits of the H482 system variable 10 9 8 7 6 5 4 3 2 1 0Significance 210 29 28 27 26 25 24 23 22 21 20

SET H200 = 0 BMOV H200.0 = H482.2 JMP H200 == 1 ,Mxx

M1 :SET H200 = 4 AND H200 & H482 JMP H200 == 4 ,M1

AND operation of H200 and H482H200 = 4 = 00000000100 (= DO02)H482 = 11011100110 (= current status of the digital outputs)Result 00000000100 (= the jump is performed because H200 = 4)



Setting the digital outputs:

Pre-requisite for setting the outputs: the parameters of the binary outputs (parameter 620,621, 630 – 637) must be set to "IPOS OUTPUT".Digital outputs are set with the system variables:

H 480 (OPT. OUT IP) for the DIO11A/Dip11A option (DO10 – DO17)H 481 (STD. OUT IP) for the basic unit (DO01 and DO02)

(The setting of DB00 is fixed at "/Brake".)

Setting individual outputs

The BSET and BCLR commands are used for setting/resetting individual outputs. The bit num-ber corresponding to the terminal must be entered as a factor in the command mask in order todo this. The example below, output DO12 of the DIO11A option is to be set to "1":

01793AENFig. 8: Example for setting output DO12

Survey of commands and parameters for setting/resetting digital outputs:

Table 7: Commands for setting digital outputs

Setting several outputs

It is possible to set several digital outputs at the same time, e.g. for outputting a binary codedtable position number. This is done by writing the decimal value of the table position number tosystem variables H480 or H481.It only makes sense to do this if the outputs parameterized with "IPOS OUTPUT" are exclusivelyused for this purpose.

Assignment of H480 / H481 system variables to digital output terminals:

Table 8: Assignment of H480 / H481 system variables to digital output terminals

Output Set (1-level) Reset (0-level) Parameter on "IPOS OUTPUT"

DO00 - - Fixed setting at "/Brake", i.e. cannot be programmed

DO01 BSET H481.1 = 1 BCLR H481.1 = 0 P620

DO02 BSET H481.2 = 1 BCLR H481.2 = 0 P621

DO10 BSET H480.0 = 1 BCLR H480.0 = 0 P630

... ... ... ...

DO17 BSET H480.7 = 1 BCLR H480.7 = 0 P637

Set digital outputs Binary outputs, DIO11A/DIP11A option H480 Binary outputs, basic unit H481

Terminal X...


23:861:8DO17

23:761:7DO16

23:661:6DO15

23:561:5DO14

23:461:4DO13

22:361:3DO12

23:261:2DO11

23:161:1DO10

10:7

DO02

10:4

DO01

10:3

DB00

Bits of the system variable 7 6 5 4 3 2 1 0 2 1 0

Significance 27 26 25 24 23 22 21 20 22 21 20

System variable Factor Terminal level



Example:

Outputting table position number 11 via DIO11A ("11" requires 4 outputs so outputs DO10 –DO13 are needed):SET H480 = 11

All digital outputs whose parameters are set to "IPOS OUTPUT" are reset by writing "0" tosystem variables H480 and H481.SET H480 = 0 Reset the outputs of the DIO11A optionSETH481 = 0 Reset the outputs of the basic unit

4.3 Analog inputs/outputs

Table 9: Survey of the analog inputs/outputs

Analog inputs AI1 and AI2 are differential inputs. The inputs/outputs can either be used asvoltage or current inputs/outputs (� MOVIDRIVE® System Manual).

Table 10: Assignment of value ranges to variable values

The assignment of value range to variable value for analog outputs is only valid if the scalingfactor is set to 1.

Reading analog inputs/outputs:

The status of the analog inputs/outputs of the basic unit and the DIO11A terminal expansionboard can be written to freely selectable variables using the GETSYS command. The variable isentered into the GETSYS command first, followed by the system value (here: ANALOG INPUTS/ OUTPUTS).The first input/output is written to the variable entered in the GETSYS command (Hxxx) whilstthe second is written to the subsequent variable (Hxxx + 1).

Command: GETSYS Hxxx = ANALOG INPUTS / ANALOG OUTPUTS

Setting analog outputs:

Precondition for setting: The corresponding analog output must be set to "IPOS OUTPUT"(P640 and 643).The analog outputs are set using the H479 (ANA.OUT IP) system variable. Command: SET H479 = K (K = any constant within the aforementioned value range)

Analog inputs/outputs Inputs Outputs

Basic unit DIO11A option

Input/output AI1 AI2 AO1 AO2

Terminal designation AI11 AI12 AGND AI21 AI22 AGND AOV1 AOC1 AGND AOV2 AOC2 AGND

Terminal X... 11:2 11:3 11:4 20:1 20:2 20:3 21:1 21:2 21:3 21:4 21:5 21:6

Value range Variable value

-10 – 0 – +10 V -10,000 – 0 – +10,000

0 – +20 mA 0 – +10,000

4 – +20 mA 2000 – +10,000



4.4 Brief introduction to IPOSplus® programming by way of examples

4.4.1 Sample program "Control"This sample program is intended to switch digital output DOØ2 on and off every 2 seconds.

Quick-start (example):

Pre-requisites:

Mains connection and/or 24 V supply (backup voltage terminals X10:9 (+24 V / VI24) and X10:10(0 V / DGND)) connected; no need to connect the motor and encoder (no motor movement).1. There is no need to start up the speed control. 2. Set the parameters of the inputs/outputs:

P621 Binary output DOØ2 � IPOS OUTPUT3. Open/activate the "Program" window and enter the sample program "Output DOØ2 (X13:3)

flash" (� Sec. 3.1).

Program header

Start of programCommentCommentCommentSet output DOØ2 (X13:3) lowWait 2 secondsSet output DOØ2 (X13:3) highWait 2 secondsEnd of program / jump to start of program

01338BENFig. 9

4. Download the sample program from the program window (PC) to the program memory in the inverter:Press "F2" whilst the program window is active (� Sec. 3.2).

5. Start the sample program:Press "F9" whilst the program window is active (� Sec. 3.3).

6. Check the user program:– The task 1 display in the program header changes from P-STOP to START. – The program pointer moves in the program window.– The level of output terminal DOØ2 in display parameter P052 changes between 1 and 0

every two seconds.



4.4.2 Sample program "Positioning"This sample program is intended to position the drive 10 motor revolutions CW and CCW alter-nately every 2 s.

Quick-start (example):

Pre-requisites:

• Inverter / motor/ encoder connected.• Inverter started up in accordance with the MOVIDRIVE® System Manual in VFC-n-CTRL& IPOS,

CFC & IPOS or SERVO & IPOS (P700) operating mode.• Check the hardware limit switches of the EMERGENCY OFF circuit.

1. Parameter setting:NUMERATOR (program header) � 4096 (Sec. 5.1)DENOMINATOR (program header)� 1DIMENSION (program header) rev.P600 Binary input DI01 � ENABLE / STOPP601 Binary input DI02 � NO FUNCTIONP602 Binary input DI03 � NO FUNCTIONP603 Binary input DI04 � /LIM. SWITCH CWP604 Binary input DI05 � /LIM. SWITCH CCWP700 Operating mode � VFC-n-CTRL& IPOS / CFC & IPOS / SERVO & IPOS

2. Enter sample program "10 motor revolutions forwards and backwards" (� Sec. 3.1).

Program header

Start of programCommentCommentCommentTravel relative 10 motor revs. CWWait 2 secondsTravel relative 10 motor revs. CCWWait 2 secondsEnd of subroutineEnd of program / jump to start of program

01339BENFig. 10: Sample program "10 motor revolutions forwards and backwards"

3. Download the sample program:Press "F2" whilst the program window is active (� Sec. 3.2)

4. Enable the inverter by applying a 1-level to terminals DIØØ (X13:1), DIØ1 (X13:2), DIØ4 (X13:5) and DIØ5 (X13:6).

5. Start the sample program:Press "F9" whilst the program window is active (� Sec. 3.3)

6. Check the sample program:– The task 1 display in the program header changes from P-STOP to START (� Sec. 3).– The motor moves 10 revolutions CW or CCW alternately every 2 seconds.– The change of position can be tracked in display parameter P003.



4.5 Task 1 and task 2

The IPOSplus® control permits a user program to be split into 2 subroutines (task 1 and task 2)which can run in parallel and independently of one other.Task 1 and task 2 have the same set of commands. They also possess identical access options tovariables (H0 – H511) and unit parameters.

Differences between task 1 and task 2

Task 1:

• Command processing time 1 ms/command• Start address always line 1• Program start with F9 START; program stop with F8 P-STOP or F5 A/P-STOP• Diagnosis options in single step mode (F7 STEP), processing up to the selected line (F4

GOTO CURSOR) and program pointer display• Programmable interrupt, to be triggered by a fault, touch probe, timer and cyclically

Task 2:

• Command processing time 0.5 ms/command• The start address is defined in task 1 using the TASK2 START Mxx command• Processing of task 2 can only be started and stopped in task 2 using the TASK2 START

“jump flag“ in Task 1. Task 2 can be stopped in Task 1 or Task 2. Both tasks will be stopped via the function keys F5 A/P-STOP or F8 P-STOP.

• No interrupt possible

Useful division between task 1 and task 2

A user program should be divided between task 1 and task 2 in accordance with the followingcriteria:

Task 1:

• Initialization of variables and parameters (because task 1 starts first and from line 1)• Program sections which are less time-critical, e.g. positioning commands extended with

WAIT• Program sections which are processed depending on events, e.g. response to a unit fault,

touch probe signal, terminal level, etc.

Task 2:

• Time-critical program sections• Program sections which are to be processed cyclically• Program sections which are to be processed in parallel with and independently of task 1

In order to guarantee cyclical processing, no positioning commands in task 2 should be extend-ed with WAIT because the processing of the program would stop in the positioning line with theWAIT command in the event of a drive malfunction.



Creating a user program with task 1 and task 2

1. Determine which tasks are to be processed in task 1 and which in task 2.2. Structure the program in further subroutines and specify the variables used for the individual

program sections.3. Step-by-step programming and testing of the individual program sections.4. Initially test task 2 in task 1 by calling it up with a CALL command (� Fig. 11). This gives you

the full range of diagnosis options for the program section which is going to be used as task 2 later on (single step mode (F7 STEP) or processing down to the selected line (F4 GOTO CUR-SOR)).

5. Task 2 should be tested as a subroutine of task 1 before it is activated using the TASK2 START Mxx command.

01746AENFig. 11: Left: Test program with CALL / Right: Final program with task 2


IPOSplus® Parameters 5

5 IPOSplus® Parameters

The default setting is printed in bold type in the setting range.

5.1 Setting the user travel units

The travel distance factors "NUMERATOR/DENOMINATOR" and "DIMENSION" for determining theuser travel unit (e.g. mm, rev., ft.) are entered in the program header. The values in the programheader can be selected with the tab key in order to be edited. The changes are then confirmed bypressing the enter key.

5.1.1 Travel distance factors NUMERATOR/DENOMINATORThe conversion is defined by the following formula:

Internally, IPOSplus® always calculates with 4096 increments/motor revolution. The user may wish toprogram travel commands in user units other than increments/motor revolution (e.g. mm, revs., ft.).In this case, the "NUMERATOR" and "DENOMINATOR" travel distance factors must be set as describedbelow. One exception to this is travel commands involving variables which are not supported bynumerator/denominator factors. These can only be specified in increments/motor revolution.

Travel distance factor NUMERATOR:

Number of increments which the motor moves in order to travel a defined distance.Adjustment range: 0 – 1 – 231 - 1

Travel distance factor DENOMINATOR:

The defined distance expressed in user travel units.Adjustment range: 0 – 1 – 231 - 1

Note:

If the numerator or denominator are non-integer values, the conversion can be made more accu-rate if both numerator and denominator are multiplied by the same expansion factor (e.g. 10, 100,1000, etc.). This expansion does not limit the maximum travel range.

Example:

The units listed below are to be used for programming the following drive:a) mm on the linear axisb) Incrementsc) Output shaft revolutions

MD0064ADFig. 12

Increments NUMER. DENOM.--------------------- User travel unit�=

Motor Gear ratio = 4

Drive d = 100 mm x [mm]



a) mm (the defined distance for the calculation is one motor revolution)Travel distance factor NUMERATOR = Inc./motor rev. × gear ratio i = 4096 × 4 = 16384Travel distance factor DENOMINATOR = Output diameter × � = 314.15926

The travel distance factor DENOMINATOR is not a whole number, i.e. accuracy of conversion canbe increased by means of an expansion factor. The expansion factor should be as large as possible,although the result may not exceed adjustment range (expansion factor in this example: 100,000).

Travel distance factor NUMERATOR = 16384 × 100000 = 1638400000Travel distance factor DENOMINATOR = 314.15926 × 100000 = 31415926

b) Increments

Travel distance factor NUMERATOR = 1Travel distance factor DENOMINATOR = 1

c) Drive revolutions

Travel distance factor NUMERATOR = Inc./motor rev. × gear ratio i = 4096 × 4 = 16384Travel distance factor DENOMINATOR = 1

Practical information for determining the travel distance factor during commissioning

For example, setting the user travel units in mm1. Set both the travel distance factors NUMERATOR and DENOMINATOR to the value 1:

� User travel units = Increments2. In manual mode, move any number of user travel units (in this case, increments), e.g.

100,000 increments.3. Measure the distance covered on the system in point 2, e.g.:

Starting position = 1000 mm,Target position = 1453 mm,Distance covered = 453 mm.

4. Enter the travel distance factors in the machine parameters: Travel distance factor NUMERATOR = 100000,Travel distance factor DENOMINATOR= 453.

5.1.2 UNITAll travel distance information is displayed with the same designator in the "Program" window.This designator can be entered in the program header for UNIT. It can be up to five characters inlength.Note: This entry is purely symbolic and does not have any effect on the function of the drive.

5.2 P90_ IPOS reference travel

General informationReference travel is required in order to establish a reference point (machine zero) for all absolutepositioning operations. IPOSplus® provides 8 difference types of reference travel for this purpose.They differ in their initial search directions and the switching contacts used for referencing (refer-ence cam or limit switch).Normally, limit switches are used for limiting the travel range in applications involving linear move-ment. During reference travel, the limit switches serve as reversal contacts, i.e. reference travel iscontinued in the opposite direction if the reference point has not been detected yet.



To evaluate the signal of the reference cam, a binary input of the MOVIDRIVE® has to be pro-grammed with the "REFERENCE CAM" function. The length of the reference cam and the referencespeeds must be selected so the drive can reliably decelerate to the slower reference speed (refer-ence speed 2) on the reference cam. The end of the reference cam or the closest zero pulse of theencoder system can be used as the reference point. The drive stops when it reaches the referenceposition and is subject to position control.

Reference position: End of the reference cam or the closest zero pulse of the encoder system

• It is recommended that the zero pulse of the encoder system be selected as the reference posi-tion if the reference cam is not precise as a result of age and wear or switching hysteresis.

• If the zero pulse is used and it is located exactly at the end of the reference cam, the switching transition of the reference cam may be detected either before or after the zero pulse (switching hysteresis). The result may be a reference position which varies by a motor revolution from one occasion to the next. The situation can be remedied by shifting the reference cam (by about half a motor revolution).

• There are applications in which the zero pulse of the encoder is unfavorable for use as a refer-ence point for system-specific reasons. With uni-directional drives in one direction (e.g. a rotary table) with non-integer reduction ratios, there is no fixed relationship between the reference cam and the zero pulse of the encoder. As a result, the end of the reference cam should be selected as the reference position in this case.

Reference travel can be started either by a programmable input terminal (REF. TRAVEL START) orby a GO0 command in the user program. The argument of the GO0 command can be used forspecifying the different variants.Once started, reference travel will be completed, even if the request for reference travel is revoked.The 7-segment display changes to "c" at the start of reference travel and returns to "A" (position-ing) when the reference travel is completed. An output which has been parameterized to "IPOSREFERENCE" remains set for as long as the axis has not lost the machine zero (voltage OFF).The reference travel can be interrupted with “/controller inhibit,“ while a new enable command willcontinue the reference travel. Activating the reference travel as a waiting command (GO0.., W, ..)during interrupt with “/controller inhibit“ will result in error message F39 (reference travel).

P900 Reference offset

Reference offset makes it possible to move the machine zero without physically altering the posi-tion of the reference position. The following formula applies:

Machine zero = Reference point + Reference offsetDuring reference travel, the drive moves to the reference position, stops and remains there. Themachine zero is not calculated until after reference travel using the reference position and offset.The reference offset is stated in user travel units.Adjustment range: -231 – 0 – +231 - 1

P901 Reference speed 1

The speed value with which reference travel takes place before the reference cam is reached. Thedirection of rotation is defined by the type of reference travel. Adjustment range: 0 – 200 rpm – 5000 rpm

P902 Reference speed 2

The speed value with which movement to the reference position takes place after the reference camhas been reached. The direction of rotation is defined by the type of reference travel. Adjustment range: 0 – 50 rpm – 5000 rpm



P903 Reference travel type

Explanation of the reference travel type illustrations

Starting point for the drive:

➀ Between the reference cam and the CW hardware limit switch➁ On the reference cam➂ Between the reference cam and the CCW hardware limit switchVRef1 = Reference speed 1VRef2 = Reference speed 2

Reference position cam: Movement to this position takes place when the argument of the GO0 ref-erence travel command contains CAM.Reference position zero pulse: Movement to this position takes place when the argument of theGO0 reference travel command contains ZP (zero pulse).

Type 0: Reference travel on zero pulse, reference position is the current position (CAM) or the zero pulse to the left of the current position (ZP)(no reference cam is necessary)Machine zero = CCW zero pulse of the current position + reference offset

01254BENFig. 13: Reference travel type 0

Type 1: The reference position is the left-hand end of the reference cam (CAM) or the first zero pulse to the left of the reference cam (ZP)Machine zero = Reference point + Reference offset


VRef2

VRef1

s

21

3

*2

*1

reference offset

machinezero pointCCW LS CW LS

referenceposition ZP

actual driveposition

3 2 1

}

}VRef2

VRef1*2

*1

LS CCW LS CWreferenceposition ZP

referenceposition CAM

Refcam

referenceoffset

machine zeropoint

*1 = Reference offset for reference travel with zero pulse (ZP)*2 = Reference offset for reference travel without zero pulse (reference position cam, CAM)



Type 2: The reference position is the right-hand end of the reference cam (CAM) or the first zero pulse to the right of the reference cam (ZP)Machine zero = Reference point + Reference offset


Type 3: The reference point is the first zero pulse CCW of the CW limit switch (ZP, no reference cam is necessary. The CAM argument must not be set in the GO0 command because the drive might be located in the switching hysteresis of the limit switches.)Machine zero = Reference point + Reference offset


Type 4: The reference point is the first zero pulse CW of the CCW limit switch (ZP, no reference cam is necessary. The CAM argument must not be set in the GO0 command because the drive might be located in the switching hysteresis of the limit switches.)Machine zero = Reference point + Reference offset


123

}VRef2

VRef1 } *2

*1



Refcam

referenceoffset

machine zeropoint

3 2 1

VRef2

VRef1

s

*1

referenceoffset

}LS CCW LS CW

referenceposition ZPmachine zero point

123

VRef2

VRef1

s

*1

referenceoffset

}LS CCW LS CW

referenceposition ZP machine zero point




Type 5: No reference travel, the reference position is the current position (CAM, ZP)Machine zero = current position (no reference to zero pulse) + reference offset

00018CENFig. 18: Reference travel type 5

Type 6: The reference position is the left-hand end of the reference cam (CAM) or the first zero pulse to the left of the reference cam (ZP),the reference cam and the CW hardware limit switch must be flush or overlappingto guarantee that no contact is made with the hardware limit switch during reference travel.Machine zero = Reference point + Reference offset


Type 7: The reference position is the right-hand end of the reference cam (CAM) or the first zero pulse to the right of the reference cam (ZP),the reference cam and the CCW hardware limit switch must be flush or overlappingto guarantee that no contact is made with the hardware limit switch during reference travel.Machine zero = Reference point + Reference offset


VRef2

VRef1

s

*1

21

3

reference offset

machine zero pointLS CCW LS CW

current positionof the drive

3 2}VRef2

VRef1

s

*1

*2 }



Refcam

referenceoffset

machine zeropoint

12 }

VRef2

VRef1

s

*1

*2}LS CCW LS CW

referenceposition ZP


Refcam

referenceoffset

machine zeropoint




5.3 P91_ IPOS travel parameters

P910 Gain X controller

Setting value for the P controller of the IPOSplus® position control loop. The start-up function ofMX_SHELL sets P210 (P gain hold controller) and P910 calculated with the input values to thesame value. They can each be altered to different values later on.Adjustment range: 0 – 0.5 – 32

P911/912 Positioning ramp 1/2

Ramp time for positioning operations. When the ramp function is LINEAR, positioning ramp 1 isused for acceleration and positioning ramp 2 is used for deceleration. Positioning ramp 1 is usedfor acceleration and deceleration with the ramp functions SINE and SQUARED. The entered ramp time refers to a change of speed of 3000 rpm.Adjustment range: 0.01 s – 1.0 s – 20.0 s

P913 Travel speed CW

Speed for CW positioning. The travel speed is entered in revolutions per minute and must not begreater than the maximum speed of the motor.Adjustment range: 0 rpm – 1500 rpm – 5000 rpmNote: Parameter 913 must always be set 10 % lower than parameter 302 (maximum speed 1) inorder to avoid lag errors (positioning reserve for the position controller)!

P914 Travel speed CCW

Speed for CCW positioning. The travel speed is entered in revolutions per minute and must not begreater than the maximum speed of the motor.Adjustment range: 0 rpm – 1500 rpm – 5000 rpmNote: Parameter 914 must always be set 10 % lower than parameter 302 (maximum speed 1) inorder to avoid lag errors (positioning reserve for the position controller)!

P915 Speed feedforward

Parameter P915 is only in effect when the "LINEAR" ramp function is set (P916)!

It is possible to achieve smoother acceleration by means of the speed feedforward parameter(P915), however only if the speed control loop has a low-rigidity setting (start-up setting < 0.7; set-ting with P gain speed controller (P200), time constant n-control (P201), and gain accel. feedfor-ward (P202)). To do this, P915 must be set to a value less than 100 % (P915 does not have anyeffect at 100 %). If a value less than 100 % is specified, a larger gap between position setpoint andactual position occurs (lag distance) during a positioning operation.This results in a soft run-in at the start and finish of acceleration.

Table 11: Properties of speed feedforward

Desired control response Speed feedforward Advantage Disadvantage

Positioning with mini-mum lag distance

100 % - Minimum travel time- Small lag distance

- Block-shaped torque characteristic- Hard run-in to target position

Soft run-in to target position

50 % – 80 % - Soft run-in to target - Greater lag distance- Positioning operation takes longer



01748AXXFig. 21: Effects of parameter 915 (speed feedforward)

Adjustment range: -200 % – +100 % – +200 %

P916 Ramp type

This parameter specifies the shape of positioning ramps. It influences the speed and accelerationduring positioning.

Ramp function Positioning performance Applications

LINEAR Speed characteristicThe speed characteristic is trapezoi-dal and is specified by positioning ramps and the positioning speed.Acceleration characteristicThe acceleration characteristic – and consequently also the force charac-teristic – is block-shaped, i.e. very high forces (jolt loading). The positioning ramp can be made smoother using the speed feedfor-ward parameter.

• For drivelines with low dynamic qualities or little flexibility.

• High-speed positioning opera-tions with a relatively low torque requirement and steep ramps. The goods being moved are subjected to high loads from jolting (sudden increase in torque). This is not suitable for moving fluids or soft masses (e.g. bottling plants).

SINE Speed characteristicThe speed characteristic is a sine-squared profile and is specified by the positioning ramp and the posi-tioning speed.Acceleration characteristicSmooth acceleration with few jolts. Acceleration at the start and finish of the ramp is very small, so it has to be increased in the middle (whilst retaining the same ramp time as LIN-EAR).

• High-speed positioning opera-tions with dynamic or flexible drivelines.The acceleration and torque are 55 % higher than with the linear ramp. During project planning, make sure the motor and the inverter have the required torque (risk of lag errors).

SQUARED Speed characteristicThe speed characteristic is squared and is specified by the positioning ramp and the positioning speed.Acceleration characteristicAcceleration is smoother than with LINEAR. This ramp function is a compromise between torque require-ments and a smooth ramp profile.

• Similar applications as for SINE.The particular advantage relates to a slight increase in torque in comparison to SINE. The 33 % additional torque requirement is usually available even in drives which have been configured with a linear ramp function. In many cases, the effect is equivalent to the SINE shape.

100 %< 100 %

v

t

t

t

100 %

P911 P912

positioning rampacceleration

positioningspeed

speed

t

t

155 %

P911

acceleration

positioningspeed

speed

t

t

133 %

P911

acceleration

positioningspeed

speed



5.4 P92_ IPOS monitoring

P920/P921 Software limit switches

Software limit switches perform an additional safety function by defining the limits of the travelrange. Travel commands are not performed if their target position (H492) lies beyond the softwarelimit switches. The software limit switches do not take effect until after reference travel has beenperformed. If a drive is already in motion, it is decelerated using the emergency stop ramp. A fault message(F78, IPOS software limit switches) is generated in both cases. The fault response is an emergencystop followed by inhibiting of the output stage. A reset must be performed.Reset procedure:• 1-signal at the "reset" input• Mains power OFF / ON (not in 24 V backup mode)• Manual reset in MX_SHELL ("Parameter" / "Manual reset")• Reset using IPOSplus® control word (system variable H484)• Reset via fieldbus

Caution:After F78 (IPOS software limit switches) has been reset, the reference point is defined. The soft-ware limit switches are not re-activated until the drive has been referenced again!

Deactivation:Set parameters P920 and P921 to 0 (e.g. for uni-directional operation) to deactivate the softwarelimit switches.

P920 SW limit switch CW

Limits the travel range in the CW direction. The value is stated in user travel units.Adjustment range: -231 – 0 user units – 231 - 1 increments

P921 SW limit switch CCW

Limits the travel range in the CCW direction. The value is stated in user travel units.Adjustment range: -231 – 0 user units – 231 - 1 increments

P922 Position window

The position window defines a distance range around the target position (H492) of a travel or stopcommand (GOx or ASTOP TARGET POSITION). The "IPOS IN POSITION" signal is generated assoon as the drive moves into the position window. This signal is available via a digital output whichhas to be parameterized to the "IPOS IN POSITION" function. The "IPOS IN POSITION" signal isreset immediately when a new travel command is sent.Position window monitoring always takes place provided an operating mode with IPOS is active(P700). The positioning accuracy is not affected by the size of the position window.Adjustment range: 0 – 50 – 215 - 1 increments



P923 Lag error window

The lag error window defines the maximum permitted difference between the setpoint and actualpositions. F42 (lag error) is triggered if the set value is exceeded. The reaction to F42 must be setusing parameter P834 "Response DRS LAG ERROR".Deactivation: Lag error monitoring is deactivated when P923 Lag error window is set to 0.Adjustment range: 0 – 5000 – 231 - 1 increments

5.5 P93_ IPOS special functions

P930 Override

The override function is activated by setting P930 to ON. It makes it possible to vary the travelspeed in the range from 0 to 150 % (e.g. for start-up). Analog input AI11 (X11:2) is used for this,and 0 to 150 % corresponds to 0 – 10 V at the analog input. However, the maximum value for thespeed is always restricted by parameter 302, "Maximum speed 1".Adjustment range: ON • OFF

5.6 P94_ IPOS variables

P940 Editing variables

This parameter is only available in the DBG11A keypad, not in MX_SHELL.This parameter makes it possible to edit IPOSplus® variables with the keypad. Variables H0 – H127are stored in the non-volatile memory immediately after they have been edited using the DBG11Akeypad.Adjustment range: ON • OFF

P941 Source actual positionThis parameter determines the positioning to a particular IPOSplus® encoder:motor encoder (X15) external encoder (X14)absolute encoder (DIP)

P942 Encoder factor numeratorP943 Encoder factor denominatorThe ratio of both parameters describes the relationship of the motor encoder position values toexternal encoder or absolute encoder (position information of the external encoder is always multi-plied with parameter 944 and of the absolute encoder with P955).The setting is necessary:• to realize the plausibility check of both position values to each other (error message F95, plau-

sibility error)• to adapt the positioning ramp and positioning speed to the absolute encoder (the derivation of

the absolute encoder information is calculated as motor actual speed)• to correctly evaluate the start-up values (e. g.: n-feedforward, M-feedforward, filter, P-percen-

tage).An inaccurate setting result in a deviation of positioning ramps and positioning speed. This inaccu-racy can also result in an error message F95, plausibility error.

The calculation of P942 and P943 takes place during startup.Setting range: 1 ... 32767



P944 Scaling external encoder

The parameter multiplies the position value from the external encoder before it is entered in thevariable H510.

The parameter is set in such a way that the travel information ratio between the motor encoderand the external encoder is close to "1."The parameter is not important, if no external encoder is present. It has to be set to "x 1" in sucha case. Caution: The encoder scaling directly influences parameter 953 "operating range," 954 "zero point offset,"942 and 943 encoder factors "numerator" and "denominator" and the parameter group 92_"IPOS monitoring". Any change in encoder scaling must result in resetting of all listed parame-ters!

Setting range: x 1 / x 2 / x 4 / x 8 / x 16 / x 32 / x 64

5.7 P95_ DIP

P955 Encoder scalingThe parameter multiplies the position value of the absolute encoder before it is entered in thevariable H509.

The parameter is set in such a way that the travel information ratio between the motor encoderand the external encoder is close to "1."The parameter is not important, if no external encoder is present. It has to be set to "x 1" in sucha case. Caution: The encoder scaling directly influences parameters 953 "operating range," 954 "zero point off-set," 942 and 943 encoder factors "numerator" and "denominator" and the parameter group 92_"IPOS monitoring." Any change in encoder scaling must result in resetting of all listed parame-ters!

Setting range: x 1 / x 2 / x 4 / x 8 / x 16 / x 32 / x 64


6 IPOSplus® with Options


6.1 External encoder

6.1.1 Technical Data

The external encoder may not deliver more than 5000 pulses.

6.1.2 Positioning on external encoder (X14)Positioning on external encoder is intended to compensate a slip and backlash prone connectionbetween drive and travel distance (e.g. slipping gears or tooth flank backlash).Pulse evaluation of external encoder

The counter of the external encoder (H510) is “0 Increments” after the power has been turned on.After reference travel, the counter will display the value of parameter 900, reference offset, anddepending on direction of rotation, � the distance of the brake ramp (emergency stop ramp) untilstandstill.

6.1.3 Practical application slip compensation with external encoderA trolley on wheels is traveling on rails. The trolley is propelled by wheels driven by a gearedmotor. There is no positive connection between wheels and rail. This setup will result in slip, anoffset between the rotational movement of the wheel and the translatory movement of the trolley. Therefore, it is absolutely necessary to determine the trolley position for positioning via motor con-trol.

Input external encoder: X14:encoder power supply:

Type MDV/MDS: incremental encoder TTL (RS-422), max. 200 kHz+24 V, Imax = 180 mA

Arriving pulses (example) 2048 2048 1024 1024

quadruple evaluation (fixed) 8192 8192 4096 4096

scaling external encoder P944 (adjustable) x 1 x 8 x 1 x 2

change in counter position H510 ACTPOS. EXT per encoder revolution

8192 65536 4069 8192


IPOSplus® with Options 6

The following MOVIDRIVE® parameters must be set:The sequence of the parameter setting must be maintained, since P944 influences the value ofP943.

Tabelle 12: Parameter setting for trolley

Caution! The calculation of P210 (P-gain hold controller) during startup/commissioning has beenoptimized for P941 = motor encoder. The value may have to be decreased somewhat when usingexternal or absolute encoders.

The following statements apply to position sensing with external encoder on X14:

Variable H510 indicates the actual position of the position control ACTPOS. EXTVariable H506 indicates the touch-probe position 1 TP. POS1EXTVariable H504 indicates the touch-probe position 2 TP. POS2EXT

IPOSplus® positioning:

IPOSplus® positioning is only available with a motor encoder and is connected to X15. The parame-ter P941 SOURCE ACTUAL POSITION must be set to “external encoder.“ The travel commands ofthe IPOSplus® control (GO commands) refer to position information of the external encoder con-nected to X14. The actual position is available in variable H510 ACTPOS EXT.

Number Designation Function Setting Range

P944 Encoder scaling external enco-der

Multiplication of encoder signals with set value

largest value that is even smaller than ratio between resolution of motor encoder and external encoder.Example: Motor encoder: 4096 Inc. / ext. encoder 800 Inc. = 5.12. value: 4.

fest definiert:1, 2, 4, 8, 16, 32, 64

P943 Encoder factor numerator

Denominator for determina-tion of relationship motor encoder to external encoder

Number of counter increments (available in H511 ACTPOS. MOT), for a particular distance S

max. 32767

P942 Encoder factor numerator

Numerator for determination of relationship motor encoder to external encoder

Number of counter increments (in H510 ACTPOS. EXT zu lesen), for a particular, identical distance S just as for P943

max. 32767

P941 Source actual position

Actual position value for IPOSplus® position controller

Ext.ernal encoder X14 (selection



6.1.4 Startup DIP with absolute encoderThe drive has to be started in connection with the MOVIDRIVE® drive inverter as described in theMOVIDRIVE® system manual. It has to be possible to control the drive via a suitable setpoint andcontrol source.

Moreover, you have to ensure that:• the installation of DIP11A• the wiring• the terminal assignment and • the safety interruptshave been implemented correctly according to the application.

The factory setting does not have to be performed. If a factory setting is called up, the MOVIDRIVE®

parameters will be reset to a basic setting. This step will also affect the terminal assignment featureand may have to be corrected to get the desired settings.

MOVITOOLS makes it possible to have a guided startup, i.e. dialog windows will prompt you toenter the necessary data and perform the required actions. You will have to start the MOVITOOLSmanager and establish a connection with the inverter by selecting the appropriate interface and unitaddress. Run the SHELL program and begin start-up via the menu [Inbetriebnahme] / [Inbetrieb-nahme für / DIP]. Any further details will be explained in the dialog windows.Only the “source actual position“ (� Page 38) will have to be indicated after startup with MOVITOOLS.

You have the option to startup the DIP11A option gradually as described below. If the faultmessage F92 “DIP sensing report“ occurs, confirm it with a reset and continue with start-upprocedure. This message should not occur after successfully executing the startup process.

P950 Encoder typeP950 determines the installed encoder type. The following encoder systems are supported:

VISOLUX EDM Laser distance measuring deviceT&R CE65, CE100 MSSI EncoderT&R LE100 SSI Laser distance measuring deviceT&R LA66K-SSI Linear position detectorAV1Y / ROQ 424 EncoderSTEGMANN AG100 MSSI EncoderSICK DME-3000-111 Laser distance measuring deviceSTAHL WCS2-LS311 Metal linear encoder

The installed type is selected from a list of possible encoders. Other encoders must be checkedfor suitability and approved by SEW-EURODRIVE.

P35_ Direction of motor rotationMove the drive at slow speed in positive direction. If P003 actual position increases, parameterP350 “reversal of direction of rotation“ does not have to be adjusted (display of actual positionwith MX_SHELL or DBG11A). P350 will have to be adjusted, if the actual position decreases.



P951 Counter directionMove the drive at slow speed in positive direction. If the absolute encoder position (H509 ACTPOS.ABS) increases, the P951 parameter “Counter direction“ does not have to be adjusted. P951 mustbe adjusted, if the absolute encoder position decreases.

P955 Encoder scalingSet this parameter to “1“ if no motor encoder is present (no speed control). The position infor-mation of the absolute encoder is multiplied with the set value. The parameter is set so that thedistance information ratio between motor encoder and absolute encoder is close to “1.“

Start out setting parameter to 1. Write down the values of variables H509 (ACTPOS. ABS) andH511 (ACTPOS. MOT). Move the drive by approximately one motor revolution. Determine thedifference between the noted and actual values of the variables and determine the ratio.H509old .............. – H509new ................ = H509difference..................H511old .............. – H511new ................ = H511difference..................

Set parameter ENCODER SCALING (P955) to the value closest to the calculated ratio Q prefe-rably to the smaller value.

P953 Position offsetThe position offset (P953) must only be set for rotary encoders; set to 0 for all other encoders.This parameter moves the jump in position of the absolute encoder to a location outside the ope-rating range. Move the drive approximately in the center of the operating range. If the fault message F92 “DIP sensing report“ occurs, confirm it with a reset and continue with start-up procedure. Read out the value of variable H509 (ACT. POS. ABS) and enter the following value inparameter “position offset” (P953):P953 = (variable H509) – 0.5 x sensing range sensing range = maximum position value, e.g. 4096 revolutions x 4096 increments/revolution = 224 increments = 16777216 increments

P954 Zero point offsetThe zero point offset is used to assign a desired value to particular position. The value rangecan cover positive and negative position values, but you have to observe the maximum appro-ved size. The limit is determine by the value range of the numerator (± 231) and the value rangeof the absolute encoder.Move the drive to a known position. Read out the value of variable H509 (ACTPOS. ABS) andenter the following value in parameter zero point offset (P954):P954 = (variable H509) – desired valueThis step makes the desired value the display value at the actual position.

Quotient Q��H511difference��

H509difference��------------------------------------------------------=



P942 and P943 Encoder factorsThe parameters are used for the internal adjustment of the speed control and monitoringfunctions in the DIP11A option.1. Note the values of variables H509 (ACTPOS. ABS) and H511 (ACTPOS. MOT).2. Move the drive by approximately 30 000 increments (H511).3. Determine the difference between the noted and the new values of the variables.

H509old.............– H509new ................ = H509difference ................H511old.............– H511new ................ = H511difference ................

4. The differences may not exceed 32 767 sein (215 – 1). In case of larger values, divide both dif-ferences by the same number so that you are dealing with smaller values or repeat the pro-cess with a shorter travel distance.

5. Enter the result (H511difference) in parameter ENCODER FACTOR NUMERATOR (P942) and (H509difference) in parameter ENCODER FACTOR DENOMINATOR (P943).

Without motor encoder (no speed control via MOVIDRIVE® ), we recommend at least estimatingthe ratio of encoder resolution and motor revolution. The value for the motor encoder should beset to 4096 increments per motor revolution.Use the same method to determine the value for ENCODER FACTOR DENOMINATOR (P943).Enter the value “4096 x number of traveled motor revolutions“ for P942.The accuracy of the encoder factors is of little importance in this case (no speed control). Thevalues are only relevant for the secondary testing of the absolute values in the DIP11A option.

P941 Source actual positionThis parameter determines the position encoder used for position control as long as an opera-ting mode "... & IPOS" has been set in parameter 700 "operating mode." IPOSplus® incorporates positioning commands to control the motor connected to MOVIDRIVE® . If the motor positioning should be done with the absolute encoder, set the"source actual position" to "absolute encoder DIP."

Caution: The closed-loop gain for the positioning control of the IPOSplus®, parameter 910 "gainX-controller", was preset during startup of the speed control system. The presetting is based onhaving the position control assigned to the motor encoder. The difference between encoderresolution or the time behavior of the absolute encoder (e.g. laser distance measuring device)may require a smaller set value.

Set half the value of the calculated presetting. Start an IPOSplus® program with one positioningbetween two valid points with moderate speed. Reduce or increase the parameter 910 "gain X-controller" gradually until the best travel and positioning behavior has been set.The position value from the absolute encoder is available in variable H509 (ACTPOS. ABS). Theposition value can be processed with the internal IPOSplus® control and without direct posi-tioning.



6.2 IPOSplus® and Fieldbus

The expansion of IPOSplus® by adding one of the fieldbus options PROFIBUS, INTERBUS, CAN-Busor DeviceNet, offers additional advantages to the customer when compared with the standardMOVIDRIVE® version without fieldbus. You will find a detailed description of the fieldbuses in the“Fieldbus Unit Profile“ manual and in the manuals for the individual fieldbuses. The following para-meters will usually have to be changed in order to control the MOVIDRIVE® unit via a fieldbus:• P100 Setpoint source = fieldbus, if set values are sent via fieldbus• P101 Control source = fieldbus, if control word is sent via fieldbus• P870-875 Process data configuration: specification determining the data exchanged via fieldbus

(see Fieldbus Unit Profile Sec. 3.3)Some program examples showing the connection between IPOSplus® and fieldbus have alreadybeen described in the “Fieldbus Unit Profile” user manual in sections 7.3 and 7.4.

Incremental position preset

The set position is preset as a value in the process output data P871 PA2: POSITION HI and P872PA3: POSITION LO. The entire travel range can be used completely be the user, i.e. random positi-ons will be preset.

02727AENFig. 22: Incremental position preset

The unit of the destination and actual position is indicated in increments in this example. The setposition transmitted via fieldbus is automatically copied to variable H499 SP.POS.BUS. It can beused to generate a travel command by copying variable H499 into variable H492 TARGET POS(SET H492 = H499). The actual position of the drive can also be fed back into the control. You willhave to set the parameters for process input and output data to position high/low.The actual position of the drive is transmitted to the control in case the parameters for processinput data P874 have been set to PE2: POSITION HI and P875 PE3: POSITION LO.

EE QQ

1

1Target positionin increments

Process output data (PO)

Position High Position Low

Position High Position Low

IPOS variables:

492 TARGET POS

...

499 SP.POS.BUS

Actual position in increments

Control word 2

Status word 2

IPOS -Programm:

***************************Copy position setpoint of PO

data to new target position

...***************************

SET H492 = H499

...

END

plus



User-specific coding of process data

The user has the option to select the meaning of the cyclical process data by defining the processdata configuration with the parameter setting PO data for output data or PI data for input data. Theprocess output data will then no longer be evaluated directly by the MOVIDRIVE® unit, but must beassigned to IPOS variables with the command GETSYS (PO data) and SETSYS (PI data). The deco-ding of the variables is done in the IPOS program. The user will be able to transmit position set-points and other values in user units (e.g. motor revolutions) by having the value transmitted withthe fieldbus adjusted in size by multiplication or division before it is used for positioning.

02728AENFig. 23: Scaling of position setpoint

E QQ

IPOS program:plus

END

SET H100 = 3 // Initialising process output data structure

SET H101 = 3

SET H110 = 3 // Initialising process input data structure

SET H111 = 3

M0: GETSYS H100 = PO-Data // Copy PO data into IPOS variable

SET H200,H103 // Copy position into variable

MUL H200,#4096 // and convert into increments

SET H492,H200 // Stop travel order

SET H200,H511 // Copy actual position into variable in increments

DIV H200,#4096 // and convert in unit motor revolution

SET H113,H200

JMP M0

SETSYS PI data = 110 // Copy PI data in IPOS variable

Actual position in motor revolutions

Target position in motor revolutions

IPOS variables:

100 Bus type 3

101 Length 3

102 PO1 0

103 PO2 0

104 PO3 0

...

...

110 Length 3

111 PI1 0

112 PI2 0

113 PI3 0

GETSYS

SETSYS

PO2

PI2

PO3

PI3

PO1

PI1



6.2.1 Fieldbus and DIO/DIP 11AWith control word 2, the fieldbus makes it possible to emulate binary inputs and outputs. These areoften referred to as virtual terminals.If there is no DIO/DIP11A card in the MOVIDRIVE® unit, the upper bits 8-15 of control word 2 willdirectly trigger the input terminal functions of inputs DI10 to DI17. The functionality of these inputterminals can be set with parameters P610-617.

02729AENFig. 24: Virtual terminals

If there is also one of the DIO11A or DIP11A option cards installed in the MOVIDRIVE® unit in addi-tion to the fieldbus, the same settings of parameter P61_ apply to the physically present terminals.Thus, all terminal-dependent commands (e.g. JMP LO/HI xxxx xxxx xxxx xxxx) apply only to thehardware inputs and not to the control bits 8-15 in control word 2.The upper byte of control word 2 will have to be entered with a GETSYS (PO data) command to stillmake use of it. A decoding of the upper 8 bits will subsequently take place in the IPOS program.The variable created with this step can be used as a jump distributor (JMP Hxxx == value, Mxx) oran input terminal function selected by copying individual bits (BMOV H484.x Hxxx.x) in H484CTRL. WORD.

02730AENFig. 25: Use of the upper bytes of control word 2

15 14 13 12 11 10 9 8 0

...

15 14 13 12 11 10 9 8 0

...

P617 binary input DI17virtual input terminal 8

=

virtual input terminal 1= P610 binary input DI10

Control word 2

P637 binary output DO17virtual output terminal 8

=

virtual output terminal 1= P630 binary output DO10

Status word 2

IPOS variable

*************

480 OPT.OUT IP

...

...

483 INPUT LVL

1

1

15 14 13 12 11 10 9 8 0

...

IPOS program:plus

SET H100 = 3 // Initialisation of process output data structure

SET H101 = 3

GETSYS H100 = PO data // Copy PO data in IPOS variable

SET H200,H102 // Copy control word 2

SHR H200 >> 8 // and move by 8 bitsto the right

P617 binary input DI17virtual input terminal 8

=

virtual input terminal 1= P610 binary input DI10

Control word 2

IPOS variable

*************

480 OPT.OUT IP

...

...

483 INPUT LVL



DIP11A can be installed in option slot 1 or option slot 2. All parameters applying to the DIP can be set with the DBG unit.When combining a fieldbus interface with the DIO11A input/output card or the DIP11A absoluteencoder card, you will have to pay close attention to the terminal assignment:• Terminal assignment

The MOVIDRIVE® operating system makes it possible to assign eight binary input and eight binary output terminals on one option card. Observe the following assignment when using the DIP11A with an DIO11A input/output card or a fieldbus card:

It is always possible to place and read terminals with variables, regardless of any additionaloption that may be used with a fieldbus interface. If a fieldbus interface is used together with a DIP11A option, the virtual fieldbus terminals areonly available in IPOSplus® via reading of the process output data (GETSYS Hxxx PO-DATA).

FunctionsInput terminals Output terminals

DIO11A DIP11A DIO11A DIP11A

Terminals Place/Read with

Variable H483 INPUT LVL. H480 OPT.OUT IP

BitDIP11A with DIO11A 6 ... 13 14 ... 21 0 ... 7 8 ... 15

DIP11A with fieldbus – 6 ... 13 – 0 ... 7

Terminal DI10 ... DI17 DI10 ... DI17 DO10 ... DO17 DO10 ... DO17

Parameters 61.. and 63.. and JMP HI/LO I...

DIP11A with DIO11A active – active –

DIP11A with fieldbus – active – active



6.2.2 IPOSplus® and PROFIBUSFour to ten cyclical process data words can be exchanged with the PLC in connection with thePROFIBUS option. The MOVIDRIVE® parameter setting surface offers the configuration of only upto three words (Parameter 87x). All additional process data words are permanently assigned withthe meaning PO data/PI data. MOVIDRIVE® will not interprete any process data that were set withparameter 87x on PO/PI data. These words can only be accessed via the GETSYS and SETSYScommands. The assignment and use of ten words can be used as an example for the followingIPOS program working with variables H100 and H120.

02731AENFig. 26: Transmission of 10 process data words

One process data word is copied in one variable, with control word and status word each countingas one process data word. The process data word is written in bits 0 to 15 of an IPOS variable, thebits 16 to 31 of the IPOS variables are set to 0.

E QQ

...PO Data PO Data

PI Data PI DataStatus word

Control word

IPOS Program:plus

SET H100 = 3 // Initialisation of data structure processs output

SET H101 = 10

SET H120 = 10 // Initialisation of data structure process input

M0: GETSYS H100 = PO Data // Copy PO data in IPOS variable

SETSYS PI Data = H120 // Copy PI data in IPOS variable

JMP UNCONDITIONED, M0

IPOS variables:

H102: Control word

H103: PO Data

...

H111: PO Data

...

...

H121: Status word

H122: PI Data

...

H130: PI Data

MOVIDRIVE signal processing



6.3 IPOSplus® and Synchronous Operation

The synchronous operation option with DRS11A can be used without any modifications in connec-tion with the DIP11A option. It is still possible to switch from positioning to synchronous operationand vice versa via IPOSplus® .

A detailed description of synchronous operation can be found in the “Synchronous Operation CardType DRS11A“ manual.The control of the DRS11A synchronous operation card within the IPOSplus® program can takeplace in several different ways: • by programming the DRS control and monitoring variables

DRS CTRL. (H476) and DRS STATUS (H477)• by programming of the IPOSplus® CTRL. WORD (H484)• by programming individual parameters via MOVLINK command.

6.3.1 Programming of IPOSplus® CTRL. WORDSystem variable H484; CTRL. WORDVariable H484 is the IPOSplus® control word. The word will be connected with OR to the correspon-ding control source (terminal, RS-485, fieldbus), independent of operating mode, control andsepoint source. The individual bits have the following meaning at level 1:484 CTRL.WORD IPOSplus® control word (unit functions READING and SETTING).

The IPOSplus® control word can always be used independent of operating mode, control and set-point source. The IPOSplus® control word is connected with the logical OR in the unit with the terminal functions, the fieldbus control word and the control word via the RS-485/RS-232 and the SBus.

Bit Function “1” level0 No function 1 No enable2 CW3 CCW 4 n11/n21 (fixed setpoint 1)5 n12/n22 (fixed setpoint 2)6 Switchover fixed setpoint7 Param. switchover (param. set 2)8 Ramp switchover (ramp set 2)9 Motorpoti up10 Motorpoti down 11 External error12 Error reset13 Hold control14 CW limit switch15 CCW limit switch

Bit Function at “1” level16 reserved17 Reference cams18 Reference travel Start19 Free-wheeling slave20 Fixed setpoint suppression21 reserved22 Set DRS zero point23 Start DRS Slave24 DRS Teach in25 reserved 26 reserved27 reserved28 reserved29 reserved30 Controller inhibit31 reserved



6.3.2 Programming of DRS Control and Monitoring Variables

System variable H476; DRS_CTRL.

Variable H476 represents the binary outputs of DRS11A option:

System variable H477; DRS_STATUS

Variabe H477 represents the binary inputs of DRS11A option:

6.3.2.1 Activating und Deactivating of free-wheeling functionIt is possible to set and reset two programmable DRS11A outputs via the system variable H476DRS CTRL.

02961AENFig. 27: Free-wheeling function

476 DRS CTRL. Signal level of binary outputs in synchronous operation card type DRS11A READ and SET.

Bit Terminal level0 X40.9 OUTP01 X40.10 OUTP1 3..14 reserved15 set DRS hardware fault (Fault 48)16..31 reserved

477 DRS STATUS Signal level of binary inputs and status reports of synchronous operation card type DRS11A READ.

Bit Terminal level / Status reports0 X40.5 INP4 free input 11 X40.6 INP5 free input 22 /DRS pre-warning3 /DRS tracking error4 DRS slave in position 5 Master standstill 6..31 reserved

IPOS program:p l u s

BSET H476.0 = 1 // Activate free-wheeling, red LED is illuminated.........BCLR H476.0 = 0 // Deactivate free-wheeling, red LED extinguished...…

IPOS Variables:

H476: DRS_CtrlH477: DRS_Status...H484: CTRL_WORD…

DRSX40:

X41:

X42:

X43:

123456789

1011

LED SYNC / OFF

INPØINP1INP2INP3INP4INP5DCOMVO24OUTPØOUTP1DGND

Incremental

encoder

Input

Synchronous

encoder

Incremental

encoder

Input

Master

encoder

Incremental

encoder

Output

LED SYNC / OFF

15 14 13 12 11 10 9 8 0

Terminal level of binaryoutput X40.9

H476: DRS_CTRL.

31



Prerequisites:The DRS11A can be switched to free-wheeling via IPOSplus® and a cable connection from terminalX40:9 (OUTP0) to X40:1 (free-wheeling).

Command sequence: BSET H476.0 = 1 Setting OUTP0 and thus the DRS input “Free-wheeling”:

red LED illuminated!BCLR H476.0 = 0 Reset to synchronous operation function:

red LED extinguished

6.3.2.2 DRS11A setting of zero pointThe DRS11A offset angle can be reset via IPOSplus® without the need for external signals.The setting is done via system variable H484 CTRL. WORD.

Command sequence:BSET H484.22 = 1 Setting of DRS11A to function ’Setting of zero point’WAIT 15 ms DRS-specific waiting period of 15 msBCLR H484.22 = 0 Reset to synchronous operation function with

deleted angle error; green LED extinguished.

02962AENFig. 28: Setting zero point

IPOS program:plus

BSET H484.22 = 1 // Set zero point, angle error deleted// green LED extinguished

WAIT 15 ms // DRS-specific waiting period for signal run time

BCLR H484.22 = 0 // Reset to synchronous operation function...…

IPOS variables:


DRSX40:

X41:

X42:

X43:

123456789

1011

LED SYNC / OFF


IncrementalencoderInputsynchronousencoder

IncrementalencoderInputmasterencoder

IncrementalencoderOutput

LED SYNC / OFF22 13 12 11 10 9 8 0

Control signalSet DRS zero point

H484: CTRL_WORD31

The green LED is illuminatedin case of angle errorbetween master and slave.



Control sample:

• The drive is to be switched to free-wheeling mode via input DI10.The input DI10 ... DI17 can be physical terminals on DIO11A or DIP11A option or virtual termi-nals in the fieldbus control word 2.DI10 = 1 Free-wheeling activatedDI10 = 0 Free-wheeling deactivated, drive operates in synchronous mode

• The actual offset angle is deleted (DRS setting zero point) via the virtual input DI11.

Example of program generated with IPOSplus® compiler/*======================================================================================= IPOS Source File=========================================================================================*/#include <const.h>#include <io.h>

/*----- Definition Inputs -------------------------------------------------------------*/#define E_freewheeling DI10 // Input DI10#define E_setzeropoint DI11 // Input DI11

/*----- Definition Outputs -------------------------------------------------------------*/#define A_DRS_OUTP0 0 // Output DRS X40:9

/*----- Definition Control bits in IPOS Control Word --------------------------------------*/#define _DRS_setzeropoint 22 // Bit 22

/*======================================================================================= Subroutines=========================================================================================*/Freewheeling_On(){/* The free-wheeling mode is activated by setting the external jumper between X40:9 and X40:0 and by deleting of output X40:9. */

_BitSet( DRS_Ctrl, A_DRS_OUTP0 );}

/*=======================================================================================*/Freewheeling_Off (){/* The free-wheeling mode is deactivated by setting the external jumper between X40:9 and X40:0 and by deleting of ouptut X40:9. */


/*=======================================================================================*/DRS_zeropoint(){ _BitSet( ControlWord, _DRS_Setzeropoint ); // Set zeropoint via Control Word _Wait( 15 ); // Response time in ms _BitClear( ControlWord, _DRS_Setzeropoint ); // Delete bit once again}

/*======================================================================================= Main function (IPOS entry function)=========================================================================================*/main() { if( E_Freewheeling ) // The input E_Freewheeling (here DI10) Freewheeling_On(); // causes the switch between else // freewheeling and synchronous operation Freilauf_Aus();

if( E_setzeropoint ) // Calls up the function DRS_zeropoint(); // “Set zeropoint“ }



6.3.3 Activating and Deactivating the Offset FunctionBoth programmable outputs of the DRS11A can be set and reset via the system variable H476.

02963AENFig. 29: Offset function

Prerequisite:

A position offset can be injected via IPOSplus® and a cable connection of terminal X40:10 to X40:2(Offset1).

Command sequence:BSET H476.1 = 1 Set drive to “Offset1” function

Slave drive shifts its position to master by Offset1 value.BCLR H476.1 = 0 Reset of output terminal

Slave drive returns to previous position in relation to master.

IPOS program:plus

BSET H476.1 = 1 // Set drive in Offset1 function… // Slave drive shifts its position to master

// by Offset 1 value.......BCLR H476.1 = 0 // Deactivate Offset1...…

IPOS variables:


DRSX40:

X41:

X42:

X43:

123456789

1011

LED SYNC / OFF


IncrementalencoderInputsynchronousencoder

IncrementalencoderInputmasterencoder

IncrementalencoderOutput

15 14 13 12 11 10 9 1 0


H476: DRS_Ctrl31




6.3.4 Sample program for switch between positioning and synchronous operationThe “free-wheeling“ function provides the option of a speed-controlled interruption of the synchro-nous operation mode. However, the drive cannot travel in a position-controlled manner to a fixedposition in this function.This step requires a change to the positioning (IPOS) operating mode.

02964AENFig. 30: Switching

It is possible to switch between the operating modes synchronous operation and positioning viainput terminal DI12.Observe the following important peripheral condition:Switching from synchronous operation to positioning while the drive is operating can only beaccomplished in CFC or SERVO operating mode.The following sample program deals with the change between the operating modes CFC & IPOS and CFC & SYNC. Applicable rules:• DI10 = 0 no free-wheeling• DI10 = 1 free-wheeling, if set to CFC & SYNC operating mode• DI11 = 0 no function• DI11 = 1 set DRS zero point (pulse)• DI12 = 1 positioning, CFC & IPOS operating mode• DI12 = 0 synchronous operation, CFC & SYNC operating mode

The switch between the operating modes is executed with the following command_SetSys(SS_OPMODE, H)where the value of variable H has the following meaning:

SS_OPMODE: Setting of operating mode

H = 11: CFC operating mode (speed control),H = 12: CFC operating mode & torque control,H = 13: CFC operating mode & IPOS (positioning),H = 14: CFC operating mode & synchronous operation (DRS11A),

H = 16: SERVO operating mode (speed control),H = 17: SERVO operating mode & torque control,H = 18: SERVO operating mode & IPOS (positioning),H = 19: SERVO operating mode & synchronous operation (DRS11A)

IPOS program:p l u s

SET H200 = 11 // CFC operating modeSETSYS OP:MODE = H200 // Reprogramming operating mode to CFC operation...…SET H200 = 14 // CFC operating mode & synchronous operationSETSYS OP:MODE = H200 // Reprogramming operating mode to CFC&SYNC...…

IPOS variables:

H200: Operatingmode

...H484: CTRL_WORD…



/*======================================================================================= IPOS Source File=========================================================================================*/#include <const.h>#include <io.h>

/*----- Definition Inputs -------------------------------------------------------------*/#define E_Free-wheeling DI10 // Input DI10#define E_Setzeropoint DI11 // Input DI11#define E_Switch_Pos_Sync DI12 // Input for switching between positioning // and synchronous operation // DI 12 = 1 positioning / DI 12 = 0 synchronous operation

/*----- Definition Outputs -------------------------------------------------------------*/#define A_DRS_AUSG0 0 // Output DRS X40:9

/*----- Definition Control bits in IPOS Control Word --------------------------------------*/#define _Free-wheeling 1 // Bit 1#define _DRS_Setzeropoint 22 // Bit 22

/*----- Definition variables for switching between positioning and synchronous operation ---*/#define operating mode H300#define destination position H0#define CFC_and_IPOS 13 // CFC operating mode & IPOS#define CFC_and_SYNC 14 // CFC & synchronous operation

/*======================================================================================= Subroutines=========================================================================================*/Free-wheeling_On(){/* Free-wheeling activated by setting the external jumper between X40:9 and X40:0 and by setting output X40:9. */


/*=======================================================================================*/Free-wheeling_Off (){/* Free-wheeling is deactivated via external jumper between X40:9 and X40:0 by deleting the output X40:9. */


/*=======================================================================================*/DRS_Zeropoint(){ _BitSet( ControlWord, _DRS_Setzeropoint); // Set zero point via control word _Wait( 15 ); // Response time in ms _BitClear( ControlWord, _DRS_Setzeropoint ); // Delete Bit }

/*=======================================================================================*/Activate_synchronousoperation(){ Operating mode = CFC_and_SYNC; _SetSys( SS_OPMODE,operating mode ); // Switch operating mode DRS_zeropoint(); // Delete angle error}

/*=======================================================================================*/Activate_IPOS(){ Operating mode = CFC_and_IPOS; _SetSys( SS_OPMODE,operating mode );}

/*======================================================================================= Main function (IPOS-Input function)=========================================================================================*/main() { if( E_Free-wheeling ) Free-wheeling_On(); else Free-wheeling_Off();

if( E_Setzeropoint ) DRS_zeropoint();

if( E_Switchover_Pos_Sync ) { Activate_IPOS(); _GoAbs( GO_NOWAIT,Final position ); } else if ( !E_Free-wheeling ) Activate_synchronousoperation(); }



6.3.5 Programming Individual ParametersSample program for use of the MOVLINK command

Change of gear ratio in electric gear unit via binary input.By using the IPOSplus® sequence control, there are good opportunities in the cooperation with theDRS11A synchronous operation control card to adjust the MOVIDRIVE® behavior to the conditionsin the system.The user has to be able to set the master gear unit factor P221 and the slave gear unit factor P222in certain applications.Sample program for discrete change of electronic gear unit reduction ratio between master and slave drive.

Program example generated with IPOSplus® assembler

****************************************** Sample program for discrete change of electronic gear unit reduction ratio between master and slave drive.

When using the optional DRS11A synchronous operation control card ------------------------------------------ Change of parameter "Master Gear Unit Factor" P221 via binary input of the MOVIDRIVE basic unit. Input used for change here: DI04 SEW Date: 24 June 97 ****************************************** ****************************************** Initalisation and declaration of variables. H000: Value for P221 at DI04 = 0 H001: VAlue for P221 at DI04 = 1 H482: DRS dig. outputs X21.9&10 (Bit0&1) Declaration system structure for MOVLNK ----------------------------------------- Variables H200 - H206 for control and programming of P221. H200 = Bus type, SBUS H201 = Address 0 H202 = Process data, para. channel only H203 = Communication service (write) H204 = Index 8502 "Master GU Factor" H205 = Target variable for data exchange Binary Inputs: ---------------- DI00 = Controller inhibit DI04 = Change P221 "Master Gear Unit i DI04 = Ipos input ****************************************** ****************************************** Initialisation of communication service ****************************************** SET H200 = 5 SET H201 = 0 SET H202 = 0 SET H203 = 3 SET H204 = 8502 SET H205 = 210 ****************************************** List factors for "Master Getriebe i". ****************************************** SET H0 = 100 SET H1 = 200



****************************************** Read input terminal Di04 ****************************************** JMP HI I0000000000010000, M1 JMP LO I0000000000010000, M2 ****************************************** Write new value to "Master Gear Unit i." ****************************************** M1 :SET H210 = H0 JMP UNCONDITIONED , M3 M2 :SET H210 = H1 M3 :SET H203 = 3 SET H204 = 8502 M4 :MOVLNK H200 NOP Repeat until Return Code ok. JMP H206 != 0 , M4 ****************************************** End of program. ****************************************** END


Command Set 7

7 Command Set

General information• The result of the calculation operation is always assigned to the left-hand argument (always a

variable). The second argument (variable or constant) always remains unchanged.• The bit positions in the variables and constants are numbered 0 – 31. The least significant bit is

number 0.

7.1 Overview of commands

Arithmetic commandsThis program group lists all arithmetic and logical commands.

Bit commandsContains commands for changing individual bits within one variable. These are:– Set/clear/move bits

Communication commandsContains commands for data exchange from/to other units via interfaces.

Positioning commandsThis command group lists the following positioning commands:– Reference travel– Position absolute/relative/with touch probe

ADD (H = H + H) .............................................................. pg. 55ADD (H = H + K) .............................................................. pg. 55AND (H = H & H) ............................................................. pg. 55AND (H = H & K).............................................................. pg. 55ASHR / ARITHMETIC SHIFT RIGHT (H = H (Arithmetic >>) H) ................................................ pg. 56ASHR / ARITHMETIC SHIFT RIGHT (H = H (Arithmetic >>) K) ................................................ pg. 56DIV / DIVISION (H = H / H) .............................................. pg. 55DIV / DIVISION (H = H / K) .............................................. pg. 55MOD / MODULO (H = H modulo H) ................................. pg. 55MOD / MODULO (H = H modulo K) ................................. pg. 55MUL / MULTIPLY (H = H * H) ......................................... pg. 55

MUL / MULTIPLY (H = H * K) ......................................... pg. 55NOT (H = NOT (H)).......................................................... pg. 55OR (H = H | H) ................................................................. pg. 55OR (H = H | K) ................................................................. pg. 55SHL / SHIFT LEFT (H = H << H)....................................... pg. 56SHL / SHIFT LEFT (H = H << K)....................................... pg. 56SHR / SHIFT RIGHT (H = H >> H).................................... pg. 56SHR / SHIFT RIGHT (H = H >> K).................................... pg. 56SUB / SUBTRACT (H = H - H).......................................... pg. 55SUB / SUBTRACT (H = H - K) .......................................... pg. 55XOR / EXCLUSIVE OR (H = H XOR H) ............................. pg. 55XOR / EXCLUSIVE OR (H = H XOR K) ............................. pg. 55

BCLR / BIT CLEAR (H.Bit = 0).......................................... pg. 56BMOV / BIT MOVE (H.Bit = H.Bit) .................................... pg. 56

BMOVN / BIT MOVE NEGATE (H.Bit = NOT (H.Bit)) ........ pg. 56BSET / BIT SET (H.Bit = 1) .............................................. pg. 56

MOVLNK / MOVILINK (Process and/or parameter data exchange) ..................... pg. 57SCOM / SYSTEM BUS COMMUNICATION (Definition of a cyclical variable)...................................... pg. 62

SCOMON / SYSTEM BUS COMMUNICATION ON (Start of cyclical transmission) ....................................... pg. 62

GO0 / GO POSITION 0 (Executes a reference travel) ....... pg. 66GOA / GO ABSOLUTE (Go absolute, constant) ................ pg. 67GOA / GO ABSOLUTE (Go absolute, variable).................. pg. 67GOA / GO ABSOLUTE (Go absolute, variable, indirect)....................................... pg. 67

GOR / GO RELATIVE (Go relative, constant) ................... pg. 67GOR / GO RELATIVE (Go relative, variable)..................... pg. 67GOR / GO RELATIVE (Go relative, variable, indirect) ........................................ pg. 67


7 Command Set

Program commandsContains commands for program control. These are:– Loop commands– Subroutine calls– Control of task 2– Program branching commands– Wait commands

Set commandsContains commands for– Setting variables– Fault response– Loading system values into variables– Writing system values into system variables– Initializing the interrupt routines

Special unit commandsContains commands for– Stopping the axis– Storing variables and programs onto non-volatile memory in the unit– Switching touch probe on/off– Controlling the watchdog

Comparison commandsContains commands for comparing variables and constants.

CALL (Calls a subroutine) ............................................... pg. 69JMP / JUMP (Jump, input terminals).............................. pg. 69JMP / JUMP (Jump, H <=> 0) ......................................... pg. 70JMP / JUMP (Jump, H <=> H)......................................... pg. 70JMP / JUMP (Jump, H <=> K)......................................... pg. 70JMP / JUMP (System conditioned jump) ........................ pg. 70LOOPB / LOOP BEGIN (Program loop, begin) ................. pg. 71

LOOPE / LOOP END (Program loop, end) ........................pg. 71NOP / NO OPERATION (No operation) .............................pg. 71REM / REMARK (Remark) ...............................................pg. 71RET / RETURN (End of a subroutine)...............................pg. 71TASK2 (Sets the start address of task 2) .........................pg. 71WAIT (Waits for a specified period) .................................pg. 71

COPY (Block-by-block copying of variables) ................... pg. 72GETSYS / GET SYSTEM VALUE (H = System value) ....... pg. 72SET (H = H) ..................................................................... pg. 74SET (H = K) ..................................................................... pg. 74SETFR / SET FAULT REACTION (Set fault response)....... pg. 74

SETI / SET INDIRECT ([H] = H)........................................pg. 75SETI / SET INDIRECT (H = [H])........................................pg. 75SETINT / SET INTERRUPT (Sets start address of interrupt routine) .............................................................pg. 75SETSYS / SET SYSTEM VALUE (System value = H) ........pg. 76

ASTOP / AXIS STOP (Stop axis)...................................... pg. 78MEM / MEMORIZE (Save and load IPOS program and variable) .......................................................................... pg. 78TOUCHP / TOUCH PROBE (Touch probe command)....... pg. 79

WDOFF / WATCHDOG OFF (Switch off watchdog) ...........pg. 81WDON / WATCHDOG ON (Call watchdog in time intervals)......................................pg. 81

ANDL / LOGICAL AND (H = H && H)............................... pg. 82CPEQ / COMPARE EQUAL (H = H == H) .......................... pg. 82CPEQ / COMPARE EQUAL (H = H == K) .......................... pg. 82CPGE / COMPARE GREATER OR EQUAL (H = H >= H).... pg. 82CPGE / COMPARE GREATER OR EQUAL (H = H >= K).... pg. 82CPGT / COMPARE GREATER THAN (H = H > H) ............. pg. 82CPGT / COMPARE GREATER THAN (H = H > K).............. pg. 82CPLE / COMPARE LESS EQUAL (H = H <= H) ................. pg. 82

CPLE / COMPARE LESS OR EQUAL (H = H <= K) ............pg. 82CPLT / COMPARE LESS THAN (H = H < H)......................pg. 82CPLT / COMPARE LESS THAN (H = H < K)......................pg. 82CPNE / COMPARE NOT EQUAL (H = H != H) ...................pg. 82CPNE / COMPARE NOT EQUAL (H = H != K)....................pg. 82NOTL / LOGICAL NOT (H = NOT(H)) ................................pg. 82ORL / LOGICAL OR (H = H || H) .......................................pg. 82


Command Set 7

7.2 Arithmetic commands

Basic arithmetical functions ADD / SUB / MUL / DIV

ADDADD (H = H + H)ADD (H = H + K)

SUBSUBTRACT (H = H – H)SUBTRACT (H = H – K)

MULMULTIPLY (H = H ��H)MULTIPLY (H = H ��K)

DIVDIVISION (H = H / H)DIVISION (H = H / K)

The four basic arithmetical functions are performed taking account of signs. They can also be performed with variables H and constants K. The 1st argument is always a variable H, the 2nd argument can either be a second variable H or a constant K.

It is also possible to add a variable to itself, for example (ADD H000 + H000). Divid-ing by 0 produces an undefined result. The content of the result variable cannot be used. A fault message will appear.

Auxiliary arithmetical functions NOT / MOD

NOTNOT (H = NOT (H))

The command negates the entire content of variable 2 bit-by-bit. The result of the operation is written to variable 1.

MODMODULO (H = H modulo H)MODULO (H = H modulo K)

This command delivers the remainder of the division as a signed integer value.

Logic operations AND / OR / XOR

ANDAND (H = H & H)AND (H = H & K)

OROR (H = H ��H)OR (H = H ��K)

XOREXCLUSIVE OR (H = H XOR H)EXCLUSIVE OR (H = H XOR K)

The AND command performs a bit-by-bit AND operation on a variable and a second argument (variable or constant).

Example: AND H01 & H02

H01...0000000000 001100H02...0000000000 000101H01...0000000000 000100

The OR command performs a bit-by-bit OR operation.

Example: OR H01 � H02

H01...0000000000 001100H02...0000000000 000101H01...0000000000 001101

The XOR command performs a bit-by-bit EXCLUSIVE OR operation.

Example: XOR H01 XOR H02

H01...0000000000 001100H02...0000000000 000101H01...0000000000 001001


7 Command Set

7.3 Bit commands

SHIFT commands SHL / SHR / ASHR

SHLSHIFT LEFT (H = H << H)SHIFT LEFT (H = H << K)

SHRSHIFT RIGHT (H = H >> H)SHIFT RIGHT (H = H >> K)

ASHRARITHMETIC SHIFT RIGHT (H = H (ARITHMETIC >>) H)ARITHMETIC SHIFT RIGHT(H = H (ARITHMETIC >>) K)

SHIFT commands are used for moving the contents of a variable bit-by-bit. This means all the bits in the variable are given a new significance. The number of places to be shifted is specified in the 2nd argument.

Bit positions which become vacant when the SHL and SHR commands are per-formed are filled up with zeros. SHL moves to greater significance, SHR reduces significance.

ASHR causes a bit-by-bit shift to the right at reduced significances. Either zeros or ones are moved along, depending on the sign of the original value. This means a negative sign is not lost during a shifting operation.

Example:A certain binary significance is assigned to the input terminals of the basic unit and the DIO11A option (see Table 4, pg. 15). In order to be able to use inputs DI10 – 13, for example, for table positioning in a sensible fashion (4 inputs = 0 to 15 posi-tions), the significance of the inputs must be shifted in such a way that the least sig-nificant terminal DI10 receives the significance 20:

SHL H01 << H02 (H01 = 15, H02 = 6)Initial status H01 ...0000000000 001111Following the command H01 ...0000001111 000000

SHR H01 >> H02 (H01 = 960, H02 = 6)Initial status H01 ...0000001111 000000Following the command H01 ...0000000000 001111

Bit commands BSET / BCLR / BMOV / BMOVN

BSETBIT SET(H.Bit = 1)

BCLRBIT CLEAR(H.Bit = 0)

BSET/ BCLR sets (= 1) / resets (= 0) a bit within a variable. The bit positions in the variable are numbered 0 to 31. The least significant bit is number 0.

Individual outputs can be set/reset in conjunction with the system variables H480 (OPT.OUT IP) and H481 (STD.OUT IP).

Example: Setting output DO02(P620 programmed to "IPOS-OUTPUT")

BSET H481.2 = 1

BMOVBIT MOVE (H.Bit = H.Bit)

BMOVNBIT MOVE NEG. (H.Bit = H.Bit)

BMOV copies a bit from variable 2 to any position (significance) in variable 1. All other bits in variable 1 and the entire variable 2 remain unaltered.

In the case of BMOVN, the copied bit in variable 1 is also negated.

Example: Interrogation of output DO02

SET H200 = 0BMOV H200.0 = H482.2JMP H200 == 1 Mxx

Copying bit 2 of variable H482 (INPUT LVL) to bit 0 of H200 provides a simple means of interrogating (0 or 1) the terminal level using a JMP command.


Command Set 7

7.4 Communication commands

Data/parameter exchange via MOVLNK

MOVLNKMOVLNK H

The MOVLNK command permits a process data exchange (PD)1) and/or a parameter exchange (PARAM)2) with other MOVIDRIVE® inverters via RS-485 or SBus. Equally, it is possible to change parameters within the unit. However, a process data exchange (PD) with its own axis is not possible.

Furthermore, it is only possible to have a straight process data exchange from the MOVIDRIVE® inverter (always the sender) to MOVIMOT® (always the receiver) via RS-485.

Features RS-485 SBusBus run time 30 ms 10 ms (5 ms, only PD)Sender – Receiver yes yesMultimaster no yesCommunication withMOVIMOT®

yes (only PD, MOVIMOT®

is receiver)no

Special note Do not use the TERMINAL interface

Set bus terminating resistors with S12

The following settings are required on the sender and receiver in sender/receiver mode:Sender Receiver• IPOSplus® program with MOVLNK Hxx command• Setting the communication parameters using vari-

ables• SBus baud rate (P816)

• Parameter setting with PD (+) and PARAM (#):

• + / # Serial communication (P810 – P819)

• + Setpoint source (P100)• + Control signal source (P101)• + Process data description

(P870 – P876)

1) A more detailed description is contained in the "Fieldbus Unit Profile" manual (setting via P870).2) All parameters can be addressed via an index number (see "Fieldbus Unit Profile" manual).3) Several of the connected units can start communicating

Sender setting

IPOSplus® program with MOVLNK Hxx commandA one-time data transfer takes place when the MOVLNK command is called up once. The MOVLNK com-mand must be called up cyclically for a cyclical data transfer.Setting the communication parameters using variablesAll information required for communication must be entered into a command structure (7 successive variables) in the variable range. The start of this command structure is defined by the argument (Hxx) of the MOVLNK command.Depending on the type of communication (parameter and/or process data exchange), the result is a data structure the start of which is defined using variable H + 5.Command structure:H+0 Bus type (interface)

0 = Reserved1 = Interface TERMINAL (RS-485#1)

USS11A (TERMINAL) – Do not use!2 = Interface S1 (RS-485#2), e.g. activation of MOVIMOT®

3 = Reserved4 = Reserved5 = SBus, e.g. axis-to-axis communication


7 Command Set

H+1 Individual address of the target unit to be addressed/group address of the target unit to be addressed (receiver)

The following three addresses are of particular importance:

H+1 = 253 Inverter addressH+1 = 254 "Point-to-point connection" is possible with only one receiver, irrespective of its set address

(P810). It is possible for data to be written to and read from the receiver.H+1 = 255 "Broadcast", simultaneous addressing of all connected receivers, irrespective of their set

address (P810). It is only possible for data to be written to the receiver.The offset of 100 must be added to the group address, e.g. 34, if an SBus group address is being addressed with the MOVLNK command. Consequently, the value to use for variable H+1 in the command structure is 143.H+2 Specification of the process (PD) and parameter (PARAM) channels for data transfer

128 = PARAM + 1PD129 = 1PD130 = PARAM + 2PD131 = 2PD132 = PARAM + 3PD133 = 3PD134 = PARAM (without PD)

H+3 Communication services1 = Read service2 = Writing with storage in non-volatile memory3 = Writing without saving

H+4 Index number of the parameter or of the variable which is to be altered or read (see list of parameters)(Only important if the parameter channel is used.)

H+5 Number of the variable H' where the read data are stored or from where the data to be writ-ten are obtained (The data structure for H' is described in detail below.)

H+6 Contains the fault code after implementation of the service, or contains zero if there was no fault

Data structure for H':H'+0 Contains the data for the parameter write services

(See settings 2 and 3 for H+3.)H'+1 Contains the data which are read by a parameter service

(See setting 1 for H+3.)Only for process data exchange (PD)

H'+2H'+3H'+4H'+5H'+6H'+7

PO1 data of the process data exchangePO2 data of the process data exchangePO3 data of the process data exchangePI1 data of the process data exchangePI2 data of the process data exchangePI3 data of the process data exchange


100 Bus type (interface)101 Target address102 Data type (PD + PARAM)103 Communication service104 Index number (with parameter channel)105 Target variable (here: 150)106 Fault code

150 Parameter Write Data151 Data read with parameter service152 PO1 Data153 PO2 Data154 PO3 Data155 PI1 Data156 PI2 Data157 PI3 Data

only forprocess dataexchange

e. g.MOVLNK 100

Start

of command variable structure

End

Start

End

Variables forprocess data exchange

of parameter variable structure


Command Set 7

Receiver setting in Parameters / Main MenuData exchange only via parameter channel

Setting of serial communication:

Addressing via RS-485 (P810 – P812)Parameter Address ExplanationP810 0 – 99 Individual addressing (� sender address)P811 101 – 199 Group addressing (multicast), the sender can write to all

receivers with the same group address at the same timeP812 Timeout monitoring function, only useful with cyclical data

transfer (deactivated if set to 0 ms or 650 ms)

Addressing via SBus (P813 – P816)Parameter Address ExplanationP813 0 – 63 Individual addressing (� sender address)

(The communication service with the lowest target address (P813) has the highest priority if the multimaster option of the SBus is used, i.e. if several inverters transmit the MOVLNK command at the same time.)

P814 0 – 63* Group addressing (multicast), the sender can write to all receivers with the same group address at the same time

P815 Timeout monitoring function (deactivated if set to 0 ms or 650 ms)

P816 The baud rate depends on the length of the bus cable and must be the same for the sender and the receiver.

P817 – 819 Not relevant in connection with the MOVLNK command

Data exchange via process data channelSerial communication must be set in accordance with the tables above (addressing via RS-485 / SBus) for the process data exchange. The following additional settings are necessary for active utili-zation of the process data:

Parameter ExplanationP100 Set the setpoint source to "RS-485" or "SBus"

(only if setpoint specification via process data communication is desired)P101 Set the control signal source to "RS-485" or "SBus"P870 – 876 Process data description (see more detailed description in the "Fieldbus Unit

Profile" manual)

Safety note:

When using the MOVLNK command, avoid cyclical writing to the variables which can be stored in the non-volatile memory (H0 – 127) and to all parameters with communication service = 2. This is because the number of storage operations with the storage medium used (EEPROM) is restricted to 105 storage operations.

* increase input value for target addresses by 100 when using group address



7 Command Set

Example 1) Reading an "internal“ unit parameter (DC link voltage)

The following IPOSplus® program and parameter setting serve to read process value P008 (DC link volt-age) with the index number 8325 ("Fieldbus Unit Profile" manual) and then write it to variable H011 (VZ = 592 V). The variable structure was entered in the variable editing window in this example. It is possible to generate the variable structure with SET commands in the program.

01831AEN

Example 2) Axis-to-axis communication: Reading variables from another inverter

The value of variable H005 on the receiver axis is read and written to variable H010 in the sender. To do this, it is necessary to have 2 MOVIDRIVE® inverters connected via the SBus and for the terminating resistors to be activated (using DIP switch S12).

Sender setting01832AEN



Command Set 7

Setting Receiver (Slave)01833AEN

Example 3) Controlling a MOVIMOT® via MOVIDRIVE®

The MOVIMOT® must be commissioned in accordance with the MOVIMOT® operating instructions.

Communication with MOVIMOT® is only possible via RS-485. Control is only possible via the process data channel with 2PD or 3PD (min. control word and speed).

In the following example, the MOVIMOT® is controlled using 3 items of process output data (control word 1, speed and ramp). The values for these should be entered in variable H012 to H014.

01834AEN

PO1PO2PO3PI1PI2PI3



7 Command Set

Data exchange via SCOM system bus

SCOM The SCOM command is used for exchanging data of up to 8 bytes (only variables) exclusively via CAN bus (SBus). It is not possible to exchange data within the inverter using this command. A CAN communication protocol is used instead of SEW's own MOVILINK protocol.

This communication permits data to be exchanged with any stations that are linked together via the CAN bus (layer 2, OSI model).

The type of data transfer (object type) is defined using the argument of the SCOM command. TRANSMIT CYCLIC or TRANSMIT ACYCLIC are used for sending data from the inverter cyclically or acyclically. The RECEIVE setting is required in order for data to be received.

Features SBusBus run-time 1 ms ... depending on the cycle time (see

H+1) and the number of data objectsSender – receiver YesMultisender YesCommunication with MOVIMOT® NoPlease note Set bus terminating resistors with S12

The following settings are required on the sender and receiver in sender/receiver mode:Sender Receiver• IPOSplus® program with command:

– SCOM TRANSMIT CYCLIC HSCOMON and/or

– SCOM TRANSMIT ACYCLIC H

• Setting the communication parameters using variables

• IPOSplus® program with command:– SCOM RECEIVE H

SCOMON

• Setting the communication parameters using variables

• SBus baud rate (P816), identical on sender and receiver

TRANSMIT CYCLICThe range of variables used for specifying a data object (communication and user data) is deter-mined using variable H of the SCOM TRANSMIT CYCLIC H command.Cyclical data transfer must be started with the SCOMON command. Cyclical data exchange runs in the background once it has been started, irrespective of the current command processing in the IPOSplus® program. F5 stops the data transfer. Changes to the data object are not adopted until after the IPOSplus® program has been restarted (F5 A/P-STOP � F9 P-Start or power supply (24 V backup mode) off and on again).A maximum of one data object can be set up with each SCOM TRANSMIT... command. It is neces-sary to send additional SCOM TRANSMIT commands if additional data objects are to be set up. Only one SCOMON command is required following several SCOM TRANSMIT commands. No addi-tional SCOM TRANSMIT commands will be accepted after the first SCOMON command.The number of objects which can be set up depends on the cycle time (max. 5 objects at 1 – 9 ms, max. 10 objects at 10 – 65530 ms, i.e. 15 objects in total).The structure of the object is as follows:H+0 Object number: The object number is used for addressing the data object. The object num-

ber can only be assigned once in a bus system. The object numbers of the sender (TRANS-MIT) and receiver (RECEIVE) must be the same for the data exchange. Object numbers > 1024 – 2048 must be set in order to avoid a data clash whenever MOVLNK commands are also used via the SBus.

H+1 Cycle time [ms], specifies the time interval after which the data are sent again (the transfer time for a data object is 0.25 ms)1, 2 – 910, 20 – 65530

msms


Command Set 7

H+2 Offset [ms], used for distributing the bus load when several SCOM TRANSMIT... com-mands are used.

01806AEN

0, 1, 2 – 655340, 10, 20 – 65530

ms for cycle times �10 msms for cycle times 10 ms

H+3 Number of data bytes and data formatBit Value Function0 – 3 0 – 8 Number of data bytes4 – 7 0 Reserved8 0 – 1 0 = MOTOROLA format

1 = INTEL formatThe format of the sender and receiver must be the same!

9 – 31 0 Reserved

H+4 Number of the variable H' where the data to be transmitted startH+5 Result (return code) of the SCOM command

0 Bus utilization in % (percentage = unused bus capacity)-1 Incorrect cycle time-2 Too many objects set up-3 Bus overload

TRANSMIT ACYCLICThe range of variables used for specifying a data object (communication and user data) is deter-mined using variable H of the SCOM TRANSMIT ACYCLIC H command. The data are sent immedi-ately (without the need for a SCOMON command) after the SCOM TRANSMIT ACYCLIC H command is called. The data are sent only once. It is possible to send several variables with only one SCOM TRANSMIT ACYCLIC H command by setting the variable pointer (H+2) accordingly in the IPOSplus® program every time before the com-mand is called.


SBus

SCOM TRANSMIT CYCLIC, H0+ SCOMONorSCOM TRANSMIT ACYCLIC, H0

SCOM RECEIVE, H0+ SCOMON

SCOM RECEIVE, H0+ SCOMON

DATA

DATA

ExampleSCOM

H0 = 1100H0 = 1100

H0 = 1102

t

transfe

r objec

t 1

transfe

r objec

t 2

transfe

r objec

t 1

transfe

r objec

t 2

cycle time offset time


7 Command Set

The structure of the object is as follows:H+0 Object number: The object number is used for addressing the data object. The object num-

ber can only be assigned once in a bus system.The object numbers of the sender (TRANS-MIT) and receiver (RECEIVE) must be the same for the data exchange. Object numbers > 1024 – 2048 must be set in order to avoid a data clash whenever MOVLNK commands are also used via the SBus.



9 – 31 0 ReservedH+2 Number of the variable H' where the data to be transmitted startH+3 Status of the transmit command

0 Ready1 Transmission in progress2 Transmission successful3 Transmission fault

RECEIVEThe variable in the argument of the SCOM RECEIVE command contains the variable number that marks the beginning of the reception data storage. No additional SCOM RECEIVE commands will be accepted after the first SCOMON command.The reading in of data must be started with the SCOMON command. The reading in of data runs in the background once it has been started, irrespective of the current command processing in the IPOSplus® program. Changes to the data object are not adopted until after the IPOSplus® program has been restarted (F5 A/P-STOP � F9 P-Start or power supply (24 V backup mode) off and on again).Max. 32 data objects can be set up for reading in data.The structure of the object is as follows:H+0 Object number: The object number is used for addressing the data object. The object num-

bers of the sender (TRANSMIT) and receiver (RECEIVE) must be the same for the data exchange. Object numbers > 1024 – 2048 must be set in order to avoid a data clash when-ever MOVLNK commands are also used via the SBus.



9 – 31 0 Reserved

H+2 Number of the variable H' from which point the received data are storedDifferences in the user data format between the MOTOROLA and INTEL format:

MOTOROLA format INTEL formatCAN data byte 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7Variable H’+1 H’ H’ H’+1Variable byte 3 2 1 0 3 2 1 0 0 1 2 3 0 1 2 3



Command Set 7

Safety note:

When using the SCOM command, remember that even the variables which can be stored in the permanent memory (H0 - H127) as well as all the parameters are only written in the non-perma-nent memory.

Example Transmission of two variable values (H008 and H009) with the SCOM command from the sender to the receiver to variables H005 and H006.

Sender setting01835BEN

Receiver setting01836BEN



7 Command Set

7.5 Positioning commands

Reference travel GO0

GO0

GO0 argument

The GO0 command starts reference travel in accordance with the set reference travel type (� Sec. 4.2). IPOSplus® operating mode is exited at the same time (the 7-seg-ment display changes from "A" to "C"). The set reference speeds are used during ref-erence travel. The argument of the GO0 command determines the properties of reference travel as well as the types of reference travel.

The argument is a combination of 3 characteristic properties (C/U; W/NW; ZP/CAM) resulting in 8 selection options. Furthermore, once reference travel has started, it can be interrupted using the RESET argument.

01837ADE

C (conditional) Reference travel only if reference travel has not yet been performed

U (unconditional) Always perform reference travelW (wait) Waits until the axis is referencedNW (non-wait) The next command is processed during reference

travelZP (zero pulse) Reference travel to the zero pulse of the encoder

signalCAM (reference cam) Reference travel to the reference camRESET Reference travel which has started is interrupted

(braking with the positioning ramp) and the call is reset. If the axis has already been referenced, the "Reference position defined" signal is reset and the "Axis in position" signal is set.

ZP and CAM are ineffective if reference travel type 5 is selected.CAM must not be set in the case of types 3 and 4.If a waiting reference command is interrupted by removing “/controller inhibit,“ the error code 39 (reference travel) will be set.

The axis will not start again after return of the signal. The IPOSplus® program remains on the command.

A reset (binary input, fieldbus, MX_SHELL ...) has to take place. The IPOSplus® pro-gram starts with the first note at the start.


Command Set 7

Absolute positioning GOA / Relative positioning GOR

The argument of the travel command contains the target position.

A difference is drawn between absolute positioning and relative positioning.

GOA

GOA (Wait/ NoWait) KGOA (Wait/ NoWait) HGOA (Wait/ NoWait) [H]

Absolute positioning

The target position in relation to position 0 (machine zero) is entered as the travel distance. The resulting target position is replicated in system variable H492 (TARGET POSITION). The value entered can be input directly as a constant (K) or via a variable (H).

If the command is "waiting", processing of the program does not continue until the actual position of the drive has reached the position window of the target position.

With "non-wait commands", program processing continues whilst the drive is still moving. This permits the program to be processed in parallel with movement opera-tions.

Note: If the target position is specified via a variable, it is only possible to enter the value in increments (in relation to 4096 increments/motor revolution). Constants can be entered in user travel units (� Sec. 5.1.1).

GOR

GOR (Wait/ NoWait) KGOR (Wait/ NoWait) HGOR (Wait/ NoWait) [H]

Relative positioning

The entered travel distance is added to the current target position H492 (TARGET POSITION) of the drive. The resulting target position is replicated in system variable H492 (TARGET POSITION). Relative travel commands can also be programmed as "wait" or "non-wait".

Note: If the target position is specified via a variable, it is only possible to enter the value in increments (in relation to 4096 increments/motor revolution). Constants can be entered in user travel units (� Sec. 5.1.1)

Infinite positioning

The absolute travel range of IPOSplus® is limited to values in the range -231 – 0 – 231- 1. With the "relative" travel command, it is possible to add a max. travel distance of 231 to any target position (see figure below, number circle).

An example of infinite positioning is shown in the JOG mode sample program (� Sec. 9.3).

The GOR command always relates to the target position H492. For example, if the GOR 1000 incr. command is sent 100 times in a program, the target position is set internally to 100 x 1000 increments. The position setpoint may "migrate" away from the actual position of the motor if the command is called up cyclically. The IPOS con-trol may then fail from a critical value 231/2 onwards.

01812AEN

231-1-231

0-1

2x

-2x

IPOSplus®number circle


7 Command Set

Example 1) The program listed below causes movement to take place between the positions 0 revs. and 100 revs. A waiting period of 5 seconds elapses when a position is reached.

01813AEN

Program sample

Example 2) The program listed below causes movement to take place between the positions 0 and 409600 increments. A waiting period of 1 second elapses when a position is reached. The speed is increased from 100 rpm to 3000 rpm when the drive moves beyond position 40960. The entire return travel takes place at 3000 rpm.

01814AEN

Programsample to demonstrate the function. Not to be used for applicati-ons without changes/modification.

Absolute positioning GOA / Relative positioning GOR

n t( )

srev..

0 100

3000 rpm

sincr .

n t( )

0 40960040960

3000 rpm

100 rpm


Command Set 7

7.6 Program commands

Subroutine call CALL

CALL

CALL Mxx

Subroutines can be called up with a CALL command (CALL Mxx). The maximum nesting depth is 32 levels. The corresponding jump flags (Mxx) are inserted in front of the first command in the subroutine. A subroutine ends with a RETURN command (RET). This RETURN command causes program processing to jump back to the line below the CALL command. The subsequent program lines are then processed. It is also possible to have nested subroutine calls.

Safety note:

Subroutines must never be exited with a jump into a main program or into another subroutine. Conditional exiting of the subroutine must be performed by jumping to the end of the subroutine.

Example The main program positions the drive 10 revs. CCW, after which there is a subrou-tine call (CALL M1). Here, 2 outputs of the basic unit are set for 1 ms (the output parameters must be set to "IPOS-OUTPUT"). The jump back to the main program (RET) takes place next and the GOR WAIT #10 positioning command is processed.

01840AEN

Jump commands JMP

JMP

JMP HI/LO I 00000000000000 Mxx

The terminal level of digital inputs can be interrogated in the IPOSplus® program by means of a jump command. When doing this, it is necessary to select the terminal level (HI/LO) in the input screen which should lead to the jump command being per-formed. Terminals which are going to be used for this function must be identified with a "1" in the terminal mask. All defined terminals must have the selected terminal level in order to fulfill the jump condition for the jump command.

01841AXX


7 Command Set

JMP H <=> 0/ H/ K Mxx The command performs a jump to the specified jump flag (Mxx) when the compari-son operation is completed. (!= Comparison operator not equal)

01842AXX

> Greater than

>= Greater than or equal

< Less than

<= Less than or equal

== Equal

!= Not equalJMP (System conditioned jump) The system values listed below can be interrogated directly by means of a JMP com-

mand. Other system values are available as system variables or must be read in using the GETSYS command and processed further.

01843AXX

UNCONDITIONAL Unconditional jumpN==0 Jump if the speed is equal to zero (n < 20 rpm)N!= Jump if the speed is not equal to zero (n < 20 rpm)NOT POSITIONED Jump if the drive is not in positionTP1 Jump if there is an edge change at touch probe termi-

nal DI02NOT TP1 Jump if there is no edge change at touch probe termi-

nal DI02TP2 Jump if there is an edge change at touch probe termi-

nal DI03NOT TP2 Jump if there is no edge change at touch probe termi-

nal DI03Mxx Jump flag

Jump commands JMP


Command Set 7

Loop commands LOOP

LOOP

LOOPB KLOOPE

Program loops can be programmed with the LOOP command. The loop starts with the LOOPB command and finishes with the LOOPE command. The number of times the loop is processed is defined in the argument of the LOOPB command (max. number of loop cycles: 256). Nested loops are possible.

Safety note:

Program loops must never be exited with a jump command. Jump commands are allowed within a program loop.

Example In the example below, variable H0 is incremented from 0 to the value 5 in 5 run-throughs of the loop. Program processing starts again with the SET H0 = 0 com-mand after the loop has been run through 5 times.

01844AEN

No operation NOP / Remark REM / Return RET / TASK2 / Wait WAIT

NOP The NOP command does not have any effect on the program function, however like all other commands, it does require a command processing time of 1.0 ms (TASK1)/0.5 ms (TASK2).

REM The REM command adds a remark line to the program. Remark lines can only be saved onto a diskette or on the PC. All remark lines are lost after DOWNLOAD of the program followed by an UPLOAD.

RET The RET command (RETURN) terminates a subroutine (see the CALL command) and initiates a jump back to the program from which the subroutine was called. In the main program, the RET command initiates a jump to the start of the main program.

TASK2

TASK2 STARTTASK2 STOP

This command is used for defining the start address of TASK2 and for starting or stopping TASK2 depending on the argument 1 (START/STOP). TASK2 is deactivated when the power is switched on.

01845AEN

WAIT The wait command prevents further processing of the program until the specified command has elapsed.

Adjustment range: 0 – 32767 ms


7 Command Set

7.7 Set commands

Copy variables COPY

COPY

COPY H = H, K

The COPY command copies the number of successive variables specified in the 3rd argument. The 2nd argument of the COPY command specifies the number of the first source variable and the 1st argument specifies the number of the first target variable. It is possible to copy up to 10 variables using one COPY command.

Argument 1 Number of the first target variableArgument 2 Number of the first source variableArgument 3 Constant (number of variables to be copied)

Read system values GETSYS

GETSYS

GETSYS H=(Argument 2)

The system values listed below can be read into one or more variables using the GETSYS command. The 2nd argument of the command defines the number of the (first) target variable.

ACTIVE CURRENT Active currentACT.SPEED Actual speedSETP.SPEED Setpoint speedERROR Fault code (� System Manual, Sec. 9.3, List of

faults)SYSTEM STATUS Operating status, value of the 7-segment display

without fault status (� System Manual, Sec. 9.1, Operating displays)

ACT.POSITION Actual position, identical to system variable H511SETP.POSITION Setpoint position (current setpoint specification

of the profile generator whilst a travel command is being carried out), identical to system variable H491

TARGET-POSITION Target position, identical to system variable H492

INPUTS Binary inputs of the basic unit and the option, identical to system variable H483

DEVICE-STATUS Identical to status word 1 of the fieldbus unit profile (fault code + operating status)

OUTPUTS Binary outputs of the basic unit and the option, identical to system variable H482

IxT Unit utilization (display in % � 0.1)ANALOG-INPUTS H Voltage value analog input 1 [mV]

H+1 Voltage value analog input 2 [mV](� Sec. 4.3, Analog inputs/outputs)

CAM The GETSYS H = CAM command makes it possi-ble to recreate a cam index gear (electronic cam-shaft device). Four travel areas of the drive (in relation to the motor shaft in increments) can be defined using variables H+6 – H+13. The level of a bit (to be defined) of a freely selectable variable is altered when one of the defined travel areas is entered/exited. This bit can be used, for example, to switch a digital output (see the example below). The travel area is only checked when the GETSYS H = CAM command is called up. Consequently, a cyclical call is recommended.


Command Set 7

H The variable in the GETSYS H = CAM command defines the start of the variable structure described below.

H+0 Position value (H509 – H511) which is used for a comparison with the defined travel areas.

H+1 Delay time feedforward in 0.1 ms (for compensa-tion of the program processing time).

H+2 Contains the number of the variable in which a bit is changed when the defined travel area is reached/exited.

H+3 Specifies the bit position in the result variable (H+2).

H+4 Polarity in the result variable0 = Bit is set in travel area1 = Bit is set outside travel area

H+5 Number of travel areas (cam blocks), max. 4H+6 CCW limit value (0)H+7 CW limit value (0)H+8 CCW limit value (1)H+9 CW limit value (1)H+10 CCW limit value (2)H+11 CW limit value (2)H+12 CCW limit value (3)H+13 CW limit value (3)

01846AEN

ANALOG-OUTPUTS H The variable in the GETSYS H = ANALOG OUT-PUTS command defines the start of the variable structure described below.

H+0 Contains the voltage value of analog output 1 (AO1)

H+1 Contains the voltage value of analog output 1 (AO2)

TIMER 0 Loads the current value of timer 0 [ms], identical to system variable H489

TIMER 1 Loads the current value of timer 1 [ms], identical to system variable H488



7 Command Set

PO-DATA Reading the PO data bufferH+0 Bus type

0 = Reserved1 = TERMINAL2 = RS-4853 = Fieldbus4 = Reserved5 = SBus

H+1 Number of PO data itemsH+2 PO1H+3 PO2H+4 PO3

DC-VOLTAGE DC link voltage [V]

Set commands variable SET / Fault resp. SETFR / Indir. address. SETI / Interrupt SETINT / System values SETSYS

SET

SET (H=H)SET (H=K)

The SET command loads argument 1 (variable) with the contents of argument 2 (variable H or constant K). The result is written to argument 1, argument 2 remains unchanged.

SETFR

SETFR(argument 1) = (argument 2)

SETFRFault # = Fault response

The SETFR command defines the response to a unit fault. The fault number in ques-tion is entered in argument 1 of the command (List of faults, Sec. 10.2 or MX_SHELL help text). The response to a unit fault is selected using argument 2. The selected fault response is only performed if the SETFR command was processed first. The most recently selected fault response (call of the SETFR command or changes in P83_ "Fault response") is the one in effect.

01829AEN

NO RESPONSE No response (no fault is displayed either)DISPLAY FAULT

No response, the fault is only displayed (the terminal level of an output programmed to "/FAULT" is set from 1 � 0).

SWITCH OFF, FAULT

The output stage is inhibited, the brake is activated Following a reset: Response as for power off/on, the IPOSplus® program, reference point, outputs and variables are reset (pro-gram starts from line 1).

E-STOP, FAULT

The drive is stopped with the emergency stop rampFollowing a reset: Response � SWITCH OFF, FAULT.

RAPID STOP, FAULT

The drive is stopped with the rapid stop rampFollowing a reset: Response � SWITCH OFF, FAULT.

SWITCH OFF WARNING

Output stage inhibitIPOSplus® program keeps running, reference point, outputs and variables are maintained.*

E-STOP, WARNING

The drive is stopped with the emergency stop rampIPOSplus® program keeps running, � SWITCH OFF, WARN-ING.*

RAPID STOP, WARING

The drive is stopped with the rapid stop ramp IPOSplus® program keeps running, � SWITCH OFF, WARN-ING.*

* Even after acknowledgment of the fault.


fault number

selectable fault response


Command Set 7

SETI

SET INDIRECT ([H]=H)SET INDIRECT (H=[H])

All variables can be addressed indirectly with the SETI [H]=H or SETI H=[H] com-mand. This makes it possible to write to variables automatically, for example by incrementing the variable in brackets in the program.

With SETI [H]=H, the value of the variable in brackets specifies the address of the variable which is written to with argument 2.

With SETI H=[H], the value of the variable in brackets specifies the address of the variable which is written to with argument 1.

01847AEN

SETINT

SETINT (argument 1) Mxx

If the interrupt command (SETINT) is called once, the following events result in an interrupt routine being performed. The jump flag for the interrupt routine is specified in the SETINT command. The interrupt routine must be completed with a RET com-mand.

A jump to the interrupt routine takes place immediately, no matter which line in the main program is being processed at the time. If the interrupt routine ends with the RET command, processing of the program continues from the point where the inter-ruption occurred (processing of an interrupted "wait command" is continued).

The SETINT command is only in effect in task 1 and processing of task 1 is inter-rupted whilst the interrupt is being processed.

It is only possible to process one interrupt at any one time, although an interrupt with a higher priority can interrupt the processing of another interrupt. ERROR has the highest priority in this respect, followed by TOUCH PROBE and then TIMER 0.

An interrupt only has to be initialized once using SETINT.

01830AEN

DISABLE Deactivation of the interrupt, the jump flag (Mxx) does not have any significance

ERROR Initiates an interrupt in case of a unit fault. Depending on which fault response is set (parameter group 830 or SETFR command), the following procedure takes place during processing of the interrupt routine which is different from the description above:

• No interrupt is carried out if the faults in parameter group 830 are set to "NO RESPONSE" or if the SETFR command stipulates "NO RESPONSE".

• The program is restarted after acknowledgment of the fault if the fault response (parameter group 830 or SETFR com-mand) is set to "..., FAULT" (see SETFR command).


H01=10H02=666H10=xxx

H01=10H02=666H10=666

..

...SET[H01]=H02...

IPOSplus Program

selectable interrupt routine

jump address fora branch in the program


7 Command Set

TIMER 0 Triggers an interrupt when the time set in Timer 0 has elapsed. An "autoreload" with the system variable H485 takes place after Timer 0 has elapsed. This reload value determines the cyclical time period of the interrupt routine.

TOUCH PROBE Triggers an interrupt when there is a change of signal level on the touch probe terminal DI02, if the touch probe was activated for terminal DI02 (parameter P601 = IPOS INPUT) and the TOUCHP command was transmitted.

Example Interrupt branch in the event of a unit fault

In the sample program, a distance of 100 revolutions is traveled after a 2 sec. pause and then the process repeats itself. The program branches to the interrupt routine immediately if a unit fault occurs. The jump back (RET) to the main program takes place as soon as there is a "high" signal at terminal DI02. The parameter for input DI02 should be set to "Reset" in order to reset the fault.

01849AEN

SETSYS The system values listed below can have variables written to them using the SETSYS command. The first argument selects the system value to be written whilst the sec-ond argument contains the number of the (first) source variable.

The system values are reset to their original values when the system is switched off (mains and 24 V power).

Safety note:

By writing to system values, it is possible to alter unit settings which have been adapted to the application during startup. In particular, changes to positioning ramps and the maximum current must be adapted to the features of the system in order to preclude the risk of damage and hazards (e.g. due to mechanical overload).

01848AEN


Argument 1 =selectablesystem value

Argument 2 =number ofthe (first)sourcevariable


Command Set 7

Argument 1: System values which can be selected

The internal fixed setpoints (parameter group P160/P170) can be altered in steps of 0.1 rpm using the IPOSplus® program (even whilst movement is in progress if there is no controller inhibit).

N11 =N12 =N13 =N21 =N22 =N23 =

Internal fixed setpoint n11Internal fixed setpoint n12Internal fixed setpoint n13Internal fixed setpoint n21Internal fixed setpoint n22Internal fixed setpoint n23

PI-DATA Process input data corresponding to the fieldbus unit profileHH+1 H+2H+3

ReservedPI data 1PI data 2PI data 3

OP. MODE Setting the operating mode. The operating mode can only be altered within the same control procedure (CFC or SERVO) (even whilst movement is in progress if there is no controller inhibit).1112131416171819

CFC (speed control)CFC & torque controlCFC & IPOS (positioning)CFC & synchronous operation (DRS11A)SERVO (speed control)SERVO & torque controlSERVO & IPOS (positioning)SERVO & synchronous operation (DRS11A)

IMAX Setting the maximum current (only parameter set 1) as a per-centage of the unit's rated current(Adjustment range: 0.1 – 150 %, in 0.1 % steps); adjustment is also possible during movement.

POS. RAMP Positioning ramps (up/down), adjustment is also possible dur-ing movement. Setting in ms with reference value 3000 rpm.HH+1

Positioning ramp 1 (up)Positioning ramp 2 (down)

POS. SPEED Positioning speed (CW/CCW), adjustment is also possible dur-ing movement. Setting in 0.1 rpm.HH+1

Positioning speed CWPositioning speed CCW

OVERRIDE ON Switching the override on/off, adjustment is also possible dur-ing movement.H = 0H � 0

OffOn

BRAKE FUNC. ON

Switching the brake function on/off (Pxxx)H = 0H = 1

OffOn

RAMP TYPE It is not a good idea to adjust this during movement (torque shocks!). (� Sec. 5.3, P916)H = 0H = 1H = 2

LinearSineSquared

RESET ERROR Resetting a unit faultACT. POSITION Setting the motor encoder actual position ACTPOS.MOT

(H511)Argument 2: Number of the (first) source variable



7 Command Set

7.8 Special unit commands

ASTOP / MEM / TOUCHP / WDOFF / WDON

ASTOP The drive is stopped or re-enabled when an ASTOP command is processed. The argument of the command (RAPID STOP, HOLD CONTROL, TARGET POSITION) defines the type of stopping (ramp, control when stopped, etc.) or re-enables the drive (IPOS ENABLE).

01850AXX

ArgumentRAPID STOP Braking with the rapid stop ramp followed by speed con-

trol. The last target position (H492) to have been transmit-ted is retained. Inhibit via control word (the ASTOP (IPOS ENABLE) command is required with the subsequent travel command). The brake is applied when the brake function is activated.

HOLD CONTROL

Braking with the ramp of the basic unit (P131/P133) fol-lowed by position control. The last target position (H412) to have been transmitted is retained. Inhibit via control word (the ASTOP (IPOS ENABLE) command is required with the subsequent travel command). The brake is not applied when the brake function is activated.

TARGET POSITION

Positioning stop with the positioning ramp (P911/P912) and calculated “STOP” target position (only possible in positioning mode) followed by position control. The last target position (H492) to have been transmitted is over-written by the stop position. No inhibit via control word (no ASTOP (IPOS ENABLE) command is required with the subsequent travel command). The brake is not applied when the brake function is activated.

IPOS ENABLE The inhibit is revoked using the IPOS control word.

MEM The MEM command makes it possible to save (load) IPOSplus® programs and/or variables in (from) the non-volatile memory on (to) the unit. The action is specified by the argument.

Safety note:

When using the MOVLNK command, avoid cyclical writing to the variables which can be stored in the non-volatile memory (H0 – 127) and to all parameters with commu-nication service = 2. This is because the number of storage operations with the stor-age medium used (EEPROM) is restricted to 105 storage operations.

01851AXX


Command Set 7

Argument ExplanationNOP No data are storedSTORE ALL Programs and data in the working memory are saved in

the non-volatile memory (EEPROM)LOAD ALL Programs and data in the non-volatile memory (EEPROM)

are loaded to the working memorySTORE CODE Only the program is saved from the working memory to

the non-volatile memory (EEPROM)LOAD CODE Only the program is loaded from the non-volatile memory

(EEPROM) to the working memorySTORE DATA Only the variables are saved from the working memory to

the non-volatile memory (EEPROM)LOAD DATA Only the variables are loaded from the non-volatile mem-

ory (EEPROM) to the working memory

TOUCHP The TOUCHP command enables or inhibits a touch probe input. The touch probe function is always assigned to input terminals DI02 and/or DI03. Inputs used for the touch probe function should be set to "NO FUNCTION" in order to prevent them being allocated twice.If there is a change of signal level at a touch probe input after the TOUCHP command has been carried out, the current actual positions (H511, H510, H509) are stored in the variables intended for this purpose (H502 – H507). It takes 200 �s to store the touch probe positions, irrespective of ongoing program processing. The terminal level must be altered for at least 200 �s in order to be reliably detected. With this argument, you can select the flange change leading to touch probe

01852CXX

The touch probe positions are stored in the following variables:Encoder Encoder posi-

tionPosition PositionTouch probe 1 Touch probe 2(DI02) (DI03)

Motor encoder (X15)

H511ACTPOS. MOT

H507 H505TP.POS1MOT TP.POS2MOT

External encoder (X14)

H510ACTPOS.EXT

H506 H504TP.POS1EXT TP.POS2EXT

Absolute encoder (X62)

H509ACTPOS.ABS

H503 H502TP.POS1ABS TP.POS2ABS



7 Command Set

Argument ExplanationENABLE 1 Enables the touch probe input DI02DISABLE 1 Inhibits the touch probe input DI02ENABLE 2 Enables the touch probe input DI03DISABLE 2 Inhibits the touch probe input DI03ENABLE 1_HI Enables the touch probe input DI02 when changing

low/highENABLE 1_LO Enables the touch probe input DI02 when changing

high/lowENABLE 2_HI Enables the touch probe input DI03 when changing

low/highENABLE 2_LO Enables the touch probe input DI03 when changing

high/low

Example 1) In the program, the drive travels between the absolute positions of 0 revs. and 100revs. If there is a change of signal level at touch probe input DI03 whilst the drive ismoving to the target position of 100 revs., a further 10 revs. (40960 incr.) is traveledfrom precisely this touch probe position. The touch probe function is deactivatedwith the DISABLE2 command for the return to the 0 revs. position.

01853AEN

01854AEN



Command Set 7

Example 2) As an alternative to the example above, a program branch (jump flag M100) can take place when the touch probe position is reached. This is achieved using the "SETINT TOUCHP1 M100" command.

01855AEN

WDOFFWDON

Time monitoring is activated with WDON. TASK1 and TASK2 are halted and the drive is stopped with fault 41 if the time specified in the argument elapses before the mon-itoring function is switched off using the WDOFF command. (When the drive is stopped, the output stage is inhibited and the brake is applied. The drive coasts to a halt if there is no brake.)In the sample program, the drive moves for as long as the level at DI05 = 1 ("high"). The "watchdog" function ensures that the drive does not travel for more than 10 sec. The drive is stopped if it travels for more than 10 sec.

01856AEN



7 Command Set

7.9 Comparison commands

Comparison operations CPEQ / CPGE / CPGT / CPLE / CPLT / CPNE

CPEQCOMPARE EQUAL (H = H == H)COMPARE EQUAL (H = H == K)

CPGECOMPARE GREATER OR EQUAL (H = H >= H)COMPARE GREATER OR EQUAL (H = H >= K)

CPGTCOMPARE GREATER THAN (H = H > H)COMPARE GREATER THAN (H = H > K)

CPLECOMPARE LESS OR EQUAL (H = H <= H)COMPARE LESS OR EQUAL (H = H <= K)

CPLTCOMPARE LESS THAN (H = H < H)COMPARE LESS THANL (H = H < K)

CPNECOMPARE NOT EQUAL (H = H != H)COMPARE NOT EQUAL (H = H != K)

A variable is compared with a 2nd argument (variable or constant), with the following comparisons being possible:

• Equal to (CPEQ)• Greater than or equal to (CPGE)• Greater than (CPGT)• Less than or equal to (CPLE)• Less than (CPLT)• Not equal to (CPNE)

The result in variable 1 is � 0 if the condition is met (TRUE). The result is 0 (FALSE) if the condition is not met.

The result can be processed further with a subsequent jump com-mand.

Logic operations ANDL / ORL / NOTL

ANDLLOGICAL AND (H = H && H)

ORLLOGICAL OR (H = H ��H)

NOTLLOGICAL NOT (H = NOT (H)

Variables only have two conditions in the case of commands which perform logic operations:

• = 0 (FALSE)• � 0 (TRUE)

The ANDL command performs a logical AND operation on a variable and a 2nd argument (variable or constant):

Example 1: Example 2:ANDL H01 && H02 ANDL H01 && H02

The ORL command performs a logical OR operation on a variable and a 2nd argument (variable or constant):

Example 1: Example 2:ORL H01 �� H02 ORL H01 �� H02

The NOTL command negates a variable:

Example 1: Example 2:NOTL H01 = NOT (H02) NOTL H01 = NOT (H02)

The result can be processed further with a subsequent jump com-mand.

H01 = 100 Meaning: 0�H02 = 0 Meaning: = 0H01 = = 0---------------------------------------------------------------

H01 = 100 Meaning: 0�H02 = 50 Meaning: 0�H01 = 0�----------------------------------------------------------------

H01 = 100 Meaning: 0�H02 = 0 Meaning: = 0H01 = 0�----------------------------------------------------------------

H01 = 0 Meaning: 0�H02 = 0 Meaning: 0�H01 = =0---------------------------------------------------------------

H01 = 100 Meaning: 0�

H01 = = 0--------------------------------------------------- H02 = 0 Meaning: = 0

H01 = 0�--------------------------------------------------------------------


Survey of System Variables 8

8 Survey of System Variables

Variables marked "reserved" are used for internal functions and must not be utilized.Editing variables: � Sec. 4.2.2, 7.1 and 7.2

No. Name Description

473 STAT.WORD The operating status of the inverter can be queried using the status word.

Bit Function with level "1"0 No function1 /Fault2 Ready3 Output stage on4 Rotating field on5 Brake released6 Brake applied7 Motor stationary8 Parameter set9 Speed reference10 Speed window11 Set/act. comparison12 Current reference

Bit Function with level "1"13 Imax signal14 /Motor utilization 115 /Motor utilization 216 /DRS prewarning17 /DRS lag fault18 DRS slave in position19 IPOS in position20 IPOS referenced21 Reserved22 /IPOS fault23..31 Reserved

474 SCOPE 474Variables for display using MX_SCOPE

475 SCOPE 475

476 DRS CTRL. Signal level of the binary outputs of the synchronous operation board type DRS11A READ and SET.

Bit Terminal level0 X40.9 OUTP01 X40.10 OUTP13..14 Reserved15 Set hardware fault DRS (fault 48)16..31 Reserved

477 DRS STATUS Signal level of the binary inputs and status signals of the synchronous operation board type DRS11A READ.

Bit Terminal level / Status signals0 X40.5 INP4 Free input 11 X40.6 INP5 Free input 22 /DRS prewarning3 /DRS lag error4 DRS slave in position 5 Master stand still6..31 Reserved

478 Reserved

479 ANA.OUT IP Analog outputs of the terminal expansion board type DIO11A SET only.� Analog inputs/outputs, page 18

Value of variable Physical output Output terminal assignment-10000..0..10000 AOV1/AOC1 (X21:1/X21:2) P640 analog output AO1 = IPOS-OUTPUT-10000..0..10000 AOV2/AOC2 (X21:4/X21:5) P643 analog output AO2 = IPOS-OUTPUT

480 OPT.OUT IP Binary outputs of the terminal expansion board type DIO11A/DIP11A SET only.� Digital outputs, page 16

Bit Physical output Output terminal assignment0 DO10 (X23:1) P630 binary output DO10 = IPOS-OUTPUT1 DO11 (X23:2) P631 binary output DO11 = IPOS-OUTPUT2 DO12 (X23:3) P632 binary output DO12 = IPOS-OUTPUT3 DO13 (X23:4) P633 binary output DO13 = IPOS-OUTPUT4 DO14 (X23:5) P634 binary output DO14 = IPOS-OUTPUT5 DO15 (X23:6) P635 binary output DO15 = IPOS-OUTPUT6 DO16 (X23:7) P636 binary output DO16 = IPOS-OUTPUT7 DO17 (X23:8) P637 binary output DO17 = IPOS-OUTPUT8..31 Reserved



481 STD.OUT IP Binary outputs of the basic unit SET only.� Digital outputs, page 16

Bit Physical output Output terminal assignment0 DB00 (X10:3) Not programmable, fixed setting of "/Brake"1 DO01 (X10:4) If P620 binary output DO01= IPOS-OUTPUT2 DO02 (X10:7) If P621 binary output DO02 = IPOS-OUTPUT3..31 Reserved

482 OUTPUT LVL Signal level of the binary outputs READ only.� Digital outputs, page 16

Bit Terminal level basic unit0 DB00 (X10:3) 1 DO01 (X10:4)2 DO02 (X10:7)

Bit Terminal level DIO11A/DIP11A3 DO10 (X23:1/X61:1)4 DO11 (X23:2/X61:2)5 DO12 (X23:3/X61:3)6 DO13 (X23:4/X61:4)7 DO14 (X23:5/X61:5)8 DO15 (X23:6/X61:6)9 DO16 (X23:7/X61:7)10 DO17 (X23:8/X61:8)11..31 Reserved

483 INPUT LVL Signal level of the binary inputs READ only.� Digital inputs, page 15

Bit Terminal level basic unit0 DI00 (X13:1)1 DI01 (X13:2)2 DI02 (X13:3)3 DI03 (X13:4)4 DI04 (X13:5)5 DI05 (X13:6)

Bit Terminal level DIO11A/DIP11A6 DI10 (X22:1/X60:1)7 DI11 (X22:2/X60)8 DI12 (X22:3/X60:3)9 DI13 (X22:4/X60:4)10 DI14 (X22:5/X60:5)11 DI15 (X22:6/X60:6)12 DI16 (X22:7/X60:7)13 DI17 (X22:8/X60:8)14..31 Reserved

484 CTRL.WORD IPOSplus® control word (unit functions READ and SET).The IPOS plus® control word can always be used, irrespective of the operating mode, control source and setpoint source. The IPOSplus® control word is ORred in the unit with the terminal functions, the fieldbus control word and the control word via the RS-485/RS-232 and the SBus.Bit Function at level "1"0 No function1 No enable2 CW3 CCW4 n11/n21 (fixed setpoint 1)5 n12/n22 (fixed setpoint 2)6 Fixed setpoint switchover7 Parameter switchover (param. set 2)8 Ramp switchover (ramp set 2)9 Motor pot. up10 Motor pot. down11 External fault12 Fault reset13 Hold control14 Limit switch CW15 Limit switch CCW

Bit Function at level "1"16 Reserved17 Reference cam18 Ref. travel start19 Slave free running20 Setpoint acceptance21 Reserved22 Set DRS zero point23 DRS slave start24 DRS Teach in25 Reserved 26 Reserved27 Reserved28 Reserved29 Reserved30 Controller inhibit31 Reserved

485 T0 RELOAD Loading value for the user timer 0 cycle time READ and SET.The cycle time can be specified with H485 if a user timer (TIMER0 (H489)) is to be used cyclically with the SET INTERRUPT (SETINT) command. The time value entered in H485 is automatically loaded with this time value again every time the timer 0 runs down (H489 = 0).Value range: 0 – 231 - 1 ms.

486 Reserved

487 Reserved



Survey of System Variables 8

488 TIMER 1 Time for the user timer 1 READ and SET.The user timer 1 counts down to 0.Value range: 0 – 231 - 1 ms.

489 TIMER 0 Time for the user timer 0 READ and SET.The user timer 0 counts down to 0. An interrupt branch is performed when the timer value reaches 0 if the SET INTERRUPT (SETINT) command is being used (� SETINT command description in Sec. 7.6). The cycle time can be specified with the T0 RELOAD variable (H485) if a user timer is to be used cyclically with the SET INTERRUPT (SETINT) command.Value range: 0 – 231 - 1 ms.

490 WD.TIMER Time for the user watchdog READ and SET.The watchdog timer counts down to 0. The WATCHDOG ON (WDON) command activates the timer and defines the cycle time.Value range: 0 – 231 - 1 ms.

491 SETP.POS. Current setpoint position READ.

IMPORTANT: System controlled variable! Value must not be overwritten!

The setpoint position always has the following unit, irrespective of the encoder pulse count per revolution:

The current setpoint position represents the absolute position which is currently valid for posi-tion control in the travel job which is in progress. The changes in the setpoint position over time result from the calculated travel profile with regard for the positioning ramp, travel speed, ramp shape, etc. The value of H491 is the same as H492 after the travel job has been completed and the drive is stopped.Value range: -231 – 0 – 231...1 inc.

492 TARGET POS Current target position READ and SET.The target position always has the following unit, irrespective of the encoder pulse count per rev-olution:

This variable represents the current target position of the travel job which is currently in progress. The position is represented in H492 in absolute terms.Example:1. Current drive position: 50000 inc.2. GOR NOWAIT #–8000 inc3. Current target position: 42000 inc.Value range: -231 – 0 – 231...1 inc.

493 POS.WINDOW Position window READ and SET.The position window defines a distance range around the target position (H492) of a travel or stop command (GOx or ASTOP TARGET POSITION). The "IPOS IN POSITION" signal is generated as soon as the drive moves into the position window (� P922 Position window, page 31).Value range: 0 – 215...1 inc.

494 LAG WINDOW Lag window READ and SET.The lag error window defines the maximum permitted difference between the setpoint and actual positions. Lag monitoring is deactivated when the value is set to 0 (� P923 Lag error window, page 32).Value range: 0 – 231...1 inc.

495 LAG DISTAN Lag distance READ.Value of the current lag distance in positioning (difference between setpoint and actual position).Value range: 0 – 231...1 inc.


14096------------ Motor revolutions

Inc.------------------------------------------�


Inc.------------------------------------------�



496 SLS RIGHT Software limit switch CW READ and SET.Limits the travel range in the CW direction. The value is stated in user travel units. The monitoring of the software limit switches is only active if the drive is referenced. Monitoring is deactivated if both the CCW and the CW limit switches are set to 0 (� P920 SW limit switch CW, page 31).Value range: -231 – 0 – 231...1.

497 SLS LEFT Software limit switch CCW READ and SET.Limits the travel range in the CCW direction. The value is stated in user travel units. The monitor-ing of the software limit switches is only active if the drive is referenced. Monitoring is deactivated if both the CCW and the CW limit switches are set to 0 (� P921 SW limit switch CCW, page 31).Value range: -231 – 0 – 231...1.

498 REF.OFFSET Reference offset READ and SET.Reference offset makes it possible to move the machine zero without physically altering the posi-tion of the reference position. Utilization of the reference offset is dependent on the reference travel type (P903) (� P900 Reference offset, page 25).The reference offset always has the following unit, irrespective of the encoder pulse count per revolution:

Value range: -231 – 0 – 231...1.499 SP.POS.BUS Setpoint position bus READ.

Contains the setpoint position which is sent via the fieldbus process data. The setpoint position is only accepted if "POSITION LO" and "POSITION HI" are programmed in the PO-data description (parameter group P87_).

500 reserved

501 reserved

502 TP.POS2ABS

503 TP.POS1ABS

504 TP.POS2EXT

505 TP.POS2MOT

506 TP.POS1EXT

507 TP.POS1MOT

508 reserved

509 ACTPOS ABS Current actual position absolute value READ.


The actual position 3 is determined via the signals which are active on connector X62 (DIP11A option).

510 ACTPOS EXT Current actual position motor encoder READ.


The actual position 2 is determined via the track signals which are active on connector X14. The determination of the position (actual position 2) is only carried out if connector X14 is used as an encoder input.

511 ACTPOS MOT Current actual position motor encoder READ.


The actual position 1 always has the following unit, irrespective of the encoder pulse count per revolution:



Inc.------------------------------------------�


Inc.------------------------------------------�

The touch probe positions are stored in the following variables:Encoder Encoder position Position Position

Touch probe 1 (DIO2) Touch probe 2 (DIO3)Motor encoder (X15) H511 ACTPOS.MOT H507 TP.POS1MOT H505 TP.POS2MOTExternal encoder (X14) H510 ACTPOS.EXT H506 TP.POS1EXT H504 TP.POS2EXTAbsolute encoder (X62) H509 ACTPOS.ABS H503 TP.POS1ABS H502 TP.POS2ABS


Sample Programs 9

9 Sample Programs

9.1 General information

Introduction

The sample programs are intended to display the basic procedure involved in writing an IPOSplus®

program. The first sample program (hoist) deals with fundamental aspects such as wiring, param-eterization and limit switch settings. The other two sample programs (jog mode, table positioning)represent frequently used functions. They can be employed as building blocks for other programs.These two sample programs are modular (no overlapping input/output assignments, variables orjump flags) which means they can be combined by copying them together (� Sec. 3.1).

Pre-requisites / procedure

• Motor with encoder feedback, MOVIDRIVE® MDV60A / MDS60A with DIO11A input/outputoption or fieldbus interface option.

• Wire up the signals needed for activating the unit functions and evaluating the signals.

• Test the function of the drive in the "Manual" operating mode of MX_SHELL prior to creating aprogram. When doing this, check whether the process values are within the permitted limits(speed, current, etc.).

• Although programs may seem "theoretically" flawless, it is often the case that the first practicaltest reveals weak points or even errors. Consequently, the recommended course of action is totest the function of the procedure with low dynamic forces, at a slow speed and – if possible –without a connected load. Safety precautions may have to be taken depending on the systemand the application (e.g. emergency shut-off, connecting hardware limits switches) in order toeliminate any risk of damaging the machine or injuring anyone.

• All parameters of the drive inverter and the IPOSplus® program as well as variables H000 – H127are automatically saved in the non-volatile memory of the drive inverter after being transferredto it. Save the program to the PC hard disk in order to avoid losing any remark lines which youmay have inserted (these are not saved in the inverter!).

Program structure

• 1st part: RemarksIt is important to document individual program sections in order to make the program more eas-ily comprehensible. You should insert a program header as a remark at the start of the program.It should include the following points:- Customer's project name- File name- Functional description- Assignment of binary inputs and outputs- Declaration of the variables used- Date and author of the program

• 2nd part: InitializationThe initialization section is normally only run through once at the start of the IPOSplus® program.It contains commands which put the machine into a defined basic condition. Process values areset (e.g. position values, acceleration values and speeds).


9 Sample Programs

• 3rd part: Program subroutine callsGenerally speaking, one IPOSplus® program performs several functions. These are selected bymeans of defined input terminal combinations. It is a good idea to split these functions up intosubroutines and then to call these subroutines from a central point as a function of certain inputterminals � Program subroutine calls. A subroutine can be called up either using a jump com-mand "JMP... Mxx" or by means of a subroutine call "CALL Mxx". The CALL Mxx function allowssubroutines to be processed in chronological order (see the CALL command).

• 4th part: Main program and subroutinesThe movement sequence of the system is programmed in the main part of the IPOSplus®

program. Many driveline applications consist of:

- Automatic program sequence (main program)- Program components which are to be called up separately (subroutines)- Jog mode (maintenance mode) in which the motor can be moved forwards or backwards

slowlyThe program jumps back to the program branch distributor once the main program and the sub-routines have been completed.

Basic terminal functions for IPOSplus®

• "/Controller inhibit" inputA "0" signal at the "/Controller inhibit" input blocks the power section without however electricallyisolating the inverter from the motor. The brake output is activated and the drive is eitherstopped using the brake mounted on it or allowed to coast to a standstill. The recommendedcourse of action is to bring the drive to a halt using electrical control (with "Enable" = "0") beforeshutting it down with "/Controller inhibit".

• "Enable" inputA "0" signal at the "Enable" input brings the drive to a halt subject to speed control by means ofthe rapid stop ramp (P136/P146).

• "/Lim. switch CW" input (clockwise limit switch) and "/Lim. switch CCW" input (counterclockwiselimit switch)To ensure the safety of the system, the permitted travel range should be safeguarded with hard-ware limit switches as well as software limit switches (� Sec. 5.4). These should be configuredas NC contacts and wired up to the "/Lim. switch CW" and "Lim. switch CCW" binary inputs. Thedrive is stopped using the emergency stop ramp (P137/P147) if it passes the hardware limitswitch. The output stage is then inhibited. Movement to the "/Lim. switch CW" and "Lim. switchCCW" only takes place in regular operation when reference travel is performed. A "braking dis-tance" is required for bringing the drive to a controlled halt when one of the limit switches isreached. The drive must not move beyond the trip cam of the limit switch as it covers this dis-tance. The trip cam of the limit switch must therefore be set to an appropriate length.

• "Reference cam" input and "Reference travel" inputIPOSplus® requires reference travel if an incremental encoder or a resolver is used for distancemeasurement (� Sec. 5.2). "Reference travel" can be started without an active travel programby means of an input terminal which must be parameterized for this purpose ("Ref. travel start").However, it is better to have the start within the program using the GO0 command. Referencingonly remains valid for as long as the inverter is energized. The need for referencing after themains voltage is switched off can be obviated if an external 24 V power supply is provided.


Sample Programs 9

• IPOS inputThe structure of your program defines the significance of various input and output terminals foryour application. The terminals used in the program must be programmed to "IPOS input" or"IPOS output".

• "IPOS in position" output If an output is programmed to "IPOS in position", this causes a "1" signal to be output wheneverthe drive is located inside its position window for the target position (� Sec. 5.4). The output isalso set if the drive is stopped with the "ASTOP Target position" stop command, or following apower off/on. In order to achieve a definite relationship to your target positions, it may be a goodidea to set an output in the program to display when the target position is reached. This outputmust be programmed to "IPOS output".

• "Reset" inputThe "Reset" input makes it possible to use the control for acknowledging a unit fault that hasbeen displayed. The drive is automatically moved away from a hardware limit switch if it comesinto contact with one (� Fault Messages, Sec. 10).

• "Ready" and "/Fault" outputThe "Ready" and "/Fault" signals are used by the external control for checking the function of thedrive system.

9.2 Sample program "Hoist"

• Properties:- Selecting three hoist positions using binary inputs- Issuing a signal when a selected position is reached- Automatically moving away from hardware limit switchesThe drive can be moved to 3 positions using the first 3 input terminals of the DIO11A option.

The drive is moved away from a hardware limit switch with which it comes into contact bymeans of a "1" signal at the "RESET" input (DI02).

• Settings:

The detailed configuration of the inputs/outputs (see below) and the variables used in the pro-gram is documented in the remark section of the program source code.


9 Sample Programs

Schematic structure:

01870AENFig. 31: Schematic structure of the hoist with IPOSplus®

100

100

i = 5

100

100

2000

500

CCW hardware limit switch

CCW software limit switch

Stopping distance

Reference cam

Machine zero

Carriage

d = 50 mm

Motor

Stopping distance CW hardware limit switch

CW software limit switch

Upper travel range


Sample Programs 9

Terminal wiring:

01367CENFig. 32: IPOS wiring diagram


9 Sample Programs

Setting the MX_SHELL parameters relevant to the example

30.Limits

302 Maximum speed 1 [rpm] 1500350 Change direction of rotation 1 OFF

60.Binary inputs basic unit

600 Binary input DI01 ENABLE/RAP.STOP601 Binary input DI02 RESET602 Binary input DI03 REFERENCE CAM603 Binary input DI04 /LIM. SWITCH CW604 Binary input DI05 /LIM. SWITCH CCW

61.Binary inputs option DIO11A

610 – 617 Binary inputs DI10 – DI17 IPOS INPUT

63.Binary outputs option DIO11A

630 Binary output DO10 /FAULT636 Binary output DO16 IPOS IN POSITION637 Binary output DO17 IPOS REFERENCE

700 Control functions

700 Operating mode CFC & IPOS730 Brake function YES

9..IPOS parameters

900 Reference offset [mm] 500901 Reference speed 1 [rpm] 200902 Reference speed 2 [rpm] 50903 Reference travel type 1910 Gain X controller 2.8911 Positioning ramp 1 [s] 1912 Positioning ramp 2 [s] 1913 Travel speed CW [rpm] 1350914 Travel speed CCW [rpm] 1350915 Speed feedforward [%] 100916 Ramp type SINE920 SW limit switch CW [mm] 2100921 SW limit switch CCW [mm] -100922 Position window [Inc] 50923 Lag error window [Inc] 5000930 Override OFF

Travel distance factor NUMERATOR/DENOMINATOR

(In program window header, see Sec. 5.1)Travel distance factor NUMERATOR 2048000Travel distance factor DENOMINATOR 15708Dimension mm


Sample Programs 9

Calculating the IPOSplus® parameters

Reference offset: See schematic structureSW limit switches: See schematic structureTDF numerator: The unit of travel dimension should be set to mm!

Number of increments per revolution of the driving wheelIncrements/motor rev. × gear ratio4096 increments × 5 = 2048020480 × 100 (extension factor) = 2048000

TDF denominator: Circumference of the driving wheel in mmd × �50 mm × � = 157.0796327157.08 × 100 (extension factor) = 15708

Unit: The unit following the travel-specific informationshould appear in mm.

Travel speed: 1350 rpmPosition window: The "Drive in position" message should be issued when

the target position ±50 increments is reached.

Input terminal mask Terminal function Meaning

01885AXX

/Controller inhibitEnableResetReference camCW limit switchCCW limit switchIPOS inputIPOS inputIPOS inputIPOS inputIPOS inputIPOS inputIPOS inputIPOS input

Switching power section on/offControlled standstillReset after fault (clear LS)Switch for zero position or offset valueLimit switch for stopping (+)Limit switch for stopping (-)Hoist position 0 mm " 1000 mm " 2000 mm-(Jog positive)(Jog negative)Start reference travelStart positioning

Output terminals Terminal function Meaning

DB00 MDXDO01 MDXDO02 MDXDO10 DIO11ADO11 DIO11ADO12 DIO11ADO13 DIO11ADO14 DIO11ADO15 DIO11ADO16 DIO11ADO17 DIO11A

/BrakeReady/FaultIPOS outputIPOS outputIPOS outputIPOS outputIPOS outputIPOS outputIPOS in positionIPOS reference

Activation of brake via auxiliary relayController active; power supply OKNo fault present------Drive is in position windowReference travel performed successfully


9 Sample Programs

Program source code (with remarks) Remarks

NUM.: 2048000 DENOM.: 15708 DIMEN.: mm******************************************Sample program: HoistThe drive is moved to 0; 1000; 2000 mmpositions using the first 3 inputsof the DIO11A option. File: HubwerkAuthor: SEW/AWTDate: 01.06.98 Modified: 14.08.98 Terminal wiring of inputs:-----------------DI00 Controller inhibit DI01 Enable DI02 Reset (move clear of LS) DI04 Reference cam DI03 Limit switch CW DI05 Limit switch CCW DI10 Hoist position 0 mm DI11 " 1000 mm DI12 " 2000 mm DI13 - - - DI14 (Jog CW) DI15 (Jog CCW) DI16 Reference travel DI17 Start positioning Terminal wiring of outputs:----------------DB00 BrakeDO01 ReadyDO16 "IPOS in position"DO17 "IPOS reference"

Remarks

------------------------------------------Program start

==========================================Subroutine calls

====================================SETINT ERROR M10

M100: CALL M50 JMP LO I0001000000000000, M101 CALL M20

M101: JMP LO I0000010000000000, M102 CALL M30

M102: JMP LO I0000100000000000, M103 CALL M40

M103: JMP UNCONDITIONED , M100 ------------------------------------------

Subroutine calls

Activate interrupt routine for hardware limit switch processingReset/move clear of limit switch��Main programDI16 = 1 � Reference travelDI15 = 1 ��Jog CWDI14 = 1 � Jog CCW

Subroutine Reset / Move clear of limit switch==========================================M10: JMP HI I0000000000110000, M1 M3: JMP HI I0000000000110000, M2

ASTOP IPOS ENABLE JMP UNCONDITIONED , M3

M2: ASTOP TARGET POSITION M1: RET ------------------------------------------

Reset/move clear of limit switch

If drive has not moved onto limit switch (DI05/DI06 Limit switch CW/CCW), then return to branch distributor. If it has, then travel unlock and wait until drive has moved clear of limit switch (DI02 – input terminal function "Reset")Then stop drive by setting target position = current position


Sample Programs 9

Subroutine Reference travel==========================================M20: ASTOP IPOS ENABLE

GO0 U,NW, ZP M22: JMP LO I0000000000000001, M21

SET H319 = 0 BMOV H319.0 = H482.10 JMP H319 == 0 , M22

M21 : ASTOP TARGET POSITION RET

------------------------------------------

Reference travel

Travel unlockReference travel, non-wait, start on zero pulse,provided "Controller inhibit" = 0and "IPOS reference" output = 0

Subroutine Jog mode==========================================M30: RET M40: RET ------------------------------------------

Option: Subroutine (e.g. jog mode)

Jog CWJog CCW

Main program Hoist positioning==========================================M50: JMP LO I0000000001000000, M51

GOA WAIT #0 mm M51: JMP LO I0000000010000000, M52

GOA WAIT #1000 mm M52: JMP LO I0000000100000000, M53

GOA WAIT #2000 mm M53: RET ------------------------------------------

END

Main program: Hoist positioning

If input DI10 is set,then move to position 0 mmIf input DI11 is set,then move to position 1000 mmIf input DI12 is set,then move to position 2000 mm


9 Sample Programs

9.3 Sample program "Jog mode"

• Properties:- Travel in two directions with binary inputs Jog+ / Jog-- Adjustable travel speeds and ramps- Uni-directional travel possible- No reference travel required- Compliance with travel range limits (software limit switches)- Automatically moving away from hardware limit switchesUni-directional movement is possible in two directions using two binary inputs Jog+ (DI14) andJog- (DI15). No reference travel is required. If the drive has been referenced and the softwarelimit switches set, travel only takes place within these limits. Movement only takes place whenthere is one "1" signal at one of the jog terminals. The drive is moved away from a hardware limitswitch with which it comes into contact by means of a "1" signal at the "RESET" input (DI02).

• Settings:The detailed configuration of the inputs/outputs and the variables used in the program is docu-mented in the remark section of the program source code.


01885AXX


Switching power section on/offControlled standstillReset after fault (clear LS)Switch for zero position or offset valueLimit switch for stopping (+)Limit switch for stopping (-)----Jog positiveJog negativeStart reference travelStart positioning




Activation of brake via auxiliary relayController active; power supply OKNo fault present------Drive is in position windowReference travel performed successfully


Sample Programs 9


NUM.: 1 DENOM.: 1 DIMEN.:inc******************************************Sample program: Jog modeFile: Tipp.mdxAuthor: SEW/AWTDate: 01.06.98

Function: Jog mode- Uni-directional travel possible- No axis referencing required- Range limits compliance / software LS- Travel speeds / ramps from H310 on- Jog+ (DI14) / Jog- (DI15) inputs

Parameter setting (P600) of inputs / outputs:In inverted commas: indicated functionWithout inverted commas: IPOS INPUT/OUTPUT

Terminal wiring of inputs:-----------------DI00 "Controller inhibit" DI01 "Enable" DI02 "Fault reset" (move clear of LS) DI04 "Reference cam" DI03 "Limit switch CW" DI05 "Limit switch CCW" DI14 Jog CW DI15 Jog CCW DI16 Start reference travel DI17 (Start positioning) Terminal wiring of outputs:----------------DB00 Brake DO01 Ready DO16 "IPOS in position" DO17 "IPOS reference" Variables used:--------------------H310 = Velocity jog mode (1/10 rpm)H311 = "CCW"H312 = Acceleration ramp (ms)H313 = Not active = Deceleration ramp = P911/P912H316 - H319 = Auxiliary jog variables******************************************------------------------------------------

Remarks

Program start==========================================

Initialization------------------------------------------

SET H310 = 5000 SET H311 = 5000 SET H312 = 2000 SET H313 = 2000

------------------------------------------

Set speed and acceleration values for jog mode (see remarks)


9 Sample Programs

Subroutine calls==========================================

SETINT ERROR M10 M100: JMP LO I0001000000000000, M101

CALL M20 M101: JMP LO I0000010000000000, M102

CALL M30 M102: JMP LO I0000100000000000, M103

CALL M40 M103: JMP UNCONDITIONED , M100 ------------------------------------------

Subroutine calls

Activate interrupt routine for hardware limit switch pro-cessing ��Reset/move clear of limit switchDI16 = 1�Reference travelDI15 = 1��Jog CWDI14 = 1� Jog CCW

Subroutine Reset / Move clear of limit switch==========================================M10 : JMP HI I0000000000110000, M1 M3 : JMP HI I0000000000110000, M2


M2 : ASTOP TARGET POSITION M1 : RET ------------------------------------------


If drive has not moved onto limit switch (DI05/DI06 Limit switch CW/CCW), then return to branch distributor. If it has, then travel unlock and wait until drive has moved clear of limit switch (parameterized "Reset" input function DI02)Then stop drive by setting target position = current posi-tion

Subroutine Reference travel==========================================M20 : ASTOP IPOS ENABLE

GO0 U,NW, ZP M22 : JMP LO I0000000000000001, M21

SET H309 = 0 BMOV H309.0 = H482.10 JMP H309 == 0 , M22


------------------------------------------

Reference travel

Travel unlockReference travel, non-wait, start on zero pulse,provided "Controller inhibit" = 0and "IPOS reference" output = 0

Subroutine Jog mode==========================================Jog mode (software LS interrogat. active)------------------------------------------M35 : SETSYS POS.SPEED C(C)W = H310

SETSYS POS. RAMP = H312 SET H319 = 0 BMOV H319.0 = H482.10 JMP H319 == 0 , M36 SET H319 = H496OR H319 | H497JMP H319 == 0, M36 SET H319 = 1 SET H317 = H496 SET H318 = H497

M36 : RET

Jog mode

Software limit switch interrogation active

Set speedSet ramp time

Interrogate: Has axis been referenced? (Software LS active)

Interrogate: Do both software ranges = 0? (Software LS not active)

If software LS active, then set flag H319=1and load jog travel variables (H317) with the software travel ranges (system variables H496 & H497)


Sample Programs 9

------------------------------------------ Jog +------------------------------------------M30 : JMP LO I0000010000000000, M31

JMP HI I0000100000000000, M31 CALL M35 JMP H319 == 1 , M32 GETSYS H317 = ACT.POSITION ADD H317 + 4096000

M32 : ASTOP IPOS ENABLE GOA NOWAIT H317 JMP UNCONDITIONED , M30


------------------------------------------Jog -

------------------------------------------M40 : JMP LO I0000100000000000, M41 JMP HI I0000010000000000, M41

CALL M35 JMP H319 == 1 , M42 GETSYS H318 = ACT.POSITION SUB H318 - 4096000

M42 : ASTOP IPOS ENABLE GOA NOWAIT H318 JMP UNCONDITIONED , M40


------------------------------------------End of Jog mode

------------------------------------------END

Jog CW

Move for as long asDI14 = 1 andDI15 = 0,

interrogate: Is software limit switch active?

Add 1000 motor revolutions to current actual position and move to result as new target position

Jog CCW

Move for as long asDI14 = 0 andDI15 = 1,

interrogate: Is software limit switch active?

Add 1000 motor revolutions to current actual position and move to result as new target position


9 Sample Programs

9.4 Sample program "Table positioning"

• Properties:- Binary coded selection of 16 table positions- Binary coded output of the currently selected table position- Definite signal when the selected table position is reached- Automatically moving away from hardware limit switchesThe first 4 binary inputs of the DIO11A option can be used for selecting 16 table positions (travelvariables H000 – H015) in binary coded format. When a travel variable number is selected (tablepointer), it is always represented at the first 4 binary inputs of the DIO11A in binary coded for-mat.

Reference travel must be activated using input DI16 "Reference travel" before it is possible tomove to table positions. Input DI17 "Start positioning" enables the travel job to the table positionor interrupts it (in the event of "Controller inhibit" and "Enable" = "1" signal). When a new tableposition is selected, it is advisable to set input DI17 to a "0" signal until it is certain that all thebits of the table pointer have been set!

A "1" signal at output DO15 "Table position valid" indicates that the selected table position hasbeen reached. This output is immediately reset when a new table position is selected. By addi-tionally evaluating output DO16 "IPOS in position", it is also possible to detect reliably when theselected table position is exited, even when the controller is deactivated ("Controller inhibit" ="0").

The drive is moved away from a hardware limit switch with which it comes into contact bymeans of a "1" signal at the "RESET" input (DI02).

• Settings:

The detailed configuration of the inputs/outputs (see below) and the variables used in the pro-gram is documented in the remark section of the program source code.

The table positions must be written into the variables (H00 – H15) with the MX_SHELL PC userinterface, the keypad or via a bus system. This means the variables are stored in the non-volatilememory. Notes:The user travel units numerator and denominator in the position window header are not relevanthere because the position values of travel variables are always evaluated in increments (4096increments/motor revolution).


Sample Programs 9


01885AXX


Switching power section on/offControlled standstillReset after fault (clear LS)Switch for zero position or offset valueLimit switch for stopping (+)Limit switch for stopping (-)Variable pointer bit 2'0 " 2'1 " 2'2

2'3(Jog positive)(Jog negative)Start reference travelStart positioning




Activation of brake via auxiliary relayController active; power supply OKNo fault presentVariable pointer bit 2'0 " 2'1 " 2'2

2'3-Table position validDrive is in position windowReference travel performed successfully


9 Sample Programs


NUM.: 1 DENOM.: 1 DIMEN.:inc******************************************Sample program: Table positioningFile: Tab.mdx Author: SEW/AWTDate: 01.06.98

Function: Table positioning- The first 4 inputs of the DIO11A option are used for selecting the positions in the corresponding variables 0 ... 15 in binary coded format.- Input DI17 (X22:17) is used for enabling the selected travel command.

Parameter setting of inputs / outputs:In inverted commas: function indicatedWithout inverted commas: IPOS INPUT/OUTPUT

Terminal wiring of inputs:-----------------DI00 "Controller inhibit" DI01 "Enable" DI02 "Fault reset" (move clear of LS) DI03 "Reference cam" DI04 "Limit switch CW" DI05 "Limit switch CCW" DI10 Variable pointer bit 2’0DI11 2’1DI12 2’2DI13 2’3DI14 (Jog CW) DI15 (Jog CCW) DI16 Start reference travel DI17 Start positioning

Terminal wiring of outputs:----------------DB00 Brake DO01 Ready DO10 Variable pointer bit 2’0DO11 2’1DO12 2’2DO13 2’3DO14 -DO15 Table position reachedDO16 "IPOS in position" DO17 "IPOS reference" Variables used:--------------------H300 = Travel speed CW (1/10 rpm)H301 = Travel speed CCW (1/10 rpm)H302 = Acceleration ramp CW (ms)H303 = Deceleration ramp CCW (linear)H320 - H324 = Auxiliary variables******************************************------------------------------------------

Remarks

Program start==========================================

Initialization------------------------------------------

SET H300 = 15000 SET H301 = 15000 SET H302 = 1000 SET H303 = 1000

------------------------------------------

Set speed and acceleration values for table positioning (see vari-able description in the remarks for the program source code)


Sample Programs 9

Subroutine calls==========================================

SETINT ERROR M10M100: CALL M50

JMP LO I0001000000000000, M101CALL M20

M101: JMP LO I0000010000000000, M102CALL M30

M102: JMP LO I0000100000000000, M103CALL M40

M103: JMP UNCONDITIONED , M100------------------------------------------

Subroutine calls

Activate interrupt routine for hardware limit switch processing ��Reset/move clear of limit switch� Main programDI16 = 1�Reference travelDI15 = 1��Jog CWDI14 = 1� Jog CCW

Subroutine Reset / Move clear of limit switch==========================================M10 : JMP HI I0000000000110000, M1 M3 : JMP HI I0000000000110000, M2


M2 : ASTOP TARGET POSITION M1 : RET ------------------------------------------


If drive has not moved onto limit switch (DI05/DI06 Limit switch CW/CCW), then return to subroutine calls. If it has, then travel unlock and wait until drive has moved clear of limit switch (parameterized "Reset" input function DI02)Then stop drive by setting target position = current position

Subroutine Reference travel==========================================M20 : ASTOP IPOS ENABLE

AND H480 & FFFFFFF0 hexBCLR H480.5 = 0GO0 U,NW, ZP

M22 : JMP LO I0000000000000001, M21 SET H319 = 0 BMOV H319.0 = H482.10 JMP H319 == 0 , M22


------------------------------------------

Reference travel

Travel unlockDelete output binary coded table positionDelete output "Table position valid"

Reference travel, non-wait, start on zero pulse,provided "Controller inhibit" = 0and "IPOS reference" output = 0

Subroutine Jog mode==========================================M30 : RETM40 : RET

Option: Subroutine (e.g. jog mode)

Jog CWJog CCW


9 Sample Programs

Main program Table positioning==========================================Check whether axis is referenced------------------------------------------M50 : SET H321 = 0

BMOV H321.0 = H482.10 JMP H321 != 0, M51 RET

------------------------------------------Set travel speed and ramp------------------------------------------M51 : SETSYS POS.SPEED C(C)W = H300

SETSYS POS. RAMP = H302 ------------------------------------------Read variable pointer into variable H320------------------------------------------

SET H320 = H483 ASHR H320 >> 6 AND H320 & F hex

------------------------------------------Check output "Table position reached"------------------------------------------

JMP H322 == H320, M54 BCLR H480.5 = 0

M54 : SET H322 = H320 ------------------------------------------Output variable pointer in binary coded format------------------------------------------

SET H323 = H320 SET H324 = H480 AND H324 & FFFFFFF0 hex OR H323 | H324 SET H480 = H323

------------------------------------------Table positioning enable------------------------------------------M53 : JMP LO I0010000000000000, M52

ASTOP IPOS ENABLE GOA NOWAIT [H320] JMP NOT IN POSITION, M53 BSET H480.5 = 1 JMP UNCONDITIONED , M55

------------------------------------------M52 : ASTOP HOLD CONTROL M55 : RET ------------------------------------------End table positioning control------------------------------------------

END

Main program: Table positioning

Movement to table positions only takes place if the drive is refer-enced(DO17 = 10 bit position in output terminal system variable H482; parameterized to "IPOS reference")

Set travel speed,acceleration and deceleration ramp

Select table pointer (travel variable no.) in binary coded format with 4 inputs (DI10 – DI13)

If the table pointer was changed,then reset "Table position valid" outputStore current table pointer in comparison variable

Write selected table pointer to output terminals (DO10 – DO13) without altering other outputs of the output variable (H480)

If DI17 = 1, then travel to position value of selected travel vari-able, else drive stopReset "Table position selection valid" signalRevoke travel lockTravel to table position,until position is reached or DI17 = 0Set "Table position selection valid" signal

Drive stop


Fault Messages 10

10 Fault Messages

10.1 ProcessingThe fault memory (P080) stores the last five fault messages (faults t-0 – t-4). The fault message oflongest standing is deleted whenever more than five fault messages have occurred. The followinginformation is stored when a malfunction takes place:Fault • Status of the binary inputs/outputs • Operating status of the inverter • Inverter status • Heatsink temperature • Speed • Output current • Active current • Unit utilization • DC link voltage • ONhours • Enable hours • Parameter set • Motor utilization.

There are three shut-off responses depending on the fault; the inverter is inhibited when in faultstatus.• Instant disconnection:

The unit can no longer brake the drive; the output stage goes to high resistance in the event of a fault and the brake is applied (DBØØ "/Brake" = "0").

• Rapid stop:The drive is braked with the stop ramp t13/t23. Once the stop speed is reached, the output stage goes to high resistance and the brake is applied (DBØØ "/Brake" = "0").

• Emergency stop:The drive is braked with the emergency stop ramp t14/t24. Once the stop speed is reached, the output stage goes to high resistance and the brake is applied (DBØØ "/Brake" = "0").

RESET: A fault message can be acknowledged by:

• Switching the mains power off and on again.• Reset via input terminals, i.e. via an appropriately assigned binary input (DIØ1 – DIØ5 with the

basic unit, DI1Ø – DI17 with the DIO11A option).• Manual reset in MX_SHELL (P840 = "Yes" or [Parameter] / [Manual reset]).• Manual reset using the DBG11A (pressing the <E> key in the event of a fault gives direct access

to parameter P840).• Auto reset performs up to five unit resets with an adjustable restart time. Not to be used with

drives where an automatic restart represents a risk of injury to people or damage to equipment.

Moving away from hardware limit switches:

After a reset, the drive automatically moves clear of a hardware limit switch with which it has comeinto contact (exception: mains power off and on). This movement clear is performed at referencetravel speed 2. Once the drive has moved clear of the limit switches, it moves to its target position(H492) again with "controller inhibit" and "enable" = 1. The target position must be set within thelimit switches in order to avoid the drive moving up to the limit switches again (e.g. using theASTOP TARGET POSITION command).

The drive's response after RESET depends on the type of fault (FAULT or WARNING), as fol-lows:

FAULT After a fault reset: Reaction as for power off, IPOSplus® program; reference position,outputs, parameters set by IPOSplus® (SETSYS command) and variables are reset(program starts in line 1).

WARNING Also after a fault reset: IPOSplus® program; reference position, outputs, parametersset by IPOSplus® (SETSYS command) and variables are retained (program resumes).


10 Fault Messages

10.2 List of faultsA dot (•) in the "P" column means the response can be programmed using machine parameters(P83_ "Fault response") or with the "SETFR" IPOSplus® command.A circle (s) in the "P" column means the response can only be programmed with the "SETFR" IPOSplus® command.

Faultcode

Name Response P Possible cause Action

00 No fault -

01 Over-current Immediate shut-offFAULT

- Short circuit on output- Motor too big- Defective output stage

- Rectify short circuit- Connect smaller motor- Fault cannot then be reset,

contact SEW Service for advice

03 Ground fault Immediate shut-offFAULT

Ground fault- in feeder cable- in inverter- in motor

- Rectify ground fault- Contact SEW Service for advice

04 Brakechopper

Immediate shut-offFAULT

- Regenerative power excessive- Interruption in braking resistor circuit- Short circuit in braking resistor cir-

cuit- Braking resistor resistance too high- Brake chopper defective

- Extend deceleration ramp- Check feeder cable to brake resis-

tor- Check technical data of brake

resistor- Fit new MOVIDRIVE®

07 DC link over-voltage


DC link voltage too high - Extend deceleration ramp- Check feeder cable to br. resistor- Check technical data of br. resis-

tor

08 n-monitoring Immediate shut-offFAULT

s - Speed controller or current controller (in VFC operating mode) operating at setting limit

- Encoder not connected correctly

- Reduce load- Increase deceleration time setting

(P501 or P503)- Check encoder connection- Check encoder voltage supply- Check current limitation- Increase length of ramps, if

appropriate- Check motor cable and motor- Check mains phases

09 Startup Immediate shut-offFAULT

Inverter not yet commissioned for selected operating mode

Perform commissioning for appro-priate operating mode.

10 IPOS - ILLOP Emergency stopFAULT

Incorrect command detected during running of IPOS program

- Check program memory content and correct if necessary

- Load correct program into pro-gram memory

11 Over-temperature

Emergency stopFAULT

s Thermal overload of inverter Reduce load and/or ensure ade-quate cooling.

13 Control signal source

Immediate shut-offWARNING

Control signal source not defined or defined incorrectly

Set correct control signal source (P101).

14 Encoder Immediate shut-offFAULT

- Encoder cable or shield not con-nected correctly

- Short circuit/open circuit in encoder cable

- Encoder defective

Check encoder cable and shield for correct connection, short circuit and open circuit.

15 Internal 24V Immediate shut-offFAULT

No internal 24 V power supply Check mains connection. Contact SEW Service for advice if this reoc-curs.


Fault Messages 10

17-24 Systemmalfunction


Inverter electronics disrupted. Possibly due to EMC interference.

Check ground connections and shields; improve them if necessary. Contact SEW Service for advice if this reoccurs.

25 EEPROM Rapid stopFAULT

s Fault when accessing EEPROM Call up default setting, perform reset and set parameters again. Contact SEW Service for advice if this reoccurs.

26 External ter-minal

Emergency stopFAULT

• External fault signal read in via pro-grammable input

Eliminate specific cause of fault; reprogram terminal if appropriate.

27 Limit switches missing

Emergency stopFAULT

- Open circuit/both limit switches missing

- Limit switches swapped over in rela-tion to motor sense of rotation

- Check wiring of limit switches- Swap over limit switch connec-

tions- Reprogram terminals

28 Fieldbustimeout

Rapid stopFAULT

• No master-slave communication took place within the configured response monitoring period

- Check master communication routine

- Extend fieldbus timeout delay (P819) / Switch off monitoring

29 Limit switch reached

Emergency stopWARNING

In IPOS mode, a limit switch was reached

- Check travel range- Correct user program

31 TF sensor Noresponse

• - Motor too hot, TF has tripped- Motor TF not connected or connected

incorrectly- Connection of MOVIDRIVE® and TF

interrupted on motor- Jumper missing between X10:1 &

X10:2With MDS:- Connection between X15:9 and X15:5

missing

- Let motor cool down and reset fault

- Check connections/link between MOVIDRIVE® and TF

- If no TF is connected: Jumper X10:1 to X10:2With MDS: Jumper X15:9 to X15:5

- Set P834 to "No reaction"

32 IPOS index overrun

Emergency stopFAULT

Basic programming rules violated causing stack overflow in system

Check IPOS user program and cor-rect.

33 Setpoint source


Setpoint source not defined or defined incorrectly

Set correct setpoint source (P100).

35 Operating mode


Operating mode not defined or defined incorrectly

Use P700 or P701 to set correct operating mode.

36 No option Immediate shut-offFAULT

- Type of option pcb not allowed- Setpoint source, control signal

source or operating mode not allowed for this option pcb.

- Use correct option pcb- Set correct setpoint source (P100)- Set correct control signal source

(P100)- Set correct operating mode (P700

or P701)

37 System watchdog


Fault in system software procedure Contact SEW Service for advice.

38 Systemsoftware


System malfunction Contact SEW Service for advice.

Faultcode



10 Fault Messages

39 Reference travel


s - No reference cams- Limit switches not connected cor-

rectly- Type of reference travel was altered

during reference travel

Check type of reference travel which is set and conditions required for it.

40 Boot synchro-nization


Only with DPx11A or DRS11A:Fault during boot synchronization between inverter system and option pcb

Fit a new option pcb if this reoc-curs.

41 Watchdog option


Fault during communication between system software and option software

Contact SEW Service for advice.

42 Lag error Immediate shut-offFAULT

• - Incremental encoder connected incorrectly

- Acceleration ramps too short- P-portion of positioning controller

too small- Speed controller parameters incor-

rect- Value for lag error tolerance too small

- P302 does not exceed P913/P914 by 10 % (only in IPOS operating mode)

- Check incremental encoder con-nection

- Increase length of ramps- Set P-portion to higher value- Set speed controller parameters

again- Increase lag error tolerance- Check encoder, motor and mains

phase wiring- Check whether mechanical com-

ponents can move freely; possibly blocked up

43 RS-485timeout

Rapid stopWARNING

• Communication between inverter and PC interrupted

Check connection between inverter and PC. Contact SEW Service for advice if necessary.

44 Unit utilization Immediate shut-offFAULT

Unit utilization (IxT value) exceeds 125 %

- Reduce power output- Increase length of ramps- If above points are not possible:

use a larger inverter

45 Initialization Immediate shut-offFAULT

No parameters set for EEPROM in power section or parameters set incor-rectly

Restore default settings. Call SEW Service for advice if the fault still cannot be reset.

47 System bus timeout

Rapid stopFAULT

• Fault during communication via sys-tem bus

Check system bus connection

48 Hardware DRS


- Encoder signal for master faulty- Hardware required for synchronous

operation is faulty

- Check encoder wiring- Fit a new synchronous operation

board

50 Pos. HW limit switch

Noresponse

Only with DPx11A:- Drive has reached position of CW

limit switch- Interruption in line between inverter

and CW limit switch

- Move out of limit switch range using sense of rotation "CCW"

- Check cabling

51 Neg. HW limit switch

Noresponse

Only with DPx11A:- Drive has reached position of CCW

limit switch- Interruption in line between inverter

and CCW limit switch

- Move out of limit switch range using sense of rotation "CW"

- Check cabling

52 Positive soft-ware limit switch

Noresponse

Only with DPx11A:Travel command to a position outside travel range delimited by CW software limit switch

- Check travel program and correct if necessary

- Correct position of CW software limit switch

- Deactivate CW software limit switch by entering "0" position

Faultcode



Fault Messages 10

53 Negative soft-ware limit switch

Noresponse

Only with DPx11A:Travel command to a position outside travel range delimited by CCW soft-ware limit switch

- Check travel program and correct if necessary

- Correct position of CCW software limit switch

- Deactivate CCW software limit switch by entering "0" position

54 No reference travel

Noresponse

Only with DPx11A:Reference travel not performed with "GO0" or "SET0" command

Perform reference travel.

55 Machine parameter

Noresponse

Only with DPx11A:Incorrect input of a machine parameter (e.g. incorrect value range)

Check machine parameter and cor-rect it.

56 Missing required HW

Noresponse

Only with DPx11A:User program addresses a hardware item which is not fitted

Correct user program or insert nec-essary hardware into inverter.

57 No program Noresponse

Only with DPx11A:Attempt was made to call up a non-existent user program

- Modify program call- Load program to be called up into

program memory

58 No record number

Noresponse

Only with DPx11A:Attempt was made to jump to a non-existent record number in user pro-gram

Correct user program.

59 No subroutine Noresponse

Only with DPx11A:Attempt was made to call up a non-existent subroutine in user program

- Correct subroutine call in user program

- Make available subroutine to be called

60 Target posi-tion outside

Noresponse

Only with DPx11A:Travel command was transmitted in user program which targets a position outside travel range

- Correct user program- Adapt travel range

61 Prog. speed> Vmax

Noresponse

Only with DPx11A:Speed entered in user program is faster than maximum speed specified in machine parameters

- Adjust travel speed in user pro-gram

- Adjust maximum speed in machine parameters

62 FLASH-EPROM DPx

Noresponse

Only with DPx11A:Fault during write access to flash-EPROM of DPx11A

Contact SEW Service for advice if this reoccurs.

63 Division by zero

Noresponse

Only with DPx11A:Division by zero was performed in user program using calculation operation SET Hxx/Hyy


64 Subroutine nesting

Noresponse

Only with DPx11A:- Maximum nesting depth for subrou-

tines reached- Recursive subroutine call (program is

calling itself)

- Alter program structure

- Correct user program

65 LM628command

Noresponse

Only with DPx11A:Incorrect command to position con-troller component

Contact SEW Service if fault cannot be reset or occurs frequently.

Faultcode



10 Fault Messages

66 Prog.memory full

Noresponse

Only with DPx11A:Maximum capacity of program mem-ory has been exceeded

- Delete programs from program memory that are no longer required

- If all programs in program mem-ory are required: optimize pro-gram contents

67 DPx remote time

Noresponse

Only with DPx11A:Communication interruption during PC-controlled mode

Check connection between PC and inverter.

68 Not at target position

Noresponse

Only with DPx11A:Specified target position was not reached within 5 seconds- P-portion set too small- Position window too small- Drive has encountered obstacle

- Check setting of P-portion and position window and set larger values if appropriate

- Check whether mechanical com-ponents can move freely

69 No feed enable

Noresponse

Only with DPx11A:No "Feed enable" signal at terminal X11:6

Check wiring and signal level at ter-minal X11:6.

70 Timeout DPx-SSI

Noresponse

Coded fault; only with DPA11A

Code 1: SSI interface fault SSI module defective Contact SEW Service if fault cannot be reset or occurs frequently.

Code 2: Communication fault of SSI interface

SSI module defective Contact SEW Service if fault cannot be reset or occurs frequently.

Code 3: Parity or power fail-ure fault from SSI encoder

- Encoder cable disrupted- Voltage supply disrupted- Incorrect setting of machine parame-

ters

- Check encoder cable- Check voltage supply- Check machine parameters and

correct if necessary

Code 4: Lag error in SSI mod-ule

Data transfer between encoder and DPA11A disrupted

Check connection cable and associ-ated shield.

71 Timeout DPx-CAN

Noresponse

Coded fault; only with DPA11A

Code 1: Timeout CAN CAN bus communication interrupted Check CAN bus connection.

Code 2: CAN receive buffer full

Systematic program error caused by excessively frequent writing on CAN bus interface of an inverter

Reduce number of write accesses to corresponding inverter in user program.

Code 3: CAN controller over-flow

CAN controller malfunction Contact SEW Service if fault cannot be reset or occurs frequently.

Code 4: CAN controller error Malfunction on CAN bus.Possibly, no nodes are present.

Check wiring and user program.

72 Index over-flow

Noresponse

Only with DPx11A:Fault with indexed variable index.Offset variable Cxx greater than C99 selected.


73 Unauthorized command

Noresponse

Only with DPx11A:Command was transmitted which can-not be carried out in current status of inverter. E.g.: transmitting the SAVE command during a positioning pro-cess.

Check user program.

74 Range limit Noresponse

Only with DPx11A:Calculated setpoint position in incre-ments is greater than 230 and therefore beyond range limit.

Check user program.

Faultcode



Fault Messages 10

Table 13

77 IPOS control word

NoresponseFAULT

s Only in IPOS operating mode:Attempt was made to set an invalid automatic mode (via external control)

- Check serial connection to exter-nal control

- Check write values of external control

78 IPOS SW limit switches

NoresponseFAULT

s Only in IPOS operating mode:Programmed target position is outside travel range delimited by software limit switches

- Check user program- Check position of software limit

switches

81 Start condi-tion


Only in "VFC hoist" operating mode:Insufficient current could be injected into motor during pre-magnetization time:- Motor rated power too small in rela-

tion to inverter rated power- Motor cable cross section too small

- Check commissioning data and repeat startup procedure if neces-sary

- Check connection between encoder and motor

- Check cross section of motor cable and increase if necessary

82 Output open Immediate shut-offFAULT

Only in "VFC hoist" operating mode:- Two or all output phases interrupted- Motor rated power too small in rela-

tion to inverter rated power

- Check connection between encoder and motor

- Check commissioning data and repeat startup procedure if neces-sary

84 Motor protec-tion

Emergency stopFAULT

• Motor utilization too high - Reduce load- Increase length of ramps- Extend pause times

85 Copy Immediate shut-offFAULT

Fault when copying parameters Check connection between inverter and PC.

88 Flying start Immediate shut-offFAULT

Only in "VFC n-CTRL" operating mode:Actual speed > 5000 rpm when inverter enabled

92 DIP workarea

Emergency stopFAULT

s Only with DIP11A option:Work area of absolute encoder exceeded

93 DIP encoderfault

Emergency stopFAULT

s Only with DIP11A option:Absolute encoder fault

- Check absolute encoder connec-tion

- Fit new absolute encoder

Faultcode



Index11

11 Index

AAbsolute positioning GOA 67Absolutwertgeber 6Analog inputs 18

Reading 18Analog outputs 18

Reading 18Setting 18

Arithmetic commands 55Auxiliary arithemthical operations

MOD 55NOT 55

BBinary inputs

Controller inhibit 88Lim. switch CCW 88Lim. switch CW 88Reference cam 88Reference travel 88Reset 89

Binary outputsFault 89IPOS in position 89Ready 89

Bit commands 56BCLR 56BMOV 56BMOVN 56BSET 56

Command setA

ADD 55AND 55ANDL 82ARITHMETIC SHIFT RIGHT 56ASHR 56

BBCLR 56BIT CLEAR 56BIT MOVE 56BIT MOVE NEG. 56BIT SET 56BMOV 56BMOVN 56BSET 56

CCALL 69COMPARE EQUAL 82COMPARE GREATER OR EQUAL 82COMPARE GREATER THAN 82COMPARE LESS OR EQUAL 82COMPARE LESS THAN 82COMPARE NOT EQUAL 82COPY 72CPEQ 82

CPGE 82CPGT 82CPLE 82CPLT 82CPNE 82

DDIV 55DIVISION 55

EEXCLUSIVE OR 55

GGETSYS 72GO0 66GOA 67GOR 67

JJMP 69JUMP 69

LLOGICAL AND 82LOGICAL NOT 82LOGICAL OR 82LOOP 71LOOPB 71LOOPE 71

MMOD 55MODULO 55MOVLNK 57MUL 55MULTIPLY 55

NNO OPERATION 71NOP 71NOT 55NOTL 82

OOR 55ORL 82

RREM 71REMARK 71RET 71RETURN 71

SSCOM 62SET 74SET FAULT REACTION 74SET INDIRECT 75SET INTERRUPT 75SETFR 74SETI 75SETINT 75SHIFT LEFT 56SHIFT RIGHT 56SHL 56SHR 56SUB 55

Index 11


SUBTRACT 55T

TASK2 71W

WAIT 71X

XOR 55Communication commands 57Comparison operations

CPGE 82CPGT 82CPLE 82CPLET 82CPNE 82

Comparison operations CPEQ 82Copy variables COPY 72CTRL. WORD 44

DData exchange via SCOM system bus 62Data/parameter exchange via MOVLNK 57Diagnosis options 12Digital inputs 15Digital outputs 16

Reading 16Setting 17

DRS_Ctrl 45DRS_Status 45DRS11A Nullpunkt setzen 46

EEditing variables 32externer Geber 34

FFeldbus 39Feldbus und DIO11A 41Feldbus und DIP11A 41Freilauf 45Fundamental arithmetical operations

ADD 55DIV 55MUL 55SUB 55

GGain X controller 29Geberauswertung 6

IInkrementalgeber 6Inkrementalgebernachbildung 6inkrementelle Positionsvorgabe 39IPOS IN POSITION 31IPOS input 89IPOS output 89IPOS REFERENCE 25IPOS-OUTPUT 17IPOSplus control 4

JJump commands JMP 69

LLag error window 32Logic operations

AND 55ANDL 82NOTL 82OR 55ORL 82XOR 55

Loop commands LOOP 71

MMachine zero 24Monitoring 31MOVLINK 51

NNo operation NOP 71

OOffset 48

PParameters

Access to ... 14Position window 31Positioning commands 14, 66Positioning ramp 29PROFIBUS 43Program branches 13Program commands 69Program header 13Program line 14Program loops 13Programs

Creating 9Loading 11Saving 11Starting/stopping 12

Prozessdaten, anwenderspezifische Codierung 40

RRamp type 30Read system values GETSYS 72REF. TRAVEL START 25REFERENCE CAM 25Reference offset 25Reference speed 25Reference travel 24Reference travel GO0 66Reference travel type 26Relative positioning GOR 67Remark REM 71Remarks 13Resolver 6Return RET 71


Index11

SSlip compensation 34Set commands 72

Fault response SETFR 74Indirect addressing SETI 74Interrupt SETINT 74System values SETSYS 74

Set commands variable SET 74Setpoint selection 5SHIFT commands

ASHR 56SHL 56SHR 56

Software limit switch 31Speed feedforward 29Subroutine call CALL 69Subroutines 13Synchronlauf 44System description 4System values

Access to ... 14

System variableSystem variable

ACT.POS 1 86ACT.POS 2 86Actual position 1 86Actual position 2 86ANA.OUT IP 83Analog output 83Control word 84CTRL.WORD 84DRS control 83DRS CTRL. 83DRS STATUS 83Input level 84INPUT LVL 84LAG DISTAN 85Lag distance 85LAG WINDOW 85OPT.OUT IP 83Option output IPOSplus 83Output level 84OUTPUT LVL 84POS.WINDOW 85Position window 85REF.OFFSET 86Reference offset 86SETP.POS. 85Setpoint position 85Setpoint position bus 86SLS LEFT 86SLS RIGHT 86Software limit switch CCW 86Software limit switch CW 86SP.POS.BUS 86Standard output IPOSplus 84STD.OUT IP 84

T0 RELOAD 84TARGET POS 85Target position 85TIMER 0 85Timer 0 reload 84TIMER 1 85Watchdog timer 85WD.TIMER 85

CControl word 44CTRL.WORD 44

DDRS Control 45DRS CTRL. 45DRS STATUS 45

SSCOPE 474 83SCOPE 475 83STAT.WORD 83Status word 83

TTouch Probe Position X/Y 86TP.POS.X/Y 86

TTask 1 21Task 1 / task 2 13

Creating a program 22Differences 21Division 21

Task 2 21TASK2 71Technical data 5Travel distance factor DENOMINATOR 23Travel distance factor NUMERATOR 23Travel parameters 29Travel speed 29

UUNIT 24Unit commands

ASTOP 78MEM 78TOUCHP 78WDOFF 78WDON 78

User travel units 23

VVariables 14

WWait WAIT 71Watchdog function 81

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manual ipos+ - positioning and sequence control · 2 movidrive® iposplus® important notes...

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