Movidrive Md60a PDF

Edition
MOVIDRIVE® MD_60A
Absolute Positioning 03/2001
Manual
1051 0117 / EN
SEW-EURODRIVE
1 Important Notes...................................................................................................... 4
2 System Description................................................................................................ 5
2.1 Application fields ............................................................................................ 5
2.2 Application examples ..................................................................................... 6
3 Project Planning ..................................................................................................... 7

3.1 Pre-requisites ................................................................................................. 7
3.2 Functional description .................................................................................... 8
3.3 Scaling of the drive ........................................................................................ 9
3.4 Limit switches and machine zero ................................................................. 10
3.5 Process data assignment............................................................................. 11
4 Installation ............................................................................................................ 13
4.1 Software ....................................................................................................... 13
4.2 Basic unit with "absolute encoder interface type DIP11A" option ................ 14
4.3 Bus installation ............................................................................................. 15
4.4 Connecting the limit switches....................................................................... 24
5 Startup................................................................................................................... 25
I
5.1 General information ..................................................................................... 25
0
5.2 Preliminary work........................................................................................... 25
5.3 Starting the "absolute positioning" program ................................................. 26
5.4 Parameters .................................................................................................. 31
5.5 Starting the drive .......................................................................................... 32
6 Operation and Service ......................................................................................... 35

6.1 Timing diagrams........................................................................................... 35
6.2 Error information .......................................................................................... 38
6.3 Error messages............................................................................................ 39
MOVIDRIVE® MD_60A, Absolute Positioning 3

®
Documentation
®
® ®
→ →
Safety and
warning
instructions
4 MOVIDRIVE® MD_60A, Absolute Positioning

2.1 Application fields
18 •

2.2 Application examples
Storage and
retrieval unit for
high-bay
warehouse
04430AXX
Fig. 1: Application example of a storage and
retrieval unit for high-bay warehouse
Hoist
00786AXX
Fig. 2: Application example of a hoist

3.1 Pre-requisites
plus®
PC and software
® ®
®
Licence
®
®
Inverters, motors
and encoders ®
→ ®

3.2 Functional description
Functional
characteristics
Travel unit Maximum possible travel distance

1/10 mm 26.2144 m
mm 262.144 m
m 262 144 m
Operating modes
PA
E Q
PA1 PA2 PA3
PE1 PE2 PE3

PE
04427AXX
Fig. 3: Data exchange via process data
PA = Process output data PE = Process input data
PA1 = Control word PE1 = Status word
PA2 = Target position high PE2 = Actual position high
PA3 = Target position low PE3 = Actual position low

3.3 Scaling of the drive
Activating the
absolute encoder
04429AEN
Fig. 4: Activating the absolute encoder

3.4 Limit switches and machine zero
Machine zero
→
Software limit
switches

3.5 Process data assignment
PA
E Q
PA1 PA2 PA3
PE1 PE2 PE3

PE
04427AXX
Fig. 5: Data exchange via process data
PA = Process output data PE = Process input data
PA1 = Control word PE1 = Status word
PA2 = Target position high PE2 = Actual position high
PA3 = Target position low PE3 = Actual position low
Process output
data
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Controller inhibit/
Reserved
enable
Ramp selection Enable/rapid stop
Speed selection Enable/stop
Mode select
Reserved
high
Mode select low Reserved
Jog - Reserved
Jog + Error reset
Start Reserved
PA2 Target position high PA3 Target position low

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Target position [user travel unit]

Process input
data
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Inverter status/fault code
Motor turning (n ≠ 0)
Inverter ready
IPOS reference (= drive referenced)
Target position reached
Brake released
Fault/warning
CW limit switch
CCW limit switch
PE2 Actual position high PE3 Actual position low

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Actual position [user travel unit]

4.1 Software
MOVITOOLS
04431AEN
Fig. 6: MOVITOOLS window
Licence
®
®

4.2 Basic unit with "absolute encoder interface type DIP11A" option
X13: ® DIP MDF

MOVIDRIVE
DIØØ 1 /Controller inhibit
DIØ1 2 Enable/rapid stop 1 1
DIØ2 3 Reset 2 2
DIØ3 4 No function 3 3 X11
DIØ4 5 /Limit switch CW 4
DIØ5 6 /Limit switch CCW 4
DCOM 7 Reference X13:DIØØ...DIØ5 5
X 5
VO24 8 +24V output 60 S11 mA ↔ V
6
DGND 9 Reference potential binary signals S12 R ON ↔ OFF
ST11 10 RS-485+ 7
1
ST12 11 RS-485- 8 2 X12
9 3
X14: (MDV/MDS) 10 1
6
1
Input external encoder, 2
Incremental encoder 5 V TTL 1 3
® 4
9
5 (Connection→ MOVIDRIVE 2 1
operating instructions) 5
3 2 X10
6
4 3
X 7
5 4
61 8
X15: (MDV/MDS) 6 5
9
9
5 Motor encoder: 6 X13
7 10
Incremental encoder (MDV) or resolver (MDS) 7
® 8
6 (Connection→ MOVIDRIVE 8
1
9 9
operating instructions)
10
11
X10:
TF1 1 TF input
DGND 2 Reference potential binary signals
DBØØ 3 /Brake X
DOØ1-C 4 Relay contact/fault 62
DOØ1-NO 5 NO relay/fault
DOØ1-NC 6 NC relay /fault
DOØ2 7 Referenced
VO24 8 +24V output
-24= V+ VI24 9 +24V input
X60: DIP11A
MDV (MDS)
DI1Ø 1
DI11 2
DI12 3
DI13 4 No function, since virtual SUPPLY OUT 24V=
DI14 5 terminals are active!

DI15 6
DI16 7
DI17 8
DCOM 9 Reference X22:DI1Ø...DI17
X61:
DO1Ø 1 X14 X15
ENCODER IN/OUT ENCODER IN
DO11 2 (RESOLVER IN)
DO12 3
DO13 4 No function since virtual
DO14 5 terminals are active!
DO15 6
DO16 7
DO17 8
SSI
interface X62:
5
9 Absolute encoder
(Connection→ "Positioning with DIP11A Absolute
6
1 Encoder and Absolute Encoder Option" manual)
Gray code
04433AEN
Fig. 7: Wiring diagram for basic unit with DIP11A option

4.3 Bus installation
Overview
DFI DFO MDV (MDS)

DFP DFP DFI DFC DFD
PROFIBUS PROFIBUS INTERBUS-S INTERBUS CAN-Bus CANopen DEVICE-NET
DP FMS / DP Module Ident. 1
227 PD(2) 0 2
1 2 3 4
PD(1)
PD(0) 3 X11
NA(6)
NA(5)
4
1 2 3 4
NA(4)
NA(3)
5
NA(2)
S11 mA ↔ V
NA(1) S12 R ON ↔ OFF
1 2 3 4
NA(0)
DR(1)
DR(0) 11
1
S1 2 X12
BUS
OFF
3
1
STATE Mod/
Net 2
GUARD
PIO 3
COMM BIO 4
1
BUS- 5
2 X10
OFF 6
3
ADRESS 7
0 1 4
NA(5)
8
NA(4)
5
S1 9
NA(3) 6 X13
NA(2) 10
0
7
NA(1)
1 2 3 4
nc NA(0)
S2
8
DR(1)
R 3
DR(0) 9
S2
10
11 SUPPLY OUT 24V=
1
2
X30 3
PROFIBUS 4
DP 5
X30
X30 CANopen X14 X15
ENCODER IN/OUT ENCODER IN
(RESOLVER IN)
P R O F I
SBus
PROCESS FIELD BUS
B U S
Device Net
02800AXX
Fig. 8: Bus types

PROFIBUS
(DFP11A)
®
Technical data
Option PROFIBUS fieldbus interface type DFP11A
Part number 822 724 1
DFP Startup and diagnostic tool MOVITOOLS software and DBG11A keypad
PROFIBUS
FMS / DP • PROFIBUS-DP to EN 50170 V2 / DIN E 19245 P3
Protocol options • PROFIBUS-FMS to EN 50170 V2 / DIN E 19245 P3
• Mixed mode PROFIBUS DP/FMS (combi-slave)
Automatic detection of baud rate:
• 9.6 kbaud
1. • 19.2 kbaud
Supported baud rates • 93.75 kbaud
2. • 187.5 kbaud
• 500 kbaud
• 1500 kbaud
9-pin sub D socket
Connection
Assignment to EN 50170 V2 / DIN 19245 P3
3. Can be activated for cable type A (up to 1500 kbaud)
Bus termination
to EN 50170 V2 / DIN 19245 P3
Station address 0 – 125, can be set using DIP switch
Min-TSDR for FMS/DP or DP mode
4. Default bus parameter
can be selected via DIP switch
GSD file SEW_6000.GSD
Weight 0.2 kg (0.44 lb)
5.
1. Green LED: RUN

2. Red LED: BUS FAULT
3. DIP switch for setting the station address and changing from FMS/DP mixed mode to pure DP mode.
4. DIP switch for switching the bus terminating resistor on and off
5. 9-pin sub D socket: bus connection
Pin assignment
(1)
(2)
RxD/TxD-P (B/B) 3
E Q RxD/TxD-N (A/A) 8
CNTR-P 4
DGND (M5V) 5
VP (P5V) 6
DGND (M5V) 9
(3)
04434AXX
Fig. 9: Assignment of 9-pin sub D plug to EN 50170 V2
(1) 9-pin sub D plug
(2) Twist the signal wires together!
(3) Conductive connection is necessary between the plug housing and the shield!

PROFIBUS
(DFP21A)
®
Technical data
Option PROFIBUS fieldbus interface type DFP21A
Startup and diagnostic tool MOVITOOLS software and DBG11A keypad
DFP
Protocol option PROFIBUS-DP to EN 50170 V2 / DIN E 19245 P3
PROFIBUS
DP Automatic detection of baud rate from
Supported baud rates
9.6 kbaud – 12 Mbaud
1 9-pin sub D socket

Connection
RUN Assignment to EN 50170 V2 / DIN 19245 P3
2 Not integrated, must be implemented in the PROFIBUS
BUS Bus termination
connector.
FAULT
ON Station address 0 – 125, can be set using DIP switch
20
21
22 GSD file SEW_6003.GSD
3
3
2
24 DP identity number 6003 hex = 24579 dec
25
26
nc Weight 0.2 kg (0.44 lb)
ADDRESS
X30
PROFIBUS
DP
1. Green LED: RUN
2. Red LED: BUS FAULT
3. DIP switch for setting the station address.
4. 9-pin sub D socket: bus connection
Pin assignment
(1)
(2)
RxD/TxD-P (B/B) 3
E Q RxD/TxD-N (A/A) 8
CNTR-P 4
DGND (M5V) 5
VP (P5V) 6
DGND (M5V) 9
(3)
04434AXX
Fig. 10: Assignment of 9-pin sub D plug to EN 50170 V2
(1) 9-pin sub D plug

INTERBUS
(DFI11A)
Technical data
Option INTERBUS fieldbus interface type DFI11A
DFI
INTERBUS-S
Module Ident. Remote bus input: 9-pin sub D plug
227
Remote bus output: 9-pin sub D socket
Connection
RS-485 transmission technology, 6-core shielded and
twisted-pair cable
Module ID E3hex = 227dec
1.
2.
3.
4.
5.
1. DIP switch for setting the number of process data items

2. 4 × green LED: Diagnostic LEDs
3. 1 × red LED: Diagnostic LED
4. 9-pin sub D plug: Remote bus input
5. 9-pin sub D socket: Remote bus output
Pin assignment
(1) (4)
(2)
(2) /DO 6 GN
GN DO 1 YE
E Q
6 /DO
YE 1 DO /DI 7 PK
PK 7 /DI DI 2 GY
GY 2 DI COM 3 BN
BN 3 COM 5 (3)
(3) 9
(5)
04435AXX
Fig. 11: Assignment of the 9-pin sub D socket of the incoming remote bus cable and the
9-pin sub D plug of the outgoing remote bus cable
(1) 9-pin sub D socket of the incoming remote bus cable
(4) 9-pin sub D plug of the outgoing remote bus cable
(5) Jumper pin 5 with pin 9!

INTERBUS with
fiber optic cable
(DFI21A)
Technical data
Option INTERBUS fieldbus interface type DFI21A (FO)
DFI Startup and diagnostic tool MOVITOOLS software, DBG11A keypad and CMD tool
INTERBUS
Supported baud rates 500 kbaud and 2 Mbaud, selection via DIP switch
Remote bus input: 2 F-SMA plugs
Remote bus output: 2 F-SMA plugs
Connection
1. Optically regulated FO interface
Optical converter (RS-485 → FO) possible
2.
3.
4.
5.
6. 1. DIP switch for process data length, PCP length and baud rate
2. Diagnostic LEDs
3. FO: Remote IN
4. FO: Incoming remote bus
5. FO: Remote OUT
6. FO: Continuing remote bus
Connection
assignment
Position Signal Direction FO core color
3 FO remote IN Receive data Orange (OG)
4 Incoming remote bus Send data Black (BK)
5 FO remote OUT Receive data Black (BK)
6 Outgoing remote bus Send data Orange (OG)

CAN bus
(DFC11A)
Technical data
Option CAN fieldbus interface type DFC11A
Part number 822 725 X
DFC Startup and diagnostic tool MOVITOOLS software and DBG11A keypad
CAN-Bus
Can be selected via DIP switch:
• 125 kbaud
Supported baud rates • 250 kbaud
• 500 kbaud
• 1000 kbaud
9-pin sub D plug
Connection Assignment to CiA standard
2-core twisted cable to ISO 11898
Bus termination Can be switched on using DIP switch (120 Ω)
1. Address range 0 – 63, can be selected via DIP switch
2. Weight 0.2 kg (0.44 lb)
3.
4.
5.
1. Green LED: TxD

2. Red LED: RxD
3. DIP switch for setting the process data length and baud rate
4. DIP switch for setting the base ID and switching the bus terminating resistor on and off
5. 9-pin sub D plug: bus connection
Pin assignment
(1)
(2) E Q
6 DGND
7 CAN High
2 CAN Low
3 DGND
(3)
04436AXX
Fig. 12: Assignment of 9-pin sub D socket of the bus cable
(1) 9-pin sub D socket

CANopen
(DFO11A)
Technical data
Option CANopen fieldbus interface type DFO11A
DFO
CANopen
PD(2) 0 • 125 kbaud
1 2 3 4
PD(1)
PD(0) Supported baud rates • 250 kbaud
NA(6)
• 500 kbaud
NA(5)
1 2 3 4
NA(4) • 1000 kbaud

NA(3) 1.
NA(2)
9-pin sub D plug
NA(1)
1 2 3 4
NA(0) Connection Assignment to CiA standard

DR(1)
DR(0) 11
2-core twisted cable to ISO 11898
S1
Bus termination Can be switched on using DIP switch (120 Ω)
BUS
OFF
Address range 1 – 127, can be selected via DIP switch
STATE
2. Weight 0.2 kg (0.44 lb)
GUARD
COMM
0
1 2 3 4
nc
3.
R 3
S2
4.
1. DIP switch for process data length, module ID and baud rate
X30 CANopen
2. Display and diagnostic LEDs
3. DIP switch for switching the bus terminating resistor on and off
4. 9-pin sub D plug: bus connection
Pin assignment
(1)
(2) E Q
6 DGND
7 CAN High
2 CAN Low
3 DGND
(3)
04436AXX
Fig. 13: Assignment of 9-pin sub D socket of the bus cable
(1) 9-pin sub D socket

DeviceNet
(DFD11A)
Technical data
Option DeviceNet fieldbus interface type DFD11A
DFD Startup and diagnostic tool MOVITOOLS software and DBG11A keypad
DEVICE-NET
• 125 kbaud
Supported baud rates
• 250 kbaud
• 500 kbaud
5-pin Phoenix terminal
Connection Assignment to DeviceNet specification
(Volume I, Appendix B)
Permitted line cross section According to DeviceNet specification
Mod/ Use of bus connectors with integrated bus terminating
Bus termination
Net resistor (120 Ω) at the start and finish of the bus segment.
PIO Address range which can be set (MAC-ID) 0 – 63, can be selected using DIP switch
1.
BIO Weight 0.2 kg (0.44 lb)
BUS-
OFF
0 1
NA(5)
NA(4)
NA(3) S1
NA(2)
2.
NA(1)
NA(0)
DR(1) S2
DR(0)
1
2
3 3.
4
5
X30
1. LED display
2. DIP switch for setting the node address (MAC-ID) and baud rate
3. 5-pin Phoenix terminal: bus connection
Terminal
assignment
Terminal Meaning Color
X30:1 V- (0V24) Black (BK)
X30:2 CAN_L Blue (BU)
X30:3 DRAIN Bright
X30:4 CAN_H White (WH)
X30:5 V+ (+24 V) Red (RD)

System bus
(SBus)
SBus wiring diagram
Control unit Control unit Control unit
X11: X11: X11:

REF1 1 REF1 1 REF1 1
AI11 2 AI11 2 AI11 2
AI12 3 AI12 3 AI12 3
AGND 4 AGND 4 AGND 4
REF2 5 REF2 5 REF2 5
S 11 S 11 S 11
system bus S 12 system bus S 12 system bus S 12
terminating resistor ON OFF terminating resistor ON OFF terminating resistor ON OFF
System bus X12: System bus X12: System bus X12:

ref. potential DGND 1 ref. potential DGND 1 ref. potential DGND 1
system bus high SC11 2 system bus high SC11 2 system bus high SC11 2
system bus low SC12 3 system bus low SC12 3 system bus low SC12 3
y y y
02205BEN
Fig. 14: System bus connection
Cable specification
Ω
≤
Shield contact
Line length
→
→
→
→
Terminating
resistor

4.4 Connecting the limit switches
CW
X
ES CCW
ES CW
04437AXX
Fig. 15: Connecting the limit switches
CW = Clockwise drive inverter
X = Travel distance
LS CW = Limit switch clockwise
LS CCW = Limit switch counterclockwise

I
5.1 General information
®
®
Licence
®
®
5.2 Preliminary work
®
®
®
®
•
→

I
5.3 Starting the "absolute positioning" program

General
information
04440AEN
Fig. 16: Starting the "absolute positioning" program
Initial startup
Fieldbus
parameters
04441AEN
Fig. 17: Setting the fieldbus parameters

I
Scaling
04442AEN
Fig. 18: Setting the scaling
•
•

I
±
• •
→
Limit switches,
ramps, speeds and
limits
04443AEN
Fig. 19: Setting limit switches, ramps and speeds

I
Saving changes
04444AEN
Fig. 20: Saving changes
Download
04445AEN
Fig. 21: Download window
Switching to the
monitor
04446AEN
Fig. 22: Monitor Yes/No

I
Repeating startup
04447AEN
Fig. 23: Absolute positioning monitor
Monitor
Controller in the
monitor

I
5.4 Parameters
Parameter number Parameter Setting

P100 Setpoint source FIELDBUS / SBus
P101 Control signal source FIELDBUS / SBus
P136 Stop ramp 0.5 s
P137 Emergency ramp 0.5 s
P600 Binary input DIØ1 ENABLE/RAP.STOP
P601 Binary input DIØ2 Reset
P602 Binary input DIØ3 NO FUNCTION
P603 Binary input DIØ4 /LIM. SWITCH CW
P604 Binary input DIØ5 /LIM. SWITCH CCW
P819 Fieldbus timeout delay
0.01 – 650 s
P815 SBus timeout delay
P831 Response FIELDBUS TIMEOUT NO RESPONSE
DISPLAY FAULT
IMM. STOP/FAULT
EMERG.STOP/FAULT
P836 Response SBus TIMEOUT RAPID STOP/FAULT
IMM. STOP/WARNG
EMERG.STOP/WARNG
RAPID STOP/WARNG
P813 SBus address 0 – 63
125 kbaud
250 kbaud
P816 SBus baud rate
500 kbaud
1000 kbaud
P870 Setpoint description PA1 CTRL. WORD 2
P871 Setpoint description PA2 POSITION HI
P872 Setpoint description PA3 POSITION LO
P873 Actual value description PE1 IPOS PE-DATA
P876 PA data enable ON
P300 Start/stop speed 1 15 rpm
P301 Minimum speed 1 15 rpm
P302 Maximum speed 1 0 – 5500 rpm
P730 Brake function 1 ON
P941 Source actual position ABSOL. ENC.

I
5.5 Starting the drive
Operating modes
Control word:Bit
Operating mode
PA1:12 PA1:11
Jog mode "0" "1"
Automatic mode "1" "1"
Invalid "1" "0"
Invalid "0" "0"

I
Jog mode
04448AEN
Fig. 24: Jog mode
Note

I
Automatic mode
04449AEN
Fig. 25: Automatic mode
Notes

6.1 Timing diagrams
Jog mode
PA1:0
PA1:1
PA1:2
PA1:11
PA1:12
PA1:9
PA1:10
PA1:13
n [1/min]
n2
n1
0
-n1
-n2
(1) (2) (3)
DBØØ
04450AXX
Fig. 26: Timing diagram of jog mode
PA1:1 = Enable/rapid stop (1) = Start jog mode, Jog+
PA1:2 = Enable/stop (2) = Selection rapid speed
PA1:11 = Mode selection (3) = Start jog mode, Jog-
PA1:12 = Mode selection
PA1:9 = Jog+ n1 = Slow speed velocity
PA1:10 = Jog- n2 = Rapid speed velocity
PA1:13 = Speed selection
DBØØ = /Brake

Automatic mode
PA1:0
PA1:1
PA1:2
PA1:11
PA1:12
PA1:13
PA1:14
PA1:8
PA2 0000 hex 0001 hex 0001 hex
PA3 C350 hex 86A0 hex 24F8 hex
PE1:3
n [1/min]
n2
n1
n3
0
-n3
-n1
-n2
(1) (2) (3) (4)
DBØØ
04451AXX
Fig. 27: Timing diagram of automatic mode
PA1:1 = Enable/rapid stop (1) = Start jog mode
PA1:2 = Enable/stop (2) = Position 50000 reached
PA1:11 = Mode selection (3) = Position 100000 reached
PA1:12 = Mode selection (4) = Position 75000 reached
PA1:13 = Speed selection
PA1:14 = Ramp selection n1 = Reduced speed
PA1:8 = Start n2 = Rapid speed velocity
PA2 = Target position high n3 = Positioning speed
PA3 = Target position low
PE1:3 = Target position reached
DBØØ = /Brake

Moving clear of
limit switches

6.2 Error information
• •
• • • • •
• • • • •
•
Reset
02771AEN
Fig. 28: Reset with MOVITOOLS
Timeout active

6.3 Error messages
Display
01038AXX
List of faults → ®

Error
Name Response P Possible cause Action
code
00 No error -
• Extend deceleration ramps
• Check connecting harness
DC link Immediate
07 DC link voltage too high for braking resistor
overvoltage shut-off
• Check technical data of
braking resistor
• Reduce load
• Speed controller or current
• Increase deceleration time
controller (in VFC operating
setting (P501 or P503)
mode without encoder)
• Check encoder connection,
operating at setting limit due
swap over A/A and B/B pairs
to mechanical overload or
if necessary
Immediate phase fault in the power
08 n-monitoring • Check encoder voltage
shut-off system or motor
supply
• Encoder not connected
• Check current limitation
correctly or incorrect
• Extend ramps if appropriate
direction of rotation
• Check motor feeder and
• nmax is exceeded during
motor
torque control
• Check supply system phases
• Encoder cable or shield not
connected correctly Check encoder cable and shield
Immediate
14 Encoder • Short circuit/open circuit in for correct connection, short
shut-off
encoder cable circuit and open circuit.
• Encoder defective
• Open circuit/both limit
• Check wiring of limit switches
Limit switches missing
Emergency • Swap over limit switch
27 switches • Limit switches are swapped
stop connections
missing over in relation to direction of
• Reprogram terminals
rotation of motor
• Check master
No master-slave communication communication routine
Fieldbus
28 Rapid stop • took place within the configured • Extend fieldbus timeout time
timeout
response monitoring period. (P819) or switch off
monitoring
Limit switch Emergency Limit switch was reached in • Check travel range
29
reached stop IPOS operating mode. • Correct user program
• Motor too hot, TF has
• Let motor cool down and
tripped
reset fault
• TF of motor not connected
• Check connections/link
or not connected properly
between MOVIDRIVE® and
No • MOVIDRIVE® connection
31 TF sensor • TF
response and TF connection on motor
• If no TF is connected: Jumper
interrupted
X10:1 to X10:2. With MDS:
• No link between X10:1 and
Jumper X15:9 to X15:5.
X10:2. With MDS: X15:9 –
• Set P834 to "No response"
X15:5 connection missing.
• Type of option card not • Use correct option card
allowed • Set correct setpoint source
• Setpoint source, control (P100)
Immediate source or operating mode • Set correct control signal
36 No option
shut-off not permitted for this option source (P101)
card • Set correct operating mode
• Incorrect encoder type set (P700 or P701)
for DIP11A • Set the correct encoder type
System bus Fault during communication via
47 Rapid stop • Check system bus connection.
timeout system bus.
With DIP11A option only:
Drive has moved beyond the
DIP work Emergency approved work area of the Check position offset and zero
92
area stop absolute encoder. Setting of offset parameters.
encoder type/work area DIP
parameters may be incorrect.

Error
Name Response P Possible cause Action
code
The encoder signals a fault, e.g.
power failure.
• Connection cable between • Check absolute encoder
the encoder and DIP does connection
not meet the requirements • Check motor leads
DIP encoder Emergency
93 (twisted pair, shielded) • Set correct cycle frequency
fault stop
• Cycle frequency too high for • Reduce max. traveling
cable length velocity or ramp
• Permitted max. speed/ • Fit new absolute encoder
acceleration of encoder
exceeded
Inverter electronics disrupted,
EEPROM Immediate
94 possibly due to EMC effect or Send the unit in for repair.
checksum shut-off
fault.
Unable to determine a logical
• Set the correct encoder type
position.
• Check IPOS travel parameter
• Incorrect encoder type set
DIP • Check traveling velocity
Emergency • IPOS travel parameter set
95 plausibility • Correct numerator/
stop incorrectly
error denominator factor
• Numerator/denominator
• Reset after zero adjustment.
factor set incorrectly
• Fit new absolute encoder
• Zero adjustment performed

10/2000
10/2000
SEW-EURODRIVE GmbH & Co · P.O. Box 3023 · D-76642 Bruchsal/Germany · Phone +49-7251-75-0
Fax +49-7251-75-1970 · http://www.sew-eurodrive.com · sew@sew-eurodrive.com

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Movidrive Md60a PDF

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3 Project Planning ..................................................................................................... 7

6 Operation and Service ......................................................................................... 35

MOVIDRIVE® MD_60A, Absolute Positioning 3

4 MOVIDRIVE® MD_60A, Absolute Positioning

MOVIDRIVE® MD_60A, Absolute Positioning 5

6 MOVIDRIVE® MD_60A, Absolute Positioning

MOVIDRIVE® MD_60A, Absolute Positioning 7

Travel unit Maximum possible travel distance

PA1 PA2 PA3

PE1 PE2 PE3

8 MOVIDRIVE® MD_60A, Absolute Positioning

MOVIDRIVE® MD_60A, Absolute Positioning 9

10 MOVIDRIVE® MD_60A, Absolute Positioning

PA1 PA2 PA3

PE1 PE2 PE3

Ramp selection Enable/rapid stop

Speed selection Enable/stop

Mode select low Reserved

Jog + Error reset

PA2 Target position high PA3 Target position low

MOVIDRIVE® MD_60A, Absolute Positioning 11

IPOS reference (= drive referenced)

Target position reached

CCW limit switch

PE2 Actual position high PE3 Actual position low

12 MOVIDRIVE® MD_60A, Absolute Positioning

MOVIDRIVE® MD_60A, Absolute Positioning 13

X13: ® DIP MDF

DI14 5 terminals are active!

14 MOVIDRIVE® MD_60A, Absolute Positioning

DFI DFO MDV (MDS)

MOVIDRIVE® MD_60A, Absolute Positioning 15

1. Green LED: RUN

16 MOVIDRIVE® MD_60A, Absolute Positioning

1 9-pin sub D socket

MOVIDRIVE® MD_60A, Absolute Positioning 17

1. DIP switch for setting the number of process data items

18 MOVIDRIVE® MD_60A, Absolute Positioning

MOVIDRIVE® MD_60A, Absolute Positioning 19

1. Green LED: TxD

20 MOVIDRIVE® MD_60A, Absolute Positioning

NA(4) • 1000 kbaud

NA(0) Connection Assignment to CiA standard

MOVIDRIVE® MD_60A, Absolute Positioning 21

22 MOVIDRIVE® MD_60A, Absolute Positioning

SBus wiring diagram

Control unit Control unit Control unit

X11: X11: X11:

System bus X12: System bus X12: System bus X12:

MOVIDRIVE® MD_60A, Absolute Positioning 23

24 MOVIDRIVE® MD_60A, Absolute Positioning

5.1 General information

5.2 Preliminary work

MOVIDRIVE® MD_60A, Absolute Positioning 25

5.3 Starting the "absolute positioning" program

26 MOVIDRIVE® MD_60A, Absolute Positioning

MOVIDRIVE® MD_60A, Absolute Positioning 27