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Manual – MOVI-PLC® Application Solution "SyncCrane"

2

Functional principle of indirect positioning and synchronization

Description

2.3

Functional principle of indirect positioning and synchronization

2.3.1

The Problem

Existing applications with evaluation of the absolute encoder as IPOS encoder (see
IPOS manual chapter "Position detection and Positioning") limit the control dynamics
due to the properties of the absolute encoder systems and the mechanical conditions
(e.g. mounting of the encoder system).

Due to mechanical feedback, the entire system is susceptible to vibrations, which often
requires complex optimization of the control parameters on site.

The IPOS-based application module "DriveSync" was implemented according to this
principle. Especially when it comes to lifting devices and assembly-hall cranes, where
evaluation of an absolute encoder is necessary in addition, compromises have to be
made in project planning with respect to dynamics.

The SyncCrane application solution simplifies startup and operation.

2.3.2

Conventional solution: Direct position control with absolute encoders

The necessary SHELL parameters are determined during guided startup (SHELL/DIP
startup). Direct position control is part of the firmware. This means no additional
programming is required.

During the positioning operation, the cyclically read-in actual position (absolute encoder/
motor encoder position) is read in by the profile generator and corrected by adjustment
of the n-controller in case of deviations.

Deviations caused, for example, by slip between motor encoder and absolute encoder
thus directly affect the speed profile of the drive.

The following figure shows direct position control with position correction.

536585611

v

max

Maximum velocity

nC

Speed controller

a

max

Maximum acceleration

n

act

Actual speed

PG

Profile generator

ABS

Absolute encoder

PC Position

controller

IPOS

IPOS

plus®

program

DIP 11B

PG

PC

nC

M

–

+

n

act

V

max

a

max

IPOS

–

+

X62

ABS

P

i

f

kVA

Hz

n

P

i

f

kVA

Hz

n

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Содержание MOVI-PLC

Страница 1: ...Drive Technology Drive Automation System Integration Services MOVI PLC Application Solution SyncCrane Manual Edition 03 2008 11666617 EN ...

Страница 2: ...SEW EURODRIVE Driving the world ...

Страница 3: ...ment 21 3 6 Software limit switches 25 3 7 Hardware limit switches 26 3 8 Safe stop 27 4 Installation 28 4 1 Software MotionStudio 28 4 2 Wiring diagram MOVIDRIVE MDX61B 29 4 3 Bus installation PROFIBUS DHP11B 30 4 4 Connecting system bus SBus 1 30 5 Startup 31 5 1 Prerequisites 31 5 2 Preliminary work 31 5 3 Starting the SyncCrane program 33 5 4 Parameters H variables of the MOVI PLC 49 5 5 Drive...

Страница 4: ...Auxiliary Drive Auxiliary Axis 77 7 1 System description 77 7 2 Project planning for auxiliary drives 79 7 3 Startup of auxiliary drives 83 7 4 Operation of auxiliary drives 89 8 Appendix 93 8 1 Frequently asked questions 93 9 Address List 94 Index 103 ...

Страница 5: ...h the unit Make sure that the operating instructions and manuals are available to persons responsible for the plant and its operation as well as to persons who work independently on the unit You must also ensure that the documentation is legible Symbol SIGNAL WORD Nature and source of hazard Possible consequence s if disregarded Measure s to avoid the hazard Symbol Signal word Meaning Consequences...

Страница 6: ...on observance of these operating instructions In such cases any liability for defects is excluded 1 4 Other applicable documentation This manual does not replace the detailed operating instructions and the corresponding manuals Installation and startup of the inverter only by trained personnel observing the relevant accident prevention regulations and the following documents MOVIFIT FC operating i...

Страница 7: ... software wizard ensures guided startup and comprehensive diagnostic functions High degree of similarity with SEW application modules In addition to the motor encoder external absolute encoders HIPERFACE SSI can be connected and evaluated Common setpoint for automatic mode is ensured by controlling the single axis via virtual encoder Indirect positioning or indirect synchronization allows for safe...

Страница 8: ...ferenced to a cam position via search travel Adjusting the external encoder signal to the specified reference offset Group control for all connected axes Single axis control when using the standstill reference travel type 2 1 4 Characteristics of automatic mode Characteristics of automatic mode Automatic alignment of the physical axes with each restart Synchronous operation with automatic indirect...

Страница 9: ...of possible applications Some examples are given in this section Example 1 Multiple column hoist with positioning and synchronization based on HIPERFACE motor encoder Example 2 Gantry crane with indirect positioning and automatic slip compensation by means of absolute encoder evaluation 511850891 511852427 Slave Master Slave Master P i f kVA Hz n P i f kVA Hz n ...

Страница 10: ...mises have to be made in project planning with respect to dynamics The SyncCrane application solution simplifies startup and operation 2 3 2 Conventional solution Direct position control with absolute encoders The necessary SHELL parameters are determined during guided startup SHELL DIP startup Direct position control is part of the firmware This means no additional programming is required During ...

Страница 11: ...tional principle of indirect positioning and synchronization Description The following figure shows the speed profile motor encoder for direct position control 774628875 1 Optimal speed process 2 Real speed process V m s t s 1 2 P i f kVA Hz n P i f kVA Hz n ...

Страница 12: ...der detection are minimized in this way The user can optimize time delays in absolute encoder sensing and setpoint processing by setting an override The override causes an early and softer run in to target which suppresses overshoots This function is part of the SyncCrane application module The following figure shows indirect position control with absolute encoder 536587275 vmax Maximum velocity P...

Страница 13: ... the drive This leads to a higher dynamic response and thus to improved operating characteristics for dynamic positioning applications This solution with indirect positioning has been successfully implemented at SEW EURODRIVE for some time in the area of SRUs with cornering ability etc 536580619 V m s t s Optimal speed process Real speed process Direct position control Indirect position control Me...

Страница 14: ...jerk The controller parameters can be set hard by direct coupling of the drive trains Higher level control loop Indirect synchronization To prevent mechanical strain e g caused by slight differences in the crane wheel diam eter of gantry cranes the actual position value read in via an absolute encoder must be compared with the position setpoint of the virtual encoder and corrected if necessary Thi...

Страница 15: ... From the menu choose Diagnostics MOVI PLC Information and Remote Control The Information tab page shows the current application 832287115 Part number A loaded SyncCrane application module can be identified by the part number 18219543 xx Version The current main version of the application module is displayed in this field Release The current release of the application module is displayed in this f...

Страница 16: ...e individual axes using the SHELL software If required prior startup of the external HIPERFACE encoder or absolute encoder using the SHELL software The IPOS encoder source SHELL parameter 941 IPOS encoder source must remain set to motor encoder Subsequent configuration of the individual axis for operation with MOVI PLC via DriveStartup Make sure that different SBus individual addresses are specifi...

Страница 17: ...fieldbus as required Referencing mode Position adjustment is initiated with the start signal of the external encoder Reference travel establishes the reference point machine zero for absolute positioning operations Three different reference travel types are supported Positioning mode The target position is specified by the process output data words PO4 and PO5 The speed and the ramp can be varied ...

Страница 18: ...ystem can then be moved using the virtual master encoder Master value specification via virtual encoder is made either in jog or positioning mode The startup wizard lets you specifiy a jerk time for the virtual encoder Position deviations between virtual encoder position and external synchronous encoder are compensated cyclically during ongoing movement This is to adjust for example varying wear o...

Страница 19: ...ompensation between virtual and absolute encoder Feedback of actual positions of the physical axes and the virtual master encoder For draw wire encoder Encoding scaling factor SHELL parameter 955 for example for laser distance encoder ScaleFactorMotEncoder Encoder Resolution Gear Box Numerator π D Diameter Gear Box Denominator Inc mm ScaleFactorMotEncoder ScaleMotEncNum ScaleMotEncDenom ScaleFacto...

Страница 20: ...t switches reference cams and machine zero Note the following points during project planning The software limit switches must be located within the travel range of the hardware limit switches When defining the reference position position of the reference cam and the software limit switches make sure they do not overlap You can enter a reference offset during startup if the machine zero is not loca...

Страница 21: ...n in positioning mode low PO6 Target position virtual encoder in automatic mode high PO7 Target position virtual encoder in automatic mode low PO8 Setpoint speed in rpm mm s m min PO9 Acceleration ramp in ms based on Δn of 3000 rpm PO10 Deceleration ramp in ms based on Δn of 3000 rpm PI Process input data PI1 Status word 1 PI2 Status word 2 PI3 Axis selection 1 8 for single axis operation 99 for g...

Страница 22: ...oning mode high PI16 Actual position axis 3 positioning mode low PI17 PI32 See chapter Auxiliary Drives Auxiliary Axis see page 77 Data word Bit no Description Process output data word 1 Bit 0 Controller inhibit Bit 1 Enable rapid stop Bit 2 Enable stop Bit 3 Reserved Bit 4 Reserved Bit 5 Reserved Bit 6 Fault reset Bit 7 Reserved Bit 8 Start Bit 9 Jog Bit 10 Jog Bit 11 Mode selection bit 20 Bit 12...

Страница 23: ...ut data word 4 Target position high byte Position specification for physical axis in positioning mode not synchronized Process output data word 5 Target position low byte Position specification for physical axis in positioning mode not synchronized Process output data word 6 Target position high byte Position specification for virtual axis in positioning mode synchronized Process output data word ...

Страница 24: ...ifeCycleBit Bit 8 15 Reserved Process input data word 3 Selected axis number Single axis selection 1 8 Axis system 99 Process input data word 4 Actual position high byte Actual position in user defined units with single axis selection not synchronized Process input data word 5 Actual position low byte Actual position in user defined units with single axis selection not synchronized Process input d...

Страница 25: ...t is assigned in automatic mode in process output data word 1 PO1 and or process output data word 2 PO For unsynchronized motion PO1 15 SW LS TRUE For synchronized motion automatic mode PO1 15 SW LS TRUE and PO2 15 SW LS TRUE Process input data word 11 Axis 1 actual position high byte Actual position axis 1 in user defined units Process input data word 12 Axis 1 actual position low byte Actual pos...

Страница 26: ...oving clear of the hardware limit switch Correct the operating mode selection in such a way that travel movement away from the hardware limit switch position can be triggered You can use one of the following ways to do so Move group unsynchronized away from the limit switch Select jog mode Specify the jog direction away from the limit switch position Acknowledge the fault The travel movement is st...

Страница 27: ...sconnection of the jumpers at terminal X17 with safety switch or safety PLC The 7 segment display shows a U to indicate Safe stop active state For more information on the Safe stop function refer to the following publications Safe disconnection for MOVIDRIVE MDX60B 61B Conditions Safe disconnection for MOVIDRIVE MDX60B 61B Applications ...

Страница 28: ...part of the MOVITOOLS MotionStudio software version 5 50 and higher For older MOVITOOLS MotionStudio versions or for updates of the application module you can execute the installation file SyncCrane exe Technology version The SyncCrane application module can only be used with MOVI PLC unit version T2 The application modules cannot be used with units in the standard version ...

Страница 29: ...85 RS 485 MOVIDRIVE slaves 1 8 Input External encoder Option DEH11B Motor encoder Connection operating instr MOVIDRIVE Connection operating instr MOVIDRIVE 15 1 8 9 Option DEH11B motor encoder high resolution sin cos encoder HIPERFACE encoder or incremental encoder CT CV or DT DV D motors Option DEH11B Incremental encoder TTL RS 422 with DC 24 V supply Imax 180 mA X16 1 2 3 4 5 6 DiØ6 DoØ3 DoØ4 Di...

Страница 30: ...D 4 LED 5 LED 6 LED 7 X32 X33 X30 X34 20 21 22 23 24 25 26 1 3 1 2 3 1 2 3 1 1 2 1 2 3 1 2 3 511960971 X12 DGND SC11 SC12 1 2 3 S 11 S 13 S 14 ON OFF X12 DGND SC11 SC12 1 2 3 S 12 S 11 S 13 S 14 ON OFF X12 DGND SC11 SC12 1 2 3 S 11 S 13 S 14 S 12 ON OFF Control unit Control unit Control unit System bus Reference System bus Reference System bus Reference SystembusHigh System busHigh System busHigh ...

Страница 31: ...l For notes on the theory of operation of the MPLCTecGearMotion_MDX library refer to the MPLCTec _MDX MPLCTecVirtualEncoder Libraries for MOVI PLC manual For supplementary notes on the theory of operation of the internal synchronous operation technology function refer to the MOVIDRIVE MDX61B Interner Synchronous Operation ISYNC manual 5 2 Preliminary work Perform the following steps before startup...

Страница 32: ...ogy Editors DriveStartup for MOVI PLC 2 Perform DriveStartup to prepare the MOVIDRIVE axes for operation with the MOVI PLC 3 Assign different SBus addresses 1 8 in increasing order beginning with 1 4 Select Parameter tree Unit function Serial communication SBUS2 and set parameter P894 SBUS2 baud rate to 125 kBaud 5 Select Parameter tree Unit function Serial communication SBUS1 and set parameter P8...

Страница 33: ...pplication Solution SyncCrane 33 5 Starting the SyncCrane program Startup 5 3 Starting the SyncCrane program Make a right mouse click on 0 MOVI PLC and select Application modules Sync Crane for MOVI PLC 511968651 0 0 I ...

Страница 34: ...on is opened 511970187 Initial screen Cancel User interface is closed without saving Help Button for opening the online help file Monitor Online diagnostics and control mode The button is disabled if you are not online the application module has not been detected Startup Open the startup screen Click this button to take the application into operation 0 0 I ...

Страница 35: ...dified the settings you can save them by selecting File Save settings from the menu or you can check them by selecting File View settings from the menu HAZARD Risk of crushing if the motor starts up unintentionally Severe or fatal injuries Stop the system before you begin startup and bring the system into a safe condition Make sure that the system cannot be activated during startup 0 0 I ...

Страница 36: ...u perform a re startup you can directly go to the required startup step The Download step is required as last step both for partial and complete startup 511971723 Selection of startup steps Step 1 Project settings Step 2 Individual axis scaling factors group Step 3 Scaling factors virtual axis Step 4 Axis parameter group Step 5 Synchronous operation parameters Step 6 Monitoring functions Step 7 Do...

Страница 37: ...pecifiy the number of individual axes in the axis system The value range is limited to 1 8 Configuration process input data word 8 10 Use the selection fields to choose the information you want to have transmitted via process input data words 8 9 and 10 Configuration of auxiliary drives If you want to use more auxiliary drives you have to set the selection field to Yes before starting the wizard 0...

Страница 38: ... used to define the basic settings for position scaling 511974795 Field Description Source actual position This selection field lets you choose between motor encoder and external synchronous encoder and or SSI encoder Place of encoder detection From this field you can select whether the encoder is mounted on the motor shaft or on the track for example when the system is prone to slip 0 0 I ...

Страница 39: ... Description Diameter Use these input fields to specify the mechanical data You can enter values with two decimal places Gear ratio External ratio Counting direction This field lets you invert the direction of rotation of the motor Calculate The determined position resolution for the motor encoder system is entered in the input fields Increments and Distance The determined scaling factors are limi...

Страница 40: ...the physical resolution of the absolute encoder with the resolution of the motor encoder system This selection field directly influences the control behavior of the application module Counting direction In this field you can invert the counting direction of the synchronous encoder depending on the direction of rotation of the motor Encoder resolution This field is used to enter the resolution of t...

Страница 41: ...units for the position setpoint 511979403 Field Description Calculate Press this button to determine the values for the Motor encoder and Synchronous encoder input fields resulting from the position resolution units of motor encoder and synchronous encoder User units for position reso lution After having selected the unit for the position setpoint in this selection field you have to activate it by...

Страница 42: ...evious windows Enter the values from the already determined values from the Scaling the synchronous encoder field in the Scaling the virtual encoder field 511980939 NOTE The input fields described in steps 3 are not relevant for you if you choose the Group option in the dropdown menu Individual axis scaling factor group described in chapter 3 Selecting the individual startup steps In this case the...

Страница 43: ...ation Solution SyncCrane 43 5 Starting the SyncCrane program Startup Result of encoder scaling A description of the input fields on this window is already included in the description for the previous windows 672756491 0 0 I ...

Страница 44: ...e LS CCW Reference travel Reference offset Enter the reference offset in increments in relation to the synchronous encoder Reference type The reference travel type defines the movement sequence for detect ing the mechanical zero point You can choose between 3 different reference travel types Type 1 Standstill individual axis or group drive Type 2 Synchronized search travel of the group for right e...

Страница 45: ... settings for indirect synchronization Limits Maximum speed position ing You can limit the specified positioning speed by entering the value Maximum speed jog mode You can limit the specified jog speed by entering the value P302 Nmax speed controller Enter a value at least 10 higher than the maximum positioning and or jog speed Group Field Description 672852491 0 0 I ...

Страница 46: ...encoder The difference is corrected when the difference position exceeds the specified dynamic position window PosSpeed Raising Factor Dynamic The difference position is corrected using the synchronous speed This is the multiplication of the virtual setpoint speed with the PosSpeed Raising Factor Dynamic PosSpeed Static The sycnhronous speed is set to this value when the virtual master encoder is ...

Страница 47: ...ption Position monitoring The specified value in relation to the synchronous encoder influences the IPOSinPosition message The value must be set in such a way that the IPOSinPosition message does not change after having reached the target Lag error window The motion is stopped when the position difference between the synchronous encoders of the axis system is exceeded in the monitoring window 0 0 ...

Страница 48: ...rogram is downloaded Startup parameters are downloaded MPLC program is started 511982475 NOTE Before you click the Download button make sure that all applications of the MOVITOOLS MotionStudio are closed PLC Editor parameter tree etc Do not start any applications and do not change to other applications after having pressed the Download button Wait until download is complete Download is complete wh...

Страница 49: ... and process output data words The setpoint source can be switched from fieldbus to RS 485 via the variable H0000 This allows for controlling the application module by means of the control mode of the Appli cationBuilder or a DOP operator terminal 2nd segment H0200 Axis status bits e g InGear H0218 Status bits of the indi vidual axes 3rd segment H0220 Axis 1 Diagnostics H0249 e g InverterState Dia...

Страница 50: ...s system by interpreting the group signal bit 0 For example the InGear signal would be displayed as follows Parameter number Index Description Setting 350 8537 Motor direction of rota tion Normal inverted 945 8891 Encoder type Ext Encoder 950 8777 Encoder type DIP Ext DIP encoder 946 8894 Counting direction Ext Encoder 951 8776 Counting direction Ext DIP encoder 944 8787 Scaling factor Ext Encoder...

Страница 51: ...NDed The following figure shows the group signal all connected axes in engaged state Group signals for the evaluation of which it is relevant if any of the connected axes has a fault are ORed The following figure shows the group signal one of the connected axes in fault state 536595595 536598923 AND Axis 1 in gear Axis 2 in gear Axis 3 in gear Axis n in gear All axes in gear OR Axis 1 inverter err...

Страница 52: ...ferenced 206 AND gAxisInterfaceOut j InverterData Referenced j AllRequestedModeActive 208 AND gAxisInterfaceIn j AxisMode gAxisInterfaceOut j ActualAxisMode j LagWarning 207 OR ABS gVEInterfaceOut VirtualAxisData ActualPositionJerkLim gAxisSync Crane j ActPosExt H E_LAGWINDOWWARNING j LagFailure 208 OR ABS gVEInterfaceOut VirtualAxisData ActualPositionJerkLim gAxisSync Crane j ActPosExt H E_LAGWIN...

Страница 53: ...ilder PI Source H Variables or Profibus fbInSignals PO Data Program for sequence control fbInterface Axis control axis 1 fbAxixControlGearA1 Axis control axis 2 fbAxixControlGearA2 PO fbOutSignals Axis control axis 8 fbAxixControlGearA2 gsPODat PO1 PO10 Axis1 Axis2 Axis8 Axis1 Axis2 Axis8 gsPIData PI1 PI10 Status bit TASK1_MAIN_PRG H Variables Databuffer Diagnostics axis 1 Diagnostics axis 2 Diagn...

Страница 54: ...erview of program run times of the different TASKs The following table shows the program overview for the PLC program with 2 connected axes TASK1_MAIN_PRG Main program TASK2_VE Virtual encoder Function AxisConfiguration InSignals Interface AxisControl OutSignals VEAxisControl Run time ms 17 5 0 0 I ...

Страница 55: ... Group control is supported Positioning mode 0 1 1 After a target position has been specified PO4 PO5 and start has been set the referenced single axis or group can be moved The travel parameters velocity acceleration ramp and deceleration ramp can be specified via process output data words PD8 PD9 and PD10 If no velocity is specified the axis will move at 0 2 rpm Unsynchronized motion sequence is...

Страница 56: ...tion modules SyncCrane for MOVI PLC In monitor mode the process input and process output data transferred via fieldbus are displayed in decoded format 6 2 2 Diagnostics monitor Control mode To control the application module without higher level controller click the Controller button 6 3 Jog mode unsynchronized 512022411 Interface description Mode selection PO1 Bit11 TRUE PO1 Bit12 FALSE PO1 Bit13 ...

Страница 57: ...erating mode is selected Drive is enabled Functional description The direction is selected using Jog or Jog If the software limit switch right is set software limit switch left the travel range is limited to 3 position windows startup before the respective software limit switch If the Disable SWLS bit is set the limitation of the travel range is deactivated For the travel movement positioning indi...

Страница 58: ...e All axes are engaged This is indicated by PI2 4 Axes synchronous Prerequisite Automatic mode is selected and Start is set via process data word 1 The axes are enabled display A technology function of the 7 segment display Jog PO2 9 Jog PO2 10 Disable SWLS PO2 15 Velocity specification PO8 in rpm or user units Velocity limit Startup parameter Jerk limitation Startup parameter Position limiting So...

Страница 59: ...lected and start is set Drive is enabled Functional description Encoder adjustment is initiated using bit PO1 8 Start The individual axes have to be aligned mechanically prior to reference travel e g by selecting single axis in jog mode The following movement is carried out depending on the reference type Standstill reference type The actual position of the drives is the reference point Enable is ...

Страница 60: ...e to move an individual axis PO3 1 12 or the entire axis system PO3 99 Prerequisite Operating mode is selected Drive is enabled Functional description The positioning sequence is started using bit PO1 8 Start The user specifies the absolute target position via fieldbus Speed and ramp times are adopted from the specified process data words and compared to the limitations from the startup The positi...

Страница 61: ... TRUE PO2 Bit12 TRUE PO2 Bit13 FALSE Prerequisite All axes are engaged This is indicated by PI2 4 Axes synchronous Prerequisite Automatic mode is selected and Start is set via process data word 1 The axes are enabled display A technology function of the 7 segment display Start PO2 8 Disable SWLS PO2 15 Position setpoint PO6 and PO7 in inc Velocity specification PO8 Velocity limit Startup parameter...

Страница 62: ... change to A state technology function Automatic mode is initialized The axis system is adjusted to the calculated common adjust position The virtual encoder position is referenced to the adjust position Synchronous operation mode is activated Cyclical program section Processing the virtual encoder Cyclical processing of the virtual setpoints Cyclical correction slip compensation between the virtu...

Страница 63: ...igure shows the automatic mode 536573963 Initializing Adjust the MOVIDRIVE axis Adjust the virtual encoder All axis in position Encoupling the axis Virtual encoder in position Control the virtual encoder jog mode or positioning All axis InGear Ready for virtual encoder Cyclic slip compensation ...

Страница 64: ...ion Automatic mode enables the user to operate the axis system synchronously After selecting automatic mode or upon changing to the inverter status A the slave axes are adjusted to a calculated adjust position The slave axes signal a completed adjustment process via feedback bit PO2 Bit4 Axes synchronous From this time on the axis system can be moved by controlling the virtual encoder This is done...

Страница 65: ...5 inc 12 inc 32 inc 3 9 67 inc Interface description Mode selection Not required adjust position is determined cyclically Brief description The absolute position offset of all connected axes is read in and then the mean position deviation is calculated At the start of the adjustment process all axes are adjusted to this position Functional description The calculated position offset is compensated ...

Страница 66: ...master encoder Slave source ISYNC Motor encoder Slave source slip detection External HIPERFACE encoder or absolute encoder Slip compensation Startup parameter Brief description The technology function ISYNC ensures angular synchronism between master and motor encoder At a higher level the position difference between the virtual master encoder and the absolute encoder system or external HIPERFACE e...

Страница 67: ...oder or absolute encoder if installed In this way the drive can even be moved with a defective absolute encoder Brief description If emergency mode was activated using the user interface the drive can also be moved in the event of an encoder error Prerequisite Operating mode is selected Drive is enabled MOVI PLC was restarted Functional description The direction is selected using Jog or Jog The tr...

Страница 68: ... Prerequisite Ongoing movement actual speed 50 prm Interface description Lag error prewarning window Startup parameter Time monitoring Startup parameter Brief description In Automatic mode a position comparison is made cyclically between the calculated averaged position of all axes involved and the position offset of eeach axis to the reference position If this condition is violated feedback is pr...

Страница 69: ...ler inhibit 1 no inhibit PO1 1 1 Enable halt PO1 2 1 Enable stop PO3 99 for group control or 1 12 for single axis selection The values for the dynamic parameters are transferred using the following process output data words PO8 Setpoint velocity PO9 Acceleration ramp PO10 Deceleration ramp PO45 Target position for positioning mode unsynchronized PO67 Target position for automatic mode synchronized...

Страница 70: ...9 1 Jog mode 536573963 1 Axis starts when the jog bit is set 2 Axis starts when the jog bit is set Position Description PO1 8 Start PO1 9 Jog PO1 10 Jog PO1 11 0 Mode 20 PO1 12 0 Mode 21 PO1 13 0 Mode 22 PI45 Actual position 32 bit PA1 12 1 PA1 9 PA1 10 PA1 11 PE45 PA1 8 PA1 13 2 ...

Страница 71: ...1 1 Referencing starts when the start bit is set 2 The drive is referenced once the PI1 2 message IPOS reference is set Position Description PO1 8 Start PO1 11 0 Mode 20 PO1 12 1 Mode 21 PO1 13 0 Mode 22 PI1 2 IPOS reference PI45 Actual position 32 bit PE1 2 PA1 8 PE45 eg 54896 6 s PA1 12 PA1 11 PA1 13 1 2 0 ...

Страница 72: ...ndividual axis group 536590603 1 Start positioning 2 Positioning is interrupted by revoking start 3 Positioning 4 Positioning finished PI1 3 message IPOS in position set Position Description PO1 8 Start PO1 11 0 Mode 20 PO1 12 1 Mode 21 PO1 13 1 Mode 22 PO45 Setpoint position PI1 3 IPOS in position PI45 Actual position 32 bit PE1 3 PE45 PA1 8 PA1 12 PA1 11 PA1 13 1 2 3 4 ...

Страница 73: ...ode selected 2 Activation of operating mode with the start input 3 Feedback Axis system synchronized ready for virtual encoder 4 Positioning of the virtual encoder mode selected 5 Start of movement PO2 8 input start 6 Positioning finished PI2 3 message virtual encoder in position set 7 Decoupling of axis system by deselecting the operating mode PE2 3 PE67 PA1 8 PA1 12 PA1 11 PA1 13 PA2 11 PA2 8 PA...

Страница 74: ...20 automatic mode PO1 12 0 Mode 21 PO1 13 1 Mode 22 PO2 8 Start start of virtual encoder PO2 11 1 Mode 20 positioning mode of the virtual encoder PO2 12 1 Mode 21 PO2 13 0 Mode 21 PO67 Setpoint position virtual encoder PI2 3 IPOS in position PI2 4 Axis system synchronized ready for virtual encoder PI67 Actual position of axis system 32 bit ...

Страница 75: ...ditional prerequisites apply to emergency mode X31 4 DI01 set emergency mode was set MOVI PLC was restarted with set DI01 536588939 1 Axis starts when the jog bit is set 2 Axis starts when the jog bit is set Position Description PO1 8 Start PO1 9 Jog PO1 10 Jog PO1 11 1 Mode 20 PO1 12 1 Mode 21 PO1 13 1 Mode 22 PI1 0 Motor turning PE1 0 500 1 min 500 1 min PA1 12 1 PA1 9 PA1 10 PA1 11 PA1 8 PA1 13...

Страница 76: ...tch FF0204h E_MPLC_SYNCCRANE_LIMITSWITCHCCW The specified position or actual position is outside the defined software limit switch FF0205h E_MPLC_SYNCCRANE_FIELDBUSTIMEOUT Fieldbus communication was interrupted All setpoints are cleared internally FF0206h E_MPLC_SYNCCRANE_EXTENCODER External encoder provides implausible val ues Axis system is stopped in automatic mode FF0207h E_MPLC_SYNCCRANE_HMIF...

Страница 77: ...er to control the lifting and Z movement of the load suspension Example Hall crane with 3 motion axes Up to 4 auxiliary axes can be integrated without additional programming work The ApplicationBuilder wizard is available for startup and diagnostics Users can choose between 3 different profiles to cover an as large as possible application area Position 16 bit Position 32 bit Velocity One of the 3 ...

Страница 78: ...e load transfer via auxiliary axis using the positioing 16 bit profile Travel carriage with control of an additional hydraulic unit using the velocity profile The hydraulic unit is operated without encoder by specifying a setpoint speed 675365643 SyncCrane PO1 PO10 PI1 PI10 AuxAxis 1 4 PO17 PO32 PI17 PI32 AuxAxis1 AuxAxis2 AuxAxis4 SBus 2 SBus 1 SyncCrane A1 SyncCrane A2 SyncCrane A8 SyncCrane A3 ...

Страница 79: ...ckwise with position control using two bits for direction selection Velocity and ramp can be specified via fieldbus as required depending on the profile Jog mode with star tup of the velocity profile The set operating mode can also be used without encoder The drive is moved clockwise or counterclockwise using two bits for direction selection Velocity and ramp can be specified via fieldbus as requi...

Страница 80: ...served Bit 8 Start Bit 9 Jog Bit 10 Jog Bit 11 Mode 20 Bit 12 Mode 21 Bit 13 Reserved Bit 14 Ramp switch over Bit 15 Disable SWLS Process output data word Profile 1 Pos 16 bit Profile 2 Pos 32 bit Profile 3 Velocity PO1 Control word Control word Control word PO2 Setpoint velocity Setpoint velocity Setpoint velocity PO3 Setpoint ramp Setpoint position 32 high Setpoint ramp PO4 Setpoint position 16 ...

Страница 81: ... 4 Brake released Bit 5 Frequency inverter fault warning Bit 6 Limit switch CW Bit 7 Limit switch CCW Bit 8 15 Inverter error status Process input data word Profile 1 Pos 16 bit Profile 2 Pos 32 bit Profile 3 Velocity PO1 Status word Status word Status word PO2 Actual speed Actual speed Actual speed PO3 Reserved Actual position 32 high Reserved PO4 Actual position 16 Actual position 32 low Actual ...

Страница 82: ... additional auxiliary drives The inverters are connected via CAN2 of the MOVI PLC X 32 with a baud rate of 500 kBaud The inverters have to be set with SBus address 9 12 It is recommended that you make the setting using the DriveStartup tool Number of auxiliary axes 1 2 3 4 SBus baud rate kBaud 500 500 500 500 SBus address axis 1 9 9 9 9 SBus address axis 2 10 10 10 SBus address axis 3 11 11 SBus a...

Страница 83: ...opened Proceed as follows to perform initial startup Begin initial startup of the individual axes with axis 1 To do so choose Axis 1 from the Select individual axis number selection field Enter the number of required auxiliary axes in the Maximum number of axes selection field You can choose a maximum of 4 axes Define the start address for the operating variables startup and diagnostics variables ...

Страница 84: ...ss H variable Startup H start index Button Description Startup Click here to trigger startup of the application The following chapters describe the next steps Monitor The button is disabled if you are not online the application module has not been detected Cancel Click this button to exit the startup wizard NOTE If you want to load saved application data choose File Open settings from the menu ...

Страница 85: ...ss data profile of your auxiliary axis 757879691 Field Description Active axis number You can read the selected axis number from this field SBus address The specified SBus address is shown in this field Process data profile You can choose one of three process data profiles The following functions are supported Positioning 16 bit Positioning 32 bit Velocity specification ...

Страница 86: ...the position resolution for the selected encoder system 757885835 Field Description Diameter Enter the mechanical data in this field You can enter values with two decimal places Gear ratio External ratio Calculate The determined position resolution for the motor encoder system is entered in the input fields Increments and Distance The determined scaling factors are limited to 216 ...

Страница 87: ...oftware limit switch CCW Hardware limit switches Choose whether you want hardware limit switches to be evaluated They are evaluated on MOVIDRIVE as follows X13 5 DI04 with Limit switch CW X13 6 DI05 with Limit switch CCW Reference travel Reference offset Enter the reference offset in increments in relation to the synchronous encoder Reference type The reference type defines the movement sequence f...

Страница 88: ...ta are loaded to the MOVI PLC as soon as you have entered the startup parameters 757909899 NOTE Activating the ResetCold input element will reset the MOVI PLC after having downloaded the input values As SBus communication with the connected inverters is interrupted briefly they will signal SBUS2 timeout until fault F46 is acknowledged ...

Страница 89: ...roup can be moved via the Jog and Jog inputs Specify the following values Process output data words Travel parameters Velocity Ramp If no velocity is specified the axis will move at 0 2 rpm Referencing mode 0 1 0 The IPOS encoder position is referenced when start is set Reference travel establishes the reference point machine zero for positioning operations Positioning mode 0 1 1 The referenced si...

Страница 90: ...ve Auxiliary Axis Diagnostics moni tor Monitor mode During ongoing operation the monitor can be opened via MotionStudio Diagnostics Application Builder AuxiliaryAxis_E mon In monitor mode the process input and process output data transferred via fieldbus are displayed in decoded format 757917195 ...

Страница 91: ...mits H2047 H_STARTADDRESS Hxxx 1 H_OFFSET Hxxx 2 H_OFFSETAXIS Hxxx 3 PD_STARTADDRESS Hxxx 4 PD_OFFSET Hxxx 5 H_IBSTATUS_A1 Hxxx 6 H_IBSTATUS_A2 Hxxx 7 H_IBSTATUS_A3 Hxxx 8 H_IBSTATUS_A4 Hxxx 9 MONITOR_CTRL Hxxx 10 H_STARTADDRESS_A1 Hxxx 11 H_STARTADDRESS_A2 Hxxx 12 H_STARTADDRESS_A3 Hxxx 13 H_STARTADDRESS_4 Hxxx 14 H_MAXAXISNUMBER Hxxx 15 H_ACTAXISNUMBER Hxxx 16 H_AUXIBSTATUS H_STARTADDRESS_A1 0 P...

Страница 92: ...A1 40 LIM_LSCCW H_STARTADDRESS_A1 41 LIM_LSCW H_STARTADDRESS_A1 42 LIM_HWLS H_STARTADDRESS_A1 43 LIM_REFOFFSET H_STARTADDRESS_A1 44 LIM_REFTYPE H_STARTADDRESS_A1 45 LIM_Ramp1 H_STARTADDRESS_A1 46 LIM_Ramp2 H_STARTADDRESS_A1 47 LIM_MAXSPEEDAUTO H_STARTADDRESS_A1 48 LIM_MAXSPEEDJOG H_STARTADDRESS_A1 49 LIM_MAXSPEED H_STARTADDRESS_A2 0 PO1 Structure axis 2 H_STARTADDRESS_A3 0 PO1 Structure axis 3 H_S...

Страница 93: ...s addresses of the inverters different Is the SBus wiring correct terminating resistors Why does the enabled drive vibrate without mode selection Check the calculated scaling factors and position windows Which values have to be entered in the wizard in the SingleAxisScaling input fields if solely a motor encoder is to be used Fill all fields by clicking on the Default button Enter value 1 in the n...

Страница 94: ...0764 Langenfeld near Düsseldorf Tel 49 2173 8507 30 Fax 49 2173 8507 55 sc west sew eurodrive de Electronics SEW EURODRIVE GmbH Co KG Ernst Blickle Straße 42 D 76646 Bruchsal Tel 49 7251 75 1780 Fax 49 7251 75 1769 sc elektronik sew eurodrive de Drive Service Hotline 24 Hour Service 49 180 5 SEWHELP 49 180 5 7394357 Additional addresses for service in Germany provided on request France Production ...

Страница 95: ...Fax 43 1 617 55 00 30 http sew eurodrive at sew sew eurodrive at Belarus Sales Minsk SEW EURODRIVE BY RybalkoStr 26 BY 220033 Minsk Tel 375 17 298 38 50 Fax 375 17 29838 50 sales sew by Belgium Assembly Sales Service Brüssel SEW Caron Vector S A Avenue Eiffel 5 B 1300 Wavre Tel 32 10 231 311 Fax 32 10 231 336 http www sew eurodrive be info caron vector be Service Compe tence Center Industrial Gear...

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Страница 97: ...Y Vesimäentie 4 FIN 15860 Hollola 2 Tel 358 201 589 300 Fax 358 3 780 6211 sew sew fi http www sew eurodrive fi Production Assembly Service Karkkila SEW Industrial Gears OY Valurinkatu 6 FIN 03600 Karkkila Tel 358 201 589 300 Fax 358 201 589 310 sew sew fi http www sew eurodrive fi Gabon Sales Libreville Electro Services B P 1889 Libreville Tel 241 7340 11 Fax 241 7340 12 Great Britain Assembly Sa...

Страница 98: ...bly Sales Service Milano SEW EURODRIVE di R Blickle Co s a s Via Bernini 14 I 20020 Solaro Milano Tel 39 02 96 9801 Fax 39 02 96 799781 http www sew eurodrive it sewit sew eurodrive it Ivory Coast Sales Abidjan SICA Ste industrielle et commerciale pour l Afrique 165 Bld de Marseille B P 2323 Abidjan 08 Tel 225 2579 44 Fax 225 2584 36 Japan Assembly Sales Service Iwata SEW EURODRIVE JAPAN CO LTD 25...

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Страница 100: ...alco sialco ro Russia Assembly Sales Service St Petersburg ZAO SEW EURODRIVE P O Box 36 195220 St Petersburg Russia Tel 7 812 3332522 7 812 5357142 Fax 7 812 3332523 http www sew eurodrive ru sew sew eurodrive ru Senegal Sales Dakar SENEMECA Mécanique Générale Km 8 Route de Rufisque B P 3251 Dakar Tel 221 338 494 770 Fax 221 338 494 771 senemeca sentoo sn Serbia Sales Beograd DIPAR d o o Ustanicka...

Страница 101: ...dens Cape Town P O Box 36556 Chempet 7442 Cape Town Tel 27 21 552 9820 Fax 27 21 552 9830 Telex 576 062 dswanepoel sew co za Durban SEW EURODRIVE PROPRIETARY LIMITED 2 Monaceo Place Pinetown Durban P O Box 10433 Ashwood 3605 Tel 27 31 700 3451 Fax 27 31 700 3847 dtait sew co za Spain Assembly Sales Service Bilbao SEW EURODRIVE ESPAÑA S L Parque Tecnológico Edificio 302 E 48170 Zamudio Vizcaya Tel ...

Страница 102: ...439 9948 Fax Ass 1 864 439 0566 Telex 805 550 http www seweurodrive com cslyman seweurodrive com Assembly Sales Service San Francisco SEW EURODRIVE INC 30599 San Antonio St Hayward California 94544 7101 Tel 1 510 487 3560 Fax 1 510 487 6433 cshayward seweurodrive com Philadelphia PA SEW EURODRIVE INC Pureland Ind Complex 2107 High Hill Road P O Box 481 Bridgeport New Jersey 08014 Tel 1 856 467 227...

Страница 103: ...tioning mode 72 Referencing mode 71 D Determining the scaling factors Motor encoder absolute encoder 19 virtual encoder 20 Diagnostics monitor 56 Documentation applicable 6 E Emergency mode 8 18 67 Exclusion of liability 6 F FAQs 93 Fault information 76 Fields of application 7 Frequently asked questions 93 Functional description 17 G Group signals 50 H H variables of the MOVI PLC 49 I Indirect pos...

Страница 104: ...im under limited warranty 5 S Safe stop 27 Safety notes Structure 5 Scaling factors for motor encoder absolute encoder 19 Scaling factors for virtual encoder 20 Scaling the drive 19 Software limit switches 25 Software requirements 16 Starting the drive 55 Startup 31 MOVIDRIVE individual axes 31 Preliminary work 31 Prerequisites 31 Startup of auxiliary drives 83 Structure of the safety notes 5 Sync...

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