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Operating Instructions – MOVIAXIS® MX Multi-Axis Servo Inverter

181

Removing / installing a module

Service

Removing an axis module

Remove an axis module in the following sequence:

Disconnecting the
axis system from
the power supply

• Disconnect the entire axis system from the power supply. Follow the safety notes on

page 180.

Shield clamps

• Remove electronics shield clamps

[2]

Cables

• Remove encoder cable plugs

[4]

(X13).

• Remove the signal bus cable plug

[1]

(X9a, X9b).

• Remove CAN2 connection cable plugs

[3]

(X12), if there are any.

Covers

• Remove covers

[5]

, also those of the units to the left and right of the unit that is to be

removed.

Signal lines

• Remove signal lines

[6]

(X10, X11).

[2]

[4]

[1]

[3]

[5]

[6]

Содержание MOVIAXIS MX

Страница 1: ...Gearmotors Industrial Gear Units Drive Electronics Drive Automation Services MOVIAXIS MX Multi Axis Servo Inverter Operating Instructions Edition 07 2007 11508213 EN...

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

Страница 3: ...n axis system 22 3 8 Unit design of MOVIAXIS MXP power supply module 23 3 9 Unit design of MOVIAXIS MXA axis modules 26 3 10 System bus in EtherCAT or CAN based version 32 3 11 Unit design of the MOVI...

Страница 4: ...y 97 4 14 UL compliant installation 99 5 Startup 101 5 1 General information 101 5 2 Supply module settings for a CAN based system bus 102 5 3 CAN2 bus information and settings 108 5 4 Communication v...

Страница 5: ...module 191 8 5 Technical data for master module component 194 8 6 Technical data for capacitor module component 195 8 7 Technical data for buffer module component 196 8 8 Technical data for 24 V switc...

Страница 6: ...iability You must comply with the information contained in these operating instructions to en sure safe operation of the MOVIAXIS multi axis servo inverter and to achieve the spec ified product charac...

Страница 7: ...install startup or service the units or correct unit faults observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 and IEC 60664 or DIN VDE 0110 as well as national accident prevention guidelines Quali...

Страница 8: ...nnection for MOVIAXIS Applications 2 4 Transportation storage You must observe the notes on transportation storage and proper handling Observe the climatic conditions as stated in sec 9 1 General tech...

Страница 9: ...ctronic connec tions in accordance with EN 61800 5 1 All connected circuits must also satisfy the re quirements for safe disconnection 2 8 Operation Systems with integrated multi axis servo inverters...

Страница 10: ...usually operated with braking resistors The braking resistors can also be installed in the housing of the supply modules The braking resistors can reach surface temperatures ranging from 70 C to 250...

Страница 11: ...based system bus 61523axx Figure 1 Sample structure of a MOVIAXIS axis system 1 3 7 8 9 10 2 4 5 6 1 Master module 6 Axis module size 4 2 Capacitor or buffer module 7 Axis module size 3 3 Supply modu...

Страница 12: ...ple structure of a MOVIAXIS axis system 1 3 8 9 10 11 2 5 6 7 LAM F1 4 1 Master module 7 Axis module size 4 2 Capacitor or buffer module 8 Axis module size 3 3 Supply module size 3 9 Axis module size...

Страница 13: ...ed to protect the lines at the cus tomer s site NOTE Follow the specific operating instructions during installation and startup of the motor and the brake WARNING The Unit design figures displayed on...

Страница 14: ...art III of the nameplate system nameplate contains the technical data of the module The system nameplate is located on the side of the unit for the supply module and axis module The nameplate contains...

Страница 15: ...he upper fastening plate of the module 2 Production number III Part III of the nameplate Located at the side of the module housing 3 Status 4 Communication slots firmware status I II III 1 2 3 3 4 2 1...

Страница 16: ...rt I of the nameplate Located on the upper fastening plate of the module 1 Unit designation III Part III of the nameplate Located at the side of the module housing 2 Production number 3 Status 1 2 3 1...

Страница 17: ...modules the dissipatable energy quantity such as 050 5 000 Ws For supply modules the rated power such as 010 10 kW For capacitor buffer and damping modules the capacity such as 050 5 000 F For 24 V s...

Страница 18: ...010 503 00 10 kW supply module MXR80A 025 503 00 25 kW supply module with regeneration in preparation MXS80A 060 503 00 24 V switched mode power supply module MXZ80A 050 503 00 DC link discharge modu...

Страница 19: ...ssories are included with the basic unit at delivery The corresponding mating connectors for all connectors are installed at the factory An exception are the D sub connectors they are supplied without...

Страница 20: ...x 8 90 mm 1x 1x 1x 1x 1x 9 120 mm 1x 10 150 mm 1x 1x 1x 1x 11 210 mm 1x Power shield clamp 12 60 mm 1x 1x 1x 1x 1x 1x 1x 1x 13 60 mm2 2 Clamp with short support 60 mm wide 1x 14 60 mm3 3 Clamp with lo...

Страница 21: ...pen end 2 3 000 mm RJ45 open end Connection cable EtherCAT master module 3 750 mm 2 x RJ45 System bus connection cable for EtherCAT based system bus axis system to other SEW units 4 750 mm 2 x RJ45 sp...

Страница 22: ...nits are displayed without cover in the following figure 61507axx Figure 10 Exemplary representation of the energy supply in the axis system 1 2 4 3 5 6 7 1 X4 DC link connection 2 X5a X5b 24 V voltag...

Страница 23: ...B View from front C View from bottom 1 Signaling bus X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 13 X3 Braking resistor con nection 3 C E DIP switches C CAN...

Страница 24: ...s X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 13 X3 Braking resistor con nection 3 C E DIP switches C CAN based system bus E EtherCAT based system bus 14 X1...

Страница 25: ...s X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 3 C E DIP switches C CAN based system bus E EtherCAT based system bus 4 X12 System bus CAN 5 S1 S2 DIP switches...

Страница 26: ...3 4 5 6 7 8 9 10 11 12 13 B A C 1 X9a X9b A View from top B View from front C View from bottom 1 Signaling bus X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 1...

Страница 27: ...from top B View from front C View from bottom 1 Signaling bus X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 11 X2 Motor connection 3 X10 Binary inputs 12 X6 Br...

Страница 28: ...m 1 Signaling bus X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 11 X2 Motor connection 3 X10 Binary inputs 12 X6 Brake control system 4 X11 Binary outputs 13 X...

Страница 29: ...from top B View from front C View from bottom 1 Signaling bus X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 12 X6 Brake control system 3 X10 Binary inputs 13 X...

Страница 30: ...m 1 Signaling bus X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 12 X6 Brake control system 3 X10 Binary inputs 13 X7 X8 2 Safety relays optional design 4 X11 B...

Страница 31: ...from top B View from front C View from bottom 1 Signaling bus X9a Input green plug on cable X9b Output red plug on cable 2 Electronics shield clamps 12 X6 Brake control system 3 X10 Binary inputs 13 X...

Страница 32: ...CAN or EtherCAT based version A CAN based system bus B EtherCAT based system bus 1 LAM switch Switch setting 0 All axis modules except the last one Switch setting 1 Last axis module in the system Swi...

Страница 33: ...has the following designation MXM80A 000 000 00 DHP11A 58765axx Figure 21 Unit design of the master module MOVI PLC Basic version View from front 1 6 For terminal assignment see MOVI PLC basic DHP11B...

Страница 34: ...07axx Figure 22 Unit design of the master module MOVI PLC Advanced version View from front 1 7 For terminal assignment see MOVI PLC advanced DH 41B Controller manual 8 Housing grounding point 9 X5a X5...

Страница 35: ...it Design 3 12 Unit design of the MOVIAXIS MXC capacitor module component The following figure shows the unit without protective cover Capacitor module MXC 60433AXX Figure 23 Unit design of the MOVIAX...

Страница 36: ...onent Unit Design 3 13 Unit design of the MOVIAXIS MXB buffer module component The following figure shows the unit without protective cover Buffer module MXB 60433AXX Figure 24 Unit design of the MOVI...

Страница 37: ...MXS 24 V switched mode power supply module component The following figure shows the unit without protective cover 24 V switched mode power supply module 57583axx Figure 25 Units design of the 24 V swi...

Страница 38: ...XZ DC link discharge module component The following figure shows the unit without protective cover DC link discharge module MOVIAXIS MXZ 54427BXX Figure 26 Unit design of MOVIAXIS MXZ DC link discharg...

Страница 39: ...ble shows the possible combinations and the fixed assignment of cards to the slots Combinations with EtherCAT based system bus The following option card combinations are possible 56598axx Figure 27 Sl...

Страница 40: ...ns Combinations with XIO The following option card combinations are possible Combination Slot 1 Slot 2 Slot 3 1 Fieldbus option1 1 Fieldbus option XFE24A EtherCAT or XFP11A PROFIBUS or XFA11A K Net 2...

Страница 41: ...are possible Combinations with XGH XGS only The following option card combinations are possible Combinations with XGS only The following option card combinations are possible Combination Slot 1 Slot 2...

Страница 42: ...ncoder cards are available Their selection is based on the encoder type that is to be evaluated see table on page 44 An analog differential input 10 V is available in addition Technical data Technical...

Страница 43: ...ed The maximum possible speed depends on the emulation PPR count set Overview of functions Please contact SEW EURODRIVE before installing HTL encoders You need 15 pole SUB D connectors for all encoder...

Страница 44: ...encoder SRS64 SICK Stegmann AK0H Hiperface multi turn SKM36 SICK Stegmann AS1H Hiperface multi turn SRM50 SICK Stegmann AS3H AS4H Hiperface multi turn absolute encoder SRM64 SICK Stegmann AV1H Hiperf...

Страница 45: ...TL5 S112 M1500 P S32 Balluf 24 V GM401 IVO 12 V AMS200 200 Leuze 24 V OMS1 Leuze WCS2 LS 311 Pepperl Fuchs DME 3000 111 Sick DME 5000 111 Sick AG100 MSSI Stegmann 12 V AG626 Stegmann 24 V CE58 T R 12...

Страница 46: ...wo multi encoder cards if the total current of the encoders is 800 mA Key see Figure 30 NOTE If the axis module is equipped with two I O and one multi encoder card or with one I O and two multi encode...

Страница 47: ...ncoder cards 1 Voltage source 2 Multi encoder card 3 Encoders F GND 24 V 12 V X61 X63 X64 1 2 3 X61 X63 X64 2 3 DGND 3 24 V 4 3 4 Terminal Assignment Brief description Type of connector X62 1 Signal t...

Страница 48: ...15 pole female 2 Signal track B sin 3 Signal track C 4 n c 1 1 Do not connect a cable 5 n c 1 6 TF TH KTY 7 n c 1 8 DGND 9 Signal track A_N cos 10 Signal track B_N sin 11 Signal track C_N 12 n c 1 13...

Страница 49: ...Signal track A Sub D 15 pole female 2 Signal track B 3 Cycle 4 DATA 5 n c 1 1 Do not connect a cable 6 TF TH KTY 7 n c 1 8 DGND 9 Signal track A_N 10 Signal track B_N 11 Cycle 12 DATA 13 n c 1 14 TF T...

Страница 50: ...ignment X64 XGS with SSI AV1Y Terminal Function for SSI AV1Y Type of connector X64 XGS 1 Signal track A cos Sub D 15 pole female 2 Signal track B sin 3 Cycle 4 DATA 5 n c 1 1 Do not connect a cable 6...

Страница 51: ...TxD P and RxD TxD N must be connected to the same con tacts in all PROFIBUS stations Front view of XFP11A Description DIP switches Terminal Function 56596AXX RUN PROFIBUS operation LED green BUS FAULT...

Страница 52: ...S station address during ongoing operation does not take effect immediately The change takes effect when the servo drive is switched on again power supply 24 V OFF ON NOTE If long bus cables are used...

Страница 53: ...erial bus system for high speed data transfer Install no more than one XF11A fieldbus interface per axis module Terminal assignment Technical data Brief description Terminal K Net connection RJ 45 soc...

Страница 54: ...ds IEC 61158 IEC 61784 2 Baud rate 100 Mbaud full duplex Connection technology 2 RJ45 8x8 modular jack Bus termination Not integrated because bus termination is automatically activated OSI Layer Ether...

Страница 55: ...SEW EtherCAT masters Analogously to the wiring of the CAN system bus the system is connected using the RJ 45 plug connection on the top of the unit included in the standard scope of delivery The CAN s...

Страница 56: ...binary output is that which is output by MOVIAXIS at that point Switchinginductive loads The module does not contain an internal free wheeling diode for receiving inductive energies when inductive loa...

Страница 57: ...inputs and outputs as well as electronics Terminal assignment 58750aen Figure 32 Block diagram for using a free wheeling diode at the binary output 1 Free wheeling diode XIO11A 24V 24V 0V 0V DO0 GND_E...

Страница 58: ...m 56935aen Figure 33 Block diagram of a binary input 56936aen Figure 34 Block diagram of a binary output Voltage XIO11A GND_EXT GND supply 24V 24V 0V 0V DI0 GND_EXT GND GND_EXT Logic XIO11A GND_EXT GN...

Страница 59: ...s not change Once the short circuit is eliminated the status of the binary output is that which is output by MOVIAXIS at that point Switchinginductive loads The module does not contain an internal fre...

Страница 60: ...ts Electrical isolation between binary inputs and outputs as well as electronics Terminal assignment 56942aen Figure 35 Block diagram for using a free wheeling diode at the binary output 1 Free wheeli...

Страница 61: ...n diagram 58752aen Figure 36 Block diagram of a binary input 58753aen Figure 37 Block diagram of a binary output Voltage XIA11A GND_EXT GND supply 24V 24V 0V 0V DI0 GND_EXT GND GND_EXT Logic XIA11A GN...

Страница 62: ...board type XIA11A option Unit Design 56937aen Figure 38 Block diagram of an analog input 56940aen Figure 39 Block diagram of an analog output GND GND XIA11A GND Ground bar AI0 GND Logic GND ADC Sensor...

Страница 63: ...bly result in injuries or damage parts of the production system Check the MOVIAXIS MX multi axis servo inverter modules prior to installing them for external damage and replace any damaged modules STO...

Страница 64: ...S MX Multi Axis Servo Inverter 4 Mechanical installation Installation Rear view of MOVIAXIS MX axis and supply module housing 1 Position of tapped hole 2 Table with dimensions see page 63 06695AXX Fig...

Страница 65: ...structions MOVIAXIS MX Multi Axis Servo Inverter 65 4 Mechanical installation Installation Rear view of MOVIAXIS MX DC link discharge module housing 1 Position of tapped hole 06696AXX Figure 41 Drilli...

Страница 66: ...cooling air supply and make sure that air heated by other units cannot be drawn in or reused Units within an axis system must be lined up without space in between Only install the units vertically You...

Страница 67: ...the CAN1 signal bus plugs 1 as described in the following X9a X9b The plugs on each end of the cable are color coded Insert them in the following order red b green a red b green a red b red b Output...

Страница 68: ...axis module in one axis system to the green input X9a of the first axis module of the sub sequent system The lengths of the pre fabricated system bus connection cables 1 are 0 75 m and 3 m NOTE The m...

Страница 69: ...ion cable to other SEW units CAN based The lengths of the pre fabricated connection cables 1 are 0 75 m and 3 m 1 System bus connection cable 4 CAN H orange white 2 Output plug black 5 Terminating res...

Страница 70: ...the following X9a X9b The RJ 45 plugs on each end of the cable are color coded Insert them in the fol lowing order red b green a red b green a red b red b Output RJ45 X9b green a Input RJ45 X9a yello...

Страница 71: ...o the black input a of the first axis module of the subsequent system The lengths of the pre fabricated system bus connection cables 1 are 0 75 m and 3 m NOTE The mounting plates on which the axis sys...

Страница 72: ...System bus connection cable 4 SEW stations with SEW EtherCAT interface 2 Output plug yellow 5 LAM switch Switch setting 0 All axis modules except the last one Switch setting 1 Last axis module in the...

Страница 73: ...ule all sizes not shown The tightening torque for the cover bolts is 0 8 Nm When driving in the self tapping screw make sure that it screws into the existing thread Touch guard cover 57346axx Figure 4...

Страница 74: ...from electric shock To prevent electric shock With a supply system lead 10 mm2 route a second PE conductor with the same cross section as the supply system lead via separate terminals Alternatively y...

Страница 75: ...mm2 Unit output WARNING Dangerous contact voltages at the unit terminals when connecting the wrong temper ature sensors Severe or fatal injuries from electric shock Connect only temperature sensors wi...

Страница 76: ...y isolated by optocouplers Permitted volt age supply sys tems MOVIAXIS is intended for operation on voltage supply systems with a directly grounded star point TN and TT power systems Operation on volt...

Страница 77: ...axis servo drive and motor is correct ac cording to project planning specification Check to see that all grounding cables have been connected Take suitable measures to prevent the motor starting up in...

Страница 78: ...net Install the connection cables between the brake rectifier and the brake separately from other power cables when installing the brake rectifier in the control cabinet Joint instal lation is permitt...

Страница 79: ...E X1 1 2 3 L1 L2 L3 PE X4 PE 1 2 Supply module X3 R R PE 1 2 Braking resistor Affects K11 When F16 trip contact at overload relay triggers K11 must be opened and DI Output stage enable must receive a...

Страница 80: ...C link bar Cable length 600 mm X2 Motor 1 2 3 PE U V W Braking resistor PE housing grounding point Power shield clamp PE When F16 trip contact at overload relay triggers K11 must be opened and DI00 Ou...

Страница 81: ...MK brake control Plug connector connection variant K11 X6 X2 X6 Brake Motor 1 2 3 2 1 PE U V W Brake control 1 2 3 4 13 14 15 BMK K11 UAC Terminal box 5a 4a 3a PE BMK brake control Terminal box connec...

Страница 82: ...electronics MOVIAXIS MXP supply module Connection via supplied pre fabricated cables X9a Signal bus input X9b Signal bus output 2 X5b X5a 1 24VE DGND 3 24VB 4 2 1 3 4 BGND PE DGND 24 V for brake suppl...

Страница 83: ...O 3 Reference potential binary signals DI DI 8 General reference potential of the control electronics 2 X10 1 DI DI 1 3 DI 2 4 DI 3 5 DI 4 6 DI 5 7 DI 6 8 DI 7 9 DI 8 10 DCOM PE Electronics shield cla...

Страница 84: ...vo Inverter 4 Wiring diagrams Installation Connection diagram of binary inputs and outputs 60888axx Figure 50 Block diagram of a binary input 60889axx Figure 51 Block diagram of a binary output 24VE D...

Страница 85: ...N Figure 52 Wiring diagram of MOVIAXIS MXM master module Connection via supplied pre fabricated cables 2 X5b X5a 1 24VE DGND 3 24VB 4 2 1 3 4 BGND 24 V for brake supply 24 V supply for control electro...

Страница 86: ...on of capacitor module component Wiring of control electronics 60438AEN Figure 53 Wiring diagram control electronics MOVIAXIS MXC capacitor module Connection via supplied pre fabricated cables 2 X5b X...

Страница 87: ...ction of buffer module component Wiring of control electronics 60438AEN Figure 54 Wiring diagram control electronics MOVIAXIS MXB buffer module Connection via supplied pre fabricated cables 2 X5b X5a...

Страница 88: ...re information on 24 V supply and control electronics in the MOVIAXIS Project Planning Manual 57165aen Figure 55 Wiring of the 24 V switched mode power supply module Connection via supplied pre fabric...

Страница 89: ...potentials is listed in the following table Designation Meaning DGND PE General reference potential of control electronics There is a metallic connection to PE BGND Reference potential for brake conne...

Страница 90: ...X1 4 PE L1 L2 L3 Power supply connection BG2 25 kW X3 1 X3 2 X3 3 R R PE Braking resistor connection BG2 25 kW X1 PE X1 1 X1 2 X1 3 PE L1 L2 L3 Power supply connection BG3 50 75 kW X3 PE X3 1 X3 2 PE...

Страница 91: ...unction for EtherCAT based system bus Terminal Assignment Brief description 6 9 5 1 Terminal Assignment Brief description X2 PE X2 1 X2 2 X2 3 PE U V W Motor connection sizes 1 2 X2 PE X2 1 X2 2 X2 3...

Страница 92: ...programmable Binary input 8 freely programmable Binary input 9 freely programmable Electrically isolated via opto coupler with reference to DCOM X10 10 X10 10 X10 11 DCOM DGND Reference potential for...

Страница 93: ...5 X13 6 X13 7 X13 8 X13 9 X13 10 X13 11 X13 12 X13 13 X13 14 X13 15 Signal track A COS Signal track B SIN n c 2 DATA n c 2 TF TH KTY n c 2 DGND Signal track A_N COS Signal track B_N SIN n c 2 DATA n...

Страница 94: ...upply PE 2 1 4 1 4 Terminal Assignment Brief description X4 PE X4 1 X4 2 PE UZ UZ DC link bar X5a 1 X5a 2 24 VE DGND Voltage supply for electronics1 X5a 3 X5a 4 24 VB BGND Voltage supply for brake sup...

Страница 95: ...in the SEW encoder systems manual The manual is available from SEW EURODRIVE View of the flange sockets in a servomotor View connection motor encoder to axis module 58364AXX 53934AXX 1 Power connectio...

Страница 96: ...D sub connector Route the encoder cable separately from the power cables Shielding Connect the shield of the encoder cable over a large area At the servo inverter Connect the shield on the servo driv...

Страница 97: ...nal lines separately Ground the multi axis servo drive and all additional devices to meet the high frequency guidelines You achieve this e g through a wide area metal on metal contact between the unit...

Страница 98: ...on of line filters in the MOVIAXIS MX Multi Axis Servo Inverter project planning manual On the motor end Shielded motor cables Braking resistor You find notes on the selection of braking resistors in...

Страница 99: ...rds XGH XGS is 0 22 0 25 Nm of the terminals X21 X22 X25 X26 of the input output cards XIO XIA is 0 5 0 6 Nm MOVIAXIS MX multi axis servo inverters are suitable for operation in voltage net works with...

Страница 100: ...planning man ual Comply with the country specific installation regulations in addition to the above notes The plug in connections of the 24 V supply are limited to 10 A Option cards that are supplied...

Страница 101: ...power connections Severe or fatal injuries from electric shock Install the covers at the modules see page 73 Install the touch guards according to the regulations see page 73 Never startup MOVIAXIS i...

Страница 102: ...te The 4 DIP switches for setting the system bus are set to C The axis address is set using the two address switches S3 and S4 on the supply module see sec Setting the CAN axis address The next axis a...

Страница 103: ...dule is equipped with two rotary switches S3 and S4 for setting the axis address of the axis system see Figure 58 Use these rotary switches to set a decimal address between 0 and 99 Axis address 23 se...

Страница 104: ...way is used for the addresses of the CAN communication part of the signaling bus or the KNet fieldbus interface option The axis addresses are as signed only once during startup of the 24V DC voltage s...

Страница 105: ...ES CAN connections should only be implemented in the control cabinet to avoid any dif ference of potential 59095axx Figure 60 CAN cable length 1 Connection cable between PC and CAN interface on the su...

Страница 106: ...ion cable with the 9 pin D sub CAN connector is shown in the follow ing figure Connection assignment of X12 pin on the supply module 62479aen Figure 61 Connection and extension cable CAN adapter and s...

Страница 107: ...the terminating resistor supply module option For more information on communication between PC and the MOVIAXIS system refer to page 111 62477aen Figure 63 Communication via CAN on the supply module X...

Страница 108: ...ans of parameter setting NOTES CAN connections should only be implemented in the control cabinet to avoid any dif ference of potential 62478aen Figure 64 CAN2 cable length MXP max 5 m MXA MXA MXA X9 a...

Страница 109: ...axis module 62481aen Figure 65 Connection and extension cable CAN adapter axis module Adapter MOVIAXIS MXA axis module 9 n c CAN_H CAN_H DGND 8 7 6 1 5 4 3 2 CAN_L DGND CAN_L n c n c socket 9 n c CAN...

Страница 110: ...mation on communication between PC and the MOVIAXIS system refer to page 111 62483aen Figure 67 Communication via CAN2 at an axis module 1 Connection cable between PC and CAN interface on the axis mod...

Страница 111: ...u design the terminals yourself you must install a terminating resistor of 120 between CAN_H and CAN_L For secure data transmission you also need a shielded cable suitable for CAN net works There are...

Страница 112: ...g 1 at the last axis module in the system At all other axis modules the LAM DIP switch must be set to 0 see figure 69 In this version X9b does not require a terminating resistor 60660axx Figure 68 DIP...

Страница 113: ...nformation such as installation instructions and system prerequisites refer to the MOVITOOLS MotionStudio manual MOVITOOLS MotionStudio startup software Once you have installed MOVITOOLS MotionStudio...

Страница 114: ...on the unit configuration 62084axx Figure 70 Communication access MXP MXA MXA MXA MXM 1 2 MXP MXA MXA MXA MXM 2 3 1 PC CAN to CAN 2 Master module with CAN EtherCAT based system bus 3 PC CAN to CAN2 H...

Страница 115: ...Controller setting User defined units System and application limits 2 Standard application Technology editor for single axis positioning monitor 3 Scope recording of Currents Speeds Positions etc 4 D...

Страница 116: ...operation Startup 5 9 MOVIAXIS startup Single motor operation Start the motor startup by selecting the respective unit in the hardware tree with the right mouse button Double click on the Startup entr...

Страница 117: ...sed for startup can be selected by clicking on it see figure 72 Please note that only one parameter record can be started up at one time If you want to startup several parameter records this can only...

Страница 118: ...ingle motor operation Startup Current settings The figure below shows the current settings The card types of option cards inserted into the card slots are shown in this figure In this example Slot 1 K...

Страница 119: ...u can select one of the fol lowing options for data transfer Accept data The motor data stored in the encoder is read out from the encoder and used for startup The read in data cannot be altered Accep...

Страница 120: ...r record In the example above encoder 1 is assigned to parameter record 1 Encoder selection The encoder pool represents the maximum three physical MOVIAXIS encoder inputs Encoder 1 is the encoder inpu...

Страница 121: ...ecting the encoders Click on the individual encoder designations to set the encoder type that is mounted on the motor A requirement for this is that the function Load data permanently is not selected...

Страница 122: ...Multi Axis Servo Inverter 5 MOVIAXIS startup Single motor operation Startup Encoder data You can enter encoder data in this menu However you cannot enter data if the encoder is defined as motor encode...

Страница 123: ...VIAXIS MX Multi Axis Servo Inverter 123 5 MOVIAXIS startup Single motor operation Startup Approved encoders You can view the list of approved encoders by selecting Approved encoders 11802aen Figure 78...

Страница 124: ...gure 79 Encoder management non SEW encoder Input data Description Mechanically Rotational Linear Electrical Hiperface Resolver TTL HTL sin cos Counting direction There are two counting directions Norm...

Страница 125: ...SEW Hiperface Example sin cos encoder Factor numerator encoder1 1024 Factor denominator encoder1 1 Non SEW resolver Example Resolver 1 pole pair Factor numerator encoder1 1 Factor denominator encoder1...

Страница 126: ...f the controller Use this setting option to further optimize the speed controller if a complete startup has already been performed Machine and system data This setting option is a part of the complete...

Страница 127: ...edback The other motors are running in the same rotating field When synchronous motors are used the two rotors have to be aligned in addition Please also refer to the SEW documentation 10509011 EN Mul...

Страница 128: ...p Motor selection In this menu you can set the motor to which the MOVIAXIS is connected The motor type of SEW motors is indicated on the nameplate If the motor is a non SEW motor activate the radio bu...

Страница 129: ...hronous motor you will have to enter the following motor data Type designation Pole pairs Rated speed Rated torque Rated current Rated voltage Maximum torque Maximum speed Mass moment of inertia Branc...

Страница 130: ...ermal data then a KTY limit temperature shut down is activated Response Here you can set the shutdown response of the MOVIAXIS MX multi axis servo drive in case of a motor overtemperature The followin...

Страница 131: ...ommendations Accept button to accept all recommendations in one step Input data Description Speed monitoring and deceleration time n monitoring The speed required by the setpoint can only be achieved...

Страница 132: ...for all FCBs that generate a setpoint in an interpolated manner external ramp gener ator as well as for analog setpoint selection Note The input value is not rele vant for internal setpoint selection...

Страница 133: ...AXIS startup Single motor operation Startup Block diagram speed controller Speed control parameters In addition you can set the speed controller parameters to Classic 11810aen Figure 86 Block diagram...

Страница 134: ...the speed controller Time constant speed controller Integration time constant of the speed controller The I component reacts inversely proportionate to the time constant i e a large numerical value r...

Страница 135: ...velocity numerator 1 User specified unit velocity denominator 1 User specified unit velocity resolution 1E 03 Acceleration Unit 1 min s speed change per second 2 decimal places Example Once motor sta...

Страница 136: ...units other than the basic configuration Specification Position in mm 1E 01 Velocity in 1 min Acceleration in m s2 1E 02 The rotary motion is turned into a linear motion with a spindle pitch 5 mm 624...

Страница 137: ...The following values are the basis for the basic configuration and the delivery status 11813aen Figure 90 Application and system limits menu Variables Limit values System limit values machine limit v...

Страница 138: ...IS MX Multi Axis Servo Inverter 5 MOVIAXIS startup Single motor operation Startup Download Press the Finish button to download the settings to the axis module Close the window to finish startup 11814a...

Страница 139: ...lue Filter time constant of the actual speed value filter Speed setpoint filter Speed ramp will be filtered graduated setpoint entry or interfering impulse at analog out put can be smoothed Filter acc...

Страница 140: ...reas of application Positioning either directly using the external encoder or with the motor encoder Multi motor operation max 3 motors SSI absolute encoder evaluation Operation of non SEW motors that...

Страница 141: ...n Startup Current settings The figure below shows the current settings The card types of option cards inserted into the card slots are shown in this menu In this example Slot 1 Multi encoder card XGS...

Страница 142: ...der and encoder 2 of the type AV1H as external dis tance encoder Encoder selection The encoder pool represents the maximum three physical MOVIAXIS encoder inputs Encoder 1 is the encoder input of the...

Страница 143: ...e button Settings encoder card slot 1 or Settings encoder card slot 2 in the menu item Option cards to set the emulation source or to assign the encoder that is to be used for incremental encoder simu...

Страница 144: ...stance encoder Applications E g non linear transmission elements such as crank arms flying saws master value axes such as electronic cams In this example the position actual value of the absolute enco...

Страница 145: ...perating Instructions MOVIAXIS MX Multi Axis Servo Inverter 145 5 Application examples Startup Settings Encoder 2 must be set as Source actual position Selection and settings of the encoder type 0 0 I...

Страница 146: ...ving the system Example 2 Linear encoder as position encoder Applications E g storage and retrieval units because of the slip of the carrying wheels for systems with backlash The travel distance of th...

Страница 147: ...ervo Inverter 147 5 Application examples Startup Settings Selection and settings of the encoder type using the example of the linear encoder AL1H Encoder 2 must be set as Source actual position Select...

Страница 148: ...Startup Travel distance on encoder per motor revolution can be entered here directly after cal culating it manually or be determined by moving the system Determined automatically can only be selected...

Страница 149: ...he Travel distance on encoder per motor revolution It is possible to enter the travel distance by clicking on the Direct entry but ton after calculating it manually or to determine it by clicking on M...

Страница 150: ...and which are not operated at the same time Up to 3 motors can be connected to one axis module For this purpose 2 additional multi encoder cards must be inserted into the axis module see following fi...

Страница 151: ...ource for parameter record 2 Encoder 3 must be set as Actual position source for parameter record 3 The individual parameter records can only be started up one after another and only once the startup...

Страница 152: ...hannels and are transferred to the connected bus system via 16 process data buffers Information on the status of the axis such as Ready for operation Motor standstill Brake released can also be writte...

Страница 153: ...ters A mouse click on an IN buffer opens its configuration interface The communication op tion is selected as data source for a PROFIBUS connection The following three process data words are used in...

Страница 154: ...process data A single click on one of the control words in the example control word 1 opens the con figuration interface and selects the FCB instance layout The IN process data channel 0 is assigned t...

Страница 155: ...second word is assigned the speed and the third word the ramp You can assign the associated words using drag drop Setting the FCB parameters Clicking FCB opens the configuration interface of the FCBs...

Страница 156: ...g as IN buffer update is disabled Once buffer update is enabled see figure 97 the words are automatically updated with the values of the bus 5 13 Parameter list You find a parameter list with descript...

Страница 157: ...the power terminals check to see that the MOVIAXIS MX multi axis servo drive has been disconnected from the mains Observe the general safety notes in section 2 and the notes in sec Electrical In stal...

Страница 158: ...display depending on the type of error and the response programmed for an error Error in the supply module Errors in the supply module are reported to the axis and processed by the axis You execute a...

Страница 159: ...ing table Terms and abbreviations Meaning P Programmable error response D Default error response set at the factory VM Power supply module AM Axis module ZK DC link HW Hardware SW Software AWE User de...

Страница 160: ...0 The ready signal will be reset by the system status control after the reset by the system status control System restart There will be no true reset of the microcontroller with a system restart The s...

Страница 161: ...on the axis mod ule Displays in case of an error Error brake chopper Brake chopper is not ready for operation See error list of axis modules X Error excessive ZK voltage Uz Error message by SM via sig...

Страница 162: ...al switched mode power supply module of axis not ready for operation 24 V check or unit defective Flashing Axis module in safe stop Safety function activated Synchronization with bus is incorrect Proc...

Страница 163: ...control Interpolated M control Torque control with setpoints cyclically via bus Position control Positioning mode with internal ramp generator Interpolated position control Positioning mode with setpo...

Страница 164: ...tput stage The possible reason behind this error is identical to error 01 The distinction is important for internal purposes only Output stage inhibit System is waiting Warm start Yes Ready 1 Malfunct...

Страница 165: ...dy 0 Malfunction 0 01 Brake output 13 Error Brake sup ply Brake supply voltage not within per mitted range of 10 0 Monitoring works with parameter setting Brake installed and Brake applied as well as...

Страница 166: ...l 10 Numerator of emulation PPR count for sine encoder too great 11 Numerator of emulation PPR count for sine encoder is not a power of two 512 Startup for invalid motor type 513 Set current limit exc...

Страница 167: ...ive Setpoint deviation window may not be smaller than con ditioning threshold 1036 Modulo reference offset is not within Modulo limit 1037 Position values of software limit switch reversed positive ne...

Страница 168: ...m speed 0 12 Position control Minimum speed 0 13 Process data Enter negative acceler ation 14 Process data Enter negative delay 15 Process data Enter negative jerk 16 Combination of FCB number and FCB...

Страница 169: ...ication is inter rupted Shutdown with application delay D P System is waiting Warm start Yes Ready 1 Malfunction 0 01 Error fieldbus timeout 29 Error Approach hardware limit switch Travel to hardware...

Страница 170: ...Output stage inhibit D P System is blocked System restart Yes Ready 0 Malfunction 0 01 FCB reference travel Timeout error during search for zero pulse 02 FCB reference travel Hardware limit switch bef...

Страница 171: ...imit exceeded 07 AD conversion has not taken place 45 Error System initialization Error during initialization of the sys tem Output stage inhibit System locked CPU reset Yes Ready 0 Malfunction 0 01 T...

Страница 172: ...r Error in TTL encoder Output stage inhibit System is blocked System restart Yes Ready 0 Malfunction 0 01 TTL sensor Open circuit 02 TTL sensor Emulation error exces sive speed 19 TTL sensor Non permi...

Страница 173: ...process data configura tion Error process data configuration Shutdown with emergency stop delay System is blocked System restart 1 Ready 0 Malfunction 0 1 The process data configuration has been chang...

Страница 174: ...outside tolerance range 03 Synchronization to synchronization signal not possible 04 Duration of sync signal is not a inte ger multiple of the PDO system dura tion 05 Time limit for synchronization s...

Страница 175: ...No response dis play only Yes 01 Message error control word 3 74 Error Error mes sage word 4 The error message of an unknown device was detected in the error mes sage word No response dis play only 01...

Страница 176: ...raking resistor installed in the SM has reached or exceeded the prewarning threshold applies to 10kW version only Shutdown with emergency stop delay D System is waiting Warm start Yes Ready 1 Malfunct...

Страница 177: ...X8 1 24 V X8 2 RGND are reversed Check wiring Output stage inhibit System is waiting Warm start Yes Ready 1 Malfunction 0 01 Safety relays Switching delay between shutdown channels 1 and 2 is too lar...

Страница 178: ...not light up No voltage is supplied to the capacitor module 6 6 Operating displays of MXB buffer module component No messages are issued at the buffer module 6 7 Operating displays of 24 V switched mo...

Страница 179: ...ease always quote the production num ber and order number so that our service personnel can assist you more effectively You find the production number on the nameplate see page 15 Please provide the f...

Страница 180: ...e mains and wait ten minutes before removing the protective covers After maintenance work do not operate the axis system unless you have replaced the protective cover because the unit only has degree...

Страница 181: ...nect the entire axis system from the power supply Follow the safety notes on page 180 Shield clamps Remove electronics shield clamps 2 Cables Remove encoder cable plugs 4 X13 Remove the signal bus cab...

Страница 182: ...X4 Shield plate Remove shield plate on the power terminal 10 Loosen the screw Remove shield plate in downward direction Motor lines Remove motor line plug 12 X2 Brake control system Remove brake cont...

Страница 183: ...ng Instructions MOVIAXIS MX Multi Axis Servo Inverter 183 7 Removing installing a module Service Removing the axis module Slightly raise the axis module tilt it to the front and remove it in upward di...

Страница 184: ...S MX Multi Axis Servo Inverter 7 Removing installing a module Service Installing an axis module Installing an axis module Insert the axis module from top into the lower retaining screws press the axis...

Страница 185: ...control system Insert brake control plug 11 X6 Motor lines Insert motor line plug 12 X2 Shield plate Insert and secure shield plate on power terminal 10 DC link bars Insert and secure the DC link bar...

Страница 186: ...t performed maintenance regularly SEW EURODRIVE recommends that you increase the supply voltage slowly up to the maximum voltage This can be done for example by using a variable transformer for which...

Страница 187: ...Directive 89 336 EEC Compliance with category C2 according to EN 61800 3 has been tested on a spec ified test setup SEW EURODRIVE can provide detailed information on request The CE mark on the namepl...

Страница 188: ...without special measures longer periods see sec Service on page 186 Cooling type DIN 51751 Forced cooling and convection cooling depending on size Enclosure EN 60529 NEMA1 1 Axis module sizes 1 3 Axis...

Страница 189: ...cts on shield clamp mm2 max 4 4 max 4 10 max 4 50 shielded OUTPUT DC LINK Rated DC link voltage4 UNZK U V DC 560 Rated DC link current5 DC INZK I A 18 45 90 135 Max DC link current DC IZK max Imax A 4...

Страница 190: ...y module MXP80A 503 00 1 2 Size 1 2 3 MOVIAXIS MX supply module General electronics data CAN interface1 1 Only for CAN based system bus CAN 9 pin sub D connector CAN bus to CAN specification 2 0 parts...

Страница 191: ...for max 1 s 250 Apparent output power PNout 6 S kVA 1 4 2 8 5 5 8 5 11 17 22 33 44 69 PWM frequency fPWM kHz Can be set 4 8 16 setting on delivery fPWM 8 kHz Maximum output frequency fmax f Hz 600 Mo...

Страница 192: ...90 120 150 210 Dimensions H mm 300 300 400 400 400 400 D mm 254 1 Nameplate information 2 Unit 3 With simplification INZK IN typical motor application 4 Material strength mm width mm 5 Indicated value...

Страница 193: ...binary outputs PLC compatible EN 61131 2 response time 1 ms short circuit proof Imax 50 mA Signal level 0 0 V 1 24 V Caution Do not apply external voltage Function DO DO 3 Selection option parameter...

Страница 194: ...terminal 0 20 2 5 mm2 Two conductors per terminal 0 25 1 mm2 Maximum outer diameter of the cable 3 5 mm Recommended connector MSTB 2 5 4 ST 5 08 BK Phoenix COMBICON 5 08 with front end cable output G...

Страница 195: ...3 UNZK U V DC 560 Storable energy3 3 At Umains 3 x AC 400 V W Ws 1000 Peak power capacity kW 50 Cross section and contacts mm CU rails 3 14 mm M6 screw fitting GENERAL INFORMATION Capacity C F 4920 Ti...

Страница 196: ...buffer module MXB80A 050 503 00 1 1 Nameplate information 2 2 Unit Type 050 INPUT Rated DC link voltage3 UNZK 3 At Umains 3 AC 400 V U V DC 560 Cross section and contacts mm CU rails 3 14 mm M6 screw...

Страница 197: ...nal 0 5 6 OUTPUT Rated output voltage V U V DC 3 x 24 shared ground Tolerance for supply via DC link DC 24 0 10 Tolerance for supply via external 24 V According to input voltage Rated output current I...

Страница 198: ...ng Convertible energy E E J 5000 OUTPUT Braking resistor R R 1 Discharge connection Specific screw fitting by SEW Cross section and contacts mm2 M6 screw bolts max 4 16 Connection to power shield clam...

Страница 199: ...rtificate upon request The following braking resistors have cRUus approval independent of the MOVIAXIS multi axis servo inverter BW012 015 01 BW006 025 01 BW006 050 01 BW004 050 01 Technical Data Brak...

Страница 200: ...cooling KS Self cooling 1 Unit 2 Braking resistors show a tapping of 1 3 cdf Cyclic duration factor of the braking resistor in relation to a cycle duration TD 120 s Braking resistor type 1 BW006 025 0...

Страница 201: ...onnections L1 L3 L1 L3 PE mm2 4 M5 stud 10 M5 M6 stud 35 M8 50 M10 NF type line filter2 1 Unit 2 SEW EURODRIVE will provide a certificate upon request Line choke type 1 ND020 013 ND045 013 ND085 013 N...

Страница 202: ...diameter or cross section of a wire in code This type of cable designation is usually only used in the USA However the designations can also be seen in catalogs or data sheets in Europe AWG designatio...

Страница 203: ...N IEC International standard that has been adopted without changes into the German standard DO Digital Out EN Europ ische Norm European standard GND Ground IP International Protection international ty...

Страница 204: ...hing sequences during rapid cur rent or voltage changes during operation of motors or high frequency generators and similar situations These EMC compliant housings are usually equipped with an EMC cab...

Страница 205: ...modules 73 E Electrical Installation 77 Electromagnetic compatibility Interference emission 98 Interference emission categories 98 Line filter 97 Separate cable ducts 97 Shielding and grounding 97 Err...

Страница 206: ...sed 72 Startup of MOVIAXIS MX Application and system limits 137 Approved encoders 123 Axis configuration 134 Block diagram speed controller 133 Controller parameters 139 Current settings 118 141 Downl...

Страница 207: ...C basic master module 33 Supply module size 1 23 Supply module size 2 24 Supply module size 3 25 Unit designation for MOVIAXIS basic units 17 Unit output Permitted connection 75 W Wiring diagram Suppl...

Страница 208: ...507 55 sc west sew eurodrive de Drive Service Hotline 24 Hour Service 49 180 5 SEWHELP 49 180 5 7394357 Additional addresses for service in Germany provided on request France Production Sales Service...

Страница 209: ...L 3044 AS Rotterdam Postbus 10085 NL 3004 AB Rotterdam Tel 31 10 4463 700 Fax 31 10 4155 552 http www vector nu info vector nu Switzerland Assembly Sales Service Basel Alfred lmhof A G Jurastrasse 10...

Страница 210: ......

Страница 211: ...SEW EURODRIVE Driving the world...

Страница 212: ...g quality that reduces the cost and complexity of daily operations With a global presence that offers responsive and reliable solutions Anywhere With innovative technology that solves tomorrow s probl...

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