alx0517 application module · you find detailed configuration information in the documentation of...

*24796530_0318*Drive Technology \ Drive Automation \ System Integration \ Services

Manual

ALX0517 Application Modulefor MOVIFIT® FC Function Level Technology with PROFINET IOFieldbus Interface

Edition 03/2018 24796530/EN

SEW-EURODRIVE—Driving the world

Table of contents

Manual – ALX0517 Application Module 3

Table of contents1 General information.................................................................................................................. 5

1.1 About this documentation ............................................................................................... 51.2 Content of the documentation......................................................................................... 51.3 Applicable documentation............................................................................................... 51.4 Structure of the warning notes ........................................................................................ 5

1.4.1 Meaning of signal words ................................................................................ 51.4.2 Structure of section-related safety notes........................................................ 61.4.3 Structure of embedded safety notes .............................................................. 6

1.5 Right to claim under warranty ......................................................................................... 71.6 Exclusion of liability......................................................................................................... 71.7 Terms and conditions of use........................................................................................... 71.8 Product names and trademarks...................................................................................... 71.9 Copyright notice .............................................................................................................. 8

2 Safety notes .............................................................................................................................. 92.1 Preliminary information ................................................................................................... 92.2 Use.................................................................................................................................. 92.3 Target group ................................................................................................................... 92.4 Bus systems.................................................................................................................... 92.5 Designated use ............................................................................................................. 102.6 Short designation .......................................................................................................... 10

3 Project planning information................................................................................................. 113.1 Requirements................................................................................................................ 113.2 PC and software ........................................................................................................... 113.3 Controller ...................................................................................................................... 113.4 Encoder......................................................................................................................... 11

4 System description ................................................................................................................ 124.1 Area of application ........................................................................................................ 124.2 Overview of the system................................................................................................. 124.3 Profiles .......................................................................................................................... 13

5 Operating modes .................................................................................................................... 145.1 Jog mode ...................................................................................................................... 145.2 Referencing mode......................................................................................................... 145.3 Speed mode.................................................................................................................. 14

5.3.1 Speed mode without encoder ...................................................................... 145.4 Positioning mode .......................................................................................................... 14

5.4.1 Positioning mode with EI7C incremental encoder........................................ 145.4.2 Positioning mode with F5868 absolute encoder .......................................... 15

5.5 Prioritized fixed setpoint control .................................................................................... 15

6 Cycle diagrams ....................................................................................................................... 176.1 Jog mode ...................................................................................................................... 176.2 Referencing mode......................................................................................................... 186.3 Positioning mode .......................................................................................................... 196.4 Speed mode without encoder ....................................................................................... 20

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Table of contents

Manual – ALX0517 Application Module4

6.5 Prioritized fixed setpoint control .................................................................................... 21

7 Startup ..................................................................................................................................... 227.1 Preparing startup .......................................................................................................... 227.2 Starting the application module..................................................................................... 22

7.2.1 Via the context menu ................................................................................... 227.2.2 Via the tool start page .................................................................................. 237.2.3 Initial screen ................................................................................................. 23

7.3 Setting the application module...................................................................................... 247.3.1 General settings ........................................................................................... 247.3.2 Scaling ......................................................................................................... 277.3.3 Monitoring .................................................................................................... 287.3.4 Reference travel ........................................................................................... 30

8 Operation and diagnostics .................................................................................................... 328.1 Monitor mode ................................................................................................................ 328.2 Control mode ................................................................................................................ 338.3 Diagnostics with the S12 safety option ......................................................................... 34

8.3.1 Description ................................................................................................... 348.3.2 S12 diagnostics view.................................................................................... 348.3.3 Structure of process data ............................................................................. 34

8.4 Extended process data word ........................................................................................ 35

9 Data management................................................................................................................... 379.1 Activating data management ........................................................................................ 379.2 Structure of process data.............................................................................................. 39

10 Terminal assignment.............................................................................................................. 4110.1 EI7C incremental encoder ............................................................................................ 4110.2 F5868 absolute encoder ............................................................................................... 42

11 Process data ........................................................................................................................... 4311.1 Overview ....................................................................................................................... 4311.2 Process data assignment.............................................................................................. 43

11.2.1 Process input data ....................................................................................... 4311.2.2 Process output data ..................................................................................... 45

Index ........................................................................................................................................ 47

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1General informationAbout this documentation


1 General information1.1 About this documentation

The documentation is part of the product and contains important information. The doc-umentation is for everyone who works with this product.The documentation must be accessible and legible. Make sure that persons respons-ible for the system and its operation as well as persons who work independently withthe software and the connected units of SEW-EURODRIVE have read through themanual carefully and understood it. If you are unclear about any of the information inthis documentation or if you require further information, please contactSEW‑EURODRIVE.

1.2 Content of the documentationThe descriptions in this documentation apply to the current software/firmware at thetime of printing. When new versions of software/firmware are installed, the descrip-tions may differ. In this case, contact SEW‑EURODRIVE.

1.3 Applicable documentation

Observe the following applicable documents:• "MOVIFIT® Function Level "Technology" with PROFINET IO Interface" manual• "MOVIFIT® MC/FC – Functional Safety with S12 Safety Option" manualAlways use the latest edition of documentations and software.The SEW‑EURODRIVE website (www.sew‑eurodrive.com) provides a wide selectionof documents for download in various languages. If required, you can also order prin-ted and bound copies of the documentation from SEW‑EURODRIVE.

1.4 Structure of the warning notes1.4.1 Meaning of signal words

The following table shows the grading and meaning of the signal words for safetynotes.

Signal word Meaning Consequences if disregarded DANGER Imminent hazard Severe or fatal injuries.

WARNING Possible dangerous situation Severe or fatal injuries.

CAUTION Possible dangerous situation Minor injuries

NOTICE Possible damage to property Damage to the drive system or itsenvironment.

INFORMATION Useful information or tip: Simplifieshandling of the drive system.

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http://www.sew-eurodrive.com

1 General informationStructure of the warning notes


1.4.2 Structure of section-related safety notesSection-related safety notes do not apply to a specific action but to several actionspertaining to one subject. The hazard symbols used either indicate a general hazardor a specific hazard.This is the formal structure of a safety note for a specific section:

SIGNAL WORDType and source of hazard.Possible consequence(s) if disregarded.• Measure(s) to prevent the hazard.

Meaning of the hazard symbolsThe hazard symbols in the safety notes have the following meaning:

Hazard symbol MeaningGeneral hazard

Warning of dangerous electrical voltage

Warning of hot surfaces

Warning of risk of crushing

Warning of suspended load

Warning of automatic restart

1.4.3 Structure of embedded safety notesEmbedded safety notes are directly integrated into the instructions just before the de-scription of the dangerous action.This is the formal structure of an embedded safety note:

SIGNAL WORD Type and source of hazard. Possible consequence(s) if disreg-arded. Measure(s) to prevent the hazard.

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1General informationRight to claim under warranty


1.5 Right to claim under warrantyA requirement of fault-free operation and fulfillment of any rights to claim under limitedwarranty is that you adhere to the information in the documentation at hand. There-fore, read the documentation before you start working with the software and the con-nected devices from SEW‑EURODRIVE.Make sure that the documentation is available to persons responsible for the ma-chinery and its operation as well as to persons who work independently on thedevices. You must also ensure that the documentation is legible.

1.6 Exclusion of liabilityPlease observe this documentation as well as the documentation for the softwareused and the SEW‑EURODRIVE devices connected. This documentation must be ob-served to ensure that the devices operate safely and that the specified product proper-ties and performance characteristics are achieved.SEW‑EURODRIVE assumes no liability for injury to persons or damage to equipmentor property resulting from non-observance of the documentation. In such cases,SEW‑EURODRIVE assumes no liability for defects.

1.7 Terms and conditions of use

SEW‑EURODRIVE grants the temporarily unrestricted right to use a copy of the soft-ware including the corresponding documentation and media (together called "mater-ial") according to the detailed terms of use and other contractual agreements.Updates or enhancements to the applicable material that are provided as part of anagreement of transfer of possession or other contract (such as maintenance contract)are also part of the material provided.All materials belong to SEW‑EURODRIVE and are protected by copyright. If no legalexceptions apply, it is expressly forbidden to:• Reproduce the material temporarily or permanently, in whole or in part, except for

the purpose of designated and contractual uses, or for the creation of a legally per-mitted backup to ensure future use.

• Translate or modify the software, or reproducing the results.You must prevent unauthorized access by third parties to the provided materials.SEW‑EURODRIVE remains the proprietor of all rights, even if you modify the materialor combine it with your own programs or those of a third party.If detailed terms of use are displayed during the software installation and must be ac-cepted before the software can be used, these also apply in addition to the terms ofuse described here.

1.8 Product names and trademarks

The brands and product names in this documentation are trademarks or registeredtrademarks of their respective titleholders.

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1 General informationCopyright notice


1.9 Copyright notice

© 2018 SEW‑EURODRIVE. All rights reserved. Unauthorized reproduction, modifica-tion, distribution or any other use of the whole or any part of this documentation isstrictly prohibited.

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2Safety notesPreliminary information


2 Safety notes2.1 Preliminary information

The following general safety notes have the purpose to avoid injury and damage toproperty. They primarily apply to the use of products described in this documentation.If you use additional components also observe the relevant warning and safety notes.

2.2 Use

Make sure that the basic safety notes are read and observed. Make sure that personsresponsible for the machinery and its operation as well as persons who work on thedevice independently have read through the documentation carefully and understoodit. If you are unclear about any of the information in this documentation, or if you re-quire further information, contact SEW‑EURODRIVE.The following safety notes refer to the use of the software.This document does not replace the detailed documentation for the connecteddevices. This documentation assumes that the user has access to and is familiar withthe documentation for all connected products.Do not perform installation or startup if the product is damaged.Removing required covers without authorization, improper use or incorrect installationand operation may result in severe injury to persons, or damage to machinery.All work in the areas of transportation, storage, operation and waste disposal must becarried out by persons who are trained appropriately.

2.3 Target group

Software specialist Any work with the software may only be performed by a qualified specialist. Special-ists in the context of this documentation are persons who have the following qualifica-tions:• Appropriate instruction• Knowledge of this documentation and other applicable documentation• SEW‑EURODRIVE recommends additional training for products that are operated

using this software.The above-mentioned persons must have the authorization expressly issued by thecompany to operate, program, configure, label and ground devices, systems and cir-cuits in accordance with the standards of safety technology.

2.4 Bus systemsA bus system makes it possible to adapt electronic drive components to the particularsof the machinery within wide limits. There is a risk that a change of parameters thatcannot be detected externally may result in unexpected (but not uncontrolled) systembehavior and may have a negative impact on operational safety, system availability, ordata security.Especially in Ethernet-based networked systems and with engineering interfaces,make sure that unauthorized access is prevented.24

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2 Safety notesDesignated use


Use IT‑specific safety standards to increase access protection to the ports. For a portoverview, refer to the respective technical data of the device in use.

2.5 Designated use

The application module is a single-axis application and used to approach variable pos-itions with different speeds and ramps or to move with different speeds and rampswhen operated without encoder.The ALX0517 application module is implemented with a decentralized MOVIFIT® FCcontroller function level "Technology" with the PROFINET IO fieldbus interface.

2.6 Short designationThe following short designations are used in this documentation.

Type designation Short designationALX0517 application module for MOVIFIT®

FC function level "Technology" withPROFINET IO fieldbus interface

Application module

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3Project planning informationRequirements


3 Project planning information3.1 Requirements

Correct configuration and proper installation of the units are required for successfullystarting up and operating the application modules with the Application Configurator.You find detailed configuration information in the documentation of the respective units(see chapter "Other applicable documentation").

3.2 PC and softwareIn order to use the application module, you require a PC with a Windows® operatingsystem and MOVITOOLS® MotionStudio (version 6.2.0.1 or higher with the appropri-ate plug-in).

3.3 ControllerThe application module is implemented with a decentralized MOVIFIT® FC controllerfunction level "Technology" with the PROFINET IO interface.

3.4 EncoderThe application module allows for operation without encoder, with the EI7C incre-mental encoder or the Kübler F5868 CAN absolute encoder. Both encoders are scaledto 96 increments.

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4 System descriptionArea of application


4 System description

4.1 Area of applicationThe application module is used for variable positions in conjunction with differentspeeds and ramps.Positioning is carried out via built-in motor encoder or optionally via external encoder.In addition, prioritized fixed setpoint control is possible when operated without en-coder.Only the linear, absolute positioning is supported. You can work with user units.The following operating modes are available:• Jog mode• Referencing mode• Positioning mode/speed mode

4.2 Overview of the systemThe application module allows the configuration of the following encoder versions:

With EI7C incrementalencoder

With F5868 absolute encoderNo encoder, with prioritizedfixed setpoint control via

binary signals

CANDigital inputCW

Digital inputCCW

23523001867

The following table provides an overview of the operating modes that can be imple-mented with the respective encoders and if the "Prioritized fixed setpoint control" func-tion is available.

Operating mode "Prioritized fixed setpointcontrol" function

No encoder Speed mode Available

EI7C incremental encoder Positioning mode Not available

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4System descriptionProfiles


Operating mode "Prioritized fixed setpointcontrol" function

F5868 absolute encoder Positioning mode Not available

4.3 ProfilesThe application module has the following profile:

Profile Scope of functions8 PD 2 process data words for the state of the controller

6 process data words for the drive

The process data assignment for the profile is listed in chapter "Processdata" (→ 2 43).

Optional:• Extended process data word 9 for the data management function

For further information, refer to chapter "Data management" (→ 2 37).• 3 additional process data words for the S12 safety option

For further information, refer to chapter "Diagnostics with the S12 safety op-tion" (→ 2 34).

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5 Operating modesJog mode


5 Operating modes5.1 Jog mode

In jog mode, you can move the drive independently of the other operating modes ofthe system.In jog mode, you can set the control bits "Jog+" or "Jog-" to move the drive clockwiseor counterclockwise. It is not necessary to set the start bit.Speed and ramps are specified dynamically via the corresponding process datawords.

5.2 Referencing modeThe referencing determines the reference point (machine zero) for positioning opera-tions.Referencing is triggered by the hardware limit switch. Operating mode "Mode 2" is se-lected for the reference travel (see chapter "Process data" and "Terminal assign-ment").Once the start bit has been set, the drive moves to the hardware limit switch specifiedduring startup when reference travel type 3 and 4 are selected. Then the drive movesclear independently. When reference travel type 5 is selected, the drive is referencedat the spot where it is located, without moving.

5.3 Speed mode5.3.1 Speed mode without encoder

Configuring speed mode without encoder.To do so, select "No encoder" in the encoder field during configuration.Speed and ramps are specified dynamically via the corresponding process datawords. As positioning is not possible, a position specification is not required and posi-tion feedback is not issued.

5.4 Positioning mode5.4.1 Positioning mode with EI7C incremental encoder

Using an EI7C incremental encoder in positioning mode.To do so, select "EI7C incremental encoder" in the encoder field during configuration.Prior to positioning, you have to perform a reference travel. All positioning travels referto the machine zero specified during referencing.The dynamics parameters as well as the target position are specified dynamically viathe corresponding process data words. The drive moves once the start bit has beenset. If the actual position does not deviate from the target position further than the pos-ition window, the "Target position reached" bit is set.

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5Operating modesPrioritized fixed setpoint control


5.4.2 Positioning mode with F5868 absolute encoder

CAUTIONIncorrect positioning due to exceeding the work envelope.Damage to property and disturbance of the process sequence• Configure the plant in a way that the work envelope of ±32768 motor revolutions

is not exceeded in positioning mode with F5868 absolute encoder.

Using an F5868 absolute encoder in positioning mode.To do so, select "F5868 absolute encoder" in the encoder field during configuration.Prior to positioning, you have to perform a reference travel once. The reference posi-tion is maintained even after de-energizing. All positioning travels refer to the machinezero specified during referencing.The dynamics parameters as well as the target position are specified dynamically viathe corresponding process data words. The drive moves once the start bit has beenset. If the actual position does not deviate from the target position further than the pos-ition window, the "Target position reached" bit is set.The work envelope in positioning mode with F5868 absolute encoder is ±32768 motorrevolutions based on the reference point.

5.5 Prioritized fixed setpoint control

INFORMATIONPrioritized fixed setpoint control is only possible if no emergency switch-off function(STO) is active.

INFORMATIONIgnored error states during prioritized fixed setpoint control.• If an error is present when changing from normal operation to prioritized fixed set-

point control, the error is automatically reset.• If an error occurs again during the fixed setpoint enable, the MOVIFIT® inverter re-

sponds according to the error response stored internally.

Configuring a prioritized fixed setpoint control. The configuration for the prioritizedfixed setpoint control is only possible for drives without encoder.To do so, select "No encoder" in the encoder field during configuration and activatethe "Prioritized fixed setpoint" function.If a signal is detected at the parameterized input "Digital input CW" or at the input "Di-gital input CCW", all other control signals such as process data, controller inhibit andenable are deactivated and the parameterized fixed setpoint is used. Signal detectionat the "Digital input CW" input results in moving with positive speed. Signal detectionat the "Digital input CCW" input results in moving with negative speed.If a signal is detected at both inputs at the same time, no travel movement takesplace. If no signal is detected, the setpoints specified by the higher-level controller areused.If an inverter error occurs, the reset bit is not cyclically toggled, but remains set per-manently. Travel movement is then not possible without error reset.

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5 Operating modesPrioritized fixed setpoint control


When the prioritized fixed setpoint control is activated via the "Digital input CW" inputor the "Digital input CCW" input, the process data bit 4 "PO data enabled" is reset inPO3. For further information, refer to section "Process data" in chapter "Process out-put data" (→ 2 45).

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6Cycle diagramsJog mode


6 Cycle diagrams6.1 Jog mode

The following figure shows the actual speed of the drive against the status of the inputand output signals in jog mode.

123

[1]

n

[2]

[3]

13213654027

n Actual speed[1] "Mode" input signal[2] Input signal "positive" (jog+)[3] Input signal "negative" (jog–)

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6 Cycle diagramsReferencing mode


6.2 Referencing modeThe following figure shows the actual speed of the drive against the status of the inputand output signals in referencing mode.

123

[1]

n

[2]

[3]

[4]

13213983371

n Actual speed[1] "Mode" input signal[2] "Start" input signal[3] "HWLS" input signal1)

[4] "Drive referenced" output signal1) HWLS = hardware limit switch

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6Cycle diagramsPositioning mode


6.3 Positioning modeThe following figure shows the actual speed of the drive against the status of the inputand output signals in positioning mode.

123

[1]

n

[2]

[3]

[4]

13214527371

n Actual speed[1] "Mode" input signal[2] "Start" input signal[3] "Target position reached" output signal[4] "PI4/PI5 Setpoint position" input signal

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6 Cycle diagramsSpeed mode without encoder


6.4 Speed mode without encoderThe following figure shows the actual speed against the status of the input signals orthe specified setpoint speed.

22834575627

n Actual speed[1] "Mode" input signal[2] "Start" input signal[3] PI6 Setpoint speed

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6Cycle diagramsPrioritized fixed setpoint control


6.5 Prioritized fixed setpoint controlThe following figure shows the actual speed against the switching status of the digitalinputs "Digital input CW" or "Digital input CCW" and the configured fixed setpoint.

22881131787

n Actual speed[1] Digital input CW (configured as NO contact)[2] Digital input CCW (configured as NC contact)

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7 StartupPreparing startup


7 Startup7.1 Preparing startup

Perform the following steps before startup:1. Check the installation of the MOVIFIT® and the encoder connection based on the

installation notes in the corresponding documentation.2. Connect MOVIFIT® to your PC or laptop.3. Install the MOVITOOLS® MotionStudio engineering software on your PC or laptop.4. Start the MOVITOOLS® MotionStudio engineering software.

For more information on starting the MOVITOOLS® MotionStudio engineering soft-ware, refer to the "MOVITOOLS® MotionStudio" manual.

7.2 Starting the application module7.2.1 Via the context menu

Proceed as follows:ü The MOVITOOLS® MotionStudio engineering software is started.1. Select the relevant device node.2. Right-click to open the context menu.3. Select the [Airport] / [ALX0517] menu command.

22835389195

ð The start window of the application module is displayed.24

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7StartupStarting the application module


7.2.2 Via the tool start pageProceed as follows:ü The MOVITOOLS® MotionStudio engineering software is started.1. Select the relevant device node.2. On the tool start page, select [ALX0517] in the [Airport] section.

22835393419

ð The start window of the application module is displayed.

7.2.3 Initial screen

[1]

[2]

[3][4]

22845281931

No. Description[1] Use this button to monitor the application.

[2] Use this button to download the configuration.

[3] This area provides information on part number, version and release in offlineand online mode.

[4] Use this button to go to the next configuration step.

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7 StartupSetting the application module


7.3 Setting the application module7.3.1 General settings

[1]

[2]

[3]

[4][5]

[6]

[7]

22847144075

No. Description[1] The fieldbus address is displayed in this display field.

[2] Use this drop-down list to activate the configuration of an extended processdata word:• Extended PD active• Extended PD inactiveWhen activated, the process data interface is extended with the extended pro-cess data word at the 9th position.

[3] Select the timeout response in this drop-down list:• No response• Controller inhibit• Rapid stop (default setting)• Stop

[4] Select the repositioning in this drop-down list:• Activated (default setting)

The positive edge at the "in position" output signal causes the brake to ap-ply. If the output signal "in position" is reset (e.g. by exceeding the positionwindow), repositioning is triggered.

• DeactivatedThe positive edge at the "in position" output signal causes the brake to ap-ply. However, this setting will not trigger a repositioning even if the positionwindow is exceeded. Only a new starting edge triggers a new positioning.

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7StartupSetting the application module


No. Description[5] Select the used encoder in this drop-down list:

• No encoder• F5868 absolute encoder• EI7C incremental encoderDepending on the selected setting, more fields are displayed in this window.These additional settings are described in chapters "F5868 absolute en-coder" (→ 2 25) and "No encoder" (→ 2 26).

[6] Use this drop-down list to activate the diagnostics with S12 safety option:• Activated• DeactivatedFor further information, refer to chapter "Diagnostics with S12 safety op-tion" (→ 2 34).

[7] Use this button to go to the next step.

1. Select the required parameter.2. To go to the next step, use the button [7].

F5868 absolute encoder

[1][2]

22847148939

No. Description[1] In this drop-down list, you activate the direction of rotation reversal at the mo-

tor:• Deactivated• Activated

[2] In this drop-down list, you activate the direction of rotation reversal at the en-coder:• Deactivated• Activated

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No encoder

[1][2][3][4][5][6]

22847653899

No. Description[1] In this drop-down list, you activate the "Prioritized fixed setpoint" function:

• Activated• Deactivated

[2] Here you set the speed when moving via the "Prioritized fixed setpoint" func-tion.

[3] In this drop-down list, you specify the input for connection with the "Digital in-put CW":• DI00 .. DI15• DI10 (default setting)

[4] In this drop-down list, you select the "Sensor CW" type:• NO contact• NC contact

[5] In this drop-down list, you specify the input for connection with the "Digital in-put CCW":• DI00 .. DI15• DI11 (default setting)

[6] In this drop-down list, you select the "Sensor CCW" type:• NO contact• NC contact

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7.3.2 Scaling

[1][2][3][4][5][6]

[10]

[7]

[8]

[9]

23216872715

No. Description[1] Select the calculation scheme in this drop-down list:

• Motor shaft (default setting)• Drive wheel• Spindle

[2] This edit box displays the value for the encoder resolution in [Inc/rpm].

[3] The gear ratio of the gear unit is displayed in this display field. With calculationscheme "drive wheel" or "spindle", enter the gear ratio of the gear unit here.

[4] Enter the gear ratio of the additional transmission in this edit box.

[5] Either the diameter or the spindle pitch is displayed in this display field. Withcalculation scheme "drive wheel" or "spindle", enter either the diameter or thespindle pitch here and select the relevant unit.

[6] With calculation scheme "motor shaft", you can read the unit of the velocityhere.With calculation scheme "drive wheel" or "spindle", select the unit of the velo-city from the drop-down list:• [rpm]• [mm/s]• [m/min]

[7] After completing all entries, calculate the total scaling factors (numerator / de-nominator) for "distance" and "velocity" with this button.

[8] If you do not use the button [7], enter the values (numerator / denominator) forthe scaling factor "distance" in [Inc.] in this group. Value range: 1 – 65535 inc.

[9] If you do not use the button [7], enter the values (numerator / denominator) forthe scaling factor "velocity" in [rpm] in this group. Value range: 1 – 65535 rpm.


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INFORMATIONTo operate the application module with user-defined units, you must enter the corres-ponding scaling parameters. This includes the mechanical parameters of the drivetrain (gear unit ratio and shaft circumference) and the user-defined units that areused to calculated the scaling.

1. Select the required parameter.2. To go to the next step, use the button [10].

7.3.3 Monitoring

[1][2]

[3][4][5]

[6]

[7]

[8]

23227888651

No. Description[1] Enter the monitoring time for the encoder monitoring in [ms] in this edit box.

INFORMATION: The monitoring time is the interval in which the encoder sig-nal regarding changes and direction is checked. With monitoring time = 0, theencoder monitoring is disabled.

[2] To create the message "in position", enter the value for the position window in[inc.] in this edit box.INFORMATION: Recommended setting = 1/2 motor revolution.

[3] Activate or deactivate the hardware limit switch in this drop-down list (see sec-tion "hardware limit switch").

[4] Enter the value for the software limit switch CCW in [inc.] in this edit box.

[5] Enter the value for the software limit switch CW in [inc.] in this edit box.

[6] Enter the maximum motor speed for the positioning mode/speed mode in [rpm]that is determined via the fieldbus into this edit box.

[7] Enter the maximum motor speed for the jog mode in [rpm] that is determinedvia the fieldbus into this edit box.


1. Set the required parameters (see sections "Position windows" and "Limitswitches").

2. To go to the next step, use the button [8].

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Position windowThe following figure illustrates the meaning of the position window.

[2]

[3]

[1]

[4]

36028802606743691

[1] In position[2] Target position[3] Position window[4] Actual position

If the actual position is in the position window [3] when the monitoring function is act-ive, this "in position" signal is issued. The signal is only revoked when the drive leavesthe position window.

Hardware limit switch• "Activated":

This setting activates monitoring of the positive and negative limits using hardwarelimit switches.For the assignment of the input terminals with the hardware limit switches, refer tochapters "Process data" and "Terminal assignment".

• "Deactivated":This setting deactivates the monitoring.

When using the hardware limit switches, they have to be designed as NC contacts forwire-break protection reasons (low = limit switch contacted). In the travel range, thehardware limit switches are located after the software limit switches if such are used.Response when a hardware limit switch is reached:The axis is decelerated with the currently set ramp value. The inverter issues the error"Hardware limit switch reached" (F29). After an "error reset", the drive moves clear ofthe hardware limit switch with the retraction speed (reference velocity 2) and the erroris deleted. The retraction speed is accelerated and decelerated with the values for"enable/rapid stop".

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Software limit switchesA value (≠ 0) in the respective field activates monitoring of the positive and negativelimits using software limit switches. The permitted travel range is defined by the posit-ive and negative limits. In the travel range, the software limit switches are located before the hardware limitswitches if such are used.Response when a software limit switch is reached:When the drive moves past a software limit switch in "jog" or "positioning/speed"mode, the axis decelerates with the currently set ramp value. The application errormessage "CW software limit switch reached" (F78) or "CCW software limit switchreached" (F78) is issued. A "fault reset" and moving the axis in the direction of the permitted travel range movesthe drive clear of the software limit switch and deletes the fault. The velocity, accelera-tion, and deceleration values of the selected operating mode apply.

7.3.4 Reference travel

[1]

[2]

[3]

[4][5]

[6]

[7]

23217056267

No. Description[1] Select the reference travel type in this drop-down list:

• Type 3: Limit switch CW• Type 4: Limit switch CCW• Type 5: No reference travel

[2] Enter the search velocity in [rpm] in this edit box.INFORMATION: If a reference cam is used for reference travel, the drivemoves towards the reference cam with the search velocity and away from thereference cam with the retraction speed.

[3] Enter the retraction speed in [rpm] in this edit box.

[4] Enter the acceleration ramp in [rpm] in this edit box.

[5] Enter the deceleration ramp in [rpm] in this edit box.

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No. Description[6] Enter the reference offset in [inc] in this edit box.

Based on the reference point that was determined during reference travel, youcan now move the machine zero using the reference offset function.The new machine zero is calculated according to the following formula:Machine zero = reference position – reference offsetThe reference offset is given in user units.


Reference travel typeThe reference travel type defines how the reference travel is performed. This settingalso defines the search direction in the individual referencing phases.The following reference travel types are available:• Type 3: Limit switch CW

– First search direction is CW.– Reference point = falling edge to the left of the CW limit switch.– Machine zero = reference position + reference offset.

• Type 4: Limit switch CCW– First search direction is CCW.– Reference point = falling edge to the right of the CCW limit switch.– Machine zero = reference position + reference offset.

• Type 5: No reference travel– Reference point = position where the drive is located.– There is no travel movement.

INFORMATION• All reference travel types require an enabled drive ready for operation.

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8 Operation and diagnosticsMonitor mode


8 Operation and diagnostics8.1 Monitor mode

In monitor mode, you can monitor the functions of the application module.

[1]

[2]

[3]

[4]

[5]

[6]

[7]

23616588555

No. Meaning[1] This field shows the process input and output data in hexadecimal format.

[2] Use this button to switch to control mode.

[3] In this area, the process output data is displayed in plain text (see chapter"Process data").

[4] In this area, the extended control word is displayed in plain text.INFORMATION: If the configuration of the extended process data word is de-activated in the general settings, this group is not displayed (see chapter "Pro-cess data configuration").

[5] In this area, the process input data of the S12 safety option is displayed.INFORMATION: If diagnostics with S12 safety option is deactivated in thegeneral settings, this group is not displayed (see chapter "Diagnostics with theS12 safety option").

[6] In this area, the extended status word is displayed in plain text.INFORMATION: If the configuration of the extended process data word is de-activated in the general settings, this group is not displayed (see chapter "Pro-cess data configuration").

[7] In this area, the process input data is displayed in plain text (see chapter "Pro-cess data").

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8Operation and diagnosticsControl mode


8.2 Control modeIn control mode, you can control the functions of the application module and changethe state of the bit in the control word and the digital outputs.

[1]

[2][3]

[4]

[6]

[7][5]

[8]

[9][10]

23622360331

No. Meaning[1] This field shows the process input and output data in hexadecimal format.

[2] Use this button to transfer the changed setpoints to the MOVIFIT®.

[3] Use this button to switch to monitor mode.

[4] In this area, the process output data is displayed in plain text (see chapter"Process data").

[5] In this area, the extended control word is displayed in plain text.INFORMATION: If the configuration of the extended process data word is de-activated in the general settings, this group is not displayed (see chapter "Pro-cess data configuration").

[6] In this area, the process input data of the S12 safety option is displayed.INFORMATION: If diagnostics with S12 safety option is deactivated in thegeneral settings, this group is not displayed (see chapter "Diagnostics with theS12 safety option").

[7] In this area, the extended status word is displayed in plain text.INFORMATION: If the configuration of the extended process data word is de-activated in the general settings, this group is not displayed (see chapter "Pro-cess data configuration").

[8] In this area, the process input data is displayed in plain text (see chapter "Pro-cess data").

[9] Use this button to set the controller inhibit.

[10] Use this button to stop the axis immediately via the rapid stop ramp.

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8 Operation and diagnosticsDiagnostics with the S12 safety option


8.3 Diagnostics with the S12 safety option8.3.1 Description

S12 diagnostics provides status and diagnostics information of the S12 safety optionvia the process data on the "non-safe fieldbus part".If S12 diagnostics is activated, the process data (3PD) are automatically attached tothe existing configuration.

8.3.2 S12 diagnostics viewOpen S12 diagnosticsProceed as follows:1. Activate the S12 diagnostics in the parameter settings.2. Switch to monitor mode.

ð On the bottom of the monitor mode window, the following area is displayed.

[1]

[2]

[3]

23617823115

No.

Description

[1] This switch group shows the process data word PI1 (safety functions).

[2] This switch group shows the process data word PI2 (safety state).

[3] This display field shows the process data word PI3 (error number).

For detailed information on the process data, refer to the chapter "Structure of processdata".

8.3.3 Structure of process dataThe following tables show the structure of the process data words.

Process data DesignationPI1 Safety functions

PI2 Safety status

PI3 Error number: 0x0000• Error number as entire data word 0: no error• For detailed information on the error number, refer to the

"MOVIFIT® MC/FC Functional Safety with S12 Safety Option"manual, chapter "Error table of S12 safety option".

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8Operation and diagnosticsExtended process data word


Word Bit FunctionPI1 0 STO active

1 STO error

2 SS1(a) active

3 SS1(c) active

4 SLS0 active

5 SLS1 active

6 SLS2 active

7 SLS3 active

8 FDO-STO

9 FDO-0

10 FDO-1

11 Reserved

12 Reserved

13 Reserved

14 Reserved

15 Reserved

Word Bit FunctionPI2 0 S12 status:

0: Init1: Parameter setting2: Validated3: Start4: RUN5: STOP

1

2

3

4

5

6

7

8 FDI-0

9 FDI-1

10 FDI-2

11 FDI-3

12 FDI-4

13 FDI-5

14 FDI-6

15 FDI-7

8.4 Extended process data wordIn the general settings, you can configure an extended process data word.

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8 Operation and diagnosticsExtended process data word


The extended process data word is set to the 9th position as 9th process data word.

Configuring extended process data wordProceed as follows:1. Activate the configuration of an extended process data word in the general settings

(see chapter "General settings").2. Switch to monitor mode.

ð The following window is displayed.

[5]

[1][2]

[3]

[4]

[6]

[5]

23622368139

No. Description[1] Bit 0 if the extended status word (reserved).

[2] Use this button to show or hide the meanings of the single bits of the extendedstatus word.

[3] This group shows the extended status word.

[4] Use this button to show or hide the meanings of the single bits of the extendedcontrol word.

[5] Bit 0 of the extended control word (download data set).

[6] This group shows the extended control word.

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9Data managementActivating data management


9 Data managementThe data management function is available for MOVIFIT® FC with the PROFINET IOfieldbus interface:To enable data management, the application module must be installed on the EBOX1)

(delivery state).This has the following reasons:• Data management can only store the application and unit parameters on the

ABOX2) . The boot project cannot be stored on the ABOX because the memoryspace is too small.

INFORMATIONTo ensure correct execution of the data management function, the MOVIFIT® unitsmust be operated in expert mode (see MOVIFIT® FC manual). To activate data man-agement and the control via fieldbus, an upload from the data management surfacein MOVITOOLS® MotionStudio must be performed once.

1) Active electronics unit2) Passive connection unit

9.1 Activating data managementProceed as follows:ü The application module is already installed on the EBOX.1. Start the MOVITOOLS® MotionStudio engineering software.

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9 Data managementActivating data management


2. Open the data management surface.3. To switch to the upload function, click the button [1].

[1]

23615590155

ð The following window is displayed.

[1]

[2]

[3]

23616582667

No. Meaning[1] If this check box is checked, the control of the data management via process

data is enabled after successful upload. 2479

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9Data managementStructure of process data


No. Meaning[2] If the check box [Auto reload] is checked, the application and device paramet-

ers are automatically reloaded after a device replacement.

[3] Click this button to start the upload.

4. Activate the required functions.5. Click the button [3] and perform an upload once.For detailed information on the process data, refer to the chapter "Process data andterminal assignment".

9.2 Structure of process dataThe following tables show the structure of the process data words.

Process data DesignationPO9 Extended control word

PI9 Extended status word

Word Bit FunctionPO9 0 Download dataset

1 Upload dataset

2 Upload data set with auto reload

3 Reserved

4 Reserved

5 Reserved

6 Reboot system

7 Digital output DO00




11 – 15 Reserved

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9 Data managementStructure of process data


Word Bit FunctionPI9 0 Reserved

1 Toggle bit

2 Data management done

3 Data management busy

4 Data set available

5 Auto-reload configured

6

7

8

9

10

11 – 15

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10Terminal assignmentEI7C incremental encoder


10 Terminal assignmentThe following table shows the assignment of the digital inputs.

INFORMATIONAll free inputs can be used for the prioritized fixed setpoint control.

Input FunctionDI00 CW hardware limit switch

DI01 Hardware limit switch CCW

DI02 Reserved

DI03 Reserved

DI04 HTL encoder track A

DI05 HTL encoder track B

DI06-DI09 Reserved

DI10 Prioritized fixed setpoint control digital input CW(default setting)

DI11 Prioritized fixed setpoint control digital input CCW(default setting)

DI12-DI15 Reserved

10.1 EI7C incremental encoderInstallation takes place at terminal X25 according to the description in theMOVIFIT® FC hardware documentation.The following table shows the terminal assignment:

No. Name FunctionX25 3 DI04 Digital input DI04

HTL encoder track A

13 DI05 Digital input DI05HTL encoder track B

23 VO24-II +24V sensor supply group II (DI04 – DI07) from +24V_C

33 0V24_C 0V24 reference potential for sensors

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10 Terminal assignmentF5868 absolute encoder


10.2 F5868 absolute encoderInstallation takes place at terminal X35 according to the description in theMOVIFIT® FC hardware documentation.The following table shows the terminal assignment:

No. Name FunctionX35 1 CAN_GND 0 V reference potential for SBus (CAN)

2 CAN_H SBus CAN_H - incoming

3 CAN_L SBus CAN_L - incoming

4 +24V_C_PS +24 V supplyContinuous voltage for peripheral devices

5 0V24_C +0V24 reference potentialContinuous voltage for peripheral devices (jumpered withX20/3)

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11Process dataOverview


11 Process data11.1 Overview

The following table shows the process data assignment.

Profile Process data assignmentProcess input data Process output data

8 PD PI1 = ReservedPI2 = 4DO

PO1 = StatusPO2 = 16DI

PI3 = Control wordPI4 = Setpoint position (high word)PI5 = Setpoint position (low word)PI6 = Setpoint speedPI7 = Acceleration rampPI8 = Deceleration ramp

PO3 = Status wordPO4 = Actual position (high word)PO5 = Actual position (low word)PO6 = Actual speedPO7 = Output currentPO8 = Reserved

INFORMATIONFor the process data assignment of the extended process data word PD9, refer tosection "Data management" in chapter "Process data structure" (→ 2 39).For the process data assignment of the S12 safety option, refer to section "Dia-gnostics with S12 safety option" in chapter "Process data structure" (→ 2 34).

11.2 Process data assignment11.2.1 Process input data

The following table shows the process input data from the PLC to the MOVIFIT® forfieldbus control with 8 process data words.

Word Bit FunctionPI1 0-15 Reserved

PI2 0 Digital output DO00




4-15 Reserved

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11 Process dataProcess data assignment


Word Bit FunctionPI3 0 /Controller inhibit 0 = Enable

1 = Controller inhibit

1 Enable/rapid stop 0 = Rapid stop1 = Enable

2 Enable/stop 0 = Stop1 = Enable

3 Reserved

4 Reserved

5 Reserved

6 Error reset

7 Reserved

8 Start

9 Jog+

10 Jog-

11 Mode 20 00 = operating mode 0: Reserved01 = Operating mode 1: Jog mode10 = Operating mode 2: Referencing mode11 = Operating mode 3:Positioning mode/speed mode

12 Mode 21

13 Reserved

14 Releasing the brake without drive enable

15 Deactivate SWLS1) 0 = SWLS activated1 = SWLS deactivated

PI4 0-15 Target position (high word) [user-defined unit]

PI5 0-15 Target position (low word) [user-defined unit]

PI6 0-15 Setpoint speed [user unit]

PI7 0-15 Acceleration ramp [ms] for 0 – 1500 rpm

PI8 0-15 Deceleration ramp [ms] for 0 – 1500 rpm1) SWLS = software limit switch

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11Process dataProcess data assignment


11.2.2 Process output dataThe following table shows the process output data from the MOVIFIT® to the PLC forfieldbus control with 8 process data words.

Word Bit FunctionPO1 0 Maintenance switch (mains OFF)

1 = Maintenance switch ON; 0 = Maintenance switch OFF

1 Undervoltage 24 V-S (sensor supply)1 = Undervoltage sensor supply0 = No undervoltage sensor supply

2 Inverter voltage not applied (24 V_P) (power section)1 = Inverter voltage not applied0 = Inverter voltage applied

3-6 Reserved

7 MOVIFIT® system fault

8 Overload actuator voltage DO00




12 Overload voltage supply group 1




PO2 0-15 Digital input DI00-DI15

PO3 0 Motor running

1 Inverter ready

2 Drive referenced

3 Target position reached

4 PO data enabled1 = Process data of higher-level controller active(Exception: manual mode via MotionStudio)0 = Prioritized fixed setpoint control or "Control mode" (→ 2 33) act-ive

5 Inverter error

6 CW hardware limit switch

7 Hardware limit switch CCW

8-15 Code for status/warning/error of the inverter1)

PO4 0-15 Actual position (high word) [user unit]

PO5 0-15 Actual position (low word) [user unit]

PO6 0-15 Actual velocity [user unit]2479

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11 Process dataProcess data assignment


Word Bit FunctionPO7 0-15 Output current [%] of IN of the inverter

PO8 0-15 Reserved1) For a detailed description, refer to the applicable documentation of the device.

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Index

IndexC

Clear velocity ....................................................... 31Control mode....................................................... 33Copyright notice .................................................... 8Cycle diagram

Jog mode........................................................ 17Positioning mode............................................ 19Referencing mode .......................................... 18

D

Data managementDescription ..................................................... 37Structure of process data ............................... 39

Diagnostics with the S12 safety optionStructure of process data ............................... 34

Documents, applicable .......................................... 5Drive configuration .............................................. 24

E

Embedded safety notes......................................... 6Engineering software........................................... 11Exclusion of liability ............................................... 7

F

Fieldbus address ................................................. 24

G

Gear ratio, scaling parameters ............................ 27

H

Hazard symbolsMeaning............................................................ 6

I

InformationDesignation in the documentation .................... 5

L

Liability .................................................................. 7Liability for defects................................................. 7Limit switch, monitoring ....................................... 28

M

Monitor mode ...................................................... 32Monitoring functions ............................................ 28

MOVITOOLS® MotionStudio................................ 11Installation ...................................................... 22

N

NotesMeaning of the hazard symbols ....................... 6

O

Operating mode................................................... 24Operating modes................................................. 12

P

Position monitoring, monitoring ........................... 28Process data assignment .................................... 43Process input data............................................... 43Process output data ............................................ 43Product names ...................................................... 7

R

Reference travel parameters............................... 30

S

Safety notesBus systems ..................................................... 9Designation in the documentation .................... 5General............................................................. 9Meaning of the hazard symbols ....................... 6Preliminary information..................................... 9Structure of embedded..................................... 6Structure of the section-related ........................ 6

Scaling parameters ............................................. 27Search speed ...................................................... 31Section-related safety notes.................................. 6Setting the parameter set .................................... 24Signal words in safety notes.................................. 5Software

Features ......................................................... 12Requirements ................................................. 11

Starting the application module ........................... 22Startup

Preparation..................................................... 22

T

Target group.......................................................... 9Terminal assignment ........................................... 4124

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Index

Terms of use ......................................................... 7Timeout response................................................ 24Trademarks ........................................................... 7

U

Use ........................................................................ 7Use, designated .................................................. 10

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