bus positioning application module - sew eurodrive · 2016-12-29 · 2.2target group software...

*22897259_1216*Drive Technology \ Drive Automation \ System Integration \ Services

Manual

Bus Positioning Application Module

Edition 12/2016 22897259/EN

SEW-EURODRIVE—Driving the world

Table of contents

Manual – Bus Positioning Application Module 3

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

1.1 About this documentation ............................................................................................... 51.2 Structure of the warning notes ........................................................................................ 5

1.2.1 Meaning of signal words ................................................................................ 51.2.2 Structure of section-related safety notes........................................................ 51.2.3 Structure of embedded safety notes .............................................................. 6

1.3 Right to claim under warranty ......................................................................................... 61.4 Content of the documentation......................................................................................... 61.5 Exclusion of liability......................................................................................................... 71.6 Other applicable documentation ..................................................................................... 71.7 Terms and conditions of use........................................................................................... 71.8 Product names and trademarks...................................................................................... 71.9 Copyright notice .............................................................................................................. 8

2 Safety notes .............................................................................................................................. 92.1 Use.................................................................................................................................. 92.2 Target group ................................................................................................................... 92.3 Designated use ............................................................................................................... 92.4 Bus systems.................................................................................................................... 9

3 Project planning information................................................................................................. 113.1 Requirements................................................................................................................ 113.2 PC and software ........................................................................................................... 113.3 Approved unit combination ........................................................................................... 113.4 Encoders permitted for MOVITRAC® B ........................................................................ 11

4 System description ................................................................................................................ 124.1 Area of application ........................................................................................................ 124.2 Profile............................................................................................................................ 12

5 Startup ..................................................................................................................................... 135.1 Prerequisites ................................................................................................................. 135.2 Startup procedure ......................................................................................................... 14

5.2.1 Regarding steps 1 to 2 ................................................................................. 155.2.2 Regarding steps 3 to 5: ................................................................................ 15

5.3 Adding a single axis in the axis configuration ............................................................... 155.4 Setting the application module...................................................................................... 16

5.4.1 Scaling parameters ...................................................................................... 165.4.2 System limits ................................................................................................ 205.4.3 Monitoring .................................................................................................... 215.4.4 Reference travel ........................................................................................... 24

5.5 Completing the axis configuration................................................................................. 255.5.1 Saving the entire configuration to a configuration file (*.AppConfig.zip) ...... 255.5.2 Finishing the configuration ........................................................................... 255.5.3 Downloading the configuration..................................................................... 26

6 Operation and diagnostics .................................................................................................... 276.1 Operating modes .......................................................................................................... 28

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Table of contents

Manual – Bus Positioning Application Module4

6.1.1 Jog mode ..................................................................................................... 286.1.2 Referencing mode........................................................................................ 286.1.3 Positioning mode.......................................................................................... 28

6.2 Overview of diagnostics ................................................................................................ 296.3 Module diagnostics ....................................................................................................... 306.4 PD monitor .................................................................................................................... 316.5 Trace............................................................................................................................. 326.6 Extended diagnostics.................................................................................................... 32

7 Process data assignment ...................................................................................................... 337.1 Overview ....................................................................................................................... 337.2 Process input data (6 PD)............................................................................................. 347.3 Process output data (6 PD)........................................................................................... 35

8 Appendix ................................................................................................................................. 368.1 Default input assignment .............................................................................................. 368.2 MOVITRAC® B – technical data of the encoder input .................................................. 36

Index ........................................................................................................................................ 37

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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 Structure of the warning notes1.2.1 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.

1.2.2 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

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1 General informationRight to claim under warranty


Hazard symbol MeaningWarning of dangerous electrical voltage

Warning of hot surfaces

Warning of risk of crushing

Warning of suspended load

Warning of automatic restart

1.2.3 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.

1.3 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.

1.4 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.

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1General informationExclusion of liability


1.5 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.

1.6 Other applicable documentationThe "applicable documentation" is listed in the following documents:• Application Configurator for CCU• DHE/DHF/DHR21B (standard) and DHE/DHF/DHR41B (advanced) controllers• Documentation of the frequency inverters in useAlways 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 order printedand bound copies of the documentation from SEW‑EURODRIVE.

1.7 Terms and conditions of useSEW‑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 trademarksThe brands and product names in this documentation are trademarks or registeredtrademarks of their respective titleholders.

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http://www.sew-eurodrive.com

1 General informationCopyright notice


1.9 Copyright notice© 2016 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 notesUse


2 Safety notes2.1 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.

2.2 Target groupSoftware specialist Any work with the software may only be performed by adequately qualified personnel.

Qualified personnel in this context are persons who have the following qualifications:• Appropriate instruction• Knowledge of this documentation and other applicable documentation• SEW‑EURODRIVE recommends additional product 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.

2.3 Designated useThe "bus positioning" application module is a single-axis application used for flexiblepositioning with different speeds and ramps.Use the device-independent "Application Configurator" configuration software to startup and configure the axes for the application module and to download the completeconfiguration to the controller.

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.

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2 Safety notesBus systems


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

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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 softwareThe application module is part of the "Application Configurator" configuration software.For this reason, the system requirements of the Application Configurator apply. Theyare listed in the documentation for the "Application Configurator for CCU" configura-tion software.

3.3 Approved unit combinationThe assignment of inverters to the respective CCU controller (performance class:standard or advanced) is listed in the documentation for the configuration software"Application Configurator for CCU".

3.4 Encoders permitted for MOVITRAC® BEncoderspermittedforMOVITRAC® B

Permitted are all 2-track incremental encoders with a minimum of 6 and a maximumof 24 periods per revolution that correspond to the technical specification of the en-coder input, see chapter "MOVITRAC® B – technical data of the encoderinput" (→ 2 36). The inverter uses 4-fold evaluation for the periods at the encoder in-put. Taking 24 periods of the encoder as example, this means that the inverter oper-ates with 96 increments.SEW‑EURODRIVE recommends to use one of the following incremental encoders:• EI76, EI7C• NV26• ES16, ES26You find detailed information on these encoder types in the Drive Engineering – Prac-tical Implementation series "Encoder Systems from SEW‑EURODRIVE".The encoder must be mounted directly onto the motor. Mounting the encoder extern-ally is not supported (e.g. in applications with non-positive connection between motorshaft and load).

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4 System descriptionArea of application


4 System description4.1 Area of application

The "bus positioning" application module is used for variable positions that are ap-proached at different speeds and ramps.Positioning is carried out via built-in motor encoder or optionally via external encoder.Only linear, absolute positioning is supported. You can work with user units.

4.2 ProfileThe "bus positioning" application module has the following process data profile:

Profile Scope of functions6 PD • Operating modes:

– Jog– Referencing– Positioning

• Control word and status word• Position• Velocity• Acceleration• Deceleration

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5StartupPrerequisites


5 Startup5.1 Prerequisites

Check the installation of the inverters, the connection of the encoders, and the installa-tion of the controller.For installation notes, refer to the documentation of the respective units (see chapter"Other applicable documentation") and the appendix of the documentation of the "Ap-plication Configuration for CCU" configuration software.

MOVITOOLS® MotionStudio engineering softwareYou need the MOVITOOLS® MotionStudio engineering software for startup. The fol-lowing required software modules are included in the delivery:• Drive Startup for MOVI‑PLC® is required to set the inverters for the motor (motor

startup) and to ensure communication with the controller.• Application Configurator is required to add the application module and configure

it.

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5 StartupStartup procedure


5.2 Startup procedureThe following figure shows the entire procedure step by step.

Drive startup for

MOVI-PLC®/CCU

MOVITOOLS® MotionStudio

Application Configurator

1. Scaling parameters

2. System limits

3. Monitoring

4. Reference travel

1. Start up single axis

2. Set communication

with controller

3. Add single axis

to axis configuration

4. Configure “bus positioning“

application module

5. Save configuration

on SD card of controller

9007202740466187

INFORMATIONBefore you perform steps 3 to 5 in the Application Configurator, perform single-axisstartup for every axis of the respective controller with Drive Startup for MOVI‑PLC®/CCU (steps 1 to 2).Drive Startup for MOVI‑PLC®/CCU resets the unit to factory setting and writes the re-quired parameters of the frequency inverter to control the drive correctly.

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5StartupAdding a single axis in the axis configuration


5.2.1 Regarding steps 1 to 2

1. Select the inverter you want to start up in the network view of MOVITOOLS®

MotionStudio.2. Right-click to open the context menu of the inverter.3. Select the menu command [Technology editor] > [Drive Startup for MOVI‑PLC®/

CCU].ð Drive Startup for MOVI‑PLC®/CCU is started.

4. Follow the instructions of the wizard.

5.2.2 Regarding steps 3 to 5:

1. Select the controller in the network view of MOVITOOLS® MotionStudio.2. Right-click to open the context menu of the controller.3. Choose [Application modules] > [Application Configurator] from the menu.

ð The Application Configurator opens.4. To create a new configuration, click [Configuration].Steps 3 to 5 are described in detail below.

5.3 Adding a single axis in the axis configurationProceed as follows:1. Click the button [1] in the configuration interface of the Application Configurator.

XXXXXXXX XXXXXXXX

[1]

[2]

[3] [4]

36028800437762955

ð A new line appears in the axis section [2].2. Configure the axis according to your requirements:

ð Name of the axisð Simulation mode (on or off)ð Controller interfaceð Addressð Device type

3. Select the required application module with a suitable profile.4. Click the button [3].

ð A software wizard for setting the application module appears.

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5 StartupSetting the application module


5. Follow the instructions of the wizard as described in the following chapter "Settingthe application module".ð Once you have completed the instructions of the software wizard, the yellow

warning symbol [4] turns into a green check.6. Click [Next].

ð The "Download" window is displayed (see "Application Configurator for CCU"manual).

5.4 Setting the application module5.4.1 Scaling parameters

In this window, you can set the scaling factors for distance and, if installed, for externalencoders.

9007202742357515

No. Description[1] Here you set the source of the actual position:

• Motor encoder (X15)• External encoder (X14)• Absolute encoder (X62)

[2] Here you can choose from the following scaling components:• Gear unit• Additional transmission• Spindle• Drive wheel• Toothed belt pulley• User unit 22

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5StartupSetting the application module


No. Description[3] Here you can combine the scaling components to a mechanically coupled

chain. The scaling components should simulate the constellation of the mech-anical components. This chain is then used to calculate the scalings for thedistance [4].1. Move the required scaling components [2] one after the other into this area

in the correct order.2. Note that only certain combinations are reasonable, which is why some

components are disabled.3. Finally you can configure the properties of the selected components in

more detail by double-clicking the respective icon.INFORMATION: A motor revolution is mapped to 65536 increments regard-less of the physical encoder resolution.

[4] This section shows the scaling of the distance in user units or in revolutions.The scaling of the distance indicates by how many increments the encoder willincrement if the axis is moved for a certain distance. If [5] is enabled, you canset the scaling factors manually.

[5] By activating this check box you can directly enter scaling factors in section[4]. The scaling factors are independent of the mechanical chain in section [3].

[6] Here you choose the time base you want to use:• Minutes min

The following units are derived:– Velocity: Distance/min– Acceleration: Distance/min×s

• Seconds sThe following units are derived:– Velocity: Distance/s– Acceleration: Distance/s2

Resolution of rotary external encodersFor rotary external encoders, observe the following convention for entering the resolu-tion:

Unit Interface Resolution Sample encoder typeMOVIAXIS® All Resolution of the

single-turn encoderAV1Y (HeidenhainROQ424), 512 inc./re-volution

MOVIDRIVE® B X62 on DIP11Bor DEH21B

Resolution of the abso-lute encoder

T&R CE65M,4096 inc./revolution

X14 on DEU21B Resolution of thesingle-turn encoder

AV1Y (HeidenhainROQ424), 512 inc./re-volution

X14 on DEH11B 4-fold resolution of thesingle-turn encoder

AV1Y (HeidenhainROQ424), 2048 inc./re-volution

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Example: Scaling parametersThe following example illustrates how to compile and parameterize scaling elementsand encoder components.The example is based on the following conditions:

Scaling parameter Input valueGear unit reduction ratio (i) 13.52

Carrying wheel diameter 350 mm

Linear distance encoder Type: DME5000-0.1Resolution: 10 increments per mm

Proceed as follows:1. Use drag and drop to place the "gear unit" scaling element into the "distance" area

[2].

[1]

[2]

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2. Double-click "gear unit".3. Enter the value (13.52) for the gear unit ratio (i). Use numerator and denominator

[1].

[1]

[2]

[3]

6301959563

INFORMATION: If you have several gear unit stages, you can enter the respective ra-tio in the expanded view [3]. The value "13.52" in the example is rounded. For moduloapplications, we recommend that you request the exact value fromSEW‑EURODRIVE.4. Click [OK].5. Use drag and drop to place the "drive wheel diameter" scaling element into the

"distance" area [2].

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6. Double-click the "drive wheel diameter" scaling element.7. Enter the value (350) in [2] and choose the unit [mm] from [1]:

[2]

[1]

[3]

6301994123

8. Click [OK].9. Use drag and drop to place the "linear encoder" component into the "distance"

area [2] (second to last figure above).10. Double-click "linear encoder" and select the encoder type (DME5000-1×1 0.1 mm)

[3].

[1]

[3]

[4]

[2]

6302413067

11. Click button [2] to enter the value of the encoder resolution (10 increments) in thetext field [1].

12. Click [OK].ð The result of your selection with the values you have entered is illustrated be-

low:

6302422795

13. Choose the time base for speed and acceleration (minute [min], second [s]).

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5.4.2 System limitsIn this window, you can set the system limits of the axis.

9007202742521995

No. Description[1] Here, you can set the following limit values for the dynamic properties:

• Maximum acceleration (automatic mode)• Maximum velocity (automatic mode)• Maximum deceleration (automatic mode)• Maximum acceleration (jog mode)• Maximum velocity (jog mode)• Maximum deceleration (jog mode)INFORMATION: You can set the 3 values (maximum acceleration/velocity/de-celeration) separately for jog mode and for automatic mode. These values limitthe dynamics parameters specified by the fieldbus.• Jerk time

Increasing the jerk time (> 0 ms) protects the mechanical components andachieves smoother acceleration and deceleration behavior.

• Enable/stop delayThe set stop ramp is active when signal I1:2 Enable/stop = "0".

• Enable/rapid stop delayThe set rapid stop ramp is active when signal I1:1 Enable/rapid stop = "0",or in the event of a fault.

INFORMATIONMake sure that values ≠ 0 are assigned to maximum acceleration, maximum velocityand maximum deceleration, and that there is a control tolerance of, for example,+10% based on the maximum dynamics of the required travel profile. 22

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5.4.3 MonitoringIn this window, you make the settings relating to monitoring functions.

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No. Description[1] Here you can set whether you wish to use the default input assignment for the

digital inputs (DI01 to DI03):• Keep device setting

The assignment according to the parameter tree of the device applies. Thecontroller does not change these settings. If you want to change the deviceassignment, edit the respective parameter group in the parameter tree inMOVITOOLS® MotionStudio.

• ActivateThe default input assignment for the digital inputs applies to the respectiveinverter, see chapter "Default input assignment" (→ 2 36).

• DeactivateDigital inputs with default values assigned to them are set to "IPOS input"or "No function" depending on the device type, see chapter "Default inputassignment" (→ 2 36). Digital inputs without "Default inputassignment" (→ 2 36) remain unchanged.

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No. Description[2] Here you can set the following limit switches:

• Hardware limit switches– Keep device setting– Activate– Deactivate

• Software limit switches– Negative– Positive

• Target position monitoring enableIf setpoint monitoring is enabled, the system checks whether the setpointposition of the current travel command is beyond the software limitswitches.

You find detailed information about the setting options on the following pages.

[3] Here you set the two windows for "in position" monitoring and for the delaytime until which "setpoint reached" is signaled in positioning mode.You find detailed information about the setting options on the following pages.

Hardware limit switches• Keep device settings

The settings according to the parameter tree of the device apply. The controllerdoes not change these settings. If you want to change the device settings, youhave to edit the relevant parameter group in MOVITOOLS® MotionStudio.

• ActivateActivates the monitoring of positive and negative limits implemented through hard-ware limit switches. For assignment information, refer to chapter Default input as-signment.

• DeactivateDeactivates monitoring.Depending on the device type, digital inputs with default input assignment are setto "IPOS input" or "No function". Digital inputs without default input assignment re-main unchanged.

When using hardware limit switches, they have to be designed as NC contacts forwire-break protection reasons. In the travel range, the hardware limit switches are loc-ated after the software limit switches if such are used.Response when a hardware limit switch is hitThe axis decelerates based on the value set for "enable/rapid stop". The inverter sig-nals the fault "Hardware limit switch hit" (F29). After a fault reset, the drive movesclear of the hardware limit switch with the retraction speed (reference velocity 2), andthe fault is cleared. The retraction speed is decelerated and accelerated with the valuefor "enable/rapid stop".

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Software limit switchesA value ≠ 0 in the respective field activates monitoring of the positive and negative lim-its using software limit switches. The permitted travel range is defined by the positiveand negative limits. In the travel range, the software limit switches are located beforethe hardware limit switches if such are used.Response when a software limit switch is hitWhen the drive moves past a software limit switch in "jog" or "positioning" mode, theaxis stops with the deceleration value set in "enable/rapid stop". The application fault"Positive limit switch hit" (F32) or "Negative software limit switch hit" (F33) 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.

"In position" monitoringThe following figure illustrates the meaning of the parameters:

[4][1]

[2]

[3]

InPosition

s

t

t

9007202588681739

[1] "InPosition" hysteresis window InPosition" InPosition" signal[2] Deceleration time s Distance[3] Target position t Time[4] "InPosition" window

"InPosition" monitoring uses 2 windows to activate and deactivate the "InPosition" sig-nal.The "InPosition" signal is issued when the actual position is in the inner "InPosition"window [4] when monitoring is active. The signal is not revoked until the outer "InPosi-tion hysteresis window [1] is left.The "InPosition" signal is set again when the drive enters the inner "InPosition" win-dow [4] again with the same target position. A relatively small window can be used toactivate the "InPosition" signal due to the hysteresis even when the drive overshootsthe actual position. The deceleration time and the "InPosition" hysteresis window pre-vent bouncing of the "InPosition" signal.The "InPosition" signal is revoked immediately with the rising edge of the start signal.

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5.4.4 Reference travelIn this window, you can set the reference travel parameters.

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No. Description[1] Here you can choose the reference travel type.

The reference travel type defines how the reference travel is performed. Thereare different reference travel types available depending on the unit in use. Formore information, refer to the documentation of the respective unit. The follow-ing options are available depending on the selected reference travel type.

[2] Here you can set whether reference travel takes place to the edge change ofthe reference cam or to the subsequent zero pulse of the encoder.• Yes: 0 pulse• No: Edge change

[3] Here you enter the reference offset.Based on the reference point that was determined during reference travel, youcan move the axis zero using the reference offset.The new axis zero is calculated according to the following equation:Axis zero = reference position - reference offsetThe reference offset is given in user units.

[4] Here you can enter the search velocity and the retraction speed.If a reference cam is used for reference travel, the drive moves towards thereference cam at search velocity and away from the reference cam at retrac-tion speed.The axis accelerates and decelerates with the value set for "Enable/rapidstop".Velocities are given in user units.

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5StartupCompleting the axis configuration


5.5 Completing the axis configurationAfter successful axis configuration, the following functions are available in the dis-played window.

[1]

[2]

[3]

14794534795

No. Description[1] Click this button to save the configuration to a configuration file (*.AppCon-

fig.zip) on your computer. You can then use the values to start up more applic-ation modules, see chapter "Initial screen" in the "Application Configurator forCCU" documentation.

[2] Click this button to create a PDF file with a configuration report.

[3] If you enter a name into this edit box, it will be shown in the report.

5.5.1 Saving the entire configuration to a configuration file (*.AppConfig.zip)Proceed as follows:1. Click button [1].

ð A window opens with the directory structure of your computer.2. Search the desired storage location in the directory structure.3. Enter a random name for the configuration.4. To close the dialog, click [Save].ð You have now saved the configuration.

5.5.2 Finishing the configurationProceed as follows:1. To exit the wizard, click [Finish].ð You have now completed the configuration.ð The screen of the Application Configurator is displayed again.

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5 StartupCompleting the axis configuration


5.5.3 Downloading the configurationWhen you have configured the application module, the following data is available un-der "Download".

[1]

[2]

[3]

[4] [5] [6] [7]

XXXXXXXX

XXX

XXX XXX

XXXXXXXXXXX

9007212935349131

No. Description[1] Click this button to save the configuration to a configuration file (*.AppCon-

fig.zip) on your computer. You can then use the values to start up more applic-ation modules. Refer to the "Application Configurator for CCU" documentationfor more information.

[2] Click this button to generate a report of the configuration as a PDF file.

[3] If you enter a name into this edit box, it will be shown in the report.

[4] In this section, you see the information of the application module that is in-stalled offline on your computer and online on the controller:• Part number• Version• Release

[5] Use the radio buttons to choose if you want to download the configuration withor without controller software.

[6] These radio buttons let you choose between downloading the modified config-uration or the complete configuration.

[7] Click this button to download the configuration.

1. Make the required settings.2. Click this button [7] to download the configuration.ð The configuration is downloaded.ð The controller is ready for operation.ð Click [Next] to get back to the configuration interface of the Application Configur-

ator.ð You can start operation or the test run in diagnostics (see following chapter).

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6Operation and diagnostics


6 Operation and diagnosticsNormal operation takes place using the fieldbus process data interface of the Applica-tion Configurator, see chapter "Process data assignment" (→ 2 33).The Application Configurator provides the following functions for test mode, for start-up, and for fault diagnostics:• Overview of module diagnostics• Process data monitor• Trace• Extended diagnosticsThese functions are activated by clicking button [1] on the initial screen of the Applica-tion Configurator.

[1]

9007213353390219

The individual diagnostics options are described in the following chapters. You find de-tailed information about the individual functions of the Application Configurator in thedocumentation for the "Application Configurator for CCU" configuration software.Adhere to the following warning note:

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6 Operation and diagnosticsOperating modes


DANGERUnexpected movement of the machine.Severe or fatal injuries.Unexpected movement of the machine is possible in the following situations:• When switching from monitor mode [Monitor active] to control mode [Control act-

ive] and vice versa.• After clearing the fieldbus input data.

→ Make sure that an automatic restart or stop of the machine represents no dangerto people or equipment.

→ Make sure that the machine is in a safe state.

6.1 Operating modesDuring ongoing operation, the application module is controlled using the fieldbus inter-face of the controller, see "DHE/DHF/DHR21B (standard) and DHE/DHF/DHR41B(advanced) Controllers" manual as well as chapters "Other applicabledocumentation" (→ 2 7) and "PD monitor" (→ 2 31).The following operating modes are available via fieldbus (I1:11 and I1:12):• 01 = operating mode 1: Jog mode• 10 = operating mode 2: Referencing mode• 11 = operating mode 3: Positioning modeThe axis is enabled using the signals I1:1 Enable/rapid stop and I1:2 Enable/stop.Controller inhibit is present on I1:1.The process data assignment is described in chapter "Process dataassignment" (→ 2 33). The additional functions are described in chapter "Setting theapplication module" (→ 2 16).

6.1.1 Jog modeIn jog mode, the axis is moved within the dynamics limits for jog mode, see chapter"System limits" (→ 2 20).

6.1.2 Referencing modeIn referencing mode, reference travel is performed according to the selected referencetravel type.

6.1.3 Positioning modeIn positioning mode, the drive is positioned to the desired target position taking ac-count of dynamics values via fieldbus.

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6Operation and diagnosticsOverview of diagnostics


6.2 Overview of diagnosticsWhen changing to the diagnostics of the Application Configurator, the following dia-gnostics view opens. Here you can open detailed diagnostics of the various applica-tion modules. The displayed information is based on the corresponding variables ofthe controller.

18467316619

No. Description[1] Use these buttons to access the following functions:

• Overview (initial screen of diagnostics)• PD monitor (process data monitor)• Trace• Extended diagnosticsThese functions are described in the following chapters.

[2] Use this button to switch to monitor mode or control mode.• In monitor mode, you can monitor the functions of the application module.• In control mode, you can control the functions of the application module.INFORMATION: Adhere to the warning note in chapter "Operation anddiagnostics" (→ 2 27).INFORMATION: The control mode of the PD monitor must not be activatedsimultaneously with the control mode of an application module.

[3] Use this button to acknowledge the faults of all axes.

[4] Use this button to stop all axes of the application module (e.g. in case ofdanger). Deceleration is carried out using emergency stop ramps.

[5] Use this button to open module diagnostics of the application module.

[6] This section displays the individual axes. The application module is shown asaxis group.

[7] This section shows the communication status of the controller. For successfuldiagnostics and control, the status "online" must be displayed and the greenprogress bar must be completed.

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6 Operation and diagnosticsModule diagnostics


6.3 Module diagnosticsModule diagnostics offers module specific diagnostics information on the process datainterface, operating states, and faults.To open module diagnostics, click the [Module diagnostics] button on the "Overview"tab, see chapter "Overview of diagnostics" (→ 2 29).All input and output data of the process data interface serve as basis. This data isgrouped according to subject. Unlike the PD monitor where a direct image of the field-bus data is displayed, the module diagnostics visualizes the actual variables of the ap-plication module.

18467605515

No. Description[1] Use this button to switch to monitor mode or control mode.

• In monitor mode, you can monitor the functions of the application module.• In control mode, you can control the functions of the application module.INFORMATION: Adhere to the warning note in chapter "Operation anddiagnostics" (→ 2 27).INFORMATION: The control mode of the PD monitor must not be activatedsimultaneously with the control mode of module diagnostics.

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6Operation and diagnosticsPD monitor


No. Description[2] Use this button to send the input data to the controller. The button is only en-

abled in control mode.INFORMATION: You can adjust the settings in the configuration settings ofthe controller so that the button is no longer displayed. This way, each changeof input data in control mode is sent directly to the controller.

[3] Use this button to stop all axes of the application module (e.g. in case ofdanger). Deceleration is carried out via emergency stop ramps.

[4] In this section, you can monitor the operation of the selected operating mode.

[5] This section displays general output data that are independent of operatingmode and function.

[6] This section displays the input data that are dependent on operating mode andfunction.

[7] Here you choose the operating mode.

[8] These tabs show further input and output information:• Bus positioning: Basic functions of an operating mode• Digital inputs: Inputs of the frequency inverter• Error: Inverter fault, application fault, FB error (function block error)

6.4 PD monitorThe PD monitor is used for diagnostics and for introduction of the fieldbus interface.The content of the PD monitor is based on the data from the SEW controller and theconfigured application module. The PD monitor only accesses data of the fieldbus in-terface and displays fieldbus input data and output data that are exchanged betweenthe controller and the higher-level controller.

18467611275

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6 Operation and diagnosticsTrace


No. Description[1] Use this button to switch to monitor mode or control mode.

• In monitor mode, you can monitor the functions of the application module.• In control mode, you can control the functions of the application module.INFORMATION: Adhere to the warning note in chapter "Operation anddiagnostics" (→ 2 27).INFORMATION: The control mode of the PD monitor must not be activatedsimultaneously with the control mode of an application module.

[2] Use this button to send the input data to the controller. The button is only en-abled in control mode.INFORMATION: You can adjust the settings in the configuration settings ofthe controller so that the button is no longer displayed. This way, each changeof input data in control mode is sent directly to the controller.

[3] Use this button to reset all input data or set all input data to zero.

[4] Use this button to create a PDF file with the process data (e.g. for the pro-grammer of the PLC).

[5] Click this icon to save or download the current input data assignment for lateruse. Click the icon and select the desired option.

[6] Use these icons to navigate between the axes:

• : Navigate to the previous axis

• : Navigate to the next axis

• : Drop-down list to directly go to one specific axis

[7] This section displays the output data.INFORMATION: The output data are only displayed and cannot be changed inthe user interface.

[8] This section displays the input data.INFORMATION: In control mode you can change the input data.

You find detailed information about individual fieldbus data in the respective info field or in chapter "Process data assignment" (→ 2 33).

6.5 TraceUsing trace lets you record various process signals (velocities, axis positions, etc.) ofindividual axes. You can record up to 4 channels at the same time.For detailed information, refer to the documentation of the Application Configurator.

6.6 Extended diagnosticsExtended diagnostics is used for expert diagnostics. Here you find the variable struc-tures of the public global controller variables.For detailed information, refer to the documentation of the Application Configurator.

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7Process data assignmentOverview


7 Process data assignment7.1 Overview

The following table lists the process data assignment depending on the selected pro-file.

Profile Process data assignmentProcess input data Process output data

6 PD I1 = control wordI2 = setpoint position (high word)I3 = setpoint position (low word)I4 = setpoint speedI5 = accelerationI6 = deceleration

O1 = status wordO2 = actual position (high word)O3 = actual position (low word)O4 = actual speedO5 = active output currentO6 = status word 2

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7 Process data assignmentProcess input data (6 PD)


7.2 Process input data (6 PD)The following table shows the assignment of process input data from the PLC to theinverter for fieldbus control with 6 process data words.

Word Bit FunctionI1 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 Reset fault

7 Reserved (release brake without enable)

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

12 Mode 21

13 Reserved

14 Reserved

15 SWLS 0 = software limit switch enabled1 = software limit switch disabled

I2 0 – 15 Setpoint position (high word) [user-defined unit]

I3 0 – 15 Setpoint position (low word) [user-defined unit]

I4 0 – 15 Setpoint speed [user-defined unit]

I5 0 – 15 Acceleration [user-defined unit]

I6 0 – 15 Deceleration [user-defined unit]

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7Process data assignmentProcess output data (6 PD)


7.3 Process output data (6 PD)The following table shows the assignment of process output data from the inverter tothe PLC for fieldbus control with 6 process data words.

Word Bit FunctionO1 0 Motor is running

1 Frequency inverter ready for operation

2 Drive referenced

3 Target position reached

4 Brake released

5 Frequency inverter fault

6 HWLS positive 0 = hardware limit switch not hit1 = hardware limit switch hit7 HWLS negative

8 – 15 Code for status/warning/fault of the frequency inverter1)

O2 0 – 15 Actual position (high word) [user-defined unit]

O3 0 – 15 Actual position (low word) [user-defined unit]

O4 0 – 15 Actual velocity [user-defined unit]

O5 0 – 15 Active output current [0.1%×IN of the frequency inverter]

O6 0 Motor is running

1 Frequency inverter ready for operation

2 Drive referenced

3 Target position reached

4 Brake released

5 Warning

6 Frequency inverter fault

7 Application fault

8 – 15 Code for status/warning/fault of the frequency inverter1), faultcodes of the application2)

1) For a detailed description, refer to the applicable documentation of the unit.2) For a detailed description, refer to the applicable documentation of the unit.

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8 AppendixDefault input assignment


8 Appendix8.1 Default input assignment

The following table shows the assignment of the digital inputs of the respective unitwith activated default input assignment and activated hardware limit switches.

Digitalinput

Default input assignmentMOVIDRIVE® BMOVIAXIS® B

MOVITRAC® LTX

MOVIPRO® ADC MOVIGEAR®

DSC-BMOVIGEAR®

SNI-B / DRC..

MOVITRAC® B

DI00 /Controller inhibit - /Controller inhibit /HWLS1) posit-ive

DI01 Enable/stop – Fault reset CW/stop

DI02 Fault reset Fault reset Reference cam /HWLS negative

DI03 Reference cam Reference cam HWLS positive –

DI04 /HWLS positive /HWLS positive /HWLS negative –

DI05 /HWLS negative /HWLS negative – –1) HWLS = hardware limit switch

For detailed information on the configuration of digital inputs, refer to chapter"Monitoring" (→ 2 21).

8.2 MOVITRAC® B – technical data of the encoder inputMOVITRAC® B –technicaldata of theencoderinput

The encoder input of MOVITRAC® B has the following technical data:

Technical data of the encoder inputEncoder signals (2 tracks) Tracks A and B

Signal level According to EN 61131-2 type 1 or 3

+11 V to +30 V: "1"

-3 V to +5 V: "0"

Phase angle 90° ± 20°

Pulse duty factor 1:1 ± 20%

Maximum pulse frequency 120 kHz

Connection track A MOVITRAC® B: Terminal X12:5 (DI04)

Connection track B MOVITRAC® B: Terminal X12:4 (DI03)

Reference potential GND on PE potential

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Index

IndexA

Adding axes......................................................... 15Application Configurator ...................................... 15Area of application............................................... 12Assignment

Input terminals................................................ 36Process input data.......................................... 34Process output data ....................................... 35

C

ConfigurationApplication Configurator ................................. 15Drive startup for MOVI‑PLC®/CCU ................. 14Single axes..................................................... 15

Copyright notice .................................................... 8

D

Default input assignment ..................................... 36Diagnostic procedure

Application Configurator ................................. 27Module diagnostics......................................... 30

Drive startup for MOVI‑PLC®/CCU ...................... 14

E

Embedded safety notes......................................... 6Engineering software........................................... 11Exclusion of liability ............................................... 7Extended diagnostics .................................... 29, 32

G

Gear unit ratio...................................................... 16

H

Hardware limit switches....................................... 22Hardware requirements....................................... 11Hazard symbols

Meaning............................................................ 5

I

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

InPosition monitoring........................................... 23Input terminals ..................................................... 36

L

Liability .................................................................. 6Liability for defects............................................. 6, 7Limit ..................................................................... 20Limit switches ...................................................... 21Limit values ......................................................... 20

M

Module diagnostics.............................................. 30Monitoring............................................................ 21MOVITOOLS® MotionStudio................................ 11MOVITRAC® B

Technical data of the encoder input ............... 36MOVITRAC® B

Permitted encoders ........................................ 11

N

NotesMeaning of the hazard symbols ....................... 5

O

Operating modes................................................. 28Other applicable documentation............................ 7

P

PD monitor .......................................................... 31Process data

Assignment..................................................... 33Overview ........................................................ 33

Process data monitor .......................................... 31Process data profile............................................. 12Process input data............................................... 34Process output data ............................................ 35Product names ...................................................... 7

R

Reference travel parameters............................... 24Requirements

Startup............................................................ 13

S

Safety notes .......................................................... 9Bus systems ..................................................... 9Designation in the documentation .................... 5General............................................................. 9

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Index

Meaning of the hazard symbols ....................... 5Structure of embedded..................................... 6Structure of the section-related ........................ 5

Scaling parameters ............................................. 16Example ......................................................... 18

Section-related safety notes.................................. 5Signal words in safety notes.................................. 5Software

Advantages .................................................... 12Characteristics................................................ 12Description ..................................................... 12Requirements ................................................. 11

Software limit switches ........................................ 23Startup

Adding axes.................................................... 15Procedure....................................................... 14Requirements ................................................. 13Setting the application module ....................... 15

System limits ....................................................... 20

T

Target group.......................................................... 9Terms of use ......................................................... 7Trace ................................................................... 32Trademarks ........................................................... 7

U

Use ........................................................................ 7Use, designated .................................................... 9

W

WindowDownload ....................................................... 26Monitoring....................................................... 21Reference travel ............................................. 24Scaling parameters ........................................ 16System limits .................................................. 20

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bus positioning application module - sew eurodrive · 2016-12-29 · 2.2target group software...

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