devicenet/canopen interfaces, field distributors / … · 8.7 error states ... 17.1 technical data...
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Drive Technology \ Drive Automation \ System Integration \ Services
Drive System for Decentralized InstallationDeviceNet/CANopenInterfaces, Field Distributors
ManualEdition 11/200816738411 / EN
SEW-EURODRIVE – Driving the world
Manual – DeviceNet/CANopen Interfaces, Field Distributors 3
Contents
Contents1 Valid Components............................................................................................... 6
2 General Information ............................................................................................ 72.1 How to use the manual ............................................................................... 72.2 Structure of the safety notes ....................................................................... 72.3 Rights to claim under limited warranty ........................................................ 82.4 Exclusion of liability..................................................................................... 82.5 Copyright..................................................................................................... 8
3 Safety Notes ........................................................................................................ 93.1 General ....................................................................................................... 93.2 Target group ............................................................................................... 93.3 Designated use ........................................................................................... 93.4 Other applicable documentation ............................................................... 103.5 Transportation, storage............................................................................. 103.6 Installation................................................................................................. 103.7 Electrical Connection ................................................................................ 113.8 Safe disconnection.................................................................................... 113.9 Operation .................................................................................................. 113.10 Supplementary safety notes for field distributors ...................................... 13
4 Unit Structure .................................................................................................... 144.1 Fieldbus interfaces.................................................................................... 144.2 Unit designation of DeviceNet interfaces .................................................. 164.3 Unit designation of CANopen interfaces ................................................... 164.4 Field distributors........................................................................................ 174.5 Unit designation of DeviceNet field distributors ........................................ 214.6 Unit designation of CANopen field distributors ......................................... 23
5 Mechanical Installation..................................................................................... 255.1 Installation instructions.............................................................................. 255.2 Tightening torques .................................................................................... 265.3 MF.. / MQ.. fieldbus interfaces .................................................................. 295.4 Field distributors........................................................................................ 32
6 Electrical Installation ........................................................................................ 376.1 Installation planning considering EMC aspects ........................................ 376.2 Installation instructions for fieldbus interfaces/field distributors ................ 396.3 Connection via DeviceNet......................................................................... 456.4 Connection via CANopen.......................................................................... 556.5 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfaces ....... 636.6 NV26 proximity sensor connection ........................................................... 696.7 Connection of ES16 incremental encoder ................................................ 716.8 Connection of EI76 incremental encoder.................................................. 736.9 Hybrid cable connection............................................................................ 776.10 Keypad connection ................................................................................... 796.11 PC connection........................................................................................... 81
4 Manual – DeviceNet/CANopen Interfaces, Field Distributors
Contents
7 Startup with DeviceNet (MFD + MQD) ............................................................. 827.1 Startup procedure ..................................................................................... 827.2 DeviceNet address (MAC-ID), setting the baud rate................................. 857.3 Process data length and I/O enable (only for MFD).................................. 867.4 Setting the process data length (only for MQD)........................................ 877.5 Configuration (project planning) for DeviceNet master ............................. 887.6 Network startup using RSNetWorx ........................................................... 89
8 Function of the MFD DeviceNet Interface ....................................................... 938.1 Process data and sensor/actuator processing (Polled I/O = PIO) ............ 938.2 Structure of the input/output byte (MFD21/22).......................................... 948.3 Structure of the input/output byte (MFD32)............................................... 948.4 Broadcast process data processing using bit-strobe I/O (BIO)................. 958.5 Functions of the DIP switches................................................................... 978.6 Description of the LED display.................................................................. 998.7 Error states ............................................................................................. 104
9 Function of the MQD DeviceNet Interface .................................................... 1069.1 Default program ...................................................................................... 1069.2 Configuration........................................................................................... 1079.3 Control via DeviceNet with polled I/O ..................................................... 1089.4 Idle mode of DeviceNet interface............................................................ 1089.5 Status query via bit-strobe I/O ................................................................ 1099.6 Parameter setting via DeviceNet ............................................................ 1109.7 Duplicate MAC-ID detection.................................................................... 1139.8 Return codes for parameter setting ........................................................ 1149.9 Description of the LED display................................................................ 1149.10 Error states ............................................................................................. 120
10 Startup with CANopen .................................................................................... 12110.1 Startup procedure ................................................................................... 12110.2 Setting the CANopen address ................................................................ 12410.3 Setting the CANopen baud rate .............................................................. 12510.4 Process data length and I/O enable........................................................ 12510.5 Configuration (project planning) for CANopen master ............................ 126
11 Function of the MFO CANopen interface...................................................... 12711.1 Process data and sensor/actuator processing........................................ 12711.2 Structure of the input/output byte............................................................ 12811.3 Functions of the DIP switches................................................................. 12911.4 Description of the LED display................................................................ 13111.5 Error states ............................................................................................. 13211.6 Process data exchange .......................................................................... 13511.7 MFO object directory............................................................................... 135
Manual – DeviceNet/CANopen Interfaces, Field Distributors 5
Contents
12 Supplementary Field Distributor Startup Information ................................. 13612.1 MF../Z.6., MQ../Z.6. field distributors .................................................... 13612.2 MF../MM../Z.7., MQ../MM../Z.7. field distributors ................................... 13712.3 MF../MM../Z.8., MQ../MM../Z.8. field distributors ................................... 13912.4 MOVIMOT® frequency inverter integrated in the field distributor............ 141
13 Operator Terminals ......................................................................................... 14313.1 MFG11A keypad ..................................................................................... 14313.2 DBG keypad............................................................................................ 145
14 MOVILINK® Unit Profile .................................................................................. 15314.1 Coding of the process data ..................................................................... 15314.2 Sample program for Simatic S7 and fieldbus.......................................... 15714.3 Sample program in connection with DeviceNet ...................................... 159
15 Parameters....................................................................................................... 16315.1 MQ.. parameter list ................................................................................. 163
16 Service ............................................................................................................. 16516.1 Bus diagnostics with MOVITOOLS®....................................................... 16516.2 Extended storage.................................................................................... 17216.3 Procedure when maintenance has been neglected................................ 17216.4 Disposal .................................................................................................. 172
17 Technical Data................................................................................................. 17317.1 Technical data of MFD.. DeviceNet interface ......................................... 17317.2 Technical data of MQD.. DeviceNet interface......................................... 17417.3 Technical data of MFO.. CANopen interface .......................................... 17517.4 Technical data for field distributors ......................................................... 17617.5 Statement of Conformance for MFD2X................................................... 17817.6 Statement of Conformance for MFD3X................................................... 18717.7 Statement of Conformance for MQD2X .................................................. 19617.8 Statement of Conformance for MQD3X .................................................. 205
18 Address List .................................................................................................... 214
Index................................................................................................................. 223
6 Manual – DeviceNet/CANopen Interfaces, Field Distributors
1 Valid Components
DeviceNet/CANopen Interfaces, Field Distributors1 Valid Components
This manual applies to the following products:
Connection module ..Z.1. with fieldbus interface
4 x I / 2 x O (terminals) 4 x I / 2 x O (M12) 6 x I (M12)
DeviceNet MFD21A/Z31A MFD22A/Z31A MFD32A/Z31A
DeviceNet with integrated minicontroller
MQD21A/Z31A MQD22A/Z31A MQD32A/Z31A
CANopen MFO21A/Z31A MFO22A/Z31A MFO32A/Z31A
Field distributor ..Z.3. with fieldbus interface
no I/O 4 x I / 2 x O (M12) 6 x I (M12)
DeviceNet MFD21A/Z33A MFD22A/Z33A MFD32A/Z33A
DeviceNet with integrated minicontroller
MQD21A/Z33A MQD22A/Z33A MQD32A/Z33A
CANopen MFO21A/Z33A MFO22A/Z33A MFO32A/Z33A
Field distributor ..Z.6. with fieldbus interface
4 x I / 2 x O (terminals) 4 x I / 2 x O (M12) 6 x I (M12)
DeviceNet MFD21A/Z36F/AF1 MFD22A/Z36F/AF1 MFD32A/Z36F/AF1
DeviceNet with integrated minicontroller
MQD21A/Z36F/AF1 MQD22A/Z36F/AF1 MQD32A/Z36F/AF1
CANopen MFO21A/Z36F/AF1 MFO22A/Z36F/AF1 MFO32A/Z36F/AF1
Field distributor ..Z.7. with fieldbus interface
4 x I / 2 x O (terminals) 4 x I / 2 x O (M12) 6 x I (M12)
DeviceNet MFD21A/MM../Z37F. MFD22A/MM../Z37F. MFD32A/MM../Z37F.
DeviceNet with integrated minicontroller
MQD21A/MM../Z37F. MQD22A/MM../Z37F. MQD32A/MM../Z37F.
CANopen MFO21A/MM../Z37F. MFO22A/MM../Z37F. MFO32A/MM../Z37F.
Field distributor ..Z.8. with fieldbus interface
4 x I / 2 x O (terminals) 4 x I / 2 x O (M12) 6 x I (M12)
DeviceNet MFD21A/MM../Z38F./AF1
MFD22A/MM../Z38F./AF1
MFD32A/MM../Z38F./AF1
DeviceNet with integrated minicontroller
MQD21A/MM../Z38F./AF1
MQD22A/MM../Z38F./AF1
MQD32A/MM../Z38F./AF1
CANopen MFO21A/MM../Z38F./AF1
MFO22A/MM../Z38F./AF1
MFO32A/MM../Z38F./AF1
Manual – DeviceNet/CANopen Interfaces, Field Distributors 7
2 How to use the manualGeneral Information
2 General Information2.1 How to use the manual
The manual is an integral part of the product and contain important information for op-eration and service. The manual is written for all employees who assemble, install, star-tup, and service this product.
The manual must be accessible and legible. Make sure that persons responsible for thesystem and its operation, as well as persons who work independently on the unit, haveread through the manual carefully and understood it. Consult SEW-EURODRIVE if youhave any questions or if you require further information.
2.2 Structure of the safety notesThe safety notes in these operating instructions are structured as follows:
Symbol SIGNAL WORDNature and source of hazard.
Possible consequence(s) if disregarded.• Measure(s) to prevent the hazard.
Symbol Signal word Meaning Consequences if disregarded
Example:
General danger
Specific danger,e.g. electric shock
DANGER Imminent danger Severe or fatal injuries
WARNING Possible hazardous situation Severe or fatal injuries
CAUTION Possible hazardous situation Minor injuries
NOTICE Potential damage to property. Damage to the drive system or its environ-ment
TIP Useful information or tip.Simplifies handling of the drive system.
8 Manual – DeviceNet/CANopen Interfaces, Field Distributors
2 Rights to claim under limited warranty General Information
2.3 Rights to claim under limited warrantyA requirement of fault-free operation and fulfillment of any rights to claim under limitedwarranty is that you adhere to the information in the operating instructions and this man-ual. Consequently, read the operating instructions and this manual before you startworking with the unit!
2.4 Exclusion of liabilityIt is essential that you observe the operating instructions to ensure safe operation andto achieve the specified product characteristics and performance features of the fieldbusinterfaces, field distributors and MOVIMOT® MM..D inverters. SEW-EURODRIVE doesnot assume liability for injury to persons or damage to equipment or property resultingfrom non-observance of these operating instructions. In such cases, any liability for de-fects is excluded.
2.5 Copyright© <2008> - SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the duplication, modification, distribution, and use of any part ofthis document for ulterior purposes.
Manual – DeviceNet/CANopen Interfaces, Field Distributors 9
3 GeneralSafety Notes
3 Safety NotesThe following basic safety notes must be read carefully to prevent injury to persons anddamage to property. The operator must ensure that the basic safety notes are read andobserved. Make sure that persons responsible for the plant and its operation, as well aspersons who work independently on the unit, have read through the operating instruc-tions and manual carefully and understood them. If you are unclear about any of the in-formation in this documentation, please contact SEW-EURODRIVE.
3.1 GeneralNever install or start up damaged products. Submit a complaint to the shipping companyimmediately in the event of damage.
During operation, MOVIMOT® drives can have live, bare and movable or rotating partsas well as hot surfaces, depending on their enclosure.
Removing covers without authorization, improper use as well as incorrect installation oroperation may result in severe injuries to persons or damage to property. Consult thedocumentation for further information.
3.2 Target groupOnly qualified personnel is authorized to install, startup or service the units or correctunit faults (observing IEC 60364 and CENELEC HD 384 or DIN VDE 0100 andIEC 60664 or DIN VDE 0110 as well as national accident prevention guidelines).
Qualified personnel in the context of these basic safety notes are: all persons familiarwith installation, assembly, startup and operation of the product who possess the nec-essary qualifications.
Any activities regarding transportation, storage, operation, and disposal must be carriedout by persons who have been instructed appropriately.
3.3 Designated useThe field distributors and fieldbus interfaces are intended for industrial systems. Theycomply with the applicable standards and regulations and meet the requirements of theLow Voltage Directive 73/23/EEC.
You must observe the technical data and information on the connection requirementsas provided on the nameplate and in the documentation.
Do not start up the unit (operate in the designated fashion) until you have establishedthat the machine complies with the EMC Directive 2004/108/EC and that the end prod-uct categorically conforms to Machinery Directive 98/37/EC (with reference toEN 60204).
MOVIMOT® inverters comply with the regulations of the Low Voltage Directive 2006/95/EC. The standards given in the declaration of conformity are used for the MOVIMOT®
inverter.
10 Manual – DeviceNet/CANopen Interfaces, Field Distributors
3 Other applicable documentation Safety Notes
3.3.1 Safety functions
The field distributors, fieldbus interfaces and MOVIMOT® inverters may not performsafety functions unless these functions are described and expressly permitted.
If MOVIMOT® inverters are used in safe applications, you must observe the supplemen-tal documentation "Safe Disconnection for MOVIMOT®". Use only those components insafety applications that were explicitly delivered in this design by SEW-EURODRIVE!
3.3.2 Hoist applicationsWhen using MOVIMOT® inverters in hoist applications, you must observe the specialconfiguration and settings for hoist applications specified in the operating instructions forMOVIMOT®.
MOVIMOT® inverters are not designed for use as a safety device in hoist applications.
3.4 Other applicable documentationNote also the following documentation:
• "DR/DV/DT/DTE/DVE AC Motors, CT/CV Asynchronous Servomotors" operatinginstructions
• "AC Motors DRS/DRE/DRP" operating instructions
• "MOVIMOT® MM..C" and "MOVIMOT® MM..D" operating instructions
• "IPOSplus® Positioning and Sequence Control" manual
3.5 Transportation, storageYou must observe the notes on transportation, storage and proper handling. Observethe climatic conditions as stated in the section "Technical Data". Tighten attached trans-portation eyebolts firmly. They are designed for the weight of the MOVIMOT® drive. Donot mount or apply any additional loads. Use suitable, sufficiently rated handling equip-ment (e.g. rope guides) if necessary.
3.6 InstallationThe units must be installed and cooled according to the regulations and specificationsin the corresponding documentation.
Protect the field distributors, fieldbus interfaces and MOVIMOT® inverters from improperstrain.
The following applications are prohibited unless the unit is explicitly designed for suchuse:
• Use in potentially explosive atmospheres.
• Use in areas exposed to harmful oils, acids, gases, vapors, dust, radiation, etc.
• Use in non-stationary applications with strong mechanical oscillation and impactloads.
Manual – DeviceNet/CANopen Interfaces, Field Distributors 11
3 Electrical ConnectionSafety Notes
3.7 Electrical ConnectionObserve the applicable national accident prevention guidelines when working on livefield distributors, fieldbus interfaces and MOVIMOT® inverters (e.g. BGV A3).
Electrical installation is to be carried out in compliance with pertinent regulations (e.g.cable cross sections, fusing, protective conductor connection). For any additional infor-mation, refer to the applicable documentation.
You will find notes on EMC-compliant installation, such as shielding, grounding, ar-rangement of filters and routing of lines, in the documentation of the MOVIMOT® in-verter. The manufacturer of the machine or system is responsible for maintaining thelimits established by the EMC legislation.
Protective measures and protection devices must comply with the regulations in force(e.g. EN 60204 or EN 61800-5-1).
3.8 Safe disconnectionThe field distributors and fieldbus interfaces meet all requirements for safe disconnec-tion of power and electronics connections in accordance with EN 61800-5-1. All con-nected circuits must also satisfy the requirements for safe disconnection.
3.9 OperationSystems with integrated field distributors, fieldbus interfaces and MOVIMOT® invertersmust be equipped with additional monitoring and protection devices according to the ap-plicable safety guidelines, such as the law governing technical equipment, accident pre-vention regulations, etc. Additional protective measures may be necessary for applica-tions with increased potential risk.
Do not touch live components or power connections immediately after disconnecting theMOVIMOT® inverter, the field distributor (if installed) or the bus module (if installed) fromthe supply voltage because there may still be some charged capacitors. Wait at leastone minute after the supply voltage is switched off.
As soon as supply voltage is present at the field distributor, the fieldbus interfaces andthe MOVIMOT® inverter, the housings must be closed, which means that:
• The MOVIMOT® inverter must be screwed on.
• The connection box cover of the field distributor (if installed) and the fieldbusinterface (if installed) must be screwed on.
• The connector of the hybrid cable (if installed) must be connected and screwed on.
Important: The maintenance switch of the field distributor (if installed) only disconnectsthe connected MOVIMOT® drive or motor from the power supply system. The terminalsof the field distributor remain connected to the supply voltage even after the mainte-nance switch is activated.
If the operation LED and other display elements are no longer illuminated, this does notindicate that the unit has been disconnected from the power supply and no longer car-ries any voltage.
12 Manual – DeviceNet/CANopen Interfaces, Field Distributors
3 Operation Safety Notes
Mechanical blocking or internal safety functions of the unit can cause a motor standstill.Eliminating the cause of the problem or performing a reset may result in the drive re-starting automatically. If, for safety reasons, this is not permitted for the driven machine,disconnect the unit from the supply system before correcting the fault.
Caution – Danger of burns: The surface temperature of the MOVIMOT® drive and of ex-ternal options, e.g. the heat sink of the braking resistor, can exceed 60 °C during oper-ation!
Manual – DeviceNet/CANopen Interfaces, Field Distributors 13
3 Supplementary safety notes for field distributorsSafety Notes
3.10 Supplementary safety notes for field distributors3.10.1 MFZ.3. field distributor
• Disconnect the unit from the power supply system before removing the fieldbusinterface or the motor connector. Dangerous voltages may still be present for up to1 minute after disconnection from the power supply.
• The fieldbus interface and the connector of the hybrid cable must be connected tothe field distributor and fastened during operation.
3.10.2 MFZ.6. field distributor
• Before removing the connection box cover for the power supply connection,disconnect the unit from the power supply system. Dangerous voltages may still bepresent for up to 1 minute after disconnection from the power supply.
• Important: The switch only disconnects the MOVIMOT® inverter from the powersupply system. The terminals of the field distributor are still connected to the powersupply after activating the maintenance switch.
• During operation, the connection box cover for the power supply connection and theconnector of the hybrid cable must be connected to the field distributor and fastened.
3.10.3 MFZ.7. field distributor
• Before removing the MOVIMOT® inverter, disconnect the unit from the power supplysystem. Dangerous voltages may still be present for up to 1 minute afterdisconnection from the power supply.
• The MOVIMOT® inverter and the connector of the hybrid cable must be connectedto the field distributor and fastened during operation.
3.10.4 MFZ.8. field distributor
• Disconnect the unit from the power supply system before removing the connectionbox cover for the power supply connection or the MOVIMOT® inverter. Dangerousvoltages may still be present for up to 1 minute after disconnection from the powersupply.
• Important: The maintenance switch only disconnects the connected motor from thepower supply system. The terminals of the field distributor are still connected to thepower supply after activating the maintenance switch.
• The connection box cover for the power supply connection, the MOVIMOT® inverterand the connector of the hybrid cable must be connected to the field distributor andfastened during operation.
14 Manual – DeviceNet/CANopen Interfaces, Field Distributors
4 Fieldbus interfaces Unit Structure
4 Unit Structure4.1 Fieldbus interfaces4.1.1 MF.21 / MQ.21 fieldbus interface
4.1.2 MF.22, MF.32, MQ.22, MQ.32 fieldbus interface
1132777611
[1][2]
Diagnostic LEDsDiagnostic interface (below screw fitting)
[1]
[2]
1132781835
[1][2][3][4]
Diagnostic LEDsDiagnostic interface (below screw fitting)M12 connection socketsStatus LED
[1]
[2]
[3]
[4]
Manual – DeviceNet/CANopen Interfaces, Field Distributors 15
4 Fieldbus interfacesUnit Structure
4.1.3 Underside of interface unit (all MF../MQ.. interfaces)
4.1.4 Unit structure of MFZ.. connection module
1132786955
[1][2][3]
Connection to connection moduleDIP switches (dependent on variant)Seal
[2]
[3]
[1]
1136176011
[1][2]
[3][4][5][6]
Terminal strip (X20)Isolated terminal block for 24 V through-wiring (Caution: do not use for shielding.)M20 cable glandM12 cable glandGrounding terminalFor DeviceNet and CANopen: Micro-style connector/M12 connector (X11)For AS-Interface: AS-Interface M12 connector (X11)
The scope of delivery includes 2 EMC cable glands.
[6][3]
[5]
[4]
[3]
[4]
[2]
[3][1]
16 Manual – DeviceNet/CANopen Interfaces, Field Distributors
4 Unit designation of DeviceNet interfaces Unit Structure
4.2 Unit designation of DeviceNet interfaces
4.3 Unit designation of CANopen interfaces
MFD 21 A/ Z21 A
Variant
Connection module:Z11 = for INTERBUSZ21 = for PROFIBUSZ31 = for DeviceNet and CANopenZ61 = for AS-Interface
Variant
21 = 4 x I / 2 x O 22 = 4 x I / 2 x O 32 = 6 x I
23 = 4 x I / 2 x O 33 = 6 x I
(connection via terminals)(connection via plug connector + terminals)(connection via plug connector + terminals)
(FO rugged line, only for INTERBUS)(FO rugged line, only for INTERBUS)
MFI.. MQI.. MFP.. MQP.. MFD.. MQD.. MFO.. MFK..
= INTERBUS= INTERBUS with integrated minicontroller= PROFIBUS= PROFIBUS with integrated minicontroller= DeviceNet= DeviceNet with integrated minicontroller= CANopen= AS-Interface
MFO 21 A / Z31 A
Variant
Connection module:Z11 = for INTERBUSZ21 = for PROFIBUSZ31 = for DeviceNet and CANopenZ61 = for AS-Interface
Variant
21 = 4 x I / 2 x O 22 = 4 x I / 2 x O 32 = 6 x I
23 = 4 x I / 2 x O 33 = 6 x I
(connection via terminals)(connection via plug connector + terminals)(connection via plug connector + terminals)
(FO rugged line, only for INTERBUS)(FO rugged line, only for INTERBUS)
MFI.. MQI.. MFP.. MQP.. MFD.. MQD.. MFO.. MFK..
= INTERBUS= INTERBUS with integrated minicontroller= PROFIBUS= PROFIBUS with integrated minicontroller= DeviceNet= DeviceNet with integrated minicontroller= CANopen= AS-Interface
Manual – DeviceNet/CANopen Interfaces, Field Distributors 17
4 Field distributorsUnit Structure
4.4 Field distributors4.4.1 MF../Z.3., MQ../Z.3. field distributor
1136195979
[1][2][3][4][5][6][7][8][9][10]
For DeviceNet and CANopen: Micro-style connector/M12 connector (X11)For AS-Interface: AS-Interface M12 connector (X11)2 x M20 x 1.52 x M25 x 1.5 2 x M16 x 1.5 (scope of delivery includes two EMC cable glands)Terminals for fieldbus connection (X20)Terminals for 24 V connection (X21)Terminals for power supply and PE connection (X1)Equipotential bonding connectionHybrid cable connection; connection to MOVIMOT® (X9)
[2] [1]
[3]
[4]
[5]
[6] [7] [5]
[4]
[3]
[8]
[9]
[10]
[9]
18 Manual – DeviceNet/CANopen Interfaces, Field Distributors
4 Field distributors Unit Structure
4.4.2 MF../Z.6., MQ../Z.6. field distributor
1136203659
[1] 6 x M20 x 1.5 (scope of delivery includes two EMC cable glands)For DeviceNet and CANopen: Micro-style connector/M12 connector (X11), see the following figure:For AS-Interface: AS-Interface M12 connector (X11), see following figure:
1136438155[2][3][4][5]
2 x M25 x 1.5Equipotential bonding connectionHybrid cable connection; connection to MOVIMOT® inverter (X9)Maintenance switch with line protection (triple lock, color: black/red)Only for MFZ26J: Optional integrated feedback for position of the maintenance switch. The feedback is evaluated at digital input DI0 (see section "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
1136352395[6][7][8][9]
Terminals for power supply and PE connection (X1)Terminals for bus, sensor, actuator, 24 V connection (X29)Pluggable terminal "Safety Power" for 24 V MOVIMOT® supply (X40)Terminal block for 24 V through-wiring (X29), internal connection to 24 V on X20
X2
X11X12
X13
X14
X15
X16
X3
[4]
[1][2][3]
[5] [6] [7] [8] [3] [9]
I ON I ON
0 O
FF
0 O
FF
Ø 5 – Ø 8 mm
Manual – DeviceNet/CANopen Interfaces, Field Distributors 19
4 Field distributorsUnit Structure
4.4.3 MF../MM../Z.7., MQ../MM../Z.7. field distributors
1136447627
[1][2]
2 x M25 x 1.5 cable glands5 x M20 x 1.5 cable gland (scope of delivery includes two EMC cable glands)For DeviceNet and CANopen: Micro-style connector/M12 connector (X11), see the following figure:For AS-Interface: AS-Interface M12 connector (X11), see following figure:
1136456331[3][4][5][6][7][8][9][10][11][12]
Equipotential bonding connectionHybrid cable connection; connection to AC motor (X9)Terminals for bus, sensor, actuator, 24 V connection (X29)Pluggable terminal "Safety Power" for 24 V MOVIMOT® supply (X40)Terminal block for 24 V through-wiring (X29), internal connection to 24 V on X20MOVIMOT® inverterConnection to the MOVIMOT® inverterTerminals for enabling the direction of rotationTerminals for power supply and PE connection (X1)Terminal for integrated brake resistor
X15
[1][2]
[10]
[11]
[3] [4] [5]
[8]
[3]
[6] [7]
[9]
[12]
20 Manual – DeviceNet/CANopen Interfaces, Field Distributors
4 Field distributors Unit Structure
4.4.4 MF../MM../Z.8., MQ../MM../Z.8. field distributor
1136479371
[1] 6 x M20 x 1.5 cable gland (scope of delivery includes two EMC cable glands)For DeviceNet and CANopen: Micro-style connector/M12 connector (X11), see the following figure:For AS-Interface: AS-Interface M12 connector (X11), see following figure:
1136438155[2][3][4]
2 x M25 x 1.5 cable glandsTerminals for power supply and PE connection (X1)Maintenance switch (triple lock, color: black/red)Only for MFPZ28J: Optional integrated feedback for position of the maintenance switch. The feedback is evaluated at digital input DI0 (see section "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
1136352395[5][6][7][8][9][10]
MOVIMOT® inverterTerminals for bus, sensor, actuator, 24 V connection (X29)Pluggable terminal "Safety Power" for 24 V MOVIMOT® supply (X40)Terminal block for 24 V through-wiring (X29), internal connection to 24 V on X20Hybrid cable connection; connection to AC motor (X9)Equipotential bonding connection
X2
X11
X3
X12
X13
X15
X14
X16
[1][2][3][4]
[5]
[6]
[7]
[8]
[9]
[10]
I ON I ON
0 O
FF
0 O
FF
Ø 5 – Ø 8 mm
Manual – DeviceNet/CANopen Interfaces, Field Distributors 21
4 Unit designation of DeviceNet field distributorsUnit Structure
4.5 Unit designation of DeviceNet field distributors4.5.1 Example: MF../Z.3., MQ../Z.3.
4.5.2 Example: MF../Z.6., MQ../Z.6.
MFD21A/Z33AConnection moduleZ13 Z23 Z33 Z63
= for INTERBUS= for PROFIBUS= for DeviceNet and CANopen= for AS-Interface
Fieldbus interfaceMFI.. / MQI.. MFP../MQP.. MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
MFD21A/Z36F/AF1Connection technologyAF0 =AF1 =
AF2 =AF3 =
AF6 =
Metric cable entrywith micro-style connector/M12 connectorDeviceNet and CANopenM12 plug connector for PROFIBUSM12 plug connector for PROFIBUS +M12 plug connector for DC -24 V supplyM12 plug connector for AS-Interface connection
Connection moduleZ16 = Z26 = Z36 = Z66 =
For INTERBUSFor PROFIBUSFor DeviceNet and CANopenFor AS-Interface
Fieldbus interfaceMFI.. / MQI.. MFP../MQP.. MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
22 Manual – DeviceNet/CANopen Interfaces, Field Distributors
4 Unit designation of DeviceNet field distributors Unit Structure
4.5.3 Example: MF../MM../Z.7., MQ../MM../Z.7.
4.5.4 Example: MF../MM..Z.8., MQ../MM../Z.8.
MFD22A/MM15C-503-00/Z37F 0Connection type0 = / 1 = Connection moduleZ17 = for INTERBUSZ27 = for PROFIBUSZ37 = for DeviceNet and CANopenZ67 = for AS-Interface
MOVIMOT® inverter
Fieldbus interfaceMFI.. / MQI..MFP../MQP..MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
MFD22A/MM22C-503-00/Z38F 0/AF1Connection technologyAF0 =AF1 =
AF2 =AF3 =
AF6 =
Metric cable entrywith micro-style connector/M12 connectorDeviceNet and CANopenM12 plug connector for PROFIBUSM12 plug connector for PROFIBUS +M12 plug connector for DC -24 V supplyM12 plug connector for AS-Interface connection
Connection type0 = / 1 = Connection moduleZ18 = for INTERBUSZ28 = for PROFIBUSZ38 = for DeviceNet and CANopenZ68 = for AS-Interface
MOVIMOT® inverter
Fieldbus interfaceMFI.. / MQI..MFP../MQP..MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
Manual – DeviceNet/CANopen Interfaces, Field Distributors 23
4 Unit designation of CANopen field distributorsUnit Structure
4.6 Unit designation of CANopen field distributors4.6.1 Example: MF../Z.3., MQ../Z.3.
4.6.2 Example: MF../Z.6., MQ../Z.6.
MFO21A/Z33AConnection moduleZ13 Z23 Z33 Z63
= for INTERBUS= for PROFIBUS= for DeviceNet and CANopen= for AS-Interface
Fieldbus interfaceMFI.. / MQI.. MFP../MQP.. MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
MFO21A/Z36F/AF1Connection technologyAF0 =AF1 =
AF2 =AF3 =
AF6 =
Metric cable entrywith micro-style connector/M12 connectorDeviceNet and CANopenM12 plug connector for PROFIBUSM12 plug connector for PROFIBUS +M12 plug connector for DC -24 V supplyM12 plug connector for AS-Interface connection
Connection moduleZ16 = Z26 = Z36 = Z66 =
For INTERBUSFor PROFIBUSFor DeviceNet and CANopenFor AS-Interface
Fieldbus interfaceMFI.. / MQI.. MFP../MQP.. MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
24 Manual – DeviceNet/CANopen Interfaces, Field Distributors
4 Unit designation of CANopen field distributors Unit Structure
4.6.3 Example: MF../MM../Z.7., MQ../MM../Z.7.
4.6.4 Example: MF../MM..Z.8., MQ../MM../Z.8.
MFO22A/MM15C-503-00/Z37F 0Connection type0 = / 1 = Connection moduleZ17 = for INTERBUSZ27 = for PROFIBUSZ37 = for DeviceNet and CANopenZ67 = for AS-Interface
MOVIMOT® inverter
Fieldbus interfaceMFI.. / MQI..MFP../MQP..MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
MFO22A/MM22C-503-00/Z38F 0/AF1Connection technologyAF0 =AF1 =
AF2 =AF3 =
AF6 =
Metric cable entrywith micro-style connector/M12 connectorDeviceNet and CANopenM12 plug connector for PROFIBUSM12 plug connector for PROFIBUS +M12 plug connector for DC -24 V supplyM12 plug connector for AS-Interface connection
Connection type0 = / 1 = Connection moduleZ18 = for INTERBUSZ28 = for PROFIBUSZ38 = for DeviceNet and CANopenZ68 = for AS-Interface
MOVIMOT® inverter
Fieldbus interfaceMFI.. / MQI..MFP../MQP..MFD../MQD..MFO..MFK..
= INTERBUS= PROFIBUS= DeviceNet= CANopen= AS-Interface
Manual – DeviceNet/CANopen Interfaces, Field Distributors 25
5 Installation instructionsMechanical Installation
5 Mechanical Installation5.1 Installation instructions
5.1.1 Mounting
• Mount field distributors on a level, vibration-proof and torsionally rigid supportstructure only.
• Use M5 screws with matching washers to connect the MFZ.3 field distributor. Tightenthe screws with a torque wrench (permitted tightening torque 2.8 – 3.1 Nm(25 - 27 lb.in)).
• Use M6 screws and suitable washers for installing MFZ.6, MFZ.7 or MFZ.8 fielddistributors. Tighten the screws with a torque wrench (permitted tightening torque3.1 – 3.5 Nm (27 – 31lb.in)).
5.1.2 Installation in damp locations or in the open
• Use suitable screw fittings for the cables (use reducing adapters if necessary).
• Seal open cable entries and M12 connection sockets with screw plugs.
• When the cable entry is on the side of the unit, route the cable using a drip loop.
• Check and, if necessary, clean the sealing surfaces before re-mounting the fieldbusinterface/the connection box cover.
TIPOn delivery, field distributors are equipped with transportation protection covering theplug connector of the outgoing motor circuit (hybrid cable).
This only guarantees enclosure IP40. To attain the specified enclosure rating, removethe transport protection and plug on the appropriate mating connector. Screw them to-gether.
26 Manual – DeviceNet/CANopen Interfaces, Field Distributors
5 Tightening torques Mechanical Installation
5.2 Tightening torques5.2.1 MOVIMOT® inverter
Tighten the screws on the MOVIMOT® inverter using 3.0 Nm (27 lb.in) working diago-nally across.
5.2.2 Fieldbus interfaces/connection box cover
Tighten the screws on the fieldbus interfaces or connection box cover using 2.5 Nm(22 lb.in) working diagonally across.
1138500619
1138504331
Manual – DeviceNet/CANopen Interfaces, Field Distributors 27
5 Tightening torquesMechanical Installation
5.2.3 Screw plugs
Tighten the blanking plugs and the screw plugs of potentiometer f1 and that of connec-tion X50, if applicable, using 2.5 Nm (22 lb.in).
5.2.4 EMC cable glands
Tighten EMC cable glands supplied by SEW-EURODRIVE using the following torqueratings:
The cable retention in the cable gland must be able to withstand the following removalforce:
• Cable with outer diameter > 10 mm: ≥ 160 N
• Cable with outer diameter < 10 mm: = 100 N
1138509067
1138616971
Screw fitting Tightening torque
M12 x 1.5 2.5 Nm – 3.5 Nm (22 – 31 lb.in)
M16 x 1.5 3.0 Nm – 4.0 Nm (27 – 35 lb.in)
M20 x 1.5 3.5 Nm – 5.0 Nm (31 – 44 lb.in)
M25 x 1.5 4.0 Nm – 5.5 Nm (35 – 49 lb.in)
28 Manual – DeviceNet/CANopen Interfaces, Field Distributors
5 Tightening torques Mechanical Installation
5.2.5 Motor cable
Tighten screws for motor cables using 1.2 – 1.8 Nm (11 – 16 lb.in).
1138623499
Manual – DeviceNet/CANopen Interfaces, Field Distributors 29
5 MF.. / MQ.. fieldbus interfacesMechanical Installation
5.3 MF.. / MQ.. fieldbus interfacesMF../MQ.. fieldbus interfaces can be installed as follows:
• Installation on MOVIMOT® connection box
• Installation in the field
5.3.1 Installation on MOVIMOT® connection box1. Remove knock outs on MFZ underside from the inside, as illustrated in the following
figure:
1138656139
MFZ..
[1]
TIPIf necessary, debur any break lines that occur after the knock outs [1] have been re-moved.
30 Manual – DeviceNet/CANopen Interfaces, Field Distributors
5 MF.. / MQ.. fieldbus interfaces Mechanical Installation
2. Install the fieldbus interface on the MOVIMOT® connection box according to the fol-lowing figure:
1138663947
MF../
MQ..
Manual – DeviceNet/CANopen Interfaces, Field Distributors 31
5 MF.. / MQ.. fieldbus interfacesMechanical Installation
5.3.2 Installation in the field
The following figure shows the installation of an MF../MQ.. fieldbus interface close to themotor:
1138749323
[1] Length of screws min. 40 mm
82
,5 m
m
102 mm
51 mm
M4
M4
MFZ...
MF../
MQ..
MF../
MQ..
[1]
32 Manual – DeviceNet/CANopen Interfaces, Field Distributors
5 Field distributors Mechanical Installation
5.4 Field distributors5.4.1 Installation of MF../Z.3., MQ../Z.3. field distributors
The following figure shows the mounting dimensions for ..Z.3. field distributors:
1138759307
50 mm
100 mm
M5
M5
17
5 m
m
Manual – DeviceNet/CANopen Interfaces, Field Distributors 33
5 Field distributorsMechanical Installation
5.4.2 Installation of MF../Z.6., MQ../Z.6. field distributors
The following figure shows the mounting dimensions for ..Z.6. field distributors:
1138795019
M6
M6
365 mm
180 m
m
34 Manual – DeviceNet/CANopen Interfaces, Field Distributors
5 Field distributors Mechanical Installation
5.4.3 Installation of MF../MM../Z.7., MQ../MM../Z.7. field distributors
The following figure shows the mounting dimensions for ..Z.7. field distributors:
1138831499
59.5
mm
253.7 mm
M6
M6
Manual – DeviceNet/CANopen Interfaces, Field Distributors 35
5 Field distributorsMechanical Installation
5.4.4 Installation of MF../MM../Z.8., MQ../MM../Z.8. field distributors (Size 1)
The following figure shows the mounting dimensions for ..Z.8. field distributors: (size 1):
1138843147
29
0 m
m
200 mm
270 mm
M6
M6
36 Manual – DeviceNet/CANopen Interfaces, Field Distributors
5 Field distributors Mechanical Installation
5.4.5 Installation of MF../MM../Z.8., MQ../MM../Z.8. field distributors (Size 2)
The following figure shows the mounting dimensions for ..Z.8. field distributors: (size 2):
1138856203
35
0m
m
205 mm
290 mm
M6
M6
Manual – DeviceNet/CANopen Interfaces, Field Distributors 37
6 Installation planning considering EMC aspectsElectrical Installation
6 Electrical Installation6.1 Installation planning considering EMC aspects6.1.1 Notes on arranging and routing installation components
Successful installation of decentralized drives depends on selecting the correct cables,providing correct grounding and a functioning equipotential bonding.
You should always apply relevant standards. You also need to consider the followingpoints:
• Equipotential bonding
– Low-impedance, HF-capable equipotential bonding must be provided indepen-dent of the functional ground (PE terminal) (see also VDE 0113 or VDE 0100part 540) using, for example
– Flat contact surface connection of metal components
– Flat grounding strips (HF litz wire)
– Do not use the cable shield of data lines for equipotential bonding.
• Data cables and 24 V supply
– Must be routed separately from cables that emit interference (e.g. control cablesfrom solenoid valves, motor cables).
• Field distributor
– We recommend using prefabricated SEW hybrid cables especially designed forconnecting field distributors and motors.
• Cable glands
– Select a cable gland with large contact surface shielding (see the notes onselection and correct installation of cable glands).
1138895627
1138899339
38 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Installation planning considering EMC aspects Electrical Installation
• Cable shield
– The cable shield must have good EMC characteristics (high shield attenuation),
– It must protect the cable mechanically and as a shield,
– It must be connected with the unit's metal housing (via EMC metal cable glands)at the flat contact surface cable ends (see the further notes in this chapter onselection and correct installation of cable glands).
• Additional information is available in the SEW publication "Drive Engineering– Practical Implementation, EMC in Drive Engineering."
6.1.2 Sample connection between a MF.. / MQ.. fieldbus interface and MOVIMOT®
If the MF../MQ.. fieldbus interface and MOVIMOT® are installed separately, the RS-485connection must be implemented as follows:
• If the connection also carries the DC 24 V supply
– Use shielded lines
– Apply shielding to the housing of both units via EMC metal cable glands (consultthe other notes in this chapter on appropriate assembly of EMC metal cableglands as well)
– Strand cores in pairs (see the following illustration)
• If the connection does not carry the DC 24 V supply
If MOVIMOT® is supplied with DC 24 V via a separate connection, the RS-485 con-nection must be carried out as follows:
– Use shielded lines
– Apply shielding to the housing of both units via EMC metal cable glands (consultthe other notes in this chapter on selection and appropriate assembly of cableglands as well)
– The GND reference potential must be provided for the RS-485 interface
– Strand the cores (see the following illustration)
1138904075
1138973579
RS+RS-
24VGND
RS+GND
24VRS-
RS+RS-GND
Manual – DeviceNet/CANopen Interfaces, Field Distributors 39
6 Installation instructions for fieldbus interfaces/field distributorsElectrical Installation
6.2 Installation instructions for fieldbus interfaces/field distributors6.2.1 Connecting supply system leads
• The rated voltage and frequency of the MOVIMOT® inverter must correspond to thedata for the supply system.
• Select the cable cross section according to input current Iline at rated power; fordetailed information, see chapter "Technical Data" (see page 173).
• Install line fuses at the beginning of the supply system lead behind the supply busjunction. Use D, DO, NH fuses or circuit breakers. Select the fuse size according tothe cable cross section.
• Do not use a conventional earth leakage circuit-breaker as a protective device.Universal current-sensitive earth-leakage circuit breakers ("type B") are permitted asa protective device. During normal operation of MOVIMOT® drives, earth-leakagecurrents > 3.5 mA can occur.
• In accordance with EN 50178, a second PE connection (at least with the same cross-section as the supply system lead) is required parallel to the protective earth viaseparate points of connection. Leakage currents > 3.5 mA may arise duringoperation.
• Use contactor switch contacts from utilization category AC-3 according to IEC 158 toconnect MOVIMOT® drives.
• SEW-EURODRIVE recommends using earth-leakage monitors with pulse codemeasuring in voltage supply systems with a non-earthed star point (IT systems).Using such devices prevents the earth-leakage monitor mis-tripping due to theground capacitance of the inverter.
40 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Installation instructions for fieldbus interfaces/field distributors Electrical Installation
6.2.2 Notes on PE connection and/or equipotential bonding
6.2.3 Permitted connection cross section and current carrying capacity of the terminals
The permitted tightening torque of the power terminals is 0.6 Nm (5 Ib.in).
DANGERFaulty PE connection.
Death, severe injuries or damage to property from electric shock.• The permitted tightening torque for the screw fitting is 2.0 - 2.4 Nm (18 - 21 lb.in).• Observe the following notes regarding PE connection.
Prohibited assembly sequence Recommendation: Assembly with forked cable lugPermitted for all cross sections
Assembly with thick solid wirePermitted for cross sections up to max. 2.5 mm2
323042443 323034251 323038347
[1] Forked cable lug suitable for M5 PE screws
[1]
M5
2.5 mm²
M5
Power terminals X1, X21(screw terminals)
Control terminals X20(cage clamp terminals)
Connection cross section (mm2)
0.2 mm2 – 4 mm2 0.08 mm2 – 2.5 mm2
Connection cross section (AWG)
AWG 24 – AWG 10 AWG 28 – AWG 12
Current carrying capacity 32 A max. continuous current 12 A max. continuous current
Manual – DeviceNet/CANopen Interfaces, Field Distributors 41
6 Installation instructions for fieldbus interfaces/field distributorsElectrical Installation
6.2.4 Looping through the DC 24 V supply voltage in the MFZ.1 module terminal box
• Two M4 x 12 studs are located on the connection part of the DC 24 V supply. Thesestuds can be used for looping through the DC 24 V supply voltage.
• The terminal studs have a current carrying capacity of 16 A.
• The permitted tightening torque for the hex nuts of the terminal studs is 1.2 Nm(11 Ib.in) ± 20 %.
6.2.5 Additional connection options with MFZ.6, MFZ.7 and MFZ.8 field distributors
• The connection part of the DC -24 V supply comprises a X29 terminal block with twoM4 x 12 studs and a pluggable X40 terminal.
• The X29 terminal block can be used as an alternative to the X20 terminal (see chap-ter "Unit Structure" (see page 14)) for looping through the DC -24 V supply voltage.Both studs are connected internally to the 24 V connection at terminal X20.
• The plug-in terminal X40 ("Safety Power") is intended for the external DC 24 V supplyof the MOVIMOT® inverter via an emergency stop relay.
This setup allows for the operation of a MOVIMOT® drive in safety applications. Formore information, refer to the documentation on "Safe Disconnection for MOVIMOT®
MM.." of the respective MOVIMOT® drives.
1140831499
1141387787
Terminal assignment
No. Name Function
X29 1 24 V 24 V voltage supply for module electronics and sensors(Studs, jumpered with terminal X20/11)
2 GND 0V24 reference potential for module electronics and sensors(Studs, jumpered with terminal X20/13)
Terminal assignment
No. Name Function
X40 1 24 V 24 V voltage supply for MOVIMOT® for disconnection with emergency stop relay
2 GND 0V24 reference potential for MOVIMOT® for disconnection with emergency stop relay
42 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Installation instructions for fieldbus interfaces/field distributors Electrical Installation
• Terminal X29/1 is factory-jumpered with X40/1 and terminal X29/2 with X40/2, so thatthe MOVIMOT® inverter is supplied by the same DC 24 V voltage as the fieldbusinterface.
• The guide values for both studs are:
– Current carrying capacity: 16 A
– Permitted tightening torque for the hex nuts: 1.2 Nm (11 Ib.in) ± 20 %.
• The guide values for screw terminal X40 are:
– Current carrying capacity: 10 A
– Connection cross-section: 0.25 mm2 – 2.5 mm2 (AWG24 – AWG12)
– Permitted tightening torque: 0.6 Nm (5 Ib.in)
6.2.6 UL-compliant installation for field distributors
• Use only copper cables in the temperature range 60/75° C as the connection lead.
• Use only tested units with a limited output voltage (V ≤ DC 30 V) and limited outputcurrent (I ≤ 8 A) as an external DC 24 V voltage source.
• The UL certification only applies to operation on voltage networks with voltages toground up to a maximum of 300 V.
Manual – DeviceNet/CANopen Interfaces, Field Distributors 43
6 Installation instructions for fieldbus interfaces/field distributorsElectrical Installation
6.2.7 EMC metal cable glands
Install the EMC metal cable glands from SEW as follows:
Important: Cut off insulation foil [1], do not fold it back.
1141408395
[1]
44 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Installation instructions for fieldbus interfaces/field distributors Electrical Installation
6.2.8 Wiring check
After the wiring check
• Connect and fasten all motor connections (hybrid cable)
• Connect and fasten all fieldbus interfaces
• Install and fasten all MOVIMOT® inverters (for MFZ.7, MFZ.8 only)
• Install all connection box covers
• Cover any plug connections not in use
DANGERIt is necessary to check the wiring before energizing the system for the first time in orderto prevent injury to persons or damage to the system.
Severe or fatal injuries from electric shock.• Remove all fieldbus interfaces from the connection module• Disconnect all MOVIMOT® inverters from the connection module (only with MFZ.7,
MFZ.8)• Disconnect all plug connectors of the motor connection (hybrid cable) from the field
distributor• Check the insulation of the wiring in accordance with applicable national standards• Check the grounding• Check insulation between the supply system cable and the DC -24 V cable • Check insulation between supply system cable and communication line• Check the polarity of the DC 24 V cable• Check the polarity of the communication cable• Check the mains phase sequence• Ensure equipotential bonding between the fieldbus interfaces
Manual – DeviceNet/CANopen Interfaces, Field Distributors 45
6 Connection via DeviceNetElectrical Installation
6.3 Connection via DeviceNet6.3.1 DeviceNet connection capabilities
MFD/MQD fieldbus interfaces can be connected via multiport or T connector. If the con-nection with MFD/MQD is removed, the remaining stations will not be influenced and thebus can remain active.
1410878347
[1][2][3]
Bus terminating resistor 120 ΩT connectorMultiport
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFD/MQD MFD/MQDMFD/MQD
MFD/MQD MFD/MQDMFD/MQD
[1][2] [2] [2]
[3]
[1]
TIPObserve the wiring instructions of DeviceNet specification 2.0.
46 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via DeviceNet Electrical Installation
6.3.2 Connection of MFZ31 connection module with MFD../MQD.. to MOVIMOT®
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
24V
24V
GN
D
GN
D
24V
RS
+
RS
-
GN
D
0 1
MFZ31 (DeviceNet)
24 VDC
+ -
4
21
35
24V
R L f1/f2
K1a
K1b
RS
-R
S+
MOVIMOT®[3]
[2]
[1] [1]
X11
X20
+MFZ31
MFD..MQD..
X1112345
DRAINV+V-CAN_HCAN_L
1410908043
0 = Potential level 0 1 = Potential level 1
[1]
[2][3]
For separate MFZ31/MOVIMOT® installation:Connect the shield of the RS-485 cable with MFZ and the MOVIMOT® housing using the EMC metal cable gland Ensure equipotential bonding between all bus stations
Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 V- Input DeviceNet reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 DRAIN Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 V+ Input DeviceNet voltage supply 24 V
6 - - Reserved
7 - - Reserved
8 - - Reserved
9 - - Reserved
10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15 24 V Output 24 V voltage supply for MOVIMOT® (jumpered with terminal X20/11)
16 RS+ Output Communication link to MOVIMOT® terminal RS+
17 RS- Output Communication link to MOVIMOT® terminal RS-
18 GND - 0V24 reference potential for MOVIMOT® (jumpered with terminal X20/13)
Manual – DeviceNet/CANopen Interfaces, Field Distributors 47
6 Connection via DeviceNetElectrical Installation
6.3.3 Connection of MFZ33 field distributor with MFD../MQD..MFZ33 connection module with MFD21/MQD21, MFD22/MQD22 fieldbus module and 2 separate DC 24 V voltage circuits
8 7 6 5 4 3 2 1
L3
L2
L1
PE
L3
L2
L1
PE
4 mm (AWG10)2X1
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
PE L1
L1
L2
L2 L3
L3
PE
4 mm (AWG10)
24V1
GND1
24V1
GND1
24V2
GND2
24V2
GND2
2.5 mm (AWG12)
0 1 2
2 2
X20
X11
X21
4
21
35
+MFD21
MFD22
2 x 24 VDC
MQD21
MQD22MFZ33
X1112345
DRAINV+V-CAN_HCAN_L
1411166987
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
Terminal assignment
No. Name Direction Function
X20 1 V- Input DeviceNet reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 DRAIN Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 V+ Input DeviceNet voltage supply 24 V
6-10 - - Reserved
X21 1 24 V Input 24 V voltage supply for module electronics, sensors and MOVIMOT®
2 24 V Output 24 V voltage supply (jumpered with terminal X21/1)
3 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
4 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
5 V2I24 Input 24 V voltage supply for actuators (digital outputs)
6 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X21/5
7 GND2 - 0V24 reference potential for actuators
8 GND2 - 0V24 reference potential for actuators
48 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via DeviceNet Electrical Installation
MFZ33 connection module with MFD21/MQD21, MFD22/MQD22 fieldbus module and one common DC 24 V voltage circuit
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
8 7 6 5 4 3 2 1
PE L1
L1
L2
L2
L3
L3
PE
L3
L2
L1
PE
L3
L2
L1
PE
4 mm (AWG10)
24V
GND
24V
GND
0 1 2
2X1
X20
X11
X214 mm (AWG10)2.5 mm (AWG12)2 2
4
21
35
+MFD21
MFD22
1 x 24 VDC
MQD21
MQD22MFZ33
X1112345
DRAINV+V-CAN_HCAN_L
1411196299
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
Terminal assignment
No. Name Direction Function
X20 1 V- Input DeviceNet reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 DRAIN Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 V+ Input DeviceNet voltage supply 24 V
6-10 - - Reserved
X21 1 24 V Input 24 V voltage supply for module electronics, sensors and MOVIMOT®
2 24 V Output 24 V voltage supply (jumpered with terminal X21/1)
3 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
4 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
5 V2I24 Input 24 V voltage supply for actuators (digital outputs)
6 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X21/5
7 GND2 - 0V24 reference potential for actuators
8 GND2 - 0V24 reference potential for actuators
Manual – DeviceNet/CANopen Interfaces, Field Distributors 49
6 Connection via DeviceNetElectrical Installation
MFZ33 connection module with MFD32/MQD32 fieldbus interface
8 7 6 5 4 3 2 1
PE L1
L1
L2
L2
L3
L3
PE
L3
L2
L1
PE
L3
L2
L1
PE
4 mm (AWG10)2X1
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8
24V
24V
GN
D
GN
D
res.
24V
GND
24V
GND
0X20 X21
res.
res.
res.
1
4 mm (AWG10)2.5 mm (AWG12)2 2
4
21
35 X11
+ MFD32MQD32
MFZ33
2 x 24 VDC
X1112345
DRAINV+V-CAN_HCAN_L
1411226635
0 = Potential level 0 1 = Potential level 1
Terminal assignment
No. Name Direction Function
X20 1 V- Input DeviceNet reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 DRAIN Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 V+ Input DeviceNet voltage supply 24 V
6-10 - - Reserved
X21 1 24 V Input 24 V voltage supply for module electronics, sensors and MOVIMOT®
2 24 V Output 24 V voltage supply (jumpered with terminal X21/1)
3 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
4 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
5-8 - - Reserved
50 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via DeviceNet Electrical Installation
6.3.4 Connection of MFZ36, MFZ37, MFZ38 field distributors with MFD.. / MQD..MFZ36, MFZ37, MFZ38 connection module with MFD21/MQD21, MFD22/MQD22 fieldbus interface and 2 separate DC 24 V voltage circuits
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
1 2 3 4 5 6 7 8
PE L1
L1
L2
L2
L3
L3
PE
L3L2L1PE
L3
L2
L1
PE
4 mm (AWG10)2
[1]
X1
0 1 2
1 2
2.5 mm (AWG12)2 X20
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
24V1
GND1
24V1
GND1
24V2
GND2
24V2
GND2
4
21
35 X11
+
MFZ36
MFZ37
MFZ38
MFD21 MFD22
2 x 24 VDC
MQD21 MQD22
X1112345
DRAINV+V-CAN_HCAN_L
1411257995
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
[1] Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 V- Input DeviceNet reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 DRAIN Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 V+ Input DeviceNet voltage supply 24 V
6-10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15 V2I24 Input 24 V voltage supply for actuators (digital outputs)
16 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X20/15
17 GND2 - 0V24 reference potential for actuators
18 GND2 - 0V24 reference potential for actuators
Manual – DeviceNet/CANopen Interfaces, Field Distributors 51
6 Connection via DeviceNetElectrical Installation
MFZ36, MFZ37, MFZ38 connection module with MFD21/MQD21, MFD22/MQD22 fieldbus interface and one common DC 24 V voltage circuit:
X1
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
1 2 3 4 5 6 7 8 4 mm (AWG10)
24V
GND
24V
GND
0 1 2
1 2
PE L1
L1
L2
L2
L3
L3
PE
L3
L2
L1
PE
L3
L2
L1
PE
2
2.5 mm (AWG12)2 X20
4
21
35 X11
+
MFZ36
MFZ37
MFZ38
MFD21 MFD22
1 x 24 VDC
MQD21 MQD22
X1112345
DRAINV+V-CAN_HCAN_L
[1]
1411289611
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
[1] Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 V- Input DeviceNet reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 DRAIN Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 V+ Input DeviceNet voltage supply 24 V
6- 10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15 V2I24 Input 24 V voltage supply for actuators (digital outputs)
16 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X20/15
17 GND2 - 0V24 reference potential for actuators
18 GND2 - 0V24 reference potential for actuators
52 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via DeviceNet Electrical Installation
MFZ36, MFZ37, MFZ38 connection module with MFD32/MQD32 fieldbus interface
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
24V
24V
GN
D
GN
D
res.
res.
res.
res.
1 2 3 4 5 6 7 8
PE
L1
L1
L2
L2
L3 L3
PE
L3
L2
L1
PE
L3
L2
L1
PE
4 mm (AWG10)
24V
GND
24V
GND
4
21
35
0 1
1
2
2.5 mm (AWG12)2
X1
X11
X20
+
MFZ36
MFZ37
MFZ38
MFD32
1 x 24 VDC
MQD32
X1112345
DRAINV+V-CAN_HCAN_L
[1]
1411323019
0 = Potential level 0 1 = Potential level 1
[1] Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 V- Input DeviceNet reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 DRAIN Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 V+ Input DeviceNet voltage supply 24 V
6-10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15-18 - - Reserved
Manual – DeviceNet/CANopen Interfaces, Field Distributors 53
6 Connection via DeviceNetElectrical Installation
6.3.5 Connection with optional AGA. mounting flange
The following figure shows the AGA. mounting flange:
1411381771
Cable assignment for control cable X1
Pin Color Labeling Connected to field distributor terminal
1 BK L1 X1/2
2 GNYE PE X1/8
3 BK L2 X1/4
4 – SHIELD Insulated end
5 BK L3 X1/6
6 BK SAFETY MONITOR Conductor ends electrically connected and insulated7 BK SAFETY MONITOR RETURN
8 BK SAFE +24 VDC X40/1 (Safety Power)
9 BK SAFE 0 VDC X40/2 (Safety Power)
Pin assignment of connector X16
Pin Color Labeling Connected to field distributor terminal
1 BN 24 VDC X29/1
2 – – Insulated end
3 – – Insulated end
4 BK 0 VDC X29/2
Pin assignment of connector X11
Pin Color Labeling Connected to field distributor terminal
1 – SHIELD X20/3
2 RD V+ X20/5
3 BK V- X20/1
4 WH CAN_H X20/4
5 BU CAN_L X20/2
X16
X11
X2
54 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via DeviceNet Electrical Installation
6.3.6 Connection with optional AGB. mounting flange
The following figure shows the AGB. mounting flange:
1411415691
Cable assignment for control cable X2
Pin Color Labeling Connected to field distributor terminal
1 BK L1 X1/2
2 GNYE PE X1/8
3 BK L2 X1/4
4 – SHIELD Insulated end
5 BK L3 X1/6
6 BK SAFETY MONITOR Conductor ends electrically connectedand insulated7 BK SAFETY MONITOR RETURN
8 BK SAFE +24 VDC X40/1 (Safety Power)
9 BK SAFE 0 VDC X40/2 (Safety Power)
Cable assignment for control cable X15
Pin Color Labeling Connected to field distributor terminal
1 – SHIELD X20/3
2 WH CAN_H X20/4
3 BU CAN_L X20/2
4 BK V+ X20/5
5 BK V- X20/1
6 BK 24V INPUT PWR X29 X29/1
7 BK 0V INPUT PWR X29 X29/2
8 BK SPARE Insulated end
9 BK SPARE Insulated end
X2
X15
Manual – DeviceNet/CANopen Interfaces, Field Distributors 55
6 Connection via CANopenElectrical Installation
6.4 Connection via CANopen6.4.1 CANopen connection options
MFO fieldbus interfaces are connected via T connectors. If the connection to a fieldbusinterface is removed, the remaining stations will not be influenced and the bus can re-main active.
1411463179
[1][2]
Bus terminating resistor 120 ΩT connector
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
MFI
INT
ER
BU
S
SYS-F
RD
TR
BA
RC
UL
[1]
MFO
MFO
MFO
MFO
MFO
MFO
[1]
[2]
[2]
[2]
[2]
[2]
[2]
TIPObserve the wiring instructions of CANopen specification DR(P) 303.
56 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via CANopen Electrical Installation
6.4.2 Connection of MFZ31 connection module with MFO.. to MOVIMOT®
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
24V
24V
GN
D
GN
D
24V
RS
+
RS
-
GN
D
0 1
MFZ31 (CANopen)
24 VDC
+ -
4
21
35
24V
R L f1/f2
K1a
K1b
RS
-R
S+
MOVIMOT®[3]
+MFZ31
MFO...
[2]
[1] [1]
X20
X11
12345
CAN_SHLDCAN_V+CAN_GNDCAN_HCAN_L
X11
1411498891
0 = Potential level 0 1 = Potential level 1
[1]
[2][3]
For separate MFZ31/MOVIMOT® installation:Connect the shield of the RS-485 cable with MFZ and the MOVIMOT® housing using the EMC metal cable gland Ensure equipotential bonding between all bus stations
Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 CAN_GND Input CANopen reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 CAN_SHLD Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 CAN_V+ Input CANopen voltage supply 24 V
6 - - Reserved
7 - - Reserved
8 - - Reserved
9 - - Reserved
10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15 24 V Output 24 V voltage supply for MOVIMOT® (jumpered with terminal X20/11)
16 RS+ Output Communication link to MOVIMOT® terminal RS+
17 RS- Output Communication link to MOVIMOT® terminal RS-
18 GND 0V24 reference potential for MOVIMOT® (jumpered with terminal X20/13)
Manual – DeviceNet/CANopen Interfaces, Field Distributors 57
6 Connection via CANopenElectrical Installation
6.4.3 Connection of MFZ33 field distributor with MFO..MFZ33 connection module with MFO21, MFO22 fieldbus interface and 2 separate DC 24 V voltage circuits
8 7 6 5 4 3 2 1
L3L2L1PE
L3
L2
L1
PE
4 mm (AWG10)2X1
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
PE
L1
L1
L2
L2
L3
L3
PE
4 mm (AWG10)
24V1
GND1
24V1
GND1
24V2
GND2
24V2
GND2
2.5 mm (AWG12)
0 1 2
2 2
X20
X11
X21
4
21
35
+MFO21
MFO22
2 x 24 VDC
MFZ33
12345
CAN_SHLDCAN_V+CAN_GNDCAN_HCAN_L
X11
1411535115
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
Terminal assignment
No. Name Direction Function
X20 1 CAN_GND Input CANopen reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 CAN_SHLD Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 CAN_V+ Input CANopen voltage supply 24 V
6-10 - - Reserved
X21 1 24 V Input 24 V voltage supply for module electronics, sensors and MOVIMOT®
2 24 V Output 24 V voltage supply (jumpered with terminal X21/1)
3 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
4 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
5 V2I24 Input 24 V voltage supply for actuators (digital outputs)
6 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X21/5
7 GND2 - 0V24 reference potential for actuators
8 GND2 - 0V24 reference potential for actuators
58 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via CANopen Electrical Installation
MFZ33 connection module with MFO21, MFO22 fieldbus interface and one common DC 24 V voltage circuit
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
8 7 6 5 4 3 2 1
PE
L1
L1
L2
L2
L3
L3
PE
L3
L2
L1
PE
L3
L2
L1
PE
4 mm (AWG10)
24V
GND
24V
GND
0 1 2
2X1
X20
X11
X214 mm (AWG10)2.5 mm (AWG12)2 2
4
21
35
+MFO21
MFO22
1 x 24 VDC
MFZ33
12345
CAN_SHLDCAN_V+CAN_GNDCAN_HCAN_L
X11
1411572107
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
Terminal assignment
No. Name Direction Function
X20 1 CAN_GND Input CANopen reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 CAN_SHLD Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 CAN_V+ Input CANopen voltage supply 24 V
6-10 - - Reserved
X21 1 24 V Input 24 V voltage supply for module electronics, sensors and MOVIMOT®
2 24 V Output 24 V voltage supply (jumpered with terminal X21/1)
3 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
4 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
5 V2I24 Input 24 V voltage supply for actuators (digital outputs)
6 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X21/5
7 GND2 - 0V24 reference potential for actuators
8 GND2 - 0V24 reference potential for actuators
Manual – DeviceNet/CANopen Interfaces, Field Distributors 59
6 Connection via CANopenElectrical Installation
MFZ33 connection module with MFO32 fieldbus interface
8 7 6 5 4 3 2 1
PE
L1
L1
L2
L2
L3
L3
PE
L3
L2
L1
PE
L3
L2
L1
PE
4 mm (AWG10)2X1
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8
24V
24V
GN
D
GN
D
res.
24V
GND
24V
GND
0X20
X11
X21
res.
res.
res.
1
4 mm (AWG10)2.5 mm (AWG12)2 2
4
21
35
+ MFO32
1 x 24 VDC
MFZ33
12345
CAN_SHLDCAN_V+CAN_GNDCAN_HCAN_L
X11
1411609867
0 = Potential level 0 1 = Potential level 1
Terminal assignment
No. Name Direction Function
X20 1 CAN_GND Input CANopen reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 CAN_SHLD Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 CAN_V+ Input CANopen voltage supply 24 V
6-10 - - Reserved
X21 1 24 V Input 24 V voltage supply for module electronics, sensors and MOVIMOT®
2 24 V Output 24 V voltage supply (jumpered with terminal X21/1)
3 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
4 GND - 0V24 reference potential for module electronics, sensors and MOVIMOT®
5-8 - - Reserved
60 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via CANopen Electrical Installation
6.4.4 Connection of MFZ36, MFZ37, MFZ38 field distributors with MFOMFZ36, MFZ37, MFZ38 connection module with MFO21, MFO22 fieldbus interface and 2 separate DC 24 V voltage circuits
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
1 2 3 4 5 6 7 8
PE
L1
L1
L2
L2
L3 L3
PE
L3L2L1PE
L3L2L1PE
4 mm (AWG10)
24V1
GND1
24V1
GND1
24V2
GND2
24V2
GND2
2
0 1 2
1 2
2.5 mm (AWG12)2
4
21
35
X20
X11
X1
+
MFZ36
MFZ37
MFZ38
MFO21 MFO22
2 x 24 VDC
[1]
12345
CAN_SHLDCAN_V+CAN_GNDCAN_HCAN_L
X11
1411661195
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
[1] Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 CAN_GND Input CANopen reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 CAN_SHLD Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 CAN_V+ Input CANopen voltage supply 24 V
6-10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15 V2I24 Input 24 V voltage supply for actuators (digital outputs)
16 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X20/15
17 GND2 - 0V24 reference potential for actuators
18 GND2 - 0V24 reference potential for actuators
Manual – DeviceNet/CANopen Interfaces, Field Distributors 61
6 Connection via CANopenElectrical Installation
MFZ36, MFZ37, MFZ38 connection module with MFO21, MFO22 fieldbus interface and one common DC 24 V voltage circuit:
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
24V
24V
GN
D
GN
D
V2I
24
V2I
24
GN
D2
GN
D2
1 2 3 4 5 6 7 8 4 mm (AWG10)
24V
GND
24V
GND
4
21
35
0 1 2
1
X1
X20
2
PE
L1
L1
L2
L2
L3
L3 PE
L3
L2
L1
PE
L3
L2
L1
PE
2
2.5 mm (AWG12)2
X11
+
MFZ36
MFZ37
MFZ38
MFO21 MFO22
1 x 24 VDC
[1]
12345
CAN_SHLDCAN_V+CAN_GNDCAN_HCAN_L
X11
1411739147
0 = Potential level 0 1 = Potential level 1 2 = Potential level 2
[1] Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 CAN_GND Input CANopen reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 CAN_SHLD Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 CAN_V+ Input CANopen voltage supply 24 V
6-10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15 V2I24 Input 24 V voltage supply for actuators (digital outputs)
16 V2I24 Output 24 V voltage supply for actuators (digital outputs) jumpered with terminal X20/15
17 GND2 - 0V24 reference potential for actuators
18 GND2 - 0V24 reference potential for actuators
62 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection via CANopen Electrical Installation
MFZ36, MFZ37, MFZ38 connection modules with MFO32 fieldbus interface
1
19
2
20
3
21
4
22
5
23
6
24
7
25
8
26
9
27
10
28
11
29
12
30
13
31
14
32
15
33
16
34
17
35
18
36
24V
24V
GN
D
GN
D
res.
res.
res.
res.
1 2 3 4 5 6 7 8
PE L1
L1
L2
L2 L3 L3
PE
L3
L2
L1
PE
L3
L2
L1
PE
4 mm (AWG10)
24V
GND
24V
GND
4
21
35
0 1
1
2
2.5 mm (AWG12)2
X1
X20
X11
+
MFZ36
MFZ37
MFZ38
MFO32
1 x 24 VDC
[1]
12345
CAN_SHLDCAN_V+CAN_GNDCAN_HCAN_L
X11
1411868811
0 = Potential level 0 1 = Potential level 1
[1] Assignment of terminals 19 – 36 as described in chapter "Connection of MF../MQ.. fieldbus interface inputs/outputs (I/O)" (see page 63).
Terminal assignment
No. Name Direction Function
X20 1 CAN_GND Input CANopen reference potential 0V24
2 CAN_L Input/output CAN_L data line
3 CAN_SHLD Input Equipotential bonding
4 CAN_H Input/output CAN_H data line
5 CAN_V+ Input CANopen voltage supply 24 V
6-10 - - Reserved
11 24 V Input 24 V voltage supply for module electronics and sensors
12 24 V Output 24 V voltage supply (jumpered with terminal X20/11)
13 GND - 0V24 reference potential for module electronics and sensors
14 GND - 0V24 reference potential for module electronics and sensors
15-18 - - Reserved
Manual – DeviceNet/CANopen Interfaces, Field Distributors 63
6 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfacesElectrical Installation
6.5 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfacesThe power supply to the fieldbus interfaces is connected via terminals or M12 plug con-nectors.
6.5.1 Fieldbus interface connection via terminalsFieldbus interfaces with 4 digital inputs and 2 digital outputs:
MFZ.1MFZ.6MFZ.7MFZ.8
in combination withMF.21MF.22MF.23
MQ.21MQ.22
1141534475
[1] Only MFI23: Reserved, all other MF.. modules: V2I24
1 = Potential level 12 = Potential level 2
No. Name Direction Function
X20 19 DI0 Input Control signal of sensor 11)
1) Used in conjunction with field distributors MFZ26J and MFZ28J for maintenance switch feedback signal(NO contact). Evaluation via control is possible.
20 GND - 0V24 reference potential for sensor 1
21 V024 Output 24 V voltage supply for sensor 11)
22 DI1 Input Control signal of sensor 2
23 GND - 0V24 reference potential for sensor 2
24 V024 Output 24 V voltage supply for sensor 2
25 DI2 Input Control signal of sensor 3
26 GND - 0V24 reference potential for sensor 3
27 V024 Output 24 V voltage supply for sensor 3
28 DI3 Input Control signal of sensor 4
29 GND - 0V24 reference potential for sensor 4
30 V024 Output 24 V voltage supply for sensor 4
31 DO0 Output Control signal of actuator 1
32 GND2 - 0V24 reference potential for actuator 1
33 DO1 Output Control signal of actuator 2
34 GND2 - 0V24 reference potential for actuator 2
35 V2I24 Input24 V voltage supply for actuatorsOnly for MFI23: Reserved; only with MFZ.6, MFZ.7 and MFZ.8: Jum-pered with terminal 15 or 16
36 GND2 - 0V24 reference potential for actuatorsOnly for MFZ.6, MFZ.7 and MFZ.8: Jumpered with terminal 17 or 18
19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
DI 0
GN
D
VO
24
DI 1
GN
D
VO
24
DI 2
GN
D
VO
24
DI 3
GN
D
VO
24
DO
0
GN
D2
DO
1
GN
D2
GN
D2
1 2X20
V2I
24[1
]
64 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfaces Electrical Installation
Fieldbus interfaces with 6 digital inputs:
MFZ.1MFZ.6MFZ.7MFZ.8
in combination with MF.32 MF.33
MQ.32
1141764875
1 = Potential level 1
No. Name Direction Function
X20 19 DI0 Input Control signal of sensor 11)
1) Used in conjunction with field distributors MFZ26J and MFZ28J for maintenance switch feedback signal(NO contact). Evaluation via control is possible.
20 GND - 0V24 reference potential for sensor 1
21 V024 Output 24 V voltage supply for sensor 11)
22 DI1 Input Control signal of sensor 2
23 GND - 0V24 reference potential for sensor 2
24 V024 Output 24 V voltage supply for sensor 2
25 DI2 Input Control signal of sensor 3
26 GND - 0V24 reference potential for sensor 3
27 V024 Output 24 V voltage supply for sensor 3
28 DI3 Input Control signal of sensor 4
29 GND - 0V24 reference potential for sensor 4
30 V024 Output 24 V voltage supply for sensor 4
31 DI4 Input Control signal of sensor 5
32 GND - 0V24 reference potential for sensor 5
33 DI5 Input Control signal of sensor 6
34 GND - 0V24 reference potential for sensor 6
35 res. - Reserved
36 GND - 0V24 reference potential for sensors
19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
DI 0
GN
D
VO
24
DI 1
GN
D
VO
24
DI 2
GN
D
VO
24
DI 3
GN
D
VO
24
DI 4
GN
D
DI 5
GN
D
res.
GN
D
1X20
Manual – DeviceNet/CANopen Interfaces, Field Distributors 65
6 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfacesElectrical Installation
6.5.2 Fieldbus interface connection via M12 plug connectorsMF.22, MQ.22, MF.23 fieldbus interfaces with 4 digital inputs and 2 digital outputs:
• Connect sensors/actuators using either M12 sockets or terminals.
• When using outputs: Connect 24 V to V2I24 / GND2
• Connect dual-channel sensors/actuators to DI0, DI2 and DO0. DI1, DI3 and DO1 canno longer be used.
1141778443
[1] Do not use DI0 in combination with field distributors MFZ26J and MFZ28J.
DIO
DI1
GND
GND
DI1
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
DI0
DI2
DI3
GND
GND
DI3
24 V(V024)
24 V (V024)
DI3
1 2
3
5
4
1 2
3
54
DI2[1]
DO0
DO1
GND2
GND2
DO1
DO1
1 2
3
5
4
1 2
3
54
DO0
TIPConnections that are not in use must be covered with M12 closing caps to guaranteeenclosure IP65.
66 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfaces Electrical Installation
MF.22H fieldbus interface:
• Connect sensors/actuators using either M12 sockets or terminals
• When using outputs: Connect 24 V to V2I24 / GND2
• The following sensors/actuators can be connected:
– 4 single-channel sensors and 2 single-channel actuators or 4 dual-channelsensors and 2 dual-channel actuators.
– The second channel is not connected when dual-channel sensors/actuators areused.
1141792779
[1] Do not use DI0 in combination with field distributors MFZ26J and MFZ28J.
DIO
DI1
GND
GND
n.c.
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
DI0
DI2
DI3
GND
GND
24 V(V024)
24 V (V024)
DI3
1 2
3
5
4
1 2
3
54
DI2[1]
DO0
DO1
GND2
GND2DO1
1 2
3
5
4
1 2
3
54
DO0
n.c. n.c.
TIPConnections that are not in use must be covered with M12 closing caps to guaranteeenclosure IP65.
Manual – DeviceNet/CANopen Interfaces, Field Distributors 67
6 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfacesElectrical Installation
MF.32, MQ.32, MF.33 fieldbus interfaces with 6 digital inputs:
• Connect sensors using either M12 sockets or terminals.
• Connect dual-channel sensors to DI0, DI2 and DI4. DI1, DI3 and DI5 can no longerbe used.
1141961739
[1] Do not use DI0 in combination with field distributors MFZ26J and MFZ28J.
DIO
DI1
GND
GND
DI1
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
DI0
DI2
DI3
GND
GND
DI3
24 V(V024)
24 V (V024)
DI3
1 2
3
5
4
1 2
3
54
DI2[1]
DI4
DI5
GND
GND
DI5
DI5
1 2
3
5
4
1 2
3
54
24 V(V024)
24 V (V024)
DI4
68 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection of inputs/outputs (I/O) of MF.. / MQ.. fieldbus interfaces Electrical Installation
MF.32H fieldbus interface
• Connect sensors using either M12 sockets or terminals.
• The following sensors can be connected:
– 6 single-channel sensors or 6 dual-channel sensors.
– The second channel is not connected when dual-channel sensors are used.
1142016651
[1] Do not use DI0 in combination with field distributors MFZ26J and MFZ28J.
DIO
DI1
GND
GND
n.c.
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
DI0
DI2
DI3
GND
GND
24 V(V024)
24 V (V024)
DI3
1 2
3
5
4
1 2
3
54
DI2[1]
DI4
DI5
GND
GNDDI5
1 2
3
5
4
1 2
3
54
24 V(V024)
24 V (V024)
DI4
n.c. n.c.
TIPConnections that are not in use must be covered with M12 closing caps to guaranteeenclosure IP65.
Manual – DeviceNet/CANopen Interfaces, Field Distributors 69
6 NV26 proximity sensor connectionElectrical Installation
6.6 NV26 proximity sensor connection6.6.1 Characteristics
The NV26 proximity sensor offers the following features:
• 6 pulses / revolution
• 24 increments/revolution with 4-fold evaluation
• Encoder monitoring and evaluation is possible with MQ.. fieldbus interface
• Signal level: HTL
For constructive reasons, the angle between the sensors is 45°.
6.6.2 Connection
• Use a shielded M12 cable to connect the NV26 proximity sensor to the DI0 and DI1inputs of the MQ.. fieldbus interface.
• The current position can be checked by reading IPOS variable H511 (ActPosMot).
• SEW-EURODRIVE recommends activating the encoder monitoring function usingparameter "P504 Encoder monitoring motor".
1146134539
1146334603
MQ..MOVIMOT®
NV26
70 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 NV26 proximity sensor connection Electrical Installation
6.6.3 Wiring diagram
The following figure shows the pin assignment of NV25 sensors to the MQ.. fieldbus in-terface:
6.6.4 Encoder evaluationThe inputs of the MQ.. fieldbus interface are filtered with 4 ms according to the factorysetting. The terminal assignment "MQX ENCODER IN" switches this filter off for sensorevaluation.
3 PNP
1
2 4
NV26
B
(GND)
(A / B)
(U )
3 PNP
1
2 4
NV26
B
(GND)
(A / B)
(U )
PIN1
PIN3
PIN4
PIN1
PIN3
PIN4
24 V (PIN1)
GND (PIN3)
DI0 (PIN4)
MQ..
DIO
DI1
GND
GND
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
24 V (PIN1)
GND (PIN3)
DI1 (PIN4)
DI0
[2]
[1]
[2]
[1]
1221377803
[1][2]
Encoder input track A or track BShielding
1146357259
TIPFor more information, refer to the "IPOSplus positioning and sequence control" manual,section "IPOS for MQX", under "Proximity sensor evaluation".
Manual – DeviceNet/CANopen Interfaces, Field Distributors 71
6 Connection of ES16 incremental encoderElectrical Installation
6.7 Connection of ES16 incremental encoder6.7.1 Characteristics
The ES16 incremental encoder offers the following features:
• 6 pulses / revolution
• 24 increments/revolution with 4-fold evaluation
• Encoder monitoring and evaluation is possible with MQ.. fieldbus interface
• Signal level: HTL
6.7.2 Installation in combination with MQ.. fieldbus interface
• Connect the ES16 incremental encoder to the inputs of the MQ.. fieldbus interfaceusing a shielded M12 cable, see section "Wiring diagram" (see page 72).
• The current position can be checked by reading IPOS variable H511 (ActPosMot).
• SEW-EURODRIVE recommends activating the encoder monitoring function usingparameter "P504 Encoder monitoring motor".
1146498187
1146714123
MQ..
ES16
MOVIMOT®
72 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection of ES16 incremental encoder Electrical Installation
6.7.3 Wiring diagram
6.7.4 Encoder evaluationThe inputs of the MQ.. fieldbus interface are filtered with 4 ms according to the factorysetting. The terminal assignment "MQX ENCODER IN" switches this filter off for sensorevaluation.
DI0 (PIN4)
DI1 (PIN2)
V024 (PIN1)
GND (PIN3)
A (K1)
( )B (K2)
( )C (K0)
( )UB
A K1
B K2
C K0
ES16
UB K1 K2 K0 K1 K2 K0
UB A B C A B C
MQ..
DIO
DI1
GND
GND
DI1
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
DI0
1146738827
TIPDo not assign the input socket DI1 more than once.
1146357259
TIPFor more information, refer to the "IPOSplus positioning and sequence control" manual,section "IPOS for MQX", under "Proximity sensor evaluation".
Manual – DeviceNet/CANopen Interfaces, Field Distributors 73
6 Connection of EI76 incremental encoderElectrical Installation
6.8 Connection of EI76 incremental encoder6.8.1 Characteristics
The EI76 incremental encoder is equipped with Hall probes. It has the following charac-teristics:
• 6 pulses / revolution
• 24 increments/revolution with 4-fold evaluation
• Encoder monitoring and evaluation is possible with MQ.. fieldbus interface
• Signal level: HTL
6.8.2 Fieldbus interface connectionIf the MOVIMOT® inverter is mounted to the motor, the built-in EI76 encoder is con-nected internally to a M12 connector on the connection box of the drive.
• Connect this M12 connection via an M12 cable with the input socket of the MQ.. field-bus interface (see chapter "Wiring diagram for mounting the inverter to the motor"(see page 74)).
• The current position can be checked by reading IPOS variable H511 (ActPosMot).
• SEW-EURODRIVE recommends to activate the encoder monitoring function usingparameter "P504 Encoder monitoring motor".
1197876747
1219341195
MQ..
EI76
MOVIMOT®
74 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection of EI76 incremental encoder Electrical Installation
6.8.3 Wiring diagram for mounting the inverter to the motor
If the MOVIMOT® inverter is mounted on the motor, the encoder is connected to theMQ.. fieldbus interface MQ.. via a shielded M12 cable plugged in on both ends.
There are 2 possible variants:
Variant 1: AVSE
Variant 2: AVRE
1512848651
1221242891
24 V (PIN1)
GND (PIN3)
DI0DI0 (PIN4)
DI1DI1 (PIN2)
MQ..
DIO
DI1
GND
GND
DI1
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
DI0
PIN1: +UB
PIN2:
GNDPIN3:
A (cos)PIN4:
B (sin)
EI76
4
21
3
24 V (PIN1)
GND (PIN3)
DI0DI0 (PIN4)
DI1DI1 (PIN2)
PIN1: +UB
PIN2: GND
PIN3: A (cos)
PIN4: A (cos)
PIN5: B (sin)
PIN6: B (sin)
EI76
12
7
86
5 4
3
MQ..
DIO
DI1
GND
GND
DI1
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
DI0
Manual – DeviceNet/CANopen Interfaces, Field Distributors 75
6 Connection of EI76 incremental encoderElectrical Installation
6.8.4 Wiring diagram for mounting the inverter on the field distributorIf the MOVIMOT® inverter is mounted to the field distributor (mounting close to the mo-tor), the shielded cable is connected to the terminals in the connection box of the driveand plugged into the input socket of the MQ.. fieldbus interface.
TIPDo not assign the input socket DI1 more than once.
24 V (PIN1)
GND (PIN3)
DI0DI0 (PIN4)
DI1DI1 (PIN2)
PIN5: +UB
PIN6: GND
PIN7: A (cos)
PIN8: A (cos)
PIN9: B (sin)
PIN10: B (sin)
EI76
MQ..
DIO
DI1
GND
GND
DI1
24 V(V024)
24 V (V024)
DI1
1 2
3
5
4
1 2
3
54
10987654321
1 10
DI0
1244530187
TIPDo not assign the input socket DI1 more than once.
76 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Connection of EI76 incremental encoder Electrical Installation
6.8.5 Encoder evaluation
The inputs of the MQ.. fieldbus interface are filtered with 4 ms according to the factorysetting. The terminal assignment "MQX ENCODER IN" switches this filter off for sensorevaluation.
1146357259
TIPFor more information, refer to the "IPOSplus positioning and sequence control" manual,section "IPOS for MQX", especially in chapter "Proximity sensor evaluation".
Manual – DeviceNet/CANopen Interfaces, Field Distributors 77
6 Hybrid cable connectionElectrical Installation
6.9 Hybrid cable connection6.9.1 Hybrid cable between MFZ.3. or MFZ.6. field distributor and MOVIMOT® (part number
0186 725 3)
Note the enabled direction of rotation
1146765835
Terminal assignment
MOVIMOT® terminal Wire color/hybrid cable designation
L1 Black/L1
L2 Black/L2
L3 Black/L3
24 V Red / 24 V
⊥ White/0 V
RS+ Orange/RS+
RS- Green/RS-
PE terminal Green/yellow + shield end
MFZ.6
+
MFZ.3
TIPCheck to see if requested direction of rotation has been enabled. For detailed informa-tion, refer to the "Startup" chapters in the "MOVIMOT® MM..D with DRS/DRE/DRPSeries AC Motor" operating instructions.
Both directions of rotation are enabled
Only CCW operation is enabled;Setpoint specifications for CW rotation result in standstill of drive
Only CW operation enabled;Preselected setpoints for CCW rota-tion result in standstill of drive
Drive is inhibited or is being brought to a standstill
24V
LR LR24V
LR24V
LR24V
78 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Hybrid cable connection Electrical Installation
6.9.2 Hybrid cable between MFZ.7. or MFZ.8. field distributor and AC motors (part number0 186 742 3)
1147265675
MFZ.7
+
MFZ.8
TIPThe outer shield of the cable must be attached to the housing of the motor terminal boxusing an EMC metal cable gland.
Terminal assignment
Motor terminal Wire color/hybrid cable designation
U1 Black/U1
V1 Black/V1
W1 Black/W1
4a Red/13
3a White/14
5a Blue/15
1a Black/1
2a Black/2
PE terminal Green/yellow + shield end (internal shield)
Manual – DeviceNet/CANopen Interfaces, Field Distributors 79
6 Keypad connectionElectrical Installation
6.10 Keypad connectionThe keypads MFG11A or DBG can be used for manual control. The DBG keypad offersadditional parameter setting, diagnostic and monitoring functions.
For information about functions and operation of the keypads, refer to chapter "Key-pads" (see page 143).
6.10.1 Connection of the MFG11A keypadThe MFG11A keypad is connected to any MFZ.. connection module instead of a fieldbusinterface.
1187159051
STOP
80 Manual – DeviceNet/CANopen Interfaces, Field Distributors
6 Keypad connection Electrical Installation
6.10.2 Connection of the DBG keypad
The DBG60B keypad is connected directly to the diagnostic interface of the MF../MQ..fieldbus interface. You can also connect the keypad via a 5 m extension cable (DKG60Boption).
1188441227
DKG60B DBG60B
MF../MQ..
Manual – DeviceNet/CANopen Interfaces, Field Distributors 81
6 PC connectionElectrical Installation
6.11 PC connectionThe diagnostic interface can be connected to a PC using one of the following options:
• USB11A with USB interface, part number 0 824 831 1 or
• UWS21B with serial interface RS-232, part number 1 820 456 2
Scope of delivery:
• Interface adapter
• Cable with RJ10 plug connector
• Interface cable USB (USB11A) or RS-232 (UWS21B)
1195112331
PC +
MOVITOOLS
RS-232 RJ10
MF../MQ..
UWS21B
RJ10USB
USB11A
82 Manual – DeviceNet/CANopen Interfaces, Field Distributors
7 Startup procedure Startup with DeviceNet (MFD + MQD)
7 Startup with DeviceNet (MFD + MQD)7.1 Startup procedure
TIPThis chapter describes the startup procedure for MOVIMOT® MM..D and C in Easymode. For information on the startup of MOVIMOT® MM..D in Expert mode, refer to the"MOVIMOT® MM..D with DRS/DRE/DRP Series AC Motors" operating instructions.
DANGERBefore removing/fitting the MOVIMOT® inverter, you must disconnect it from the supplysystem. Dangerous voltages may still be present for up to one minute after disconnec-tion from the power supply.
Severe or fatal injuries from electric shock.• Disconnect the MOVIMOT® inverter from the power supply and prevent it from
unintentional re-connection.• Then wait for at least 1 minute.
WARNINGThe surfaces of MOVIMOT® inverters and external options, e.g. braking resistors (es-pecially the heat sinks), can become very hot during operation.
Danger of burns.• Do not touch the MOVIMOT® drive and external options until they have cooled
down sufficiently.
TIPS• Switch off the DC 24 V supply before removing/mounting the fieldbus interface
(MFD/MQD).• The DeviceNet bus connection is permanently secured using the connection
technology described in chapter "Connection with DeviceNet" (see page 45), so that DeviceNet operation can continue even after removal of the fieldbus interface.
• In addition, observe the notes in section "Supplementary Field Distributor Startup Information" (see page 136).
TIPS• Remove paint protection cap from the status LED before startup.• Remove paint protection film from the nameplates before startup.• Check that all protective covers are installed correctly.• Observe a minimum switch-off time of 2 seconds for the mains contactor K11.
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 83
7 Startup procedureStartup with DeviceNet (MFD + MQD)
1. Check for correct wiring of the MOVIMOT® inverter and the DeviceNet interface(MFZ31, MFZ33, MFZ36, MFZ37 or MFZ38).
2. Set DIP switch S1/1 of the MOVIMOT® inverter (see corresponding MOVIMOT®
operating instructions) to "ON" (= address 1).
3. Unscrew the screw plug above the setpoint potentiometer f1 on the MOVIMOT®
inverter.
4. Set the maximum speed using setpoint potentiometer f1.
5. Make sure the screw plug of the setpoint potentiometer has a seal and screw it in.
6. Set minimum frequency fmin with switch f2.
1158400267
1158517259
[1] Potentiometer setting
1
ON
6 7 854321
ON
2
1 2 3 4 5 6 7 8 9 100
100f [Hz
[1]
]
2
75
25
50
65f1
TIP• The enclosure specified in section Technical Data only applies if the screw plugs of
the setpoint potentiometer and the X50 diagnostic interface are installed correctly. • A missing or incorrectly installed screw plug can cause damage to the MOVIMOT®
inverter.
Function Setting
Detent setting 0 1 2 3 4 5 6 7 8 9 10
Minimum frequency fmin [Hz]
2 5 7 10 12 15 20 25 30 35 40
34
56
78
00
I
84 Manual – DeviceNet/CANopen Interfaces, Field Distributors
7 Startup procedure Startup with DeviceNet (MFD + MQD)
7. If the ramp time is not specified via fieldbus (2 PD), set the ramp time at switch t1 ofthe MOVIMOT® inverter. The ramp times are based on a setpoint step change of50 Hz.
8. Check to see if requested direction of rotation has been enabled on MOVIMOT®.
9. Set the DeviceNet address at the MFD/MQD interface.
10.Connect the DeviceNet cables.
Next, the LED test is performed. After the test, the "Mod/Net" LED must flash green andthe "SYS-F" LED go out. The "SYS-F" LED at the MQD interface goes out only if anIPOS program is running (delivery state).
Function Setting
Detent setting 0 1 2 3 4 5 6 7 8 9 10
Ramp time t1 [s] 0.1 0.2 0.3 0.5 0.7 1 2 3 5 7 10
Terminal R Terminal L Meaning
Activated Activated • Both directions of rotation are enabled
Activated Activated • Only CW operation enabled• Preselected setpoints for CCW rotation result in standstill of
drive
Not activated Activated • Only CCW operation enabled• Preselected setpoints for CW rotation result in standstill of
drive
Not activated Not activated • Unit is blocked or drive brought to a stop
34
56
78
24V
R L
24V
R L
24V
R L
24V
R L
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 85
7 DeviceNet address (MAC-ID), setting the baud rateStartup with DeviceNet (MFD + MQD)
7.2 DeviceNet address (MAC-ID), setting the baud rateThe baud rate is set using DIP switches S1/1 and S1/2. The DeviceNet address (MAC-ID) is carried out with DIP switches S1/3 to S1/8. The following illustration shows an ex-ample for setting the address and baud rate:
7.2.1 Determining the DIP switch setting for any addressThe following table uses address 9 as example to show how to determine the DIP switchsettings for any bus address.
7.2.2 Set the baud rateThe following table shows how to set the baud rate using DIP switches S1/1 and S1/2:
1419836939
[1] Address (MAC-ID) (Set: address 9) Factory setting: address 63
Valid addresses: 0 to 63
[2] Baud rate Factory setting: 500 kBaud
1ON
67
54
32
8
S1
[1]
2 x 0 = 0
2 x 0 = 0
5
4
2 x 1 = 8
2 x 0 = 0
2 x 0 = 0
2 x 1 = 1
3
2
1
0
2 x 1 = 2
2 x 0 = 0
1
0
9
2[2]
Calculation Remainder DIP switch setting Significance
9/2 = 4 1 DIP S1/3 =ON 1
4/2 = 2 0 DIP S1/4 = OFF 2
2/2 = 1 0 DIP S1/5 = OFF 4
1/2 = 0 1 DIP S1/6 =ON 8
0/2 = 0 0 DIP S1/7 = OFF 16
0/2 = 0 0 DIP S1/8 = OFF 32
Baud rate Value DIP S1/1 DIPS1/2
125 kBaud 0 OFF OFF
250 kBaud 1 ON OFF
500 kBaud 2 OFF ON
(Reserved) 3 ON ON
TIPSIf an incorrect baud rate was set (PIO LED flashes red), the unit remains in the initial-ization state until a valid setting has been made for the DIP switch (only for MQD).
00
I
86 Manual – DeviceNet/CANopen Interfaces, Field Distributors
7 Process data length and I/O enable (only for MFD) Startup with DeviceNet (MFD + MQD)
7.3 Process data length and I/O enable (only for MFD)The process data length is set using DIP switches S2/1 and S2/2. The I/Os are enabledusing DIP switch S2/3.
The following table shows how to enable the I/Os using DIP switch S2/3.
The following table shows how to set the process data length using DIP switches S2/1 and S2/2.
1420646539
[1] Reserved, (position OFF)[2] I/O enable
Factory setting: Enable[3] Process data length
Factory setting: 3 PD
I/O Value DIP S2/3
Disabled 0 OFF
Enabled 1 ON
Process data length Value DIP S2/1 DIP S2/2
0 PD 0 OFF OFF
1 PD 1 ON OFF
2 PD 2 OFF ON
3 PD 3 ON ON
[1]
[3]
[2]
1ON
67
54
32
8
S2
1 = Enab
2 x 1 = 2
2 x 1 = 1
1
01ON
67
54
32
8
S2
1 = Enable
2 x 1 = 2
2 x 1 = 13 =
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 87
7 Setting the process data length (only for MQD)Startup with DeviceNet (MFD + MQD)
7.4 Setting the process data length (only for MQD)The process data length is set with DIP switches S2/1 to S2/4.
The following table shows how to set the process data length using DIP switches S2/1to S2/4:
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[1] Reserved, (position OFF)[2] Process data length
Factory setting: 4 PD
Process data length DIP S2/4PD3
DIP S2/3PD2
DIP S2/2PD1
DIP S2/1PD0
Reserved OFF OFF OFF OFF
1 OFF OFF OFF ON
2 OFF OFF ON OFF
3 OFF OFF ON ON
4 OFF ON OFF OFF
5 OFF ON OFF ON
6 OFF ON ON OFF
7 OFF ON ON ON
8 ON OFF OFF OFF
9 ON OFF OFF ON
10 ON OFF ON OFF
Reserved All other switch settings
[1]
PD3
PD2
PD1
PD01ON
67
54
32
8
S2
ON
67
58
S2
[2]
2 x 0 = 03
2 x 1 = 42
2 x 0 = 01
2 x 0 = 00
4
TIPSIf an incorrect process data length was set (BIO flashes red), the unit remains in theinitialization state until a valid setting has been made for the DIP switch.
00
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7 Configuration (project planning) for DeviceNet master Startup with DeviceNet (MFD + MQD)
7.5 Configuration (project planning) for DeviceNet masterYou will need the corresponding "EDS files" for configuration of the DeviceNet master.The "EDS files" are available in the Internet at http://www.sew-eurodrive.de. The filesare installed using the configuration software (RSNetWorx). The exact installation pro-cedure is described in the manuals of the corresponding configuration software.
7.5.1 Configuring (project planning) the MFD/MQD DeviceNet interface
After downloading the configuration to the DeviceNet scanner (master), the green "Mod/Net" LED on the MFD/MQD interface indicates that a connection to the master has beenestablished. The "PIO" and "BIO" LED indicate that the relevant process data connec-tions have been established.
1. Install the EDS file using the project plan-ning software (RSNetWorx). The slave sta-tion can then be found in the "SEW-Euro-drive Profile" folder under one of the follow-ing names:– SEW-MOVIMOT-MFD2x– SEW-MOVIMOT-MFD3x– SEW Gateway MQD2x– SEW Gateway MQD3x
2. Create a new project or open an existingproject and load all network components byclicking "Start Online Build".
3. To configure the MFD/MQD interface, dou-ble-click the icon. You can then read the pa-rameters of the component.
4. To access the interface via the controller, amemory area for data exchange must beprovided for the interface. One way of doingthis is using RSNetWorx, for example. Thedocumentation accompanying your configu-ration software contains detailed informa-tion.
5. Set the process data length and the I/Osusing the configuration software.
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7 Network startup using RSNetWorxStartup with DeviceNet (MFD + MQD)
7.6 Network startup using RSNetWorxThe following illustration shows the RSNetWorx network manager.
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7 Network startup using RSNetWorx Startup with DeviceNet (MFD + MQD)
7.6.1 Adjusting parameters using RSNetWorx
The RSNetWorx network manager allows for scanning of connected units. Double-click-ing the icon of the connected device (e.g. MQD2x) opens a diagnostics window that al-lows for monitoring important fieldbus parameters and process data words. The set pro-cess data length can be viewed in parameter 13.
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7 Network startup using RSNetWorxStartup with DeviceNet (MFD + MQD)
7.6.2 Starting the scanner
Next, the scanner must be started up and the scan list (see illustration below) must begenerated.
Double-click on the scanner to open the startup window.
Add the SEW fieldbus interface (e.g. SEW Gateway MQD2x) to the scan list in the Scan-list tab.
Double-click the device in the scan list to set its PD length.
The I/O parameter window opens.
Set the process data length for the "Polled I/O" and "Bit strobe I/O" connection. Note thatthe PD length of the unit is specified in Bytes. This is why it must be multiplied by 2.
Example: 10 PD requires a setting of 20 bytes.
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7 Network startup using RSNetWorx Startup with DeviceNet (MFD + MQD)
7.6.3 Setting the process data length
In the "Input" and "Output" tabs, the input/output data must be allocated to the PLCmemory area. The allocation can be carried out using the discrete I/O memory area orthe M-files (see the description of the PLC).
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 93
8 Process data and sensor/actuator processing (Polled I/O = PIO)Function of the MFD DeviceNet Interface
8 Function of the MFD DeviceNet Interface8.1 Process data and sensor/actuator processing (Polled I/O = PIO)
The MFD DeviceNet interface not only makes it possible to control MOVIMOT® AC mo-tors but also permits connection of sensors/actuators to digital input terminals and digitaloutput terminals. An additional I/O byte is added to the DeviceNet protocol following theprocess data for MOVIMOT®. The extra digital inputs and outputs of the MFD aremapped in this I/O byte.
The coding of the process data takes place according to the uniform MOVILINK® profilefor SEW drive inverters (see section "MOVILINK® unit profile" (see page 153).
1149187595
PO Process output data PI Process input data
PO1 PO2 PO3 DO
Control word Speed [%]RampDigital outputs
PI1 PI2 PI3 DI
status word 1Output currentstatus word 2Digital inputs
MOVIMOT + MF..®
PO1 PO2 PO3
Master
PI1 PI2 PI3
PO
PI
DO
DI
-+
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8 Structure of the input/output byte (MFD21/22) Function of the MFD DeviceNet Interface
8.2 Structure of the input/output byte (MFD21/22)
8.3 Structure of the input/output byte (MFD32)
Reserved, value = 0
Output terminal DO 1
Output terminal DO 0
7 6 5 4 3 2 1 0
Fieldbus master
Byte: Digital outputsMFD21/22
Byte: Digital inputs
7 6 5 4 3 2 1 0
Input terminal DI 0
Input terminal DI 1
Input terminal DI 2
Input terminal DI 3
Reserved, value = 0
Fieldbus master Byte: Digital inputs
MFD32
7 6 5 4 3 2 1 0
Input terminal DI 0
Input terminal DI 1
Input terminal DI 2
Input terminal DI 3
Input terminal DI 4
Input terminal DI 5
Reserved, value = 0
Manual – DeviceNet/CANopen Interfaces, Field Distributors 95
8 Broadcast process data processing using bit-strobe I/O (BIO)Function of the MFD DeviceNet Interface
8.4 Broadcast process data processing using bit-strobe I/O (BIO)Bit-strobe I/O messages are not contained in the SEW fieldbus profile. The messagesrepresent a DeviceNet-specific process data exchange.
The master sends a broadcast message. This broadcast message contains 8 bytes =64 bits. One bit in this message is assigned to each station in accordance with its ad-dress. The value of this bit may be 0 or 1, triggering 2 different responses in the recipient.
8.4.1 Data area of the bit-strobe request telegramThe following table shows the data range of the bit-strobe request telegram. It containsthe station assignment (= station address) to the data bits.
Example: For example, the station with address (MAC-ID) 16 only processes bit 0 indata byte 2.
Bit value Meaning BIO LED
0 Sends back process input data only Green
1 Sets process output data to 0 andsends process input data
Green
TIPA 0-ramp is set if the process output data is set to 0 using a bit-strobe telegram.
Byte offset 7 6 5 4 3 2 1 0
0 ID 7 ID 6 ID 5 ID 4 ID 3 ID 2 ID 1 ID 0
1 ID 15 ID 14 ID 13 ID 12 ID 11 ID 10 ID 9 ID 8
2 ID 23 ID 22 ID 21 ID 20 ID 19 ID 18 ID 17 ID 16
3 ID 31 ID 30 ID 29 ID 28 ID 27 ID 26 ID 25 ID 24
4 ID 39 ID 38 ID 37 ID 36 ID 35 ID 34 ID 33 ID 32
5 ID 47 ID 46 ID 45 ID 44 ID 43 ID 42 ID 41 ID 40
6 ID 55 ID 54 ID 53 ID 52 ID 51 ID 50 ID 49 ID 48
7 ID 63 ID 62 ID 61 ID 60 ID 59 ID 58 ID 57 ID 56
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8 Broadcast process data processing using bit-strobe I/O (BIO) Function of the MFD DeviceNet Interface
8.4.2 Exchanging bit-strobe I/Os
Each station which has received this bit-strobe I/O message responds with its currentprocess input data and, if applicable, with the byte for the digital inputs. The length ofthe process input data corresponds to the process data length for the polled I/O connec-tion plus one byte for the digital inputs, if applicable. The length is set via DIP switches.
1423385611
[1] Bit 16 for unit with address 16
MOVIMOT + MFD®
PI1 PI2 PI3
BST
PI
DI
-+
1
[1]
Master
TIPThe set process data length influences the process data lengths of both the bit-strobeI/O and the polled I/O messages. This is why in the controller, the process data lengthsfor polled I/O and bit-strobe I/O must always be set identically.
Manual – DeviceNet/CANopen Interfaces, Field Distributors 97
8 Functions of the DIP switchesFunction of the MFD DeviceNet Interface
8.5 Functions of the DIP switches8.5.1 Baud rate and address (MAC-ID)
The baud rate and the address (MAC-ID) of the module can be set using DIP switchblock S1.
8.5.2 PD configurationThe PD configuration is set using DIP switch block S2 on the MFD.
1423449227
[1] Address (MAC-ID) [2] Baud rate
[1]
[2]1ON
67
54
32
8
S1
2
2
2
2
2
2
2
2
5
4
3
2
1
0
1
0
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[1] I/O enable[2] Process data length
1ON
67
54
32
8
S2
2
2
1
0
[1]
[2]
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8 Functions of the DIP switches Function of the MFD DeviceNet Interface
This produces the following PD configuration for the various variants of the MFD.
DIP switch set-ting
Supported MFD ver-sions
Description Process out-put data length in
bytes (output size)
Process input data length in
bytes (input size)
2 PD All MFD versions MOVIMOT® control via 2 process data words 4 4
3 PD All MFD versions MOVIMOT® control via 3 process data words 6 6
0 PD + DI/DO MFD21/22No MOVIMOT® control, processing ofdigital inputs and outputs only
1 1
2 PD + DI/DO MFD21/22MOVIMOT® control via 2 process data words andProcessing the digital inputs and outputs
5 5
3 PD + DI/DO MFD21/22MOVIMOT® control via 3 process data words andProcessing the digital inputs and outputs
7 7
0 PD + DI MFD32No MOVIMOT® control, processing ofdigital inputs only
0 1
2 PD + DI MFD32MOVIMOT® control via 2 process data words andprocessing of digital inputs.
4 5
3 PD + DI MFD32MOVIMOT® control via 3 process data words andprocessing of digital inputs.
6 7
Manual – DeviceNet/CANopen Interfaces, Field Distributors 99
8 Description of the LED displayFunction of the MFD DeviceNet Interface
8.6 Description of the LED displayThe MFD DeviceNet interface has 5 diagnostic LEDs:
• Mod/Net LED (green/red) for displaying the module and network status
• LED PIO (green/red) to display the status of the process data channel
• LED BIO (green/red) for displaying the status of the bit-strobe process data channel
• LED BUS-F (red) for displaying the bus status
• LED SYS-F (red) indicates MFD or MOVIMOT® system faults
8.6.1 Power-up testAll LEDs are tested once the unit has been switched on. The LEDs are switched on inthe following sequence:
The unit then checks whether another station with the same address has already beenconnected (DUP-MAC check). If another station with the same address is found, the unitswitches off and the LEDs "Mod/Net", "PIO" and "BIO" are lit permanently in red.
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MF
D D
evic
eNet
MF
D D
evic
eNet
TM
SYS-FSYS-F
BUS-FBUS-F
BIOBIO
PIOPIO
Mod/NetMod/Net
Time Mod/Net LED PIO LED BIO LED BUS-F LED SYS-F LED
0 ms Green Off Off Off Off
250 ms Red Off Off Off Off
500 ms Off Green Off Off Off
750 ms Off Red Off Off Off
1000 ms Off Off Green Off Off
1250 ms Off Off Red Off Off
1500 ms Off Off Off Red Off
1750 ms Off Off Off Off Red
2000 ms Off Off Off Off Off
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8 Description of the LED display Function of the MFD DeviceNet Interface
8.6.2 Mod/Net LED (green/red)
The range of functions of the "Mod/Net" LED (module/network status LED) is defined inthe DeviceNet specification. The following table describes this functionality:
Status LED Meaning Remedy
Not switched on/offline
Off • Unit is offline• Unit performs DUP MAC check• Unit is switched off
• Apply supply voltage via DeviceNet connector
Online and in operational mode
Flashes green(1 s cycle)
• DUP MAC check performed successfully
• A connection has not yet been established with a master
• Missing, incorrect or incomplete configuration
• The station must be included in the master's scan list and communication must be started in the master
Online, opera-tional mode and connected
Green • Online connection has been established with a master
• Connection is active (established state)
-
Minor fault or connection time-out
Flashes red (1 s cycle)
• Polled I/O or/and bit-strobe I/O connections are in timeout state
• A correctable fault has occurred in the unit or bus system
• Check the DeviceNet cable• Check the timeout response; if
a response with fault is set, reset the unit once the fault has been corrected.
Critical fault or critical link fail-ure
Red • A fault that cannot be remedied has occurred
• BusOff• DUP-MAC check has detected
a fault
• Check the DeviceNet cable• Check address (MAC ID) (does
another unit have the same address?)
Manual – DeviceNet/CANopen Interfaces, Field Distributors 101
8 Description of the LED displayFunction of the MFD DeviceNet Interface
8.6.3 PIO LED (green/red)
The PIO LED checks the polled I/O connection (process data channel). The functionalityis described in the following table:
Status LED Meaning
DUP-MAC check Flashes green (125 ms cycle)
• Unit is performing DUP-MAC check.
• If the station does not leave this state after approx. 2 s, no other station has been found
• At least one other DeviceNet station must be activated
Not switched on/Off-line but no DUP-MAC check
Off • Unit is offline• Unit is switched off
• This connection type has not been activated
• The connection must be switched on in the master
Online and in operational mode
Flashes green(1 s cycle)
• Unit is on-line• DUP MAC check performed
successfully• A PIO connection is being
established with a master (configuring state)
• Missing, incorrect or incomplete configuration
• The current station has been detected by the master, but a different unit type was expected
• Re-perform the configuration in the master
Online, opera-tional mode and connected
Green • online• A PIO connection has been
established (established state)
-
Minor fault or connection time-out
Flashes red (1 s cycle)
• A correctable fault has occurred• Polled I/O connection is in
timeout state
• Check the DeviceNet cable• Check the timeout response
(P831) if a response with fault is set, reset the unit once the fault has been corrected.
Critical fault or critical link fail-ure
Red • A fault that cannot be remedied has occurred
• BusOff• DUP-MAC check has detected
a fault
• Check the DeviceNet cable• Check address (MAC ID)
(does another unit have the same address?)
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8 Description of the LED display Function of the MFD DeviceNet Interface
8.6.4 BIO LED (green/red)
The BIO LED checks the bit-strobe I/O connection. The functionality is described in thefollowing table:
Status LED Meaning Remedy
DUP-MAC check Flashes green (125 ms cycle)
• Unit is performing DUP-MAC check
• If the station does not leave this state after approx. 2 s, no other station has been found.
• At least one other DeviceNet station must be activated.
Not switched on / offline but not DUP-MAC check
Off • Unit is offline• Unit is switched off
• This connection type has not been activated.
• The connection must be switched on in the master.
Online and in operational mode
Flashes green (1 s cycle)
• Unit is on-line• DUP-MAC check performed
successfully• A BIO connection is being
established with a master (configuring state)
• Missing, incorrect or incomplete configuration
• The current station has been detected by the master, but a different unit type was expected.
• Re-perform the configuration in the master
Online, opera-tional mode and connected
Green • online• A BIO connection has been
established (established state)
-
Minor fault or connection time-out
Flashes red (1 s cycle)
• A correctable fault has occurred
• Bit-strobe I/O connection is in timeout state
• Check the DeviceNet cable• Check the timeout response
(P831) if a response with fault is set, reset the unit once the fault has been corrected.
Critical fault or critical link failure
Red • A fault that cannot be remedied has occurred
• BusOff• DUP-MAC check has
detected a fault
• Check the DeviceNet cable• Check address (MAC ID)
(does another unit have the same address?)
Manual – DeviceNet/CANopen Interfaces, Field Distributors 103
8 Description of the LED displayFunction of the MFD DeviceNet Interface
8.6.5 BUS-F LED (red)
The BUS-F LED displays the physical state of the bus node. The functionality is de-scribed in the following table:
8.6.6 SYS-F LED (red)The SYS-F LED never has any function in PD configurations 0PD + DI/DO and 0PD +DI.
Status LED Meaning Remedy
Error-Active state Off • The number of bus errors is in the normal range.
-
Error-Passive state
Flashing red (125 ms cycle)
• The unit is performing a DUP-MAC check and cannot send any messages because no other stations are connected to the bus.
• Switch on at least one more station if no other stations are switched on
Error-Passive state
Flashes red (1 s cycle)
• The number of physical bus errors is too high
• No more error messages are actively written to the bus.
• Check the cables and the terminating resistors if this error occurs during ongoing communication
BusOff state Red • The number of physical bus errors has continued to grow despite the switch to the error passive state.
• Access to the bus is switched off.
• Check the wiring, terminating resistors, baud rate and addresses (MAC-ID)
LED Meaning Remedy
Off • Standard operating status of MFD and MOVIMOT®
-
Flashes 1x • MFD operating status OK, MOVIMOT® reports fault
• Evaluate the error number of MOVIMOT® status word 1 in the controller.
• Reset MOVIMOT® with programmable controller (reset bit in control word 1)
• Refer to the MOVIMOT® operating instructions for more information
Flashes 2x • MOVIMOT® is not reacting to setpoints from the DeviceNet master, because PD data are not enabled
• Check DIP switches S1/1 S1/4 on the MOVIMOT®.
• Set RS-485 address 1 to enable the PO data.
On • Communication link between MFD and MOVIMOT® is disrupted or interrupted.
• Check the electrical connection between MFD and MOVIMOT® (terminals RS+ and RS-)
• Maintenance switch on the field distributor is set to OFF
• Check setting of maintenance switch on field distributor
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8 Error states Function of the MFD DeviceNet Interface
8.7 Error states8.7.1 MFD system fault/ MOVIMOT® fault
The communications link between MFD and MOVIMOT® is interrupted if the MFD sig-nals a system fault ("SYS-F" LED steady light). This system fault is signaled to the PLCas error code 91 dec via the diagnostics channel and via the status words of the processinput data. Since this system fault generally calls attention to cabling problems ora missing 24 V supply of the MOVIMOT® inverter, a RESET via control word is notpossible! As soon as the communication link is reestablished, the fault automat-ically resets itself. Check the electrical connection of the MFD interface and theMOVIMOT® drive. In the event of a system fault, the process input data returns a fixedbit pattern as valid MOVIMOT® status information is no longer available. Consequently,only status word bit 5 (malfunction) and the fault code can be used for evaluation in thecontroller. All other information is invalid!
The input information of the digital inputs continues to be updated, and can, therefore,continue to be evaluated within the controller.
8.7.2 DeviceNet timeoutThe timeout is triggered by the DeviceNet option card. The timeout interval must be setby the master after the connection has been established. The DeviceNet specificationrefers to an "expected packet rate" rather than a timeout interval in this case. The ex-pected packet rate is calculated on the basis of the timeout interval using the followingformula:
The expected packet rate can be set using the connection object class (0x05), attribute0x09. The range of values runs from 5 ms to 65535 ms in 5 ms steps (0 ms = switchedoff).
8.7.3 DiagnosticsThe DeviceNet manager can be used for Allen-Bradley controllers or similar devices toperform bus diagnostics. A start online build is used to check whether all componentscan be reached using the bus.
Process input word Hex value Meaning
PI1: Status word 1 5B20hex Error code 91 (5Bhex), Bit 5 (malfunction) = 1 All other status information is invalid
PI2: Current actual value 0000hex Information is invalid
PI3: Status word 2 0020hex Bit 5 (malfunction) = 1All other status information is invalid
Input byte of digital inputs XXhex The input information of the digital inputs continues to be updated
tTimeout interval = 4 × tExpected_Packet_Rate
Manual – DeviceNet/CANopen Interfaces, Field Distributors 105
8 Error statesFunction of the MFD DeviceNet Interface
Double-clicking the MOVIMOT® MFD icon displays the fieldbus parameters of the inter-face.
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9 Function of the MQD DeviceNet Interface
9 Function of the MQD DeviceNet Interface
MQD DeviceNet modules with integrated controller make for a convenient fieldbus con-nection of MOVIMOT® drives.
In addition, they offer control functions that allow you to determine how the drive re-sponds to setpoints from outside the system via fieldbus or via the integrated I/Os. Thisfeature lets you process sensor signals directly at the fieldbus interface, for example,and allows you to define your own unit profile via fieldbus interface. Using a NV26, ES16or EI76 sensor makes for a simple positioning system that can be integrated in your ap-plication in combination with an MQD control program.
The control functions of the MQD modules are realized via IPOSplus®. The diagnosticsand programming interface (under the screw plug on the front) of the modules providesaccess to the integrated IPOS control. Option UWS21B or USB11A is used for connec-tion to a PC. The MOVITOOLS® Compiler is used for programming.
9.1 Default programThe MQD modules are supplied as standard with an IPOS program, which simulates thefunctionality of the MFD modules.
Set address 1 of the MOVIMOT® unit and observe the instructions for startup. The pro-cess data length is fixed at 4 words (consider for project planning/startup). The first 3words are exchanged transparently with MOVIMOT® and correspond to theMOVILINK® unit profile. The I/Os of the MQD modules are transmitted in the fourthword.
TIPFor more information on programming, refer to the IPOSplus® Positioning and Se-quence Control" manual.
1424764043
MOVIMOT®
PO1 PO2 PO3
-+
PI1 PI2 PI3
PO
PI
PO4
PI4
5 4 3 2 1 0
5 4 3 2 1 0
(DI5) (DI4) DI3 DI2 DI1 DI0
DO1 DO0
+ MQDMaster
Manual – DeviceNet/CANopen Interfaces, Field Distributors 107
9 ConfigurationFunction of the MQD DeviceNet Interface
9.1.1 Fault responses
An interruption of the connection between the MQD interface and the MOVIMOT® in-verter leads to shutdown after 1 s. The error is displayed via status word 1 (error 91).Since this system fault generally calls attention to cabling problems or a missing24 V supply of the MOVIMOT® inverter, a RESET via control word is not possible!As soon as the communication link is reestablished, the error automatically re-sets itself. An interruption of the connection between fieldbus master and MQD inter-face after expiration of the set fieldbus timeout interval sets the process output data forMOVIMOT® to 0. This fault response can be deactivated via parameter P831 inMOVITOOLS® Shell.
9.2 ConfigurationThe process data length must be specified at the MQD module via DIP switches to de-fine type and number of input and output data used for the transmission. You can controlthe MQD interface via process data and read or write all MQD parameters via the pa-rameter channel. The following figure shows a schematic view of the data exchange be-tween controller (Device Net scanner), DeviceNet interface MQD (DeviceNet slave) anda MOVIMOT® with process data channel and parameter channel.
1424877067
PARAMPD
Parameter data (explicit messages)Process data (polled I/O)
MOVIMOT®
MQD
DeviceNet
Scanner
PARAM PD
PARAM PD
PD
PD
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9 Control via DeviceNet with polled I/O Function of the MQD DeviceNet Interface
9.2.1 Process data configuration
Different process data configurations for data exchange between the MQD DeviceNetinterface and the DeviceNet scanner are possible. The following table provides informa-tion about all standard configurations. The "Process data configuration" column lists thedesignation of the configuration.
The desired process data configuration must be selected via DIP switches. In addition,the process data length must be entered in bytes in the configuration tool for the scanner(e.g. RSNetWorx).
The MQD interface processes this process data and, in the simplest case, sends the first3 process data words to the assigned MOVIMOT® drive.
The parameter channel is used to set the MQD interface parameters. It is executed viaexplicit messages.
The MQD interface accepts 1 to 10 process data words.
Data integrityYou will have to copy the values in the controller to a temporary area via copy block toexchange the data consistently.
9.3 Control via DeviceNet with polled I/OThe process output data sent by the DeviceNet scanner can be processed in the IPOSprogram of the MQD interface. The process input data sent to the DeviceNet scanner isspecified via the IPOS program of MQD.
The process data length can be freely adjusted from 1 to 10 words.
The process data is stored in the direct I/O area or can be addressed via M files in casea PLC is used as DeviceNet scanner.
9.4 Idle mode of DeviceNet interfaceIn idle mode, the process data is sent by the controller without contents. In this case, theprocess output data of the assigned MOVIMOT® are set to 0. This ensure that theMOVIMOT® drive is stopped when the MQD interface goes into idle mode.
Process DataConfiguration
Meaning / notes DIP switchesPosition (hex)
Length of polled I/O data in bytes
1 PD Control via one process data word 1 2
2 PD Control via 2 process data words 2 4
3 PD Control via 3 process data words 3 6
4 PD Control via 4 process data words 4 8
5 PD Control via 5 process data words 5 10
6 PD Control via 6 process data words 6 12
7 PD Control via 7 process data words 7 14
8 PD Control via 8 process data words 8 16
9 PD Control via 9 process data words 9 18
10 PD Control via 10 process data words 10 20
Manual – DeviceNet/CANopen Interfaces, Field Distributors 109
9 Status query via bit-strobe I/OFunction of the MQD DeviceNet Interface
9.5 Status query via bit-strobe I/OThe status of the MQD can be cyclically scanned via the bit strobe I/O. The length of theprocess input data for the bit strobe I/O is 2 bytes. The inverter status parameter (index8310) is mapped to the process input data word by the MQD interface.
To activate the bit-strobe I/O, the strobe data must be activated in the I/O configurationand the length two RX bytes must be set.
9.5.1 Activating the bit strobe I/O
The 2 bytes in the INPUT data must then be mapped into the PLC memory. This task iscarried out in the INPUT register of the scanner initialization window.
9.5.2 Bit strobe I/O mapping
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9 Parameter setting via DeviceNet Function of the MQD DeviceNet Interface
9.6 Parameter setting via DeviceNet9.6.1 MQD parameter setting via RSNetWorx
All parameters of the MQD interface can be addressed via the project planning softwareRSNetWorx.
The parameters are divided into several groups:
SEW parameter channel
The SEW parameter channel includes the following access mechanism:
Parameter setting procedure:1. Set and download the index to be read/written.
2. Set and download the sub-address of the devices.
3. Set or read the data to be written.
Group Meaning/function
SEW Parameter Channel Access to all parameters via index and address
Device parameter Direct access to the MQD parameters and the MOVIMOT® drive con-nected via RS-485
MQD parameters Direct access to the MQD parameters
PO monitor Direct access to the process output data monitor
PI monitor Direct access to the process input data monitor
No.
Group Parameter Meaning/function
1 SEW Parameter Channel
SEW parameter index
Index of the parameter used to read/write data
2 SEW parameter address
Address of the device from which the data are read/writ-ten Sub-address of MQD = 0
3 SEW-Read/Write Read/write data depending on the values for address and index set above
Manual – DeviceNet/CANopen Interfaces, Field Distributors 111
9 Parameter setting via DeviceNetFunction of the MQD DeviceNet Interface
Device parameters All parameters directly connected with communication can be read directly via RSNet-Worx. First, you set the address of the device from which the data is to be read (MQDsub-address = 0).
The parameters are listed in the following table. Parameters that can only be read aredesignated with R = Read-Only in the "No." column:
MQD parameters The parameters provided only for the MQD interface can be read with this group viaRSNetWorx.
The parameters are listed in the following table (parameters that can only be read aredesignated with R = Read-Only in the "No." column):
No. Group Name Comment
2 SEW param. address Address of the device from which the data are read/written (MQD sub-address = 0)
4R Device parameter Device identification Device identification
5R Device parameter Setpoint source Setpoint source
6R Device parameter Control source Control signal source
7R Device parameter Setp.descr.PO1 Process output data Assignment for PO1
8R Device parameter Setp.descr.PO2 Process output data Assignment for PO2
9R Device parameter Setp.descr.PO3 Process output data Assignment for PO3
10R Device parameter Act.v.descr. PI1 Process input dataAssignment for PI1
11R Device parameter Act.v.descr. PI2 Process input dataAssignment for PI2
12R Device parameter Act.v.descr. PI3 Process input dataAssignment for PI3
13R Device parameter PD configuration Process data configuration
No. Group Name Comment
14R MQD parameters Station address Unit address (MAC-ID)
15R MQD parameters Baud rate DeviceNet baud rate
16R MQD parameters Fieldbus type Fieldbus type
17R MQD parameters Timeout response Timeout response
112 Manual – DeviceNet/CANopen Interfaces, Field Distributors
9 Parameter setting via DeviceNet Function of the MQD DeviceNet Interface
PO monitor The process output data can be viewed using this group. First, you set the address ofthe device from which the data is to be read (MQD sub-address = 0).
The parameters are listed in the following table (parameters that can only be read aredesignated with R = Read-Only in the "No." column):
PI monitor The process input data can be viewed using this group. First, you set the address of thedevice from which the data is to be read (MQD sub-address = 0).
The parameters are listed in the following table (parameters that can only be read aredesignated with R = Read-Only in the "No." column):
No. Group Name Comment
2 SEW param. address Address of the device from which the data are read/written (MQD sub-address = 0)
19R PO monitor PO1 setpoint PO1 process data
20R PO monitor PO2 setpoint PO2 process data
21R PO monitor PO3 setpoint PO3 process data
22R PO monitor PO4 setpoint PO4 process data
23R PO monitor PO5 setpoint PO5 process data
24R PO monitor PO6 setpoint PO6 process data
25R PO monitor PO7 setpoint PO7 process data
26R PO monitor PO8 setpoint PO8 process data
27R PO monitor PO9 setpoint PO9 process data
28R PO monitor PO10 setpoint PO10 process data
No. Group Name Comment
2 SEW param. address Address of the device from which the data are read/written (MQD sub-address = 0)
29R PI monitor PI1 setpoint PI1 process data
30R PI monitor PI2 setpoint PI2 process data
31R PI monitor PI3 setpoint PI3 process data
32R PI monitor PI4 setpoint PI4 process data
33R PI monitor PI5 setpoint PI5 process data
34R PI monitor PI6 setpoint PI6 process data
35R PI monitor PI7 setpoint PI7 process data
36R PI monitor PI8 setpoint PI8 process data
37R PI monitor PI9 setpoint PI9 process data
38R PI monitor PI10 setpoint PI10 process data
Manual – DeviceNet/CANopen Interfaces, Field Distributors 113
9 Duplicate MAC-ID detectionFunction of the MQD DeviceNet Interface
9.6.2 Exchanging explicit messages (parameter data) via register object
You can access all MQD parameters using a register object. For this purpose, an explicitmessage with the following structure must be transmitted:
In this example (see table above), the parameter with the index 2070h = 8304 receivesthe value 9 = control word 1 from the MQD interface (address 0p).
9.7 Duplicate MAC-ID detectionA "Duplicate MAC-ID Check" is performed to ensure that all DeviceNet-compliant sta-tions connected to the bus feature a different address.
This test is performed after power up and indicated via LEDs.
ByteOffset
0 1 2 3 4 5 6 7 8 9 10 11
Function MAC ID
Ser-vice
Class Instance
Attributes
Index Data Sub-address
Signifi-cance
Low High LSB MSB
Example 01h 10h 07h 02h 04h 70h 20h 09h 00h 00h 00h 00h
Service Coding Meaning
Get_Attribut_Single 0x0E Read attribute
Set_Attribut_Single 0x10 Write attribute
114 Manual – DeviceNet/CANopen Interfaces, Field Distributors
9 Return codes for parameter setting Function of the MQD DeviceNet Interface
9.8 Return codes for parameter settingIf parameters are incorrectly adjusted, the MQD interface returns various return codesto the parameter setting master providing detailed information about the cause of the er-ror.
These return codes are valid for all MQD communication interfaces
Error codeThe error code classifies the errors in different classes predetermined by the DeviceNetspecification. Error code 1F designates the class of manufacturer-specific error codes.
Additional codeThe additional code contains SEW-specific return codes for incorrect parameter settingof the MQD interface. They are returned to the master under Error Code 1F = "Manufac-turer-specific error".
9.8.1 Error code: 1F = "Manufacturer-specific error"The following table shows all possible codings for the additional code.
Additional code low (hex)
Meaning
00 No error
10 Illegal parameter index
11 Function/parameter not implemented
12 Read access only
13 Parameter lock is active
14 Factory setting is active
15 Value for parameter too large
16 Value for parameter too small
17 Required option card missing for this function/parameter
18 Error in system software
19 Parameter access via RS-485 process interface on X13 only
1A Parameter access via RS-485 diagnostic interface only
1B Parameter is access-protected
1C Controller inhibit required
1D Invalid value for parameter
1E Factory setting was activated
1F Parameter was not saved in EEPROM
20 Parameter cannot be changed with enabled output stage
21 UBP11A end string reached
22 UBP11A is not enabled
23 Parameter may only be changed with IPOS program stop
24 Parameter may only be changed with deactivated Autosetup
Manual – DeviceNet/CANopen Interfaces, Field Distributors 115
9 Description of the LED displayFunction of the MQD DeviceNet Interface
9.9 Description of the LED displayThe MQD DeviceNet interface has 5 diagnostic LEDs:
• "Mod/Net" LED (green/red) for displaying the module and network status
• "PIO" LED (green/red) indicates the status of the polled I/O connection
• "BIO" LED (green/red) to display the status of the bit-strobe I/O connection
• "BUS-F" LED (red) for displaying bus faults
• "SYS-F" LED (red) for displaying system faults and operating conditions of the MQD
9.9.1 Power-up testAll LEDs are tested once the unit has been switched on. The LEDs are switched on inthe following sequence:
The unit then checks whether another station with the same address has already beenconnected (DUP-MAC check). If another station with the same address is found, the unitswitches off and the LEDs "Mod/Net", "PIO" and "BIO" are lit permanently in red.
1425575691
MQ
D D
evic
eNet
TM
SYS-FSYS-F
BUS-FBUS-F
BIOBIO
PIOPIO
Mod/NetMod/Net
Time Mod/Net LED PIO LED BIO LED BUS-F LED SYS-F LED
0 ms Green Off Off Off Off
250 ms Red Off Off Off Off
500 ms Off Green Off Off Off
750 ms Off Red Off Off Off
1000 ms Off Off Green Off Off
1250 ms Off Off Red Off Off
1500 ms Off Off Off Red Off
1750 ms Off Off Off Off Red
2000 ms Off Off Off Off Off
116 Manual – DeviceNet/CANopen Interfaces, Field Distributors
9 Description of the LED display Function of the MQD DeviceNet Interface
9.9.2 Mod/Net LED (green/red)
The range of functions of the "Mod/Net" LED (module/network status LED) is defined inthe DeviceNet specification. The following table describes this functionality.
Status LED Meaning Remedy
Not switched on/offline
Off • Unit is offline• Unit performs DUP MAC check• Unit is switched off
• Apply supply voltage via DeviceNet connector
Online and in operational mode
Flashes green (1 s cycle)
• The unit is online and no connection has been established
• DUP-MAC check performed successfully
• A connection has not yet been established with a master
• Missing (incorrect) or incomplete configuration
• The station must be included in the master's scan list and communication must be started in the master
Online, opera-tional mode and connected
Green • Online connection has been established with a master
• Connection is active (established state)
-
Minor fault or connection time-out
Flashes red (1 s cycle)
• A correctable fault has occurred
• Polled I/O and/or bit-strobe I/O connections are in timeout state
• A correctable fault has occurred in the unit
• Check the DeviceNet cable• Check the timeout response; if
a response with fault is set, reset the unit once the fault has been corrected.
Critical fault or critical link fail-ure
Red • A fault that cannot be remedied has occurred
• BusOff• DUP-MAC check has detected
an error
• Check the DeviceNet cable• Check address (MAC ID) (does
another unit have the same address?)
Manual – DeviceNet/CANopen Interfaces, Field Distributors 117
9 Description of the LED displayFunction of the MQD DeviceNet Interface
9.9.3 PIO LED (green/red)
The PIO LED checks the polled I/O connection (process data channel). The functionalityis described in the following table.
Status LED Meaning Remedy
DUP-MAC check Flashes green(125 ms cycle)
• Unit is performing DUP-MAC check
• If the station does not leave this state after approx. 2 s, no other station has been found
• At least one other DeviceNet station must be activated
Not switched on/Off-line but no DUP-MAC check
Off • Unit is offline• Unit is switched off
• This connection type has not been activated
• The connection must be switched on in the master
On-line and inoperational mode
Flashes green (1 s cycle)
• Unit is on-line• DUP-MAC check performed
successfully• A PIO connection is being
established with a master (configuring state)
• Missing, incorrect or incomplete configuration
• The current station has been detected by the master, but a different unit type was expected
• Re-perform the configuration in the master
Online, opera-tional mode and connected
Green • Online• A PIO connection has been
established (established state)
-
Minor fault or connection time-out
Flashing red(1 s cycle)
• A correctable fault has occurred
• Polled I/O connection is in timeout state
• Check the DeviceNet cable• Check the timeout response
(P831)• If a response with fault is set,
reset the unit once the fault has been corrected.
Critical fault orCritical link fail-ure
Red • A fault that cannot be remedied has occurred
• BusOff• DUP-MAC check has detected
an error
• Check the DeviceNet cable• Check address (MAC ID)
(does another unit have the same address?)
118 Manual – DeviceNet/CANopen Interfaces, Field Distributors
9 Description of the LED display Function of the MQD DeviceNet Interface
9.9.4 BIO LED (green/red)
The BIO LED checks the bit-strobe I/O connection. The functionality is described in thefollowing table.
Status LED Meaning Remedy
DUP-MAC check Flashes green (125 ms cycle)
• Unit is performing DUP-MAC check
• If the station does not leave this state after approx. 2 s, no other stations have been found.
• At least one other DeviceNet station must be activated.
Not switched on/but not offlineDUP-MAC check
Off • Unit is offline• Unit is switched off
• This connection type has not been activated.
• The connection must be switched on in the master.
On-line and inoperational mode
Flashes green (1 s cycle)
• Unit is on-line• DUP-MAC check performed
successfully• A BIO connection is being
established with a master (configuring state)
• Missing, incorrect or incomplete configuration
• The current station has been detected by the master, but a different unit type was expected.
• Re-perform the configuration in the master
Online, opera-tional mode and connected
Green • Online• A BIO connection has been
established (established state)
-
Minor fault orconnection time-out
Flashing red(1 s cycle)
• A correctable fault has occurred
• Bit-strobe I/O connection is in timeout state
• Check the DeviceNet cable• Check timeout response
(P831). If a response with fault is set, reset the unit once the fault has been corrected.
Critical fault orCritical link failure
Red • A fault that cannot be remedied has occurred
• BusOff• DUP-MAC check has detected
an error
• Check the DeviceNet cable• Check address (MAC ID)
(does another unit have the same address?)
Manual – DeviceNet/CANopen Interfaces, Field Distributors 119
9 Description of the LED displayFunction of the MQD DeviceNet Interface
9.9.5 BUS-F LED (red)
The BUS-F LED displays the physical state of the bus node. The functionality is de-scribed in the following table.
9.9.6 SYS-F LED (red)
Status LED Meaning Remedy
Error active state Off • The number of bus errors is within the normal range (error active state)
-
DUP-MAC test Flashing red(125 ms cycle)
• The unit is performing a DUP-MAC check and cannot send any messages because no other stations are connected to the bus (error passive state)
• Switch on at least one more station if no other stations are switched on
Error passive state
Flashing red(1 s cycle)
• The number of physical bus errors is too high. No more error telegrams are actively written to the bus (error passive state).
• Check the wiring and the terminating resistors if this error occurs during operation (i.e. during ongoing communication)
Bus-Off state Red • Bus-Off state • The number of physical bus
errors has increased despite a switch to the error-passive state. Access to the bus is switched off.
• Check the wiring, terminating resistors, baud rate and addresses (MAC-ID)
LED Meaning Remedy
Off • Normal operating state• The MQD is exchanging data
with the connected MOVIMOT® drives.
-
FlashingRegularly
• The MQD is in fault state.• An error message is displayed in
the MOVITOOLS® status window
• Please observe the corresponding error description and the error table in chapter "Error Table for Fieldbus Interfaces" (see page 171)).
On • The MQD is not exchanging data with the connected MOVIMOT® drives.
• The MQD was not configured, or the connected MOVIMOT® drives do not respond.
• Check the wiring of the RS-485 between MQD and connected MOVIMOT® drives as well as the voltage supply of MOVIMOT®.
• Check whether the addresses set on the MOVIMOT® correspond to the addresses set in the IPOS program ("MovcommDef" command).
• Check whether the IPOS program has been started
• Maintenance switch on the field distributor is set to OFF
• Check setting of maintenance switch on field distributor
120 Manual – DeviceNet/CANopen Interfaces, Field Distributors
9 Error states Function of the MQD DeviceNet Interface
9.10 Error states9.10.1 Fieldbus timeout
Switching off the fieldbus master or an open circuit in the fieldbus cabling results in afieldbus timeout in the MQD interface. The connected MOVIMOT® drives are stoppedby sending "0" in each process output data word. In addition, the digital outputs are setto "0".
This corresponds, for example, to a rapid stop at control word 1.
Important: When the MOVIMOT® drive is controlled with 3 process data words, theramp is specified with 0 s in the 3rd word!The "Fieldbus timeout" error resets itself automatically. The MOVIMOT® drives will re-ceive the current process output data again from the controller as soon as thefieldbus communication has been reestablished.This error response can be deactivated via P831 in MOVITOOLS® Shell.
9.10.2 RS-485 timeoutIf one or more MOVIMOT® drives can no longer be addressed by the MQD via RS-485,error code 91 "System fault" is displayed in status word 1. The "SYS-F" LED lights up.The error is also transmitted via diagnostics interface.
MOVIMOT® drives that do not receive any data will stop after 1 second. The prerequisitefor this is that data exchange between MQD and MOVIMOT® is enabled via MOVCOMMcommands. MOVIMOT® units that continue to receive data can be controlled as usual.
The timeout resets itself automatically, i.e. the current process data is exchanged imme-diately with MOVIMOT® once communication has been restarted.
9.10.3 Unit faultsThe MQD fieldbus interfaces can detect a series of hardware defects. After detecting ahardware defect, the devices are inhibited. The exact fault responses and remedialmeasures are listed in the section "Fault table for fieldbus interfaces". (see page 171)
A hardware defect causes fault 91 to be displayed in the process input data in statusword 1 of all MOVIMOT® units. The "SYS-F" LED on the MQD interface flashes regu-larly.
The exact fault code can be displayed via the diagnostics interface in MOVITOOLS® inthe MQD status. The error code can be read and processed in the IPOS program withthe command "GETSYS".
9.10.4 DeviceNet timeoutThe timeout interval must be set by the master after the connection has been estab-lished. The DeviceNet specification refers to an "expected packet rate" rather than a tim-eout interval in this case. The expected packet rate is calculated on the basis of the tim-eout interval using the following formula:
The expected packet rate can be set using the connection object class (0x05), attribute0x09. The range of values runs from 5 ms to 65535 ms in 5 ms steps (0 ms = switchedoff).
tTimeout interval = 4 × tExpected_Packet_Rate
Manual – DeviceNet/CANopen Interfaces, Field Distributors 121
10 Startup procedureStartup with CANopen
10 Startup with CANopen10.1 Startup procedure
TIPThis chapter describes the startup procedure for MOVIMOT® MM..D and C in Easymode. For information on the startup of MOVIMOT® MM..D in Expert mode, refer to the"MOVIMOT® MM..D with DRS/DRE/DRP Series AC Motors" operating instructions.
DANGERBefore removing/fitting the MOVIMOT® inverter, you must disconnect it from the supplysystem. Dangerous voltages may still be present for up to one minute after disconnec-tion from the power supply.
Severe or fatal injuries from electric shock.• Disconnect the MOVIMOT® inverter from the power supply and prevent it from
unintentional re-connection.• Then wait for at least 1 minute.
WARNINGThe surfaces of MOVIMOT® inverters and external options, e.g. braking resistors (es-pecially the heat sinks), can become very hot during operation.
Danger of burns.• Do not touch the MOVIMOT® drive and external options until they have cooled
down sufficiently.
TIPS• Switch off the DC 24 V supply before removing/mounting the fieldbus interface
(MFO).• The CANopen bus connection is permanently secured using the connection
technology described in chapter "Connection with CANopen" (see page 55), so that the CANopen network can still be operated even after removal of the fieldbus interface.
• In addition, observe the notes in section "Supplementary Field Distributor Startup Information" (see page 136).
TIPS• Remove paint protection cap from the status LED before startup.• Remove paint protection film from the nameplates before startup.• Check that all protective covers are installed correctly.• Observe a minimum switch-off time of 2 seconds for the mains contactor K11.
00
I
122 Manual – DeviceNet/CANopen Interfaces, Field Distributors
10 Startup procedure Startup with CANopen
1. Check for correct wiring of the MOVIMOT® inverter and the CANopen interface(MFZ31, MFZ33, MFZ36, MFZ37 or MFZ38).
2. Set DIP switch S1/1 of the MOVIMOT® inverter (see corresponding MOVIMOT®
operating instructions) to "ON" (= address 1).
3. Unscrew the screw plug above the setpoint potentiometer f1 on the MOVIMOT®
inverter.
4. Set the maximum speed using setpoint potentiometer f1.
5. Make sure the screw plug of the setpoint potentiometer has a seal and screw it in.
6. Set minimum frequency fmin with switch f2.
1158400267
1158517259
[1] Potentiometer setting
1
ON
6 7 854321
ON
2
1 2 3 4 5 6 7 8 9 100
100f [Hz
[1]
]
2
75
25
50
65f1
TIP• The enclosure specified in section Technical Data only applies if the screw plugs of
the setpoint potentiometer and the X50 diagnostic interface are installed correctly. • A missing or incorrectly installed screw plug can cause damage to the MOVIMOT®
inverter.
Function Setting
Detent setting 0 1 2 3 4 5 6 7 8 9 10
Minimum frequency fmin [Hz]
2 5 7 10 12 15 20 25 30 35 40
34
56
78
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 123
10 Startup procedureStartup with CANopen
7. If the ramp time is not specified via fieldbus (2 PD), set the ramp time at switch t1 ofthe MOVIMOT® inverter. The ramp times are based on a setpoint step change of50 Hz.
8. Check to see if requested direction of rotation has been enabled on MOVIMOT®.
9. Set the CANopen address on the MFO interface.
10.Connect the CANopen cable. After the DC 24 V voltage supply is switched on, theSYS-F LED should go out and the STATE LED should flash.
Function Setting
Detent setting 0 1 2 3 4 5 6 7 8 9 10
Ramp time t1 [s] 0.1 0.2 0.3 0.5 0.7 1 2 3 5 7 10
Terminal R Terminal L Meaning
Activated Activated • Both directions of rotation are enabled
Activated Not activated • Only CW operation enabled• Preselected setpoints for CCW rotation result in standstill of
drive
Not activated Activated • Only CCW operation enabled• Preselected setpoints for CW rotation result in standstill of
drive
Not activated Not activated • Unit is blocked or drive brought to a stop
34
56
78
24V
R L
24V
R L
24V
R L
24V
R L
00
I
124 Manual – DeviceNet/CANopen Interfaces, Field Distributors
10 Setting the CANopen address Startup with CANopen
10.2 Setting the CANopen addressThe CANopen address is set using DIP switches S1/1 to S1/7.
10.2.1 Determining the DIP switch setting for any addressIn the following table, address 9 is used to show how to determine the DIP switch set-tings for any bus address.
1428324363
[1] Reserved[2] Address (set: address 9)
Factory setting: address 1 Valid addresses: 1 to 127
Important: Module address 0 is not a valid CANopen address! The interface cannot be operated if the address is set to 0. The LEDs COMM, GUARD and STATE flash simultaneously to indicate this fault. For a description of the LEDs, refer to section "Description of the LED dis-play" (see page 131).
1
ON
67
54
32
8
S1
4
3
2
2
2
2
2 x 0 = 0
2 x 1 = 1
1
0
2
2
6
5
[2]
[1]
x 0 = 0
x 0 = 0
x 0 = 0
x 0 = 0
x 1 = 8
9
Calculation Remainder DIP switch setting Significance
9/2 = 4 1 DIP 1 = ON 1
4/2 = 2 0 DIP 2 = OFF 2
2/2 = 1 0 DIP 3 = OFF 4
1/2 = 0 1 DIP 4 = ON 8
0/2 = 0 0 DIP 5 = OFF 16
0/2 = 0 0 DIP 6 = OFF 32
0/2 = 0 0 DIP 7 = OFF 64
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 125
10 Setting the CANopen baud rateStartup with CANopen
10.3 Setting the CANopen baud rateThe baud rate is set using DIP switches S2/1 and S2/2. The following table shows howto determine the baud rate using the DIP switch assignment.
10.4 Process data length and I/O enableThe process data length is set using DIP switches S2/3 and S2/4. The I/Os are enabledusing DIP switch S2/5.
The following table shows how to determine I/O enable using the DIP switch assign-ment.
1428388491
[1] CANopen baud rateFactory setting: 500 kBaud
Baud rate Value DIP 1 DIP 2
125 kBaud 0 OFF OFF
250 kBaud 1 ON OFF
500 kBaud 2 OFF ON
1 MBaud 3 ON ON
1ON
67
54
32
8
S2
2 x 1 = 2
2 x 0 = 0
1
0[1]
= 2
1428438539
[1] Reserved, position = OFF[2] I/O enable
Factory setting: Enable[3] Process data length
Factory setting: 3 PD
I/O Value DIP 5
Disabled 0 OFF
Enabled 1 ON
1ON
67
54
32
8
S2
1 =Enable
x 1 =2
2 x 1 =10
21
[1]
= 3
[3]
[2]
00
I
126 Manual – DeviceNet/CANopen Interfaces, Field Distributors
10 Configuration (project planning) for CANopen master Startup with CANopen
The following table shows how to determine the process data length using the DIPswitch assignment:
10.5 Configuration (project planning) for CANopen master"EDS files" are available for configuring the CANopen master. These files must be in-stalled using the configuration software. The detailed installation procedure is describedin the manuals of the corresponding configuration software. The most current version ofthe EDS files is available in the Internet at http://www.sew-eurodrive.de.
10.5.1 EDS fileAn EDS file is available for every possible process data configuration. The name of thecorresponding EDS file has the following structure:
• MXX_YPD.EDS or MXX_YPDI.EDS
The letter "I" indicates that the "Process Data I/O" DIP switch is switched on. The mean-ing of XX and Y is listed in the following table.
Examples: 3 process data words must be transferred to MOVIMOT® with the MFO22A fieldbus in-terface. An I/O byte is also added to the process data.
In this case, the name of the corresponding EDS file is
• M22_3PDI.EDS
3 process data words must be transferred to MOVIMOT® with the MFO21A fieldbus in-terface. The I/Os of MFO21A should not be processed.
In this case, the name of the corresponding EDS file is
• M21_3PD.EDS
Process data length Value DIP 3 DIP 4
0 PD 0 OFF OFF
Invalid configuration 1 ON OFF
2 PD 2 OFF ON
3 PD 3 ON ON
XX Unit type Y Number of process data(according to DIP switch setting)
21 MFO21A 0 No process data
22 MFO22A 2 Control via 2 process data
32 MFO32A 3 Control via 3 process data
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 127
11 Process data and sensor/actuator processingFunction of the MFO CANopen interface
11 Function of the MFO CANopen interface11.1 Process data and sensor/actuator processing
The MFO CANopen interface not only makes it possible to control MOVIMOT® AC mo-tors but also permits connection of sensors/actuators to digital input terminals and digitaloutput terminals. An additional I/O byte is added to the CANopen protocol following theprocess data for MOVIMOT®. The extra digital inputs and outputs of the MFO aremapped in this I/O byte.
The coding of the process data takes place according to the uniform MOVILINK® profilefor SEW drive inverters (see section "MOVILINK unit profile" (see page 153).
In general, all 16-bit words are transferred on the CANopen bus in the sequence Lo/Hi(first the lower-value 8 bit, then the higher-value 8 bit).
1149187595
PO Process output data PI Process input data
PO1 PO2 PO3 DO
Control word (16 bit)Speed (16 bit) [%]Ramp (16 bit)Digital outputs: (8 bit)
PI1 PI2 PI3 DI
Status word 1, (16 bit)Output current (16 bit)Status word 2, (16 bit)Digital inputs (8 bit)
MOVIMOT + MF..®
PO1 PO2 PO3
Master
PI1 PI2 PI3
PO
PI
DO
DI
-+
128 Manual – DeviceNet/CANopen Interfaces, Field Distributors
11 Structure of the input/output byte Function of the MFO CANopen interface
11.2 Structure of the input/output byte11.2.1 MFO21/22
11.2.2 MFO32
Reserved, value = 0
Output terminal DO 1
Output terminal DO 0
7 6 5 4 3 2 1 0
Fieldbus master
Byte: Digital outputsMFO21/22
Byte: Digital inputs
7 6 5 4 3 2 1 0
Input terminal DI 0
Input terminal DI 1
Input terminal DI 2
Input terminal DI 3
Reserved, value = 0
Fieldbus master Byte: Digital inputs
MFO32
7 6 5 4 3 2 1 0
Input terminal DI 0
Input terminal DI 1
Input terminal DI 2
Input terminal DI 3
Input terminal DI 4
Input terminal DI 5
Reserved, value = 0
Manual – DeviceNet/CANopen Interfaces, Field Distributors 129
11 Functions of the DIP switchesFunction of the MFO CANopen interface
11.3 Functions of the DIP switches11.3.1 Baud rate and PD configuration
The baud rate and the PD configuration of the module can be set using DIP switch blockS2.
This produces the following PD configuration for the various variants of the MFO:
1428707595
[1] Reserved[2] I/O enable[3] Process data length[4] CAN bus baud rate
1ON
67
54
32
8
S2
0
1
0
2
2
2
2
2
1
0
[1]
[2]
[3]
[4]
DIP switch setting
Supported MFO variants
Description Data length [bytes]
Process output data
Process input data
2 PD All MFO versions MOVIMOT® control via 2 process data words 4 4
3 PD All MFO versions MOVIMOT® control via 3 process data words 6 6
0 PD+DI/DO MFO21/22 No MOVIMOT® control, processing of digital inputs and outputs. 1 1
2 PD + DI/DO MFO21/22 MOVIMOT® control using two process data words and processing of digital inputs and outputs 5 5
3 PD + DI/DO MFO21/22 MOVIMOT® control using 3 process data words and processing of digital inputs and outputs 7 7
0 PD+DI MFO32 No MOVIMOT® control, processing of digital inputs only 0 1
2 PD + DI MFO32 MOVIMOT® control using 2 process data words and processing of digital inputs 4 5
3 PD + DI MFO32 MOVIMOT® control using 3 process data words and processing of digital inputs 6 7
130 Manual – DeviceNet/CANopen Interfaces, Field Distributors
11 Functions of the DIP switches Function of the MFO CANopen interface
Setting the baud rates
The following table shows how to set the baud rate for the interface:
Address The address is set for the MFO interface using DIP switch S1.
Baud rate Value DIP 1 DIP 2
125 kBaud 0 OFF OFF
250 kBaud 1 ON OFF
500 kBaud 2 OFF ON
1 MBaud 3 ON ON
1428810379
[1] Valid address: 1-127
1ON
67
54
32
8
S1
4
3
2
2
2
2
2
2
1
0
2
2
6
5
[1]
TIP• Module address 0 is not a valid CANopen address! • The interface cannot be operated if the address is set to 0. The LEDs COMM,
GUARD and STATE flash simultaneously to indicate this fault. For detailed information, refer to section "Description of the LED display" (see page 131).
Manual – DeviceNet/CANopen Interfaces, Field Distributors 131
11 Description of the LED displayFunction of the MFO CANopen interface
11.4 Description of the LED displayThe CANopen interface MFO has 5 diagnostic LEDs:
• COMM LED (green) for displaying data transfer from and to nodes
• GUARD LED (green) for displaying lifetime monitoring.
• LED STATE (green) for displaying the status of the bit-strobe process data channel
• LED BUS-F (red) for displaying the bus status
• LED SYS-F (red) indicates MFO or MOVIMOT® system faults
11.4.1 COMM (green)The COMM LED always flashes briefly if the CANopen interface has sent a message orif a message addressed to the interface is received.
11.4.2 GUARD (green)The GUARD LED indicates the status of the CANopen lifetime monitoring.
1428862731
MF
O
C
anO
pen
MF
O
C
anO
pen
SYS-FSYS-F
BUS-FBUS-F
STATESTATE
GUARDGUARD
COMMCOMM
LED Meaning Remedy
Off • CANopen timeout monitoring for fieldbus interface is not activate (object 0x100C = 0 and/or object 0x100D=0).
• This is the default setting after switching on.
-
On • CANopen timeout monitoring for active fieldbus interface (object 0x100C≠0 and object 0x100D≠0).
-
Flashes green(1 s cycle)
• No more lifetime requests have been received by the CANopen master.
• The fieldbus interface is in "fieldbus timeout" status.
• Checking the master status• Check the set timeout interval in the
master• Check connection between master
and MFO interface• Check CAN bus termination
132 Manual – DeviceNet/CANopen Interfaces, Field Distributors
11 Description of the LED display Function of the MFO CANopen interface
11.4.3 STATE (green)
The STATE LED displays the current NMT status of the fieldbus interface. The fieldbusinterface supports minimal BOOTUP. The states "pre-operational", "operational" and"stopped" are possible.
11.4.4 BUS-F (red)The BUS-F LED displays the physical state of the bus node. The functionality is de-scribed in the following table.
11.4.5 SYS-F (red)The SYS-F LED never has any function in PD configurations 0PD + DI/DO and 0PD +DI.
LED Status Meaning
Flashes(1 s cycle)
Pre-operational • Only the unit parameters can be set (with SDOs); process data (PDOs) are ignored
• This status is adopted after switching on
On Operational • PDOs, SDOs and NMT services are processed
Off Stopped • The unit ignores all SDOs and PDOs• Only NMT telegrams are still processed
LED Status Meaning Remedy
Off Error-Active state • The number of bus errors is in the normal range.
-
FlashesRed(1 s cycle)
Error-Passive state
• The number of physical bus faults is too high
• No more error messages are actively written to the bus.
• Check the cables and the terminating resistors if this error occurs during ongoing communication
Red BusOff state • The number of physical bus errors has continued to grow despite the switch to the error passive state.
• Access to the bus is switched off.
• Check the wiring, terminating resistors, baud rate and addresses
LED Meaning Remedy
Off • Standard operating status of the MFO interface and the MOVIMOT® drive
-
Flashes1x
• MFO operating status OK, MOVIMOT® reports fault
• Evaluate the error number of MOVIMOT® status word 1 in the controller.
• Reset MOVIMOT® with programmable controller (reset bit in control word 1)
• Refer to the MOVIMOT® operating instructions for more information
Flashes2x
• MOVIMOT® is not reacting to setpoints from the CANopen master, because PD data are not enabled
• Check DIP switches S1/1 to S1/4 in MOVIMOT®
• Set RS-485 address 1 to enable the PO data.
On • Communication link between MFO and MOVIMOT® is disrupted or interrupted
• Check the electrical connection between MFO and MOVIMOT® (terminals RS+ and RS-)
• For more information, refer to the "Electrical Installation" (see page 37) section.
• Maintenance switch on the field distributor is set to OFF
• Check setting of maintenance switch on field distributor
Manual – DeviceNet/CANopen Interfaces, Field Distributors 133
11 Error statesFunction of the MFO CANopen interface
11.5 Error states11.5.1 MFO system faults, MOVIMOT® faults
The communications link between MFO and MOVIMOT® is interrupted if the MFO inter-face signals a system fault ("SYS-F" LED steady light). This system fault is signaled tothe PLC as error code 91 dec via the diagnostics channel and via the status words of theprocess input data. Since this system fault generally calls attention to cabling prob-lems or a missing 24 V supply of the MOVIMOT® inverter, a RESET via controlword is not possible! As soon as the communication link is reestablished, thefault automatically resets itself. Check the electrical connection of MFO andMOVIMOT®. In the event of a system fault, the process input data returns a fixed bit pat-tern as valid MOVIMOT® status information is no longer available. Consequently, onlystatus word bit 5 (malfunction) and the fault code can be used for evaluation in the con-troller. All other information is invalid!
The input information of the digital inputs continues to be updated, and can, therefore,continue to be evaluated within the controller.
11.5.2 CANopen timeoutMonitoring individual MFO interfaces through the master (node guarding): The master sends a node guarding object cyclically with the set RTR bit to monitor thecommunication to the interfaces. If the interfaces are ready, they respond with a corre-sponding node guarding object that returns the current operating status and a toggle bit.The toggle bit changes between 0 and 1 with every telegram.
The response tells the network master whether the stations are still functional. In theevent of a fault, the master has the option to introduce an appropriate measure for theapplication (for example, stop all drives).
Node-guarding is active in all operating states from the first time a "node event" is re-ceived from the master. The GUARD LED lights up with a steady light to indicate thatnode-guarding has been activated.
Process input word Hex value
Meaning
PI1: Status word 1 5B20hex Error code 91 (5Bhex), bit 5 (fault) = 1All other status information is invalid
PI2: Current actual value
0000hex Information is invalid
PI3: Status word 2 0020hex Bit 5 (malfunction) = 1All other status information is invalid
Input byte of digital inputs
XXhex The input information of the digital inputs continues to be updated
134 Manual – DeviceNet/CANopen Interfaces, Field Distributors
11 Error states Function of the MFO CANopen interface
Response of the MFO interfaces when the NMT master (life guarding) fails:Monitoring is active if life time factor ≠ 0 and/or guard time ≠ 0.
If monitoring is activated, the MFO interface blocks the den MOVIMOT® drive if the mas-ter does not trigger a "Node event" within the timeout interval. The interface also sendsan EMERGENCY object via the CAN bus.
The timeout interval (milliseconds) is calculated as follows:
Timeout intervals of less than 5 ms are not accepted, the previous value remains active.
11.5.3 Fieldbus timeoutSwitching off the fieldbus master or an open circuit in the fieldbus cabling results in afieldbus timeout in the MFO interface. The connected MOVIMOT® drives are stoppedby sending "0" in each process output data word. In addition, the digital outputs are setto "0".
This step corresponds to a rapid stop on control word 1. Caution: If the MOVIMOT®
drive is controlled with 3 process data words, the ramp is specified with 0 s in the3rd word!The "Fieldbus timeout" error resets itself automatically. The MOVIMOT® drives will re-ceive the current process output data again from the controller as soon as thefieldbus communication has been reestablished.This error response can be deactivated via P831 in MOVITOOLS® Shell.
11.5.4 Emergency objectAn emergency object can be triggered by 2 events.
1. An error has occurred in the MOVIMOT®. This sets the error bit in the control word.In this case, an emergency object is sent with the error code "Device specific"(0xFFFF).
2. The interface has detected a violation of the life gaurding. An "emergency object" issent with the error code "Life guard error" (0x8130)
3. Only the 24 V supply voltage is present at the MOVIMOT®. An emergency object issent with the error code "Mains voltage" (0x3100).
If the fault is corrected, this is indicated by an emergency object with the error code "Noerror" (0x0000).
The status word is also sent with each emergency object. The exact structure is shownin the following table:
life time factor (indices 0x100C) × guard time (indices 0x100D)
TIPThe timeout interval set by the controller can be read via menu item P819 using thediagnostic interface and MOVITOOLS®. The timeout interval cannot be changed viaMOVITOOLS®, but only by the controller via CANopen objects 0x100C and 0x100D.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Con-tent
Emergency errorCode
Error register(Object 0x1001)
0Status word from
MOVIMOT® 0 0
Manual – DeviceNet/CANopen Interfaces, Field Distributors 135
11 Process data exchangeFunction of the MFO CANopen interface
11.6 Process data exchangeThe CANopen interface always sends process input data (TX-PDO1) when process out-put data was received (RX-PDO1).
The process input data can also be requested using an RTR-TX-PD01.
11.7 MFO object directoryThe index, subindex, data type and access type of the objects supported by the MFOCANopen interface are listed in the following object directory.
Index Subindex Function Data type Access Default
0x1000 0 Device type UNSIGNED32 ro 0
0x1001 0 Error register UNSIGNED8 ro -
0x1002 0 State register UNSIGNED32 ro -
0x1004 0 Number of PDOs supported UNSIGNED32 ro 65537
1 Number of syn. PDOs supported UNSIGNED32 ro 0
2 Number of asyn. PDOs supported UNSIGNED32 ro 65537
0x1008 0 Manufacturer device name VISIBLE STRING ro -
0x1009 0 Manufacturer hardware version VISIBLE STRING ro -
0x100A 0 Manufacturer software version VISIBLE STRING ro -
0x100B 0 Node ID UNSIGNED32 ro -
0x100C 0 Guard time UNSIGNED16 rw 0
0x100D 0 Life time factor UNSIGNED8 rw 0
0x100E 0 COB ID node-guarding UNSIGNED32 ro -
0x100F 0 Number of SDOs supported UNSIGNED32 ro 1
0x1014 0 COB ID emergency object UNSIGNED32 ro -
0x1200 0 Server SDO parameter UNSIGNED8 ro 2
1 COB-ID client → server (rx) UNSIGNED32 ro -
2 COB-ID server → client (tx) UNSIGNED32 ro -
0x1400 0 RX PDO 1 communication parameter UNSIGNED8 ro 2
1 COB-ID used by PDO UNSIGNED32 ro -
2 Transmission mode UNSIGNED8 ro 254
0x1600 0 Count mapped objects UNSIGNED8 ro -
1 RxPDO1 1. mapped object UNSIGNED32 ro -
2 1)
1) These entries depend on the configuration of the number of process data words
RxPDO1 2. mapped object UNSIGNED32 ro -
3 1) RxPDO1 3. mapped object UNSIGNED32 ro -
4 1) TxPDO1 4. mapped object UNSIGNED32 ro -
0x1800 0 TX PDO 1 communication parameter UNSIGNED8 ro 2
1 COB-ID used by PDO UNSIGNED32 ro -
2 Transmission mode UNSIGNED8 ro 254
0x1A00 0 Count mapped objects UNSIGNED8 ro -
1 TxPDO1 1. mapped object UNSIGNED32 ro -
2 1) TxPDO1 2. mapped object UNSIGNED32 ro -
3 1) TxPDO1 3. mapped object UNSIGNED32 ro -
4 1) TxPDO1 4. mapped object UNSIGNED32 ro -
136 Manual – DeviceNet/CANopen Interfaces, Field Distributors
12 MF../Z.6., MQ../Z.6. field distributors Supplementary Field Distributor Startup Information
12 Supplementary Field Distributor Startup InformationStartup depends on the fieldbus interface used and is carried out acc. to the chapters:
• "Startup with DeviceNet (MFD + MQD)"
• "Startup with CANopen"
In addition, please observe the following notes about the startup of field distributors.
12.1 MF../Z.6., MQ../Z.6. field distributors 12.1.1 Maintenance switch
The maintenance/line protection switch of the Z.6. field distributor protects the hybridcable against overload and switches the following MOVIMOT® components:
– Power supply and
– DC 24 V supply
Block diagram:
DANGERThe maintenance/line protection switch disconnects only the MOVIMOT® motor fromthe power supply system, not the field distributor.
Severe or fatal injuries from electric shock.• Before working on the field distributor, de-energize it and safeguard it against unin-
tentional power-up.
1162524811
[1]
[2]
Jumper for supply of MOVIMOT® from DC 24 V voltage for fieldbus module MF../MQ.. (wired at factory)Hybrid cable connection
[1]"SafetyPower"
RS-485
X1 X20/ X29
MF.. / MQ..
X40
L1 L2 L3
24V
GN
D
24V
GN
D
RS
+
RS
-
X9 [2]MFZ.6F
X40 X29 X20
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 137
12 MF../MM../Z.7., MQ../MM../Z.7. field distributorsSupplementary Field Distributor Startup Information
12.2 MF../MM../Z.7., MQ../MM../Z.7. field distributors
12.2.1 Checking the connection type of the motorUse the following figure to check that the selected connection type is identical for thefield distributor and the connected motor.
Block diagram:
1162529803
U1 V1 W1
W2 U2 V2
U1 V1 W1
W2 U2 V2
TIPFor brake motors: Do not install brake rectifiers inside the terminal box of the motor!
1163654283
[1]
[2]
Jumper for supply of MOVIMOT® from DC 24 V voltage for fieldbus interfaceMF../MQ.. (wired at factory)Hybrid cable connection
U V W 13 14 15 TH
1
TH
2
X9 [2]MFZ.7F
MOVIMOT®
X1 X20 / X29
L1 L2 L3 24V
GN
D
MF.. / MQ..
RS
+R
S-
24V
GN
D
X40
"SafetyPower"[1]
X40 X29 X 20
RS-485
00
I
138 Manual – DeviceNet/CANopen Interfaces, Field Distributors
12 MF../MM../Z.7., MQ../MM../Z.7. field distributors Supplementary Field Distributor Startup Information
12.2.2 Internal wiring of the MOVIMOT® inverter in the field distributor
1186911627
[1] DIP switch for setting the connection typeMake sure that the connection type of the connected motor matches the setting of the DIP switch.
[2] Note the enabled direction of rotation (Both directions of rotation are enabled as standard)Both directions are enabled
Only directioncounterclockwise is enabled
Only directionclockwise is enabled
1186918667[3] Connection for internal braking resistor (in motors without brake only)
24V
TH L R 1 2 3 4 5 6 7 8
PE L1
L1
L2
L2
L3
L3
PE
TH
[1]
[2]
[3]
X4
X6
X1
1315
ϑ24
V
TH L R 24V
TH L R 24V
TH L R
TH TH TH
ϑ ϑ ϑ
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 139
12 MF../MM../Z.8., MQ../MM../Z.8. field distributorsSupplementary Field Distributor Startup Information
12.3 MF../MM../Z.8., MQ../MM../Z.8. field distributors
12.3.1 Maintenance switchThe maintenance switch of the Z.8. field distributor switches the following MOVIMOT®
components:
– Power supply and
– DC 24 V supply
Block diagram:
DANGERThe maintenance/line protection switch disconnects only the MOVIMOT® motor fromthe power supply system, not the field distributor.
Severe or fatal injuries from electric shock.• Before working on the field distributor, de-energize it and safeguard it against unin-
tentional power-up.
1186927371
[1]
[2]
Jumper for supply of MOVIMOT® from DC 24 V voltage for fieldbus interface MF../MQ.. (wired at factory)Hybrid cable connection
U V W 13 14 15 TH
1
TH
2
X9 [2]MFZ.8F
MOVIMOT®
X1 X20 / X29
L1 L2 L3 24V
GN
D
MF.. / MQ..
RS
+R
S-
24V
GN
D
X40
"SafetyPower"[1]
X40 X29 X 20
RS-485
00
I
140 Manual – DeviceNet/CANopen Interfaces, Field Distributors
12 MF../MM../Z.8., MQ../MM../Z.8. field distributors Supplementary Field Distributor Startup Information
12.3.2 Checking the connection type of the motorUse the following figure to check that the selected connection type is identical for thefield distributor and the connected motor.
12.3.3 Internal wiring of the MOVIMOT® inverter in the field distributor
1162529803
U1 V1 W1
W2 U2 V2
U1 V1 W1
W2 U2 V2
TIPFor brake motors: Do not install brake rectifiers inside the terminal box of the motor!
1186934155
[1] DIP switch for setting the connection typeMake sure that the connection type of the connected motor matches the setting of the DIP switch.
[2] Note the enabled direction of rotation (Both directions of rotation are enabled as standard)Both directions are enabled
Only directioncounterclockwise is enabled
Only directionclockwise is enabled
1186918667[3] Connection for internal braking resistor (in motors without brake only)[4] Maintenance switch
24V
TH L R
13 14 15 L1 L2 L3
L1 L2 L3
+24
VD
C
TH
[4]
[1]
[2]
[3]
X4
ϑ
24V
TH L R 24V
TH L R 24V
TH L R
TH TH TH
ϑ ϑ ϑ
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 141
12 MOVIMOT® frequency inverter integrated in the field distributor
Supplementary Field Distributor Startup Information
12.4 MOVIMOT® frequency inverter integrated in the field distributorThe following section describes the changes that are necessary to operate theMOVIMOT® inverter integrated in the field distributor compared to the use of the inverterwhen it is integrated in the motor.
12.4.1 Changed factory settings of MOVIMOT® integrated in the field distributorNote the changes to the factory settings when using MOVIMOT® integrated in Z.7.or Z.8. field distributors. The remaining settings are identical with MOVIMOT® inte-grated in the motor. Refer to the operating instructions of the respective MOVIMOT®
drive.
DIP switch S1:
Setpoint potentiometer f1:
S1 1 2 3 4 5
Motorprotec-
tion
6
MotorPower rating
7
PWMFrequency
8
No-loaddamping
Meaning RS-485 address
20 21 22 23
ON 1 1 1 1 Off Motor one sizesmaller
Variable(16, 8, 4 kHz)
On
OFF 0 0 0 0 On Adjusted 4 kHz Off
1186982667
[1] Factory setting
100
100f [Hz]
2
75
25
5010f
1
[1]
1 2 3 4 5 6 7 8 9
00
I
142 Manual – DeviceNet/CANopen Interfaces, Field Distributors
12 MOVIMOT® frequency inverter integrated in the field distributor Supplementary Field Distributor Startup Information
12.4.2 Additional functions of MOVIMOT® integrated in the field distributor
The following additional functions are available (to a limited extent) when MOVIMOT® isintegrated in the Z.7./Z.8. field distributor. A detailed description of the additional func-tions can be found in the respective MOVIMOT® operating instructions.
Additional function Restriction
1 MOVIMOT® with increased ramp times –
2 MOVIMOT® with adjustable current limitation (fault if limit is exceeded)
–
3 MOVIMOT® with adjustable current limitation (can be changed using using terminal f1/f2)
Not available
4 MOVIMOT® with bus configuration Only possible with MQ.. fieldbus interfaces
5 MOVIMOT® with motor protection in Z.7./Z.8. field distributor
Parameter settings can only be made for the bus in combination with the MQ.. fieldbus interface
6 MOVIMOT® with maximum PWM frequency of 8 kHz –
7 MOVIMOT® with rapid start / stop The mechanical brake can only be con-trolled by MOVIMOT®. Do not control the brake using the relay output.
8 MOVIMOT® with minimum frequency 0 Hz –
10 MOVIMOT® with minimum frequency 0 Hz and reduced torque at low frequencies
–
11 Monitoring of supply-phase failure deactivated –
12 MOVIMOT® with quick start/stop and motor protec-tion in Z.7. and Z.8. field distributors
The mechanical brake can only be con-trolled by MOVIMOT®. Do not control the brake using the relay output.
14 MOVIMOT® with deactivated slip compensation –
TIPDo not use additional function 9 "MOVIMOT® for hoist applications" and additionalfunction 13 "MOVIMOT® for hoist applications with extended n-monitoring" when theMOVIMOT® inverter is integrated in the Z.7./Z.8. field distributors.
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 143
13 MFG11A keypadOperator Terminals
13 Operator Terminals13.1 MFG11A keypad13.1.1 Function
The MFG11A keypad is plugged onto any MFZ.. connection module instead of a fieldbusinterface for manual control of a MOVIMOT® drive.
1187159051
STOP
144 Manual – DeviceNet/CANopen Interfaces, Field Distributors
13 MFG11A keypad Operator Terminals
13.1.2 Use
Operation of the MFG11A option
DisplayNegative display value e.g. = counterclockwise
Positive display value e.g. = clockwise
The display value is based on the speed set using the setpoint potentiometer f1. Example: Display "50" = 50 % of the speed set with the setpoint potentiometer.Important: If the display is "0," the drive is rotating at fmin.
Increase the speed
For CW direction: For CCW direction:
Reducing the speed
For CW direction: For CCW direction:
Inhibit MOVIMOT®
Press the button: Display =
Enable MOVIMOT®
or
Important: After enable, the MOVIMOT® drive accelerates to the speed and and in the direc-tion of rotation saved last.
Change direction of rotation from CW to CCW
1. Until display =
2. Pressing again changes direction of rotation from CW to CCW.Change direction of rotation from CCW to CW
1. Until display =
2. Pressing changes direction of rotation from CCW to CW.
TIPWhen the 24 V supply is switched back on, the module is always in STOP status (dis-play = OFF). When selecting the direction using the arrow keys, the drive (setpoint)starts from 0.
-50
50
STOP 0FF
0
0
Manual – DeviceNet/CANopen Interfaces, Field Distributors 145
13 DBG keypadOperator Terminals
13.2 DBG keypad13.2.1 Connection to MF../MQ.. fieldbus interfaces
The DBG60B keypad is connected directly to the diagnostic interface of the MF../MQ..fieldbus interface. You can also connect the keypad via a 5 m extension cable (DKG60Boption).
13.2.2 FunctionThe DBG keypad enables manual operation of the MOVIMOT® drives. It offers the fol-lowing functions:
• Parameter setting for MOVIMOT® drives
• Controlling the drives through the keypad
• Displaying the process data (monitor mode)
• Bus diagnostics
1188441227
DKG60B DBG60B
MF../MQ..
146 Manual – DeviceNet/CANopen Interfaces, Field Distributors
13 DBG keypad Operator Terminals
13.2.3 DBG key assignment
The following figure shows the key assignment of the DBG keypad:
341827339
[1] Key Stop
[2] Key Delete previous entry
[3] Key Select language
[4] Key Change menu
[5] Keys <0> – <9> Digits 0 – 9
[6] Key Sign reversal
[7] Key Up arrow, moves up to the next menu item
[8] Key Start
[9] Key OK, confirms the entry
[10] Key Activate the context menu
[11] Key Down arrow, moves down to the next menu item
[12] Key Decimal point
[1]
[2]
[3]
[4]
[5]
[6]
[8]
[7]
[9]
[10]
[11]
[12]
+/-
Manual – DeviceNet/CANopen Interfaces, Field Distributors 147
13 DBG keypadOperator Terminals
13.2.4 Selecting the required language
The following text appears on the display for a few sections when the DBG keypad isswitched on for the first time or after activating the delivery status:
The symbol for language selection then appears on the display.
Proceed as follows to select a the required language:
• Press the key.
A list of languages is displayed on the screen.
• Use the key or the key to select the required language.
• Confirm the setting by using the key.
The basic display is now shown in your chosen language.
SEWEURODRIVE
341888523
148 Manual – DeviceNet/CANopen Interfaces, Field Distributors
13 DBG keypad Operator Terminals
13.2.5 Monitor modeActivation • Connect the DBG keypad to the diagnostic interface of the fieldbus interface.
The unit designation of the connected MOVIMOT® drive is displayed for a few seconds.The DBG then switches to monitor mode.
If you are in a different mode and would like to go to the monitor mode, proceed as fol-lows:
• Use the key to call up the context menu.
• Use the arrow keys or to select the menu item "MONITOR" in the contextmenu.
• Confirm your entry using the key.
The keypad is now in monitor mode.
In monitor mode, the process output data (PO) and process input data (PI) are displayedin 2 separate menus.
The PO data window is always displayed from the context menu.
• Press the key to switch from the PO data window to the PI data window.
• To return to the PO data window, press the key.
To go back to the context menu, press the key or the key.
1213961995
MONITOR
UNIT SETTINGSDBG DELIVERY ST.
PO1 PO2 PO3MONITOR
0000 0000 0000
0ms n=% / Error
PI1 PI2 PI3MONITOR
0000 0000 0000
Status / Error
MANUAL OPERATION
Manual – DeviceNet/CANopen Interfaces, Field Distributors 149
13 DBG keypadOperator Terminals
Display Process output dataThe process output data is displayed as follows:
• PO1 = Control word
• PO2 = Speed (%)
• PO3 = Ramp
The following is also displayed:
• Ramp in ms
• Speed in %
• Fault number and fault text displayed in turn in case of a fault
Process input dataThe process input data is displayed as follows:
• PI1 = Status word 1
• PI2 = Output current
• PI3 = Status word 2
The following is also displayed:
• The status in the status line of the PI window or
• The Fault number and fault text displayed in turn in case of a fault
1214829451
1214716171
PO1 PO2 PO3MONITOR
0000 0000 0000
0ms n=0% / Error
PI1 PI2 PI3MONITOR
0000 0000 0000
Status / Error
150 Manual – DeviceNet/CANopen Interfaces, Field Distributors
13 DBG keypad Operator Terminals
13.2.6 Manual modeActivation • Connect the DBG keypad to the diagnostic interface of the module.
The unit designation of the connected MOVIMOT® drive is displayed for a few seconds.The DBG then switches to monitor mode.
Proceed as follows to change to manual mode:
1. Use the key to call up the context menu.
2. Use the arrow keys or to select the menu item "MANUAL OPERATION"from the context menu.
3. Confirm your entry using the key.
The keypad is now in manual operation mode.
Display In manual mode, the following is displayed:
• Display value: Output current in % of IN• Setting value: Ramp time in ms (default value 10000 ms)
• Setting value: Speed in % (default value 0 %)
1214980491
MONITOR
UNIT SETTINGSDBG DELIVERY ST.
IN% RAMP SPEED%MANUAL OPERATION
0 1000 0
MANUAL OPERATION
TIPIf the drive is enabled in automatic mode (bus operation), you cannot change to manualmode.
In this case, the message "MANUAL MODE NOTE 17: INV. ENABLED" appears for 2s and then the DBG returns to the context menu.
1215017739
IN% RAMP SPEED%MANUAL OPERATION
0 10000 0
ENABLE/NO ENABLE
Manual – DeviceNet/CANopen Interfaces, Field Distributors 151
13 DBG keypadOperator Terminals
Operation The following functions are available in the "MANUAL OPERATION" menu:
Speed setpoint in % Use the key or the key to set the speed setpoint in%, or enter the value using the numeric keys <0> – <9>.
You can use the key to invert the direction of rotation ofthe drive.
Confirm the entry with the key.
Switch menu To go to the menu for entering the ramp time, press the key.
Setting the ramp time Use the key or the key to set the ramp time, or enterthe value using the numeric keys <0> – <9>.
Confirm the entry with the key.
Starting the drive To start the drive, press the key.
The status bar now displays "ENABLE".
During operation, the keypad displays the current motor cur-rent in [%] of the rated motor current IN.
Stopping the drive To stop the drive, press the key.
The message "NO ENABLE" now flashes in the status bar.
+/-
DANGERWhen you exit manual operation mode, the keypad asks: "Activate automatic mode?"
If you select "OK", the drive switches to automatic mode immediately.
If the drive is enabled via bus signals, it can start unintentionally.
Severe or fatal injuries from crushing.• Before deactivating manual mode, set the binary signals or the process data in
such way that the drive is not enabled.• Change the binary signals or process data only after deactivating manual opera-
tion.
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13 DBG keypad Operator Terminals
Deactivating manualoperation
Use the key or the key to deactivate the manualmode.
The following query appears:
ACTIVATE AUTOMATIC MODE?• Pressing the key, you will return to manual mode.
• Pressing the key, you will deactivate manual mode and switch to automatic mode. The context menu appears.
Resetting an error If an error occurs during manual operation, the display showsan error window. The fault number and fault text are displayedalternatively (changing every 2 s) in the status bar of the errorwindow.
Pressing the key, the error window is closed an the erroris reset.
Manual – DeviceNet/CANopen Interfaces, Field Distributors 153
14 Coding of the process dataMOVILINK® Unit Profile
14 MOVILINK® Unit Profile14.1 Coding of the process data
The same process data information is used for control and setpoint selection in all field-bus systems. The process data is coded according to the standard MOVILINK® profilefor SEW drive inverters. The following variants are available for MOVIMOT® inverters:
• 2 process data words (2 PD)
• 3 process data words (3 PD)
14.1.1 2 process data wordsFor controlling the MOVIMOT® inverter via 2 process data words, the higher-level con-troller sends the process output data "Control word" and "Speed [%]" to the MOVIMOT®.The MOVIMOT® inverter sends the process input data "Status word 1" and "Output cur-rent" to the higher-level controller.
14.1.2 3 process data wordsWhen control uses 3 process data words, the ramp is sent as the additional process out-put data word and status word 2 is sent as the third process input data word.
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PO = Process output data PI = Process input dataPO1 = Control word PI1 = Status word 1PO2 = Speed (%) PI2 = Output currentPO3 = Ramp PI3 = Status word 2
MOVIMOT®
PO1 PO2 PO3
Master
PI1 PI2 PI3
PO
PI
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14 Coding of the process data MOVILINK® Unit Profile
14.1.3 Process output data
Process output data is sent from the higher-level controller to the MOVIMOT® inverter(control information and setpoints). However, they only come into effect in MOVIMOT®
if the RS-485 address in MOVIMOT® (DIP switches S1/1 to S1/4) is set to a value otherthan 0.
The MOVIMOT® drive can be controlled using the following process output data:
• PO1: Control word
• PO2: Speed [%] (setpoint)
• PO3: Ramp
Control word bit 0 – 2
The "Enable" control command is set with bits 0 – 2 by entering the control word =0006hex. The CW and/or CCW input terminal must also be set to +24 V (jumpered) toenable the MOVIMOT® drive.
The "Stop" control command is issued by resetting bit 2 = "0." Use the stop command0002hex for reasons of compatibility with other SEW inverter series. MOVIMOT® alwaystriggers a stop with the current ramp whenever bit 2 = "0," regardless of the status of bit0 and bit 1.
Control word, bit 6 = reset
In the event of a malfunction, the fault can be acknowledged by setting bit 6 = "1" (Re-set). For reasons of compatibility, any control bits not assigned must be set to the value"0".
Speed [%] The speed setpoint is given as a relative value in percentage and refers to maximumspeed set using the setpoint potentiometer f1.
Virtual terminals for releasing the brake without drive enableDrive enable, only if MOVIMOT® switch S2/2 = "ON"(See the MOVIMOT® operating instructions)
Basic control block
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
PO1: Control word Reserved for special functions = "0""1" = Reset
Reserved = "0""1 1 0" = Enableotherwise stop
PO2: SetpointSigned percentage value / 0.0061 %
Example: -80 % / 0.0061 % = - 13115 = CCC5hex
PO3: Ramp (for3-word protocol only)
Time from 0 to 50 Hz in ms (range: 100...10000 ms)Example: 2.0 s = 2000 ms = 07D0hex
Coding: C000hex = -100 % (counterclockwise direction)4000hex = +100 % (CW rotation)-> 1 digit = 0.0061 %
Example: 80 % fmax, CCW rotation:Calculation: -80 % / 0.0061 = –13115dec = CCC5hex
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14 Coding of the process dataMOVILINK® Unit Profile
Ramp The current integrator in the process output data word PO3 is transferred if the processdata exchange takes place using three process data words. The integrator ramp set withswitch t1 is used if the MOVIMOT® drive is controlled using 2 process data words.
14.1.4 Process input dataThe MOVIMOT® inverter sends the process input data back to the higher-level control-ler. The process input data contains information on statuses and actual values. TheMOVIMOT® drive supports the following process input data:
• PI1: status word 1
• PI2: Output current
• PI3: status word 2
Coding: 1 digit = 1 msRange: 100 – 10000 msExample: 2.0 s = 2000 ms = 2000dec = 07D0hex
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14 Coding of the process data MOVILINK® Unit Profile
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Controller enabled = "1"
PI1: status word 1
Unit status (Bit 5 = "0") 0 = Inverter not ready 2 = No enable 4 = Enabled
Fault number (Bit 5 = "1")
Unit enabled = "1"
PO data enabled = "1"
Reserved
Reserved
Fault/warning = "1"
Reserved
Reserved
PI2: Current actualvalue
16 bit integer with sign x 0.1 % INExample: 0320hex = 800 x 0.1 % IN = 80 % IN
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
PI3: status word 2(for
3-word protocol only)
Controller enabled = "1"
Unit enabled = "1"
PO data enabled = "1"
Reserved
Reserved
Fault/warning = "1"
Reserved
Reserved
O1 (brake) "1" = Brake applied,"0" = Brake released
O2 (ready for operation)
I1 (CW)
I2 (CCW)
I3 (setpoint f2)
Reserved 0
Manual – DeviceNet/CANopen Interfaces, Field Distributors 157
14 Sample program for Simatic S7 and fieldbusMOVILINK® Unit Profile
14.2 Sample program for Simatic S7 and fieldbusA sample program for the Simatic S7 PLC illustrates the processing of process data aswell as the digital inputs and outputs of the MF. fieldbus interface.
14.2.1 Address assignment of process data in the programmable controllerIn the example, the process data of the MOVIMOT® fieldbus interface is stored in thePLC memory range PW132 – PW136.
The additional output/input word is administered in AW 100 and EW 100.
14.2.2 Processing the digital inputs/outputs of the MF.. fieldbus interfaceThe AND operation of digital inputs DI 0 – 3 controls the digital outputs DO 0 and DO 1on the MF.. interface:
NOTE!This section demonstrates how to create a PLC program using a non-binding example.SEW-EURODRIVE is not liable for the content of the sample program.
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[1][2][3]
Address rangeOutput addressesInput addresses
POPO1PO2PO3DO
Process output dataControl wordSpeed [%]RampDigital outputs
PIPI1PI2PI3DI
Process input datastatus word 1Output currentstatus word 2Digital inputs
AW132
AW134
AW136
EW132
EW134
EW136
PO1
PO2
PO3
PI1
PI2
PI3
[2]
[3]
[1]
MOVIMOT®
-+
+ MF..AW100
EW100 DI
DO
PO1 PO2 PO3
PI1 PI2 PI3
PO
DO
DI
PI
Master
U E 100.0 // If DI 0 = "1"U E 100.1 // DI 1 = "1"U E 100.2 // DI 2 = "1"U E 100.3 // DI 3 = "1"= A 100.0 // then DO 0 = "1"= A 100.1 // DO 1 = "1"
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14 Sample program for Simatic S7 and fieldbus MOVILINK® Unit Profile
14.2.3 MOVIMOT® control
Input DI0 enables the MOVIMOT® drive:
• E 100.0 = "0:" Control command "Stop"
• E 100.0 = "1:" Control command "Enable"
Input DI1 sets the direction of rotation and speed:
• E 100.1 = "0:" 50 % fmax clockwise direction
• E 100.1 = "1:" 50 % fmax counterclockwise direction
The drive is accelerated and decelerated with an integrator ramp of 1 s.
The process input data is saved until further processing in the flag word 20 to 24.
U E 100.0 // Enter the "Enable" control command with input 100.0 SPB FREE
L W#16#2 // "Stop" control command T PAW 132 // Write to PO1 (control word 1) SPA SET
FREE: L W#16#6 // MOVIMOT control command "enable" (0006hex) T PAW 132 // Write to PO1 (control word 1)
SETP: U E 100.1 // Set direction of rotation with input 100.1 SPB CCW // CCW operation if input 100.1 = "1" L W#16#2000 // Setpoint speed = 50% fmax CW (=2000hex) T PAW 134 // Write to PO2 (speed [%]) SPA ACTV
CCW: L W#16#E000 // Setpoint speed = 50% fmax CCW (=E000hex) T PAW 134 // Write to PO2 (speed [%])
ACTV: L 1000 // Ramp = 1 s (1000dez) T PAW 136 // Write to PO3 (ramp)
L PEW 132 // Load PI1 (status word 1) T MW 20 // and store in buffer L PEW 134 // Load PI2 (output current) T MW 22 // and store in buffer L PEW 136 // Load PI3 (status word 2) T MW 24 // and store in buffer
BE
Manual – DeviceNet/CANopen Interfaces, Field Distributors 159
14 Sample program in connection with DeviceNetMOVILINK® Unit Profile
14.3 Sample program in connection with DeviceNetA sample program for the SLC500 from Allen Bradley illustrates the processing of pro-cess data as well as the digital inputs and outputs of the MFD2. fieldbus interface.
In the sample, the process output data of the MOVIMOT® fieldbus interface are storedin the PLC memory area O:3.1 to O:3.3 and the process input data in the memory areaI:3.1 to I:3.3. The output data are written in "Rung 1" in memory area N7:0 to N7:2 andthe input data in the memory area N7:4 to N7:6.
NOTE!This example only shows the procedure for creating a PLC program in principle. SEW-EURODRIVE is not liable for the content of the sample program.
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...
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14 Sample program in connection with DeviceNet MOVILINK® Unit Profile
The additional output byte (O:3.3/0 - O:3.3/7) is managed in N7:3 and the input byte(I:3.3/0 - I3.3/7) in N7:7.
14.3.1 Processing the process data in the copied memory area of the controller
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[1][2][3]
Address rangeOutput addressesInput addresses
POPO1PO2PO3DO
Process output dataControl wordSpeed [%]RampDigital outputs
PIPI1PI2PI3DI
Process input datastatus word 1Output currentstatus word 2Digital inputs
O:3.1
O:3.2
O:3.3
O:3.4
PO1
PO2
PO3[2]
[1]
MOVIMOT®
-+
+ MFD..
DO
PO1 PO2 PO3
PI1 PI2 PI3
PO
DO
DI
PI
Master
I:3.1
I:3.2
I:3.3
I:3.4
PI1
PI2
PI3[3]
DI
Process output data Memory area in the con-troller
Process data words
O:3.1 N7:0 PO1
O:3.2 N7:1 PO2
O:3.3 N7:2 PO3
O:3.4 N7:3 unassigned DO
Process input data Memory area in the con-troller
Process data words
I:3.1 N7:4 PI1
I:3.2 N7:5 PI2
I:3.3 N7:6 PI3
I:3.4 N7:7 unassigned DI
Manual – DeviceNet/CANopen Interfaces, Field Distributors 161
14 Sample program in connection with DeviceNetMOVILINK® Unit Profile
14.3.2 Processing the digital inputs/outputs of MFD2.
The output bits are controlled via an AND operation of the input bits. If all input bits = 1,then the output bits are set to DO0 and DO1. Otherwise, the output bits are reset (= 0).
14.3.3 MOVIMOT® controlInput bit DI0 (N7:3/0) is used for enabling the MOVIMOT® drive.
• N7:3/0=0 Control command "Stop"
• N7:3/0=1 Control command "Enable"
The direction of rotation and speed are set via input bit DI01 (N7:3/1):
• N7:3/1=0: 50 % fmax clockwise direction
• N7:3/1=1: 50 % fmax counterclockwise direction
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14 Sample program in connection with DeviceNet MOVILINK® Unit Profile
The drive is accelerated and decelerated with an integrator ramp of 1 s. The processinput data is saved until further processing in the memory area N7:4 to N7:6.
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 163
15 MQ.. parameter listParameters
15 Parameters15.1 MQ.. parameter list
Parameter Designation Index Unit Access Default Meaning / value range
010 Inverter status 8310 RO 0 Low word coded, as status word 1
011 Operating state 8310 RO 0 Low word coded, as status word 1
012 Error status 8310 RO 0 Low word coded, as status word 1
013 Current parameter set 8310 RO 0 Low word coded, as status word 1
015 Hours of operation 8328 [s] RO 0
030 Binary input DI00 8844 RW 16 0: No function16: IPOS input32: MQX Encoder In
031 Binary input DI01 8335 RW 16
032 Binary input DI02 8336 RO 16
033 Binary input DI03 8337 RO 16
034 Binary input DI04 8338 RO 16
035 Binary input DI05 8339 RO 16
036 Binary inputs DI00 – DI05 8334 RO 16
050 Binary output DO00 8843 RW 21 0: No function21: IPOS output22: IPOS error
051 Binary output DO01 8350 RW 21
053 Binary output DO00... 8360 RO
070 Unit type 8301 RO
076 Firmware basic unit 8300 RO
090 PD configuration 8451 RO
091 Fieldbus type 8452 RO
092 Fieldbus baud rate 8453 RO
093 Fieldbus address 8454 RO
094 PO1 setpoint 8455 RO
095 PO2 setpoint 8456 RO
096 PO3 setpoint 8457 RO
097 PI1 actual value 8458 RO
098 PI2 actual value 8459 RO
099 PI3 actual value 8460 RO
504 Encoder monitoring 8832 RW 1 0: OFF 1: ON
608 Binary input DI00 8844 RW 16 0: No function16: IPOS input32: MQX Encoder In
600 Binary input DI01 8335 RW 16
601 Binary input DI02 8336 RO 16
602 Binary input DI03 8337 RO 16
603 Binary input DI04 8338 RO 16
604 Binary input DI05 8339 RO 16
628 Binary output DO00 8843 RW 21 0: No function21: IPOS output22: IPOS error
620 Binary output DO01 8350 RW 21
802 Factory setting 8594 R/RW 0 0: No1: Yes2: Delivery state
810 RS-485 address 8597 RO 0
812 RS-485 timeout interval 8599 [s] RO 1
819 Fieldbus timeout delay 8606 [s] RO
00
I
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15 MQ.. parameter list Parameters
831 Response fieldbus timeout 8610 RW 10 0: No response10: PO DATA = 0
840 Manual reset 8617 RW 0: OFF 1: ON
870 Setpoint description PO1 8304 RO 12 IPOS PO-DATA
871 Setpoint description PO2 8305 RO 12 IPOS PO-DATA
872 Setpoint description PO3 8306 RO 12 IPOS PO-DATA
873 Actual value description PI1 8307 RO 9 IPOS PI-DATA
874 Actual value description PI2 8308 RO 9 IPOS PI-DATA
875 Actual value description PI3 8309 RO 9 IPOS PI-DATA
- IPOS control word 8691 RW 0
- IPOS program length 8695 RW 0
- IPOS variables H0 – H127 11000-11127
RW – Memory-resident variable
- IPOS variable H10 – H511 11010-11511
RW 0
- IPOS code 16000-17023
RW 0
Parameter Designation Index Unit Access Default Meaning / value range
00
I
Manual – DeviceNet/CANopen Interfaces, Field Distributors 165
16 Bus diagnostics with MOVITOOLS®
Service
16 Service
16.1 Bus diagnostics with MOVITOOLS®
16.1.1 Fieldbus diagnostics via the MF../MQ.. diagnostic interfaceMF../MQ.. fieldbus interfaces are equipped with a diagnostics interface for startup andservice. This interface allows for bus diagnostics with the SEW operating softwareMOVITOOLS®.
The software offers simple diagnostic functions for setpoint and actual values that areexchanged between the MOVIMOT® drive and the fieldbus master.
TIPFor information on service and maintenance of the MOVIMOT® MM..C and D inverters,refer to the respective operating instructions.
1199394827
TIPThe MOVIMOT® drive can be directly controlled in the "Controller" fieldbus monitor op-erating mode, see the section "Fieldbus monitor in MOVITOOLS®" (see page 169).
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16 Bus diagnostics with MOVITOOLS® Service
Structure of the diagnostics interface
The diagnostics interface is located on potential level 0; the same potential as the mod-ule electronics. This applies for all MF../MQ.. fieldbus interfaces. For the MFK.. AS-Interface interfaces, the diagnostics interface is located on the MOVIMOT® potential.
The interface can be accessed via a 4-pin plug connected RJ10. The interface is locatedunderneath the cable gland on the module cover.
Interface adapter
The diagnostics interface can be connected to a PC using one of the following options:
• USB11A with USB interface, part number 0 824 831 1
• UWS21B with serial interface RS-232, part number 1 820 456 2
Scope of delivery:
• Interface adapter
• Cable with RJ10 plug connector
• Interface cable USB (USB11A) or RS-232 (UWS21B)
1194294027
GND RS- RS+ +5V
4 3 2 1
1195112331
PC +
MOVITOOLS
RS-232 RJ10
MF../MQ..
UWS21B
RJ10USB
USB11A
Manual – DeviceNet/CANopen Interfaces, Field Distributors 167
16 Bus diagnostics with MOVITOOLS®
Service
Relevant diagnostics parameters
The MOVITOOLS® Shell software enables diagnostics for MOVIMOT® drives via the di-agnostic interface of the MF.. fieldbus interfaces.
Display values - 00. process values
The MOVIMOT® drive returns the output current as process value.
Display values - 01. status display
The MOVIMOT® status is interpreted and shown in the status display.
Display values - 04. Binary input option
The digital inputs of the MF.. fieldbus interfaces are shown as optional inputs of theMOVIMOT® drive. Since these inputs do not have a direct effect on the MOVIMOT®
drive, the terminal assignment is set to "No function".
Display values - 06. Binary output option
The digital outputs of the MF.. fieldbus interfaces are shown as optional outputs of theMOVIMOT® drive. Since these outputs do not have a direct effect on the MOVIMOT®
drive, the terminal assignment is set to "No function".
Menu no. Parameter name Index Meaning/Implementation
004 Output current [% IN] 8321 MOVIMOT® output current
Menu no. Parameter name Index Meaning/Implementation
010 Inverter status 8310 MOVIMOT® inverter status
011 Operating state 8310 MOVIMOT® operating state
012 Error status 8310 MOVIMOT® error status
Menu no. Parameter name Index Meaning/Implementation
040 Binary inputs DI10 8340 Status of MF.. binary inputs DI0
041 Binary inputs DI11 8341 Status of MF.. binary inputs DI1
042 Binary inputs DI12 8342 Status of MF.. binary inputs DI2
043 Binary inputs DI13 8343 Status of MF.. binary inputs DI3
044 Binary inputs DI14 8344 Status of MF.. binary inputs DI4
045 Binary inputs DI15 8345 Status of MF.. binary inputs DI5
048 Binary inputs DI10 ... DI17 8348 State of all binary inputs
Menu no. Parameter name Index Meaning/Implementation
060 Binary outputs DO10 8352 Status of MF.. binary outputs DO0
061 Binary outputs DO11 8353 Status of MF.. binary outputs DO
068 Binary outputs DO10 to DO17
8360 Status of MF.. binary outputs DO0 and DO1
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16 Bus diagnostics with MOVITOOLS® Service
Display values - 07. unit data
The unit data displays information on MOVIMOT® and the MF.. fieldbus interface.
Display values - 09. bus diagnostics
This menu item represents all fieldbus data.
Menu no. Parameter name Index Meaning/Implementation
070 Unit type 8301 Unit type MOVIMOT®
072 Option 1 8362 Unit type option 1 = MF.. type
074 Firmware option 1 8364 Firmware part number MF..
076 Firmware basic unit 8300 Firmware part number MOVIMOT®
Menu no. Parameter name Index Meaning/Implementation
090 PD configuration 8451 Set PD configuration for MOVIMOT®
091 Fieldbus type 8452 Fieldbus type of MF..
092 Fieldbus baud rate 8453 Baud rate of MF..
093 Fieldbus address 8454 Fieldbus address of MF.. DIP switches
094 PO1 setpoint [hex] 8455 PO1 setpoint from fieldbus master to MOVIMOT®
095 PO2 setpoint [hex] 8456 PO2 setpoint from fieldbus master to MOVIMOT®
096 PO3 setpoint [hex] 8457 PO3 setpoint from fieldbus master to MOVIMOT®
097 PI1 actual value [hex] 8458 PI1 actual value from MOVIMOT® to fieldbus master
098 PI2 actual value [hex] 8459 PI2 actual value from MOVIMOT® to fieldbus master
099 PI3 actual value [hex] 8460 PI3 actual value from MOVIMOT® to fieldbus master
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16 Bus diagnostics with MOVITOOLS®
Service
Fieldbus monitor in MOVITOOLS®
The fieldbus monitor in MOVITOOLS® makes for user-friendly control and visualizationof cyclical MOVIMOT® process data.
Characteristics • Intuitive operation
• Easy to learn control functions even without connection to the fieldbus (preparationfor startup)
• Integrated in the SEW user interface software MOVITOOLS®
• Quick and easy troubleshooting
• Shorter project planning phase
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16 Bus diagnostics with MOVITOOLS® Service
Function of the fieldbus monitor
The fieldbus monitor provides the user with a powerful tool for startup and troubleshoot-ing. This tool displays and interprets all cyclical process data exchanged between in-verter and control.
The fieldbus monitor lets you monitor the bus operation as a passive station or take ac-tive control of the inverter.
This option provides the user with the following possibilities:
• To interactively take over control of the inverter in an existing system and check thefunctionality of the drive.
• To remotely simulate the operating principle of an individual drive (without existingsystem and fieldbus master) so that the control functions can be tested prior tostartup.
Fieldbus monitor in control mode
1199400843
[1][2][3][4][5]
PO data from controllerPI data from inverter to controllerCurrent HEX values of the process output data (can be edited)Current HEX values of the process input data Display of current setting
[3] [4]
[1] [2]
[5] [5]
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16 Bus diagnostics with MOVITOOLS®
Service
16.1.2 Fieldbus interface error table
Fault code/description Response Cause Measure
10 IPOS ILLOP IPOS program stoppedDO = 0
• Fault in IPOS program, see IPOS variable H469 for more information
• Correct, load and reset IPOS program
14 Encoder fault Communication to MOVIMOT® stopsDO = 0
• Interruption of one or both encoder connections
• Check the electrical connection between MQ.. and the encoder
17 Stack overflow • Inverter electronics disrupted, possibly due to electromagnetic interference.
• Check grounding and shielding and repair, if necessary
• If the error occurs again, contact SEW service.
18 Stack underflow
19 NMI
20 Undefined opcode
21 Protection fault
22 Illegal word oper-and access
23 Illegal instruc-tion access
24 Illegal external bus access
25 EEPROM • Error while accessing EEPROM • Activate "Delivery state" settings, perform reset and set parameters again (Important: The IPOS program is deleted)
• If the fault occurs again, contact SEW service
28 Fieldbus timeout Process output data = 0DO = 0(can be switched off)
• No communication between master and slave within the projected response monitoring.
• Check communication routine of the master
32 IPOS index over-flow
IPOS program stoppedDO = 0
• Programming principles violated leading to system internal stack overflow
• Check IPOS user program and correct if necessary
37 Watchdog error Communication to MOVIMOT® stopsDO = 0
• Error during execution of system software
• Consult SEW Service
41 Watchdog option • IPOS watchdog, IPOS program execution time is longer than set watchdog time
• Check what time interval has been set in the "_WdOn()" command.
45 Initialization fault • Error after self-test during reset • Perform a reset; if the error occurs again, contact SEW service.
77 Invalid IPOS con-trol value
IPOS program stoppedDO = 0
• An attempt was made to set an invalid automatic mode.
• Check write values of external controller
83 Short circuit out-put
None • DO0, DO1 or the voltage supply of the VO24 sensors is shorted.
• Check the cabling/load of the DO0 and DO1 outputs as well as the voltage supplies of the sensors.
91 System fault None • One or more stations (MOVIMOT®) could not be addressed by the MQ.. within the timeout interval.
• Check voltage supply and RS-485 wiring
• Check address of configured stations
97 Copy data Communication to MOVIMOT® stopsDO = 0
• Error occurred when data set was being copied Data is not consistent.
• Try to copy the data again; reset the unit to the factory setting "Delivery state" first.
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16 Extended storage Service
16.2 Extended storageIf a unit with inverter is being stored for a long time, connect it to the mains voltage forat least 5 minutes every 2 years. Otherwise, the unit's service life may be reduced.
16.3 Procedure when maintenance has been neglectedElectrolytic capacitors are used in the inverters. They are subject to aging effects whende-energized. This effect can damage the capacitors if the unit is connected using therated voltage after a longer period of storage.
If you have not performed maintenance regularly, SEW-EURODRIVE recommends thatyou increase the supply voltage slowly up to the maximum voltage. This can be done,for example, by using a variable transformer for which the output voltage has been setaccording to the following overview. After you have completed the regeneration process,the unit can be used immediately or stored again for an extended period with mainte-nance.
The following stages are recommended:
AC 400/500 V units:
• Stage 1: AC 0 V to AC 350 V within a few seconds
• Stage 2: AC 350 V for 15 minutes
• Stage 3: AC 420 V for 15 minutes
• Stage 4: AC 500 V for 1 hour
16.4 DisposalThis product consists of:
• Iron
• Aluminum
• Copper
• Plastic
• Electronic components
Dispose of all components in accordance with applicable regulations!
Manual – DeviceNet/CANopen Interfaces, Field Distributors 173
17 Technical data of MFD.. DeviceNet interfaceTechnical Data
17 Technical Data17.1 Technical data of MFD.. DeviceNet interface
MFD electrical specification
MFD power supply to control electronics via DeviceNet
V = 11 V – 25 V according to DeviceNet specificationIE ≤ 100 mA
Input voltage for inverters and sensors (terminal 11/13)
V = +24 V +/- 25 %
Electrical isolation DeviceNet potential and inputs/outputsDeviceNet potential and MOVIMOT®
Bus connection technology Male micro-style connector (M12)
Binary inputs (sensors)
Signal level
PLC-compatible according to EN 61131-2 (digital inputs type 1), Ri ≈3.0 kΩ, Sampling interval about 5 ms 15 V – +30 V: "1" = contact closed; -3 V – +5 V: "0" = contact open
Sensor supply Rated current Internal voltage drop
DC 24 V to EN 61131-2, interference voltage proof and short-circuit proof Σ 500 mA max. 1 V
Binary outputs (actuators) Signal level Rated current Leakage current Internal voltage drop
PLC compatible to EN 61131-2, interference-voltage proof and short-circuit proof "0" = 0 V; "1" = 24 V 500 mA Max. 0.2 mA max. 1 V
Line length RS-485 30 m between MFD and MOVIMOT® if installed separately
Ambient temperature -25 °C – 60 °C
Storage temperature -25 °C – 85 °C
Degree of protection IP65 (installed on MFZ.. connection module, all plug connections sealed)
DeviceNet Specification
Protocol variant Master-slave connection set with polled I/O and bit-strobe I/O
Supported baud rates 500 kBaud250 kBaud125 kBaud
DeviceNet cable length500 kBaud250 kBaud125 kBaud
See DeviceNet specification V 2.0100 m200 m400 m
Bus terminator 120 ohms (requires external triggering)
Process data configuration without DI/DOMFD21/MFD22/MFD32
2 PD3 PD
Process data configuration with DI/DOMFD21/MFD22
2 PD + DI/DO3 PD + DI/DO0 PD + DI/DO
Process data configuration with DIMFD32
2 PD + DI3 PD + DI0 PD + DI
Address setting DIP switches
Process data length DIP switches
I/O enable DIP switches
EDS file name MFD2x.edsMFD3x.eds
Bitmap file name MFD2x.bmpMFD3x.bmp
Name of icon file MFD2x.icoMFD3x.ico
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17 Technical data of MQD.. DeviceNet interface Technical Data
17.2 Technical data of MQD.. DeviceNet interface
MQD electrical specification
Power supply to MQD control electronics via DeviceNet
V = 11 V – 25 V according to DeviceNet specificationIE ≤ 250 mA
Input voltage for inverters and sensors (terminal 11/13)
V = +24 V +/- 25 %
Electrical isolation DeviceNet potential and inputs/MOVIMOT®
DeviceNet potential and outputs
Bus connection technology Male micro-style connector (M12)
Binary inputs (sensors)
Signal level
PLC-compatible according to EN 61131-2 (digital inputs type 1), Ri ≈3.0 kΩ, Sampling interval about 5 ms 15 V – +30 V: "1" = contact closed; -3 V – +5 V: "0" = contact open
Sensor supply Rated current Internal voltage drop
DC 24 V to EN 61131-2, interference voltage proof and short-circuit proof Σ 500 mA max. 1 V
Binary outputs (actuators) Signal level Rated current Leakage current Internal voltage drop
PLC-compatible to EN 61131-2, interference-voltage proof and short-circuit proof "0" = 0 V; "1" = 24 V 500 mA Max. 0.2 mA max. 1 V
Line length RS-485 30 m between MQD and MOVIMOT® if installed separately
Ambient temperature -25 °C – 60 °C
Storage temperature -25 °C – 85 °C
Degree of protection IP65 (installed on MFZ.. connection module, all plug connections sealed)
DeviceNet Specification
Protocol variant Master-slave connection set with polled I/O and bit-strobe I/O
Supported baud rates 500 kBaud250 kBaud125 kBaud
DeviceNet cable length500 kBaud250 kBaud125 kBaud
See DeviceNet specification V 2.0100 m200 m400 m
Bus terminator 120 Ω (switch on externally)
Process data configuration 1-10 process data words with and without parameter channel; for detailed information, refer to chapter "Process data configuration" (see page 108)
Bit-strobe response Checkback signal of the MQD device status via bit-strobe I/O data
Address setting DIP switches
Process data length DIP switches
Name of EDS files MQD2x.edsMQD3x.eds
Name of bitmap files MQD2x.bmpMQD3x.bmp
Name of icon files MQD2x.icoMQD3x.ico
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17 Technical data of MFO.. CANopen interfaceTechnical Data
17.3 Technical data of MFO.. CANopen interface
MFO electrical specification
MFO electronics power supply V = +24 V +/- 25 %IE ≤ 100 mA
Electrical isolation • CAN potential and inputs/outputs• CANopen potential and MOVIMOT®
Input voltage for inverters and sensors (terminal 11/13)
V = +24 V +/- 25 %
Bus connection technology Male micro-style connector (M12)
Binary inputs (sensors)
Signal level
PLC-compatible according to EN 61131-2 (digital inputs type 1), Ri ≈3.0 kΩ, Sampling interval about 5 ms 15 V – +30 V: "1" = contact closed; -3 V – +5 V: "0" = contact open
Sensor supply Rated current Internal voltage drop
DC 24 V to EN 61131-2, interference voltage proof and short-circuit proof Σ 500 mA max. 1 V
Binary outputs (actuators) Signal level Rated current Leakage current Internal voltage drop
PLC-compatible to EN 61131-2, interference-voltage proof and short-circuit proof "0" = 0 V; "1" = 24 V 500 mA Max. 0.2 mA max. 1 V
Line length RS-485 30 m between MFO and MOVIMOT® if installed separately
Ambient temperature -25 °C – 60 °C
Storage temperature -25 °C – 85 °C
Degree of protection IP65 (installed on MFZ.. connection module, all plug connections sealed)
CANopen specification
Protocol variant 1 SDO, 1 PDO, Emergency, Lifetime
Supported baud rates • 1 MBaud• 500 kBaud• 250 kBaud• 125 kBaud
CANopen cable length 1 MBaud 500 kBaud 250 kBaud 125 kBaud
see CANopen specification DR(P) 30340 m100 m200 m400 m
Bus terminator 120 Ω (switch on externally)
Process data configuration without DI/DOMFO21/MFO22/MFO32
2PD3PD
Process data configuration with DI/DOMFO21/MFO22
2 PD + DI/DO3 PD + DI/DO0 PD + DI/DO
Process data configuration with DIMFO32
2 PD + DI3 PD + DI0 PD + DI
Address setting DIP switches
Process data length DIP switches
I/O enable DIP switches
EDS files See section "Startup with CANopen" (see page 121)
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17 Technical data for field distributors Technical Data
17.4 Technical data for field distributors17.4.1 Field distributor MF../Z.3., MQ../Z.3.
17.4.2 Field distributor MF../Z.6., MQ../Z.6.
17.4.3 Field distributor MF../MM../Z.7., MQ../MM../Z.7.
MF../Z.3.MQ../Z.3.
Ambient temperature -25 °C – 60 °C
Storage temperature -25 °C – 85 °C
Degree of protection IP65 (fieldbus interface and motor connection cable attached and fastened, all plug connections sealed)
Interface PROFIBUS, INTERBUS, DeviceNet, CANopen, AS-Interface
Permitted motor cable length
max. 30 m (with SEW hybrid cable, type B)If the motor cable cross section is smaller than the supply system lead cross section,note the line fusing!
Weight About 1.3 kg
MF../Z.6.MQ../Z.6.
Maintenance switch Load interrupter switch and line protectionType: ABB MS 325 – 9 + HK20Switch activation: black/red, triple lock
Ambient temperature -25 °C – 55 °C
Storage temperature -25 °C – 85 °C
Degree of protection IP65 (fieldbus interface, power supply connection cover and motor connection cable attached and fastened, all plug connections sealed)
Interface PROFIBUS, INTERBUS, DeviceNet, CANopen, AS-Interface
Permitted motor cable length
max. 30 m (with SEW hybrid cable, type B)
Weight About 3.6 kg
MF../MM..-503-00/Z.7. MQ../MM..-503-00/Z.7.
Ambient temperature -25 °C – 40 °C (PN reduction: 3 % IN per K to max. 60 °C)
Storage temperature -25 °C – 85 °C
Degree of protection IP65 (fieldbus interface, power supply connection cover and motor connection cable attached and fastened, all plug connections sealed)
Interface PROFIBUS, INTERBUS, DeviceNet, CANopen, AS-Interface
Permitted motor cable length
15 m (with SEW hybrid cable, type A)
Weight About 3.6 kg
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17 Technical data for field distributorsTechnical Data
17.4.4 Field distributor MF../MM../Z.8., MQ../MM../Z.8.
MF../MM..-503-00/Z.8. MQ../MM..-503-00/Z.8.
Maintenance switch Switch disconnector Type: ABB OT16ET3HS3ST1Switch activation: black/red, triple lock
Ambient temperature -25 °C – 40 °C (PN reduction: 3 % IN per K to max. 55 °C) 1)
1) For MM3XC: -25 °C – 40 °C with S3 25% cdf (to max. 55 °C with S3 10% cdf)
Storage temperature -25 °C – 85 °C
Degree of protection IP65 (fieldbus interface, power supply connection cover and motor connection cable attached and fastened, all plug connections sealed)
Interface PROFIBUS, INTERBUS, DeviceNet, CANopen, AS-Interface
Permitted motor cable length
15 m (with SEW hybrid cable, type A)
Weight Size 1: About 5.2 kgSize 2: About 6.7 kg
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178 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD2X Technical Data
17.5 Statement of Conformance for MFD2X
1485420811
Device Net Statement of Conformance
SOC data as of 3 - 24 - 2000
Fill in the blank or X the appropriate box
General Conforms to DeviceNet Specification Volume I - Release 2 Volume II - Release 2DeviceData Vendor Name SEW Eurodrive GmbH
Device Profile Name Vendor SpecificProduct Name SEW-MOVIMOT-MFD 2x
Product Catalog Number 6
Product Revision 1,01
DeviceNet Physical Network Power Consumption (Max) 0,4 A @ 11V dc (worst case)Conformance Data
Connector Sty le Open-Hardwired Sealed-MiniOpen-Pluggable Sealed-Micro X
Isolated Physical Layer YesNo X
LEDs Supported Module Combo Mod/Net X
None Network I/O
MAC ID Setting DIP Switch X Software SettableOther
Default MAC ID 63
Communication Rate Setting DIP Switch X Software SettableOther
Communication Rates Supported 125k bit/s X 500k bit/s X
250k bit/s X
DeviceNet Device Network Behavior Group 2 Client Group 2 Only Client
Communication Check All That Apply Group 2 Server Group 2 Only Server X
Data Peer-To-Peer Tool (not a Device)
UCMM Explicit Message Groups Supported Group 1 Group 2 Group 3
Dynamic I/O Message Groups (Peer to Peer) Group 1 Group 2 Group 3
Default I/O Data Address Path Input: Class 4 Inst. 64 Attr. 3Output: Class 4 Inst. 64 Attr. 3
Fragmented Explicit Messaging Supported Yes X No
If yes, Acknowledge TimeOut 1000 ms
Typical Target Addresses
Consumption Serv ice 16 Class 1 Inst. 1 Attr. 7
Production Serv ice 14 Class 1 Inst. 1 Attr. 7
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 179
17 Statement of Conformance for MFD2XTechnical Data
1487001739
Device Net Statement of Conformance
DeviceNet Identity Object 0x01Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attributes list
5 Optional serv ices list
6 Max Id of class attributes7 Max Id of instance attributes
DeviceNet Services Parameter OptionsServ ices Get_Attributes_All
ResetX None Supported Get_Attribute_Single
Find_Next_Object_instanceObject Instance ID Description Get Set Value LimitsAttributes Open 1 Vendor X =(315)
2 Device type X =(100)
3 Product code X =(6)
4 Revision X =(1.01)
5 Status (bits supported) X
6 Serial number X =(8234590)
7 Product name X SEW-MOVIMOT-MFD 2x
8 State9 Config. Consistency Value
10 Heartbeat IntervalDeviceNet Services Parameter Options
Serv ices Get_Attributes_AllX Reset 0
X Get_Attribute_SingleSet_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 2 of 9
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180 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD2X Technical Data
1488096267
Device Net Statement of Conformance
DeviceNet Message Router Object 0x02Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 4 Optional attribute list
X None Supported 5 Optional serv ice list6 Max ID of class attributes7 Max ID of instance attributes
DeviceNet Services Parameter Options
Serv ices Get_Attributes_AllGet_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value Limits
Attributes Open 1 Object list2 Maximum connections supported
X None Supported 3 Number of active connections4 Active connections list
DeviceNet Services Parameter Options
Serv ices Get_Attributes_AllGet_Attribute_Single
X None Supported
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 3 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 181
17 Statement of Conformance for MFD2XTechnical Data
1488167563
Device Net Statement of Conformance
DeviceNet DeviceNet Object 0x03Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 Revision X =(2)Implementation None Supported
DeviceNet Services Parameter Options
Serv ices Get_Attribute_SingleX None SupportedObject Instance ID Description Get Set Value Limits
Attributes Open 1 MAC ID X =(0..63)
2 Baud rate X =(0..2)
None Supported 3 BOI X =(0)
4 Bus-off counter X X =(0..255)
5 Allocation information X
6 MAC ID switch changed X =(0)
7 Baud rate switch changed X =(0)
8 MAC ID switch value X =(0..63)
9 Baud rate switch value X =(0..2)
DeviceNet Services Parameter Options
Serv ices X Get_Attribute_SingleX Set_Attribute_Single
None Supported X Allocate M/S connection setX Release M/S connection set
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 4 of 9
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182 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD2X Technical Data
1488239627
DeviceNet Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported
DeviceNet Services Parameter OptionsServices Reset
CreateX None Supported Delete
Get_Attribute_SingleFind_Next_Object_Instance
Object Instance Predefined M/S Connections Peer to Peer Connections Max InstancesComplete the Object Instance section Explicit Message X Explicit Message Totalfor each Instance type supported. Polled Server Client
Indicate Production trigger, Bit Strobed Dynamic I/O Total
Transport type and Transport Change of State Server Client
Class supported for Dynamic I/O. Cyclic
Production trigger(s) Cyclic COS App. trig.Transport type(s) Server X ClientTransport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X
3 Transport Class trigger X
4 Produced connection ID X
5 Consumed connection ID X
6 Initial comm. characteristics X
7 Produced connection size X
8 Consumed connection size X
9 Expected packet rate X X =(0..65530)12 Watchdog time-out action X
13 Produced connection path length X
14 Produced connection path X
15 Consumed connection path length X
16 Consumed connection path X
17 Production inhibit time X =(0)
DeviceNet Services Parameter OptionsServices X Reset
DeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 8 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 183
17 Statement of Conformance for MFD2XTechnical Data
1488312459
DeviceNet Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported
DeviceNet Services Parameter OptionsServices Reset
CreateX None Supported Delete
Get_Attribute_SingleFind_Next_Object_Instance
Object Instance Predefined M/S Connections Peer to Peer Connections Max InstancesComplete the Object Instance section Explicit Message Explicit Message Totalfor each Instance type supported. Polled X Server Client
Indicate Production trigger, Bit Strobed Dynamic I/O Total
Transport type and Transport Change of State Server Client
Class supported for Dynamic I/O. Cyclic
Production trigger(s) Cyclic COS App. trig.Transport type(s) Server X ClientTransport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X
3 Transport Class trigger X
4 Produced connection ID X
5 Consumed connection ID X
6 Initial comm. characteristics X
7 Produced connection size X
8 Consumed connection size X
9 Expected packet rate X X =(0..65530)12 Watchdog time-out action X
13 Produced connection path length X
14 Produced connection path X
15 Consumed connection path length X
16 Consumed connection path X
17 Production inhibit time X =(0)
DeviceNet Services Parameter OptionsServices X Reset
DeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 6 of 9
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184 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD2X Technical Data
1488386059
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported
DeviceNet Services Parameter OptionsServ ices Reset
CreateX None Supported Delete
Get_Attribute_SingleFind_Next_Object_Instance
Object Instance Predefined M/S Connections Peer to Peer Connections Max InstancesComplete the Object Instance section Explicit Message Explicit Message Totalfor each Instance type supported. Polled Server Client
Indicate Production trigger, Bit Strobed X Dynamic I/O Total
Transport type and Transport Change of State Server Client
Class supported for Dynamic I/O. Cyclic
Production trigger(s) Cyclic COS App. trig.Transport type(s) Server X ClientTransport class(es) 2 X 3ID Description Get Set Value Limits
Attributes Open 1 State X
2 Instance type X
3 Transport Class trigger X
4 Produced connection ID X
5 Consumed connection ID X
6 Initial comm. characteristics X
7 Produced connection size X
8 Consumed connection size X
9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X
13 Produced connection path length X
14 Produced connection path X
15 Consumed connection path length X
16 Consumed connection path X
17 Production inhibit time X =(0)
DeviceNet Services Parameter OptionsServ ices X Reset
DeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 5 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 185
17 Statement of Conformance for MFD2XTechnical Data
1488601227
Device Net Statement of Conformance
DeviceNet Register Object 0x07Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation
X None Supported
DeviceNet Services Parameter Options
Serv ices Get_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value Limits
Attributes Open 1 Bad Flag X2 Direction X
None Supported 3 Size X =(16,48)
4 Data X X
DeviceNet Services Parameter Options
Serv ices X Get_Attribute_Single 8452
None Supported X Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 7 of 9
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186 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD2X Technical Data
1488665611
Device Net Statement of Conformance
DeviceNet Parameter Object 0x0FRequired Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance X
None Supported 8 Parameter class descriptor X
9 Configuration assembly instance X
10 Native language
DeviceNet Services Parameter Options
Serv ices Get_Attributes_AllReset
None Supported X Get_Attribute_SingleSet_Attribute_SingleRestoreSave
Object Instance ID Description Get Set Value Limits
Attributes Open 1 Parameter value X X =(0..4294967294)
2 Link Path size X
None Supported 3 Link path X
4 Descriptor X
5 Data type X
6 Data size X =(4)
7 Parameter name string8 Units string9 Help string
10 Minimum value11 Maximum value12 Default value13 Scaling multiplier14 Scaling div isor15 Scaling base16 Scaling offset17 Multiplier link18 Div isor link19 Base link20 Offset link21 Decimal precision
DeviceNet Services Parameter Options
Serv ices Get_Attribute_AllNone Supported X Get_Attribute_Single
X Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 9 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 187
17 Statement of Conformance for MFD3XTechnical Data
17.6 Statement of Conformance for MFD3X
1488984971
Device Net Statement of Conformance
SOC data as of 3 - 21 - 2000
Fill in the blank or X the appropriate box
General Conforms to DeviceNet Specification Volume I - Release 2 Volume II - Release 2DeviceData Vendor Name SEW Eurodrive GmbH
Device Profile Name Vendor SpecificProduct Name SEW-MOVIMOT-MFD 3x
Product Catalog Number 5
Product Revision 1,01
DeviceNet Physical Network Power Consumption (Max) 0,4 A @ 11Vdc (worst case)Conformance Data
Connector Sty le Open-Hardwired Sealed-MiniOpen-Pluggable Sealed-Micro X
Isolated Physical Layer YesNo X
LEDs Supported Module Combo Mod/Net X
None Network I/O
MAC ID Setting DIP Switch X Software SettableOther
Default MAC ID 63
Communication Rate Setting DIP Switch X Software SettableOther
Communication Rates Supported 125k bit/s X 500k bit/s X
250k bit/s X
DeviceNet Device Network Behavior Group 2 Client Group 2 Only Client
Communication Check All That Apply Group 2 Server Group 2 Only Server X
Data Peer-To-Peer Tool (not a Device)
UCMM Explicit Message Groups Supported Group 1 Group 2 Group 3
Dynamic I/O Message Groups (Peer to Peer) Group 1 Group 2 Group 3
Default I/O Data Address Path Input: Class 4 Inst. 64 Attr. 3Output: Class 4 Inst. 64 Attr. 3
Fragmented Explicit Messaging Supported Yes X No
If yes, Acknowledge TimeOut 1000 ms
Typical Target Addresses
Consumption Serv ice 16 Class 1 Inst. 1 Attr. 7
Production Serv ice 14 Class 1 Inst. 1 Attr. 7
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188 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD3X Technical Data
1490747659
Device Net Statement of Conformance
DeviceNet Identity Object 0x01Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attributes list
5 Optional serv ices list
6 Max Id of class attributes7 Max Id of instance attributes
DeviceNet Services Parameter OptionsServ ices Get_Attributes_All
ResetX None Supported Get_Attribute_Single
Find_Next_Object_instanceObject Instance ID Description Get Set Value LimitsAttributes Open 1 Vendor X =(315)
2 Device type X =(100)
3 Product code X =(5)
4 Revision X =(1.01)
5 Status (bits supported) X
6 Serial number X =(8234590)
7 Product name X SEW-MOVIMOT-MFD 3x
8 State9 Config. Consistency Value
10 Heartbeat IntervalDeviceNet Services Parameter Options
Serv ices Get_Attributes_AllX Reset 0
X Get_Attribute_SingleSet_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 2 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 189
17 Statement of Conformance for MFD3XTechnical Data
1492974859
Device Net Statement of Conformance
DeviceNet Message Router Object 0x02Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 4 Optional attribute list
X None Supported 5 Optional serv ice list6 Max ID of class attributes7 Max ID of instance attributes
DeviceNet Services Parameter Options
Serv ices Get_Attributes_AllGet_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value Limits
Attributes Open 1 Object list2 Maximum connections supported
X None Supported 3 Number of active connections4 Active connections list
DeviceNet Services Parameter Options
Serv ices Get_Attributes_AllGet_Attribute_Single
X None Supported
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 3 of 9
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190 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD3X Technical Data
1493039243
Device Net Statement of Conformance
DeviceNet DeviceNet Object 0x03Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 Revision X =(2)Implementation None Supported
DeviceNet Services Parameter Options
Serv ices Get_Attribute_SingleX None SupportedObject Instance ID Description Get Set Value Limits
Attributes Open 1 MAC ID X =(0..63)
2 Baud rate X =(0..2)
None Supported 3 BOI X =(0)
4 Bus-off counter X X =(0..255)
5 Allocation information X
6 MAC ID switch changed X =(0)
7 Baud rate switch changed X =(0)
8 MAC ID switch value X =(0..63)
9 Baud rate switch value X =(0..2)
DeviceNet Services Parameter Options
Serv ices X Get_Attribute_SingleX Set_Attribute_Single
None Supported X Allocate M/S connection setX Release M/S connection set
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 4 of 9
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17 Statement of Conformance for MFD3XTechnical Data
1493104011
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported
DeviceNet Services Parameter OptionsServ ices Reset
CreateX None Supported Delete
Get_Attribute_SingleFind_Next_Object_Instance
Object Instance Predefined M/S Connections Peer to Peer Connections Max InstancesComplete the Object Instance section Explicit Message X Explicit Message Totalfor each Instance type supported. Polled Server Client
Indicate Production trigger, Bit Strobed Dynamic I/O Total
Transport type and Transport Change of State Server Client
Class supported for Dynamic I/O. Cyclic
Production trigger(s) Cyclic COS App. trig.Transport type(s) Server X ClientTransport class(es) 2 X 3ID Description Get Set Value Limits
Attributes Open 1 State X
2 Instance type X
3 Transport Class trigger X
4 Produced connection ID X
5 Consumed connection ID X
6 Initial comm. characteristics X
7 Produced connection size X
8 Consumed connection size X
9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X
13 Produced connection path length X
14 Produced connection path X
15 Consumed connection path length X
16 Consumed connection path X
17 Production inhibit time X =(0)
DeviceNet Services Parameter OptionsServ ices X Reset
DeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 8 of 9
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17 Statement of Conformance for MFD3X Technical Data
1493169163
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported
DeviceNet Services Parameter OptionsServ ices Reset
CreateX None Supported Delete
Get_Attribute_SingleFind_Next_Object_Instance
Object Instance Predefined M/S Connections Peer to Peer Connections Max InstancesComplete the Object Instance section Explicit Message Explicit Message Totalfor each Instance type supported. Polled X Server Client
Indicate Production trigger, Bit Strobed Dynamic I/O Total
Transport type and Transport Change of State Server Client
Class supported for Dynamic I/O. Cyclic
Production trigger(s) Cyclic COS App. trig.Transport type(s) Server X ClientTransport class(es) 2 X 3ID Description Get Set Value Limits
Attributes Open 1 State X
2 Instance type X
3 Transport Class trigger X
4 Produced connection ID X
5 Consumed connection ID X
6 Initial comm. characteristics X
7 Produced connection size X
8 Consumed connection size X
9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X
13 Produced connection path length X
14 Produced connection path X
15 Consumed connection path length X
16 Consumed connection path X
17 Production inhibit time X =(0)
DeviceNet Services Parameter OptionsServ ices X Reset
DeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 6 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 193
17 Statement of Conformance for MFD3XTechnical Data
1493234699
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported
DeviceNet Services Parameter OptionsServ ices Reset
CreateX None Supported Delete
Get_Attribute_SingleFind_Next_Object_Instance
Object Instance Predefined M/S Connections Peer to Peer Connections Max InstancesComplete the Object Instance section Explicit Message Explicit Message Totalfor each Instance type supported. Polled Server Client
Indicate Production trigger, Bit Strobed X Dynamic I/O Total
Transport type and Transport Change of State Server Client
Class supported for Dynamic I/O. Cyclic
Production trigger(s) Cyclic COS App. trig.Transport type(s) Server X ClientTransport class(es) 2 X 3ID Description Get Set Value Limits
Attributes Open 1 State X
2 Instance type X
3 Transport Class trigger X
4 Produced connection ID X
5 Consumed connection ID X
6 Initial comm. characteristics X
7 Produced connection size X
8 Consumed connection size X
9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X
13 Produced connection path length X
14 Produced connection path X
15 Consumed connection path length X
16 Consumed connection path X
17 Production inhibit time X =(0)
DeviceNet Services Parameter OptionsServ ices X Reset
DeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 5 of 9
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194 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MFD3X Technical Data
1493300619
Device Net Statement of Conformance
DeviceNet Register Object 0x07Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation
X None Supported
DeviceNet Services Parameter Options
Serv ices Get_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value Limits
Attributes Open 1 Bad Flag X
2 Direction X
None Supported 3 Size X =(16,48)
4 Data X X
DeviceNet Services Parameter Options
Serv ices X Get_Attribute_Single 8452
None Supported X Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 7 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 195
17 Statement of Conformance for MFD3XTechnical Data
1493366923
Device Net Statement of Conformance
DeviceNet Parameter Object 0x0FRequired Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance X
None Supported 8 Parameter class descriptor X
9 Configuration assembly instance X
10 Native language
DeviceNet Services Parameter Options
Serv ices Get_Attributes_AllReset
None Supported X Get_Attribute_SingleSet_Attribute_SingleRestoreSave
Object Instance ID Description Get Set Value Limits
Attributes Open 1 Parameter value X X =(0..4294967294)
2 Link Path size X
None Supported 3 Link path X
4 Descriptor X
5 Data type X
6 Data size X =(4)
7 Parameter name string8 Units string9 Help string
10 Minimum value11 Maximum value12 Default value13 Scaling multiplier14 Scaling div isor15 Scaling base16 Scaling offset17 Multiplier link18 Div isor link19 Base link20 Offset link21 Decimal precision
DeviceNet Services Parameter Options
Serv ices Get_Attribute_AllNone Supported X Get_Attribute_Single
X Set_Attribute_Single
Vendor Specific Additions If yes, fill out the Vendor Specific YesAdditions form on page F-7. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 9 of 9
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196 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD2X Technical Data
17.7 Statement of Conformance for MQD2X
1493439371
Device Net Statement of Conformance
SOC data as of 2 - 14 - 2003
Fill in the blank or X the appropriate box
General Conforms to DeviceNet Specification Volume I - Release 2.0 Volume II - Release 2.0Device Errata 4, April 30, 2001Data Vendor Name SEW Eurodrive GmbH
Device Profile Vendor SpecificProduct Name SEW MOVIMOT MQD2xProduct Code 9Product Revision 1.01
DeviceNet Physical Network Power Consumption (Max) 0,4 A @ 11V dc (worst case)Conformance Data
Connector Style Open-Hardwired Sealed-MiniOpen-Pluggable X Sealed-Micro
Isolated Physical Layer YesNo
LEDs Supported Module Combo Mod/Net XNone Network I/O
MAC ID Setting DIP Switch X Software SettableOther
Default MAC ID 63
Communication Rate Setting DIP Switch X Software SettableOther
Communication Rates Supported 125k bit/s X 500k bit/s X250k bit/s X
DeviceNet Device Network Behavior Group 2 Client Group 2 Only ClientCommunication Check All That Apply Group 2 Server Group 2 Only Server X
Data Peer-To-Peer Tool (not a Device)
UCMM Explicit Message Groups Supported Group 1 Group 2 Group 3Dynamic I/O Message Groups (Peer to Peer) Group 1 Group 2 Group 3
Default I/O Data Address Path Input: Class 4 Inst. 64 Attr. 3Output: Class 4 Inst. 64 Attr. 3
Fragmented Explicit Messaging Supported Yes NoIf yes, Acknowledge TimeOut 1000 ms
Typical Target AddressesConsumption Service 16 Class 1 Inst. 1 Attr. 7Production Service 14 Class 1 Inst. 1 Attr. 7
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 197
17 Statement of Conformance for MQD2XTechnical Data
1493519627
Device Net Statement of Conformance
DeviceNet Identity Object 0x01Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attributes list5 Optional services list6 Max Id of class attributes7 Max Id of instance attributesDeviceNet Services Parameter Options
Services Get_Attributes_AllReset
X None Supported Get_Attribute_SingleFind_Next_Object_instance
Object Instance ID Description Get Set Value LimitsAttributes Open 1 Vendor X =(315)
2 Device type X =(100)3 Product code X =(9)4 Revision X =(1.01)5 Status (bits supported) X6 Serial number X
7 Product name X SEW MOVIMOT MQD2x
8 State9 Config. Consistency Value
10 Heartbeat IntervalDeviceNet Services Parameter Options
Services Get_Attributes_AllX Reset 0X Get_Attribute_Single
Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 2 of 9
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198 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD2X Technical Data
1493587467
Device Net Statement of Conformance
DeviceNet Message Router Object 0x02Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
Services Get_Attributes_AllGet_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 Object list
2 Maximum connections supporteX None Supported 3 Number of active connections
4 Active connections listDeviceNet Services Parameter Options
Services Get_Attributes_AllGet_Attribute_Single
X None Supported Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 3 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 199
17 Statement of Conformance for MQD2XTechnical Data
1493655691
Device Net Statement of Conformance
DeviceNet DeviceNet Object 0x03Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 Revision X =(2)Implementation 2 Max instance
None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
Services Get_Attribute_SingleX None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 MAC ID X =(0..63)
2 Baud rate X =(0..2)None Supported 3 BOI X =(0)
4 Bus-off counter X X =(0..255)5 Allocation information X
6 MAC ID switch changed X =(0)7 Baud rate switch changed X =(0)8 MAC ID switch value X =(0..63)9 Baud rate switch value X =(0..2)
DeviceNet Services Parameter OptionsServices X Get_Attribute_Single
X Set_Attribute_SingleNone Supported X Allocate M/S connection set
X Release M/S connection set
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 4 of 9
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200 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD2X Technical Data
1493724299
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported 2 Max instance
3 Number of InstancesComplete this sheet for 4 Optional attribute listeach connection supported. 5 Optional service list
6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
X None Supported ResetCreateDeleteGet_Attribute_SingleFind_Next_Object_Instance
Object Instance Connection Type Max Connection InstancesM/S Explicit Message 1 Server Client 1 Total
Complete this section for Production trigger(s) Cyclic COS App. trig.Dynamic I/O connections Transport type(s) Server X Client
Transport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X3 Transport Class trigger X4 Produced connection ID X5 Consumed connection ID X6 Initial comm. characteristics X7 Produced connection size X8 Consumed connection size X9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X13 Produced connection path len X14 Produced connection path X15 Consumed connection path len X16 Consumed connection path X17 Production inhibit time X =(0)DeviceNet Services Parameter Options
Services X ResetDeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 5 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 201
17 Statement of Conformance for MQD2XTechnical Data
1493793291
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported 2 Max instance
3 Number of InstancesComplete this sheet for 4 Optional attribute listeach connection supported. 5 Optional service list
6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
X None Supported ResetCreateDeleteGet_Attribute_SingleFind_Next_Object_Instance
Object Instance Connection Type Max Connection InstancesM/S Poll 1 Server Client 1 Total
Complete this section for Production trigger(s) Cyclic COS App. trig.Dynamic I/O connections Transport type(s) Server X Client
Transport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X3 Transport Class trigger X4 Produced connection ID X5 Consumed connection ID X6 Initial comm. characteristics X7 Produced connection size X8 Consumed connection size X9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X13 Produced connection path len X14 Produced connection path X15 Consumed connection path len X16 Consumed connection path X17 Production inhibit time X =(0)DeviceNet Services Parameter Options
Services X ResetDeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 6 of 9
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202 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD2X Technical Data
1493862667
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported 2 Max instance
3 Number of InstancesComplete this sheet for 4 Optional attribute listeach connection supported. 5 Optional service list
6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
X None Supported ResetCreateDeleteGet_Attribute_SingleFind_Next_Object_Instance
Object Instance Connection Type Max Connection InstancesM/S Bit Strobe 1 Server Client 1 Total
Complete this section for Production trigger(s) Cyclic COS App. trig.Dynamic I/O connections Transport type(s) Server X Client
Transport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X3 Transport Class trigger X4 Produced connection ID X5 Consumed connection ID X6 Initial comm. characteristics X7 Produced connection size X8 Consumed connection size X9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X13 Produced connection path len X14 Produced connection path X15 Consumed connection path len X16 Consumed connection path X17 Production inhibit time X =(0)DeviceNet Services Parameter Options
Services X ResetDeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 7 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 203
17 Statement of Conformance for MQD2XTechnical Data
1493932427
Device Net Statement of Conformance
DeviceNet Register Object 0x07Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
Services Get_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 Bad Flag X
2 Direction XNone Supported 3 Size X
4 Data X XDeviceNet Services Parameter Options
Services X Get_Attribute_Single 84520000000000None Supported X Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 8 of 9
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204 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD2X Technical Data
1494002571
Device Net Statement of Conformance
DeviceNet Parameter Object 0x0FRequired Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance X
None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributes8 Parameter class descriptor X9 Configuration assembly instanceX10 Native languageDeviceNet Services Parameter Options
Services Get_Attributes_AllReset
None Supported X Get_Attribute_SingleSet_Attribute_SingleRestore Save
Object Instance ID Description Get Set Value LimitsAttributes Open 1 Parameter value X X
2 Link Path size XNone Supported 3 Link path X
4 Descriptor X5 Data type X6 Data size X7 Parameter name string8 Units string9 Help string
10 Minimum value11 Maximum value12 Default value13 Scaling multiplier14 Scaling divisor15 Scaling base16 Scaling offset17 Multiplier link18 Divisor link19 Base link20 Offset link21 Decimal precisionDeviceNet Services
Services Get_Attribute_AllNone Supported X Get_Attribute_Single X Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 9 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 205
17 Statement of Conformance for MQD3XTechnical Data
17.8 Statement of Conformance for MQD3X
1494245259
Device Net Statement of Conformance
SOC data as of 2 - 14 - 2003
Fill in the blank or X the appropriate box
General Conforms to DeviceNet Specification Volume I - Release 2.0 Volume II - Release 2.0Device Errata 4, April 30, 2001Data Vendor Name SEW Eurodrive GmbH
Device Profile Vendor SpecificProduct Name SEW MOVIMOT MQD3xProduct Code 8Product Revision 1.01
DeviceNet Physical Network Power Consumption (Max) 0,4 A @ 11V dc (worst case)Conformance Data
Connector Style Open-Hardwired Sealed-MiniOpen-Pluggable X Sealed-Micro
Isolated Physical Layer YesNo
LEDs Supported Module Combo Mod/Net XNone Network I/O
MAC ID Setting DIP Switch X Software SettableOther
Default MAC ID 63
Communication Rate Setting DIP Switch X Software SettableOther
Communication Rates Supported 125k bit/s X 500k bit/s X250k bit/s X
DeviceNet Device Network Behavior Group 2 Client Group 2 Only ClientCommunication Check All That Apply Group 2 Server Group 2 Only Server X
Data Peer-To-Peer Tool (not a Device)
UCMM Explicit Message Groups Supported Group 1 Group 2 Group 3Dynamic I/O Message Groups (Peer to Peer) Group 1 Group 2 Group 3
Default I/O Data Address Path Input: Class 4 Inst. 64 Attr. 3Output: Class 4 Inst. 64 Attr. 3
Fragmented Explicit Messaging Supported Yes NoIf yes, Acknowledge TimeOut 1000 ms
Typical Target AddressesConsumption Service 16 Class 1 Inst. 1 Attr. 7Production Service 14 Class 1 Inst. 1 Attr. 7
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206 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD3X Technical Data
1494445579
Device Net Statement of Conformance
DeviceNet Identity Object 0x01Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attributes list5 Optional services list6 Max Id of class attributes7 Max Id of instance attributesDeviceNet Services Parameter Options
Services Get_Attributes_AllReset
X None Supported Get_Attribute_SingleFind_Next_Object_instance
Object Instance ID Description Get Set Value LimitsAttributes Open 1 Vendor X =(315)
2 Device type X =(100)3 Product code X =(8)4 Revision X =(1.01)5 Status (bits supported) X6 Serial number X
7 Product name X SEW MOVIMOT MQD3x
8 State9 Config. Consistency Value
10 Heartbeat IntervalDeviceNet Services Parameter Options
Services Get_Attributes_AllX Reset 0X Get_Attribute_Single
Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 2 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 207
17 Statement of Conformance for MQD3XTechnical Data
1494518667
Device Net Statement of Conformance
DeviceNet Message Router Object 0x02Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
Services Get_Attributes_AllGet_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 Object list
2 Maximum connections supporteX None Supported 3 Number of active connections
4 Active connections listDeviceNet Services Parameter Options
Services Get_Attributes_AllGet_Attribute_Single
X None Supported Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 3 of 9
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208 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD3X Technical Data
1494592523
Device Net Statement of Conformance
DeviceNet DeviceNet Object 0x03Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 Revision X =(2)Implementation 2 Max instance
None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
Services Get_Attribute_SingleX None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 MAC ID X =(0..63)
2 Baud rate X =(0..2)None Supported 3 BOI X =(0)
4 Bus-off counter X X =(0..255)5 Allocation information X
6 MAC ID switch changed X =(0)7 Baud rate switch changed X =(0)8 MAC ID switch value X =(0..63)9 Baud rate switch value X =(0..2)
DeviceNet Services Parameter OptionsServices X Get_Attribute_Single
X Set_Attribute_SingleNone Supported X Allocate M/S connection set
X Release M/S connection set
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 4 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 209
17 Statement of Conformance for MQD3XTechnical Data
1494667403
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported 2 Max instance
3 Number of InstancesComplete this sheet for 4 Optional attribute listeach connection supported. 5 Optional service list
6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
X None Supported ResetCreateDeleteGet_Attribute_SingleFind_Next_Object_Instance
Object Instance Connection Type Max Connection InstancesM/S Explicit Message 1 Server Client 1 Total
Complete this section for Production trigger(s) Cyclic COS App. trig.Dynamic I/O connections Transport type(s) Server X Client
Transport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X3 Transport Class trigger X4 Produced connection ID X5 Consumed connection ID X6 Initial comm. characteristics X7 Produced connection size X8 Consumed connection size X9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X13 Produced connection path len X14 Produced connection path X15 Consumed connection path len X16 Consumed connection path X17 Production inhibit time X =(0)DeviceNet Services Parameter Options
Services X ResetDeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 5 of 9
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210 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD3X Technical Data
1494755595
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported 2 Max instance
3 Number of InstancesComplete this sheet for 4 Optional attribute listeach connection supported. 5 Optional service list
6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
X None Supported ResetCreateDeleteGet_Attribute_SingleFind_Next_Object_Instance
Object Instance Connection Type Max Connection InstancesM/S Poll 1 Server Client 1 Total
Complete this section for Production trigger(s) Cyclic COS App. trig.Dynamic I/O connections Transport type(s) Server X Client
Transport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X3 Transport Class trigger X4 Produced connection ID X5 Consumed connection ID X6 Initial comm. characteristics X7 Produced connection size X8 Consumed connection size X9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X13 Produced connection path len X14 Produced connection path X15 Consumed connection path len X16 Consumed connection path X17 Production inhibit time X =(0)DeviceNet Services Parameter Options
Services X ResetDeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 6 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 211
17 Statement of Conformance for MQD3XTechnical Data
1494831755
Device Net Statement of Conformance
DeviceNet Connection Object 0x05Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation X None Supported 2 Max instance
3 Number of InstancesComplete this sheet for 4 Optional attribute listeach connection supported. 5 Optional service list
6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
X None Supported ResetCreateDeleteGet_Attribute_SingleFind_Next_Object_Instance
Object Instance Connection Type Max Connection InstancesM/S Bit Strobe 1 Server Client 1 Total
Complete this section for Production trigger(s) Cyclic COS App. trig.Dynamic I/O connections Transport type(s) Server X Client
Transport class(es) 2 X 3
ID Description Get Set Value LimitsAttributes Open 1 State X
2 Instance type X3 Transport Class trigger X4 Produced connection ID X5 Consumed connection ID X6 Initial comm. characteristics X7 Produced connection size X8 Consumed connection size X9 Expected packet rate X X =(0..65530)
12 Watchdog time-out action X13 Produced connection path len X14 Produced connection path X15 Consumed connection path len X16 Consumed connection path X17 Production inhibit time X =(0)DeviceNet Services Parameter Options
Services X ResetDeleteApply_Attributes
X Get_Attribute_SingleX Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 7 of 9
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212 Manual – DeviceNet/CANopen Interfaces, Field Distributors
17 Statement of Conformance for MQD3X Technical Data
1494921483
Device Net Statement of Conformance
DeviceNet Register Object 0x07Required Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance
X None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributesDeviceNet Services Parameter Options
Services Get_Attribute_Single
X None SupportedObject Instance ID Description Get Set Value LimitsAttributes Open 1 Bad Flag X
2 Direction XNone Supported 3 Size X
4 Data X XDeviceNet Services Parameter Options
Services X Get_Attribute_Single 84520000000000None Supported X Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No XX Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 8 of 9
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Manual – DeviceNet/CANopen Interfaces, Field Distributors 213
17 Statement of Conformance for MQD3XTechnical Data
1495011979
Device Net Statement of Conformance
DeviceNet Parameter Object 0x0FRequired Object Class ID Description Get Set Value LimitsObject Attributes Open 1 RevisionImplementation 2 Max instance X
None Supported 3 Number of Instances4 Optional attribute list5 Optional service list6 Max ID of class attributes7 Max ID of instance attributes8 Parameter class descriptor X9 Configuration assembly instanceX10 Native languageDeviceNet Services Parameter Options
Services Get_Attributes_AllReset
None Supported X Get_Attribute_SingleSet_Attribute_SingleRestore Save
Object Instance ID Description Get Set Value LimitsAttributes Open 1 Parameter value X X =(0..4294967294)
2 Link Path size XNone Supported 3 Link path X
4 Descriptor X5 Data type X6 Data size X =(4)7 Parameter name string8 Units string9 Help string
10 Minimum value11 Maximum value12 Default value13 Scaling multiplier14 Scaling divisor15 Scaling base16 Scaling offset17 Multiplier link18 Divisor link19 Base link20 Offset link21 Decimal precisionDeviceNet Services
Services Get_Attribute_AllNone Supported X Get_Attribute_Single X Set_Attribute_Single
Vendor Specific AdditionsYes If yes, fill out the Vendor Specific Additions form. No X
X Get indicates attribute value is returned by the Get_Attribute_Single service.X Set indicates attribute value is written to by the Set_Attribute_Single service. 9 of 9
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214 Manual – DeviceNet/CANopen Interfaces, Field Distributors
18 Address List
18 Address List
Germany
HeadquartersProductionSales
Bruchsal SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 BruchsalP.O. BoxPostfach 3023 • D-76642 Bruchsal
Tel. +49 7251 75-0Fax +49 7251 75-1970http://[email protected]
Service Compe-tence Center
Central SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 1 D-76676 Graben-Neudorf
Tel. +49 7251 75-1710Fax +49 7251 [email protected]
North SEW-EURODRIVE GmbH & Co KGAlte Ricklinger Straße 40-42 D-30823 Garbsen (near Hannover)
Tel. +49 5137 8798-30Fax +49 5137 [email protected]
East SEW-EURODRIVE GmbH & Co KGDänkritzer Weg 1D-08393 Meerane (near Zwickau)
Tel. +49 3764 7606-0Fax +49 3764 [email protected]
South SEW-EURODRIVE GmbH & Co KGDomagkstraße 5D-85551 Kirchheim (near München)
Tel. +49 89 909552-10Fax +49 89 [email protected]
West SEW-EURODRIVE GmbH & Co KGSiemensstraße 1D-40764 Langenfeld (near Düsseldorf)
Tel. +49 2173 8507-30Fax +49 2173 [email protected]
Electronics SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 Bruchsal
Tel. +49 7251 75-1780Fax +49 7251 [email protected]
Drive Service Hotline / 24 Hour Service +49 180 5 SEWHELP+49 180 5 7394357
Additional addresses for service in Germany provided on request!
France
ProductionSalesService
Haguenau SEW-USOCOME 48-54, route de Soufflenheim B. P. 20185F-67506 Haguenau Cedex
Tel. +33 3 88 73 67 00 Fax +33 3 88 73 66 00http://[email protected]
Production Forbach SEW-EUROCOME Zone Industrielle Technopôle Forbach SudB. P. 30269F-57604 Forbach Cedex
Tel. +33 3 87 29 38 00
AssemblySalesService
Bordeaux SEW-USOCOME Parc d'activités de Magellan62, avenue de Magellan - B. P. 182F-33607 Pessac Cedex
Tel. +33 5 57 26 39 00Fax +33 5 57 26 39 09
Lyon SEW-USOCOME Parc d'Affaires RooseveltRue Jacques TatiF-69120 Vaulx en Velin
Tel. +33 4 72 15 37 00Fax +33 4 72 15 37 15
Paris SEW-USOCOME Zone industrielle 2, rue Denis Papin F-77390 Verneuil I'Etang
Tel. +33 1 64 42 40 80Fax +33 1 64 42 40 88
Additional addresses for service in France provided on request!
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Algeria
Sales Alger Réducom 16, rue des Frères ZaghnounBellevue El-Harrach16200 Alger
Tel. +213 21 8222-84Fax +213 21 [email protected]
Argentina
AssemblySalesService
Buenos Aires SEW EURODRIVE ARGENTINA S.A.Centro Industrial Garin, Lote 35Ruta Panamericana Km 37,51619 Garin
Tel. +54 3327 4572-84Fax +54 3327 [email protected]://www.sew-eurodrive.com.ar
Australia
AssemblySalesService
Melbourne SEW-EURODRIVE PTY. LTD.27 Beverage DriveTullamarine, Victoria 3043
Tel. +61 3 9933-1000Fax +61 3 9933-1003http://[email protected]
Sydney SEW-EURODRIVE PTY. LTD.9, Sleigh Place, Wetherill Park New South Wales, 2164
Tel. +61 2 9725-9900Fax +61 2 [email protected]
Austria
AssemblySalesService
Wien SEW-EURODRIVE Ges.m.b.H. Richard-Strauss-Strasse 24A-1230 Wien
Tel. +43 1 617 55 00-0Fax +43 1 617 55 00-30http://[email protected]
Belarus
Sales Minsk SEW-EURODRIVE BYRybalkoStr. 26BY-220033 Minsk
Tel.+375 (17) 298 38 50Fax +375 (17) 29838 [email protected]
Belgium
AssemblySalesService
Brüssel SEW Caron-VectorAvenue Eiffel 5B-1300 Wavre
Tel. +32 10 231-311Fax +32 10 231-336http://[email protected]
Service Compe-tence Center
Industrial Gears SEW Caron-VectorRue de Parc Industriel, 31BE-6900 Marche-en-Famenne
Tel. +32 84 219-878Fax +32 84 219-879http://[email protected]
Antwerp SEW Caron-VectorGlasstraat, 19BE-2170 Merksem
Tel. +32 3 64 19 333Fax +32 3 64 19 336http://[email protected]
Brazil
ProductionSalesService
Sao Paulo SEW-EURODRIVE Brasil Ltda.Avenida Amâncio Gaiolli, 152 - Rodovia Presi-dente Dutra Km 208Guarulhos - 07251-250 - SPSAT - SEW ATENDE - 0800 7700496
Tel. +55 11 2489-9133Fax +55 11 2480-3328http://[email protected]
Additional addresses for service in Brazil provided on request!
Bulgaria
Sales Sofia BEVER-DRIVE GmbHBogdanovetz Str.1BG-1606 Sofia
Tel. +359 2 9151160Fax +359 2 [email protected]
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Cameroon
Sales Douala Electro-ServicesRue Drouot AkwaB.P. 2024Douala
Tel. +237 33 431137Fax +237 33 431137
Canada
AssemblySalesService
Toronto SEW-EURODRIVE CO. OF CANADA LTD. 210 Walker Drive Bramalea, Ontario L6T3W1
Tel. +1 905 791-1553Fax +1 905 791-2999http://[email protected]
Vancouver SEW-EURODRIVE CO. OF CANADA LTD.7188 Honeyman Street Delta. B.C. V4G 1 E2
Tel. +1 604 946-5535Fax +1 604 [email protected]
Montreal SEW-EURODRIVE CO. OF CANADA LTD.2555 Rue Leger LaSalle, Quebec H8N 2V9
Tel. +1 514 367-1124Fax +1 514 [email protected]
Additional addresses for service in Canada provided on request!
Chile
AssemblySalesService
Santiago de Chile
SEW-EURODRIVE CHILE LTDA.Las Encinas 1295Parque Industrial Valle GrandeLAMPARCH-Santiago de ChileP.O. BoxCasilla 23 Correo Quilicura - Santiago - Chile
Tel. +56 2 75770-00Fax +56 2 75770-01http://[email protected]
China
ProductionAssemblySalesService
Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd.No. 46, 7th Avenue, TEDATianjin 300457
Tel. +86 22 25322612Fax +86 22 [email protected]://www.sew-eurodrive.cn
AssemblySalesService
Suzhou SEW-EURODRIVE (Suzhou) Co., Ltd.333, Suhong Middle RoadSuzhou Industrial ParkJiangsu Province, 215021
Tel. +86 512 62581781Fax +86 512 [email protected]
Guangzhou SEW-EURODRIVE (Guangzhou) Co., Ltd.No. 9, JunDa RoadEast Section of GETDDGuangzhou 510530
Tel. +86 20 82267890Fax +86 20 [email protected]
Shenyang SEW-EURODRIVE (Shenyang) Co., Ltd.10A-2, 6th RoadShenyang Economic Technological Develop-ment AreaShenyang, 110141
Tel. +86 24 25382538Fax +86 24 [email protected]
Wuhan SEW-EURODRIVE (Wuhan) Co., Ltd.10A-2, 6th RoadNo. 59, the 4th Quanli Road, WEDA430056 Wuhan
Tel. +86 27 84478398Fax +86 27 84478388
Additional addresses for service in China provided on request!
Colombia
AssemblySalesService
Bogotá SEW-EURODRIVE COLOMBIA LTDA. Calle 22 No. 132-60Bodega 6, Manzana BSantafé de Bogotá
Tel. +57 1 54750-50Fax +57 1 54750-44http://[email protected]
Manual – DeviceNet/CANopen Interfaces, Field Distributors 217
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Croatia
SalesService
Zagreb KOMPEKS d. o. o.PIT Erdödy 4 IIHR 10 000 Zagreb
Tel. +385 1 4613-158Fax +385 1 [email protected]
Czech Republic
Sales Praha SEW-EURODRIVE CZ S.R.O.Business Centrum Praha Lužná 591CZ-16000 Praha 6 - Vokovice
Tel. +420 255 709 601Fax +420 220 121 237http://[email protected]
Denmark
AssemblySalesService
Kopenhagen SEW-EURODRIVEA/SGeminivej 28-30DK-2670 Greve
Tel. +45 43 9585-00Fax +45 43 9585-09http://[email protected]
Egypt
SalesService
Cairo Copam Egypt for Engineering & Agencies33 EI Hegaz ST, Heliopolis, Cairo
Tel. +20 2 22566-299 + 1 23143088Fax +20 2 22594-757http://www.copam-egypt.com/ [email protected]
Estonia
Sales Tallin ALAS-KUUL ASReti tee 4EE-75301 Peetri küla, Rae vald, Harjumaa
Tel. +372 6593230Fax +372 [email protected]
Finland
AssemblySalesService
Lahti SEW-EURODRIVE OYVesimäentie 4FIN-15860 Hollola 2
Tel. +358 201 589-300Fax +358 3 [email protected]://www.sew-eurodrive.fi
ProductionAssemblyService
Karkkila SEW Industrial Gears OyValurinkatu 6FIN-03600 Karkkila
Tel. +358 201 589-300Fax +358 201 [email protected]://www.sew-eurodrive.fi
Gabon
Sales Libreville Electro-ServicesB.P. 1889Libreville
Tel. +241 7340-11Fax +241 7340-12
Great Britain
AssemblySalesService
Normanton SEW-EURODRIVE Ltd.Beckbridge Industrial Estate P.O. Box No.1GB-Normanton, West- Yorkshire WF6 1QR
Tel. +44 1924 893-855Fax +44 1924 893-702http://[email protected]
Greece
SalesService
Athen Christ. Boznos & Son S.A.12, Mavromichali StreetP.O. Box 80136, GR-18545 Piraeus
Tel. +30 2 1042 251-34 Fax +30 2 1042 251-59http://[email protected]
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Hong Kong
AssemblySalesService
Hong Kong SEW-EURODRIVE LTD.Unit No. 801-806, 8th FloorHong Leong Industrial ComplexNo. 4, Wang Kwong Road Kowloon, Hong Kong
Tel. +852 36902200Fax +852 [email protected]
Hungary
SalesService
Budapest SEW-EURODRIVE Kft.H-1037 BudapestKunigunda u. 18
Tel. +36 1 437 06-58Fax +36 1 437 [email protected]
India
AssemblySalesService
Vadodara SEW-EURODRIVE India Private LimitedPlot No. 4, GIDCPOR Ramangamdi • Vadodara - 391 243Gujarat
Tel. +91 265 2831086Fax +91 265 2831087http://[email protected]@seweurodriveindia.com
Ireland
SalesService
Dublin Alperton Engineering Ltd. 48 Moyle RoadDublin Industrial EstateGlasnevin, Dublin 11
Tel. +353 1 830-6277Fax +353 1 [email protected]://www.alperton.ie
Israel
Sales Tel-Aviv Liraz Handasa Ltd. Ahofer Str 34B / 22858858 Holon
Tel. +972 3 5599511Fax +972 3 5599512http://[email protected]
Italy
AssemblySalesService
Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s.Via Bernini,14 I-20020 Solaro (Milano)
Tel. +39 02 96 9801Fax +39 02 96 799781http://[email protected]
Ivory Coast
Sales Abidjan SICASte industrielle et commerciale pour l'Afrique165, Bld de MarseilleB.P. 2323, Abidjan 08
Tel. +225 2579-44Fax +225 2584-36
Japan
AssemblySalesService
Iwata SEW-EURODRIVE JAPAN CO., LTD 250-1, Shimoman-no,IwataShizuoka 438-0818
Tel. +81 538 373811Fax +81 538 373814http://[email protected]
Korea
AssemblySalesService
Ansan-City SEW-EURODRIVE KOREA CO., LTD. B 601-4, Banweol Industrial Estate 1048-4, Shingil-DongAnsan 425-120
Tel. +82 31 492-8051Fax +82 31 492-8056http://[email protected]
Busan SEW-EURODRIVE KOREA Co., Ltd.No. 1720 - 11, Songjeong - dongGangseo-kuBusan 618-270
Tel. +82 51 832-0204Fax +82 51 [email protected]
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Latvia
Sales Riga SIA Alas-KuulKatlakalna 11CLV-1073 Riga
Tel. +371 7139253Fax +371 7139386http://[email protected]
Lebanon
Sales Beirut Gabriel Acar & Fils sarlB. P. 80484Bourj Hammoud, Beirut
Tel. +961 1 4947-86 +961 1 4982-72+961 3 2745-39Fax +961 1 4949-71 [email protected]
Lithuania
Sales Alytus UAB IrsevaNaujoji 19LT-62175 Alytus
Tel. +370 315 79204Fax +370 315 [email protected]://www.sew-eurodrive.lt
Luxembourg
AssemblySalesService
Brüssel CARON-VECTOR S.A.Avenue Eiffel 5B-1300 Wavre
Tel. +32 10 231-311Fax +32 10 231-336http://[email protected]
Malaysia
AssemblySalesService
Johore SEW-EURODRIVE SDN BHD No. 95, Jalan Seroja 39, Taman Johor Jaya81000 Johor Bahru, JohorWest Malaysia
Tel. +60 7 3549409Fax +60 7 [email protected]
Mexico
AssemblySalesService
Quéretaro SEW-EURODRIVE MEXICO SA DE CVSEM-981118-M93Tequisquiapan No. 102Parque Industrial QuéretaroC.P. 76220Quéretaro, México
Tel. +52 442 1030-300Fax +52 442 1030-301http://[email protected]
Morocco
Sales Casablanca Afit5, rue Emir AbdelkaderMA 20300 Casablanca
Tel. +212 22618372Fax +212 [email protected]
Netherlands
AssemblySalesService
Rotterdam VECTOR Aandrijftechniek B.V. Industrieweg 175 NL-3044 AS RotterdamPostbus 10085NL-3004 AB Rotterdam
Tel. +31 10 4463-700Fax +31 10 4155-552http://[email protected]
New Zealand
AssemblySalesService
Auckland SEW-EURODRIVE NEW ZEALAND LTD. P.O. Box 58-428 82 Greenmount driveEast Tamaki Auckland
Tel. +64 9 2745627Fax +64 9 2740165http://[email protected]
Christchurch SEW-EURODRIVE NEW ZEALAND LTD. 10 Settlers Crescent, FerrymeadChristchurch
Tel. +64 3 384-6251Fax +64 3 [email protected]
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Norway
AssemblySalesService
Moss SEW-EURODRIVE A/SSolgaard skog 71N-1599 Moss
Tel. +47 69 24 10 20Fax +47 69 24 10 40http://[email protected]
Peru
AssemblySalesService
Lima SEW DEL PERU MOTORES REDUCTORES S.A.C.Los Calderos, 120-124Urbanizacion Industrial Vulcano, ATE, Lima
Tel. +51 1 3495280Fax +51 1 3493002http://[email protected]
Poland
AssemblySalesService
Lodz SEW-EURODRIVE Polska Sp.z.o.o.ul. Techniczna 5 PL-92-518 Łódź
Tel. +48 42 67710-90Fax +48 42 67710-99http://[email protected]
24 Hour Service Tel. +48 602 739 739(+48 602 SEW SEW)
Portugal
AssemblySalesService
Coimbra SEW-EURODRIVE, LDA.Apartado 15 P-3050-901 Mealhada
Tel. +351 231 20 9670Fax +351 231 20 3685http://[email protected]
Romania
SalesService
Bucureşti Sialco Trading SRL str. Madrid nr.4 011785 Bucuresti
Tel. +40 21 230-1328Fax +40 21 230-7170 [email protected]
Russia
AssemblySalesService
St. Petersburg ZAO SEW-EURODRIVE P.O. Box 36 195220 St. Petersburg Russia
Tel. +7 812 3332522 +7 812 5357142Fax +7 812 3332523http://[email protected]
Senegal
Sales Dakar SENEMECA Mécanique GénéraleKm 8, Route de Rufisque B.P. 3251, Dakar
Tel. +221 338 494 770Fax +221 338 494 [email protected]
Serbia
Sales Beograd DIPAR d.o.o.Ustanicka 128aPC Košum, IV floorSCG-11000 Beograd
Tel. +381 11 347 3244 / +381 11 288 0393Fax +381 11 347 [email protected]
Singapore
AssemblySalesService
Singapore SEW-EURODRIVE PTE. LTD. No 9, Tuas Drive 2 Jurong Industrial Estate Singapore 638644
Tel. +65 68621701Fax +65 68612827http://[email protected]
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Slovakia
Sales Bratislava SEW-Eurodrive SK s.r.o.Rybničná 40SK-831 06 Bratislava
Tel. +421 2 33595 202Fax +421 2 33595 [email protected]://www.sew-eurodrive.sk
Žilina SEW-Eurodrive SK s.r.o.Industry Park - PChZulica M.R.Štefánika 71SK-010 01 Žilina
Tel. +421 41 700 2513Fax +421 41 700 [email protected]
Banská Bystrica SEW-Eurodrive SK s.r.o.Rudlovská cesta 85SK-974 11 Banská Bystrica
Tel. +421 48 414 6564Fax +421 48 414 [email protected]
Košice SEW-Eurodrive SK s.r.o.Slovenská ulica 26SK-040 01 Košice
Tel. +421 55 671 2245Fax +421 55 671 [email protected]
Slovenia
SalesService
Celje Pakman - Pogonska Tehnika d.o.o.UI. XIV. divizije 14SLO - 3000 Celje
Tel. +386 3 490 83-20Fax +386 3 490 [email protected]
South Africa
AssemblySalesService
Johannesburg SEW-EURODRIVE (PROPRIETARY) LIMITEDEurodrive House Cnr. Adcock Ingram and Aerodrome RoadsAeroton Ext. 2Johannesburg 2013P.O.Box 90004Bertsham 2013
Tel. +27 11 248-7000Fax +27 11 494-3104http://[email protected]
Cape Town SEW-EURODRIVE (PROPRIETARY) LIMITED Rainbow ParkCnr. Racecourse & Omuramba RoadMontague GardensCape TownP.O.Box 36556Chempet 7442 Cape Town
Tel. +27 21 552-9820Fax +27 21 552-9830Telex 576 [email protected]
Durban SEW-EURODRIVE (PROPRIETARY) LIMITED2 Monaceo PlacePinetownDurbanP.O. Box 10433, Ashwood 3605
Tel. +27 31 700-3451Fax +27 31 [email protected]
Spain
AssemblySalesService
Bilbao SEW-EURODRIVE ESPAÑA, S.L. Parque Tecnológico, Edificio, 302E-48170 Zamudio (Vizcaya)
Tel. +34 94 43184-70Fax +34 94 43184-71http://[email protected]
Sweden
AssemblySalesService
Jönköping SEW-EURODRIVE ABGnejsvägen 6-8S-55303 JönköpingBox 3100 S-55003 Jönköping
Tel. +46 36 3442 00Fax +46 36 3442 80http://[email protected]
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Switzerland
AssemblySalesService
Basel Alfred lmhof A.G.Jurastrasse 10 CH-4142 Münchenstein bei Basel
Tel. +41 61 417 1717Fax +41 61 417 1700http://[email protected]
Thailand
AssemblySalesService
Chonburi SEW-EURODRIVE (Thailand) Ltd.700/456, Moo.7, DonhuarohMuang Chonburi 20000
Tel. +66 38 454281Fax +66 38 [email protected]
Tunisia
Sales Tunis T. M.S. Technic Marketing ServiceZone Industrielle Mghira 2Lot No. 392082 Fouchana
Tel. +216 71 4340-64 + 71 4320-29Fax +216 71 [email protected]
Turkey
AssemblySalesService
Istanbul SEW-EURODRIVE Hareket Sistemleri San. ve Tic. Ltd. Sti. Bagdat Cad. Koruma Cikmazi No. 3 TR-34846 Maltepe ISTANBUL
Tel. +90 216 4419164, 3838014, 3738015Fax +90 216 3055867http://[email protected]
Ukraine
SalesService
Dnepropetrovsk SEW-EURODRIVEStr. Rabochaja 23-B, Office 40949008 Dnepropetrovsk
Tel. +380 56 370 3211Fax +380 56 372 2078http://[email protected]
USA
ProductionAssemblySalesServiceCooporate Offices
Southeast Region
SEW-EURODRIVE INC. 1295 Old Spartanburg Highway P.O. Box 518Lyman, S.C. 29365
Tel. +1 864 439-7537Fax Sales +1 864 439-7830Fax Manufacturing +1 864 439-9948Fax Assembly +1 864 439-0566Fax Confidential/HR +1 864 949-5557http://[email protected]
AssemblySalesService
Northeast Region
SEW-EURODRIVE INC. Pureland Ind. Complex 2107 High Hill Road, P.O. Box 481Bridgeport, New Jersey 08014
Tel. +1 856 467-2277Fax +1 856 [email protected]
Midwest Region SEW-EURODRIVE INC.2001 West Main Street Troy, Ohio 45373
Tel. +1 937 335-0036Fax +1 937 [email protected]
Southwest Region
SEW-EURODRIVE INC.3950 Platinum Way Dallas, Texas 75237
Tel. +1 214 330-4824Fax +1 214 [email protected]
Western Region SEW-EURODRIVE INC. 30599 San Antonio St.Hayward, CA 94544
Tel. +1 510 487-3560Fax +1 510 [email protected]
Additional addresses for service in the USA provided on request!
Venezuela
AssemblySalesService
Valencia SEW-EURODRIVE Venezuela S.A.Av. Norte Sur No. 3, Galpon 84-319Zona Industrial Municipal NorteValencia, Estado Carabobo
Tel. +58 241 832-9804Fax +58 241 838-6275http://[email protected]@cantv.net
Manual – DeviceNet/CANopen Interfaces, Field Distributors 223
Index
Index
AAdditional documentation.......................................10Address setting
CANopen .........................................................124DeviceNet ..........................................................85
AGA. ......................................................................53AGB. ......................................................................54
BBaud rate setting
CANopen .........................................................125DeviceNet ..........................................................85
Bit-strobe I/O..................................................95, 109Broadcast process data processing.......................95Bus diagnostics....................................................165Bus monitor ..........................................................170
CCable shield ...........................................................38Cable, prefabricated...............................................77CANopen
Address setting ................................................124Baud rate setting..............................................125Connection.........................................................55DIP switch setting ............................................124Process data exchange ...................................135Process data length setting..............................125Setting I/O enable ............................................125Startup procedure ............................................121
CANopen distributorsUnit designation .................................................23
CANopen interfacesUnit designation .................................................16
CANopen master .................................................126CANopen timeout.................................................133Combinations, possible ............................................6Configuration
DeviceNet master ..............................................88Conformance statement
MFD2X 6..........................................................178MFD3X.............................................................187MQD2X ............................................................196MQD3X ............................................................205
ConnectionCANopen ...........................................................55DeviceNet ..........................................................45
Hybrid cable.......................................................77Incremental encoder EI76..................................73Incremental encoder ES16 ................................71Keypad DBG..............................................80, 145Keypad MFG11A ...............................................79MFZ31 .........................................................46, 56MFZ33 .........................................................47, 57MFZ36, MFZ37, MFZ38...............................50, 60NV26 proximity sensor.......................................69PC......................................................................81Prefabricated cable............................................77Safety notes.......................................................11
Connection cross sectionTerminals ...........................................................40
Connection options, additional...............................41Copyright .................................................................8Current carrying capacity
Terminals ...........................................................40
DDBG .....................................................................145
Connection.......................................................145Function ...........................................................145Key assignment ...............................................146
DC 24 V supply voltage .........................................41Default program ...................................................106Designated use........................................................9Device parameters...............................................111DeviceNet
Connection.........................................................45DIP switch setting ..............................................85Sample program ..............................................159Setting the address............................................85Setting the baud rate .........................................85
DeviceNet distributorsUnit designation .................................................21
DeviceNet interfacesUnit designation .................................................16
DeviceNet master ..................................................88DeviceNet timeout .......................................104, 120Diagnostic interface .............................................165Diagnostics ..........................................................104Diagnostics interface
Structure ..........................................................166Diagnostics parameters .......................................167DIP switch......................................................83, 122
224 Manual – DeviceNet/CANopen Interfaces, Field Distributors
Index
DIP switch functions.......................................97, 129DIP switch setting
CANopen .........................................................124DeviceNet ..........................................................85
Disposal ...............................................................172Documentation, additional .....................................10Duplicate MAC-ID ................................................113
EEI76........................................................................73EMC .......................................................................43EMC, Installation considering.................................37Emergency object ................................................134Encoder......................................................69, 71, 73Encoder evaluation
Incremental encoder EI76..................................76Incremental encoder ES16 ................................72NV26 proximity sensor.......................................70
Equipotential bonding ......................................37, 40Error state
CANopen timeout.............................................133DeviceNet timeout............................................104Diagnostics ......................................................104Emergency object ............................................134Fieldbus timeout...............................................134MFD system fault .............................................104MOD system faults...........................................132
Error states ..........................................................120For MFD...........................................................104For MFO...........................................................132
Error tableFieldbus interface.............................................171
ES16 ......................................................................71Exclusion of liability ..................................................8Explicit messages ................................................113Extended storage.................................................172
FField distributor MF../MM../Z.7.
Motor connection .............................................137Startup notes....................................................137Technical data..................................................176Wiring MOVIMOT®..........................................138
Field distributor MF../MM../Z.8.Maintenance switch .........................................139Motor connection .............................................140Startup notes....................................................139Technical data..................................................177
Wiring MOVIMOT®..........................................140Field distributor MF../Z.3.
Technical data .................................................176Field distributor MF../Z.6.
Maintenance switch .........................................136Startup notes ...................................................136Technical data .................................................176
Field distributor MQ../MM../Z.7.Motor connection .............................................137Startup notes ...................................................137Technical data .................................................176Wiring MOVIMOT®..........................................138
Field distributor MQ../MM../Z.8.Maintenance switch .........................................139Motor connection .............................................140Startup notes ...................................................139Technical data .................................................177Wiring MOVIMOT®..........................................140
Field distributor MQ../Z.3.Technical data .................................................176
Field distributor MQ../Z.6.Maintenance switch .........................................136Startup notes ...................................................136Technical data .................................................176
Field distributorsInstallation..........................................................32
Fieldbus diagnostics ............................................166Fieldbus interface
Connection.........................................................63Error table ........................................................171Inputs/outputs ....................................................63MF.21 / MQ.21...................................................14MF.22, MF.32, MQ.22, MQ.32...........................14
Fieldbus interface connectionVia M12 plug connectors ...................................65Via terminals ......................................................63
Fieldbus interfacesInstallation..........................................................29Unit structure .....................................................14
Fieldbus module connectionExample MF../MQ.. and MOVIMOT®................38
Fieldbus monitor ..........................................169, 170Fieldbus timeout ..........................................120, 134
HHoist applications...................................................10Hybrid cable
Connection.........................................................77
Manual – DeviceNet/CANopen Interfaces, Field Distributors 225
Index
IIdle mode .............................................................108Incremental encoder EI76......................................73Incremental encoder ES16 ....................................71Inputs/outputs
Fieldbus interfaces.............................................63Inputs/outputs of
fieldbus interfaces ........................63, 65, 66, 67, 68Input/output byte ............................................94, 128Installation..............................................................10
Field distributors.................................................32Fieldbus interfaces.............................................29
Installation considering EMC..................................37Cable glands ......................................................37Cable shield .......................................................38Data cable..........................................................37Equipotential bonding ........................................37Field distributor ..................................................3724 V supply ........................................................37
Installation in damp locations or in the open..........25Installation instructions...........................................25
Fieldbus interfaces, field distributors..................39Interface adapter ..................................................166Interface MQD
Configuration....................................................107Function ...........................................................106
I/O enableCANopen .........................................................125MFD ...................................................................86
KKey assignment
Keypad DBG....................................................146Keypad DBG ........................................................145
Connection.................................................80, 145Function ...........................................................145Key assignment ...............................................146Language selection..........................................147Manual mode ...................................................150Monitor mode ...................................................148Process input data ...........................................149Process output data .........................................149
Keypad MFG11A .................................................143Connection.........................................................79Function ...........................................................143Operation .........................................................144Use...................................................................144
LLED display..........................................................114
Of MFD ..............................................................99Of MFO............................................................131
MMaintenance ........................................................172Maintenance switch
Field distributor MF../MM../Z.8., MQ../MM../Z.8. .......................139Field distributors MF../Z.6., MQ../Z.6. ..............136
ManualHow to use...........................................................7
Metal cable glands.................................................43MFD
Process data length setting ...............................86Setting I/O enable ..............................................86
MFD system fault .................................................104MFD + MQD
Startup procedure ..............................................82MFD2X 6
Conformance statement ..................................178MFD3X
Conformance statement ..................................187MFD..
Technical data .................................................173MFG11A ..............................................................143
Function ...........................................................143MFO
Technical data .................................................175MFO object directory ...........................................135MFO system faults...............................................132MFZ31
Connection...................................................46, 56MFZ33
Connection...................................................47, 57MFZ36
Connection...................................................50, 60MFZ37
Connection...................................................50, 60MFZ38
Connection...................................................50, 60MFZ.. connection module
Unit structure .....................................................15MF.21 / MQ.21.......................................................14MF.22, MF.32, MQ.22, MQ.32...............................14MF../MM../Z.7. field distributors
Unit structure .....................................................19
226 Manual – DeviceNet/CANopen Interfaces, Field Distributors
Index
MF../MM../Z.8. field distributorsUnit structure......................................................20
MF../Z.3. field distributorsUnit structure......................................................17
MF../Z.6. field distributorsUnit structure......................................................18
Motor connectionField distributor MF../MM../Z.7., MQ../MM../Z.7.........................137Field distributor MF../MM../Z.8., MQ../MM../Z.8.........................140
MountingInstructions.........................................................25
Mounting flange ...............................................53, 54MOVILINK® .........................................................153
Enable for MOVIMOT® drive ...........................158MOVIMOT® direction of rotation and speed....158Process data ....................................................153Process input data ...........................................155Process output data .........................................154Sample program for Simatic S7 .......................157Unit profile........................................................153
MOVILINK® exampleAddress assignment ........................................157Digital inputs/outputs........................................157MOVIMOT® control .........................................158Process data ....................................................157Programmable controller..................................157
MOVIMOT® inverterAdditional functions..........................................142Factory setting .................................................141Integrated in the field distributor.......................141Internal wiring...........................................138, 140
MOVITOOLS® .....................................................165Diagnostics parameters ...................................167Fieldbus monitor ..............................................169
MQDProcess data length setting................................87
MQD parameters..................................................111MQD2X
Conformance statement...................................196MQD3X
Conformance statement...................................205MQD..
Technical data..................................................174MQ.. parameter list...............................................163MQ../MM../Z.7. field distributors
Unit structure......................................................19
MQ../MM../Z.8. field distributorsUnit structure .....................................................20
MQ../Z.3. field distributorsUnit structure .....................................................17
MQ../Z.6. field distributorsUnit structure .....................................................18
NNetwork startup......................................................89NV26......................................................................69
OOperation
MFG11A keypad..............................................144Safety notes.......................................................11
Other applicable documentation ............................10
PPaint protection cap .......................................82, 121Paint protection film .......................................82, 121Parameters ..........................................................163PC
Connection.........................................................81PE connection........................................................40PI monitor ............................................................112PO monitor...........................................................112Polled I/O .......................................................93, 108Process data
Coding .............................................................153Process data exchange
CANopen .........................................................135Process data length setting
CANopen .........................................................125MFD...................................................................86MQD ..................................................................87
Process data processing ...............................93, 127Proximity sensor NV26 ..........................................69
RRegister object.....................................................113Return codes .......................................................114Rights to claim under limited warranty.....................8RSNetWorx....................................................89, 110RS-485 timeout....................................................120
SSafe disconnection ................................................11Safety functions .....................................................10
Manual – DeviceNet/CANopen Interfaces, Field Distributors 227
Index
Safety notes .............................................................9Electrical connection ..........................................11General ................................................................9Installation..........................................................10Operation ...........................................................11Storage ..............................................................10Transportation....................................................10
Sample program for DeviceNet............................159Sensor/actuator processing ...........................93, 127Service .................................................................165SEW parameter channel ......................................110Startup notes
Field distributors MF../MM../Z.7., MQ../MM../Z.7.........................137Field distributors MF../MM../Z.8., MQ../MM../Z.8.........................139Field distributors MF../Z.6., MQ../Z.6. ..............136
Startup procedureCANopen .........................................................121MFD + MQD.......................................................82
Statement of Conformance ..........178, 187, 196, 205Storage ..................................................................10Structure of the safety notes ....................................7Supplementary safety notes
MFZ.3. field distributor .......................................13MFZ.6. field distributor .......................................13MFZ.7. field distributor .......................................13MFZ.8. field distributor .......................................13
Supply system lead connection..............................39Supply voltage via MFZ.1.......................................41
TTarget group ............................................................9Technical data
Field distributor MF../MM../Z.7. ........................176Field distributor MF../MM../Z.8. ........................177Field distributor MF../Z.3. .................................176Field distributor MF../Z.6. .................................176Field distributor MQ../MM../Z.7. .......................176Field distributor MQ../MM../Z.8. .......................177Field distributor MQ../Z.3. ................................176Field distributor MQ../Z.6. ................................176MFD.. ...............................................................173MFO.................................................................175MQD.................................................................174
TerminalsConnection cross section...................................40Current carrying capacity ...................................40
Tightening torqueConnection box cover ........................................26EMC cable glands..............................................27Fieldbus interfaces.............................................26MOVIMOT® inverter ..........................................26Screw plugs .......................................................27
Tightening torques .................................................26Motor cable ........................................................28
Transportation........................................................10
UUL-compliant installation........................................42Underside of interface unit .....................................15Unit designation
CANopen field distributors .................................23CANopen interfaces...........................................16DeviceNet field distributors ................................21DeviceNet interfaces..........................................16
Unit faults.............................................................120Unit structure
Field distributor ..................................................17Fieldbus interfaces.............................................14MFZ.. connection module ..................................15MF../MM../Z.7., MQ../MM../Z.7. field distributors..................................................19MF../MM../Z.8., MQ../MM../Z.8. field distributors..................................................20MF../Z.3., MQ../Z.3. field distributors .................17MF../Z.6., MQ../Z.6. field distributors .................18
USB11A .........................................................81, 166UWS21B ........................................................81, 166
VValid components ....................................................6
WWiring check ..........................................................44Wiring diagram
Incremental encoder EI76............................74, 75Incremental encoder ES16 ................................72NV26 proximity sensor.......................................70
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