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Manual

MOVIFIT® FC/MCCam Positioning Application Solution

Edition 08/2010 17012813 / EN

SEW-EURODRIVE—Driving the world

Manual – MOVIFIT® FC/MC Cam Positioning Application Solution 3

Contents

Contents1 General Information ............................................................................................ 5

1.1 How to use this documentation................................................................... 51.2 Structure of the safety notes ....................................................................... 5

1.2.1 Meaning of the signal words ........................................................ 51.2.2 Structure of the section-related safety notes ............................... 51.2.3 Structure of the embedded safety notes...................................... 5

1.3 Rights to claim under limited warranty ........................................................ 61.4 Exclusion of liability..................................................................................... 61.5 Other applicable documentation ................................................................. 61.6 Copyright..................................................................................................... 6

2 Description .......................................................................................................... 72.1 Objectives ................................................................................................... 72.2 Features of the application solution ............................................................ 72.3 Project planning notes ................................................................................ 7

3 Description of Operating Modes........................................................................ 83.1 Feed-in (positioning) / feed-out ................................................................... 8

3.1.1 Feed-in operating mode (positioning) .......................................... 93.1.2 Feed-out operating mode .......................................................... 103.1.3 Flow diagram for feed-in (positioning)/feed-out ......................... 11

3.2 Lifting / rotating ......................................................................................... 123.2.1 Lifting/rotating operating mode .................................................. 133.2.2 Flow diagram lifting/rotating....................................................... 14

3.3 Jog mode .................................................................................................. 153.3.1 Jog mode flow diagram.............................................................. 16

4 Startup................................................................................................................ 174.1 Preparation ............................................................................................... 174.2 Starting the application ............................................................................. 174.3 Commencing startup................................................................................. 194.4 Process data configuration ....................................................................... 204.5 Configuring monitoring functions .............................................................. 214.6 Setting setpoints ....................................................................................... 224.7 Downloading the program......................................................................... 234.8 Control via terminals ................................................................................. 24

4.8.1 Monitor mode............................................................................. 244.8.2 Control mode ............................................................................. 24

4.9 Control via fieldbus with 1 process data word........................................... 254.9.1 Monitor mode............................................................................. 254.9.2 Control mode ............................................................................. 25

4.10 Control via fieldbus with 3 process data words......................................... 264.10.1 Monitor mode............................................................................. 264.10.2 Control mode ............................................................................. 27

4 Manual – MOVIFIT® FC/MC Cam Positioning Application Solution

Contents

4.11 Control via fieldbus with 6 process data words......................................... 284.11.1 Monitor mode............................................................................. 284.11.2 Control mode ............................................................................. 29

4.12 Data management .................................................................................... 30

5 Controller ........................................................................................................... 315.1 Control via terminals ................................................................................. 31

5.1.1 MOVIFIT® FC "Technology" function level ................................ 315.2 Control via fieldbus ................................................................................... 32

5.2.1 Terminal assignment MOVIFIT® FC "Technology" function level........................................................ 32

5.2.2 Terminal assignment MOVIFIT® MC "Technology" function level........................................................ 32

5.2.3 Process data interface with the PLC (1 PD) .............................. 335.2.4 Process data interface with the PLC (3 PD) .............................. 345.2.5 Process data interface with the PLC (6 PD) .............................. 35

Index................................................................................................................... 38


1How to use this documentationGeneral Information

1 General Information1.1 How to use this documentation

The documentation is an integral part of the product and contains important informationon operation and service. The documentation is written for all employees who assemble,install, startup, and service this product.

The documentation must be accessible and legible. Make sure that persons responsiblefor the system and its operation, as well as persons who work independently on the unit,have read through the documentation carefully and understood it. If you are unclearabout any of the information in this documentation, or if you require further information,contact SEW-EURODRIVE.

1.2 Structure of the safety notes1.2.1 Meaning of the signal words

The following table shows the grading and meaning of the signal words for safety notes,notes on potential risks of damage to property, and other notes.

1.2.2 Structure of the section-related safety notesSection safety notes do not apply to a specific action, but to several actions pertainingto one subject. The used symbols indicate either a general or a specific hazard.

This is the formal structure of a section safety note:

1.2.3 Structure of the embedded safety notesEmbedded safety notes are directly integrated in the instructions just before the descrip-tion of the dangerous action.

This is the formal structure of an embedded safety note:

• SIGNAL WORD Nature and source of hazard.

Possible consequence(s) if disregarded.

– Measure(s) to prevent the danger.

Signal word Meaning Consequences if disregardedDANGER Imminent danger Severe or fatal injuries

WARNING Possible dangerous situation Severe or fatal injuries

CAUTION Possible dangerous situation Minor injuries

NOTICE Possible damage to property Damage to the drive system or its envi-ronment

INFORMATION Useful information or tip: Simpli-fies the handling of the drive system.

SIGNAL WORDType and source of danger.

Possible consequence(s) if disregarded.• Measure(s) to prevent the danger.


1 Rights to claim under limited warrantyGeneral Information

1.3 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 documentation. Read the documen-tation before you start working with the unit!

1.4 Exclusion of liabilityYou must comply with the information contained in this documentation to ensure safeoperation of and to achieve the specified product characteristics and performance fea-tures. SEW-EURODRIVE assumes no liability for injury to persons or damage to equip-ment or property resulting from non-observance of these operating instructions. In suchcases, any liability for defects is excluded.

1.5 Other applicable documentationThis document supplements the MOVIFIT® FC/MC operating instructions and limits theapplication notes according to the following information. Use this documentation only inconnection with the MOVIFIT® FC/MC operating instructions.

1.6 Copyright© 2010 – SEW-EURODRIVE. All rights reserved.

Unauthorized duplication, modification, distribution or any other use of the whole or anypart of this documentation is strictly prohibited.


2ObjectivesDescription

2 Description2.1 Objectives

The objective of the cam positioning application solution is to control cam positioningsystems using MOVIFIT ®.

Typical application examples are:

• Roller and chain conveyors

• Lifting table applications

• Rotary table applications

This application solution offers the user a standard solution with a straightforward andguided startup procedure. It follows the principle of "Rapid/creep speed positioning".

2.2 Features of the application solution• Bidirectional rapid/creep speed positioning to one limit switch pair at each end

• Control via terminals (binary inputs) or fieldbus

• 3 run time monitoring functions for positioning

• Monitoring of the creep speed when the stop switch is reached.

• User-guided startup and diagnostics

• Jog mode or positioning mode

2.3 Project planning notesThe cam positioning application solution can be implemented with the following units:

Control via fieldbus:• MOVIFIT® FC "Technology" function level

• MOVIFIT® MC "Technology" function level

Control via terminals:• MOVIFIT® FC "Technology" function level

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3 Feed-in (positioning) / feed-outDescription of Operating Modes

3 Description of Operating Modes3.1 Feed-in (positioning) / feed-out

The following figure shows a typical application example for rapid/creep speed position-ing:

In this roller conveyor, longer track sections are subdivided into segments.

Decentralization of positioning takes load of the central controller. The independence ofbus run times enables a high degree of positioning accuracy. This ensures a quick, seg-mented transfer of the conveyed material.

449461515

449607051

Stop

[A]

[1] [2] [3] [4]

[B]

[1] Sensor "Stop CCW" / item control CW [A] Rapid movement[2] Sensor "Fast / slow CCW" [B] Slow movement[3] Sensor "Fast / slow CW"[4] Sensor "Stop CW" / item control CCW

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3Feed-in (positioning) / feed-outDescription of Operating Modes

3.1.1 Feed-in operating mode (positioning)

The following table shows the connection between the setpoints and their sources.

Mode selection: Mode 2

Requirement: Drive enabled

Functional description: After setting the start bit, the drive accelerates along the ac-celeration ramp until it reaches rapid speed.

Upon contacting the "Fast/slow" sensor, the drive brakesalong the deceleration ramp until it reaches creep speed.

After contacting the "Stop" sensor, the drive brakes along thestop ramp to a standstill.

Setpoint selection Setpoint source

Rapid speed: • Terminals: Startup: Rapid speed

• Terminals, limited: Startup: Rapid speed

• Fieldbus 1PD Startup: Rapid speed

• Fieldbus 3PD PO2 Rapid speed


Creep speed: • Terminals: Startup: Creep speed

• Terminals, limited: Startup: Creep speed

• Fieldbus 1PD Startup: Creep speed


• Fieldbus 6PD PO3 Creep speed

Acceleration ramp: • Terminals: Startup: Ramp up

• Terminals, limited: Startup: Ramp up

• Fieldbus 1PD Startup: Ramp up

• Fieldbus 3PD PO3 Ramp

• Fieldbus 6PD PO4 Ramp up

Deceleration ramp: • Terminals: Startup: Ramp down

• Terminals, limited: Startup: Ramp down

• Fieldbus 1PD Startup: Ramp down


• Fieldbus 6PD PO5 Ramp down

Stop ramp: • Terminals: Startup: Stop ramp

• Terminals, limited: Startup: Stop ramp

• Fieldbus 1PD Startup: Stop ramp

• Fieldbus 3PD Startup Stop ramp

• Fieldbus 6PD PO6 Stop ramp

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3 Feed-in (positioning) / feed-outDescription of Operating Modes

3.1.2 Feed-out operating mode

The following table shows the correlation between setpoints and their sources.



Functional description: After setting the start bit, the drive accelerates along the setacceleration ramp until it reaches rapid speed.

After the start bit is reset, the drive brakes along the deceler-ation ramp to a standstill.

Setpoint specification Setpoint source

Speed: • Terminals: Startup: Rapid speed















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3Feed-in (positioning) / feed-outDescription of Operating Modes

3.1.3 Flow diagram for feed-in (positioning)/feed-out

The following figure shows the actual speed of the drive against the status of the inputand output signals during feed-in and feed-out:

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n Actual speed[1] Input signal mode[2] "Start" input signal[3] "Positive" input signal[4] "Start detected" output signal[5] "Sensor fast/slow CW" input signal[6] "Sensor stop CW" input signal[7] "Rapid speed active" output signal[8] "Creep speed active" output signal[9] "In position CW" output signal/top

n

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

[9]

1234

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3 Lifting / rotatingDescription of Operating Modes

3.2 Lifting / rotatingThe following figure shows a typical application example of a hoist station:

For rotating and lifting, positioning is performed according to the same principle as forfeed-in.

Once positioning in one direction has been performed, however, the drive cannot bestarted in the same direction again. Starting in the same direction is inhibited by the "Inposition" message. This prevents unintentional travel against the mechanical stop.

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WARNINGRisk of crushing if the load falls.

Severe or fatal injuries.• Do not stand under the load.• Secure the danger zone.

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[A]

[B]

Stop[3]

[4]

[2]

[1]

[1] Sensor "Stop CCW" / item control CW [A] Rapid movement[2] Sensor "Fast / slow CCW" [B] Slow movement[3] Sensor "Fast / slow CW"[4] Sensor "Stop CW" / item control CCW

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3Lifting / rotatingDescription of Operating Modes

3.2.1 Lifting/rotating operating mode




Functional description: After setting the start bit, the drive accelerates along the setacceleration ramp until it reaches rapid speed.

Upon contacting the "Fast/slow" sensor, the drive brakesalong the set deceleration ramp until it reaches creep speed.

After contacting the "Stop" sensor, the drive brakes along theset stop ramp to a standstill.

Re-start in the same direction is blocked.


Rapid speed: • Terminals: Startup: Rapid speed





Creep speed: • Terminals: Startup: Creep speed

• Terminals, limited: Startup: Creep speed



• Fieldbus 6PD PO3 Creep speed











Stop ramp: • Terminals: Startup: Stop ramp

• Terminals, limited: Startup: Stop ramp

• Fieldbus 1PD Startup: Stop ramp

• Fieldbus 3PD Startup Stop ramp

• Fieldbus 6PD PO6 Stop ramp

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3 Lifting / rotatingDescription of Operating Modes

3.2.2 Flow diagram lifting/rotating

The following figure shows the actual speed of the drive against the status of the inputand output signals during lifting and rotating:

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n Actual speed [7] "Sensor stop CW" input signal[1] Input signal mode [8] "Sensor fast / slow CCW" input signal[2] "Start" input signal [9] "Sensor stop CCW" input signal[3] "Positive" input signal [10] "Rapid speed active" output signal[4] "Negative" input signal [11] "Creep speed active" output signal[5] "Start detected" output signal [12] "In position CW" output signal/top[6] "Sensor fast/slow CW" input signal [13] "In position CCW" output signal/bottom

1234

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[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

[9]

[10]

[11]

[12]

[13]

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3Jog modeDescription of Operating Modes

3.3 Jog mode




Functional description: As long as the "positive" signal is set, the drive rotates clock-wise.

As long as the "negative" signal is set, the drive rotates coun-terclockwise.

If no signal or both "positive" and "negative" signals are set,the drive stops.

Acceleration and deceleration depend on the set accelerationand deceleration ramp time.


Speed: • Terminals: Startup: Rapid speed















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3 Jog modeDescription of Operating Modes

3.3.1 Jog mode flow diagram

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

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n Actual speed input signal[1] Input signal mode[2] "Positive" input signal[3] "Negative" input signal[4] "Rapid speed active" output signal

1234

[1]

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[2]

[3]

[4]

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4PreparationStartup

4 Startup4.1 Preparation

Perform the following steps before starting up MOVIFIT®:

1. Connect MOVIFIT® to your PC or laptop.

2. Install the SEW software MOVITOOLS® MotionStudio version 5.40 on your PC orlaptop.

3. Start the MOVITOOLS® MotionStudio software.

For more information on starting MOVITOOLS® MotionStudio, refer to the"MOVITOOLS® MotionStudio" manual.

4.2 Starting the applicationStart the startup wizard of the cam positioning application solution. Proceed as follow tostart the wizard as an add-in in MOVITOOLS® MotionStudio:

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4 Starting the applicationStartup

The following window is displayed:

Click on the [Startup] button [1] to commence startup.

Click the [Data management] button [2] to go to the data management window (seechapter "Data management").

If startup has already been performed, you can click on the [Monitor] button [3] to changeto monitor mode.

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[1] [Startup] button[2] [Data management] button[3] [Monitor] button

[1] [2] [3]

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4Commencing startupStartup

4.3 Commencing startupClick [Startup] to open the following window:

The window shows the number and order of the startup steps.

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[1] "Process data configuration" field Click on the button in this field to go to the window for select-ing the type of application solution.

[2] "Monitoring functions" field Click on the button in this field to go to the window for acti-vating the runtime and creep speed monitoring functions.

[3] "Setpoints" field Click on the button in this field to go to the window for setting the setpoints for speed and ramps.This selection is not possible for fieldbus control with 6 pro-cess data words. The reason is that all setpoints are speci-fied via fieldbus when selecting this setting.

[4] "Download" field Click on the button in this field to transfer the set parameters to the inverter and to go to the window for loading the appli-cation program into the inverter.

[1]

[2]

[3]

[4]

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4 Process data configurationStartup

4.4 Process data configurationClicking on the button in the "Process data configuration" field [1] opens the followingwindow:

Here, you can select the control type for the application solution:

Click on the [Initialize] button [5] to accept the default setting of the selection field.

Click on the [Next >>] button [6].

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[5] [Initialize] button[6] [Next >>] button

Checkbox Function

[1] "Terminals" Control via terminals

[2] "Fieldbus: 1 process data word" Control via fieldbus with 1 process data input and output word

[3] "Fieldbus: 3 process data words" Control via fieldbus with 3 process data input and output words

[4] "Fieldbus: 6 process data words" Control via fieldbus with 6 process data input and output words

[1]

[2]

[3]

[4]

[6][5]

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4Configuring monitoring functionsStartup

4.5 Configuring monitoring functionsThe following window opens:

In this window, you can activate and configure different optional monitoring functions.

Set the following monitoring functions here:

If you set the value 0, you deactivate the monitoring functions.

Exceeding the limit value causes a sequence error and the drive is stopped. Before re-starting the drive, you must acknowledge the error by clicking on "Reset fault".

Click on the [Initialize] button [6] to accept the default setting for the entry fields.


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Monitoring function Unit Description

[1] "Input configuration" - You can use the input configuration to change the logic (NC contact/NO contact) of the respective limit switches.

[2] "Hysteresis" [rpm] Maximum deviation of the actual speed from the creep speed when reaching the "Stop" sensor.

[3] "Start -> Item control" [ms] Maximum time interval between start signal and reaching the "Item control" sensor.

[4] "Start -> Rapid/creep" [ms] Maximum time interval between start signal and reaching the "fast/slow" sensor.

[5] "Start -> Stop" [ms] Maximum time interval between start signal and reaching the "Stop" sensor.

[2]

[3][4][5]

[6] [7]

[1]

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4 Setting setpointsStartup

4.6 Setting setpointsIn the "Startup" window, click on the button in the "Setpoints" field [3] to open the follow-ing window:

Set the following setpoints in this window:

Click on the [Initialize] button [6] to accept the default setting for the entry fields.


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Setpoint Unit Description

[1] "Rapid speed"1)

1) These parameters are not available for control via fieldbus with 3 process data words.

[rpm] Setpoint speed of rapid travel

[2] "Creep speed" [rpm] Setpoint speed of creep travel

[3] "Ramp up"1) [ms] Acceleration ramp for all acceleration phasesRamp time in relation to a setpoint step change of:• 3000 rpm for 2-pole motors• 1500 rpm for 4-pole motors• 1000 rpm for 6-pole motors

[4] "Ramp down"1) [ms] Acceleration ramp for all braking phasesRamp time in relation to a setpoint step change of:• 3000 rpm for 2-pole motors• 1500 rpm for 4-pole motors• 1000 rpm for 6-pole motors

[5] "Stop ramp" [ms] Deceleration ramp when drive has moved beyond "stop" sensorRamp time in relation to a setpoint step change of:• 3000 rpm for 2-pole motors• 1500 rpm for 4-pole motors• 1000 rpm for 6-pole motors

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

[7][6]

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4Downloading the programStartup

4.7 Downloading the programClicking on the button in the "Download" field [4] in the "Startup" window opens the fol-lowing window:

Click on the [Download] button [1]. The program is loaded into the inverter.

The software then switches to monitor mode. The "Monitor" window depends on thecontrol selection.

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[1] [Download] button

[1]

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4 Control via terminalsStartup

4.8 Control via terminals4.8.1 Monitor mode

When selecting control via terminals, the following window opens after the program hasbeen transferred successfully:

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

4.8.2 Control modeIn control mode, you can control the functions of the application solution.

You can change states of inputs indicated in bold.

Click on the buttons of the required inputs [3] and confirm the changes by clicking on[Send PO] [4].

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[1] "Control mode" checkbox Tick this checkbox to switch to control mode.

[2] "Monitor mode" checkbox Tick this checkbox to switch to monitor mode.

[3] "Inputs"/"Outputs" group The bottom group displays the current states of the binary inputs and outputs.

[4] [Send PO] button Click on this button to load the settings into the inverter.

[1][2] [4]

[3]

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4Control via fieldbus with 1 process data wordStartup

4.9 Control via fieldbus with 1 process data word4.9.1 Monitor mode

When selecting control via fieldbus with 1 process data word, the following windowopens after the program has been transferred successfully:

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

4.9.2 Control modeIn control mode, you can control the functions of the application solution.

You can change the states of inputs indicated in bold.

Click on the buttons of the required inputs [4] and confirm the changes by clicking on[Send PO] [7].

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[1] Process data The top field shows the process input and output data in hexadecimal format.



[4] Switch group left The left switch group shows the control word.

[5] "Mode field" This field shows the selected operating mode.

[6] Switch group bottom The bottom switch group shows the states of the binary inputs of the sensors.


[8] Switch group right The right switch group shows the status word.

[9] "Status" field This field shows the operating state of the inverter.

[2]

[3]

[5]

[4] [8]

[9]

[7]

[1]

[6]

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4 Control via fieldbus with 3 process data wordsStartup

4.10 Control via fieldbus with 3 process data words4.10.1 Monitor mode

When selecting control via fieldbus with 3 process data words, the following windowopens after the program has been transferred successfully:


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[10] "PO2 - Rapid speed" setpoint Setpoint speed of rapid travel.

"PO3 - Ramp up / down" setpoint Setpoint ramp for all acceleration and braking phases except for the stop ramp.

"PI2 - Current speed" setpoint Current actual speed of the drive.

"PI3 - Digital I/Os" setpoint Current state of the binary inputs.

[2]

[3]

[5]

[4] [8]

[9]

[7]

[1]

[6][10]

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4Control via fieldbus with 3 process data wordsStartup

4.10.2 Control mode

In control mode, you can control the functions of the application solution.

You can change the states of the switches in the control word. To do so, click on thebuttons of the required bits [4] and confirm the changes by clicking on [Send PO] [7].

You can change the setpoints for rapid speed and the ramps (exception: stop ramp). Todo so, click on the corresponding input field [10] and enter the value as required. Confirmthe changes by clicking on [Send PO] [7].

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4 Control via fieldbus with 6 process data wordsStartup

4.11 Control via fieldbus with 6 process data words4.11.1 Monitor mode

When selecting control via fieldbus with 6 process data words, the following windowopens after the program has been transferred successfully:


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[10] "PO2 - Rapid speed" setpoint

"PO3 - Creep speed" setpoint Setpoint speed of creep travel.

"PO4 - Ramp up" setpoint Setpoint ramp for all acceleration phases

"PO5 - Ramp down" setpoint Setpoint ramp for all braking phases

"PO6 - Stop ramp" setpoint Setpoint ramp for braking phase to a standstill.

"PI2 - Current speed" setpoint Current actual speed of the drive.

"PI3 - Digital I/Os" setpoint Current state of the binary inputs.

"PI4 - Output current" setpoint Current output current in relation to the maximum current.

[2]

[3]

[5]

[4] [8]

[9]

[7]

[1]

[6] [10]

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4Control via fieldbus with 6 process data wordsStartup

4.11.2 Control mode

In control mode, you can control the functions of the application solution.

You can change the states of the switches in the control word. To do so, click on thebuttons of the required bits [4] and confirm the changes by clicking on [Send PO] [7].

You can change the setpoints for rapid speed and the ramps. To do so, click on the cor-responding input field [10] and enter the value as required. Confirm the changes by click-ing on [Send PO] [7].

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4 Data managementStartup

4.12 Data managementWhen you click the [Data management] button in the initial screen of the application so-lution, the following window is displayed.

When you save the application and axis data to the connection box (ABOX), you canreplace the electronics box (EBOX) without having to perform a subsequent re-startup,as all necessary parameters are restored automatically.

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Application data field[1] [Backup settings to ABOX] button The application data (speed, ramps, monitoring times, etc.)

are saved to the connection box (ABOX).[2] [Restore settings from ABOX] button The saved application data are restored from the connec-

tion box (ABOX) and the controller is re-started.

Axis data field[3] [Backup settings to ABOX] button The axis data (startup parameters) are saved to the con-

nection box (ABOX).[4] [Restore settings from ABOX] button The saved axis data are restored from the connection box

(ABOX) and the controller is re-started.

[1]

[3]

[2]

[4]

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5Control via terminalsController

5 ControllerControl of the drive depends on the inverter and the type of control (control via terminalsor fieldbus).

5.1 Control via terminals5.1.1 MOVIFIT® FC "Technology" function level

The following tables describe the binary inputs and outputs of the MOVIFIT® FC "Tech-nology" function level for control via terminals.

Input Function

DI00 Start

DI01 Positive (CW operation)

DI02 Negative (CCW operation)

DI03 Mode 20 000 = Operating mode 0: Reserved001 = Operating mode 1: Jog mode010 = Operating mode 2: Feed-in011 = Operating mode 3: Feed-out100 = Operating mode 4: Lifting/rotating

DI04 Mode 21

DI05 Mode 22

DI06 Sensor "Fast/slow CW"

DI07 Sensor Stop CW/item control CCW

DI08 Sensor "fast/slow CCW"

DI09 Sensor Stop CCW/item control CW

DI10 Reset fault

DI11 Reserved

Output Function

DO00 /Fault

DO01 Start detected

DO02 In position CW (top)

DO03 In position CCW (bottom)


5 Control via fieldbusController

5.2 Control via fieldbus5.2.1 Terminal assignment MOVIFIT® FC "Technology" function level

The following table describes the binary inputs of the MOVIFIT® FC "Technology" func-tion level for control via fieldbus.

5.2.2 Terminal assignment MOVIFIT® MC "Technology" function levelThe following table describes the binary inputs of the MOVIFIT® MC "Technology" func-tion level for control via fieldbus.

Input Function

DI00 Sensor "Fast/slow CW"

DI01 Sensor Stop CW (item control CCW)

DI02 Sensor "fast/slow CCW"

DI03 Sensor Stop CCW (item control CW)

DI04-DI15 Reserved

Input Function

DI00 Motor 1: Sensor "Fast/slow CW"

DI01 Motor 1: Sensor Stop CW (item control CCW)

DI02 Motor 1: Sensor "fast/slow CCW"

DI03 Motor 1: Sensor Stop CCW (item control CW)










5Control via fieldbusController

5.2.3 Process data interface with the PLC (1 PD)Overview The following table shows an overview of the process data words for control via fieldbus

with 1 process data word.

Process output data (1 PD)

The following table describes the process output data from the PLC to the inverter forcontrol via fieldbus with 1 process data word.

Process input data (1 PD)

The following table describes the process input data from the inverter to the PLC for con-trol via fieldbus with 1 process data word.

Process data Designation

PO1 Control word

PI1 Status word

Word Bit Function

PO1 0 1 = Controller inhibit 0 = Enable

1 1 = Enable 0 = Rapid stop

2 1 = Enable 0 = Stop

3 Reserved

4 Reserved

5 Reserved

6 Error malfunction

7 Reserved

8 Start

9 Positive (CW operation)

10 Negative (CCW operation)

11 Mode 20 000 = Operating mode 0: Reserved001 = Operating mode 1: Jog mode010 = Operating mode 2: Inward conveyance011 = Operating mode 3: Outward conveyance100 = Operating mode 4: Lifting / rotating

12 Mode 21

13 Mode 22

14 Reserved

15 Reserved

Word Bit Function

PI1 0 Ready for operation

1 Start detected

2 Rapid speed active

3 Creep speed active

4 Fault sequence

5 Fault inverter

6 In position CW (top)

7 In position CCW (bottom)

8-15 Inverter/error status




with 3 process data words.


The following table describes the process output data from the PLC to the inverter forcontrol via fieldbus with 3 process data words.


PO1 Control word

PO2 Rapid speed [rpm]

PO3 Ramp [ms]

PI1 Status word

PI2 Actual speed [rpm]

PI3 Binary inputs

Word Bit Function




3 Reserved

4 Reserved

5 Reserved

6 Reset fault

7 Reserved

8 Start




12 Mode 21

13 Mode 22

14 Reserved

15 Reserved

PO2 0-15 Rapid speed [rpm]

PO3 15 Acceleration and deceleration ramp [ms]




The following table describes the process input data from the inverter to the PLC for con-trol via fieldbus with 3 process data words.


with 6 process data words.

Word Bit Function

MOVIFIT® FCFunction level"Technology"

MOVIFIT® MCFunction level"Technology"


01 Start detected



04 Sequence fault

05 Inverter fault



8-15 Inverter/error state

PI2 0-15 Actual speed [rpm] No function

PI3 0 Sensor "Fast/slow CW"

1 Sensor stop CW

2 Sensor "fast/slow CCW"

3 Sensor stop CCW

4-11 DI04 – DI11

12-15 DI12 – DI15


PO1 Control word

PO2 Rapid speed [rpm]

PO3 Creep speed [rpm]

PO4 Ramp up [ms]

PO5 Ramp down [ms]

PO6 Stop ramp [ms]

PI1 Status word

PI2 Actual speed [rpm]

PI3 Binary inputs

PI4 Output current [%]

PI5 Reserved

PI6 Reserved




The following table describes the process output data from the PLC to the inverter forcontrol via fieldbus with 6 process data words.

Word Bit Function




3 Reserved

4 Reserved

5 Reserved

6 Reset fault

7 Reserved

8 Start




12 Mode 21

13 Mode 22

14 Reserved

15 Reserved

PO2 0-15 Rapid speed [rpm]

PO3 0-15 Creep speed [rpm]

PO4 0-15 Acceleration ramp [ms]

PO5 0-15 Deceleration ramp [ms]

PO6 0-15 Deceleration ramp to a standstill [ms]




The following table describes the process input data from the inverter to the PLC for con-trol via fieldbus with 6 process data words.

Word Bit Function

MOVIFIT® FCFunction level"Technology"

MOVIFIT® MCFunction level"Technology"


01 Start detected



04 Sequence fault

05 Inverter fault



8-15 Inverter/error state

PI2 0-15 Actual speed [rpm] No function

PI3 0 Sensor "Fast/slow CW"

1 Sensor stop CW

2 Sensor "fast/slow CCW"

3 Sensor stop CCW

4-11 DI04 – DI11

12-15 DI12 – DI15

PI4 0-15 Output current [%] No function

PI5-6 0-15 Reserved


Index

Index

AApplications..............................................................7

CConfiguring monitoring functions............................21Control

via fieldbus 1 PD ................................................25via fieldbus 3 PD ................................................26via fieldbus 6 PD ................................................28Via terminals ......................................................24

Control modeControl via fieldbus 1 PD ...................................25Control via fieldbus 3 PD ...................................27Control via fieldbus 6 PD ...................................29Control via terminals ..........................................24

Control selection ....................................................20Control via fieldbus

Interface, 1 process data word...........................33Interface, 3 process data word...........................34Interface, 6 process data word...........................35MOVIFIT® FC (terminals)...................................32MOVIFIT® MC (terminals)..................................32

Control via terminalsMOVIFIT® FC ....................................................31

Copyright..................................................................6

DData management .................................................30Description ...............................................................7Download ...............................................................23

EEmbedded safety notes ...........................................5Exclusion of liability ..................................................6

FFeatures...................................................................7Feed-in (mode 2) .....................................................9Feed-out (mode 3) .................................................10Flow diagram

Feed-in (positioning)/feed-out ............................11Jog mode ...........................................................16Lifting/rotating ....................................................14

HHysteresis ..............................................................21

IInputs

Change state .....................................................24Changing states.....................................25, 27, 29

Inputs/outputsMOVIFIT® FC (fieldbus control).........................32MOVIFIT® FC (terminal control) ........................31MOVIFIT® MC (fieldbus control) ........................32

Inward conveyance..................................................8

JJog mode (mode 1)................................................15

LLifting (mode 4)......................................................12

MMax. time

Start - Fast/slow sensor .....................................21Start - Item control sensor .................................21Start/stop sensor................................................21

Monitor modeControl via fieldbus 1 PD ...................................25Control via fieldbus 3 PD ...................................26Control via fieldbus 6 PD ...................................28Control via terminals ..........................................24

MOVITOOLS® MotionStudioInstallation..........................................................17

NNotes

Designation in the documentation .......................5


Index

OObjectives ................................................................7Operating mode

Description ...........................................................8Feed-in (positioning) ............................................9Feed-out.............................................................10Jog mode ...........................................................15Lifting/rotating ....................................................13Setting..............................................24, 25, 27, 29

Outward conveyance ...............................................8

PPositioning ...............................................................8Process data configuration ....................................20Process data interface with the PLC

1 process data word...........................................333 process data words.........................................346 process data words.........................................35

RRapid/creep speed positioning.................................8Rights to claim under limited warranty .....................6Roller conveyor ........................................................8Rotating (mode 4) ..................................................12

SSafety notes

Designation in the documentation........................5Structure of the embedded safety notes ..............5Structure of the section-related safety notes .......5

Section-related safety notes ....................................5Setpoints....................................................22, 27, 29Signal words in the safety notes ..............................5Starting the application ..........................................17Startup

Commence ........................................................19Preparation ........................................................17

TTransferring the program .......................................23

UUnit combinations ....................................................7

WWindow

Download...........................................................23Monitor fieldbus 1 process data word ................25Monitor fieldbus 3 process data words ..............26Monitor fieldbus 6 process data words ..............28Monitor terminals ...............................................24Monitoring functions...........................................21Process data configuration ................................20Setpoints............................................................22Start ...................................................................18Startup ...............................................................19

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