MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface

MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Drive Technology \ Drive Automation \ System Integration \ Services
*16998413_1216*
Manual
MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus
Interface
Edition 12/2016
16998413/EN
SEW-EURODRIVE—Driving the world
Table of contents
16998413/EN – 12/2016
Table of contents
1
General information.................................................................................................................. 8
1.1
About this documentation ............................................................................................... 8
1.2
Structure of the safety notes ........................................................................................... 8
1.2.1
Meaning of signal words ................................................................................ 8
1.2.2
Structure of section-related safety notes........................................................ 8
1.2.3
Structure of embedded safety notes .............................................................. 9
1.3
Rights to claim under limited warranty .......................................................................... 10
1.4
Exclusion of liability....................................................................................................... 10
1.5
Other applicable documentation ................................................................................... 10
1.6
Additional information ................................................................................................... 10
1.7
Product names and trademarks.................................................................................... 10
1.8
Copyright notice ............................................................................................................ 10
2
Safety notes ............................................................................................................................ 11
2.1
Preliminary information ................................................................................................. 11
2.2
Target group ................................................................................................................. 11
2.3
Bus systems.................................................................................................................. 11
2.4
Functional safety technology ........................................................................................ 12
2.5
Hoist applications.......................................................................................................... 12
3
Introduction............................................................................................................................. 13
3.1
Content of this documentation ...................................................................................... 13
3.2
Short designation in the documentation........................................................................ 13
3.3
Function overview of MOVIPRO® SDC and MOVIPRO® ADC ..................................... 13
3.4
Application modules...................................................................................................... 15
3.4.1
Advantages of application modules ............................................................. 15
3.4.2
Scope of delivery and documentation .......................................................... 15
3.4.3
Engineering with MOVITOOLS® MotionStudio............................................. 16
3.5
Application modules for MOVIPRO® SDC ................................................................... 17
3.6
Application modules for MOVIPRO® ADC ................................................................... 17
3.6.1
MOVIPRO® ADC as parameterizable device (CCU) .................................... 17
3.6.2
MOVIPRO® ADC as programmable device (MOVI‑PLC®) ........................... 20
3.7
Application modules of the power section "PFA-..."...................................................... 20
3.7.1
"Bus positioning" IPOSPLUS® application module........................................... 21
3.7.2
"Extended positioning via bus" IPOSPLUS® application module ..................... 22
3.7.3
"Modulo positioning" IPOSPLUS® application module ..................................... 23
3.7.4
"Automotive AMA0801" IPOSPLUS® application module ................................ 24
4
Startup ..................................................................................................................................... 25
4.1
Startup procedure ......................................................................................................... 25
5
Installation notes .................................................................................................................... 26
5.1
Industrial Ethernet networks ......................................................................................... 26
5.1.1
TCP/IP addressing and subnetworks........................................................... 26
5.1.2
Shielding and routing bus cables ................................................................. 28
5.2
Setting the IP address parameter on the device........................................................... 29
5.2.1
Initial startup ................................................................................................. 29
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
3
Table of contents
4
6
Configuration and startup of EtherNet/IP™ ......................................................................... 39
6.1
Device description file for EtherNet/IP™ (EDS file) ...................................................... 39
6.2
Configuration of the EtherNet/IP™ master ................................................................... 39
6.2.1
Configuration with RSLogix 5000 up to version V19.................................... 40
6.2.2
Configuration with RSLogix 5000 as of version V20 .................................... 43
6.3
Device Level Ring topology .......................................................................................... 46
6.3.1
Description ................................................................................................... 46
6.3.2
Ring fault detection ...................................................................................... 46
6.3.3
Rectifying ring faults ..................................................................................... 46
6.3.4
Hardware and software configuration .......................................................... 47
6.4
Requirements for fieldbus operation ............................................................................. 47
6.5
Project planning examples............................................................................................ 48
6.5.1
MOVIPRO® as positioning drive – configuring process data exchange ....... 48
6.5.2
MOVIPRO® as speed-controlled drive – configuring process data exchange....
50
6.5.3
Access to device parameters with RSLogix 5000 ........................................ 52
7
Ethernet Industrial Protocol (EtherNet/IP™) ........................................................................ 71
7.1
Description .................................................................................................................... 71
7.2
Process data exchange ................................................................................................ 71
7.3
Timeout response ......................................................................................................... 72
7.4
CIP object directory....................................................................................................... 72
7.4.1
Identity object ............................................................................................... 73
7.4.2
Message router object.................................................................................. 74
7.4.3
Assembly object ........................................................................................... 75
7.4.4
Register object ............................................................................................. 76
7.4.5
Parameter object .......................................................................................... 79
7.4.6
Vardata object .............................................................................................. 82
7.4.7
TCP/IP interface object ................................................................................ 83
7.4.8
EtherNet link object ...................................................................................... 84
7.5
Return codes for parameterization via "explicit messages" .......................................... 85
7.5.1
General error codes ..................................................................................... 87
7.5.2
MOVILINK®-specific return codes ................................................................ 88
7.5.3
Timeout response of "explicit messages" .................................................... 89
7.6
Technical data of the EtherNet/IP™ interface............................................................... 89
8
Configuration and startup of Modbus/TCP .......................................................................... 90
8.1
Device description file for Modbus/TCP........................................................................ 90
8.2
Configuration of the Modbus/TCP master..................................................................... 90
8.2.1
Configuring hardware (control structure)...................................................... 91
8.2.2
Setting Ethernet component......................................................................... 92
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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5.3
5.2.2
Changing the IP address parameters after successful initial startup ........... 29
5.2.3
Deactivating/activating the DHCP ................................................................ 30
5.2.4
Address Editor from SEW‑EURODRIVE...................................................... 30
Connection to the Ethernet network.............................................................................. 31
5.3.1
The integrated Ethernet switch .................................................................... 31
5.3.2
Device connection – Ethernet network......................................................... 31
Table of contents
16998413/EN – 12/2016
8.3
8.4
8.2.3
Addressing drive via the "IO Scanning" function .......................................... 93
Requirements for fieldbus operation ............................................................................. 94
Project planning examples............................................................................................ 94
8.4.1
Configuring process data exchange............................................................. 94
8.4.2
Data exchange via Modbus/TCP ................................................................. 95
9
Modbus protocol (Modbus/TCP) ......................................................................................... 101
9.1
Description .................................................................................................................. 101
9.1.1
Mapping and addressing............................................................................ 101
9.1.2
Services (function codes) ........................................................................... 102
9.1.3
Accessing services..................................................................................... 102
9.2
Protocol structure........................................................................................................ 103
9.2.1
Header ....................................................................................................... 103
9.2.2
Service FC3 – Read holding registers ....................................................... 104
9.2.3
Service FC16 – Write multiple registers ..................................................... 105
9.2.4
Service FC23 – Read/write multiple registers ............................................ 106
9.2.5
Service FC43 – Read device identifications............................................... 107
9.3
Connection management............................................................................................ 108
9.3.1
Sending process output data (request controlling connection) .................. 108
9.3.2
Closing a connection .................................................................................. 109
9.3.3
Timeout response ...................................................................................... 109
9.4
Parameter access via Modbus/TCP ........................................................................... 110
9.4.1
Procedure with FC16 and FC03................................................................. 110
9.4.2
Procedure with FC23 ................................................................................. 110
9.4.3
Protocol structure ....................................................................................... 111
9.4.4
MOVILINK® parameter channel.................................................................. 111
9.5
Fault codes (exception codes) .................................................................................... 113
9.6
Technical data, Modbus/TCP interface....................................................................... 114
10
Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP ............................... 115
10.1
Checking the status LEDs of the device ..................................................................... 115
10.2
Checking the status LED and the status display at the fieldbus master ..................... 116
10.3
Checking the fault sources.......................................................................................... 116
10.4
Fieldbus timeout.......................................................................................................... 117
11
Process data description ..................................................................................................... 118
11.1
General process sequence ......................................................................................... 118
11.2
Process sequence MOVIPRO® SDC ......................................................................... 118
11.2.1 MOVIPRO® SDC control word.................................................................... 119
11.2.2 MOVIPRO® SDC status word..................................................................... 119
11.2.3 Digital inputs and outputs........................................................................... 120
11.2.4 Example: Delivery status............................................................................ 121
11.2.5 MOVIPRO® SDC drive functions ................................................................ 121
11.3
MOVIPRO® ADC process sequence .......................................................................... 122
11.3.1 MOVIPRO® ADC control word.................................................................... 123
11.3.2 MOVIPRO® ADC status word..................................................................... 123
11.3.3 Data backup via PLC process data specification ....................................... 125
11.3.4 Digital inputs and outputs........................................................................... 125
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Table of contents
11.5
6
12
Operation with the MOVITOOLS® MotionStudio engineering software........................... 139
12.1
About MOVITOOLS® MotionStudio ............................................................................ 139
12.1.1 Tasks.......................................................................................................... 139
12.1.2 Communication channels ........................................................................... 139
12.1.3 Functions.................................................................................................... 139
12.2
First steps ................................................................................................................... 140
12.2.1 Starting the software and creating a project............................................... 140
12.2.2 Establishing communication and scanning the network............................. 140
12.2.3 Connection mode ....................................................................................... 141
12.2.4 Configuring devices.................................................................................... 143
12.3
Communication via Ethernet....................................................................................... 144
12.3.1 Connecting the device with the PC via Ethernet ........................................ 144
12.3.2 Establishing communication with the Address Editor................................. 145
12.3.3 Configuring the communication channel via Ethernet................................ 148
12.4
Executing functions with the units............................................................................... 152
12.4.1 Reading or changing unit parameters ........................................................ 152
12.4.2 Starting up units (online) ............................................................................ 153
13
Parameter setting ................................................................................................................. 154
13.1
PC/laptop connection.................................................................................................. 154
13.2
Configuring device – checklist .................................................................................... 155
13.3
Parameterizing the power section "PFA-..."................................................................ 156
13.3.1 Encoder startup .......................................................................................... 156
13.3.2 Startup the motor ....................................................................................... 169
13.3.3 Startup IPOSPLUS® application modules ...................................................... 173
13.4
Parameterizing the communication and control unit "PFH-..." .................................... 174
13.4.1 Factory installed gateway program ............................................................ 174
13.4.2 MOVIPRO® ADC as parameterizable device (CCU) .................................. 174
13.4.3 MOVIPRO® ADC as programmable device (MOVI‑PLC®) ......................... 181
13.5
Storing device data ..................................................................................................... 183
13.6
"PFA-..." power section parameter overview .............................................................. 185
13.7
Parameter descriptions ............................................................................................... 191
13.7.1 Parameter group 0: Display values ............................................................ 191
13.7.2 Parameter group 1: Setpoints / ramp generators....................................... 196
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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11.4
11.3.5 Example: Delivery status............................................................................ 126
11.3.6 MOVIPRO® ADC CCU Application modules .............................................. 127
Process image of MOVIPRO® ADC with R15 regenerative power supply ................. 131
11.4.1 Regenerative power supply control word ................................................... 131
11.4.2 Regenerative power supply status word .................................................... 131
11.4.3 Configuring regenerative power supply...................................................... 132
Process image of drive functions of the power section "PFA-..." ................................ 133
11.5.1 Speed-controlled drive ............................................................................... 133
11.5.2 "Bus positioning" IPOSPLUS® application module......................................... 136
11.5.3 "Extended positioning via bus" IPOSPLUS® application module ................... 137
11.5.4 "Modulo positioning" IPOSPLUS® application module ................................... 137
11.5.5 "Automotive AMA0801" IPOSPLUS® application module .............................. 138
Table of contents
13.8
14
13.7.3 Parameter group 2: Controller parameters ................................................ 199
13.7.4 Parameter group 3: Motor parameters....................................................... 202
13.7.5 Parameter group 5: Monitoring functions ................................................... 209
13.7.6 Parameter group 6: Terminal assignment .................................................. 215
13.7.7 Parameter group 7: Control functions ........................................................ 216
13.7.8 Parameter group 8: Device functions......................................................... 222
13.7.9 Parameter group 9: IPOS parameters ....................................................... 231
Parameter overview of encoder option ....................................................................... 241
Service ................................................................................................................................... 243
14.1
Device replacement .................................................................................................... 243
14.1.1 Prerequisites for successful device replacement ....................................... 243
14.1.2 Replacing the device .................................................................................. 243
14.1.3 SD memory card as spare part .................................................................. 245
14.2
Reference travel after device or encoder replacement ............................................... 246
14.2.1 Incremental encoder .................................................................................. 246
14.2.2 Absolute encoder ....................................................................................... 246
14.2.3 Linear encoder systems ............................................................................. 246
14.2.4 HIPERFACE® encoders ............................................................................. 246
14.3
Service unit ................................................................................................................. 246
14.3.1 Ethernet service interface .......................................................................... 247
14.4
List of power section errors......................................................................................... 248
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Index ...................................................................................................................................... 268
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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1
General information
About this documentation
1
General information
1.1
About this documentation
This documentation is an integral part of the product. The documentation is written for
all employees who assemble, install, start up, and service this product.
Make sure this documentation is accessible and legible. Ensure that persons responsible for the machinery and its operation as well as persons who work on the product
independently have read through the documentation carefully and understood it. If you
are unclear about any of the information in this documentation or require further information, contact SEW‑EURODRIVE.
1.2
Structure of the safety notes
1.2.1
Meaning of signal words
The following table shows the grading and meaning of the signal words for safety
notes.
Signal word
Meaning
Consequences if disregarded
DANGER
Imminent hazard
Severe or fatal injuries
WARNING
Possible dangerous situation
Severe or fatal injuries
CAUTION
Possible dangerous situation
Minor injuries
NOTICE
Possible damage to property
Damage to the product or its environment
INFORMATION
Useful information or tip: Simplifies
handling of the product.
1.2.2
Structure of section-related safety notes
Section-related safety notes do not apply to a specific action but to several actions
pertaining to one subject. The hazard symbols used either indicate a general hazard
or a specific hazard.
This is the formal structure of a safety note for a specific section:
SIGNAL WORD
Type and source of hazard.
Possible consequence(s) if disregarded.
Measure(s) to prevent the hazard.
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•
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
General information
Structure of the safety notes
1
Meaning of the hazard symbols
The hazard symbols in the safety notes have the following meaning:
Hazard symbol
Meaning
General hazard
Warning of dangerous electrical voltage
Warning of hot surfaces
Warning of risk of crushing
Warning of suspended load
Warning of automatic restart
1.2.3
Structure of embedded safety notes
Embedded safety notes are directly integrated into the instructions just before the description of the dangerous action.
This is the formal structure of an embedded safety note:
16998413/EN – 12/2016
SIGNAL WORD Type and source of hazard. Possible consequence(s) if disregarded. Measure(s) to prevent the hazard.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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1
General information
Rights to claim under limited warranty
1.3
Rights to claim under limited warranty
Read the information in this documentation. This is essential for fault-free operation
and fulfillment of any rights to claim under limited warranty. Read the documentation
before you start working with the product.
1.4
Exclusion of liability
Read the information in this documentation, otherwise safe operation is impossible.
You must comply with the information contained in this documentation to achieve the
specified product characteristics and performance features. SEW‑EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting
from non-observance of these operating instructions. In such cases,
SEW‑EURODRIVE assumes no liability for defects.
1.5
Other applicable documentation
This document supplements the operating instructions and limits the application notes
according to the following information. Use this document only together with the operating instructions.
1.6
Additional information
For additional information, refer to the following documentation:
1.7
•
"MOVIPRO® SDC Decentralized Drive and Position Controller" operating instructions
•
"MOVIPRO® ADC Decentralized Drive and Application Controller" operating instructions
•
"MOVITOOLS® MotionStudio" manual/online help
•
"Application Configurator for CCU" manual
•
"MOVI‑PLC® Programming in the PLC Editor" system manual
•
Manuals for application modules
Product names and trademarks
1.8
Copyright notice
© 2016 SEW‑EURODRIVE. All rights reserved. Unauthorized reproduction, modification, distribution or any other use of the whole or any part of this documentation is
strictly prohibited.
10
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
The brands and product names in this documentation are trademarks or registered
trademarks of their respective titleholders.
Safety notes
Preliminary information
2
Safety notes
2.1
Preliminary information
2
The following general safety notes have the purpose to avoid injury and damage to
property. They primarily apply to the use of products described in this documentation.
If you use additional components also observe the relevant warning and safety notes.
2.2
Target group
Specialist for
mechanical work
Specialist for electrotechnical work
Any mechanical work may only be performed by adequately qualified personnel. Qualified personnel in the context of this documentation are persons familiar with the
design, mechanical installation, troubleshooting and maintenance of the product, who
possess the following qualifications:
•
Qualification in the field of mechanics according to applicable national regulation.
•
They are familiar with this documentation
Any electronic work may only be performed by adequately skilled persons (electrically). Qualified electricians in the context of this documentation are persons familiar
with electrical installation, startup, troubleshooting and servicing of the product who
possess the following qualifications:
•
Qualification in the field of electrical engineering according to applicable national
regulation.
•
They are familiar with this documentation
In addition to that, these persons must be familiar with the valid safety regulations and
laws, as well as with the requirements of the standards, directives and laws specified
in this documentation. The above mentioned persons must have the authorization expressly issued by the company to operate, program, configure, label and ground
devices, systems and circuits in accordance with the standards of safety technology.
Instructed persons
2.3
All work in the areas of transportation, storage, operation and waste disposal must be
carried out by persons who are trained appropriately. The purpose of the instruction is
that the persons are capable of performing the required tasks and work steps in a safe
and correct manner.
Bus systems
16998413/EN – 12/2016
A bus system makes it possible to adapt electronic drive components to the particulars
of the machinery within wide limits. There is a risk that a change of parameters that
cannot be detected externally may result in unexpected (but not uncontrolled) system
behavior and may have a negative impact on operational safety, system availability, or
data security.
Especially in Ethernet-based networked systems and with engineering interfaces,
make sure that unauthorized access is prevented.
Use IT-specific safety standards to increase access protection to the ports. For a port
overview, refer to the respective technical data of the used device.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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2
Safety notes
Functional safety technology
2.4
Functional safety technology
The product must not perform any safety functions without a higher-level safety system, unless explicitly allowed by the documentation.
2.5
Hoist applications
To avoid danger of fatal injury by falling hoists, observe the following points when using the product in lifting applications:
Use mechanical protection devices.
•
Perform a hoist startup.
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Introduction
Content of this documentation
3
Introduction
3.1
Content of this documentation
3
This documentation describes the operation of the following units on the fieldbus system EtherNet/IP™ or Modbus/TCP: MOVIPRO® SDC and MOVIPRO® ADC.
3.2
Short designation in the documentation
The following short designations are used in this documentation.
Type designation
Short designation
®
MOVIPRO®
Higher-level controller
PLC
MOVIPRO SDC and MOVIPRO® ADC
Function
overview
SDC and of
MOVIPRO®
ADC
3.3
Function overview of MOVIPRO® SDC and MOVIPRO® ADC
•
The MOVIPRO® SDC standard inverter with positioning control is equipped with
various basic functions for simple applications.
MOVIPRO® SDC enables speed control and precise positioning via simple, free
parameterization without programming and via standardized single-axis modules.
•
The MOVIPRO® ADC application inverter includes these basic functions, but additionally offers even more specialized functions for more complex applications.
Depending on the SD card type that is used, MOVIPRO® ADC can be used as a:
– Parameterizable device (CCU)
16998413/EN – 12/2016
– Programmable device (MOVI‑PLC®)
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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3
Introduction
Function overview of MOVIPRO® SDC and MOVIPRO® ADC
The following figure shows an overview of the functions and options of
MOVIPRO® SDC and MOVIPRO® ADC:
Additional
communication interfaces:
Energy-efficient due to
optional connection of
energy management components
▪ SBus PLUS
Parameterizable and freely programmable
via integrated MOVI-PLC®
▪ CAN (internal/external)
▪ RS485
▪ Ethernet service
Extended safety functions such as
e.g. SBC (Safe Brake Control)
Functions
▪ MOVISAFE® safety bus
Power ratings from
2.2 – 22 kW
Safety functions
such as STO and SS1
Brake control
Motor and distance encoders
Digital inputs and outputs
Suitable for asynchronous
motors and synchronous
servomotors
Common fieldbus types
Parameterizable
MOVIPRO® SDC
MOVIPRO® ADC
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Introduction
Application modules
3.4
3
Application modules
In industry applications, an inverter must not only perform speed control but also control complex motion sequences and take over typical tasks of the Programmable Logic
Controller (PLC).
SEW‑EURODRIVE offers various standardized control programs, so-called application
modules, for "positioning" applications.
The application module has a user-friendly user interface to assist with parameterization. The user merely has to specify the parameters required for the application. The
application module uses this information to create the control program, then loads it
onto the inverter.
The device takes over the entire motion control. This means the application module
takes load off the PLC.
3.4.1
Advantages of application modules
Application modules offer you the following advantages:
3.4.2
•
A wide range of functions
•
User-friendly user interface
•
Only required parameters must be entered
•
Guided parameter setting instead of complicated programming
•
No programming experience required
•
Quick training, therefore quick project planning and startup
•
The entire motion control directly in the device
Scope of delivery and documentation
The
application
modules
are
part
of
the
software
package
MOVITOOLS® MotionStudio. They can be used with the following devices: MOVIPRO®
16998413/EN – 12/2016
Information on how to operate the application modules is contained in separate manuals. They can be downloaded in PDF format from the SEW‑EURODRIVE website →
www.sew‑eurodrive.com.
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3
Introduction
Application modules
3.4.3
Engineering with MOVITOOLS® MotionStudio
Consistent engineering is possible with the MOVITOOLS® MotionStudio software
package from SEW‑EURODRIVE. This software offers all the tools necessary for
automation and startup of drives:
Plugin
Startup
fig
ur
at
io
n
tup
Plugin
Parameter tree
Plugin
Data management
Co
n
Sta
r
MOVITOOLS®
MotionStudio
Plugin
Gateway configurator
ete
r am
a
P
riza
tion
ackup
Data b
Plugin
Application builder
Visualizatio
n
Dia
g no
stic
Pro
gr a
mm
s
ing
Scope
IEC Editor
(CODESYS-compatible)
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Introduction
Application modules for MOVIPRO® SDC
3
Application
modules
for
MOVIPRO®
SDC
3.5
Application modules for MOVIPRO® SDC
In MOVIPRO® SDC, the drive data of the power section "PFA-..." are transparently
passed through. You only have to parameterize the desired application module of the
power section to match your requirements.
For further information, refer to chapter "Application modules of the power section
"PFA-..."" (→ 2 20).
Application
modules
for
MOVIPRO®
ADC
3.6
Application modules for MOVIPRO® ADC
3.6.1
MOVIPRO® ADC as parameterizable device (CCU)
MOVIPRO® ADC includes the Configurable Control Unit (CCU) with standardized and
directly executable application modules you simply need to parameterize. You can adjust the functionality of the individual CCU application modules to the specific application quickly and without programming knowledge. An integrated diagnostic function
helps to speed up and facilitate startup.
You can parameterize MOVIPRO® ADC with the Application Configurator controller
software.
The
Application
Configurator
is
part
of
the
MOVITOOLS® MotionStudio engineering software.
Application Configurator controller software
You can use this controller software to select the suitable application module for each
axis of your application (single- or multi-axis application) that runs independently of the
connected drive electronics. The required parameters are entered in the assistant of
the respective CCU application module. Then the entire configuration is transferred to
the parameterizable device.
Application Configurator functions
The Application Configurator controller software provides the following functions:
•
Startup and configuration of CCU application modules
•
Diagnostics of CCU application modules
Advantages of the Application Configurator
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The Application Configurator controller software provides the following advantages:
•
The process data monitor visualizes the data exchange between the parameterized CCU application modules and the PLC.
•
Data is saved using an SD memory card for the entire CCU application module
and all drive parameters.
•
The simulation mode allows for diagnostics of configurations without devices and
motors connected.
•
A detailed module diagnostics function allows for simple testing of the CCU application module.
•
Variables (e.g. travel profiles) are recorded over the time for easy troubleshooting.
•
You can simultaneously update the software of the Application Configurator on the
SD memory card when you download the CCU application data.
•
The CCU application modules run centrally on the parameterizable device, thus
they are drive-independent.
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3
Introduction
Application modules for MOVIPRO® ADC
Available CCU application modules
The following CCU application modules are available for MOVIPRO® ADC:
•
Transparent 6PD
•
Velocity control
•
Rapid/creep speed positioning
•
Bus positioning
The CCU application modules run in the communication and control unit "PFH-...".
You can parameterize the CCU application modules in the Application Configurator
controller software.
"Transparent 6PD" CCU application module
The "Transparent 6PD" CCU application module is used when the process output data
from the PLC (fieldbus master) is to be forwarded unmodified to subordinate devices
(internal power section "PFA-...," external auxiliary axes, etc.) via the controller
(MOVIPRO® ADC). The same applies to process data communication in the opposite
direction.
The "Transparent 6PD" CCU application module supports all IPOSPLUS® application
modules running on the integrated power section. For further information, refer to
chapter "Application modules of the power section "PFA-..."" (→ 2 20).
"Velocity control" CCU application module
The "velocity control" CCU application module is used for speed-controlled applications without positioning.
"Rapid/creep speed positioning" CCU application module
The "Rapid/creep speed positioning" CCU application module is used for simple positioning tasks in materials handling technology.
Positioning takes place via 2 initiators. The first initiator determines the switching point
from rapid to creep speed. The second initiator determines the stop position. Applications that must position in two directions require 4 initiators.
The "Rapid/creep speed positioning" CCU application module offers the following
functions:
•
Graphical interface for startup and parameterization
– Includes monitor for controlling and observing
– Includes online help for support
Drive functions for jog and rapid/creep speed positioning
•
Suited for roller conveyors, lifting tables, and rotary tables
16998413/EN – 12/2016
•
18
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Introduction
Application modules for MOVIPRO® ADC
3
"Bus positioning" CCU application module
The "bus positioning" CCU application module is used for variable positions in conjunction with different speeds and ramps (e.g. hoist).
The positioning is carried out via the built-in motor encoder or an optional distance encoder. Only linear, absolute positioning is supported. You can enter various user units.
The "Bus positioning" CCU application module has the following functions:
•
Variable adjustments of the following values:
– Target position
– Speed
– Acceleration
– Deceleration
•
Permanent feedback of:
– Status messages
– Actual velocity
– Actual position
•
Drive functionalities:
– Jog
– Referencing
– Positioning
Motor encoders and optional distance encoder are supported
16998413/EN – 12/2016
•
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
19
3
Introduction
Application modules of the power section "PFA-..."
3.6.2
MOVIPRO® ADC as programmable device (MOVI‑PLC®)
Free programming via MOVI‑PLC®
SEW‑EURODRIVE offers the freely programmable MOVI‑PLC® motion and logic controller for solving complex machine automation tasks in a flexible manner.
Direct programming in the MOVI‑PLC® development environment allows for turning
application‑specific requirements into drive solutions. Tasks can be programmed using
the standard IEC-61131 languages (LD, FBD, IL, ST, SFC). Furthermore, function
blocks from different motion libraries can be combined into one program to ensure fast
startup and implement complex motion sequences.
Advantages of MOVI‑PLC®
MOVI‑PLC® offers you the following advantages:
3.7
•
Easy to use
•
Flexible programming of the application
•
Standardized programming languages in accordance with IEC 61131‑3
•
PLCopen libraries for convenient automation
•
Upon request: customized, application-specific programs
•
Configuration, startup, monitoring, diagnostics and updates of all components from
SEW‑EURODRIVE
•
Coordination of several axes
•
All motion control tasks are concentrated in one MOVI‑PLC®
•
Relieve the PLC
•
Reduced response times
•
Increased performance
Application modules of the power section "PFA-..."
The following application modules are available for the power section "PFA-...":
•
Bus positioning
•
Extended positioning via bus
•
Modulo positioning
•
Automotive AMA0801
The application modules are based on IPOSPLUS®.
In MOVIPRO® ADC, the IPOSPLUS® application modules can only be used if a simple
gateway program is installed (delivery state) in the communication and control
unit "PFH-...," or the "Transparent 6PD" CCU application module is parameterized. In
these cases, the process input and process output data is forwarded from the communication and control unit to the power section "PFA-..." unmodified.
You
can
parameterize
the
IPOSplus®
application
®
MOVITOOLS MotionStudio engineering software.
20
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
modules
in
the
16998413/EN – 12/2016
INFORMATION
Introduction
Application modules of the power section "PFA-..."
3.7.1
3
"Bus positioning" IPOSPLUS® application module
The "Bus positioning" IPOSPLUS® application module offers the following functions:
•
Variable and unlimited number of target positions
•
Freely adjustable travel speed for positioning
•
Maximum travel distance ± 32700 mm
16998413/EN – 12/2016
9007201239177483
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
21
3
Introduction
Application modules of the power section "PFA-..."
3.7.2
"Extended positioning via bus" IPOSPLUS® application module
The "Extended positioning via bus" IPOSPLUS® application module offers the following
functions:
•
Variable number of target positions
•
The travel speed for positioning and the acceleration and deceleration ramps are
specified variably by the PLC.
•
Maximum travel distance ± 262100 mm
•
Possibility of operation with 4 process data instead of 6. In this case, the variable
specification of ramp type does not apply.
16998413/EN – 12/2016
9007201239185803
22
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Introduction
Application modules of the power section "PFA-..."
3.7.3
3
"Modulo positioning" IPOSPLUS® application module
The "Modulo positioning" IPOSPLUS® application module offers the following functions:
•
Supports fieldbuses with 4 or 6 process data words
•
Target position specified via 2 process data words
•
Freely adjustable travel speed
•
2 different ramps can be selected when 4 process data words are used for control.
•
The acceleration and deceleration ramps can be specified using process data
word 5 and 6 for control via 6 process data words.
•
For a non-positive connection (with slip) between the motor shaft and application,
the distance measurement can be taken via an external incremental or absolute
encoder. The encoder must be mounted to the application without slip.
16998413/EN – 12/2016
9007204510510347
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
23
3
Introduction
Application modules of the power section "PFA-..."
3.7.4
"Automotive AMA0801" IPOSPLUS® application module
The IPOSPLUS® application module "Automotive AMA0801" offers the following functions:
•
Implementation of lifting units and conveyor systems
•
Switchable process data interface. Setpoints specification is either variable or binary.
•
Different operating modes for setup and automatic operation and special functions
during positioning mode
16998413/EN – 12/2016
9007201378601867
24
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Startup
Startup procedure
4
Startup
4.1
Startup procedure
4
The following illustration gives an overview of the startup procedure of the device and
lists other applicable documentation:
1. Device startup
For information, refer to:
•
"MOVIPRO® SDC Decentralized Drive and Position Controller" operating instructions
•
"MOVIPRO® ADC Decentralized Drive and Application Controller" operating instructions
2. Parameterization, Programming1) with the MOVITOOLS® MotionStudio engineering software
For information, refer to:
•
Chapter "Parameter setting" (→ 2 154)
•
"MOVI‑PLC® Programming in the PLC Editor" system manual
3. Fieldbus configuration
For information, refer to:
•
The chapters "Configuration and startup of EtherNet/IP™" (→ 2 39) and
"Configuration and startup of Modbus/TCP" (→ 2 90)
•
Chapter "Application modules of the power section "PFA-..."" (→ 2 20)
•
Chapter "Process data description" (→ 2 118)
4. Saving device data to the SD memory card.
For further information, refer to chapter "Storing device data" (→ 2 183).
16998413/EN – 12/2016
1) Programming is possible only for MOVIPRO® ADC.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
25
5
Installation notes
Industrial Ethernet networks
5
Installation notes
INFORMATION
The description of the assembly and installation of the device can be found in the
MOVIPRO® SDC Decentralized Drive and Position Controller" and "MOVIPRO® ADC
Decentralized Drive and Application Controller" operating instructions.
This chapter contains information only on how to install Ethernet.
5.1
Industrial Ethernet networks
5.1.1
TCP/IP addressing and subnetworks
The address of the TCP/IP protocol is set using the following parameters:
•
MAC address
•
IP address
•
Subnet mask
•
Standard gateway
The addressing mechanisms and subdivision of the TCP/IP networks into subnetworks are explained in this chapter to help you set the parameters correctly.
MAC address
The MAC (Media Access Controller) address is the basis for all address settings. The
MAC address is a worldwide unique 6‑byte value (48 bits) assigned to the Ethernet
device. The MAC address of Ethernet devices from SEW‑EURODRIVE is 00-0F69-xxxx-xx.
The MAC address is difficult to handle for larger networks. This is why freely assignable IP addresses are used.
IP address
The IP address is a 32-bit value that uniquely identifies a node in the network. An IP
address is represented by 4 decimal numbers separated by decimal points.
Each decimal number stands for 1 byte (8 bits) of the address and can also be represented using binary code:
Decimal
Binary
1
192
11000000
2
168
10101000
3
10
00001010
4
4
00000100
The IP address comprises a network address and a node address.
The part of the IP address that denotes the network and the part that identifies the
node is determined by the network class and the subnet mask.
26
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Exemplary IP address: 192.168.10.4
Byte
Installation notes
Industrial Ethernet networks
5
Network class
The first byte of the IP address determines the network class and as such represents
the division into network addresses and node addresses:
Range of values
(Byte 1 of IP address)
Network
class
Example: Complete network
address
Meaning
0 – 127
A
10.1.22.3
128 – 191
B
172.16.52.4
172.16 = Network address
52.4 = Node address
192 – 223
C
192.168.10.4
192.168.10 = Network address
4 = Node address
10 = Network address
1.22.3 = Node address
Node addresses that consist only of zeros or ones are not permitted. The smallest address (all bits are zero) describes the network itself and the largest address (all bits
are 1) is reserved for the broadcast.
This rough division is not sufficient for a number of networks. The networks also use
an explicit, adjustable subnet mask.
Subnetwork mask
A subnet mask is used to divide the network classes into even finer sections. Like the
IP address, the subnet mask is represented by 4 decimal numbers separated by
decimal points.
Each decimal number stands for 1 byte (8 bits) of the subnet mask and can also be
represented using binary code:
Exemplary subnet mask: 255.255.255.128
Byte
Decimal
Binary
1
255
11111111
2
255
11111111
3
255
11111111
4
128
10000000
The binary representation of the IP address and the subnet mask shows that in the
subnet mask, all bits of the network address are set to 1 and only the bits of the node
addresses have the value 0:
IP address: 192.168.10.129
Network address
Node address
Subnet mask: 255.255.255.128
Bytes 1 – 4
Bytes 1 – 4
11000000
11111111
10101000
11111111
00001010
11111111
10000001
10000000
16998413/EN – 12/2016
The class C network with the network address 192.168.10 is further subdivided into
the following 2 networks by the subnet mask 255.255.255.128:
Network address
Node addresses
192.168.10.0
192.168.10.1 – 192.168.10.126
192.168.10.128
92.168.10.129 – 192.168.10.254
The network nodes use a logical AND operation for the IP address and the subnet
mask to determine whether there is a communication partner in the same network or
in a different network. If the communication partner is in a different network, the standard gateway is addressed for passing on the data.
Standard gateway
The standard gateway is also addressed via a 32-bit address. The 32-bit address is
represented by 4 decimal numbers separated by decimal points.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
27
5
Installation notes
Industrial Ethernet networks
Exemplary standard gateway: 192.168.10.1
The standard gateway establishes a connection to other networks. A network node
that wants to address another node uses a logical AND operation of the IP address
and subnet mask to determine whether the node is in the same network. If this is not
the case, the network node addresses the standard gateway (router), which must be
part of the actual network. The standard gateway then takes on the job of transmitting
the data packages.
DHCP (Dynamic Host Configuration Protocol)
Instead of setting the 3 parameters IP address, subnet mask and standard gateway
manually, they can be assigned automatically by a DHCP server in the Ethernet network.
The IP address is assigned based on a table in the DHCP server. The table contains
an assignment of MAC addresses to IP addresses.
5.1.2
Shielding and routing bus cables
NOTICE
Risk of a compensating current flowing as a result of incorrect bus cable type, improper shielding and/or improperly routed bus cables.
Possible damage to property.
•
In case of fluctuations in the ground potential, a compensating current may flow
via the bilaterally connected shield that is also connected to the protective earth
(PE). Make sure you supply adequate equipotential bonding in accordance with
relevant VDE regulations in such a case.
Only use shielded cables and connection elements that meet the requirements of category 5, class D according to IEC 11801 edition 2.0.
28
•
Manually tighten the mounting screws on the connectors, modules, and equipotential bonding conductors.
•
Use only connectors with a metal housing or a metalized housing.
•
Connect the shielding in the connector over a wide surface area.
•
Apply the shielding of the bus cable on both ends.
•
Route signal and bus cables in separate cable ducts. Do not route them parallel to
power cables (motor leads).
•
Use metallic, grounded cable racks in industrial environments.
•
Route the signal cable and the corresponding equipotential bonding close to each
other using the shortest possible route.
•
Avoid using plug connectors to extend bus cables.
•
Route the bus cables closely along existing grounding surfaces.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Correct shielding of the bus cable attenuates electrical interference that can occur in
industrial environments. The following measures ensure the best possible shielding:
Installation notes
Setting the IP address parameter on the device
5.2
Setting the IP address parameter on the device
5.2.1
Initial startup
5
The DHCP protocol is activated on the device in the factory. The IP address parameters are therefore expected from a DHCP server.
INFORMATION
There is a free DHCP server with the designation "BOOTP Utility" available on the
Rockwell Automation homepage.
5.2.2
Changing the IP address parameters after successful initial startup
If the device was started using a valid IP address, you can also access the IP address
parameters via the Ethernet interface.
You can change the IP address parameters via the Ethernet interface by one of the
following methods:
•
Using the Engineering software MOVITOOLS® MotionStudio
•
Using the TCP/IP interface object from EtherNet/IP™ (→ 2 83)
•
Using the Address Editor from SEW‑EURODRIVE (→ 2 145)
•
Other interfaces of the device
If the IP address parameters have been assigned to the unit via a DHCP server, you
can only change the parameters by adjusting the settings of the DHCP server.
INFORMATION
16998413/EN – 12/2016
The following applies to all other types of changing the IP address parameters: The
change only becomes effective if you switch the supply voltage (including DC 24 V)
off and on again.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
29
5
Installation notes
Setting the IP address parameter on the device
5.2.3
Deactivating/activating the DHCP
You can display and set the type of IP address assignment in the engineering software in the parameter tree of the unit in parameter DHCP Startup Control:
•
"Stored IP parameters" setting
The stored IP address parameters are used.
•
"DHCP" setting
The IP address parameters are requested by a DHCP server.
5.2.4
Address Editor from SEW‑EURODRIVE
In order to access the IP settings of the fieldbus interface of the device, you can use
the Address Editor from SEW‑EURODRIVE.
The Address Editor is installed together with the MOVITOOLS® MotionStudio software
package but is used independently. For further information, refer to the description of
the MOVITOOLS® MotionStudio engineering software (→ 2 145).
For reliable allocation of the devices displayed in the Address Editor which are connected via X4232_11 and X4232_12 or X4233_11 and X4233_12, a label with the
MAC ID of the device is attached to the housing. For further information, refer to
chapter "Searching Ethernet nodes" (→ 2 146).
Advantages of the Address Editor
The Address Editor provides the following benefits:
Display and specification of IP settings of all devices from SEW‑EURODRIVE in
one local subnetwork.
•
Determination of IP settings for the engineering PC on one system during operation in order to enable the engineering software to access the device via Ethernet.
•
Specification of IP settings for the fieldbus interface of the device, including without
the network connections or Ethernet settings of the engineering PC having to be
modified.
16998413/EN – 12/2016
•
30
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Installation notes
Connection to the Ethernet network
5.3
Connection to the Ethernet network
5.3.1
The integrated Ethernet switch
5
The device is equipped with an integrated 2 port Ethernet switch for connecting the
fieldbus technology. The following network topologies are supported:
•
Tree topology
•
Star topology
•
Line topology
•
Ring topologies (supported by device firmware version V19 and later)
INFORMATION
The number of industrial Ethernet switches connected in line impacts the telegram
runtime. If a telegram passes through the devices, the telegram runtime is delayed by
the "store-and-forward" function of the Ethernet switch:
•
For a telegram length of 64 bytes by approximately 10 µs (at 100 MBit/s)
•
For a telegram length of 1500 bytes by approximately 130 µs (at 100 MBit/s)
→ This means the more devices a telegram has to pass through, the higher the telegram runtime is.
Auto-crossing
The two ports leading out of the Ethernet switch have auto-crossing functionality. You
can use both patch and crossover cables to connect to the next Ethernet node.
Auto-negotiation
The baud rate and duplex mode are negotiated by both Ethernet nodes when establishing the connection. For this purpose, both Ethernet ports of the EtherNet/IP™ connection support an auto-negotiation functionality and work with a baud rate of either
100 Mbit or 10 Mbit in full duplex or half-duplex mode.
Notes on multicast handling
•
The integrated Ethernet switch does not provide a filter function for Ethernet Multicast telegrams. Multicast telegrams are sent from the adapters (device) to the
scanners (PLC) and passed on to all switch ports.
•
IGMP snooping (e.g. Managed Switches) is not supported.
INFORMATION
16998413/EN – 12/2016
SEW‑EURODRIVE recommends connecting the device only with the following network components:
5.3.2
•
That support IGMP snooping (e.g. Managed Switch)
•
That have protection mechanisms against high Multicast load (e.g. devices from
SEW‑EURODRIVE). Devices that do not have this function may be faulty due to
high network load.
Device connection – Ethernet network
The device can be connected to the Ethernet via the following Ethernet interfaces:
•
X4232_11 (RJ45 connector)
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
31
5
Installation notes
Connection to the Ethernet network
•
X4232_12 (RJ45 connector)
•
X4233_11 (M12 connector)
•
X4233_12 (M12 connector)
To connect the device to the Ethernet, connect one of the Ethernet interfaces to the
other network node using a category 5, class D twisted-pair cable in accordance with
IEC 11801, edition 2.0.
INFORMATION
According to IEEE 802.3, 200 Edition, the maximum cable length for
10 MBaud/100 MBaud Ethernet (10BaseT/100BaseT) between 2 network nodes is
100 m.
X4232_11, X4232_12: Ethernet interface
The following table provides information on this connection:
Function
•
EtherNet/IP™ interface
•
Modbus/TCP interface
Connection type
Push-pull RJ45
Wiring diagram
1
8
32
No.
Name
Function
1
TX+
Transmit line (+)
2
TX-
Transmit line (-)
3
RX+
Receive line (+)
4
Res.
Reserved
5
Res.
Reserved
6
RX-
Receive line (-)
7
Res.
Reserved
8
Res.
Reserved
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Assignment
Installation notes
Connection to the Ethernet network
5
Connection cable
NOTICE
The RJ45 socket can be damaged when inserting commercially available RJ45
patch cables without push-pull connector housing.
Damage to the RJ45 socket.
•
Only plug suitable push-pull RJ45 mating
IEC 61076‑3‑117 into push-pull RJ45 sockets.
connectors
according
to
•
Never use commercially available RJ45 patch cables without push-pull connector
housing. These plug connectors do not snap in place when they are plugged.
Use only shielded cables for this connection.
X4233_11, X4233_12: Ethernet interface
The following table provides information on this connection:
Function
•
EtherNet/IP™ interface
•
Modbus/TCP interface
Connection type
M12, 4-pin, female, D-coded
Wiring diagram
2
3
1
4
Assignment
Name
Function
1
TX+
Transmit line (+)
2
RX+
Receive line (+)
3
TX-
Transmit line (-)
4
RX-
Receive line (-)
16998413/EN – 12/2016
No.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
33
5
Installation notes
Connection to the Ethernet network
Status and error messages
The status display on the device cover shows the current device status. In case of repeated malfunctions, contact the SEW‑EURODRIVE Service.
If several statuses or faults are active at the same time, the status display shows the
status or fault with the highest priority.
The device status display takes priority over the display of the internal "PFA-..." power
section. If the maintenance switch is switched off or a fieldbus fault occurs, no power
section status is displayed.
Display examples
The following examples show how the device usually displays status and fault messages.
Example 1: "Enable" of power section 1
1820269707
Example 2: "Overtemperature" fault of power section 1
If the display shows "A[Power section number].F", a power section fault occurred. The
display switches between the number of the power section and the fault code.
1806505867
Refer to chapter "List of power section errors" (→ 2 248) for an overview of power
section faults.
Status messages
If you use a parameterizable device, the following status messages are possible.
Code
Meaning
8.8.8.
S2:
Possible cause
Measure
Application module not running/not loaded
Create a configuration with
the Application Configurator
and load it into the device.
Flashing
green
S3:
34
A1.0
DC 24 V operation, frequency
inverter not ready
A1.1
Controller inhibit active
A1.2
No enable
A1.3
Standstill current
A1.4
Enable
A1.5
n-control
A1.6
M-control
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Off
Installation notes
Connection to the Ethernet network
Code
Meaning
Possible cause
A1.7
Position hold control
A1.8
Factory setting
A1.9
Limit switch reached
A1.A
Technology option
A1.c
IPOSplus® reference travel
A1.D
Flying start
A1.E
Calibrate encoder
A1.F
Fault display (→ 2 248)
A1.U
"Safe torque off" active
5
Measure
WARNING! Risk of injury due to incorrectly interpreted display U =
"Safe Torque Off" active –
Severe or fatal injuries. The
display U = "Safe Torque
Off" active is not safety-related. Thus it must not be
used safety-related.
Flashing dot
Application module of the
"PFA-..." power section is
running.
buS Err
Fieldbus error
InI
•
Check the fieldbus wiring
to the higher-level controller.
•
Check the fieldbus parameter setting of the
device and the higherlevel controller.
Initialization: A connection is
established with all internal
components.
This can take several
minutes after a device replacement.
oFF
The maintenance switch is
switched off.
Switch on the maintenance
switch.
16998413/EN – 12/2016
Devices without interface
box:
Check the DC 24 V cabling
and the cabling of the switch
feedback.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
35
5
Installation notes
Connection to the Ethernet network
Code
Meaning
OFL
Internal communication error
Possible cause
Measure
While backing up data or
restoring a data backup:
Wait a few minutes until the
display changes.
In normal operation:
36
•
Disconnect the device
from the AC 400 V supply
and the DC 24 V supply
voltage for at least 30 s.
•
Restart the device.
run
The connection has been established successfully. The
statuses of the components
or the application are displayed after 3 s.
SF1
Communication error with the •
power section
Parameter channel 2 not
activated (P889)
•
Activate parameter channel 2
•
Manual operation not finished
•
Activate and deactivate
manual mode
•
Parameter lock power
section activated (P803)
•
•
Configuration in the Application Configurator not
completed or not completely loaded
Disconnect the device
from the AC 400 V supply
and the DC 24 V supply
voltage for at least 30 s.
•
Restart the device.
SF2
Error in external periphery
Check the cabling of the digital inputs and outputs as
well as the connections of the
communication package.
SF3
Error while loading the applic- Non-enabled application
ation module
module loaded
•
Set parameter P802
"Factory setting" of the
"PFA-..." power section to
"Delivery state".
•
Load an enabled application module into the
"PFA-..." power section
SF10
Error during configuration
Configuration with Application Complete the configuration
with the Application Configur- Configurator not completed
with the Application Configurator
ator. Load it into the device.
SF20
Error during data backup,
data backup on SD memory
card failed
SF21
Error during data backup,
data backup on SD memory
card failed
SF22
Error during data recovery,
data recovery to device failed
SD memory card is write pro- Remove write protection from
tected
SD memory card.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Start data restoring again.
16998413/EN – 12/2016
Start data backup again.
Installation notes
Connection to the Ethernet network
Code
Meaning
Possible cause
SF23
Error during data recovery,
Controller not inhibited
data recovery to device failed
5
Measure
Set the device to one of the
following states:
•
Controller inhibit (A1.1)
•
Safe torque off (A1.U)
SF99
Internal system error
SF110
Actuator voltage overload
error
Actuator voltage overload
Check the cabling of the digital inputs and outputs.
SF120
Error due to overload in
sensor voltage of group 1
Overload sensor voltage
group 1
Check the cabling of the digital inputs and outputs.
SF121
Error due to overload in
sensor voltage of group 2
Overload sensor voltage
group 2
Check the cabling of the digital inputs and outputs.
Status LEDs
The status LEDs are located on the service unit. They show the fieldbus and device
status.
[1]
1954344587
[1]
Status LEDs S1, S2, S3
Status LED S1 EtherNet/IP™ and Modbus/TCP
Status LED
16998413/EN – 12/2016
Off
Meaning
The device does not yet have any IP parameters.
Flashing
green/red
The device performs an LED test.
Flashing
green
There is no controlling I/O connection.
Lights up
green
There is a controlling EtherNet/IP™ I/O connection.
Lights up red A conflict has been detected in the assigned IP addresses. Another
node in the network uses the same IP address.
Flashing red The previously established controlling I/O connection is in timeout
state. The state is reset by restarting communication.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
37
5
Installation notes
Connection to the Ethernet network
Status LED S2
Status LED
Flashing
green
Possible cause
Measure
The firmware of the communication and control unit is running
correctly.
–
Flashing
Data backup is created/restored.
green/orange
–
Lights up or- Boot is active.
ange
–
Flashing orange
•
Firmware is being updated or
–
•
Bootloader update required.
Flashes red
•
SD memory card is not inserted.
•
File system on the SD
memory card is corrupt.
•
Boot process has failed.
Switch the device off and back on
again. Contact
SEW‑EURODRIVE service if the
error reoccurs.
Status LED S3
Status LED
Possible cause
Measure
Lit green
User program is running.
–
Flashing
green
•
Program sequence has
stopped.
Start the user program.
•
Bootloader update required.
No program is loaded.
Load an user program into the
communication and control unit.
16998413/EN – 12/2016
Off
38
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Device description file for EtherNet/IP™ (EDS file)
6
6
Configuration and startup of EtherNet/IP™
This chapter provides you with information on the configuration of the EtherNet/IP™
master (PLC) and startup of the device for fieldbus operation.
Requirements for correct configuration and startup are:
•
Correct connection
•
The correct setting of IP address parameters of the device. (→ 2 29).
Configuration is explained with examples. The examples are configurations carried out
with the programming software RSLogix 5000 by Rockwell Automation.
6.1
Device description file for EtherNet/IP™ (EDS file)
NOTICE
Damage to the device due to malfunction due to a modified device description file.
Damages to the device.
•
Do not change or expand entries in the device description file.
SEW‑EURODRIVE assumes no liability for malfunctions of the device caused by
a modified device description file.
For proper operation of the device with EtherNet/IP™ interface, the following device
description file is required:
•
SEW_MOVIPRO.eds
INFORMATION
You can download the latest version of the device description file (EDS file) for
MOVIPRO® with EtherNet/IP™ interface from the SEW‑EURODRIVE homepage
→ www.sew‑eurodrive.com.
6.2
Configuration of the EtherNet/IP™ master
The configuration procedure depends on the version of the programming software
RSLogix.
Up to and including V19, the device description file cannot be used directly. In this
case, use the general device "GenericDevice and set the communication properties manually.
•
Starting from version V20, use the device description file directly.
16998413/EN – 12/2016
•
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6
Configuration and startup of EtherNet/IP™
Configuration of the EtherNet/IP™ master
6.2.1
Configuration with RSLogix 5000 up to version V19
The following example describes configuration of the Allen Bradley control ControlLogix 1756_L61 with RSLogix 5000 Version V19.
For the Ethernet communication, a 1756-EN2TR EtherNet/IP™ interface is used.
Proceed as follows:
1. Start RSLogix 5000 and select the view "Controller Organizer" (tree structure on
left part of the window).
2. Select the EtherNet/IP™ interface (1756-EN2TR in this case) in the folder "I/O
configuration".
3. Select the command [New Module] from the context menu.
ð A module catalog is displayed.
16756049803
16998413/EN – 12/2016
4. Select "ETHERNET MODULE" in the "Communication" category.
40
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Configuration of the EtherNet/IP™ master
6
5. Click [OK].
ð The following window is displayed.
18014400474821899
6. In the edit box [1], enter the name of the EtherNet/IP™ interface with which the
data are stored in the controller tags.
7. Enter the IP address of the EtherNet/IP™ interface field in the edit box [3].
8. Select data format "Data-INT" or "Data-SINT" from the drop-down list [2].
ð The process data always contains 16 bits (INT). The maximum number of process data is 120 (for "Comm format" DATA-INT) or 240 (for "Comm format"
DATA-SINT).
9. Enter the following connection parameters in the section [5]:
Window element
Value
Input Assembly Instance
173
Output Assembly Instance
163
Configuration Assembly Instance
1
Input Size
16
Output Size
16
Configuration Size
0
16998413/EN – 12/2016
10. Activate the check box [4].
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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6
Configuration and startup of EtherNet/IP™
Configuration of the EtherNet/IP™ master
11. Click [OK].
ð The following window is displayed.
[1]
[2]
15115056395
12. Open the tab [1].
13. Enter the cycle time (data rate) in the edit box [2]. The device supports a cycle
time of a minimum of 4 ms. Longer cycle times can be implemented without any
problems.
14. Click [OK].
16998413/EN – 12/2016
ð The device is included in the project and the settings are adopted.
42
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Configuration of the EtherNet/IP™ master
6.2.2
6
Configuration with RSLogix 5000 as of version V20
The following example describes configuration of the Allen Bradley controller ControlLogix 1756_L71 with Studio 5000 Logix Designer, version V24 (up to Version V20:
RSLogix 5000).
For the Ethernet communication, a 1756-EN2TR EtherNet/IP™ interface is used.
Proceed as follows:
1. Start Studio 5000 Logix Designer and select the view "Controller Organizer" (tree
structure on left part of the window).
2. Select the EtherNet/IP™ interface (1756-EN2TR in this case) in the folder "I/O
configuration".
3. Select the command [New Module] from the context menu.
ð A module catalog is displayed.
16759271947
4. Enter "Movipro" in the search field [1] and press the <Enter> key.
ð If the EDS file was installed correctly, the device is displayed in the catalog.
16998413/EN – 12/2016
5. Select the entry "SEW MOVIPRO" [2].
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
43
6
Configuration and startup of EtherNet/IP™
Configuration of the EtherNet/IP™ master
6. Click the [Create] button [3].
ð The following window is displayed.
16759276939
7. In the edit box [3], enter the name of the EtherNet/IP™ interface with which the
data are stored in the controller tags.
8. Enter the desired IP address of the EtherNet/IP™ interface field in the edit box [2].
9. Click the button [4].
16759280651
44
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
ð The following window is displayed.
Configuration and startup of EtherNet/IP™
Configuration of the EtherNet/IP™ master
6
10. Select the communication format and the process data arrangement.
ð You can select up to 120 PI/PO (process input data/process output data words)
with 16 Bit respectively. The device usually uses 8 PI/PO for communication
with the internal power section "PFA-..." and the PLC. By selecting the data
type SINT, a data array with 16 bytes is created by the software.
11. Click [OK].
ð The previous window opens.
12. Open the tab [1].
[1]
[2]
[3]
15117198347
13. Enter the cycle time (data rate) in the edit box [2]. The device supports a cycle
time of a minimum of 4 ms. Longer cycle times can be implemented without any
problems.
14. Choose the input type from the drop-down list [3]. Depending on the network configuration, e.g. if a redundant fieldbus master or an HMI keypad are integrated in
the network, you can either select "Unicast" or Multicast" connection.
15. Click [OK].
16998413/EN – 12/2016
ð The device is included in the project and the settings are adopted.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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6
Configuration and startup of EtherNet/IP™
Device Level Ring topology
6.3
Device Level Ring topology
6.3.1
Description
INFORMATION
The device supports announce telegrams only. Beacon telegrams on the fieldbus are
ignored and just forwarded by the device.
If a Device Level Ring topology (DLR topology) is used, 2 new telegrams are shown
on the fieldbus. Both telegrams can be used to detect single fault locations in the ring.
•
Announce telegrams are sent cyclically every 1 s.
No special hardware of the ring components is required to process the announce
telegrams.
The device supports announce telegrams only.
•
The beacon telegrams are sent cyclically every 400 μs by the ring supervisor.
A special hardware of the devices in the ring is required to process the beacon
telegrams.
The beacon telegrams are ignored and just forwarded by the device.
6.3.2
Ring fault detection
If Beacon telegrams that are sent to the first port of the ring supervisor are not received by the second port of the ring supervisor, the ring supervisor detects a ring
fault.
If the telegrams do not run through the entire ring, the ring supervisor sends a noncyclical announce telegram. This non-cyclical announce telegram leads to a status
change of the EtherNet/IP™ interface. The network is automatically restored.
INFORMATION
Use less than 50 ring nodes in one DLR network. If more than 50 nodes are used in
one DLR network, you have to consider the following:
•
The risk of faults in the DLR network increases.
•
The times for fault rectification in a faulty DLR network increase.
→ If your application requires more than 50 modes, Rockwell Automation recommends to split up the nodes in separate but linked DLR networks.1)
1) See user guideline by Rockwell Automation "EtherNet/IP Embedded Switch Technology – Linear and
Device-level Ring Topologies", Appendix A
Rectifying ring faults
If a single fault location in the ring causes a fault and the rectification takes longer than
the fieldbus timeout interval, you can increase the fieldbus timeout (timeout interval)
by increasing the cycle time.
The timeout interval of the device is calculated as follows:
TTimeout = RPI × 32
TTimeout
46
Timeout interval (fieldbus timeout) in ms
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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6.3.3
Configuration and startup of EtherNet/IP™
Requirements for fieldbus operation
RPI
6
Cycle time RPI (Requested Packet Interval) in ms
The device supports a cycle time of a minimum of 4 ms.
The minimum timeout interval of the fieldbus is thus 128 ms (4 × 32).
6.3.4
Hardware and software configuration
There is no need to make any special settings in the EtherNet/IP™ interface for the
configuration of a DLR network. All configurations are carried out in the ring supervisor.
INFORMATION
For information on this configuration, refer to the user guideline by Rockwell Automation "EtherNet/IP™ Embedded Switch Technology – Linear and Device Level Ring
Topologies" that is available on the Rockwell website.
6.4
Requirements for fieldbus operation
16998413/EN – 12/2016
Correct startup of the device is prerequisite for fieldbus operation. For further information, refer to chapter "Parameter setting" (→ 2 154).
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
47
6
Configuration and startup of EtherNet/IP™
Project planning examples
6.5
Project planning examples
6.5.1
MOVIPRO® as positioning drive – configuring process data exchange
The following example describes the configuration of the process data exchange
between an EtherNet/IP™ master (PLC) and MOVIPRO® as positioning drive in Studio
5000 Logix Designer.
INFORMATION
This description applies for all versions of the programming software from Rockwell
Automation (RSLogix 5000, from version 20: Studio 5000 Logix Designer).
Proceed as follows:
1. Start up the device (→ 2 25).
2. Set the IP address parameters of the device (→ 2 29).
3. Include the device in the configuration for the "I/O Configuration" in Studio 5000
Logix Designer (→ 2 39).
4. Create a user-defined data type. It allows you to organize the process data in a
structure and simplifies access to the data elements.
9007201222207371
ð In this example, a data structure with 8 process input data words (PI) and 8
process output data words (PO) is created.
5. To enable process data exchange between the device and the PLC, insert CPS instructions at the beginning of the MainRoutine. The length designation in the CPS
instructions depends on the data type of the destination.
ð During copying of the data in the user-defined data structure (from PLC to the
device), the values of a structure are copied.
ð During copying of the data from the user-defined data structure to the output
data (from device to PLC), 16 bytes (SINT) are copied.
48
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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ð You can access the process data interface with explicit variable names with the
created data type.
Configuration and startup of EtherNet/IP™
Project planning examples
6
16760603787
6. Save the project and transfer it to the PLC.
7. Switch to RUN mode of the PLC.
18014400477830667
16998413/EN – 12/2016
8. Check if the process data correspond to the values that are displayed in the parameter tree of the MOVITOOLS® MotionStudio engineering software or in the fieldbus monitor of the respective application module.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
49
6
Configuration and startup of EtherNet/IP™
Project planning examples
6.5.2
MOVIPRO® as speed-controlled drive – configuring process data exchange
The following example describes the configuration of the process data exchange
between an EtherNet/IP™ master (PLC) and MOVIPRO® as speed-controlled drive in
Studio 5000 Logix Designer.
INFORMATION
This description applies for all versions of the programming software from Rockwell
Automation (RSLogix 5000, from version 20: Studio 5000 Logix Designer).
Proceed as follows:
1. Start the device as a speed-controlled drive (→ 2 25). No application module is
used in this configuration.
2. Set the IP address parameters of the device (→ 2 29).
3. Include the device in the configuration for the "I/O Configuration" in Studio 5000
Logix Designer with 5 process data words (→ 2 40).
4. Create a user-defined data type. It allows you to organize the process data in a
structure and simplifies access to the data elements.
9007201224042635
16998413/EN – 12/2016
5. Enter the description of the function of the device and internal power section
"PFA-..." in the "Description" edit box.
50
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Project planning examples
6
6. To enable process data exchange between the device and the PLC, insert the corresponding CPS instructions in the MainRoutine. Make sure that the CPS commands copy the entire structure rather than a single data value.
16760603787
7. Save the project and transfer it to the PLC.
8. Switch to RUN mode of the PLC.
18014400478786059
16998413/EN – 12/2016
ð The actual values of the device can be read and the setpoints can be determined.
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6
Configuration and startup of EtherNet/IP™
Project planning examples
6.5.3
Access to device parameters with RSLogix 5000
The procedure to access device parameters depends on the version of the RSLogix 5000 programming software and the firmware version of the device (support of
DLR topology).
Service
GetAttributeSingle
RSLogix 5000 up to version
V19
RSLogix 5000 as of version
V20
DLR support
No DLR support
DLR support
No DLR support
x
x
–
x
–
–
x
–
SetAttributeSingle
Custom
The 12-byte MOVILINK® parameter channel enables access to all parameters, regardless of the bus in use. The 12-byte MOVILINK® parameter channel consists of the following elements:
Index
Data
Subindex
Reserved
Subaddress 1
Subchannel 1
Subaddress 2
Subchannel 2
15214071179
®
For MOVIPRO with EtherNet/IP™ interface, the routing information Subaddress 1
and Subchannel 1 are used. The device parameter can only be addressed with index
and subindex. The routing information Subaddress 2 and Subchannel 2 are not used.
Enter the following values for the routing information:
Value
Routing information Control electronics/fieldbus
Internal power section
"PFA-..."
0
20
Subchannel 1
0
3
Subaddress 2
0
0
Subchannel 2
0
0
16998413/EN – 12/2016
Subaddress 1
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Project planning examples
6
Access to device parameters without DLR support with RSLogix 5000 up to version V19
The following example describes the configuration of read and write access to the
device parameters with RSLogix 5000, Version V19.
Reading parameters
Proceed as follows:
1. Create the user-defined data type "SEW_Parameter_Channel". It allows you to organize the process data in a structure and simplifies access to the data elements.
INFORMATION
To ensure proper operation of the parameter channel, you must not change the order
of the variables. The data types must also match the figure.
9007214912527883
2. Create the following controller tags:
Name
Data structure
ReadParameter
MESSAGE
ReadParameterRequest
SEW_Parameter_Channel
ReadParameterResponse
SEW_Parameter_Channel
BOOL
16998413/EN – 12/2016
ReadParameterStart
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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6
Configuration and startup of EtherNet/IP™
Project planning examples
3. To be able to perform the read request, adapt the program of the PLC as follows:
18014399382395787
4. Click the button
in the MSG block.
ð The following window is displayed.
[1]
[2]
[3]
9007200127693963
5. Select the setting "CIP Generic" from the drop-down list [2].
6. Make the following settings in the specified sequence:
ð The drop-down list [3] is automatically set to "Get Attribute Single" after the
entries are applied.
Window element
Source Element
Source Length (Bytes)
Destination
Setting/value
ReadParameterRequest.Index
12
ReadParameterResponse.Index
e
Class (Hex)
7
Instance
1
Attribute (Hex)
4
16998413/EN – 12/2016
Service Code (Hex)
54
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Project planning examples
6
7. Open the tab [1].
18014400479917579
8. Click the button [2].
ð A module manager is displayed.
9. Via "I/O Configuration" > "Ethernet", select the target device with which you want
to establish communication.
16998413/EN – 12/2016
10. Do not activate the check box [3]. Both the PLC and the device only allow a limited
number of connections.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
55
6
Configuration and startup of EtherNet/IP™
Project planning examples
11. Save the project and transfer it to the PLC.
12. Enter the following controller tags values:
19132371595
Controller tag
ReadParameterStart
ReadParameterRequest.Index
Value
1
Index of the parameter to be read
ReadParameter_Request.SubAddress 1
20
ReadParameter_Request.SubChannel 1
3
ReadParameter_Request.SubAddress 2
0
ReadParameter_Request.SubChannel 2
0
13. Switch to RUN mode of the PLC.
ð The read request is executed once.
ð In this example, the value (3000 min-1) of the parameter P302 maximum speed
(Index 8517.0) is read.
56
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
ð If the read request is answered, the controller tag "ReadParameterResponse.Index" displays the read index. The controller tag "ReadParameterResponse.Data" contains the read data.
Configuration and startup of EtherNet/IP™
Project planning examples
6
14. Check if the process data correspond to the values that are displayed in the parameter tree of the engineering software MOVITOOLS® MotionStudio.
17894369291
ð When you move the mouse over the parameter, the tooltip shows the index,
subindex, factor, etc. of the parameter.
Writing parameters
Proceed as follows:
1. Create the user-defined data type "SEW_Parameter_Channel". It allows you to organize the process data in a structure and simplifies access to the data elements.
INFORMATION
16998413/EN – 12/2016
To ensure proper operation of the parameter channel, do not change the order of the
variables. The data types must also match the figure.
9007214912527883
2. Create the following controller tags:
Name
Data structure
WriteParameter
MESSAGE
WriteParameterRequest
SEW_Parameter_Channel
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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6
Configuration and startup of EtherNet/IP™
Project planning examples
Name
Data structure
WriteParameterResponse
SEW_Parameter_Channel
WriteParameterStart
BOOL
3. To be able to perform the write request, adapt the program of the PLC as follows:
18014399382579339
4. Click the button
in the MSG block.
ð The following window is displayed.
[1]
[2]
[3]
12
2
9007200845377675
5. Select the setting "CIP Generic" from the drop-down list [2].
6. Make the following settings in the specified sequence:
ð The drop-down list [3] is automatically set to "SetAttributeSingle" after the
entries are applied.
Source Element
Source Length (Bytes)
Destination
58
Setting/value
WriteParameterRequest.Index
12
WriteParameterResponse.Index
Service Code (Hex)
10
Class (Hex)
7
Instance
2
Attribute (Hex)
4
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Window element
Configuration and startup of EtherNet/IP™
Project planning examples
6
7. Open the tab [1].
16761643403
8. Click the button [2].
ð A module manager is displayed.
9. Via "I/O Configuration" > "Ethernet", select the target device with which you want
to establish communication.
16998413/EN – 12/2016
10. Do not activate the check box [3]. Both the PLC and the device only allow a limited
number of connections.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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6
Configuration and startup of EtherNet/IP™
Project planning examples
11. Save the project and transfer it to the PLC.
12. Enter the following controller tags values:
19132375179
Controller tag
Value
WriteParameterStart
1
WriteParameterRequest.Index
Index of the parameter to be described.
WriteParameterRequest.Data
Value to be written in the parameter.
WriteParameter_Request.SubAddress 1
20
WriteParameter_Request.SubChannel 1
3
WriteParameter_Request.SubAddress 2
0
WriteParameter_Request.SubChannel 2
0
13. Switch to RUN mode of the PLC.
ð The write request is executed once.
ð In this example, the parameter P302 maximum speed is set to 3000 min-1.
60
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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ð If the write request is answered, the controller tag "WriteParameterResponse.Index" displays the written index. The controller tag "WriteParameterResponse.Data" contains the written data.
Configuration and startup of EtherNet/IP™
Project planning examples
6
14. Check if the process data correspond to the values that are displayed in the parameter tree of the MOVITOOLS® MotionStudio engineering software.
17894369291
ð When you move the mouse over the parameter, the tooltip shows the index,
subindex, factor, etc. of the parameter.
Access to device parameters with DLR support with RSLogix 5000 as of version V20
The following example describes the configuration of read and write access to the
device parameters with Studio 5000 Logix Designer, Version V24 (up to version V20:
RSLogix 5000).
You can access the device parameters as follows:
•
via the 12-byte MOVILINK® parameter channel in process data
•
via CIP message service
Access is possible with all device versions.
INFORMATION
16998413/EN – 12/2016
This chapter describes the access to the device parameters via the CIP message
service. For information on the access via the 12-byte MOVILINK® parameter channel, refer to the "Application Configurator for CCU" manual.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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Configuration and startup of EtherNet/IP™
Project planning examples
Reading parameters
Proceed as follows:
1. Create the user-defined data type "SEW_ParameterChannel". It allows you to organize the process data in a structure and simplifies access to the data elements.
INFORMATION
To ensure proper operation of the parameter channel, do not change the order of the
variables. The data types must also match the figure.
9007214470249995
2. Create the following controller tags:
Name
ReadParameter_Start
Data structure
BOOL
ReadParameter_Response
SEW_ParameterChannel
ReadParameter_Request
SEW_ParameterChannel
ReadParameter_Data
ReadParameter
DINT
MESSAGE
9007214470308491
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3. To be able to perform the read request, adapt the program of the PLC as follows:
Configuration and startup of EtherNet/IP™
Project planning examples
4. Click the button
6
in the MSG block.
ð The following window is displayed.
[1]
15215569931
5. Make the following settings in the specified sequence:
Window element
Source Element
Setting/value
ReadParameter_Request.Index
Source Length (Bytes)
12
ReadParameter_Response.Index
Service Code (Hex)
34
Class (Hex)
65
Instance
0
Attribute (Hex)
0
16998413/EN – 12/2016
Destination Element
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6
Configuration and startup of EtherNet/IP™
Project planning examples
6. Open the tab [1].
16761256459
7. Click the button [2].
ð A module manager is displayed.
8. Via "I/O Configuration" > "Ethernet", select the target device with which you want
to establish communication.
9. Do not activate the check box [3]. Both the PLC and the device allow only a limited
number of connections.
10. Add the following additional "COP" command to the PLC program. The "COP"
command copies both INT variables "ReadParameter_Request.Data_LOW" and
"ReadParameter_Request.Data_HIGH" to a single DINT variable "ReadParameter_Data":
16998413/EN – 12/2016
9007214470315787
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Project planning examples
6
11. Save the project and transfer it to the PLC.
12. Enter the following controller tags values:
19132371595
Controller tag
Value
ReadParameter_Start
ReadParameter_Request.Index
1
Index of the parameter to be read
ReadParameter_Request.SubAddress 1
20
ReadParameter_Request.SubChannel 1
3
ReadParameter_Request.SubAddress 2
0
ReadParameter_Request.SubChannel 2
0
13. Switch to RUN mode of the PLC.
16998413/EN – 12/2016
ð The read request is executed once.
ð If the read request is answered, the controller tag "ReadParameter_Response.Index" displays the read index. The controller tags "ReadParameter_Response.Data_LOW" and "ReadParameter_Response.Data_HIGH"
contain the low word and high word of the read data. The actual data is shown
in the "ReadParametersResponse.Data" controller tag.
ð In this example, the value (3000 min-1) of the parameter P302 maximum speed
(Index 8517.0) is read.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
65
6
Configuration and startup of EtherNet/IP™
Project planning examples
14. Check if the process data correspond to the values that are displayed in the parameter tree of the MOVITOOLS® MotionStudio engineering software.
17894369291
ð When you move the mouse over the parameter, the tooltip shows the index,
subindex, factor, etc. of the parameter.
Writing parameters
Proceed as follows:
1. Create the user-defined data type "SEW_ParameterChannel". It allows you to organize the process data in a structure and simplifies access to the data elements.
INFORMATION
9007214470249995
2. Create the following controller tags:
Name
WriteParameter_Start
WriteParameter_Response
66
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Data structure
BOOL
SEW_ParameterChannel
16998413/EN – 12/2016
To ensure proper operation of the parameter channel, you must not change the order
of the variables. The data types must also match the figure.
Configuration and startup of EtherNet/IP™
Project planning examples
Name
6
Data structure
WriteParameter_Request
SEW_ParameterChannel
WriteParameter_Data
DINT
WriteParameter
MESSAGE
3. To be able to perform the write request, adapt the program of the PLC as follows:
9007214470335883
4. Click the button
in the MSG block.
ð The following window is displayed.
[1]
15215597323
5. Make the following settings in the specified sequence.
Window element
16998413/EN – 12/2016
Source Element
Setting/value
WriteParameter_Request.Index
Source Length (Bytes)
12
Destination Element
WriteParameter_Response.Index
Service Code (Hex)
35
Class (Hex)
65
Instance
0
Attribute (Hex)
0
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
67
6
Configuration and startup of EtherNet/IP™
Project planning examples
6. Open the tab [1].
16761639563
7. Click the button [2].
ð A module catalog is displayed.
8. Via "I/O Configuration" > "Ethernet", select the target device with which you want
to establish communication.
9. Do not activate the check box [3]. Both the PLC and the device allow only a limited
number of connections.
10. Add the following additional COP command to the PLC program:
ð The COP command copies the DINT variable "WriteParameter_Data" to the
INT variables "WriteParameter_Request.Data_LOW" and "WriteParameter_Request.Data_HIGH".
16998413/EN – 12/2016
9007214470254859
68
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of EtherNet/IP™
Project planning examples
6
11. Save the project and transfer it to the PLC.
12. Enter the following controller tags values:
19132375179
Controller tag
Value
WriteParameter_Start
WriteParameter_Request.Index
WriteParameter_Data
1
Index of the parameter to be described.
Value to be written in the parameter.
WriteParameter_Request.SubAddress 1
20
WriteParameter_Request.SubChannel 1
3
WriteParameter_Request.SubAddress 2
0
WriteParameter_Request.SubChannel 2
0
13. Switch to RUN mode of the PLC.
16998413/EN – 12/2016
ð The write request is executed once.
ð If the write request is answered, the controller tag "WriteParameter_Response.Index" displays the written index. The controller tags "WriteParameter_Response.Data_HIGH" and "WriteParameter_Response.Data_LOW"
contain the written data.
ð In this example, the parameter P302 maximum speed is set to 3000 min-1.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
69
6
Configuration and startup of EtherNet/IP™
Project planning examples
14. Check if the process data correspond to the values that are displayed in the parameter tree of the MOVITOOLS® MotionStudio engineering software.
17894369291
16998413/EN – 12/2016
ð When you move the mouse over the parameter, the tooltip shows the index,
subindex, factor, etc. of the parameter.
70
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
Description
7
Ethernet Industrial Protocol (EtherNet/IP™)
7.1
Description
7
The EtherNet Industrial Protocol (EtherNet/IP™) is an open communication standard
based on the classic Ethernet protocols TCP/IP and UDP/IP.
EtherNet/IP™ was defined by the Open DeviceNet Vendor Association (ODVA) and
ControlNet International (CI).
With EtherNet/IP™, Ethernet technology is expanded to include the CIP (Common Industrial Protocol) application protocol. CIP is known in the field of automation engineering because it is also used for DeviceNet™ and ControlNet as an application protocol.
7.2
Process data exchange
The device can exchange the following process data words with an EtherNet/IP™
master (PLC), depending on its use:
•
MOVIPRO® SDC up to 8 process data words
•
MOVIPRO® ADC up to 120 process data words
The process data length sets the EtherNet/IP™ master on opening the connection.
In addition to a controlling "Exclusive Owner Connection", up to two additional "Listen
Only Connections" are possible. This means the actual values of the drive can also be
read out by stand-by controllers or visualization devices.
16998413/EN – 12/2016
If there is already a controlling connection via Modbus/TCP, you cannot activate an
"Exclusive Owner Connection" via EtherNet/IP™ before a power-on reset.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
71
7
Ethernet Industrial Protocol (EtherNet/IP™)
Timeout response
7.3
Timeout response
The timeout state is initiated by the unit. The EtherNet/IP™ master sets the timeout interval while establishing a connection. The EtherNet/IP™ specification refers to a "Requested Packet Interval (RPI)" rather than a timeout interval in this case.
The timeout interval is displayed in the parameter tree of the MOVITOOLS®
MotionStudio engineering software. However, you must not change the timeout interval in the engineering software as they can only be activated via fieldbus.
The timeout interval displayed in the parameter tree is calculated by multiplying the
Requested Packet Interval (RPI) with the "Timeout Multiplier".
This timeout interval is retained in the device whenever an "Exclusive Owner Connection" is dropped, and the device switches to timeout state after the timeout interval has
elapsed. The timeout state is indicated by the red blinking "S1" LED on the service
unit of the device.
If the application module "Transparent" is parameterized in the device, the drive is
stopped immediately in the timeout state and the digital outputs are reset.
The timeout state can be reset via EtherNet/IP™ as follows:
7.4
•
Via reset service of the identity object (class 0x01, instance 0x01, undetermined
attribute)
•
By re-establishing the connection
•
Via the reset bit in the control word
CIP object directory
All device data are available via objects in the Common Industrial Protocol (CIP).
The following CIP objects are integrated in the device:
Class
Name
hex
Identity object
02
Message router object
04
Assembly object
06
Connection manager object
07
Register object
0F
Parameter object
64
Vardata object
F5
TCP/IP interface object
F6
Ethernet link object
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01
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.1
7
Identity object
•
Contains general information on the EtherNet/IP™ device.
•
Class code: 01hex
Class
Attribute
Access
Name
Data type
Default value
hex
1
2
Description
Get
Revision
UINT
0001
Revision 1
Get
Max Instance
UINT
0001
Maximum instance
Instance 1
The following table provides an overview via instance 1 of the identity object:
Attribute
Access
Name
Data type
Default value
hex
Description
1
2
Get
Vendor ID
UINT
013B
SEW‑EURODRIVE GmbH & Co KG
Get
Device Type
UINT
0065
Manufacturer-specific type
3
Get
Product Code
UINT
007
Product no. 7: MOVIPRO®
Revision
STRUCT of
4
Get
Major Revision
USINT
Minor Revision
USINT
Status
5
Get
6
Get
Serial number
7
Get
Product Name
–
Revision of the identity object, depends on the firmware version
WORD
–
For coding of the attribute see following table
UDINT
–
Unique serial number
SHORT_STRING SEW-MOVIPRO Product name
Coding of attribute 5 "Status"
Bit
Name
0
Owned
1
–
2
Configured
3
–
Description
Controlling connection is active.
Reserved
Configuration complete.
Reserved
Extended Device Status
• Value 0000bin: Unknown
• Value 0010bin: At least one faulty I/O connection
detected
• Value 0011bin: No I/O connection established
• Value 0110bin: At least one I/O connection active
8
Minor Recoverable Fault
Minor fault that can be remedied
9
Minor Unrecoverable Fault
10
Major Recoverable Fault
11
Major Unrecoverable Fault
12 – 15
–
4 – 7
Minor fault that cannot be remedied
Major fault that can be remedied
Major fault that cannot be remedied
Reserved
Supported services
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The following table shows the services supported by the identity object:
Service Code
hex
Service Name
Class
Instance
01
Get_Attributes_All
X
X
05
Reset
–
X
0E
Get_Attribute_Single
X
X
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7
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.2
Message router object
•
Contains information on the implemented objects.
•
Class code: 02hex
Class
Attribute
Access
Name
Data type
Default value
hex
1
Get
Revision
UINT
0001
Description
Revision 1
Instance 1
The following table provides an overview via instance 1 of the identity object:
Attribute
1
Access
Name
Data type
Object_List
STRUCT of
–
Number
UINT
0009
ARRAY of
UINT
01 00 02 00
04 00 06 00
07 00 0F 00
64 00 F5 00
F6 00
UINT
0009
Get
Classes
2
Get
Number Available
Default
value
hex
Description
Object list comprising:
• Number of objects
• List of objects
Maximum number of connections
Supported services
The following table shows the services supported by the message router object:
Service Name
Class
Instance
01
Get_Attributes_All
X
–
0E
Get_Attribute_Single
X
X
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Service Code
hex
74
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.3
7
Assembly object
•
Accesses the process data of the device. To exchange cyclic process data, I/O
connections are established to the instances of the assembly object.
•
Class code: 04hex
Class
Attribute
Access
Name
Data type
Default value
hex
1
2
Description
Get
Revision
UINT
0002
Revision 2
Get
Max Instance
UINT
0082
Maximum instance
Instance 163 – PO data range
This instance accesses the process output data of the device. Only one single connection is established to this instance because the device can only be controlled by
one single EtherNet/IP™ master.
Attribute
Access
Name
Data type
Default value
hex
3
Get
Data
Array of BYTE
–
Description
OUTPUT assembly
Instance 121 – "Heartbeat"
The EtherNet/IP™ master establishes an "Input Only Connection" to this instance. No
process output data is sent with this type of connection. It is used only to read process
input data.
Attribute
Access
Name
Data type
Default value
hex
3
Get
Data
Array of BYTE
–
Description
OUTPUT assembly
Data Size 0
Instance 173 – PI data range
This instance accesses the process input data of the device. Several multi cast connections or a point-to-point connection can be established to this instance.
Attribute
Access
Name
Data type
Default value
hex
3
Get
Data
Array of BYTE
–
Description
INPUT assembly
INFORMATION
The designations "INPUT assembly" and "OUTPUT assembly" refer to the processes
as seen from the network's point of view. An "INPUT assembly" produces data on the
network, "OUTPUT assembly" uses data from the network.
Supported services
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The following table shows the services supported by the assembly object:
Service Code
hex
Service Name
Class
Instance
163
Instance
121
Instance
173
0E
Get_Attribute_Single
X
X
–
X
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
75
7
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.4
Register object
•
Accesses the SEW parameter index.
•
Class code: 07hex
Class
Attribute
Access
Name
Data type
Default value
hex
2
Get
Max Instance
UINT
0009
Description
Maximum instance
®
The MOVILINK services are mapped in the 9 instances of the register object. These
MOVILINK® services are accessed with the services of the register object "Get_Attribute_Single" and "Set_Attribute_Single".
The register object is specified so that INPUT objects can only be read, whereas OUTPUT objects can be read and written.
MOVILINK® service with
Instance
INPUT/OUTPUT
1
INPUT
READ parameters
Invalid
2
OUTPUT
READ
WRITE parameter
3
OUTPUT
READ
WRITE VOLATILE parameter
4
INPUT
READ MINIMUM
Invalid
5
INPUT
READ MAXIMUM
Invalid
6
INPUT
READ DEFAULT
Invalid
7
INPUT
READ SCALING
Invalid
8
INPUT
READ ATTRIBUTE
Invalid
9
INPUT
READ EEPROM
Invalid
Set_Attribute_Single
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Get_Attribute_Single
76
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7
Description of the 12-byte MOVILINK® parameter channel:
Get_Attribute_Single
Input
(Instance 1)
READ
Get_Attribute_Single
Output
(Instance 2)
Set_Attribute_Single
WRITE
Get_Attribute_Single
Output
(Instance 3)
Set_Attribute_Single
Get_Attribute_Single
WRITE VOLATILE
Input
(Instance 4)
READ MINIMUM
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DPRAM
Get_Attribute_Single
Input
(Instance 5)
READ MAXIMUM
Get_Attribute_Single
Input
(Instance 6)
READ DEFAULT
Get_Attribute_Single
Input
(Instance 7)
READ SCALING
Get_Attribute_Single
Input
(Instance 8)
READ ATTRIBUTE
Get_Attribute_Single
Input
(Instance 9)
READ EEPROM
879804555
EtherNet/IP™
Fieldbus profile from SEW‑EURODRIVE
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
77
7
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
Instance 1 – 9
The following table provides an overview of instances 1 – 9 of the identity object:
Attribute
Access
Name
Data type
Default value
hex
Description
1
Get
Bad Flag
BOOL
00
• Value 0: good
• Value 1: bad
2
Get
Direction
BOOL
00
01
Input register
Output register
3
Get
Size
UINT
0060
4
Get/Set
Data
ARRAY of BITS
–
Data length in bits (96 bits =
12 bytes)
Data in the format of the 12-byte
MOVILINK® parameter channel
The attributes have the following functions:
•
Attribute 1 indicates whether an error occurred during the previous access to the
data field.
•
Attribute 2 indicates the direction of the instance.
•
Attribute 3 indicates the data length in bits.
•
Attribute 4 indicates the parameter data. When accessing attribute 4, the 12-byte
MOVILINK® parameter channel must be attached to the service telegram.
The 12-byte MOVILINK® parameter channel consists of the following elements:
Name
Data type
Index
UINT
Description
SEW-Parameter index
Data
UDINT
Data (32 bit)
Subindex
BYTE
SEW-Parameter subindex
Reserved
BYTE
Reserved (must be "0")
Subaddress 1
BYTE
Subchannel 1
BYTE
Different subchannels and subaddresses must be used depending on
the device component to be addressed:
• Subaddress 1 = 0, Subchannel 1 = 0: Parameters of communication
and control unit "PFH‑..."
• Subaddress 1 = 20, Subchannel 1 = 3: Parameters of power section
"PFA-..."
Subaddress 2
BYTE
Reserved (must be "0")
Subchannel 2
BYTE
Reserved (must be "0")
Supported services
The following table shows the services supported by the register object:
Service Name
Instance
0x0E
Get_Attribute_Single
X
0x10
Set_Attribute_Single
X
16998413/EN – 12/2016
Service Code
hex
78
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.5
7
Parameter object
•
Also accesses the SEW parameter index.
•
Class code: 0Fhex
INFORMATION
Access to an SEW parameter index via the parameter object is complicated and
prone to errors.
Therefore, only use the parameter object in exceptional cases if the EtherNet/IP™
master does not support parameterization via the mechanisms of the register object.
Class
Attribute
Access
Name
Data type
Default value
hex
1
2
Description
Get
Revision
UINT
0001
Revision 1
Get
Max Instance
UINT
0005
Maximum instance
8
Get
Parameter Class
Descriptor
UINT
0009
• Bit 0: Supports parameter instances
• Bit 3: Saves parameter permanently (non-volatile memory)
9
Get
Configuration Assembly Interface
UINT
0000
"Configuration Assembly" not supported.
The instances of the parameter object should be used only to access the SEW Parameter index when the EtherNet/IP™ master in use does not support the process of attaching own data to the services “Get_Attribute_Single” and “Set_Attribute_Single”.
Addressing a SEW parameter index with the parameter object takes place in several
steps:
1. Set the address of the required parameter in the instances 1 – 4.
2. Access the parameter that is addressed in instances 1 – 4 using instance 5.
Instance 1 – SEW parameter index
The following table provides an overview of instance 1 of the parameter object:
Access
Name
Data type
Default value
hex
1
Set
2
Get
3
Description
Parameter value
UINT
207A
Link Path Size
USINT
00
No link is specified
Get
Link Path
Packed EPATH
00
Not used
4
Get
Descriptor
WORD
0000
Read/write parameter
5
Get
Data type
EPATH
00C7
UINT
6
Get
Data Size
USINT
02
Index of the parameter
Data length in bytes
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Attribute
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79
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Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
Instance 2 – SEW parameter subindex
The following table provides an overview of instance 2 of the parameter object:
Attrib- Acute
cess
Name
Data type
Default value
hex
Description
1
Set
Parameter value
UINT
0000
2
Get
Link Path Size
USINT
00
Low byte contains the subindex.
No link is specified
3
Get
Link Path
Packed EPATH
00
Not used
4
Get
Descriptor
WORD
0000
Read/write parameter
5
Get
Data type
EPATH
00C7
UINT
6
Get
Data Size
USINT
02
Data length in bytes
Instance 3 – SEW subparameter 1
The following table provides an overview of instance 3 of the parameter object:
Attrib- Acute
cess
Name
Data type
Default value
hex
UINT
0000
Description
• Low byte: Contains subaddress 1.
• High byte: Contains subchannel 1.
1
Set
Parameter value
2
Get
Link Path Size
USINT
00
No link is specified
3
Get
Link Path
Packed EPATH
00
Not used
4
Get
Descriptor
WORD
0000
Read/write parameter
5
Get
Data type
EPATH
00C7
UINT
6
Get
Data Size
USINT
02
Data length in bytes
Instance 4 – SEW subparameter 2
The following table provides an overview of instance 4 of the parameter object:
Attrib- Acute
cess
Name
Data type
Default value
hex
UINT
0000
Description
• Low byte: Contains subaddress 2.
• High byte: Contains subchannel 2.
1
Set
Parameter Value
2
Get
Link Path Size
USINT
00
No link is specified
3
Get
Link Path
Packed EPATH
00
Not used
4
Get
Descriptor
WORD
0000
Read/write parameter
5
Get
Data type
EPATH
00C7
UINT
6
Get
Data Size
USINT
02
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Data length in bytes
80
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7
Entity 5 – SEW read/write
The following table provides an overview of instance 5 of the parameter object:
Attrib- Acute
cess
Name
Data type
Default value
hex
Description
• Set service: Performs write access
to the parameter that is addressed
in the instances 1 – 4.
• Get service: Performs read access
to the parameter that is addressed
in the instances 1 – 4.
1
Set
Parameter Value
UDINT
2
Get
Link Path Size
USINT
00
No link is specified
3
Get
Link Path
Packed EPATH
00
Not used
4
Get
Descriptor
WORD
0000
Read/write parameter
5
Get
Data type
EPATH
00C8
UDINT
6
Get
Data Size
USINT
04
Data length in bytes
Supported services
The following table shows the services supported by the parameter object:
Service Name
class
Instance
0E
Get_Attribute_Single
X
X
10
Set_Attribute_Single
–
X
16998413/EN – 12/2016
Service Code
hex
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
81
7
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.6
Vardata object
•
This manufacturer-specific object allows for engineering with software tools from
SEW‑EURODRIVE.
•
Class code: 64hex
Class
None of the class attributes are supported.
Instance 1
The following table provides an overview of instance 1 of the Vardata object:
Attribute
Access
Name
Data type
Default value
hex
1
Get
Data
ARRAY OF SINT
–
2
Get
Size
UINT
00F2
Description
–
Maximum data length in bytes
Supported services
The following table shows the services supported by the Vardata object:
Service Code
hex
Service Name
Instance attribute 1
Instance attribute 2
0E
Get_Attribute_Single
X
X
32
Vardata (custom)
X
–
The standardized service "Get_Attribute_Single" (Service Code 0x0E) delivers a data
stream with the maximum data length (attribute 2) when instance attribute 1 is accessed. The data content is filled with zeros. If a data stream is added to the request
telegram ("Service Type Custom"), this data is returned in a mirrored form (Vardata
test mode).
The Vardata service (service code 0x32) is manufacturer-specific. Request and response of this service have the same telegram structure. The telegram contains routing information, the data length of the Vardata user data telegram and the actual
Vardata layer -7 telegram. The data length of the Vardata layer -7 telegram is variable.
The following table shows the complete telegram structure.
Name
Data type
Subaddress 1
BYTE
Subchannel 1
BYTE
Subaddress 2
BYTE
Subchannel 2
BYTE
Data Len Low
BYTE
Data Len High
BYTE
Reserved
BYTE
Reserved
BYTE
BYTE
Vardata
Array of BYTE
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FC
82
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.7
7
TCP/IP interface object
•
Allows for configuration of the IP parameters via EtherNet/IP™.
•
Class code: F5hex
Class
Attribute
Access
1
2
3
Name
Data type
Default value
hex
Description
Get
Revision
UINT
0001
Revision 1
Get
Max Instance
UINT
0001
Maximum instance
Get
Number of
Instances
UINT
0001
The device has one TCP/IP interface.
Instance 1
The following table provides an overview of instance 1 of the TCP/IP interface object:
Attribute
Access
Name
Data type
Default value
hex
1
Get
Status
DWORD
00000001
Valid configuration
2
Get
Configuration
Capability
DWORD
00000014
The interface configuration attribute
(5) is writable. The DHCP can be
used for configuration.
Set
Configuration
Control
DWORD
00000002
• Value 0: The device uses IP parameters saved during boot-up.
• Value 1: The device awaits its IP
configuration via DHCP during
boot-up.
Physical Link
Object
STRUCT of
–
Path Size
UINT
0002
3
4
Get
5
Set
6
Get
Description
Reference to the EtherNet link object (class code 0xF6) as sublayer.
Path
Padded EPATH
20 F6 24 01
Interface
Configuration
STRUCT of
–
–
IP Address
UDINT
–
Current IP address
Network Mask
UDINT
–
Current subnetwork mask
Gateway Address
UDINT
–
Currently set standard gateway
Name Server
UDINT
00000000
DNS is not supported.
Name Server 2
UDINT
00000000
DNS is not supported.
Domain Name
STRING
sew.de
Host Name
STRING
–
–
Not used
Supported services
The following table shows the services supported by the TCP/IP interface object:
Service Code
hex
Service Name
class
Instance
Get_Attributes_All
X
–
Get_Attribute_Single
X
X
10
Set_Attribute_Single
–
X
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01
0E
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
83
7
Ethernet Industrial Protocol (EtherNet/IP™)
CIP object directory
7.4.8
EtherNet link object
•
Contains information on the Ethernet communication interface.
•
Class code: F6hex
Class
Attribute
Access
1
2
3
Name
Data type
Default value
hex
Description
Get
Revision
UINT
0001
Revision 1
Get
Max Instance
UINT
0002
Maximum instance
Get
Number of
Instances
UINT
0002
The device has two TCP/IP interfaces.
Instance 1 – Ethernet connection X4232_1/X4233_1
The following table provides an overview via instance 1 of the identity object:
Attribute
Access
Name
Data type
Default value
hex
1
Get
Interface Speed
UDINT
00000064
2
Get
Interface Flags
DWORD
–
3
Get
Physical Address ARRAY of 6 USINTs
Description
Transmission speed in MBit/s
Standard value = 100
• Bit 0: Displays the active link.
• Bit 1: Displays full duplex mode.
• Bit 2 – 4: Signals negotiation
state.
• Bit 5: Displays whether the
manual setting has to be reset.
• Bit 6: Indicates a local hardware
error.
00 0F 69
xx xx xx
MAC ID
SEW MAC OUI: 00 0F 69
Instance 2 – Ethernet connection X4232_2/X4233_22
The following table provides an overview via instance 2 of the identity object:
Attribute
Access
Name
Data type
Default value
hex
1
Get
Interface Speed
UDINT
00000064
2
Get
Interface Flags
DWORD
–
3
Get
Physical Address ARRAY of 6 USINTs
Description
Transmission speed in MBit/s
Standard value = 100
• Bit 0: Displays the active link.
• Bit 1: Displays full duplex mode.
• Bit 2 – 4: Signals negotiation
state.
• Bit 5: Displays whether the
manual setting has to be reset.
• Bit 6: Indicates a local hardware
error.
00 0F 69
xx xx xx
MAC ID
SEW MAC OUI: 00 0F 69
Supported services
84
Service Code
hex
Service Name
Instance attribute 1
Instance attribute 2
01
Get_Attributes_All
X
–
0E
Get_Attribute_Single
X
X
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
The following table shows the services supported by the Ethernet link object:
Ethernet Industrial Protocol (EtherNet/IP™)
Return codes for parameterization via "explicit messages"
7.5
7
Return codes for parameterization via "explicit messages"
If a parameter request via "explicit messages" fails, you can determine the cause via a
fault code.
An error is generated as follows:
•
By EtherNet/IP™ master
EtherNet/IP™-specific return codes are returned in the error telegram if the data
format is not maintained during the transfer or if a service is performed that has not
been implemented.
Coding of the EtherNet/IP™-specific return code is described in the following
chapter: "General error codes" (→ 2 87). For further information about the EtherNet/IP™-specific return codes, refer to the EtherNet/IP™ specification.
The "General Error Code" of a manufacturer-specific return code is 1Fhex.
•
By EtherNet/IP™ slave
The return codes that are returned from the EtherNet/IP™ slave or lower-level
devices due to faulty parameterization are described in the following chapter:
"MOVILINK®-specific return codes" (→ 2 88).
•
Due to timeout
The timeout behavior is described in the following chapter: "Timeout response of
"explicit messages"" (→ 2 89).
The general error code (ERR) and the additional code (EXERR) can be read out from
the status registers of the message tags:
[1]
[2]
16998413/EN – 12/2016
14310226443
[1]
General Error Code (ERR): Value 16#001f
[2]
Additional Code (EXERR): Value 16#0000_0810
The return codes are returned in the following format:
Byte offset
Function
Example: Parameter response telegram
0
General Error Codes
1Fhex
Vendor-specific
1
Additional code
Length (words)
01hex
Only low word (word 1)
2
Additional code
Word 1 (low byte)
10hex
MOVILINK® Additional Error Code
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
85
7
Ethernet Industrial Protocol (EtherNet/IP™)
Return codes for parameterization via "explicit messages"
Byte offset
3
Function
Additional code
Word 1 (high byte)
Example: Parameter response telegram
08hex
MOVILINK® error class
The return code 16#0000_0810 from the example has the following meaning:
•
The "MOVILINK® Error Class" 08 in high byte of "Additional Codes" stands for
"General Error".
•
The "MOVILINK® Additional Error Class" 10 in low byte of "Additional Codes"
stands for "Invalid Index"
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The return thus indicates that a non-existing device index was accessed.
86
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Ethernet Industrial Protocol (EtherNet/IP™)
Return codes for parameterization via "explicit messages"
7.5.1
7
General error codes
General
Error Code
hex
Designation
00
Success
01
Connection failure
02
Resource unavailable
03
–
04
Path segment error
05
Path destination unknown
Description
Successful
A connection-specific service has failed.
The source required for performing the service is unavailable.
Reserved
The processing node was unable to interpret the "Path Segment Identifier" or the segment syntax.
The "Path" refers to an object class, object instance or a structural element that is not supported by the processing node.
06 – 07
–
08
Service not supported
The service is not supported for the selected class/instance.
09
Invalid attribute value
Invalid attribute data have been sent.
0A – 0B
–
0C
Object state conflict
Reserved
–
The selected object cannot perform the service in its current
status.
0D
–
0E
Attribute not settable
It is not possible to access the selected object for writing.
10
Device state conflict
The current status of the device makes it impossible to perform
the required service.
11 – 12
–
13
Not enough data
14
Attribute not supported
15
Too much data
16
Object does not exist
17 – 1D
–
1E
Reserved
Reserved
The length of the transferred data is too short for the service to
be performed.
The selected attribute is not supported.
The length of the transferred data is too long for the service to
be performed.
The selected object is not implemented in the device.
Reserved
Embedded Service Error Internal processing error
Vendor-specific error
20
Invalid parameter
21-FF
–
Manufacturer-specific error
Invalid parameter. This error message is used when a parameter does not satisfy the requirements of the specification
and/or the requirements of the application.
Reserved
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1F
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
87
7
Ethernet Industrial Protocol (EtherNet/IP™)
Return codes for parameterization via "explicit messages"
7.5.2
MOVILINK®-specific return codes
The following table shows the MOVILINK®-specific return codes (MOVILINK® "Error
Class" and "Additional Code") in the event of an incorrect parameterization:
MOVILINK®
0x05
0x08
88
Designation
Additional code
0x00
Unknown error
0x01
Illegal Service
0x02
No Response
0x03
Different Address
0x04
Different Type
0x05
Different Index
0x06
Different Service
0x07
Different Channel
0x08
Different Block
0x09
No Scope Data
0x0A
Illegal Length
0x0B
Illegal Address
0x0C
Illegal Pointer
0x0D
Not enough memory
0x0E
System Error
0x0F
Communication does not exist
0x10
Communication not initialized
0x11
Mouse conflict
0x12
Illegal Bus
0x13
FCS Error
0x14
PB Init
0x15
SBus - Illegal Fragment Count
0x16
SBus - Illegal Fragment Type
0x17
Access denied
–
Not used
0x00
No Error
0x10
Illegal Index
0x11
Not yet implemented
0x12
Read only
0x13
Parameter Blocking
0x14
Setup runs
0x15
Value too large
0x16
Value too small
0x17
Required Hardware does not exist
0x18
Internal error
0x19
Reserved
0x1A
Reserved
0x1B
Parameter protected
0x1C
"Controller inhibit" required
0x1D
Value invalid
0x1E
Setup started
0x1F
Buffer overflow
0x20
"No enable" required
0x21
End of File
0x22
Communication Order
0x23
"IPOS Stop" Required
0x24
Autosetup
0x25
Encoder Nameplate Error
0x29
PLC State Error
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Error class
Ethernet Industrial Protocol (EtherNet/IP™)
Technical data of the EtherNet/IP™ interface
7.5.3
7
Timeout response of "explicit messages"
The timeout status is triggered by the EtherNet/IP™ slave. The EtherNet/IP™ master
sets the timeout interval while establishing a connection. The EtherNet/IP™ specification refers to an "Expected packet rate" rather than a timeout interval in this case. The
"Expected Packet Rate" is calculated from the timeout delay as follows:
tExpected _ Packet _ Rate _ ExplicitMessages =
tTimeout _ ExplicitMessages
4
The "Expected Packet Rate" sets the "Forward Open Telegram" when the connection
is established.
If a timeout occurs for the "explicit messages", the connection type is dropped automatically in the default setting of the EtherNet/IP™. The connection type must be reestablished to communicate with "explicit messages" again. The timeout is not forwarded to the IEC program.
7.6
Technical data of the EtherNet/IP™ interface
MOVIPRO®
EtherNet/IP™
Automatic
baud rate detection
10 MBd/100 MBd
Connection technology
M12 (D-coded)
Integrated switch
Supports auto-crossing, auto-negotiation.
Maximum line length
100 m according to IEEE Std 802.3, 200 Edition
4 byte IP address or MAC-ID
(00-0F-69-xx-xx-xx)
Configurable via DHCP server or
MOVITOOLS® MotionStudio with version 5.6
and higher
Addressing
Address default value: 192.168.10.4
013Bhex
Name of EDS files
SEW_MOVIPRO.EDS
Name of icon files
SEW_MOVPRO.ICO
16998413/EN – 12/2016
Vendor ID
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
89
8
Configuration and startup of Modbus/TCP
Device description file for Modbus/TCP
8
Configuration and startup of Modbus/TCP
This chapter provides you with information on the configuration of the Modbus/TCPMaster (PLC) and startup of the device for fieldbus operation.
Requirements for correct configuration and startup are:
•
Correct connection
•
The correct setting of IP address parameters of the device. (→ 2 26).
Configuration is explained with examples. The examples are configurations carried out
with the programming software PL7 PRO by Schneider Electric.
8.1
Device description file for Modbus/TCP
There are no specific device description files for Modbus/TCP.
8.2
Configuration of the Modbus/TCP master
The following example describes configuration and programming of the Modbus/TCP
master in a TSX Premium P57203 control by Schneider Electric with PL7 PRO. An
ETY4103 is used as the Ethernet component.
Observe the following:
•
The information and illustrations in the example are based on the English version
of the PL7 PRO software.
•
Enter values in PL7 PRO using the keypad.
•
For fieldbus master, use only those Ethernet components by Schneider Electric
that support the "IO Scanning" function of Modbus/TCP communication. You cannot access drives from SEW‑EURODRIVE via the "Peer Cop" function. However,
fieldbus masters that only support "Peer Cop" can access the drives via the PLC
program using read and write commands.
Configuration of the Modbus/TCP master takes several process steps:
1. "Configuring hardware (control structure)" (→ 2 91)
2. "Setting Ethernet component" (→ 2 92)
16998413/EN – 12/2016
3. "Addressing drive via the "IO Scanning" function" (→ 2 93)
90
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of Modbus/TCP
Configuration of the Modbus/TCP master
8.2.1
8
Configuring hardware (control structure)
Proceed as follows:
1. Start PL7 PRO and enter the PLC type.
2. Enter the hardware configuration of the PLC in the application browser under
"STATION" > "Configuration" > "Hardware Configuration".
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18014400140458891
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
91
8
Configuration and startup of Modbus/TCP
Configuration of the Modbus/TCP master
8.2.2
Setting Ethernet component
Proceed as follows:
1. Open the hardware configurator in PL7 PRO.
2. Double-click on the Ethernet component (in this case: ETY4103).
ð The configuration window is displayed.
18014399339035147
3. If you have a non-expandable rack, enter the value "1" in the edit box [2].
4. Enter the number of the slot that the Ethernet component is plugged into in edit
box [3] (here: 4).
ð In this example, the XWAY address is 1.4.
5. Activate the radio button [5].
6. Enter the IP address and the network parameters into the edit boxes [6].
7. If the PLC receives the address parameters via DHCP, activate the radio button
[7].
8. Activate the radio button [8].
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9. Activate the check box [4].
92
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of Modbus/TCP
Configuration of the Modbus/TCP master
8.2.3
8
Addressing drive via the "IO Scanning" function
Proceed as follows:
1. Open the Ethernet component in the hardware configurator of PL7 PRO.
2. Open the tab [1]. In this tab, select the Modbus/TCP nodes with which cyclical data
should be exchanged.
9007201560984843
3. In the section [2], enter the PLC memory areas that are to be used to exchange
cyclical data with the Modbus/TCP nodes. You will use the memory addresses
later in your PLC program.
4. Enter the IP address of the drive from SEW‑EURODRIVE into the edit box [3].
5. Enter the value "0" in the edit box [4].
6. Select the cycle time in which the Modbus/TCP nodes are addressed in the choice
box [5].
7. As the cyclical process data are located after offset 4, enter the value "4" in the
edit boxes [6] and [8].
8. In the edit boxes [7] and [9] enter the number of process data words to be exchanged. The values must be the same in both fields.
ð You can set 1 – 8 process data words for MOVIPRO® SDC and 1 – 120 process data words for MOVIPRO® ADC.
16998413/EN – 12/2016
9. To confirm the rack configuration and the global configuration, click the [Confirm]
button.
ð When you restart the program after transferring the settings, the color of the "S1"
LED changes to green. For information on the LEDs, see Chapter "Status
LEDs" (→ 2 37).
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
93
8
Configuration and startup of Modbus/TCP
Requirements for fieldbus operation
8.3
Requirements for fieldbus operation
Correct startup of the device is prerequisite for fieldbus operation. For further information, refer to chapter "Parameter setting" (→ 2 154).
8.4
Project planning examples
8.4.1
Configuring process data exchange
The following example describes the configuration of the process data exchange
between the Modbus/TCP master (PLC) and the device in PL7 PRO.
Proceed as follows:
1. Set the IP address of the device (→ 2 29).
2. In the Application Browser in PL7 PRO, add the device to the hardware configuration for the "IO Scanning" function (→ 2 90).
3. Create a new section via "STATION" > "Program" > "MAST Task" > "Sections".
27021599395294091
ð In the example, the setpoints for the drive start at MW150.
4. Save the project and transfer it to the PLC.
5. Switch to RUN mode of the PLC.
ð Process data exchange via Modbus/TCP is active. The actual values of the
device can be read and setpoints can be written.
16998413/EN – 12/2016
6. Check if the process data correspond to the values that are displayed in the parameter tree or the diagnostics plug‑in for the active IEC program of the
MOVITOOLS® MotionStudio engineering software.
94
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of Modbus/TCP
Project planning examples
8.4.2
8
Data exchange via Modbus/TCP
As there are many fieldbus master systems and software solutions available for Modbus/TCP for standard PCs, there is not "one reference controller" the examples are
based on. This chapter gives detailed examples regarding the telegram structure.
INFORMATION
The telegram structure from the examples can be used for troubleshooting in case of
errors in the telegram structure in your own applications. There are simple tools for
recording telegrams via the Ethernet network, e.g. Wireshark, Packetizer etc. These
freeware tools are available on the Internet.
Tracing all Ethernet telegrams in a single network is possible only with a tab, hub or a
switch with a port mirror function. Telegrams that are sent from and to the recording
PC can always be written.
The following figure provides an example of how setpoints are written (FC16) to the
Modbus/TCP slave with IP address 10.3.71.119. The 3 process data words are located from offset 4 (reference number) and are addressed via device ID 255.
16998413/EN – 12/2016
9007201560597131
All the other examples merely describe the Modbus/TCP part of the telegram. The
TCP/IP part of the telegram, as well as establishing and dropping a TCP/IP connection
are not explained in detail.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
95
8
Configuration and startup of Modbus/TCP
Project planning examples
Process data exchange
The process data exchange is performed either via FC3 (read) and FC16 (write), or
FC23 (read and write).
Process data exchange via FC16
The Modbus/TCP part for writing of 3 process data words (setpoints) each via FC16 to
port 502 of a Modbus/TCP slave is structured as follows:
Byte
0
1
2
3
Value
Meaning
0x00
Transaction identifier
0x00
Protocol identifier
Interpretation
Help
–
4
0x00
5
0x0d
6
0xFF
Device identifier
7
0x10
Function code
8
0x00
9
0x04
10
0x00
11
0x03
12
0x06
13
0x00
14
0x11
15
0x22
16
0x33
17
0x44
18
0x55
Length field
Number of bytes after byte 5
Value: Number of PD × 2 + 7
(In this case: 3 × 2 + 7 = 13)
Must be 0 or 255.
Service: FC16 (Write Register)
Offset where PD start.
Write reference number Must always be 4.
Write word count
Number PD1)
(In this case: 3)
Write byte count
Number PD × 22)
(In this case: 3 x 2 = 6)
Data
Process output data word 1
Data
Process output data word 2
Data
Process output data word 3
For detailed description see
Modbus/TCP specification
and chapter "Modbus
protocol (Modbus/
TCP)" (→ 2 101).
Data mapping and definition,
see chapter "Process data
description" (→ 2 118)
1) for MOVIPRO® SDC (1 – 8) for MOVIPRO® ADC (1 – 120)
2) for MOVIPRO® SDC (2 – 16) for MOVIPRO® ADC (2 – 240)
Response telegram
Only bytes 0 – 11 are reset in the response telegram from port 502 of the Modbus/
TCP slave.
16998413/EN – 12/2016
Apart from byte 5, all values remain unchanged. Byte 5 (low byte in length field) is corrected to value 6.
96
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of Modbus/TCP
Project planning examples
8
Process data exchange via Service FC23
During process data exchange via FC23, the Modbus/TCP part that is used to write
and read 3 process data words (PD) each is structured as follows:
Byte
0
1
2
3
4
Value
Meaning
0x00
Transaction identifier
0x00
Protocol identifier
Interpretation
Help
–
0x00
5
0x11
6
0xFF
7
0x10
8
0x00
9
0x04
10
0x00
11
0x03
12
0x00
13
0x04
14
0x00
15
0x03
16
0x06
17
0x00
18
0x11
19
0x22
20
0x33
21
0x44
22
0x55
Length field
Device identifier
Number of bytes after byte 5:
Value: Number of PD × 2 + 11
(In this case: 3 × 2 + 11 = 17)
Must be 0 or 255.
Service: FC23 (read and write re- For detailed description see
gister)
Modbus/TCP specification
Offset where PD start.
and chapter "Modbus
Read reference number Must always be 4.
protocol (Modbus/
TCP)" (→ 2 101).
1)
Number PD
Read word count
(In this case: 3)
Function code
Offset where PD start:
Write reference number Must always be 4.
Write word count
No. of PDs
See read word count
(In this case: 3)
Write byte count
Number PD × 22)
(In this case: 3 x 2 = 6)
Data
Process output data word 1
Data
Process output data word 2
Data
Process output data word 3
Data mapping and definition,
see chapter "Process data
description" (→ 2 118)
16998413/EN – 12/2016
1) for MOVIPRO® SDC (1 – 8) for MOVIPRO® ADC (1 – 120)
2) for MOVIPRO® SDC (2 – 16) for MOVIPRO® ADC (2 – 240)
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
97
8
Configuration and startup of Modbus/TCP
Project planning examples
Response telegram
The following data bytes are returned in the response telegram of the Modbus/TCP
slave:
Byte
0
1
2
3
Value
Meaning
0x00
Transaction identifier
0x00
Protocol identifier
Interpretation
Help
–
4
0x00
5
0x09
6
0xFF
Device identifier
7
0x17
Function code
8
0x06
Write byte count
9
0x00
10
0xAA
11
0xBB
12
0xCC
13
0xDD
14
0xEE
Length field
Number of bytes after byte 5
Value: Number of PD × 2 + 3
(In this case: 3 × 2 + 3 = 9)
Must be 0 or 255.
For detailed description see
Modbus/TCP specification
and chapter "Modbus
protocol (Modbus/
TCP)" (→ 2 101).
Service: FC23 (read and write register)
Number PD × 21)
(In this case: 3 x 2 = 6)
Data
Process input data word 1
Data
Process input data word 2
Data
Process input data word 3
Data mapping and definition,
see chapter "Process data
description" (→ 2 118)
16998413/EN – 12/2016
1) for MOVIPRO® SDC (2 – 16) for MOVIPRO® ADC (2 – 240)
98
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Configuration and startup of Modbus/TCP
Project planning examples
8
Parameter access
Parameter channel via the MOVILINK® parameter channel is performed via FC23
(write and read). The job to the MOVILINK® service and retrieving the response is
realized in one Modbus/TCP service.
Parameter access via Service FC23
The TCP/IP telegram is structured as follows for reading a parameter:
Byte Value
0
1
2
3
Meaning
0x00
Transaction identifier
0x00
Protocol identifier
Interpretation
Help
–
4
0x00
5
0x13
Length field
Number of bytes after byte 5:
Must be equal to 19 for the
MOVILINK® parameter channel.
6
0x00
Device identifier
• Value 0 and 0xFE: Access to
parameters of communication
and control unit "PFH‑..."
• Value 20 (0x14): Forwarding
of request to the power section "PFA-..."
7
0x17
Function code
Service = FC23 (read and write
register)
8
0x02
9
0x00
Read reference number
Offset from where the
MOVILINK® parameter channel
is located:
Must always be 512.
10
0x00
11
0x04
Read word count
Must always be 4 for the
MOVILINK® parameter channel.
12
0x02
13
0x00
Write reference number
Offset from where the
MOVILINK® parameter channel
is located:
Must always be 512.
14
0x00
15
0x04
Write word count
Must always be 4 for the
MOVILINK® parameter channel.
16
0x08
Write byte count
8 byte MOVILINK® parameter
channel
17
0x31
Data:
MOVILINK® parameter chan- Management bytes: 0x31 = read
nel
18
0x00
Data:
MOVILINK® parameter chan- Parameter subindex
nel
19
0x20
20
Data:
Parameter indexes:
MOVILINK® parameter chan- 0x206c = 8300 = firmware part
0x6C
nel
number
21
0x00
22
0x00
23
0x00
24
0x00
For detailed description see
Modbus/TCP specification
and chapter "Modbus
protocol (Modbus/
TCP)" (→ 2 101).
Data mapping and definition,
see profile of
SEW‑EURODRIVE devices
and chapter "Process data
description" (→ 2 118)
16998413/EN – 12/2016
Data:
Parameter value that has no
MOVILINK® parameter chanmeaning during read service.
nel
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
99
8
Configuration and startup of Modbus/TCP
Project planning examples
Response telegram
The response telegram then contains the response to the MOVILINK® read service.
Byte
0
1
2
3
4
Value
Meaning
0x00
Transaction identifier
0x00
Protocol identifier
Interpretation
Help
–
0x00
Length field
Number of bytes after byte 5:
Must be equal to 11 for the
MOVILINK® parameter channel.
For detailed description
see Modbus/TCP specification and chapter
• Value 0 and 0xFE: Access to
parameters of communication "Modbus protocol
(Modbus/
and control unit "PFH‑..."
• Value 20 (0x14): Forwarding of TCP)" (→ 2 101).
request to the power section
"PFA-..."
5
0x11
6
0x00
Device identifier
7
0x17
Function code
8
0x02
Read reference number
17
0x31
Data:
MOVILINK® parameter chan- Management bytes: 0x31 = read
nel
18
0x00
Data:
MOVILINK® parameter chan- Parameter subindex
nel
19
0x20
Service = FC23 (read and write
register)
8 byte MOVILINK® parameter
channel
20
Data:
Parameter index:
MOVILINK® parameter chan- 0x206c = 8300 = firmware part
0x6C
nel
number
21
0x00
22
0x00
23
0x00
24
0x00
Data mapping and definition see setting and profile of
SEW‑EURODRIVE
devices.
16998413/EN – 12/2016
Data:
The parameter value 0xA82e5b0d
MOVILINK® parameter chan- corresponds to firmware part numnel
ber 28216102.53
100
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Modbus protocol (Modbus/TCP)
Description
9
Modbus protocol (Modbus/TCP)
9.1
Description
9
Modbus/TCP is an open protocol based on TCP/IP. It was one of the first protocol
types to become standard in industrial Ethernet interfaces for process data exchange.
Modbus/TCP has the following characteristics:
9.1.1
•
Modbus frames are exchanged via the TCP/IP port 502.
•
Every fieldbus master IP address is accepted.
•
Modbus exclusively uses the "Big Endian" coding (Motorola data format or high
byte first).
•
Access via "Peer Cop" is not possible. This is why it must be ensured that the
used fieldbus master supports the "IO Scanning" function.
Mapping and addressing
The logic Modbus address range is 64 k words and is addressed via the reference
number (offset). Four different tables can be in the address range:
•
Digital inputs (RO)
•
Digital outputs (RW)
•
Input register (RO)
•
Output register (RW)
The tables can be separated or overlapping.
The device provides the following data ranges:
•
For process data transfer, there is a table that allows for write access (for setpoint
values) as well as read access (for actual values).
This table starts at offset 4 and ends at OFFhex. The cyclically transferred process
data words lie therein (1 – 8 for MOVIPRO® SDC and 1 – 120 for
MOVIPRO® ADC).
•
An additional table is created by the PLC for the process output data words. The
table allows for one or several clients reading the current setpoints e.g. for visualization.
This table starts at offset 104hex and ends at Offset 1FFhex.
•
A third table is created to parameter access.
This table begins at offset 200hex, ends at offset 2FFhex and contains four words of
the MOVILINK® parameter channel.
•
The remaining address scope from offset 400hex to FFFFhex is reserved and must
not be addressed.
16998413/EN – 12/2016
The data word at offset 219hex (8606dec) is a special case, it allows for writing (and
reading) the timeout monitoring time.
INFORMATION
With controllers by Schneider Electric, observe that the address range often starts at
40001hex. This corresponds to the value "0" for the offset.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
101
9
Modbus protocol (Modbus/TCP)
Description
9.1.2
Services (function codes)
For process data exchange, parameter data exchange and device identification, the
device provides the following 4 FC (Function Codes) services.
•
FC3 – Read holding registers
Allows for reading one or several registers.
•
FC16 – Write multiple registers
Allows for writing one or several registers.
•
FC23 – Read/write multiple registers
Allows for a register block to be read an written simultaneously.
•
FC43 – Read device identification
Allows for device identification by reading the identity object.
9.1.3
Accessing services
The implemented registers and possible services (function codes) for data exchange
are summarized in the following table:
Offset
hex
0 – 3
4 – FF
100 – 103
Meaning for
Reading
–
Process input data
(actual values)
–
104 – 1FF
Process output data
(setpoints)
200 – 2FF
Result non-cyclical
parameter channel
300 – FFFF
–
Access
Comment
Writing
–
Process output data
(setpoints)
–
0 – 8 process data words for
FC03, FC16, MOVIPRO® SDC
0 – 120 process data words for
FC23
MOVIPRO® ADC
–
–
–
FC03
Request non-cyclical
parameter channel
–
Reserved
Reserved
For reading the setpoint values
by a client other than the controlling one
FC03,FC16,
4 words
FC23
–
Reserved
16998413/EN – 12/2016
Special case: Fieldbus timeout inter- Fieldbus timeout interParameter P819: 16-bit value,
219E (8606dec) val,
val,
FC03, FC16 timeout interval in ms
read value
write value
102
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Modbus protocol (Modbus/TCP)
Protocol structure
9.2
9
Protocol structure
The Modbus protocol consists of a header and function code data.
The header is the same for all request and response telegrams as well as for error
messages (exceptions).
Depending on the "function code", a different number of data is attached to the
header.
MBAP Header
Transaction ID
Protocol ID
Function Code Data
Length (1+1+N) Unit ID
FC
N Data
9007200887174411
9.2.1
Header
The following table describes the protocol bytes of the header.
Byte
0
Designation
Meaning
Transaction identifier
Value: Often "0" (is simply copied by the server
(slave).)
Protocol identifier
Value: 0
4
Length field (upper byte)
Value: 0
5
Length field (lower byte)
Number of function code data bytes + 1 ("Device identifier")
6
Slave address.
In order to access the process data of the device, it
must be set to 0 (0x00) or 255 (0xFF).
The following address assignments apply to the paraDevice identifier (slave admeter channel access (Offset 200hex – 203hex):
dress)
• 0 or 254 for parameters of the "PFH-..." communication and control unit
• 20 for parameters of the integrated power section
"PFA‑..."
7
Function code
Requested service
Data
Data depending on requested service
1
2
3
8 – N
16998413/EN – 12/2016
Observe the following:
•
The slave simply copies the "transaction identifier" (bytes 0 and 1). It helps the
fieldbus master to identify related actions.
•
The "protocol identifier" (bytes 2 and 3) must always be "0".
•
The length bytes (bytes 4 and 5) determine the number of the following bytes. As
the maximum telegram length is 255 bytes, the "upper byte" must be "0".
•
The "device identifier" (byte 6) is used for distinguishing between several connected nodes (e.g. bridges or gateways). It has the function of a subaddress that is
only used for parameter access for devices from SEW‑EURODRIVE. The process
data are always mapped to the device that is addressed via the "device identifier"
"0" or "FFhex".
The assignment of "device identifiers" to lower-level devices or the integrated
power section is determined in the routing table of the controller configuration in
IEC Editor. The "device identifiers" are assigned according to the following table:
Device identifier
0 or 255
Option/interface
MOVIPRO® control
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
103
9
Modbus protocol (Modbus/TCP)
Protocol structure
Device identifier
Option/interface
MOVIPRO® power section "PFA‑..."
1
MOVIPRO® slaves on the external CAN-Bus
16 – 21
•
9.2.2
The 7 bytes of the header are followed by the "function code" and the data.
Service FC3 – Read holding registers
The service "FC03 – Read holding registers" is used to read a variable number of registers.
MBAP Header
Transaction ID
(0x00)
Protocol ID
(0x00)
Length (1+5)
Function Code Data (FC03)
Unit ID
FC
(0x03)
Read Address Read Word Count
9007200887224075
Example
Request:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Requested service
Value: 03 (Read Holding Register)
8
Reference number (high)
Value: Offset
9
Reference number (low)
Value: Offset
10
Word count (high)
Number of words (register)
11
Word count (low)
Number of words (register)
Response:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Service
Value: 03 (Read Holding Register)
8
Byte count
Number of following bytes
Value: 2 x N1)
Data
Content of the respective register
Value: 2 – 2 x N data bytes depending on length
9 – 9+(2 x N)1)
1) Number of registers
Exception:
Byte
Designation
Meaning/permitted values
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
83hex
8
Exception Code
Error code
16998413/EN – 12/2016
0 – 6
104
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Modbus protocol (Modbus/TCP)
Protocol structure
9.2.3
9
Service FC16 – Write multiple registers
The service "FC16 – Write multiple registers" is used to write a variable number of registers.
MBAP Header
Transaction ID Protocol ID
(0x00)
(0x00)
Length
(1+6+N)
Function Code Data (FC16)
Unit ID
(0x00)
FC Write Address Write Word Bytes Write Data
(1– N)
(0x10)
Count
(N)
9007200887293707
Example
Request:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Requested service
Value: 16 (Write Multiple Registers)
8
Reference number (high)
Value: Offset
9
Reference number (low)
Value: Offset
10
Word count (high)
Number of words (register)
11
Word count (low)
Number of words (register)
12
Byte count
Number of following bytes
Value: 2 x N1)
Register values
Value that is written in the respective register
Value: 2 – 2 x N data bytes depending on length
13 – 13+(2 x N)1)
1) Number of registers
Response:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Service
Value: 16 (Write Multiple Registers)
8
Reference number (high)
Value: Offset
9
Reference number (low)
Value: Offset
10
Word count (high)
Number of words (register)
11
Word count (low)
Number of words (register)
Exception:
Byte
Designation
Meaning/permitted values
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
90hex
8
Exception Code
Error code
16998413/EN – 12/2016
0 – 6
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
105
9
Modbus protocol (Modbus/TCP)
Protocol structure
9.2.4
Service FC23 – Read/write multiple registers
With the service "FC23 – Read/write multiple registers", you can simultaneously write
and read a variable number of registers. The write access is carried out first. Preferably, this service is used for the process data.
MBAP Header
Transaction ID
(0x00)
Protocol ID
(0x00)
Function Code Data (FC23)
Length
(1+10+N)
Unit ID
FC
(0x17)
Read Address Read Word Count Write Address Write Word Count
Bytes
(N)
Write Data
(1 – N)
9007200887389707
Example
Request:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Requested service
Value: 23 (Read/Write Multiple Registers)
8
Read reference number (high)
Value: Offset
9
Read reference number (low)
Value: Offset
10
Read word count (high)
Number of words (register) that are read.
Value: always 0
11
Read word count (low)
Number of words (register) that are read.
12
Write reference number (high)
Value: Offset
13
Write reference number (low)
Value: Offset
14
Write word count (high)
Number of words (register) that are written.
Value: always 0
15
Write word count (low)
Number of words (register) that are written.
16
Write byte count
Number of following bytes
Value: 2 x N1)
17 – 17+(2 x
Write register values
N)1)
Value that is written in the respective register
Value: 2 – 2 x N data bytes depending on length
1) Number of registers that are written.
Response:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Service
Value: 23 (Read/Write Multiple Registers)
8
Byte count
Number of following bytes
Value: 2 x n1)
9
Data
Content of the respective register
Value: 2 – 2 x n data bytes depending on length
1) Number of registers that are read.
Byte
106
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
97hex
8
Exception Code
Error code
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Exception:
Modbus protocol (Modbus/TCP)
Protocol structure
9.2.5
9
Service FC43 – Read device identifications
The service "FC43 – Read device identifications" is also referred to as MEI transport
(Modbus Encapsulated Interface Transport). It tunnels services and method calls. The
service "Read device identification" is tunneled with the MEI-Type 0x0E. In accordance with Modbus specifications, there are 3 blocks ("Basic", "Regular" and "Extended") that can be read.
The device supports "Basic" and "Regular" blocks (Conformity Level 02). The entire
block is always read (streaming). This means that values "01" and "02" are permitted
in the "Read device ID code". The "Object ID" must have the value "0". The response
is not fragmented.
Example
Request:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Requested service
Value: 43 (Read Device Identification)
8
MEI type
Value: 0x0E
9
Read device ID code
Value: 01 or 02
10
Object ID
Value: 0
Response:
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
Service
Value: 43 (Read Device Identification)
8
MEI type
Value: 0x0E
9
Read device ID code
Value: 01 or 02
10
Conformity level
Value: 02
11
More follows
If the identification data does not fit on one response,
several request/response transactions are required.
Value: 0 (no further requests)
12
Next object ID
Value: 0
13
Number of objects
Number of objects
Value (example): 3
14
Object ID
ID of first object
15
Object length
Length of first object in bytes
16
Object value
Value of first object
17 – Number of objects Object ID, object length,
x 21)
and object value of all
other objects2)
–
1) In the example up to 22
2) In this example, 2 more objects
Exception:
16998413/EN – 12/2016
Byte
Designation
Meaning/permitted values
0 – 6
MBAP header
See chapter "Header" (→ 2 103)
7
Function code
43hex
8
Exception code
Error code
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
107
9
Modbus protocol (Modbus/TCP)
Connection management
Objects
MOVIPRO®
Object ID
9.3
Designation
0x00
VendorName
0x01
ProductCode
0x02
MajorMinorRevisons
0x03
VendorUrl
0x04
ProductName
0x05
ModelName
Type
M/O
Category
Mandatory
Basic
Value (example)
SEW‑EURODRIVE
SEW MOVIPRO
823 568 0.10
ASCII
string
www.sew.de
Optional
Regular
SEW MOVIPRO
–
Connection management
8 Modbus connections are possible simultaneously. Only one of the connections can
have write access to the process data range (controlling connection).
Connections that are no longer used must be disconnected by the fieldbus master. If
the slave detects an inactive connection, it assumes that the associated fieldbus master is no longer active. In this case, the slave disconnects the connection that is no
longer in use. It is only then that the ninth connection can be established. If there are 8
active connections, the attempt to establish a ninth connection is canceled (socket is
closed on the server).
Connections 1 – 8 have the following characteristics:
•
They operate independently.
•
There is no prioritization.
•
Only one controlling connection is permitted. This connection can change process
data.
If a controlling connection has already been established via EtherNet/IP™, you cannot
establish another controlling connection via Modbus/TCP.
The slave can at least buffer one frame with maximum Modbus length on receipt or
transmission.
9.3.1
Sending process output data (request controlling connection)
Process data can be sent only in the following cases:
•
The connection is already a controlling connection.
•
No controlling connection has been established yet.
16998413/EN – 12/2016
When the device accepts the connection, it takes over the process output data into the
process sequence. As long as this connection is active, no other fieldbus master can
change the process output data (PO data).
108
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Modbus protocol (Modbus/TCP)
Connection management
9.3.2
9
Closing a connection
A connection is deleted from the internal connection list under the following conditions:
•
The keep-alive time is over. The server does no longer receive responses afterwards.
•
The socket returns a fault.
•
The connection to the client has been disconnected.
If the connection was a controlling connection, no additional controlling connection
can be established. If no valid process output data has been sent within the
timeout interval, a fieldbus timeout is triggered.
The default keep-alive time is 10 seconds. If there is a controlling connection with the
set timeout interval > 5 s, the keep-alive time is increased to 2 times the timeout interval.
In a controlling connection, the fieldbus timeout is displayed in the unit after the set
timeout interval elapses during a break in the cable or an error in the socket. Then a
new controlling connection can be established.
9.3.3
Timeout response
The timeout monitoring time can be set in steps of 10 ms in a range between 0 s –
650 s.
•
0 s and 650 s mean: Timeout monitoring is deactivated.
•
10 ms – 649.09 s means: Timeout monitoring is activated.
The timeout interval can be set as follows:
•
Via register object 219Ehex (8606dec)
•
Via parameter access to index 8606 via register object 200hex – 203hex
•
Via parameters in MOVITOOLS® MotionStudio (plug-in or in the parameter tree)
A change to the timeout interval (writing on index 8606) is activated after a re-boot.
The timeout monitoring is triggered when a controlling connection is activated. The
fieldbus driver cyclically checks whether the last process output data update was received within the timeout interval.
If the timeout interval is set to 0 s or 65000 s, time monitoring is deactivated. No fieldbus timeout is detected in this case. This also applies when the controlling connection
is dropped.
16998413/EN – 12/2016
In the event of a timeout, the timeout response is executed as programmed.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
109
9
Modbus protocol (Modbus/TCP)
Parameter access via Modbus/TCP
9.4
Parameter access via Modbus/TCP
A parameter access via the MOVILINK® parameter channel in registers 200hex – 203hex
via Modbus/TCP requires the services FC03, FC16 or FC23 (write and read access).
Write access is used for storing acyclic requests in the corresponding registers. Read
services read the responses from the same registers.
This method corresponds to the alternative concept according to the Modbus specifications "Network Messaging Specification for the MODBUS/TCP Protocol: Version
1.1" (Appendix A).
9.4.1
Procedure with FC16 and FC03
Master/
Modbus client
Slave/
Modbus server
FC16 request with
non-cyclical job
FC16 response,
write access o.k.
FC03 request to
read non-cyclical
result
FC03 response with
non-cyclical result
9007200887627659
An incorrect write access returns the corresponding error code. In this way the write
services are already processed by sending a write request (FC16), and the service
confirmation is carried out by evaluating the write response. Later on, the fieldbus
master will send a read request (FC03) in order to read out the values that have now
been written into the register. For more information about the error codes, see chapter
"Fault codes (exception codes)" (→ 2 113).
9.4.2
Procedure with FC23
Master/
Modbus client
Slave/
Modbus server
FC23 request with
non-cyclical job
FC03 response with
non-cyclical result
9007200887695115
16998413/EN – 12/2016
With FC23 the result is returned directly in the response.
110
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Modbus protocol (Modbus/TCP)
Parameter access via Modbus/TCP
9.4.3
9
Protocol structure
MBAP Header
Function Code Data
Write
Request:
Transaction ID Protocol ID
(0x00)
(0x00)
Length
(1+6+8)
Unit ID
(*)
FC Write Address Write Word Count Byte Count MOVILINK®
(0x200)
(0x10)
(0x04)
(0x8)
Parameter Data
Write
Response:
Transaction ID Protocol ID
(0x00)
(0x00)
Length
(1+5)
Unit ID
(*)
FC Write Address Write Word Count
(0)
(0x200)
(0x10)
Read
Request:
Transaction ID Protocol ID
(0x00)
(0x00)
Length
(1+5)
Unit ID
(*)
FC Read Address Read Word Count
(0x04)
(0x200)
(0x03)
Read
Response:
Transaction ID Protocol ID
(0x00)
(0x00)
Length
(1+6+8)
Unit ID
(*)
FC Write Address Write Word Count Byte Count MOVILINK®
Parameter Data
(0x200)
(0x04)
(0x03)
(0x8)
9007200887841291
Or:
Write/Read
Request:
Transaction ID Protocol ID
(0x00)
(0x00)
Length
(1+10+8)
Unit ID
(*)
FC Read Address Read Word Count Write Address Write Word Count Byte Count MOVILINK®
Parameter Data
(0x8)
(0x04)
(0x200)
(0x17)
(0x200)
(0x04)
Write/Read
Response:
Transaction ID Protocol ID
(0x00)
(0x00)
Length
(1+6+8)
Unit ID
(*)
FC Read Address Read Word Count Byte Count MOVILINK®
(0x200)
Parameter Data
(0x17)
(0x8)
(0x04)
9007200887888267
* The "unit identifier" (UI-D) is used in gateway operation to map registers 200hex –
203hex in lower-level nodes (see chapter Header).
Refer to chapter MOVILINK® parameter channel for a description of the MOVILINK®
parameter data (8 byte) and how they are mapped in registers 200hex – 203hex.
9.4.4
MOVILINK® parameter channel
16998413/EN – 12/2016
The following table shows the structure of the MOVILINK® non‑cyclical parameter
channel (8 bytes). The structure is described in detail in an example. In the example, a
request is made to write 500 ms to the fieldbus timeout (Index 8606) via the
MOVILINK® parameter channel.
Offset
Meaning
Example
200hex
Management
32hex
200hex
Subindex
00hex
201hex
Index high
21hex
201hex
Index low
9Ehex
202hex
MSB data
00hex
202hex
Data
00hex
203hex
Data
01hex
203hex
LSB data
F4hex
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
111
9
Modbus protocol (Modbus/TCP)
Parameter access via Modbus/TCP
You can access the parameter channel with FC03, FC16 and FC23. You can assign a
task to the parameter channel in the administration byte when using a write access.
The task itself is a MOVILINK® service such as "Write", "WriteVolatile" or "Read". The
result is read with a read access.
The values in the example (writing fieldbus timeout) have the following meaning:
•
Offset 200hex = 3200hex (administration = write 4 bytes/subindex = 0)
•
Offset 201hex = 219Ehex (Index = 8606)
•
Offset 202hex = 0 (data high)
•
Offset 203hex = 01F4hex (data low = 500)
Management byte
The management byte in the MOVILINK® parameter channel (byte 0) is defined as follows:
Management byte (1 byte)
Bit
Meaning
0
(LSB)
Coding and function
0000 = No service
0001 = Read parameter
1
0010 = Write parameter
2
0011 = Write Parameter Volatile
Service identifier
0100 = Read minimum
0101 = Read maximum
3
0110 = Read default
0111 = Read scale
1000 = Read attribute
4
5
00 = 1 bytes
Data length
01 = 2 bytes
10 = 3 bytes
11 = 4 bytes
6
Data length
7
(MSB)
Status bit
Must be changed (toggled) on every new
task in cyclical transmission.
0 = No error during execution of service
1 = Error during execution of service
The individual bits have the following functions:
•
Bits 0 – 3
•
Bit 4 and Bit 5
Specify the data length in byte. For inverters from SEW‑EURODRIVE, this value
must always be set to 4 bytes.
112
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Contain the service identification. These bits determine which service is to be executed.
Modbus protocol (Modbus/TCP)
Fault codes (exception codes)
•
9
Bit 6 (handshake bit)
Is used as acknowledgment bit between client and server. As the MOVILINK®
parameter channel is transmitted cyclically, the service execution must be
triggered by edge control via the handshake bit. For this purpose, the value of this
bit is toggled for each new service to be executed. The inverter uses the handshake bit to signal whether the service has been executed or not. The service has
been executed if the handshake bit received in the PLC is identical with the sent
handshake bit.
•
Bit 7 (status bit)
Indicates whether the service was executed properly or whether errors occurred.
INFORMATION
9.5
•
For the index, subindex, factor etc. of a parameter, refer to the parameter tree in
the MOVITOOLS® MotionStudio engineering software.
•
Refer to chapter "Parameterizing the power section "PFA-..."" (→ 2 156) for a detailed description of the parameters.
Fault codes (exception codes)
If a fault occurs while processing a "function code", the fault is reported to the Modbus
client in an "exception response".
The following "exception codes" are returned by a unit from SEW‑EURODRIVE:
Exception
code
hex
Designation
01
ILLEGAL FUNCTION
16998413/EN – 12/2016
02
ILLEGAL DATA ADDRESS
Meaning
The slave unit does not support the "function code"
transmitted in the request.
You have entered an invalid data address for the access to the Modbus slave. This can be due to the following reasons:
• Invalid start address when accessing the Modbus
slave registers (does not exist, or "function code"
does not work with this address)
• Invalid combination of start address and length
• No symmetric access with "read/write"
• Wrong object ID (on access via FC43)
A part of the data field of the Modbus request contains a
value invalid for the Modbus slave. This can be due to
the following reasons:
• The "word count" contains an invalid value (smaller
than 1 or larger than 125)
• The received PDU length is too short or too long (depending on the specified "word count")
• Internal error when reading or writing the process
data
03
ILLEGAL DATA VALUE
04
SLAVE DEVICE FAILURE
Error when accessing MOVILINK® parameter (e. g. internal timeout)
06
SLAVE DEVICE BUSY
There is already a controlling connection either via another Modbus controller or another fieldbus system.
0A
GATEWAY PATH UNAVAILABLE The data cannot be forwarded to a subsystem.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
113
9
Modbus protocol (Modbus/TCP)
Technical data, Modbus/TCP interface
9.6
Technical data, Modbus/TCP interface
MOVIPRO®
Modbus/TCP
Automatic
baud rate detection
10 MBd/100 MBd
Connection technology
M12 (D-coded) or RJ45 (push-pull)
Integrated switch
Supports auto-crossing, Auto-negotiation.
Maximum line length
100 m according to IEEE Std 802.3, 200 Edition
4 byte IP address or MAC-ID
(00-0F-69-xx-xx-xx)
Addressing
Configurable via DHCP server or
MOVITOOLS® MotionStudio with version 5.6
and higher
Address default value: 192.168.10.4
FC03, FC16, FC23, FC43
16998413/EN – 12/2016
Supported services
114
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP
Checking the status LEDs of the device
10
10
Error diagnostics for operation on EtherNet/IP™ and Modbus/
TCP
The diagnostics procedures described in the following section describes the integration of the device into an Ethernet network and the error analysis method for the following problems:
•
The device is not integrated properly in the EtherNet/IP™ or Modbus/TCP network.
•
The device cannot be controlled using the fieldbus master (PLC).
For additional diagnostic information, refer to the online status display in the EtherNet/
IP™ master, in the Modbus/TCP master and the corresponding online help.
For further information, especially on the MOVIFIT® ADC programming, refer to the
"MOVI‑PLC® Programming in the PLC Editor" system manual.
Diagnostics comprises several process steps:
1. "Checking the status LEDs of the device" (→ 2 115)
2. "Checking the status LED and the status display at the fieldbus master" (→ 2 116)
3. "Checking the fault sources" (→ 2 116)
10.1
Checking the status LEDs of the device
For detailed information on the individual LED statuses, refer to chapter "Status
LEDs" (→ 2 37).
The following table lists the resulting device statuses and possible causes:
16998413/EN – 12/2016
Status LED S1
Operating
status
Possible cause
Off
IP-Stack starting
If DHCP is activated, the device remains in this
status until an IP address is assigned.
Red
IP Conflict
Conflict regarding IP address.
Another station in the network uses the same IP
address.
Flashing red/
green
LED Test
All LED statuses are activated briefly for the
LED test.
Flashing green
Operational
The device is active on the fieldbus, but there is
no controlling connection to the fieldbus master.
Green
Connected
Controlling connection has been established
with fieldbus master.
Flashing red
Timeout
A previously controlling connection is in timeout
state.
If a conflict regarding the IP address is detected, check the IP address parameters
and, if necessary, reset them. To do so, use the engineering software MOVITOOLS®
MotionStudio or follow the instructions from the Chapter "Setting the IP address
parameter on the device" (→ 2 29).
If no controlling connection with the fieldbus master is established, check the communication via Ethernet. To do so, execute the PING and IPCONFIG commands via the
DOS console on your PC.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
115
10
Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP
Checking the status LED and the status display at the fieldbus master
10.2
Checking the status LED and the status display at the fieldbus master
Use the documentation of the controller or the master module for checking the status
LED and the status display.
Should there be no working EtherNet/IP™ master or Modbus/TCP master yet, you can
use the SEW‑EURODRIVE Ethernet master simulator for test or startup purposes.
The latest version of the Ethernet master simulator can be downloaded from the
SEW‑EURODRIVE homepage → www.sew‑eurodrive.com. You can use the Ethernet master simulator to exchange process or parameter data with EtherNet/IP profile
or Modbus/TCP profile with an SEW‑EURODRIVE fieldbus interface.
10.3
Checking the fault sources
If the device status is "Connected", the data exchange between fieldbus master and
device is active. If the data is not transferred to the device via EtherNet/IP™ or Modbus/TCP correctly, check the following possible fault sources:
Fault source
Measure
Are the correct values for the process data
words displayed in the parameter tree or in the If yes, continue with line 6.
plug-in for the application module?
Is the process data exchange activated in the
fieldbus master?
Is the process data written to the correct location in the fieldbus master?
Is the PLC in RUN mode or does active forcing overwrite the transfer of the normal process data words to the drive?
Is the PLC sending data to the device?
–
Check the tags and mapping of the
fieldbus master.
–
Contact the PLC manufacturer for
further assistance.
–
Which status is displayed in the monitor of the
application module or in the parameter tree of
the engineering software MOVITOOLS®
MotionStudio for the communication interface?
–
16998413/EN – 12/2016
Is process data used according to the loaded
application module?
116
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP
Fieldbus timeout
10.4
10
Fieldbus timeout
WARNING
Risk of crushing if the drive keeps running unintentionally after a communication
timeout or fault elimination.
Severe or fatal injuries or damage to property.
•
Note that the communication timeout resets automatically as soon as communication with the lower-level device is reestablished. That is, the drives receive the
current process output data from the PLC straight away after system bus communication restarts.
•
Disconnect the drive controller from the power supply before rectifying a fault if
automatic restart of the driven machine after fault elimination is not permitted for
safety reasons.
A fieldbus timeout can occur in device when you switch off the fieldbus master or if
there is a wire break in the fieldbus cabling:
The "S1" LED indicates that no new user data is being received.
•
The process data for all subordinate devices has been set to Value"0". This means
that all drives connected to the device are stopped.
•
The digital outputs are set to "0".
16998413/EN – 12/2016
•
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
117
11
Process data description
General process sequence
11
Process data description
11.1
General process sequence
The process sequence that is exchanged between the fieldbus master and the device
depends on the device type.
The following figures show the process sequences between fieldbus master and
device. The following abbreviations are used in the figures:
Term
Abbreviation
Digital input
DI
Digital output
DO
Process data
PD
Process input data word
PI
Process output data word
PO
MOVIPRO®
SDC
process
sequence
11.2
Process sequence MOVIPRO® SDC
In the case of MOVIPRO® SDC, the process data interface is already preset and specified. You only have to choose the drive function of the power section "PFA-..." to
match your requirements.
A maximum of 8 process data words is permitted to be exchanged between fieldbus
master and MOVIPRO® SDC.
The process sequence of MOVIPRO® SDC is essentially divided into 2 parts:
•
SEW Controller (fixed):
– MOVIPRO® control word/MOVIPRO® status word
– Digital inputs/digital outputs (DI/DO)
•
Drive function (parameterizable):
– Control word/status word of the power section
– Setpoints/actual values
– Application data, such as position, speed, etc.
Drive function
MOVIPRO®
control word
DO
PO1
PO2
PO3
PO4
PO5
PO6
MOVIPRO®
status word
DI
PI1
PI2
PI3
PI4
PI5
PI6
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD8
PD numbering
18015771915
118
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
SEW Controller
MOVIPRO® SDC
Fieldbus master
PD assignment
Process data description
MOVIPRO® SDC process sequence
11.2.1
11
MOVIPRO® SDC control word
The MOVIPRO® SDC control word is defined as follows:
MOVIPRO® SDC control word (2 bytes)
Bit
Meaning
0 – 4
–
5
Restart application
6
Reboot system
7 – 15
11.2.2
Coding and function
Reserved = 0
If there is a fault in the communication and control unit
"PFH-...," the fault can be reset with a 0-1-0 transition
of this bit.
–
Reserved = 0
MOVIPRO® SDC status word
The status word of the device contains diagnostics information of the MOVIFIT®
device that is set up for evaluation in the application of the PLC. The signals are transferred to the PLC via parameters or via the process data channel.
The logical communication status "0" signals the status "OK" for each signal. Therefore, the asynchronously running start-up sequences of the PLC and the device do not
output any false diagnostic messages upon start-up of the system (bus start-up with
useful data = 0).
The MOVIPRO® SDC status word is defined as follows:
MOVIPRO® SDC status word (2 bytes)
Bit
0
Meaning
Maintenance switch (mains OFF)
1 – 5
–
Coding and function
1 = maintenance switch has been actuated. Supply
system is switched off.
0 = maintenance switch has not been actuated (OK).
Reserved = 0
6
Warning
1 = Warning present.
0= No warning (OK).
7
Fault
1 = Error present.
0 =no error (OK).
Device status/warning/error number
Bits 8 = 15 are assigned depending on the value of bits
6 and 7 (see the following table).
8 – 15
Bits 8 – 15 of the MOVIPRO® SDC status word are assigned as follows:
Bits 8 – 15 of the MOVIPRO® SDC status word
Bit 6
Bit 7
Meaning
0
0
Device status
1
0
Warning
Coding and function
0 = System start-up
1 = Ready
–
1 = Configuration
No configuration available.
2 = Configuration
Unable to establish connection with configured
devices.
0
1
Error number
5 = Process data stopped to lower-level devices
(gateway).
99 = Internal system error
16998413/EN – 12/2016
110 = Overload actuator voltage
120 = Overload sensor voltage group 1
121 = Overload sensor voltage group 2
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
119
11
Process data description
MOVIPRO® SDC process sequence
11.2.3
Digital inputs and outputs
The input/output bytes of the device for 12DI/4DIO (digital inputs/digital outputs) are
defined as follows:
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
MOVIPRO®
Fieldbus master
Digital outputs
Digital inputs
17986358283
Digital inputs (DI)
Digital inputs (2 bytes)
Bit
Meaning
0
Digital input DI00 / status digital output DO00
1
Digital input DI01 / status digital output DO01
2
Digital input DI02 / status digital output DO02
3
Digital input DI03 / status digital output DO03
4
Digital input DI04
5
Digital input DI05
6
Digital input DI06
7
Digital input DI07
8
Digital input DI08
9
Digital input DI09
10
Digital input DI10
11
Digital input DI11
12
Digital input DI12
13
Digital input DI13
14
Digital input DI14
15
Digital input DI15
Digital outputs (DO)
Digital outputs (1 byte)
Bit
Meaning
0
Digital output DO 00
1
Digital output DO 01
2
Digital output DO 02
3
Digital output DO 03
Reserved = 0
16998413/EN – 12/2016
4 – 15
120
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Process data description
MOVIPRO® SDC process sequence
11.2.4
11
Example: Delivery status
In the delivery state, or if no IPOSPLUS® application module is loaded, the device contains the process data words of the speed-controlled drive. In the case of the speedcontrolled drive, the device is addressed with 3 process data words.
SEW Controller
Drive function
MOVIPRO®
control word
DO
PO1
PO2
PO3
MOVIPRO®
status word
DI
PI1
PI2
PI3
PD1
PD2
PD3
PD4
PD5
MOVIPRO®
Fieldbus master
PD assignment
PD numbering
18095896715
11.2.5
MOVIPRO® SDC drive functions
In MOVIPRO® SDC, the drive data of the power section "PFA-..." are transparently
passed through to the general process data PD03 – PD08.
The process data words of the power section are assigned differently, depending on
the application module used. The number of process data words can vary between 1
and 6, depending on the application.
The following application modules are available for MOVIPRO® SDC:
•
Speed-controlled drive (3 PD) – delivery state
•
Bus positioning (3 PD) – IPOSPLUS® application module
•
Expanded bus positioning (6 PD) – IPOSPLUS® application module
•
Modulo positioning (6 PD) – IPOSPLUS® application module
•
Automotive AMA0801 (6 PD) – IPOSPLUS® application module
16998413/EN – 12/2016
For further information, refer to chapter "Process image of drive functions of the power
section "PFA-..."" (→ 2 133).
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
121
11
Process data description
MOVIPRO® ADC process sequence
MOVIPRO®
ADC
process
sequence
11.3
MOVIPRO® ADC process sequence
The process data interface is open in MOVIPRO® ADC. As a result, you have the following options:
•
Parameterize MOVIPRO® ADC with CCU application modules
The CCU application modules are commissioned and configured with the controller software Application Configurator.
•
Freely program MOVIPRO® ADC with MOVI‑PLC®
A programmer performs the programming and parameterization of the process
data interface.
•
In MOVIPRO® ADC, integrate all IPOSPLUS® application modules that run directly on
the power section "PFA-...".
For further information, refer to chapter "Process image of drive functions of the
power section "PFA-..."" (→ 2 133).
A maximum of 120 process data words is permitted to be exchanged between fieldbus
master and MOVIPRO® ADC. The process data assignment depends on the IEC program that is loaded or the configuration that is adjusted in the Application Configurator
controller software.
The process sequence of MOVIPRO® ADC is essentially divided into 2 parts:
•
SEW Controller (fixed):
– MOVIPRO® control word/MOVIPRO®- status word
– Digital inputs/digital outputs (DI/DO)
•
CCU application module:
– CCU control word/CCU status word
– CCU setpoints/CCU actual values
– CCU ‑ Application data, such as position, speed, etc.
SEW Controller
CCU application module
MOVIPRO®
control word
DO
PO1
PO2
...
POx
...
PO118
MOVIPRO®
status word
DI
PI1
PI2
...
PIx
...
PI118
PD1
PD2
PD3
PD4
...
PDx
...
PD120
MOVIPRO® ADC
Fieldbus master
PD assignment
PD numbering
16998413/EN – 12/2016
17958893835
122
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Process data description
MOVIPRO® ADC process sequence
11.3.1
11
MOVIPRO® ADC control word
The MOVIPRO® ADC control word is defined as follows:
MOVIPRO® ADC control word (2 bytes)
Bit
Meaning
0
Download dataset
The data on the SD memory card is downloaded to
MOVIPRO® ADC.
NOTE Data can only be downloaded when the power
section "PFA..." (controller inhibit or activated safety
function STO) is inhibited.
1
Upload dataset
The data is uploaded from MOVIPRO® ADC to the SD
memory card and is saved.
Upload data set and auto-restore
• The data is uploaded from MOVIPRO® ADC to the
SD memory card and is saved.
• In case of a device replacement, the data on the SD
memory card is automatically transferred to the replacement MOVIPRO® ADC.
2
3 – 5
6
–
Reserved = 0
Irrespective of an error or the status of the communication and control unit "PFH-...", a 0-1-0 changeover of
this bit causes a system restart.
System restart
7 – 15
11.3.2
Coding and function
–
Reserved = 0
MOVIPRO® ADC status word
The status word of the device contains diagnostics information of the MOVIFIT®
device that is set up for evaluation in the application of the PLC. The signals are transferred to the PLC via parameters or via the process data channel.
The logical communication status "0" signals the status "OK" for each signal. Therefore, the asynchronously running start-up sequences of the PLC and the device do not
output any false diagnostic messages upon start-up of the system (bus start-up with
useful data = 0).
The MOVIPRO® ADC status word is defined as follows:
MOVIPRO® ADC status word (2 bytes)
Bit
0
1
Meaning
Maintenance switch (mains OFF)
The toggle bit changes between "0" and "1". The default value is 100 ms.
WARNING! Unpredictable behavior of the system in
case of failure of the toggle bit (failure of edge change
to materialize). The toggle bit shows the correct function of the internal communication and control unit
"PFH-...". May result in death, severe injuries or damage to property. Deactivate the connected drive by disconnecting the drive controller from the supply system
or activating the safety function STO on the device.
Toggle
2 – 3
–
Reserved = 0
Dataset available
The data on the SD memory card is identical with the
data on MOVIPRO® ADC.
5
Auto‑restore configured
Automatic device replacement is configured.
In case of a device replacement, the data on the SD
memory card is automatically transferred to the replacement MOVIPRO® ADC.
For further information, refer to chapter "Device
replacement" (→ 2 243).
6
Warning
1 = Warning present.
0= No warning (OK).
7
Fault
1 = Error present.
0 =no error (OK).
4
16998413/EN – 12/2016
Coding and function
1 = maintenance switch has been actuated. Supply
system is switched off.
0 = maintenance switch has not been actuated (OK).
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
123
11
Process data description
MOVIPRO® ADC process sequence
MOVIPRO® ADC status word (2 bytes)
Bit
8 – 15
Meaning
Device status/warning/error number
Coding and function
Bits 8 – 15 are assigned depending on the value of bits
6 and 7 (see the following table).
Bits 8 – 15 of the MOVIPRO® ADC status word are assigned as follows:
Bits 8 – 15 of the MOVIPRO® ADC status word
Bit 6
Bit 7
Meaning
Coding and function
0 = System start-up
1 = Ready
10 = Data backup
Dataset is uploaded from the MOVIPRO® ADC to
the SD memory card.
0
0
Device status
11 = Data backup
Dataset successfully uploaded from
MOVIPRO® ADC to SD memory card.
12 = Data backup
Dataset is downloaded from the SD memory card
to MOVIPRO® ADC.
13 = Data backup
Dataset successfully downloaded from SD memory
card to MOVIPRO® ADC.
1
0
Warning
–
1 = Configuration
No connection to power section "PFA-...".
2 = Error external I/O
3 = Configuration
No IPOSPLUS® application module available.
4 = Process data stopped to lower-level devices
(gateway).
10 = Configuration
No configuration available.
11 = Configuration
Unable to establish connection with configured
devices.
0
1
Error number
20 = Data backup
Upload failed.
21 = Data backup
Upload failed because SD memory card is writeprotected.
22 = Data backup
Download failed.
23 = Data backup
STO safety function required.
99 = Internal system error
110 = Overload actuator voltage DO00
120 = Overload sensor voltage group 1
16998413/EN – 12/2016
121 = Overload sensor voltage group 2
124
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Process data description
MOVIPRO® ADC process sequence
11.3.3
11
Data backup via PLC process data specification
The backup of device data can be controlled by the PLC via process data. Prerequisite for this is that you have enabled the data management functions in the data management tool of the engineering software MOVITOOLS® MotionStudio.
The following figure shows the process of data backup via a PLC process data specification:
MOVIPRO® ADC control word
MOVIPRO® ADC status word
Bit 2:
0x0A:
Data set upload in progress
Upload data set and
auto restore
During the data upload,
the status display of
device indicates
''InI''.
Do not switch off device
during the upload process!
Bit 2:
0x0B:
Upload of data set
finished
0x01:
Ready
PLC must reset the bit.
9007204513749003
11.3.4
Digital inputs and outputs
The input/output bytes of the device for 12DI/4DIO (digital inputs/digital outputs) are
defined as follows:
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
MOVIPRO®
Fieldbus master
Digital outputs
Digital inputs
16998413/EN – 12/2016
17986358283
Digital inputs (DI)
Digital inputs (2 bytes)
Bit
Meaning
0
Digital input DI00 / status digital output DO00
1
Digital input DI01 / status digital output DO01
2
Digital input DI02 / status digital output DO02
3
Digital input DI03 / status digital output DO03
4
Digital input DI04
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
125
11
Process data description
MOVIPRO® ADC process sequence
Digital inputs (2 bytes)
Bit
Meaning
5
Digital input DI05
6
Digital input DI06
7
Digital input DI07
8
Digital input DI08
9
Digital input DI09
10
Digital input DI10
11
Digital input DI11
12
Digital input DI12
13
Digital input DI13
14
Digital input DI14
15
Digital input DI15
Digital outputs (DO)
Digital outputs (1 byte)
Bit
0
Digital output DO 00
1
Digital output DO 01
2
Digital output DO 02
3
Digital output DO 03
4 – 15
11.3.5
Meaning
Reserved = 0
Example: Delivery status
A simple gateway program which supports up to 6 process data for the power section
"PFA-..." is already preinstalled (delivery state) in the communication and control unit
"PFH-..." of MOVIPRO® ADC. This allows the drive function of the power section to be
used quickly and easily without additional parameterizations having to be made with
the controller software Application Configurator.
The functionality of MOVIPRO® ADC is comparable with a MOVIPRO® SDC in this
case. You only have to parameterize the drive functions of the power section to match
your requirements. For further information, refer to chapter "Process image of drive
functions of the power section "PFA-..."" (→ 2 133).
In the delivery state, or if no IPOSPLUS® application module is loaded, the device contains the process data words of the speed-controlled drive. In the case of the speedcontrolled drive, the device is addressed with 3 process data words.
Drive function
MOVIPRO®
control word
DO
PO1
PO2
PO3
MOVIPRO®
status word
DI
PI1
PI2
PI3
PD1
PD2
PD3
PD4
PD5
PD numbering
18095896715
126
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
SEW Controller
MOVIPRO®
Fieldbus master
PD assignment
Process data description
MOVIPRO® ADC process sequence
11.3.6
11
MOVIPRO® ADC CCU Application modules
As a parameterizable device, MOVIPRO® ADC contains standardized and directly executable CCU application modules. The CCU application modules run in the communication and control unit "PFH-...". The application modules are configured and parameterized with the controller software Application Configurator.
The following CCU application modules are available for MOVIPRO® ADC:
•
Transparent 6PD
•
Velocity control
•
Rapid/creep speed positioning
•
Bus positioning
For detailed information, refer to the "Application Configurator for CCU" manual.
"Transparent 6PD" CCU application module
The drive data of the power section "PFA-..." is transparently passed through to the
general process data PD03 – PD08 in the "Transparent 6PD" CCU application
module. MOVIPRO® ADC is addressed with 6 process data words with the "Transparent 6PD" application module.
The "Transparent 6PD" CCU application module supports all IPOSPLUS® application
modules running on the integrated power section. For further information, refer to
chapter "Process image of drive functions of the power section "PFA-..."" (→ 2 133).
SEW Controller
MOVIPRO®
CCU: Transparent 6PD
DO
PO1
PO2
PO3
PO4
PO5
PO6
MOVIPRO®
status word
DI
PI1
PI2
PI3
PI4
PI5
PI6
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD8
control word
MOVIPRO® ADC
Fieldbus master
PD assignment
PD numbering
16998413/EN – 12/2016
18030736523
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
127
11
Process data description
MOVIPRO® ADC process sequence
"Velocity control" CCU application module
MOVIPRO® ADC is addressed with 3 process data words with the "velocity control"
application module.
PD assignment
Fieldbus master
MOVIPRO®
Steuerwort
DO
PO1
PO2
PO3
MOVIPRO®
Statuswort
DI
PI1
PI2
PI3
PD1
PD2
PD3
PD4
PD5
MOVIPRO® ADC
CCU:
Velocity control
SEW Controller
PD numbering
17963395595
Process data (PD) of the CCU application module
Process output data
Process input data
PO1: Control word
PI1: Status word
PO2: Setpoint speed
PI2: Actual speed
PO3: Ramp
PI3: Output current
"Rapid/creep speed positioning" CCU application module
MOVIPRO® ADC is addressed with 1, 3 or 6 process data words with the "Rapid/creep
speed positioning" CCU application module.
SEW Controller
MOVIPRO®
CCU: Rapid/creep speed positioning
DO
PO1
PO2
PO3
PO4
PO5
PO6
MOVIPRO®
status word
DI
PI1
PI2
PI3
PI4
PI5
PI6
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD8
control word
MOVIPRO® ADC
Fieldbus master
PD assignment
PD numbering
17963398923
Process data (PD) of the CCU application module
128
Process input data
PO1: Control word
PI1: Status word
PO2: Rapid speed
PI2: Actual speed
PO3: Creep speed
PI3: Digital inputs
PO4: Ramp up
PI4: Output current
PO5: Ramp down
PI5: Reserved
PO6: Ramp stop
PI6: Reserved
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Process output data
Process data description
MOVIPRO® ADC process sequence
11
"Bus positioning" CCU application module
MOVIPRO® ADC is addressed with 6 process data words with the "bus positioning"
CCU application module.
SEW Controller
MOVIPRO® ADC
Fieldbus master
PD assignment
CCU: Buspositionierung
MOVIPRO®
Steuerwort
DO
PO1
PO2
PO3
PO4
PO5
PO6
MOVIPRO®
Statuswort
DI
PI1
PI2
PI3
PI4
PI5
PI6
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD8
PD numbering
17963388427
Process data (PD) of the CCU application module
Process output data
Process input data
PO1: Control word
PI1: Status word
PO2: Set position (high-word)
PI2: Actual position (high-word)
PO3: Set position (low-word)
PI3: Actual position (low-word)
PI4: Actual velocity
PO5: Acceleration
PI5: Output current
PO6: Delay
PI6: Status word 2
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PO4: Setpoint velocity
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11
Process data description
MOVIPRO® ADC process sequence
Configuring CCU application module
A CCU application module is commissioned as an axis in the Application Configurator
controller software.
Proceed as follows:
1. Start the Application Configurator and create a new configuration.
2. Insert a single axis into the configuration. Click on the symbol [1].
18150922123
ð A new line is displayed in the axis area.
3. Specify the following settings for the axis:
Window element
Name
Controller interface
Setting/value
Name of the axis
SBUS_1
Axis address
20
Device type
MOVIPRO LT
Application module
Desired application module with the
matching process data profile
4. Click the button [2].
ð After successful configuration, a green check mark appears at the end of the line.
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ð In this example, the "Transparent 6PD" CCU application module is configured.
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Process data description
Process image of MOVIPRO® ADC with R15 regenerative power supply
11
Process
imagewith
of
MOVIPRO®
ADC
R15 regene
rative
power
supply
11.4
Process image of MOVIPRO® ADC with R15 regenerative power supply
Devices with R15 regenerative power supply option are a special case. The following
figure shows an example of the process data assignment of MOVIPRO® ADC with
R15 regenerative power supply:
SEW Controller
CCU: R15 CCU application module
MOVIPRO®
control word
DO
PO1
PO1
...
POx
...
PO120
MOVIPRO®
status word
DI
PI1
PI1
...
PIx
...
PI120
PD1
PD2
PD3
PD4
...
PDx
...
PD123
MOVIPRO® ADC
Fieldbus master
PD assignment
PD numbering
18055681291
Process data (PD) of the regenerative power supply
11.4.1
Process output data
Process input data
PO1: Control word R15
PI1: Status word R15
Regenerative power supply control word
The R15 regenerative power supply control word is defined as follows:
R15 regenerative power supply control word (2 bytes)
Bit
Meaning
0
–
Coding and function
Reserved = 0
1
Enable = 1 / Stop
1 = Enable regenerative power supply.
0 = Disable regenerative power supply.
2
Enable 2/Stop
1 = Enable regenerative power supply.
2 = Disable regenerative power supply.
3 – 15
–
Reserved = 0
SEW‑EURODRIVE recommends controlling the R15 regenerative power supply via
the following process data:
11.4.2
•
PO = 0x06: Enable regenerative power supply.
•
PO = 0x00: Disable regenerative power supply.
Regenerative power supply status word
The R15 regenerative power supply status word is defined as follows:
16998413/EN – 12/2016
R15 regenerative power supply status word (2 bytes)
Bit
Meaning
0
–
1
2 – 15
Device status "ready"
–
Coding and function
Reserved = 0
As long as the regenerative power supply electronics
do not report an error and the supply system is available, the regenerative power supply reports the device
status "ready".
Note: The regenerative power supply reports the
device status "ready" independently of the coding of
the regenerative power supply control word ("enabled"
or "disabled").
Reserved = 0
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11
Process data description
Process image of MOVIPRO® ADC with R15 regenerative power supply
11.4.3
Configuring regenerative power supply
The R15 regenerative power supply is commissioned as an axis in the Application
Configurator controller software.
Proceed as follows:
1. Start the Application Configurator and create a new configuration.
2. Insert a single axis into the configuration. Click on the symbol [1].
18150926859
ð A new line is displayed in the axis area.
3. Specify the following settings for the axis:
Window element
Setting/value
Name
Name of the axis
Controller interface
IO
Axis address
1
Device type
R15
Application module
Regenerative power supply 1PD
Number of process data
1
4. Click the button [2].
ð After successful configuration, a green check mark appears at the end of the
line.
5. Then configure the desired CCU application module.
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ð In this example, the "Transparent 6PD" CCU application module is configured.
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Process data description
Process image of drive functions of the power section "PFA-..."
11.5
11
Process image of drive functions of the power section "PFA-..."
The following drive functions are available for the power section "PFA-...":
•
Speed-controlled drive – delivery state
•
Bus positioning (3PD) – IPOSPLUS® application module
•
Expanded bus positioning (6PD) – IPOSPLUS® application module
•
Modulo positioning (6PD) – IPOSPLUS® application module
•
Automotive AMA0801 (6PD) – IPOSPLUS® application module
INFORMATION
In MOVIPRO® ADC, the IPOSPLUS® application modules can only be used if a simple
gateway program is installed (delivery state) in the communication and control
unit "PFH-...," or the "Transparent 6PD" CCU application module is parameterized. In
these cases, the process input and process output data is forwarded from the communication and control unit to the power section "PFA-..." unmodified.
11.5.1
Speed-controlled drive
In the delivery state, or if no IPOSPLUS® application module is loaded, the device contains the process data words of the speed-controlled drive. In the case of the speedcontrolled drive, the device is addressed with 3 process data words.
SEW Controller
MOVIPRO®
Drive function
DO
PO1
PO2
PO3
MOVIPRO®
status word
DI
PI1
PI2
PI3
PD1
PD2
PD3
PD4
PD5
control word
MOVIPRO®
Fieldbus master
PD assignment
PD numbering
18095896715
Process data (PD) of the speed controlled drive
Process output data
Process input data
PI1: Status word
PO2: Setpoint speed
PI2: Actual speed
PO3: Ramp
PI3: Active current
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PO1: Control word 1
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11
Process data description
Process image of drive functions of the power section "PFA-..."
PO1: Control word
The control word of the speed-controlled drive controls the power section "PFA-...".
The control word is defined as follows:
Speed-controlled drive control word (2 bytes)
Bit
Meaning
Coding and function
0
Controller inhibit
0 = Enable
1 = Inhibit controller, activate brake.
1
Enable/stop
0 = Stop
1 = Enable
2
Enable/stop
0 = Stop at the integrator or process ramp
1 = Enable
3
Hold control
0 = Position hold control not activated.
1 = Position hold control not activated.
4
Integrator switchover
0 = Integrator 1
1 = Integrator 2
5
Parameter set changeover
0 = Parameter set 1
1 = Parameter set 2
6
Reset
If there is a power section fault, an error reset is requested with a 0-1-0 transition of this bit.
7
–
Reserved = 0
8
Direction of rotation for motor potentiometer
0 = CW direction of rotation
1 = CCW direction of rotation
9 – 10
Motor potentiometer acceleration/deceleration
00 = no change
10 = Down
01 = Up
11 = no change
11 – 12
00 = Speed setpoint via PA2
Selection of the internal fixed setpoints 10 = Internal setpoint n11 (n21)
01 = Internal setpoint n12 (n22)
n11 – n13 and n21 – n23
11 = Internal setpoint n13 (n23)
13
14 – 15
Changing the fixed setpoint
–
0 = Fixed setpoints of the active parameter set selectable via bit 11/12
1 = Fixed setpoints of the other parameter set selectable via bit 11/12
Reserved = 0
The following prioritization applies to the evaluation of bits used for the enable in the
control word:
Enable
Hold control
Stop
Immediate stop
Processing
enable
18014399878401675
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/Controller inhibit
Process data description
Process image of drive functions of the power section "PFA-..."
11
PO2: Setpoint speed
If the adjusted operating mode (P700/P701 Operating mode 1/2) allows a speed setpoint, the power section "PFA-..." interprets the transferred numerical value as a
speed setpoint.
If no speed setpoint is programmed although a communication interface (fieldbus) has
been set as setpoint source, the power section runs at speed setpoint = 0.
Coding:
1 Digit = 0.2 min-1
Example:
1000 min-1, CCW direction of rotation
Calculation:
−
1000
= 5000dec
0 .2
EC78hex
PO3: Ramp
The power section "PFA-..." interprets the transferred setpoint as a run-up or run-down
ramp. The transferred time value refers to a change in speed of 3000 min-1. The stop
and emergency stop functions are not affected by this process ramp. When transmitting the process ramp via fieldbus system, ramps t11, t12, t21 and t22 become ineffective.
Coding:
1 digit = 1 ms
Range:
100 ms – 65 s
Example:
2.0 s = 2000 ms = 2000dec = 07D0hex
PI1: Status word
The status word of the speed-controlled drive is used to display the device status and,
in case of a fault, the respective fault number.
The status word is defined as follows:
Speed-controlled drive status word (2 bytes)
Bit
Coding and function
0
Output stage enabled
1 = Output stage enabled.
0 = Output stage not enabled.
1
Inverter ready
1 = Power section "PFA-..." is ready.
0 = Power section "PFA-..." is not ready.
PO data enabled
1 = Process data is enabled. The drive can be controlled via fieldbus.
0 = Process data is inhibited. The drive cannot be controlled via fieldbus.
Current ramp generator set
0 = Integrator set 1
1 = Integrator set 2
4
Current parameter set
0 = Parameter set 1
1 = Parameter set 2
5
Fault/warning
1 = Failure/warning present.
0 = No failure/warning present.
CW limit switch
1 = Limit switch CW active.
0 = Limit switch CW not active.
Limit switch left
1 = Limit switch CCW active.
0 = Limit switch CCW not active.
2
3
6
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Meaning
7
8 – 15
If no failure/warning is present (bit 5 = 0): 0 = 24 V operation
Device state of the power section
2 = No enable
If a failure/warning is present (bit 5 = 1):
Error number (→ 2 248)
Error number
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135
11
Process data description
Process image of drive functions of the power section "PFA-..."
PI2: Actual speed
The power section "PFA-..." returns the current actual speed value to the PLC. The
exact actual speed can only be sent back when the power section can determine the
actual motor speed using speed feedback. For applications with slip compensation,
the deviation from the real motor speed depends on the accuracy of the adjusted slip
compensation.
1 Digit = 0.2 min-1
Coding:
PI3: Active current
The power section "PFA-..." returns the active actual current value of the output current as a relative value in percentage to the PLC. The output current refers to the
nominal device current IN.
Coding:
11.5.2
1 Digit = 0.1% IN
"Bus positioning" IPOSPLUS® application module
The device is addressed with 3 process data words with the "bus positioning"
IPOSPLUS® application module.
SEW-Controller IPOSPLUS®:
Bus positioning
MOVIPRO®
control word
DO
PO1
PO2
PO3
MOVIPRO®
status word
DI
PI1
PI2
PI3
PD1
PD2
PD3
PD4
PD5
MOVIPRO®
Fieldbus master
PD assignment
PD numbering
18017593355
Process data (PD) of the IPOSPLUS® application module
Process output data
Process input data
PO1: Control word 2
PI1: Status word
PO2: Setpoint velocity
PI2: Actual velocity
PO3: Target position
PI3: Actual position
®
drive inverter bus positioning"
16998413/EN – 12/2016
For more information, refer to the "MOVIDRIVE
manual.
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Process data description
Process image of drive functions of the power section "PFA-..."
11.5.3
11
"Extended positioning via bus" IPOSPLUS® application module
The device is addressed with 6 process data words with the "Extended positioning via
bus" IPOSPLUS® application module.
SEW-Controller
IPOSPLUS®: Extended positioning via bus
MOVIPRO®
control word
DO
PO1
PO2
PO3
PO4
PO5
PO6
MOVIPRO®
status word
DI
PI1
PI2
PI3
PI4
PI5
PI6
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD8
MOVIPRO®
Fieldbus master
PD assignment
PD numbering
18027971467
Process data (PD) of the IPOSPLUS® application module
Process output data
Process input data
PO1: Control word 2
PI1: Status word
PO2: Target pos. high
PI2: Actual pos. high
PO3: Target pos. low
PI3: Actual pos. low
PO4: Setpoint velocity
PI4: Actual velocity
PO5: Acceleration ramp
PI5: Active current
PO6: Deceleration ramp
PI6: Device utilization
For more information, refer to the "MOVIDRIVE® MDX61B application "Extended positioning via bus"" manual.
11.5.4
"Modulo positioning" IPOSPLUS® application module
The device is addressed with 6 process data words with the "Modulo positioning"
IPOSPLUS® application module.
SEW-Controller
IPOSPLUS®: Modulo positioning
MOVIPRO®
control word
DO
PO1
PO2
PO3
PO4
PO5
PO6
MOVIPRO®
status word
DI
PI1
PI2
PI3
PI4
PI5
PI6
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD8
MOVIPRO®
Fieldbus master
PD assignment
PD numbering
18029657483
16998413/EN – 12/2016
Process data (PD) of the IPOSPLUS® application module
Process output data
Process input data
PO1: Control word 2
PI1: Status word
PO2: Target pos. high
PI2: Actual pos. high
PO3: Target pos. low
PI3: Actual pos. low
PO4: Setpoint velocity
PI4: Actual velocity
PO5: Acceleration ramp
PI5: Active current
PO6: Deceleration ramp
PI6: Device utilization
For more information, refer to the "MOVIDRIVE® MDX60B / 61B application "Modulo
positioning"" manual.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
137
11
Process data description
Process image of drive functions of the power section "PFA-..."
11.5.5
"Automotive AMA0801" IPOSPLUS® application module
The device is addressed with 6 process data words with the "Automotive AMA0801"
IPOSPLUS® application module.
SEW-Controller
IPOSPLUS®: Automotive AMA0801
MOVIPRO®
control word
DO
PO1
PO2
PO3
PO4
PO5
PO6
MOVIPRO®
status word
DI
PI1
PI2
PI3
PI4
PI5
PI6
PD1
PD2
PD3
PD4
PD5
PD6
PD7
PD8
MOVIPRO®
Fieldbus master
PD assignment
PD numbering
18029916683
Process data (PD) of the IPOSPLUS® application module
Process output data
Process input data
PO1: Control word 2
PI1: Status word
PO2: Target position high or 16 single-bit positions
PI2: Actual pos. high
PO3: Target position low or correction value Target
position high
PI3: Actual pos. low
PO4: Setpoint speed or correction value Target position low
PO5: Ramp up/down or reserved
PI4: Actual speed or single bit position message
PI5: Position difference master-slave or 16 single-bit
cams
PO6: Sync offset
PI6: Active current
For information, refer to the "MOVIDRIVE MDX61B and MOVIPRO® SDC/ADC application module "Automotive AMA0801"" manual.
16998413/EN – 12/2016
®
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Operation with the MOVITOOLS® MotionStudio engineering software
About MOVITOOLS® MotionStudio
12
Operation with the MOVITOOLS® MotionStudio engineering
software
12.1
About MOVITOOLS® MotionStudio
12.1.1
Tasks
12
About
MOVITOOL
S®
MotionStud
io
The MOVITOOLS® MotionStudio engineering software enables you to perform the following tasks with consistency:
12.1.2
•
Establishing communication with devices
•
Executing functions with the devices
Communication channels
The SEW Communication Server is integrated into the engineering software
MOVITOOLS® MotionStudio for establishing communication with the devices.
The SEW Communication Server allows you to create communication channels. Once
the channels are established, the devices communicate via these communication
channels using their communication options. You can operate up to 4 communication
channels at the same time.
MOVITOOLS® MotionStudio supports the following types of communication channels:
•
Serial (RS485) via interface adapters
•
System bus (SBus) via interface adapters
•
Ethernet TCP/IP, PROFINET IO, EtherNet/IP™, Modbus/TCP
•
EtherCAT®
•
Fieldbus (PROFIBUS DP-V1)
•
Non-proprietary software interface Tool Calling Interface
The available channels can vary depending on the device and its communication options.
12.1.3
Functions
The MOVITOOLS® MotionStudio engineering software enables you to perform the following tasks with consistency:
•
Parameterization (e. g. in the parameter tree of the device)
•
Startup
•
Visualization and diagnostics
•
Programming
16998413/EN – 12/2016
MOVITOOLS® MotionStudio provides the right tools for every device type.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
139
12
Operation with the MOVITOOLS® MotionStudio engineering software
First steps
12.2
First steps
12.2.1
Starting the software and creating a project
Proceed as follows:
1. Select the following item from the Windows start menu: [Start] / [Programs] / [SEW] / [MOVITOOLS MotionStudio] / [MOVITOOLS MotionStudio]
ð MOVITOOLS® MotionStudio is started.
2. Create a project with a name and directory.
12.2.2
Establishing communication and scanning the network
Proceed as follows:
1. Click "Configure communication channels" [1] in the toolbar.
[1]
18014399642823819
ð The following window opens.
9007217492118283
3. Activate the selected communication type [2].
4. To edit the settings of the selected communication type, click the button [3].
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
2. From the drop-down list [1], select the communication type.
Operation with the MOVITOOLS® MotionStudio engineering software
First steps
12
5. If necessary, change the preset communication parameters. When doing so, refer
to the detailed description of the communication channels.
6. Scan your network via the "Device scan" icon [1] in the toolbar.
[1]
27021598896943499
12.2.3
Connection mode
Overview
The MOVITOOLS® MotionStudio engineering software differentiates between "online"
and "offline" connection mode. You determine the connection mode yourself.
MOVITOOLS® MotionStudio starts up in the connection mode that was set before the
program was closed.
INFORMATION
The "Online" connection mode is not a response message which informs you that
you are currently connected to the device or that your device is ready for communication.
•
Should you require this feedback, observe chapter "Setting the cyclical accessibility test" in the online help (or the manual) of MOVITOOLS® MotionStudio.
INFORMATION
16998413/EN – 12/2016
Project management commands (such as "download" and "upload"), the online
device status, and the "device scan" work independently of the set connection mode.
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141
12
Operation with the MOVITOOLS® MotionStudio engineering software
First steps
Depending on the selected connection mode, you can choose offline or online tools
specific to your device. The following figure illustrates the two types of tools:
[2]
[3]
RA
M
[1]
HDD
Offline tool
Online tool
[4]
18014399752675211
[1] Hard drive of the engineering PC
[2] RAM of the engineering PC
Tools
[3] Engineering PC
[4] Device
Description
Changes made using online tools affect only the device [4].
•
Execute the "Upload (device → PC)" function if you want to
transfer the changes to your RAM [2].
•
Save your project so that the changes can be stored on the
hard disk [1] of your engineering PC [3].
Online tools
•
Save your project so that the changes can be stored on the
hard disk [1] of your engineering PC [3].
•
Execute the "Download (PC → device)" function if you want to
transfer the changes to your device [4] as well. Check the parameterization afterwards.
Offline tools
Selecting the communication mode (online or offline)
Proceed as follows:
1. Select the connection mode:
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Changes made using offline tools affect only the RAM [2] at first.
Operation with the MOVITOOLS® MotionStudio engineering software
First steps
•
For functions (online tools) that should directly influence the unit, switch to online
mode by using the icon [1].
•
For functions (offline tools) that should directly influence the unit, switch to offline
mode by using the icon [2].
12
[1] [2]
18014399643939211
2. Select the unit node.
3. Select the tools for configuring the unit from the context menu.
12.2.4
Configuring devices
The following example uses a MOVIFIT® device to show how to display the tools for
configuring the device.
The connection mode is "online". The device has been scanned in the network view.
Proceed as follows:
1. Select the device (in this example the power section [1]) in the network view.
2. Right-click to open the context menu.
[1]
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9007201701091851
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143
12
Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
3. Select the tool for configuring the device (in this example the command [Startup] >
[Parameter tree]).
9007201701096203
12.3
Communication via Ethernet
12.3.1
Connecting the device with the PC via Ethernet
The following figure shows the network with direct communication using Ethernet:
[2]
[1]
[3]
ETHERNET
[4]
1193501835
[1]
[2]
[3]
[4]
144
Engineering PC with Ethernet interface
Ethernet connection
Switch
Devices (examples) with Ethernet interfaces
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
EURODRIVE
Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
12
Parameter requests from the MOVITOOLS® MotionStudio engineering software are
transferred to a switch [3] via Ethernet [2] from an engineering PC [1] using the Ethernet interface. The switch [3] then directly passes on the parameter requests to the Ethernet interface of the devices [4].
12.3.2
Establishing communication with the Address Editor
Address Editor is a free software tool from SEW‑EURODRIVE. It is available once the
MOVITOOLS® MotionStudio engineering software is installed. However, it is used separately.
The Address Editor allows to find all SEW‑EURODRIVE devices connected at the
local network segment (subnetwork) and to parameterize the network settings.
INFORMATION
The Address Editor only finds SEW‑EURODRIVE devices. The devices have to be
connected to the network via the Ethernet fieldbus interface.
In contrast to MOVITOOLS® MotionStudio, you do not need to set the IP address of
the engineering PC to the local network segment.
Perform the following process steps to add additional Ethernet nodes to an existing
network:
1. "Starting the Address Editor" (→ 2 145)
2. "Searching Ethernet nodes" (→ 2 146)
3. "Adjusting the IP address of the Ethernet nodes" (→ 2 147)
4. Optional: "Setting the engineering PC appropriately for the network" (→ 2 148)
Starting the Address Editor
You can use the Address Editor immediately
MOVITOOLS® MotionStudio engineering software.
after
installing
the
Proceed as follows:
1. Close MOVITOOLS® MotionStudio.
16998413/EN – 12/2016
2. Select the following item from the Windows start menu: [Start] / [Programs] / [SEW] / [MOVITOOLS MotionStudio] / [Address Editor]
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12
Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
Searching Ethernet nodes
You can use the Address Editor to find Ethernet nodes in a network. It can also be
used for detecting new Ethernet nodes. The Address Editor also helps you locate the
detected Ethernet nodes.
Proceed as follows:
1. Start the Address Editor.
2. Select "Ethernet" as the interface for engineering PC and device. To do so, activate the appropriate radio button.
3. Click [Next] to continue.
4. Wait until the network scan starts automatically. The default setting for the waiting
time is 3 s (edit box [2]).
[1]
[2]
[3]
[4]
18014400023008779
ð The current addresses of all Ethernet nodes in the connected network will be
displayed.
5. If no devices are detected during the network scan, check the wiring or if you have
installed (activated) several network cards in your engineering PC.
6. Proceed as follows to search the devices with a specific network card:
•
Select the required card. To do so, click the icon [3] in the toolbar.
•
Start the network scan manually. To do so, click the icon [1] in the toolbar.
7. Activate the check box [4] to localize an Ethernet node.
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ð The "link/act "LED of the first Ethernet interface of the respective Ethernet node
will flash green.
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Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
12
Adjusting the IP address of the Ethernet nodes
Proceed as follows:
1. Start the Address Editor and scan the network.
2. Double-click in the area behind the setting [1] of the Ethernet node you want to
change. You can change the following settings:
•
IP address
•
Subnet mask
•
Standard gateway
•
DHCP startup configuration (if supported by the device)
[1]
[2]
18014400041285899
3. Press the enter key to confirm your changes.
4. To transfer the address changes to the Ethernet node, click button [2].
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5. For the changed settings to become effective, switch off the device and restart it
afterwards.
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12
Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
Setting the engineering PC appropriately for the network
Proceed as follows:
1. Select the network settings in the Windows control panel.
2. Select the Internet protocol version 4 "TCP/IPv4" in the adapter properties.
3. Enter the IP address parameters of the engineering PC in the Internet protocol
properties:
•
For the subnet mask and standard gateway, enter the same IP address parameters that are used for the other network stations in this local network.
•
Enter the IP address of the engineering PC depending on the subnet mask. Note
that the IP address of the engineering PC is different from the IP address of all
other network stations and thus is unique. The network address for all network stations must be identical and the station address must be different for all network
stations.
Example: On delivery, all SEW‑EURODRIVE devices have the following IP address parameters: Standard IP address "192.168.10.4", subnet mask
"255.255.255.0". In this case, the engineering PC must not have the values "0",
"4", "127" or "255" in the last address block of the IP address.
4. Confirm with [OK].
5. Click [OK] again to close the window.
12.3.3
Configuring the communication channel via Ethernet
The devices use the device protocol from SEW‑EURODRIVE SMLP (Simple
MOVILINK® Protocol) that is directly transferred via TCP/IP.
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Proceed as follows:
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Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
12
1. Establish the communication channel via Ethernet (→ 2 140).
2. Set the SMLP protocol parameters in the following window in the "SMLP settings"
tab [1] (→ 2 150).
[1]
[2]
[3]
[4]
[6]
[5]
[7]
[8]
18328429835
"SMLP settings" tab
Timeout
Broadcast IP address
Broadcast scan duration
[5]
[6]
[7]
[8]
"IP addresses of SMLP server" tab
"Excluded IP addresses" tab
Add IP address
IP address edit box
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[1]
[2]
[3]
[4]
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Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
Ethernet parameters for SMLP
The following table shows the communication parameters for SMLP:
No.
Ethernet parameter
Description
Information
[2]
Timeout
Waiting time in ms that the •
client waits for a reply from •
the server after it has made
a request.
[3]
Broadcast IP address
IP address of the local network segment within
which the device scan is
carried out.
[4]
[6]
IP address of the SMLP
server or of other devices
IP address SMLP that are to be included in
server
the device scan but are
outside the local network
segment.
Excluded IP address
Default setting: 1000 ms
If a delay of the communication causes failure, increase the value.
In the default setting, the
device scan only retrieves
devices in the local network
segment.
•
Enter the IP address of
devices that are to be included in the device scan
but are outside the local
network segment.
•
If you are operating an indirect communication from
Ethernet to PROFIBUS,
enter the IP address of the
controller.
Enter the IP address of
devices that should not be included in the device scan.
IP addresses of devices
that should not be included This can be devices that are
not ready for communication
in the device scan.
(e.g. because they have not
been started up yet).
Adding devices to the local network segment
During a device scan, the system recognizes only devices that are in the same local
network segment as the engineering PC. If you have devices that are outside the local
network segment, add the IP addresses of these devices to the list of SMLP servers.
Proceed as follows:
1. Open the "SMLP settings" tab [1] (→ 2 148).
2. Select the address list of the SMLP server.
3. Open the "IP address of SMLP server" tab [5] (→ 2 148).
4. To enter the IP address, click on the plus symbol [7].
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5. Enter the IP address in the edit box [8]. Click [OK].
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Operation with the MOVITOOLS® MotionStudio engineering software
Communication via Ethernet
12
Communication ports used
The following table shows the communication ports that are used by the
MOVITOOLS® MotionStudio engineering software:
Application
Number of the
communication port
ETH server
300 (TCP/UDP)
For the services of the SMLP and
for using a PC as Ethernet gateway.
SEW Communication
Server
301 (TCP)
For communication between
MOVITOOLS® MotionStudio and
the SEW Communication Server.
Offline data server
302 (TCP)
For communication of
MOVITOOLS® MotionStudio in offline mode.
MOVIVISION® server
303 (TCP)
For communication with a PC with
active MOVIVISION® server
Description
304
–
TCI server
305 (TCP)
For communication via TCI (Tool
Calling Interface by Siemens)
EcEngineeringServerRemoteControl
306 (UDP)
For direct communication (without
master) with the slaves
EcEngineeringServer
mailbox gateway
307 (UDP)
For direct communication (without
master) with the slaves and for
communication via a mailbox gateway
MOVI‑PLC® visualization
308 (TCP/UDP)
For communication between
MOVI‑PLC® and the 3D simulation
of MOVITOOLS® MotionStudio
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Reserved
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12
Operation with the MOVITOOLS® MotionStudio engineering software
Executing functions with the units
12.4
Executing functions with the units
12.4.1
Reading or changing unit parameters
Proceed as follows:
1. Switch to the required view (project view or network view).
2. Select the connection mode:
•
If you want to read/change parameters directly on the unit, switch to online mode
by using the icon [1].
•
If you want to read/change parameters in the project, switch to offline mode by using the icon [2].
[1] [2]
18014399643939211
3. Select the unit you want to parameterize.
4. Choose the command [Startup] > [Parameter tree] from the context menu.
ð This opens the "Parameter tree" view on the right section of the screen.
5. Expand the parameter tree to the node you require.
9007200201958155
6. To display a specific group of device parameters, double-click on the group.
INFORMATION
For detailed information about the unit parameters, refer to the parameter list for the
unit.
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7. Press the enter key to finalize any changes you make to numerical values in the
input fields.
Operation with the MOVITOOLS® MotionStudio engineering software
Executing functions with the units
12.4.2
12
Starting up units (online)
Proceed as follows:
1. Switch to the network view.
2. Switch to online mode by using the icon [1].
[1]
18014399693512203
3. Select the unit you want to startup.
4. Choose the command [Startup] > [Startup] from the context menu.
ð The startup assistant is displayed.
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5. Follow the instructions of the startup wizard and then load the startup data into
your unit.
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13
Parameter setting
PC/laptop connection
13
Parameter setting
13.1
PC/laptop connection
The following figure shows the connection between a PC/laptop and the Ethernet service interface of the device:
[1]
[2]
[3]
1204936459
[1]
[2]
[3]
Ethernet service interface (Ethernet RJ45) of the device
Commercially available Ethernet cable
Ethernet interface of the laptop
The following table shows the IP address and the subnet mask of the engineering interface of the device:
Ethernet service interface
Subnet mask
192.168.10.4
255.255.255.0
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Standard IP address
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Parameter setting
Configuring device – checklist
13.2
13
Configuring device – checklist
Proceed as follows:
ü You have installed the MOVITOOLS® MotionStudio engineering software on the
engineering PC, V6.20 or later.
ü You have already downloaded the device description file (EDS file) from
SEW‑EURODRIVE → www.sew-eurodrive.com and saved it locally to the engineering PC.
ü The connection has been established between the engineering PC and device via
the engineering interface. Note that the subnet masks of the two network clients
are identical, but the IP addresses differ in the client addresses (lower byte of the
IP address). The device can then be reached from the engineering PC with the
ping command.
ü The following components are installed according to the instructions in the operating instructions: Supply system cable, motor cable, braking resistor, DC-24 V
backup voltage
ü The voltage supply of the device is activated.
1. Start MOVITOOLS® MotionStudio and create a new project.
2. Configure a communication channel via Ethernet (→ 2 140).
3. Perform a device scan.
4. Configure the connected encoder (→ 2 140).
5. Perform a motor startup (→ 2 140).
6.
DANGER! No safe disconnection of the device if the connection is jumpered.
Severe or fatal injuries. Jumper the circuit only if the device is not to perform any
safety functions according to DIN EN ISO 13849‑1.
To verify whether the startup data is correct, control the drive in manual mode. To
do so, you must bridge the connection X5502 (STO-IN) on the device.
7. If necessary, load an IPOSPLUS® application module into the power section "PFA-..."
and modify the application parameters (→ 2 173).
8. In MOVIPRO® ADC, load a CCU application module (→ 2 174) or a freely programmed IEC program (→ 2 181) into the communication and control unit
"PFH-..." as required.
9. Configure the fieldbus interface and check whether the process data exchange
between the PLC and device functions (→ 2 39) or (→ 2 90).
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10. Save all device data to the SD memory card (→ 2 183).
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13
Parameter setting
Parameterizing the power section "PFA-..."
13.3
Parameterizing the power section "PFA-..."
INFORMATION
To be able to replace the device quickly, save the device data to the SD memory
card following successful startup (data management).
Parameterization of the power section "PFA-..." takes several process steps:
1. "Encoder startup" (→ 2 156)
2. "Startup the motor" (→ 2 169)
3. "Startup IPOSPLUS® application modules" (→ 2 173)
13.3.1
Encoder startup
Startup of the encoder takes several process steps:
1. "Commencing startup" (→ 2 159)
2. "Editing SEW‑EURODRIVE encoders" (→ 2 162)
3. "Editing approved encoders" (→ 2 163)
4. "Specify encoder mounting" (→ 2 164)
5. "Specify translation ratio" (→ 2 164)
6. "Completing the encoder startup" (→ 2 168)
Enabled third-party encoder
Observe the following information when you execute and parameterize the third-party
encoders approved by SEW‑EURODIRVE.
SSI encoder
INFORMATION
The following applies for all parameterizable SSI encoders:
•
The interface is parameterized to "SSI".
•
24 data bits are set. The 25th bit can either be "0" or an error bit.
•
The coding is parameterized to "Gray".
•
If the plausibility check is active, the plausibility is set to "Normal ".
HEIDENHAIN
ROQ 424 (AV1Y)
Condition
•
The SSI version with 10 – 30 V is supported.
•
The type designation specifies all additional conditions.
•
24 data bits are set. The signal bits are logically
programmed to "0". The 25th bit can either be "0"
or an error bit. Additional special bits are not evaluated after the position. The 25‑bit version is not
supported.
•
The output mode is set to "direct".
•
The interface is parameterized to "SSI".
TR‑Electronic
CE‑58, CE‑65, LE‑100 SSI,
LE‑200, LA‑41‑K SSI
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Encoder
Parameter setting
Parameterizing the power section "PFA-..."
Encoder
13
Condition
SICK-STEGMANN
AG 100 MSSI, AG 626,
ATM90, ATM60
Only the 24‑bit version is supported.
SICK-STEGMANN
ARS 60
Only the 15‑bit version is supported.
SICK
DME5000-.11,
DME4000-.11
Pepperl+Fuchs
WCS2A‑LS311, WCS3A‑LS311
•
The interface is parameterized to "SSI".
•
24 data bits and one error bit are set.
•
The resolution is parameterized to "0.1 mm" or
"1 mm".
•
The plausibility is set to "Normal".
•
The type designation specifies all necessary conditions.
•
The line length to the encoder is 10 m at maximum.
All modes are supported.
Pepperl+Fuchs
EDM30/120/140-2347/2440
Pepperl+Fuchs
VDM100‑150
•
The operating mode is set to "mode 3" in the startup software of the encoder via the menu command
[Menu] > [Parameter] > [Operating modes].
•
The coding is parameterized to "Gray".
•
The resolution is parameterized to "0.1 mm" or
"1 mm".
•
24 data bits and one error bit are set.
•
The resolution is parameterized to "0.1 mm".
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Leuze electronic
AMS 200, OMS1, OMS2,
BPS 37
SEW ‑ EURODRIVE recommends mode 0 (DIP
switches 3 and 4 in "ON" position) or mode 3 (DIP
switches 3 and 4 in "OFF" position) and triple reflector
measurement (DIP switch 2 in "OFF" position).
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13
Parameter setting
Parameterizing the power section "PFA-..."
CANopen encoder
Encoder
TR‑Electronic
CE‑58 CANopen
TR‑Electronic
LE‑200 CANopen
SICK
DME4000‑.19
Pepperl+Fuchs
WCS3B‑LS410
Condition
•
The termination switch is set to "ON".
•
The node ID is set to "1" via the 6‑ DIP switch.
•
The number of increments per revolution is programmed to the standard value, "4096".
•
A terminating resistor for bus termination is
provided.
•
The node ID is set to "1" via the 8x DIP switch.
•
The interface is parameterized to "CANopen".
•
The node ID is set to "1".
•
The resolution is parameterized to "0.1 mm" or
"1 mm".
•
The plausibility is set to "Normal."
•
The node ID is set to "1" via the 8x DIP switch 1–6.
•
The baud rate is set to "250 kBaud" via the 8x DIP
switch 6–7.
•
The transmission mode is parameterized to "asynchronous 0 ms/10 ms" via the 4x DIP switch 1–3.
•
The data protocol is set to "data protocol 2" via the
4x DIP switch 4.
HIPERFACE® encoder
Encoder
•
The interface is parameterized to "HIPERFACE®".
•
The resolution is parameterized to "1 mm".
•
The plausibility is set to "Normal".
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SICK
DME5000‑.17,
DME4000‑.17
Condition
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Parameter setting
Parameterizing the power section "PFA-..."
13
Commencing startup
WARNING
Risk of crushing from uncontrolled start-up of the motor, if the start-up is aborted due
to using an inadmissible version of the MOVITOOLS® MotionStudio engineering
software.
Severe or fatal injuries.
•
Always use MOVITOOLS® MotionStudio V6.20 version or later.
INFORMATION
There is no need to activate the factory settings.
If you call up a factory setting, the "PFA‑..." power section parameters will be reset to
the default values.
Proceed as follows:
ü You have installed the MOVITOOLS® MotionStudio engineering software on the
engineering PC, V6.20 or later.
ü The drive can be run in order to be able to measure the translation ratio between
the motor and encoder, e.g. by means of the "manual mode" plug-in.
ü The following installations are correct and the application is executed accordingly:
Wiring, terminal assignment, safety shutdowns
1. In the network view of MOVITOOLS® MotionStudio, select the Power section.
2. Choose the command [Startup] > [Startup] from the context menu.
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ð The startup assistant for encoder startup is displayed. Follow the instructions of
the startup assistant. You can switch between the dialogs by using the [Back]
and [Next] buttons.
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159
13
Parameter setting
Parameterizing the power section "PFA-..."
3. Startup the motor with the motor encoder.
4. If the drive is equipped with an electronic nameplate, you can transfer the read-off
data.
9007201326602379
Setting
Accept data permanently
Accept data as suggestion
Do not apply data
Description
Transfer of encoder data to the startup assistant.
It is not possible to edit the encoder data.
Transfer of encoder data to the startup assistant.
The encoder data can be manually edited.
No transfer of encoder data to the startup assistant.
All encoder data must be manually edited.
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5. Select the settings for the motor encoder and – if applicable – for the distance encoder.
Parameter setting
Parameterizing the power section "PFA-..."
Setting
13
Description
Edit manually
Manual selection and configuration of the encoder.
Read-out of the connected encoder. The following
encoders from SEW‑EURODRIVE can be read out
only automatically:
Detect automatically
•
E.7S
•
E..H
•
A.7W
•
A..H
If there is no encoder connected or if the application
does not require an encoder.
Position detection on/off
Specifies the source of the position controller.
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Deselect/select
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13
Parameter setting
Parameterizing the power section "PFA-..."
Editing SEW‑EURODRIVE encoders
Proceed as follows:
1. Click on the encoder grouping [SEW encoders].
2. Enter the encoder designation in the respective fields according to the specification on the name plate.
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18014400452362891
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Parameter setting
Parameterizing the power section "PFA-..."
13
Editing approved encoders
Certain third-party encoders are approved by SEW‑EURODRIVE and can be operated
(→ 2 156).
Proceed as follows:
1. Click on the encoder grouping [Approved encoders].
2. Select the encoder from the SEW‑EURODRIVE database.
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13
Parameter setting
Parameterizing the power section "PFA-..."
Specify encoder mounting
Proceed as follows:
1. Go to the "Mounting" tab.
2. Select the counting direction of the encoder.
18565989515
Specify translation ratio
Proceed as follows:
1. If you know the translation ratio between the encoder and motor, enter it in the corresponding edit boxes.
2. If you do not know the translation ratio between the encoder and motor, click on
the button [measure gear ratio].
INFORMATION
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A successful installation of the entire application is prerequisite for measurement of
the translation ratio with the MOVITOOLS® MotionStudio engineering software.
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Parameter setting
Parameterizing the power section "PFA-..."
13
18014401537145739
– .
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3. Carry out the steps
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13
Parameter setting
Parameterizing the power section "PFA-..."
4. Move the axis by at least one motor revolution in manual mode.
18014401537232907
, and its validity under
.
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ð The ascertained data is shown under
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Parameter setting
Parameterizing the power section "PFA-..."
13
18014401537379851
5. If the data is valid, stop the drive, exit manual mode and accept the data.
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ð The ascertained data is entered as ratio value.
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13
Parameter setting
Parameterizing the power section "PFA-..."
Completing the encoder startup
Proceed as follows:
•
Complete the encoder startup.
9007201326595083
Setting
Load into the device (PC
→ target system)
Transfers the encoder data to the device.
Transfers the encoder data to the device and starts
the motor startup.
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Download and motor startup
Description
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Parameter setting
Parameterizing the power section "PFA-..."
13.3.2
13
Startup the motor
Proceed as follows:
ü The encoder startup is performed (→ 2 159).
1. Select the setting [Download and motor startup] in the startup assistant for encoder startup.
ð The startup assistant for motor startup is displayed. Follow the instructions of
the startup assistant. You can switch between the dialogs by using the [Back]
and [Next] buttons.
2. Select the parameter set with which you want to perform the startup.
27021599836096523
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3. Select the type of startup:
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13
Parameter setting
Parameterizing the power section "PFA-..."
Setting
Description
If the following situation exists:
Perform complete startup
(→ 2 170)
•
Initial startup of the motor
•
Performance of extensive changes (e.g. motor
or encoder change)
Perform partial startup
(→ 2 173)
When startup settings of the motor values (e.g.
supply or motor voltage) or download values of the
drive parameters are modified.
Optimizing a speed controller
(→ 2 173)
When speed controller already in operation is optimized by changing the download values of the
drive parameters.
Perform complete startup
Perform a complete startup to make all the necessary settings for operation of the
drive.
Proceed as follows:
1. Select a motor configuration.
9007201326609675
Setting
Description
•
The optimal operating mode for operating motors
from SEW‑EURODRIVE is "vector controlled/
servo".
•
If operation of a non-SEW motor with vector control does not achieve a satisfactory result, you
can select the operating mode "Standard (V/f)".
Single motor
The device controls several motors of the same
power rating. Select whether:
Several identical motors
170
•
the motors are mechanically rigid
•
the motors are not/are loosely coupled
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The device controls a single motor.
Parameter setting
Parameterizing the power section "PFA-..."
Setting
13
Description
Several different motors
The device controls several motors with different
power rating.
2. Verify the displayed data of the motor encoder, if available.
3. Select the motor type and specify the motor values.
9007201326631563
4. Indicate whether you would like to use the encoder.
5. Select the operating mode of the drive:
ð Startup as a hoist is not possible in "CFC" operating mode. The parameters required in order to use the drive as a vertical drive are set in the "Vertical drive"
operating mode.
ð To use an IPOSPLUS® application module, select the "Positioning with IPOS" operating mode.
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6. Select the control mode of the drive and specify the values of the speed controller.
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13
Parameter setting
Parameterizing the power section "PFA-..."
7. Enter the download values of the drive parameters. Download values deviating
from the suggested values are highlighted in yellow. To accept all suggested
download values, click on the button [Apply proposal].
18589443723
8. Save the startup parameters.
9007201326616971
172
Description
Download
Transfers the startup parameters to the device.
Finish
Transfers the startup parameters to the device and
exits the startup.
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Setting
Parameter setting
Parameterizing the power section "PFA-..."
13
Carrying out partial startup
During a partial startup, you specify the following settings:
•
Nominal motor voltage
•
Rated motor frequency
•
Rated line voltage
•
Error response
•
Temperature sensor type
•
Download values of the drive parameters
Optimizing a speed controller
During an optimization of the speed controller, you change the download values of the
drive parameters.
13.3.3
Startup IPOSPLUS® application modules
The following application modules are available for the power section "PFA-...":
•
Bus positioning
•
Extended positioning via bus
•
Modulo positioning
•
Automotive AMA0801
INFORMATION
In MOVIPRO® ADC, the IPOSPLUS® application modules can only be used if a simple
gateway program is installed (delivery state) in the communication and control
unit "PFH-...," or the "Transparent 6PD" CCU application module is parameterized. In
these cases, the process input and process output data is forwarded from the communication and control unit to the power section "PFA-..." unmodified.
Information on how to operate the application modules is contained in separate manuals. They can be downloaded in PDF format from the SEW‑EURODRIVE website →
www.sew‑eurodrive.com.
The following manuals include startup of the IPOSPLUS® application modules:
MOVIDRIVE® drive inverter bus positioning
•
MOVIDRIVE® MDX61B application "Extended positioning via bus"
•
MOVIDRIVE® MDX60B / 61B application "Modulo positioning"
•
MOVIDRIVE® MDX61B and MOVIPRO® SDC/ADC application module "Automotive AMA0801"
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•
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13
Parameter setting
Parameterizing the communication and control unit "PFH-..."
13.4
Parameterizing the communication and control unit "PFH-..."
INFORMATION
To be able to replace the device quickly, save the device data to the SD memory
card following successful startup (data management).
13.4.1
Factory installed gateway program
In order to simplify the startup, MOVIPRO® ADC is delivered with a preinstalled gateway program. This allows MOVIPRO® ADC to be operated after startup of the encoder/motor, the IPOSPLUS® application modules that are used and the fieldbus. Additional parameterizations with the Application Configurator controller software are not
required in this case.
If you would like to use special MOVIPRO® ADC features such as CCU application
modules, R15 regenerative power supply or external slaves, however, you must carry
out a CCU startup in the Application Configurator controller software.
13.4.2
MOVIPRO® ADC as parameterizable device (CCU)
You can parameterize MOVIPRO® ADC with the Application Configurator controller
software.
The
Application
Configurator
is
part
of
the
MOVITOOLS® MotionStudio engineering software.
Start application configurator
WARNING
Risk of crushing from uncontrolled start-up of the motor, if the start-up is aborted due
to using an inadmissible version of the MOVITOOLS® MotionStudio engineering
software.
Severe or fatal injuries.
•
Always use MOVITOOLS® MotionStudio V6.20 version or later.
Proceed as follows:
16998413/EN – 12/2016
ü You have installed the MOVITOOLS® MotionStudio engineering software on the
engineering PC, V6.20 or later.
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameterizing the communication and control unit "PFH-..."
13
1. In the network view of MOVITOOLS® MotionStudio, select the communication and
control unit.
2. Select the [Application modules] > [Application Configurator] menu command in
the context menu.
ð The Application Configurator is displayed.
9007202822997131
16998413/EN – 12/2016
No.
Description
[1]
Click this button to open the configuration interface in order to create a new
configuration and transfer it to the SD memory card of the device.
[2]
This symbol shows the version of the Application Configurator as a tooltip when
moving the mouse over it .
[3]
Use this icon to open the "Settings" window. In this window, you specify responses that are triggered after certain actions in the Application Configurator
(e.g. how the configuration is loaded).
[4]
The communication status is displayed here:
•
Online: The communication to the device has been established successfully
(green tick).
•
Offline: The communication to the device has failed (red X).
NOTICE! Successful communication with the device requires the connection
mode in MOVITOOLS® MotionStudio being set to "online".
[5]
Use this button to load a configuration from the SD memory card of the device
in order to edit it in the Application Configurator.
NOTICE! This function is not available during initial startup.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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13
Parameter setting
Parameterizing the communication and control unit "PFH-..."
No.
Description
[6]
Use this button to load an existing configuration from a file *.AppConfig.zip.
[7]
Click this button to open the diagnostics interface with the following functions:
•
Overview: Status of the device and module diagnostics
•
PD‑Monitor: Process data monitor
•
Trace: Recording of variables
•
Advanced diagnostics: Current state of important data structures
Creating a new configuration
Proceed as follows:
1. In the Application Configurator, click [Create new configuration].
ð The configuration interface is displayed.
9007202824762635
[1]
176
Description
The device type is displayed here.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
No.
Parameter setting
Parameterizing the communication and control unit "PFH-..."
No.
[2]
[3]
13
Description
The toolbar contains the icons for the following tasks:
•
Add single axis
•
Add multi-axis applications (not available for MOVIPRO® ADC)
•
Delete axes
•
Select axis-/device-independent functions (e.g. brake test)
•
Start simulation (all axes/no axis)
•
Save complete configuration (all axes)
In this drop-down list, you select how the process data of the devices is arranged:
•
Automatically: The devices are addressed sequentially.
•
Manually: You can address the devices manually, thus providing for gaps in
the addressing. SEW‑EURODRIVE recommends using this setting only with
corresponding experience with addressing process data.
[4]
This axes section displays the added axes in individual lines.
[5]
This section displays the used/free process data words.
[6]
With the buttons in the footer, you can scroll back and forth between the individual program interfaces or switch to the start page.
2. If you are starting up a MOVIPRO® ADC with R15 regenerative power supply, click
on the button [Function]. Otherwise, skip this step.
ð The following window is displayed.
18599188107
16998413/EN – 12/2016
3. Activate the "MOVIPRO Repower" check box and confirm with the [Next] button.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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13
Parameter setting
Parameterizing the communication and control unit "PFH-..."
Insert and configure axes
Only single-axis modules can be inserted for MOVIPRO® ADC.
Proceed as follows:
1. Create a new configuration (→ 2 176).
2. Click the [Single axis] icon in the configuration interface.
ð A new line is displayed in the axis area.
9007202834566923
3. In section [5], specify the settings for the axis according to your requirements:
ð Enter an axis name.
ð Activate the "Simulation" checkbox" if the axis is physically not available yet but
you intend to perform diagnostics later nonetheless.
ð Select the "SBUS_1" interface. The communication and control unit is connected with the axis via this interface.
ð Enter the same axis address as at the device. For MOVIPRO® ADC, the axis
address of the power section "PFA-..." is 20.
ð Select "MOVIPRO LT" as the device type.
ð Select the required CCU application module with the suitable profile.
4. Click the button [4] to configure the axis.
ð A wizard for setting the selected CCU application module is displayed. Some
CCU application modules do not require the user to perform any settings as the
wizard assigns default values to the required parameters.
5. Follow the instructions of the wizard.
ð Once you have configured an axis, the yellow warning symbol [2] turns into a
green check. If required, you can undo the axis configuration by selecting "Resetting the configuration" from the drop-down menu [3].
6. Insert additional axes as required and repeat the steps in order to specify the axis
settings and to configure the axis.
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ð The used process data words are displayed for each axis and are arranged in sequential order.
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameterizing the communication and control unit "PFH-..."
13
Advanced configuration settings
For some CCU application modules, there are special settings, e.g. the interval of the
toggle bit for the SEW controller (line 0).
Proceed as follows:
1. Open the configuration interface (→ 2 176).
2. If you would like to change the settings for a certain CCU application module, click
on [2] at the end of the line for the associated axis.
18798219915
3. Specify the desired Settings and confirm with [Continue].
4. If you would like to change the settings for the entire process data range (all axes),
click on [1] in the axis area at the end of line 0 (SEW controller).
ð The following window is displayed.
18810225931
No.
[1]
Enter the toggle bit interval in ms in this edit box.
[2]
Select the byte swap of the process data from the fieldbus in this drop-down list:
[3]
16998413/EN – 12/2016
Description
•
Off: Big-Endian (Motorola processors, such as in controllers by Siemens)
•
On: Little-Endian (Intel processors, such as in controllers by Rockwell)
In this drop-down list, you activate the MOVILINK® parameter channel:
•
On: The MOVILINK® parameter channel is activated.
•
Off: The MOVILINK® parameter channel is deactivated.
The MOVILINK® parameter channel enables bus-independent access to all
device parameters. Special services are available in this parameter channel to
be able to read different parameter information.
For detailed information, refer to the "Application Configurator for CCU" manual
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
179
13
Parameter setting
Parameterizing the communication and control unit "PFH-..."
No.
Description
[4]
In this area, you specify the assignment of the binary input and output terminals
of the device.
[5]
This setting is only for devices with maintenance switch monitoring. This section
displays the used/free process data words.
5. Confirm the settings with [OK].
Load configuration into the device
WARNING
Risk of crushing if the drive starts up unintentionally.
Severe or fatal injuries.
•
Disconnect the motor and all connected options from the power supply before
you start working.
•
Secure the motor against unintended power-up.
Proceed as follows:
1. Configure the axes (→ 2 178).
2. Click on the [Continue] button in the configuration interface.
18696433291
180
No.
Description
[1]
Use this button the save the configuration to a configuration file *.AppConfig.zip on your PC. This way, you do not have to enter the values again for
future startups with the same configuration.
[2]
Use this button to create a PDF file with a configuration report.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
ð The download interface is displayed.
Parameter setting
Parameterizing the communication and control unit "PFH-..."
No.
Description
[3]
If you enter a name in this edit box, it will be listed in the report.
[4]
This group displays the following information on the CCU application module
that is installed offline on your PC and online on the device:
•
Part number
•
Design
•
Release
[5]
Use the radio buttons to choose if you want to download the configuration with
or without controller software.
[6]
Use these radio buttons to choose if you want to load the modified or complete
configuration to the SD memory card of the device.
[7]
Load the configuration onto the SD memory card of the device with this button.
13
3. Compare the online and offline data of the CCU application module to each other
in group [4]. If the data deviate from each other, load them from your PC to the
device.
4. In the group [5], select the "Download with controller software" radio button.
ð The Application Configurator replaces the previous controller software with the
new controller software upon downloading (software update).
ð The software update can take several minutes. In order to shorten the process,
use the local engineering interface (Ethernet or USB).
5. Click the button [7].
ð The configuration data of all axes is transferred to the SD memory card of the
device.
ð The device is restarted to process the new configuration data after the download.
ð The initial screen is displayed if the download and the device restart have been
successful.
For detailed information, refer to the "Application Configurator for CCU" manual.
13.4.3
MOVIPRO® ADC as programmable device (MOVI‑PLC®)
INFORMATION
Only one MOVIPRO® ADC with an SD memory card OMH_T. can be freely programmed.
16998413/EN – 12/2016
SEW‑EURODRIVE provides libraries for the freely programmable MOVIPRO® ADC:
•
PFH_P1D1_1_A (PROFIBUS, DeviceNet™)
•
PFH_E2E3_1_A (PROFINET, EtherNet/IP™, Modbus/TCP)
INFORMATION
You find the latest versions of the libraries at the SEW website → www.seweurodrive.com via "Online support" > "Data & documents" > "Software."
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
181
13
Parameter setting
Parameterizing the communication and control unit "PFH-..."
Create an IEC Project
Proceed as follows:
1. In the network view of MOVITOOLS® MotionStudio, select the communication and
control unit "PFH‑...".
2. In the context menu, select the [Programming] >[Create new PLC Editor project]
menu command.
ð The following window is displayed.
9007202821710731
3. Select a project template for controlling the internal power section "PFA‑...".
ð In
this
example,
the
project
template
trol_MOVIPRO_PFA_SingleAxis.pro" [1] is selected.
"Axis_Con-
4. Assign a project name [2] and click [OK] to confirm.
5. Write your IEC program and then load it into the device.
For further information, refer to the following manuals:
MOVI‑PLC® Programming with the PLC Editor
•
MOVI‑PLC® AxisControl Sample Project
16998413/EN – 12/2016
•
182
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Storing device data
13.5
13
Storing device data
The device allows for a quick device replacement. It is equipped with a replaceable
SD memory card on which all device data can be stored. If the device has to be replaced, the plant can be started up again quickly by simply exchanging the SD
memory card.
INFORMATION
To be able to replace the device quickly, save the device data to the SD memory
card following successful startup (data management).
INFORMATION
Various parameters change during a reference movement. Carry out a data backup
after a reference movement so that all device data on the SD memory card is current.
Proceed as follows:
1. In the network view of MOVITOOLS® MotionStudio, select the communication and
control unit.
2. Choose the menu command [Startup] > [Data management] from the context
menu.
16998413/EN – 12/2016
ð Data management is displayed.
18811709451
3. Click on the symbol [1].
ð The following window is displayed.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
183
13
Parameter setting
Storing device data
9007204387282699
5132541707
No.
Description
[1]
Enabling this check box permits data backup via PLC.
[2]
Enabling this check box ensures that the data is backed up automatically when
a device replacement is detected.
If the check box is not activated during upload, the data can only be restored
manually via "Download".
[3]
Load the data onto the SD memory card with this button.
[4]
With this check box, you ensure that the data of the power section "PFA-..." is
automatically uploaded to the SD memory card after a certain period of time,
and thereby backed up.
16998413/EN – 12/2016
4. To carry out the data backup to the SD memory card, click on the button [3].
184
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
"PFA-..." power section parameter overview
13.6
13
"PFA-..." power section parameter overview
The following table shows an overview of all parameters:
•
Factory setting values are in bold.
•
Numerical values are displayed with the complete setting range.
0.. Display values
00. Process values
No.
Name
Range/factory setting
000
Speed
–
001
User display
–
002
Frequency
003
Actual position
0 – ± (231-1) Increments
004
Output current
0 – 200% IN
005
Active current
0 – 200% IN
–
006/007 Motor utilization 1/2
0 – 200%
008
DC link voltage
–
009
Output current
–
0.. Display values
01. Status displays
No.
Name
Range/factory setting
010
Inverter status
–
011
Operating status
–
012
Error status
–
013
Current parameter set
014
Cooling air temperature
015
Operating hours
–
016
Enable hours
–
017
Work
–
–
-40 – 125°C
018/019 KTY utilization 1/2
–
0.. Display values
02. Analog setpoints
No.
020
Name
Analog input AI1
Range/factory setting
-10 – +10 V
0.. Display values
03. Digital inputs of basic device
No.
030
Name
Range/factory setting
Digital input DI00
–
032 – 035 Digital inputs DI02 – DI05
–
0.. Display values
05. Digital outputs basic device
No.
050
Name
Range/factory setting
Digital output DB00
–
0.. Display values
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07. Device data
No.
Name
Range/factory setting
070
Device type
–
071
Nominal output current
–
072
Encoder slot option/firmware
–
076
Basic device firmware
–
078
Technology function
–
079
Device variant
–
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
185
13
Parameter setting
"PFA-..." power section parameter overview
0.. Display values
08. Fault memory
Name1)
No.
Range/factory setting
080 – 084 Error t-0 – t-4
–
094 – 096 PO1 – PO3 setpoint
–
097 – 099 PI1 – PI3 actual value
–
1) PI = process input data word, PO = process output data word
1.. Setpoints / ramp generators
13./14. Speed ramps 1/2
No.
Name
Range/factory setting
130/140 Ramp t11/t21 up CW
0 – 2 – 2000 s
131/141 Ramp t11/t21 down CW
0 – 2 – 2000 s
132/142 Ramp t11/t21 up CCW
0 – 2 – 2000 s
133/143 Ramp t11/t21 down CCW
0 – 2 – 2000 s
134/144 Ramp t12/122 up = down
0 – 10 – 2000 s
135/145 S pattern t12/t22
0 – 3
136/146 Stop ramp t13/t23
0 – 2 –20 s
137/147 Emergency stop ramp t14/24
0 – 2 –20 s
139/149 Ramp monitoring 1/2
Off
1.. Setpoints / ramp generators
16./17. Fixed setpoints 1/2
No.
Name
Range/factory setting
160/170 Internal setpoint n11/n21
-6000 – 150 – +6000 min-1
161/171 Internal setpoint n12/n22
-6000 – 750 – +6000 min-1
162/172 Internal setpoint n13/n23
-6000 – 1500 – +6000 min-1
2.. Controller parameters
20. Speed control
No.
Name
Range/factory setting
200
P gain n‑controller
0.01 – 2 – 32
201
Time constant n‑controller
0 – 10 – 3000 ms
202
Amplification acceleration precontrol
0 – 65
203
Filter acceleration precontrol
0 – 100 ms
204
Filter speed actual value
0 – 32 ms
205
Load precontrol CFC
-150 – 0 – +150 %
206
Sampling cycle n‑controller
1.0 ms/0.5 ms
207
Load precontrol VFC
-150 – 0 – +150%
2.. Controller parameters
21. Hold controller
No.
210
Name
Range/factory setting
P gain hold controller
0.1 – 0.5 – 32
3.. Motor parameters
30./31. Limits 1/2
Name
Range/factory setting
-1
300/310 Start/stop speed 1 / 2
0 – 150 min
301/311 Minimum speed 1 / 2
0 – 15 – 6100 min-1
302/312 Maximum speed 1 / 2
0 – 1500 – 6100 min-1
303/313 Current limit 1/2
0 – 150% IN(Motor)
304
Torque limit
0 – 150%
3.. Motor parameters
32./33. Motor adjustment 1/2
No.
186
Name
Range/factory setting
320/330 Automatic adjustment 1/2
On
321/331 Boost 1/2
0 – 100%
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
No.
Parameter setting
"PFA-..." power section parameter overview
13
3.. Motor parameters
32./33. Motor adjustment 1/2
No.
Name
Range/factory setting
322/332 IxR adjustment 1/2
0 – 100%
323/333 Premagnetization time 1/2
0 – 2 s
324/334 Slip compensation 1/2
0 – 500 min-1
3.. Motor parameters
34. Motor protection
No.
Name
Range/factory setting
340/342 Motor protection 1/2
Off
341/343 Cooling type 1/2
Fan cooled
344
Motor protection interval
0.1 – 4 – 20 s
345/346 IN-UL monitoring 1/2
0.1 – 500 A
3.. Motor parameters
35. Direction of motor rotation
No.
Name
Range/factory setting
350/351 Direction of rotation reversal 1/2
Off
5.. Monitoring functions
50. Speed monitoring
No.
Name
Range/factory setting
500/502 Speed monitoring 1/2
Motor/regenerative
501/503 Delay time 1/2
0 – 1 – 10 s
504
Encoder monitoring motor
Off
505
Distance encoder monitoring
Off
5.. Monitoring functions
52. Mains OFF monitoring
No.
Name
Range/factory setting
520
Mains OFF response time
0 – 5 s
521
Mains OFF response
Controller inhibit
522
Phase failure monitoring
On
5.. Monitoring functions
53. Motor temperature protection
No.
Name
Range/factory setting
530
Sensor type 1
No sensor
531
Sensor type 2
No sensor
5.. Monitoring functions
54. Gear unit/motor monitoring
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No.
Name
Range/factory setting
540
Response to vibration/warning
Display error
541
Response to vibration/error
Rapid stop/Warning
542
Response to oil aging/warning
Display error
543
Response to oil aging/error
Display error
544
Response oil aging/over-temperature
Display error
545
Response oil aging/ready signal
Display error
549
Response to brake wear
Display error
5.. Monitoring functions
56. Ex‑e motor current limitation
No.
Name
Range/factory setting
560
Ex‑e motor current limit
Off
561
Frequency A
0 – 5 – 60 Hz
562
Current limit A
0 – 50 – 150%
563
Frequency B
0 – 10 – 104 Hz
564
Current limit B
0 – 80 – 200%
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
187
13
Parameter setting
"PFA-..." power section parameter overview
5.. Monitoring functions
56. Ex‑e motor current limitation
No.
Name
Range/factory setting
565
Frequency C
0 – 25 – 104 Hz
566
Current limit C
0 – 100 – 200%
6.. Terminal assignment
60. Digital inputs of basic device
No.
Name
Range/factory setting
601
Digital input DI02
No function
602
Digital input DI03
No function
603
Digital input DI04
No function
604
Digital input DI05
No function
7.. Control functions
70. Operating modes
No.
Name
Range/factory setting
700/701 Operating mode 1/2
702
VFC
Motor category
Rotatory
7.. Control functions
71. Standstill current
No.
Name
Range/factory setting
710/711 Standstill current 1/2
0 – 50% IN (Motor)
7.. Control functions
72. Setpoint stop function
No.
Name
Range/factory setting
720/723 Setpoint stop function 1/2
Off
721/724 Stop setpoint 1/2
0 – 30 – 500 min-1
722/725 Start offset 1/2
0 – 30 – 500 min-1
7.. Control functions
73. Brake function
No.
Name
Range/factory setting
730/733 Brake function 1/2
On
731/734 Brake release time 1/2
0 – 2 s
732/735 Brake application time 1/2
0 – 2 s
7.. Control functions
74. Speed skip function
No.
Name
Range/factory setting
740/742 Skip window center 1/2
0 – 1500 – 6000 min-1
741/743 Skip width 1/2
0 – 300 min-1
7.. Control functions
77. Energy-saving function
No.
770
Name
Range/factory setting
Energy-saving function
Off
8.. Device functions
Name
Range/factory setting
802
Factory setting
No
803
Parameter lock
Off
804
Reset of statistic data
No action
8.. Device functions
82. Braking operation
No.
Name
820/821 4-quadrant operation 1/2
188
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Range/factory setting
On
16998413/EN – 12/2016
80. Setup
No.
Parameter setting
"PFA-..." power section parameter overview
13
8.. Device functions
83. Error responses
No.
Name
Range/factory setting
830
Response to "external error"
Emergency stop/malfunction
832
Response to "motor overload"
Emergency stop/malfunction
834
Response to "lag error"
Emergency stop/malfunction
835
Response to "TF signal"
No response
836
Response to "timeout SBus 1"
Emergency stop/malfunction
838
Response to "SW limit switch"
Emergency stop/malfunction
839
Response to 'positioning interruption'
No response
8.. Device functions
84. Reset behavior
No.
Name
Range/factory setting
840
Manual reset
No
841
Auto reset
No
842
Restart time
1 – 3 – 30 s
8.. Device functions
85. Scaling actual speed value
No.
Name
Range/factory setting
850
Scaling factor numerator
1 – 65535
851
Scaling factor denominator
1 – 65535
852
User unit
1/min
8.. Device functions
86. Modulation
No.
Name
Range/factory setting
860/861 PWM frequency 1/2
4/8/12/16 kHz
862/863 PWM fix 1/2
Off
864
PWM frequency CFC
4/8/16 kHz
8.. Device functions
87. Process data description
No.
Name
Range/factory setting
870
Setpoint description PO1
Control word 1
872
Setpoint description PO2
Setpoint speed
872
Setpoint description PO3
Ramp
873
Actual value description PI1
Status word 1
874
Actual value description PI2
Actual speed
875
Actual value description PI3
Output current
876
PO data enable
Yes
9.. IPOS parameters
90. IPOS reference travel
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No.
Name
Range/factory setting
900
Reference offset
-(231-1) – 0 – (231-1)
901
Reference speed 1
0 – 200 – 6000 min-1
902
Reference speed 2
0 – 50 – 6000 min-1
903
Reference travel type
[0] Left zero pulse
904
Reference travel to zero pulse
Yes
905
Hiperface offset (motor)
-(231-1) – (231-1)
906
Cam distance
Display value
9.. IPOS parameters
91. IPOS travel parameters
No.
Name
Range/factory setting
910
Gain X controller
0.1 – 0.5 – 32
911
Positioning ramp 1
0.01 – 1 – 20 s
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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13
Parameter setting
"PFA-..." power section parameter overview
9.. IPOS parameters
91. IPOS travel parameters
No.
Name
Range/factory setting
912
Positioning ramp 2
0.01 – 1 – 20 s
913
Travel speed CW
0 – 1500 – 6000 min-1
914
Travel speed CCW
0 – 1500 – 6000 min-1
915
Velocity precontrol
-99.99 – 0 – 100 – 199.99%
916
Ramp type
Linear
917
Ramp mode
Mode 1
918
Bus setpoint source
0 – 499 – 1023
9.. IPOS parameters
92. IPOS Monitoring
No.
Name
Range/factory setting
920
SW limit switch RIGHT
-(231-1) – 0 – (231-1)
921
SW limit switch LEFT
-(231-1) – 0 – (231-1)
922
Position window
0 – 50 – 32767 Increments
923
Lag error window
0 – 5000 – (231-1)
924
'Positioning interruption' detection
On
9.. IPOS parameters
93. IPOS Special functions
No.
Name
Range/factory setting
930
Override
Off
933
Jerk time
0.005 – 2 s
938
IPOS speed task 1
0 – 9
939
IPOS speed task 2
0 – 9
9.. IPOS parameters
94. IPOS encoder
No.
Name
Range/factory setting
941
Actual position source
Motor encoder
948
Automatic encoder replacement detection
On
9.. IPOS parameters
96. IPOS modulo function
No.
Name
Range/factory setting
Modulo function
Off
961
Modulo numerator
1 – (231-1)
962
Modulo denominator
1 – 231
963
Modulo encoder resolution
1 – 4096 – 65535
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960
190
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameter descriptions
13.7
13
Parameter descriptions
Observe the following:
•
The parameter descriptions are divided into 10 parameter groups.
•
The parameter names correspond to their representation in the parameter tree.
•
The following symbols are used in the parameter descriptions:
1
2 Parameters which are switch-selectable and available in parameter sets 1 and
2.
Parameters which can be changed only in inverter status "Inhibited" (output
stage at high resistance).
AUTO
13.7.1
Parameters which are automatically changed by the startup function.
Parameter group 0: Display values
This parameter group contains the following information:
•
Process values and states of the basic device
•
Process values and states of the installed options
•
Fault memory
•
Fieldbus parameters
P00. Process values
P000 Speed
Resolution: ± 0.2 min-1
The speed is determined by taking the setpoint speed and the set slip compensation
in VFC or V/f mode without an encoder connection. The speed is established from the
encoder or resolver signals and is displayed when there is an encoder connection.
P001 User display
Determined by the following parameters:
•
P850 Scaling factor numerator (→ 2 228)
•
P851 Scaling factor denominator (→ 2 228)
•
P852 User unit (→ 2 228)
P002 Frequency
Output frequency of the device (signed)
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P003 Actual position
With encoder connection, position of the drive as a value in increments observing the
signs in the range 0 – ± (231-1) increments (with encoder connection. Without encoder
connection, the value is zero.
P004 Output current
Apparent current in the range 0 – 200% of the nominal device current IN
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13
Parameter setting
Parameter descriptions
P005 Active current
Active current in the range 0 – 200% of the nominal device current IN (signed)
The display value is positive when torque is in positive sense of rotation; negative
when torque is in negative sense of rotation.
P006/P007 Motor utilization 1/2
Current thermal motor utilization of the connected motor in the range 0 – 200%
The motor utilization is calculated using the motor temperature emulation in the
device. The synchronous motor with KTY and the asynchronous motor is turned off
when 110% motor utilization is reached.
P008 DC link voltage
Voltage in V measured in the DC link circuit
P009 Output current
Apparent current in AC A
P01. Status displays
P010 Inverter status
The output stage can have the following states:
•
Disabled
•
Enabled
P011 Operating state
192
•
24 V operation
•
Controller inhibit
•
No enable
•
Standstill current
•
Enable (VFC)
•
Enab. (N-control)
•
Torque control
•
Position hold control
•
Factory setting
•
Limit switches
•
Technology option
•
Reference mode
•
Flying start in progress
•
Calibrate encoder
•
Error
•
Safe torque off
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The following operating states are possible:
Parameter setting
Parameter descriptions
13
P012 Error status
Error number and error in text form
P013 Current parameter set
Parameter set 1 or 2
P014 Heat sink temperature
Heat sink temperature of the device in the range −40 – 125°C
P015 Operating hours
The total of hours in which the device was connected to the supply system or an external DC 24 V supply.
Storage cycle: 15 min
P016 Enable hours
Total number of hours for which the device was in "enable".
Storage cycle: 15 min
P017 Work
Total of the active energy the motor has consumed.
Storage cycle: 15 min
P018/P019 KTY utilization 1/2
Display 0%: Motor is not in operation at max. ambient temperature.
Display 110%: Switch-off point of motor
P02. Analog setpoints
P020 Analog input AI1
Setting range: -10 – +10 V
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Voltage on analog input AI1
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13
Parameter setting
Parameter descriptions
P03. Digital inputs of basic device
P030 – P035 Digital inputs DI00 – DI05
Current state of the input terminals DI00 – DI05 (→ 2 215) and the current function
assignment
INFORMATION
The digital input DI00 is always assigned the function “/controller inhibit”.
P05. Digital outputs basic device
P050 Digital output DB00
Current state of the binary output and the current function assignment
P07. Device data
P070 Device type
Complete designation of the device, e.g. PFA‑MD0040B‑5A3
P071 Rated output current
rms value of nominal output current in A
P072 Option/firmware encoder slot
Installed encoder card and its program version
P076 Basic device firmware
Program version of the firmware used in the basic device
P078 Technology function
Current technology function setting
"Standard" setting: Operation of device with the standard functions (positioning, speed
control, etc.)
P079 Device version
Device variant
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"Technology" setting: Application modules and technology functions can be used.
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameter descriptions
13
P08. Fault memory
P080 – P084 Faults t-0 – t-4
The device has 5 fault memories (t-0 to t4-). The faults (→ 2 224) are saved in chronological sequence. The last fault result is stored in the fault memory t-0. In the case
of more than 5 faults, the oldest fault result is deleted from the fault memory t-4.
The following information is stored and displayed when an error occurs:
•
Status ("0" or "1") of the digital inputs/outputs
•
Operating status of the device
•
Inverter status
•
Cooling air temperature
•
Speed
•
Output current
•
Active current
•
Device utilization
•
DC link voltage
•
Operating hours
•
Enable hours
•
Parameter set
•
Motor utilization 1 and 2
P09. Bus diagnostics
P094 – P096 PO1 – PO3 setpoint
Currently transferred value of the process output data words (→ 2 229) in hexadecimal form
P097 – P099 PI1 – PI3 actual value
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Currently transferred value of the process input data words (→ 2 230) in hexadecimal
form
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13
Parameter setting
Parameter descriptions
13.7.2
Parameter group 1: Setpoints / ramp generators
The following settings are defined in this parameter group:
•
Speed ramps
•
Fixed speed setpoints
P13./P14. Speed ramps 1/2
P130 – P133 / P140 – P143 ramp t11 / t21 up/down CW/CCW 1
2
Setting range: 0 – 2 – 2000 s
Specifically, the parameters are:
•
P130 Ramp t11 up CW / P140 Ramp t21 up CW
•
P131 Ramp t11 down CW / P141 Ramp t21 down CW
•
P132 Ramp t11 up CCW / P142 Ramp t21 up CCW
•
P133 Ramp t11 down CCW / P143 Ramp t21 down CCW
The ramp times refer to a setpoint step change of Δn = 3000 min-1. The ramp takes effect when the speed setpoint is changed and the enable signal is revoked via the CW/
CCW terminal.
CW
[1]
[2]
t
[3]
[4]
CCW
18364786955
[1]
[2]
[3]
[4]
Ramp up CW
Ramp down CW
Ramp up CCW
Ramp down CCW
P134/P144 Ramp t12/t22 UP = DOWN 1
2
Setting range: 0 – 10 – 2000 s
The following applies to this ramp: UP = DOWN and CW = CCW.
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Ramps t12/t22 are activated via a digital input (→ 2 215), which is programmed with
the function "Speed ramp switchover".
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameter descriptions
P135/P145 S pattern t12/t22 1
13
2
Setting range: 0 – 3 (0 = Off, 1 = weak, 2 = medium, 3 = strong)
In order to achieve gentler drive acceleration, the 2nd ramp (t12/t22) can be rounded
with 3 pattern grades.
n
[1]
[2]
[3]
t
898213899
[1]
[2]
[3]
Setpoint input
Speed without S pattern
Speed with S pattern
A started S pattern is interrupted by the stop ramp t13/t23 and a changeover to
ramp t11/t21. Revoking the setpoint or a stop via the input terminals causes the started S curve to be completed. This allows the drive to continue to accelerate despite
the fact that the setpoint has been withdrawn.
P136/P146 Stop ramp t13/t23 1
2
Setting range: 0 – 2 – 20 s
Activated by withdrawing the "Enable" terminal or by an error (→ 2 224).
P137/P147 Emergency ramp t14/t24 1
2
AUTO
Setting range: 0 – 2 – 20 s
Activated by a fault (→ 2 224).
16998413/EN – 12/2016
The function monitors whether the drive reaches zero speed within the set time. After
the set time expires, the output stage is inhibited and the brake applied even if zero
drive speed has not yet been reached.
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13
Parameter setting
Parameter descriptions
P139/P149 Ramp monitoring 1/2 1
2
Setting range: On/Off
If you set the deceleration ramps to a value that is much shorter than can be physically achieved in the system, the turning drive will be stopped once the monitoring time
has expired. In addition to the error message, this also leads to increased brake wear.
Even if the ramp timeout clearly occurs due to an impossible specification ramp, the
adjustment of the respective ramp must be increased.
The parameter is an additional monitoring function for speed monitoring, but only applies for the downward ramp. It can be used to monitor the deceleration ramp, stop
ramp or emergency stop ramp if speed monitoring is not desired.
16./P17. Fixed setpoints 1/2 1
2
Setting range: -6000 – +6000 min-1
3 internal speed setpoints, so-called fixed setpoints, can be set separately for parameter sets 1 and 2. The internal setpoints are active when an input terminal
(→ 2 215) programmed to n11/n21 or n12/n22 has a "1" signal.
In the setting range of 0 – +6000 min-1, the parameters have the following factory settings:
Parameter
Factory setting
P160 170 Internal setpoint n11/n21
n11/n21 = 150 min-1
P161 P171 Internal setpoint n12/n22
n12/n22 = 750 min-1
P162/P172 Internal setpoint n13/n23
n13/n23 = 1500 min-1
The following table shows the programming of the input terminals:
Input terminal
n11/n21
n12/n22
Enable/stop
Parameter set 1/2
Stop with t13/t23
–
–
"0"
–
Fixed setpoint not
active
"0"
"0"
"1"
"0"
n11 effective
"1"
"0"
"1"
"0"
n12 effective
"0"
"1"
"1"
"0"
n13 effective
"1"
"1"
"1"
"0"
n21 effective
"1"
"0"
"1"
"1"
n22 effective
"0"
"1"
"1"
"1"
n23 effective
"1"
"1"
"1"
"1"
The fixed setpoints of the currently inactive parameter set come into effect when this
terminal is actuated ("1"-signal) if an input terminal is programmed to "Fixed setpoint
switch-over".
The changeover to fixed setpoints is possible both in the inhibited and the released
device state.
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Response
Parameter setting
Parameter descriptions
13.7.3
13
Parameter group 2: Controller parameters
The following settings are defined in this parameter group:
•
Speed control
•
Hold control
P20. Speed control
The speed control function is available only in parameter set 1.
The speed controller of the power section "PFA-..." is a PI-controller. The speed control works in the following operating modes:
•
All operating modes with VFC‑n control
•
CFC operating modes: The speed controller is active in "CFC & Torque control"
only when speed limiting is active.
•
Servo operating modes: The speed controller is only active in "Servo & Torque
control" when speed limiting is active.
The startup functions of the MOVITOOLS® MotionStudio engineering software support
the adjustment of all relevant parameters for speed control. Direct changes to individual parameters should be made only by specialists.
The following figure shows the controller structure of the parameters for speed control:
P203
P13.
[4]
P202
P200/P201
+
+
[5]
-
P204
[2]
[1]
[3]
16998413/EN – 12/2016
18403733899
[1]
[2]
[3]
[4]
[5]
P13.
P200/P201
P203
P202
P204
Incremental encoder/resolver
Signal processing
Actual speed value
Acceleration precontrol
Torque setpoint
Parameters of speed ramp
PI‑controller
Filter acceleration precontrol
Amplification acceleration precontrol
Filter speed actual value
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13
Parameter setting
Parameter descriptions
P200 P gain speed controller
AUTO
Setting range: 0.01 – 2 – 32
Gain factor of the P‑component of the speed controller
P201 Time constant n-control
AUTO
Setting range: 0 – 10 – 3000 ms
Integration time constant of the speed controller
The I‑component reacts inversely proportionate to the time constant: A large numerical value results in a small I-component. However, a zero value means "no I component".
P202 Gain acceleration precontrol
AUTO
Setting range: 0 – 65
Gain factor of acceleration precontrol which improves the guide behavior of the speed
controller.
P203 Filter acceleration precontrol
AUTO
Setting range: 0 – 100 ms
Filter time constant of acceleration precontrol which improves the guide behavior of
the speed controller. The differentiator is programmed.
P204 Actual speed value filter
AUTO
Setting range: 0 – 32 ms
Filter time constant of the actual speed value filter
P205 Load precontrol CFC
The parameter is only effective in "CFC and "Servo" operating modes.
Setting range: -150 – 0 – +150%
Determines the initial value of the torque setpoint upon enable. The parameter must
be set if increased starting torque is required when the drive is enabled. For example,
a parameter value greater than 0% makes it possible to prevent the unwanted sagging
of hoists when the brake is released. This function should only be used in hoists
without counterweight.
16998413/EN – 12/2016
Recommended setting: Value of the active current (→ 2 192) at speed zero (n = 0)
200
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameter descriptions
13
P206 Sampling time n-control
The parameter is only effective in "CFC and "Servo" operating modes.
Setting range: 1 ms/0.5 ms
Setting the time to 0.5 ms improves speed control for dynamic drives with low moment
of inertia.
P207 Load precontrol VFC
The parameter is effective only in the operating modes with "VFC n-control".
Setting range: -150 – Off – +150%
Determines the initial value of slip control upon enable.
If the parameter value is greater than 0%, the slip control is pre-stressed and the motor develops more torque upon enable. This setting can, for example, prevent the unwanted sagging of hoists when the brake is released. This function should only be
used in hoists without counterweight.
Parameter values greater than 150% switch off the function (no pre-stressing). In the
"VFC & Hoist" operating mode, the preload 0.5 x sN is effective with a parameter value
of greater than 150% (sN = nominal slip of the connected motor).
Recommended setting: Value of the active current (→ 2 192) at minimal speed
P21. Hold controller
The position hold control function is only available in parameter set 1.
Serves for drift-free standstill control of the drive. The position hold control can only be
activated in operating modes with speed control (encoder feedback).
Hold control is active when an input terminal (→ 2 215) programmed to /HOLD CONTROL has a "0" signal. The device then performs a stop using the "t11 up" or "t21
down" ramp. If the drive reaches speed zero, it is held in the position that is valid at
this point.
The startup function of the speed controller in the MOVITOOLS® MotionStudio engineering software supports adjustment of the gain factor.
The 7-segment display of the device shows the status "A1.7" when hold control is active.
P210 P gain hold controller
AUTO
Setting range: 0.1 – 0.5 – 32
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Corresponds to the proportional gain of a position controller. The parameter is only effective when the position hold control function is activated.
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Parameter setting
Parameter descriptions
13.7.4
Parameter group 3: Motor parameters
This parameter group is used to adjust the device to the motor. The parameters can
be set separately for parameter set 1 and 2. Thus, 2 different motors can be operated
alternately on the same device without requiring a new setting.
P30./P31. Limits 1/2
P300 / P310 Start/stop speed 1/2 1
2
AUTO
The parameter is only effective in "VFC and "V/f" operating modes. The parameter has
no function in "CFC" and "Servo" operating modes.
Setting range: 0 – 150 min-1
Defines the smallest speed request which the device sends to the motor when enabled. The transition to the setpoint speed (determined by the setpoint selection) is
made using the active acceleration ramp.
At startup without encoder, 0.5 × the nominal slip of the connected motor is set. At
startup with encoder, 15 min-1 is set.
When a stop command is executed, this setting also determines the lowest speed at
which the motor power is switched off or the post-magnetization triggered and, if applicable, the brake applied.
P301/P311 Minimum speed 1/2 1
2
AUTO
Setting range: 0 – 15 – 6100 min-1
The value below which the speed may not fall, even if zero is selected as the setpoint.
Even if the minimum speed is less than the start-stop speed (nmin < nstart/stop), the minimum speed is valid.
Important:
•
With hoist function activated, the smallest speed is 15 min-1, regardless of the set
minimum speed value.
•
To enable the drive to move clear of the limit switches even at low speeds, minimum speed is not active for the hardware limit switch with which the drive has
come into contact.
•
The minimum speed does not apply in the IPOS operating modes.
P302/P312 Maximum speed 1/2 1
2
AUTO
Setting range: 0 – 1500 – 6100 min-1
Speed value which is not exceeded by a speed setpoint. If the minimum speed is
greater than the maximum speed (nmin > nmax), the maximum speed is valid.
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The maximum speed depends on the set operating mode (→ 2 216).
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Parameter setting
Parameter descriptions
P303/P313 Current limit 1/2 1
2
13
AUTO
Setting range: 0 – 150% of the nominal motor data IN
The factory setting for the current limitation is set to 150% IN of the matching motor.
The internal current limitation is based on the apparent current. In the operating
modes "V/f" and "VFC" without speed control, the current limit is automatically reduced in field weakening mode above the frequency of 1.15 × fbase. This implements
stall protection for the connected motor. The current limit effective in the field weakening range is calculated using the following formula:
Current limit = (115
, ×
f base
) × setting value P303/P313
factual
18327565835
fbase
factual
P304 Torque limit 1
2
Base frequency
Current rotational frequency
AUTO
The parameter is only effective in "CFC and "Servo" operating modes.
Setting range: 0 – 150%
Limits the maximum torque of the motor. The entry acts on the setpoint of the motor
torque (kT × IN(device)). In order to ensure secure triggering of the speed monitoring,
the parameter value must always be less than or equal to the current limit (→ 2 203).
P32./P33. Motor adjustment 1/2
P320/P330 Automatic adjustment 1/2 1
2
The parameter is only effective in "VFC and "V/f" operating modes. The function is
only useful for single motor operation.
Setting range: ON/OFF
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When the parameter is activated, the device automatically adjusts the parameter
P322/P332 IxR adjustment 1/2 with every enable and saves the value. The device
thereby determines a basic setting that is adequate for a great number of drive applications. The connected motor is calibrated in the last 20 ms of the premagnetization
phase, except if:
•
the parameter is deactivated
•
the operating modes "VFC & Group" or "VFC & flying start function" are set
•
the pre-magnetization time (→ 2 205) has been reduced by more than 30 ms in
relation to the proposed value.
•
in the operating mode "VFC n-control," the parameter P730/P733 brake function
1/2 (→ 2 219) is deactivated.
In such cases, the set IxR value is used for calculating the winding resistance.
P321/P331 Boost 1/2 1
2
Setting range: 0 – 100%
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13
Parameter setting
Parameter descriptions
In operating modes "V/f" and "VFC & Group": Manual adjustment of the parameter is
required in order to increase the starting torque by raising the output voltage in the
range below the base speed.
In operating mode "VFC ": Manual adjustment of the parameter is normally not required. In exceptional cases, manual setting may be necessary to increase the breakaway torque. In this case, set max. 10%.
The following figure shows the phase-zero phase-to-phase voltage (not the voltage
difference between the outer conductors).
UA
VFC
U Ama x
100% Boost
0% Boost
50V
[3]
[1]
[2]
n Eck
n
36028797297140363
nSlip
2 x nSlip
Boost setting range
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[1]
[2]
[3]
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Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameter descriptions
P323/P333 Premagnetization time 1/2 1
2
13
AUTO
Setting range: 0 – 20 s
The premagnetization value of the matching motor is set as the factory setting.
Premagnetization serves to establish a high motor torque and starts when the device
is enabled.
P324/P334 Slip compensation 1/2 1
2
AUTO
The parameter is only effective in "VFC," "VFC n-control" and "V/f" operating modes.
Setting range: 0 – 500 min-1
The value of the matching motor is set as the factory setting.
Increases the speed accuracy of the motor. If values are entered manually, the nominal slip of the connected motor must be entered. A setting range of ± 20 % of the
nominal slip is permitted if a value other than the nominal slip is entered to compensate for fluctuations between various motors.
P34. Motor protection
P340/P342 Motor protection 1/2 1
2
Setting range: Off/One asynchronous motor/One servomotor
Depending on the motor connected (synchronous or asynchronous motor) this function can have the following effects.
Setting: Off
The function is not active.
Setting: ON asynchronous motor
The power section "PFA-..." takes over the thermal protection of the connected motor
electronically. In most cases, the motor protection function is comparable to standard
thermal protection (motor protection switch) but, in addition, it takes account of speeddependent cooling by the integrated fan. The motor utilization is calculated on the
basis of:
•
Inverter output current
•
Type of cooling
•
Motor speed
•
Time
16998413/EN – 12/2016
The thermal motor model is based on the motor data entered in the
MOVITOOLS® MotionStudio engineering software and the operating conditions specified for the motor.
INFORMATION
If the motor also has to be protected against failure of the ventilation, blockage of air
ducts, etc., it is also necessary to employ protection in the form of a TF positive temperature coefficient thermistor or TH bimetallic switch.
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Parameter setting
Parameter descriptions
The following signal and display functions are available in conjunction with motor protection:
Parameter
P006/P007 Motor utilization 1/2
(→ 2 192)
Signal and display function
Motor utilization for parameter set 1/2
Error response of the device when the motor
P832 Response to "Motor overload" utilization reaches the value 110%.
(→ 2 225)
Factory setting: Emergency stop/malfunction.
The following parameters must be set:
Parameter
P341/P343 Type of cooling 1/2
(→ 2 207)
Setting/meaning
Self-cooling or external cooling
Prewarning if motor utilization exceeds a value
Binary output programmed to the reof 100%. In this case, the programmed binary
sponse: "/Motor utilization 1/2"
output is set to zero (0 V).
INFORMATION
Deactivating the device (supply system and external DC 24 V supply) always sets the
motor utilization to zero. After reactivation, already existing motor heating is not considered.
The motor protection function processes the utilization of the connected motors separately for both parameter sets. The motor protection function may not be used in the
following cases:
•
if only one motor is permanently connected to the device and the "parameter set
changeover" function is only used for control technology purposes.
•
in the case of group drives. In this case, not every individual motor can be reliably
protected.
Setting: One servomotor
•
Motor without KTY temperature sensor:
The power section "PFA-..." calculates the motor utilization based on the nominal
motor current. The aim is to determine after only a few cycles or during startup
whether the drive will switch off due to an overload, with the error message
"A1.F31" (TF/TH trip). In order to determine the capacity utilization at which the
connected motor drives the machine cycle as precisely as possible, the duration of
the machine cycle must be entered.
This setting is only possible for parameter set 1.
Parameter
P006 Motor utilization 1 (→ 2 192)
Signal and display function
Motor utilization for parameter set 1. Valid after
10 to 20 cycles or after about 2 s and can be
evaluated by a PLC.
P007 Motor utilization 2 (→ 2 192) No function in this setting
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The following signal and display functions are available in conjunction with motor protection:
Parameter setting
Parameter descriptions
Parameter
13
Signal and display function
P832 Response to "Motor overload"
No function in this setting
(→ 2 225)
The following parameters must be set:
Parameter
Meaning
P344 Interval for motor protection
(→ 2 207)
Machine cycle of the application.
Setting range: 0.1 – 20 s
INFORMATION
Activating the function does not trigger monitoring or protection of the connected motor. The programming of a binary output to "/Motor utilization 1/2" is also ineffective.
The motor protection must be guaranteed via TF/TH.
•
Motor from SEW‑EURODRIVE with KTY temperature sensor:
The power section "PFA-..." calculates the motor utilization based on an internal
motor model that uses the parameters P006 motor utilization 1 (→ 2 192) and
P018 KTY utilization 1 (→ 2 193) as reference parameters.
When the motor-dependent shut-down limit is reached, the device is shut down
with the response set in the parameter P832 ’Motor overload' response
(→ 2 225). In this case, the settings in Parameters P341 Type of cooling 1
(→ 2 207) and P344 Interval for motor protection are not relevant.
P341/P343 Type of cooling 1/2 1
2
Setting range: Self-ventilation/Forced air cooling
Knowledge of the cooling type of the motor is required for precise calculation of the
thermal load of the motor (→ 2 205).
P344 Interval for motor protection 1
2
Setting range: 0.1 – 4 – 20 s
This parameter is not effective for asynchronous motors.
Corresponds to the cycle time of the movement in the case of synchronous motors
without KTY temperature sensor. The parameter is used as a reference parameter for
calculating the parameter P006/P007 motor utilization 1/2 (→ 2 192).
16998413/EN – 12/2016
Always set the time for forward and backward movement.
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13
Parameter setting
Parameter descriptions
P345/P346 IN/UL‑monitoring 1/2 1
2
AUTO
Setting range: 0.1 – 500 A
The function cannot be switched off.
The factory setting depends on the rated power of the power section "PFA‑..." and is
set to the rated current of the SEW EURODRIVE motor with the same rating. In
devices with resolver input, the factory setting of the parameter is the value zero.
At 150% rated motor current IN, the device switches off after 5 minutes. The error message "A1.F84" (motor protection) is displayed.
At 500% rated motor current IN, the device switches off after 20 seconds. The error
message "A1.F84" (motor protection) is displayed.
P35. Direction of motor rotation
SEW‑EURODRIVE specifies the direction of rotation as seen onto the A‑side of the
motor. Clockwise (positive) is defined as rotation to the right and counterclockwise as
rotation to the left. This definition is implemented when the motor is connected according to the description from SEW EURODRIVE.
P350/P351 Change direction of rotation 1/2 1
2
AUTO
Setting range: On/Off
Positive setpoint
Negative setpoint
(positive direction of
travel)
(negative direction of
travel)
Off
Motor turns clockwise
Motor turns counterclockwise
On
Motor turns counterclockwise
Motor turns clockwise
Direction of rotation
reversal
•
Setting "On": The definition from SEW‑EURODRIVE is reversed for the motor rotation direction. The assignment of limit switches is maintained: When the motor
turns in CLOCKWISE direction, the drive will be properly stopped once it hits the
right limit switch.
After changing the parameter, note the correct connection of the limit switch and
the definition of the reference point and the travel positions.
INFORMATION
Referencing is also mandatory after the parameter change (including after activation
of the binary terminal).
•
208
Setting "Off": the motor rotation direction corresponds to the definition from
SEW‑EURODRIVE.
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If the parameter is changed, the system loses its reference point for the position
without withdrawal of the reference bit. The result may be undesirable movement of
the axis.
Parameter setting
Parameter descriptions
13.7.5
13
Parameter group 5: Monitoring functions
The processes of the drive-specific parameters are monitored with this parameter
group in order to be able to respond to inadmissible deviations. Some of the monitoring functions are available separately in both parameter sets. Activation of a monitoring function triggers an error response (→ 2 224).
P50. Speed monitoring
P500/P502 Speed monitoring 1/2 1
2
Setting range: Off/motor/regenerative/motor/regenerative
The speed setpoint can only be achieved if there is sufficient torque available to meet
the load requirements. If the internal current limit (→ 2 203) reaches the external current limit, the power section "PFA-..." assumes that the torque has reached its maximum and the desired speed cannot be attained. If this state persists for the duration
of the deceleration time (→ 2 209), the speed monitoring trips.
In the case of a hoist, activate the speed monitoring and set the deceleration time to
as small a value as possible. Speed monitoring is not that important for safety since
an incorrect movement of the hoist does not necessarily mean operation in the current
limitation.
P501/P503 Delay time 1/2 1
2
Setting range: 0 – 1 – 10 s
The set current internal limit can be reached briefly during acceleration, deceleration,
or load peaks. Corresponding setting of the deceleration time can prevent unintentional, sensitive activation of the speed monitoring. The speed monitoring should only
trip when the current limit is reached permanently for the duration of the set deceleration time (→ 2 209).
P504 Encoder monitoring motor
Setting range: On/Off
•
Setting "On": A wire break between the device and motor encoder will be detected
directly when using sin/cos encoders and TTL encoders. In the case of a defective
connection, the error message "A1.F14" (encoder) is displayed. The error message is also generated in the inhibited state of the device.
•
Setting "Off": A wire break between the device and motor encoder is not detected
directly. If the speed monitoring is not deactivated, the error message
"A1.F08" (speed monitoring) is displayed in the case of a defective connection.
The error message is only generated in the enabled state of the device.
16998413/EN – 12/2016
INFORMATION
Encoder monitoring is not a safety function. If you use a HIPERFACE® encoder, encoder monitoring is always active (including for the track) regardless of the parameter
setting.
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Parameter setting
Parameter descriptions
P504 Synchronous encoder monitoring
Setting range: On/Off
•
Setting "on:" A wire break between the device and synchronous encoder will be
detected directly when using sin/cos encoders and TTL encoders. In the case of a
defective connection, the error message "A1.F14" (encoder) is displayed. The
error message is also generated in the inhibited state of the device.
•
Setting "Off": A wire break between the device and synchronous encoder is not
detected directly. If the speed monitoring is not deactivated, the error message
"A1.F08" (speed monitoring) is displayed in the case of a defective connection.
The error message is only generated in the enabled state of the device.
P52. Mains OFF monitoring
P520 Power off response time
Setting range: 0 – 5 s
Time that the power off must be present for the parameterized power off response to
be triggered.
P521 Power off response
Setting range: Controller inhibit/emergency stop
If a binary input is programmed to "Power on," and as soon as it receives a "0" signal,
the response set here is triggered.
P522 Phase failure monitoring
Setting range: Off/On
The device monitors the line input phases for failure of a phase. If 2 phases fail, the
DC link becomes deenergized. This state corresponds to disconnection from the supply system. Since the line input phases cannot be monitored directly, monitoring has
to be done indirectly via the DC link ripple. If one phase fails, the ripple increases
drastically.
The DC link voltage is monitored at a time interval Δt = 1 ms for dropping below a minimum voltage level that depends on the rated supply voltage of the device.
A phase failure is recognized by the following nominal guide value:
•
In a 50 Hz supply system: The voltage level has been underrun approx. tmax =
3.0 s.
•
In a 60 Hz supply system: The voltage level has been underrun approx. tmax =
2.5 s.
16998413/EN – 12/2016
If a supply phase failure is detected, the output stage is immediately inhibited and the
brake is applied. The error message "A1.F06" (line phase failure) is displayed and the
error response "Immediate switch-off with interlocking" is carried out. The error can
only be reset by a device reset.
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Parameter setting
Parameter descriptions
13
P53. Motor temperature protection
AUTO
P530 Sensor type 1
Setting range: No Sensor / TF/TH / TF/TH DEU / KTY / KTY DEU
Selection of the sensor used for motor protection in parameter set 1
P531 Sensor type 2
•
Setting "TF/TH": Set the response with P835 Response ’TF-Message’ (→ 2 226).
•
"KTY" setting: Can only be selected for synchronous motors from
SEW‑EURODRIVE. Activate the motor model with the setting "One servomotor" of
the parameter P340 Motor protection 1 (→ 2 205). Set the response with the
parameter P832 Response ’Motor overload' (→ 2 225).
AUTO
Setting range: No Sensor / TF/TH
Selection of the sensor used for motor protection in parameter set 2
P54. Gear unit/motor monitoring
These parameters are used to set the response to be triggered in the event of a motor
or gear unit problem. The binary inputs must be programmed with the corresponding
function. The error responses are also be triggered in the "controller inhibit" device
status.
The following table shows possible error responses:
Response
Description
No response
An error is not displayed, nor is an error response performed. The signaled error is ignored.
Display error
Display of error on the 7-segment display of the device and
in the MOVITOOLS® MotionStudio engineering software.
The device performs no other error responses.
The device can be reset by a device reset (terminal, fieldbus, auto reset).
Immediate stop/malfunction
Immediate switch-off of the device with error message.
The output stage is inhibited and the brake is applied.
The ready signal is revoked.
A restart is only possible after a fault reset has been performed during which the device is reinitialized.
16998413/EN – 12/2016
Emergency stop/malfunction
The drive is braked with the emergency stop ramp t14/t24
(→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake is applied.
The error is signaled immediately.
The ready signal is revoked.
A restart is only possible after a fault reset has been performed during which the device is reinitialized.
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Parameter setting
Parameter descriptions
Response
Rapid stop/malfunction
Description
The drive is braked with the stop ramp t13/t23 (→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake is applied.
The error is signaled immediately.
The ready signal is revoked.
A restart is only possible after a fault reset has been performed during which the device is reinitialized.
Immediate stop/Warning
Immediate switch-off of the device with error message.
The output stage is inhibited and the brake is applied.
The ready signal is not revoked.
The drive restarts without device re-initialization if the error
is rectified by an internal procedure or by an error reset.
Emergency stop/Warning
The drive is braked with the emergency stop ramp t14/t24
(→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake applied.
The error is signaled immediately.
The ready signal is not revoked.
The drive restarts without device re-initialization if the error
is rectified by an internal procedure or by an error reset.
Rapid stop/Warning
The drive is braked with the stop ramp t13/t23 (→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake applied.
The error is signaled immediately.
The ready signal is not revoked.
The drive restarts without device re-initialization if the error
is rectified by an internal procedure or by an error reset.
P540 Response to vibration/warning
Factory setting: Display error
If the drive vibration sensor signals a warning, the device carries out the set response.
P541 Response to vibration/fault
Factory setting: Rapid stop/Warning
P542 Response oil aging/warning
Factory setting: Display error
If the oil aging sensor signals a warning, the device carries out the set response.
P543 Response oil aging/fault
Factory setting: Display error
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If the drive vibration sensor signals an error, the device carries out the set response.
Parameter setting
Parameter descriptions
13
If the oil aging sensor signals an error, the device carries out the set response.
P544 Oil aging/over-temperature
Factory setting: Display error
If the oil aging sensor signals an over-temperature, the device carries out the set response.
P545 Oil aging/ready
Factory setting: Display error
If the oil aging sensor withdraws the ready signal, the device carries out the set response.
P549 Response to brake wear
Factory setting: Display error
If the brake wear sensor trips, the device carries out the set response.
P56. Ex-e motor current limitation
Display and setting values that are specific to the "Current limiting in the Ex-e motor
on the inverter" function.
Current limitation
I1
1.5 IN(motor)
Iü
IN(motor)
Iü
C
B
A
Depending
on motor
type
I2
f
fA
fB
fC
fbase
18379642507
16998413/EN – 12/2016
IN
I1
I2
Iü
fbase
A, B, C
Nominal motor current in A
Maximum permitted current in A
permitted continuous current range in A
Overload current in A
Base frequency in Hz
limiting points
•
Frequencies below fA are only permitted to a limited extent.
•
Frequencies higher than the rated motor frequency are not permitted.
•
Frequency A < frequency B < frequency C < rated motor frequency
•
Current limit A < current limit B < current limit C
Refer to the "Explosion-Proof AC Motors" operating instructions for more information.
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13
Parameter setting
Parameter descriptions
P560 Current limit Ex-e motor
AUTO
Setting range: On/Off
P561 Frequency A
•
Setting "On:" Current limitation for Ex‑e motors is active. The current limiting is
already activated during startup for the Ex-e operation selected and approved motors. The current limit (→ 2 203) can no longer be changed when the protection
function is active.
•
Setting "Off": Current limiting for Ex‑e motors is not active.
AUTO
Setting range: 0 – 5 – 60 Hz
Value for minimum operating frequency fA. The device is operated independently of
the current amount for 60 s at the operating frequency fA. After this time elapses, the
device switches off and displays the error message "A1.F110" ("Ex e protection") .
P562 Current limitation A
AUTO
Setting range: 0 – 50 – 150%
Current limitation that is permitted with operating frequency fA. There is a linear gradient between current limitation A and current limitation B.
P563 Frequency B
AUTO
Setting range: 0 – 10 – 104 Hz
Value for operating frequency fB.
P564 Current limit B
AUTO
Setting range: 0 – 80 – 200%
Current limitation that is permitted with operating frequency fB. There is a linear gradient between current limit B and current limit C.
P565 Frequency C
AUTO
Setting range: 0 – 25 – 104 Hz
Value for operating frequency fC.
AUTO
Setting range: 0 – 100 – 200%
Current limit that is permitted between operating frequency fC and rated motor frequency. The rated motor frequency is 50 Hz for star connection and 87 Hz for delta
connection. After startup with an Ex-e motor, the current limit C is approximately equal
to the rated motor current IN.
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P566 Current limit C
Parameter setting
Parameter descriptions
13.7.6
13
Parameter group 6: Terminal assignment
The binary inputs of the device are programmed with this parameter group.
P60. Digital inputs of basic device
P601 – P604 Digital inputs DI02 – DI05
The digital inputs can be programmed to the following functions:
Function
In effect with
No function 1)
Enable/Stop
2)
Effective in
Device status
"0" signal
"1" signal
Inhibited
enabled
–
–
–
–
Stop on t13/t23
Enable
no
yes
CW/Stop2)
Stop at t11/t21 or t12/t22
Enable CW rotation
no
yes
CCW/Stop2)
Stop at t11/t21 or t12/t22
Enable CCW rotation
no
yes
no
yes
no
yes
yes
yes
n11/n213)
n12/n22
n13/n23
Fixed setpoint switchover
3)
External setpoints only
n11/n21
External setpoints only
n12/n22
n13/n23
Fixed setpoints of the active Fixed setpoints of the inactive paraparameter set
meter set
Parameter set changeover4)
Speed ramp switchover 2)
Parameter set 1
Parameter set 2
yes
no
1. Ramp (t11/t21) active
Second Ramp (t12/t22) active
yes
yes
External fault
–
no
yes
/External fault
Fault reset
yes
yes
Hold control active
Reset on positive edge ("0" to "1")
–
no
yes
Right limit switch reached
Not reached
no
yes
Left limit switch reached
Not reached
no
yes
/Stop control5)
/Limit switch CW
/Limit switch CCW
Function depends on IPOSPLUS® application module
IPOS input
Reference cam
not actuated
Activated
no
yes
Start reference travel
–
Start referencing for the application
module
no
yes
Power on detection6)
see P521 Power off response (→ 2 201)
External message
"Power on"
yes
yes
/Vibration warning
Vibration sensor signals
warning.
Vibration sensor does not signal
warning.
yes
yes
/Vibration fault
Vibration sensor reports
fault.
Vibration sensor does not report
fault.
yes
yes
/Oil aging warning
Oil aging sensor signals
warning.
Oil aging sensor does not signal
warning.
yes
yes
/Oil aging error
Oil aging sensor signals
fault.
Oil aging sensor does not signal
fault.
yes
yes
/Oil aging over-temperature
Oil aging sensor signals
over-temperature.
Oil aging sensor does not signal
over-temperature.
yes
yes
Oil aging sensor is not
ready.
Oil aging sensor is ready.
yes
yes
Brake is worn.
Brake is OK.
yes
yes
Oil aging ready signal
Brake wear signal
1) factory to DI02, DI03, DI04, DI05
16998413/EN – 12/2016
2) see parameter description P13./P14.
3) See parameter description P16./P17.
4) For operating modes with encoder feedback, parameter set changeover must not occur in cycles more frequently than every 2
seconds.
5) see parameter description P210
6) see parameter description P52.
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Parameter setting
Parameter descriptions
13.7.7
Parameter group 7: Control functions
The the fundamental control properties of the device are programmed with this parameter group. These functions are carried out automatically upon activation of the
device and influence its behavior in certain operating modes.
INFORMATION
When using incremental encoders (resolver, push-pull TTL, RS422, sin/cos,
HIPERFACE® single-turn), changing the parameter set invalidates the IPOS variables
H510 Actual position and H511 Actual position. A position is only retained after
switching over the parameter sets if an absolute encoder (SSI, HIPERFACE® MultiTurn) is used.
P70. Operating modes
P700/P701 Operating mode 1/2 1
2
AUTO
Sets the basic operating mode of the device for parameter sets 1 and 2. The motor
system, the encoder feedback and corresponding control functions are particularly
specified.
In the delivery state, the devices are parameterized to the rating-matched motor. All
operating modes can be set for parameter set 1. Only operating modes without encoder feedback (Group 1) can be set for parameter set 2.
INFORMATION
Without new startup, the operating mode may only be changed within a group.
P702 Motor category
Group
Operating mode
1
"VFC"
"VFC & Group"
"VFC & Hoist"
"VFC & DC braking"
"VFC & flying start function"
"V/f characteristic curve"
"V/f & DC braking"
Device type and option
Motor
MOVIPRO®
DR . without encoder
2
"VFC n‑control"
"VFC-n-control & Group"
"VFC-n-control & Hoist"
"VFC n‑control & IPOS"
MOVIPRO® with encoder
DR.. with incremental
encoder or
HIPERFACE® encoder
3
"CFC"
"CFC & torque control"
"CFC & IPOS"
MOVIPRO® with encoder
DR.. with incremental
encoder or
HIPERFACE® encoder
4
"Servo"
"Servo & torque control"
"Servo & IPOS"
MOVIPRO® with encoder
CMP with
HIPERFACE® encoder
or resolver
AUTO
Setting range: Rotatory/linear
Automatically set during startup. Displays the connected motor type.
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The following table shows the device's possible operating modes:
Parameter setting
Parameter descriptions
13
P71. Standstill current
P710/P711 Standstill current 1/2 1
2
Setting range: 0 – 50% of the nominal motor current IN
Imprints an adjustable current (in % of the nominal motor current IN) into the motor
during motor standstill and closed brake. The standstill current can be switched off by
"/controller inhibit = 0".
The standstill current fulfills the following functions:
•
Prevents the risk of condensation at the motor and freezing of the brake when the
ambient temperature is low (particularly to the disk brake).
Set the current level in such a way that the motor will not overheat.
SEW‑EURODRIVE recommends a current level at which the motor housing is
warm to the touch.
•
Enables rapid start of the motor without complying with the premagnetization time.
SEW‑EURODRIVE recommends setting the standstill current to 45 – 50% of the
nominal motor current IN in hoists.
The standstill current function is deactivated at a value of 0% of the nominal motor
current IN. The standstill current is monitored for current limit in any case (→ 2 203).
•
At least the magnetizing current is always imprinted in the operating mode "CFC,"
which is required according to the motor model.
•
No current is imprinted in the operating mode "Servo".
•
The nominal magnetizing current is always imprinted in the operating modes
"VFC & Hoist" and "VFC-n-control & Hoist" and activated standstill current.
•
In the other operating modes, a rapid start will take place only if the set standstill
current is greater than or equal to the rated magnetizing current.
16998413/EN – 12/2016
If, in the standstill current phase, the set premagnetization time of the standstill current
is constant and greater than or equal to the rated magnetizing current of the motor in
time intervals of the set premagnetization time, the motor resistance is calibrated. If an
enable is issued again during the measurement interval, the resistance value is not
calculated. In this case, the existing resistance value continues to be used.
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13
Parameter setting
Parameter descriptions
P72. Setpoint stop function
With activated setpoint stop function, the device automatically generates an enable in
dependence on the main setpoint. All required functions such as premagnetization,
brake control, etc. are enabled. An additional enable via terminals must still occur in
any case, however.
/Controller
inhibit
"1"
"0"
t
"1"
CW/Stop
"0"
t
"1"
Enable/stop
"0"
t
"1"
/brake
"0"
t
n setpoint
120
Integrator input
60
Stop
setpoint
[1]
0
t
n actual
120
[3]
Integrator output
[4]
[5]
[7]
[3]
[4]
[7]
[5]
60
[6]
30
0
[2]
[6]
[2]
t
18382962827
[1]
[2]
[3]
[4]
[5]
[6]
[7]
Start offset
Pre-magnetization time
Brake release time
t11 up CW
t11 down CW
t13 Stop ramp
Brake application time
P720/P723 Setpoint stop function 1/2 1
2
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Setting range: On/Off
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Parameter setting
Parameter descriptions
P721/P724 Stop setpoint 1/2 1
13
2
Setting range: 0 – 30 – 500 min-1
In the "VFC & Hoist" operating mode, the minimum stop setpoint is internally limited to
16 min‑1.
P722/P725 Start offset 1/2 1
2
Setting range: 0 – 30 – 500 min-1
•
If the start setpoint (stop setpoint + start offset) is greater than the maximum
speed, no enable occurs.
•
If the stop setpoint is greater than the minimum speed, the minimum speed can
never be run.
P73. Brake function
The power section "PFA-..." is capable of controlling a brake installed on the motor.
The brake function takes effect on the binary output DB00, which is permanently assigned the function "/Brake" (24 V operation = brake released).
In a drive with encoder feedback (speed control), it is possible to select between electrical holding of the load and mechanical application of the brake in halt condition.
INFORMATION
With controller inhibit active (controller inhibit = "0") the brake is always applied.
Enable "1"
"0"
[1]
[2]
n
nset
nstart/stopp
0
/Brake
"1"
"0"
[3]
t
[4]
t
t
t
t
Output stage in "1"
"0"
t
Rotary field in "1"
16998413/EN – 12/2016
"0"
t
18402473227
[1]
[2]
[3]
[4]
Pre-magnetization time
Brake release time
Post-magnetization time
Brake application time
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Parameter setting
Parameter descriptions
P730/P733 Brake function 1/2 1
2
Setting range: ON/OFF
Determines whether the brake is activated when the enable is revoked (enable = "0").
In a hoist, the brake is always active in controlled operation.
P731/P734 Brake release time 1/2 1
2
AUTO
Setting range: 0 – 2 s
The brake release time of the matching motor is set as the factory setting.
Specifies how long the motor will remain at a standstill after expiration of the premagnetization time and how much time the brake has to release.
P732/P735 Brake application time 1/2 1
2
AUTO
Setting range: 0 – 2 s
The brake application time of the matching motor is set as the factory setting.
Specifies the time required for the mechanical brake to apply. This parameter prevents
a sagging of the drive (particularly in hoists).
P74. Speed skip function
With these parameters, the motor speed can be prevented from persisting within a
certain speed window. This suppresses vibration and noise, in particular in machines
with pronounced mechanical resonance.
The parameters automatically have effect on positive and negative setpoints when activated. In the factory setting, the function is deactivated (P741/P743 Skip width 1/2
= 0).
The following figure shows the mechanism of the parameters:
Output speed
P741/P743
P740/P742
[3]
[1]
[2]
[4]
n setpoint
positive and negative
[1]
[2]
[3]
[4]
n setpoint
n setpoint on the integrator input
Ramps t11/t12
n setpoint on the integrator output
P740/P742 Skip center 1/2 1
2
Setting range: 0 – 1500 – 600 min-1
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18409535883
Parameter setting
Parameter descriptions
P741/P743 Skip bandwidth 1/2 1
13
2
Setting range: 0 – 300 min-1
P77. Energy-saving function
Energy can be saved in the operation of pumps, fans, conveyor belts etc. In this procedure, the magnetization of the asynchronous motor is controlled depending on the
load by adapting the voltage-frequency ratio; the motor is under-magnetized.
P770 Energy-saving function
Setting range: On/Off
The parameter is only effective in "VFC," "VFC & Group," "VFC & flying start function"
and "V/f characteristic curve" operating modes.
During no-load operation, the power consumption of the inverter can be reduced by up
to 70%. Observe the following limitations:
The energy-saving function offers advantages only in the part-load range.
•
No large step changes in load should occur during operation.
16998413/EN – 12/2016
•
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Parameter setting
Parameter descriptions
13.7.8
Parameter group 8: Device functions
Specific device functions are defined with this parameter group.
P80. Setup
P802 Factory setting
Setting range: No / standard / delivery state
Reestablishes the factory setting for the parameter saved in EEPROM.
INFORMATION
Before you reset the parameter, save the set parameter values with the
MOVITOOLS® MotionStudio engineering software. After the reset, you must readjust
the parameter values and terminal assignments in accordance with the requirements.
•
"Standard" setting: nearly all parameter values are overwritten. The following data
is not reset:
– Application module
– Fault memory
– Statistical data
– P20. Speed control (→ 2 199)
– P210 P gain hold controller (→ 2 201)
– P30./ P31. Limits 1/2 (→ 2 202)
– P32./P33. Motor compensation 1/2 (→ 2 203)
– P344 Interval for motor protection (→ 2 207)
– P345/346 IN/UL monitoring 1/2 (→ 2 208)
– P53. Motor temperature protection (→ 2 211)
– P70. Operating modes (→ 2 216)
– P73. Brake function (→ 2 219)
– P905 Hiperface offset (motor) (→ 2 234)
– P910 Gain X controller (→ 2 234)
– P94. IPOS encoder (→ 2 239)
•
Setting "Delivery state": All parameter values are overwritten.
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The 7-segment display of the device shows the status "8.8.8" during the reset. When
the reset is complete, the previous operating state of the device appears in the 7-segment display. The parameter automatically returns to the "no" setting.
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Parameter setting
Parameter descriptions
13
P803 Parameter lock
Setting range: On/Off
•
Setting "on:" The device can no longer be started. Any adjustment to the parameters is prevented. The following parameters are excluded from the inhibit:
– P803 Parameter lock
– P840 Manual reset (→ 2 226)
– P876 PO data enable (→ 2 230)
A parameter lock is useful, for example, after an optimized setting of the power
section "PFA-...".
•
Setting "Off": Parameter adjustments are possible.
P804 Reset statistics data
Setting range: No/error memory/kWh counter/operating hours
Resets the statistical data, error memory, kilowatt-hour meter, and operating hours
counter stored in EEPROM.
This data is not reset when selecting the "Standard" standard of the parameter P802
Factory setting (→ 2 222).
P82. Braking operation
P820/P821 4-quadrant - operation 1/2
Setting range: ON/OFF
The parameter is only effective in operating modes without encoder feedback (VFC
and V/f). 4-quadrant operation is assumed in all other operating modes.
•
If a braking resistor is connected to the device, the following 4-quadrant operating
modes are possible:
– Left/right
– Motor/regenerative
•
Parameter must be set to "OFF" if there is no braking resistor connected to device,
which means regenerative operation is not possible.
In these operating modes, the device attempts to extend the deceleration ramp so
the generated power is not too great and the DC link voltage remains below the
switch-off threshold.
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Despite the fact that the deceleration ramps are automatically extended by device,
it is possible that the regenerated power during braking may be too great, leading
to device switching itself off and issuing error message "F07 "(DC link overvoltage). In this case you have to extend the deceleration ramps manually.
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13
Parameter setting
Parameter descriptions
P83. Error responses
With these parameters, you set the response for occurring errors and faults.
The following table shows possible error responses:
Response
Description
No response
An error is not displayed, nor is an error response performed. The signaled error is ignored.
Display error
Display of error on the 7-segment display of the device and
in the MOVITOOLS® MotionStudio engineering software.
The device performs no other error responses.
The device can be reset by a device reset (terminal, fieldbus, auto reset).
Immediate stop/malfunction
Immediate switch-off of the device with error message.
The output stage is inhibited and the brake is applied.
The ready signal is revoked.
A restart is only possible after a fault reset has been performed during which the device is reinitialized.
Emergency stop/malfunction
The drive is braked with the emergency stop ramp t14/t24
(→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake is applied.
The error is signaled immediately.
The ready signal is revoked.
A restart is only possible after a fault reset has been performed during which the device is reinitialized.
Rapid stop/malfunction
The drive is braked with the stop ramp t13/t23 (→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake is applied.
The error is signaled immediately.
The ready signal is revoked.
A restart is only possible after a fault reset has been performed during which the device is reinitialized.
Immediate stop/Warning
Immediate switch-off of the device with error message.
The output stage is inhibited and the brake is applied.
The ready signal is not revoked.
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The drive restarts without device re-initialization if the error
is rectified by an internal procedure or by an error reset.
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Parameter setting
Parameter descriptions
Response
13
Description
Emergency stop/Warning
The drive is braked with the emergency stop ramp t14/t24
(→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake applied.
The error is signaled immediately.
The ready signal is not revoked.
The drive restarts without device re-initialization if the error
is rectified by an internal procedure or by an error reset.
Rapid stop/Warning
The drive is braked with the stop ramp t13/t23 (→ 2 197).
Once the stop speed is reached, the output stage is inhibited and the brake applied.
The error is signaled immediately.
The ready signal is not revoked.
The drive restarts without device re-initialization if the error
is rectified by an internal procedure or by an error reset.
P830 Response to ’External error’
Factory setting: Emergency stop/malfunction
Triggered only in the inverter status "Enabled" via an input terminal programmed to "/
External fault".
P832 Response to "Motor overload"
Factory setting: Emergency stop/malfunction
Triggered in case of a motor overload. Make one of the following settings to monitor
the motor overload:
•
In the parameter P340 Motor protection 1 (→ 2 205), the setting "One asynchronous motor"
•
In the parameter P340 Motor protection 1 (→ 2 205), the setting "One servomotor" and in the parameter P530 Sensor type 1 (→ 2 211) the setting "KTY"
P834 Response to "Lag error"
The response is possible only with one application module.
Factory setting: Emergency stop/malfunction
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Triggered via the lag error monitoring of the application module.
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13
Parameter setting
Parameter descriptions
P835 Response to "TF signal"
AUTO
Factory setting: No response
Triggered via the temperature sensor monitoring of the temperature sensor TF or TH
in the motor winding, as applicable.
P836 Response 'Timeout SBus 1'
Factory setting: Emergency stop/malfunction
Triggered via the system bus timeout monitoring.
P838 Response 'SW limit switch'
Factory setting: Emergency stop/malfunction
This response is triggered if a target position outside the software limit switch is specified in the referenced drive. The software limit switches are set using parameters
P920/P921 SW limit switch CW/CCW (→ 2 237).
P839 Response to "Positioning interruption"
Factory setting: No response
If the parameter P924 'Position interruption' detection (→ 2 238) is activated, this response is triggered upon interrupting a positioning process.
P84. Reset behavior
P840 Manual reset
Setting range: Yes/No
Set to "Yes": Resets the error in the power section "PFA-...". As soon as the reset
is carried out, the parameter automatically resets to the setting "No". Activating the
manual reset does not have any effect if there is no error present.
•
Set to "No": No reset is performed.
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•
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Parameter setting
Parameter descriptions
13
P841 Auto reset
Setting range: On/Off
DANGER
Risk of crushing if the motor starts up automatically after an auto reset.
Fatal or severe injuries and damage to property.
•
•
Do not use the auto-reset function with drives where an automatic restart could
represent a danger to people or devices.
•
Perform a manual reset.
Setting "On": Automatically performs a device reset in case of error after an adjustable wait period. The wait period is adjusted via the parameter P842 Restart
time (→ 2 227).
A maximum of 5 auto resets are possible during an auto reset phase. If 5 errors
occur that are reset by an auto-reset, no more auto-resets are possible until one of
the following situations occurs:
– A manual reset is performed using the input terminal
– A manual reset is performed via the serial interface
MOVITOOLS® MotionStudio engineering software or via the PLC)
(with
the
– There is a transition to 24 V backup mode, or the device is switched off completely
Five automatic resets are then possible again.
•
Setting "Off": No auto reset is performed.
P842 Restart time
Setting range: 1 – 3 – 30 s
Wait time that should occur between the moment an error occurs and the execution of
an automatic reset.
P85. Scaling actual speed value
Specifies a user-specific display parameter. The display parameter is shown in the
parameter P001 User display (→ 2 191).
Example
A scaling factor of 1/60 is required to display the actual speed value in s-1. The following settings must be specified for the display parameter:
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Parameter
Setting
P850 Scaling factor numerator
1
P851 Scaling factor denominator
60
P852 User unit
s-1
With these settings, an actual speed value of 1500 min-1 in the parameter P001 User
display is shown as 25 s-1.
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13
Parameter setting
Parameter descriptions
P850 Scaling factor numerator
Setting range: 1 – 65535
P851 Scaling factor denominator
Setting range: 1 – 65535
P852 User-defined unit
Factory setting: 1/min
The user unit can comprise a maximum of 8 ASCII characters. The user unit is shown
in the parameter P001 User display (→ 2 191).
P86. Modulation
P860/P861 PWM frequency 1/2 1
2
The parameter is only effective in the "VFC" operating mode.
Setting range: 4/8/12/16 kHz
Sets the clock frequency on the device output for parameter set 1/2. The set clock frequency can be permanently fixed with the parameter P862/P863 PWM fix 1/2
(→ 2 228).
If the clock frequency is not permanently fixed to the set value, the device automatically switches back to lower clock frequencies when the unit utilization reaches a specific level. The modulation frequency reduces switching losses in the output stage and,
consequently, unit utilization.
P862/P863 PWM fix 1/2 1
2
Setting range: On/Off
•
Setting "On": Fixes the set clock frequency set in the parameter P860/P861
PWM‑frequency 1/2 (→ 2 228) for parameter set 1/2. This prevents an automatic
reduction of the clock frequency (e.g. when using output filters).
•
Setting "Off": The device automatically reduces the set output frequency (down to
minimum 4 kHz) when there is a high level of thermal load on the output stage.
This is to avoid a switch-off of the device with the error message "Device utilization".
P864 PWM frequency CFC
The parameter is effective only in "CFC and "Servo" operating modes.
Sets the clock frequency on the device output for parameter set 1. The cycle frequency is set to a fixed value and is not automatically reduced with high unit utilization.
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Setting range: 4/8/16 kHz
Parameter setting
Parameter descriptions
13
P87. Process data description
P870/P871/P872 Setpoint description PO1/PO2/PO3
Defines the content of the process output data words PO1/PO2/PO3. The power section "PFA-..." can only allocate the corresponding setpoints according to this specification.
Specifically, the parameters are:
Parameter
Factory setting
P870 Setpoint description PO1
Control word 1
P871 Setpoint description PO2
Setpoint speed
P872 Setpoint description PO3
Ramp
The process output data words can be allocated as follows:
Assignment
Description
No function
The content of the process output word is ignored.
Setpoint speed
Setpoint speed in min-1
Set current
Current setpoint input with torque control
Set position low
Setpoint position low word
Set position high
Setpoint position high word
Max. speed
Maximum system speed (→ 2 202)
Max. current
Current limitation in % of IN of the device (→ 2 203)
Slip speed
Slip compensation (→ 2 205)
Ramp
Ramp time for setpoint selection
Control word 1
Control signals for start/stop, etc.
Control word 2
Control signals for start/stop, etc.
Setpoint
speed [%]
Setpoint speed specification in % of nmax
IPOS PO data
Specification of a 16-bit encoded value for an IPOSPLUS® application module
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For more detailed information, refer to the "Fieldbus Device Profile with List of Parameters" manual.
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13
Parameter setting
Parameter descriptions
P873/P874/P875 Actual value description PI1/PI2/PI3
Defines the content of the process input data words PI1/PI2/PI3. The power section
"PFA-..." can only allocate the corresponding actual values according to this specification.
Specifically, the parameters are:
Parameter
Factory setting
P873 Actual value description PI1
Status word 1
P874 Actual value description PI2
Actual speed
P875 Actual value description PI3
Output current
The process input data words can be allocated as follows:
Assignment
Description
No function
The content of the process input data word is 0000hex.
Actual speed
Current actual speed value of the drive in min-1
Output current
Present output current of the system in % of IN
Active current
Present active current of the system in % of the nominal device
current IN
Actual position
low 1)
•
Positive algebraic sign corresponds to a positive torque.
•
Negative algebraic sign corresponds to a negative torque.
Current actual position low word
Actual pos. high1) Current actual position high word
Status word 1
Status information of the device
Status word 2
Status information of the device
Actual speed [%] Current actual speed value in % of the maximum speed nmax
IPOS PE data
Response of a 16-bit encoded value for an IPOSPLUS® application
module
Status word 3
Status information of the device
1) The actual position is read in from the parameter P941 Source actual position. Both the low word and
the high word must be set.
For more detailed information, refer to the "Fieldbus Device Profile with List of Parameters" manual.
P876 PO data enable
•
Setting "On": The process output data that was last sent from the PLC becomes
effective.
•
Setting "Off": The last valid process output data remain in effect.
INFORMATION
If the process data assignment is changed, the parameter will automatically set to
"Off".
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Setting range: ON/OFF
Parameter setting
Parameter descriptions
13.7.9
13
Parameter group 9: IPOS parameters
These parameters can only be used in connection with IPOSPLUS® application modules.
DANGER
Risk of crushing if the motor starts up unintentionally.
Fatal or severe injuries and damage to property.
•
Ensure that the motor cannot start unintentionally.
•
Note that modifying these parameters without knowledge of the IPOSPLUS® application module which may be active can cause unexpected movements and place
unwanted loads on the mechanical drive train. It is essential that you are familiar
with the "Positioning and process control with IPOSPLUS®" manual to make the
setting for these parameters.
P90. IPOS reference travel
The purpose of reference travel is to establish a machine zero to which all absolute
positioning commands refer.
The parameter P903 Reference travel type (→ 2 233) specifies various reference
travel strategies which define the corresponding travel modes. For example, if a reference travel is carried out with a reference cam, the machine zero is calculated as follows:
Machine zero = reference position + reference offset
The reference position is determined in the reference travel and the reference offset in
the parameter P900 Reference offset (→ 2 232).
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The speeds of the travel movements required on the basis of the reference travel type
are set using P901 Reference speed 1 (→ 2 232) and P902 Reference speed 2
(→ 2 232).
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13
Parameter setting
Parameter descriptions
P900 Reference offset
Setting range: -(231-1) – 0 – (231-1)
Zero position correction for calculating the machine zero
All absolute positioning commands refer to the machine zero.
The machine zero is calculated as follows:
Machine zero = reference position + reference offset
The reference position is determined in the reference travel.
The reference offset always refers to the encoder. This encoder can be a motor encoder, an external encoder or a DIP encoder. Select the encoder in the parameter
P941 Source actual position (→ 2 239).
The actual positions are displayed in the following IPOSPLUS® variables:
•
The external encoder in the IPOSPLUS® variable H510 Actual position.
•
The motor encoder in the IPOSPLUS® variable H511 Actual position.
Reference offset becomes active after reference travel has been completed successfully.
INFORMATION
In the case of a reference travel with HIPERFACE® encoder, the value of the parameter P905 Hiperface-Offset (Motor) is recalculated and overwritten as follows:
Hiperface-offset = encoder value - reference offset
P901 Reference speed 1
Setting range: 0 – 200 – 6000 min-1
Specifies the travel speed for the first part of the reference travel until reaching the reference cam.
Stop ramp t13 (→ 2 197) is always used to change the speed. The search directions
during reference travel are determined by the respective reference travel type.
P902 Reference speed 2
Setting range: 0 – 50 – 6000 min-1
Specifies the travel speed for the second part of the reference travel from leaving the
reference cam until reaching the first zero pulse.
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Stop ramp t13 (→ 2 197) is always used to change the speed. The search directions
during reference travel are determined by the respective reference travel type.
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Parameter setting
Parameter descriptions
13
P903 Reference travel type
Setting range: 0 – 8
Reference travel strategy with which the machine zero of a system is specified. This
defines a travel mode for searching for a reference cam, for example.
This parameter also specifies the search direction for the reference cam in the individual referencing phases.
Use parameter P904 Referencing to zero pulse (→ 2 234) to determine if the reference travel takes place to the edge change of the reference cam or the next zero
pulse of the encoder.
An operationally ready and enabled drive is prerequisite for carrying out the reference
travel. The reference travel type 8 is an exception.
The following reference travel types are possible:
•
Type 0: CCW zero pulse
– First search direction: CCW
– Reference point: CCW zero pulse from current position
– Machine zero: Reference position + reference offset
•
Type 1: CW end of the reference cam
– First search direction: CCW
– Reference point: First zero pulse or falling edge to the left of the reference cam
– Machine zero: Reference position + reference offset
•
Type 2: CW end of the reference cam
– First search direction: CW
– Reference point: First zero pulse or falling edge to the right of the reference
cam
– Machine zero: Reference position + reference offset
•
Type 3: CW limit switch
– First search direction: CW
– Reference point: First zero pulse or falling edge to the left of the right limit
switch
– Machine zero: Reference position + reference offset
– Reference travel should take place to zero pulse.
•
Type 4: Limit switch left
– First search direction: CCW
– Reference point: First zero pulse or falling edge to the right of the left limit
switch
– Machine zero: Reference position + reference offset
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– Reference travel should take place to zero pulse.
•
Type 5: No reference travel
– Reference point: Current position (referencing with drive enable)
– Machine zero: Reference offset
•
Type 6: Reference cam flush with CW limit switch
– First search direction: CW
– Reference point: First zero pulse or falling edge to the left of the reference cam
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Parameter setting
Parameter descriptions
– Machine zero: Reference position + reference offset
– Reference cam and limit switches must be flush.
•
Type 7: Reference cam flush with CCW limit switch
– First search direction: CCW
– Reference point: First zero pulse or falling edge to the right of the reference
cam
– Machine zero: Reference position + reference offset
– Reference cam and limit switches must be flush.
•
Type 8: Resetting of encoder position for drive not ready for operation
– Reference point: Current position (referencing with drive enable)
– Machine zero: Reference offset
– Reference travel can take place when the drive is not enabled.
P904 Reference travel to zero pulse
Setting range: Yes/no
•
Set to "Yes": Reference travel takes place to the zero pulse of the selected
IPOSPLUS® encoder.
•
Set to "No": Reference travel takes place to the falling edge of the reference cam.
P905 Hiperface offset (motor)
Setting range: -(231 - 1) – 0 – (231 - 1)
Specifies the zero point of the encoder display.
Use this parameter to define the machine zero without reference travel. It adds or subtracts the offset from the encoder value. The IPOSPLUS® variable H511 Actual position
of the motor encoder is calculated directly after input of values as follows:
H511 = Encoder value - Hiperface-Offset
A HIPERFACE® multi-turn encoder must be referenced once, a HIPERFACE® singleturn encoder must always be referenced.
INFORMATION
In the case of a reference travel with HIPERFACE® encoder, the value of the parameter P905 Hiperface-Offset (Motor) is recalculated and overwritten as follows:
Hiperface-offset = encoder value - reference offset
Contains the number of increments from leaving the reference cam to the zero pulse
of the motor encoder. The parameter is displayed following successfully completed
reference travel.
Ideally, the cam distance is half the encoder resolution after 4x evaluation. In order to
approach the ideal case, you may have to adjust the cam.
P91. IPOS travel parameters
P910 Gain X controller
Setting range: 0.1 – 0.5 – 32
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P906 Cam distance
Parameter setting
Parameter descriptions
13
Setting value for the P controller of the position control loop in the IPOSPLUS® application module
In the basic setting, the value of the parameter P210 P‑gain hold controller (→ 2 201)
is accepted.
P911/912 Positioning ramp 1/2
Setting range: 0.01 – 1 – 20 s
Value set for the ramp used during the positioning operation.
•
The positioning ramp 1 is always used in the case of a sinusoidal or square ramp
for acceleration and brake deceleration.
•
In the case of a linear ramp, the brake deceleration is set depending on the ramp
mode (→ 2 236).
– If the ramp mode "Mode 1" is set, braking deceleration for travel to target position (spot braking) only takes place with positioning ramp 2. Positioning ramp 1
is used for all other positioning operations.
– If the ramp mode "Mode 2" is set, positioning ramp 2 is always used during
travel for brake deceleration when changing the travel speed. Positioning
ramp 1 is used for acceleration.
P913/P914 Travel speed CW/CCW
Setting range: 0 – 1500 – 6000 min-1
Speed used for positioning. It is limited by the maximum speed of the
motor (→ 2 202).
INFORMATION
In order to prevent a lag error, always set the maximum speed about 10% greater
than the travel speed.
P915 Velocity precontrol
Parameter is only in effect with the "linear" and "jerk limited" ramp types. The function
has no effect for the ramp types "Sine" and "Squared".
Setting range: -199.99 – 0 – 100 – 199.99%
Setting "100%": The drive runs optimally with regard to time using the linear velocity profile.
•
If a value less than 100% is specified, a larger gap between position setpoint and
actual position occurs (lag distance) during a positioning operation. This results in
a "soft" run-in to the target position for the acceleration procedure.
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•
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Parameter setting
Parameter descriptions
P916 Ramp type
Specifies the type of positioning ramp. This influences the speed or acceleration characteristics during positioning.
The following ramp types are possible:
Ramp type
Positioning characteristics
Linear
Optimum time, however block-shaped acceleration characteristic
Squared
Softer acceleration, but higher torque demand than Ramp type
"linear"
Sine
Very soft acceleration profile, but required torque higher than
with "Squared" acceleration profile
Bus ramp
Setting for operation of the device with a PLC.
The PLC generates a cyclical position setpoint that is written
directly to the position controller. The ramp generator is deactivated. The position specifications sent cyclically by the PLC
are interpolated linearly. For configuration, one process output
data word must be set to "position high" and another one to
"position low".
Jerk limitation
Based on the principle of the linear ramp, the torque and,
therefore, the acceleration is trapezoidal.
During acceleration, the torque is increased over time in linear
form to the maximum value. In the same way, the torque is reduced again over time in linear form to zero. Consequently,
the system experiences almost no vibration.
If a jerk time is set, the positioning time extends relative to the
linear ramp by the set jerk time (→ 2 238). The acceleration
and torque do not increase in comparison with the linear ramp.
P917 Ramp mode
The parameter is only in effect with the "linear" ramp type.
Setting range: Mode 1/Mode 2
Determines use of the positioning ramp 2 (→ 2 235).
•
Adjustment "Mode 1": Braking deceleration for travel to target position (spot braking) takes place only with positioning ramp 2. Positioning ramp 1 is used for all
other positioning operations.
•
Adjustment "Mode 2": If the travel speed changes during travel, the positioning
ramp 2 is always used for brake deceleration. Positioning ramp 1 is used for acceleration.
If 12 bit or 16 bit position interpolation is active, it runs in mode 2 without dead time
compensation.
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If 12 bit or 16 bit position interpolation is active, it runs in mode 1 without dead time
compensation.
Parameter setting
Parameter descriptions
13
P918 Bus setpoint source
Setting range: 0 – 499 – 1023
Sets the source for the setpoint in the IPOSPLUS® application module when operating
with EtherCAT®.
P92. IPOS monitoring
P920/P921 SW limit switch CW/CCW
The software limit switches are only monitored in IPOSPLUS® Operating modes.
Setting range: -(231-1) – 0 – (231-1)
Specifies the limits of the target range in the software in which the travel commands
are still accepted.
If P941 Source actual position (→ 2 239) is set to "motor encoder" or "external encoder", then the software limit switches do not take effect until after performance of a
reference travel.
If the target position H492 of the current travel command is outside of the active software limit switch, the travel command is not executed. The drive responds accordingly
to the error response set in the parameter P838 Response ’SW limit switch’
(→ 2 226). If the error responses "../warning" or ".../error" are set, then error message
"A1.F78" (IPOS SW limit switch) is displayed:
•
Setting ".../error": After an error reset, the drive is no longer referenced with the incremental encoder. The software limit switches have no effect. They are only activated again after the drive has been referenced. A drive with absolute encoder, by
contrast, remains referenced even after a fault reset.
•
Setting ".../Warning": The drive remains referenced after an error reset. However,
the drive can move past the target specified due to the mass moment of inertia of
the machine or if the parameter settings are set incorrectly in the controller. Software limit switches cannot prevent this from happening.
For deactivation, both limit switches must be set to "0" (e.g. for continuous travel).
P922 Position window
Setting range: 0 – 50 – 32 767 incr.
Defines a distance range (position window) around the target position of a travel or
stop command. The "Axis in position = Yes" condition applies if a drive is inside the
position window around the current target position (H492). The "Axis in position" information is used as a final condition for waiting positioning commands.
P923 Lag error window
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Setting range: 0 – 5000 – (231-1) incr.
Defines a permitted difference between the setpoint and actual position value. The lag
error response that is set in the parameter P834 Response to 'lag error' (→ 2 225)is
triggered upon exceeding.
The setting "0" deactivates the lag error monitoring.
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Parameter setting
Parameter descriptions
P924 Positioning interruption detection
Setting range: On/Off
Adjusts whether an interruption of the positioning process (withdrawal of enable) is
monitored. The error response is set in the parameter P839 Response to 'Positioning
interruption' (→ 2 226).
P93. IPOS Special functions
P930 Override
Setting range: On/Off
Enables the change to the travel speed of the positioning processes programmed in
the IPOSPLUS® application module. The change occurs in the range from 0 – 150% of
the respectively programmed velocity. This requires an analog input, with 0 – 150%
corresponding to 0 – 10 V at the analog input. The maximum speed value is limited by
the maximum speed of motor (→ 2 202).
P933 Jerk time
Setting range: 0.005 – 2 s
Duration of the torque build-up
If the jerk time is less than or equal to the positioning ramp 1 and 2 (→ 2 235), the
positioning time extends relative to the linear ramp by the set jerk time. Otherwise, the
torque build-up continues to be trapezoidal and the set jerk time does not correspond
to the duration of the torque build-up.
P938/P939 IPOS speed task 1/task 2
Setting range: 0 – 9 additional assembler commands/ms
Increases the speed by up to 9 additional assembler commands per millisecond. The
resources for the speed increase are divided between task1 and task2: Task1 and
Task2 may be assigned together with 9 additional assembler commands per millisecond.
The default setting for task1 is "1" and "2" for task2. For example, a possible speed increase is:
Task 1 + 2 additional assembler commands/ms = 3 assembler commands/ms
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Task 2 + 7 additional assembler commands/ms = 9 assembler commands/ms
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Parameter setting
Parameter descriptions
13
P94. IPOS encoder
P941 Source of actual position
Setting range: Motor encoder/Ext. Encoder
Defines the encoder to which the IPOSPLUS® application module positions.
P948 Automatic encoder replacement detection
The parameter is only effective with HIPERFACE® encoders.
Setting range: On/Off
•
Setting "On:" A replaced HIPERFACE® encoder is detected. Reference travel is
required before the "IPOS referenced" bit is set.
•
Setting "Off": The HIPERFACE® encoder is always referenced. The "IPOS referenced" bit is set.
INFORMATION
If the parameter is switched off and on again, the "IPOS referenced" bit is set to "0"
once you have restarted the device. Reference travel is necessary to reset the "IPOS
referenced" bit to "1".
P96. IPOS Modulo function
These parameters serve for continuous positioning, such as in the case of rotary
tables or chain conveyors. For more information, refer to the "MOVIDRIVE® MDX60B /
61B application "Modulo positioning"" manual
Note that the following prerequisite must be met:
Maximum target position <
231
P 963 × P 961
19032235915
P960 Modulo function
Setting range: Off/short/CW/CCW
Setting "Off": The modulo function is deactivated.
•
Setting "Short": The "short travel" modulo function is active. The drive moves from
the actual position to the target position taking the shortest possible route. Both
directions of rotation are possible.
•
Setting "CW": The "CW" modulo function is active. The drives moves from its actual position to the target position with a "CW" direction of rotation, even if this
means moving a longer distance. The "CCW" direction of rotation is not possible.
•
Setting "CCW": The "CCW" modulo function is active. The drives moves from its
actual position to the target position with a "CCW" direction of rotation, even if this
means moving a longer distance. The "CW" direction of rotation is not possible.
16998413/EN – 12/2016
•
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
239
13
Parameter setting
Parameter descriptions
P961 Modulo numerator
Setting range: 1 – (231 - 1)
Simulation of the gear unit
The modulo numerator is calculated with the tooth numbers of gear unit and additional
transmission as follows:
Modulo numerator = Numerator gear unit i × numerator additional transmission i
P962 Modulo denominator
Setting range: 1 – (231 - 1)
Simulation of the gear unit
The modulo denominator is calculated with the tooth numbers of gear unit and additional transmission as follows:
Modulo denominator = Denominator gear unit i × denominator additional transmission i
P963 Modulo encoder resolution
Setting range: 1 – 4096 – 65535
Resolution of the selected IPOSPLUS® encoder system in increments
16998413/EN – 12/2016
The IPOSPLUS® encoder resolution for positioning to the motor encoder will be set to
4096 increments (prerequisite is an encoder resolution of 512 to 2048).
240
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Parameter setting
Parameter overview of encoder option
13.8
13
Parameter overview of encoder option
The encoder option is parameterized by the startup (→ 2 156). You have to specify
the encoder connected to device and the corresponding resolution.
In addition, you can make adjustments in the parameter tree of the
MOVITOOLS® MotionStudio engineering software, e.g. the counting direction or the
clock frequency.
9007202284802059
Parameter
Description
Encoder type
Indicates the encoder set via the startup.
Encoder scaling numerator
Indicates the numerator of the encoder scaling set via the
startup.
Encoder scaling denominator
Indicates the denominator of the encoder scaling set via the
startup.
Counting direction
Defines the counting direction of the connected encoder. Note
that the encoder must count positively when the motor shaft
rotates clockwise.
•
Setting "With overflow counter": Encoder overflows are
counted and an internal 32-bit position is generated in the
device.
•
Setting "Single-turn absolute position": The position is displayed via a single-turn absolute encoder according to the
encoder information. Encoder overflows are not counted.
•
Setting "Linear mode": The position is displayed according
to the encoder information. Encoder overflows are not
counted.
16998413/EN – 12/2016
Position mode
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
241
13
Parameter setting
Parameter overview of encoder option
Parameter
Encoder monitoring
motor/track
Description
•
Setting "On": A sin/cos or TTL encoder directly detects a
wire break between the device and the encoder. In the
case of a defective connection, the error message
"A1.F14" (encoder) is displayed. The error message is also
generated in the inhibited state of the device.
•
Setting "Off": A wire break between the device and encoder is not detected directly. If the speed monitoring is not
deactivated, the error message "A1.F08" (speed monitoring) is displayed in the case of a defective connection. The
error message is only generated in the enabled state of the
device.
NOTE If you use a HIPERFACE® encoder, encoder monitoring
is always active regardless of the parameter setting.
Setting range: -231 – 0 – 231-1
Position offset
The parameter has to be set only on rotary encoders. For
other encoders, the parameter must be set to "0".
NOTE In the case of a reference travel, the position value is
automatically recalculated and overwritten.
Setting range: 125, 250, 500, 1000, 2000 kHz
SSI clock frequency
EnDat clock frequency
Setting range: 125, 250, 500, 1000, 2000 kHz
Defines the clock frequency at which absolute encoder information is transmitted from the encoder to device.
Setting range: 125, 250, 500 kBaud, 1 MBaud
Determines the transmission speed of the CAN bus.
16998413/EN – 12/2016
CANopen baud rate
Defines the clock frequency at which absolute encoder information is transmitted from the encoder to device.
242
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Service
Device replacement
14
Service
14.1
Device replacement
14
The device allows for a quick device replacement. It is equipped with a replaceable
SD memory card on which all device data is stored. If the device has to be replaced,
the plant can be started up again quickly by simply exchanging the SD memory card.
14.1.1
Prerequisites for successful device replacement
Observe the following:
14.1.2
•
The devices that you want to exchange must be identical. If the devices have different configurations, a successful device replacement cannot be guaranteed.
•
You must save the data of the device to be replaced on the SD memory card before you replace the device. SEW‑EURODRIVE recommends to always backup
the data right after starting up a device.
•
Insert or remove the SD memory card only when the device is switched off.
•
With programmable devices, note that the status display depends on programming. The module for the data backup function (data management) must be integrated in the program.
Replacing the device
Proceed as follows:
1. Perform a data backup via MOVITOOLS® MotionStudio if you are not certain
whether the current device parameterization is stored on the SD memory card.
2. Disconnect the device from the supply system.
3. Remove it from the system.
4. Remove the memory card cover from the housing cover.
5. To do so, remove the SD memory card from the device to be replaced.
6. Insert the SD memory card into the new device.
7. Install the new device in the plant. Connect it to the supply system.
8. Switch on the new device.
INFORMATION
16998413/EN – 12/2016
The device performs several initialization steps. Do not switch off the device during
this time.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
243
14
Service
Device replacement
7-segment display:
Status LED S2: flashing green/orange
The data backup of the communication and control unit is restored.
This can take several minutes.
Do not switch off the device during this process!
> 5 minutes
Incorrect version of
bootloader software
Chapter
"SD memory card
as spare part"
Status LED S2: flashing green
Status LED S3: is lit green
7-segment display:
The data of the communication and control unit have been restored. Carry out a DC 24 V
reset by switching the device off and back on again.
7-segment display:
–
Boot sequence is active.
Status LED S2: flashing green
Status LED S3: is lit green
7-segment display:
The data backup of the power section is restored.
7-segment display:
Status LED S2: flashing green
Status LED S3: is lit green
3 seconds
The data backup has been completely restored.
27021599717141259
The parameters saved on the SD memory card are now available again. If a different parameter set is needed for the new device, change the parameter set now.
Back up the changed data on the SD memory card again after startup.
•
For applications with encoders, observe the chapter "Reference travel after device
or encoder replacement" (→ 2 246).
16998413/EN – 12/2016
•
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Service
Device replacement
14.1.3
14
SD memory card as spare part
If you have ordered an SD card as spare part, it is possible that the versions of the
bootloader software are different for the SD memory card and your device.
In this case, the device remains in the following state for more than 5 minutes:
7-segment display
Status LED S2
8.8.8 flashing
Flashing green/orange
Proceed as follows:
1. Disconnect the device from the supply system.
2. Unscrew the memory card cover.
3. Remove the SD memory card.
4. Connect an SD card reader to your PC.
5. Insert the SD memory card in the SD card reader. On your PC, go to [Computer] >
[SD] > [System] > "BootConfig.cfg".
6. Open the file "BootConfig.cfg" with a text editor.
7. Search the file for the following expression:
<!-- Confirm bootloader update with reset button? -->
<ConfirmBlUpdateWithResetBtn>true</ConfirmBlUpdateWithResetBtn>
8. Change the value "true" to the value "false" for the parameter.
The expression must now be:
<ConfirmBlUpdateWithResetBtn>false</ConfirmBlUpdateWithResetBtn>
9. Save the file.
10. In the status bar, click [Safely remove hardware]. As soon as the PC confirms this,
you can remove the SD memory card from the SD card reader.
11. Insert the SD memory card into the slot of the device and screw the memory card
cover back on.
12. Connect the device to the supply system.
16998413/EN – 12/2016
13. Observe the instructions in chapter "Device replacement" (→ 2 243) from step 8
onwards.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
245
14
Service
Reference travel after device or encoder replacement
14.2
Reference travel after device or encoder replacement
14.2.1
Incremental encoder
If incremental encoders are used for positioning, a reference travel must be performed
after device startup. This way, no special measures are required.
14.2.2
Absolute encoder
The device stores the position of absolute encoders with 32 bit. This allows for representing a larger absolute area than with an encoder with typical 12 bits in the singleturn range and 12 bits in the multi-turn range.
Perform a reference travel if you replaced the encoder.
14.2.3
Linear encoder systems
If you replace an absolute linear encoder system without encoder overflow in such a
way that the encoder system provides the same values as before the replacement, a
reference travel is not required.
14.2.4
HIPERFACE® encoders
With HIPERFACE® encoders, you can use parameter P948 to specify whether or not a
reference travel is required after an encoder replacement.
14.3
Service unit
The service unit is used for startup, diagnostics and maintenance of the device. It is
equipped with a status display and an Ethernet service interface. The following figure
shows the service unit:
[1]
[2]
[3]
27021606021937419
[1]
[2]
[3]
[4]
Service unit
Status display
Ethernet service interface (Ethernet RJ45)
Status LEDs
The status display and status LEDs display status and error messages and thus enable you to record the current state of the device.
246
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
[4]
Service
Service unit
14.3.1
14
Ethernet service interface
The Ethernet service interface connects the device with an engineering PC for configuration and maintenance purposes.
Tools required
Wrench with wrench size 8
Required material
Ethernet cables with RJ45 plug connectors
Connecting the engineering PC with the Ethernet service interface
1. Remove the screw plug using the wrench.
2. Plug an RJ45 plug connector of the Ethernet cable into the Ethernet service interface.
3. Plug the other RJ45 plug connector of the Ethernet cable into the Ethernet service
interface of the engineering PC.
Addresses
Standard IP address: 192.168.10.4
•
Subnet mask: 255.255.255.0
16998413/EN – 12/2016
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247
14
Service
List of power section errors
14.4
List of power section errors
The factory set error response is listed in the "Response (P)" column. "(P)" means that
the response can be set with parameter P83_error response.
00
No fault
01
Overcurrent
Response Sub(P)
code
Meaning
Possible cause
Immediate 0
stop
1
Output stage
•
5
VCE monitoring or
•
undervoltage
monitoring of the •
gate driver
Inverter remains
in hardware current limit
Measure
Short circuit at out- •
put
Eliminate short circuit
Motor too large
•
Defective output
stage
Connect a smaller
motor
•
Contact
SEW‑EURODRIVE
Service if the output stage is defective
•
Ramp limit is deactivated and set
ramp time is too
short
•
Braking resistance •
value too low
Short circuit in the •
•
braking resistor circuit
•
248
03
Ground
fault
Immediate 0
stop
04
Brake
chopper
Immediate 0
stop
1
DC link voltage
too high in 4Q
operation.
Extend the ramp
time
Check technical
data of braking
resistor
Check braking resistor supply cable
•
Too much regener- •
ative power
Extend deceleration ramps
•
Interruption in
•
braking resistor circuit
Check supply
cable to braking
resistor
•
Short circuit in the •
braking resistor circuit
Check technical
data of braking
resistor
•
Braking resistance •
too high
•
Brake chopper defective
Replace device if
the brake chopper
is defective
06
Line phase Immediate 0
failure
stop
DC link voltage
periodically too
low
Phase failure
Check the supply system cable
07
DC link
overvoltage
DC link voltage
too high in 2Q
operation
DC link voltage too
high
•
Extend deceleration ramps
•
Check supply
cable to the braking resistor
•
Check technical
data of braking
resistor
Immediate 0
stop
1
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
Code Meaning
Service
List of power section errors
Code Meaning
08
Response Sub(P)
code
Speed
Immediate 0
monitoring stop (P)
3
Meaning
Possible cause
Inverter in current •
limiting or in slip
limit
Reduce load
•
Increase delay
time setting (P501/
P503).
•
Check encoder
connection, swap
A/A and B/B pairs
if necessary
•
Encoder not connected correctly or
incorrect direction •
of rotation
Check the voltage
supply of the encoder
•
nmax is exceeded
during torque control.
•
Extend ramps if
necessary
•
Maximum rotating field frequency (with VFC
max 150 Hz and •
V/f max 600 Hz)
exceeded
In VFC operating
mode: Output frequency > 150 Hz
•
Check motor cable
and motor
•
Check line phases
Speed difference
between ramp
setpoint and actual value for 2 × •
ramp time higher
than expected
slip
4
09
10
16998413/EN – 12/2016
11
Startup
IPOS®-ILLOP
Overtemperature
Immediate 0
stop
1
Maximum rotating field speed
exceeded
Startup missing
Wrong operating
mode selected
2
Wrong encoder
type or defective
encoder card
Emergency 0
stop
Invalid IPOSplus®
command
Emergency 0
stop (P)
3
Measure
•
"Actual speed"
system limit exceeded
Speed/current controller (in VFC operating mode
without encoder)
operating at setting
limit due to mechanical overload or
phase failure in the
supply system or
motor
14
Check current limiting
In V/f operating
mode: Output frequency > 600 Hz
The inverter has not
been started up for the
selected operating
mode or the encoder
data has not been
loaded yet.
Perform the startup for
the respective operating mode or start up
the encoder.
•
Incorrect command •
detected during
running of
IPOSplus® program
Check content of
program memory
and correct if necessary
•
Incorrect conditions during command execution
•
Load the correct
program into the
program memory
•
Reload the application module
Heat sink temper- Thermal overload of
ature too high or inverter
defective temperature sensor
Reduce load and/or
ensure adequate cooling
Overtemperature
switched-mode
power supply
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
249
14
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
14
Immediate 0
stop
Encoder not con- •
nected, defective
encoder, defective encoder cable •
Encoder
25
Motor encoder
error – Speed
range exceeded
Possible cause
•
Encoder cable or
shield not connected correctly
Short circuit/wire
break in encoder
cable
Measure
Check encoder cable
and shield for correct
connection, short circuit and wire breaks.
Encoder defective
Encoder on motor encoder exceeds 6542 min-1
26
Motor encoder
error – Card is
defective
Error in the quadrant evaluation
27
Encoder error –
encoder connection or encoder is
defective
28
Motor encoder
error – Communication error
RS485 channel
29
External encoder
error – Communication error
RS485 channel
30
Unknown encoder type on the
external encoder/
motor encoder
31
Plausibility error
of HIPERFACE®
on the external
encoder/motor
encoder
16998413/EN – 12/2016
Increments have
been lost.
250
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
14
Immediate 32
stop
HIPERFACE® en- •
coder on motor
encoder reports
an error
•
Encoder
33
34
Possible cause
®
HIPERFACE encoder on external
•
encoder reports
an error
Encoder cable or
shield not connected correctly
Short circuit/wire
break in encoder
cable
14
Measure
Check encoder cable
and shield for correct
connection, short circuit and wire breaks.
Encoder defective
Encoder fault motor encoder resolver
Encoder connection or encoder is
defective
17
System
error
Immediate 0
stop
"Stack overflow"
error
0
"Stack underflow"
error
19
0
"External NMI"
error
20
0
"Undefined opcode" error
21
0
"Protection fault"
error
22
0
"Illegal word operand access"
error
23
0
"Illegal instruction
access" error
24
0
"Illegal external
bus access" error
•
Check grounding
and shielding and
improve, if necessary
Contact
SEW‑EURODRIVE
Service if the error
reoccurs
16998413/EN – 12/2016
18
•
Inverter electronics
disrupted, possibly
due to EMC influences
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
251
14
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
Possible cause
Measure
25
Rapid stop 0
Read or write
error on
EEPROM power
section
Error while accessing
EEPROM
•
Restore factory
settings, perform
reset and reset
parameters
•
Contact
SEW‑EURODRIVE
Service if the error
reoccurs
EEPROM
11
NV memory read
error
Internal NVRAM
13
NV memory chip
card
System module
defective
14
NV memory chip
card
Memory card defective
16
NV memory initialization error
26
External
terminal
Emergency 0
stop (P)
External terminal
Read external error
signal via programmable input
27
No limit
switches
Emergency 0
stop
Limit switches
missing or wire
break
•
2
3
29
Emergency 0
stop
Emergency Immediate 0
stop
stop
timeout
Both limit
switches are active simultaneously
Open circuit/both
•
limit switches missing
•
Limit switches are
swapped over in
•
relation to direction
of rotation of motor
Check wiring of
limit switches
Swap limit switch
connections
Reprogram terminals
HW limit switch
reached
A limit switch has been •
reached in IPOSplus®
•
operating mode (only
with application
module).
Check travel range
Timeout stop
emergency stop
rate
•
Drive overloaded
•
•
Emergency stop
ramp too short
Check configuration
•
Extend emergency
stop ramp
Correct user program
16998413/EN – 12/2016
30
Limit
switch
reached
Limit switches re- •
versed
Eliminate respective
cause; reprogram terminal if necessary
252
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Service
List of power section errors
Code Meaning
31
Response Sub(P)
code
TF/TH trig- No re0
ger
sponse (P)
Meaning
Possible cause
Measure
Thermal motor
protection error
•
Motor too hot, TF/
TH has triggered
•
Let motor cool off
and reset error
•
TF/TH of the motor •
not connected or
connected incorrectly
•
Device connection
and TF/TH connection on motor
interrupted
Check connections/link between
device and TF/TH
•
IPOS® index overflow
Emergency 0
stop
IPOSplus® program Programming prinReload the application
faulty
ciples violated leading module
to system internal
stack overflow
34
Ramp
timeout
Immediate 0
stop
Timeout rapid
stop ramp
Operating
mode
Immediate 0
stop
1
Operating mode
not available
Incorrect assignment of operating
mode and hardware
Downward ramps
timeout, e.g. due to
overload.
•
Extend the downwards ramps
•
Eliminate overload
Operating mode not
defined or defined incorrectly
Use P700/P701 to set
correct operating
mode
37
System
watchdog
Immediate 0
stop
"System watchdog overflow"
error
Error while executing
system software
Contact
SEW‑EURODRIVE
Service
38
System
software
Immediate 0
stop
"System software" error
System error
Contact
SEW‑EURODRIVE
Service
39
Reference
travel
Immediate 0
stop (P)
"Reference
travel" error
•
•
•
16998413/EN – 12/2016
Set P835 to "No
response"
32
35
The reference cam •
is missing or does
not switch
•
Limit switches are
connected incor•
rectly
Reference travel
type was changed
during reference
travel
14
Check reference
cams
Check limit switch
connection
Check reference
travel type setting
and required parameters
40
Boot synchronization
Immediate 0
stop
Timeout during
Error during boot synboot synchroniza- chronization between
tion
inverter and option.
Contact
SEW‑EURODRIVE
Service if the error reoccurs
41
Watchdog
option
Immediate 0
stop
Error – Watchdog Error in communicatimer from/to op- tion between system
tion.
software and option
software
Contact
SEW‑EURODRIVE
Service
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
253
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
Possible cause
Measure
42
Immediate 0
stop (P)
Positioning lag
error
•
•
Lag error
•
43
44
Manual
mode
timeout
Immediate 0
stop (P)
Device util- Immediate 0
ization
stop
254
Initialization
•
Acceleration ramps •
too short
Check rotary encoder connection
Extend ramps
Set P component
to higher value
•
P component of
•
positioning controller too small
Set speed controller parameters
again
•
Incorrectly set
speed controller
parameters
•
Increase lag error
tolerance
•
Value of lag error
tolerance too small
•
Check wiring of encoder, motor and
line phase
•
Make sure mechanical parts can
move freely, check
whether they are
blocked
Manual mode not
completed correctly.
a) Activate
mode.
manual
ð Manual mode was
completed
correctly.
8
45
Manual mode
timeout
Rotary encoder
connected incorrectly
Immediate 0
stop
Device utilization
error
Device utilization (IxT
value) > 125%
UL monitoring
error
General error
during initialization
3
Data bus error
during RAM
check
6
CPU clock error
7
Error in the current detection
10
Error when setting flash protection
11
Data bus error
during RAM
check
No parameters set for
EEPROM in power
section, or parameters
set incorrectly
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
•
Decrease power
output
•
Extend ramps
•
If suggested actions are not possible, use a larger
inverter
•
Reduce load
Restore delivery state
(P802)
If error cannot be reset
afterwards, contact
SEW‑EURODRIVE
Service
16998413/EN – 12/2016
14
Service
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
Possible cause
Measure
47
System
bus 1
timeout
Rapid stop 0
(P)
Timeout system
bus CAN1
Error during communication via system
bus 1.
Check system bus
connection
57
TTL encoder
Immediate 1
stop
TTL encoder:
Wire break
512
TTL encoder: Error in amplitude
control
541
TTL encoder: Incorrectly set numerator/denominator values
14
Set the correct system
numerator/denominator values.
16385 TTL distance encoder: Wire break
16896 TTL distance encoder: Error in
amplitude control
16898 TTL distance encoder: Incorrectly
set numerator/denominator values
58
Sin/cos en- Immediate 1
coder
stop
Set the correct system
numerator/denominator values.
Sin/cos encoder:
Wire break
512
Sin/cos encoder:
Error in amplitude
control
514
Sin/cos encoder:
Track signal error
515
Sin/cos encoder:
Incorrectly set
numerator/denominator values
Set the correct system
numerator/denominator values.
16385 Sin/cos distance
encoder: Wire
break
16998413/EN – 12/2016
16896 Sin/cos distance
encoder: Error in
amplitude control
16898 Sin/cos distance
encoder: Track
signal error
16899 Sin/cos distance
encoder: Incorrectly set numerator/denominator
values
Set the correct system
numerator/denominator values.
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
255
14
Service
List of power section errors
Code Meaning
59
Response Sub(P)
code
Encoder
Rapid stop 1
communication
2
16
64
Meaning
Possible cause
Measure
Hiperface® encoder: Track signal error
Hiperface® enIncorrect calibration of •
coder: Calibration encoder
error
•
Restore delivery
state (P802)
Repeat encoder
startup
Hiperface® encoder: Communication error
Device and
Check wiring
HIPERFACE® encoder
connection interrupted
EnDat encoder:
Communication
error
Device and EnDat en- Check wiring
coder connection interrupted
128
192
256
320
384
448
512
576
1024
1088
1152
1216
1280
1388
16385 HIPERFACE®
distance encoder:
Track signal error
Restore delivery
state (P802)
Repeat encoder
startup
16998413/EN – 12/2016
16386 HIPERFACE®
Incorrect calibration of •
distance encoder: encoder
Calibration error
•
256
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Service
List of power section errors
Code Meaning
59
Response Sub(P)
code
Meaning
Encoder
Rapid stop 16400 HIPERFACE®
communicdistance encoder:
16448
ation
Communication
16512 error
Possible cause
14
Measure
Device and
Check wiring
HIPERFACE® distance
encoder connection interrupted
16576
16640
16704
16768
16832
17408 EnDat distance
encoder: Com17472
munication error
17536
Device and Endat dis- Check wiring
tance encoder connection interrupted
17600
17664
17772
77
IPOS® con- No re0
trol word
sponse (P)
Invalid IPOSplus®
control word
Only in IPOSplus® operating mode:
•
•
78
Software limit
switch reached
RAM test
"RAM test" error
Immediate 0
stop
An attempt was
made to set an in- •
valid automatic
mode (via external
controller).
•
"P916 = Bus ramp"
is set
Check serial connection to external
controller
Check write values
of external controller
Set correct value
for P916
Only in IPOSplus® operating mode:
•
Check user program
Programmed target
position is outside
travel range delimited
by software limit
switches
•
Check position of
software limit
switches
Internal device error,
memory defective
Contact
SEW‑EURODRIVE
Service
16998413/EN – 12/2016
80
IPOS® soft- No re0
ware limit sponse (P)
switch
•
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
257
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
81
Immediate 0
stop
Start condition
Only in "VFC &
error with "VFC & hoist" operating
hoist"
mode:
Start condition
Possible cause
Measure
•
The motor could not
•
be supplied with the
correct amount of current during the pre•
magnetization time:
82
84
Open output
Motor protection
Immediate 0
stop
Emergency 0
stop (P)
2
86
Nominal motor
power too small in
relation to rated inverter power
•
Motor cable cross
section too small
Output open with Only in "VFC &
"VFC & hoist"
hoist" operating
mode:
"Motor temperature simulation"
error
Short circuit or
wire break in the
temperature
sensor
3
No thermal motor
model available
4
UL monitoring
error
11
Temperature
sensor short circuit
Power sec- Immediate 0
tion
stop
memory
•
Error during connection with the
memory
•
•
2 or all output
phases interrupted
•
Nominal motor
power too small in
relation to rated inverter power
•
Motor utilization
too high
•
IN-UL monitoring
triggered
•
P530 set later to
"KTY"
•
•
88
Flying start Immediate 0
stop
"Flying start"
error
Check connection
between inverter
and motor
Check cross section of motor cable
and increase if necessary
Check connection
between inverter
and motor
Check startup data
and perform new
startup, if necessary
•
Reduce load
•
Extend ramps
•
Observe longer
pause times
•
Check P345/P346
•
Select a larger motor
The parameter
data of the power
section are inconsistent.
Restore the delivery
state of the device. If
this does not rectify
the fault, replace the
The memory is de- device.
fective.
Only in "VFC n-control" mode:
Actual speed > 6000
min-1 when inverter enabled
258
•
Check startup data
and perform new
startup, if necessary
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Enable not unless actual speed
≤ 6000 min-1
16998413/EN – 12/2016
14
Service
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
Possible cause
Measure
94
Immediate 0
stop
Power section
parameters
Inverter electronics
disrupted, possibly
due to effect of EMC
influence or a defect.
Send the device to
SEW‑EURODRIVE for
repair.
•
Error during data
transmission
•
Repeat copying
process
•
Memory can
neither be written
nor read
•
Restore delivery
state (P802) and
repeat copying
process
16998413/EN – 12/2016
97
EE-ROM
checksum
5
Control unit data
6
Power section
data
7
Invalid version of
the configuration
data set
Copy error Immediate 0
stop
Parameter set
upload is/was
faulty
1
Parameter set
download to
device cancelled
2
Not possible to
adopt parameters
98
CRC error
Immediate 0
stop
"CRC via internal Internal device fault
flash" error
Flash memory defective
99
IPOS®
ramp calculation
Immediate 0
stop
"Ramp calculation" error
Only in IPOSplus® operating mode:
100
Vibration
warning
Display
error (P)
Vibrations diagnostics warning
Vibration sensor warn- •
ing (see "DUV10A" operating instructions)
•
0
14
Send the device to
SEW‑EURODRIVE for
repair.
Rewrite the IPOSplus®
program so that ramp
times and traveling vePositioning ramp is sinusoidal or square and locities can only be
an attempt is made to altered when the inverter is inhibited.
change ramp times
and traveling velocities
with enabled inverter.
Vibration sensor signals fault
Determine cause
of vibrations
Continue operation
until F101 occurs
101
Vibration
error
Rapid stop 0
(P)
Vibration diagnostics error
SEW‑EURODRIVE recommends that you
remedy the cause of
the vibrations immediately.
102
Oil aging
warning
Display
error (P)
0
Oil aging warning Warning signal from
the oil aging sensor.
Schedule oil change
103
Oil aging
error
Display
error (P)
0
Oil aging error
Error message from
the oil aging sensor.
SEW‑EURODRIVE recommends that you
change the gear unit
oil immediately.
104
Oil aging
overtemperature
Display
error (P)
0
Oil aging overtemperature
Overtemperature signal from the oil aging
sensor.
•
Let oil cool down
•
Check if the gear
unit cools properly
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
259
14
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
Possible cause
105
Display
error (P)
Oil aging ready
signal
Oil aging sensor is not •
ready for operation
Oil aging
ready signal
0
Measure
•
106
Brake wear Display
error (P)
110
Fault
Emergency 0
stop
Check and, if necessary, replace
the oil aging
sensor
Brake wear
Brake lining worn
down
Replace brake lining
(see operating instructions of the motor)
Duration of operation below 5 Hz
exceeded
Duration of operation
below 5 Hz exceeded
•
Check configuration
•
Shorten duration of
operation below
5 Hz
16998413/EN – 12/2016
"Ex-e protection"
0
Check voltage supply of oil aging
sensor
260
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
Possible cause
Measure
111
Rapid stop/ 0
warning
Communication
error with the
power section
Not able to establish a
connection with the
"PFA-..." power section (connection
failed).
When using the application module
"Transparent 3PD"
116
Internal
"Timeout"
error
The existing connection to the "PFA-..."
power section was interrupted.
14
•
In
MOVITOOLS® MotionStudio
, right-click the
device.
•
Choose [Application modules] >
[Application Configurator].
•
Choose [Open
configuration from
controller]. Check
the following settings, and adjust
them, if necessary:
– Controller interface = SBUS_1
– Axis address =
20
– Device type
= MOVIPRO LT
When using other
application modules
In
MOVITOOLS® MotionStudio
, right-click the
power section of
your device.
•
Choose [Technology Editor] > [Drive startup for MOVI‑PLC/
CCU] and start up
the drive.
16998413/EN – 12/2016
•
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
261
14
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
122
Immediate 1
stop
Plausibility check
122
Absolute
encoder
Absolute
encoder
2
Hiperface® encoder: Unknown
encoder type
3
Hiperface® encoder: Corrupt
encoder nameplate data
32
HIPERFACE® encoder: internal
encoder fault
33
Hiperface® encoder: Analog
voltages not
within tolerance
Immediate 34
stop
35
Possible cause
Measure
Check to cables of the
sine tracks or replace
the encoder.
Replace the encoder.
HIPERFACE® encoder: internal
encoder fault
Replace the encoder.
36
37
38
39
40
122
Absolute
encoder
Immediate 41
stop
42
Hiperface® encoder: Communication error
Device and
Check the wiring.
HIPERFACE® encoder
connection interrupted
43
44
45
122
Absolute
encoder
Immediate 46
stop
47
HIPERFACE® encoder: internal
encoder fault
Replace the encoder.
48
49
16998413/EN – 12/2016
50
262
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
122
Immediate 60
stop
Hiperface® encoder: Analog
voltages not
within tolerance
61
Hiperface® encoder: Critical
transmitter current
122
Absolute
encoder
Absolute
encoder
62
Hiperface® encoder: Critical encoder temperature
63
Hiperface® encoder: Position
error
Immediate 64
stop
65
Possible cause
Measure
•
Dirt
Replace the encoder.
•
Transmitter broken
14
Replace the encoder.
Speed too high, posi- Reduce the speed.
tion cannot be created
HIPERFACE® encoder: internal
encoder fault
Replace the encoder.
66
67
122
Absolute
encoder
Immediate 256
stop
SSI encoder:
Voltage dip
Drop in DC 12 V supply voltage
Check the supply
voltage of the encoder.
257
SSI encoder: Interrupted clock or
data line
Check connection to
encoder.
258
SSI encoder:
Change of position
Immediate 259
stop
SSI encoder: Insufficient clock
frequency
Increase clock frequency.
260
SSI encoder: Encoder signals
programmable
error
Check the encoder
parameterization.
261
SSI encoder: no
high level available
•
Replace the encoder.
•
Contact the
SEW‑EURODRIVE
Service.
16998413/EN – 12/2016
122
Absolute
encoder
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
263
14
Service
List of power section errors
Code Meaning
Response Sub(P)
code
Meaning
122
Immediate 513
stop
EnDat encoder:
Plausibility check
Absolute
encoder
514
515
Possible cause
Measure
EnDat encoder:
internal encoder
error
Replace the encoder.
EnDat encoder:
internal encoder
warning
Check the encoder
parameterization.
516
544
576
122
122
Absolute
encoder
Absolute
encoder
Immediate 768
stop
CANopen encoder: PDO
timeout
769
CANopen encoder: Encoder
signals programmable error
770
CANopen encoder: Change of
position
No PDO data from
CANopen encoder
•
Check the interface.
•
Check the configuration.
Check the encoder
parameterization.
Immediate 771
stop
CANopen encoder: Emergency signal
Check the encoder.
772
CANopen encoder: internal
encoder error
Replace the encoder.
773
774
122
Absolute
encoder
Immediate 16385 HIPERFACE®
stop
distance encoder:
Plausibility check
16386 HIPERFACE®
distance encoder:
Unknown encoder type
Absolute
encoder
Immediate 16387 HIPERFACE®
stop
distance encoder:
Corrupt encoder
nameplate data
16417 HIPERFACE®
distance encoder:
Analog voltages
not within tolerance
264
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/2016
122
Service
List of power section errors
Code Meaning
Response Sub(P)
code
122
Immediate 16418 HIPERFACE®
stop
distance encoder:
16419
internal encoder
16420 fault
Absolute
encoder
Meaning
Possible cause
14
Measure
Replace the encoder.
16421
16422
16423
16424
122
Absolute
encoder
Immediate 16425 HIPERFACE®
Device and
Check the wiring.
stop
distance encoder: HIPERFACE® encoder
16426
Communication
connection interrupted
16427 error
16428
16429
122
Absolute
encoder
Immediate 16430 HIPERFACE®
stop
distance encoder:
16431
internal encoder
16432 fault
Replace the encoder.
16433
16434
122
Absolute
encoder
Immediate 16444 HIPERFACE®
stop
distance encoder:
Analog voltages
not within tolerance
•
16445 HIPERFACE®
distance encoder: •
Critical transmitter current
122
Absolute
encoder
Immediate 16446 HIPERFACE®
stop
distance encoder:
Critical encoder
temperature
Dirt
Replace the encoder.
Transmitter broken
Replace the encoder.
16447 HIPERFACE®
Speed too high, posi- Reduce the speed.
distance encoder: tion cannot be created
Position error
16998413/EN – 12/2016
122
Absolute
encoder
Immediate 16448 HIPERFACE®
stop
distance encoder:
16449
internal encoder
16450 fault
Replace the encoder.
16451
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
265
14
Service
List of power section errors
Code Meaning
Response Sub(P)
code
122
Immediate 16640 SSI distance enstop
coder: Error message of encoder,
error bit of encoder set
122
Absolute
encoder
Absolute
encoder
Meaning
Possible cause
Measure
Code tape or mirror
dirty
Remove dirt.
Code tape/mirror and
encoder not aligned
correctly
Check the alignment
and orientation of the
code tape/mirror to the
encoder.
EMC interference due
to incorrect encoder
installation
Check for EMC-compliant installation of the
encoder.
Supply voltage error
Check the supply
voltage of the encoder.
Incorrect mode set in
the encoder
Set mode "24bit + err".
Immediate 16641 SSI distance enstop
coder: Interrupted
clock or data line
Check connection to
SSI distance encoder.
16642 SSI distance encoder: Change of
position
16643 SSI distance encoder: Insufficient
clock frequency
122
Absolute
encoder
Immediate 16644 SSI distance enstop
coder: Encoder
signals programmable error
16645 SSI distance encoder: No high
level present
Increase clock frequency.
Check the encoder
parameterization.
•
Replace encoder
•
Contact
SEW‑EURODRIVE
Service
16897 EnDat distance
encoder: Plausibility check
122
Absolute
encoder
Immediate 16898 EnDat distance
stop
encoder: internal
16899
encoder error
16900
Replace the encoder.
16998413/EN – 12/2016
16928
266
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
Service
List of power section errors
Code Meaning
Response Sub(P)
code
122
Immediate 16960 EnDat distance
stop
encoder: internal
encoder warning
Absolute
encoder
Meaning
17152 CANopen distance encoder:
PDO timeout
Possible cause
No PDO data from
Check interface or
CANopen distance en- configuration
coder
Check encoder parameterization
Immediate 17154 CANopen disstop
tance encoder:
Change of position
Positioning Emergency
interruption stop (P)
17155 CANopen distance encoder:
Emergency signal
Check the encoder.
17156 CANopen distance encoder:
17157
internal encoder
17158 error
Replace the encoder.
0
"Positioning/Posi- Interrupted positioning
tioning interrup(e.g. unintentional
tion" error
bounce of enable) and
thus exceeding the target position
Avoid bounce of the
enable:
Configure the application with a linear ramp
instead of a non-linear
ramp (→ P916 Ramp
type)
16998413/EN – 12/2016
123
Absolute
encoder
Measure
Check encoder parameterization
17153 CANopen distance encoder:
Encoder signals
programmable
error
122
14
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
267
Index
Index
"Explicit messages" error code............................ 85
Due to timeout ................................................ 89
General error codes ....................................... 87
MOVILINK®-specific ....................................... 88
Numerical
7-segment display ............................................. 246
A
Access to device parameters
Reading parameters (RSLogix 5000)............. 53
Reading parameters (Studio 5000 Logix Designer) ............................................................ 62
Writing parameters (RSLogix 5000) ............... 57
Writing parameters (Studio 5000 Logix Designer) ............................................................ 66
Actual speed value, parameter for scaling ........ 227
Additional documents .......................................... 10
Address Editor
Advantages .................................................... 30
Designated use .............................................. 30
IP address Ethernet node............................. 147
Searching Ethernet nodes............................ 146
Starting ......................................................... 145
Address range Modbus/TCP ............................. 101
Analog setpoints, parameters............................ 193
Application Configurator ...................................... 17
Adding axes.................................................. 178
Advantages .................................................... 17
Axis configuration ......................................... 178
Configuring CCU application module ........... 130
Configuring regenerative power supply........ 132
Creating a new configuration........................ 176
Load configuration into the device................ 180
Starting ......................................................... 174
Application modules
Advantages .................................................... 15
Designated use .............................................. 15
For communication and control unit ............... 18
for power section ............................................ 20
MOVIPRO® ADC ............................................ 17
MOVIPRO® SDC ............................................ 17
Auto-crossing ...................................................... 31
268
Automotive AMA0801
IPOSPLUS® application module..................... 24
Process data ................................................ 138
Auto-negotiation .................................................. 31
B
Brake function, parameter ................................. 219
Braking operation, parameter ............................ 223
Bus diagnostics, parameter ............................... 195
Bus positioning
CCU application module................................. 19
IPOSPLUS® application module..................... 21
Process data ........................................ 129, 136
C
CCU application module
Bus positioning ............................................... 19
Configure...................................................... 130
Process data for "Bus positioning" ............... 129
Process data for "Rapid/creep speed positioning" 128
Process data for "Transparent 6PD" ............ 127
Process data for "Velocity control" ............... 128
Rapid/creep speed positioning ....................... 18
Transparent 6PD ............................................ 18
Velocity control ............................................... 18
CIP
Assembly object ............................................. 75
Directory of objects......................................... 72
EtherNet link object ........................................ 84
Identity object ................................................. 73
Message router object.................................... 74
Parameter object ............................................ 79
Register object ............................................... 76
TCP/IP interface object .................................. 83
Vardata object ................................................ 82
Common Industrial Protocol, see CIP ................. 72
Communication and control unit
Application modules ....................................... 18
Gateway operation ................................. 20, 174
Parameterizing ............................................. 174
Perform startup............................................. 174
Communication ports ........................................ 151
Communication type
Configuring Ethernet communication ........... 148
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/16
Icons
Index
Components
Service unit................................................... 246
Configuration
EtherNet/IP™ master ..................................... 39
Modbus/TCP master ...................................... 90
Configuration example EtherNet/IP™
Accessing parameters.................................... 52
Configuring process data exchange......... 48, 50
Reading parameters (RSLogix 5000)............. 53
Reading parameters (Studio 5000 Logix Designer) ............................................................ 62
Writing parameters (RSLogix 5000) ............... 57
Writing parameters (Studio 5000 Logix Designer) ............................................................ 66
Configuration example Modbus/TCP
Accessing parameters.................................... 99
Configuring process data exchange............... 94
Data exchange ............................................... 95
Exchanging process data ............................... 96
Configuration sequence .................................... 155
Configuring regenerative power supply ............. 132
Connecting the device with the PC
Via Ethernet.................................................. 144
Connection management Modbus/TCP ............ 108
Control word
MOVIPRO® ADC .......................................... 123
MOVIPRO® SDC .......................................... 119
Copyright notice .................................................. 10
D
Data backup
Storing device data....................................... 183
via PLC process data specification .............. 125
Data management
Storing device data....................................... 183
16998413/EN – 12/16
via PLC process data specification .............. 125
Device
Change of the............................................... 243
Fault codes................................................... 248
Device data
Parameter..................................................... 194
Secure .......................................................... 183
Device description file
EtherNet/IP™ ................................................. 39
Modbus/TCP .................................................. 90
Device Level Ring network, see DLR network .... 46
Device replacement........................................... 243
Device status ................................................. 37, 38
DHCP
Deactivate/Activate......................................... 30
Description ..................................................... 28
Digital inputs, parameter ........................... 194, 215
Direction of motor rotation, parameter............... 208
DLR grid
Rectifying ring faults ....................................... 46
Ring fault detection......................................... 46
Topology......................................................... 46
DLR network
Configuring hardware/software ...................... 47
Documentation, additional ................................... 10
Documents, additional ......................................... 10
Dynamic Host Configuration Protocol, see DHCP ...
28
E
EDS file, see device description file .................... 39
Embedded safety notes......................................... 9
Encoder
CANopen encoder, enabled ......................... 158
Change of the............................................... 246
HIPERFACE® encoder, enabled .................. 158
Parameter..................................................... 241
Perform startup............................................. 156
SSI encoder, enabled................................... 156
Encoder replacement ........................................ 246
Energy-saving function, parameter ................... 221
Engineering, MOVITOOLS® MotionStudio ........ 139
Error code of "explicit messages"........................ 85
Due to timeout ................................................ 89
General error codes ....................................... 87
MOVILINK®-specific ....................................... 88
Error codes Modbus/TCP .................................. 113
Error responses, parameter .............................. 224
Ethernet communication.................................... 148
Ethernet Industrial Protocol, see EtherNet/IP™ .. 71
Ethernet interface .............................................. 246
Ethernet net
Ethernet switch............................................... 31
MOVIPRO® connection .................................. 31
Network topologies......................................... 31
Plug connector ......................................... 32, 33
Shielding and routing bus cables ................... 28
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
269
Index
Device description file .................................... 39
DLR topology.................................................. 46
EDS file .......................................................... 39
Process data exchange.................................. 71
Project planning examples ................. 48, 50, 52
Return codes for parameter setting................ 85
Startup............................................................ 39
Technical data of interface ............................. 89
Timeout behavior............................................ 72
EtherNet/IP™ master
Configuration with RSLogix 5000 ................... 40
Configuration with Studio 5000 Logix Designer ..
43
EtherNet/IP™ scanner, see EtherNet/IP™ master ..
39
Exclusion of liability ............................................. 10
Ex-e motor current limitation, Parameter........... 213
Extended positioning via bus
IPOSPLUS® application module..................... 22
Process data ................................................ 137
F
Fault codes ........................................................ 248
Fault diagnostics (EtherNet/IP™, Modbus/TCP)
Checking fault sources ................................. 116
Checking status display at the master.......... 116
Checking status LEDs .................................. 115
Diagnostic procedure ................................... 115
Fault list ............................................................. 248
Fault memory, parameter .................................. 195
Fault messages ................................................... 34
Display examples ........................................... 34
270
Fault responses ................................................. 248
FC16 – Write multiple registers ......................... 105
FC23 – Read/write multiple registers ................ 106
FC3 – Read holding registers............................ 104
FC43 – Read device identifications ................... 107
Fixed setpoints, parameter ................................ 198
Functional safety technology
Safety note ..................................................... 12
G
Gear unit monitoring, parameter ....................... 211
H
Hazard symbols
Meaning............................................................ 9
Hold control, parameter ..................................... 201
I
Inputs
binary, parameter ................................. 194, 215
Digital, process data exchange ............ 120, 125
interface
Ethernet........................................................ 246
Service ......................................................... 246
IP address ........................................................... 26
IP address parameters ........................................ 26
Change after initial startup ............................. 29
Deactivate/Activate DHCP ............................. 30
Setting during initial startup ............................ 29
Setting via Address Editor .............................. 30
IPOSPLUS® application module
Automotive AMA0801..................................... 24
Bus positioning ............................................... 21
Extended bus positioning ............................... 22
Modulo positioning ......................................... 23
Perform startup............................................. 173
Process data for "Automotive AMA0801"..... 138
Process data for "Bus positioning" ............... 136
Process data for "Extended positioning via bus".
137
Process data for "Modulo positioning".......... 137
IPOSPLUS® encoder, parameter....................... 239
IPOSPLUS® Modulo function, parameter .......... 239
IPOSPLUS® monitoring, parameter................... 237
IPOSPLUS® reference travel, parameter........... 231
IPOSPLUS® special functions, parameter ......... 238
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/16
Ethernet nodes
Adjusting the IP address .............................. 147
Search .......................................................... 146
Ethernet plug connector ................................ 32, 33
Ethernet service interface.................................. 247
Ethernet switch .................................................... 31
Auto-crossing ................................................. 31
Auto-negotiation ............................................. 31
Multicast handling........................................... 31
EtherNet/IP™
CIP objects ..................................................... 72
Configuration .................................................. 39
Configuring master ......................................... 39
Description ..................................................... 71
Index
IPOSPLUS® travel parameters .......................... 234
L
Laptop
Addressing ................................................... 148
Laptop, connect with ......................................... 154
Lifting applications ............................................... 12
M
MAC address....................................................... 26
Mains-off monitoring, parameter ....................... 210
Memory card
Device replacement...................................... 243
Storing device data....................................... 183
Modbus protocol, see Modbus/TCP .................. 101
Modbus/TCP
Address range .............................................. 101
Closing the connection ................................. 109
Configuration .................................................. 90
Connection management ............................. 108
Description ................................................... 101
Device description file .................................... 90
Error codes................................................... 113
16998413/EN – 12/16
Exception codes ........................................... 113
Function codes ............................................. 102
Parameter access ........................................ 110
Project planning examples ....................... 94, 95
Project planning, master................................. 90
Protocol structure ......................................... 103
Requesting controlling connection ............... 108
Send process output data ............................ 108
Services........................................................ 102
Startup............................................................ 90
Technical data of interface ........................... 114
Timeout response......................................... 109
Modbus/TCP exception ..................................... 113
Modbus/TCP function codes ............................. 102
Modbus/TCP master
Addressing drive via "IO Scanning"................ 93
Configuring hardware (control structure)........ 91
Setting the Ethernet component..................... 92
Modbus/TCP scanner, see Modbus/TCP master 90
Modbus/TCP services ....................................... 102
FC16 – Write multiple registers .................... 105
FC23 – Read/write multiple registers ........... 106
FC3 – Read holding registers....................... 104
FC43 – Read device identifications.............. 107
Modulation, parameter ...................................... 228
Modulo positioning
IPOSPLUS® application module..................... 23
Process data ................................................ 137
Motor
Explosion-proof, current limiting parameter.. 213
Monitoring, parameter .................................. 211
Perform startup............................................. 169
Temperature protection, Parameter ............. 211
Motor adjustment, parameter ............................ 203
Motor protection, parameter .............................. 205
Motor temperature protection, Parameter ......... 211
MOVILINK®
Parameter channel ....................................... 111
Return code.................................................... 88
MOVI‑PLC®
Advantages .................................................... 20
Designated use .............................................. 20
Libraries.................................................. 20, 181
MOVIPRO®
Configure...................................................... 155
Connection Ethernet....................................... 31
Digital inputs and outputs ..................... 120, 125
Ethernet interfaces ......................................... 31
IPOSPLUS® application modules ................... 20
Process sequence, drive functions............... 133
Process sequence, general.......................... 118
MOVIPRO® ADC
Control word ................................................. 123
Data backup via PLC.................................... 125
Gateway operation ....................................... 174
Libraries........................................................ 181
Parameterizing ..................................... 156, 174
Process data in the delivery state ................ 126
Process data of the CCU application modules....
127
Process data of the speed-controlled drive .. 126
Process data structure ................................. 122
Process image.............................................. 122
Programming................................................ 182
Status word .................................................. 123
MOVIPRO® ADC gateway operation ................. 174
MOVIPRO® ADC with regenerative power supply
Configure...................................................... 132
Control word ................................................. 131
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
271
Index
Configure device .......................................... 143
Creating a project ......................................... 140
Designated use ............................................ 139
Establishing communication......................... 140
Functions................................................ 16, 139
Reading/changing device parameters.......... 152
Setting the connection mode........................ 141
Starting up unit ............................................. 153
Tasks............................................................ 139
Multicast handling................................................ 31
N
Network class ...................................................... 27
Notes
Designation in the documentation .................... 8
Meaning of the hazard symbols ....................... 9
O
Object
Assembly........................................................ 75
EtherNet link................................................... 84
Identity............................................................ 73
Message router .............................................. 74
Parameter....................................................... 79
Register .......................................................... 76
TCP/IP interface ............................................. 83
Vardata........................................................... 82
Opening the parameter tree .............................. 152
Operating modes, parameter ............................ 216
Operation
Fault messages .............................................. 34
Status LED ..................................................... 37
272
Status messages............................................ 34
Outputs
binary, parameter ......................................... 194
Digital, process data exchange ............ 120, 125
Overview of functions
MOVIPRO® ADC ............................................ 13
MOVIPRO® SDC ............................................ 13
P
P00. Process values.......................................... 191
P01. Status displays .......................................... 192
P02. Analog setpoints ....................................... 193
P03. Digital inputs of basic device..................... 194
P05. Digital outputs basic device ...................... 194
P07. Device data ............................................... 194
P08. Fault memory ............................................ 195
P09. Bus diagnostics ......................................... 195
P13. Speed ramps 1.......................................... 196
P14. Speed ramps 2.......................................... 196
P16. Fixed setpoints 1 ....................................... 198
P17. Fixed setpoints 2 ....................................... 198
P20. Speed control ............................................ 199
P21. Hold controller ........................................... 201
P30. Limits 1...................................................... 202
P31. Limits 2...................................................... 202
P32. Motor adjustment 1 ................................... 203
P33. Motor adjustment 2 ................................... 203
P34. Motor protection ........................................ 205
P35. Direction of motor rotation......................... 208
P50. Speed monitoring ...................................... 209
P52. Mains OFF monitoring .............................. 210
P53. Motor temperature protection.................... 211
P54. Gear unit/motor monitoring ....................... 211
P56. Ex-e motor current limitation ..................... 213
P60. Digital inputs of basic device..................... 215
P70. Operating modes ...................................... 216
P71. Standstill current ....................................... 217
P72. Setpoint stop function ............................... 218
P73. Brake function ........................................... 219
P74. Speed skip function................................... 220
P77. Energy-saving function ............................. 221
P80. Setup......................................................... 222
P82. Braking operation ...................................... 223
P83. Error responses ........................................ 224
P84. Reset behavior .......................................... 226
P85. Scaling actual speed value ....................... 227
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/16
Process data structure ................................. 131
Status word .................................................. 131
MOVIPRO® SDC
Control word ................................................. 119
Parameterizing ............................................. 156
Process data in the delivery state ................ 121
Process data of the drive functions .............. 121
Process data of the speed-controlled drive .. 121
Process data structure ................................. 118
Process image.............................................. 118
Status word .................................................. 119
MOVITOOLS® MotionStudio
Communication channels ............................. 139
Communication ports ................................... 151
Index
P86. Modulation ................................................ 228
P87. Process data description........................... 229
P90. IPOS reference travel ............................... 231
P91. IPOS travel parameters ............................ 234
P92. IPOS monitoring........................................ 237
P93. IPOS Special functions ............................. 238
P94. IPOS encoder ........................................... 239
P96. IPOS Modulo function ............................... 239
Parameter
Configuring Ethernet communication ........... 148
Descriptions.................................................. 191
for the encoder option .................................. 241
of the power section ..................................... 185
Symbols in the descriptions.......................... 191
Tabular view ................................................. 185
Parameter access via EtherNet/IP™
CIP objects ..................................................... 72
General error codes ....................................... 87
MOVILINK™ return codes.............................. 88
Return code.................................................... 85
Parameter access via Modbus/TCP .................. 110
MOVILINK® parameter channel.................... 111
Procedure with FC16 and FC03................... 110
Procedure with FC23.................................... 110
Protocol structure ......................................... 111
"Bus positioning" CCU application module... 129
"Bus positioning" IPOSPLUS® application
module.......................................................... 136
"Extended positioning via bus" IPOSPLUS® application module ........................................... 137
"Modulo positioning" IPOSPLUS® application
module.......................................................... 137
"Rapid/creep speed positioning" CCU application module................................................... 128
"Transparent 6PD" CCU application module 127
"Velocity control" CCU application module... 128
Actual current of speed-controlled drive....... 136
Actual speed of speed-controlled drive ........ 136
Control word of speed-controlled drive......... 134
MOVIPRO® ADC .......................................... 122
MOVIPRO® ADC control word...................... 123
MOVIPRO® ADC status word....................... 123
Parameter group
P0.. Display values....................................... 191
P1.. Setpoints / ramp generators.................. 196
MOVIPRO® ADC with regenerative power supply................................................................. 131
P2.. Controller parameters ........................... 199
P3.. Motor parameters.................................. 202
P5.. Monitoring functions.............................. 209
MOVIPRO® SDC control word...................... 119
MOVIPRO® SDC status word....................... 119
P6.. Terminal assignment............................. 215
P7.. Control functions ................................... 216
P8.. Device functions.................................... 222
P9.. IPOS parameters .................................. 231
Parameter setting
Communication and control unit................... 174
16998413/EN – 12/16
Power section
Application modules ....................................... 20
Overview of parameters ............................... 185
Parameterizing ............................................. 156
Perform startup............................................. 156
Process sequence, drive functions............... 133
Process data
"Automotive AMA0801" IPOSPLUS® application
module.......................................................... 138
Power section............................................... 156
Parameterizing the unit
About MOVITOOLS® MotionStudio .............. 152
PC
Addressing ................................................... 148
PC, connect with ............................................... 154
PL7 PRO, Modbus/TCP master configuration..... 90
MOVIPRO® SDC .......................................... 118
Ramp of speed-controlled drive ................... 135
SEW Controller..................................... 118, 122
Speed setpoint of speed-controlled drive ..... 135
Speed-controlled drive ................................. 133
Status word of speed-controlled drive .......... 135
Process data description, parameter................. 229
Process data exchange
Configuration for MOVIPRO® as positioning
drive................................................................ 48
Configuration for MOVIPRO® as speed-controlled drive..................................................... 50
with EtherNet/IP™-Master.............................. 71
with Modbus/TCP master ............................... 94
Process image
Drive functions of the power section ............ 133
MOVIPRO® ADC .......................................... 122
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
273
Index
Process values, parameters .............................. 191
Product names .................................................... 10
Protocol structure Modbus/TCP ................ 103, 111
Header.......................................................... 103
Service FC16 – Write multiple registers ....... 105
Service FC23 – Read/write multiple registers .....
106
Service FC3 – Read holding registers.......... 104
Service FC43 – Read device identifications. 107
R
Rapid/creep speed positioning
CCU application module................................. 18
Process data ................................................ 128
Reference travel ................................................ 246
Repairs ................................................................ 34
Reset behavior, parameter ................................ 226
Return code in error telegram ............................. 85
Due to timeout ................................................ 89
General error codes ....................................... 87
MOVILINK®-specific ....................................... 88
Rights to claim under limited warranty ................ 10
RSLogix 5000
Accessing device parameters ........................ 53
Configuring EtherNet/IP™ master.................. 40
Configuring process data exchange......... 48, 50
S
Safety functions ................................................... 12
Safety notes ........................................................ 11
Bus systems ................................................... 11
Designation in the documentation .................... 8
Meaning of the hazard symbols ....................... 9
Preliminary information................................... 11
Structure of embedded..................................... 9
Structure of the section-related ........................ 8
SD memory card
Device replacement...................................... 243
Spare part..................................................... 245
Storing device data....................................... 183
Section-related safety notes .................................. 8
274
Service
Device replacement...................................... 243
Device status............................................ 37, 38
Service interface................................................ 246
Service unit........................................................ 246
Setpoint stop function, parameter ..................... 218
Setpoints
Analog, parameter........................................ 193
Fixed setpoints, parameter........................... 198
Setup, parameter............................................... 222
Signal words in safety notes.................................. 8
SMLP server
Adding devices ............................................. 150
Setting parameters ....................................... 150
Speed control, parameter .................................. 199
Speed limitations, parameter............................. 202
Speed monitoring, parameter ............................ 209
Speed ramps, parameter................................... 196
Speed skip function, parameter......................... 220
Speed-controlled drive
PI1: Status word ........................................... 135
PI2: Actual speed ......................................... 136
PI3: Active current ........................................ 136
PO1: Control word........................................ 134
PO2: Setpoint speed .................................... 135
PO3: Ramp................................................... 135
Process data ................................ 121, 126, 133
Standard gateway ............................................... 27
Standstill current, parameter ............................. 217
Startup ................................................................. 25
Encoder ........................................................ 156
EtherNet/IP™ ................................................. 39
IPOSPLUS® application module................... 173
Modbus/TCP .................................................. 90
Motor ............................................................ 169
Power section............................................... 156
Unit in MOVITOOLS® MotionStudio ............. 153
Status display
Component description ................................ 246
Status displays, parameters .............................. 192
Status LED .......................................................... 37
Status messages ................................................. 34
Display examples ........................................... 34
Status word
MOVIPRO® ADC .......................................... 123
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
16998413/EN – 12/16
MOVIPRO® ADC with regenerative power supply................................................................. 131
MOVIPRO® SDC .......................................... 118
MOVIPRO®, general..................................... 118
Index
MOVIPRO® SDC .......................................... 119
Studio 5000 Logix Designer
Accessing device parameters ........................ 61
Configuring EtherNet/IP™ master.................. 43
Configuring process data exchange......... 48, 50
Subnet mask ....................................................... 27
Switch ................................................................ 144
T
Target group ........................................................ 11
TCP/IP ............................................................... 144
TCP/IP protocol
Description ..................................................... 26
DHCP ............................................................. 28
IP address ...................................................... 26
V
Velocity control
CCU application module................................. 18
Process data ................................................ 128
16998413/EN – 12/16
MAC address.................................................. 26
Network class ................................................. 27
Standard gateway .......................................... 27
Subnet mask .................................................. 27
Technical data
EtherNet/IP™ interface .................................. 89
Modbus/TCP interface.................................. 114
Timeout behavior
EtherNet/IP™ ................................................. 72
Timeout response
Modbus/TCP ................................................ 109
Trademarks ......................................................... 10
Transparent 6PD
CCU application module................................. 18
Process data ................................................ 127
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
275
SEW-EURODRIVE—Driving the world
SEW-EURODRIVE GmbH & Co KG
P.O. Box 3023
76642 BRUCHSAL
GERMANY
Phone +49 7251 75-0
Fax +49 7251 75-1970
sew@sew-eurodrive.com
www.sew-eurodrive.com
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