Sam aktualnie ćwiczę ten temat. Zakładam, że w Step7 HWconfig ustawiłeś komunikację na 3AX - 3PD ( 3 słowa ) i adresy I/O. Mamy 3 słowa wej i 3 wyj: PA1 - słowo sterujące ( parametr w SEW 870 ) PA2 - słowo np. prędkość obrotowa ( parametr w SEW 871 ) PA3 - rezerwa ( parametr w SEW 872 ) PE1 - słowo statusowe ( parametr w SEW 873 ) PE2 - słowo np. prędkość obrotowa ( parametr w SEW 874 ) PE1 - słowo np. prąd wyjściowy ( parametr w SEW 875 ) Parametr 876 - włączone zezwolanie dla danych PA Ustawione odpowiednio parametry 100 i 101 dla źródła danych oraz sprzętowe 24V DI0.0 PA1 - słowo sterujące ( wartości w HEX dla SEW ) Ja operuję bezpośrednio na ustawionych adresach I/O dla SEW w Step7. ( lub można właśnie użyć SFC14 i SFC15 ) Mam np. DB100 dla danych z SEW i DB200 dane dla SEW Używając SCF też musisz wskazać gdzie ładować dane. Rozbijam PA1 - słowo sterujące na bity w DB, tym że starszy bajt od adresu w DBX0.0 do DBX0.7 a młodszy bajt od DBX0.8 do DBX15.0 ( tak samo dla słowa statusowego , tylko w drugim DB ) Odpowienio w dalszych adresach już w formie słowa PA2,PA3 i PE2,PE3 Dla podstawowego sterowania przez Profibus w słowie starującym starszy bajt nie trzeba rozbijać na bity tyko dać w DB jako bajt i rozbić młodszy bajt. Teraz np. w FC ustawiam odpowiednio bity aby zmieniać stan SEW lub odpytywać stany bitów żeby określić stan SEW. Tablica dla uzyskania ENABLE i Tabela funkcji poszczególnych bitów z opcją sterowania Motopotencjometr ( w DB mam odwrotnie najpierw starszy bajt a poźniej młodszy bajt ) W przypadku opcji bez Motopotencjometru steruję prędkością odpowiednio wysyłając zadaną prędkość z Step7 a zmiana kierunku przez zmianę znaku na minus wartość zadana i np. jak w Step7 I0.0 i I0.1 są 0 to wartość dodatnia a jak I0.0 i I0.1 są 1 to wartość ujemna. Stany inne ładowanie 0 dla prędkości zadanej. Manual z komunikacją SEW na końcu. http://obrazki.elektroda.pl/8071382900_1296936493_thumb.jpg http://obrazki.elektroda.pl/7801531800_1296936494_thumb.jpg Proszę z każdym następnym postem używać opcji "Dodaj obrazek"
Drive Technology \ Drive Automation \ System Integration \ Services
MOVIDRIVE® MDX60B/61B
Communication and Fieldbus Unit Profile
Edition 04/2009
11264926 / EN
Manual
SEW-EURODRIVE – Driving the world
1 General Information ............................................................................................... 6
1.1 How to use the documentation ...................................................................... 6
1.2 Structure of the safety notes .......................................................................... 6
1.3 Rights to claim under limited warranty ........................................................... 7
1.4 Exclusion of liability ........................................................................................ 7
1.5 Copyright........................................................................................................ 7
2 Safety Notes ........................................................................................................... 8
2.1 Other applicable documentation .................................................................... 8
2.2 General notes on bus systems....................................................................... 8
2.3 Safety functions ............................................................................................. 8
2.4 Hoist applications ........................................................................................... 8
2.5 Waste disposal............................................................................................... 8
3 Introduction ............................................................................................................ 9
3.1 Content of the manual.................................................................................... 9
3.2 Additional documentation............................................................................... 9
3.3 Communication interfaces of MOVIDRIVE® B............................................. 10
3.3.1 Overview of communication interfaces ............................................. 11
4 Serial Interfaces of MOVIDRIVE® B .................................................................... 12
4.1 Connecting and installing RS485 interfaces ................................................ 12
4.1.1 Connection using socket XT ............................................................. 12
4.1.2 Connection using terminals X13:10 and X13:11 ............................... 15
4.1.3 Shielding and routing cables ............................................................. 16
4.2 Configuration parameters of the serial interfaces ........................................ 17
4.3 MOVILINK® protocol via RS485 transmission method ................................ 18
4.3.1 Transmission method ........................................................................ 18
4.3.2 Telegrams ......................................................................................... 21
4.3.3 Addressing and transmission method ............................................... 23
4.3.4 Structure and length of user data ..................................................... 26
4.4 Other unit functions via RS485 interfaces.................................................... 29
4.4.1 Using RS485 interfaces for master/slave operation .......................... 29
4.4.2 Using the RS485 interfaces in IPOSplus® ......................................... 33
4.4.3 Using RS485 interfaces for manual operation .................................. 33
5 CAN Interfaces of MOVIDRIVE® B ...................................................................... 34
5.1 Connecting and installing CAN .................................................................... 34
5.1.1 Connecting the two CAN interfaces CAN 1 and CAN 2 .................... 34
5.1.2 Shielding and routing cables ............................................................. 36
5.2 Configuration parameters of the CAN interfaces ......................................... 38
5.3 MOVILINK® profile via CAN......................................................................... 39
5.3.1 Telegrams ......................................................................................... 39
5.3.2 Parameter setting via CAN (SBus MOVILINK®) ............................... 44
5.4 CANopen profile via CAN............................................................................. 45
5.4.1 Configuring the CANopen interface of MDX B and
network management (NMT) ............................................................ 46
5.4.2 Process data exchange .................................................................... 48
5.4.3 SYNC object ..................................................................................... 52
5.4.4 The emergency object ...................................................................... 53
5.4.5 Heartbeat and lifetime ....................................................................... 54
5.4.6 Parameter access via SDO ............................................................... 55
5.4.7 Hard synchronization for synchronous operation
or positioning several MDX-B units ................................................... 56
5.4.8 Other unit properties in the CANopen profile .................................... 57
5.4.9 CANopen-specific objects of MOVIDRIVE® B .................................. 57
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
3
5.5
Other unit functions via CAN interfaces ....................................................... 60
5.5.1 Using CAN interfaces for master/slave operation ............................. 60
5.5.2 Using CAN interfaces in IPOSplus® (depending on the profile) ......... 61
5.5.3 Using CAN interfaces in IPOSplus® (independent of the profile) ....... 62
5.5.4 Using CAN interfaces for integrated synchronous
operation (ISYNC via SBus) ............................................................. 63
6 Fieldbus Interfaces via Option Card for MOVIDRIVE® B .................................. 67
6.1 Installing a fieldbus option card in MOVIDRIVE® MDX61B ......................... 68
6.1.1 Before you start ................................................................................ 69
6.1.2 Basic procedure for installing/removing an option card
(MDX61B, sizes 1 - 6) ....................................................................... 70
6.2 Parameters for configuring communication via fieldbus option.................... 71
6.3 Process and parameter access via fieldbus................................................. 73
6.4 Other unit functions via fieldbus option card ................................................ 73
6.4.1 Using the fieldbus options in IPOSplus® ............................................ 73
6.4.2 Engineering via fieldbus .................................................................... 73
6.4.3 Engineering via fieldbus and controller ............................................ 73
6.4.4 Diagnostics via WEB server .............................................................. 74
6.4.5 Motion control ................................................................................... 74
7 SEW Unit Profile ................................................................................................... 75
7.1 Process data ................................................................................................ 76
7.2 Process data configuration .......................................................................... 78
7.3 Process data description.............................................................................. 79
7.4 Sequence control ......................................................................................... 87
7.4.1 Definition of the control word ............................................................ 87
7.4.2 Linking safety-relevant control commands ....................................... 88
7.4.3 Control commands ............................................................................ 89
7.4.4 Control word 1 .................................................................................. 91
7.4.5 Control word 2 .................................................................................. 92
7.4.6 Status word definition ....................................................................... 93
7.4.7 Status word 1 .................................................................................... 94
7.4.8 Status word 2 .................................................................................... 95
7.4.9 Status word 3 .................................................................................... 96
7.4.10 Fault number and unit status ........................................................... 97
7.5 Monitoring functions ..................................................................................... 99
7.6 Setting the inverter parameters.................................................................. 101
7.6.1 Structure of the MOVILINK® parameter channel ............................ 102
7.6.2 Return codes of parameterization ................................................... 106
7.6.3 Example: Reading a parameter (READ) ......................................... 109
7.6.4 Example: Writing a parameter (WRITE) ......................................... 110
7.7 Notes on parameterization ......................................................................... 113
8 Operating MOVITOOLS® MotionStudio............................................................ 114
8.1 About MOVITOOLS® MotionStudio ........................................................... 114
8.1.1 Tasks .............................................................................................. 114
8.1.2 Establishing communication with the units ..................................... 114
8.1.3 Executing functions with the units ................................................... 114
8.2 First steps .................................................................................................. 115
8.2.1 Starting the software and creating a project ................................... 115
8.2.2 Establishing communication and scanning the network ................. 115
8.3 Communication mode ................................................................................ 116
8.3.1 Overview ......................................................................................... 116
8.3.2 Selecting communication mode (online or offline) .......................... 117
4
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
8.4
8.5
8.6
8.7
8.8
8.9
Serial communication (RS485) via interface adapters ............................... 118
8.4.1 Engineering via interface adapters (serial) ..................................... 118
8.4.2 Taking the USB11A interface adapter into operation ...................... 118
8.4.3 Configuring serial communication ................................................... 121
8.4.4 Serial communication parameter (RS485) ...................................... 123
Communication SBus (CAN) via interface adapter .................................... 124
8.5.1 Engineering via interface adapters (SBus) ..................................... 124
8.5.2 Taking the USB-CAN interface into operation ................................ 124
8.5.3 Configuring communication via SBus ............................................. 126
8.5.4 Communication parameters for SBus ............................................. 128
Communication via Ethernet, fieldbus or SBUSplus .................................. 129
8.6.1 Connecting the unit with the PC via Ethernet ................................. 129
Executing functions with the units .............................................................. 129
8.7.1 Parameterizing units in the parameter tree ..................................... 129
8.7.2 Reading/changing unit parameters ................................................. 129
8.7.3 Starting up the units (online) ........................................................... 130
8.7.4 Unit-internal scope .......................................................................... 131
Bus monitor ................................................................................................ 131
8.8.1 Diagnostic mode of the bus monitor .............................................. 131
8.8.2 Control using bus monitor ............................................................... 131
Manual operation ....................................................................................... 131
9 Bus Diagnostics ................................................................................................. 132
9.1 Checking the parameter setting ................................................................. 132
9.2 Diagnostics of process input and output data ............................................ 134
9.3 Diagnostic options for RS485 communication ........................................... 135
9.4 Diagnostic options for CAN communication............................................... 137
9.5 Diagnostic options for communication via fieldbus option card.................. 139
10 Index .................................................................................................................... 140
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
5
General Information
How to use the documentation
1
1
General Information
1.1
How to use the documentation
Handbuch
The documentation is an integral part of the product and contain important information
on operation and service. The documentation is written for all employees who assemble,
install, startup, and service this product.
1.2
Structure of the safety notes
The safety notes in this documentation are structured as follows:
Pictogram
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
•
Pictogram
Example:
Measure(s) to prevent the danger.
Signal word
Meaning
Consequences if
disregarded
DANGER
Imminent danger
Severe or fatal injuries
WARNING
Possible dangerous situation
Severe or fatal injuries
CAUTION
Possible dangerous situation
Minor injuries
NOTICE
Possible damage to property
Damage to the drive system or its
environment
TIP
Useful information or tip.
Simplifies the handling of the
drive system.
General danger
Specific danger,
e.g. electric shock
6
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
General Information
Rights to claim under limited warranty
1.3
1
Rights to claim under limited warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the documentation. Read the documentation before you start working with the unit!
Make sure that the documentation is available to persons responsible for the system and
its operation as well as to persons who work independently on the unit. You must also
ensure that the documentation is legible.
1.4
Exclusion of liability
You must observe this documentation and the documentation of the connected units
from SEW-EURODRIVE to ensure safe operation and to achieve the specified product
characteristics and performance requirements. SEW-EURODRIVE assumes no liability
for injury to persons or damage to equipment or property resulting from non-observance
of the operating instructions. In such cases, any liability for defects is excluded.
1.5
Copyright
© 2008 - SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the unauthorized duplication, modification, distribution, and use
of this document, in whole or in part.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
7
Safety Notes
Other applicable documentation
2
2
Safety Notes
2.1
Other applicable documentation
Only electrical specialists are allowed to perform installation and startup observing
relevant accident prevention regulations and the MOVIDRIVE® MDX60B/61B operating
instructions.
Read through these documents carefully before you commence installation and startup
of the communication interfaces of MOVIDRIVE® B.
As a prerequisite to fault-free operation and fulfillment of warranty claims, you must
adhere to the information in the documentation.
2.2
General notes on bus systems
MOVIDRIVE® B has communication interfaces that make it possible to adapt the
MOVIDRIVE® B inverter to the particulars of the machinery within wide limits. As with all
bus systems, there is a danger of invisible, external (as far as the inverter is concerned)
modifications to the parameters which give rise to changes in the unit behavior. This
may result in unexpected (not uncontrolled) system behavior.
2.3
Safety functions
The MOVIDRIVE® MDX60B/61B inverters may not perform safety functions without
higher-level safety systems. Use higher-level safety systems to ensure protection of
equipment and personnel. For safety applications, ensure that the information in the
following publications is observed: " Safe Disconnection for MOVIDRIVE®
MDX60B/61B " .
2.4
Hoist applications
MOVIDRIVE® MDX60B/61B is not designed for use as a safety device in hoist applications.
Use monitoring systems or mechanical protection devices as safety equipment to avoid
possible damage to property or injury to people.
2.5
Waste disposal
Observe the applicable national regulations.
Dispose of the following materials separately in accordance with the country-specific
regulations in force, as:
•
•
Plastic
•
Sheet metal
•
8
Electronics scrap
Copper
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Introduction
Content of the manual
3
Introduction
3.1
3
Content of the manual
The manual describes the communication interfaces of the MOVIDRIVE® MDX60B/61B
inverter:
•
2 serial interfaces
•
2 CAN interfaces, one via DFC11B option card
•
Fieldbus or Ethernet interface depending on the installed option card
The manual provides a description of the connection, configuration parameters, as well
as of the process and parameter data exchange via the communication interfaces of
MOVIDRIVE® B.
The manual also describes how MOVITOOLS® MotionStudio communicates with
MOVIDRIVE® B using the communication interfaces, and how programmable logic controllers (PLC) can control MOVIDRIVE® B via the communication interfaces.
3.2
Additional documentation
For simple connection of MOVIDRIVE® B to fieldbus systems, have the following
documents at hand in addition to the manual:
•
MOVIDRIVE® MDX60/61B system manual
•
MOVIDRIVE® B list of parameters
The MOVIDRIVE® B list of parameters describes the device parameters for every
device firmware and includes a list of all device indices and error codes. It supplements the system manual as the latter is not rewritten for every firmware version.
•
The manual of the fieldbus option used (e.g. DFP21B)
The manuals on the fieldbus options and the manual at hand describe the access to
process and parameter data in general and do not include a detailed description of
all the possible control concepts.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
9
Introduction
Communication interfaces of MOVIDRIVE® B
3
3.3
Communication interfaces of MOVIDRIVE® B
DFP 21B
[1]
6
DGND
SC11
SC12
1
2
3
[2]
0
S11
S12
S13
S14
1
20
21
22
23
24
25
26
nc
X12
ADDRESS
X30
System bus reference
System bus High
System bus Low
[4
XT
X13
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM* *
VO2 4
Reference potential for binary inputs
RS485 +
RS485 -
DGND
ST11
ST12
9
10
11
1
2
3
4
5
6
7
8
[3]
64323AEN
[1]
[2]
Terminal X12:SBus 1 (CAN)
[3]
Terminal X13:10 / X13:11 (RS485)
[4]
10
Terminal XT
Fieldbus port
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Introduction
Communication interfaces of MOVIDRIVE® B
[1]
3
Terminal XT:
RS485 interface for point-to-point connection of a keypad (e.g. DBG60B or
DOP11B) or an interface adapter, such as USB11A or UWS21B for connection
to an engineering PC.
[2]
X12: SBus 1 (CAN) for connection
•
•
via an SEW fieldbus gateway to fieldbus systems, such as PROFIBUS,
DeviceNet, etc.
•
[3]
directly to controllers (CANopen or MOVILINK® protocol)
to an engineering PC via PC via PC CAN interface or SEW fieldbus gateway
Terminal X13:10 / X13:11
RS485 interface for networking up to 32 devices, for example for connecting
MOVIDRIVE® B to a DOP11B operator panel or for connection to an engeering
PC via interface adapter (e.g. UWS11A, COM server, or similar)
[4]
Fieldbus port
•
•
3.3.1
for installing the DFC11B option card for the SBus 2 (CAN) interface with the
same functionality as X12 (SBus1), or
for installing a fieldbus option, for example PROFIBUS DFP21B, DeviceNet
DFD11B, etc. for direct connection to the relevant fieldbus system for
exchanging process and parameter data.
Overview of communication interfaces
Serial interfaces
Terminal / socket
Socket XT [1]
Type
RS485
Profile
Baud rate
CAN interfaces
X13:10 / X13:11 [3]
MOVILINK
Fieldbus
Terminal X12 [2]
Fieldbus port [4]
CAN1
®
CAN2 or fieldbus option
PROFIBUS DP, DeviceNet,
INTERBUS, etc.
®
MOVILINK or CANopen
9.6 / 57.6 kBaud
(via S13)
9.6 kBaud
1000, 500, 250,
125 kBaud
(with P884)
1000, 500, 250,
125 kBaud
(with P894)
Electrical
isolation
No
No
No
Yes, on the
DFC11B option
Yes
Connector
RJ10
Terminal
Terminal
Terminal and Sub
D9 (according to
CiA)
Depending on option card
Point-to-point
Dynamic
DIP switch S12
DIP switch R
Depending on option card
RS485
SBus 1
SBus 2
Fieldbus
Shared monitoring via P812, P833
Via P883 and P836
Via P893 and P837
Via P819 and P831
P810, P811
P88x
P89x
Depending on the option
card via DIP switch or with
P78x
Bus termination
Control/setpoint
source
P100/P101
Timeout
monitoring
Configuration of
the interface
(address, baud
rate, etc.)
Process data
Master/slave
Configuration using P870 - P876
No
Manual operation
(MOVITOOLS®)
IPOSplus® bus
type
Depending on option card
Yes
Yes
No
Yes
1
No
No
2
5
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
8
3
11
Serial Interfaces of MOVIDRIVE® B
Connecting and installing RS485 interfaces
4
4
Serial Interfaces of MOVIDRIVE® B
As standard, MOVIDRIVE® B is equipped with two separate, serial RS485 interfaces:
•
Socket XT
•
Terminals X13:10 and X13:11
Telegrams received via a serial interface of MOVIDRIVE® B are not passed on via the
other serial interface.
4.1
Connecting and installing RS485 interfaces
4.1.1
Connection using socket XT
The " XT socket " serial interface is designed as RJ10 plug connector (see following
figure).
Assignment of XT
connector (RJ10)
[1]
[4]
64788AXX
[1]
[2]
RS485 + (Rx/Tx)
[3]
RS485 - (Rx/Tx)
[4]
Connection
options
DC 5 V (from electronics supply)
GND (electronics ground)
You can connect one of the following SEW options to the XT socket:
•
DBG60B keypad
64252AXX
12
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
Connecting and installing RS485 interfaces
•
4
UWS21B interface adapter (RS485 signals [1] to RS232 signals [2])
MOVIDRIVE® MDX60/61B
COM 1-99
[1]
[2]
UWS21B
64306AXX
®
The UWS21B option is used to equip a MOVIDRIVE B with a potential-free RS232
interface. The RS232 interface is designed as a 9-pole sub-D socket (EIA standard).
A Sub D9 extension cable (1:1 connection) is supplied for connection to the PC.
•
USB11A interface adapter (RS485 signals [1] to USB signals [2])
MOVIDRIVE® MDX60/61B
COM 1-99
[1]
[2]
USB11A
64297AXX
You can use the USB11A option for potential-free connection of a MOVIDRIVE® B
to an engineering PC via USB. When installing the USB driver, a virtual COM port is
created in the PC for communication with MOVIDRIVE® B.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
13
Serial Interfaces of MOVIDRIVE® B
Connecting and installing RS485 interfaces
4
•
DOP11B operator terminal
MOVIDRIVE® B
DOP11B
PCS21A
64282AXX
TIP
The DBG60B, UWS21B and USB11A options are connected to the XT socket. The
options cannot be used at the same time.
Electrical
isolation
•
The serial interface XT is not electrically isolated. It must be used for point-to-point
connections only.
Terminating
resistor
•
Matching terminating resistors are integrated in all SEW components.
Cable length
•
Maximum cable length: 3 m (5 m for shielded cables)
Baud rate
•
The baud rate for RS485 communication is set using DIP switch S13 (on the front of
MOVIDRIVE® B beneath the XT socket).
Baud rate
DIP switch S13
9.6 kBaud
ON
57.6 kBaud1)
OFF1)
1) Factory setting
The set baud rate takes effect once the DIP switch position has been changed.
14
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
Connecting and installing RS485 interfaces
4.1.2
4
Connection using terminals X13:10 and X13:11
Another RS485 interface is provided via terminals X13:10 and X13:11. This RS485
interface can be used to interconnect several MOVIDRIVE® B units and connect the
other options at the same time.
•
Interface adapter UWS11A (RS232 signals to RS485 signals)
•
DOP11B operator terminal
•
Other SEW drives, such as MOVIMOT®
•
Other interface adapters, such as COM server or other RS485 master devices
Wiring diagram of the RS485 interface (X13)
X13:
RS485+
RS485-
X13:
X13:
DIØØ 1
DIØ1 2
DIØ2 3
DIØ3 4
DIØ4 5
DIØ5 6
DCOM 7
VO24 8
DGND 9
ST11 10
ST12 11
RS485+
RS485-
DIØØ 1
DIØ1 2
DIØ2 3
DIØ3 4
DIØ4 5
DIØ5 6
DCOM 7
VO24 8
DGND 9
ST11 10
ST12 11
RS485+
RS485-
DIØØ 1
DIØ1 2
DIØ2 3
DIØ3 4
DIØ4 5
DIØ5 6
DCOM 7
VO24 8
DGND 9
ST11 10
ST12 11
54535AXX
Electrical isolation
•
The RS485 interface X13 is not electrically isolated. Do not connect more than 32
MOVIDRIVE® B units with one another,
Cable specification
•
Use a 4 core twisted pair and shielded copper cable (data transmission cable with
braided copper shield). The cable must meet the following specifications:
– Cable cross section 0.25 - 0.75 mm2 (AWG 23 - AWG 19)
– Cable resistance 100 - 150 Ω at 1 MHz
– Capacitance per unit length ≤ 40 pF/m at 1 kHz
Cable length
•
The permitted total cable length is 200 m (656 ft).
Shielding
•
Connect the shield to the electronics shield clamp on the inverter or higher-level
controller and make sure it is connected over a wide area at both ends.
Baud rate
•
The baud rate is set to 9.6 baud by default.
Terminating
resistor
•
Dynamic terminating resistors are installed. Do not connect any external terminating resistors.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
15
Serial Interfaces of MOVIDRIVE® B
Connecting and installing RS485 interfaces
4
TIPS
•
When interconnecting the units, make sure that always only one master (e.g.
DOP11B, engineering PC) is connected and active.
•
Operating several masters on an RS485 network with SEW drives is not permitted
(see chapter " MOVILINK® via RS485 " ).
•
There must not be any potential displacement between the units connected via the
RS485. This may affect the functionality of the units.
Take suitable measures to avoid potential displacement, such as connecting the
unit ground connectors using a separate cable.
4.1.3
Shielding and routing cables
Correct shielding of the bus cable attenuates electrical interference that can occur in
industrial environments. The following measures ensure the best possible shielding:
•
Manually tighten the mounting screws on the connectors, modules, and equipotential
bonding conductors.
•
Apply the shielding of the bus cable on both ends over a large area.
•
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.
CAUTION
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 according in accordance with relevant
VDE regulations in such a case.
16
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
Configuration parameters of the serial interfaces
4.2
4
Configuration parameters of the serial interfaces
The following parameters are used to set communication via the two serial interfaces.
The factory setting of the individual parameters is underlined.
Parameter
No.
Name
Setting
Meaning
100 Setpoint source
TERMINALS
RS485
FIELDBUS
SBus
This parameter is used to set the setpoint
source for the inverter.
101 Control signal source
TERMINALS
RS485
FIELDBUS
SBus
This parameter is used to set the source of the
control signals for the inverter (CONTROLLER
INHIBIT, ENABLE, CW, CCW, ...). Control via
IPOSplus® and terminal is taken into account
disregarding of P101.
750 Slave setpoint
The setpoint to be transferred to the master is
set on the master. The " MASTER-SLAVE OFF "
setting must be retained on the slave.
810 RS485 Address
0 ... 99
P810 is used to set the address by means of
which communication can take place with
MOVIDRIVE® via the serial interfaces.
Note:
MOVIDRIVE® B units are always set to the
address 0 on delivery. To avoid problems
during data exchange in serial communication
with several inverters, we recommend that you
do not use address 0.
100 ... 199
P811 allows for grouping several MOVIDRIVE®
B units in one group for communication via the
serial interface. For example, the RS485 group
address allows for sending setpoint selections
to a group of MOVIDRIVE® B inverters simultaneously. Group address 100 means that the
inverter is not assigned to a group.
0 ... 650 s
P811 sets the monitoring time for data transmission via the serial interface. No monitoring
of serial data transmission takes place when
P812 is set to 0. Monitoring is activated with the
first cyclical data exchange.
811
RS485 group address
812 RS485 Timeout interval
833 Response to RS485 timeout RAPID STOP/WARN.
870 Setpoint description PO1
871 Setpoint description PO2
872 Setpoint description PO3
873
874
875
876
Actual value description PI1
Actual value description PI2
Actual value description PI3
Enable PO data
Factory set to:
CONTROL WORD 1
SPEED
NO FUNCTION
Factory set to:
STATUS WORD 1
SPEED
NO FUNCTION
ON
P833 programs the fault response that is triggered by the RS485 timeout monitoring.
P870/P871/P872 define the content of the process output data words PO1/PO2/PO3.
The content of process input data words
PI1/PI2/PI3 is defined.
TIP
Refer to the MOVIDRIVE® MDX60B/61B system manual for a detailed description of
the parameters.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
17
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
4
4.3
MOVILINK® protocol via RS485 transmission method
4.3.1
Transmission method
An asynchronous, serial transmission method is used which is supported by the UART
modules common in digital technology. This means the MOVILINK® protocol can be
implemented in nearly all controllers and master modules.
Characters
Each character in the MOVILINK® protocol consists of 11 bits and is structured as follows:
•
1 start bit
•
8 data bits
•
1 parity bit, completing for even parity (even parity)
•
1 stop bit
Each transmitted character begins with a start bit (always logical 0). The start bit is followed by 8 data bits and the parity bit. The parity bit is set in such a way that the number
of logical ones in the data bits including the parity bit is even-numbered. The last bit of
a character is a stop bit, which is always set to logical level 1. This level remains on the
transmission medium until a new start bit signals the transmission of another character.
2
3
4
LSB
5
6
7
Start
1
Stop
0
Parity
Start
Character
MSB even
8 data bits
64767AEN
Transmission
rate and
transmission
mechanisms
Response delay of
the master
A response delay is usually programmed on the higher-level master system. The
response delay is the interval between the time when the last character of the request
telegram is sent (BCC) and the time when the response telegram is sent (SD2). The
maximum permitted response delay interval is 50 ms. A transmission error has occurred
if the inverter does not respond within this interval. Check the interface cable and the
coding of the sent request telegram. Depending on the application, the request telegram
should now be repeated and the next inverter be addressed.
Start delimiter
(idle)
To interpret a character as start delimiter (02hex or 1Dhex), it must be preceeded by a
pause of at least 3.44 ms.
Character delay
18
The transmission rate is 9600 baud or 57.6 kBaud (via XT only). The communications
link is monitored by the master and the inverter itself. The master monitors the response
delay time. The inverter monitors the reception of cyclic request telegrams of the master.
The interval between the time when a character of a telegram is sent must be shorter
than the time preceeding the start delimiter (which means max. 3.43 ms). Else, the
telegram is invalid.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
RS485 timeout
interval of the
inverter
4
For MOVIDRIVE®, the maximum permitted time inverval between two cyclic request
telegrams is set using parameter P812 RS485 Timeout interval. The system must
receive a valid request telegram during this time period. Else, the inverter will trigger an
RS485 timeout error and execute a defined error response.
After power on or a fault reset, MOVIDRIVE® is maintained in a safe condition until the
first request telegram is received. When the inverter is enabled, " t " (= timeout active)
appears on the 7-segment display and the enable is ineffective. Only when the first telegram is received, enable will take effect and the drive is set in motion.
If the inverter is controlled via RS485 interface (P100 " Setpoint source " = RS485 / P101
" Control signal source " = RS485) and a fault response with warning was programmed,
the last received process data will be active after an RS485 timeout and reestablished
communication.
NOTICE
If a timeout is not recognized, the drive will continue to move despite disconnected
controller.
Possible consequences: Damage to the system.
Only one of the two RS485 must be used for timeout monitoring.
RS485 timeout is active for both RS485 interfaces. Therefore, timout monitoring for the
second interface has no effect with plugged-in DBG60B keypad. The DBG60B keypad
permanently sends request telegrams to the inverter and in this way triggers the timeout mechanism.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
19
4
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
Processing
request/response
telegrams
The inverter only processes request telegrams that were received without errors and
were correctly addressed. The following reception errors are detected:
•
Parity error
•
Character frame error
•
Exceeded character delay of request telegrams
•
Incorrect address
•
Incorrect PDU type
•
Incorrect BCC
•
RS485 timeout (slave)
•
Elapsed response time (master)
The inverter does not respond to incorrectly received request telegrams! These
reception errors have to be evaluated in the master to ensure correct data transmission.
TIPS
If RS485 or RS232 communication is to be transmitted via gateways, COM server, or
modem connections, make sure that not only the character (start bit, 8 data bits, 1 stop
bit, even parity) is correct but also that start delimiter and character delay time are
complied with:
•
Max. character delay of 3.43 ms between 2 characters of a telegram
•
Min. 3.44 pause before the start delimiter
Else, the individual characters cannot be clearly assigned to the various telegrams.
20
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
4.3.2
4
Telegrams
Telegram
transmission
Both cyclic and acyclic data exchange is used in drive engineering. Cyclic telegrams via
the serial interface are mainly used for drive control in automation tasks. In this case,
the master station has to ensure cyclic data exchange.
Cyclical data
exchange
Cyclic data exchange is mainly used for controlling inverters via the serial interface. The
master continuously sends telegrams with setpoints (request telegrams) to an inverter
(slave) and expects a response telegram with actual values from the inverter. Once the
request telegram is sent to an inverter, the master expects the response telegram within
a defined time (response delay time). The inverter will only send a response telegram if
it has correctly received a request telegram with its slave address. During cyclic data
exchange, the inverter monitors data communication and triggers a timeout response if
it has not received another request telegram from the master within a specified time.
MOVILINK® allows for performing acyclic service and diagnostic tasks during cyclic
communication without having to change the telegram type.
Acyclical data
exchange
Acyclic data exchange is primarily used for startup and diagnostic purposes. In this
case, the inverter does not monitor the communication connection. In acyclic mode, the
master can send telegrams to the inverter at irregular intervals.
Telegram
structure
Data exchange is carried out with only two telegram types. The master sends a request
with data in the form of a request telegram to the inverter. The inverter responds with a
response telegram. In case of word information (16 bit) within user data, always the high
byte will be sent first followed by the low byte. In case of double-word information (32
bit), always the high byte will be sent first, followed by the low word. The protocol does
not include coding of the user data. The content of user data is explained in detail in the
" SEW unit profile " chapter.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
21
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
4
Structure of the
request telegram
The following figure shows the structure of the request telegram, which the master
sends to the inverter. Each telegram starts with an idle time on the bus, the so-called
start pause, followed by a start delimiter. Different start characters are used to clearly
distinguish between request and response telegrams. The request telegram begins with
the start character SD1 = 02hex, followed by the slave address and PDU type.
Start delimiter 1
PDU type
02 hex
....Idle...
Start pause
SD1
Block check character
ADR TYP
PDU
Slave address
BCC
Protocol data unit
01485BEN
Structure of the
response telegram
The following figure shows the structure of the response telegram, which the inverter
(slave) sends as response to a request from the master. Each response telegram begins
with a start pause, followed by a start delimiter. To clearly distinguish request and response telegrams, the response telegram begins with the start character SD2 = 1Dhex,
followed by the slave address and PDU type.
Start delimiter 2
PDU type
02 hex
....Idle...
Start pause
SD2
Block check character
ADR TYP
PDU
Slave address
BCC
Protocol data unit
01487BEN
Start characters
(SD1 / SD2)
The start character identifies the beginning and direction of data of a new telegram. The
following table depicts the assignment of start character to direction of data.
SD1
Request telegram
Master → inverter
SD2
22
02hex
1Dhex
Response telegram
Inverter → master
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
4.3.3
4
Addressing and transmission method
Address byte
(ADR)
The address byte indicates the slave address independent of the direction of data. This
means the ADR character in a request telegram specifies the address of the inverter that
is to receive the request. In opposite direction, the master recognizes the inverter that
has sent the response telegram. The master is not addressed because the system is
generally a single-master system. The MOVILINK® protocol offers other addressing
variants in addition to single addressing. The table below shows the address ranges and
what they mean.
ADR
Meaning
0 - 99
Single addressing within the RS485 bus.
100 - 199
Group addressing (multicast)
Special case group address 100: " Meaning not assigned to any group " , i.e. not effective.
253
Local address: Only effective in conjunction with IPOSplus® as master and the MOVILINK®
command. For unit internal communication
254
Universal address for point-to-point communication.
255
Broadcast address. No response is sent.
TIP
MOVIDRIVE® basically is a slave unit. However, master functions are also available
using IPOSplus®, the MOVILINK® command, and the master/slave function.
Single addressing
Every inverter can be directly addressed using addresses 0 - 99. The inverter responds
to every request telegram from the master with a response telegram.
Master
1
R R1
AD AD
o
t t om
es fr
qu se
Re pon
s
Re
Re Requ
sp es
on t t
se o A
fro DR
m
AD 3
R
3
R
Res eques
pon t to
se f ADR
rom
1
AD 2
R1
2
Slave
Slave
Slave
Inverter
Inverter
Inverter
ADR: 1
ADR: 3
ADR: 12
01488BEN
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
23
4
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
Group addressing
(multicast)
Every inverter has a setable group address in addition to its individual address. In this
way, the user can group various participants and address the individual participants of
a group simultaneously using group addressing. With group addressing, the master
does not receive a response telegram. This means that no data can be requested from
the inverter. And there is no response when writing data. A maximum of 99 groups can
be set up.
Master
Request telegram to group adr. 102
Request telegram to group adr. 101
Slave
Slave
Slave
Slave
Slave
Slave
Inveter
Inverter
Inverter
Inverter
Inverter
Inverter
ADR: 1
ADR: 2
ADR: 3
ADR: 4
ADR: 5
ADR: 6
Group
adr.: 101
Group
adr.: 101
Group
adr.: 101
Group
adr.: 101
Group
adr: 102
Group
adr.: 102
01489BEN
Universal addressing for point-topoint communication
Basically, every inverter can be addressed using universal address 254 independent of
the set single address. The advantage of this variant is that point-to-point connections
can be established without having to know the individual address. As each inverter of
the group is addressed using this universal address, it must not be used for multi-point
connections (e.g. RS485 bus). Else, data collisions would occur on the bus because
every inverter would send a response telegram once it receives a request telegram.
Slave
Master
Request telegram via universal adr. 254
Response telegram from slave
Inverter
ADR: 1
01490BEN
24
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
Broadcast address
4
Broadcast address 255 can be used to address all inverter stations. The request
telegram with broadcast address 255 sent by the master is received by all inverters but
is not responded to. This means, this addressing method is mainly used to transmit
setpoints. The master can send broadcast telegrams at a minimum interval of every
25 ms. Consequently, an idle time of at least 25 ms is mandatory between the last sent
character of a request telegram (BCC) and the start of a new request telegram (BCC).
Master
Request telegram to all slaves via broadcast adr. 255
Slave
Slave
Slave
Slave
Slave
Slave
Inveter
Inverter
Inverter
Inverter
Inverter
Inverter
ADR: 1
ADR: 2
ADR: 3
ADR: 4
ADR: 5
ADR: 6
Group
adr.: 101
Group
adr.: 101
Group
adr.: 101
Group
adr.: 101
Group
adr: 102
Group
adr.: 102
01491BEN
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
25
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
4
4.3.4
Structure and length of user data
PDU type (TYPE)
The TYPE byte describes the structure and length of subsequent user data (protocol
data unit (PDU)). The figure below shows the structure of the TYPE byte.
...Idle...
SD1
ADR
Bit:
7
TYP
6
5
PDU
4
reserved
3
2
1
BCC
0
PDU type
transmission variant
0: cyclical
1: acyclical
01492BEN
Besides, bit 7 of the TYPE byte indicates whether the user data are transmitted cyclically
or acyclically. A request telegram with cyclic transmission method signals the inverter
that the data sent by the master is updated cyclically. Consequently, response monitoring can be triggered in the inverter. This means if the inverter does not receive a new
cyclic request telegram within a timeout time, which can be set, a timeout response will
be triggered.
The following tables show the PDU types for cyclic and acyclic transmission. The
telegram length depends on the PDU type used and is calculated as follows:
Telegram length = PDU length + 4.
Transmission
methods
The following tables show the PDU types for ACYCLIC and CYCLIC transmission
methods.
TYPE byte
Cyclic
PDU name
Description
Acyclic
PDU length Telegram
in bytes
length in bytes
00hex 0dec
80hex 128dec
PARAM + 1PD
8 byte parameter channel +
1 process data word
10
14
01hex 1dec
81hex 129dec
1PD
1 process word
2
6
12
16
4
8
14
18
02hex 2dec
82hex 130dec
03hex 3dec
83hex 131dec
04hex 4dec
84hex 132dec
05hex 5dec
85hex 133dec
06hex 6dec
86hex 134dec
8 byte parameter channel +
PARAM + 2PD
2 process data words
2PD
2 process data words
8 byte parameter channel +
PARAM + 3PD
3 process data words
3PD
3 process data words
6
10
PARAM + 0PD
8 byte parameter channel
without process data
8
12
The standard PDU types consist of the MOVILINK® parameter channel and a process
data channel. For the coding of the parameter channel and process data, refer to
chapter " SEW unit profile " .
26
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
4
The following figure shows the structure of a request telegram with the standard PDU
types. The associated response telegram has the same structure except for the SD2
start character.
...Idle... SD1 ADR TYP
TYP 1/129
PD1
PD2
TYP 5/133
PD1
PD2
BCC
PD1
TYP 3/131
PDU
PD3
TYP 6/134
8 byte parameter channel
TYP 0/128
8 byte parameter channel
PD1
TYP 2/130
8 byte parameter channel
PD1
PD2
TYP 4/132
8 byte parameter channel
PD1
PD2
PD3
01493BEN
Block check character
Transmission
reliability
Transmission reliability with the MOVILINK® protocol is increased by a combination of
character parity and block parity. The parity bit is set for each character of the telegram
in such a way that the number of binary ones including the parity bit is even-numbered.
Block parity provides for additional reliability and means that a block check character
(BCC = Block Check Character) is added to the telegram. Each bit of the block check
character is set in such a way that the result is an even parity for all information bits of
the same value of the telegram character. In programming, the block parity is implemented by EXORing all telegram characters. The result is entered in the BCC at the end
of the message. The block check character itself is also ensured with the even character
parity.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
27
Serial Interfaces of MOVIDRIVE® B
MOVILINK® protocol via RS485 transmission method
The following figure gives an example of how a block check character is created for a
cyclical telegram of type PDU 5 with 3 process data words. The EXOR logic operation
of the characters SD1 - PD3low results in the value 57hex as the block check character
BCC. This block check character will be sent as the last character of the telegram. The
recipient checks the character parity after having received the individual characters.
Next, the block check character is created from the received characters SD1 - PD3low
according to the pattern described above. The telegram has been correctly transmitted
if the calculated and received block check characters are identical and there is no
character parity error. Any other result will be displayed as a transmission error.
SD1: 02 hex
1
Start
Stop
Creating the block
check character
Parity
4
0
0
0
0
0
0
1
0
0
0
0
1
0
1
0
1
0
0
0
0
0
1
1
0
1
0
1
0
1
0
0
0
0
0
0
1
EXOR
ADR: 01 hex
1
0
0
0
0
EXOR
TYP: 05 hex
0
0
0
0
0
EXOR
PD1 high: 00 hex
0
0
0
0
0
EXOR
PD1 low: 06 hex
0
0
0
0
0
EXOR
PD2 high: 3A hex
0
0
0
1
1
EXOR
PD2 low: 98 hex
1
1
0
0
1
EXOR
PD3 high: 01 hex
1
0
0
0
0
EXOR
PD3 low: F4 hex
1
1
1
1
1
0
1
0
0
calculated BCC: 57 hex
1
0
1
0
1
0
1
1
1
01494BEN
TIP
For a description of process data and the structure of the 8-byte parameter data
channel, refer to chapter " SEW unit profile " .
28
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
Other unit functions via RS485 interfaces
4.4
4
Other unit functions via RS485 interfaces
In addition to process and parameter data exchange between PC, keypad and
MOVIDRIVE® B, the RS485 interfaces can also be used for the following functions:
•
•
IPOSplus®
•
4.4.1
Master/slave operation
Manual operation
Using RS485 interfaces for master/slave operation
The master/slave function shown in the figure below allows for implementing automatic
functions such as speed synchronization, shared load and torque control (slave). The
RS485 interface (X13:10/X13:11) or the system bus interface (CAN 1) can be used as
communication link. P100 Setpoint source = Master SBus or P100 Setpoint source =
Master RS485 must be set on the slave. The process output data PO1 - PO3 (P870,
P871, P872) are automatically set by the firmware. A programmable terminal function
" Slave free run. " P60x binary inputs basic unit /P61x binary inputs option, it is possible
to separate the slave from the master setpoint and switch to local control mode.
TIP
For the slave, the process data P87x are automatically assigned as follows:
– PO1 = Control word 1
– PO2 = Speed or current in M-control
– PO3 = IPOS PO data
– PI1 = Status word 1
– PI2 = Speed
– PI3 = IPOS PI data
PI3 and PO3 are not used. They are available in IPOSplus® as required.
If a fieldbus card is plugged in the slave, only the parameter channel is available for the
output data. The master can read the automatically assigned process input data via
fieldbus.
01311BEN
*) DIØØ " /Controller inhibit " and the programmed binary inputs Enable, CW and CCW
must also receive a " 1 " signal.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
29
Serial Interfaces of MOVIDRIVE® B
Other unit functions via RS485 interfaces
4
TIP
P811 RS485 group address must be set to the same value for master and slave. For
master/slave operation via RS485 interface, set P811 RS485 Group address to a value
greater than 100. If you have made the setting in parameter P750 slave setpoint that
slave setpoints are used via RS485, then MOVIDRIVE® can no longer respond to requests (process and parameter telegrams) from another RS485 master (P100/101 ≠
RS485) as slave via this RS485 interface.
Connection
check
A connection check is always active for communication link via RS485 interface. P812
RS485 timeout interval is without function. The slave inverters must receive a valid
RS485 telegram within the fixed time interval of t = 500 ms. If the time is exceeded, the
slave drives will stop at the emergency stop ramp and error message F43 " RS485
timeout " will be issued.
NOTICE
If a timeout is not recognized, the drive will continue to move despite disconnected
controller.
Possible consequences: Damage to the system.
Only one of the two RS485 interfaces must be used for timeout monitoring.
As the RS485 timeout is active for both RS485 interfaces, the second interface is not
monitored for timeout when the DBG60B keypad is installed. The DBG60B keypad
permanently sends request telegrams to the inverter and in this way triggers the timeout mechanism.
30
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
Other unit functions via RS485 interfaces
4
Overview of functions of master/slave operation
Master
Slave
P750 Slave setpoint
P700 operating mode P100 Setpoint
1
source
P700 Operating
mode 1
Speed synchronization:
• Master controlled
• Slave controlled
SPEED (RS485+SBus1)
SPEED (RS485)
SPEED (SBus1)
VFC
VFC & GROUP
VFC & HOIST
V/f CHARACTERISTICS
V/f & DC BRAKING
MASTER SBus1
MASTER RS485:
VFC
VFC & GROUP
VFC & HOIST
V/f CHARACTERISTICS
V/f & DC BRAKING
Speed synchronization:
• Master speed controlled
• Slave controlled
SPEED (485+SBus1)
SPEED (RS485)
SPEED (SBus1)
VFC n-CONTROL
VFC n-REG & ...
CFC
CFC/SERVO & IPOS
CFC/SERVO & SYNC
MASTER SBus1
MASTER RS485:
VFC
VFC & GROUP
VFC & HOIST
SPEED (485+SBus1)
SPEED (RS485)
SPEED (SBus1)
VFC n-CONTROL
VFC n-REG & ...
CFC/SERVO
CFC/SERVO & IPOS
CFC/SERVO & SYNC
MASTER SBus1
MASTER RS485:
VFC n-CONTROL
VFC n-CTRL &
GROUP
VFC n-CTRL & HOIST
CFC
SERVO
Function
Speed synchronization:
• Master speed controlled
• Slave controlled
• Drives do not have a rigid
mechanical connection.
Speed synchronization:
• Master controlled
• Slave controlled
• Drives do not have a rigid
mechanical connection.
SPEED (485+SBus1)
SPEED (RS485)
SPEED (SBus1)
VFC
VFC & GROUP
VFC & HOIST
MASTER SBus1
MASTER RS485:
VFC n-CONTROL
VFC n-CTRL &
GROUP
VFC n-CTRL & HOIST
CFC
SERVO
Load distribution:
• Master controlled
• Slave controlled
LOAD SHAR.
(RS485+SBus1)
LOAD SHAR. (RS485)
LOAD SHAR. (SBus1)
VFC
VFC & GROUP
VFC & HOIST
MASTER SBus1
MASTER RS485:
VFC
VFC & GROUP
VFC & HOIST
Load distribution:
• Master speed controlled
• Slave controlled
LOAD SHAR.
(RS485+SBus1)
LOAD SHAR. (RS485)
LOAD SHAR. (SBus1)
VFC n-CONTROL
VFC n-REG & ...
CFC/SERVO
CFC/SERVO & IPOS
CFC/SERVO & SYNC
MASTER SBus1
MASTER RS485:
VFC
VFC & GROUP
VFC & HOIST
VFC & FLYING START
Load distribution:
• Master speed controlled
• Slave controlled
Not possible
Load distribution:
• Master controlled
• Slave controlled
Not possible
Torque control of the slave:
• Master speed controlled
• Slave torque controlled
TORQUE (RS485+SBus1)
TORQUE (RS485)
TORQUE (SBus1)
CFC/SERVO
CFC/SERVO & IPOS
CFC/SERVO & SYNC
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
MASTER SBus1
MASTER RS485:
CFC/SERVO &
M-CTRL.
31
Serial Interfaces of MOVIDRIVE® B
Other unit functions via RS485 interfaces
4
Speed
synchronization
The actual speed of the master is transferred to the slave. Set the torque ratio for the
slave inverter using P751 Scaling slave setpoint. Leave P324 Slip compensation 1/P334
Slip compensation 2 of the slave at the value as the startup setting.
Example:
Parameter
Setting on the master
Setting on the slave
e.g. UNIPOL./FIXED SETP
MASTER SBus
P101 Control signal source
e.g. TERMINALS
Not in effect
P700 Operating mode 1
VFC n-CONTROL
VFC 1
SPEED (SBus)
MASTER-SLAVE OFF
Not in effect
1 (then 1 : 1)
P100 Setpoint source
P750 Slave setpoint
P751 Scaling slave setpoint
P810 RS485 Address
Set different values
P811 RS485 group address
Not in effect
P881 Address SBus 1
Set different values
P882 SBus group address
P884 SBus baud rate
Load sharing
Set the same value (0 - 63)
Set the same value (125, 250, 500 or 1000 kBaud)
This function lets two inverters control the same load. The rotating field frequency of the
master is transferred to the slave. It is assumed in this case that the shafts of the motors
corresponding to the master and the slave are rigidly connected together. You are
recommended to use the same motors with the same gear ratios, otherwise different
delays may result during starting/stopping due to the pre-magnetizing time and the
brake release/application time. P751 Scaling slave setpoint must be set to the value " 1 " .
TIP
P324 Slip compensation 1 /P334 Slip compensation 2 of the slave must be set to 0.
Better behavior can be accomplished by setting the slave as follows:
•
P138 Ramp limitation VFC: OFF
•
P115 Filter setpoint: 0 s
•
Ramps P130 / P131 /P132 / P133: 0 s
•
P301 Minimum speed 1 / P311 Minimum speed 2: 0 min-1
Example:
Parameter
Setting on the master
P100 Setpoint source
Setting on the slave
e.g. BIPOL./FIXED SETP
MASTER RS485
P101 Control signal source
e.g. TERMINALS
Not in effect
P324 Slip compensation 1
Do not change
0
VFC 1
VFC 1
LOAD SHAR. (RS485)
MASTER-SLAVE OFF
Not in effect
1 (then 1 : 1)
P700 Operating mode 1
P750 Slave setpoint
P751 Scaling slave setpoint
P810 RS485 Address
P811 RS485 group address
P881 Address SBus 1
Set different values
Set the same value (101 - 199)
Set different values
P882 SBus group address
P884 SBus baud rate
32
Not in effect
Not in effect
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Serial Interfaces of MOVIDRIVE® B
Other unit functions via RS485 interfaces
Torque control
4
The slave inverter receives the torque setpoint of the master directly (the correcting
variable of the speed controller). This enables high quality load sharing, for example.
This load sharing setting should be preferred if the drive configuration permits it. Set the
torque ratio using P751 Scaling slave setpoint.
Example:
Parameter
P100 Setpoint source
P101 Control signal source
P700 Operating mode 1
P750 Slave setpoint
P751 Scaling slave setpoint
Setting on the master
Setting on the slave
e.g. UNIPOL./FIXED SETP
MASTER RS485
e.g. TERMINALS
Not in effect
CFC
CFC & M-CONTROL
TORQUE (RS485)
MASTER-SLAVE OFF
Not in effect
1 (then 1 : 1)
P810 RS485 Address
P811 RS485 group address
Set different values
Set the same value (101 - 199)
P881 Address SBus 1
Set different values
P882 SBus group address
Not in effect
P884 SBus baud rate
Not in effect
TIP
For more detailed information on master/slave operation, refer to the MOVIDRIVE®
MDX60B/61B system manual.
4.4.2
Using the RS485 interfaces in IPOSplus®
In the IPOSplus® positioning and sequence control system integrated in MOVIDRIVE®
B, you can
•
directly access the process data transmitted via RS485 using the commands
GETSYS PO data and SETSYS PI data.
•
access process and parameter data of other SEW drives connected via RS485 using
the MOVILINK® command.
For this purpose, set the bus type to the value " 1 " for accessing the XT socket (master
functionality), and to value " 2 " for access via X13.
TIP
For more information on IPOSplus® commands, refer to the " IPOSplus® Positioning and
Sequence Control " manual.
4.4.3
Using RS485 interfaces for manual operation
Manual operation of MOVIDRIVE® B serves as startup assistance. It is used to move
the drive for teach mode without active PLC (see chapter 8.9).
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
33
CAN Interfaces of MOVIDRIVE® B
Connecting and installing CAN
5
5
CAN Interfaces of MOVIDRIVE® B
As standard, MOVIDRIVE® B is equipped with two CAN interfaces (SBus):
•
CAN 1 (SBus 1), connection via X12 on the MOVIDRIVE® B basic unit
•
CAN 2 (SBus 2), connection via X30 and X31 on the DFC11B option card
Both CAN interfaces correspond to CAN specification 2.0 A and B but use only 11-bit
identifiers (COB-ID 0 - 2047). The CAN interfaces can be configured and used independent of one another.
•
For direct connection of control systems for process and parameter data transfer
according to the CANopen or MOVILINK® profile
•
For direct connection to SEW fieldbus gateways (e.g. DF..B/UOH11B) to allow
operation on various bus and control systems.
•
For interconnecting several MOVIDRIVE® B units for master/slave operation.
•
For exactly synchronizing several MOVIDRIVE® B units (ISYNC).
•
For connection to an engineering PC via PC-CAN interface or SEW fieldbus gateway.
•
For sending and receiving user-defined data (CAN layer 2 communication) in
IPOSplus®.
Telegrams received from MOVIDRIVE® B via CAN interface are not passed on via the
other CAN interface.
5.1
Connecting and installing CAN
5.1.1
Connecting the two CAN interfaces CAN 1 and CAN 2
Both CAN interfaces can be connected in a pin-compatible manner using a separable
3-pole terminal block. For the CAN 2 interface, the DFC11B option card provides an
additional Sub-D9 plug (X30) connected in series according to CiA standard (CAN in
automation).
Terminal description of the CAN
interfaces
Terminal
Signal
CAN 1: X12 (MDX B)
CAN 2: X31 (DFC11B)
CAN 2: X30 (DFC11B)
DGND1)
1
3, 6
CAN High
2
7
CAN Low
3
2
N. C.
-
1, 4, 5, 8, 9
1) DGND of the CAN 2 interface is independent from DGND of the basic unit
•
•
34
CAN 1 (SBus 1) at terminal X12 in the MOVIDRIVE® B basic unit is not electrically
isolated.
CAN 2 (SBus 2) is available electrically isolated via the DFC11B option (terminals
X30, X31).
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
Connecting and installing CAN
5
Wiring diagram
Controlunit
Controlunit
S 11
S 12
S 13
S 14
Terminating resistor
ON OFF
System bu
s
Reference
Systembus High
Systembus Low
System bu
s
Reference
Systembus High
Systembus Low
1
2
3
ON OFF
X12:
DGND
SC11
SC12
S 11
S 12
S 13
S 14
System bu
s
Terminating resistor
ON OFF
X12:
DGND
SC11
SC12
Controlunit
S 11
S 12
S 13
S 14
System bu
s
Terminating resistor
System bu
s
Reference
Systembus High
Systembus Low
1
2
3
X12:
DGND
SC11
SC12
1
2
3
64769AEN
An 120 ohm terminating resistor can be connected for both CAN interfaces via DIP
switch.
•
•
CAN network
CAN 1: DIP switch S12 on the MOVIDRIVE® B basic unit
CAN 2: DIP switch " R " on the DFC11B option
The CAN network (see figure below) should always have a linear bus structure without
[1] (or only with very short) stub lines [2]. The network must have exactly one terminating
resistor RT = 120 ohm installed on both ends of the bus.
CAN-High
CAN-High
RT
RT
CAN-Low
CAN-Low
[1]
[2]
64357AXX
®
MOVIDRIVE B units come equipped with CAN transceivers with a fan-out of more than
100:1. This means you can connect 100 units via CAN network without having to take
special measures.
Cable length
The permitted total cable length depends on the baud rate setting (P884/P894):
•
125 kBaud
→
500 m (1640 ft)
•
250 kBaud
→
250 m (820 ft)
•
500 kBaud
→
100 m (328 ft)
•
1000 kBaud
→
25 m (82 ft)
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
35
CAN Interfaces of MOVIDRIVE® B
Connecting and installing CAN
5
TIPS
•
Do not operate both CAN interfaces with 1000 kBaud to limit the interrupt load for
MOVIDRIVE® B.
If a CAN interface is operated wtih 1000, the other CAN interface must be set to
125 kBaud.
•
The option cards DCS..B use the CAN 2 interface. The baud rate of the CAN 2
interface is set to 500 kBaud by default.
•
MOVIDRIVE® compact MCH4_A units must not be combined with other
MOVIDRIVE® B units in the CAN network if the baud rate is set to 1000 kBaud.
NOTICE
Swapping the CAN connections.
CAN transceiver in MOVIDRIVE® B or on DFC11B option might be destroyed.
Make sure the CAN interfaces are connected correctly.
5.1.2
Shielding and routing cables
Correct shielding of the bus cable attenuates electrical interference that can occur in
industrial environments. The following measures ensure the best possible shielding:
•
Manually tighten the mounting screws on the connectors, modules, and equipotential
bonding conductors.
•
Apply the shielding of the bus cable on both ends over a large area.
•
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.
CAUTION
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.
36
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
Connecting and installing CAN
CAN cable
specification
•
5
Use a 2 x 2-core twisted and shielded copper cable (data transmission cable with
braided copper shield). The cable must meet the following specifications:
– Cable cross section 0.25 - 0.75 mm2 (AWG 23 - AWG 19)
– Cable resistance 120 Ω at 1 MHz
– Capacitance per unit length ≤ 40 pF/m at 1 kHz
Suitable cables are e.g. CAN bus or DeviceNet cables.
Shield contact
•
Connect the shield on both sides to the electronics shield clamp of MOVIDRIVE® B
over a large area. With a 2-core cable, additionally connect the shield ends to GND.
NOTICE
There must not be any difference of potential between the units which are connected
using CAN 1 (Sbus 1). This may affect the functionality of the units.
Take suitable measures to avoid potential displacement, such as connecting the unit
ground connectors using a separate cable.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
37
CAN Interfaces of MOVIDRIVE® B
Configuration parameters of the CAN interfaces
5
5.2
Configuration parameters of the CAN interfaces
Set the following parameters to enable communication via CAN interfaces:
Parameter
No.
Setting
Meaning
100 Setpoint source
SBus 1/2
The inverter obtains its setpoint from the SBus.
101 Control signal source
SBus 1/2
The inverter receives its control commands
from the SBus.
836 Response to SBus timeout
837 1/2
Factory set to:
The error response is programmed that is
EMERG.STOP/FAULT triggered by system bus timeout monitoring.
870 Setpoint description PO1
871 Setpoint description PO2
872 Setpoint description PO3
Factory set to:
CONTROL WORD 1
SPEED
NO FUNCTION
873
874
875
876
Name
Actual value description PI1
Actual value description PI2
Actual value description PI3
Enable PO data
Factory set to:
STATUS WORD 1
SPEED
NO FUNCTION
ON
The content of process input data words
PO1/PO2/PO3 is defined. This is necessary so
MOVIDRIVE® can allocate the appropriate
setpoints.
The content of process input data words
PI1/PI2/PI3 is defined. This is necessary so
MOVIDRIVE® 07 can allocate the appropriate
actual values. The process data must be
enabled to have the unit apply the setpoints.
881
SBus address 1/2
882
0 - 63
Setting of the SBus address used for
exchanging parameter and process data.
882
SBus group address 1/2
892
0 - 63
Setting for the SBus group address used for
receiving group parameter and group process
data.
883
SBus timeout interval 1/2
893
0 - 650 s
Monitoring time for data transmission via SBus.
MOVIDRIVE® performs the fault response set
in P836 if there is no data traffic on the SBus
within this time. Data transmitted via SBus is
not monitored when P815 is set to 0 or 650 s.
884
SBus baud rate 1/2
894
125/250/500/1000
kBaud
The transmission speed of the SBus is set.
885
SBus synchronization ID 1/2 0 - 2047
895
P817 is used for setting the identifier (address)
of the synchronization message in the inverter
for the SBus. Make sure there is no overlap
between the identifiers for the process data or
parameter data telegrams.
External controller synchroni887
On/off
zation
By default, the time base of MOVIDRIVE® units
is slightly smaller than 1 ms. For synchronization with an external controller, the time base
can be set to exactly 1 ms.
888 Synchronization time
1 - 5 - 10 ms
This parameter is used to specify the time interval for synchronous data transfer
(see P885/P895).
889/
Parameter channel 2
899
Yes / No
Parameter channel 2 is only needed with the
MOVI-PLC® option. In this case, master/slave
operation via SBus is not possible.
TIP
Refer to the MOVIDRIVE® MDX60B/61B system manual for a detailed description of
the parameters.
38
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
MOVILINK® profile via CAN
5.3
5
MOVILINK® profile via CAN
The MOVILINK® profile via CAN (SBus) is an application profile from SEWEURODRIVE specifically adjusted to SEW inverters. This chapter serves to support you
with diagnostics and creating own applications.
5.3.1
Telegrams
Different telegram types were defined for communication with a master (e.g. controller).
These types of telegrams can be divided into three categories:
•
•
Process data telegrams
•
CAN bus
identifier
Synchronization telegrams
Parameter telegrams
On the SBus, it is necessary to differentiate between these various types of telegrams
by means of identifiers (ID or COB-ID (Communication Object Identifier)). Therefore, the
identifier of a CAN telegram is generated from the telegram type and the address set
using parameters P881/P891 (SBus address) or P882/P892 (SBus group address).
The CAN bus identifier consists of 11 bits because only standard identifiers are used.
The 11 bits of the identifier are divided into 3 groups:
•
Function (bit 0 - 2)
•
Address (bits 3 - 8)
•
Process data/parameter data changeover (bit 9)
5
0
Bit:
9
3
2
8
7
6
5
Address
1
0
4
3
X
10
4
X
2
X
X
1
0
Function
0 = Process data telegram
1 = Parameter data telegram
Reserved = 0
02250BEN
Bit 9 is used to distinguish between process and parameter data telegrams. The address
of parameter and process data telegrams includes the SBus address (P881/P891) of the
unit that is addressed by a request; the address of group parameter and group process
data telegrams includes the SBus group address (P882/P892).
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
39
CAN Interfaces of MOVIDRIVE® B
MOVILINK® profile via CAN
5
Creating the
identifiers
The following table shows the relationship between the type of telegram and the address
when creating the identifiers for SBus MOVILINK® telegrams:
Identifier
Telegram type
8 × SBus address + 3
Process output data telegram (PO)
8 × SBus address + 4
Process input data telegram (PI)
8 × SBus address + 5
Synchronizable process output data telegram (PO sync)
8 × SBus group address + 6
Group process output data telegram (GPO)
8 × SBus address + 512 + 3
Parameter request telegram (channel 1)
8 × SBus address + 512 + 4
Parameter response telegram (channel 1)
8 × SBus address + 512 + 5
Parameter response telegram (channel 2)
8 × SBus group address + 512 + 6
Parameter response telegram (channel 2)
See P885/P895
Synchronization
telegram
Group parameter request telegram
8 × SBus address + 512 + 7
Sync telegrams
A fixed time base of 5 milliseconds can be defined for the transmission of process data
and parameter data. In the first millisecond of a cycle, the master controller must send
a synchronization telegram to the connected drive inverters.
Master Control
Parameter request telegram
Sync
telegram
Sync
telegram
Process output
data telegrams
1.
2.
3.
4.
5.
Send range of process
output data
Process input
data telegrams
Sync
telegram
Process output
data telegrams
1.
2.
3.
4.
5.
1.
2.
t [ms]
Send range of process
output data
Process input
data telegrams
Parameter
Process input
response
data telegrams
telegram
MOVIDRIVE® Drive Inverter
01020BEN
The synchronization message is a broadcast message. This means all drive inverters
receive this message. The identifier of this message is set to zero at the factory. You
can choose any value between 0 and 2047 but make sure there is no overlapping with
the identifiers of the process or parameter data telegrams.
40
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
MOVILINK® profile via CAN
Process data telegrams for 3 process data words
5
The process data telegrams comprise a process output data telegram and a process
input data telegram. The process output data telegram is sent from the master to a slave
and contains the setpoints for the slave. The process input data telegram is sent from
the slave to the master and contains actual values of the slave.
A telegram with 6 bytes of user data is required for transmitting 3 process data words.
The next page describes the transmission of up to 10 process data words.
Byte
0
Byte
1
Byte
2
Byte
3
Byte
4
Byte
5
ID
PO1
PO2
PO3
CRC
ID
PI1
PI2
PI3
CRC
64299AXX
The process data at sent at certain points of time during the fixed time base of 5 milliseconds. A distinction is made between synchronous and asynchronous process data.
The synchronous process data are sent within the time interval at certain points of time.
The master controller must send the process output data at the earliest 500 ms after the
second millisecond and at the latest 500 ms before the first millisecond. MOVIDRIVE®
sends the process input data as response in the first millisecond.
Asynchronous process data are not sent during the time interval. The master controller
sends process output data at any time. MOVIDRIVE® responds with a process input
data telegram within a maximum of 1 millisecond.
The coding of process input and output data words is described in chapter " SEW unit
profile " .
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
41
5
CAN Interfaces of MOVIDRIVE® B
MOVILINK® profile via CAN
Group process
data telegram for
3 process data
words
The master sends the group process data telegram to one or more slaves with the same
SBus group address. It has the same structure as the process output data telegram.
This telegram can be used for sending the same setpoint values to several slaves which
share the same SBus group address. The slaves do not respond to the telegram.
Byte
0
ID
Byte
1
Byte
2
PO1
Byte
3
Byte
4
PO2
Byte
5
CRC
PO3
64300AXX
Process data telegrams for up to
10 process data
words
The transmission of more than 3 process data words is carried out across an
" unacknowlegded fragmentation channel " . The telegrams always have a length of 8
bytes even if fewer data are required for data transmission. The reason is to prevent
incorrect interpretation of process data. Telegrams with a length of 8 bytes are always
fragmented.
Byte
0
Byte
1
Byte
2
Byte
3
Byte
4
Byte
5
Byte
6
Byte
7
ID
Fragment
Information
POx
POy
POz
CRC
ID
Fragment
Information
PIx
PIy
PIz
CRC
64302AXX
The CAN telegrams are structured as follows:
Byte no.
Bit 7
0
Fragmentation type
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Fragmentation count
1
Len (Byte)
2
IO Data
3
IO Data
4
IO Data
5
IO Data
6
IO Data
7
IO Data
" Len (Byte) " is the number of data bytes to be transmitted in total (e.g. 10 PD = 20 bytes).
42
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
MOVILINK® profile via CAN
5
Fragmentation type:
Fragmentation type
Meaning
0
First fragment
1
Middle fragment
2
Last fragment
" Fragmentation count " begins with " 0 " and is increased by one with each fragment.
Sequence
First, the master transmits all fragments to the slave. Once the slave has accepted transmission, it returns as many fragmented process data as it has received.
The following 4 telegrams are sent when transmitting 10 process data words:
Byte 0
Byte 1
Fragment
Length
Message 1
Parameter
telegrams
0x42
Message 4
Byte 4
Byte 5
Byte 6
Byte 7
0x83
20dec
IO data
IO data
IO data
PD word 2
PD word 3
PD word 4
PD word 5
PD word 6
PD word 7
PD word 8
PD word 10
PD word 10
0x41
Message 3
Byte 3
PD word 1
0x00
Message 2
Byte 2
Reserved
Reserved
Parameter telegrams (see figure below) consist of a parameter request telegram and a
parameter response telegram.
The master sends the parameter request telegram to read or write a parameter value.
Its structure is as follows:
•
Management byte
•
Subindex
•
Index high byte
•
Index low byte
•
4 data bytes
The management byte specifies the service to be performed. The index specifies the
parameter for which the service is to be performed. The 4 data bytes contain the number
value to be read or written (see " Fieldbus Unit Profile " manual).
The slave sends the parameter response telegram in response to the parameter request
telegram from the master. Request and response telegrams have the same structure.
Byte
0
Byte Byte Byte Byte
1
2
3
4
Byte Byte
5
6
Byte
7
ID
Manage- Sub Index Index Data
Data
Data Data
CRC
LSB
ment
index High Low MSB
ID
Data
Manage- Sub Index Index Data
Data Data
CRC
LSB
index High Low MSB
ment
64303AEN
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
43
CAN Interfaces of MOVIDRIVE® B
MOVILINK® profile via CAN
5
Parameter telegrams can also be synchronous or asynchronous telegrams. Synchronous parameter telegrams are responded to within 5 milliseconds. The response telegram is sent in the first millisecond. Asynchronous parameter telegrams are responded
to independent of any time interval.
Group parameter
telegram
The master sends the group parameter telegram to one or more slaves with the same
SBus group address. It has the same structure as the process request telegram. You
can only write parameters to the slave units with this telegram. The slaves do not
respond to the telegram.
Byte
0
ID
Byte Byte Byte Byte Byte Byte Byte
1
2
3
4
5
6
7
Manage- Sub- Index Index Data
Data
Data Data LSB CRC
ment
index High Low MSB
64304AEN
5.3.2
Parameter setting via CAN (SBus MOVILINK®)
With the SBus, MOVIDRIVE® inverters support the " MOVILINK® parameter channel "
and " MOVILINK® parameter channel SYNC " .
Master controller
®
MOVILINK parameter channel
®
MOVILINK parameter channel SYNC
SBus
63801AEN
TIP
For a detailed description of the parameter channel structure, refer to the " SEW unit
profile " chapter.
In conjunction with the CAN bus, it is important to distinguish between synchronized and
non-synchronized parameters:
•
•
44
With non-synchronized parameter telegrams (handshake bit = 0), the service
acknowledgement is independent of the sync telegram.
With synchronized parameter telegrams (handshake bit = 0), the service acknowledgement is sent in the first millisecond upon reception of the sync telegram.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
Parameter setting
procedure with
CAN
5
Taking the example of the WRITE SYNC service is intended to represent a process of
setting parameters between the controller and drive inverter via SBus-MOVILINK® (see
figure below). To simplify the process, the figure 16 only shows the management byte
of the parameter telegram.
While the controller prepares the parameter telegram for the WRITE SYNC service, the
drive inverter receives SYNC telegrams and also receives and returns process data
telegrams. The service is activated once the parameter request telegram has been
received. The drive inverter then interprets the parameter telegram and processes the
WRITE SYNC service. At the same time, it responds to all the process data telegrams.
The parameter response telegram is not sent until the SYNC telegram has been
received.
Control
(Master)
Send parameter
telegram
Send process
output data
Send SYNC
telegram
Receive process
input data
Service was
performed correctly
CAN
01110010
Drive Inverter
(Slave)
Receive request telegram
Process output data message
SYNC message
Process input data message
01110010
Receive process output data
SYNC telegram received;
parameter response
telegram and process input
data telegram are sent upon
receipt
01028BEN
5.4
CANopen profile via CAN
CANopen communication is implemented according to the specification DS301 version
4.02 of CAN in automation (siehe www.can-cia.de). A specific unit profile, such as DS
402, is not implemented.
An EDS file for configuring CANopen master systems is available for download at
www.sew-eurodrive.de under " Documentation/Software " .
The CANopen profile provides the following COB-ID (Communication Object Identifier)
and functions:
Type
COB ID
Function and properties in MOVIDRIVE®
NMT
000hex
Network management
Sync
080hex
Synchronous message with dynamically configurable COB ID
Emcy
0890hex + node no.
Emergency message with dynamically configurable COB ID
Tx-PDO1
Rx-PDO1
180hex + node no.
200hex + node no.
Tx-PDO2
Rx-PDO2
280hex + node no.
300hex + node no.
Tx-PDO3
Rx-PDO3
380hex + node no.
400hex + node no.
For 10 process input data words (PI) that are mapped as required in
the TX-PDOs.
For 10 process output data words (PO) that are mapped as required
in the RX-PDOs.
Various transmission modes (synchronous, asynchronous, event)
Dynamically configurable length of PDOs
SDO
580hex + node no.
600hex + node no.
SDO channel for parameter data exchange with the CANopen
master
Guarding/heartbeat
700hex + node no.
Guarding and Heartbeat are supported:
• Heartbeat producer
• Heartbeat consumer (single)
• Lifetime protocol (guarding)
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
45
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
MOVIDRIVE® B saves all parameters to the non-volatile memory card; that is, the
settings of the CANopen communication range (CANopen index 0x1000 - 0x1FFF) are
also reset to the last available value once the system is restarted.
The CANopen communication range can be reset to its original settings using the NMT
service " Reset_Communication " . If you want to reset all parameters of MOVIDRIVE® B,
you can use parameter P802 or write value " 1 " to index 8594.
TIP
You can check the status of the CANopen slave (NMT status, guarding, identifier, and
mapping of PDOs) of MOVIDRIVE® B in the MOVITOOLS® MotionStudio context
menu of MOVIDRIVE® under [Diagnostics] / [CANopen configuration].
5.4.1
Configuring the CANopen interface of MDX B and network management (NMT)
Baud rate and
CANopen slave
address
Parameters P884/P894 are used to set the CAN baud rate. The baud rate can only be
set to 1 Mbaud when the baud rate of the other Sbus is 125 kBaud. The CANopen slave
address can be set using parameters P886/P896. If the CAN baud rate or CANopen
slave address is changed, CAN communication will restart.
Unit states and
NMT services
MOVIDRIVE® B untersupports the so-called " Minimum Capability Device " . This means
the following states are supported: " pre-operational " , " operational " and " stopped " (see
figure below).
Power on
Initialisation
[11]
[12]
[10]
[8]
Pre-Operational
[7]
[6] [8]
Stopped
[6]
Operational
[7]
64336AXX
46
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
The unit states can be changed at any time using NMT services. Possible commands:
•
Node_Start indication [6]
•
Node_Stop indication [7]
•
Enter_Pre-Operational_State indication [8]
•
Reset_Node indication [10]
This command is used to reset the entire inverter. This means an inverter fault is
acknowledged and the default settings in the object directory and the CANopen
communication range (0x1000 to 0x1FFF) become active.
•
Reset_Communication [11]
This command causes the communication parameters in the object directory to be
reset (index 0x1000 to 0x1FFF).
•
Initialization finished [12]
The node automatically changes to " pre-operational " and sends a guarding telegram
(700hex + slave ID) as " boot-up " message.
The CAN telegrams are structured as follows:
NMT service
COB ID
Node_Start
Node_Stop
Enter_Pre-Operational_State
Byte 1
Byte 2
0x01
0x02
0x0000
0x80
Reset_Node
0x81
Reset_Communication
Node ID
0x82
The node ID corresponds with the address set in parameter P886/896. The value " 0 " is
permitted for the node ID. In this case, all CANopen devices will be addressed.
NMT services are not acknowledged by the slave.
MOVIDRIVE® B supports the so-called " Minimum Capability Device " , i.e. the following
states are supported:
•
Pre-operational
In " pre-operational " state, the device can only communicate via SDOs.
•
Operational
In " operational " state, PDOs and SDOs can be exchanged.
•
Stopped
In " stopped " state, neither PDOs nor SDOs can be exchanged.
When switching MOVIDRIVE® B back on, the CANopen interfaces are always automatically in " pre-operational " state. After switching back on, they go to " operational " state if
index 0x27FA subindex 1 (SBus 1) or subindex 2 (SBus 2) is 1.
If MOVIDRIVE® B remains in " booting " state after switching it on again, no boot-up
message could be sent. This means no other CAN unit can be accessed via SBus.
Check the connection and parameter setting of all unit on CAN.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
47
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
5.4.2
Process data exchange
MOVIDRIVE® B can send up to 10 process input data words (PI data) and receive up to
10 process output data words via CANopen. 10 process data words can be assigned
different PDOs using CANopen mapping. The PDO transmission modes can be used to
optimize the bus load or define which process data words are to be sent and how often
the transmission is to take place. Process data words 1 to 3 can be directly processed
by the inverter. Process data words 4 to 10 can only be processed by IPOSplus® programs. Parameters P870 - P875 are used to define the function of process data words
1 - 3.
After communication has been reset, the following default settings apply:
•
•
RX-PDO2 with PO4, PO5, PO6
•
RX-PDO3 with PO7, PO8, PO9, PO10
•
TX-PDO1 with PI1, PI2, PI3
•
TX-PDO2 with PI4, PI5, PI6
•
TX-PDO3 with PI7, PI8, PI9, PI10
•
All RX-PDOs and TX-PDOs operate in the synchronous transmission mode.
•
Configuring the
COB IDs
RX-PDO1 with PO1, PO2, PO3
TX-PDO2 and TX-PDO3 are disabled and can be activated if required.
After the communication/application has been reset, all COB IDs are reinitialized in
accordance with the DS301 CANopen standard depending on the CANopen slave
address (P886/P896).
Index of the COB ID
(hex)
Subindex of the COB ID
(hex)
COB ID after communication
reset
RX-PDO1
1400
200hex + slave address
RX-PDO2
1401
300hex + slave address
RX-PDO3
1402
TX-PDO1
1800
TX-PDO2
1801
C0000280hex + slave address
TX-PDO3
1802
C0000380hex + slave address
1
400hex + slave address
40000180hex + slave address
The COB ID (32 bit value) is set up according to the following schema:
Bit
31
30
29
28 - 11
10 - 0
48
Value
Meaning
0
PDO is active
1
PDO is inactive
0
RTR may be used for this PDO
1
RTR may not be used for this PDO
0
11-bit CAN ID
1
29-bit CAN ID
0
Must always be " 0 " if bit 29 is " 0 "
X
Bits 28 - 11 of the 29-bit COB ID if bit 29 is " 1 "
X
Bits 10 - 0 of the COB ID
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
TIPS
Observe the following notes:
•
•
COB IDs can only be changed in " pre-operational " unit state.
•
Example
With MOVIDRIVE® B, 29-bit COB IDs and RTR telegrams are not permitted for requesting TxPDOs. Therefore, bits 29 and 28 - 11 of the PDO COB IDs must always
be set to " 0 " . MOVIDRIVE® B automatically sets bit 30 to " 1 " .
New values are only accepted for the COB ID when it is an 11-bit ID (that is, bit 29
must not be set) and if the ID has not already been assigned to another PDO or the
emergency object (see chapter " Emergency object).
The COB ID of RX-PDO3 is to be changed from 401hex to 403hex. The COB ID of RXPDO3 is stored in index 1402hex, subindex 1.
•
•
Transmission
mode
Send NMT service for " enter pre-operational " .
The value 403hex must be written to index 1402, subindex 1.
Various transmission modes can be selected for each TX-PDO:
•
Event-controlled and synchronous (value 0):
Every time the process data of a TX-PDO changes, this TX-PDO is sent after the next
SYNC pulse.
•
Cyclic and synchronous (value 1 - 240):
After every SYNC pulse (1st to 240th, depending on the value), the TX-PDO is sent
regardless of whether the content of the TX-PDO has changed or not.
•
Manufacturer-specific (value 254):
This TX-PDO is sent when the corresponding RX-PDO is received.
Example: TX-PDO2 has the transmission mode 254. A TX-PDO2 is sent directly after
a valid RX-PDO2 has been received (valid means that the length is not too long or
too short).
•
Event-controlled and asynchronous (value 255):
This TX-PDO is set by MOVIDRIVE® B every time a value of the TX-PDO changes.
TIPS
If the speed, current, position or similar values that change quickly are set via the TXPDO, this causes a very high load on the bus.
The inhibit time can be used to limit the bus load to predictable values (see section
" Inhibit time " ).
Default setting for all PDOs: Cyclic and synchronous (transmission mode = 1).
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
49
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
Various transmission modes can be selected for each TX-PDO:
•
Synchronous (value 0 - 240):
When the next SYNC pulse is received (it does not matter whether the value is 0 or
240), the data of the RX-PDO is transferred to the PO data buffer of MOVIDRIVE®
B. This transmission process can be used to first send several PDOs from the master
to the MOVIDRIVE® B and then transfer them consistently to the PO data buffer of
MOVIDRIVE® B at the same time with a SYNC pulse.
•
Manufacturer-specific (value 254):
The corresponding TX-PDO is sent when an RX-PDO is received.
Example: TX-PDO2 also has the transmission mode 254. A TX-PDO2 is sent directly
after a valid RX-PDO2 has been received (valid means that the length is not too long
or too short).
•
Event-controlled and asynchronous (value 255):
When an RX-PDO is received, its data is immediately transferred to the PO data
buffer.
Default setting for all PDOs: Cyclic and synchronous (transmission mode = 1).
TIPS
Observe the following notes:
•
•
The transmission modes for the RX-PDOs 1 - 3 can be changed using object
1400hex to 1402hex, subindex 2. They are all 8-bit values.
•
Transmission modes 241 - 253 are reserved and cannot be selected.
•
The transmission mode can only be changed when the unit is in the pre-operational
state.
•
Inhibit time
The transmission modes for the TX-PDOs 1 - 3 can be changed using object
1800hex to 1802hex, subindex 2. They are all 8-bit values.
For information on the SYNC pulse, refer to chapter " SYNC object " .
This inhibit time is a lock-out time for TX-PDOs. The inhibit time for a TX-PDO begins
once this object has been sent. This object cannot be sent to the CANopen bus again
until the inhibit time has elapsed. The inhibit time is given in multiples of 100 μs; that is,
15670 corresponds to 1.567 seconds. The maximum inhibit time is 6.5535 s.
MOVIDRIVE® B processes inhibit times with a resolution of 1.0 ms, i.e. the value 15
(corresponding to an inhibit time of 1.5 ms) is treated as 2 ms. The valid value range is
" 0 " and " 10 - 65535 " .
TIPS
•
•
50
The inhibit time may only be changed in " pre-operational " unit state. The default
value for the inhibit time of all PDOs is 0 (disabled).
The inhibit time for the TX-PDOs 1 - 3 can be changed using object 1800hex to
1802hex, subindex 3.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
Mapping process
data in the
CANopen PDOs
5
Only the 10 objects from index 2020hex (PO1 - 10) can be mapped to RX-PDO 1 - 3.
A PDO can contain a maximum of 4 of these 16-bit values.
Name
Index (hex)
Subindex (hex)
PO1
1
PO2
2
PO3
3
PO4
4
PO5
PO6
5
2020
6
PO7
7
PO8
8
PO9
9
PO10
A
The TX-PDOs can be formed from the following objects:
Name
Index (hex)
Subindex (hex)
PI1
1
PI2
2
PI3
3
PI4
4
PI5
PI6
5
2021
6
PI7
7
PI8
8
PI9
9
PI10
A
The mapping can only be changed when the unit is in the pre-operational state.
If you want to change the mapping for a PDO, do the following:
•
Set the mapping length of the PDO to " 0 " . The mapping length for RX-PDO1 - 3 is
stored in index 1600hex - 1602hex, subindex 0.
•
Now you can change the mapping for this PDO. The value to be written is calculated
from 65535 × index + 256 × subindex + 16. The result for RX-PDOs mapping entries
is 20210x10hex, with x being a value between 1 and Ahex and designating the number
of the PO or PI data word.
•
Finally set the mapping length of the PDO to the number of IDs mapped in this PDO.
X=1-3
Index (hex)
1st PO mapped in RX-PDO X
2nd PO mapped in RX-PDO X
Subindex (hex)
Comment
0
Number of PDs mapped in
RX-PDO X
Can be set to a value between 0 and 4
1
15FF + X
2
3rd PO mapped in RX-PDO X
3
4th PO mapped in RX-PDO X
PO1 - PO10 can be mapped
4
Mapping of TX-PDOs is stored in subindices 0 - 4 analog to mapping of RX-PDOs via
indices 1A00hex - 1A02hex.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
51
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
5.4.3
SYNC object
The SYNC object is used to transfer the process data of several PDOs consistently and
at a specific time to the process data buffer of MOVIDRIVE® B. All the PDOs which are
to be synchronized with the SYNC object have to be operated in transmission mode 0 240. If the transmission mode of TX-PDO is set to 4, MOVIDRIVE® B will send this TXPDO after every fourth SYNC message. With RX-PDOs, its data will be transferred to
the PO data buffer with every SYNC message.
Changing the
COB ID of the
SYNC object
In " initializing status " , the MOVIDRIVE® B defines the COB ID of the SYNC object as
080hex. The COB ID should be changed in the " pre-operational " unit state. Although it
can also be changed in the operational status, the CAN controller is temporarily separated from the bus. This means process data losses may occur in the operational status.
As the MOVIDRIVE® B only is a SYNC consumer and only works with 11-bit COB IDs,
bits 30 and 29 must always be set to " 0 " . The structure of the COB ID and the meaning
of the individual bits are described in the table below. The COB ID of the SYNC message
is addressed as 32-bit value via index 1005hex, subindex 0.
Bit
31 (MSB)
30
29
28 - 11
10 - 0 (LSB)
X
0/1
0
0
11-bit identifier
Bit
Value
Meaning
31 (MSB)
X
Do not care
0
Device does not generate SYNC message
30
29
28 - 11
10 - 0 (LSB)
52
1
Device generates SYNC message
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
0
If bit 29 = 0
X
If bit 29 =1: bits 28 - 11 of 29-bit-SYNC-COB-ID
X
Bits 10 - 0 of SYNC-COB-ID
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5.4.4
5
The emergency object
The emergency object is always sent once by MOVIDRIVE® B when an error is detected
and when this error no longer exists. MOVIDRIVE® B sends an emergency object in the
event of the following errors.
MOVIDRIVE® B sets the error bit in its status word.
•
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
0
FFhex
Error register
(object 1001hex)
0
Status word 1 of
MOVIDRIVE® B,
low
Status word 1 of
MOVIDRIVE® B,
high
0
0
MOVIDRIVE® B operates in DC 24 V backup mode only; rotating field voltage is
missing.
•
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
0
31hex
Error register
(object 1001hex)
0
0
0
0
0
•
The lifeguarding protocol was disabled but was not executed cyclically within the
timeout time.
Byte 1
COB ID of the
emergency object
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
30hex
81hex
Error register
(object 1001hex)
0
0
0
0
0
The COB ID should be changed in the " pre-operational " unit state. Although it can also
be changed in the operational status, the CAN controller is temporarily separated from
the bus. This means process data losses may occur in the operational status. Bit 29
must always be 0 because MOVIDRIVE® B only works with 11-bit COB IDs. The structure of the COB ID and the meaning of the individual bits are described in the following
tables. If MOVIDRIVE® B is not to send an EMCY object , you can deactivate it by setting
bit 31. The COB ID is addressed as unsigned long via index 1014hex, subindex 0.
Bit
31 (MSB)
30
29
28 - 11
10 - 0 (LSB)
0/1
0
0
0
11-bit identifier
Bit
Value
31 (MSB)
Meaning
0
EMCY exists / is valid
1
EMCY does not exist / is not valid
30
0
reserved (always 0)
29
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
28 - 11
0
If bit 29 = 0
X
If bit 29 =1: bits 28 - 11 of 29-bit SYNC COB ID
X
Bits 10 - 0 of SYNC COB ID
10 - 0 (LSB)
In " initializing status " , the MOVIDRIVE® B defines the COB ID of the emergency object
as 080hex + slave address.
Inhibit time of the
emergency object
The inhibit time of the emergency object on the CANopen bus is given as unsigned 16
(2 bytes) via index 1015hex, subindex 0. The inhibit time is defined as a multiple of
100 μs, i.e. the value 3000 corresponds to an inhibit time of 300 ms.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
53
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
5.4.5
Heartbeat and lifetime
Heartbeat and
lifetime
The following applies: A MOVIDRIVE® B node either uses the heartbeat protocol or the
lifetime protocol. Combined operation is not possible under any circumstances.
Lifetime (guarding)
The CANopen controller sends a node-guarding object with set RTR bit to the
MOVIDRIVE® B CANopen slave. The slave responds by sending a node-guarding object with a data length of 1 byte. The node-guarding object always has the fixed COB ID
700hex + CANopen slave address. The slave expects these node-guarding objects
cyclically within a timeout time. If the controller exceeds this timeout time, the error
response for CAN timeout active is triggered (P836 and P837) in MOVIDRIVE® B.
The timeout time can be set in milliseconds with the indices 0x100C ( " guard time " ) and
0x100D ( " life time factor " ). This timeout time is calculated as the product of lifetime factor
and guard time. Timeout times shorter than 10 ms are rejected.
TIP
Parameters P883 and P893 are used to read the timeout time set by the controller. The
timeout time must not be modified. It results from the CAN open objects 0x100C and
0x100D set by the controller.
Node-guarding is only active once the first node-guarding object sent by the master is
received. If the product of life time factor × guard time is 0, the node-guarding function
is deactivated and the heartbeat mechanism can be used (see section " Hearbeat " ).
Heartbeat
MOVIDRIVE® B is a heartbeat producer. The time interval in which heartbeats are produced can be set using index 1017hex, subindex 0 by means of an unsigned 16 value.
This value corresponds to the heartbeat in ms, i.e. 3000 means that a heartbeat is sent
every 3 s. The heartbeat object always has the fixed COB ID 700hex + CANopen slave
address.
The default value for index 1017hex, subindex 0 is " 0 " , which means hearbeat is
disabled. MOVIDRIVE® B can be configured as a heartbeat consumer at the same time.
MOVIDRIVE® B can monitor exactly one other CANopen node to check whether it is
producing the heartbeats within a timeout time. The timeout time and node number of
the node to be monitored is defined with the object 1016hex, subindex 1.
Bit
31 - 24
Value
Data type
23 - 16
15 - 0
Reserved,
always 0
CANopen address to be monitored
Heartbeat consume timeout in ms
UNSIGNED8
UNSIGNED16
If index 1017hex, subindex 0 and index 1016hex, subindex 1 are set to 0, the heartbeat
function is deactivated and the guarding protocol can be used.
54
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5.4.6
5
Parameter access via SDO
MOVIDRIVE® B supports an SDO channel. The COB IDs are fixed for this SDO channel. For RX-SDO, the COB ID is " 600hex + CANopen slave address " , and for TX-SDO
the COB ID is " 580hex + CANopen slave address " . The SDO channel supports
expedited and non-expedited transfers. SDO mechanisms are described in detail in the
CANopen specification DS301.
Example:
•
The transfer mode of TXPDO1 (index 0x1800 subindex 2) is to be read.
•
The request telegram with the COB ID 600hex + CANopen slave address contains
the 8 data bytes " 40 00 18 02 xx xx xx xx " (hexadecimal notation).
–
–
–
–
•
= read command
= index (low byte first)
= subindex
= without meaning
The response telegram with the COB ID 580hex + CANopen slave address contains
the 8 data bytes " 4F 00 18 02 01 xx xx xx xx " (hexadecimal notation).
–
–
–
–
–
•
40
00 18
02
xx xx xx xx
4F
00 18
02
01
xx xx xx
= 1 byte read
= index
= subindex
= value (= synchronous)
= without meaning
The following SDO commands and responses are important:
–
–
–
–
–
–
–
–
2F
2B
23
60
4F
4B
43
80
= write 1 byte (command)
= write 2 bytes (command)
= write 4 bytes (command)
= successfully written (response)
= 1 byte read (response)
= 2 bytes read (response)
= 4 bytes read (response)
= error while executing service (response)
In the 4-byte data range of an SDO telegram, the valid data bytes are entered in Intel
format aligned to the left (low byte first). All communication specific indices of
MOVIDRIVE® B are listed in the EDS file " mdxb.eds " .
Parameter access
via SDOs to the
SEW-specific
parameters of
MOVIDRIVE® B
All SEW-specific parameters of the MOVIDRIVE® B (0x2000-0xFFFF) are stored in the
corresponding index with subindex 0.
Example: You have to access index 8300dec, subindex 0 to read the software version of
MOVIDRIVE® B.
CANopen only allows the " read " and " write " services for manufacturer-specific object via
SDO. If you want to use the SEW-specific services of the MOVILINK® fieldbus unit
profile (e.g. " read minimum " , " read maximum " , " read default " , " write volatile " , ...), you
can do so using objects 0x2066 and 0x2067. Object 0x2067 (SIGNED32) contains the
data that should be performed in the next MOVILINK® service or the result of the last
MOVILINK® service, if it was successful. Writing the object 0x2066 triggers the
MOVILINK® service. The object 0x2066 (UNSIGNED32) is structured as follows:
Bit 31 - bit 24
Bit 23 - bit 16
Bit 15- bit 8
Bit 7 - bit 0
Administration
Reserved
Index high
Index low
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
55
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
For a detailed description of the management byte, refer to the chapter " SEW unit
profile " . In the event of an error, " abort SDO " signals a general error. You can read the
exact MOVILINK® error code from parameter 0x2067.
Example 1:The maximum possible value (service " Read maximum " , 0x35) is to be
determined by the inverter for the index 0x2116 (ramp up CW).
To do so, the management byte must assume the value 0x35, reserved is set to 0. The
object 0x2066 is written using the value 0x35002116 via an SDO. The maximum possible value can then be read from index 0x2067 using a reading SDO access.
Example 2:The index 0x2116 (ramp up CW) is to be written to the volatile memory
with the value 0x1234 (service " write volatile " , 0x33).
Before the service is executed, the MOVILINK® service data (Index 0x2067) must be set
to the value 0x1234. This is done using a writing SDO in index 0x2067. The MOVILINK®
service is then performed by writing the value 0x33002116 to index 0x2066.
Example 3:The index 0x2116 (ramp up CW) is to be written to the volatile memory
with the value 0x4000000 ( " write volatile " service, 0x33).
Before the service is executed, the MOVILINK® service data (Index 0x2067) must be set
to the value 0x1234. This is done using a writing SDO in index 0x2067. The MOVILINK®
service is then performed by writing the value 0x33002116 to index 0x2066. The unit
signal " general error " via CANopen. Read to 0x2067 then returns the MOVILINK® error
code 0x08000015 (value too great).
5.4.7
Hard synchronization for synchronous operation or positioning several MDX-B units
When the controller sends the CANopen SYNC object, all synchronous PDOs sent are
transferred consistently to MOVIDRIVE® B using the SYNC object, if the factory settings
are used. The individual controller systems (processor time slices) of several axes on
one CANopen line are not synchronized with one another (soft synchronization).
However, the period of the SYNC object can be set as required in the controller.
If the controllers (processor time slices) are to synchronize several units with the SYNC
signal (hard synchronization), parameter P885 / P895 must be set to the COB ID of the
CANopen SYNC object (usually the value " 128 " = " 80hex " ). In this case, parameters
P887 and P888 also have to be set matching to the synchronization period of the
controller.
56
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5.4.8
5
Other unit properties in the CANopen profile
•
The master/slave functionality is not available with the CANopen profile but only with
the MOVILINK® profile via SBUS.
•
The CANopen via SBus communication profile also affects the following IPOSplus®
functions:
GETSYS PO data, SETSYS PI data and MOVILINK® (see chapter " Using the CAN
interfaces in IPOSplus® (depending on the profile) " )
5.4.9
CANopen-specific objects of MOVIDRIVE® B
Index
Subindex
Function
Access
Type
Mappable
Default value
1000
0
device type
ro
UNSIGNED32
NO
0
1001
0
error register
ro
UNSIGNED32
NO
1002
0
manuf. Status register
ro
UNSIGNED32
NO
1005
0
COB-ID SYNC message
rw
UNSIGNED32
NO
80hex
1008
0
manufacturer device name
ro
STRING
NO
MDXB
100B
0
node id of server
ro
UNSIGNED32
NO
100C
0
guard time [ms]
rw
UNSIGNED16
NO
0
100D
0
life time factor
rw
UNSIGNED8
NO
0
100E
0
COB ID lifetime
rw
UNSIGNED32
NO
0
100F
0
no. of SDO
ro
UNSIGNED32
NO
1
1014
0
COB-ID EMCY message
rw
UNSIGNED32
NO
80hex+slave ID
1015
0
inhibit time EMCY [ms]
rw
UNSIGNED16
NO
0
1016
0
consumer heartbeat time / no. of entries
ro
UNSIGNED32
NO
1
1016
1
producer 1
rw
UNSIGNED32
NO
0
1017
0
producer heartbeat time [ms]
rw
UNSIGNED16
NO
0
1018
0
identity object / no. of entries
ro
UNSIGNED32
NO
1
1018
1
vendor id
ro
UNSIGNED32
NO
89
1200
0
server SDO parameter / no. of entries
ro
UNSIGNED32
NO
2
1200
1
COB-ID Client → Server
ro
UNSIGNED32
NO
580hex+slave ID
1200
2
COB-ID Server → Client
ro
UNSIGNED32
NO
600hex+Slave-ID
RX-PDO communication parameter
1400
0
RX-PDO1 parameter / no. of entries
ro
UNSIGNED32
NO
2
1400
1
COB-ID
rw
UNSIGNED32
NO
200hex+slave ID
1400
2
transmission type
rw
UNSIGNED8
NO
1
1401
0
RX-PDO2 parameter / no. of entries
ro
UNSIGNED32
NO
2
1401
1
COB-ID
rw
UNSIGNED32
NO
300hex+slave ID
1401
2
transmission type
rw
UNSIGNED8
NO
1
1402
0
RX-PDO3 parameter / no. of entries
ro
UNSIGNED32
NO
2
1402
1
COB-ID
rw
UNSIGNED32
NO
400hex+slave ID
1402
2
transmission type
rw
UNSIGNED8
NO
1
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
57
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
5
Index
Subindex
Function
Access
Type
Mappable
Default value
RX-PDO1 mapping parameter
1600
0
no. of entries
rw
UNSIGNED8
NO
3
1600
1
1. Mapping
rw
UNSIGNED32
NO
20200110hex
1600
2
2. Mapping
rw
UNSIGNED32
NO
20200210hex
1600
3
3. Mapping
rw
UNSIGNED32
NO
20200310hex
1600
4
4. Mapping
rw
UNSIGNED32
NO
0
RX-PDO2 mapping parameter
1601
0
no. of entries
rw
UNSIGNED8
NO
3
1601
1
1. Mapping
rw
UNSIGNED32
NO
20200410hex
1601
2
2. Mapping
rw
UNSIGNED32
NO
20200510hex
1601
3
3. Mapping
rw
UNSIGNED32
NO
202610hex
1601
4
4. Mapping
rw
UNSIGNED32
NO
0hex
RX-PDO3 mapping parameter
1602
0
no. of entries
rw
UNSIGNED8
NO
4
1602
1
1. Mapping
rw
UNSIGNED32
NO
20200710hex
1602
2
2. Mapping
rw
UNSIGNED32
NO
20200810hex
1602
3
3. Mapping
rw
UNSIGNED32
NO
20200910hex
1602
4
4. Mapping
rw
UNSIGNED32
NO
20200A10hex
TX-PDO1 communication parameter
1800
0
TX-PDO1 parameter / no. of entries
ro
UNSIGNED32
NO
3
1800
1
COB-ID
rw
UNSIGNED32
NO
40000180hex + slave ID
1800
2
transmission type
rw
UNSIGNED8
NO
1
1800
3
inhibit time [100 μs]
rw
UNSIGNED16
NO
0
1801
0
TX-PDO2 parameter / no. of entries
ro
UNSIGNED32
NO
3
1801
1
COB-ID
rw
UNSIGNED32
NO
C0000280hex + slave ID
1801
2
transmission type
rw
UNSIGNED8
NO
1
1801
3
inhibit time [100 μs]
rw
UNSIGNED16
NO
0
1802
0
TX-PDO3 parameter / no. of entries
ro
UNSIGNED32
NO
3
1802
1
COB-ID
rw
UNSIGNED32
NO
C0000380hex + slave ID
1802
2
transmission type
rw
UNSIGNED8
NO
1
1802
3
inhibit time [100 μs]
rw
UNSIGNED16
NO
0
TX-PDO1 mapping parameter
1A00
0
no. of entries
rw
UNSIGNED8
NO
3
1A00
1
1. Mapping
rw
UNSIGNED32
NO
20210110hex
1A00
2
2. Mapping
rw
UNSIGNED32
NO
20210210hex
1A00
3
3. Mapping
rw
UNSIGNED32
NO
20210310hex
1A00
4
4. Mapping
rw
UNSIGNED32
NO
0
3
TX-PDO2 mapping parameter
1A01
no. of entries
rw
UNSIGNED8
NO
1A01
1
1. Mapping
rw
UNSIGNED32
NO
20210410hex
1A01
2
2. Mapping
rw
UNSIGNED32
NO^
20210510hex
1A01
3
3. Mapping
rw
UNSIGNED32
NO
20210610hex
1A01
58
0
4
4. Mapping
rw
UNSIGNED32
NO
0hex
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
CANopen profile via CAN
Index
Subindex
Function
Access
Type
Mappable
5
Default value
TX-PDO3 mapping parameter
1A02
0
no. of entries
rw
UNSIGNED8
NO
4
1A02
1
1. Mapping
rw
UNSIGNED32
NO
20210710hex
1A02
2
2. Mapping
rw
UNSIGNED32
NO
20210810hex
1A02
3
3. Mapping
rw
UNSIGNED32
NO
20210910hex
1A02
4
4. Mapping
rw
UNSIGNED32
NO
20210A10hex
Process data for mapping
2020
0
PO Data / no. of entries
ro
UNSIGNED32
NO
10
2020
1
PO 1
rrw
SIGNED16
YES
0
2020
2
PO 2
rrw
SIGNED16
YES
0
2020
3
PO 3
rrw
SIGNED16
YES
0
2020
4
PO 4
rrw
SIGNED16
YES
0
2020
5
PO 5
rrw
SIGNED16
YES
0
2020
6
PO 6
rrw
SIGNED16
YES
0
2020
7
PO 7
rrw
SIGNED16
YES
0
2020
8
PO 8
rrw
SIGNED16
YES
0
2020
9
PO 9
rrw
SIGNED16
YES
0
2020
10
PO 10
rrw
SIGNED16
YES
0
2021
0
PI Data / no. of entries
ro
UNSIGNED32
NO
10
2021
1
PI 1
ro
SIGNED16
YES
0
2021
2
PI 2
ro
SIGNED16
YES
0
2021
3
PI 3
ro
SIGNED16
YES
0
2021
4
PI 4
ro
SIGNED16
YES
0
2021
5
PI 5
ro
SIGNED16
YES
0
2021
6
PI 6
ro
SIGNED16
YES
0
2021
7
PI 7
ro
SIGNED16
YES
0
2021
8
PI 8
ro
SIGNED16
YES
0
2021
9
PI 9
ro
SIGNED16
YES
0
2021
10
PI 10
ro
SIGNED16
YES
0
Access to all MOVILINK® services
2066
0
Movilink Service
rw
UNSIGNED32
NO
0
2067
0
Movilink Data
rw
UNSIGNED32
NO
0
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
59
CAN Interfaces of MOVIDRIVE® B
Other unit functions via CAN interfaces
5
5.5
Other unit functions via CAN interfaces
In addition to the exchange of process and parameter data between controller and
MOVIDRIVE® B, the CAN interfaces can be used for other additional functions, such as
IPOSplus®, master/slave operation, or internal synchronous operation (ISYNC).
5.5.1
Using CAN interfaces for master/slave operation
Master/slave operation is only possible via CAN 1 (SBus 1). In this case, the
MOVILINK® profile must be activated in parameter P880.
TIP
P882 SBus group address must be set to the same value for master and slave. For
operation via system bus (e.g. master/slave operation), the bus terminating resistors at
the start and end of the system bus must be activated (S12 = ON). If the sending of
slave setpoints via SBus is set using parameter P750, MOVIDRIVE® can respond to
requests (process data telegrams) of another SBus master (P100/101 ≠ SBus (CAN))
via this SBus interface.
Connection
check
If communication takes place via SBus, P883 SBus timeout interval applies. If P883
SBus timeout interval is set to 0, data transmission via SBus will not be monitored. For
a detailed description of the setting and operation of the master/slave function, refer to
chapter 4.4.1.
Example
Master/slave operation can be executed via SBus 1. Every millisecond, the master
sends setpoint and control word to the slaves via SBus group telegram.
The same SBus group address (P882) must be set for master and slaves. The valid
address range is 0 - 63. Permitted baud rates for master/slave operation are 500 kBaud
and 1000 kBaud (P884). Make sure that the baud rate is the same for master and
slaves.
The master uses SBus group telegrams for master/slave communication. Therefore, the
master cannot be controlled by other stations via SBus group telegrams as this would
disturb arbitration on the CAN bus.
Unit 1 - MASTER
Unit 2 - SLAVE
Unit 3 - SLAVE
P100 setpoint source Bipol./fixed setpt.
P101 control signal source terminal
1
P882 SBus group address
speed (SBus)
P750 Slave setpt.
P100 setpoint source
Master SBus
P101 control signal source terminal
1
P882 SBus group address
off
P750 Slave setpoint
P100 setpoint source
Master SBus
P101 control signal source terminal
1
P882 SBus group address
off
P750 Slave setpoint
System bus (SBus)
64768AEN
60
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
Other unit functions via CAN interfaces
5.5.2
5
Using CAN interfaces in IPOSplus® (depending on the profile)
In the IPOSplus® positioning and sequence control system integrated in MOVIDRIVE®
B, you can
•
directly access the process data transmitted via SBus using the commands GETSYS
PO data and SETSYS PI data.
Depending on the chosen profile (P880/890), the data are read or written in
CANopen format (low byte first) or in MOVILINK® format (high byte first).
•
access process and parameter data of other SEW drives connected via CAN using
the MOVILINK® command.
Depending on whether MOVILINK® or CANopen was set as profile (P880/890), the
MOVILINK® structure differs for parameter access.
Set the bus type as follows:
•
" 5 " for access via CAN1 (SBus 1)
•
" 8 " for access via CAN 2 (SBus 2)
TIP
For more information on IPOSplus® commands, refer to the " IPOSplus® Positioning and
Sequence Control " manual.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
61
CAN Interfaces of MOVIDRIVE® B
Other unit functions via CAN interfaces
5
5.5.3
Using CAN interfaces in IPOSplus® (independent of the profile)
Variable telegrams were introduced to create an open CAN bus interface. You have the
free choice of the identifier with which to send the telegrams with the variable telegrams;
the 8 bytes of data on the CAN bus are used for the content of two variables.
In this way, an interface is provided that can be used to directly access layer 2 of the
CAN bus. Consequently, the maximum processing speed is achieved for variable transmission via the CAN bus.
The CAN bus is multimaster-capable which means every station can send a message.
All bus stations always listen actively to see which messages are being sent on the bus.
Each station filters the relevant telegrams and makes the data available to the application.
These features allow for working with an object-oriented approach. The stations send
objects and those stations which want to process these objects receive them.
The variable telegrams are created independent of the profile set with the SCOM
services (TRCYCL, TRACYCL und REC).
An offset of 1,000,000hex is necessary for the identifier in the SCOMDEF command to
access SBus 2. Use the SCOMST command instead of the SCOMON command. This
command lets you start or stop SBus 1 and SBus 2 together or separately.
TIP
Every station can send and receive objects. However, the following rules have
to be adhered to taking account of the identifiers reserved for MOVILINK® and
CANopen telegrams:
1. A particular identifier is only allowed to be sent by one station. This means those
identifiers used for sending messages in the MOVILINK® / CANopen profile are no
longer available for the exchange of variables.
2. An SBus identifier must be used only once in a unit. This means those identifiers
used for the SBus MOVILINK® / CANopen profile in a unit are no longer available
for the transmission of variables.
TIP
For more information on IPOSplus® commands, refer to the " IPOSplus® Positioning and
Sequence Control " manual.
62
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
Other unit functions via CAN interfaces
5.5.4
5
Using CAN interfaces for integrated synchronous operation (ISYNC via SBus)
TIP
Refer to the " MOVIDRIVE® MDX61B Internal Synchronous Operation " manual for
detailed information.
If you do not only want to synchronize several axes but also want to implement connection via fieldbus/SBus to a higher-level controller, we recommend that you use the
MOVI-PLC® DH..B option.
Basic operating
principle
A cyclical SBus telegram transfers a master position (e.g., the actual position of the
master or the value of the virtual encoder) from the master to the slaves via the SBus
(CAN). Sending and transferring the master position at equal intervals avoids aliasing.
Therefore, the time slices of the inverter are synchronized with a synchronization
message.
Settings for
operation using
SBus 1
1. Master
A An SBus telegram cyclically (e.g. every 1 ms) sends the master position to the
slaves. It is created in IPOSplus® using the _SBusCommDef command:
Structure
Setting
As small as possible (see 4 D)
CycleTime
SCTRCYCL
Element
ObjectNo
1 - 5 (see M filter description)
Offset
0
Format
4 (4-byte, Motorola format)
DPointer
e.g. 511 (= ActPosMot), 376 (= VEncoder)
B The synchronization message is an SBus telegram with high priority (small object
number), which is sent cyclically every 5 ms. It is created in IPOSplus® using the
_SBusCommDef command:
Structure
Setting
0, 1 or 2
CycleTime
5
Offset
0
Format
0 (0 byte)
DPointer
SCTRCYCL
Element
ObjectNo
e.g. 511 (= ActPosMot), 376 (= VEncoder)
C The synchronization ID (P817 or P885/895 with MOVIDRIVE® B) must be
different from the object number of the synchronization message (see 1 B) and
all other object numbers sent on the SBus.
2. Slaves
A The synchronization ID (P817 or P885/895 with MOVIDRIVE® B) must be the
same as the object number of the master’s synchronization message (see 1 B).
B The master position of the master is received and stored in an H variable.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
63
5
CAN Interfaces of MOVIDRIVE® B
Other unit functions via CAN interfaces
It is created in IPOSplus® using the _SBusCommDef command:
Structure
SCREC
Element
Setting
ObjectNo
See 1A
Format
4 (4-byte, Motorola format)
DPointer
xxx
C The H variable (Hxxx) defined under 2 B is selected as setpoint source for the
position using H430 MasterSource.
D The filter time for the position setpoint (H446) must be set to a value greater than
or equal to the cycle time of the setpoint telegram (see 1 A " CycleTime " ).
3. Slaves, which also act as master for other slaves
A The synchronization ID (P817 or P885/895 with MOVIDRIVE® B) must be the
same as the object number of the synchronization message of the master (see
1 B).
B The master position of the master is received and stored in an H variable. It is
created in IPOSplus® using the _SBusCommDef command:
Structure
SCREC
Element
Setting
ObjectNo
See 1A
Format
4 (4-byte, Motorola format)
DPointer
xxx
C The H variable (Hxxx) defined under 2 B is selected as setpoint source for the
position using H430 MasterSource.
D The filter time for the position setpoint (H446) must be set to a value greater than
or equal to the cycle time of the setpoint telegram (see 1 A " CycleTime " ).
E Analogous to 1 A, a cyclic telegram is created for sending the master position of
this master to its slaves. The object number should be as small as possible (see
4 D) but greater than the object number chosen for 1 A.
4. The following requirements must be fulfilled for successful internal
synchronization via SBus:
A The object number of the synchronization message must be the smallest object
number on the SBus (e.g. " 0 " ).
B The time slice of the master must not be synchronized by other participants.
Therefore, P817 or P885/P895 (with MOVIDRIVE® B) for the master must be
different from all object numbers existing on the SBus (e.g. " 2047 " ).
C Observe the sequence in which the sending of master position and synchronization message is created in the master using the _SBusCommDef command.
Always the master position first and then the synchronization message.
D Following the synchronization message, the object number of the master position
should be the smallest object number on the SBus, e.g. " 1 " . The smallest object
number on the SBus " 8 × SBus address + 3 " is defined via the MOVILINK® profile.
Sufficiently high prioritized telegrams for internal synchronization are achieved
with SBus addresses greater than or equal to 1.
64
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
CAN Interfaces of MOVIDRIVE® B
Other unit functions via CAN interfaces
5
5. Other important points
A If internal synchronization is operated via SBus, all units connected to this SBus
(except for 1 C) have to be synchronized to the same synchronization telegram
(see 1 B).
The following units cannot be synchronized and must therefore not be connected:
– UFx option as fieldbus or diagnostics interface
– Diagnostics PC with MOVITOOLS® MotionStudio via PC CAN interface
– MOVITRAC®
B The number of telegrams is limited depending on the baud rate of the SBus:
– Baud rate = 1 MBaud: Synchronization + 4 telegrams
– Baud rate = 500 kbaud: Synchronization + 2 telegrams
– No synchronization is possible if the baud rate is set to 250 or 125 kBaud.
Individual cases where these limits are exceeded have to be checked thoroughly.
C Ensure that the entire calculated bus utilization does not exceed 70 % for
additional data exchange between slaves. The bus utilization is calculated in bits
per second using the formula:
Number of telegrams × bits per telegram × 1/cycle time
Example: 2 telegrams à 100 bits in 1 ms cycle
= 200000 bits/s = 200 kBaud
This results in the following bus load percentage in reference to the selected baud
rate.
Example: 200 kBaud / 500 kBaud = 40 % & lt; 70 %
D The object number of the master position should be the smallest object number
on the SBus following the synchronization message, for example 1. The smallest
object number on the SBus " 8 × SBus address + 3 " is defined via the MOVILINK®
profile. Sufficiently high prioritized telegrams for internal synchronization are
achieved with SBus addresses greater than or equal to 1.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
65
5
CAN Interfaces of MOVIDRIVE® B
Other unit functions via CAN interfaces
6. Settings in MOVITOOLS® MotionStudio
12111AEN
12112AEN
The following parameters are important in parameter groups P88x and P89x for
MOVIDRIVE® B:
•
•
P884/P894 SBus baud rate 1/2
All stations on the SBus must be set to the same baud rate. Baud rate, maximum
cable length, and telegrams/time depend on one another.
•
P885/P895
See points 1B, 2A, and 4A. The time slice can be synchronized in the MOVILINK®
protocol via both SBus interfaces. It is important that synchronization messages
are received via only one SBus.
•
66
P880/P890 Protocol SBus 1/2
Only the MOVILINK® protocol allows for this synchronization
P887 Synchronization ext. controller 1/2
The time base for all units to be synchronized must be either about 1 ms
(standard for MOVIDRIVE® A; P887 = OFF for MOVIDRIVE® B) or exactly 1 ms
(P887 = ON, only for MOVIDRIVE® B).
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Other unit functions via CAN interfaces
6
6
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
MOVIDRIVE® MDX61B (not MDX60B) can be equipped with a fieldbus option card for
easy connection to the following bus systems:
•
DFP21B for PROFIBUS DP
•
DFD11B for DeviceNet
•
DFI11B for INTERBUS copper
•
DFI21B for INTERBUS fiber optic cable
•
DFE24B for EtherCAT and SBUSplus
•
DFE32B for PROFINET IO
•
DFE33B for EtherNet/IP and Modbus/TCP
•
DFC11B for CAN 2 (SBus 2)
A manual is available for each fieldbus option mentioned aboved (except for DFC11B).
This manual provides detailed information on connection, startup, scope of functions,
and diagnostics options.
The DFC11B is not actually a fieldbus option. It offers a connection option for CAN 2
(SBus 2). Refer to the manual for detailed information on connection, startup, scope of
functions, and diagnostics options (see chapter " CAN interfaces of MOVIDRIVE®
MDX60B/61B " ).
Other options cards, such as DCS..B safety monitor, use the CAN 2 connection
internally. Simultaneous operation of the DCS..B option with the DFC11B option is not
permitted.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
67
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Installing a fieldbus option card in MOVIDRIVE® MDX61B
6
6.1
Installing a fieldbus option card in MOVIDRIVE® MDX61B
TIPS
Only SEW-EURODRIVE personnel may install or remove option cards for
MOVIDRIVE® MDX61B size 0.
• Users may only install or remove option cards for MOVIDRIVE® MDX61B sizes 1
to 6.
•
The fieldbus option card must be plugged into the fieldbus socket [1].
•
The fieldbus option is powered by MOVIDRIVE® B. A separate voltage supply is not
required.
[1]
62594AXX
68
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Installing a fieldbus option card in MOVIDRIVE® MDX61B
6.1.1
6
Before you start
Observe the following notes before installing or removing an option card:
•
Disconnect the inverter from the power. Switch off the DC 24 V and the line voltage.
•
Take appropriate measures to protect the option card from electrostatic charge (use
discharge strap, conductive shoes, etc.) before touching it.
•
Before installing the option card, remove the keypad and the front cover (→
MOVIDRIVE® MDX60B/61B operating instructions, section " Installation " ).
•
After having installed the option card, replace the keypad and the front cover (→
MOVIDRIVE® MDX60B/61B operating instructions, section " Installation " ).
•
Keep the option card in its original packaging until immediately before you are ready
to install it.
•
Hold the option card by its edges only. Do not touch any of the components.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
69
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Installing a fieldbus option card in MOVIDRIVE® MDX61B
6
6.1.2
Basic procedure for installing/removing an option card (MDX61B, sizes 1 - 6)
2.
1.
2.
1.
3.
3.
3.
4.
4.
60039AXX
1. Remove the two retaining screws holding the card retaining bracket. Pull the card
retaining bracket out evenly from the slot (do not twist!).
2. Remove the 2 retaining screws from the black cover plate on the card retaining
bracket. Remove the black cover plate.
3. Position the option card onto the retaining bracket so that the three retaining screws
fit into the corresponding bores on the card retaining bracket.
4. Insert the retaining bracket with the installed option card into the slot, pressing
slightly so it is seated properly. Secure the card retaining bracket with the two
retaining screws.
5. To remove the option card, follow the instructions in reverse order.
70
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Parameters for configuring communication via fieldbus option
6.2
6
Parameters for configuring communication via fieldbus option
The following parameters are used for configuring the communication in addition to the
DIP switches on the fieldbus option cards. The factory setting of the individual
parameters is underlined.
TIP
Using parameters P090 - P099 you can monitor process data and settings that are
chosen by means of the setpoint source set in P100 and P101.
Parameter
No.
Name
Setting
Meaning
100 Setpoint source
TERMINALS
RS485
FIELDBUS
SBus
This parameter is used to set the setpoint
source for the inverter.
101 Control signal source
TERMINALS
RS485
FIELDBUS
SBus
This parameter is used to set the source of the
control signals for the inverter (CONTROLLER
INHIBIT, ENABLE, CW, CCW, ...). Control via
IPOSplus® and terminal is taken into account
disregarding of P101.
780 IP address
000.000.000.000 192.168.10.x 223.255.255.255
Use P780 to set the IP address for linking
MOVIDRIVE® B via Ethernet. If the DHCP is
activated using P785, the value specified by
the DHCP server will be displayed.
781 Subnetwork mask
000.000.000.000 255.255.255.0 255.255.255.255
Factory setting at delivery is a class C network.
The subnetwork mask divides the network into
subnetworks. The set bits determine which part
of the IP address represents the address of the
subnetwork. If DHCP is activated, the value
specified by the DHCP server will be displayed.
000.000.000.000 255.255.255.255
The standard gateway is addressed if the
desired communication partner is not within the
actual network. The standard gateway will have
to be part of the actual network. If DHCP is activated, the value specified by the DHCP server
will be displayed.
783 Baud rate
-
Display value, cannot be altered. Shows the
current baud rate of the Ethernet connection.
The value " 0 " is displayed during the initialization phase.
784 MAC address
-
Display value, cannot be altered. Indicates the
MAC address, i.e. the layer 2 Ethernet address
of the interface, that is clearly assigned worldwide.
782 Standard gateway
•
785 DHCP / Startup configuration
DHCP / Saved parameters
•
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
DHCP: The option is assigned its IP
parameters (P780 - P782) by a DHCP
server when the supply voltage is switched
on.
Saved IP parameters: The option is started
with the saved IP parameters when the
supply voltage is switched on.
71
6
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Parameters for configuring communication via fieldbus option
Parameter
No.
Setting
Meaning
819 Fieldbus timeout interval
0 - 0.5 - 650 s
P819 sets the monitoring time for data transmission via the implemented fieldbus (DFx).
MOVIDRIVE® B performs the error response
set in P831 Response FIELDBUS TIMEOUT if
there is no data traffic via the fieldbus for the
period set in P819. When P819 is set to the
value 0 or 650, data transmission via the fieldbus is not monitored. The timeout interval is
automatically specified by the master except
for Modbus/TCP. Changing this parameter
does not have any effect.
831 Fieldbus timeout response
RAPID STOP/WARN.
The error is only triggered in the ENABLED
inverter status. P831 programs the error
response which is triggered by the fieldbus
timeout monitoring.
870 Setpoint description PO1
871 Setpoint description PO2
872 Setpoint description PO3
Factory set to:
CONTROL WORD 1
SPEED
NO FUNCTION
873
874
875
876
Name
Actual value description PI1
Actual value description PI2
Actual value description PI3
Enable PO data
Factory set to:
STATUS WORD 1
SPEED
NO FUNCTION
ON
P870/P871/P872 define the content of the
process output data words PO1/PO2/PO3.
The content of process input data words
PI1/PI2/PI3 is defined.
On/off
By default, the time base of MOVIDRIVE® units
is slightly smaller than 1 ms. For synchronization with an external controller, the time base
can be set to exactly 1 ms.
1 - 5 - 10 s
Cycle time for new setpoints of a master
control.
See also P885 Synchronization ID SBus 1 /
P895 Synchronization ID SBus 2 / P887 Synchronization ext. controller and P970 DPRAM
synchronization.
970 DPRAM synchronization
On/off
MOVIDRIVE® B allows for synchronized operation with option cards (e.g. DHP11B, DFE24B).
ON: Synchronized operation with option card is
activated.
Important: The inverters may either be synchronized by SBus1, SBus2 or by DPRAM. The
inverters must not be synchronized from
interfaces at the same time. SEWEURODRIVE recommends to set P885/895 to
an identifier that is not used in the entire CAN
network. You need parameters P888 and P916
to implement synchronization with interpolating
setpoint processing.
OFF: Synchronized operation with the option
card is not activated.
971 Synchronization phase
(-2) - 0 - 2 s
Time interval between clock signal and data
transfer
Synchronization ext.
887
controller
888 Synchronization time
72
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Process and parameter access via fieldbus
6.3
6
Process and parameter access via fieldbus
The access to process and parameter data differs strongly depending on the bus
systems and controller used.
What applies to most bus systems is that up to 10 process input data words (PI) with
16 bits each are sent to the controller and up to 10 process output data words (PO) with
16 bits each are sent from the controller to MOVIDRIVE® via a dual-port RAM. In addition, certain options (e.g. DFE24B) allow for cyclically reading and writing 8 IPOSplus®
double words.
6.4
Other unit functions via fieldbus option card
The following additional functions can be used via fieldbus options in addition to the
exchange of process and parameter data between controller and MOVIDRIVE®.
6.4.1
Using the fieldbus options in IPOSplus®
Process data transmitted via fieldbus can be directly accessed in the IPOSplus® position
and sequence control system integrated in MOVIDRIVE® using the commands
GETSYS PO data and SETSYS PI data. Set the bus type to " 3 " for this purpose.
TIP
You find a detailed description of IPOSplus® in the " IPOSplus® Positioning and
Sequence Control System " manual.
6.4.2
Engineering via fieldbus
In addition to accessing process and parameter data by the controller, some fieldbus
options (e.g. DFP21B, DFE32B or DFE33B) also allow for parallel, controllerindependent engineering access to MOVIDRIVE® via fieldbus. In this case, the
engineering PC is directly connected to the bus system using an appropriate interface
(e.g. PROFIBUS or Ethernet). The controller need not necessarily be in RUN mode for
this purpose. The engineering access is described in the relevant manuals for the fieldbus options.
6.4.3
Engineering via fieldbus and controller
With some fieldbus options (e.g. DFP21B, DFE24B or DFI), access to MOVIDRIVE® is
possible using an engineering PC through the controller via fieldbus in addition to the
access to process and parameter data via controller.
For this purpose, the engineering PC is connected to an engineering interface of the
controller (e.g. Ethernet interface of Siemens S7, of the EtherCAT or Interbus master)
and then passes the telegrams of the MOVITOOLS® MotionStudio engineering software
to the MOVIDRIVE® via fieldbus. The controller usually has to be in RUN mode to do so.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
73
Fieldbus Interfaces via Option Card for MOVIDRIVE® B
Other unit functions via fieldbus option card
6
The engineering access via controller and fieldbus is described in the relevant manuals
for the fieldbus options.
6.4.4
Diagnostics via WEB server
The fieldbus options for industrial Ethernet (DFE32B and DFE33B) have a web server
that offers easy access to status and diagnostic information of the MOVIDRIVE®. On a
diagnostics PC in the Ethernet network you can have a read access to diagnostic
parameters, for example in the Internet Explorer by entering the IP address of
MOVIDRIVE®.
Diagnostics via web server is described in manuals of the fieldbus options.
6.4.5
Motion control
With some fieldbus options (e.g. DFE24B EtherCAT) you can synchronize unit-internal
time slices to an external communication cycle specified by the fieldbus. In this way, you
can implement clock-synchronous transmission of process setpoints and actual values
for motion control applications without aliasing effects.
Synchronization via fieldbus places high demands on controllers and MOVIDRIVE®.
Refer to the fieldbus option manuals for the necessary settings.
74
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Other unit functions via fieldbus option card
7
7
SEW Unit Profile
MOVIDRIVE® offers digital access to all drive parameters and functions via the communication interfaces. The drive inverter is controlled via the fast, cyclical process data. Via
this process data channel, you can enter setpoints, such as setpoint speed, ramp generator time for acceleration/deceleration, etc. as well as trigger various drive functions
such as enable, controller inhibit, normal stop, rapid stop, etc. At the same time you can
use this channel to read back actual values from the drive inverter, such as actual
speed, current, unit status, error number or reference signals.
In combination with the IPOSplus® positioning and sequency control integrated in the
drive inverter, you can also use the process data channel as direct connection between
PLC and IPOSplus®. In this case, the process data are not evalued by the drive inverter
but directly by the IPOSplus® program.
While the process data exchange generally occurs cyclically, the drive parameters can
be read or written acyclically using READ and WRITE services. This parameter data
exchange enables you to implement applications in which all the important drive
parameters are stored in the master programmable controller, so that there is no need
to make parameter settings manually on the drive inverter itself.
The use of a fieldbus system requires additional drive system monitoring such as time
monitoring of the fieldbus (fieldbus timeout) or even special emergency stop concepts.
The MOVIDRIVE® monitoring functions can be customized to your application. You can
determine, for instance, which of the drive inverter’s error responses should be triggered
in the event of a bus error. A rapid stop is a good idea for many applications, although
this can also be achieved by " freezing " the last setpoints so the drive continues operating with the most recently valid setpoints (such as with a conveyor belt). As the functions
of the control terminals are still active in fieldbus operation, you can still implement fieldbus-independent emergency stop concepts via the terminals of the drive inverter.
The MOVIDRIVE® inverter offers numerous diagnostic options for startup and service.
For example, you can use the DBG60B keypad to control both setpoint values sent from
the higher-level controller as well as the actual values. You are also supplied with a
variety of additional information about the status of the communication interfaces. An
even more convenient diagnostic option provides the MOVITOOLS® MotionStudio
engineering software. It lets you set all drive and communication parameters and
displays detailed information of interfaces and unit status.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
75
SEW Unit Profile
Process data
7
7.1
Process data
Process data (PD) are all time-critical (realtime) data of a process that have to be
processed or transmitted quickly. They are characterized by high dynamic properties
and actuality. Process data are, for example, setpoints and actual values of the drive
inverter, but also peripheral states of limit switches. Process data are exchanged
cyclically between programmable controller and drive inverter.
The actual control of the MOVIDRIVE® inverter is carried out using process data.
Process input data (PI) and process output data (PO) are basically handled separately.
This means you can specify for your application the kind of output data (setpoints) to be
sent from the controller to the drive inverter and the process input data (actual values)
to be sent by MOVIDRIVE® to the higher-level controller.
However, to control the drive inverter via communication interface, the inverter must first
be switched to the relevant control signal source and setpoint source. Distinguishing
between control signal and setpoint source allows for the most various combinations.
For example, the drive can be controlled via fieldbus and uses the analog setpoint as
setpoint. Next, the parameters for describing the process output data are used for
informing the drive inverter how to interpret the received process data.
Parameter P100 setpoint source is used to specify the communication interface which
the drive inverter uses for processing the setpoint.
Parameter
Communication interface
RS485
P100 Setpoint source
Fieldbus
SBus
...
Parameter P101 control signal source is used to specify how the drive inverter is
controlled. The inverter expects the control world of the source set in this parameter.
Parameter
Inverter control via
Terminals
P101 Control signal source
RS485
Fieldbus
SBus
Setting:
TERMINALS
With this setting, the drive inverter is controlled using only binary inputs and, if required,
using the IPOSplus® control program.
Setting: RS485,
FIELDBUS, SBus
With this setting, the control word defined in the process output data channel is updated
by the set control signal source (RS485 / FIELDBUS / system bus).
The binary inputs and the IPOSplus® control program continues to be involved in the
control.
76
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Process data
7
NOTICE
For safety reasons, you must also always enable the drive inverter at the terminals for
control via process data. Consequently, you must wire or program the terminals in such
a way that the inverter is enabled via the binary inputs.
For example, the simplest way of enabling the drive inverter at the terminals is to
connect the DI00 binary input (function / CONTROL INHIBIT) to a +24 V signal and to
program binary inputs DI01 through DI07 to NO FUNCTION. The following figure gives
an example of terminal wiring and parameter setting for controlling the drive inverter
solely using process data.
DI00 = /Controller inhibit
DI01 = no function
X13:
1
2
3
4
5
6
7
8
9
10
11
DI00
DI01
DI02
DI03
DI04
DI05
DCOM
VO24
DGND
ST11
ST12
DI02 = no function
DI03 = no function
DI04 = no function
[1]
DI05 = no function
VO24 = + 24 V
DGND = reference potential for binary signals
ST11 = RS-485 +
ST12 = RS-485 TF1 = TF input
DGND = reference potential for binary signals
X10:
-
DI04 = no function
1
2
3
4
5
6
7
8
9
10
TF1
DGND
DB00
DO01-C
DO01-NO
DO01-NC
DO02
VO24
VI24
DGND
DB00 = /Brake
DO01-C = Relay contact
DO01-NO = Normally open contact relay
DO01-NC = Normally closed contact relay
DO02 = /Malfunction
VO24 = + 24 V
VI24 = + 24 V (external supply)
+
24 V ext.
-
DGND = reference potential for binary signals
Enabling the power output stage using a device
jumper [1]
01234BXX
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
77
SEW Unit Profile
Process data configuration
7
7.2
Process data configuration
The MOVIDRIVE® inverter can be controlled with 1 to 10 (with RS485 with 1 to 3)
process data words via the communication interfaces. The number of process input data
(PI) and process output data (PO) is identical.
PA
PA 1
PA 2
PA 3
PE 1
PE 2
PE 3
PE
54943AXX
The process data configuration is set using DIP switches on the option card (e.g.
DFI11B) or via the SBus master when starting up the bus system (e.g. PROFIBUS-DP
or RS485). In this way, the inverter is automatically set properly. You can use the keypad
or the MOVITOOLS® MotionStudio fieldbus monitor to check the current process data
configuration under the menu item P090 Fieldbus PD configuration.
Depending on the installed fieldbus option card, the following process data configurations might take effect.
P090 PD configuration
1 process data word + parameter channel
1PD+PARAM
1 process data word
1PD
2 process data words + parameter channel
2PD+PARAM
2 process data words
2PD
....
....
10 process data words + parameter channel
10PD+PARAM
10 process data words
10PD
Only the number of process data (that is 1 PD - 10 PD) is interesting for process data
control of the drive inverter. These process data are usually mapped in the I/O or peripheral area when programmable logic controllers are used as fieldbus master. This means
the I/O or peripheral area of the PLC must provide sufficient memory space for the drive
inverter’s process data (see following figure). The address between process data of the
drive inverter and the PLC address area is usually assigned on the fieldbus master
module.
AW 44
AW 42
AW 40
PO 3
PO 2
PO 1
PO
PO 1
PO 2
PO 3
PI 1
PI 2
PI 3
PLC address range
EW 44
EW 42
EW 40
PI 3
PI 2
PI 1
PI
55022AEN
78
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Process data description
7.3
7
Process data description
The process data description defines the content of the process data to be transmitted.
The user can individually assign all the process data words.
The following 6 fieldbus parameters are available for defining the first three process data
words:
•
P870 Setpoint description PO1
•
P871 Setpoint description PO2
•
P872 Setpoint description PO3
•
P873 Actual value description PI1
•
P874 Actual value description PI2
•
P875 actual value description PI3
If one of the above mentioned parameters is changed, acceptance of process output
data for setpoint processing via fieldbus is automatically disabled. Only when the fieldbus parameter is activated again
•
P876 PO data enable = ON
will the received process output data be processed according to the new actual and setpoint value descriptions.
Process data words 4 to 10 can only be read and written using IPOSplus®.
Setpoint description PO data
The parameters setpoint description PAx define the content of those process output
data words which the higher-level programmable controller sends via the fieldbus
system (see following figure).
P870: SETPT.DESCR. PO1
P871: SETPT. DESCR. PO2
Ctrl. word 1
Ctrl. word 2
Speed setpt.
Current setpt.
etc.
Ctrl. word 1
Ctrl. word 2
Speed setpt.
Current setpt.
etc.
PO 1
PO 2
P872: SETPT. DESCR. PO3
Ctrl word 1
Ctrol word 2
Speed setpt.
Current setpt.
etc.
PO 3
Process output data
55025AEN
You can use the process output data words PO1, PO2 and PO3 to transmit the mentioned setpoints across the process output data channel. You can decide yourself in
which process data word the more significant part (high) or the less significant part (low)
is transmitted.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
79
7
SEW Unit Profile
Process data description
Assignment
The setting NO FUNCTION has the effect that the drive inverter
does not use this process output data word for processing setpoints. The content of the process output data word programmed
to NO FUNCTION is ignored although the controller might specifiy
a real setpoint via the fieldbus system.
The NO FUNCTION setting just disables the processing of the
process output data word in the inverter system. However, you
can access the process output data at any time using IPOSplus®.
SPEED
Set to SPEED, the MOVIDRIVE® inverter interprets the setpoint
value transmitted by this process data word to be the speed setpoint if the selected operating mode (P700 operating mode 1,
P701 operating mode 2) allows a speed setpoint.
If no speed setpoint has been programmed although a communication interface (FIELDBUS, RS485, system bus) has been set as
setpoint source, the inverter will use speed setpoint = 0.
1 digit = 0.2/min
CURRENT
Set to CURRENT, the drive inverter will interpret the setpoint
specified in this process data word as current setpoint if a variant
with torque control is set as operating mode (P700 Operating
mode 1). Else, the drive inverter ignores the current setpoint.
1 digit = 0.1 % IN
POSITION LO / HI
When set to POSITION HI / POSITION LO, the drive inverter
passes the setpoint received via these process output data (usually a position setpoint) as 32-bit value directly to the IPOSplus®
program in IPOSplus® variable 499 SP.PO.BUS (setpoint position
bus).
The position setpoints must be split into two process data words
because the position is usually specified as signed 32-bit value.
This means you have to specify the higher-value position value
(POSITION HI) as well as the lower-value position setpoint
(POSITION LO). Else, the drive inverter will not accept these
process output data in the IPOSplus® program.
MAX. SPEED
Set to MAX. SPEED means the MOVIDRIVE® inverter interprets
the transmitted setpoint as speed limit. The speed limit is specified in rpm and is interpreted as value for both directions of rotation.
The supported value range of the speed limit via fieldbus corresponds to the value range of parameter P302 Maximum speed 1.
Specifying the speed limit via fieldbus automatically disables
parameters P302 Maximum speed 1, P312 maximum speed 2.
1 digit = 0.2/min
MAX. CURRENT
80
Meaning
NO FUNCTION
Scaling
Set to MAX. CURRENT means the MOVIDRIVE® inverter interprets the transmitted process output data as current limit. The
current limit is specified in percent with reference to the rated
inverter current, in the unit % IN and is interpreted as value for
both directions of rotation.
The supported value range of the current limit via fieldbus corresponds to the value range of parameter P303 Current limit 1. The
current limits that can be set using parameters P303 Current limit
1 and P313 Current limit 2 are still valid when the current limit is
specific using process data. This means these parameters are to
be regarded as maximum effective current limit.
1 digit = 0.1 % IN
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Process data description
7
Assignment
Meaning
Scaling
SLIP
Set to SLIP means the MOVIDRIVE® inverter interprets the transmitted process output data word as slip compensation value.
Specifying the slip compensation via fieldbus automatically disables parameters P324 Slip compensation 1 and P334 Slip compensation 2.
Specifying the slip compensation via process data channel is only
technically meaningful in the VFC N-CONTROL operating mode
because the torque can be influenced directly by changing the slip
compensation.
The value range of this slip compensation value is identical with
the value range of parameter P324 Slip compensation 1 and corresponds to a speed range of 0 - 500 rpm.
If the slip specified using process data is outside this value range,
the maximum will take effect when the minimum and maximum
values are exceeded.
1 digit = 0.2 / min
RAMP
Set to RAMP, the MOVIDRIVE® inverter considers the transmitted setpoint value to be an acceleration or deceleration ramp. The
specified value corresponds to a time in ms and refers to a speed
change of 3000 rpm.
The rapid stop and emergency stop function is not affected by this
process ramp. When transmitting the process ramp via the fieldbus system, ramps t11, t12, t21 and t22 become ineffective.
1 digit = 1 ms
CONTROL WORD
1 / CONTROL
WORD 2
The assignment of process output data with control word 1 or 2
allows for activating nearly all the drive functions via fieldbus system. For a description of control words 1 and 2, please refer to the
chapter " Control word definition " .
SPEED [%]
Set to SPEED [%] means the MOVIDRIVE® inverter interprets the
setpoint transmitted in this process data word as speed setpoint in
percent.
The relative speed setpoint always refers to the currently applicable maximum speed limit, which means either P302/312 or MAX.
SPEED or PO speed limit.
4000hex
= 100 % nmax
IPOS PO-DATA
The setting IPOS PO-DATA has the effect that the drive inverter
does not use this process output data word for processing setpoints. The inverter system ignores the content of the process
output data word programmed to IPOS-PO-DATA and is available
for sole processing in the IPOSplus® control program.
Within IPOSplus®, you can use the command GetSys PO-Data to
directly access the process output data of the communciation
interfaces. For more detailed information, refer to the IPOSplus®
positioning and sequence control system manual.
Three words
with individually
coded 16 bits
each can be
exchanged
between the
higher-level
controller and
IPOSplus®.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
81
SEW Unit Profile
Process data description
7
Special cases of
PO data
processing
Setting the process output data description separately allows for a great variety of
combinations. Not all of them are technically meaningful, however.
In addition to the process output data, the digital input terminals are generally also used.
In special cases, also the analog setpoint of the MOVIDRIVE® inverter is used.
Setpoint specification via fieldbus
missing
No control word
specification via
fieldbus
If a communication interface is entered as control signal source and if no control
word is programmed for the process output data description, then the ENABLE
control command is specified in the inverter.
Double assignment of the
process output
data channel
32-bit process
output data
If a communication interface is entered as setpoint source and if no setpoint is
programmed for the process output data description, then the setpoint = 0 is
generated in the inverter.
If several process output data words have the same setpoint description, only the
process output data word that is read first will apply. The order in which the process
output data words are processed in the inverter is PO1 - PO2 - PO3. This means if
PO2 and PO2 have the same setpoint description, only PO2 will take effect. The
content of PO3 is ignored.
Process data that are longer than 16 bits and therefore occupy more than one process
data word, will not be processed by the drive inverter until they are fully mapped on the
process data channel.
NOTICE
Position setpoints have to be transferred consistently.
Possible consequences: The drive inverter might move to undefined positions
because, for example, an old position setpoint low and an already new position setpoint
high would be effective at the same time.
For more information on how to ensure data consistency and the resulting programming techniques, refer to the project planning manual of the master interface module
of your programmable controller.
Enable PO data
P876: PO data enable
PO 1
PO 2
PO 3
Process output data
55030AEN
Changing the parameter Setpoint description PO1 - PO3 causes the automatic disabling
of process output data with PO data enable = No. The process output data channel is
not available for processing until the parameter PP data enable is set to YES (e.g. by
the higher-level controller).
NO
YES
82
Process output data deactivated.
Setpoint processing of the drive inverter continues until the fieldbus setpoints are activated
again with the last valid (frozen) process output data.
Process output data enabled.
The drive inverter uses the process output data specified by the master.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Process data description
PO/PI data
processing
7
The process input data of the inverter (actual values, condition information, etc.) can be
read by all communication interfaces of the inverter and is therefore not connected with
the control signal and setpoint source.
RS485
System bus 1
FIELDBUS
PO 1
PO 2
PO 3
PO 1
PO 2
PO 3
System bus 2
PO 1
PO 2
PO 3
100 setpoint source
PO 1
PO 2
PO 3
101 ctrl. sign. source
n/I setpoints
n/I limits
ramp, slip
Control word 1
Control word 2
yes
876 PO data enable
Bus diagnostics
870 setpoint description PO1
094 PO1 setpoint [hex]
PO 1
PO 2
PO 3
871 setpoint description PO2
872 setpoint description PO3
095 PO2 setpoint [hex]
096 PO3 setpoint [hex]
plus
Drive control
setpoint processing
Binary inputs
IPOS
Bus diagnostics
873 actual value description PI1
874 actual value description PI2
875 actual value description PI3
RS485
FIELDBUS
PI 1
PI 2
PI 3
097 PI1 actual value [hex]
098 PI2 actual value [hex]
099 PI3 actual value [hex]
System bus 1
System bus 2
63787AEN
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
83
7
SEW Unit Profile
Process data description
Actual value
description of PI
data
The parameters Actual value description PI1 - PI3 define the content of the process
input data words transmitted by the drive inverter to the higher-level controller (see
figure below). Each process data word is defined with an individual parameter. Therefore, three parameters are necessary for describing the process input data.
P875: ACT.VAL. DESCR. PI1
P875: ACT.VAL. DESCR. PI2
P876: ACT.VAL.DESCR. PI3
Status word 1
Status word 2
Act. speed value
Act. appar. curr.
etc.
Status word 1
Status word 2
Act. speed value
Act. app. current
etc.
Status word 1
Status word 2
Act. speed value
Act. apparent curr.
etc.
PI 1
PI 2
PI 3
Process input data
55029AEN
The following parameters can be transmitted across the process data channel using
process input data words PI1 to PI3. 32-bit values, such as the actual position, are transmitted in two process data words. You can decide yourself in which process data word
the more significant part (high) and the less significant part (low) is transmitted.
Assignment
NO FUNCTION
Assigning a process input data word with NO FUNCTION means
that the inverter system does not update this process input data
word. In this case, MOVIDRIVE® returns the value 0000hex to the
higher-level controller.
SPEED
Set to SPEED, the drive inverter returns the current actual speed
in rpm to the higher-level automation system.
The actual speed can only be sent back properly if the inverter
can determine the actual motor speed via speed feedback. For
applications with slip compensation, the deviation from the real
motor speed solely depends on the accuracy of the slip compensation set by the user.
1 digit = 0.2 / min
OUTP.CURRENT
With the setting OUTPUT CURRENT, the drive inverter returns
the current actual value of the output current in [% In] to the
higher-level automation system (in percent, with reference to the
rated current of the drive inverter).
1 digit = 0.1 % IN
ACTIVE
CURRENT
By assigning a process input word ACTIVE CURRENT, the
inverter provides the actual active current value in % IN to the
higher-level automation system.
1 digit = 0.1 % IN
POSITION LO / HI
The actual position values must be divided into two process data
words because the position is transmitted as integer32. This
means you have to specify both the actual position value high and
the actual position value low. The drive inverter only provides
valid actual position values in operating modes with speed feedback.
STATUS WORD
1/
STATUS WORD 2
Assigning status word 1 or status word 2 to the process input data
allows for accessing status information as well as fault and reference messages.
SPEED [%]
84
Meaning
Scaling
Set to SPEED [%], the drive inverter returns the current actual
speed in % nmax / P302 to the higher-level automation system.
4000hex
= 100 % nmax
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Process data description
7
Assignment
Scaling of
process data
Meaning
Scaling
IPOS PI-DATA
Set to IPOS PI (IPOS Process Input Data), an individual actual
value can be transmitted from the IPOSplus® program to the
higher-level controller via process input data. This setting allows
for exchanging up to 48 individually coded bits between the
IPOSplus® program and the higher-level controller using the
process data channel.
You can directly write process input data in IPOSplus® using the
command SetSys PI-Data. For more detailed information, refer to
the IPOSplus® positioning and sequency control system manual.
Three words with
individually
coded 16 bits
each can be
exchanged
between the
higher-level
controller and
IPOSplus®.
The process data are always transmitted as fixed-point values to make for simple calculation in the ongoing system process. Parameters with identical units of measurement
receive the same scaling so that the higher-level automation device can directly
compare the set and actual values in the application program. There are the four different process data types:
•
Speed in rpm
•
Current in % IN (rated current)
•
Ramp in ms
•
Position in increments.
The different versions of the control or status word are coded as bit field and will be
described in a separate chapter.
Process data
Type
Resolution
Reference
Range
Speed setpoint /
Actual speed value /
Speed limiting slip
compensation
Integer 16
1 digit = 0.2 rpm
Relative speed setpoint [%] /
Relative actual speed value [%]
Integer 16
1 digit = 0.0061%
(4000hex = 100%)
Maximum speed
of the inverter
- 200% ... 0 ... + 200 % - 0.0061%
8000hex ...0 ... 7FFFhex
Apparent current actual value /
Actual active current value /
Current setpoint
Current limitation
Integer 16
1 digit = 0.1 % IN
Rated current of
the drive inverter
-3276.8% .... 0 ..... +3276.7%
8000hex .... 0 ..... 7FFFhex
Process ramp up /
Process ramp down
Unsigned
16
1 digit = 1 ms
delta-f = 100 Hz
0 ms ... 65535 ms
0000hex ... FFFFhex
Actual position value /
Position setpoint
Integer 32
1 motor revolution =
4096 increments, i.e.
1 digit = 360°/4096
-6553.6 ... 0 ... +6553.4 rpm
8000hex ... 0 ... 7FFFhex
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
-188.743.680° .... 0 ..... +188.743.679°
-524 288 .... 0 .... +524287 motor revolutions
8000 0000hex ... 0 ... 7FFF FFFFhex
high low
high low
85
SEW Unit Profile
Process data description
7
Positive speed values correspond to a CW rotation with proper connection of the motor,
or to CW = UPWARDS for hoist applications.
NOTICE
Consistent handling of the two process output data words for positions.
Possible consequences: The servo inverter might move to undefined positions because, for example, an old position setpoint low and an already new position setpoint
high would be effective at the same time.
When handling position setpoints in the application program of the higher-level
automation controller make sure that the two process output data used for transmitting
the position are handled consistently. This means that the position setpoint high is
always transmitted together with the position setpoint low.
Examples
Process data
Current
Ramp
Transmitted process
date
CW 400 rpm
400/0.2 = 2000dec = 07D0hex
2000dec or 07D0hex
CCW 750 rpm
- (750/0.2) = 3750dec = F15Ahex
-3750dec or F15Ahex
CW 25 % fmax
25 x (16384/100) = 4096dec = 1000hex
4096dec or 1000hex
CCW 75 % fmax
-75 x (16384/100) = -12288dec = D000hex
-12288dec or D000hex
45 % IN
(45/0.1) = 450dec = 01C2hex
450dec or 01C2hex
115.5 % IN
(115.5/0.1) = 1155dec = 0483hex
1155dec or 0483hex
300 ms
300 ms → 300dec = 012Chex
300dec or 012Chex
1.4 s
1.4 s = 1400 ms → 400dec = 0578hex
1400dec or 0578hex
-35 x 4096 = - 143360dec = FFFD D000hex
FFFD D000hex
high low
19 rev. CW
Relative
speed
Scaling
35 rev. CCW
Speed
Value
19 x 4096 = 77824dec = 0001 3000hex
0001 3000hex
high low
Position
86
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Sequence control
7.4
Sequence control
7.4.1
7
Definition of the control word
The control word is 16 bits wide. Each bit has been assigned a drive inverter function.
The low byte consists of eight fixed function bits that are always valid. The assignment
of the more significant control bits varies for the different control words.
Functions that are generally not supported by the drive inverter cannot be activated by
the control word. The individual control word bits are considered as reserved and must
be set to logical 0 by the user.
Basic control
block
The less-significant part of the control word (bits 0 to 7) contains 8 fixed function bits for
the most important drive functions. The following overview shows the assignment of the
basic control block.
Bit
0
Function
Controller inhibit = " 1 " / Enable = " 0 "
1
Enable = " 1 " / Rapid stop = " 0 "
2
Enable = " 1 " / Stop = " 0 "
3
Hold control: Not active = " 1 " / Active = " 0 "
4
Ramp generator selection: Integrator 1 = " 1 " / Integrator 2 = " 0 "
5
Parameter set switchover: Parameter set 2 = " 1 " / Parameter set 1 = " 0 "
6
Reset: Reset pending fault = " 1 " / Not active = " 0 "
7
Reserved
8
9
10
11
12
Depends on control word
13
14
15
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
87
SEW Unit Profile
Sequence control
7
7.4.2
Linking safety-relevant control commands
Basically, the control commands
•
CONTROLLER INHIBIT
•
RAPID STOP / STOP
•
STOP
•
HOLD CONTROL
•
ENABLE
can be activated simultaneously using the set control signal source, the binary inputs,
and the IPOSplus® control program. To link these control functions under safety-relevant
aspects, the individual control commands are prioritized. For enabling the drive inverter,
for example, the following figure shows that all three processing blocks (terminal
processing, control word processing, and IPOSplus® program) have to generate the
eneable. As soon as one of the three processing blocks triggers a control command of
higher priority (such as STOP or CONTROLLER INHIBIT), the higher prioritized
command will become effective.
After switching on the drive inverter, IPOSplus® generally issues the control command
ENABLE so that the drive can be controlled immediately even without the IPOSplus®
program.
The binary inputs will generally remain active even if the inverter is controlled via the
process data (P101 control signal source = RS485/FIELDBUS/SBus). Safety-relevant
functions, such as controller inhibit and enable are equally processed by the terminal
strip and the fieldbus. This means the drive inverter must have first been enabled at the
terminals to control via fieldbus. All other functions that can be activated via terminals
and the control word, will be processed with an OR function. The following figure shows
the unit status (7-segment display) depending on the various control signal sources
(terminals, bus, or IPOS control word).
BUS:
CW/stop = 0
TERMINALS:
Bit 0 = 1
XOR
CCW/stop = 0
P101 =
SBus/RS485/Fieldbus
Enable/stop = 0
Bit 2 = 0
BUS:
AND
P101 =
SBus/RS485/Fieldbus
OR
IPOS ctrl. word:
Bit 30 = 1
Terminals:
Ctrl. inhibit = 0
OR
CONTROLLER INHBIIT
HALT
Bit 0 = 1
Bit 1 = 1
IPOS ctrl. word:
AND
" 2 "
" 7 "
" F "
" 1 "
" 2 "
" 4 " , " 5 " , " 6 "
FEHLER
STOP
HOLD CONTROL
TERMINALS:
BUS:
Halteregelung = 0
Bit 3 = 0
P101 =
SBus/RS485/Feldbus
IPOS ctrl. word:
AND
Unit status
Ext. fault = 0
IPOS ctrl. word:
Terminals:
Stop = 0
OR
BUS:
Terminals:
Bit 1 = 0
P101 =
SBus/RS485/Fieldbus
OR
Bit 11 = 1
OR
AND
Bit 13 = 1
65058AEN
88
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Sequence control
7
For safety reasons, the basic control block is defined in such a way that the inverter with
the control word setting 0000hex will assume the state No enable because all
commercially available fieldbus master systems will reset the ouputs to 0000hex in the
event of an error. In this case, the inverter will execute a rapid stop and then activate the
mechanical brake.
7.4.3
Control commands
Controlling the
inverter with bits
0-3
If the inverter was enabled at the terminals, it can be controlled with bits 0 - 2, or bits 0 3 for applications with speed feedback of the basic control block.
Bit 3: Hold control / enable
Bit 2: Enable/stop
Bit 1: Enable/rapid stop
Bit 0: Controller inhibit/Enable
Priority
High
Low
.
.
.
.
.
.
.
.
.
Control
command:
Controller
inhibit:
Bit 3
Bit 2
Bit 1
Bit 0
X
X
X
1
e.g. B. 01hex, 03hex,
05hex, 07hex,
Rapid stop:
X
X
0
0
e. g. 00hex, 04hex
Halt:
X
0
1
0
e.g. 02hex
Hold control:
1
1
1
0
Only with ncontrol/CFC/servo
0Ehex
Enable:
0
1
1
0
06hex
X = irrelevant
Control command
" Controller inhibit "
You can disable the power output stages of the inverter and set them to high impedance
using the control command Controller inhibit. At the same time, the inverter activates the
mechanical motor brake so that the drive will immediately come to a standstill through
mechanical braking. Motors without mechanical brake will coast to standstill when using
this control command.
You activate the control command Controller inhibit by setting bit 0: Controller
inhibit/enable in the control word because all other bits are not important. This setting
will assign the highest priority to this control bit in the control word.
Control command
" Rapid stop "
Using the rapid stop control command lets you have the inverter brake the motor at the
currently applicable rapid stop ramp. The following rapid stop ramps set via parameters
basically take effect:
•
P136
T13 stop ramp (with active parameter set 1)
•
P146
T23 stop ramp (with active parameter set 2)
The process ramp that may have been set via fieldbus does not affect the rapid stop.
The control command is activated by resetting bit 1: Enable/rapid stop.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
89
SEW Unit Profile
Sequence control
7
Control command
" Stop "
The control command Stop will have the inverter brake the motor at the stop ramp. If
the process ramp is transmitted via the fieldbus system, this control command will use
the currently indicated ramp value as brake ramp. Else, the drive inverter uses the
typical integrator ramp for this control command depending on the set parameters and
integrator set.
The control command stop is triggered with bit 2: Enable/stop.
Control command
" Enable "
You enable the inverter via the fieldbus system with the control command Enable. If the
process ramp is transmitted via the fieldbus system, this control command will use the
currently indicated ramp value as brake ramp. Else, the drive inverter uses the typical
integrators ramp up for this control command depending on the set parameters and integrator set.
All three bits must be set to Enable (110 bin) for the control command Enable.
Control command
" Hold control "
Setting bit 3 to the value " 1 " lets you activate the hold control function is speed-controlled
operation. The function triggers a stop at the applicable integrator ramp with subsequent
hold control. In operating modes without speed feedback, this bit is not relevant and the
function is not activated.
Selecting the valid
parameter set
The applicable parameter set is selected using bit 5 in the control word. A parameter set
can only be changed in controller inhibit condition.
This bit is ORed with the input terminal function parameter set changeover. This means
the logical state " 1 " of the input terminal OR the control word bit activates parameter set
2.
Reset after an
error
90
In case of an error, bit 6 of the control word will execute a reset via the process data
channel. A reset can only be triggered with a a 0/1 edge in the control word.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Sequence control
7.4.4
7
Control word 1
Control word 1 includes the most important drive functions of the basic control block as
well as the function bits for setpoint functions that are generated in the MOVIDRIVE®
inverter in the higher-order byte.
Bit
Functionality
Assignment
0
Controller inhibit " 1 " / Enable " 0 "
1
Enable " 1 " / Rapid stop " 0 "
2
Enable " 1 " / Stop " 0 "
3
Fixed definition
4
Hold control
Integrator switchover
5
Parameter set switch-over
6
Reset
7
Reserved
8
Direction of rotation
for motor potentiometer
0 = CW direction of rotation
1 = CCW direction of rotation
9
10
Motor potentiometer
acceleration
Motor potentiometer
deceleration
10
0
1
0
1
9
0 = no change
0 = down
1 = up
1 = no change
11
12
Selection of the
internal fixed
setpoints n11 - n13 or
n21 - n23
12
0
0
1
1
11
0 = Speed setpoint via process output data word 2
1 = Internal setpoint n11 (n21)
0 = Internal setpoint n12 (n22)
1 = Internal setpoint n13 (n23)
13
Fixed setpoint
switchover
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
14
Reserved
Set reserved bits to zero.
15
Reserved
Set reserved bits to zero.
These internal setpoint functions are activated by setting parameter P100 to fixed setpoint or motor potentiometer and setting the matching bits in control word 1. Any speed
setpoint entered via an SBus process output data word will no longer be effective!
Motor
potentiometer via
fieldbus
The setpoint function motor potentiometer is controlled via the fieldbus interface in the
same way as with the standard input terminals. The process ramp that may be entered
via an additional process output data word has no effect on the motor potentiometer
function. Only the following motor potentiometer integrators will be used.
•
P150
T3 Ramp up
•
P151
T4 Ramp down
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
91
SEW Unit Profile
Sequence control
7
7.4.5
Control word 2
Control word 2 contains the function bits for the most important drive functions in the
basis control block; the virtual input terminals in the higher-order part. These are freelyprogrammable input terminals that are not physically available due to missing hardware
(option cards). In this way, the input terminals are represented on the virtual input
terminals of the fieldbus. Each virtual terminal is assigned to an optional and physically
unavailable input terminal. Its functionality can be programmed as required.
Bit Function
Definition
0
Controller inhibit " 1 " / Enable " 0 "
1
Enable " 1 " / Rapid stop " 0 "
2
Enable " 1 " / Stop " 0 "
3
Hold control
4
Integrator switchover
5
Parameter set switch-over
6
Reset
7
Reserved
8
Virtual terminal 1 = P610 / Binary input DI10
9
Virtual terminal 2 = P611 / Binary input DI11
10
Virtual terminal 3 = P612 / Binary input DI12
11
Virtual terminal 4 = P613 / Binary input DI13
12
Virtual terminal 5 = P614 / Binary input DI14
13
Virtual terminal 6 = P615 / Binary input DI15
14
Virtual terminal 7 = P616 / Binary input DI16
15
Fixed definition
Virtual terminal 8 = P617 / Binary input DI17
Virtual input terminals
NOTICE
If both the fieldbus option card and DIO11 are inserted in the drive inverter, the inputs
of the DIO11 option have priority. In this case, the virtual inputs are not evaluated.
92
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Sequence control
7.4.6
7
Status word definition
The status word is 16 bits wide. The less significant byte, the basic status block, consists
of eight status bits with fixed definition that reflect the most important drive states. The
assignment of the more significant status bits varies for different status words.
Basic status
block
The basic status block of the status word contains the condition information required for
nearly any drive application.
Bit
Function / assignment
Definition
0
1
Inverter ready " 1 " / Inverter not ready " 0 "
2
PO data enabled " 1 " / PO data disabled " 0 "
3
Current ramp generator set: Integrator 2 " 1 " / Integrator 1 " 0 "
4
Current parameter set: Parameter set 2 " 1 " / Parameter set 1 " 0 "
5
Fault/warning: Fault/warning pending " 1 " / No fault " 0 "
6
CW limit switch active " 1 " / CW limit switch inactive " 0 "
7
Signal " inverter
ready "
Output stage enabled " 1 " / Output stage inhibited " 0 "
CCW limit switch active " 1 " / CCW limit switch inactive " 0 "
The value inverter ready = 1 in status bit 1 of the status word indicates that the inverter
is ready to respond to control commands from an external control. The inverter is not
ready, if
•
MOVIDRIVE® signals a fault
•
the factory setting is active (setup)
•
Signal " PO data
enabled "
Fixed definition
no supply voltage is present
With PO data enabled = 1, bit 2 signals that the inverter responds to control values and
setpoints from the communication interfaces. The following figure shows the conditions
that have to be met for the PO data to be enabled:
100 setpoint source
RS-485
FIELDBUS
SBus 1
SBus 2
101 setpoint source
RS-485
FIELDBUS
SBus 1
SBus 2
OR
876 PO data enable
YES
AND
Status word bit 2: PO data enable
54681BEN
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
93
SEW Unit Profile
Sequence control
7
Fault/warning
With bit 5 in the status word, the inverter signals a possible fault or warning. The result
of a fault is always that the inverter is no longer ready for operation. A warning, however, can occur temporarily without affecting the operating behavior of the inverter.
Therefore, you should also evaluate status bit 1 inverter ready (requirement: mains
voltage ON).
Bit 1: Ready
Inverter not ready for operation
1
Malfunction
1
0
Inverter is ready for operation
1
7.4.7
Meaning
0
0
Limit switch
processing
Bit 5: Fault/warning
0
1
Warning
Limit switch processing is active if two input terminals of the inverter are programmed to
CW limit switch or CCW limit switch. In this way, the higher-level controller is informed
about the current status of the limit switches so it is able to specify the travel process in
opposite direction. The terminal signals of the limit switches are 0-active while the condition of the limit switches is indicated in the drive inverter as 1-active.
Status word 1
Status word 1 contains the status information in the basic status block and the unit
status or the fault number in the higher-level status byte. Depending on the fault bit,
the unit status is displayed for fault bit = 0 or for problems (fault bit = 1), the error number.
The fault bit is reset by resetting the fault and the current unit status is displayed. The
meaning of the fault numbers and the unit status is described in the system manual or
in the MOVIDRIVE® MDX60B/61B operating instructions.
Bit Function
Definition
0
Output stage enabled
1
Inverter ready
2
PO data enabled
3
Current ramp generator set
4
Current parameter set
5
Fault/warning
6
Limit switch CW active
7
Limit switch CCW active
8
9
10
11
12
13
14
15
94
Fixed definition
Fault/warning?
Bit 5 = 1 → fault number:
01 Overcurrent
02 ...
Unit status/Fault number
Bit 5 = 0 → Unit status:
0x1 Controller inhibit
0x2 ...
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Sequence control
7.4.8
7
Status word 2
Status word 2 contains both the status information in the basis status block and the
virtual output terminals DO10 - DO17 in the higher-level byte. By programming the
terminal functions for the output terminals, all the conventional signals can be processed
via the fieldbus system.
Bit
0
Function
Definition
Output stage enabled
1
Inverter ready
2
PO data enabled
3
Current ramp generator set
4
Current parameter set
5
Fault/warning
6
Limit switch CW active
7
Limit switch CCW active
8
Virtual terminal 1 = P630 / Binary output DO10
9
Virtual terminal 2 = P631 / Binary output DO11
10
Fixed definition
Virtual terminal 3 = P632 / Binary output DO12
11
Virtual terminal 4 = P633 / Binary output DO13
12
Virtual terminal 5 = P634 / Binary output DO14
13
Virtual terminal 6 = P635 / Binary output DO15
14
Virtual terminal 7 = P636 / Binary output DO16
15
Virtual terminal 8 = P637 / Binary output DO17
Virtual output terminals
NOTICE
If both the fieldbus option card and DIO11 are inserted in the drive inverter, the inputs
of the DIO11 option have priority. In this case, the virtual inputs are not evaluated.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
95
SEW Unit Profile
Sequence control
7
7.4.9
Status word 3
Status word 3 contains the IPOSplus® status messages for positioning tasks in addition
to the condition information in the basic status block. The unit status or the fault number
is indicated in the more significant status byte. Depending on the fault bit, the unit status
is displayed for fault bit = 0 or for problems (fault bit = 1), the error number. The fault bit
is reset by resetting the fault and the current unit status is displayed.
Bit
0
Function
Definition
Motor is turning
1
Inverter ready
2
IPOS reference
3
IPOS in position
4
Brake released
5
Fault/warning
6
Limit switch CW active
7
Limit switch CCW active
8
9
10
11
12
13
14
15
96
Fixed definition
Fault/warning?
Bit 3 = 1 → fault number:
01 Overcurrent
02 ...
Unit status/Fault number
Bit 3 = 0 → Unit status:
0x1 Controller inhibit
0x2 ...
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Sequence control
7
7.4.10 Fault number and unit status
TIP
You find a current list with fault numbers and unit states in the parameter directory
matching the firmware of your units. For more detailed information, refer to the
operating instructions and the MOVIDRIVE® MDX60B/61B system manual.
Unit status
The 7-segment display shows the operating condition of MOVIDRIVE® and, in the event
of an error, an error or warning code.
7-segment display
Unit status
Meaning
(high byte in status word 1)
0
0
24 V operation (inverter not ready)
1
1
Controller inhibit active
2
2
No enable
3
3
Standstill current
4
4
Enable
5
5
n-control (speed control)
6
6
M-control (torque control)
7
7
Hold control
8
8
Factory setting
9
9
Limit switch contacted
A
10
Technology option
c
12
IPOSplus® reference travel
d
13
Flying start
E
14
Calibrate encoder
F
Fault number is indicated in Fault indicator (flashing)
the status word
H
The actual unit status is
indicated
Manual operation
t
16
Inverter is waiting for data
U
17
" Safe Stop " active
• (blinking dot)
-
IPOSplus® program is running
Flashing display
-
STOP via DBG60B
-
RAM defective
1 ...
9
WARNING
Incorrect interpretation of display U = " Safe stop " active.
Severe or fatal injuries.
The display U = " Safe stop " active is not safety-related and may not be used as
a safety function!
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
97
SEW Unit Profile
Sequence control
7
Fault number
(fault code)
The fault code is shown in a 7-segment display. The following display sequence is used
(e.g. fault code 100):
Flashes, ca. 1 s
Display off, ca. 0.2 s
Hundreds (if available), ca. 1 s
Display off, ca. 0.2 s
Tens, ca. 1 s
Display off, ca. 0.2 s
Ones, ca. 1 s
Display off, ca. 0.2 s
59208AXX
Following a reset or if the fault code resumes the value " 0 " , the display switches to the
operating display.
The suberror code is displayed in MOVITOOLS® (as of version 4.50) or in the DBG60B
keypad.
98
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Monitoring functions
7.5
7
Monitoring functions
For safe operation of the MOVIDRIVE® inverter via the communication interfaces,
additional monitoring functions have been implemented that may trigger an operatordefined drive function in case of a bus error. Two individual parameters are available for
each communication interface.
•
Timeout interval
•
Timeout response
This parameter defines an application-specific drive behavior in case of a communication error.
Timeout error
message /
timeout interval /
timeout response
The inverter generates a timeout if no new data are received via the bus system within
a preset time frame (timeout interval). The timeout response can be set and defines the
malfunction (fault/warning) and the fault response of the drive.
Timeout error
message
MOVIDRIVE® generates a separate timeout error message for every communication interface:
Communication interface
Fault number
Timeout error message
Fieldbus
F 28
F-BUS TIMEOUT
RS485
F 43
RS485 TIMEOUT
SBus 1
F 47
SBUS 1 TIMEOUT
SBus 2
F 46
SBUS 2 TIMEOUT
NOTICE
Both RS485 interfaces are monitored together. This means if a DBG60B keypad is
connected to the XT port, monitoring for whether cyclical telegrams continue to be
received via the second RS485 interface is no longer possible.
Timeout interval
The timeout interval can be set individually for each communication interface.
Communication interface
Parameter name
Fieldbus
819
Fieldbus timeout interval
0.50 seconds
RS485
812
RS485 Timeout interval
0.00 seconds
SBus 1
883
SBus 1 Timeout interval
0.10 seconds
SBus 2
Timeout response
Parameter number
Timeout interval
893
SBus 2 Timeout interval
0.10 seconds
The timeout response can be set individually for each communication interface.
Parameter number
Parameter name
Timeout response
831
Response FIELDBUS TIMEOUT
RAPID STOP/WARN.
833
Response RS485 TIMEOUT
RAPID STOP/WARN.
836
Response to SBus1 TIMEOUT
RAPID STOP/WARN.
837
Response to SBus2 TIMEOUT
RAPID STOP/WARN.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
99
7
SEW Unit Profile
Monitoring functions
Timeout monitoring is useful for all communciation interfaces. However, it may vary
considerably between the individual bus systems.
Parameters for fieldbus timeout
Value range
Unit
Seconds
Range
0.01 s to 650.00 s in 10-ms steps
Special case
0 or 650.00 = Fieldbus timeout disabled
Factory setting
0.5 s
TIP
With nearly all fieldbus systems (exception: Modbus/TCP and MOVILINK® via
RS485 and SBus), the timeout interval (P819 or P883/893) is set automatically by
the controller.
Parameters P819, P883 and P893 only serve as indicators.
100
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Setting the inverter parameters
7.6
7
Setting the inverter parameters
The drive parameters of the inverter are usually accessed using the bus-specific READ
and WRITE services. Additional services can be executed for all bus system using the
MOVILINK® parameter channel. This parameter channel is available in all bus systems
and is explained in detail below.
Also refer to the documentation for the fieldbus option card to obtain additional programming information on using the MOVILINK® parameter channel with the various bus
systems.
Parameter setting
procedure
The parameters of the MOVIDRIVE® inverter are usually set based on a client/server
model. This means the inverter provides the requested information only when prompted
by the higher-level programmable controller. This means that MOVIDRIVE® usually only
has server functionality (see following figure).
SERVER
CLIENT
Request
Indication
Response
Confirmation
54673AXX
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
101
SEW Unit Profile
Setting the inverter parameters
7
7.6.1
Structure of the MOVILINK® parameter channel
The MOVILINK® parameter channel enables access to all drive parameters of the
inverter, regardless of the bus in use. Special services are available in this parameter
channel to being able to read different parameter information. It is made up of a
management byte, a reserved byte, an index word and four data bytes.
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Management
Subindex
Index high
Index low
MSB data
Data
Data
LSB data
Parameter index
4-byte data
Management of
the parameter
channel (byte 0)
The entire procedure for setting parameters is coordinated using management byte 0.
This byte provides important service parameters such as service identifier, data length,
version and status of the service performed.
Index addressing
(bytes 1 - 3)
Byte 2 " index high " , byte 3 " index low " , and byte 1 " subindex " determine the parameter
to be read or written via the fieldbus system. All parameters of the MOVIDRIVE® inverter
are listed in the MOVIDRIVE® MDX60B/61B system manual. A special number (index)
is assigned to each parameter. This number is used to read or write the parameter.
Data range (bytes
4 - 7)
The data is located in byte 4 to byte 7 of the parameter channel. This means 4 bytes of
data can be transmitted per service. The data is always entered with right-justification;
that is, byte 7 contains the least significant data byte (Data LSB) whereas byte 4 is the
most significant data byte (Data MSB).
Management byte
Bits 0 - 3 contain the service identifier and define the service to be executed.
Bits 4 and bit 5 specify the data length in bytes; it should be set to 4 bytes for all SEW
drive inverters.
Byte 0: Management
MSB
Bit:
7
LSB
6
5
4
3
2
1
0
Service identifier:
0000 = No service
0001 = Read parameter
0010 = Write parameter
0011 = Write parameter volatile
0100 = Read minimum
0101 = Read maximum
0110 = Read default
0111 = Read scale
1000 = Read attribute
Data length:
00 = 1 byte
01 = 2 bytes
10 = 3 bytes
11 = 4 bytes
Handshake bit
Status bit:
0 = No error while executing service
1 = Error while executing service
102
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Setting the inverter parameters
7
Bit 6 is the handshake bit. It has a different meaning depending on the bus system:
•
With SBus 1 (CAN) and set handshake bit (= 1), the response telegram is sent after
the synchronization message (see chapter 5.3.2)
•
With RS485 and fieldbus, the handshake bit serves as acknowledgement bit
between client and server when using the cyclic transmission method. The
parameter channel is transmitted cyclically, maybe with the process data. For this
reason, the implementation of the service in the inverter must be triggered by edge
control using handshake bit 6. 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 was executed if the handshake bit received in the control is identical with the transmitted handshake bit.
Status bit 7 indicates whether it was possible to execute the service properly or if errors
occurred.
Response
The response to a parameter setting request is structured as follows:
•
The management byte of the response telegram is structured like that in the request
telegram.
•
The status bit indicates whether the service was executed successfully:
– If the status bit is set to " 0 " , bytes 4 to 7 of the response telegram will contain the
requested data.
– If the status bit is set to " 1 " , an error code is indicated in the data area (bytes 4 to
7) (see chapter " Incorrect service execution " ).
Description of the
parameter
services
Bits 0 - 3 of the management byte are used to define the individual parameter services.
MOVIDRIVE® supports the following parameter services:
No service
This coding indicates that there is no parameter service.
Read parameter
This parameter service is used to read a drive parameter.
Write parameter
This parameter service is used for non-volatile writing of a drive parameter. The written
parameter value is stored non-volatile (e.g. in EEPROM). This service should not be
used for cyclic write accesses because the memory modules allow for only a limited
number of write cycles.
Write parameter
volatile
This parameter service is used to write a drive parameter volatile, if the parameter
permits this. The written parameter value is only saved volatile in the RAM of the
inverter, which means it is lost when switching off the inverter. When switching the
inverter back on again, the value that was last written with write parameter will be
available again.
Read minimum
This service can be used to determine the smallest drive parameter value (minimum)
that can be set. Coding takes place in the same manner as the parameter value.
Read maximum
This service can be used to determine the largest drive parameter value (maximum) that
can be set. Coding takes place in the same manner as the parameter value.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
103
SEW Unit Profile
Setting the inverter parameters
7
Read default
This service can be used to determine the factory setting (default) of a drive parameter.
Coding takes place in the same manner as the parameter value.
Read Scale
This service can be used to determine the scaling of a parameter. The inverter provides
a so-called measurement index and a conversion index.
Byte 4
Byte 5
MSB data
Byte 6
Data
Byte 7
Data
LSB data
Measurement index
Reserved
Conversion index
Measurement index
The measurement index is used for coding physical values. This index is used to inform
a communication partner about the physical value of the associated parameter value.
Coding takes place according to the sensor/actuator profile of the PROFIBUS user
organization (PUO). The entry FFhex means that no measurement index is specified.
You can also obtain the measurement index from the parameter directory of the inverter.
Conversion index:
The conversion index serves for converting the transmitted parameter value into an SI
basic unit. Coding takes place according to the sensor/actuator profile of the PROFIBUS
user organization (PUO).
Example:
Drive parameter:
P131 ramp t11 down CW
Measurement index:
4 (= time with second as measurement unit)
Conversion index:
- 3 (10-3 = milli)
Transmitted numerical value:3000 dec
The drive inverter interprets the numerical value received via bus as follows:
3000 s × 10-3 = 3 s
104
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Setting the inverter parameters
Read attribute
7
This service can be used for reading the access attributes and the index of the next
parameter. The following table shows the coding of the data for this parameter service.
Byte 4
Byte 5
Byte 6
Byte 7
MSB data
Data
Data
LSB data
Next available index
Access attributes
The coding of the access attributes is unit-specific. For MOVIDRIVE® inverters, the
attribute definition results from the following table.
Byte 6
Byte 7
Bit
Bit
0
Meaning
1 = Parameter allows write access
1
1 = Factory setting overwrites RAM value
3
1 = Factory setting overwrites EEPROM value
4
1 = EEPROM value is valid after initialization
5
1 = Controller inhibit condition not necessary for write access
6
8
1 = Parameter is permanently saved on EEPROM
2
1 = Password requried
7
00 = Parameter is generally valid
01 = Parameter is assigned to parameter set 1
10 = Parameter is assigned to parameter set 2
11 = Parameter is assigned to both parameter sets
9 - 15
Reserved
Parameter list
For detailed information on coding and access attributes of all parameters, refer to the
parameter list.
Incorrect service
execution
If the received handshake bit is identical to the transmitted handshake bit, the inverter
has executed the service.
Byte 0
Management
Byte 1
Subindex
Byte 2
Index high
Byte 3
Index low
Byte 4
Byte 5
Error class Error code
Byte 6
Byte 7
Add. code
high
Add. code
low
↓
Status bit = 1: Service executed incorrectly
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
105
SEW Unit Profile
Setting the inverter parameters
7
7.6.2
Return codes of parameterization
In the event of an incorrect parameter setting, the drive inverter sends back various
return codes to the master that set the parameters. These codes provide detailed
information about what caused the error. All of these return codes are structured in
accordance with EN 50170. The inverter distinguishes between the following elements:
•
Error class
•
Error code
•
Additional code
These return codes apply to all MOVIDRIVE® communication interfaces.
Error class
The error class element provides a more exact classification of the error type. The
following error classes are distinguished in accordance with EN 50170.
Class (hex)
Designation
Meaning
1
vfd state
Status error of the virtual field device
2
application reference
Error in application program
3
definition
Definition error
4
resource
Resource error
5
service
Error during execution of service
6
access
Access error
7
ov
Error in the object list
8
other
Other error (see additional code)
The error class is generated by the communication software of the fieldbus interface if
there is an error in communication. This statement does not apply to Error class 8 = Other error. Return codes sent from the drive inverter system are all included in Error class
8 = Other error. The error can be identified more precisely using the additional code
element. The Ethernet error code will then be " 0 " .
Error code
106
The error code element allows for a more detailed identification of the error cause within
the error class and is generated by the communications software of the fieldbus interface in the event of faulty communication.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Setting the inverter parameters
Additional code
7
The additional code contains SEW-specific return codes for faulty parameterization of
the drive inverter. These codes are returned to the master under Error class 8 = Other
error. The following table shows all possible codings for the additional code.
MOVILINK®
Additional code
Error class
High
Low
Description
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
Illegal Pointer
Not enough memory
0x0E
00
0x0C
0x0D
0x05
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
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
107
7
SEW Unit Profile
Setting the inverter parameters
MOVILINK®
Additional code
Error class
High
Low
Description
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
Access only via RS485 (via X13)
0x1A
Parameter protected
" Controller inhibit " required
0x1D
00
Access only via RS485 (via XT)
0x1B
0x1C
0x08
Value invalid
0x1E
Setup started
0x1F
Buffer overflow
0x20
" No Enable " required
0x21
End of File
0x22
Communication Order
0x23
" IPOS Stop " required
0x24
Encoder Nameplate Error
0x29
Example: Invalid
parameter setting
Autosetup
0x25
PLC State Error
An incorrect index was entered when executing a read or write service.
Meaning
0x08
Other
Error code
0x00
-
Add. code high
0x00
-
Add. code low
108
Code (hex)
Error class
0x10
Illegal Index
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Setting the inverter parameters
7.6.3
7
Example: Reading a parameter (READ)
A parameter is read via communication interfaces with a read request from the
programmable controller of the MOVIDRIVE® inverter (see figure below).
SERVER
CLIENT
1. Read request (e.g. read ramp t11 up CW = Index 8470
Read
request
READ (8470)
Read indication
2a. Parameter index
8470 is read by the
inverter.
3a. Read request is responded with the data (e.g. 0.5 s)
Read
confirmation
OK + data of
index 8470
Read response
OR
2b. Error occurred!
No data available
3b. Read service faulty, more details in the return code
Read error
confirmation
Error + Retur
n code
Negative
read response
54674AEN
If the read service cannot be executed in the drive inverter, the programmable controller
will receive a negative read response. In this way, the programmable controller receives
a negative acknowledgement (read error confirmation) with exact identification of the
error.
Reading a
parameter
cyclically
For the cyclic transmission method, the handshake bit has to be changed to activate
service processing (execution of READ service). When using acyclic PDU types, every
inverter processes every request telegram and in this way always executes the
parameter channel.
The parameters are set as follows:
1. Enter the index of the parameter to be read in byte 2 (index high) and byte 3 (index
low).
2. Enter the service identifier for the read service in the management byte (byte 0).
3. With cyclic PDU types, the read service is not passed to the inverter until the handshake bit is changed. With acyclic PDU types, the parameter channel is always
executed.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
109
SEW Unit Profile
Setting the inverter parameters
7
Since this is a read service, the sent data bytes (bytes 4 - 7) and the data length (in the
management byte) are ignored and do not need to be set.
The inverter now processes the read service and sends the service confirmation back
by changing the handshake bit.
Byte 0: Management
7
6
5
4
3
2
1
0
0
0/1
1
1
0
0
0
1
Service identifier:
0001 = Read
Data length:
11 = 4 bytes
Handshake bit:
Must be changed with every new job.
Status bit:
0 = No error while executing service
1 = Error while executing service
X = Not relevant
0/1 = Bit value is changed
7.6.4
Example: Writing a parameter (WRITE)
A parameter is written as it is read via the fieldbus interface (see figure below).
SERVER
CLIENT
1. Write request (e.g. write parameter value 2.5 s to index 8470 = ramp t11 up CW)
Write
request
WRITE (8470: 2.5
s)
Write indication
2a. Parameter index
8470 is set to
2.5 s.
3a. Write service is responded with the data (e.g. 0.5 s)
Write response
OK
Write
confirmation
OR
2b. Error occurred!
No data written
3b. Write service faulty, e.g. because parameter value to high
Negative
code
write response
Error + return
Write error
confirmation
54675BEN
110
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Setting the inverter parameters
7
If the write service cannot be executed in the drive inverter, for example because
incorrect parameter data were transmitted, the programmable controller will receive a
negative read response. In this way, the programmable controller receives a negative
acknowledgement (write error confirmation) with exact identification of the error.
Writing a
parameter
cyclically
For the cyclic transmission method, the handshake bit has to be changed to activate
service processing (execution of WRITE service). When using acyclic PDU types, every
inverter processes every request telegram and in this way always executes the
parameter channel.
The parameters are set as follows:
1. Enter the index of the parameter to be written in byte 2 (index high) and byte 3 (index
low).
2. Enter the data to be written in bytes 4 - 7.
3. Enter the service identifier and the data length for the write service in the
management byte (byte 0).
4. With cyclic PDU types, the WRITE service is not passed to the inverter until the handshake bit is changed. With acyclic PDU types, the parameter channel is always
executed.
The inverter now processes the write service and sends the service confirmation back
by changing the handshake bit.
Byte 0: Management
7
6
5
4
3
2
1
0
0
0/1
1
1
0
0
1
0
Service identifier:
0010 = Write
Data length:
11 = 4 bytes
Handshake bit:
Must be changed with every new job.
Status bit:
0 = No error while executing service
1 = Error while executing service
0/1 = Bit value is changed
The data length is 4 bytes for all parameters of SEW drive inverters.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
111
7
SEW Unit Profile
Setting the inverter parameters
Using the WRITE service as an example, the following figure represents a process of
setting parameters between the controller and inverter using a cyclic PDU type. To simplify the sequence, only the management byte of the parameter channel is shown here.
Higher level automatic system
RS-485
Drive Inverter
(Slave)
00110010
Parameter setting
channel is prepared
for WRITE service.
00110010
00110010
00110010
Handshake bit is
toggled and service
transferred to
drive inverter.
Parameter setting
channel is received
but not evaluated.
01110010
00110010
01110010
Write service
is processed.
00110010
Write service is executed,
handshake bit is toggled.
Service acknowledge
received, as send and
receive handshake
bits the same again.
01110010
01110010
01110010
Parameter setting
channel is received
but not evaluated.
00152BEN
The drive inverter only receives and returns the parameter channel while the controller
is preparing the parameter channel for the write service. The service is not activated until
the moment when the handshake bit is changed (in this example, when it changes from
0 to 1). The drive inverter now interprets the parameter channel and processes the write
service, but continues to respond to all telegrams with handshake bit = 0. The executed
service is acknowledged with a change of the handshake bit in the response message
of the drive inverter. The master now detects that the received handshake bit is once
again the same as the one which was sent. It can now prepare another parameter
setting procedure.
112
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
SEW Unit Profile
Notes on parameterization
7.7
7
Notes on parameterization
By parameterizing the MOVIDRIVE® inverter via the fieldbus system, you can generally
reach all drive parameters. As some drive parameters are directly connected with the
communciation via fieldbus system, you should observe the following notes on
parameterization.
Parameter setting
in CONTROLLER
INHIBIT condition
Some parameters can only be changed (written) in CONTROLLER INHIBIT drive status.
The inverter signals this by a negative acknowledgement of the write service. Refer to
the parameter list to see what parameters are subject to this limitation. In general, these
parameters can be changed during an error or 24 V operation.
Factory setting
Activating the factory setting means nearly all parameters are reset to their default
values. The consequence for bus operation is that the control signal source and setpoint
source are reset to their default values.
TIP
The drive inverter must be enabled at the terminals for control via process data. This
means that the drive is enabled under certain conditions after a factory setting. Therefore, make sure before activating the factory setting that the signals of the digital binary
inputs will not trigger a drive inverter enable once the factory setting has been restored.
As a precaution, do not switch on the mains voltage until you have completed inverter
parameterization.
Parameter lock
The parameter lock is activated by setting P803 Parameter lock = Yes. It protects all
adjustable parameters from being changed. Activating parameter lock is useful when all
drive inverter parameters have been set and need not be changed anymore. This
parameter lets you, for example, use the keypad of the drive inverter to protect the drive
inverter parameters from being changed.
TIP
The parameter lock generally prevents the writing of parameters. Consequently, write
access via communication interfaces is also blocked when the parameter lock is
active.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
113
Operating MOVITOOLS® MotionStudio
About MOVITOOLS® MotionStudio
8
8
Operating MOVITOOLS® MotionStudio
8.1
About MOVITOOLS® MotionStudio
8.1.1
Tasks
The software package enables you to perform the following tasks:
•
•
8.1.2
Establishing communication with units
Executing functions with the units
Establishing communication with the units
The SEW Communication Server is integrated into the MOVITOOLS® MotionStudio
software package for establishing communication with the units.
The SEW Communication Server allows you to create communication channels.
Once the channels are established, the units communicate via these communication
channels using their communication options. You can operate up to four communication
channels at the same time.
MOVITOOLS® MotionStudio supports the following communication channels:
•
Serial (RS485) via interface adapters
•
System bus (SBus) via interface adapters
•
Ethernet
•
EtherCAT
•
Fieldbus
•
PROFIBUS DP/DP-V1
•
S7-MPI
The available channels can vary depending on the units and its communication options.
8.1.3
Executing functions with the units
The software package offers uniformity in executing the following functions:
•
Parameterization (for example in the parameter tree of the unit)
•
Startup
•
Visualization and diagnostics
•
Programming
The following basic components are integrated into the MOVITOOLS® MotionStudio
software package, allowing you to use the units to execute functions:
•
MotionStudio
•
MOVITOOLS®
All functions communicate using tools. MOVITOOLS® MotionStudio provides the right
tools for every unit type.
114
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
First steps
8.2
First steps
8.2.1
8
Starting the software and creating a project
Proceed as follows to start MOVITOOLS® MotionStudio and create a project:
1. Start MOVITOOLS® MotionStudio in the WINDOWS® start menu via the following
path:
" Start\Program\SEW\MOVITOOLS MotionStudio\MOVITOOLS MotionStudio "
2. Create a project with name and storage location.
8.2.2
Establishing communication and scanning the network
Proceed as follows to establish a communication with MOVITOOLS® MotionStudio and
scan your network:
1. Set up a communication channel to communicate with your units.
Refer to the section dealing with the respective type of communication for detailed
information.
2. Scan your network (unit scan). To do so, click the [Start network scan] button [1] in
the toolbar.
64334AXX
3. Select the unit you want to configure.
4. Open the context menu with a right mouse click.
As a result you will see a number of unit-specific tools to execute various functions
with the units.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
115
Operating MOVITOOLS® MotionStudio
Communication mode
8
8.3
Communication mode
8.3.1
Overview
MOVITOOLS® MotionStudio differentiates between " online " and " offline " communication mode.
You can select the communication mode. Unit-specific offline or online tools are
provided depending on the communication mode you have selected.
The following figure illustrates the two types of tools:
[1]
[2]
Offline-Tool
Online-Tool
[3]
64335AXX
Tools
Offline
tools
Changes made using offline tools affect " ONLY " the RAM [2].
• Save your project so that the changes can be stored on the hard disk [1] of your PC.
• To transfer the changes also to your unit [3], perform a download.
Online
tools
116
Description
Changes made using online tools affect " ONLY " the unit [3].
• To transfer the changes to the RAM [2], perform an upload.
• Save your project so that the changes can be stored on the hard disk [1] of your PC.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Communication mode
8
TIP
The " online " communication mode is " NOT " a response message which informs you
that you are currently connected to the unit or that your unit is ready for communication.
•
Should you require this feedback, observe section " Setting the cyclical accessibility
test " in the online help (or the manual) of MOVITOOLS® MotionStudio.
TIP
•
•
8.3.2
Project management commands (such as " download " and " upload " ), the online unit
status, and the " unit scan " operate independently of the set communication mode.
MOVITOOLS® MotionStudio starts up in the communication mode that you set
before you closed down.
Selecting communication mode (online or offline)
Proceed as follows to select a communication mode:
1. Select the communication mode:
•
•
" Online " [1] for functions (online tools) that should directly influence the unit.
" Offline " [2] for functions (offline tools) that should influence your project.
64337AXX
2. Select the unit node.
3. Right-click to open the context menu and display the tools for configuring the unit.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
117
Operating MOVITOOLS® MotionStudio
Serial communication (RS485) via interface adapters
8
8.4
Serial communication (RS485) via interface adapters
8.4.1
Engineering via interface adapters (serial)
Since your unit supports the " serial " communication option, you can use a suitable interface adapter for engineering.
The interface adapter is additional hardware that you can obtain from SEWEURODRIVE. You can use it to connect your engineering PC to the corresponding
communication option of the unit.
The following table shows you the different types of interface adapters available, and for
which units they are suitable.
Type of interface
adapter (option)
Part number
Scope of delivery
Units
USB11A
(USB to RS485)
0824 831 1
2 connection cables:
• TAE connection cable
with 2 RJ10 plugs
• USB connection cable
with USB-A plug and
USB-B plug
UWS21B
(RS232 to RS485)
1820 456 2
2 connection cables:
• TAE connection cable
with 2 RJ10 plugs
• Connection cable with 9pin D-sub plug
•
•
•
•
•
•
•
•
•
UWS11A
(RS232 to RS485) for
support rail
822 689 X
none
MOVIDRIVE® B
MOVITRAC® 07A
MOVITRAC® B
MOVIFIT® MC/FC/SC
MOVIGEAR®
UFx11A fieldbus gateways
DFx fieldbus gateways
DHx MOVI-PLC® controller
MFx/MQx fieldbus interfaces
for MOVIMOT®
Since most PCs are now equipped with USB interfaces instead of RS232 interfaces, the
following chapters only deal with the USB11A interface adapter.
How to connect the interface adapter to MOVIDRIVE® B is described in chapter 4,
" Serial Interfaces of MOVIDRIVE® B " .
8.4.2
Taking the USB11A interface adapter into operation
Overview
The USB11A interface adapter uses a COM redirector. This assigns the first free COM
port to the interface adapter.
The following describes how to connect the USB11A interface adapter to your unit and,
if necessary, how to install the driver.
118
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Serial communication (RS485) via interface adapters
Connecting
USB11A to
MOVIDRIVE® B
8
The following figure shows how the USB11A interface adapter [2] is connected with
MOVIDRIVE® B [4] and with the PC [1] using the XT socket [3].
[1]
[2]
[3]
[4]
64340AXX
[1]
PC
[2]
USB11A with two connection cables (included in the scope of delivery)
[3]
XT socket of MOVIDRIVE® B
[4]
MOVIDRIVE® B
To connect the USB11A interface adapter with the PC and MOVIDRIVE® B, proceed as
follows:
1. Connect the USB11A interface adapter [2] with the two connection cables provided.
2. Plug the RJ10 connector of the first connection cable into the XT socket [3] of
MOVIDRIVE® B [4].
3. Plug the USB-A connector of the second connection cable into the free USB
interface on your PC [1].
4. If you are operating the interface adapter with MOVITOOLS® MotionStudio for the
first time, you will have to install the required driver.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
119
Operating MOVITOOLS® MotionStudio
Serial communication (RS485) via interface adapters
8
Installing the
drivers
The drivers for the USB11A interface adapter are installed together with
MOVITOOLS® MotionStudio. This also applies to the driver for the COM redirector. As
a prerequisite, the interface adapter must have been connected to your PC during the
MOVITOOLS® MotionStudio installation process.
If you need to install the drivers manually,
MOVITOOLS® MotionStudio installation path.
you
can
do
so
via
the
Proceed as follows to manually install the driver for the USB11A interface adapter:
1. Make sure that you have local administrator rights on your PC.
2. Connect the USB11A interface adapter to a free USB connection on your PC.
Your PC will detect the new hardware and launch the hardware wizard.
3. Follow the instructions of the hardware wizard.
4. Click on [Browse] and go to the MOVITOOLS® MotionStudio installation folder.
5. Enter the following path:
" ..\Program Files\SEW\MotionStudio\Driver\FTDI_V2 "
6. Click the [Next] button to install the driver and assign the first free COM port of the
PC to the interface adapter.
Checking the
COM port of the
USB11A on the
PC
Proceed as follows to check which virtual COM port has been assigned to the USB11A
on the PC:
1. Select the following menu item on your PC:
[Start] / [Setup] / [Control panel] / [System]
2. Open the " Hardware " tab.
3. Click the [Device manager] button.
4. Open the " Connections (COM and LPT) " folder.
You will see which virtual COM port has been assigned to the interface adapter, e.g.:
" USB serial port (COM3) " .
TIP
Change the COM port of the USB11A to prevent a conflict with another COM port.
It is possible that a different hardware (such as an internal modem) is assigned the
same COM port as the USB11A interface adapter.
•
•
In the context menu, click the [Properties] button and assign the USB11A another
COM port.
•
120
Select the COM port of USB11A in the device manager.
Restart your system for the changes to become effective.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Serial communication (RS485) via interface adapters
8.4.3
8
Configuring serial communication
You must have a serial connection between your PC and the units you want to configure.
You can establish one, for example, using the USB11A interface adapter.
Proceed as follows to configure serial communication:
1. Click on [Configure communication plugs] [1] in the toolbar.
64341AXX
This opens the " Configure communication plugs " window.
64342AEN
2. From the selection list [1], choose " Serial " as the communication type.
In the example, " Serial " is activated as the communication type for the first
communication channel [2].
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
121
8
Operating MOVITOOLS® MotionStudio
Serial communication (RS485) via interface adapters
3. Press the [Edit] button [3] on the right side of the " Configure communication plugs "
window.
This will display the settings for the " Serial " communication type.
12078AEN
4. If necessary, change the preset communication parameters on the tab pages [Basic
settings] and [Advanced settings]. When doing so, refer to the detailed description of
the communication parameters (page 123).
122
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Serial communication (RS485) via interface adapters
8.4.4
8
Serial communication parameter (RS485)
The following table describes the [Basic setting] for the serial (RS485) communication
channel:
Communication
parameters
Description
Note
COM port
Serial port connected to the interface adapter
•
•
If there is no value entered
here, the SEW Communication
Server uses the first available
port.
A USB interface adapter is indicated by the addition " (USB) " .
Transmission speed with which the
connected PC communicates with
the unit in the network via the communication channel
•
Possible values:
– 9.6 kBit/s
– 57.6 kBit/s
– AUTO (default setting)
•
Baud rate
Find the correct value for the
connected unit in the documentation.
If you set " AUTO " , the units are
scanned with both baud rates in
succession.
Set the starting value for automatic baud rate detection under
[Settings] / [Options] / [Communication].
•
•
The following table describes the [Advanced setting] for the serial (RS485) communication channel:
Communication
parameters
Description
Note
Parameter telegrams
Telegram with a single parameter
Used for transmitting a single
parameter of a unit.
Multibyte telegrams
Telegram with several parameters
Used for transmitting the complete
parameter set of a unit.
Timeout
Waiting time in [ms] that the master
waits for a response from a slave
after it has sent a request.
•
Default setting:
– 100 ms (parameter telegram)
– 350 ms (multibyte telegram)
•
Increase the value if not all units
are detected during a network
scan.
Retries
Number of request retries after the
timeout is exceeded
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Default setting: 3
123
Operating MOVITOOLS® MotionStudio
Communication SBus (CAN) via interface adapter
8
8.5
Communication SBus (CAN) via interface adapter
8.5.1
Engineering via interface adapters (SBus)
Since your unit supports the " SBus " communication option, you can use a suitable interface adapter for engineering.
The interface adapter is additional hardware that you can obtain from SEWEURODRIVE. You can use it to connect your engineering PC with the respective
communication option of the unit.
The following table shows the different types of interface adapters available, and for
which units they are suitable:
Interface adapter type
(option)
Order no.
Scope of delivery
Units
PC-CAN interface from
SEW (incl. prefabricated
connection cable with integrated terminating resistor)
1821 059 7
•
•
•
•
•
•
PCAN-USB ISO from Peak
IPEH
002022
Prefabricated cable with 9pole Sub-D-connector for
connection to the unit,
length 2 m
A 120 ohm terminating
resistor is fitted to one end
of the prefabricated cable
(between CAN_H and
CAN_L).
•
•
MOVIAXIS®
MOVIDRIVE® B
MOVITRAC® B
MOVI-PLC® (basic and
advanced)
Without connection cable
Without terminating resistor
To connect the PC CAN interface to the unit, you need an additional connection cable
with terminating resistor. The scope of delivery of the PC CAN interface from SEW
includes a prefabricated connection cable on the unit with terminating resistor. Therefore, only this PC CAN interface is described in the following chapter.
8.5.2
Taking the USB-CAN interface into operation
Overview
The following chapter describes how to connect the PC-CAN interface from SEWEURODRIVE to the SBus interface of your unit and what you have to observe when doing so.
CAN pin
assignment
The figure below shows the pin assignment of the 9-pin D-Sub plug of the PC-CAN
interface from SEW (view from top):
64773AXX
124
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Communication SBus (CAN) via interface adapter
Connecting the
USB-CAN interface to the unit
8
Chapter 4, " CAN Interfaces of MOVIDRIVE® B " provides a description of how to connect
the CAN interfaces of MOVIDRIVE® B.
The figure shows how the USB-CAN interface adapter [2] from SEW-EURODRIVE is
connected with MOVIDRIVE® B [4] and with the PC [1] using the SBus interface [3].
[1]
[2]
[3]
[4]
64340AXX
[1]
PC
[2]
USB-CAN interface with prefabricated connection cable with terminating resistor
(included in the scope of delivery)
[3]
SBus interface, e.g. X30 of the DFC11B option
[4]
MOVIDRIVE® B
To connect the USB-CAN interface with the PC and MOVIDRIVE® B, proceed as follows:
1. Connect the 9-pin D-sub connector of the USB-CAN interface with the prefabricated
connection cable. Make sure that the cable end with the terminating resistor leads to
the USB-CAN interface.
2. Connect the second cable end (without terminating resistor) with the SBus interface
X30 of the DFC11B option [3] in MOVIDRIVE® B [4].
3. If the USB-CAN interface is connected to the first or last device in a network, switch
on the terminating resistor on the DFC11B option (DIP switch " R " to " ON " ).
4. Plug the USB-A connector of the USB cable into a free USB interface on your PC [1].
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
125
Operating MOVITOOLS® MotionStudio
Communication SBus (CAN) via interface adapter
8
8.5.3
Configuring communication via SBus
You need an SBus connection between your PC and the units you want to configure.
You can use a USB-CAN interface for this purpose.
Proceed as follows to configure an SBus communication:
1. Click on " Configure communication plugs " [1] in the toolbar.
64341AXX
[1]
" Configure communication plugs " icon
Doing so will open the " Configure communication plugs " window.
2. From the selection list [1], select " SBus " as the communication type.
64774AEN
[1]
" Communication type " selection
list
[2]
" Activated " check box
[3]
[Edit] button
In the example, " SBus " is activated as the communication type for the first
communication channel [2].
126
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Communication SBus (CAN) via interface adapter
8
3. Press the [Edit] button [3] on the right side of the " Configure communication plugs "
window.
12113ADE
This will display the settings for the " SBus " communication type.
4. It might be necessary to change the preset communication parameters on the tab
pages [Basic settings] and [Advanced settings]. When doing so, refer to the detailed
description of the communication parameters.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
127
Operating MOVITOOLS® MotionStudio
Communication SBus (CAN) via interface adapter
8
8.5.4
Communication parameters for SBus
The following table describes the [Basic setting] for the SBus communication channel:
Communication
parameters
Description
Note
Baud rate
Transmission speed with which the
connected PC communicates with
the unit in the network via the communication channel.
•
Adjustable values (permitted
total cable length):
– 125 kBaud (500 m)
– 250 kBaud (250 m)
– 500 kBaud (100 m)
(default)
– 1 MBaud (25 m)
•
All connected units must
support the same baud rate.
The following table describes the [Advanced setting] for the SBus communication
channel:
Communication
parameters
Description
Note
Parameter telegrams
Telegram with a single parameter
Used for transmitting a single
parameter of a unit.
Multibyte telegrams
Telegram with several parameters
Used for transmitting the complete
parameter set of a unit.
Timeout
Waiting time in [ms] that the master
waits for a response from a slave
after it has sent a request.
•
Default setting:
– 100 ms (parameter telegram)
– 350 ms (multibyte telegram)
•
Increase the value if not all units
are detected during a network
scan.
Retries
128
Number of request retries after the
timeout is exceeded
Default setting: 3
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Communication via Ethernet, fieldbus or SBUSplus
8.6
Communication via Ethernet, fieldbus or SBUSplus
8.6.1
8
Connecting the unit with the PC via Ethernet
The engineering access via Ethernet, fieldbus options or SBUSplus is described in detail
in the relevant manuals of the fieldbus option cards.
8.7
Executing functions with the units
8.7.1
Parameterizing units in the parameter tree
The parameter tree displays all unit parameters arranged in folders.
You can manage the unit parameters using the context menu or toolbar. The following
chapter describes how to read or change unit parameters.
8.7.2
Reading/changing unit parameters
To read or change unit parameters, proceed as follows:
1. Switch to the required view (project view or network view).
2. Select the communication mode:
•
•
Click the [Switch to online mode] button [1] if you want to read or change
parameters directly on the unit.
Click the [Switch to offline mode] button [2] if you want to read or change
parameters in the project.
64337AXX
3. Select the unit you want to set parameters for.
4. Open the context menu and select the [Parameter tree] command.
This opens the " Parameter tree " view on the right section of the screen.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
129
Operating MOVITOOLS® MotionStudio
Executing functions with the units
8
5. Expand the " Parameter tree " up to the node you require.
12079AEN
6. Double-click to display a particular group of unit parameters.
7. Press the enter key to finalize any changes you make to numerical values in the input
fields.
8.7.3
Starting up the units (online)
To startup units (online), proceed as follows:
1. Switch to the network view.
2. Click the [Switch to online mode] button [1].
64354AXX
3. Select the unit you want to startup.
4. Open the context menu and select the command [Startup] / [Startup wizard].
This opens the startup wizard.
5. Follow the instructions of the startup wizard and then load the startup data into your
unit.
TIPS
•
•
130
For detailed information about the unit parameters, refer to parameter list for the
unit.
For detailed information about how to use the startup wizard, refer to the
MOVITOOLS® MotionStudio online help.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Operating MOVITOOLS® MotionStudio
Bus monitor
8.7.4
Unit-internal scope
The unit-internal scope memory of MOVIDRIVE® lets you record unit states or process
data and have them displayed on your PC for diagnostic purposes. You will find
additional information in the online help of MOVITOOLS® MotionStudio.
8.8
8
Bus monitor
The engineering user interface of MOVITOOLS® MotionStudio lets you use the process
data monitor function under the menu item " Bus monitor " . This function provides you
with convenient startup and diagnostics options for using the inverter in a communication system. You can choose between the two operating modes Monitor and Control.
Monitor mode is a mere diagnostic mode that lets you monitor process data channels,
whereas control mode lets you make changes using your PC.
8.8.1
Diagnostic mode of the bus monitor
In Monitor mode, the bus monitor in MOVITOOLS® MotionStudio displays the setpoints
and actual values, which are exchanged between master controller and MOVIDRIVE®
inverter, so you can monitor and analyze them.
You obtain all the information of the three process data channels, such as description of
process input data PI1 - PI3 (actual values) and process output data PO1 - PO3 (setpoints) as well as their values which are currently being transmitted via the bus system.
8.8.2
Control using bus monitor
In Control mode, you can use the bus monitor for controlling the inverter manually using
the PC. In this mode, the inverter has the same drive behavior as if it was controlled
using the communication interfaces. This operating mode allows for easy integration
into the process data control concepts of the MOVIDRIVE® inverter, for example.
As MOVITOOLS® MotionStudio communicates with the inverter via serial interface, you
can also get familiar with the functionality of the inverter’s process data without bus
master by specifying all setpoints manually using bus monitor (Control operating mode).
8.9
Manual operation
Manual operation in MOVITOOLS® MotionStudio allows for manual control
(specification of speed setpoint and control commands) via the serial interfaces of
MOVIDRIVE® B.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
131
Bus Diagnostics
Checking the parameter setting
9
9
Bus Diagnostics
The MOVIDRIVE® inverter offers all kinds of diagnostic information for bus operation.
These diagnostic options include the process data description parameters as well as the
menu area P090 - P099 with the parameters for bus diagnostics. These parameters
allow for easy communication diagnostics using even DBG60B.
This chapter provides an overview of the parameters for configuration, possibilities for
process data diagnostics, and other bus-specific diagnostic options. The figure below
shows all communication parameters of the MOVIDRIVE® inverter, which can also be
used for detailed diagnostic purposes.
9.1
Checking the parameter setting
The parameters of the MOVIDRIVE® inverter can be read and written using any
communication interface. We recommend that you use the keypad or the MOVITOOLS®
MotionStudio engineering program to check the parameter setting.
For example, parameters written by a controller via fieldbus, can also be read and
checked using other interfaces. For the assignment of menu number of keypad and
parameter index, please refer to the MOVIDRIVE® MDX60B/61B system manual and
the parameter list.
No check is required whether a parameter has been written successfully because the
inverter will issue an error message if the parameter setting is incorrect.
132
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Bus Diagnostics
Checking the parameter setting
9
The figure below gives an overwie of the communication parameters of MOVIDRIVE®.
FIELDBUS
RS485
Setting of the bus parameters
on the fieldbus option card
78x IP parameters
System bus 1/2
880/890 CAN profile
881/891 SBus address 1/2
882/892 SBus group address 1/2
810 RS485 address
819 Fieldbus timeout interval
883/893 SBus timeout interval 1/2
811 RS485 group address
831 Response to fieldbus TIMEOUT
884/894 SBus baud rate 1/2
812 RS485 timeout interval
887 Synchronization ext. controller
885/895 SBus synchronizations ID 1/2
833 Response to RS485 TIMEOUT
888 Synchronization time
887 Synchronization ext. controller
750 Master/slave
970 DPRAM synchronization
888 Synchronization time
Bus diagnostics:
889 Parameter channel 2
090 Fieldbus PD configuration
836/837 Response to SBus TIMEOUT 1/2
091 Fieldbus type
750 Master/slave
092 Fieldbus baud rate
093 Fieldbus address
100 Setpoint source
101 Control signal source
870 Setpoint description PO1
873 Actual value description PI1
874 Actual value description PI2
870 Setpoint description PO1
871 Setpoint description PO2
094 PO1 setpoint [hex]
876 PO data enable
875 Actual value description PI3
095 PO2 setpoint [hex]
096 PO3 setpoint [hex]
097 PI1 actual value [hex]
098 PI2 actual value [hex]
PO1
PO2
PO3
PI1
PI2
PI3
099 PI3 actual value [hex]
D0
D0
Binary outputs
Drive control
setpoint processing
Binary inputs
IPOS
plus®
IPOS
plus®
64350AEN
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
133
Bus Diagnostics
Diagnostics of process input and output data
9
9.2
Diagnostics of process input and output data
After having set the communication parameters, you should check the process data
which are sent from and to the controller. Ensure the correct sequence of bytes
( " Motorola " or " Intel " ), uniform number format (decimal or hexadecimal), and uniform
method of counting the bits in a byte or word (bits 0 - 7 or bits 1 - 8). Convenient fieldbus
master connections offer simple diagnostic options, such as LED panels on the front
cover that let you diagnose the individual process data of the fieldbus.
Fieldbus monitor
parameters
For simple access to these control and setpoints values, the MOVIDRIVE® inverter
offers the fieldbus monitor parameters for direct access to the process data received and
sent by the fieldbus system (see figure below).
•
P094 PO1 setpoint (hex)
•
P096 PO2 setpoint (hex)
•
P098 PO3 setpoint (hex)
•
P095 PI1 actual value (hex)
•
P097 PI2 actual value (hex)
•
P099 PI3 actual value (hex)
P09x Px1 setpoint (hex)
P09x Px2 setpoint (hex)
P09x Px3 setpoint (hex)
0006hex
01F4hex
0000hex
Process input/output data
0006hex
Px1
014Fhex
Px2
0000hex
Px3
54676AEN
®
For this purpose, MOVITOOLS MotionStudio reads the process data sent from and
received by the drive inverter. Not all process data cycles are displayed due to different
transmission speeds. Checking the displayed values will usually let you quickly find the
cause of the fault.
Fieldbus monitor
Unit-internal
scope
134
The fieldbus monitor parameters let you control all process data in hexadecimal form
using the keypad of the inverter. The fieldbus monitor (see chapter " MOVITOOLS®
MotionStudio Engineering Diagnostic Software " ) of the MOVITOOLS® MotionStudio
engineering programm even offers profile-compliant interpretation of the process data,
such as the display of speed setpoints in rpm.
For diagnosing cyclically transmitted process data, you can record input and output
values over an extended period of time using the unit-internal scope and have these
values displayed in MOVITOOLS® MotionStudio. In this way even faulty setpoints can
be detected that only occur rarely. For more information on unit-internal scope, refer to
the online help of MOVITOOLS® MotionStudio.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Bus Diagnostics
Diagnostic options for RS485 communication
9.3
9
Diagnostic options for RS485 communication
In the event of problems in the communication of MOVIDRIVE® using the RS485 interfaces, first check all the parameters of the RS485 interfaces.
If parameters P100 and P101 are set to " RS485 " , you can monitor the transmitted actual
values using parameters P094 - P099.
Possible causes
of error
•
Incorrect wiring:
– Are the RS485 interfaces of all units properly connected?
– Is the ground potential of the units connected with one another?
– Is a proper cable used and has its shield been connected on both ends over a
large surface area?
– Is the bus designed as linear bus structure (without stub lines, not a tree or star
structure)?
– No additional terminating resistors must be connected to units from SEWEURODRIVE.
•
Have baud rate, timeout interval, and addresses/address ranges been set so they
are suitable for the interaction of all units?
•
Only one RS485 master is permitted on an RS485 bus. A master results from the
–
–
–
–
Master/slave function
IPOSplus® program (MOVILINK® commands)
Engineering PCs
Controllers and operator panels
•
•
Also make sure that RS485 telegrams are transmitted correctly in terms of structure,
pause before the start delimiter, and character delay when using modems, COM
servers and other gateways.
•
If manual operation (of the control function in the fieldbus monitor) is still active,
another process data assignment might be active than without manual operation.
•
Has timeout monitoring been set correctly, and are cyclic data sent?
•
Software tools
For RS485 masters that were not developed by SEW-EURODRIVE, ensure correct
telegram structure, pause before the start delimiter, and character delay.
If you receive an error message when accessing a parameter, check the operating
status of the unit or whether the parameter lock is active. Other causes are indicated
in the return codes.
The following software tools are integrated in MOVITOOLS® MotionStudio for testing
and diagnosing communication via RS485. Connect the diagnostic PC to the RS485 bus
for this purpose using the UWS21B interface adapter (see chapter 4.1 " Connecting and
installing RS485 interfaces " ).
•
MoviScan (mtscan)
MoviScan is a data and telegram monitor for the serial interface. Depending on the
setting in MoviScan, you can record all bytes or only valid MOVILINK® telegrams.
Specify the COM port by choosing [Setting] / [Communication ports] from the menu.
The baud rate has a fixed setting of 9600 Baud.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
135
9
Bus Diagnostics
Diagnostic options for RS485 communication
•
MoviTele (mttele)
MoviTele is a test program you can use to send individual process or parameter data
telegrams. The response of the unit is displayed in decimal or hexadecimal notation.
Specify the COM port by choosing [Setting] / [Communication ports] from the menu.
The baud rate has a fixed setting of 9600 Baud.
To start the programs, first set the authorization level to 100 in MOVITOOLS® MotionStudio in the menu [Settings] / [Authorization level] (password 4387). Next, you can start
the " mtscan " or " mttele " program from the context menu [MOVITOOLS] / [Internal
applications].
Example: Reading
an index via
RS485
Reading the parameter P160 Fixed speed n11 from an inverter with RS485 address 2.
Request:
Byte
Value
Meaning
Interpretation
Help
0
0x02
Start delimiter
Request
Chapt. " Telegrams " , section " Structure of
response telegrams " .
1
0x02
RS485 address
2
Chapter " Addressing and transmission
method " .
2
0x86
User data type
Acyclic 8 bytes
Chapter " Structure and length of user data " .
3
0x31
Management byte
Read parameter, 4
bytes long
4
0x00
Subindex
5
0x21
6
0x29
Index
8489
0x00
Data
150000
0xBF
Block check character
7
8
9
Chapter " Structure of the MOVILINK®
parameter channel " .
10
11
Chapter " Structure and length of user data " ,
section " Creating block check characters "
Response:
Byte
Value
Meaning
Interpretation
Help
0
0x1D
Start delimiter
Response
Chapt. " Telegrams " , section " Structure of
response telegrams " .
1
0x02
RS485 address
2
Chapter " Addressing and transmission
method " .
2
0x86
User data type
Acyclic 8 bytes
Chapter " Structure and length of user data " .
Read parameter, 4
bytes long
3
Management byte
4
0x00
Parameter subindex
5
0x21
6
0x29
7
0x00
8
0x02
9
0x49
10
0xF0
11
136
0x31
0x1B
Parameter index
8489
Data
150000
Block check character
Chapter " Structure of the MOVILINK®
parameter channel " .
Chapter " Structure and length of user data " ,
section " Creating block check characters " .
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Bus Diagnostics
Diagnostic options for CAN communication
9.4
9
Diagnostic options for CAN communication
In the event of problems in the communication of MOVIDRIVE® using the CAN
interfaces, first check all the parameters of this interface.
If parameters P100 and P101 are set to " SBus1/SBus2 " , you can monitor the
transmitted setpoints and actual values using parameters P094 - P099.
Possible causes
of error
•
Incorrect wiring:
– Are the CAN interfaces of all units properly connected (CAN high, CAN low, CAN
Gnd)?
– Is the ground potential of the units connected with one another?
– Is a proper cable used and has its shield been connected on both ends over a
large surface area?
– Is the bus designed as linear bus structure (without stub lines, not a tree or star
structure)? Does the total cable length match the set baud rate?
– An 120 ohm terminating resistor must be connected each at the start and the end,
or must be activated using DIP switches.
•
Is the baud rate and profile setting (CANopen, MOVILINK®) the same for all units?
In the CANopen profile, you can check the NMT status and the PDO parameterization with the diagnostic tool " CANopen Configuration " in MOVITOOLS® MotionStudio.
•
A certain CAN identifier must only be sent by one station on the CAN. Transmit
telegrams are defined by the following functions:
–
–
–
–
•
Master/slave function
IPOSplus® program (SCOM and MOVILINK® commands)
Engineering PCs
Controllers
Depending on the CAN interface, an identifier may be defined only once in a unit as
identifier for a transmit or receive telegram. The assignmentof identifiers results from:
– the profile with its predefined identifiers
– synchronization identifiers
– an IPOSplus® program (SCOM and MOVILINK® commands)
•
If SCOM objects that were defined in an IPOSplus® program are not sent, check
whether transmission was activated with SCOMSTAT.
•
If manual operation (or the control function in the fieldbus monitor) is still active, then
setpoint transmission via CAN is blocked and another process data assignment
might be active.
•
Has timeout monitoring been set correctly, and are cyclic data sent?
•
If you receive an error message when accessing a parameter, check the operating
status of the unit or whether the parameter lock is active. Other causes are indicated
in the return codes.
•
Bus utilization
A CAN telegram with 8 bytes of useful data has a maximum length of 130 bits and is
transmitted at 500 kBaud in 260 μs. This means a maximum of 3 CAN telegrams can
be transmitted per millisecond resulting in a maximum of 7 CAN telegrams at
1 MBaud.
Calculate a reserve of 25% (at least 1 telegram per monitoring interval) for resending
telegrams that might have been damaged by EMC.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
137
Bus Diagnostics
Diagnostic options for CAN communication
9
Software tools
The following software tools are integrated in MOVITOOLS® MotionStudio for testing
and diagnosing communication via CAN. The diagnostic PC is connected to a CAN
network via PC-CAN interface for this purpose (see chapter " MOVITOOLS® via SBus " ).
•
PCANview
PCANview shows all the telegrams transmitted via CAN and provides an overview of
cycle times and number of telegrams. PCANview also allows for sending individual
telegrams.
•
sCAN
sCAN is a data and telegram monitor with memory function for CAN networks. The
display can be set according to the profile and matching the data transmitted via
CAN. Filter settings, the definition of a trace file to which the read-in data is written,
and other analysis options offer all the functions required for diagnosing the CAN.
To start the programs, shortcuts are created under [Start] / [Programs] / [SEW] / [sCAN
and PCAN Tools] when installing MOVITOOLS® MotionStudio.
Example: Process
data exchange
using PCAN View
For exchanging process data between PC and MOVIDRIVE® B via SBus (CAN),
connect the USB-CAN interface as described in chapter " Communication SBus (CAN)
via interface adapter " . In MOVIDRIVE®, you first have to choose the MOVILINK® profile
using P880/890, read the SBus address P881/891, and read the SBus baud rate using
P884/894 (e.g. with the DBG60B keypad).
Now start the PCAN View program. At the beginning, you have to choose a network with
the baud rate matching MOVIDRIVE®. If no suitable CAN network is available for selection, you can create CAN networks using the PCAN Nets Configuration program. The
created networks will be available next time you start PCAN View. The selected baud
rate [4] (here: 500 kBit/s) and the USB symbol [3] are displayed in the status bar of
PCAN View.
[1]
[6]
[2]
[5]
[4]
[3]
64781AXX
A new transmit message is created for sending process data:
•
The identifier [6] is calculated as described in the " Telegrams " chapter as follows:
8× SBus address + 3 (here: 8 ×1 + 3 = 11 = 00Bhex)
138
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Bus Diagnostics
Diagnostic options for communication via fieldbus option card
•
Setting the period [5] to 0 ms means a telegram is sent when pressing the space bar.
If the period is set to a time & gt; 0 ms, PCAN View automatically carries out transmission at the specifed cycle. Not every Windows version can properly send if the period
is set to a time under 10 ms.
•
If the PC-CAN interface is properly connected and the address and baud rate are set
so that they match, MOVIDRIVE® will respond to every process data telegram with
the relevant message ID [1] (here: 8 ×1 + 4 = 11 = 00Chex).
•
Refer to chapters 7.3 and 9.2 for a description of how to check and interpret actual
values.
•
If MOVIDRIVE® does not immediately respond to a process data telegram with its
actual values, either the wrong identifier is used for the request or not all the
parameters have been set correctly in MOVIDRIVE®.
•
9.5
The length [2] of non-fragmented process data telegrams is 6 bytes = 3 words.
•
9
If the message BUSHEAVY appears in the status bar of PCAN View, an error has
occurred due to incorrect connection or parameter setting.
Diagnostic options for communication via fieldbus option card
In the event of problems in the communication of MOVIDRIVE® using the fieldbus option
card, first check all the parameters of this interface.
If parameters P100 and P101 are set to " Fieldbus " , you can monitor the transmitted
setpoints and actual values as well a some fieldbus settings using parameters P094 P099. If one of the industrial Ethernet interfaces (DFE32B, DFE33B) is used as fieldbus
option, also check the IP parameters (P78x).
Possible causes
of error
•
Incorrect wiring:
– Has the fieldbus been connected as described in the manual of the fieldbus
option?
– Is the ground potential of the units connected with one another?
– Is a proper cable used and has its shield been connected on both ends over a
large surface area?
•
•
Which status is indicated by the LED on the fieldbus option card (see manual for the
fieldbus option card)?
•
What status information on the fieldbus and the individual slaves signals the fieldbus
master (see documention for the fieldbus master)?
•
If manual operation (or the control function in the fieldbus monitor) is still active, then
setpoint transmission via CAN is blocked and another process data assignment
might be active.
•
Has timeout monitoring been set correctly, and are cyclic data sent?
•
Software tools
Have baud rate and addresses of all units on the fieldbus been set so they match one
another? DIP switch settings take effect after a power-on reset.
If you receive an error message when accessing a parameter, check the operating
status of the unit or whether the parameter lock is active. Other causes are indicated
in the return codes.
You can use the fieldbus monitor in MOVITOOLS® MotionStudio for testing and diagnosing the communication. Refer to the manuals of the fieldbus option cards for more
bus-specific test and diagnostic tools.
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
139
10
Index
10
Index
A
Actual value description of process input data ....84
Acyclic data exchange ........................................21
Additional ..................................................... 9, 107
Addressing ..........................................................23
Addressing and transmission method
Address byte .................................................23
Broadcast address ........................................25
Group addressing (multicast) .......................24
Single addressing .........................................23
Universal addressing ....................................24
B
Block ...................................................................27
Bus ....................................................................131
Bus diagnostics .................................................132
Diagnostics of process input and
output data .....................................134
C
Cable ............................................................ 14, 15
CAN ....................................................... 34, 35, 37
CAN bus identifier ...............................................39
CANopen ..................................................... 45, 57
Changing .............................................................52
Characters ..........................................................18
Communication .................. 10, 116, 124, 128, 129
Configuration ................................................ 17, 38
Configuring ................................... 46, 48, 121, 126
Configuring the CANopen interface of
MDX B and network management (NMT)
Baud rate and CANopen slave address .......46
Connecting and installing RS485 interfaces
Shielding and routing cables ........................16
Connection ................................................... 12, 15
Connector XT
Assignment ...................................................12
Content of the manual ...........................................9
Control ................................................................89
Control commands
Controller inhibit ............................................89
Enable ..........................................................90
Hold control ..................................................90
Rapid stop ....................................................89
Stop ..............................................................90
Control signal source
- RS-485 .......................................................76
- TERMINALS ...............................................76
control signal source
- FIELDBUS ..................................................76
- SBus ...........................................................76
Control word definition ........................................87
Basic control block ........................................87
Creating ..............................................................28
Cyclic data exchange ..........................................21
140
D
Diagnostic ........................................ 135, 137, 139
Diagnostics ......................................................... 74
Diagnostics of process input and output data .. 134
Fieldbus monitor ........................................ 134
Fieldbus monitor parameters ..................... 134
E
Emergency object
COB ID of the emergency object ................. 53
Engineering ........................................ 73, 118, 124
Error ................................................................. 106
Establishing ...................................................... 115
Exclusion of liability .............................................. 7
Executing ......................................................... 129
F
Fault ................................................................... 97
Fault number (fault code) ................................... 98
Fieldbus .............................................................. 67
First .................................................................. 115
G
General notes
Exclusion of liability ........................................ 7
Structure of the safety notes .......................... 6
General notes on bus systems ............................. 8
Group parameter telegram ................................. 44
Group process data telegram ............................. 42
H
Hard ................................................................... 56
Heartbeat ........................................................... 54
I
Inhibit .................................................................. 50
Installation
Installing and removing an option card ........ 70
Installing ............................................................. 68
L
Limit switch processing ...................................... 94
M
Manual ............................................................. 131
Mapping ............................................................. 51
Monitoring .......................................................... 99
Monitoring functions
Timeout error message ................................ 99
Timeout interval ........................................... 99
Timeout response ........................................ 99
Motion ................................................................ 74
Motor .................................................................. 91
MOVILINK .................................................... 18, 39
N
Notes ................................................................ 113
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
Index
Notes on parameterization
CONTROLLER INHIBIT condition ..............113
Factory setting ............................................113
Parameter lock ...........................................113
O
Operating ..........................................................114
Option card
Install and remove ........................................70
Other ................................................ 29, 57, 60, 73
Other applicable documentation ...........................8
P
Parameter .................................................... 44, 55
Parameter set
Selection .......................................................90
Parameter telegrams ..........................................43
Parameters .........................................................71
PDU ....................................................................26
Possible ........................................... 135, 137, 139
Process ........................................................ 73, 76
Process data description
Actual value description of process input data .
84
Scaling of process data ................................85
Setpoint description
of process output data (PO data) ...........79
Process data telegrams ......................................41
R
Request telegram, structure ................................22
Reset after an error .............................................90
Response telegram, structure .............................22
Return ...............................................................106
Rights ....................................................................7
S
Safety notes
Disposal ..........................................................8
General notes on bus systems .......................8
Hoist applications ...........................................8
Other applicable documentation .....................8
Safety functions ..............................................8
Safety-relevant control commands .....................88
Scaling of process data .......................................85
Selecting ...........................................................117
Sequence ............................................................87
Sequence control
Control word 1, control word 1 ......................91
Control word 2, control word 2 ......................92
Control word definition ..................................87
Safety-relevant control commands ...............88
Status word 1, status word 1 ........................94
Status word 2, status word 2 ........................95
Status word 3, status word 3 ........................96
Status word definition ...................................93
Serial .................................................. 12, 118, 123
Serial interfaces
10
Socket XT .................................................... 12
Setpoint description
of process output data (PO data) ................. 79
Setting .............................................................. 101
Setting the inverter parameters
Parameter setting procedure ..................... 101
Reading a parameter (example) ................ 109
Writing a parameter (example) .................. 110
SEW ................................................................... 75
Signal
Inverter ready ............................................... 93
PO data enabled .......................................... 93
Socket XT ........................................................... 12
Baud rate ..................................................... 14
Connect USB11A interface adapter ............. 13
Connect UWS21B interface adapter ............ 13
Connecting DOP11B operator terminal ....... 14
Electrical isolation ........................................ 14
Terminating resistor ..................................... 14
Software ........................................... 135, 138, 139
Start characters (SD1/SD2) ............................... 22
Starting ............................................................. 115
Status word definition ......................................... 93
Basic status block ........................................ 93
Structure ..................................................... 26, 102
Structure of the safety notes ................................ 6
SYNC ................................................................. 52
Synchronization telegram ................................... 40
T
Taking ...................................................... 118, 124
Tasks ................................................................ 114
Telegrams .................................................... 21, 39
Request telegram structure ......................... 22
Response telegram structure ....................... 22
Start characters (SD1/SD2) ......................... 22
Telegram transmission ................................ 21
Terminal ............................................................. 34
Terminal X13
Baud rate ..................................................... 15
Cable specification ....................................... 15
Electrical isolation ........................................ 15
Shielding ...................................................... 15
Terminating resistor ..................................... 15
Wiring diagram ............................................. 15
The ..................................................................... 53
Transmission .......................................... 18, 26, 49
U
Unit ....................................................... 46, 97, 134
Using ............................. 29, 33, 60, 61, 62, 63, 73
W
Wiring ................................................................. 35
Manual – MOVIDRIVE® MDX60B/61B Communication and Fieldbus Unit Profile
141
SEW-EURODRIVE – Driving the world
Drive Technology \ Drive Automation \ System Integration \ Services
How we’re driving the world
With people who
think fast and
develop the
future with you.
With a worldwide
service network that is
always close at hand.
With comprehensive
knowledge in virtually
every branch of
industry today.
With drives and controls
that automatically
improve your productivity.
With uncompromising
quality that reduces the
cost and complexity of
daily operations.
SEW-EURODRIVE
Driving the world
With a global presence
that offers responsive
and reliable solutions.
Anywhere.
With innovative
technology that solves
tomorrow’s problems
today.
With online information
and software updates,
via the Internet, available
around the clock.
SEW-EURODRIVE GmbH & Co KG
P.O. Box 3023 · D-76642 Bruchsal / Germany
Phone +49 7251 75-0 · Fax +49 7251 75-1970
sew@sew-eurodrive.com
www.sew-eurodrive.com