Manual. MOVIDRIVE MDX61B "Table Positioning" Application. Edition 09/ / EN

Transcription

1 Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ s MOVIDRIVE MDXB "Table Positioning" Application Edition 09/ / EN Manual

2 SEW-EURODRIVE Driving the world

3 General Notes Structure of the safety notes Right to claim under warranty Exclusion of liability Other applicable documentation... 2 System Description Areas of application Application example Program identification Project Planning Prerequisites Description of functions Scaling the drive Limit switches, reference cams and machine zero Binary coding of the table positions Process data assignment for fieldbus control Terminal control Software limit switch IPOS plus processing speed Safe stop SBus send object Installation MOVITOOLS software MDXB basic unit with "DIOB-type input / output card" Connecting the DEH/DERB option to MOVIDRIVE MDXB Bus installation MOVIDRIVE MDXB System bus connection (SBus ) Connecting hardware limit switches Startup General information Preliminary work Starting the program "Table Positioning via Fieldbus" Parameters and IPOS plus variables Recording IPOS plus variables Operation and Starting the drive Referencing mode Jog mode Teach mode.... Automatic mode Cycle diagrams Error information Error messages Compatibility of MOVIDRIVE B / compact Important notes... 8 Index... 9 Manual MOVIDRIVE MDXB Table Positioning Application 3

4 General Notes Structure of the safety notes Manual General Notes. Structure of the safety notes The safety notes in this manual are designed as follows: Symbol SIGNAL WORD Nature and source of hazard. Possible consequence(s) if disregarded. Measure(s) to avoid the hazard. Symbol Signal word Meaning Consequences if disregarded Example: HAZARD Imminent hazard Severe or fatal injuries General hazard WARNING Possible hazardous situation Severe or fatal injuries CAUTION Possible hazardous situation Minor injuries Specific hazard, e.g. electric shock STOP Possible damage to property Damage to the drive system or its environment NOTE Useful information or tip Simplifies drive system handling.2 Right to claim under 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 MOVIDRIVE documentation. Consequently, read the operating instructions and manuals before you start working with the unit! Make sure that the operating instructions and manuals are available to persons responsible for the plant and its operation, as well as to person who work independently on the unit. You must also ensure that the documentation is legible..3 Exclusion of liability You must comply with the information contained in the MOVIDRIVE documentation to ensure safe operation of the MOVIDRIVE drive inverter 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 these operating instructions. In such cases, any liability for defects is excluded. 4 Manual MOVIDRIVE MDXB Table Positioning Application

5 General Notes Other applicable documentation.4 Other applicable documentation This manual does not replace the detailed operating instructions and the corresponding manuals. Installation and startup only by trained personnel observing the relevant accident prevention regulations and the following documents: "'MOVIDRIVE MDX0B/B' operating instructions and corresponding manuals Manual MOVIDRIVE MDXB Table Positioning Application

6 System Description 2 Areas of application 2 System Description 2. Areas of application The "Table Positioning" application module is particularly suited to applications in which it is necessary to move to positions at pre-defined speeds and with different acceleration ramps. If you use an external encoder for positioning, which is necessary when there is a non-positive connection between motor shaft and load, you can either use an incremental encoder or an absolute encoder. The "Table Positioning" application module accomplishes these tasks with various operating modes which are selected using binary inputs (terminal control) or virtual terminals (control via fieldbus). The "Table Positioning" application module is especially suitable for the following branches of industry and applications: Materials handling Trolleys Hoists Rail vehicles Logistics Storage and retrieval units Transverse carriages The "Table Positioning" module offers the following advantages in these applications: User-friendly user interface. 32 table positions can be defined and selected via terminals / fieldbus / SBus. You only have to set the parameters required for table positioning and bus operation (ratios, speeds, diameters). Guided parameter setting process instead of complicated programming. Monitor mode for optimum diagnostics. Users do not need any programming experience. Incremental encoders or absolute encoders can be used as external encoders. It does not take long to get to know the system. Manual MOVIDRIVE MDXB Table Positioning Application

7 System Description Application example Application example Transverse carriage A transverse carriage represents a typical application example of the "Table positioning" application module. The following figure shows a transverse carriage in a high-bay warehouse: Goods to be moved in and out of storage are transported between the shelf aisles and the distribution table. Figure : Application example of a transverse carriage 04823AXX Manual MOVIDRIVE MDXB Table Positioning Application 7

8 System Description 2 Program identification 2.3 Program identification You can use the MOVITOOLS software package to identify which application program was last loaded into the MOVIDRIVE MDXB unit. Proceed as follows: Connect MOVIDRIVE to the PC via the serial port. Start MOVITOOLS. In MOVITOOLS start the program "Shell". In the Shell program, choose [Display] / [IPOS Information...]. Figure 2: IPOS information in Shell 070AEN The "IPOS-Status" window appears. The entries in this window tell you which application software is stored in MOVIDRIVE MDXB. Figure 3: Display of the current IPOS program version 7AEN 8 Manual MOVIDRIVE MDXB Table Positioning Application

9 Project Planning Prerequisites 3 3 Project Planning 3. Prerequisites PC and software The "Table Positioning" application module is implemented as an IPOS plus program and forms part of the SEW MOVITOOLS software package. In order to use MOVI- TOOLS, you must have a PC with one of the following operating systems: Windows 9, Windows 98, Windows NT 4.0 or Windows Inverters, motors and encoders Inverters The "Table Positioning" application requires encoder feedback. It can only be implemented on MOVIDRIVE MDXB units in application version (...-0T). "Table Positioning" cannot be implemented on MOVIDRIVE MDX0B. In case of fieldbus control, the "Table Positioning" application uses a process data word. A MOVIDRIVE option will be required ( following table), depending on the bus type used. Possible with MOVIDRIVE Control via compact MCH4A/42A MDXB Terminals No Yes, with option DIOB PROFIBUS-DP Yes, without option Yes, with option DFP2B INTERBUS No Yes, with option DFIB INTERBUS with fiber optic cable Yes Yes, with option DFI2B CAN bus No Yes, with DFCB option DeviceNet No Yes, with option DFDB Ethernet No Yes, with DFEB option Motors For operation on MOVIDRIVE MDXB with option DEHB: CT/CV asynchronous servomotors (encoder installed as standard) or DR/DT/DV/D AC motors with encoder option (Hiperface, sin/cos or TTL). For operation on MOVIDRIVE MDXB with option DERB: CM/DS synchronous servomotors, resolver installed as standard. External encoder An external encoder is required for positioning in applications with a non-positive connection between the motor shaft and the load. If an absolute encoder is used as the external encoder, the MOVIDRIVE option "Absolute encoder interface type DIPB" is also required. Positive connection between motor shaft and load: An external encoder is not required. If you also want to use an external encoder for positioning when there is an interlocking connection, you have to proceed in the same way as with a non-positive connection. Non-positive connection between motor shaft and load: An external encoder is required in addition to the motor encoder/resolver. Incremental encoder as external encoder: Connection to basic unit at X4. Absolute encoder as external encoder: Connection to option DIP at X2. Manual MOVIDRIVE MDXB Table Positioning Application 9

10 Project Planning 3 Description of functions Possible combinations Encoder type (external encoder) Reference travel Required MOVIDRIVE option Positive, external encoder is not required Motor shaft / load connection Non-positive, external encoder is required - Incremental encoder or Hiperface encoder Yes (absolute positioning) Input / output card DIOB or fieldbus interfaces (DFP2B, DFIB) 3.2 Description of functions Functional characteristics The "Table Positioning" application has the following functional characteristics: Up to 32 table positions can be defined and selected. The travel speed can be selected for each positioning movement. The ramp can be set separately for each positioning movement. Software limit switches can be defined and evaluated. Either incremental or absolute encoders can be evaluated as external encoders. Four operating modes Jog mode The drive is moved CW or CCW using two virtual binary inputs. The two speeds 'rapid speed' and 'creep speed' for fine positioning can be selected via a virtual binary input. Teach mode Movement can be performed to every individual position in jog mode and then stored in teach mode. Referencing mode Reference travel is started when a start command is signaled at a virtual binary input. Reference travel establishes the reference point (machine zero) for absolute positioning operations. Automatic mode Selecting the target position using five virtual binary inputs (binary coded). Checkback of the selected target position before traveling using five virtual binary outputs (binary coded) Confirmation that the selected position has been reached via virtual binary output "Target position reached". 0 Manual MOVIDRIVE MDXB Table Positioning Application

11 Project Planning Scaling the drive Scaling the drive The controller must be able to detect the number of encoder pulses (increments) per travel unit to position the drive. The scaling function is used to set a user unit suitable to the application. Drive without external encoder (positive connection) In drives without an external encoder, the system can calculate the scaling automatically during startup of the table positioning. Enter the following data: Diameter of the drive wheel (d drive wheel ) or pitch of the spindle (p spindle ) Gear ratio of the gear unit (i gear unit, speed-reduction) Gear ratio of the additional gear (i gear unit, speed-reduction) The following scaling factors are calculated: Pulses / distance scaling factor [inc/mm] using the formula: Pulses = 409 i gear unit i additional gear Distance = Π d drive wheel or Π p spindle Speed scaling factor Numerator factor in [/min] and denominator value in "speed unit". You can also enter the distance and speed scaling factors directly. If you enter a unit other than [mm] or [/0 mm] as the travel unit, this user unit will also be used for the position of the software limit switches, the reference offset and the maximum travel distances. Manual MOVIDRIVE MDXB Table Positioning Application

12 Project Planning 3 Limit switches, reference cams and machine zero Drive with external encoder (nonpositive connection) In this case, you must have activated and scaled the external encoder before starting up the 'Table Positioning' module. To do so, make the following settings in the Shell program before starting up the table positioning via bus ( following figure). 009AEN P94 Actual position source If an incremental encoder or an absolute encoder (DIP) is connected, set P94 to "EXT. ENCODER (X4)". You can also make this setting during the startup procedure of the table positioning module. P942 Encoder factor numerator / P943 Encoder factor denominator / P944 Encoder scaling ext. Encoders Calculation of the scaling is blocked during startup of the table positioning. NOTES For more information about scaling an external encoder, refer to the "IPOS plus Positioning and Sequence Control System" manual. When using an absolute encoder, note the startup instructions in the "MOVI- DRIVE MDXB0 Absolute Encoder Card DIPB" manual. 3.4 Limit switches, reference cams and machine zero Note the following points during project planning: Software limit switchesmust be located within the travel distance of the hardware limit switches. When defining the reference position (position of the reference cam) and the software limit switches, make sure they do not overlap. Error message F78 "IPOS SW limit switch" is generated in the event of an overlap during referencing. You can enter a reference offset during startup if you do not want the machine zero to be located on the reference cam. The following formula applies: Machine zero = reference position + reference offset. This way, you can alter the machine zero without having to move the reference cam. NOTE Please also refer to the information in sec. "Software limit switches." 2 Manual MOVIDRIVE MDXB Table Positioning Application

13 Project Planning Binary coding of the table positions 3 3. Binary coding of the table positions Terminal version The table positions must be specified in binary code. They are also reported back in binary code. This means DI3 (D02) = 2 0 and DI7 (D0) = 2 4. No. DI3 (D02) DI4 (D03) DI (D04) DI (D0) DI7 (D0) 0 "0" "0" "0" "0" "0" "" "0" "0" "0" "0" 2 "0" "" "0" "0" "0" 3 "" "" "0" "0" "0" 4 "0" "0" "" "0" "0" "" "0" "" "0" "0" "0" "" "" "0" "0" 7 "" "" "" "0" "0" 8 "0" "0" "0" "" "0" 9 "" "0" "0" "" "0" 0 "0" "" "0" "" "0" "" "" "0" "" "0" 2 "0" "0" "" "" "0" 3 "" "0" "" "" "0" 4 "0" "" "" "" "0" "" "" "" "" "0" "0" "0" "0" "0" "" 7 "" "0" "0" "0" "" 8 "0" "" "0" "0" "" 9 "" "" "0" "0" "" 20 "0" "0" "" "0" "" 2 "" "0" "" "0" "" 22 "0" "" "" "0" "" 23 "" "" "" "0" "" 24 "0" "0" "0" "" "" 2 "" "0" "0" "" "" 2 "0" "" "0" "" "" 27 "" "" "0" "" "" 28 "0" "0" "" "" "" 29 "" "0" "" "" "" 30 "0" "" "" "" "" 3 "" "" "" "" "" Bus version For the bus version, the table positions are selected via the binary signals of the virtual input terminals through process data word ( sec. "Process data assignment for fieldbus control"). Manual MOVIDRIVE MDXB Table Positioning Application 3

14 Project Planning 3 Process data assignment for fieldbus control 3. Process data assignment for fieldbus control The higher-level controller (PLC) sends one process output data word (PO) to the inverter and receives one process input data word (PI) from the inverter. PO PO PI PI Figure 4: Data exchange via process data 20AXX PO = Process output data PI = Process input data PO = Control word 2 PI = Status word (IPOS PI data) Process output data The process output data word is assigned as follows: PO: Control word P7 Binary input DI7 P Binary input DI P Binary input DI P4 Binary input DI4 P3 Binary input DI3 P2 Binary input DI2 P Binary input DI P0 Binary input DI0 Controller inhibit/enable Enable/Rapid stop Enable/stop Hold control Ramp switchover Parameter set switchover Error reset Reserved Process input data The process input data word is assigned as follows: PI: Status word P7 Binary output DI7 P Binary output DI P Binary output DI P4 Binary output DI4 P3 Binary output DI3 P2 Binary output DI2 P Binary output DI P0 Binary output DI0 Motor is turning (n 0) Inverter ready IPOS reference Target position reached Brake released Fault/warning Limit switch CW active Limit switch CCW active 4 Manual MOVIDRIVE MDXB Table Positioning Application

15 Project Planning Terminal control Terminal control Operating modes The operating mode is set using the binary inputs X22:DI0 and DI of the DIOB option or X0:DI0 and DI of the DIPB option. Duty cycle type Jog mode Teach mode Referencing mode Automatic mode DI0: Mode low "0" "" "0" "" DI: Mode high "0" "0" "" "" Functions of the binary inputs DI2... DI7 The binary inputs X22:DI2... DI7 of the DIOB option or X0:DI2... DI7 of the DIPB option have different functions depending on the selected operating mode. Duty cycle type Jog mode Teach mode Referencing mode Automatic mode DI2: Function Reserved Strobe Start referencing Start positioning DI3: Function 2 Positive jog Position 2 0 Reserved Position 2 0 DI4: Function 3 Negative jog Position 2 Reserved Position 2 DI: Function 4 Rapid speed Position 2 2 Reserved Position 2 2 DI: Function Reserved Position 2 3 Reserved Position 2 3 DI7: Function Reserved Position 2 4 Reserved Position 2 4 Manual MOVIDRIVE MDXB Table Positioning Application

16 Project Planning 3 Software limit switch 3.8 Software limit switch General information The "software limit switch" monitoring function is used to check that the target position is set to appropriate values. During this process, it is not important where the drive is positioned. In contrast to the monitoring of the hardware limit switches, the monitoring function for the software limit switches makes it possible to detect whether there is an error in the target specifications before the axis starts to move. The software limit switches are active when the axis is referenced; that is, when Bit IPOS reference is set in PI. Moving clear of the software limit switches When using an absolute encoder or Multiturn Hiperface encoder it may be necessary for the drive to be moved within the range of the software limit switches (for example, after an encoder has been replaced). For this purpose, Bit in the process output data word (PO) is set to "/SWLS" (= Moving clear of the software limit switch). Bit "/SWLS" is only available in jog mode and referencing mode. If Bit is set, the drive can be moved out of the valid positioning range into the area of the software limit switches ( example 3). It is necessary to differentiate between the following three examples: Example Requirements: Bit "/SWLS" in the process output data word (PO) is not set. Drive is within valid positioning area Software limit switch monitoring function is active. 098AEN In jog mode, the drive runs until it is three position windows (P922) before the software limit switch and then stays there. In automatic mode, the drive can be positioned up to the software limit switches but not beyond. In referencing mode, the software limit switches are not active, which means the drive can move past the software limit switches during reference travel. Manual MOVIDRIVE MDXB Table Positioning Application

17 Project Planning Software limit switch 3 Example 2 Requirements: Bit "/SWLS" in the process output data word (PO) is not set. The drive is outside the software limit switches. The following error message appears once the drive is enabled: 0982AEN 0983AEN You can confirm the error message by pressing the reset button. The monitoring function is deactivated. In the area of the software limit switches, the drive can be moved at two different speeds as follows: Closer toward the travel range of the software limit switch at reference speed 2 (P902). Away from the travel range of the software limit switches at maximum speed. The monitoring function is reactivated when: The actual position of the drive set with P94 enters the permitted positioning range again. A positioning job is issued via the opposite software limit switch. The unit is switched off and on again. Manual MOVIDRIVE MDXB Table Positioning Application 7

18 Project Planning 3 IPOSplus processing speed Example 3 Prerequisite: Bit "/SWLS" in the process output data word (PO) is set. 0984AEN The monitoring function is deactivated in the "Jog mode" and "Referencing mode" operating modes. The drive can be moved within the travel area of the software limit switches and from the valid positioning range into the area of the software limit switches without an error message being generated. The speed can be varied. HAZARD Risk of crushing if the motor starts up unintentionally. Severe or fatal injuries. You must not change the monitoring function of the software limit switches (PO, Bit "/SWLS") during operation (i.e. when the axis is in motion). 3.9 IPOS plus processing speed The processing speed of the IPOS plus program in MOVIDRIVE MDXB can be changed using the following parameters: P938 IPOS speed TASK, setting range P939 IPOS speed TASK2, setting range Setting value "0" for both parameters results in the same IPOS plus processing speed as for MOVIDRIVE MD_0A: P938 = 0 = TASK = command / ms P938 = 0 = TASK2 = 2 commands / ms Values greater than zero are added to the IPOS plus processing speed of MOVIDRIVE MD_0A. Note that the total of the commands per millisecond (commands / ms) for TASK and TASK2 must not be greater than 9. 8 Manual MOVIDRIVE MDXB Table Positioning Application

19 Project Planning Safe stop 3 If you start up the "Table positioning" application module on a MOVIDRIVE MDXB unit, the parameters will be set as follows to ensure a sequence with optimized timing: P938 = = TASK = command / ms + commands / ms = commands / ms P939 = 4 = TASK2 = 2 commands / ms + 4 commands / ms = commands / ms 3.0 Safe stop A "Safe stop" can only be achieved by safe disconnection of the jumpers at terminal X7 (with safety switch or safety PLC). The "Safe stop active" state is indicated by a "U" in the 7-segment display of the MOVIDRIVE MDXB. In the application module, this state is treated in the same way as the "CONTROLLER INHIBIT" state. NOTES For more information on the "Safe stop" function, refer to the following publications: MOVIDRIVE MDX0B / B Safe Disconnection - Conditions MOVIDRIVE MDX0B/B Safe Disconnection - Applications 3. SBus send object You have the option of setting up an SBus send object for transferring the cyclical actual position of the drive. In this way, "Table Positioning via Fieldbus" can be used as a master for the "DriveSync" application module or any IPOS plus program. Activating the SBus send object To set up the SBus send object, set the IPOS plus variable H SwitchSBUS to "" and restart the IPOS plus program ( -φfollowing figure). 00AXX Setting the SBus send objects The send and synchronization objects are initialized automatically once the IPOS plus program has been restarted. The content of the send object is set to IPOS plus encoder. Send object Synchronization object ObjectNo 2 CycleTime Offset 0 0 Format 4 0 DPointer IPOS encoder - Manual MOVIDRIVE MDXB Table Positioning Application 9

20 Installation 4 MOVITOOLS software 4 Installation 4. MOVITOOLS software MOVITOOLS The "Table Positioning" application module is part of the MOVITOOLS software (version 4.20 and higher). Proceed as follows to install MOVITOOLS on your computer: Insert the MOVITOOLS CD into the CD-ROM drive of your PC. The MOVITOOLS setup menu is started. You will be guided through the installation process: Follow the instructions. You can now use the Program Manager to start MOVITOOLS. Proceed as follows to perform startup for the inverter using the MOVITOOLS Manager: Select the language you want in the "Language" selection field. In the "PC Interface" selection field, select the PC port (e.g. COM ) to which the inverter is connected. In the "Device Type" field, select "Movidrive B". In the "Baudrate" field, select the baud rate set on the basic unit with the DIP switch S3 (standard setting "7. kbaud"). Press the <Update> button to display the connected inverter. Figure : MOVITOOLS window 098AEN Application version The "Table Positioning" application module can only be used with MOVIDRIVE units in application version (...-0T). The application modules cannot be used on units in the standard version (-00). 20 Manual MOVIDRIVE MDXB Table Positioning Application

21 Installation MDXB basic unit with "DIOB-type input / output card" MDXB basic unit with "DIOB-type input / output card" Terminal control The "Input / output card DIOB" can be used in the terminal version of the "Table positioning" application module. X3: DIØØ DIØ DIØ2 DIØ3 DIØ4 DIØ DCOM* VO24 DGND ST ST2 X: DIØ DIØ7 DOØ3 DOØ4 DOØ DGND X0: TF DGND 2 DBØØ 3 DOØ-C 4 DOØ-NO DOØ-NC DOØ2 7 VO24 8 VI24 9 DGND 0 MOVIDRIVE MDXB /Controller inhibit Enable / stop Reset Reference cam /Limit switch CW * /Limit switch CCW * Reference X3:DIØØ...DIØ DC+24 V output Reference potential binary signals RS48 + RS48 - No function No function No function No function Reference potential binary signals TF/TH input Reference potential binary signals /Brake Relay contact Ready for operation Relay NO contact Relay NC contact IPOS reference DC+24 V output DC+24 V input Reference potential binary signals MDXB XT S S2 S3 S4 X2 X X3 DIOB X20 X2 X22 X23 X22: DIOB 24 V + = - DIØ DI 2 DI2 3 DI3 4 DI4 DI DI 7 DI7 8 DCOM 9 DGND 0 IPOS input: Mode Low IPOS input: Mode High IPOS input: Function IPOS input: Function 2 IPOS input: Function 3 IPOS input: Function 4 IPOS input: Function IPOS input: Function Reference X22: DIØ... DI7 Reference potential binary signals X DOØ DO DO2 DO3 DO4 DO DO DO7 VI24 X23: IPOS output: MODE (2 0 ) IPOS output: MODE (2 ) IPOS output: MODE (2 2 ) IPOS output: Value (2 0 ) IPOS output: Value 2 (2 ) IPOS output: Value 4 (2 2 ) IPOS output: Value 8 (2 3 ) IPOS output: Position reached DC+24 V input X0 Figure : Wiring diagram for MOVIDRIVE MDXB basic unit with option DIOB * see sec. "Connecting hardware limit switches" 24AEN Manual MOVIDRIVE MDXB Table Positioning Application 2

22 Installation 4 Connecting the DEH/DERB option to MOVIDRIVE MDXB 4.3 Connecting the DEH/DERB option to MOVIDRIVE MDXB SBus -24 V = + DGND SC SC2 DIØØ DIØ DIØ2 DIØ3 DIØ4 DIØ DCOM VO24 DGND ST ST2 TF DGND DBØØ DOØ-C DOØ-NO DOØ-NC DOØ2 VO24 VI24 DGND X2: 2 3 X3: /Controller inhibit 2 Enable/stop 3 Reset 4 Reference cam /Limit switch CW /Limit switch CCW 7 Reference X3:DIØØ...DIØ 8 DC+24 V output 9 Reference potential binary signals 0 RS48 + RS48 - X0: System bus reference System bus high System bus low TF/TH input Reference potential binary signals /Brake Relay contact ready for operation Relay NO contact Relay NC contact /Malfunction DC+24 V output DC+24 V input Reference potential binary signals MOVIDRIVE MDXB DEHB DER B X4: External encoder input (HIPERFACE, sin/cos or DC V TTL) or X4-X4 connection (Connection: MOVIDRIVE MDX0B/B operating instructions) X: Motor encoder: For DEHB: HIPERFACE, sin/cos or DC V TTL For DERB: Resolver -pole, AC 3. V 4 khz eff < (Connection: MOVIDRIVE MDX0B/B operating instructions) DERB DEHB X4 X X4 X Figure 7: Wiring diagram for MOVIDRIVE MDXB with option DEHB or DERB 24AEN 22 Manual MOVIDRIVE MDXB Table Positioning Application

23 Installation Bus installation MOVIDRIVE MDXB Bus installation MOVIDRIVE MDXB Overview For bus installation, comply with the information in the relevant fieldbus manuals supplied with the fieldbus interfaces. Refer to the MOVIDRIVE MDX0B/B operating instructions for information on installing the system bus (SBus). DFP2B RUN BUS FAULT 9 X AS ADDRESS DFI 2B M 0,M U L CC BA RD FO FO2 TR X33/OUT X32/IN X3/OUT X30/IN DFI B M 4 0,M U L RC BA RD TR X30 X3 DFC B ON OFF R nc S X3 X30 DFE B nc DHCP IP (LSB) Status 00MBit link/act. X30 MAC ID: 00-0F-9-FF-FF-0 IP: DFD B MOD/ Net PIO BUS- OFF 0 NA() NA(4) NA(3) S NA(2) NA() NA(0) DR() DR(0) PD(4) PD(3) PD(2) PD() PD(0) F3 F2 F X30 BIO S2 P R O F I PROCESS FIELD BUS B U S ETHERNET SBus Device Net Figure 8: Bus types 9793AXX Manual MOVIDRIVE MDXB Table Positioning Application 23

24 Installation 4 Bus installation MOVIDRIVE MDXB PROFIBUS (DFP2B) For more detailed information, refer to the "MOVIDRIVE MDXB Fieldbus interface DFP2B PROFIBUS DP" manual. This manual can be ordered from SEW-EURO- DRIVE. You can download the unit master data files (GSD) and type files for MOVIDRIVE MDXB from the SEW homepage (under the heading "Software") to facilitate startup. Technical data DFP2B PROFIBUS DP fieldbus interface DFP2B RUN BUS FAULT 9 X AS ADDRESS 90AXX Part number Protocol option PROFIBUS DP and DP-V to IEC 8 Supported baud rates Connection technology Bus termination Station address Name of the GSD file DP ident. number Max. number of process data Resources for startup and diagnostics Weight. Green LED: RUN 2. Red LED: BUS FAULT 3. DIP switch for setting the PROFIBUS station address. 4. X30: PROFIBUS connection via 9-pin sub-d socket Automatic baud rate detection from 9. kbaud... 2 MBaud 9-pin Sub-D socket Assignment to IEC 8 Not integrated, must be implemented using suitable PROFIBUS connector with switchable terminating resistors , can be set using DIP switch SEWA003.GSD 003 hex = 2479 dec 0 process data MOVITOOLS software and DBG0B keypad 0.2 kg Pin assignment Assignment of 9-pin sub D plug to IEC 8 [2] 9 RxD/TxD-P RxD/TxD-N CNTR-P DGND (MV) VP (PV/00mA) DGND (MV) [3] [] 2097AXX [] 9-pin sub-d connector [2] Twist the signal wires together! [3] Conductive connection over a large area is necessary between plug housing and the shield 24 Manual MOVIDRIVE MDXB Table Positioning Application

25 Installation Bus installation MOVIDRIVE MDXB 4 INTERBUS with fiber optic cable (DFI2B) For more detailed information, refer to the "MOVIDRIVE MDXB Fieldbus Interface DFI2B INTERBUS with Fiber Optic Cable" manual. This manual can be ordered from SEW-EURODRIVE. Technical data INTERBUS-LWL (FO) fieldbus interface DFI2B DFI 2B M 0,M U L CC BA RD FO FO2 TR X33/OUT X32/IN X3/OUT X30/IN AXX Part number Supported baud rates 00 kbaud and 2 MBaud, can be selected via DIP switch Connection technology F-SMA connector DP identity numbers Max. number of process data Resources for startup and diagnostics Weight E3 hex = 227 dec ( PCP word) E0 hex = 224 dec (2 PCP words) E hex = 22 dec (4 PCP words) 38 hex = dec (microprocessor not ready) 03 hex = 3 dec process data MOVITOOLS software, DBG0B keypad and CMD tool 0.2 kg. DIP switches for setting the process data length, PCP length and baud rate 2. Diagnostic LEDs 3. X30: Remote IN 4. X3: Incoming remote bus. X32: Remote OUT. X33: Outgoing remote bus Connection assignment The fiber optic cable (FO) is connected using F-SMA connectors. 2 connectors are required each for the incoming and outgoing remote bus (transmitter and receiver). FO connection Signal Direction Wire color of FO cable X30 FO Remote IN Receive data Orange (OG) X3 Incoming remote bus Send data Black (BK) X32 FO Remote OUT Receive data Black (BK) X33 Outgoing remote bus Send data Orange (OG) Manual MOVIDRIVE MDXB Table Positioning Application 2

26 Installation 4 Bus installation MOVIDRIVE MDXB INTERBUS (DFIB) For more detailed information, refer to the "MOVIDRIVE MDXB Fieldbus Interface DFIB INTERBUS" manual. This manual can be ordered from SEW-EURODRIVE. Technical data INTERBUS fieldbus interface DFIB DFI B M 4 0,M U L RC BA 2. RD TR X30 3. Part number Supported baud rates 00 kbaud and 2 MBaud, can be selected via DIP switch Connection technology DP identity numbers Max. number of process data Resources for startup and diagnostics Weight Remote bus input: 9-pin sub-d connector Remote bus output: 9-pin Sub-D socket RS48 transmission technology, -core shielded and twistedpair cable E3 hex = 227 dec ( PCP word) E0 hex = 224 dec (2 PCP words) E hex = 22 dec (4 PCP words) 38 hex = dec (microprocessor not ready) 03 hex = 3 dec process data MOVITOOLS software and DBG0B keypad 0.2 kg X AXX. DIP switches for setting the process data length, PCP length and baud rate 2. Diagnostic LEDs: 4 x green LED (U L, RC, BA, TR); x red LED (RD) 3. X30: Connection of remote bus input via 9-pin sub D plug 4. X3: Connection of remote bus output via 9-pin sub D socket Pin assignment Core color abbreviations to IEC 77. [] [4] GN YE PK GY BN [2] [3] /DO DO /DI DI COM /DO DO /DI DI COM [] [2] [3] GN YE PK GY BN 29AXX [] X30: 9-pin sub D socket of the incoming remote bus cable [2] Twist the signal wires together! [3] Conductive connection over a large area is necessary between plug housing and the shield [4] X3: 9-pin sub D plug of the outgoing remote bus cable [] Jumper pin with pin 9! 2 Manual MOVIDRIVE MDXB Table Positioning Application

27 Installation Bus installation MOVIDRIVE MDXB 4 CANopen (DFCB) For more information, refer to the "Communication" manual. This manual can be ordered from SEW-EURODRIVE (provisionally from 0/2007). Technical data CANopen fieldbus interface DFCB DFC B ON OFF R nc S X3 X30 Part number Communication profile SEW-MOVILINK CANopen CAN Layer 2 Number of process data words... 0 process data words Supported baud rates Connection technology Permitted cable cross-section X3 (CAN bus connection) Terminating resistor Addressing Resources for startup and diagnostics Weight Setting using parameter P894: 2 kbaud 20 kbaud 00 kbaud 000 kbaud Sub-D9 plug connector X30 (plug assigned to CIA standard) or terminal X3 One core per terminal: mm 2 (AWG ) Two cores per terminal: mm 2 (AWG ) 20 Ω (setting at DIP switch S-R) Setting via parameter P89 (SBus MOVILINK ) or P89 (CANopen) MOVITOOLS software and DBG0B keypad 0.2 kg 40AXX. DIP switch for setting the bus terminating resistor 2. X3: CAN bus connection 3. X30: CAN bus connection via 9-pin sub D plug: Connection MOVIDRIVE - CAN The DFCB option is connected to the CAN bus at X30 or X3 in the same way as the SBus in the basic unit (X2). In contrast to the SBus, SBus2 is electrically isolated and made available via option DFCB. Pin assignment (X30) Assignment of 9-pin sub D socket of the bus cable. [] [2] [3] DGND CAN High CAN Low DGND 2098AXX [] 9-pin Sub-D socket [2] Twist the signal wires together! [3] Conductive connection over a large area is necessary between plug housing and the shield Manual MOVIDRIVE MDXB Table Positioning Application 27

28 Installation 4 Bus installation MOVIDRIVE MDXB DeviceNet (DFDB) For more detailed information, refer to the "MOVIDRIVE MDXB Fieldbus Interface DFDB DeviceNet" manual. This manual can be ordered from SEW-EURODRIVE. You can download the EDS files for MOVIDRIVE MDXB from the SEW homepage (under the heading "Software") to facilitate startup. Technical data DeviceNet fieldbus interface DFDB DFD B MOD/ Net PIO BUS- OFF 0 NA() NA(4) NA(3) S NA(2) NA() NA(0) DR() DR(0) PD(4) PD(3) PD(2) PD() PD(0) F3 F2 F X30 BIO S AXX Part number Communication protocol Master / slave connection set acc. to DeviceNet specification version 2.0 Number of process data words Adjustable via DIP switches:... 0 process data words... 4 process data words with Bit-Strobe I/O Supported baud rates Bus cable length Transmission level Connection technology Adjustable via DIP switches: 2 kbaud 20 kbaud 00 kbaud For thick cable according to DeviceNet specification 2.0 Appendix B 00 m at 2 kbaud 20 m at 20 kbaud 00 m at 00 kbaud ISO V 2-wire bus and 2-wire supply voltage DC 24 V with -pole Phoenix terminal Pin assignment according to DeviceNet specification , can be selected using DIP switch MAC-ID Max. 4 stations Supported services Polled I/O:... 0 words Bit-Strobe I/O:... 4 words Explicit messages: Get_Attribute_Single Set_Attribute_Single Reset Allocate_MS_Connection_Set Release_MS_Connection_Set Resources for startup and diagnostics MOVITOOLS software and DBG0B keypad Weight 0.2 kg. LED display 2. DIP switch for setting the node address (MAC-ID), the process data lengths and baud rate 3. X30: DeviceNet bus connection via -pin Phoenix terminal Terminal assignment The assignment of connecting terminals is described in the DeviceNet specification Volume I, Appendix A. Terminal Meaning Color X30: V- (0V24) Black (BK) X30:2 CAN_L Blue (BU) X30:3 DRAIN Blank X30:4 CAN_H White (WH) X30: V+ (+24 V) Red (RD) 28 Manual MOVIDRIVE MDXB Table Positioning Application

29 Installation Bus installation MOVIDRIVE MDXB 4 Ethernet (DFEB) For more detailed information, refer to the "MOVIDRIVE MDXB Fieldbus Interface DFEB Ethernet" manual. This manual can be ordered from SEW-EURODRIVE. Technical data Ethernet fieldbus interface DFEB DFE B nc DHCP IP (LSB) Status 00MBit link/act. X30 MAC ID: 00-0F-9-FF-FF-0 IP: AXX Part number Application protocols MODBUS/TCP (Transmission Control Protocol) to control and set parameters for the drive inverter. HTTP (Hypertext Transfer Protocol) for diagnostics using a Web browser SMLP (Simple Movilink Protocol), protocol used by MOVI- TOOLS DHCP (Dynamic Host Configuration Protocol) to assign address parameter automatically Port numbers used 02 (MODBUS) 300 (SMLP) 80 (HTTP) 7 / 8 (DHCP) Ethernet services ARP ICMP (Ping) Automatic baud rate detection 0 MBaud / 00 MBaud Max. number of process data 0 process data Connection technology RJ4 (modular jack 8-8) Addressing 4 byte IP address Resources for startup and diagnostics MOVITOOLS software and DBG0B keypad Weight 0.2 kg. DIP switch for setting the least significant bytes (LSB) of the IP address 2. LED "Status" (red/yellow/green), "00 MBit" (green), "link/act" (green) 3. X30: Ethernet connection 4. MAC address MOVIDRIVE / Ethernet connection To connect DFEB to the Ethernet, connect the Ethernet interface X30 (RJ4 plug connector) to the hub or switch provided using a category, class D twisted-pair cable in accordance with IEC 80 edition 2.0. To do this, use a patch cable. [] [3] [2] [] 23 A B Figure 9: Pin assignment of an RJ4 plug connector 474AXX A = Front view [] Pin TX+ Transmit Plus B = View from back [2] Pin 2 TX Transmit Minus [3] Pin 3 RX+ Receive Plus [] Pin RX Receive Minus If you want to connect the DFEB option card directly to your project planning computer, you need a cross over cable. Manual MOVIDRIVE MDXB Table Positioning Application 29

30 Installation 4 System bus connection (SBus ) 4. System bus connection (SBus ) NOTE Only if P884 "SBus baud rate" = 000 kbaud: Do not combine MOVIDRIVE compact MCH4_A units with other MOVIDRIVE units in the same system bus combination. The units may be combined at baud rates 000 kbaud. Max. 4 CAN bus stations can be addressed using the system bus (SBus). Use a repeater after 20 or 30 stations, depending on the length of the cables and the cable capacity. The SBus supports transmission technology compliant with ISO 898. The "Serial Communication" manual contains detailed information about the system bus. This manual can be ordered from SEW-EURODRIVE. SBus wiring diagram Control unit S Control unit S Control unit Systembus Systembus Systembus S 2 S 2 Terminating resistor Terminating resistor Terminating resistor S 3 S 3 S 4 S 4 ON OFF ON OFF X2: X2: Systembus Systembus Systembus Ref. Systembus High Systembus Low DGND SC SC2 2 3 Ref. Systembus High Systembus Low DGND SC SC2 2 3 Ref. Systembus High Systembus Low S S 2 S 3 S 4 ON OFF X2: DGND SC 2 SC2 3 Figure 0: System bus connection 434AEN Cable specification Use a 4-core twisted and shielded copper cable (data transmission cable with braided copper shield). The cable must meet the following specifications: Core cross section mm 2 (AWG AWG 8) Line resistance 20 Ω at MHz Capacitance per unit length 40 pf/m at khz Suitable cables include CAN bus or DeviceNet cables. Shielding Connect the shield to the electronics shield clamp on the inverter or master controller and make sure it is connected over a wide area at both ends. Cable length The permitted total cable length depends on the baud rate setting of the SBus (P8): 2 kbaud 320 m 20 kbaud 0 m 00 kbaud 80 m 000 kbaud 40 m 30 Manual MOVIDRIVE MDXB Table Positioning Application

31 Installation System bus connection (SBus ) 4 Terminating resistor Switch on the system bus terminating resistor (S2 = ON) at the start and end of the system bus connection. Switch off the terminating resistor on the other units (S2 = OFF). STOP There must not be any potential displacement between the units connected with the SBus. This can restrict the functionality of the units. Take suitable measures to avoid a potential displacement, e.g. by connecting the unit ground connectors using a separate lead. Manual MOVIDRIVE MDXB Table Positioning Application 3

32 Installation 4 Connecting hardware limit switches 4. Connecting hardware limit switches The cams of the hardware limit switches must cover the travel range up to the stop. NOTES Only use hardware limit switches with normally closed contacts (low-active)! Make sure the hardware limit switch is assigned correctly. This means clockwise movement (CW) should be towards the clockwise hardware limit switch (LS CW) and counterclockwise movement (CCW) should be towards the counterclockwise hardware limit switch (LS CCW). CW X ES CCW ES CW Figure : Connecting hardware limit switches 04437AXX CW = Clockwise drive inverter X = Travel distance LS CW = CW hardware limit switch LS CCW = CCW hardware limit switch 32 Manual MOVIDRIVE MDXB Table Positioning Application

33 Startup General information I 0 Startup. General information Correct project planning and installation are the prerequisites for successful startup. Refer to the MOVIDRIVEMOVIDRIVE MDX0/B system manual for detailed project planning instructions. Check the installation, the encoder connection and the installation of the fieldbus cards by following the installation instructions in the MOVIDRIVE MDX0B/B operating instructions, in the fieldbus manuals and in this manual ( sec. "Installation"). Use an absolute encoder as the external encoder (connect to DIPB, X2). Also note the information on installation and startup in the "MOVIDRIVE MDXB Absolute Encoder Card DIPB" manual..2 Preliminary work Perform the following steps before starting up the "Table Positioning": Connect the "Xterminal" connection on the inverter to PC-COM via the UWS2A option (serial interface). Install the MOVITOOLS software (version 4.20 or higher). Start up the inverter using "MOVITOOLS/Shell." MDXB with asynchronous motor: CFC operating modes / VFC n-control MDXB with synchronous motor: SERVO operating modes Only for operation with an external encoder (absolute or incremental encoder): Absolute encoder: Start up the DIPB absolute encoder card. Parameters P P944 are set during this process ( "MOVIDRIVE MDXB Absolute Encoder Card DIPB" manual). Incremental encoder: Set the parameters P942 Encoder factor numerator, Encoder factor denominator and Encoder scaling ext. encoder in the Shell program. Refer to the "IPOS plus Positioning and Sequence Control System" manual for a detailed description of the parameters. In [MOVITOOLS] / [Shell], / choose the menu item [Startup] and select the application function "Table Positioning via Fieldbus". Enter a "0" signal at terminal DIØØ "/CONTROLLER INHIBIT/". Manual MOVIDRIVE MDXB Table Positioning Application 33

34 I Startup Starting the program "Table Positioning via Fieldbus" 0.3 Starting the program "Table Positioning via Fieldbus" General information Start [MOVITOOLS] / [Shell]. Choose [Startup] / [Table positioning via fieldbus]. 7AEN 34 Manual MOVIDRIVE MDXB Table Positioning Application

35 Startup Starting the program "Table Positioning via Fieldbus" I 0 Setting the fieldbus parameters Once the "Table positioning via fieldbus" program has been started, all parameters important for table positioning are read. The following window appears via fieldbus after table positioning has started if no valid application module has been loaded into the inverter. 72AEN Make the following settings in this window: Setting fieldbus parameters: Set the required fieldbus parameters. Fixed parameters are grayed out and cannot be changed. The system bus (SBus) can always be set; no option is required. If a fieldbus interface (DFP, DFI, DFC, DFD or DFE) is plugged into the fieldbus slot, PROFIBUS, INTERBUS, CAN, DEVICENET or ETHERNET can also be selected. Manual MOVIDRIVE MDXB Table Positioning Application 3

36 I Startup Starting the program "Table Positioning via Fieldbus" 0 Setting the scaling factors distance and speed You can set the scaling factors for distance and speed in this window. 73AXX Make the following settings in this window: If you do not use an external encoder ( selection list "Souce actual position") : Calculate the scaling factors pulses / distance: Set "Drive wheel diameter" or "Spindle pitch" in the selection list and enter the value in millimeter. Enter the ratio (i) values for the gear unit and additional gear. Click the [Calculation] button. The scaling factor is calculated. The pulses / distance are entered in the unit inc / mm. You can also enter the scaling factor directly. In this case, you can enter any unit (user-defined unit) for the distance. The user-defined unit is then used for the position of the software limit switches, the reference offset and the table positions. NOTES For drives with external encoder, the scaling calculation is blocked. If you use an absolute encoder, you must start up the DIPB option before you start the "Table Positioning" application module! 3 Manual MOVIDRIVE MDXB Table Positioning Application

37 Startup Starting the program "Table Positioning via Fieldbus" I 0 Calculating the scaling factors Example : Motor encoder or absolute encoder on the motor shaft (actual position source) Choose the unit you require in the selection field "Diameter of driving wheel" or "Spindle pitch" (only for motor encoder). For the unit you can choose from millimeters [mm] or /0 millimeters [/0 mm]. In the "Gearing ratio" input field enter the ratio of the gear unit. In the "External ratio" input field enter the gear ratio of the additional gear. In the "Unit of speed" selection field, choose from [mm/s], [m/min] and [/min]. For positioning with an absolute encoder, choose "Motor shaft"in the "Position of absolute encoder" selection field. Click the <Calculation> button. The "distance" and "speed" scaling factors are calculated by the program. Example 2: External encoder or absolute encoder on the track (actual position source) When using an external encoder or an absolute encoder on the track, you have to calculate the distance scaling factor manually. The scaling factor for the speed can be calculated automatically ( following section) or manually ( example 2). Automatic calculation of the scaling factor for speed: In the "Source actual position" selection list, select the entry "Motor encoder". Enter a value in the "Drive wheel diameter" field or the "Spindle pitch" field. Select the unit [mm] or [/0 mm] in the adjacent selection list. In the input fields "Gearing ratio" and "External ratio" enter the respective values for the gear ratios. Click the <Calculation> button. The scaling factor for speed is calculated by the program. Calculating the distance scaling factor: In the "Souce actual position" selection list, select the entry "External encoder" or "Absolute encoder". For positioning with an absolute encoder, choose the entry "On the track" in the "Position of absolute encoder" selection list. In the group box "Scaling factor for distance", enter the number of pulses supplied by the encoder per travel unit in the "Increments" input field. The unit of the pulses is always increments [inc]. In the "Distance" input field, enter the corresponding track distance. In the "Scaling factor for distance" group box, enter the unit of the scaling factor for the distance in the "Unit" input field. Any other information, such as the software limit switch, reference offset or the target position are specified in the selected unit. Manual MOVIDRIVE MDXB Table Positioning Application 37

38 I Startup Starting the program "Table Positioning via Fieldbus" 0 Converting the distance resolution to user-defined units The scaling factor for distance (pulses / distance) is used to determine the user travel unit (e.g. mm, revolutions). For positioning with a motor encoder, the scaling factor for distance can be calculated automatically. For automatic calculation, you can select the units "mm" or "/0 mm". When using an external encoder or an absolute encoder on the track, you have to calculate the distance scaling factor manually ( examples and 2). Example : A drive is to be positioned using an absolute encoder on the track. The speed is to be given in the unit [m/min]. Drive data: Gear unit ratio (i gear unit) = 2.34 Gear ratio of the additional gear (i additional gear) = Diameter of the carrying wheel = 200 mm Encoder data: Type: Stahltronik WCS3 absolute encoder Physical resolution = increment / 0.8mm Encoder scaling P9 = x8 ( set automatically during startup of the DIPB option). Automatic calculation of the scaling factor for speed: Numerator / denominator = 3279 / 8 unit [m/min] Calculate the scaling factor for distance manually: Electrical resolution = increment / 0.8 mm P9 encoder scaling Result: increment / 0.8 mm 8 = 8 [inc/0.8 mm] Result: Pulses / Distance = 80 / 8 [mm] Example 2: A drive is to be positioned using an external encoder on the track. Drive data: Gear unit ratio (i gear unit) = 2.34 Gear ratio of the additional gear (i additional gear) = Encoder data: Physical resolution = 024 increments / revolution Diameter of the carrying wheel (d carrying wheel ) = mm Encoder scaling P944 = x2 Calculate the scaling factor for distance manually: Pulses = Number of increments / revolution 4 P944 Pulses = 024 increments / revolution 4 2 = 892 increments Distance = Π d carrying wheel Distance = 3.4 mm = mm Result: Pulses / distance = 892 / 204 unit [mm] NOTE If the numerator (pulses) or denominator (distance) are non-integer values, the conversion can be made more accurate if both numerator and denominator are multiplied by the same expansion factor (e.g. 0, 00, 000, etc.). Doing so will not limit the travel range. The maximum value for "pulses" or the "distance" is Manual MOVIDRIVE MDXB Table Positioning Application

39 Startup Starting the program "Table Positioning via Fieldbus" I 0 Converting the speed to userdefined units In the group box "Calculation of the scaling", choose one of the three entries in the dropdown menu "Unit of speed". The scaling factors can be calculated automatically. The following speed units are available: /min mm/sec m/min If you want to enter the speed in a different unit, you can calculate the scaling factor for speed ( following example). Example : A drive is to be positioned using an absolute encoder on the track. The speed is to be specified in mm/s. Drive data: Gear unit ratio (i gear unit) =. Gear ratio of the additional gear (i additional gear) = 2 Diameter of the drive wheel (d drive wheel ) = 200 mm Encoder data: Type: Stahltronik WCS2 linear distance measuring system Physical resolution = mm =.2 increments /mm Encoder scaling P9 = x8 ( set automatically during startup of the DIPB option) Numerator = i gear unit i add. gear 0 Numerator =. 2 0 = 80 Denominator = Π d drive wheel (or spindle pitch) Denominator = = 28 Unit = mm/s NOTE If the numerator or denominator are non-integer values, the conversion can be made more accurate if both numerator and denominator are multiplied by the same expansion factor (e.g. 0, 00, 000, etc.). Doing so will not limit the travel range. The maximum value for the numerator or denominator is Selecting the reference travel type Select the correct reference travel type (0... 8) from the "Reference travel type" selection box. The reference travel type specifies the reference travel strategy that is used to establish the machine zero of a machine. The IPOS plus variable H27 ZeroPulse specifies whether reference travel should react to an edge change of the reference cam ("0") or the following zero pulse of the encoder (""). The IPOS plus variable H27 can be edited using the IPOS Compiler. Manual MOVIDRIVE MDXB Table Positioning Application 39

40 I Startup Starting the program "Table Positioning via Fieldbus" 0 ] [ ZP 20AXX ] [ CAM 4947AXX ] [ CAM 4948AXX ] [ 4949AXX ] [ 490AXX ] [ 49AXX ] [ CAM 492AXX ] [ CAM 493AXX ] [ 49AXX Type 0: The reference position is the first zero pulse CCW of the starting position of the reference travel. Type : The reference position is the CCW end of the reference cam. Machine zero = reference position + reference offset H27 = "" Referencing to encoder zero pulse H27 = "0" Referencing to edge change Type 2: The reference position is the CW end of the reference cam. Machine zero = reference position + reference offset H27 = "" Referencing to encoder zero pulse H27 = "0" Referencing to edge change Type 3: The reference position is the CW hardware limit switch. No reference cam is required. After leaving the hardware limit switch (positive edge), the drive continues to move clear of it by 409 increments. Machine zero = reference position + reference offset 409 Type 4: The reference position is the CCW hardware limit switch. No reference cam is required. After leaving the hardware limit switch (positive edge), the drive continues to move clear of it by 409 increments. Machine zero = reference position + reference offset Type : No reference travel. The reference point is the current position without reference to a zero pulse. Machine zero = current position + reference offset Type : The reference position is the CW end of the reference cam. Machine zero = reference position + reference offset Type 7: The reference position is the CCW end of the reference cam. Machine zero = reference position + reference offset Type 8: No reference travel. The reference point is the current position without reference to a zero pulse. In contrast to type, type 8 reference travel can also be performed when the system status is not set to "A". Machine zero = current position + reference offset. Click on [Next] when you have entered all the values you require. The window "Entering table positions" opens ( sec. "Entering table positions"). If you enter values that are not permitted, an error message is issued ( sec. "Error messages"). 40 Manual MOVIDRIVE MDXB Table Positioning Application

41 Startup Starting the program "Table Positioning via Fieldbus" I 0 Entering table positions Make the following settings in this window. Jog mode Enter the valid speeds and the ramp for jog mode. 74AEN Enter positions You can define a maximum of 32 table positions. The table positions are entered in millimeter or the user travel unit specified by you. You always have to enter absolute position values in relation to the machine zero established by the reference position and reference offset. The table entry 00 mm means that the drive will travel CW for 00 mm, 00 mm means 00 mm CCW. Entering ramp time and speed For each table position, you have to enter the ramp time and the speed. The entered values are used for traveling to the respective table positions. Manual MOVIDRIVE MDXB Table Positioning Application 4

42 I Startup Starting the program "Table Positioning via Fieldbus" 0 NOTE The ramp time always refers to a speed step change of Δn = 3000 /min. For example, if you set a ramp time of s and a speed of 000 /min, the speed is reached after an acceleration time of 0.33 s. Proceed as follows: Click on the entry field "Position no. 0" and enter the position. Use the [Tab] key to go to the entry fields "ramp" and "speed" in order to enter values. You can create a new line with the key combination [Alt + H]. Press the [Tab] key to go to the new position field. You can see the table positions you have already entered on the line of numbers at the bottom of the screen. Press the [Enter] key to update the table entries on the line of numbers. Use [Alt + L] to delete the bottom table row. In this window, you can specify how many table positions are available. Once startup has been completed, you can change the value of individual positions in Teach mode, however, you cannot add any new positions. To add new positions, you have to perform startup again. Click on [Next] when you have entered all the table positions you require. The program prompts you to save your set values ( sec. "Download"). 42 Manual MOVIDRIVE MDXB Table Positioning Application

43 Startup Starting the program "Table Positioning via Fieldbus" I 0 Download The download window will open up after saving. 0273AEN Click the [Download] button. All the required settings are made automatically in the inverter, and the IPOS plus program "Table Positioning" is started. After the download, the program asks you if you want to start the monitor. In the monitor, you can diagnose your application and check control signals. Select [Yes] to switch to the monitor where you can start it in the required operating mode. Select [No] to switch to MOVITOOLS/Shell. Manual MOVIDRIVE MDXB Table Positioning Application 43

44 I Startup Starting the program "Table Positioning via Fieldbus" 0 Monitor If "Table Positioning" is started after the startup procedure has been performed, the monitor appears immediately. Figure 2: Monitor of table positioning (fieldbus) 0399AEN 44 Manual MOVIDRIVE MDXB Table Positioning Application

45 Startup Starting the program "Table Positioning via Fieldbus" I 0 Figure 3: Monitor of table positioning (terminal control) 027AEN Repeated startup Press <Startup> if you want to repeat startup. A window appears in which you can enter the settings for the general parameters ( sec. "Setting general parameters"). Manual MOVIDRIVE MDXB Table Positioning Application 4

46 I Startup Parameters and IPOSplus variables 0.4 Parameters and IPOS plus variables The following parameters and IPOS plus variables are set automatically during startup and are loaded into the inverter during the download. Parameter P... Index Description Process data word Setting Setpoint source Fieldbus or SBus Control signal source Fieldbus Binary input DI0 Enable/Rapid stop Binary input DI02 No function Binary input DI03 Reference cams Binary input DI04 /Right limit switch Binary input DI0 /CCW limit switch Binary input DI0 PO:8 IPOS input: Mode low 834 Binary input DI PO:9 IPOS input: Mode high Binary input DI2 PO:0 IPOS input: Function Binary input DI3 PO: IPOS input: Function Binary input DI4 PO:2 IPOS input: Function Binary input DI PO:3 IPOS input: Function Binary input DI PO:4 IPOS input: Function Binary input DI7 PO: IPOS input: Function Binary output D00 /Error 2 83 Binary output D002 Referenced Binary output D00 PE:8 IPOS output: Mode low Binary output D0 PE:9 IPOS output: Mode high Binary output D02 PE:0 IPOS output: Function Binary output D03 PE: IPOS output: Function Binary output D04 PE:2 IPOS output: Function Binary output D0 PE:3 IPOS output: Function Binary output D0 PE:4 IPOS output: Function Binary output D07 PE: IPOS output: Function Reference offset Reference travel type 94 Source actual position Can be set in the interface 4 Manual MOVIDRIVE MDXB Table Positioning Application

47 Startup Parameters and IPOSplus variables I 0 IPOSplus variable Description H0 Number of table cells H Max. motor speed in automatic mode H2 Max. motor speed jog mode H3 Scaling factor for distance numerator H4 Setpoint position 0 H Reserved H Low byte: Ramp High byte: Velocity H7 Setpoint position H8 Reserved H9 Low byte: Ramp High byte: Velocity H02 Drive wheel diameter (x000) H03 Gear ratio (x000) H04 Additional gear ratio (x000) H0 Numerator scaling factor H Denominator scaling factor H Switch SBUS H2 Pointer to Scope variable H474 H2 Pointer to Scope variable H47 H27 Referencing to encoder zero pulse H49 SLS_right Software limit switch CW (INCR) H497 SLS_left Software limit switch CCW (INCR) H09 ActPos_Abs Actual position DIP H0 ActPos_Ext Actual position X4 H ActPos_Mot Actual position X H002 ScopeDelay NOTE Do not alter these parameters and IPOS plus variables after startup! Manual MOVIDRIVE MDXB Table Positioning Application 47

48 I Startup Recording IPOSplus variables 0. Recording IPOS plus variables IPOS plus variables can be recorded during operation using the "Scope" program in MOVITOOLS This is only possible for the MOVIDRIVE MDXB inverter. The two 32-Bit IPOS plus variables H474 and H47 are available for recording. Two pointer variables (H2/H2) to H474 and H47 can be used to record any IPOS plus variable using the "Scope" program: H2 Scope474Pointer H2 Scope47Pointer The number of the IPOS plus variable that is to be recorded in "Scope" must be entered in the variable window of the IPOS Assembler or Compiler in one of the pointer variables H2 or H2. Example The IPOS plus variable H Current motor position is to be recorded. Proceed as follows: In the "Scope" program, enter the value in variable H2 in the variable window. 082AXX In the "Scope" program, choose [File] / [New]. Set channel 3 to IPOS variable H474 LOW and channel 4 to IPOS variable H474 HIGH. The "Scope" program now records the value of the IPOS plus variable H. NOTES 0827AEN The pointer variables are copied to the IPOS plus variable H474 or H47 in TASK 3 of the IPOS plus. The speed (commands / ms) of Task 3 is dependent on the processor utilization of MOVIDRIVE MDXB. The time (ms) needed in Task 3 to copy the values from the pointer variables to the IPOS plus variables H474 and H47 is stored in variable H002. If the value is zero, the copying process lasts less than ms. 48 Manual MOVIDRIVE MDXB Table Positioning Application

49 Operation and Starting the drive I 0 Operation and. Starting the drive Following the download, switch to the "Table Positioning" monitor by selecting "Yes". You can select the operating mode with binary inputs DI0 (PO:8) "Mode Low" and DI (PO:9) "Mode High". Operating modes Duty cycle type Jog mode Teach mode Referencing mode Automatic mode Terminal DI.../ Fieldbus PO... DI0 / PO:8: Mode low "0" "" "0" "" DI / PO:9: Mode high "0" "0" "" "" Jog mode (DI0 / PO:8 = "0" and DI / PO:9 = "0") The drive is moved CW or CCW via the virtual binary inputs DI3 (PO:) and DI4 (PO:2). The two speeds 'rapid speed' and 'creep speed' for fine positioning can be selected via the virtual binary input DI (PO:3). Teach mode (DI0 / PO:8 = "" and DI / PO:9 = "0") Movement can be performed to every individual position in jog mode and then stored in teach mode. The table cell is selected using virtual binary inputs DI3... DI7 (PO:... ). Referencing mode (DI0 / PO:8 = "0" and DI / PO:9 = "") In referencing mode, reference travel can be started via the virtual binary input DI2 (PO:0). Reference travel establishes the reference point (machine zero) for absolute positioning operations. Automatic mode ( DI0 / PO:8 = "" and DI / PO:9 = "") Selecting the target position using the five virtual binary inputs DI3... DI7 (PO:... ), binary coded. Checkback of the selected target position before traveling using the five virtual binary outputs DO2... DO (PI:0... 4), binary coded. Confirmation that the selected position has been reached via the virtual binary output DI7 (PI:). If the drive has not been referenced yet, or if it is to be referenced again, select the operating mode "Referencing mode" using DI0 (PO:8) "Mode Low" = "0" and DI (PO:9) "Mode High" = "". Without reference travel, it is not possible to select the operating modes "Teach mode" and "Automatic mode". Manual MOVIDRIVE MDXB Table Positioning Application 49

50 I Operation and Referencing mode 0.2 Referencing mode PO:8 = "0" and PO:9 = "" (bus control) DI0 = "0" and DI = "" (terminal control) The reference position is defined by reference travel to the reference cam. The reference offset is set during startup and you can use it to alter the machine zero without having to move the reference cam. The following formula applies: Machine zero = reference position + reference offset The reference position is defined by reference travel (e.g. to one of the two hardware limit switches). Figure 4: Referencing mode (bus control) 0399AEN 0 Manual MOVIDRIVE MDXB Table Positioning Application

51 Operation and Referencing mode I 0 Figure : Referencing mode (terminal control) 0277AEN Ensure that you have set the correct reference travel type (P903) before starting reference travel. If this is not the case, restart the startup procedure and set the required type of reference travel. Set DI00 "/Controller inhibit" and DI0 "Enable / Stop" to "". Select the operating mode "Referencing mode". Set DI2 (PO:0) "Start" to "" to start reference travel. The "" signal must be present for the entire duration of the reference travel. Once reference travel has been completed successfully, PI:2 "IPOS reference" is set. The "" signal at DI0 (PO:8) "Start" can now be revoked. The drive is now referenced. If the drive reaches the reference position (DI03 'Reference cam' = ''), the drive continues to travel at reference speed 2 and stops when it leaves the reference position (DI03 '' '0') subject to position control. Binary output DO02 'IPOS reference' is set. The "" signal at DI2 (PO:0) can now be revoked. The drive is now referenced. You can now change the operating mode, for example, you can select the operating mode "Automatic mode". Manual MOVIDRIVE MDXB Table Positioning Application

52 I Operation and Referencing mode 0 NOTES If referencing is set to the hardware limit switches (type 3 and 4), the drive continues to turn for 409 increments after leaving the hardware limit switch. Please also refer to the information in sec. "Software limit switches." 2 Manual MOVIDRIVE MDXB Table Positioning Application

53 Operation and Jog mode I 0.3 Jog mode PO:8 = "0" and PO:9 = "0" (bus control) DI0 = "0" and DI = "0" (terminal control) In jog mode, you can move the drive clockwise or counterclockwise manually using '' signals at binary inputs DI3 (PO:) "Jog +" or DI4 (PO:2) "Jog ". You can travel at creep speed, DI (PO:3) = "0", or at rapid speed, DI (PO:3) = "". You can use jog mode in the following cases: Moving to new table positions that are to be saved in teach mode. For service purposes, when the drive should be moved independently of the automatic functions of the system. Figure : Jog mode (fieldbus) 03997AEN Manual MOVIDRIVE MDXB Table Positioning Application 3

54 I Operation and Jog mode 0 Figure 7: Jog mode (terminal control) 0279AEN 4 Manual MOVIDRIVE MDXB Table Positioning Application

55 Operation and Teach mode I 0.4 Teach mode PO:8 = "" and PO:9 = "0" (bus control) DI0 = "" and DI = "0" (terminal control) In Teach mode, you can save the current position of the drive as a new table position. You can move to the position you want to save as a new table position in jog mode. Figure 8: Teach mode (fieldbus) 03998AEN Manual MOVIDRIVE MDXB Table Positioning Application

56 I Operation and Teach mode 0 Figure 9: Teach mode (terminal control) 027AEN Enter the new position as follows: Move to the position in jog mode. Switch to Teach mode, DI0 (PO:8 = "" and DI (PO:9) = "0". Use DI3... DI7 (PO:... ) to select the table cell into which the new position is to be written. The positions are binary coded, DI3 = "" means table cell no. (2 0 ) and DI7 = "" means table cell no. (2 4 ). DI3... DI7 must receive a "0" signal for selecting no. 0. For table cell no. 3, DI3 (2 0 ) and DI4 (2 ) must receive "" signals. Apply the signal sequence "0" "" "0" to the binary input DI2 (PO:0) "Strobe". As a result, the new position is written to the selected table cell. The binary input DO7 (PI:) "Position reached" is set. The position is now saved in the non-volatile memory. NOTE Maintain a waiting time of at least 00 ms for a signal change "0" "" "0" at the binary input "Start". Manual MOVIDRIVE MDXB Table Positioning Application

57 Operation and Automatic mode I 0. Automatic mode PO:8 = "" and PO:9 = "" (fieldbus) DI0 = "0" and DI = "" (terminal control) In automatic mode, you can select a table position using binary inputs DI3... DI7 (PO:... ). The positions are binary coded, DI3 = "" means table cell no. (20) and DI7 = "" means table cell no. (24). DI3... DI7 must receive a "0" signal for selecting no. 0. It is only possible to select table cells that contain position entries. If a table cell without a position is selected, it is ignored. Positioning is started with a "" signal on binary input DI2 (PO:0) "Start positioning". The '' signal must be active on DI2 (PO:0) throughout the entire positioning travel, otherwise the drive stops. Figure 20: Automatic mode (fieldbus) 03999AEN Manual MOVIDRIVE MDXB Table Positioning Application 7

58 I Operation and Automatic mode 0 Figure 2: Automatic mode (terminal control) 0272AEN When the selected position is reached, the drives stops position-controlled. The blue bar shows the selected table cell. The current position of the drive is displayed as a numerical value in the 'Current position' window and is indicated graphically by a green arrow on the line of numbers. 8 Manual MOVIDRIVE MDXB Table Positioning Application

59 Operation and Cycle diagrams I 0. Cycle diagrams The following conditions apply to the cycle diagrams: Startup has been performed correctly DIØØ "/CONTROLLER INHIBIT" = "" (no lock) DIØ3 "ENABLE/STOP" = "" The binary output DIØØ "/brake" is set. The brake is released and the drive is held subject to position control. Due to program run times, the start of the axis movement can be delayed by about 0 ms in the following cycle diagrams. Manual MOVIDRIVE MDXB Table Positioning Application 9

60 I Operation and Cycle diagrams 0 Referencing and automatic mode Mode high DI2 Function DI3 Function 2 DI4 Function 3 DI Function 4 DI Function DI7 Function 7 DOØ2 Axis referenced DO7 Position reached n [/min] Handshake with PLC Start referencing Referencing mode activated Table cell no. selected Reference position reached Start positioning travel Automatic mode activated Table position no. reached Table cell no. 8 selected Table position no. 8 reached Table cell no. 3 selected Table position no. 3 reached 200AEN 0 Manual MOVIDRIVE MDXB Table Positioning Application

61 Operation and Cycle diagrams I 0 Jog and Teach mode DIØ Mode low DI Mode high DI2 Function DI3 Function 2 DI4 Function 3 DI Function 4 DI Function DI7 Function 7 DOØ2 Axis referenced DO7 Position reached n [/min] Jog positive Rapid speed active Jog mode activated Jog negative Rapid speed active Teach mode activated Table cell no. 3 selected Save new position 20AEN Manual MOVIDRIVE MDXB Table Positioning Application

62 I Operation and Error information 0.7 Error information Error memory The error memory (P080) stores the last five error messages (errors t-0 to t-4). The oldest error message is deleted whenever more than five error messages have occurred. The following information is stored when a malfunction occurs: Fault that occurred Status of binary inputs/outputs Operating status of the inverter Inverter status Heat sink temperature Speed Output current Active current Unit utilization DC link voltage ON hours Enable hours Parameter set Motor utilization. Switch-off responses There are three switch-off responses depending on the error; the inverter remains inhibited in error status: Immediate stop Rapid stop Emergency stop The unit can no longer brake the drive; the output stage goes to high resistance in the event of an error and the brake is applied immediately (DBØØ "/Brake" = "0"). The drive is braked with the stop ramp t3/t23. The brake is applied once the stop speed is reached (DBØØ "/Brake" = "0"). The output stage goes to high resistance after the brake reaction time has elapsed (P732 P73). The drive is braked with the emergency stop ramp t4/t24. The brake is applied once the stop speed is reached (DBØØ "/Brake" = "0"). The output stage goes to high resistance after the brake reaction time has elapsed (P732 / P73). Reset An error message can be acknowledged by: Switching the supply system off and on again Recommendation: Observe a minimum switch-off time of 0 s for the supply system contactor K. Reset via binary input DIØ2. Startup of the "Table Positioning" causes this binary input to be assigned with the "Reset" function. Manual reset in SHELL (P840 = "YES" or [Parameter] / [Manual reset]). Manual reset using the DBG0B. Auto reset performs up to five unit resets with an adjustable restart time. HAZARD Risk of crushing if the motor starts up automatically after an auto reset. Severe or fatal injuries. Do not use auto reset with drives where an automatic restart represents a danger to people or units. Perform a manual reset. Inverter is waiting for data If the inverter is controlled via a communication interface (fieldbus, RS48 or SBus) and the power was switched off and back on again or an error reset was performed, then the enable remains ineffective until the inverter receives valid data again via the interface, which is monitored with a timeout. 2 Manual MOVIDRIVE MDXB Table Positioning Application

63 Operation and Error messages I 0.8 Error messages Error message in 7-segment display The error code is shown in a 7-segment display. The following display sequence is used (e.g. error code 00): Flashes, ca. s Display off, ca. 0.2 s Hundreds (if available), ca. s Display off, ca. 0.2 s Tens, ca. s Display off, ca. 0.2 s Ones, ca. s Display off, ca. 0.2 s 9208AXX Following a reset or if the error code resumes the value 0, the display switches to the operating display. Error list The following table shows a selection from the complete error list ( MOVIDRIVE operating instructions). Only those errors are listed that can occur specifically with this application. A dot in the "P" column indicates that the response is programmable (P83_ Error response). The factory set error response appears in the "Response" column. Error code Designation Response P Possible cause Measure 00 No error - 07 U Z overvoltage 08 n-monitoring Immediate stop Immediate stop DC link voltage too high Extend deceleration ramps Check supply cable to the braking resistor Check technical data of braking resistor Speed controller or current controller Reduce load (in VFC operating mode without Increase delay time setting (P0 or P03) encoder) operating at setting limit Check encoder connection, swap A/A and B/B due to mechanical overload or pairs if necessary phase error in the power system or Check encoder voltage supply motor. Check current limitation Encoder not connected correctly or Extend ramps if necessary incorrect direction of rotation. Check motor cable and motor n max is exceeded during torque control. Check mains phases Manual MOVIDRIVE MDXB Table Positioning Application 3

64 I Operation and Error messages 0 Error code 0 IPOS-ILLOP Emergency stop 4 Encoders Immediate stop 2 EEPROM Rapid stop External terminal No limit switches Fieldbus Timeout Limit switch contacted 3 TF trip 3 39 Option missing Reference travel 42 Lag error Designation Response P Possible cause Measure IPOS plus SW limit switches DIP encoder problem Emergency stop Emergency stop Rapid stop Emergency stop None Response Immediate stop Immediate stop Immediate stop None Response Incorrect command detected during running of IPOS plus program. Incorrect conditions during command execution. Encoder cable or shield not connected correctly Short circuit / broken encoder cable Encoder defective Access to the EEPROM of the memory card has failed Read in external error signal via programmable input. Open circuit / both limit switches missing. Limit switches are swapped over in relation to direction of rotation of motor No communication between master and slave within the projected response monitoring. A limit switch was reached in IPOS plus operating mode. Motor too hot, TF sensor has tripped TF sensor of motor not connected or not connected properly Connection of MOVIDRIVE and TF on motor interrupted No jumper between X0: and X0:2. Type of option card not allowed. Setpoint source, control signal source or operating mode not permitted for this option card. Incorrect encoder type set for DIPA. The reference cam is missing or does not switch Limit switches are connected incorrectly Reference travel type was changed during reference travel Check the content of the program memory and, if necessary, correct. Load the correct program into the program memory. Check program sequence ( IPOS plus manual) Check encoder cable and shield for correct connection, short circuit and broken wire. Activate factory settings, perform reset and reset parameters. Contact SEW service if the error occurs again. Replace memory card. Eliminate specific cause of error; reprogram terminal if necessary. Check wiring of limit switches. Swap over limit switch connections. Reprogram terminals Check communications routine of the master Extend fieldbus timeout time (P89) / deactivate monitoring Check travel range. Correct user program. Let motor cool off and reset error Check connections/link between MOVIDRIVE and TF. If a TF is not connected: Jumper X0: with X0:2. Set P83 to "NO RESPONSE" Use correct option card. Set correct setpoint source (P00). Set correct control signal source (P0). Set correct operating mode (P700 or P70). Set the correct encoder type. Check reference cam Check limit switch connection Check reference travel type setting and required parameters. Check encoder connection Encoder connected incorrectly Extend ramps Acceleration ramps too short Set P component to higher value P component of positioning controller too small Increase lag error tolerance Reset speed controller parameters Incorrectly set speed controller Check encoder wiring, motor and mains phase parameters wiring. Value of lag error tolerance too small Check whether mechanical system components can move freely or if they are blocked Only in IPOS plus operating mode: Programmed target position is outside travel range delimited by software limit switches. Error display Encoder signals an error Check the user program Check position of the software limit switches Possible cause: Encoder is dirty clean encoder 4 Manual MOVIDRIVE MDXB Table Positioning Application

65 Operation and Error messages I 0 Error code Designation Response P Possible cause Measure DIP encoder error EEPROM checksum DIP plausibility error Emergency stop Immediate switch-off Emergency stop Only with DIPB option: The encoder signals an error, e.g. power failure: Connection cable between encoder and DIP does not meet the requirements (twisted pair, shielded). Cycle frequency for cable length too high. Permitted max. speed/acceleration of encoder exceeded. Encoder defective. Inverter electronics disrupted, possibly due to effect of EMC or a defect. Only with DIPB option: No plausible position could be determined. Incorrect encoder type set. IPOS plus travel parameter set incorrectly. Numerator / denominator factor set incorrectly. Zero adjustment performed. Encoder defective. Check absolute encoder connection. Check connection cables. Set correct cycle frequency. Reduce maximum traveling velocity or ramp. Replace absolute encoder. Send unit in for repair. Set the correct encoder type. Check IPOS plus travel parameters. Check traveling velocity. Correct numerator/denominator factor. After zero adjustment reset. Replace absolute encoder. Manual MOVIDRIVE MDXB Table Positioning Application

66 Compatibility of MOVIDRIVE B / compact 7 Important notes 7 Compatibility of MOVIDRIVE B / compact 7. Important notes The "Table Positioning" application module for MOVIDRIVE MDXB offers a number of additional functions that are not available with MOVIDRIVE compact. This section provides you with information on the differences of the application module when using a MOVIDRIVE compact unit and gives you important information on project planning. Project planning for MOVIDRIVE compact Drive inverter The "Table positioning" application module must have encoder feedback, which means it can only be used with the following drive inverters: MOVIDRIVE compact MCV / MCS MOVIDRIVE compact MCH4A /MCH42A Compatibility between the hardware terminals Compared to MOVIDRIVE compact, MOVIDRIVE MDXB has two extra binary inputs (DI0, DI07) and three additional digital outputs (DO03, DO04, DO0). The additional hardware inputs and outputs are set to "No function" during initial startup and are not processed in the program. Software limit switches The function to move clear of the software limit switches is only possible for MOVIDRIVE compact MCx / MCH from the following firmware versions: MOVIDRIVE compact MCx: MOVIDRIVE comapct MCH: Recording IPOS plus variables Recording IPOS plus variables using the MOVITOOLS program "Scope" is only possible with MOVIDRIVE MDXB. SBus send object for DriveSync Slave If you use MOVIDRIVE compact MCx / MCH, you do not have the option of setting up an SBus send object to transfer the actual position. It is also not possible to integrate the "DriveSync" application module. Manual MOVIDRIVE MDXB Table Positioning Application

67 Compatibility of MOVIDRIVE B / compact Important notes 7 Wiring diagrams MOVIDRIVE compact MCH4_A 24 V - = + DIØØ DIØ DIØ2 DIØ3 DIØ4 DIØ DCOM VO24 DGND X: X2: DBØØ DOØ-C DOØ-NO DOØ-NC DOØ2/AO VI24 DGND /Controller inhibit Enable/Rapid stop Reset Reference cam /Limit switch CW /Limit switch CCW Ref. X0:DIØØ...DIØ +24V output Reference potential binary signals /Brake Relay contact ready NO relay contact NC relay contact /Fault +24V input Reference potential binary signals UL CC BA RD TR FO FO2 X4: Remote IN X30 IN External encoder input (HIPERFACE, sin/cos or V TTL) or X4-X4 connection (Connection operating instructions MOVIDRIVE compact MCH) X: Motor enc. (HIPERFACE, sin/cos or V TTL) (Connection operating instructions MOVIDRIVE compact MCH) X4 Encoder I/O X Encoder IN Remote IN X3 OUT Remote OUT X32 IN Remote OUT X33 OUT X X DIØØ 2 DIØ 3 DIØ2 4 DIØ3 DIØ4 DIØ 7 DCOM 8 VO24 9 DGND DBØØ 2 DOØ-C 3 DOØ-NO 4 DOØ-NC DOØ2 VI24 7 DGND MCH 42A X X2 P R O F I PROCESS FIELD BUS B U S 9 X30: (MCH4A) PROFIBUS DP connection (Connection operating instructions MOVIDRIVE compact MCH) X30: (MCH42A) LWL Remote IN Receive data X3: (MCH42A) LWL Remote IN Send data X32: (MCH42A) LWL Remote OUT Receive data X33: (MCH42A) LWL Remote OUT Send data INTERBUS FO connection Connection operating instructions MOVIDRIVE compact MCH) Figure 22: MOVIDRIVE compact MCH4_A 29AEN Manual MOVIDRIVE MDXB Table Positioning Application 7

68 Compatibility of MOVIDRIVE B / compact 7 Important notes MOVIDRIVE compact MCV / MCS = V REF AI REF2 AI2 SC AI2 SC2 X0: AGND DIØØ DIØ DIØ2 DIØ3 DIØ4 DIØ DCOM VO24 DGND DOØ-C DOØ2 DOØ-NO DBØØ DOØ-NC DGND VI V -0 V System bus High TF-/TH input System bus Low Reference potential analog signals /Controller inhibit Enable/Rapid stop Reset Reference cam /Limit switch CW /Limit switch CCW Ref. X0:DIØØ...DIØ +24V output Reference potential binary signals Relay contact ready /Fault NO relay contact /Brake NC relay contat Reference potential binary signals +24V input RUN BUS FAULT 9 X4: (MCV/MCS) External encoder input, Incremental encoder V TTL, (Connection operating instructions MOVIDRIVE compact MCV/MCS) REF REF2 Sc SC Ai AI2 AI2 9 DIØØ 9 0 AGND 9 X: (MCV/MCS) Motor encoder: Incremental encoder (MCV) or resolver (MCS) (Connection operating instructions MOVIDRIVE compact MCV/MCS) 9 X4 X ENCODER I/O ENCODER IN PROFIBUS DP X30 DIØ2 DIØ4 DCOM DGND DOØ2 2 DIØ 3 4 DIØ3 DIØ 7 8 VO DOØ-C P R O F I PROCESS FIELD BUS B U S 9 X30: (MCV/MCS4A) PROFIBUS DP connection (Connection operating instructions MOVIDRIVE compact MCV/MCS4A) 9 DBØØ DGND 2 22 DOØ-NO DOØ-NC MCV4A X0 VI24 Figure 23: MOVIDRIVE compact MCV / MCS 273AEN 8 Manual MOVIDRIVE MDXB Table Positioning Application

69 Index 8 8 Index Numerics 7-segment display (fault message)...3 A Application example transverse carriage...7 Automatic mode...7 B Binary coding of the table positions...3 Bus version...3 Terminal version...3 Bus control...23 C Compatibility MOVIDRIVE B / compact... Connecting hardware limit switches...32 Cycle diagrams...9 Jog and Teach mode... Referencing and automatic mode...0 D Description of functions Four operating modes...0 Functional characteristics...0 Downloading data into the inverter...43 E Error list...3 Error memory...2 Error messages...3 Error list...3 Exclusion of liability...4 F Fault information...2 Error memory...2 Inverter is waiting for data...2 Reset...2 Switch-off responses to faults...2 Fault message in 7-segment display...3 G General Information Exclusion of liability...4 General notes...4 Other applicable documentation... right to claim under warranty...4 Structure of the safety notes...4 I Identification...8 Installation Application version...20 CANopen (DFCB)...27 Connecting hardware limit switches...32 DeviceNet (DFDB)...28 Ethernet (DFEB)...29 INTERBUS (DFIB)... 2 INTERBUS with FO (DFI2B)... 2 MDXB with bus control MOVIDRIVE MDXB in terminal version with input / output card DIOB... 2 MOVITOOLS software PROFIBUS (DFP2B) System bus connection (SBus) Wiring diagram for MDX B with options DEHB and DERB Inverter is waiting for data... 2 IPOS processing speed... 8 J Jog mode... 3 M Monitor mode O Other applicable documentation... P Parameters and IPOS variables... 4 Process data assignment for fieldbus control... 4 Process input data... 4 Process output data... 4 Program identification... 8 Project Planning... 9 Project planning Binary coding of the table positions... 3 Description of functions... 0 Inverters, motors and encoders... 9 Limit switches, reference cams and machine zero... 2 PC and software... 9 Prerequisites... 9 Process data assignment for fieldbus control... 4 Safe stop... 9 SBus send object... 9 Scaling the drive... Software limit switch... R Recording IPOS variables Referencing mode... 0 Reset... 2 Right to claim under warranty... 4 S Safe stop... 9 SBus send object... 9 Activating the SBus send object... 9 Setting the SBus send objects... 9 Scaling the drive... Manual MOVIDRIVE MDXB Table Positioning Application. 9

70 8 Index Drive with external encoder (non-positive connection)...2 Drive without external encoder (positive connection)... Setting the scaling factors distance and speed Calculating the scaling factors...37 Converting the distance resolution to user-defined units...38 Converting the speed to user-defined units..39 Selecting the reference travel type...39 Software limit switch... Software limit switches Moving clear of the software limit switches.. Starting the drive...49 Startup...33 Entering table positions...4 General information...33 Parameters and IPOS variables...4 Preliminary work...33 Recording IPOS variables...48 Setting the fieldbus parameters...3 Setting the scaling factors distance and speed...3 Starting the program...34 Structure of the safety notes...4 Switch-off responses to faults...2 System bus (SBus) Connection...30 System bus connection (SBus ) Cable length...30 Cable specification...30 SBus wiring diagram...30 Shielding...30 Terminating resistor...3 System bus connection (SBus)...30 System Description... System description Application example transverse carriage...7 Areas of application... T Teach mode... Terminal control... Functions of the binary inputs DI2... DI7... Setting the operating mode... W Wiring diagram for MDX B with options DEHB and DERB Manual MOVIDRIVE MDXB Table Positioning Application

71 Address List Address List Germany Headquarters Production Competence Center Bruchsal Central North East South West SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 42 D-74 Bruchsal P.O. Box Postfach 3023 D-742 Bruchsal SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße D-77 Graben-Neudorf SEW-EURODRIVE GmbH & Co KG Alte Ricklinger Straße D Garbsen (near Hannover) SEW-EURODRIVE GmbH & Co KG Dänkritzer Weg D Meerane (near Zwickau) SEW-EURODRIVE GmbH & Co KG Domagkstraße D-8 Kirchheim (near München) SEW-EURODRIVE GmbH & Co KG Siemensstraße D-4074 Langenfeld (near Düsseldorf) Electronics SEW-EURODRIVE GmbH & Co KG Ernst-Blickle-Straße 42 D-74 Bruchsal Drive Hotline / 24 Hour Additional addresses for service in Germany provided on request! Tel Fax sew@sew-eurodrive.de Tel Fax sc-mitte@sew-eurodrive.de Tel Fax sc-nord@sew-eurodrive.de Tel Fax sc-ost@sew-eurodrive.de Tel Fax sc-sued@sew-eurodrive.de Tel Fax sc-west@sew-eurodrive.de Tel Fax sc-elektronik@sew-eurodrive.de SEWHELP France Production Haguenau SEW-USOCOME 48-4, route de Soufflenheim B. P. 208 F-70 Haguenau Cedex Production Forbach SEW-EUROCOME Zone Industrielle Technopôle Forbach Sud B. P F-704 Forbach Cedex Assembly Bordeaux Lyon Paris SEW-USOCOME Parc d'activités de Magellan 2, avenue de Magellan - B. P. 82 F-3307 Pessac Cedex SEW-USOCOME Parc d'affaires Roosevelt Rue Jacques Tati F-920 Vaulx en Velin SEW-USOCOME Zone industrielle 2, rue Denis Papin F Verneuil I'Etang Additional addresses for service in France provided on request! Tel Fax sew@usocome.com Tel Tel Fax Tel Fax Tel Fax /2007 7

72 Address List Algeria Alger Réducom, rue des Frères Zaghnoun Bellevue El-Harrach 200 Alger Tel Fax reducom_sew@yahoo.fr Argentina Assembly Buenos Aires SEW EURODRIVE ARGENTINA S.A. Centro Industrial Garin, Lote 3 Ruta Panamericana Km 37, 9 Garin Tel Fax sewar@sew-eurodrive.com.ar Australia Assembly Melbourne SEW-EURODRIVE PTY. LTD. 27 Beverage Drive Tullamarine, Victoria 3043 Tel Fax enquires@sew-eurodrive.com.au Sydney SEW-EURODRIVE PTY. LTD. 9, Sleigh Place, Wetherill Park New South Wales, 24 Tel Fax enquires@sew-eurodrive.com.au Townsville SEW-EURODRIVE PTY. LTD. 2 Leyland Street Garbutt, QLD 484 Tel Fax enquires@sew-eurodrive.com.au Austria Assembly Wien SEW-EURODRIVE Ges.m.b.H. Richard-Strauss-Strasse 24 A-230 Wien Tel Fax sew@sew-eurodrive.at Belarus Minsk SEW-EURODRIVE BY RybalkoStr. 2 BY Minsk Tel.+37 (7) Fax +37 (7) sales@sew.by Belgium Assembly Brüssel SEW Caron-Vector S.A. Avenue Eiffel B-300 Wavre Tel Fax info@caron-vector.be Brazil Production Sao Paulo SEW-EURODRIVE Brasil Ltda. Avenida Amâncio Gaiolli, 0 Caixa Postal: Guarulhos/SP - Cep.: Additional addresses for service in Brazil provided on request! Tel Fax sew@sew.com.br Bulgaria Sofia BEVER-DRIVE GmbH Bogdanovetz Str. BG-0 Sofia Cameroon Douala Electro-s Rue Drouot Akwa B.P Douala Tel Fax bever@fastbg.net Tel Fax /2007

73 Address List Canada Assembly Toronto Vancouver SEW-EURODRIVE CO. OF CANADA LTD. 20 Walker Drive Bramalea, Ontario LT3W SEW-EURODRIVE CO. OF CANADA LTD. 788 Honeyman Street Delta. B.C. V4G E2 Montreal SEW-EURODRIVE CO. OF CANADA LTD. 2 Rue Leger LaSalle, Quebec H8N 2V9 Additional addresses for service in Canada provided on request! Tel Fax marketing@sew-eurodrive.ca Tel Fax marketing@sew-eurodrive.ca Tel Fax marketing@sew-eurodrive.ca Chile Assembly Santiago de Chile SEW-EURODRIVE CHILE LTDA. Las Encinas 29 Parque Industrial Valle Grande LAMPA RCH-Santiago de Chile P.O. Box Casilla 23 Correo Quilicura - Santiago - Chile Tel Fax ventas@sew-eurodrive.cl China Production Assembly Assembly Tianjin Suzhou Guangzhou Shenyang SEW-EURODRIVE (Tianjin) Co., Ltd. No. 4, 7th Avenue, TEDA Tianjin SEW-EURODRIVE (Suzhou) Co., Ltd. 333, Suhong Middle Road Suzhou Industrial Park Jiangsu Province, 202 P. R. China SEW-EURODRIVE (Guangzhou) Co., Ltd. No. 9, JunDa Road East Section of GETDD Guangzhou 030 P. R. China SEW-EURODRIVE (Shenyang) Co., Ltd. 0A-2, th Road Shenyang Economic Technological Development Area Shenyang, 04 P. R. China Additional addresses for service in China provided on request! Tel Fax info@sew-eurodrive.cn Tel Fax suzhou@sew-eurodrive.cn Tel Fax guangzhou@sew-eurodrive.cn Tel Fax shenyang@sew-eurodrive.cn Colombia Assembly Bogotá SEW-EURODRIVE COLOMBIA LTDA. Calle 22 No Bodega, Manzana B Santafé de Bogotá Tel Fax sewcol@sew-eurodrive.com.co Croatia Zagreb KOMPEKS d. o. o. PIT Erdödy 4 II HR Zagreb Tel Fax kompeks@net.hr 09/

74 Address List Czech Republic Praha SEW-EURODRIVE CZ S.R.O. Business Centrum Praha Lužná 9 CZ-000 Praha - Vokovice Tel Fax sew@sew-eurodrive.cz Denmark Assembly Kopenhagen SEW-EURODRIVEA/S Geminivej DK-270 Greve Tel Fax sew@sew-eurodrive.dk Egypt Cairo Copam Egypt for Engineering & Agencies 33 EI Hegaz ST, Heliopolis, Cairo Tel Fax copam@datum.com.eg Estonia Tallin ALAS-KUUL AS Reti tee 4 EE-730 Peetri küla, Rae vald, Harjumaa Tel Fax veiko.soots@alas-kuul.ee Finland Assembly Lahti SEW-EURODRIVE OY Vesimäentie 4 FIN-80 Hollola 2 Tel Fax sew@sew.fi Gabon Libreville Electro-s B.P. 889 Libreville Tel Fax Great Britain Assembly Normanton SEW-EURODRIVE Ltd. Beckbridge Industrial Estate P.O. Box No. GB-Normanton, West- Yorkshire WF QR Tel Fax info@sew-eurodrive.co.uk Greece Athen Christ. Boznos & Son S.A. 2, Mavromichali Street P.O. Box 803, GR-84 Piraeus Tel Fax info@boznos.gr Hong Kong Assembly Hong Kong SEW-EURODRIVE LTD. Unit No , 8th Floor Hong Leong Industrial Complex No. 4, Wang Kwong Road Kowloon, Hong Kong Tel Fax contact@sew-eurodrive.hk Hungary Budapest SEW-EURODRIVE Kft. H-037 Budapest Kunigunda u. 8 Tel Fax office@sew-eurodrive.hu 74 09/2007

75 Address List India Assembly Baroda SEW-EURODRIVE India Pvt. Ltd. Plot No. 4, Gidc Por Ramangamdi Baroda Gujarat Tel Fax mdoffice@seweurodriveindia.com Ireland Dublin Alperton Engineering Ltd. 48 Moyle Road Dublin Industrial Estate Glasnevin, Dublin Tel Fax info@alperton.ie Israel Tel-Aviv Liraz Handasa Ltd. Ahofer Str 34B / Holon Tel Fax office@liraz-handasa.co.il Italy Assembly Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s. Via Bernini,4 I Solaro (Milano) Tel Fax sewit@sew-eurodrive.it Ivory Coast Abidjan SICA Ste industrielle et commerciale pour l'afrique, Bld de Marseille B.P. 2323, Abidjan 08 Tel Fax Japan Assembly Iwata SEW-EURODRIVE JAPAN CO., LTD 20-, Shimoman-no, Iwata Shizuoka Tel Fax sewjapan@sew-eurodrive.co.jp Korea Assembly Ansan-City SEW-EURODRIVE KOREA CO., LTD. B 0-4, Banweol Industrial Estate 048-4, Shingil-Dong Ansan Tel Fax master@sew-korea.co.kr Busan SEW-EURODRIVE KOREA Co., Ltd. No , Songjeong - dong Gangseo-ku Busan Tel Fax master@sew-korea.co.kr Latvia Riga SIA Alas-Kuul Katlakalna C LV-073 Riga Lebanon Beirut Gabriel Acar & Fils sarl B. P Bourj Hammoud, Beirut Tel Fax info@alas-kuul.com Tel Fax gacar@beirut.com 09/2007 7

76 Address List Lithuania Alytus UAB Irseva Naujoji 9 LT-27 Alytus Tel Fax info@irseva.lt Luxembourg Assembly Brüssel CARON-VECTOR S.A. Avenue Eiffel B-300 Wavre Tel Fax info@caron-vector.be Malaysia Assembly Johore SEW-EURODRIVE SDN BHD No. 9, Jalan Seroja 39, Taman Johor Jaya 8000 Johor Bahru, Johor West Malaysia Tel Fax sales@sew-eurodrive.com.my Mexico Assembly Queretaro SEW-EURODRIVE MEXIKO SA DE CV SEM-988-M93 Tequisquiapan No. 02 Parque Industrial Queretaro C.P Queretaro, Mexico Tel Fax scmexico@seweurodrive.com.mx Morocco Casablanca Afit, rue Emir Abdelkader MA Casablanca Tel Fax ali.alami@premium.net.ma Netherlands Assembly Rotterdam VECTOR Aandrijftechniek B.V. Industrieweg 7 NL-3044 AS Rotterdam Postbus 008 NL-3004 AB Rotterdam Tel Fax info@vector.nu New Zealand Assembly Auckland SEW-EURODRIVE NEW ZEALAND LTD. P.O. Box Greenmount drive East Tamaki Auckland Tel Fax sales@sew-eurodrive.co.nz Christchurch SEW-EURODRIVE NEW ZEALAND LTD. 0 Settlers Crescent, Ferrymead Christchurch Tel Fax sales@sew-eurodrive.co.nz Norway Assembly Moss SEW-EURODRIVE A/S Solgaard skog 7 N-99 Moss Tel Fax sew@sew-eurodrive.no Peru Assembly Lima SEW DEL PERU MOTORES REDUCTORES S.A.C. Los Calderos, Urbanizacion Industrial Vulcano, ATE, Lima Tel Fax sewperu@sew-eurodrive.com.pe 7 09/2007

77 Address List Poland Assembly Lodz SEW-EURODRIVE Polska Sp.z.o.o. ul. Techniczna PL-92-8 Łódź Tel Fax Portugal Assembly Coimbra SEW-EURODRIVE, LDA. Apartado P Mealhada Tel Fax Romania Bucureşti Sialco Trading SRL str. Madrid nr Bucuresti Tel Fax sialco@sialco.ro Russia Assembly St. Petersburg ZAO SEW-EURODRIVE P.O. Box St. Petersburg Russia Tel Fax sew@sew-eurodrive.ru Senegal Dakar SENEMECA Mécanique Générale Km 8, Route de Rufisque B.P. 32, Dakar Serbia Beograd DIPAR d.o.o. Ustanicka 28a PC Košum, IV floor SCG-000 Beograd Tel Fax senemeca@sentoo.sn Tel / Fax dipar@yubc.net Singapore Assembly Singapore SEW-EURODRIVE PTE. LTD. No 9, Tuas Drive 2 Jurong Industrial Estate Singapore 3844 Tel Fax sewsingapore@sew-eurodrive.com Slovakia Bratislava SEW-Eurodrive SK s.r.o. Rybničná 40 SK-834 Bratislava Žilina Banská Bystrica SEW-Eurodrive SK s.r.o. ul. Vojtecha Spanyola 33 SK-00 0 Žilina SEW-Eurodrive SK s.r.o. Rudlovská cesta 8 SK-974 Banská Bystrica Tel Fax sew@sew-eurodrive.sk Tel Fax sew@sew-eurodrive.sk Tel Fax sew@sew-eurodrive.sk Slovenia Celje Pakman - Pogonska Tehnika d.o.o. UI. XIV. divizije 4 SLO Celje Tel Fax pakman@siol.net 09/

78 Address List South Africa Assembly Johannesburg SEW-EURODRIVE (PROPRIETARY) LIMITED Eurodrive House Cnr. Adcock Ingram and Aerodrome Roads Aeroton Ext. 2 Johannesburg 203 P.O.Box Bertsham 203 Tel Fax dross@sew.co.za Capetown SEW-EURODRIVE (PROPRIETARY) LIMITED Rainbow Park Cnr. Racecourse & Omuramba Road Montague Gardens Cape Town P.O.Box 3 Chempet 7442 Cape Town Tel Fax Telex 7 02 dswanepoel@sew.co.za Durban SEW-EURODRIVE (PROPRIETARY) LIMITED 2 Monaceo Place Pinetown Durban P.O. Box 0433, Ashwood 30 Tel Fax dtait@sew.co.za Spain Assembly Bilbao SEW-EURODRIVE ESPAÑA, S.L. Parque Tecnológico, Edificio, 302 E-4870 Zamudio (Vizcaya) Tel Fax sew.spain@sew-eurodrive.es Sweden Assembly Jönköping SEW-EURODRIVE AB Gnejsvägen -8 S-303 Jönköping Box 300 S-003 Jönköping Tel Fax info@sew-eurodrive.se Switzerland Assembly Basel Alfred lmhof A.G. Jurastrasse 0 CH-442 Münchenstein bei Basel Tel Fax info@imhof-sew.ch Thailand Assembly Chonburi SEW-EURODRIVE (Thailand) Ltd. 700/4, Moo.7, Donhuaroh Muang Chonburi Tel Fax sewthailand@sew-eurodrive.com Tunisia Tunis T. M.S. Technic Marketing, Rue El Houdaibiah 000 Tunis Tel Fax tms@tms.com.tn Turkey Assembly Istanbul SEW-EURODRIVE Hareket Sistemleri San. ve Tic. Ltd. Sti. Bagdat Cad. Koruma Cikmazi No. 3 TR-3484 Maltepe ISTANBUL Tel / / Fax sew@sew-eurodrive.com.tr 78 09/2007

79 Address List Ukraine Dnepropetrovsk SEW-EURODRIVE Str. Rabochaja 23-B, Office Dnepropetrovsk Tel Fax USA Production Assembly Assembly Greenville San Francisco Philadelphia/PA Dayton SEW-EURODRIVE INC. 29 Old Spartanburg Highway P.O. Box 8 Lyman, S.C. 293 SEW-EURODRIVE INC San Antonio St. Hayward, California SEW-EURODRIVE INC. Pureland Ind. Complex 207 High Hill Road, P.O. Box 48 Bridgeport, New Jersey 0804 SEW-EURODRIVE INC. 200 West Main Street Troy, Ohio 4373 Dallas SEW-EURODRIVE INC. 390 Platinum Way Dallas, Texas 7237 Additional addresses for service in the USA provided on request! Tel Fax Fax Manuf Fax Ass Telex cslyman@seweurodrive.com Tel Fax cshayward@seweurodrive.com Tel Fax csbridgeport@seweurodrive.com Tel Fax cstroy@seweurodrive.com Tel Fax csdallas@seweurodrive.com Venezuela Assembly Valencia SEW-EURODRIVE Venezuela S.A. Av. Norte Sur No. 3, Galpon Zona Industrial Municipal Norte Valencia, Estado Carabobo Tel Fax ventas@sew-eurodrive.com.ve sewfinanzas@cantv.net 09/

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83 SEW-EURODRIVE Driving the world

84 Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ s 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 drives and controls that automatically improve your productivity. With comprehensive knowledge in virtually every branch of industry today. 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-742 Bruchsal / Germany Phone Fax sew@sew-eurodrive.com