Diagnostics
9
Error and alarm messages
9.2.1
106
INFORMATION
If you receive error messages that are not described here, proceed as follows:
•
Under what circumstances did the error occur?
•
Save the current configuration set
•
Document the error code and the suberror code
•
Contact SEW-EURODRIVE Service
Fatal error code
F1001, error 108, subcode 001
Error message
Configuration data not loaded correctly to option DCS..B.
Cause
Connection interrupted while loading the program to the DCS..B option.
Remedy
Reload the configuration files. Then switch the DCS..B off and on again.
Fatal error code
F1003, error 108, subcode 002
Error message
Invalid configuration data for software version of the DCS..B option.
Cause
Option DCS..B was configured using a wrong software version.
Remedy
Parameterize the DCS..B option with the permitted MOVISAFE
Next, switch DCS..B option off and on again.
Fatal error code
F1007, error 108, subcode 003
Error message
Unit was programmed with incorrect software interface.
Cause
Program or configuration data was loaded into the unit with an incorrect MOVISAFE
software.
Remedy
Check the DCS..B version and parameterize it again using a valid MOVISAFE
ware. Then switch the DCS..B option off and on again.
Fatal error code
F1401/1402, error 108, subcode 019/020
Error message
Error while calculating configuration data.
Remedy
Replace the DCS..B option and send it together with error number to SEW Service for
further inspection.
Fatal error code
F1403/1404, error 108, subcode 021/022
Error message
CRC of configuration data invalid.
Cause
Configuration data have not been uploaded correctly.
Remedy
Upload configuration data into unit.
Fatal error code
F1405/1406, error 108, subcode 023/024
Error message
Error during internal transmission of configuration data.
Remedy
Replace the DCS..B option and send it together with error number to SEW Service for
further inspection.
Manual – MOVIDRIVE® MDX61B Safety Module Option MOVISAFE® DCS..B
®
software version.
®
®
soft-
-
Contents
-
Table of Contents
-
Bookmarks
Quick Links
Drive Technology Drive Automation System Integration Services
®
MOVIDRIVE
MDX61B
DIP11B / DEH21B Absolute Encoder Cards
Manual
Edition 12/2007
11702613 / EN
Related Manuals for SEW-Eurodrive MOVIDRIVE MDX61B DIP11B
Summary of Contents for SEW-Eurodrive MOVIDRIVE MDX61B DIP11B
-
Page 1
Drive Technology Drive Automation System Integration Services ® MOVIDRIVE MDX61B DIP11B / DEH21B Absolute Encoder Cards Manual Edition 12/2007 11702613 / EN… -
Page 2
SEW-EURODRIVE – Driving the world… -
Page 3: Table Of Contents
1 General Information ………………..5 Structure of the safety notes …………….5 Right to claim under warranty ……………. 5 Exclusion of liability ………………5 2 Safety Notes ………………….6 Other applicable documentation …………..6 Safety functions ………………… 6 Hoist applications ………………. 6 Product names and trademarks …………..
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Page 4
9 Application Example ……………….. 52 Storage and retrieval system with extended positioning via bus….52 10 Error Messages ………………..54 ® 10.1 MOVIDRIVE MDX61B with DIP11B/DEH21B option……… 54 11 Technical Data …………………. 55 11.1 Electronics data DIP11B option …………..55 11.2 Electronics data DIP11B option ………….. -
Page 5: General Information
SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of these operating in- structions. In such cases, any liability for defects is excluded.
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Page 6: Safety Notes
Safety Notes Other applicable documentation Safety Notes Other applicable documentation • Only electrical specialists are allowed to perform installation and startup observing ® relevant accident prevention regulations and the MOVIDRIVE MDX60B/61B oper- ating instructions: • Read through this publication carefully before you commence installation and startup of the DIP11B/DEH21B options.
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Page 7: System Description
System Description Areas of application System Description Areas of application ® The DIP11B/DEH21B absolute encoder card options expands the MOVIDRIVE sys- tem to include an SSI connection for absolute encoders. This permits positioning func- plus® tions to be implemented with IPOS that offer the following opportunities: •…
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Page 8: Applicable Absolute Encoders
System Description Applicable absolute encoders Applicable absolute encoders Connect only those encoders listed in the following table to the DIP11B and the DEH21B option. Manufacturer Encoder designation Order designation Comments Hübner HMG161-S24 H2048 (AH7Y) Rotary encoder Heidenhain ROQ 424 (AV1Y) 586638-82 Rotary encoder Elgo…
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Page 9: Dip11B/Deh21B And Processing In Iposplus
System Description DIP11B/DEH21B and processing in IPOSplus® plus® DIP11B/DEH21B and processing in IPOS Direct position control with Absolute absolute encoder encoder (case 1) DIP11B DEH21B GO Wait… Profile Position n contr. generator controller plus® IPOS actual program 62681AEN plus® • Direct position control in IPOS by means of the absolute encoder connected via DIP11B/DEH21B option.
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Page 10: Encoder Sensing
System Description Encoder sensing Processing of the absolute encoder Absolute position in the encoder plus® IPOS pro- DIP11B System gram (case 3) DEH21B variable plus® IPOS program 62683AEN • The position information of the absolute encoder is automatically reflected in an IP- plus®…
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Page 11: Control Functions
System Description Control functions Control functions • Touch-Probe function Touch probe makes it possible to detect the current position of the absolute encoder with minimum time delay. For example, this makes it possible to register positions very precisely using proximity switch signals and process these positions in the pro- gram.
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Page 12: Assembly/Installation
NOTES ® • The DEH21B option card can be installed in MOVIDRIVE MDX61B sizes 0 to 6. Only SEW-EURODRIVE staff may install or remove the DEH21B option for ® MOVIDRIVE MDX61B size 0. • The DEH21B option card must be plugged into the encoder slot.
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Page 13
Assembly/Installation Mounting the DEH21B option card Basic procedure for installing and removing option cards (MDX61B, sizes 1 to 6) 60039AXX ® Figure 1: Installing an option card in MOVIDRIVE MDX61B sizes 1 to 6 1. Remove the retaining screws holding the card retaining bracket. Pull the card retain- ing bracket out evenly from the slot (do not twist). -
Page 14: Notes For Combining Dip11B With Dio11B
DIP11B with DIO11B Parameter 61.. effective for DIP11B with or with- out fieldbus card 1) H483 is only documented for compatibility reasons. SEW-EURODRIVE recommends to use the H520 ® variable with MOVIDRIVE Terminal assign- ment of the output Function Option terminals (DO10 …
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Page 15: Connection And Terminal Description Of The Dip11B Option
Assembly/Installation Connection and terminal description of the DIP11B option Connection and terminal description of the DIP11B option Part number Absolute encoder card option type DIP11B: 824 969 5 NOTE The DIP11B option must be supplied with 24V DC. Observe the ‘Project Planning’ ®…
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Page 16: Connection And Terminal Description Of The Deh21B Option
Assembly/Installation Connection and terminal description of the DEH21B option Connection and terminal description of the DEH21B option Part number Encoder card option DEH21B: 1820 818 5 NOTE The DC 24 V power supply of an encoder connected to X62 is ensured when X60 is ®…
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Page 17: Dc 24 V Power Supply Of The Dip11B/Deh21B
Assembly/Installation DC 24 V power supply of the DIP11B/DEH21B DC 24 V power supply of the DIP11B/DEH21B The DIP11B/DEH21B absolute encoder cards must be supplied with DC 24 V at the 24VIN voltage input (DIP11B at X61:9, DEH21B at X60:1) You have the following two options to provide this DC 24 V power supply.
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Page 18
Assembly/Installation DC 24 V power supply of the DIP11B/DEH21B Option 2: Exter- DC 24 V power supply via an external 24 V power supply unit. This is necessary when nal power supply • the total load of all outputs of the basic unit and the currently connected options (in- cluding encoder) is more than 400 mA. -
Page 19: Connecting An Absolute Encoder
Assembly/Installation Connecting an absolute encoder Connecting an absolute encoder General installa- • Max. line length DIP11B/DEH21B option (inverter) — absolute encoder: tion notes 100 m (328 ft) with a capacitance per unit length 120 nF/km (exception: 10 m (33 ft) for Stahl WCS2-LS311, WCS3) •…
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Page 20
Assembly/Installation Connecting an absolute encoder Wiring diagram for the Y cable: DIP11B, DEH21B max. 100 m (328 ft) DC 24 V 7 WH 9 WH DC 24 V AV1Y 3 PK 8 PK 8 GY 9 GY 10 BN 5 BN 14 BK 1 BK 6 VT… -
Page 21: Project Planning
Project Planning Encoder selection Project Planning Encoder selection When selecting the absolute encoder, the following points should be considered to achieve optimum travel characteristics and good dynamic properties in the system: • Position measurement should be conducted without slip. Operate the encoder in positive engagement via toothed belt. Avoid all friction wheel connections.
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Page 22
Project Planning Encoder selection Calculation of position resolution with encoder mounted to motor shaft: → i x 4096 / (π x 150 mm) = 217 increments/mm Calculation of position resolution with encoder mounted on the line: → 4096 / (π x 65 mm) = 20 increments/mm Result: The ratio between the position resolution of the motor/track is 10.9 (greater than 8). -
Page 23: Configuring The Encoders
Project Planning Configuring the encoders Configuring the encoders The following points must be observed in the design and construction of encoders and when setting their parameters: • For all configurable encoders applies: – The interface must be set to «SSI». –…
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Page 24: Startup
Startup General startup notes Startup General startup notes ® The drive must be started up in conjunction with the MOVIDRIVE MDX61B drive invert- ® er as described in the MOVIDRIVE MDX60B/61B system manual. It must be possible to move the drive using a suitable setpoint and control source. Make sure that •…
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Page 25: Startup With Pc And Movitools
Startup Startup with PC and MOVITOOLS® ® Startup with PC and MOVITOOLS ® MOVITOOLS software version 4.60 or higher is required for startup with a PC. General informa- • Terminal X13:1 (DIØØ «/CONTROLLER.INHIBIT») must receive a «0» signal! tion ® •…
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Page 26
Startup Startup with PC and MOVITOOLS® Commencing • In the «Execute Program» selection field, press the «Shell» button under «Parame- startup ters/Diagnosis». The Shell program is started. • In the Shell program, select [Startup]/[DIP/DEH21B Startup] menu command. 11850AEN Figure 5: Open DIP/DEH21B-startup ®… -
Page 27
Startup Startup with PC and MOVITOOLS® New startup of DIP11B/DEH21B 11853AEN Figure 6: Set desired startup • Choose one of the following options and click the [Next] button: – Completely new startup of the DIP11B/DEH21B option card after initial installa- tion, for example –… -
Page 28
Startup Startup with PC and MOVITOOLS® Setting the cycle frequency 11854AEN Figure 7: Setting the cycle frequency • Set the cycle frequency at which the DIP11B/DEH21B reads the absolute information of the absolute encoder. 100% cycle frequency corresponds to the nominal frequen- cy. -
Page 29
Startup Startup with PC and MOVITOOLS® Select absolute encoder 11859AEN Figure 8: Select absolute encoder • Select the connected absolute encoder from the list of possible encoders. • Click [Next]. Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards… -
Page 30
Startup Startup with PC and MOVITOOLS® Choose the incre- ments or user units option 11855AEN Figure 9: Select increment option • Select one of the two options «I would like to use increments» or «I would like to use operation units». Click [Next] to continue. Manual –… -
Page 31
Startup Startup with PC and MOVITOOLS® Set the operation range of the encoder 10773AEN Figure 10: Setting the relation between connected encoder and motor encoder • You will have to move the drive by a few motor revolutions to set the relation between connected encoder and motor encoder. -
Page 32
Startup Startup with PC and MOVITOOLS® Manual operation 10715AEN Figure 11: Setting reference travel in manual operation • Use buttons [F7=variable speed], [F8=slow speed] or [F9=fast speed] to set the set- point speed. • Set binary input DI00 «/Controller inhibit» to the value «1». •… -
Page 33
Startup Startup with PC and MOVITOOLS® plus® Enter IPOS parameters 11240AEN plus® Figure 12: Enter IPOS parameters plus® • Enter all parameters (P910 et seq.) that are important for IPOS programming. The parameters become effective in «…&IPOS» operating mode only. •… -
Page 34
Startup Startup with PC and MOVITOOLS® Set parameters for reference travel 10760AEN Figure 13: Set parameters for reference travel • A reference travel is necessary for precise assignment of the absolute encoder value to a mechanical reference point. Enter the necessary parameters (P900 et seq.). Click [Next] to start reference travel. -
Page 35
Startup Startup with PC and MOVITOOLS® Start reference travel 10761AEN Figure 14: Start reference travel • If you want to perform reference travel by manual operation, click the [Manual oper- ation] button. The «Manual operation» window opens (→ section «Perform reference travel by manual operation»). -
Page 36
Startup Startup with PC and MOVITOOLS® Perform reference travel by manual operation 10762AEN Figure 15: Perform reference travel by manual operation • Set binary input DI00 «/Controller inhibit» to «1». • Use buttons [F2=CCW] and [F3=CW] to set direction of rotation. •… -
Page 37
Startup Startup with PC and MOVITOOLS® Identifying the cur- rent absolute posi- tion 10763AEN Figure 16: Enter reference offset as incremental value • Enter the numeric value that the current position is to correspond to in increments in the «Reference offset» entry field. Click [Next] to continue. Manual –… -
Page 38
Startup Startup with PC and MOVITOOLS® Saving the DIP/DEH21 parameters 11856AEN Figure 17: Save DIP parameters • Click [Finish] to transmit data to the inverter. This means the initial start is complete. Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards… -
Page 39
Startup Startup with PC and MOVITOOLS® Restartup of the If the startup of the DIP11B/DEH21B option has been performed before, the following DIP11B/DEH21B window appears. 11857AEN Figure 18: Restartup of the DIP11B/DEH21B • Select the option «Encoder adjustment with existing DIP/DEH21B startup» (e. g. after replacement of the absolute encoder). -
Page 40
Startup Startup with PC and MOVITOOLS® Encoder adjust- ment 10766AEN Figure 19: Encoder adjustment • Select one of the following options, depending on the particular application: – The absolute encoder has been replaced. The position offset was set so that the plus®… -
Page 41
Startup Startup with PC and MOVITOOLS® Start reference travel 10767AEN Figure 20: Perform reference travel • If you want to perform reference travel by manual operation, click the [Manual oper- ation] button. The «Manual operation» window opens (→ section «Perform reference travel by manual operation»). -
Page 42
Startup Startup with PC and MOVITOOLS® Perform reference travel by manual operation 10768AEN Figure 21: Perform reference travel by manual operation • Set binary input DI00 «/Controller inhibit» to the value «1». • Use buttons [F2=CCW] and [F3=CW] to set direction of rotation. •… -
Page 43: Manual Startup
T&R LA41K • Elgo LIMAX2 You must check whether other encoders are suitable and released for use by SEW-EURODRIVE. Set P35x Direc- Move the drive in the positive direction at low speed. If the actual position P003 counts tion of motor…
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Page 44
Startup Manual startup Set P955 Encoder Set P955 to «1» if there is no motor encoder (no speed control). The position information scaling from the absolute encoder is multiplied by this value. The parameter is set so the travel information ratio between the motor encoder and the absolute encoder is as close to «1» as possible. -
Page 45
Startup Manual startup ® If there is no motor encoder installed (no speed control by MOVIDRIVE ), we recom- mend that you at least make an estimation of the relationship between encoder resolu- tion and motor revolution. Use a value of 4,096 increments per motor revolution for the motor encoder. -
Page 46: Unit Functions
Unit Functions Encoder evaluation Unit Functions Encoder evaluation All connected encoders are always evaluated regardless of the operating mode (P700). Operating modes with positioning (VFC-n-Reg. & IPOS, CFC & IPOS, SERVO & IPOS) always require a motor encoder at X15. The actual positions can be evaluated with the touch-probe function.
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Page 47: Display Values
Unit Functions Display values Reference travel NOTE The reference travel and the associated parameters P900 … P903 as well as the reference travel commands refer to the motor position (X15) and therefore to the motor encoder. The message «Axis referenced» refers to a referencing of the motor position. plus®…
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Page 48: Diagnostics Option In The Shell Program
Unit Functions Diagnostics option in the Shell program Diagnostics option in the Shell program You have the option to display the current program status (such as the current actual position of the absolute encoder). Proceed as follows: In Shell, open the menu item [Display]/[IPOS Information]. 11242AEN The window [IPOS status display] opens.
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Page 49: Ipos Plus®
P6.. IPOSplus® Parameters Parameter description P60. P600 plus® IPOS Parameters Parameter description plus® The following is a description of the IPOS parameters. The factory setting is indi- cated by underline. P072 Option/firm- Displays the encoder card currently installed in the encoder slot and the program ver- ware encoder slot sion.
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Page 50
P6.. IPOSplus® Parameters Parameter description P60. P600 P950 Encoder The absolute encoder connected to the DIP11B/DEH21B option at X62 is selected. At type present, encoders can be selected from the following list: • VISOLUX EDM • T&R CE65, CE58, CE100 MSSI •… -
Page 51
P6.. IPOSplus® Parameters Parameter description P60. P600 P954 Zero offset Setting range: –(2 –1) … 0 … 2 –1 Zero offset is used for assigning the value you want to a specific position. The range of values can adopt positive or negative position values. The maximum valid parameter must not be exceeded. -
Page 52: Application Example
Application Example Storage and retrieval system with extended positioning via bus Application Example Storage and retrieval system with extended positioning via bus The «Extended positioning via bus» application module is particularly suited to applica- tions in which it is necessary to move to any number of positions at different speeds and with different acceleration ramps.
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Page 53
Application Example Storage and retrieval system with extended positioning via bus Operating modes The functions are implemented with three operating modes: • Jog mode – The drive is moved clockwise or counter clockwise via bit 9 or 10 in the control word (PO1). -
Page 54: Error Messages
Error Messages MOVIDRIVE® MDX61B with DIP11B/DEH21B option Error Messages ® 10.1 MOVIDRIVE MDX61B with DIP11B/DEH21B option The factory set error response appears in the «Response (P)» column. (P) indicates that plus® the response is programmable (via IPOS Sub- Fault Response Designation error Designation…
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Page 55: Technical Data
Technical Data Electronics data DIP11B option Technical Data 11.1 Electronics data DIP11B option Description Function Connection binary inputs X60:1 … 8 DI10 … DI17 isolated via optocoupler, scanning time 1 ms, PLC compatible (EN 61131) Internal resistance = 3 kΩ, I = 10 mA Signal level (EN 61131) «1»…
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Page 56: Index
Index Index Mounting the DEH21B ……… 12 Mounting the DIP11B ……..12 Absolute encoder connection Terminal description of DEH21B ….16 General installation notes ……19 Terminal description of DIP11B ….15 Wiring diagrams and prefabricated cables …19 Installing and removing option cards ….13 Applicable absolute encoders …….8 IPOSplus®…
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Page 57
Index Terminal description of DEH21B ……16 Terminal description of DIP11B ……15 Unit functions …………46 Diagnostics option in the Shell program ..48 Display values ……….47 Encoder evaluation ……..46 Functions relevant for absolute encoders ..46 Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards… -
Page 59
SEW-EURODRIVE – Driving the world… -
Page 60
Internet, available Anywhere. today. around the clock. SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 · D-76642 Bruchsal / Germany Phone +49 7251 75-0 · Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com…
This manual is also suitable for:
Movidrive mdx61b deh21b
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Contents
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Table of Contents
-
Bookmarks
Quick Links
Drive Technology Drive Automation System Integration Services
®
MOVIDRIVE
MDX61B
DIP11B / DEH21B Absolute Encoder Cards
Manual
Edition 12/2007
11702613 / EN
Related Manuals for SEW-Eurodrive MOVIDRIVE MDX61B DIP11B
Summary of Contents for SEW-Eurodrive MOVIDRIVE MDX61B DIP11B
-
Page 1
Drive Technology Drive Automation System Integration Services ® MOVIDRIVE MDX61B DIP11B / DEH21B Absolute Encoder Cards Manual Edition 12/2007 11702613 / EN… -
Page 2
SEW-EURODRIVE – Driving the world… -
Page 3: Table Of Contents
1 General Information ………………..5 Structure of the safety notes …………….5 Right to claim under warranty ……………. 5 Exclusion of liability ………………5 2 Safety Notes ………………….6 Other applicable documentation …………..6 Safety functions ………………… 6 Hoist applications ………………. 6 Product names and trademarks …………..
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Page 4
9 Application Example ……………….. 52 Storage and retrieval system with extended positioning via bus….52 10 Error Messages ………………..54 ® 10.1 MOVIDRIVE MDX61B with DIP11B/DEH21B option……… 54 11 Technical Data …………………. 55 11.1 Electronics data DIP11B option …………..55 11.2 Electronics data DIP11B option ………….. -
Page 5: General Information
SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of these operating in- structions. In such cases, any liability for defects is excluded.
-
Page 6: Safety Notes
Safety Notes Other applicable documentation Safety Notes Other applicable documentation • Only electrical specialists are allowed to perform installation and startup observing ® relevant accident prevention regulations and the MOVIDRIVE MDX60B/61B oper- ating instructions: • Read through this publication carefully before you commence installation and startup of the DIP11B/DEH21B options.
-
Page 7: System Description
System Description Areas of application System Description Areas of application ® The DIP11B/DEH21B absolute encoder card options expands the MOVIDRIVE sys- tem to include an SSI connection for absolute encoders. This permits positioning func- plus® tions to be implemented with IPOS that offer the following opportunities: •…
-
Page 8: Applicable Absolute Encoders
System Description Applicable absolute encoders Applicable absolute encoders Connect only those encoders listed in the following table to the DIP11B and the DEH21B option. Manufacturer Encoder designation Order designation Comments Hübner HMG161-S24 H2048 (AH7Y) Rotary encoder Heidenhain ROQ 424 (AV1Y) 586638-82 Rotary encoder Elgo…
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Page 9: Dip11B/Deh21B And Processing In Iposplus
System Description DIP11B/DEH21B and processing in IPOSplus® plus® DIP11B/DEH21B and processing in IPOS Direct position control with Absolute absolute encoder encoder (case 1) DIP11B DEH21B GO Wait… Profile Position n contr. generator controller plus® IPOS actual program 62681AEN plus® • Direct position control in IPOS by means of the absolute encoder connected via DIP11B/DEH21B option.
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Page 10: Encoder Sensing
System Description Encoder sensing Processing of the absolute encoder Absolute position in the encoder plus® IPOS pro- DIP11B System gram (case 3) DEH21B variable plus® IPOS program 62683AEN • The position information of the absolute encoder is automatically reflected in an IP- plus®…
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Page 11: Control Functions
System Description Control functions Control functions • Touch-Probe function Touch probe makes it possible to detect the current position of the absolute encoder with minimum time delay. For example, this makes it possible to register positions very precisely using proximity switch signals and process these positions in the pro- gram.
-
Page 12: Assembly/Installation
NOTES ® • The DEH21B option card can be installed in MOVIDRIVE MDX61B sizes 0 to 6. Only SEW-EURODRIVE staff may install or remove the DEH21B option for ® MOVIDRIVE MDX61B size 0. • The DEH21B option card must be plugged into the encoder slot.
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Page 13
Assembly/Installation Mounting the DEH21B option card Basic procedure for installing and removing option cards (MDX61B, sizes 1 to 6) 60039AXX ® Figure 1: Installing an option card in MOVIDRIVE MDX61B sizes 1 to 6 1. Remove the retaining screws holding the card retaining bracket. Pull the card retain- ing bracket out evenly from the slot (do not twist). -
Page 14: Notes For Combining Dip11B With Dio11B
DIP11B with DIO11B Parameter 61.. effective for DIP11B with or with- out fieldbus card 1) H483 is only documented for compatibility reasons. SEW-EURODRIVE recommends to use the H520 ® variable with MOVIDRIVE Terminal assign- ment of the output Function Option terminals (DO10 …
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Page 15: Connection And Terminal Description Of The Dip11B Option
Assembly/Installation Connection and terminal description of the DIP11B option Connection and terminal description of the DIP11B option Part number Absolute encoder card option type DIP11B: 824 969 5 NOTE The DIP11B option must be supplied with 24V DC. Observe the ‘Project Planning’ ®…
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Page 16: Connection And Terminal Description Of The Deh21B Option
Assembly/Installation Connection and terminal description of the DEH21B option Connection and terminal description of the DEH21B option Part number Encoder card option DEH21B: 1820 818 5 NOTE The DC 24 V power supply of an encoder connected to X62 is ensured when X60 is ®…
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Page 17: Dc 24 V Power Supply Of The Dip11B/Deh21B
Assembly/Installation DC 24 V power supply of the DIP11B/DEH21B DC 24 V power supply of the DIP11B/DEH21B The DIP11B/DEH21B absolute encoder cards must be supplied with DC 24 V at the 24VIN voltage input (DIP11B at X61:9, DEH21B at X60:1) You have the following two options to provide this DC 24 V power supply.
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Page 18
Assembly/Installation DC 24 V power supply of the DIP11B/DEH21B Option 2: Exter- DC 24 V power supply via an external 24 V power supply unit. This is necessary when nal power supply • the total load of all outputs of the basic unit and the currently connected options (in- cluding encoder) is more than 400 mA. -
Page 19: Connecting An Absolute Encoder
Assembly/Installation Connecting an absolute encoder Connecting an absolute encoder General installa- • Max. line length DIP11B/DEH21B option (inverter) — absolute encoder: tion notes 100 m (328 ft) with a capacitance per unit length 120 nF/km (exception: 10 m (33 ft) for Stahl WCS2-LS311, WCS3) •…
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Page 20
Assembly/Installation Connecting an absolute encoder Wiring diagram for the Y cable: DIP11B, DEH21B max. 100 m (328 ft) DC 24 V 7 WH 9 WH DC 24 V AV1Y 3 PK 8 PK 8 GY 9 GY 10 BN 5 BN 14 BK 1 BK 6 VT… -
Page 21: Project Planning
Project Planning Encoder selection Project Planning Encoder selection When selecting the absolute encoder, the following points should be considered to achieve optimum travel characteristics and good dynamic properties in the system: • Position measurement should be conducted without slip. Operate the encoder in positive engagement via toothed belt. Avoid all friction wheel connections.
-
Page 22
Project Planning Encoder selection Calculation of position resolution with encoder mounted to motor shaft: → i x 4096 / (π x 150 mm) = 217 increments/mm Calculation of position resolution with encoder mounted on the line: → 4096 / (π x 65 mm) = 20 increments/mm Result: The ratio between the position resolution of the motor/track is 10.9 (greater than 8). -
Page 23: Configuring The Encoders
Project Planning Configuring the encoders Configuring the encoders The following points must be observed in the design and construction of encoders and when setting their parameters: • For all configurable encoders applies: – The interface must be set to «SSI». –…
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Page 24: Startup
Startup General startup notes Startup General startup notes ® The drive must be started up in conjunction with the MOVIDRIVE MDX61B drive invert- ® er as described in the MOVIDRIVE MDX60B/61B system manual. It must be possible to move the drive using a suitable setpoint and control source. Make sure that •…
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Page 25: Startup With Pc And Movitools
Startup Startup with PC and MOVITOOLS® ® Startup with PC and MOVITOOLS ® MOVITOOLS software version 4.60 or higher is required for startup with a PC. General informa- • Terminal X13:1 (DIØØ «/CONTROLLER.INHIBIT») must receive a «0» signal! tion ® •…
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Page 26
Startup Startup with PC and MOVITOOLS® Commencing • In the «Execute Program» selection field, press the «Shell» button under «Parame- startup ters/Diagnosis». The Shell program is started. • In the Shell program, select [Startup]/[DIP/DEH21B Startup] menu command. 11850AEN Figure 5: Open DIP/DEH21B-startup ®… -
Page 27
Startup Startup with PC and MOVITOOLS® New startup of DIP11B/DEH21B 11853AEN Figure 6: Set desired startup • Choose one of the following options and click the [Next] button: – Completely new startup of the DIP11B/DEH21B option card after initial installa- tion, for example –… -
Page 28
Startup Startup with PC and MOVITOOLS® Setting the cycle frequency 11854AEN Figure 7: Setting the cycle frequency • Set the cycle frequency at which the DIP11B/DEH21B reads the absolute information of the absolute encoder. 100% cycle frequency corresponds to the nominal frequen- cy. -
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Startup Startup with PC and MOVITOOLS® Select absolute encoder 11859AEN Figure 8: Select absolute encoder • Select the connected absolute encoder from the list of possible encoders. • Click [Next]. Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards… -
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Startup Startup with PC and MOVITOOLS® Choose the incre- ments or user units option 11855AEN Figure 9: Select increment option • Select one of the two options «I would like to use increments» or «I would like to use operation units». Click [Next] to continue. Manual –… -
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Startup Startup with PC and MOVITOOLS® Set the operation range of the encoder 10773AEN Figure 10: Setting the relation between connected encoder and motor encoder • You will have to move the drive by a few motor revolutions to set the relation between connected encoder and motor encoder. -
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Startup Startup with PC and MOVITOOLS® Manual operation 10715AEN Figure 11: Setting reference travel in manual operation • Use buttons [F7=variable speed], [F8=slow speed] or [F9=fast speed] to set the set- point speed. • Set binary input DI00 «/Controller inhibit» to the value «1». •… -
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Startup Startup with PC and MOVITOOLS® plus® Enter IPOS parameters 11240AEN plus® Figure 12: Enter IPOS parameters plus® • Enter all parameters (P910 et seq.) that are important for IPOS programming. The parameters become effective in «…&IPOS» operating mode only. •… -
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Startup Startup with PC and MOVITOOLS® Set parameters for reference travel 10760AEN Figure 13: Set parameters for reference travel • A reference travel is necessary for precise assignment of the absolute encoder value to a mechanical reference point. Enter the necessary parameters (P900 et seq.). Click [Next] to start reference travel. -
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Startup Startup with PC and MOVITOOLS® Start reference travel 10761AEN Figure 14: Start reference travel • If you want to perform reference travel by manual operation, click the [Manual oper- ation] button. The «Manual operation» window opens (→ section «Perform reference travel by manual operation»). -
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Startup Startup with PC and MOVITOOLS® Perform reference travel by manual operation 10762AEN Figure 15: Perform reference travel by manual operation • Set binary input DI00 «/Controller inhibit» to «1». • Use buttons [F2=CCW] and [F3=CW] to set direction of rotation. •… -
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Startup Startup with PC and MOVITOOLS® Identifying the cur- rent absolute posi- tion 10763AEN Figure 16: Enter reference offset as incremental value • Enter the numeric value that the current position is to correspond to in increments in the «Reference offset» entry field. Click [Next] to continue. Manual –… -
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Startup Startup with PC and MOVITOOLS® Saving the DIP/DEH21 parameters 11856AEN Figure 17: Save DIP parameters • Click [Finish] to transmit data to the inverter. This means the initial start is complete. Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards… -
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Startup Startup with PC and MOVITOOLS® Restartup of the If the startup of the DIP11B/DEH21B option has been performed before, the following DIP11B/DEH21B window appears. 11857AEN Figure 18: Restartup of the DIP11B/DEH21B • Select the option «Encoder adjustment with existing DIP/DEH21B startup» (e. g. after replacement of the absolute encoder). -
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Startup Startup with PC and MOVITOOLS® Encoder adjust- ment 10766AEN Figure 19: Encoder adjustment • Select one of the following options, depending on the particular application: – The absolute encoder has been replaced. The position offset was set so that the plus®… -
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Startup Startup with PC and MOVITOOLS® Start reference travel 10767AEN Figure 20: Perform reference travel • If you want to perform reference travel by manual operation, click the [Manual oper- ation] button. The «Manual operation» window opens (→ section «Perform reference travel by manual operation»). -
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Startup Startup with PC and MOVITOOLS® Perform reference travel by manual operation 10768AEN Figure 21: Perform reference travel by manual operation • Set binary input DI00 «/Controller inhibit» to the value «1». • Use buttons [F2=CCW] and [F3=CW] to set direction of rotation. •… -
Page 43: Manual Startup
T&R LA41K • Elgo LIMAX2 You must check whether other encoders are suitable and released for use by SEW-EURODRIVE. Set P35x Direc- Move the drive in the positive direction at low speed. If the actual position P003 counts tion of motor…
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Startup Manual startup Set P955 Encoder Set P955 to «1» if there is no motor encoder (no speed control). The position information scaling from the absolute encoder is multiplied by this value. The parameter is set so the travel information ratio between the motor encoder and the absolute encoder is as close to «1» as possible. -
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Startup Manual startup ® If there is no motor encoder installed (no speed control by MOVIDRIVE ), we recom- mend that you at least make an estimation of the relationship between encoder resolu- tion and motor revolution. Use a value of 4,096 increments per motor revolution for the motor encoder. -
Page 46: Unit Functions
Unit Functions Encoder evaluation Unit Functions Encoder evaluation All connected encoders are always evaluated regardless of the operating mode (P700). Operating modes with positioning (VFC-n-Reg. & IPOS, CFC & IPOS, SERVO & IPOS) always require a motor encoder at X15. The actual positions can be evaluated with the touch-probe function.
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Page 47: Display Values
Unit Functions Display values Reference travel NOTE The reference travel and the associated parameters P900 … P903 as well as the reference travel commands refer to the motor position (X15) and therefore to the motor encoder. The message «Axis referenced» refers to a referencing of the motor position. plus®…
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Page 48: Diagnostics Option In The Shell Program
Unit Functions Diagnostics option in the Shell program Diagnostics option in the Shell program You have the option to display the current program status (such as the current actual position of the absolute encoder). Proceed as follows: In Shell, open the menu item [Display]/[IPOS Information]. 11242AEN The window [IPOS status display] opens.
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Page 49: Ipos Plus®
P6.. IPOSplus® Parameters Parameter description P60. P600 plus® IPOS Parameters Parameter description plus® The following is a description of the IPOS parameters. The factory setting is indi- cated by underline. P072 Option/firm- Displays the encoder card currently installed in the encoder slot and the program ver- ware encoder slot sion.
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P6.. IPOSplus® Parameters Parameter description P60. P600 P950 Encoder The absolute encoder connected to the DIP11B/DEH21B option at X62 is selected. At type present, encoders can be selected from the following list: • VISOLUX EDM • T&R CE65, CE58, CE100 MSSI •… -
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P6.. IPOSplus® Parameters Parameter description P60. P600 P954 Zero offset Setting range: –(2 –1) … 0 … 2 –1 Zero offset is used for assigning the value you want to a specific position. The range of values can adopt positive or negative position values. The maximum valid parameter must not be exceeded. -
Page 52: Application Example
Application Example Storage and retrieval system with extended positioning via bus Application Example Storage and retrieval system with extended positioning via bus The «Extended positioning via bus» application module is particularly suited to applica- tions in which it is necessary to move to any number of positions at different speeds and with different acceleration ramps.
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Application Example Storage and retrieval system with extended positioning via bus Operating modes The functions are implemented with three operating modes: • Jog mode – The drive is moved clockwise or counter clockwise via bit 9 or 10 in the control word (PO1). -
Page 54: Error Messages
Error Messages MOVIDRIVE® MDX61B with DIP11B/DEH21B option Error Messages ® 10.1 MOVIDRIVE MDX61B with DIP11B/DEH21B option The factory set error response appears in the «Response (P)» column. (P) indicates that plus® the response is programmable (via IPOS Sub- Fault Response Designation error Designation…
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Page 55: Technical Data
Technical Data Electronics data DIP11B option Technical Data 11.1 Electronics data DIP11B option Description Function Connection binary inputs X60:1 … 8 DI10 … DI17 isolated via optocoupler, scanning time 1 ms, PLC compatible (EN 61131) Internal resistance = 3 kΩ, I = 10 mA Signal level (EN 61131) «1»…
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Page 56: Index
Index Index Mounting the DEH21B ……… 12 Mounting the DIP11B ……..12 Absolute encoder connection Terminal description of DEH21B ….16 General installation notes ……19 Terminal description of DIP11B ….15 Wiring diagrams and prefabricated cables …19 Installing and removing option cards ….13 Applicable absolute encoders …….8 IPOSplus®…
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Index Terminal description of DEH21B ……16 Terminal description of DIP11B ……15 Unit functions …………46 Diagnostics option in the Shell program ..48 Display values ……….47 Encoder evaluation ……..46 Functions relevant for absolute encoders ..46 Manual – MOVIDRIVE® MDX61B DIP11B / DEH21B Absolute Encoder Cards… -
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SEW-EURODRIVE – Driving the world… -
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Internet, available Anywhere. today. around the clock. SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 · D-76642 Bruchsal / Germany Phone +49 7251 75-0 · Fax +49 7251 75-1970 sew@sew-eurodrive.com www.sew-eurodrive.com…
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