Manual Bus Positioning Application Module, 21324190

*21324190_1114*Drive Technology \ Drive Automation \ System Integration \ Services

Manual

Bus Positioning Application ModuleFor MOVIFIT® FC – Function Level "Technology" with Fieldbus Interface for PROFINET IO, PROFIBUS or EtherNet/IP™

Edition 11/2014 21324190/EN

SEW-EURODRIVE—Driving the world

Contents

Manual – Bus Positioning Application Module 3

Contents1 General information .................................................................................................................. 5

1.1 About this documentation ............................................................................................... 51.2 Design of the safety notes .............................................................................................. 5

1.2.1 Meaning of signal words ................................................................................. 51.2.2 Structure of section-related safety notes ........................................................ 51.2.3 Structure of embedded safety notes ............................................................... 6

1.3 Right to claim under warranty ........................................................................................ 61.4 Exclusion of liability ........................................................................................................ 61.5 Product names and trademarks ..................................................................................... 71.6 Other applicable documentation .................................................................................... 71.7 Copyright ........................................................................................................................ 7

2 Safety notes ............................................................................................................................... 82.1 General .......................................................................................................................... 82.2 Target group ................................................................................................................... 82.3 Designated use .............................................................................................................. 92.4 Bus systems ................................................................................................................... 92.5 Short designation ........................................................................................................... 9

3 Project planning information.................................................................................................. 103.1 Requirements ............................................................................................................... 103.2 PC and software ........................................................................................................... 103.3 Controller ...................................................................................................................... 103.4 Encoder ........................................................................................................................ 103.5 Dual-motor operation ................................................................................................... 10

4 System description ................................................................................................................. 114.1 Area of application ....................................................................................................... 114.2 Profiles ......................................................................................................................... 11

5 Operating modes..................................................................................................................... 125.1 Jog mode ..................................................................................................................... 125.2 Referencing mode ........................................................................................................ 125.3 Positioning mode .......................................................................................................... 12

6 Cycle diagrams........................................................................................................................ 136.1 Jog mode ..................................................................................................................... 136.2 Referencing mode ........................................................................................................ 146.3 Positioning mode .......................................................................................................... 15

7 Startup...................................................................................................................................... 167.1 Preparing startup .......................................................................................................... 167.2 Starting the application module .................................................................................... 167.3 Setting the application module ..................................................................................... 18

7.3.1 General settings............................................................................................ 187.3.2 Scaling .......................................................................................................... 207.3.3 Monitoring ..................................................................................................... 217.3.4 Reference travel............................................................................................ 2421

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Manual – Bus Positioning Application Module4

8 Operation and diagnostics ..................................................................................................... 268.1 Monitor mode ............................................................................................................... 268.2 Control mode ................................................................................................................ 278.3 Diagnostics with the S12 safety option ........................................................................ 28

8.3.1 Description .................................................................................................... 288.3.2 S12 diagnostics view .................................................................................... 288.3.3 Structure of process data.............................................................................. 28

8.4 Extended process data word ........................................................................................ 30

9 Data management.................................................................................................................... 319.1 Activating data management ........................................................................................ 319.2 Structure of process data ............................................................................................. 33

10 Terminal assignment............................................................................................................... 34

11 Process data ............................................................................................................................ 3511.1 Overview ...................................................................................................................... 3511.2 Single-motor operation with 8 process data words ...................................................... 35

11.2.1 Process input data ........................................................................................ 3511.2.2 Process output data ...................................................................................... 37

11.3 Dual-motor operation with 14 process data words ....................................................... 3811.3.1 Process input data ........................................................................................ 3811.3.2 Process output data ...................................................................................... 40

Index ......................................................................................................................................... 42

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1General informationAbout this documentation


1 General information1.1 About this documentation

The documentation is part of the product and contains important information. The doc-umentation is for everyone who works with this product.The documentation must be accessible and legible. Make sure that persons responsi-ble for the system and its operation as well as persons who work independently with the software and the connected units of SEW-EURODRIVE have read through the manual carefully and understood it. If you are unclear about any of the information in this documentation or if you require further information, please contact SEW‑EURODRIVE.

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

The following table shows the grading and meaning of the signal words for safety notes.

Signal word Meaning Consequences if disregarded DANGER Imminent hazard Severe or fatal injuries.

WARNING Possible dangerous situation Severe or fatal injuries.

CAUTION Possible dangerous situation Minor injuries

NOTICE Possible damage to property Damage to the drive system or its environment.

INFORMATION Useful information or tip: Simplifies handling of the drive system.

1.2.2 Structure of section-related safety notesSection-related safety notes do not apply to a specific action but to several actions pertaining to one subject. The hazard symbols used either indicate a general hazard or a specific hazard.This is the formal structure of a safety note for a specific section:

SIGNAL WORD

Type and source of hazard.Possible consequence(s) if disregarded.• Measure(s) to prevent the hazard.

Meaning of the hazard symbols

The hazard symbols in the safety notes have the following meaning:

Hazard symbol MeaningGeneral hazard

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1 General informationRight to claim under warranty


Hazard symbol MeaningWarning of dangerous electrical voltage

Warning of hot surfaces

Warning of risk of crushing

Warning of suspended load

Warning of automatic restart

1.2.3 Structure of embedded safety notesEmbedded safety notes are directly integrated into the instructions just before the de-scription of the dangerous action.This is the formal structure of an embedded safety note:• SIGNAL WORD Type and source of hazard.

Possible consequence(s) if disregarded.

– Measure(s) to prevent the hazard.

1.3 Right to claim under warrantyA requirement of fault-free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the documentation at hand. There-fore, read the documentation before you start working with the software and the con-nected units from SEW-EURODRIVE.Make sure that the documentation is available to persons responsible for the machi-nery and its operation as well as to persons who work independently on the units. Also ensure that the documentation is legible.

1.4 Exclusion of liabilityPlease observe this documentation as well as the documentation for the software used and the SEW‑EURODRIVE devices connected. This documentation must be ob-served to ensure that the devices operate safely and that the specified product proper-ties and performance characteristics are achieved.

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1General informationProduct names and trademarks


SEW‑EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of the documentation. In such cases, SEW‑EURODRIVE assumes no liability for defects.

1.5 Product names and trademarksThe brands and product names in this documentation are trademarks or registered trademarks of their respective titleholders.

1.6 Other applicable documentationDepending on the respective fieldbus, observe one of the following applicable fieldbus manuals:

• For PROFIBUS: MOVIFIT® Function Level "Technology"• For PROFINET IO: MOVIFIT® Function Level "Technology" with PROFINET IO In-

terface• For EtherNet/IP™: Manual for MOVIFIT® function level "Technology" with

EtherNet/IP™ or Modbus/TCP interfaceAdditionally observe the following document if you use the "Dual-motor operation" special design:• Addendum to the operating instructions "MOVIFIT® FC Special Design for Dual-

Motor Operation"Always use the latest version of the documentation and software.Our documentation is available in various languages for download from the SEW homepage (www.sew‑eurodrive.com). If you are unclear about any of the information in this documentation, or if you require further information, consult SEW‑EURODRIVE.If required, you can order printed copies of the documentation from SEW‑EURODRIVE.

1.7 Copyright© 2014 – SEW‑EURODRIVE. All rights reserved.Unauthorized reproduction, modification, distribution or any other use of the whole or any part of this documentation is strictly prohibited.

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2 Safety notesGeneral


2 Safety notes2.1 General

The following basic safety notes are intended to prevent injury to persons and damage to property. The user must ensure that the basic safety notes are read and observed.Ensure that persons responsible for the machinery and its operation as well as per-sons who work independently have read through the documentation carefully and un-derstood it. If you are unclear about any of the information in this documentation or if you require further information, please contact SEW-EURODRIVE.The following safety notes refer to the use of the software. Also observe the supple-mentary safety notes in this documentation and in the documentation for the connec-ted units from SEW-EURODRIVE.This document does not replace the detailed documentation for the connected units. This documentation assumes that the user has access to and is familiar with the docu-mentation for all connected units from SEW-EURODRIVE.Never install or operate damaged products. Report any damage to the shipping com-pany immediately.Depending on the degree of protection, units may have live, uninsulated, and some-times moving or rotating parts, as well as hot surfaces during operation.Removing required covers without authorization, improper use or incorrect installation and operation may result in severe injury to persons, or damage to machinery. Consult the documentation for further information.

2.2 Target groupWork with the software in this solution may only be performed by adequately qualified personnel. Qualified personnel in this context are persons who have the following qualifications:

• Appropriate training in their relevant field.• Knowledge of this documentation and other applicable documentation.• SEW‑EURODRIVE recommends additional product training for products that are

operated using this software.All mechanical work on connected units is to be performed exclusively by adequately qualified personnel. Qualified personnel in the context of this documentation are per-sons familiar with the design, mechanical installation, troubleshooting and servicing of the product, who possess the following qualifications:• Training in mechanical engineering, e.g. as a mechanic or mechatronics technician

(final examinations must have been passed).• Knowledge of this documentation and other applicable documentation.All electrical work on connected units is to be performed exclusively by adequately qualified electricians. Qualified electricians in the context of this documentation are persons familiar with electrical installation, startup, troubleshooting and servicing of the product, who possess the following qualifications:

• Training in electrical engineering, e.g. as an electrician or mechatronics technician (final examinations must have been passed).

• Knowledge of this documentation and other applicable documentation.

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2Safety notesDesignated use


• Knowledge of the relevant safety regulations and laws.• Knowledge of all other standards, directives and laws named in this documenta-

tion.The above-mentioned persons must have the express authorization of the company to operate, program, configure, label and ground units, systems and circuits in accord-ance with the standards of safety technology.All work in the areas of transportation, storage, operation and waste disposal must be carried out by persons who are trained appropriately.

2.3 Designated useThe bus positioning application module is a single-axis application and used when var-iable positions must be approached with different speeds and ramps.The bus positioning application module is implemented with a decentralized MOVIFIT®

FC controller function level "Technology" with the following fieldbus interfaces:

• PROFIBUS• PROFINET IO• EtherNet/IP™

2.4 Bus systemsA bus system makes it possible to adapt frequency inverters and/or motor starters to the particulars of the machinery within wide limits. This results in the risk that a change of parameters that cannot be detected externally can result in unexpected, though not uncontrolled, system behavior.

2.5 Short designationThe following short designations are used in this documentation.

Type designation Short designationBus positioning application module Application module

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3 Project planning informationRequirements


3 Project planning information3.1 Requirements

Correct configuration and proper installation of the units are required for successfully starting up and operating the application modules with the Application Configurator.You find detailed configuration information in the documentation of the respective units (see chapter "Other applicable documentation").

3.2 PC and softwareIn order to use the application module, you require a PC with a Windows operating system and MOVITOOLS® MotionStudio (version 5.70 or higher).

3.3 ControllerThe application module is implemented with a decentralized MOVIFIT® FC controller function level "Technology" with the following fieldbus interfaces:

• PROFIBUS• PROFINET IO• EtherNet/IP™

3.4 EncoderThe application module is used with the EI7C built-in encoder.

3.5 Dual-motor operationObserve the following note for dual-motor operation.

INFORMATION• For the dual-motor operation, you need the special design "MOVIFIT® FC for dual-

motor operation". For detailed information refer to the addendum to the operating instructions "MOVIFIT® FC special design for dual-motor operation".

• In "dual-motor operation", you can only operate one motor at a time.

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4System descriptionArea of application


4 System description

4.1 Area of applicationThe application module is used for variable positions in conjunction with different speeds and ramps.Positioning is carried out via the built-in motor encoder or an optional distance encod-er. Only linear, absolute positioning is supported. You can work with user units.The following operating modes are supported:

• Jog mode• Referencing mode• Positioning mode

4.2 ProfilesThe application module has the following profiles.

Profile Scope of functions8 PD single-motor operation

2 process data words for the state of the controller

6 process data words for the motor

14 PD dual-motor operation

2 process data words for the state of the controller

6 process data words for motor 1

6 process data words for motor 2

INFORMATIONProfile "14 PD dual-motor operation".

• With the "14 PD dual-motor operation" profile, you can only operate one motor at a time.

The process data assignment for the profiles is listed in chapter "Process data".

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5 Operating modesJog mode


5 Operating modes5.1 Jog mode

In jog mode, you can move the drive independently of the other operating modes of the system.In jog mode, you can set the control bits "Jog+" or "Jog-" to move the drive clockwise or counterclockwise. It is not necessary to set the start bit.Speed and ramps are specified dynamically via the corresponding process data words.

5.2 Referencing modeThe referencing determines the reference point (machine zero) for positioning opera-tions. The dynamics parameters for reference travel types 3 and 4 are determined dur-ing startup.Referencing can be triggered by the hardware limit switch. Operating mode "Mode 2" is selected for the reference travel (see chapter "Process data" and "Terminal assign-ment"). Once the start bit has been set, the drive moves to the hardware limit switch specified during startup. Then the drive moves clear independently.

5.3 Positioning modePrior to positioning, you have to perform a reference travel. All positioning travels refer to the machine zero specified during referencing.The dynamics parameters as well as the target position are specified dynamically via the corresponding process data words. The drive moves once the start bit has been set. The bit "Target position reached" is set if the actual position does not deviate from the target position by more than the position window.

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6Cycle diagramsJog mode


6 Cycle diagrams6.1 Jog mode

The following figure shows the actual speed of the drive against the status of the input and output signals in jog mode.

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[1]

n

[2]

[3]

13213654027

n Actual speed[1] "Mode" input signal[2] Input signal "positive" (jog+)[3] Input signal "negative" (jog–)

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6 Cycle diagramsReferencing mode


6.2 Referencing modeThe following figure shows the actual speed of the drive against the status of the input and output signals in referencing mode.

123

[1]

n

[2]

[3]

[4]

13213983371

n Actual speed[1] "Mode" input signal[2] "Start" input signal[3] Input signal "HWLS"1)

[4] Input signal "drive referenced"1) HWLS = hardware limit switch

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6Cycle diagramsPositioning mode


6.3 Positioning modeThe following figure shows the actual speed of the drive against the status of the input and output signals in positioning mode.

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[1]

n

[2]

[3]

[4]

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n Actual speed[1] "Mode" input signal[2] "Start" input signal[3] Input signal "target position reached"[4] Input signal "target position"

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7 StartupPreparing startup


7 Startup7.1 Preparing startup

Perform the following steps before startup:

1. Check the installation of the MOVIFIT® and the encoder connection based on the installation notes in the corresponding documentation.

2. Connect MOVIFIT® to your PC or laptop.

3. Install the MOVITOOLS® MotionStudio engineering software on your PC or laptop.

4. Start the MOVITOOLS® MotionStudio engineering software.

For more information on starting the MOVITOOLS® MotionStudio engineering soft-ware, refer to the "MOVITOOLS® MotionStudio" manual.

7.2 Starting the application moduleProceed as follows:

ü MOVITOOLS® Motion Studio engineering software is started.

1. Select the relevant unit nodes.

2. Right-click to open the context menu.

3. Select the following menu command [Application modules] / [Bus positioning].

13237306635

ð The start window of the application module is displayed.

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7StartupStarting the application module


[1]

[2]

[3]

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No. Description[1] Use this button to monitor the application.

[2] Use this button to download the configuration.

[3] From this group, read the following data of the MOVI‑PLC® program in online and offline mode:

• Part number• Version• Release

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7 StartupSetting the application module


7.3 Setting the application module7.3.1 General settings

The following window is displayed.

[1]

[2]

[3]

[4]

[5]

[6]

[7]

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No. Description[1] The fieldbus address is displayed in this display field.

[2] Use this drop-down list to activate the configuration of an extended process data word:• Extended PD active• Extended PD not active

In single-motor operation, the extended process data word is set to the 9th po-sition as 9th process data word. In dual-motor operation, the extended process data word is set to the 15th position as 15th process data word.

[3] Select the timeout response in this drop-down list:

• No response

• Controller inhibit• Rapid stop (default setting)• Stop

[4] Select the operating mode in this drop-down list:• Single-motor operation (default setting)• Dual-motor operation (see following note)

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7StartupSetting the application module


No. Description[5] • Select the repositioning in this drop-down list (see following safety note):

– Activated (default setting)

The positive edge at the "in position" output signal causes the brake to apply. If the output signal "in position" is reset (e.g. by exceeding the tar-get position), repositioning is triggered.

– Deactivated

The positive edge at the "in position" output signal causes the brake to apply. However, this setting will not trigger a repositioning even if the target position is exceeded. Only a new starting edge triggers a new po-sitioning.

[6] Use this drop-down list to activate the diagnostics with S12 safety option:• Activated• Deactivated

For further information, refer to the chapter "Diagnostics with S12 safety op-tion".

[7] Use this button to go to the next step.

DANGERFalling of the hoist due to activated repositioning in "VFC&Hoist" operating mode.

Severe or fatal injuries.

• Disable the repositioning in "VFC&hoist" operating mode.

INFORMATIONDual-motor operation.

• The following windows show the startup in single-motor operation. If you select the dual-motor operation mode, the "scaling", "monitoring" and "reference travel" windows additionally comprise the edit boxes for the second drive (2. parameter set).– Enter the parameters of the second motor in the same way.

1. Make the required settings.

2. To go to the next step, use the button [7].

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7.3.2 ScalingThe following window is displayed.

[1]

[2]

[3]

[4]

[5]

[6]

[8]

[7]

[9]

[10]

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No. Description[1] Select the calculation scheme in this drop-down list:

• Motor shaft (default setting)• Drive wheel• Spindle

[2] Enter the value for the encoder resolution in [Inc/rev.] in this edit box. Range of values: 4 – 96 inc./rev.

[3] The gear ratio of the gear unit is displayed in this display field. With calculation scheme "drive wheel" or "spindle", enter the gear ratio of the gear unit here.

[4] Enter the gear ratio of the additional transmission in this edit box.

[5] Either the diameter or the spindle pitch is displayed in this display field. With calculation scheme "drive wheel" or "spindle", enter either the diameter or the spindle pitch here and select the relevant unit.

[6] With calculation scheme "motor shaft", you can read the unit of the velocity here.With calculation scheme "drive wheel" or "spindle", select the unit of the veloci-ty from the drop-down list:

• [rpm]• [mm/s]• [m/min]

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No. Description[7] After completing all entries, calculate the total scaling factors (numerator / de-

nominator) for "distance" and "velocity" with this button.

[8] If you do not use the button [7], enter the values (numerator / denominator) for the scaling factor "distance" in [Inc.] in this group. Range of values: 1 – 65535 inc.

[9] If you do not use the button [7], enter the values (numerator / denominator) for the scaling factor "velocity" in [rpm] in this group. Range of values: 1 – 65535 rpm.


INFORMATIONTo operate the application module with user-defined units, you must enter the corre-sponding scaling parameters. This includes the mechanical parameters of the drive train (gear unit ratio and shaft circumference) and the user-defined units that are used to calculated the scaling.

1. Select the required parameter.


7.3.3 MonitoringThe following window is displayed.

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[8]

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No. Description[1] Enter the monitoring time for the encoder monitoring in [ms] in this edit box.

INFORMATION The monitoring time is the interval in which the encoder signal regarding changes and direction is checked. With monitoring time = 0, the en-coder monitoring is disabled.

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No. Description[2] To create the message "in position", enter the value for the position window in

[inc.] in this edit box.

INFORMATION Recommended setting = 1/2 motor revolution.

[3] Activate or deactivate the hardware limit switch in this drop-down list (see sec-tion "hardware limit switch").

[4] Enter the value for the software limit switch CCW in [inc.] in this edit box.

[5] Enter the value for the software limit switch CW in [inc.] in this edit box.

[6] Enter the maximum motor speed for the positioning mode in [rpm] that is de-termined via the fieldbus into this edit box.

[7] Enter the maximum motor speed for the jog mode in [rpm] that is determined via the fieldbus into this edit box.


1. Set the required parameters (see sections "Position windows" and "Limit switches").


Position windowThe following figure illustrates the meaning of the position window.

[2]

[3]

[1]

27021603352002699

[1] In position[2] Target position[3] Position window

If the actual position is in the position window [3] when the monitoring function is ac-tive, this "in position" signal is issued. The signal is only revoked when the drive leaves the position window.

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Hardware limit switches• "Activated":

This setting activates monitoring of the positive and negative limits using hardware limit switches.

For the assignment of the input terminals with the hardware limit switches, refer to chapter "Process data" and "Terminal assignment".

• "Deactivated":

This setting deactivates the monitoring.When using the hardware limit switches, they have to be designed as NC contacts for wire-break protection reasons (low = limit switch contacted). In the travel range, the hardware limit switches are located after the software limit switches if such are used.Response when a hardware limit switch is reached:The axis is decelerated with the currently set ramp value. The inverter issues the error "Hardware limit switch reached" (F29). After an "error reset", the drive moves clear of the hardware limit switch with the retraction speed (reference velocity 2) and the error is deleted. The retraction speed is accelerated and decelerated with the values for "enable/rapid stop".

Software limit switchA value (≠ 0) in the respective field activates monitoring of the positive and negative limits using software limit switches. The permitted travel range is defined by the posi-tive and negative limits. In the travel range, the software limit switches are located before the hardware limit switches if such are used.Response when a software limit switch is reached:When the drive moves past a software limit switch in "jog" or "positioning" mode, the axis decelerates with the currently set ramp value. The application error message "CW software limit switch reached" (F78) or "CCW software limit switch reached" (F78) is issued. To clear the software limit switch and delete the error, you have to reset the error and initiate axis movement in the direction of the permitted travel range. The velocity, ac-celeration, and deceleration values of the selected operating mode apply.

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7.3.4 Reference travelThe following window is displayed.

[1]

[2]

[3]

[4]

[5]

[6]

[7]

13220587659

No. Description[1] Select the reference travel type in this drop-down list:

• Type 3: Limit switch CW• Type 4: Limit switch CCW• Type 5: No reference travel

[2] Enter the search velocity in [rpm] in this edit box.

INFORMATION If a reference cam is used for reference travel, the drive moves towards the reference cam with the search velocity and away from the reference cam with the retraction speed.

[3] Enter the retraction speed in [rpm] in this edit box.

[4] Enter the acceleration ramp in [rpm] in this edit box.

[5] Enter the deceleration ramp in [rpm] in this edit box.

[6] Enter the reference offset in [inc] in this edit box.

Based on the reference point that was determined during reference travel, you can now move the machine zero using the reference offset function.

The new machine zero is calculated according to the following formula:

Machine zero = reference position – reference offsetThe reference offset is given in user units.


Reference travel typeThe reference travel type defines how the reference travel is performed. This setting also defines the search direction in the individual referencing phases.

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The following reference travel types are available:

• Type 3: Limit switch CW– First search direction is CW.

– Reference point = Falling edge to the left of the CW limit switch.

– Machine zero = reference position + reference offset.• Type 4: Limit switch CCW

– First search direction is CCW.

– Reference point = Falling edge to the right of the CCW limit switch.

– Machine zero = reference position + reference offset.• Type 5: No reference travel

INFORMATION• All reference travel types require an enabled drive ready for operation.

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8 Operation and diagnosticsMonitor mode


8 Operation and diagnostics8.1 Monitor mode

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

[6][4]

[3]

[2]

[1]

[5]

[7]

13262804491

No. Meaning[1] This field shows the process input and output data in hexadecimal format.

[2] Use this button to switch to control mode.

[3] In this area, the process output data is displayed in plain text (see chapter "Process data").

[4] In this area, the extended control word is displayed in plain text.

INFORMATION If the configuration of the extended process data word is de-activated in the general settings, this group is not displayed (see chapter "Process data configuration").

[5] In this area, the process input data of the S12 safety option is displayed.

INFORMATION If diagnostics with S12 safety option is deactivated in the gen-eral settings, this group is not displayed (see chapter "Diagnostics with the S12 safety option").

[6] In this area, the extended status word is displayed in plain text.


[7] In this area, the process input data is displayed in plain text (see chapter "Process data").

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8Operation and diagnosticsControl mode


8.2 Control modeIn control mode, you can control the functions of the application module and change the state of the bit in the control word and the digital outputs.

[10]

[7][5]

[4]

[3]

[1]

[2]

[6]

[8]

[9]

13262794507

No. Meaning[1] This field shows the process input and output data in hexadecimal format.

[2] Use this button to transfer the changed setpoints to the MOVIFIT®.

[3] Use this button to switch to monitor mode.

[4] In this area, the process output data is displayed in plain text (see chapter "Process data").

[5] In this area, the extended control word is displayed in plain text.


[6] In this area, the process input data of the S12 safety option is displayed.

INFORMATION If diagnostics with S12 safety option is deactivated in the gen-eral settings, this group is not displayed (see chapter "Diagnostics with the S12 safety option").

[7] In this area, the extended status word is displayed in plain text.


[8] In this area, the process input data is displayed in plain text (see chapter "Process data").

[9] Use this button to set the controller inhibit.

[10] Use this button to stop the axis immediately via the rapid stop ramp.

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8 Operation and diagnosticsDiagnostics with the S12 safety option


8.3 Diagnostics with the S12 safety optionThe use of the S12 safety option with safe speed detection (SLS, SDI, SS1(c)) is not permitted with dual-motor operation (SD30).In single-motor operation, S12 with SLS is always possible.Diagnostics with S12 safety option is supported for the following MOVIFIT® units:

• MTF-P11A (PROFIBUS)• MTF-E21A (PROFINET)• MTF-E31A (EtherNet/IP™)

8.3.1 DescriptionS12 diagnostics provides status and diagnostics information of the S12 safety option on the "unsafe fieldbus part".If S12 diagnostics is activated, the process data (3PD) are automatically attached to the existing configuration.

8.3.2 S12 diagnostics viewOpening S12 diagnosticsProceed as follows:

1. Activate S12 diagnostics in the parameter settings.

2. Switch to monitor mode.

ð On the bottom of the monitor mode window, the following area is displayed.

[1]

[2]

[3]

9007212480445579

No. Description[1] This switch group shows the process data word PI1 (safety functions).

[2] This switch group shows the process data word PI2 (safety state).

[3] This display field shows the process data word PI2 (error number).

For detailed information on the process data, refer to chapter "Structure of process data".

8.3.3 Structure of process dataThe following tables show the structure of the process data words.

Process data DesignationPI1 Safety functions

PI2 Safety status

PI3 Error number: 0x0000

Error number as entire data word 0: no error

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8Operation and diagnosticsDiagnostics with the S12 safety option


Word Bit FunctionPI1 0 STO active

1 STO error

2 SS1(a) active

3 SS1(c) active

4 SLS0 active

5 SLS1 active

6 SLS2 active

7 SLS3 active

8 FDO-STO

9 FDO-0

10 FDO-1

11 Reserved

12 Reserved

13 Reserved

14 Reserved

15 Reserved

Word Bit FunctionPI2 0

S12 status:

0: Init

1: Parameterization

2: Verified

3: Start

4: RUN

5: STOP

1

2

3

4

5

6

7

8 FDI-0

9 FDI-1

10 FDI-2

11 FDI-3

12 FDI-4

13 FDI-5

14 FDI-6

15 FDI-7

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8 Operation and diagnosticsExtended process data word


8.4 Extended process data wordIn the general settings, you can configure an extended process data word.In single-motor operation, the extended process data word is set to the 9th position as 9th process data word. In dual-motor operation, the extended process data word is set to the 15th position as 15th process data word.

Configuring extended process data wordProceed as follows:

1. Activate the configuration of an extended process data word in the general settings (see chapter "General settings").

2. Switch to monitor mode.

ð The following window is displayed.

[1]

[2]

[4][5]

[3][6]

13236837387

No. Description[1] Bit 0 if the extended status word (reserved).

[2] Use this button to show or hide the meanings of the single bits of the extended status word.

[3] This group shows the extended status word.

[4] Use this button to show or hide the meanings of the single bits of the extended control word.

[5] Bit 0 of the extended control word (download data set).

[6] This group shows the extended control word.

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9Data managementActivating data management


9 Data managementThe data management function is available for MOVIFIT® FC units with the following fieldbus interfaces:

• PROFIBUS• PROFINET• EtherNet/IP™To enable data management, the application module must be installed on the EBOX1) .This has the following reasons:• Data management can only store the application and unit parameters on the

ABOX2) . The boot project cannot be stored on the ABOX because the memory space is too small.

INFORMATIONTo ensure correct execution of the data management function, the MOVIFIT® units must be operated in expert mode (see MOVIFIT® FC manual). To activate data man-agement and the control via fieldbus, an upload from the data management surface in MOVITOOLS® MotionStudio must be performed once.

1) Active electronics unit2) Passive connection unit

9.1 Activating data managementProceed as follows:

ü The application module is already installed on the EBOX.

1. Start MOVITOOLS® MotionStudio engineering software.

2. Open the data management surface.

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9 Data managementActivating data management


3. To switch to the upload function, click the button [1].

[1]

13176169483

ð The following window is displayed.

[1]

[2]

[3]

18014411685656331

No. Description[1] If this check box is checked, the control of the data management via process

data is enabled after successful upload.

INFORMATION This is only possible if the extended process data word is con-figured.

[2] If the check box [Auto reload] is checked, the application and unit parameters are automatically reloaded after a unit replacement.

[3] Click this button to start the upload.

4. Activate the required functions.

5. Click the button [3] and perform an upload once.

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9Data managementStructure of process data


9.2 Structure of process dataThe following tables show the structure of the process data words.

Process data DesignationPO Extended control word

PI Extended status word

Word Bit FunctionPO 0 Download dataset

1 Upload dataset

2 Upload data set with auto reload

3 Reserved

4 Reserved

5 Reserved

6 Reboot system

7 Digital output DO00




11 – 15 Reserved

Word Bit FunctionPI 0 Reserved

1 Toggle bit

2 Data management done

3 Data management busy

4 Dataset available

5 Auto reload configured

6

7

8

9

10

11 – 15

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10 Terminal assignment


10 Terminal assignmentThe following table shows the assignment of the digital inputs.

Input FunctionDI00 Motor 1: CW hardware limit switch

DI01 Motor 1: Hardware limit switch CCW

DI02 Motor 2: Hardware limit switch CW (dual-motor operation)

DI03 Motor 2: Hardware limit switch CCW (dual-motor operation)

DI04 Motor 1: HTL encoder track A

DI05 Motor 1: HTL encoder track B

DI06 Motor 2: HTL encoder track A (dual-motor operation)

DI07 Motor 2: HTL encoder track B (dual-motor operation)

DI08-DI15 Reserved

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11Process dataOverview


11 Process data11.1 Overview

The following table shows the process data assignment depending on the selected profile (see chapter "Profiles").

Profile Process data assignmentProcess input data Process output data

8 PD

(Single-motor op-eration)

PI1 = Reserved

PI2 = 4DO

PO1 = Status

PO2 = 16DI

PI3 = Motor1: Control word

PI4 = Motor1: Target position (high word)

PI5 = Motor1: Target position (low word)

PI6 = Motor1: Setpoint velocity

PI7 = Motor1: Acceleration ramp

PI8 = Motor1: Deceleration ramp

PO3 = Motor1: Status word

PO4 = Motor1: Actual position (high word)

PO5 = Motor1: Actual position (low word)

PO6 = Motor1: Actual velocity

PO7 = Motor1: Output current

PO8 = Motor1: Reserved

14 PD

(Dual-motor oper-ation)

PI1 = Reserved

PI2 = 4DO

PO1 = Status

PO2 = 16DI

PI3 = Motor2: Control word

PI4 = Motor2: Target position (high word)

PI5 = Motor2: Target position (low word)

PI6 = Motor2: Setpoint velocity

PI7 = Motor2: Acceleration ramp

PI8 = Motor2: Deceleration ramp

PO3 = Motor2: Status word

PO4 = Motor2: Actual position (high word)

PO5 = Motor2: Actual position (low word)

PO6 = Motor2: Actual velocity

PO7 = Motor2: Output current

PO8 = Motor2: Reserved

11.2 Single-motor operation with 8 process data words11.2.1 Process input data

The following table shows the process input data from the PLC to the MOVIFIT® for fieldbus control with 8 process data words.

Word Bit FunctionPI1 0-15 Reserved

PI2 0 Digital output DO00




4-15 Reserved

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11 Process dataSingle-motor operation with 8 process data words


Word Bit FunctionPI3 0 /Controller inhibit 0 = Enable

1 = Controller inhibit

1 Enable/rapid stop 0 = Rapid stop

1 = Enable

2 Enable/stop 0 = Stop

1 = Enable

3 Reserved

4 Reserved

5 Reserved

6 Error reset

7 Reserved

8 Start

9 Jog+

10 Jog-

11 Mode 20 00 = operating mode 0: Reserved

01 = operating mode 1: Jog mode

10 = operating mode 2: Referencing mode

11 = operating mode 3: Positioning mode

12 Mode 21

13 Reserved

14 Release brake without drive enable

15 Deactivate SWLS1) 0 = SWLS activated

1 = SWLS deactivated

PI4 0-15 Target position (high word) [user-defined unit]

PI5 0-15 Target position (low word) [user-defined unit]

PI6 0-15 Setpoint speed [user-defined unit]

PI7 0-15 Acceleration ramp [ms] for 0 – 1500 rpm

PI8 0-15 Deceleration ramp [ms] for 0 – 1500 rpm1) SWLS = software limit switch

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11Process dataSingle-motor operation with 8 process data words


11.2.2 Process output dataThe following table shows the process output data from the MOVIFIT® to the PLC for fieldbus control with 8 process data words.

Word Bit FunctionPO1 0 Maintenance switch (mains OFF)

1 Undervoltage 24 V-S (sensor supply)

2 Inverter voltage not applied (24 V_P) (power section)

3-6 Reserved

7 MOVIFIT® system fault

8 Overload actuator voltage DO00




12 Overload voltage supply group 1




PO2 0-15 Digital input DI00-DI15

PO3 0 Motor is running

1 Inverter ready

2 Drive referenced

3 Target position reached

4 Reserved

5 Inverter error

6 CW hardware limit switch

7 Hardware limit switch CCW

8-15 Code for status/warning/error of the inverter1)

PO4 0-15 Actual position (high word) [user-defined unit]

PO5 0-15 Actual position (low word) [user-defined unit]

PO6 0-15 Actual speed [user-defined unit]

PO7 0-15 Output current [%] of IN of the inverter

PO8 0-15 Reserved1) For a detailed description, refer to the applicable documentation of the unit.

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11 Process dataDual-motor operation with 14 process data words


11.3 Dual-motor operation with 14 process data words11.3.1 Process input data

The following tables show the process input data from the PLC to the MOVIFIT® for fieldbus control with 14 process data words.

Word Bit FunctionPI1 0-15 Reserved

PI2 0 Digital output DO00




4-15 Reserved



1 Enable / rapid stop 0 = Rapid stop

1 = Enable


1 = Enable

3 Reserved

4 Reserved

5 Reserved

6 Error reset

7 Reserved

8 Start

9 Jog+

10 Jog-





12 Mode 21

13 Reserved








Motor 1

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11Process dataDual-motor operation with 14 process data words


Word Bit FunctionPI8 0-15 Deceleration ramp [ms] for 0 – 1500 rpm1) SWLS = software limit switch



1 Enable/rapid stop 0 = Rapid stop

1 = Enable


1 = Enable

3 Reserved

4 Reserved

5 Reserved

6 Error reset

7 Reserved

8 Start

9 Jog+

10 Jog-





12 Mode 21

13 Reserved








PI14 0-15 Deceleration ramp [ms] for 0 – 1500 rpm1) SWLS = software limit switch

Motor 2

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11 Process dataDual-motor operation with 14 process data words


11.3.2 Process output dataThe following tables show the process output data from the MOVIFIT® to the PLC for fieldbus control with 14 process data words.

Word Bit FunctionPO1 0 Maintenance switch (mains OFF)

1 Undervoltage 24 V-S (sensor supply)

2 Inverter voltage not applied (24 V_P) (power section)

3-6 Reserved

7 MOVIFIT® system fault









PO2 0-15 Digital input DI00-DI15

Word Bit FunctionPO3 0 Motor is running

1 Inverter ready

2 Drive referenced


4 Reserved

5 Inverter error









Motor 1

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11Process dataDual-motor operation with 14 process data words


Word Bit FunctionPO9 0 Motor is running

1 Inverter ready

2 Drive referenced


4 Reserved

5 Inverter error









Motor 2

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Index

IndexA

Application module, characteristics (general) ... 0

B

Bus system............................................................. 9

C

Control mode........................................................ 27Copyright................................................................ 7Cycle diagram

Jog mode ........................................................ 13Positioning mode ............................................ 15Referencing mode........................................... 14

D

Data managementDescription ...................................................... 31Structure of process data................................ 33

Designated use ...................................................... 9Diagnostics with the S12 safety option

Structure of process data................................ 28Use.................................................................. 28

Documents, applicable........................................... 7Drive configuration ............................................... 18

E

Embedded safety notes ......................................... 6Exclusion of liability ................................................ 6

F

Fieldbus address.................................................. 18

G

Gear ratio, scaling parameters............................. 20

H

Hazard symbolsMeaning ............................................................ 5

Homing parameters.............................................. 24

L

Liability ................................................................... 6Liability for defects ............................................. 6, 7Limit switch, monitoring........................................ 21

M

Monitor mode ....................................................... 26Monitoring ............................................................ 21MOVITOOLS® MotionStudio

Installation....................................................... 16

N

NotesDesignation in the documentation..................... 5Meaning of the hazard symbols ........................ 5

O

Other applicable documentation ............................ 7

P

Position monitoring, monitoring............................ 21Process data assignment..................................... 35Process input data ............................................... 35Process output data ............................................. 35Product names....................................................... 7

R

Retraction speed.................................................. 25

S

Safety notes ........................................................... 8Designation in the documentation..................... 5General ............................................................. 8Structure of embedded ..................................... 6Structure of the section-related......................... 5

Scaling parameters .............................................. 20Search velocity..................................................... 25Section-related safety notes................................... 5Setting the operating mode.................................. 18Setting the parameter set..................................... 18Signal words in the safety notes ............................ 5Software

Advantages .................................................. 0Description ................................................... 0Features....................................................... 0

Starting the application module............................ 16Startup

Preparation ..................................................... 16

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Index

T

Target group........................................................... 8Terminal assignment............................................ 34Timeout response ................................................ 18Trademarks ............................................................ 7

W

Warning notesMeaning of the hazard symbols ........................ 5

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