MOVIDYN Servo Controller - glob · PDF file(i.e. the servo controller) ... The application examples are described both in graphic form as well as in Simatic-S5 ... ramp generator times

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MOVIDYN®

Servo Controller

Fieldbus Unit Profile

User Manual

Edition 04/96

Important Notes

● Read this user manual carefully before you start installation and commissioning work onMOVITRAC® servo controllers with fieldbus options.This user manual assumes that the user is familiar with and has at his disposal all relevantdocumentation on the system, particularly the MOVIDYN® Installation and Operating Instructions.

● Safety notes:Always follow the safety notes contained in this user manual.Safety notes are marked as follows:

Electrical hazard, e.g. when working with live voltage.

Mechanical hazard, e.g. when working on hoists

Important instructions for the safe and fault-free operation of the system, e.g.pre-setting before commissioning.

Failure to follow these instructions may result in injury to people and damage toproperty.

● General safety notes for bus systems:

The fieldbus option gives you a communications system, which allows you to match theMOVIDYN® drive system to the specifics of your application to a very high degree. As with all bussystems there is, however, the risk of parameters being changed, which will not show outside(i.e. the servo controller) but affect the behaviour of the servo controller. This may result inunexpected (though not uncontrolled) system behaviour.

● In these instructions, cross-references are marked with a →, e.g.,(→ MC_SHELL) means: Please refer to the MC_SHELL User Manual for detailed information orinformation on how to carry out this instruction.(→ section x.x) means: Further information can be found in section x.x of this user manual.

● Each unit is manufactured and tested to current SEW-EURODRIVE technical standards andspecifications.

The manufacturer reserves the right to make changes to the technical data and designs as wellas the user interface herein described, which are in the interest of technical progress.

A requirement for fault-free operation and fulfilment of any rights to claim under guarantee is thatthese instructions and notes are followed.

These instructions contain important information for servicing, they should therefore be kept nearthe unit.

Important notes

2 MOVIDYN ® Fieldbus Unit Profile

Fieldbus Documentation

This Fieldbus Unit Profile User Manual describes the operation of the MOVIDYN® 51.. servocontroller when connected to a higher-level automation system via a fieldbus option pcb. In additionto descriptions of all the fieldbus parameters, the various control concepts and potential applicationsare dealt with. The application examples are described both in graphic form as well as in Simatic-S5syntax. These application examples can be used with almost all fieldbus option pcbs that fit theMOVIDYN®51.. servo controller.

In addition to this Fieldbus Unit Profile User Manual, the following more detailed documentation onfieldbuses is also necessary in order to enable the MOVIDYN® 51.. to be connected simply andefficiently to the fieldbus system (e.g. PROFIBUS-DP, PROFIBUS-FMS, INTERBUS-S, CAN etc.):

- Corresponding fieldbus option pcb user manual

- PROFIBUS-DP/FMS (AFP 11A option)

- INTERBUS-S (AFI 11A option)

- CAN (AFC 11A option)

- MOVIDYN® 51.. Parameter List

The AFP 11A PROFIBUS Option User Manual describes the installation and commissioning of theAFP 11A PROFIBUS option pcb and gives further examples of applications specifically for setting theservo controller parameters via PROFIBUS-DP and PROFIBUS-FMS.

The AFI 11A INTERBUS-S Option User Manual describes the installation and commissioning of theAFI 11A INTERBUS-S option pcb and gives further examples of applications specifically for settingthe servo controller parameters via INTERBUS-S.

The AFC11A “CAN-bus” Option User Manual describes the installation and commissioning of theAFC11A option pcb and gives further examples of commissioning for connecting the servo controllerto the CAN bus.

The MOVIDYN ® 51.. Parameter List contains a list of all the servo controller’s parameters that canbe read or written via the various communication interfaces such as the RS-232, RS-485 and via thefieldbus interface.

Fieldbus Documentation

MOVIDYN ® Fieldbus Unit Profile 3

Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2 Overview of Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3 Process Data Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3.1 Commissioning the Servo Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103.2 Process Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123.3 Process Data Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.3.1 Setpoint Description for the PO Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133.3.1.1 No Function (NO FUNCTION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143.3.1.2 Speed Setpoint (SPEED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143.3.1.3 Current Setpoint (CURRENT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153.3.1.4 Position Setpoint (POSITION LO/HI) . . . . . . . . . . . . . . . . . . . . . . . . . . 153.3.1.5 Speed Limit (MAX. SPEED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163.3.1.6 Current Limit (MAX. CURRENT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163.3.1.7 Slip Compensation (SLIP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163.3.1.8 Process Ramp (RAMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163.3.1.9 Control Word 1 / Control Word 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173.3.1.10 Factory Setting for the PO1-PO3 Setpoint Description . . . . . . . . . . . . 17

3.3.2 PO Data Processing in the Servo Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173.3.2.1 No Speed Setpoint Entry from the Fieldbus System . . . . . . . . . . . . . . 183.3.2.2 No Control Word Entry from the Fieldbus . . . . . . . . . . . . . . . . . . . . . . 183.3.2.3 Duplicate Usage of the Process Output Data Channel . . . . . . . . . . . . . 183.3.2.4 Simultaneous Transmission of Control Word 1 and Control Word 2 . 183.3.2.5 32-Bit Process Output Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3.3.3 Actual Value Description for the PI Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.3.3.1 No Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.3.3.2 Speed Actual Value (SPEED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.3.3.3 Apparent Current Actual Value (APPARENT CURRENT) . . . . . . . . . . . 203.3.3.4 Active Current Actual Value (ACTIVE CURRENT) . . . . . . . . . . . . . . . . 203.3.3.5 Actual Position (POSITION LO/HI) . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.3.3.6 Status Word 1 / Status Word 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.3.3.7 Factory Setting of the PI1-PI3 Actual Value Description . . . . . . . . . . . 20

3.3.4 Enable Fieldbus Setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203.3.4.1 Enable Factory Setting of the Fieldbus Setpoints Parameter . . . . . . . 21

3.3.5 Scaling of the Process Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213.3.5.1 Scaling of the Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.3.5.2 Scaling of the Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.3.5.3 Scaling of the Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233.3.5.4 Scaling of the Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3.4 Definition of the Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.4.1 Basic Control Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.4.1.1 Controlling the Servo Controller with a 0-2 bit . . . . . . . . . . . . . . . . . . . . . . . . . . 273.4.1.2 Activating the Hold Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293.4.1.3 Selecting the Effective Ramp Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293.4.1.4 Resetting the Servo Controller after a Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Contents


3.4.2 Control Word 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303.4.3 Control Word 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.5 Definition of the Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313.5.1 Basic Status Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.5.1.1 The Controller Enabled Status Bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323.5.1.2 The Ready for Operation Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323.5.1.3 The Fieldbus Mode Active Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333.5.1.4 Active Ramp Generator Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333.5.1.5 Fault/Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333.5.1.6 Limit Switch RIGHT/LEFT Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.5.2 Status Word 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343.5.3 Status Word 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.6 Active Input Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363.7 Active Output Terminal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4 Monitoring Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

4.1 Fieldbus Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384.2 Timeout Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

4.2.1 Rapid Stop with Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.2.2 Emergency Stop with Warning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.2.3 Immediate Switch-off with Warning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.2.4 Rapid Stop with Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.2.5 Emergency Stop with Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394.2.6 Immediate Switch-off with Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.2.7 Switching to Standard Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404.2.8 No Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

4.3 Fault Fieldbus Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5 Servo Controller Parameter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

5.1 Parameter Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425.1.1 Index Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425.1.2 Data Length/Coding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

5.2 Reading a Parameter (READ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435.3 Writing a Parameter (WRITE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435.4 Instructions to the User when Adjusting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

5.4.1 Factory Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455.4.2 Saving to EEPROM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455.4.3 Parameter Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465.4.4 Download Parameter Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.5 Parameter Adjustment Return Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465.5.1 Error Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475.5.2 Error Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475.5.3 Additional Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475.5.4 Special Return Codes (Special Cases) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Contents


6 Diagnosis Using the Fieldbus Monitor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

6.1 Diagnosis of Process Output Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496.2 Diagnosis of Process Input Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506.3 MD_SHELL Fieldbus Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

6.3.1 Diagnosis Using the Fieldbus Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516.3.2 Control Using the Fieldbus Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

6.4 Verification of Parameter Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526.5 Information about the Fieldbus Option PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

6.5.1 Process Data Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526.5.2 Fieldbus Option PCB Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526.5.3 Fieldbus Baud Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536.5.4 Fieldbus Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

7 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

7.1 Control using Control Word 1 and Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547.1.1 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547.1.2 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557.1.3 S5 Application Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577.1.4 Set Start-up Parameters via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

7.2 Control Using Control Word 1 / Speed / Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597.2.1 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607.2.2 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607.2.3 S5 Application Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637.2.4 Set Start-up Parameters via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

7.3 Positioning Using IPOS via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657.3.1 Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657.3.2 Implementation Options Using IPOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667.3.3 Process Data Description for Positioning Mode . . . . . . . . . . . . . . . . . . . . . . . . . 667.3.4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677.3.5 S5 Application Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Contents


1 Introduction

Fieldbus systems are increasing in significance in mechanical and industrial engineering. Not onlycan they bring about considerable savings in installation and maintenance costs, but they also offeran ideal way of creating a digital network of intelligent sensors and actuators with higher-levelautomation systems such as programmable logic controllers (PLCs), industrial PCs (IPCs), etc.

Because of the large number of bus systems available on the market, designers and constructors ofindustrial plants are these days often required to have a knowledge of more than one system as it isincreasingly the end user who decides which fieldbus system is to be used in the plant. Consequently,a universally applicable fieldbus interface which can support different fieldbus systems, is an absolutenecessity for field equipment at sensor/actuator level.

The commissioning and diagnostic facilities of the fieldbus systems are another major point. Thesedays, diagnosis is generally made via the master module or via specific bus monitors (which canoften only be operated by specialists), so intelligent field equipment should also provide extremelysimple fieldbus diagnostic facilities.

The SEW MOVIDYN® 51.. servo controllers meet these requirements and can be linked to systemssuch as the open, standardized serial bus systems PROFIBUS-DP, PROFIBUS-FMS, INTERBUS-S orCAN by using different fieldbus option pcbs. The MOVIDYN® 51.. also enables connections to otherfieldbus systems to be made thanks to the powerful, universal structure of its fieldbus interface.

A major feature of the MOVIDYN® 5 1 .. servo controller is the fieldbus-independent, uniformbehaviour of the unit (unit profile) when controlled via a fieldbus. Because it operates independentlyof the fieldbus, it enables plant constructors and PLC programmers to use different fieldbus systemswith almost the same applications program, i.e. the actual application concept and program can beimplemented very easily with different fieldbus systems.

Introduction 1


2 Overview of Functions

Thanks to its high-performance, universal fieldbus interface, the MOVIDYN® 51.. servo controllerenables connections to be made with higher level automation systems via a wide range of fieldbuses,such as INTERBUS-S, PROFIBUS-DP, PROFIBUS-FMS or CAN. The underlying behaviour of the servocontroller, known as the unit profile, is independent of the fieldbus and is thus uniform.

MOVIDYN® 51.. offers digital access to all drive parameters and functions via the fieldbus interface.The servo controller is controlled by the high-speed cyclic process data. This process data channelprovides the facility to specify setpoints such as setpoint speeds, ramp generator times foracceleration and deceleration etc., as well as various drive functions such as enable, controller inhibit,stop, rapid stop, etc. to be triggered. This channel can also be used to read back actual values fromthe servo controller, such as actual speed, current, unit status, error number or reference messages.

Whereas process data is generally exchanged in cycles, the drive parameters can also be read andwritten acyclically via functions such as READ and WRITE. This exchange of parameter data enablesapplications where all major drive parameters are stored in the higher-level automation unit to beimplemented, thus avoiding manual adjustment of parameters on the servo controller itself, whichcan often be very time-consuming.

The fieldbus option pcbs are designed so that all settings specific to the fieldbus, such as the fieldbusaddress, can be made on the option pcb by means of a hardware switch. These manual settingsenable the servo controller to be integrated into the fieldbus and switched on in a very short spaceof time. Parameters can be set fully automatically by the higher-level fieldbus master (parameterdownload). This forward-looking version offers the benefits of a shorter commissioning period forthe plant as well as simpler documentation of the application program, as all major drive parameterdata can now be recorded directly in the control program.

Overview of Functions2

SEWEURODRIVE

SEWEURODRIVE

SEWEURODRIVE

SEWEURODRIVE

SEWEURODRIVE

Analogue I/ODigital I/O

Visualization

Fig. 1: Typical bus configuration in a field environment MD0243AE


The use of a fieldbus system in drive technology requires additional monitoring functions, such asfieldbus timeout or special emergency stop concepts. The monitoring functions of the MOVIDYN®

51.. can be matched to the specific application for which it is to be used. This feature enables you,for instance, to specify which error response the servo controller should trigger if an error shouldoccur in the bus. A rapid stop will be practical for many applications, but you can also freeze the lastsetpoints, so that the drive can continue with the last valid setpoints (e.g. conveyor belt). As thefunctionality of the control terminals is also ensured when the servo controller is operated in thefieldbus mode, you can still implement fieldbus-independent emergency stop concepts via the servocontroller’s terminals.

The MOVIDYN® 51.. servo controller offers numerous diagnostic facilities for commissioning andservicing. For instance, both the setpoints transmitted from the higher-level control unit as well asthe actual values can be checked with the integrated fieldbus monitor. Furthermore it provides youwith a lot of additional information on the status of the fieldbus option pcb. Together with the PCsoftware MD_SHELL the fieldbus monitor function offers you even more convenient diagnosticfacilities in that it provides a detailed display of the fieldbus and unit status information as well as thefacility to set all the drive parameters (including the fieldbus parameters).

Overview of Functions 2


3 Process Data Control

By Process Data (PD) we mean all time-critical (real time) data in a process which have to beprocessed or transferred at high speed. These data are characterized by the fact that they are highlydynamic and always up to date. Examples of process data are setpoints and actual values of the servocontroller, or peripheral conditions of limit switches. They are exchanged in cycles between theautomation unit and the servo controller.

Control of the MOVIDYN® 51.. servo controller by means of process data takes place on the fieldbussystem.

The process data interfaces for Process Input (PI) and Process Output (PO) should be treatedseparately. Process input data (PI) are data that are transmitted from the servo controller to thehigher-level automation unit (e.g. status information, actual values, etc.). Process output data (PO)are data that are output to the servo controller by the automation unit (e.g. setpoints, controlcommands, etc.).

3.1 Commissioning the Servo Controller

Parameters can be assigned to the MOVIDYN® servo controller via the fieldbus system immediatelyafter the fieldbus option pcb has been installed; no further settings are necessary. Amongst otherthings, this enables all parameters to be set by the higher-level automation unit after switching onthe servo controller.

To control the servo controller via the fieldbus system, however, the latter must first be switched tothe relevant setpoint source. This can be done with the parameter P110 Setpoint Source = FIELDBUS.After the servo controller is set to the factory settings, this parameter is set to ANALOGUE INPUT.The servo controller parameters are set to accept the setpoints from the fieldbus with the settingFIELDBUS. The MOVIDYN servo controller will now respond to the process output data transmittedby the higher-level automation unit.

Activation of the FIELDBUS setpoint source is signalled to the higher-level control by means of theFieldbus Mode Active bit in the status word.

For safety reasons, the servo controller must also be enabled on the terminal side in order for it tobe controlled via the fieldbus system. The terminals should therefore be wired or programmed sothat the servo controller is enabled via the input terminals. The simplest method of enabling the servocontroller via the terminals is to provide input terminal X21.5 (/CONTROLLER INHIBIT function) witha +24V signal and program input terminals X21.6-8 to NO FUNCTION. Fig. 2 demonstrates how theMOVIDYN® 51.. servo controller is commissioned with a fieldbus connection.

Process Data Control3


0V24

123456789

101112 +24V

X21:

MAS51..MKS51..

P302 MA (X21.8) = NO FUNCTIONP301 MA (X21.7) = NO FUNCTIONP300 MA (X21.6) = NO FUNCTION

P110 Setpoint source = FIELDBUS

Program the setpoint source to FIELDBUS to control the servocontroller via fieldbus.

4. Setpoint Source = FIELDBUS

Program input terminals X21.6, X21.7 and X21.8 to NO FUNCTION3. Input terminals X21.6 - 8 = NO FUNCTION

Switch on only the external 24V supply (not the mains supply!) toreprogram the servo controller to setpoint source "FIELDBUS"despite the installed jumper.

2. Switch on the 24V supply

No functionNo function

/Controller inhibitNo functionUse this jumper

to enable theoutput stage viathe terminals!

Apply a + 24V signal to input terminal X21.5 (function/CONTROLLERINHIBIT) (e.g. via jumper).

1. Enable the output stage on the terminal side

Fig. 2: Commissioning the MOVIDYN® 51.. servo controller MD0244AE

3Process Data Control


3.2 Process Data Configuration

The MOVIDYN® 51.. servo controller can be controlled via the fieldbus system with one, two or threeprocess data words. The number of process input data (PI) and process output data (PO) is identical.

The process data configuration settings are made via the fieldbus option pcb, either through thehardware switches or via the fieldbus master at the start-up of the bus system (e.g. PROFIBUS-DP).The servo controller automatically receives the right setting from the fieldbus option pcb.

You can check the current process data configuration in the menu item P090 Process DataConfiguration by means of the fieldbus monitor of the MD_SHELL PC program (Fig. 4).

Depending on the type of fieldbus option pcb used, PD configurations according to Table 1 can beused.

Process data configuration

1 process data word + parameter channel 1PD+PARAM

1 process data word 1PD

2 process data words + parameter channel 2PD+PARAM

2 process data words 2PD

3 process data words + parameter channel 3PD+PARAM

3 process data words 3PD

Table 1: Process data configuration for MOVIDYN® 51..

The parameter channel (PARAM) is only of significance for fieldbus systems without layer 7functionality, e.g. PROFIBUS-DP. Only the number of process data (i.e. 1PD..., 2PD... or 3PD...) isof interest when controlling the servo controller by means of process data.

When programmable logic controllers are used as fieldbus masters, the process data are generallysent directly to the I/O or peripheral area. The I/O or peripheral area in the PLC must therefore makesufficient memory space available for the servo controller process data (Fig. 5). Addresses are usuallyallocated between the servo controller process data and the PLC address area on the fieldbus mastermodule.

P D1 PD 2 P D 3

P D1 PD 2 P D 3

SEWEURODRIVE

SEWEURODRIVE

Process input data (PI)

Process output data (PO)

Fig. 3: Process data channel for the MOVIDYN® 51.. servo controller MD0245AE

Process data configuration 3PD + PARAM090

Fig. 4: Process data configuration MD0246AE



3.3 Process Data Description

The process data description defines the content of the process data to be transmitted. All threeprocess data words can be assigned individually by the user. In general, the process input data andthe process output data are handled separately. This enables you to specify which process outputdata (setpoints) are to be transmitted to the servo controller from the control unit, and which processinput data (actual values) are to be transferred from the MOVIDYN® 51.. servo controller in theopposite direction to the higher-level control unit for your particular application. The following sixfieldbus parameters are available for defining the individual process data:

P780 PO1 Setpoint DescriptionP781 PI1 Actual Value DescriptionP782 PO2 Setpoint DescriptionP783 PI2 Actual Value DescriptionP784 PO3 Setpoint DescriptionP785 PI3 Actual Value Description

When one of the above-mentioned parameters is changed, acceptance of the process output data forsetpoint processing via the fieldbus is automatically blocked. The process output data received willnot be processed according to the new actual value and setpoint descriptions until the fieldbusparameter

P790 Enable Fieldbus Setpoints = YES

is re-activated (see also Section 3.3.4).

3.3.1 Setpoint Description for the PO Data

The PO1 - PO3 Setpoint Description parameters define the content of the process output data words,which are sent via the fieldbus system from the higher-level automation unit (Fig. 6). Each processoutput data word is defined by its own parameter, so altogether three fieldbus parameters offeringthe same options are available to describe the process output data.

OW 40OW 42

PD3PD2PD1

P D1 PD2 P D3

P D 1 P D 2 P D 3

OW 44

I W 40I W 42

PD3PD2PD1

I W 44

SEWEURODRIVE

SEWEURODRIVE

PLC address area



Fig. 5: Process data mapping in the PLC MD0247AE



Process output data words PO1, PO2 and PO3 are used to transmit the setpoints listed in Table 2through the process output data channel. 32-bit values, such as e.g. position values, are transmittedin two process data words. You may decide yourself in which process data word you wish to transmitthe more significant part (high) and the less significant part (low) respectively.

NO FUNCTION

SPEED

CURRENT

POSITION LO

POSITION HI

MAX. SPEED

MAX. CURRENT

SLIP

RAMP

CONTROL WORD 1

CONTROL WORD 2

Table 2: Process output data options

3.3.1.1 No Function (NO FUNCTION)

If the NO FUNCTION setting is active, the servo controller will not use this process output data wordfor setpoint processing. The content of the process output data word programmed to NO FUNCTIONwill be ignored even though the higher-level control might specify a real setpoint via the fieldbussystem.

3.3.1.2 Speed Setpoint (SPEED)

The Setpoint Description POx = Speed setting causes the MOVIDYN® servo controller to interpretthe setpoint transmitted in this process data word as speed setpoint. The speed setpoint specifiedvia the fieldbus will only be effective in the ”speed control” mode (P100 mode = SPEED CONTROL).

P D 1 P D 2 P D 3

SEWEURODRIVE

SEWEURODRIVE

Control word 1Control word 2Speed setpointCurrent setpointetc.




P784: P03 SETP. DESCRIPT.P782: P02 SETP. DESCRIPT.P780: PO1 SETP. DESCRIPT.

Fig. 6: Setpoint description of the process output data (PO) MD0248AE



If the speed setpoint is not specified via the bus system, the analogue input will become the setpointsource, even though the setpoint source is set to ”Fieldbus”. This option permits applications to beimplemented where the control signals (enable, controller inhibit etc.) are specified via the fieldbus,while the setpoint is specified by an automation unit, which does not have a fieldbus interface.

Scaling of the speed setpoint see Section 3.3.5.

3.3.1.3 Current Setpoint (CURRENT)

The Setpoint Description POx = Current setting causes the MOVIDYN®servo controller to interpretthe setpoint specified in this process data word as current setpoint. The current setpoint specifiedvia the fieldbus will only be effective in the ”torque control” mode (P100 mode = TORQUE CONTROL).

If the current setpoint is not specified via the bus system, the analogue input will become the setpointsource, even though the setpoint source is set to ”Fieldbus” (P110 Setpoint Source = FIELDBUS).This option permits applications to be implemented where the control signals (enable, controllerinhibit etc.) are specified via the fieldbus, while the setpoint is specified by an automation unit, whichdoes not have a fieldbus interface.

Scaling of the current setpoint see Section 3.3.5.

3.3.1.4 Position Setpoint (POSITION LO/HI)

Position setpoints may only be used in conjunction with the internal IPOS positioning control (P100mode = POSITIONING). Unless the servo controller is fitted with the IPOS option and its pertinentfunctions, this setting will be rejected.

Position setpoints must be spread over two process data words, as the position is generally enteredas a signed 32-bit value (integer32). You must therefore specify the more significant position setpoint(POSITION HI) and the less significant position setpoint (POSITION LO) (Fig. 7). Otherwise the servocontroller will not respond to the position entry. Scaling of the position setpoint see Section 3.3.5.

IMPORTANT!When handling the position setpoints in the application program of the higher-level automation unit,make sure that both process output data words containing the position data are dealt withconsistently, i.e. that the position setpoint high is always transmitted together with the positionsetpoint low! Otherwise the servo controller might approach undefined positions, as e.g. an oldposition setpoint low and a new position setpoint high might be active together!

P D 1 P D 2 P D3

SEWEURODRIVE

SEWEURODRIVE

Control word 1 Position High Position Low


Fig. 7: Assigning a position setpoint to the process output data MD0249AE



3.3.1.5 Speed Limit (MAX. SPEED)

The Setpoint Description POx = MAX. SPEED setting causes the MOVIDYN® 51.. servo controller tointerpret the transmitted setpoint as speed limit. The speed limit is therefore specified in the unit[1/min] and interpreted as absolute value for both directions of rotation. The supported range ofvalues for the fieldbus speed limit corresponds to the range of values P210 Max. Speed CW parameter.If the speed is below this range of values the minimum will become effective, if it exceeds the setrange, the maximum of the set limit value will become effective. Scaling of the speed limit see Section3.3.5.

Entering the speed limit via the fieldbus will automatically deactivate parameters P210 Max. SpeedCW and P211 Max. Speed CCW!

The speed limit value specified via the process output data is generally active.

3.3.1.6 Current Limit (MAX. CURRENT)

The Setpoint Description POx = MAX. CURRENT setting causes the MOVIDYN® 51.. servo controllerto interpret the transmitted process output data as current limit. The current limit is specified in percent of the servo controller rated current in the unit [% In] and is interpreted as absolute value forboth directions of rotation. The supported range of values for the fieldbus current limit correspondsto the range of values for parameter P212 Maximum Current [% In]. If the current is below this rangeof values, the minimum will become effective, if it exceeds the set range, the maximum of the setlimit value will become effective. Scaling of the current limit see Section 3.3.5.

Entering the current limit via the fieldbus will automatically deactivate parameters P212 MaximumCurrent [% In]!

IMPORTANT!Entering the current limit via fieldbus will limit the driving torque to the value just transmitted. Thislimit is also effective when a rapid stop or an emergency stop is carried out. If this value is set toolow, a hoist, for example, may not be able to hold a load any longer!

3.3.1.7 Slip Compensation (SLIP)

Entering the slip via the fieldbus is not possible in the case of the MOVIDYN®51.. servo controller!

3.3.1.8 Process Ramp (RAMP)

The RAMP setting causes the MOVIDYN® 51.. servo controller to interpret the transmitted setpointas acceleration of deceleration ramp. Depending on the drive function specified in the control word,the unit will interpret the process ramp as acceleration ramp when an enable signal is given and asdeceleration ramp when a stop is to be executed. The specified figure is the time in milliseconds andrelates to a speed change of 3000 1/min. The rapid stop function is not affected by this process ramp.

Entering the process ramp via the fieldbus automatically deactivates the ramp parameters

P120 Ramp 1 up CW P121 Ramp 1 down CWP122 Ramp 1 up CCW P123 Ramp 1 down CCWP130 Ramp 2 up CW P131 Ramp 2 down CWP132 Ramp 2 up CCW P133 Ramp 2 down CCW



The value range Process Ramp specified via the fieldbus is that of the above ramp parameters. Scalingof the Process Ramp in the unit [ms] see Section 3.3.5.

3.3.1.9 Control Word 1 / Control Word 2

Assigning control word 1 or control word 2 to the process output data allows you to activate nearlyall drive functions via the fieldbus system. For a description of control words 1 and 2 see Section 3.4.

3.3.1.10 Factory Setting for the PO1-PO3 Setpoint Description

When the factory setting has been activated, the following process output data are defined for theMOVIDYN® 51.. servo controller:

PO 1 Setpoint Description: PO 2 Setpoint Description: PO 3 Setpoint Description:

CONTROL WORD 1 SPEED NO FUNCTION

3.3.2 PO Data Processing in the Servo Controller

Separate setting of the process output data description allows a multitude of combinations to be setthough not all of them make sense from a technical point of view. Table 3 gives a selection ofcombinations, which are technically expedient. A column is reserved in the table for each processoutput data word, the assignment of the column to process output data PO1 - PO3 however is arbitraryso that the columns are designated as PO X - PO Z.

PO X PO Y PO Z Functionality

CONTROL WORD 1 SPEED – Control and speed setpoint via fieldbus

CONTROL WORD 1 – – Control via fieldbus, setpoint via analogue input

CONTROL WORD 1 SPEED RAMP Control/speed setpoint/ramp via fieldbus

CONTROL WORD 1 SPEED MAX. SPEED Control/speed setpoint/max. speed via fieldbus

CONTROL WORD 1 SPEED MAX. CURRENT Control/speed setpoint/max. current via fieldbus

CONTROL WORD 1 POSITION HI POSITION LO Control and position entry via fieldbus(only in conjunction with IPOS)

CONTROL WORD 2 SPEED – Control incl. virtual terminals and speed setpoint viafieldbus

CONTROL WORD 2 – –Control via fieldbus, function selectable via virtualterminals, e.g. in conjunction with IPOS to select atable position

CONTROL WORD 2 POSITION HI POSITION LO

Control of the servo controller and position entry viafieldbus and, if applicable, processing of the virtualterminals in the IPOS program(only in conjunction with IPOS)

Table 3: Suitable combinations for the setpoint description of PO data

In addition to the process output data from the fieldbus system the digital input terminals and, inspecial cases, the analogue setpoint from the MOVIDYN®51.. servo controller are used, too.



Special cases in respect of the process output data processing in the servo controller are:

- No speed setpoint entry from the fieldbus system- No control word entry from the fieldbus system- Duplicate usage of the process output data channel- Simultaneous transmission of control word 1 and control word 2- 32-bit process output data

3.3.2.1 No Speed Setpoint Entry from the Fieldbus System

If no speed setpoint is transmitted via the process output data, the analogue setpoint will be active.

3.3.2.2 No Control Word Entry from the Fieldbus System

If no control word is transmitted to the servo controller via the process output data, control of theMOVIDYN® 51.. servo controller is exclusively via the digital input terminals.

3.3.2.3 Duplicate Usage of the Process Output Data Channel

If several process output data words contain the same setpoint description, only the process outputdata word which is read first will be valid. The processing sequence in the servo controller is PO1 -PO2 - PO3, i.e. if PO2 and PO3 contain the same setpoint description, only PO2 will be effective. Thecontent of PO3 will be ignored.

Example 1: Duplicate usage of PO2 and PO3

Process output data words PO2 and PO3 both contain the SPEED setpoint.

P780 PO1 Setpoint Description = CONTROL WORD 1P782 PO2 Setpoint Description = SPEEDP784 PO3 Setpoint Description = SPEED

The speed setpoint is transmitted twice within the process output data channel (duplicate usage ofprocess output data words). As the servo controller processes the process output data words in theorder PO1 - PO2 - PO3 and recognizes duplicate usage of the process output data channel, the speedsetpoint transmitted in PO3 will never become effective.

3.3.2.4 Simultaneous Transmission of Control Word 1 and Control Word 2

If control words 1 and 2 are transmitted simultaneously, the servo controller is controlled in the sameway via the basic control block of control word 1 and the basic control block of control word 2. Inthis case you must make sure that both basic control blocks are coded the same. The servo controllerwill only be enabled, if both the digital input terminals and control words 1 and 2 give the enablecommand. The virtual terminals of control word 2 are evaluated directly only if they do not correspondto a control word 1 function.



3.3.2.5 32-Bit Process Output Data

Process data which are longer than 16 bits and therefore occupy more than one process data wordwill only be processed by the servo controller if they are completely mapped to the process datachannel. The position setpoint, for example, will only become effective if completely mapped to theprocess output data channel. Consequently both POSITION HI and POSITION LO must be specifiedin the process output data channel.

3.3.3 Actual Value Description of the PI Data

The PI1 - PI3 Actual Value Description parameters define the content of the process input data wordswhich are transferred from the servo controller to the higher level automation unit through the fieldbussystem (Fig. 8). Each process data word is defined by its own parameter, so altogether threeparameters are required to describe the process input data.

Process input data words PI1 to PI3 serve to transfer the parameters listed in Table 4 via the processdata channel. 32-bit values, such as e.g. the actual position, are transmitted in two process datawords. You may decide yourself in which process data word you wish to transmit the more significantpart (high) and the less significant part (low) respectively.

NO FUNCTION

SPEED

APPARENT CURRENT

ACTIVE CURRENT

POSITION LO

POSITION HI

STATUS WORD 1

STATUS WORD 2

Table 4: Process input data options

3.3.3.1 No Function

If you assign NO FUNCTION to a process input data word, the servo controller will not update thisprocess input data word. In this case, the MOVIDYN® 51.. will always return a value of 0000hex tothe higher level control system.

P D 1 P D 2 P D 3

SEWEURODRIVE

SEWEURODRIVE

Status word 1Status word 2Speed actual valueApp. current act. val.etc.




P783: PI2 ACT. VALUE DESCRIPT. P785: PI3 ACT. VALUE DESCRIPT.P781: PI1 ACT. VALUE DESCRIPT.

Fig. 8: Actual value description of the process input data (PI) MD0250AE



3.3.3.2 Speed Actual Value (SPEED)

The Actual Value Description PIx = SPEED setting causes the servo controller to return the currentspeed actual value to the higher-level automation unit in the unit [1/min]. Scaling of the speed actualvalue see Section 3.3.5

3.3.3.3 Apparent Current Actual Value (APPARENT CURRENT)

As the MOVIDYN® 51.. servo controller for reasons of physics only works with the active current, theAPPARENT CURRENT setting is identical with the ACTIVE CURRENT setting. Both variants return theactive current (Q component) (see also Section 3.3.3.4).

3.3.3.4 Active Current Actual Value (ACTIVE CURRENT)

The Actual Value Description PIx = ACTIVE CURRENT setting causes the servo controller to returnthe present active current actual value to the higher-level automation system in the unit [% In]. Scalingof the active current actual value see Section 3.3.5.

3.3.3.5 Actual Position (POSITION LO/HI)

Position actual values must be spread over two process data words, as the position is generallytransmitted as integer32. This means you have to specify both the Position Actual Value High andthe Position Actual Value Low (Fig. 7). Scaling of the actual position see Section 3.3.5.

Position actual values can only be used in conjunction with the internal IPOS internal positioningcontrol.

3.3.3.6 Status Word 1 / Status Word 2

Assigning status word 1 or status word 2 to the process input data allows you to access status data,fault and reference signals. For a description of status word 1 and 2 see Section 3.5.

3.3.3.7 Factory Setting of the PI1-PI3 Actual Value Description

When the factory setting has been activated, the following process output data are defined for theMOVIDYN® 51.. servo controller:

PI 1 Actual Value Description: PI 2 Actual Value Description: PI 3 Actual Value Description:

STATUS WORD 1 SPEED NO FUNCTION

3.3.4 Enable Fieldbus Setpoints

Resetting the process output data parameters, e.g. changing the PO2 setpoint description from speedsetpoint to current setpoint, is usually done by means of parameter adjustment. Immediately afterchanging the PO2 setpoint description from speed setpoint to current setpoint the speed setpoint(e.g. 3000 1/min) transmitted by the higher-level control could be wrongly identified as currentsetpoint (e.g. 3000%).



To avoid this a defined interrupt between the process output data and the servo controller setpointprocessing is necessary. This interrupt facility is given by parameter

P790 Enable Fieldbus Setpoints = YES/NO

This parameter tells the servo controller whether or not the process output data sent by thehigher-level master are valid for the control and setpoint processing. This parameter can only be setto YES or NO (Table 5). Fig. 9 shows the parameter functionality.

When the PO1-PO3 Setpoint Description parameters are changed the process output data areautomatically disabled through the Enable Fieldbus Setpoints = NO setting. Only when the EnableFieldbus Setpoints = YES setting is initiated (e.g. by the higher-level control), will the process outputdata channel be enabled again for processing.

NOProcess output data disabled.The servo controller will continue to use the last valid (frozen) process output data for the setpointprocessing until the fieldbus setpoints are activated again.

YES Process output data enabled.The servo controller uses the process output data from the fieldbus.

Table 5: Value range for Enable Fieldbus Setpoints

3.3.4.1 Enable Factory Setting of the Fieldbus Setpoints Parameter

When the factory setting has been activated, the fieldbus parameter 570 Enable Fieldbus Setpointsis defined as follows:

YES Process output data enabled

3.3.5 Scaling of the Process Data

Process data are always transmitted as hexadecimal data to facilitate their handling and processingby the system. Parameters with the same unit of measurement are given the same scaling to allowthe setpoints and the actual values to be compared directly in the application program of thehigher-level automation unit. There are four different process data types:

- Speed [1/min]- Current [% rated current]- Ramp [ms]- Position [degrees].

P D 1 P D2 PD3

SEWEURODRIVE

SEWEURODRIVE

P790: Enable Fieldbus setpoints


Fig. 9: Function of the Enable Fieldbus Setpoints parameter MD0251AE



different control word and status word variants are coded as bit fields and will be discussed in aseparate section.

3.3.5.1 Scaling of the Speed

The Speed Setpoint and Speed Actual Value process data are specified in the unit [1/min] and mappedas signed values to a process data word (16-bit integer). Table 6 shows the scaling for Speed processdata.

Data type: Integer16

Resolution: 1digit = 0.2 1/min

Range: -6553.6 ....0.....+6553.4 1/min8000hex .....0.....7FFFhex

Applies to: Speed actual valueSpeed setpoint

Table 6: Scaling of Speed process data

If the motor is connected correctly, positive speed values correspond to CLOCKWISE direction ofrotation or, in the case of hoisting applications, to CLOCKWISE = UP. Correspondingly negative speedvalues correspond to a COUNTERCLOCKWISE (DOWN) direction of rotation and are represented asa two’s complement.

Example 2: Scaling of the speed in the process data channel

This example shows the coding you must apply to transfer the speed setpoint through the processdata channel so that the drive will operate at 400 1/min in CLOCKWISE direction of rotation or at 7501/min in COUNTERCLOCKWISE direction of rotation.

Direction of rotation Speed Scaling Transferred process data

CW 400 1/min 400 = 2000dec = 07D0hex0.2 2000dec or 07D0hex

CCW 700 1/min 750(-1) = -3750dec = F15Ahex0.2 -3750dec or F15Ahex

3.3.5.2 Scaling of the Current

The Current Setpoint, Apparent Current Actual Value and Active Current Actual Value process dataare given in per cent of the servo controller rated current [% In] and mapped as signed values to theprocess data word (16-bit integer). Table 7 shows the scaling for Current process data.


Resolution: 1digit = 0.1 % IN

Reference: Servo controller rated current

Range: -3276.8 % ....0..... +3276.7 %8000hex .....0.....7FFFhex

Applies to: Apparent current actual valueActive current actual value

Table 7: Scaling of Current process data



Again the sign of the current indicates the direction of rotation of the motor. If the motor is connectedcorrectly, positive current values indicate CLOCKWISE direction of rotation and negative currentvalues COUNTERCLOCKWISE direction of rotation. Negative current values are represented as a two’scomplement.

Example 3: Scaling of the current in the process data channel

This example shows the coding the higher-level control uses to exchange Current process data withthe servo controller.

Current Conversion of the scaling Transferred process data

45 % IN 45 = 450dec = 01C2hex0.1 450dec or 01C2hex

115.5 % IN 115.5 = 1155dec = 0483hex0.1 1155dec or 0483hex

-67 % IN -67 = -670dec = FD62hex0.1 -670dec or FD62hex

3.3.5.3 Scaling of the Ramp

The process ramp for acceleration and deceleration is specified in milliseconds relative to a frequencyrate of change of 50Hz and mapped unsigned to a process data word (16-bit unsigned). Table 8shows the scaling for the process ramp.

Data type: Unsigned16

Resolution: 1digit = 1ms

Reference: delta-n = 3000 1/min

Range: 0ms ... 65535ms0000hex .... FFFFhex

Applies to: Process ramp up/down

Table 8: Scaling of the process ramp

Example 4: Scaling of the process ramp

The servo controller is enabled with an acceleration ramp of 300ms and disabled again through thestop function using a deceleration ramp of 1.4s.

Ramp time Conversion of the scaling Transferred process data

300ms 300ms ⇒ 300dec = 012Chex 300dec or 012Chex

1.4s 1.4s = 1400ms ⇒ 1400dec = 0578hex 1400dec or 0578hex

3.3.5.4 Scaling of the Position

Position values generally are 32-bit values and therefore must be transmitted in two process datawords. It is up to the user to decide in which process data word he wishes to transmit the moresignificant part of the position (high word) and the less significant part of the position (low). Theposition is therefore transmitted as signed 32-bit integer. Table 9 shows the scaling for Positionprocess data.




Resolution: 360°1 motor revolution = 4096 increments, i.e. 1digit = 4096

Range [°]: -188,743,680_ ....0..... +188,743,679

[Motor revolutions]: -524 288 ....0.... +524287

[Increments]: 8000 0000 hex ... 0 ... 7FFF FFFF hexHigh Low High Low

Applies to: Position actual valuePosition setpoint

Table 9: Scaling of Position process data

If the motor is connected correctly position values are incremented for CLOCKWISE direction ofrotation and decremented for COUNTERCLOCKWISE direction of rotation! After power-up the servocontroller is in position 0.

IMPORTANT!When handling the position setpoints in the application program of the higher-level automation unitmake sure that both process output data words containing the position data are dealt withconsistently, i.e. that the position setpoint high is always transmitted together with a position setpointlow! Otherwise the servo controller might approach undefined positions, as, e.g. an old positionsetpoint low and a new position setpoint high might be active together!

Example 5: Entry of a position setpoint via the process data channel

This example shows how position setpoints must be set specified by the higher-level control usingthe process data channel. In our example positions 1 and 2 shown in Fig. 10 shall be specified viathe fieldbus system. For this example to work the motor must be in position 0 after power-up.

Position 1 is 35 motor revolutions CCW away from starting position 0, position 2 19 motorrevolutions CW. The two positions then have the following process data codings:

Position Conversion of the scaling Transferred process data

Position 1:35 revs CCW -35 ⋅ 4096 = -143360dec = FFFD D000hex

FFFD D000 hex

Position HI

Position 2:19 revs CW 19 ⋅ 4096 = 77824dec = 0001 3000hex

0001 3000 hex

Position HI

Position 1 Position 0 Position 2

Direction of rotation CW

Fig. 10: Positioning example with starting position (0) and two target positions (1 and 2) MD0252AE

Position LO

Position LO



3.4 Definition of the Control Word

The control word is 16 bits long. Each bit has a servo controller function assigned to it. The low bytecomprises 8 function bits with a permanent definition each, which are always valid. The assignmentof the more significant control bits varies for the different control words.

Functions, which the servo controller does not generally support, cannot be activated via the controlword either. In this case the individual control word bits are to be considered as reserved bits andset logical 0 by the user!

3.4.1 Basic Control Block

The less significant part of the control word comprises 8 function bits, to which the most importantdrive functions are permanently assigned. Fig. 11 shows the basic control block assignment.

Table 10 shows the functionality of the individual control bits.

Bit: Function Assignment

0 Controller inhibit 0 = Enable1 = Inhibit controller, activate brake

1 Enable/rapid stop 0 = Rapid stop1 = Enable

2 Enable/Stop 0 = Stop with generator ramp or process ramp1 = Enable

3 Hold control 0 = Hold control not active1 = Hold control active

4 Ramp generator selection 0 = Ramp generator 11 = Ramp generator 2

5 Reserved Reserved bits are to be set to zero!

6 Reset 0 = Not active1 = Reset fault

7 Reserved Reserved bits are to be set to zero!

Table 10: Bit coding of the basic control block (low byte control word)

The input terminals remain generally active, also in the FIELDBUS control mode. Safety-relevantfunctions such as Controller Inhibit and Enable are processed with equal priority both by the terminalstrip and the fieldbus, i.e. for fieldbus control of the servo controller the servo controller must firstbe enabled on the terminal side (Fig. 12). All other functions, which can be activated both via theterminals and via the control word, are processed as OR functions.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Controller inhibit/EnableEnable/Rapid stopEnable/StopHold controlRamp generator selectionReservedResetReserved

permanently definedControl word dependent

Fig. 11: Basic control words MD0253AE



For safety reasons the definition of the basic control block is such that the servo controller adoptsmode 3 Rapid Stop when a control word containing 0000hex is given, as all common fieldbus mastersystems definitely reset the outputs to 0000hex in the case of a fault or malfunction. In this case theservo controller will carry out a rapid stop and then activate the mechanical brake.

Enable

Controller inhibit

Rapid stop

Stop

Enable

Stop

Stop

Stop

Controller inhibit

Rapid stop

Rapid stop

Rapid stop

Rapid stop

Rapid stop

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Rapid stop

Stop

Enable

Setpoint processing

Cont

rol w

ord

com

man

d:

Terminal processing function:

control wordprocessing

Bit 0: controller inhibit/enableBit 1: enable/rapid stop

Bit 2: enable/stop

Fieldbus control word:

Terminalprocessing

HOLD CONTROL

ENABLE/CONTROLLER INHIBIT

Input terminals:

Fig. 12: Connecting the safety-relevant control signals from the input terminals and the fieldbus MD0266AE



3.4.1.1 Controlling the Servo Controller with a 0-2 Bit

When the servo controller has been enabled via the terminals, it can be controlled with bit 0 - bit 2of the basic control block. These three bits are used to activate four different control commands forcontrol of the servo controller through the fieldbus system (Fig. 13).

While the servo controller is generally enabled with the Enable command, there is a choice of threecontrol commands to stop the drive, i.e.

- Controller Inhibit- Rapid Stop- Stop

In addition, the servo controller can at any time be stopped via the input terminals, independent ofthe control command which is being sent. This control option enables you to integrate the servocontrollers into a fieldbus-independent emergency stop concept.

The Enable Control Command

The Enable control command enables the servo controller via the fieldbus system. If the processramp is transmitted together with the Enable command via the fieldbus system, this control commandwill use the specified ramp value as acceleration ramp. If not, the servo controller will use the typicalramp generators Ramp up for this control command, depending on the selected parameter and rampgenerator sets (Fig. 14).

Bit 2 Bit 1 Bit 0

X X 1

X 0 0

0 1 0

1 1 0

highest prioritylowest priority

e.g. 00 , 04hex hex

e.g. 01 , 03 ,05 , 07

hex hex

hex hex

e.g. 06hex

e.g. 02hex

Bit 0: controller inhibit / enableBit 1: enable / rapid stopBit 2: enable / stop

X = irrelevant

Enable:

Stop:

Rapid stop:

Controller inhibit:

Fig. 13: Coding of the control commands of the MOVIDYN®51.. servo controller MD0257AE

1

2 P132 Ramp 2 up CCW [s]P130 Ramp 2 up CW [s]

P122 Ramp 1 up CCW [s]P120 Ramp 1 up CW [s]

Process rampvia fieldbus

Ramp generatorselection

NO

YES

MOV

IDYN

setp

oint

pro

cess

ing

Fieldbus process ramp

Fig. 14: Overview of the acceleration ramp options for the Enable control command MD0258AE



For the Enable control command to become active all three bits must be switched to Enable (110bin).Fig. 13 shows the possible coding of the Enable control command with 06hex.

The Controller Inhibit Control Command

The Controller Inhibit control command allows you to disable the power output stage of the servocontroller and thus make it become high-resistance. At the same time the servo controller will activatethe mechanical motor brake causing the drive to stop immediately by way of mechanical braking.Motors which are not fitted with a mechanical brake will coast to rest when this control command isused.

Fig. 13 shows that it suffices to set Bit 0: Controller Inhibit/Enable in the control word to initiate theController Inhibit control command, as all other bits are irrelevant. Consequently, this control bit hasthe highest priority in the control word.

The Rapid Stop Control Command

The Rapid Stop control command causes the servo controller to ramp down the currently active rapidstop ramp. The set rapid stop ramp

P140 Rapid Stop Ramp [s]

will be active. The process ramp which might be specified via the fieldbus has no effect on the rapidstop!

Reset Bit 1: Enable/Rapid Stop to activate this control command (see Fig. 13).

The Stop Control Command

The Stop control command causes the servo controller to ramp to rest. If the process ramp istransmitted via the fieldbus system, this control command will use the specified ramp value as valuefor the deceleration ramp. If not, the servo controller will use the parameterized ramp generators forthis control command, depending on the selected ramp generator set:

P121 Ramp 1 down CLOCKWISE [s]P123 Ramp 1 down COUNTERCLOCKWISE [s]P131 Ramp 2 down CLOCKWISE [s]P133 Ramp 2 down COUNTERCLOCKWISE [s]



Fig. 15 gives an overview of all deceleration ramps that can be used with the Stop control command.

Use Bit 2: Enable/Stop to initiate the Stop control command. Of all three control commands availablefor stopping the drive, the Stop control command has the lowest priority.

3.4.1.2 Activating the Hold Control

Set bit 3 = 1 of the control word to activate the Hold Control function when the servo controller is inspeed control mode. Activating the Hold Control causes the servo controller to carry out a stop usingthe active ramp so that the drive will ramp down to zero speed. Then drive will then remain at zerospeed without drift (position-controlled) and has the maximum torque available.

3.4.1.3 Selecting the Effective Ramp Generators

Use bit 4 of the control word to select the effective ramp generators. Table 11 shows the rampgenerators, which can be selected with this control.

ValueBit 4:

Active ramp generators

0

P120 Ramp 1 up CW [s]P121 Ramp 1 down CW [s]P122 Ramp 1 up CCW [s]P123 Ramp 1 down CCW [s]

1


Table 11: Setting the valid ramp generators by ramp generator selection

This bit is OR’d with the input terminal function Ramp Generator Selection, i.e. a logic ”1" on the inputterminal OR in the control word bit will activate ramp generator set 2!

3.4.1.4 Resetting the Servo Controller after a Fault

Bit 6 of the control words resets the servo controller via the process data channel in the case of afault. Every set can only be initiated with a 0/1 transition in the control word (see Table 10). All otherreset options continue to be active.

1

2 P133 Ramp 2 down CCW [s]P131 Ramp 2 down CW [s]

P123 Ramp 1 down CCW [s]P121 Ramp 1 down CW [s]

Process rampvia fieldbus

Ramp generatorselection

NO

YES

MOV

IDYN

setp

oint

pro

cess

ing

Fieldbus process ramp

Fig. 15: Overview of the deceleration ramp options for the Stop control command MD0259AE



3.4.2 Control Word 1

In addition to the most important drive functions contained in the basic control block, control word1, in its more significant byte, contains function bits for internal setpoint functions, which can begenerated in the servo controller. As the MOVIDYN® 51.. servo controllers do not support the internalsetpoint function, the more significant byte in control word 1 is not assigned and must consequentlybe regarded as reserved. Reserved bytes must generally be set to zero in an application.

3.4.3 Control Word 2

In addition to the function bits for the most important drive functions in the basic control block,control word 2, in its more significant section, contains the virtual input terminals. These terminalsare freely programmable input terminals, which are not physically available however since therequisite hardware (e.g. AIO11 option pcb) is not fitted. These input terminals are then mapped tothe virtual input terminals of the fieldbus.

Each virtual terminal is then assigned to an optional and physically not available input terminal andcan be programmed to any function. This MOVIDYN® 51.. feature allows you to individuallyimplement your fieldbus drive application making full use of all unit functions via the fieldbus interface.Fig. 17 shows the control word 2 assignment for the standard MOVIDYN®51.. unit.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0: Controller/enable1: Enable/rapid stop2: Enable/stop3: Hold control4: Ramp generator selection5: Reserved6: Reset7: Reserved

Reserved for internalsetpoint functions

Permanently definedInternal setpoint functions

Fig. 16: Definition of control word 1 MD0260AE

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0: Controller inhibit/enable1: Enable/rapid stop2: Enable/stop3: Hold control4: Ramp generator selection5: Reserved6: Reset7: Reserved

8: Virtual terminal 1 =9: virtual terminal 2 =

10: virtual terminal 3 =11: virtual terminal 4 =12: virtual terminal 5 =13: virtual terminal 6 =14: virtual terminal 7 =15: virtual terminal 8 =

Terminal X13.2Terminal X13.3Terminal X13.4Terminal X13.5Terminal X13.6Terminal X13.7Terminal X13.8Reserved

Permanently definedVirtual input terminals

Fig. 17: Control word 2 for the MOVIDYN®51.. servo controller MD0261AE



You can program any function to the virtual input terminals. Table 12 shows the virtual input terminalassignment for the MOVIDYN® 51.. servo controller and their functionality.

Virtualinput terminal

Assigned toterminal

Function Function after factorysetting:

1 1X13.2 Terminal function programmable to P310 Terminal X13.2 RESET

2 X13.3 Terminal function programmable to P311 Terminal X13.3 RAMP GENERATORSELECTION

3 X13.4 Terminal function programmable to P312 Terminal X13.4 NO FUNCTION




7 X13.8 Terminal function programmable to P316 Terminal X13.8 EXT. TRIGGER

8 – Reserved –

Table 12: Virtual input terminal functions for the MOVIDYN® 51.. servo controller

3.5 Definition of the Status Word

The status word is 16 bits long. The less significant byte, the basic status block, comprises 8 statusbits with a permanent definition, which reflect the most important drive conditions. The assignmentof the more significant status bits varies for the different status words.

3.5.1 Basic Status Block

The basic status block of the status word contains status information which is required for nearly alldrive applications. These unit conditions are coded as bit information, i.e. each bit has a piece ofstatus information assigned to it (Fig. 18). Table 13 shows the assignment of bits 0-7 of the statusword.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Controller enabledMOVIDYN ready for operationFieldbus mode activeAtive ramp generator setReservedFault/warningLimit switch CW activeLimit switch CCW active

Permanently definedStatus word dependent

Fig. 18: Basic status block for all control words MD0262AE



Bit: Status Assignment

0 Controller enabled 0 = Controller is inhibited1 = Controller is enabled

1 Ready for operation 0 = Drive not ready for operation (e.g. no mains supply)1 = Drive ready for operation

2 Fieldbus mode active 0 = Fieldbus mode not active1 = Fieldbus mode active, control/setpoint via fieldbus

3 Active ramp generator set 0 = Ramp generator 11 = Ramp generator 2

4 Reserved Reserved bits are generally to be set to 0!

5 Fault/warning 0 = No fault/warning1 = Fault/warning present

6 Limit switch CW active 0 = Not activated1 = Limit switch CW activated

7 Limit switch CCW active 0 = Not activated1 = Limit switch CCW activated

Table 13: Status information in the basic status block (low byte status word)

3.5.1.1 The Controller Enabled Status Bit

Bit 0 of the status word is determined from the combination of the input terminals and the controlcommand contained in the control word. Fig. 19 shows the response of the Controller Enabled statusbit as a function of the Enable control command and the actual speed of the drive respectively.

3.5.1.2 The Ready for Operation Signal

When status bit 1 in the status word signals Ready for Operation = 1, then the servo controller isready to respond to control commands from an external control system. The servo controller is notready to respond, if

- the MOVIDYN® 51.. signals a fault- the factory setting is ongoing (set-up)- no mains voltage is present, only the external 24V

0

01

01

t

nsetp

Status bit 0:Controller enabled

Speedcharacteristic

Control commandEnable

Fig. 19: Behaviour of status bit 0: Controller Enabled MD0263AE



3.5.1.3 The Fieldbus Mode Active Signal

Status bit 2 signals whether the setpoint source of the servo controller is set at FIELDBUS (P110Setpoint Source = FIELDBUS) and responds to control commands/setpoints from the process datachannel of the fieldbus interface.

Adjustment of the servo controller parameters via the fieldbus interface is possible at any timeindependent of the set setpoint source.

3.5.1.4 Active Ramp Generator Set

Bit 3 in the status word indicates the currently selected ramp generator set (see Table 14).

Value Bit 3: Active ramp generators

0


1


Table 14: Displaying the active ramp generators with bit 3: ramp generator set

3.5.1.5 Fault/Warning

In bit 5 of the status word the servo controller signals a fault that may have occurred or issues awarning. When a fault is signalled, the servo controller is usually longer ready for operation, whereasa warning may occur temporarily without affecting the operational performance of the servocontroller. For exact filtering of a fault we therefore recommend to evaluate status bit 1: Ready forOperation in addition to this fault bit (prerequisite: mains voltage ON). Table 15 shows the coding ofa fault or warning.

Bit 1: Ready for Operation Bit 5: Fault/Warning

0 0 Servo controller not ready for operation

0 1 Fault

1 0 Servo controller ready for operation

1 1 Warning

Table 15: Coding of fault or warning

If status word 1 is active (factory setting), bit 5 = 1 will at the same time signal the fault code in themore significant byte of status word 1. The fault bit remains set until the fault is cleared with a resetor the warning is cancelled. The more significant byte in status word 1 will then change to unit statusindication again.

3.5.1.6 Limit Switch CW / CCW Active

Status bits 6 and 7 (Limit Switch CW Active, Limit Switch CCW Active) signal the current status ofthe limit switches connected to the input terminals of the servo controller. The limit switch processingis active if at least one two servo controller input terminal is programmed to Limit Switch CW or LimitSwitch CCW. If one of the limit switches is actuated, an internal emergency stop is effectedindependent of the specified control word, i.e. the drive ramps to rest using the emergency stop ramp,and the corresponding status bits in the status word of the servo controller are set accordingly. This



will inform the higher-level master about the current status of the limit switches and enable it toinstruct the servo controller to travel in the opposite direction.

3.5.2 Status Word 1

In addition to the most important status data in the basic status block, status word 1, in the moresignificant status byte, contains depending on bit 5 either Unit Status data or Fault Code data.Depending on bit 5: Fault/Warning, the unit status is indicated if the value of bit 5 is 0 while the faultcode is displayed if a fault/warning is present (Fault/Warning = 1) (Fig. 20). When the fault is cleared,the fault bit is reset and the current unit status shown again.

Table 16 contains a list of MOVIDYN® 51... unit conditions. Fault coding see MOVIDYN® 51..Parameter List under Index 16: Fault t-4.

Code (decimal) Unit status

0 –

1 Speed control, enabled

2 Torque control, enabled

3 Rapid stop is carried out

4 Controller inhibit active (output stage disabled)

5 Limit switch CW approached

6 Limit switch CCW approached

7 API/APA 11 option pcb in operation (not possible in conjunction with the fieldbus!)

8 Factory setting is carried out

9 Hold control active

10 IPOS in operation

11 Not ready for operation

12 IPOS carries out a reference travel

Table 16: MOVIDYN® 51.. unit conditions

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

YES NOFault/warning codeno.:

Unit status

01: Overcurrent02: etc.

01: Speed control02: Torque controletc.

Fault / warning ?Bit 5 = 1?

Controller enabledMOVIDYN ready for operationFieldbus mode activeActive ramp generator setReserved

Limit switch CW activeLimit switch CCW active

Fault / warning

Permanently definedUnit status / Fault code

Fig. 20: Assignment of status word 1 MD0264AE



3.5.3 Status Word 2

In addition to the most important status data in the basic status block, status word 2, in the moresignificant status byte, contains the virtual output terminals which are mapped to the output terminalsof the standard unit and the output terminals of the AIO11 I/O option pcb. This provides you with allthe unit information for the servo controller necessary to implement the most diverse applications.By programming the terminal functions of the output terminals you can process all the usual signalsvia the fieldbus system. Fig. 21 shows the assignment of status word 2.

With the exception of terminal X21.9 the virtual output terminals can be programmed to any function.Table 17 shows the assignment of the virtual output terminals to the standard and optional outputterminals and their functionality after factory setting has been performed.

Virtualoutput terminal

Assignedto terminal

Function Function afterfactory setting

1 X21.9 /Brake /BRAKE

2 X21.10 Terminal function programmable to P320 Terminal X21.10 READY FOROPERATION

3 X12.1 Terminal function programmable to P330 Terminal X12.1 /FAULT

4 X12.2 Terminal function programmable to P331 Terminal X12.2 IxT WARNING




8 X12.6 Terminal function programmable to P335 Terminal X12.6I IxT WARNING

Table 17: Virtual output terminal functions

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

8: Virtual outp. terminal 1:9: Virtual outp. terminal 2:10: Virtual outp. terminal 3:11: Virtual outp. terminal 4:12: Virtual outp. terminal 5:13: Virtual outp. terminal 6:14: Virtual outp. terminal 7:15: Virtual outp. terminal 8:

= Terminal X21.9= Terminal X21.10= Terminal X21.1= Terminal X21.2= Terminal X21.3= Terminal X21.4= Terminal X21.5= Terminal X21.6

Controller enabledMOVIDYN ready for operationFieldbus mode activeActive ramp generator setReservedFault / warningLimit switch CW activeLimit switch CCW active

Permanently definedVirtual output terminal

Fig. 21: Assignment of status word 2 MD0265AE



3.6 Active Input Terminal Functions

The digital input terminal functionality remains almost the same in the fieldbus mode. Safety-relevantfunctions used to enable the servo controller are connected with the fieldbus control word commandsas shown in Fig. 22. All other terminal functions are OR’d with the corresponding control word bits.

Enable

Controller inhibit

Rapid stop

Stop

Enable

Stop

Stop

Stop

Controller inhibit

Rapid stop

Rapid stop

Rapid stop

Rapid stop

Rapid stop

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Controller inhibit

Rapid stop

Stop

Enable

Setpoint processing

Cont

rol w

ord

com

man

d:

Terminal processing function:

control wordprocessing

Bit 0: controller inhibit/enableBit 1: enable/rapid stop

Bit 2: enable/stop

Fieldbus control word:

Terminalprocessing

HOLD CONTROL

ENABLE/CONTROLLER INHIBIT

Input terminals:

Fig. 22: Connecting the safety-relevant control signals from the input terminals and the fieldbus MD0266AE



The signal levels applied to activate the functions via the virtual terminals of control word 2 are thesame as those for the input terminal strip. Consequently, a function, which is activated by applyinga signal level of ”+24V” on the input terminals, requires a logic ”1" to be applied on the virtualterminals. Functions which are active when low (e.g. /EXT. FAULT) must be activated by applying asignal level of ”0V" on the input terminals and applying a logic ”0" on the virtual terminals.

Function Connecting terminal and control word bit

/Controller Inhibitsee Fig. 21Enable

Hold control

Ramp generator selection OR

Reset OR

/External fault OR

Ext. trigger OR

Reference travel OR

/Limit switch CW OR

/Limit switch CCW OR

Table 18: Connecting the input terminals and the control word bits

3.7 Active Output Terminal Functions

The functionality of the output terminals is in no way limited by the fieldbus mode.



4 Monitoring Functions

To ensure safe operation of the MOVIDYN® 51.. servo controller when in the fieldbus mode, additionalfieldbus monitoring functions were implemented which e.g. trigger a certain drive function in thecase of a bus error. The required drive response can be set by the user. The two fieldbus parameters

P791 Fieldbus TimeoutP792 Timeout Response

allow the user to program an application-dependent drive response in the case of a bus error.

4.1 Fieldbus Timeout

The Fieldbus Timeout parameter determines the time after which the servo controller is to respondto a bus error. If the system no longer receives cyclic process data, it recognizes a bus error, causede.g. by a bus cable break. The drive must then automatically go into a safe state. The fieldbus timeoutparameter is useful for all bus systems, the Timeout setting may, however, vary considerably for thedifferent fieldbus systems. Table 19 defines the range of values for the Fieldbus Timeout setting.

Parameter name: Fieldbus Timeout

Unit: Seconds [s]

Range: 0.01s to 650.00s in increments of 10ms

Special case: 650.00 = Fieldbus timeout switched off

Factory setting: 0.5s

Table 19: Value range of the Fieldbus Timeout parameter

After a factory setting has been carried out, the Fieldbus Timeout parameter is set at 0.5 seconds.

IMPORTANT!In the case of the PROFIBUS-DP parameter P791 Fieldbus Timeout is set only through the responsetimeout, which is configured in the DP master for the complete DP system. Manual setting of thisparameter with the MD_SHELL user interface remains without effect, the setting would be overwrittenagain at the next start-up of the PROFIBUS-DP.

4.2 Timeout Response

The fieldbus parameter P792 Timeout Response determines the response of the servo controller inthe case of a fieldbus timeout, i.e. the action the servo controller is to trigger. Table 20 gives anoverview of possible servo controller responses to a fieldbus timeout.

Fault response

RAPID STOP Rapid stop with warning

EMERGENCY STOP Emergency stop with warning

IMMEDIATE SWITCH-OFF Immediate switch-off with warning

STOP/FAULT Rapid stop with fault

EMERGENCY STOP/FAULT Emergency stop with fault

IMMEDIATESWITCH-OFF/FAULT

Immediate switch-off with fault

STANDARD MODE Switch to standard mode (fieldbus switched off)

NO RESPONSE No response

Table 20: Selectable servo controller response to fieldbus timeout

Monitoring Functions4


In respect of servo controller responses to a fieldbus timeout a distinction is made between warningsand faults. In both cases the red V1 LED and the fault message Fieldbus Timeout signal an interruptionof the fieldbus communications link. While, in the case of a warning, this fault indication isautomatically cancelled when the bus system starts up again, in the case of a fault the servo controllermust be completely RESET with one of the available reset options (vie the keypad, terminal orfieldbus).

After a factory setting has been carried out, this parameter has the value

P792 Timeout Response Rapid stop with warning

4.2.1 Rapid Stop with Warning

When the time set for the fieldbus timeout parameter has elapsed, the servo controller will rampdown the rapid stop ramp (P140 Rapid Stop Ramp) and issue a warning (fault 87), which is howeverautomatically cleared when the fieldbus system starts up again. A manual reset of the servo controller(Reset) is not required.

4.2.2 Emergency Stop with Warning

When the time set for the fieldbus timeout parameter has elapsed, the servo controller will rampdown the emergency stop ramp (P150 Emergency Stop Ramp) and issue a warning (fault 87), whichis however automatically cleared when the fieldbus system starts up again. A manual reset of theservo controller (Reset) is not required.

4.2.3 Immediate Switch-off with Warning

When the time set for the fieldbus timeout parameter has elapsed, the servo controller will carry outan immediate switch-off, i.e. the output stage will be disabled and the mechanical motor brakeactivated immediately. Motors which are not fitted with a mechanical brake will coast to rest if thisfault response is initiated. The servo controller will issue a warning (fault 87). A manual reset of theservo controller (Reset) is not required.

IMPORTANT!This fault response will stop the drive solely by means of the mechanical brake (no ramp down) whichmay subject the mechanical system components to considerable stresses. Make sure that yourmechanical construction is sufficiently dimensioned to take up the loads that might occur inconnection with this fault response.

4.2.4 Rapid Stop with Fault

When the time set for the fieldbus timeout parameter has elapsed, the servo controller will rampdown the rapid stop ramp (P140 Rapid Stop Ramp) and signal a fault (fault 28). To clear this faultyou must reset the servo controller at the keypad, via the terminals or the fieldbus.

4.2.5 Emergency Stop with Fault

When the time set for the fieldbus timeout parameter has elapsed, the servo controller will rampdown the emergency stop ramp (P150 Emergency Stop Ramp) and signal a fault (fault 28). To clearthis fault you must reset the servo controller at the keypad, via the terminals or the fieldbus.

4Monitoring Functions


4.2.6 Immediate Switch-off with Fault

When the time set for the fieldbus timeout parameter has elapsed, the servo controller will carry outan immediate switch-off, i.e. the output stage will be disabled and the mechanical motor brakeactivated immediately. Motors which are not fitted with a mechanical brake will coast to rest if thisfault response is initiated!To clear this fault (fault 34) you must reset the servo controller at the keypad, via the terminals orthe fieldbus.

IMPORTANT!This fault response will stop the drive solely by means of the mechanical brake (no ramp down) whichmay subject the mechanical system components to considerable stresses. Make sure that yourmechanical construction is sufficiently dimensioned to take up the loads that might occur inconnection with this fault response.

4.2.7 Switching to Standard Mode

When the time set for the fieldbus timeout parameter has elapsed, the servo controller will rampdown the rapid stop ramp (P140 Rapid Stop Ramp) and issue a warning.

This fault response enables the user to operate the servo controller via the terminal strip in the caseof a fieldbus system failure. When the time set for the fieldbus timeout parameter has elapsed, theservo controller will ramp down the rapid stop ramp and at the same time issue a warning (fault 87).The servo controller has then already left the fieldbus mode. After a signal transition on the inputterminal /CONTROLLER INHIBIT the servo controller can then be controlled using the digital inputterminals and the analogue setpoint. To do this, proceed as follows:

1) Fieldbus mode with input terminal Controller Inhibit = +24V (controller enabled on terminalside), i.e. the servo controller is controlled solely via the fieldbus.

2) After a fieldbus timeout the terminals and the analogue input must be controlled in such a waythat after a signal transition on the Controller Inhibit terminal the drive will travel in the desireddirection.

3) To exit this emergency operation mode you must disconnect the servo controller completelyfrom the supply (mains supply and 24V supply) and then reconnect it. To avoid generating afieldbus timeout error again, observe the following connection sequence:

1) Connect the 24V external supply.2) Start the fieldbus.3) Connect the mains supply.

4.2.8 No Response

The servo controller continues to operate using the process output data last received until the bussystem will send new process data again. No fault signal is issued.

Monitoring Functions4


4.3 Fault Fieldbus Timeout

If no valid user data have been received within the time set for the fieldbus timeout, the set faultresponse (P791 Fieldbus Timeout) is triggered and a fault or warning issued.

Depending on the set fault response the MOVIDYN® 51.. servo controller will give out three differentfault messages. In all three cases the fault messages signal that no valid user data have been receivedfrom the fieldbus system. Table 21 shows the fault codes signalled for the individual fault responses.

Fault code Programmed fault response Remedy

87 Rapid stop with warning Automatic restart upon receipt ofvalid user data from fieldbus87 Emergency stop with warning

87 Immediate switch-off with warning

28 Rapid stop with faultReset28 Emergency stop with fault

34 Immediate switch-off with fault

87 Rapid stop with warning and switchover to standard mode Unit off/on (mains supply and 24V)

None No response Not required

Table 21: Assignment of fault codes to the programmed fault responses

Fault 87 (Warning)Fault 87 is a warning, i.e. the fault indication is automatically cleared when the fieldbus starts again.There is no reset required. The servo controller will immediately respond again to the process datasent via the fieldbus. Exception: the Standard Mode fault response (see Section 4.2.7).

Fault 28 (Fault)Fault 28 is a fault, it requires a system Reset to clear it. This fault code is issued in connection withfault responses Rapid Stop with Fault and Emergency Stop with Fault. Remember to first re-activatethe fieldbus system before you reset the servo controller, as otherwise a fieldbus timeout willimmediately be generated again.

Fault 34 (Fault)Fault 34 is a fault, it requires a system Reset to clear it. This fault code is issued in connection withfault response Immediate Switch-off with Fault. Remember to first re-activate the fieldbus systembefore you reset the servo controller, as otherwise a fieldbus timeout will immediately be generatedagain.

4Monitoring Functions


5 Setting Servo Controller Parameters

The drive parameters are read/written via the fieldbus system, using the READ and WRITE serviceson the application layer (layer 7). If layer 7 is absent (e.g. PROFIBUS-DP, CAN), a suitable applicationlayer needs to be emulated, i.e. mechanisms to assign servo controller parameters must be set inplace. A parameter channel is defined in these circumstances. The User Manual for the relevantfieldbus option pcb provides further details with regard to this subject.

5.1 Parameter Setting Procedure

Parameter setting of the MOVIDYN® 51.. servo controller is generally carried out according to amaster-slave pattern, i.e. the servo controller only supplies the information requested if asked to doso by the higher-level automation equipment. Thus MOVIDYN® 51.. invariably has slave functionalityonly (Fig. 23).

Functions such as READ or WRITE are normally provided from the master module or the higher-levelautomation equipment so that adjustment of servo controller parameters can be carried out via thecorresponding fieldbus system. Please see the user manual for the fieldbus option pcb you are usingfor further information regarding servo controller parameter adjustment.

5.1.1 Index Addressing

All MOVIDYN® 51.. servo controller parameters are listed in a separate document called theMOVIDYN® 51.. Parameter List. Each parameter is assigned a specific number (index) under whichthe parameter can be read or written. The index given in the MOVIDYN ® 51.. Parameter List is theindex for the serial interface. The value 1000dec must be added to this index for access via the fieldbusinterface.

Slave

Request

Response

Confirmation

Indication

Master

SEWEURODRIVE

SEWEURODRIVE

Fig. 23: Setting the servo controller parameters to the master-slave pattern MD0267AE

Setting ServoController Parameters5


5.1.2 Data Length/Coding

The parameter data length for MOVIDYN® 51.. servo controllers amounts to a constant 4 bytes forall parameters. You can find detailed information about data length and coding as well as informationon minimums and maximums in the MOVIDYN ® 51.. Parameter List.

5.2 Reading a Parameter (READ)

Reading a parameter via the fieldbus interface is carried out using a Read Request from theautomation equipment to the MOVIDYN® 51.. servo controller. When it receives this read request,the servo controller is instructed to read the drive parameter of the index transferred (ReadIndication). The service is then carried out in the servo controller, and if the run is fault-free, the dataare returned to the higher-level automation equipment in response (Read Response). The read serviceis ended on receipt of confirmation of the service (Read Confirmation) by the automation equipment.

If it is impossible to carry out the Read service in the servo controller, this is reported back to theautomation equipment by a negative answer (Negative Read Response). The automation equipmentthus receives a negative confirmation (Read Error Confirmation) with a detailed breakdown of theerror.

SLAVEMASTER

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Read-errorconfirmation

3b. Read service faulty, for further information see return code

2b. An error has occurred!No data available

Read response

2a. Parameter index 31(1031 - 1000) is ready bythe servo controller.

OR

Readconfirmation

Read indication

3a. Servo controller responds to read request by sendingthe requested data (e.g. 0.5 s)

Read-request

1. Read request (e.g. Read Ramp 1 up CW = index 1031)

Negativeread response

Fig. 24: Reading a parameter MD0268AE

5Setting ServoController Parameters


5.3 Writing a Parameter (WRITE)

Writing a parameter is carried out via the fieldbus interface in a similar way to reading a parameter.

A Write Request from the automation equipment informs the MOVIDYN® 51.. servo controller of theparameter index to be written, together with the new parameter data. When it receives the writerequest, the servo controller is instructed to re-define the transferred drive parameter (WriteIndication). The service is then carried out in the servo controller, and if the run is fault-free, thepositive response is returned to the higher-level automation equipment (Write Response). The writeservice is ended on receipt of confirmation of the service (Write Confirmation) by the automationequipment.

If it is impossible to carry out the write service in the servo controller, e.g. if false parameter datahave been passed over, this is reported back to the automation equipment by a negative answer(Negative Write Response). The automation equipment thus receives a negative confirmation (WriteError Confirmation) with a detailed breakdown of the error.

5.4 Instructions to the User when Adjusting Parameters

When adjusting the parameters of the MOVIDYN® 51.. servo controller via the fieldbus system, alldrive parameters can generally be accessed. However, since some of the drive parameters relatedirectly to communication via the fieldbus system, users should take note of the following instructionswhen adjusting parameters.

SLAVEMASTER

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OR

Negativewrite response

2b. An error has occurred!No data written

Write-errorconfirmation

3b. Write service faulty because, e.g., parameter value too large

Writeconfirmation

Write response

2a. Parameter index 31(1031 - 1000) is set to2.5 s.

3a. Write service was successfully carried out

Write indication

Writerequest

1. Write request (e.g. Write to index 1031 = Ramp 1 up CW the parameter value of 2.5s)

Fig. 25: Writing a parameter MD0269AE



5.4.1 Factory Setting

All parameters are reset to the default value when activating the factory setting. For fieldbus operation,this means that the fieldbus control mode is exited, and that all fieldbus parameters are reset to thedefault values. New parameter values can then be assigned to the servo controller, which can nowbe switched back to P110 Setpoint Source = Fieldbus.

Servo controller parameters can be adjusted manually with the PC program MD_SHELL, or via thefieldbus system in the form of a parameter download. The following procedure must be followedwhen the factory setting is activated via the fieldbus and parameters then adjusted:

1) Parameter to be written, P610 Factory Setting = Yes (fieldbus index 1073)

2) Parameter P610 Factory Setting, to be repeatedly read, until factory setting has beencompletely activated and P610 Factory Setting = No is returned.

3) All drive parameters that differ from the factory setting to be written(either by means of single write services or as a download parameter block)

Servo controller parameters can be adjusted manually with the PC program MD_SHELL, or via thefieldbus system using the write service specific to that fieldbus.

IMPORTANT!The servo controller must be enabled on the terminal side in order for it to be controlled via thefieldbus system. This means that the drive will be enabled subject to certain preconditions being metafter the factory setting has been activated. Before the factory setting is activated, therefore, caremust be taken that the digital input terminal signals following activation of the factory setting do notenable the servo controller.

5.4.2 Saving to EEPROM

During parameter adjustment, it should be borne in mind that all parameters written via the fieldbussystem are normally stored in the servo controller. The MOVIDYN® 51.. servo controller uses anEEPROM as resident storage, and the life of this is limited by the number of save operations.Therefore, if frequent parameter changes are made, the save function should be deactivated usingthe parameter

P650 Save to EEPROM = Off

Once this has been deactivated, parameters written subsequently will not be stored in residentmemory, i.e. they will only be effective until the equipment is switched off or reset.

The following procedure must be followed in fieldbus mode if the servo controller parameters are setcyclically with the fieldbus system write service:

1) Activate factory setting.

2) Set servo controller parameters in such a way that the basic function of the application isguaranteed. All parameters are stored memory-resident, and become effective after switchingthe servo controller off and then on again, or after a reset.

3) Deactivate the save to EEPROM function with P650 Save to EEPROM = Off.Any parameters subsequently modified will not be stored in resident memory.

4) Adjust parameters cyclically.



If the servo controller is now switched off and on again or reset using the Reset function, the settingsgiven in point 2 will become effective again. However, the P650 Save to EEPROM parameter remainsswitched off so that your application can immediately be controlled again at point 4.

5.4.3 Parameter Lock

The parameter lock prevents adjustable parameters from being changed in any way by activation ofP640 Parameter Lock = Yes. Activating the parameter lock is useful when the servo controllerparameters have been completely adjusted and no further changes are necessary. Amongst otherthings, this parameter enables you to stop any change to the drive parameters being made throughthe MD_SHELL PC program, for example.

IMPORTANTThe parameter lock prevents parameters being written altogether. Thus the write access via thefieldbus system is also disabled while the parameter lock is active.

5.4.4 Download Parameter Block

A number of fieldbus option pcbs offer the possibility of downloading up to 39 drive parameterssimultaneously from the higher-level automation equipment to the servo controller with one singlewrite service. This downloading is carried out by a specific communications object, the DownloadParameter Block.

When using the download parameter block, please bear the following in mind:

1) No factory setting should be carried out within the download parameter block.

2) Once the parameter has been set to P650 Save to EEPROM = OFF, none of the parameterswritten subsequently will be stored memory-resident.

3) Once the P640 Parameter Lock = YES parameter has been activated, all parameters writtensubsequently will be declined.

5.5 Parameter Adjustment Return Codes

If parameters are wrongly adjusted, various return codes are sent back from the servo controller tothe parameter setting master, providing detailed information about the cause of the error. Thesereturn codes are structured according to DIN 19245 Part 2. A distinction is made between thefollowing elements:

Error ClassError CodeAdditional Code



5.5.1 Error Class

The type of error is classified in more detail using the Error Class element. The error classes listedin Table 22 are differentiated according to DIN 19245 Part 2.

Class (hex) Designation Meaning

1 1vfd state Status error of the virtual field unit

2 application reference Error in the application program

3 definition Definition error

4 resource Resource error

5 service Service error

6 access Access error

7 ov Error in the object list

8 other Other error (see Additional Code)

Table 22: Error classes to DIN 19245 part 2 (Error-Class)

With the exception of Error Class 8 = Other Error, the error class is generated by the fieldbus pcbcommunications software if communication is faulty. All return codes supplied by the servo controllersystem come under Error Class 8 = Other Error. A more detailed breakdown of the error is obtainedfrom the Additional Code element.

5.5.2 Error Code

The Error Code element provides a more detailed breakdown of the cause of the error within the errorclass. The error code is described in DIN 19245 Part 2 (Section 3.16.1.4.4). The error code isgenerated by the fieldbus pcb communications software if communication is faulty. In the case ofError Class 8 = Other Error, only Error Code = 0 (other error code) is defined, with a detailed breakdownprovided in Additional Code.

5.5.3 Additional Code

The Additional Code contains the SEW-specific return codes for faulty servo controller parameteradjustment. They are sent back to the master under Error Class 8 = Other Error. Table 23 displays allpossible codings for the Additional Code.



Add. code high (hex) Add. code low (hex) Meaning

00 10 Illegal parameter index

00 11 Function/parameter not implemented

00 12 Access is ready-only

00 13 Parameter lock active

00 14 Factory setting ongoing

00 15 Parameter value too large

00 16 Parameter value too small

00 17 Necessary option pcb for this function/parameter not installed

00 18 Error in system software

00 19 No parameter access via this serial interface

00 1A Speed control active

00 1B Parameter access-protected

00 1C Output stage not disabled

00 1D Invalid parameter value

00 1E Factory setting active

00 22 Not brake chopper set 1

00 23 Not brake chopper set 2

00 24 DC braking 1 active;

00 25 DC braking 2 active; Modification not possible

00 26 Hoist set 1 active; Modification not possible

00 27 Hoist set 2 active; Modification not possible

00 28 Parameter not memory-resident; lost at power down

00 29 No parameter access via this serial interface

00 2A Speed control inactive

00 2B Controller inhibit required

00 2C Rapid start 1 and autoboost 1 cannot be activated at the same time

00 2D Rapid start 2 and autoboost 2 cannot be activated at the same time

00 2E Necessary option pcb for this function/parameter not installed

00 2F DC braking 1 and 4Q operation 1 cannot be activated at the same time

00 30 DC braking 2 and 4Q operation 2 cannot be activated at the same time

00 31 Controller inhibit active; Modification not possible

00 32 Synchronous operation control off

00 33 Synchronous operation control slave on

00 34 Invalid parameter frame type

Table 23: List of all possible additional codes

5.5.4 Special Return Codes (Special Cases)

Faults in parameter adjustment which cannot be identified from layer 7 of the fieldbus system or fromthe servo controller system software are treated as special cases. This involves the following possiblefaults, depending on the fieldbus option pcb in use:

- Incorrect coding of a service via a parameter channel- Incorrect indication of service length via a parameter channel- Drive parameter accessing error

Further information can be found in the User Manual for the relevant fieldbus option pcb in the sectionentitled “Parameter Adjustment Return Codes”.



6 Diagnosis Using the Fieldbus Monitor Parameters

The MOVIDYN® 51.. servo controller provides a large amount of diagnostic information for fieldbusoperation. In addition to the fieldbus parameters, diagnostic tools also include menu range P090 -P099, which contains the fieldbus monitor parameters. These parameters allow simple diagnosis ofthe fieldbus application from the servo controller.

This section will primarily explain the fieldbus monitor parameters. The fieldbus parameters will onlybe given again for the sake of completion, since they are to be regarded in direct connection with thefieldbus monitor. Further information regarding parameters P780 - P792 can be found in the previoussections.

Table 24 illustrates the adjustable fieldbus parameters (P090 - P099) as well as the fieldbus monitorparameters (P780 - P792).

P090 Process data configuration

P091 Fieldbus type

P092 Fieldbus baud rate

P093 Fieldbus address

P094 PO1 Setpoint (hex)

P095 PI1 Actual value (hex)





P780 PO1 Setpoint description

P781 PI1 Actual value description





P790 Enable fieldbus setpoints

P791 Fieldbus timeout

P792 Timeout response

Table 24: Fieldbus parameters of the MOVIDYN® 51.. servo controller

6.1 Diagnosis of Process Output Data

Faulty operation of the servo controller can normally be traced back to a faulty application program.This means that false control information or setpoints are occasionally sent to the servo controllerfrom the higher-level control. As a result, it is often helpful to know what control information andsetpoints the servo controller is receiving. User-friendly fieldbus master interface connections, e.g.rows of LEDs on the front cover, offer simple facilities for diagnosis of individual fieldbus processdata.

In order to provide the user with even simpler access to these control values and setpoints, theMOVIDYN® 51.. servo controller offers a direct insight into process data received via the fieldbussystem, using the fieldbus monitor parameters

P094 PO1 Setpoint (hex)P096 PO2 Setpoint (hex)P098 PO3 Setpoint (hex)

6Diagnosis Using the FieldbusMonitor Parameters


(Fig. 26). Process output data received by the servo controller are passed via the serial interface tothe MD_SHELL PC program. Even though the lower transmission rate does not allow for real-timedisplay of setpoints and actual values this diagnostics feature provides a simple tool to aidconfiguration.

These fieldbus monitor parameters allow all process data to be analyzed using the MD_SHELL PCprogram. In addition, MD_SHELL offers an interpretation of the process output data conforming tothe unit profile, such as a display of speed setpoints in units of [1/min].

6.2 Diagnosis of Process Input Data

As is the case with diagnosis of process output data, the fieldbus monitor parameters

P095 PI1 Actual Value (hex)P097 PI2 Actual Value (hex)P099 PI3 Actual Value (hex)

can be used to access the status information or the actual values sent from the servo controller tothe higher-level control (Fig. 27).

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0006hex 0000hex01F4hex

0006hex

0000hex

01F4hex

PO3PO2PO1

Prcess output data (PO)




Fig. 26: Process output data diagnosis with MOVIDYN® 51.. MD0270AE

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SEWEURODRIVE

0007hex 0000hex01F3hex

0007hex

0000hex

01F3hexP099 PI3 Actual Value (hex)

P097 PI2 Actual Value (hex)

P095 PI1 Actual Value (hex)

PI3PI2PI1


Fig. 27: Process input data diagnosis with MOVIDYN®51.. MD0271AE

Diagnosis Using the FieldbusMonitor Parameters6


6.3 MD_SHELL Fieldbus Monitor

The fieldbus monitor function can be used with the PC user interface MD_SHELL, version 1.40 orhigher (Fig. 28). This function provides a user-friendly method of commissioning and diagnosis forthe use of the servo controller in conjunction with the fieldbus. The two operating modes Monitorand Control provide a choice between a purely diagnostic mode in which the process data channelscan only be viewed, and control mode in which modifications can also be carried out via the PC.

6.3.1 Diagnosis Using the Fieldbus Monitor

In Monitor mode, the MD_SHELL fieldbus monitor allows the setpoints and actual values exchangedbetween the higher-level control unit and the MOVIDYN® 51.. servo controller to be continuouslyand clearly viewed and analyzed.

You will see all the information from the three process data channels, such as the description of theprocess input data PI1-PI3 (actual values) and process output data PO1-PO3 (setpoints), and theiractual values as transmitted over the bus system.

6.3.2 Control Using the Fieldbus Monitor

In Control mode, the fieldbus monitor can be used for manual control of the servo controller via thePC. In this case, the servo controller displays the same drive characteristics as it does when it iscontrolled via the fieldbus interface. Amongst other things, this operating method can provide easytraining in the concept of controlling the MOVIDYN® 51.. servo controller via a fieldbus.

Since MD_SHELL communicates with the servo controller via the serial interface, familiarity with thefunctionality of the servo controller fieldbus can also be acquired without the fieldbus master, byentering all setpoints manually via the fieldbus monitor (Control mode). Fig. 29 shows whichcomponents you can use for training in the concept of controlling a servo controller with a fieldbus.

Fig. 28: MD_SHELL fieldbus monitor for diagnosis and control in the fieldbus mode MD0272AE



6.4 Verification of Parameter Adjustment

All MOVIDYN® 51.. servo controller parameters can be read or written via both the serial interfaceand the fieldbus interface. Thus, the MD_SHELL PC program can be used for checking the adjustmentof parameters via the fieldbus system.

It is consequently possible to use the serial interface to read and check parameters written using thefieldbus, for example. The MOVIDYN ® 51.. Parameter List provides co-ordination between the menunumber and the parameter index.

In principle, no verification is necessary, since the servo controller responds with an appropriate errormessage if parameters have been wrongly adjusted.

6.5 Information about the Fieldbus Option PCB

Further information about the fieldbus option pcb is provided by fieldbus monitor parameters P090- P093.

6.5.1 Process Data Configuration

The fieldbus monitor parameter P090 Process Data Configuration shows how many process datawords are used to control the servo controller, and whether the parameter channel is used. Thisparameter is either set with a hardware switch on the fieldbus option pcb, or via the fieldbus masterduring bus system start-up (e.g. with PROFIBUS-DP).

6.5.2 Fieldbus Option PCB Type

The fieldbus monitor parameter P091 Fieldbus Type shows which fieldbus system will be supportedby the fieldbus option pcb used. Because the fieldbus interface on the MOVIDYN®51.. servo controlleris universal, this parameter is for information only.

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MD_SHELL MD_SHELL

RS-232

RS-232

MOVIDYN MKS 51...USS11A andAFI11A (I B -S)AFP11A (PROFIBUS)or AFC11A (CAN)

NTER US

MOVIDYN MAS 51...AFI11A (I B -S)AFP11A (PROFIBUS)or AFC11A (CAN)

NTER US

Fig. 29: Control via the MD_SHELL fieldbus monitor as a configuration aid MD0273AE

Diagnosis Using the FieldbusMonitor Parameters6


6.5.3 Fieldbus Baud Rate

The P092 Fieldbus Baud Rate parameter shows the fieldbus baud rate in kbaud units. Depending onthe fieldbus system used, adjustment can either be made with a hardware switch on the fieldbusoption pcb or via automatic baud rate detection. If the baud rate cannot be detected, the value 0.00is displayed.

6.5.4 Fieldbus Address

The P093 Fieldbus Address parameter displays the actual fieldbus station address of the servocontroller. Adjustment of this address is carried out using a hardware switch on the fieldbus optionpcb (see the user manual for the option pcb).

This parameter will be set at 0 for fieldbus systems which do not need station addressing.



7 Application Examples

This section gives two examples of applications that demonstrate how to operate the MOVIDYN®51..servo controller with a fieldbus connection and control it via the fieldbus option pcb.

7.1 Control Using Control Word 1 and Speed

This example uses the process data description parameters

P780 PO1 Setpoint Description: Control Word 1P781 PI1 Actual Value Description: Status Word 1P782 PO2 Setpoint Description Speed SetpointP783 PI2 Actual Value Description Speed Actual ValueP784 PO3 Setpoint Description No FunctionP785 PI3 Actual Value Description No Function

valid after a factory setting has been carried out.

This configuration allows you to implement a broad range of applications without having to changethe process data assignment. Fig. 30 shows the process data transmitted between the control unitand the servo controller.

7.1.1 Objective

The servo controller is to be controlled by means of two process data words. The process outputdata Control Word 1 and Speed Setpoint are to be specified by the higher-level control unit.Conversely, the servo controller is to return the process input data Status Word 1 and Speed ActualValue to the higher-level control unit.

The application program is to control the following servo controller functions:

1) The digital input E1.1 is to trigger the control commands Enable and Stop.E1.1 = 1: EnableE1.1 = 0: Stop

2) The digital input E1.2 is to trigger the control commands Enable and Rapid Stop.E1.2 = 1: EnableE1.2 = 0: Rapid Stop

3) The digital input E1.3 is to specify the speed setpoint.E1.3 = 1: 750 1/min counterclockwiseE1.3 = 0: 1000 1/min clockwise

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Control word 1


Speedactual value

SpeedsetpointControl word 1


Fig. 30: Application example for control of the servo controller using two process data words MD0274AE

Application Examples7


Ramp generator set 1 is used. The drive shall accelerate using an acceleration ramp generator of1.5s, decelerate using a deceleration ramp generator of 2s and carry out a rapid stop within 200ms.

The servo controller is also to recognize a bus error that lasts longer than 100ms and to use the rapidstop to bring the drive to a standstill.

7.1.2 Commissioning

We recommend using the following method to implement this application example:

1) Wire the servo controller in accordance with the Installation and Operating Instructions.To operate with the fieldbus, connect the servo controller to an external 24V supply (seeInstallation and Operating Instructions MOVIDYN® ). Insert a jumper between terminals X21.5and X21.12 in order to enable the servo controller on the terminal side (Fig. 31).

2) Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb.For this example, configure the process data length to “2PD”. For the AFI 11A (INTERBUS-S)and AFC 11A (CAN) options, for example, this can be done via the DIP switches on the optionpcb. In the case of the PROFIBUS-DP (AFP 11A option), the process data length is configuredin the master module. Please see the User Manuals on the relevant fieldbus option pcb for furtherinformation.

3) Switch on the external 24V supply.As the servo controller parameters have not yet been set for fieldbus operation, do not yet switchon the mains voltage for safety reasons.

4) Activate the factory setting.

0V24

123456789

101112 +24 V

/

X21:

MAS51..MKS51..

No functionNo functionNo functionController inhibitUse this

jumper toenable theoutputstage onthe terminalside !

Fig. 31: Wiring of the servo controller for fieldbus application example 1 MD0275BE

Factory setting YES610

Fig. 32: Activating the factory setting from MD_SHELL MD0276AE

7Application Examples


5) Now commission the drive in accordance with the Installations and Operating Instructions.

6) Set the setpoint source parameter of the servo controller at fieldbus.

7) Program the input terminals X21.6, X21.7 and X21.8 to NO FUNCTION, to enable the servocontroller on the terminal side via the jumper (installed before).

8) Program the fieldbus parameter Fieldbus Timeout to 100ms and the parameter Timeout Responseto Rapid Stop as set out in the Objective.

Setpoint source FIELDBUS110

Fig. 33: Switching to fieldbus control mode via MD_SHELL MD0277AE

Programming MA (X21.6) NO FUNCT.300



Fig. 34: Programming terminals X21.6/7/8 via MD_SHELL MD0278AE

Fieldbus timeout [s] 0.10791

Timeout response RAPID STOP792

Fig. 35: Programming the fieldbus timeout and timeout response via MD_SHELL MD0279AE



9) Enter the ramp generators for the acceleration, deceleration and rapid stop ramps. As the firstramp generator set is to be used the parameters for ramp 1 (P120-P123) and the rapid stopramp (P140) must be changed.

All the parameters for this application example have now been assigned.

7.1.3 S5 Application Program

As a prerequisite to the application program described below, the process input and output data ona Simatic S5 must be at the peripheral addresses PW132 and PW134.

Read access:L PW 132 Read status word 1L PW 134 Read speed actual value

Write access:T PW 132 Write control word 1T PW 134 Write speed setpoint

To control the servo controller only the two control word bits Enable/Stop and Enable/Rapid Stopmust be changed. Fig. 37 shows how the control word is mapped in the Simatic S5.

Fig. 38 shows the S5 program for this application example. In the upper section the setpoint isspecified depending on input E1.3. Actual control of the servo controller via the control word starts

Ramp 1 up CW [s] 1.50120

Ramp 1 down CW [s] 2.00121

Ramp 1 up CCW [s] 1.50122

Ramp 1 down CCW [s]

2.00123

0.20140 Rapid stop ramp [s]

Ramp 1 down CCW [s]

Fig. 36: Programming the ramp generators used in the application program MD0280AE

7 6 5 4 3 2 1 07 6 5 4 3 2 1 0

PB 132 PB 133

PW 132:

Bit:

0XX0000000000000

0 = EnableEnable/Rapid stopEnable/Stop0 = Hold control not activated0 = Ramp generator set 1

0 = No other functions activated

Fig. 37: Programming the ramp generators used in the application program MD0281AE



from the CONT jump flag. The control commands Enable, Stop and Rapid Stop are triggereddepending on the digital inputs E1.1 and E1.2. These commands are coded as constant hex (KH)figures and transferred into the control word (PW132).

7.1.4 Set Start-up Parameters via Fieldbus

The manual configuration procedure described in Section can also be carried out automatically bythe higher-level fieldbus master, i.e. all the drive parameters can be set automatically via the fieldbuswhen the control system starts up. In order to automatically set start-up parameters, please consultthe MOVIDYN® 51.. Parameter List to establish the fieldbus index and the coding for the relevantsetting from the menu numbers given in Section 7.1.2.

:SPA FB 10:SEW:BE

OB1:

NAME

cyclically

:U E 1.3:SPB =CCW:L KF +5000 1000 1/min CW:T PW 134 as speed setpoint:SPA =STEU

LEFT :L KF -3750 750 1/min CCW:T PW 134 as speed setpoint:

CONT :U E 1.1:U E 1.2 Control command:SPB =ENAB Trigger enable::UN E 1.1:U E 1.2 Control command:SPB =STOP Trigger stop::UN E 1.2 Control command:SPB =STOP Trigger rapid stop:BEA:

ENAB :L KH 0006 Write enableto control word:T PW 132

:BEASTOP :L KH 0002 Write stop

to control word:T PW 132:BEA

STOP :L KH 0000 Write rapid stopto control word:T PW 132

:BE

FB 10:

Fig. 38: Example of an S5 program for control of the MOVIDYN® 51.. servo controller via the process data MD0282AE



Table 25 shows the indices and codings for setting start-up parameters taken from the ParameterList.

Menu no. Parameter name Setting Fieldbus index (decimal) Coding (4 byte hex)

610 Factory setting YES 1073 00 00 01 00

... drive-specific ... ... ...

... parameters... ... ... ...

110 Setpoint source FIELDBUS 1079 00 00 03 00

300 Programming MA(X21.6) NO FUNCTION 1052 00 00 08 00



791 Fieldbus Timeout [s] 0.10 1608 00 00 00 10

792 Timeout response RAPID STOP 1609 00 00 00 00

120 Ramp 1 up CW [s] 1.50 1031 00 00 01 50

121 Ramp 1 down CW [s] 2.00 1032 00 00 02 00

122 Ramp 1 up CCW [s] 1.50 1033 00 00 01 50

123 Ramp 1 down CCW [s] 2.00 1034 00 00 02 00

140 Rapid stop ramp [s] 0.20 1035 00 00 00 20

Table 25: Parameter coding for setting start-up parameters of the servo controller

The parameters listed in the table can now be transferred to the servo controller in the required order,e.g. via individual write services or via the download parameter block if supported by the option pcb.However, please note that all other parameters can only be written once the factory settings havebeen completely activated.

7.2 Control Using Control Word 1 / Speed / Ramp

This example describes how to control the servo controller using three process data words. Theprocess data description parameters are set as follows:

P780 PO1 Setpoint Description: Control Word 1P781 PI1 Actual Value Description: Status Word 1P782 PO2 Setpoint Description Speed SetpointP783 PI2 Actual Value Description Speed Actual ValueP784 PO3 Setpoint Description RampP785 PI3 Actual Value Description Apparent Current Actual Value

Controlling the servo controller using three process data words allows you to implement verypowerful applications as communication between the fieldbus master and the servo controller takesplace via three process input and three process output data words.

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Speedactual value

Apparent currentactual value

RampSpeedsetpoint

Status word 1

Control word 1


Fig. 39: Application example for control of the servo controller using three process data words MD0284AE



7.2.1 Objective

The servo controller is to be controlled by means of three process data words. The process outputdata Control Word 1, Speed Setpoint and Ramp are to be specified by the higher-level control unit.Conversely, the servo controller is to return the process input data Status Word 1, Speed Actual Valueand Active Current Actual Value to the higher-level control unit.

The application program is to control the following servo controller functions:

1) The digital input E1.1 is to trigger the control commands Enable and Stop.E1.1 = 1: EnableE1.1 = 0: Stop

2) The digital input E1.2 is to trigger the control commands Enable and Rapid Stop..E1.2 = 1: EnableE1.2 = 0: Rapid Stop

3) The digital input E1.3 is to specify the speed setpoint.E1.3 = 1: 750 1/min counterclockwiseE1.3 = 0: 1000 1/min clockwise

4) In the application, the acceleration and deceleration ramp generators are continually recalculatedby another function module and temporarily stored in the flag wordsMW 100: Current acceleration ramp generatorMW 102: Current deceleration ramp generator.

The drive is to be accelerated or decelerated with the process ramp that is specified via the fieldbusand that can be continually varied. The rapid stop shall take place within 200ms.

The servo controller is also to recognize a bus error that lasts longer than 100ms and to use the rapidstop to bring the drive to a standstill.

In an emergency stop situation, the servo controller is to carry out a rapid stop independently of thefieldbus, directly via the input terminals.

7.2.2 Commissioning


1) Wire the servo controller in accordance with the installation and operating instructions.To operate with the fieldbus, connect the servo controller to an external 24V supply (seeInstallation and Operating Instructions MOVIDYN®). Insert a jumper between terminals X21.5 andX21.12 in order to enable the servo controller on the terminal side (Fig. 40).



Connect the emergency stop switch with input terminal 43 (Enable) on the servo controller, in orderto enable the emergency stop function to operate independently of the fieldbus.

2) Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb.For this example, configure the process data length to “3PD”. For the AFI 11A (INTERBUS-S)and AFC 11A (CAN) options, for example this can be done via the DIP switches on the optionpcb. In the case of the PROFIBUS-DP (AFP 11A option), the process data length is configuredin the master module. Please see the user manuals on the relevant fieldbus option pcb for furtherinformation.

3) Switch on the external 24V supply. As the servo controller has not yet had parameters set forfieldbus operation, do not yet switch on the mains voltage for safety reasons.


5) Now commission the drive in accordance with the installation and operating instructions.


0V24

123456789

101112 +24 V

/

X21:

MAS51..MKS51..

+24 V

No FunctionNo FunctionEnable/rapid stopController inhibit

EMERGENCYSTOP

Use thisjumper toenable theoutputstage onthe terminalside

Fig. 40: Wiring of the servo controller with emergency stop function MD0285AE


Fig. 41: Activating the factory setting via MD_SHELL MD0286AE


Fig. 42: Switching to setpoint source fieldbus via MD_SHELL MD0287AE



7) As the description of process data PO1, PI1, PO2 and PI2 corresponds to the factory setting, youonly have to change the process data description parameters for the third process data word tothe settings specified.

8) As you have changed the setpoint description for the process input data, the servo controller hasautomatically locked with Enable Fieldbus Setpoints = NO. Enable the fieldbus setpoints with P790Enable Fieldbus Setpoints = YES.

9) Program the fieldbus parameter Fieldbus Timeout to 100ms and the parameter Timeout Responseto Rapid Stop as set out in the Objective.

10) Set parameters for the input terminals X21.7 and X21.8 to NO FUNCTION.

11)As the servo controller accelerates and decelerates with the ramp specified through the fieldbus,you only have to enter the rapid stop ramp.


PO3 Setpoint description RAMP784

PI3 Actual value description ACTIVE CURRENT785

Fig. 43: Setpoint and actual value description of the third process data word via MD_SHELL MD0288AE

Enable fieldbus setpoints YES790

Fig. 44: Enabling the fieldbus setpoints via MD_SHELL MD0289AE



Fig. 45: Programming the fieldbus timeout and timeout response MD0290AE



Fig. 46: Programming the input terminals MD0291AE

Rapid stop ramp [s] 0.20140

Fig. 47: Programming the rapid stop ramp for the Rapid Stop control command MD0292AE



The fieldbus-independent emergency stop function is implemented by connecting the enable terminaldirectly with the emergency stop. In normal mode, the emergency stop switch is closed, so thatterminal X21.6 has a +24V signal level and the servo controller is enabled (together with the jumperat terminals X21.5-X21.12). The drive is now controlled by the fieldbus by means of the control word.

In an emergency stop situation the emergency stop button is activated, terminal X21.6 receives a 0Vsignal level and thus activates the rapid stop. The drive will now come to a standstill within 200ms(configured rapid stop ramp), although the fieldbus is transmitting a different control command viathe control word.

IMPORTANT!In this application example, the assignment of terminal X21.6 has not been changed from that of thefactory setting. The servo controller is enabled on the terminal side by means of the jumper and the+24V signal at terminal X21.6 (Enable). The effect of this is that the drive is accelerated immediatelyafter the factory setting has been activated and when the mains voltage is switched on, as theparameter P110 Setpoint Source = Analogue Setpoint is activated after a factory setting has beencarried out. So make sure that the drive is designed in such a way that only the 24V supply is switchedon after the factory setting has been activated. Do not switch on the mains voltage until the fieldbuscontrol mode (P110 Setpoint Source = Fieldbus) has been activated, as the servo controller is thencontrolled by the control word.


As a prerequisite to the application program described below, the process input and output data ona Simatic S5 must be at the peripheral addresses PW132, PW134 and PW136. This programcorresponds to a great extent to the S5 program from the previous application example.

Read access:L PW 132 Read status word 1L PW 134 Read speed actual valueL PW 136 Read active current actual value

Write access:T PW 132 Write control word 1T PW 134 Write speed setpointT PW 136 Write ramp

Fig. 48 shows the S5 program in this application example. The current acceleration ramp istemporarily stored in the flag word MW100 and the current deceleration ramp in MW 102. If theEnable control command is triggered (jump flag ENAB), the current acceleration ramp generator isfirst transferred from MW100 to PW136 (ramp) and the Enable control command is then transferredto the control word with the coding 0006hex. Similarly, when the Stop control command is given, thedeceleration ramp generator is first transferred from MW102 to PW136 (ramp) and the Stop controlcommand is then transferred to the control word with the coding 0000hex.



The process input data Status Word 1, Speed Actual Value and Active Current Actual Value can beprocessed with the load command (e.g. L PW 132).

7.2.4 Start-up Parameterization via Fieldbus

The manual configuration procedure described in Section can also be carried out automatically bythe higher-level fieldbus master, i.e. all the drive parameters can be set automatically via the fieldbuswhen the control system starts up. In order to automatically set start-up parameters, please consultthe MOVIDYN® 51.. Parameter List to establish the fieldbus index and the coding for the relevantsetting from the menu numbers given in Section 7.3.4

:U E 1.3:SPB =CCW:L KF +5000 1000 1/min CW:T PW 134 as speed setpoint:SPA =CONT

LEFT :L KF -3750 750 1/min CCW:T PW 134 as speed setpoint:

CONT :U E 1.1:U E 1.2 Control command

Trigger enable:SPB =ENAB::UN E 1.1:U E 1.2 Control command

Trigger stop:SPB =STOP::UN E 1.2 Control command

Trigger rapid stop:SPB =STOP:BEA:

ENAB :L MW 100 Write acceleration rampfrom MW 100Write enableto control word

:T PW 136:L KH 0006:T PW 132:BEA

STOP :L MW 102 Write deceleration rampfrom MW 102Write stopto control word

:T PW 136:L KH 0002:T PW 132:BEA

STOP :L KH 0000 Write rapid stopto control word:T PW 132

:BE

FB 10:

:SPA FB 10:SEW:BE

OB1:

NAME

cyclically

Fig. 48: Example of an S5 program for control of the MOVIDYN® 51.. servo controller via the process data MD0293AE



Table 26 shows the indices and codings for start-up parameterization taken from the Parameter List.

Menu no. Parameter name Setting Fieldbus index (decimal) Coding (4 byte hex)

610 Factory setting YES 1073 00 00 01 00

... drive-specific ... ... ...

... parameters... ... ... ...

110 Setpoint source FIELDBUS 1079 00 00 03 00

784 PO3 Setpoint description RAMP 1603 00 00 08 00

785 PI3 Actual value description ACTIVE CURRENT 1606 00 00 03 00

790 Enable fieldbus setpoints YES 1607 00 00 01 00

791 Fieldbus Timeout [s] 0.10 1608 00 00 00 10

792 Timeout response RAPID STOP 1609 00 00 00 00



140 Rapid stop ramp [s] 0.20 1035 00 00 00 20

Table 26: Parameter coding for start-up parameterization of the servo controller via the fieldbus

The parameters listed in the table can now be transferred to the servo controller in the required order,e.g. via individual write services or via the download parameter block if supported by the option pcb.However, please note that all other parameters can only be written once the factory settings havebeen completely activated.

7.3 Positioning Using IPOS via Fieldbus

To perform positioning tasks via fieldbus the servo controller must be fitted with the IPOS internalpositioning control.

This application example will show you how to transfer position setpoints from the higher-levelautomation unit to the servo controller via fieldbus and further, how to use the functions of the IPOSinternal positioning control via fieldbus.

For a detailed description of the IPOS internal positioning control please refer to the IPOS InternalPositioning Control User Manual. This documentation is not part of the application example below.

7.3.1 Objective

The MOVIDYN®servo controller shall receive different position setpoints via the fieldbus system andthen perform the positioning as instructed. Control of this process shall be via the fieldbus master.In addition, the current actual position and the status of the servo controller shall be reported backto the higher-level master.

The servo controller shall be controlled exclusively via control word 2. Only the limit switchesCW/CCW are connected to the unit. For processing of the setpoint position an IPOS automaticprogram shall be programmed.

In the event of a bus error the drive must carry out a rapid stop after 100ms.



7.3.2 Implementation Options Using IPOS

Generally, there are different ways of performing a positioning operation via fieldbus. You canimplement the following options with IPOS for example:

- The fieldbus position setpoint is used as IPOS manual mode setpoint;- the fieldbus position setpoint is used for the GOPA command in the IPOS automatic program;- the virtual terminals of control word 2 are used as pointer to the position table.

7.3.3 Process Data Description for Positioning Mode

Since the servo controller in this application example shall receive control commands and positionsetpoints via the fieldbus option pcb, the process data length must be set to three PD (Fig. 49). Thegreatest application variety for position entry via fieldbus is offered by the following process outputdata description, which may also be used in the example below:

P780 PO1 Setpoint Description Control Word 2P782 PO2 Setpoint Description Position HighP784 PO3 Setpoint Description Position Low

To transfer the position setpoints you must program both Position High and Position Low, whereasyou may set the actual value description as you like.For the purpose of this application example the process input data are described as follows:

P781 PI1 Actual Value Description Status Word 2P783 PI2 Actual Value Description Position HighP785 PI3 Actual Value Description Position Low

This setting allows you to continuously evaluate the current actual position as well as further statusinformation about the drive via the process data channel.

Using the virtual terminals of control word 2 and status word 2 allows you to implement a directconnection between the higher-level automation unit (fieldbus master) and the IPOS automaticprogram running decentralized in the servo controller. You can then directly process and control thevirtual input and output terminals in the IPOS program. The digital input and output terminals of theAIO11 option, which are not physically available when the fieldbus option pcb is plugged in, are thenmirrored as virtual terminals in control word 2 or status word 2 to the fieldbus system (Fig. 50).

SEWEURODRIVE

SEWEURODRIVEPosition High Position Low

Position High Position LowStatus word 2

Control word 2



Fig. 49: Application example for position entry via fieldbus MD0294AE



7.3.4 Commissioning


1) Wire the servo controller in accordance with the Installation and Operating Instructions.To operate with the fieldbus, connect the servo controller to an external 24V supply (terminalMPB 51.. terminal X02.5 and X02.6 or MKS 51.. terminal X41.5 and X41.6). Insert a jumperbetween terminals X21.5 and X21.12 in order to enable the servo controller on the terminal side(Fig. 51). Connect the two hardware limit switches CW/CCW.

2) Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb.For this example, configure the process data length to “3PD”. For the AFI 11A (INTERBUS-S)and AFC 11A (CAN) options, for example, this can be done via the DIP switches on the optionpcb. In the case of the PROFIBUS-DP (AFP 11A option), the process data length is configuredin the master module. Please see the User Manuals on the relevant fieldbus option pcb for furtherinformation.

...WAITI...............SETO.........END

Virtual outputterminals

Status word 2

IPOS automatic program***************************

Virtual inputterminals

Control word 2

Fig. 50: Fieldbus applications with the IPOS automatic program and control word 2/status word 2 MD0295AE

0V24

123456789

101112 +24 V

/

X21:

MAS51..MKS51..

+24 V

/Limit switch CCW/Limit switch CW

Controller inhibitNo function

Use thisjumper toenable theoutputstage onthe terminalside !

Fig. 51: Wiring of the servo controller incl. hardware limit switch MD0296BE



3) Switch on the external 24V supply.As the servo controller parameters have not yet been set for fieldbus operation, do not yet switchon the mains voltage for safety reasons.


5) Now commission the drive in accordance with the installation and operating instructions.


7) Set the parameters to describe the process input and output data.

8) As you have changed the setpoint description of the process input data, the servo controller hasautomatically disabled itself setting Enable Fieldbus Setpoints = NO. Change the setting of P790Enable Fieldbus Setpoints = YES to enable the fieldbus setpoints again.


Fig. 52: Activating the factory setting via MD_SHELL MD0297AE


Fig. 53: Setting the setpoint source parameter at fieldbus using MD_SHELL MD0298AE

PO1 Setpoint description CONTROL WORD 2780

PI1 Actual value description STATUS WORD 2781

PO2 Setpoint description POSITION HI782

PI2 Actual value description POSITION HI783

PO3 Setpoint description POSITION LO784

PI3 Actual value description POSITION LO785

Fig. 54: Setpoint and actual value description for positioning via fieldbus MD0299AE

Enable fieldbus setpoints YES790

Fig. 55: Enabling the fieldbus setpoints via MD_SHELL MD0300AE



9) In accordance with the objective program the fieldbus parameters Fieldbus Timeout to 100msand the parameter Timeout Response to Rapid Stop.

10) Parameterize input terminal X21.6 to NO FUNCTION.

11) Set the rapid stop ramp since in the event of a bus error the drive will ramp down the rapid stopramp.

12) Set the servo controller operating mode at positioning.

13) Set the IPOS machine parameters in accordance with your application.

14) In this application example the position setpoint specified via the fieldbus shall be used in theautomatic program of the servo controller in conjunction with the IPOS GOPA command. Forthis purpose, set IPOS Bus Mode = 2.

15) Enter the reference type (type 0 for this application example).

16) Now create the IPOS automatic program and use the GOPA command to make use of the positionsetpoints specified from the fieldbus. Fig. 61 shows the minimum program which is necessaryin order to use the position setpoint from the fieldbus interface.



Fig. 56: Programming the Fieldbus timeout and Timeout response parameters MD0301AE

IPOS bus mode 2

Fig. 60: Setting the meaning of the fieldbus position setpoint MD0305AE

Betriebsart POSITIONIERUNG100 Mode POSITIONING100

Fig. 59: Changing the servo controller operating mode via MD_SHELL MD0304AE

Rapid stop ramp [s] 0.20140

Fig. 58: Programming the rapid stop ramp for the Rapid Stop control command MD0303AE


Fig. 57: Programming the input terminals MD0302AE



17)Now start the IPOS automatic program in the servo controller.


IMPORTANT!In this application example, terminal X21.6 has been programmed to NO FUNCTION. The servocontroller is enabled only by means of the jumper on the terminal side. The effect of this is that thedrive is accelerated immediately after the factory setting has been activated and when the mainsvoltage is switched on, as the parameter P110 Setpoint Source = Analogue Setpoint is activated aftera factory setting has been carried out. So make sure that the drive parameter save set in such a waythat only the 24V supply is switched on after the factory setting has been activated. Do not switch onthe mains voltage until the fieldbus mode (P110 Setpoint Source = Fieldbus) has been activated, asthe servo controller is then controlled by the control word.


If the process input and output data are mapped to the peripheral addresses PW132, PW134 andPW136 in a Simatic S5, for example, you may use the corresponding load and transfer commandsto implement control and entry of the position setpoints.

Read access:L PW 132 Read status word 2L PW 134 Read actual value position highL PW 136 Read actual value position low

Write access:T PW 132 Write control word 2T PW 134 Write setpoint position highT PW 136 Write setpoint position low

IMPORTANT!Make sure that the position values are dealt with consistently, i.e. that position high and position lowwill supply the correct 32-bit position value within a program and bus cycle!

GO0 #0GOPAEND

SEWEURODRIVE

SEWEURODRIVE

Position High Position Low

Carry out reference travelUse fieldbus position setpoint

IPOS automatic program***************************

Control word 2


Fig. 61: Using the position setpoint in the IPOS automatic program MD0307AE



IndexActive input terminals, 25; 36Active output terminals, 37Actual value description PI, 19

- active current actual value, 20- actual position, 20- apparent current actual value, 20- no function, 19- speed actual value, 19; 20- status word 1, 20- status word 2, 20

Additional code, 47Address, fieldbus

- display of, 53- setting, see Fieldbus Option pcb User

ManualApplication examples, 54; 59

Baud ratedisplay of, 53setting, see Fieldbus Option pcb UserManual

Commissioning, 55;60;67examples, 55;60;67

Controller wiring, see MOVIDYN®

Installation and Operating InstructionsControl word

- basic control block, 25- bit 0-7 functions, 25- control command controller inhibit, 28- control command enable, 27- control command rapid stop, 28- control command stop, 28- control command via bit 0-2, 27- control word 2 with virtual terminals, 30- drive control combined with input

terminals, 25; 26; 36- not entered via fieldbus, 18- simultaneous transmission of control

word 1 and 2, 18

Diagnosis- checking the parameters setting via

fieldbus, 49- of process input data (actual values), 50- of process output data

(fieldbus setpoints), 51Download parameter block, 46

EEPROM- deactivate save function, 45

Emergency stop concept, 61Error

- additional code, 47- class, 47- code, 47

ET 200, see PROFIBUS-DP

Factory settingfieldbus time out, 38- activate, 45- P560/562/564/ setpoint description

PO1-3, 17- P561/563/565 actual value description

PI, 20- P792 time out response, 38, 39- user notes on activation, 45

Fault message, also see MOVIDYN® 51..Installation and Operating Instructions

- coding, see MOVIDYN® 51..Parameter List

- Fault 28 fieldbus time out, 41- Fault 34 fieldbus time out, 41- Fault 87 fieldbus time out, 41- when parameter setting, see Error

Fault messages after fieldbus time out, 39Features of the fieldbus interface, 7Fieldbus monitor, 49Fieldbus type, 52

INTERBUS-S, also see AFI11A(INTERBUS-S) Option User Manual; 52

Monitoring functions, 38MOVIDYN® 51.. settings

- commissioning procedure using afieldbus, 10

- monitoring functions, 38- P090-P099 fieldbus monitor parameter, 49- P640 parameter lock, 46- P650 save, 45- P780/782/784 setpoint description

PO1-3, 13- P781/783/785 actual value description

PI1-3, 13- P790 enable fieldbus setpoints, 13; 20- P791 fieldbus time out, 38- P792 time out response, 38

Index


- P830 factory setting, 45- PD configuration, 12- process data description, 13- terminal assignment for field bus mode, 11

Parameter lock, 46Parameter setting

- addressing the parameter via fieldbusindex, 42

- checking or verification, 52- cyclic, 45- download parameter block, also see

Fieldbus Option pcb User Manual- during control start-up, 58- fieldbus index, 42- parameter coding and data length, 43- procedure, 42- reading a parameter, 43- return codes, 46- via fieldbus, also see Fieldbus Option

pcb User Manual; 42- writing a parameter, 44

Process- data (PD), 10- input data (PI), 10- output data (PO), 10

Process data- combinability, 14- configuration, 52- disable, 21- mapping in the PLC, 13- processing, 17- scaling, 21- special cases, 17

Process input data description, see PO actualvalue descriptionProcess output data description, see POsetpoint descriptionPROFIBUS, also see AFP11A PROFIBUSOption User Manual; 52

- DP, 3- FMS, 3

Read, 43

S5 program example, 58Sample application, 54Setpoints

- via fieldbus, see process output dataSetpoint description PO

- actual position, 23- control word 1, 17; 18; 25- control word 2, 17; 18; 25- current limit, 16; 22- current setpoint, 22- duplicate usage, 18- position setpoint, 15; 20; 23- process ramp, 16; 23- slip compensation, 16- speed limiting, 16- speed setpoint, 14; 22

Sinec L2, see PROFIBUSStatus word, 31

- basic status block, 31- bit 0-7 function, 32- coding of MOVIDYN 51.. unit status, 34- status word 1, 34- status word 2, 35- status word 2 with virtual output

terminals, 35

Time out response, 38- immediate switch-off with fault, 40- immediate switch-off with warning, 39- no response, 40- rapid stop with fault, 39- rapid stop with warning, 39- switching to standard mode, 40

Time out monitoring of the fieldbusinterface, 38

Write, 44

Index


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Documents

MOVIDYN Servo Controller - glob · PDF file(i.e. the servo controller) ... The application examples are described both in graphic form as well as in Simatic-S5 ... ramp generator times