manual – movidrive® mdx61b table positioning application · manual 1.1 structure of the safety...

Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services

MOVIDRIVE® MDX61B"Table Positioning" Application

ManualEdition 09/200711640626 / EN

SEW-EURODRIVE – Driving the world

Manual – MOVIDRIVE® MDX61B Table Positioning Application 3

1 General Notes......................................................................................................... 41.1 Structure of the safety notes .......................................................................... 41.2 Right to claim under warranty ........................................................................ 41.3 Exclusion of liability ........................................................................................ 41.4 Other applicable documentation .................................................................... 5

2 System Description................................................................................................ 62.1 Areas of application ....................................................................................... 62.2 Application example....................................................................................... 72.3 Program identification .................................................................................... 8

3 Project Planning..................................................................................................... 93.1 Prerequisites .................................................................................................. 93.2 Description of functions................................................................................ 103.3 Scaling the drive .......................................................................................... 113.4 Limit switches, reference cams and machine zero ...................................... 123.5 Binary coding of the table positions ............................................................. 133.6 Process data assignment for fieldbus control .............................................. 143.7 Terminal control ........................................................................................... 153.8 Software limit switch..................................................................................... 163.9 IPOSplus® processing speed........................................................................ 183.10 Safe stop...................................................................................................... 193.11 SBus send object ......................................................................................... 19

4 Installation ............................................................................................................ 204.1 MOVITOOLS® software ............................................................................... 204.2 MDX61B basic unit with "DIO11B-type input / output card" ......................... 214.3 Connecting the DEH/DER11B option to MOVIDRIVE® MDX61B................ 224.4 Bus installation MOVIDRIVE® MDX61B ...................................................... 234.5 System bus connection (SBus 1) ................................................................. 304.6 Connecting hardware limit switches............................................................. 32

5 Startup................................................................................................................... 335.1 General information ..................................................................................... 335.2 Preliminary work........................................................................................... 335.3 Starting the program "Table Positioning via Fieldbus" ................................. 345.4 Parameters and IPOSplus® variables ........................................................... 465.5 Recording IPOSplus® variables .................................................................... 48

6 Operation and Service ......................................................................................... 496.1 Starting the drive.......................................................................................... 496.2 Referencing mode........................................................................................ 506.3 Jog mode ..................................................................................................... 536.4 Teach mode ................................................................................................. 556.5 Automatic mode ........................................................................................... 576.6 Cycle diagrams ............................................................................................ 596.7 Error information .......................................................................................... 626.8 Error messages............................................................................................ 63

7 Compatibility of MOVIDRIVE® B / compact ....................................................... 667.1 Important notes ............................................................................................ 66

8 Index...................................................................................................................... 69

4 Manual – MOVIDRIVE® MDX61B Table Positioning Application

1 Structure of the safety notesGeneral Notes

Manual1 General Notes1.1 Structure of the safety notes

The safety notes in this manual are designed as follows:

1.2 Right to claim under warrantyA requirement of fault-free operation and fulfillment of any rights to claim under limitedwarranty is that you adhere to the information in the MOVIDRIVE® documentation. Con-sequently, read the operating instructions and manuals before you start working with theunit!Make sure that the operating instructions and manuals are available to persons respon-sible for the plant and its operation, as well as to person who work independently on theunit. You must also ensure that the documentation is legible.

1.3 Exclusion of liabilityYou must comply with the information contained in the MOVIDRIVE® documentation toensure safe operation of the MOVIDRIVE® drive inverter and to achieve the specifiedproduct characteristics and performance requirements. SEW-EURODRIVE assumes noliability for injury to persons or damage to equipment or property resulting from non-ob-servance of these operating instructions. In such cases, any liability for defects is ex-cluded.

Symbol SIGNAL WORDNature and source of hazard.Possible consequence(s) if disregarded.• Measure(s) to avoid the hazard.

Symbol Signal word Meaning Consequences if disregarded

Example:

General hazard

Specific hazard,e.g. electric shock

HAZARD Imminent hazard Severe or fatal injuries

WARNING Possible hazardous situation Severe or fatal injuries

CAUTION Possible hazardous situation Minor injuries

STOP Possible damage to property Damage to the drive system or its environment

NOTE Useful information or tipSimplifies drive system handling


1Other applicable documentationGeneral Notes

1.4 Other applicable documentation• This manual does not replace the detailed operating instructions and the correspond-

ing manuals.• Installation and startup only by trained personnel observing the relevant accident

prevention regulations and the following documents:– "'MOVIDRIVE® MDX60B/61B' operating instructions and corresponding manuals


2 Areas of applicationSystem Description

2 System Description2.1 Areas of application

The "Table Positioning" application module is particularly suited to applications in whichit is necessary to move to positions at pre-defined speeds and with different accelerationramps. If you use an external encoder for positioning, which is necessary when there isa non-positive connection between motor shaft and load, you can either use an incre-mental encoder or an absolute encoder.The "Table Positioning" application module accomplishes these tasks with various op-erating modes which are selected using binary inputs (terminal control) or virtual termi-nals (control via fieldbus).

The "Table Positioning" application module is especially suitable for the followingbranches of industry and applications:

• Materials handling– Trolleys– Hoists– Rail vehicles

• Logistics– Storage and retrieval units– Transverse carriages

The "Table Positioning" module offers the following advantages in theseapplications:• User-friendly user interface.• 32 table positions can be defined and selected via terminals / fieldbus / SBus.• You only have to set the parameters required for table positioning and bus operation

(ratios, speeds, diameters).• Guided parameter setting process instead of complicated programming.• Monitor mode for optimum diagnostics.• Users do not need any programming experience.• Incremental encoders or absolute encoders can be used as external encoders.• It does not take long to get to know the system.


2Application exampleSystem Description

2.2 Application exampleTransverse carriage

A transverse carriage represents a typical application example of the "Table positioning"application module. The following figure shows a transverse carriage in a high-baywarehouse: Goods to be moved in and out of storage are transported between the shelfaisles and the distribution table.

04823AXXFigure 1: Application example of a transverse carriage


2 Program identificationSystem Description

2.3 Program identificationYou can use the MOVITOOLS® software package to identify which application programwas last loaded into the MOVIDRIVE® MDX61B unit. Proceed as follows:• Connect MOVIDRIVE® to the PC via the serial port.• Start MOVITOOLS®.• In MOVITOOLS® start the program "Shell".• In the Shell program, choose [Display] / [IPOS Information...].

• The "IPOS-Status" window appears. The entries in this window tell you which appli-cation software is stored in MOVIDRIVE® MDX61B.

06710AENFigure 2: IPOS information in Shell

11715AENFigure 3: Display of the current IPOS program version


3PrerequisitesProject Planning

3 Project Planning3.1 PrerequisitesPC and software The "Table Positioning" application module is implemented as an IPOSplus® program

and forms part of the SEW MOVITOOLS® software package. In order to use MOVI-TOOLS®, you must have a PC with one of the following operating systems: Windows95, Windows 98, Windows NT 4.0 or Windows 2000.

Inverters, motors and encoders

• InvertersThe "Table Positioning" application requires encoder feedback. It can only be imple-mented on MOVIDRIVE® MDX61B units in application version (...-0T). "TablePositioning" cannot be implemented on MOVIDRIVE® MDX60B.In case of fieldbus control, the "Table Positioning" application uses a process dataword. A MOVIDRIVE® option will be required (→ following table), depending on thebus type used.

• Motors– For operation on MOVIDRIVE® MDX61B with option DEH11B: CT/CV asynchro-

nous servomotors (encoder installed as standard) or DR/DT/DV/D AC motorswith encoder option (Hiperface®, sin/cos or TTL).

– For operation on MOVIDRIVE® MDX61B with option DER11B: CM/DS synchro-nous servomotors, resolver installed as standard.

• External encoderAn external encoder is required for positioning in applications with a non-positiveconnection between the motor shaft and the load. If an absolute encoder is used asthe external encoder, the MOVIDRIVE® option "Absolute encoder interface typeDIP11B" is also required.– Positive connection between motor shaft and load:

An external encoder is not required. If you also want to use an external encoderfor positioning when there is an interlocking connection, you have to proceed inthe same way as with a non-positive connection.

– Non-positive connection between motor shaft and load:An external encoder is required in addition to the motor encoder/resolver.Incremental encoder as external encoder: Connection to basic unit at X14.Absolute encoder as external encoder: Connection to option DIP11 at X62.

Control viaPossible with MOVIDRIVE®

compact MCH41A/42A MDX61B

Terminals No Yes, with option DIO11B

PROFIBUS-DP Yes, without option Yes, with option DFP21B

INTERBUS No Yes, with option DFI11B

INTERBUS with fiber optic cable Yes Yes, with option DFI21B

CAN bus No Yes, with DFC11B option

DeviceNet No Yes, with option DFD11B

Ethernet No Yes, with DFE11B option


3 Description of functionsProject Planning

• Possible combinations

3.2 Description of functionsFunctional characteristics

The "Table Positioning" application has the following functional characteristics:• Up to 32 table positions can be defined and selected.• The travel speed can be selected for each positioning movement.• The ramp can be set separately for each positioning movement.• Software limit switches can be defined and evaluated.• Either incremental or absolute encoders can be evaluated as external encoders.

Four operating modes

• Jog mode– The drive is moved CW or CCW using two virtual binary inputs.– The two speeds 'rapid speed' and 'creep speed' for fine positioning can be select-

ed via a virtual binary input.

• Teach mode– Movement can be performed to every individual position in jog mode and then

stored in teach mode.

• Referencing mode– Reference travel is started when a start command is signaled at a virtual binary

input. Reference travel establishes the reference point (machine zero) for abso-lute positioning operations.

• Automatic mode– Selecting the target position using five virtual binary inputs (binary coded).– Checkback of the selected target position before traveling using five virtual binary

outputs (binary coded)– Confirmation that the selected position has been reached via virtual binary output

"Target position reached".

Motor shaft / load connection

Positive, external encoder is not required

Non-positive, external encoder is required

Encoder type (external encoder)

- Incremental encoder or Hiperface encoder

Reference travel Yes (absolute positioning)

Required MOVIDRIVE® option Input / output card DIO11B or fieldbus interfaces (DFP21B, DFI11B)


3Scaling the driveProject Planning

3.3 Scaling the driveThe controller must be able to detect the number of encoder pulses (increments) pertravel unit to position the drive. The scaling function is used to set a user unit suitable tothe application.

Drive without external encoder (positive connec-tion)

In drives without an external encoder, the system can calculate the scaling automaticallyduring startup of the table positioning. Enter the following data:• Diameter of the drive wheel (ddrive wheel) or pitch of the spindle (pspindle)• Gear ratio of the gear unit (igear unit, speed-reduction)• Gear ratio of the additional gear (igear unit, speed-reduction)

The following scaling factors are calculated:• Pulses / distance scaling factor [inc/mm] using the formula:

Pulses = 4096 × igear unit × iadditional gearDistance = Π × ddrive wheel or Π × pspindle

• Speed scaling factorNumerator factor in [1/min] and denominator value in "speed unit".

You can also enter the distance and speed scaling factors directly. If you enter a unitother than [mm] or [1/10 mm] as the travel unit, this user unit will also be used for theposition of the software limit switches, the reference offset and the maximum travel dis-tances.


3 Limit switches, reference cams and machine zeroProject Planning

Drive with exter-nal encoder (non-positive connec-tion)

In this case, you must have activated and scaled the external encoder before startingup the 'Table Positioning' module. To do so, make the following settings in the Shell pro-gram before starting up the table positioning via bus (→ following figure).

• P941 Actual position sourceIf an incremental encoder or an absolute encoder (DIP11) is connected, set P941 to"EXT. ENCODER (X14)". You can also make this setting during the startup proce-dure of the table positioning module.

• P942 Encoder factor numerator / P943 Encoder factor denominator / P944 Encoderscaling ext. Encoders

Calculation of the scaling is blocked during startup of the table positioning.

3.4 Limit switches, reference cams and machine zeroNote the following points during project planning:• Software limit switchesmust be located within the travel distance of the hardware

limit switches.• When defining the reference position (position of the reference cam) and the soft-

ware limit switches, make sure they do not overlap. Error message F78 "IPOS SWlimit switch" is generated in the event of an overlap during referencing.

• You can enter a reference offset during startup if you do not want the machine zeroto be located on the reference cam. The following formula applies: Machine zero =reference position + reference offset. This way, you can alter the machine zero with-out having to move the reference cam.

10091AEN

NOTES• For more information about scaling an external encoder, refer to the "IPOSplus® Po-

sitioning and Sequence Control System" manual.• When using an absolute encoder, note the startup instructions in the "MOVI-

DRIVE® MDX61B0 Absolute Encoder Card DIP11B" manual.

NOTEPlease also refer to the information in sec. "Software limit switches."


3Binary coding of the table positionsProject Planning

3.5 Binary coding of the table positionsTerminal version The table positions must be specified in binary code. They are also reported back in bi-

nary code. This means DI13 (D012) = 20 and DI17 (D016) = 24.

Bus version For the bus version, the table positions are selected via the binary signals of the virtualinput terminals through process data word 1 (→ sec. "Process data assignment for field-bus control").

No. DI13 (D012) DI14 (D013) DI15 (D014) DI16 (D015) DI17 (D016)

0 "0" "0" "0" "0" "0"

1 "1" "0" "0" "0" "0"

2 "0" "1" "0" "0" "0"

3 "1" "1" "0" "0" "0"

4 "0" "0" "1" "0" "0"

5 "1" "0" "1" "0" "0"

6 "0" "1" "1" "0" "0"

7 "1" "1" "1" "0" "0"

8 "0" "0" "0" "1" "0"

9 "1" "0" "0" "1" "0"

10 "0" "1" "0" "1" "0"

11 "1" "1" "0" "1" "0"

12 "0" "0" "1" "1" "0"

13 "1" "0" "1" "1" "0"

14 "0" "1" "1" "1" "0"

15 "1" "1" "1" "1" "0"

16 "0" "0" "0" "0" "1"

17 "1" "0" "0" "0" "1"

18 "0" "1" "0" "0" "1"

19 "1" "1" "0" "0" "1"

20 "0" "0" "1" "0" "1"

21 "1" "0" "1" "0" "1"

22 "0" "1" "1" "0" "1"

23 "1" "1" "1" "0" "1"

24 "0" "0" "0" "1" "1"

25 "1" "0" "0" "1" "1"

26 "0" "1" "0" "1" "1"

27 "1" "1" "0" "1" "1"

28 "0" "0" "1" "1" "1"

29 "1" "0" "1" "1" "1"

30 "0" "1" "1" "1" "1"

31 "1" "1" "1" "1" "1"


3 Process data assignment for fieldbus controlProject Planning

3.6 Process data assignment for fieldbus controlThe higher-level controller (PLC) sends one process output data word (PO1) to the in-verter and receives one process input data word (PI1) from the inverter.

Process output data

The process output data word is assigned as follows:• PO1: Control word 2

Process input data

The process input data word is assigned as follows:• PI1: Status word 2

62051AXXFigure 4: Data exchange via process data

PO = Process output data PI = Process input dataPO1 = Control word 2 PI1 = Status word (IPOS PI data)

PI

PO

PI1

PO1

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

P617 Binary input DI17 Controller inhibit/Enable

P616 Binary input DI16 Enable/Rapid stop

P615 Binary input DI15 Enable/stop

P614 Binary input DI14 Hold control

P613 Binary input DI13 Ramp switchover

P612 Binary input DI12 Parameter set switchover

P611 Binary input DI11 Error reset

P610 Binary input DI10 Reserved

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

P617 Binary output DI17 Motor is turning (n≠0)

P616 Binary output DI16 Inverter ready

P615 Binary output DI15 IPOS reference

P614 Binary output DI14 Target position reached

P613 Binary output DI13 Brake released

P612 Binary output DI12 Fault/warning

P611 Binary output DI11 Limit switch CW active

P610 Binary output DI10 Limit switch CCW active


3Terminal controlProject Planning

3.7 Terminal controlOperating modes The operating mode is set using the binary inputs X22:DI10 and DI11 of the DIO11B op-

tion or X60:DI10 and DI11 of the DIP11B option.

Functions of the binary inputs DI12 ... DI17

The binary inputs X22:DI12 ... DI17 of the DIO11B option or X60:DI12 ... DI17 of theDIP11B option have different functions depending on the selected operating mode.

Duty cycle type Jog mode Teach mode Referencing mode Automatic mode

DI10: Mode low "0" "1" "0" "1"

DI11: Mode high "0" "0" "1" "1"


DI12: Function 1 Reserved Strobe Start referencing Start positioning

DI13: Function 2 Positive jog Position 20 Reserved Position 20

DI14: Function 3 Negative jog Position 21 Reserved Position 21

DI15: Function 4 Rapid speed Position 22 Reserved Position 22

DI16: Function 5 Reserved Position 23 Reserved Position 23

DI17: Function 6 Reserved Position 24 Reserved Position 24


3 Software limit switchProject Planning

3.8 Software limit switchGeneral information

The "software limit switch" monitoring function is used to check that the target positionis set to appropriate values. During this process, it is not important where the drive ispositioned. In contrast to the monitoring of the hardware limit switches, the monitoringfunction for the software limit switches makes it possible to detect whether there is anerror in the target specifications before the axis starts to move. The software limit switch-es are active when the axis is referenced; that is, when Bit 1 IPOS reference is set inPI1.

Moving clear of the software limit switches

When using an absolute encoder or Multiturn Hiperface® encoder it may be necessaryfor the drive to be moved within the range of the software limit switches (for example,after an encoder has been replaced). For this purpose, Bit 15 in the process output dataword 1 (PO1) is set to "/SWLS" (= Moving clear of the software limit switch).Bit 15 "/SWLS" is only available in jog mode and referencing mode. If Bit 15 is set, thedrive can be moved out of the valid positioning range into the area of the software limitswitches (→ example 3).

It is necessary to differentiate between the following three examples:

Example 1 • Requirements:– Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set.– Drive is within valid positioning area– Software limit switch monitoring function is active.

In jog mode, the drive runs until it is three position windows (P922) before the soft-ware limit switch and then stays there.In automatic mode, the drive can be positioned up to the software limit switches butnot beyond.In referencing mode, the software limit switches are not active, which means thedrive can move past the software limit switches during reference travel.

10981AEN


3Software limit switchProject Planning

Example 2 • Requirements:– Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set.– The drive is outside the software limit switches.

The following error message appears once the drive is enabled:

You can confirm the error message by pressing the reset button. The monitoringfunction is deactivated. In the area of the software limit switches, the drive can bemoved at two different speeds as follows:– Closer toward the travel range of the software limit switch at reference speed 2

(P902).– Away from the travel range of the software limit switches at maximum speed.The monitoring function is reactivated when:– The actual position of the drive set with P941 enters the permitted positioning

range again.– A positioning job is issued via the opposite software limit switch.– The unit is switched off and on again.

10982AEN

10983AEN


3 IPOSplus® processing speedProject Planning

Example 3 • Prerequisite:– Bit 15 "/SWLS" in the process output data word 1 (PO1) is set.

The monitoring function is deactivated in the "Jog mode" and "Referencing mode"operating modes. The drive can be moved within the travel area of the software limitswitches and from the valid positioning range into the area of the software limitswitches without an error message being generated. The speed can be varied.

3.9 IPOSplus® processing speedThe processing speed of the IPOSplus® program in MOVIDRIVE® MDX61B can bechanged using the following parameters:• P938 IPOS speed TASK1, setting range 0 ... 9• P939 IPOS speed TASK2, setting range 0 ... 9Setting value "0" for both parameters results in the same IPOSplus® processing speedas for MOVIDRIVE MD_60A:• P938 = 0 = TASK1 = 1 command / ms• P938 = 0 = TASK2 = 2 commands / msValues greater than zero are added to the IPOSplus® processing speed of MOVIDRIVE®

MD_60A. Note that the total of the commands per millisecond (commands / ms) forTASK1 and TASK2 must not be greater than 9.

10984AEN

HAZARDRisk of crushing if the motor starts up unintentionally.Severe or fatal injuries.• You must not change the monitoring function of the software limit switches (PO1,

Bit 15 "/SWLS") during operation (i.e. when the axis is in motion).


3Safe stopProject Planning

If you start up the "Table positioning" application module on a MOVIDRIVE® MDX61Bunit, the parameters will be set as follows to ensure a sequence with optimized timing:• P938 = 5 = TASK1 = 1 command / ms + 5 commands / ms = 6 commands / ms• P939 = 4 = TASK2 = 2 commands / ms + 4 commands / ms = 6 commands / ms

3.10 Safe stopA "Safe stop" can only be achieved by safe disconnection of the jumpers at terminal X17(with safety switch or safety PLC).The "Safe stop active" state is indicated by a "U" in the 7-segment display of theMOVIDRIVE® MDX61B. In the application module, this state is treated in the same wayas the "CONTROLLER INHIBIT" state.

3.11 SBus send objectYou have the option of setting up an SBus send object for transferring the cyclical actualposition of the drive. In this way, "Table Positioning via Fieldbus" can be used as a mas-ter for the "DriveSync" application module or any IPOSplus® program.

Activating the SBus send object

To set up the SBus send object, set the IPOSplus® variable H115 SwitchSBUS to "1" andrestart the IPOSplus® program (→-φfollowing figure).

Setting the SBus send objects

The send and synchronization objects are initialized automatically once the IPOSplus®

program has been restarted. The content of the send object is set to IPOSplus® encoder.

NOTESFor more information on the "Safe stop" function, refer to the following publications:• MOVIDRIVE® MDX60B / 61B Safe Disconnection - Conditions• MOVIDRIVE® MDX60B/61B Safe Disconnection - Applications

11010AXX

Send object Synchronization object

ObjectNo 2 1

CycleTime 1 5

Offset 0 0

Format 4 0

DPointer IPOS encoder -


4 MOVITOOLS® softwareInstallation

4 Installation4.1 MOVITOOLS® softwareMOVITOOLS® The "Table Positioning" application module is part of the MOVITOOLS® software (ver-

sion 4.20 and higher). Proceed as follows to install MOVITOOLS® on your computer:• Insert the MOVITOOLS® CD into the CD-ROM drive of your PC.• The MOVITOOLS® setup menu is started. You will be guided through the installation

process: Follow the instructions.

You can now use the Program Manager to start MOVITOOLS®. Proceed as follows toperform startup for the inverter using the MOVITOOLS® Manager:• Select the language you want in the "Language" selection field.• In the "PC Interface" selection field, select the PC port (e.g. COM 1) to which the in-

verter is connected.• In the "Device Type" field, select "Movidrive B".• In the "Baudrate" field, select the baud rate set on the basic unit with the DIP switch

S13 (standard setting → "57.6 kBaud").• Press the <Update> button to display the connected inverter.

Application version

The "Table Positioning" application module can only be used with MOVIDRIVE® units inapplication version (...-0T). The application modules cannot be used on units in the stan-dard version (-00).

10985AENFigure 5: MOVITOOLS® window


4MDX61B basic unit with "DIO11B-type input / output card"Installation

4.2 MDX61B basic unit with "DIO11B-type input / output card"Terminal control The "Input / output card DIO11B" can be used in the terminal version of the "Table po-

sitioning" application module.

* see sec. "Connecting hardware limit switches"

62145AENFigure 6: Wiring diagram for MOVIDRIVE® MDX61B basic unit with option DIO11B

X10:TF1

DGNDDBØØ

DOØ1-CDOØ1-NODOØ1-NC

DOØ2

VI24VO24

DGND

123456789

10

X16:

DOØ3DOØ4DOØ5DGND

123456

X13:

DIØØDIØ1DIØ2DIØ3DIØ4DIØ5

DIØ6DIØ7

DCOM**VO24DGNDST11ST12

123456789

1011

MOVIDRIVE MDX61B

DIO11B

X20

X21

X22

X23

123

123456

123456789

10

123456789

X22:

X23:

DI1ØDI11DI12DI13DI14DI15DI16DI17

DCOMDGND

DO1ØDO11DO12DO13DO14DO15DO16DO17VI24

123456789

10

123456789

=+ -

24 V

DIO11B

®

No function

/Limit switch CW */Limit switch CCW *

No functionNo functionNo functionReference potential binary signals

Reference potential binary signals

Reference potential binary signalsDC+24 V input

DC+24 V input

TF/TH input

Relay NC contactRelay NO contactReady for operationRelay contact

/Brake

IPOS reference

Reference camReset

RS485 -RS485 +Reference potential binary signals

Enable / stop/Controller inhibit

Reference X13:DIØØ...DIØ5DC+24 V output

DC+24 V output

IPOS input: Mode LowIPOS input: Mode HighIPOS input: Function 1IPOS input: Function 2IPOS input: Function 3IPOS input: Function 4IPOS input: Function 5

Reference X22: DI1Ø ... DI17Reference potential binary signals

IPOS output: MODE (20)IPOS output: MODE (21)IPOS output: MODE (22)IPOS output: Value 1 (20)IPOS output: Value 2 (21)IPOS output: Value 4 (22)IPOS output: Value 8 (23)IPOS output: Position reached

MDX61B

X11

S14S13S12S11

XT

X12

X13

X16

X10

IPOS input: Function 6


4 Connecting the DEH/DER11B option to MOVIDRIVE® MDX61BInstallation

4.3 Connecting the DEH/DER11B option to MOVIDRIVE® MDX61B

62146AENFigure 7: Wiring diagram for MOVIDRIVE® MDX61B with option DEH11B or DER11B

X14:

DEH11B DER11B

X15:

TF1

DGND

DBØØ

DOØ1-C

DOØ1-NO

DOØ1-NC

DOØ2

VO24

VI24

DGND

1

2

3

4

5

6

7

8

9

10

MOVIDRIVE MDX61B®

X13:

X10:

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

DGND

ST11

ST12

1

2

3

4

5

6

7

8

9

10

11 RS485 -

RS485 +

=+-

24 V

DEH11B

X1

4X

15

1

1

15

15

8

8

9

9

1

1

8

8

9

9

15

15

DER11B

X1

4X

15

1

1

6

6

5

5

9

9

15

15

1

1

8

8

9

9

X12:

DGND

SC11

SC12

1

2

3SB

us


Enable/stop

/Controller inhibit

Reference X13:DIØØ...DIØ5



DC+24 V input

TF/TH input

Relay contact ready for operation

Relay NC contact

Relay NO contact

/Brake

/Malfunction

DC+24 V output

DC+24 V output

External encoder input (HIPERFACE®, sin/cos

or DC 5 V TTL) or X14-X14 connection

(Connection:

MOVIDRIVE® MDX60B/61B operating instructions)

Motor encoder:

For DEH11B: HIPERFACE®, sin/cos or DC 5 V TTL

For DER11B: Resolver 6-pole, AC 3.5 Veff

4 kHz

<

(Connection:

MOVIDRIVE® MDX60B/61B operating instructions)

Reset

Reference cam

System bus reference

System bus high

System bus low

/Limit switch CW

/Limit switch CCW


4Bus installation MOVIDRIVE® MDX61BInstallation

4.4 Bus installation MOVIDRIVE® MDX61BOverview For bus installation, comply with the information in the relevant fieldbus manuals sup-

plied with the fieldbus interfaces. Refer to the MOVIDRIVE® MDX60B/61B operating in-structions for information on installing the system bus (SBus).

59793AXXFigure 8: Bus types

P R O F I

B U SPROCESS FIELD BUS

Device Net

SBus

DFI 11B

20

21

22

22M

41

0,5M

UL

RC

BA

RD

TR

0 1

X3

0X

31

DFD 11B

MOD/

Net

BUS-

OFF

0 1

PIO

NA(5)NA(4)NA(3)NA(2)NA(1)

DR(1)DR(0)PD(4)PD(3)PD(2)PD(1)PD(0)F3F2F1

1

2

3

4

5

NA(0)

S1

S2

X30

BIO

0

14

20

UL

CC

BA

RD

FO1

FO2

TR

21

22

22M 0,5M

X3

3/O

UT

X

32

/IN

X3

1/O

UT

X

30

/IN

DFI 21B DFC 11B

X30

ON

R nc

OFF

S1

1

5

6

9

X31

3

12

0

20

21

22

23

24

25

26

27

ncDHCP

1

DFE 11B

IP (

LSB

)

Status

100MBit

link/act.

X30

MA

C ID

: 00-0

F-6

9-F

F-F

F-0

6

IP:

ETHERNET

DFP21B

0 1

2222

0

1

2

3

222AS

4

5

6

X30

ADDRESS

16

59

RUN

BUS

FAULT


4 Bus installation MOVIDRIVE® MDX61BInstallation

PROFIBUS (DFP21B)

For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus interfaceDFP21B PROFIBUS DP" manual. This manual can be ordered from SEW-EURO-DRIVE. You can download the unit master data files (GSD) and type files forMOVIDRIVE® MDX61B from the SEW homepage (under the heading "Software") to fa-cilitate startup.

Technical data

Pin assignment Assignment of 9-pin sub D plug to IEC 61158

DFP21B PROFIBUS DP fieldbus interface

59110AXX

Part number 824 240 2

Protocol option PROFIBUS DP and DP-V1 to IEC 61158

Supported baud rates Automatic baud rate detection from9.6 kBaud ... 12 MBaud

Connection technology 9-pin Sub-D socketAssignment to IEC 61158

Bus termination Not integrated, must be implemented using suitable PROFIBUS connector with switchable terminating resistors.

Station address 0 ... 125, can be set using DIP switch

Name of the GSD file SEWA6003.GSD

DP ident. number 6003 hex = 24579 dec

Max. number of process data 10 process data

Resources for startup and diagnostics MOVITOOLS® software and DBG60B keypad

Weight 0.2 kg

1. Green LED: RUN2. Red LED: BUS FAULT3. DIP switch for setting the PROFIBUS station address.4. X30: PROFIBUS connection via 9-pin sub-D socket

DFP21B

0 1

2222

0

1

2

3

222AS

4

5

6

X30

ADDRESS

16

59

RUN

BUS

FAULT

62097AXX

[1] 9-pin sub-D connector[2] Twist the signal wires together![3] Conductive connection over a large area is necessary between plug housing and

the shield

31

5

6

9

8

4

5

6

9

RxD/TxD-P

RxD/TxD-N

CNTR-P

DGND (M5V)

VP (P5V/100mA)

DGND (M5V)

[1]

[2]

[3]



INTERBUS with fiber optic cable (DFI21B)

For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus InterfaceDFI21B INTERBUS with Fiber Optic Cable" manual. This manual can be ordered fromSEW-EURODRIVE.

Technical data

Connection assignment

The fiber optic cable (FO) is connected using F-SMA connectors. 2 connectors are re-quired each for the incoming and outgoing remote bus (transmitter and receiver).

INTERBUS-LWL (FO) fieldbus interface DFI21B

55288AXX


Supported baud rates 500 kBaud and 2 MBaud, can be selected via DIP switch

Connection technology F-SMA connector

DP identity numbers

E3hex = 227 dec (1 PCP word)E0hex = 224 dec (2 PCP words)E1hex = 225 dec (4 PCP words)38hex = 56 dec (microprocessor not ready)03hex = 3dec


Resources for startup and diagnostics MOVITOOLS® software, DBG60B keypad and CMD tool

Weight 0.2 kg

1. DIP switches for setting the process data length, PCP length and baud rate2. Diagnostic LEDs3. X30: Remote IN4. X31: Incoming remote bus5. X32: Remote OUT6. X33: Outgoing remote bus

0

14

20

UL

CC

BA

RD

FO1

FO2

TR

21

22

22M 0,5M

X33/O

UT

X

32/IN

X31/O

UT

X

30/IN

DFI 21B

1.

2.

3.

6.

5.

4.

FO connection Signal Direction Wire color of FO cable

X30 FO Remote IN Receive data Orange (OG)

X31 Incoming remote bus Send data Black (BK)

X32 FO Remote OUT Receive data Black (BK)

X33 Outgoing remote bus Send data Orange (OG)



INTERBUS (DFI11B)

For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus InterfaceDFI11B INTERBUS" manual. This manual can be ordered from SEW-EURODRIVE.

Technical data

Pin assignment Core color abbreviations to IEC 757.

INTERBUS fieldbus interface DFI11B

55278AXX


Supported baud rates 500 kBaud and 2 MBaud, can be selected via DIP switch

Connection technologyRemote bus input: 9-pin sub-D connectorRemote bus output: 9-pin Sub-D socketRS485 transmission technology, 6-core shielded and twisted-pair cable

DP identity numbers

E3hex = 227 dec (1 PCP word)E0hex = 224 dec (2 PCP words)E1hex = 225 dec (4 PCP words)38hex = 56 dec (microprocessor not ready)03hex = 3dec



Weight 0.2 kg

1. DIP switches for setting the process data length, PCP length and baud rate2. Diagnostic LEDs: 4 x green LED (UL, RC, BA, TR); 1 x red LED (RD)3. X30: Connection of remote bus input via 9-pin sub D plug4. X31: Connection of remote bus output via 9-pin sub D socket

DFI 11B

20

21

22

22M

41

0,5M

UL

RC

BA

RD

TR

0 1

X3

0X

31

1.

2.

3.

4.

55259AXX

[1] X30: 9-pin sub D socket of the incoming remote bus cable[2] Twist the signal wires together![3] Conductive connection over a large area is necessary between plug housing and

the shield[4] X31: 9-pin sub D plug of the outgoing remote bus cable[5] Jumper pin 5 with pin 9!

6

1

7

2

3

/DO

DO

/DI

DI

COM

[1]

[2]

[3]

6

1

7

2

3

5

9

/DO

DO

/DI

DI

COM

[4]

[2]

[3]

[5]

GN

YE

PK

GY

BN

GN

YE

PK

GY

BN



CANopen (DFC11B)

For more information, refer to the "Communication" manual. This manual can be or-dered from SEW-EURODRIVE (provisionally from 10/2007).

Technical data

Connection MOVIDRIVE® - CAN

The DFC11B option is connected to the CAN bus at X30 or X31 in the same way as theSBus in the basic unit (X12). In contrast to the SBus1, SBus2 is electrically isolated andmade available via option DFC11B.

Pin assignment (X30)

Assignment of 9-pin sub D socket of the bus cable.

CANopen fieldbus interface DFC11B

55405AXX


Communication profile • SEW-MOVILINK®

• CANopen• CAN Layer 2

Number of process data words 1 ... 10 process data words

Supported baud rates

Setting using parameter P894:• 125 kBaud• 250 kBaud• 500 kBaud• 1000 kBaud

Connection technology Sub-D9 plug connector X30 (plug assigned to CIA standard) or terminal X31

Permitted cable cross-section X31(CAN bus connection)

One core per terminal: 0.20 ... 2.5 mm2 (AWG24 ... 12)Two cores per terminal: 0.25 ... 1 mm2 (AWG24 ... 17)

Terminating resistor 120 Ω (setting at DIP switch S1-R)

Addressing Setting via parameter P891 (SBus MOVILINK®) or P896 (CANopen)


Weight 0.2 kg

1. DIP switch for setting the bus terminating resistor2. X31: CAN bus connection3. X30: CAN bus connection via 9-pin sub D plug:

DFC 11B

X30

ON

R nc

OFF

S1

1

5

6

9

X31

3

12

62098AXX

[1] 9-pin Sub-D socket[2] Twist the signal wires together![3] Conductive connection over a large area is necessary between plug housing and

the shield

6

7

2

3

DGND

CAN High

CAN Low

DGND

[1]

[2]

[3]



DeviceNet (DFD11B)

For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus InterfaceDFD11B DeviceNet" manual. This manual can be ordered from SEW-EURODRIVE.You can download the EDS files for MOVIDRIVE® MDX61B from the SEW homepage(under the heading "Software") to facilitate startup.

Technical data

Terminal assignment

The assignment of connecting terminals is described in the DeviceNet specification Vol-ume I, Appendix A.

DeviceNet fieldbus interface DFD11B

55280AXX


Communication protocol Master / slave connection set acc. to DeviceNet specification ver-sion 2.0

Number of process data words Adjustable via DIP switches:• 1 ... 10 process data words• 1 ... 4 process data words with Bit-Strobe I/O

Supported baud ratesAdjustable via DIP switches:• 125 kBaud• 250 kBaud• 500 kBaud

Bus cable length

For thick cable according to DeviceNet specification 2.0 Appendix B• 500 m at 125 kBaud• 250 m at 250 kBaud• 100 m at 500 kBaud

Transmission level ISO 1198 - 24 V

Connection technology• 2-wire bus and 2-wire supply voltage DC 24 V with 5-pole

Phoenix terminal• Pin assignment according to DeviceNet specification

MAC-ID 0 ... 63, can be selected using DIP switchMax. 64 stations

Supported services • Polled I/O: 1 ... 10 words• Bit-Strobe I/O: 1 ... 4 words• Explicit messages:

– Get_Attribute_Single– Set_Attribute_Single– Reset– Allocate_MS_Connection_Set– Release_MS_Connection_Set


Weight 0.2 kg

1. LED display2. DIP switch for setting the node address (MAC-ID), the process data lengths and baud rate3. X30: DeviceNet bus connection via 5-pin Phoenix terminal

DFD 11B

MOD/

Net

BUS-

OFF

0 1

PIO

NA(5)NA(4)NA(3)NA(2)NA(1)

DR(1)DR(0)PD(4)PD(3)PD(2)PD(1)PD(0)F3F2F1

1

2

3

4

5

NA(0)

S1

S2

X30

BIO1.

2.

3.

Terminal Meaning Color

X30:1 V- (0V24) Black (BK)

X30:2 CAN_L Blue (BU)

X30:3 DRAIN Blank

X30:4 CAN_H White (WH)

X30:5 V+ (+24 V) Red (RD)



Ethernet (DFE11B)

For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus InterfaceDFE11B Ethernet" manual. This manual can be ordered from SEW-EURODRIVE.

Technical data

MOVIDRIVE® / Ethernet connection

To connect DFE11B to the Ethernet, connect the Ethernet interface X30 (RJ45 plug con-nector) to the hub or switch provided using a category 5, class D twisted-pair cable inaccordance with IEC 11801 edition 2.0. To do this, use a patch cable.

If you want to connect the DFE11B option card directly to your project planning comput-er, you need a cross over cable.

Ethernet fieldbus interface DFE11B

56362AXX


Application protocols • MODBUS/TCP (Transmission Control Protocol) to control and set parameters for the drive inverter.

• HTTP (Hypertext Transfer Protocol) for diagnostics using a Web browser

• SMLP (Simple Movilink Protocol), protocol used by MOVI-TOOLS®

• DHCP (Dynamic Host Configuration Protocol) to assign address parameter automatically

Port numbers used • 502 (MODBUS)• 300 (SMLP)• 80 (HTTP)• 67 / 68 (DHCP)

Ethernet services • ARP• ICMP (Ping)

Automatic baud rate detection 10 MBaud / 100 MBaud


Connection technology RJ45 (modular jack 8-8)

Addressing 4 byte IP address


Weight 0.2 kg

1. DIP switch for setting the least significant bytes (LSB) of the IP address2. LED "Status" (red/yellow/green), "100 MBit" (green), "link/act" (green)3. X30: Ethernet connection 4. MAC address

0

20

21

22

23

24

25

26

27

ncDHCP

1

DFE 11B

IP (

LSB

)

Status

100MBit

link/act.

X30

MA

C ID

: 00-0

F-6

9-F

F-F

F-0

6

IP:

1.

2.

3.

4.

54174AXXFigure 9: Pin assignment of an RJ45 plug connector

A = Front view [1] Pin 1 TX+ Transmit PlusB = View from back [2] Pin 2 TX– Transmit Minus[3] Pin 3 RX+ Receive Plus [6] Pin 6 RX– Receive Minus

[3] [2] [1]23

6

1

[6]

A B


4 System bus connection (SBus 1)Installation

4.5 System bus connection (SBus 1)

Max. 64 CAN bus stations can be addressed using the system bus (SBus). Use a re-peater after 20 or 30 stations, depending on the length of the cables and the cable ca-pacity. The SBus supports transmission technology compliant with ISO 11898.The "Serial Communication" manual contains detailed information about the systembus. This manual can be ordered from SEW-EURODRIVE.

SBus wiring diagram

Cable specification • Use a 4-core twisted and shielded copper cable (data transmission cable with braid-ed copper shield). The cable must meet the following specifications:– Core cross section 0.25 ... 0.75 mm2 (AWG 23 ... AWG 18)– Line resistance 120 Ω at 1 MHz– Capacitance per unit length ≤ 40 pF/m at 1 kHzSuitable cables include CAN bus or DeviceNet cables.

Shielding • Connect the shield to the electronics shield clamp on the inverter or master controllerand make sure it is connected over a wide area at both ends.

Cable length • The permitted total cable length depends on the baud rate setting of the SBus(P816):– 125 kBaud → 320 m– 250 kBaud → 160 m– 500 kBaud → 80 m– 1000 kBaud → 40 m

NOTEOnly if P884 "SBus baud rate" = 1000 kbaud:Do not combine MOVIDRIVE® compact MCH4_A units with other MOVIDRIVE® unitsin the same system bus combination.The units may be combined at baud rates ≠ 1000 kbaud.

54534AENFigure 10: System bus connection

X12:DGNDSC11SC12

123

S 12S 11

S 13S 14

ON OFF

X12:DGNDSC11SC12

123

S 12S 11

S 13S 14

ON OFF

X12:DGNDSC11SC12

123

S 11

S 13S 14

S 12

ON OFF

Control unit Control unit Control unit

SystembusRef.

SystembusRef.

SystembusRef.

SystembusHigh SystembusHigh SystembusHighSystembusLow SystembusLow SystembusLow

Systembus Terminating resistor




4System bus connection (SBus 1)Installation

Terminating resistor

• Switch on the system bus terminating resistor (S12 = ON) at the start and end of thesystem bus connection. Switch off the terminating resistor on the other units (S12 =OFF).

STOPThere must not be any potential displacement between the units connected with theSBus. This can restrict the functionality of the units. Take suitable measures to avoid a potential displacement, e.g. by connecting the unitground connectors using a separate lead.


4 Connecting hardware limit switchesInstallation

4.6 Connecting hardware limit switchesThe cams of the hardware limit switches must cover the travel range up to the stop.

NOTES• Only use hardware limit switches with normally closed contacts (low-active)!• Make sure the hardware limit switch is assigned correctly. This means clockwise

movement (CW) should be towards the clockwise hardware limit switch (LS CW)and counterclockwise movement (CCW) should be towards the counterclockwisehardware limit switch (LS CCW).

04437AXXFigure 11: Connecting hardware limit switches

CW = Clockwise drive inverterX = Travel distanceLS CW = CW hardware limit switchLS CCW = CCW hardware limit switch

ES

CW

ES

CC

W

X

CW


5General informationStartup

5 Startup5.1 General information

Correct project planning and installation are the prerequisites for successful startup. Re-fer to the MOVIDRIVEMOVIDRIVE® MDX60/61B system manual for detailed projectplanning instructions.Check the installation, the encoder connection and the installation of the fieldbus cardsby following the installation instructions in the MOVIDRIVE® MDX60B/61B operating in-structions, in the fieldbus manuals and in this manual (→ sec. "Installation").Use an absolute encoder as the external encoder (connect to DIP11B, X62). Also notethe information on installation and startup in the "MOVIDRIVE® MDX61B Absolute En-coder Card DIP11B" manual.

5.2 Preliminary workPerform the following steps before starting up the "Table Positioning":• Connect the "Xterminal" connection on the inverter to PC-COM via the UWS21A op-

tion (serial interface).• Install the MOVITOOLS® software (version 4.20 or higher).• Start up the inverter using "MOVITOOLS/Shell."

– MDX61B with asynchronous motor: CFC operating modes / VFC n-control– MDX61B with synchronous motor: SERVO operating modes

• Only for operation with an external encoder (absolute or incremental encoder):– Absolute encoder: Start up the DIP11B absolute encoder card. Parameters P942

... P944 are set during this process (→ "MOVIDRIVE® MDX61B Absolute Encod-er Card DIP11B" manual).

– Incremental encoder: Set the parameters 942 ... P942 Encoder factor numerator,Encoder factor denominator and Encoder scaling ext. encoder in the Shell pro-gram. Refer to the "IPOSplus® Positioning and Sequence Control System" manualfor a detailed description of the parameters.

• In [MOVITOOLS] / [Shell], / choose the menu item [Startup] and select the applica-tion function "Table Positioning via Fieldbus".

• Enter a "0" signal at terminal DIØØ "/CONTROLLER INHIBIT/".

00

I


5 Starting the program "Table Positioning via Fieldbus"Startup

5.3 Starting the program "Table Positioning via Fieldbus"General information

• Start [MOVITOOLS] / [Shell].• Choose [Startup] / [Table positioning via fieldbus].

11671AEN

00

I


5Starting the program "Table Positioning via Fieldbus"Startup

Setting the field-bus parameters

Once the "Table positioning via fieldbus" program has been started, all parameters im-portant for table positioning are read.The following window appears via fieldbus after table positioning has started if no validapplication module has been loaded into the inverter.

Make the following settings in this window:• Setting fieldbus parameters: Set the required fieldbus parameters. Fixed parame-

ters are grayed out and cannot be changed.The system bus (SBus) can always be set; no option is required.If a fieldbus interface (DFP, DFI, DFC, DFD or DFE) is plugged into the fieldbus slot,PROFIBUS, INTERBUS, CAN, DEVICENET or ETHERNET can also be selected.

11672AEN

00

I



Setting the scal-ing factors dis-tance and speed

You can set the scaling factors for distance and speed in this window.

Make the following settings in this window:• If you do not use an external encoder (→ selection list "Souce actual position")

: Calculate the scaling factors pulses / distance:– Set "Drive wheel diameter" or "Spindle pitch" in the selection list and enter the

value in millimeter.– Enter the ratio (i) values for the gear unit and additional gear.– Click the [Calculation] button. The scaling factor is calculated. The pulses / dis-

tance are entered in the unit inc / mm.You can also enter the scaling factor directly. In this case, you can enter any unit (us-er-defined unit) for the distance. The user-defined unit is then used for the positionof the software limit switches, the reference offset and the table positions.

11673AXX

NOTES• For drives with external encoder, the scaling calculation is blocked.• If you use an absolute encoder, you must start up the DIP11B option before you

start the "Table Positioning" application module!

00

I



Calculating the scaling factors

• Example 1: Motor encoder or absolute encoder on the motor shaft (actual po-sition source)– Choose the unit you require in the selection field "Diameter of driving wheel" or

"Spindle pitch" (only for motor encoder). For the unit you can choose from milli-meters [mm] or 1/10 millimeters [1/10 mm].

– In the "Gearing ratio" input field enter the ratio of the gear unit. In the "Externalratio" input field enter the gear ratio of the additional gear.

– In the "Unit of speed" selection field, choose from [mm/s], [m/min] and [1/min].– For positioning with an absolute encoder, choose "Motor shaft"in the "Position of

absolute encoder" selection field.– Click the <Calculation> button. The "distance" and "speed" scaling factors are cal-

culated by the program.

• Example 2: External encoder or absolute encoder on the track (actual positionsource)When using an external encoder or an absolute encoder on the track, you have tocalculate the distance scaling factor manually. The scaling factor for the speed canbe calculated automatically (→ following section) or manually (→ example 2).Automatic calculation of the scaling factor for speed:• In the "Source actual position" selection list, select the entry "Motor encoder".• Enter a value in the "Drive wheel diameter" field or the "Spindle pitch" field. Select

the unit [mm] or [1/10 mm] in the adjacent selection list.• In the input fields "Gearing ratio" and "External ratio" enter the respective values

for the gear ratios.• Click the <Calculation> button. The scaling factor for speed is calculated by the

program.

Calculating the distance scaling factor:• In the "Souce actual position" selection list, select the entry "External encoder" or

"Absolute encoder". For positioning with an absolute encoder, choose the entry"On the track" in the "Position of absolute encoder" selection list.

• In the group box "Scaling factor for distance", enter the number of pulses suppliedby the encoder per travel unit in the "Increments" input field. The unit of the pulsesis always increments [inc]. In the "Distance" input field, enter the correspondingtrack distance.

• In the "Scaling factor for distance" group box, enter the unit of the scaling factorfor the distance in the "Unit" input field. Any other information, such as the soft-ware limit switch, reference offset or the target position are specified in the select-ed unit.

00

I



Converting the dis-tance resolution to user-defined units

The scaling factor for distance (pulses / distance) is used to determine the user travelunit (e.g. mm, revolutions). For positioning with a motor encoder, the scaling factor fordistance can be calculated automatically. For automatic calculation, you can select theunits "mm" or "1/10 mm".When using an external encoder or an absolute encoder on the track, you have to cal-culate the distance scaling factor manually (→ examples 1 and 2).

Example 1: A drive is to be positioned using an absolute encoder on the track. Thespeed is to be given in the unit [m/min].• Drive data:

– Gear unit ratio (i gear unit) = 12.34– Gear ratio of the additional gear (i additional gear) = 1– Diameter of the carrying wheel = 200 mm

• Encoder data:– Type: Stahltronik WCS3 absolute encoder– Physical resolution = 1 increment / 0.8mm– Encoder scaling P955 = x8 (→ set automatically during startup of the DIP11B op-

tion).• Automatic calculation of the scaling factor for speed:

Numerator / denominator = 32759 / 1668 unit [m/min]• Calculate the scaling factor for distance manually:

– Electrical resolution = 1 increment / 0.8 mm × P955 encoder scalingResult: 1 increment / 0.8 mm × 8 = 8 [inc/0.8 mm]

Result: Pulses / Distance = 80 / 8 [mm]

Example 2: A drive is to be positioned using an external encoder on the track.• Drive data:

– Gear unit ratio (i gear unit) = 12.34– Gear ratio of the additional gear (i additional gear) = 1

• Encoder data:– Physical resolution = 1024 increments / revolution– Diameter of the carrying wheel (dcarrying wheel) = 65 mm– Encoder scaling P944 = x2

• Calculate the scaling factor for distance manually:– Pulses = Number of increments / revolution × 4 × P944

Pulses = 1024 increments / revolution × 4 × 2 = 8192 increments– Distance = Π × dcarrying wheel

Distance = 3.14 × 65 mm = 204.2 mmResult: Pulses / distance = 8192 / 204 unit [mm]

NOTEIf the numerator (pulses) or denominator (distance) are non-integer values, the con-version can be made more accurate if both numerator and denominator are multipliedby the same expansion factor (e.g. 10, 100, 1000, etc.). Doing so will not limit the travelrange. The maximum value for "pulses" or the "distance" is 32767.

00

I



Converting the speed to user-defined units

In the group box "Calculation of the scaling", choose one of the three entries in the drop-down menu "Unit of speed". The scaling factors can be calculated automatically. The fol-lowing speed units are available:• 1/min• mm/sec• m/minIf you want to enter the speed in a different unit, you can calculate the scaling factor forspeed (→ following example).

Example 1: A drive is to be positioned using an absolute encoder on the track. Thespeed is to be specified in mm/s.• Drive data:

– Gear unit ratio (i gear unit) = 15.5– Gear ratio of the additional gear (i additional gear) = 2– Diameter of the drive wheel (ddrive wheel) = 200 mm

• Encoder data:– Type: Stahltronik WCS2 linear distance measuring system– Physical resolution = 0.833 mm = 1.2 increments /mm– Encoder scaling P955 = x8 (→ set automatically during startup of the DIP11B op-

tion)• Numerator = igear unit × iadd. gear × 60

Numerator = 15.5 × 2 × 60 = 1860• Denominator = Π × ddrive wheel (or spindle pitch)

Denominator = 3.14 × 200 = 628Unit = mm/s

Selecting the refer-ence travel type

• Select the correct reference travel type (0 ... 8) from the "Reference travel type" se-lection box. The reference travel type specifies the reference travel strategy that isused to establish the machine zero of a machine. The IPOSplus® variable H127ZeroPulse specifies whether reference travel should react to an edge change of thereference cam ("0") or the following zero pulse of the encoder ("1"). The IPOSplus®

variable H127 can be edited using the IPOS Compiler.

NOTEIf the numerator or denominator are non-integer values, the conversion can be mademore accurate if both numerator and denominator are multiplied by the same expan-sion factor (e.g. 10, 100, 1000, etc.). Doing so will not limit the travel range. The max-imum value for the numerator or denominator is 32767.

00

I



Click on [Next] when you have entered all the values you require. The window "Enteringtable positions" opens (→ sec. "Entering table positions"). If you enter values that arenot permitted, an error message is issued (→ sec. "Error messages").

55260AXX

Type 0: The reference position is the first zero pulse CCW of thestarting position of the reference travel.

54947AXX

Type 1: The reference position is the CCW end of the reference cam. Machine zero = reference position + reference offsetH127 = "1" Referencing to encoder zero pulseH127 = "0" Referencing to edge change

54948AXX

Type 2: The reference position is the CW end of the reference cam.Machine zero = reference position + reference offsetH127 = "1" Referencing to encoder zero pulseH127 = "0" Referencing to edge change

54949AXX

Type 3: The reference position is the CW hardware limit switch. Noreference cam is required. After leaving the hardware limit switch(positive edge), the drive continues to move clear of it by 4096 incre-ments. Machine zero = reference position + reference offset – 4096

54950AXX

Type 4: The reference position is the CCW hardware limit switch. Noreference cam is required. After leaving the hardware limit switch(positive edge), the drive continues to move clear of it by 4096 incre-ments.Machine zero = reference position + reference offset + 4096

54951AXX

Type 5: No reference travel. The reference point is the current posi-tion without reference to a zero pulse. Machine zero = current position + reference offset

54952AXX

Type 6: The reference position is the CW end of the reference cam.Machine zero = reference position + reference offset

54953AXX

Type 7: The reference position is the CCW end of the reference cam.Machine zero = reference position + reference offset

54951AXX

Type 8: No reference travel. The reference point is the current posi-tion without reference to a zero pulse. In contrast to type 5, type 8 ref-erence travel can also be performed when the system status is not setto "A".Machine zero = current position + reference offset.

ZP

] [

CAM

] [

CAM

] [

] [

] [

] [

CAM

] [

CAM

] [

] [

00

I



Entering table positions

Make the following settings in this window.• Jog mode

Enter the valid speeds and the ramp for jog mode.

• Enter positionsYou can define a maximum of 32 table positions. The table positions are entered inmillimeter or the user travel unit specified by you. You always have to enter absoluteposition values in relation to the machine zero established by the reference positionand reference offset. The table entry 500 mm means that the drive will travel CW for500 mm, – 1500 mm means 1500 mm CCW.

• Entering ramp time and speedFor each table position, you have to enter the ramp time and the speed. The enteredvalues are used for traveling to the respective table positions.

11674AEN

00

I



Proceed as follows:– Click on the entry field "Position no. 0" and enter the position.– Use the [Tab] key to go to the entry fields "ramp" and "speed" in order to enter

values.– You can create a new line with the key combination [Alt + H]. Press the [Tab] key

to go to the new position field. – You can see the table positions you have already entered on the line of numbers

at the bottom of the screen. Press the [Enter] key to update the table entries onthe line of numbers.

– Use [Alt + L] to delete the bottom table row.In this window, you can specify how many table positions are available. Once startuphas been completed, you can change the value of individual positions in Teachmode, however, you cannot add any new positions. To add new positions, you haveto perform startup again.– Click on [Next] when you have entered all the table positions you require. The pro-

gram prompts you to save your set values (→ sec. "Download").

NOTEThe ramp time always refers to a speed step change of Δn = 3000 1/min. For example,if you set a ramp time of 1 s and a speed of 1000 1/min, the speed is reached after anacceleration time of 0.33 s.

00

I



Download The download window will open up after saving.

Click the [Download] button. All the required settings are made automatically in the in-verter, and the IPOSplus® program "Table Positioning" is started.After the download, the program asks you if you want to start the monitor. In the monitor,you can diagnose your application and check control signals.Select [Yes] to switch to the monitor where you can start it in the required operatingmode. Select [No] to switch to MOVITOOLS/Shell.

02753AEN

00

I



Monitor If "Table Positioning" is started after the startup procedure has been performed, themonitor appears immediately.

03995AENFigure 12: Monitor of table positioning (fieldbus)

00

I



Repeated startup Press <Startup> if you want to repeat startup. A window appears in which you can enterthe settings for the general parameters (→ sec. "Setting general parameters").

02755AENFigure 13: Monitor of table positioning (terminal control)

00

I


5 Parameters and IPOSplus® variablesStartup

5.4 Parameters and IPOSplus® variablesThe following parameters and IPOSplus® variables are set automatically during startupand are loaded into the inverter during the download.

Parameter P... Index Description Process data word Setting

100 8461 Setpoint source Fieldbus or SBus

101 8462 Control signal source Fieldbus

600 8335 Binary input DI01 Enable/Rapid stop

601 8336 Binary input DI02 No function

602 8337 Binary input DI03 Reference cams

603 8338 Binary input DI04 /Right limit switch

604 8339 Binary input DI05 /CCW limit switch

610 8340 Binary input DI10 PO1:8 IPOS input: Mode low

611 8341 Binary input DI11 PO1:9 IPOS input: Mode high

612 8342 Binary input DI12 PO1:10 IPOS input: Function 1






620 8350 Binary output D001 /Error

621 8351 Binary output D002 Referenced

630 8352 Binary output D010 PE1:8 IPOS output: Mode low

631 8353 Binary output D011 PE1:9 IPOS output: Mode high

632 8354 Binary output D012 PE1:10 IPOS output: Function 1






900 8623 Reference offset

Can be set in the interface903 8626 Reference travel type

941 Source actual position

00

I


5Parameters and IPOSplus® variablesStartup

IPOSplus® variable Description

H0 Number of table cells

H1 Max. motor speed in automatic mode

H2 Max. motor speed jog mode

H3 Scaling factor for distance numerator

H4 Setpoint position 0

H5 Reserved

H6 • Low byte: Ramp• High byte: Velocity

H7 Setpoint position 1

H8 Reserved

H9 • Low byte: Ramp• High byte: Velocity

H102 Drive wheel diameter (x1000)

H103 Gear ratio (x1000)

H104 Additional gear ratio (x1000)

H110 Numerator scaling factor

H111 Denominator scaling factor

H115 Switch SBUS

H125 Pointer to Scope variable H474

H126 Pointer to Scope variable H475

H127 Referencing to encoder zero pulse

H496 SLS_right Software limit switch CW (INCR)

H497 SLS_left Software limit switch CCW (INCR)

H509 ActPos_Abs Actual position DIP

H510 ActPos_Ext Actual position X14

H511 ActPos_Mot Actual position X15

H1002 ScopeDelay

NOTEDo not alter these parameters and IPOSplus® variables after startup!

00

I


5 Recording IPOSplus® variablesStartup

5.5 Recording IPOSplus® variablesIPOSplus® variables can be recorded during operation using the "Scope" program inMOVITOOLS® This is only possible for the MOVIDRIVE® MDX61B inverter.The two 32-Bit IPOSplus® variables H474 and H475 are available for recording. Twopointer variables (H125/H126) to H474 and H475 can be used to record any IPOSplus®

variable using the "Scope" program:• H125 → Scope474Pointer• H126 → Scope475PointerThe number of the IPOSplus® variable that is to be recorded in "Scope" must be enteredin the variable window of the IPOS Assembler or Compiler in one of the pointer variablesH125 or H126.

Example The IPOSplus® variable H511 Current motor position is to be recorded. Proceed as fol-lows:• In the "Scope" program, enter the value 511 in variable H125 in the variable window.

• In the "Scope" program, choose [File] / [New]. Set channel 3 to IPOS variable H474LOW and channel 4 to IPOS variable H474 HIGH. The "Scope" program now recordsthe value of the IPOSplus® variable H511.

10826AXX

10827AEN

NOTES• The pointer variables are copied to the IPOSplus® variable H474 or H475 in TASK

3 of the IPOSplus®.• The speed (commands / ms) of Task 3 is dependent on the processor utilization of

MOVIDRIVE® MDX61B.• The time (ms) needed in Task 3 to copy the values from the pointer variables to the

IPOSplus® variables H474 and H475 is stored in variable H1002. If the value is zero,the copying process lasts less than 1 ms.

00

I


6Starting the driveOperation and Service

6 Operation and Service6.1 Starting the drive

Following the download, switch to the "Table Positioning" monitor by selecting "Yes".You can select the operating mode with binary inputs DI10 (PO1:8) "Mode Low" andDI11 (PO1:9) "Mode High".

Operating modes

• Jog mode (DI10 / PO1:8 = "0" and DI11 / PO1:9 = "0")– The drive is moved CW or CCW via the virtual binary inputs DI13 (PO1:11) and

DI14 (PO1:12).– The two speeds 'rapid speed' and 'creep speed' for fine positioning can be select-

ed via the virtual binary input DI15 (PO1:13).

• Teach mode (DI10 / PO1:8 = "1" and DI11 / PO1:9 = "0")Movement can be performed to every individual position in jog mode and then storedin teach mode. The table cell is selected using virtual binary inputs DI13 ... DI17(PO1:11 ... 15).

• Referencing mode (DI10 / PO1:8 = "0" and DI11 / PO1:9 = "1")In referencing mode, reference travel can be started via the virtual binary input DI12(PO1:10). Reference travel establishes the reference point (machine zero) for abso-lute positioning operations.

• Automatic mode ( DI10 / PO1:8 = "1" and DI11 / PO1:9 = "1")– Selecting the target position using the five virtual binary inputs DI13 ... DI17

(PO1:11 ... 15), binary coded.– Checkback of the selected target position before traveling using the five virtual bi-

nary outputs DO12 ... DO16 (PI1:10 ... 14), binary coded.– Confirmation that the selected position has been reached via the virtual binary

output DI17 (PI1:15).

If the drive has not been referenced yet, or if it is to be referenced again, select the op-erating mode "Referencing mode" using DI10 (PO1:8) "Mode Low" = "0" and DI11(PO1:9) "Mode High" = "1".Without reference travel, it is not possible to select the operating modes "Teach mode"and "Automatic mode".


Terminal DI.../Fieldbus PO...

DI10 / PO1:8: Mode low "0" "1" "0" "1"

DI11 / PO1:9: Mode high "0" "0" "1" "1"

00

I


6 Referencing modeOperation and Service

6.2 Referencing mode• PO1:8 = "0" and PO1:9 = "1" (bus control)• DI10 = "0" and DI11 = "1" (terminal control)The reference position is defined by reference travel to the reference cam. The refer-ence offset is set during startup and you can use it to alter the machine zero without hav-ing to move the reference cam.The following formula applies: Machine zero = reference position + reference offsetThe reference position is defined by reference travel (e.g. to one of the two hardwarelimit switches).

03996AENFigure 14: Referencing mode (bus control)

00

I


6Referencing modeOperation and Service

• Ensure that you have set the correct reference travel type (P903) before startingreference travel. If this is not the case, restart the startup procedure and set the re-quired type of reference travel.

• Set DI00 "/Controller inhibit" and DI01 "Enable / Stop" to "1". Select the operatingmode "Referencing mode".

• Set DI12 (PO1:10) "Start" to "1" to start reference travel. The "1" signal must bepresent for the entire duration of the reference travel. Once reference travel has beencompleted successfully, PI1:2 "IPOS reference" is set. The "1" signal at DI10 (PO1:8)"Start" can now be revoked. The drive is now referenced.

• If the drive reaches the reference position (DI03 'Reference cam' = '1'), the drive con-tinues to travel at reference speed 2 and stops when it leaves the reference position(DI03 '1' '0') subject to position control. Binary output DO02 'IPOS reference' is set.The "1" signal at DI12 (PO1:10) can now be revoked.

• The drive is now referenced. You can now change the operating mode, for example,you can select the operating mode "Automatic mode".

02757AENFigure 15: Referencing mode (terminal control)

00

I


6 Referencing modeOperation and Service

NOTES• If referencing is set to the hardware limit switches (type 3 and 4), the drive continues

to turn for 4096 increments after leaving the hardware limit switch.• Please also refer to the information in sec. "Software limit switches."

00

I


6Jog modeOperation and Service

6.3 Jog mode• PO1:8 = "0" and PO1:9 = "0" (bus control)• DI10 = "0" and DI11 = "0" (terminal control)In jog mode, you can move the drive clockwise or counterclockwise manually using '1'signals at binary inputs DI13 (PO1:11) "Jog +" or DI14 (PO1:12) "Jog –". You can travelat creep speed, DI15 (PO1:13) = "0", or at rapid speed, DI15 (PO1:13) = "1".You can use jog mode in the following cases:• Moving to new table positions that are to be saved in teach mode.• For service purposes, when the drive should be moved independently of the auto-

matic functions of the system.

03997AENFigure 16: Jog mode (fieldbus)

00

I


6 Jog modeOperation and Service

02759AENFigure 17: Jog mode (terminal control)

00

I


6Teach modeOperation and Service

6.4 Teach mode• PO1:8 = "1" and PO1:9 = "0" (bus control)• DI10 = "1" and DI11 = "0" (terminal control)In Teach mode, you can save the current position of the drive as a new table position.You can move to the position you want to save as a new table position in jog mode.

03998AENFigure 18: Teach mode (fieldbus)

00

I


6 Teach modeOperation and Service

Enter the new position as follows:• Move to the position in jog mode.• Switch to Teach mode, DI10 (PO1:8 = "1" and DI11 (PO1:9) = "0".• Use DI13 ... DI17 (PO1:11 ... 15) to select the table cell into which the new position

is to be written. The positions are binary coded, DI13 = "1" means table cell no. 1 (20)and DI17 = "1" means table cell no. 16 (24). DI13 ... DI17 must receive a "0" signalfor selecting no. 0. For table cell no. 3, DI13 (20) and DI14 (21) must receive "1" sig-nals.

• Apply the signal sequence "0"–"1"–"0" to the binary input DI12 (PO1:10) "Strobe". Asa result, the new position is written to the selected table cell. The binary input DO17(PI1:15) "Position reached" is set. The position is now saved in the non-volatile mem-ory.

02761AENFigure 19: Teach mode (terminal control)

NOTEMaintain a waiting time of at least 100 ms for a signal change "0" – "1" – "0" at the bi-nary input "Start".

00

I


6Automatic modeOperation and Service

6.5 Automatic mode• PO1:8 = "1" and PO1:9 = "1" (fieldbus)• DI10 = "0" and DI11 = "1" (terminal control)In automatic mode, you can select a table position using binary inputs DI13 ... DI17(PO1:11 ... 15). The positions are binary coded, DI13 = "1" means table cell no. 1 (20)and DI17 = "1" means table cell no. 16 (24). DI13 ... DI17 must receive a "0" signal forselecting no. 0.It is only possible to select table cells that contain position entries. If a table cell withouta position is selected, it is ignored.Positioning is started with a "1" signal on binary input DI12 (PO1:10) "Start positioning".The '1' signal must be active on DI12 (PO1:10) throughout the entire positioning travel,otherwise the drive stops.

03999AENFigure 20: Automatic mode (fieldbus)

00

I


6 Automatic modeOperation and Service

When the selected position is reached, the drives stops position-controlled.The blue bar shows the selected table cell. The current position of the drive is displayedas a numerical value in the 'Current position' window and is indicated graphically by agreen arrow on the line of numbers.

02762AENFigure 21: Automatic mode (terminal control)

00

I


6Cycle diagramsOperation and Service

6.6 Cycle diagramsThe following conditions apply to the cycle diagrams:• Startup has been performed correctly• DIØØ "/CONTROLLER INHIBIT" = "1" (no lock)• DIØ3 "ENABLE/STOP" = "1"The binary output DIØØ "/brake" is set. The brake is released and the drive is held sub-ject to position control. Due to program run times, the start of the axis movement can bedelayed by about 50 ms in the following cycle diagrams.

00

I


6 Cycle diagramsOperation and Service

Referencing and automatic mode

62100AEN

3000

1000 0

-1000

Ta

ble

po

sitio

n n

o.

3

rea

ch

ed

Ta

ble

po

sitio

n n

o.

5

rea

ch

ed

Au

tom

atic m

od

e

activa

ted

Sta

rt p

ositio

nin

g t

rave

l

Ta

ble

po

sitio

n n

o.

8

rea

ch

ed

Refe

rence p

ositio

n

reached

Sta

rt r

efe

ren

cin

g

Re

fere

ncin

g m

od

e

activa

ted

n [1/m

in]

Mo

de h

igh

DI1

2

Fu

nctio

n 1

DI1

3

Function 2

DI1

4

Function 3

DI1

5

Function 4

DI1

6

Function 6

DI1

7

Function 7

DO

Ø2

Axis

refe

renced

DO

17

Positio

n r

eached

Handshake w

ith P

LC

Table

cell

no. 5

sele

cte

d

Table

cell

no. 8

sele

cte

d

Table

cell

no. 3

sele

cte

d

00

I


6Cycle diagramsOperation and Service

Jog and Teach mode

62101AEN

n [1/m

in]

200

20 0

-20

-200

DI1

Ø

Mode low

DI1

1

Mode h

igh

DI1

2

Function 1

DI1

3

Function 2

DI1

4

Function 3

DI1

5

Function 4

DI1

6

DI1

7

Function 7

DO

Ø2

Axis

refe

renced

DO

17

Positio

n r

eached

Save n

ew

po

sitio

nT

able

cell

no. 3

sele

cte

dT

each m

ode

activate

d

Rapid

speed

a

ctive

Jog n

egativ

e

Jog m

ode

activate

d

Function 6

Rapid

speed

a

ctive

Jog p

ositi

ve

00

I


6 Error informationOperation and Service

6.7 Error informationError memory The error memory (P080) stores the last five error messages (errors t-0 to t-4). The old-

est error message is deleted whenever more than five error messages have occurred.The following information is stored when a malfunction occurs:Fault that occurred • Status of binary inputs/outputs • Operating status of the inverter •Inverter status • Heat sink temperature • Speed • Output current • Active current • Unitutilization • DC link voltage • ON hours • Enable hours • Parameter set • Motor utiliza-tion.

Switch-off responses

There are three switch-off responses depending on the error; the inverter remains inhib-ited in error status:

Immediate stop The unit can no longer brake the drive; the output stage goes to high resistance in theevent of an error and the brake is applied immediately (DBØØ "/Brake" = "0").

Rapid stop The drive is braked with the stop ramp t13/t23. The brake is applied once the stop speedis reached (DBØØ "/Brake" = "0"). The output stage goes to high resistance after thebrake reaction time has elapsed (P732 P735).

Emergency stop The drive is braked with the emergency stop ramp t14/t24. The brake is applied oncethe stop speed is reached (DBØØ "/Brake" = "0"). The output stage goes to high resis-tance after the brake reaction time has elapsed (P732 / P735).

Reset An error message can be acknowledged by:• Switching the supply system off and on again

Recommendation: Observe a minimum switch-off time of 10 s for the supply systemcontactor K11.

• Reset via binary input DIØ2. Startup of the "Table Positioning" causes this binary in-put to be assigned with the "Reset" function.

• Manual reset in SHELL (P840 = "YES" or [Parameter] / [Manual reset]).• Manual reset using the DBG60B.• Auto reset performs up to five unit resets with an adjustable restart time.

Inverter is waiting for data

If the inverter is controlled via a communication interface (fieldbus, RS485 or SBus) andthe power was switched off and back on again or an error reset was performed, then theenable remains ineffective until the inverter receives valid data again via the interface,which is monitored with a timeout.

HAZARDRisk of crushing if the motor starts up automatically after an auto reset.Severe or fatal injuries.• Do not use auto reset with drives where an automatic restart represents a danger

to people or units.• Perform a manual reset.

00

I


6Error messagesOperation and Service

6.8 Error messagesError message in 7-segment dis-play

The error code is shown in a 7-segment display. The following display sequence is used(e.g. error code 100):

Following a reset or if the error code resumes the value ’0’, the display switches to theoperating display.

Error list The following table shows a selection from the complete error list (→ MOVIDRIVE®

operating instructions). Only those errors are listed that can occur specifically with thisapplication.A dot in the "P" column indicates that the response is programmable (P83_ Error re-sponse). The factory set error response appears in the "Response" column.

59208AXX

Flashes, ca. 1 s

Display off, ca. 0.2 s

Hundreds (if available), ca. 1 s


Tens, ca. 1 s


Ones, ca. 1 s


Error code Designation Response P Possible cause Measure

00 No error -

07 UZ overvolt-age

Immediate stop DC link voltage too high

• Extend deceleration ramps• Check supply cable to the braking resistor• Check technical data of braking resistor

08 n-monitoring Immediate stop

• Speed controller or current controller (in VFC operating mode without encoder) operating at setting limit due to mechanical overload or phase error in the power system or motor.

• Encoder not connected correctly or incorrect direction of rotation.

• nmax is exceeded during torque con-trol.

• Reduce load• Increase delay time setting (P501 or P503)• Check encoder connection, swap A/A and B/B

pairs if necessary• Check encoder voltage supply• Check current limitation• Extend ramps if necessary• Check motor cable and motor• Check mains phases

00

I


6 Error messagesOperation and Service

10 IPOS-ILLOP Emergency stop

• Incorrect command detected during running of IPOSplus® program.

• Incorrect conditions during com-mand execution.

• Check the content of the program memory and, if necessary, correct.

• Load the correct program into the program mem-ory.

• Check program sequence (→ IPOSplus® manual)

14 Encoders Immediate stop

• Encoder cable or shield not con-nected correctly

• Short circuit / broken encoder cable• Encoder defective

Check encoder cable and shield for correct connec-tion, short circuit and broken wire.

25 EEPROM Rapid stop Access to the EEPROM of the memory card has failed

• Activate factory settings, perform reset and reset parameters.

• Contact SEW service if the error occurs again.• Replace memory card.

26 External ter-minal

Emergency stop • Read in external error signal via pro-

grammable input.Eliminate specific cause of error; reprogram terminal if necessary.

27 No limit switches

Emergency stop

• Open circuit / both limit switches missing.

• Limit switches are swapped over in relation to direction of rotation of motor

• Check wiring of limit switches.• Swap over limit switch connections.• Reprogram terminals

28 FieldbusTimeout Rapid stop •

No communication between master and slave within the projected response monitoring.

• Check communications routine of the master• Extend fieldbus timeout time (P819) / deactivate

monitoring

29 Limit switch contacted

Emergency stop

A limit switch was reached in IPOSplus® operating mode.

• Check travel range.• Correct user program.

31 TF trip NoneResponse •

• Motor too hot, TF sensor has tripped• TF sensor of motor not connected or

not connected properly• Connection of MOVIDRIVE® and TF

on motor interrupted• No jumper between X10:1 and

X10:2.

• Let motor cool off and reset error• Check connections/link between MOVIDRIVE®

and TF.• If a TF is not connected: Jumper X10:1 with

X10:2.• Set P835 to "NO RESPONSE"

36 Option miss-ing

Immediate stop

• Type of option card not allowed.• Setpoint source, control signal

source or operating mode not per-mitted for this option card.

• Incorrect encoder type set for DIP11A.

• Use correct option card.• Set correct setpoint source (P100).• Set correct control signal source (P101).• Set correct operating mode (P700 or P701).• Set the correct encoder type.

39 Reference travel

Immediate stop •

• The reference cam is missing or does not switch

• Limit switches are connected incor-rectly

• Reference travel type was changed during reference travel

• Check reference cam• Check limit switch connection• Check reference travel type setting and required

parameters.

42 Lag error Immediate stop •

• Encoder connected incorrectly• Acceleration ramps too short• P component of positioning control-

ler too small• Incorrectly set speed controller

parameters• Value of lag error tolerance too small

• Check encoder connection• Extend ramps• Set P component to higher value• Reset speed controller parameters• Increase lag error tolerance• Check encoder wiring, motor and mains phase

wiring.• Check whether mechanical system components

can move freely or if they are blocked

78 IPOSplus® SW limit switches

NoneResponse •

Only in IPOSplus® operating mode:Programmed target position is outside travel range delimited by software limit switches.

• Check the user program• Check position of the software limit switches

92 DIP encoder problem Error display • Encoder signals an error Possible cause: Encoder is dirty → clean encoder


00

I


6Error messagesOperation and Service

93 DIP encoder error

Emergency stop •

Only with DIP11B option:The encoder signals an error, e.g. power failure:• Connection cable between encoder

and DIP does not meet the require-ments (twisted pair, shielded).

• Cycle frequency for cable length too high.

• Permitted max. speed/acceleration of encoder exceeded.

• Encoder defective.

• Check absolute encoder connection.• Check connection cables.• Set correct cycle frequency.• Reduce maximum traveling velocity or ramp.• Replace absolute encoder.

94 EEPROM checksum

Immediate switch-off

Inverter electronics disrupted, possibly due to effect of EMC or a defect. Send unit in for repair.

95 DIP plausibil-ity error

Emergency stop •

Only with DIP11B option:No plausible position could be deter-mined.• Incorrect encoder type set.• IPOSplus® travel parameter set

incorrectly.• Numerator / denominator factor set

incorrectly.• Zero adjustment performed.• Encoder defective.

• Set the correct encoder type.• Check IPOSplus® travel parameters.• Check traveling velocity.• Correct numerator/denominator factor.• After zero adjustment reset.• Replace absolute encoder.


00

I


7 Important notesCompatibility of MOVIDRIVE® B / compact

7 Compatibility of MOVIDRIVE® B / compact7.1 Important notes

The "Table Positioning" application module for MOVIDRIVE® MDX61B offers a numberof additional functions that are not available with MOVIDRIVE® compact. This sectionprovides you with information on the differences of the application module when usinga MOVIDRIVE® compact unit and gives you important information on project planning.

Project planning for MOVIDRIVE® compact

• Drive inverterThe "Table positioning" application module must have encoder feedback, whichmeans it can only be used with the following drive inverters:– MOVIDRIVE® compact MCV / MCS– MOVIDRIVE® compact MCH41A /MCH42A

Compatibility between the hard-ware terminals

Compared to MOVIDRIVE® compact, MOVIDRIVE® MDX61B has two extra binary in-puts (DI06, DI07) and three additional digital outputs (DO03, DO04, DO05). The addi-tional hardware inputs and outputs are set to "No function" during initial startup and arenot processed in the program.

Software limit switches

The function to move clear of the software limit switches is only possible forMOVIDRIVE® compact MCx / MCH from the following firmware versions:– MOVIDRIVE® compact MCx: 823 859 6.14– MOVIDRIVE® comapct MCH: 823 947 9.17

Recording IPOSplus® variables

Recording IPOSplus® variables using the MOVITOOLS® program "Scope" is only possi-ble with MOVIDRIVE® MDX61B.

SBus send object for DriveSync Slave

If you use MOVIDRIVE® compact MCx / MCH, you do not have the option of setting upan SBus send object to transfer the actual position. It is also not possible to integrate the"DriveSync" application module.


7Important notesCompatibility of MOVIDRIVE® B / compact

Wiring diagrams

56269AENFigure 22: MOVIDRIVE® compact MCH4_A

X14:

X15:

X30: (MCH41A)

X11:

X12:

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

DGND

DBØØ

DOØ1-C

DOØ1-NO

DOØ1-NC

DOØ2/AO1

VI24

DGND

1

2

3

4

5

6

7

8

9

1

2

3

4

5

6

7

1

5

6

9

MOVIDRIVE® compact MCH4_A

= +-24 V

X30: (MCH42A) LWL Remote IN

Receive data

X31: (MCH42A) LWL Remote IN

Send data

X32: (MCH42A) LWL Remote OUT

Receive data

X33: (MCH42A) LWL Remote OUT

Send data

/Controller inhibit

Enable/Rapid stop

Reset

Reference cam

/Limit switch CW

/Limit switch CCW

Ref. X10:DIØØ...DIØ5

+24V output


/Brake

Relay contact ready

NO relay contact

NC relay contact

/Fault

+24V input


Motor enc. (HIPERFACE®, sin/cos or 5 V TTL)

(Connection → operating instructions

MOVIDRIVE® compact MCH)

PROFIBUS DP connection



INT

ER

BU

S F

O c

on

ne

ctio

n

Co

nn

ectio

n →

op

era

tin

g in

str

uctio

ns

MO

VID

RIV

E®

co

mp

act M

CH

)

External encoder input (HIPERFACE®, sin/cos

or 5 V TTL) or X14-X14 connection



X1

4 E

nco

de

r I/

OX

15

En

co

de

r IN

X11

X12

Remote INX30 IN

Remote INX31 OUT

Remote OUTX32 IN

Remote OUTX33 OUT

1

2

3

4

5

6

7

8

9

1

2

3

4

5

6

7

UL

CC

BA

RD

TR

FO

1F

O2

123456789

1234567

DIØØDIØ1DIØ2DIØ3DIØ4DIØ5DCOMVO24DGND

DBØØDOØ1-CDOØ1-NODOØ1-NCDOØ2VI24DGND

X1

1X

12

MCH 42A

PR

OF

I

BU

S

PR

OC

ES

S F

IEL

D B

US


7 Important notesCompatibility of MOVIDRIVE® B / compact

56273AENFigure 23: MOVIDRIVE® compact MCV / MCS

X14: (MCV/MCS)

X15: (MCV/MCS)

X30: (MCV/MCS41A)

X10:

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

DGND

DOØ1-C

DOØ2

DOØ1-NO

DBØØ

DOØ1-NC

DGND

VI24

REF1

AI11

REF2

AI12

SC11

AI21

SC12

AGND

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

1

1

5

5

5

1

6

6

9

9

9

6

MOVIDRIVE® compact MCV / MCSP

RO

FI

BU

S

PR

OC

ES

S F

IEL

D B

US

=+-

24 V

X10MCV41A

REF1

REF2

Sc11

SC12

DIØØ

DIØ2

DIØ4

DCOM

DGND

DOØ2

DBØØ

DGND

Ai11

AI12

AI21

AGND

DIØ1

DIØ3

DIØ5

VO24

DOØ1-C

DOØ1-NO

DOØ1-NC

VI24

1

3

5

7

9

11

13

15

17

19

21

23

2

4

6

8

10

12

14

16

18

20

22

24

1

5

6

9

PROFIBUS DP

X30

RUNBUS

FAULT

1

5

6

9

5

1

9

6

X15

ENCODER IN

X14

ENCODER I/O

/Controller inhibit

Enable/Rapid stop

Reset

Reference cam

/Limit switch CW

/Limit switch CCW

Ref. X10:DIØØ...DIØ5

+24V output


Relay contact ready

/Fault

NO relay contact

/Brake

NC relay contat


+24V input

+10 V

-10 V

System bus High

TF-/TH input

System bus Low

Reference potential analog signals

Motor encoder:

Incremental encoder (MCV) or resolver (MCS)


MOVIDRIVE® compact MCV/MCS)

PROFIBUS DP connection


MOVIDRIVE® compact MCV/MCS41A)

External encoder input,

Incremental encoder 5 V TTL,


MOVIDRIVE® compact MCV/MCS)

Manual – MOVIDRIVE® MDX61B Table Positioning Application. 69

8Index

8 IndexNumerics7-segment display (fault message) .....................63

AApplication example transverse carriage ..............7Automatic mode ..................................................57

BBinary coding of the table positions ....................13

Bus version ...................................................13Terminal version ...........................................13

Bus control ..........................................................23

CCompatibility MOVIDRIVE® B / compact ............66Connecting hardware limit switches ....................32Cycle diagrams ...................................................59

Jog and Teach mode ....................................61Referencing and automatic mode ................60

DDescription of functions

Four operating modes ..................................10Functional characteristics .............................10

Downloading data into the inverter .....................43

EError list ...............................................................63Error memory ......................................................62Error messages ...................................................63

Error list ........................................................63Exclusion of liability ...............................................4FFault information .................................................62

Error memory ...............................................62Inverter is waiting for data ............................62Reset ............................................................62Switch-off responses to faults ......................62

Fault message in 7-segment display ..................63

GGeneral Information

Exclusion of liability ........................................4General notes .......................................................4

Other applicable documentation .....................5right to claim under warranty ..........................4Structure of the safety notes ..........................4

IIdentification ..........................................................8Installation

Application version .......................................20CANopen (DFC11B) .....................................27Connecting hardware limit switches .............32DeviceNet (DFD11B) ....................................28Ethernet (DFE11B) .......................................29

INTERBUS (DFI11B) ................................... 26INTERBUS with FO (DFI21B) ..................... 25MDX61B with bus control ............................ 23MOVIDRIVE® MDX61B in terminal version with input / output card DIO11B ...... 21MOVITOOLS® software .............................. 20PROFIBUS (DFP21B) ................................. 24System bus connection (SBus) ................... 30Wiring diagram for MDX 61B withoptions DEH11B and DER11B .................... 22

Inverter is waiting for data .................................. 62IPOS processing speed ..................................... 18

JJog mode ........................................................... 53

MMonitor mode ..................................................... 44

OOther applicable documentation .......................... 5

PParameters and IPOS variables ........................ 46Process data assignment for fieldbus control .... 14Process input data ............................................. 14Process output data ........................................... 14Program identification .......................................... 8Project Planning ................................................... 9Project planning

Binary coding of the table positions ............. 13Description of functions ............................... 10Inverters, motors and encoders ..................... 9Limit switches, reference cams and machine zero ............................................... 12PC and software ............................................ 9Prerequisites .................................................. 9Process data assignment for fieldbus control ............................................. 14Safe stop ..................................................... 19SBus send object ......................................... 19Scaling the drive .......................................... 11Software limit switch .................................... 16

RRecording IPOS variables .................................. 48Referencing mode .............................................. 50Reset .................................................................. 62Right to claim under warranty .............................. 4

SSafe stop ............................................................ 19SBus send object ............................................... 19

Activating the SBus send object .................. 19Setting the SBus send objects ..................... 19

Scaling the drive ................................................ 11

8


Index

Drive with external encoder (non-positive connection) ..............................12Drive without external encoder (positive connection) .....................................11

Setting the scaling factors distance and speedCalculating the scaling factors ......................37Converting the distance resolution to user-defined units .........................................38Converting the speed to user-defined units ..39Selecting the reference travel type ...............39

Software limit switch ...........................................16Software limit switches

Moving clear of the software limit switches ..16Starting the drive .................................................49Startup ................................................................33

Entering table positions ................................41General information ......................................33Parameters and IPOS variables ...................46Preliminary work ...........................................33Recording IPOS variables ............................48Setting the fieldbus parameters ....................35Setting the scaling factors distance and speed .....................................................36Starting the program .....................................34

Structure of the safety notes .................................4Switch-off responses to faults .............................62System bus (SBus)

Connection ...................................................30System bus connection (SBus 1)

Cable length .................................................30Cable specification .......................................30SBus wiring diagram ....................................30Shielding .......................................................30Terminating resistor ......................................31

System bus connection (SBus) ...........................30System Description ...............................................6System description

Application example transverse carriage .......7Areas of application ........................................6

TTeach mode ........................................................55Terminal control ..................................................15

Functions of the binary inputs DI12 ... DI17 ..................................................15Setting the operating mode ..........................15

WWiring diagram for MDX 61B with optionsDEH11B and DER11B ........................................22

Address List

09/2007 71

Address ListGermany

HeadquartersProductionSales

Bruchsal SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 BruchsalP.O. BoxPostfach 3023 • D-76642 Bruchsal

Tel. +49 7251 75-0Fax +49 7251 75-1970http://[email protected]

Service Competence Center

Central SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 1 D-76676 Graben-Neudorf

Tel. +49 7251 75-1710Fax +49 7251 [email protected]

North SEW-EURODRIVE GmbH & Co KGAlte Ricklinger Straße 40-42 D-30823 Garbsen (near Hannover)


East SEW-EURODRIVE GmbH & Co KGDänkritzer Weg 1D-08393 Meerane (near Zwickau)


South SEW-EURODRIVE GmbH & Co KGDomagkstraße 5D-85551 Kirchheim (near München)


West SEW-EURODRIVE GmbH & Co KGSiemensstraße 1D-40764 Langenfeld (near Düsseldorf)


Electronics SEW-EURODRIVE GmbH & Co KGErnst-Blickle-Straße 42 D-76646 Bruchsal


Drive Service Hotline / 24 Hour Service +49 180 5 SEWHELP+49 180 5 7394357

Additional addresses for service in Germany provided on request!

France

ProductionSalesService

Haguenau SEW-USOCOME 48-54, route de Soufflenheim B. P. 20185F-67506 Haguenau Cedex

Tel. +33 3 88 73 67 00 Fax +33 3 88 73 66 00http://[email protected]

Production Forbach SEW-EUROCOME Zone Industrielle Technopôle Forbach SudB. P. 30269F-57604 Forbach Cedex

Tel. +33 3 87 29 38 00

AssemblySalesService

Bordeaux SEW-USOCOME Parc d'activités de Magellan62, avenue de Magellan - B. P. 182F-33607 Pessac Cedex

Tel. +33 5 57 26 39 00Fax +33 5 57 26 39 09

Lyon SEW-USOCOME Parc d'Affaires RooseveltRue Jacques TatiF-69120 Vaulx en Velin

Tel. +33 4 72 15 37 00Fax +33 4 72 15 37 15

Paris SEW-USOCOME Zone industrielle 2, rue Denis Papin F-77390 Verneuil I'Etang

Tel. +33 1 64 42 40 80Fax +33 1 64 42 40 88

Additional addresses for service in France provided on request!

Address List

72 09/2007

Algeria

Sales Alger Réducom 16, rue des Frères ZaghnounBellevue El-Harrach16200 Alger


Argentina


Buenos Aires SEW EURODRIVE ARGENTINA S.A.Centro Industrial Garin, Lote 35Ruta Panamericana Km 37,51619 Garin


Australia


Melbourne SEW-EURODRIVE PTY. LTD.27 Beverage DriveTullamarine, Victoria 3043


Sydney SEW-EURODRIVE PTY. LTD.9, Sleigh Place, Wetherill Park New South Wales, 2164


Townsville SEW-EURODRIVE PTY. LTD.12 Leyland StreetGarbutt, QLD 4814

Tel. +61 7 4779 4333Fax +61 7 4779 [email protected]

Austria


Wien SEW-EURODRIVE Ges.m.b.H. Richard-Strauss-Strasse 24A-1230 Wien

Tel. +43 1 617 55 00-0Fax +43 1 617 55 00-30http://[email protected]

Belarus

Sales Minsk SEW-EURODRIVE BYRybalkoStr. 26BY-220033 Minsk

Tel.+375 (17) 298 38 50Fax +375 (17) 29838 [email protected]

Belgium


Brüssel SEW Caron-Vector S.A.Avenue Eiffel 5B-1300 Wavre


Brazil

ProductionSalesService

Sao Paulo SEW-EURODRIVE Brasil Ltda.Avenida Amâncio Gaiolli, 50Caixa Postal: 201-07111-970Guarulhos/SP - Cep.: 07251-250


Additional addresses for service in Brazil provided on request!

Bulgaria

Sales Sofia BEVER-DRIVE GmbHBogdanovetz Str.1BG-1606 Sofia

Tel. +359 2 9151160Fax +359 2 [email protected]

Cameroon

Sales Douala Electro-ServicesRue Drouot AkwaB.P. 2024Douala

Tel. +237 33 431137Fax +237 33 431137

Address List

09/2007 73

Canada


Toronto SEW-EURODRIVE CO. OF CANADA LTD. 210 Walker Drive Bramalea, Ontario L6T3W1


Vancouver SEW-EURODRIVE CO. OF CANADA LTD.7188 Honeyman Street Delta. B.C. V4G 1 E2


Montreal SEW-EURODRIVE CO. OF CANADA LTD.2555 Rue Leger LaSalle, Quebec H8N 2V9


Additional addresses for service in Canada provided on request!

Chile


Santiago de Chile

SEW-EURODRIVE CHILE LTDA.Las Encinas 1295Parque Industrial Valle GrandeLAMPARCH-Santiago de ChileP.O. BoxCasilla 23 Correo Quilicura - Santiago - Chile


China

ProductionAssemblySalesService

Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd.No. 46, 7th Avenue, TEDATianjin 300457

Tel. +86 22 25322612Fax +86 22 [email protected]://www.sew-eurodrive.cn


Suzhou SEW-EURODRIVE (Suzhou) Co., Ltd.333, Suhong Middle RoadSuzhou Industrial ParkJiangsu Province, 215021P. R. China


Guangzhou SEW-EURODRIVE (Guangzhou) Co., Ltd.No. 9, JunDa RoadEast Section of GETDDGuangzhou 510530P. R. China


Shenyang SEW-EURODRIVE (Shenyang) Co., Ltd.10A-2, 6th RoadShenyang Economic Technological Development AreaShenyang, 110141P. R. China


Additional addresses for service in China provided on request!

Colombia


Bogotá SEW-EURODRIVE COLOMBIA LTDA. Calle 22 No. 132-60Bodega 6, Manzana BSantafé de Bogotá


Croatia

SalesService

Zagreb KOMPEKS d. o. o.PIT Erdödy 4 IIHR 10 000 Zagreb


Address List

74 09/2007

Czech Republic

Sales Praha SEW-EURODRIVE CZ S.R.O.Business Centrum Praha Lužná 591CZ-16000 Praha 6 - Vokovice

Tel. +420 220121234Fax +420 220121237http://[email protected]

Denmark


Kopenhagen SEW-EURODRIVEA/SGeminivej 28-30DK-2670 Greve


Egypt

SalesService

Cairo Copam Egypt for Engineering & Agencies33 EI Hegaz ST, Heliopolis, Cairo

Tel. +20 2 22566-299 + 1 23143088Fax +20 2 22594-757http://www.copam-egypt.com/ [email protected]

Estonia

Sales Tallin ALAS-KUUL ASReti tee 4EE-75301 Peetri küla, Rae vald, Harjumaa

Tel. +372 6593230Fax +372 [email protected]

Finland


Lahti SEW-EURODRIVE OYVesimäentie 4FIN-15860 Hollola 2

Tel. +358 201 589-300Fax +358 3 [email protected]://www.sew-eurodrive.fi

Gabon

Sales Libreville Electro-ServicesB.P. 1889Libreville

Tel. +241 7340-11Fax +241 7340-12

Great Britain


Normanton SEW-EURODRIVE Ltd.Beckbridge Industrial Estate P.O. Box No.1GB-Normanton, West- Yorkshire WF6 1QR


Greece

SalesService

Athen Christ. Boznos & Son S.A.12, Mavromichali StreetP.O. Box 80136, GR-18545 Piraeus

Tel. +30 2 1042 251-34 Fax +30 2 1042 251-59http://[email protected]

Hong Kong


Hong Kong SEW-EURODRIVE LTD.Unit No. 801-806, 8th FloorHong Leong Industrial ComplexNo. 4, Wang Kwong Road Kowloon, Hong Kong

Tel. +852 2 7960477 + 79604654Fax +852 2 [email protected]

Hungary

SalesService

Budapest SEW-EURODRIVE Kft.H-1037 BudapestKunigunda u. 18

Tel. +36 1 437 06-58Fax +36 1 437 [email protected]

Address List

09/2007 75

India


Baroda SEW-EURODRIVE India Pvt. Ltd.Plot No. 4, GidcPor Ramangamdi • Baroda - 391 243Gujarat

Tel. +91 265 2831086Fax +91 265 2831087http://[email protected]

Ireland

SalesService

Dublin Alperton Engineering Ltd. 48 Moyle RoadDublin Industrial EstateGlasnevin, Dublin 11


Israel

Sales Tel-Aviv Liraz Handasa Ltd. Ahofer Str 34B / 22858858 Holon


Italy


Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s.Via Bernini,14 I-20020 Solaro (Milano)

Tel. +39 02 96 9801Fax +39 02 96 799781http://[email protected]

Ivory Coast

Sales Abidjan SICASte industrielle et commerciale pour l'Afrique165, Bld de MarseilleB.P. 2323, Abidjan 08

Tel. +225 2579-44Fax +225 2584-36

Japan


Iwata SEW-EURODRIVE JAPAN CO., LTD 250-1, Shimoman-no,IwataShizuoka 438-0818


Korea


Ansan-City SEW-EURODRIVE KOREA CO., LTD. B 601-4, Banweol Industrial Estate 1048-4, Shingil-DongAnsan 425-120


Busan SEW-EURODRIVE KOREA Co., Ltd.No. 1720 - 11, Songjeong - dongGangseo-kuBusan 618-270


Latvia

Sales Riga SIA Alas-KuulKatlakalna 11CLV-1073 Riga


Lebanon

Sales Beirut Gabriel Acar & Fils sarlB. P. 80484Bourj Hammoud, Beirut

Tel. +961 1 4947-86 +961 1 4982-72+961 3 2745-39Fax +961 1 4949-71 [email protected]

Address List

76 09/2007

Lithuania

Sales Alytus UAB IrsevaNaujoji 19LT-62175 Alytus

Tel. +370 315 79204Fax +370 315 [email protected]://www.sew-eurodrive.lt

Luxembourg


Brüssel CARON-VECTOR S.A.Avenue Eiffel 5B-1300 Wavre


Malaysia


Johore SEW-EURODRIVE SDN BHD No. 95, Jalan Seroja 39, Taman Johor Jaya81000 Johor Bahru, JohorWest Malaysia


Mexico


Queretaro SEW-EURODRIVE MEXIKO SA DE CVSEM-981118-M93Tequisquiapan No. 102Parque Industrial QueretaroC.P. 76220Queretaro, Mexico


Morocco

Sales Casablanca Afit5, rue Emir AbdelkaderMA 20300 Casablanca

Tel. +212 22618372Fax +212 [email protected]

Netherlands


Rotterdam VECTOR Aandrijftechniek B.V. Industrieweg 175 NL-3044 AS RotterdamPostbus 10085NL-3004 AB Rotterdam


New Zealand


Auckland SEW-EURODRIVE NEW ZEALAND LTD. P.O. Box 58-428 82 Greenmount driveEast Tamaki Auckland


Christchurch SEW-EURODRIVE NEW ZEALAND LTD. 10 Settlers Crescent, FerrymeadChristchurch


Norway


Moss SEW-EURODRIVE A/SSolgaard skog 71N-1599 Moss


Peru


Lima SEW DEL PERU MOTORES REDUCTORES S.A.C.Los Calderos, 120-124Urbanizacion Industrial Vulcano, ATE, Lima


Address List

09/2007 77

Poland


Lodz SEW-EURODRIVE Polska Sp.z.o.o.ul. Techniczna 5 PL-92-518 Łódź


Portugal


Coimbra SEW-EURODRIVE, LDA. Apartado 15 P-3050-901 Mealhada


Romania

SalesService

Bucureşti Sialco Trading SRL str. Madrid nr.4 011785 Bucuresti

Tel. +40 21 230-1328Fax +40 21 230-7170 [email protected]

Russia


St. Petersburg ZAO SEW-EURODRIVE P.O. Box 36 195220 St. Petersburg Russia

Tel. +7 812 3332522 +7 812 5357142Fax +7 812 3332523http://[email protected]

Senegal

Sales Dakar SENEMECA Mécanique GénéraleKm 8, Route de Rufisque B.P. 3251, Dakar


Serbia

Sales Beograd DIPAR d.o.o.Ustanicka 128aPC Košum, IV floorSCG-11000 Beograd

Tel. +381 11 347 3244 / +381 11 288 0393Fax +381 11 347 [email protected]

Singapore


Singapore SEW-EURODRIVE PTE. LTD. No 9, Tuas Drive 2 Jurong Industrial Estate Singapore 638644


Slovakia

Sales Bratislava SEW-Eurodrive SK s.r.o.Rybničná 40SK-83554 Bratislava

Tel. +421 2 49595201Fax +421 2 [email protected]://sk.sew-eurodrive.com

Žilina SEW-Eurodrive SK s.r.o.ul. Vojtecha Spanyola 33SK-010 01 Žilina


Banská Bystrica SEW-Eurodrive SK s.r.o.Rudlovská cesta 85SK-97411 Banská Bystrica


Slovenia

SalesService

Celje Pakman - Pogonska Tehnika d.o.o.UI. XIV. divizije 14SLO - 3000 Celje

Tel. +386 3 490 83-20Fax +386 3 490 [email protected]

Address List

78 09/2007

South Africa


Johannesburg SEW-EURODRIVE (PROPRIETARY) LIMITEDEurodrive House Cnr. Adcock Ingram and Aerodrome RoadsAeroton Ext. 2Johannesburg 2013P.O.Box 90004Bertsham 2013


Capetown SEW-EURODRIVE (PROPRIETARY) LIMITED Rainbow ParkCnr. Racecourse & Omuramba RoadMontague GardensCape TownP.O.Box 36556Chempet 7442 Cape Town

Tel. +27 21 552-9820Fax +27 21 552-9830Telex 576 [email protected]

Durban SEW-EURODRIVE (PROPRIETARY) LIMITED2 Monaceo PlacePinetownDurbanP.O. Box 10433, Ashwood 3605


Spain


Bilbao SEW-EURODRIVE ESPAÑA, S.L. Parque Tecnológico, Edificio, 302E-48170 Zamudio (Vizcaya)


Sweden


Jönköping SEW-EURODRIVE ABGnejsvägen 6-8S-55303 JönköpingBox 3100 S-55003 Jönköping


Switzerland


Basel Alfred lmhof A.G.Jurastrasse 10 CH-4142 Münchenstein bei Basel


Thailand


Chonburi SEW-EURODRIVE (Thailand) Ltd.700/456, Moo.7, DonhuarohMuang Chonburi 20000


Tunisia

Sales Tunis T. M.S. Technic Marketing Service5, Rue El Houdaibiah 1000 Tunis

Tel. +216 71 4340-64 + 71 4320-29Fax +216 71 [email protected]

Turkey


Istanbul SEW-EURODRIVE Hareket Sistemleri San. ve Tic. Ltd. Sti. Bagdat Cad. Koruma Cikmazi No. 3 TR-34846 Maltepe ISTANBUL

Tel. +90 216 4419163 / 164 3838014/15Fax +90 216 3055867http://[email protected]

Address List

09/2007 79

Ukraine

SalesService

Dnepropetrovsk SEW-EURODRIVEStr. Rabochaja 23-B, Office 40949008 Dnepropetrovsk


USA

ProductionAssemblySalesService

Greenville SEW-EURODRIVE INC. 1295 Old Spartanburg Highway P.O. Box 518Lyman, S.C. 29365

Tel. +1 864 439-7537Fax Sales +1 864 439-7830Fax Manuf. +1 864 439-9948Fax Ass. +1 864 439-0566Telex 805 550 http://[email protected]


San Francisco SEW-EURODRIVE INC. 30599 San Antonio St.Hayward, California 94544-7101


Philadelphia/PA SEW-EURODRIVE INC. Pureland Ind. Complex 2107 High Hill Road, P.O. Box 481Bridgeport, New Jersey 08014


Dayton SEW-EURODRIVE INC.2001 West Main Street Troy, Ohio 45373


Dallas SEW-EURODRIVE INC.3950 Platinum Way Dallas, Texas 75237


Additional addresses for service in the USA provided on request!

Venezuela


Valencia SEW-EURODRIVE Venezuela S.A.Av. Norte Sur No. 3, Galpon 84-319Zona Industrial Municipal NorteValencia, Estado Carabobo

Tel. +58 241 832-9804Fax +58 241 838-6275http://[email protected]@cantv.net

SEW-EURODRIVE – Driving the world

www.sew-eurodrive.com

How we’re driving the world

With people whothink fast anddevelop thefuture with you.

With a worldwide service network that isalways close at hand.

With drives and controlsthat automaticallyimprove your productivity.

With comprehensiveknowledge in virtuallyevery branch ofindustry today.

With uncompromisingquality that reduces thecost and complexity ofdaily operations.

With a global presencethat offers responsive and reliable solutions. Anywhere.

With innovativetechnology that solvestomorrow’s problemstoday.

With online informationand software updates,via the Internet, availablearound the clock.

Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services

SEW-EURODRIVEDriving the world

SEW-EURODRIVE GmbH & Co KGP.O. Box 3023 · D-76642 Bruchsal / GermanyPhone +49 7251 75-0 · Fax +49 7251 [email protected]

manual – movidrive® mdx61b table positioning application · manual 1.1 structure of the safety...

Documents