Drive Technology \ Drive Automation \ System Integration \ Services
*23561653_0617*
Manual
Rapid/Creep Speed Positioning Application Module
Edition 06/2017
23561653/EN
SEW-EURODRIVE—Driving the world
Contents
23561653/EN – 06/2017
Contents 1
General information.................................................................................................................. 5 1.1 About this documentation ............................................................................................... 5 1.2 Structure of the warning notes ........................................................................................ 5 1.2.1 Meaning of signal words ................................................................................ 5 1.2.2 Structure of section-related safety notes........................................................ 5 1.2.3 Structure of embedded safety notes .............................................................. 6 1.3 Right to claim under warranty ......................................................................................... 6 1.4 Content of the documentation......................................................................................... 6 1.5 Exclusion of liability......................................................................................................... 7 1.6 Other applicable documentation ..................................................................................... 7 1.7 Terms and conditions of use........................................................................................... 7 1.8 Product names and trademarks...................................................................................... 7 1.9 Copyright notice .............................................................................................................. 7 1.10 Short designation ............................................................................................................ 8
2
Safety notes .............................................................................................................................. 9 2.1 Preliminary information ................................................................................................... 9 2.2 Use.................................................................................................................................. 9 2.3 Target group ................................................................................................................... 9 2.4 Designated use ............................................................................................................... 9 2.5 Bus systems.................................................................................................................. 10
3
Project planning information................................................................................................. 11 3.1 Requirements................................................................................................................ 11 3.2 PC and software ........................................................................................................... 11 3.3 Approved unit combination ........................................................................................... 11
4
System description ................................................................................................................ 12 4.1 Area of application ........................................................................................................ 12 4.2 Profiles .......................................................................................................................... 12
5
Operating modes .................................................................................................................... 13 5.1 Feed-in / feed-out.......................................................................................................... 13 5.1.1 Operating principle ....................................................................................... 13 5.1.2 "Feed-in" operating mode ............................................................................ 14 5.1.3 "Feed-out" operating mode .......................................................................... 15 5.2 Lifting/rotating ............................................................................................................... 16 5.2.1 Operating principle ....................................................................................... 16 5.2.2 Functional description .................................................................................. 17 5.3 Jog mode ...................................................................................................................... 18 5.3.1 Operating principle ....................................................................................... 18 5.3.2 Functional description .................................................................................. 18
6
Cycle diagrams ....................................................................................................................... 19 6.1 Feed-in / feed-out.......................................................................................................... 19 6.2 Lifting/rotating ............................................................................................................... 20 6.3 Jog mode ...................................................................................................................... 21
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Contents
7
Startup ..................................................................................................................................... 22 7.1 Prerequisites ................................................................................................................. 22 7.2 Startup procedure ......................................................................................................... 23 7.3 Starting the Drive Startup for MOVI-PLC®/CCU ........................................................... 23 7.4 Start application configurator ........................................................................................ 24 7.5 Adding a single axis in the axis configuration ............................................................... 25 7.6 Setting the application module...................................................................................... 26 7.6.1 Input configuration........................................................................................ 26 7.6.2 Monitoring functions ..................................................................................... 27 7.6.3 Setpoints ...................................................................................................... 28 7.6.4 System limits ................................................................................................ 30 7.6.5 Feedback configuration................................................................................ 31 7.6.6 Completing the configuration ....................................................................... 31 7.7 Saving the configuration on the SD memory card of the CCU controller...................... 33
8
Operation and diagnostics .................................................................................................... 34
9
Process data assignment ...................................................................................................... 35 9.1 Overview ....................................................................................................................... 35 9.2 Rapid/creep speed positioning with 1 process data word............................................. 36 9.2.1 Process input data ....................................................................................... 36 9.2.2 Process output data ..................................................................................... 37 9.3 Rapid/creep speed positioning with 3 process data words ........................................... 38 9.3.1 Process input data ....................................................................................... 38 9.3.2 Process output data ..................................................................................... 39 9.4 Rapid/creep speed positioning with 6 process data words ........................................... 40 9.4.1 Process input data ....................................................................................... 40 9.4.2 Process output data ..................................................................................... 41
10
Terminal assignment.............................................................................................................. 42
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Index ........................................................................................................................................ 43
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General information About this documentation
1
General information
1.1
About this documentation
1
The documentation is part of the product and contains important information. The documentation is for everyone who works with this product. The documentation must be accessible and legible. Make sure that persons responsible for the system and its operation as well as persons who work independently with the software and the connected units of SEW-EURODRIVE have read through the manual carefully and understood it. If you are unclear about any of the information in this documentation or if you require further information, please contact SEW‑EURODRIVE.
1.2
Structure of the warning notes
1.2.1
Meaning of signal words The following table shows the grading and meaning of the signal words for safety notes.
Signal word
Meaning
Consequences if disregarded
DANGER
Imminent hazard
Severe or fatal injuries.
WARNING
Possible dangerous situation
Severe or fatal injuries.
CAUTION
Possible dangerous situation
Minor injuries
NOTICE
Possible damage to property
Damage to the drive system or its environment.
INFORMATION
Useful information or tip: Simplifies handling of the drive system.
1.2.2
Structure of section-related safety notes Section-related safety notes do not apply to a specific action but to several actions pertaining to one subject. The hazard symbols used either indicate a general hazard or a specific hazard. This is the formal structure of a safety note for a specific section: SIGNAL WORD Type and source of hazard. Possible consequence(s) if disregarded. •
Measure(s) to prevent the hazard.
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Meaning of the hazard symbols The hazard symbols in the safety notes have the following meaning: Hazard symbol
Meaning General hazard
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1
General information Right to claim under warranty
Hazard symbol
Meaning Warning of dangerous electrical voltage
Warning of hot surfaces
Warning of risk of crushing
Warning of suspended load
Warning of automatic restart
1.2.3
Structure of embedded safety notes Embedded safety notes are directly integrated into the instructions just before the description of the dangerous action. This is the formal structure of an embedded safety note: SIGNAL WORD Type and source of hazard. Possible consequence(s) if disregarded. Measure(s) to prevent the hazard.
1.3
Right to claim under warranty A requirement of fault-free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the documentation at hand. Therefore, read the documentation before you start working with the software and the connected devices from SEW‑EURODRIVE. Make sure that the documentation is available to persons responsible for the machinery and its operation as well as to persons who work independently on the devices. You must also ensure that the documentation is legible.
Content of the documentation The descriptions in this documentation apply to the current software/firmware at the time of printing. When new versions of software/firmware are installed, the descriptions may differ. In this case, contact SEW‑EURODRIVE.
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1.4
General information Exclusion of liability
1.5
1
Exclusion of liability Please observe this documentation as well as the documentation for the software used and the SEW‑EURODRIVE devices connected. This documentation must be observed to ensure that the devices operate safely and that the specified product properties and performance characteristics are achieved. SEW‑EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of the documentation. In such cases, SEW‑EURODRIVE assumes no liability for defects.
1.6
Other applicable documentation The "other applicable documentation" to be observed is listed in the documentation for the configuration software "Application Configurator for CCU".
1.7
Terms and conditions of use SEW‑EURODRIVE grants the temporarily unrestricted right to use a copy of the software including the corresponding documentation and media (together called "material") according to the detailed terms of use and other contractual agreements. Updates or enhancements to the applicable material that are provided as part of an agreement of transfer of possession or other contract (such as maintenance contract) are also part of the material provided. All materials belong to SEW‑EURODRIVE and are protected by copyright. If no legal exceptions apply, it is expressly forbidden to: •
Reproduce the material temporarily or permanently, in whole or in part, except for the purpose of designated and contractual uses, or for the creation of a legally permitted backup to ensure future use.
•
Translate or modify the software, or reproducing the results.
You must prevent unauthorized access by third parties to the provided materials. SEW‑EURODRIVE remains the proprietor of all rights, even if you modify the material or combine it with your own programs or those of a third party. If detailed terms of use are displayed during the software installation and must be accepted before the software can be used, these also apply in addition to the terms of use described here.
1.8
Product names and trademarks
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The brands and product names in this documentation are trademarks or registered trademarks of their respective titleholders.
1.9
Copyright notice © 2017 SEW‑EURODRIVE. All rights reserved. Unauthorized reproduction, modification, distribution or any other use of the whole or any part of this documentation is strictly prohibited.
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1
General information Short designation
1.10
Short designation The following short designations are used in this documentation. Short designation
Rapid/creep speed positioning application module
Application module
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Type designation
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Safety notes Preliminary information
2
Safety notes
2.1
Preliminary information
2
The following general safety notes have the purpose to avoid injury and damage to property. They primarily apply to the use of products described in this documentation. If you use additional components also observe the relevant warning and safety notes.
2.2
Use Make sure that the basic safety notes are read and observed. Make sure that persons responsible for the machinery and its operation as well as persons who work on the device independently have read through the documentation carefully and understood it. If you are unclear about any of the information in this documentation, or if you require further information, contact SEW‑EURODRIVE. The following safety notes refer to the use of the software. This document does not replace the detailed documentation for the connected devices. This documentation assumes that the user has access to and is familiar with the documentation for all connected products. Do not perform installation or startup if the product is damaged. Removing required covers without authorization, improper use or incorrect installation and operation may result in severe injury to persons, or damage to machinery. All work in the areas of transportation, storage, operation and waste disposal must be carried out by persons who are trained appropriately.
2.3
Target group
Software specialist
Any work with the software may only be performed by a qualified specialist. Specialists in the context of this documentation are persons who have the following qualifications: •
Appropriate instruction
•
Knowledge of this documentation and other applicable documentation
•
SEW‑EURODRIVE recommends additional training for products that are operated using this software.
The above-mentioned persons must have the authorization expressly issued by the company to operate, program, configure, label and ground devices, systems and circuits in accordance with the standards of safety technology.
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2.4
Designated use The rapid/creep speed positioning application module is a single-axis application used for simple positioning tasks in materials handling technology (such as roller conveyor or rotary table). Use the device-independent "Application Configurator" configuration software to start up and configure the axes for the application module and to download the complete configuration to the controller.
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2
Safety notes Bus systems
The rapid/creep speed positioning application module is implemented with the following devices:
2.5
•
MOVIDRIVE® B
•
MOVIPRO® ADC
•
MOVIGEAR® DSC B
Bus systems A bus system makes it possible to adapt electronic drive components to the particulars of the machinery within wide limits. There is a risk that a change of parameters that cannot be detected externally may result in unexpected (but not uncontrolled) system behavior and may have a negative impact on operational safety, system availability, or data security. Especially in Ethernet-based networked systems and with engineering interfaces, make sure that unauthorized access is prevented.
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Use IT‑specific safety standards to increase access protection to the ports. For a port overview, refer to the respective technical data of the device in use.
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Manual – Rapid/Creep Speed Positioning Application Module
Project planning information Requirements
3
Project planning information
3.1
Requirements
3
Correct configuration and proper installation of the units are required for successfully starting up and operating the application modules with the Application Configurator. You find detailed configuration information in the documentation of the respective units (see chapter "Other applicable documentation").
3.2
PC and software The application module is part of the "Application Configurator" configuration software. For this reason, the system requirements of the Application Configurator apply. They are listed in the documentation for the "Application Configurator for CCU" configuration software.
3.3
Approved unit combination
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For information about the assignment of inverters to the respective CCU controllers (standard or advanced), refer to the documentation for the "Application Configurator for CCU" configuration software.
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4
System description Area of application
4
System description
4.1
Area of application The application module is used for simple positioning applications in the materials handling technology and can be used in the following applications: •
Roller and chain conveyors
•
Lifting table applications
•
Rotary table applications
Positioning is performed using 2 initiators with 2 speeds. The first initiator determines the switching point from rapid to creep speed. The second initiator determines the stop position. Positioning applications in 2 directions require 4 initiators. The following operating modes are supported:
4.2
•
Jog
•
Feeding in / feeding out
•
LIfting / rotating
Profiles The application module has the following profiles: Profile
Scope of functions
1 PD
1 process data word: With this profile, control is performed using one control word. All speeds and ramps are determined via the configuration interface. This profile is recommended if you do not have to adjust speed and ramp to the product.
3 PD
3 process data words: This profile is used, for example, for conveying goods with varying weight at medium positioning accuracy. The rapid speed and the ramp can be specified via the bus. The digital inputs of the device can be evaluated via the process data.
6 PD
6 process data words: This profile is used, for example, for conveying goods with varying weight where the rapid speed as well as the creep speed can be specified via bus in order to achieve a high positioning accuracy. Unlike 3 PD, the acceleration and deceleration ramps as well as the stop ramp can be specified independently of one another. The actual position can be reset. To do so, choose operating mode = 0 and set the start bit.
You find detailed information about the process data assignment for the profiles in chapter ""Process data"" (→ 2 35).
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The digital inputs of the device can be evaluated via the process data.
Operating modes Feed-in / feed-out
5
Operating modes
5.1
Feed-in / feed-out
5.1.1
Operating principle
5
The following figure shows a typical application example of the "rapid/creep speed positioning" principle.
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In this roller conveyor, long track sections are subdivided into segments.
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5
Operating modes Feed-in / feed-out
Decentralization of positioning takes load off the central controller. The independence of bus runtimes allows for a high degree of positioning accuracy. This ensures a quick, segment-wise transfer of the conveyed material. It is possible to directly toggle between "feed-in/feed-out" modes. [A] [3]
[1]
[4]
[2]
[B]
Stop
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[1] [2] [3] [4] 5.1.2
"Stop CCW" switch "Rapid/creep speed CCW" switch "Rapid/creep speed CW" switch "Stop CW" switch
[A] Rapid movement [B] Slow movement
"Feed-in" operating mode Mode selection
Mode 2
Requirement
Drive enabled.
Description
After setting the start bit, the drive accelerates along the set acceleration ramp until it reaches rapid speed. When the "rapid/creep speed" switch trips, the drive is decelerated along the deceleration ramp until it reaches creep speed. When the "stop" switch trips, the drive is decelerated along the stop ramp until it reaches standstill.
The following table shows the correlation between the setpoints and their sources (see chapter "Setpoints").
Rapid speed
Creep speed
14
Setpoint source •
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI2 rapid speed
•
Fieldbus 6PD
PI2 rapid speed
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
Startup
•
Fieldbus 6PD
PI3 creep speed
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Setpoint selection
Operating modes Feed-in / feed-out
Setpoint selection Acceleration ramp
Deceleration ramp
Stop ramp
5.1.3
5
Setpoint source •
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI4 ramp up
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI5 ramp down
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
Startup
•
Fieldbus 6PD
PI6 ramp stop
"Feed-out" operating mode Mode selection
Mode 3
Prerequisite
Drive enabled.
Description
After setting the start bit, the drive accelerates along the set acceleration ramp until it reaches rapid speed. After the start bit is reset, the drive brakes along the deceleration ramp to a standstill.
The following table shows the correlation between the setpoints and their sources (see chapter "Setpoints"). Setpoint selection Rapid speed
Acceleration ramp
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI2 rapid speed
•
Fieldbus 6PD
PI2 rapid speed
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI4 ramp up
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI5 ramp down
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Deceleration ramp
Setpoint source
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5
Operating modes Lifting/rotating
5.2
Lifting/rotating
5.2.1
Operating principle The following figure shows a typical application example of a lifting station.
9007199704825483
For rotating and lifting, positioning is performed according to the same principle as for inward conveyance. Once positioning in one direction has been performed, however, the drive cannot be started in the same direction again. Starting in the same direction is inhibited by the "In position" message. This prevents unintentional travel against the mechanical stop.
DANGER Severe or fatal injuries.
16
•
Do not stand under the load.
•
Secure the danger zone.
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Risk of crushing if the load falls.
Operating modes Lifting/rotating
5
[4] [3] Stop
[A] [B]
[2] [1]
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[1] [2] [3] [4] 5.2.2
"Stop CCW" switch "Rapid/creep speed CCW" switch "Rapid/creep speed CW" switch "Stop CW" switch
[A] Rapid movement [B] Slow movement
Functional description Mode selection
Mode 4
Prerequisite
Drive enabled.
Functional description
After setting the start bit, the drive accelerates along the set acceleration ramp until it reaches rapid speed. When the "rapid/creep speed" switch trips, the drive is decelerated along the set deceleration ramp until it reaches creep speed. When the "stop" switch trips, the drive is decelerated along the set stop ramp until it reaches standstill. Re-start in the same direction is blocked.
The following table shows the correlation between the setpoints and their sources (see chapter "Setpoints"). Setpoint selection Rapid speed
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Creep speed
Acceleration ramp
Setpoint source •
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI2 rapid speed
•
Fieldbus 6PD
PI2 rapid speed
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
Startup
•
Fieldbus 6PD
PI3 creep speed
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI4 ramp up
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5
Operating modes Jog mode
Setpoint selection Deceleration ramp
Stop ramp
5.3
Jog mode
5.3.1
Operating principle
Setpoint source •
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI5 ramp down
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
Startup
•
Fieldbus 6PD
PI6 ramp stop
In jog mode, you can move the drive independently of the other operating modes of the system. In jog mode, you can set the control bits "Jog+" or "Jog-" to move the drive clockwise or counterclockwise. It is not necessary to set the start bit. Speed and ramps are specified dynamically via the corresponding process data words. 5.3.2
Functional description Mode selection
Mode 1
Requirement
Drive enabled.
Functional description
As long as the "positive" (jog+) signal is set, the drive rotates clockwise. As long as the "negative" (jog-) signal is set, the drive rotates counterclockwise. The drive stops if none or both signals are set. Acceleration and deceleration depend on the set acceleration and deceleration ramp time.
The following table shows the correlation between the setpoints and their sources (see chapter "Setpoints").
Creep speed
Acceleration ramp
Deceleration ramp
18
Setpoint source •
Fieldbus 1PD
Startup
•
Fieldbus 3PD
Startup
•
Fieldbus 6PD
PI3 creep speed
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI4 ramp up
•
Fieldbus 1PD
Startup
•
Fieldbus 3PD
PI3 ramp
•
Fieldbus 6PD
PI5 ramp down
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Setpoint selection
Cycle diagrams Feed-in / feed-out
6
Cycle diagrams
6.1
Feed-in / feed-out
6
The following figure shows the actual speed of the drive depending on the state of the input and output signals during feed-in or feed-out (default setting).
n
[1]
4 3 2 1
[2]
[3]
[4]
[5] 1) [6]
[7]
[8] 1) [9] 18014401967260171
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n [1] [2] [3] [4] [5] [6] [7] [8] [9]
Actual speed "Mode" input signal "Start" input signal "Positive" input signal "Start detected" output signal "Rapid/creep speed CW switch" input signal "Stop CW switch" input signal "Rapid speed active" output signal "Creep speed active" output signal "In position CW" output signal/top
1) If another feedback type was configured, the "In position CW" output signal is present as long as the "Stop CW" switch is active (see chapter "Feedback configuration").
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6
Cycle diagrams Lifting/rotating
6.2
Lifting/rotating The following figure shows the actual speed of the drive depending on the state of the input and output signals during lifting or rotating (default setting).
n
[1]
4 3 2 1
[2]
[3]
[4]
[5] [6]
[7] [8]
[9] [10]
[11] [12]
[13]
n [1] [2] [3] [4] [5] [6] [7] [8] [9]
20
Actual speed [10] "Rapid speed active" output signal "Mode" input signal [11] "Creep speed active" output signal "Start" input signal [12] "In position CW" output signal/top "Positive" input signal [13] "In position CCW"/bottom output signal "Negative" input signal "Start detected" output signal "Rapid/creep speed CW switch" input signal "Stop CW switch" input signal "Rapid/creep speed CW CCW switch" input signal "Stop CCW switch" input signal
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9007202712556555
Cycle diagrams Jog mode
6.3
6
Jog mode The following figure shows the actual speed of the drive depending on the state of the input and output signals in jog mode (default setting).
n
4 3 2 1
[1]
[2]
[3]
[4] 13390298891
Actual speed "Mode" input signal "Positive" input signal "Negative" input signal "Creep speed active" output signal
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n [1] [2] [3] [4]
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7
Startup Prerequisites
7
Startup
7.1
Prerequisites Check the installation of the inverters, the connection of the encoders, and the installation of the controller. For installation notes, refer to the documentation of the respective units (see chapter "Other applicable documentation") and the appendix of the documentation of the "Application Configuration for CCU" configuration software. MOVITOOLS® MotionStudio engineering software You need the MOVITOOLS® MotionStudio engineering software for startup. The following required software modules are included in the delivery: Drive Startup for MOVI‑PLC® is required to set the inverters for the motor (motor startup) and to ensure communication with the controller.
•
Application Configurator is required to add the application module and configure it.
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•
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Manual – Rapid/Creep Speed Positioning Application Module
Startup Startup procedure
7.2
7
Startup procedure
MOVITOOLS® MotionStudio Drive Startup
1. step : Starting up a single axis
2. step: Establishing communication with controller
Application Configurator
3. step: Inserting single axis in axis configuration
Input configuration Monitoring functions
4. step: Setting up “Rapid/creep positioning“ application module
Setpoint values
5. step: Saving the configuration on the SD card of the CCU
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Steps 3 to 5 are described in detail in the following chapters.
Starting the Drive Startup for MOVIPLC®/CCU
7.3
Starting the Drive Startup for MOVI-PLC®/CCU 1. Start the MOVITOOLS® MotionStudio engineering software. ð The devices to be put into operation must be displayed in the MOVITOOLS® MotionStudio project view and/or network view.
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7
Startup Start application configurator
2. Select the inverter in the network view of MOVITOOLS® MotionStudio.
9007213329006475
3. Right-click to open the context menu of the inverter. 4. Select the menu command [Technology editors] > [Drive Startup for MOVI-PLC®/ CCU]. ð Drive Startup for MOVI‑PLC®/CCU is started. 5. Follow the instructions of the wizard.
INFORMATION A common configuration error is incorrect setting of baud rate and SBus addresses.
7.4
•
The baud rate must be set identically for all connected devices.
•
The SBus addresses must always differ for the various devices.
Start application configurator
NOTICE Beware of downloading the software/configuration to the controller when the plant is in operation. This may result in injury and damage to the system. •
Bring the system into a safe condition.
ü The devices to be put into operation must be displayed in the MOVITOOLS® MotionStudio project view and/or network view. 1. Select the controller in the network view of MOVITOOLS® MotionStudio.
14074270347
2. Right-click to open the context menu of the controller. 3. Select the menu command [Application modules] > [Application Configurator].
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ð The Application Configurator opens.
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Startup Adding a single axis in the axis configuration
7
The Application Configurator contains the following options for creating or modifying a configuration: •
Creating a new configuration You can create a completely new CCU configuration here. You can add the application module in the configuration overview page that opens.
•
Open controller configuration / Open configuration file The configuration of the Application Configurator that is stored on the controller SD memory card or saved in a file is downloaded here and displayed in the Application Configurator overview page. An existing application module can then be revised. If the application module has not yet been added, it can be rectified here.
INFORMATION For detailed information about the functions and operation of the Application Configurator and the other application modules; see the corresponding documentation, which is available under "Documentation" in the controller context menu in the MOVITOOLS® MotionStudio and elsewhere.
7.5
Adding a single axis in the axis configuration Proceed as follows: 1. Click the button [1] in the configuration interface of the Application Configurator. [1]
[2]
XXXXXXXX
XXXXXXXX
[3]
[4]
36028800437762955
ð A new line appears in the axis section [2]. 2. Configure the axis according to your requirements: ð Name of the axis ð Simulation mode (on or off) ð Controller interface ð Address ð Device type
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3. Select the required application module with a suitable profile. 4. Click the button [3]. ð A software wizard for setting the application module appears.
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7
Startup Setting the application module
5. Follow the instructions of the wizard as described in the following chapter "Setting the application module". ð Once you have completed the instructions of the software wizard, the yellow warning symbol [4] turns into a green check. 6. Click [Next]. ð The "Download" window is displayed (see "Application Configurator for CCU" manual).
7.6
Setting the application module
7.6.1
Input configuration You can set the functions of the input configuration in this window. [1]
[2]
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No.
Description
[1]
In this group, you choose the digital input (DI01 – DI04) and the function (NC contact / NO contact) for the following switches: "Rapid/creep speed positive" switch
•
"Stop positive" switch
In this group, you choose the digital input (DI01 – DI04) and the function (NC contact / NO contact) for the following switches: •
"Stop negative" switch
•
"Rapid/creep speed negative" switch
INFORMATION If you do not need the creep speed, then the "rapid/creep speed" switch must be assigned with the same digital input as the "stop" switch.
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Manual – Rapid/Creep Speed Positioning Application Module
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[2]
•
Startup Setting the application module
7
Adding and setting more switches Proceed as follows: 1. To add a switch, click 2. To delete a switch, click
. .
3. Choose the digital input (DI01 – DI04) for the switch. 4. Choose the function (NC contact / NO contact). 5. Choose the logic operation between first and second switch (AND/OR). ð You have now added a switch and set its functions. 7.6.2
Monitoring functions You can set the monitoring functions in this window. [1]
[2]
18014401967455755
No.
Description
[1]
In this group, you specify the maximum deviation of the creep speed when reaching the stop switch in [1/min]. INFORMATION: This function helps you to determine the minimum distance between the "rapid/creep speed" switch and the stop switch during startup.
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[2]
In this group, you set the following runtimes in [ms]: •
Maximum runtime from the start signal until reaching the stop switch.
•
Maximum runtime from the start signal until reaching the "rapid/creep speed" switch.
INFORMATION: You can use this function to detect blockages (e.g. on a roller conveyor).
INFORMATION If you enter the value "0", the monitoring function is switched off.
Manual – Rapid/Creep Speed Positioning Application Module
27
7
Startup Setting the application module
Setting the maximum deviation from the creep speed Proceed as follows: 1. Either enter the required value in the edit box of group [1]. 2. Or define the required value using the slider of group [1]. ð You have now set the maximum creep speed deviation. Setting maximum runtimes Proceed as follows: 1. Enter the required values in the edit boxes of group [2]. ð You have now set the maximum runtimes. 7.6.3
Setpoints
Setpoints for interface with 1 process data word In this window, you can set the setpoints for the interface with 1 process data word. [1]
[2]
9007202712721163
No Description . [1] In this group, you set the following speeds in [1/min]: Rapid speed: This is the fast speed at which the drive moves until reaching the "rapid/ creep speed" switch. •
Creep speed: This is the slow speed at which the drive moves between the "rapid/creep speed" switch and the stop switch.
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Manual – Rapid/Creep Speed Positioning Application Module
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•
Startup Setting the application module
7
No Description . [2] In this group, you set the following ramps in [ms]: •
Ramp up: This is the ramp time for every acceleration
•
Ramp down: This is the ramp time for every deceleration except for the "feed-in" operating mode.
•
Ramp stop: This is the ramp time for the "feed-in" operating mode.
Setpoints for interface with 3 process data words In this window, you can set the setpoints for the interface with 3 process data words. [1] [2]
9007202712740875
No Description . [1] In this group, you set the creep speed in [1/min]: This is the slow speed at which the drive moves between the "rapid/creep speed" switch and the stop switch.
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[2] In this group, you set the stop ramp in [ms]: This is the ramp time for the "feed-in" operating mode.
Manual – Rapid/Creep Speed Positioning Application Module
29
7
Startup Setting the application module
7.6.4
System limits You can set the ramp times in this window. [1] [2]
13480195979
No Description . [1] In this edit box, you set the ramp time for enable / stop.
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[2] In this edit box, you set the ramp time for enable / rapid stop.
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Manual – Rapid/Creep Speed Positioning Application Module
Startup Setting the application module
7.6.5
7
Feedback configuration In this window, you can set the time for the "In position" output signal feedback.
[1] [2] [3]
13519785739
No Description . [1] With this radio button, you set the "In position" feedback when the stop switches are reached the first time and the drive is in idle state. The feedback is reset when the mode is canceled. [2] With this radio button, you set the "In position" feedback as long as the stop switches are active. [3] With this button, you choose the logic operation of the stop switches for the feedback. INFORMATION: This setting is only relevant when 2 stop switches have been configured (see chapter "Input configuration").
7.6.6
Completing the configuration In this window, you can complete the axis configuration. [1] [2]
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[3] 18014401967489547
No Description . [1] Use this button to save frequently used axis configurations in a configuration file (*.XML). This way, you do not have to enter the values again for future startups with the same axis configuration.
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7
Startup Setting the application module
No Description . [2] Use this button to create a PDF file with an axis configuration report. [3] If you enter a name in this edit box, it will be listed as identification in the report. Saving the configuration to a configuration file (*.xml) Proceed as follows: 1. Click button [1]. ð A window opens with the directory structure of your computer. 2. Search the desired storage location in the directory structure. 3. Enter a random name for the configuration. 4. To close the dialog, click [Save]. ð You have now saved the configuration. Finishing the configuration Proceed as follows: 1. To exit the wizard, click [Finish]. ð You have now completed the configuration.
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ð The screen of the Application Configurator is displayed again.
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Manual – Rapid/Creep Speed Positioning Application Module
Startup Saving the configuration on the SD memory card of the CCU controller
7.7
7
Saving the configuration on the SD memory card of the CCU controller
CAUTION Download while the system is running. Injury and damage to property. •
Stop the system.
•
Bring the system into a safe condition.
You can use the Application Configurator to save the axis configuration of the application module on the SD memory card of the CCU controller. For detailed information, refer to the documentation of the "Application Configurator for CCU" configuration software. Saving the configuration on the SD memory card Proceed as follows: 1. Configure the axis. 2. Open the "Download" section (see "Application Configurator for CCU" manual). 3. To save the configuration to the SD memory card of the CCU controller, click [Download]. 4. The CCU controller has to be restarted to process the new configuration data after the download. This is why a prompt appears before you save the configuration. 5. The initial screen opens after successful download and restart of the CCU controller.
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ð The configuration is saved on the SD memory card.
Manual – Rapid/Creep Speed Positioning Application Module
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8
Operation and diagnostics
8
Operation and diagnostics
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The functions for operation and diagnostics of the application module are integrated in the Application Configurator, from where they are called. For detailed information, refer to the documentation of the "Application Configurator for CCU" configuration software.
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Manual – Rapid/Creep Speed Positioning Application Module
Process data assignment Overview
9
Process data assignment
9.1
Overview
9
The following table shows the process data assignment depending on the selected profile (see chapter "Profiles"). Profile
Process data assignment Process input data
Process output data
1 PD
PI1 = Control word
PO1 = Status word
3 PD
PI1 = Control word
PO1 = Status word
PI2 = Rapid speed
PO2 = Actual speed
PI3 = Ramp
PO3 = Digital inputs
PI1 = Control word
PO1 = Status word
PI2 = Rapid speed
PO2 = Actual speed
PI3 = Creep speed
PO3 = Digital inputs
PI4 = Ramp up
PO4 = Output current
PI5 = Ramp down
PO5 = Actual position (high word)
PI6 = Ramp stop
PO6 = Actual position (low word)
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6 PD
Manual – Rapid/Creep Speed Positioning Application Module
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9
Process data assignment Rapid/creep speed positioning with 1 process data word
9.2
Rapid/creep speed positioning with 1 process data word
9.2.1
Process input data The table below shows the process input data from the PLC to the inverter with fieldbus control and 1 process data word. Word
Designation
Bit
Function
PI1
Control word
0
/Controller inhibit
0 = Enable 1 = Controller inhibit
1
Enable/rapid 0 = Rapid stop stop 1 = Enable
2
Enable/stop
0 = Stop 1 = Enable
3
Reserved
4
Reserved
5
Reserved
6
Fault/malfunction
7
Reserved
8
Start
9
Positive (CW rotation)
10
Negative (CCW rotation)
11
Mode 20
000 = operating mode 0: Reserved
12
Mode 2
1
001 = operating mode 1: Jog mode
13
Mode 22
010 = operating mode 2: Feed-in 011 = Operating mode 3: Feed-out 100 = Operating mode 4: Lifting/rotating
Reserved
15
Reserved
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14
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Manual – Rapid/Creep Speed Positioning Application Module
Process data assignment Rapid/creep speed positioning with 1 process data word
9.2.2
9
Process output data The table below shows the process output data from the inverter to the PLC with fieldbus control and 1 process data word. Word
Designation
Bit
Function
PO1
Status word
0
Ready for operation
1
Start detected
2
Rapid speed active
3
Creep speed active
4
Sequence fault
5
Inverter fault
6
In position CW (top)
7
In position CCW (bottom)
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8 – 15 Inverter/fault status
Manual – Rapid/Creep Speed Positioning Application Module
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9
Process data assignment Rapid/creep speed positioning with 3 process data words
9.3
Rapid/creep speed positioning with 3 process data words
9.3.1
Process input data The table below shows the process input data from the PLC to the inverter with fieldbus control and 3 process data words. Word
Designation
Bit
Function
PI1
Control word
0
/Controller inhibit
0 = Enable 1 = Controller inhibit
1
Enable/rapid 0 = Rapid stop stop 1 = Enable
2
Enable/stop
0 = Stop 1 = Enable
3
Reserved
4
Reserved
5
Reserved
6
Reset fault
7
Reserved
8
Start
9
Positive (CW rotation)
10
Negative (CCW rotation)
11
Mode 20
000 = operating mode 0: Reserved
12
Mode 2
1
001 = operating mode 1: Jog mode
13
Mode 22
010 = operating mode 2: Feed-in 011 = Operating mode 3: Feed-out 100 = Operating mode 4: Lifting/rotating
14
Reserved
15
Reserved
Rapid speed
0 – 15 [1/min]
PI3
Ramp
0 – 15 Acceleration and deceleration ramp [ms]
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PI2
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Manual – Rapid/Creep Speed Positioning Application Module
Process data assignment Rapid/creep speed positioning with 3 process data words
9.3.2
9
Process output data The table below shows the process output data from the inverter to the PLC with fieldbus control and 3 process data words. Word
Designation
Bit
Function
PO1
Status word
0
Ready for operation
1
Start detected
2
Rapid speed active
3
Creep speed active
4
Sequence fault
5
Inverter fault
6
In position CW (top)
7
In position CCW (bottom)
8 – 15 Inverter/fault status Actual speed
0 – 15 [1/min]
PO3
Digital inputs
0
Basic unit DI00
1
Basic unit DI01
2
Basic unit DI02
3
Basic unit DI03
4
Basic unit DI04
5
Basic unit DI05
6
Basic unit DI06
7
Basic unit DI07
8
Expansion DI10
9
Expansion DI11
10
Expansion DI12
11
Expansion DI13
12
Expansion DI14
13
Expansion DI15
14
Expansion DI16
15
Expansion DI17
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PO2
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9
Process data assignment Rapid/creep speed positioning with 6 process data words
9.4
Rapid/creep speed positioning with 6 process data words
9.4.1
Process input data The table below shows the process input data from the PLC to the inverter with fieldbus control and 6 process data words. Word
Designation
Bit
Function
PI1
Control word
0
/Controller inhibit
0 = Enable 1 = Controller inhibit
1
Enable/rapid 0 = Rapid stop stop 1 = Enable
2
Enable/stop
0 = Stop 1 = Enable
3
Reserved
4
Reserved
5
Reserved
6
Reset fault
7
Reserved
8
Start
9
Positive (CW rotation)
10
Negative (CCW rotation)
11
Mode 20
000 = operating mode 0: Reserved
12
Mode 2
1
001 = operating mode 1: Jog mode
13
Mode 22
010 = operating mode 2: Feed-in 011 = Operating mode 3: Feed-out 100 = Operating mode 4: Lifting/rotating
14
Reserved
15
Reserved
Rapid speed
0 – 15 [1/min]
PI3
Creep speed
0 – 15 [1/min]
PI4
Ramp up
0 – 15 Acceleration ramp [ms]
PI5
Ramp down
0 – 15 Deceleration ramp [ms]
PI6
Ramp stop
0 – 15 Deceleration ramp to a standstill [ms]
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PI2
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Manual – Rapid/Creep Speed Positioning Application Module
Process data assignment Rapid/creep speed positioning with 6 process data words
9.4.2
9
Process output data The table below shows the process output data from the inverter to the PLC with fieldbus control and 6 process data words. Word
Designation
Bit
Function
PO1
Status word
0
Ready for operation
1
Start detected
2
Rapid speed active
3
Creep speed active
4
Sequence fault
5
Inverter fault
6
In position CW (top)
7
In position CCW (bottom)
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8 – 15 Inverter/fault status PO2
Actual speed
0 – 15 [1/min]
PO3
Digital inputs
0
Basic unit DI00
1
Basic unit DI01
2
Basic unit DI02
3
Basic unit DI03
4
Basic unit DI04
5
Basic unit DI05
6
Basic unit DI06
7
Basic unit DI07
8
Expansion DI10
9
Expansion DI11
10
Expansion DI12
11
Expansion DI13
12
Expansion DI14
13
Expansion DI15
14
Expansion DI16
15
Expansion DI17
PO5
Actual position 0 – 15 [inc] (high word)
PO6
Actual position 0 – 15 [inc] (low word)
Manual – Rapid/Creep Speed Positioning Application Module
41
10
Terminal assignment
10
Terminal assignment The following table shows the terminal assignment of the respective device.
Terminal assignment (default setting)
Input terminal MOVIDRIVE® B
MOVIGEAR® DSC B on board
GIO12B / GIO13B
"Rapid/creep speed CW" switch
DI02
DI01
DI10
"Stop CW" switch
DI03
DI02
DI11
"Rapid/creep speed CCW" switch
DI04
DI03
DI12
"Stop CCW" switch
DI05
DI04
DI13
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MOVIPRO® ADC
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Manual – Rapid/Creep Speed Positioning Application Module
Index
Index A
N
Adding axes......................................................... 25 Application Configurator ...................................... 25 Application module, characteristics (general)...... 12
Notes Meaning of the hazard symbols ....................... 5
C Configuration Application Configurator ................................. 25 Single axes..................................................... 25 Copyright notice .................................................... 7 Cycle diagram Feed-in / feed-out ........................................... 19 Jog mode........................................................ 21 Lifting/rotating................................................. 20
D Documents, applicable .......................................... 7 Downloading the configuration to the controller .. 33
O Operating mode Lifting/rotating................................................. 16 Operating modes Features ......................................................... 12 Other applicable documentation............................ 7
P Process data Rapid/creep speed positioning ....................... 35 Process data assignment .................................... 35 Process data profile............................................. 35 Product names ...................................................... 7
R
Drive startup ........................................................ 23
Embedded safety notes......................................... 6 Engineering software........................................... 11
Rapid/creep speed positioning ............................ 13 Requirements Startup............................................................ 22 Roller conveyor ................................................... 13
Exclusion of liability ............................................... 7
Rotating ............................................................... 16
F
S
Feed-in ................................................................ 13
Safety notes
E
Feed-out .............................................................. 13
H Hardware requirements ....................................... 11 Hazard symbols Meaning............................................................ 5
I Information Designation in the documentation .................... 5
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L Liability .................................................................. 6 Liability for defects............................................. 6, 7 Lifting ................................................................... 16
M
bus systems ................................................... 10 Designation in the documentation .................... 5 General............................................................. 9 Meaning of the hazard symbols ....................... 5 Preliminary information..................................... 9 Structure of embedded..................................... 6 Structure of the section-related ........................ 5 SD memory card Saving the configuration................................. 33 Section-related safety notes .................................. 5 Signal words in safety notes.................................. 5 Software Advantages .................................................... 12 Description ..................................................... 12 Features ......................................................... 12 Requirements ................................................. 11
MOVITOOLS® MotionStudio................................ 11
Manual – Rapid/Creep Speed Positioning Application Module
43
Index
Startup Adding axes.................................................... 25 Procedure....................................................... 23 Requirements ................................................. 22 Setting the application module ................. 25, 26 Start application configurator.......................... 24 Starting Drive Startup ..................................... 23
T
Use ........................................................................ 7 Use, designated .................................................... 9
W Window Download ....................................................... 31 Feedback configuration .................................. 31 Input configuration.......................................... 26 Monitoring functions ....................................... 27 Setpoints ........................................................ 28 System limits .................................................. 30
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Target group .......................................................... 9 Terms of use ......................................................... 7 Trademarks ........................................................... 7
U
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Manual – Rapid/Creep Speed Positioning Application Module
SEW-EURODRIVE—Driving the world
SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 76642 BRUCHSAL GERMANY Phone +49 7251 75-0 Fax +49 7251 75-1970
[email protected]
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