MOVIDYN® Servo Controller AFI 11A INTERBUS Option User Manual
Contents
1. Input Output modules MD0337ED Fig 1 InTERBuS with MOVIDYN SET The INTERBUS option pcb is designed so that all INTERBUS specific settings such as the process data length can be made on the option pcb by means of a hardware switch These manual settings enable the servo controller to be integrated into the INTERBUS system and switched on in a very short space of time Parameters can be set fully automatically by the higher level INTERBUS master parameter download This forward looking version offers benefits of a shorter commissioning period for the plant as well as simpler documentation of the application program as all major drive parameter data can now be recorded directly in the control program The use of a fieldbus system in drive technology requires additional monitoring functions such as fieldbus timeout or special emergency stop concepts The monitoring functions of the MOVIDYN 51 can be matched to the specific application for which it is to be used This feature enables you for instance to specify which error response the servo controller should trigger if an error should occur in the bus A rapid stop will be practical for many applications but it is also possible to freeze the last setpoints so that the drive can continue with the last valid setpoints e g conveyor belt As the functionality of the control termin2. EURODRIVE Italy Assembly Milano SEW EURODRIVE di R Blickle amp Co s a s Tel 02 96 79 97 71 Sales Service Via Bernini 14 Telefax 02 96 79 97 81 1 20020 Solaro Milano Japan Assembly Toyoda cho SEW EURODRIVE JAPAN CO LTD Tel 053 83 7 38 11 13 Sales Service 250 1 Shimoman no Telefax 053 83 7 38 14 Toyoda cho Iwata gun Shizuoka prefecture P O Box 438 0818 Korea Assembly Ansan SEW EURODRIVE CO LTD Tel 03 45 4 92 80 51 Sales Service B 601 4 Banweol Industrial Estate Telefax 03 45 4 92 80 56 1048 4 Shingil dong Ansan 425 120 Malaysia Assembly Johore SEW EURODRIVE San Bhd Tel 07 354 57 07 3 54 94 09 Sales Service 95 Jalan Seroja 39 Telefax 07 3 5414 04 81100 Johore Bahru Johore Netherlands Assembly Rotterdam VECTOR Aandrijftechniek B V Tel 010 4 46 37 00 Sales Service Industrieweg 175 Telefax 010 4 15 55 52 NL 3044 AS Rotterdam Postbus 10085 N L 3004 AB Rotterdam New Zealand Assembly Auckland SEW EURODRIVE NEW ZEALAND LTD Tel 09 2 74 56 27 Sales Service P O Box 58 428 2740077 82 Greenmount Drive East Tamaki Auckland Telefax 09 2 74 01 65 Norway Assembly Moss SEW EURODRIVE A S Tel 69 24 10 20 Sales Service Solgaard skog 71 N 1539 Moss Telefax 69 24 10 40 Portugal Assembly Coimbra SEW EURODRIVE LDA Tel 031 20 96 70 Sales Service Apartado 15 3050 Mealhada Telefax 031 20 36 85 Singapore Assembly Sing
3. ooo Di Sal g E H a Ea ES de Identify Get OV Status Read Write INTERBUS S MDO353AE Fig 18 PMS services supported by the MOVIDYN 51 servo controller 4 1 1 Initiate With the PMS service Initiate establish link a communications link is established between an INTERBUS master and the MOVIDYN 51 servo controller The establishment of the link is always performed by the w7ERBUS master As the link is being established various conventions regarding the communications link are checked e g PMS services supported user data length etc If the link is successfully established the servo controller answers with a positive Initiate Response If the link could not be established then the conventions regarding the communications link between the NTERBUS master and MOVIDYN 51 servo controller do not match The servo controller will answer with an Initiate Error Response In this event compare the configured communications relationship list of the v7 ERBUS master with that of the servo controller see section The attempt to establish an already existing communications link again generally leads to Abort The communications link will then no longer exist so the PMS service Initiate will have to be performed a third time to reinstate the communications link MOVIDYN INTERBUS AFI11A
4. EURO DRIVE 21 D The PMS Interface SEM SBURODIRIY Lu ER 4 1 2 Abort An existing communications link between the N7ERBUS master and the MOVIDYN 51 servo controller is cleared using the PMS service Abort Abort is an unacknowledged PMS service and can be initiated both by the NTERBUS master as well as by the MOVIDYN 51 The attempt to establish an already existing communications link again generally leads to Abort The communication link will then no longer exist so the PMS service Initiate will have to be performed a third time to reinstate the communications link 4 1 3 Reject With the PMS service Reject the MOVIDYN 51 servo controller rejects an invalid PMS service The servo controller uses this to signal to the W7ERBUS master that a service is invalid or cannot be carried out 4 1 4 Identify With the PMS service Identify the MOVIDYN 51 servo controller passes the following data to the INTERBUS master for definitive identification vendor_name S SEW Eurodrive GmbH amp Co model_name A MOVIDYN revision br y 821XXXYYZZ Number of servo controller system software 4 1 5 Get OV With the PMS service Get OV the INTERBUS master can retrieve the object description of the MOVIDYN 51 servo controller In general all drive parameters are described as communications objects More precise information about object descriptions can be found
5. 8 connector remote bus max 400 m 2 wire r mote bus 2 wire remote bus 2 wire remote bus 2 wire remote bus max 400m max 400m max 400m max 400m Fig 10 Connection of the servo controller to DAB master modules via IBS BK LC 2 bus terminal MDO345AE When using DAB master modules take care not to exceed the maximum number of remote bus stations These master modules with their 8 wire remote bus interface generally support up to 64 remote bus stations More detailed information can be found in the master module documentation 3 1 4 Integration in 8 Wire Remote Bus Systems Conversion from both the 8 wire to the 2 wire remote bus as well as from the 2 wire to the 8 wire remote bus is achieved using the BS BK LC 2 bus terminal This means for example that MOVIDYNO 51 servo controllers can also be integrated into existing INTERBUS networks employing the old 8 wire remote bus Fig 10 shows the integration options in an already existing system with an 8 wire remote bus IBS BK LC 2 bus terminal IBS BK LC 2 bus terminal Incoming 8 wire remote bus 8 wire oa remote bus rr 2 wire femote bus max 400m 8 wire remote bus 2 wire remote bus max 400m onward 8 wire remote bus MDO0346AE Fig 11 Integrating MOVIDYN 51 servo controllers in already existing 8 wire remote bus systems MOVIDYN 51 servo controllers can be integrated into the existing 8
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7. e ei EN miem a aa 21 dal ENEE das bike ee ghd ra rs es She a 21 E ER A EE 21 AA ADO EENEG 22 AN3 VOOM GEET 22 4 1 4 Identify dee ais Sod Seer ae o Soe Sd Bec a AE 22 AMD DOCU cateo oh ius oa A bee eee oe a 22 ANG SIS Le dni a sia memes e eee dB 22 A AAA EAN 22 4 1 8 We dai A a a a ds 22 Ge O AAA A Red ae CE ee Res Bo ees 23 4 2 1 Object Description of the Drive Parameters 23 4 2 2 Download Parameter Block Object 24 4 2 3 Universal Write Parameter Object 25 4 2 4 Universal Read Functionality Objects 0 000008 26 4 2 4 1 Universal Read Pointer Object lt lt 28 4 24 2 Universal Read Data Object EEN ENNEN wb dws 28 5 Parameter Adjustment Return Codes 1 0 cee ee ee es 30 SH Internal Communications Error bois es ba be eier koe Ser 30 6 AFI 11A Option Technical Data A9 ce e a ca ee aoe be ek a es 31 Appendix A do ee ae AER a a ee a EEN 32 INDEX ek ee el ee ee a a owe ee a a aa a i a 33 SV N EHS SEI 4 MOVIDYN INTERBUS AFIT1A Important Instructions Please read this user manual carefully and thoroughly before installing and commissioning the MOVIDYN servo controller with INTERBUS option It is assumed that engineers performing the work described within this user manual are familiar with the MOVIDYN servo controller and especially with its
8. the connecting costs are significantly reduced in comparison with an NTERBUS local bus interface since no bus terminals are required any more for connecting the servo controller MOVIDYN INTERBUS AFIT1A Configuring and Commissioning For historical reasons the N7ERBUS sensor actuator bus distinguishes between two types of remote buses both of which still exist today the 8 wire and the 2 wire remote bus The essential difference between the older 8 wire remote bus and the newer 2 wire remote bus is in the number of signal lines in the remote bus cable Whereas there was a relatively large amount of wiring work required in preparing the 8 wire remote bus cable with its 25 pin connectors 9 pin type D connectors can now be used with the 2 wire remote bus With only 5 signal lines these connectors can be quickly fitted to the remote bus cable The BS BK LC 2 bus terminal was developed to ensure as simple a transition as possible between these two types of remote bus This terminal provides a simple and user friendly way of converting from one type of remote bus to the other Different VTERBUS topologies involving MOVIDYN 51 are shown below as examples in which both types of remote bus are used 3 1 2 Direct Connection to DCB Master Modules The second generation NTERBUS master modules such as the BS S5 DCB module for Simatic S5 are always equipped with the 2 wire remote bus Thus the servo controller can be connected directl
9. version V1 50 2 3 Fitting the Option PCB Please follow the instructions below when fitting the option pcb Before you start Option pcbs Store in its original packaging and only take it out shortly before you fit it O Hold it by its edge and do not touch unnecessarily Do not touch components Procedure for fitting the option pcb 1 Ensure that the servo controller is voltage free Switch off the mains supply and if connected the external 24V supply 2 Take off the black left front cover Remove recessed head screws 2 screws Caution When the unit cover is removed the servo controller has enclosure IP00 Dangerous voltages may be present for up to ten minutes after the unit has been switched off 3 Before you touch the pcb take appropriate ESD measures wrist strap conductive shoes etc 4 Fit the option pcb with the backplane connector to the rear into the guide rails of the option pcb slot Make sure that the pcb sits properly in the rear guide rails 6 Push the backplane connector of the pcb into the socket in the housing The sockets of the option AV Y pcb must be flush with the cover of the axis module LIL SURODRIM 8 MOVIDYN INTERBUS AFIT1A Assembly Installation Instructions 7 Set the process data length with which you wish to operate the servo controller in the INTERBU S system on the DIP switches 6 Fit the supplied cover over the option pcb slot and fix with 2 s
10. C A Output address for MOVIDYN PW 140 T Pwi4o PW 142 PD2 gt gt PW 140 PD1 SC Ea 6 02 gt cl St Sp H L PW 140 pw 142 1PD2 lt PW 140 PD 1 lt ___ Input address for MOVIDYN PW 140 MDO350AE Fig 15 Process data word mapping in the PLC peripheral area In this example two process data words are exchanged between the higher level control and the servo controller With this configuration for example the higher level control could send the process output data Control Word 1 and Speed Setpoint to the servo controller and read the process input data Status Word 1 and Speed Actual Value see SEW documentation Fieldbus Unit Profile User Manual By specifying address 140 in both the input and output address list the process data words are mapped from peripheral word PW 140 The PLC access command will again decide whether the process input data words e g status word and speed actual value are to be read or whether the process data output words e g control word and speed setpoint are to be written The MD_SHELL display value PO90 now gives the message 090 PD Configuration 2PD PARAM and thereby signals that the current process data width is set at 2 PD and the servo controller can be parameterized via the PCP channel of the NTERBUS identification PARAM MOVIDYN INTERBUS AFI11A SURODRIWE 1
11. Get OV indication Send LoPrio 243 Read indication Rec HiPrio 0 Write indication Rec LoPrio 243 Max number of outstanding client services 1 Max number of outstanding server services 1 Type of communication Connection oriented Table 9 InTERBUS KBL for MOVIDYN 51 with AFI 11A option SURODRIWE 32 MOVIDYN INTERBUS AFI11A Index Bus topologies 14 Commissioning 12 Communications interface 21 Configuring 12 DAB master module 15 DCB master module 14 Diagnosis INTERBUS application see Fieldbus Unit Profile User Manual with the option pcbs LEDs 10 Display elements 10 Documentation on fieldbus connection 1 Download parameter block 25 Equipotential bonding 9 Features of the NTERBUS interface 3 Fieldbus index 24 Ident code 16 Installation Fitting the option pcb 5 ofthe NTERBUS system 8 LEDs 10 Module Ident 16 MOVIDYN 51 settings Commissioning with fieldbus 13 Terminal assignment for fieldbus mode 12 MOVIDYN INTERBUS AFI11A Parameter adjustment Abort 22 Download Parameter Block 25 Error 30 Initiate 21 ofthe drive parameters 24 Read 23 Services 21 Universal Read 27 Universal Write 26 Write 23 Pin assignment 7 PMS interface 21 Process data length 9 1PD 17 2PD 18 3PD 19 Read 23 Remote bus 8 wire remote bus 15 Return codes 30 Scope of
12. bus to the equipotential bonding conductor or PE using the clamp provided see Fig 4 SURODRIWE MOVIDYN INTERBUS AFI11A 9 Assembly Installation Instructions SURODRIM LIL 10 Twisted pair signal 9 pin type D cables connector Green 6 DO Yellow 1 DO Pink zm Grey 2 DI Brown 3 1 COM Conductive connection between connector housing and screen MDO339AE Fig 3 Assignment of the 9 pin type D connector of the incoming remote bus cable The MOVIDYN 51 servo controller is connected to the INTERBUS system via the 2 wire remote bus by a 6 core screened cable with twisted pair signal leads The 2 wire remote bus basically consists of an RS 485 Data Out channel signal lines DO and DO as well as of the RS 485 Data In channel signal lines DI and Dl 9 pin type D Twisted pair signal connector cables DO0 16 i Green Es DO 1 Yellow SA Di 17 E Pink SC D Grey e A COM 13 x Brown 5 Hr Bridged Conductive connection between connector housing cable screen and PE via earth clamp MDO0340AE Fig 4 Assignment of the 9 pin type D connector of the outgoing remote bus cable 2 5 Screening and Laying of the Bus Cables The INTERBUS AFI 11A option pcb supports RS 485 transmission technology and requires as a physical medium the 6 core s
13. could send the process output data Control Word 1 Speed Setpoint and Process Ramp to the servo controller and read the process input data Status Word 1 Speed Actual Value and Apparent Current Actual Value see SEW documentation Fieldbus Unit Profile User Manual By specifying address 140 in both the input and output address list the process data words are mapped from peripheral word PW 140 The PLC access command will again decide whether the process input data words are to be read or whether the process data output words are to be written MD_SHELL display value P090 now gives the message 090 PD Configuration 3PD PARAM and thereby signals that the current process data width is set at 3 PD and the servo controller can be parameterized via the PCP channel of the NTERBUS identification PARAM MOVIDYN INTERBUS AFIT1A The PMS Interface EN 4 The PMS Interface The MOVIDYN 51 servo controller offers via the AFI 11A option a PMS Peripherals Message Specification interface conforming to the DIN 19245 Part 2 You can fully access all the drive parameters of the MOVIDYN 51 via this v7ERBUS communication channel 4 1 PMS Services With the AFI 11A option the MOVIDYN 51 servo controller supports the PMS services shown in Fig 18 INTERBUS S Master INTERBUS S Slave Initiate s gt Abort Abort Reject
14. delivery 5 Write 23 SURODIRIWE 33 Service and spare parts EURODRIVE Germany Headquarters Bruchsal SEW EURODRIVE GmbH amp Co Tel 0 72 51 75 0 Manufacture Ernst Blickle StraBe 42 Telefax 0 72 51 75 19 70 Sales Service D 76646 Bruchsal Telex 7 822 391 Postfach 3023 http www SEW EURODRIVE com D 76642 Bruchsal sew Q sew eurodrive com Manufacture Graben SEW EURODRIVE GmbH amp Co Tel 0 72 51 75 0 Ernst Blickle StraBe 1 Telefax 07251 75 29 70 D 76676 Graben Neudorf Telex 7 822 276 Postfach 1220 D 76671 Graben Neudorf Assembly Garbsen SEW EURODRIVE GmbH amp Co Tel 0 51 37 87 98 30 Service near Hannover Alte Ricklinger StraBe 40 42 Telefax 051 37 87 98 55 D 30823 Garbsen Postfach 110453 D 30804 Garbsen Kirchheim SEW EURODRIVE GmbH amp Co Tel 0 89 90 95 52 10 near M nchen DomagkstraBe 5 D 85551 Kirchheim Telefax 0 89 90 95 52 50 Langenfeld SEW EURODRIVE GmbH amp Co Tel 0 21 73 85 07 30 near Dusseldorf SiemensstraBe 1 D 40764 Langenfeld Telefax 0 21 73 85 07 55 Meerane near Zwickau SEW EURODRIVE GmbH 8 Co Tel 0 37 64 76 06 0 Dankritzer Weg 1 D 08393 Meerane Telefax 0 37 64 76 06 30 France Headquarters Haguenau SEW USOCOME S A Tel 03 88 73 67 00 Manufacture 48 54 route de Soufflenheim Telefax 03 88 73 66 00 Service B P 185 Telex 870 033 F 67506 Haguenau Cedex http
15. fieldbus option pcb that successively sends all the parameters in the user data area of the object to the DPRAM thus parameterizing the servo controller After successfully processing the Download Parameter Block i e all parameters transferred from the INTERBUS master have been written the Write service is ended with a positive Write Response In the event of an error a negative Write Response is returned In this event the return code will contain more precise details about the type of error and in addition the parameter number 1 38 where the error occurred see Example 1 Example 1 Error writing the 11th parameter Write Error Response Error Class s 8 4 z Other Error Code z so Wir g Other Additional Code High lldec Error writing parameter 11 Additional Code Low S 15 hex Value too large When using the Download Parameter Block note the following 1 Do not carry out any factory setting within the Download Parameter Block 2 After deactivating the EEPROM memory function change parameter to all parameters subsequently written will not be memory resident 3 After activating the parameter lock all parameters subsequently written will be rejected 4 2 3 Universal Write Parameter Object This object permits any parameter to be written regardless of the size and content of the object list on the fieldbus option pcb The parameter value to be written is shown together with the index in a
16. 10 byte data area of the Universal Write object The parameter values can be four or eight bytes long depending on the drive parameter The length can be obtained from the current parameter list for the respective unit The parameter data must be entered left justified in every case Fig 20 EIR EURODRIVE MOVIDYN INTERBUS AFI11A 25 ER The PMS Interface EURO DRIV Lu 26 Octet Octet2 Octet3 Octet4 Octet5 Octet6 Octet7 Octet8 Octet9 Octet 10 LSB data Index Index MSB High Low data Data Data Data Data Data Data 4 Byte Data 8 Byte Data MDO355AE Fig 20 Structure of the Universal Write object The Universal Write object is only handled locally on the fieldbus option pcb i e it does not represent a drive parameter and is defined as shown in Table 5 Index 997 Object code 7 Simple variable Data type index 10 Octet string Length 10 Local address Password Access groups Access rights Write all Name 16 Extension length Table 5 Definition of the Universal Write object 4 2 4 Universal Read Functionality Objects The Universal Read objects form the counterpart to Universal Write The Universal Read objects permit indirect reading of any parameter independent of the object list being used The execution of a Universal Read takes place in t
17. 9 Configuring and Commissioning SURODRIM LIL 20 3 3 3 Configuring for 3 Process Data Words Setting the DIP switches on the option pcb to give process data length 3 requires that 3 process data words are specified in the ID code list This configuration will allow you to implement very powerful drive applications Fig 16 shows examples of entries in the ID code list ID code list e 2 Process data width 3 words E Module Ident 227 y Example for S5 data module zs BR DWn KY 003 227 MOVIDYN 3PD 1D227 Setting 3 process data words Fig 16 Example of ID code list with process data length set at 3 MD0351AE With this setting the servo controller uses three words in the peripheral area of the PLC Fig 16 shows an example of how the process data words transferred by NTERBUS are mapped in the control PLC address area ees Output address for MOVIDYN PW 140 PW 144 11P T mum DI PD2 pv PWI E Ey PD1 PD2 PD3 E gt E lt e ASA go PW 144 1PD3 lt PW 142 D2 lt PW 140 Dia Esc Input address for MOVIDYN PW 140 Fig 17 Process data word mapping in the PLC peripheral area MD0352AE In this example three process data words are exchanged between the higher level control and the servo controller With this configuration for example the higher level control
18. DYN INTERBUS AFI11A 11 Assembly Installation Instructions 2 7 Display Elements The AFI 11A option pcb has five LEDs for diagnosing the INTERBUS system These LEDs provide information about the status of the INTERBUS system Fig 7 shows these diagnostic LEDs the meaning of each is shown in Table 1 O INTERBUS S Module Ident 227 O MD0343AE Fig 7 Diagnostic LEDs for INTERBUS LED Name Colour Status Meaning UL green green on Logic voltage AFI 11A option pcb RC green green on Incoming remote bus ready for operation remote bus link ok BA green on Bus in operation TR green on flickering Parameter data exchange via PCP channel RD red on Onward remote bus off Table 1 Meaning of the diagnostic LEDs for INTERBUS Cc Cy Vv SURODRIWE 12 MOVIDYN INTERBUS AFIT1A Configuring and Commissioning 3 Configuring and Commissioning This section shows you how to configure and commission the MOVIDYN 51 servo controller with the AFI 11A option pcb in the INTERBUS master module 3 1 Commissioning the Servo Controller After installing the fieldbus option pcb the MOVIDYN servo controller can be immediately parameterized via the fieldbus system without any other settings This means for example that after switching on all parameters can be downloaded directly from the higher level control To control the se
19. Edition 02 96 User Manual Certified e E gt gt O Bn D O Bn es oO GL V gt San d ep lt lt AFI 11A INTERBus Option pag gt g O e gt as EELER SSES SR EEN LN CE pN EN E LITTA AAA 66b0 122 2260 gt gt gt amp F amp F Sey CRW res El This AFI 11A INTERBUS Option User Manual describes the procedure for installing the AFI 11A INTERBUS option pcb in the servo controller and for commissioning the MOVIDYN 51 servo controller when connected to an VTERBUS fieldbus system Preface In addition to describing all the settings on the fieldbus option pcb this manual further discusses the various options for connecting the servo controller to WTERBUS in the form of brief commissioning examples In addition to this AFI 11A N7TERBUS Option User Manual you should order the following more detailed documentation on fieldbuses in order to enable the MOVIDYN 51 to be connected simply and efficiently to the V7ERBUS fieldbus system MOVIDYN 51 Fieldbus Unit Profile Manual MOVIDYN 51 Parameter List The MOVIDYN 51 Fieldbus Unit Profile Manual gives a detailed description of control concepts and discusses various application options in the form of brief examples The MOVIDYN 51 Parameter List contains a list of all the servo controller parameters that can be read or written via the various communication interfaces such a
20. address Output address Group number optional Communication reference optional The modules are shown in the configuration list in the order corresponding to their physical position in the NTERBUS During the initialization of the bus system the master module checks the planned bus configuration against the vTERBUS configuration read in If these configurations are different the bus system will not start This situation is indicated by an appropriate error message on the master module There are three initialization options fora MOVIDYN 51 servo controller with the AFI 11A option Which option is used depends on the process data length selected While configuring bear in mind that process data length 3 provides the most powerful application potential for the MOVIDYN 51 servo controller with NTERBUS As a consequence of the direct insertion of process data into the 1 0 and or peripheral area of the control you should generally select process data length 3 if your application concept is not yet complete and if you do not definitely know with which process data length the servo controller is to be controlled SEM SURODRIWE MOVIDYN INTERBUS AFI11A 17 Configuring and Commissioning SURODRIM LIL 18 3 3 1 Configuring for 1 Process Data Word Setting the DIP switches on the option pcb to give process data length 1 requires that 1 process data word is specified
21. als is also ensured when the servo controller is operated in the fieldbus mode fieldbus independent emergency stop concepts can still be implemented via the servo controller s terminals The MOVIDYN 51 servo controller offers numerous diagnostic facilities for commissioning and servicing For instance both the setpoints transmitted from the higher level control unit as well as the actual values can be checked with the integrated fieldbus monitor It also provides you with a lot of additional information on the status of the fieldbus option pcb The PC software MD_SHELL offers even more convenient diagnostic facilities in that it provides a detailed display of the fieldbus and unit status information as well as the facility to set all the drive parameters including the fieldbus parameters SEM SURODRIWE MOVIDYN INTERBUS AFI11A 7 Assembly Installation Instructions 2 Assembly Installation Instructions Unless the AFI 11A option is already installed in the MOVIDYN 51 servo controller please check the scope of delivery for this option 2 1 Scope of Delivery The AFI 11A option comprises the following components AFI 11A INTERBUS option pcb 1 housing cover 2 2 Supported Servo Controller Types The AFI 11A option for connection to an NTERBUS system can be used with all servo controllers of the MOVIDYN 51 family To adjust the fieldbus parameters you need the MD_SHELL PC user interface
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23. ce call Since as a rule only a few parameters have to be altered this parameter block with a maximum of 38 parameters is adequate for almost all applications The user data area is fixed at 38 x 6 2 Byte 230 Byte octet string type Fig 19 shows the object descriptions of all drive parameters Octet 1 Reserved 0 Octet 2 Number of param Octet 3 Index High Octet 4 Index Low J 38 parameters Octet 5 MSB data gt 1st parameter Octet 6 Data Octet 7 Data ES Octet 8 LSB data Octet 9 Index High Octet 10 Index Low AA S Octet 225 Index High Octet 226 Index Low Octet 227 MSB data gt 38th parameter Octet 228 Data Octet 229 Data Octet 230 LSB data y HR Byte MDO354AE Fig 19 Structure of the Download Parameter Block object The Download Parameter Block object is only handled locally on the fieldbus option pcb and is defined AVV as shown in table 4 EURODRIVI Lu 24 MOVIDYN INTERBUS AFI11A The PMS Interface Ka Index 996 Object code 7 Simple variable Data type index 10 Octet string Length 230 Local address Password Access groups Access rights Write all Name 16 Extension length Table 4 Definition of the Download Parameter Block object With the WRITE service to the Download Parameter Block object a parameterization mechanism is started in the
24. creened two wire twisted pair cable specified for INTERBUS Technically correct screening of the bus cable absorbs the electrical interference that can occur in an industrial environment You will achieve the best screening results if you adopt the following measures O Hand tighten the fixing screws of plugs modules and equipotential bonding conductors Only use plugs with metal or metal plated housings Connect the screening in the plug over as large an area as possible Connect the screening at both ends of the bus cable Do not lay signal and bus cables parallel to power cables motor leads but wherever possible in separate cable conduits O In an industrial environment use metallic earthed cable trays MOVIDYN INTERBUS AFIT1A Assembly Installation Instructions Run signal cables and the associated equipotential bonding conductor as close as possible to each other using the shortest route Avoid extending bus cables through the use of connectors Run the bus cables close to existing earthed surfaces Important Inthe event of fluctuations in the earth potential a circulating current may flow through any screening which may be connected at both ends and connected to the earth potential PE In this case ensure STOP there is adequate equipotential bonding in accordance with the relevant VDE provisions In the event of further questions regarding the installation of the bus system refer to the INTERBUS i
25. crews 8 The AFI 11A option pcb is now completely fitted Number of process data LED Green UL qua LED Green RC uu LED Green BA du LED Green TR uu Processor LEDred RD a EPROM Two wire fieldbus input Supi Il Two wire fieldbus output TE E DPRAM Fig 2 The AFI 11A option MDO338AE Installation Instructions When using the AFI11A Fieldbus option in a compact servo controller the plastic front cover can no longer be mounted To enclose all of the assembled electronic subassemblies a front panel cover is included with the AFI11A option which must be mounted to insure noise immunity 2 4 Pin Assignment On the AFI 11A option there is a 9 pin type D input male for the incoming remote bus and below a 9 pin type D output female for the outgoing remote bus The MOVIDYN 51 servo controller is therefore connected to the INTERBUS sensor actuator bus by a 9 pin type D connector on the remote bus cable The onward remote bus cable is connected to the servo controller by a 9 pin type D connector Fig 3 shows the pin assignment of the 9 pin type D connector for the incoming remote bus as well as the bus cable signal lead colours used for the INTERBUS Fig 4 shows the pin assignment of the 9 pin type D connector for the onward remote bus To prevent EMC problems you should connect the copper screening braid of the outgoing remote
26. e Universal Read Data object by the predefined increment value The default value of this object is Index 10004ec Auto increment 0 OFF The auto increment value is generally treated as having no sign i e the value is generally added The Universal Read Pointer object is only handled locally on the fieldbus option pcb and is defined as shown in Table 6 Index 998 Object code 7 Simple variable Data type index 10 Octet string Length 4 Local address Password Access groups Access rights Read all Write all Name 16 Extension length Table 6 Definition of the Universal Read Pointer object 4 2 4 2 Universal Read Data Object Accessing this parameter using the Read service returns the value of the read pointer held in the Universal Read Pointer object Fig 24 shows the structure of this object Octet Octet2 Octet3 Octet4 Octet5 Octet6 Octet7 Octet8 MSM LSB data Data Data Data Data Data Data data 4 byte data MDO359AE 8 byte data Fig 24 Structure of the Universal Read Data parameter MOVIDYN INTERBUS AFI11A The Universal Read Data object is only handled locally on the fieldbus option pcb and is defined as shown in Table 7 Index 999 Object code 7 Simple variable Data type index 10 Octet string Length 8 Local address Password Access groups Access right
27. he servo controller is switched on To also be able to guarantee full access to all parameters via INTERBUSIf additional drive parameters are added in the future the generated object list is larger than the number of drive parameters implemented Access to objects that cannot be directly mapped to a drive parameter is rejected with a negative response The index area is divided into two logical areas The drive parameters are addressed with indices from 1000dec The parameter index can be obtained from the SEW manual MOVIDYN 51 Parameter List Indices below 1000gec are handled directly by the option pcb and should not be regarded as drive parameters of the servo controller Fieldbus index decimal Name of the communications object 996 Download Parameter Block 997 Universal Write parameter 998 Universal Read Pointer 999 Universal Read parameter A Drive parameters for MOVIDYN 51 Parameter index see SEW documentation TOD t parametar index MOVIDYN 51 Parameter List Table 2 Structure of the MOVIDYN 51 static object list 4 2 1 Object Description of the Drive Parameters The drive parameters of the MOVIDYN 51 servo controller are described in detail in the SEW documentation MOVIDYN 51 Parameter List In addition to the parameter index i e the number with which you can address the appropriate parameter via the communications interfaces of the servo controller you will find further information about the cod
28. in Section 4 2 Object List The MOVIDYN 51 servo controller supports both the short as well as the long form of the PMS service Get OV 4 1 6 Status With the PMS service Status the NTERBUS master can check the logical communications status of the AFI 174 option of the MOVIDYN 51 servo controller The Local Detailattribute is not supported by the servo controller 4 1 7 Read With the PMS service Read the N7ERBUS master can read all the communications objects of the MOVIDYN 51 servo controller All drive parameters as well as their codings are listed in detail in the documentation MOVIDYN ST Parameter List 4 1 8 Write With the PMS service Write the VTERBUS master can write all the drive parameters of the MOVIDYN 51 If a drive parameter is assigned an invalid value e g value too high the servo controller generates a Write Error Response giving the precise cause of the error MOVIDYN INTERBUS AFI11A The PMS Interface D With the PMS services Read and Write the INTERBUS master can access all the communications objects defined in the object 4 2 Object List All drive parameters that can be accessed via the bus system are described as communications objects in the static object list All objects in the static object list are addressed via a fieldbus index Table 2 shows the structure of the object list of the MOVIDYN 51 servo controller Normally the whole object list is always generated when t
29. in the ID code list Fig 11 shows examples of entries in the ID code list ID code list Process data width 1 word Module Ident 227 Example for S5 data moduke DWn KY 001 227 MOVIDYN 1PD ID227 Setting 1 process data word MD0347AE Fig 12 Example of ID code list with process data length set at 1 INTERBUS master modules for programmable controllers e g IBS S5 DAB DCB for Simatic S5 map the process data to the 1 0 and or peripheral area of the control You must therefore specify the start addresses for the input and output data in the 1 0 address list of the vTERBUS master module Fig 12 shows an example of how the process data word transferred via VTERBUS is mapped in the control PLC addre area CoA T Pw 140 gt PW 140 PD 1 a a PD 1 Ea PD 1 EP PW 1405440 ro Input address for MOVIDYN PW 140 Output address for MOVIDYN PW 140 LAA Fig 13 Process data word mapping in the PLC peripheral area MD348AE In this example only one process data word is exchanged between the higher level control and the servo controller With this configuration for example the servo controller could be controlled using control word 1 and status word 1 see SEW documentation Fieldbus Unit Profile User Manual By specifying address 140 in both the input and output address list the process data word is mapped to the peripheral word PW 140 The PLC access command wil
30. ing range of values and meaning of the parameter data To access all drive parameters via NTERBUS you must add the value 1000gec to the index shown in the parameter list to access the fieldbus index In general then you can therefore read or write the drive parameters according to the formula Fieldbus index Parameter index 1000dec The object description in the object list is identical for all drive parameters Even parameters that can only be read are given the attribute Read All Write All in the object list as the servo controller itself carries out the appropriate testing and if necessary supplies a return code Table 3 shows the object descriptions of all drive parameters SEM SURODIRIWE MOVIDYN INTERBUS AFI11A 23 a The PMS Interface Index Parameter index 1000dec Object code 7 Simple variable Data type index 10 Octet string Length 4 Local address Password E Access groups Access rights Read all Write all Name 16 S Extension length Table 3 Object description of the MOVIDYN O 51 drive parameters 4 2 2 Download Parameter block object The Download Parameter Block object enables a maximum of 38 MOVIDYN 51 drive parameters to be written at the same time with a single execution of the Write service This means you can use this object to parameterize the servo controller in the start up phase with only one Write servi
31. installation and commissioning instructions O Safety Instructions Strictly follow all warnings precautions and safety instructions contained in this user manual Electrical hazard e g live working Mechanical hazard e g work on hoist Important note for safe and trouble free operation of the driven machine system e g presettings prior to commissioning Failure to do so could result in serious injury to persons or damage to equipment D D General safety instructions regarding bus systems You are operating via a communications system which allows the MOVIDYN servo controller to integrate within a wide range of equipment variations As with all bus systems there exists a danger of unseen changes to parameters in reference to the controller and thereby controller behaviour This can lead to unexpected not uncontrolled system behaviour O Cross references are identified in this user manual by an gt which means for example MD_SHELL You can refer to the MD_SHELL user manual to complete the instructions or find more detailed information there gt Sec x x You will find additional information in section x x of this user manual O Each unit is manufactured and tested in conformance with the applicable technical documentation by SEW EURODRIVE In the interest of technical progress technical data and designs as well as the user interface described herein are subject to change without notice Follow the
32. instructions contained in this manual to insure trouble free operation and to satisfy eventual warranty claims This manual also contains important service information We therefore advise keeping it close to the unit MOVIDYN INTERBUS AFI11A Important Instructions Ei SEM SBURODIRIY EN Introduction 1 Introduction Thanks to its high performance universal fieldbus interface the MOVIDYN 51 servo controller with the AFI 11A option enables connections to be made with higher level automation systems via the open and standardized serial INTERBUS sensor actuator bus system INTERBUS INTERBUS is a high speed universal sensor actuator bus system for decentralized peripheral areas The INTERBUS moves the input output level away from the higher level control system to the machine or the installation level The INTERBUS is an open bus system which is already supported by more than 200 equipment manufacturers from the most diverse industries INTERBUS specifications are set forth in the DIN 19258 standard INTERBUS bus functions comprise a process data and a parameter data channel offering easy user friendly control and parameter adjustment of intelligent digital actuators such as e g servo controllers MOVIDYN 51 and InTeRBUS The controller unit profile for INTERBUS mode i e the way the servo controller operates and responds when in INTERBUS mode is independent of the type of fieldbus and thus consis
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34. jumper X21 1 2 3 4 Use this jumper m 5 Controller inhibit to switch on the 6 No function output stage via 7 No function the terminals ____ 8 No function 9 10 11 H 0V24 12 24V MAS51 MKS51 2 Switch on the 24V supply Switch on only the external 24V supply not the mains supply to reprogram the servo controller to setpoint source FIELDBUS despite the installed jumper 3 Input terminals X21 6 8 NO FUNCTION Program input terminals X21 6 X21 7 and X21 8 to NO FUNCTION P300 MA X21 6 NO FUNCTION P301 MA X21 7 NO FUNCTION P302 MA X21 8 NO FUNCTION 4 Setpoint Source FIELDBUS Program the setpoint source to FIELDBUS to control the servo controller via fieldbus P110 Setpoint source FIELDBUS MD0244AE Fig 8 Commissioning the MOVIDYN 51 servo controller For further information regarding the commissioning of the MOVIDYN 51 servo controller refer to the Fieldbus Unit Profile Manual 3 1 1 Bus Topologies with MOVIDYN 51 The AFI 11A option pcb enables the MOVIDYN 51 servo controller to be integrated directly into the INTERBUS 2 wire remote bus This results in much easier installation of the servo controller in the switch cabinet for as the maximum remote bus length is 400 metres the drives can also be installed further apart from each other without difficulty As a result
35. l decide in this case whether the process input data word e g status word 1 of the servo controller is to be read with the load command L PW 140 or whether the process data output word e g control word 1 is to be written with the transfer command T PW 140 You can read out the current process data configuration on the servo controller at any time using the MD_SHELL user interface under item P090 PD Configuration on the PC The MD_SHELL display value PO90 now gives the message 090 PD Configuration 1PD PARAM and thereby signals that the current process data width is set at 1 PD and the servo controller can be parameterized via the PCP channel of the NTER BUS identification PARAM MOVIDYN INTERBUS AFIT1A Configuring and Commissioning 3 3 2 Configuring for 2 Process Data Words Setting the DIP switches on the option pcb to give process data length 2 requires that 2 process data words are specified in the ID code list Fig 13 shows examples of entries in the ID code list ID code list Process data width 2 words Module Ident 227 Example for S5 data module DWn KY 002 227 MOVIDYN 2PD 1D227 Process data width 2 words MD0349AE Fig 14 Example of ID code list with process data length set at 2 With this setting the servo controller uses two words in the peripheral area of the PLC Fig 14 shows an example of how the process data words transferred by VTERBUS are mapped in the control PLC address area
36. n Repeat the Read or Write service If an error recurs you should briefly disconnect the servo controller from the mains supply and switch it on again If the error persists consult the SEW Service Department MOVIDYN INTERBUS AFI11A AFI 11A Option Technical Data 6 AFI 11A Option Technical Data For use with MOVIDYN 51 configuration status Circuit board 1 service code 15 or higher Module Ident 227 dec E3 hex Number of process data words Selectable via DIP switch 1 2 or 3 process data words Setting as supplied 2 process data words Setting as supplied 2PD MD0341AE Fig 25 Setting the process data length in process data words PCP channel Parameter setting is supported with one PCP word Connection technology 2 wire remote bus interface with 9 pin type D connectors Pin assignment to INTERBUS specification Commissioning tools MD_SHELL PC program version V1 40 and higher SEM SURODIRIWE MOVIDYN INTERBUS AFI11A 31 ES Appendix Appendix A Even though the communications relationship list KBL of the MOVIDYN 51 servo controller complies with standard INTERBUS conventions it is fully described in Table 9 The meaning of the individual KBL indications can be found in DIN 19245 Part 2 KR Type ATTR RADR SCC RCC SAC RAC ACI CCI 0 MMAZ D 0 1 1 1 1 0 max PDU Size Features supported Supported PMS services Send HiPrio 0 00 00 00 00 80 30
37. nstallation manual IBS SYS INST UM Order No 2754286 PHOENIX CONTACT from which the points mentioned above were also taken 2 6 Setting the Process Data Length The MOVIDYN 51 servo controller communicates via INTERBUS with the higher level control both via the rapid cyclical process data channel and via the acyclical parameter channel PCP Peripherals Communication Protocol The number of process data words to be transmitted in the process data channel is variable and can be adjusted using the DIP switches on the AFI 11A option pcb Fig 5 In general you have a choice between one two and three process data words In all three cases the servo controller can be parameterized at any time via the PCP channel Setting as supplied 2PD Fig 5 Setting the process data length in process data words MDOS41AE An example of the DIP switch settings for all three data process lengths is shown in Fig 6 below Switches S3 and S4 are not allocated These DIP switches are only evaluated when the servo controller is started up i e when power is connected mains and external 24V supply This means that the servo controller has to be switched on again when the process data length is changed mains and 24V 8 HR BR SS C SE Pl W GR SR Setting Setting Setting process data word 2 process data words 3 process data words ere Fig 6 Examples for setting the process data length MOVI
38. rvice without auto increment function Fig 22 shows an example of how Universal Read works using the auto increment function Controller MOVIDYN master slave 1 Writing the Universal Read Pointer parameter with data Index 1020 increment value 5 auto increment OFF WRITE_998 1 020 5 Read pointer OM ee Y lt i 2 Reading parameter 1020 via Universal Read data 1020 Read_999 5 Data of parameter 1020 lt gt 3 Reading parameter 1025 via Universal Read data 1025 Read_999 gt 5 Data of parameter 10250 4 Reading parameter 1030 via Universal Read data 1030 Read_999 Data of parameter 1030 gt e _ Vale ll MD0357AE etc Fig 22 Universal Read service without auto increment function SURODIRIWE MOVIDYN INTERBUS AFI11A 27 ER The PMS Interface EURO DRIV 28 4 2 4 1 Universal Read Pointer Object The Universal Read Pointer object contains within its 4 data bytes both the fieldbus index to be read as a read pointer as well as the number used in auto increment mode Fig 23 shows the structure of this object Octet Octet2 Octet3 Octet4 Index Index High Low Increment value e g e g index 1025 0 auto increment OFF 1 1 2 2 etc MDO358AE Fig 23 Structure of the Universal Read Pointer parameter When auto increment mode is active increment value greater than 0 the index is increased after reading th
39. rvo controller via INTERBUS however it must first be switched to the appropriate setpoint source This is possible using the P110 setpoint source FIELDBUS parameter The factory setting for this parameter is ANALOGUE INPUT Using the INTERBUS parameter the servo controller is programmed to accept setpoints from the INTERBUS The MOVIDYN servo controller now responds to process data sent from the higher level control The activation of the FIELDBUS setpoint source is signalled to the higher level control by the Fieldbus Mode Active bit in the status word For safety reasons the servo controller must also be enabled on the terminal side as well to permit control via the fieldbus system The terminals are therefore to be wired or programmed in such a way that the servo controller is enabled via the input terminals The easiest way of enabling the servo controller on the terminal side is for example to connect input terminal X21 5 CONTROLLER INHIBIT function to a 24V signal and program input terminals X21 6 8 to NO FUNCTION Fig 7 shows an example of the commissioning procedure for the MOVIDYN 51 servo controller with a fieldbus interface SEM SURODRIWE MOVIDYN INTERBUS AFI11A 13 Configuring and Commissioning Cy sv Cc SURODRIM 1 Switch on the output stage on the terminal side Apply a 24V signal on input terminal X21 5 CONTROLLER INHIBIT function e g via
40. s Read all Write all Name 16 Extension length Table 7 Object description of the Universal Read Data parameter MOVIDYN INTERBUS AFI11A The PMS Interface EN The length of the data can be determined from the SEW documentation MOVIDYN 51 Parameter List Data are generally entered left justified i e beginning with the most significant byte in octet 1 SURODIRIWE 29 Loi Parameter Adjustment Return Codes SEM SBURODIRIW Lu 30 5 Parameter Adjustment Return Codes The return codes returned by the servo controller in the event of incorrect parameterization are clearly described in the Fieldbus Unit Profile Manual and are not part of this document However the following special case can arise in connection with WTERBUS 5 1 Internal Communications Error The return code listed in Table 8 is returned if a communications error has occurred between the option pcb and the servo controller system The PMS service transferred by the fieldbus has possibly not been executed and should be repeated If this error occurs repeatedly the servo controller must be switched off and then on again for reinitialization Code dec Meaning Error Class 6 Access Error code 2 Hardware fault Add code high 0 Add code low 0 Table 8 Return code for a communications error between fieldbus option pcb and servo controller Error Rectificatio
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42. s the RS 232 RS 485 and via the fieldbus interface SEM SURODRIWE MOVIDYN INTERBUS AFI11A 3 ME Contents Important Instructions 5 1 Introduction i s 20 66 ce eee we eR a a a a 6 2 Assembly Installation Instructions 2 lt lt lt 8 2 1 SCOPE Ol GIVER ssn oo owe end Paes Bee eee A a ee ee 8 2 2 Supported Servo Controller Types 8 2 3 PLC TO MUON PEB ds att a a a ene da 8 2 4 PIB ASSIONMGNE A ad ir Se dogs we Ate ee SD A ee eA 9 2 5 Screening and Laying of the Bus Cables 10 2 6 Setting the Process Data engt 3 sc 4 2 ee A De ew ee Ye Sere RSS 11 2 7 Display BICMOS ss gen EE ere te ts Gd a Bee sd 12 3 Configuring and Commissioning a aoa a a a 13 3 1 Commissioning of the Servo Controller 13 3 1 1 Bus Topologies with MOVIDYN Blocca msn Swe owe we 14 3 1 2 Direct Connection to DCB Master Modules 15 3 1 3 Connecting to DAB Master Module 15 3 1 4 Integration in 8 Wire Remote Bus Systems 16 3 2 Servo Controller Module Identity lt 17 3 3 Configuring the Master Module 2 2 422444 542065 445 Ge wwe ees 17 3 3 1 Configuring for 1 Process Data Won 18 3 3 2 Configuring for 2 Process Data Words 2 64es 5004040482848 4a 445 19 3 3 3 Configuring tor 3 Process Data Words 2 lt lt 2 lt 4 4006 06 nov 20 4 The PMS Interface
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44. tent for all fieldbus types This allows the user to develop his drive applications independent of a particular fieldbus or change to another bus system e g the open standardized PROFIBUS DP FMS AFP 11A option fieldbus system MOVIDYN 51 offers digital access to all drive parameters and functions via the INTERBUS interface The servo controller is controlled by the high speed cyclic process data This process data channel provides the facility to specify setpoints such as setpoint speeds ramp generator times for acceleration and deceleration etc as well as various drive functions such as enable controller inhibit stop rapid stop etc to be triggered This channel can also be used to read back actual values from the servo controller such as actual speed current unit status error number or reference messages Whereas process data are generally exchanged in cycles the drive parameters can only be read and written acyclically via the READ and WRITE services This exchange of parameter data enables applications where all major drive parameters are stored in the higher level automation unit to be implemented thus avoiding manual adjustment of parameters on the servo controller itself which can often be very time consuming LIL SURODRIM 6 MOVIDYN INTERBUS AFIT1A Introduction ES Control INTERBUS Master Servo Controllers
45. wire remote bus system at any point by splitting the 8 wire remote bus This is done by feeding the incoming 8 wire remote bus to a IBS BK LC 2 bus terminal Using an appropriate adapter cable you can now connect the first MOVIDYN 51 servo controller to the bus terminal and network all the other servo controllers using the standard 2 wire remote bus cable A further BS BK LC 2 bus terminal must then be connected following the last servo controller This handles the conversion back to the 8 wire remote bus Both the local bus interfaces of the newly inserted bus terminals can naturally also be used MOVIDYN INTERBUS AFI11A Configuring and Commissioning When extending an already existing WTERBUS 8 wire remote bus system bear in mind that master modules with 8 wire remote bus interfaces generally support only 64 remote bus subscribers More detailed information can be found in the master module documentation 3 2 Servo Controller Module Identity With the AFI 11A option the MOVIDYN 51 is assigned the following identity code Module Ident 227dec E3hex You must enter this identity code into the configuration list of the v7ERBUS master module 3 3 Configuring the Master Module To initialize the VTERBUS master module you must draw up various lists containing all the modules connected to the VTERBUS These lists are made up of the following entries Process data width with Module Ident code Peripheral bus address Input
46. wo steps using both the Universal Read Pointer and Universal Read Data objects In the Universal Read Pointer object the desired fieldbus index to be read by the servo controller read pointer is first entered using the Write service The value of the drive parameter is then read using the Read service via the Universal Read Data object To avoid having to write the Read pointer again before reading consecutive parameters the functionality of the Universal Read can also be carried out in what is known as auto increment mode Here the Read pointer Universal Read Pointer object is increased by a predefined number each time it reads the Universal Read Data object The number together with the Read pointer is set in the Universal Read Pointer object MOVIDYN INTERBUS AFI11A The PMS Interface D Fig 21 shows an example of how Universal Read works without the auto increment function Controller MOVIDYN master slave 1 WRITING THE Universal Read Pointer parameter with data Index 1020 increment value 0 auto increment OFF WRITE_998 1020 0 BE ege 2 Reading parameter 1020 via Universal Read data Read_999 Data of parameter 1020 3 Writing the Universal Read Pointer parameter with data Index 1025 increment value 0 auto increment OFF WRITE_998 1025 0 Aa 4 Reading parameter 1025 via Universal Read data Read_999 Data of parameter1025 K e MDO356AE Fig 21 Universal Read se
47. y to the DCB master module as shown in Fig 8 IINTERBUS_S master module with 2 wire remote bus e g IBS S5 DCB 2 wire remote bus max 400m 2 wire remote bus 2 wire remote bus max 400m max 400m Fig 9 Direct connection of the servo controller to DCB modules with 2 wire remote bus Se Since these DCB master modules generally support up to 256 remote bus stations they are superbly suited for high performance drive applications with many servo controllers 3 1 3 Connecting to DAB Master Modules First generation INTERBUS diagnostics interfaces DAB e g the BS S5 DAB module for Simatic S5 only support the old 8 wire remote bus and 25 pin type D connector MOVIDYN 51 servo controllers are connected by using a IBS BK LC 2 bus terminal This bus terminal makes possible the conversion from the old 8 wire remote bus to the new 2 wire system Fig 9 shows the connection of the MOVIDYN 51 to the DAB modules A standard cable for 8 wire remote bus is employed from the DAB master module to the bus terminal The connection from the bus terminal to the servo controller is achieved by an adapter cable from 25 pin type D to 9 pin type D MOVIDYN INTERBUS AFI11A EURO DRIVE 15 Configuring and Commissioning SURODRIM LIL 16 INTERBUS S master module with 8 wire remote bus e g IBS S5 DAB 01140
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