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SEW Eurodrive MOVITRAC 31 Fieldbus Unit Profile Manual

1. q i 6 0 Process output data PO Sol EMI Control Speed all ni A word 1 setpoint Ramp E lt Status Speed Apparent current e HHBH EIEIO word 1 actual value actual value Process input data PI 00349AEN Fig 42 Application example for control of the inverter using three process data words MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 61 Application Examples 7 2 1 Objective The inverter is to be controlled by means of three process data words The process output data Control Word 1 Speed Setpoint and Ramp are to be specified by the higher level control unit Conversely the inverter is to return the process input data Status Word 1 Speed Actual Value and Apparent Current Actual Value to the higher level control unit The application program is to control the following inverter functions 1 The digital input E1 1 is to trigger the control commands Enable and Stop E1 1 1 Enable E1 1 2 0 Stop 2 The digital input E1 2 is to trigger the control commands Enable and Rapid Stop E1 2 1 Enable E1 2 0 Rapid stop 3 The digital input E1 3 is to specify the speed setpoint E1 3 1 750 1 min CCW E1 3 0 1000 1 min CW 4 In the applica
2. Fieldbus process ramp E 3 2 P131 T22 Ramp up down v Eg Yes St 7 1 P123 T21 Ramp up o No 5 1 2 P130 T12 Ramp up down Process Active NI 1 P120 T11 Ramp up ramp via fieldbus parameter set cR Not for MOVITRAC 31 size 0 Active ramp generator set 00324AEN Fig 14 Overview of the acceleration ramp options for the Enable control command For the Enable control command to become active all three bits must be switched to Enable 110 Fig 14 shows the possible coding of the Enable control command with 06hex The Controller Inhibit Control Command The Controller Inhibit control command allows you to disable the power output stages of the inverter and thus make them become high resistance At the same time the inverter will activate the mechanical motor brake causing the drive to stop immediately by way of mechanical braking Motors which are not fitted with a mechanical brake will coast to rest when this control command is used Fig 13 shows that it suffices to set bit 0 Controller Inhibit Enable in the control word to initiate the Controller Inhibit control command as all other bits are irrelevant Consequently this control bit has the highest priority in the control word The Rapid Stop Control Command The Rapid Stop control command causes the inverter to ramp down the currently active rapid stop
3. AB 32 AB 33 AW32 0 0 0 0 0 0 0 X 0 0 0 0 0 X X 0 Bit 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 L O Enable 0 No other functions activated Enable j pa stop 0 Hold control not activated 0 Ramp generator set 1 0 Parameter set 1 Virtual input terminal 50 output terminal 62 01145AEN Fig 59 Mapping of Control Word 2 in the Simatic S5 EW 32 EB 32 EB 33 Bit 7 6 5 4 3121110 7 6 5 4 31211 0 L Controller enabled MC31 ready for operation L Fieldbus mode active Active ramp generator set Active parameter set Fault warning Limit switch CW active Limit switch CCW active Virtual output terminal 1 Virtual output terminal 2 Virtual output terminal 3 input terminal 42 Virtual output terminal 4 input terminal 43 Virtual output terminal 5 input terminal 47 Virtual output terminal 6 input terminal 48 Virtual output terminal 7 input terminal 49 Virtual output terminal 8 01146AEN Fig 60 Mapping of Control Word 2 in the Simatic 5 Fig 61 shows the S5 program of this application example First the inputs E 32 2 E32 6 for the control of the relay via output A 34 0 are connected via AND relation in the function component FB10 Then the inverter receives th
4. f BIT Fran pr mem pr aag oni P f Digital 1 0 ff Analogue 1 0 00311AEN Fig 1 Typical bus configuration in a field environment MOVITRAC 31 offers digifunctions via the fieldbus interface The inverter 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 inverter such as actual speed current unit status error number or reference messages Whereas process data are generally exchanged in cycles the drive parameters can also be read and written acyclically via functions such as READ and WRITE 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 inverter itself which can often be very time consuming The fieldbus option pcbs are designed so that all settings specific to the fieldbus such as the fieldbus address can be made on t
5. 3 2 la fo 0 Controller inhibit enable Enable rapid stop Enable stop Hold control Ramp generator selection Parameter set selection Reset Reserved Direction of rotation of motorized potentiometer Oeo gigi eo R Motor pot acceleration 10 Motor pot deceleration 11 n11 n21 12 n12 n22 13 Reserved 14 Reserved 15 Reserved Fig 16 Definition of control word 1 00326AEN When using the internal setpoint functions control word 1 enables you to control the inverter with only one process output data word in the I O or peripheral section of the higher level automation unit Bit Function Assignment 8 Direction of rotation for motor pot or 0 Direction of rotation CW internal setpoints 1 Direction of rotation CCW 10 9 9 Motor pot acceleration 0 0 No change 10 Motor pot deceleration 0 Deceleration 0 1 Acceleration 1 1 No change 12 11 mJ 11 Selection of internal fixed setpoints n11 to i ea s output data word 2 12 ANS Orie tee Tee 1 0 Internal setpoint n12 n22 1 1 Internal setpoint n13 n23 13 15 Reserved Reserved bits are generally to be set to zero When these internal setpoint functions are activated entry of a speed setpoint via a different process output data word will no longer be effective MOVITRAC 31 Fieldbus Unit Profile
6. 0000 cece cece ence eee anes 39 3 8 Integrated I O Module Functionality ccc cece eee eee e eens 39 3 8 1 Scale of MUMGUONG cuis Lund Ltd GAL ad Wd b PG LANA BAKA DAN dea pos Brad 39 3 8 2 Principle Mode of Operation eed cm eger EET 39S CY eR ERE 40 4 Monitoring Functions 1 2 oues peg uum im Rar Rae eee eed Res dono mS Rm niim eee 42 4 1 Fieldbus Ind ED 42 4 2 TIMEOUT RESPONSE z searr MGA BADA LAMAN a AG PNGLB NAG LG ANAKAN EA i 42 4 2 1 Pea SIO With VS aat m Deos chr Race lcm o ern 43 4 2 2 Emergency Stop with Warning 74 aa aa ciere mer RR EE ER yy 43 4 2 3 Immediate Switch off with Warning oso e coe heed bode eed Rx Sod eas 43 4 2 4 Rapid Stop WIN Fault oua dem ien cade oe ehe chi tenait EnEn ERRORES eae d 43 4 2 5 Emergency Stop with FAUT Le Sine zs nia mwa ew Dua hae BILLINGILIY Reo bw d 43 4 2 6 Immediate Switch off with Fault 4224 2 mk KG uiui RR devs ode edace sees 44 4 2 7 Sila a BEING AA AA PAA ERES EI EE Ra RES 44 4 2 8 NO RESPONS Ghana a don 29d ANG ite BANAT PAPET DN Gaan dice Mrd ach weak 44 4 3 Fault FieldDUs TIMEOUT 1 Kaka AKA RA KARA DR RR ecc 45 5 Setting Inverter Parameters cece eee eens 46 5 1 Parameter Betting Procedure 1 c pee redo sridu Pag ERR ed frg b ake 46 5 1 1 Imdex Addressing sadis inrer eu at RE ET aed au S A ENES 46 5 1 2 Data Length COdiNg s ouem du eines age BA DAA eau HO gue ado ao E ad 46 9 2 Reading a Parameter READ 1 a a GG npe RR IDEE VERE ea 47 5 3 Wit
7. Control word command Enable Controller inhibit Rapid stop Stop Enable Setpoint processing 00322AEN Fig 23 Connecting the safety relevant control signals from the input terminals and the fieldbus MOVITRAC 31 Fieldbus Unit Profile 37 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 38 The signal levels applied to activate the functions via the virtual terminals of control word 2 are the same as those for the standard terminal strip Consequently a function which is activated by applying a signal level of 24 V on the input terminals requires a logic 1 to be applied on the virtual terminal Functions which are active when low e g delay monitoring must be activated by applying a signal level of OV on the input terminals and a applying a logic O on the virtual terminals The following table lists the terminal functions which can be activated via the virtual terminals and their connection to the real terminals Function Connecting of terminal and control word bit CCW Stop OR AND relation with basic control block Fig 23 Enable Stop OR AND relation with basic control block Fig 23 Parameter set selection OR Fixed setpoint n11 n21 OR Fixed setpoint n12 n22 OR Reset OR Motor potentiometer Up OR Motor potenti
8. N jumper to enable the Jumper installed when suppli 2 For setting inverter parameter only switch on 24 V supply no mains voltage 3 Control mode fieldbus Set control and setpoint processing of the drive inverter to FIELDBUS in parameter P841 841 CONTROL MODE FIELDBUS 4 Input terminal 42 NO FUNCTION Program functionality of input terminal 42 to NO FUNCTION in parameter P600 600 NO FUNCT TERMINAL 42 5 Input terminal 43 NO FUNCTION Program functionality of input terminal 43 to NO FUNCTION in parameter P601 601 NO FUNCT TERMINAL 43 Fig 2 Activating the FIELDBUS control mode 00312BEN MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data The MOVITRAC 31 inverter can be controlled via the fieldbus system with one two or three process data words The number of process input data PI and process output data PO is identical 3 2 Process Data Configuration Process output data PO gt ppt PD Po3 To Oo 8 E I z PD1 PD PB as Process input data P1
9. 4 3 Fault Fieldbus Timeout If no valid user data have been received within the time set for the fieldbus timeout parameter P571 Fieldbus Timeout the set fault response P571 Timeout Response and a fault or warning are issued Depending on the set fault response the MOVITRAC 31 inverter will give out three different fault messages on the keypad display or in the MC_SHELL user interface These fault messages only differ in the fault number that precedes them In all three cases the fault messages signal that no valid user data have been received The following table shows the fault codes signalled for the individual fault responses Fault code Programmed fault response Remedy id Eus dul ae Automatic restart upon receipt 87 Emergency stop with warning of valid user data from fieldbus 87 Immediate switch off with warning 28 Rapid stop with fault 28 Emergency stop with fault Reset 34 Immediate switch off with fault 87 Rapid stop with warning and switchover to standard mode Unit off on mains supply 24V None No response Not required Fault 87 Warning Fault 87 is a warning i e the fault indication is automatically cleared when the fieldbus starts again There is no reset required The inverter will immediately respond again to the process data sent via the fieldbus Exception the Standard Mode fault response Section 4 2 7 Fault 28 Fault Fault 28 is a fault it requires a system Reset t
10. Data type Integer 16 Resolution 1digit 0 2 1 min 6553 6 0 46553 4 1 min Pange 8000hox O FFFhex actual value of speed speed setpoint speed limit slip compensation Applies to If the motor is connected correctly positive speed values correspond to CLOCKWISE direction of rotation or in the case of hoisting applications to CLOCKWISE UP Correspondingly negative speed values correspond to a COUNTERCLOCKWISE DOWN direction of rotation and are represented as two s complement MOVITRAC 31 Fieldbus Unit Profile 21 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 22 Example Scaling of the speed in the process data channel This example shows the coding you must apply to transfer the speed setpoint through the process data channel so that the drive will operate at 400 1 min in CLOCKWISE direction of rotation or at 750 1 min in COUNTER CLOCKWISE direction of rotation Direction of Speed Scaling Transferred process data rotation cw 400 i min 00 2000600 07DOhex 2000dec or 07DOhex resp 750 CCW 750 1 min 1 02 3750dec F15Anex 3750dec or F15Ahex resp Scaling of the Relative Speed The process data relative speed setpoint and relative actual value of speed are specified in Yo fmax aS percentage of the valid maximum frequency of the inverter and are represented signed in a
11. The MOVITRAC 319 inverter 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 fieldbus monitor in the hand held keypad It also provides a lot of additional information on the status of the fieldbus option pcb The PC software MC 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 8 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 3 Inverter Control with Process Data By Process Data PD we mean all time critical real time data in a process which have to be processed or transferred at high speed These data are characterized by the fact that they are highly dynamic and always up to date Examples of process data are setpoints and actual values of the inverter or peripheral conditions of limit switches They are exchanged in cycles between the automation unit and the inverter Control of the MOVITRAC 31 inverter by means of process data takes place on the fieldbus system The process data interfaces for Process Input Pl and Process Output PO should be treated separately Process input dat
12. 00313AEN Fig 3 Process data channel for the SEW MOVITRAC 31 inverter The process data configuration settings are made via the fieldbus option pcb either through the hardware e g FFI 31A or via the fieldbus master at the start of the bus system e g PROFIBUS DP The inverter automatically receives the right setting from the fieldbus option pcb You can check the current process data configuration in the menu item P070 PD Configuration by means of the fieldbus monitor on the hand held keypad or by means of MC_SHELL Fig 4 070 3PD PARAM PD CONFIGURATION 00314AEN Fig 4 Process data configuration Depending on the type of fieldbus option pcb used PD configurations according to the following table can be used PD configuration 1 Process data word parameter channel 1PD PARAM 1 Process data word 1PD 2 Process data words parameter channel 2PD PARAM 2 Process data words 2PD 3 Process data words parameter channel 3PD PARAM 3 Process data words 3PD The parameter channel is only of significance for fieldbus systems without layer 7 functionality e g PROFIBUS DP Only the number of process data i e 1PD 2PD or 3PD is of interest when controlling the inverter by means of process data Programmable logic controllers are used as fieldbus masters the process data are generally sent directly to the I O or peripheral area The 1 0 or peripheral area in the PLC must therefore make
13. Bit 0 controller inhibit enable Bit 2 Bit 1 Bit 0 o C NEN e g O1hex 03hex e Controller inhibit x X 1 O5hex O7hex E 3 5 Rapid stop x o 0 eg 00hex 04hex e Stop 0 1 0 e g 02hex t e a Enable 1 1 0 e g O6hex X irrelevant highest priority lowest priority Fig 13 Coding of the control commands of the MOVITRAC 31 inverter 26 00323AEN MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com While the inverter is generally enabled with the Enable command there is a choice of three control commands to stop the drive i e Controller Inhibit Rapid Stop Stop In addition the inverter can at any time be stopped via the input terminals independent of the control command which is being sent This control option enables you to integrate the inverters into a fieldbus independent emergency stop concept The Enable Control Command The Enable control command enables the inverter via the fieldbus system If the process ramp is transmitted together with the Enable command via the fieldbus system this control command will use the specified ramp value as acceleration ramp If not the inverter will use the typical ramp generators Ramp up for this control command depending on the selected parameter and ramp generator sets Fig 14
14. PO coca IE J 00316AEN Fig 6 Setpoint description of the process output data PO Process output data words PO1 PO2 and PO3 are used to transmit the setpoints listed in the following table through the process output data channel 32 bit values such as e g position values are transmitted in two process data words You may decide yourself in which process data word you wish to transmit the more significant part high and the less significant part low respectively NO FUNCTION SPEED SPEED POSITION LO POSITION HI MAX SPEED MAX CURRENT SLIP RAMP CONTROL WORD 1 CONTROL WORD 2 Setting not possible for MOVITRAC 31 Size O No Function NO FUNCTION If the NO FUNCTION setting is active the inverter will not use this process output data word for setpoint processing The content of the process output data word programmed to NO FUNCTION will be ignored even though the higher level control might specify a real setpoint via the fieldbus system Speed Setpoint SPEED The SPEED setting causes the MOVITRAC 31 inverter to interpret the setpoint transmitted in this process data word as speed setpoint Scaling of the speed setpoint see Section 3 3 5 If the
15. The Setpoint Description POx MAX SPEED setting causes the MOVITRAC 31 inverter to interpret the transmitted setpoint as speed limit The speed limit is therefore specified in the unit 1 min and interpreted as absolute value for both directions of rotation The supported range of values for the fieldbus speed limit corresponds to the range of values for the P202 F MAX 7 parameter If the speed is below this range of values the minimum will become effective if it exceeds the set range the maximum of the set limit value will become effective Scaling of the speed limit see Section 3 3 5 Entering the speed limit via the fieldbus will automatically deactivate parameters P202 F MAX 1 P212 F MAX 2 and P222 F MAX 3 The speed limit value specified via the process output data is generally active Current Limit MAX CURRENT The Setpoint Description POx MAX CURRENT setting causes the MOVITRAC 31 inverter to interpret the transmitted process output data as current limit The current limit is specified in per cent of the inverter rated current in the unit In and is interpreted as absolute value for both directions of rotation The supported range of values for the fieldbus current limit corresponds to the range of values for parameter P320 I MAX 1 If the current is below this range of values the minimum will become effective if it exceeds the set range the maximum of the set limit value will become effective Scaling of the current li
16. You will see all the information from the three process data channels such as the description of the process input data PI1 P13 actual values and process output data PO1 PO3 setpoints and their actual values as transmitted over the bus system 6 3 2 Control Using the Fieldbus Monitor In Control mode the fieldbus monitor can be used for manual control of the inverter via the PC In this case the inverter displays the same drive characteristics as it does when it is controlled via the fieldbus interface Amongst other things this operating method can provide easy training in the concept of control of the MOVITRAC 31 frequency inverter via a fieldbus Since MC_SHELL communicates with the inverter via the serial interface familiarity with the functionality of the inverter fieldbus can also be acquired without the fieldbus master by entering all setpoints manually via the fieldbus monitor Contro mode Fig 32 shows which components you can use for training in the concept of inverter control using a fieldbus MC_SHELL he RS 232 m Fig 32 Control via the MC SHELL fieldbus monitor as a configuration aid MOVITRAC 31 USS 11A FFI 31 or FFP 31 or MOVITRAC 31 size 0 DP E z x amp E amp ag 00339AEN MOVITRAC 31 Fieldbus Unit Profile 55 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Commissioning and Diagnosis 56 6 4 Verif
17. 0000hex FFFFhex Applies to Process ramp up down Example Scaling of the process ramp The inverter is enabled with an acceleration ramp of 300 ms and disabled again through the stop function using a deceleration ramp of 1 4 s Ramp time Conversion of the scaling Transferred process data 300 ms 300 ms 300dec 012C hex 300dec or 012Chex resp 14s 1 4s 1400 ms 1400dec 0578hex 1400dec or 0578hex resp MOVITRAC 9 31 Fieldbus Unit Profile 23 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 24 Scaling of the Position Position values generally are 32 bit values and therefore must be transmitted in two process data words It is up to the user to decide in which process data word he wishes to transmit the more significant part of the position high word and the less significant part of the position low The position is therefore transmitted as signed 32 bit integer The following table shows the scaling for Position process data Data type Integer32 Resolution 1 motor revolution 4096 increments i e 1digit re Range 188 743 680 0 188 743 679 Motor revolutions 524 288 0 4524287 i 8000 0000hex 0 TFFF FFFFhex Increments High ores righ lis Position actual value Applies to Position setpoint If the motor is connected correctly position values are
18. 2 Emergency Stop with Warning As the MOVITRAC 31 inverter does not support emergency stop ramps the fault response Rapid Stop with Warning Section 4 2 1 will become effective 4 2 3 Immediate Switch off with Warning When the time set for the fieldbus time out parameter has elapsed the inverter will carry out an immediate switch off i e the output stage will be disabled and the mechanical motor brake activated immediately Motors which are not fitted with a mechanical brake will coast to rest if this fault response is initiated The inverter will issue a warning fault 87 A manual reset of the inverter Reset is not required IMPORTANT This fault response will stop the drive solely by means of the mechanical brake no ramp down which may subject the mechanical system components to considerable stresses Make sure that your N mechanical construction is sufficiently dimensioned to take up the loads that might occur in connection with this fault response 4 2 4 Rapid Stop with Fault When the time set for the fieldbus time out parameter has elapsed the inverter will ramp down the rapid stop ramp P140 T13 Stop Ramp P141 T23 Stop Ramp and issue a warning fault 28 This fault can only be cleared by resetting the inverter via the keypad terminal or fieldbus If the DC braking mode P730 P733 is activated the drive is brought to a standstill with DC braking instead of a rapid stop 4 2 5 Emergency Stop with Fault As
19. 44 OR O K data of index 10055 1 Read response 2b An error has occurred No data available 3b Read service faulty for further information see return code Read error confirmation a Fig 27 Reading a parameter Errorsretumcodg oo Error ret lag Negative read response 00334AEN If it is impossible to carry out the Read service in the inverter this is reported back to the automation equipment by a negative answer Negative Read Response The automation equipment thus receives a negative confirmation Read Error Confirmation with a detailed breakdown of the error MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 47 E Setting Inverter Parameters 48 5 3 Writing a Parameter WRITE Writing a parameter is carried out via the fieldbus interface in a similar way to reading a parameter A Write Request from the automation equipment informs the MOVITRAC 31 frequency inverter of the parameter index to be written together with the new parameter data When it receives the write request the inverter is instructed to re define the transferred drive parameter Write Indication The service is then carried out in the inverter and if the run is fault free the positive response is returned to the higher level automation equipment Write Response The Write service is ended on receipt of confirmation of the service Write
20. 600 NO FUNCTION TERMINAL 42 601 NO FUNCTION TERMINAL 43 00344AEN Fig 37 Programming terminals 42 and 43 from the keypad 7 Program the fieldbus parameter Fieldbus Timeout to 100 ms and the parameter Timeout Response to Rapid Stop as set out in the Objective 571 0 10 s FIELDBUS TIME OUT 572 RAPID STOP TIME OUT RESPONSE 00345AEN Fig 38 Programming the fieldbus timeout and timeout response from the keypad 8 Now enter all parameters specific to the drive such as motor parameters frequency characteristics etc C MOVITRAC 31 Installation and Operating Instructions 9 Enter the ramp generators for the acceleration deceleration and rapid stop ramps As the first parameter set and the first ramp generator set of it are to be used the ramp generators 717 Ramp Up T11 Ramp Down and T13 Stop Ramp must be changed 120 T11 1 50 RAMP UP 121 T11 2 00 s RAMP DOWN 140 T13 0 20 s STOP RAMP 00346AEN Fig 39 Programming the ramp generators used in the application program All the parameters for this application example have now been assigned MOVITRAC 31 Fieldbus Unit Profile 59 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 7 1 3 S5 Application Program As a prerequisite to the application program described below the process input and output data on a Simatic S5 must be at the pe
21. 61 Brake BRAKE 2 62 Terminal function programmable to P611 TERMINAL 62 FAULT 3 63 Terminal function programmable to P612 TERMINAL 62 IxT warning 4 64 Terminal function programmable to P613 TERMINAL 64 IREF 1 5 69 Terminal function programmable to P614 TERMINAL 69 READY 6 70 Terminal function programmable to P615 TERMINAL 70 ROTATING FIELD OFF 7 71 Terminal function programmable to P616 TERMINAL 71 PARAMETER SET 1 2 8 72 Terminal function programmable to P617 TERMINAL 72 MOTOR WARNING 1 3 6 Active Input Terminal Functions The input terminal functionality remains almost the same in the fieldbus mode Safety relevant functions used to enable the inverter are connected with the fieldbus control word commands as shown in Fig 23 All other terminal functions are OR d with the corresponding control word bits Input terminals CW STOP 1 CCW STOP terminal ENABLE Processing CONTOLLER INHIBIT Fieldbus control word Bit 0 controller inhibit enable Bit 1 enable rapid stop control word processing Bit 2 enable stop 4 Terminal processing function Controller inhibit Rapid stop Stop Enable Controller inhibit Controller inhibit Contr inhibit Contr inhibit Contr inhibit Rapid stop Controller inhibit Rapid stop Rapid stop Rapid stop Stop Controller inhibit Rapid stop Stop Stop
22. 888 723 4773 Web www clrwtr com Email info clrwtr com With the exception of Error Class 8 Other Error the error class is generated by the fieldbus pcb communications software if communication is faulty All return codes supplied by the inverter system come under Error Class 8 Other Error A more detailed breakdown of the error is obtained from the Additional Code element 5 5 2 Error Code The Error Code element provides a more detailed analysis of the cause of the error within the error class The error code is described in DIN 19245 Part 2 Section 3 16 1 4 4 The error code is generated by the fieldbus pcb communications software if communication is faulty In the case of Error Class 8 Other Error only Error Code 0 Other Error Code is defined with a detailed breakdown provided in Additional Code 5 5 3 Additional Code The Additional Code contains the SEW specific return codes for faulty inverter parameter adjustment They are returned to the master under Error Class 8 Other Error Add code Add code Meaning high hex low hex 00 10 Illegal parameter index 00 11 Function parameter not implemented 00 12 Access is read only 00 13 Parameter lock active P800 00 14 Factory setting active P830 00 15 Parameter value too large 00 16 Parameter value too small 00 17 Necessary option pcb for this function paramete
23. Actual Value Description P564 P03 Setpoint Description P565 PI3 Actual Value Description When one of the above mentioned parameters is changed acceptance of the process output data for setpoint processing via the fieldbus is automatically blocked The process output data received will not be processed according to the new actual value and setpoint descriptions until the fieldbus parameter P570 Enable Fieldbus Setpoints YES is re activated see also Section 3 3 4 3 3 1 Setpoint Description for the PO Data The PO1 PO3 Setpoint Description parameters define the content of the process output data words which are sent via the fieldbus system from the higher level automation unit Fig 6 Each process output data word is defined by its own parameter so altogether three fieldbus parameters offering the same options are available to describe the process output data MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data P560 PO1 SETP DESCRIPT P562 PO2 SETP DESCRIPT P564 P03 SETP DESCRIPT Control word 1 Control word 2 Speed setpoint X Current setpoint etc Control word 1 Control word 1 Control word 2 Control word 2 Speed setpoint gt Speed setpoint Current setpoint Current setpoint etc etc c gt m p2 m f Process output data
24. CCW As soon as one of the limit switches is actuated an internal switch off is effected independent of the specified control word and the corresponding status bits in the status word of the inverter are set accordingly This will inform the higher level master about the current status of the limit switches and enable it to instruct the inverter to travel in the opposite direction While the terminal signals of the limit switches are active when O the condition of the limit switches in the status word of the inverter is indicated by a high 1 level 3 5 2 Status Word 1 In addition to the most important status data in the basic status block status word 1 in the more significant status byte alternately contains either Unit Status data or Fault Code data Depending on the fault bit the unit status is indicated if the fault bit O whereas the fault code is displayed if a fault has occurred fault bit 1 Fig 21 When the fault is cleared the fault bit is reset and the current unit status shown again Unit status Fault code Permanently defined 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Controller eneabled MC 31 ready for operation Fieldbus mode active Active ramp generator set Active parameter set Fault warning Limit switch CW active Limit switch CCW active Fault Twarning YES Bit 5 1 Fault code
25. Unit status NO 01 Overcurrent 00 Controller inhibit 02 V DC link 01 No enable etc etc 00331 AEN Fig 21 Assignment of status word 1 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 35 Inverter Control with Process Data The following table contains a list of MOVITRAC 31 unit conditions Fault coding see MOVITRAC 31 Parameter List under Index 12 Fault t 4 Code decimal Unit status 0 Controller inhibit 1 No enable 2 Start magnetization 3 Stop magnetization 4 Rapid stop 5 Heating current 6 DC braking 7 DC Holding current 8 Determining SxR 9 Preparing DC braking 10 Enable 11 Reversing the direction of rotation 12 Normal stop 13 Rapid stop 14 Hold control 15 Braking time 16 Reference travel 17 Positioning 18 Synchronous operation 19 Coasting 3 5 3 Status Word 2 In addition to the most important status data in the basic status block status word 2 in the more significant status byte contains the virtual output terminals both of the standard unit and of the 1 0 option pcbs This provides the user with all the unit information necessary to implement the most diverse applications By programming the terminal functions of the output terminals you can process all the usual signals
26. control of the MOVITRAC 31 inverter is exclusively via the digital input terminals MOVITRAC 31 Fieldbus Unit Profile 17 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 18 Duplicate Usage of the Process Output Data Channel If several process output data words contain the same setpoint description only the process output data word which is read first will be valid The processing sequence in the inverter is PO1 PO2 POS i e if PO2 and PO3 contain the same setpoint description only PO2 will be effective The content of PO3 will be ignored Example Duplicate usage of PO2 and PO3 Process output data words PO2 and PO3 both contain the SPEED setpoint P560 X POT Setpoint Description CONTROL WORD 1 P562 P0O2 Setpoint Description SPEED P564 P0O3 Setpoint Description SPEED The speed setpoint is transmitted twice within the process output data channel duplicate usage of process output data words As the inverter processes the process output data words in the order PO1 PO2 PO3 and recognizes duplicate usage of the process output data channel the speed setpoint transmitted in PO3 will never become effective Simultaneous Transmission of Control Word 1 and Control Word 2 If control words 1 and 2 are transmitted simultaneously the inverter is controlled in the same way via the basic control block of control word 1 and the basic control block
27. control word Bit 0 controller inhibit enable Bit 1 enable rapid stop control word Bit 2 enable stop Processing Control Controller inhibit Con erin Terminal processing function hibit Rapid stop Stop hibit Contr inhibit Contr inhibit Enable Contr inhibit Rapid stop Con hibit Rapid stop Rapid stop Rapid stop Stop Con hibit Rapid stop Stop Stop Enable Con Control word command hibit Rapid stop Stop Setpoint processing Fig 12 Connecting the safety relevant control signals from the input terminals and the fieldbus Enable 00322AEN For safety reasons the definition of the basic control block is such that the inverter adopts a safe state No Enable when a control word containing 0000hex is given as all common fieldbus master systems definitely reset the outputs to 0000hex in the case of a fault or malfunction In this case the inverter will carry out a rapid stop and then activate the mechanical brake Controlling the Inverter with a 0 2 Bit When the inverter has been enabled via the terminals it can be controlled with bit 0 bit 2 of the basic control block These three bits are used to activate four different control commands for inverter control through the fieldbus system Fig 13 Bit 2 enable stop Bit 1 enable rapid stop r
28. of the inverter in conjunction with the fieldbus The two operating modes Monitor and Control provide a choice between a purely diagnostic mode in which the process data channels can only be viewed and a control mode in which modifications can also be carried out via the PC Environment Parameters Lists Interface Options Screen Help 6 3 MC_SHELL Fieldbus Monitor P01 P02 _P03 _ PI1 PI2 PI3 CTRL WORD 1 SPEED VALUE NO FUNCTION GUS SPEED NO FUNCTION 1066 Hex 008 Hex 8888 Hex 0102 Hex 8888 Hex 6008 Hex P0i1 CTRL WORD 1 P11 STATUS WORD1 Ctrl command RAPID STOP Controller enabled 6 Hold control 8 Ready for operation Ramp generator Fieldbus active 8 Parameter set 8 fict ramp gen set Reset fict parameter set Fault Warming Limit switch RIGHT Dir of rota Cu Limit suitch LEFT Motor pot NO MODIFICA Fixed setp FIELDBUS Unit status NO ENABLE 8808 8888888888888888 OK Help 4 v gt Position bar RET Set value TAB Toggle PO PI 00338AEN Fig 31 MC SHELL fieldbus monitor for diagnosis and control in the fieldbus mode 6 3 1 Diagnosis Using the Fieldbus Monitor In Monitor mode the MC SHELL fieldbus monitor allows the setpoints and actual values exchanged between the higher level control unit and the MOVITRAC 31 inverter to be continuously and clearly viewed and analyzed
29. parameters The fieldbus parameters will only be given again for the sake of completion since they are to be regarded in direct connection with the fieldbus monitor Further information regarding parameters P560 P572 can be found in the previous sections The following table illustrates the adjustable fieldbus parameters P560 P572 as well as the fieldbus monitor parameters P070 P079 P070 Process data configuration P071 Fieldbus type P072 Fieldbus baud rate P073 Fieldbus address P074 PO1 setpoint hex P075 P11 actual value hex P076 PO2 setpoint hex P077 PI2 actual value hex P078 P03 setpoint hex P079 PIS actual value hex P560 Setpoint description PO1 P561 Actual value description P11 P562 Setpoint description PO2 P563 Actual value description PI2 P564 Setpoint description PO3 P565 Actual value description PI3 P570 Enable fieldbus setpoints P571 Fieldbus timeout P572 Timeout response 6 1 Diagnosis of Process Output Data Faulty operation of the inverter can normally be traced back to a faulty application program This means that false control information or setpoints are occasionally sent to the inverter from the higher level control As a result it is often helpful to know what control information and setpoints the inverter is receiving User friendly fieldbus master interface connections e g rows of LEDs on the front cover offer simple facilities for diagnosis
30. sensor signals via the input terminals of the inverter and controls a relay via output terminal 62 Therefore the inverter is controlled via two process data words The process output data control word 2 and speed 5 setpoint is specified by the higher level control in the opposite direction the inverter returns the process input data status word 2and speed actual value to the higher level control The control program is supposed to control the following inverter functions 1 The digital input E1 1 is to trigger the control commands Enable and Stop E1 1 1 Enable E1 1 0 Stop 2 The digital input E1 2 is to specify the speed setpoint E1 2 1 CW operation with 75 of P220 F MAX 1 E1 2 0 CCW operation with 25 of P220 F MAX 1 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com The sensor signals at the input terminals X3 42 X3 43 X3 47 X14 48 and X14 49 of the inverter are supposed to control the relay at the output terminal X3 62 of the inverter in the control via an AND function Only the first set of parameters and the first set of ramps are used The drive shall accelerate and brake using the ramps specified in the factory setting Further the inverter is supposed to recognize a bus fault which is present longer than 100 ms and bring the drive to a standstill using the rapid stop factory setting 7 39 4 Commissioning Carry out
31. speed setpoint is assigned to the process output data word the analogue setpoint will automatically be deactivated Execution of internal setpoint functions such as e g the selection of internal fixed setpoints or the motorized potentiometer function are however given priority i e the speed setpoint specified via the fieldbus will not be effective in this case MOVITRAC 31 Fieldbus Unit Profile 13 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 14 Consequently the speed setpoint processing of the MOVITRAC 31 inverter is subject to the priorities shown in the table Processing priority in the inverter Setpoint source Highest priority Internal fixed setpoints Motorized potentiometer Fieldbus setpoint Lowest priority Analog setpoint unipolar If the speed setpoint is not specified via the bus system the analogue input will become the setpoint source even though the control mode is set to Fieldbus This option permits applications to be implemented where the control signals enable controller inhibit etc are specified via the fieldbus while the setpoint is specified by an automation unit which does not have a fieldbus interface Relative Speed Setpoint speed With the parameter speed Jo set the inverter MOVITRAC 31 interprets the setpoint transmitted in this process data word as percental speed setpoint The scalin
32. sufficient memory space available for the inverter process data Fig 5 Addresses are usually allocated between the inverter process data and the PLC address area on the fieldbus master module MOVITRAC 31 Fieldbus Unit Profile 11 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 12 mz AW 44 PD3 AW 42 PD2 AW 40 PD1 CN PER output data PO m m PLC address area PDI PD PD3 fessis ue re EW 40 PD1 Process input data P1 o EW 44 PD3 PD1 PD2 PD3 EW 42 m oS 00315AEN Fig 5 Process data mapping in the PLC 3 3 Process Data Description The process data description defines the content of the process data to be transmitted All three process data words can be assigned individually by the user In general the process input data and the process output data are handled separately This enables you to specify which process output data setpoints are to be transmitted to the inverter from the control unit and which process input data actual values are to be transferred from the MOVITRAC 31 inverter in the opposite direction to the higher level control unit for your particular application The following six fieldbus parameters are available for defining the individual process data P560 POT Setpoint Description P561 PI1 Actual Value Description P562 P0O2 Setpoint Description P563 PI2
33. terminal 1 terminal 48 aeo Virtual terminal 2 terminal 49 10 Virtual terminal 3 terminal 50 11 Virtual terminal 4 terminal 51 12 Virtual terminal 5 terminal 52 13 Virtual terminal 6 terminal 53 14 Virtual terminal 7 terminal 54 15 Virtual terminal 8 reserved 00328AEN Fig 18 Control word 2 for MOVITRAC 31 without digital input terminal expansion You can program any function to the virtual input terminals The following table shows the virtual input terminal assignment for the MOVITRAC 31 inverter without digital input terminal expansion and their functionality Virtual Assigned Functionality input terminal to terminal 1 48 Terminal function programmable to P603 TERMINAL 48 2 49 Terminal function programmable to P604 TERMINAL 49 3 50 Terminal function programmable to P605 TERMINAL 50 4 51 Terminal function programmable to P606 TERMINAL 51 5 52 Terminal function programmable to P607 TERMINAL 52 6 53 Terminal function programmable to P608 TERMINAL 53 T 54 Terminal function programmable to P609 TERMINAL 54 8 None MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data The status word is 16 bits long The less significant byte the basic status block comprises 8 status bits with a permanent definition which reflect
34. the control word to select the effective parameter set Before enable the parameter set selection in parameter in P350 Enable Parameter Selection YES It is not possible to change parameters sets while the drive is running Selection of a different parameter set is only possible when the drive is in the No Enable or Controller Inhibit condition MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data This bit is OR d with the input terminal function Parameter Set Selection i e a logic 1 on the input terminal OR in the control word bit will activate parameter set 2 Resetting the Inverter after a Fault Bit 6 of the control word resets the inverter via the process data channel in the case of a fault Every set can only be initiated with a 0 1 transition in the control word All other reset options continue to be active 3 4 2 Control Word 1 In addition to the most important drive functions contained in the basic control block control word 1 in its more significant byte contains function bits for internal setpoint functions which can be generated in the MOVITRAC 31 inverter For example control word 1 allows the internal fixed setpoints or the motorized potentiometer function to be activated Internal setpoint functions Permanently defined 15 14 13 112 11 1019 8 7 6 5 4
35. the input terminals 42 50 to NO FUNCTION so that the inverter is enabled on the terminal side via the previously inserted jumper and ignores the sensor actor signals of the input terminals during drive control 600 NO FUNCTION 603 NO FUNCTION TERMINAL 42 TERMINAL 48 601 NO FUNCTION 604 NO FUNCTION TERMINAL 43 TERMINAL 49 602 NO FUNCTION 605 NO FUNCTION TERMINAL 47 TERMINAL 50 01142AEN Fig 56 Programming of the terminals 42 50 via keypad 68 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 8 Program the output terminals to the corresponding IPOS outputs which are assigned to the input terminals 42 50 section 3 8 2 611 IPOS OUTPUT 7 _ 614 IPOS OUTPUT 4 z input terminal 47 TERMINAL 62 7 Put terminal 50 TERMINAL 69 7 P 612 IPOS OUTPUT6 l 615 IPOS OUTPUT 3 _ l TERMINAL 63 Put terminal 49 TERMINAL 70 put terminal 43 613 IPOS OUTPUT5 616 IPOS OUTPUT 2 _ l TERMINAL 64 input terminal 48 TERMINAL 71 nput terminal 42 01143AEN Fig 57 Programming of the terminals 62 71 via keypad 9 Set the fieldbus parameter fieldbus timeout to 100 ms as specified in the objective 571 0 10 s FIELDBUS TIME OUT
36. the most important drive conditions The assignment of the more significant status bits varies for the different status words 3 5 Definition of the Status Word 3 5 1 Basic Status Block The basic status block of the status word contains status information which is required for nearly all drive applications These unit conditions are coded as bit information i e each bit has a piece of status information assigned to it Fig 19 The following table shows the assignment of the status word D Status word dependent Permanently defined 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 L Controller enabled MC 3000 ready for operation Fieldbus mode active Active ramp generator set Active parameter set Fault warning Limit switch CW active Limit switch CCW active 00329AEN Fig 19 Basic status block for all control words Bit Stats Assignment i is s sSSSSCS 0 ore HC 1 Rey tor operation E TU UU 2 Fieldbus mode active 1 Fieldbus deri ETA via fieldbus 3 Active ramp generator set E miu 4 Active parameter set n aaa d 9 Fauli warning 1 EDS ON E Limit switch OW active 1 Limit switch CW activated 7 Limit switch CCW active 1 Limit switch CCW activated Not available for MOVITRAC 31 size 0 MOVITRAC 31 Fieldbus Unit Profile 33 Phone 800 894 0412 Fax 888 7
37. the wiring of the inverter according to the operating instructions For fieldbus operation please connect the inverter to an external 24 V supply terminals X3 30 and X2 40 Insert a jumper between terminals X2 41 and X2 44 in order to enable the inverter from the terminal side Fig 51 Connect the sensors and actors according to Fig 51 When connecting the actor watch the maximum output current of this output terminal see operating instructions MOVITRAC931C EE TUE c S8 na zx boso Bess 5 SEE 5 55 5 2822 ogg CoS a O uu O NAG 555 S 9 525 O 45 ttt taAoy tt T f iO C L0 CO sr INIYM R O eN 9 D O O 09 09 09 CO xr rob MEE Ol CO CO str t oO leo Use this jumper to enable the inverter on the terminal side 24V 01140AEN Fig 51 Wiring of the inverter for application example with I O module functionality 1 Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb For this example configure the process data length to 2PD For the option FFI 31 INTERBUS S for example this can be done via the DIP switches on the option pcb In the case of PROFIBUS DP option FFP 31 the process data length is configured in the master module Please refer to the User Manuals on the relevant fieldbus option pcb for further inf
38. way that only the 24 V supply is switched on after the factory setting has been activated Do not switch on the mains voltage until the fieldbus control mode P841 Control Mode Fieldbus has been activated as the inverter is then controlled by the control word MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 7 2 3 S5 Application Program As a prerequisite to the application program described below the process input and output data on a Simatic S5 must be at the peripheral addresses PW132 PW134 and PW136 This program corresponds to a great extent to the S5 program from the previous application example Read access L PW 132 Read status word 1 L Pw 134 Read speed actual value L PW 136 Read apparent current actual value Write access T PW 132 irite control word 1 T PW 134 Read speed setpoint T PW 136 Vrite ramp Fig 50 shows the S5 program in this example The current acceleration ramp is temporarily stored in the flag word MW100 and the current deceleration ramp in MW102 If the Enable command is triggered jump flag ENAB the current acceleration ramp generator is first transferred from MW100 to PW136 ramp and the Enable command is then transferred to the control word with the coding 0006hex Similarly when the Stop command is given the deceleration ramp generator is first transferred from MW102 to PW136 ramp and the Stop comm
39. 00 TERMINAL 42 NO FUNCTION 1150 00 00 11 00 601 TERMINAL 43 NO FUNCTION 1151 00 00 11 00 571 FIELDBBUS TIMEOUT 0 10 1608 00 00 00 10 572 TIMEOUT RESPONSE RAPID STOP 1609 00 00 00 00 drive specific sg parameters sig ng 120 T11 RAMP UP 1 50 1025 00 00 01 50 121 T11 RAMP DOWN 2 00 1026 00 00 02 00 140 T13 RAMP STOP 0 20 1028 00 00 00 20 The parameters listed in the table can now be transferred to the inverter in the required order e g via individual write services or via the download parameter block if supported by the option pcb However please note that all other parameters can only be written once the factory settings have been completely activated 7 2 Control Using Three Process Data Words This example describes how to control the inverter using three process data words The process data description parameters are set as follows P560 POT Setpoint Description Control Word 1 P561 PI1 Actual Value Description Status Word 1 P562 P02 Setpoint Description Speed Setpoint P563 PI2 Actual Value Description Speed Actual Value P564 P03 Setpoint Description Ramp P565 PI3 Actual Value Description Apparent Current Actual Value Controlling the inverter using three process data words allows you to implement very powerful applications as communication between the fieldbus master and the inverter takes place via three process input and three process output data words
40. 01144AEN Fig 58 Programming of fieldbus timeout via keypad 10 Now enter all parameters specific to the drive such as motor parameter frequency characteristics etc MOVITRAC 31 Installation and Operating Instructions All the parameters for this application example have now been assigned 7 39 2 5 Application Program As a prerequisite to the application program listed below the process input and output data on a Simatic S5 must be at the peripheral addresses EW AW32 and EW AW34 Watch the consistent treatment of the EW AW34 as the relative speed must be treated as 16 bit value For this reason only use the loading and transfer commands e g L EW34 or T AW 34 for access to EW AW32 Access to the control status word 2 organized in bits is possible via the common logic instructions The 1 0 addresses contain the following information EW 32 status word 2 EW 34 speed actual value AW 32 control word 2 AW 34 speed setpoint For controlling the inverter only the two control word bits enable stop and enable rapid stop are used For controlling the relay on the output terminal 62 of the inverter the output A32 0 is used Fig 59 and Fig 60 show how the control word 2 and the status word 2 are projected in the Simatic S5 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 69 Application Examples
41. 23 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 34 The Enable Controller Status Bit Bit O of the status word is determined from the combination of the input terminals and the control command contained in the control word Fig 20 shows the reaction of the Controller Enable status bit as a function of the Enable control command and the actual speed respectively A Controlcommand 1 Enable Q Nga Speed characteristic Status bit0 4 Controller enabled Q Lo 00330AEN Fig 20 Behaviour of status bit 0 Controller Enabled The Ready for Operation Signal When status bit 1 in the status word signals Ready for Operation 1 then the inverter is ready to respond to control commands from an external control system The inverter is not ready to respond if the MOVITRAC 31 signals a fault the factory setting is ongoing set up no mains voltage is present The Fieldbus Mode Active Signal Status bit 2 signals whether the inverter is in the FIELDBUS control mode P841 Control Mode FIELDBUS and responds to control commands setpoints from the process data channel of the fieldbus interface Adjustment of the inverter parameters via the fieldbus interface is possible at any time independent of the set control mode Current Parameter Set Ramp Generator not for MOVITRAC 31 size 0 Bits 3 and 4 of the status word indicate the currently selected
42. 25521 22o0oo0iduc x pa Q ggss B o X2 ara X3 X14 87 SxSSe amp bB Ses g Use this jumper to enable Jumpers installed when supplied the inverter on the terminal side EMERGENCY 24V STOP 00350AEN Fig 43 Wiring of the inverter with emergency stop function 62 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 2 Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb For this example configure the process data length to 3PD For the option FFI 31 INTERBUS S for example this can be done via the DIP switches on the option pcb In the case of PROFIBUS DP option FFP 31 the process data length is configured in the master module Please see the user manuals on the relevant fieldbus option pcb for further information 3 Switch on the external 24 V supply As the inverter has not yet had parameters for fieldbus Operation do not yet switch on the mains voltage for safety reasons 4 Activate the factory setting 830 YES FACTORY SETTING 00342ADE Fig 44 Activating the factory setting from the keypad 5 Set the inverter Control Mode parameter at Fieldbus CONTROL MODE 841 FIELDBUS 00343AEN Fig 45 Switching to fieldbus control mode via the keypad 6 As the description of process data PO1 PI1 PO2 and PI2 corresponds to the factory setting you only have t
43. 29 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data Motorized Potentiometer Function via Fieldbus Fieldbus control of the motorized potentiometer setpoint function works the same as control via the standard input terminals Set parameter P150 Motorized Potentiometer YES to activate the motorized potentiometer function In this case a speed setpoint which might be specified via another process data word will no longer be considered To change the setpoint use the two control word bits Motorized Potentiometer Up bit 9 and Motorized Potentiometer Down bit 10 Operating bit 9 Motorized Potentiometer Up will increase the setpoint bit 10 Motorized Potentiometer Down will decrease the setpoint The direction of rotation is specified by bit 8 Direction of Rotation in the control word Direction of Rotation 0 specifies clockwise direction of rotation Direction of Rotation 1 counterclockwise direction of rotation The process ramp which may be specified via another process output data word has no effect on the motorized potentiometer function Only the motorized potentiometer ramp generators P151 T4 Ramp Up P152 T4 Ramp Down are used Internal fixed setpoints Selection of the internal fixed setpoints via the fieldbus interface is the same as via the standard input terminals To select the internal fixed setpoints use bit 11 and bit 12 of the control word respectivel
44. Confirmation by the automation equipment arx ee fle HG ES zd ets Master Slave 1 Write request e g Write to index 1025 T11 ramp up a parameter value of 2 5 s reese HOS big 0 h Write indication L 2a Parameter index 25 0 1025 1000 is set t 2 58 3a Write service was successfully carried out Write response OK pu p PN O 2b An error has occurrend OR No data written 3b Write service faulty because e g parameter value too large la Negative Error return code write response Write error A confirmation 00335AEN Fig 28 Writing a parameter If it is impossible to carry out the write service in the inverter e g if false parameter data have been passed over this is reported back to the automation equipment by a negative answer Negative Write Response The automation equipment thus receives a negative confirmation Write Error Confirmation with a detailed breakdown of the error 5 4 Instructions to the User when Adjusting Parameters When adjusting the parameters of the MOVITRAC 31 frequency inverter via the fieldbus system all drive parameters can generally be accessed However since some of the drive parameters relate directly to communication via the fiel
45. ITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data Scaling of the Current The Current Setpoint Apparent Current Actual Value and Active Current Actual Value process data are given in per cent of the inverter rated current Yo Iy and mapped as signed values to the process data word 16 bit integer Data type Integer16 Resolution 1digit 0 1 Yo In Reference Inverter rated current 0 0 ste a a Apparent current actual value Valid for Active current actual value Current setpoint Current limit Example Scaling of the current in the process data channel This example show the coding the higher level control uses to exchange Current process data with the inverter Current Conversion of the scaling Transferred process data 45 IN S 450dec 01C2hex 450dec or 01C2hex resp 115 5 115 5 In oi 7 1155dec 0483hex 1155dec or 0483ne resp 67 67 IN 217 670dec FD62hex 670dec or FD62hex resp Scaling of the Ramp The process ramp for acceleration and deceleration is specified in milliseconds relative to a frequency rate of change of 50 Hz and mapped unsigned to a process data word 16 bit unsigned The table below shows the scaling for the process ramp Data type Unsigned16 Resolution 1digit 1ms Reference value delta f 50 Hz Range Oms 65535ms
46. Manual Edition 04 98 Fieldbus Unit Profile 2 ap e lt oc O Frequency Inverter m 2 p o Gs m uu a xh cc TLLEELEEELLLELLLELLETIT I E lil i l KA a zu shu am Un ete ANS Z eyni ah Ga m Important Notes Important Notes e Read this User Manual carefully before you start installation and commissioning work on MOVITRAC frequency inverters with fieldbus options This User Manual assumes that the user is familiar with and has at his disposal all relevant documentation on the MOVITRAC system particularly the Installation and Operating Instructions Safety notes Always follow the safety notes contained in this User Manual Safety notes are marked as follows Electrical hazard e g during live working Mechanical hazard e g when working on hoists Important instructions for the safe and fault free operation of the system e g presetting before commissioning Failure to follow these instructions may result in injury to people and damage to property General safety notes for bus systems The fieldbus option gives you a communications system which allows you to match the MOVITRAC 31 drive system to the specifics of your application to a very high degree As with all bus systems there is however the risk of parameters being changed which will not show outside i e the inverter but affect the behaviour of the inverter This may result in unexpec
47. O Control and position entry via fieldbus only in conjunction with IPOS CONTROL WORD 2 SPEED Control incl virtual terminals and speed setpoint via fieldbus CONTROL WORD 2 Control via fieldbus function select via virtual terminals e g IPOS table positions IPOS CONTROL WORD 2 POSITION HI POSITION LO Inverter control and position entry via fieldbus and if applicable processing of the virtual terminals in the IPOS program only in conjunction with IPOS Setting not possible for MOVITRACS31 Size O In addition to the process output data from the fieldbus system the digital input terminals and in special cases the analogue setpoint from the MOVITRAC 31 inverter are used too Special cases in respect of the process output data processing in the inverter are No speed setpoint entry from the fieldbus system No control word entry from the fieldbus system Duplicate usage of the process output data channel Simultaneous transmission of control word 1 and control word 2 32 bit process output data No Speed Setpoint Entry from the Fieldbus System If no speed setpoint is transmitted via the process output data the analogue setpoint or the internal setpoint functions i e motorized potentiometer or fixed setpoints n11 if activated via the control word will be active No Control Word Entry from the Fieldbus System If no control word is transmitted to the inverter via the process output data
48. Ons suco P ord oda 94 andes REX Sede ee oe bees m ad 56 6 5 2 Fieldbus Option PCB Type 2 2225 ies a ue ERES E OESCEZIAePETESdGG S deities 56 6 5 3 Fieldbus Baud Rate 1 osos szeves Eau ht REEL RG Ex RR EY Sr xx ELY ENG 56 6 5 4 Field Dus AOOEBBS ss Luca asociado wd wed RE Re REIR ERR CR CRCR PARAK CR ee ui ae 56 7 Application Examples iiiusissseeslleenn RR 57 7 1 Control Using 2 Process Data Words aaa 57 7 1 1 Pia P P 57 7 1 2 Commissioning exc 30g akan dax a box NAL KANA DON nase Rous eder o ben ete 58 7 4 3 95 Application Progra uad ioa ix adero Ry Pe E EISE E SERE E REUS ERES 60 7 14 Start up Parameter Setting via a Fieldbus 0 0 0 cece eee ee eee eee 61 7 2 Control Using 3 Process Data Words ceo exer rA SOR tense eens 61 7 2 1 Bru TELE 62 7 2 2 LALA eve oa acdrpate eds eo awa E READS 62 7 2 3 S5 Application Program uisus e eter S xx CE RE NAG Rs ee e NG 65 7 2 4 Start up Parameter Setting via Fieldbus 0 000 cece cece eeeeees 66 1 3 Relative Speed l O Module Functionality a 66 7 3 1 COMMISSIONING a aeuo a Steen E dana an kaaa a VR deat SUPE AG 67 1 3 2 S5 Application Program code ieee now is Rc uec aad ies e e NAY mang 69 74 Positioning with IPOS via Fieldbus 2 3 ER ro RR RIERIERCTS 71 7 4 1 B uu ME ETE 71 1 4 2 Implementation Possibilities with IPOS nonan 0 0 ccc ee eee ee ees 72 74 3 Pro
49. P761 00 34 Invalid parameter frame type MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Setting Inverter Parameters d 91 E Setting Inverter Parameters 5 5 4 Special Return Codes Special Cases Faults in parameter adjustment which cannot be identified from layer 7 of the fieldbus system or from the inverter system software are treated as special cases This involves the following possible faults depending on the fieldbus option pcb in use Incorrect coding of a service via a parameter channel Incorrect indication of service length via a parameter channel Drive parameter accessing error Further information can be found in the user manual for the relevant fieldbus option pcbs in the section entitled Parameter Adjustment Return Codes 52 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Commissioning and Diagnosis 6 Diagnosis Using the Fieldbus Monitor Parameters The MOVITRAC 31 frequency inverter provides a large amount of diagnostic information for fieldbus operation In addition to the fieldbus parameters diagnostic tools also include menu range P070 P079 which contains the fieldbus monitor parameters These parameters allow simple diagnosis of the fieldbus application from the inverter This section will primarily explain the fieldbus monitor
50. PORTANT The inverter must be enabled on the terminal side in order for it to be controlled via the fieldbus system This means that the drive will be enabled subject to certain preconditions being met after the GroP factory setting has been activated Before the factory setting is activated therefore care must be taken that the digital input terminal signals following activation of the factory setting do not enable the inverter 5 4 2 Saving to EEPROM During parameter adjustment it should be borne in mind that all parameters written via the fieldbus system are normally stored in the inverter The MOVITRAC 31 inverter uses an EEPROM as resident storage and the life of this is limited by the number of save operations Therefore if frequent parameter changes are made the save function should be deactivated using the parameter P801 Save Off Once this has been deactivated parameters written subsequently will not be stored in resident memory i e they will only be effective until the equipment is switched off or reset The following procedure must be followed in fieldbus mode if the inverter has parameter set cyclically with the fieldbus system write service 1 Activate factory setting 2 Set inverter parameters in such a way that the basic function of the application is guaranteed All parameters are stored memory resident and become effective after switching the inverter off and then on again or after a reset 3 Deactivate th
51. SPB ENAB Trigger enable SPA FB 10 sg NAME SEW UNE 14 BE U E 12 Control command SPB STOP Trigger stop UN E 1 2 Control command Fi cyclically SPB STOP Trigger rapid stop BEA ENAB L KH 0006 Write enable T PW 132 to control word BEA STOP L KH 0002 Write stop T PW 132 to control word BEA STOP L KH 0000 Write rapid stop T PW 132 to control word BE 00348AEN Fig 41 Example of an S5 program for control of the MOVITRAC 31 inverter via the process data 60 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 7 1 4 Start up Parameter Setting via Fieldbus The manual configuration procedure described in section 7 1 2 can also be carried out automatically by the higher level fieldbus master i e all the drive parameters can be set automatically via the fieldbus when the control system starts up In order to automatically set start up parameters please consult the MOVITRAC 31 Parameter List to establish the fieldbus index and the coding for the relevant setting from the menu numbers given in section 7 1 2 The following table shows the indices and codings for start up parameter setting taken from the Parameter List Menu Parameter name Setting Fieldbus index Coding no decimal 4 byte hex 830 FACTORY SETTING YES 1203 00 00 01 00 841 CONTROL MODE FIELDBUS 1205 00 00 03 00 6
52. The parameter data length for MOVITRAC 31 frequency inverters amounts to a constant 4 bytes for all parameters You can find detailed information about data length and coding as well as information on minimums and maximums in the MOVITRAC 31 Parameter List 5 2 Reading a Parameter READ Setting Inverter Parameters d Reading a parameter via the fieldbus interface is carried out using a Head Request from the automation equipment to the MOVITRAC 31 frequency inverter When it receives this read request the inverter is instructed to read the drive parameter of the index transferred Read Indication The service is then carried out in the inverter and if the run is fault free the data are returned to the higher level automation equipment in response Read Response The Read service is ended on receipt of confirmation of the service Read Confirmation by the automation equipment aa MI a Ea Master 1 Read request e g Read T11 ramp up index 1025 Read request gt Read 1025 JM Read indication 2a Parameter index 25 1025 1000 is read J by inverter 3a Inverter responds to read request sending requested data e g 0 5 s Read confirmation
53. a PI are data that are transmitted from the inverter to the higher level automation unit e g status information actual values etc Process output data PO are data that are output to the inverter by the automation unit e g setpoints control commands etc 3 1 Commissioning the Inverter Parameters can be assigned to the MOVITRAC 31 inverter via the fieldbus system immediately after the fieldbus option pcb has been installed no further settings are necessary Amongst other things this enables all parameters directly to be downloaded from the higher level automation unit via the fieldbus system after switching on the inverter To control the inverter via the fieldbus system however the latter must first be switched to the relevant control mode This can be done with the parameter P841 Control Mode After the inverter is set to the factory settings this parameter is set to STANDARD control and setpoint processing via input terminals The inverter is parameterized to accept the setpoints from the fieldbus with the setting P841 Control Mode FIELDBUS The MOVITRAC 31 will now react to the process output data transmitted by the higher level automation unit Activation of the fieldbus control mode is signalled to the higher level control by means of the Fieldbus Mode Active bit in the status word For safety reasons the inverter must also be enabled on the terminal side in order for it to be controlled via the fieldbus system T
54. activated the following process output data are defined for the MOVITRAC 31 inverter PO 1 Setpoint Description PO 2 Setpoint Description PO 3 Setpoint Description CONTROL WORD 1 SPEED NO FUNCTION MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data Separate setting of the process output data description allows a multitude of combinations to be set though not all of them make sense from a technical point of view Table 5 gives a selection of combinations which are technically expedient A column is reserved in the table for each process output data word the assignment of the column to the process output data PO1 PO3 however is arbitrary so that the columns are designated as PO X PO Z 3 3 2 PO Data Processing in the Inverter POX POY POZ Functionality CONTROL WORD 1 SPEED Control and speed setpoint via fieldbus CONTROL WORD 1 Control via fieldbus setpoint via analog input or Control and motor pot int fixed setpoints via fieldbus CONTROL WORD 1 SPEED RAMP Control speed setpoint ramp via fieldbus CONTROL WORD 1 SPEED MAX SPEED Control speed setpoint max speed via fieldbus CONTROL WORD 1 SPEED MAX CURRENT Control speed setpoint max current via fieldbus CONTROL WORD 1 SPEED SLIP Control speed setpoint slip via fieldbus CONTROL WORD 1 POSITION HI POSITION L
55. als 39 Actual value description PI data 18 Actual position 20 Actual value of apparent current 19 Actual value of speed 19 No function 19 Relative actual value of speed 19 Status word 1 Status word2 20 Additional code 51 Application examples 57 B Baud rate fieldbus 56 C Checking parameter setting 56 Commissioning examples 58 62 67 73 Commissioning the inverter 9 Control word 25 Assignment of the basic control block 25 Basic control block 25 Combined with input terminals 25 37 Control command Enable 27 Control command Stop 28 Control command Controller inhibit Control command Rapid stop 27 Control commands via bit 0 2 26 Control word 1 with internal setpoint functions 29 Control word 2 with digital input terminal expansion 31 Control word 2 with virtual terminals Control word 2 without digital input terminal expansion 32 Noentry 17 Simultaneous transmission of control word 1 and control word 2 18 27 31 D Diagnosis of the process input data of the process output data Download parameter block 54 53 50 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 E EEPROM Deactivate save function Emergency stop concept Error Additional code Error class 50 Error code 51 F Factory setting Activating the factory setting Actual value description PO1 3 Fieldbus timeout 42 Setpoint description PO1 3 Timeout response 42 Fault fieldbus tim
56. and is then transferred to the control word with the coding 0002 L KF 5000 1000 1 min CW T PW 134 as speed setpoint LEFT L KF 3750 750 1 min CCW N N T PW 134 as speed setpoint CONT U E 14 2 U E 1 2 Control command 0B1 SPB ENAB Trigger enable SPA FB 10 UNE 44 NAME SEW U E 12 Control command SPB STOP Trigger stop BE 7 SUN E 1 2 Control command j SPB STOP Trigger rapid stop y cyclically BEA N d ENAB L MW 100 Write acceleration ramp TPW 136 from MW 100 L KH 0006 Write enable TPW 132 to control word BEA STOP L MW 102 Write deceleration ramp TPW 136 from MW 102 L KH 0002 Write stop TPW 132 to control word BE STOP L KH 0000 Write rapid stop T PW 132 to control word BE 00354AEN Fig 50 Example of an S5 program for control of the MOVITRAC 31 inverter via the process data The process input data Status Word 1 Speed Actual Value and Apparent Current Actual Value can be processed with the load command e g L PW 132 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 65 Application Examples 66 7 2 4 Start up Parameter Setting via a Fieldbus The manual configuration procedure described in section 7 2 2 can also be carried out automatically by the higher level fieldbus master i e all the drive parameters can b
57. b www clrwtr com Email info clrwtr com Inverter Control with Process Data 19 Inverter Control with Process Data 20 Actual Position POSITION LO HI Position actual values must be spread over two process data words as the position is generally transmitted as integer32 This means you have to specify both the Position Actual Value High and the Position Actual Value Low Fig 7 Scaling of the actual position Section 3 3 5 Position actual values can only be used in conjunction with the internal POS positioning control If the inverter is not fitted with the POS option and its pertinent functions this setting will be rejected Status Word 1 Status Word 2 Assigning status word 1 or status word 2 to the process input data allows you to access status data fault and reference signals For a description of status words 1 and 2 Section 3 5 Factory Setting of the P17 P13 Actual Value Description When the factory setting has been activated the following process output data are defined for the MOVITRAC 31 inverter PI 1 Actual Value Description PI 2 Actual Value Description PI 3 Actual Value Description STATUS WORD 1 SPEED NO FUNCTION 3 3 4 Enable Fieldbus Setpoints Re parameterizing the process output data e g changing the PO2 setpoint description from speed setpoint to current setpoint is usually done by means of parameter adjustment Immediately after changing the PO2 setpoint description from speed
58. bus timeout parameter has elapsed the inverter will ramp down the rapid stop ramp P140 T13 Stop Ramp P141 T23 Stop Ramp and at the same time issue a warning fault 87 The inverter has then already left the fieldbus mode After a signal transition on the input terminal programmed to the Controller Inhibitthe inverter can then be controlled using the digital input terminals and the analogue setpoint To do this proceed as follows 1 Fieldbus mode with input terminal Controller Inhibit 24 V controller enabled on terminal side i e the inverter is controlled solely via the fieldbus 2 After a fieldbus timeout the terminals and the analogue input must be controlled in such a way that after a signal transition on the Controller Inhibit terminal the drive will travel in the desired direction 3 To exit this emergency operation mode you must disconnect the inverter completely from the supply mains supply and 24 V supply and then reconnect it To avoid generating a fieldbus timeout error again observe the following connection sequence 1 Connect the 24 V external supply 2 Start the fieldbus 3 Connect the mains supply 4 2 8 No Response The inverter continues to operate using the process output data last received until the bus system will send new process output data again No fault signal is issued MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com
59. cess Data Description for Positioning Mode a 72 1 4 4 COmMISSIONINO APA NAA PAA APAN POTE D o QUE 73 1 4 5 5 Application PIOQFGITI 25 aoi soe icc ek eor bs Rr Hr c e tego eS 76 pr sion seen P TI MOVITRAC 31 Fieldbus Unit Profile 5 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Introduction 1 Introduction Fieldbus systems are increasing in significance in mechanical and industrial engineering Not only can they bring about considerable savings in installation and maintenance costs but they also offer an ideal way of creating a digital network of intelligent sensors and actuators with higher level automation systems such as programmable logic controllers PLCs industrial PCs IPCs etc Because of the large number of bus systems available on the market designers and constructors of industrial plants are these days often required to have a knowledge of more than one system Consequently a universally applicable fieldbus interface which can support different fieldbus systems is an absolute necessity for field equipment at sensor actuator level The commissioning and diagnostic facilities of the fieldbus systems are another major point These days diagnosis is generally made via the master module or via specific bus monitors which can often only be operated by specialists so intelligent field equipment should also provide extreme
60. cimal form using the inverter s hand held keypad In addition the MC_SHELL PC program offers an interpretation of the process output data conforming to the unit profile such as a display of speed setpoints in units of 1 min 6 2 Diagnosis of Process Input Data As is the case with diagnosis of process output data the fieldbus monitor parameters P075 PI1 actual value hex P077 PI2 actual value hex P079 PI3 actual value hex can be used to access the status information or the actual values sent from the inverter to the higher level control Fig 30 4 075 Pit act value hex l 077 PI2 act value hex oo07nex 0 01F3hex 079 P13 act value hex NG 0000h ex Process input data P1 EI 0007hex 01F3hex 0000hex PM PI PI 00337AEN Fig 30 Process input data diagnosis with MOVITRAC 9 31 54 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Commissioning and Diagnosis The fieldbus monitor function can be used with the PC user interface MC_SHELL version 2 40 or higher Fig 31 This function provides a user friendly method of commissioning and diagnosis for the use
61. d setpoint E1 3 1 750 1 min CCW E1 3 0 1000 1 min CW MOVITRAC 31 Fieldbus Unit Profile 57 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 58 Only parameter set 1 and ramp generator set 1 are used The drive shall accelerate using an acceleration ramp generator of 1 5 s decelerate using a deceleration ramp generator of 2 s and carry out a rapid stop within 200 ms The inverter is also to recognize a bus error that lasts longer than 100 ms and to use the rapid stop to bring the drive to a standstill 7 1 2 Commissioning We recommend using the following method to implement this application example 1 Wire the inverter in accordance with the Installation and operating Instructions To operate with the fieldbus connect the inverter to an external 24 V supply terminals 30 and 40 Insert a jumper between terminals 41 and 44 in order to enable the inverter on the terminal side Fig 34 j sana e 3 e 5 S 523 Size 0 2 BSS Size 1 4 o Iu es o zu SPG 55 a Soo 55 EF EE Si2e2 6 TAaSEE 8 x X2 Ayr ee 4 X3 X2 4 4 kA x X3 X14 H 5 SSEFTF TETE SY salscleisss sesegleaeees I LH wee Use this jumper to enable Jumper installed Use this jumper to enable Jumpers ins
62. d setpoint 13 17 21 Statusword 33 Assignment of the basic control block 33 Basic control block 33 Coding of the unit conditions 36 Status word1 35 Status word2 36 Status word 2 with virtual output terminals 37 Timeout monitoring 42 Timeout response 42 Timeout response 42 Emergency stop with fault 43 Emergency stop with warning 43 Immediate switch off with fault 44 Immediate switch off with warning 43 Noresponse 44 Rapid stop with fault 43 Rapid stop with warning 43 Switching to standard mode 44 Wiring with emergency stop 62 WRITE 48 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com
63. d to an optional and physically not available input terminal and can be programmed to any function This MOVITRAC 31 feature allows you to individually implement your fieldbus drive application making full use of all unit functions via the fieldbus interface Figure 17 shows the assignment of the control word 2 for the standard MOVITRAC 31 unit As the terminals 48 and 49 are standard in the basic version of the inverter here only the optional input terminals 50 54 are available as virtual terminals Virtual input terminals Permanently defined o 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 L 0 Controller inhibit enable 1 Enable rapid stop 2 Enable stop 3 Hold control 4 Ramp generator selection 5 Parameter set selection 6 Reset 7 Reserved MOVITRAC 31 with digital input terminal expansion Virtual terminal 1 terminal 50 Virtual terminal 2 terminal 51 Virtual terminal 3 terminal 52 11 Virtual terminal 4 terminal 53 12 Virtual terminal 5 terminal 54 13 Virtual terminal 6 reserved 14 Virtual terminal 7 reserved 15 Virtual terminal 8 reserved 00327AEN EFI O co co Fig 17 Control word 2 for the MOVITRAC 31B basic unit with digital input terminal expansion You can program any function to the virtual input terminals Table 16 shows the vir
64. dbus system users should take note of the following instructions when adjusting parameters MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Setting Inverter Parameters d All parameters are reset to the default value when activating the factory setting For fieldbus operation this means that the fieldbus control mode is exited and that all fieldbus parameters are reset to the default values New parameter values can then be assigned to the inverter which can now be switched back to P841 Control Mode Fieldbus Inverter parameters can be adjusted manually with the hand held keypad or with MC SHELL or via the fieldbus system in the form of a parameter download The following procedure must be followed when the factory setting is activated via the fieldbus and parameters then adjusted 1 Parameter to be written P830 Factory Setting Yes fieldbus index 1203 2 Parameter P830 Factory Setting to be repeatedly read until factory setting has been completely activated and P830 Factory Setting No is returned 5 4 1 Factory Setting 3 All drive parameters that differ from the factory setting to be written either by means of single write services or as a download parameter block Inverter parameters can be adjusted manually with the hand held keypad or with MC SHELL or via the fieldbus system using the write service specific to that fieldbus IM
65. e Description No Function valid after a factory setting has been carried out This configuration allows you to implement a broad range of applications without having to change the process data assignment Fig 33 shows the process data transmitted between the control unit and the inverter qo 0 Process output data PO II Bf 3 Control Speed bl o C word 1 setpoint a a Status Speed fle Js Es EST Ec HIS word 1 actual value Process input data PI 00340AEN Fig 33 Application example for inverter control using two process data words 7 1 1 Objective The inverter is to be controlled by means of two process data words The process output data Control Word 1 and Speed Setpoint are to be specified by the higher level control unit Conversely the inverter is to return the process input data Status Word 1 and Speed Actual Value to the higher level control unit The application program is to control the following inverter functions 1 The digital input E1 1 is to trigger the control commands Enable and Stop E1 1 1 Enable E1 1 0 Stop 2 The digital input E1 2 is to trigger the control commands Enable and Rapid Stop E1 2 1 Enable E1 2 0 Rapid stop 3 The digital input E1 3 is to specify the spee
66. e save to EEPROM function with P801 Save Off Any parameters subsequently modified will not be stored in resident memory 4 Adjust parameters cyclically If the inverter is now switched off and on again or reset using the Reset function the settings given in point 2 will become effective again However the P801 Save parameter remains switched off so that your application can immediately be controlled again at point 4 MOVITRAC 31 Fieldbus Unit Profile 49 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com E Setting Inverter Parameters 50 5 4 3 Parameter Lock The parameter lock prevents adjustable parameters from being changed in any way by activation of P800 Parameter Lock Yes Activating the parameter lock is useful when the inverter parameters have been completely adjusted and no further changes are necessary Amongst other things this parameter enables you to stop any change to the drive parameters being made on the hand held keypad for example IMPORTANT The parameter lock prevents parameters being written altogether Thus the write access via the fieldbus system is also disabled while the parameter lock is active 5 4 4 Download Parameter Block A number of fieldbus option pcbs offer the possibility of downloading up to 39 drive parameters simultaneously from the higher level automation equipment to the inverter with one single write service This downloading is carried out by a spec
67. e set automatically via the fieldbus when the control system starts up In order to automatically set start up parameters please consult the MOVITRAC 31 Parameter Listto establish the fieldbus index and the coding for the relevant setting from the menu numbers given in section 7 2 2 The following table shows the indices and codings for start up parameter setting taken from the Parameter List Menu no Parameter name Setting Fieldbus index Coding decimal 4 byte hex 830 FACTORY SETTING YES 1203 00 00 01 00 841 CONTROL MODE FIELDBUS 1205 00 00 03 00 564 PO3 SETP DESCRIPT RAMP 1603 00 00 08 00 565 PI3 ACT VALUE DESCRIPT APPARENT CURRENT 1606 00 00 02 00 570 ENABLE SETPOINTS YES 1607 00 00 01 00 571 FIELDBBUS TIMEOUT 0 10 1608 00 00 00 10 572 TIMEOUT RESPONSE RAPID STOP 1609 00 00 00 00 drive specific parameters 140 T13 RAMP STOP 0 20 1028 00 00 00 20 The parameters listed in the table can now be transferred to the inverter in the required order e g via individual write services or via the download parameter block if supported by the option pcb However please note that all other parameters can only be written once the factory settings have been completely activated 7 3 Relative speed I 0 module functionality The following application example shows how the inverter is controlled via the relative speed setting Additionally the 1 0 module is used so the higher level automation unit reads 5
68. e setpoint specification dependent on input E1 2 Actual control of the inverter starts from the STEU jump flag via the digital input E1 1 which triggers the control commands Enable and Stop FB 10 Connect sensors with inverter and actuate relay XEM U E 326 Inverter input 42 N U E 325 Inverter input 43 U E 324 Inverter input 47 U E 323 Inverter input 48 Ln U E 322 Inverter input 49 OBt A 32 0 Inverter output 62 SPA FB 10 UNE 12 Switch over NAME SEW SPB LINK of the setpoints L KH 3000 CW rotation 75 of P202 T AW 34 as speed setpoint SPA STEU LINK L KH F000 CCW rotation 25 of P202 P T AW 34 as speed setpoint BE Nag Cyclic S A 331 Control command Enable U E 11 or Stop with control word t A 33 2 trigger bit 2 BE N x 01147AEN Fig 61 S5 program example for controlling inverter MOVITRAC 31 via relative speed specification and implementation of the 0 module functionality of the inverter 70 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples Fig 62 again shows the logic mapping of the input and output terminals of the inverter onto the status and control word 2 Within the PLC the O information on the common relation commands can be programmed pos Se See eee ee ee ee ee eS ang gt U1 32 6 input terminal 42 CS U1 32 5 i
69. el control will the process output data channel be enabled again for processing Process output data disabled NO The inverter will continue to use the last valid frozen process output data for this setpoint processing until the fieldbus setpoints are activated again Process output data enabled YES The inverter uses the process output data from the fieldbus Enable Factory Setting of the Fieldbus Setpoints Parameter When the factory setting has been activated the fieldbus parameter 570 Enable Fieldbus Setpoints is defined as follows YES Process output data enabled 3 3 5 Scaling of the Process Data Process data are always transmitted as hexadecimal data to facilitate their handling and processing by the system Parameters with the same unit of measurement are given the same scaling to allow the setpoints and the actual values to be compared directly in the application program of the higher level automation unit There are four different process data types Speed 1 min Relative Speed 96 Current rated current Ramp ms Position degrees The different control word and status word variants are coded as bit fields and will be discussed in a separate section Scaling of the Speed The Speed Setpointand Speed Actual Value process data are specified in the unit 1 min and mapped as signed values to a process data word 16 bit integer The following table shows the scaling for Speed process data
70. ence Imax Deceleration fault Fault External fault Current INDC link gt gt xt gt gt Temperature gt gt Frequency window skip Brake Off Speed zero Motor warning 1 Motor warning 2 In Position IPOS output 1 8 Not available for MOVITRAC 31 size 0 3 8 Integrated Input Output Module Functionality The input and output terminals of the inverter can be used for digital input output of sensor actor signals via the fieldbus system This way the inverter MOVITRAC 31 additionally takes on the functionality of an input output module on the fieldbus Consequently the higher level control can read in the sensor signals on the inputs of the inverter and can control an actor via an output terminal of the inverter 3 8 1 Scale of functions In the basic design the inverter MOVITRAC 31 is equipped with 6 digital input terminals and 2 digital output terminals For the l O module functionality all free programmable terminals can be used Consequently the higher level control is provided with maximum 5 digital input terminals and 1 digital output terminal MOVITRAC 31 Fieldbus Unit Profile 39 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 40 3 8 2 Principle method of functioning The 1 0 module functionality is only available in the operating modes U f control or speed control P770 operat
71. ent the position setpoint of the fieldbus Fig 74 shows the minimum program for the use of the position setpoint of the fieldbus interface MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 15 Application Examples 76 Ol 7 g 0 t Lis ie 1 E Jo g g o3 e o Process output data PO fe dg TESTER gt Contro word 2 Position high Position low gt IPOS automatic program TIT ITI TOR IIR IORI OR I IK I RR IK GOO 0 Carry out reference travel GOPA Implement fieldbus position setpoint END 01154AEN Fig 74 Implementation of the position setpoint in the IPOS automatic program 15 Activate the IPOS automatic program in the inverter by initiating the control command Enable via the fieldbus and start the IPOS program with MC SHELL All the parameters for this application example have now been assigned Important In this application example the inverter is enabled on the terminal side by the means of the jumper between terminals X2 41 and X2 44 The effect of this is that the drive would accelerate immediately after the factory setting is activated and when the
72. eout 45 Fault messages Fault28 45 Fault 34 45 Fault 87 45 Fieldbus address Fieldbus monitor Fieldbus type 56 Fieldbus unit profile 3 Functional overview 7 25 49 62 51 49 20 16 56 53 Monitoring functions 42 MOVITRAC 31 settings Actual value description PI data Commissioning with fieldbus Control mode fieldbus 9 Enable fieldbus setpoints 20 Factory setting 49 Fieldbus monitor parameter Fieldbus timeout 42 Monitoring function 42 Parameter lock 50 PD configuration 11 Process data description Save 49 Setpoint description PO data 12 Terminal assignment for fieldbus operation 9 Timeout response 18 10 53 12 42 TI Web www clrwtr com Email info clrwtr com 78 P Parameter list MOVITRAC 31 3 Parameter lock 50 Parameter setting Cyclical 49 Data length coding 47 Index addressing 46 Process data configuration 56 Reading aparameter 47 Return codes 50 Sequence 46 Verification 56 Writing a parameter 48 Process data Combinations 17 Configuration 56 Disable 21 Mapping inthe PLC 11 Process output data 9 Process input data 9 Processing 17 Scaling 21 Special cases 17 R READ 47 S S5 Application program 60 65 69 76 Setpoint description PA Control word definition 17 18 25 Current limit 15 23 Current setpoint 23 Duplicate usage 18 No function 13 Position 24 Position setpoint 14 18 24 Process ramp 16 23 Slip compensation 16 Speed limit 15 22 Spee
73. eturn the current speed actual value to the higher level automation unit in the unit 1 min Scaling of the speed actual value see Section 3 3 5 The speed actual value can only be returned accurately if the inverter can determine the actual motor speed by means of a speed feedback facility In a slip compensated application the difference to the real motor speed depends solely on the accuracy of the slip compensation set by the user Apparent Current Actual Value APPARENT CURRENT The Actual Value Description Plx APPARENT CURRENT setting causes the inverter to return the apparent current actual value to the higher level automation system in the unit Yo In in per cent of the inverter rated current Scaling see Section 3 3 5 Relative Actual Value of Speed SPEED With the parameter set to actual value description PEx SPEED 96 the inverter feeds the current relative actual value of speed with the unit 9o fmax back to the higher level automation system The scaling of the speed setpoint is described in section 3 3 5 The relative actual value of speed can only be returned excactly if the inverter can determine the actual motor speed via speed feedback and is operated speed controlled In the case of slip compensated applications the deviation from the actual motor speed is determined only by the accuracy of the slip compensation set by the user MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 We
74. g of the speed setpoint is described in section 3 3 5 With the assignment of the relative speed setpoint to a process output data word the analog setpoint is deactivated automatically The execution of internal setpoint functions such as the selection of internal fixed setpoints or motor potentiometer is higher level this means that in these cases the speed setpoint set via fieldbus is not effective With the setpoint descriptions SPEED and SPEED a speed setpoint is specified generally Consequently programming both setpoint variants at the same time is technically not efficient and is treated as double assignment of the process output data channel which means that only the first speed setpoint programmed is processed by the inverter The relative speed setpoint always refers to the current applicable maximum limit of the speed or frequency fmax this means a percental setpoint of 100 is generally equivalent to the current applicable value of fmax whereas a set value of 0 is generally equivalent to 0 Hz Due to the fact that fmax IS the active maximum limit setpoints higher than 100 cannot become effective In the case of a setpoint entry higher than 100 the frequency fmax is set Position Setpoint POSITION LO HI not for MOVITRAC 31 size 0 Position setpoints may only be used in conjunction with the internal POS positioning control Unless the inverter is fitted with the POS option and its pertinent functions this setting wil
75. he option pcb by means of a hardware switch These manual settings enable the inverter to be integrated into the fieldbus and switched on in a very short space of time Parameters can be set fully automatically by the higher level fieldbus master parameter download This forward looking version offers the benefits of a shorter commissioning period for the plant as well as simpler documentation of the application program as all major drive parameter data are now 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 MOVITRAC 31 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 inverter should trigger if an error should occur in MOVITRAC 31 Fieldbus Unit Profile 7 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ES Overview of Functions 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 terminals is also ensured when the inverter is operated in the fieldbus mode fieldbus independent emergency stop concepts can still be implemented via the inverter s terminals
76. he terminals should therefore be wired or programmed so that the inverter is enabled via the input terminals The simplest method of enabling the inverter via the terminals is to provide input terminal 41 CW STOP function with a 24 V signal and to program input terminals 42 and 43 to NO FUNCTION Fig 1 demonstrates how the MOVITRAC 31 inverter is commissioned with a fieldbus connection Attention Carry out commissioning with mains voltage switched off and with the external 24 V supply only This prevents the drive from starting to move automatically during reprogramming Switch on mains N voltage only after completed setting of parameters MOVITRAC 31 Fieldbus Unit Profile 9 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 10 1 ENABLE the inverter on the terminal side Apply a 24 V signal on input terminal 41 Function CW STOP e g set jumper as shown below Size 0 41 gt 1 0 CW STOP 42 gt no function 43 no function 44 w 24V ojo om N Size 1 4 o mo 41 1 0 CW STOP 42 no function 43 gt no function 44 w 424 V Use this jumper to enable the Jumper installed when supplied Use this inverter via terminal side inverter via terminal side
77. ication of Parameter Adjustment All MOVITRAC 31 frequency inverter parameters can be read or written via both the serial interface and the fieldbus interface Thus either the hand held keypad or the MC SHELL PC program can be used for checking the adjustment of parameters via the fieldbus system It is consequently possible to use the serial interface to read and check parameters written using the fieldbus for example The MOVITRAC 31 Parameter List provides co ordination between the hand held keypad menu number and the parameter index In principle no verification is necessary since the inverter responds with an appropriate error message if parameters have been wrongly adjusted see also Section 5 5 6 5 Information about the Fieldbus Option PCB Further information about the fieldbus option pcb is provided by fieldbus monitor parameters P070 P073 6 5 1 Process Data Configuration The fieldbus monitor parameter P070 Process Data Configuration shows how many process data words are used for inverter control and whether the parameter channel is used This parameter is either set with a hardware switch on the fieldbus option pcb or via the fieldbus master during bus system start up e g with PROFIBUS DP 6 5 2 Fieldbus Option PCB Type The fieldbus monitor parameter P071 Fieldbus Type shows which fieldbus system will be supported by the fieldbus option pcb used Because the fieldbus interface on the MOVITRAC 31 frequency
78. ific communications object the Download Parameter Block When using the download parameter block please bear the following in mind 1 No factory setting should be carried out within the download parameter block 2 Once the parameter has been set to P807 Save OFF none of the parameters written subsequently will be stored memory resident 3 Once the P800 Parameter Lock YES parameter has been activated all parameters written subsequently will be declined 5 5 Parameter Adjustment Return Codes If parameters are wrongly adjusted various return codes are sent back from the inverter to the parameter setting master providing detailed information about the cause of the error These return codes are structured according to DIN 19245 Part 2 A distinction is made between the following elements Error Class Error Code Additional Code 5 5 1 Error Class The type of error is classified in more detail using the Error Class element The error classes listed in the following table are differentiated according to DIN 19245 Part 2 Class hex Designation Meaning 1 vfd state Status error of the virtual field unit 2 application reference Error in the application program 3 definition Definition error 4 resource Resource error 5 service Service error 6 access Access error 7 ov Error in the object list 8 other Other error Additional Code MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax
79. incremented for CLOCKWISE direction of rotation and decremented for COUNTERCLOCKWISE direction of rotation After power up the inverter is in position 0 IMPORTANT When handling the position setpoints in the application program of the higher level automation unit make sure that both process output data words containing the position data are dealt with consistently i e that the position setpoint high is always transmitted together with a position setpoint low Otherwise the inverter might approach undefined positions as e g an old position setpoint low and a new position setpoint high might be active together Example Entry of a position setpoint via the process data channel This example shows how position setpoints must be set specified by the higher level control using the process data channel In our example positions 1 and 2 shown in Fig 10 shall be specified via the fieldbus system For this example to work the motor must be in position 0 after power up Direction of rotation CW Position 1 Position 0 Position 2 00320AEN Fig 10 Positioning example with starting position 0 and two target positions 1 and 2 Position 1 is 35 motor revolutions CCW away from starting position 0 position 2 is 19 motor revolutions CW The two positions then have the following process data codings Position Conversion of the scaling Transferred process data Position 1 FFFD D000nex 35 revs CCW 35 4096 143360dec FFFD D 000nex
80. ing a Parameter WRITE cessat via ol dt BAD NG NAG PG BAK Kha mY AA DRA E 48 4 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 5 4 Instructions to the User when Adjusting Parameters a 48 5 4 1 Factory SCuING cin Kam NA ANA AA KB ATA AKING KAL PIGA hemes LANG KAT DIDIT 49 5 4 2 se ila dao AA ARN RP 49 5 4 3 Param ter EG eia aud iato asl ado ORDRE e 3028 RACE D e pta ar e NAA 50 5 4 4 Download Parameter Block ii 22 uus rci oen caca cioe x ea tania ances we 50 5 5 Parameter Adjustment Return Codes 0 000 ccc cece ee cece eens 50 5 5 1 Error DIOS orae test s aetate PAP cr AA LIEU 50 5 5 2 Sq GOUE Pr 51 5 5 3 Additional God cuc ics in ere ew ara ba wt atn Wet eade Eee b obe G 51 5 5 4 Special Return Codes Special Cases 52 6 Diagnosis Using the Fieldbus Monitor Parameters 53 6 1 Diagnosis of Process Output Data aa pamana EET VE Cr Ph NG E nns 53 6 2 Diagnosis of Process Input Data wa ahaha ra na KR RR ERR RC en 54 6 3 MC SHELL Fieldbus MONON 225 eus qua ace em eq DES ERES SERA EX Cas 55 6 3 1 Diagnosis Using the Fieldbus Monitor 0 0 cc cece cece 55 6 3 2 Control Using the Fieldbus Monitor uui ER AE KAG KAN EIER RR RE DRESS 55 6 4 Verification of Parameter Adjustment ccc cece eee eee 56 6 5 Information about the Fieldbus Option PCB a 56 6 5 1 Process Data GOnmgurav
81. ing mode U f control or speed control as the output terminal assignment IPOS OUTPUT 1 8is used Thereby the first eight inputterminals are assigned to the output terminal assignments IPOS OUTPUT 1 8 according to the following table Input terminal Assignemt via output terminal assignment Available basic unit with FEN FPI 41 IPOS output 1 physical 42 IPOS output 2 physical 43 IPOS output 3 physical 47 IPOS output 4 physical 48 IPOS output 5 physical virtual in control word 2 49 IPOS output 6 physical virtual in control word 2 50 IPOS output 7 virtual in control word 2 51 IPOS output 8 virtual in control word 2 When activating the internal positioning control IPOS P770 operating mode positioning control the 0 module functionality must be simulated with the IPOS program The reflection of the physical input and output terminals onto the fieldbus takes place via the virtual input terminals of the control word 2 and the virtual output terminals of the status word 2 In order to make the inverter ignore the input terminals used for the l O module functionality for drive control these terminals must be programmed to NO FUNCTION The connection to the fieldbus is made by programming the output terminals to the function IPOS OUTPUT 1 8 Reading in Physical Inputs In order to be able to read in the physical input terminal 42 for example via fieldbus this terminal is programmed onto a virtual output ter
82. ins voltage for safety reasons MOVITRAC 31 Fieldbus Unit Profile 73 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 3 Activate the factory setting FACTORY SETTING 830 YES 00342AEN Fig 66 Activating the factory setting via the keypad 4 Set the inverter control mode parameter at Fieldbus 841 FIELDBUS CONTROL MODE 00343AEN Fig 67 Switching to control mode fieldbus using keypad 5 The process data description parameters PO1 P11 PO2 and PI2 are changed according to the application specification 560 STATUS WORD 2 563 POSITION HIGH setpoint description PO1 actual value description P12 561 STATUS WORD 2 564 POSITION LOW setpoint description PI1 setpoint description PO3 562 POSITION HIGH 565 POSITION LOW setpoint description PO2 setpoint description PI3 01151AEN Fig 68 Programming of the process data description parameters via keypad 6 As the setpoint description for the process input data has been changed the inverter has locked automatically with enable fieldbus setpoints NO Re enable the fieldbus setpoints with P570 enable fieldbus setpoints YES 570 YES ENABLE SETPOINTS 00352AEN Fig 69 Enabling fieldbus setpoints via keypad 7 Program the fieldbus parameter Fieldbus Timeout to 100 ms and the parameter Timeou
83. inverter is universal this parameter is for information only 6 5 3 Fieldbus Baud Rate The P072 Fieldbus Baud Rate parameter shows the fieldbus baud rate in kbaud Depending on the fieldbus system used adjustment can either be made with a hardware switch on the fieldbus option pcb or via automatic baud rate detection If the baud rate cannot be detected the value 0 00 is displayed 6 5 4 Fieldbus Address The P073 Fieldbus Address parameter shows the actual fieldbus station address of the inverter Adjustment of this address is carried out using a hardware switch on the fieldbus option pcb see the User Manual for the option pcb This parameter will be set at O for fieldbus systems which do not need station addressing MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 7 Application Examples This section gives two examples of applications that demonstrate how to operate the MOVITRAC 31 inverter with a fieldbus connection and control it via the fieldbus option pcb TA Control Using Two Process Data Words This example uses the process data description parameters P560 P561 P562 P563 P564 P565 P01 Setpoint Description Control Word 1 PI1 Actual Value Description Status Word 1 P02 Setpoint Description Speed Setpoint PI2 Actual Value Description Speed Actual Value P03 Setpoint Description No Function P13 Actual Valu
84. ioning control IPOS please refer to the documentation MOVITRAC 31 FPI 31 Positioning Control IPOS This description is not part of this example 7 4 1 Objective The inverter MOVITRAC 31 is to receive different position setpoints via the fieldbus system and execute the positioning process independently The complete control is to be carried out by the fieldbus master Further the current actual value of the position as well as the status of the inverter must be returned to the higher level master The inverter is to be controlled exclusively by the control word 2 Only the limit switches CW CCW are connected to the unit A corresponding IPOS automatic program is to be programmed for the processing of the setpoint position In the case of a bus fault the drive must execute a rapid stop after 100 ms MOVITRAC 31 Fieldbus Unit Profile 71 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 72 7 4 2 Implementation Possibilities with IPOS Generally different possibilities of carrying out a positioning operation via fieldbus arise The following variants for example can be implemented with IPOS The fieldbus position setpoint is used as IPOS manual operation setpoint The fieldbus position setpoint is used for the command GOPA in the IPOS automatic program The fieldbus position setpoint is mapped to IPOS variable and can be used universally Virtual terminals
85. l info clrwtr com Page 1 AA soos ak paseo ee ees BE eae dae pa eee aoe KG 6 2 Overview of Functions 266 a da du KANG NADA GA eREZCE NER RRER ERE RE HERES E ERAS 7 3 Inverter Control with Process Data 0 cece cee eee eens 9 3 1 Commissioning the Inverter as eens bas dps e beds KN REESE EE C XE Ves 9 3 2 Process Data Configuration a a AG KAMAG RR E eye eek ede hana 11 3 3 Process Data DescripllOll s add botnet eee 1o 93 2t ANA EN E A 13 3 3 1 Setpoint Description for the PO Data a 12 3 3 2 PO Data Processing in the Inverter nunan a 17 3 3 3 Actual Value Description of the PI Data 0 2 illie 18 3 3 4 Enable Fieldb s SEMOMMS s asa cities Sede oes EPI UR RETTax re Y E TY RE 20 3 3 5 scaling of the Process Data i csulisonilaselu week RR ERI ax nea 21 3 4 Definition of the Control Word uo cease ees eer t enw eed RE ys 25 3 4 1 Basic Control NOG oe iatis Ieri iwa aa aS a ES So ope Roe d oes s 25 3 4 2 Control Wordi FEET rm 29 3 4 3 Control Word dL sepas ae at tanta tana EC eter a a So HS Ex UR cook aa 2 31 3 5 Definition of the Status Word 22d cid SUS Poe e RERROS Uer sx Pix 33 3 5 1 Basi Status BIDDER oso s ais oS dear acie AA 33 3 5 2 Status Word Tar cus dise Been ea eee et apis ohare Ra dedu fan aUe tpe aes 39 3 5 3 Status Word Naa Aa eee ease KANA LAN E KANG NS Ue ERE RARE E E 36 3 6 Active Input Terminal Functions a ew bo by KAPG KAL E no n9 ee 37 3 7 Active Output Terminal Functions
86. l be rejected Position setpoints must be spread over two process data words as the position is generally entered as a signed 32 bit value integer32 You must therefore specify the more significant position setpoint POSITION Hl and the less significant position setpoint POSITION LO Fig 7 Otherwise the inverter will not respond to the position entry Scaling of the position setpoint see Section 3 3 5 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com CAUTION When handling the position setpoints in the application program of the higher level automation unit make sure that both process output data words containing the position data are dealt with consistently i e that the position setpoint high is always transmitted together with the position setpoint low Otherwise the inverter might approach undefined positions as e g an old position setpoint low and a new position setpoint high might be active together Process output data PO gt ppt PD PD3 Tv Control word 1 Position High Position Low mre ooo 00317AEN Fig 7 Assigning a position setpoint to the process output data Speed Limit MAX SPEED
87. l word 2 status word 2 7 4 4 Commissioning Wire the inverter in accordance with the installation and operating instructions For operation with the fieldbus connect the inverter to an external 24 V supply terminals X3 30 and X2 40 Insert a jumper between terminals X2 41 and X2 44 in order to enable the inverter on the terminal side Fig 65 Connect the two hardware limit switches for CW CCW EM ean cs coo 5 868 o pa E 2552 2 Vega Oo 009 o gt gt 225 E O aag 555 S 5 O Xo oS AS Cya fet ttt 1 9 eltio oln olywe coco r O O T cw Co coco Ol SiS wr o CO cO co LH Use this jumper to enable the inverter on the terminal side TT 24V 01150AEN Fig 65 Wiring of the inverter for application example with O module functionality 1 Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb For this example configure the process data length to 2PD For the option FFI 31 INTERBUS S for example this can be done via the DIP switches on the option pcb In the case of PROFIBUS DP option FFP 31 the process data length is configured in the master module Please refer to the User Manuals on the relevant fieldbus option pcb for further information 2 Switch on the external 24 V supply As the inverter has not yet had parameters set for fieldbus operation do not yet switch on the ma
88. lue App current value App current value V etc J ING etc J etc Pbi PD2 PD3 FG ES Process intput data PI Bec O 20 00318AEN Fig 8 Actual value description of the process input data P1 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Process input data words PIT to PI3 serve to transfer the parameters listed in the table below via the process data channel 32 bit values such as e g the actual position are transmitted in two process data words You may decide yourself in which process data word you wish to transmit the more significant part high and the less significant part low respectively NO FUNCTION SPEED APPARENT CURRENT SPEED POSITION LO POSITION HI STATUS WORD 1 STATUS WORD 2 Setting not possible for MOVITRACS31 Size O No Function If you assign NO FUNCTION to a process input data word the inverter will not update this process input data word In this case the MOVITRAC 31 will always return a value of 0000hex to the higher level control system Speed Actual Value SPEED The Actual Value Description Plx SPEED setting causes the inverter to r
89. ly simple fieldbus diagnostic facilities The SEW MOVITRAC 31 inverters meet these requirements and can be linked to systems such as the open standardized serial bus systems PROFIBUS DP PROFIBUS FMS and INTERBUS S by using fieldbus option pcbs The MOVITRAC 31 also enables connections to other fieldbus systems to be made thanks to the powerful universal structure of its fieldbus interface A major feature of the MOVITRAC 31 inverter is the field bus independent uniform behaviour of the unit unit profile when controlled via a fieldbus Because it operates independently of the fieldbus it enables plant constructors and PLC programmers to use different fieldbus systems with the same applications program i e the actual application concept and program can be implemented very easily with different fieldbus systems 6 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Introduction Thanks to its high performance universal fieldbus interface the MOVITRAC 31 inverter enables connections to be made with higher level automation systems via a wide range of fieldbuses such as INTERBUS S PROFIBUS DP PROFIBUS FMS etc The underlying behaviour of the inverter known as the unit profile is independent of the fieldbus and is thus uniform Visualization 2 Overview of Functions Controller 0 Sees L1 ap A
90. mains voltage is switched on as the parameter P841 Control Mode Standard is activated after a factory setting is carried out So make sure that the drive is designed in such a way that only the 24 V supply is switched on after the factory setting has been activated Do not switch on the mains voltage until the fieldbus control mode P841 Control Mode Fieldbus has been activated as the inverter is then controlled by the control word 7 4 5 S5 Application Program If for example the process input and output data is mapped to the peripheral addresses PW132 PW134 and PW136 within a Simatic S5 the control and specification of the position setpoints can be implemented with the corresponding load and transfer commands Read access L PW 132 read status word 2 L PW 134 read actual value position high L PW 136 read actual value position low Write access L PW 132 write status word 2 L PW 134 write actual value position high L PW 136 write actual value position low Important It is very important to make sure that the position values are treated consistently i e that it is guaranteed that position high as well as position low provide the correct 32 bit position value within one program bus cycle MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Index A Active input terminals 25 37 Active output termin
91. minal e g P617 terminal 72 IPOS OUTPUT 2 This way the logic level of the input terminal 42 is available to the higher level control via the virtual output terminal 72 of the status word 2 In order to avoid the drive functionality being affected by the level of the input terminal 42 the assigned terminal function is programmed to NO FUNCTION MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data Status word 2 Control word 2 Virtual output terminals Virtual input terminals 72 71 70 69 64 63 62 61 cc 54 53 52 51 50 Terminal programming P600 Terminal 42 NO FUNCTION P612 Terminal 72 OUTPUT IPOS 2 Physical inputs lat lap 43 47 48 49 60625 0 0 0 s TITTTT un 00956AEN Fig 24 Principle programming for reading in input terminals via fieldbus Controlling physical outputs The physical output terminal 62 is controlled via a virtual input terminal in the control word 2 of the inverter e g P611 terminal 62 IPOS OUTPUT 7 Consequently the physical output terminal 62 can be controlled by the higher level automation unit via the virtual input terminal 50 in control word 2 In order to avoid the drive functionality being affected by the vi
92. mit see Section 3 3 5 Entering the current limit via the fieldbus will automatically deactivate parameters P320 I MAX 7 and P340 I MAX 2 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 15 Inverter Control with Process Data 16 Slip Compensation SLIP not for MOVITRAC 31 size 0 The SLIP setting causes the MOVITRAC 31 inverter to interpret the transmitted process output data word as slip compensation value Scaling of the slip compensation value in the unit 1 min see Section 3 3 5 Entering the slip compensation via the fieldbus will automatically deactivate parameters P323 SLIP 1 and P343 SLIP 2 Entering the slip compensation via the process data channel only makes sense for applications which operated under speed control as a change in the slip compensation will also have an indirect effect on the torque The range of values for this slip compensation value is identical with the range of values for parameter P323 SLIP 1 and corresponds to a frequency range of 0 10 Hz When specified via the process data channel the slip compensation will be in the unit 1 min you will therefore have to take account of the pole pair number of the connected motor To calculate the range of values for the slip speed use the following formula ng Slip speed specified fs 60 fs slip frequency p p pole pair n
93. n Simatic S5 syntax These application examples can be used with almost all fieldbus option pcbs that fit the MOVITRAC 31 inverter In addition to this Fieldbus Unit Profile User Manual the following more detailed documentation on fieldbus is also necessary in order to enable the MOVITRAC 31 to be connected simply and efficiently to the fieldbus system e g PROFIBUS DP PROFIBUS FMS INTERBUS S etc User Manual for PROFIBUS FFP 31 option part number 0922 6818 User Manual for INTERBUS S FFI 31 option part number 0922 6915 User Manual Communications Interfaces and Parameter List MOVITRAC 31 part number 0923 0580 The FFP 31 PROFIBUS Option PCB User Manual describes the installation and commissioning of the FFP 31 PROFIBUS option pcb and gives further examples of applications specifically for setting the inverter parameters via PROFIBUS DP and PROFIBUS FMS The FFI 31 INTERBUS Option PCB User Manual describes the installation and commissioning of the FFI 31 INTERBUS S option pcb and gives further examples of applications specifically for setting the inverter parameters via INTERBUS S The MOVITRAC 31 Parameter List contains a list of all the inverter s parameters that can be read or written via the various communication interfaces such as the RS 232 RS 483 and via the fieldbus interface MOVITRAC 31 Fieldbus Unit Profile 3 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Emai
94. nable Stop to initiate the Stop control command Of all three control commands available for stopping the drive the Stop control command has the lowest priority Activating the Hold Control not for MOVITRAC 31 size 0 Set bit 3 1 of the control word to activate the Hold Control function when the inverter is in speed control mode This function causes the inverter to carry out a stop using the active ramp and then hold the position under hold control When the inverter is in V f control mode this bit is reserved as the function cannot be activated Therefore when the V f control mode set this bit to 0 Selecting the Effective Parameters Set not for MOVITRAC 31 size 0 Use bit 4 of the control word to select the effective ramp generators The following table shows the ramp generators which can be selected with this control bit Par set Ramp gen set Valid ramp generator P120 T11 Ramp up 1 P121 T11 Ramp down 1 P140 T13 Ramp stop P130 T12 Ramp up down 2 P140 T43 Ramp stop P123 T21 Ramp up 1 P124 T21 Ramp down 2 P141 T23 Ramp stop 2 P131 T22 Ramp up down P141 T23 Ramp stop Parameter set 2 not available for MOVITRAC 31 Size 0 This bit is OR d with the input terminal function Ramp Generator Selection i e a logic 1 on the input terminal OR in the control word bit will activate ramp generator set 2 Selecting the Effective Parameter Set not for MOVITRAC 31 size 0 Use bit 5 of
95. ng STOP FAULT Rapid stop with fault EMERGENCY STOP FAULT Emergency stop with fault IMMEDIATE SWITCH OFF FAULT Immediate switch off with fault STANDARD MODE Switch to standard mode NO RESPONSE No response MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Monitoring Functions a In respect of inverter responses to a fieldbus timeout a distinction is made between warnings and faults In both cases the red V1 LED and the fault message Fieldbus Timeout signal an interruption of the fieldbus communications link While in the case of a warning this fault indication is automatically cancelled when the bus system starts up again in the case of a fault the inverter must be completely RESET with one of the available reset options via the keypad terminal or fieldbus After a factory setting has been carried out this parameter has the value P572 Timeout response Rapid stop with warning 4 2 4 Rapid Stop with Warning When the time set for the fieldbus time out parameter has elapsed the inverter will ramp down the rapid stop ramp P140 T13 Stop Ramp P141 T23 Stop Ramp and issue a warning fault 87 which is however automatically cleared when the fieldbus system starts up again A manual reset of the inverter Reset is not required If the DC braking mode P730 P733 is activated the drive is brought to a standstill with DC braking instead of a rapid stop 4 2
96. nput terminal 43 mmm gt U1 32 4 input terminal 47 TC rx U132 3 input terminal 48 s 132 2 input terminal 49 PLC 2 0 32 0 output terminal 629 Input byte IB 32 Output byte OB 32 pee sar 7 6 5 4 3 2 i 4 A A A Aa A A para 0l 7 4 5 4 3 2 1T 4g a o Virtual output terminals Virtual input termina 2 a Status word 2 Control word 2 ii l l l A A A A v v presque 72 71 70 69 64 63 62 61 Hal sa 53 52 51 50 1 MOVITRAC 81 MEM 4142 43 47 48 49 161 82 4 pig A PE T Physical inputs Physical outputs 00958AEN Fig 62 Mapping of the 0 information on the fieldbus and in the PLC 7 4 Positioning with IPOS via Fieldbus The position specification via fieldbus requires that the inverter is equipped with the option FPI 31 and consequently the internal positioning control IPOS is activated This application example explains how to transfer the position setpoints from the higher level automation device via fieldbus to the MOVITRAC 31 and further how to be able to use the functions of the internal positioning control IPOS via fieldbus For a detailed description of the internal posit
97. o change the process data description parameters for the third process data word to the setting specified 564 RAMP P03 SETP DESCRIPT 565 APPARENT CURRENT P13 ACT VALUE DESCRIPT 00351AEN Fig 46 Setpoint and actual value description of the third process data word via the keypad 7 As you have changed the setpoint description for the process input data the inverter has automatically locked with Enable Fieldbus Setpoints NO Enable the fieldbus setpoints with P570 Enable Fieldbus Setpoints YES 570 YES ENABLE SETPOINTS 00352AEN Fig 47 Enabling the fieldbus setpoints from the keypad MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 63 Application Examples 64 8 Program the fieldbus parameter Fieldbus Timeout to 100 ms and the parameter Timeout Response to Rapid Stop as set out in the Objective 571 0 10 s FIELDBUS TIME OUT 572 RAPID STOP TIME OUT RESPONSE 00345ADE Fig 48 Programming the fieldbus timeout and timeout response from the keypad 9 Now enter all parameters specific to the drive such as motor parameters frequency characteristics etc see MOVITRAC 31 Installation and Operating Instructions 10 Enter the rapid stop ramp As the first parameter set and the first ramp generator set of it are to be used you must change
98. o clear it This fault code is issued in connection with fault responses Rapid Stop with Fault and Emergency Stop with Fault Remember to first re activate the fieldbus system before you reset the inverter as otherwise a fieldbus timeout will immediately be generated again Fault 34 Fault Fault 34 is a fault it requires a system Reset to clear it This fault code is issued in connection with the fault response mmediate Switch off with Fault Remember to first re activate the fieldbus system before you reset the inverter as otherwise a fieldbus timeout will immediately be generated again MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Monitoring Functions ES 45 E Setting Inverter Parameters 46 5 Setting Inverter Parameters The drive parameters are read written via the fieldbus system using the READ and WRITE services of the application layer layer 7 If layer 7 is absent a suitable application layer needs to be emulated i e mechanisms to assign frequency inverter parameters must be created A parameter channel is defined in these circumstances For further information on this subject refer to the User Manuals of the relevant option pcbs 5 1 Parameter Setting Procedure Parameter setting of the MOVITRAC 31 frequency inverter is generally carried out according to a master slave pattern i e the inverter only supplies the information re
99. of control word 2 In this case you must make sure that both basic control blocks are coded the same The inverter will only be enabled if both the digital input terminals and control words 1 and 2 give the enable command The virtual terminals of control word 2 are evaluated directly only if they do not correspond to a control word 1 function 32 Bit Process Output Data Process data which are longer than 16 bits and therefore occupy more than one process data word will only be processed by the inverter if they are completely mapped to the process data channel The position setpoint for example will only become effective if completely mapped to the process output data channel Consequently both POSITION HI and POSITION LO must be specified in the process output data channel 3 3 3 Actual Value Description of the PI Data The PI1 P13 Actual Value Description parameters define the content of the process input data words which are transferred from the inverter to the higher level automation unit through the fieldbus system Fig 8 Each process data word is defined by its own parameter so altogether three parameters are required to describe the process input data P561 PI1 ACT VALUE DESCRIPT P363 P12 ACT VALUE UE P565 PI3 ACT VALUE DESCRIPT Status word 1 Status word 1 Status word 1 Status word 2 Status word 2 Status word 2 Speed actual valu Speed actual value Speed actual value App current va
100. of individual fieldbus process data MOVITRAC 31 Fieldbus Unit Profile 53 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Commissioning and Diagnosis In order to provide the user with even simpler access to these control values and setpoints the MOVITRAC 31 frequency inverter offers a direct insight into process data received via the fieldbus system using the fieldbus monitor parameters P074 PO1 setpoint hex P076 PO2 setpoint hex P078 PO3 setpoint hex Fig 29 Process output data received from the inverter are passed via the serial interface to the hand held keypad or to the MC SHELL PC program Despite the loss of data because of the varying transmission speeds this method of diagnosis has been shown in practice to be of assistance 0 0 R d 074 PO1 setpoint hex Es 0006hex pi 076 PO2 setpoint hex Ola 0 01F4hex 078 PO3 setpoint hex Process output data PO C 0006hex 01F4hex 0000hex P01 P02 P03 00336AEN Fig 29 Process output data diagnosis with MOVITRAC 31 These fieldbus monitor parameters allow all process output data to be checked in hexade
101. of the control word 2 are used as pointers to the positioning table 7 4 3 Process Data Description for Positioning Mode As in this example the inverter is to receive control commands as well as the position setpoints the process data length must be set to 3PD Fig 63 The largest application variety is achieved with the following process output data description which can also be implemented in this example P560 Setpoint description PO1 control word 2 P562 Setpoint description PO2 position high P564 Setpoint description PO3 position low 0 5 o Process output data PO ra D ile ve Control 3 fa i l gt wrd Position High Position Low ils ES Se m i9 Maa Position High Position Low Process input data PI 01148AEN Fig 63 Application example for position specification via fieldbus While for the transfer of the position setpoints position high as well as position low must be programmed the actual value description can be set at will For this application example the process input data is described as follows P561 Actual value description PIT status word 2 P563 Actual value description PI2 position high P565 Actual value description P13 position low With this se
102. ometer Down OR Deceleration monitoring OR Ramp generator selection OR Controller inhibit OR AND relation with basic control block Fig 23 External fault OR CW Stop OR AND relation with basic control block Fig 23 No Function OR Hold control OR Limit switch CW OR Limit switch CCW OR Reference cam OR Reference travel OR Fixed setpoint selection OR Setpoint active OR Characteristic selection OR Not available for MOVITRAC 31 size 0 Functions which cannot be used can also not be selected e g synchronous operation master slave MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 3 7 Active Output Terminal Functions Inverter Control with Process Data The following table shows all possible terminal functions for the virtual terminals Generally only those output terminal functions can be used which are functionally available As for instance simultaneous operation of the fieldbus and the synchronous operation is not possible due to terminal assignment the synchronous operation terminal functions cannot be used via the fieldbus MOVITRAC ready Rotating field On Rotating field Off Brake On Manual operation On Active Parameter set Ixt warning 1 Frequency reference 2 Frequency reference Actual value setpoint 1 Current reference 2 Current refer
103. ormation 2 Switch on the external 24 V supply As the inverter has not yet had parameters set for fieldbus operation do not yet switch on the mains voltage for safety reasons 3 Activate the factory setting 830 YES FACTORY SETTING 00342AEN Fig 52 Activating the factory setting via the keypad MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 67 Application Examples 4 Set the inverter control mode parameter at Fieldbus 841 FIELDBUS CONTROL MODE 00343AEN Fig 53 Switching to control mode fieldbus using keypad 5 The process data description parameters PO1 P11 PO2 and PI2 are changed according to the application specification 560 STATUS WORD 2 setpoint description PO1 561 STATUS WORD 2 actual value description PI1 562 SPEED 956 setpoint description PO2 563 SPEED 956 actual value description PI2 01141AEN Fig 54 Programming of the process data description parameters via keypad 6 As the setpoint description for the process input data has been changed the inverter has locked automatically with enable fieldbus setpoints NO Re enable the fieldbus setpoints with P570 enable fieldbus setpoints YES 570 YES ENABLE SETPOINTS 00352AEN Fig 55 Enabling fieldbus setpoints via keypad 7 Program
104. paa Postion LO iti 0001 3000hex Position 2 7 he 19 revs CW 19 4096 77824dec 0001 3000hex nostic Poston LO MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 3 4 Definition of the Control Word The control word is 16 bits long Each bit has an inverter function assigned to it The low byte comprises 8 function bits with a permanent definition each which are always valid The assignment of the more significant control bits varies for the different control words Functions which the inverter does not generally support cannot be activated via the control word either In this case the individual control word bits are to be considered as reserved bits and set at logical 0 by the user 3 4 1 Basic Control Block The less significant part of the control word comprises 8 function bits to which the most important drive functions are permanently assigned Fig 11 shows the basic control block assignment Control word dependent permanently defined 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 L Controller inhibit Enable Enable Rapid stop L Enable Stop Hold control Ramp generator selection Parameter set selection Reset Reserved 00321AEN Fig 11 Basic control block for all control words Functionality of the single con
105. parameter set and ramp generator Fault Warning In bit 5 of the status word the inverter signals a fault that may have occurred or issues a warning When a fault is signalled the inverter is no longer ready for operation whereas a warning may occur temporarily without affecting the operational performance of the inverter For exact filtering of a fault we therefore recommend to evaluate status bit 1 Ready for Operation in addition to this fault bit prerequisite mains voltage ON For the coding of a fault or warning see the following table MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Bit 1 Ready for Operation Bit 5 Fault Warning 0 0 Inverter not ready for operation 0 1 Fault 1 0 Inverter is ready for operation 1 1 Warning If status word 1 is active factory setting bit 5 1 will at the same time signal the fault code in the more significant byte of status word 1 The fault bit remains set until the fault is cleared with a reset or the warning is cancelled The more significant byte in status word 1 will then change to unit status indication again Limit Switch Processing not for MOVITRAC 31 size 0 Bits 6 and 7 signal the current status of the limit switches connected to the input terminal of the inverter The limit switch processing is active if two inverter input terminals are programmed to Limit Switch CW and Limit Switch
106. process data word 16 bit integer The following table displays the scaling for the process data of the type relative speed Data type Integer16 Resolution 1digit 0 0061 Yo 4000hex 100 Yo Reference Maximum frequency of the inverter fmax 3276 8 0 3276 7 Yo Range 8000hex 0 7FFFhex Relative speed setpoint 96 Valid for Relative actual value of speed Providing the motor is wired correctly positive speed values indicate CLOCKWISE CW direction of rotation and in cases of hoist applications CLOCKWISE direction of rotation UP Negative speed values consequently indicate COUNTERCLOCKWISE DOWN direction of rotation and are represented as a two s complement Example Scaling of the relative speed in the process data channel This example shows which code the relative speed setpoint must be transferred over the process data channel with in order to be able to operate the drive clockwise with 25 of the maximum frequency respectively counter clockwise with 75 of the maximum frequency Direction of Rel Speed Scaling Transferred process data rotation 16384 CW 25 Yo fmax 25 00 4096dec 1000nex 4096dec or 1000nex resp 16384 CCW 75 Yo fmax 75 400 12288dec D00Ohex 12288dec or DOO0nex resp With the maximum frequency set to fmax 50 Hz the drive in this example will rotate clockwise with 12 5 Hz respectively counterclockwise with 37 5 Hz MOV
107. quested if asked to do so by the higher level automation equipment Thus MOVITRAC 31 invariably has slave functionality only Fig 26 o Doo NG oo H kej E Master Slave Bn c Indication Response 4 Request m Confirmation NET Fig 26 Parameterizing the inverter to the master slave pattern 00333AEN Functions such as READ or WRITE are normally provided from the master module or the higher level automation equipment so that adjustment of inverter parameters can be carried out via the corresponding fieldbus system Please see the User Manual for the fieldbus option pcb you are using for further information regarding inverter parameter adjustment 9 1 1 Index Addressing All MOVITRAC 31 frequency inverter parameters are listed in a separate document called the MOVITRAC 31 Parameter List Each parameter is assigned a specific number index under which the parameter can be read or written The index given in the MOVITRAC 31 Parameter List is the index for the serial interface The value 100044 must be added to this index for access via the fieldbus interface MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 5 1 2 Data Length Coding
108. r not installed 00 18 Error in system software 00 19 Parameter access via this serial interface not permitted 00 1A Speed control active P770 00 1B Unauthorized access 00 1C Output stage not disabled 00 1D Invalid parameter value e g invalid intermediate value 00 1E Factory setting started 00 22 4Q operation 1 P890 required e g for hoist function 1 P710 00 23 4Q operation 2 P891 required e g for hoist function 2 P712 00 24 DC braking 1 active P730 modification not possible 00 25 DC braking 2 active P733 modification not possible 00 26 Hoist function set 1 active P710 modification not possible 00 27 Hoist function set 1 active P730 modification not possible 00 28 Parameter not memory resident lost in case of power down 00 29 Parameter access via this serial interface not permitted 00 2A Speed control not active P770 00 2B Controller inhibit required 00 2C Motor size up 1 P328 and rapid start 1 P720 cannot be activated at the same time 00 2D Motor size up 2 P348 and rapid start 2 P723 cannot be activated at the same time 00 2E Necessary option pcb for this function parameter not installed 00 2F 4Q operation 1 P890 and DC braking 1 P730 cannot be activated at the same time 00 30 4Q operation 2 P891 and DC braking 2 P733 cannot be activated at the same time 00 31 Controller inhibit active modification not possible 00 32 Synchronous operation not active P760 00 33 Synchronous operation MOVITRAC is slave
109. ramp The set rapid stop ramps P140 Ti3Stop Ramp if parameter set 1 is active P141 T23 Stop Ramp if parameter set 2 is active will be active The process ramp which might be specified via the fieldbus has no effect on the rapid stop Reset Bit 1 Enable Rapid Stop to activate this control command see Fig 13 MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 27 Inverter Control with Process Data 28 The Stop Control Command The Stop control command causes the inverter to ramp to rest If the process ramp is transmitted via the fieldbus system this control command will use the specified ramp value as value for the deceleration ramp If not the inverter will use the typical ramp generators Ramp Down for this control command depending on the selected parameter and ramp generator sets Fig 15 Fieldbus process ramp c 2 2 P131 T22 Ramp up down o ZI amp Ah Yes 5 M 4 P124 T21 Ramp down gl No N D r 2 P130 T12 Ramp up down Process Active LV 1P121 T11 Ramp down ramp via fieldbus parameter set 5 dl Not for MOVITRAC 31 size 0 Active ramp generator set 00325AEN Fig 15 Overview of the deceleration ramp options for the Stop control command Use Bit 2 E
110. ripheral addresses PW132 and PW134 Read access L PW 132 Read status word 1 L PW 134 Read speed actual value Write access T PW 132 Write control word 1 T PW 134 Write speed setpoint To control the inverter only the two control word bits Enable Stop and Enable Rapid Stop must be changed Fig 40 shows how the control word is mapped in the Simatic S5 PB 132 PB 133 PW 132 0 Bit 7 N oO X X 0 2 1 0 0 Enable 0 No other functions activated Eee a a stop 0 Hold control not activated 0 Ramp generator set 1 0 Parameter set 1 DO o1 0 0 4 3 o oO Cc1 c 0 0 0 0 4 3 2 eoo 00347AEN Fig 40 Control word mapping in the Simatic S5 Fig 41 shows the S5 program for this application example In the upper section the setpoint is specified depending on input E1 3 Actual control of the inverter via the control word starts from the CONT jump flag The control commands Enable Stop and Rapid Stop are triggered depending on the digital inputs 1 1 and 1 2 These commands are coded as constant hex KH figures and transferred into the control word PW132 FB 10 U E 13 SPB CCW L KF 5000 1000 1 min CW T PW 134 as speed setpoint un SPA CONT LEFT L KF 3750 750 1 min CCW T PW 134 as speed setpoint CONT U E 14 0B1 oh E 12 Control command
111. rtual input terminal 50 the assigned terminal function is programmed to NO FUNCTION RECS EE EN cc M C UY Status word 2 Control word 2 Virtual output terminals Virtual input terminals 2 71 70 69 64 63 62 61 54 53 52 51 50 A Terminal programming P605 Terminal 50 NO FUNCTION P611 Terminal 62 OUTPUT IPOS 7 Physical outputs i Physical inputs lat 42 43 47 48 so eod 1 YX 00957AEN Fig 25 Principle programming for controlling output terminals via fieldbus MOVITRAC 31 Fieldbus Unit Profile 41 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com I2 Monitoring Functions 42 4 Monitoring Functions To ensure safe operation of the MOVITRAC 31 inverter when in the fieldbus mode additional fieldbus monitoring functions were implemented which e g trigger a certain drive function in the case of a bus error The required drive response can be set by the user The two fieldbus parameters P571 Fieldbus Timeout P572 Timeout Response allow the user to program an application dependent drive response in the case of a bus error 4 1 Fieldbus Timeout The Fieldbus Timeout parameter determines the time after which the inverter is to respond to a bus error If the system no longer receives cyclic proce
112. setpoint to current setpoint the speed setpoint e g 3000 1 min transmitted by the higher level control could be wrongly identified as current setpoint e g 3000 To avoid this a defined interrupt between the process output data and the inverter setpoint processing is necessary This interrupt facility is given by parameter P570 Enable Fieldbus Setpoints YES NO This parameter tells the inverter whether or not the process output data sent by the higher level master are valid for the control and setpoint processing This parameter can only be set to YES or NO Fig 9 shows the parameter functionality P570 Enable fieldbus setpoints Process output data PO gt pot PD2 PD3 c 00319AEN Fig 9 Function of the Enable Fieldbus Setpoints parameter MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data When the PO1 POS Setpoint Description parameters are changed the process output data are automatically disabled through the Enable Fieldbus Setpoints NO setting Only when the Enable Fieldbus Setpoints YES setting is initiated e g by the higher lev
113. ss data it recognizes a bus error caused e g by a bus cable break The drive must then automatically go into a safe state The fieldbus timeout parameter is useful for all bus systems the Timeoutsetting may however vary considerably for the different fieldbus systems The following table defines the range of values for the Fieldbus Timeout setting Parameter name Fieldbus Timeout Unit Seconds s Range 0 01 s to 650 00 s in increments of 10 ms Special case 650 00 Fieldbus timeout switched off Factory setting 0 5s After a factory setting has been carried out the Fieldbus Timeout parameter is set at 0 5 seconds IMPORTANT In the case of the PROFIBUS DP parameter 571 Fieldbus Timeout is set only through the response timeout which is configured in the DP master for the complete DP system Manual setting of this parameter at the keypad or with the MC SHELL user interface remains without effect the setting would be overwritten again at the next start up of the PROFIBUS DP 4 2 Timeout Response The fieldbus parameter P572 Timeout Response determines the response of the inverter in the case of a fieldbus timeout i e the action the inverter is to trigger The following table gives an overview of possible inverter responses to a fieldbus timeout Fault response RAPID STOP Rapid stop with warning EMERGENCY STOP Emergency stop with warning IMMEDIATE SWITCH OFF Immediate switch off with warni
114. t Response to Rapid Stop as set out in the objective 571 0 10 s FIELDBUS TIME OUT 572 RAPID STOP TIME OUT RESPONSE 00345AEN Fig 70 Programming the fieldbus timeout and timeout response via keypad MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 8 Program the input terminals X3 42 X3 43 and X3 47 600 LIMIT SWITCH CW TERMINAL 42 601 LIMIT SWITCH CCW TERMINAL 43 602 NO FUNCTION TERMINAL 47 01153AEN Fig 71 Programming of the terminals X3 42 X3 43 and X3 47 9 Set the rapid stop ramp as the drive is decelerated along the rapid stop ramp in case of a bus fault STOP RAMP 140 T13 0 20 s 00353AEN Fig 72 Programming of the ramp generator used by this application program 10 Set the inverter control mode parameter at Fieldbus 841 FIELDBUS CONTROL MODE 00343AEN Fig 73 Switching to control mode fieldbus using keypad 11 Set the machine parameters for IPOS according to your application 12 The position setpoint specified via fieldbus in this application example is to be used in the automatic program of the inverter with the command GOPA Therefore set the POS bus mode 2 13 Set the reference travel to type 3 limit switch CW 14 Now write the IPOS automatic program and use the command GOPA in order to be able to implem
115. talled the inverter on the when supplied the inverter on the when supplied terminal side 124 VI terminal side 124 V 00341AEN Fig 34 Wiring of the inverter for fieldbus application example 1 2 Set all the parameters specific to the fieldbus using the DIP switches on the fieldbus option pcb For this example configure the process data length to 2PD For the option FFI 31 INTERBUS S for example this can be done via the DIP switches on the option pcb In the case of PROFIBUS DP option FFP 31 the process data length is configured in the master module Please see the user manuals on the relevant fieldbus option pcb for further information 3 Switch on the external 24 V supply As the inverter has not yet had parameters set for fieldbus Operation do not yet switch on the mains voltage for safety reasons 4 Activate the factory setting FACTORY SETTING YES 00342AEN Fig 35 Activating the factory setting from the keypad 5 Set the inverter Control Mode parameter at Fieldbus 841 FIELDBUS CONTROL MODE 00343AEN Fig 36 Switching to fieldbus control mode via the keypad MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples 6 Program the input terminals 42 and 43 to NO FUNCTION to enable the inverter on the terminal side via the jumper installed before
116. ted not uncontrolled though system behaviour In these instructions cross references are marked with a e g MC SHELL means Please refer to the MC SHELL User Manual for detailed information or information on how to carry out this instruction section x x means Further information can be found in section x x of this User Manual Each unit is manufactured and tested to current SEW EURODRIVE technical standards and specifications The manufacturer reserves the right to make changes to the technical data and designs as well as the user interface herein described which are in the interest of technical progress A requirement for fault free operation and fulfilment of any rights to claim under guarantee is that these instructions and notes are followed These instructions contain important information for servicing they should therefore be kept in the vicinity of the unit MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Preface This Fieldbus Unit Profile Manual describes the operation of the MOVITRAC 31 frequency inverter when connected to a higher level automation system via a fieldbus option pcb In addition to descriptions of all the fieldbus parameters the various control concepts and potential applications are dealt with in the form of brief examples of programs The application examples are described both in graphic form as well as i
117. the MOVITRAC 31 inverter does not support emergency stop ramps the fault response Rapid Stop with Fault will become effective Section 4 2 4 MOVITRAC 31 Fieldbus Unit Profile 43 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com I2 Monitoring Functions 44 4 2 6 Immediate Switch off with Fault When the time set for the fieldbus timeout parameter has elapsed the inverter will carry out an immediate switch off i e the output stage will be disabled and the mechanical motor brake activated immediately Motors which are not fitted with a mechanical brake will coast to rest if this fault response is initiated To clear this fault fault 34 you must reset the inverter at the keypad via the terminals or the fieldbus IMPORTANT This fault response will stop the drive solely by means of the mechanical brake no ramp down which may subject the mechanical system to considerable stresses Make sure that your mechanical construction is sufficiently dimensioned to take up the loads that might occur in connection with this fault response 4 2 7 Switching to Standard Mode When the time set for the fieldbus timeout parameter has elapsed the inverter will ramp down the rapid stop ramp P140 T13 Stop Ramp P141 T23 Stop Ramp and issue a warning This fault response enables the user to operate the inverter via the terminal strip in the case of a fieldbus system failure When the time set for the field
118. the parameter 713 Stop Ramp 140 T13 0 20 s STOP RAMP 00353AEN Fig 49 Programming the ramp generators used by the application program All the parameters for this application example have now been assigned The fieldbus independent emergency stop function is implemented by connecting the enable terminal directly with the emergency stop In normal mode the emergency stop switch is closed so that terminal 43 has a 24 V signal level and the inverter is enabled together with the jumper at terminals 41 44 The drive is now controlled by the fieldbus by means of the control word In an emergency stop situation the emergency stop button is activated terminal 43 receives a OV signal level and thus activates the rapid stop The drive will now come to a standstill within 200 ms configured rapid stop ramp although the fieldbus is transmitting a different control command via the control word IMPORTANT In this application example the assignment of the terminals has not been changed from that of the factory setting The inverter is enabled on the terminal side by means of the jumper and the 24 V signal at terminal 43 Enable The effect of this is that the drive is accelerated immediately after the factory setting has been activated and when the mains voltage is switched on as the parameter P841 Control Mode Standard is activated after a factory setting has been carried out So make sure that the drive is designed in such a
119. tion the acceleration and deceleration ramp generators are continually recalculated by another function module and temporarily stored in the flag words MW 100 current acceleration ramp generator MW 102 current deceleration ramp generator Only parameter set 1 and ramp generator set 1 are used The drive is to be accelerated or decelerated with the ramp that is specified via the fieldbus and that can be continually varied The rapid stop shall take place within 200 ms The inverter is also to recognize a bus error that lasts longer than 100 ms and to use the rapid stop to bring the drive to a standstill In an emergency stop situation the inverter is to carry out a rapid stop independently of the fieldbus directly via the input terminals 7 2 2 Commissioning We recommend using the following method to implement this application example 1 Wire the inverter in accordance with the installation and operating instructions To operate with the fieldbus connect the inverter to an external 24 V supply terminals 30 and 40 Insert a jumper between terminals 41 and 44 in order to enable the inverter on the terminal side Fig 43 Connect the emergency stop switch with input terminal 43 Enable on the inverter in order to enable the emergency stop function to operate independently of the fieldbus 7 is B pss 5 252
120. trol bits Bit Functionality Assignment mm 0 Enable O Controller inhibit 1 Inhibit controller activate brake F 0 Rapid stop 1 Enable Rapid stop 1 Enable 0 Stop with generator ramp or process ramp 2 Enable stop 1 Enable 3 Hold control 0 Hold control not active 1 Hold control active 0 Ramp generator 1 1 Ramp generator 2 0 Parameter set 1 1 Parameter set 2 4 Ramp generator selection 5 Parameter set selection 0 Not active 6 Reset 1 Reset fault 7 Reserved Reserved bits are to be set to zero Not possible to assign bits to zero for MOVITRAC 31 size 0 The input terminals remain generally active also in the FIELDBUS control mode Safety relevant functions such as Controller Inhibitand Enable are processed with equal priority both by the terminal strip and the fieldbus i e for fieldbus control of the inverter the inverter must first be enabled on the terminal side Fig 12 All other functions which can be activated both via the terminals and via the control word are processed as OR functions MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data 25 Inverter Control with Process Data Input terminals CW STOP 7 CCW STOP terminal ENABLE Processing CONTOLLER INHIBIT Fieldbus
121. tting you have the possibility to constantly evaluate the current actual position as well as further status information of the drive via the process data channel With the virtual terminals of the control word 2 and the status word 2 a direct connection between the higher level automation device fieldbus master and the IPOS automatic program decentrally executed in the inverter Therefore the virtual input and output terminals can be directly processed and controlled in the IPOS program In this case the digital input and output terminals of the options FEA 31 or FIO 31 respectively which are physically not available with the fieldbus option inserted are projected onto the fieldbus system as virtual terminals within the control word 2 and the status word 2 Fig 64 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Application Examples pa zz n IPOS automatic program ITA p Contro word 21 0000 eene nennen MERE T Virtual ae En gt WAITI Ox 81 UAOO HU lo input terminals N fle Se Ee a Status word 2 E Virtual m SETO output terminals 7 END be ee oM 01149AEN Fig 64 Fieldbus applications with IPOS automatic program and contro
122. tual input terminal assignment for the standard MOVITRAC 31 unit with a digital input terminal expansion and their functionality Inverter Control with Process Data Virtual Assigned Functionality input terminal to terminal 1 50 Terminal function programmable to P605 TERMINAL 50 2 51 Terminal function programmable to P606 TERMINAL 51 3 52 Terminal function programmable to P607 TERMINAL 52 4 53 Terminal function programmable to P608 TERMINAL 53 5 54 Terminal function programmable to P609 TERMINAL 54 6 8 None MOVITRAC 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 31 Inverter Control with Process Data Fig 18 shows control word 2 for the MOVITRAC 31 inverter without digital input terminal expansion e g when the FEN Speed Measurement option is fitted As no optional physical input terminals are available these can be mapped completely to the virtual terminals of the fieldbus 32 Virtual input terminals Permanently defined 15 14 13 12 11 10 9 6 5 4 3 2 1 pile Controller inhibit enable Enable rapid stop Enable stop Hold control Ramp generator selection Parameter set selection Reset Reserved MOVITRAC 31 without digital input terminal expansion Virtual
123. umber of the motor lis The value ranges for motors with different pole pair numbers determined from the above formula Motor pole pair number Value range 1 0 600 1 min 2 0 300 1 min 3 0 200 1 min 4 0 150 1 min If the slip specified in the process data is outside this range of values the minimum or maximum will become effective if the specified slip is lower or higher than the given value range Process Ramp RAMP The RAMP setting causes the MOVITRAC 31 inverter to interpret the transmitted setpoint as acceleration or deceleration ramp Depending on the drive function specified in the control word the unit will interpret the process ramp as acceleration ramp when an enable signal is given and as deceleration ramp when a stop is to be executed The specified figure is the time in milliseconds and relates to a frequency change of 50 Hz The rapid stop function is not affected by this process ramp When the process ramp is transmitted through the fieldbus system ramp generators T11 T12 T21 and T22 will become inactive Scaling of the Process Ramp in the unit ms see Section 3 3 5 Control Word 1 Control Word 2 Assigning control word 1 or control word 2 to the process output data allows you to activate nearly all drive functions via the fieldbus system For a description of control words 1 and 2 see Section 3 4 Factory Setting for the PO 7 P03 Setpoint Description When the factory setting has been
124. via the fieldbus system Fig 22 shows the assignment of the more significant status block Vitual output terminal Permanently defined 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Controller eneabled MC 31 ready for operation Fieldbus mode active Active ramp generator set Active parameter set Fault warning Limit switch CW active Limit switch CCW active 8 Virtual output terminal 1 terminal 61 9 Virtual output terminal 2 terminal 62 10 Virtual output terminal 3 terminal 63 11 Virtual output terminal 4 terminal 64 12 Virtual output terminal 5 terminal 69 13 Virtual output terminal 6 terminal 70 14 Virtual output terminal 7 terminal 71 15 Virtual output terminal 8 terminal 72 00332AEN Fig 22 Assignment of status word 2 36 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com Inverter Control with Process Data With the exception of terminal 61 the virtual output terminals can be programmed to any function The following table shows the assignment of the virtual output terminals to the standard and optional output terminals and their functionality Virtual Assigned Functionality Functionality after output to terminal factory setting terminal 1
125. y The following table shows how the internal fixed setpoints are selected depending on the chosen parameter set Par set Bit12 Bit11 Active setpoint Internally stored fixed setpoint parameter 0 0 Speed setpoint via fieldbus 0 1 Internal fixed setpoint n11 P160 N1 1 0 Internal fixed setpoint n12 P161 N1 1 1 Internal fixed setpoint n13 P162 N1 0 0 Speed setpoint via fieldbus 2 0 1 Internal fixed setpoint n21 P170 N21 1 0 Internal fixed setpoint n22 P171 N22 1 1 Internal fixed setpoint n23 P173 N23 Parameter set 2 not available for MOVITRAC 31 Size 0 When an internal fixed setpoint is selected the direction of rotation is determined by control word bit 8 Direction of Rotation The process ramp which might be specified via the fieldbus has no effect when the internal setpoints are used 30 MOVITRAC 9 31 Fieldbus Unit Profile Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com 3 4 3 Control Word 2 In addition to the function bits for the most important drive functions in the basic control block control word 2 in its more significant section contains the virtual input terminals These terminals are freely programmable input terminals which are not physically available however since the requisite hardware option pcb is not fitted These input terminals are then mapped to the virtual input terminals of the fieldbus Each virtual terminal is then assigne

SEW Eurodrive MOVITRAC 31 Fieldbus Unit Profile Manual

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