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Operating Instructions – MOVIAXIS® Multi-Axis Servo Inverter

1. ee 97 95 l T l AI I IL has effect RB 2 l EE F16 on Ka l rs En has effect on K11 98 96 4 6 RB2 Supply module Supply module POM discharge Supply module X3 X3 X15 X3 PE R R PE R R PE R R PE R I HLS HES i i l l L i I I I l i ITJ has effect Bee has effect JJJ has effect aka F16 on K11 i 14 F16 on K11 i 14 F16 on K11 i i i i i l i E PNT F I pi eens bee I 1 a ee Fale eos a TEE e sey fay I 2 I 1 i eae gee 2 i p gt Ile BW 01 one I 1 BW eae Ld 3 9007201328845195 BW BW BW BW 01 When the signal contact F16 trips K11 When the internal temperature switch trips When the external bimetallic relay F16 must open When F16 trip contact at over K11 must open When F16 trip contactat trips K11 must open When F16 trip con load relay or temperature switch triggers overload relay or temperature switch trig tact at overload relay or temperature K11 must open and Output stage enable gers K11 must open and Output stage switch triggers K11 must open and Out must receive a 0 signal F16 is a signal enable must receive a 0 sig
2. 8 4 Technical data of MXA axis modules 8 4 1 Axis module power section MOVIAXIS axis module se Size MXAS80A 503 00 1 2 3 4 5 6 Type 002 004 008 012 016 024 0326 048 064 100 INPUT DC link Nominal DC link voltage Uyzx U V DC 560 Nominal DC link current InzK A 2 4 8 12 16 24 32 48 64 100 Cross section and contacts mm CU bars 3 x 14 M6 screw fitting OUTPUT Output voltage U U V 0 max Uline Continuous output current AC Iy 6 PWM 4 kHz A 2 4 8 12 16 32 42 64 85 133 Continuous output current AC Iy PWM 8 kHz A 2 4 8 12 16 24 32 48 64 100 Continuous output current AC ly PWM 16 kHz A 15 3 5 8 11 13 18 Max unit output current Imax Imax A 5 10 20 30 40 60 80 120 160 250 Overload capacity for max 1s 250 Apparent output power Sout S kVA 1 4 2 8 5 5 8 5 11 17 22 33 44 69 PWM frequency fpwm kHz optional 4 8 16 Setting on delivery fpyym 8 kHz Maximum output frequency fmax f Hz 600 COMBICON Screw bolts Screw bolts Cross section and contacts of eae COMBICON PC4 PC16 M6 M8 motor connections pluggable max 4 pluggable max 10 max 35 max 70 Cross Section and contacts on mm max 4x4 max 4x10 max 4x35 max 4x 50 motor shield clamp Suitable for direct operation of brake short circuit proof Exter 1 binary output nal 24 V required Tolerance depends on the used brake type U
3. K11 DC 24V 2788940427 X6 Brake control I I I l I I I I I I I I I I I i I I I I I DC 24 V l 2788942859 Brake control K11 2788945291 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Install the connection cables between the brake rectifier and the brake separately from other power cables when installing the brake rectifier in the control cabinet Joint installation is only permitted with shielded power cables Operating Instructions MOVIAXIS Multi Axis Servo Inverter 77 78 Installation Wiring diagrams BY brake control BMV with terminal box Brake control K11 2788948875 X6 Brake control K11 2788966539 X6 Brake control I K11 2788951307 Make sure to provide separate isolation for th
4. VEV D Z Operation te Operating displays and errors of MXA axis module Error Sur Error System state Bl A Cod R Measure a Code Signal ar Cause br Reset type 23 Invalid sync basic period ratio Sync period interval not within permit 24 ted range Timer overflow in the area of writing 25 A the timer register 26 Reference lost between EncEmu and count timer Speed too high max counts 27 exceeded 28 Illegal parameter emu source emu hysteresis emu resolution 29 Phase controller in setpoint limitation 30 No capture occurred 31 Encoder option 1 or 2 CRC error in Replace XGH XGS internal flash of XC161 32 Maximum angle difference exceeded 33 XGS XGH option 1 Position mode is Firmware update of the not supported option 34 XGS XGH option 2 Position mode is Firmware update of the not supported option A preset maximum permitted follow ing error was exceeded during posi tioning Encoder connected incorrectly Lag distance posi Acceleration ramps too short Output System is waiting Ready 1 42 toning e P component of positioning con stage ioning error Nana Warm start Malfunction 0 troller too small inhibit e Incorrect speed controller param eters e Value of lag error tolerance too small 01 FCB Positioning lag error 02 FCB Jog lag error 03 FCB Standard lag error R A A Stop with System i iti Ready 1 43 emote timeout An interruption has occurred during applica
5. Designation Meaning DGND General reference potential of control electronics There is a metallic PE connection to PE BGND Reference potential for brake connection RGND Reference potential for safety relay DCOM Reference potential for binary inputs INFORMATION Connection elements All connection elements are represented in the following tables as viewed from top 4 13 1 Terminal assignment of MXP80 supply modules INFORMATION The technical data for the connection of power electronics and control electronics are listed in chapter Technical Data Terminal Assignment Brief description X1 1 PE X1 2 L1 F x1 3 L2 Power supply connection BG1 10 kW X1 4 L3 X3 1 R X3 2 R i X3 3 n Braking resistor connection BG1 10 kW X3 4 PE X1 1 PE X1 2 L1 x1 3 L2 Supply system connection size 2 25 kW X1 4 L3 X3 1 R gt 5 X3 2 R Braking resistor connection size 2 25 kW X3 3 PE Table continued on next page Operating Instructions MOVIAXIS Multi Axis Servo Inverter 87 88 Installation Terminal assignment Terminal Assignment Brief description X1 PE PE X1 1 L1 A X1 2 L2 Supply system connection size 3 50 75 kW X1 3 L3 X3 PE PE PE 2 X3 1 R Braking re
6. Edit 7 2 oO Position Kr v detection Y 2543747339 Encoder selection submenu Motor encoder Encoder selection Mounting 1 Select the relevant encoder grouping amani J SEW encoder sew Approved encoder J Non SEW encoder 2 Select the encoder by means of the SEW designation on the nameplate Mechanical design Development status Encoder type G Thread mounting o O F Electrical design H Hollow shaft A Absolut I Integrated 2 fi E Encoder K Cone 3 l2 R Resolver L Linear 4 l Spread shaft 6 c nU olid shat 7 Hipertac L Mod Resolver Im Mod Resolver SE W EURODRIVE ce 76646 Bruchsa Germany ee Typ PSF121 CMPSOSIBPIKTYIIJA Ifv fa f Ne 01 23456789 0001 22 Hu 4 Me 13 7 A 6 nm 6 000 Amir a 90 5 so KL F f 300 w Um 400 Vm Mf Bremse 24V 3 1 Nm Gieichrichter Getriebe Man 35 Nm na 1600 8000 rin i 1 Ger 38 S MOVITOOLS MotionStudio x Canonis EE 2543755275 150 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup qu 5 SEW encoder button Approved encoder button MOVIAXIS startup single motor operation In the Encoder selection submenu you can select encoders from three categories SEW encoder e Approved encoder Non SEW encoder The Encoder selection submenu shows SEW encoder as standard see previous fig ure page 150 In this menu the SEW designations of the encoders are used You c
7. Encoder option 1 4609 Incorrect comparison between raw position and check counter with EnDat encoder 4610 Incorrect EEPROM values in encoder 4611 Incorrect EEPROM values in encoder 4612 Incorrect EEPROM values in encoder 4640 4671 EnDat encoder signals error status The error code is displayed as fol lows displayed value 5640 Error codes are listed in the EnDat protocol description 4672 EnDat encoder signals internal warn ing Operating Instructions MOVIAXIS Multi Axis Servo Inverter 195 6 aS 2 Operation te Operating displays and errors of MXA axis module Sub Error Error System state fl error M Binary output Code Response eee signal Code Signal Cause 2 Reset type e Check track signal wir Comparison of the absolute encoder ing 8193 position via Hiperface parameter e Check interference channel with the incremental position sources of the axis every second e Replace encoder e Replace card 8194 Unknown encoder type Corrupt encoder nameplate data Replace encoder Incorrect block checksum of the data 8139 field range of the encoder manufac turer Hiperface encoder signals internal 8224 error e Check wiring and inter _ The error code is displayed as fol ference sources lows Displayed value 8224 You e Ifthe problem persists 8259 Bee 3 can inquire about this error cod
8. X26 CO NN DM an RB Ww m 2883219723 Connection dia gram Wiring the binary inputs 24V XIA11A Voltage supply Logic JE DGND DGND DCOM DCOM 2883419659 118 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards Switching the binary outputs 24V Load XIA11A Logic JE DGND 2883422603 INFORMATION The analog binary hybrid module XIA11A has no internal free wheeling diodes Wiring the analog inputs Sensor 10V lt U lt 10V Ground bar XIA11A ADC Logic DGND JE DGND DGND Operating Instructions MOVIAXIS Multi Axis Servo Inverter 2883425547 119 4 Installation Connecting the option cards Switching the ana log outputs XIA11A Actuator Logic 2 L JE if eis aes ae DGND DGND Ground bar DGND 2883428491 INFORMATION The analog binary hybrid module XIA11A has no internal free wheeling diodes 120 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards 4 14 8 Optional fieldbus interface K Net XFA11A Terminal assign ment The XFA11A K Net fieldbus interface is a slave compone
9. Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module lt ly IS Error un Error System state 2 error Measure Binary ee signa Code Signal pode Cause Response Reset type a DC link overcurrent The DC link current in the supply Output System is waiting Ready 1 81 SM error module has exceeded the maximum stage W Malfunction 0 limit of 260 Inominal inhibit arm start alfunction 01 SM DC link current too high Prewarning I2xt moni Utilization of the SM has reached the N Ready 1 82 s response toring SM prewarning level D P Malfunction 1 01 SM Pre warning Ixt utilization g3 Pt monitoring SM Utilization of the SM has reached or eee System is waiting Ready 1 error exceeded the cut off threshold in Warm start Malfunction 0 01 ISM Ixt utilization error Error message through supply mod ule via hardware information system Output g4 Brake chopper at The brake chopper in the supply st 2 System is waiting Ready 1 AM error module is not ready for operation nn Warm start Malfunction 0 triggered by BRC short circuit moni toring or driver voltage monitoring 01 SM Brake chopper error SM temperature The temperature of the SM Ne Ready 1 85 monitoring prewarn hes th ff threshold response ing approaches
10. DC link voltage missing I Supply module not ready for I_ I operation i Axis module 24 V or internal switched mode power supply module of axis not ready for operation Z Axis module in safe stop flashing m Incorrect synchronization with _ 71 bus Process data processing not available m _ The encoder evaluation is not ready flashing Status not ready Output stage is inhibited Communication is possible Check supply system Check supply module 24 V check or unit defective Safety function activated Check bus connection Check synchronization setting at unit and controller Check process data settings at unit and con troller e Check for missing PDO Encoders are initialized Unit stays in this condition No encoder selected e Source of actual speed parameter shows an encoder that does not exist Displays during initialization processes parameters will be reset to default values rat Basic initialization Initialization of delivery state Initialization of factory setting ITI Initialization of customer spe cific set 1 Lt Initialization of customer spe cific set 2 Status not ready Output stage is inhibited Communication is possible Waiting for initializa
11. ceeeeeeceeeeeeeeeeeeeees 243 Capacitor module control section 243 DC link discharge module control section 246 DC link discharge module power section 246 EtherCAT fieldbus interface 255 General technical data 235 K Net communication module 256 K Net communication module technical data nennnn 256 K Net communication module terminal assignment nn 256 Line choke for supply module 252 Line components for supply module 251 MXA axis modules 2 nenn 239 MXB buffer module 0242 nenn 244 MXC capacitor module 243 MXM master module nnee 242 MXP supply modules neeese 236 MXS 24 V SMPS module 245 MXZ DC link discharge module 246 Supply module control section 238 Two row configuration of the axis system 247 XFP11A communication component 254 X1011A XIA11A input output module 257 24 V switched mode power supply module 245 5 V encoder supply DWIT1A 108 Technical data for the axis module Notes on brake control 240 Permitted load of brake controller and brak
12. XFP11A option Ou Part number 1820 4341 Pr Power consumption P 2 5W PROFIBUS protocol vari PROFIBUS DP and DP V1 to IEC 61158 Se gt se x Automatic baud rate 9 6 kBd 12 MBd h detection Via 9 pin D sub connector Connection technology Pin assignment acc to IEC 61158 3 Not integrated implement using suitable PROFIBUS plug with terminat Bus termination ing resistors that can be switched on Station address 0 125 can be set via DIP switch Name of GSD file SEW_6006 GSD PROFIBUS DP SEWA6003 GSD PROFIBUS DP V1 DP ID number 6006 hex 24582 deg Application specific parameterization data Set Prm UserData Length 9 bytes Hex parameter settings 00 00 00 06 81 00 00 01 01 DP diagnostics alarm OFF Hex parameter settings 00 00 00 06 81 00 00 01 00 DP diagnostics alarm ON Diagnostics data Standard diagnostics 6 bytes Tools for startup PC program MOVITOOLS MotionStudio Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical data of EtherCAT fieldbus interface option Technical Data 8 18 Technical data of EtherCAT fieldbus interface option 8 18 1 Description of XFE24A The XFE24A fieldbus interface is a slave module for connection to EtherCAT networks Only one XFE24A fieldbus interface can be installed per axis module The XFE24A field bus interface allows MOVIAXIS to communicate with all EtherCAT ma
13. ee eas i Error Sur Error System state Bi dr Cod R Measure a Pu Code Signal SSE Cause bal tela Reset type Hiperface encoder option 2 Error in 8193 quadrant control Hiperface encoder option 2 Incor 8194 rect track angle offset Hiperface encoder option 2 No 8208 Aue response to communication request Hiperface encoder option 2 No 8256 response to type request Hiperface encoder option 2 No 8320 response to status request Hiperface encoder option 2 No 8384 response to serial number request Hiperface encoder option 2 No 8448 response to initialization position request Option 2 Hiperface encoder option 2 No 8512 ge BE response to position re initialization Hiperface encoder option 2 No 8576 oe pe response to position plausibility check Hiperface encoder option 2 No 8640 A a response to writing of position 8704 Hiperface encoder option 2 No Check communication response while reading analog values Hiperface encoder option 2 No Check communication 8768 response to encoder nameplate request EnDat encoder option 2 Communica 9216 tion error during reset command EnDat encoder option 2 Communica 9280 i Baie a EE tion error during position initialization EnDat encoder option 2 Communica 9344 S Far tion error during position validation
14. Pulse DATA n c N TF THIKTY n c DGND 9 Signal track A_N cos 10 Signal track B_N sin 11 Cycle 12 DATA 13 n c 14 TF TH KTY 15 Us INI OO oa Plo N Sub D 15 pole female 1 Do not connect any cable 106 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Connecting the option cards Connection of TTL encoder to XGH XGS TTL encoder DC 5 V voltage supply The following encoders can be connected at X63 X64 external encoder input e DCSVTTL encoder with DC 5 V voltage supply type ES1T ES2T EV1T EV2T or EH1T via DWI11A option or encoder with signal level to RS422 The TTL encoders with a DC 5 V voltage supply ES1T ES2T EV1T EV2T or EH1T must be connected via the DC 5 V encoder power supply type DWI11A option part number 822 759 4 Connecting TTL encoders via DWI11A to XGH XGS as a motor encoder lt I gt DE RIESE EEE E N LEEREN XGH X63 64 max 5 m I I O 1 awe 4 DWI1A 9 A K EN 6 15 o8 2 B k2 RD 2 o 10 8 Ka BY 7 o 3 c ko PK 3 o TRS 48 o 15 wBWH eg 9 oil 8 EN ei 5 l BK x i Y Don ES1T ES2T EV1T EV2T EHIT y max 100 m ji a K1 YE Io
15. other axis modules it must be set to 0 il The DIP switch LAM 2 must be set to 1 at the last axis module in a system At all Operating Instructions MOVIAXIS Multi Axis Servo Inverter 53 54 Installation System bus cable for several axis systems EtherCAT compatible 4 6 System bus cable for several axis systems EtherCAT compatible e The individual axis systems are wired as described in chapter Connection cable for EtherCAT compatible system bus with master module page 53 The connection cable 1 is routed from the yellow output b of the last axis module in one axis system to the black input a of the first axis module of the subsequent system il INFORMATION The mounting plates on which the axis systems are mounted must have a sufficiently large ground connection e g a ground strap The lengths of the prefabricated system bus connection cables 1 are 0 75 m and 3 m 1 System bus connection cable 2 LAM switch Switch position 0 All axis modules except the last one Switch position 1 Last axis module in the system CAUTION The DIP switch LAM 2 must be set to 1 at the last axis module in each system At all other axis modules it must be set to 0 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 System bus connection cable to other SEW units EtherCAT compatible 4 7
16. 2881678347 Overview of functions The following functions and encoder types can be evaluated with the multi encoder card Functions XGH version XGS version SSI functionality x Hiperface functionality EnDat 2 1 functionality Incremental encoder sin cos functional ity Incremental encoder simulation Temperature evaluation Analog differential input 10 V Optional voltage supply 24 V Resolver HTL encoders can be operated using an HTL TTL interface adapter You find the part number of the interface adapter in the MOVIAXIS catalog Single ended HTL encoders can be operated using an HTL TTL interface adapter You find the part number of the interface adapter in the MOVIAXIS catalog Resolvers cannot be evaluated with the multi encoder card 100 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards Connection technology of the multi encoder card Suitable encoders You find the table of encoders supported by the multi encoder card in the chapter Suit able encoder systems in the MOVIAXIS catalog Restrictions for the evaluation of inputs for axis modules equipped with I O and multi encoder cards INFORMATION If the axis module is equipped with two I O and one multi encoder card or with one I O and two multi encoder cards see following table the following restricti
17. 8o S 5 x i N _ eg 2 Wo W 22 5 0 886 1722678155 The DWI11A option is mounted on a support rail EN 50022 35 x 7 5 in the control cab inet Technical data DC 5 V encoder power supply option type DWI11A Part number 822 759 4 Voltage input DC 10 30 V Imax DC 120 mA Encoder power supply DC 5 V up to Vmax 10 V Imax DC 300 mA Max line length that can be con 100 m 328 ft total nected Use a shielded twisted pair cable A and A B and B C and C for connecting the encoder to the DWI11A and the DWI11A to MOVIAXIS 108 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Connecting the option cards 4 14 3 Fieldbus interface option PROFIBUS XFP11A Terminal assignment Front view of XFP11A Description DIE switch Function Terminal RUN PROFIBUS operation Indicates that the bus electronics are operating cor one LED green rectly xe BUS FAULT PROFIBUS error Indicates PROFIBUS DP error S o 4 LED red f er 0 Assignment ie 2 X31 PROFIBUS connection X31 1 N C 21 X31 2 N C 22 X31 3 RxD TxD P 23 X31 4 CNTR P X31 5 DGND M5V X31 6 VP P5V 100 mA 24 X31 7 N C 2 5 X31 8 RxD TxD N 6 X31 9 DGND M5V 2 ADDRESS DIP switch for set 2 Significance 1 nc ting the PROFIBUS station 21 Significance 2 2881884683 address 22 Significance 4 23 Significance 8 24 Significance 16 25 Significance 32 26 Signifi
18. 4 for the measurement You can abort the measurement by clicking on Abort measurement Single turn mode Click on the Activate single turn mode button button Single turn mode 700 C Dou s2 2 J Activate single turn mode 7 2544744715 Now single turn encoders such as EKOH or resolvers such as RH1M are considered like an absolute encoder for one encoder revolution 154 Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Startup qu 5 9 8 Hardware configuration option cards Click on the Encoder card slot 1 or Encoder card slot 2 button if a second encoder card is plugged in Hardware configuration pout Motor encoder Distance encoder 1 1 Parameter set AV1IH AVIH Ben Hy Ba DE pa Q raa 2 2 Parameter set 3 Parameter set Option cards Encoder card Slot 1 Distance encoder 2 2543454603 In the following submenu the emulation sources and the encoder required for incremen tal encoder simulation are set Here you can define how the encoder signals are to be conditioned for a higher level controller when using the encoder emulation Operating Instructions MOVIAXIS Multi Axis Servo Inverter 2544784779 5 155 MOVIAXIS startup single motor operation 5 Gr Startup The following settings are available for conditioning the signal of the selected encoder e Emulation sou
19. e Load data permanently The motor data stored in the electronic nameplate is read out and used for the motor startup This data cannot be changed anymore Load data as a suggestion The motor data stored in the electronic nameplate is read out and made available as a suggestion This data can be changed Do not load data The motor data stored in the electronic nameplate is ignored 148 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup Er 5 MOVIAXIS startup single motor operation 5 9 7 Hardware configuration encoder pool Hardware configuration wy Encoder Option cards ny EoiN Encoder card h Slot 1 af Motor encoder Distance encoder 1 Distance encoder 2 ny 1 Parameter set ay AV1H AV1H Ef DB Edit x Bean 7 ay ee Du 2 ay 2 Parameter set Ey sy ay Ey ay 3 Parameter set ay cm 2543454603 During hardware configuration the yellow marked encoders displayed in the encoder pool can be assigned to the individual parameter sets or motors In addition the encoders can be assigned to the columns Motor encoder Distance encoder 1 and Distance encoder 2 Each encoder can only be used once Assign an encoder as follows Click on the required encoder in the Encoder pool selection field and hold the left mouse button down to drag the encoder to the intended parameter set In the above example encoder 1 of the type AV1H is defined as Motor encoder
20. o 1 24Ve o 2 DGND o 3 24Vs o 4 BGND 24 V for 24 V supply brake control P KOA for control electronics 1406212491 Connection via supplied pre fabricated cables Operating Instructions MOVIAXIS Multi Axis Servo Inverter 84 Installation Wiring diagrams 4 12 10 Connection of buffer module component Wiring the control electronics X5b o 1 24Ve o 2 DGND o 3 24Vs o 4 BGND 24 V for 24 V supply brake control P KOA for control electronics 1406212491 Connection via supplied pre fabricated cables Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 12 11 Connection of 24 V switched mode power supply module component Wiring the control electronics 24 V external oo F X16 X5a X5b 10 20 3 4 o 1 24Ve o 2 DGND 3 24V5 4 BGND 24 V supply for control electronics 2 24 V for 24 V supply brake supply Y NY for control electronics channel 1 9007200660955915 Connection via supplied pre fabricated cables You find more information on 24 V supply and control electronics in the MOVIAXIS Multi Axis Servo Inverter system manual Operating Instructions MOVIAXIS Multi Axis Servo Inverter 4 Installation Wiring diagrams 4 12 12 Connecting the DC
21. Drive Technology Drive Automation System Integration Services UUM AAA AA EURODRIVE Operating Instructions MOVIAXIS Multi Axis Servo Inverter Edition 08 2011 19305214 EN SEW EURODRIVE Driving the world 250 Shc aes N du 280 I Contents Contents 1 General information uussrrresnnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnsnnnnenrnnsnnnnnnnnnnnnnen 6 1 1 Structure of the safety notes uuuuessnnnnennsssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn anna 6 1 2 Rights to claim under warranty 222444ussessnnnnnnnnnsnnnnnnnnnnnnnnnnnnsnnnnnnnn nn 6 1 3 Exclusion ofliability r 2a een anal 7 1 4 MXR supply and regenerative module 24444sssssnnnnnnnnnnnnnnnnnnnnn 7 TO amp 1 6 374119 0 EPPIFERPEREFFLESERSEEFRETTSFENFETERRSERSTPEEUELSERFESFFRSEIEEFERRSERTTPLEVERFEERLEPFRSEILETESESERTER 7 2 Safety N tes n mn en een 8 2 1 General information uussssssnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnn en iae 8 2 2 Target groups lern Re 8 2 3 Designated se un nen 8 2 4 Transportation and storage 4444nsssnnnnnnennnnnnnnennnnnnnnnnnnnnnnne nn 9 2 5 lnstallationsr a nenne ee ete add 9 2 6 Electrical connect Onicaz cevtveieess fection a a e iteeatieyts abate thaetia 10 2 7 Sate disconnector eair ee een 10 28 Operation arena aaa r aeiae aaaeeeaa lub 10 2 9 Unittemper ture 2
22. Sub Error or Error System state Bi dr Cod R Measure aa Pu Code Signal gce Cause ben Reset type 24 TTL encoder PLL has locked during operation 256 TTL encoder Init phase of DSP not finished within permitted time period 257 TTL encoder Ready signal of DSP not within permitted time period e Check wiring if the fault occurs immediately 512 Encoder of basic unit TTL encoder ee Amplitude control has failed h occurs sporadically e Replace encoder e Replace card 513 Encoder of basic unit TTL encoder Please contact SEW EPLD reports error EURODRIVE Encoder of basic unit TTL encoder Set the correct system 514 Protection against division overflow numerator denominator by limiting the actual speed values 4608 TTL encoder option 1 Error in ampli tude control 4609 TTL encoder option 1 EPLD error message TTL encoder option 1 Protection 4610 against division overflow by limiting the actual speed 8704 TTL encoder option 2 Error in ampli tude control 8705 TTL encoder option 2 EPLD error message TTL encoder option 2 Protection 8706 against division overflow by limiting the actual speed 58 Sine cosine encoder Error in sine cosine encoder evalua an System is blocked Ready 0 error tion nn System restart Malfunction 0 Sin cos encoder Wire breakage 01 detection 02 Sin cos encoder Emulation error excessive speed 03 Sin cos encoder Inv
23. ili 1 c f mi at x 3 x Oo A View from top B 1 System bus 2 X9a Input green plug on cable 3 X9b Output red plug on cable 4 5 6 7 8 9 10 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 1403023883 View from front Cc View from bottom Electronics shield clamps 11 X2 Motor connection X10 Binary inputs 12 X6 Brake control X11 Binary outputs 13 X7 X8 2 safety relays X12 CAN2 bus optional variant 2 x 7 segment display X13 Motor encoder connection resolver or Hiperface temperature sensor X5a X5b 24 V voltage supply X4 DC link connection Power shield clamp 31 Unit Design Unit design of MXA axis modules 3 10 3 MXA axis module size 3 A B Cc a es 3 32S m rm 5 __ I 1 a 0 sresunzer ltt 10 1403027339 A View from top B View from front c View from bottom 1 System bus 2 Electronics shield clamps 11 X2 Motor connection X9a Input green plug on cable 3 X10 Binary inputs 12 X6 Brake control X9b Output red plug on cable 4 X11 Binary outputs 13 X7 X8 2 safety relays 5 X12 CAN2 bus optional variant 6 2 x7 segment display 7 X13 Motor encoder connection resolver or Hiperface temperature sensor 8 X5a X5b 24 V voltage supply 9 X4 DC link connection 10 Power shield clamp Operating Instr
24. ing old check ambient temperature im Switch off due to internal The unit is not ready for operation Check unit utilization project planning x II braking resistor overload any longer Affects only MXP81 EI Por voltage supply A supply voltage inside the unit is Check connected loads for overcurrent ae lot switched mode power Il 5 i i x _ _ supply module inside unit defective or unit for defects Additional capacity at full capacity 3 II A Braking resistor converters regenerative THI Thermal overload of the Error response only depending on energy into heat Check unit utilization x mi Error voltage supply switched mode power supply module inside unit A supply voltage inside the unit is defective Check connected loads for overcurrent or unit for defects Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation x A Operating displays and errors of MXA axis module lt a 6 4 Operating displays and errors of MXA axis module 6 4 1 Table of displays Description Status Comment action Displays during boot process Unit passes through several states when loading the firm ware boot to get ready for operation Status not ready Output stage is inhibited No communication possible e Waiting for boot process to finish Unit stays in this condition Unit defective
25. page 139 The pin assignment of the connection cable with the 9 pin sion cables D sub CAN connector is shown in the following figure 5 4 2 Connecting CAN cables to the supply module Adapter end Supply module end MOVIAXIS MXP Socket max 130 m Socket a a ee ey 1 A tie Sse eure or Sie Sree te 5 V not assigned BA a CAN_GND N ent can m ES 1 CAN_GND 2 CAN_H 3 i Be o em CAN_L CAN_GND H T oe er coe CAN H A not assigned i cs i CAN_GND ei assigned a ma Eoo 5 V not assigned 5 H H Fee H eo ero assigned H N i p er o 1407832971 Connection assignment of X12 pin on the supply module Supply module MOVIAXIS MXP pin X12 DGND CAN L CAN_H DGND CAN_H CANL Terminating resistor built in 1407835403 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 135 5 Gr Startup CAN based application bus CAN2 information and settings 5 4 3 Connections and PC diagnostics at the axis module INFORMATION CAN connections shall only be implemented in the control cabinet to avoid potential shifts Signal bus aoe maksim Terminating x9 X9 X9 X9 X9 X9 resistor aa NY
26. 08 fie bit Nor interpreted Function Bit 08 09 fis bit Non interpreted Function Bit 09 10 fis bit Noninterpreted I Function Bit 10 11 f 6 bit z Norinterpreted Function Bit 11 JNofuncion o 12 fis bit z Non interpreted J Function Bit 12 Notuncton y 13 fis bit J Non interpreted z Function 813 po ooo 1 Sti Nonintemeted gt Function Bit 14 ornin i 15 fis bit Noninterpreted I Function Bit 15 7 1409709451 181 Startup gt a PDO Editor Assigning the input Next the words of the IN buffer must be assigned to the control word 1 and the IN pro buffer to the sys cess data tem variables In the example the first word of the IN buffer is assigned the FCB number the second word is assigned the speed and the third word the ramp You can assign the respective words using drag amp drop Configuration of process data flow IN process data interface caj ee Wordi Word 0 0 FCB word2 1409711883 Setting the FCB Clicking FCB opens the parameterization interface of the FCBs To being able to con parameters trol the speed controller via fieldbus the setpoint sources for velocity and acceleration values are set to process data buffer channel 0 or channel 1 in the FCBO5 Setpoints Process data buffer channel 0 J m Epp cation im torque 1000 Process data buffer channel 1 000 Process data butter channel 1 ation imk jerk b
27. 110 11 9007202205751307 The corresponding mating connectors for all connectors are installed at the factory An exception are the D sub connectors they are supplied without mating connector Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Standard accessories 3 5 1 Assignment table for standard accessories Assignment table for standard accessories Mechanical accessories No Dimen MX MXZ mxs Es ek MXR RENA MXC MXB 10 10E 25 50 75 2 4 8 12 16 24 32 48 64 100 Electronics shield clamp 1 60 mm 1x 1x 1x 1x 1x 2 90 mm 1x 1x 1x 1x 1x 1x 3 120 mm 1x 1x 4 150 mm 1x 1x 1x 1x 1x 5 210 mm 1x Power shield clamp 6 60 mm 1x 1x 1x 1x 1x 1x 1x 1x 7 60 mm 1x 8 60 mm 1x 9 105 mm 1x 1x 1x 1x 10 105 mm 1x 1x 1x Cable lugs 11 3x 1 Length ofthe cables Length of the bulk cable without connector 2 MXP81A supply module with integrated braking resistor 3 Clamp with short support 60 mm wide 4 Clamp with long support 60 mm wide Operating Instructions MOVIAXIS Multi Axis Servo Inverter 21 22 Unit Design Standard accessories Assignment table for standard accessories Electric accessories No Dimen sion MXM MXZ MXS 10 MXP
28. 14 1402752267 View from front Electronics shield clamps C E DIP switch C CAN based system bus E EtherCAT compatible system bus X12 CAN system bus S1 S2 DIP switch S3 S4 Axis address switch Standby display Power 2 x 7 segment display X5a X5b 24 V voltage supply X4 DC link connection X1 Supply system connection Housing grounding point Power shield clamp X3 Braking resistor connection 28 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Unit design of the MXR supply and regenerative module 3 9 Unit design of the MXR supply and regenerative module The following illustration shows the unit without protective cover For detailed information about MXR refer to the MXR Supply and Regenerative Mod ule manual 3 9 1 MXR supply and regenerative module A B C 2 per 3 EB Bi gt a u oS E a am Pl 2 SS Mir 90 es 1 j Si E u zz _ez gt eS 8 VE n Men mE iR re 0 jt 2 a zen 9 pot 10 3 X9a 11 x9b 12 14 13 1481373195 A View from top B View from front c View from bottom 1 System bus 2 Electronics shield clamps 15 X18 Supply system voltage XQa Input green plug on cable measurement X9b Output red plug on cable 3 X12 CAN system bus 16 X19 Power on switch 4 1 2 DIP switch
29. 2 Braking resistors have a 1 Q tap 3 cdf Cyclic duration factor of the braking resistor in relation to a cycle duration Tp lt 120s Braking resistor type 1 BW006 025 012 BW006 050 01 BW106 T BW206 T BW004 050 01 Part number 1820 0117 1820 0125 1820 0834 1820 4120 1 820 0133 Power class of the supply module kW 50 75 75 Load capacity 100 cdf kW 2 5 5 0 13 18 5 0 Resistance value Raw 5 8 10 6 10 3 6 10 Trip current of F16 Ir ARMS 20 8 29 4 46 5 54 7 37 3 Design Grid resistor Connections M8 stud Permitted electric loading of the terminal stud at 100 cdf DC 115 Permitted electric loading of the terminal stud at 40 cdf DC 143 Amount of energy that can be absorbed kWs 300 600 1620 2160 600 Degree of protection IP20 when installed Ambient temperature Jy C 20 to 45 Type of cooling KS self cooling 1 Unit 2 Braking resistors have a 1 Q tap 3 cdf Cyclic duration factor of the braking resistor in relation to a cycle duration Tp lt 120 s Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical Data Technical data of line filter option for supply module 8 13 Technical data of line filter option for supply module To suppress interference emission on
30. 40 21 230 1328 Service str Madrid nr 4 Fax 40 21 230 7170 011785 Bucuresti sialco sialco ro Russia Assembly St Petersburg ZAO SEW EURODRIVE Tel 7 812 3332522 7 812 5357142 Sales P O Box 36 Fax 7 812 3332523 Service 195220 St Petersburg Russia http www sew eurodrive ru sew sew eurodrive ru Senegal Sales Dakar SENEMECA Tel 221 338 494 770 M canique G n rale Fax 221 338 494 771 Km 8 Route de Rufisque senemeca sentoo sn B P 3251 Dakar http www senemeca com Serbia Sales Beograd DIPAR d o o Tel 381 11 347 3244 381 11 288 Ustanicka 128a 0393 PC KoSum IV sprat Fax 381 11 347 1337 SRB 11000 Beograd office dipar rs Singapore Assembly Singapore SEW EURODRIVE PTE LTD Tel 65 68621701 Sales No 9 Tuas Drive 2 Fax 65 68612827 Service Jurong Industrial Estate http www sew eurodrive com sg Singapore 638644 sewsingapore sew eurodrive com Slovakia Sales Bratislava SEW Eurodrive SK s r o Tel 421 2 33595 202 Rybni na 40 Fax 421 2 33595 200 SK 831 06 Bratislava sew sew eurodrive sk http www sew eurodrive sk Zilina SEW Eurodrive SK s r o Tel 421 41 700 2513 Industry Park PChZ Fax 421 41 700 2514 ulica M R Stef nika 71 sew sew eurodrive sk SK 010 01 Zilina Bansk Bystrica SEW Eurodrive SK s r o Tel 421 48 414 6564 Rudlovsk cesta 85 Fax 421 48 414 6566 SK 974 11 Banska Bystrica sew sew eurodrive sk Ko ice SEW Eurodrive SK s r o Tel 421 55 671 2245 Slovensk ulica 26 Fax 421 55 671 2254 SK 040 01 Ko
31. 5 S3 S4 Axis address switch 6 X10 Binary inputs pins 1 6 X11 Binary outputs pins 7 11 7 X17 CAN2 bus 8 2x 7 segment display 9 X5a X5b 24 V voltage supply 10 X4 DC link connection 11 X1 Supply system connection 12 Housing grounding point 13 Power shield clamp 14 X3 Braking resistor connection Operating Instructions MOVIAXIS Multi Axis Servo Inverter 29 3 Unit Design Unit design of MXA axis modules 3 10 Unit design of MXA axis modules The following illustrations show the units without cover 3 10 1 MXA axis module size 1 A Cc E wes gt xl 11 m um us xl Sem 12 ee Per ES 4 1 a aw om gt ss 1402906251 A View from top B View from front c View from bottom 1 System bus 2 Electronics shield clamps 11 X2 Motor connection X9a Input green plug on cable 3 X10 Binary inputs 12 X6 Brake control X9b Output red plug on cable 4 X11 Binary outputs 13 X7 1 safety relays 5 X12 CAN2 bus optional variant 6 2x 7 segment display 7 X13 Motor encoder connection resolver or Hiperface temperature sensor 8 X5a X5b 24 V voltage supply 9 X4 DC link connection 10 Power shield clamp 30 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Unit design of MXA axis modules 3 10 2 MXA axis module size 2 gt II DEreT T na I lm
32. A K1 726 SOSOSSSS B K2 Be ito B K2 L715 O c ko PK i 3 3 UB L K1 K2 KO K1 K2 KO DR i K Bt K0 GY g UB WH g feat x LEN 5 Connect the sensor cable VT on the incremental encoder to UB do not jumper on the DWI11A Operating Instructions MOVIAXIS Multi Axis Servo Inverter 107 4 Installation Connecting the option cards DC 5 V encoder supply type DWI11A Description If you are using an incremental encoder with a DC 5 V encoder power supply install the DC 5 V encoder power supply option type DWI11A between the inverter and the incre mental encoder This option provides a regulated DC 5 V power supply for the encoder For this purpose the DC 12 V power supply for the encoder inputs is converted to DC 5 V by means of a voltage controller A sensor line is used to measure the supply voltage at the encoder and compensate the voltage drop along the encoder cable Incremental encoders with DC 5 V encoder power supply are not allowed to be con nected directly to the encoder inputs X14 and X15 This would cause irreparable dam age to the encoder INFORMATION Note that if a short circuit occurs in the sensor cable the connected encoder may be exposed to a voltage higher than permitted Recommendation Use prefabricated cables from SEW for the encoder connection Dimension drawing All dimensions in mm in tus Ar u o gt e2 cile 2
33. DGND 5000000 0000000 o Signal track A_N cos oO Signal track B_N sin n c N DATA wo n c gt TF TH KTY oa Us Sub D 15 pole female 1 Do not connect a cable Terminal Function for EnDat 2 1 Type of connec tor X63 XGH Signal track A Signal track B Pulse DATA n c TF TH KTY n c o NI OIA Plo N gt DGND Signal track A_N Signal track B_N 11 Cycle 12 DATA 13 n c 14 TF TH KTY 15 Us Sub D 15 pole female 1 Do not connect any cable Operating Instructions MOVIAXIS Multi Axis Servo Inverter 105 4 Installation Connecting the option cards Connector assign ment X64 XGS with SSI Terminal Function for SSI Type of connec tor X64 XGS n c n c Pulse DATA n c TF TH KTY n c DGND n c COIN OD a BR wl npn Sub D 15 pole female oO n c Cycle DATA N wo n c TF TH KTY Us a gt oa 1 Do not connect a cable Connector assign ment X64 XGS i with SSI AV1Y Terminal Function for SSI AV1Y Type of connec tor X64 XGS Signal track A cos Signal track B sin
34. EnDat encoder option 2 Communica 9408 nes tion error during memory range select i p EnDat encoder option 2 Communica 9472 7 tion error while reading a parameter EnDat encoder option 2 Communica 9536 re tion error while writing a parameter TA Output System is blocked Ready 0 60 DSF Communica Error during flash of the DSP stage RS an f tion error inhibit System restart Malfunction 0 01 DSP JTAG Comm error No JTAG connection DSP Once Comm error Unable to 02 enter debug state DSP Once Comm error DSP_CPU 03 notin debug mode before executing a DSP_Code DSP Once Comm error DSP PLL 04 not locked or no external cycle pres ent 05 DSP flash information FW error Unknown ID code DSP flash information FW error 06 CRC error while checking one of the three flash areas DSP flash information FW error 07 Unknown Flash info version in DSP firmware in Tri Core Flash DSP flash information DSP error 08 Unknown Flash info version in DSP firmware in DSP Flash Operating Instructions MOVIAXIS Multi Axis Servo Inverter 213 6 2 a Operation EL Operating displays and errors of MXA axis module Sub Error on Error System state Bl ut Cod R Measure poi pi Code Signal oce Cause ben Reset type DSP flash information DSP error 09 DSP code routine for calculation of three CRCs not executed completely 10 DSP flash programming error Error deleting the B f
35. Service Evenementenlaan 7 http www sew eurodrive be BE 3001 Leuven info sew eurodrive be Service Compe tence Center Industrial Gears SEW EURODRIVE n v s a Rue de Parc Industriel 31 BE 6900 Marche en Famenne Tel 32 84 219 878 Fax 32 84 219 879 http www sew eurodrive be service wallonie sew eurodrive be Brazil Production Sao Paulo SEW EURODRIVE Brasil Ltda Tel 55 11 2489 9133 Sales Avenida Amancio Gaiolli 152 Rodovia Presi Fax 55 11 2480 3328 Service dente Dutra Km 208 http www sew eurodrive com br Guarulhos 07251 250 SP SAT SEW ATENDE 0800 7700496 sew sew com br Operating Instructions MOVIAXIS Multi Axis Servo Inverter 10 273 4 0 Address List Bulgaria Sales Sofia BEVER DRIVE GmbH Tel 359 2 9151160 Bogdanovetz Str 1 Fax 359 2 9151166 BG 1606 Sofia bever bever bg Cameroon Sales Douala Electro Services Tel 237 33 431137 Rue Drouot Akwa Fax 237 33 431137 B P 2024 electrojemba yahoo fr Douala Canada Assembly Toronto SEW EURODRIVE CO OF CANADA LTD Tel 1 905 791 1553 Sales 210 Walker Drive Fax 1 905 791 2999 Service Bramalea ON L6T 3W1 http www sew eurodrive ca watson sew eurodrive ca Vancouver SEW EURODRIVE CO OF CANADA LTD Tel 1 604 946 5535 Tilbury Industrial Park Fax 1 604 946 2513 7188 Honeyman Street b wake sew eurodrive ca Delta BC V4G 1G1 Montreal SEW E
36. Startup CAN based application bus CAN2 information and settings CAN based application bus CAN2 information and settings Connections and PC diagnostics at the supply module INFORMATION CAN connections shall only be implemented in the control cabinet to avoid potential shifts max 5m 1 MXP a E 3 i TH rt l cani 1407830539 1 Connection cable between PC and CAN interface on the supply module The connection cable con sists of the USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CAN_L The maximum permitted cable length between terminating resistor and supply module is 5 m INFORMATION Observe the notes of the cable manufacturer on CAN suitability when selecting the ca ble For more information on communication between the PC and the MOVIAXIS system refer to chapter Communication via CAN adapter page 139 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup a CAN based application bus CAN2 information and settings U 5 Connection The connection and extension cable between the CAN adapter and the axis system assignment of con comes equipped with a 9 pin D sub socket on both ends see chapter Communication nection and exten via CAN adapter
37. bner 24 V AS7Y AMG73 S24 S2048 H bner 7 30V AV1Y os ROQ424SSI Heidenhain 10 30 V AV2Y AVM58X Pepperl amp Fuchs 9 30 V AV7Y AMG73 S24 S2048 SSI Kombi H bner 7 30 V EG7S OG83 SN 10247 H bner 7 30V EH1S HOG74 DN1024R H bner 12V EH7S 8 AH02H 5192 1024 K bler 10 30 V ES1S OG72S DN1024R H bner 24 V ES2S Sin cos OG72S DN1024R H bner 24 V ES7S OG73 SN 1024 H bner 7 30V EV1S ROD486 1024 Heidenhain 24 V EV2S OG71S DN1024R H bner 24 V EV7S OG73 SN 1024 H bner 7 30V Operating Instructions MOVIAXIS Multi Axis Servo Inverter Appendix Suitable encoders SEW encoder desig Manufacturer designation manufac Encoder voltage nation SUAS oyetan turer supply EG7R OG83 RN 1024 7 30V EG7T SEW 5V EH1R HOG74 DN1024R H bner 24V EH1T HOG74 DN1024TTL H bner 12V EH7R 8 A02H 5142 1024 K bler 12V EH7T 8 A02H 5112 1024 K bler 5V ES1R OG72 DN1024R Hiibner 24V ES1T OG72 DN1024TTL H bner 5VN ES2R In 0G72 DN1024R H bner 24V ES2T 0G72 DN1024TTL H bner 5y ES7R OG73 RN1024 7 30V EV1R ROD466 1024 Heidenhain 10 30 V EV1T ROD426 1024 Heidenhain 5V EV2R OG71 DN 1024R Hiibner 24V EV2T OG71 DN 1024TTL H bner 5 v1 EV7R OG73 RN 1024 7 30V EG7C OG83 UN 1024 H bner 9 30 V EH1C HOG 74 DN 1024 H bne
38. capacitor module zz MXC80A 050 503 00 Type 050 INPUT Nominal DC link voltage Uyzx U V DC 560 Storable energy Ww Ws 1000 Peak power capacity kW 50 Cross section and contacts mm CU bars 3 x 14 M6 screw fitting GENERAL INFORMATION Capacity C uF 4920 Time from switching the unit on 5 10 until it is ready for operation Mass kg 12 6 W mm 150 Dimensions H mm 400 D mm 254 1 Nameplate information 2 Unit 3 With Vine 3 x AC 400 V 8 6 1 Control section of capacitor module MOVIAXIS MXC capacitor module General electronics data DC 24 V voltage supply DC 24 V 25 EN 61131 COMBICON 5 08 Cross section and contacts One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm Operating Instructions MOVIAXIS Multi Axis Servo Inverter 243 244 Technical Data Technical data of MXB buffer module component 8 7 Technical data of MXB buffer module component MOVIAXIS buffer module Y ja MXB80A 050 503 00 Type 050 INPUT Nominal DC link voltage Vic link U V DC 560 Cross section and contacts mm CU bars 3 x 14 M6 screw fitting GENERAL INFORMATION Capacity Cc uF 4920 Time from switching the unit on until it is ready for operation S 10 Mass kg 11 W mm 150 Dimensions H mm 400 D mm 254 1 Nameplate information 2 Unit 3 With Viline 3 x AC 400 V Operating Instructions MOVIAXIS Multi Axis Servo Inverter Techni
39. lt 500 mA 1 X61 DGND 3 GND 24 V 4 F 24 V X63 X64 2881683467 1 Voltage source 3 encoder 2 Multi encoder card Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Connecting the option cards 12V 24 V total current gt 500 mA Example Wiring diagram of a multi encoder card with 12 V 24 V encoder voltage supply and a total current of gt 500 mA 2 1 X61 DGND 3 GND 24 V 4 12 V 24 V X63 X64 X61 DGND 3 24 V 4 X63 X64 2881822987 1 Voltage source 3 Encoder 1 2 Multi encoder card 4 Encoder 2 INFORMATION When using two multi encoder cards a maximum current of 800 mA can be supplied to the encoder via the basic unit For a total current of gt 800 mA an external voltage supply must be implemented Operating Instructions MOVIAXIS Multi Axis Servo Inverter 103 4 Installation Connecting the option cards Connection and terminal description of the card Connector assign ment X61 Terminal Assignment Brief description Type of connector X61 1 Al 0 Analog differential 2 Al 0 input DGND Reference for PIN Mini Combicon 3 5 5 pole Cable cross section Optional encoder max 0 5 mm 4 24V voltage supply 24 V encoder only an wo EEEE Connector assign ment
40. m Single axis positioning Offline _ 9 Tool for starting up an axis with MOVIAXIS 2541303819 143 144 C xD Startup MOVIAXIS startup single motor operation 2 Calling the startup wizard by right clicking on the Startup entry in the Project net work list Alpe kE 1 Parameter tree Offline J 2 Drive Startup for MOVIPLC Offline fr 3 Scope Offline Comparison Offline Tool for comparing unit data paramete IPOS variables etc 2 Comparison Offline Startup gt 5 Configuration for DFx Gateway Offline Technology editors gt P3 Startup Offline N Diagnostics b bE Parameter tree Offline x r Manual operation Offline an Manage unit parameter set gt a PDO Editor Offline 2541306251 5 9 2 MOVIAXIS startup There are 3 parameter records available for startup which can be assigned to 3 different motors You can select the parameter set to be started up in the start menu for motor startup You can only startup one parameter set at a time i e several parameters sets can only be started up one after the other Startup MOVIAXIS You will be guided step by step Motor startup Application parameter System limits Parameter set Parameter set 1 C Parameter set 2 C Parameter set 3 2542146187 Operating Instructions MOVIAXIS Multi Axis Servo Inverter
41. m ee r oND a I OE A u a ee as aD a EEE Ce ae 12 13 1403034635 View from bottom X6 Brake control X7 X8 2 safety relays optional variant 36 Unit Design EtherCA compatible or CAN based system bus 3 11 EtherCAT compatible or CAN based system bus Axis modules can be equipped with different system bus versions CAN based system bus SBus EtherCAT compatible system bus SBus The illustrations in chapter Unit design of MOVIAXIS MXA axis modules show the axis modules with CAN based system bus SBus A B 1 2 3 4 5 plus 1403141515 CAN based system bus SBus EtherCAT compatible system bus SBus US LAM switch Switch position 0 All axis modules except the last one Switch position 1 Last axis module in the system Switch F1 Switch position 0 Delivery state Switch position 1 Reserved for added functions LED RUN color Green orange Shows the operating status of the bus electronics and communica tion LED ERR color Red Shows EtherCAT error LED link IN color Green EtherCAT connection to the previous unit is active LED link OUT color Green EtherCAT connection to the subsequent unit is active Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Unit design of the MXM master module component 3 12 Unit design of the MXM master module component The following illustrations show the uni
42. y af o a a 5 a Requirements on dynamics Controller parameters 2 Clearance of load v j 0 DE Nee Cee ya oars DAS EIER 5 f gan ham 0 75 Stiffness v Download Permanent 9 Download Once 2546384907 e Referring to 2 For fine tuning the control parameters based on the backlash of the load coupling and the required control stiffness see section Controller opti mization page 162 e Referring to 3 For fine tuning during the test run Download permanent button The control parameters are downloaded each time the load backlash or the stiffness change Indicated by a green progress bar Download once button The control parameters are downloaded only once Operating Instructions MOVIAXIS Multi Axis Servo Inverter 165 166 Startup MOVIAXIS startup single motor operation Clicking on the Simulation button opens the Axis settles submenu Axis settles Speed controller Position controller Units for the graphic 55 Pr t 0 144sec s 0 082mm z 5 A i 45 RS E 4 n v mm s 35 s mm 2 3 a 25 Cc 2 f 15 v Umdr min s Umdr 1 t 0 144sec v 2 997mm s 05 0 20 40 60 80 100 120 140 160 180 U msec sok fecectoscecssvect NOM u u Suffness 050 A 200 0 750 4 v 77 686 mm s omm s mated v4 2 eh ee ee unass s 0 083 mm Omm z nce of load o 27 2546899083 Depending on whether you select the Sp
43. 10 s for the relay K11 Do not turn the power on or off more than once per minute e The line contactor must always be positioned before the line filter 4 10 3 Line fuse types Line protection types in operation classes gL gG e Nominal fusing voltage 2 nominal line voltage Circuit breakers with characteristics B C and D e Nominal circuit breaker voltage 2 nominal line voltage Nominal circuit breaker currents must be 10 above the nominal line current of the supply module Operating Instructions MOVIAXIS Multi Axis Servo Inverter 61 4 Installation Electrical installation 4 10 4 Unit output NOTICE An axis module can suffer irreparable damage if you connect capacitive loads to it e Only connect ohmic inductive loads motors Never connect capacitive loads 1405927947 4 10 5 Binary inputs binary outputs e The binary inputs are electrically isolated by optocouplers NOTICE The binary outputs are short circuit proof but not interference voltage proof Ex ternally applied voltages can damage the binary outputs The maximum cable length on the input and output connections must not exceed 10 m If you route the cables outside the control cabinet you have to shield them irrespec tive of the length 4 10 6 Permitted voltage supply systems 62 MOVIAXIS is intended for operation on voltage supply systems with a directly groun
44. 2 2 Tightening torques Tightening torques Retaining screws of the protective covers 0 8 Nm Retaining screws of the DC link connections 3 4Nm 224 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Service Removing installing a module 7 2 3 Removing an axis module Remove an axis module in the following sequence Disconnecting the e Disconnect the entire axis system from the power supply Observe the safety notes axis system from page 224 the power supply Shield clamps e Remove the electronics shield clamps 2 Cables e Remove the plugs of the encoder cables 4 X13 Remove the plugs of the signal bus cables 1 X9a X9b e Remove the plugs of the CAN2 connection cables 3 X12 if there are any Covers Remove covers 5 also those of the units to the left and right of the unit that is to be removed Signal lines e Remove the plugs of the signal cables 6 X10 X11 1411055115 24 V cables Remove the 24 V cable plugs for the electronics and brake supply 8 X5a X5b Operating Instructions MOVIAXIS Multi Axis Servo Inverter 225 Service Removing installing a module DC link bars Remove DC link bars 13 of the respective units X4 Shield plate e Remove shield plate on the power terminal 10 e Loosen the screw e Remove shield plate in downward direction Motor lines e Remove the plugs of the motor cables 12 X2 B
45. 20 2 5 mm Two cores per terminal 0 25 1 mm Inverter power consumption 0 7 W Analog inputs Number of inputs 2 Input range 10 V Input type differential Conversion cycle 1ms Resolution 12 bit Electrical isolation No Maximum permitted permanent overload 30 V against GND Input impedance gt 20 kQ EN 61131 Accuracy at 25 C 0 2 Measuring error temperature coefficient 100 ppm SKE C Input filter limit frequency 250 Hz Analog outputs Number of outputs 2 Output range 10 V Conversion cycle 1ms Resolution 12 bit Electrical isolation No Output load Min 1kQ Accuracy at 25 C 0 1 Measuring error temperature coefficient 100 ppm SKE C Minimum rise time 0 10 V 100 us Binary inputs Number of inputs 4 Input type Type 1 according to EN 61131 2 Filter 500 Hz Voltage range for 1 15 V lt UH lt 30V Voltage range for 0 3VSULS5V Processing time 1 ms Electrical isolation Yes Table continued on next page Footnotes on next page Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical data of XIO11A XIA11A input output option Technical Data Binary outputs Number of outputs 4 Output type Binary outputs according to EN 61131 2 Nominal voltage DC 24 V Processing time 1 ms Nominal current 0 5A Powe
46. 26 BRAKING RESISTOR external Minimum permitted braking resistor value Q 26 R 4 Q operation pone section and contacts on connec mim COMBICON PC4 pluggable max 4 Cross section and contacts on shield mm imax dee clamp GENERAL INFORMATION Power loss at nominal capacity WwW 30 Mass kg 4 2 WwW mm 120 Dimensions H mm 300 D mm 254 1 Nameplate information 2 Unit 8 3 3 Control section of supply module MOVIAXIS MX supply module General electronics data CAN interface CAN bus to CAN specification 2 0 parts A and B transmission technology to ISO 11898 max 64 stations Terminating resistor 120 Q has to be imple mented externally Baud rate can be set from 125 kbaud 1Mbaud Expanded MOVILINK protocol CAN 9 pin D sub connector DC 24 V voltage supply DC 24 V 25 EN 61131 Cross section and contacts COMBICON 5 08 One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm Switchover from SBus to SBusP s DIP switch 4 pole Shield clamps Shield clamps for control lines available Maximum cable cross section that can be connected to the shield clamp 10 mm with insulating sheath 1 Only for CAN based system bus 238 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical Data Technical data of MXA axis modules
47. 4 linie lieh 11 3 Unit Desig 2 kenn EEEN ee are Kap nebenan 12 3 1 Axis system with CAN based system bus uusessssnnnnnnnsnnnnnnnnnnnnnnnn 12 3 2 Axis system with EtherCAT compatible system bus nenne 13 3 3 Important notes EEE EA EEE 14 3 4 Nameplates and type designations uuessssesnnennnnnnnnnnnnnnnnnnnnnnnnnnn 15 3 5 Standard accessories 2244ums442424400H4nea2Hnnnnnnnnanannnnnnnnnnnnnnnnnnnnnen nahen 20 3 6 Optional accessories uunusnsssssnesnennnennnnnnnnennennnnnnnnennnnnnnnnnnnennnnrn nen 23 3 7 Overview of an axis system aeaaaee AEE EE AEA ENEE 24 3 8 Unit design of MXP power supply module sennneennnn 25 3 9 Unit design of the MXR supply and regenerative module 29 3 10 Unit design of MXA axis modules 40 44222440nn nee ennnnennnennnnnnnen nennen 30 3 11 EtherCAT compatible or CAN based system bus uses nennen 36 3 12 Unit design of the MXM master module component nee 37 3 13 Unit design of the MXC capacitor module component 39 3 14 Unit design of the MXB buffer module component ne 40 3 15 Unit design of the MXS 24 V switched mode power supply module COMPONCNt ic tie eke seed tae ck E ea tea Games gatas 41 3 16 Unit design of the MXZ DC link discharge module component 42 3 17 Combinable modules in case of two row configuration OF the
48. 5 131 5 Gr Startup Supply module settings for CAN based system bus SBus 5 2 3 Bus terminating resistors for CAN based system bus SBus 132 The CAN based system bus connects the supply module with the axis module This CAN bus requires a terminating resistor The following figure shows a schematic representation of the CAN communication and the respective position of the terminating resistor The terminating resistor is a standard accessory of the supply module page 21 Signal bus a a Terminating x9 X9 X9 x9 x9 x9 x9 X9 X9 resistor alb alb alb alb alb alb alb alb alb TE 1 MXP MXA MXA MXA MXA MXA MXA MXA MXA z 2 u 1 2 3 4 5 6 7 8 3 o gt CAN1 1408029835 1 Connection cable between PC and CAN interface on the supply module The connection cable con sists of the USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CAN_L For more information on communication between the PC and the MOVIAXIS system refer to chapter Communication via CAN adapter page 139 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup Communication selection Er 5 3 21 2 Communication selection The following figures show the possible
49. CAN sync period or current process data pro cessing 10018 The CAN sync offset is not a whole numbered multiple of the current pro cess data processing Adjust CAN sync offset or current process data pro cessing 10019 Data acceptance time of synchronous out PDOs greater than or equal to CAN setpoint processing cycle This means out PDOs are no longer sent Set the time of data accep tance of synchronous out PDOs to a smaller value than the CAN setpoint pro cessing cycle 20001 Configuration conflict with the master 20002 Process data configuration error Bus master has deactivated OUT PDO or specified invalid offset 20003 Process data configuration error Bus master has deactivated IN PDO or specified invalid offset 20004 Process data configuration error More input PDO on K Net than per mitted 20005 Process data configuration error More output PDO on K Net than per mitted 20006 Process data configuration error More PDO words on K Net than per mitted 67 PDO timeout error An input PDO whose timeout interval is not 0 that has not been set to Offline and that has already been received once has exceeded its time out interval Shutdown with appli cation delay D P System is waiting Warm start Ready 1 Malfunction 0 PDO 0 PDO 1 PDO 2 PDO 3 PDO 4 PDO 5 PDO 6 PDO 7 PDO 8
50. Cc D mm mm mm mm Axis module size 1 60 30 353 362 5 Axis module size 2 90 60 353 362 5 Axis module size 3 90 60 453 462 5 Axis module size 4 120 90 453 462 5 Axis module size 5 150 120 453 462 5 Axis module size 6 210 180 453 462 5 Supply module size 1 90 60 353 362 5 MXP81 supply module 120 90 353 362 5 Supply module size 2 90 60 453 462 5 Supply module size 3 150 120 453 462 5 un and regenerative mod 210 180 453 462 5 Table continued on next page Operating Instructions MOVIAXIS Multi Axis Servo Inverter 47 Installation Mechanical installation Rear view dimensions of MOVIAXIS MX housing MOVIAXIS MX A B Cc D mm mm mm mm Master module 60 30 353 362 5 Capacitor module 150 120 453 462 5 Buffer module 150 120 453 462 5 24 V switched mode power sup 60 30 353 362 5 ply module DC link discharge module 120 90 288 297 5 1 For detailed information on the MXR supply and regenerative module refer to the MXR Supply and Re generative Module manual 4 1 1 Rear view of MOVIAXIS module housing 1405572875 1 Position of tapped hole 2 See table with dimensions see chapter Mechanical installation page 47 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Mechanical installation 4 1 2 Minimum clearance and mounting position e Leave at least 100 mm 4 in clearance above and below the unit for optimum cooling Make s
51. G 01 1 atoms cht cccesds ce cease ae eth cae ce fase gsvnn dbase naphce cha vadaansesauasestucevadecuduacs ET 184 6 1 General information c cccccccececeeeeeeeeeeeccenecaeceeeeeeeeeeeeeeteeesnnsaaeeess 184 6 2 Displays of the supply and axis modules nnnenennennneeennen 185 6 3 Operating displays and errors of the MXP supply module 188 6 4 Operating displays and errors of MXA axis module 189 6 5 MXC capacitor module operating displays nenn 221 6 6 MXB buffer module operating displays 0 c cc ceeeeeeeeeeeeeeeeeeeeeetteeeeeeeee 221 6 7 24 V SMPS module operating displays u 224444444 444 nenne nnnnennn nn 222 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Contents TU 1 1 1 CC iso Sree E aides svedutvaadesunsnng Cav ed vate E AO 223 7 1 General information c ccccccceceeeeeeeeeseeecceaeeaeceeeeeeeeeeeeeeeeneeensaneeees 223 7 2 Removing installing a module 0 0 0 eee etter ss nnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 224 7 3 Mounting the DC link connection in case of two row configuration of the axis system uuuneneenssssennnnnnennnnnnnennnnnnnnnnn nn 230 7 4 Extended Siora ge E ee aa oaa aa a aa e eE aa nn RE 232 1 9 DISPOSAl ran an na a E EN 232 8 Ttechnical Data 4 u can abana AS Eaa aaaea Eanan 233 8 1 CE marking and UL approval 24044sns
52. MOVIAXIS DC link discharge mod ule 1 General electronics data Inhibit Control signal for discharge process low active DC 24 V voltage supply V DC 24 25 EN 61131 2 COMBICON 5 08 Cross section and contacts mm One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm Temp Evaluation signal for connection to an axis module connection to binary inputs switching current s 50 mA 1 Unit Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical Data Technical data of two row configuration of the axis system 8 10 Technical data of two row configuration of the axis system The following table lists only the data that deviates from the technical data listed above due to two row configuration MOVIAXIS MX Degree of protection EN 60529 IP10 Connection cross section of the DC link connection 35 mm Screw fitting at cable lug M8 Tightening torques Retaining screws of the cover 2 5 3Nm Retaining screws of conductor bars at insulator 2 5 3Nm Retaining screws of the DC link connections 3 4Nm Operating Instructions MOVIAXIS Multi Axis Servo Inverter 247 Technical Data Technical data of 24 V current consumption 8 11 Technical data of 24 V current consumption The current consumption of the MOVIAXIS units and their options depends on the switch on time It is therefore not possible to specify the cu
53. MOVIAXIS startup single motor operation Gr Startup Non SEW Click on the Non SEW encoder button to define encoder types that are not included in encoder button the SEW database lt lt Encoder selection p Mounting 1 Select the relevant encoder grouping f SEW encoder sew Approved encoder y ao Mon SEW encoder Select the encoder type Mechanical design Electrical design Rotatory v SINICOS v Load basic data 3 Enter the characterstic data of the encoder Increments per encoder revol Numetatcx Denomnator e 2544151691 You can define the encoder mounted to the motor using the following selection lists e Mechanical design e Electrical design Then press the Load basic data button This command automatically sets the values in the fields Number of periods revolution and Denominator You can also enter or change these values manually Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Startup qu 5 Mounting submenu Enter the encoder counting direction and the speed ratio between the motor and en coder here Motor encoder in i CD encoder satelton P mounting Encoder mounting Counting directon of the encoder lt in sense of rotation of motor v Ratio between encoder and motor ar ar Direct mounting Fu ab T tux FFF u Single turn mode res C s2 x J Activate single turn mode 2
54. Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line 72 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 12 3 Connecting supply module axis modules and DC link discharge module Wiring of power terminals 4 L1 12 13 line filter Cable length lt 600 mm xa toe toe Cu PETS HE pj Hgo i a E j i i i i i Axis module Axis module 124V switched i i imode i i p r power supply X4 DC link busbar PE grounding point of housing Power shield clamp 4046957579 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Operating Instructions MOVIAXIS Multi Axis Servo Inverter 73 4 Installation Wiring diagrams 4 12 4 Connecting braking resistors Supply module Supply module X3 X3
55. Optional input output card type XIO11A INFORMATION For information about the ground designations used in the following wiring diagrams refer to section Terminal assignment on the next page Supply The logic of the module is supplied by MOVIAXIS Binary inputs and outputs are supplied via the DCOM and 24 V terminals on the front The supply voltage must be fused with 4 A see also chapter UL compliant installa tion e The binary inputs and outputs are electrically isolated from the logic supply Module behavior Short circuit In the event of a short circuit of a binary output the driver will change to pulse mode and in this way protects itself The status of the binary output does not change Once the short circuit is eliminated the status of the binary output is that which is output by MOVIAXIS at that moment Switching inductive The module does not contain an internal free wheeling diode for receiving inductive loads energies when inductive loads are switched off The inductive load per output is 100 mJ at a frequency of 1 Hz e The inductive energy is converted into heat energy in the switching transistor A volt age of 47 V is present In this way the energy can be reduced faster than by using a free wheeling diode The load capacity of the outputs through inductive loads can be increased by adding an external free wheeling diode However switching off will take considerably lon ge
56. Permitted Mounting on horizontal surfaces Permitted Mounting on vertical surfaces when there is a perforated sheet at the top or connection terminals at the bottom Operating Instructions MOVIAXIS Multi Axis Servo Inverter 65 66 Installation Braking resistors e Not permitted Mounting on vertical surfaces when the connection terminals are at the top 4 11 2 Connection of braking resistors e SEW EURODRIVE recommends to connect the braking resistor as shown in the wir ing diagrams in chapter Brake control page 75 Install switch F16 close to the unit network If an unshielded cable is used for connecting switch F16 with the supply module keep the length as short as possible Preferably use a shielded line cable or twisted individual lines as connection cable to the braking resistor The cross section must be selected depending on the nominal current of the braking resistor e When using an external overload relay page 74 set the trip current according to the technical data of the braking resistor type BW and BW 01 e Observe the notes in the UL compliant installation page 126 chapter 4 11 3 Operation of braking resistors e The connection leads to the braking resistors carry a high DC voltage of about 900 V during nominal operation A WARNING The surfaces of the braking resistors will reach temperatures of up to 250 C when the braking resistors are loaded with Py Risk of bur
57. Settlers Crescent Ferrymead Fax 64 3 384 6455 Christchurch sales sew eurodrive co nz Norway Assembly Moss SEW EURODRIVE A S Tel 47 69 24 10 20 Sales Solgaard skog 71 Fax 47 69 24 10 40 Service N 1599 Moss http www sew eurodrive no sew sew eurodrive no Pakistan Sales Karachi Industrial Power Drives Tel 92 21 452 9369 Al Fatah Chamber A 3 1st Floor Central Com Fax 92 21 454 7365 mercial Area seweurodrive cyber net pk Sultan Ahmed Shah Road Block 7 8 Karachi Peru Assembly Lima SEW DEL PERU MOTORES REDUCTORES Tel 51 1 3495280 Sales S A C Fax 51 1 3493002 Service Los Calderos 120 124 http www sew eurodrive com pe Urbanizacion Industrial Vulcano ATE Lima sewperu sew eurodrive com pe Poland Assembly Lodz SEW EURODRIVE Polska Sp z 0 0 Tel 48 42 676 53 00 Sales ul Techniczna 5 Fax 48 42 676 53 49 Service PL 92 518 d http www sew eurodrive pl sew sew eurodrive pl Service Tel 48 42 6765332 42 6765343 Linia serwisowa Hotline 24H Fax 48 42 6765346 Tel 48 602 739 739 48 602 SEW SEW serwis sew eurodrive pl Portugal Assembly Coimbra SEW EURODRIVE LDA Tel 351 231 20 9670 Sales Apartado 15 Fax 351 231 20 3685 Service P 3050 901 Mealhada http www sew eurodrive pt infosew sew eurodrive pt Operating Instructions MOVIAXIS Multi Axis Servo Inverter Address List Romania Sales Bucharest Sialco Trading SRL Tel
58. Startup oa MOVIAXIS startup single motor operation D 5 5 9 3 Unit information This figure shows the current unit information The option cards that are plugged into the three possible slots are displayed Unit information Gi D D Unit variant a Stot 1 XGS encoder option SSI D Slot 2 No option 0 D Stot 3 No option o al a Er FIN 7 Rated current 2 A 2 b oO a Maximum output current 5 A o e 3 oO a a 5 a oe ss Rated malns voltage 400 v ni N 2 2542163083 The card types of option cards inserted into the card slots are shown in this figure In this example Slot 1 XGS encoder option SSI Slot 2 Empty e Slot 3 Empty Operating Instructions MOVIAXIS Multi Axis Servo Inverter 145 MOVIAXIS startup single motor operation 5 Gr Startup 5 9 4 Startup mode selection ny y Startup mode a o 5 Complete startup Controller optimization Machine and system data 3 y A ral gt ax a Ry Ya i er Kar E f fa 5 2542248971 You have three options for startup in the selection menu e Complete startup This is the setting option for the initial startup This part of the program stores the in formation for motor speed controller as well as machine and system data INFORMATION The following setting options Optimize controller and Machine and system data are subprograms of the MOVIAXIS MX startup These
59. System bus connection cable to other SEW units EtherCAT compatible ar 1 System bus connection cable 4 SEW stations with SEW EtherCAT interface 2 Output plug yellow 5 LAM switch Switch position 0 All axis modules except the last one Switch position 1 Last axis module in the system 3 Input plug green RJ45 CAUTION Important The DIP switch LAM 5 must be set to 1 at the last axis module in a sys tem At all other axis modules it must be set to 0 The lengths of the prefabricated connection cables 1 are 0 75 m and 3 m CAUTION Use only prefabricated cables from SEW EURODRIVE special assignment for this connection Operating Instructions MOVIAXIS Multi Axis Servo Inverter 55 4 Installation Covers and touch guards 4 8 Covers and touch guards 4 8 1 Protection cover The following units come equipped with a protection cover e Master module not shown e Capacitor module not shown e Buffer module not shown e Damping module not shown e Supply module all sizes e Supply and regenerative module not shown e Axis module all sizes 24 V switched mode power supply module not shown e DC link discharge module all sizes not shown 1405925515 1 Extended fan guard 2 Touch guard The tightening torque for the cover bolts is 0 8 Nm When driving in the self tapping screw make sure that it screws into the existin
60. X62 encoder emulator signals Terminal Assignment Brief description Type of connector X62 Signal track A Signal track B Signal track C 1 n c DGND Encoder emulator Sub D 9 pole signals male Signal track A_N Signal track B_N Signal track C_N n c OO OI SO on A OINI gt 1 Do not connect any cable PIN assignment Boe RCH XO Terminal Function for TTL d in d T f XGS with TTL ermina unction for encoder sin cos encoder ype of connec tor encoder sin cos X63 XGH encoder Signal track A cos Signal track B sin Signal track C 1 n c n c TF TH KTY n c DGND 9 Signal track A_N cos 10 Signal track B_N sin 11 Signal track C_N 12 n c 13 n c 14 TF TH KTY 15 Us Sub D 15 pole female oN Iola A OINI gt 1 Do not connect any cable 104 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards Connector assign ment X63 XGH X64 XGS with Hiperface encoder Connector assign ment X63 XGH X64 XGS with EnDat 2 1 Terminal Function for Hiperface encoder Type of connec tor X63 XGH Signal track A cos Signal track B sin n c DATA n c TF TH KTY n c a oo SO oa AJ OINI gt
61. accepted or optimized Direct adjustment or optimization of the individual control parameters should only be performed by an expert Controller Speed controller Position controller EY Comolete biock diagram Tabu Systemtype Simulation r Requirements on dynamics Controller parameters y U EAr 3 27 ry Clearance of load y a i o 75 100 5 ey Pr ras ny 0 75 ry Stiffness bd Download Permanent av aveleraeenvenseseespoareans suasesans shashidens seneesees peapennes eannseens saarin eis tae Download Once ay 0 50 0 88 i 1 63 2 00 sy SEW suggestion for controller parameters ay I Position x Velocity v ry gain 42 170 42 170 Us 84 339 a Setpoint filter 10 00 10 00 ms MR ume 47 427 n Setpoint cycle cont 10 00 10 00 ms setpoint fiter 5 000 actual value fitter 2 964 a Acceleration a precontrol 100 000 100 000 a precontrol filter 10 000 10 000 ms Accept permanently r precontrol 100 000 100 000 Accept once 2546150155 e Referring to 1 Settings made with the sliders Clearance of load and Stiffness only affect the suggested values If you want to accept the suggested values click on the Download permanent or Download once button Only now your entries have become active e Referring to 2 Input data Description Position x Gain Setting value for the P controller of the position control loop Setpoint f
62. all installed removed in the same way 7 2 1 Safety notes Always adhere to the following safety instructions A DANGER Dangerous voltage levels may still be present inside the unit and at the terminal strips up to 10 minutes after the complete axis system has been disconnected from the sup ply system Severe or fatal injuries from electric shock To prevent electric shocks e Disconnect the axis system from the supply system and wait ten minutes before re moving the protective covers After maintenance work do not operate the axis system unless you have replaced the protective cover because the unit only has degree of protection IPOO without protective cover A DANGER A leakage current gt 3 5 mA can occur during operation of the MOVIAXIS multi axis servo inverter Severe or fatal injuries from electric shock To prevent electric shock e With a supply system lead lt 10 mm route a second PE conductor with the same cross section as the supply system lead via separate terminals Alternatively you can use a PE conductor with a copper cross section 2 10 mm or aluminum gt 16 mm e With an incoming supply line 10 mm it is sufficient to install a PE conductor with a copper cross section 2 10 mm or aluminum 2 16 mm If an earth leakage circuit breaker can be used for protection against direct and in direct contact it must be universal current sensitive RCD type B 7
63. also supply 257 voltage Check startup parame ters Replace encoder SSI encoder Position outside toler Check interference ance range sources interrupted 258 beam reflector data lines etc Check startup parame ters SSI encoder SSI clock sequence Increase SSI clock rate 259 does not match speed sampling inter Check startup parame val ters SSI encoder User defined fault via SSI encoder signals Encoder input of basic fault mask error see data sheet of unit 260 encoder Check startup parame ters 261 SSI encoder No high level present Check wiring Replace encoder Faulty comparison of EnDat encoder Check track signal wir between raw position and track coun ing 513 ter Check interference sources Replace encoder Replace card Invalid EnDat parameter measuring Perhaps no EnDat 514 steps encoder can be used Replace encoder Invalid EnDat parameter resolution Perhaps no EnDat 515 encoder can be used Replace encoder Invalid EnDat parameter multi turn Perhaps no EnDat 516 encoder can be used Replace encoder EnDat encoder signals error statue Replace encoder 544 Error codes are listed in the EnDat 575 protocol description EnDat error code subcode 544 or subcode 4640 or subcode 8736 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation ly Operating displays and errors of MXA axis module lt Code Error Signal Sub error Code Erro
64. apply to motor operation Motor and regenerative have the same peak performance Applies to a line voltage of 400 V and 50 Hz PWM 8 kHz 8 4 2 Notes on brake control INFORMATION Note on tolerance requirement for the brake voltage The brake voltage has to be configured See MOVIAXIS Multi Axis Servo Inverter system manual 8 4 3 Permitted load of brake controller and brake One complete switching sequence opening and closing must not be repeated more often than every two seconds The brake must remain switched off for at least 100 ms before it can be switched on again 240 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical Data Technical data of MXA axis modules 8 4 4 Control section of axis module MOVIAXIS MX axis module General electronics data DC 24 V voltage supply DC 24 V 25 EN 61131 Cross section and contacts COMBICON 5 08 One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm X10 1 and X10 10 binary inputs Internal resistance Signal level Function Isolated optocoupler PLC compatible EN 61131 sampling interval 1 ms Ri 3 0 kQ 10 mA 13 V 30V 1 contact closed 3 V 5V 0 contact open according to EN 61131 DI Output stage enable fixedly assigned DI 1 DI 8 Selection option see parameter menu DI 1 and DI 2 suitable for touch probe function latency peri
65. be operated on MOVIAXIS With motors from SEW EURODRIVE Motor type selection i BY Servomotors Ey synchronous 7 cm owo y mP cmPz DS DY Dp 5 g Standard motors Do DR u DRS ob a Ea Fr D D Non SEW motors nr Fa ir wrens XML file the motor type is listed on the nameplate asynchronous SL2 linear operation aw CMS elec cylinder DAL N Ir sei in DT DV DAS ED DZ Ox IEC CSA NEMA 2545113227 When starting up non SEW motors you need the technical data of the non SEW motor SEW EURODRIVE can generate an XML file from this data This file is then uploaded to MOVIAXIS in the Non SEW motor menu Please contact SEW EURODRIVE for this purpose 5 9 10 Motor selection Motor selection Ne ee ee E a CMP100L 400 V 3000 1 min SEW EURODRIVE 76646 BruchsaliGermany Typ PSFI21ICMPSOSBPIKYIRHIMISM c Ne 01 23456789 0001 22 Bens Me_13 te low Re 6 ny 6000 rime mirgo A mnf KM KO Vom M4 Bremse 24V 31 Nm Gleicheichter Getriebe My max 35 Nm mu 1 600 A8000 nimii 1 5 1 Gewicht 38 Rated mains voltage 400 v v Brake installed Mounted d Max input speed 3000 1 min Temperature sensor Non SEW forced cooling fan KTY y Not installed x Response to overtemperature Stop at application limit waiting v 2545115659 In the Motor selection menu the motor data required for startup is set manually Operating Instructions MOVIAXIS Multi Axi
66. cdf Amount of energy that can kWs 10 28 64 84 600 be absorbed Degree of protection IP20 when installed Ambient temperature ty C 20 to 45 Type of cooling KS self cooling 1 Unit 2 cdf Cyclic duration factor of the braking resistor in relation to a cycle duration Tp lt 120s Operating Instructions MOVIAXIS Multi Axis Servo Inverter 249 Technical Data Technical data of braking resistors Braking resistor type 1 BW012 015 BW012 015 012 Bwo12 025 BW12 025 P Bwo12 050 Bwo12 100 T BW915 T Part number 821 6797 1820 010 9 821 680 0 1820 4147 821 681 9 1820 1415 1820 4139 Power class of the supply module kW 25 50 75 Load capacity 100 cdf kW 1 5 1 5 2 5 5 0 10 16 Resistance value Raw 12 10 15 10 Trip current of F16 Ir 11 2 14 4 20 4 28 8 31 6 Design Wire resistor Grid resistor Connections Ceramic terminals 2 5 Permitted electric loading of the terminals at 100 cdf DC 20 Permitted electric loading of the terminals at 40 cdf DC 25 Amount of energy that can be absorbed kWs 34 240 360 600 1260 1920 Degree of protection IP20 when installed Ambient temperature ty C 20 to 45 Type of cooling KS self cooling 1 Unit
67. e Set the user defined units in the Velocity row to no decimal places Acceleration Use the mouse to drag the spindle icon from the unit pool to the drive train in the Ac celeration row e Set the user defined units in the Acceleration row to 2 decimal places Operating Instructions MOVIAXIS Multi Axis Servo Inverter 169 5 170 C Startup MOVIAXIS startup single motor operation 5 9 14 Application and system limit values 5 9 15 Download Application and system limit values af zy v Maximum velocity System limit 7 B 250 250 mm s Application limit Ey n 3Y Maximum deceleration Maximum acceleration 3 1366 67 1366 67 mm s ayi B 1366 67 1366 67 mm s Lay Maximum velocity af B 225 225 mm s Lng y re deceleration o 1230 00 1230 00 mm s Ds Maximum acceleration Maximum deceleration emergency mee Eas B 1230 00 1230 00 mm s 1366 67 1366 67 mm s D N D 5 Maximum torque System limit Maximum torque Application limit p ZB 300 000 300 000 B 300 000 300 000 zc a 2 2548418699 The application and machine limit values refer to the set user defined units The user specified units selected previously are shown in the illustration and cannot be altered The fields on the right refer to the download value in the axis converted to the user specified unit The fields on the left are calculated suggestions of the program Click on the Accept SEW
68. hA Mod Resolver de EURODRIVE C 76646 BrucnsaRermany Typ PSF121 CMPSOSIEPIKTY f A ft fi Mm Ne 01 23456789 0001 22 Hit HM Me 13 w k 17 Arp 6 fh 6000 smn lea 9 0 A waf f 300 He Umi VOM Bremse 2V 31 Nm Geichrctner Getriebe Map 35 Nm ram 1000 8000 inin hal a Geh 38 2557576971 Selection and settings of the used AL1H encoder Operating Instructions MOVIAXIS Multi Axis Servo Inverter Application examples Startup aa 5 Determining the ratio between motor and encoder In the Axis configuration menu the required user defined units are set and the drive train is emulated For the emulation of the drive train select the required icons in the Unit pool menu and drag them to the Travel distance row Axis configuration g i Unit pool SE s a a fel ial FS y Examples o Basic configuration wv gt Travel distance User defined unit M7 D 62 832 ae 62 832 mm l SC F 0 Decimal positions ry _ saat Po o p 3 faf EY Velocity ry m s ey N 0 Decimal positions ay x JE Selection and settings of the used AL1H encoder Configuration of the axis Encoder data Ratio between encoder and motor Direct input Determined automatically Travel distance on encoder per motor revolution Cancel 2557633803 Click on the Encoder 2 AL1H icon to enter the Travel distance on encoder per motor revolution It is possible to enter the travel di
69. ice sew sew eurodrive sk Slovenia Sales Celje Pakman Pogonska Tehnika d o o Tel 386 3 490 83 20 Service UI XIV divizije 14 Fax 386 3 490 83 21 SLO 3000 Celje pakman siol net South Africa Assembly Johannesburg SEW EURODRIVE PROPRIETARY LIMITED Tel 27 11 248 7000 Sales Eurodrive House Fax 27 11 494 3104 Service Cnr Adcock Ingram and Aerodrome Roads http www sew co za Aeroton Ext 2 Johannesburg 2013 P O Box 90004 Bertsham 2013 info sew co za Operating Instructions MOVIAXIS Multi Axis Servo Inverter 10 279 10 280 Address List South Africa Cape Town SEW EURODRIVE PROPRIETARY LIMITED Tel 27 21 552 9820 Rainbow Park Fax 27 21 552 9830 Cnr Racecourse amp Omuramba Road Telex 576 062 Montague Gardens cfoster sew co za Cape Town P O Box 36556 Chempet 7442 Cape Town Durban SEW EURODRIVE PROPRIETARY LIMITED Tel 27 31 700 3451 2 Monaco Place Fax 27 31 700 3847 Pinetown cdejager sew co za Durban P O Box 10433 Ashwood 3605 Nelspruit SEW EURODRIVE PTY LTD Tel 27 13 752 8007 7 Christie Crescent Fax 27 13 752 8008 Vintonia robermeyer sew co za P O Box 1942 Nelspruit 1200 South Korea Assembly Ansan City SEW EURODRIVE KOREA CO LTD Tel 82 31 492 8051 Sales B 601 4 Banweol Industrial Estate Fax 82 31 492 8056 Service 1048 4 Shingil Dong http www sew korea co kr Ansan 425 120 master korea sew eur
70. in the following figure Adapter end Axis module end MOVIAXIS MX Socket 3 max 130 m Ph nix COMBICON 5 08 ET E cae E E Ss He er ae Ra X fi le PIN end view 5 V not assigned pose Soe Sa i EAS een CAN_GND 2 a a k CANL N eiai 3 2 CAN H CAN_H 3 i i a CAN2 Bus high 24 CAN_GND i ae Not assigned 4 ee eae eher 2 not assigned i E eae i us low 5 V not assigned 5 i 3 Si i CAN_GND Not assigned a Se Tame Pe 3 1408036875 Connection assignment of X12 f in on the axis Axis module Axis module p MOVIAXIS MXA MOVIAXIS MXA module pin pin X12 enc DGND ej cCANL CAN_H e gt DenD CAN_H can Terminating resistor Terminating built in 1 resistor is activated by built in jumpers in the plug 1408118539 1 Terminating resistor not active 2 Terminating resistor active Operating Instructions MOVIAXIS Multi Axis Servo Inverter 137 5 138 Startup CAN based application bus CAN2 information and settings 5 4 6 Bus terminating resistor for CAN2 bus connection The CAN based application bus CAN2 connects the supply module with the axis mod ule The CAN2 bus requires a terminating resistor The following figure shows the diagram of possible combinations for CAN communica tion and the respective position of the terminating resistor The terminating resistor is a standard accessory of the sup
71. installation notes c ccccccecceeeeees 123 Prefabricated Cables nnnn 123 Shielding cece a enea aa a 123 Connection and terminal description of the multi encoder card XGH11A XGS11A 104 Connection of CAN2 ccccccccccececeeeeeeeeeeeeaeaes 137 Connection of TTL encoder to multi encoder card XGH11A XGS11A nn 107 Connection technology 112 254 255 Connection technology of the multi encoder card XGH11A XGS11A nenn 101 D Displays of the supply and axis modules 185 DISPOSAlr 2 22 a A a a N 232 DP ID Number iea ee aid E 254 DNIITA RE en een 108 E Electric accessories uusnsssenneeneennnnnenneenen 22 Electrical installation ne 63 Electromagnetic compatibility Interference EMISSION nn 125 Interference emission categories 125 Line filter 22 a 125 Separate cable ducts eer rennene 124 Shielding and grounding 124 Error display of the 7 segment display 185 Errors in the supply module 185 Error list 2 sea 186 Explanation of terms nee 186 EtherCAT based system bUS nenn 140 EtherCAT compatible system bus XSE2AA 113 Extended Storage cecccceeceseeneeeeeseenneeeeeeeeenenees 232 F Fieldbus
72. lnitialization error of memory system 05 The read only memory contains invalid data The read only memory contains 06 incompatible data of another device in case of exchangeable data memo ries 07 INV memory initialization error 08 NV memory internal error 09 NV memory JFLASH error 10 NV memory FLASH module error Stop with 26 External terminal A binary input terminal has signaled Hik stop System is waiting Ready 1 error an error delay D p Warm start Malfunction 0 P 01 External terminal error One or both limit switches cannot be Shutdown EN mE SWI with emer System is waiting Ready 1 27 Limit switch error detected at the programmed input ter anc sto En minals or in the control word Er P Warm start Malfunction 0 Both limit switches missing or wire 01 breakage 02 Limit switch reversed Stop with 28 Fieldbus timeout Process data communication is inter HN System is waiting Ready 1 error rupted delay D Warm start Malfunction 0 P 01 Error Fieldbus timeout Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module ee eas i Sub Error oe Error System state Bi dr Cod R Measure aa Pu Code Signal 22 Cause bal alias Reset type Stop with 29 Hardware limit switch Hardware limit switch reached during a st Syst
73. memory parameter of current measuring range is too large 1028 System limits for speed are greater than max possible speed 1029 Application limits for speed are greater than max possible speed 1030 Invalid sensor type set for output stage temperature 1031 CFC No absolute encoder used as motor encoder in synchronous motors 1032 CFC No absolute encoder used as motor encoder in synchronous motors 1033 Position range in position detection mode without overflow counter exceeded Check project planning of travel distance 1034 FCB dual drive Lag error window may not be smaller than standard lag error window 1035 FCB dual drive Lag error window may not be smaller than adjustment threshold 1036 Modulo reference offset is not within Modulo limit Perform error free startup 1037 Position values of software limit switch reversed positive lt negative 1038 Encoder system Denominator factor system unit larger than or equal to numerator factor system unit e Perform startup e Increase numerator factor system unit 1039 Encoder option 1 unable to evaluate set encoder type Encoder must be operated on XGS11A 1040 Encoder option 2 unable to evaluate set encoder type Use corresponding option card or connect the required encoder to the proper hardware 1041 The device of option is unable to eval uate the set encoder
74. ment block not within DDB 38 39 202 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module ee eas i Sub Error oe Error System state Bi dr Cod R Measure a Pu Code Signal oce Cause bern Reset type 40 Cam Address of motor management Y source not within DDB 41 Cam Address of motor management V source not within DDB 42 Cam Address of motor management A source not within DDB 43 Cam Address of motor management MPrectrl source not within DDB 44 Cam Address of motor management JRel source not within DDB 45 Cam Address of motor management JRelToPhi source not within DDB Cam The length of the mathematical 46 curve must be greater than or equal to 3 47 Cam Illegal motor management mode 48 Cam Illegal initialization mode of the CAM Prof Gen 50 PositionSetpointGen Setpoint calcu lation is disabled 54 PositionSetpointGen Data structure exceeds DDB limit 52 PositionSetpointGen Incorrect type 53 PositionSetpointGen Version in DDB higher than firmware version EGear Master cycle in position 54 dependent synchronization must not be zero EGear Slave cycle in position depen 55 dent synchronization must not be zero EGear The parameters for time 56 dependent synchronization are invalid PositionSetpo
75. pulse 02 FCB reference travel Hardware limit switch before reference cam 204 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module Nae DR DZ Sub Error Bo Error System state Bi fit Cod R Measure a Dr Code Signal SE Cause al tela Reset type 03 FCB reference travel Hardware limit switch and reference cam not flush 04 FCB reference travel Referencing for type O must be set to TP 06 Fixed stop before limit switch refer Shift or activate limit switch ence cam reference cam Limit switch reference cam not flush Set limit switch reference 07 overlapping with fixed stop cam flush overlapping with fixed stop Reference offset in Single turn abso Set reference offset smaller 08 lute position must be smaller than 1 than 1 encoder revolution encoder revolution 99 FCB reference travel Reference type was changed during travel 40 Boot synchroniza Synchronization with an option card os System is blocked Ready 0 tion error could not be executed appropriately na System restart Malfunction 0 01 Option bus not ready or option card faulty 02 Timeout at boot synchronization with option or option card faulty 03 New boot synchronization required for NG DPRAM option 04 Timeout at boot synchronization with Check connection to option option or o
76. servo drive so it is optimally adapted to the connected motor and to the given boundary conditions Startup has to take place according to the instructions in this section 5 1 2 Hoist applications es A DANGER Risk of fatal injury if the hoist falls Severe or fatal injuries The MOVIAXIS multi axis servo inverter may not be used for any safety functions in conjunction with hoist applications Use monitoring systems or mechanical pro tection devices to ensure safety 5 1 3 Power on of axis system NOTICE e Observe a minimum switch off time of 10 s for the relay K11 Do not turn the power on or off more than once per minute Irreparable damage to the unit or unforeseeable malfunctions The specified times and intervals must be observed Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup xD 5 Supply module settings for CAN based system bus SBus 5 1 4 Connecting cables and operating switches NOTICE Cables may only be connected and switches may only be operated in a de energized state Irreparable damage to the unit or unforeseeable malfunctions De energize the unit 5 2 Supply module settings for CAN based system bus SBus The following settings are necessary The CAN baud rate is set using the two address switches S1 and S2 on the supply module see section Setting the CAN baud rate page 130 The 4 DIP switches f
77. setting options can be selected and executed following a complete startup only Optimization of the speed controller Direct selection of the startup submenu Controller Here you can adjust or optimize the controller settings Direct selection only possible if initial startup has already been performed Description of the controller settings in chapter Controller page 160 Machine and system data Direct selection of the startup submenu Axis configuration Here you can adjust the user defined units and the system and application limits For a description of the ma chine and system data see chapter Axis configuration page 167 146 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup xD 5 MOVIAXIS startup single motor operation 5 9 5 System configuration number of drives System configuration Number of drives Single motor operation Multi motor operation Master siave operation g 28888888 8 ee 2542315275 Option to select whether one or several motors are coupled with one load Single motor operation Only one motor is connected to the servo inverter and coupled with a load Multi motor operation Up to six identical motors can be connected to a servo inverter The servo inverter amplifies the torque and the current by the factor the number of the connected motors The inductance is reduced by the factor of the moto
78. size of the modules are determined in project planning Operating Instructions MOVIAXIS Multi Axis Servo Inverter 43 3 Unit Design Option combinations on delivery 3 18 Option combinations on delivery The axis modules include a rack system for up to 3 options 1 2 3 4 1403556235 1 3 Slots 1 3 assignment see following table 4 Control board component of the basic unit A general distinction is made between whether MOVIAXIS is used with the CAN based system bus SBus or the EtherCAT compatible SBusPlS 3 18 1 CAN version of the units The following tables show the possible combinations and the fixed assignment of cards to the slots Fieldbus combina The fieldbus options can be plugged in the following combinations tions Combination Slot 1 Slot 2 Slot 3 1 Fieldbus option 2 3 XIA11A 4 XIO11A XGH 5 XGS 6 Fieldbus option XIO11A 7 8 XGH XIA11A 9 XGS 10 XIA11A 11 Fieldbus option 12 XGS XGH Fieldbus option 13 XGH 14 Fieldbus option XGS 15 XGS Fieldbus option 1 XFE24A EtherCAT XFP11A PROFIBUS XFA11A K Net 44 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Option combinations on delivery Combinations with The options can be combined as follows XIO Combination
79. stiffness Is only necessary if the basic setting under point 1 is not sufficient Use the Clearance of load slider to set the clearance of the drive train Use the Stiffness slider to set the stiffness of the speed controller The value for the stiffness depends on the power transmission direct drive high toothed belt low and is a measure for the velocity of the speed control loop The value for the standard setting is 1 You enter the stiffness of the speed control loop either with the sliding scale or the input field If you increase the stiffness value you will also increase the control rate SEW EURODRIVE recommends to increase the value during startup in small incre ments 0 05 until the control loop starts oscillating motor noise You will then have to lower the value This approach ensures an optimum setting e Referring to 3 For fine tuning during the test run Download once button The control parameters are only downloaded once Download permanent button The control parameters are downloaded each time the load backlash or the stiffness change Indicated by a green progress bar 162 Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Startup Er Note When selecting Download once or Download permanent all parameters listed in the Controller menus are downloaded Tabular The control parameters preset by SEW EURODRIVE can be
80. the cut off thresho D P Malfunction 1 01 SM Temperature prewarning 86 SM overtempera Temperature ofthe SM has reached ees System is waiting Ready 1 ture error or exceeded the cut off threshold ea Warm start Malfunction 0 01 SM Temperature error ee z The utilization of the braking resistor 87 alee eee installed in the SM has reached the be EIS A EESRRER Ready 1 p prewarning threshold applies to 10 P Malfunction 1 warming kW version only D P 01 SM Ixt prewarning braking resistor The utilization of the braking resistor Output 88 Utilization of braking installed in the SM has reached or a 2 System is waiting Ready 1 resistor in SM error exceeded the prewarning threshold ann Warm start Malfunction 0 applies to 10kW version only 01 Ixt utilization error braking resistor of the SM 89 Switched mode Switched mode power supply SM No Ready 1 power supply SM I B 77 Srr r error response Malfunction 1 01 At least one of the supply voltages in the SM is not present 91 Sod el 24 V electronics supply less than 17 No Ready 1 is response an in supply module only V gt No error message for the axis response Malfunction 1 01 24 V electronics power supply too low Device configuration An error has occurred in the unit con Output System is blocked Ready 0 94 data error figuration data block during testing in stage Soe the reset phase inhibit System restart Malfunction 0 01 Unit configur
81. the line side of inverters Do not switch between the NF line filter and MOVIAXIS NF line filters have cRUus approval independent of MOVIAXIS Line filter type NF018 503 NF048 503 NF085 503 NF150 503 Part number 827 413 4 827 117 8 827 4150 827 4177 Supply module Size 1 Size 2 Size 3 Size 3 Rated line voltage Viine according to EN 50160 3 x AC 380 V 500 V 50 60 Hz Nominal current In AC 18 A AC 48 A AC 85 A AC 150 A Power loss at ly Py 12 W 22 W 35 W 90 W Earth leakage current at Vy lt 25 mA lt 40 mA lt 30 mA lt 30 mA Ambient temperature Uy 25 40 C Degree of protection IP20 EN 60529 F nro 2 2 2 Connections L1 L3 L1 gt i Aime AWG 10 10 mm AWG 8 35 mm 50 mm Tightening torque L1 L3 L1 L3 0 8 Nm 1 8 Nm AWG 2 AWG1 0 Connection PE M5 stud M6 stud 3 7 Nm 3 7 Nm Tightening torque PE 3 4 Nm 5 5 Nm M8 M10 j 12 8 Nm 23 8 Nm Operating Instructions MOVIAXIS Multi Axis Servo Inverter 251 252 Technical Data Technical data of line choke option for supply module 8 14 Technical data of line choke option for supply module Using line chokes is optional e To support overvoltage protection To smoothen the line current to reduce harmonics Protection in the event of distorted line voltage e To limit the charging current when several inverters are connected together in paral lel on the input end with shar
82. the scope of delivery of the MXP and MXR supply modules il Important Install a terminating resistor 3 in the last axis module of the axis system 4 2 1 Shield clamps e Install the cables properly and screw on electronics shield clamps 2 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 System bus connection cable for several axis systems CAN based 4 3 System bus connection cable for several axis systems CAN based e The individual axis systems are wired as described in chapter Connection cable for CAN based system bus with optional master module page 50 e The CAN connection cable 1 is routed from the red output X9b of the last axis module in one axis system to the green input X9a of the first axis module of the sub sequent system INFORMATION large ground connection e g a ground strap il The mounting plates on which the axis systems are mounted must have a sufficiently The lengths of the prefabricated system bus connection cables 1 are 0 75 m and 3 m 1 System bus connection cable 2 Terminating resistor INFORMATION included in the scope of delivery of the MXP and MXR supply modules il Important Install a terminating resistor 2 in the last axis module of the axis system Operating Instructions MOVIAXIS Multi Axis Servo Inverter 51 4 Installation System bus connection cable to other
83. type Use corresponding option card or connect the required encoder to the proper hardware 1042 No commutation present Set commutation with FCB25 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module Nae DR DZ Sub Error Bo Error System state Bi fit Cod R Measure Sea py Code Signal ocs Cause bial tls Reset type 1043 Standstill current not permitted for Disable standstill current synchronous motor function Output iti Internal computer System is waiting Ready 1 17 error traps CPU has detected an internal error an Warm start Malfunction 0 The soft has d d Output system is blocked Ready 0 18 Internal software error 18 SofnWare Nas ce leclod a NON per stage 4 1 missible state inhibit System restart Malfunction 0 Output System is blocked Ready 0 19 Process data error Invalid process data stage ERS R inhibit System restart Malfunction 0 Process data Negative maximum 01 a 33 torque indicated 02 Process data Positive minimum torque indicated Process data Negative motor torque 03 fees limit indicated 04 Process data Negative regenerative torque limit indicated 05 Process data Torque limit for quad rant 1 is negative 06 Process data Torque limit for quad rant 2 is negative 07 Process data Torque limit for q
84. 1 Uz DC link bus connection X4 2 Uz X5a 1 24 Ve X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply CT 4 X5b 1 24 VE X5b 2 DGND Voltage supply for electronics 41 X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply CT 4 L X9a X9a a Input System bus with green plug X9b b Output System bus with red plug X9b X12 1 n c D X142 2 CAN_L CAN bus low 6 1 X12 3 DGND Reference potential CAN bus A X12 4 CAN_L CAN bus low X12 5 Rtermination Unit internal SBus terminating resistor X12 6 DGND Reference potential CAN bus 9 fi us hig Cys X12 7 CAN_H CAN bus high X12 8 CAN_H CAN bus high X12 9 Rtermination Unit internal SBus terminating resistor 1 Only for CAN based system bus No function for EtherCAT based system bus Operating Instructions MOVIAXIS Multi Axis Servo Inverter 89 90 Installation Terminal assignment 4 13 3 Terminal assignment of the MXA axis modules Terminal Assignment Brief description X2 PE PE L PE as U Motor connection sizes 1 2 e X2 2 v ERPS FT 3 X2 3 w X2 PE PE x2 1 U i X2 2 v Motor connection size 3 X2 3 Ww X2 PE PE X2 1 U X2 2 v Motor connection sizes 4 5 6 X2 3 Ww X4 PE PE X4 1 Uz DC link bus connection X4 2 Uz X5a 1 24 Ve X5a 2 DGND Voltage supply for electronics X5a 3
85. 10 10 Binary input 6 freely programmable X10 7 DI 6 Binary input 7 freely programmable X10 8 DI 7 Binary input 8 freely programmable 210 9 DI 8 Binary input 9 freely programmable X10 10 DCOM Reference potential for the binary inputs DI DI 8 General reference potential of control electronics X13 12 n c X13 13 R2 REF X13 14 TF TH KTY X13 15 n c X11 1 DO Binary output 1 freely programmable X11 2 DO 1 Binary output 2 freely programmable X11 3 DO 2 Binary output 3 freely programmable X11 4 DO 3 Binary output 4 freely programmable X11 5 DGND Reference potential for the binary outputs DO DOW3 X12 1 n c X12 2 CAN_L CAN2 Bus Low X12 3 DGND Reference potential CAN bus X12 4 CAN_L CAN2 Bus Low X12 5 Rtermination Unit internal SBus terminating resistor X12 6 DGND Reference potential CAN bus X12 7 CAN_H CAN2 Bus High X12 8 CAN_H CAN2 Bus High X12 9 Rtermination Unit internal SBus terminating resistor X13 1 S2 SIN X13 2 S1 COS X13 3 n c X13 4 n c m 8 X13 5 R1 REF o X13 6 TF TH KTY o X13 7 n c 3 3 X13 8 n c Motor resolver connection 3 X13 9 S4 SIN of X13 10 3 COS 9Ce a n c Table continued on next page Footnotes at the end of the table Operating Instructions MOVIAXIS Multi Axis Servo Inverter 91 Installation Terminal assignment Terminal Assignment Brief description X13 1 Signa
86. 24 Vg X5a 4 BGND Voltage supply for brake supply X5b 1 24 Ve e X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply I 4 X6 1 DB 1 1 f X6 2 BGND Brake connection switched 49 Unit design with one safety relay optional 1 X7 1 24V Safety relay sizes 1 6 AAAA X7 2 RGND X7 3 C Safety relay I sizes 1 6 common contact 1 4 X7 4 NC Safety relay sizes 1 6 NC contact The connector comes equipped with a coding nose Design with two safety relays optional X8 1 24 V Safety relay Il sizes 2 6 F J X8 2 RGND X8 3 C Safety relay II sizes 2 6 common contact 1 4 X8 4 NC Safety relay II sizes 2 6 NC contact The connector comes equipped with a coding nose Table continued on next page Footnotes at the end of the table Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Terminal assignment Terminal Assignment Brief description X10 11 DGND 7 x9a X9a a Input System bus with green plug T X9b b Output System bus with red plug X9b x10 1 DI Binary input 1 with fixed assignment Control i ler enable 20 DIg1 Binary input 2 freely programmable e En Binary input 3 freely programmable Binary input 4 freely programmable Electrically isolated via opto X10 5 DI 4 Binary input 5 freely programmable coupler with reference to X10 6 DI 5 3 DCOM X
87. 24V Fuchs POMUX KH53 SICK Stegmann 10 32V RD4 MTS Sensors 24V RF MTS Sensors 24V RH MTS Sensors 24V RP MTS Sensors 24V ROQ424 SSI Kombi Heidenhain 10 30 V ROQ425 ATEX Heidenhain 5V VDM100 150 Pepperl amp Fuchs 24 V WCS2 A LS311 Pepperl amp Fuchs 24V WCS3 A LS311 Pepperl amp Fuchs 24 V WCS3B LS311 Pepperl amp Fuchs 24 V GM401 IVO 10 30 V 262 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Appendix Suitable encoders Encoder system en designation manu Rz voltage sup AG100 MSSI Stegmann 10 32 V SSI LA 41K T amp R 24 V Kueb 9081xxxx2003 5 32V ECN113 Heidenhain 5V ECN1313 Heidenhain 12 V EQN1125 Heidenhain 12V EnDat EQN1325 Heidenhain 12V EQN425 Heidenhain 5V ROQ425 Heidenhain 12 V ROQ425 ATEX Heidenhain 5V DME4000 xx7 SICK 24 V DME5000 xx7 SICK 24 V LinCoder L230 12 V SKM 36 SICK Stegmann 12 V SKS 36 SICK Stegmann 12 V Hiperface SRM 50 SICK Stegmann 12V SRM 60 SICK Stegmann 12 V SRM 64 SICK Stegmann 12V SRS 50 SICK Stegmann 12 V SRS 60 SICK Stegmann 12 V SRS 64 SICK Stegmann 12 V Operating Instructions MOVIAXIS Multi Axis Servo Inverter 263 9 Appendix Suitable encoders 9 1 1 Encoder parameterization The following points must be observed in the design and construction of encoders and when setting their parameters
88. 40 Le Bignon Paris SEW USOCOME Tel 33 1 64 42 40 80 Zone industrielle Fax 33 1 64 42 40 88 2 rue Denis Papin F 77390 Verneuil l Etang Additional addresses for service in France provided on request Algeria Sales Alger REDUCOM Sarl Tel 213 21 8214 91 16 rue des Fr res Zaghnoune Fax 213 21 8222 84 Bellevue info reducom dz com 16200 El Harrach Alger http www reducom dz com Argentina Assembly Buenos Aires SEW EURODRIVE ARGENTINA S A Tel 54 3327 4572 84 Sales Centro Industrial Garin Lote 35 Fax 54 3327 4572 21 Ruta Panamericana Km 37 5 sewar sew eurodrive com ar 1619 Garin http www sew eurodrive com ar Australia Assembly Melbourne SEW EURODRIVE PTY LTD Tel 61 3 9933 1000 Sales 27 Beverage Drive Fax 61 3 9933 1003 Service Tullamarine Victoria 3043 http www sew eurodrive com au enquires sew eurodrive com au Sydney SEW EURODRIVE PTY LTD Tel 61 2 9725 9900 9 Sleigh Place Wetherill Park Fax 61 2 9725 9905 New South Wales 2164 enquires sew eurodrive com au Austria Assembly Wien SEW EURODRIVE Ges m b H Tel 43 1 617 55 00 0 Sales Richard Strauss Strasse 24 Fax 43 1 617 55 00 30 Service A 1230 Wien http www sew eurodrive at sew sew eurodrive at Belarus Sales Minsk SEW EURODRIVE BY Tel 375 17 298 47 56 298 47 58 RybalkoStr 26 Fax 375 17 298 47 54 BY 220033 Minsk http www sew by sales sew by Belgium Assembly Brussels SEW EURODRIVE n v s a Tel 32 16 386 311 Sales Researchpark Haasrode 1060 Fax 32 16 386 336
89. 40764 Langenfeld near Dusseldorf sc west sew eurodrive de Electronics SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 1780 Fax 49 7251 75 1769 sc elektronik sew eurodrive de Drive Service Hotline 24 Hour Service 49 180 5 SEWHELP 49 180 5 7394357 14 euro cents min on the German land line network Max 42 euro cents min from a German mobile network Prices for mobile and international calls may differ Additional addresses for service in Germany provided on request Parc d affaires Roosevelt Rue Jacques Tati F 69120 Vaulx en Velin France Production Haguenau SEW USOCOME Tel 33 3 88 73 67 00 Sales 48 54 route de Soufflenheim Fax 33 3 88 73 66 00 Service B P 20185 http www usocome com F 67506 Haguenau Cedex sew usocome com Production Forbach SEW USOCOME Tel 33 3 87 29 38 00 Zone industrielle Technop le Forbach Sud B P 30269 F 57604 Forbach Cedex Assembly Bordeaux SEW USOCOME Tel 33 5 57 26 39 00 Sales Parc d activit s de Magellan Fax 33 5 57 26 39 09 Service 62 avenue de Magellan B P 182 F 33607 Pessac Cedex Lyon SEW USOCOME Tel 33 4 72 15 37 00 Fax 33 4 72 15 37 15 272 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Address List France Nantes SEW USOCOME Tel 33 2 40 78 42 00 Parc d activit s de la for t Fax 33 2 40 78 42 20 4 rue des Fontenelles F 441
90. 5179659 Temperature sensor Non SEW forced cooling fan 730 KTY F Not installed x Response to overtemperature Stop at application limit waiting Y 2545248139 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup Er MOVIAXIS startup single motor operation The following switch off responses for motor overtemperature are possible Input data Description Response to overtemper ature Here you can set the switch off response of the MOVIAXIS MX multi axis servo inverter in case of a motor overtemperature The following settings are available No response Motor overtemperature is ignored Display only the error is only displayed in the 7 segment display the axis keeps on running Output stage inhibit pending The axis switches to FCB controller inhibit motor coasts to a stop The axis performs a warm start following a reset see chapter Operating Mode Display in the operating instruc tions The reset time is reduced to a minimum because there is no booting involved Emergency stop pending The axis decelerates along the emergency stop ramp The axis performs a warm start following a reset see chapter Operating Mode Display in the operating instructions The reset time is reduced to a minimum because there is no booting involved Stop at application limits pending The axis decelerates using the appli cation ramp The axis performs a warm start followin
91. 544359947 It is only necessary for encoders that are defined as distance encoders encoders in the Distance encoder column to adjust the encoder counting direction and the speed ratio between motor and encoder If the speed ratio is not known it can be automatically determined in a measurement run see menu item Speed ratio between motor and encoder page 154 If the encoder is defined as Motor encoder it is not possible to enter data as the en coder is mounted directly to the motor shaft which means there is no speed ratio be tween encoder and motor The counting direction is also pre determined it is always the direction of rotation of the motor Operating Instructions MOVIAXIS Multi Axis Servo Inverter 153 MOVIAXIS startup single motor operation 5 Gr Startup Speed ratio mea Click on the Speed ratio measurement button surement button Distance encoder J Encoder selection p Mounting Encoder mounting Counting direction of the encoder en 1 5 in sense of rotation of motor v v Ratio between encoder and motor U Tat Direct mounting m ID Measurement finished Sy u Stellen sie bitte folgendes sicher y Geber 1 ist komplett in Betrieb genommen I durchgef hrt Geber 2 ist bis auf das bersetzungsverh ltnis in Betrieb genommen 2 Starten sie die Messung 3 Achse verfahren Fahren sie die Achse mit der Handbedienung 2544396939 Perform points 1
92. A axis module Error les Error System state EA Measure Ehe Sea signa Code Signal pods Cause Response Reset type 3 FCB 09 Target specified in user Increase resolution of user 31 defined unit results in target overflow specified unit for position in system units FCB 09 Modulo underflow gt Mod Swap values of modulo 32 lulo overflow underflow and modulo overflow FCB 09 Absolute target position Perform reference travel for 33 ne requested but not referenced position encoder FCB 09 Acceleration or deceleration Check local setpoint appli 34 limit 0 transferred cation limits system limits transferred process data 29 Electronic cam lag The preset lag error limit in electronic a System is waiting Ready 1 error cam mode was exceeded nn Warm start Malfunction 0 01 CAM Electronic cam lag error EA Output i iti u 21 Lag error dual drive The preset lag error limit in dual drive stage System is waiting Ready A mode Engel was exceeded inhibit Warm start Malfunction 0 01 FCB dual drive Lag error in adjust ment phase 02 FCB dual drive Lag error in standard operation 25 Non volatile parame An error was detected during access an System is blocked Ready 0 ter memory error to non volatile parameter memory System restart Malfunction 0 01 NV memory address access NV memory runtime error Memo 02 ryDevice Error reading data from non volatile 03 memory Data cannot be used due to faulty identification or checksum 04
93. AN_H and CAN _L e For secure data transmission you also need a shielded cable suitable for CAN net works e There are two communication paths for the axes in the axis system 1 Via the 9 pin D sub connector X12 on the supply module CAN based SBus see chapter Connecting CAN cables to the supply module page 135 2 Via the 9 pin D sub connector X12 to an axis module of the system CAN based application bus CAN2 see chapter Connecting CAN2 cables to the axis mod ules page 137 INFORMATION Cable connection and cable extension SEW EURODRIVE recommends using connection and extension cables with 1 1 through connection in shielded design Observe the notes of the cable manufacturer on CAN suitability when selecting the ca ble Operating Instructions MOVIAXIS Multi Axis Servo Inverter 139 Settings for EtherCAT compatible system bus SBusplus 5 C Startup 5 6 Settings for EtherCAT compatible system bus SBusP 4S Please note the following when using an EtherCAT compatible system bus Set the 4 DIP switches on the supply module to position E 1 vow BB 1408125451 1 Settings for EtherCAT operation All 4 switches set to E 2 DIP switches S1 S2 S3 and S4 and X12 have no functions In this variant switches S1 S2 S3 and S4 as well as terminal X12 on the supply module do not have any function e Set the DIP switch LAM to setting 1 at the la
94. AT networks Only one XFE24A fieldbus interface can be installed per axis module The XFE24A field bus interface allows MOVIAXIS to communicate with all EtherCAT master systems All standards of the ETG EtherCAT Technology Group such as wiring are sup ported This means the cables must be wired at the front by the customer ff 1 LAM switch x 1 0 e Switch position 0 All axis modules except the last one ai 1 e Switch position 1 Last axis module in the system 2 Switch F1 e Switch position 0 Delivery state e Switch position 1 Reserved for added functions on 3 2 LED RUN color Green orange ix T 4 3 LED ERR color Red 5 4 LED link IN color Green Bu I 5 LED link OUT color Green 6 Bus input Ethercar 7 Bus output Ei 6 3 71 2882456971 For more information about the EtherCAT fieldbus card refer to the MOVIAXIS MX Multi Axis Servo Inverter XFE24A EtherCAT Fieldbus Interface manual XFE24A option MOVIAXIS Standards IEC 61158 IEC 61784 2 Baud rate 100 MBd full duplex Connection technology 2 x RJ45 8x8 modular jack Bus termination Not integrated because bus termination is automatically activated OSI layer Ethernet Il Station address Setting via EtherCAT master Vendor ID 0 x 59 CANopenVendor ID EtherCAT services CoE CANopen over EtherCAT VoE Simple MOVILINK Protocol ov
95. C 1 1 A 400V D 76848 DRIVE P 10kW Ian ABA 400V LISTED IND Versorgungsmodul f 80 60H CONT 0 2006 Supply module T2 0 48 IP 20 Made in Germany CStatus gt 11 10 ARIEL ADH TE BI LAH UA HOB ANT BIN DEAT AOAO IURA NAAU QUANA EY EVRY CORAU OVALA DIOR LAD 3 lll 1402450571 Part I of the nameplate Located on the upper fastening plate of the module 1 Type designation m a a of the nameplate Located at the side of the module 2 Production number ousing 3 Status 16 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Nameplates and type designations 3 4 4 Type designation of MOVIAXIS basic units The following diagram shows the type designation MX A 80 A 004 5 0 3 00 00 Standard design 01 99 Special design 3 3 phase connection type U AC 380 500 V supply volt 50 age Variants 004 For axis modules the nominal cur rent such as 004 4 A 050 For DC link discharge modules the energy quantity that can be dissipated e g 050 5000 Ws For supply modules the nominal 010 power such as 010 10 kW For capacitor buffer and damping 050 modules the capacity such as 050 5 000 uF 060 For 24 V switched mode power supply the power such as 060 600 W Version 80 Standard variant 81 Type with one safety relay in the axis module 81 Compact supply module inte grated BW and capacito
96. Encoders in the Motor encoder column are always the Actual speed sources and thus tachometers Only one encoder per parameter set can be used for position detection The Position detection checkbox must be ticked for the encoder used for position detection Each encoder in the columns Motor encoder Distance encoder 1 or Distance en coder 2 can be assigned for position detection In the above example the encoder AV1H in the Motor encoder column is used for po sition detection Operating Instructions MOVIAXIS Multi Axis Servo Inverter 149 a Startup 5 MOVIAXIS startup single motor operation Displayed encod The encoder pool can represent up to 3 physical encoder inputs of the MOVIAXIS ers of the encoder multi axis servo inverter pool A maximum of 2 multi encoder option cards XGH11A XGS11A can be plugged in In the example only one multi encoder option card is plugged in Depending on the num ber of plugged multi encoder option cards the optional encoders 2 and 3 are displayed in the encoder pool in addition to the encoder 1 of the basic unit Encoder 1 is always connected to the encoder input of the basic unit Encoders 2 and 3 are always connected to the respective multi encoder cards see chapter Application examples page 171 Edit button Click on the Edit button to open the Motor encoder menu with the submenus Encoder selection and Mounting 1 Parameter set
97. F TH motor protection for asynchronous motors Installation When operating asynchronous motors on MOVIAXIS the TF TH motor protection is not routed in the encoder cable but as separate cable from the connector In this case an assembly kit with connection plug is available that is mounted to the axis module instead of the cable clamp on the shield plate Remove the cable clamp on the shield plate 1 Mount the TF TH assembly kit with the connection plug 2 Attach the TF TH connection cable as shown and connect it 3 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 63 64 Installation Electrical installation 4 10 9 Two row configuration of the axis system electrical installation The routing of cables described in chapter Two row configuration of the axis system mechanical installation page 58 must be observed Route the motor leads of the upper row on the left side Route the signal cables separately from the power cables A DANGER Dangerous voltages DC 970 V at cables and insulators 1 Severe or fatal injuries from electric shock To prevent electric shocks e Disconnect the axis system from the supply system and wait ten minutes before re moving the covers Use suitable measuring instruments to make sure that no voltage is present at ca bles and insulators 1 After maintenance work do not operate the axis system unless you have rep
98. INFORMATION It is not permitted to control the standard binary inputs with safety related pulsed volt ages except X7 and X8 at MXA 8 3 Technical data of MXP supply modules 8 3 1 Power section supply module sizes 1 3 1 2 i MOVIAXIS supply module Size MXP80A 503 00 1 2 3 Type 010 025 050 075 INPUT Supply voltage AC Ving U V 3 x 380 V 3 x 500 V 10 Nominal line current AC liine I A 15 36 72 110 Nominal power Py P kW 10 25 50 75 Line frequency fiine Hz 50 60 5 Cross section and contacts on con 2 COMBICON PC4 COMBICON Screw bolt M8 i mm PC16 pluggable max 70 nections pluggable max 4 max 10 Cross section and contacts on mm Waa CA max 4x 10 max 4 x 50 shielded shield clamp ki A x l OUTPUT DC LINK Nominal DC link voltage U v DC 560 Nominal DC link current DC IyzK l A 18 45 90 135 Max DC link current DC Izk max Imax A 45 112 5 225 337 5 Overload capacity for max 1s 250 Brake chopper power kW Peak power 250 x Py continuous power 0 5 x Px Mean regenerative power capacity kW 0 5 x Py Cross section and contacts mm CU bars 3 x 14 mm M6 screw fitting BRAKING RESISTOR Minimum permitted braking resis tor value R 4 Q operation Q E 10 me 3 9 Cross section and contacts on con 2 COMBICON PC4 COMBICON M6 screw bolts nections m pluggable max 4 PC16 pluggable 35 Az max 10 max Cross section and contacts on 2 Wiad A max 4 x 10 max 4x 16 shield clamp Operating Instructio
99. Instructions MOVIAXIS Multi Axis Servo Inverter 269 9 Appendix Declarations of conformity EC Declaration of Conformity EURODRIVE 900110010 SEW EURODRIVE GmbH amp Co KG re Ernst Blickle Stra e 42 D 76646 Bruchsal a declares under sole responsibility that the frequency inverters of the series MOVIAXIS 81A are in conformity with Machinery Directive 2006 42 EC 1 Low Voltage Directive 2006 95 EC EMC Directive 2004 108 EC 4 applied harmonized standards EN 13849 1 2008 5 EN 60204 1 2007 EN 61800 5 1 2007 EN 61800 3 2007 1 These products are intended for installation in machines Startup is prohibited until it has been established that the machinery into which these products are to be incorporated complies with the provisions of the aforementioned Machinery Directive 4 According to the EMC Directive the listed products are not independently operable products EMC assessment is only possible after these products have been integrated in an overall system The assessment was verified for a typical system constellation but not for the individual product 5 All safety relevant requirements of the product specific documentation operating instructions manual etc must be met over the entire product life cycle Bruchsal 11 12 09 Johann Soder Place Date Managing Director Technology a b a Authorized representative for issuing this declaration on behalf of the manufacturer b Authorized representativ
100. Instructions MOVIAXIS Multi Axis Servo Inverter 141 5 C Startup Sequence in case of new startup 5 8 Sequence in case of new startup There are two different variants for new startup New startup without master module e New startup with master module and MOVI PLC 5 8 1 New startup without master module 1 Startup Motor startup e Controller setting e User defined units e System and application limits 2 Standard application Technology editor for single axis positioning monitor 3 Scope recording of e Currents Speeds e Positions e etc 4 Data management e Loading and saving data records of individual axes 5 8 2 New startup with master module and MOVI PLC 1 Drive startup for MOVI PLC Motor startup e Controller setting e User defined units e System and application limits 2 Scope recording of e Currents Speeds e Positions e etc 3 Data management e Loading and saving data records of individual axes 142 Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Startup WU 5 5 9 MOVIAXIS startup single motor operation INFORMATION As a prerequisite for the startup procedure described below MOVITOOLS MotionStudio must be installed Refer to the MOVITOOLS MotionStudio manual for detailed information MOVIAXIS is started up using a startup wizard in MOVITOOLS MotionS
101. OVIAXIS MXA axis module a Terminal assign Eu Terminal Assignment Brief description X31 a RJ 45 I X32 ar AR RJ 45 INFORMATION You can select either connector X31 or X32 as input or output Technical data K Net properties K Net Power consumption 2W Electrical isolation No Bus bandwidth Max 50 Mbit s Connection technology 2xRJ 45 Max cable length per section 50 m Transmission medium CAT7 cable Interfaces K Net Front Serial bus No electrical isolation Bus bandwidth with max 50 Mbit s Connection technology with two RJ 45 sockets Transmission medium CAT7 cable Card properties Installation in MOVIAXIS MX servo inverter with housing widths as of 60 mm INFORMATION The power and current data refer to DC 24 V The losses of the internal switched mode power supply units have been taken into account Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical data of XIO11A XIA11A input output option Technical Data 8 20 Technical data of XIO11A XIA11A input output option 8 20 1 Description servo inverter 8 20 2 Binary hybrid module XIO11A The input output modules XIO 11A XIA11A are digital or digital analog hybrid option modules They can be used to read or send both digital and analog signa
102. Optional accessories 3 6 Optional accessories 1 1 6 a 4 I i 2 7 A 3 8 4 4 p NX 4 7 4 VV 19 g 10 5 b 11 1402743947 3 6 1 Assignment table for optional accessories No Dimensions designation connector type System bus connection cable for CAN based system bus SBus axis system with other SEW units 1 750 mm RJ45 open end 2 3000 mm RJ45 open end CAN master module connection cable 520 mm 2x RJ45 3 3000 mm 2x RJ45 EtherCAT master module connection cable 3 750mm 2x RJ45 System bus connection cable for EtherCAT based system bus SBusPlus axis system to other SEW units 4 750mm 2x RJ45 special assignment 5 3000 mm 2x RJ45 special assignment System bus connection cable CAN axis system to axis system 6 750 mm 2x RJ45 special assignment 7 3000 mm 2x RJ45 special assignment Adapter cable master module to CAN2 8 500 mm Weidm ller to Sub D9 w 3000 mm Weidm ller to Sub D9 w Table continued on next page Operating Instructions MOVIAXIS Multi Axis Servo Inverter 3 Unit Design Overview of an axis system No Dimensions designation connector type Connection cable for CAN based application bus CAN2 9 3 modules Sub D9 m w 10 4 modules Sub D9 m w CAN2 termina
103. SEW units CAN based 4 4 System bus connection cable to other SEW units CAN based P gt Be er 1 System bus connection cable 4 CAN H orange 2 Output plug black 5 Terminating resistor 3 CAN L orange white 6 Contact shield connection INFORMATION il Establish a common ground potential e g connection of the 24 V ground of the supply voltages The lengths of the prefabricated connection cables 1 are 0 75 m and 3 m 52 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 System bus cable for EtherCAT compatible system bus SBusplus with 4 5 System bus cable for EtherCAT compatible system bus SBusP with master module The following describes how the system bus cables of the EtherCAT compatible sys tem bus SBusP US must be connected in the axis system e Insert the system bus plugs 1 as described in the following X9a X9b e The RJ 45 plugs on each end of the cable are color coded Insert them in the fol lowing order red b green a red b green a red b red b Output RJ45 X9b green a Input RJ45 X9a e yellow c MXM output RJ45 MOVI PLC advanced UFX41 gateway e black d MXP input RJ45 X9a 1 System bus cable 2 LAM switch Switch position 0 All axis modules except the last one Switch position 1 Last axis module in the system INFORMATION
104. Sales Abidjan SICA Tel 225 21 25 79 44 Soci t industrielle amp commerciale pour Fax 225 21 25 88 28 l Afrique sicamot aviso ci 165 Boulevard de Marseille 26 BP 1115 Abidjan 26 Japan Assembly Iwata SEW EURODRIVE JAPAN CO LTD Tel 81 538 373811 Sales 250 1 Shimoman no Fax 81 538 373855 Service Iwata http www sew eurodrive co jp Shizuoka 438 0818 sewjapan sew eurodrive co jp Kazakhstan Sales Almaty TOO CEB EBPOAPAUB Ten 7 727 334 1880 np Paiib m6eka 348 akc 7 727 334 1881 050061 r AnmaTb http www sew eurodrive kz Pecny6nnka KasaxcTaH sew sew eurodrive kz Latvia Sales Riga SIA Alas Kuul Tel 371 6 7139253 Katlakalna 11C Fax 371 6 7139386 LV 1073 Riga http www alas kuul com info alas kuul com Lebanon Sales Beirut Gabriel Acar amp Fils sarl Tel 961 1 510 532 B P 80484 Fax 961 1 494 971 Bourj Hammoud Beirut ssacar inco com lb Jordan Beirut Middle East Drives S A L offshore Tel 961 1 494 786 Kuwait Sin El Fil Fax 961 1 494 971 Saudi Arabia B P 55 378 info medrives com Syria Beirut http www medrives com Lithuania Sales Alytus UAB Irseva Tel 370 315 79204 Statybininku 106C Fax 370 315 56175 LT 63431 Alytus irmantas irseva lt http www sew eurodrive lt Luxembourg Assembly Brussels SEW EURODRIVE n v s a Tel 32 16 386 311 Sales Researchpark Haasrode 1060 Fax 32 16 386 336 Service Evenementenlaan 7 http www sew eurodrive lu BE 3001 Leuven info sew eurodrive be Mal
105. Saturation at AD converter input 07 Unable to initialize PLL 08 CRC error via data flash X Flash CRC error via program flash P 09 Flash CRC error via program flash P 10 Flash 11 Watchdog of DSP has triggered 12 Invalid instruction in DSP 13 Unexpected interrupt in DSP 14 Software interrupt in DSP 15 Hardware stack overflow in DSP 16 ONCE trap in DSP 192 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module lt ly Sub Error Stor Error System state Bi wk Cod R Measure a De Code Signal oce Cause bal tla Reset type 17 Interrupt A in DSP 18 Interrupt B in DSP 19 Non permissible angle during calibra tion 20 Error deleting flash during calibration 24 Error programming flash during cali bration 22 Error verifying flash during calibration 23 Resolver evaluation not calibrated 24 PLL has locked during operation 256 Init phase of DSP not finished within permitted time period Ready signal of DSP not within per 267 i mitted time period Protection against division overflow 512 Py limiting the actual speed Set the correct system numerator denominator values Absolute encoder An error has occurred in the check Output System is blocked Ready 0 15 a stage error sum of the Hiperface signals inhibit System restart Malfunction 0 e Ch
106. Slot 1 Slot 2 Slot 3 1 2 XIA11A 3 XGH 4 XGS 5 XGH XIA11A 6 XGS XIO11A 7 XGS XGH 8 XGH 9 XGS XGS 10 11 XIO11A XGH 12 XGS Combinations with The options can be combined as follows XIA Combination Slot 1 Slot 2 Slot 3 1 2 XGH 3 XGS 4 XGS XGH 5 XIA11A XGH 6 XGS XGS 7 8 XIA11A XGH 9 XGS Combinations with The options can be combined as follows XGH XGS only Combination Slot 1 Slot 2 Slot 3 1 2 XGS XGH 3 XGH Combinations with The options can be combined as follows XGS only Combination Slot 1 Slot 2 Slot 3 1 2 XGS XGS Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Option combinations on delivery 3 18 2 EtherCAT capable units The following table shows the possible combinations and the fixed assignment of cards to the slots Combinations with The options can be combined as follows EtherCAT com patible system bus Combination Slot 1 Slot 2 Slot 3 1 2 3 XIA11A 4 xIO11A XGH 5 XGS 6 XIO11A 7 8 XSE24A XGH 5 XIA11A TEE 10 XIA11A 11 12 XGS XGH 13 XGH 14 15 XGS Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Mechanical installation 4 Installation 4 1 Mechanical ins
107. URODRIVE CO OF CANADA LTD Tel 1 514 367 1124 2555 Rue Leger Fax 1 514 367 3677 Lasalle PQ H8N 2V9 a peluso sew eurodrive ca Additional addresses for service in Canada provided on request Chile Assembly Santiago de SEW EURODRIVE CHILE LTDA Tel 56 2 75770 00 Sales Chile Las Encinas 1295 Fax 56 2 75770 01 Service Parque Industrial Valle Grande http www sew eurodrive cl LAMPA ventas sew eurodrive cl RCH Santiago de Chile P O Box Casilla 23 Correo Quilicura Santiago Chile China Production Tianjin SEW EURODRIVE Tianjin Co Ltd Tel 86 22 25322612 Assembly No 46 7th Avenue TEDA Fax 86 22 25323273 Sales Tianjin 300457 info sew eurodrive cn Service http www sew eurodrive com cn Assembly Suzhou SEW EURODRIVE Suzhou Co Ltd Tel 86 512 62581781 Sales 333 Suhong Middle Road Fax 86 512 62581783 Service Suzhou Industrial Park suzhou sew eurodrive cn Jiangsu Province 215021 Guangzhou SEW EURODRIVE Guangzhou Co Ltd Tel 86 20 82267890 No 9 JunDa Road Fax 86 20 82267922 East Section of GETDD guangzhou sew eurodrive cn Guangzhou 510530 Shenyang SEW EURODRIVE Shenyang Co Ltd Tel 86 24 25382538 10A 2 6th Road Fax 86 24 25382580 Shenyang Economic Technological Develop shenyang sew eurodrive cn ment Area Shenyang 110141 Wuhan SEW EURODRIVE Wuhan Co Ltd Tel 86 27 84478388 10A 2 6th Road Fax 86 27 84478389 No 59 the 4th Quanli Road WEDA wuhan sew eurodrive cn 430056 Wuhan 274 Operating Inst
108. a X5b 24 V voltage supply Electronics shield clamps X9a Input green plug on cable X9b Output red plug on cable 14 10 X4 DC link connection 11 Power shield clamp 12 Housing grounding point Operating Instructions MOVIAXIS Multi Axis Servo Inverter ye o aaa Fa u Kir A en l ip 1402749835 View from bottom X3 Braking resistor resistor X1 Supply system connection 25 Unit Design Unit design of MXP power supply module 3 8 2 MXP81 supply module with integrated braking resistor size 1 1 26 A A jil opassen ALN SERRES ARE ji in Prae 7 E x9a E X9b B PFFRFAPER 3 2 2 3 E nE 4 5 6 rl a m nn _ a m nn m u ea 8 MB 9 1N E J 1481496203 View from top B View from front Cc View from bottom System bus 2 Electronics shield clamps 13 X3 Connection of emergency X9a Input green plug on cable 3 C E DIP switch braking resistor optional X9b Output red plug on cable C CAN based system bus 14 X1 Supply system connection E EtherCAT compatible system bus 4 X12 CAN system bus 5 S1 S2 DIP switches for CAN baud rate 6 S3 S4 Axis address switch 7 Standby display Power 8 2x 7 segment display 9 X5a X5b 24 V voltage supply 10 11 12 X4 DC link connection Powe
109. aa rain 105 PIN assignment X63 XGH X64 XGS with TTL encoder sin cos encoder 104 PIN assignment X64 XGS with SSI AV1Y 106 Restrictions for the evaluation of inputs 101 Supply of the multi encoder card 101 Wiring diagrams ioeo TA 102 Multi encoder card XGH11A XGS11A option PIN assignment X64 XGS with SSI 106 N Nameplates and type designations 15 New Stamup 2 2 22 Rehau 142 With master module nenn 142 Without master module 142 o Operating display and errors of the axis module Table of displays 444 nennen 189 Table of errors nennen 191 Operating display and errors of the supply module Table of displays o ercsi e nennen 188 Table of QrrOrs nnii aeaa oa 188 Operating display of the 7 segment display 185 Operating displays MXB buffer module 221 Operating displays MXC capacitor module 221 Operating displays 24 V SMPS module 222 Operation nennen arts 184 Option combinations rs424442 nennen 44 Option combinations on delivery Axis modules EtherCAT variant 46 Axis modules XGH variant 45 Axis modules XGS variant 45 Axis modules XIA variant 45 Axis modules XIO variant 45 Optional accessories eceeceeeeeeeeee
110. able to meet the load requirements Once the current limit has been reached the MOVIAXIS MX multi axis servo drive assumes that the torque has reached its maximum value The desired speed cannot be attained Speed monitoring is triggered if this situation continues throughout the duration of the specified delay n monitoring The current limitation refers to the apparent output current of the multi axis servo drive Speed monitoring and deceleration time n mon itoring Current limit 5 9 12 Controller In the Controller menu item the data relevant for speed control is set Controller Efl Moments of inertia Lag J Motor Lag gt 40 240 kgam 0 000 koom 7 EQ gt Y J brake 1 760 kgm Measure 2 af Q ay af Time interval af ry Scanning frequency n X Time interval external control ry gt 10 m YW 10 00 ms fa 35 PWM frequency z VE kw Y ca D Controller optimization ca 5 in SEW suggestion Tabular pf gt via 4 4 mt Structural diagram oS Simulation 2545377291 160 Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Moments of inertia Startup Er J motor Mass moment of inertia of the started up motor J load Mass moment of inertia of the load based on the motor shaft If the mass mo ment of inertia of the load is not known it can be determined automatically using Measure see Mea
111. access types for the system buses of the unit system TAT A See Ne oe Bal MXM Bl MXP MXA MXA MXA MXM MXP MXA MXA 1408130315 1 PC CAN to CAN based system bus SBus 2 Master module with CAN based system bus SBus EtherCAT compatible system bus SBusPlUS 3 PC CAN to CAN based application bus CAN2 SEW EURODRIVE recommends the following communication paths e Unit system without master module CAN e Unit system with master module and DHE DHF DHR UFx TCP IP or USB Use the following table to select the type of communication for startup depending on the unit configuration Access to Access via Master module Sep O Axis modules 5 2 Via communication interface Hardware configuration of the unit system PROFIBUS CAN RS485 TCP IP USB RT CAN CAN2 Without master module x x Master module DHE x x x x x Master module DHF UFx41 x x x x x x Master module DHR UFx41 x x x x x4 x CAN based system bus Only if CAN2 if free for engineering oO N Only for operation for PROFIBUS DP Real time Ethernet parameter channel via controller gt Operating Instructions MOVIAXIS Multi Axis Servo Inverter 5 133 5 134
112. acknowledgement 186 GPU ireset z eine 186 System testattiin ai ira EDE RE 187 Warm st lt u im ea 187 S Safety functions sueri ea EERE Li 9 Safety technology safe stop en 252 SOVICE end nn dann 223 Setting the axis address 130 Settings for CAN2 bus o e 134 Signal bus cables for several axis systems EtherCAT based system DUS ne 54 Standard accessories ussesssnnnenennssnnnnnnnnsnnn 20 Startup au engeren 128 Startup of MOVIAXIS single motor operation 143 Startup of MOVIAXIS Mx Current settingS 0 ee eececeeeeesteeeeeeeeeteeeeeeenaaes 145 Encoder management of SEW encoders 149 Example multi motor operation 177 Example rotary encoder as distance encoder 44m nnnnenennnn 171 Example 2 linear encoder as position encoder ussnsre ernennen 173 System configuration 22su nennen 147 Startup software euessesseesnennnennennnnnennnnnnnnnnn nn 141 Station address sranie aaia 112 254 255 Suitable encoders multi encoder card option XGH11A XGST1A nnneneeeennnenennennnnn 101 Supply module nameplate reenen 16 Supply of the multi encoder card 101 T Technical data Axis module control section 241 Buffer module e eeeeceeeeeeeeeeeeeeeeeeeeees 244 Capacitor MOduUIe
113. agnetic compatibility 4 16 3 Line filter Install the line filter close to the servo drive but outside the minimum clearance for cooling Do not switch between the line filter and the MOVIAXIS multi axis servo inverter Keep the length of the cable between the line filter and servo drive to an abso lute minimum and never more than 600 mm Unshielded twisted cables are suffi cient Use unshielded cables for the supply system lead as well Shielded cables must be used for cables longer than 600 mm No EMC limits are specified for interference emission in voltage supply sys tems without grounded star point IT systems The effectiveness of input filters in IT systems is severely limited 4 16 4 Interference emission SEW EURODRIVE recommends the following EMC measures to limit interference emission e On the power system Select line filters according to the assignment tables of braking resistors and line filters in the Technical Data chapter On the motor end Shielded motor cables e Braking resistor You find notes on the selection of braking resistors in the MOVIAXIS Multi Axis Servo Inverter system manual in the Project Planning chapter 4 16 5 Interference emission categories Compliance with category C2 according to EN 61800 3 has been tested on a specified test setup when the following measures are adhered to e Servo inverters are installed in a control cabinet with galvaniz
114. alid period of the synchronization signal 04 Sin cos encoder Synchronization sig nal failure 05 Sin cos encoder Incorrect parameter setting of DSP 06 Sin cos encoder Saturation at AD converter input 07 Sin cos encoder Unable to initialize PLL 08 Sin cos encoder CRC error via data flash X Flash 09 Sin cos encoder CRC error via boot flash B Flash 10 Sin cos encoder CRC error via pro gram flash P Flash 11 Sin cos encoder Watchdog of DSP has triggered 12 Sin cos encoder Invalid instruction in DSP 13 Sin cos encoder Unexpected inter rupt in DSP Operating Instructions MOVIAXIS Multi Axis Servo Inverter 209 210 VOY D Z Operation te Operating displays and errors of MXA axis module Error les Error System state error M Binary output Code Response Kae signal Code Signal Cause 2 Reset type 14 Sin cos encoder Software interrupt in DSP 15 Sin cos encoder Hardware stack overflow in DSP 16 Sin cos encoder ONCE trap in DSP 17 Sin cos encoder Interrupt A in DSP 18 Sin cos encoder Interrupt B in DSP 19 Sin cos encoder Non permissible angle during calibration Sin cos encoder Error deleting flash 20 A settee during calibration 24 Sin cos encoder Error programming flash during calibration Sin cos encoder Error verifying flash 22 i NAA during calibration 23 Sin cos encoder Resolver
115. an define the encoder mounted to the motor using the following selection lists Encoder type e Mechanical design Development status e Electrical design The selectable criteria of the used encoder type are specified on the nameplate of the motor Click the Approved encoder button to display a current list of all encoders approved by SEW EURODRIVE 2 Mounting 1 Select the relevant encoder grouping SEW encoder sew v Approved encoder 2 Select the encoder from the SEW database _ as n avin Name Manufacturer Electrical type Mechanical type Resolution DME4000 x17 Sick Hiperface Linear 1000um DMES000 x17 Sick Hiperface Linear 1000um EHIR EHIT ESxR ESXT E sew TTL Rotatory 10241ner EH1S ES15 ES2S EVIS E SEW SIN COS Rotatory 1024Incr ES1H ES2H EVIH SEW Hiperface Rotatory 1024Incr LanCoder L 230 Sick Stegmann Hiperface Linear 5000um SKM 36 Sick Stegmann Hiperface Rotatory 1281ncr SKS 36 Sick Stegmann Hiperface Rotatory 128Incr SRM 50 Sick Stegmann Hiperface Rotatory 1024Incr SRM 60 S ck Stegmann Hiperface Rotatory 1024Incr SRM 64 Sick Stegmann Hiperface Rotatory 10241ncr SRS 50 Sick Stegmann Hiperface Rotatory 10241ner SRS 60 Sick Stegmann Hiperface Rotatory 1024Incr SRS 64 Sick Stegmann Hiperface Rotatory 1024Incr 2543866635 To select an encoder highlight it and click on OK Operating Instructions MOVIAXIS Multi Axis Servo Inverter 151 152
116. and NC contact X5a X5b Safety relay Safety relay II 10 o 1 24Ve 20 o 2 DGND 3o o 3 24Vs y u 40 o 4 BGND DGND pE Jo gt agol2 x8 X do 2 amp 1 2 3 4 1 2 3 4 24 V for 24 V supply for PLC brake supply D D and control electronics 1406125963 Connection via supplied pre fabricated cables Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams Connection dia gram of binary inputs Connection dia gram of binary out puts Logic 1406128395 24VE DGND Logic DOO 1 4 DGND 1406130827 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 81 Installation Wiring diagrams 4 12 8 Connection of master module component Wiring the control electronics X5a X5b o 1 24Ve o 2 DGND o 3 24V o 4 BGND 24 V for 24 V supply brake supply KOA OA for control electronics PE housing grounding point 1406133259 Connection via supplied pre fabricated cables CAUTION The housing grounding point of the master module must be connected to PE e g at the control cabinet Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 12 9 Connection of capacitor module component Wiring the control electronics X5b
117. are out side the permitted limit values An error occurred during CRC gener 02 ation for the firmware 03 Data bus error during RAM test 04 Address bus error during RAM test 05 Memory cell error during RAM test 20 Incorrect FPGA version for current Reload BSP or firmware firmware Shutdown 46 Timeout SBUS 2 Communication via SBUS 2 is inter with emer System is waiting Ready 1 error rupted gency stop Warm start Malfunction 0 delay P 01 Timeout CANopen CAN2 Control failure cable breakage Output _ system is blocked Ready 0 50 24 V supply voltage Error in 24 V supply voltage stage Sa ar error inhibit System restart Malfunction 0 01 24 V signals incorrect or switched Check 24 V supply mode power supply defective 04 Internal AD converter No conversion carried out Shutdown Software limit switch A software limit switch was with emer System is waiting Ready 1 51 Seren gency stop f error approached during positioning Warm start Malfunction 0 delay D P 01 The right software limit switch was approached 02 The left software limit switch was approached A CRC error occurred while checking Output System is blocked Ready 0 53 CRC flash error the program code by Flash in Code stage YSS MIS A Oe ER RAM or Resolver DSP inhibit System restart Malfunetion 0 01 CRC32 error in Flash EEPROM sec tion Initial Boot Loader 02 CRC23 error in Flash EEPROM sec tion Boot Loader 03 CRC32 error in Flas
118. are written to the axis module User defined unit of acceleration numerator 100 User defined unit of acceleration denominator 1 e User defined unit of acceleration resolution 1 Example Spindle application a rotary movement is converted into a linear movement Specification of user defined units e Position in mm with one decimal place e g 25 6 mm e Velocity in mm s with no decimal place e g 5 mm s Acceleration in mm s with two decimal places e g 10 mm s 168 Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Startup C x 5 Axis configuration 7 Unit pool ay N e g rpa ser eed Innnni I et een al Examples u Basic configuration v Ds Travel distance User defined unit mm ey 3 a p r x 1 Decimal positions o L Rev oe SL kx 1 3 EY Velocity ny mm s afl 0 Decimal positions Df x lo acceleration Revolutions 5 mm s a 2 Decimal positions D poa le 4 2548231819 Procedure Position Use the mouse to drag the spindle icon from the unit pool to the drive train in the Travel distance row e Set the user defined units in the Travel distance row to 1 decimal place e Click on the spindle icon In the Settings window that opens now you can enter the spindle pitch Velocity Use the mouse to drag the spindle icon from the unit pool to the drive train in the Ve locity row
119. art of the system has the following effects e the bootstrap loader will be activated bO will appear in the display reference positions of incremental encoder systems will be lost any existing fieldbus interfaces will be reset any existing control options will be reset fieldbus communication will be interrupted The interface between options and firmware system is initialized again A new boot synchronization to the fieldbus or control option takes place communication via CAN interfaces of the system will be interrupted connection to the supply module will be synchronized again hardware information system The active fault message is reset binary output 1 system status 0 The ready signal will be reset by the system status control after the reset by the system status control 186 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation EZ Displays of the supply and axis modules lt a System restart There will be no true reset of the microcontroller with a system restart The system restart has the following results the firmware will be restarted without the boot loader becoming active no display bo 1 reference positions of incremental encoder systems will be lost any existing fieldbus interfaces are not affected any existing control options are not affected The interface between options and firmware system is initialized again A new boot synchronization to t
120. as Check application regarding uti p II i reached the prewarning level lization Il Temperature prewarnin Thetemperature of the Supply module fea ea ania av ial P Lt P P 9 is approaching the cut off threshold ature P li Prewarning Utilization of inter Unit is ready for operation Check unit utilization project B I nal braking resistor 2 80 y P planning Affects only MXP81 6 3 2 Table of errors Display on Description Status Comment action the axis mod ule Displays in case of an error Brake chopper is not ready for additional capacity the settings made for the axis mod ules project planning Affects only MXP81 Error brake chopper operation See error list of axis modules x EZ Error message by SM via signaling IL Cil Ti Error excessive ZK voltage bus when DC link voltage is too Check application design and braking x Li 1 U high resistor The DC link current in the supply L Error excessive ZK current module has exceeded the maxi Check application regarding utilization X mum limit of 250 Inominal le 2 ee Utilization of the supply module a Bete z Ein L lt Error I xt monitoring pote cd init vaus Check application regarding utilization x gt a Temperature of the supply module re ti L L Error temperature monitor has reached the switch off thresh Check application regarding utilization X
121. ation connection 1409738251 The display can jump back to the statistical operation display depending on the type of error and the response programmed for an error Errors in the supply module are reported to the axis and processed by the axis You execute a reset by interrupting the 24V electronics supply or via the software Operating Instructions MOVIAXIS Multi Axis Servo Inverter 185 6 aS 2 Operation sth Displays of the supply and axis modules 6 2 3 Error list Explanation of terms used in the error lists Terms and abbreviations Meaning P Programmable error response D Default error response set at the factory VM Supply module AM Axis module ZK DC link HW Hardware SW Software AWE User unit The final error status determines which reset type will be executed in case of a fault re set see following table Final fault status Responses to error acknowledgement Display error only Warm start delete fault code System is waiting Warm start delete fault code System is blocked System restart execute soft reset System is blocked CPU reset execute CPU reset 6 2 4 Responses to error acknowledgement CPU reset A true restart of the microcontroller and the firmware will take place in case of a CPU reset The firmware system is started as though a new axis module has been connected to the network A rest
122. ation data Checksum error 02 Unit configuration data Invalid ver sion ofthe configuration data set 03 Unit configuration data Unexpected Correct configuration or rated unit voltage adjust firmware 97 Copy parameter set Parameter set could not be copied ei System is blocked Ready 0 error correctly cunt System restart Malfunction 0 01 Download of parameter set to unit Repeat download or canceled restore delivery condition Operating Instructions MOVIAXIS Multi Axis Servo Inverter 219 220 SEE i D Z Operation at Operating displays and errors of MXA axis module Error Rub Error System state r error M Binary output Code Response Se signal Code Signal Cause 2 Reset type 107 Line components The firmware has detected an error in Displa error one of the line components choke Er YN EHER line filter line contactor y 115 Le Say Connections X7 1 24 V X7 2 Output System i iti Ready 1 anna RGND or X8 1 24 V X8 2 stage HA Pe ee en a RGND are reversed Check wiring inhibit arm start alfunction Safety relays Switching delay e One safety relay in the between shutdown channels 1 and 2 device Check safety is too large circuit board 01 e Two safety relays in the device Check control cabling of both relays Permitted switching delay 100 ms 116 Communication timeout via DPRAM System is waiting Timeout MOVI PLC or SBus between MOVI PLC and Eme
123. ation per output 8A yellow 4 __1_ 2 1410983691 1 LED State 2 LED Load Operating Instructions MOVIAXIS Multi Axis Servo Inverter Service General information 7 Service 7 1 General information No inspection or maintenance intervals required during active operation 7 1 1 Repair service Please contact SEW EURODRIVE electronics service if an error cannot be repaired gt Customer and spare parts service When contacting the SEW electronics service please always quote the production num ber and order number so our service personnel can assist you more effectively You find the production number on the nameplate page 15 Provide the following information when sending the unit in for repair Production number nameplate Type designation Unit type Digits of the production number and order number Short application description drive type control connected motor motor type motor voltage Nature of the fault Accompanying circumstances Your own assumptions Unusual events preceding the problems Operating Instructions MOVIAXIS Multi Axis Servo Inverter 223 Service Removing installing a module 7 2 Removing installing a module This chapter describes how to replace an axis module in the axis system The master module capacitor module buffer module supply module DC link discharge module and the 24 V switched mode power supply unit are
124. ava Sy 7 Nr b 1 MXP MXA MXA MXA MXP MXA MXA MXA 3 CH gt N 1408034443 1 Connection cable between PC and CAN interface on the axis module The connection cable consists ofthe USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CAN_L The maximum permitted cable length between terminating resistor and the first axis module is 5 m INFORMATION For the connection between the axis systems please use pre fabricated cables from SEW EURODRIVE For more information on communication between the PC and the MOVIAXIS system refer to chapter Communication via CAN adapter page 139 5 4 4 Setting the CAN2 axis address All axis modules are set to address 0 at the factory Each axis module must be given a CAN2 axis address by means of parameter setting 136 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup Er 5 CAN based application bus CAN2 information and settings 5 4 5 Connecting CAN2 cables to the axis modules Connection The connection and extension cable between the CAN adapter and the axis system assignment of con comes equipped with a 9 pin D sub socket on both ends see chapter Communication nection and exten via CAN adapter page 139 The pin assignment of the connection cable with the 9 pin sion cables D sub CAN connector is shown
125. axis system kind 43 3 18 Option combinations on delivery ussessnnseeneessnnnnnnnnsnnnnnnnnnnnnnnnnnnn nn 44 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Contents A Installation 2 2 ss sense T 47 4 1 Mechanical installation erss4s444esnnnnnennnnnnnnennnnnnnnnnnennnennen 47 4 2 System bus cable for CAN based system bus SBus with optional master module 244444444404nHennennnnnnnnennnnnnennnnnennennen 50 4 3 System bus connection cable for several axis systems CAN based 51 4 4 System bus connection cable to other SEW units CAN based 52 4 5 System bus cable for EtherCAT compatible system bus SBusPlus with master module 44 4s00nsnennnennnnnnnnnnnnnnnnennnnnnnnnnnennnnne nn 53 4 6 System bus cable for several axis systems EtherCAT compatible 54 4 7 System bus connection cable to other SEW units EtherCAT compatible a A E vivaade aii nade ieee va ees 55 4 8 Covers and touch guards usennenneennnnnnnnnennnnnnnnnnnnnnnnnnennnn nenn 56 4 9 Two row configuration of the axis system mechanical installation 58 4 10 Eleetrical install tion 2 u42 2a 60 4 11 Braking resist rs 22 2e nannte 65 4 12 Wiring diagrams nocens aaa in 67 4 13 Terminal assignment sereia iire aia a E RR 87 4 14 Connecting the option Cards ssseseeesse
126. aysia Assembly Johore SEW EURODRIVE SDN BHD Tel 60 7 3549409 Sales No 95 Jalan Seroja 39 Taman Johor Jaya Fax 60 7 3541404 Service 81000 Johor Bahru Johor sales sew eurodrive com my West Malaysia Mexico Assembly Queretaro SEW EURODRIVE MEXICO SA DE CV Tel 52 442 1030 300 Sales SEM 981118 M93 Fax 52 442 1030 301 Service Tequisquiapan No 102 http www sew eurodrive com mx Parque Industrial Qu retaro C P 76220 Queretaro Mexico scmexico seweurodrive com mx Operating Instructions MOVIAXIS Multi Axis Servo Inverter 10 277 10 278 Address List Morocco Sales Casablanca Afit Tel 212 522633700 Route D EI Jadida Fax 212 522621588 KM 14 RP8 amp fatima haquiq premium net ma Province de Nouaceur http www groupe premium com Commune Rurale de Bouskoura MA 20300 Casablanca Netherlands Assembly Rotterdam VECTOR Aandrijftechniek B V Tel 31 10 4463 700 Sales Industrieweg 175 Fax 31 10 4155 552 Service NL 3044 AS Rotterdam Service 0800 SEWHELP Postbus 10085 http www sew eurodrive nl NL 3004 AB Rotterdam info sew eurodrive nl New Zealand Assembly Auckland SEW EURODRIVE NEW ZEALAND LTD Tel 64 9 2745627 Sales P O Box 58 428 Fax 64 9 2740165 Service 82 Greenmount drive http www sew eurodrive co nz East Tamaki Auckland sales sew eurodrive co nz Christchurch SEW EURODRIVE NEW ZEALAND LTD Tel 64 3 384 6251 10
127. be used according the following table The following tables show the possible combinations and the fixed assignment of cards to the slots Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards Fieldbus combinations The fieldbus options can be plugged in the following combinations Combination Slot 1 Slot 2 Slot 3 1 Fieldbus option 2 3 XIA11A 4 XIO11A XGH 5 XGS 6 Fieldbus option XIO11A 7 8 XGH XIA11A 9 XGS 10 XIA11A 11 Fieldbus option 12 XGS XGH Fieldbus option 13 XGH 14 Fieldbus option XGS 15 XGS Fieldbus option 1 XFE24A EtherCAT XFP11A PROFIBUS XFA11A K Net XIO combinations The options can be combined as follows Combination Slot 1 Slot 2 Slot 3 1 2 XIA11A 3 XGH 4 XGS 5 XGH XIA11A 6 XGS XIO11A 7 XGS XGH 8 XGH 9 XGS XGS 10 11 XIO11A XGH 12 XGS Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards XIA combinations The options can be combined as follows Combination Slot 1 Slot 2 Slot 3 1 2 XGH 3 XGS 4 XGS 5 XIA11A XGH ane 6 XGS XGS 7 8 XIA11A XGH 9 XGS Combinations with XGH XGS only The options can be combined a
128. brake control see project planning manual See example for maximum load Brake connection i aie VIA below the footnotes BR Signal level 0 0V 1 24 V Important Do not apply external voltage Function Brake fixedly assigned COMBICON 5 08 Brake connection contacts En One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm Shield clamps Shield clamps for brake lines available Maximum cable cross section that can be connected to the 10 mm with insulating sheath shield clamp Table continued on next page Footnotes on next page Operating Instructions MOVIAXIS Multi Axis Servo Inverter 239 Technical Data Technical data of MXA axis modules MOVIAXIS axis module Dee Size MXA80A 503 00 1 2 3 4 5 6 GENERAL INFORMATION Power loss at nominal capacity Ww 30 60 100 150 210 280 380 450 670 1100 Mass kg 4 2 42 42 52 52 92 9 2 9 2 15 6 15 6 Ww mm 60 90 90 120 150 210 Dimensions H mm 300 300 400 400 400 400 D mm 254 Nameplate information Unit with simplification Inzk In typical motor application W N gt DENN Material thickness mm x width mm oa For Vjine 3 x AC 500 V the output currents must be reduced by 20 from the nominal values O For a 32 A axis used in line with UL and with a PWM of 4 kHz the maximum continuous output current is 35 A N Indicated values
129. bration error Wire break age detection of resolver 31 DSP calibration error Emulation error resolver excessive speed 32 DSP calibration error Invalid period of the synchronization signal 33 DSP calibration error Synchroniza tion signal failure 34 DSP calibration error Incorrect parameter setting 35 DSP calibration error Saturation at AD converter input 214 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module ee eas i Error ao Error System state Bi dr Cod R Measure a Pu Code Signal a2 Cause bern Reset type 36 DSP calibration error Unable to ini tialize PLL 37 DSP calibration error CRC error via X Flash 38 DSP calibration error B flash CRC error DSP calibration error CRC error via 39 P Flash 40 DSP calibration error Watchdog of DSP has triggered 4 DSP calibration error Invalid instruction in DSP 42 DSP calibration error Unexpected interrupt in DSP 43 DSP calibration error Software interrupt in DSP 44 DSP calibration error Hardware stack overflow in DSP 45 DSP calibration error ONCE trap in DSP 46 DSP calibration error Interrupt A in DSP 47 DSP calibration error Interrupt B in DSP 48 DSP calibration error Non permis sible angle during calibration DSP calibration error Er
130. cal data of MXS 24 V switched mode power supply module compo Technical Data 8 8 Technical data of MXS 24 V switched mode power supply module component MOVIAXIS 24 V switched mode power supply 2 module MXS80A 503 00 Type 060 INPUT via DC link Nominal DC link voltage Unzk U V DC 560 Cross section and contacts CU bars 3 x 14 M6 screw fitting INPUT via external 24 V Nominal inp tvoltag U V DC 24 0 10 with direct brake control P ge In DC 24 25 EN 61131 with brake control via brake switchgear PC6 Cross section and contacts mm One core per terminal 0 5 6 Two cores per terminal 0 5 4 OUTPUT DC 3 x 24 shared ground Tolerance for supply via DC link DC 24 Nominal output voltage V U V 0 10 tolerance for supply via external 24 V According to input voltage Nominal output current A 3x 104 Nominal output power P P WwW 600 COMBICON 5 08 Cross section and contacts mm One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm GENERAL INFORMATION Delay time for Uz drop t s Nominal power for 10 ms Efficiency About 80 Mass kg 4 3 Dimensions W mm 60 H mm 300 D mm 254 Nameplate information Unit CUS ey S oa Material thickness mm x width mm Not possible at the same time because total power is limited to 600 W Applies to the following test point 10 ms are guaranteed f
131. cance 64 ne Reserved Connector assign Connection to the PROFIBUS network using a 9 pin sub D plug according to IEC 61158 ment The T bus connection must be made using a plug with the corresponding configuration 2 RxD TxD P RxD TxD N CNTR P DGND M5V VP P5V 100mA DGND M5V CO D O amp oo w 1 2882128779 1 9 pin sub D plug 2 Signal line twisted 3 Conductive connection over a large area between connector housing and shield Operating Instructions MOVIAXIS Multi Axis Servo Inverter 109 4 Installation Connecting the option cards MOVIAXIS As a rule the XFP11A option is connected to the PROFIBUS system using a shielded PROFIBUS con twisted pair cable Observe the maximum supported transmission rate when selecting nection the bus connector The twisted pair cable is connected to the PROFIBUS connector at pin 3 RxD TxD P and pin 8 RxD TxD N Communication takes place via these two contacts The RS 485 signals RxD TxD P and RxD TxD N must be connected to the same contacts in all PROFIBUS stations The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic adapter reference pin 9 via pin 4 CNTR P INFORMATION If long bus cables are used the bus stations must have a hard common reference po tential Baud rates greater The XFP11A option with baud rates gt 1 5 Mbaud can only be operated with sp
132. ched mode power supply module 41 Unit output permitted connection 62 Ww Wiring diagrams Axis modules Connection diagram of binary inputs and output 81 Axis modules Wiring of control electronics 80 Brake Contolera 4 east ent 75 Buffer module Wiring of control electronics 84 Capacitor module Wiring of control electronics 83 286 Operating Instructions MOVIAXIS Multi Axis Servo Inverter SEW EURODRIVE Driving the world _th cr a 4 a EP i el ow SEW EURODRIVE Driving the world EURODRIVE SEW EURODRIVE GmbH amp Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive com www sew eurodrive com
133. circuit the setpoint output voltage is output again which means the output does not switch off The module does not contain an internal free wheeling diode for receiving inductive energies when inductive loads are switched off The inductive load per output is 100 mJ at a frequency of 1 Hz e The inductive energy is converted into heat energy in the switching transistor A volt age of 47 V is present In this way the energy can be reduced faster than by using a free wheeling diode e The load capacity of the outputs through inductive loads can be increased by adding an external free wheeling diode However switching off will take considerably lon ger Connecting two binary outputs in parallel doubles the nominal current The maximum cable length of connections on the inputs and outupts is 30 m outside the control cabinet and 10 m inside the control cabinet e Ifyou route the cables outside the control cabinet you have to shield them irrespec tive of their length Operating Instructions MOVIAXIS Multi Axis Servo Inverter 117 4 Installation Connecting the option cards Terminal assignment Designation Terminal DCOM 1 24 V DOO DO 1 DO 2 DO 3 DIO DI 1 DI2 DI 3 Al 0 Al 0 Al 1 Al 1 AOO AO 1 DGND DGND X25 Peer rrPreR oOo NI oOo AJ OIN COMBICON 5 08 One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm al gt oO
134. class EN 60721 3 3 class 3K3 Storage temperature U 25 C to 70 C Storage life Up to 2 years without special measures Cooling type DIN 41751 Forced cooling and convection cooling depending on size Degree of protection EN 60529 NEMA1 Axis module size 1 3 Axis module size 4 6 Power supply module size 1 2 MXP81 supply module Supply module size 3 MXR supply and regenerative module Master module Switched mode power supply module Capacitor module Buffer module DC link discharge module Two row configuration of the axis system IP20 IP10 IP20 IP20 IP10 IP10 IP20 IP10 IP10 IP10 IP10 IP10 Duty type DB EN 60034 1 Pollution class 2 according to IEC 60664 1 VDE 0110 1 Overvoltage category Ill according to IEC 60664 1 VDE 0110 1 Installation altitude Up to h lt 1000 m without restrictions The following restrictions apply to heights gt 1000 m From 1000 m to max 2000 m In reduction by 1 per 100 m 1 The covers on the left and right end of the unit system must be equipped with touch guard covers All cable lugs must be insulated Operating Instructions MOVIAXIS Multi Axis Servo Inverter 235 Technical Data Technical data of MXP supply modules 8 2 1 Suitability of standard binary inputs
135. d 2147483647 Actual values BD 1409714315 182 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup qu 5 Parameter list Testing the config The configuration is now complete and can be tested You can change the words in the urations detail view using the keyboard as long as the IN buffer update is disabled w IN bufferO 1409716747 The words are automatically updated with the values of the bus as soon as the update function is activated page 180 INFORMATION The update function is automatically enabled when the servo inverter is restarted and has to be disabled if required 5 13 Parameter list For a parameter list with descriptions refer to the MOVIAXIS Multi Axis Servo In verter system manual and on the Internet as a PDF file Parameter description of MOVIAXIS multi axis servo inverter Operating Instructions MOVIAXIS Multi Axis Servo Inverter 183 6 184 Operation General information Operation General information A DANGER Dangerous voltages at cables and motor terminals Severe or fatal injuries from electric shock When the unit switch is in the ON position dangerous voltages are present at the output terminals as well as any connected cables and motor terminals This also ap plies even when the unit is inhibited and the motor is at standstill The fact that the operation LED is no longer illuminated does
136. d regenerative mod ule NDR line choke for MXR supply and regenerative module Independent of the MOVIAXIS multi axis servo inverter the listed NF line filters have a component approval e NF018 503 e NF048 503 e NF085 503 e NF150 503 Independent of the MOVIAXIS multi axis servo inverter the listed ND line chokes have a component approval e NDO20 013 e NDO45 013 e ND085 013 e ND150 013 Independent of the MOVIAXIS multi axis servo inverter the listed NFR line filters have a component approval e NFRO75 503 e NFR111 503 In conjunction with the MXR units the NFH line filter is a UL listed accessory Independent of the MOVIAXIS multi axis servo inverter the listed NDR line chokes have a component approval e NDR075 083 e NDR110 083 8 1 4 UL approval of two row configuration of an axis module 234 The insulators have no UL approval The approval is currently in preparation Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical Data General technical data 8 2 General technical data The following tables lists the technical data for all MOVIAXIS MX multi axis servo in verters independent of Type Design Size And power MOVIAXIS MX Interference immunity Meets EN 61800 3 Interference emission with EMC compliant installation Category C2 according to 61800 3 Ambient temperature by 0 C to 45 C Climate
137. d thermal and mechanical properties Cables can consist of one or more cores come equipped with insulating sleeves shields and a sheath for the protection of structural elements Cables connected to plug connectors are mainly flexible cables flat cables sheathed cables shielded cables and coaxial cables Software provided by the manufacturer that cannot be changed by the user Operating Instructions MOVIAXIS Multi Axis Servo Inverter Appendix 9 Declarations of conformity 9 5 Declarations of conformity EC Declaration of Conformity Simone 900100010 SEW EURODRIVE GmbH amp Co KG ei ie Ernst Blickle StraRe 42 D 76646 Bruchsal AND 2 declares under sole responsibility that the frequency inverters of the series MOVIAXIS 80A are in conformity with Low Voltage Directive 2006 95 EC EMC Directive 2004 108 EC 4 applied harmonized standards EN 61800 5 1 2007 EN 61800 3 2007 4 According to the EMC Directive the listed products are not independently operable products EMC assessment is only possible after these products have been integrated in an overall system The assessment was verified for a typical system constellation but not for the individual product Bruchsal 11 12 09 Johann Soder Place Date Managing Director Technology a b a Authorized representative for issuing this declaration on behalf of the manufacturer b Authorized representative for compiling the technical documents Operating
138. ded star point TN and TT power systems Operation on voltage supply sys tems with a non grounded star point for example IT power systems is permitted In such a case SEW EURODRIVE recommends using earth leakage monitors em ploying pulse code measurement Use of such devices prevents the earth leakage monitor mis tripping due to the earth capacitance of the servo inverter No EMC limits are specified for interference emission in voltage supply systems with out a grounded star point IT systems The efficiency of line filters is severely limited Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Electrical installation 4 10 7 Connecting the units Connect the supply terminals of all units in the MOVIAXIS MX axis system accord ing to the respective wiring diagrams in chapter Wiring diagrams page 67 Check to see that the assignment of multi axis servo drive and motor is correct ac cording to project planning specification Check to see that all grounding cables have been connected Take suitable measures to prevent the motor starting up inadvertently for example by removing the electronics terminal block X10 on the axis module Integrate addi tional safety features for certain applications to prevent possible injuries and dam ages to machines Only use closed cable lugs for connection to the screw bolt in order to prevent litz strands from escaping 4 10 8 Additional terminal when using T
139. e 240 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 285 Index Technical data of braking resistors 249 U Technical data of supply module Unit design MXP81 power section 238 Axis module size 1 30 Technical data of the multi encoder card Axis module size 2 u00nmmnnnnonnennnnnnonnennnnn 31 option XGH11A XGSTA unnuemnnaee 253 Axis module size Ina een 32 Technical data of 24 V current consumption 248 Axis module size 4 33 Temperature sensor in the motor 61 Axis module size u na ae 34 Terminal assignment Axis module size 6 une 35 MXA axis modules ent 90 Buffer module siti nadine cued 40 MXB buffer module een 93 Capacitor module ua 39 MXC capacitor module 4442 93 DC link discharge module 42 MXM master module 92 EtherCAT based variants of the MXS 24 V switched mode power AXIS MOGUIES a aa a a a a aa aa 36 supply mod l nennti Ra a t 94 MOVI PLC advanced master module 38 Supply modules MXP 87 Supply and regenerative module Tightening torque for the cover bolts 56 SIZES VAN 2 ihnen 29 TOUGH Qu ard 2 22 ale AAR 57 Supply module size 1 nn 25 Type designation of MOVIAXIS basic units 17 Supply module size 2 27 Type designations for MOVIAXIS optional Supply module size 3 een 28 toMponentS iieii aaa a iaa 19 24 V swit
140. e HEIDENHAIN ROQ 424 AV1Y The SSI version with 10 30 V is supported The type designation specifies all ad ditional conditions T amp R CE 58 CE 65 LE 100 SSI LE 200 LA 41K SSI Make a setting of 24 data bits and program signal bits to logical 0 Bit no 25 may either contain 0 or an error or power fail bit Other special bits following the posi tion will not be evaluated The 25 bit version is not supported The output mode must be Direct The interface must be set to SSI SICK STEGMANN AG100 MSSI AG626 ATM90 ATM60 Only the 24 bit version is supported SICK STEGMANN ARS60 Only the 15 bit version is supported e SICK DME 5000 x111 DME 4000 x111 The interface must be set to SSI You have to set 24 data bits error bit The resolution must be set to 0 1 mm or 1 mm The plausibility must be set to Normal SICK DME 5000 x17 DME 4000 x17 The interface must be set to Hiperface Setthe resolution to 1 mm The plausibility must be set to Normal SICK DME 4000 x19 The interface must be set to CANopen The node ID must be set to 1 The resolution must be set to 0 1 mm or 1 mm The plausibility must be set to Normal 264 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Appendix Suitable encoders e Pepperl amp Fuchs WCS2 A LS311 WCS3 A LS311 The type designation specifies all necessary conditions The
141. e at replace the encoder the encoder manufacturer 8448 ISSI encoder signal voltage drop 8449 SSI encoder wire breakage detected SSI encoder position not within toler 8450 Encoder option 2 ance SSI encoder SSI clock sequence Increase clock frequency 8451 does not match speed sampling inter val SSI encoder user defined error via 6152 fault mask 8453 SSI encoder No high level present Replace option card or encoder Incorrect comparison between raw 8705 position and check counter with EnDat encoder 8706 Incorrect EEPROM values in encoder 8707 Incorrect EEPROM values in encoder 8708 Incorrect EEPROM values in encoder EnDat encoder signals error status 8736 The error code is displayed as fol lows displayed value 8736 Error 8767 codes are listed in the EnDat protocol description EnDat encoder signals internal warn ing 8768 196 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module ee eas i Sub Error oe Error System state Bi dr Cod R Measure aa ar Code Signal 22 Cause Zu Reset type Output System is blocked Ready 0 16 Startup error Error during startup stage en sl i inhibit System restart Malfunction 0 01 Denominator of pole
142. e brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Install the connection cables between the brake rectifier and the brake separately from other power cables when installing the brake rectifier in the control cabinet Joint installation is only permitted with shielded power cables Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams BST brake control For information about BST brake control refer to the BST Safety Related Brake Mod ule operating instructions 4 12 6 Connection of supply module and supply and regenerative module Wiring the control electronics Cc DIP switch X9a X9b CAN EtherCAT Not assigned Internal bus terminating resistor 2 x 7 segment displays l For operating states see the Supply modules l operating states size 1 3 for the supply module X5a X5b 24V DGND 24V BGND 24 V for 24 V suppl brake supply Br P for control electronics 1406123531 Connection via supplied pre fabricated cables x9a System bus input X9b System bus output Operating Instructions MOVIAXIS Multi Axis Servo Inverter 79 Installation Wiring diagrams 4 12 7 C
143. e for compiling the technical documents 270 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Appendix 9 Declarations of conformity EC Declaration of Conformity EURODRIVE 900120010 SEW EURODRIVE GmbH amp Co KG E Ernst Blickle Stra e 42 D 76646 Bruchsal BF oy declares under sole responsibility that the frequency inverters of the series MOVIAXIS 82A are in conformity with Machinery Directive 2006 42 EC 1 Low Voltage Directive 2006 95 EC EMC Directive 2004 108 EC 4 applied harmonized standards EN 13849 1 2008 5 EN 61800 5 2 2007 EN 60204 1 2007 EN 61800 5 1 2007 EN 61800 3 2007 EN 201 1996 1 These products are intended for installation in machines Startup is prohibited until it has been established that the machinery into which these products are to be incorporated complies with the provisions of the aforementioned Machinery Directive 4 According to the EMC Directive the listed products are not independently operable products EMC assessment is only possible after these products have been integrated in an overall system The assessment was verified for a typical system constellation but not for the individual product 5 All safety relevant requirements of the product specific documentation operating instructions manual etc must be met over the entire product life cycle Bruchsal 11 12 09 Johann Soder Place Date Managing Director Technology a b a Authorized representat
144. ecial than 1 5 Mbaud 12 Mbaud PROFIBUS connectors 110 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Connecting the option cards Setting the station address The PROFIBUS station address is set using DIP switches 2 _ 26 on the option card MOVIAXIS supports the address range 0 125 to Os The default setting for the PROFIBUS station address is 4 On ve f 5 0 1 2 0 20 Significance 1 x 0 0 21 Significance 2 x 0 0 5 2 Significance 4 x 1 4 2 23 Significance 8 x 0 0 25 2 Significance 16 x 0 0 A 25 Significance 32 x 0 0 2 28 Significance 64 x 0 0 nc 2882128779 Any change made to the PROFIBUS station address during ongoing operation does not take effect immediately The change takes effect when the servo inverter is switched on again power supply 24 V OFF ON Example Setting the PROFIBUS station address 17 2 0 20 Significance 1 x 1 1 21 Significance 2 x 0 0 2 2 Significance 4 x 0 0 2 23 Significance 8 x 0 0 5 24 Significance 16 x 1 16 2 2 Significance 32 x 0 0 2 28 Significance 64 x 0 0 nc 2882128779 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 111 4 Installation Connecting the option cards 4 14 4 Fieldbus interface option EtherCAT XFE24A Technical data 112 The XFE24A fieldbus interface is a slave module for connection to EtherC
145. eck track signal wir Comparison of the absolute encoder ing 01 position via Hiperface parameter e Check interference channel with the incremental position sources of the axis every second e Replace encoder e Replace card 02 Unknown encoder type Clarify Wwhetner this encoder can be used Encoder input of basic Corrupt encoder nameplate data unit 03 Incorrect block checksum of the data Replace encoder field range of the encoder manufac turer Hiperface encoder signals internal error e Check wiring and inter 32 The error code is displayed as fol ference sources 67 lows Displayed value 32 You can e Ifthe problem persists inquire about this error code at the encoder manufacturer replace the encoder Operating Instructions MOVIAXIS Multi Axis Servo Inverter 193 6 2 a Operation 194 EL Operating displays and errors of MXA axis module Error Rub Error System state N error M Binary output Code Response PAS signal Code Signal Cause 2 Reset type SSI encoder Voltage range of the Check voltage supply voltage supply 12 V to SSI encoder SSI encoder signals an error by a Check settings on SSI 256 set error bit in the SSI protocol encoder error bit Check wiring Check interference sources Replace encoder SSI encoder Interrupted clock or Check wiring data line Check interference sources
146. ed CPU Ready 0 dog been exceeded en reset Malfunction 0 Stopping with appli Technology func j cation lim System is waiting Ready 1 38 tions error Error in a technology function its Warm start Malfunction 0 program mable Cam function Trip point with negative 01 edge lt positive edge has been entered 02 Cam function Command overflow trip point processing 03 Cam Incorrect flow control block type 04 Cam Incorrect flow table block type 05 Cam Incorrect ProfGen block type 06 Cam Incorrect derivate gen block type 07 Cam Incorrect motor mgmt block type 08 Cam Flow control block version is newer than that of the firmware 09 Cam Flow table block version is newer than that of the firmware Operating Instructions MOVIAXIS Multi Axis Servo Inverter 201 6 aS 2 Operation te Operating displays and errors of MXA axis module Sub Error ee Error System state Bi ut Cod R Measure afl pi Code Signal oce Cause bal tela Reset type 10 Cam ProfGen block version is newer than that of the firmware 11 Cam Derivate gen block version is newer than that of the firmware 12 Cam Motor mgmt version is newer than that of the firmware 13 Cam Start address of cam flow table block not within DDB 14 Cam The denominator of a mathe matical curve must not be zero 15 Cam Invalid start curve type 16 Cam This curve type is not permitted Cam The length of
147. ed again The following stages are recommended AC 400 500 V units Stage 1 0 V to AC 350 V within a few seconds e Stage 2 AC 350 V for 15 minutes e Stage 2 AC 420 V for 15 minutes e Stage 3 AC 500 V for 1 hour After you have completed the regeneration process the unit can be used immediately or stored again for an extended period with maintenance Observe the applicable national regulations Dispose of the following materials separately in accordance with the country specific regulations in force such as Electronics scrap circuit boards e Plastics Sheet metal copper e Aluminum Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical Data CE marking and UL approval 8 Technical Data 81 CE marking and UL approval The MOVIAXIS MX multi axis servo inverters comply with the following directives and guidelines 8 1 1 CE marking e Low Voltage Directive 2006 95 EC Electromagnetic Compatibility 2004 108 EC MOVIAXIS servo inverters and supply modules are designed as components for installation in machines and systems They comply with the EMC product standard EN 61800 3 Variable speed electrical drives Provided the installation instructions are complied with they satisfy the relevant requirements for the CE marking for the entire machine system in which they are installed on the basis of the EMC Directive 2004 108 EC e Compliance with limit class C2 according
148. ed line contactors nominal current of line choke total of inverter currents ND line chokes have cRUs approval independent of the MOVIAXIS Line choke type ND020 013 ND045 013 ND085 013 ND150 013 Part number 826 0125 826 013 3 826 014 1 825 548 2 Supply module Size 1 Size 2 Size 3 Size 3 Rated line voltage Viine 3 x AC 380 V 500 V 50 60 Hz according to EN 50160 Nominal current In AC 20 A AC 45A AC 85 A AC 150 A Power loss at ly Py 10 W 15 W 25 W 65 W Inductance Ly 0 1 mH 0 1 mH 0 1 mH 0 1 mH Ambient temperature Uy 25 45 C Degree of protection IPOO EN 60529 Connections L1 L3 L1 L3 Terminal strips Terminal strips Terminal strips M10 stud PE 4 mm AWG12 10 mm AWG8 35 mm AWG2 PE M8 stud Tightening torque 0 6 0 8Nm Max 2 5 Nm 3 2 3 7 Nm M10 stud 10 Nm PE 6 Nm 8 15 Safety technology safe stop INFORMATION It is essential to observe the information on this topic in the following publications MOVIAXIS MX Functional Safety Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical data of the multi encoder card option XGH11A XGS11A Technical Data 8 16 Technical data of the multi encoder card option XGH11A XGS11A XGH XGS multi encoder card 1 Power consumption via integrated supply bus wi
149. ed mounting plate ac cording to the rules for EMC compliant installation An associated line filter is used Shielded SEW motor cables are used SEW EURODRIVE can provide detailed information on request A WARNING This product can cause high frequency interferences in residential areas which can re quire measures for interference suppression Operating Instructions MOVIAXIS Multi Axis Servo Inverter 125 126 Installation UL compliant installation 4 17 UL compliant installation Note the following points for UL compliant installation e Use only copper cables with the temperature range 60 75 C as connection cables e Permitted tightening torques for MOVIAXIS power terminals 4 17 1 Permitted tightening torques Supply module Tightening torque Line connection X1 Braking resistor terminals Size 1 0 5 0 6 Nm 0 5 0 6 Nm MXP81 0 5 0 6 Nm 0 5 0 6 Nm Size 2 3 0 4 0 Nm 3 0 4 0 Nm Size 3 6 0 10 0 Nm 3 0 4 0 Nm Supply and regenerative module MXR 6 0 10 0 Nm 3 0 4 0 Nm Axis module Motor connection X2 Size 1 0 5 0 6 Nm Size 2 1 2 1 5 Nm Size 3 1 5 1 7 Nm Size 4 3 0 4 0 Nm Size 5 3 0 4 0 Nm Size 6 6 0 10 0 Nm DC link discharge module Braking resistor connection X15 All sizes 3 0 4 0 Nm 1 For detailed information about MXR refer to the Suppl
150. eed controller or Position controller tab you can read off the speed or position deviation against time Use the mouse to move the green line across the time axis You can choose system or user defined units for the illustration Here too you can use the sliders for fine tuning the control parameters based on the backlash of the load coupling and the required control stiffness The maximum and minimum speed and position deviation is listed in the table in the bot tom right corner ofthe menu m LJ v 77 686 mm s 0 mm s X S 0 083 mm 0 mm 2548223755 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup MOVIAXIS startup single motor operation 5 9 13 Axis configuration In this menu you can set the user defined units Axis configuration Go 5 MOVIAXIS offers four user defined units for the following variables e Travel distance e Velocity e Acceleration Torque not in motor startup parameter tree v Unit pool 3 of amt a SS war 2 oY Examples J Basic configuration v e Travel distance User defined unit ai 2 000 Y Ver 1 SP t Pe 5 000 am xx ja af uf Velocity 0 083 af gt 0 083 mm s af Imin rrr a 0 Decimal positions Ey x jo acceleration a pan mm s a Q 2548226443 A numerator denominator and the decimal places for each variable are loaded to the axis module The decimal places are only needed for display
151. eereseeerressetrrnssttrrnnssttnnsssrtnnnssent 96 4 15 Connecting encoders to the basic unit snnnnneenennnnnnennnnen 122 4 16 Notes on electromagnetic compatibility eee eeeeteeeeeeenteeeeeeeaes 124 4 17 UL compliant installation ccccceeecceeeeecceeeeeeeeeeeseeeeceeecaeeeeeeeeeeeeetees 126 5s StartUp a eaoaai ansaa raa eaa aa sn ctu ce Aaaa aa aa AA Eaa a aAA a Saada aaaea iaae 128 51 cGeneral yA ar a aeaa taeda tee a aT A a a eee dna 128 5 2 Supply module settings for CAN based system bus SBus 129 5 3 Communication SABO ursine arse E E E 133 5 4 CAN based application bus CAN2 information and settings 134 5 5 Communication via CAN adapter ceeecceeceeeeeeeeeeeeeeteeeteeneeaees 139 5 6 Settings for EtherCAT compatible system bus SBusP 140 5 7 Description of the startup software eccccceceeceeeeeeeeeeeeeeeseenesaeeees 141 5 8 Sequence in case of new Startup cece eee eeeeeeceeeeeeeeeeeeeeeeeteeeeeenaees 142 5 9 MOVIAXIS startup single motor operation 4 nen 143 5 10 Application examples c ccccccceceeeeeeeeeeeeeeencecaeeeeeeeeeeeeeeteteeeeeeniaeeees 171 5 11 MOVIAXIS startup multi motor operation cccceeeeceeeeeeeeeeeeeee 176 5 12 PDOEdIOr 2 42 24 ea ete sadder hath cea ender a eal nese aa LAATRE 179 5 13 Parameter listinu eects odes oti 2m 183
152. eeteeteees 23 Optional communication component XFA11A K Net Terminal assignment 444u nennen 121 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Index P ParameteriliStyicc2 tccstscschguuvesceteneseleedatenieuetoecmeate 183 Parameterization data 4 een 254 PC diagnostics as inne 134 PDO Editor ma a 179 Assigning the input buffer to the system variables u 224444 nennen 182 Parameter setting example 180 Setting the FCB parameters 182 Setting the fieldbus interface parameters 180 Setting the parameters of the control word and the IN process data eeren 181 Structure and data flow 179 Testing the configurations r ee 183 Permitted tightening torques Power terminals 4 44 nennen 126 Permitted voltage supply systems 62 Power on of axis system neeensenneneenee nen 128 Protection covers of the modules 56 Protocol variants oremi eaa a 254 R Reference potentials Notes 87 Reference potentials inside the unit Notes 87 Removing installing a module n 224 Installing an axis module ne 228 Removing an axis module en 225 Safety notes uu eensesssnennnssn nnnnnnsnnnnnnnnnnnnnnnn 224 Rep lt Hs ade ait sale adele ee ed cae canes 223 Responses to error
153. efective Timeout HW info sys The connection between supply mod Output System is blocked Ready 0 05 tem fault ule and axis module via signaling bus stage s Malf lan has been interrupted inhibit ystem restart alfunction Connection to signaling bus inter 01 rupted 02 Timeout flag signaling bus cannot be reset Line phase failure Error message by supply module via Output System is waiting Ready 1 06 error signal bus It was detected that a line stage W Malf oao phase is missing inhibit arm start alfunction ae Output f Pe 07 DC link error Error message by SM via signaling stage System is waiting Ready A bus when DC link voltage is too high inhibit Warm start Malfunction 0 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 191 6 2 a Operation EL Operating displays and errors of MXA axis module Error Sur Error System state BI fit Cod R Measure peat pi Code Signal 27 Cause ben Reset type Error Speed monitor Active speed monitoring has detected Output System is waiting Ready 1 08 ing an unacceptable deviation between stage W Malf ion 0 9 setpoint and actual speed inhibit arm start alfunction 01 Motor speed monitoring 02 Regenerative speed monitoring 03 System limit actual speed exceeded Temperature ofthe AM has reached or exceeded the cut off threshold Possible reason
154. em is waiting Ready 1 reached error positioning delay Di Warm start Malfunction 0 P 01 Right limit switch approached 02 Left limit switch approached Deceleration time The drive did not come to a standstill QU Put System is waiting Ready 1 30 A rie stage out error within the preset delay time inhibit Warm start Malfunction 0 01 Stop ramp time violation 02 Time violation stop at application limit 03 Time violation stop at system limit 04 Emergency stop ramp time exceeded i Overtemperature sensor KTY TF No Ready 1 31 ea TH of the drive has triggered for response No response ir y onei P motor protection D P alfunction 01 Wire breakage of motor temperature sensor detected Short circuit of motor temperature 02 sensor detected 03 Motor overtemperature KTY 04 Motor overtemperature synchronous motor model 05 Motor overtemperature TF TH 06 Motor overtemperature 12t model 33 SM Boot Timeout The supply module is not or no longer an System is blocked Ready 0 error ready for operation ae te System restart Malfunction 0 01 Boot synchronization with supply module error Lag distance syn i A preset maximum permitted lag dis Output System is waiting Ready 1 36 chronous operation tance was exceeded during synchro stage W Malf ion 0 error nous operation inhibit arm start alfunction 01 FCB synchronous operation Lag error 37 Eror System watch Internal watchdog timer setting has an System block
155. enennennnnnennennnennennnnn nenn 233 8 2 General technical data 422444444444440nennnnnnnnnneennenne nennen 235 8 3 Technical data of MXP supply modules nennen 236 8 4 Technical data of MXA axis modules unennennenennn 239 8 5 Technical data of MXM master module componernt 242 8 6 Technical data of MXC capacitor module component 243 8 7 Technical data of MXB buffer module component 244 8 8 Technical data of MXS 24 V switched mode power supply module COMPONENE stiles eee nel HT a nn ae 245 8 9 Technical data of MXZ DC link discharge module component 246 8 10 Technical data of two row configuration of the axis system 247 8 11 Technical data of 24 V current consumption een 248 8 12 Technical data of braking resistors 0 cceeeeceee etter en nnnnnnnnnnnnnnnnnn nn 249 8 13 Technical data of line filter option for supply module 251 8 14 Technical data of line choke option for supply module 252 8 15 Safety technology safe stop uusre22s4nnneennsnnnnnnnnnnnnnnnnnnnnnnnn nennen 252 8 16 Technical data of the multi encoder card option XGH11A XGS11A 253 8 17 Technical data of XFP11A communication option eee 254 8 18 Technical data of EtherCAT fieldbus interface O
156. er EtherCAT Firmware status of MOVIAXIS Firmware status 21 or higher Tools for startup PC program MOVITOOLS MotionStudio from version 5 40 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards 4 14 5 XSE24A EtherCAT compatible system bus option The EtherCAT compatible system bus XSE24A is an optional axis internal expansion module This module implements the functionality of an EtherCAT compatible high speed system bus for MOVIAXIS The XSE24A option module is no fieldbus interface It cannot be used for communication with non SEW EtherCAT masters Analog to the wiring of the CAN system bus the system is connected using the RJ45 plug connection on the top of the unit included in the standard scope of delivery The CAN system bus is not available when XSE24A is used 1 LAM switch x 1 0 e Switch position 0 All axis modules except the last one Lave 1 e Switch position 1 Last axis module in the system F1 2 2 Switch F1 Switch position 0 Delivery state eu 3 e Switch position 1 Reserved for added functions ow 4 3 LED RUN color Green orange pn Bl 4 LED ERR color Red gu il 5 LED link IN color Green 6 LED link OUT color Green Kar 2882542731 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 113 Installation Connecting the option cards 4 14 6
157. er complete shielding with shielding supports as well as separate shielding for the brake line 70 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Wiring diagrams Wiring the MXP81 power connections with integrated braking resistor L1 d L2 L3 PE i E E So oO v lt fo 2 2 Q Oo PE L1 L2 L3 Supply module x x4 i i x4 X4 i re PE PE Dj PE TO 7 it i Axis module Axis module Axis module Brake control PE Housing grounding point S Power shield clamp 1500842507 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Operating Instructions MOVIAXIS Multi Axis Servo Inverter 71 4 Installation Wiring diagrams Wiring the MXP81 power connections with external braking resistor L1 L2 L3 PE e f L1 L2 L3 Line filter L1 L2 L3 Cable length lt 600 mm X Oo I X4 X4 PEO PE PES T T 2 a i Axis module Axis module Axis module Brake Connection of BW see control chaoter Connection of braking resistor PE Housing grounding point S Power shield clamp 1502085899
158. ers from excessive strain Ensure that components are not deformed and or insulation spaces are maintained particularly during transportation Avoid contact with electronic components and contacts Multi axis servo inverters contain components that can be damaged by electrostatic en ergy and could be destroyed in case of improper handling Prevent mechanical damage or destruction of electric components This may pose health risks under certain circum stances The following applications are prohibited unless the unit is explicitly designed for such use e Use in potentially explosive areas e Use in areas exposed to harmful oils acids gases vapors dust radiation etc Use in non stationary applications which are subject to mechanical vibration and im pact loads in excess of the requirements in EN 61800 5 1 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 10 2 6 2 7 2 8 Safety Notes Electrical connection Electrical connection Observe the applicable national accident prevention guidelines when working on live multi axis servo inverters for example BGV A3 Perform electrical installation according to the pertinent regulations e g cable cross sections fusing protective conductor connection For any additional information refer to the applicable documentation You will find notes on EMC compliant installation such as shielding grounding ar rangement of filters and routing of lines
159. eurodrive com Additional addresses for service in the USA provided on request Venezuela Assembly Valencia SEW EURODRIVE Venezuela S A Tel 58 241 832 9804 Sales Av Norte Sur No 3 Galpon 84 319 Fax 58 241 838 6275 Service Zona Industrial Municipal Norte http www sew eurodrive com ve Valencia Estado Carabobo ventas sew eurodrive com ve sewfinanzas cantv net Vietnam Sales Ho Chi Minh City All sectors except for ports mining and off Tel 84 8 8301026 shore Nam Trung Co Ltd 250 Binh Duong Avenue Thu Dau Mot Town Binh Duong Province HCM office 91 Tran Minh Quyen Street District 10 Ho Chi Minh City Fax 84 8 8392223 namtrungco hcm vnn vn truongtantam namtrung com vn khanh nguyen namtrung com vn Operating Instructions MOVIAXIS Multi Axis Servo Inverter 10 281 4 0 Address List Vietnam Ports mining and offshore Tel 84 8 62969 609 DUC VIET INT LTD Fax 84 8 62938 842 Industrial Trading and Engineering Services totien ducvietint com A75 6B 12 Bach Dang Street Ward 02 Tan Binh District 70000 Ho Chi Minh City Hanoi Nam Trung Co Ltd Tel 84 4 37730342 R 205B Tung Duc Building Fax 84 4 37762445 22 Lang ha Street namtrunghn hn vnn vn Dong Da District Hanoi City 282 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Index Index A Accessory assignment table 21 23 Approvals ccheeti Heel 233 Assignment table fo
160. evalua tion not calibrated 24 Sin cos encoder PLL has locked dur ing operation Sin cos encoder Init phase of DSP 256 not finished within permitted time period 257 Sin cos encoder Ready signal of DSP not within permitted time period e Check wiring if the fault occurs immediately Encoder of basic unit Sin cos ACNES disturbance 512 encoder Amplitude control has failed source if the fault i p occurs sporadically e Replace encoder e Replace card Encoder of basic unit Sin cos 513 encoder Initialization of track counter COREE SEM not possible i Encoder of basic unit Sin cos Set the correct system 514 numerator denominator encoder Quadrant control has failed values Encoder of basic unit Sin cos Set the correct system 515 encoder Protection against division numerator denominator overflow by limiting the actual speed values Sin cos encoder encoder option 1 4608 J Error in amplitude control Sin cos encoder encoder option 1 4609 Initialization of track counter not pos sible 4610 Sin cos encoder encoder option 1 Error in quadrant control Sin cos encoder encoder option 1 4611 Protection against division overflow by limiting the actual speed Sin cos encoder encoder option 2 8704 3 Error in amplitude control Sin cos encoder encoder option 2 8705 Initialization of track counter not pos sible 8706 Sin cos encoder encoder option 2 Error in quadrant control Sin cos encoder encoder option 2 8707 Protection aga
161. f e E g option cards are installed or removed at a later time e or if the unit firmware is updated Location of the nameplate Er 1402316683 l Part I of the nameplate Il Part II of the nameplate III Part III of the nameplate system nameplate Operating Instructions MOVIAXIS Multi Axis Servo Inverter 15 3 Unit Design Nameplates and type designations 3 4 2 Nameplate of the axis module The following figure shows the nameplate of the axis module 2 3 u 024 07 CE Us 0 UN V AC Us 24V DC f 0 600H2 ts 2a0c D 76646 Bruchsal 1 64A 40A AC LISTED IND chanel pa T 2 0 048 C aad 120A AC CONT EQ 2006 Axis module Made in Germany Te 11 11 11 12 11 10 LO RL A AA 3 lll 1402319115 Part I of the nameplate Located on the upper r fastening plate of the module 1 Type designation Part II of the nameplate Located on the upper 5 l fastening plate of the module FR _ Productionnumber Ill Part III of the nameplate Located at the side of the 3 Status module housing 4 Communication slots firmware status 3 4 3 Nameplate of the supply module The following figure shows the nameplate of the supply module 1 2 2 MXPBOR 050 503 01 01 1184270701 0002 cStatum 11 10 lt 4 2a Ce a 3 TM n EW MOVIAXIS 01 n Ein U 2X380 800V AC U 860V DC ON 4 RO I 2 18A A
162. f the mains contactor PER TEMP Reference potential for the TEMP binary output g Binary output High 24 V when the temperature of the MXZ power switch is in the permitted range X14 5 n c PE 2 SPE FE Connection braking resistor for discharge X15 1 Discharge er IS X15 2 n c 4 13 9 Terminal assignment of the braking resistors The following figure shows a braking resistor with central tap R R 1 2 3 xQ ya Step ohmic value Total ohmic value See also the wiring diagrams of the braking resistors page 74 Dimension drawings of braking resistors with information about the connection cable are included in the MOVIAXIS Multi Axis Servo Inverter catalog Operating Instructions MOVIAXIS Multi Axis Servo Inverter 95 96 Installation Connecting the option cards 4 14 Connecting the option cards 4 14 1 Installation and function combinations of the option cards MOVIAXIS axis module can have up to three option cards installed Depending on the option cards that you want to install the following combinations must be considered 1 3 4 2936300811 1 3 Slots 1 3 assignment see following table 4 Control board component of the basic unit A general distinction is made between whether MOVIAXIS is used with the CAN based system bus SBus or the EtherCAT compatible SBus S CAN unit variants When using the CAN based SBus all three slots can
163. function 1 only 01 Thermal motor protection Prewarn ing triggered by KTY temperature Thermal motor protection Prewarn 02 ling triggered by synchronous motor model temperature 03 Thermal motor protection Warning threshold I2t model exceeded Error massage word The error message of an unknown ns onse 70 o 9 device was detected in the error mes P gt ne error sade word display 9 only 01 Message error control word 0 Error message word The error message of an unknown einse 71 4 9 device was detected in the error mes P gt error sade word display 9 only 01 Message error control word 1 Error message word The error message of an unknown bs anes 72 gu 9 device was detected in the error mes SP De error sade Word display 9 only 01 Message error control word 2 Erropmessade word The error message of an unknown Pie anise 73 3 9 device was detected in the error mes SSP gt ne error saqe word display 9 only 01 Message error control word 3 Error message word The error message of an unknown ee ana 74 4 9 device was detected in the error mes SSP 2 error sage Word display 9 only 01 Message error control word 4 Error message word The error message of an unknown be nse 75 5 9 device was detected in the error mes P 2 En error sage word display only 01 Message error control word 5 No Error Intelligent response ______ 76 option MOVI PLC error display only
164. g a reset see chap ter Operating Mode Display in the operating instructions The reset time is reduced to a minimum because there is no booting involved Stop at system limits pending The axis decelerates using the system ramp The axis performs a warm start following a reset see chapter Operating Mode Display in the operating instructions or system manual The reset time is reduced to a minimum because there is no booting involved 5 9 11 Monitoring ptm SEW suggestion x 4 Download value Speed monitoring Motor regenerative Motor regenerative Vv Current limit T f 5 of 5 oy ay Bj t T T ta D a D D o 5 00 A ri 5 00 A Delay 50 ms gt 50 ms Motor data Accept SEW suggestion sew 2545250571 INFORMATION Click on The value in the left column of the input menu is a recommendation while the value in the right column is the current value of the MOVIAXIS MX multi axis servo drive e gt buttons to accept individual suggestions the Accept button to accept all suggestions in one step Enter the general MOVIAXIS MX control parameters according to the following ta ble Operating Instructions MOVIAXIS Multi Axis Servo Inverter 5 159 5 C Startup MOVIAXIS startup single motor operation Input data Description The speed required by the setpoint can only be achieved if there is sufficient torque avail
165. g thread 56 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Covers and touch guards 4 8 2 Touch guard Touch guard covers not installed Severe or fatal injuries from electric shock e The touch guard covers have to be installed on the left hand and right hand side of the axis system so that there is no risk of touching any electrically conductive parts Two touch guard covers are included with each supply module Operating Instructions MOVIAXIS Multi Axis Servo Inverter 57 4 Installation Two row configuration of the axis system mechanical installation 4 9 Two row configuration of the axis system mechanical installation 40mm 3 ee 0 mm 2 250mm 4 1 1 Motor leads 2 Cables for DC link connection 3 Signal bus cable 4 Supply system cable 58 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Two row configuration of the axis system mechanical installation The following requirements must be met for installation in a control cabinet Ensure a clearance of at least 40 mm left of the axis blocks for routing the DC link connection 2 and the motor leads 1 through see illustration on the previous page Provide a clearance of 250 mm between the axis blocks see illustration on previous page for using t
166. grounding clamps not on the cable gland For drives with a plug connector connect the shield on the encoder plug 4 15 4 Prefabricated cables SEW EURODRIVE offers prefabricated cables for connecting encoders SEW EURODRIVE recommends to use these prefabricated cables For detailed information about prefabricated cables refer to the MOVIAXIS Multi Axis Servo Inverter catalog Operating Instructions MOVIAXIS Multi Axis Servo Inverter 123 4 Installation Notes on electromagnetic compatibility 4 16 Notes on electromagnetic compatibility 4 16 1 Separate cable ducts Route power cables and electronic cables in separate cable ducts 4 16 2 Shielding and grounding e Only use shielded control cables Apply the shield by the shortest possible route and make sure it is grounded over a wide area at both ends This also applies to cables with several shielded core strands 1406710667 e Shielding can also be achieved by laying the cables in grounded sheet metal ducts or metal pipes Always install the power and signal lines separately e Ground the multi axis servo drive and all additional devices to meet the high frequency guidelines You achieve this e g through a wide area metal on metal contact between the unit housing and ground for example by means of unpainted control cabinet mounting panels 124 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Notes on electrom
167. guration error 10009 Can ID has already been used by Scope on the same CAN Process data configuration error 10010 Can ID has already been used by Sync on the same CAN Process data configuration error 10011 Send problems on CAN double send err Process data configuration error 10012 Send problems on system bus dou ble send err Process data configuration error 10013 Send problems on application CAN double send err 10001 10002 10004 10005 The inhibit time is not a whole num Adjust inhibit time or 10014 bered multiple of the current process change current process data processing data processing 216 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module ee i Code Error Signal Sub error Code Error Cause R esponse System state Measure Reset type Binary output signal 10015 The event timer is not a whole num bered multiple of the current process data processing Adjust event timer or cur rent process data process ing 10016 The CAN setpoint cycle is not a whole numbered multiple of the cur rent process data processing Adjust CAN setpoint cycle or current process data pro cessing 10017 The CAN sync period is not a whole numbered multiple of the current pro cess data processing Adjust
168. h EEPROM sec tion DSP firmware 04 CRC32 error in code RAM firmware after copying from Flash EEPROM 05 CRC32 error in code RAM firmware with ongoing control during operation 06 CRC32 error in code RAM firmware following a software or Watchdog reset CPU error triggered by code inconsistency 07 CRC32 error in code RAM firmware Repeated reading of same memory cell yielded different result 09 Correctable bit error detected in Boot Loader Package 10 Correctable bit error detected in Board Support Package 11 Correctable bit error detected in firm ware Operating Instructions MOVIAXIS Multi Axis Servo Inverter 207 6 aS 2 Operation te Operating displays and errors of MXA axis module Sub Error ee Error System state Bi iit Cod R Measure pea oe Code Signal 22 Cause ben Reset type 55 FPGA configuration Internal error in logic component ee System blocked CPU Ready 0 error block FPGA Stage reset Malfunction 0 inhibit Output Ready 0 56 External RAM error Internal error in external RAM block stage en blocked CRU Sa BOON inhibit Malfunction 0 01 Asynchronous DRAM read amp write check error Asynchronous burst RAM read amp 02 write check error 03 Synchronous burst RAM read check error burst mode failure 04 FRAM error FRAM consistency management 05 error detected Output System is blocked Ready 0 57 TTL encoder error Error
169. hannel i Little Endian Intel format i Big Endian Motorola format 1409533067 These process data are further processed as double word depending on how the sub sequent PD IN channel is configured The user defined units are converted into system units and transferred to the relevant FCBs MOVIAXIS offers 16 PD IN channels Depending on the process data configuration actual values such as speed and position can be converted into user specified units via sixteen 32 bit wide PD OUT channels and are transferred to the connected bus system via 16 process data buffers Operating Instructions MOVIAXIS Multi Axis Servo Inverter 179 5 180 C Startup PDO Editor Information on the status of the axis such as e Ready Motor standstill Brake released can also be written to a process data word of the PD OUT buffer via a status word The information can also be processed by a higher level controller via the connected bus Four configurable status words are available page 179 5 12 2 Parameter setting example Setting the fieldbus interface parame ters This example shows how to set the parameters of a PROFIBUS connection for speed control A mouse click on an IN buffer opens its configuration interface The communication op tion is selected as data source for a PROFIBUS connection The following three process data words are used in the example e FCB activation e Ramp e Speed To being able to
170. he fieldbus or control option takes place communication via CAN interfaces of the system will be interrupted connection to the supply module will be synchronized again hardware information system The active fault message is reset binary output 1 system status 0 The ready signal will be reset by the system status control after the reset by the system status control Warm start A warm start only resets the fault code The warm start has the following effects e The firmware system is not rebooted all reference positions will be maintained Communication is not interrupted The active fault message is reset binary output 1 system status 0 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 187 188 2 a Operation ni Operating displays and errors of the MXP supply module 6 3 Operating displays and errors of the MXP supply module 6 3 1 Table of displays Description Status Comment action Display on the axis mod ule Displays during standard operation c m Ready for operation ready No error warning Vz gt 100 V Status display only Displays of different unit states 1 DC link voltage missing or less No error warning Vz gt 100 V Check supply system It than 100 V Displays in case of warnings 7 71 xt prewarning Utilization of the supply module h
171. he prefabricated DC link connection cables The prefabricated DC link connection cables are included in the scope of delivery and must be used Route the motor leads 1 on the left side of the axis blocks to the bottom see illus tration on the previous page Note Do not install any units components etc on the left control cabinet wall that protrude into the control cabinet and restrict the space for routing the motor leads and DC link connection cables Route signal bus cables and power cables separately from each other see illustra tion on previous page Use suitable means to attach the DC link connection in order to prevent mechanical vibrations e g a clamp 1 Also see the il 1 lustration in chapter Two row configuration of the axis system electrical installation page 64 Consider any oscillations and vibrations especially in mobile control cabinets SEW EURODRIVE recommends installing line filters and the x line choke of the supply and regenerative module at the bottom of the control cabinet due to their great weight see illustration on previous page Attach both protection caps to the insulators see illustration in chapter Two row configuration of the axis system electrical installation page 64 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 59 N 60 Installation Electrical installation 4 10 Electrical installation Dangerous voltage levels may still be presen
172. hile initializing absolute posi tion Encoder of basic unit Hiperface encoder Communication Eliminate disturbance 320 error while re initializing absolute sources position Hiperface encoder Communication 384 A a error while checking absolute position Hiperface encoder Communication 448 i it iti error while writing position Hiperface encoder No response 512 while reading analog values Hiperface encoder No response to 576 encoder nameplate request EnDat encoder Communication error 1024 during reset command EnDat encoder Communication error 1088 i Sa SERS during position initialization 1152 EnDat encoder Communication error during position validation 1216 EnDat encoder Communication error during memory range select 1280 EnDat encoder Communication error while reading a parameter 1388 EnDat encoder Communication error while writing a parameter Operating Instructions MOVIAXIS Multi Axis Servo Inverter 211 6 2 a Operation EL Operating displays and errors of MXA axis module Sub Error needs Error System state Bl Out Cod R Measure ai pu Code Signal 22 Cause bern Reset type 4097 Hiperface encoder option 1 Error in quadrant control 3 4098 Hiperface encoder option 1 Incor rect track angle offset 4112 Hiperface encoder option 1 No response to communication request Hiperface encoder option 1 No 4160 Option 1 response t
173. i i module Axis module Axis module 1 24V i i H i switched i i i mode i Larei Pisao Power supply BW connection 1 X4 DC link connection see chapter Braking resistor connection PE grounding point of housing Power shield clamp 1406099211 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Operating Instructions MOVIAXIS Multi Axis Servo Inverter 4 Installation Wiring diagrams Wiring of power terminals MXP80 BG3 for example with line filter and line choke 100 e U1 Vil w1 J Ii Line choke 4 L1 L2 L3 Line filter L1 L2 L3 Cable length lt 600 mm PE PEL1 L2 L3 1 1 x4 x4 i xa i i xa i i xa i PEO PETS Perg i PETS Erg y it i i it g m m i m Capacitor i i i i module Axis module Axis module Axis module 24V H H i f switched i i imode i i i power supply X2 For braking resistor connection N X4 DC link busbar see Connecting braking resistor PE grounding point of housing N Power shield clamp 3945067275 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that off
174. ice Bagdat Cad Koruma Cikmazi No 3 http www sew eurodrive com tr TR 34846 Maltepe ISTANBUL sew sew eurodrive com tr Ukraine Assembly Dnepropetrovsk SEW EURODRIVE Tel 380 56 370 3211 Sales Str Rabochaja 23 B Office 409 Fax 380 56 372 2078 Service 49008 Dnepropetrovsk http www sew eurodrive ua sew sew eurodrive ua United Arab Emirates Sales Sharjah Copam Middle East FZC Tel 971 6 5578 488 Service Sharjah Airport International Free Zone Fax 971 6 5578 499 P O Box 120709 copam_me eim ae Sharjah USA Production Southeast SEW EURODRIVE INC Tel 1 864 439 7537 Assembly Region 1295 Old Spartanburg Highway Fax Sales 1 864 439 7830 Sales P O Box 518 Fax Manufacturing 1 864 439 9948 Service Lyman S C 29365 Fax Assembly 1 864 439 0566 Fax Confidential HR 1 864 949 5557 http www seweurodrive com cslyman seweurodrive com Assembly Northeast SEW EURODRIVE INC Tel 1 856 467 2277 Sales Region Pureland Ind Complex Fax 1 856 845 3179 Service 2107 High Hill Road P O Box 481 csbridgeport seweurodrive com Bridgeport New Jersey 08014 Midwest Region SEW EURODRIVE INC Tel 1 937 335 0036 2001 West Main Street Fax 1 937 332 0038 Troy Ohio 45373 cstroy seweurodrive com Southwest SEW EURODRIVE INC Tel 1 214 330 4824 Region 3950 Platinum Way Fax 1 214 330 4724 Dallas Texas 75237 csdallas seweurodrive com Western Region SEW EURODRIVE INC Tel 1 510 487 3560 30599 San Antonio St Fax 1 510 487 6433 Hayward CA 94544 cshayward sew
175. if no other FCB is selected as MOVIAXIS parameter description default FCB ii Emergency stop Deceleration at emergency stop limit Stop at system limit Deceleration at system limit Electronic cam Electronic cam active i 1 Synchronous operation Synchronous operation active H Calibrate incremental encoder Encoder commutation for synchronous motors Hold control Position control at current position Z I Jog mode Jog mode active Z I Brake test Brake is tested by applying torque while brake is I closed 771 ee Is used to operate 2 3 or 4 motors in interpo Ce Multi drive lated speed control mode Is used for communication detection of synchro Rotor position identification nous motors Stop at user limits Is used for stopping at user limits 190 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module lt ly 6 4 2 Table of errors INFORMATION Errors or sub error codes which are not included in the following list can be displayed within the framework of displayed errors In this case contact SEW EURODRIVE A P in the column Error response indicates that the response is programmable The factory set e
176. ilter Setpoint value is filtered stepped setpoints can be smoothed Setpoint cycle cont Time interval of external controller Velocity v Gain Gain factor of the P component Integrative time Integration time constant of the speed controller The I component reacts inversely proportionate to the time constant i e a large numerical value results in a small I component although 0 no I component Setpoint filter Speed setpoint is filtered graduated setpoint entry or interfering impulses at analog input can be smoothed Actual value filter Filter time constant of the actual speed value filter Precontrol Gain factor of the P component of the speed controller Acceleration a Precontrol filter Filter time constant of acceleration precontrol Precontrol Amplification factor of acceleration precontrol It improves the control response of the speed controller Operating Instructions MOVIAXIS Multi Axis Servo Inverter 5 163 a Startup 5 MOVIAXIS startup single motor operation e Referring to 3 For fine tuning during the test run Download permanent button The control parameters are downloaded each time the load backlash or the stiffness change Indicated by a green progress bar Download once button The control parameters are downloaded only once Structural diagram In the Complete block diagram submenu y
177. in TTL encoder stage IS E SATAS say er inhibit System restart Malfunction 0 01 TTL encoder Broken wire TTL encoder Emulation error exces 02 sive speed 03 TTL encoder Invalid period of the synchronization signal 04 TTL encoder Synchronization signal failure 05 TTL encoder Incorrect parameter setting of DSP 06 TTL encoder Saturation at AD con verter input 07 TTL encoder Unable to initialize PLL TTL encoder CRC error via data 08 ash X Flash 09 TTL encoder CRC error via boot flash B Flash 10 TTL encoder CRC error via program flash P Flash 11 TTL encoder Watchdog of DSP has triggered 12 TTL encoder Invalid instruction in DSP 13 TTL encoder Unexpected interrupt in DSP 14 TTL encoder Software interrupt in DSP 15 TTL encoder Hardware stack over flow in DSP 16 TTL encoder ONCE trap in DSP 17 TTL encoder Interrupt A in DSP 18 TTL encoder Interrupt B in DSP TTL encoder Non permissible angle 13 during calibration 20 TTL encoder Error deleting flash dur ing calibration 21 TTL encoder Error programming flash during calibration 22 TTL encoder Error verifying flash during calibration 23 TTL encoder Resolver evaluation not calibrated 208 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation x A Operating displays and errors of MXA axis module lt S
178. in kW 10E2 25 50 75 MXR 12 MXA in A 16 24 32 48 64 100 MXC MXB 24V supply cable 12 40 mm 1x 13 50 mm 1x 1x 1x 1x 14 80 mm 1x 1x 1x 1x 1x 1x 15 110 mm 1x 1x 1x 16 140 mm 1x 1x 1x 1x 1x 17 200 mm 1x 1x DC li nk connection 18 76mm 3x 3x 3x 3x 19 106 mm 3x 3x 3x 3x 3x 20 136 mm 2x 3x 3x 21 160 mm 3x 3x 3x 3x 3x 3x 22 226 mm 3x 3x Connection ca ble for CAN based system bus SBus EtherCAT compatib le syste m bus SBusPlus 23 200 mm 1x 1x 1x 24 230 mm 1x 1x 1x 1x 1x 1x 25 260 mm 1x 1x 26 290 mm 1x 1x 1x 27 350 mm 1x 1x CAN master module connection cable 28 750 mm 1x CAN terminating resistor 29 1x 1x 1x 1x 1x 1x Touch guard 30 2x 2x 2x 2x 2x Measurement cable connector 31 1x 1 Length of the cables Length of the bulk cable without connector 2 MXP81A supply module with integrated braking resistor Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design
179. in the MotionStudio They are neither used for converting user defined units nor for bus communication Basic configuration button e Distance Unit Rotations of the motor 4 decimal positions Example Setpoint Traveled distance Display in MotionStudio 10000 1 motor revolution 1 0000 15000 1 5 motor revolutions 1 5000 Once motor startup has been executed the following values are written to the axis module conversion 16 bit increments revolution User defined unit of position numerator 4096 User defined unit of position denominator 625 e User defined unit of position resolution 107 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 167 MOVIAXIS startup single motor operation 5 Gr Startup e Velocity Unit rpm no decimal places Example Setpoint Velocity Display in MotionStudio 1000000 1000 rpm 1000 2345000 2345 rpm 2345 Once motor startup has been executed the following values are written to the axis module e User defined unit of velocity numerator 1000 e User defined unit of velocity denominator 1 e User defined unit of velocity resolution 1 e Acceleration Unit 1 min x s speed change per second no decimal places Example Setpoint Acceleration Display in MotionStudio 6500000 65000 1 min x s 65000 300000 3000 1 min x s 3000 Once motor startup has been executed the following values
180. in the documentation of the multi axis servo in verter Always observe these notes even with multi axis servo inverters bearing the CE marking The manufacturer of the system or machine is responsible for maintaining the limits established by EMC legislation Protective measures and protection devices must comply with the regulations in force e g EN 60204 or EN 61800 5 1 Required preventive measure Grounding the unit Cables may only be connected and switches may only be operated in a de energized state Safe disconnection Operation The unit meets all requirements for safe disconnection of power and electronic connec tions in accordance with EN 61800 5 1 All connected circuits must also satisfy the re quirements for safe disconnection Systems with integrated multi axis servo inverters must be equipped with additional monitoring and protection devices if necessary according to the applicable safety guidelines such as the law governing technical equipment accident prevention regula tions etc Changes to the drive inverter using the software are permitted Do not touch live components or power connections immediately after disconnecting the multi axis servo inverters from the supply voltage because there may still be some charged capacitors Note the respective labels on the multi axis servo inverter Cables may only be connected and switches may only be operated in a de energized state Keep all covers and doors closed d
181. ing to EN 61800 5 1 The connected signal circuits have to meet the requirements according to SELV Safety Extra Low Voltage or PELV Protective Extra Low Voltage to ensure reliable isolation The installation must meet the require ments for reliable isolation Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Electrical installation 4 10 1 Temperature sensor in the motor A WARNING Dangerous contact voltages at the unit terminals when connecting the wrong temper ature sensors Severe or fatal injuries from electric shock e Connect only temperature sensors with reliable isolation from the motor winding to the temperature evaluation Otherwise the requirements for reliable isolation are not met Dangerous contact voltages may occur at the unit terminals via the signal electronics in case of an error 4 10 2 Line and brake contactors e Only use mains and brake contactors in utilization category AC 3 EN 60947 4 1 or a better category e Line cable Cross section according to nominal input current liine at nominal load e Motor lead Cross section according to nominal output current ly e Electronics cables 1 core per terminal 0 20 1 5 mm 2 cores per terminal 0 25 1 5 mm e Do not use the K11 relay for jog mode but only for switching the servo inverter on off Use the FCB Jog for jog mode CAUTION e Observe a minimum switch off time of
182. inst division overflow by limiting the actual speed Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module ee eas i Error un Error System state y error M Binary output Code Response Dome signal Code Signal Cause 2 Reset type Shutdown 59 Encoder communica Error of Hiperface encoder or in with emer System is waiting Ready 1 tion error Hiperface evaluation gency stop Warm start Malfunction 0 delay 01 Hiperface encoder Quadrant con e Delete the serial num trol has failed ber when the encoder is disconnected index 9807 1 2 3 on stan Hiperface encoder Incorrect track dard input index 9808 angle offset Can happen when the 1 2 3 on option 1 and 02 brake is replaced motor is sent in for index 9809 1 2 3 on brake replacement encoder is re cal option 2 ibrated and commutated there Then connect the encoder again Restart MOVIAXIS 16 Hiperface encoder Encoder does f as not respond during communication p e Replace card 64 Hiperface encoder Communication error when reading type Hiperface encoder Communication 128 error when reading status Hiperface encoder Communication 192 5 i error when reading serial number Hiperface encoder Communication 256 error w
183. intGen Filter time not 57 eh cas Ee within limits 58 PositionSetpointGen Slave factor is zero 59 EGear Parameter not activated 60 EGear Incorrect type 61 EGear Version in DDB higher than firmware version PositionSetpointGen ModuloMin gt 62 ModuloMax or a parameter not within limits 63 PositionSetpointGen Position source not within DDB 80 Position source not within DDB 100 VEncoder Data structure exceeds DDB limit 101 VEncoder Incorrect type 102 VEncoder Version in DDB higher than firmware version 103 VEncoder Invalid ramp parameters 104 VEncoder Divisor is zero 105 VEncoder ModuloMin gt ModuloMax 106 VEncoder Specified target not within permitted range Operating Instructions MOVIAXIS Multi Axis Servo Inverter 203 6 2 Operation te Operating displays and errors of MXA axis module Error Sur Error System state Bi ut Cod R Measure ancl pi Code Signal 2 Cause eben Reset type VEncoder Positionlni not within per 107 mitted range 108 VEncoder Invalid operating mode 109 VEncoder Speed is so high that Mod uloValue is exceeded in 500us 110 VEncoder Parameter max velocity max jerk not within permitted range 120 DataRecord Data structure exceeds DDB limit 121 DataRecord Incorrect type 122 DataRecord Version in DDB higher than firmware versi
184. interface EtherCAT XFE24 lt A 112 Technicaldata i i 424 ee 112 Fieldbus interface K Net XFAT1A 121 Fieldbus interface PROFIBUS XFP11A 109 Baud rates greater than 1 5 Mbaud 110 Connector assignment 109 MOVIAXIS PROFIBUS connection 110 Setting the station address 111 Terminal assignment 44 nennen 109 G GSDitilene ts arten ale nn 254 H Hoist applications enen een 128 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Index l IDS number eiciia a eao aiaa 254 Input output card option type XIA11A 117 Input output card option type XIO11A 114 Input output card type XIA11A Connection diagram 118 Module behavior 444444menen nen 117 Short eire lt sets Eee ei 117 SUPPIY nn en Han ae 117 Switching binary outputs in parallel 117 Switching inductive loads 117 Terminal assignment nennen 118 Input output card type XIO11A Connection diagram 115 Module behavior 444444 nenn 114 Sh rt eire lt u ea 114 SUDPIY 2 nee a aa t 114 Switching binary outputs in parallel 114 Switching inductive loads se 114 Terminal assignment nennen 115 Installation and connection accessories Assignment table for standard accessorie
185. ithout protective cover 3 16 1 MXZ DC link discharge module 5 1672652043 View from front 1 2 3 4 5 X14 Control connector X5a X5b 24 V voltage supply X4 DC link connection X15 Connection braking resistor for discharge Power shield clamp Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Combinable modules in case of two row configuration of the axis system 3 17 Combinable modules in case of two row configuration of the axis system The two row configuration is only permitted with the units listed in these operat ing instructions NOTICE Make sure to install as many MXA axis modules as possible in the lower row before you install a maximum of 4 MXA axis modules of size 1 or 2 in the upper row The maximum number of eight MXA axis modules per supply module must not be ex ceeded Combinable units The following figure shows an example of a two row configuration for MOVIAXIS mod ules penne att eps a Lapses 31 BI we Sa 2 4 4 4 The following MOVIAXIS modules can be combined 1 One MXM master module 2 One MXR supply and regenerative module or one MXP supply module 3 A maximum of 4 MXA axis modules of size 1 or size 2 4 MXA axis modules of size 1 6 5 One line choke for MXR 6 One line filter for MXR The number and
186. ive for issuing this declaration on behalf of the manufacturer b Authorized representative for compiling the technical documents Operating Instructions MOVIAXIS Multi Axis Servo Inverter 271 4 0 Address List 10 Address List Ernst Blickle Stra e 42 D 76646 Bruchsal Germany Headquarters Bruchsal SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 0 Production Ernst Blickle Stra e 42 Fax 49 7251 75 1970 Sales D 76646 Bruchsal http www sew eurodrive de P O Box sew sew eurodrive de Postfach 3023 D 76642 Bruchsal Production Indus Bruchsal SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 0 trial Gears Christian P hr Str 10 Fax 49 7251 75 2970 D 76646 Bruchsal Service Compe Central SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 1710 tence Center Ernst Blickle Stra e 1 Fax 49 7251 75 1711 D 76676 Graben Neudorf sc mitte sew eurodrive de North SEW EURODRIVE GmbH amp Co KG Tel 49 5137 8798 30 Alte Ricklinger Stra e 40 42 Fax 49 5137 8798 55 D 30823 Garbsen near Hannover sc nord sew eurodrive de East SEW EURODRIVE GmbH amp Co KG Tel 49 3764 7606 0 Dankritzer Weg 1 Fax 49 3764 7606 30 D 08393 Meerane near Zwickau sc ost sew eurodrive de South SEW EURODRIVE GmbH amp Co KG Tel 49 89 909552 10 Domagkstra e 5 Fax 49 89 909552 50 D 85551 Kirchheim near M nchen sc sued sew eurodrive de West SEW EURODRIVE GmbH amp Co KG Tel 49 2173 8507 30 Siemensstra e 1 Fax 49 2173 8507 55 D
187. ive module is mentioned as an optional component of a MOVIAXIS axis system For detailed information about this module refer to the MXR Supply and Regenerative Module manual 2011 SEW EURODRIVE All rights reserved Copyright law prohibits the unauthorized duplication modification distribution and use of this document in whole or in part Operating Instructions MOVIAXIS Multi Axis Servo Inverter 2 2 1 2 2 2 3 Safety Notes General information Safety Notes The following basic safety notes must be read carefully to prevent injury to persons and damage to property The operator must ensure that the basic safety notes are read and adhered to Make sure that persons responsible for the plant and its operation as well as persons who work independently on the unit have read through the operating instruc tions carefully and understood them If you are unclear about any of the information in this documentation or if you require further information please contact SEW EURODRIVE General information Never install damaged products or put them into operation Submit a complaint to the shipping company immediately in the event of damage During operation multi axis servo inverters can have live bare and movable or rotating parts as well as hot surfaces depending on their enclosure Removing covers without authorization improper use as well as incorrect installation or operation may result in severe i
188. l track A cos X13 2 Signal track B sin X13 3 Signal track C X13 4 n c X13 5 n c X13 6 TF TH KTY X13 7 n c X13 8 DGND Connection of motor encoders sin cos encoder TTL encoder X13 9 Signal track A_N cos X13 10 Signal track B_N sin X13 11 Signal track C_N X13 12 n c X13 13 n c X13 14 TF TH KTY X13 15 us X13 1 Signal track A cos X13 2 Signal track B sin X13 3 n c X13 4 DATA X13 5 n c X13 6 TF TH KTY X13 7 n c X13 8 DGND Connection of Hiperface motor encoder X13 9 Signal track A_N cos X13 10 Signal track B_N sin X13 11 n c X13 12 DATA X13 13 n c X13 14 TF TH KTY X13 15 Us 1 The pin assignment is identical for both connectors X7 and X8 and they are interchangeable Coding prevents an incorrect connec tion 2 Do not connect any cable 3 12 V max 500 mA 4 13 4 Terminal assignment of the MXM master module Terminal Assignment Brief description a a Voltage supply for electronics Bar ae Voltage supply for brake supply an N Voltage supply for electronics es de Voltage supply for brake supply T4 1 Only for looping through Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Terminal assignment 4 13 5 Terminal assignment of the MXC capacitor module Terminal Assignment B
189. la Rae vald Harjumaa veiko soots alas kuul ee Finland Assembly Lahti SEW EURODRIVE OY Tel 358 201 589 300 Sales Vesim entie 4 Fax 358 3 780 6211 Service FIN 15860 Hollola 2 http www sew eurodrive fi sew sew fi Production Karkkila SEW Industrial Gears Oy Tel 358 201 589 300 Assembly Valurinkatu 6 PL 8 Fax 358 201 589 310 FI 03600 Karkkila 03601 Karkkila sew sew fi http www sew eurodrive fi Gabon Sales Libreville ESG Electro Services Gabun Tel 241 741059 Feu Rouge Lalala 1889 Libreville Gabun Fax 241 741059 esg_services yahoo fr Operating Instructions MOVIAXIS Multi Axis Servo Inverter 10 275 4 0 Address List Great Britain Assembly Normanton SEW EURODRIVE Ltd Tel 44 1924 893 855 Sales Beckbridge Industrial Estate Fax 44 1924 893 702 Service Normanton http www sew eurodrive co uk West Yorkshire info sew eurodrive co uk WF6 1QR Drive Service Hotline 24 Hour Service Tel 01924 896911 Greece Sales Athens Christ Boznos amp Son S A Tel 30 2 1042 251 34 12 K Mavromichali Street Fax 30 2 1042 251 59 P O Box 80136 http www boznos gr GR 18545 Piraeus info boznos gr Hong Kong Assembly Hong Kong SEW EURODRIVE LTD Tel 852 36902200 Sales Unit No 801 806 8th Floor Fax 852 36902211 Service Hong Leong Industrial Complex contact sew eurodrive hk No 4 Wang Kwong Road Kowloon Hong Kong Hungary Sales Buda
190. laced the protection covers touch guard page 56 and the two protection caps for two row configuration 2 because the unit only has degree of protection IP00 without protection cover 1 Insulators 2 Protection caps Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Braking resistors 4 11 Braking resistors 4 11 1 Permitted mounting the braking resistors A WARNING Non permissible installation might lead to an accumulation of heat in the braking re sistor due to reduced convection A tripping temperature contact or an overheated braking resistor can lead to a system standstill Adhere to the following minimum distances e About 200 mm to adjacent components and walls About 300 mm to above components ceilings Grid resistors You must fulfill the following requirements for mounting the grid resistors Permitted Mounting on horizontal surfaces Permitted Mounting on vertical surfaces with terminals pointing downwards when there is a perforated sheet at the top Not permitted Mounting on vertical surfaces with terminals pointing upwards to the right or left The connection terminals can be placed within the steel grid where ap propriate Ensure the proper position of connection terminals also in this case Wire resistors You must fulfill the following requirements for mounting the wire resistors
191. lash DSP flash programming error Error deleting the P flash DSP flash programming error Error deleting the X flash DSP flash programming error 13 Access to flash register while BUSY bit is set 11 12 DSP flash programming error 14 Access to FIU_CNTL register while BUSY bit is set DSP flash programming error Write access to flash while deleting 15 DSP flash programming error 16 Write read access to flash while pro gramming 17 DSP flash programming error Flash access not within permitted range DSP flash programming error Error 18 nae verifying B flash 19 DSP flash programming error Error verifying P flash 20 DSP flash programming error Error verifying X flash DSP flash programming error 21 Access to flash register while BUSY flag is set DSP flash programming error 22 Access to FIU CNTL register while BUSY bit is set DSP flash programming error Write access to flash while deleting 23 DSP flash programming error 24 Write read access to flash while pro gramming 25 DSP flash programming error Flash access not within permitted range 26 DSP flash programming error No longer used 27 DSP flash programming error No valid programming mode 28 DSP flash programming error Length of page and row not defined 29 DSP calibration error X flash CRC error 30 DSP cali
192. line length to the en coder is not to exceed 10 m 33 ft Pepperl amp Fuchs WCS3B LS410 The node ID must be set to 1 switches 1 6 of the 8 fold DIP switch The baud rate must be set to 250 kBd switches 6 7 of the 8 fold DIP switch The transmission mode must be set to asynchronous 0 ms 10 ms switches 1 3 of the 4 fold DIP switch The data protocol must be set to data protocol 2 switch 4 of the 4 fold DIP switch to on Pepperl amp Fuchs VDM 100 150 The operating mode must be set to mode 3 Menu Parameters operating modes Mode 3 The coding must be set to Gray The resolution must be set to 0 1 mm or 1 mm e LEUZE AMS200 OMS1 OMS2 BPS37 You have to set 24 data bits error bit Setthe resolution to 0 1 mm INFORMATION The following applies for all parameterizable SSI encoders The interface must be set to SSI You have to set 24 data bits error bit or 0 in bit 25 Plausibility must be set to normal 0 when the plausibility check is activated The coding must be set to Gray Operating Instructions MOVIAXIS Multi Axis Servo Inverter 265 9 Appendix Cable dimensions to AWG 9 2 Cable dimensions to AWG AWG stands for American Wire Gauge and refers to the size of the wires This number specifies the diameter or cross section of a wire in code This type of cable designatio
193. link discharge module additional component Wiring the control electronics Eu en re SE es A line filter L1 L2 L3 1 l I or l l Axis module Auxiliary contact BG1 6 X14 of K11 DC link Inhibit 1 aa DGND 2 discharge module g DGND 3 DCOM DGND Temp 4 reference potential nc 15 for binary inputs X5b o 1 24Ve o 2 DGND o 3 24Vs o 4 BGND 24 V for 24 V supply brake supply D P for control electronics 4046960011 Contact must be suitable for switching very small currents lt 50 mA See chapter Connecting axis modules page 80 NOTICE Possible damage of the supply module and braking resistor When operating the DC link discharge module make sure to activate discharge of the DC link only if the following requirements are met The main contacts of the K11 relay are open Output stage enable of all axis modules is withdrawn INFORMATION Use a contactor with lagging auxiliary contact to prevent that supply module and brak ing resistor are damaged 86 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Terminal assignment 4 13 Terminal assignment INFORMATION Reference potentials inside the unit The designation of the reference potentials is listed in the following table
194. ls from the General information Supply voltage DC 24 V 25 4 A EN 61131 1 Supply of IOs from the front Addressing via 16 digit address switch positions 1 and 3 only Connection contacts COMBICON 5 08 One core per terminal 0 20 2 5 mm Two cores per terminal 0 25 1 mm Inverter power consumption 0 6 W Binary inputs Number of inputs 8 Input type Type 1 according to EN 61131 2 Filter 500 Hz Voltage range for 1 15V lt UHS30V Voltage range for 0 3VSULS5V Processing time 1 ms Electrical isolation Yes Binary outputs Number of outputs 8 Output type Binary outputs according to EN 61131 2 Nominal voltage DC 24 V Processing time 1ms Nominal current 0 5A Power loss 0 1 W with nominal current Ron max 400 mQ Inductive load capacity 100 mJ at max 1 Hz Protection device Short circuit and overload protection Electrical isolation Yes 1 Maximum current of 4 A must be fused externally Operating Instructions MOVIAXIS Multi Axis Servo Inverter 257 Technical Data Technical data of XIO11A XIA11A input output option 8 20 3 XIA11A analog binary hybrid module General Supply voltage DC 24 V 25 2 A EN 61131 1 Supply of lOs from the front Addressing via 16 digit address switch positions 1 and 3 only Connection contacts COMBICON 5 08 One core per terminal 0
195. m the control cabinet other power cables when installing the brake rectifier in the control cabinet Joint instal lation is permitted with shielded power cables only Operating Instructions MOVIAXIS Multi Axis Servo Inverter 67 4 Installation Wiring diagrams 4 12 2 Connection of supply module axis module and capacitor or buffer module Wiring of power terminals MXP80 Size 1 and 2 Hit 12 13 Line filter Cable length lt 600 mm PE L1 L2 L3 I xa 8 I RAN jet PETS PE i i iol i gt d Capacitor to 24V H module Axis module switched i i imode power supply unit Fi 1 ar Fi For connection of BW see X4 DC link bus bar chapter Connection of braking resistor PE grounding point of housing Power shield clamp 1680410891 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line 68 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams Wiring of power terminals MXP80 Size 3 L1 L2 PE g t 11 1213 Line filter Cable length lt 600 mm x4 xa i x4 PEO HE i PE o i PE u EEE a o i i 4 i Capacitor i i
196. meets the require ments stipulated in EC directive 2006 42 EC Machine Directive You must also ob serve EN 60204 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Safety Notes Transportation and storage Startup i e the start of designated use is only permitted under observance of the EMC directive 2004 108 EC The multi axis servo inverters meet the requirements stipulated in the low voltage guide line 2006 95 EC The harmonized standards of the EN 61800 5 1 DIN VDE T105 series in connection with EN 60439 1 VDE 0660 part 500 and EN 60146 VDE 0558 are ap plied to these multi axis servo inverters You must observe the technical data and information on the connection requirements as provided on the nameplate and in the documentation 2 3 1 Safety functions MOVIAXIS multi axis servo inverters may not take on safety functions without a higher level safety system Use higher level safety systems to ensure protection of equipment and personnel For safety applications refer to the information in the following publication e Functional Safety 2 4 Transportation and storage You must observe the notes on transportation storage and proper handling Observe the climatic conditions as stated in the chapter General technical data 2 5 Installation The units must be installed and cooled according to the regulations and specifications in the corresponding documentation Protect multi axis servo invert
197. n is usually only used in the USA However the designations can also be seen in catalogs or data sheets in Europe AWG designation Cross section in mm 000000 6 0 185 00000 5 0 150 0000 4 0 120 000 3 0 90 00 2 0 70 0 1 0 50 1 50 2 35 3 25 4 25 5 16 6 16 7 10 8 10 9 6 10 6 11 4 12 4 13 2 5 14 2 5 15 2 5 16 1 5 16 1 18 1 19 0 75 20 0 5 21 0 5 22 0 34 23 0 25 24 0 2 266 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Appendix List of abbreviations List of abbreviations Abbreviation Definition Meaning BGND Reference potential for brake connection CAN Controller Area Network CCU Configurable Control Unit DCOM Reference potential for binary inputs DGND PE General reference potential of control electronics There is a metallic connection to PE DI Digital In DIN Deutsches Institut f r Normung e V German institute for standardization DINEN EN European Standard whose German version has the status of a German standard DIN EN ISO ISO standard that has been made a European standard and has been adopted into the German book of standards DIN IEC International standard that has been adopted without changes into the German standard DO Digital Out EN Europ ische No
198. n 0 and 99 S3 rotary switch 8 2 10 ones digit 7 3 6 4 1 4 rotary switch 8 2 101 tens digit 7 3 6 Axis address 23 is set as an example in the illustration above INFORMATION The default factory setting is 1 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup Supply module settings for CAN based system bus SBus Er The addresses within the axis system are assigned as follows x9 a b last a E bus X9 X9 X9 Terminating resistor pnma MXP MXA 23 MXA 24 MXA 25 MXA 26 Terminating resistor only for CAN transmission Inthe example the address of the first axis module is 23 The other axes are assigned addresses in ascending order If the axis system includes less than 8 axes the remaining addresses will not be as signed The axis address set this way is used for the addresses of the CAN communication part of the system bus or the K Net fieldbus interface option XFA11A The axis addresses are assigned only once during startup of the DC 24 V voltage supply of the axis system The basic addresses are only changed during operation when the axis module is start up again 24 V supply voltage on off Operating Instructions MOVIAXIS Multi Axis Servo Inverter MXA 27 MXA 28 MXA 29 MXA 30 1407827979
199. n connecting the wrong temper ature sensors Severe or fatal injuries from electric shock e Connect only temperature sensors with reliable isolation from the motor winding to the temperature evaluation Otherwise the requirements for reliable isolation are not met Dangerous contact voltages may occur at the unit terminals via the signal electronics in case of an error The connector assignment is listed in section Terminal assignment of the MXA axis modules page 90 122 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Connecting encoders to the basic unit 4 15 2 General installation notes Encoder connec tion 4 15 3 Shielding At the servo drive On the encoder resolver Max cable length 100 m with a capacitance per unit length lt 120 nF km Core cross section 0 20 0 5 mm If you do not use a core of the encoder cable Isolate the core end Use shielded cables with twisted pair conductors and make sure they are grounded on both ends over a large surface area To the encoder in the cable gland or in the encoder plug To the servo drive in the housing of the D sub connector Route the encoder cable separately from the power cables Connect the shield of the encoder cable over a large area Connect the shield on the servo drive end in the housing of the D sub connector 1406541835 Connect the shield on the encoder side only on the respective
200. n systems Analog setpoint specification and incremental encoder simulation of the actual posi tion to the controller e General use of the differential analog input 10 V e g for specifying speed or torque setpoints Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup multi motor operation Startup qu 5 5 11 2 Example Multi motor operation Application In applications with several axes which have the same output torque and which are not operated at the same time Up to 3 motors can be connected to one axis module For this purpose 2 additional multi encoder cards must be plugged into the axis module see following figure Depending on the activated parameter set power must be connected to the individual motors via power contactors 2557636363 1 Motor encoder 1 to basic unit 2 Motor encoder 2 multi encoder card 1 slot 1 3 Motor encoder 3 multi encoder card 2 slot 3 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 177 178 MOVIAXIS startup multi motor operation Gr Startup C ECECCECCECECECECEECE ardware configuration Encoder 3 Motor encoder 1 Parameter set ASIH D edit cs Position g Posi detector 2 Parameter set AS1H Edit p Posito detection 3 Parameter set AS1H rar neg g Posbon y detecbon Option cards Encoder card tncoder card lo Sit 3 Distance encoder 1 Distance e
201. nal F16 isa put stage enable must receive a 0 signal contact which means the resistor circuit signal contact which means the resistor F16 is a signal contact which means the must not be interrupted circuit must not be interrupted resistor circuit must not be interrupted Braking resistor type Overload protection BW External bimetallic relay F16 BW 01 External bimetallic relay F16 BW T e Internal temperature switch or A External bimetallic relay F16 BW P Internal bimetallic relay F16 74 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 12 5 Brake control BMK brake control with terminal box X6 Brake control K11 z Pe 2788968971 X6 Brake control K11 2788973579 X6 Brake control I K11 m a a Ei m ar ae Si a a Ein sense ans 2788971403 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Install the connection cables between the brake rectifier and the brake separately from other power cable
202. ncoder 2 2557639307 For encoder 1 set Position detection for parameter set 1 For encoder 2 set Position detection for parameter set 2 For encoder 3 set Position detection for parameter set 3 The individual parameter sets can only be started up one after another and only after the complete startup procedure has been performed The individual parameter sets can be selected via parameters please refer to the pa rameter description in the MOVIAXIS Multi Axis Servo Inverter system manual Operating Instructions MOVIAXIS Multi Axis Servo Inverter ee 5 5 12 PDO Editor Use the PDO Editor to set the process data 5 12 1 Structure and data flow You can write setpoints such as velocity or position as 16 bit process data into the PD IN buffer of MOVIAXIS via a bus system e g a fieldbus You can specify these set points in freely definable user specific units e g m s mm cycles min MOVIAXIS Control word worse management Pe wa 688 1 I PD IN buffer PD IN channet FCB pool PD OUT channel PD OUT buffer Wo 16 Bit DWO 32 Bit Ki DWO 32 Bit DWO 32 Bit i FCB Convesion i Conversion Bus User defined units System units into into system units user defined units 3 d 4 wis 16 Bit Dw15 32Bit DW15 32 Bit 5 7 Example PD IN buffer PD IN c
203. nerative Module manual 10 kW compact supply module with integrated C and BW 10 kW supply module 50 75 kW supply and regenerative module Type designation for the 24 V switched mode power supply module component MXS80A 060 503 00 24 V switched mode power supply module Type designation for the DC link discharge module component MXZ80A 050 503 00 DC link discharge module with an energy quantity of 5000 Ws that can be dissipated Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Nameplates and type designations 3 4 5 Type designation for MOVIAXIS optional components The following diagram shows the type designation X __ NA L version Version status Type GH GS FP FA FE SE lO IA Multi encoder card PROFIBUS DP V1 fieldbus interface K Net fieldbus option EtherCAT fieldbus interface EtherCAT compatible system bus Input output card Input output card Optional components for MOVIAXIS Operating Instructions MOVIAXIS Multi Axis Servo Inverter 19 Unit Design Standard accessories 3 5 Standard accessories Standard accessories are included with the basic unit at delivery in Ea 12 BEE 13 3 Bmg 4 BI Ei 15 B i u 5 4 ul COO 118 u 19 TE O 20 m O 21 e _ t 22 B a 24 O J 26 up 27 e 8 28 ia 29 9 e po iis on
204. njuries to persons or damage to property Refer to this documentation for more information Target group Only qualified electricians are authorized to install startup or service the units or cor rect unit faults observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 and IEC 60664 or DIN VDE 0110 as well as national accident prevention guidelines Qualified personnel in the context of these basic safety notes are All persons familiar with installation assembly startup and operation of the product who possess the nec essary qualifications Any activities regarding transportation storage operation and disposal must be carried out by persons who have been instructed appropriately Designated use MOVIAXIS MX multi axis servo inverters are units for use in industrial and commercial systems to operate permanent field synchronous AC motors and asynchronous AC mo tors with encoder feedback These motors must be suitable for operation with servo in verters Connect other loads to the units only after you have consulted the manufacturer MOVIAXIS MX multi axis servo inverters are intended for use in metal control cabinets These metal control cabinets represent the necessary enclosure for the application as well as the grounding over a large area required for EMC purposes When installed in machines startup of the multi axis servo inverters i e start of desig nated operation is prohibited until it is determined that the machine
205. nnected the inputs will not function any longer 116 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards 4 14 7 Optional input output card type XIA11A INFORMATION For information about the ground designations used in the following wiring diagrams refer to section Terminal assignment on the next page Supply Module behavior Short circuit of binary outputs Short circuit analog outputs Switching inductive loads Switching binary outputs in parallel Cable length The logic of the module is supplied by MOVIAXIS Analog inputs and outputs are also supplied by MOVIAXIS Binary inputs and outputs are supplied via the DCOM and 24 V terminals on the front The supply voltage must be fused with 4 A see chapter UL compliant installation e The binary inputs and outputs are electrically isolated from the logic supply In the event of a short circuit of a binary output the driver will change to pulse mode and in this way protects itself The state of the binary outputs does not change Once the short circuit is eliminated the state of the binary output is that which is output by MOVIAXIS at that moment The analog outputs are sustained short circuit proof In the event of a short circuit the output current is limited to a value of max 30 mA The short circuit current is not pulsed Once there is no longer a short
206. not indicate that the MOVIAXIS multi axis servo drive is no longer connected to the supply system and is de energized Before you touch the power terminals check to see that the MOVIAXIS multi axis servo drive has been disconnected from the supply system e Observe the general safety notes in chapter 2 page 8 and the notes in chapter Electrical Installation page 60 A DANGER Risk of crushing if the motor starts up unintentionally Severe or fatal injuries Mechanical blocking or internal safety functions of the unit can cause a motor standstill Eliminating the cause of the problem or performing a reset may result in the drive re starting automatically Ensure that the motor cannot start inadvertently for example by removing the elec tronics terminal block X10 e Additional safety precautions must be taken depending on the application to avoid injury to people and damage to machinery NOTICE The motor output of the multi axis servo inverter may only be switched or disconnected when the output stage is inhibited Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation x EZ 6 Displays of the supply and axis modules lt a 6 2 Displays of the supply and axis modules 6 2 1 Operating display of the 7 segment display e The two 7 segment displays indicate the operating state of the supply modules and axis modules All settings and functions relating t
207. ns MOVIAXIS Multi Axis Servo Inverter Technical Data Technical data of MXP supply modules MOVIAXIS supply module N Size MXP80A 503 00 1 2 3 GENERAL INFORMATION Power loss at nominal capacity W 30 80 160 280 No of times power may be switched rpm lt Amin onloff Minimum switch off time for power s gt 10 off Mass kg 4 2 5 7 10 3 10 8 mm 90 90 150 Dimensions H mm 300 400 D mm 254 Nameplate information Unit The system and output currents must be reduced by 20 from the nominal values for Uyz 3 x AC 500 V N Decisive value for planning the assignment of supply and axis module Material thickness mm x width mm A Q m x 5 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 237 Technical Data Technical data of MXP supply modules 8 3 2 Power section of MXP81 compact supply module The technical data of the MXP81 supply module with integrated braking resistor corre spond to those of the supply module size 1 Deviating data is listed below MOVIAXIS supply module v a Size MXP81A 503 00 1 ADDITIONAL CAPACITY OF DC LINK Nominal DC link voltage U V DC 560 Storable energy Ww Ws 250 Peak power capacity P kW 20 Nominal capacity Cc uF 1000 INTERNAL BRAKING RESISTOR Effective braking power Pot Ww 220 Maximum braking power Prax kW
208. ns and fire e Choose a suitable installation location Braking resistors are usually mounted on top of the control cabinet e Do not touch any braking resistor Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 12 Wiring diagrams 4 12 1 General notes on the wiring diagrams For technical data of the connections of power electronics and control electronics refer to chapter Technical Data page 233 All units within the axis system have to be connected to each other via the DC link bus connection PE U U the 24 V voltage supply X5a X5b and the system bus X9a X9b The line contactor K11 must be installed between the supply system and the line filter INFORMATION e Connect the brake rectifier option using a separate supply system lead Supply via the motor voltage is not permitted INFORMATION If the brake connection and the motor connection are combined in one power cable the brake line must be shielded separately The shielding of the power cable and the brake cable must be connected with PE on the motor and servo inverter Use a shielded cable as brake cable with separate installation of the brake cable Note the different project planning criteria to determine the length of brake cable and motor cable Brake rectifier in Install the connection cables between the brake rectifier and the brake separately fro
209. nt for connection to a serial bus system for high speed data transfer Install no more than one XF11A fieldbus inter face per axis module Brief description Terminal J K Net connection RJ 45 1 socket X31 MM X32 J K Net connection RJ 45 u J socket 3 J INFORMATION X31 and X32 can be used as either input or output Operating Instructions MOVIAXIS Multi Axis Servo Inverter 121 4 Installation Connecting encoders to the basic unit 4 15 Connecting encoders to the basic unit INFORMATION The core colors specified in the wiring diagrams are in accordance with IEC 757 and correspond to the core colors used in the pre fabricated cables from SEW EURODRIVE You will find detailed information in the publication SEW Encoder Systems The pub lication is available from SEW EURODRIVE 4 15 1 Example View of the flange sockets in a servomotor View connection motor g encoder to axis module 1 2 1406539403 1403604363 1 Power connection 2 Encoder connection A WARNING Dangerous contact voltages at the unit terminals whe
210. nt selection e g FCBO9 Posi tioning PWM frequency Enter the PulseWidth Modulation frequency here The following can be entered 4 kHz 8 kHz default setting 16 kHz Operating Instructions MOVIAXIS Multi Axis Servo Inverter 5 161 MOVIAXIS startup single motor operation 5 Gr Startup Controller optimi SEW suggestion The control parameters preset by SEW can be accepted Easiest zation way of setting all control parameters my Complete block diagram Speed controler Position controler Tabular System type Simulation ag y z J System specific controller parameter suggestion G rag Y No backlash Low backlash With backlash u Df Be iy A we 3 zu t y Requirements on dynamics Controller parameters nn i d i ik y 9 27 3 Y Clearance of load 1 j D 0 25 y x 50 i 75 4 100 5 7 a a Stiffness 0 75 v Download Permanent ca f 5 N E a E TEE Fede IRS 2 00 Download Once 2545637003 e Referring to 1 System type selection load coupling with the drive Options No backlash e g directly coupled load Low backlash e g toothed belt coupling With backlash tooth gear connection or gear rack coupling In most cases the basic settings can remain unchanged e Referring to 2 Use the sliders to set the backlash of the drive train For fine tuning the control parameters based on the backlash of the load coupling and the re quired control
211. o startup of the axis system are located in the axis module That is the reason for more operating displays in the axis module than in the supply module The supply module is not equipped with any programmable intelli gence Responses to detected errors and warnings take place in the axis module only The error and warnings are however displayed in the axis module and to some extent in the supply module For some events other numbers may be displayed in the axis module than in the supply module These events are marked in the operating display table of the supply module The displays for the axis modules and the supply modules are therefore described separately 6 2 2 Error display of the 7 segment display Error message with two 7 seg ment displays Errors in the sup ply module The MOVIAXIS multi axis servo inverter detects any errors that occur and displays them as error code Each error is clearly defined by its error code and corresponding attributes such as e the error response e the final status after executing the error response e the type of reset response The error codes are indicated as flashing numeric values in the axis and supply module The error code is displayed in the following display sequence 0 5s 0 25s 1 0s 0 25s In addition to the error code a sub error code has been defined to further localize the reason for the error The sub error code can be read by the operator via the commu nic
212. o type request Hiperface encoder option 1 No 4224 response to status request Hiperface encoder option 1 No response to serial number request Hiperface encoder option 1 No 4352 response to initialization position request Hiperface encoder option 1 No 4416 gs tee Ee response to position re initialization Hiperface encoder option 1 No response to position plausibility check Hiperface encoder option 1 No 4544 PR pe response to writing of position Hiperface encoder option 1 No Check communication response while reading analog values Hiperface encoder option 1 No Check communication 4672 response to encoder nameplate request Option 1 EnDat encoder option 1 Communica 5120 tion error during reset command EnDat encoder option 1 Communica tion error during position initialization EnDat encoder option 1 Communica 5248 A oo et gs tion error during position validation EnDat encoder option 1 Communica tion error during memory range select EnDat encoder option 1 Communica tion error while reading a parameter EnDat encoder option 1 Communica tion error while writing a parameter 4288 4480 4608 5184 5312 5376 5440 212 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module
213. od lt 100 us 4 binary outputs Signal level Function PLC compatible EN 61131 2 response time 1 ms short circuit proof Imax 50 mA 0 0 V 1 24 V Important Do not apply external voltage DO DOB3 Selection option see parameter menu Cross section and contacts COMBICON 5 08 One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm Shield clamps Shield clamps for control lines available Maximum cable cross section that can be connected to the shield clamp 10 mm with insulating sheath X7 and X8 Connection contacts for safety functions Safety relay integrated in unit as option 1 safety relays 2 safety relays e Category 3 according to EN 954 1 1996 e Performance level d according to EN ISO 13849 1 2006 Category 4 according to EN 954 1 1996 Performance level e according to EN ISO 13849 1 2006 SIL3 according to IEC 61800 5 2 2007 e Protection type III according to EN 201 1997 Cross section and contacts Mini COMBICON 3 5 One core per terminal 0 08 1 5 mm Two cores per terminal 0 08 0 75 mm CAN2 interface Front end CAN CAN bus to CAN specification 2 0 parts A and B transmission technology to ISO 11898 max 64 stations CAN 9 pin D sub connector Operating Instructions MOVIAXIS Multi Axis Servo Inverter 241 Technical Data Technical data of MXM master module componen
214. odrive com Busan SEW EURODRIVE KOREA Co Ltd Tel 82 51 832 0204 No 1720 11 Songjeong dong Fax 82 51 832 0230 Gangseo ku master sew korea co kr Busan 618 270 Spain Assembly Bilbao SEW EURODRIVE ESPANA S L Tel 34 94 43184 70 Sales Parque Tecnol gico Edificio 302 Fax 34 94 43184 71 Service E 48170 Zamudio Vizcaya http www sew eurodrive es sew spain sew eurodrive es Sweden Assembly J nk ping SEW EURODRIVE AB Tel 46 36 3442 00 Sales Gnejsvagen 6 8 Fax 46 36 3442 80 Service S 55303 J nk ping http www sew eurodrive se Box 3100 S 55003 J nk ping jonkoping sew se Switzerland Assembly Basel Alfred Imhof A G Tel 41 61 417 1717 Sales Jurastrasse 10 Fax 41 61 417 1700 Service CH 4142 M nchenstein bei Basel http www imhof sew ch info imhof sew ch Thailand Assembly Chonburi SEW EURODRIVE Thailand Ltd Tel 66 38 454281 Sales 700 456 Moo 7 Donhuaroh Fax 66 38 454288 Service Muang sewthailand sew eurodrive com Chonburi 20000 Tunisia Sales Tunis T M S Technic Marketing Service Tel 216 79 40 88 77 Zone Industrielle Mghira 2 Lot No 39 2082 Fouchana Fax 216 79 40 88 66 http www tms com tn tms tms com tn Operating Instructions MOVIAXIS Multi Axis Servo Inverter Address List Turkey Assembly Istanbul SEW EURODRIVE Tel 90 216 4419163 4419164 Sales Hareket Sistemleri San ve Tic Ltd Sti Fax 90 216 3055867 Serv
215. on DataRecord Interpolation time not 123 nen within limits 124 DataRecord ModuloMin gt Modulo Max or a parameter not within limits 125 DataRecord Position source not within DDB DataRecord The interrupt source has 126 changed in Wait for interrupt condi tion DataRecord The interrupt level has 127 changed in Wait for interrupt condi tion 128 DataRecord PositionExternSource not within DDB or illegal index 140 DataBuffer Data structure exceeds DDB limit 141 DataBuffer Incorrect type 142 DataBuffer Version in DDB higher than firmware version 160 SystemData Data structure exceeds DDB limit 161 SystemData Incorrect type 162 SystemData Version in DDB higher than firmware version 180 EventControl Incorrect type EventControl Version in DDB higher 181 than firmware version 182 EventControl ModuloMin gt Modulo Max or a parameter not within limits 183 EventControl Source not within DDB CAM controller Invalid DDB structure 184 length 185 CAM controller Invalid DDB structure type 186 CAM controller Invalid DDB structure version 187 CAM controller Invalid data source 188 CAM controller Invalid cam reference 189 CAM controller Invalid cam data 190 CAM controller Track error Output 39 Reference travel An error has occurred during refer stage System is waiting Ready 1 error ence travel inhibit D Warm start Malfunction 0 P 01 FCB reference travel Timeout error during search for zero
216. onductor rails 1 under the DC link bars 6 of the axis module and use the screws 7 to connect them Attach the protective cover 8 230 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Service Mounting the DC link connection in case of two row configuration of the axis Figure Twisting the DC link connections U and U 1 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 231 232 7 4 7 5 Service Extended storage Extended storage Disposal If the unit is stored for a long time connect it to the mains voltage for at least 5 minutes every 2 years Otherwise the unit s service life may be reduced The 24V DC voltage supply can be applied without paying attention to any particular notes Procedure when maintenance has been neglected Electrolytic capacitors are used in the servo inverters They are subject to aging effects when de energized This effect can damage the capacitors if the unit is connected using the nominal voltage after a longer period of storage If you have not performed maintenance regularly SEW EURODRIVE recommends that you increase the line voltage slowly up to the maximum voltage This can be done for example by using a variable transformer for which the output voltage has been set ac cording to the following overview After you have completed the regeneration process the unit can be used immediately or stor
217. onnection of axis modules Wiring the control electronics Input Output Electronics signal bus signal bus shield clamps A not assigned 7 CAN_L Ah P DEND Higher level not assigned Ee CAN nei controller S5 a i PLC X10 Fixed assignment with Output stage enable DIOS 1 Axis module User programmable Diat 2 BG 1 6 User programmable DI22 3 User programmable DI 3 4 Binary outputs User programmable DI 4 5 User programmable DI25 6 User programmable DI 6 7 User programmable DI27 8 User programmable DI 8 9 Reference potential binary signals DI J DID DCOM 10 General reference potential I DGND 11 i of the control electronics 2 x 7 segment displays CI Operating states x11 _ see operating displays User programmable gt DOS 1 for the axis module User programmable gt DO1 2 ES User programmable gt D0 2 3 Binary inputs User programmable gt DO 3 4 Reference potential binary signals DO DO 3 DGND 5 X13 Motor encoder connection Hiperface or Resolver and temperature sensor optional Coil and NC contact Coil
218. ons apply for the evaluation of inputs and outputs Evaluation is only possible for the inputs and outputs if applicable of two cards Variant Plugged card Plugged card Plugged card 1 VO card I O card Multi encoder card 2 VO card Multi encoder card Multi encoder card Supply ofthe multi The table below shows the maximally permitted currents for supplying the XGH and encoder card XGS multi encoder cards via the MOVIAXIS basic unit Number of multi encoder Maximum permitted current Imax cards 1 pc 500 mA 2 pc 800 mA 1 MOVIAXIS cannot provide more than 800 mA in total for the supply of the multi encoder cards Operating Instructions MOVIAXIS Multi Axis Servo Inverter 101 102 Installation Connecting the option cards Wiring diagrams for encoder voltage supply 12 V without sup ply 24 V with external supply The following wiring diagrams show the connection of one and of two multi encoder cards with 12 V and 24 V encoder voltage supply The encoder voltage supplies are specified in the appendix in the Suitable encoder list page 260 Example Wiring diagram of a multi encoder card with 12 V and lt 500 mA supply to the encoder via the basic unit 1 X61 DGND 3 24 V 4 X63 X64 2881680907 1 Multi encoder card 2 encoder Example Wiring diagram of a multi encoder card with 24 V encoder voltage supply and
219. oo INI OAA OIN gt o PDO 9 gt PDO 10 PDO 11 N PDO 12 oo PDO 13 A PDO 14 a PDO 15 68 External synchroni zation error Shutdown with emer gency stop delay System is waiting Warm start Ready 1 Malfunction 0 01 Time limit for expected synchroniza tion signal has been exceeded Operating Instructions MOVIAXIS Multi Axis Servo Inverter 217 218 SEE D Z Operation ne Operating displays and errors of MXA axis module Error Sur Error System state Bl A Cod R Measure pase Code Signal 22 Cause br Reset type Synchronization lost synchronization 02 5 period outside tolerance range 03 Synchronization to synchronization signal not possible Cycle duration of sync signal is not a 04 integer multiple of the PDO system duration 05 Time limit for synchronization signal exceeded 06 Synchronization lost period of syn chronization signal invalid 07 No synchronization of the synchroni zation signal possible 08 Duration of system interval too short 09 Duration of system interval too long 10 Duration of system interval is not a multiple of the base interval Prewarning motor ne 66 oventemperature Motor temperature has exceeded the response __ Ready 1 error p adjustable prewarning threshold display Mal
220. or an edge steepness of the falling DC link voltage of dUzx dt gt 200 V 1 ms Applies for a line voltage Uz of 3 x AC 380 V Operating Instructions MOVIAXIS Multi Axis Servo Inverter 245 246 Technical Data Technical data of MXZ DC link discharge module component 8 9 Technical data of MXZ DC link discharge module component 8 9 1 Power section of DC link discharge module MOVIAXIS DC link discharge module 1 2 hs MXZ80A 503 00 Type 050 INPUT DC link Nominal DC link voltage U v DC 560 Cross section and contacts CU bars 3 x 14 M6 screw fitting Convertible energy E E J 5000 OUTPUT Braking resistor R R Q 1 Discharge connection Specific screw fitting by SEW Cross section and contacts mm M6 screw bolts max 4 x 35 Connection to power shield clamp mm max 4 x 16 GENERAL INFORMATION Ready for operation after switching on the mains power s lt 10 and the 24 V supply Ready for operation after short circuit s Depends on application Repeatability of quick discharge s 60 Duration of quick discharge s lt 1 Shutdown temperature C 70 Mass kg 3 8 WwW mm 120 Dimensions H mm 235 D mm 254 1 Nameplate information 2 Unit 3 The line and output currents must be reduced by 20 from the nominal values for Viing 3 x AC 500 V UnzK 4 Material thickness mm x width mm 8 9 2 Control section of DC link discharge module
221. or injuries Specific danger e g electric shock NOTICE Possible damage to property Damage to the drive system or its environ ment INFORMA Useful information or tip TION Simplifies the handling of the drive system 1 2 Rights to claim under warranty A requirement of fault free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the operating instructions Therefore read the operating instructions before you start working with the unit Make sure that the operating instructions are available to persons responsible for the plant and its operation as well as to person who work independently on the unit You must also ensure that the documentation is legible Operating Instructions MOVIAXIS Multi Axis Servo Inverter General information Exclusion of liability 1 3 1 4 1 5 Exclusion of liability You must comply with the information contained in these operating instructions to en sure safe operation of the MOVIAXIS multi axis servo inverter and to achieve the spec ified product characteristics and performance requirements SEW EURODRIVE as sumes no liability for injury to persons or damage to equipment or property resulting from non observance of these operating instructions In such cases any liability for defects is excluded MXR supply and regenerative module Copyright In these operating instructions the MXR supply and regenerat
222. or setting the system bus are set to C The axis address is set using the two address switches S3 and S4 on the supply module see section Setting the CAN axis address page 130 The next axis ad dress will be set automatically based on the first address aC 3 s4 1407811467 1 DIP switches system bus 3 S3 Axis address switch 10 2 1 S2 DIP switches for CAN baud rate 4 S4 Axis address switch 101 For detailed information about assigning an address to a supply and regenerative mod ule refer to the MXR Supply and Regenerative Module manual Operating Instructions MOVIAXIS Multi Axis Servo Inverter 5 130 C Startup Supply module settings for CAN based system bus SBus 5 2 1 Setting the CAN baud rate The two DIP switches S1 and S2 have been installed in the supply module for setting the CAN baud rate see illustration in section Supply module settings for CAN based system bus page 129 125 kbit s 250kbit s 500 kbit s 1 Mbit s s1 ce Se SE a s2 sE A ae a INFORMATION The default setting upon delivery is 500 kbit s 5 2 2 Setting the CAN axis address The two rotary switches S3 and S4 have been installed in the supply module for setting the axis address of the axis system see illustration in chapter Supply module settings for CAN based system bus page 129 Use these rotary switches to set a decimal ad dress betwee
223. ottom 1 System bus 2 Electronics shield clamps 12 X6 Brake control X9a Input green plug on cable 3 X10 Binary inputs 13 X7 X8 2 safety relays X9b Output red plug on cable 4 X11 Binary outputs optional variant 5 X12 CAN2 bus 6 2x 7 segment display 7 X13 Motor encoder connection resolver or Hiperface temperature sensor 8 X5a X5b 24 V voltage supply 9 X4 DC link connection 10 X2 Motor connection 11 Power shield clamp Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Unit design of MXA axis modules 3 10 6 MXA axis module size 6 1 A 1 IN amp i View from top System bus X9a Input green plug on cable X9b Output red plug on cable 11 2 3 4 5 6 7 8 9 10 11 ral a View from front Electronics shield clamps X10 Binary inputs X11 Binary outputs X12 CAN2 bus 2 x 7 segment display X13 Motor encoder connection resolver or Hiperface temperature sensor X5a X5b 24 V voltage supply X4 DC link connection X2 Motor connection Power shield clamp Operating Instructions MOVIAXIS Multi Axis Servo Inverter u INH IE Ip E m o ee zz 6 wen WW oS sus m ee q q eee it D Cr Ga DS A a An GE aoe 260 n GED a Geese D O OE A o gt a eer i O P os rn ED aes U ema eS u ED um 1
224. ou can set all pa rameters relevant for control speed control position control acceleration Direct adjustment or optimization of the individual control parameters should only be per formed by an expert Complete ck dag am Speed controler Position controler Tabular System type Simulation 10 ms a aprecontrel a precontre filter Acceleration asa Smp PI controller v precontral v setpoint filter 2 17 y 84339 Us image X set gain gt Position Velocity Mee We We He eT SEW suggestion I 2546306187 The control symbols with a gray background in the submenus Speed controller and Position controller are not active 164 Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Startup 5 Simulation Here a virtual load shock torque step change of the load from 0 Nm to Mg standstill torque of the motor is used to simulate the extent of the speed de viation and position deviation from the specified setpoints Complete block diagram Speedcontroller Position controller Tabular System type Simulation Disturbance variable A disturbance variable is abruptly added to the drive line A eg aload is applied to a hoist in r Simulation of disturbance variable adjustment s ji Speed controller cam at Position controller Simulation af af af af af af Ey af af
225. pair number of resolver not equal to 1 02 Numerator of pole pair number of resolver too great 03 Numerator of pole pair number of resolver too small that means zero 04 Denominator of emulation PPR count for resolver not equal to 1 05 Numerator of emulation PPR count for resolver too small 06 Numerator of emulation PPR count for resolver too great 07 Numerator of emulation PPR count for resolver is not a power of two Denominator of emulation PPR count 08 for sine encoder not equal to 1 09 Numerator of emulation PPR count for sine encoder too small 10 Numerator of emulation PPR count for sine encoder too great 11 Numerator of emulation PPR count for sine encoder is not a power of two The motor inverter combination can Check limit values adjust 100 not reach the required test torque test torque with the present limit values 512 Startup for invalid motor type Set current limit exceeds maximum 513 current of axis 514 Set current limit is less than nominal magnetizing current of the motor CFC Factor for calculation of q cur 515 rent cannot be displayed 516 Non permitted PWM frequency con figured Parameter Final speed flux table not 517 within permitted range 518 Parameter Final flux ID table not within permitted range Output stage enable requested with 519 out valid motor startup 520 Motor startup not possible with enabled output stage Factor for torque limit cannot be dis 521 played A 522 Factor for torq
226. pest SEW EURODRIVE Kft Tel 36 1 437 06 58 Service H 1037 Budapest Fax 36 1 437 06 50 Kunigunda u 18 office sew eurodrive hu India Registered Office Vadodara SEW EURODRIVE India Private Limited Tel 91 265 3045200 91 265 Assembly Plot No 4 GIDC 2831086 Sales POR Ramangamdi Vadodara 391 243 Fax 91 265 3045300 91 265 Service Gujarat 2831087 http www seweurodriveindia com salesvadodara seweurodrivein dia com Assembly Chennai SEW EURODRIVE India Private Limited Tel 91 44 37188888 Sales Plot No K3 1 Sipcot Industrial Park Phase II Fax 91 44 37188811 Service Mambakkam Village saleschennai seweurodriveindia com Sriperumbudur 602105 Kancheepuram Dist Tamil Nadu Ireland Sales Dublin Alperton Engineering Ltd Tel 353 1 830 6277 Service 48 Moyle Road Fax 353 1 830 6458 Dublin Industrial Estate info alperton ie Glasnevin Dublin 11 http www alperton ie Israel Sales Tel Aviv Liraz Handasa Ltd Tel 972 3 5599511 Ahofer Str 34B 228 Fax 972 3 5599512 58858 Holon http www liraz handasa co il office liraz handasa co il Italy Assembly Solaro SEW EURODRIVE di R Blickle amp Co s a s Tel 39 02 96 9801 Sales Via Bernini 14 Fax 39 02 96 799781 Service I 20020 Solaro Milano http www sew eurodrive it sewit sew eurodrive it 276 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Address List Ivory Coast
227. ply module Terminating resistor J Se MXP MXA 3 Terminating resistor E must be activated o gt Fl at CAN2 unit connection 1408123019 1 Connection cable between PC and CAN interface on the axis module The connection cable consists ofthe USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CAN_L INFORMATION Install terminating resistor The terminating resistor in the last axis module of the axis system must be activated see chapter Connecting CAN2 cables to the axis modules page 137 For more information on communication between the PC and the MOVIAXIS system refer to chapter Communication via CAN adapter page 139 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup xd 5 Communication via CAN adapter 5 5 Communication via CAN adapter For communication between a PC and a MOVIAXIS system we recommend using the CAN adapter from SEW EURODRIVE which is supplied with a pre fabricated cable and a terminating resistor The part no of the CAN adapter is 18210597 As an alternative the CAN adapter USB Port PCAN USB ISO IPEH 002022 from the company Peak can be used e In case you design the terminals yourself you must install a terminating resistor of 120 Q between C
228. ption 255 8 19 Technical data of K Net communication option enn 256 8 20 Technical data of XIO11A XIA11A input output option 257 9 Append iaeaea ea erlernte arena 260 9 1 Suitable encoders en ee ee en 260 9 2 Cable dimensions to AWG 2 2244ssnssnennennnnnnnnnnnnnnennnnennennnnnnnn nn 266 9 3 List of abbreviations a ae a raer a a a aaa Aa Aa EaD aa EEEa 267 9 4 Terms and definitions 444444000nsnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnn nn 268 9 5 Declarations of conformity seennnennnnnnennnnnennnnnnnnnnnnennnnnenne nn 269 10 Address List 2 22 reset 272 WOK 5 SERRPE SERIE LARL EREEEREEEBEBERLGECRFRITEECTRSEHEPEREPEGERNTETEREEHRLFESREHERLFLRCOEDRRSCTTELHERFFESTEFESERE 283 Operating Instructions MOVIAXIS Multi Axis Servo Inverter General information Structure of the safety notes 1 General information 1 1 Structure of the safety notes The safety notes in these operating instructions are designed as follows Pictogram A SIGNAL WORD Type and source of danger Possible consequence s if disregarded e Measure s to prevent the danger Pictogram Signal word Meaning Consequences if disregarded Example DA R Imminent danger Severe or fatal injuries I IN Possible dangerous situation Severe or fatal injuries General danger A i CAUTION Possible dangerous situation Min
229. ption card fault bus 3 F Connection between main computer Output System is blocked Ready 0 41 nn ae timer and option card computer no longer stage YSA S OFIS cady ie p exists inhibit System restart Malfunction 0 01 Burst on option bus aborted by single access Too many options in total or too many 02 options of one kind 03 Resource management subsystem option error 04 Error in an option driver 05 Invalid burst length Option found with address selection Set address selection 06 switch setto 0 switch so it matches the option card slot Set address selection 07 en en nn nn address switch so it matches the option card slot 08 CRC error XIA11A Replace XIA11A option 09 Watchdog triggered at XIA11A Replace XIA11A option 10 Alleged XIA11A system tick cycle vio Report to developer lation 11 SERR on option bus Replace option 12 5 volt reset on XFP11A option Replace option or firmware 13 Watchdog error at CP923X of option 14 Timeout during option bus access Replace option 15 Error interrupt for which no cause could be determined 18 Error on option bus Check option card might be defective 19 Error message from option bus con Report firmware error nection 21 No sync signal within a certain wait time 22 Sync period not divisible as whole number by basic period Operating Instructions MOVIAXIS Multi Axis Servo Inverter 205 206
230. r 3 13 1 Capacitor module MXC 1 1403149963 View from front 1 Standby display Power 2 X5a X5b 24 V voltage supply 3 X4 DC link connection Operating Instructions MOVIAXIS Multi Axis Servo Inverter 39 40 Unit Design Unit design of the MXB buffer module component 3 14 Unit design of the MXB buffer module component The following illustration shows the unit without protective cover 3 14 1 Buffer module MXB 1 1403149963 View from front 1 No function 2 X5a X5b 24 V voltage supply 3 X4 DC link connection Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Unit design of the MXS 24 V switched mode power supply module compo 3 15 Unit design of the MXS 24 V switched mode power supply module component The following illustration shows the unit without protective cover 3 15 1 MXS 24 V switched mode power supply module 1 A View from top B 1 X16 24 V external 2 3 4 5 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 2 _1_ 3 4 5 1403550859 View from front LED State LED Load X5a X5b 24 V voltage supply X4 DC link connection 41 42 Unit Design Unit design of the MXZ DC link discharge module component 3 16 Unit design of the MXZ DC link discharge module component The following illustration shows the unit w
231. r Cause R esponse System state Binary output signal Encoder option 1 4097 Comparison of the absolute encoder position via Hiperface parameter channel with the incremental position of the axis every second Measure Reset type e Check track signal wir ing e Check interference sources e Replace encoder e Replace card 4098 Unknown encoder type 4099 Corrupt encoder nameplate data Incorrect block checksum of the data field range of the encoder manufac turer Replace encoder 4128 4163 Hiperface encoder signals internal error The error code is displayed as fol lows Displayed value 4128 You can inquire about this error code at the encoder manufacturer e Check wiring and inter ference sources Ifthe problem persists replace the encoder 4352 SSI encoder option 1 Voltage range of the voltage supply 12 V Check voltage supply to SSI encoder 4353 SSI encoder option 1 Interrupted clock or data line Check connection to SSI encoder 4354 SSI encoder option 1 Position out side tolerance range Minimize interference 4355 SSI encoder option 1 SSI clock sequence does not match speed sampling interval Set a higher cycle fre quency 4356 SSI encoder option 1 User defined fault via fault mask 4357 SSI encoder option 1 No high level present Replace option card or encoder
232. r 82 Type with two safety relays in the axis module Unit type A Axis module Buffer module Capacitor module Master module Supply module with brake chop per R Supply and regenerative mod ule S 24 V switched mode power sup ply module Z DC link discharge module MOVIAXIS 1 For information on MXR refer to the Supply and Regenerative Module manual Operating Instructions MOVIAXIS Multi Axis Servo Inverter 17 Unit Design Nameplates and type designations Unit designation for the axis module MXA80A 004 503 00 Axis module with 4 A nominal current Unit designation for the buffer module component MXB80A 050 503 00 Buffer module with a capacity of 5000 uF Unit designation for the capacitor module component MXC80A 050 503 00 Capacitor module with a capacity of 5000 uF Type designation for master module with fieldbus gateway component Master module with PROFIBUS DeviceNet Master module with EtherNet IP PROFINET Modbus TCP MXM80A 000 000 00 UFF41B MXM80A 000 000 00 UFR41B Type designation for master module with controller component MXM80A 000 000 00 DHF41B OMH41B Master module with PROFIBUS DeviceNet MXM80A 000 000 00 DHR41B Master module with EtherNet IP PROFINET Modbus OMH41B TCP Variants TO T25 Unit designation for the supply module MXP81A 010 503 00 MXP80A 010 503 00 MXR80A 075 503 00 1 For detailed information on MXR refer to the Supply and Rege
233. r Switching binary Connecting two binary outputs in parallel doubles the nominal current outputs in parallel Cable length The maximum cable length of connections on the inputs and outupts is 30 m outside the control cabinet and 10 m inside the control cabinet e Ifyou route the cables outside the control cabinet you have to shield them irrespec tive of their length Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards Terminal assignment Designation Terminal Plug Plug size DCOM 1 24 V DO 0 DO 1 DO 2 X21 DO 3 DO 4 DO 5 DO 6 OO CO NI oaJ om AJ OIN DO7 DIO a so oO DI 1 DI2 DI 3 DI 4 DI 5 x22 DI 6 DI7 2882694795 CO NN DMD na A Ww m COMBICON 5 08 One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm Connection dia gram Wiring the binary inputs 24V XI011A Voltage supply DCOM Logic DCOM DGND alr DGND Operating Instructions MOVIAXIS Multi Axis Servo Inverter 2882697867 115 4 Installation Connecting the option cards Switching the binary outputs 24V XI011A Load Logic JE DGND 2882701195 INFORMATION It the 24 V supply for the outputs is disco
234. r Check communication con Ready 1 error unit gency stop nection Malfunction 0 Warm start 197 Fa The firmware has detected a power Display Power failure error failure aie ewes 1 valid for default response 2 P Programmable D Default response Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation lt EZ 6 MXC capacitor module operating displays lt a 6 5 MXC capacitor module operating displays The operating states are indicated by a two color LED at the front of the housing e LED lights up green Capacitor module is ready for operation e LED lights up red General error e LED flashes red 1 Hz Limit of capacitor module reached LED does not light up No voltage is supplied to the capacitor module 1 1778575499 14 LED 6 6 MXB buffer module operating displays No messages are issued at the buffer module Operating Instructions MOVIAXIS Multi Axis Servo Inverter 221 6 222 2 2 Operation N 24 V SMPS module operating displays 6 7 24 V SMPS module operating displays The operating status such as utilization and fault of the switched mode power supply is indicated by two LEDs on the front of the unit e State LED Normal operation green Fault red A fault is indicated in case of e Overload e Overvoltage e Undervoltage e Load LED Normal operation green With ca 80 utiliz
235. r 12V EH7C 8 A02H 5132 1024 K bler 12V EI71 SEW 9 30 V EI72 SEW 9 30 V EI76 HTL SEW 9 30 V EI7C SEW 9 30V ES7C OG73 UN 1024 H bner 9 30 V EVIC ROD436 1024 Heidenhain 10 30 V EV2C 0G71 DN 1024 H bner 9 30 V EV7C OG73 UN 1024 H bner 9 30 V RHIL 12 V RRM Resolver Tyco Harowe 2y 1 Can only be used with option DWI11A Operating Instructions MOVIAXIS Multi Axis Servo Inverter 261 9 Appendix Suitable encoders Encoder system un designation manu ie voltage sup BTL5 S112 M1500 P S32 Balluf 24 V BTL5 S112B Mxxxx P xxx Balluf 24 V AMS 200 200 Leuze 24 V AMS 304i xxx Leuze 24 V OMS1 Leuze 24 V WCS2 LS 311 Pepperl amp Fuchs 24 V DME 3000 111 SICK 24 V DME 4000 xx1 SICK 24 V DME 5000 111 SICK 24 V AG626 Stegmann 10 32 V LE100 T amp R 24 V LE200 T amp R 24 V EDM Visolux 24 V OMS2 Leuze 24 V WCS2A LS311 WCS3 LS311 Pep 24V perl amp Fuchs AMG73 S24 S2048 H bner 7 30V AMG83 S24 S2048 H bner 7 30V ARS60 SICK Stegmann 10 32V ATM60 90 SICK Stegmann 10 32 V ARS60 SICK Stegmann 10 32V Ee en 1212 SSI Kombi Pepperl 9 30 V BPS37 Leuze 10 30V CE58 T amp R 12V CE65 T amp R 12V HMG161 S24 H2048 24 V Kueb 9081 xxxx2004 5 32V LIMAX2 Elgo 10 30 V MSA1000 SiKO 24 V OLM100 1001 SICK 10 30 V PCV80S F200 SSI Pepperl amp
236. r connected in parallel The following prerequisites must be fulfilled All motors must be of the same type and have the same winding properties All motors must be coupled with the load without mechanical slip One motor must be equipped with an encoder e With synchronous servomotors the magnetic fields of all rotors must be aligned with each other Contact SEW EURODRIVE in such cases Master slave operation Up to six identical motors are connected to one servo inverter each and coupled with a shared load The inertia ofthe load is distributed over the number of connected mo tors Depending on the rigidity of the connection between the load and the coupled mo tors you must use the appropriate master slave operating mode e For rigidly coupled motor load combinations the slaves must be operated in Torque control mode For non rigidly coupled motor load combinations the slaves must be operated in Synchronous operation mode Operating Instructions MOVIAXIS Multi Axis Servo Inverter 147 MOVIAXIS startup single motor operation 5 Gr Startup 5 9 6 Electronic nameplate for SEW encoders For motors with SEW encoders that have an electronic nameplate you can select one of the following options for loading data Electronic nameplate Data of the electronic nameplate Load data permanently Load data as a suggestion Do not load 5 5 32 9 9 9 9 9 8 gt LI Des LI coe 2542496523
237. r loss 0 1 W with nominal current Ron max 400 mQ Inductive load capacity 100 mJ at max 1 Hz Protection device Short circuit and overload protection Electrical isolation Yes 1 SKE maximum scale value Operating Instructions MOVIAXIS Multi Axis Servo Inverter 259 260 9 9 1 Appendix Suitable encoders Appendix Suitable encoders The encoders listed in the following tables are evaluated by the multi encoder card Sereno desig Encoder system es designation manufac Een voltage AF1H SRM50 HZA0 S05 SICK Stegmann 12 V AG7W AMG38W H bner 7 30 V AKOH SKM36 SICK Stegmann 12V AK1H SRM50 HFA0 K22 SICK Stegmann 12V AL1H L230 SICK Stegmann 12V AS1H SRM50 SICK Stegmann 12V AS3H AS4H SRM64 SICK Stegmann 12V AS7H SRM64 SICK Stegmann 12V AS7W AMG73 W29 S2048 H bner 7 30V AV1H SRM50C3 SICK Stegmann 12 V AV6H el SRM50 HWZ0 S02 SICK Stegmann 12 V AV7W AMG73 W29 S2048 7 30V EF1H SR50 HZA0 S03 SICK Stegmann 12V EKOH SKS36 SICK Stegmann 12V EK1H SICK Stegmann 12V ES1H SRS50 SICK Stegmann 12 V ES2H SICK Stegmann 12V ES3H ES4H SRS64 SICK Stegmann 12 V ES7H SRS64 SICK Stegmann 12 V EV1H SRS50 C16 12 V AG7Y AMG83 SSI Kombi H bner 7 30V AH7Y HMG161 H
238. r shield clamp Housing grounding point Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Unit design of MXP power supply module 3 8 3 MXP supply module size 2 1 X9a X9b A View from top 1 System bus X9a Input green plug on cable X9b Output red plug on cable 2 3 4 5 6 7 8 9 10 11 12 annam i 5 6 13 14 LU 7 _ gaai 9 10 11 12 1402902283 View from front Cc View from bottom Electronics shield clamps 13 X3 Braking resistor connection C E DIP switch 14 X1 Supply system connection C CAN based system bus E EtherCAT compatible system bus X12 CAN system bus 1 S2 DIP switches for CAN baud rate S3 S4 Axis address switch Standby display Power 2 x 7 segment display X5a X5b 24 V voltage supply X4 DC link connection Housing grounding point Power shield clamp Operating Instructions MOVIAXIS Multi Axis Servo Inverter 27 3 Unit Design Unit design of MXP power supply module 3 8 4 MXP supply module size 3 L aw aw en X9b A View from top 1 System bus XQa Input green plug on cable X9b Output red plug on cable B a A 3 4 4 5 a 1 3 13 2 3 4 5 6 7 8 9 10 11 12 13 14
239. r standard accessories 21 22 Axis module nameplate uun 16 B Baud rate iissa teten 254 Bending space note nuunssssnsennnnneennnnnnnnennnn en 49 Binary inputs binary outputs 62 Brake rectifier in the control cabinet 67 Braking resistors Connection iinei nA a a t 66 Operation ee 66 Bus terminating resistors for CAN signal bus CONNECCION aeien cries aaa aea aa raan 132 Bus termination ccccsseeeeeeeeeeeeees 112 254 255 c CAN baud rate 222444444snnnennnnnennennnnnnennenn 130 CAN based system bus s 129 CAN2 axis address ceeeceeeeeeeeeeeeeeeeeeseees 136 CAN2 bus connection cecceceeeeeeeeeeeeeeeeee 138 CE marking and UL approval 233 GE mMarking 422 T 233 Communication ececeeeeeeeeeeeeeeeeeeeeeeeees 133 Communication via CAN adapter 139 Connection assignment of connection and extension cables 135 137 Connection assignment of X12 pin on the axis module uueneereeeeseennnn 137 Connection assignment of X12 pin on the supply module rennene 135 Configuration Encoder parameterization 264 Connecting cables operating switches 129 Connecting CAN1 cables to the supply module 135 Connecting encoders to the basic unit General
240. rake control e Remove the plugs of the brake control cables 11 X6 Safety relays e Remove safety relay plugs if there are any Retaining screws e Loosen the 2 lower retaining screws 9 of the axis module e Loosen the 2 upper retaining screws 7 of the axis module 12 11 1411057547 226 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Service Removing installing a module Lift the axis module a little and tilt it to the front Lift the axis module out completely Removing the axis module 1411059979 227 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Service Removing installing a module 7 2 4 Installing an axis module The item numbers in the following description refer to the figures shown in the previous chapter Removing an axis module Mounting the axis module Retaining screws Brake control Motor lines Shield plate DC link bars 228 Place the axis module on the lower retaining screws from the top and push it back wards until its entire rear side touches the panel Lower the axis module 1411062411 Tighten the upper retaining screws 7 Tighten the upper retaining screws 9 Plug in the brake control cables 11 X6 Plug in the motor cables 12 X2 Attach the shield plate on the power terminal 10 Tighten the screws of the shield plate Place on the DC link bars 13 Tighten the screws of
241. rce direct encoder 1 e Emulation source direct encoder 2 e Emulation source encoder 1 e With signal multiplication Increments per motor revolution e Emulation source encoder 2 e With signal multiplication Increments per motor revolution In the above example encoder 2 is selected as Emulation source direct INFORMATION The emulation signal generated by the option card is always an incremental signal in dependent of the used encoder types even when using sin cos encoders either with Source direct or With signal multiplication INFORMATION If a resolver is connected to the encoder input of the basic unit it cannot be used as Emulation source direct This is possible in connection with software emulation only Emulation sourceEncoder 1 gt with signal fan out gt Increments per motor revolution 1024 v 2544875787 When you select Emulation source encoder 1 or 2 the following settings can be made in the Increments per motor revolution selection field 64 128 256 512 1024 2048 4096 The set PPR count or increments per motor revolution at the emulation output terminal are independent of the PPR count of the connected encoder type 156 Operating Instructions MOVIAXIS Multi Axis Servo Inverter MOVIAXIS startup single motor operation Startup 5 5 9 9 Motor type selection gu In this menu you can select the motor type that is to
242. rief description X4 PE PE X44 Uz DC link bus connection X4 2 Uz X5a 1 24 Ve l X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply X5b 1 24 Ve X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply 4 13 6 Terminal assignment of the MXB buffer module Terminal Assignment Brief description X4 PE PE x Uz DC link bus connection X4 2 Uz X5a 1 24 Ve X5a 2 DGND Voltage supply for electronics 1 1 X5a 3 24 Vg f X5a 4 BGND Voltage supply for brake supply CT 4 X5b 1 24 Ve l X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply C 4 1 Only for looping through Operating Instructions MOVIAXIS Multi Axis Servo Inverter 93 Installation Terminal assignment 4 13 7 Terminal assignment of the MXS 24 V switched mode power supply module Terminal Assignment Brief description X4 PE PE X4 1 n c DC link bus connection X4 2 Uz X5a 1 24 Ve 1 X5a 2 DGND Voltage supply for electronics channel 1 X5a 3 24 Vg 1 X5a 4 BGND Voltage supply for brake channel 3 X5b 1 24 Ve 1 ee X5b 2 DGND Voltage supply for electronics channel 2 X5b 3 24 Vg 1 X5b 4 BGND Voltage supply for brake channel 3 CT 4 X16 1 24 V External 24 V voltage s
243. rm European standard FCB Function Control Block Modular firmware structure FS Functional Safety The safety functions offered by the unit GND Ground HTL High voltage Transistor Logics IP International Protection international type of enclosure ISO International Organisation for Standardization The ISO creates ISO standards that should be adopted unrevised by the member states PDO Process Data Object Process data PE Protected Earth Equipment grounding conductor Ground connection PELV Protective Extra Low Voltage Extra low voltage PWM PulseWidth Modulation RGND Reference potential for safety relay SELV Safety Extra Low Voltage SS1 SS2 Safe Stop 1 Safe Stop 2 Safe Stop 1 2 STO Safe Torque Off Safe torque off TH TF Thermostat Temperaturf hler temperature sen sor TTL Transistor Transistor Logics Underwriters Laboratories Inc Certification issued in North America MM ZK DC link Operating Instructions MOVIAXIS Multi Axis Servo Inverter 267 268 Appendix Terms and definitions 9 4 Terms and definitions CAN bus system PROFIBUS K Net EtherCAT Multi encoder card EMC compliant housing EMC cable gland IP code Insulation resistance Insulating materials Cable Firmware Serial bus system for the automotive indust
244. ror deleting 49 A Pal flash during calibration 50 DSP calibration error Error pro gramming flash during calibration DSP calibration error Error verify 51 en ing flash during calibration 52 DSP calibration error Resolver evaluation not calibrated DSP calibration error PLL has 53 locked during operation 54 DSP calibration error Unknown DSP error Shutdown 66 Process data config Process data configuration error with emef System is blocked Ben uration error g gency stop System restart Malfunction 0 delay The process data configuration has 01 been changed The entire process data subsystem has to be restarted by means of an inverter reset Process data configuration error 102 Incorrect input process data length of communication option Process data configuration error 2 I I O PDOs must be con 201 O PDOs connected to one option nected with different options 301 Two PDO Mapper channels linking to Eliminate conflict of PDO the same target mapper channels Software error in process data sub 1001 system Process data buffer stack overflow Software error in process data sub 1002 system Process data buffer stack underflow Operating Instructions MOVIAXIS Multi Axis Servo Inverter 215 6 2 a Operation EL Operating displays and errors of MXA axis module Sub Error eo Error System state Bl ut Cod R Measure poi pi Code Signal 2 Cause ben Reset type Sof
245. rrent consumption explicitly but it must be projected in relation to the switch on time For more information on this refer to the MOVIAXIS Multi Axis Servo Inverter system manual 248 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical data of braking resistors Technical Data 8 12 Technical data of braking resistors 8 12 1 UL and cUL approval BW type braking resistors are UL and cUL approved in conjunction with the MOVIAXIS multi axis servo inverter SEW EURODRIVE will provide certification on re quest The following braking resistors have cRUus approval independent of the MOVIAXIS multi axis servo inverter BW012 015 01 BW006 025 01 BW006 050 01 BWO004 050 01 SEW EURODRIVE will provide certification on request 8 12 2 Technical data Brakina resistor hoe 1 BW027 BW027 BW247 BW247 T BW347 BW347 T BW039 g yP 006 012 050 Part number 822 4226 822 4234 820 7143 1820 0842 8207984 1820 1350 8216916 Power class of the supply kW 10 25 50 75 module i 0 Load capacity 100 kW 06 12 2 4 5 cdf Resistance value Raw Q 27 10 47 10 39 10 Trip current of F16 Ir ARMS 4 7 6 7 6 5 9 2 11 3 Design Wire resistor Grid resis tor Connections mm Ceramic terminals 2 5 Permitted electric loading of the terminals at 100 A DC 20 cdf Permitted electric loading of the terminals at 40 A DC 25
246. rror response is listed in the Error response column The following abbreviations are used for the module designations e AM for axis module SM for supply module Error au Error System state Ben i utpu Measure 1 signal Code Signal Code Cause Response Reset type No fault this display is Ready 1 00 actually an operating a as an depending on display see operating system state displays Malfunction 1 e Short circuit output Output System i iti Ready 1 01 Overcurrent error e Motor too large stage ee are eaey m Defective output stage inhibit Warm start Malfunction 0 The fault is an additional kind of over current measured at the collector emitter voltage of the output stage Output System i iti Ready 1 02 UCE monitoring fault The possible reason behind this fault stage RA aS mg ae y on SO is identical to fault 01 The distinction inhibit ae SHO is important for internal purposes only Ground fault Output 03 Ground fault inthe motor lead stage System is blocked Ready 0 e in the inverter inhibit System restart Malfunction 0 in the motor Error message by supply module via signal bus e Too much regenerative power Out ing resistor circuit i put System is waiti Ready 1 e Braking resistor circuit interrupted ystem is waiting eady 04 Brake ch fault t a u eae e Short circuit in the braking resis er Warm start Malfunction 0 tor circuit Brake resistance too high Brake chopper d
247. ructions MOVIAXIS Multi Axis Servo Inverter Address List China Xi An SEW EURODRIVE Xi An Co Ltd Tel 86 29 68686262 No 12 Jinye 2nd Road Fax 86 29 68686311 Xi An High Technology Industrial Development xian sew eurodrive cn Zone Xi An 710065 Additional addresses for service in China provided on request Colombia Assembly Bogota SEW EURODRIVE COLOMBIA LTDA Tel 57 1 54750 50 Sales Calle 22 No 132 60 Fax 57 1 54750 44 Service Bodega 6 Manzana B http www sew eurodrive com co Santaf de Bogota sewcol sew eurodrive com co Croatia Sales Zagreb KOMPEKS d o o Tel 385 1 4613 158 Service Zeleni dol 10 Fax 385 1 4613 158 HR 10 000 Zagreb kompeks inet hr Czech Republic Sales Prague SEW EURODRIVE CZ S R O Tel 420 255 709 601 Business Centrum Praha Fax 420 220 121 237 Lu n 591 http www sew eurodrive cz CZ 16000 Praha 6 Vokovice sew sew eurodrive cz Denmark Assembly Copenhagen SEW EURODRIVEA S Tel 45 43 9585 00 Sales Geminivej 28 30 Fax 45 43 9585 09 Service DK 2670 Greve http www sew eurodrive dk sew sew eurodrive dk Egypt Sales Cairo Copam Egypt Tel 20 2 22566 299 1 23143088 Service for Engineering amp Agencies Fax 20 2 22594 757 33 El Hegaz ST Heliopolis Cairo http www copam egypt com copam datum com eg Estonia Sales Tallin ALAS KUUL AS Tel 372 6593230 Reti tee 4 Fax 372 6593231 EE 75301 Peetri k
248. ry and industrial control devices The bus medium is a twisted conductor pair with excellent transmission characteristics in the short distance range of less than 40 m PROFIBUS Process Field Bus is a standard for fieldbus communication used in automation engineer ing The XFA K Net communication module is a slave module for connection to a serial bus system for high speed data transfer The XFE24A communication component is a slave module for connection to EtherCAT networks The multi encoder card enables evaluation of additional encoders EMC compliant housings form a shield against electrical magnetic or electromagnetic fields These interference fields are generated by electrostatic discharges occurring during switching sequences dur ing rapid current or voltage changes during operation of motors or high frequency generators and simi lar situations These EMC compliant housings are usually equipped with an EMC cable gland Seal of cable entry with option to apply a cable shield or contacting A coding system to indicate the degrees of protection offered by a housing against access to dangerous parts ingress of solid foreign objects and the ingress of water Insulating property of a material to separate two neighboring contacts or one grounded contact at a rela tively high resistance value Insulation in plug connectors is ensured by using thermoplastics and thermosetting plastic The selected material depends on the require
249. s AM overtempera f Display Ready 0 11 ture error Ambient temperature too high only Malfunction 0 Unfavorable air convection e Defective fan e Medium utilization too high 01 Limit heat sink temperature exceeded 02 Second temperature sensor of the electronics signals overtemperature Second temperature sensor of the 12 electronics signals overtemperature prewarning e No brake connected Brake line separated in on sta tus e Overload through overcurrent Hs EE E gt 2A F13 has priority _ Qutput system is waiting Ready 1 p Overload due to excessive con er Warm start Malfunction 0 nection approx gt 0 5 Hz inhibi Monitoring is only active with parame ter settings Brake installed and Brake applied 01 Brake output Brake supply voltage not within per mitted range of 10 0 Monitor Output 43 Brake supply error ing only possible with parameter Rn P System is waiting Ready 1 Pply settings Brake installed and Brake en Warm start Malfunction 0 applied as well as with CMP and DS motors 01 Brake supply voltage ir a Error with resolver or resolver evalua Output System is blocked Ready 0 14 Resolver error R stage tion inhibi System restart Malfunction 0 inhibit 01 Wire breakage detection of resolver 02 Emulation error resolver excessive speed 03 Invalid period of the synchronization signal 04 Synchronization signal failure 05 Incorrect parameter setting of DSP 06
250. s 21 22 Installation and function combinations of the option Cards ceceeeeeeeeeeeceeeeeeeeeeeeeees 96 CAN unit Variants uueeeneseseeenennnnnnnnnnnnnennnnnnnn 96 Combinations with EtherCAT compatible system DUS ira TT 99 Combinations with XGH XGS only 98 Combinations with XGS only 98 Fieldbus combinations ennnn 97 XIA combinations uesnsesessnnensnsneneennnnneneneenenn 98 XIO COMDINATIONS ccccecceceeeeeeeeeeeeeeeeeeenes 97 L Line and brake CONtaCtOIS ccccccecseseeeeeeeeeeeees 61 Line choke for supply module 251 252 Line fuses fuse types 242mneenennnenennnn 61 M Mechanical accessories enne 21 Minimum clearance and mounting position 49 MOVIAXIS startup Multi motor operation nenn 176 MOVITOOLS MotionStudio 0 0 0 141 Multi encoder card option XGH11A XGS11A Suitable encoders seseseesnnennnenenennn 101 Multi encoder card XGH11A XGST1A 100 Connection and terminal description 104 Connection technology u 244444 ne 101 Connection technology of TTL encoder 107 PIN assignment X61 nennen 104 PIN assignment X62 suesnnenennnnnen 104 PIN assignment X63 XGH with EnDat 2 1 105 PIN assignment X63 XGH with Hiperface encoden
251. s Servo Inverter 157 158 C Startup MOVIAXIS startup single motor operation This data is listed on the nameplate of the motor and can be read from there The motor connected to MOVIAXIS is clearly identified when this data is entered INFORMATION These settings can only be made if you have not selected Load data permanently in the Electronic nameplate menu Setting the motor data Response to over temperature selection field If you move the mouse cursor over the nameplate in the menu an arrow will show you where you have to enter this value in the menu Clicking on the buttons opens a pull down menu from which you can select the respective value Motor selection af SEW EURODRIVE 76646 Bruchsal Germany af Typ POF121 CMPSOGBPIKYIRH M SM ny Nr 01 23456789 0001 22 6 eos Mc 13 m k Re 6 af nu 6 000 m Cae wF ry t 300 Heo Do V om M4 Bremse 24V 3 1 Nm Gisichsichter a Getriebe Ma max 35 Nm ma 1 600 48 000 tinii cmP3ooL 400 v 3000 1 min 5 Gewicht 38 y CMPIOOL D CMPIOOM Rated mains voltage on DO Ni CMP100S 400 v Ww 5 CMP4OM CMP4OS D ott cmol Brake installed D CMPSOM Mounted v a CMPSOS CMP63L Max input speed m CMP63M one no a 3000 mn w CMP63S D CMPTIL CMPTIM Temperature sensor Non SEW forced cooling fan 4 CMPTIS KIY P Not installed x CMPEOL Response to overtemperature CMPEOM CMPEOS Stop at application limit waiting vw 254
252. s follows Combination Slot 1 Slot 2 Slot 3 1 2 XGS XGH 3 XGH Combinations with XGS only The options can be combined as follows Combination Slot 1 Slot 2 Slot 3 1 2 XGS XGS Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Connecting the option cards EtherCAT capa When using SBusPlus EtherCAT compatible high speed system bus the XSE option ble units must be installed in slot 1 The following table shows the possible combinations and the fixed assignment of cards to the slots Combinations with EtherCAT compatible system bus The options can be combined as follows Combination Slot 1 Slot 2 Slot 3 1 2 3 XIA11A 4 XIO11A XGH 5 XGS 6 xIO11A 7 8 XSE24A XGH 5 XIA11A EE 10 XIA11A 11 12 XGS XGH 13 XGH 14 15 XGS A Operating Instructions MOVIAXIS Multi Axis Servo Inverter 4 Installation Connecting the option cards 4 14 2 XGH11A XGS11A multi encoder card option The multi encoder card expands the MOVIAXIS system for evaluation of additional en coders Two different multi encoder cards are available Their selection is based on the encoder type that is to be evaluated see encoder list on the next page An analog differential input 10 V is available in addition X61 X62 X63
253. s when installing the brake rectifier in the control cabinet Joint installation is only permitted with shielded power cables Operating Instructions MOVIAXIS Multi Axis Servo Inverter 75 4 Installation Wiring diagrams BME brake control with terminal box I I 1 l I 1 i Brake 1 control l I Unc i F414 15 N N i i I l I DBOO gt l I I DGND 1 ao FIT PO i I l BME i i ences acc ems as Clee Ge Comes ele set E E ee usa se 2788977419 Directly controlled motor brake poe ee re nee l l l l Brake l control l l l l l I I l l l l l l l l l l l l l l i PEA AAEN AE A AE 2789159179 Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Install the connection cables between the brake rectifier and the brake separately from other power cables when installing the brake rectifier in the control cabinet Joint installation is only permitted with shielded power cables 76 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams BP brake control BMV with terminal box Brake control TS
254. sistor connection size 3 50 75 kW ogg X3 2 R X4 PE PE X4 1 UZ DC link bus connection X4 2 Uz X5a 1 24 Ve gt X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply TI 4 X5b 1 24 Ve X5b 2 DGND Voltage supply for electronics m 1 X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply C 4 L X9a X9a a Input System bus with green plug X9b b Output System bus with red plug X9b X12 1 n c D X12 2 CAN_L CAN bus low X12 3 DGND Reference potential CAN bus X12 4 CAN_L CAN bus low X12 5 Rtermination Unit internal SBus terminating resistor X12 6 DGND Reference potential CAN bus X12 7 CAN_H CAN bus high X12 8 CAN_H CAN bus high X12 9 Rtermination Unit internal SBus terminating resistor Only for CAN based system bus No function for EtherCAT compatible system bus Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Terminal assignment 4 13 2 Terminal assignment of MXP81 supply modules INFORMATION The technical data for the connection of power electronics and control electronics are listed in chapter Technical Data Terminal Assignment Brief description X1 1 PE X1 2 L1 X1 3 L2 Power supply connection BG1 10 kW X1 4 L3 X3 1 R X3 2 R 3 X3 3 Ri Braking resistor connection BG1 10 kW X3 4 PE X4 PE PE X4
255. son 2 Parameter set 3 Parameter set CM We ee Ae Ee ee EE 2553344907 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 171 172 Application examples C xD Startup 3 Encoder selection p Mounting 1 Select the relevant encoder grouping v SEW encoder sew Approved encoder Ww gt I Non StWencoder am SE V EURODRIVE C 76648 Brucnsa Sermany Typ PSF121 cupseswrrtvfa Ts fi In Nr 01 23456789 0001 22 j Hel M 13 we kb 17 A Pp 65 ny 6000 amin Amar 90 A wnf 4 w0 wo Wyp VM Bremse MV 31 NM Gieishrichter Getriebe My 35 Nm nepa 1 600 8 000 min i5 oa Gem 38 G 2553348107 Selection and settings of the encoder type EC PER gt selection 2 Mounting Encoder mounting Counting direction of the encoder Cen in sense ofrotation of motor v ay v 2557571595 Setting the ratio between encoder revolutions and motor revolutions directly i e after calculation or by running the system Operating Instructions MOVIAXIS Multi Axis Servo Inverter Application examples Startup 5 Axis configuration Si Unit pool zol 17 3f Examples Basic configuration y 2 Travel distance User defined unit J i225 y TY a 86 3 Rev am sr oy 4 Sue 0 Decimal positions i gt x b ay EY Velocity f N l min y 0 Decimal positions ry x o 4 o Acceleration an For rotary encoders the ratio between encoder and motor re
256. st axis module in the system At all other axis modules the LAM DIP switch must be set to 0 LAM i m F1 F1 0 Zu Lam I Nm 2 L 1408127883 1 Setting the LAM DIP switch on the last axis module of a system 2 Setting the LAM DIP switch of all axis modules of a system except for the last axis module Inthis version X9b does not require a terminating resistor 140 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup Er 5 Description of the startup software 5 7 Description of the startup software The MOVITOOLS MotionStudio software package is the SEW engineering tool that you can use to access all SEW drive units For the MOVIAXIS series you can use MOVITOOLS MotionStudio for startup parameter setting and diagnostics For information such as installation instructions and system prerequisites refer to the MOVITOOLS MotionStudio manual 5 7 1 Startup software MOVITOOLS MotionStudio Once you have installed MOVITOOLS MotionStudio you will find the corresponding entries in the WINDOWS stat menu at the following path Start Programs SEW MOVITOOLS MotionStudio INFORMATION For a detailed description of the following steps please refer to the online help in MOVITOOLS MotionStudio or to the MOVITOOLS MotionStudio manual 1 Start MOVITOOLS MotionStudio 2 Configure communication channels 3 Perform an online scan Operating
257. stance directly after calculating it manually or to determine it by moving the system or by selecting Automatic detection In this ex ample the Travel distance on the encoder per motor revolution is 62831 um Operating Instructions MOVIAXIS Multi Axis Servo Inverter 175 5 176 Startup MOVIAXIS startup multi motor operation 5 11 MOVIAXIS startup multi motor operation INFORMATION In this section the startup menus are described which require special settings for multi motor operation The overall startup is performed as described in chapter MOVIAXIS startup single motor operation page 143 Multi motor operation requires one or two multi encoder cards depending on the num ber of motors that are to be operated Multi encoder cards expand the MOVIAXIS system for evaluation of additional encod ers Two different multi encoder cards are available They have to be selected according to the encoder that is to be evaluated 5 11 1 Areas of application The multi encoder card can be used for the following areas of application e Positioning either directly with the external encoder or with the motor encoder e Multi motor operation max 3 motors e SSI absolute encoder evaluation Operation of non SEW motors that are equipped with EnDat encoders e Systems with slip e Compensation of rope and belt elongation Reading in the master value of cams and synchronous operatio
258. ster systems All standards of the ETG EtherCAT Technology Group are supported such as wiring This means the cables must be wired at the front by the customer XRE GE i Qu on mn Ey Ti EtherCAT 8 18 2 XFE24A option MOVIAXIS Standards IEC 61158 IEC 61784 2 Baud rate 100 MBd full duplex Connection technology 2 x RJ45 8x8 modular jack Bus termination Not integrated because bus termination is automatically activated OSI layer Ethernet Il Station address Setting via EtherCAT master Vendor ID 0x59 CANopenVendor ID EtherCAT services CoE CANopen over EtherCAT VoE simple MOVILINK protocol or EtherCAT Firmware status of MOVIAXIS Firmware status 21 or higher Tools for startup PC program MOVITOOLS MotionStudio from version 5 40 Description of XSE24A You find a description of the option XSE24A EtherCAT compatible system bus SBus plus in chapter Installation page 113 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 255 256 Technical Data Technical data of K Net communication option 8 19 Technical data of K Net communication option 8 19 1 Description F The XFA11A K Net communication module is a slave module for connection to a serial bus system for high speed data transfer No more than one XFA11A K Net communi cation module may be installed per M
259. suggestion to use the suggested values Dow 2 ey Calculation of startup parameters is complete af Press Load into unit to transmit the calculation results to the inverter without ry finishing startup ny Load into unit PC gt target system g y To transmit the calculated data to the inverter and to finish startup press Finish 2548421131 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Application examples Startup 5 5 10 Application examples 5 10 1 Example 1 Rotary encoder as distance encoder Areas of application E g non linear transmission elements such as crank arms flying saws master value axes such as electronic cams In this example the position actual value of the absolute encoder designated as encoder 2 is used directly for position control The encoder ratio between the motor encoder en coder 1 and distance encoder encoder 2 must be set during startup In this example the encoder ratio between encoder 1 and encoder 2 is 1 5 The encoder ratio between encoder 1 and encoder 2 is determined automatically by running the drives in the sys tem It can also be calculated and entered manually d 20mm iz 1409350283 Settings I ardware Configuration Encoder Option cards pool 7 Encoder card Encoder card 3 i Slot 1 sot Motor encoder Distance encoder 1 Distance encoder 2 1 Parameter set ASIH AS1H D edit D edit Den 3D i r ro
260. sure button page 160 J brake Mass moment of inertia of the motor brake Measure only possible after complete startup If you do not know the external load inertia you can perform a measurement run to determine it automatically Click on Measure and follow the three points in the submenu Determine moment of inertia external mass Cees noe Time reference Startup 4 You need a complete startup of the motor to determine the load mass inertia external mass If startup is not complete at this point you will have to complete startup and then return to this instance Move 2 Move the axis using this velocity profile A velocity change of v 3600 mmis N nn noe m Must be reached at least Measure 3 Start measuring O ured vah as it with OK ince a measured value is displayed you can accept it wii Currently measured value total moment 77 kgcm of inertia Cancel 2545453963 Scanning frequency n X control Use this field to specify the required scanning fre quency of the speed or position controller The default setting 1 ms should only be shortened for extremely dynamic applications Time interval external control Enter the time interval of the external controller This value is required for all FCBs that generate a setpoint in an interpolated manner ex ternal ramp generator as well as for analog setpoint selection Note The input value is not relevant for internal setpoi
261. t 8 5 Technical data of MXM master module component MOVIAXIS MX master module 1 2 es MXMB80A 000 00 Type 000 Supply voltage V U V DC 24 V 25 according to EN 61131 COMBICON 5 08 Cross section and contacts X5a One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm COMBICON 5 08 One core per terminal 0 20 1 5 mm Two cores per terminal 0 25 1 5 mm 03 ti d tacts X5b ross section and contacte Maximum outer diameter of the cable 3 5 mm Recommended connector MSTB 2 5 4 ST 5 08 BK Phoenix COMBICON 5 08 with front end cable output GENERAL INFORMATION Mass kg 2 3 mm 60 Dimensions H mm 300 mm 254 Shield clamps Shield clamps for control lines available Maximum cable cross section that can be con nected to the shield clamp 10 mm with insulating sheath 1 Nameplate information 2 Unit INFORMATION For additional technical data refer to the manuals MOVI PLC advanced DH 41B Controller UFR41B Fieldbus Gateway for EtherNet IP Modbus TCP and PROFINET IO and UFF41B Fieldbus Gateway for DeviceNet and PROFIBUS DP 242 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Technical Data Technical data of MXC capacitor module component 8 6 Technical data of MXC capacitor module component MOVIAXIS
262. t inside the unit and at the terminal strips up to 10 minutes after the complete axis system has been disconnected from the sup ply system Severe or fatal injuries from electric shock To prevent electric shocks e Disconnect the axis system from the supply system and wait ten minutes before re moving the covers After maintenance work do not operate the axis system unless you have replaced the protection covers touch guard page 56 because the unit only has degree of protection IPOO without protection cover gt gt A leakage current gt 3 5 mA can occur during operation of the MOVIAXIS MX multi axis servo inverter Severe or fatal injuries from electric shock To prevent electric shock e With a supply system lead lt 10 mm route a second PE conductor with the same cross section as the supply system lead via separate terminals Alternatively you can use a PE conductor with a copper cross section 2 10 mm or aluminum gt 16 mm e With an incoming supply line 10 mm it is sufficient to install a PE conductor with a copper cross section 2 10 mm or aluminum 2 16 mm If an earth leakage circuit breaker can be used for protection against direct and in direct contact it must be universal current sensitive RCD type B INFORMATION Installation with reliable isolation The unit meets all requirements for reliable isolation between power and electronic connections accord
263. t without protective cover 3 12 1 MXM master module gateway variant The master module shown here has the following designation MXM80A 000 000 00 UF 41B 1 2g i 2 3 4 5 5 6 6 7 7 8 8 9 11 9 10 _j 2695049739 View from front Terminal assignment listed in UFR41B Fieldbus Gateway and UFF41B Field bus Gateway manuals 1 9 10 Housing grounding point 11 X5a X5b 24 V voltage supply Operating Instructions MOVIAXIS Multi Axis Servo Inverter 37 3 Unit Design Unit design of the MXM master module component 3 12 2 MXM master module variant with MOVI PLC advanced The master module shown here has the following designation MXM80A 000 000 00 DHE41B 9 1403147531 View from front 1 7 For terminal assignment see MOVI PLC advanced DH 41B Controller manual 8 Housing grounding point 9 X5a X5b 24 V voltage supply NOTICE Master module can be damaged Only operate the master module when integrated in a system as described in chapter Axis system overview page 24 Remote operation will damage the master module and is not permitted 38 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Unit design of the MXC capacitor module component 3 13 Unit design of the MXC capacitor module component The following illustration shows the unit without protective cove
264. tallation A CAUTION Do not install defective or damaged modules of the MOVIAXIS MX multi axis servo inverter as they can result in injuries or damage parts of the production system Check the MOVIAXIS MX multi axis servo inverter modules prior to installing them for external damage and replace any damaged modules e Check to make sure that the delivery is complete NOTICE The mounting plate in the control cabinet must be conductive over a large area for the mounting surface of the inverter system metallically pure good conductivity An EMC compliant installation of the MOVIAXIS MX multi axis servo drive can only be accom plished with a mounting plate that is conductive over a large area e Mark the 4 bores for the retaining threads on the mounting platform page 48 for each unit according to the table below Make the bores with a tolerance according to ISO 2768 mK e The lateral distance between 2 axis systems must be at least 30 mm e Units within an axis system are mounted next to another without clearance e Cut the matching threads in the mounting platform and fasten the MOVIAXIS MX multi axis servo inverter with M6 screws Screw head diameter from 10 mm to 12 mm The following table shows the dimensions for the unit housings of the modules viewed from the back Rear view dimensions of MOVIAXIS MX housing MOVIAXIS MX A B
265. te INFORMATION Follow the specific operating instructions during installation and startup of the motor and the brake A WARNING The Unit design illustrations from chapter Overview of an axis system page 24 to chapter Unit design of DC link discharge module MXZ page 42 show the units with out the supplied cover touch guard The protection cover protects the area of the line and braking resistor connections Uncovered power connections Severe or fatal injuries from electric shock Never start the unit if the protective covers are not installed e Install the protective covers according to the regulations Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Nameplates and type designations 3 4 Nameplates and type designations 3 4 1 Structure of the nameplate The nameplate is divided into up to 3 parts depending on the module Part I of the nameplate indicates the type designation production number and status e Part II of the nameplate indicates the factory installed options and the version status e Part III of the nameplate system nameplate contains the technical data of the module The system nameplate is located on the side of the unit for the supply module and axis module The nameplate contains a description of the version and the scope of supply of the multi axis servo inverter at the time of delivery There may be deviations i
266. tem with CAN based system bus 1 2 3 6 7 8 9 10 x u 1402308491 1 Master module 6 Axis module size 4 2 Capacitor or buffer module 7 Axis module size 3 3 Supply module size 3 8 Axis module size 2 4 Axis module size 6 9 Axis module size 1 5 Axis module size 5 10 24 V switched mode power supply module additional module 12 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Axis system with EtherCAT compatible system bus 3 2 Axis system with EtherCAT compatible system bus 1 2 3 4 5 6 om 4 Master module 7 Capacitor or buffer module 8 Supply module size 3 9 Option card for EtherCAT based system bus 10 SBUSP S in all axis modules Axis module size 6 11 Axis module size 5 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 5 6 7 8 9 10 19 1402312971 Axis module size 4 Axis module size 3 Axis module size 2 Axis module size 1 24 V switched mode power supply mod ule additional module 13 14 3 3 Unit Design Important notes Important notes Protective measures and protective equipment must meet the respective national applicable regulations Required preventive measure Protective grounding protection class l The overcurrent protection devices have to be Required protection devices designed to protect the lines at the customer s si
267. test the example without PROFIBUS the update function is first set to off The configuration interface for these settings looks as follows xj Basic settings Data source Communication optior Data block start o Number of data words Time out interval ms Update Off r No fault PDO never received before D Configuration error CAN Message ID Data acceptance with Sync Endianess Communication opbon PDO ID Sender address 1409535499 Operating Instructions MOVIAXIS Multi Axis Servo Inverter og top 5 Setting the param A single click on one of the control words in the example control word1 opens the con eters of the control figuration interface and selects the FCB instance layout The IN process data channel 0 word and the IN is assigned the system variable Velocity and channel 1 is assigned the system vari process data able Acceleration Operating Instructions MOVIAXIS Multi Axis Servo Inverter Settings IN process d x Layout ce instance Channel 32 bit access System unit Programming control word 00 fi 6 bit I Velocity I Function Bit 00 01 fi 6 bit z Acceleration Function Bit 01 v a fern Norinterpreted Function Bit 02 J y 03 fie Norinterpreted gt Function Bit 03 lt 04 si sd Noninterpreted gt Function BROA oma D O FunctionBa05 po oS n Oo Function Bit 06 07 fis bit z Non interpreted Function Bit 07
268. the bars X4 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Service Removing installing a module 24 V cables e Plug in the 24 V cable for the electronics and brake supply 8 X5a X5b 12 11 1411064843 Signal lines e Plug in the signal cables 6 X10 X11 page 225 Covers e Place on the protective covers 5 page 225 Tighten the screws of the covers page 225 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 229 Service Mounting the DC link connection in case of two row configuration of the axis 7 3 Mounting the DC link connection in case of two row configuration of the axis system We recommend the following sequence for mounting the DC link connection A 2 CO yx gt p III gt ID 6 SO BS Sor a a gt Z Paes i e RAB 5 er ANYS N III y 8 In Ww AS 3 va Use the screws 2 to screw the three conductor bars 1 to the insulator 3 The tight ening torque is 2 5 3 Nm INFORMATION The DC link conductors U and U must be twisted at least 3 times see 1 in the figure on the next page e Use the screws 5 to screw the three prefabricated DC link connections 4 to the conductor bars 1 The tightening torque is 3 4 Nm The steps described above must be performed at both insulators Mount the preinstalled insulators to the axis module as follows e Push the c
269. the mathematical 17 curve must be greater than or equal to 2 Cam The master cycle of a curve 18 defined by control points must be greater than zero Cam A sequence of transfer func 13 tions is not permitted 20 Cam The sequence of transfer func tions to SpeedControl is not permitted 24 Cam The sequence of SpeedControl to math curve is not permitted Cam The sequence of SpeedControl 22 to abs position control is not permit ted Cam The sequence of SpeedControl 23 to rel position control is not permitted 24 Cam Start curve number is negative not initialized 35 Cam A negative curve number is not permitted not initialized Cam A negative start address of a 26 math curve is not permitted not ini tialized 28 Cam Invalid initialization mode Cam Invalid remaining distance cor 29 rection mode 30 Cam Start address of Cam_ProfGen block not within DDB 31 Cam Start address of Cam1 block not within DDB 32 Cam Address of Cam1 master source not within DDB 33 Cam Start address of Cam2 block not within DDB 34 Cam Address of Cam2 master source not within DDB 35 Cam Start address of Cam3 block not within DDB 36 Cam Address of Cam3 master source not within DDB Cam Start address of 37 Cam_DerivateGen block not within DDB Cam Address of derivate generator source not within DDB Cam Start address of motor manage
270. thout connected W 2 encoder Output current for supplying con 500 mA nected encoders Peak output current Imax for 400 ms mA 650 Setting the emulation source 2 64 128 256 512 1024 2048 4096 Cable length m 100 with a capacitance per unit length of 120 nF km Short circuit proof Yes Technical data of X61 Tolerance V 10 Resolution Bit 12 Update interval us 250 n or M setpoint input Can be used as General input for measured values Torque limit value Technical data of X62 Interface RS422 Maximum frequency kHz 200 Simulation output is based on the motor or option encoder can be selected via unit parameters Characteristics PPR count can be freely selected in powers of two from 28 212 Encoder signals can be multiplied afi i ki 4 PPR count setmax possible speed e maximum possible spee 2 imi depends on the emulation PPR count min 6451053 medien set 2048 5221 4096 2610 1 Unit 2 Increments per revolution Operating Instructions MOVIAXIS Multi Axis Servo Inverter 253 254 Technical Data Technical data of XFP11A communication option 8 17 Technical data of XFP11A communication option 8 17 1 Description The XFP11A communication module is a PROFIBUS slave module for direct integration into MOVIAXIS axis modules The XFP11A PROFIBUS card is used for directly con necting axis modules to PROFIBUS capable control systems Only one XFP11A PRO FIBUS card can be installed per axis module
271. ting resistor 11 Sub D9 Other accessories Temperature sensor assembly kit 3 7 Overview of an axis system The units are displayed without cover in the following figure 4 5 6 7 BEI ES 1402746379 1 X4 DC link connection 2 X5a X5b 24 V voltage supply 3 Master module 4 Capacitor buffer module 5 Supply module BG 3 6 Axis modules size 6 size 1 7 24 V switched mode power supply module NOTICE Servo inverter can possibly be damaged Only operate the MOVIAXIS servo inverter when installed in a system as illustrated above Separate operation of individual modules will damage the servo inverter and is not permitted 24 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Unit Design Unit design of MXP power supply module 3 8 Unit design of MXP power supply module The following illustrations show the units without cover 3 8 1 MXP supply module size 1 A B i i LLL 1 saescswann i et 1 du en x9a X9b CC View from front 03 13 A View from top B 1 System bus 2 3 C E DIP switch C CAN based system bus E EtherCAT compatible system bus 4 X12 CAN system bus 5 1 S2 DIP switches for CAN baud rate 6 S3 S4 Axis address switch 7 Standby display Power 8 2x 7 segment display 9 X5
272. tion to finish Operating Instructions MOVIAXIS Multi Axis Servo Inverter 189 6 2 a Operation EL Operating displays and errors of MXA axis module Description Status Comment action Displays during standard operation The drive is not actuated by the output stage The brake is applied without brake the motor io Output stage inhibit e Output stage is inhibited coasts to a halt This FCB is permanently selected with terminal DIOO But it can be addi tionally selected by other sources _ Unassigned Unassigned Unassigned _ n control speed control Speed control with internal ramp generator rc Speed control with setpoints cyclically via bus u Interpolated n control The ramp generator is located externally e g in the higher level controller M control torque control Torque control 1 1 L Interpolated M control Torque control with setpoints cyclically via bus l Position control Positioning mode with internal ramp generator Positioning mode with setpoints cyclically via Interpolated position control bus The ramp generator is located externally e g in the higher level controller I I Reference travel The drive performs reference travel 1 Deceleration at application limit This FCB also I Zi Stop For further information refer to the becomes active
273. to EN 61800 3 has been tested on a specified test setup SEW EURODRIVE can provide detailed information on request 2006 95 EC and the EMC Directive 2004 108 EC We can provide a declaration of C The CE mark on the nameplate indicates conformity with the Low Voltage Directive conformity on request 8 1 2 Approvals of the basic units The following approvals have been granted for the MOVIAXIS modules MOVIAXIS module UL cUL c Tick MXP supply module 10 kW x x MXP81 supply module 10 kW x x MXP supply module 25 kW x x MXP supply module 50 kW x x MXP supply module 75 kW x x MXR supply and regenerative module x x MXA axis module x x MXM master module x x MXS 24 V switched mode power supply module x x MXB buffer module x x MXC capacitor module x x MXZ DC link discharge module x x Two row configuration of the axis system x x 1 For information on MXR refer to the Supply and Regenerative Module manual cUL is equivalent to CSA approval C Tick certifies conformity with ACA Australian Communications Authority standards Operating Instructions MOVIAXIS Multi Axis Servo Inverter 233 Technical Data CE marking and UL approval 8 1 3 UL approval of the line components NF line filter for MXP supply mod ule ND line choke for MXP supply mod ule NFR line filters for MXR supply and regenerative mod ule NFH line filters for MXR supply an
274. tudio You can navigate through the startup wizard using the Next or Back buttons at the bottom right of each window 5 9 1 MOVITOOLS MotionStudio engineering software Next 7 2542154379 MOVITOOLS MotionStudio offers two ways for calling the startup wizard 1 Calling the startup wizard by clicking on the Startup button BB Tools page Create new project or load a project Choose connection mode and create network Manager parameter sets Working with the unit Edit view MXA 80A 008 503 Comparison Offline 2 Tool for comparing unit data parameter sets IPOS variables etc Gh Configuration for DFx Gateway Offline Parameter tree Offline EN Tool for editing and displaying all unit u parameters in a clearly arranged tree structure PDO Editor Offline in Tool for configuring the data flow using process data objects PDO Technology editors Orive Startup for MOVIPLC Offline Tool for starting up the unit for MOVI PLC 77 Manual Single axis positioning Offline Diagnostics Scope Offline amp Tool for recording curves using the scope function integrated in the inverter Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup Offline e Startup wizard to adjust the inverter to the motor and to optimize the control loop ar gt Manual operation Offline 4 iz for testing the drive after startup
275. tware error in process data sub 1003 system Too many users for process data buffer stack 1004 Software error in process data sub system 1004 Software error in process data sub system 1005 Software error in process data sub system 1006 Software error in process data sub system Too many PDO users Software error in process data sub system Too many PDO user nodes Software error in process data sub system 1009 Firmware error Permitted number 1005 1006 1007 1008 1009 1010 of PDO Mapper channels exceeded 2000 Software Restore factory settings 2001 Address is 0 or greater than 127 Address 1 to 127 assigned 2002 Invalid PDO mapping A PDO configured to CAN has an ID located in the area 0x200 0x3ff and 0x600 0x7ff used for parameter set ting by the SBus A PDO configured to CAN has an ID located in the area 0x580 0x67f used for parameter setting by CANo pen A PDO configured to CAN is to trans 10003 mit more than 4 PD Only 0 4 PD are possible for CAN Two or more PDOs configured to the same CAN bus use the same ID Two PDOs configured to the same CAN bus use the same ID Process data configuration error Too 10006 many PDOs set to CAN missing mem Process data configuration error Too 10007 many PDOs set to CAN missing can res An invalid transmission mode was 10008 entered for a PDO configured to CAN Process data confi
276. uad rant 3 is negative 08 Process data Torque limit for quad rant 4 is negative 09 Torque control Maximum speed lt minimum speed 10 Position control Maximum speed value lt 0 11 Position control Maximum speed lt 0 12 Position control Minimum speed gt 0 13 Process data Enter negative acceler ation 14 Process data Enter negative deceler ation 15 Process data Enter negative jerk 16 Combination of FCB number and FCB instance does not exist 17 Target position not within limit switch range 18 Test torque during brake test exceeds Set test torque smaller than system limit system limit 19 Process data Negative velocity limit Specify positive velocity limit Parameter set changeover requested First inhibit the output stage with active output stage select FCB01 or enable 20 0 before changing to another data set via pro cess data Selection for target or source not Selections for target and 21 within permitted range source must be valid table indices FCB 09 Target in user defined unit Adjust modulo underflow not within set modulo range and modulo overflow to the 30 travel range used select target values in such a way that they are within the active modulo range Operating Instructions MOVIAXIS Multi Axis Servo Inverter 199 200 VEV D Z Operation te Operating displays and errors of MX
277. uctions MOVIAXIS Multi Axis Servo Inverter Unit Design 3 Unit design of MXA axis modules 3 10 4 MXA axis module size 4 SUM Hine CETTE D Pe ELITIEIEITITTTT i il Mi Hi pH id a 1 ap Jl iserr HET La Teal il in x S x 9b A View from top 1 System bus X9a Input green plug on cable X9b Output red plug on cable 2 3 4 5 6 7 8 9 2 ame wu 3 12 a ll E 4 13 it INN p N 1403029771 View from front Cc View from bottom Electronics shield clamps 12 X6 Brake control X10 Binary inputs 13 X7 X8 2 safety relays X11 Binary outputs optional variant X12 CAN2 bus 2 x 7 segment display X13 Motor encoder connection resolver or Hiperface temperature sensor X5a X5b 24 V voltage supply X4 DC link connection 10 X2 Motor connection 11 Power shield clamp Operating Instructions MOVIAXIS Multi Axis Servo Inverter 33 Unit Design Unit design of MXA axis modules 3 10 5 MXA axis module size 5 A B Cc Mu N hub 12 Ee Puavouney suanvoncaney anna itt a UM i ent all il O16 u E ill K AF T 1 HIN e ll init i i ie x CIJ nm a 5 1403032203 A View from top B View from front Cc View from b
278. ue limit cannot be dis played B Factors for current setpoint filter can 525 not be displayed 526 Factors for current increase limit can not be displayed Position FIR filter cannot show the 527 encoder delay 528 Speed FIR filter cannot show the encoder delay Thermal motor monitoring 12t Two Increase distance between 529 points with identical speed in the curve points torque speed characteristics Operating Instructions MOVIAXIS Multi Axis Servo Inverter 197 198 VEV l D Z Operation te Operating displays and errors of MXA axis module Error Sur Error System state fl Cod R Measure ie Code Signal oce Cause al tela Reset type 530 Max motor current configured incor rectly 531 Rotor position identification Forward correction table does not increase in strict monotonous manner 532 Rotor position identification CMMin too small Nominal axis current too high compared to motor 533 Rotor position identification not per mitted for started up motor 534 PWM frequency for FCB 25 must be 8 kHz Set PWM frequency to 8 kHz 535 Index TMU Init not set Set TMU Init index 1024 NV memory parameter of nominal unit current is greater than NV mem ory parameter of current measuring range 1025 NV memory parameter of current measuring range is zero 1026 NV memory parameter of current measuring range is zero 1027 NV
279. upply input l l f x16 2 DGND Is intended to supply the backup voltage to ensure that the control voltage is main 3 tained when switching off the power supply 1 The MXS switched mode power supply provides a voltage supply of 3 x 24 V chan nels 1 3 X5a and X5b are jumpered internally and represent one channel The max imum current across all the three channels is 25 A 600 W The uniform reference po tential of all channels is the unit s earth 4 13 8 Terminal assignment of the DC link discharge module MXZ Terminal Assignment Brief description Sr PE X4 PE PE X4 1 n c DC link bus connection onal 2 X4 2 Uz X5a 1 24 Ve m 1 X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply CT 4 X5b 1 24 Ve X5b 2 DGND Voltage supply for electronics 1 1 X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply CT 4 Table continued on next page Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Terminal assignment Terminal Assignment Brief description X14 1 Inhibit Control signal for discharge process discharge process is started once the con X14 2 DGND nection Inhibit with GND has been established Connect the Inhibit input in a non separable manner fixed installation with the x143 DEND break contact o
280. ure air circulation in the clearance is not impaired by cables or other installation equipment e Ensure unobstructed cooling air supply and make sure that the units are not subjected to heated air from nearby components e Units within an axis system must be lined up without space in between e Only install the units vertically You must not install them horizontally tilted or upside down min 100 mm 4 in min 100 mm 4 in 1405581707 NOTICE Special bending spaces are required according to EN 61800 5 1 for cables with a cross section of 10 mm and larger This means the clearance must be increased if required Operating Instructions MOVIAXIS Multi Axis Servo Inverter 49 Installation System bus cable for CAN based system bus SBus with optional master 4 2 System bus cable for CAN based system bus SBus with optional master mod ule The following describes how the system bus cables of the CAN system bus must be con nected in the axis system Insert the CAN system bus plugs 1 as described in the following X9a X9b e The plugs on each end of the cable are color coded Insert them in the following order red b green a red b green a red b red b Output RJ45 X9b green a Input RJ45 X9a black c MXM output Weidmuller MOVI PLC advanced UFX41 gateway e black d MXP input RJ45 X9a INFORMATION included in
281. uring operation The unit may still be live and connected to the supply system even if the operation LEDs and other display elements are no longer illuminated Mechanical blocking or internal safety functions of the unit can cause a motor standstill Eliminating the cause of the problem or performing a reset may result in the drive re starting automatically If for safety reasons this is not permitted for the driven machine disconnect the unit from the supply system before correcting the error Operating Instructions MOVIAXIS Multi Axis Servo Inverter Safety Notes Unit temperature Two row configuration of the axis system The two row MOVIAXIS axis system without protection caps at the insulators has the degree of protection IP00 The axis system with two rows may only be operated with installed protection caps at the insulators 2 9 Unit temperature MOVIAXIS multi axis servo inverters are usually operated with braking resistors The braking resistors can also be installed in the housing of the supply modules The braking resistors can reach a surface temperature in the range of 70 C to 250 C Never touch the housings of the MOVIAXIS modules or the braking resistors during op eration or in the cool down phase once the unit has been switched off Operating Instructions MOVIAXIS Multi Axis Servo Inverter 11 3 Unit Design Axis system with CAN based system bus 3 Unit Design 3 1 Axis sys
282. use is dimensioned for the used cable cross section For information on selecting cable cross sections refer to the system manual e Comply with the country specific installation regulations in addition to the above notes The plug in connections of the 24 V supply are limited to 10 A e Option cards that are supplied via the O V and 24 V terminals at the front must be protected individually or in groups by 4 A melting fuses to UL 248 INFORMATION UL certification does not apply to operation in voltage supply systems without earthed star point IT systems Operating Instructions MOVIAXIS Multi Axis Servo Inverter 127 128 Startup General 5 Startup 5 1 General Uncovered power connections Severe or fatal injuries from electric shock e Install the protective covers at the modules see chapter Protective covers and touch guards page 56 e Install the touch guards as instructed see chapter Protective covers and touch guards page 56 e Never startup the MOVIAXIS multi axis servo inverter if the protective covers and touch guards are not installed 5 1 1 Prerequisite The drive must be configured correctly to ensure that startup is successful Refer to the MOVIAXIS Multi Axis Servo Inverter system manual for detailed project planning notes and an explanation of the parameters The startup functions described in this section are used to set the multi axis
283. volutions cannot be deter mined or entered in the Axis configuration menu This is only possible in the Encoder selection menu submenu Mounting see chapter Hardware configuration encoder pool page 149 5 10 2 Example 2 Linear encoder as position encoder Areas of application for such a setup are for example storage and retrieval systems due to the slip of the carrying wheels and systems with backlash The travel distance of the linear distance encoder must be entered for one motor revo lution The travel distance for one motor revolution is determined automatically but it can also be calculated and entered manually i 10 d 200mm Os ae ae oh 12 aun 1409436811 Operating Instructions MOVIAXIS Multi Axis Servo Inverter 173 174 Er Startup Application examples Settings Selection and settings of the used encoder type using the example of the AL1H linear encoder Hardware configuration wo Encoder card Encoder card 3 Slot 1 St 3 Distance encoder 2 Motor encoder 1 Parameter set AS1H ALIH edn an D ean Posibon a Poaibor Getecton 4 R sedin Distance encoder 1 2 Parameter set 3 Parameter set 2557574539 gt Encoder selection Mounting 1 Select the relevant encoder grouping y SEW encoder F Positive connect G Thread mounting H Hollow shaft E Encoder I Integrated R Resolver K Cone S Spread shaft
284. y and Regenerative Module manual Tightening torque of the signal terminals X10 X11 0 5 0 6 Nm of the DC link bus connection X4 3 0 4 0 Nm of the safety relay terminals X7 X8 0 22 0 25 Nm of the brake connection terminals X6 of the axis modules 0 5 0 6 Nm of the 24 V voltage supply terminals 0 5 0 6 Nm of the terminals X61 for multi encoder cards XGH XGS 0 22 0 25 Nm of the terminals X21 X22 X25 X26 of the input output cards XIO 0 5 0 6 Nm XIA NOTICE Servo inverter can possibly be damaged Only use the stipulated connection elements and observe the prescribed tightening torques Otherwise excessive heat can develop which would damage the MOVIAXIS multi axis servo inverter Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation UL compliant installation 4 17 2 Other UL requirements MOVIAXIS MX multi axis servo inverters are suitable for operation in voltage net works with earthed star point TN and TT networks a maximum line current of 42000 A and a maximum line voltage of AC 500 V The maximum permitted value of the line fuse is MXP supply module 10 kw 25 kW 50 kw 75 kw Input fuse 20A 40A 80A 125A e Only use melting fuses as input fuses e If you use cable cross sections that are dimensioned for a smaller current than the nominal current of the unit make sure that the f
285. ystem is waiting eady error control via a serial interface EAST Warm start Malfunction 0 tion limits 01 FCB Jog mode Communication time out at direction control 02 The watchdog for secure parameter 1 Check connection to communication has been activated device 2 Extend timeout but was not re triggered in time No interval of watchdog max connection to the device or connec 500 ms 3 Decrease utili tion too slow zation of computer to be controlled close additional programs such as unnec essary MotionStudio plug ins Output System is waiti Ready 1 44 Ixt utilization error Overload in inverter stage ey ni y ion 0 inhibit arm start alfunction 01 Ixt current limit less than required torque current 02 Chip temperature rise limit exceeded 03 Chip temperature limit exceeded Limit electromechanical utilization 04 exceeded 05 Short circuit of sensor detected 06 Motor current limit exceeded PERF ART ay Output Ready 0 45 System initialization Error initializing the system stage System blocked CPU eady error inhibit reset Malfunction 0 Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module ee eas i Sub Error jarred Error System state Bi dr Cod R Measure a Pu Code Signal od Cause bal tdi Reset type 01 The measured current offsets

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Operating Instructions – MOVIAXIS® Multi-Axis Servo Inverter