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Compact Operating Instructions – MOVIAXIS - SEW

1. Signal bus TR 5 Terminating Q mnax m xo X9 x9 X9 X9 resistor alb alb alb alb alb alb dc uc co us Nue AU MXA MXA MXP MXA 1408034443 1 Connection cable between PC and CAN interface on the axis module The connection cable consists 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 O 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 prefabricated cables from SEW EURODRIVE For more information on communication between the PC and the MOVIAXIS9 system refer to section Communication via CAN adapter in the detailed operating instructions 5 3 3 Setting the CAN2 axis address All axis modules are set to address at the factory Each axis module must be given a 2 axis address by means of parameter setting 44 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup go 5 Communication via CAN adapter 5 3 4 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
2. pem rok rere 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 24 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams BP brake control BMV with terminal box Brake control K11 1 1 1 24V 2788940427 X6 Brake control 1 1 1 1 1 DC 24 V 2788942859 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 shieldi
3. Error Eu Error Svst tat error i Binary output signal Code Signal coge Cause Reponse Reset type g 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 A 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 5 request Option 2 Hiperface encoder option 2 No 8512 x VAL Dd response to position re initialization Hiperface encoder option 2 No 8576 d ncs response to position plausibility check Hiperface encoder option 2 No 8640 s zs 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 to encoder nameplate request EnDat encoder option 2 Communica 9216 tion error during reset command 9280 EnDat encoder option 2 Communica tion error during position initialization EnDat encoder option 2 Communica 9344 m HA tion error during position validation 9408 EnDat encoder option 2 Communica tion error during memory range select i
4. K11 2788973579 X6 Brake control K11 fe ee AE a ee ae a SS a 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 cables when installing the brake rectifier in the control cabinet Joint installation is only permitted with shielded power cables Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 23 4 Installation Wiring diagrams BME brake control with terminal box 1 1 1 1 1 control 1 Unc i F14 15 1 DBOO 1 4 1 i i ee 2788977419 Directly controlled motor brake E ae CCI control
5. 49 64 MXC capacitor module operating 81 6 5 MXB buffer module operating displays 81 6 6 24V SMPS module operating 82 Mas e 83 7 1 General Information enne 83 8 Appendix ei tes ee eiae 84 8 1 Declarations of conformity sssssssseene emen 84 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter General Information Scope of this documentation 1 General Information 11 Scope of this documentation This documentation comprises the general safety notes and a selected information re garding the MOVIAXIS multi axis servo inverter Please note that this documentation does not replace the detailed operating instruc tions Read the detailed operating instructions before you start working with MOVIAXIS Observe the information instructions and notes in the detailed operating instructions This is essential for fault free operation of the unit and fulfillment of any rights to claim under guarantee The enclosed CD or DVD contains PDF files of the additional operating instructions as well as further MOVIAXIS documentation All technical documentation from SEW EURODRIVE is available for download in PDF on the SEW EURODRIVE website www sew euro
6. i it i i i Capacitor 1 i i 1 i module Axis module 1Axis module Axis module 24V 1 1 1 H switched imode 1 i 1 i power supply x2 For braking resistor connection 7 X4 DC link busbar see Connecting braking resisto 7 grounding point of housing S 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 offer complete shielding with shielding supports as well as separate shielding for the brake line 18 Compact 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 e e lt 2 2 Q o PE L1 L2 L3 Supply module X i X4 X4 re FPES m 7 it t Axis module Axis module Axis module Brake control Housing grounding point SQ 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 Compact Operating Instructions MOVIAXIS Mult
7. Is used for communication detection of synchro Rotor position identification nous motors Stop at user limits Is used for stopping at user limits Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter MN Operating displays and errors of axis module lt 6 3 2 Table of errors ez Es 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 error 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 Error System stat error UR Binary output Code Response Messe signal Code Signal Cause 2 Reset type No fault this display is Ready 1 00 actually an operating fn West X m depending on display see operating System state displays Malfunction 1 Short circuit output Output Svstem i iti Ready 1 01 Overcurrent error Motor too large stage Re VONA s y ioris Defective output stage inhibit arm start alfunction The fault is an additional kind of over current measured at the collector emitter voltage
8. axis module P ES Sub Error Error error OS Binary output signal Code Signal coge Cause Response Reset type 9 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 encoder Quadrant con 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 Hiperface encoder Encoder does Check Wiring 16 S Replace encoder not respond during communication Replace card 64 Hiperface encoder Communication error when reading type Hiperface encoder Communication 128 error when reading status Hiperface encoder Communication 192 error when reading serial number Hiperface encoder Communication 256 error while initializing absolute posi tion Encoder of basic unit Hiperface encoder Communication Eliminate disturbance 320 while re initializing absolute
9. PDO 1 PDO2 PDO 3 PDO 4 PDO 5 PDO 6 PDO 7 PDO 8 N 00 o PDO 9 e PDO 10 PDO 11 N PDO 12 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 77 78 DA _ D lt Operation Operating displays and errors of axis module Sub Error SUL Error System state Binary Cod R Measure signal Code Signal gcs Cause S Reset type Synchronization lost synchronization 02 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 Time limit for synchronization signal 05 exceeded Synchronization lost period of syn 06 DAP 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 m
10. newer than that of the firmware Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 61 ES 2 Operation Operating displays and errors of axis module Sub Error Error error odd uar Binary output signal Code Signal coge Cause i dad Reset type 9 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 Cam Motor mgmt version is newer 12 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 the mathematical 17 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 19 tions is not permitted Cam The sequence of transfer func 20 tions to SpeedControl is not permitted Cam The sequence of SpeedControl 21 5 to math curve is not permitted Cam The sequence of SpeedControl 22 abs position control is not permit ted Cam The sequence of SpeedControl 2 to rel position control is not permitted 24 Cam Start curve number is negative not initialized 35 Cam A negative curve number is not perm
11. Installation Terminal assignment 4 6 Terminal assignment 4 6 1 Terminal assignment of MXP80 supply modules 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 X3 3 n Braking resistor connection BG1 10 kW X3 4 PE X1 1 PE X1 2 L1 1 3 12 Supply system connection size 2 25 kW X1 4 L3 X3 1 R X3 2 R Braking resistor connection size 2 25 kW X3 3 PE X1 PE PE X1 1 L1 X12 L2 Supply system connection size 3 50 75 kW X1 3 L3 X3 PE PE X3 1 R Braking resistor connection size 3 50 75 kW X3 2 R X4 PE PE X4 1 Uz DC link bus connection X4 2 Uz X5a 1 24 1 X5a 2 DGND Voltage supply for electronics dias end Voltage supply for brake supply X5b 1 24 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply T3 3 We X9a a 7 Input System bus with green plug X9b b Output System bus with red plug F X9b X12 1 n c 9 2 L CAN bus low 6 1 12 3 DGND Reference potential CAN bus eo X12 4 CAN L CAN bus low X12 5 Rtermination Unit internal SBus terminating resistor X12 6 DGND Reference potential CAN bus HW hs X12 7 CAN_H CAN bus high X12 8 CAN_H CAN bus high X12 9 Rtermination Unit in
12. 2 2 fag EU 52 om 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 Sie Tee AE ILLE LUE UELLE EURODRIVE Revision Tl WOMIT TT RAN I TN ill MEO MA MOVIAXIS Multi Axis Servo Inverter Changes to the wiring specification for DC 24 V Edition 08 2012 20038941 EN Revision for MOVIAXIS amp 80 Master Module Changes to the accessories package 1 Revision for MOVIAXIS MXM80A Master Module EI INFORMATION This revision describes important changes to the wiring of the DC 24 V supply of the MOVIAXIS MXM80A master module The revisions apply to the following publications MOVIAXIS Multi Axis Servo Inverter operating instructions part number 19305214 edition 08 2011 MOVIAXIS Multi Axis Servo Inverter system manual part number 17093228 edition 05 2011 MOVIAXIS Multi Axis Servo Inverter compact operating instructions part number 19308426 edition 08 2011 This document does not replace the listed operating instructions or system manual or compact operating instructions 1 1 Changes to the accessories package In the accessories package 18210864 for MOVIAXIS MXM80A the connector part complete DC 24 V part number 18211755 is rep
13. cada en Senet cea bane 12 4 1 Mechanical installation ccccccccccceeccceeceeeeeaeeeaeaeaeseesseeeseseeeeeeeeeseeeees 12 4 2 System bus cable for CAN based system bus SBus with optional master 14 4 3 System bus cable for EtherCAT compatible system bus SBusplus with master module 15 4 4 Electrical installation ssssssssseseeene 16 4 5 Wiring id 16 4 6 Terminal assignment ssesssssse enm eem ennemis 33 4 7 Permitted tightening torques at the terminals 40 4 8 Permitted et cbe dte epe oe 40 Boe SCIES 41 51 Supply module settings for CAN based system bus SBus 41 5 2 Communication 5 43 5 3 CAN based application bus CAN2 information and settings 43 5 4 Communication via CAN 45 5 5 Settings for EtherCAT compatible system bus SBusplus 46 6 Operation itis tiie oti init heen aie a 47 6 1 General information eene een 47 6 2 Operating displays and errors of the MXP supply 48 6 3 Operating displays and errors of axis
14. Drive Technology Drive Automation System Integration Services MANNO OU DO ATA A ITT EURODRIVE Compact Operating Instructions MI MOVIAXIS Multi Axis Servo Inverter Edition 08 2012 19308426 EN SEW EURODRIVE Driving the world Lu i25 Contents Contents 1 General Information cic inet ette reacci n eds 4 11 Scope of this eene 4 1 2 Structure of the safety 5 2 Safety Notes as eene deed Ee ener een 6 2 1 Genertalinotes ecl e e LU Reti bee net tet la Leute Pech 6 2 2 Target group ioa etie tee nete nad died fa iden a 6 2 9 Designated se bea deve eee d dre dead 6 2 4 Transportation and ene 7 2 5 hstallatiOn ioi tto trei ertt etn cubic mine 7 2 6 Electrical connection 8 27 Safe diSCOMMECTHION 8 2 6 ibi En Mae 8 2 9 Unittemperature e nite ee eee 9 3 Designation erreur eruere ennt uH En nnn nean 10 3 1 designation of MOVIAXIS basic units ec 10 4 Installation
15. iti E 21 Lag error dual drive The preset lag error limit in dual drive stage System is waiting Ready i 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 parame An error was detected during access System is blocked Ready 0 ter memory error to non volatile parameter memory inni System restart Malfunction 0 01 memory address access 02 NV memory runtime error Memo ryDevice Error reading data from non volatile 03 memory Data cannot be used due to faulty identification or checksum 04 Initialization error of memory system The read only memory contains 05 invalid data The read only memory contains incompatible data of another device 06 in case of exchangeable data memo ries 07 INV memory initialization error 08 INV memory internal error 09 INV memory JFLASH error 10 memory FLASH module error Stop with 2g External terminal A binary input terminal has signaled Sens stop System is waiting Ready 1 error an error delay D Warm start Malfunction 0 P 01 External terminal error One or both limit switches cannot be Shutdown ME with emer System is waiting Ready 1 27 Limit switch error detected at the programmed input ter ency stop W laii minals or in the control word gency stop Warm start alfunction delay 01 Both limit switches missing or wire bre
16. 1 DIP switches system bus 3 S3 Axis address switch 10 2 S1 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 41 5 42 5 1 1 Gr Startup Supply module settings for CAN based system bus SBus 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 41 125 kbit s 250kbit s 500 kbit s 1 Mbit s 51 28 eA 8 2 B d INFORMATION The default setting upon delivery is 500 kbit s 5 1 2 terminating resistors for CAN based system bus SBus 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 Signal bus Terminating X9 X9 X9 X9 x9 x9 X9 X9 resistor alb
17. 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 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 t
18. MOVIAXIS Multi Axis Servo Inverter 35 Installation Terminal assignment terminal Assignment Brief description rq X9a X9a a 7 Input System bus with green plug X9b b Output System bus with red plug X9b X10 1 DIOG en 1 with fixed assignment Control 10 2 DIE Binary input 2 freely programmable X10 3 0102 Binary input 3 freely programmable X10 4 0103 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 DCOM X10 10 Binary input 6 freely programmable X10 7 DI 6 Binary input 7 freely programmable X10 8 0167 Binary input 8 freely programmable X10 9 0108 Binary input 9 freely programmable X10 10 DCOM Reference potential for the binary inputs DIOS DIO8 X10 11 DGND General reference potential of control electronics X11 1 Binary output 1 freely programmable X11 2 0061 Binary output 2 freely programmable X11 3 DO 2 Binary output 3 freely programmable X11 4 DOO3 Binary output 4 freely programmable X11 5 DGND Reference potential for the binary outputs 2093 DOO3 X12 1 n c X12 2 CAN L CAN2 Bus Low X12 3 DGND Reference potential CAN bus X12 4 CAN2 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
19. error resolver excessive speed DSP calibration error Invalid period 32 NR of the synchronization signal DSP calibration error Synchroniza 33 tion signal failure 34 DSP calibration error Incorrect parameter setting DSP calibration error Saturation at 35 AD converter input Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module ML P ES Error Eu Error Svst tat error i Binary output signal Code Signal coge Cause Reset type 9 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 41 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 DSP calibration error Non permis 48 sible angle during calibration 49 DSP calibration error Erro
20. 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Type Designation Type designation of MOVIAXIS basic units Type Designation Type designation of MOVIAXIS basic units The following diagram shows the type designation MX A 80 A 000 5 0 3 00 00 Standard design 01 99 Special design 3 3 phase connection type 50 U AC 380 500 V supply volt age Variants 004 For axis modules the nominal cur rent such as 004 4 050 For DC link discharge modules the energy quantity that can be dissipated e g 050 5000 Ws 010 For supply modules the nominal power such as 010 10 kW For capacitor buffer and damping 050 7 modules the capacity e g 050 5 000 uF 060 For 24 V SMPS units the power e g 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 capacitor Type with two safety relays in the 82 axis module Unit type A Axis module B Buffer module C Capacitor module Mas
21. o 1 24 o 2 DGND 3 24Vs o 4 BGND 24 V for 24 V supply brake supply qp q for control electronics PE housing grounding point 1406133259 Connection via supplied prefabricated cables CAUTION The housing grounding point of the master module must be connected to PE e g at the control cabinet Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 29 30 Installation Wiring diagrams 4 5 8 Connection of capacitor module buffer module component Wiring the control electronics X5b o 1 24 o 2 DGND 3 2408 o 4 BGND 24 V for 24 V supply brake control P KOA for control electronics 1406212491 Connection via supplied prefabricated cables Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 5 9 Connection of 24 V switched mode power supply module component Wiring the control electronics 24 V external qe X16 X5a X5b 1o 20 3 4 o 1 24 o 2 DGND 3 24Vs 4 BGND 24 V supply for control electronics 2 24 V for 24 V supply brake supply V7 for control electronics channel 1 9007200660955915 Connection via supplied prefabricated cables You find more information on 24 V supply and
22. 257 TTL encoder Ready signal of DSP not within permitted time period Check wiring if the fault occurs immediately Encoder of basic unit TTL encoder E disturbance 512 source if the fault Amplitude control has failed occurs sporadically Replace encoder 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 TTL encoder option 2 EPLD error 87105 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 Bm System is blocked Ready 0 error tion SEL System restart Malfunction 0 Sin cos encoder Wire breakage 01 detection 02 Sin cos encoder Emulation error excessive speed 03 Sin cos encoder Invalid 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
23. 9 Rtermination Unit internal SBus terminating resistor X13 1 52 SIN X13 2 1 COS X13 3 n c 2 X13 4 6 8 13 5 R1 REF c X13 6 TF TH KTY X13 7 n c d E X13 8 Motor resolver connection o X13 9 S4 SIN X13 10 S3 COS 97 X13 11 n c 1 X13 12 13 13 R2 REF X13 14 TF TH KTY X13 15 n c Table continued on next page Footnotes at the end of the table Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Terminal assignment terminal Assignment Brief description X13 1 Signal 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 Ug X13 1 Signal track A cos X13 2 Signal track B sin X13 3 X13 4 DATA X13 5 n c X13 6 TF TH KTY X13 7 13 8 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
24. 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 69 70 DA D lt Operation Operating displays and errors of axis module Sub Error e Error odd uar Binary output signal Code Signal Gods Cause rope Reset type 9 14 Sin cos encoder Software interrupt in DSP 15 Sin cos encoder Hardware stack overflow in DSP 16 5 encoder ONCE trap in DSP 17 encoder Interrupt A in DSP 18 Sin cos encoder Interrupt B in DSP Sin cos encoder Non permissible 19 angle during calibration Sin cos encoder Error deleting flash 20 PARKER during calibration Sin cos encoder Error programming 21 SEE flash during calibration Sin cos encoder Error verifying flash 22 is during calibration Sin cos encoder Resolver evalua 23 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 Check wiring i
25. DSP TTL encoder Saturation at AD con 06 verter input 07 encoder Unable to initialize PLL TTL encoder CRC error via data 08 Iflash 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 encoder ONCE trap in DSP 17 TTL encoder Interrupt A in DSP 18 TTL encoder Interrupt in DSP TTL encoder Non permissible angle 19 during calibration 20 TTL encoder Error deleting flash dur ing calibration TTL encoder Error programming 21 flash during calibration 22 TTL encoder Error verifying flash during calibration TTL encoder Resolver evaluation not 23 calibrated Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter ez Operation Operating displays and errors of axis module lt Sub Error Error error OS Binary output signal Code Signal coge Cause Repone Reset type g 24 TTL encoder PLL has locked during operation 256 TTL encoder Init phase of DSP not finished within permitted time period
26. Servo Inverter Installation Terminal assignment 4 6 3 Terminal assignment of the axis modules terminal Assignment Brief description X2 PE PE L PE d Motor connection sizes 1 2 2 2 IT 3 X2 3 2 2 1 U X2 2 Motor connection size 3 X2 3 2 2 1 U X2 2 V Motor connection sizes 4 5 6 X2 3 X4 PE PE X4 1 Uz DC link bus connection X4 2 Uz X5a 1 24 VE 2 X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply CT 4 X5b 1 24 7 aes X5b 2 DGND Voltage supply for electronics X5b 3 24 X5b 4 BGND Voltage supply for brake supply ET 4 6 1 DBOO 1 X6 2 BGND Brake connection switched C 2 Unit design with one safety relay optional 1 7 1 24 V Safety relay sizes 1 6 X7 2 RGND X7 3 Safety relay 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 X8 2 RGND X8 3 C Safety relay II sizes 2 6 common contact 1 4 X8 4 NC Safety relay 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 Compact Operating Instructions
27. Sources position Hiperface encoder Communication 384 me error while checking absolute position 448 encoder Communication error while writing position Hiperface encoder No response 512 while reading analog values 576 Hiperface encoder No response to encoder nameplate request EnDat encoder Communication error 1024 3 during reset command 1088 EnDat encoder Communication error during position initialization EnDat encoder Communication error 1152 5 t un during position validation 1216 EnDat encoder Communication error during memory range select EnDat encoder Communication error 1280 while reading a parameter 1388 EnDat encoder Communication error while writing a parameter Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 71 72 REN A Operation Operating displays and errors of MXA axis module Code Error Signal Sub error Code Error Cause Response 2 System state Measure Reset type Binary output signal Option 1 4097 Hiperface encoder option 1 Error in quadrant control 4098 Hiperface encoder option 1 Incor rect track angle offset 4112 Hiperface encoder option 1 No response to communication request 4160 Hiperface encoder option 1 No response to type request 4224 Hiperface encoder option 1 No response to statu
28. 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 11 must open When F16 trip contact at trips 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 0 signal 16 isa put stage enable must receive 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 Internal temperature switch or S External bimetallic relay F16 BW P Internal bimetallic relay F16 22 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 5 4 Brake control BMK brake control with terminal box X6 Brake control K11 Pom 2788968971 X6 Brake control
29. alb alb alb alb alb alb alb a b e AES LL 1 MXP 2 I 1 2 3 4 5 6 7 8 3 o gt 1408029835 1 2 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 USB CAN interface 3 Cable with integrated terminating resistor 120 between CAN_H and CAN_L For more information on communication between the PC and the MOVIAXIS system refer to section Communication via CAN adapter in the detailed operating instructions Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup go Communication selection 5 2 Communication selection The following figures show the possible access types for the system buses of the unit system 2 2 EC AC M dum Ne ee uu MXM MXA MXA MXM 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 to CAN based application bus CAN2 SEW EURODRIVE recommends the following communication paths Unit system without ma
30. are unclear about any of the information in this documentation or if you require further information please contact SEW EURODRIVE General notes 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 injuries 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 fe
31. code at the encoder manufacturer replace the encoder Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 53 54 77 D lt Operation Operating displays and errors of axis module Sub Error ae Error god inr Binary output 1 Code Signal ors Reset type us Encoder input of basic unit SSI encoder Voltage range of the voltage supply 12 V SSI encoder signals an error by a Check voltage supply to SSI encoder 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 also supply 257 voltage Check startup parame ters Replace encoder SSI encoder Position outside toler Check interference ance range Sources interrupted beam reflector data 258 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 fault mask error see data sheet of 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 positi
32. has been established Connect the Inhibit input in a non separable manner fixed installation with the xias DENG break contact of the mains contactor 14 4 TEMP Reference potential for the TEMP binary output Binary output High 24 V when the temperature of the MXZ power switch is in the permitted range X14 5 n c PE 2 mere Connection braking resistor for discharge lag g X15 1 Discharge Jr ak X15 2 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 39 40 Installation Permitted tightening torques at the terminals 4 6 9 Terminal assignment of the braking resistors The following figure shows a braking resistor with central tap R R 1 2 3 ya Step ohmic value Total ohmic value 47 Permitted tightening torques at the terminals Tightening torque Supply module Line connection X1 Braking resistor terminals Size 1 0 5 0 6 Nm 0 5 0 6 MXP81 0 5 0 6 Nm 0 5 0 6 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 res
33. missing can res 10008 An invalid transmission mode was entered for a PDO configured to CAN 10009 Process data configuration error Can ID has already been used by Scope on the same CAN 10010 Process data configuration error Can ID has already been used by Sync on the same CAN 10011 Process data configuration error Send problems on CAN double send err 10012 Process data configuration error Send problems on system bus dou ble send err 10013 Process data configuration error Send problems on application CAN double send err 10014 The inhibit time is not a whole num bered multiple of the current process data processing Adjust inhibit time or change current process data processing Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of MXA axis module 27 ES Code Error Signal Sub error Code Error Cause Response 2 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 Th
34. 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 id x 0 inhibit arm start alfunction 01 Ixt current limit less than required torque current 02 Chip temperature rise limit exceeded 03 temperature limit exceeded Limit electromechanical utilization 04 exceeded 05 Short circuit of sensor detected 06 Motor current limit exceeded Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module ML P ES Sub Error Error error EOS Binary output signal Code Signal code Cause Reset type System initialization Output systemblocked CPU __ Ready 0 45 y Error initializing the system stage y Malfunction 0 inhibit 01 The measured current offsets are out side the permitted limit values An error occurred during CRC gener 02 ation for the firmware 03 bus error during RAM test 04 Address bus error during RAM test 05 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 wai
35. of the output stage Output Svstem i iti Ready 1 02 UCE monitoring fault The possible reason behind this fault stage ud Svanna t y is identical to fault 01 The distinction inhibit Sm stant is important for internal purposes only Ground fault Output the motor lead EAE System is blocked Ready 0 inthe inverter inhibit System restart Malfunction 0 the motor Error message by supply module via signal bus Too much regenerative power Out put S m Braking resistor circuit interrupted ystem is waiting Ready 1 04 Brake ch fault Short circuit in the braking resis Warm start Malfunction 0 tor circuit Brake resistance too high Brake chopper defective 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 es has been interrupted inhibit System restart Malfunction 0 Connection to signaling bus inter 01 rupted 02 Timeout flag signaling bus cannot be reset ut as el Error message by supply module Output System i iti Ready 1 06 phase failure signal bus It was detected that a line stage YS S S RIS E phase is missing inhibit Warm start Malfunction 0 Error message by SM via signaling Output System is waiting Ready 1 07 DC link error stage bus when DC link voltage is too high inhibit Warm start Malfunc
36. offer complete shielding with shielding supports as well as separate shielding for the brake line 16 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams Wiring of power terminals MXP80 Size L1 L2 PE m T L L1 L2 L3 Line filter Cable length 600 mm x4 H i H X4 H 4 o i i T IL i i Capacitor 1 1 module 1Axis module Axis module 1 24V 1 switched H mode bower supply BW connection 1 X4 DC link connection see chapter Braking resistor connection grounding point of housing S 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 Compact 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 000 Vil w1 Line choke 111213 Netzfilter 117127137 Cable length 600 mm PE PEL1 L2 L3 1 1 x4 x4 box T box od 0 PE E i 0 t
37. two LEDs on the front of the unit LED State Normal operation green Fault red A malfunction has occurred because of Overload Overvoltage Undervoltage LEDLoad Normal operation green With ca 80 utilization per output 8A yellow 1 __1_ 2 1410983691 1 LED State 2 LED Load 82 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Service MY General Information lt 7 Service 7 1 General Information No inspection or maintenance intervals required during active operation 711 Repair service Please contact SEW EURODRIVE electronics service if an error cannot be repaired 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 Provide the following information when sending the unit in for repair Production number nameplate Type designation Unittype Digits of the production number and order number Short application description drive type control connected motor motor type motor voltage Nature of the fault e Accompanying circumstances Your own assumptions Unusual events preceding the problems Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 83 84 Appendix Decla
38. type Binary output signal 1003 Software error in process data sub System Too many users for process data buffer stack 1004 Software error in process data sub System 1004 1005 Software error in process data sub System 1005 1006 Software error in process data sub System 1006 1007 Software error in process data sub System Too many PDO users 1008 Software error in process data sub System Too many PDO user nodes 1009 Software error in process data sub System 1009 1010 Firmware error Permitted number 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 10001 A PDO configured to CAN has an ID located in the area 0x200 0x3ff and 0 600 0 7 used for parameter set ting by the SBus 10002 A PDO configured to CAN has an ID located in the area 0x580 0x67f used for parameter setting by CANo pen 10003 A PDO configured to CAN is to trans mit more than 4 PD Only 0 4 PD are possible for CAN 10004 Two or more PDOs configured to the same CAN bus use the same ID 10005 Two PDOs configured to the same CAN bus use the same ID 10006 Process data configuration error Too many PDOs set to CAN missing mem 10007 Process data configuration error Too many PDOs set to CAN
39. 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 Cam Illegal motor management 47 mode 48 Cam Illegal initialization mode of the CAM Prof Gen PositionSetpointGen Setpoint calcu 50 eco lation is disabled 51 PositionSetpointGen Data structure exceeds DDB limit 52 PositionSetpointGen Incorrect type PositionSetpointGen Version in DDB 53 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 synchronization are invalid 57 PositionSetpointGen Filter time not within limits 58 PositionSetpointGen Slave factor is zero 59 EGear Parameter not activated 60 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 source not within DDB 100 VEncoder Data structure exceeds DDB limit 101 VEncoder Incorrect type VEncoder Version in DDB higher 102 than firmware version 103 VEncoder Invalid ramp parameters 104 VEncoder Divisor is zero 105 ModuloMin gt Mo
40. 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 Authorized representative for issuing this declaration on behalf of the manufacturer b Authorized representative for compiling the technical documents Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter SEW EURODRIVE Driving the world bh 4
41. 8 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 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 representative for compiling the technical documents Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 85 Appendix Declarations of conformity EC Declaration of Conformity EURODRIVE 900120010 SEW EURODRIVE GmbH amp Co KG s Ernst Blickle Strafe 42 D 76646 Bruchsal declares under sole responsibility that the frequency inverters of the series MOVIAXIS 82A are in conformity with Machinery Directive
42. EnDat encoder option 2 Communica 9472 tion error while reading a parameter 9536 EnDat encoder option 2 Communica tion error while writing a parameter DSP Communica Output System is blocked Ready 0 60 Error during flash of the DSP stage tion error inhibit System restart Malfunction 0 01 DSP JTAG Comm error No JTAG connection 02 DSP Once Comm error Unable to enter debug state DSP Once Comm error DSP CPU 03 debug mode before executing a DSP Code DSP Once Comm error DSP PLL 04 locked or no external cycle pres ent 05 DSP flash information FW error Unknown ID code DSP flash information FW error 06 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter T3 ES 2 Operation Operating displays and errors of axis module Sub Error Error error god uar Binary output signal Code Signal coge Cause Reset type 9 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 flash 11 DSP flash programming error Error deleting the P flash 12 DSP flash prog
43. M signaling ae 171 Error excessive ZK voltage bus when DC link voltage is too Check application design and braking X LI U high resistor The DC link current in the supply Error excessive ZK current module has exceeded the maxi application regarding utilization X mum limit of 250 96 Inominal 2 PAM Utilization of the supply module z J Error I xt monitoring reachedithe limit value Check application regarding utilization X TT Temperature of the supply module m Bae ye Error temperature monitor has reached the switehzoff thresh Check application regarding utilization X 1 ing old check ambient temperature Switch off due to internal The unit is not ready for operation Check unit utilization project planning x braking resistor overload longer Affects only MXP81 LI Error voltage supply A supply voltage inside the unitis Check connected loads for overcurrent 71 switched mode power Lud Fue 4 defective or unit for defects supply module inside unit Additional capacity at full capacity LIT p Braking resistor converters regenerative Wet Thermal overload of the Error response only depending on energy into heat Check unit utilization x 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
44. MXP supply module 6 2 1 Table of displays Description Status Comment action Display on axis module Displays during standard operation ri Ready for operation ready No error warning Vz gt 100 V Status display only Displays of different unit states DC link voltage missing or less No error warning gt 100 V Check supply system It than 100 V Displays in case of warnings II I xt prewarning Utilization of the supply module has Check application regarding uti P Lu reached the prewarning level lization Check application regarding uti Temperature prewarning The temperature of the supply module lization check ambient temper P _ is approaching the cut off threshold AUFS P171 Prewarning Utilization of inter Unit is ready for operation Check unit utilization project _ 11 I nal braking resistor gt 80 y P planning Affects only MXP81 6 2 2 Table of errors Display on Description Status Comment action axis module 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 MIILI Error brake chopper See error list of axis modules X Ly operation Error message by S
45. able 4 Diat 2 BG 1 6 User programmable DI22 3 User programmable DI23 4 Binary outputs User programmable 0 24 5 User programmable lt 0125 6 User programmable 0126 7 User programmable 0 27 8 User programmable Di28 9 Reference potential binary signals DIO DIC DCOM 10 General reference potential DGND 11 of the control electronics 2 x 7 segment displays L1 Operating states x11 operating displays User programmable gt DOS 1 for the axis module User programmable 000112 User programmable gt DO22 3 Binary inputs User programmable gt DO23 4 Reference potential binary signals DOG DO 3 DGND 5 X13 Motor encoder connection Hiperface or Resolver and temperature sensor optional Coil and NC contact Coil and NC contact 5 X5b Safety relay Safety relay 1 24Ve 20 o 2 DGND 3 2498 A 40 o 4 BGND DGND pE a2 gt X8 a g 4 reo 488 1121314 1121314 24 V for 24 V supply for PLC brake supply qp D and control electronics 1406125963 Connection via supplied prefabricated cables Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 5 7 Connection of master module component Wiring the control electronics X5a X5b
46. afety system Use higher level safety systems to ensure protection of equipment and personnel For safety applications refer to the information in the following publication Functional Safety 24 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 inverters 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 Usein potentially explosive areas Usein areas exposed to harmful oils acids gases vapors dust radiation etc Usein non stationary applications which are subject to mechanical vibration and im pact loads in excess of the requirements in EN 61800 5 1 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter
47. akage 02 Limit switch reversed Stop with 28 Fieldbus timeout Process data communication is inter E sto System is waiting Ready 1 error rupted delay Warm start Malfunction 0 P 01 Error Fieldbus timeout Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module ML P ES Sub Error Error error odd inr Binary output signal Code Signal code Cause Response Reset type Stop with Hardware limit switch Hardware limit switch reached during emer System is waiting Ready 1 29 reached error ositionin gency stop W Malfi ion 0 g delay D arm start alfunction P 01 Right limit switch approached 02 jLeftlimit switch approached 30 Deceleration time The drive did not come to a standstill den System is waiting Ready 1 out error within the preset delay time Warm start Malfunction 0 01 Stop ramp time violation 02 violation stop at application limit 03 violation stop at system limit 04 stop ramp time exceeded Overtemperature sensor KTY TF No Readv 1 31 TH of the drive has triggered for response No response d motor protection D P Malfunction 1 01 Wire breakage of motor temperature sensor detected 02 Short circuit of motor temp
48. any cable 3 12 V max 500 mA 4 6 4 Terminal assignment of the MXM master module terminal Assignment Brief description HM Voltage supply for electronics si Voltage supply for brake supply ane a Voltage supply for electronics PU Voltage supply for brake supply T4 1 Only for looping through Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 37 38 Installation Terminal assignment 4 6 5 Terminal assignment of the MXC capacitor module terminal Assignment Brief description X4 PE PE Uz DC link bus connection X4 2 Uz X5a 1 24 5 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply X5b 1 24 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg X5b 4 BGND Voltage supply for brake supply 4 6 6 Terminal assignment of the MXB buffer module terminal Assignment Brief description X4 PE PE Uz DC link bus connection X4 2 Uz X5a 1 24 5 2 DGND Voltage supply for electronics i 1 X5a 3 24 Vp X5a 4 BGND Voltage supply for brake supply 1 4 X5b 1 24 1 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vp X5b 4 BGND Voltage supply for brake supply C4 Only for looping through Compact Opera
49. ation about BST brake control refer to the BST Safety Related Brake Mod ule operating instructions 4 5 5 Connection of supply module and supply and regenerative module Wiring the control electronics C DIP switch X9a CAN EtherCAT Not assigned Internal bus terminating resistor 2x T segment displays For operating states see the Supply modules operating states size 1 3 for the supply module X5a X5b 24V DGND 24V BGND 24 V for 24 V suppl brake supply P P for control electronics 1406123531 Connection via supplied prefabricated cables System bus input X9b System bus output Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 27 Installation Wiring diagrams 4 5 6 Connection of axis modules Wiring the control electronics Input Output Electronics signal bus signal bus shield clamps 9 not assigned ANH ese DGND Higher level not 15 CANL controller we not assigned i PLC Fixed assignment with x10 Output stage enable DISS 1 Axis module User programm
50. bjected to heated air from nearby components Units within an axis system must be lined up without space in between Onlyinstall the units vertically You must not install them horizontally tilted or upside down min 100 mm 4 in min 100 mm 4 in CAUTION 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 1405581707 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 13 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 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 Weidm ller MOVI PLC advanced UFX41 gateway black d MXP input RJ45 X9a INFORMATION Important Install a terminating resistor 3 in the last axis module of the axis system lil included in the scope of delivery of the MXP and MXR supply modules 4 2 1 Shiel
51. card slot Set address selection Two options with the same address o7 selection switch detected switch so it matches the option card slot 08 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 13 Watchdog error at CP923X Replace option or firmware 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 65 66 ees D lt Operation 745 Operating displays and errors of axis module Sub Error Error error EON Binary output signal Code Signal coge Cause Response Reset type 9 Sync period not divisible as whole 22 number by basic period 23 Invalid sync basic period ratio 24 Sync period interval not within permit ted range Timer overflow in the area of writing 25 A f the timer register 26 Reference lost between EncEmu and count timer Speed too high max counts 27 exceeded Illegal parameter emu sou
52. control electronics in the MOVIAXIS Multi Axis Servo Inverter system manual Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 4 Installation Wiring diagrams 4 5 10 Connecting additional component DC link discharge module Wiring the control electronics NR filter L1 12713 1 1 UN d 1 Axis module Auxiliary contact BG 1 6 X14 of K11 DC link Inhibit 1 aaa DGND 2 discharge module 9 DGND 3 DCOM DGND Temp 4 reference potential nc 5 for binary inputs X5b o 1 24 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 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 32 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter
53. d clamps Install the cables properly and screw on electronics shield clamps 2 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 System bus cable for EtherCAT compatible system bus SBusplus with 4 3 System bus cable for EtherCAT compatible system bus SBusP 5 with master module The following describes how the system bus cables of the EtherCAT compatible sys tem bus SBus S must be connected in the axis system nsert the system bus plugs 1 as described in the following X9a X9b 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 yellow c MXM output RJ45 MOVI PLC9 advanced UFX41 gateway 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 The DIP switch LAM 2 must be set to 1 at the last axis module in a system At all il other axis modules it must be set to 0 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 15 4 Installation Electrical installation 4 4 Electrical installation 4 4 4 Connecting the units Connect the supply terminals of all units in the MOVIAXIS MX axis System accord in
54. drive com Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter General Information Structure of the safety notes 1 2 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 Measure s to prevent the danger gt Signal word Meaning Consequences if disregarded Example DANGER Imminent danger Severe or fatal injuries gt Possible dangerous situation Severe or fatal injuries General danger CAUTION Possible dangerous situation Minor 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 2 2 1 2 2 2 3 Safety Notes General notes 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
55. duloMax 106 VEncoder Specified target not within permitted range Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 63 gt A Operation Operating displays and errors of axis module Error kr Error Svst tat error i Binary output signal Code Signal coge Cause iii dod Reset type 9 VEncoder not within per 107 mitted range 108 VEncoder Invalid operating mode 109 VEncoder Speed is so high that Mod uloValue is exceeded in 500 5 VEncoder Parameter max velocity 110 s max jerk not within permitted range 120 DataRecord Data structure exceeds DDB limit 121 DataRecord Incorrect type DataRecord Version in DDB higher 122 than firmware version DataRecord Interpolation time not 123 ons within limits DataRecord ModuloMin gt Modulo 124 REDI 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 DataBuffer Version in DDB higher 142 than fir
56. e Check safety is too large circuit board 01 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 Emer Check communication con Ready 1 error unit gency stop nection Malfunction 0 Warm start 197 Power failure error ee has detected a power ae ere 1 valid for default response 2 P Programmable D Default response Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation lt Er MXC capacitor module operating displays lt D 6 4 MXC capacitor module operating displays The operating states are indicated by a two color LED at the front of the housing LED lights up green Capacitor module is ready for operation LED lights up red General error 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 LED 6 5 MXB buffer module operating displays No messages are issued at the buffer module Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 81 6 AS 2 Operation 196 24 V SMPS module operating displays 66 24V SMPS module operating displays The operating status such as utilization and fault of the switched mode power supply is indicated by
57. e 9 e Check track signal wir Comparison of the absolute encoder ing position via Hiperface parameter Check interference 8193 channel with the incremental position sources of the axis every second Replace encoder Replace card 8194 Unknown encoder type Corrupt encoder nameplate data Replace encoder Incorrect block checksum of the data 9199 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 8259 OWs Displayed value 8224 You Ifthe problem persists can inquire about this error code at replace the encoder the encoder manufacturer 8448 SSI 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 8452 SSI encoder user defined error via 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 d
58. e CAN sync period is not a whole numbered multiple of the current pro cess data processing Adjust 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 PDOO
59. e Cause i dod Reset type 9 16 ONCE trap in DSP 17 Interrupt A in DSP 18 Interrupt B in DSP 19 Non permissible angle during calibra tion 20 Error deleting flash during calibration 21 Error programming flash during cali bration 22 Error verifying flash during calibration 23 Resolver evaluation not calibrated 24 has locked during operation Init phase of DSP not finished within 256 permitted time period Ready signal of DSP not within per 267 mitted time period Protection against division overflow 512 PY limiting the actual speed Set the correct system numerator denominator values 15 Absolute encoder An error has occurred in the check ae System is blocked Ready 0 error sum of the Hiperface signals sec System restart Malfunction 0 e Check track signal wir Comparison of the absolute encoder ing 01 position via Hiperface parameter Check interference channel with the incremental position sources of the axis every second Replace encoder Replace card 02 Unknown encoder type Clarify whether 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 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
60. edback 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 meets the require ments stipulated in EC directive 2006 42 EC Machine Directive You must also ob serve EN 60204 Compact 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 s
61. erature sensor detected 03 overtemperature KTY 04 Motor overtemperature synchronous motor model 05 overtemperature TF TH 06 overtemperature I2t model 33 SM Boot Timeout The supply module is not or no longer ee System is blocked Ready 0 error ready for operation inhibit System restart Malfunction 0 01 Boot synchronization with supply module error Lag distance syn A preset maximum permitted lag dis Output System is waiting Ready 1 36 operation tance was exceeded during synchro stage SR error nous operation inhibit Warm start Malfunction 0 01 synchronous operation Lag error 37 Error System watch Internal watchdog timer setting has System blocked CPU Ready 0 dog been exceeded sago reset Malfunction 0 inhibit Stopping with appli Technology func cation lim System is waiting Ready 1 38 tions error Error in a technology function its Wer atat Malfunction 0 program mable Cam function Trip point with negative 01 lt positive edge has been entered 02 Cam function Command overflow trip point processing 03 Incorrect flow control block type 04 Incorrect flow table block type 05 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
62. erpolated n control The ramp generator is located externally e g in the higher level controller M control torque control Torque control IH H Interpolated M control Torque control with setpoints cyclically via bus r1 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 Reference travel The drive performs reference travel I1 Deceleration at application limit This FCB also 1 1 Stop For further information refer to the becomes active if no other FCB is selected as MOVIAXIS parameter description default FCB 1 1 Emergency stop Deceleration at emergency stop limit Stop at system limit Deceleration at system limit Electronic cam Electronic cam active Synchronous operation Synchronous operation active H Calibrate incremental encoder Encoder commutation for synchronous motors Hold control Position control at current position r1 Jog mode Jog mode active test Brake is tested by applying torque while brake is I closed Is used to operate 2 3 or 4 motors in interpo LL MAE aus lated speed control mode
63. f the fault occurs immediately DER e Check disturbance 512 Encoder of basic unit Sin cos source if the fault encoder Amplitude control has failed occurs sporadically Replace encoder Replace card Encoder of basic unit Sin cos ripped Please contact SEW 513 encoder Initialization of track counter EURODRIVE not possible rest Set the correct system 514 Encoder of basic unit Sin cos nutnarator deniominator encoder Quadrant control has failed values Encoder of basic unit Sin cos Set the correct system 515 Protection against division numerator denominator overflow by limiting the actual speed values Sin cos encoder encoder option 1 4608 Error in amplitude control Sin cos encoder encoder option 1 4609 Initialization of track counter not pos sible Sin cos encoder encoder option 1 4610 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 Error in amplitude control Sin cos encoder encoder option 2 8705 Initialization of track counter not pos sible Sin cos encoder encoder option 2 8706 Error in quadrant control Sin cos encoder encoder option 2 8707 Protection against division overflow by limiting the actual speed Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of
64. following connections at the X5a port of the master mod ule 3 Terminals 1 1 and 2 2 for DC 24 V electronics supply The customer then has to make the following connections at the X5a port of the next module on the right from the master module Terminals 1 7 and 2 8 for DC 24 V electronics supply Terminals 9 and 4 10 for DC 24 V brake supply The accessories package 18210864 of the MOVIAXIS master module contains an ad ditional connector 5 complete 4 pole BK24V part number 18202527 for this pur pose This connector is plugged into plug in position X5A 6 of the next module 4 In comparison with the previous wiring method we now have a separate wiring of the master module with 2 wires in addition and a connection of the downstream modules with 4 more wires This means a total of 6 wires must be connected externally for the DC 24 V supply It is not permitted to jumper the wires This modified installation procedure applies also to a dual bus electronics and brake supply The following figure shows the new correct wiring method ANY WY Vex j Tf s S 797 v FEE TES 8 N 6093461899 Revision of the Operating Instructions Mehrachs Servoverst rker MOVIAXIS
65. for defects Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation MES A Operating displays and errors of MXA axis module lt 6 3 Operating displays and errors of axis module 6 3 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 Waiting for boot process to finish Unit stays in this condition Unit defective DC link voltage missing Supply module not ready for 1_ lj operation I Axis module 24 V or internal switched mode power supply module of axis not ready for operation Axis module in safe stop flashing r3 Incorrect synchronization with 1 1 bus Process data processing not available The encoder evaluation is not 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 a
66. free startup Modulo limit Position values of software limit 1037 m Switch reversed positive negative Encoder system Denominator factor Perform startup 1038 system unit larger than or equal to Increase numerator numerator factor system unit factor system unit 1039 Encoder option 1 unable to evaluate Encoder must be operated set encoder type on XGS11A Encoder option 2 unable to evaluate Use corresponding option set encoder type card or connect the 1040 required encoder to the proper hardware The device of option is unable to eval Use corresponding option uate the set encoder type card or connect the 1041 s required encoder to the proper hardware 1042 No commutation present Set commutation with FCB25 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module P ES Sub Error Error error OS Binary output signal Code Signal coge Cause Response Reset type 9 1043 Standstill current not permitted for Disable standstill current synchronous motor function Output System is waiti Ready 1 17 Internal computer CPU has detected an internal error stage AR EL T error traps inhibit Warm start Malfunction 0 Output 2 The software has detected System is blocked Ready 0 18 Internal software er
67. g to the respective wiring diagrams in chapter Wiring diagrams page Check to see that the assignment of multi axis servo drive and motor is correct ac cording to project planning specification Checkto 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 45 Wiring diagrams 4 5 1 Connection of supply module axis module and capacitor or buffer module Wiring of power terminals MXP80 Size 1 and 2 Hit L2 13 Line filter L1 L2 13 Cable length 600 mm x4 X4 X4 X4 PETS PETS PE 1 1 t Capacitor i i 24V module 1 module 1 module switched H H 4 imode power 1 supply unit lt ondes Brake e 9 X4 DC link bus bar control For connection of BW see chapter Connection of braking resistor grounding point of housing S 7 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
68. gered by BRC short circuit moni toring or driver voltage monitoring 01 5 Brake chopper error SM temperature The temperature of the SM Ne Ready 1 85 monitoring prewarn hes th ff threshold response ing approaches the cut off thresho D P Malfunction 1 01 SM Temperature prewarning 86 SM overtempera Temperature of the SM has reached System is waiting Ready 1 ture error or exceeded the cut off threshold Warm start Malfunction 0 01 SM Temperature error Utilization brakin The utilization of the braking resistor No Re aKING installed in the SM has reached the Ready 1 87 resistor in SM pre prewarning threshold applies to 10 1ESPONSe c Malfunction 1 warning kW version only D P 01 5 Ixt prewarning braking resistor The utilization of the braking resistor Output 88 Utilization of braking installed in the SM has reached or st K System is waiting Ready 1 resistor in SM error exceeded the prewarning threshold RID Warm start Malfunction 0 applies to 10 version only 01 Ixt utilization error braking resistor of the SM 89 Switched mode power supply SM No ____ Ready 1 Pply error response Malfunction 1 01 Atleast one of the supply voltages in the SM is not present 5 24 V voltage sup 24 V electronics supply less than 17 No Ready 1 91 V gt No error message for the axis response Malfi ion 1 in supply module only 9 i alfunction 01 24 V electron
69. i Axis Servo Inverter 19 4 Installation Wiring diagrams Wiring the MXP81 power connections with external braking resistor L1 L2 L3 PE ES 1 L L1 L2 L3 Line filter L1 L2 L3 Cable length 600 mm x4 i 4 PEO PE PES 71 77 TT Axis module Axis module Axis module Brake Connection of BW see control chaoter Connection of braking resistor PE Housing grounding point Power shield clamp 1502085899 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 20 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams 4 5 2 Connecting supply module axis modules and DC link discharge module Wiring of power terminals 111 L2 13 line filter Cable length 600 mm xa i xa i PET PETS 5 i Axis module Axis module 24N switched i i imode i supply X4 DC link busbar grounding point of housing S Power shield clamp 4046957579 Make sure to provide separate isolation for the brake lines when controlling the brakes wi
70. ics power supply too low 5 An error has occurred in the unit con Output System is blocked Ready 0 94 TUR figuration data block during testing stage bed dis long the reset phase inhibit ystem restart alfunction 01 configuration data Checksum error 02 Unit configuration data Invalid ver sion of the 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 E System is blocked Ready 0 error correctly System restart Malfunction 0 01 Download of parameter set to unit Repeat download or canceled restore delivery condition Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 79 80 secs D lt Operation at Operating displays and errors of axis module Sub Error Error EOS Binary output signal Code Signal coge Cause Reset type 9 107 Line components The firmware has detected an error in Displa error one of the line components choke line filter line contactor y 115 mS Connections X7 1 24 V X7 2 Output WB ae functions RGND or X8 1 24 V X8 2 stage System is waiting Ready 1 _ are reversed Check wiring inhibit Warm start Malfunction 0 Safety relays Switching delay One safety relay in the between shutdown channels 1 and 2 devic
71. ing for type 0 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 FCB reference travel Reference type 99 was changed during travel 40 Boot synchroniza Synchronization with an option card System is blocked Ready 0 tion error could not be executed appropriately ona System restart Malfunction 0 01 Option bus not ready or option card faulty Timeout at boot synchronization with 02 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 option card fault bus Error Watchdog timer Connection between main computer Output System is blocked Ready 0 41 for option and option card computer no longer stage SH exists inhibit System restart Malfunction 0 01 Burst on option bus aborted by single access 02 Too many options in total or too many 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 set to 0 Switch so it matches the option
72. ing 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 67 ES 2 Operation Operating displays and errors of axis module Sub Error Error error EOS Binary output signal Code Signal Rede Cause Reset type 9 55 configuration Internal error in logic component 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 zm Blocked GRU Sacy 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 in TTL encoder stage and dd 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 TTL encoder Synchronization signal 04 failure 05 TTL encoder Incorrect parameter setting of
73. isplayed value 8736 Error 8767 codes are listed in the EnDat protocol description 8768 Tina encoder signals internal warn Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of MXA axis module Sub Error Error error god inr Binary output signal Code Signal coge Cause REPONSE Reset type g Output 16 Startup error Error during startup stage Sues Blocked Ready 0 inhibit System restart Malfunction 0 01 Denominator of pole 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 41 Numerator of emulation PPR count for sine encoder is not a power of two The motor inverter combination can Check limit values adjust 100 reach the required test tor
74. istor connection X15 All sizes 3 0 4 0 Nm 1 For detailed information about MXR refer to the Supply 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 terminals X21 X22 X25 X26 of the input output cards XIO XIA 0 5 0 6 Nm 48 Permitted line fuses MXP supply module 10 kW 25 kw 50 kw 75 kw Input fuse 20A 40A 80A 125A Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Startup go 5 Supply module settings for CAN based system bus SBus 5 Startup 5 1 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 42 The 4 DIP switches for setting the system bus are set to The axis address is set using the two address switches S3 and S4 on the supply module see section Setting the CAN axis address The next axis address will be set automatically based on the first address Oo m S4 iB S2 0 4 2 53 3 54 p 2 3 5 4 1407811467
75. itted not initialized Cam A negative start address of a 26 math curve is not permitted not ini tialized 28 Invalid initialization mode Cam Invalid remaining distance cor 29 rection mode 30 Cam Start address of Cam_ProfGen block not within DDB Cam Start address of Cam1 block 31 hot 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 DerivateGen block not within DDB Cam Address of derivate generator 38 source not within DDB 39 Cam Start address of motor manage ment block not within DDB Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module ML P ES Sub Error Error error odd uar Binary output signal Code Signal coge Cause Reponse Reset type g 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
76. laced by the individual connector part complete 4 pole BK24V part number 18202527 Revision of the Operating Instructions Mehrachs Servoverst rker MOVIAXIS Revision for MOVIAXIS amp MXM80A Master Module Changes to the DC 24 V wiring 1 2 Changes to the DC 24 V wiring STOP The DC 24 V supply of the MOVIAXIS axis system via the MXM80A master module must be wired according to the new wiring method as of now 1 2 1 longer valid Previous wiring specifications The customer had to make the following connections at the X5a port of the master mod ule 8 Terminals 1 1 and 2 2 for DC 24 V electronics supply Terminals 3 and 4 4 for DC 24 V brake supply The DC 24 V supply for brake and electronics was then looped through from port X5b 6 of the master module 8 to the next module 9 using the connector part 5 of the accessories package part number 18211755 system manual page 58 A total of 4 wires had to be connected for the DC 24 V supply see following figure 8 9 5 6 7 B B g Xi E 1 Ze AL N 1 m E 222 d ELS 6099026571 Revision of the Operating Instructions Mehrachs Servoverst rker MOVIAXIS Revision for MOVIAXIS amp MXM80A Master Module Changes to the DC 24 V wiring 1 2 2 Valid as of now New wiring specifications The customer has to make the
77. les 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 not indicate that the MOVIAXIS multi axis servo drive is no longer connected to the mains 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 mains Observe the general safety notes in section 2 and the notes in section Electrical Installation in the detailed operating instructions 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 Removing the cause of the problem or performing a reset can result in the drive re starting on its own Ensure that the motor cannot start inadvertently for example by removing the elec tronics terminal block X10 Additional safety precautions must be taken depending on the application to avoid injury to people and damage to machinery CAUTION The motor output of the multi axis servo inverter may only be switched or disconnected when the output stage is inhibited Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 47 48 AS 2 Operation at Operating displays and errors of the MXP supply module 6 2 Operating displays and errors of the
78. mware version 160 SystemData Data structure exceeds DDB limit 161 SystemData Incorrect type SystemData Version in DDB higher 162 than firmware version 180 EventControl Incorrect type 181 EventControl Version in DDB higher than firmware version EventControl ModuloMin gt Modulo 182 acd 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 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 pulse FCB reference travel Hardware limit 02 Switch before reference cam Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module ML P ES Sub Error Error error OS Binary output signal Code Signal coge Cause Repone Reset type 9 03 FCB reference travel Hardware limit switch and reference cam not flush 04 FCB reference travel Referenc
79. nd con troller Check missing PDO Encoders are initialized Unit stays in this condition No encoder selected Source of actual speed parameter shows an encoder that does not exist Displays during initialization processes parameters will be reset to default values 1111 1 Basic initialization Initialization of delivery state 1 Initialization of factory setting 11 Initialization of customer spe cific set 1 I Initialization of customer spe cific set 2 Status not ready Output stage is inhibited Communication is possible Waiting for initialization to finish Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 49 AS 2 Operation at Operating displays and errors of 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 Output stage inhibit 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 N Int
80. ng 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 25 26 Installation Wiring diagrams BY brake control BMV with terminal box Brake control K11 Pitas 2788948875 X6 Brake control K11 2788966539 X6 Brake control 2788951307 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation Wiring diagrams BST brake control For inform
81. o 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 during 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 Compact 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 IPOO The axis system with two rows may only be operated with installed protection caps at the insulators 29 Unittemperature MOVIAXIS
82. odule 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 11 Installation Mechanical installation 4 Installation 41 Mechanical installation e Check to make sure that the delivery is complete CAUTION 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 Mark the 4 bores for the retaining threads on the mounting platform page for each unit according to the table below Make the bores with a tolerance according to ISO 2768 mK The lateral distance between 2 axis systems must be at least 30 mm Units within an axis system are mounted next to another without clearance Cut the matching threads in the mounting platform and fasten the MOVIAXIS9 MX multi axis servo inverter with M6 screws Screw head diameter 10 mm to 12 mm The following table shows the dimensions for the unit h
83. on and track coun ing ter Check interference 513 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation MES Aa 7 Operating displays and errors of axis module lt e Sub Error Error error OS Binary output signal Code Signal gode Cause Reset type 9 Encoder option 1 e Check track signal wir Comparison of the absolute encoder ing 4097 position via Hiperface parameter Check interference channel with the incremental position sources of the axis every second Replace encoder Replace card 4098 Unknown encoder type Corrupt encoder nameplate data Replace encoder Incorrect block checksum of the data 4099 field range of the encoder manufac turer Hiperface encoder signals internal 4128 error Check wiring and inter _ The error code is displa
84. otor 69 Motor temperature has exceeded the response _____ Ready 1 adjustable prewarning threshold display Malfunction 1 only 01 Thermal motor protection Prewarn ing triggered by KTY temperature Thermal motor protection Prewarn 02 jing triggered by synchronous motor model temperature 03 Thermal motor protection Warning threshold I2t model exceeded Error massaae Word The error message of an unknown onse 70 o 9 device was detected in the error gt enue word display 9 only 01 error control word 0 Error massade word The error message of an unknown be onse 71 4 9 device was detected in the error gt display 9 only 01 Message error control word 1 Error messaae word The error message of an unknown bie nsa 72 2 9 device was detected in the error gt sage word display 9 only 01 Message error control word 2 Error messaas word The error message of an unknown iie 73 9 device was detected in the error sage word display only 01 Message error control word 3 Error message word The error message of an unknown onse 74 m 9 device was detected in the error mes SP 4 error sade word display 9 only 01 error control word 4 E Frormessade word The error message of an unkno
85. ousings of the modules viewed from the back Rear view dimensions of MOVIAXIS MX housing MOVIAXIS MX A B 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 s and regenerative mod 210 180 453 462 5 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Installation 4 Mechanical installation 4 1 1 Housing rear view of MOVIAXIS module s 9007200660313867 4 1 2 Minimum clearance and mounting position Leave at least 100 mm 4 in clearance above and below the unit for optimum cooling Make sure air circulation in the clearance is not impaired by cables or other installation equipment Ensure unobstructed cooling air supply and make sure that the units are not su
86. que test torque with the present limit values 512 Startup for invalid motor type 513 Set current limit exceeds maximum current of axis Set current limit is less than nominal 514 es magnetizing current of the motor 515 CFC Factor for calculation of q cur rent cannot be displayed Non permitted PWM frequency con 516 figured 517 Parameter Final speed flux table not within permitted range Parameter Final flux ID table not 518 within permitted range Output stage enable requested with 519 out valid motor startup Motor startup not possible with 520 enabled output stage Factor for torque limit cannot be dis 521 played A Factor for torque limit cannot be dis 522 played B Factors for current setpoint filter can 525 not be displayed Factors for current increase limit can 526 not be displayed Position FIR filter cannot show the 527 encoder delay Speed FIR filter cannot show the 528 encoder delay Thermal motor monitoring I2t Two Increase distance between 529 points with identical speed in the curve points torque speed characteristics Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 57 58 DA D lt Operation Operating displays and errors of axis module Sub Error ee Error Binary output signal Code Signal coge Cause Reponse Reset type g 530 Ma
87. r deleting flash during calibration DSP calibration error Error pro 50 gramming flash during calibration 51 DSP calibration error Error verify ing flash during calibration DSP calibration error Resolver 52 gt evaluation calibrated 53 DSP calibration error PLL has locked during operation 54 DSP calibration error Unknown DSP error Shutdown 66 Process data config Process data configuration error with emer System is blocked Ready s uration error 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 ncorrect input process data length of communication option Process data configuration error 2 PDOs must be con 201 O PDOs connected to one option nected with different options 304 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 75 76 REN A Operation Operating displays and errors of MXA axis module Code Error Signal Sub error Code Error Cause Response 2 System state Measure Reset
88. ramming error Error deleting the X flash DSP flash programming error 13 Access to flash register while BUSY bit is set DSP flash programming error 14 Access to FIU_CNTL register while BUSY bit is set 15 DSP flash programming error Write access to flash while deleting DSP flash programming error 16 Write read access to flash while pro gramming DSP flash programming error Flash 17 rid access not within permitted range 18 DSP flash programming error Error verifying B flash DSP flash programming error Error 19 gas 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 to FIU CNTL register while BUSY bit is set 23 DSP flash programming error Write access to flash while deleting 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 DSP calibration error X flash CRC error 29 30 DSP calibration error Wire break age detection of resolver DSP calibration error Emulation 31
89. rations of conformity 8 Appendix 8 1 Declarations of conformity EC Declaration of Conformity EURODRIVE 900100010 SEW EURODRIVE GmbH amp Co KG Ernst Blickle StraRe 42 D 76646 Bruchsal e it 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 Authorized representative for issuing this declaration on behalf of the manufacturer b Authorized representative for compiling the technical documents Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Appendix Declarations of conformity EC Declaration of Conformity EURODRIVE 900110010 SEW EURODRIVE GmbH amp Co KG M 3 Ernst Blickle StraRe 42 D 76646 Bruchsal ICE 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 10
90. rce emu 28 gt hysteresis emu resolution 29 Phase controller in setpoint limitation 30 No capture occurred 31 Encoder option 1 or 2 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 Acceleration ramps too short Output i iti 42 Lag distance posi component of positioning con stage Systemi waiting Ready 1 tioning error inhibi Warm start Malfunction 0 troller too small inhibit Incorrect speed controller param eters Value of lag error tolerance too small 01 Positioning lag error 02 FCB Jog lag error 03 Standard lag error Stop with Svstem i iti Readv 1 43 emote timeout An interruption has occurred during applica ystem IS waiting control via a serial interface S Warm start Malfunction 0 tion limits 01 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
91. 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 supply module Terminating resistor 2 3 Terminating resistor must be activated t at CAN2 unit connection 1408123019 1 Connection cable between PC and CAN interface on the axis module The connection cable consists 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 O 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 in the detailed operating instructions For more information on communication between the PC and the MOVIAXIS system refer to section Communication via CAN adapter in the detailed operating instructions 5 4 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 prefabricated cable and a terminating resistor The part no of the CAN adapter is 18210597 Compact Operating Instructions MOVIAXIS Multi A
92. ror stage missible state inhibit System restart Malfunction 0 Output System is blocked Ready 0 19 Process data error Invalid process data stage Mens inhibit System restart Malfunction 0 Process data Negative maximum 01 REA torque indicated Process data Positive minimum 02 torque indicated Process data Negative motor torque 03 limit indicated 04 Process data Negative regenerative torque limit indicated 05 Process data Torque limit for quad rant 1 is negative Process data Torque limit for quad 06 rant 2 is negative 07 Process data Torque limit for quad rant 3 is negative Process data Torque limit for quad 08 rant 4 is negative 09 Torque control Maximum speed minimum speed 10 Position control Maximum speed value 0 11 Position control Maximum speed 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 1 or enable 20 0 before changing to another data set
93. s request 4288 Hiperface encoder option 1 No response to serial number request 4352 Hiperface encoder option 1 No response to initialization position request Option 1 4416 Hiperface encoder option 1 No response to position re initialization 4480 Hiperface encoder option 1 No response to position plausibility check 4544 Hiperface encoder option 1 No response to writing of position 4608 Hiperface encoder option 1 No response while reading analog values Check communication 4672 Hiperface encoder option 1 No response to encoder nameplate request Check communication 5120 EnDat encoder option 1 Communica tion error during reset command 5184 EnDat encoder option 1 Communica tion error during position initialization 5248 EnDat encoder option 1 Communica tion error during position validation 5312 EnDat encoder option 1 Communica tion error during memory range select 5376 EnDat encoder option 1 Communica tion error while reading a parameter 5440 EnDat encoder option 1 Communica tion error while writing a parameter Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module ML P ES
94. ster module CAN Unit system with master module and DHE DHF DHR UFx TCP IP or USB 5 3 CAN based application bus CAN2 information and settings 5 3 1 Connections and PC diagnostics at the supply module INFORMATION CAN connections shall only be implemented in the control cabinet to avoid potential shifts 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 O between CAN H and CAN L The maximum permitted cable length between terminating resistor and supply module is 5 m Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 5 43 5 Gr Startup CAN based application bus CAN2 information and settings 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 section Communication via CAN adapter in the detailed operating instructions 5 3 2 Connections and PC diagnostics at the axis module INFORMATION CAN connections shall only be implemented in the control cabinet to avoid potential shifts
95. ter module Supply module w brake chopper Rz Supply egenerative module 5 24 V switched mode power ply module Z DC link discharge module MOVIAXIS 1 10 For information on MXR refer to the Supply and Regenerative Module manual Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Type Designation 3 Type designation of MOVIAXIS basic units 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 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 MXMB80A 000 000 00 UFF41B MXMB80A 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 Regenerative Module manual 10 kW compact supply module with integrated C and BW 10 kW supply m
96. ternal SBus terminating resistor 1 Only for CAN based system bus No function for EtherCAT compatible system bus Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 33 Installation Terminal assignment 4 6 2 Terminal assignment of MXP81 supply modules terminal Assignment Brief description X1 1 PE X1 2 L1 1 3 12 Power supply connection BG1 10 kW X1 4 L3 X3 1 R X3 2 R 5 6 X3 3 Ri Braking resistor connection BG1 10 kW X3 4 PE X4 PE PE X4 1 Uz DC link bus connection X4 2 Uz X5a 1 24 X5a 2 DGND Voltage supply for electronics 1 X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply gt 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 gt 4 Input System bus with green plug X9b b 7 Output System bus with red plug X9b X12 1 n c U x12 CAN L CAN bus low 6 1 12 3 DGND Reference potential CAN bus eo X12 4 CAN L CAN bus low X12 5 Rtermination Unit internal SBus terminating resistor X12 6 DGND Reference potential CAN bus L ps 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 Compact Operating Instructions MOVIAXIS Multi Axis
97. th 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 4 Installation Wiring diagrams 4 5 3 Connecting braking resistors Supply module Supply module a 97 95 di l has effect RB1 2 EE F16 On Ka AS has effect on K11 98 96 4 6 2 Supply module Supply module Supply module 15 PE R R PE R R PE R R PE R HLS HES 1 1 1 1 1 1 I 1 ITJ has effect dd has effect has effect HET F16 on K11 F16 on K11 F16 on K11 1 1 1 JL 1 e Cb 16 ES ce qr AT 1 2 1 1 rc P BW 01 one 1 I BW Lead Ld 3 9007201328845195 BW BW BW BW 01
98. ting Instructions MOVIAXIS Multi Axis Servo Inverter Installation Terminal assignment 4 6 7 Terminal assignment of the MXS 24 V switched mode power supply module terminal Assignment Brief description X4 PE PE X4 1 DC link bus connection X4 2 Uz X5a 1 24 V DGND Voltage supply for electronics channel 1 X5a 3 24 Vp X5a 4 BGND Voltage supply for brake channel 3 1 4 X5b 1 24 Ere X5b 2 DGND Voltage supply for electronics channel 2 X5b 3 24 Vg X5b 4 BGND Voltage supply for brake channel 3 4 po X16 424 V 24 V voltage supply input Is intended to supply the backup voltage to ensure that control voltage is main X16 2 DGND A J tained when switching off the power supply 4 6 8 Terminal assignment of the DC link discharge module MXZ terminal Assignment Brief description Sit PE X4 1 n c DC link bus connection 2 X4 2 Uz X5a 1 24 VE X5a 2 DGND Voltage supply for electronics X5a 3 24 Vp X5a 4 BGND Voltage supply for brake supply X5b 1 24 VE X5b 2 DGND Voltage supply for electronics X5b 3 24 Vp X5b 4 BGND Voltage supply for brake supply X14 1 Inhibit Control signal for discharge process discharge process is started once the con X14 2 DGND nection Inhibit with GND
99. ting 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 eee nd 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 Renae gency stop approached during positioning delay D Warm start Malfunction 0 elay D P 01 The right software limit switch was approached The left software limit switch was 02 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 I RAM or Resolver DSP inhibit ystem restart alfunction 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 Flash 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 CRC32error in code RAM firmware Repeated read
100. tion 0 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 51 ES 2 Operation Operating displays and errors of axis module Error kr Error Svst tat error Binary output signal Code Signal coge Cause Response Reset type 9 Active speed monitoring has detected Output WB 08 d Speed monitor an unacceptable deviation between stage Pues Wald Ready 1 3 9 setpoint and actual speed inhibit Warm start Malfunction 0 01 Motor speed monitoring 02 Regenerative speed monitoring 03 System limit actual speed exceeded Temperature of the AM has reached or exceeded the cut off threshold Possible reasons AM overtempera Display Ready 0 11 ture error Ambient temperature too high only Malfunction 0 Unfavorable air convection Defective fan 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 No brake connected Brake line separated in on sta tus Overload through overcurrent gt ET 2 F13 has priority _ Output System is waiting Ready 1 p Overload due to excessive con erae Warm start Malfunction 0 nection approx gt 0 5 Hz Monitoring is only active
101. 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 59 60 VEV D lt Operation Operating displays and errors of axis module Sub Error Error error EOS Binary output signal Code Signal coge Cause i ad Reset type 9 FCB 09 Target specified in user Increase resolution of user 31 unit results in target overflow specified unit for position in system units FCB 09 Modulo underflow gt Mod Swap values of modulo 32 ulo overflow underflow and modulo overflow FCB 09 Absolute target position Perform reference travel for 33 e requested but not referenced position encoder FCB 09 Acceleration or deceleration Check local setpoint appli 34 limit O transferred cation limits system limits transferred process data 29 Electronic cam lag The preset lag error limit in electronic Pi System is waiting Ready 1 error cam mode was exceeded mnia Warm start Malfunction 0 01 Electronic cam lag error ea 4 Output
102. with ter settings Brake installed and Brake applied 01 output Brake supply voltage not within per mitted range of 10 0 Monitor Output 13 Brake supply error ing only possible with parameter Mes System is waiting Ready 1 ppy settings Brake installed and Brake eren Warm start Malfunction 0 applied as well as with CMP and DS motors 01 supply voltage ii Error with resolver or resolver evalua Output System is blocked Ready 0 14 Resolver error stage tion inhibit System restart Malfunction 0 01 Wire breakage detection of resolver Emulation error resolver excessive 02 speed 03 Invalid period of the synchronization signal 04 Synchronization signal failure 05 Incorrect parameter setting of DSP 06 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 10 CRC error via program flash P 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 Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operating displays and errors of axis module lt ez Sub Error Error error odd uar Binary output signal Code Signal cog
103. wn bia onse 75 5 9 device was detected in the error sage word display only 01 error control word 5 No 76 Error Intelligent MOVI PLC error response ____ option display only Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter SN Operating displays and errors of axis module lt ez Es Sub Error Error error putem ste Binary output Cod R Measure MEE Code Signal SE Cause hA is Reset type The DC link current in the supply Output WB 81 bu module has exceeded the maximum stage System is waiting Ready a z limit of 260 IBominsl inhibit Warm start Malfunction 0 01 SM DC link current too high 82 P ewaming xt moni Utilization of the SM has reached the ps Ready 1 toring SM prewarning level D P Malfunction 1 01 5 Pre warning Ixt utilization 83 xt monitoring SM Utilization of the SM has reached or A System is waiting Ready 1 error exceeded the cut off threshold PII Warm start Malfunction 0 01 ISM Ixt utilization error Error message through supply mod ule via hardware information system Output Brake chopper at The brake chopper in the supply P System is waiting Ready 1 84 AM stage error module is not ready for operation inhibit Warm start Malfunction 0 trig
104. x motor current configured incor rectly Rotor position identification Forward 531 correction table does not increase in strict monotonous manner Rotor position identification CMMin Nominal axis current too 532 too small high compared to motor 533 Rotor position identification not per mitted for started up motor PWM frequency for FCB 25 must be Set PWM frequency to 8 534 8 kHz kHz 535 Index TMU Init not set Set TMU Init index NV memory parameter of nominal 1024 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 memory parameter of current measuring range is too large System limits for speed are greater 1028 than max possible speed Application limits for speed are 1029 greater than max possible speed Invalid sensor type set for output 1030 stage temperature CFC No absolute encoder used as 1031 motor encoder in synchronous motors CFC No absolute encoder used as 1032 motor encoder in synchronous motors Position range in position detection 2 1033 mode without overflow counter Check project planning of travel distance exceeded FCB dual drive Lag error window 1034 may not be smaller than standard lag error window FCB dual drive Lag error window 1035 not be smaller than adjustment threshold 1036 Modulo reference offset is not within Perform error
105. xis Servo Inverter 45 go Startup Settings for EtherCAT compatible system bus SBusplus 5 5 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 6668 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 n this variant switches S1 S2 S3 and S4 as well as terminal X12 on the supply module do not have any function Setthe DIP switch LAM to setting 1 at the last axis module in the system At all other axis modules the LAM DIP switch must be set to O 1 0 LAM 8 F1 m 1 9 N LAM m 2 D F1 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 e In this version X9b does not require a terminating resistor Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter Operation HS A General information lt D 6 6 1 Operation General information 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 cab
106. yed as fol ference sources 4163 ows Displayed value 4128 You Ifthe problem persists can inquire about this error code at replace the encoder the encoder manufacturer 4352 SSI encoder option 1 Voltage range Check voltage supply to of the voltage supply 12 V SSI encoder SSI encoder option 1 Interrupted Check connection to SSI 4353 clock or data line encoder SSI encoder option 1 Position out Minimize interference 4354 side tolerance range SSI encoder option 1 SSI clock Set a higher cycle fre 4355 sequence does not match speed quency sampling interval SSI encoder option 1 User defined 4356 fault via fault mask 4357 SSI encoder option 1 No high level Replace option card or present encoder Incorrect comparison between raw 4609 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 Encoder option 1 EnDat encoder signals error status 4640 The error code is displayed as fol lows displayed value 5640 Error 4671 codes are listed in the EnDat protocol description 4672 EnDat encoder signals internal warn ing Compact Operating Instructions MOVIAXIS Multi Axis Servo Inverter 55 ES 2 Operation Operating displays and errors of axis module Sub Error Error error OS Binary output signal Code Signal coge Cause pepe Reset typ

Compact Operating Instructions – MOVIAXIS - SEW

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Compact Operating Instructions – MOVIAXIS - SEW