SEW-Eurodrive MOVIDYN User manual

16/042/95
0921 9315 / 0496
MOVIDYN®
AC Servo Controller
PC User Interface MD_SHELL
User Manual
Edition 04/96

Table of Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1 Hardwarerequirements................................................ 4
2.2 InstallingtheprogramonyourPC........................................ 4
2.3 Startingtheprogram.................................................. 5
2.4 Communicationrequirements........................................... 6
3. The special parameter files of MD_SHELL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1 The MD_SHELL.INI file ................................................ 8
3.2 TheMD_WIN.DATfile................................................ 10
3.3 The MD_SHELL.CFG file .............................................. 10
3.4 TheMD_USER.MNUfile .............................................. 10
4. The menu features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.1 Menuoption“Environment”............................................ 13
4.2 Menuoption“Parameter” ............................................. 20
4.3 Menu option “Interfaces”.............................................. 37
4.4 Menuoption“Options” ............................................... 43
4.5 Menuoption“Screen”................................................ 47
4.6 Menuoption“IPOS” ................................................. 49
4.7 Menuoption“Help”.................................................. 62
5. Window functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.1 Windowstructure ................................................... 64
5.2 Screenfunctions.................................................... 65
5.3 Openingawindow................................................... 66
5.4 Closingawindow ................................................... 66
5.5 Heightadjustment................................................... 66
5.6 Movingwindows.................................................... 66
5.7 Modifyingwindowcontents............................................ 67
6. The integrated Help utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7. Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Table of Contents
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1. Introduction
With the introduction of the new SEW servo controller series MOVIDYN®the user is also provided with
a PC user interface to facilitate parameter setting and control of the MOVIDYN®units.
MD_SHELL allows for up to 60 drive units to be connected to a PC. This is possible because the parameter
windows opened in the program can be assigned to any of these units.
Due to our use of an SAA toolbox for writing the program, the MD_SHELL user interface has the features
which are characteristic for a professional interface among them, for example, pull-down menus and
window technique, use of keyboard and/or mouse and the integrated on-line help utility. Many windows
can be adjusted in size and on-screen location to suit your personal preferences.
If you are already familiar with our MC_SHELL software for the MOVITRAC®3000/3100 frequency
inverter series, you will find that the MD_SHELL user interface is similar to use. In designing our software
programs we take great care to keep new programs in line with existing ones, in particular with regard
to on-screen presentation and user guidance to make it easier for you to familiarize yourself with, switch
over to and use the new program. Any suggestions for improvement will be gratefully received, with a
view to their inclusion in a future program update. Should you encounter any problems when working
with the program, please do not hesitate to contact us.
1Introduction
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2. Installation
2.1 Hardware requirements
–PC / AT with an 80286 or higher microprocessor
–minimum 640K of available memory (RAM)
–3.5" or 5.25" disk drive
–VGA compatible video adapter (colour or monochrome, LCD)
–hard disk
–minimum one serial RS-232 interface to connect the drive unit to the AC servo controller
–further serial interface to connect the mouse
To connect the MOVIDYN®to a PC, a standard serial interface cable with a maximum length of 6m is
required (9-pin type D plug to 9-pin type D socket).
Pin assignment of the interface cable, PC side:
When using a 9- to 25-pin adapter:
CAUTION:
When connecting PC and drive unit make sure the supply voltage is switched off!
2.2 Installing the program on your PC
On the enclosed diskette you will find an installation program which copies all the required files to your
PC.
Insert the diskette into the drive (e.g. A:), type A: and press the RETURN key to change to this drive. Then
start the INSTALL.BAT program:
Change drive:
Display: C:\> Input: A: RETURN Key
Start program:
Input: A:\INSTALL C:\SERVO RETURN Key
2Installation
Assignment, 9-pin cable
Cable side:
RXD
Receive data TXD Transmit data DTR Data terminal ready
(transmit/receive changeover)
Ground
9-pin connector (MOVIDYN®side) PIN 2 PIN 3 PIN 4 PIN 5
9-pin socket (PC-COM1 side) PIN 2 PIN 3 PIN 4 PIN 5
Assignment, 9/25-pin cable RXD
Receive data TXD Transmit data DTR Data terminal ready
(transmit/receive changeover)
Ground
9-pin connector (MOVIDYN ® side) PIN 2 PIN 3 PIN 4 PIN 5
25-pin socket (PC-COM1 side) PIN 3 PIN 2 PIN 20 PIN 7
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INSTALL.BAT will require you to specifiy a directory where you want to have the MD_SHELL files copied
to. If the specified directory does not exist yet, the program will automatically create it for you. In the
above example all files are copied to the directory SERVO which was created on the C drive.
After successful installation you will find the following files on your hard disk:
INSTALL.BAT Installation batch file
MD_SHELL.EXE Main program file
ALLASCII.TXT File with different character sets
MD_SHELL.INI MD_SHELL initialization file
MD.PAR Parameter file with factory-set parameters
DEUTSCH.LNG Text file for the GERMAN language version
further *.LNG files for other languages if required.
The files take up approx. 600KByte of storage space on your harddisk. To operatethe program all program
files must be located in the same directory on your PC.
2.3 Starting the program
To start the program type MD_SHELL and press <RETURN> to confirm. You start MD_SHELL from the
directory that contains your MD_SHELL program files.
EXAMPLE: Actual directory: C:\SERVO> Input: MD_SHELL RETURN Key
MD_SHELL may also be started from another directory. In that case enter the complete path name.
EXAMPLE: Actual directory: C:\DOS> Input: C:\SERVO\MD_SHELL RETURN Key
If the program is started for the first time, then the language selection window (refer to section 4.4.1)
appears, then select the desired language. The necessary settings will be stored upon ending the program.
During program operation MD_SHELL saves different program settings such as the language or colour
palette selected in special parameter files, e.g. MD_SHELL.INI. Normally, these files will be located in the
same directory as MD_SHELL.EXE.
2Installation
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Note:
If possible avoi from another program (such as PCSHELL, DOSSHELL etc.) in order to have as much
memory capacity available for MD_SHELL as possible.
Program operation from the keyboard and using the mouse
When you start MD_SHELL you will be given a “clean” screen to work from. The top line contains the
main menu bar. If you are using a mouse, move the mouse pointer to the title you want to choose and
click the left mouse button to display the associated pull-down menu. Point to the item of your choice
and click the left mouse button to select it.
If you are using the keyboard, press the <ALT> key and one of the coloured mnemonic letters in the menu
bar. Use the cursor keys to move the selection bar and highlight the menu item you want, then press
<RETURN> to confirm your selection or type the mnemonic letter (displayed in a different colour) of the
respective menu item.
Conventions used in this manual:
To ensure unity of form the following conventions have been used in this manual:
1. Keys to operate are enclosed in pointed brackets:
<RETURN>, <F1>, <ESC>, etc.
2. Button controls in windows which can be operated with the mouse are displayed in brackets:
[ESC], [F1], [INS], etc.
3. Menu items are separated by a slash and italicized together with the menu title:
“
Environment/End” or “Options/Clock” etc.
2.4 Communication requirements
If the PC and MOVIDYN®have failed to connect or if the established communications link is faulty, the
windows on your screen, which willnormally display the parameters, will only showdashes (“—”) instead
of the expected values. If you have a faulty connection or none at all, please check the following:
2.4.1 Interface cable
The RS-232 interface cable has a 9-pin type D socket which connects to the PC and a 9-pin type D plug
whichconnectstotheMOVIDYN
®
servo controller. The cable has a minimum of 4 cores, connecting pins
2, 3, 4 and 5 of the plug and the socket. The cable should not be longer than 6m.
2.4.2 PC interface
Make sure that the cable is connected to the correct COM port of your PC.
2Installation
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2,4.3 Interface selection
Check whether the “PC interface” and “Servo controller interface” settings in the “Interfaces” menu item
actually reflect your hardware configuration.
2.4.4 Communication address
When you use the RS-232 or RS-485 interfaces of the power supply module (MPx) for communication,
you must set the axis module addresses. Make sure that the address set in menu item “Interfaces”
corresponds to the actual axis module address. To verify the axis module address, briefly press the S1
button on the axis module. On the 7-segment display an “A” will start flashing followed by - ten’s - unit’s
places (e.g. “A” - “1" - ”9" = axis module 19). In a network setup an address may only be assigned once
otherwise a collision of data on the transmission line would occur, resulting in a faulted connection. If
you use the RS-232 interface (PC connection) of the AIO11 option pcb, it is not necessary that you set
the axis address. The unit can be addressed under any address.
If, however, you use any of the other RS-485 or RS-232 interfaces, which are available on the basic unit
or on the FIS31 option pcb, it is absolutely necessary to set the communication address.
2.4.5 RS-485 Connection
Upon connection of the RS-485 interface of the power supply modules (MP ..., MPB 51 ..., MPR 51...)
or the compact servo controllers (MKS 51 ...) verify that the correct ends of both RS-485 leads are
connected.
2.4.6 RS-232 Connection
An RS-232 connection is included with MP 50 ... and MPB 51 ... power supply modules as standard. The
MPR 51 ... power supply module and MKS 51 ... Compact Servo Controllers require either the FIS 31
option or the new USS 11A.
Both are functionally fully identical in respect to operation with MD_SHELL.
2.4.7 Windows DOS-Shell
MC_SHELL should not be started under the Windows DOS-Shell. Doing so can lead to possible problems
with the serial interface and thus does not provide reliable program execution.
Installation 2
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3. The special parameter files of MD_SHELL
To operate correctly MD_SHELL requires some additional files, where, for example, important program
settings are stored. When the program is started, these files are read in, processed and partly saved again.
Note:
The following files are created automatically by MD_SHELL and normally do not need to be changed.
Only in exceptional cases (i.e. abnormal termination of MD_SHELL) or if the application requires so,
should you modify these files.
Nevertheless,this sectionwilldealwiththesefilestogiveyouanideaofthefeaturesofferedby MD_SHELL.
3.1 The MD_SHELL.INI file
This file contains all settings carried out by you during program execution. The file is saved in ASCII format
and can be edited with most text editors. Upon program start the data are loaded and at the end saved
back again. If you wish to change certain presettings prior to loading the program, all you need to do is
enter the corresponding data in this file. The parameters in this file are arranged in lines. The line structure
is the same for each line and must not be changed under any circumstances.
Example: ColorSet=3
The identifier of a setting value is to the left of the ‘=’ character, the parameter’s value to the right. In the
above example colour palette 3 is set upon program start. The individual parameters have the following
meaning:
[User]
This line indicates that the following parameters are to be set by the user.
Control=
x
Determines the programs control mode. x may be replaced by the following values:
0 : no servo controller connected
1 : servo controller connected on COM1
2 : servo controller connected on COM2
3 : servo controller connected on COM3
4 : servo controller connected on COM4
If this line is missing or the value invalid, 0 is entered.
Language=
‘name’
Here the language is entered. ‘name’ stands for the name of the text file with the respective language (e.g.
DEUTSCH.LNG).IfthislineismissingorthenameinvalidthefilenameDEUTSCH.LNGisentered.
Beep=x
x=0 turns the beep off, x=1 turns it on.
3The special parameter
files of MD_SHELL
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ColorSet=x
The set colour pallete is=x. Permissible values for x are 0 to 5. If this line is missing or the value invalid,
0 is entered.
User menu=
‘name’
MD_SHELL gives you the option to create your own menu window, the so-called abridged menu,
containing selected parameters. If you want to create several such menus, enter the corresponding file
name instead of ‘name’. If the specified name does not exist or no name is entered, the MD_USER.MNU
file will be loaded as default file.
Desktop=
‘name’
This line identifies the name of the desktop file, which, for example, contains the colour settings for the
complete program. The default setting for ‘name’ is MD_WIN.DAT.
Address=x
Here the address for the active servo controller is entered. All windows, which are opened during program
operation, are assigned the address entered here. After program start a change of address can be effected
via menu option
“Connection/Amplifier address”. x is replaced by an address between 0 and 63. At the
end of the program the address of the unit last activated is entered here.
AutoConfig=x
This parameter indicates whether the autoconfiguration mode is switched on (x=1) or off (x=0). If x=1
the MD_SHELL.CFG file is loaded upon program start and the screen configuration saved in this file
displayed (please refer to section 4.5.4).
VioCols=x
Parameter x specifies the number of columns displayed on the screen. The only value accepted is 80!
VioRows=x
Parameter x specifies the number of lines displayed on the screen. You may enter 25 or 50 here (please
refer to section 4.4.5).
DTR=x
Parameter x specifies the type of connection between the PC and the supply module of the SERVO drive.
x=1 indicates an RS-232 connection, x=0 an RS-485 connection between the PC and the mains modules
of the drive. For further details please refer to sections 2.4 and 4.3.2.
MD_SCOPE=
‘path’
The parameter ‘path’
specifies in which directory on your hard disk you have installed the MD_SCOPE
program. Selecting menu option
“Environment/MD_SCOPE” (please refer to section 4.1.5) will take you
out of MD_SHELL and activate MD_SCOPE in the
‘path’ directory. If ‘path’ and/or MD_SCOPE do not
exist, MD_SHELL is exited as usual.
MD_POS=
‘path’
The parameter ‘path’ specifies in which directory the MD_POS program (programming interface for
API/APA positioning p.c.b. is located. Selecting menu option
“Environment/MD_POS” (please refer to
section 4.1.6) will take you out of MD_SHELL and call up MD_POS in the
‘path’ directory. If ‘path’ and/or
MD_POS do not exist, MD_SHELL is exited as usual.
3
The special parameter
files of MD_SHELL
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3.2 The MD_WIN.DAT file
This file contains all the program colour settings. If, e.g., you choose to change the programs blue
background colour, this change is saved in the MD_WIN.DAT file.
3.3 The MD_SHELL.CFG file
This file contains the screen configuration as saved. If the autoconfiguration feature is activated, the file
is read up on program start and the configuration saved displayed.
3.4 The MD_USER.MNU file
This file contains the set user menu, which is retained when you exit MD_SHELL.
3The special parameter
files of MD_SHELL
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4. The menu features
The following section deals with MD_SHELL’s different menu features. Each individual feature will be
discussed both in the way it works and the way it is presented on the screen. Some menu features allow
you to open a window. How you manipulate this window is explained under the heading “General
description”, which also describes the way the key fields work and the effect certain keys have. The
following characteristics are explained for each window:
1. Type: System window
2. Height –
3. Move X
4. Deactivate X
5. Edit contents –
6. Update –
7. Assign address –
An ‘x’ indicates that the window reviewed possesses that characteristic.
re. 1)
The window type (system or application window) determines the number of windows that can be opened.
MD_SHELL allows the user to open a maximum of 15 windows (10 application windows + 5 system
windows). The system windows are not identified by a window number in the lower left corner of the
window. Also, they are of a modal nature, i.e. they remain open until the user has taken a decision.
re. 2)
Indicates whether the window can be height adjusted using the mouse or via the keyboard. Windows that
have this attribute, are identified by a height adjust symbol in the lower right corner of the window.
re. 3)
Indicates whether a window can be moved using the mouse or via keyboard. Nearly all windows can be
moved.
re. 4)
Deactivating a window means activating another window by clicking the mouse button (or the F6 key).
The settings affected in these windows may therefore not be of prime importance for program control,
which generally only applies to application windows.
re. 5)
Windows with this characteristic give you the opportunity to enter text (e.g. file names) or figures (e.g.
parameter values) directly or to change set values in a different way (e.g. using cursor keys).
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The menu features
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re. 6)
Windows with this characteristic are continuously updated. Therefore the contents of these windows are
always up-to-date. This way process data of different drive units can be visualized on the screen at the
same time.
re. 7)
Windows showing the parameters of one unit are address related, i.e. each of these windows can be
assigned to any drive unit. The address is displayed in the upper left corner of the window. After starting
MD_SHELL the basic menu will come up on the screen with the following display
4The menu features
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4.1 Menu option “Environment”
This menu option includes the following features:
The first three menu items use the Copy feature to load, save or print a parameter file. In addition this
feature allows you to copy entire parameter files from a source medium to a target medium. As
source/target media the following parameter carriers are available:
CONTROLLER: Servo controller with certain unit address (0...59).
FILE: Parameter file with certain file name on diskette or hard disk.
LEFT: Left column of an editing window with a certain window number.
RIGHT: Right column of an editing window with a certain window number.
PRINTER: Can be specified as target medium to print out parameter files.
On selecting one of these menu items this Copy window will appear on your screen:
4The menu features
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After setting the desired parameters in the Copy window, press <RETURN> to start the copying. If all
copying requirements are met and the entries made correct, the program will start copying your file.
Another window will appear on your screen with a bar indicating the percentage of data already copied.
The Copy window is a modal window, i.e. apart from entries affecting the window itself, no other menus
or windows can be activated.
General description:
The Copy window has two columns, with two lines each. The first left line designates the source in a
general manner (FILE, CONTROLLER, LEFT, RIGHT), the second line specifies thesource (servo controller
address, file name, editing window number). The first right line designates the target in a general manner,
the second line specifies the target.
Type: System window
Height –
Move X
Deactivate –
Edit contents X
Update –
Assign address –
4 The menu features
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Key Button Action
Abort copying; close window
or double-click Start copying
Upper line: Select source/target
Lower line: Specify source/target
Move between lines
Move between columns
On-line Help
4.1.1 Menu item “Save parameter file”
Use this menu item if you wish to save a parameter file from a servo controller to a hard disk or diskette.
The Copy window will appear on your screen (see section 4.1) with the default entries “ CONTROLLER”
for the source medium and“FILE”forthetargetmedium.Theservocontrolleraddressentered bytheprogram
is that of the active controller window. If there is no such window, the servo controller address last selected
is entered. The file name suggested by the program is the file name last selected. Use the <TAB> key to move
the selection bar and then press the <RIGHT ARROW> key to change any of the four default entries. Press
<RETURN> to start the copying process.
4.1.2 Menu item “Load parameter file”
Use this menu item if you wish to load a parameter file from hard disk or diskette to a servo controller.
The following Copy window will appear on your screen (see section 4.1) with the default entries “FILE”
for the source medium and “ CONTROLLER” for the target medium. The servo controller address entered
by the program is that of the active controller window. If there is no such window, the servo controller
address last selected is entered. The file name suggested by the program is the file name last selected.
Use the <TAB> key to move the selection bar and then press the <RIGHT ARROW> key to change any of
the four default entries. You may, for instance, change the data source to “CONTROLLER” if you wish to
4
The menu features
ESC
F1
ESC
F1
()
()
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4.1.3 Menu item “Print parameter file”
Use this menu item if you wish to print out the parameters of a servo controller. The following Copy
window will appear on your screen (see section 4.1) with the default entries “CONTROLLER” for the
source medium and “PRINTER” for the target medium. The servo controller address entered by the
program is that of the active controller window. If there is no such window, the servo controller address
last selected is entered. The file name suggested by the program is the file name last selected. Use the
<TAB> key to move the selection bar and then press the <RIGHT ARROW> key to change any of the three
default entries.
You may further print your controller data to a file instead of sending them to a printer for printout. This
will allow you to view the parameter file with a text editor if you have no printer available. Just enter “File”
when prompted for the target medium and specify a file name to which to print the controller data.
To select a file name use the file selection window (see next section for detailed information).
4The menu features
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4.1.4 The menu item “Delete parameter file”
Upon activating the menu the following window appears:
The file select window consists of four separate input fields.
The uppermost field Name: is for entering the name of the file which to be deleted. The name is always
relative to the current directory, which is always displayed in the Path: field. This field can be edited if
selected with the mouse or by pressing the <RIGHT_ARROW> key.
In the next field down, Comment:, information regarding the selected file appears and can be edited. This
option has no effect when deleting a file. This field can be edited if selected with the mouse or by pressing
the <LEFT_ARROW> key.
The field to the lower left designated Files: lists all files in the current directory with the suffix .par.
By scrolling through the lines with the cursor keys a file can be selected for deletion from those listed.
The selected filename then also appears in the Name field above.
The field to the lower right designated Directories: displays the subdirectories of the current directory.
By selecting a line from those listed and pressing the <RETURN> key the contents of the selected
subdirectory are then displayed. To return to the previous directory select the root symbol .. and press
the <RETURN> key. To move between the Files: and Directories: fields, use the <TAB> key.
To switch between disks the desired drive designation can be entered in the Name:field or enter the drive
letter (i.e. A - D) directly.
Once the file to delete is selected, proceed by pressing the <RETURN> key. An input window then appears
in which the delete selection must be confirmed (<RETURN> key.) or cancelled <ESC> key.
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The menu features
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With the help of this menu it is possible to delete MC_SHELL generated parameter files!
General description:
Type: System window
Height –
Move X
Deactivate –
Edit contents X
Update –
Assign address –
Key Button Action
Close window
or double-click Delete selected file
File name, edit comment
Select file
Move between input boxes
On-line Help
4 The menu features
ESC
F1
ESC
F1
()
()
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4.1.5 Menu item “MD_SCOPE”
MD_SCOPE is a graphic user interface for the MOVIDYN®AC servo controller series, which enables
internal process values of the AC servo controllers system to be represented graphically. Activating this
menu item will take you out of MD_SHELL and - provided it is installed - call up the MD_SCOPE program.
To tell MD_SHELL where MD_SCOPE resides, you have to enter the path name in the MD_SHELL.INI file
prior to starting MD_SHELL (for details please refer to chapter 3.1).
4.1.6 Menu item “MD_POS”
MD_POS is a user interface used to program the optional positioning p.c.b (API/APA). For details on the
program’s installation and operation please refer to para. 4.1.5 above.
4.1.7 Menu item “End”
Selecting this menu item will end the program and take you back to the DOS command level.
Prior to returning to the DOS level, the program will do the following operations for you:
–Create a desktop file and save the information displayed in the window.
–Create a MNU file and save the set user menu.
–Update the INI file.
General description:
Type: System window
Height –
Move X
Deactivate –
Edit contents X
Update –
Assign address –
Key Button Action
End feature, close window
or double-click Carry out feature
Select desired option
4
The menu features
ESC ESC
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