SEW-Eurodrive MOVIDRIVE DRS11A User manual

10/262/97
T
MOVIDRIVE®
Drive Inverters
Manual
Synchronous Operation Type DRS11A
Edition 04/99
0919 3510 / 0599
UL
®
C
UL
®

2 MOVIDRIVE
®
Synchronous Operation DRS11A
Important Information
•Read this manual carefully before you start installation and commissioning work on
MOVIDRIVE®
drive inverters fitted with synchronous operation.
This manual assumes that the user has access to and is familiar with the documentation on
the MOVIDRIVE®
system, in particular the system manual.
•Safety notes:
Always follow the warning and safety notes contained in this manual!
Safety notes are marked as follows:
Electrical hazard, e.g. during live working.
Mechanical hazard, e.g. when working on hoists.
Important instructions for safe and fault-free operation of the driven machine/sys-
tem, e.g. pre-setting before commissioning.
• In this manual, cross references are marked with a →, e.g.:
(→MX_SCOPE) means: Please refer to the MX_SCOPE manual for detailed information or
information on how to carry out this instruction.
(→Sec. X.X) means: Further information can be found in section X.X of this manual.
• Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and
specifications.
A requirement of fault-free operation and fulfilment of any rights to claim under guarantee is
that this information is observed.
This manual contains important information about servicing work; for this reason, it should
be kept close by the unit.
• This supplementary information does not replace the detailed operating instructions!
• Only specialist electricians are permitted to install and commission this system; they must
observe the applicable accident prevention regulations and work in accordance with the
MOVIDRIVE®
operating instructions.

Contents
MOVIDRIVE
®
Synchronous Operation DRS11A
3
Page
1 Introduction ..............................................................................................4
1.1 Description ......................................................................................................................4
1.2 Block Diagram for Synchronous Operation......................................................................6
2 Project Planning ........................................................................................7
2.1 Sample Applications ........................................................................................................7
2.2 Project Planning Notes ....................................................................................................9
2.3 Synchronous Operation with Open-circuit Monitoring of the Encoder Connection ........10
2.4 Synchronous Start/Stop ................................................................................................10
2.5 Synchronous Operation with Sync. Encoder..................................................................12
3 Installation............................................................................................. 13
3.1 Installation Instructions .................................................................................................13
3.2 MOVIDRIVE®
Master - MOVIDRIVE® Slave Connection.................................................14
3.3 MOVITRAC®
31C Master - MOVIDRIVE® Slave Connection...........................................15
3.4 Incremental Encoder Master - MOVIDRIVE®
Slave Connection .....................................16
3.5 Functional Description of the "DRS11A Synchronous Operation Option" Terminals.......17
4 Startup.................................................................................................. 18
4.1 Introduction...................................................................................................................18
4.2 Summary of Startup Procedure .....................................................................................19
4.3 Preliminary Work...........................................................................................................20
4.4 Activating Synchronous Operation.................................................................................20
4.4.1 Testing the Encoder Signals...........................................................................20
4.4.2 Synchronous Operation of Both Drives when Dismounted.............................20
4.4.3 Setting the Synchronous Operation Parameters.............................................21
4.5 Testing Synchronous Operation with Mounted Drives...................................................21
4.6 Examples for the Calculation of P221 and P222 ............................................................22
4.6.1 Example 1.......................................................................................................22
4.6.2 Example 2, Synchronous Encoder Application ...............................................23
5 Parameters ............................................................................................ 24
5.1 Relationship between Parameter Values and Output Speed...........................................24
5.2 Signalling Functions ......................................................................................................24
5.3 Explanation of the Parameters .......................................................................................26
6 Fault Messages ....................................................................................... 32
7 Technical Data ........................................................................................ 33

4 MOVIDRIVE
®
Synchronous Operation DRS11A
1Introduction
1 Introduction
1.1 Description
The "synchronous operation" process permits a group of motors to be operated with synchronous
angular rotation or else with an adjustable proportional relation (electronic gear unit).
The master drive is the one which specifies the position. It can also be an incremental encoder. The
slave drive is the one which has to follow this position specification.
Synchronous operation is based on a constant comparison between the motor rotor angular posi-
tion of the master and that of the slave. The master and slave motors have to be equipped with
incremental encoders (DT/DV motors) or resolvers (DY motors) for this purpose. MOVIDRIVE®
with the synchronous operation card type DRS11A is used as the slave drive. The DRS11A option
can only be used with MOVIDRIVE®
types MDV and MDS; it cannot be used with MOVIDRIVE®
type MDF (due to the lack of encoder or resolver feedback!).
The DRS11A option is plugged into the OPTION1 or OPTION2 slot in accordance with the pre-
scribed option combinations ( →MOVIDRIVE®
operating instructions).
For synchronous operation of master and slave, it is necessary to equip the slave inverter with a
braking resistor. Depending on the drive a braking resistor may also be required for the master
inverter during regenerative operation.
Using the P221 and P222 parameters (master and slave gear factor), the master and slave pulses
counted are converted for the output side of the gear. They are a measure of the pulses counted
per unit of travel distance.
The system determines the difference in the distance information between the master and the slave
and stores this value in the form of incremental encoder signals in an internal difference counter.
Binary indications such as "DRS SLAVE IN POS", "LAG ERROR", etc. are set depending on this dif-
ference.
This counter is evaluated differently for the different operating modes (P223).
•In synchronous operation (X40:1 = "0", for all 1 – 8 modes), the internal difference counter is
used for correcting to anglular deviation ∆α = 0.
• A "1" signal on X40:1 causes synchronous operation to be switched off and free-running opera-
tion to become effective. Free-running operation means that the slave no longer receives its set-
point from the master but that the setpoint source set in P100 is effective. Master and slave do
not run in angular synchronization to each other. In mode 1, the difference counter is switched
off during free-running, the angular difference cannot be reduced to zero.
In modes 2-8, the angular difference arising during free-running operation is recorded and
processed according to the selected mode.
•Mode 2/4: The angular difference resulting from free-running operation is reduced to zero in
synchronous operation, the slave runs again with the previous position synchronously to the
master.
In mode 2, a "0" signal on terminal X40:1 switches free-running to synchronous operation. In
mode 4, free-running operation switches automatically to synchronous operation when the
angular difference has reached the value of "slave counter" P224.
•Mode 3/5/8: The angular difference resulting from free-running operation is not reduced to zero
during synchronous operation, but the value of "slave counter" P224 becomes the new reference
point of the slave to the master.
In mode 3, a "0" signal in terminal X40:1 switches from free-running operation to synchronous
operation. In mode 5, free-running operation automatically switches over to synchronous oper-
ation when the angular difference resulting from free-running operation reaches the value of
"slave counter" P224. In mode 8, a "0" signal on terminal X40: 1 also switches free-running oper-
ation to synchronous operation and the internal difference counter with the 1 →0 edge to X40:1
is additionally set to zero.

MOVIDRIVE
®
Synchronous Operation DRS11A 5
Introduction 1
•Mode 6/7: The angular difference resulting from free-running operation is reduced back down to
zero in synchronous operation. During synchronous operation (X40:1 = "0"), the internal differ-
ence counter is additionally used for correction to an adjustable offset angular deviation between
master and slave. A "1" signal on the binary inputs X40:2, X40:3 or X40:4 makes the offset val-
ues 1, 2 or 3 (P225, P226, or P227) effective. In mode 6, the offset value is effective as long as
the "1" signal is on X40:2, X40:3 or X40:4. A "0" signal reduces the angular difference (offset
value) back down to zero. In mode 7, the offset value also remains effective with a "0" signal. The
angular difference is not reduced back to zero (phase trimming). A permanent signal (t ≥3 s) on
X40:2, X40:3 or X40:4 causes a repetitive angular deviation.
The synchronous controller calculates the speed correction value for the slave drive to minimize
the angular difference between the master and slave. To do this, the current angular difference is
multiplied by parameter P220 (P-gain). The result is a correction value for the slave speed.
• Master and slave run synchronously, diff. value = 0 →correction value = 0
• Slave runs behind, angular difference > 0 →correction value > 0, slave accelerates
• Slave runs ahead, angular difference < 0 →correction value < 0, slave decelerates
To a large extent, the travel characteristics of the synchronous operation control are determined by
the magnitude of the P-gain P220.
• The system tends to oscillate if the current angular difference between the master and slave is
boosted too much.
• If the P-gain is set too low, it is not possible to reduce the angular difference in the transient sta-
tus (acceleration or deceleration).
A difference counter in the slave counts the pulse differential in respect of the master, i.e. the devi-
ation of the angular positions between the master and the slave.

6 MOVIDRIVE
®
Synchronous Operation DRS11A
1Introduction
1.2 Block Diagram for Synchronous Operation
01523AEN
Fig. 1: Block diagram for synchronous operation
Σ
+
-
Σ
∆Inc > P512 & t > P513
∆Inc < P514
∆Inc > P511 & t > P513
∆Inc < P510 & t > P515
P222 / P221
1
P221
SYNC
1
P232
P231
X43:
Incremental encoder
simulation
X14:
P230
Synchronous encoder
P230 = OFF or EQUAL
P230 = CHAIN
OFF
P230
Synchronous encoder
EQUAL or
CHAIN
OFF
EQUAL or
CHAIN
Counter
Master pulse
Master
encoder
X42:
P222
Slave gear factor
Counter
Slave pulse
Motor
encoder
slave X15:
Slave
Sync. encoder
X41:
P221
Master gear factor
P230
Synchronous encoder
Internal
difference counter
∆Inc
Angel deviation
in increments
P224
Slave counter
DRS set zero point
Binary
outputs
Differentiator
Speed pre-control
P controller
P220
P-gain (DRS)
Pre-warning
lag error
Lag error
Counter LED (green)
display
Speed
setpoint
Slave
Slave in
position
OFF = Slave within
position tolerance
P302
Maximum
speed 1

MOVIDRIVE
®
Synchronous Operation DRS11A 7
Project Planning 2
2 Project Planning
2.1 Sample Applications
1. Group configuration: Master and equal slaves e.g. multiple column hoist
01363AEN
Fig. 2: Group configuration
2. Master-slave chain: e.g. conveyor belts connected one after the other
01365AEN
Fig. 3: Master-slave chain
X14 X42 X43 X43
X15X15X15
X42
X15
X42
DRS11A DRS11A DRS11A
Master
speed n1
Slave 1
speed n2 Slave 2 speed n2
Slave 3
speed n2
Encoder
Encoder
Encoder
Encoder
X14 X42 X14 X14
X15X15X15
X42
X15
X42
DRS11A DRS11A DRS11A
Master 1
speed n1
Master 2
slave 1
speed n2
Master 3
slave 2
speed n3
Master 4
slave 3
speed n4
Encoder
Encoder
Encoder
Encoder

8 MOVIDRIVE
®
Synchronous Operation DRS11A
2Project Planning
3. Master-slave chain with external master incremental encoder:
01366AEN
Fig. 4: Master-slave chain with external master incremental encoder
4. Master-slave chain with additional sync. encoders:
01375AEN
Fig. 5: Master-slave chain with sync. encoder
X42 X14 X14
X15 X15 X15
X42 X42
DRS11A DRS11A DRS11A
Encoder
Encoder
Encoder
Master 1
speed n1
Master 2
slave 1
speed n2
Master 3
slave 2
speed n3
Master 4
slave 3
speed n4
Encoder
with external
voltage
supply
X14 X42
X41 X41 X41
X43 X43
X15X15X15
X42
X15
X42
DRS11A DRS11A DRS11A
Master 1
speed n1
Master 2
slave 1
speed n2
Master 3
slave 2
speed n3
Master 4
slave 3
speed n4
Encoder
Encoder
Encoder
Encoder
Sync.
encoder
slave 1
Sync.
encoder
slave 2
Sync.
encoder
slave 3

MOVIDRIVE
®
Synchronous Operation DRS11A 9
Project Planning 2
2.2 Project Planning Notes
• Do not use synchronous operation on systems with a rigid mechanical connection.
• Ensure that the slave inverter is equipped with a braking resistor.
• When planning the synchronous operation application, note that the slave has to be able to
reduce the angle differential in respect of the master to zero at any time. Consequently, set the
maximum speed (P302) of the slave to a higher value than the maximum speed of the master.
With AC squirrel-cage asynchronous motors, the full motor torque is no longer available in the
field weakening range if the maximum speed is set to a higher value than the nominal speed of
the motor. This can give rise to lag errors (F42) in special master-slave combinations.
Furthermore, the progressive synchronisation can take place at maximum possible acceleration
or along a variable ramp (P24_ "Synchronous operation with catch-up") during the transition
from free-running operation to synchronous operation.
• Always operate synchronous operation with open-circuit monitoring (→Sec. 2.3).
• If possible, always use the same types of drive for synchronous operation.
• Always use the same motors and the same gear units for multiple-column hoists.
• If drives of the same type are working in a synchronised arrangement (e.g. multiple-column
hoist), the drive with the highest load share during operation should be selected as the master.
• In a group configuration (1 master and x equal slaves), it is possible to connect up to 5 slave
inverters to one master binary output.
• Slave reaction to power off/power on if the master remains on-circuit:
If the master is stationary when the power supply system is switched on and the power to the
slave is switched off and on again, the slave is in the operational status "NO ENABLE".
If the master is moving when the power system is switched on and the power to the slave is
switched off, the master enters fault mode "EXTERNAL TERMINAL" (F26 with MOVIDRIVE®
or
F27 with MOVITRAC®
31C). If the power to the slave is switched back on, the slave may enter
fault mode "LAG ERROR" (F42) depending on the set lag error limit (P512).
• Connection of motor encoder to X15 →MOVIDRIVE®
Operating Instructions
For MDV: Number of pulses of X14 is identical to the motor encoder on X15.
For MDS: Number of pulses of X14 is always 1024 pulses per revolution.
• The following encoders with RS-422 signal characteristics are possible on X41 and X42:
- RS-422, 5V-TTL, tracks A, A, B, B, C, C;
- Maximum permitted input frequency of the resolver inputs is 200 kHz;
• If synchronous encoders are used the travel ratios (incr./mm) of the motor encoder and the syn-
chronous encoder should be in the range of 0.1 ... 10.
• Mount synchronous encoder positive-locked (= slip-free) onto the driven machine part.
• The master is the external incremental encoder: use an incremental encoder with the highest
possible resolution, however a maximum of 200 kHz.
• Parameter Change direction of rotation 1 (P350):
When the synchronous operation control is active, the parameter setting must be P350 = NO. If
the master and slave are to operate in opposite directions, then the connection order of the A/A
and B/B encoder tracks on the X14 master output and the X42 slave input must be swapped over
in each pair (→Fig. 8).

10 MOVIDRIVE
®
Synchronous Operation DRS11A
2Project Planning
2.3 Synchronous Operation with Open-circuit Monitoring of the Encoder Connection
Fault-free transmission of the incremental encoder signals is necessary to guarantee permanent
synchronous operation of the master and slave drive. To do this, open-circuit monitoring of the
connection from master X14 (incremental encoder simulation) to slave X42 (master encoder input)
is necessary. The functions of "MOTOR STANDSTILL" and "DRS MASTER STOPPED" as well as "/
EXT. FAULT" and "/FAULT" are available for this purpose.
The only occasion when no encoder pulses are transmitted to the slave are when the master is at a
standstill. Consequently, the slave is informed of this status by means of a binary connection.
However, if the master signals no standstill and the slave counts no encoder pulses, this indicates
an open circuit or a defect in the master encoder. The slave then switches off and signals its sta-
tus to the master by means of an additional connection.
Required connections (→Sec. 3.2, Fig. 9):
• Program the binary output of the master to the "MOTOR STANDSTILL" function. This output is
connected to a binary input on the slave which is programmed to the "DRS MASTER STOPPED"
function.
• Program the binary input of the master to the "/EXT. FAULT" function. This input is connected to
a binary output on the slave which is programmed to the "/FAULT" function.
2.4 Synchronous Start/Stop
The following mixed operation is possible with MOVIDRIVE®
synchronous operation.
• The dynamic characteristics of the master are less than or equal to the slave.
• The master is an incremental encoder.
In both areas of application, it must be possible to start/stop the master and slave(s) synchro-
nously. In the case of hoist applications, for example, this is the precondition for correct oper-
ation. Combinations in which the master is more dynamic than the slave are, therefore, not
permissible.
The master is an incremental encoder:
• Brake function OFF:
No controller inhibit (DIØØ "/CONTROLLER INHIBIT" = "1") and no ENABLE (DIØ3 = "0")
→Slave stopped subject to speed control at speed 0;
No controller inhibit (DIØØ "/CONTROLLER INHIBIT" = "1") and ENABLE (DIØ3 = "1")
→Slave synchronises on the master.
• Brake function ON:
If the master and slave are both at speed 0, the slave brake is activated.
Mixed mode Master Slave
The dynamic characteristics of the
master are less than or equal to the
slave
MC31, MDV, MDS MDS
MC31, MDV MDV
The master is an incremental encoder Incremental encoder MDV, MDS

MOVIDRIVE
®
Synchronous Operation DRS11A 11
Project Planning 2
The following table clarifies the settings and/or wire connections in the aforementioned master/
slave combinations with regard to synchronous starting/stopping and active open-circuit monitor-
ing master/slave:
Important:
The "DRS SLAVE START" slave terminal must always be programmed and wired up as well when
the brake function is switched on. This also applies if the master is only an incremental encoder, in
which case an external control has to specify the "DRS SLAVE START" signal.
The position is maintained subject to position control when the brake function is switched off and
the "DRS SLAVE START" signal is withdrawn or if the stop range (P510) is entered.
Master Slave Master parameters Slave parameters Remarks
MC31
MDV:
VFC+nREG
or CFC
Open-circuit monitoring:
FEA terminal (e.g. X8.63)
= "ROTATING FIELD OFF"
Synchronous start/stop:
X3.62 = "ROTATING FIELD ON"
Open-circuit monitoring:
DI terminal = "DRS MASTER
STOPPED"
Synchronous start/stop:
DI terminal = "DRS SLAVE START"
Brake function "ON"
Master: Incremental
enc.
+ FEN required, FEA
required for open-circuit
monitoring
Slave:
permanent enable
MDV:
(→Fig. 9,
➀)MDV
Open-circuit monitoring:
DOØ1 = "MOTOR STAND-
STILL"
Synchronous start/stop:
DOØ2 = "OUTPUT STAGE
ENABLE"
Brake function "ON"
Open-circuit monitoring:
DI terminal = "DRS MASTER
STOPPED"
Synchronous start/stop:
DI terminal = "DRS SLAVE START"
Brake function "ON"
Slave:
permanent enable
Binary output DOØ2 on
master no longer availa-
ble
MDV:
(→Fig. 9,
➁)
MDS
Open-circuit monitoring:
DOØ1 = "MOTOR STAND-
STILL"
Synchronous start/stop:
DBØØ "BRAKE"
Brake function "ON"
Open-circuit monitoring:
DI terminal = "DRS MASTER
STOPPED"
Synchronous start/stop:
DI terminal = "DRS SLAVE START"
Brake function "ON"
Slave:
permanent enable
Binary output DOØ2 on
master still available
MDS MDS
Open-circuit monitoring:
DOØ1 = "MOTOR STAND-
STILL"
Synchronous start/stop:
DBØØ "BRAKE"
Brake function "ON"
Open-circuit monitoring:
DI terminal = "DRS MASTER
STOPPED"
Synchronous start/stop:
DI terminal = "DRS SLAVE START"
Brake function "ON"
Slave:
permanent enable
Binary output DOØ2 on
master still available

12 MOVIDRIVE
®
Synchronous Operation DRS11A
2Project Planning
2.5 Synchronous Operation with Sync. Encoder
In all applications involving friction-locked power transmission between the motor shaft and the
machine, in which case slip is to be expected, it is necessary for position measurement to take
place using an additional incremental encoder. This incremental encoder is mounted in a positive-
locked connection to the driven machine part (it is fitted to a section of the machine) and is
referred to as a sync. encoder below. It is required in order to register the current position of the
slave (G3). Furthermore, the encoder mounted on the motor shaft is required in order to register
the current speed (G2) of the drive.
The higher the encoder position resolution (the number of pulses counted per travel distance unit)
• the more accurately the slave can follow the master,
• the more rigidly the synchronous operation control can be set (larger P-factor),
• the smaller the angle deviation during acceleration and deceleration.
Due to the calculation accuracy of the synchronous encoder, the travel resolution ratios (incr./mm)
of the motor encoders and the synchronous encoders should, however, lie in the range of 0.1...10.
If the ratio lies outside this range, then it may be possible in many cases to achieve a more favora-
ble ratio with a different encoder.
01390AEN
Fig. 6: Synchronous operation with sync. encoder, equal or chain
Setting the master/slave gear factor: →Sec. 4.4.3
Setting the slave encoder / slave sync. encoder factor: It is possible to have a mechanical ratio
between the incremental encoder for picking up the motor speed (G2) and the incremental encoder
for position measurement (G3). This ratio is set using P231 (slave resolver factor) / P232 (slave
sync. encoder factor).
• Equal:
The sync. encoder master signal on X42 is passed on to other slaves via X43. All the slaves,
therefore, receive the identical master encoder signal.
•Chain:
The corresponding sync. encoder slave signal on X41 is passed on to the next slaves in each
case via X43. The sync. encoder signal, therefore, becomes the master encoder signal of the fol-
lowing slave.
MOVIDRIVE
Slave
®
X15
M
G2
X41
X42
X43
G1
Motor encoder
Master encoder
X42 (next slave)
gear ratio i
Sync. encoder

MOVIDRIVE
®
Synchronous Operation DRS11A 13
Installation 3
3 Installation
3.1 Installation Instructions
• The maximum permitted cable lengths are:
- Between the master inverter and the slave inverters: 10 m
- Between the inverters and the corresponding incremental encoders (MDV) / resolvers (MDS): 100 m
• Connection cables of the incremental encoders (motor and sync. encoder) and all cables "incre-
mental encoder simulation", "input master encoder" and "output incremental encoder":
Use shielded cables with twisted conductor pairs (A and A, B and B, C and C)
(wiring of incremental encoder/resolver →MOVIDRIVE®
operating instructions).
• Enable instruction on slave inverter for synchronous operation mode:
DIØØ (X13:1) = "1" (/controller inhibit), DIØ3 (X13:4) = "1" (enable) and
DIØ1 (X13:2) = "1" (right) or DIØ2 (X13:3) = "1" (left).
Important: The sense of rotation of the slave is determined by the sense of rotation information
in the setpoint pulses from the master to the slave in synchronous mode.
• If the master and slave drives have to operate with the same sense of rotation:
CW rotation of master = CW rotation of slave; the connection sequence on the "Incremental
encoder simulation" master output and the "Master encoder" slave input is identical.
01392AEN
* In version 13 and higher, terminals X42:4-X42:5 are jumpered in the factory, jumper X14:4-X14:5 is then no longer required.
Fig. 7: Master-slave connection with the same sense of rotation
• If the master and slave have to operate with opposing senses of rotation (e.g. drive shafts of
geared motors with the same number of gear stages are facing one another):
Swap over the connection sequence of the tracks A/A and B/B in pairs on the "Incremental enco-
der simulation" master output and the "Master resolver" slave input.
01393AEN
* In version 13 and higher, terminals X42:4-X42:5 are jumpered in the factory, jumper X14:4-X14:5 is then no longer required.
Fig. 8: Master-slave connection with opposing senses of rotation
• On version 13 of the DRS11A synchronous operation option and higher, terminals X41:4-X41:5
and X42:4-X42:5 are jumpered in the factory. In this case, the master-slave connection over
X14-X42 can be implemented with a 9-poled cable without any further measures. SEW offers a
prefabricated cable for this connection. Up to and including Version 12, the customer must jum-
per the X14:4-X14:5 terminals.
A
B
C
⊥
⊥
A
B
C
A
B
C
⊥
A
B
C
1
5
6
9
5
1
9
6
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
**
MOVIDRIVE slave X42 (DRS11A)
®
MOVIDRIVE master X14 (control pcb)
®
A
B
C
⊥
⊥
A
B
C
A
B
C
⊥
A
B
C
1
5
6
9
5
1
9
6
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
**
MOVIDRIVE slave X42 (DRS11A)
®
MOVIDRIVE master X14 (control pcb)
®

14 MOVIDRIVE
®
Synchronous Operation DRS11A
3Installation
3.2 MOVIDRIVE® Master - MOVIDRIVE® Slave Connection
01369AEN
Fig. 9: MOVIDRIVE
®
master - MOVIDRIVE
®
slave connection
X14:
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
X10:TF1
DGND
DBØØ
DOØ1-C
DOØ1-NO
DOØ1-NC
DOØ2
VO24
VI24
DGND
1
2
3
4
5
6
7
8
9
10
X14:
X15:
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
X10:
TF1
DGND
DBØØ
DOØ1-C
DOØ1-NO
DOØ1-NC
DOØ2
VO24
VI24
DGND
1
2
3
4
5
6
7
8
9
10
DRS X40:
1
2
3
4
5
6
7
8
9
10
11
SYNC OFF
X15:
1
5
5
1
6
9
9
6
1
5
6
9
1
5
5
1
6
9
9
6
1
5
6
9
5
1
9
6
1
1
2
2
*
*
*
*On Version 13 of the DRS11A synchronous operation option
and higher, terminals X41:4 -X14:5 and X42:4 -X42:5 are
jumpered in the factory. In this case, the master-slave connection
over X14-X42 can be implemented with a 9-poled cable without
any further measures. Up to and including Version 12,
the customer must jumper the X14:4-X14:5 terminals.
X43:
Output
incremental encoder
Motor standstill
NO contact
NC contact
X42:
Input
master encoder
Synchronous start/stop with
MDV as slave
Synchronous start/stop with
MDS as slave
TF/TH input
Ref. pot. for bin. signals
/Brake
Output stage enable
+24V output
+24V input
Ref. pot. for bin. signals
INPØ; free-running operation
INP1; offset 1
INP2; offset 2
INP3; offset 3
INP4; IPOS variable H477.0
INP5; IPOS variable H477.1
DCOM; reference X40:INPØ...INP5
VO24; 100 mA
OUTØ; 50 mA; IPOS variable H476.0
OUT1; 50 mA; IPOS variable H476.1
DGND
plus
plus
plus
plus
X41:
Input
sync. encoder
Master encoder:
incremental encoder (MDV)
or resolver (MDS)
TF/TH input
Ref. potential for binary signals
/BrakeCommon relay contact /Ready for
NO contact operation*
NC contact
/Fault*
+24V output
+24V input
Ref. potential for binary signals
* Factory settings
Incremental encoder
simulation
MOVIDRIVE master
®
/Controller inhibit
CW/stop*
CCW/stop*
Enable/rapid stop*
DRS MASTER STOPPED
DRS SLAVE START
Reference X13:DIØØ...DIØ5
+24V output
Ref. potential for binary signals
RS-485+
RS-485-
/Controller inhibit
CW/stop*
CCW/stop*
Enable/rapid stop*
n11/n21*
/Ext. fault
Ref. X13:DIØØ...DIØ5
+24V
Ref. pot. for bin. signals
RS-485+
RS-485-
MOVIDRIVE slave
®
* Factory settings
Motor encoder:
incremental encoder (MDV) or resolver (MDS)
(Conn. Operating instructions MOVIDRIVE )→®
Incremental encoder
simulation
Open-circuit monitoring

MOVIDRIVE
®
Synchronous Operation DRS11A 15
Installation 3
3.3 MOVITRAC® 31C Master - MOVIDRIVE® Slave Connection
01511AEN
Fig. 10: MOVITRAC
®
31C master - MOVIDRIVE
®
slave connection
X3:
X5:
42
43
47
60
30
61
62
81
82
83
84
85
86
87
X6:
X8:
88
89
90
91
92
93
94
95
96
97
48
49
50
51
60
30
63
64
67
68
X14:
X15:
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
A
B
C
0V10
A
B
C
X10:
TF1
DGND
DBØØ
DOØ1-C
DOØ1-NO
DOØ1-NC
DOØ2
VO24
VI24
DGND
1
2
3
4
5
6
7
8
9
10
DRS X40:
1
2
3
4
5
6
7
8
9
10
11
SYNC OFF
1
5
6
9
1
5
6
9
1
5
6
9
FEA31
FEN31
5
1
9
6
5
1
9
6
A
B
C
5V (encoder)
5V (sensor)
GND (sensor)
GND (encoder)
A
B
C
* Factory settings
Master encoder
MOVITRAC 31C master
®
CCW/stop*
Enable/rapid stop*
/Ext. fault
Reference 41-47
0V24
Brake
ROTATING FIELD ON
n11(n13)*
n12(n13)*
Parameter set 1/2*
Reset*
Reference 48-51
0V24
ROT. FIELD OFF
Iref*
RS-485+
RS-485-
Synchronous
start/stop
X43:
Output
incremental encoder
X42:
Input
master encoder
INPØ; free-running operation
INP1; offset 1
INP2; offset 2
INP3; offset 3
INP4; IPOS variable H477.0
INP5; IPOS variable H477.1
DCOM; reference X40:INPØ...INP5
VO24; 100 mA
OUTØ; 50 mA; IPOS variable H476.0
OUT1; 50 mA; IPOS variable H476.1
DGND
plus
plus
plus
plus
X41:
Input
sync. encoder
TF/TH input
Ref. potential for binary signals
/BrakeCommon relay contact /Ready for
NO contact operation*
NC contact
/Fault*
+24V output
+24V input
Ref. potential for binary signals
/Controller inhibit
CW/stop*
CCW/stop*
Enable/rapid stop*
DRS MASTER STOPPED
DRS SLAVE START
Reference X13:DIØØ...DIØ5
+24V output
Ref. potential for binary signals
RS-485+
RS-485-
MOVIDRIVE slave
®
* Factory settings
Motor encoder:
incremental encoder (MDV) or resolver (MDS)
(Conn. Operating instructions MOVIDRIVE )→®
Incremental encoder
simulation
Open-circuit monitoring

16 MOVIDRIVE
®
Synchronous Operation DRS11A
3Installation
3.4 Incremental Encoder Master - MOVIDRIVE® Slave Connection
01512AEN
Fig. 11: Incremental encoder master - MOVIDRIVE
®
slave connection
X14:
X15:
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
X10:
TF1
DGND
DBØØ
DOØ1-C
DOØ1-NO
DOØ1-NC
DOØ2
VO24
VI24
DGND
1
2
3
4
5
6
7
8
9
10
DRS X40:
1
2
3
4
5
6
7
8
9
10
11
SYNC OFF
1
5
6
9
1
5
6
9
1
5
6
9
1
5
6
9
DWI11A
Encoder MOVIDRIVE
1:1
5
1
9
6
5
1
9
6
( Operating instructions
MOVIDRIVE )
→®
Incremental encoder
with 24 V supply
DC
Incremental encoder
with 5 V supply
DC
X43:
Output
incremental encoder
X42:
Input
master encoder
INPØ; free-running operation
INP1; offset 1
INP2; offset 2
INP3; offset 3
INP4; IPOS variable H477.0
INP5; IPOS variable H477.1
DCOM; reference X40:INPØ...INP5
VO24; 100 mA
OUTØ; 50 mA; IPOS variable H476.0
OUT1; 50 mA; IPOS variable H476.1
DGND
plus
plus
plus
plus
X41:
Input
sync. encoder
TF/TH input
Ref. potential for binary signals
/BrakeCommon relay contact /Ready for
NO contact operation*
NC contact
/Fault*
+24V output
+24V input
Ref. potential for binary signals
/Controller inhibit
CW/stop*
CCW/stop*
Enable/rapid stop*
DRS MASTER STOPPED
DRS SLAVE START
Reference X13:DIØØ...DIØ5
+24V output
Ref. potential for binary signals
RS-485+
RS-485-
MOVIDRIVE slave
®
* Factory settings
Motor encoder:
incremental encoder (MDV) or resolver (MDS)
(Conn. Operating instructions MOVIDRIVE )→®
Incremental encoder
simulation

MOVIDRIVE
®
Synchronous Operation DRS11A 17
Installation 3
3.5 Functional Description of the "DRS11A Synchronous Operation Option" Terminals
* On Version 13 of the DRS11A synchronous operation option and higher, terminals X41:4 -X14:5 and X42:4 -X42:5
are jumpered in the factory.
IMPORTANT:
The INØ ... IN3 binary inputs and OUT ...OUT3 binary outputs are fixed assigned to the above
functions and cannot be programmed.
Terminal Function
X40: 1 INØ: Free-running operation "0" signal = synchronous operation
"1" signal = free-running operation
2 IN1: Offset 1 "0" signal = no Offset, with "1" signal on IN1, IN2 or IN3 the
offset 1, 2 or 3 (P225, P226 or P227 becomes effective. The
offset values cannot be mixed. When IN1, IN2 and IN3 simul-
taneously receive a "1" signal, then IN1 is effective.
3 IN2: Offset 2
4IN3: Offset 3
5 IN4: IPOSplus variable H477.0 The signal level of IN4 and IN5 can be read with the IPOSplus
H477 variables.
6 IN5: IPOSplus variable H477.1
7 DCOM Reference potential for X40:1...X40:6
8 VO24 Voltage output +24 V, max. 100 mA
9 OUTØ: IPOSplus variable H478.0 The signal level of OUTØ and OUT1 can be read and set with
the IPOSplus H477 variables.
10 OUT1: IPOSplus variable H478.1
11 DGND Reference potential for binary signals
X41:/X42: 1 Signal track A Incremental encoder input sync. encoder (X41:)
or master encoder (X42:)
Use only a 5 V.TTL encoder with RS-422 signal character-
istics. Encoders with 24VDC voltage supply can be directly
supplied over X41:9 or X42:9. For encoders with 5 VDC sup-
ply, the "DWI11A 5V encoder supply option" must be con-
nected bewteen the X41/X42 and the encoder.
The track sequence A →B means CW motor rotation looking
onto the end of the motor output shaft i.e. A is ahead of B.
2 Signal track B
3 Signal track C
4 Reference potential DGND*
5 Reference potential DGND
6 Signal track A
7 Signal track B
8 Signal track C
9 VO24 24 V power supply for resolver, max. 180 mA
X43: 1 Signal track A
Incremental encoder output
When P230 "sync. encoder = OFF" or "EQUAL RANKING" then
pulse no. as on encoder connection X42.
Where P230 "sync. encoder = CHAIN", then
pulse no. as on encoder connection X41.
2 Signal track B
3 Signal track C
4N.C.
5 Reference potential DGND
6 Signal track A
7 Signal track B
8 Signal track C
9N.C. -

18 MOVIDRIVE
®
Synchronous Operation DRS11A
4Startup
4 Startup
4.1 Introduction
The following example describes the startup procedure for the synchronous operation of a two-col-
umn hoist.
Both drives are fitted with identical gear units with the identical ratio. The rated power values of
the motor and the inverters are identical. In both drives, CW rotation of the motor means an
upward movement of the hoist. This means that the prefabricated Master-Slave cable from SEW
(part no. 814 344 7) can be used for the Master X14 - Slave X42 connection.
01513AN
Fig. 12: Two-column hoist
Master drive: AC asynchronous motor with mounted incremental encoder type EV1R and brake
Master inverter: MOVIDRIVE®
MDV60A; VFC-n-CTRL (CFC) operating mode
No option card
Slave drive: AC asynchronous motor with mounted incremental encoder type EV1R and brake
Slave inverter: MOVIDRIVE®
MDV60A; VFC-n-CTRL&SYNC (CFC&SYNC)
With synchronous operation card type DRS11A option
IMPORTANT:
If a MOVIDRIVE®
MDS60A with permanent-field synchronous motor (DFY motor) is used instead
of a MOVIDRIVE®
MDV60A with AC asynchronous motor (D/DT/DV or CT/CV motor), the operating
mode SERVO is set on the master, and SERVO&SYNC on the slave. Otherwise, the startup proce-
dure is the same as for the MOVIDRIVE®
MDV.
Master Slave
Incremental encoder

MOVIDRIVE
®
Synchronous Operation DRS11A 19
Startup 4
4.2 Summary of Startup Procedure
The following diagram shows the procedure:
02180AEN
Fig. 13: Structure of startup
→Sec. 4.3
→Sec. 4.4.1
→Sec. 4.4.2
→Sec. 4.4.3
→Sec. 4.5
Testing the Encoder Signals
- Cancel angle of deviation between master and slave with "DRS SET ZEROPOINT".
- Set operating mode P700 on the slave to synchronous operation.
In MDV: VFC-n-CTRL.&SYNC or CFC&SYNC.
In MDS: SERVO&SYNC.
- Block slave (/CONTROLLER INHIBIT DIØØ = "0") and turn master.
- SYNC LED (green) should light up. If not, check the encoder connection of master and slave.
Synchronous Operation of Master and Slave
- Cancel angle of deviation between master and slave with "DRS SET ZEROPOINT".
- Enable slave and start master drive. The slave follows the master.
Setting the Synchronous Operation Parameters
- Set master gear ratio factor (P221) and slave gear ratio factor (P222) according to the gear
unit ratios.
Synchronous Operation of Master and Slave in Mounted Drives
- Mount and align drives.
- Cancel angle of deviation between master and slave with "DRS SET ZEROPOINT".
- Enable drives.
- Check wether the angle of deviation is within the permissible range during acceleration
( MX_SCOPE or green SYNC LED).
- Optimize P-gain (P220).
→
Preliminary Work
Disconnect drives from machine!
- Check wiring, terminal assignments and safety cut-outs.
-
- Carry out speed controlled start up of master and slave separately.
- Program binary inputs and outputs according to application.
- Activate master and slave and test speed-control operation.

20 MOVIDRIVE
®
Synchronous Operation DRS11A
4Startup
4.3 Preliminary Work
Make sure that
• the wiring,
• the terminal assignments
• and the safety cut-outs
have been implemented correctly in accordance with the application.
Disconnect the drives from the machine so both drives can be mechanically operated independ-
ently of one another. This prevents the system being damaged due to unexpected movements
during the startup of the synchronous operation.
• Start up the master and slave drive separately in accordance with the information given in the
MOVIDRIVE®
manual in VFC-n CONTROL or CFC mode (→P700).
• Program the terminal wiring of the master and slave in accordance with your application.
• Activate and test the speed-controlled operation of both drives.
4.4 Activating Synchronous Operation
4.4.1 Testing the Encoder Signals
• Cancel any angle deviation which may be present (green SYNC LED is lit up) between the master
and slave:
- Program a binary input of the slave inverter to the "Set DRS zero point" function. The signal is
"1" active.
- Switch this binary input "0"→"1"→"0", the green SYNC LED goes out.
• Activate the synchronous operation control of the slaves by setting the operating mode (P700)
to VFC&SYNC or CFC&SYNC. Initially leave all parameters of the synchronous operation control-
ler at their factory settings.
•Blocktheslave using DI00 = "0" (controller inhibit).
• Move the master drive only and observe the green SYNC LED on the DRS11A at the same time.
The LED must come on after the master has moved a short distance.
Check the resolver connection between the master and the slave if the green LED does not light
up. In this case, the slave does not recieve any travel information from the master.
4.4.2 Synchronous Operation of Both Drives when Dismounted
• Cancel the angle deviation (green SYNC LED is lit up) between the master and slave:
- Program a binary input of the slave inverter to the "Set DRS zero point" function. The signal is
"1" active.
- Switch this binary input "0"→"1"→"0", the green SYNC LED goes out.
• The slave can then be enabled by means of:
- DIØØ = 1 (no controller inhibit)
- DIØ1 = 1 (CW rotation)
- DIØ3 = 1 (enable)
- X40.1 = 0 (no free-running operation)
• Now set the master in motion and the slave drive follows.