SEW-Eurodrive MOVIDYN User manual

16/042/95
0922 761X / 0496
MOVIDYN®
Servo Controller
Fieldbus Unit Profile
User Manual
Edition 04/96

Important Notes
●Read this user manual carefully before you start installation and commissioning work on
MOVITRAC®servo controllers with fieldbus options.
This user manual assumes that the user is familiar with and has at his disposal all relevant
documentation on the system, particularly the MOVIDYN®Installation and Operating Instructions.
●Safety notes:
Always follow the safety notes contained in this user manual.
Safety notes are marked as follows:
Electrical hazard, e.g. when working with live voltage.
Mechanical hazard, e.g. when working on hoists
Important instructions for the safe and fault-free operation of the system, e.g.
pre-setting before commissioning.
Failure to follow these instructions may result in injury to people and damage to
property.
●General safety notes for bus systems:
The fieldbus option gives you a communications system, which allows you to match the
MOVIDYN®drive system to the specifics of your application to a very high degree. As with all bus
systems there is, however, the risk of parameters being changed, which will not show outside
(i.e. the servo controller) but affect the behaviour of the servo controller. This may result in
unexpected (though not uncontrolled) system behaviour.
●In these instructions, cross-references are marked with a →, e.g.,
(→MC_SHELL) means: Please refer to the MC_SHELL User Manual for detailed information or
information on how to carry out this instruction.
(→section x.x) means: Further information can be found in section x.x of this user manual.
●Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and
specifications.
The manufacturer reserves the right to make changes to the technical data and designs as well
as the user interface herein described, which are in the interest of technical progress.
A requirement for fault-free operation and fulfilment of any rights to claim under guarantee is that
these instructions and notes are followed.
These instructions contain important information for servicing, they should therefore be kept near
the unit.
Important notes
2 MOVIDYN
®
Fieldbus Unit Profile

Fieldbus Documentation
This Fieldbus Unit Profile User Manual describes the operation of the MOVIDYN®51.. servo
controller when connected to a higher-level automation system via a fieldbus option pcb. In addition
to descriptions of all the fieldbus parameters, the various control concepts and potential applications
are dealt with. The application examples are described both in graphic form as well as in Simatic-S5
syntax. These application examples can be used with almost all fieldbus option pcbs that fit the
MOVIDYN®51.. servo controller.
In addition to this
Fieldbus Unit Profile User Manual , the following more detailed documentation on
fieldbuses is also necessary in order to enable the MOVIDYN®51.. to be connected simply and
efficiently to the fieldbus system (e.g. PROFIBUS-DP, PROFIBUS-FMS, INTERBUS-S, CAN etc.):
- Corresponding fieldbus option pcb user manual
- PROFIBUS-DP/FMS (AFP 11A option)
- INTERBUS-S (AFI 11A option)
- CAN (AFC 11A option)
- MOVIDYN®51.. Parameter List
The
AFP 11A PROFIBUS Option User Manual describes the installation and commissioning of the
AFP 11A PROFIBUS option pcb and gives further examples of applications specifically for setting the
servo controller parameters via PROFIBUS-DP and PROFIBUS-FMS.
The
AFI 11A INTERBUS-S Option User Manual describes the installation and commissioning of the
AFI 11A INTERBUS-S option pcb and gives further examples of applications specifically for setting
the servo controller parameters via INTERBUS-S.
The
AFC11A “CAN-bus” Option User Manual describes the installation and commissioning of the
AFC11A option pcb and gives further examples of commissioning for connecting the servo controller
to the CAN bus.
The
MOVIDYN
®
51.. Parameter List contains a list of all the servo controller’s parameters that can
be read or written via the various communication interfaces such as the RS-232, RS-485 and via the
fieldbus interface.
Fieldbus Documentation
MOVIDYN
®
Fieldbus Unit Profile 3

Contents
1 Introduction ................................................................ 7
2 Overview of Functions........................................................ 8
3 Process Data Control........................................................ 10
3.1 Commissioning the Servo Controller ........................................ 10
3.2 Process Data Configuration ............................................... 12
3.3 Process Data Description................................................. 13
3.3.1 Setpoint Description for the PO Data ................................. 13
3.3.1.1 No Function (NO FUNCTION) ............................... 14
3.3.1.2 Speed Setpoint (SPEED) ................................... 14
3.3.1.3 Current Setpoint (CURRENT) ............................... 15
3.3.1.4 Position Setpoint (POSITION LO/HI).......................... 15
3.3.1.5 Speed Limit (MAX. SPEED) ................................. 16
3.3.1.6 Current Limit (MAX. CURRENT) ............................. 16
3.3.1.7 Slip Compensation (SLIP) .................................. 16
3.3.1.8 Process Ramp (RAMP) .................................... 16
3.3.1.9 Control Word 1 / Control Word 2 ............................ 17
3.3.1.10 Factory Setting for the PO1-PO3 Setpoint Description ............ 17
3.3.2 PO Data Processing in the Servo Controller ............................ 17
3.3.2.1 No Speed Setpoint Entry from the Fieldbus System .............. 18
3.3.2.2 No Control Word Entry from the Fieldbus ...................... 18
3.3.2.3 Duplicate Usage of the Process Output Data Channel............. 18
3.3.2.4 Simultaneous Transmission of Control Word 1 and Control Word 2 . 18
3.3.2.5 32-Bit Process Output Data................................. 19
3.3.3 Actual Value Description for the PI Data ............................... 19
3.3.3.1 No Function ............................................. 19
3.3.3.2 Speed Actual Value (SPEED) ................................ 20
3.3.3.3 Apparent Current Actual Value (APPARENT CURRENT)........... 20
3.3.3.4 Active Current Actual Value (ACTIVE CURRENT) ................ 20
3.3.3.5 Actual Position (POSITION LO/HI) ........................... 20
3.3.3.6 Status Word 1 / Status Word 2 .............................. 20
3.3.3.7 Factory Setting of the PI1-PI3 Actual Value Description ........... 20
3.3.4 Enable Fieldbus Setpoints .......................................... 20
3.3.4.1 Enable Factory Setting of the Fieldbus Setpoints Parameter ....... 21
3.3.5 Scaling of the Process Data ........................................ 21
3.3.5.1 Scaling of the Speed ...................................... 22
3.3.5.2 Scaling of the Current ..................................... 22
3.3.5.3 Scaling of the Ramp ...................................... 23
3.3.5.4 Scaling of the Position..................................... 23
3.4 Definition of the Control Word ............................................. 25
3.4.1 Basic Control Block ............................................... 25
3.4.1.1 Controlling the Servo Controller with a 0-2 bit .......................... 27
3.4.1.2 Activating the Hold Control ......................................... 29
3.4.1.3 Selecting the Effective Ramp Generators .............................. 29
3.4.1.4 Resetting the Servo Controller after a Fault............................. 29
Contents
4 MOVIDYN
®
Fieldbus Unit Profile

3.4.2 Control Word 1...................................................30
3.4.3 Control Word 2...................................................30
3.5 Definition of the Status Word ..............................................31
3.5.1 Basic Status Block ................................................31
3.5.1.1 The Controller Enabled Status Bit.............................32
3.5.1.2 The Ready for Operation Signal ..............................32
3.5.1.3 The Fieldbus Mode Active Signal .............................33
3.5.1.4 Active Ramp Generator Set .................................33
3.5.1.5 Fault/Warning ............................................33
3.5.1.6 Limit Switch RIGHT/LEFT Active .............................33
3.5.2 Status Word 1 ...................................................34
3.5.3 Status Word 2 ...................................................35
3.6 Active Input Terminal Functions ............................................36
3.7 Active Output Terminal Functions ...........................................37
4 Monitoring Functions ....................................................... 38
4.1 Fieldbus Timeout .......................................................38
4.2 Timeout Response.......................................................38
4.2.1 Rapid Stop with Warning ...........................................39
4.2.2 Emergency Stop with Warning...................................... 39
4.2.3 Immediate Switch-off with Warning...................................39
4.2.4 Rapid Stop with Fault ..............................................39
4.2.5 Emergency Stop with Fault......................................... 39
4.2.6 Immediate Switch-off with Fault .....................................40
4.2.7 Switching to Standard Mode ....................................... 40
4.2.8 No Response ....................................................40
4.3 Fault Fieldbus Timeout ...................................................41
5 Servo Controller Parameter Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.1 Parameter Setting Procedure ..............................................42
5.1.1 Index Addressing .................................................42
5.1.2 Data Length/Coding ...............................................43
5.2 Reading a Parameter (READ) ..............................................43
5.3 Writing a Parameter (WRITE) ..............................................43
5.4 Instructions to the User when Adjusting Parameters ........................... 44
5.4.1 Factory Setting ...................................................45
5.4.2 Saving to EEPROM................................................45
5.4.3 Parameter Lock ..................................................46
5.4.4 Download Parameter Block .........................................46
5.5 Parameter Adjustment Return Codes ........................................46
5.5.1 Error Class ......................................................47
5.5.2 Error Code ......................................................47
5.5.3 Additional Code ..................................................47
5.5.4 Special Return Codes (Special Cases) ................................ 48
Contents
MOVIDYN
®
Fieldbus Unit Profile 5

6 Diagnosis Using the Fieldbus Monitor Parameters ................................ 49
6.1 Diagnosis of Process Output Data .......................................... 49
6.2 Diagnosis of Process Input Data ........................................... 50
6.3 MD_SHELL Fieldbus Monitor.............................................. 51
6.3.1 Diagnosis Using the Fieldbus Monitor ................................ 51
6.3.2 Control Using the Fieldbus Monitor................................... 51
6.4 Verification of Parameter Adjustment ....................................... 52
6.5 Information about the Fieldbus Option PCB ................................... 52
6.5.1 Process Data Configuration......................................... 52
6.5.2 Fieldbus Option PCB Type.......................................... 52
6.5.3 Fieldbus Baud Rate ............................................... 53
6.5.4 Fieldbus Address................................................. 53
7 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
7.1 Control using Control Word 1 and Speed..................................... 54
7.1.1 Objective ...................................................... 54
7.1.2 Commissioning .................................................. 55
7.1.3 S5 Application Program ........................................... 57
7.1.4 Set Start-up Parameters via Fieldbus ................................. 58
7.2 Control Using Control Word 1 / Speed / Ramp ................................ 59
7.2.1 Objective ...................................................... 60
7.2.2 Commissioning .................................................. 60
7.2.3 S5 Application Program ........................................... 63
7.2.4 Set Start-up Parameters via Fieldbus ................................. 64
7.3 Positioning Using IPOS via Fieldbus ........................................ 65
7.3.1 Objective ...................................................... 65
7.3.2 Implementation Options Using IPOS.................................. 66
7.3.3 Process Data Description for Positioning Mode ......................... 66
7.3.4 Commissioning .................................................. 67
7.3.5 S5 Application Program ........................................... 70
Index ....................................................................... 77
Contents
6 MOVIDYN
®
Fieldbus Unit Profile

1 Introduction
Fieldbus systems are increasing in significance in mechanical and industrial engineering. Not only
can they bring about considerable savings in installation and maintenance costs, but they also offer
an ideal way of creating a digital network of intelligent sensors and actuators with higher-level
automation systems such as programmable logic controllers (PLCs), industrial PCs (IPCs), etc.
Because of the large number of bus systems available on the market, designers and constructors of
industrial plants are these days often required to have a knowledge of more than one system as it is
increasingly the end user who decides which fieldbus system is to be used in the plant. Consequently,
a universally applicable fieldbus interface which can support different fieldbus systems, is an absolute
necessity for field equipment at sensor/actuator level.
The commissioning and diagnostic facilities of the fieldbus systems are another major point. These
days, diagnosis is generally made via the master module or via specific bus monitors (which can
often only be operated by specialists), so intelligent field equipment should also provide extremely
simple fieldbus diagnostic facilities.
The SEW MOVIDYN®51.. servo controllers meet these requirements and can be linked to systems
such as the open, standardized serial bus systems PROFIBUS-DP, PROFIBUS-FMS, INTERBUS-S or
CAN by using different fieldbus option pcbs. The MOVIDYN®51.. also enables connections to other
fieldbus systems to be made thanks to the powerful, universal structure of its fieldbus interface.
A major feature of the MOVIDYN®51.. servo controller is the fieldbus-independent, uniform
behaviour of the unit (unit profile) when controlled via a fieldbus. Because it operates independently
of the fieldbus, it enables plant constructors and PLC programmers to use different fieldbus systems
with almost the same applications program, i.e. the actual application concept and program can be
implemented very easily with different fieldbus systems.
Introduction 1
MOVIDYN
®
Fieldbus Unit Profile 7

2 Overview of Functions
Thanks to its high-performance, universal fieldbus interface, the MOVIDYN®51.. servo controller
enables connections to be made with higher level automation systems via a wide range of fieldbuses,
such as INTERBUS-S, PROFIBUS-DP, PROFIBUS-FMS or CAN. The underlying behaviour of the servo
controller, known as the unit profile, is independent of the fieldbus and is thus uniform.
MOVIDYN®51.. offers digital access to all drive parameters and functions via the fieldbus interface.
The servo controller is controlled by the high-speed cyclic process data. This process data channel
provides the facility to specify setpoints such as setpoint speeds, ramp generator times for
acceleration and deceleration etc., as well as various drive functions such as enable, controller inhibit,
stop, rapid stop, etc. to be triggered. This channel can also be used to read back actual values from
the servo controller, such as actual speed, current, unit status, error number or reference messages.
Whereas process data is generally exchanged in cycles, the drive parameters can also be read and
written acyclically via functions such as READ and WRITE. This exchange of parameter data enables
applications where all major drive parameters are stored in the higher-level automation unit to be
implemented, thus avoiding manual adjustment of parameters on the servo controller itself, which
can often be very time-consuming.
The fieldbus option pcbs are designed so that all settings specific to the fieldbus, such as the fieldbus
address, can be made on the option pcb by means of a hardware switch. These manual settings
enable the servo controller to be integrated into the fieldbus and switched on in a very short space
of time. Parameters can be set fully automatically by the higher-level fieldbus master (parameter
download). This forward-looking version offers the benefits of a shorter commissioning period for
the plant as well as simpler documentation of the application program, as all major drive parameter
data can now be recorded directly in the control program.
Overview of Functions
2
SEW
EURODRIVE
SEW
EURODRIVE
SEW
EURODRIVE
SEW
EURODRIVE
SEW
EURODRIVE
Analogue I/ODigital I/O
Visualization
Fig. 1: Typical bus configuration in a field environment MD0243AE
8 MOVIDYN
®
Fieldbus Unit Profile

The use of a fieldbus system in drive technology requires additional monitoring functions, such as
fieldbus timeout or special emergency stop concepts. The monitoring functions of the MOVIDYN®
51.. can be matched to the specific application for which it is to be used. This feature enables you,
for instance, to specify which error response the servo controller should trigger if an error should
occur in the bus. A rapid stop will be practical for many applications, but you can also freeze the last
setpoints, so that the drive can continue with the last valid setpoints (e.g. conveyor belt). As the
functionality of the control terminals is also ensured when the servo controller is operated in the
fieldbus mode, you can still implement fieldbus-independent emergency stop concepts via the servo
controller’s terminals.
The MOVIDYN®51.. servo controller offers numerous diagnostic facilities for commissioning and
servicing. For instance, both the setpoints transmitted from the higher-level control unit as well as
the actual values can be checked with the integrated fieldbus monitor. Furthermore it provides you
with a lot of additional information on the status of the fieldbus option pcb. Together with the PC
software MD_SHELL the fieldbus monitor function offers you even more convenient diagnostic
facilities in that it provides a detailed display of the fieldbus and unit status information as well as the
facility to set all the drive parameters (including the fieldbus parameters).
Overview of Functions 2
MOVIDYN
®
Fieldbus Unit Profile 9

3 Process Data Control
By Process Data (PD) we mean all time-critical (real time) data in a process which have to be
processed or transferred at high speed. These data are characterized by the fact that they are highly
dynamic and always up to date. Examples of process data are setpoints and actual values of the servo
controller, or peripheral conditions of limit switches. They are exchanged in cycles between the
automation unit and the servo controller.
Control of the MOVIDYN®51.. servo controller by means of process data takes place on the fieldbus
system.
The process data interfaces for
Process Input (PI) and Process Output (PO) should be treated
separately. Process input data (PI) are data that are transmitted from the servo controller to the
higher-level automation unit (e.g. status information, actual values, etc.). Process output data (PO)
are data that are output to the servo controller by the automation unit (e.g. setpoints, control
commands, etc.).
3.1 Commissioning the Servo Controller
Parameters can be assigned to the MOVIDYN®servo controller via the fieldbus system immediately
after the fieldbus option pcb has been installed; no further settings are necessary. Amongst other
things, this enables all parameters to be set by the higher-level automation unit after switching on
the servo controller.
To control the servo controller via the fieldbus system, however, the latter must first be switched to
the relevant setpoint source. This can be done with the parameter
P110 Setpoint Source = FIELDBUS.
After the servo controller is set to the factory settings, this parameter is set to ANALOGUE INPUT .
The servo controller parameters are set to accept the setpoints from the fieldbus with the setting
FIELDBUS. The MOVIDYN servo controller will now respond to the process output data transmitted
by the higher-level automation unit.
Activation of the FIELDBUS setpoint source is signalled to the higher-level control by means of the
Fieldbus Mode Active bit in the status word.
For safety reasons, the servo controller must also be enabled on the terminal side in order for it to
be controlled via the fieldbus system. The terminals should therefore be wired or programmed so
that the servo controller is enabled via the input terminals. The simplest method of enabling the servo
controller via the terminals is to provide input terminal X21.5 (
/CONTROLLER INHIBIT function) with
a +24V signal and program input terminals X21.6-8 to
NO FUNCTION . Fig. 2 demonstrates how the
MOVIDYN®51.. servo controller is commissioned with a fieldbus connection.
Process Data Control3
10 MOVIDYN
®
Fieldbus Unit Profile

0V24
1
2
3
4
5
6
7
8
9
10
11
12
+24V
X21:
MAS51..
MKS51..
P302 MA (X21.8) = NO FUNCTION
P301 MA (X21.7) = NO FUNCTION
P300 MA (X21.6) = NO FUNCTION
P110 Setpoint source = FIELDBUS
Program the setpoint source to FIELDBUS to control the servo
controller via fieldbus.
4. Setpoint Source = FIELDBUS
Program input terminals X21.6, X21.7 and X21.8 to NO FUNCTION
3. Input terminals X21.6 - 8 = NO FUNCTION
Switch on only the external 24V supply (not the mains supply!) to
reprogram the servo controller to setpoint source "FIELDBUS"
despite the installed jumper.
2. Switch on the 24V supply
No function
No function
/Controller inhibit
No function
Use this jumper
to enable the
output stage via
the terminals!
Apply a + 24V signal to input terminal X21.5 (function/CONTROLLER
INHIBIT) (e.g. via jumper).
1. Enable the output stage on the terminal side
Fig. 2: Commissioning the MOVIDYN®51.. servo controller MD0244AE
3Process Data Control
MOVIDYN
®
Fieldbus Unit Profile 11

3.2 Process Data Configuration
The MOVIDYN®51.. servo controller can be controlled via the fieldbus system with one, two or three
process data words. The number of process input data (PI) and process output data (PO) is identical.
The process data configuration settings are made via the fieldbus option pcb, either through the
hardware switches or via the fieldbus master at the start-up of the bus system (e.g. PROFIBUS-DP).
The servo controller automatically receives the right setting from the fieldbus option pcb.
You can check the current process data configuration in the menu item
P090 Process Data
Configuration
by means of the fieldbus monitor of the MD_SHELL PC program (Fig. 4).
Depending on the type of fieldbus option pcb used, PD configurations according to Table 1 can be
used.
Process data configuration
1 process data word + parameter channel 1PD+PARAM
1 process data word 1PD
2 process data words + parameter channel 2PD+PARAM
2 process data words 2PD
3 process data words + parameter channel 3PD+PARAM
3 process data words 3PD
Table 1: Process data configuration for MOVIDYN®51..
The parameter channel (PARAM) is only of significance for fieldbus systems without layer 7
functionality, e.g. PROFIBUS-DP. Only the number of process data (i.e. 1PD..., 2PD... or 3PD...) is
of interest when controlling the servo controller by means of process data.
When programmable logic controllers are used as fieldbus masters, the process data are generally
sent directly to the I/O or peripheral area. The I/O or peripheral area in the PLC must therefore make
sufficient memory space available for the servo controller process data (Fig. 5). Addresses are usually
allocated between the servo controller process data and the PLC address area on the fieldbus master
module.
PD1 PD2 PD3
PD1 PD2 PD3
SEW
EURODRIVE
SEW
EURODRIVE
Process input data (PI)
Process output data (PO)
Fig. 3: Process data channel for the MOVIDYN®51.. servo controller MD0245AE
Process data configuration 3PD + PARAM090
Fig. 4: Process data configuration MD0246AE
Process Data Control3
12 MOVIDYN
®
Fieldbus Unit Profile

3.3 Process Data Description
The process data description defines the content of the process data to be transmitted. All three
process data words can be assigned individually by the user. In general, the process input data and
the process output data are handled separately. This enables you to specify which process output
data (setpoints) are to be transmitted to the servo controller from the control unit, and which process
input data (actual values) are to be transferred from the MOVIDYN®51.. servo controller in the
opposite direction to the higher-level control unit for your particular application. The following six
fieldbus parameters are available for defining the individual process data:
P780 PO1 Setpoint Description
P781 PI1 Actual Value Description
P782 PO2 Setpoint Description
P783 PI2 Actual Value Description
P784 PO3 Setpoint Description
P785 PI3 Actual Value Description
When one of the above-mentioned parameters is changed, acceptance of the process output data for
setpoint processing via the fieldbus is automatically blocked. The process output data received will
not be processed according to the new actual value and setpoint descriptions until the fieldbus
parameter
P790 Enable Fieldbus Setpoints = YES
is re-activated (see also Section 3.3.4).
3.3.1 Setpoint Description for the PO Data
The PO1 - PO3 Setpoint Description parameters define the content of the process output data words,
which are sent via the fieldbus system from the higher-level automation unit (Fig. 6). Each process
output data word is defined by its own parameter, so altogether three fieldbus parameters offering
the same options are available to describe the process output data.
OW 40
OW 42
PD3
PD2
PD1
PD1 PD2 PD3
PD1 PD2 PD3
OW 44
IW40
IW42
PD3
PD2
PD1
IW44
SEW
EURODRIVE
SEW
EURODRIVE
PLC address area
Process input data (PI)
Process output data (PO)
Fig. 5: Process data mapping in the PLC MD0247AE
3Process Data Control
MOVIDYN
®
Fieldbus Unit Profile 13

Process output data words PO1, PO2 and PO3 are used to transmit the setpoints listed in Table 2
through the process output data channel. 32-bit values, such as e.g. position values, are transmitted
in two process data words. You may decide yourself in which process data word you wish to transmit
the more significant part (high) and the less significant part (low) respectively.
NO FUNCTION
SPEED
CURRENT
POSITION LO
POSITION HI
MAX. SPEED
MAX. CURRENT
SLIP
RAMP
CONTROL WORD 1
CONTROL WORD 2
Table 2: Process output data options
3.3.1.1 No Function (NO FUNCTION)
If the NO FUNCTION setting is active, the servo controller will not use this process output data word
for setpoint processing. The content of the process output data word programmed to NO FUNCTION
will be ignored even though the higher-level control might specify a real setpoint via the fieldbus
system.
3.3.1.2 Speed Setpoint (SPEED)
The Setpoint Description POx = Speed setting causes the MOVIDYN®servo controller to interpret
the setpoint transmitted in this process data word as speed setpoint. The speed setpoint specified
via the fieldbus will only be effective in the ”speed control” mode (P100 mode = SPEED CONTROL).
PD1 PD2 PD3
SEW
EURODRIVE
SEW
EURODRIVE
Control word 1
Control word 2
Speed setpoint
Current setpoint
etc.
Control word 1
Control word 2
Speed setpoint
Current setpoint
etc.
Control word 1
Control word 2
Speed setpoint
Current setpoint
etc.
Process output data (PO)
P784: P03 SETP. DESCRIPT.P782: P02 SETP. DESCRIPT.P780: PO1 SETP. DESCRIPT.
Fig. 6: Setpoint description of the process output data (PO) MD0248AE
Process Data Control3
14 MOVIDYN
®
Fieldbus Unit Profile

If the speed setpoint is not specified via the bus system, the analogue input will become the setpoint
source, even though the setpoint source is set to ”Fieldbus”. This option permits applications to be
implemented where the control signals (enable, controller inhibit etc.) are specified via the fieldbus,
while the setpoint is specified by an automation unit, which does not have a fieldbus interface.
Scaling of the speed setpoint see Section 3.3.5.
3.3.1.3 Current Setpoint (CURRENT)
The
Setpoint Description POx = Current setting causes the MOVIDYN®servo controller to interpret
the setpoint specified in this process data word as current setpoint. The current setpoint specified
via the fieldbus will only be effective in the ”torque control” mode
(P100 mode = TORQUE CONTROL).
If the current setpoint is not specified via the bus system, the analogue input will become the setpoint
source, even though the setpoint source is set to ”Fieldbus”
(P110 Setpoint Source = FIELDBUS).
This option permits applications to be implemented where the control signals (enable, controller
inhibit etc.) are specified via the fieldbus, while the setpoint is specified by an automation unit, which
does not have a fieldbus interface.
Scaling of the current setpoint see Section 3.3.5.
3.3.1.4 Position Setpoint (POSITION LO/HI)
Position setpoints may only be used in conjunction with the internal
IPOS positioning control (P100
mode = POSITIONING)
. Unless the servo controller is fitted with the IPOS option and its pertinent
functions, this setting will be rejected.
Position setpoints must be spread over two process data words, as the position is generally entered
as a signed 32-bit value (integer32). You must therefore specify the more significant position setpoint
(POSITION HI) and the less significant position setpoint (POSITION LO) (Fig. 7). Otherwise the servo
controller will not respond to the position entry. Scaling of the position setpoint see Section 3.3.5.
IMPORTANT!
When handling the position setpoints in the application program of the higher-level automation unit,
make sure that both process output data words containing the position data are dealt with
consistently, i.e. that the position setpoint high is always transmitted together with the position
setpoint low! Otherwise the servo controller might approach undefined positions, as e.g. an old
position setpoint low and a new position setpoint high might be active together!
PD1 PD2 PD3
SEW
EURODRIVE
SEW
EURODRIVE
Control word 1 Position High Position Low
Process output data (PO)
Fig. 7: Assigning a position setpoint to the process output data MD0249AE
3Process Data Control
MOVIDYN
®
Fieldbus Unit Profile 15

3.3.1.5 Speed Limit (MAX. SPEED)
The
Setpoint Description POx = MAX. SPEED setting causes the MOVIDYN®51.. servo controller to
interpret the transmitted setpoint as speed limit. The speed limit is therefore specified in the unit
[1/min] and interpreted as absolute value for both directions of rotation. The supported range of
values for the fieldbus speed limit corresponds tothe range of values
P210 Max. Speed CW parameter.
If the speed is below this range of values the minimum will become effective, if it exceeds the set
range, the maximum of the set limit value will become effective. Scaling of the speed limit see Section
3.3.5.
Entering the speed limit via the fieldbus will automatically deactivate parameters
P210 Max. Speed
CW
and P211 Max. Speed CCW!
The speed limit value specified via the process output data is generally active.
3.3.1.6 Current Limit (MAX. CURRENT)
The Setpoint Description
POx = MAX. CURRENT setting causes the MOVIDYN®51.. servo controller
to interpret the transmitted process output data as current limit. The current limit is specified in per
cent of the servo controller rated current in the unit [% In] and is interpreted as absolute value for
both directions of rotation. The supported range of values for the fieldbus current limit corresponds
to the range of values for parameter
P212 Maximum Current [% In] . If the current is below this range
of values, the minimum will become effective, if it exceeds the set range, the maximum of the set
limit value will become effective. Scaling of the current limit see Section 3.3.5.
Entering the current limit via the fieldbus will automatically deactivate parameters
P212 Maximum
Current [% In]!
IMPORTANT!
Entering the current limit via fieldbus will limit the driving torque to the value just transmitted. This
limit is also effective when a rapid stop or an emergency stop is carried out. If this value is set too
low, a hoist, for example, may not be able to hold a load any longer!
3.3.1.7 Slip Compensation (SLIP)
Entering the slip via the fieldbus is not possible in the case of the MOVIDYN®51.. servo controller!
3.3.1.8 Process Ramp (RAMP)
The
RAMP setting causes the MOVIDYN®51.. servo controller to interpret the transmitted setpoint
as acceleration of deceleration ramp. Depending on the drive function specified in the control word,
the unit will interpret the process ramp as acceleration ramp when an enable signal is given and as
deceleration ramp when a stop is to be executed. The specified figure is the time in milliseconds and
relates to a speed change of 3000 1/min. The rapid stop function is not affected by this process ramp.
Entering the process ramp via the fieldbus automatically deactivates the ramp parameters
P120 Ramp 1 up CW P121 Ramp 1 down CW
P122 Ramp 1 up CCW P123 Ramp 1 down CCW
P130 Ramp 2 up CW P131 Ramp 2 down CW
P132 Ramp 2 up CCW P133 Ramp 2 down CCW
Process Data Control3
16 MOVIDYN
®
Fieldbus Unit Profile

The value range Process Ramp specified via the fieldbus is that of the above ramp parameters. Scaling
of the
Process Ramp in the unit [ms] see Section 3.3.5.
3.3.1.9 Control Word 1 / Control Word 2
Assigning control word 1 or control word 2 to the process output data allows you to activate nearly
all drive functions via the fieldbus system. For a description of control words 1 and 2 see Section 3.4.
3.3.1.10 Factory Setting for the PO1-PO3 Setpoint Description
When the factory setting has been activated, the following process output data are defined for the
MOVIDYN®51.. servo controller:
PO 1 Setpoint Description: PO 2 Setpoint Description: PO 3 Setpoint Description:
CONTROL WORD 1 SPEED NO FUNCTION
3.3.2 PO Data Processing in the Servo Controller
Separate setting of the process output data description allows a multitude of combinations to be set
though not all of them make sense from a technical point of view. Table 3 gives a selection of
combinations, which are technically expedient. A column is reserved in the table for each process
output data word, the assignmentof the column to process output data PO1 - PO3 howeveris arbitrary
so that the columns are designated as PO X - PO Z.
PO X PO Y PO Z Functionality
CONTROL WORD 1 SPEED – Control and speed setpoint via fieldbus
CONTROL WORD 1 – – Control via fieldbus, setpoint via analogue input
CONTROL WORD 1 SPEED RAMP Control/speed setpoint/ramp via fieldbus
CONTROL WORD 1 SPEED MAX. SPEED Control/speed setpoint/max. speed via fieldbus
CONTROL WORD 1 SPEED MAX. CURRENT Control/speed setpoint/max. current via fieldbus
CONTROL WORD 1 POSITION HI POSITION LO Control and position entry via fieldbus
(only in conjunction with IPOS)
CONTROL WORD 2 SPEED – Control incl. virtual terminals and speed setpoint via
fieldbus
CONTROL WORD 2 – – Control via fieldbus, function selectable via virtual terminals, e.g. in conjunction with IPOS to select a
table position
CONTROL WORD 2 POSITION HI POSITION LO
Control of the servo controller and position entry via
fieldbus and, if applicable, processing of the virtual
terminals in the IPOS program
(only in conjunction with IPOS)
Table 3: Suitable combinations for the setpoint description of PO data
In addition to the process output data from the fieldbus system the digital input terminals and, in
special cases, the analogue setpoint from the MOVIDYN®51.. servo controller are used, too.
3Process Data Control
MOVIDYN
®
Fieldbus Unit Profile 17

Special cases in respect of the process output data processing in the servo controller are:
- No speed setpoint entry from the fieldbus system
- No control word entry from the fieldbus system
- Duplicate usage of the process output data channel
- Simultaneous transmission of control word 1 and control word 2
- 32-bit process output data
3.3.2.1 No Speed Setpoint Entry from the Fieldbus System
If no speed setpoint is transmitted via the process output data, the analogue setpoint will be active.
3.3.2.2 No Control Word Entry from the Fieldbus System
If no control word is transmitted to the servo controller via the process output data, control of the
MOVIDYN®51.. servo controller is exclusively via the digital input terminals.
3.3.2.3 Duplicate Usage of the Process Output Data Channel
If several process output data words contain the same setpoint description, only the process output
data word which is read first will be valid. The processing sequence in the servo controller is PO1 -
PO2 - PO3, i.e. if PO2 and PO3 contain the same setpoint description, only PO2 will be effective. The
content of PO3 will be ignored.
Example 1: Duplicate usage of PO2 and PO3
Process output data words PO2 and PO3 both contain the SPEED setpoint.
P780 PO1 Setpoint Description = CONTROL WORD 1
P782 PO2 Setpoint Description = SPEED
P784 PO3 Setpoint Description = SPEED
The speed setpoint is transmitted twice within the process output data channel (duplicate usage of
process output data words). As the servo controller processes the process output data words in the
order PO1 - PO2 - PO3 and recognizes duplicate usage of the process output data channel, the speed
setpoint transmitted in PO3 will never become effective.
3.3.2.4 Simultaneous Transmission of Control Word 1 and Control Word 2
If control words 1 and 2 are transmitted simultaneously, the servo controller is controlled in the same
way via the basic control block of control word 1 and the basic control block of control word 2. In
this case you must make sure that both basic control blocks are coded the same. The servo controller
will only be enabled, if both the digital input terminals and control words 1 and 2 give the enable
command. The virtual terminals of control word 2 are evaluated directly only if they do not correspond
to a control word 1 function.
Process Data Control3
18 MOVIDYN
®
Fieldbus Unit Profile

3.3.2.5 32-Bit Process Output Data
Process data which are longer than 16 bits and therefore occupy more than one process data word
will only be processed by the servo controller if they are completely mapped to the process data
channel. The position setpoint, for example, will only become effective if completely mapped to the
process output data channel. Consequently both POSITION HI and POSITION LO must be specified
in the process output data channel.
3.3.3 Actual Value Description of the PI Data
The
PI1 - PI3 Actual Value Description parameters define the content of the process input data words
which are transferred from the servo controller to the higher level automation unit through the fieldbus
system (Fig. 8). Each process data word is defined by its own parameter, so altogether three
parameters are required to describe the process input data.
Process input data words PI1 to PI3 serve to transfer the parameters listed in Table 4 via the process
data channel. 32-bit values, such as e.g. the actual position, are transmitted in two process data
words. You may decide yourself in which process data word you wish to transmit the moresignificant
part (high) and the less significant part (low) respectively.
NO FUNCTION
SPEED
APPARENT CURRENT
ACTIVE CURRENT
POSITION LO
POSITION HI
STATUS WORD 1
STATUS WORD 2
Table 4: Process input data options
3.3.3.1 No Function
If you assign
NO FUNCTION to a process input data word, the servo controller will not update this
process input data word. In this case, the MOVIDYN®51.. will always return a value of 0000hex to
the higher level control system.
PD1 PD2 PD3
SEW
EURODRIVE
SEW
EURODRIVE
Status word 1
Status word 2
Speed actual value
App. current act. val.
etc.
Status word 1
Status word 2
Speed actual value
App. current act. val.
etc.
Status word 1
Status word 2
Speed actual value
App. current act. val.
etc.
Process input data (PI)
P783: PI2 ACT. VALUE DESCRIPT. P785: PI3 ACT. VALUE DESCRIPT.P781: PI1 ACT. VALUE DESCRIPT.
Fig. 8: Actual value description of the process input data (PI) MD0250AE
3Process Data Control
MOVIDYN
®
Fieldbus Unit Profile 19

3.3.3.2 Speed Actual Value (SPEED)
The
Actual Value Description PIx = SPEED setting causes the servo controller to return the current
speed actual value to the higher-level automation unit in the unit [1/min]. Scaling of the speed actual
value see Section 3.3.5
3.3.3.3 Apparent Current Actual Value (APPARENT CURRENT)
As the MOVIDYN®51.. servo controller for reasons of physics only works with the active current, the
APPARENT CURRENT setting is identical with the ACTIVE CURRENT setting. Both variants return the
active current (Q component) (see also Section 3.3.3.4).
3.3.3.4 Active Current Actual Value (ACTIVE CURRENT)
The
Actual Value Description PIx = ACTIVE CURRENT setting causes the servo controller to return
the present active current actual value to the higher-level automation system in the unit [% In]. Scaling
of the active current actual value see Section 3.3.5.
3.3.3.5 Actual Position (POSITION LO/HI)
Position actual values must be spread over two process data words, as the position is generally
transmitted as integer32. This means you have to specify both the
Position Actual Value High and
the
Position Actual Value Low (Fig. 7). Scaling of the actual position see Section 3.3.5.
Position actual values can only be used in conjunction with the internal
IPOS internal positioning
control.
3.3.3.6 Status Word 1 / Status Word 2
Assigning status word 1 or status word 2 to the process input data allows you to access status data,
fault and reference signals. For a description of status word 1 and 2 see Section 3.5.
3.3.3.7 Factory Setting of the
PI1-PI3 Actual Value Description
When the factory setting has been activated, the following process output data are defined for the
MOVIDYN®51.. servo controller:
PI 1 Actual Value Description: PI 2 Actual Value Description: PI 3 Actual Value Description:
STATUS WORD 1 SPEED NO FUNCTION
3.3.4 Enable Fieldbus Setpoints
Resetting the process output data parameters, e.g. changingthe PO2 setpoint description from speed
setpoint to current setpoint, is usually done by means of parameter adjustment. Immediately after
changing the PO2 setpoint description from speed setpoint to current setpoint the speed setpoint
(e.g. 3000 1/min) transmitted by the higher-level control could be wrongly identified as current
setpoint (e.g. 3000%).
Process Data Control3
20 MOVIDYN
®
Fieldbus Unit Profile