SEW-Eurodrive MOVIDYN User manual

16/042/95
TMOVIDYN®
Servo Controller
Manual
MD_SCOPE
Edition 01/99
0921 9412 / 0699

MOVIDYN
®
M D_SCOPE 3
Contents
1 Introduction......................................................................................4
2 Quickstart of a Servo Controller ..............................................................5
3 Installation.......................................................................................6
3.1 Hardware requirements .........................................................................................6
3.2 Installing the program ...........................................................................................6
3.3 Starting the program .............................................................................................6
3.4 Communications requirements..............................................................................7
3.5 Setting up the printer and graphics card................................................................7
4 The Main Program Window ...................................................................8
4.1 Display area...........................................................................................................8
4.1.1 The zoom cursors........................................................................................9
4.1.2 The measured value cursor.........................................................................9
4.1.3 The differential measurement cursors.......................................................10
4.2 Control and display elements...............................................................................11
4.3 M easured value selection.....................................................................................11
4.4 Calculating the effective capacity.........................................................................12
5 The Menu Bar.................................................................................. 13
5.1 “Environment” menu item ...................................................................................13
5.2 “M D_SCOPE” menu.............................................................................................15
5.2.1 “Set Trace...” menu command...................................................................15
5.2.2 “Read in meas. values” menu command...................................................15
5.2.3 “Document...” menu command.................................................................16
5.3 “Parameters” menu item .....................................................................................16
5.3.1 “Controller parameters...” menu command...............................................16
5.3.2 “Test function...” menu command.............................................................17
5.3.3 “Commissioning...” menu command.........................................................17
5.4 “Options” menu item...........................................................................................22
5.4.1 “Select interface...” menu command.........................................................22
5.4.2 “Trace attributes...” menu command.........................................................23
5.4.3 “Language” menu command.....................................................................23
5.4.4 “M D_SHELL-Path” menu command..........................................................24
5.5 “Help” menu item ................................................................................................24
6 Additional Utilies ............................................................................. 25
6.1 D PTER.EXE......................................................................................................25
6.2 HCSELECT.EXE....................................................................................................26
7 Index............................................................................................ 27

4 MOVIDYN
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MD_SCOPE
1 Introduction
1 Introduction
Setting the parameter for servo drives is a very demanding task. frequently employed method to
optimise running characteristics of dynamic drives is to analyse the response of the different
controller parameters after a speed setpoint change. Therefore, however, the servo controller
needs to be equipped with appropriate analog outputs where signals, such as the speed signal, can
be output as analog signals. This method often requires storage oscilloscopes and other measur-
ing instruments.
With the M D_SCOPE PC program, the user can perform a machine test (e.g. involving a setpoint
change) independently. The response functions are recorded in the servo controller in real time.
The information obtained can then be sent to the PC via the serial interface and displayed there.
This provides you with up to five traces displayed in different colors on your screen. Similarly to an
oscilloscope, both the horizontal and the vertical axes can be stretched and compressed as
required.
Functions such as saving, documenting and printing make it easy for you to build up records of
setup parameters and transfer functions.

MOVIDYN
®
M D_SCOPE 5
Quickstart of a
Servo Controller 2
2 Quickstart of a Servo Controller
For more detailed information on the individual steps please refer to the subsequent sections.
Setting up the communications link
• Switch off the servo controller and the PC.
• Connect together the RS-232 interfaces of the two units.
• Switch both units on.
Setting the system parameters with MD_SHELL
• Start the M D_SHELL user interface.
• Select the appropriate PC and servo controller interface and the servo controller address in the
“Interfaces” menu.
• Perform the necessary parameter setting procedures.
• Select
“Trigger source: External terminal / PC”
(if
“External terminal”
is selected, assign the
“Ext.
Trigger function”
to a binary input on the servo controller using M D_SHELL, and fit an appropri-
ate switch to the unit).
Setting the trace
• Start the M D_SCOPE user interface.
• Select the PC and servo controller interface used as wellas the servo controller address with the
“Options/Select interface...”
menu command.
• Select the
“M D_SCOPE/Set Trace...”
menu command. dialog box appears showing the
settings for recording measurement data in the servo controller. Select the sampling time and
the trigger source.
– Sampling time [ms]: 1
– Trigger source: External terminal
• Now start the recording using the on/off switch
“Tracing = Start”
.
•The
“TR CE active”
LED indicates that the measured value recording is active.
• fter about 2 seconds, the
“Trace overflow”
LED signals that the measurement buffer has been
filled with data once. This buffer now continues to be overwritten until the recording is stopped
with the selected trigger source. The
“TRIGGER active”
LED indicates whether the measurement
termination procedure has been initiated.
Important:
Do not undertake any more settings at present. Close the
“Set TR CE”
dialog box.
Reading in measurement data
• Start the trace data transfer using the
“M D_SCOPE/Read in meas. values”
menu command.
•The
“Trace data transfer”
window appears.
• The percentage indicator provides information about the read-in procedure. It takes about 40
seconds to transfer the entire trace buffer. The data then appear on the display section of the
main program window, where they can be processed further. The
“M D_SCOPE/Document...”
menu command displays the recording criteria and M OVIDYN® parameters applicable when the
data transfer took place.
For example, you can add your own comments and save the data using
“Environment/Save...”
.
Setting the speed controller parameters
• In order to optimize the drive process, the speed controller parameters can be altered using the
“Parameters/Controller parameters”
menu command. fter this, a new recording procedure can
be started (using
Set Trace...
).

6 MOVIDYN
®
MD_SCOPE
3 Installation
3 Installation
3 .1 Hardware requirements
• PC/ T with 80386/80486 CPU (math. co-processor recommended).
• Ideal system configuration: 80486 DX33 or better, 256 KB cache memory.
• M inimum 640 KB main memory (min. 560 KB free user R M )
• 3.5" floppy disk drive (1.44 M B)
• pprox. 2 M B free memory capacity on the hard disk
• VG compatible graphics card
• DOS version: ≥3.3, recommended: ≥5.0
• M inimum one RS-232 serial interface for connecting to M OVIDYN®
• Recommended: serial IBM compatible mouse.
standard serial interface cable with a maximum length of 6 m (20 ft) is required to connect
M OVIDYN®
and the PC together (9-pin sub D plug to 9-pin sub D socket).
Pin assignment of the cable, PC side:
When using 9- to 25-pin adapters:
Important:
M ake sure the units are switched off when you connect them together!
3 .2 Installing the program
Insert the diskette and start the INST LL.EXE program by entering:
a:install
Now follow the on-screen instructions displayed by the installation program.
3 .3 Starting the program
Change to the directory where the M D_SCOPE files are located. To start the M D_SCOPE program,
type M D_SCOPE and confirm by pressing ENTER.
Enter: md_scope
You may encounter problems with memory-resident programs, because M D_SCOPE takes up a
large amount of your main memory (min. 560 KB). To free up as much memory space as possible,
avoid starting M D_SCOPE from other programs (i.e. PCSHELL, NC, DOSSHELL, Windows DOS
box).
9-pin cable assignment
Cable side: RXD TXD DTR Ground
9-pin plug (M OVIDYN®
side) PIN 2 PIN 3 PIN 4 PIN 5
9-pin socket (PC COM x side) PIN 2 PIN 3 PIN 4 PIN 5
9/25-pin cable assignment
Cable side: RXD TXD DTR Ground
9-pin plug (M OVIDYN®
side) PIN 2 PIN 3 PIN 4 PIN 5
25-pin socket (PC COM x side) PIN 3 PIN 2 PIN 20 PIN 7

MOVIDYN
®
M D_SCOPE 7
Installation 3
3 .4 Communications requirements
All M D_SCOPE windows with a red title bar use the communications link to the M OVIDYN®
servo
controller. If your PC is not connected to M OVIDYN®
or your communications link is faulty, the
corresponding buttons in these windows are not activated, they are grayed out. If this is the case,
the values displayed are not the actual ones. They are only substitute values which do not reflect
the current status of the servo controller. If you have a faulty connection or no connection at all,
please check that you have made the following settings and satisfied the following requirements:
PC interface
M ake sure that the cable is connected to the correct COM port of your PC.
Interface selection
Check whether the values set for
“PC interface”
and
“M OVIDYN interface”
in the
“Options/Select
interface...”
menu item correspond to the connected hardware configuration.
Communications address
If you are using the RS-232 or RS-485 interface of the power supply module (M Px), remember to
set the axis module addresses. M ake sure that the address set in the “Options/Select interface...”
menu item corresponds to the axis module address. Briefly press the S1 pushbutton on the axis
module to verify theaxis module address. The 7-segment display shows a flashing “A” followed by
digits for the tens and the units (e.g. “A” – “1” – “9” = axis module 19). Addresses must not be
assigned more than once in a network setup, otherwise there would be a data collision on the
transmission line, resulting in a faulty connection.
You will not need to set the axis module address if you use the RS-232 interface (PC connection)
of the AIO11 option pcb. The unit can be accessed under any address.
However, you will have to set the communications address if you use any of the other RS-485 and
RS-232 interfaces, i. e. those integrated into the basic unit or provided on the FIS31 option pcb.
RS-485 connection
Check whether the RS-485 lines are connected correctly when using the RS-485 interface of the
power supply module (M P 50 ..., M PB 51 ..., M PR 51 ...) or of the compact servo controller (M KS
51 ...).
RS-23 2 connection
An on-board RS-232 port is standard on the M P 50 ... and M PB 51 ... power supply modules. The
FIS31 option pcb must be used with the M PR 51 ... power supply module and the M KS 51 ...
compact servo controller.
3 .5 Setting up the printer and graphics card
The default settings for the printer (LPT1 / HP Deskjet / portrait) and for the graphics card (VGA
640 x 480 / 16 colors) can be altered with utility programs (→Sec. 6).

8 MOVIDYN
®
MD_SCOPE
4 The Main Program Window
4 The Main Program Window
00256AEN
Fig. 1: M ain program window
1 M enu bar
2 Status bar with
3 M A address: X / Local mode
4 Version number / Current file name
5 Oscilloscope display area
6 Control and display elements
7 Zoom buttons
4.1 Display area
The display area of the main program window is where you can display the recorded measured
values as traces for analysis. There are numerous oscilloscope-like functions at your disposal. The
display area is divided into 10 horizontal bands. These bars form the basis for the zoom buttons in
the main program window. Three cursors are available for the zoom function and for the analysis
measurement data. Two white zoom cursors are used for delimiting the section of the display area
which is to be enlarged by pressing the
“Zoom out X”
button. The third cursor is the measured
value cursor. Its current x-axis position is displayed on the bottom part of the screen. This reflects
the real sampling instant whereas the numbers on the x-axis in the display area only show the
cumulative sampling number.
The zoom cursors can be moved anywhere in the entire display area, whereas the measured value
cursor always snaps to the nearest sampling point. This means there is always a direct relationship
between the measured value and the sampling instant. Each cursor can be selected directly by
clicking it with the mouse. If you are using the keyboard, press the PAGE UP key to select the
previous cursor and the PAGE DOWN key to select the next cursor.
3 4
5
1
2
6
7

MOVIDYN
®
M D_SCOPE 9
The Main Program Window 4
M D0147AE
Fig. 2: M D_SCOPE display area
The 4 reference arrows at the edge of the display area tell you whichcursor is active. The reference
arrows of the measured value cursor, which move vertically, snap to the trace that is the reference
point for the measured value cursor.
The display area is activated with the mouse by clicking the display area once. If you are using the
keyboard, press the TAB or SHIFT + TAB keys.
4.1.1 The zoom cursors
The zoom cursors (white) enable you to delimit a section of the display area and increase it in
horizontal direction using the
“Zoom out X”
button. You can move these cursors with the mouse
by clicking one of them directly and dragging it whilstholding the mouse button pressed. If you are
using the keyboard, you can move the cursors as follows:
• Arrow keys: M ove by 10 pixels
• Shift + Arrow keys: M ove by 1 pixel
• Ctrl + Arrow keys: M ove to the edge
• Home/End: M ove to the top left/bottom right corners
4.1.2 The measured value cursor
The measured value cursor (yellow) enables you to analyze the individual sampling operations. The
area at the bottom left of the screen displays information about the current position of the
measured value cursor. You can move this cursor with the mouse by directly clicking the cursor
and dragging it whilst holding the mouse button pressed. If you are using the keyboard, you can
move the cursor as follows:
• Arrow keys: M ove by 1 sampling value
• Shift + Arrow keys: M ove by 10 sampling values
• Home/End: M ove to the first/last visible sampling value
Recommendation:
It is sometimes not possible to position the measured value cursor correctly, i.e. it does not stop
on the required sampling value but jumps to a different one. You can prevent this by setting the Y-
axis reference point of the measured value cursor on a visible recording channel (by moving the
measured value cursor with the mouse and placing the mouse pointer directly onto the trace).
Y-axis reference arrow
(measured value
cursor)
Y-axis reference arrow
(measured value
cursor)
Zoom cursor
(white) Zoom cursor (white)
M easured value cursor
(yellow)

10 MOVIDYN
®
MD_SCOPE
4 The Main Program Window
The reference arrows at the right and left-hand edges of the display area then snap to the selected
recording channel. If you are using the keyboard, press the SHIFT + PAGE UP / SHIFT + PAGE
DOWN keys to select the next/previous recording channel.
4.1.3 The differential measurement cursors
The differential measurement is activated by clicking the button next to
“M easuring”
in the main
program window. The SEW logo is then replaced by a numerical display of the differential
measured values and the white zoom cursors change into white reticules. This means the white
cursors now serve as differential measurement cursors by means of which delta-x and delta-y
differential measurements can be performed.
M D0120AE
Fig. 3: Numerical display of the differential measured values
Since the x-axis displays the sampling instants, it is always possible to determine the delta-x value,
i.e. the time difference between the two differential measurement cursors. In contrast, a delta-y dif-
ferential measurement can only be performed between measured quantities in the same measure-
ment unit.
In the area where the y-axis measured values are displayed, the background color of measured
values and the designation provide information about the measured parameter. See example below:
M D0119AE
Fig. 4: Section of a window with an active differential measurement
The left-hand differential measurement cursor is snapped onto the trace for the “Actual speed
[1/min]“ measured quantity. In the numerical display area, the box for the y-axis measured value
of the left-hand cursor is entitled Y1. Its background color is blue. This means it is always possible
to assign the measured value to a definite measured quantity.
The following display elements are available for differential measurements:
• XL / XR /dX: X-axis position of the left / right differential measurement cursor
/ difference between XL and XR
• Yx / Yx / dY Y-axis position of the left / right differential measurement cursor
/ difference between Yx and Yx
The differential measurement cursors are operated like the measured value cursors.
[ms] [1/min]
XL
XR
dX
Y?
Y?
dY
M easured values for the right
differential measurement cursor
M easured values for the left
differential measurement cursor

MOVIDYN
®
M D_SCOPE 11
The Main Program Window 4
4.2 Control and display elements
There are various control and display elements at the bottom of the main window. These are
required for analyzing the process data.
Table 1: Scaling factors
M D_SCOPE's control of these elements includes a plausibility check, i.e. the user can only operate
elements of which the operation actually makes sense given the current program status. If no
measurement data have been acquired, for example, the
“Re-trace”
function cannot be activated at
all. Tables 1 and 2 give an explanation of the controls listed.
Table 2: Buttons in the main window
Six display elements provide information about the assignment of measured value channels X and
Y1 to Y5. Sampling instants are plotted on the x-axis. While the x-axis legend in the oscilloscope
display area indicates the number of data points sampled (i.e. not the actual sampling time!), the
measured value display for the x-axis shows the real sampling time in the unit [ms] relative to the
sampling instant furthest back.
4.3 Measured value selection
To select measured quantities for trace display, the
“M eas. value selection”
button. This calls up
the
“Trace selection”
dialog box.
It contains five list boxes where all acquired measured quantities are displayed. You can now
assign a different measured quantity to all five measured value channels or switch off the channels
(No measured quantity)
.
When using the mouse, note that you need to double-click a particular measured quantity in order
to select that measured quantity. The mouse pointer briefly changes into a tick to indicate that your
selection has been accepted.
M D0118AE
Fig. 5: Section of the “Trace selection” window
Element name Function
1/min / DIV Scaling factor for speed measured quantities with the unit [1/min]
% In / DIV Scaling factor for current measured quantities with the unit [% In]
Element name Function
Help (F1) Activates the on-line help function
Re-trace (F2) Trace output of the selected measured quantities (entire buffer)
Clear (F3 ) Deletes the displayed traces
Zoom out X (F4) Increases the size of the area between the white zoom cursors
Zoom in X (F5) Reverts to the previous zoom area
Cursor OFF / ON (F6) Switches the zoom cursors off and on
Meas. value selection (F7) Assigns new measured quantities to measured value channels Y1 – Y5
I*t (F8) Determines the effective capacity of the axis module
Measuring Activates the differential measurement (delta-x, delta-y)

12 MOVIDYN
®
MD_SCOPE
4 The Main Program Window
4.4 Calculating the effective capacity
You can determine the effective capacity of the axis module using the
“Ixt”
button. To do this, use
the two zoom cursors to select the segment of the current trace for which you wish to determine
the effective axis module capacity. If you press the
“Ixt”
button a display box is called up showing
the effective capacity as a percentage of the axis module rated current.
This function is useful for determining how much of the thermal capacity utilisation of the servo
drive is being used. After first delimiting a travel cycle with the measurement cursors, you can use
the
“Ixt”
function to calculate the effective capacity of the axis module, according to the following
equation:
The resultant value is a percentage of the axis module rated current. You can now compare this
directly with the rated current of the motor.
Example: DFY71LB motor; M 0= 7.5 Nm; I0= 5.5 A; 3000 rpm,
operated on M AS 51A-010-503-xx with IN= 10 A
The Ixt measurement of a travel cycle is Ir.m.s. = 45 % = 4.5 A
Capacity utilization of the motor = Ir.m.s. =4.5 A x 100 = 81.8 %
5.5 A
Ieff
Ii
2ti
•
i
∑
ti
∑
-------------------------=

MOVIDYN
®
M D_SCOPE 13
The Menu Bar 5
5 The Menu Bar
The menu bar contains five menu item,
“Environment”
,
“M D_SCOPE”
,
“Parameters”
,
“Options”
and
“Help”
. The menu items in the menu bar can be activated using the mouse or with key combi-
nations [ALT + first letter].
5.1 “Environment” menu item
The
“Environment”
menu item provides an interface to the PC environment and includes the com-
mands:
• Information...
• Load meas. value file...
• Save...
• Copy Parameters...
•Print...
• Start M D_SHELL
•Exit
“Information...” menu command
Selecting this menu command displays information about the program (version number, license
number) and the service telephone number where you can get further information about the
program and M OVIDYN®
if required.
“Load meas. value file...” menu command
This menu command allows you to read in measured values from a file, so you can document and
edit system data without having a direct connection to a M OVIDYN®
servo controller.
When loading the M D_SCOPE measured value file (*.SCP) loading, the program also checks
whether a parameter file (*.PAR) of the same name exists which is directly related to the measured
value file. If it is, the file will be used for documentation of the parameters at the time the measured
values were traced.
This combination of measured value file and parameter file is only supported by M D_SCOPE
version 2.0 onwards. Files from an older version can of course still be read in.
“Save...” menu command
This function allows you to save acquired measured values to a file. In addition, the parameter file
valid at the time of recording is automatically saved as well.
After you have entered the name of the measured value file you wish to save, M D_SCOPE checks
whether a measured value file or parameter file of that name already exists. If it does not,
M D_SCOPE will prompt you to enter a system-specific comment in the documentation window.
“Copy Parameters...” menu command
This menu command can only be activated if a communications link with a M OVIDYN®
servo
controller has been established, i.e. M D_SCOPE is not operating in local mode.
This function allows you to read (upload) parameters from the servo controller and save them in a
file, or to copy (download) a parameter file to the controller.

14 MOVIDYN
®
MD_SCOPE
5 The Menu Bar
“Print...” menu command
Activating the
“Print”
menu command opens a new window where you can specify the data to be
printed. You can choose between the following aspects:
• Current trace (1 page)
• M D_SCOPE system information
• Calculation parameters for startup (1 page)
• M OVIDYN®
parameter set (3 pages)
• M OVIDYN®
fault memory (max. 3 pages)
Recommendation:
For better distinction between the measured value traces on the printout, we recommend that you
activate the trace attribute function (menu command
“Options/Trace attributes...”
). This function
assigns certain markings to a trace, enabling better distinction.
Printer driver:
Use the HCSELECT.EXE utility to adapt M D_SCOPE to yourprinter, in particular for trace printouts.
It is not possible to adapt the printer from within M D_SCOPE. Please refer to the “Additional
utilities” section for more information.
“Start MD_SHELL” menu command
This menu item directly calls up the M D_SHELL user interface. M D_SCOPE is completely exited in
order to free sufficient memory capacity. The default setting assumes that the M D_SHELL user
interface is located in path
“M D_SCOPE disk drive:
\M D_SHELL”. You may change this path using
the
“Options/M D_SHELL-Path...”
menu command.
“Exit” menu command
The
“Exit”
command closes the program.

MOVIDYN
®
M D_SCOPE 15
The Menu Bar 5
5.2 “MD_SCOPE” menu item
The
“M D_SCOPE”
menu item contains all the functions required to set and analyze the measured
data recording (tracing). It includes the commands:
• Set Trace...
• Read in meas. values
• Document...
5.2.1 “Set Trace...” menu command
There is no reason to activate
“Set Trace...”
unless a communications link has been established
with a M OVIDYN®
servo controller, i.e. M D_SCOPE is not operating in local mode.
M D0125AE
Fig. 6: The “Set TRACE” dialog box
The red title bar of the
“Set TRACE”
dialog box signals that direct communication with the servo
controller takes place in this part of the program. The buttons are inoperable in the absence of such
a connection, as indicated by their grayed-out status. In this condition, default values are displayed
which do not reflect the status of the servo controller.
This window is used for setting all recording criteria. At the same time, status LEDs indicate the
current trace status of the M OVIDYN®
servo controller. In addition, you can set the values for the
sampling time and the trigger source and start or cancel measured data acquisition or stop it by a
trigger event.
M easured values 1–5 have fixed assignments.
5.2.2 “Read in meas. values” menu command
This menu command can only be activated if there is a communications link established with a
M OVIDYN®
servo controller, i.e. M D_SCOPE is not operating in local mode.
Activating this menu item starts the process of reading the measurement and parameter data into
the PC from the M OVIDYN®
servo controller.
Important:
All system and parameter values are acquired when the trace buffer is read in. Therefore, the
acquired data are only valid if neither the M D_SCOPE system values nor any other parameters were
changed between the time when the recording was triggered and the time the trace buffer was read
in.

16 MOVIDYN
®
MD_SCOPE
5 The Menu Bar
5.2.3 “Document...” menu command
The
“Documentation for current recording”
dialog box allows you to enter your own comments to
describe the measured values recorded. The text boxes must contain an entry (e.g.*), otherwise
M D_SCOPE displays a corresponding message. Activating the
“Settings”
button opens a new
window in which all the system and parameter data valid at the time of the data transfer are auto-
matically documented (only from version 2.0 onwards).
This window is displayed automatically just before each save process, prompting you to document
the recorded measured values.
5.3 “Parameters” menu item
The
“Parameters”
menu item serves as a direct interface to the M OVIDYN® servo controller.
It includes the following menu commands:
• Controller parameters...
• Test function...
• Commissioning...
The
“Controller parameters...”
and
“Test function...”
menu commands require direct communica-
tion with the M OVIDYN®
servo controller. Consequently, they can only be activated if a serial
communications link has been established, i.e. M D_SCOPE is not operating in local mode.
5.3 .1 “Controller parameters...” menu command
When you activate this menu command the
“Controller parameters”
window opens . You can now
set the most important controller parameters directly from M D_SCOPE. If you wish to change any
other parameters, you will have to start the M D_SHELL user interface with the
“Environment/Start
M D_SHELL”
menu command.
Table 3: M OVIDYN
®
controller parameters adjustable with M D_SCOPE
200 Gain n-controller: The speed controller gain increases the P component.
201 Time constant n-controller: The speed controller time constant is used for setting the I-portion. The I component is
inversely proportional to the time constant.
Special case: If the time constant = 0, the I component is deactivated.
202 D portion n-controller: The D component sets the differential component of the speed controller.
203 Threshold feedforward [1/min/ms]: Acceleration feedforward is active if the filtered setpoint increase is greater than this
parameter setting.
204 Gain feedforward: Sets the acceleration feedforward gain factor.
205 Filter feedforward: Filter time constant for the digital filter that filters the ramp generator output before it is used
by the acceleration feedforward.
206 Filter speed setpoint: Filter time constant for the digital filter that filters the ramp generator output before it is used
as speed setpoint.
207 Filter speed actual value: Filter time constant for the digital filter that filters the actual speed value before it is usedas
the actual speed value.
210 M ax. speed CW [1/min]: Limit value for CW direction of rotation.
211 M ax. speed CCW [1/min]: Limit value for CCW direction of rotation.
212 M aximum current [% In]: Setting the internal current limit as a percentage of the axis module rated current.
220 Gain hold controller: The hold controller gain increases the P component.
120-123, 130-133 Ramp generators: The ramp generators are used for setting the ramp values. Acceleration and deceleration
ramps are available for both directions of rotation. The ramp times relate to a speed change of
0 – 3000 1/min.

MOVIDYN
®
M D_SCOPE 17
The Menu Bar 5
M D_SCOPE performs a value range check, i.e. if you enter values outside the valid range,
M D_SCOPE changes them to the next higher increment or the minimum/ maximum and transfers
them to M OVIDYN®
. At the same time, the value read from M OVIDYN® is displayed.
The help function provides further information and descriptions of the speed control parameters.
The elements of this window are grayed out if the serial communications link is interrupted.
Substitute values are displayed (0.00) which do not reflect the status of the servo controller!
5.3 .2 “Test function...” menu command
Selecting the “Test function...” menu command opens a dialog box of the same name where you
can set the following parameters:
• 208 7-segmental test indicator
• 209 Controller test function
M D0128AE
Fig. 7: Parameters of the “Test function...” menu command
208 7-segmental test indicator:
This parameter switches the 7-segment display of the M OVIDYN®
axis module to the acceleration
feedforward test display. In this way, the 7-segment display indicates in real time whether the
acceleration feedforward is active or not (all segments light up if it is active). This parameter is not
saved permanently to the EEPROM . Any of the following actions deactivates the display:
• Resetting the axis module
• Switching off the mains supply
• Parameter setting “NO”
• Pressing the pushbutton on the axis module
209 Controller test function:
The controller test function makes it easy for you to perform a measured value recording by means
of which you can automatically calculate system-specific parameters such as load momentof iner-
tia, load and friction torques in the commissioning window. The controller test function negates the
setpoint at the ramp generator input in cycles of one second. This function can only be activated
when the controller is in the “normal operation” operating mode. The system always uses the
setpoint valid at the time the test is carried out.
5.3 .3 “Commissioning...” menu command
The
“Commissioning...”
menu command opens a window (Fig. 8) of the same name where you can
perform a simplified commissioning and a controller optimization of the M OVIDYN®
servo control-
ler. This M D_SCOPE function provides you with a tool which allows you to display and set the
drive parameters that are most important for commissioning.

18 MOVIDYN
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MD_SCOPE
5 The Menu Bar
00237AEN
Fig. 8: M D_SCOPE commissioning window
The window is divided into two sections. The calculation parameters are listed in the upper section
of the window, whilst the lower section contains the calculated system-specific values, e.g. the
positioning control time interval, the load mass moment of inertia at the motor shaft, the friction
torque and the load torque. These results can be used as the basis for calculating a controller
setting proposal.
Calculation parameters
The upper section of the commissioning window lists the calculation parameters you need to set in
order to calculate the system-specific values and generate a proposal for controller parameteriza-
tion.
Table 4: Commissioning parameters for calculating the system-specific values
M otor size: M D_SCOPE provides a list of all SEW servo motors from which you can select the motor used in your
system. This list includes a large amount of motor-specific data which are automatically used for
calculation when the motoris selected (see rating plate).
M otor rated voltage [V]: Enter the rated voltage of the motor used (see rating plate).
Rated speed [1/min]: Enter the rated speed of the motor used (see rating plate).
Brake: This calculation parameter indicates whether the motor is operated with or without a brake.
Drive: Enter the type of application (with backlash/without backlash).
Rated current axis module [A]: The rated current of the M OVIDYN®
axis module is automatically read in from the unit if a communica-
tions link is established. You have to enter the rated current yourself if M D_SCOPE is operating in local
mode.
Damping speed control loop: Damping affects the amount of overshoot and the dying out of the oscillation. The default setting is
1.0. Values less than 1.0 increase the oscillation, values greater than 1.0 reduce the oscillation.
Stiffness speed control loop: Stiffness is a measure for the speed of response of the speed control loop. The default setting is 1.0.
Increasing the stiffness increases the speed of response. The control loop will start oscillating from a
critical value on. Decreasing the stiffness slows down the control loop and increases the lag error.
Shortest required ramp time
[s]: The shortest ramp time is required for optimum setting of the ramp generators.

MOVIDYN
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M D_SCOPE 19
The Menu Bar 5
The results of the calculation in the lower section of the commissioning window become invalid
when a calculation parameter is changed. Each time you change a parameter, you must perform a
new calculation using the
“Calculate...”
button.
Calculating the load moment of inertia at the motor shaft
Several requirements must be fulfilled to calculate the load moment of inertia at the motor shaft.
An easy way of calculation is described below:
1) Startup the drive in accordancewith the M OVIDYN®
Installation and Operating Instructions. Use
the estimated Jext (design data) as the basis for commissioning.
2) Record a trace with the test function (
“Parameters/Test function...”
menu command, P209 Con-
troller test function = ON). The setpoint entry requires an absolute change of at least 15 % of the
rated speed. If the servo controller test function cannot be used for reasons inherent in the system,
you can enter a speed setpoint profile that is tailored to your system. However, it is important that
you enter an absolute setpoint change of at least 15 % of the motor rated speed. As a rule the
calculation algorithm also works with measured values for one direction of rotation, we recom-
mend, however, to use both the positive and the negative speed ranges so as to optimize the calcu-
lation result. The load and friction torque can only be determined on the basis of both ranges.
3) Check whether at least 5 % of all sampling operations are within one speed range. For example,
a minimum of 308 sampling operations must be within one speed range if there are 2048 sampling
operations (see also Fig. 9).
4) Enter the calculation parameters for your system in the upper section of the commissioning
window.
M D0130AE
Fig. 9: Calculating the load moment of inertia
5) Press the
“Calculate...”
button. The
“Calculation selection”
dialog box appears. Select the load
moment of inertia calculation by clicking on the corresponding button with the mouse and then
press the
“Calculate”
button to exit the window. The program now calculates the load moment of
inertia at the motor shaft and enters the result in the
“Results of Calculations”
box in the bottom
section of the commissioning window. At the same time, the grayed-out
“Parameter...”
button
becomes active.
An error message is displayed if M D_SCOPE is unable to determine a load moment of inertia from
the data specified.
6) Pressing the
“Parameter...”
button automatically activates the calculation of a suggestion of
controller parameter settings. A new window entitled
“Commissioning/Controller parameters”
then appears; it can be identified by the “?” in the top bar. It is the same window that can be acti-
vated using the
“Controller parameters...”
menu command; now, however, a controller parameter
suggestion is made (see also the “The Commissioning/Controller parameters window” section).
t
positive
speed range
min. 15 % nN
> 5 % of all sampled
data points
nact
negative speed range

20 MOVIDYN
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MD_SCOPE
5 The Menu Bar
7) Now repeat the M D_SCOPE recording with the new modified controller parameters. You can
influence the calculation of a new parameter suggestion according to your own evaluation by vary-
ing the
“Stiffness speed control loop”
or
“Damping speed control loop”
calculation parameters.
M D0131AE
Fig. 10: Dialog box for calculation selection
If, after several attempts and using different traces, it is still not possible to determine the load
moment of inertia, you can enter an estimated value in the
“Results of Calculations”
box. The
“Parameter...”
button will then also become active. If you activate this button, the program makes a
controller parameter suggestion based on the load moment of inertia you have entered.
Determining the load and friction torques
The load and friction torques are automatically determined when the load moment of inertia at the
motor shaft is calculated. The measured values used for calculating these torques must represent
both the positive and the negative speed ranges. Load and friction torques are only of informative
nature. They do not affect the calculation of the controller parameters.
Determining the positioning control time interval
The time interval of an external positioning control is only to be taken into account in connection
with an external positioning control. A default value of 1.0 ms should be entered if an internal API/
APA positioning pcb is fitted or if noposition control is provided. The value specifies the time inter-
val with which the higher-level positioning control enters the analog speed setpoints.
M D0132AE
Fig. 11: “Step function” of the external setpoint entry
You can enter the time interval manually if you know the value. Otherwise, you can have the
program calculate the time interval automatically. Proceed as follows:
n
t
n
t
Ramp generator input [1/min]