SEW-Eurodrive MOVITRAC 07 User manual

MOVITRAC®07 Communication Edition
06/2003
Manual
10565310 / EN

SEW-EURODRIVE

Manual – MOVITRAC® 07 Communication
3
Contents
1 Important Notes................................................................................................. 4
2 Introduction ....................................................................................................... 5
2.1 Technical data...........................................................................................5
2.2 MOVILINK® and system bus....................................................................5
2.3 Fieldbus ....................................................................................................8
3 Installation ......................................................................................................... 9
3.1 System bus (SBus) installation ................................................................. 9
4 System Bus Communication Slave............................................................... 11
4.1 Data exchange with a slave via MOVILINK®..........................................11
4.2 Setting parameters via the SBus.............................................................15
4.3 Project planning example for SBus.........................................................18
5 System Bus Communication Master............................................................. 20
5.1 MOVITRAC® 07 as MOVILINK® master................................................20
5.2 Data exchange via profile-independent variable telegrams.................... 23
5.3 Programming of the data exchange in LOGODrive ................................ 31
6 Unit Profile....................................................................................................... 32
6.1 Scaling of process data...........................................................................32
6.2 Definition of the control word...................................................................33
6.3 Connection of control commands............................................................33
6.4 Setpoint cascade ....................................................................................38
6.5 Status word definition..............................................................................40
7 Operation and Service.................................................................................... 43
7.1 Startup SBus...........................................................................................43
7.2 Return codes for parameter setting.........................................................44
8 Monitoring Functions...................................................................................... 46
8.1 Timeout error ..........................................................................................46
9 Bus Diagnostics.............................................................................................. 47
9.1 Diagnostics of process input data and output data................................. 47
10 Parameter List ................................................................................................ 49
10.1 Explanation of the table header ..............................................................49
10.2 Conversion index ....................................................................................50
10.3 Complete parameter list, sorted by parameter numbers.........................51
11 Index................................................................................................................. 57

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Manual – MOVITRAC® 07 Communication
Important Notes
Handbuch
1 Important Notes
Documentation • Read this manual carefully before you install or operate the MOVITRAC®07frequen-
cy inverter with communication link.
• We assume that you are familiar the the MOVITRAC®07 system manual prior to
reading this manual.
• Consult the existing documentation. It is a prerequisite for trouble-free operation and
fulfillment of any warranty claims.
Bus systems General safety notes on bus systems:
This communication system will make it possible for you to match the MOVITRAC®unit
to the specifics of your application. As with all bus systems, there is a danger of invisible,
external (as far as the inverter is concerned) modifications to the parameters, which give
rise to changes in the inverter behavior. This may result in unexpected (not uncontrolled,
though!) system behavior.
Safety and warn-
ing notes
Observe the safety and warning notes contained in this documentation!
•This manual does not replace the detailed operating instructions!
•Installation and startup only by trained personnel observing applicable acci-
dent prevention regulations and the MOVITRAC®07 operating instructions!
Electrical hazard
Possible consequences: Severe or fatal injuries.
Hazard
Possible consequences: Severe or fatal injuries.
Hazardous situation
Possible consequences: Slight or minor injuries.
Harmful situation
Possible consequences: Damage to the unit and the environ-
ment.
Tips and useful information.

Manual – MOVITRAC® 07 Communication
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2
Technical data
Introduction
2 Introduction
The units of the MOVITRAC®07 series are available in standard and LOGODrive de-
sign.
Units in standard design can only be operated as slaves. The master functions are not
available in this unit.
2.1 Technical data
System Bus
(SBus)
2.2 MOVILINK
®
and system bus
MOVILINK®pro-
file
The MOVILINK®profile is an SEW-specific profile.
The MOVILINK®profile makes for the data exchange between a higher-level master
and several SEW inverters. Masters may take the form of programmable logic control-
lers, PCs or even SEW inverters with PLC functions (units with IPOSplus® or UFx field-
bus gateways). SEW inverters usually function as slaves in the bus system.
The MOVILINK®profile offers the following functions:
• Automation
– Drive control
– Parameter setting of the drives
•Startup
• Visualization
The MOVILINK®profile does not depend on any specific transmission medium. This fact
makes the functions described in the MOVILINK®profile available for serial transmis-
sion as well as transmission via a fieldbus system.
Standard CAN specification 2.0 parts A and B
Baud rate either 125, 250, 500 or 1000 kbaud, factory setting 500 kbaud
ID range 0 ... 2047
Address can be set with parameter P813: 0 ... 63
Number of process
data words fixed setting: 3 PD
Cable length depending on the baud rate, max. 320 m
Number of stations max. 64

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Manual – MOVITRAC® 07 Communication
MOVILINK® and system bus
Introduction
Features The MOVILINK®profile has a range of functions comparable to other fieldbus systems,
such as:
•PROFIBUS
• INTERBUS
• CANopen
• DeviceNet
The MOVILINK®profile offers the following functions:
• Access to all drive parameters and functions in SEW inverters. The profile will help
you manage the following tasks:
–Startup
–Service
– Diagnostics
– Visualization
– Automation
• In addition, the MOVILINK®profile offers the following services:
– Fast process data exchange
– Comprehensive parameter access
– Network management
• The MOVITOOLS startup and diagnostic tools use the MOVITOOLS®profile for
communication with the inverter.
System bus
(SBus)
The SBus is a CAN bus according to the CAN specification 2.0, parts A and B. The SBus
supports all services offered by the MOVILINK®SEW unit profile. In addition, you can
exchange IPOSplus® variables via the SBus regardless of the profile.
MOVITRAC®07 offers digital access to all drive parameters and functions via the SBus.
The SBus controls the inverter via the fast process data.
You can specify the following setpoints with the process data telegrams:
• Setpoint speed
• Integrator time
• Acceleration/deceleration
You can specify the following drive functions with the process data telegrams:
• Enable
• Controller inhibit
• Standard stop
• Rapid stop

Manual – MOVITRAC® 07 Communication
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MOVILINK® and system bus
Introduction
You can read back the following actual values from the inverter with the process data
telegrams:
• Actual speed
• Current
•Unitstate
• Error code
• Reference signals
You can generate applications with the MOVILINK®profile that store all important drive
parameters in the higher-level automation device. This setup eliminates the need for
manual parameter setting of the inverter.
IPOSplus® provides the MOVLNK command to exchange parameter and process data
with other MOVILINK®stations. As a result, MOVITRAC®07 can operate as the master
via IPOSplus® and control other units. Only LOGODrive units can serve as masters.
Using the SBus requires additional monitoring functions such as time monitoring (SBus
timeout time) or special emergency off concepts.
The MOVITRAC®07 inverter offers numerous diagnostic options for startup and service
purposes.
The MOVITOOLS software offers a more convenient diagnostic option:
You can set all drive parameters and display the bus and unit status in detail with the
SHELL and STATUS programs.
You can monitor the data exchange with the bus monitor or use the control mode to pre-
set the data exchange.
Variable telegrams The cyclical and acyclical exchange of variables via SBus offers an interface for the ex-
change of variables between several MOVITRAC®07 units. You can also perform pro-
file-specific partial implementations for non-SEW units. These non-SEW units may sup-
port the CANopen or other protocol.
05886AXX
Figure 1: Variants of SBus communication

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Manual – MOVITRAC® 07 Communication
Fieldbus
Introduction
2.3 Fieldbus
You can use the UFx11A fieldbus gateways to integrate the MOVITRAC®07 into the
following fieldbus systems:
• PROFIBUS-DP
• INTERBUS
• DeviceNet
• CANopen
You can connect several inverters to the UFx11A fieldbus gateway via the SBus. The
UFx11A fieldbus gateway connects the fieldbus and SBus.
05929AXX
Figure 2: System overview fieldbus master – UFx11A – inverter

Manual – MOVITRAC® 07 Communication
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3
System bus (SBus) installation
Installation
3 Installation
3.1 System bus (SBus) installation
SBus MOVITRAC®07: Connect the communication terminals to SC11/SC12. SC21/
SC22 is only active when S12 = OFF.
Cable specifica-
tion
• Use a 2-core twisted and shielded copper cable (data transmission cable with shield
comprising copper braiding). The cable must meet the following specifications:
– Cable cross section 0.75 mm2(AWG 18)
– Cable resistance 120 Ωat 1 MHz
– Capacitance per unit length ≤40 pF/m (12 pF/ft) at 1 kHz
Suitable cables include CAN bus or DeviceNet cables.
Shield contact • Connect the shield at either end to the electronics shield clamp of the inverter or the
master control and ensure the shield is connected over a large area. Also connect
the ends of the shield to GND.
05987AXX
Figure 3: System bus connection MOVITRAC®07
S12 = System bus terminating resistor
SC11 = System bus high
SC12 = System bus low
SC21 = System bus high
SC22 = System bus low
GND = System bus reference

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Manual – MOVITRAC® 07 Communication
System bus (SBus) installation
Installation
Cable length • The permitted total cable length depends on the baud rate setting of the SBus
(P816):
– 125 kbaud →320 m (1,056 ft)
– 250 kbaud →160 m (528 ft)
–500 kbaud →80 m (264 ft)
– 1000 kbaud →40 m (132 ft)
Terminating
resistor
• Switch on the system bus terminating resistor (S12 = ON) at the start and end of the
system bus connection. Switch off the terminating resistor on the other units (S12 =
OFF).
• There must not be any potential displacement between the units connected using the
SBus. Take suitable measures to avoid a potential displacement, such as connecting
the unit ground connectors using a separate lead.

Manual – MOVITRAC® 07 Communication
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4
Data exchange with a slave via MOVILINK®
System Bus Communication Slave
4 System Bus Communication Slave
4.1 Data exchange with a slave via MOVILINK
®
Communication via MOVILINK®incorporates the data exchange of parameter and pro-
cess data telegrams. The MOVITRAC®07 unit can communicate as master or slave in
this process. Only LOGODrive units can serve as masters.
As slave, the unit can receive and answer parameter and process data messages via
the SBus.
Communication with a master control works with different telegrams types. These types
of telegrams can be divided into two categories:
• Process data telegrams
• Parameter telegrams
CAN bus identi-
fier
On the SBus, it is necessary to differentiate between these various types of telegrams
by means of the identifiers (ID). You create the ID of an SBus telegram by indicating the
telegram type and the SBus address. Set the SBus address using parameters P813 or
P814. P813 is the SBus address while P814 is the SBus group address.
The CAN bus identifier consists of 11 bits. The 11 bits of the identifier form three groups:
• Function (bits 0 ... 2)
• Address (bits 3 ... 8)
• Process data/parameter data switch (bit 9)
Bit 9 distinguishes between process and parameter data telegrams. Bit 10 is reserved
and must be 0. The address of parameter and process data telegrams includes the
SBus address (P813) of the unit that is addressed by a request; the address of group
parameter and group process data telegrams includes the SBus group address (P814).
Table 1: CAN identifier for SBus in MOVILINK®profile
543210
↓↓↓↓↓↓
0X XXX
Bit109876543210
Address Function
0 = process data telegram
1 = parameter data telegram
Reserved = 0

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Manual – MOVITRAC® 07 Communication
Data exchange with a slave via MOVILINK®
System Bus Communication Slave
Creating the identi-
fiers
The following table shows the relationship between the type of telegram and the address
when creating the identifiers for SBus MOVILINK®telegrams:
Process data tele-
grams
Process data telegrams are comprised of a process output and a process input data
telegram. The process output data telegram is sent from the master to a slave; it con-
tains the setpoint values for the slave. A process input data telegram is sent from the
slave to the master after receipt of the process output telegram; it contains the actual
values of the slave.
The fixed setting for the number of process data is "3 process data words."
The resulting CAN telegram always includes 6 byte user data.
Group process
data telegram
The group process data telegram is sent from the master to one or more slaves with the
same SBus group address. Its structure is the same as the process output data tele-
gram. Use this telegram to send the same setpoint values to several slaves that share
the same SBus group address. The slaves do not respond to the telegram.
Identifier Telegram type
8 ×SBus address + 3 Process output data telegram (PO)
8 ×SBus address +4 Process input data telegram (PI)
8 ×SBus group address + 6 Group process output data telegram (GPO)
8 ×SBus address + 512 + 3 Parameter request telegram
8 ×SBus address + 512 +4 Parameter response telegram
8 ×SBus group address + 512 + 6 Group parameter request telegram
05887AXX
Figure 4: Process data telegrams
05890AXX
Figure 5: Group process data telegram

Manual – MOVITRAC® 07 Communication
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Data exchange with a slave via MOVILINK®
System Bus Communication Slave
Parameter tele-
grams
Parameter telegrams are made up of a parameter request telegram and a parameter re-
sponse telegram.
The master sends the parameter request telegram to read or write a parameter value. It
has the following components:
• Management byte
• Index high byte
• Index low byte
• Four data bytes
The management byte indicates the service that is to be performed. The index indicates
the parameter for which the service will be performed. The four data bytes contain the
numerical value to be read or written.
The resulting CAN telegram always includes 8 byte user data.
The slave sends the parameter response telegram in response to the parameter request
telegram sent by the master. The request and response telegrams have the same struc-
ture.
Group parameter
telegram
The master sends the group parameter telegram to one or more slaves with the same
SBus group address. Its structure is the same as the parameter request telegram. You
can only write parameters of the slave units with this telegram. The slaves do not re-
spond to the telegram.
05889AXX
Figure 6: Parameter telegrams
MB = Management byte
X = Reserved
05888AXX
Figure 7: Group parameter telegram
MB = Management byte
X = Reserved

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Manual – MOVITRAC® 07 Communication
Data exchange with a slave via MOVILINK®
System Bus Communication Slave
Parameter set-
tings
The following parameters have to be set on the MOVITRAC®07 for communication via
the SBus:
Par. Name Setting Meaning
100 Setpoint source SBus The inverter gets its setpoint from the SBus.
101 Control signal source SBus The inverter gets its control commands from
the SBus.
813 SBus address 0...63 Setting of the SBus address used for the
exchange of parameter and process data.
814 SBus group address 0...63 Setting of the SBus group address for the receipt of group parameter data and group pro-
cess data.
815 SBus timeout delay 0...650 s
Set the monitoring time for data transmission
via the system bus with P815. MOVITRAC®07
reacts with the error response 'rapid stop/fault'
if there is no data traffic via the system bus for
the time period set in P815. No monitoring of
data transmission via the system bus takes
place when P815 is set to the value 0.
816 SBus baud rate 125/250/500/1000
kbaud The transmission speed of the SBus is set.
870
871
872
PO1 setpoint description
PO2 setpoint description
PO3 setpoint description
Factory setting:
CTRL. WORD 1
SPEED
NO FUNCTION
The content of the process output data words
PO1/PO2/PO3 is defined. This step is neces-
sary so that the MOVITRAC®07 can allocate
the appropriate setpoints.
873
874
875
876
PI1 actual value description
PI2 actual value description
PI3 actual value description
PO data enable
Factory setting:
STATUS WORD 1
SPEED
NO FUNCTION
ON
The content of the process input data words
PI1/PI2/PI3 is defined. This step is necessary
so that the MOVITRAC®07 can allocate the
appropriate actual values. The process data
must be enabled for the unit to accept the set-
points.

Manual – MOVITRAC® 07 Communication
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Setting parameters via the SBus
System Bus Communication Slave
4.2 Setting parameters via the SBus
The MOVITRAC®07 inverter supports the MOVILINK®parameter channel with the
SBus.
Services The inverter parameters are read and written via the SBus with the MOVILINK®param-
eter channel services of the application layer (layer 7 of the ISO/OSI model for commu-
nication).
Structure of the
parameter tele-
gram
Parameter setting of field devices via fieldbus systems requires functions and services
such as READ and WRITE for reading and writing of parameters. The parameter tele-
gram in the MOVILINK®profile serves such a purpose. The parameter data can be read
and written via parameter telegrams.
The following table shows the structure of the parameter telegram. In principle, it is
made up of a management byte, an index word and four data bytes.
05891AXX
Figure 8: Services available via the SBus
05892AXX
Figure 9: Parameter telegram for SBus
P-REQ-TEL = Parameter-Request-Telegram
P-REQ-TEL = Parameter-Response-Telegram
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage-
ment Reserved Index high Index low Data MSB Data Data Data LSB
Parameter index 4 byte data

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Manual – MOVITRAC® 07 Communication
Setting parameters via the SBus
System Bus Communication Slave
Byte 0: Manage-
ment of the param-
eter telegram
The entire parameter setting sequence is coordinated with byte 0: "Management". This
byte provides important service parameters such as service identifier, data length, ver-
sion and status of the service performed. The following table shows that bits 0 ... 3 in-
clude the service identifier and define the service to be performed. Bit 4 and bit 5 specify
thedatalengthinbytes for the WRITE service.Thissettingshouldbe4 bytes for all SEW
inverters.
• Bit 6 = 0: Asynchronous response (must be set to zero)
Status bit 7 indicates whether it was possible to carry out the service properly or if there
were errors.
Byte 1 Byte 1 should be considered reserved and must be set to 0x00.
Bytes 2 and 3:
Index addressing
Byte 2: Index high and byte 3: Index low determines the parameter read or written via
the fieldbus system. The parameters of an inverter are addressed with a uniform index
regardless of the connected fieldbus system.
Byte 4 ... 7: Data
range
The data are located in byte 4 to byte 7 of the parameter telegram. This means up to 4
bytes of data can be transmitted per service. The data are always entered with right-jus-
tification so that byte 7 contains the least significant data byte (Data LSB) while byte 4
is the most significant data byte (Data MSB).
Byte 0: Management
MSB LSB
Bit:76543210
Service identifier:
0000 = No service
0001 = Read parameter
0010 = Write parameter
0011 = Write parameter volatile
0110 = Read default
1000 = Read attribute
Data length:
11 = 4 bytes
= 0
Status bit:
0 = No error during execution of service
1 = Error during execution of service
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage-
ment Reserved Index high Index low Data MSB Data Data Data LSB
High byte 1 Low byte 1 High byte 2 Low byte 2
High word Low word
Double word

Manual – MOVITRAC® 07 Communication
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Setting parameters via the SBus
System Bus Communication Slave
Successful execu-
tion of service
The successful execution of a service is indicated by a status bit not set in the manage-
ment byte. Byte 4 ... 7 of the parameter response telegram contain the data correspond-
ing to the service.
Incorrect execu-
tion of a service
An incorrect execution of a service is indicated by setting the status bit in the manage-
ment byte. If the status bit indicates an error, the error code is entered in structured form
in the data range (byte 4 ...7) of the parameter telegram.
Return codes for
parameter setting
The return codes sent to the parameter-setting master in case of an incorrect execution
of a service include detailed information concerning the cause of the error. These return
codes are usually structured according to DIN 19245 T2. The system distinguishes be-
tween the following elements:
• Error class
• Error code
• Additional code
The operating instructions and the system manual include a description of the errors.
Special cases •Errors in parameter settings
An incorrect code was entered in the management byte during execution of a read
or write service via SBus.
In this case, the MOVITRAC®07 firmware prompts the following return code:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Manage-
ment Reserved Index high Index low Error class Error code Add. code high Add. code low
↓
Status bit = 1: Incorrect execution of a service
Code (dec) Meaning
Error class: 5 Service
Error code: 5 Illegal value
Add. code
high: 0–
Add. code low: 0–

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Manual – MOVITRAC® 07 Communication
Project planning example for SBus
System Bus Communication Slave
4.3 Project planning example for SBus
Specifications The following settings have to be made:
• Four inverters
• Process data length 3
• Baud rate 500 kbit/s
Settings Use parameter P816 to set the required SBus baud rate on all inverters. All inverters
must be set to the same baud rate. The factory setting for the baud rate is 500 kbaud.
The fixed setting for the number of process data on the SBus is "3 process data words."
Then use parameter P813 to set the SBus address on each inverter. In this example,
the SBus address is assigned to the inverters according to the following table:
You will realize that there is no prescribed sequence for setting of the SBus address. Do
not assign the addresses several times; two drive inverters must not share the same
SBus address.
In addition, the terminating resistor must also be switched on at the ends of the cable.
Do this by setting the S12 DIP switch on inverters 1 and 4 to ON. The terminating resis-
tors must be switched off on all other stations, such as inverters 2 and 3 and the SBus
master control.
05895AXX
Figure 10: Sample for project planning
Inverters SBus address SBus group address
133dec 50dec
217dec 50dec
311dec 50dec
47dec 50dec

Manual – MOVITRAC® 07 Communication
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Project planning example for SBus
System Bus Communication Slave
IDs on the SBus In this combination, the IDs listed below are occupied on the SBus:
The IDs are calculated on the basis of the set SBus address (P813) and the offset that
describes the corresponding telegram.
Process data length = 3 means that the inverter receives exactly three process output
data words and sends three process input data words to the master control.
The contents of the process data words is defined via the parameter process output data
description 1 ... 3 and process input data description 1 ... 3.
Drive inverters SBus address ID
[dec] Telegram type
133dec
267 Process output data telegram (PO)
268 Process input data telegram (PI)
779 Parameter request telegram
780 Parameter response telegram
217dec
139 Process output data telegram (PO)
140 Process input data telegram (PI)
651 Parameter request telegram
652 Parameter response telegram
311dec
91 Process output data telegram (PO)
92 Process input data telegram (PI)
603 Parameter request telegram
604 Parameter response telegram
47dec
59 Process output data telegram (PO)
60 Process input data telegram (PI)
571 Parameter request telegram
572 Parameter response telegram
1/ 2/ 3/ 4SBus group address 406 Group process data telegram (GPO)
50dec 918 Group parameter telegram
05896AXX
Figure 11: Programming a process data word

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Manual – MOVITRAC® 07 Communication
MOVITRAC® 07 as MOVILINK® master
System Bus Communication Master
5 System Bus Communication Master
5.1 MOVITRAC
®
07 as MOVILINK
®
master
MOVILINK®commands can be sent via IPOSplus® to send parameter or process data
telegrams to other stations. The command for execution of a parameter and/or process
data exchange is MOVLNK.
The Movilink (...) command has the variable H as its argument. This variable refers to a
command structure. All information required for communication must be entered into
this command structure.
The command structure contains several variables that select the interface defining the
type of transmission and data. The command structure is explained in the following ta-
ble:
The Movilink (...) command is not suitable for multiple master configurations.
There may only be one master in the whole network during the entire execution period
of a MOVLNK command!
Use the IPOSplus® SCOM command if you want to use a multimaster-capable protocol.
MOVLNK Ml
_Movilink (...) Variable no. Name Values Meaning
HMl.BusType
0 = reserved
1 = reserved
2 = RS-485
3 = reserved
4 = reserved
5 = SBus (MOVILINK)
6 = CANopen
This process selects the interface to be used for trans-
mitting a MOVILINK®command.
H + 1 Ml.Address 0 ... 63 (SBus) 100 ... 163 (SBus)
1 ... 127 (CANopen)
– The SBus address is required for standard ser-
vices.
–Add100 to the SBus group address to determine
the group address.
H + 2 Ml.Format
0 = Param + 1PD
1 = 1PD
2 = Param + 2PD
3 = 2PD
4 = Param + 3PD
5 = 3PD
6 = Param (without
PD)
Description of the telegram structure.
for example Frametype = 4:
One MOVLNK command transmits parameters and
three process data.
H + 3 Ml.Service 1 = Read
2 = Write1
3 = Write without
saving
– Reading a parameter via parameter telegram.
– Writing with saving to non-volatile memory.
– Write without saving.
H + 4 Ml.Index Index number of a
parameter Index number of the parameter to be modified or read.
H + 5 Ml.DPointer Variable number Number of the variable H’ where the read data are stored or from where the data to be written are
obtained.
H + 6 Ml.Result Error code or 0 Contains the error code after execution of the service
or zero if no error has occurred.
1 The memory may be used up after 100 000 write processes if you write cyclically in the non-volatile memory. That means the inverter
will stop functioning after five years if you write something every 20 minutes. Or after one month if you write two values per second.
You may not write cyclically in the non-volative memory!