SEW-Eurodrive MOVIDRIVE MD*60A Series User manual

UL
®
UL
®
C
T
MOVIDRIVE® MD_60A
Drive Inverter
Manual
Internal Synchronous Operation
Edition 11/2000
1050 3617 / 112000

2 MOVIDRIVE
®
Internal Synchronous Operation
Important Notes
•Read through this manual carefully before you commence installation and startup of
MOVIDRIVE®
drive inverters with internal synchronous operation.
This manual assumes that the user has access to and is familiar with the documentation on
the MOVIDRIVE®system, in particular the MOVIDRIVE®
system manual.
•Safety notes:
Always follow the safety and warning instructions contained in this manual!
Safety notes are marked as follows:
Electrical hazard, e.g. during live working.
Mechanical hazard, e.g. when working on hoists.
Important instructions for safe and fault-free operation of the driven machine/
system, e.g. pre-setting before startup.
• In this manual, cross references are marked with a þ, e.g.: (→Sec. X.X) means that
further information can be found in section X.X of this manual.
• A requirement of fault-free operation and fulfillment of any rights to claim under guarantee is
that this information is observed.
• This information does not replace the detailed operating instructions!
• Installation and startup only by trained personnel observing applicable accident prevention
regulations and the MOVIDRIVE®
operating instructions!

Contents
MOVIDRIVE
®
Internal Synchronous Operation 3
1 System Description.....................................................................................4
1.1 Application fields .............................................................................................................4
1.2 Functional description......................................................................................................4
1.3 State machine of internal synchronous operation............................................................5
1.4 Controlling internal synchronous operation.....................................................................5
2 Project Planning ........................................................................................6
2.1 Application examples.......................................................................................................6
2.2 Pre-requisites ..................................................................................................................8
2.2.1 PC and software...............................................................................................8
2.2.2 IPOSplus®Compiler...........................................................................................8
2.2.3 Inverter.............................................................................................................8
2.2.4 Motors and encoders .......................................................................................9
2.3 Project planning notes...................................................................................................10
2.4 Synchronous start/stop .................................................................................................11
3 Installation............................................................................................. 12
3.1 Software ........................................................................................................................12
3.2 Connecting the incremental encoder master to MOVIDRIVE®
slave ..............................13
3.3 Connecting MOVIDRIVE®
master to MOVIDRIVE® slave ...............................................14
3.4 SBus connection of master/slave(s) ..............................................................................15
4 Startup.................................................................................................. 16
4.1 General information .......................................................................................................16
4.2 Preliminary work............................................................................................................16
4.3 Starting up internal synchronous operation...................................................................16
4.3.1 General information........................................................................................16
4.3.2 Starting up with X14 – X14 connection..........................................................17
4.3.3 Starting up with SBus connection ..................................................................17
5 Working Method and Functions..................................................................... 18
5.1 Controlling internal synchronous operation...................................................................18
5.2 Main state machine........................................................................................................18
5.3 Startup cycle mode control............................................................................................20
5.3.1 Time-controlled synchronization process.......................................................20
5.3.2 Travel-dependent synchronization process ....................................................20
5.3.3 Startup cycle state machine ...........................................................................21
5.4 Stop cycle state machine ...............................................................................................24
5.5 Offset control.................................................................................................................25
5.5.1 Time-controlled offset processing..................................................................25
5.5.2 Travel-dependent offset processing ...............................................................25
5.5.3 Offset state machine.......................................................................................25
5.6 Synchronous operation..................................................................................................27
5.7 Virtual encoder ..............................................................................................................28
5.7.1 Virtual encoder without ramp generator.........................................................28
5.7.2 Virtual encoder with ramp generator..............................................................28
5.8 Important notes ............................................................................................................. 29
6 System Variables of Internal Synchronous Operation........................................... 30
7 Sample IPOS Programs.............................................................................. 33
7.1 Example 1:.....................................................................................................................33
7.2 Example 2:.....................................................................................................................36
7.3 Example 3:.....................................................................................................................40

4 MOVIDRIVE
®
Internal Synchronous Operation
1System Description
1 System Description
1.1 Application fields
The internal synchronous operation function enables a group of motors to be operated at a
synchronous angle in relation to one another or with an adjustable proportional relationship
(electronic gear).
Internal synchronous operation is particularly suited to the following sectors and applications:
• Beverage industry
– Filling stations
• Multiple column hoist
• Synchronous material transport
• Extruder applications, cutting to length material off the roll
– Flying saw
– Rotating knife
Internal synchronous operation offers the following advantages in these applications:
• Possibility of travel-dependent synchronization →smooth synchronizing without overshooting.
• Possibility of travel-dependent offset.
• Signed input of the master gear factor.
• Possibility of synchronizing with a virtual encoder.
• Possibility of synchronized SBus connection between master and slave.
• Software solution →no option pcb required.
1.2 Functional description
The internal synchronous operation function takes the form of a special firmware package which
only expects increments from a master. The master can either be the X14 input (physical master
drive) or any IPOS variable (virtual master drive), for example in conjunction with the SBus or a
virtual encoder.
• Synchronization
The time-controlled synchronization mechanism has been implemented. An angular differential
in the slave drive resulting from free running is reduced to zero.
In addition, a special type of synchronization can be employed. The slave drive moves at a
synchronous angle to the master drive following a specified number of master increments
(travel-dependent synchronization). The slave drive moves with a quadratic ramp in this
synchronization mechanism.
• Synchronous operation
Various functions are included in synchronous operation. For example, it is possible to operate
with a specified offset after a specific travel distance. The offset between the master and slave
drive comes into effect after a specified number of master increments.
• Disengaging
The slave disengages from synchronous operation using the stop cycle process. This process
can be started manually by setting a system variable or it may be event-driven via a binary input.

MOVIDRIVE
®
Internal Synchronous Operation 5
System Description 1
1.3 State machine of internal synchronous operation
The individual functions of internal synchronous operation are controlled using something referred
to as a state machine. This state machine is divided into five main states.
03778AEN
Fig. 1: Overview of the state machine for internal synchronous operation
• State Z0 = Free running speed control: The slave drive moves in free running mode with
speed control. The reference to the master drive
is stored in a difference counter.
• State Z1 = Free running position control: The slave drive stops with position control and
therefore does not drift out of position. The
reference to the master drive is not stored.
• State Z2 = Engaging: The slave drive is synchronized with the master
drive either under time control or travel control.
• State Z3 = Synchronous operation: The slave drive moves in synchronicity with the
master drive.
• State Z4 = Offset: An offset can be set in the synchronous
operation.
• State Z5 = Disengaging: The slave drive exits synchronous operation.
1.4 Controlling internal synchronous operation
Internal synchronous operation is controlled using IPOSplus®
variables within the IPOSplus®
application program. All states can be viewed and set in a variable range from H360 to H446 which
is reserved for internal synchronous operation (→System variables section).
Free running
speed
control
Z0
Synchronous
operation
Z3
Free running
position
control
Z1
Engaging
Z2
Engaging control or
IPOS program
Disengaging
Z5
Offset
Z4
Engaging control or
IPOS program
Disengaging control or
IPOS program
IPOS program
Disengaging control or
IPOS program
Offset control
or IPOS program
Automatic
transfer
Automatic
transfer
Automatic
transfer
Automatic
transfer

6 MOVIDRIVE
®
Internal Synchronous Operation
2Project Planning
2 Project Planning
2.1 Application examples
a) Master/slave mode of two drives
03779AEN
Fig. 2: Master/slave mode
b) Master/slave mode of two drives with virtual encoder as master
03780AEN
Fig. 3: Master/slave mode with virtual encoder
X15X15
MDV/MDS60A...-5_3-4-06
Basic unit
X14 X14
Master Slave
Sin/cos encoder
Sin/cos encoder
IPOS-Variablen
H370
...
X15X15
MDV/MDS60A...-5_3-4-06
MDV/MDS60A...-5_3-4-06
X14 X14
Master = virtual encoder
Sin/cos encoder
Sin/cos encoder
Slave 1 Slave 2

MOVIDRIVE
®
Internal Synchronous Operation 7
Project Planning 2
c) Group configuration: Master and equivalent slaves, e.g. multiple column hoist
03558AEN
Fig. 4: Group configuration
d) Group configuration with virtual master encoder:
03561AEN
Fig. 5: Group configuration with virtual master encoder
X15X15X15 X15
MDV/MDS60A...-5_3-4-06
SBusSBus SBus
Slave 1 Slave 2 Slave 3
Sin/cos encoder
Sin/cos encoder
Sin/cos encoder
Sin/cos encoder
MasterMaster Slave 3
X15X15
X15
MDV/MDS60A...-5_3-4-06
SBus SBus
Slave 1 Slave 2 Slave 3
Sin/cos encoder
Sin/cos encoder
Sin/cos encoder
Master = virtual encoder

8 MOVIDRIVE
®
Internal Synchronous Operation
2Project Planning
2.2 Pre-requisites
2.2.1 PC and software
You need the SEW MOVITOOLS software package in order to be able to use internal synchronous
operation. In order to use MOVITOOLS, you must have a PC with one of the following operating
systems: Windows 95®, Windows 98® or Windows NT® version 4.0.
2.2.2 IPOSplus® Compiler
The user program for internal synchronous operation must be created using IPOSplus® compiler.
Do not use the assembler (on-screen programming) for this purpose.
IPOSplus® variables H360 to H450 are defined for internal synchronous operation.
2.2.3 Inverter
• The MOVIDRIVE® MD_60A...-5_3-4-06 special version contains a special firmware package for
internal synchronous operation.
• Internal synchronous operation can only be implemented with MOVIDRIVE® MDV60A in the
CFC operating modes or with MOVIDRIVE® MDS60A (SERVO). Internal synchronous operation
cannot be implemented with MOVIDRIVE® MDV60A in the VFC operating modes or with
MOVIDRIVE® MDF60A.
• Only 1 parameter set is available; parameter set 2 cannot be used.
• The following options are not supported and therefore may not be used: "Single-axis positioning
control type DPI11A" and "Synchronous operation board type DRS11A."
The special version for internal synchronous operation has the following part numbers:
MOVIDRIVE® MDV60A... Part number MOVIDRIVE® MDS60A... Part number
0015-5A3-4-06 826 994 7 0015-5A3-4-06 827 008 2
0022-5A3-4-06 826 995 5 0022-5A3-4-06 827 009 0
0030-5A3-4-06 826 996 3 0030-5A3-4-06 827 010 4
0040-5A3-4-06 826 997 1 0040-5A3-4-06 827 011 2
0055-5A3-4-06 826 998 X 0055-5A3-4-06 827 012 0
0075-5A3-4-06 826 999 8 0075-5A3-4-06 827 013 9
0110-5A3-4-06 827 000 7 0110-5A3-4-06 827 014 7
0150-503-4-06 827 001 5 0150-503-4-06 827 015 5
0220-503-4-06 827 002 3 0220-503-4-06 827 016 3
0300-503-4-06 827 003 1 0300-503-4-06 827 017 1
0370-503-4-06 827 004 X 0370-503-4-06 827 018 X
0450-503-4-06 827 005 8
0550-503-4-06 827 006 6
0750-503-4-06 827 007 4

MOVIDRIVE
®
Internal Synchronous Operation 9
Project Planning 2
2.2.4 Motors and encoders
• For operation on MOVIDRIVE® MDV60A:
– Asynchronous servomotors CT/CV, high-resolution sin/cos encoder installed as standard.
– AC motors DT/DV/D with incremental encoder option, preferably high-resolution
sin/cos encoder.
• For operation on MOVIDRIVE® MDS60A:
– Synchronous servomotors DS/DY, resolver installed as standard.
High-resolution speed detection is required for optimum operation of internal synchronous
operation. The encoders installed as standard on CT/CV and DS/DY motors fulfill these
requirements. SEW recommends using high-resolution sin/cos encoders ES1S, ES2S or EV1S as
incremental encoders if DT/DV/D motors are used.

10 MOVIDRIVE
®
Internal Synchronous Operation
2Project Planning
2.3 Project planning notes
• Do not use internal synchronous operation with systems that have a rigid mechanical
connection.
• Fit slave inverters with a braking resistor.
• During project planning for the synchronous operation application, bear in mind that the slave
must be able to reduce the angle differential between itself and the master to zero at any time.
For this reason, set the maximum speed (P302) of the slave to a greater value than the
maximum speed of the master.
• During the time-controlled synchronization process, the synchronization speed of the slave drive
must be faster than the maximum speed of the master drive.
• If possible, always use the same type of drives for internal synchronous operation.
• In the case of multiple column hoists, always use the same motors and the same gear units
(identical ratios).
• When drives of the same type are operating as a synchronized group (e.g. multiple column
hoist), then the drive which carries the highest proportion of the load during operation must be
selected as the master.
• Connect the slave motor encoder to X15 (ENCODER IN) and the master incremental encoder to
X14 (ENCODER IN/OUT) →MOVIDRIVE® operating instructions.
• Master is incremental encoder on X14: use an incremental encoder with the maximum possible
resolution, however no more than 200 kHz.
• It is impossible to evaluate signals from any encoders (e.g. an external encoder on the distance)
other than the master incremental encoder on X14, unless an additional option card is fitted.
Exception: Signals from an absolute encoder can be evaluated as from an external encoder if the
slave inverter is equipped with the "absolute encoder interface type DIP11A" option.
• Only slave drives with an interlocking (= slip-free) connection between the motor shaft and the
driven machine are allowed to be used.
• Operation with SBus →Setting up a cyclical data transfer in an IPOS program:
– Group configuration: SBus connection between the master and all slave drives is permitted.
– SBus synchronization with transfer of the SBus synchronization ID.
– Transferring the position of the master drive.
Important: Delays may occur as a result of the SBus transfer.
• Synchronous start/stop (→Sec. 2.4)
•Direct cable-break monitoring (X14-X14 connection, encoder connection) is not possible.
Indirect cable-break monitoring is possible during operation with SBus by way of the SBus
timeout response (P836).

MOVIDRIVE
®
Internal Synchronous Operation 11
Project Planning 2
2.4 Synchronous start/stop
In certain applications such as a two-column hoist, it is essential to make sure that the master and
slave can start and stop in synchronicity. This is a prerequisite for correct operation. As a result,
combinations in which the master is more dynamic than the slave are not permitted.
The following table shows the possible master/slave combinations and the required settings for
synchronous start/stop.
Essential note:
• The brake function must be active in the master and the slave (P730 "Brake function 1" = ON).
• The brake release time (P731) of the master must be increased by the premagnetizing time
(P323) of the slave drive.
• The free running function of the slave is only possible if slave binary input X13:4 (DIØ3) gets a
"1" signal from elsewhere.
Master Slave Master parameter Slave parameter Remark
MDV MDV DOØ2 = Output stage
on
DIØ3 = Enable/rapid stop (factory
setting)
DIØ1 and DIØ2 = No function
Connect master binary output
DOØ2 to slave binary input DIØ3.
MDV MDS
MDS MDS

12 MOVIDRIVE
®
Internal Synchronous Operation
3Installation
3 Installation
3.1 Software
Proceed as follows to install MOVITOOLS® on your computer:
1. Insert the MOVITOOLS®CD into the CD ROM drive of your PC.
2. Select "Start/Run...".
3. Type "{Drive letter of your CD drive}:setup" and press the Enter key.
4. The MOVITOOLS® setup menu appears. Follow the instructions of the installation wizard.
You can now use the Program Manager to start MOVITOOLS®.. If a MOVIDRIVE® unit is connected
to your PC, select the correct port (PC COM port) and set point-to-point connection. Select
<Update> to display the inverter in the "Connected Units" window.
02745AEN
Fig. 6: MOVITOOLS
®
window

MOVIDRIVE
®
Internal Synchronous Operation 13
Installation 3
3.2 Connecting the incremental encoder master to MOVIDRIVE® slave
03405AEN
Fig. 7: Connecting the incremental encoder master to MOVIDRIVE
®
slave
Connect the master incremental encoder (TTL sensor with 24 VDC supply, for example ES1R, ES2R
or EV1R) as follows:
03882AXX
✂Cut off the violet conductor (VT) of the cable at the encoder end.
Fig. 8: Connecting the master incremental encoder to X14
Important note:
• The maximum permitted line length of the incremental encoder/motor encoder is 100 m (330 ft).
• Only use shielded encoder cables with twisted pair conductors (A and A, B and B, C and C).
Connect the shield at both ends.
• Route the encoder cable separately from the power cables.
• SEW offers pre-fabricated cables for a simple and fault-free encoder connection.
X14:
X15:
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
X10:
TF1
DGND
DBØØ
DOØ1-C
DOØ1-NO
DOØ1-NC
DOØ2
VO24
VI24
DGND
1
2
3
4
5
6
7
8
9
10
1
5
6
9
5
1
9
6
Motor encoder:
high-resolution sin/cos encoder for MDV
(CT/CV o r DT/DV/D motors)
resolver with MDS (DFS/DFY motors)
Master:
TTL/RS-422 Incremental encoder
with 24 V supply,
I = 180 mA
DC
max
TF/TH input
Ref. potential for binary signals
/BrakeCommon relay contact /Ready for
NO contact operation*
NC contact
/Fault*
+24V output
+24V input
Ref. potential for binary signals
/Controller inhibit
No function
No function
Enable/rapid stop*
IPOS input
IPOS input
Reference X13:DIØØ...DIØ5
+24V output
Ref. potential for binary signals
RS-485+
RS-485-
MOVIDRIVE slave
®
* Factory settings
Motor encoder:
incremental encoder (MDV) or resolver (MDS)
(Conn. Operating instructions MOVIDRIVE )→®
Input
External encoder
1
6
2
7
3
8
9
5
4
YE
GN
RD
BU
PK
GY
WH
BN
VT
5
1
9
6
MOVIDRIVE
X14
®
max. 100 m (330 ft)
A (K1)
()
B (K2)
()
C (K0)
()
UB
AK1
BK2
CK0
⊥
ES1R / ES2R / EV1R
UB K1 K2 K0⊥K1 K2 K0
yy
UB A B C⊥A B C
✂
815 354 X

14 MOVIDRIVE
®
Internal Synchronous Operation
3Installation
3.3 Connecting MOVIDRIVE® master to MOVIDRIVE® slave
03848AEN
➀Necessary connection for synchronous start/stop (→"Synchronous start/stop" on page 11).
➁It is essential to comply with Fig. 10 and the following instructions for the X14 – X14 connection!
Fig. 9: Connecting MOVIDRIVE
®
master to MOVIDRIVE
®
slave
X14 – X14 connection:
03562AXX
Fig. 10: X14 – X14 master/slave connection
Essential note:
• With MOVIDRIVE® master: Jumper X14:4 with X14:5.
• Do not connect X14:4 and X14:9.
• SEW offers a prefabricated cable for a straightforward and trouble-free X14 – X14 connection.
You can order this cable from SEW by quoting part number 815 355 8.
X14:
X15:X15:
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
X10:
TF1
DGND
DBØØ
DOØ1-C
DOØ1-NO
DOØ1-NC
DOØ2
VO24
VI24
DGND
1
2
3
4
5
6
7
8
9
10
1
5
6
9
1
5
6
9
55
11
99
66
X14:
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
X10:
TF1
DGND
DBØØ
DOØ1-C
DOØ1-NO
DOØ1-NC
DOØ2
VO24
VI24
DGND
1
2
3
4
5
6
7
8
9
10
1
2
Motor standstill
NO contact
NC contact
TF/TH input
Ref. potential for binary signals
/Brake
Output stage enable
+24V output
+24V input
Ref. potential for binary signals
* Factory settings
Incremental encoder
simulation
MOVIDRIVE master
®
/Controller inhibit
CW/stop*
CCW/stop*
Enable/rapid stop*
n11/n21*
n12/n22*
Ref. X13:DIØØ...DIØ5
+24V
Ref. potential for binary signals
RS-485+
RS-485-
TF/TH input
Ref. potential for binary signals
/BrakeCommon relay contact /Ready for
NO contact operation*
NC contact
/Fault*
+24V output
+24V input
Ref. potential for binary signals
/Controller inhibit
No function
No function
Enable/rapid stop*
IPOS input
IPOS input
Reference X13:DIØØ...DIØ5
+24V output
Ref. potential for binary signals
RS-485+
RS-485-
MOVIDRIVE slave
®
* Factory settings
Motor encoder:
incremental encoder (MDV) or resolver (MDS)
(Conn. Operating instructions MOVIDRIVE )→®
Motor encoder:
incremental encoder (MDV) or resolver (MDS)
(Conn. Operating instructions MOVIDRIVE )→®
Input
External encoder
55
11
99
66
MOVIDRIVE Slave
X14
®
MOVIDRIVE Master
X14
®
1
6
2
7
3
8
5
1
6
2
7
3
8
4
5
max. 10 m (33 ft)
A
B
C
A
B
C
yy
815 355 8

MOVIDRIVE
®
Internal Synchronous Operation 15
Installation 3
3.4 SBus connection of master/slave(s)
The "System Bus" manual contains detailed information about the system bus (SBus). This manual
can be obtained from SEW, publication number 0918 0915.
Max. 64 CAN bus stations can be interconnected using the system bus (SBus). The SBus supports
transmission systems compliant with ISO 11898.
03781AEN
Fig. 11: System bus connection (example: 1 master and 2 slaves)
Special note:
• Use a 2-core twisted and shielded copper cable (data transmission cable with shield comprising
copper braiding). Connect the shield at either end to the electronics shield clamp of
MOVIDRIVE®and ensure the shield is connected over a large area. Also connect the ends of the
shield to DGND.
The cable must meet the following specifications:
- Conductor cross section 0.75 mm2(AWG18)
- Cable resistance 120 Ωat 1 MHz
- Capacitance per unit length ≤40 pF/m (12 pF/ft) at 1 kHz
Suitable cables are CAN bus or DeviceNet cables, for example.
• The permitted total cable length depends on the baud rate setting of the SBus:
125 kbaud →320 m (1056 ft)
250 kbaud →160 m (528 ft)
500 kbaud →80 m (264 ft)
1000 kbaud →40 m (132 ft)
• Switch on the system bus terminating resistor (S12 = ON) at the start and finish 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 which are connected together
using the SBus. Take suitable measures to avoid a potential displacement, e.g. by connecting
the unit ground connectors using a separate lead.
Master Slave1 Slave2
X11: X11: X11:
REF1
AI11
AI12
AGND
REF2
REF1
AI11
AI12
AGND
REF2
REF1
AI11
AI12
AGND
REF2
1
2
3
4
5
1
2
3
4
5
1
2
3
4
5
X12: X12: X12:
DGND
SC11
SC12
DGND
SC11
SC12
DGND
SC11
SC12
1
2
3
1
2
3
1
2
3
S12
S11
S12
S11 S11
S12
ON OFF ON OFF ON OFF
yyyy
systembus
ref.potential systembus ref.potential systembus ref.potential
systembushigh systembushigh systembushigh
systembuslow systembuslow systembuslow
system bus
terminating resistor
system bus
terminating resistor
system bus
terminating resistor

16 MOVIDRIVE
®
Internal Synchronous Operation
4Startup
4 Startup
4.1 General information
Correct project planning and installation are the pre-requisites for successful startup. Refer to the
MOVIDRIVE® system manual for detailed project planning instructions. The system manual forms
part of the MOVIDRIVE® documentation package (publication number 0919 3219).
Check the installation, including the encoder connection, by following the installation instructions
in the MOVIDRIVE® MD_60A operating instructions and in this manual (Sec. 3, page 12).
4.2 Preliminary work
Perform the following steps before the startup of "internal synchronous operation":
• Connect the inverter to the PC using the serial port (RS-232, USS21A on PC-COM).
• Install MOVITOOLS® on the PC (Sec. 3.1, page 12) and start the program.
• "0" signal at terminal X13:1 (DIØØ, /Controller inhibit).
• Start up the inverter using <Shell>.
– With MOVIDRIVE® MDV60A and DT/DV/D or CT/CV motors, in CFC & IPOS operating mode.
– With MOVIDRIVE® MDS60A and DS/DY motors, in SERVO & IPOS operating mode.
4.3 Starting up internal synchronous operation
4.3.1 General information
• Start <Shell>.
• Set parameter P916 "Ramp type" to "I-SYNCHR.OPERAT.," thereby activating internal
synchronous operation.
03403AEN
Fig. 12: Activating internal synchronous operation with P916
This setting can also be made with the "_SetSys(SS_RAMTYPE, Hxx)" command in the IPOS
application program. In this case, variable Hxx must be given the value 6.

MOVIDRIVE
®
Internal Synchronous Operation 17
Startup 4
4.3.2 Starting up with X14 – X14 connection
The incremental encoder simulation from X14 of a MOVIDRIVE® master inverter is used as the
master for internal synchronous operation. Make sure that system variable H430
MasterSource = 0
is set in the slave inverter. Only then is X14 active as the source for the master increments.
4.3.3 Starting up with SBus connection
The master and slave(s) are interconnected via the SBus, for example in a group configuration. The
master position is transmitted via this SBus. Transmitting position setpoints requires control loop
synchronization between the master and slave. Comply with the following points when starting up
the SBus.
With the master inverter:
• Create two SBus transmit objects (SCOM TRANSMIT CYCLIC), namely "Synchronization ID" and
"Master position". Both object numbers must be greater than 1050. In addition, the object
number of the synchronization ID must be lower (= with higher priority) than the object number
of the master position.
• The number of the "Synchronization ID" transmit object must not be the same as its own P817
parameter value.
• The set SBus address (P813) must not be the same as the slave SBus addresses.
• The "Cycle time" in the SCOM command for the synchronization ID must be 5 ms.
• The "Cycle time" in the SCOM command for the master position must be 1 ms.
With the slave inverter:
• Create an SBus receive object (SCOM RECEIVE), namely "Master position".
• The P817 parameter value must be the same as the number of the "Synchronization ID" transmit
object.
• The H430 MasterSource system variable must be the same as the value of the D pointer
(→SCOM command structure).
• The slaves must have different SBus addresses (P813).

18 MOVIDRIVE
®
Internal Synchronous Operation
5Operating Principle and
Functions
5 Operating Principle and Functions
5.1 Controlling internal synchronous operation
Internal synchronous operation is controlled using IPOSplus®
variables within the IPOSplus®
program, referred to below as the "application." All states of internal synchronous operation can be
viewed and set in a variable range from H360 to H446 which is reserved for internal synchronous
operation (see the section on system variables). All variables which are connected to internal
synchronous operation have symbolic names. These variables are shown below in
bold and
italics
.
5.2 Main state machine
The following figure shows the main state machine of internal synchronous operation
(H427 →
SynchronousState ).
03406AEN
Sub-state machines:
Startup cycle state machine →Sec. 5.3.3, page 21
Stop cycle state machine →Sec. 5.4, page 24
Offset state machine →Sec. 5.5.3, page 25
Fig. 13: Main state machine of internal synchronous operation with sub-state machines
1
1
2
23
Free running
n-control
Z0
Synchronous
operation
Z3
Free running
x-control
Z1
Engaging
Z2
H411.12 = 0:
time-controlled synch.
H411.12 = 1:
travel-dependent synch.
Engaging control or
IPOS program
Disengaging
Z5
H401.0 = 0: n-control
H401.0 = 1: x-control
Offset
Z4
H361.12 = 0: time-
controlled offset processing
H361.12 = 1:
travel-dependent
offset processing
Engaging control or
IPOS program
H411.12=0: H434 Drag Distance = 0
H411.12=1: H414 Counter > H417 Master Length
Disengaging control or
IPOS program
H401.0 = 0
H401.0=1
IPOS program
Disengaging control or
IPOS program
H361.12=0: H434 Lag Distance = 0
H361.12=1: H364 Counter > H366 Master Length
Offset control
or IPOS program

MOVIDRIVE
®
Internal Synchronous Operation 19
Operating Principle and
Functions 5
The state machine differentiates between six (6) states saved in the SynchronousState variable
(H427).
Additional functions can be selected using the bits of the
SynchronousModeControl variable (H426):
State Description
-
SynchronousState = 0 Free running n-control →The slave drive can be moved with speed control using H439 ( SpeedFreeMode ), a 64-bit difference counter saves
the distortion.
-
SynchronousState = 1 Free running x-control →The slave drive is held in its current position.
-
SynchronousState = 2 Engaging phase →Synchronization takes place depending on bit 12 in
H411 (
StartupCycleModeControl ).
-
SynchronousState = 3 "Hard" synchronous operation →The slave drive follows the master drive
with angular accuracy.
-
SynchronousState = 4 Offset →The offset is set depending on bit 12 in H361
(
OffsetCycleModeControl ).
-
SynchronousState = 5 Disengaging phase →The slave drive is disengaged with the t11 ramp
(P130).
Bit Name Description
0 PosTrim
= 0: Deactivated
= 1: During position control in free running mode (main state 1), causes
the slave drive to move to
TargetPos (H492)
1 Lag Error = 0: Lag error monitoring
= 1: No lag error monitoring

20 MOVIDRIVE
®
Internal Synchronous Operation
5Operating Principle and
Functions
5.3 Startup cycle mode control
5.3.1 Time-controlled synchronization process
During the time-controlled synchronization process, the existing position differential between the
master and slave drive (64-bit counter) is cancelled out by accelerating or decelerating to the
synchronization speed. The time needed depends on the synchronization speed, the
synchronization ramp and the lag distance (H434,
LagDistance32 ). The following diagram shows
the speed profile of the slave drive during the entire process, e.g. at a constant master speed.
03409AEN
Fig. 14: Speed profile of the time-controlled synchronization process
The synchronization speed nsynch and the synchronization ramp asynch are set using parameters
P240 "Synchronization speed" and P241 "Synchronization ramp." These two parameters only have
any effect in the time-controlled synchronization process and in time-controlled offset processing.
5.3.2 Travel-dependent synchronization process
In this synchronization mechanism, the slave drive moves in synchronicity with the master drive
once the master drive has covered the specified distance. The specified distance must be saved in
the
StartupCycleMasterLength system variable (H417), with the value given in increments in
relation to the master. The restriction is that the slave drive starts with speed zero.
03410AEN
Fig. 15: Speed profile for the travel-dependent synchronization process
nMaster
t [s]
nSlave
0t
x
asynch.
P241
t0
nsynch. [rpm]
P240 LagDistance32 ( ) H434
eff. lag distance
at time t
=
X
tX
LagDistance32 ( ) H434
eff. lag distance
at time t
=
0
t0
0
nMaster [rpm]
xMaster [Incr.]
nSlave
20% 60% 20%
StartupCycleMasterLength
H417 (Inc.)