SEW-Eurodrive MOVIPRO SDC User manual

Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIPRO
®
SDC
with PROFIBUS Interface
Edition 12/2009 16778812 / EN

SEW-EURODRIVE—Driving the world

Manual – MOVIPRO®-SDC with PROFIBUS Interface 3
Contents
Contents
1 General Information ............................................................................................ 5
1.1 Use of the manual....................................................................................... 5
1.2 Structure of the safety notes ....................................................................... 5
1.3 Right to claim under limited warranty.......................................................... 6
1.4 Exclusion of liability..................................................................................... 6
1.5 Copyright notice .......................................................................................... 6
1.6 Other applicable documentation ................................................................. 6
1.7 General safety notes for bus systems......................................................... 6
1.8 Safety functions .......................................................................................... 7
1.9 Hoist applications........................................................................................ 7
2 Application Modules in MOVITOOLS®MotionStudio ..................................... 8
2.1 Application modules for MOVIPRO®-SDC.................................................. 8
3 Startup................................................................................................................ 14
3.1 Startup procedure ..................................................................................... 14
3.2 Check list for startup ................................................................................. 14
4 Installation Notes .............................................................................................. 16
4.1 Fieldbus connection .................................................................................. 16
4.2 Shielding and routing the bus cables ........................................................ 18
4.3 Setting the station address (PROFIBUS).................................................. 19
4.4 Status and error messages....................................................................... 21
5 Configuration and Startup on the PROFIBUS DP-V1 Fieldbus..................... 25
5.1 Configuring a PROFIBUS DP master ....................................................... 25
6 Operating Behavior in Conjunction with PROFIBUS DP-V1 ......................... 33
6.1 Process data exchange with MOVIPRO®................................................. 33
6.2 PROFIBUS-DP-V1 timeout ....................................................................... 35
6.3 Parameterization via PROFIBUS DP........................................................ 36
6.4 Parameterization – return codes............................................................... 41
6.5 Special cases............................................................................................ 43
7 PROFIBUS DP-V1 Functions............................................................................ 45
7.1 PROFIBUS DP-V1 – introduction ............................................................. 45
7.2 Features of SEW fieldbus interfaces......................................................... 47
7.3 Structure of the DP-V1 parameter channel............................................... 48
7.4 Project planning for a C1 master .............................................................. 60
8 Error Diagnostics .............................................................................................. 64
8.1 Diagnostics procedure – PROFIBUS DP-V1 operation ............................ 64
8.2 Fieldbus timeout ....................................................................................... 65
9 Process Data Description................................................................................. 66
9.1 Overview of process data ......................................................................... 66
9.2 MOVIPRO®control word .......................................................................... 66
9.3 MOVIPRO®status word............................................................................ 67
9.4 Digital inputs and outputs.......................................................................... 69
9.5 Process data of power section.................................................................. 70

Contents
4Manual – MOVIPRO®-SDC with PROFIBUS Interface
10 Operation of MOVITOOLS®MotionStudio ...................................................... 79
10.1 About MOVITOOLS®MotionStudio .......................................................... 79
10.2 First steps ................................................................................................. 80
10.3 Connection mode...................................................................................... 81
10.4 Communication via Ethernet..................................................................... 83
10.5 Executing functions with the units............................................................. 91
11 Parameterization of MOVIPRO®....................................................................... 94
11.1 Startup assistant ....................................................................................... 94
11.2 Storing unit data...................................................................................... 102
11.3 Overview of parameters.......................................................................... 104
11.4 Explanation of the parameters ................................................................ 109
12 Service ............................................................................................................. 149
12.1 Unit replacement ..................................................................................... 149
12.2 Service unit ............................................................................................. 151
12.3 MOVIPRO®-SDC error list ...................................................................... 152
13 Additional Documentation ............................................................................. 162
14 Address List .................................................................................................... 163
Index................................................................................................................. 164

Manual – MOVIPRO®-SDC with PROFIBUS Interface 5
1
Use of the manual
General Information
1 General Information
1.1 Use of the manual
The manual is part of the product and contains important information. The manual is for
everyone working with this product.
The manual must be accessible and legible. Make sure that persons responsible for the
system and its operation, as well as persons who work independently on the unit, have
read through the manual carefully and understood it. If you are unclear about any of the
information in this documentation, or if you require further information, contact
SEW-EURODRIVE.
1.2 Structure of the safety notes
1.2.1 Meaning of the signal words
The following table shows the grading and meaning of the signal words for safety notes,
notes on potential risks of damage to property, and other notes.
1.2.2 Structure of the section safety notes
Section safety notes apply to several actions pertaining to one subject. The used picto-
grams indicate either a general or a specific hazard.
Section safety notes are structured as follows:
Signal word Meaning Consequences if disregarded
DANGER Imminent danger Severe or fatal injuries
WARNING Possible dangerous situation Severe or fatal injuries
CAUTION Possible dangerous situation Minor injuries
IMPORTANT! Possible damage to property Damage to the drive system or its environ-
ment
INFORMA-
TION
Useful information or tip that facilitates han-
dling the drive system.
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.

6Manual – MOVIPRO®-SDC with PROFIBUS Interface
1Right to claim under limited warranty
General Information
1.2.3 Structure of the embedded safety notes
Embedded safety notes are directly integrated in the instructions just before the descrip-
tion of the dangerous action.
Embedded safety notes are structured as follows:
•SIGNAL WORD Nature and source of hazard.
Possible consequence(s) if disregarded.
– Measure(s) to prevent the danger.
1.3 Right to claim under limited warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the manual. Therefore, read the manual
before you start operating the device!
1.4 Exclusion of liability
You must comply with the information contained in the manual to ensure safe operation
of the MOVIPRO®units and to achieve the specified product characteristics and perfor-
mance requirements. SEW-EURODRIVE assumes no liability for injury to persons or
damage to equipment or property resulting from non-observance of this manual. In such
cases, any liability for defects is excluded.
1.5 Copyright notice
© 2009 – SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the unauthorized duplication, modification, distribution, and use
of this document, in whole or in part.
1.6 Other applicable documentation
This manual does not replace the detailed operating instructions. Only electrical special-
ists are allowed to install and start up MOVIPRO®observing the applicable accident pre-
vention regulations and the MOVIPRO®-SDC operating instructions.
1.7 General safety notes for bus systems
This communication system allows you to match MOVIPRO®-SDC to the specifics of
your application. As with all bus systems, there is a danger of modifications to the pa-
rameters that are not visible from outside (in relation to the inverter), which give rise to
changes in the inverter behavior. This may result in unexpected (not uncontrolled) sys-
tem behavior.

Manual – MOVIPRO®-SDC with PROFIBUS Interface 7
1
Safety functions
General Information
1.8 Safety functions
MOVIPRO®may not perform any safety functions unless they are described and ex-
pressly approved.
For safety applications, ensure that the information in the following publication is ob-
served:
•MOVIPRO
®-SDC – Functional Safety
Use only those components in safety applications that were explicitly designed and de-
livered for this purpose by SEW-EURODRIVE.
1.9 Hoist applications
• Hoist applications can only be implemented with MOVIPRO®-SDC under the follow-
ing conditions:
– A hoist startup must be performed.
•MOVIPRO
®is not designed for use as a safety device in hoist applications.
Use monitoring systems or mechanical protection devices as safety equipment to
avoid possible damage to property or injury to people.

8Manual – MOVIPRO®-SDC with PROFIBUS Interface
2Application modules for MOVIPRO®-SDC
Application Modules in MOVITOOLS®MotionStudio
2 Application Modules in MOVITOOLS®MotionStudio
2.1 Application modules for MOVIPRO®-SDC
2.1.1 Description
Drive task Industrial drive tasks usually require more than motor speed control. The inverter often
has to control complex motion sequences and take on typical PLC tasks.
Solution with
MOVIPRO®-SDC
SEW-EURODRIVE offers various standardized control programs, so-called application
modules, for positioning.
The application module has a user-friendly GUI to assist with parameterization. You
merely have to specify the parameters required for your application. The application
module uses this information to create the control program and loads it into the inverter.
MOVIPRO®-SDC then takes over the entire motion control. Thus the application module
takes load off the higher-level controller.
Benefits The application modules offer the following benefits:
• A wide range of functions
• A user-friendly GUI
• Only the parameters necessary for the application must be entered
• Guided parameter setting instead of complicated programming
• No programming experience required
• Quick familiarization, therefore quicker configuration and startup
• All movement functions are controlled directly in the MOVIPRO®
Scope of delivery
and documentation
The application modules are included in the MOVITOOLS®MotionStudio software and
can be used with all MOVIPRO®-SDC units.
INFORMATION
For information on how to operate the application modules, refer to the
MOVIDRIVE®B application manuals. They are available on the SEW homepage.

Manual – MOVIPRO®-SDC with PROFIBUS Interface 9
2
Application modules for MOVIPRO®-SDC
Application Modules in MOVITOOLS®MotionStudio
2.1.2 Available application modules
The following application modules are available for MOVIPRO®-SDC.
• Bus positioning
• Extended positioning via bus
• Modulo positioning
• Table positioning
• Sensor based positioning via bus
• Automotive AMA0801
Bus positioning The "Bus positioning" application module has the following functions:
• Variable and unlimited number of target positions
• Freely adjustable travel speed for positioning
• Maximum travel distance ± 32700 mm
1984436491

10 Manual – MOVIPRO®-SDC with PROFIBUS Interface
2Application modules for MOVIPRO®-SDC
Application Modules in MOVITOOLS®MotionStudio
Extended bus
positioning
The "Extended bus positioning" application module has the following functions:
• Variable number of target positions
• The travel speed for positioning and the acceleration and deceleration ramps are
specified variably by the PLC.
• Maximum travel distance ± 262100 mm
• Operation is possible with 4 instead of 6 process data words. The variable
specification of the ramp type is not used in this case.
1984444811

Manual – MOVIPRO®-SDC with PROFIBUS Interface 11
2
Application modules for MOVIPRO®-SDC
Application Modules in MOVITOOLS®MotionStudio
Modulo positioning The "Modulo positioning" application module has the following functions:
• Fieldbuses with 4 or 6 process data words are supported.
• Target position specified via 2 process data words
• Freely adjustable travel speed
• Two different ramps can be selected when 4 process data words are used for control.
• The acceleration or deceleration ramps can be specified using process data word 5
or 6 for control via 6 process data words.
• For a non-positive connection (= with slip) between the motor shaft and application,
the distance measurement can be taken via an external incremental or absolute
encoder. The encoder must be mounted to the application without slip.
Table positioning The "Table positioning" application module has the following functions:
• Control via fieldbus
• 32 table positions in inverter
• Freely adjustable travel speed
1984678283

12 Manual – MOVIPRO®-SDC with PROFIBUS Interface
2Application modules for MOVIPRO®-SDC
Application Modules in MOVITOOLS®MotionStudio
Sensor-based
positioning
The "Sensor-based positioning" application module has the following functions:
• Variable and unlimited number of target positions
• Freely adjustable travel speed (changes can be made during travel for linear
positioning ramps)
• Maximum travel distance ± 32700 m
1984845707

Manual – MOVIPRO®-SDC with PROFIBUS Interface 13
2
Application modules for MOVIPRO®-SDC
Application Modules in MOVITOOLS®MotionStudio
Automotive
AMA0801
The "Automotive AMA0801" application module offers the following functions:
• The "Automotive AMA0801" application module makes it possible to implement lifting
devices, conveyor systems and machinery with drives that have to move at a
synchronous angle to one another occasionally or permanently.
• The "Automotive AMA0801" application module has a selectable process data
interface. Setpoints specification is either variable or binary.
• The program is used to control individual drives. In synchronous operation mode,
these drives can be synchronized to a master drive.
2123860875

14 Manual – MOVIPRO®-SDC with PROFIBUS Interface
3Startup procedure
Startup
3Startup
3.1 Startup procedure
3.2 Check list for startup
3.2.1 Preliminary work
Make sure that the following preliminary steps have been carried out:
• MOVITOOLS®MotionStudio version 5.60 or later is installed on the engineering PC.
• The GSD file, "SEW_600E.GSD" is available.
• The Ethernet service interface is configured. For more information, refer to section
"Communication via Ethernet (page )".
• The MOVIPRO®unit is connected to the fieldbus.
• A connection has been established between the engineering PC and the MOVIPRO®
unit.
– Except for the lower byte, the engineering PC and the MOVIPRO®unit have the
same IP address (page 83).
– The engineering PC and the MOVIPRO®unit have identical subnet masks.
–TheMOVIPRO
®can be addressed via the engineering PC using the ping
command.
The following illustration gives an overview of the MOVIPRO®startup procedure and lists other applicable
documentation:
[1] Motor startup →Refer to the operating instructions of the motor for
more information.
[2] MOVIPRO®startup →For more information, refer to the "MOVIPRO®-
SDC" operating instructions.
[3] Parameterization →For more information, see section "Parameteriza-
tion of "MOVIPRO®SDC (page 94)"
[4] Fieldbus configuration →Information is listed in the following sections:
– "PROFIBUS DP-V1 Project Planning" (page 25)
– "Application modules in MOVITOOLS®
MotionStudio (page 8)"
– "Process data description" (page 66)
00
I

Manual – MOVIPRO®-SDC with PROFIBUS Interface 15
3
Check list for startup
Startup
3.2.2 Unit installation
Perform the following steps:
1. Install the components according to the information in the MOVIPRO®operating in-
structions:
– Supply system cable
– Motor cable
– Braking resistor
– DC 24 V backup voltage
2. Switch on all power supplies of the MOVIPRO®unit.
3.2.3 Configuration of MOVIPRO®
Proceed as follows to configure the MOVIPRO®:
1. Start MOVITOOLS®MotionStudio.
2. Create a new project.
3. Set the communication properties to "Ethernet".
4. Perform a unit scan.
5. Mark the MOVIPRO®unit.
6. Right-click on it and select [Startup] / [Startup] from the context menu.
7. Perform a motor startup (page 97).
8. Load the respective application module into MOVIPRO®, if necessary.
9. Check whether the process data exchange between the controller and the
MOVIPRO®is working properly.
10.Enable the MOVIPRO®unit.
INFORMATION
For information about using MOVITOOLS®MotionStudio, refer to section "Operation
of MOVITOOLS®MotionStudio (page )".
00
I

16 Manual – MOVIPRO®-SDC with PROFIBUS Interface
4Fieldbus connection
Installation Notes
4 Installation Notes
4.1 Fieldbus connection
4.1.1 X4201: PROFIBUS input
The following table provides information about this connection:
INFORMATION
For information on the assembly and the installation of MOVIPRO®, refer to the
"MOVIPRO®-SDC" operating instructions.
For a simple application, this section contains information on how to install the Ether-
net.
Function
PROFIBUS input
Connection type
M12, 5-pole, male, B-coded
Wiring diagram
18014399425260939
Assignment
No. Name Function
1 res. Reserved
2 A PROFIBUS data line A (green)
3 res. Reserved
4 B PROFIBUS data line B (red)
5 res. Reserved
3
12
5
4

Manual – MOVIPRO®-SDC with PROFIBUS Interface 17
4
Fieldbus connection
Installation Notes
4.1.2 X4202: PROFIBUS output
The following table provides information about this connection:
Bus termination
Function
PROFIBUS output
Connection type
M12, 5-pole, female, B-coded
Wiring diagram
2354431115
Assignment
No. Name Function
1 +5 V DC 5 V output
2 A PROFIBUS data line A (green)
3 0V5 0V5 reference potential
4 B PROFIBUS data line B (red)
5 res. Reserved
43
2
5
1
INFORMATION
If the unit is the last station in the bus, you must provide for a bus termination by con-
necting an according resistor to plug connector X4202.

18 Manual – MOVIPRO®-SDC with PROFIBUS Interface
4Shielding and routing the bus cables
Installation Notes
4.1.3 MOVIPRO®– PROFIBUS connection
According to the PROFIBUS specification, the bus has to be implemented with a line
structure. The maximum permitted cable length depends on the baud rate setting:
4.2 Shielding and routing the bus cables
The PROFIBUS interface supports RS485 transmission technology and requires the
cable type A to IEC 61158 specified as the physical medium for PROFIBUS. This cable
must be a shielded, twisted-pair cable.
Correct shielding of the bus cable attenuates electrical interference that can occur in in-
dustrial environments. The following measures ensure the best possible shielding:
• Manually tighten the mounting screws on the connectors, modules, and equipotential
bonding conductors.
• Use only connectors with a metal housing or a metalized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus cables on both ends.
• Route signal and bus cables in separate cable ducts. Do not route them parallel to
power cables (motor leads).
• Use metallic, grounded cable racks in industrial environments.
• Route the signal cable and the corresponding equipotential bonding close to each
other using the shortest possible route.
• Avoid using plug connectors to extend bus cables.
• Route the bus cables closely along existing grounding surfaces.
Baud rate Maximum cable length
9.6 kBd 1200 m
19.2 kBd
93.75 kBd
187.5 kBd 1000 m
500 kBd 400 m
1.5 MBaud 200 m
12 MBaud 100 m
NOTICE
In case of fluctuations in the ground potential, a compensating current may flow via the
bilaterally connected shield that is also connected to the protective earth (PE). Make
sure you supply adequate equipotential bonding according in accordance with rele-
vant VDE regulations in such a case.

Manual – MOVIPRO®-SDC with PROFIBUS Interface 19
4
Setting the station address (PROFIBUS)
Installation Notes
4.3 Setting the station address (PROFIBUS)
Use the S2 DIP switch in the PROFIBUS®module to set the station address of the
MOVIPRO. The default setting for the station address is 4. The following figure shows
the DIP switch S2 ant its position on the PROFIBUS module:
The DIP switch S2 is located on the top of the PROFIBUS module. You have to remove
the PROFIBUS module to reach it. This does not interrupt the PROFIBUS network. Pro-
ceed as follows when removing the module:
1. Loosen the knurled screws.
2. Pull the PROFIBUS module from the MOVIPRO®unit to the front.
3. Use DIP switches 1 to 7 to set the PROFIBUS address. The following example
shows the settings of the DIP switches for PROFIBUS address 17.
INFORMATION
Any changes to the station address during operation become effective after the power
supply has been interrupted (DC-24-V-Reset).
1642743307
[1] DIP switch S2
[2] Knurled screw
1946073995?
[1] Example: Address 17
[2] Switch 8 = Reserved
Addresses 1 to 125: valid addresses
Addresses 0, 126, 127: are not supported
ZZ
[2]
[1]
[2]
167
54328
S2
ON
26 x 0 = 0
25x 0 = 0
24x 1 = 16
23 x 0 = 0
22 x 0 = 0
21 x 0 = 0
20 x 1 = 1
17
[2]
[1]

20 Manual – MOVIPRO®-SDC with PROFIBUS Interface
4Setting the station address (PROFIBUS)
Installation Notes
The following table uses PROFIBUS address 17 as an example to show how to de-
termine the DIP switch settings for any bus address:
4. Connect the bus terminating resistor to the MOVIPRO®at the last bus station.
• If MOVIPRO®is located at the end of a PROFIBUS segment, the unit can only be
connected to the PROFIBUS network via the incoming PROFIBUS line.
• To prevent malfunctions in the bus system due to reflections, etc., the PROFIBUS
segment must be terminated using bus terminating resistors at the first and last
stations.
5. Once plugged-in, secure the PROFIBUS module with both knurled screws.
DIP switch setting Significance
DIP 1 = ON 1
DIP 2 = OFF 2
DIP 3 = OFF 4
DIP 4 = OFF 8
DIP 5 = ON 16
DIP 6 = OFF 32
DIP 7 = OFF 64