SEW-Eurodrive MOVIDRIVE compact MCF User manual

MOVIDRIVE®Serial Communication Edition
11/2001
Manual
1053 1610 / EN

SEW-EURODRIVE

MOVIDRIVE®Serial Communication 3
Contents
1 Important Notes...................................................................................................... 4
2 Introduction ............................................................................................................ 5
2.1 Overview of serial interfaces.......................................................................... 5
2.2 Technical data................................................................................................ 8
2.3 MOVILINK® and system bus......................................................................... 9
3 Installation ............................................................................................................ 12
3.1 System bus (SBus) installation .................................................................... 12
3.2 RS-485 interface installation........................................................................ 14
3.3 RS-232 interface installation........................................................................ 16
4 RS-485 Communication....................................................................................... 17
4.1 Telegrams.................................................................................................... 17
4.2 Addressing and transmission process ......................................................... 20
4.3 Data contents and PDU types...................................................................... 29
5 System Bus (SBus).............................................................................................. 37
5.1 Slave data exchange via MOVILINK®......................................................... 37
5.2 Setting parameters via the CAN bus............................................................ 42
5.3 Master data exchange via MOVILINK®....................................................... 47
5.4 Master/slave operation via the SBus............................................................ 50
5.5 Data exchange via variable telegrams......................................................... 51
5.6 Project planning example for SBus.............................................................. 62
6 Operation and Service......................................................................................... 64
6.1 Startup problems with the SBus................................................................... 64
6.2 Return codes for parameter setting.............................................................. 65
7 Parameter List ...................................................................................................... 67
7.1 Explanation of the table header ................................................................... 67
7.2 Complete parameter list, sorted by parameter numbers.............................. 68
7.3 Quantity and conversion index..................................................................... 84
8 Index...................................................................................................................... 87
P6..
P60.
P600

1
4MOVIDRIVE®Serial Communication
1 Important Notes
Documentation • Read through this manual carefully before you commence installation and startup of
MOVIDRIVE®drive inverters with a serial communications link (RS-232, RS-485,
system bus).
• This manual assumes that the user has access to and is familiar with the
MOVIDRIVE®documentation, in particular the MOVIDRIVE®system manual.
• In this manual, cross references are marked with "→". For example, (→Sec. X.X)
means: 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 the documentation is observed.
Bus systems General safety notes on bus systems:
This communication system allows you to match the MOVIDRIVE®drive inverter to the
specifics of your application to a very high degree. 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
warning
instructions
Always follow the safety and warning instructions contained in this publication!
•This manual does not replace the detailed operating instructions!
•Installation and startup only by trained personnel observing applicable
accident prevention regulations and the MOVIDRIVE®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
environment.
Tips and useful information.

MOVIDRIVE®Serial Communication 5
2
Overview of serial interfaces
2 Introduction
2.1 Overview of serial interfaces
The following serial interfaces are provided as standard with MOVIDRIVE®drive
inverters for serial communication:
1. System bus (SBus) = CAN bus to CAN specification 2.0, parts A and B.
2. RS-485 interface to EIA standard
MOVIDRIVE®
MD_60A
System bus (SBus):
The system bus (SBus) is routed to terminals X12:2/3 in MOVIDRIVE®MD_60A drive
inverters.
RS-485 interface:
The RS-485 interface is routed to the TERMINAL option slot and, in parallel, to terminals
X13:10/11 in MOVIDRIVE®MD_60A drive inverters.
Either the "DBG11A keypad" or the "USS21A serial interface" can be connected to the
TERMINAL option slot.
05274AXX
Fig. 1: Serial interfaces on MOVIDRIVE®MD_60A
X12:1
X12:2
X12:3
DGND: Ref. potential
SBus high
SBus low
CAN bus to CAN specification 2.0, parts A and B, transmission
technology to ISO 11898, max. 64 stations, terminating resistor
(120 Ω) can be activated using DIP switches
X13:10
X13:11
ST11: RS-485+
ST12: RS-485-
EIA standard, 9600 baud, max. 32 stations
Max. cable length 200 m (660 ft) in total
Dynamic terminating resistor with fixed installation
DBG11A
USS21A
SBusHigh
SBusLow
X14:
TERMINAL
+
-
X11:
X12:
REF1
AI11
AI12
AGND
REF2
1
2
3
4
5
DGND
SC11
SC12
1
2
3
S 11
S 12
X13:
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DGND
ST11
ST12
1
2
3
4
5
6
7
8
9
10
11
RS-485-
RS-485+
ON OFF
1
6
OPTION1
OPTION2
CONTROL
TERMINAL
CONTROL
EQ
RS232
RS485
0V5 - +

2
6MOVIDRIVE®Serial Communication
Overview of serial interfaces
MOVIDRIVE®
compact
System bus (SBus):
• The system bus (SBus) is routed to terminals X10:5/7 in MOVIDRIVE®compact
MCF/MCV/MCS4_A drive inverters.
• The system bus (SBus) is routed to terminals X10:7/8 and X10:10/11 in
MOVIDRIVE®compact MCH4_A drive inverters. Terminals X10:7 and X10:10 are
electrically connected, as are terminals X10:8 and X10:11.
RS-485 interface:
The RS-485 interface is routed to the TERMINAL option slot in MOVIDRIVE®compact
drive inverters.
Either the "DBG11A keypad" or the "USS21A serial interface" can be connected to the
TERMINAL option slot.
05275AXX
Fig. 2: Serial interfaces on MOVIDRIVE®compact
* Only use these terminals if S12 = OFF; connect terminating equipment to SC11/SC12.
MOVIDRIVE®compact MCF/MCV/MCS4_A
CAN bus to CAN specification 2.0, parts A and B
Transmission system to ISO 11898
max. 64 stations
Terminating resistor (120 Ω) can be activated using
DIP switches
X10:5
X10:7
SBus high
SBus low
MOVIDRIVE®compact MCF/MCV/MCS4_A
X10:7/10
X10:8/11
SBus high
SBus low
TERMINAL TERMINAL
X10:
X10:
X11:
1
2
3
4
5
6
7
8
9
10
11
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
2
3
REF1
AI11
REF2
SC11
SC12
AI12
AI21
AGND
DGND
SC21*
SC22*
REF1
AI11
REF2
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
AI12
SC11
AI21
SC12
AGND
DIØØ
DIØ1
DIØ2
EQ
EQ
RS232
RS485
0V5 - +
RS232
RS485
0V5 - +
+
-
+
-
MCH4_A
MCF/MCV/MCS4_A
DBG11A
DBG11A
USS21A
USS21A
SBusLow
SBusLow
SBusLow
SBusHigh
SBusHigh
SBusHigh

MOVIDRIVE®Serial Communication 7
2
Overview of serial interfaces
USS21A (RS-232
and RS-485)
Startup, operation and service are possible from the PC via the serial interface. The
SEW MOVITOOLS software is used for this purpose. It is also possible to transfer
parameter settings to several MOVIDRIVE®drive inverters via PC.
MOVIDRIVE®can be equipped with isolated RS-232 and RS-485 interfaces. The RS-
232 interface is configured as a 9-pin sub D female connector (EIA standard) and the
RS-485 interface as a terminal connection. The interfaces are accommodated in a
housing for plugging onto the inverter (TERMINAL option slot). The option can be
plugged on during operation. The transmission rate of both interfaces is 9600 baud.
RS-232 interface Use a commercially available serial interface cable (shielded!) for connecting a PC to
MOVIDRIVE®with the USS21A option.
Important: 1:1 cabling
RS-485 interface A maximum of 16 MOVIDRIVE®units can be networked for communications purposes
(max. total cable length 200 m (660 ft)) via the RS-485 interface of the USS21A.
Dynamic terminating resistors are permanently installed, so do not connect any external
terminating resistors.
Unit addresses 0 – 99 are permitted with multipoint connections. In this case, the "peer-
to-peer connection" must not be selected in MOVITOOLS. The communications
address in MOVITOOLS and the RS-485 address of the MOVIDRIVE®unit (P810) must
be identical.
Dimensions
DBG11A and USS21A are connected to the same inverter slot (TERMINAL) and cannot
be used at the same time.
02399AEN
Fig. 3: Connection cable USS21A – PC
RxD
TxD 22
33
55
max. 5 m (16.5 ft)
USS21A PC COM 1-4
55
33
222
3
5
5
3
2
9-pin sub D connector (female)9-pin sub D connector (male)
GND (ground)
01003BXX
Fig. 4: USS21A dimensions in mm (in)
85 (3.35)
120 (4.72)
RS232
RS485
0V5 - +
28.5 (1.12)
1.5 (0.06)

2
8MOVIDRIVE®Serial Communication
Technical data
2.2 Technical data
System bus
(SBus)
RS-485 interface
RS-232 interface
Standard CAN specification 2.0 parts A and B
Baud rate either 125, 250, 500 or 1000 kbaud, factory setting 500 kbaud
ID range 3 – 1020
Address can be set with parameter P813: 0 – 63
Number of process
data words fixed setting: 3 PD
Line length depending on the baud rate, max. 320 m
Number of stations max. 64
Co
Only when P816 "SBus baud rate" = 1000 kbaud:
Do not combine MOVIDRIVE®compact MCH42A units with other MOVIDRIVE®units in
the same system bus combination.
The units are allowed to be mixed at baud rates ≠1000 kbaud.
Standard RS-485
Baud rate 9.6 kbaud
Start bits 1 start bit
Stop bits 1 stop bit
Data bits 8 data bits
Parity 1 parity bit, supplementing to even parity
Line length 200 m between two stations
Number of stations 1 master and max. 31 slaves
Standard DIN 66020 (V.24)
Baud rate 9.6 kbaud
Start bits 1 start bit
Stop bits 1 stop bit
Data bits 8 data bits
Parity 1 parity bit, supplementing to even parity
Line length max. 5 m
Number of stations 1 master + 1 slave (peer-to-peer connection)

MOVIDRIVE®Serial Communication 9
2
MOVILINK® and system bus
2.3 MOVILINK®and system bus
MOVILINK®
protocol
This document provides a detailed description of the MOVILINK®serial interface
protocol for the RS-485 interfaces of MOVIDRIVE®drive inverters. You can control the
inverter and set its parameters via the RS-485 interface.
However, please bear in mind that this communications variant is a proprietary
communication system for low-end applications.
The low speed of transmission and the significant time and effort needed to implement
the various automation systems mean that SEW recommends the following fieldbus
systems as the professional method of linking SEW inverters to machine control
systems:
• PROFIBUS-DP
• INTERBUS
• INTERBUS with fiber optic cable
•CAN
• CANopen
• DeviceNet
These fieldbus systems are supported by SEW and by all well-known manufacturers of
automation systems.
The MOVILINK®protocol for serial interfaces in the new SEW range of inverters,
MOVIDRIVE®and MOVIMOT®, enables you to set up a serial bus connection between
a higher-level master and several SEW inverters. For example, masters may take the
form of programmable logic controllers, PCs or even SEW inverters with PLC functions
(IPOSplus®). Generally speaking, the SEW inverters function as slaves in the bus
system.
The MOVILINK®protocol allows both of the following applications to be implemented:
automation tasks such as control and parameter setting of the drives by means of
cyclical data exchange, startup and visualization tasks.
Features The principal features of the MOVILINK®protocol are:
• Support for the master/slave structure via RS-485 with one master (single master)
and at most 31 slave stations (SEW inverters).
• Support for peer-to-peer connection via RS-232.
• User-friendly implementation of the protocol in a simple and reliable telegram
structure with fixed telegram lengths and a unique start identifier
• Data interface to the basic unit in accordance with the MOVILINK®profile. This
means the user data sent to the drive are transmitted to the inverter in the same way
as via the other communications interfaces (PROFIBUS, INTERBUS, CAN,
CANopen, DeviceNet, etc.).
• Access to all drive parameters and functions, i.e. it can be used for startup, service,
diagnosis, visualization and automation tasks
• Startup and diagnostic tools on the basis of MOVILINK®for PC (e.g. MOVITOOLS/
SHELL and MOVITOOLS/SCOPE).

2
10 MOVIDRIVE®Serial Communication
MOVILINK® and system bus
System bus
(SBus)
The SBus is a CAN bus in accordance with the CAN specification 2.0, parts A and B. It
supports all services in the SEW MOVILINK®unit profile. In addition, you can exchange
IPOSplus® variables via the SBus independently of the profile.
The unit behavior of the inverter which forms the basis of CAN operation is referred to
as the unit profile. It is independent of any particular fieldbus and is therefore a uniform
feature. This provides you, the user, with the opportunity of developing applications
regardless of the fieldbus.
MOVIDRIVE®offers digital access to all drive parameters and functions via the SBus.
The drive inverter is controlled via high-speed process data. These process data
telegrams let the user enter setpoints, such as the setpoint speed, ramp generator time
for acceleration/deceleration, etc. and trigger various drive functions such as enable,
control inhibit, normal stop, rapid stop, etc. You can also use these telegrams to read
back actual values from the drive inverter, such as the actual speed, current, unit status,
error number and reference signals.
The exchange of parameter data via the MOVILINK®parameter channel lets you create
applications in which all important drive parameters are stored in the programmable
master controller. This means there is no need to manually set the parameters on the
drive inverter itself, which is frequently a rather time-consuming task. IPOSplus®
provides the MOVLNK command for the exchange of parameter data and process data
with other MOVILINK®stations. As a result, MOVIDRIVE®can operate as the master
via IPOSplus® and control other units.
The process data and the drive parameters can be sent to a synchronization telegram
synchronously or asynchronously.
Using the SBus requires additional monitoring functions such as time monitoring (SBus
timeout delay) or special emergency-off concepts. You can adapt the monitoring
functions of MOVIDRIVE®specifically to your application. You can determine which
error response the drive inverter should trigger in the event of a timeout. A rapid stop is
a good idea for many applications, although this can also be achieved by "freezing" the
last setpoints so the drive continues operating with the most recently valid setpoints (e.g.
conveyor belt). You can still implement emergency-off concepts which are independent
of the bus and use the terminals of the drive inverter because the functions of the control
terminals are still active when the SBus is in operation.
02244BEN
Fig. 5: Variants of SBus communication
PD1 PD2 PD3
PD1 PD2 PD3
E
Q
IPOS
plus®
E
Q
IPOS
plus®
Parameter
PD1 PD2 PD3
MOVILINK protocol
®
Variable exchange
Max. 8 data bytes = 2 variables, each 32 bit
System bus (SBus)

MOVIDRIVE®Serial Communication 11
2
MOVILINK® and system bus
The MOVIDRIVE®drive inverter offers you numerous diagnostic options for startup and
service purposes. An easy-to-use diagnostics tool is provided in the MOVITOOLS/
SHELL PC software. This software makes it possible to call up a detailed display of the
bus and unit status as well as setting all drive parameters.
Variable telegrams Not only does the cyclical and acyclical variable exchange function create an interface
via which variables can be exchanged between several MOVIDRIVE®units, it is also
possible to implement partial functions for specific profiles in external units. These
external units may support the CANopen or DeviceNet protocol.

3
12 MOVIDRIVE®Serial Communication
System bus (SBus) installation
3 Installation
3.1 System bus (SBus) installation
MOVIDRIVE®MD_60A
MOVIDRIVE®compact MCF/MCV/MCS4_A
Only when P816 "SBus baud rate" = 1000 kbaud:
Do not combine MOVIDRIVE®compact MCH42A units with other MOVIDRIVE®units in
the same system bus combination.
The units are allowed to be mixed at baud rates ≠1000 kbaud.
02205BEN
Fig. 6: System bus connection MOVIDRIVE®MD_60A
X11:
REF1
AI11
AI12
AGND
REF2
1
2
3
4
5
X12:
DGND
SC11
SC12
1
2
3
S 12
S 11
ON OFF
X11:
REF1
AI11
AI12
AGND
REF2
1
2
3
4
5
X12:
DGND
SC11
SC12
1
2
3
S 12
S 11
ON OFF
X11:
REF1
AI11
AI12
AGND
REF2
1
2
3
4
5
X12:
DGND
SC11
SC12
1
2
3
S 11
S 12
ON OFF
쵰쵰쵰쵰
Controlunit Controlunit Controlunit
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
02411AEN
Fig. 7: System bus connection MOVIDRIVE®compact MCF/MCV/MCS4_A
X10: X10: X10:
17 17 17
S 12
S 11 S 12 S 11 S 11
S 12
ON OFF ON OFF ON OFF
쵰쵰쵰쵰
1
2
3
4
5
6
7
1
2
3
4
5
6
7
1
2
3
4
5
6
7
SC11
SC12
DGND
SC11
SC12
DGND
SC11
SC12
DGND
Controlunit Controlunit Controlunit
Reference
potential Reference potential Reference potential
Systembushigh Systembushigh Systembushigh
Systembuslow Systembuslow Systembuslow
System bus
Terminating resistor System bus Terminating resistor
System bus
Terminating resistor

MOVIDRIVE®Serial Communication 13
3
System bus (SBus) installation
MOVIDRIVE®compact MCHS4_A
Cable
specification
• Use a 2-core twisted and shielded copper cable (data transmission cable with shield
comprising copper braiding). The cable must meet the following specifications:
– Conductor 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 are CAN bus or DeviceNet cables, for example.
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 DGND.
Line length • The permitted total line length depends on the baud rate setting of the SBus (P816):
– 125 kbaud →320 m (1056 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 finish of
the system bus connection. Switch off the terminating resistor on the other units
(S12 = OFF).
05210AEN
Fig. 8: System bus connection MOVIDRIVE®compact MCH4_A
SBus MCH4_A: Connect the terminating equipment to SC11/SC12. SC21/SC22 are only active when S12 = OFF.
X10: X10: X10:
S 12 S 12 S 12
S 11 S 11 S 11
ON OFF ON OFF ON OFF
쵰쵰쵰 쵰
1
2
3
4
5
6
7
8
9
10
11
1
2
3
4
5
6
7
8
9
10
11
1
2
3
4
5
6
7
8
9
10
11
SC11
SC12
DGND
SC21
SC22
SC11
SC12
DGND
SC21
SC22
SC11
SC12
DGND
SC21
SC22
Referencepotential Referencepotential
Systembushigh Systembushigh Systembushigh
Systembushigh Systembushigh Systembushigh
Systembuslow Systembuslow Systembuslow
Systembuslow Systembuslow Systembuslow
System bus
Terminating resistor System bus Terminating resistor System bus Terminating resistor
Controlunit Controlunit Controlunit
Referencepotential
• 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.

3
14 MOVIDRIVE®Serial Communication
RS-485 interface installation
3.2 RS-485 interface installation
MOVIDRIVE®
MD_60A
The RS-485 interface is routed to terminals X13:10/11 and, in parallel, to the TERMINAL
option slot. The RS-485 interface can only be accessed via the TERMINAL option slot
when the "serial interface type USS21A" option is attached.
RS-485 connection via terminals X13:10/11
Cable specification • Use a 2-core twisted and shielded copper cable (data transmission cable with shield
comprising copper braiding). The cable must meet the following specifications:
– Conductor cross section 0.5 – 0.75 mm2(AWG 20 – 18)
– Cable resistance 100 – 150 Ωat 1 MHz
– Capacitance per unit length ≤40 pF/m (12 pF/ft) at 1 kHz
The following cable is suitable, for example:
– BELDEN (www.belden.com), data cable type 3105A
Shield contact • Connect the shield at either end to the electronics shield clamp of the inverter or the
machine control and ensure the shield is connected over a large area. Also connect
the ends of the shield to DGND.
Line length • The permitted total line length is 200 m (660 ft).
Terminating
resistor
• Dynamic terminating resistors are fitted. Do not connect any external terminating
resistors!
02206AEN
Fig. 9: RS-485 connection via X13:10/11
X13: X13: X13:
DGND
ST11
ST12
DGND
ST11
ST12
DGND
ST11
ST12
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
DIØØ
DIØ1
DIØ2
DIØ3
DIØ4
DIØ5
DCOM
VO24
9
10
11
9
10
11
9
10
11
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
RS-485- RS-485- RS-485-
RS-485+ RS-485+ RS-485+
쵰쵰쵰쵰
Controlunit Controlunit Controlunit
• There must not be any potential displacement between the units which are
connected via RS-485. Take suitable measures to avoid a potential displacement,
e.g. by connecting the unit ground connectors using a separate lead.

MOVIDRIVE®Serial Communication 15
3
RS-485 interface installation
USS21A serial
interface
• With MOVIDRIVE®MD_60A drive inverters, the RS-485 interface can also be
accessed using the "serial interface type USS21A" option.
• With MOVIDRIVE®compact drive inverters, the RS-485 interface can only be
accessed using the "serial interface type USS21A" option.
RS-485 connection
via USS21A
Cable specification • Use a 2-core twisted and shielded copper cable (data transmission cable with shield
comprising copper braiding). The cable must meet the following specifications:
– Conductor cross section 0.5 – 0.75 mm2(AWG 20 – 18)
– Cable resistance 100 – 150 Ωat 1 MHz
– Capacitance per unit length ≤40 pF/m (12 pF/ft) at 1 kHz
The following cable is suitable, for example:
– BELDEN (www.belden.com), data cable type 3105A
Shield contact • Connect the shield at either end to the electronics shield clamp of the inverter and
ensure the shield is connected over a large area. Also connect the ends of the shield
to DGND.
EIA standard • Max. transmission rate 9600 baud
• Max. 32 stations (each unit with USS21A counts as two stations)
• Max. cable length 200 m (660 ft) in total
• Dynamic terminating resistor with fixed installation
00997CXX
Fig. 10: RS-485 interface of the USS21A
++
--
0V5 0V5
USS21A USS21A
1 2 3 1 2 3
쵰쵰 쵰쵰

3
16 MOVIDRIVE®Serial Communication
RS-232 interface installation
3.3 RS-232 interface installation
With MOVIDRIVE®MD_60A and MOVIDRIVE®compact, the RS-232 interface can only
be accessed using the "serial interface type USS21A" option.
RS-232
connection
• Use a shielded standard interface cable for connecting to the RS-232 interface.
Important: 1:1 cabling
02399AENdf
Fig. 11: PC connection via RS-232
RxD
TxD 22
33
55
max. 5 m (16.5 ft)
USS21A PC COM 1-4
55
33
222
3
5
5
3
2
9-pin sub D connector (female)9-pin sub D connector (male)
GND (ground)

MOVIDRIVE®Serial Communication 17
4
Telegrams
4 RS-485 Communication
4.1 Telegrams
Telegram traffic Both cyclical and acyclical data exchange are used in drive engineering. Cyclical
telegrams via the serial interface are used in automation applications, particularly for
drive control. The master station must ensure cyclical data exchange in this case.
Cyclical data
exchange
Cyclical data exchange is used predominantly for controlling the inverters via the serial
interface. In this process, the master continuously sends telegrams containing setpoints
(request telegrams) to an inverter (slave) and then waits for a response telegram with
actual values from the inverter. After a request telegram has been sent to an inverter,
the master expects the response telegram within a defined length of time (response
delay time). The inverter only sends back a response telegram if it has received a
request telegram sent to its slave address without any errors. The inverter monitors
whether the data communication fails during the cyclical data exchange. If
communication does fail, the inverter triggers a timeout response if it does not receive a
new request telegram from the master within an adjustable time.
MOVILINK®also offers the opportunity to perform acyclical service and diagnostic tasks
even during cyclical communication without changing the type of telegram.
Acyclical data
exchange
Acyclical data exchange is principally used for startup and diagnostics. The inverter
does not monitor the communications link in this case. The master can send telegrams
to the inverter at irregular intervals in acyclical mode.

4
18 MOVIDRIVE®Serial Communication
Telegrams
Telegram
structure
The entire data exchange is performed using only two types of telegram. It involves the
master sending a request containing data to the inverter, in the form of a request
telegram. The inverter answers with a response telegram. When word information (16-
bit) is sent within the user data, the high byte is always sent first and the low byte last.
In the case of double word information (32-bit), the high word is sent first and the low
word last. Coding of the user data is not part of the protocol. The content of the user data
is explained in detail in the MOVIDRIVE®Fieldbus Unit Profile manual.
Request telegram
structure
Fig. 12 shows the structure of the request telegram which the master sends to the
inverter. Each telegram starts with an idle time on the bus, referred to as the start pause,
followed by a start character. Different start characters are used so that it is possible to
clearly differentiate between request and response telegrams. The request telegram
starts with the start character SD1 = 02hex, followed by the slave address and the PDU
type.
Response
telegram structure
Fig. 13 shows the structure of the response telegram by means of which the inverter
(slave) responds to a request sent by the master. In turn, each response telegram starts
with a start pause, followed by a start character. The response telegram starts with the
start character SD2 = 1Dhex, followed by the slave address and the PDU type so that it
is possible to clearly differentiate between request and response telegrams.
01485BEN
Fig. 12: Structure of the request telegram
....Idle... SD1 ADR TYP PDU BCC
Start delimiter 1
02 hex PDU type Block check character
Start pause Slave address Protocol data unit
01487BEN
Fig. 13: Structure of the response telegram
....Idle... SD2 ADR TYP PDU BCC
Start delimiter 2
02 hex PDU type Block check character
Start pause Slave address Protocol data unit

MOVIDRIVE®Serial Communication 19
4
Telegrams
Start pause (idle) The master must observe a start pause of at least 3.44 ms before sending the start
character SD1 (02hex) so that the inverter can definitively identify the start of a request
telegram. This pause prevents the bit combination 02hex, which may also occur in the
user data, from being erroneously interpreted as the start character. As a result, the start
pause forms part of the start character. After it has received a valid request telegram,
the inverter waits for an idle time of at least 3.44 ms before sending back the response
telegram with the start character SD2 (1Dhex). This enables the master to clearly identify
the start character of a response telegram as well. In case the transmission of a valid
request telegram is canceled by the master, a new request telegram cannot be sent until
at least two start pauses (6.88 ms) have elapsed.
Start character
(SD1 / SD2)
The start character and the preceding start pause detect the commencement and the
data direction of a new telegram. The following table shows the allocation of the start
character to the data direction.
SD1 02hex Request telegram Master →inverter
SD2 1Dhex Response telegram Inverter →master

4
20 MOVIDRIVE®Serial Communication
Addressing and transmission process
4.2 Addressing and transmission process
Address byte
(ADR)
The address byte always specifies the slave address regardless of the data direction.
Therefore, the ADR character in a request telegram specifies the address of the inverter
which is to receive the request. In the opposite direction, the master can tell from which
inverter the response telegram was sent. Generally speaking, there is only one master
in the system. This means the master is not addressed. In addition to individual
addressing, the MOVILINK®protocol also offers further addressing options. The
following table shows the address areas and what they mean.
Individual
addressing
Each inverter can be addressed directly via addresses 0 – 99. Each request telegram
from the master is answered by a response telegram from the inverter.
ADR Meaning
0 – 99 Individual addressing within an RS-485 bus
100 –
199
Group addressing (multicast)
Special case of group address 100: Means "Not assigned to any group", i.e. ineffective
253 Local address: Only effective in conjunction with IPOSplus® as master and the MOVILINK
command. For communication within the unit.
254 Universal address for peer-to-peer communication
255 Broadcast address
01488BEN
Fig. 14: Individual addressing via unit address 232/485
Master
Slave SlaveSlave
ADR: 1 ADR: 3 ADR: 12
Inverter Inverter Inverter
Request to ADR 12
Response from ADR 12
Request to ADR 3
Response from ADR 3
Request to ADR 1
Response from ADR 1