SEW-Eurodrive MOVIAXIS User manual

Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIAXIS
®
Multi-Axis Servo Inverter
Technology Functions
Edition 11/2009 11667419 / EN

SEW-EURODRIVE—Driving the world

Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 3
Contents
Contents
1 General Notes...................................................................................................... 7
1.1 How to use the operating instructions......................................................... 7
1.2 Structure of the safety notes ....................................................................... 7
1.3 Rights to claim under limited warranty ........................................................ 8
1.4 Exclusion of liability..................................................................................... 8
1.5 Product names and trademarks.................................................................. 8
1.6 Copyright notice .......................................................................................... 8
1.7 Terminology ................................................................................................ 8
2 Safety Notes ........................................................................................................ 9
2.1 Preliminary information ............................................................................... 9
2.2 General safety notes................................................................................... 9
2.3 Target group ............................................................................................. 10
2.4 Designated use ......................................................................................... 10
2.5 Other applicable documentation ............................................................... 11
2.6 Startup/operation ...................................................................................... 11
3 Startup Procedure............................................................................................. 12
3.1 Starting the Motion Technology Editor...................................................... 12
3.1.1 Opening the Motion Technology Editor via
MotionStudio project management............................................ 12
3.1.2 Opening the Motion Technology Editor
without project management...................................................... 13
3.1.3 Selecting a simple electronic gear unit or
complete range of functions....................................................... 14
3.2 Startup ...................................................................................................... 15
3.2.1 Step 1: Factory setting............................................................... 15
3.2.2 Step 2: Motor startup ................................................................. 16
3.2.3 Step 3: Technology functions .................................................... 16
3.2.4 Step 4: Process data configuration............................................ 19
3.2.5 Step 5: Download ...................................................................... 26
3.2.6 Step 6: Monitor mode ................................................................ 26
3.2.7 Step 7: Documentation .............................................................. 26
4 System Data....................................................................................................... 27
5 Virtual Encoder of Own Axis............................................................................ 28
5.1 Overview ................................................................................................... 28
5.2 Description of virtual encoder function...................................................... 29
5.2.1 Basic functions of the virtual encoder........................................ 29
5.2.2 Block diagram of the virtual encoder ......................................... 29
5.2.3 Jerk limitation............................................................................. 30
5.2.4 Extended position output ........................................................... 31
5.3 Parameter description............................................................................... 32

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4Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
5.4 Operating modes ...................................................................................... 35
5.4.1 "Absolute" positioning mode...................................................... 35
5.4.2 "Relative" positioning mode ....................................................... 35
5.4.3 "Modulo absolute positive" positioning mode ............................ 36
5.4.4 "Modulo relative positive" positioning mode .............................. 36
5.4.5 "Modulo absolute negative" positioning mode ........................... 37
5.4.6 "Modulo relative negative" positioning mode............................. 37
5.4.7 "Modulo absolute short" positioning mode................................. 38
5.4.8 "Modulo relative short" positioning mode................................... 39
5.4.9 Operating modes "Endless"/"Endless modulo".......................... 39
6 Variables ............................................................................................................ 41
7 Position Setpoint Generator ............................................................................ 42
7.1 Description of functions............................................................................. 42
7.2 Parameter description............................................................................... 43
8 Electronic Gear Unit.......................................................................................... 46
8.1 Overview ................................................................................................... 46
8.1.1 Application examples................................................................. 46
8.2 Functional description ............................................................................... 47
8.2.1 General information ................................................................... 47
8.2.2 Electronic gear unit block diagram............................................. 48
8.3 Parameter description for FCB17 "Electronic gear unit" ........................... 49
8.4 Synchronous operation functionality ......................................................... 51
8.4.1 Gear unit ratio between master and slave ................................. 51
8.4.2 Cyclical setpoint processing (interpolation) ............................... 51
8.4.3 Mean value filter ........................................................................ 52
8.4.4 Transmission time compensation .............................................. 52
8.4.5 Backstop.................................................................................... 52
8.4.6 Monitoring and status information.............................................. 53
8.4.7 Modulo function (position setpoint generator)............................ 53
8.4.8 Engaging.................................................................................... 54
8.4.9 Setpoint overlay via external access paths................................ 60
8.4.10 PSG Position image (shadow register)...................................... 61
9 Electronic Cam .................................................................................................. 62
9.1 Overview ................................................................................................... 63
9.2 Application examples ................................................................................ 63
9.3 FCB16 Electronic cam .............................................................................. 64
9.4 Switching electronic cams on/off............................................................... 65

Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 5
Contents
9.5 Electronic cam 1 – 3: CAMFlowTable....................................................... 66
9.5.1 Executing and creating several curve blocks............................. 66
9.5.2 System block ............................................................................. 69
9.5.3 Curve block: Absolute speed control ......................................... 76
9.5.4 Curve block: Relative position control........................................ 81
9.5.5 Curve block: Absolute position control....................................... 86
9.5.6 Curve block: Mathematic curve ................................................. 91
9.5.7 Curve definition for a mathematical curve ................................. 96
9.5.8 Comparison of transition functions .......................................... 102
9.5.9 Transition function curve block: 3rd order
polynomial transition................................................................ 104
9.5.10 Transition function curve block: 5th order
polynomial transition................................................................ 108
9.5.11 Transition function curve block: Transition LPG2 .................... 112
9.5.12 Transition function curve block: Transition LPG1 .................... 116
9.5.13 Profile generator ...................................................................... 120
9.5.14 Overlay/adding up to 3 curves................................................. 122
9.5.15 Derivative generator ................................................................ 123
9.5.16 Motor management.................................................................. 125
10 Event Control................................................................................................... 129
10.1 Overview ................................................................................................. 129
10.2 Application examples .............................................................................. 130
10.3 Description of functions........................................................................... 131
10.3.1 General information ................................................................. 131
10.4 Parameter description............................................................................. 133
10.4.1 Shared data structure for all channels..................................... 133
10.4.2 Data structure per channel ...................................................... 134
11 Touch Probe and Data Buffer ........................................................................ 138
11.1 Overview ................................................................................................. 138
11.2 Application examples .............................................................................. 139
11.3 Functional description ............................................................................. 139
11.3.1 General information ................................................................. 139
11.3.2 Interrupt with actual value measuring...................................... 141
11.3.3 Signal length measuring .......................................................... 142
11.4 Parameter description............................................................................. 144
11.4.1 Data structure per touch probe channel .................................. 144
11.4.2 Data structure per circular buffer ............................................. 147
12 Cam Controller ................................................................................................ 149
12.1 Overview ................................................................................................ 149
12.2 Cam controller in the Motion Technology Editor ..................................... 150
12.3 Parameter description............................................................................. 151
12.3.1 General parameters................................................................. 151
12.3.2 Parameters of an individual cam track..................................... 152
12.3.3 Parameters of an individual cam ............................................. 153

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6Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
12.4 Connecting the cam controller to outputs (PDO Editor).......................... 154
12.4.1 Example 1: Routing 4 cam control tracks to the
binary outputs of the basic unit................................................ 154
12.4.2 Example 2: Routing individual cam control tracks to
binary outputs .......................................................................... 155
13 Examples ......................................................................................................... 156
13.1 Examples for process data configuration................................................ 156
13.1.1 Example 1: PD configuration disabled..................................... 156
13.1.2 Example 2: User configuration with setting "Standard" ........... 160
13.1.3 Example 3: Customized configuration with own configuration. 163
13.2 Example: Executing the electronic cam continuously on a
virtual encoder ........................................................................................ 167
13.2.1 Task......................................................................................... 167
13.2.2 Procedure ................................................................................ 167
13.3 Example: Event control and synchronous operation............................... 180
13.3.1 Task......................................................................................... 180
13.3.2 Preparatory work ..................................................................... 180
13.3.3 Procedure ................................................................................ 182
13.4 Position control example......................................................................... 190
13.4.1 Requirements .......................................................................... 190
13.4.2 Task......................................................................................... 190
13.4.3 Procedure ................................................................................ 190
13.5 Example: Event control – crank arm ....................................................... 199
13.5.1 Task......................................................................................... 199
13.5.2 Solution.................................................................................... 199
13.5.3 Procedure ................................................................................ 200
13.6 Example: Event control – Single or multiple event requests
within one modulo information ................................................................ 205
13.6.1 Task......................................................................................... 205
13.6.2 Solution.................................................................................... 206
13.6.3 Procedure ................................................................................ 206
13.7 Example: Touch probe............................................................................ 211
13.7.1 Task......................................................................................... 211
13.7.2 Solution.................................................................................... 211
13.7.3 Procedure ................................................................................ 211
14 User Interface (Data Distribution Buffer) ...................................................... 215
14.1 Type and version ID of a data structure in the DDB ............................... 216
15 Error description ............................................................................................. 217
16 Address List .................................................................................................... 222
Index................................................................................................................. 232

Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 7
1
How to use the operating instructions
General Notes
1 General Notes
1.1 How to use the operating instructions
The manual is an integral part of the product and contains important information for op-
eration and service. It is written for all employees who assemble, install, startup, and ser-
vice this product.
The manual must be legible and accessible at all times. Make sure that staff responsible
for the plant and its operation, as well as persons who work independently on the unit,
have read 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
The safety notes in this manual are designed as follows:
Pictogram SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.
Pictogram Signal word Meaning Consequences if
disregarded
Example:
General danger
Specific danger,
e.g. electric shock
DANGER Imminent danger Severe or fatal injuries
WARNING Possible dangerous situation Severe or fatal injuries
CAUTION Possible dangerous situation Minor injuries
STOP Possible damage to property Damage to the drive system or its
environment.
INFORMATION Useful information or tip.
Simplifies the handling of the
drive system.

8Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
1Rights to claim under limited warranty
General Notes
1.3 Rights 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 this manual. Therefore, read the manual
before you start working with the unit.
Make sure that the manual is available to persons responsible for the plant and its op-
eration, as well as to person who work independently on the unit. You must also ensure
that the documentation is legible.
1.4 Exclusion of liability
You must comply with the information contained in this manual to ensure safe operation
of the electric motors and to achieve the specified product characteristics and perfor-
mance features. SEW-EURODRIVE does not assume 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 Product names and trademarks
The brands and product names in this manual are trademarks or registered trademarks
of the titleholders.
1.6 Copyright notice
© 2008 – All rights reserved.
Unauthorized duplication, modification, distribution or any other use of the whole or any
part of this documentation is strictly prohibited.
1.7 Terminology
The technology function "Event control" is also called "Event processing" in the illustra-
tions of this manual. Both terms have the same meaning.

Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 9
2
Preliminary information
Safety Notes
2 Safety Notes
2.1 Preliminary information
The following basic safety notes must be read carefully to prevent injury to persons and
damage to property. The operator must ensure that the basic safety notes are read and
observed. Ensure that persons responsible for the system and its operation, as well as
persons who work independently on the unit, have read through the system manual
carefully and understood it. If you are unclear about any of the information in this docu-
mentation, please contact SEW-EURODRIVE.
The following safety notes apply to the use of MOVIAXIS®in connection with the follow-
ing technology functions:
• Virtual encoder
• Position setpoint generator
• Electronic gear unit EGear
• Electronic cam
• Event control
• Touch probe and data buffer
• Cam controller
Please also consider the supplementary safety notes in the individual chapters of this
manual.
2.2 General safety notes
Removing the required protection cover or the housing without authorization, improper
use as well as incorrect installation or operation may result in severe injuries to persons
or damage to property.
Refer to the documentation for additional information.
DANGER
Only electrical specialists are allowed to install and start up MOVIAXIS®multi-axis
servo inverters with technology functions observing the applicable accident prevention
regulations and the "MOVIAXIS®MX Multi-Axis Servo Inverter" operating instructions.
We recommend that these electrical specialists are instructed by DriveAcademy®staff
from SEW-EURODRIVE on the topic "Technology functions" prior to performing
startup.
Severe or fatal injuries.
• All work related to transportation, storage, setup/mounting, connection, startup,
maintenance and repair may only be carried out by qualified personnel, in strict
observation of:
– The relevant detailed instructions
– Warning and safety signs on the motor/gearmotor and all other project
planning documents, operating instructions and wiring diagrams belonging to
the drive
– The specific regulations and requirements for the system
– The national/regional regulations governing safety and the prevention of
accidents
• Never install damaged products
• Immediately report any damages to the shipping company

10 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
2Target group
Safety Notes
2.3 Target group
Any mechanical work may only be performed by adequately qualified personnel. Quali-
fied personnel in this context are persons who are familiar with the setup, mechanical
installation, trouble shooting and maintenance for this product. Further, they are quali-
fied as follows:
• Completed apprenticeship in the field of mechanical engineering (e.g. mechanic or
mechatronic technician).
• Knowledge of this system manual
Any electric work may only be performed by adequately qualified personnel. Qualified
electricians in this context are persons who are familiar with the electronic installation,
startup, trouble shooting and maintenance for this product. Further, they are qualified as
follows:
• Completed apprenticeship in the field of electrical engineering (e.g. electric or
mechatronic technician).
• Knowledge of this system manual
Any activities regarding transportation, storage, operation, and disposal must be carried
out by persons who have been instructed appropriately.
2.4 Designated use
The term designated use refers to the procedure specified in the system manual.
The technology functions are intended for use in industrial and commercial systems. For
areas of application other than industrial and commercial systems, you must first consult
with SEW-EURODRIVE.
Do not take the unit into operation until you have established that the end product com-
plies with the Machinery Directive 98/37/EC.
You must observe the technical data and information on the connection requirements
as provided on the nameplate and in the documentation.
The following applications are prohibited unless the unit is explicitly designed for such
use:
• Use in potentially explosive atmospheres
• Use in areas exposed to harmful oils, acids, gases, vapors, dust, radiation, etc.

Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 11
2
Other applicable documentation
Safety Notes
2.5 Other applicable documentation
The following publications and documents have to be observed as well:
•"MOVIAXIS
®MX Multi-Axis Servo Inverter" operating instructions
•"MOVITOOLS
®MotionStudio" manual
This manual does not replace the operating instructions "MOVIAXIS®MX Multi-Axis
Servo Inverter". 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 MOVIAXIS®operating
instructions.
2.6 Startup/operation
Observe the notes in chapter "Startup procedure" (page 12).

12 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
3Starting the Motion Technology Editor
Startup Procedure
3 Startup Procedure
Startup is performed with MOVITOOLS®MotionStudio. For information about installa-
tion, axis connection and project management, refer to the online help or the manual for
MOVITOOLS®MotionStudio.
3.1 Starting the Motion Technology Editor
3.1.1 Opening the Motion Technology Editor via MotionStudio project management
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Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 13
3
Starting the Motion Technology Editor
Startup Procedure
•StarttheMotion Technology Editor by clicking on the right mouse button and
selecting it from the context menu. No preliminary work is necessary (motor startup
and basic settings are included in the editor processes).
• Confirm with [OK].
• The project name and project path are automatically included.
3.1.2 Opening the Motion Technology Editor without project management
The project name and project path must be specified by the user.
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1938744715
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14 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
3Starting the Motion Technology Editor
Startup Procedure
3.1.3 Selecting a simple electronic gear unit or complete range of functions
1938748939
[1] Comment on the project
[2] Simple electronic gear unit (wizard, not part of this manual)
[3] Complete range of functions:
• Electronic cam
• Virtual encoder
• Touch probe
• Event control
[1]
[2]
[3]
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Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 15
3
Startup
Startup Procedure
3.2 Startup
After activating the complete range of functions, the startup overview window opens.
The individual steps are described in the following chapters.
3.2.1 Step 1: Factory setting
The factory setting resets all parameters of the axis to their default values, except for
motor startup and the signature. The green check mark with the number means that this
step has already been performed.
1939442059
Step Description
1 Factory setting
2 Motor startup
3 Technology functions
4 Process data configuration
5 Download
6 Opening the monitor
7 Documentation
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16 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
3Startup
Startup Procedure
3.2.2 Step 2: Motor startup
This step starts the general motor startup wizard.
For more information, refer to the "MOVIAXIS®MX Multi-Axis Servo Inverter" operating
instructions.
3.2.3 Step 3: Technology functions
In this step, you configure the technology functions.
Click on step 3 to display an overview of the technology functions.
1939543947
[1] Direct selection of technology functions (dynamic tab)
[2] Toolbar for plug-ins
[3] Blocks connected by arrows (setpoint flow)
[4] Activation of technology functions
[5] Parameters associated with the activated block (dynamic tab)
[6] Navigation (next/back) for all activated technology functions
[5]
[6]
[1]
[4]
[2]
[3]
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Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 17
3
Startup
Startup Procedure
The setpoint flow must be mapped with arrows. Now, the parameters of the individual
blocks must be set. Some blocks branch out to lower levels, e.g. the electronic cam.
INFORMATION
For a description of the individual blocks, refer to "Parameter description" in the respec-
tive chapters.
1940391691
[1] [2] [3] [4] [5]
[1] Tool tip options
[2] Value display
[3] Linking the process input data. See chapter "Step 4: Process data configuration" (page 19).
[4] Linking the process output data. See chapter "Step 4: Process data configuration" (page 19).
[5] Parameter number DDB display
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18 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
3Startup
Startup Procedure
1940396171
[1] File > New (plug-in)
[2] Save plug-in
[3] Upload parameters from the axis
[4] Download parameters
[5] All parameters in the DDB
[6] Validate all settings by creating an error list
[7] Establish an online connection
[8] Quit online mode
[9] Documentation display
[10] Direct selection of required function
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
INFORMATION
For more information about the technology functions, refer to the respective chapters
in this manual.
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Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter 19
3
Startup
Startup Procedure
3.2.4 Step 4: Process data configuration
Process data configuration establishes a link with a higher-level controller. Each param-
eter of a technology function can then be read and written from the outside via process
data. This does not apply to combinations that make no sense, such as writing data to
status messages.
1941409931
[1] Data sent by a higher-level controller
[2] Data sent back by MOVIAXIS®
[1]
[2]
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20 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter
3Startup
Startup Procedure
Procedure for writing/reading parameters by a higher-level controller
Selecting the required parameters in the Motion Technology Editor
• Activate the required block.
• Select a free channel for the respective parameter.
1941412875
[1] Activate block
[2] Displayed parameters
[3] To write to a parameter from the outside, click on the [PI] button (process data input)
1941736971
[1] [2] [3]
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