SEW-Eurodrive Movidrive MDX61B User manual

Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services
MOVIDRIVE
®
MDX61B
" Table Positioning " Application
M anual
Edition 09/2007
11640626 / EN

SEW-EURODRIVE – Driving the world

Manual – MOVIDRIVE® MDX61B Table Positioning Application 3
1 General Notes......................................................................................................... 4
1.1 Structure of the safety notes .......................................................................... 4
1.2 Right to claim under warranty ........................................................................ 4
1.3 Exclusion of liability........................................................................................ 4
1.4 Other applicable documentation .................................................................... 5
2 System Description................................................................................................ 6
2.1 Areas of application ....................................................................................... 6
2.2 Application example....................................................................................... 7
2.3 Program identification .................................................................................... 8
3 Project Planning..................................................................................................... 9
3.1 Prerequisites .................................................................................................. 9
3.2 Description of functions................................................................................ 10
3.3 Scaling the drive .......................................................................................... 11
3.4 Limit switches, reference cams and machine zero ...................................... 12
3.5 Binary coding of the table positions ............................................................. 13
3.6 Process data assignment for fieldbus control .............................................. 14
3.7 Terminal control ........................................................................................... 15
3.8 Software limit switch..................................................................................... 16
3.9 IPOSplus® processing speed........................................................................ 18
3.10 Safe stop...................................................................................................... 19
3.11 SBus send object ......................................................................................... 19
4 Installation ............................................................................................................ 20
4.1 MOVITOOLS®software ............................................................................... 20
4.2 MDX61B basic unit with "DIO11B-type input / output card" ......................... 21
4.3 Connecting the DEH/DER11B option to MOVIDRIVE®MDX61B................ 22
4.4 Bus installation MOVIDRIVE®MDX61B ...................................................... 23
4.5 System bus connection (SBus 1)................................................................. 30
4.6 Connecting hardware limit switches............................................................. 32
5 Startup................................................................................................................... 33
5.1 General information ..................................................................................... 33
5.2 Preliminary work........................................................................................... 33
5.3 Starting the program "Table Positioning via Fieldbus" ................................. 34
5.4 Parameters and IPOSplus® variables ........................................................... 46
5.5 Recording IPOSplus® variables .................................................................... 48
6 Operation and Service ......................................................................................... 49
6.1 Starting the drive.......................................................................................... 49
6.2 Referencing mode........................................................................................ 50
6.3 Jog mode ..................................................................................................... 53
6.4 Teach mode ................................................................................................. 55
6.5 Automatic mode ........................................................................................... 57
6.6 Cycle diagrams ............................................................................................ 59
6.7 Error information .......................................................................................... 62
6.8 Error messages............................................................................................ 63
7 Compatibility of MOVIDRIVE®B / compact ....................................................... 66
7.1 Important notes ............................................................................................ 66
8 Index...................................................................................................................... 69

4Manual – MOVIDRIVE® MDX61B Table Positioning Application
1Structure of the safety notes
General Notes
Manual
1 General Notes
1.1 Structure of the safety notes
The safety notes in this manual are designed as follows:
1.2 Right to claim under 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 MOVIDRIVE®documentation. Con-
sequently, read the operating instructions and manuals before you start working with the
unit!
Make sure that the operating instructions and manuals are available to persons respon-
sible for the plant and its operation, as well as to person who work independently on the
unit. You must also ensure that the documentation is legible.
1.3 Exclusion of liability
You must comply with the information contained in the MOVIDRIVE®documentation to
ensure safe operation of the MOVIDRIVE®drive inverter and to achieve the specified
product characteristics and performance requirements. SEW-EURODRIVE assumes no
liability for injury to persons or damage to equipment or property resulting from non-ob-
servance of these operating instructions. In such cases, any liability for defects is ex-
cluded.
Symbol SIGNAL WORD
Nature and source of hazard.
Possible consequence(s) if disregarded.
• Measure(s) to avoid the hazard.
Symbol Signal word Meaning Consequences if
disregarded
Example:
General hazard
Specific hazard,
e.g. electric shock
HAZARD Imminent hazard Severe or fatal injuries
WARNING Possible hazardous situation Severe or fatal injuries
CAUTION Possible hazardous situation Minor injuries
STOP Possible damage to property Damage to the drive system or its
environment
NOTE Useful information or tip
Simplifies drive system handling

Manual – MOVIDRIVE® MDX61B Table Positioning Application 5
1
Other applicable documentation
General Notes
1.4 Other applicable documentation
• This manual does not replace the detailed operating instructions and the correspond-
ing manuals.
• Installation and startup only by trained personnel observing the relevant accident
prevention regulations and the following documents:
–"'MOVIDRIVE
®MDX60B/61B' operating instructions and corresponding manuals

6Manual – MOVIDRIVE® MDX61B Table Positioning Application
2Areas of application
System Description
2 System Description
2.1 Areas of application
The "Table Positioning" application module is particularly suited to applications in which
it is necessary to move to positions at pre-defined speeds and with different acceleration
ramps. If you use an external encoder for positioning, which is necessary when there is
a non-positive connection between motor shaft and load, you can either use an incre-
mental encoder or an absolute encoder.
The "Table Positioning" application module accomplishes these tasks with various op-
erating modes which are selected using binary inputs (terminal control) or virtual termi-
nals (control via fieldbus).
The "Table Positioning" application module is especially suitable for the following
branches of industry and applications:
•Materials handling
– Trolleys
– Hoists
– Rail vehicles
•Logistics
– Storage and retrieval units
– Transverse carriages
The "Table Positioning" module offers the following advantages in these
applications:
• User-friendly user interface.
• 32 table positions can be defined and selected via terminals / fieldbus / SBus.
• You only have to set the parameters required for table positioning and bus operation
(ratios, speeds, diameters).
• Guided parameter setting process instead of complicated programming.
• Monitor mode for optimum diagnostics.
• Users do not need any programming experience.
• Incremental encoders or absolute encoders can be used as external encoders.
• It does not take long to get to know the system.

Manual – MOVIDRIVE® MDX61B Table Positioning Application 7
2
Application example
System Description
2.2 Application example
Transverse
carriage
A transverse carriage represents a typical application example of the "Table positioning"
application module. The following figure shows a transverse carriage in a high-bay
warehouse: Goods to be moved in and out of storage are transported between the shelf
aisles and the distribution table.
04823AXX
Figure 1: Application example of a transverse carriage

8Manual – MOVIDRIVE® MDX61B Table Positioning Application
2Program identification
System Description
2.3 Program identification
You can use the MOVITOOLS®software package to identify which application program
was last loaded into the MOVIDRIVE®MDX61B unit. Proceed as follows:
• Connect MOVIDRIVE®to the PC via the serial port.
• Start MOVITOOLS®.
• In MOVITOOLS®start the program "Shell".
• In the Shell program, choose [Display] / [IPOS Information...].
• The "IPOS-Status" window appears. The entries in this window tell you which appli-
cation software is stored in MOVIDRIVE®MDX61B.
06710AEN
Figure 2: IPOS information in Shell
11715AEN
Figure 3: Display of the current IPOS program version

Manual – MOVIDRIVE® MDX61B Table Positioning Application 9
3
Prerequisites
Project Planning
3 Project Planning
3.1 Prerequisites
PC and software The "Table Positioning" application module is implemented as an IPOSplus® program
and forms part of the SEW MOVITOOLS®software package. In order to use MOVI-
TOOLS®, you must have a PC with one of the following operating systems: Windows
95, Windows 98, Windows NT 4.0 or Windows 2000.
Inverters, motors
and encoders
•Inverters
The "Table Positioning" application requires encoder feedback. It can only be imple-
mented on MOVIDRIVE®MDX61B units in application version (...-0T). "Table
Positioning" cannot be implemented on MOVIDRIVE®MDX60B.
In case of fieldbus control, the "Table Positioning" application uses a process data
word. A MOVIDRIVE®option will be required (→following table), depending on the
bus type used.
•Motors
– For operation on MOVIDRIVE®MDX61B with option DEH11B: CT/CV asynchro-
nous servomotors (encoder installed as standard) or DR/DT/DV/D AC motors
with encoder option (Hiperface®, sin/cos or TTL).
– For operation on MOVIDRIVE®MDX61B with option DER11B: CM/DS synchro-
nous servomotors, resolver installed as standard.
•External encoder
An external encoder is required for positioning in applications with a non-positive
connection between the motor shaft and the load. If an absolute encoder is used as
the external encoder, the MOVIDRIVE®option "Absolute encoder interface type
DIP11B" is also required.
– Positive connection between motor shaft and load:
An external encoder is not required. If you also want to use an external encoder
for positioning when there is an interlocking connection, you have to proceed in
the same way as with a non-positive connection.
– Non-positive connection between motor shaft and load:
An external encoder is required in addition to the motor encoder/resolver.
Incremental encoder as external encoder: Connection to basic unit at X14.
Absolute encoder as external encoder: Connection to option DIP11 at X62.
Control via Possible with MOVIDRIVE®
compact MCH41A/42A MDX61B
Terminals No Yes, with option DIO11B
PROFIBUS-DP Yes, without option Yes, with option DFP21B
INTERBUS No Yes, with option DFI11B
INTERBUS with fiber optic cable Yes Yes, with option DFI21B
CAN bus No Yes, with DFC11B option
DeviceNet No Yes, with option DFD11B
Ethernet No Yes, with DFE11B option

10 Manual – MOVIDRIVE® MDX61B Table Positioning Application
3Description of functions
Project Planning
•Possible combinations
3.2 Description of functions
Functional
characteristics
The "Table Positioning" application has the following functional characteristics:
• Up to 32 table positions can be defined and selected.
• The travel speed can be selected for each positioning movement.
• The ramp can be set separately for each positioning movement.
• Software limit switches can be defined and evaluated.
• Either incremental or absolute encoders can be evaluated as external encoders.
Four operating
modes
•Jog mode
– The drive is moved CW or CCW using two virtual binary inputs.
– The two speeds 'rapid speed' and 'creep speed' for fine positioning can be select-
ed via a virtual binary input.
•Teach mode
– Movement can be performed to every individual position in jog mode and then
stored in teach mode.
•Referencing mode
– Reference travel is started when a start command is signaled at a virtual binary
input. Reference travel establishes the reference point (machine zero) for abso-
lute positioning operations.
•Automatic mode
– Selecting the target position using five virtual binary inputs (binary coded).
– Checkback of the selected target position before traveling using five virtual binary
outputs (binary coded)
– Confirmation that the selected position has been reached via virtual binary output
"Target position reached".
Motor shaft / load connection
Positive, external encoder is not
required
Non-positive, external encoder is
required
Encoder type (external
encoder)
- Incremental encoder or Hiperface
encoder
Reference travel Yes (absolute positioning)
Required MOVIDRIVE®
option Input / output card DIO11B or fieldbus interfaces (DFP21B, DFI11B)

Manual – MOVIDRIVE® MDX61B Table Positioning Application 11
3
Scaling the drive
Project Planning
3.3 Scaling the drive
The controller must be able to detect the number of encoder pulses (increments) per
travel unit to position the drive. The scaling function is used to set a user unit suitable to
the application.
Drive without
external encoder
(positive connec-
tion)
In drives without an external encoder, the system can calculate the scaling automatically
during startup of the table positioning. Enter the following data:
• Diameter of the drive wheel (ddrive wheel) or pitch of the spindle (pspindle)
• Gear ratio of the gear unit (igear unit, speed-reduction)
• Gear ratio of the additional gear (igear unit, speed-reduction)
The following scaling factors are calculated:
• Pulses / distance scaling factor [inc/mm] using the formula:
Pulses = 4096 ×igear unit ×iadditional gear
Distance = Π×ddrive wheel or Π×pspindle
• Speed scaling factor
Numerator factor in [1/min] and denominator value in "speed unit".
You can also enter the distance and speed scaling factors directly. If you enter a unit
other than [mm] or [1/10 mm] as the travel unit, this user unit will also be used for the
position of the software limit switches, the reference offset and the maximum travel dis-
tances.

12 Manual – MOVIDRIVE® MDX61B Table Positioning Application
3Limit switches, reference cams and machine zero
Project Planning
Drive with exter-
nal encoder (non-
positive connec-
tion)
In this case, you must have activated and scaled the external encoder before starting
up the 'Table Positioning' module. To do so, make the following settings in the Shell pro-
gram before starting up the table positioning via bus (→following figure).
• P941 Actual position source
If an incremental encoder or an absolute encoder (DIP11) is connected, set P941 to
"EXT. ENCODER (X14)". You can also make this setting during the startup proce-
dure of the table positioning module.
• P942 Encoder factor numerator / P943 Encoder factor denominator / P944 Encoder
scaling ext. Encoders
Calculation of the scaling is blocked during startup of the table positioning.
3.4 Limit switches, reference cams and machine zero
Note the following points during project planning:
• Software limit switchesmust be located within the travel distance of the hardware
limit switches.
• When defining the reference position (position of the reference cam) and the soft-
ware limit switches, make sure they do not overlap. Error message F78 "IPOS SW
limit switch" is generated in the event of an overlap during referencing.
• You can enter a reference offset during startup if you do not want the machine zero
to be located on the reference cam. The following formula applies: Machine zero =
reference position + reference offset. This way, you can alter the machine zero with-
out having to move the reference cam.
10091AEN
NOTES
• For more information about scaling an external encoder, refer to the "IPOSplus® Po-
sitioning and Sequence Control System" manual.
• When using an absolute encoder, note the startup instructions in the "MOVI-
DRIVE®MDX61B0 Absolute Encoder Card DIP11B" manual.
NOTE
Please also refer to the information in sec. "Software limit switches."

Manual – MOVIDRIVE® MDX61B Table Positioning Application 13
3
Binary coding of the table positions
Project Planning
3.5 Binary coding of the table positions
Terminal version The table positions must be specified in binary code. They are also reported back in bi-
nary code. This means DI13 (D012) = 20and DI17 (D016) = 24.
Bus version For the bus version, the table positions are selected via the binary signals of the virtual
input terminals through process data word 1 (→sec. "Process data assignment for field-
bus control").
No. DI13 (D012) DI14 (D013) DI15 (D014) DI16 (D015) DI17 (D016)
0 "0" "0" "0" "0" "0"
1 "1" "0" "0" "0" "0"
2 "0" "1" "0" "0" "0"
3 "1" "1" "0" "0" "0"
4 "0" "0" "1" "0" "0"
5 "1" "0" "1" "0" "0"
6 "0" "1" "1" "0" "0"
7 "1" "1" "1" "0" "0"
8 "0" "0" "0" "1" "0"
9 "1" "0" "0" "1" "0"
10 "0" "1" "0" "1" "0"
11 "1" "1" "0" "1" "0"
12 "0" "0" "1" "1" "0"
13 "1" "0" "1" "1" "0"
14 "0" "1" "1" "1" "0"
15 "1" "1" "1" "1" "0"
16 "0" "0" "0" "0" "1"
17 "1" "0" "0" "0" "1"
18 "0" "1" "0" "0" "1"
19 "1" "1" "0" "0" "1"
20 "0" "0" "1" "0" "1"
21 "1" "0" "1" "0" "1"
22 "0" "1" "1" "0" "1"
23 "1" "1" "1" "0" "1"
24 "0" "0" "0" "1" "1"
25 "1" "0" "0" "1" "1"
26 "0" "1" "0" "1" "1"
27 "1" "1" "0" "1" "1"
28 "0" "0" "1" "1" "1"
29 "1" "0" "1" "1" "1"
30 "0" "1" "1" "1" "1"
31 "1" "1" "1" "1" "1"

14 Manual – MOVIDRIVE® MDX61B Table Positioning Application
3Process data assignment for fieldbus control
Project Planning
3.6 Process data assignment for fieldbus control
The higher-level controller (PLC) sends one process output data word (PO1) to the in-
verter and receives one process input data word (PI1) from the inverter.
Process output
data
The process output data word is assigned as follows:
• PO1: Control word 2
Process input
data
The process input data word is assigned as follows:
• PI1: Status word 2
62051AXX
Figure 4: Data exchange via process data
PO = Process output data PI = Process input data
PO1 = Control word 2 PI1 = Status word (IPOS PI data)
PI
PO
PI1
PO1
1514131211109876543210
P617 Binary input DI17 Controller inhibit/Enable
P616 Binary input DI16 Enable/Rapid stop
P615 Binary input DI15 Enable/stop
P614 Binary input DI14 Hold control
P613 Binary input DI13 Ramp switchover
P612 Binary input DI12 Parameter set switchover
P611 Binary input DI11 Error reset
P610 Binary input DI10 Reserved
1514131211109876543210
P617 Binary output DI17 Motor is turning (n≠0)
P616 Binary output DI16 Inverter ready
P615 Binary output DI15 IPOS reference
P614 Binary output DI14 Target position reached
P613 Binary output DI13 Brake released
P612 Binary output DI12 Fault/warning
P611 Binary output DI11 Limit switch CW active
P610 Binary output DI10 Limit switch CCW active

Manual – MOVIDRIVE® MDX61B Table Positioning Application 15
3
Terminal control
Project Planning
3.7 Terminal control
Operating modes The operating mode is set using the binary inputs X22:DI10 and DI11 of the DIO11B op-
tion or X60:DI10 and DI11 of the DIP11B option.
Functions of the
binary inputs
DI12 ... DI17
The binary inputs X22:DI12 ... DI17 of the DIO11B option or X60:DI12 ... DI17 of the
DIP11B option have different functions depending on the selected operating mode.
Duty cycle type Jog mode Teach mode Referencing mode Automatic mode
DI10: Mode low "0" "1" "0" "1"
DI11: Mode high "0" "0" "1" "1"
Duty cycle type Jog mode Teach mode Referencing mode Automatic mode
DI12: Function 1 Reserved Strobe Start referencing Start positioning
DI13: Function 2 Positive jog Position 20Reserved Position 20
DI14: Function 3 Negative jog Position 21Reserved Position 21
DI15: Function 4 Rapid speed Position 22Reserved Position 22
DI16: Function 5 Reserved Position 23Reserved Position 23
DI17: Function 6 Reserved Position 24Reserved Position 24

16 Manual – MOVIDRIVE® MDX61B Table Positioning Application
3Software limit switch
Project Planning
3.8 Software limit switch
General
information
The "software limit switch" monitoring function is used to check that the target position
is set to appropriate values. During this process, it is not important where the drive is
positioned. In contrast to the monitoring of the hardware limit switches, the monitoring
function for the software limit switches makes it possible to detect whether there is an
error in the target specifications before the axis starts to move. The software limit switch-
es are active when the axis is referenced; that is, when Bit 1 IPOS reference is set in
PI1.
Moving clear of
the software limit
switches
When using an absolute encoder or Multiturn Hiperface®encoder it may be necessary
for the drive to be moved within the range of the software limit switches (for example,
after an encoder has been replaced). For this purpose, Bit 15 in the process output data
word 1 (PO1) is set to "/SWLS" (= Moving clear of the software limit switch).
Bit 15 "/SWLS" is only available in jog mode and referencing mode. If Bit 15 is set, the
drive can be moved out of the valid positioning range into the area of the software limit
switches (→example 3).
It is necessary to differentiate between the following three examples:
Example 1 • Requirements:
– Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set.
– Drive is within valid positioning area
– Software limit switch monitoring function is active.
In jog mode, the drive runs until it is three position windows (P922) before the soft-
ware limit switch and then stays there.
In automatic mode, the drive can be positioned up to the software limit switches but
not beyond.
In referencing mode, the software limit switches are not active, which means the
drive can move past the software limit switches during reference travel.
10981AEN

Manual – MOVIDRIVE® MDX61B Table Positioning Application 17
3
Software limit switch
Project Planning
Example 2 • Requirements:
– Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set.
– The drive is outside the software limit switches.
The following error message appears once the drive is enabled:
You can confirm the error message by pressing the reset button. The monitoring
function is deactivated. In the area of the software limit switches, the drive can be
moved at two different speeds as follows:
– Closer toward the travel range of the software limit switch at reference speed 2
(P902).
– Away from the travel range of the software limit switches at maximum speed.
The monitoring function is reactivated when:
– The actual position of the drive set with P941 enters the permitted positioning
range again.
– A positioning job is issued via the opposite software limit switch.
– The unit is switched off and on again.
10982AEN
10983AEN

18 Manual – MOVIDRIVE® MDX61B Table Positioning Application
3IPOSplus® processing speed
Project Planning
Example 3 • Prerequisite:
– Bit 15 "/SWLS" in the process output data word 1 (PO1) is set.
The monitoring function is deactivated in the "Jog mode" and "Referencing mode"
operating modes. The drive can be moved within the travel area of the software limit
switches and from the valid positioning range into the area of the software limit
switches without an error message being generated. The speed can be varied.
3.9 IPOSplus® processing speed
The processing speed of the IPOSplus® program in MOVIDRIVE®MDX61B can be
changed using the following parameters:
• P938 IPOS speed TASK1, setting range 0 ... 9
• P939 IPOS speed TASK2, setting range 0 ... 9
Setting value "0" for both parameters results in the same IPOSplus® processing speed
as for MOVIDRIVE MD_60A:
• P938 = 0 = TASK1 = 1 command / ms
• P938 = 0 = TASK2 = 2 commands / ms
Values greater than zero are added to the IPOSplus® processing speed of MOVIDRIVE®
MD_60A. Note that the total of the commands per millisecond (commands / ms) for
TASK1 and TASK2 must not be greater than 9.
10984AEN
HAZARD
Risk of crushing if the motor starts up unintentionally.
Severe or fatal injuries.
• You must not change the monitoring function of the software limit switches (PO1,
Bit 15 "/SWLS") during operation (i.e. when the axis is in motion).

Manual – MOVIDRIVE® MDX61B Table Positioning Application 19
3
Safe stop
Project Planning
If you start up the "Table positioning" application module on a MOVIDRIVE®MDX61B
unit, the parameters will be set as follows to ensure a sequence with optimized timing:
• P938 = 5 = TASK1 = 1 command / ms + 5 commands / ms = 6 commands / ms
• P939 = 4 = TASK2 = 2 commands / ms + 4 commands / ms = 6 commands / ms
3.10 Safe stop
A "Safe stop" can only be achieved by safe disconnection of the jumpers at terminal X17
(with safety switch or safety PLC).
The "Safe stop active" state is indicated by a "U" in the 7-segment display of the
MOVIDRIVE®MDX61B. In the application module, this state is treated in the same way
as the "CONTROLLER INHIBIT" state.
3.11 SBus send object
You have the option of setting up an SBus send object for transferring the cyclical actual
position of the drive. In this way, "Table Positioning via Fieldbus" can be used as a mas-
ter for the "DriveSync" application module or any IPOSplus® program.
Activating the
SBus send object
To set up the SBus send object, set the IPOSplus® variable H115 SwitchSBUS to "1" and
restart the IPOSplus® program (→-φfollowing figure).
Setting the SBus
send objects
The send and synchronization objects are initialized automatically once the IPOSplus®
program has been restarted. The content of the send object is set to IPOSplus® encoder.
NOTES
For more information on the "Safe stop" function, refer to the following publications:
•MOVIDRIVE
®MDX60B / 61B Safe Disconnection - Conditions
•MOVIDRIVE
®MDX60B/61B Safe Disconnection - Applications
11010AXX
Send object Synchronization object
ObjectNo 2 1
CycleTime 1 5
Offset 0 0
Format 4 0
DPointer IPOS encoder -

20 Manual – MOVIDRIVE® MDX61B Table Positioning Application
4MOVITOOLS® software
Installation
4 Installation
4.1 MOVITOOLS®software
MOVITOOLS®The "Table Positioning" application module is part of the MOVITOOLS®software (ver-
sion 4.20 and higher). Proceed as follows to install MOVITOOLS®on your computer:
• Insert the MOVITOOLS®CD into the CD-ROM drive of your PC.
• The MOVITOOLS®setup menu is started. You will be guided through the installation
process: Follow the instructions.
You can now use the Program Manager to start MOVITOOLS®. Proceed as follows to
perform startup for the inverter using the MOVITOOLS®Manager:
• Select the language you want in the "Language" selection field.
• In the "PC Interface" selection field, select the PC port (e.g. COM 1) to which the in-
verter is connected.
• In the "Device Type" field, select "Movidrive B".
• In the "Baudrate" field, select the baud rate set on the basic unit with the DIP switch
S13 (standard setting →"57.6 kBaud").
• Press the <Update> button to display the connected inverter.
Application
version
The "Table Positioning" application module can only be used with MOVIDRIVE®units in
application version (...-0T). The application modules cannot be used on units in the stan-
dard version (-00).
10985AEN
Figure 5: MOVITOOLS®window