SEW-Eurodrive MOVIDRIVE system User manual

*28487486_0219*
Drive Technology \ Drive Automation \ System Integration \ Services
Product Manual
Application Inverter
MOVIDRIVE® system
Edition 02/2019 28487486/EN

SEW-EURODRIVE—Driving the world

Table of contents
Product Manual – MOVIDRIVE® system 3
Table of contents
1 Product description.................................................................................................................. 6
1.1 Device availability ...........................................................................................................9
1.2 MOVIDRIVE® system at a glance ................................................................................10
1.3 MOVIDRIVE® system product overview.......................................................................15
1.4 Product overview accessories ......................................................................................17
1.5 FCB concept .................................................................................................................19
1.6 Control mode ................................................................................................................26
1.7 Energy-saving functions................................................................................................33
1.8 MOVISUITE® engineering software .............................................................................34
2 Technical data......................................................................................................................... 37
2.1 Markings .......................................................................................................................37
2.2 General technical data ..................................................................................................40
2.3 Technical data of basic device......................................................................................41
2.4 Technical data of accessories.......................................................................................46
2.5 Electronics data – signal terminals ...............................................................................47
2.6 Electronics data – drive safety functions.......................................................................48
2.7 Dimension drawings......................................................................................................49
2.8 Technical data of the cards...........................................................................................56
2.9 Technical data of encoder interfaces ............................................................................61
2.10 Technical data of braking resistors, filters, and chokes ................................................62
3 Configuration .......................................................................................................................... 82
3.1 SEW-Workbench ..........................................................................................................82
3.2 Schematic workflow for project planning.......................................................................83
3.3 Drive selection ..............................................................................................................84
3.4 Recommendations for motor and inverter selection .....................................................89
3.5 Motor-inverter assignments ..........................................................................................94
3.6 Selection of an application inverter .............................................................................131
3.7 Braking resistor selection............................................................................................135
3.8 Supply system cable and motor cable ........................................................................143
3.9 Signal lines..................................................................................................................145
3.10 EMC-compliant installation according to EN61800-3.................................................146
3.11 Line components.........................................................................................................147
3.12 24V supply voltage selection .....................................................................................151
4 Prefabricated cables ............................................................................................................ 154
4.1 Meaning of the symbols ..............................................................................................154
4.2 Power cables for CMP.. motors ..................................................................................155
4.3 Encoder cables for CMP.. motors ...............................................................................161
4.4 Single-cable technology for CMP.. motors..................................................................164
4.5 Power cables for CFM.. motors ..................................................................................166
4.6 Encoder cables for CFM.. motors ...............................................................................171
4.7 Encoder cables for DR.. motors..................................................................................174
4.8 System bus and module bus cable .............................................................................182
5 General information.............................................................................................................. 186
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Table of contents
Product Manual – MOVIDRIVE® system
4
5.1 About this documentation ...........................................................................................186
5.2 Structure of the safety notes .......................................................................................186
5.3 Decimal separator in numerical values .......................................................................187
5.4 Rights to claim under limited warranty ........................................................................187
5.5 Content of the documentation.....................................................................................188
5.6 Other applicable documentation .................................................................................188
5.7 Product names and trademarks..................................................................................188
5.8 Copyright notice ..........................................................................................................188
5.9 Device availability .......................................................................................................189
6 Safety notes .......................................................................................................................... 190
6.1 Preliminary information ...............................................................................................190
6.2 Duties of the user........................................................................................................190
6.3 Target group ...............................................................................................................190
6.4 Designated use ...........................................................................................................191
6.5 Functional safety technology ......................................................................................192
6.6 Transport.....................................................................................................................192
6.7 Installation/assembly...................................................................................................193
6.8 Electrical installation ...................................................................................................194
6.9 Protective separation ..................................................................................................194
6.10 Startup/operation ........................................................................................................195
7 Device structure ................................................................................................................... 196
7.1 Connection variants ....................................................................................................196
7.2 MOVIDRIVE® system nameplate ...............................................................................202
7.3 MOVIDRIVE® system type code ................................................................................203
7.4 Device structure of the application inverter.................................................................204
7.5 Card slots....................................................................................................................210
8 Installation............................................................................................................................. 211
8.1 Permitted tightening torques .......................................................................................211
8.2 Special aspects when transporting the devices ..........................................................212
8.3 Mechanical installation................................................................................................213
8.4 Covers.........................................................................................................................216
8.5 Control cabinet installation..........................................................................................219
8.6 Electrical installation ...................................................................................................223
8.7 Installing options and accessories ..............................................................................237
8.8 Braking resistors .........................................................................................................247
8.9 Line filter .....................................................................................................................260
8.10 EMC-compliant installation .........................................................................................261
8.11 Terminal assignment...................................................................................................266
8.12 Wiring diagrams..........................................................................................................271
8.13 Information regarding UL ............................................................................................284
9 Startup ................................................................................................................................... 286
9.1 General .......................................................................................................................286
9.2 Setting the EtherCAT® ID...........................................................................................287
9.3 Startup requirements ..................................................................................................288
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Product Manual – MOVIDRIVE® system 5
9.4 Startup procedure .......................................................................................................289
9.5 Connection to the engineering software .....................................................................293
10 Operation............................................................................................................................... 294
10.1 General information ....................................................................................................294
10.2 7-segment display.......................................................................................................295
10.3 Operating displays ......................................................................................................296
10.4 Fault description on basic device................................................................................298
10.5 Power section fault description ...................................................................................334
10.6 Responses to fault acknowledgement ........................................................................339
10.7 Fault responses ..........................................................................................................341
11 Service................................................................................................................................... 344
11.1 Electronics Service by SEW‑EURODRIVE.................................................................344
11.2 Extended storage........................................................................................................344
11.3 Shutdown....................................................................................................................345
11.4 Waste disposal............................................................................................................345
12 Functional safety .................................................................................................................. 346
12.1 General information ....................................................................................................346
12.2 Integrated safety technology.......................................................................................346
12.3 Safety conditions.........................................................................................................352
12.4 Connection designs ....................................................................................................357
12.5 Safety characteristics..................................................................................................362
13 Appendix ............................................................................................................................... 363
13.1 Abbreviation key .........................................................................................................363
Index ...................................................................................................................................... 365
14 Address list ........................................................................................................................... 370
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1Product description
Product Manual – MOVIDRIVE® system
6
1 Product description
With its brand MOVI-C®, SEW‑EURODRIVE is launching a new generation of drive
and automation technology. MOVI-C® is the modular automation system that enables
the highest level of system and machine automation.
MOVI-C® comprises drive technology, MotionControl, control technology, and visualiz-
ation.
MOVIDRIVE® system is the application inverter for direct line connection, suited for
various types of applications, ranging from open-loop speed control to servo drives
with kinematic model.
MOVIDRIVE® system consists of:
• Application inverter basic device
• Accessories for EMC-compliant installation
• Cards for functional safety in functionally different versions
• Accessories for connecting and controlling motors and brakes as well as as-
sembled motor and encoder cables
For use in harsh environments, the inverters can be supplied with painted PCBs. The
coating of the printed circuit boards increases their resistivity against environmental in-
fluences.
Besides MOVIDRIVE® system, the multi-axis system MOVIDRIVE® modular is avail-
able. The drive functions of both product series are based on one standardized soft-
ware platform. The main difference between MOVIDRIVE® modular and MOVIDRIVE®
system is the DC link connection of the individual modules with MOVIDRIVE® modu-
lar.
The key features of MOVIDRIVE®modular and MOVIDRIVE®system are:
• Control mode:
– V/f for simple applications with asynchronous motors
– VFCPLUS: for precise control of asynchronous motors
– CFC: for asynchronous and synchronous servomotors
– ELSM®: for synchronous motors without encoders
• Multi-encoder input in the basic unit
• Speed control, torque control, position control
• Expansion slots for I/O, distance encoder, functional safety
• Very compact device size, reduced space requirements in the control cabinet
They offer a powerful clock-synchronous connection via the integrated EtherCAT®/
SBusPLUS communication interface. Other EtherCAT® clients from SEW‑EURODRIVE
or other manufacturers can be controlled and diagnosed by the MOVI-C®
CONTROLLER.
The functions of the MOVI-C® CONTROLLER are:
• Freely programmable sequence control in accordance with IEC 6-1131 for auto-
mating drive and logic tasks
• Central data storage for all MOVI-C® inverters from SEW‑EURODRIVE at the
EtherCAT®/SBusPLUS
• Plug-and-play device replacement through automatic data recovery
• Central setpoint input for clock-synchronous drives and for auxiliary drives
• Motion functions: Speed control, torque specification, position specification, phase-
synchronous operation, cams, application modules, kinematic models
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Product description
Product Manual – MOVIDRIVE® system 7
• EtherCAT®/SBusPLUS master for SEW‑EURODRIVE components and for peripher-
als with EtherCAT® interface
• Fieldbus device interface to higher-level control systems
• Diagnostics and visualization of the automation system
X30 IN
EtherCAT /SBusPLUS
External PLC
3 x AC 400 V
MOVI-C CONTROLLER
®
®
DOP/OPT
®EtherCAT /SBusPLUS ®
10 min
Power
MOVIDRIVE modular
®
MOVI-PLC I/O-System C
MOVIDRIVE system
®
16000611083
The CiA402 device profile for controlling inverters has established itself in plants with
very individual motion control functions that are calculated in the external higher-level
controller.
For control via CiA402, the MOVIDRIVE® modular and MOVIDRIVE® system applica-
tion inverters can be directly connected to the higher-level controller using the integra-
ted EtherCAT® interface. This means integration into the higher-level controller can be
achieved particularly quickly and easily, and does not require extensive conversion
work.
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1Product description
Product Manual – MOVIDRIVE® system
8
For applications with requirements on functional safety, the MOVISAFE® CS..A safety
cards are available. They are controlled via the integrated inputs and outputs or via
safe communication using Safety over EtherCAT® (FSoE).
24494793995
MOVIDRIVE® modular and MOVIDRIVE® system are available with device profile
CiA402.
The new engineering software MOVISUITE® is the central module of the MOVI-C®
modular automation system. MOVISUITE® allows for intuitive operation with modern
operating concepts.
The central functions of MOVISUITE® are:
• Network scan
• Device startup and parameterization
• Data storage and data management
• Scope and diagnostics
• Programming environment for MOVI-C® CONTROLLER
• Parameterization for functional safety
• Parameterization and diagnostics environment for application modules
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1
Product description
Device availability
Product Manual – MOVIDRIVE® system 9
1.1 Device availability
This documentation also lists devices that are not yet available at the time of the pub-
lication of this document.
The following table lists the available application inverters. Accessories required for
the inverter operation such as braking resistors, chokes, and filters are available.
Type designation
MDX9_A-0020-5E3-4-S00/E00
MDX9_A-0025-5E3-4-S00/E00
MDX9_A-0032-5E3-4-S00/E00
MDX9_A-0040-5E3-4-S00/E00
MDX9_A-0055-5E3-4-S00/E00
MDX9_A-0070-5E3-4-S00/E00
MDX9_A-0095-5E3-4-S00/E00
MDX9_A-0125-5E3-4-S00/E00
MDX9_A-0160-5E3-4-S00/E00
MDX9_A-0240-503-4-S00/E00
MDX9_A-0320-503-4-S00/E00
MDX9_A-0460-503-4-S00/E00
MDX9_A-0620-503-4-S00/E00
MDX9_A-0750-503-4-S00/E00
MDX91A-0910-503-4-S00/E00
MDX91A-1130-503-4-S00/E00
MDX91A-1490-503-4-S00/E00
MDX9_A-0070-2E3-4-S00/E00
MDX9_A-0093-2E3-4-S00/E00
MDX9_A-0140-2E3-4-S00/E00
MDX9_A-0213-203-4-S00/E00
MDX9_A-0290-203-4-S00/E00
MDX9_A-0420-203-4-S00/E00
MDX9_A-0570-203-4-S00/E00
MDX91A-0840-203-4-S00/E00
MDX91A-1080-203-4-S00/E00
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1Product description
MOVIDRIVE® system at a glance
Product Manual – MOVIDRIVE® system
10
1.2 MOVIDRIVE® system at a glance
MOVIDRIVE
® system at
a glance
MOVIDRIVE®system
5
4
3
2
1
Description: (→215)
Technical data: (→241)
Dimension drawings: (→249)
• Nominal output current: 2 – 588 A
• Voltage ranges: 3 × 380 – 500V, 3 × 200 – 240V, 50 – 60Hz
• Nominal DC link voltage: DC 560 V (400 V), DC 325 V (230 V)
• Overload capacity: 200% of the nominal output current for 3s
• System bus: EtherCAT®/SBusPLUS
For further information on this device, refer to the following documents:
• "MOVIDRIVE® system application inverter" operating instructions
• "MOVIDRIVE® system application inverter" product manual
• "MOVI-C® – Automation with MOVI-C® CONTROLLER" manual
• "Parameter Description MOVIDRIVE® system" manual
• "MOVIDRIVE®modular/system with device profile CiA402" operating in-
structions
Cards
Input/output card
CIO21A
S50
CID21A Description: (→217), (→2240)
Technical data: (→256)
CIO21A
• 4 digital inputs
• 4 digital outputs
• 2 analog inputs
• 2 analog outputs
CID21A
• 4 digital inputs
• 4 digital outputs
For further information on these cards, refer to
the following documents:
• "MOVIDRIVE® system application inverter"
operating instructions
• "MOVIDRIVE® system application inverter"
product manual
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Product description
MOVIDRIVE® system at a glance
Product Manual – MOVIDRIVE® system 11
Cards
CES11A multi-encoder card Description: (→217), (→2243)
Technical data: (→258)
The multi-encoder card makes it possible to evaluate additional encoders.
For information on this card, refer to the following document:
• "Multi-encoder card CES11A" manual
Safety cards CS..A
0800
0015
DF1F
652D
XS
X60 X17 CSS31A
F-RUN
F-ERR
1
9
8
15
1413
1 2
Description: (→218)
Technical data: (→259)
The basic device already contains the safety function STO with activation via
safe inputs. Higher-level functional safety requirements can be added by
plugging in a CS..A safety card. Different types of higher-level safety func-
tions are realized via 4 different versions.
Safety card properties:
• SIL3 in accordance with EN61800-5-2, EN61508
• PL e in accordance with ENISO13849-1
• Connectible at any time subsequently; no additional external cables are
required. Internal connection to motor encoder, safe communication, and
STO
• Safety card parameters are included in the device data set
• Easy replacement during servicing due to pluggable safety key on the
safety card
• Parameterization and diagnostics using the MOVISUITE® engineering
software
• Process data and safety data in the same Scope recording
• Safe output for activating functionally safe braking systems
For information on this card, refer to the following document:
• "MOVISAFE® CS..A Safety Card" manual
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1Product description
MOVIDRIVE® system at a glance
Product Manual – MOVIDRIVE® system
12
MOVI-C® CONTROLLER
MOVI-C® CONTROLLER
power UHX85A
MOVI-C® CONTROLLER power is characterized by:
• Intel Core2Duo 2.2GHz processor
• Windows® Embedded Standard 7
• Ethernet interface for engineering tasks or TCP/IP and UDP via
IEC61131‑3
• 16MB program memory and 64MB data memory
• A maximum of 32 interpolating axes that can be connected
• Another 32 auxiliary axes that can be connected
• System bus EtherCAT®/SBusPLUS
• Optional slave connection via PROFIBUS DPV2
• Optional device connection via PROFINET
For further information on this device, refer to the following documents:
• "MOVI-C® CONTROLLER power UHX85A and power eco UHX84A"
manual
• "MOVIDRIVE® system application inverter" operating instructions
• "MOVIDRIVE® system application inverter" product manual
• "MOVI-C® – Automation with MOVI-C® CONTROLLER" manual
MOVI-C® CONTROLLER
power eco UHX84A
MOVI-C® CONTROLLER power eco is characterized by:
• Intel Core2Duo 2.2GHz processor
• Windows® Embedded Standard 7
• Ethernet interface for engineering tasks or TCP/IP and UDP via
IEC61131‑3
• 16MB program memory and 64MB data memory
• A maximum of 16 interpolating axes that can be connected
• Another 16 auxiliary axes that can be connected
• System bus EtherCAT®/SBusPLUS
• Optional slave connection via PROFIBUS DPV2
• Optional device connection via PROFINET
For further information on this device, refer to the following documents:
• "MOVI-C® CONTROLLER power UHX85A and power eco UHX84A"
manual
• "MOVIDRIVE® system application inverter" operating instructions
• "MOVIDRIVE® system application inverter" product manual
• "MOVI-C® – Automation with MOVI-C® CONTROLLER" manual
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1
Product description
MOVIDRIVE® system at a glance
Product Manual – MOVIDRIVE® system 13
MOVI-C® CONTROLLER
MOVI-C® CONTROLLER
advanced UHX45A
X80
L /A
L1
L2
L3
L4
T1
XM
S3
X85
US1
BF
L /A
L/A
X40
X41
L5
L6
L / A
X81 X30 X5
L / A
MOVI-C® CONTROLLER advanced is characterized by:
• A maximum of 8 interpolating axes that can be connected
• Another 8 auxiliary axes that can be connected
For further information on this device, refer to the following documents:
• "MOVI-C® CONTROLLER advanced UHX45A" manual (in development)
• "MOVIDRIVE® system application inverter" operating instructions
• "MOVIDRIVE® system application inverter" product manual
• "MOVI-C® – Automation with MOVI-C® CONTROLLER" manual
MOVI-C® CONTROLLER
standard UHX25A
T1
L1
L2
L3
L4
S3
L/ A
L/ A
L/ A
US1
BF
X40
X41
XM
X80
X5
X30
L/ A
L5
X85
UHX 2 5 A-N
MOVI-C® CONTROLLER standard is characterized by:
• A maximum of 2 interpolating axes that can be connected
• Another 6 auxiliary axes that can be connected
For further information on this device, refer to the following documents:
• Manual "MOVI-C® CONTROLLER standard UHX25A"
• "MOVIDRIVE® system application inverter" operating instructions
• "MOVIDRIVE® system application inverter" product manual
• "MOVI-C® – Automation with MOVI-C® CONTROLLER" manual
Accessories
Prefabricated motor and en-
coder cables
"Description and technical data:"(→2154)
Braking resistors "Description and technical data:"(→262)
TCB thermal circuit breaker "Description and technical data:"(→272)
Line filter "Description and technical data:"(→274)
Output filter "Description and technical data:"(→278)
Line choke "Description and technical data:"(→276)
Output choke "Description and technical data:"(→280)
Valid motor encoders (→288)
MOVISUITE®• MOVISUITE® standard
MOVIRUN®
• MOVIRUN® smart
• MOVIRUN® flexible
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1Product description
MOVIDRIVE® system at a glance
Product Manual – MOVIDRIVE® system
14
Accessories
MOVIKIT®
The MOVIKIT® software module allows for simple, quick and fault-free startup
of all applications. The MOVIKIT® software module supports both the
MOVIRUN® smart software platform and the MOVIRUN® flexible software
platform.
For information on the software modules, refer to the following documents:
• "MOVIKIT® MultiAxisController" manual
• "MOVIKIT® MultiMotion / MultiMotion Camming" manual
• "MOVIKIT® MultiMotion AuxilliaryAxes" manual
• "MOVIKIT® Robotics" manual
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1
Product description
Product overview MOVIDRIVE® system
Product Manual – MOVIDRIVE® system 15
1.3 MOVIDRIVE® system product overview
Product
overview
MOVIDRIVE
® system
Properties • Coverage of a wide range of power ratings with finely graded performance
classes.
• Universal use due to a wide voltage range for line connection.
• Suitable for TN/TT and IT voltage supply systems.
• The EtherCAT®/SBusPLUS system bus is available for communication.
• 4-quadrant capable due to integrated brake chopper.
• High overload capacity of 200% IN.
Device data 3 × AC400V
Nominal line voltage
In accordance with EN50160
3×380–500V
Line frequency 50–60Hz ± 10%
Nominal DC link voltage DC560V
Overload capacity 200%: 3s with PWM 4kHz
Type designation Nominal out-
put current at
PWM=4kHz
Recommen-
ded motor
power ASM
Nominal line
current
Size Technical
data
A kW A
MDX9_A-0020-5E3-4-S00/E00 2 0.55 1.9
1
(→241)
MDX9_A-0025-5E3-4-S00/E00 2.5 0.75 2.3
MDX9_A-0032-5E3-4-S00/E00 3.2 1.1 2.9
MDX9_A-0040-5E3-4-S00/E00 4 1.5 3.6
MDX9_A-0055-5E3-4-S00/E00 5.5 2.2 5
2MDX9_A-0070-5E3-4-S00/E00 7 3 6.3
MDX9_A-0950-5E3-4-S00/E00 9.5 4 8.6
MDX9_A-0125-5E3-4-S00/E00 12.5 5.5 11.3 3
MDX9_A-0160-5E3-4-S00/E00 16 7.5 14.4
MDX9_A-0240-503-4-S00/E00 24 11 22 4
MDX9_A-0320-503-4-S00/E00 32 15 29
MDX9_A-0460-503-4-S00/E00 45 22 42
5MDX9_A-0620-503-4-S00/E00 62 30 56
MDX9_A-0750-503-4-S00/E00 75 37 68
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1Product description
Product overview MOVIDRIVE® system
Product Manual – MOVIDRIVE® system
16
Type designation Nominal out-
put current at
PWM=4kHz
Recommen-
ded motor
power ASM
Nominal line
current
Size Technical
data
A kW A
MDX91A-0910-503-4-S00/E00 91 45 82
6
(→241)
MDX91A-1130-503-4-S00/E00 113 55 102
MDX91A-1490-503-4-S00/E00 149 75 135
MDX91A-1770-503-4-S00/E00 177 90 160
7
MDX91A-2200-503-4-S00/E00 220 110 198
MDX91A-2500-503-4-S00/E00 250 132 225
MDX91A-3000-503-4-S00/E00 300 160 280
MDX91A-3800-503-4-S00/E00 380 200 340
8MDX91A-4700-503-4-S00/E00 470 250 435
MDX91A-5880-503-4-S00/E00 588 315 545
Device data 3 × AC230 V
Nominal line voltage
In accordance with EN50160
3×200–240 V
Line frequency 50–60Hz ± 10%
Nominal DC link voltage DC325 V
Overload capacity 200%: 3s with PWM 4kHz
Type designation Nominal out-
put current at
PWM=4kHz
Recommen-
ded motor
power ASM
Nominal line
current
Size Technical
data
A kW A
MDX9_A-0070-2E3-4-S00/E00 7 1.5 6.4 2
(→244)
MDX9_A-0093-2E3-4-S00/E00 9.3 2.2 8.4
MDX9_A-0140-2E3-4-S00/E00 14 3.7 12.4 3
MDX9_A-0213-2E3-4-S00/E00 21.3 5.5 18.9 4
MDX9_A-0290-2E3-4-S00/E00 29 7.5 27.4
MDX9_A-0420-203-4-S00/E00 42 11 40.8 5
MDX9_A-0570-203-4-S00/E00 57 15 52
MDX91A-0840-203-4-S00/E00 84 22 76 6
MDX91A-1080-203-4-S00/E00 108 30 86
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1
Product description
Product overview accessories
Product Manual – MOVIDRIVE® system 17
1.4 Product overview accessories
The functionality and flexibility of MOVI-C® application inverters can be supplemented
by many different cards.
1.4.1 CID21A input/output card
This input/output card is used to increase the number of digital inputs and outputs of
the basic device.
• 4 digital inputs
• 4 digital outputs
1.4.2 CIO21A input/output card
This input/output card is used to increase the number of digital and analog inputs and
outputs of the basic device.
• 4 digital inputs
• 4 digital outputs
• 2 analog inputs (current/voltage)
• 2 analog outputs (current/voltage)
1.4.3 CES11A multi-encoder card
The CES11A multi-encoder card enables evaluation of an additional encoder. The ad-
ditional encoder can be used as distance encoder or as motor encoder.
The following encoders are supported:
HTL 12/24V (differential)
TTL (differential)
RS422
SIN/COS 1 VSS (differential)
HIPERFACE® with SIN/COS signals 1 VSS
SEW encoder (RS485) with SIN/COS signals 1 VSS, e.g. AS7W, AG7W
EnDat 2.1 with SIN/COS signals 1 VSS
SSI encoder with/without SIN/COS signals 1 VSS
CANopen encoder
Besides the encoders listed above, further encoders that can be used are described in
the chapter "Valid motor encoders from SEW‑EURODRIVE".
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1

1Product description
Product overview accessories
Product Manual – MOVIDRIVE® system
18
1.4.4 Safety cards CS..A
The MOVISAFE® CS..A safety cards provide further functional safety functions to
ENIEC61800-5-2 in addition to STO. The MOVISAFE® CS..A safety cards and the
CES11A multi-encoder card are intended to be used in the same card slot and thus
cannot be used simultaneously. For this reason, the CS.31A safety cards are available
with an additional multi-encoder input.
For a detailed description, refer to the manual "MOVISAFE®CS..A safety card".
MOVISAFE®
CSB21A
MOVISAFE®
CSB31A
MOVISAFE®
CSS21A
MOVISAFE®
CSS31A
Safe inputs 4 4 4 4
Safe outputs — 2 2 2
Safe stop functions STO, SS1c STO, SS1c, SBC STO, SS1c,
SBC
STO, SS1c, SBC
Safe movement functions — — SOS, SS1b,
SS2, SLS, SSR,
SLA, SSM
SOS, SS1b, SS2,
SLS, SSR, SLA,
SSM
Safe positioning functions — — SLI, SDI SLI, SDI
Safe communication PROFIsafe PROFIsafe PROFIsafe PROFIsafe
Additional multi-encoder input — yes — yes
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1
Product description
FCB concept
Product Manual – MOVIDRIVE® system 19
1.5 FCB concept
FCB = Function Control Block
The FCB concept describes the modular firmware design of MOVI-C® inverters. This
feature ensures that a wide range of drive functions can be selected or deselected
quickly and easily using control words.
All primary functions, i.e. functions that move or control the motors, are designed as
individual FCBs that only have to be selected to perform a specific task, for example
positioning.
You can switch between different FCBs any time. Switching to another FCB is per-
formed with a maximum delay of 0.5ms.
Different priorities are assigned to the FCBs. If a FCB with a higher priority than the
currently active FCB is selected, the FCB with the higher priority is activated.
The FCBs are sorted in descending order of their priority in the following list:
• FCB 01 Output stage inhibit
• FCB 14 Emergency stop
• FCB 13 Stop at application limits
• FCB 18 Rotor position identification
• FCB 25 Motor parameter measurement
• FCB 12 Reference travel
• FCB 04 Manual mode
• FCB 20 Jog mode
• FCB 19 Position hold control
• FCB 21 Brake test
• FCB 10 Interpolated position control
• FCB 09 Position control
• FCB 06 Interpolated speed control
• FCB 05 Speed control
• FCB 08 Interpolated torque control
• FCB 07 Torque control
• FCB 26 Stop at user limits
• FCB 02 Default stop
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1Product description
FCB concept
Product Manual – MOVIDRIVE® system
20
1.5.1 Description of the FCBs
FCB 01 Output stage inhibit
Activating FCB 01 stops the connected motor via the motor brake. If no brake is in-
stalled, the motor coasts to a stop.
FCB 02 Default stop
FCB 02 stops the drive with the preset profile value "Maximum deceleration". This
value is limited by the "Application limit – deceleration".
FCB 02 is active (default), when no other FCB is selected.
FCB 02 is selected by the system, not by the operator.
FCB 04 Manual mode
With the MOVISUITE® engineering software or the CBG.. keypad, manual mode can
be selected and activated via the function "manual mode". Manual mode is used for
startup or for teach mode without higher-level controller.
FCB 04 is selected by the system, not by the operator.
FCB 05 Speed control
The application inverter can be operated as speed-controlled axis.
The user can specify profile values for acceleration, deceleration, and jerk as the basic
conditions for speed control. The actual speed setpoint for the drive controller is gen-
erated in the controller cycle by a profile generator integrated in the inverter using the
specified limit values.
FCB 06 Interpolated speed control
FCB 06 is used for cyclical speed setpoint inputs from higher-level controllers.
In multi-axis applications, a controller often calculates a path profile for several drive
axes. The axis is only assigned setpoints (speed/torque and torque limits/precontrol
values/inertia) that it has to follow. The axis limits the setpoints using the application
limits. The course of the path curve profile is controlled by the controller.
The setpoint cycle of the controller usually does not correspond to the setpoint cycle of
the axis. If the axis were to "see" the same setpoint for several cycles, a step-shaped
actual value would result. To prevent this from happening, the axis interpolates inter-
mediate values. To do so, the setpoint cycle of the controller has to be known.
FCB 07 Torque control
The application inverter can be run as a torque-controlled axis.
The user can specify profile values for deceleration and jerk as the basic conditions for
torque control. The actual torque setpoint for the drive controller is generated in the
controller cycle by a profile generator integrated in the inverter using the specified limit
values.
During torque control the maximum speed is restricted by the speed limits so that the
drive cannot permanently accelerate with the preset setpoint torque while the counter-
torque is too low.
FCB 08 Interpolated torque control
FCB08 is used for cyclical torque setpoint input from a higher-level controller.
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