SEW-Eurodrive MOVIDRIVE CES11A User manual

*22747850_0316*
Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIDRIVE® Modular, MOVIDRIVE® System
CES11A Multi-Encoder Card
Edition 03/2016 22747850/EN

SEW-EURODRIVE—Driving the world

Table of contents
Manual – CES11A Multi-Encoder Card 3
Table of contents
1 General information.................................................................................................................. 5
1.1 About this documentation ...............................................................................................5
1.2 Structure of the safety notes ...........................................................................................5
1.2.1 Meaning of signal words ................................................................................ 5
1.2.2 Structure of section-related safety notes........................................................ 6
1.2.3 Structure of embedded safety notes .............................................................. 6
1.3 Rights to claim under limited warranty ............................................................................7
1.4 Exclusion of liability.........................................................................................................7
1.5 Other applicable documentation .....................................................................................7
1.6 Product names and trademarks......................................................................................7
1.7 Copyright notice ..............................................................................................................7
2 Safety notes .............................................................................................................................. 8
2.1 Safety functions ..............................................................................................................8
2.2 Lifting applications ..........................................................................................................8
3 System description .................................................................................................................. 9
3.1 Fields of application ........................................................................................................9
3.2 Supported encoder types................................................................................................9
3.3 Application examples ....................................................................................................10
3.3.1 Absolute positioning with combi encoders (HIPERFACE®, SSI, EnDat)...... 10
3.3.2 Absolute positioning with synchronous encoder .......................................... 11
3.3.3 Multi-motor operation with parameter set changeover................................. 12
3.4 Suitable encoders .........................................................................................................13
4 Assembly/Installation instructions ....................................................................................... 16
4.1 Before you start.............................................................................................................16
4.2 Installing the multi-encoder card ...................................................................................16
4.3 Installing the multi-encoder card – MOVIDRIVE® modular ..........................................16
4.4 Installing the multi-encoder card – MOVIDRIVE® system............................................19
4.5 Connection and terminal assignment............................................................................21
4.5.1 Terminal assignment of TTL, HTL, SIN/COS encoder................................. 22
4.5.2 Terminal assignment HIPERFACE® and SEW encoder (RS485) ................ 22
4.5.3 Terminal assignment EnDat encoder........................................................... 23
4.5.4 Terminal assignment SSI encoder ............................................................... 23
4.5.5 Terminal assignment SSI and SIN/COS combination encoders .................. 24
4.5.6 Terminal assignment CANopen encoder ..................................................... 24
4.6 Encoder connection ......................................................................................................25
4.6.1 General installation notes............................................................................. 25
4.6.2 Prefabricated cables for connection at X17 of the multi-encoder card......... 25
5 Project planning...................................................................................................................... 26
5.1 Absolute encoder selection...........................................................................................26
5.1.1 Multi-turn rotary encoders ............................................................................ 26
5.1.2 Laser distance measuring instruments ........................................................ 27
5.1.3 Material measure by metal rule.................................................................... 27
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Table of contents
Manual – CES11A Multi-Encoder Card
4
5.1.4 Example: Determining the number of encoder increments per motor revolution
28
5.2 Parameterization of the approved encoder...................................................................29
5.2.1 SSI encoder ................................................................................................. 29
5.2.2 CANopen encoder........................................................................................ 31
5.2.3 HIPERFACE® encoders ............................................................................... 31
6 Startup ..................................................................................................................................... 32
6.1 General startup instructions ..........................................................................................32
6.2 Startup procedure .........................................................................................................32
7 Error messages ...................................................................................................................... 33
7.1 Fault 14 Encoder 2........................................................................................................33
8 Technical data......................................................................................................................... 37
8.1 CES11A multi-encoder card .........................................................................................37
8.1.1 Voltage supply.............................................................................................. 37
8.1.2 Encoder supply ............................................................................................ 37
8.1.3 Encoder connection ..................................................................................... 37
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1
General information
About this documentation
Manual – CES11A Multi-Encoder Card 5
1 General information
1.1 About this documentation
This documentation is an integral part of the product. The documentation is intended
for all employees who perform assembly, installation, startup, and service work on the
product.
Make sure this documentation is accessible and legible. Ensure that persons respons-
ible for the machinery and its operation as well as persons who work on the device in-
dependently have read through the documentation carefully and understood it. If you
are unclear about any of the information in this documentation or require further in-
formation, contact SEW‑EURODRIVE.
1.2 Structure of the safety notes
1.2.1 Meaning of signal words
The following table shows the grading and meaning of the signal words for safety
notes.
Signal word Meaning Consequences if disregarded
DANGER Imminent hazard Severe or fatal injuries.
WARNING Possible dangerous situation Severe or fatal injuries.
CAUTION Possible dangerous situation Minor injuries
NOTICE Possible damage to property Damage to the drive system or its
environment.
INFORMATION Useful information or tip: Simplifies
handling of the drive system.
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1General information
Structure of the safety notes
Manual – CES11A Multi-Encoder Card
6
1.2.2 Structure of section-related safety notes
Section-related safety notes do not apply to a specific action but to several actions
pertaining to one subject. The hazard symbols used either indicate a general hazard
or a specific hazard.
This is the formal structure of a safety note for a specific section:
SIGNAL WORD
Type and source of hazard.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the hazard.
Meaning of the hazard symbols
The hazard symbols in the safety notes have the following meaning:
Hazard symbol Meaning
General hazard
Warning of dangerous electrical voltage
Warning of hot surfaces
Warning of risk of crushing
Warning of suspended load
Warning of automatic restart
1.2.3 Structure of embedded safety notes
Embedded safety notes are directly integrated into the instructions just before the de-
scription of the dangerous action.
This is the formal structure of an embedded safety note:
 SIGNAL WORD Type and source of hazard. Possible consequence(s) if disreg-
arded. Measure(s) to prevent the hazard.
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1
General information
Rights to claim under limited warranty
Manual – CES11A Multi-Encoder Card 7
1.3 Rights to claim under limited warranty
Read the information in this documentation. This is essential for fault-free operation
and fulfillment of any rights to claim under limited warranty. Read the documentation
before you start working with the unit!
1.4 Exclusion of liability
Read the information in this documentation, otherwise safe operation is impossible.
You must comply with the information contained in this documentation to achieve the
specified product characteristics and performance features. SEW‑EURODRIVE as-
sumes no liability for injury to persons or damage to equipment or property resulting
from non-observance of these operating instructions. In such cases,
SEW‑EURODRIVE assumes no liability for defects.
1.5 Other applicable documentation
This documentation supplements the operating instructions of the application inverters
MOVIDRIVE® modular and MOVIDRIVE® system.
This documentation may only be used in combination with the operating instructions of
the application inverters MOVIDRIVE® modular and MOVIDRIVE® system.
1.6 Product names and trademarks
The brands and product names in this documentation are trademarks or registered
trademarks of their respective titleholders.
1.7 Copyright notice
©2016SEW‑EURODRIVE. All rights reserved. Unauthorized reproduction, modifica-
tion, distribution or any other use of the whole or any part of this documentation is
strictly prohibited.
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2Safety notes
Safety functions
Manual – CES11A Multi-Encoder Card
8
2 Safety notes
2.1 Safety functions
The MOVIDRIVE® modular and MOVIDRIVE® system drive inverters may not perform
safety functions without higher-level safety systems. Use higher-level safety systems
to ensure protection of equipment and personnel.
2.2 Lifting applications
Do not use MOVIDRIVE® modular and MOVIDRIVE® system drive inverters for any
safety functions in conjunction with lifting applications.
Use monitoring systems or mechanical protection devices as safety equipment to
avoid possible damage to property or injury to people.
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3
System description
Fields of application
Manual – CES11A Multi-Encoder Card 9
3 System description
3.1 Fields of application
The CES11A multi-encoder card expands the MOVIDRIVE® modular and
MOVIDRIVE® system application inverters by an additional encoder connection.
This offers the following possibilities:
• The encoder can be used as distance encoder or as motor encoder.
• When an absolute encoder is used, no reference travel is required at startup or in
case of a power failure.
• Positioning is either performed directly with the external encoder or with the motor
encoder.
• When an external encoder is used (even without motor encoder feedback), no po-
sitioning switches are required at the travel path.
• Free processing of the absolute position in a higher-level controller.
• The external encoder can be mounted either on the motor or along the track.
• Simple encoder integration with user-guided startup.
• Multi-motor operation for 2 motors that are not operational at the same time.
3.2 Supported encoder types
The following encoder types can be evaluated by the CES11A multi-encoder card:
HTL 12/24V (differential)
TTL/RS422 (differential)
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
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3System description
Application examples
Manual – CES11A Multi-Encoder Card
10
3.3 Application examples
3.3.1 Absolute positioning with combi encoders (HIPERFACE®, SSI, EnDat)
Apart from an incremental signal (SIN/COS, TTL, HTL) for speed control, combi en-
coders also have a signal for the absolute position. This absolute position is usually
transmitted via a serial interface. There are combi encoders with different transmission
protocols such as HIPERFACE®, SSI or EnDat.
17071096715
This system is ideal for applications with rigid coupling to measure distances. The ma-
jor advantage is that no additional encoder is required for the track.
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3
System description
Application examples
Manual – CES11A Multi-Encoder Card 11
3.3.2 Absolute positioning with synchronous encoder
With systems subject to slip, it is not possible to detect the position via the motor en-
coder. This is why an additional measuring system is required for the track. Measuring
systems can be laser distance encoders, barcode encoders, draw-wire encoders or
length scales. One advantage of measuring the length directly at the track can for ex-
ample be that temperature-related length changes are also detected.
RUN ERR
X15 X21 X20 X31
S1
S2
+UZ
-UZ
X4
+UZ-UZ
[2]
[1]
17071100043
[1] Motor encoder on X15 of the basic unit
[2] Distance encoder on X17 of the CES11A multi-encoder card
Ideally, for asynchronous motors a SIN/COS encoder is used as motor encoder in this
case. For synchronous motors, you should use a resolver. The motor encoder is con-
nected to the X15 of the basic unit. The distance encoder is connected to the X17 of
the CES11A multi-encoder card.
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3System description
Application examples
Manual – CES11A Multi-Encoder Card
12
3.3.3 Multi-motor operation with parameter set changeover
[1]
[2]
RUN ERR
X15 X21 X20 X31
S1
S2
+UZ
-UZ
X4
+UZ-UZ
17426208395
[1] Motor encoder 1 on X15 of the basic unit
[2] Motor encoder 2 on X17 of the CES11A multi-encoder card
When an additional CES11A multi-encoder card is plugged in the axis module, 2 mo-
tor encoders can be connected to an MDA single-axis module.
The encoder assignment is performed via the MOVISUITE® engineering software.
Depending on the activated parameter set, power must be connected to the individual
motor via power contactors.
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3
System description
Suitable encoders
Manual – CES11A Multi-Encoder Card 13
3.4 Suitable encoders
Manufacturer Designation Interface Encoder type
Balluff BTL5-S112 SSI Linear
Balluff BTL5-S112B SSI Linear
Dimetix FLS-C 10 SSI Linear
Elgo LIMAX2 SSI Linear
Heidenhain ECN113 EnDat2.1 Rotational
Heidenhain ECN1313 EnDat2.1 Rotational
Heidenhain EQN1125 EnDat2.1 Rotational
Heidenhain EQN1325 EnDat2.1 Rotational
Heidenhain EQN425 EnDat2.1 Rotational
Heidenhain ROQ425 ATEX EnDat EnDat2.1 Rotational
Heidenhain ROQ425 EnDat EnDat2.1 Rotational
Heidenhain ROQ424 SSI combi encoder Rotational
Heidenhain ROQ425 ATEX SSI combi encoder Rotational
Hübner HMG161 S24 H2048 SSI Rotational
Hübner AMG73 S24 S2048 SSI combi encoder Rotational
Hübner AMG83 S24 S2048 SSI combi encoder Rotational
IVO GM 401 SSI Rotational
Kuebler Kueb 9081xxxx2003 SSI Rotational
Kuebler Kueb 9081xxxx2004 SSI Rotational
Leuze AMS 200-xxx-11-x SSI Linear
Leuze AMS 304i-xxx (H) SSI Linear
Leuze BPS 37 SSI Linear
Leuze OMS1 0.1 mm SSI Linear
Leuze OMS1 1 mm SSI Linear
Leuze OMS2 0.1 mm SSI Linear
MTS Sensors RD4 0,005 mm SSI Linear
MTS Sensors RF 0,005 mm SSI Linear
MTS Sensors RH 0,005 mm SSI Linear
MTS Sensors RP 0,005 mm SSI Linear
Pepperl+Fuchs WCS3B LS410 CANopen Linear
Pepperl+Fuchs PCV80S-F200-SSI 0.1 mm SSI Linear
Pepperl+Fuchs PCV80S-F200-SSI 1 mm SSI Linear
Pepperl+Fuchs VDM100-150 0.1 mm SSI Linear
Pepperl+Fuchs VDM100-150 1 mm SSI Linear
Pepperl+Fuchs WCS2(A)-LS311 SSI Linear
Pepperl+Fuchs WCS3(A)-LS311 SSI Linear
Pepperl+Fuchs WCS3B-LS311 SSI Linear
Pepperl+Fuchs AVM58X-1212 SSI combi encoder Rotational
SEW‑EURODRIVE AF1H HIPERFACE Rotational
SEW‑EURODRIVE AG7W RS485 Rotational
SEW‑EURODRIVE AG7Y SSI combi encoder Rotational
SEW‑EURODRIVE AK0H HIPERFACE Rotational
SEW‑EURODRIVE AL1H HIPERFACE Linear
SEW‑EURODRIVE AS1H HIPERFACE Rotational
SEW‑EURODRIVE AS3H HIPERFACE Rotational
SEW‑EURODRIVE AS4H HIPERFACE Rotational
SEW‑EURODRIVE AS7H HIPERFACE Rotational
SEW‑EURODRIVE AK1H HIPERFACE Rotational
SEW‑EURODRIVE AV1H HIPERFACE Rotational
SEW‑EURODRIVE AV6H HIPERFACE Rotational
SEW‑EURODRIVE AS7W RS485 Rotational
SEW‑EURODRIVE EF1H HIPERFACE Rotational
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3System description
Suitable encoders
Manual – CES11A Multi-Encoder Card
14
Manufacturer Designation Interface Encoder type
SEW‑EURODRIVE EK0H HIPERFACE Rotational
SEW‑EURODRIVE EK1H HIPERFACE Rotational
SEW‑EURODRIVE ES1H HIPERFACE Rotational
SEW‑EURODRIVE ES2H HIPERFACE Rotational
SEW‑EURODRIVE ES3H HIPERFACE Rotational
SEW‑EURODRIVE ES4H HIPERFACE Rotational
SEW‑EURODRIVE ES7H HIPERFACE Rotational
SEW‑EURODRIVE EV1H HIPERFACE Rotational
SEW‑EURODRIVE AS7Y SSI combi encoder Rotational
SEW‑EURODRIVE EH1S SIN/COS Rotational
SEW‑EURODRIVE EH7S SIN/COS Rotational
SEW‑EURODRIVE ES1S SIN/COS Rotational
SEW‑EURODRIVE ES2S SIN/COS Rotational
SEW‑EURODRIVE AV7W RS485 Rotational
SEW‑EURODRIVE EV1S SIN/COS Rotational
SEW‑EURODRIVE EV2S SIN/COS Rotational
SEW‑EURODRIVE EV7S SIN/COS Rotational
SEW‑EURODRIVE AH7Y SSI Rotational
SEW‑EURODRIVE AV7Y SSI combi encoder Rotational
SEW‑EURODRIVE EG7S SIN/COS Rotational
SEW‑EURODRIVE AV1Y SSI combi encoder Rotational
SEW‑EURODRIVE AV2Y SSI combi encoder Rotational
SEW‑EURODRIVE ES7S SIN/COS Rotational
SEW‑EURODRIVE EG7C HTL Rotational
SEW‑EURODRIVE EG7R TTL Rotational
SEW‑EURODRIVE EG7T TTL Rotational
SEW‑EURODRIVE EH1C HTL Rotational
SEW‑EURODRIVE EH1R TTL Rotational
SEW‑EURODRIVE EH1T TTL Rotational
SEW‑EURODRIVE EH7C HTL Rotational
SEW‑EURODRIVE EH7R TTL Rotational
SEW‑EURODRIVE EH7T TTL Rotational
SEW‑EURODRIVE EI71 HTL Rotational
SEW‑EURODRIVE EI72 HTL Rotational
SEW‑EURODRIVE EI76 HTL Rotational
SEW‑EURODRIVE EI7C HTL Rotational
SEW‑EURODRIVE EI7C-FS HTL Rotational
SEW‑EURODRIVE ES1C HTL Rotational
SEW‑EURODRIVE ES1R TTL Rotational
SEW‑EURODRIVE ES1T TTL Rotational
SEW‑EURODRIVE ES2C HTL Rotational
SEW‑EURODRIVE ES2R TTL Rotational
SEW‑EURODRIVE ES2T TTL Rotational
SEW‑EURODRIVE ES7C HTL Rotational
SEW‑EURODRIVE ES7R TTL Rotational
SEW‑EURODRIVE EV1C HTL Rotational
SEW‑EURODRIVE EV1R TTL Rotational
SEW‑EURODRIVE EV1T TTL Rotational
SEW‑EURODRIVE EV2C HTL Rotational
SEW‑EURODRIVE EV2R TTL Rotational
SEW‑EURODRIVE EV2T TTL Rotational
SEW‑EURODRIVE EV7C HTL Rotational
SEW‑EURODRIVE EV7R TTL Rotational
SIKO MSA1000 SSI Linear
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3
System description
Suitable encoders
Manual – CES11A Multi-Encoder Card 15
Manufacturer Designation Interface Encoder type
Sick DME4000-xx9 0.1 mm CANopen Linear
Sick DME4000-xx9 1 mm CANopen Linear
Sick DME4000-xx7 / DME5000-xx7 HIPERFACE Linear
Sick AFM60B SSI Rotational
Sick AFM60E SSI Rotational
Sick DME3000-111 SSI Linear
Sick DME5000-1x1 0.1 mm SSI Linear
Sick DME5000-1x1 1 mm SSI Linear
Sick OLM100-1001 0.1 mm SSI Linear
Sick/Stegmann LinCoder L 230 HIPERFACE Linear
Sick/Stegmann SKM 36 HIPERFACE Rotational
Sick/Stegmann SKS 36 HIPERFACE Rotational
Sick/Stegmann SRM 50 HIPERFACE Rotational
Sick/Stegmann SRM 60 HIPERFACE Rotational
Sick/Stegmann SRM 64 HIPERFACE Rotational
Sick/Stegmann SRS 50 HIPERFACE Rotational
Sick/Stegmann SRS 60 HIPERFACE Rotational
Sick/Stegmann SRS 64 HIPERFACE Rotational
Sick/Stegmann AL2H (TTK70) (only after con-
sultation with
SEW‑EURODRIVE)
HIPERFACE Linear
Stegmann AG 100 MSSI SSI Rotational
Stegmann AG 626 SSI Rotational
Stegmann ARS60 SSI Rotational
Stegmann ATM60 SSI Rotational
Stegmann ATM90 SSI Rotational
Stegmann POMUX KH53 SSI Linear
TR Electronic CE 58M CANopen CANopen Rotational
TR Electronic LE200 CAN 0.1 mm CANopen Linear
TR Electronic LE200 CAN 1 mm CANopen Linear
TR Electronic CE 58M SSI Rotational
TR Electronic CE 65M SSI Rotational
TR Electronic LA41K SSI Linear
TR Electronic LE100 0.1 mm SSI Linear
TR Electronic LE100 1 mm SSI Linear
TR Electronic LE200 0.1 mm SSI Linear
Vahle APOS SSI Linear
Visolux EDM SSI Linear
Balluff BML-S1G0 SSI Linear
Sick DL100 SSI Linear
Sick DL100Hi SSI Linear
Sick DL50Hi SSI Linear
Sick OLM100-1201 0.1 mm SSI Linear
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4Assembly/Installation instructions
Before you start
Manual – CES11A Multi-Encoder Card
16
4 Assembly/Installation instructions
4.1 Before you start
Observe the following notes before installing or removing the CES11A multi-en-
coder card:
• Disconnect the inverter from the power. Disconnect the DC24V supply and the
supply system voltage.
• Take appropriate measures to protect the option card from electrostatic charge
(use discharge strap, conductive shoes, etc.) before touching it.
•Before installing the option card, remove the keypad and the front cover.
•After installing the option card, replace the front cover and the keypad.
• Keep the option card in its original packaging until immediately before you are
ready to install it.
• Hold the option card by its edges only. Do not touch any of the components.
4.2 Installing the multi-encoder card
The multi-encoder card may be installed in the following inverters:
Inverters Multi-encoder card CES11A
MOVIDRIVE® modular – Single-axis module Yes
MOVIDRIVE® modular – Double-axis module No
MOVIDRIVE® system Yes
4.3 Installing the multi-encoder card – MOVIDRIVE® modular
Installing
the multi-
encoder
card –
MOVIDRIVE
® modular
Observe the notes in chapter "Electrical Installation" in the inverter operating instruc-
tions.
INFORMATION
Requirements for installation.
Multi-encoder cards can only be installed in axis modules suitable for option cards.
1. Disconnect the application inverter from the power supply. Disconnect the DC 24V
supply and the line voltage.
2. Ensure electrostatic discharge with suitable measures before starting the work.
Suitable measures for equipotential bonding are e.g. the use of a discharge strap
or wearing conductive shoes.
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4
Assembly/Installation instructions
Installing the multi-encoder card – MOVIDRIVE® modular
Manual – CES11A Multi-Encoder Card 17
3. Remove the cover [1] from the front of the application inverter.
1.
2.
[1]
5
4
3
2
1
5
4
3
2
1
18014412495194507
4. Remove the plastic cover [1] at the card slot.
[1]
18014412495192075
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4Assembly/Installation instructions
Installing the multi-encoder card – MOVIDRIVE® modular
Manual – CES11A Multi-Encoder Card
18
INFORMATION
Hold the multi-encoder card by its edges only.
5. Take the multi-encoder card [1] and insert it in the slot with slight pressure.
[1]
18014412495196939
6. Screw in the card with the specified tightening torque.
18014412495199371
7. Install the cover at the front of the application inverter.
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4
Assembly/Installation instructions
Installing the multi-encoder card – MOVIDRIVE® system
Manual – CES11A Multi-Encoder Card 19
4.4 Installing the multi-encoder card – MOVIDRIVE® system
Installing
the multi-
encoder
card –
MOVIDRIVE
® system
Observe the notes in chapter "Electrical Installation" in the inverter operating instruc-
tions.
1. Disconnect the application inverter from the power supply. Disconnect the DC 24V
supply and the line voltage.
2. Ensure electrostatic discharge with suitable measures before starting the work.
Suitable measures for equipotential bonding are e.g. the use of a discharge strap
or wearing conductive shoes.
3. Remove the cover [1] from the front of the application inverter.
1.
2.
[1]
5
4
3
2
1
14299394571
4. Remove the plastic cover [1] of the card slot using a screwdriver.
[1]
15160620811
INFORMATION
Hold the multi-encoder card by its edges only.
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4Assembly/Installation instructions
Installing the multi-encoder card – MOVIDRIVE® system
Manual – CES11A Multi-Encoder Card
20
5. Take the multi-encoder card [1] and insert it in the slot with slight pressure.
[1]
15160623243
6. Screw in the card with the specified tightening torque.
15160625675
22747850/EN – 03/2016