SEW-Eurodrive MOVIPRO Ethernet/IP User manual

*16998413_1216*
Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus
Interface
Edition 12/2016 16998413/EN

SEW-EURODRIVE—Driving the world

Table of contents
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface 3
Table of contents
1 General information.................................................................................................................. 8
1.1 About this documentation ...............................................................................................8
1.2 Structure of the safety notes ...........................................................................................8
1.2.1 Meaning of signal words ................................................................................ 8
1.2.2 Structure of section-related safety notes........................................................ 8
1.2.3 Structure of embedded safety notes .............................................................. 9
1.3 Rights to claim under limited warranty ..........................................................................10
1.4 Exclusion of liability.......................................................................................................10
1.5 Other applicable documentation ...................................................................................10
1.6 Additional information ...................................................................................................10
1.7 Product names and trademarks....................................................................................10
1.8 Copyright notice ............................................................................................................10
2 Safety notes ............................................................................................................................ 11
2.1 Preliminary information .................................................................................................11
2.2 Target group .................................................................................................................11
2.3 Bus systems..................................................................................................................11
2.4 Functional safety technology ........................................................................................12
2.5 Hoist applications..........................................................................................................12
3 Introduction............................................................................................................................. 13
3.1 Content of this documentation ......................................................................................13
3.2 Short designation in the documentation........................................................................13
3.3 Function overview of MOVIPRO® SDC and MOVIPRO® ADC.....................................13
3.4 Application modules......................................................................................................15
3.4.1 Advantages of application modules ............................................................. 15
3.4.2 Scope of delivery and documentation .......................................................... 15
3.4.3 Engineering with MOVITOOLS® MotionStudio............................................. 16
3.5 Application modules for MOVIPRO® SDC ...................................................................17
3.6 Application modules for MOVIPRO® ADC ...................................................................17
3.6.1 MOVIPRO® ADC as parameterizable device (CCU) .................................... 17
3.6.2 MOVIPRO® ADC as programmable device (MOVI‑PLC®) ........................... 20
3.7 Application modules of the power section "PFA-..."......................................................20
3.7.1 "Bus positioning" IPOSPLUS® application module........................................... 21
3.7.2 "Extended positioning via bus" IPOSPLUS® application module ..................... 22
3.7.3 "Modulo positioning" IPOSPLUS® application module ..................................... 23
3.7.4 "Automotive AMA0801" IPOSPLUS® application module ................................ 24
4 Startup ..................................................................................................................................... 25
4.1 Startup procedure .........................................................................................................25
5 Installation notes .................................................................................................................... 26
5.1 Industrial Ethernet networks .........................................................................................26
5.1.1 TCP/IP addressing and subnetworks........................................................... 26
5.1.2 Shielding and routing bus cables ................................................................. 28
5.2 Setting the IP address parameter on the device...........................................................29
5.2.1 Initial startup................................................................................................. 29
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5.2.2 Changing the IP address parameters after successful initial startup ........... 29
5.2.3 Deactivating/activating the DHCP ................................................................ 30
5.2.4 Address Editor from SEW‑EURODRIVE...................................................... 30
5.3 Connection to the Ethernet network..............................................................................31
5.3.1 The integrated Ethernet switch .................................................................... 31
5.3.2 Device connection–Ethernet network......................................................... 31
6 Configuration and startup of EtherNet/IP™ ......................................................................... 39
6.1 Device description file for EtherNet/IP™ (EDS file) ......................................................39
6.2 Configuration of the EtherNet/IP™ master ...................................................................39
6.2.1 Configuration with RSLogix 5000 up to version V19.................................... 40
6.2.2 Configuration with RSLogix 5000 as of version V20 .................................... 43
6.3 Device Level Ring topology ..........................................................................................46
6.3.1 Description ................................................................................................... 46
6.3.2 Ring fault detection ...................................................................................... 46
6.3.3 Rectifying ring faults..................................................................................... 46
6.3.4 Hardware and software configuration .......................................................... 47
6.4 Requirements for fieldbus operation .............................................................................47
6.5 Project planning examples............................................................................................48
6.5.1 MOVIPRO® as positioning drive – configuring process data exchange ....... 48
6.5.2 MOVIPRO® as speed-controlled drive–configuring process data exchange....
50
6.5.3 Access to device parameters with RSLogix 5000 ........................................ 52
7 Ethernet Industrial Protocol (EtherNet/IP™)........................................................................ 71
7.1 Description ....................................................................................................................71
7.2 Process data exchange ................................................................................................71
7.3 Timeout response .........................................................................................................72
7.4 CIP object directory.......................................................................................................72
7.4.1 Identity object ............................................................................................... 73
7.4.2 Message router object.................................................................................. 74
7.4.3 Assembly object ........................................................................................... 75
7.4.4 Register object ............................................................................................. 76
7.4.5 Parameter object.......................................................................................... 79
7.4.6 Vardata object .............................................................................................. 82
7.4.7 TCP/IP interface object ................................................................................ 83
7.4.8 EtherNet link object ...................................................................................... 84
7.5 Return codes for parameterization via "explicit messages" ..........................................85
7.5.1 General error codes ..................................................................................... 87
7.5.2 MOVILINK®-specific return codes ................................................................ 88
7.5.3 Timeout response of "explicit messages" .................................................... 89
7.6 Technical data of the EtherNet/IP™ interface...............................................................89
8 Configuration and startup of Modbus/TCP .......................................................................... 90
8.1 Device description file for Modbus/TCP........................................................................90
8.2 Configuration of the Modbus/TCP master.....................................................................90
8.2.1 Configuring hardware (control structure)...................................................... 91
8.2.2 Setting Ethernet component......................................................................... 92
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8.2.3 Addressing drive via the "IOScanning" function.......................................... 93
8.3 Requirements for fieldbus operation .............................................................................94
8.4 Project planning examples............................................................................................94
8.4.1 Configuring process data exchange............................................................. 94
8.4.2 Data exchange via Modbus/TCP ................................................................. 95
9 Modbus protocol (Modbus/TCP) ......................................................................................... 101
9.1 Description ..................................................................................................................101
9.1.1 Mapping and addressing............................................................................ 101
9.1.2 Services (function codes)........................................................................... 102
9.1.3 Accessing services..................................................................................... 102
9.2 Protocol structure........................................................................................................103
9.2.1 Header ....................................................................................................... 103
9.2.2 Service FC3 – Read holding registers ....................................................... 104
9.2.3 Service FC16 – Write multiple registers..................................................... 105
9.2.4 Service FC23 – Read/write multiple registers ............................................ 106
9.2.5 Service FC43 – Read device identifications............................................... 107
9.3 Connection management............................................................................................108
9.3.1 Sending process output data (request controlling connection) .................. 108
9.3.2 Closing a connection.................................................................................. 109
9.3.3 Timeout response ...................................................................................... 109
9.4 Parameter access via Modbus/TCP ...........................................................................110
9.4.1 Procedure with FC16 and FC03................................................................. 110
9.4.2 Procedure with FC23 ................................................................................. 110
9.4.3 Protocol structure ....................................................................................... 111
9.4.4 MOVILINK® parameter channel.................................................................. 111
9.5 Fault codes (exception codes) ....................................................................................113
9.6 Technical data, Modbus/TCP interface.......................................................................114
10 Error diagnostics for operation on EtherNet/IP™ and Modbus/TCP............................... 115
10.1 Checking the status LEDs of the device .....................................................................115
10.2 Checking the status LED and the status display at the fieldbus master .....................116
10.3 Checking the fault sources..........................................................................................116
10.4 Fieldbus timeout..........................................................................................................117
11 Process data description..................................................................................................... 118
11.1 General process sequence .........................................................................................118
11.2 Process sequence MOVIPRO® SDC .........................................................................118
11.2.1 MOVIPRO® SDC control word.................................................................... 119
11.2.2 MOVIPRO® SDC status word..................................................................... 119
11.2.3 Digital inputs and outputs........................................................................... 120
11.2.4 Example: Delivery status............................................................................ 121
11.2.5 MOVIPRO® SDC drive functions................................................................ 121
11.3 MOVIPRO® ADC process sequence..........................................................................122
11.3.1 MOVIPRO® ADC control word.................................................................... 123
11.3.2 MOVIPRO® ADC status word..................................................................... 123
11.3.3 Data backup via PLC process data specification ....................................... 125
11.3.4 Digital inputs and outputs........................................................................... 125
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11.3.5 Example: Delivery status............................................................................ 126
11.3.6 MOVIPRO® ADC CCU Application modules .............................................. 127
11.4 Process image of MOVIPRO® ADC with R15regenerative power supply.................131
11.4.1 Regenerative power supply control word ................................................... 131
11.4.2 Regenerative power supply status word .................................................... 131
11.4.3 Configuring regenerative power supply...................................................... 132
11.5 Process image of drive functions of the power section "PFA-..." ................................133
11.5.1 Speed-controlled drive ............................................................................... 133
11.5.2 "Bus positioning" IPOSPLUS® application module......................................... 136
11.5.3 "Extended positioning via bus" IPOSPLUS® application module ................... 137
11.5.4 "Modulo positioning" IPOSPLUS® application module ................................... 137
11.5.5 "Automotive AMA0801" IPOSPLUS® application module .............................. 138
12 Operation with the MOVITOOLS® MotionStudio engineering software........................... 139
12.1 About MOVITOOLS® MotionStudio............................................................................139
12.1.1 Tasks.......................................................................................................... 139
12.1.2 Communication channels........................................................................... 139
12.1.3 Functions.................................................................................................... 139
12.2 First steps ...................................................................................................................140
12.2.1 Starting the software and creating a project............................................... 140
12.2.2 Establishing communication and scanning the network............................. 140
12.2.3 Connection mode ....................................................................................... 141
12.2.4 Configuring devices.................................................................................... 143
12.3 Communication via Ethernet.......................................................................................144
12.3.1 Connecting the device with the PC via Ethernet ........................................ 144
12.3.2 Establishing communication with the Address Editor................................. 145
12.3.3 Configuring the communication channel via Ethernet................................ 148
12.4 Executing functions with the units...............................................................................152
12.4.1 Reading or changing unit parameters ........................................................ 152
12.4.2 Starting up units (online) ............................................................................ 153
13 Parameter setting ................................................................................................................. 154
13.1 PC/laptop connection..................................................................................................154
13.2 Configuring device–checklist ....................................................................................155
13.3 Parameterizing the power section "PFA-..."................................................................156
13.3.1 Encoder startup.......................................................................................... 156
13.3.2 Startup the motor ....................................................................................... 169
13.3.3 Startup IPOSPLUS® application modules ...................................................... 173
13.4 Parameterizing the communication and control unit "PFH-..." ....................................174
13.4.1 Factory installed gateway program ............................................................ 174
13.4.2 MOVIPRO® ADC as parameterizable device (CCU) .................................. 174
13.4.3 MOVIPRO® ADC as programmable device (MOVI‑PLC®) ......................... 181
13.5 Storing device data .....................................................................................................183
13.6 "PFA-..." power section parameter overview ..............................................................185
13.7 Parameter descriptions ...............................................................................................191
13.7.1 Parameter group 0: Display values ............................................................ 191
13.7.2 Parameter group 1: Setpoints / ramp generators....................................... 196
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13.7.3 Parameter group 2: Controller parameters ................................................ 199
13.7.4 Parameter group 3: Motor parameters....................................................... 202
13.7.5 Parameter group 5: Monitoring functions ................................................... 209
13.7.6 Parameter group 6: Terminal assignment.................................................. 215
13.7.7 Parameter group 7: Control functions ........................................................ 216
13.7.8 Parameter group 8: Device functions......................................................... 222
13.7.9 Parameter group 9: IPOS parameters ....................................................... 231
13.8 Parameter overview of encoder option .......................................................................241
14 Service................................................................................................................................... 243
14.1 Device replacement ....................................................................................................243
14.1.1 Prerequisites for successful device replacement ....................................... 243
14.1.2 Replacing the device.................................................................................. 243
14.1.3 SD memory card as spare part .................................................................. 245
14.2 Reference travel after device or encoder replacement ...............................................246
14.2.1 Incremental encoder .................................................................................. 246
14.2.2 Absolute encoder ....................................................................................... 246
14.2.3 Linear encoder systems ............................................................................. 246
14.2.4 HIPERFACE® encoders ............................................................................. 246
14.3 Service unit .................................................................................................................246
14.3.1 Ethernet service interface .......................................................................... 247
14.4 List of power section errors.........................................................................................248
Index ...................................................................................................................................... 268
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1General information
About this documentation
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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1 General information
1.1 About this documentation
This documentation is an integral part of the product. The documentation is written for
all employees who assemble, install, start up, and service this 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 product
independently 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 product or its envir-
onment
INFORMATION Useful information or tip: Simplifies
handling of the product.
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.
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1
General information
Structure of the safety notes
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface 9
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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1General information
Rights to claim under limited warranty
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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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 product.
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 document supplements the operating instructions and limits the application notes
according to the following information. Use this document only together with the oper-
ating instructions.
1.6 Additional information
For additional information, refer to the following documentation:
• "MOVIPRO® SDC Decentralized Drive and Position Controller" operating instruc-
tions
• "MOVIPRO® ADC Decentralized Drive and Application Controller" operating in-
structions
• "MOVITOOLS® MotionStudio" manual/online help
• "Application Configurator for CCU" manual
• "MOVI‑PLC® Programming in the PLC Editor" system manual
• Manuals for application modules
1.7 Product names and trademarks
The brands and product names in this documentation are trademarks or registered
trademarks of their respective titleholders.
1.8 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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2
Safety notes
Preliminary information
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface 11
2 Safety notes
2.1 Preliminary information
The following general safety notes have the purpose to avoid injury and damage to
property. They primarily apply to the use of products described in this documentation.
If you use additional components also observe the relevant warning and safety notes.
2.2 Target group
Specialist for
mechanical work
Any mechanical work may only be performed by adequately qualified personnel. Qual-
ified personnel in the context of this documentation are persons familiar with the
design, mechanical installation, troubleshooting and maintenance of the product, who
possess the following qualifications:
• Qualification in the field of mechanics according to applicable national regulation.
• They are familiar with this documentation
Specialist for elec-
trotechnical work
Any electronic work may only be performed by adequately skilled persons (electric-
ally). Qualified electricians in the context of this documentation are persons familiar
with electrical installation, startup, troubleshooting and servicing of the product who
possess the following qualifications:
• Qualification in the field of electrical engineering according to applicable national
regulation.
• They are familiar with this documentation
In addition to that, these persons must be familiar with the valid safety regulations and
laws, as well as with the requirements of the standards, directives and laws specified
in this documentation. The above mentioned persons must have the authorization ex-
pressly issued by the company to operate, program, configure, label and ground
devices, systems and circuits in accordance with the standards of safety technology.
Instructed persons All work in the areas of transportation, storage, operation and waste disposal must be
carried out by persons who are trained appropriately. The purpose of the instruction is
that the persons are capable of performing the required tasks and work steps in a safe
and correct manner.
2.3 Bus systems
A bus system makes it possible to adapt electronic drive components to the particulars
of the machinery within wide limits. There is a risk that a change of parameters that
cannot be detected externally may result in unexpected (but not uncontrolled) system
behavior and may have a negative impact on operational safety, system availability, or
data security.
Especially in Ethernet-based networked systems and with engineering interfaces,
make sure that unauthorized access is prevented.
Use IT-specific safety standards to increase access protection to the ports. For a port
overview, refer to the respective technical data of the used device.
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2Safety notes
Functional safety technology
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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2.4 Functional safety technology
The product must not perform any safety functions without a higher-level safety sys-
tem, unless explicitly allowed by the documentation.
2.5 Hoist applications
To avoid danger of fatal injury by falling hoists, observe the following points when us-
ing the product in lifting applications:
• Use mechanical protection devices.
• Perform a hoist startup.
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3
Introduction
Content of this documentation
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface 13
3 Introduction
3.1 Content of this documentation
This documentation describes the operation of the following units on the fieldbus sys-
tem EtherNet/IP™ or Modbus/TCP: MOVIPRO® SDC and MOVIPRO® ADC.
3.2 Short designation in the documentation
The following short designations are used in this documentation.
Type designation Short designation
MOVIPRO® SDC and MOVIPRO® ADC MOVIPRO®
Higher-level controller PLC
3.3 Function overview of MOVIPRO® SDC and MOVIPRO® ADC
Function
overview of
MOVIPRO®
SDC and
MOVIPRO®
ADC
• The MOVIPRO® SDC standard inverter with positioning control is equipped with
various basic functions for simple applications.
MOVIPRO® SDC enables speed control and precise positioning via simple, free
parameterization without programming and via standardized single-axis modules.
• The MOVIPRO® ADC application inverter includes these basic functions, but addi-
tionally offers even more specialized functions for more complex applications.
Depending on the SD card type that is used, MOVIPRO® ADC can be used as a:
– Parameterizable device (CCU)
– Programmable device (MOVI‑PLC®)
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3Introduction
Function overview of MOVIPRO® SDC and MOVIPRO® ADC
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
14
The following figure shows an overview of the functions and options of
MOVIPRO® SDC and MOVIPRO® ADC:
MOVIPRO®ADC
Common fieldbus types Parameterizable
Power ratings from
2.2 – 22 kW
Safety functions
such as STO and SS1
Brake control Motor and distance encoders
Digital inputs and outputs Suitable for asynchronous
motors and synchronous
servomotors
Parameterizable and freely programmable
via integrated MOVI-PLC®
Extended safety functions such as
e.g. SBC (Safe Brake Control)
▪SBus PLUS
▪CAN (internal/external)
▪Ethernet service
▪MOVISAFE®safety bus
▪RS485
Additional
communication interfaces:
Energy-efficient due to
optional connection of
energy management components
MOVIPRO®SDC
Functions
18014403449747467
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3
Introduction
Application modules
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface 15
3.4 Application modules
In industry applications, an inverter must not only perform speed control but also con-
trol complex motion sequences and take over typical tasks of the Programmable Logic
Controller (PLC).
SEW‑EURODRIVE offers various standardized control programs, so-called application
modules, for "positioning" applications.
The application module has a user-friendly user interface to assist with parameteriza-
tion. The user merely has to specify the parameters required for the application. The
application module uses this information to create the control program, then loads it
onto the inverter.
The device takes over the entire motion control. This means the application module
takes load off the PLC.
3.4.1 Advantages of application modules
Application modules offer you the following advantages:
• A wide range of functions
• User-friendly user interface
• Only required parameters must be entered
• Guided parameter setting instead of complicated programming
• No programming experience required
• Quick training, therefore quick project planning and startup
• The entire motion control directly in the device
3.4.2 Scope of delivery and documentation
The application modules are part of the software package
MOVITOOLS® MotionStudio. They can be used with the following devices: MOVIPRO®
Information on how to operate the application modules is contained in separate manu-
als. They can be downloaded in PDF format from the SEW‑EURODRIVE website →
www.sew‑eurodrive.com.
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3Introduction
Application modules
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
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3.4.3 Engineering with MOVITOOLS® MotionStudio
Consistent engineering is possible with the MOVITOOLS® MotionStudio software
package from SEW‑EURODRIVE. This software offers all the tools necessary for
automation and startup of drives:
Plugin
Startup
MOVITOOLS®
MotionStudio
IEC Editor
(CODESYS-compatible)
Scope
Plugin
Gateway configurator Plugin
Parameter tree
Plugin
Data management
Plugin
Application builder
C
onf
i
gu
ra
tion
Start
u
p
Data
bac
kup
Dia
g
nos
tics
Programm
i
ng
Par
ameteri
za
tion
V
i
sua
liz
ation
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3
Introduction
Application modules for MOVIPRO® SDC
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface 17
3.5 Application modules for MOVIPRO® SDC
Application
modules
for
MOVIPRO®
SDC
In MOVIPRO® SDC, the drive data of the power section "PFA-..." are transparently
passed through. You only have to parameterize the desired application module of the
power section to match your requirements.
For further information, refer to chapter "Application modules of the power section
"PFA-...""(→220).
3.6 Application modules for MOVIPRO® ADC
Application
modules
for
MOVIPRO®
ADC
3.6.1 MOVIPRO® ADC as parameterizable device (CCU)
MOVIPRO® ADC includes the Configurable Control Unit (CCU) with standardized and
directly executable application modules you simply need to parameterize. You can ad-
just the functionality of the individual CCU application modules to the specific applica-
tion quickly and without programming knowledge. An integrated diagnostic function
helps to speed up and facilitate startup.
You can parameterize MOVIPRO® ADC with the Application Configurator controller
software. The Application Configurator is part of the
MOVITOOLS® MotionStudioengineering software.
ApplicationConfigurator controller software
You can use this controller software to select the suitable application module for each
axis of your application (single- or multi-axis application) that runs independently of the
connected drive electronics. The required parameters are entered in the assistant of
the respective CCU application module. Then the entire configuration is transferred to
the parameterizable device.
Application Configurator functions
The Application Configurator controller software provides the following functions:
• Startup and configuration of CCU application modules
• Diagnostics of CCU application modules
Advantages of the Application Configurator
The Application Configurator controller software provides the following advantages:
• The process data monitor visualizes the data exchange between the parameter-
ized CCU application modules and the PLC.
• Data is saved using an SD memory card for the entire CCU application module
and all drive parameters.
• The simulation mode allows for diagnostics of configurations without devices and
motors connected.
• A detailed module diagnostics function allows for simple testing of the CCU applic-
ation module.
• Variables (e.g. travel profiles) are recorded over the time for easy troubleshooting.
• You can simultaneously update the software of the Application Configurator on the
SD memory card when you download the CCU application data.
• The CCU application modules run centrally on the parameterizable device, thus
they are drive-independent.
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3Introduction
Application modules for MOVIPRO® ADC
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
18
Available CCU application modules
The following CCU application modules are available for MOVIPRO® ADC:
• Transparent6PD
• Velocity control
• Rapid/creep speed positioning
• Bus positioning
The CCU application modules run in the communication and control unit "PFH-...".
You can parameterize the CCU application modules in the Application Configurator
controller software.
"Transparent 6PD" CCU application module
The "Transparent6PD" CCU application module is used when the process output data
from the PLC (fieldbus master) is to be forwarded unmodified to subordinate devices
(internal power section "PFA-...," external auxiliary axes, etc.) via the controller
(MOVIPRO® ADC). The same applies to process data communication in the opposite
direction.
The "Transparent 6PD" CCU application module supports all IPOSPLUS® application
modules running on the integrated power section. For further information, refer to
chapter "Application modules of the power section "PFA-...""(→220).
"Velocity control" CCU application module
The "velocity control" CCU application module is used for speed-controlled applica-
tions without positioning.
"Rapid/creep speed positioning" CCU application module
The "Rapid/creep speed positioning" CCU application module is used for simple posi-
tioning tasks in materials handling technology.
Positioning takes place via 2 initiators. The first initiator determines the switching point
from rapid to creep speed. The second initiator determines the stop position. Applica-
tions that must position in two directions require 4 initiators.
The "Rapid/creep speed positioning" CCU application module offers the following
functions:
• Graphical interface for startup and parameterization
– Includes monitor for controlling and observing
– Includes online help for support
• Drive functions for jog and rapid/creep speed positioning
• Suited for roller conveyors, lifting tables, and rotary tables
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3
Introduction
Application modules for MOVIPRO® ADC
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface 19
"Bus positioning" CCU application module
The "bus positioning" CCU application module is used for variable positions in con-
junction with different speeds and ramps (e.g. hoist).
The positioning is carried out via the built-in motor encoder or an optional distance en-
coder. Only linear, absolute positioning is supported. You can enter various user units.
The "Bus positioning" CCU application module has the following functions:
• Variable adjustments of the following values:
– Target position
– Speed
– Acceleration
– Deceleration
• Permanent feedback of:
– Status messages
– Actual velocity
– Actual position
• Drive functionalities:
– Jog
– Referencing
– Positioning
• Motor encoders and optional distance encoder are supported
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3Introduction
Application modules of the power section "PFA-..."
Manual – MOVIPRO® with EtherNet/IP™ or Modbus/TCP Fieldbus Interface
20
3.6.2 MOVIPRO® ADC as programmable device (MOVI‑PLC®)
Free programming via MOVI‑PLC®
SEW‑EURODRIVE offers the freely programmable MOVI‑PLC® motion and logic con-
troller for solving complex machine automation tasks in a flexible manner.
Direct programming in the MOVI‑PLC® development environment allows for turning
application‑specific requirements into drive solutions. Tasks can be programmed using
the standard IEC-61131 languages (LD, FBD, IL, ST, SFC). Furthermore, function
blocks from different motion libraries can be combined into one program to ensure fast
startup and implement complex motion sequences.
Advantages of MOVI‑PLC®
MOVI‑PLC® offers you the following advantages:
• Easy to use
• Flexible programming of the application
• Standardized programming languages in accordance with IEC61131‑3
• PLCopen libraries for convenient automation
• Upon request: customized, application-specific programs
• Configuration, startup, monitoring, diagnostics and updates of all components from
SEW‑EURODRIVE
• Coordination of several axes
• All motion control tasks are concentrated in one MOVI‑PLC®
• Relieve the PLC
• Reduced response times
• Increased performance
3.7 Application modules of the power section "PFA-..."
The following application modules are available for the power section "PFA-...":
• Bus positioning
• Extended positioning via bus
• Modulo positioning
• Automotive AMA0801
The application modules are based on IPOSPLUS®.
INFORMATION
In MOVIPRO® ADC, the IPOSPLUS® application modules can only be used if a simple
gateway program is installed (delivery state) in the communication and control
unit"PFH-...," or the "Transparent6PD" CCU application module is parameterized. In
these cases, the process input and process output data is forwarded from the com-
munication and control unit to the power section "PFA-..." unmodified.
You can parameterize the IPOSplus® application modules in the
MOVITOOLS® MotionStudio engineering software.
16998413/EN – 12/2016