SEW-Eurodrive MOVIPRO SDC User manual

Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIPRO
®
SDC
With DeviceNet Interface
Edition 03/2010 16779215 / EN

SEW-EURODRIVE—Driving the world

Manual – MOVIPRO® SDC with DeviceNet Interface 3
Contents
Contents
1 General Information ............................................................................................ 5
1.1 Use of the manual....................................................................................... 5
1.2 Structure of the safety notes ....................................................................... 5
1.3 Right to claim under limited warranty.......................................................... 6
1.4 Exclusion of liability..................................................................................... 6
1.5 Copyright notice .......................................................................................... 6
1.6 Other applicable documentation ................................................................. 6
1.7 General safety notes for bus systems......................................................... 6
1.8 Safety functions .......................................................................................... 7
1.9 Hoist applications........................................................................................ 7
2 Application Modules in MOVITOOLS®MotionStudio ..................................... 8
2.1 Application modules for MOVIPRO®SDC .................................................. 8
3 Startup................................................................................................................ 14
3.1 Startup procedure ..................................................................................... 14
3.2 Check list for startup ................................................................................. 14
4 Installation Notes .............................................................................................. 16
4.1 Fieldbus connection .................................................................................. 16
4.2 Shielding and routing the bus cables ........................................................ 18
4.3 Setting the station address (DeviceNet) ................................................... 19
4.4 Status and error messages....................................................................... 21
5 Configuration and Startup on the DeviceNet Fieldbus.................................. 25
5.1 Validity of the EDS files for MOVIPRO®................................................... 25
5.2 Configuring the PLC and master (DeviceNet scanner)............................. 26
5.3 Configuration examples in RSLogix 5000 ................................................. 29
6 DeviceNet Operating Characteristics ............................................................. 37
6.1 Process data exchange ............................................................................ 37
6.2 Common Industrial Protocol (CIP) ............................................................ 39
6.3 Return codes of the parameterization via explicit messages.................... 46
6.4 Definitions ................................................................................................. 50
7 Error Diagnostics for Operation on the DeviceNet Fieldbus ........................ 51
7.1 Diagnostic procedure ................................................................................ 51
8 Process Data Description................................................................................. 52
8.1 Overview of process data ......................................................................... 52
8.2 MOVIPRO®control word .......................................................................... 52
8.3 MOVIPRO®status word............................................................................ 53
8.4 Digital inputs and outputs.......................................................................... 54
8.5 Process data of power section.................................................................. 55

4Manual – MOVIPRO® SDC with DeviceNet Interface
Contents
9 Operation of MOVITOOLS®MotionStudio ...................................................... 64
9.1 About MOVITOOLS®MotionStudio .......................................................... 64
9.2 First steps ................................................................................................. 65
9.3 Connection mode...................................................................................... 66
9.4 Communication via Ethernet..................................................................... 68
9.5 Executing functions with the units............................................................. 72
10 Parameterization of MOVIPRO®....................................................................... 75
10.1 Startup assistant ....................................................................................... 75
10.2 Storing unit data........................................................................................ 83
10.3 Overview of parameters............................................................................ 85
10.4 Explanation of the parameters .................................................................. 90
11 Service ............................................................................................................. 130
11.1 Unit replacement..................................................................................... 130
11.2 Service unit ............................................................................................. 132
11.3 MOVIPRO®SDC error list ...................................................................... 133
12 Additional Documentation ............................................................................. 143
13 Address List .................................................................................................... 144
Index................................................................................................................. 145

Manual – MOVIPRO® SDC with DeviceNet Interface 5
1
Use of the manual
General Information
1 General Information
1.1 Use of the manual
The manual is part of the product and contains important information. The manual is for
everyone working with this product.
The manual must be accessible and legible. Make sure that persons responsible for the
system and its operation, as well as persons who work independently on the unit, have
read through the manual carefully and understood it. If you are unclear about any of the
information in this documentation, or if you require further information, contact SEW-
EURODRIVE.
1.2 Structure of the safety notes
1.2.1 Meaning of the signal words
The following table shows the grading and meaning of the signal words for safety notes,
notes on potential risks of damage to property, and other notes.
1.2.2 Structure of the section safety notes
Section safety notes do not apply to a specific action, but to several actions pertaining
to one subject. The used symbols indicate either a general or a specific hazard.
This is the formal structure of a section safety note:
1.2.3 Structure of the embedded safety notes
Embedded safety notes are directly integrated in the instructions just before the descrip-
tion of the dangerous action.
This is the formal structure of an embedded safety note:
•SIGNAL WORD Nature and source of hazard.
Possible consequence(s) if disregarded.
– Measure(s) to prevent the danger.
Signal word Meaning Consequences if disregarded
DANGER Imminent danger 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 envi-
ronment
INFORMATION Useful information or tip: Simplifies the
handling of the drive system.
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.

6Manual – MOVIPRO® SDC with DeviceNet Interface
1Right to claim under limited warranty
General Information
1.3 Right to claim under limited warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the manual. Therefore, read the manual
before you start operating the device!
1.4 Exclusion of liability
You must comply with the information contained in the manual to ensure safe operation
of the MOVIPRO®units and to achieve the specified product characteristics and perfor-
mance requirements. SEW-EURODRIVE assumes no liability for injury to persons or
damage to equipment or property resulting from non-observance of this manual. In such
cases, any liability for defects is excluded.
1.5 Copyright notice
© 2009 – SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the unauthorized duplication, modification, distribution, and use
of this document, in whole or in part.
1.6 Other applicable documentation
This manual does not replace the detailed operating instructions. Only electrical special-
ists are allowed to install and start up MOVIPRO®observing the applicable accident pre-
vention regulations and the MOVIPRO®SDC operating instructions.
1.7 General safety notes for bus systems
This communication system allows you to match MOVIPRO®SDC to the specifics of
your application. As with all bus systems, there is a danger of modifications to the pa-
rameters that are not visible from outside (in relation to the inverter), which give rise to
changes in the inverter behavior. This may result in unexpected (not uncontrolled) sys-
tem behavior.

Manual – MOVIPRO® SDC with DeviceNet Interface 7
1
Safety functions
General Information
1.8 Safety functions
MOVIPRO®may not perform any safety functions unless they are described and ex-
pressly approved.
For safety applications, ensure that the information in the following publication is ob-
served:
•MOVIPRO
®SDC – Functional Safety
Use only those components in safety applications that were explicitly designed and de-
livered for this purpose by SEW-EURODRIVE.
1.9 Hoist applications
• Hoist applications can only be implemented with MOVIPRO®SDC under the follow-
ing conditions:
– A hoist startup must be performed.
•MOVIPRO
®is not designed for use as a safety device in hoist applications.
Use monitoring systems or mechanical protection devices as safety equipment to
avoid possible damage to property or injury to people.

8Manual – MOVIPRO® SDC with DeviceNet Interface
2Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
2 Application Modules in MOVITOOLS®MotionStudio
2.1 Application modules for MOVIPRO®SDC
2.1.1 Description
Drive task Industrial drive tasks usually require more than motor speed control. The inverter often
has to control complex motion sequences and take on typical PLC tasks.
Solution with
MOVIPRO®SDC
SEW-EURODRIVE offers various standardized control programs, so-called application
modules, for positioning.
The application module has a user-friendly GUI to assist with parameterization. You
merely have to specify the parameters required for your application. The application
module uses this information to create the control program and loads it into the inverter.
MOVIPRO®SDC then takes over the entire motion control. Thus the application module
takes load off the higher-level controller.
Benefits The application modules offer the following benefits:
• A wide range of functions
• A user-friendly GUI
• Only the parameters necessary for the application must be entered
• Guided parameter setting instead of complicated programming
• No programming experience required
• Quick familiarization, therefore quicker configuration and startup
• All movement functions are controlled directly in the MOVIPRO®
Scope of delivery
and documentation
The application modules are included in the MOVITOOLS®MotionStudio software and
can be used with all MOVIPRO®SDC units.
INFORMATION
For information on how to operate the application modules, refer to the
MOVIDRIVE®B application manuals. They are available on the SEW homepage.

Manual – MOVIPRO® SDC with DeviceNet Interface 9
2
Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
2.1.2 Available application modules
The following application modules are available for MOVIPRO®SDC.
• Bus positioning
• Extended positioning via bus
• Modulo positioning
• Table positioning
• Sensor based positioning via bus
• Automotive AMA0801
Bus positioning The "Bus positioning" application module has the following functions:
• Variable and unlimited number of target positions
• Freely adjustable travel speed for positioning
• Maximum travel distance ± 32700 mm
1984436491

10 Manual – MOVIPRO® SDC with DeviceNet Interface
2Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Extended bus
positioning
The "Extended bus positioning" application module has the following functions:
• Variable number of target positions
• The travel speed for positioning and the acceleration and deceleration ramps are
specified variably by the PLC.
• Maximum travel distance ± 262100 mm
• Operation is possible with 4 instead of 6 process data words. The variable
specification of the ramp type is not used in this case.
1984444811

Manual – MOVIPRO® SDC with DeviceNet Interface 11
2
Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Modulo positioning The "Modulo positioning" application module has the following functions:
• Fieldbuses with 4 or 6 process data words are supported.
• Target position specified via 2 process data words
• Freely adjustable travel speed
• Two different ramps can be selected when 4 process data words are used for control.
• The acceleration or deceleration ramps can be specified using process data word 5
or 6 for control via 6 process data words.
• For a non-positive connection (= with slip) between the motor shaft and application,
the distance measurement can be taken via an external incremental or absolute
encoder. The encoder must be mounted to the application without slip.
Table positioning The "Table positioning" application module has the following functions:
• Control via fieldbus
• 32 table positions in inverter
• Freely adjustable travel speed
1984678283

12 Manual – MOVIPRO® SDC with DeviceNet Interface
2Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Sensor-based
positioning
The "Sensor-based positioning" application module has the following functions:
• Variable and unlimited number of target positions
• Freely adjustable travel speed (changes can be made during travel for linear
positioning ramps)
• Maximum travel distance ± 32700 m
1984845707

Manual – MOVIPRO® SDC with DeviceNet Interface 13
2
Application modules for MOVIPRO®SDC
Application Modules in MOVITOOLS®MotionStudio
Automotive
AMA0801
The "Automotive AMA0801" application module offers the following functions:
• The "Automotive AMA0801" application module makes it possible to implement lifting
devices, conveyor systems and machinery with drives that have to move at a
synchronous angle to one another occasionally or permanently.
• The "Automotive AMA0801" application module has a selectable process data
interface. Setpoints specification is either variable or binary.
• The program is used to control individual drives. In synchronous operation mode,
these drives can be synchronized to a master drive.
2123860875

14 Manual – MOVIPRO® SDC with DeviceNet Interface
3Startup procedure
Startup
3Startup
3.1 Startup procedure
3.2 Check list for startup
3.2.1 Preliminary work
Make sure that the following preliminary steps have been carried out:
• MOVITOOLS®MotionStudio version 5.60 or later is installed on the engineering PC.
• The EDS file "SEW_MOVIPRO.EDS" is available.
• The Ethernet service interface is configured. For more information, refer to section
"Communication via Ethernet (page 68)".
• The MOVIPRO®unit is connected to the fieldbus.
• A connection has been established between the engineering PC and the MOVIPRO®
unit.
– Except for the lower byte, the engineering PC and the MOVIPRO®unit have the
same IP address (page 68).
– The engineering PC and the MOVIPRO®unit have identical subnet masks.
–TheMOVIPRO
®can be addressed via the engineering PC using the ping
command.
The following illustration gives an overview of the MOVIPRO®startup procedure and lists other applicable
documentation:
[1] Motor startup →Refer to the operating instructions of the motor for
more information.
[2] MOVIPRO®startup →For more information, refer to the "MOVIPRO®
SDC" operating instructions.
[3] Parameterization →For more information, see section "Parameteriza-
tion of MOVIPRO®" (page 75)
[4] Fieldbus configuration →Information is listed in the following sections:
– "Configuration and startup on the DeviceNet
fieldbus" (page 25)
– "Application modules in MOVITOOLS®
MotionStudio" (page 8)
– "Process data description" (page 52)
00
I

Manual – MOVIPRO® SDC with DeviceNet Interface 15
3
Check list for startup
Startup
3.2.2 Unit installation
Perform the following steps:
1. Install the components according to the information in the MOVIPRO®operating in-
structions:
– Supply system cable
– Motor cable
– Braking resistor
– DC 24 V backup voltage
2. Switch on all power supplies of the MOVIPRO®unit.
3.2.3 Configuration of MOVIPRO®
Proceed as follows to configure the MOVIPRO®:
1. Start MOVITOOLS®MotionStudio.
2. Create a new project.
3. Set the communication properties to "Ethernet".
4. Perform a unit scan.
5. Mark the MOVIPRO®unit.
6. Right-click on it and select [Startup] / [Startup] from the context menu.
7. Perform a motor startup (page 78).
8. Load the respective application module into MOVIPRO®, if necessary.
9. Check whether the process data exchange between the controller and the
MOVIPRO®is working properly.
10.Enable the MOVIPRO®unit.
INFORMATION
For information about using MOVITOOLS®MotionStudio, refer to section "Operation
of MOVITOOLS®MotionStudio" (page 64).
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16 Manual – MOVIPRO® SDC with DeviceNet Interface
4Fieldbus connection
Installation Notes
4 Installation Notes
4.1 Fieldbus connection
4.1.1 X4241: DeviceNet input
The following table provides information about this connection:
INFORMATION
For information on the assembly and the installation of MOVIPRO®, refer to the
"MOVIPRO®SDC" operating instructions.
For a simple application, this section contains information on how to install the
DeviceNet.
Function
DeviceNet input
Connection type
M12, 5-pole, male, A-coded
Wiring diagram
2264818187
Assignment
No. Name Function
1 Drain Shield/equipotential bonding
2 V+ DC 24 V input
3 V- Reference potential
4 CAN_H CAN data line (high)
5 CAN_L CAN data line (low)
21
5
4
3

Manual – MOVIPRO® SDC with DeviceNet Interface 17
4
Fieldbus connection
Installation Notes
4.1.2 X4242: DeviceNet output
The following table provides information about this connection:
Bus termination
Connection com-
ponent
The following table shows the available component for this connection:
4.1.3 MOVIPRO®– DeviceNet connection
The DeviceNet specification stipulates a line structure for the bus. The maximum per-
mitted cable length depends on the baud rate setting:
Function
DeviceNet output
Connection type
M12, 5-pole, female, A-coded
Wiring diagram
2264816267
Assignment
No. Name Function
1 Drain Shield/equipotential bonding
2 V+ DC 24 V output
3 V- Reference potential
4 CAN_H CAN data line (high)
5 CAN_L CAN data line (low)
1
43
2
5
INFORMATION
If the unit is the last station in the bus, you must provide for a bus termination by con-
necting an according resistor to plug connector X4242.
Connection component
Resistor network
Part number 1 328 703 6
Connection: M12
Baud rate Maximum cable length
125 kBaud 500 m
250 kBaud 250 m
500 kBaud 100 m

18 Manual – MOVIPRO® SDC with DeviceNet Interface
4Shielding and routing the bus cables
Installation Notes
4.2 Shielding and routing the bus cables
The DeviceNet interface supports RS485 transmission technology and requires the
cable type A to EN 50170 specified as the physical medium for DeviceNet. This cable
must be a shielded, twisted-pair cable.
Correct shielding of the bus cable attenuates electrical interference that can occur in in-
dustrial environments. The following measures ensure the best possible shielding:
• Manually tighten the mounting screws on the connectors, modules, and equipotential
bonding conductors.
• Use only connectors with a metal housing or a metalized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus cables on both ends.
• Route signal and bus cables in separate cable ducts. Do not route them parallel to
power cables (motor leads).
• Use metallic, grounded cable racks in industrial environments.
• Route the signal cable and the corresponding equipotential bonding close to each
other using the shortest possible route.
• Avoid using plug connectors to extend bus cables.
• Route the bus cables closely along existing grounding surfaces.
NOTICE
In case of fluctuations in the ground potential, a compensating current may flow via the
bilaterally connected shield that is also connected to the protective earth (PE). Make
sure you supply adequate equipotential bonding according in accordance with rele-
vant VDE regulations in such a case.

Manual – MOVIPRO® SDC with DeviceNet Interface 19
4
Setting the station address (DeviceNet)
Installation Notes
4.3 Setting the station address (DeviceNet)
Use the S2 DIP switch in the DeviceNet module to set the DeviceNet station address of
the MOVIPRO®. The default setting for the station address is 4. The following figure
shows the DIP switch S2 ant its position on the DeviceNet module:
The DIP switch S2 is located on the top of the DeviceNet module. You have to remove
the DeviceNet module to reach it. This does not interrupt the DeviceNet network. Pro-
ceed as follows when removing the module:
1. Loosen the knurled screws.
2. Pull the DeviceNet module from the MOVIPRO®unit to the front.
3. Use DIP switches 1 to 6 to set the DeviceNet address. The following example shows
the settings of the DIP switches for DeviceNet address 17.
INFORMATION
Any changes to the station address during operation become effective after the power
supply has been interrupted (DC 24 V reset).
1642743307
[1] DIP switch S2
[2] Knurled screw
1951510539
[1] Example: Address 17
[2] Switch 7, 8 = Switches for setting the baud rate
Addresses 0 to 63: valid addresses
ZZ
[2]
[1]
[2]
167
54328
S2
ON
25x 0 = 0
24x 1 = 16
23 x 0 = 0
22 x 0 = 0
21 x 0 = 0
20 x 1 = 1
17
[2]
[1]

20 Manual – MOVIPRO® SDC with DeviceNet Interface
4Setting the station address (DeviceNet)
Installation Notes
The following table uses DeviceNet address 17 as an example to show how to de-
termine the DIP switch settings for any bus address:
4. Connect the bus terminating resistor to the MOVIPRO®at the last bus station.
• If MOVIPRO®is located at the end of a DeviceNet segment, the unit can only be
connected to the DeviceNet network via the incoming DeviceNet line.
• To prevent malfunctions in the bus system due to reflections, etc, the DeviceNet
segment must be terminated using bus terminating resistors at the first and last
physical stations.
5. Once plugged-in, secure the DeviceNet module with both knurled screws.
4.3.1 Setting the baud rate
Use DIP switches 7 to 8 to set the baud rate:
DIP switch setting Significance
DIP 1 = ON 1
DIP 2 = OFF 2
DIP 3 = OFF 4
DIP 4 = OFF 8
DIP 5 = ON 16
DIP 6 = OFF 32
INFORMATION
Any changes to the baud rate during operation become effective after the power sup-
ply has been interrupted (DC 24 V reset).
DIP switch Baud rate
7 8
OFF OFF 125 kBaud
ON OFF 250 kBaud
OFF ON 500 kBaud
ON ON Reserved