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1. Input signals The behavior of the function module MC SetModuloParameters MDX MX is depen dent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the parameter transfer process When a rising edge occurs at this input signal the function module starts to transfer the parameters from the MOVI PLC control to the drive inverter ModuloOn BOOL Activation of the modulo function by setting the parameter P960 to Only for MOVI SHORT DRIVE B Numerator DINT Only for MOVI DRIVE B Simulation of the gear unit by entering the number of teeth Denominator DINT Unit Number of teeth setting range 1 23 Only for MOVI DRIVE9 B EncoderResolu UINT The input signal EncoderResolution specifies the resolution of the tion connected encoder system Only tor MOVI Unit increments setting range 1 20000 DRIVE B Mode MC POSMODE MX ABS Only for MX MX REL MOVIAXIS e MX_MODULO_ABS CW MX_MODULO_REL_CW MX_MODULO_ABS CCW MX_MODULO_REL_CCW MX MODULO ABS SHORT e MX MODULO REL SHORT See MOVIAXIS FCBO9 operating instructions Overflow DINT Parameter Modulo overflow e g 359 degrees for corresponding Only for setting of user defined units MOVIAXISS See MOVIAXIS operating instructions Underflow DINT Parameter Modulo underflow e g 0 Only for See MOVIAXIS operating instructions MOVIAXIS
2. Output signals The function module MC MoveAbsolute MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the motor axis has been posi tioned e TRUE The motor axis has performed the rotation The motor axis has reached the target position window FALSE The motor axis has not completed the rotation The motor axis has not yet reached the target position window Active BOOL The output signal Active shows whether the motor axis is turning to reach the target position window e TRUE The motor axis is rotating FALSE The motor axis is not rotating Command BOOL The output signal CommandAborted shows whether another function Aborted module has cancelled the task of the function module TRUE Another function module has cancelled the task of the function module FALSE The task of the function module has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory 4 6 3 Function module MC MoveAbsol
3. ssssese 32 4 4 MDX MX InverterParameters directory sene 34 4 4 1 Function module MC_GetDataprofile4Data_MDX 34 4 4 2 Function module MC ReadParameter MDX MX 36 4 4 3 Function module MC WriteParameter MDX MX 38 4 4 4 Function module MC SetDynamics MDX MX esee 40 4 4 5 Function module MC SetEncoderType MDX MX ssie 42 4 4 6 Function module MC SetJerk MDX MX 44 4 4 7 Function module MC SetLimiter MDX MX seseeee 46 4 4 8 Function module MC SetHomeParameters MDX MX 49 4 4 9 Function module MC SetModuloParameters MDX MX 51 4 5 MDXMX Main directory areire emm ener 53 4 5 1 Function module MC ConnectAxis MDX MX e 53 4 5 2 Function module MC ConnectAxisSimulation MDX MX 59 4 5 3 Function module MC Power MDX MX 62 4 5 4 Function module MC QuickEnable MDX MX sss 64 4 5 5 Function module MC Reset MDX MX c cccccccccccesssessstseeeeeeeeeees 66 4 66 MDX MX SingleAxis directory sse 67 4 6 1 Function module MC MoveVelocity MDX MX 67 4 6 2 Function module MC MoveAbsolute MDX MX m 69 4 6 3 Function module MC MoveAbsoluteModulo MDX 71 4 6 4 Function module MC MovehRelative MDX MX
4. MC AxisStop MDX M All States MC Stop MDX MX Done FALSE NOT CONNECTED MC Home MDX MX Me Connects MC HomeEnable MDX MX MDX MX Done TRUE MC MoveVelocity MDX MX MC MoveTargetSpeed MDX MX MC MovevVelocitySensorless MDX MC MoveTargetSpeedSensorless MDX MC ConnectAxis MDX MX 1 MC ConnectAxis MDX MX Done FALSE when there is a communication error be tween the MOVI PLC control and the inverter servo inverter 2 MC ConnectAxis MDX MX must be called in each control cycle and therefore in each state 3 MC Reset MDX MX can be called in each state but it only has an effect in the state ERRORSTOP The NOT CONNECTED state is briefly run during the reset phase of the inverter servo inverter If a stop module is active during the reset phase input signal Execute TRUE the MOVI PLC changes to the STOPPING state 4 Prerequisite The input signal Execute of the currently active stop module must be FALSE Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 28 Description of the Function Modules State diagram 5 The STANDSTILL state is adopted when the minimum speed 15 rpm is not reached or the target position window is reached Possible acceleration caused by external forces must not lead to changes to the PLCopenState If a stop module is activated rising edge of the input signal Execute in the STANDSTILL state the MOVI PLC control changes to the STOPPING state T
5. ErrorID DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 85 86 4 7 2 Description of the Function Modules MDX SingleAxisSensorless directory Function module MC AxisStopSensorless MDX and MC StopSensorless MDX Application Description Cancellation MC StopSensorless MDX Execute BOOL Done BOOL PowerOffMode MC POWEROFFMODE MDX Active BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 58173AXX You can use the function module MC AxisStopSensorless MDX and MC StopSenorless MDX only on motor axes without encoders Note In the speed control status motor axes without encoders and with a speed below 15 rpm show a very small maximum torque In contrast to the use of function module MC AxisStop MDX MX and MC Stop MDX MX the function modules MC AxisStopSensorless MDX and MC StopSensorless MDX apply the brake shortly before the motor axis is at standstill so that the motor axis is reliably decelerated until standstill Input signal PowerOffMode The function module MC AxisStopSensorless MDX slows the current rotational move ment of the motor axis using the ramp t11 P131 P133 set in the inverter The function module MC StopSensorless MDX slows the current rotational movement of the motor axis using st
6. ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Position DINT The output signal Position contains the transferred motor axis posi tion Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 105 4 Description of the Function Modules MDX MX Supplements directory 4 9 4 Function module MC ReadAxisError MDX Enable BOOL MC ReadAxisError MDX Done BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD AxisError BOOL AxisErrorCode WORD Axis AXIS REF VAR IN OUT 58191AXX Application You can use the function module MC ReadAxisError MDX on all motor axes Description The function module MC ReadAxisError MDX is used to read in the current error code of the motor axis from the drive inverter to the MOVI PLC control Input signals The behavior of the function module MC ReadAxisError MDX is dependent on the fol lowing input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module is only executed when this input signal Enable is set to TRUE Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC ReadAxisError MDX has the following output signals Outp
7. Stopped BOOL The motor axis was decelerated and is in the PLCopenState STAND STILL Command Aborted BOOL The output signal CommandAborted shows whether the task of the function module has been cancelled This includes the motion to reach or move at the target speed as well as the braking movement trig gered when the input signal Enable is removed TRUE The task of the function module has been cancelled FALSE The task of the function module has not been cancelled A cancelled task requires a new rising edge at the input signal Enable for the execution of motion tasks For example the removal of the input signal Enable after a function module cancellation does not cause a braking movement Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorID DWORD The output signal ErrorID shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 91 92 Description of the Function Modules MDX MX SingleAxisSEW directory 4 8 2 Function module MC MoveTargetPosition MDX MX Application Prerequisites Description MC MoveTargetPosition MDX Enable BOOL InPosition Position DINT Active Velocity DINT Stopped Accele
8. Goto ltl GESTUS DUST EE UMANE EN SL k Cu d MPLCMotion MD X and FE330000 MPLCMotion MX Libraries for MOVI PLC9 Edition 07 2006 IM 11423412 EN anual SEW EURODRIVE Driving the world Important Notes 1eeeeeeeeeeeeeeeeneeeeeee nnne nenne nnne nnn nn nnn ntina anasa eena renias 5 It e E iTo ense 7 2 1 Areas of application usisu kerine ea e NEEE REEE nnns 8 2 2 Overview of the MPLCMotion MDX MX libraries eese 9 2 3 Overview of additional libraries for the MOVI PLC control 11 Project Planning and Startup eeseeeeeeseeeeeeieseeeee nennen eren nenna nnmnnn 12 KONG EE 12 3 2 COMMUNICATION limes RE eda eee pe e e ee EAT 14 3 3 MOVIDRIVE B Ires E A 15 3s MOVIAXIS SEAN UU ctor ante etit ci dubi din cens testen Caes bali e Rire 19 35 MOVIDRIVE B units and ranges of values sseseee 20 3 6 MOVIAXIS units and ranges of values seseeeeeeeeeeeneneneren 21 Description of the Function Modules eee 22 4 1 General behavior of the function modules sssnnnnnsnssnnsennnnnnnnnnsesssenneenna 22 42 State Ee ET 27 4 3 MDX MX Config direchonm eene 29 4 3 1 Function module MC InitialConfig MDX MX s sssssssssssssennssssrrnnnneen 29 4 3 2 Function module MC SetSync MDX MX
9. DINE X Name of the new POU PLC PRG Type of POU Language of the POU sst Program C IL C Function Block LD C Function FBD Return Type C SFC pog Ln C CFC 1 The MOVI PLC control must be powered as your version requires or the drive inverter that the hardware 20030AXX In this example do not change the name of the function module PLC PRG 2 in the New POU window After you start the program step 8 in this example the MOVI PLC control will execute the module PLC PRG automatically Select the Program option in the Type of module 1 group Select the FBD 3 option in the Language of the POU group Click OK to confirm your entry Save the project To do this select File Save menu item and enter the required name of the project Save the project regularly once you have made a number of changes and after you have finished creating the program of the MOVI PLC control is plugged into must be switched on Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 5 113 5 114 qu Step two Programming Examples Positioning a motor axis Setting the control configuration Set the control configuration as required to be able to use the interfaces of the MOVI PLC control to connect peripheral equipment and to enable communication with other devices e g inverters I O modules or a machin
10. TRUE The parameter is currently being transferred FALSE The parameter is currently not being transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during parameter transfer FALSE No error has occurred ErrorID DWORD The output signal ErrorID shows the error code of the error that occurred see Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 39 Description of the Function Modules MDX MX InverterParameters directory 4 4 4 Function module MC SetDynamics MDX MX MC SetDynamics MDX Execute BOOL Done BOOL Velocity DINT Busy BOOL Acceleration DINT Error BOOL Deceleration DINT ErrorlD DWORD Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58176AXX Application You can use the function module MC SetDynamics MDX MX on all motor axes Description The function module MC SetDynamics MDX MX is used to change the dynamic pa rameters while executing a task of the continuous or discrete motion function module and function modules MC AxisStop MDX MX or MC StopSensorless MDX In doing so the input signals Velocity Acceleration and Deceleration determine the dynamic be havior of the rotation If the function module MC SetDynamics MDX MX is executed before a continuous or discrete motion function module the set dynamic
11. Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 59364AXX Application You can use the function module MC GetDataprofiledData MDX on all motor axes Prerequisites The data profile number 4 must be set in the module parameters of the MOVIDRIVE B in the control configuration so that the function module can be executed Appendix Overview of MOVIDRIVE B MOVIAXIS actual values transferred Description The setpoint speed actual speed and current motor position of the selected encoder at the MOVIDRIVE B are transferred to the MOVI PLC for the set data profile 4 and are available at the output signal nverterData of the function module MC ConnectAxis MDX You can also select four MOVIDRIVE B actual values for the set data profile 4 using the function module MC_GetDataprofile4Data_MDxX that are cyclically transferred to the MOVI PLC These four actual values are available at the output signals Data to Data4 34 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX InverterParameters directory Input signals Output signals The behavior of the function module MC_GetDataprofile4Data_MDX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module MC GetDataprofilehdData MDX MX The function module is only executed when the in
12. The motion function module is interrupted from the start if the stated conditions are present at the start of the actual execution It is executed when the conditions that led to the interruption are no longer present If the action of a motion function module is to be cancelled in the interrupted state and no additional motion command is to be directly connected one of the function modules MC Stop MDX MX MC AxisStop MDX MX or MC StopSensorless MDX MX must be executed This can also occur when the axis is in the controller inhibit no enable safe stop or hold control state The electrical rotating field is immediately switched off when setting the controller inhibit or safe stop At the same time the motor brake is applied independent of the activation of the brake function in the drive parameters so that the drive is decelerated mechanically Accordingly drives without motor brakes are free running and coast to a halt or can be accelerated by external forces The drive is decelerated electronically when the enable is revoked or when the CW CCW stop or hold control is activated Axes without encoders under 15 rpm show a very small maximum torque so that braking to standstill without applying the brake is only possible with small external forces For an existing motor brake and activated brak ing function P730 for MOVIDRIVE B index 8584 0 brake function and index 9833 1 brake type not the same no brake for MOVIAXIS the m
13. e For the function module MC MoveRelative MDX to be executed for MOVIDRIVE B the motor axis must be assigned the status STANDSTILL or DISCRETE MOTION in PLCopenState output signal of the function module MC ConnectAxis MDX e For the function module MC MoveRelative MX to be executed for MOVIAXIS the motor axis must be assigned the status STANDSTILL DISCRETE_MOTION or CONTINUOUS_MOTION in PLCopenState output signal of the function module MC ConnectAxis MX The function module MC MoveRelative MDX MX is used to move the motor axis by a specified distance The input signals Velocity Acceleration and Deceleration determine the dynamic be havior of the rotation The motor axis remains at the target position subject to position control The following parameters of the MOVIDRIVE B have a direct effect on the execution of the function module MC MoveRelative MDX MX You can use parameters P916 Ramp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC SetJerk MDX MX to set these parameters Use parameter P922 Positioning window to set the positioning window to the target position within which the function module sets the output signal Doneto TRUE Tar get position reached The startup assistant helps you to set these parameters The following parameters of the MOVIAXIS servo inverter have a direct effect on the execution of the function module MC MoveAbsolute MX Def
14. 10 Reserved Identifier Message type 0 System control word 128 Synchronization message 129 255 Emergencies 256 Time stamp 384 CAN address 180h TX PDO1 512 CAN address 200h RX PDO1 640 CAN address 280h TX PDO2 768 CAN address 300h RX PDO2 896 CAN address 380h TX PDO3 1024 CAN address 400h RX PDO3 1152 CAN address 480h TX PDO4 1280 CAN address 500h RX PDO4 1408 CAN address 580h TX SDO 1536 CAN address 600h RX SDO 1792 CAN address 700h NMT error control Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Appendix e 6 MOVIDRIVE B system variables Notes Operate the CANopen module and inverter to prevent conflicts at various CAN lines of the MOVI PLC For engineering over one of the two CAN interfaces the CAN identifiers Parameter Request Telegram Channel 1 and Parameter Response Telegram Channel 1 gt Section Identifier in MOVILINK9 protocol from the Engineering Tool are used MOVI PLC communication with the inverters via the same CAN line does not cause a conflict as engineering occurs via parameter channel 1 However communication with the inverters occurs via parameter channel 2 If CANopen modules are operated on the same line their CAN addresses must be set such that no conflicts arise Example of a conflict MOVI PLC CAN address 0 gt Engineering uses CAN identifier 515 and 516 CAN open module uses CA
15. Datei Hilfe DriveStartup Startup Assistant for MOVI PLC Mode MDx State SBUS1 Address fi MDX61B0015 843 Unit type Inverter state Signature Axis 1 recommissioning of the inverter IE Online help Cancel Startup aor 0 7 58194AXX To access the startup assistant DriveStartup for MOVI PLC open the context menu for the entry MDX in the unit tree of the MOVITOOLS MotionStudio software The startup assistant guides you step by step through the startup procedure Load the delivery status Start up the inverter Download the input values 1 2 3 Configure the Shell parameters 4 5 Save the inverter data The startup assistant detects automatically whether you want to perform initial startup or a restart Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 15 go Project Planning and Startup MOVIDRIVE B startup For the initial startup process you must perform all five steps one after the other The startup assistant goes directly to step three for a restart However you can start with step one or two for a restart by clicking on the entries manually This procedure allows you to use the startup assistant to optimize the data for example for motor startup at a later date Start Diagnostics monitor Initial startup Factory settings Delivery condition TA Motor qo di startup i Co
16. Meaning Done BOOL The output signal Done shows whether the new dynamic parameters Velocity Acceleration and Deceleration are successfully written TRUE Parameter has been written successfully FALSE Parameter not yet fully written Busy BOOL The output signal Busy shows whether the new dynamic parameters are transferred to the drive inverters e TRUE New dynamic parameters are transferred to the drive inverter e FALSE No new dynamic parameters are transferred to the drive inverter Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No error has occurred in the function module ErrorID DWORD The output signal ErrorID shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 41 Description of the Function Modules MDX MX InverterParameters directory 4 4 5 Function module MC SetEncoderType MDX MX MC SetEncoderType MDX Execute BOOL Done BOOL EncoderType MC ENCODER MDX Busy BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD Axis AXIS REF VAR IN OUT 59366AXX Application You can use the function module MC SetEncoderType MDX MX only on motor axes with encoders Description The encoder source of the MOVIDRIVE B MOVIAXIS is in
17. 0005 fhAxisStop_1 MC AxisStop MDX ib amp xisStop MDX1 Execute Done foConnect amp xis 1 Axis JAxis e Active 0006 foStop 1 MC Stop MDX ibStop MDX1 Execute Doner foConnect amp xis 1 Axis Axis r Active Error ErrorliDI 0007 fbConnectAxis_1 InverterData ActualSpeed gnActualSpeed 58219AXX described in the previous programming example Then press the symbol el 1 Replace the question marks with the variable names Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 1 Create the program shown in the diagram in accordance with the procedure 2 To program the value assignment of the variable nSpeed to the variable nSpeed old insert the network 0004 and then click on the box next to the question marks 125 5 126 qu Step eight Programming Examples Speed control of a motor axis with encoder Testing the program Execute the program by activating the digital inputs as required Warning Depending on the terminal assignment the drive inverter status and the control pro gram the motor axis can begin to move immediately after the MOVI PLC control has been started To prevent risk of injury keep sufficient distance from all moving parts Turn on the MOVIDRIVE MDX60B 61B drive inverter if it was not already switched on in step 1 in connection with the MOVI PLC control Start the MOVI PLC control To do this select the menu item Online Start T
18. 1 8BUS Address ErroriD foConnectAxis 1 Axis Axis gt ErroriDI Axis Debuginfo 3 5 PLCopenState l InverterData gstDataAxist 8 Fo 3 Da 32 Re FEl NUNE OV READ 58294AXX 1 Click on the line of the Done 1 output of the MC_ConnectAxis_ MDX function mod ule 2 Add a new AND function module To do so click on the symbol lt i gt 2 3 At the second input of the new AND function module 3 add the value read at bi nary digital input D O7 of the inverter To do so enter the symbolic name selected in the control configuration in this example iyDI MDX1 DL1 or directly ibPower MDXt 4 Add the function module MC Power MDX To do so click to the right of the AND function module and then on the symbol 2 Convert the AND function module that you have added to a MC Power MDX function module by following the instruc tions described in step 4 Enter an instance name for the function module e g ibPower 1 5 Enter the constants MDX CTRL INHIBIT at the input signal PowerOffMode of the function module MC Power MDX 4 6 Atthe input signal Axis enter the axis reference fbConnectAxis 1 Axis 5 that is out put from the module instance fbConnectAxis 1 To do so click the field before the input signal Axis and enter fbConnectAxis 1 Select the entry Axis from the di alog box that appears automatically after entering the item Confirm your entry by p
19. 43 1 617 55 00 0 Sales Richard Strauss Strasse 24 Fax 43 1 617 55 00 30 Service A 1230 Wien http sew eurodrive at sew sew eurodrive at Belgium Assembly Br ssel SEW Caron Vector S A Tel 32 10 231 311 Sales Avenue Eiffel 5 Fax 32 10 231 336 Service B 1300 Wavre http www caron vector be info caron vector be Brazil Production Sao Paulo SEW EURODRIVE Brasil Ltda Tel 55 11 6489 9133 Sales Avenida Amancio Gaiolli 50 Fax 55 11 6480 3328 Service Caixa Postal 201 07111 970 http www sew com br Guarulhos SP Cep 07251 250 sew sew com br Additional addresses for service in Brazil provided on request Bulgaria Sales Sofia BEVER DRIVE GmbH Tel 359 2 9151160 Bogdanovetz Str 1 Fax 359 2 9151166 BG 1606 Sofia bever fastbg net Cameroon Sales Douala Electro Services Tel 237 4322 99 Rue Drouot Akwa Fax 237 4277 03 B P 2024 Douala Canada Assembly Toronto SEW EURODRIVE CO OF CANADA LTD Tel 1 905 791 1553 Sales 210 Walker Drive Fax 1 905 791 2999 Service Bramalea Ontario L6T3W1 http www sew eurodrive ca reynolds sew eurodrive ca Vancouver SEW EURODRIVE CO OF CANADA LTD Tel 1 604 946 5535 7188 Honeyman Street Fax 1 604 946 2513 Delta B C V4G 1 E2 b wake sew eurodrive ca Montreal SEW EURODRIVE CO OF CANADA LTD Tel 1 514 367 1124 2555 Rue Leger Street Fax 1 514 367 3677 LaSalle Quebec H8N 2V9 a peluso sew eurodrive ca Additional addresses for service in Canada provided on request Chile Assembly Santiago de SEW EU
20. B unit modulo increments The number of complete rotations is specified in the high word and the target angle between 0 and 360 in the low word The maximum setting range is dependent on the modulo numerator denominator and encoder resolution Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decrease of kinetic energy in the motor Mode MC The input signal Mode specifies the travel strategy MODULO MDX OFF Modulo functionality deactivated MODE MDX MDX SHORT Short distance MDX CW Clockwise rotation MDX COCW Counterclockwise rotation Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory Output signals The function module MC MoveAbsoluteModulo MDX MX has the following output sig nals Output signal Type Meaning Done BOOL The output signal Done shows whether the motor axis has been posi tioned e TRUE The motor axis has performed the rotation The motor axis has reached the target position window e
21. Reference travel has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxisSEW directory 4 8 4 Function module MC MoveTargetSpeedSensorless MDX Application Prerequisites Description MC MoveTargetSpeedSensorless MDX Enable BOOL InVelocity Velocity DINT Active Acceleration DINT Stopped Deceleration DINT CommandAborted CycleTime UINT Error BOOL Axis AXIS REF VAR IN OUT ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 59376AXX You can use the function module MC_MoveTargetSpeedSensorless_MDX only on motor axes without encoders For the function module MC MoveTargetSpeedSensorless MDX to be executed the motor axis must be assigned STANDSTILL or CONTINUOUS MOTION or STOPPING in PLCopenState output signal of the function module MC ConnectAxis MDX The function module MC MoveTargetSpeedSensorless MDX executes continuous rotation of a motor axis when the input signal Enable is set to TRUE The function mod ule issues the signal TRUE at the Error output
22. The function module MC QuickEnable MDX MX blocks the task in which it was ex ecuted as well as all tasks with lower priority during its execution until the send buffer of the system bus is free For this reason the function module MC QuickEnable MDX MX can only be used specifically and sparingly Use the function module MC Stop MDX MX or MC AxisStop MDX MX to stop a motor axis and cancel an active travel task You must not use the function module MC QuickEnable MDX MX in conjunction with modulo positioning Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Main directory Effect Input signals Output signals The start stop ramps for activating or deactivating enable using MC QuickEnable MDX MX can be set with the function module MC SetDynamics MDX MX If a continuous motion travel task is executed between the execution of MC SetDynamics MDX MX and MC QuickEnable MDX MX the dynamic parameters set at the associated function module are also used for the ex ecution of MC QuickEnable MDX MX The execution of a discrete motion travel task does not influence dynamic parameters used by MC QuickEnable MDX MX The acceleration braking movement triggered by the function module MC QuickEnable MDX for MOVIDRIVE B is executed using the ramps t11 up down CW CCW in the parameters P130 to P133 The startup assistant helps you to set these parameters The brake
23. unit ms max setting range 0 5 2000 MOVIDRIVE9 B 0 Linear ramp type 5 Jerk limited ramp type A positioning operation is lengthened by the jerk time compared to the corresponding positioning operation with a linear ramp Jerk DINT The input signal Jerk specifies the jerk for MOVIAXIS parameter Only for P9582 1 Application limit maximum jerk It is used for discrete and MOVIAXIS continuous motion tasks unit 1 min x s max setting range 0 27 1 Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC SetJerk MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the jerk time was correctly transferred e TRUE The jerk time has been transferred from the MOVI PLC control to the inverter successfully e FALSE Parameter not yet fully written Busy BOOL The output signal Busy shows whether the jerk time is being trans ferred e TRUE The jerk time is being transferred FALSE The jerk time is not being transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the transfer of the jerk time FALSE No error has occurred ErrorlD DWORD The output signal Erol shows the error code of the error that occurre
24. var 2 PLC_PRG MoveRelative_1 Done bad Var3 gstDataAxis1 ActualSpeed v FALSE Var A TRUE gstDataAxis1 ActualPosition ES Var x var x Var7 FALSE E current configuration This is the current trace configuration ofthe project D 2000u Oms Fa ms DUU ms and mis ER ms1500 ms1 zackeg ms2400 vd 58296AXX When a rising edge occurs at the Move MDX1 signal at the input Execute of the MC MoveRelative MDX function module the motor axis starts to move to the target position 1 The Active output shows that this is the case when it is set to TRUE Once positioning is complete the function module resets the Active output signal to FALSE and sets the output signal Done to TRUE 2 In this example the output signal Done is only set to TRUE for one control cycle because the Execute input signal was already reset to FALSE before the positioning was concluded As a rising edge then occurs at the input signal Execute the motor axis starts the posi tioning process again 3 However the next rising edge occurs at the Execute input before positioning has been concluded Another positioning process starting from the current position of the motor axis at the time the last rising edge occurred at the Execute input is started without in terruption 4 In this way the motor axis is not slowed to a standstill but starts the next movement directly Once positioning is complete the function
25. AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Reference travel type 5 2 no reference travel for MOVIDRIVE B corresponds to the reference travel type 6 for MOVIAXIS Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 49 Description of the Function Modules MDX MX InverterParameters directory Output signals The function module MC SetHomeParameters MDX MX has the following output sig nals Output signal Type Meaning Done BOOL The output signal Done shows whether all parameters were correctly transferred e TRUE All parameters have been transferred successfully from the MOVI PLC control to the drive inverter FALSE Parameter not yet fully written Busy BOOL The output signal Busy shows whether the parameters are being transferred e TRUE The parameters are being transferred FALSE The parameters are not being transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the transfer of the parame ters FALSE No error has occurred ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX InverterParameters direct
26. CommandAborted shows whether another function module has cancelled the reference travel TRUE Another function module has cancelled reference travel FALSE Reference travel has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorID DWORD The output signal ErrorlD shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 81 82 Description of the Function Modules MDX MX SingleAxis directory 4 6 8 Function module MC AxisStop MDX MX and MC Stop MDX MX Application Description Cancellation MC AxisStop MDX Execute BOOL Done BOOL Axis AXIS REF VAR IN OUT Active BOOL Error BOOL ErrorlD DWORD Axis AXIS REF VAR IN OUT 58168AXX You can use the function module MC AxisStop MDX MX and MC Stop MDX MX only on motor axes with encoders You cannot use interpolated movements using the func tion module MC Interpolation MDX MX during execution The function module MC AxisStop MDX MX terminates the current rotation of the mo tor axis The motor axis is slowed down with the deceleration specified at the start of the rotational movement input signal Deceleration or the reference travel
27. Configuration El ii MOVI PLC basic DHP11B Gs ibJogPlus MDX1 AT 96 X128 1 BOOL Bit 1 1 ibJogMinus MDX1 AT IX128 2 BOOL Bit 2 F ibRapidSpeed MDX1 AT IX128 3 BOOL Bit 3 58218AXX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 5 129 5 go Programming Examples Jog mode of a motor axis without encoder Step six Programming jog mode 0001 foConnectAxis_1 MC Connect amp xis MDX TRUE Enable SBUS NODE 1 jNode 1 4S8BUS Address l SEL ibRapidSpeed MDX1 nSpeedAbsolute i 500 1500 0003 SEL ibJogMinus MDX1 nSpeed nSpeedAbsalute nSpeedAbsolute ibJogPlus MDX1 ibJlogMinus MDXx1 0004 fbStopSensorless_1 MC StopSensorless MDX Execute MDX_NO_ENABLE PowerOffMode foConnect amp xis 1 A amp xs jAxis amp 0005 ibJogPlus MDX1 ibJogMinus MDX1 nSpeed foConnect amp xis 1 Axis nSpeedold 0006 nSpeed nSpeedold 0007 fbConnectAxis_1 InverterData ActualSpeed qnActualSpeed 58217AXX Create the program shown in the diagram in accordance with the procedure described in the previous programming examples 130 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go 5 Jog mode of a motor axis without encoder Step eight Testing the program Execute the program by activating the digital inputs as required Warning Depending on the terminal assignme
28. D D D D PLCDatatypes PLCInterface CAN PLCInterface COM PLCInterface MoviLink PLCSystem ErrorCodes PLCSystem MathFunctions PLCSystem MOVI PLC Typ e g MPLCSystem DHP11B according to target system setting The PLCMotion MDX and MPLCMotion MX libraries contain the following function modules which are divided into several directories according to their function MDX MX Config MDX MX Config directory MC InitialConfig MDX MX MC SetSync MDX MX MDX MX Inverter MDX MX_InverterParameters directory Parameters MC_GetDataprofile4Data_MDX MC ReadParameter MDX MX MC WriteParameter MDX MX MC SetDynamics MDX MX MC SetEncoderType MDX MX MC SetJerk MDX MX MC SetLimiter MDX MX MC SetHomeParameters MDX MX MC SetModuloParameters MDX MX MDX MX Main MDX MX Main directory MC ConnectAxis MDX MX MC ConnectAxisSimulation MDX MX MC Power MDX MX MC QuickEnable MDX MX MC Reset MDX MX MDX MX Single MDX MX SingleAxis directory Axis MC Home MDX MX MC AxisStop MDX MX MC Stop MDX MX Continuous motion function module MC MovevVelocity MDX MX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 10 Introduction Overview of the MPLCMotion MDX MX libraries MDX SingleAxis Sensorless MDX MX Single AxisSEW MDX MX Supple ments Discrete motion function modules MC MoveAbsolute MDX MX MC MoveAbsoluteModulo MDX
29. E IEC GENERAL USE OF FB NOT ALLOWED The use of the function module is not allowed in the current configuration FA0009h E IEC GENERAL AXIS DISCONNECTED The execution of the function module was interrupted because the connection to the inverter was inter rupted Execute the function module for MC CONNECT AXIS MDX Done TRUE again FA0010h E IEC GENERAL WRONG MOVI PLC FIRMWARE The motion library cannot be used with the firmware version of the MOVI PLC FA0011h E IEC GENERAL SYNC ALREADY ESTABLISHED The synchronization object was already set on the MOVI PLC FA0012h E IEC GENERAL INVALID TECHNOLOGY OPTION The function module requires MOVI PLC applica tion version T1 or higher FA0071h E IEC PARAMETER INVALID SELECTION Invalid input selection at function module FA0072h E IEC PARAMETER INVALID SERVICE Invalid service General IEC warning codes appear at the output Error D without the output Error being set to TRUE FA1000h W IEC GENERAL PARAMETER RW ERROR Parameter telegram failed The function module was correctly executed with incorrect parameters MPLCMoti on MDX MX error codes FB0030h E MDX CONNECTAXIS NO INVERTER CONNECTED No inverter detected at CAN bus Check the CAN connection Check the SBus address of MOVI PLC und MOVIDRIVE B Set P889 Parameter channel 2 to Yes FBOOS1h E MDX CONNECTAXIS CAN ID ERR
30. ErrorID shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 77 78 Description of the Function Modules MDX MX SingleAxis directory 4 6 6 Function module MC MoveModulo MX Application Prerequisites Description Effect MC MoveModulo MX Execute BOOL Done ModuloPosition DINT Active Velocity DINT CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Axis AXIS REF VAR IN OUT 59601AXX You can only use the function module MC MoveModulo MX on motor axes with encod ers For the function module MC MoveModulo MX to be executed the motor axis must be assigned the status STANDSTILL CONTINUOUS MOTION or DISCRETE MOTION in PLCopenState output signal of the function module MC ConnectAxis MX The function module MC SetModuloParameters MX must first be executed for this motor axis The axis must also be referenced The function module MC MoveModulo MX starts the movement of a motor axis to an axis position in modulo format The input signals Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation The motor axis remains at the target position subject to position control Note Set the required parameters modulo mode overflow value underflow value using the function module MC SetModuloParameters MX The follo
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32. General behavior of the function modules Output signal Error Response to con troller inhibit no enable safe stop CW stop CCW stop or hold con trol If an error occurs in the MOVI PLC control during the execution of a function module the function module sets the output signal Errorto TRUE In this case the respective error is displayed at the output signal ErrorlD Errors in the inverter servo inverter do not cause the output signal Error to be set but are detected in the MC ConnectAxis MDX MX function module and cause the cancel lation of the motion function module When one or more of the following conditions apply the function module that is currently active interrupts the active travel task DISCRETE MOTION CONTINUOUS MOTION HOMING of the motor axis Controller inhibit terminal or MC Power MDX MX Noenable terminal or MC Power MDX MX e Safe stop terminal CW stop terminal e CCW Stop terminal Hold control terminal However the function module does not cancel the travel task The target position previ ously set and the setpoint speed are retained When the active travel task is interrupted the function module Resets the output signal Active to FALSE Does not set the output signal CommandAborted to TRUE The interruption does not lead to an error at the function module As soon as the stated conditions no longer apply the function module continues the in terrupted travel task
33. MC MovehRelative MDX MX MC MovehRelativeModulo MDX MC MoveModulo MX MDX SingleAxisSensorless directory MC StopSensorless MDX MC AxisStopSensorless MDX Continuous motion function module MC MovevelocitySensorless MDX The MC SingleAxisSensorless directory only exists in the MPLCMotion MDX library MDX MX SingleAxisSEW directory MC HomeEnable MDX MX Continuous motion function modules MC MoveTargetSpeed MDX MX MC MoveTargetSpeedSensorless MDX Discrete motion function modules MC MoveTargetPosition MDX MX MC MoveTargetPositionModulo MDX MX The MC MoveTargetSpeedSensorless function module only exists in the MPLCMot ion_MDx library MDX_Supplements directory MC TouchProbe1 MDX MX MC TouchProbe2 MDX MX NC Getlnverterinfos MDX MX MC ReadActualPosition MDX MC ReadAxisError MDX MC ReadStatus MDX Note You can use the MPLCMotion MDX und MPLCMotion MX libraries with all the other li braries for the MOVI PLC control at the same time However fault free operation can only be ensured when you operate all inverters and servo inverters which are controlled using the function modules of the MPLCMotion MDX and MPLCMotion MX libraries on one or more system CAN buses on which no other manually configured CAN objects e g SCOM Transmit Receive are set up Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Introductio
34. MOVIAXIS servo inverter have a direct effect on the execution of the function module MC MoveAbsolute MX Define the jerk for positioning ramps using index 9582 1 Use function module MC SetJerk MX to set these parameters Use index 9885 3 to set the positioning window to the target position within which the function module sets the output signal Doneto TRUE Target position reached Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 69 Description of the Function Modules MDX MX SingleAxis directory Input signals The behavior of the function module MC MoveAbsolute MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the motor axis rotation When a rising edge occurs at this input signal the function module starts motor axis rotation Position DINT The input signal Position specifies the target position of the motor axis rotation Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decrease of kinetic energy in the motor Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed
35. MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go Jog mode of a motor axis without encoder 5 4 Jog mode of a motor axis without encoder Task description Programming Step two In this programming example jog mode is to be performed with two motor axis speeds To do this two binary inputs of the controlled MOVIDRIVE MDX60B 61B drive inverter are used for the signals Jog positive and Jog negative The motor axis should turn in jog mode when the DC 24 V voltage is applied at one of the two binary inputs Otherwise the drive must be slowed down The speed of the motor axis should be able to be switched between two values using another binary input The drive is operated by using only the digital inputs The MOVI PLC control evaluates the inputs of the drive inverter and controls the speed of the motor axis Unchanged steps Program steps one three four and seven as described in the previous programming examples Positioning a motor axis and Speed control of a motor axis with encoder Note You do not have to program step five because the MC Power MDX function module must not used for motor axes without encoders Setting the control configuration In the control configuration assign the following identifiers to the digital inputs of the drive inverter MOVIDRIVE MDX60B 61B according to the following figure 1 ibJogPlus MDX1 ibJogMinus MDX1 ibHapidSpeed MDX1 ME PLC
36. Output signals The function module MC SetSync MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the synchronization object was correctly set up Busy BOOL The output signal Busy shows that the synchronization object was set up TRUE The synchronization object is currently being set up FALSE The synchronization object is currently not being set up Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error occurred while setting up the synchronization object FALSE No error has occurred ErrorlD DWORD The output signal ErrorlD displays the error code of the error that occurred see Section Error identifier Note For example the synchronization object is required when using synchronous operation or the electronic cam Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 33 4 Description of the Function Modules MDX MX InverterParameters directory 44 MDX MX InverterParameters directory The MDX MX InverterParameters directory contains function modules required to write and read parameters of the MOVIDRIVE inverter 4 4 4 Function module MC GetDataprofiledData MDX MC GetDataprofiledData MDX Enable BOOL ContentData1 MC DataprofilehMData MDX ContentData2 MC DataprofiledData MDX ContentData3 MC DataprofiledData MDX ContentData4 MC DataprofiledData MDX
37. as it is INFOS_MDX recorded in the MOVI PLC control Only for see note in section Description MOVIDRIVE B MOVIDRIVE B MC INVERTER TechnologyFunction Technology function P78 not to be con INFOS_MX fused with the application version of MOVI PLC Only for 0 Standard MOVIAXIS 1 Electronic cam 2 Internal synchronous operation InverterType Operating mode P700 RampType Ramp type P916 ModuloMode Modulo function P960 PositionWindow Position window P922 SpeedWindow Speed window range width P411 SoftwareLimitSwitchCCW Left software limit switch P921 SoftwareLimitSwitchCW Right software limit switch P920 InterruptEdgeD 02 Interrupt mode DIO2 MDX NOT ENABLED MDX EN Both edges MDX EN Hl Rising edge MDX EN LO Falling edge InterruptEdgeDI03 Interrupt mode D103 see InterruptEdgeDI02 MOVIAXIS see MC_INVERTERINFOS_MX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules 4 MDX MX Supplements directory 4 9 3 Function module MC ReadActualPosition MDX MC ReadActualPosition MDX Enable BOOL Done BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD Position DINT Axis AXIS REF VAR IN OUT 58185AXX Application You can use the function module MC ReadActualPosition MDX on all motor axes If the encoder system set in the control configuration is not connec
38. bus node of the MOVI PLC that is connected to the inverter servo inverter to which the configuration settings refer SBUS NODE 1 CAN 1 connector X33 for DHxx1B X26 for compact control SBUS NODE 2 CAN 2 connector X32 for DHxx1B SBUS Address UINT The input signal SBUS Adaress is used to specify the system bus address of the inverter to which the configuration settings refer UseMoveAbso luteWithoutRefer ence BOOL If this input signal is set to TRUE the function modules MC MoveAbsolute MDX and MC MoveAbsoluteModulo MDX are executed without the drive inverter being referenced Important Unexpected drive movements can occur for unrefer enced axes The input signal UseMoveAbsolute WithoutRefer ence is not used for MOVIAXIS UseExternal Communication Task BOOL The communication between the inverter servo inverter and MOVI PLC is initialized and executed as standard via the func tion module MC ConnectAxis MDX MX To do this assign the input signal UseExternalCommunicationTask to FALSE If the input signal UseExternalCommunicationTask is set to TRUE the inverter communication does not occur via the func tion module MC ConnectAxis MDX MX but via a function mod ule in an external task reserved function SendSource Only for MOVID RIVE B MC_PDO_SENDS OURCE_MDX An additional inverter send object can be created on the system bus independent of the data profile set
39. channel 1 Preq1 8 x SBus address 512 4 Parameter response telegram channel 1 Pres1 8 x SBus address 512 5 Parameter request telegram channel 2 Preq2 8 x SBus address 512 7 Parameter response telegram channel 2 Pres2 8 x SBus group address 6 Group process output data telegram group PA data 8 x SBus group address 7 Unassigned 8 x SBus group address 512 6 Group parameter request telegram GPreg only for SBus group addresses 0 63 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 135 136 e Appendix 1l CAN identifier Identifier of the MPLCMotion MDX MX libraries Identifier to CAN open Identifier Message type 128 Synchronization telegram 129 Virtual encoder 1024 11 x SBus address PDO1 MOVI PLC MDX MX 1024 11 x SBus address 1 PDO2 MDX MX MOVI PLC9 PDO3 MDX MX MOVI PLC 1024 11 x SBus address 2 1024 11 x SBus address 3 PDO4 MDX MX MOVI PLC 1024 11 x SBus address 4 PDO5 MDX MX MOVI PLC 1024 11 x SBus address 5 PDO6 MDX MX MOVI PLC 1024 11 x SBus address 6 PDO10 MDX MX MOVI PLC 1024 11 x SBus address 7 PDO11 MOVI PLC MDX MX 1024 11 x SBus address 8 PDO12 MOVI PLC MDX MX 1024 11 x SBus address 9 Reserved 1024 11 x SBus address
40. depending on the motor connected and the limit values set in the inverter parameters e g P302 Maximum speed These limit values can be lower than the maximum values that can be set in the function modules In this case the function modules do not output error messages As a result lag errors can occur during positioning tasks Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Project Planning and Startup go 3 MOVIAXISQ units and ranges of values 3 6 MOVIAXIS units and ranges of values Units The user defined units for the following sizes can be set as required for the MOVIAXIS servo inverter gt MOVIAXIS MX multi axis servo inverter Travel distance Velocity Acceleration Torque The input and output signals of the function modules of the MPLCMotion Mx library correspond to the set user defined units Ranges of values The maximum permitted ranges of values for the function modules of the MPLCMotion MX library depend on the set user defined units gt MOVIAXIS MX multi axis servo inverter operating instructions MOVIAXIS adjusts the travel tasks to these limit values automatically depending on the motor connected and the limit values set in the servo inverter parameters Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 21 22 Description of the Function Modules General behavior of the function modules Description of the Function Modules This s
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42. function should be switched off so that the inverter can start as soon as possible when enabled with MC QuickEnable MDX MX for MOVIDRIVE B P730 indices 8584 0 and 9833 1 for MOVIAXIS The behavior of the function module MC QuickEnable MDX MX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module is only executed when the input signal Enable is set to TRUE QuickEnable BOOL The input signal QuickEnable is used to switch the inverter servo inverter on and off TRUE The inverter servo inverter is switched on when the input signal QuickEnable is set to TRUE in the operating mode that was active before deactivating enable FALSE The inverter servo inverter is switched off when the input signal Enable is set to FALSE MOVIDRIVE9 B Status 2 MOVIAXIS Status 13 depending on the PowerOffMode input of the function module MC Power MDX MX Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed The function module MC QuickEnable MDX MX has the following output signals Output Type Meaning Done BOOL The output signal Done shows whether the enable command was issued or revoked TRUE Enable command was successfully issued FALSE Enable command was not successfully issued Bu
43. module resets the output signal Active to 122 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go 5 Positioning a motor axis 9 FALSE In this case however the Done output signal remains set to TRUE after posi tioning is complete because the Execute input signal has not been reset to FALSE 5 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 123 5 go Programming Examples Speed control of a motor axis with encoder 5 8 Speed control of a motor axis with encoder Task description When a rising edge of DC 24 V voltage occurs at a binary input of the MOVIDRIVE9 MDX60B 61B drive inverter the connected motor axis should start movement subject to speed control The speed of the motor axis should be able to be switched between two values using another binary input Two inputs should be used to start a braking process with the help of the function module MC Stop MDX or MC AxisStop MDX The drive is operated by using only the binary inputs The MOVI PLC control evaluates the binary inputs of the drive inverter and controls the speed of the motor axis Programming Unchanged steps Program steps one three four five and seven as described in the previous program ming example Positioning a motor axis Step two Setting the control configuration In the control configuration assign the identifiers Power MDX1 and Move MDX1 as well as the following ident
44. movement the status Stopping must first be revoked by resetting the input signal Execute of the MC AxisStop MDX function module to FALSE As soon as the condition is fulfilled the motor axis starts movement with speed control again when a rising edge occurs at the input signal Execute of the MC MoveVelocity MDX function module 4 A braking process is restarted when a rising edge occurs at the input signal Execute of the MC AxisStop MDX function module 5 However in this case the MC MoveVelocity MDX function module does not set the CommandAborted output signal to TRUE because the Execute input signal has already been reset to FALSE When the ibRapidSpeed_MDX1 signal is changed from TRUE to FALSE the input sig nal Execute of the MC MoveVelocity MDX function module is reset to FALSE 6 The reset is caused by the comparison module EQ in the control program during a control cycle The rising edge in the following control cycle activates the speed control with the new slower setpoint speed Accordingly the motor axis turns at the higher speed again when the ibRapidSpeed MDX1 signal is changed to TRUE 7 The braking process started by a rising edge at the input signal Execute of the MC AxisStop MDX function module can be cancelled by a rising edge at the input signal Execute of the MC Stop MDX function module Consequently the braking pro cess is executed using the brake ramp set in the parameters of the drive inverter 8 Manual
45. output signal Error shows whether an error occurred in the function module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal ErrorlD shows the error code of an error that occurred Section Error identifier TouchProbePos DINT The output signal TouchProbePos shows the touch probe position of the selected encoder system Counter DINT The output signal Counter shows the number of touch probe interrupt events that have occurred 102 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Supplements directory 4 9 2 Function module MC Getlnverterlnfos MDX MX Enable BOOL MC Getlnverterinfos MDX Done BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD InverterInfos MC INVERTERINFOS MDX Axis AXIS REF VAR IN OUT 59770AXX Application You can use the function module MC Getlnverterlnfos MDX MX on all motor axes Description The function module MC Getlnverterlnfos MDX MX shows settings of the inverter at the InverterInfos output The data of the output signal nverterlnfos is not read by the inverter The data corre sponds to the known settings in the MOVI PLC control If you change the inverter pa rameters contrary to the warning notes in section 3 3 and 3 4 this can lead to unfore seeable operating states a
46. parameter Use the function module MC AxisStop MDX MX to interrupt motor axis rotations during standard processes Use function module MC Stop MDX MX to apply the brake on the motor axis with the highest possible deceleration Note The MOVIDRIVE B display changes to the A status position control during the brak ing process The MOVIDRIVE B display changes to status 2 before changing to status A when the braking process is triggered by MC Stop MDX The MOVIAXIS display changes to status 14 emergency stop during the braking process triggered by the function module MC Stop MX It changes again to the status before the braking process 5 or 9 after reaching standstill The MOVIAXIS display does not change when the braking process is triggered by the function module MC AxisStop MX i e it remains at 5 or 9 The brake is not applied when braking using MC AxisStop MDX MX or MC Stop MDX MX For example MC Power MDX MX with Enable FALSE must be called if the brake is to be applied Section 4 5 2 The motor axis remains in the PLCopenState STOPPING output signal of the function module MC ConnectAxis MDX MX as long as the input signal Execute of the function module MC Stop MDX MX or MC AxisStop MDX MX is set to TRUE This means a motion task for a subsequent movement cannot be performed To be able to leave the PLCopenState STOPPING the input signal Execute of the func tion module must be reset to FA
47. parameter was correctly transferred TRUE The parameter has been transferred successfully from the MOVI PLC control to the drive inverter e FALSE Parameter not yet fully written Busy BOOL The output signal Busy shows whether the parameter is being trans ferred TRUE The parameter is currently being transferred FALSE The parameter is currently not being transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during parameter transfer FALSE No error has occurred ErronD DWORD The output signal ErrorID shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX InverterParameters directory 4 4 8 Function module MC SetHomeParameters MDX MX Application Description Effect Input signals MC SetHomeParameters MDX Execute BOOL Done BOOL RefSpeed1 DINT Busy BOOL RefSpeed2 DINT Error BOOL RefType DINT ErrorlD DWORD ZeroPulse BOOL Axis AXIS_REF VAR_IN_OUT Axis AXIS_REF VAR_IN_OUT 58180AXX You can use the function module MC SetHomeParameters MDX MX on motor axes with encoders The function module MC SetHomeParameters MDX MX is used to set the parameters that are required for the motor axis to perform refere
48. parameters are overwritten with their input signals while executing the motion function module The behavior in conjunction with the function module MC QuickEnable MDX MX is described in the section Func tion module MC QuickEnable MDX MX in the Influence subsection Input signals The behavior of the function module MC SetDynamics MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute starts the task of the function module When a rising edge occurs at this input signal the function module changes the dynamic parameters of the motor rotation according to the input signals Velocity Acceleration and Deceleration Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decrease of kinetic energy in the motor Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX InverterParameters directory Output signals The function module MC SetDynamics MDX MX has the following output signals Output signal Type
49. signal Enable The input signal Axis is adopted when a rising edge occurs at the input signal Enable or after meeting the requirements for the execution of the function module All other input signals are read with the input sig nal Enable TRUE for each call up of the function module and adopted according to the input signal CycleTime Velocity DINT The input signal Velocity specifies the target setpoint speed of the motor axis rotation Unit rpm maximum setting range 6000 6000 Acceleration DINT The input signal Acceleration specifies the ramp time for the accelera tion to a speed increased by 3000 rpm increase of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Deceleration DINT The input signal Deceleration specifies the ramp time for deceleration to a speed lowered by 3000 rpm reduction of kinetic energy in the motor Unit ms maximum setting range 0 2000000 CycleTime TIME Minimal cycle time in which the values Velocity Acceleration and Deceleration are transferred to the inverter The values are only trans ferred when a change is made The resulting bus load can be reduced and specified using the input signal CycleTime Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC D
50. signals Output signal Type Meaning Status BOOL The output signal Status shows whether the inverter is switched on or off TRUE The inverter is switched on inverter status for MOVIDRIVE B A or 5 for MOVIAXIS 9 or 5 depending on the Set operating mode FALSE The inverter is switched off inverter status for MOVIDRIVE B 1 or 2 for MOVIAXIS 1 or 13 depending on the PowerOffMode input signal Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the execution of the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier To be able to switch on the inverter using the function module MC Power MDX MX you must set the binary input DIOO MOVIDRIVE B B CONTROLLER INHIBIT MOVI AXIS9 OUTPUT STAGE ENABLE Additional binary input parameters set to Enable Stop or Hold control must be switched accordingly Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 63 64 Description of the Function Modules MDX MX Main directory 4 5 4 Function module MC QuickEnable MDX MX Application Prerequisites Description MC QuickEnable MDX Enable BOOL Done BOOL QuickEnable BOOL Busy BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD D
51. 11 8 05 12 58 0 MPLCSystem DHP118 lib 11 8 05 12 58 10 E library MPLCSystem_DHP118 ib 11 8 05 1258 10 MPLCInterface_MoviLink lib 11 8 05 12 58 09 Map INPUT library MPLCSystem ErrorCodes lib 11 8 05 12 58 ESI LC BOL Signal to detect m library standard lib 11 8 05 12 58 10 global variable DT NENNEN 21x oil E library SysLibCallback lib 11 8 05 12 58 10 global x Suchenin E Lib MOVIPLC basic DHPTIB sl EI c ES E MPLCDatatypes lib amp MPLCInterface MoviLink lib amp MPLCHandling_MDX lib i MPLCInterFace_Profibus lib MPLCInterface CAN lib amp MPLCIntern lib MPLCInterface COM lib H MPLCIntern old lib MPLCInterface DigitallO lib H MPLCMotion MCO7 lib MPLCInterface DPRAM lib OX 8 Alarm configuration 1 e Emm PLC Configuration Sampling Trace Target Settings E Task configuration a Watch and Recipe Manager i3 Workspace Dateiname MPLCMotion MDX ib 9 BO0L Dateityp PLCEditor Library ib v Abbrechen Library directory C Programme Gemeinsame Dateien SEW T argets Km E Pous 3 Data types E ONLINE OV READ 58290AXX 1 Activate by double clicking the entry Library Manager 1 2 Use the right mouse button to click in the library field 2 Select the Additional library menu item A window opens for selecting the library 3 3 Select the MPLCMot ion_MDX 1ib library 4 and click the Op
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53. Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC SetModuloParameters MDX MX has the following output sig nals Output signal Type Meaning Done BOOL The output signal Done shows whether all parameters were correctly transferred TRUE All parameters have been transferred from the MOVI PLC control to the inverter successfully FALSE Parameter not yet fully written Busy BOOL The output signal Busy shows whether the parameters are being transferred TRUE The parameters are being transferred FALSE The parameters are not being transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the transfer of the parame ters FALSE No error has occurred ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Main directory 45 MDX MX Main directory The MDX MX Main directory includes function modules for the management of e Communication between the MOVI PLC control and the MOVIDRIVE MDX60B 61B inverters Inverters e g enable reset 4 5 1 Function module MC ConnectAxis MDX MX Application Prerequisites MC ConnectAxis MDX Enable
54. AxisStop_1 Execute Var B fbStop_1 Execute v ar 7 CE x current configuration This is the current trace configuration of the project Omp 550 ms3100 n s 4650 rhs6200 ms7750 s 3obns de 200 58305AXX The motor axis starts speed control when a rising edge occurs at the input signal Exe cute of the MC MoveVelocity MDX function module 1 The function module sets the output signal Active to TRUE until the setpoint speed is reached When the setpoint speed is reached the output signal Active is reset to FALSE and the output signal InVelocity not shown in the time diagram is set to TRUE Due to a rising edge at the input signal Execute of the MC AxisStop MDX function mod ule the motor axis executes a braking process with the deceleration speed defined at the input signal Deceleration of the MC MoveVelocity MDX function module 2 The MC MoveVelocity MDX function module shows the cancellation of the speed control task by setting the CommandAborted output signal to TRUE Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 127 5 128 qu Programming Examples Speed control of a motor axis with encoder While the input signal Execute of the MC AxisStop MDX function module is still set to TRUE another rising edge occurs at the MC MoveVelocity MDX function module AL though the braking process was already complete the motor axis does not move To restart
55. BOOL Done BOOL Node CAN NODE Error BOOL SBUS Address UINT ErrorlD DWORD Axis AXIS_REF DebugInfo MC DEBUGINFO MDX PLCopenState MC PLCOPENSTATE InverterData MC INVERTERDATA MDX 58200AXX You can use the function module MC ConnectAxis MDX on all motor axes To ensure that communication between the MOVI PLC control and the MOVIDRIVE MOVIAXIS does not terminate a different instance in each program cycle must be called for each motor axis Note If the function module MC ConnectAxis MDX is not cyclically called up the inverter is sues a communication error F46 for MOVIDRIVE B E67 for MOVIAXIS and chang es to the No enable state The following prerequisites must be fulfilled to establish communication between the MOVI PLC control and a MOVIDRIVE B via the function module MC ConnectAxis MDX The system bus address set at the function module MC ConnectAxis MDX and in the control configuration must match the address set in the inverter parameters P881 for SBus 1 connector X12 The baud rate set in the control configuration must match the baud rate set in the in verter parameters P884 for SBus 1 connector X12 The startup assistant helps you to set these parameters Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 53 54 Description Settings Description of the Function Modules MDX MX Main directory The following prerequisites must be fulfille
56. C TouchProbe MDX MX is called up by setting the Enable input signal to TRUE The inverter is initialized with the values at the other inputs of the function module and starts a touch probe interrupt routine The function module MC TouchProbe MDX MX sets the output signal Enabled to TRUE 2 The touch probe event has occurred The function module MC TouchProbe MDX MX sets the output signal EdgeDetected to TRUE The function module MC TouchProbe MDX MX outputs the touch probe posi tion of the selected encoder system at the output signal TouchProbePos The function module MC TouchProbe MDX MX increases the value of the out put signal Counter by one Monitoring of the binary output TouchProbe is restarted in the next control cycle The output signal EdgeDetected is set to FALSE The behavior of the function module MC TouchProbe MDX MX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module MC TouchProbe MDX MX The function module is only executed when the input signal Enable is set to TRUE The values of other input signals of the function module are only read when a rising edge occurs at the input signal Enable Source MC TP The input signal TouchProbeSource specifies the encoder system SOURCE This setting is made independent of the setting in the control configu _MDX ration MDX_X15 A motor encoder measures the p
57. ConnectAxis MX with the binary inputs The default setting of the bits of the control word 1 is No function In this setting he binary inputs of the MOVIAXIS can be freely used in the program of the MOVI PLC control without additional functions They appear in the control configuration of the MOVI PLC control In addition you can assign the individual bits of control word 1 in the parameter tree or in the PDO editor with special functions e g CW limit switch e mportant reference parameters are set using the function module MC_SetHomeParameters_MX You can set additional reference parameters in the parameter tree FCB12 or using the function module MC WriteParameter MX gt section Function module MC SetHomeParameters MX n addition ongoing activities must only be performed by trained personnel as man ual changes can lead to unforeseeable operating states that can cause death or serious injury to personnel Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 19 3 20 g Project Planning and Startup MOVIDRIVE B units and ranges of values 3 5 MOVIDRIVE B units and ranges of values Units Ranges of values The function modules of the MPLCMot ion_MDx library use the following units for their input and output signals Positions in increments incr 4096 increments correspond to a 360 rotation of the motor axis Modulo positioning in modulo increments incr 216 modulo increments corr
58. DINT The input signal Deceleration specifies the ramp time for deceleration to a speed lowered by 3000 rpm reduction of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed The function module MC MoveVelocitySensorless MDX has the following output signals Output signal Type Meaning InVelocity BOOL The output signal nVelocity shows whether the motor axis turns at the target setpoint speed TRUE The motor axis turns at the speed specified by the input signal Velocity FALSE The motor axis is accelerated to reach the target setpoint speed Active BOOL The output signal Active shows whether the motor axis is accelerated to reach the setpoint speed TRUE The motor axis is accelerated or decelerated FALSE The motor axis is not accelerated or decelerated Command Aborted BOOL The output signal CommandAborted shows whether the task of the function module has been cancelled TRUE The task of the function module has been cancelled FALSE The task of the function module has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module
59. DX MX differs from the behavior described here For de tails please refer to the description of this function module Function modules that are activated by the input signal Execute typically perform an action once e g MC ReadParameter MDX MX A positive edge change at the Execute input starts the action The output signals remain in effect until the input signal Execute is reset to FALSE fall ing edge or the function module is cancelled However if the input signal Execute is reset to FALSE before the action is completed the output signals remain in effect for at least one more control cycle after the action has been concluded If a rising edge occurs at the Execute input the values of the input signals are adopted for the action Changing the input signals during the action has no effect Another rising edge signal is required at the Execute input to adopt the modified values Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules General behavior of the function modules Output signal Done In Velocity Output signal Active Output signal Busy Output signal Command Aborted The function module sets the output signal Done or InVelocity to TRUE once the action of the function module has been executed successfully Some function modules maps the conditions n Position discrete motion tasks or Speed reached continuous motion tasks of the drive inverter to the o
60. Deceleration specifies the braking deceleration decrease of kinetic energy in the motor Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC MoveRelativeModulo MDX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the motor axis has been posi tioned e TRUE The motor axis has performed the rotation The motor axis has reached the target position window FALSE The motor axis has not completed the rotation The motor axis has not yet reached the target position window Active BOOL The output signal Active shows whether the motor axis is turning to reach the target position window e TRUE The motor axis is rotating FALSE The motor axis is not rotating Command Aborted BOOL The output signal CommandAborted shows whether another function module has cancelled the task of the function module TRUE Another function module has interrupted the task of the function module FALSE The task of the function module has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorID DWORD The output signal
61. EncoderType MDX MX 42 MC SetHomeParameters MDX MX 49 MC SetJerk MDX MX essessesee 44 MC SetLimiter MDX MX esses 46 MC SetModuloParameters MDX MX 51 MC SetSync MDX MX sssseeene 32 MC StopSensorless MDX 86 MC TouchProbe MDX MX 100 MC WriteParameter MSN nsec 38 FUNCIONS toot ee dieere th e te etes 7 l Input signal Enable iot OE AU 22 Execute iue 22 Installing the libraries 116 L Libraries required sese 9 Literature additional seseesssss 7 N No enable RIA eec nur 25 Notes important 0 cccccceeceeeseeeeeeecceeeeeeeeeeteees 5 O Output signal AC IVO i idee et 23 LEE 23 CommandAborted ooseseennannaaneeoeenanaanaan 23 DOnG es citet os AE 23 Lie 25 Overview of additional libraries 11 Overview of the MPLCMotion MDX library 9 P Positioning the motor axis 120 Prerequisites Control topology s 13 Firmware version MOVI PLC Motion library 12 MOVIAXIS cccccccccscccccccececcscsestaaeseseeeeeeeeeees 13 MOVIDRIVE D 12 PC and software sse 12 Programming examples s 111 Prerequisites for project planning 12 Programming example Jog mode of a motor axis without e
62. FALSE The motor axis has not completed the rotation The motor axis has not yet reached the target position window Active BOOL The output signal Active shows whether the motor axis is turning to reach the target position window TRUE The motor axis is rotating FALSE The motor axis is not rotating Command BOOL The output signal CommandAborted shows whether another function Aborted module has cancelled the task of the function module TRUE Another function module has cancelled the task of the function module FALSE The task of the function module has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 73 74 Description of the Function Modules MDX MX SingleAxis directory 4 6 4 Function module MC MoveRelative MDX MX Application Prerequisites Description Effect MC MoveRelative MDX Done Active CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58165AXX You can use the function module MC MoveRelative MDX MX on all motor axes with encoders
63. Function module MC MoveVelocity MDX MX Application Prerequisite Description Cancellation Effect MC MoveVelocity MDX InVelocity BOOL Active Acceleration DINT CommandAborted Deceleration DINT Error Axis AXIS REF VAR IN OUT ErrorlD DWORD Axis AXIS REF VAR IN OUT 58162AXX You can only use the function module MC MoveVelocity MDX MX on motor axes with encoders For the function module MC MoveVelocity MDX to be executed for MOVIDRIVE B the motor axis must be assigned the status STANDSTILL or CONTINUOUS MOTION in PLCopenState output signal of the function module MC ConnectAxis MDX For the function module MC MoveVelocity MX to be executed for MOVIAXISS the motor axis must be assigned the status STANDSTILL CONTINUOUS MOTION or DISCRETE MOTION in PLCopenState output signal of the function module MC ConnectAxis MX The function module MC MoveVelocity MDX MX starts continuous rotation of a motor axis The input signals Velocity Acceleration and Deceleration determine the dynamic behav ior of the rotation The speed control triggered by the function module MC MoveVelocity MDX MX is can celled by the function modules MC Stop MDX MX and MC AxisStop MDX MX Section 4 1 Set the speed window to the target setpoint speed for the output of the signal TRUE at the output In Velocity using the following parameters MOVIDRIVE B in the startup assistant P411 Range width gt Sec
64. IMITER_MDX ENUM ig MC_MODULOMODE_MDX ENUM Debualnta ig MC_POWEROFFMODE_MDX el 3 PLCopenState InverterData 3stData Ais Iv Structured 1 58220AXX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go Step five Positioning a motor axis Programming the switch on off procedure for the inverter Insert a function module that switches the MOVIDRIVE MDX60B 61B inverter on off The drive inverter can only be switched on if the MC_ConnectAxis_ MDX function mod ule for this axis has already been executed SEW EURODRIVE recommends only switching on the inverter when the DC 24 V voltage is applied at the binary input D 0O7 Therefore the corresponding signals are linked with each other using an AND module 2 ZSIPLCEditor Example Positioning MDX pro PLC PRG PRG FBD lo x UT He Edit Project Insert Extras Online Window Help 81 xj e lgl esc EXE A Bea Im z A EJE e ntl zl nt 0001 PROGRAM PLC PRG J POUs Q002 vAR 38 0003 foConnect amp xis 1 MC Connect amp xis MDX 0004 foPower 1 MC Power MDX DDOSEND VAR nnngl ind l n Eeer fbConnectAxis_1 1 4 foPower 1 MC Connect amp xis MDX AND MC Power MDX po TRUE Enable Done Enable Status SBUS NODE 1 Node Error ibPower_MDX1 MDX_CTRL_INHIBIT PowerOfMode Error
65. IVE MDX60B 61B MOVIAXIS MOVITRAC 07 B MOVIMOT fieldbus interface CANopen MFO required Inverters controlled via the MPLCProcessdata library e g MOVIDRIVE A Note the following prerequisites for MOVI PLC basic DHP11B Connect a maximum of six inverters to one system CAN bus When connecting up to three inverters to one system CAN bus Set the baud rate of the system CAN bus to 500 kbit s When connecting four to six inverters to one system CAN bus Set the baud rate of the system CAN bus to 1000 kBit s when the fastest possible data transfer rate is required Important The technical characteristics given in this section only apply when no other CAN bus stations are active on the system CAN bus used to control the inverters servo inverters Do not connect any other CAN bus stations to the system CAN bus on which inverters are controlled by the libraries listed in Overview of additional libraries for the MOVI PLC control Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 13 3 14 ag Project Planning and Startup 9 Communication times 3 2 Communication times MOVIDRIVE B SSI encoder All MOVIDRIVE MDX60B 61B MOVIAXIS units connected to the MOVI PLC control send their current actual values to the MOVI PLC control The cycle time for the transfer of the actual values is dependent on the data profile that is set in the control con figuration fo
66. LCMotion MX Libraries for MOVI PLC 83 84 Description of the Function Modules MDX SingleAxisSensorless directory 47 MDX SingleAxisSensorless directory The MDX MX SingleAxisSensorless directory contains function modules that enable motion tasks for a motor axis or encoder 4 7 1 Function module MC MovevVelocitySensorless MDX Application Prerequisites Description Cancellation MC MoveVelocitySensorless MDX Execute BOOL InVelocity BOOL Velocity DINT Active Acceleration DINT CommandAborted Deceleration DINT Error Axis AXIS REF VAR IN OUT ErrorlD DWORD Axis AXIS REF VAR IN OUT 58172AXX You can use the function module MC MoveVelocitySensorless MDX only on motor axes without encoders Note Motor axes without encoders under 15 rpm show a very small maximum torque Small external forces can cause a considerable deviation from the target speed in this speed range For the function module MC MoveVelocitySensorless MDX to be executed the motor axis must be assigned STANDSTILL or CONTINUOUS MOTION or STOPPING in PLCopenState output signal of the function module MC ConnectAxis MDX The function module MC MoveVelocitySensorless MDX triggers continuous rotation of a motor axis without encoder The input signals Velocity Acceleration and Deceleration determine the dynamic behav ior of the rotation The speed control triggered by the function module MC MoveVelocitySenso
67. LSE in at least one call up of the function module You cannot use the function module MC AxisStop MDX MX in synchronous or cam disk mode If MC AxisStop MDX MX is still executed the output signal Error is set to TRUE You can use MC Stop MDX MX in synchronous or cam disk mode The braking movement triggered by the function module MC AxisStop MDX MX is only cancelled by the function module MC Stop MDX MX the input signal Execute of the function module MC AxisStop MDX MX must have already been reset to FALSE Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory Effect Input signals Output signals The task of the function module MC StopMDX MX is not cancelled by a task of differ ent function modules MOVIDRIVE B The braking movement triggered by the function module MC AxisStop MDX is executed using ramp t11 set in the parameters P130 and P133 of the inverter The parameters P131 133 are described by the function module MC MoveVelocity MDX MC MoveTargetSpeed MDX and MC SetDynamics MDX input signal Deceleration The braking movement triggered by the function module MC Stop MDX is executed us ing stop ramp t13 of the inverter set in parameter P136 of the inverter MOVIAXIS The braking movement triggered by the function module MC Stop MX is executed using emergency stop ramp set in index 9576 1 The behavior of the function modu
68. MC HomeEnable MDX MX Application Prerequisites Description Effect MC HomeEnable MDX Enable BOOL Referenced RefOffset DINT Active Axis AXIS REF VAR IN OUT Stopped CommandAborted Error ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 59375AXX You can only use the function module MC HomeEnable MDX MX on motor axes with encoders For the function module MC HomeEnable MDX MX to be executed the motor axis must be in PLCopenState Standstill output signal of the function module MC ConnectAxis MDX MX The axis must also be enabled for all reference travel types except type 8 The function module MC HomeEnable MDX MX starts the reference travel of a motor axis when the input signal Enable is set to TRUE The function module issues the signal TRUE at the Error output as long as the requirements are not met In contrast to the function module MC Home MDX MX a rising edge is not needed after the require ments are met when using function module MC HomeEnable MDX MX The signal TRUE at the input Enable is sufficient for the reference travel of the motor axis to start After reference travel the function module sets the position of the motor axis to the value specified by the input signal RefOffset In contrast to the execution of function modules MC Stop MDX MX or MC AxisStop MDX MX the motor axis remains in the PLCopenState HOMING during a brake movement triggered by a falling edge at the input signal E
69. MX or MC HomeEnable MDX MX sets the output signal CommandAborted to TRUE The reference travel is only interrupted when the enable CW CCW stop hold control or triggering of the safety stop enable is revoked After the interruption the motor con tinues the reference travel When 24 V operation is activated the function module that currently controls the move ment of the motor axis cancels the travel task The function module sets the output sig nal CommandAbortedto TRUE As soon as the axis is at a standstill the STANDSTILL state is reached output signal PLCopenState of the function module MC_ConnectAxis_MDX Section State diagram The MOVIDRIVE inverter implements motion function blocks of the type CONTINUOUS_MOTION in one of the following operating modes e VFC n control e CFC control e SERVO control The MOVIDRIVE B implements motion function DISCRETE_MOTION in one of the following operating modes VFC n control IPOS positioning CFC control IPOS positioning SERVO control IPOS positioning The MOVIDRIVE B does not allow an on the fly changeover that is without a control ler inhibit in all operating modes However standard behavior for all operating modes is required blocks of the type Therefore changeover is not possible when the motor axis is rotating In this case the respective error message is output at the function module The MPLCMot ion_Mx library supports the switch between DISC
70. Modulo MDX Done Active CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58166AXX Application Function module MC MoveRelativeModulo MDX can only be used on motor axes with encoders Prerequisites e For the function module MC MovehRelativeModulo MDX to be executed for MOVIDRIVE B the motor axis must be assigned the status STANDSTILL or DISCRETE MOTION in PLCopenState output signal of the function module MC ConnectAxis MDX The function module MC SetModuloParameters MDX must first be executed for this motor axis Description The function module MC MoveRelativeModulo MDX starts the movement of a motor axis at a specified distance in modulo format The input signals Velocity Acceleration and Deceleration determine the dynamic be havior of the rotation The motor axis remains at the target position subject to position control Note Set the required gear unit and encoder data using the function module MC SetModuloParameters MDX Effect The following parameters of the MOVIDRIVE MDX60B 61Bhave a direct effect on the execution of the function module MC MoveRelative MDX You can use parameters P916 Hamp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC SetJerk MDX to set these pa rameters Use parameter P922 Positioning window to set the positioning window to the targ
71. N address 3 RX PDO 1 also uses CAN identifier 515 If the DPRAM between the drive inverter and the MOVI PLC control card installed in it is activated Setting control configuration set the parameter P885 Synchro nization ID SBus1 and P895 Synchronization ID SBus2 of this drive inverter to the identifier values that are not used by a CAN telegram on the respective CAN line of the drive inverter 6 3 MOVIDRIVE B system variables System variables HO H900 of the MOVIDRIVE B is reserved for use with the MPLCMotion MDX library System variables H901 H1023 can be used Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 137 Index 1 Index A Application examples ssessssss 8 Areas of application sss 8 C Communication times cccccesecseceeeeeeeeeeeenees 14 Controller inhibit trece e roh 25 Creating a project sssssseees 113 D Description ce eroe re ee renes 7 Directory MDX MX Config eese 29 MDX MX Inverter Parameters 34 MDX MX Main esses 53 MDX MX SingleAxis sss 67 MDX MX SingleAxisSEW 89 MDX MX Supplements 100 MDX SingleAxisSensorless 84 Discrete motion continuous motion 26 E Error codes General IEG scene eise 109 MPCLMotio
72. OR The required CAN ID is occupied FB0032h E_MDX_CONNECTAXIS_CYCLIC_COMMUNICATION The cyclical communication between the MOVI PLC control and the inverter has been interrupted FB0033h E_MDX_CONNECTAXIS_IPOS_DOWNLOAD_ERROR Error during IPOS download FB0034h E_MDX_CONNECTAXIS_WRONG_DEVICE_CONNECTED An incorrect unit is connected Check the control con figuration FB0036h E MDX CONNECTAXIS WRONG MDX FIRMWARE VERSION MOVIDRIVE B with firmware version 16 or MOVIAXIS with firmware version 20 is required when using the MPLCMotion MDX MX library FBOO60h E MDX POWER INVERTER NOT READY The inverter is assigned the status 24V operation or Safe stop It cannot be switched on FBOO61h E_MDX_POWER_INVERTER_FAULT_STATE The inverter is in error status It cannot be switched on FB0070h E MDX MOTIONBLOCK INVALID DATA PROFIL A motion function module cannot be executed from the current PLCopenState Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 109 110 Description of the Function Modules Error ID Error Error Error code designation description FB0071h E MDX MOTIONBLOCK LOG ADR NOT INITIALIZED A motion function module was opened before MC ConnectAxis MDX MX generated a logical address AXIS REF FB0072h E MDX MOTIONBLOCK INVALID LOG ADR A motion function module was called up with a
73. OUT ErrorlD DWORD Axis AXIS REF VAR IN OUT 59372AXX You can use the function module MC MoveTargetSpeed MDX MX only on motor axes with encoders For the function module MC MoveTargetSpeed MDX to be executed for MOVIDRIVE B the motor axis must be assigned the status STANDSTILL or CONTINUOUS MOTION in PLCopenState output signal of the function module MC ConnectAxis MDX e For the function module MC MoveTargetSpeed MX to be executed for MOVIAXISS the motor axis must be assigned the status STANDSTILL DISCRETE MOTION or CONTINUOUS MOTION in PLCopenState output signal of the function module MC ConnectAxis MX The function module MC MoveTargetSpeed MDX MX executes continuous rotation of a motor axis when the input signal Enable is set to TRUE The function module issues the signal TRUE at the Error output as long as the requirements are not met In contrast to the function module MC MoveVelocity MDX MX a rising edge is not needed after the requirements are met when using function module MC MoveTargetSpeed MDX MX The signal TRUE at the input Enable is sufficient for the rotary motion to start In contrast to the execution of function modules MC Stop MDX MX or MC AxisStop MDX MX the motor axis remains in the PLCopenState CONTINUOUS MOTION during a brake movement triggered by a falling edge at the in put signal Enable Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 89 90 Effect Input
74. OVITOOLS MotionStudio software For more information refer to the online help of the MOVITOOLS MotionStudio soft ware 5 1 Prerequisites To be able to test the created programs with a motor axis the following prerequisites must be fulfilled The MOVI PLC control and a MOVIDRIVE MDX60B 61B drive inverter with a con nected motor are installed according to the instructions in the relevant manuals Note that a motor with encoder is required for positioning A system bus connection is installed correctly between the CAN 1 connection of the MOVI PLC control and the CAN 1 connection of the MOVIDRIVE MDX60B 61B drive inverter in accordance with the instructions in the relevant manuals When the MOVI PLC control communicates with the drive inverter via the backplane connec tor you do not need the system bus connection via the CAN 1 connection The engineering PC is connected correctly to the MOVI PLC control in accordance with the instructions in the relevant manuals The interface of the engineering PC is configured correctly You used the startup assistant to startup the MOVIDRIVE MDX60 B61B drive inverter to be controlled with a MOVI PLC control Section 3 3 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 111 5 112 go Programming Examples 9 Positioning a motor axis 5 2 Positioning a motor axis Task description Sub tasks When a rising edge of DC 24 V occurs at
75. RETE MOTION and CONTINUOUS_MOTION function modules Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules State diagram 42 State diagram In accordance with the execution of the function modules of the MPLCMot ion_MDX MX libraries the MOVI PLC control is always in a defined state with reference to a motor axis The current state can be read at any time at the output signal PL CopenSiate of the function module MC_ConnectAxis_MDX MX or at the output signals of the function module MC_ReadStatus_MDX The following diagram shows which function modules can be executed in the various states and the state transitions that they cause MC MoveAbsolute MX MC MoveModulo MX MC MoveRelative MX MC MoveTargetPosition MX MC MovevVelocity MX MC MoveTargetSpeed MX MC MoveAbsolute MDX MX MC MoveAbsoluteModulo MDX MC MoveRelative MDX MX MC MoveRelativeModulo MDX MC MoveTargetPosition MDX MX MC MoveTargetSpeedSensorless MD MC MoveModulo MX A DISCRETE_ MOTION MC_AxisStop_MDX MX MC_Stop_MDX MX MC_AxisStopSensorless_MDX MC_StopSensorless_MDX MC_MoveAbsolute_MDX MX MC_MoveAbsoluteModulo_MDX MC_MoveRelative_MDX MX MC_MoveRelativeModulo_MDX MC MoveTargetPosition MDX MX MC MoveModulo MX MC MoveVelocity MDX MX 4 MC MoveTargetSpeed MDX MX MC MoveVelocitySensorless MDX 4 MC_MoveVelocitySensorless_MDX MC_MoveTargetSpeedSensorless_MDX
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77. SE when one of the output signals Done Jo Velocity Error or CommandAborted is set to TRUE The output signal Busy only exists for function modules that require several control cycles for execution and that do not control any movements of the motor axis The function module sets the output signal Busyto TRUE as long as the function module is executed The function module resets the output signal Busyto FALSE when one of the output sig nals Done or Error is set to TRUE The output signal CommandAborted only exists for function modules that control a movement of the motor axis The function module sets the output signal CommandAborted to TRUE when its execu tion is cancelled by another function module or by another instance of the same function module when both control the same motor axis Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 23 Description of the Function Modules General behavior of the function modules Otherwise the active function module is cancelled for e DC 24 V operation Inverter errors Communication errors This means that the cancelled task of the function module is no longer executed after wards When the cancelled function module sets the output signal CommandAbortedto TRUE it resets the output signals Done or In Velocity and Active to FALSE The function module resets the output signal CommandAborted to FALSE by setting a falling edge at the in put signal Execut
78. WORD 59368AXX You can only use the function module MC QuickEnable MDX MX on motor axes with encoders The motor axis must be enabled using the function module MC Power MDX MX input signal Enable TRUE before using the function module MC QuickEnable MDX MX When executing this function module an enable request or enable revoke is immediate ly sent to the inverter servo inverter depending on the assignment of the input signals In contrast the enable request or enable revoke is executed after the next execution of the function module MC ConnectAxis MDX MX in the inverter when using the function module MC Power MDX MX If the function module MC QuickEnable MDX MX is first called with the input signals Enable TRUE and QuickEnable FALSE and a travel task is then started the inverter starts the travel task directly after the following call up of the function module MC QuickEnable MDX MX with both input signals TRUE The immediate cancella tion of a travel task and its subsequent continuation is also possible using MC QuickEnable MDX MX To do this you must assign the input signal QuickEnable to FALSE or TRUE for the corresponding call up procedures Notes The function module MC QuickEnable MDX MX has been optimized for short re sponse times As a single function module of the MPLCMotion MDX MX library it can also be executed in another task for example one that is faster than the other function modules
79. a digital input of the connected MOVIDRIVE MDX60B 61B drive inverter the connected motor axis should turn 10 revolutions clock wise and be positioned The drive is operated by using only the digital inputs The MOVI PLC control evaluates the inputs of the drive inverter and controls the positioning of the motor axis The programming example is divided into the following sub tasks 1 Creating a new project Setting the control configuration Installing the required libraries Programming the communication with the motor axis Programming the switch on off procedure for the drive inverter Programming the positioning process for the motor axis Transferring the project to the MOVI PLC control ON OOF CQ Tm Testing the program Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go Step one Positioning a motor axis Creating a new project 1 2 Switch on the engineering PC and the MOVI PLC control Start the PLC editor of the MOVITOOLS MotionStudio software in accordance with the instructions in the section Starting MOVITOOLS MotionStudio in the MOVI PLC manual Create a new project To do this select the menu item File NEW Select the configuration of your MOVI PLC in the dialog Target system settings MOVIPLC basic DHP11B in this program example Now press the lt OK gt button The New POU window opens following screenshot
80. as long as the requirements are not met In contrast to the function module MC MoveVelocitySensorless MDX a rising edge is not needed after the requirements are met when using function module MC MoveTargetSpeedSensorless MDX The signal TRUE at the input Enable is suffi cient for the rotary motion to start n the speed control status motor axes without encoders can only be operated at speeds under 15 rpm with a very small maximum torque n contrast to the execution of function modules MC StopSensorless MDX or MC_AxisStopSensorless MDX the motor axis remains in the PLCopenState CONTINUOUS MOTION during a brake movement triggered by a falling edge at the input signal Enable Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 97 98 Description of the Function Modules MDX MX SingleAxisSEW directory Input signals The behavior of the function module MC MoveTargetSpeedSensorless MDX is depen dent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module for movement with the target speed input signal Velocity is only executed when the input signal Enable input is set to TRUE When a falling edge is at the input signal Enable the axis is decelerated until standstill with the braking deceleration that is applied at the input signal Deceleration for the falling edge of the input
81. as required Warning Depending on the terminal assignment the inverter status and the control program the motor axis can begin to move immediately after the MOVI PLC control has been start ed To prevent risk of injury keep sufficient distance from all moving parts Turn on the MOVIDRIVE MDX60B 61B inverter if it was not already switched on in step one in connection with the MOVI PLC control Start the MOVI PLC control To do this select the menu item Online Start Turn on the inverter Apply the DC 24 V voltage first to binary input DIOO Controller in hibit and then to binary input DIO1 Enable of the MC Power MDX function module Start positioning movement of the motor axis To do so apply the DC 24 V voltage at the binary input DIO2 of the inverter Programming was correct when the motor axis turns ten revolutions clockwise each time a rising edge of DC 24 V occurs at the binary input D 02 For more details on the behavior of the MOVI PLC control and the connected MOVIDRIVES inverter in this example refer to the following section Trace recording Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 121 5 go Programming Examples Positioning a motor axis Trace recording 1 2 3 4 5 c Sarnpling Trace M o X i Trace TRUE current configuration Trigger Move MDX1 arf FALSE ibMove_MDX1 sl TRUE Var DLC PRG MoveRelative 1 Active v
82. between the MOVI PLC control and the inverter in OperationMode NORMAL setting in the control configuration However regardless of the status of the input sig nal Enable changes to the input signals are no longer adopted in the following cycles The function module can only be reactivated and use the modified input signals after the MOVI PLC control has been reset FALSE The task of the function module will not be executed after the MOVI PLC control has been switched on or reset as long as the input signal Enable is set to FALSE However if the input sig nal Enable has been set to TRUE once the input signal Enable no longer has any function Node CAN NODE The input signal Node is used to set the CAN bus node to which the inverter is connected SBUS NODE 1 CAN 1 connector X33 for DHP11B X26 for compact control SBUS NODE 2 CAN 2 connector X32 for DHP11B SBUS Adaress UINT The input signal SBUS Adaress is used to enter the system bus address of the connected inverter Note To transfer the input signals Node or SBUS Address you have to trigger a Reset on the MOVI PLC control in the PLC editor menu item Online Reset Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Main directory Output signals The function module MC ConnectAxis MDX MX has the following output signals Output signal Typ
83. c d activit s de Magellan Fax 33 5 57 26 39 09 Service 62 avenue de Magellan B P 182 F 33607 Pessac Cedex Lyon SEW USOCOME Tel 33 4 72 15 37 00 Parc d Affaires Roosevelt Fax 433 4 72 15 37 15 Rue Jacques Tati F 69120 Vaulx en Velin Paris SEW USOCOME Tel 33 1 64 42 40 80 Zone industrielle Fax 33 1 64 42 40 88 2 rue Denis Papin F 77390 Verneuil l Etang Additional addresses for service in France provided on request Algeria Sales Alger R ducom Tel 213 21 8222 84 16 rue des Fr res Zaghnoun Fax 213 21 8222 84 Bellevue El Harrach 16200 Alger Argentina Assembly Buenos Aires SEW EURODRIVE ARGENTINA S A Tel 454 3327 4572 84 Sales Centro Industrial Garin Lote 35 Fax 54 3327 4572 21 Service Ruta Panamericana Km 37 5 sewar sew eurodrive com ar 140 Address List L Australia Assembly Melbourne SEW EURODRIVE PTY LTD Tel 61 3 9933 1000 Sales 27 Beverage Drive Fax 61 3 9933 1003 Service Tullamarine Victoria 3043 http www sew eurodrive com au enquires sew eurodrive com au Sydney SEW EURODRIVE PTY LTD Tel 61 2 9725 9900 9 Sleigh Place Wetherill Park Fax 61 2 9725 9905 New South Wales 2164 enquires sew eurodrive com au Townsville SEW EURODRIVE PTY LTD Tel 61 7 4779 4333 12 Leyland Street Fax 61 7 4779 5333 Garbutt QLD 4814 enquires sew eurodrive com au Austria Assembly Wien SEW EURODRIVE Ges m b H Tel
84. component of each CAN telegram The identifier is a series of 11 bits that decides in the case of concurrent bus access which telegram is sent and which is reset The identifier with the lower value has the higher priority Therefore it must be ensured that two different participants do not attempt to simultaneously send telegrams with the same identifier All data that is to be exchanged via a CAN bus between participants must be packed in such telegrams Data exchange between a MOVI PLC and the inverters is automati cally configured In this way identifiers are reserved depending on the addresses for these telegrams You also have the option to configure additional telegrams between participants for which you must assign a unique identifier Therefore you must ensure that several participants do not send telegrams with the same identifier The following tables give you an overview of the identifiers that are used in the MOVILINK protocol by the MPLCMotion MDX library and in accordance with CANopen Identifier Message type 8 x SBus address Unassigned 8 x SBus address 1 8 x SBus address 2 8 x SBus address 3 Process output data telegram PA data 4 5 Unassigned Unassigned 8 x SBus address Process input data telegram PE data 8 x SBus address Synchronous process output data telegram PA data synchronous 8 x SBus address 512 3 Parameter request telegram
85. crease of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decrease of kinetic energy in the motor CycleTime TIME Minimal cycle time in which the values Velocity Acceleration and Deceleration are transferred to the inverter The values are only trans ferred when a change is made The resulting bus load can be reduced and specified using the input signal CycleTime Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxisSEW directory Output signals The function module MC MoveTargetSpeed MDX MX has the following output signals Output signal Type Meaning InVelocity BOOL The output signal nVelocity shows whether the motor axis turns at the target setpoint speed TRUE The motor axis turns at the speed specified by the input signal Velocity FALSE The motor axis is accelerated or decelerated to reach the target setpoint speed Active BOOL The output signal Active shows whether the motor axis is Accelerated or decelerated to reach the setpoint speed Baked because the input signal Enable FALSE e TRUE The motor axis is accelerated or decelerated FALSE The motor axis is not accelerated or decelerated
86. cription of the Function Modules MDX MX InverterParameters directory Input signals The behavior of the function module MC SetLimiter MDX MX is dependent on the fol lowing input signals Input signal Type Meaning Execute BOOL The input signal Execute starts the task of the function module When a rising edge occurs at this input signal the function module transfers the parameter specified by the input signal Select Select MC LIMITER The input signal Select specifies which parameter the function module MDX MX is to transfer from the MOVI PLC control to the inverter MOVIDRIVE B D MDX P301 P302 SPEED LIMIT The function module transfers the parameters Minimum speed and Maximum speed Unit 1 min maximum setting range O 6100 MDX P303 CURRENT LIMIT The function module transfers the parameter Current limit Unit 96 ly maximum setting range 0 150 BGO 200 MDX P304 TORQUE LIMIT The function module transfers the parameter Torque limit Unit ly maximum setting range 0 150 BGO 200 MDX P920 SW LIMIT SWITCH CW The function module transfers the parameter Softwarelimit switch CW Unit increments maximum setting range 23 1 231 1 MDX P921 SW LIMIT SWITCH CCW The function module transfers the parameter Software limit switch CCW Unit increments maximum setting range 23 1 231 1 MOVIAXIS D MX SPEED LIMIT SYSTEM The function module tra
87. ctions Additional documentation This user manual describes the function modules of the MPLCMotion MDX and MPLCMotion MX libraries as well as their application MOVI PLC is a programmable logic control designed in accordance with IEC 61131 3 One feature of the MOVI PLC control is for example the DHP11B control card You can use the MOVI PLC control for example as the control unit of a machine mod ule In this way MOVI PLC controls all the drives within the machine module and in doing so takes off load from the machine control e g machine or system PLC In conjunction with a DOP operator terminal and CANopen IOs MOVI PLC can also be used as a control for entire machines The MPLCMotion MDX and MPLCMotion Mx libraries of the MOVI PLC control described in this manual allow you to program the axis movements of connected MOVIDRIVE MDX60B 61B MOVIAXIS drives simply and centrally The control of the MOVITRAC 07 B MOVIMOT frequency inverter and the integrated frequency inverter in the MOVIFIT FC is described in the MPLCMotion MC0O7 and MPLCMotion MM libraries for MOVI PLC For further information about the MPLCProcessdata refer to the system manual MOVI PLC programming in the PLC Editor The MPLCMotion MDX and MPLCMotion MX libraries provide the following functions for each connected MOVIDRIVE MDX60B 61B or MOVIAXIS drive Administrative functions Inverter operation speed specification Refer
88. d Section Error identifier Note For speed controlled travel tasks the MOVIDRIVE B drive inverter automatically uses a linear ramp When the inverter then executes a positioning task it automatically switches back to the set ramp or jerk time using the function module MC SetJerk MDX The set jerk time is active for each travel task for MOVIAXIS Manual MPLCMotion_MDX and MPLCMotion_MxX Libraries for MOVI PLC 45 46 Description of the Function Modules MDX MX InverterParameters directory 4 4 7 Function module MC SetLimiter MDX MX Application Description MC SetLimiter MDX Execute BOOL Select MC LIMITER MDX MaxLimit DINT Error BOOL MinLimit DINT ErrorlD DWORD Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58177AXX You can use the function module MC SetLimiter MDX MX on all motor axes The function module MC SetLimiter MDX MX is used to transfer one of the following parameters from the MOVI PLC control to the inverter Minimum speed only for MOVIDRIVE9 B Maximum speed Current limit Torque limit CCW limit switch software only for MOVIDRIVE B CW limit switchsoftware only for MOVIDRIVE B Maximum acceleration only for MOVIAXIS Maximum deceleration only for MOVIAXIS Maximum emergency stop ramp only for MOVIAXIS Maximum jerk only for MOVIAXIS Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Des
89. d to establish communication between the MOVI PLC control and a MOVIAXIS via the function module MC ConnectAxis MX Thetransmission rate set at the power supply module switch S1 to S4 and the basic address for the system bus MOVIAXIS9 signal bus must correspond with the mod ule parameters set in the control configuration The basic address corresponds to the SBus address of the axis module directly to the right of the power supply module The axis modules to the right are automatically assigned increasing addresses that must be correspondingly set in the control configuration for the control of the motor axes The SBus address set at the function module MC ConnectAxis MX for each axis must match the address set in the control configuration Function module MC ConnectAxis MDX MX Establishes the connection with the controlled motor axis e Is called cyclically in the program and creates a process image of the motor axes at the place where it is called Notes The process image for the inputs and outputs is created when the function module MC ConnectAxis MDX MX is called The process image is not created at the start and end of the control cycle You must use the function module MC ConnectAxisSimulation MDX MX for the acti vated simulation of the inverter or MOVI PLC Activate the simulation of the MOVI PLC using the following menu items PLC editor Menu Online Menu item Simulation Proceed as follows for the i
90. e Motion function modules continuous discrete motion function modules and the func tion modules MC Home MDX MX MC HomeEnable MDX MX can cancel the follow ing function modules e MC Stop MDX MX MC AxisStop MDX MX MC StopSensorless MDX MC ConnectAxis MDX MX when the MOVI PLC control detects an inverter error communication error or 24 V operation of the inverter in this function module MC Power MDX MX for Enable FALSE only when MC Home MDX MX MC HomeEnable MDX MX and PowerOffMode MDX CTRL INHIBIT are execut ed Discrete motion function modules of the MPLCMotion MDX library can only cancel discrete motion function modules Continuous motion function modules of the MPLCMotion MDX library can only can cel continuous motion function modules Exception The function modules MC MoveVelocitySensorless MDX and MC MoveTargetSpeedSensorless MDX can also cancel braking movements triggered by the function modules MC AxisStopSensorless MDX and MC StopSensorless MDX QContinuous motion and discrete motion function modules of the MPLCMotion MX library can cancel each other The function module resets the output signal Doneto FALSE on cancellation even if the goal of the function module has already been achieved and the specified position or speed window of the cancelled function module is still maintained Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules
91. e MC_ReadStatus_MDX on all motor axes Description The function module MC_ReadStatus_MDxX is used to read in the PLCopenState of the motor axis from the drive inverter to the MOVI PLC control Input signals The behavior of the function module MC ReadStatus MDX is dependent on the follow ing input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module is only executed when this input signal Enable is set to TRUE Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 107 4 Description of the Function Modules MDX MX Supplements directory Output signals The function module MC ReadStatus MDX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the PLCopenState has been transferred e TRUE The PLCopenState has been transferred FALSE The PLCopenState has not been transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error occurred while the PLCopenState was being transferred FALSE No error has occurred ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Errorsto
92. e Meaning Done BOOL The output signal Done shows whether the initialization of the func tion module is complete TRUE Function module MC ConnectAxis MDX has com pleted initialization and set up communication with the drive inverter FALSE Initialization is not yet complete or there is a communi cation error Error BOOL The output signal Error shows whether an error occurred TRUE An error has occurred during the execution of the func tion module FALSE No error has occurred ErronD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Axis AXIS REF The output signal Axis displays the axis reference The output signal must be transmitted to all function modules that refer to this physical motor axis Debuginfo MC DEBUGINF The output signal Debuglnfo is used to locate any errors in the O MDX MX Operation Mode Debug setting in the control configuration for the module parameters of the drive inverter ParameterChannelldleTime This value shows the availability of the parameter channel in 96 096 A parameter telegram is processed each time an MC ConnectAxis MDX MX MCO7 instance is executed 100 No parameter telegrams are processed e PDOxxTransmitCount Number of PDOxx sent from the MOVI PLC control to the inverter PDOxxTransmitTimeStamp Time stamp of the PDOxx sent from the MOVI PLC control PDOxxHeceiveCount Number of PDOxx sent from the inv
93. e control 2 3 ZFPLCEditor Example Positioning MDX pro PLC Configuration J File Edit Project Insert Extras Online Window Help asu ASEA Gn cud 8 Resources J Global Variables C library MPLCInterface_MoviLink lib 11 8 05 12 58 09 global variables 9 library MPLCSystem DHP11B lib 11 8 05 12 58 10 global variables LJ library MPLCSystem ErrorCodes lib 11 8 05 12 58 10 global variables C library standard lib 11 8 05 12 58 10 global variables LJ library SysLibCallback lib 11 8 05 12 58 10 global variables RY Alarm configuration fiij Library Manager B Loo B Sampling Trace Target Settings E Task configuration 2 watch and Recipe Manager 32 Workspace ij MOVI PLC basic DHP11B Communication F Ix Digital lO disabled SLOT Can 1 disabled SLOT 5 Can 2 disabled SLOT Com 1 disabled SLOT Com 2 disabled SLOT SES elz Base parameters Module parameters Module id 1000 Node id Input address IB256 E POUs iS Data types 25 Resources Profibus disabled SLOT Output address 08256 r Dorat Dpram disabled SLOT addres D Data FIX sim Ki 4 1 1 Select the Resources tab from 1 58286AXX Activate by double clicking the entry PLC Configuration 2 Select the Standard configuration menu item in the Extras menu The control configuration is now set 3 A query appears asking wh
94. e encoder used is set in the control configuration SetpointSpeed Setpoint speed of the motor axis in the inverter e ActualSpeed Actual speed of the motor axis in the inverter e ActualCurrent Current active current of inverter Unit 0 1 In InverterReady The inverter is ready for operation MC_INVERTER MOVIAXIS B DATA_MX The output signal InverterData shows information on the operating status of the motor axis Error An error has occurred in the servo inverter Heferenced The servo inverter is referenced ddInverterStatus The status of the servo inverter corresponds to the 7 segment display on the servo inverter FaultStatus The error number of the servo inverter corre sponds to the 7 segment display when a fault occurs FaultSubStatus Error number of the servo inverter when an error occurs e ActualPosition Current actual position of the motor axis in the Servo inverter e ActualModuloPosition Current actual modulo position of the Servo inverter ActualSpeed Actual speed of the motor axis in the servo inverter e ActualCurrent Actual active current of the servo inverter Unit mA dnverterReady The servo inverter is ready for operation The data transfer between the drive inverter and MOVI PLC is described in the appen dix Overview of the transferred MOVIDRIVE actual values Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC De
95. e of kinetic energy in the motor CycleTime TIME Minimal cycle time in which the values Position Acceleration and Deceleration are transferred to the inverter The values are only trans ferred when a change is made The resulting bus load can be reduced and specified using the input signal CycleTime Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 93 94 Output signals Description of the Function Modules MDX MX SingleAxisSEW directory The function module MC MoveTargetPosition MDX MX has the following output signals Output signal Type Meaning InPosition BOOL The output signal nPosition shows whether the motor axis has been positioned e TRUE The motor axis has performed the rotation The motor axis is in the target position window As long as the signal TRUE is assigned to input Enable this output signal is then exactly set when the axis is in the target position window For example when moving out of the target window due to external forces the output signal can be reset accordingly and set again when the target position window is reached once more FALSE The motor axis has not yet completed the rotation The motor axis is not in the target position window Active BOOL The output signal Active shows whether the mot
96. e parameter Application limitmaximum torque Unit Torque 1078 rated motor torque maximum setting range 0 1000000 MX JERK LIMIT SYSTEM The function module transfers the parameter System limit maximum jerk Unit 1 minxs maximum setting range 0 2147483647 MX JERK LIMIT APPLICATION The function module transfers the parameter Application limit maximum jerk Unit 1 minxs maximum setting range 0 2147483647 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 47 48 Description of the Function Modules MDX MX InverterParameters directory Input signal Type Meaning MaxLimit DINT The input signal MaxLimit specifies the transferred parameter value When the input signal Select is set to MDX P301 302 SPEED LIMIT this input signal specifies the value for the parameter P302 Unit and maximum setting range Input signal Select MinLimit DINT This input is only used when the input Select is set to MDX P301 302 SPEED LIMIT In this case it specifies the value for parameter P301 Unit 1 min maximum setting range 0 6100 Axis AXIS REF This input specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC SetLimiter MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the
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98. ection describes the functions and behavior of the function modules of the MPLCMotion MDX and MPLCMotion MX libraries 4 1 General behavior of the function modules Input signal Enable Input signal Execute This section describes the basic functionality of the inputs and outputs of the function modules and other general features of the MOVI PLC control and the inverters For specific examples of the interaction and sequence of several function modules includ ing time diagrams refer to section 5 Programming examples There are two types of function modules They are divided into two activation types Function modules that are activated by the input signal Enable Function modules that are activated by the input signal Execute Function modules that are activated by the input signal Enable typically perform cyclical actions e g MC ReadActualPosition MDX When the input signal Enable TRUE The function module is active The function module recalculates the output signals in each cycle When the input signal Enable FALSE The function module does not recalculate the output signals All the output signals remain at the value that was last calculated Exception Done Busy and Error are reset to FALSE Therefore you must verify the value of the output signals by setting the output signal Done TRUE The Enable input of the function module MC ConnectAxiss MDX MX and MC ConnectAxisSimulation M
99. ed FCO0005h E CAN IO MODULE ILLEGAL CONFIGURATION Incorrect configuration in the control configuration FCO0006h E CAN IO MODULE CAN ID ERROR The CAN ID is already used FC0007h E CAN IO MODULE INVALID BYTES NUMBER The number of bytes is invalid The number of bytes must be 4 FCO0008h E CAN IO MODULE INVALID PARAMETERS Invalid values in index subindex bytes WriteData FCO0009h E CAN IO MODULE TIME OUT SBUS No response from the bus coupler MPLCSystem error codes extract F2000Ah E MVLINK CAN MOVILINK error Possible cause Value outside the permitted range of values F20002h E_MVLINK_RS485 MOVILINK error Possible cause Value outside the permitted range of values F50069h E_CONFDATAEX_NO_MATCH_FOR_PARAMSET No entry found in control configuration for this axis The SBus address set in the control configuration does not match the SBus address at the function module MC ConnectAxis MDX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go 5 Prerequisites 5 Programming Examples This section describes how to program a number of drive tasks using the function modules described in this manual by means of specific examples Furthermore this section introduces you to the basic functionality of the control config uration the library manager and the FUP Editor of the M
100. ed by the function module MC StopSensorless MDX is executed using stop ramp t13 set in parameter P136 of the inverter Note If a rising edge occurs atthe input signal Execute or Enable of an instance of the function module MC MoveVelocitySensorless MDX Or MC MoveTargetSpeedSensorless MDX the task of the function module MC_AxisStopSensorless_ MDX or MC StopSensorless MDX is cancelled when the in put signal Execute of the function module MC AxisStopSensorless MDX or MC StopSensorless MDX is no longer set to TRUE This difference in behavior of the function modules MC Stop MDX MX and MC AxisStop MDX MX for motor axes with encoders is due to the fact that For motor axes without an encoder you have to use the function module MC AxisStopSensorless MDX or MC StopSensorless MDX to reliably slow the motor axis until it comes to a standstill For motor axes with encoders you can also use the function module MC MoveVelocity MDX MX input signal Velocity 0 However it should be possible to change the speed smoothly from zero to a different speed during a controlled speed change for motor axes both with and without encoders The behavior of the function module MC AxisStopSensorless MDX and MC StopSensorless MDX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the braking process of the motor axis When a rising edge occurs at this input signal the func
101. eeded after the requirements are met when using function module MC MoveTargetPosition MDX MX The signal TRUE at the input Enable is sufficient for the motor axis positioning to start In contrast to the execution of function modules MC Stop MDX MX or MC AxisStop MDX MX the motor axis remains in the PLCopenState DISCRETE_MOTION during a brake movement triggered by a falling edge at the input signal Enable Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxisSEW directory Effect The following parameters of the MOVIDRIVE B inverter have a direct effect on the ex ecution of the function module MC MoveTargetPosition MDX MX You can use parameters P916 Ramp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC SetJerk MDX MX to set these parameters Use parameter P922 Positioning window to set the positioning window to the target position within which the function module sets the output signal Done to TRUE Tar get position reached The startup assistant helps you to set the parameters The following parameters of the MOVIAXIS servo inverter have a direct effect on the execution of the function module MC MoveTargetPosition MX Define the jerk for positioning ramps using index 9582 1 Use function module MC SetJerk MX to set these parameters Use index 9885 3 to set the positioning window to the targe
102. eferences are marked with gt For example section X X means Further information can be found in section X X of this manual Asa prerequisite to fault free operation and fulfillment of warranty claims you must adhere to the information in the documentation Bus systems General safety notes for bus systems This communication system allows you to adjust the MOVI PLC control the MOVIDRIVE inverter and the MOVIAXIS servo inverter to your specific application very accurately As with all bus systems there is a danger of invisible external as far as the unit is concerned modifications to the settings which give rise to changes in the unit behavior This may result in unexpected not uncontrolled though system behavior when considering this unit Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Important Notes Explanation of Observe the safety and warning notes contained in this documentation the safety and warning notes Electrical hazard Possible consequences Severe or fatal injuries Hazard Possible consequences Severe or fatal injuries Hazardous situation Possible consequences Slight or minor injuries Harmful situation Possible consequences Damage to the unit and the environment Tips and useful information H Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Introduction 2 Introduction Content of the manual Description Fun
103. en button The se lected library appears in the PLC editor in the library field 2 116 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples g Positioning a motor axis 9 Step four Programming the communication with the motor axis To establish and execute communication between the MOVI PLC control and the drive inverter add an instance of the MC ConnectAxis MDX function module as follows 2 ZAPLCEditor Example Positioning MDX pro PLC PRG PRG FBD E ni xj ui File Edit Project Insert Extras Online Window Help Je xj BALI Ile l i S 21a X aw Si 10 d ames Bi venen et S PROGRAM PLC_PRG VAR END VAR PLC PPG PRG ONLINE OV READ 1 58292AXX 1 Select the POUs tab from 1 Open the editor of the PLC PRG PRG module by double clicking on the entry 2 Add a new function module First click on the box next to the questions marks in the first network and then click on the symbol 4 3 4 Select the text AND in the function module you have just added e 1 Press the lt F2 gt button The Help Manager opens following screenshot x Standard Functions 3 Standard Function Blocks REEL ip C PROGRAMMENGEMEINSAME DATEIEN SEW SS User defined Function Bloc MPLCMotion MDX FBD perators BI 23 MDX InverterParameters Standard Program
104. ence travel Positioning etc These functions are executed decentrally in the inverters and servo inverters The MPLCMotion MDX and MPLCMotion MX libraries ensure fast communication with the inverters and servo inverters and allow you to program the motor axis movements sim ply and centrally in the MOVI PLC control For simple and effective use of the MPLCMotion MDX and MPLCMotion Mx libraries you should also order the following documentation System manual MOVI PLC programming in PLC editor MOVI PLC basic DHP11B control manual MOVIDRIVE MDX60B 61B system manual MOVIAXIS system folder You must follow the instructions and safety notes published in these manuals when working with the drive system Manual MPLCMotion_MDX and MPLCMotion_MxX Libraries for MOVI PLC Introduction Areas of application 2 1 Areas of application Application examples Features The MPLCMotion MDX and MPLCMotion MX libraries are suitable for all applications in which the MOVI PLC controls one or more inverters centrally Typical application examples of the MPLCMot ion_MDX and MPLCMotion VX libraries Machine modules Small machines System modules Storage and retrieval systems Hoist stations The MPLCMotion MDX and MPLCMotion Mx libraries have the following characteris tics The MOVI PLC basic DHP11B control can control up to 12 drives with the aid of the MPLCMotion MDX and MPLCMotion MX libraries T
105. er is set to Homing TRUE The PLCopenState is set to Homing FALSE The PLCopenState is not set to Homing Interpolation BOOL The output signal nterpolation shows whether the PLCopenState of the inverter is set to nterpolation e TRUE The PLCopenState is set to Interpolation e FALSE The PLCopenState is not set to Interpolation 108 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules Error ID 4 10 Error ID The following table displays the error codes error designations and a description of the errors that could occur at the Error D output of the function modules Error code Error designation Error description General IEC error code FA0001h E IEC GENERAL MAX NUMBER OF AXIS The maximum number of axes that can be connected is exceeded FA0002h E EC GENERAL INTERNAL ERROR Error during initialization of a MOVI PLC interface FA0003h E IEC GENERAL COM NOT READY The COM interface is not ready FA0004h E IEC GENERAL INVALID COM NODE The COM interface is not valid FA0005h E IEC GENERAL INVALID COM ADR The COM address is not valid FA0006h E EC GENERAL SIMULATION NOT AVAILABLE The simulation mode for the module is not available FA0007h E IEC GENERAL INVERTER NOT REFERENCED The module can only be executed when the axis has been referenced FA0008h
106. erating instructions Ensure the unit is in the delivery state at the beginning of the startup procedure To do this set the P9727 3 Delivery status d1 parameter to the value 1 If the pa rameters set in the motor startup are not reset to the default values you can also set the P9727 4 Factory setting d2 parameter to the value 1 The transmission rate set at the power supply module switch S1 to S4 and the basic address for the system bus MOVIAXIS signal bus must correspond with the mod ule parameters set in the control configuration The basic address corresponds to the SBus address of the axis module directly to the right of the power supply module The axis modules to the right are automatically assigned increasing addresses that must be set Correspondingly in the control configuration for the control of the motor axes MOVI PLC programming in the PLC editor system manual Please read the following warning notes No manual settings are required in the PDO editor for using the function modules from the MPLCMotion MX library Function module MC ConnectAxis MX config ures all the required settings automatically The following settings that are described may be made in the PDO editor for the use of special functions The control word 0 of the MOVIAXIS servo inverter is used by the MOVI PLC con trol and must not be changed The control word 1 of the MOVIAXIS servo inverter is connected by the function module MC
107. errupts the motion function module that is currently controlling the motor axis The out put signal Active of the motion function module is reset to FALSE When the input signal Enable of the function module MC Power MDX MX is set to TRUE again the motion function module continues its previous motion task Exception When the axis is located in position control after positioning has been completed and the input signal Enable is set to FALSE the axis can be moved out of its position due to mechanical forces The axis returns to the last controlled target position after it has been enabled again Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Main directory Input signals Output signals The behavior of the function module MC Power MDX MX is dependent on the following input signals Input signal Type Enable BOOL Meaning The input signal Enable is used to switch the inverter on and off The function module is executed with the current input values even if the input signal Enable is set to FALSE TRUE The inverter is switched on when the input signal Enable is set to TRUE inverter status for MOVIDRIVE B A or 5 for MOVIAXIS 9 or 5 Depending on the operating mode that was set for the motor startup when switched on for the first time In the operating mode of the last motion function module executed for further switching on processes FALSE T
108. erter to the MOVI PLC control e PDOxxReceiveTimeStamp Time stamp of the PDOxx received by the MOVI PLC control e NumberOfReceiveErrors Number of errors that occurred when receiving data e NumberOfTransmitErrors Number of errors that occurred when sending data StatelnitConnectAxis State of function module MC ConnectAxis MDX PLCopenState MC The output signal PLCopenState shows information on the operat PLCOPEN ing state of the motor axis Section State diagram STATE e NOT CONNECTED STANDSTILL HOMING DISCRETE MOTION CONTINUOUS MOTION STOPPING ERRORSTOP Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 57 Description of the Function Modules MDX MX Main directory Output signal Type Meaning InverterData MC INVERTER MOVIDRIVE B DATA MDX The output signal nverterData shows information on the operating status of the motor axis Error An error has occurred in the inverter Referenced The inverter has been referenced InverterStatus The status of the inverter corresponds to the 7 segment display on the drive inverter FaultStatus The error number of the drive inverter corresponds to the 7 segment display when a fault occurs e ActualPosition Current actual position of the motor axis in the drive inverter The encoder used is set in the control configura tion e ActualModuloPosition Current actual modulo position of the inverter Th
109. ervice Hayward California 94544 7101 cshayward seweurodrive com Philadelphia PA SEW EURODRIVE INC Tel 1 856 467 2277 Pureland Ind Complex Fax 1 856 845 3179 2107 High Hill Road P O Box 481 csbridgeport seweurodrive com Bridgeport New Jersey 08014 Dayton SEW EURODRIVE INC Tel 1 937 335 0036 2001 West Main Street Fax 1 937 440 3799 Troy Ohio 45373 cstroy seweurodrive com Dallas SEW EURODRIVE INC Tel 1 214 330 4824 3950 Platinum Way Fax 1 214 330 4724 Dallas Texas 75237 csdallas seweurodrive com Additional addresses for service in the USA provided on request Venezuela Assembly Valencia SEW EURODRIVE Venezuela S A Tel 58 241 832 9804 Sales Av Norte Sur No 3 Galpon 84 319 Fax 58 241 838 6275 Service Zona Industrial Municipal Norte http www sew eurodrive com ve Valencia Estado Carabobo sewventas cantv net sewfinanzas cantv net 147 Gearmotors Industrial Gear Units Drive Electronics Drive Automation Services How were driving the world With people who With comprehensive With uncompromising think fast and With a worldwide With drives and controls knowledge in virtually quality that reduces the develop the service network that is that automatically every branch of cost and complexity of future with you always close at hand improve your productivity industry today daily operations PT A i e 7 muli d oa E M rf d h e Wie La SEW EURODRIVE Driving th
110. escription of the Function Modules MDX MX SingleAxisSEW directory Output signals The function module MC MoveTargetSpeedSenorless MDX has the following output signals Output signal Type Meaning InVelocity BOOL The output signal nVelocity shows whether the motor axis rotates with the setpoint speed Setting the speed window to the setpoint speed in the startup assistant see section Startup P411 Range width TRUE The motor axis turns at the speed specified by the input signal Velocity FALSE The motor axis is accelerated to reach the setpoint speed Active BOOL The output signal Active shows whether the motor axis is Accelerated or decelerated to reach the target setpoint speed Braked Braked because the input signal Enable FALSE TRUE The motor axis is accelerated or decelerated FALSE The motor axis is not accelerated or decelerated Stopped BOOL The motor axis was decelerated and is in the PL CopenState Standstill Command Aborted BOOL The output signal CommandAborted shows whether the task of the function module has been cancelled This includes the motion to reach or move at the setpoint speed as well as the braking movement trig gered when the input signal Enable is removed TRUE The task of the function module has been cancelled FALSE The task of the function module has not been cancelled A cancelled task requires a new ris
111. espond to a motor axis rotation of 360 The number of complete rotations is specified in the high word and the target angle between 0 and 360 in the low word Speeds in revolutions minute rpm Accelerations as ramp times in milliseconds to achieve a speed ms changed by 3000 rpm The Acceleration input signal specifies the acceleration for increasing the kinetic energy in the motor The Deceleration input signal specifies the braking deceleration for reducing the kinetic energy Jerk as time in milliseconds for the duration of the torque build up ms For the function modules of the MPLCMot ion_MDx library the following maximum rang es of values are permitted If Positions 23 23 incr The maximum setting range of modulo positioning is dependent on the modulo numerator denominator and encoder resolution 0 23 numerator encoder resolution incr Speeds for positioning tasks 0 6000 rpm Speeds for speed controlled travel tasks 6000 6000 rpm Accelerations for positioning tasks 10 20000 ms Accelerations for speed controlled travel tasks 0 2000000 ms Jerk not used for speed controlled travel tasks 5 2000 ms the values are outside of these ranges the function modules will output error messages except the function modules in the MDX MX SingleAxisSEW and MC SetJerk MDX MX directory The drive inverter adjusts the travel tasks to these limit values automatically
112. et position within which the function module sets the output signal Doneto TRUE Tar get position reached The startup assistant helps you to set these parameters Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory Input signals The behavior of the function the following input signals module MC MovehRelativeModulo MDX is dependent on Input signal Type Meaning Execute BOOL The input signal Execute is used to start the motor axis rotation When a rising edge occurs at this input signal the function module starts motor axis rotation Distance DINT The input signal Distance specifies the target position of the motor axis rotation as a position relative to the current motor axis position when the function module starts 216 increments correspond to a motor axis rotation of 360 for MOVIDRIVE B unit modulo increments The number of complete rotations is specified in the high word and the target angle between 0 and 360 in the low word The maximum setting range is dependent on the modulo numerator denominator and encoder resolution Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal
113. et of the inverter data is saved in the file vd0 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 3 17 go Project Planning and Startup MOVIDRIVE B startup Important During and after startup parameters in MOVIDRIVE B that are changed without using the startup assistant DriveStartup for MOVI PLC must only be performed by trained personnel Parameter changes made by a restart with the startup assistant DriveStartup for MOVI PLC using the function module MC WriteParameter MDX or in the Shell of the MOVIDRIVE B are not automatically recorded in the MOVI PLC control pro gram They can lead to unforeseeable operating states The new parameters set in the inverter are used in the control program after a reset and a restart of MOVI PLC Special parameters that cannot be set using the startup assistant DriveStartup for MOVI PLC must only be changed by trained personnel Note that changing some parameters can lead to unforeseeable operating states IPOS drive If you control the drive system using the MPLCMotion MDX 1ib library users cannot inverter program the IPOSP vs software in the connected inverters themselves Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Project Planning and Startup go 3 MOVIAXIS startup 3 4 MOVIAXIS startup Startup of the MOVIAXIS servo inverter is described in the MOVIAXIS MX multi axis servo inverter op
114. ether you want to discard the current configuration and replace it with the standard configuration Click lt Yes gt and confirm the query Open the configuration tree Click on the symbol in front of the entries MOVI PLC basic DHP11B and Communication 4 Activate the CAN 1 interface of the MOVI PLC control Now make a right mouse click on the element Can 1 disabled 5 In the context menu select the menu item Replace element Can 1 enabled Configure the MOVIDRIVE MDX60B 61B inverter at the CAN 1 interface Now right click on the element Can 1 enabled and select the menu item Append sub element and MOVIDRIVE MDX B in the context menu Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go Positioning a motor axis Lr 4 S DEER El ij MOVI PLC basic DHP11B 2 1 aj G A Communication FIX Base parameters Module parameters Digital lO disabled SLOT Tee Index Name Default Min Max di MOVIDRIVE MDX BIVAR SBus a E nputs FIX Operati Normal Normal Ei iyDI MDX1 AT 96IW128 WORD Digital Inputs CH lOhold TRUE z TRUE Encod X15 Motor encod X15 Motor encoder AT ai 28 0 BOOL Bit 0 Data pr 1 SetpSpeed Act 1 SetpSpeed ActSp ibPower MDX1 AT 96IX128 1 BOOL Bit 1 Refres Optimized mj Optimized ibMove MDX1 AT IX128 2 BOOL Bit2 d MDXti 200 200 200 d SEET z
115. ett tec Ebenen tte se eege et 109 Programming Examples eieeeeeeeieeeisieeeeeeeee carenados pakne ana tnn aaa 111 5 1 Prerequisites eia eei ENNER d e did 111 5 2 Positioning a motor ale 112 5 3 Speed control of a motor axis with encoder nnn 124 5 4 Jog mode of a motor axis without encoder sssssssssssssrrnrrsnnssesrerrrrnnnrn 129 Ponce 134 6 1 Overview of the transferred MOVIDRIVE MOVIAXIS actual values 134 6 2 GAN Idenlfler orte te ee e EE Ee 135 6 3 MOVIDRIVE B system variables cai mee pedes 137 prp uu PC PEE 138 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Important Notes 1 Important Notes This manual does not replace the detailed operating instructions The MOVI PLC control and the drives it controls may only be installed and started up by trained personnel observing the applicable accident prevention regulations the MOVI PLC control manual and the MOVIDRIVE MDX60B 61B or MOVIAXIS MX operating instructions Documentation Read through this manual carefully before you start to install and startup inverters or servo inverter controlled by the MOVI PLC control This manual assumes that the user has access to and is familiar with the MOVIDRIVE and MOVIAXIS documentation in particular the MOVIDRIVE MDX60B 61B system manual and the MOVIAXIS system folder nthis manual cross r
116. f A G Tel 41 61 417 1717 Sales Jurastrasse 10 Fax 41 61 417 1700 Service CH 4142 M nchenstein bei Basel http www imhof sew ch info imhof sew ch Thailand Assembly Chon Buri SEW EURODRIVE Thailand Ltd Tel 66 38 454281 Sales Bangpakong Industrial Park 2 Fax 66 38 454288 Service 700 456 Moo 7 Tambol Donhuaroh sewthailand sew eurodrive com Muang District Chon Buri 20000 Tunisia Sales Tunis T M S Technic Marketing Service Tel 216 1 4340 64 1 4320 29 7 rue Ibn EI Heithem Fax 216 1 4329 76 Z I SMMT tms tms com tn 2014 M grine Erriadh Turkey Assembly Istanbul SEW EURODRIVE Tel 90 216 4419163 164 3838014 15 Sales Hareket Sistemleri San ve Tic Ltd Sti Fax 90 216 3055867 Service Bagdat Cad Koruma Cikmazi No 3 sew sew eurodrive com tr TR 34846 Maltepe ISTANBUL Ukraine Sales Dnepropetrovsk SEW EURODRIVE Tel 380 56 370 3211 Service Str Rabochaja 23 B Office 409 Fax 380 56 372 2078 49008 Dnepropetrovsk http www sew eurodrive ua sew sew eurodrive ua USA Production Greenville SEW EURODRIVE INC Tel 1 864 439 7537 Assembly 1295 Old Spartanburg Highway Fax Sales 1 864 439 7830 Sales P O Box 518 Fax Manuf 1 864 439 9948 Service Lyman S C 29365 Fax Ass 1 864 439 0566 Telex 805 550 http www seweurodrive com cslyman seweurodrive com Address List L USA Assembly San Francisco SEW EURODRIVE INC Tel 1 510 487 3560 Sales 30599 San Antonio St Fax 1 510 487 6381 S
117. has any func tion Node CAN NODE The input signal Node is used to set the CAN bus node to which the inverter servo inverter is connected with the MOVI PLC and inverter hardware in real time operation SBUS NODE 1 CAN 1 connector X33 for DHP11B X26 for compact control e SBUS NODE 2 CAN 2 connector X32 for DHP11B SBUS Adaress UINT The input signal SBUS Adaress is used to specify the SBus address of the inverter servo inverter connected with the inverter hardware in real time operation Note To transfer the input signals Node or SBUS Adaress you have to trigger a Reset on the MOVI PLC control in the PLC editor menu item Online Reset or switch the volt age supply of the MOVI PLC control off and on again Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Main directory Output signals The function module MC ConnectAxisSimulation MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the initialization of the func tion module completed TRUE The function module MC ConnectAxisSimulation MDX MX has completed initial ization FALSE Initialization has not yet been completed Error BOOL The output signal Error shows whether an error occurred TRUE An error has occurred during the execution of the func tion mod
118. he MOVI PLC advanced control can control up to 64 drives Users do not have to work with communication interfaces Instead they can operate the MOVI PLC control using only motion and administration commands Users do not have to be familiar with system bus communication and only require basic knowl edge of the parameter settings of the inverter or servo inverters e g for startup or setting the system bus address The system bus enables fast communication between the MOVI PLC control and the inverters servo inverters The MPLCMotion MDX and MPLCMotion MxX libraries contain numerous function modules Users can use these modules to program their own applications quickly and flexibly PLCopen compliant commands allow users to familiarize themselves with the pro gram quickly and easily Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Introduction Overview of the MPLCMotion MDX MX libraries 2 2 Overview of the MPLCMotion MDX MX libraries Required libraries Install the MPLCMotion_MDX and MPLCMotion Mx libraries in the library manager of the PLC editor of the MOVITOOLS MotionStudio software section Programming examples As a result the following listed libraries required for the design of components of the MPLCMotion MDX and MPLCMotion MX libraries are automatically installed in the library manager and for setting the target system Programming examples section D D D
119. he STANDSTILL state is also adopted for MOVIDRIVE B directly after the reset procedure when a limit switch error has occurred although the motor axis still at tempts to clear the limit switch In this case there is no automatic clearing movement for MOVIAXIS A separate travel task is required in order to move clear 6 The falling edge of the input signal Enable and function module is not cancelled Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules 4 MDX MX Config directory 43 MDX MX Config directory The MDX MX Config directory covers function modules that enable the configuration of special functions for controlling a MOVIDRIVE B MOVIAXIS The function mod ules in this directory are not required for performing motion tasks without using these special functions 4 3 1 Function module MC JInitialConfig MDX MX Application Prerequisites Description MC INITIALCONFIG MDX Execute BOOL Node CAN NODE SBUS Address UINT ErrorlD DWORD UseMoveAbsoluteWithoutReference BOOL UseExternalCommunicationTask BOOL SendSource MC PDO SENDSOURCE MDX SendID MC PDO ID MDX SendCycleTime UINT SendOffset UINT ReceivePDO1 MC PDO ID MDX ReceivePDO2 MC PDO ID MDX ReceivePDO3 MC PDO ID MDX ReceivePDO4 MC PDO ID MDX 59362AXX You can use the function module MC InitialConfig MDX MX on all motor axes The function module MC Connec
120. he inverter is switched off when the input signal Enable is set to FALSE inverter status for MOVIDRIVE B 1 or 2 for MOVIAXIS 1 or 13 depending on PowerOffMode input MC POWER The input signal PowerOffMode is used to set the status of the inverter OFFMODE when it is switched off using the function module MC Power MDX MDX MDX MX CTRL INHIBIT The inverter status is now Controller MX inhibit gt MDX InverterStatus 1 MX Status 1 The motor brake is applied If no brake is installed the motor will coast to a halt e MDX MX NO ENABLE The inverter changes to the No enable status gt MDX InverterStatus 2 MX Status 13 The motor is controlled and slowed down Whether the motor brake is activated in the No enable status depends on the parameter P730 for MOVIDRIVE B and the indices 8584 0 and 9833 1 for MOVIAXIS The brake function is switched on as the default set ting This means the brake i is activated shortly before reaching standstill for MOVIDRIVE B and after reaching standstill for MOVIAXIS the brake is always activated in the Controller inhibit status This input signal is also used to switch between Controller inhibit and No enable when the inverter is switched off Enable FALSE The input signal Axis specifies the motor axis on which the actions of the function module are to be executed PowerOffMode Axis AXIS REF The function module MC Power MDX MX has the following output
121. her the changeover of the encoder Source was successful TRUE The encoder source changeover was successful FALSE The encoder source changeover was not successful Busy BOOL The output signal Busy shows whether the changeover of the encoder source is underway e TRUE The encoder source changeover is underway e FALSE The encoder source changeover is not underway Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the action FALSE No error has occurred ErronD DWORD The output signal ErrorID shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 43 4 Description of the Function Modules MDX MX InverterParameters directory 4 4 6 Function module MC SetJerk MDX MX MC SetJerk MDX Execute BOOL Done BOOL JerkTime DINT Busy BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD Axis AXIS_REF VAR_IN_OUT 58179AXX Application You can only use the function module MC SetJerk MDX MX on motor axes with encod ers Prerequisite For the function module MC SetJerk MDX MX to be executed the motor axis must be in PLCopenState STANDSTILL output signal of the function module MC_ConnectAxis_ MDX Description The function module MC SetJerk MDX is used to activate and deactiva
122. i 2 58223AXX 7 Select the element MOVIDRIVE MDX B Select the Module parameters tab Enter the SBus address selected during drive inverter startup under Value in the field SBus address 1 8 In the control program you can use the inputs outputs by specifying the address details directly using the syntax 961 Q However it is easier to use symbolic identifiers Proceed as follows Click on the symbol in front of the entries MOVIDRIVE MDX B and Inputs Click on the corresponding field AT in the configuration tree Enter the required name In this example the symbolic identifier for the digital inputs of the inverter is DI MDX1 For individual inputs outputs the symbolic identifiers are ibPower MDX1 and ibMove MDX1 2 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 115 lt 1 Programming Examples 9 Positioning a motor axis Step three Installing the libraries To use the function modules of the MPLCMotion MDX lib library add the MPLCMotion MDX lib library to the existing libraries as follows ZHPLCEditor Example_Positioning_MDX pro Library Ma ini xl fl File Edit Project Insert Extras Online Window Help 18 x Ble SEENEN FUNCTION BLOCK R_TRIG Resources SysLibCallback lib 11 c H E Global Variables MPLCSystem ErrorCodes lib 11 8 05 12 58 10 Rising Edge detection E library MPLCInterface_MoviLink lib
123. ichard miekisiak premium net ma Netherlands Assembly Rotterdam VECTOR Aandrijftechniek B V Tel 31 10 4463 700 Sales Industrieweg 175 Fax 31 10 4155 552 Service NL 3044 AS Rotterdam http www vector nu Postbus 10085 info vector nu NL 3004 AB Rotterdam New Zealand Assembly Auckland SEW EURODRIVE NEW ZEALAND LTD Tel 64 9 2745627 Sales P O Box 58 428 Fax 64 9 2740165 Service 82 Greenmount drive http www sew eurodrive co nz East Tamaki Auckland sales sew eurodrive co nz Christchurch SEW EURODRIVE NEW ZEALAND LTD Tel 64 3 384 6251 10 Settlers Crescent Ferrymead Fax 64 3 384 6455 Christchurch sales sew eurodrive co nz Norway Assembly Moss SEW EURODRIVE A S Tel 47 69 241 020 Sales Solgaard skog 71 Fax 47 69 241 040 Service N 1599 Moss http www sew eurodrive no sew sew eurodrive no Peru Assembly Lima SEW DEL PERU MOTORES REDUCTORES Tel 51 1 3495280 Sales S A C Fax 51 1 3493002 Service Los Calderos 120 124 http www sew eurodrive com pe Urbanizacion Industrial Vulcano ATE Lima sewperu sew eurodrive com pe 1 Address List Poland Assembly Lodz SEW EURODRIVE Polska Sp z o o Tel 48 42 67710 90 Sales ul Techniczna 5 Fax 48 42 67710 99 Service PL 92 518 Lodz http www sew eurodrive pl sew sew eurodrive pl Portugal Assembly Coimbra SEW EURODRIVE LDA Tel 351 231 20 9670 Sales Apartado 15 Fax 351 231 20 3685 Service P 3050 901 Mealhada http www sew
124. ifiers to the binary inputs of the drive inverter MOVIDRIVE9 MDX60B 61B according to the figure 1 ibRapidSpeed_MDX1 ibAxisStop MDX1 ibStop MDX1 ff PLC Configuration ii MOVI PLC basic DHP11B ns Can 1 enabled SLOT a dl MOVIDRIVE MDX B VAR EI Inputs FIq ibJogPlus MDX1 AT 96 X128 1 BOOL Bit 1 1 pem ibJogMinus MDX1 AT IX128 2 BOOL Bit 2 m ibRapidSpeed MDXI AT IX128 3 BOOL Bit 3 58218AXX 124 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples Speed control of a motor axis with encoder Step six fbConnect amp xis 1 MC Connect amp xis MDX Programming the speed control function AND qu 5 foPower 1 MC Power MDX Enable Status TRUE Enable Done SBUS NODE 1 1Node Errort IbPower wa MDX CTRL INHIBIT JPowerOffMode Error 14SBUS_Address ErrorlDI fbConnectAxis_1 AxisJAxis amp ErroriD AxisI Debuginfo PLCopenState InverterData 0002 SEL ibRapidSpeed_MDX1 nSpeed 500 1500 0003 foMoveVelocity 1 AND AND MC MoveVelacity MDX ibMove MDX1 j Execute Invelocity foConnect amp is 1 Done nSpeed Velocity Active 500 jAcceleration CommandAborted EQ 6000 Deceleration Error nSpeed j foConnectAxis_1 Axis Axis P ErroriD nSpeedOld 0004 1 nSpeed nSpeedold
125. ignal Enable is still set to TRUE Busy BOOL TRUE Initialization of the transfer is taking place FALSE The initialization of the transfer has not yet started has completed successfully or was cancelled due to a fault Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the execution of the function module FALSE No errors have occurred in the function module ErrorID DWORD The output signal Erol displays the error code of the error that occurred see Section Error identifier Data1 Data2 DINT Data3 Data4 The transferred MOVIDRIVE B actual values can be read at the out puts Data to Data4 The data is valid when the TRUE signal is issued at output signal Done Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 35 Description of the Function Modules MDX MX InverterParameters directory 4 4 2 Function module MC ReadParameter MDX MX MC ReadParameter MDX Execute BOOL Done BOOL Index UINT Busy BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD Data DINT Axis AXIS_REF VAR_IN_OUT 58174AXX Application You can use the function module MC ReadParameter MDX MX on all motor axes Description The function module MC ReadParameter MDX MX is used to read parameters indi ces of the drive inverter into the MOVI PLC c
126. in the system configura tion via the input signal SendSource The function is reserved for use in conjunction with the technology libraries e g MPLCTecGearMotion MDX MX that can read up to four receive objects input signals ReceivePDO If the input is not assigned or is assigned with the value MDX_SEND_OFF no additional send object is created Other wise the input signals SendID SendCycleTime and SendOffset are evaluated for the parameter settings of the send object The following process values of the MOVIDRIVE B can be sent via the additional send object for the corresponding assignment of the input signal via the system bus MDX SEND OFF default No send object MDX SEND X15 gt Actual position X15 motor encoder MDX SEND X14 Actual position X14 external encoder MDX SEND SSI Actual position X62 SSI encoder Gendt Only for MOVID RIVE B MC PDO ID MDX ID of the MOVIDRIVE B send object Default value 129 all values in MC PDO ID MDX are possi ble SendCycleTime UINT Cycle time of the MOVIDRIVE B send object in ms default Only for MOVID value 1 RIVE B SendOffset UINT Offset of the MOVIDRIVE B send object in ms default value 0 Only for MOVID RIVE B ReceivePDO1 MC PDO ID MDX ReceivePDO2 MC PDO ID MDX ReceivePDO3 MC PDO ID MDX ReceivePDO4 MC PDO ID MDX Only available for MOVIDRIVE B ID of the respective receive object This must correspo
127. ine the jerk for positioning ramps using index 9582 1 Use function module MC SetJerk MX to set these parameters Use index 9885 3 to set the positioning window to the target position within which the function module sets the output signal Doneto TRUE Target position reached Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory Input signals The behavior of the function module MC MoveRelative MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the motor axis rotation When a rising edge occurs at this input signal the function module starts motor axis rotation Distance DINT The input signal Distance specifies the target position of the motor axis rotation as a position relative to the current motor axis position when the function module starts Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decrease of kinetic energy in the motor Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Ou
128. ing edge at the input signal Enable for the execution of motion tasks For example the removal of the input signal Enable after a function module cancellation does not cause a braking movement Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorID DWORD The output signal ErrorID shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 99 100 Description of the Function Modules MDX MX Supplements directory 49 MDX MX Supplements directory 4 9 1 Function module MC TouchProbe MDX MX Application Description MC TouchProbe1 MDX Enable BOOL EdgeDetected BOOL Source MC TP SOURCE MDX Enabled BOOL Edge MC TP EDGE MDX Error BOOL PresetCounter DINT ErrorlD DWORD Axis AXIS REF VAR IN OUT TouchProbePos DINT Counter DINT Axis AXIS REF VAR IN OUT 58184AXX You can use the function module MC TouchProbe MDX MX on all motor axes MOVIDRIVE B has two interrupt capable binary inputs DIO2 and DIOS MOVIAXIS has eight interrupt capable binary inputs DIO1 to DIO8 If an interrupt event the edge change is specified by the input signal Edge is triggered at one of these binary outputs the corresponding function m
129. ire certain settings for fault free control of the drive inverter by the MOVI PLC control can lead to unforeseeable operating states Therefore the function module MC WriteParameter MDX MX must only be used by trained personnel or after testing the required functionality thoroughly ensuring the pro tection of personnel and machinery Description Function module MC WriteParameter MDX MX is used to transfer parameters indi ces from the MOVI PLC control to the drive inverter Input signals The behavior of the function module MC WriteParameter MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the parameter transfer pro cess When a rising edge occurs at this input signal the function module starts to transfer the parameter from the MOVI PLC control to the drive inverter Index UINT The input signal Index specifies which parameter is to be transferred from the MOVI PLC control to the drive The index number of the parameter can be displayed in the shell of the MOVITOOLS Motion Studio software when you place your cursor in the relevant parameter field and press lt CTRL F1 gt for MOVIDRIVE B The subindex num ber is also displayed for MOVIAXIS Subindex UINT The input signal Subindex is only available for function module MC_ReadParameter_MX and not for MC_ReadParameter_MDX You can specify which parameter is to be transferred fro
130. itially set in the control configuration for the module parameters in MOVIDRIVE B MOVIAXIS You can use the function module MC SetEncoderType MDX MX to change the encoder source in the program sequence Note Changing the encoder source can cause balance movements of the motor axis by shift ing the machine zero Input signals The behavior of the function module MC SetEncoderType MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute starts the task of the function module When a rising edge occurs at this input signal the encoder changeover starts EncoderType MC ENCODER The input signal EncoderType specifies the encoder source to be _MDX MX used The following encoder sources can be selected for MOVIDRIVE B e MDX_ENCODER_X15 Motor encoder e MDX_ENCODER_X14 External encoder e MDX ENCODER SSI Absolute encoder Function reserved in conjunction with MOVIAXIS at time of publication Axis AXIS REF This input specifies the motor axis on which the actions of the func tion module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX InverterParameters directory Output signals The function module MC SetEncoderType MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whet
131. le MC AxisStop MDX MX and MC Stop MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the braking process of the motor axis When a rising edge occurs at this input signal the function module starts to slow the motor axis Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed The function module MC AxisStop MDX MX and MC Stop MDX MX issue the follow ing output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the braking process has been completed on the motor axis e TRUE The braking process of the motor axis is completed The motor axis is at standstill position control when the function mod ule is not cancelled FALSE The braking process of the motor axis is not yet complete Active BOOL The output signal Active shows whether the motor axis rotates e TRUE The motor axis is rotating FALSE The motor axis is not rotating Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MP
132. le MC_WriteParameter_MX The behavior of the function module MC Home MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signals Execute is used to start the reference travel When a rising edge occurs at this input signal the function module starts the reference travel RefOffset DINT The input signal RefOffset specifies the actual position of the motor axis that is set after reference travel Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory Output signals The function module MC Home MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the reference travel of the motor axis has been completed e TRUE Reference travel of the motor axis is completed The motor axis is at the position specified by the input signal RefOffset FALSE Reference travel of the motor axis is not yet complete Active BOOL The output signal Active shows whether the motor axis is performing reference travel e TRUE The motor axis is performing reference travel FALSE The motor axis is not performing reference travel Command Aborted BOOL The output signal
133. lues as required Notes 1 The SBus address set here must match the SBus address used at the MC ConnectAxis MDX function module and the address set in the control configuration of the PLC editor module parameter of the entry MOVIDRIVE9 MDX B The set baud rate must match the baud rate set in the control con figuration of the PLC editor module parameter of the entry CAN 1 2 default value 500 kBaud 2 The MOVI PLC control can read and use the binary inputs of the drive inverter basic unit or its option in the control program independent of the parameter settings in the groups P60x or P61x To prevent the binary inputs from executing additional functions the corresponding parameters must be set to POS Input or No Function To use the binary outputs of the drive inverter basic unit or its option in the control program of the MOVI PLC control the corresponding parameters in the groups P62x or P63x have to be set to IPOS Output If these parameters are not set to POS Output the binary outputs will be written in the program but the physical output signals will not be changed The difference between the output variables and the physical output signal is shown in the control program Some of these parameters are already set to the correct value on delivery L Download the input values You can use this function to load the relevant SHELL user data into the drive inverter i Save the inverter data A complete s
134. m the MOVI PLC control to the MOVIAXIS servo inverter using the input signals Sub index and Index Data DINT The input signal Data contains the transferred parameter value NonVolatile BOOL The input signal NonVolatile specifies whether the parameter should be copied to the non volatile memory TRUE The parameter is transferred to the non volatile memory of the drive inverter The parameter value is still stored once the drive inverter is switched off and then on again FALSE The parameter is transferred to the volatile memory of the drive inverter When the drive inverter is switched off and then back on again the parameter is reset to its original value Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX InverterParameters directory Output signals The function module MC WriteParameter MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the parameter was correctly transferred e TRUE The parameter has been successfully transferred from the MOVI PLC control to the drive inverter e FALSE The parameter has not been transferred Busy BOOL The output signal Busy shows whether the parameter is being trans ferred
135. me MDX MX Application Prerequisites Description Effect Input signals MC Home MDX Execute BOOL Done BOOL RefOffset DINT Active BOOL Axis AXIS REF VAR IN OUT CommandAborted BOOL Error BOOL ErrorlD DWORD Axis AXIS REF VAR IN OUT 58167AXX You can only use the function module MC Home MDX MX on motor axes with encod ers For the function module MC Home MDX MX to be executed the motor axis must be in PLCopenState STANDSTILL output signal of the function module MC ConnectAxis MDX The axis must also be enabled for all reference travel types Exception The axis must not be enabled for reference travel type 8 for MOVIDRIVE B The function module MC Home MDX MX triggers the reference travel of a motor axis After reference travel the function module sets the position of the motor axis to the value specified by the input signal RefOffset MOVIDRIVE B In the control configuration set the encoder to be used for refer ence travel in the module parameters of the inverter Parameters P900 to P904 of the MOVIDRIVE MDX60B 61B specify the type of reference travel You can change these parameters using the function module MC SetHomeParameters MDX MOVIAXIS Important reference parameters are set using the function module MC SetHomeParameters MX for reference travel with MOVIAXIS You can set additional parameters in the parameter tree FCB12 reference travel or using the function modu
136. must be assigned the status STANDSTILL or DISCRETE MOTION in PLCopenState output signal of the function module MC ConnectAxis MDX e For the function module MC MoveAbsolute MX to be executed for MOVIAXIS the motor axis must be assigned the status STANDSTILL DISCRETE_MOTION or CONTINUOUS_MOTION in PLCopenState output signal of the function module MC ConnectAxis MX The axis must also be referenced Exception for MOVIDRIVE B The function mod ule MC InitialConfig MDX was first executed with the input signal UseMoveAbso luteWithoutReference TRUE The function module MC MoveAbsolute MDX MX starts the movement of a motor axis to an absolute axis position The input signals Velocity Acceleration and Deceleration determine the dynamic behavior of the rotation The motor axis remains at the target position subject to position control The following parameters of the MOVIDRIVE B drive inverter have a direct effect on the execution of the function module MC MoveAbsolute MDX You can use parameters P916 Ramp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC SetJerk MDX to set these pa rameters Use parameter P922 Positioning window to set the positioning window to the target position within which the function module sets the output signal Doneto TRUE Tar get position reached The startup assistant helps you to set these parameters The following parameters of the
137. n Overview of additional libraries for the MOVI PLC control 2 3 Overview of additional libraries for the MOVI PLC control In addition to the MPLCMot ion_MDX and MPLCMotion MxX libraries you can install a number of additional libraries in the PLC editor of the MOVITOOLS MotionStudio soft ware to optimize the control of the drive and frequency inverters provided by SEW EURODRIVE as well as other periphery modules The following is an overview of the basic libraries available for controlling units connect ed to the MOVI PLC control In addition to these libraries further application specific libraries are available e g for handling cams synchronous operation winder applica tions etc depending on the inverter type MPLCProcessdata MPLCMotion MDX MPLCMotion MCO7 MPLCMotion MX MPLCMotion MM MPLCUtilities MOVI PLC can be MOVI PLC as MOVI PLC as MOVI PLC as MOVI PLC as For example con used as a conven motion control for motion control for motion control for motion control for nection with CAN tional control MOVIDRIVE B MOVITRAC 07 MOVIAXIS MOVIMOT open I O modules MOVITRAC B MOVIFIT Controls all e Single axis Speed Single axis Speed SEW inverters motion commands motion commands via process commands Use of commands Use of data Use of MOVITRAC 07 Use of MOVIMOT e For using pro MOVIDRIVE9B MOVITRAC B MOVIAXIS interfaces ces
138. n nected to the MOVI PLCS Prerequisites SEW EURODRIVE recommends creating just one synchronization object for each CAN line There must only be one synchronization object with a specific CAN ID on a CAN line Description The function module MC SetSync MDX MX sets a synchronization object on the CAN nodes of the MOVI PLC specified at the input signal Node with the following parame ters e CycleTime 5 ms e D 128 OffsetTime 2ms To prevent multiple creation of synchronization objects when repeatedly executing the function module MC SetSync MDX MX in relation to the same CAN line input signal Node the output signal Erroris set to TRUE Ensure that no other station on the CAN bus sets a synchronization object with the same CAN ID Input signals The behavior of the function module MC SetSync MDX MX is dependent on the follow ing input signals Input signal Type Meaning Execute BOOL The input signal Execute starts the task of the function module When a rising edge occurs at this input signal the synchronization object is set up Node CAN NODE CAN nodes on which the synchronization object should be set up e SBUS NODE 1 CAN 1 connector X33 for DHP11B X26 for compact control e SBUS NODE 2 CAN 2 connector X32 for DHP11B Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Config directory
139. n invalid logical address AXIS REF FB0073h E MDX MOTIONBLOCK INVALID STATE A motion function module cannot be executed from the current PLCopenState FB0074h E MDX MOTIONBLOCK INVALID OPERATING MODE A motion function module cannot be executed in the operating mode of the inverter FB0075h E MDX MOTIONBLOCK INVALID INVERTER STATUS A motion function module cannot be executed in the current status of the inverter FB0076h E MDX MOTIONBLOCK INVALID VELOCITY The speed specification is not within value range FB0077h E MDX MOTIONBLOCK INVALID RAMP TYPE The function module cannot be executed with the currently set ramp type P916 Ramp type FB0090h E MDX PARAMCHANNEL SEND BUFFER OVERFLOW The buffer for the parameter channel is full FB0091h E MDX PARAMCHANNEL WRITEPARAMETER BUSY Parameter access occurs while the parameter chan nel is still busy FB0092h E MDX PARAMCHANNEL READPARAMETER BUSY Parameter access occurs while the parameter chan nel is still busy MPLCUtilities error codes FCO0001h E CAN IO MODULE TIME OUT SBUS INIT Internal timeout during SBus initialization FC0002h E_CAN_IO_MODULE_TIME_OUT_WAGO_INIT Timeout during initialization of the WAGO module FCO0003h E CAN IO MODULE NO CONNECTION DURING INIT SEQ Termination of the connection to WAGO module dur ing initialization FC0004h E CAN IO MODULE WATCH DOG ERROR Watchdog error Communication to WAGO module interrupt
140. n MDX essssseeeeeneee 109 MCL Lies area a a 110 Brell REN 109 Establishing communication 117 F Features uos aa aaa aaie 8 Function module General bebavior csse 22 MC AxisStop MDX sse 82 MC AxisStop MDX MX sese 82 MC ConnectAxis MDX MX sss 53 MC ConnectAxisSimulation MDX MX 59 MC_GetDataprofile4Data_MDX 34 MC GetlnverterInfos MDX MX 103 MC Home MDX MX eesssseeeneene 80 MC HomeEnable MDX MX 95 MC InitialConfig MDX MX sese 29 MC MoveAbsolute MDX MX 69 MC MoveAbsoluteModulo MDX 71 MC MoveModulo MN 78 MC MoveHhelative MDX MX 74 MC_MoveRelativeModulo_MDX 76 MC MoveTargetPosition MDX MX 92 MC MoveTargetSpeed MDX MX 89 MC MoveTargetSpeedSensorless MDX 97 MC MoveVelocity MDX MX sess 67 MC MoveVelocitySensorless MDX 84 MC Power MDX MX eeeeereennne 62 MC QuickEnable MDX MX ssss 64 MC ReadActualPosition MDX 105 MC ReadAxisError MX o aannannsaeneeeannna 106 MC ReadParameter MDX MX 36 MC HReadStatus MDX 107 MC Reset MDX MX ssseseeseee 66 MC SetDynamics MDX MX ssss 40 MC Set
141. nable MOVIDRIVE B In the control configuration set the encoder to be used for refer ence travel in the module parameters of the inverter servo inverter Parameters P900 to P904 of the MOVIDRIVE MDX60B 61B specify the type of reference travel You can change these parameters using the function module MC SetHomeParameters MDX The braking movement due to a falling edge at input signal Enable is executed using the stop ramp set in parameter P136 of the inverter The startup assistant helps you to set the parameters MOVIAXIS Important reference parameters are set using the function module MC SetHomeParameters MX for reference travel with MOVIAXIS You can set additional parameters in the parameter tree FCB12 reference travel or using the function module MC WriteParameter MX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 95 Description of the Function Modules MDX MX SingleAxisSEW directory Input signals The behavior of the function module MC HomeEnable MDX MX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module for executing the reference travel is only executed when the input signal Enable input is set to TRUE When a falling edge is at the input signal Enable the axis is deceler ated until standstill with the emergency stop ramp MOVIDRIVE B P136 S
142. name e g fbConnectAxis 1 of the function module and press the ENTER key Confirm the Variable declaration dialog that appears with OK 2 10 Enter the values listed in the following table at the input signals of the function mod ule To do this click the on the question marks 3 to the left of the input signal enter the values and then press the ENTER key Enable TRUE Node SBUS NODE 1 SBUS Adaress The SBUS 1 address set for inverter startup 11 For example enter the following variable at the nverterData output 1 of the function module InverterData gstDataAxis1 of type MC INVERTERDATA MDX SHPLCEditor Example_Positioning_MDx pro Pl ini xi E EE x Declare Variable o E Tipe erum E User defined Types Lx c kan oos zl astDatadsist El Standard Function Blocks ffl C PROGRAMMENGEMEINSAME DATEIENSSEW Cancel Cancel User defined Function Bloc fiij C PROGRAMMENGEMEINSAME DATEIENNSEW Symbolist KE GE WC PROGRAMMENGEMEINSAME DATEIENNSEW Global Vaiabes f T CONSTAI fii C PROGRAMME GEMEINSAME DATEIEN SEW Comment IT RETAIN a i C PROGRAMME GEMEINSAME DATEIENNSEW A C3 MPLCDatatypes E General TER PUTT CIMT E MPLCCamMotion MDX MC Connect amp xis MDX B MPLCMotion MDX TRUE Enable Done E MC DEBUGINFO MDX STRUCT SBUS NODE 1 Node Error 2 MC_INVERTERDATA_MDX STRUC 1 8BUS Address ErroriD a MC_L
143. nce travel The function module MC SetHomeParameters MDX MX transfers parameters required for reference travel from the MOVI PLC control to the inverter For more information on the reference travel parameters and the reference travel types refer to the online help of the MOVITOOLS MotionStudio software For reference travel with MOVIAXIS you can set additional parameters in the param eter tree FCB12 reference travel or by using the function module MC_WriteParameter_MX The behavior of the function module MC SetHomeParameters MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the parameter transfer pro cess When a rising edge occurs at this input signal the function module starts to transfer the parameters from the MOVI PLC control to the inverter RefSpeed1 DINT The input signal RefSpeed 1 specifies reference speed 1 RefSpeed2 DINT The input signal RefSpeed 2 specifies reference speed 2 RefType DINT The input signal RefType specifies the type of reference travel 0 8 for MOVIDRIVE B 0 10 for MOVIAXISS ZeroPulse BOOL The input signal ZeroPulse shows whether the motor axis is refer enced to the zero pulse during reference travel TRUE The motor axis is referenced to the zero pulse during refer ence travel e FALSE The motor axis is not referenced to the zero pulse during reference travel Axis
144. ncoder 129 Positioning a motor axis sess 112 Speed control of a motor axis with encoder sss 124 Programming examples ssss 111 Programming jog mode n se 130 Programming the speed control function 125 Manual PLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Index Project planning eene 12 S Sate stop ieu ER RU 25 Safety notes sss 6 Safety notes for bus systems sssss 5 Setting the control configuration 114 124 129 Startup MOVIAXIS a 19 MOVIDRIVE B sss 15 State diagram sssssssssseeeeees 27 Switching the drive inverter on off 119 T Testing the program 121 126 131 Trace recording suussl 122 127 132 Transferring the project ssssessss 121 U Units and ranges of values MOVIAXIS EE 21 MOVIDRIVE B sse 20 W Warning notes cceolana ea 6 Manual PLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 139 i Address List Address List SiemensstraBe 1 D 40764 Langenfeld near D sseldorf Germany Headquarters Bruchsal SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 0 Production Ernst Blickle StraBe 42 Fax 49 7251 75 1970 Sales D 76646 Bruchsal http Awww sew eurodrive de P O Box
145. nd differences between the data of the output signal nverter Infos and the actual settings in the inverter Input signals The behavior of the function module MC Getlnverterlnfos MDX MX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module MC Getlnverterlnfos MDX MX Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 103 104 Description of the Function Modules MDX MX Supplements directory Output signals The function module MC Getlnverterlnfos MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the data at the output Inverterinfos is valid TRUE The data of the output signal nverterinfos is valid if known in MOVI PLC e FALSE The data of the output signal nverterinfos is not valid Error BOOL The output signal Error shows whether an error occurred in the function module e TRUE An error has occurred in the function module e FALSE No errors have occurred in the function module ErrorlD DWORD The output signal ErrorID shows the error code of the error that occurred Section Error identifier Inverterinfos MC_INVERTER The output signal nverterinfos shows inverter information
146. nd with the ID of the required send object input signal SendID of the instance of MC InitialConfig MDX that refers to the transmitting inverter servo inverter Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Config directory Output signals The function module MC InitialConfig MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the function module was cor rectly executed You can use the output signal Done directly as the input signal Enable for the function module MC ConnectAxis MDX MX of the same motor axis TRUE The function module MC Initial was correctly executed FALSE The function module MC Initial was incorrectly executed or not executed at all Error BOOL The output signal Error shows whether an error occurred TRUE An error has occurred during the execution of the function module FALSE No error has occurred ErronD DWORD The output signal ErrorlD displays the error code of the occurring error see Section Error Identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 31 Description of the Function Modules MDX MX Config directory 4 3 2 Function module MC SetSync MDX MX MC SetSync MDX ErrorlD DWORD 58161AXX Application You can only use the function module MC SetSync MDX MX on the CAN lines co
147. nfiguration of SHELL parameters Data backup UE 58225AEN Only perform startup using the startup assistant Proceed as follows Step one Load the factory settings The delivery status is loaded When the delivery status is loaded Startup data is reset All Shell parameters are reset to the default values All IPOSP S variables are deleted Any IPOSP 4S program code is deleted Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Project Planning and Startup go Step two Step three Step four Step five MOVIDRIVE B startup Startup the drive inverter Follow the instructions of the startup assistant For details on motor startup refer to the MOVIDRIVE MDX60B 61B system manual Note In the operating mode groups V f and VFC you can execute function modules of the MDX_SingleAxisSensorless directory One of the following operating mode groups has to be set for function modules in the MDx_SingleAxis direc tory e VFC n control e CFC control e SERVO control Within an operating mode group the MOVI PLC control sets the operating mode required for the continuous or discrete motion function modules automati cally see also the detailed description on page page 26 i Configuration of the Shell parameters Follow the instructions of the startup assistant You can either accept the default values by clicking Apply proposal or change the va
148. nsfers the parameter System limit maximum speed User defined units maximum setting range 0 10000000 MX SPEED LIMIT APPLICATION The function module trans fers the parameter Application limit maximum speed User defined units maximum setting range 0 10000000 MX EMERGENCY STOP DEC LIMIT The function module transfers the parameter Emergency stop deceleration User defined units maximum setting range 0 2147483647 MX ACC LIMIT SYSTEM The function module transfers the parameter System limitmaximum acceleration User defined units maximum setting range 0 2147483647 MX ACC LIMIT APPLICATION The function module transfers the parameter Application limitmaximum acceleration User defined units maximum setting range 0 2147483647 MX DEC LIMIT SYSTEM The function module transfers the parameter System limitmaximum deceleration User defined units maximum setting range 0 2147483647 MX DEC LIMIT APPLICATION The function module transfers the parameter Application limitmaximum deceleration User defined units maximum setting range 0 2147483647 MX CURRENT LIMIT The function module transfers the param eter Current limit Unit mA maximum setting range 0 2000000 MX TORQUE LIMIT SYSTEM The function module transfers the parameter System limitmaximum torque Unit Torque 103 rated motor torque maximum setting range 0 1000000 MX TORQUE LIMIT APPLICATION The function module trans fers th
149. nt the drive inverter status and the control pro gram the motor axis can begin to move immediately after the MOVI PLC control has been started To prevent risk of injury keep sufficient distance from all moving parts Turn on the MOVIDRIVE MDX60B 61B drive inverter if it was not already switched on in step one in connection with the MOVI PLC control Start the MOVI PLC control Now select the menu item Online Start or Run Deactivate the controller inhibit To do so apply the DC 24 V voltage at the binary input DIOO Controller inhibit Start the jog mode of the motor axis To do so apply the DC 24 V voltage to one of the one of the two binary inputs DIO1 or DIO2 of the drive inverter Programming is correct when The motor axis turns in a positive clockwise or negative counterclockwise direc tion when DC 24 V is applied at binary input DIO1 or DIO2 The absolute value of the motor speed switches between 500 rpm and 1000 rpm when the voltage is switched between OV and DC 24 V at the binary input D 03 The motor axis is decelerated by applying the DC 24 V voltage to both the binary in puts DIO1 and DIO2 or by removing the voltage from both For more details on the behavior of the MOVI PLC control and the connected MOVIDRIVE drive inverter in this example refer to the following section Trace recording Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 131 5 go Programming E
150. nverter simulation PLC editor Resources tab Double click on Control configuration Select MOVIDRIVE MDX B Select the Module parameter tab in the right window gt Select entry Simulation in the dropdown menu of the entry Operation mode The function module MC ConnectAxis MDX MX specifies which interface the MOVI PLC control system bus CAN 1 2 is connected to and the system bus address that is connected to the controlled inverter via this function module Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Main directory Return values Effect The function module MC ConnectAxis MDX MX provides you with various pieces of in formation including Reference of the motor axis This virtual address is used to access other function modules on the motor axis Debugging information State of the system bus Capacity utilization of the parameter channel And soon e Current state gt Section State diagram Inverter data Inverter state Actual position of the motor axis Actual speed of the motor axis Andsoon For more details refer to the section Output signals The following parameters of MOVIDRIVE B are described once when the MOVI PLC9 control is connected for the first time to MOVIDRIVE B via the function module MC ConnectAxis MDX Parameter Meaning Value entered P885 SBus 1 synchroniza
151. o the MOVI PLC control MOVIDRIVE B MOVIAXISS Data profile 1 2 3 Al 1 4 Optimized MDX MX actual values Refresh Time Status word During change X X X X X MDX MX inputs During change X X X X X Touch probe positions During change X X X X 2ms X Setpoint speed 3 ms X X During change amp e X Actual speed 2ms X X 3ms X X Actual position Dung change x according to encoder type 2 ms X X in the control configuration Sms X X m During change s lt X Modulo actual position 3 ms X During change X Active current 2 ms X 3 ms X Analog inputs 10 ms x3 1 You can freely configure additional MDX actual values for the Data profile 4 setting using the function module MC GetDataProfiledData MDX 2 In addition to the Optimized Refresh Time you can also set transmission rates of 5 ms 10 ms 20 ms 30 ms 40 ms 50 ms and 100 ms The Refresh Time set applies to all MDX MX actual values see foot note 3 for exceptions 3 Evenif you set the Refresh time to 5 ms the analog inputs will still be transferred in a 10 ms cycle Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Appendix o CAN identifier L 6 2 CAN identifier Identifier in MOVILINK protocol The system bus is a CAN bus in accordance with CAN specification 2 0 The identifier is a
152. odule MC TouchProbe MDX MX outputs the actual position of the selected encoder via the output signal TouchProbePos specified by the input signal Source and also increments the output signal Counter by one There is a fixed assignment between binary input and function module for MOVIDRIVE B e DI02 MC TouchProbe1 MDX e DIO3 MC TouchProbe2 MDX Up to four touch probe instances can be executed simultaneously for MOVIAXIS Specify the interrupt source of each instance using the input nterruptSource of the func tion module MC TouchProbe MX Ensure that the motor axis is assigned the status STANDSTILL output signal of the function module MC ConnectAxis MDX MX in the PLCopenState when calling up the function module MC TouchProbe MDX MX for the first time The output signal Enabled TRUE shows that the initialization of the function module is complete and the input signal TouchProbe was activated At least 5 control cycles must be performed between 2 interrupt events The time inter vals between two interrupt events must not be under approx 40 seconds so that all in terrupt events are detected reliably The nterruptSource input is only available for the function module MC TouchProbe MX for MOVIAXISS Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Supplements directory TouchProbe routine Input signals 1 Initialization The function module M
153. on 500 Axis fbConnectAxis 1 Axis 4 The travel command is only executed when the MC Power MDX function module has been executed beforehand Therefore at the input signal Execute of the MC MovehRelative MDX function module enter the result of an AND connection between the output signal Status of the MC Power MDX function module and the binary input which is provided to start the movement To do so click on the line before the input signal Execute 2 Add a new AND func tion module To do so click on the symbol 33 3 Assign the input signals of the AND function module as required 4 5 To rebuild the project select the menu item Project Rebuild all When the pro gramming is error free the message window displays the message O Error s O Warnings s Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go 5 Positioning a motor axis Step seven Transferring project to the MOVI PLC control Select the menu item Online Communication Parameters In the dialog box that opens set the communication parameters in accordance with the communication channel to be used You only have to perform this step once Now select the menu item Online Login In the dialog box that appears confirm that you want to load a program by clicking Yes Step eight Testing the program In the final step execute the program by activating the digital inputs
154. ons of the function module are to be executed Output signals The function module MC MoveModulo MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the motor axis has been posi tioned TRUE The motor axis has performed the rotation The motor axis has reached the target position window e FALSE The motor axis has not yet completed the rotation The motor axis has not yet reached the target position window Active BOOL The output signal Active shows whether the motor axis is turning to reach the target position window TRUE The motor axis is rotating FALSE The motor axis is not rotating Command BOOL The output signal CommandAborted shows whether another function Aborted module has cancelled the task of the function module TRUE Another function module has cancelled the task of the function module FALSE The task of the function module has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 79 80 Description of the Function Modules MDX MX SingleAxis directory 4 6 7 Function module MC Ho
155. ontrol Input signals The behavior of the function module MC ReadParameter MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the read process of the parameter When a rising edge occurs at this input signal the function module starts to transfer the parameter from the drive inverter to the MOVI PLC control Index UINT The input signal ndex specifies which parameter is to be transferred from the inverter to the MOVI PLC control The index number of the parameter can be displayed in the shell of the MOVITOOLS Motion Studio software when you place your cursor in the relevant parameter field and press lt CTRL F1 gt for MOVIDRIVE B The subindex num ber is also displayed for MOVIAXIS Subindex UINT The input signal Subindex is only available for function module MC_ReadParameter_MX and not for MC_ReadParameter_MDX You can specify which parameter is to be transferred from the MOVIAXIS servo inverter to the MOVI PLC control using the input signals Sub index and Index Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX InverterParameters directory Output signals The function module MC ReadParameter MDX MX has the following out
156. op ramp t13 P136 set in the inverter Note The motor axis remains in the PLCopenState STOPPING output signal of the function module MC ConnectAxis MDX as long as the input signal Execute is set to TRUE This means a motion task for a subsequent movement cannot be performed To be able to leave the PLCopenState STOPPING the input signal Execute of the func tion module must be reset to FALSE in at least one call up of the function module The braking movement triggered by the function modules MC AxisStopSensorless MDX or MC StopSensorless MDX can be cancelled by the function modules MC MoveVelocitySensorless MDX or MC_MoveTargetSpeedSensorless _MDX The function module MC_AxisStopSensorless_ MDX can also be triggered by the func tion module MC_StopSenorless_MDX The input signal Execute of the first active function module must have been executed at least once with the value FALSE for both cancellation options Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX SingleAxisSensorless directory Effect Input signals The braking movement triggered by the function module MC AxisStopSensorless MDX is executed using ramp t11 set in the parameters P130 P133 The parameters P131 133 are described by the function modules MC MoveVelocitySensorless MDX MC MoveTargetSpeedSensorless MDX and MC SetDynamics MDX input signal Deceleration The braking movement trigger
157. or axis is rotating to reach the target position window or whether the brake is being applied due to a falling edge at the input signal Enable e TRUE The motor axis is rotating FALSE The motor axis is not rotating Stopped BOOL The motor axis was decelerated and is in the PLCopenState Standstill Command Aborted BOOL The output signal CommandAborted shows whether the task of the function module has been cancelled This includes the movement to the target position as well as the braking movement triggered when the input signal Enable is removed e TRUE The task of the function module has been cancelled FALSE The task of the function module has not been cancelled A cancelled task requires a new rising edge at the input signal Enable for the execution of motion tasks For example the removal of the input signal Enable after a function module cancellation does not cause a braking movement Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorID DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxisSEW directory 4 8 8 Function module
158. ory 4 4 9 Function module MC SetModuloParameters MDX MX MC SetModuloParameters MDX Execute BOOL ModuloOn BOOL Numerator DINT Error BOOL Denominator DINT ErrorlD DWORD EncoderResolution UINT Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58181AXX Application You can use the function module MC SetModuloParameters MDX MX only on motor axes with encoders Description The function module MC SetModuloParameters MDX MX is used to set the parame ters that are required for positioning applications of the motor axis in modulo format The function module MC SetModuloParameters MDX MX transfers the parameters re quired for positioning applications in modulo format from the MOVI PLC control to the inverter For more information on the modulo parameters refer to the online help of the MOVITOOLS MotionStudio software Notes The MPLC CalcLCD function Calculate Least Common Denominator is available in the MPLCUtilities library for calculating the least common denominator of two natural numbers The inputs ModuloOn to EncoderResolution are only available for function module MC SetModuloParameters MDX for MOVIDRIVE B The inputs Mode to Underflow are only available for function module MC SetModuloParameters MX for MOVIAXIS Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 51 Description of the Function Modules MDX MX InverterParameters directory
159. osition e MDX_X14 An external encoder measures the position e MDX SG An absolute encoder measures the position DIP11B option InterruptSource MC TP The input signal nterruptSource specifies interrupt source Only for MOV IR SOURCE MX TP Dor DIO1 IAXIS _MX tse e MX TP DIO08 DI08 Edge MC TP The input signal Edge defines the edge evaluation of the touch probe EDGE MDX input MDX_EN Both edges MDX EN H Rising edge MDX EN LO Falling edge PresetCounter DINT The input signal PresetCounter specifies the initial value of the output signal Counter Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 101 4 Description of the Function Modules MDX MX Supplements directory Output signals The function module MC TouchProbe MDX MX has the following output signals Output signal Type Meaning EdgeDetected BOOL The output signal EdgeDetected shows whether a touch probe interrupt event has taken place s TRUE Touch probe event has taken place FALSE The output signal EdgeDetected is set automatically to FALSE after each control cycle Enabled BOOL The output signal Enabled shows whether the function module is active TRUE The input signal Enable is set to TRUE FALSE The input signal Enable is set to FALSE Error BOOL The
160. otor axis cannot be executed When attempting to execute the function modules the TRUE signal is issued atthe Error output with the ErrorlD E IEC PARAMETER VALUE OUT OF RANGE Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 59 60 Input signals Description of the Function Modules MDX MX Main directory The behavior of the function module MC ConnectAxisSimulation MDX MX is depen dent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The behavior of the function module differs from the general behavior of the input signal Enable according to section 4 1 TRUE When the function module is called for the first time by set ting Enable TRUE the function module is activated and the applied input signals are adopted In all the following cycles the MOVI PLC control must continue to call the function module However regardless of the status of the input signal Enable changes to the input signals are no longer adopted in the following cycles The function module can only be reactivated and use the modified input signals after the MOVI PLC control has been reset FALSE The task of the function module will not be executed after the MOVI PLC control has been switched on or reset as long as the input signal Enable is set to FALSE However if the input sig nal Enable has been set to TRUE once itno longer
161. otor brake is applied after the brake process for MOVIDRIVE B shortly before reaching standstill and when the motor standstill is detected for MOVIAXIS Accordingly drives without motor brakes or with a deactivated brake function are free running after the electronic brake application and can be accelerated by external forces Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 25 Description of the Function Modules General behavior of the function modules Behavior in 24 V operation Changing dis crete motion continuous motion for MOVIDRIVE B Changing dis crete motion continuous motion for MOVIAXIS If a motor axis that was in position control mode once positioning had been completed at the time of the interruption and is moved out of its position by free running and exter nal forces the axis returns to the last controlled target position after the interruption When a braking movement triggered by one of the function modules MC Stop MDX MX MC AxisStop MDX MX MC StopSensorless MDX Or MC AxisStopSensorless MDX is interrupted by one of the executed conditions and the axis is not yet at a standstill at the end of the interruption then the brake operation is continued after the interruption Exception The reference travel triggered by the function module MC HomeMDX MX or MC HomeEnable MDX MX is cancelled by setting the controller inhibit At the same time the function module MC Home MDX
162. oveRelative MDX END VAR drill foConnectAds 1 foPower 1 MC ConnectAxs MDX AND MC Power MDX TRUE Enable Done Enable Status SBUS NODE 1 Node Error ibPower MDX1 MN CTRL INHIBIT PowerOfiMode Emol 1 8BUS Address Error foConnectAxis 1 Axis Axis gt ErrorID Axis Debuginfo PLCopenState InverterData gstDataAxist HETITI 4 2 foMoveRelative 1 AND MC MoveRelalive MDX toPower_1 Status Execute Done ibMove MDX1 40960 Distance Active 1000 Velocity CommandAborted 500 JAcceleration Error 500 Deceleration ErroriD foConnect amp xis 1 Axis JAxis P ling Trac E Sampling Trace se Target Settings a Task configuration Y sl Po Da 5 Re BNUNE GV READ 11287AXX 1 Click the right mouse button in a free area of the network 0001 In the context menu select the Network after menu item 2 Add a function module MC MoveRelative MDX in the new network 0002 as de scribed in step four and specify an instance name e g fbMoveHelative 1 The MC MoveRelative MDX function module is included in the MDX_SingleAxis di rectory of the MPLCMot ion_MDX library under the Standard Function Blocks en try 3 Enter the following values at the input signals of the function module MC MoveRelative MDX 1 Distance 40960 Velocity 1000 Acceleration 500 Decelerati
163. p BOOL The output signal Errorstop shows whether the PLCopenState of the inverter is set to Errorstop e TRUE The PLCopenState is set to Errorstop FALSE The PLCopenState is not set to Errorstop Stopping BOOL The output signal Stopping shows whether the PLCopenState of the inverter is set to Stopping e TRUE The PLCopenState is set to Stopping FALSE The PLCopenState is not set to Stopping StandStill BOOL The output signal StandStill shows whether the PLCopenState of the inverter is set to StandStill TRUE The PLCopenState is set to StanaStill FALSE The PLCopenState is not set to Standstill Discrete Motion BOOL The output signal DiscreteMotion shows whether the PLCopenState of the inverter is set to DiscreteMotion e TRUE The PLCopenState is set to DiscreteMotion FALSE The PLCopenState is not set to DiscreteMotion Continuous BOOL The output signal ContinuousMotion shows whether the PLCopen Motion State of the inverter is set to ContinuousMotion e TRUE The PLCopenState is set to ContinuousMotion FALSE The PLCopenState is not set to ContinuousMotion Synchronized BOOL The output signal SynchronizedMotion shows whether the PLCopen Motion State of the inverter is set to SynchronizedMotion e TRUE The PLCopenState is set to SynchronizedMotion FALSE The PLCopenState is not set to SynchronizedMotion Homing BOOL The output signal Homing shows whether the PLCopenState of the invert
164. peed Active BOOL The output signal Active shows whether the motor axis is accelerated to reach the setpoint speed TRUE The motor axis is accelerated or decelerated FALSE The motor axis is not accelerated or decelerated Command BOOL The output signal CommandAborted shows whether the task of the Aborted function module has been cancelled TRUE The task of the function module has been cancelled FALSE The task of the function module has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory 4 6 2 Function module MC MoveAbsolute MDX MX Application Prerequisite Description Effect MC MoveAbsolute MDX Done Active CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58163AXX You can only use the function module MC MoveAbsolute MDX MX on motor axes with encoders For the function module MC MoveAbsolute MDX to be executed for MOVIDRIVE B the motor axis
165. put signal Enable is set to TRUE The values of other input signals of the function module are only read when a rising edge occurs at the input signal Enable The actual values output signals Data to Data4 are only transferred when the input signal Enable remains set to TRUE ContentData1 Input signals ContentData1 to ContentData4 ContentData2 MC DATAPROFA are used to determine which MOVIDRIVE B actual values are ContentData3 DATA MDX transferred in each double word MC DATAPROFILE4DATA MDX ContentData4 Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed The function module MC_GetDataprofile4Data_MDX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the transferred MOVIDRIVE9 B actual values are valid TRUE Initialization is complete and the transferred actual values are valid FALSE The connection between MOVIDRIVE B and MOVI PLC is interrupted and the transferred actual values are invalid For example a termination of the connection can occur during the reset phase of MOVIDRIVE B or when there is a fault on the system bus In this case the motor axis is in the NOT CONNECTED state Output signal PLCopenState of the function module MC ConnectAxis MDX The data transfer restarts when the connec tion is established again and the input s
166. put signals Output signal Type Meaning Done BOOL The output signal Done shows whether the parameter was correctly transferred TRUE The value of the parameter at the Data output is valid e FALSE The parameter has not been transferred Busy BOOL The output signal Busy shows whether the parameter is currently being transferred TRUE The parameter is currently being transferred FALSE The parameter is currently not being transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during parameter transfer FALSE No error has occurred ErrorID DWORD This output shows the error code of the error that occurred Section Error identifier Data DINT This output contains the transferred parameter value Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 37 Description of the Function Modules MDX MX InverterParameters directory 4 4 8 Function module MC WriteParameter MDX MX MC WriteParameter MDX Execute BOOL Done BOOL Index UINT Busy BOOL Data DINT Error BOOL NonVolatile BOOL ErrorlD DWORD Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58175AXX Application You can use the function module MC WriteParameter MDX MX on all motor axes Important Changing some parameters which requ
167. r the module parameters of the inverter servo inverter Note the update times of the actual values of MOVIDRIVE MDX60B 61B and MOVIAXIS during project planning For a detailed description of the data profiles and the corresponding communication times refer to the appendix section 6 1 Using an SSI encoder slows access to all the parameters by a factor of five Therefore you should avoid using an SSI encoder for MOVIDRIVE B and use a Hiperface encoder instead These characteristics affect the response time of the MOVI PLC control in conjunction with the inverters Take these characteristics into account during project planning Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Project Planning and Startup go 3 MOVIDRIVE B startup 3 8 MOVIDRIVE B startup This section describes the startup of the MOVIDRIVE B inverter The startup process must be performed when the drive inverter is to be controlled by the MOVI PLC control Warning Only start up the inverter using the startup assistant described in this section The following actions must only be performed by trained personnel for initial startup restart or optimization Manual changes to inverter parameters A direct startup for the inverter using the motor startup assistant Manual changes could lead to unforeseeable operating states that could cause severe or fatal injuries to personnel Application Builder 4 30 DriveStartup
168. ration DINT CommandAborted Deceleration DINT Error CycleTime UINT ErrorlD DWORD Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 59373AXX You can use the function module MC MoveTargetPosition MDX MX only on motor axes with encoders e For the function module MC MoveTargetPosition MDX to be executed for MOVIDRIVE B the motor axis must be assigned the status STANDSTILL or DISCRETE MOTION in PLCopenState output signal of the function module MC ConnectAxis MDX e For the function module MC MoveTargetPosition MX to be executed for MOVIAXIS the motor axis must be assigned the status STANDSTILL DISCRETE MOTION or CONTINUOUS MOTION in PLCopenState output signal of the function module MC ConnectAxis MX The motor axis must not be referenced Relative movements can be implemented by linking with the current axis position output signal nverterData ActualPosition of the function module MC ConnectAxis MDX MX This can lead to unforeseeable movements for motor axes that are not referenced when the function module is used for absolute positioning The function module MC MoveTargetPosition MDX MX activates the movement of a motor axis for the axle position at the input Position when the input signal Enable is set to TRUE The function module issues the signal TRUE at the Error output as long as the requirements are not met In contrast to the function module MC MoveAbsolute MDX MX a rising edge is not n
169. renced Always TRUE dnverterStatus 1 Controller inhibit 5 Speed control 9 Positioning 12 Homing 13 No enable FaultStatus Always 0 FaultSubStatus Always O ActualPosition Value of the profile generator ActualModuloPosition Always 0 ActualSpeed Value of the profile generator ActualCurrent Always 0 InverterReady Always TRUE Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 61 62 Description of the Function Modules MDX MX Main directory 4 5 3 Function module MC Power MDX MX Application Description Interruption MC Power MDX Enable BOOL Status BOOL PowerOffMode MC POWEROFFMODE MDX Error BOOL Axis AXIS REF VAR IN OUT ErrorlD DWORD Axis AXIS REF VAR IN OUT 58159AXX You can use the function module MC Power MDX MX on all motor axes with encoders Note You must not call the function module MC Power MDX MX on drives without encoders The function module MC Power MDX switches a MOVIDRIVE B unit On inverter status A or 5 depending on the selected operating mode Off inverter status 1 or 2 depending on the PowerOffMode set The function module MC Power MX switches a MOVIAXIS unit On status 9 or 5 depending on the selected operating mode Off status 1 or 13 depending on the PowerOffMode set If the input signal Enable is reset to FALSE the function module MC Power MDX MX int
170. ressing the ENTER button Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 5 119 5 120 qu Step six Programming Examples Positioning a motor axis Programming the positioning process for the motor axis Insert an MC MoveRelative MDX function module that controls a relative positioning movement of the motor axis In this example the motor axis should turn ten revolutions 4 10 x 4096 increments of the encoder clockwise each time a rising edge of the DC 24 V voltage occurs at the binary input D 02 During constant travel the motor axis should turn at a speed of 1000 rpm 3 Ol xj laj x on Example_Positioning_MDx pro PLC_PRG PRG FBD X Fie Edt Project Insert Extras Online Window Help asu Gleladle ledetl X Rena sae bm mrs erede nt 5 FB Resources E E Global Variables Global Variables Vatiable_Configu gt library MPLCDatatype Gilobale_Variable Version MPLCD E ibrary MPLCIntertace C ibrary MPLCIntertace E library MPLCIntertace C3 libra MPLCIntem lib E ibrary MPLCMotion A C library MPLCSystem 1 E library MPLCSystem I E library MPLCSystem 1 E library MPLCSystem I E library MPLCSystem 1 E library standard ib 11 E library SysLibCallback A Alarm configuration fi Library Manager B Log ij PLC Configuration foConnect amp xis 1 MC Connect amp xis MDX foPower 1 MC Power MDX foMoveRelative 1 MC M
171. riate versions of firmware and Motion library using the Version management tool open using the context menu of MOVI PLC in the MOVITOOLS MotionStudio software For fault free operation all function modules except MC QuickEnable MDX MX func tion module of the MPLCMotion MDX and MPLCMotion_Mx libraries must each be executed in the same task of the MOVI PLC gt MOVI PLC programming in PLC editor system manual The MOVI PLC control can only be used to control the MOVIDRIVE MDX60B 61B inverter from MOVIDRIVE firmware version 824 854 0 16 Ifthe MOVI PLC control is installed in the MOVIDRIVE MDX61B at least firmware version 824 854 0 16 is required even when this MOVIDRIVE MDX61B is not con trolled by the MOVI PLC control The standard version of MOVIDRIVE MDX60B 61B is sufficient to use the continu ous motion function modules section 2 2 and function modules that position the motor axis discrete motion function modules MC_Home_MDx MC HomeEnable MDX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Project Planning and Startup g MOVIAXIS Control topology 3 Prerequisites The MOVI PLC control can only be used to control the MOVIAXIS servo inverter from MOVIAXIS firmware version 1820 880 0 20 You can connect up to 64 of the following inverters to the MOVI PLC control via the system CAN buses up to 12 with MOVI PLC basic MOVIDR
172. rless MDX is cancelled by the function modules MC StopSensorless MDX and MC AxisStopSensorless MDX Section 4 1 Note A rising edge at the input of function module MC Stop MDX or MC AxisStop MDX does not cancel a task of function module MC MoveVelocitySensorless MDX as this function module can only be used for motor axes with encoders Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX SingleAxisSensorless directory Effect Input signals Output signals Set the speed window for the target setpoint speed for the output of the signal TRUE at the output In Velocity using the parameter P411 Range width in the startup assistant The behavior of the function module MC MoveVelocitySensorless MDX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute starts the task of the function module When a rising edge occurs at this input signal the function module starts the speed control Velocity DINT The input signal Velocity specifies the target setpoint speed of the motor axis rotation Unit rpm maximum setting range 6000 6000 Acceleration DINT The input signal Acceleration specifies the ramp time for the accelera tion to a speed increased by 3000 rpm increase of kinetic energy in the motor Unit ms maximum setting range 0 2000000 Deceleration
173. s 3 MDX Main User defined Programs TOW AES Conversion Operators Pyle 2 i SetSync_MDX FB E E MDX_Singledsis zd M DX Single amp xisSensorless BL MG Supplements DG CAPROGRAMMESGEMEINSAME DATEIENSSEW ER il C SPROGRAMME SGEMEINSAME DATEIENSSEWw a f C SPROGRAMMESGEMEINSAME re mali 4 b v Structured 58222AXX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 5 117 5 118 qu Programming Examples Positioning a motor axis 6 In the Help Manager on the left of the screen select the entry Standard function blocks 1 7 In the Help Manager on the right of the screen select the function module MC ConnectAxis MDX FB 2 from the MDX_Main directory of the MPLCMotion MDX library Confirm your selection by clicking OK The new function module is shown in the PLC editor m ls S File Edit Project Insert Extras Online zie x PROGRAM PLC PRG C3 PO 0 FG 1 ii foConnectAxis_1 MC_ConnectAxis_MDX 9 Enable Done Node Declare Variable 9 8BUS Address Name Type v ibConnecisis 1 MC Connecthsis MDX Cancel Initial Value Address Feed E I T CONSTANT RETAIN 3 ONLNE BV READ 58221AXX 8 Click on the inserted function module MC ConnectAxis MDX in the PLC editor and then on the question marks above the function module 1 9 Enter the instance
174. s 74 4 6 5 Function module MC MoveRelativeModulo MDX 76 4 6 6 Function module MC MoveModulo MS sese 78 4 6 7 Function module MC Home MDX MX c cccccccccccesssessstsaeeeeeeeees 80 4 6 8 Function module MC AxisStop MDX MX and MC Stop MDX MX 82 4 7 MDX SingleAxisSensorless directory sesssssseee 84 4 7 1 Function module MC MovevVelocitySensorless MDX 84 4 7 2 Function module MC AxisStopSensorless MDX and MC StopSensorless MDX esses 86 48 MDX MX_SingleAxisSEW directory ssseeeee 89 4 8 4 Function module MC MoveTergetSpeed MDX MX 89 4 8 2 Function module MC MoveTargetPosition MDX MX 92 4 8 3 Function module MC HomeEnable MDYX MX mm 95 4 8 4 Function module MC MoveTargetSpeedSensorless MDX 97 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 6 7 49 MDX MX Supplements directory sss eee 100 4 9 1 Function module MC TouchProbe MDX MX eese 100 4 9 2 Function module MC Getlnverterlnfos MDX MX 103 4 9 3 Function module MC ReadActualPosition MDX 105 4 9 4 Function module MC ReadAxisError MDX ssssss 106 4 9 5 Function module MC ReadStatus MDX sess 107 4 10 Error 1D uttc ort textes v
175. s data pro interfaces MOVIFIT FC interfaces files application interfaces modules or your own IPOS pro grams H l l H L 4 SEW process data MOVIDRIVE B MOVITRAC 07 MOVIAXIS MOVIMOT CANopen I O modules MOVITRAC B modules MOVIFIT FC Elements that have to be installed in the control configuration of the PLC editor to be able to use the libraries Overview of the inverter unit specific motion libraries and input output libraries Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 11 3 12 go Project Planning and Startup 9 Prerequisites 3 Project Planning and Startup This section describes the prerequisites for using the MPLCMotion MDX and MPLCMotion MX libraries and contains important information for project planning and startup 3 1 Prerequisites PC and software MOVI PLC MOVIDRIVE B An engineering PC and the MOVITOOLS MotionStudio software are both required to program the MOVI PLC control using the MPLCMotion MDX and MPLCMotion MX li braries For more information on the PC and software requirements refer to the MOVI PLc programming in PLC editor system manual The firmware version of the MOVI PLC and the version of the Motion library must be identical Both versions can be displayed using the Information amp remote control tool open using the context menu of MOVI PLC in the MOVITOOLS MotionStudio soft ware Load the approp
176. scription of the Function Modules MDX MX Main directory 4 5 2 Function module MC ConnectAxisSimulation MDX MX Application Prerequisites Description MC ConnectAxisSimulation MDX Enable BOOL Done BOOL Node CAN NODE Error BOOL SBUS Address UINT ErrorlD DWORD Axis AXIS REF DebugInfo MC DEBUGINFO MDX PLCopenState MC PLCOPENSTATE InverterData MC INVERTERDATA MDX 59367AXX You can use the function module MC ConnectAxisSimulation MDX MX on all motor axes A different instance must be cyclically called for each motor axis If the inverter servo inverter is to be simulated the module parameter Operation mode of the inverter servo inverter that is referred to by the function module must be set to Simulation in the control configuration To simulate the MOVI PLC control select the Simulation menu item in the Extras menu in the PLC editor You can also activate both simulations inverter servo inverter and MOVI PLC simul taneously Mixed operation with simulated and real motor axes is also possible The function module MC ConnectAxisSimulation MDX MX replaces the function mod ule MC ConnectAxis MDX MX for activated simulation of inverter or MOVI PLC If the function module MC ConnectAxisSimulation MDX MX is used instead of MC ConnextAxis MDX MX the function modules MC MoveAbsoluteModulo MDX MC MoveRelativeModulo MDX and MC MoveModulo MX of the corresponding m
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178. signals Description of the Function Modules MDX MX SingleAxisSEW directory Set the speed window to the target setpoint speed for the output of the signal TRUE at the output In Velocity using the following parameters MOVIDRIVE B in the startup assistant P411 Range width Section Startup MOVIAXIS Parameter PLC library speed window P1 index 10407 1 The behavior of the function module MC MoveTargetSpeed MDX MX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module for movement with the target speed input signal Velocity is only executed when the input signal Enable input is set to TRUE When a falling edge is at the input signal Enable the axis is decelerated until standstill with the braking deceleration that is applied at the input signal Deceleration for the falling edge of the input signal Enable The input signal Axis is adopted when a rising edge occurs at the input signal Enable or after meeting the requirements for the execution of the function module All other input signals are read with the input sig nal Enable TRUE for each call up and adopted according to the input signal CycleTime Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration in
179. sition specification and position management refer to the Positioning and sequence control IPOSPlus8 system manual Note Set the required gear unit and encoder data using the function module MC SetModuloParameters MDX Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 71 Description of the Function Modules MDX MX SingleAxis directory Effect The following parameters of the MOVIDRIVE MDX60B 61B have a direct effect on the execution of the function module MC MoveAbsoluteModulo MDX You can use parameters P916 Hamp type and P933 Jerk time to define positioning ramps with jerk limitation Use function module MC SetJerk MDX to set these pa rameters Use parameter P922 Positioning window to set the positioning window to the target position within which the function module sets the output signal Doneto TRUE Tar get position reached The startup assistant helps you to set these parameters Input signals The behavior of the function module MC MoveAbsoluteModulo MDX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the motor axis rotation When a rising edge occurs at this input signal the function module starts the motor axis rotation ModuloPosition DINT The input signal Position specifies the target position of the motor axis rotation 216 increments correspond to a motor axis rotation of 360 for MOVIDRIVE
180. sk Slovenia Sales Celje Pakman Pogonska Tehnika d o o Tel 386 3 490 83 20 Service UI XIV divizije 14 Fax 386 3 490 83 21 SLO 3000 Celje pakman siol net South Africa Assembly Johannesburg SEW EURODRIVE PROPRIETARY LIMITED Tel 27 11 248 7000 Sales Eurodrive House Fax 27 11 494 3104 Service Cnr Adcock Ingram and Aerodrome Roads http www sew co za Aeroton Ext 2 Johannesburg 2013 P O Box 90004 Bertsham 2013 dross sew co za 145 146 Address List i South Africa Capetown SEW EURODRIVE PROPRIETARY LIMITED Tel 27 21 552 9820 Rainbow Park Fax 27 21 552 9830 Cnr Racecourse amp Omuramba Road Telex 576 062 Montague Gardens dswanepoel sew co za Cape Town P O Box 36556 Chempet 7442 Cape Town Durban SEW EURODRIVE PROPRIETARY LIMITED Tel 27 31 700 3451 2 Monaceo Place Fax 27 31 700 3847 Pinetown dtait sew co za Durban P O Box 10433 Ashwood 3605 Spain Assembly Bilbao SEW EURODRIVE ESPANA S L Tel 34 9 4431 84 70 Sales Parque Tecnol gico Edificio 302 Fax 34 9 4431 84 71 Service E 48170 Zamudio Vizcaya http www sew eurodrive es sew spain sew eurodrive es Sweden Assembly J nk ping SEW EURODRIVE AB Tel 46 36 3442 00 Sales Gnejsv gen 6 8 Fax 46 36 3442 80 Service S 55303 J nk ping http www sew eurodrive se Box 3100 S 55003 J nk ping info sew eurodrive se Switzerland Assembly Basel Alfred Imho
181. status of motor axis no enable or controller inhibit depending on the input signal PowerOffMode FALSE The braking process of the motor axis is not complete Active BOOL The output signal Active shows whether the motor axis rotates e TRUE The motor axis is rotating FALSE The motor axis is not rotating Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxisSEW directory 48 MDX MX SingleAxisSEW directory The MDX MX SingleAxisSEW directory contains function modules that enable motion tasks for a motor axis and are activated using the input signal Enable The function mod ules with the additional Sensorless name enable motion tasks for a motor axis without encoder and the others for a motor axis with encoder 4 8 1 Function module MC MoveTergetSpeed MDX MX Application Prerequisites Description MC MoveTargetSpeed MDX Enable BOOL InVelocity Velocity DINT Active Acceleration DINT Stopped Deceleration DINT CommandAborted CycleTime UINT Error Axis AXIS REF VAR IN
182. sy BOOL The output signal Busy shows whether the enable command is being issued or revoked TRUE Enable command is being issued or revoked FALSE Enable command is not being issued or revoked Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the execution of the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 65 Description of the Function Modules MDX MX Main directory 4 5 5 Function module MC Reset MDX MX MC Reset MDX Execute BOOL Done BOOL Axis AXIS REF VAR IN OUT Busy BOOL Error BOOL ErrorlD DWORD Axis AXIS REF VAR IN OUT 58160AXX Application You can use the function module MC Reset MDX MX on all motor axes Description The function module MC Reset MDX MX is used to acknowledge inverter errors Errors that occur in a function module of the MPLCMot ion_MDX M x library are not ac knowledged by this function module These errors reset themselves automatically once the cause of the error has been removed Input signals The behavior of the function module MC Reset MDX MX is dependent on the following input signals Input signal Type Meaning E
183. t position within which the function module sets the output signal Doneto TRUE Target position reached Input signals The behavior of the function module MC MoveTargetPosition MDX MX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module for reaching the target position input signal Position is only executed when the input signal Enable is set to TRUE When a falling edge is at the input signal Enable the axis is decelerated until standstill with the braking deceleration that is applied at the input signal Deceleration for the falling edge of the input signal Enable The input signal Axis is adopted when a rising edge occurs at the input signal Enable or after meeting the requirements for the execution of the function module All other input signals are read with the input sig nal Enable TRUE for each call up of the function module and adopted according to the input signal CycleTime Position DINT The input signal Position specifies the target position of the motor axis rotation Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decreas
184. tAxis MDX MX Or MC ConnextAxisSimulation MDX MX in reference to the same motor axis must not yet have been executed when executing the function module MC InitialConfig MDX MX Special communication features and functions of the inverter servo inverter can be ac tivated using the function module MC InitialConfig MDX MX Execution of the function module MC JInitialConfig MDX MX is not required for using the function modules from the MPLCMotion MDX MX library Notes e You must execute the function module MC InitialConfig MDX MX only once for each motor axis The inputs SendSource to ReceivePDO4 are only available for function module MC InitialConfig MDX for MOVIDRIVE B If the function module MC InitialConfig MDX is executed with the input signal Use MoveAbsoluteWithoutReference TRUE unexpected movements of the drive can oc cur when positioning for unreferenced axes Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 29 Description of the Function Modules MDX MX Config directory Input signals The behavior of the function module MC InitialConfig MDX MX is dependent on the fol lowing input signals Input signal Type Meaning Execute BOOL The input signal Execute starts the task of the function module If a rising edge occurs at the input signal the other input signals of the function module are adopted Node CAN NODE The input signal Node is used to specify the CAN
185. te input signal of the MC MoveVelocitySensorless MDX function module 6 In this example the required rising edge is generated by the XOR operation in the 0005 network when the ibJogPlus_MDX1 signal is switched from TRUE to FALSE When the ibRapidSpeed MDX signal switches from TRUE to FALSE the motor axis is slowed down to the lower of the two speeds 8 Resetting both the signals ibJogPlus MDX1 and ibJogMinus MDX1 to FALSE starts the braking process in the same way as setting both signals to TRUE as described above 10 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 133 6 6 1 o Appendix Overview of the transferred MOVIDRIVEG MOVIAXIS actual values 1 Appendix Overview of the transferred MOVIDRIVE MOVIAXIS actual values Various cyclic and acyclic process data objects are transferred between the MOVI PLC control and the MOVIDRIVE MDX60B 61B inverter MOVIAXIS servo inverter via the CAN bus Each connected inverter or servo inverter sends its actual values to the MOVI PLC control The type of transferred actual values and the cycle time with which the actual values are transferred is dependent on the data profile that is set in the control configuration for the module parameters of the inverter or servo inverter Data profile entry The following table gives an overview of the MOVIDRIVE MOVIAXIS actual values transferred and the cycle time required to send the actual values t
186. te the jerk limitation of the positioning function modules The function module MC SetJerk MDX for MOVIDRIVE B transfers the jerk time to the drive inverter You must not change the jerk time of the drive inverter while a travel task is being performed The function module MC SetJerk MX for MOVIAXIS is used to set the jerk limita tion for all discrete and continuous motion function modules The function module MC SetJerk MX transfers the jerk in units of 1 minxs to the servo inverter You must only change the jerk setting in the servo inverter during standstill or move ment with constant speed of the connected drive The JerkTime input is only available for the function module MC SetJerk MDX for MOVIDRIVE B e The Jerk input is only available for the function module MC SetJerk MX for MOVIAXIS 44 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules 4 MDX MX InverterParameters directory Input signals The behavior of the function module MC SetJerk MDX MX is dependent on the follow ing input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the jerk time transfer process When a rising edge occurs at this input signal the function module starts to transfer the jerk time from the MOVI PLC control to the drive inverter JerkTime DINT The input signal JerkTime specifies the jerk time for MOVIDRIVE B Only for
187. ted to the drive inverter for example motor encoder X15 for axes without encoders the output signal Position has the value 0 Description The function module MC ReadActualPosition MDX is used to read in the current posi tion of the motor axis that is detected by the encoder system used The encoder system used is specified in the control configuration for the module parameters of the drive inverter Input signals The behavior of the function module MC ReadActualPosition MDX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The task of the function module is only executed when the input signal Enable is set to TRUE Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC ReadActualPosition MDX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the motor axis position was correctly transferred e TRUE The value of the motor axis position of the output signal Position is valid FALSE The motor axis position has not been transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the transfer of the motor axis position FALSE No error has occurred
188. tion Startup MOVIAXIS Parameter PLC library speed window P1 index 10407 1 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 67 Description of the Function Modules MDX MX SingleAxis directory Input signals The behavior of the function module MC MoveVelocity MDX MX is dependent on the following input signals Input signal Type Meaning Execute BOOL The input signal Execute starts the task of the function module When a rising edge occurs at this input signal the function module starts the speed control Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decrease of kinetic energy in the motor Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC MoveVelocity MDX MX has the following output signals Output signal Type Meaning InVelocity BOOL The output signal nVelocity shows whether the motor axis turns at the target setpoint speed TRUE The motor axis turns at the speed specified by the input signal Velocity FALSE The motor axis is accelerated or decelerated to reach the target setpoint s
189. tion ID 128 P887 Synchronization External control 1 2 On After these parameters have been downloaded the MOVI PLC control loads an IPOs us program required for communication once The following parameters of the MOVIDRIVE B are changed each time the power sup ply is switched on or when the MOVI PLC control is reset during the initialization of the function module MC ConnectAxis MDX first call with Enable TRUE Parameter Meaning P941 Source actual position Dependent on the Encoder type setting in the control configuration for the module parameters of the inverter P938 P939 IPOS speed Optimized for the process Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 55 56 Description of the Function Modules MDX MX Main directory Input signals The behavior of the function module MC ConnectAxis MDX MX is dependent on the following input signals Input signal Type Meaning Enable BOOL The input signal Enable is used to activate the function module The behavior of the function module differs from the general behavior of the input signal Enable according to section 4 1 TRUE When the function module is called for the first time by set ting Enable TRUE the function module is activated and the applied input signals are adopted In all the following cycles of the MOVI PLC control the function module must still be called to prevent communication errors
190. tion module starts to slow the motor axis PowerOffMode MC POWER The input signal PowerOffMode is used to set the status of inverter OFFMODE when it is switched off using the function module MDX MC StopSensorless MDX e MDX_CTRL_INHIBIT The inverter changes to the state Control ler inhibit gt InverterStatus 1 The motor brake is applied If no brake is installed the motor will coast to a halt MDX NO ENABLE The inverter changes to the state No enable gt InverterStatus 2 The motor is controlled and slowed down Parameter P730 determines whether the motor brake is activated in InverterStauts 2 The brake function is activated in the basic settings i e the brake is activated shortly before reaching standstill the brake is always activated in InverterStatus 1 Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 87 Description of the Function Modules MDX SingleAxisSensorless directory Output signals The function module MC AxisStopSensorless MDX and MC StopSensorless MDX is sue the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the braking process has been completed on the motor axis e TRUE The braking process of the motor axis is completed The motor axis is at a standstill
191. top ramp t13 MOVIAXIS Emergency stop ramp index 9576 1 The input signals Axis and RefOffset are adopted for a rising edge occurs at the input signal Enable or after meeting the requirements for the execution of the function module RefOffset DINT The input signal RefOffset specifies the actual position of the motor axis that is set after reference travel Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC HomeEnable MDX MX has the following output signals Output signal Type Meaning Referenced BOOL The output signal Done shows whether the reference travel of the motor axis has been completed TRUE Reference travel of the motor axis is completed The motor axis is at the position specified by the input signal RefOffset FALSE Reference travel of the motor axis is not yet complete Active BOOL The output signal Active shows whether the motor axis is performing reference travel e TRUE The motor axis is performing reference travel FALSE The motor axis is not performing reference travel Stopped BOOL The motor axis was decelerated and is in the PLCopenState STAND STILL Command BOOL The output signal CommandAborted shows whether another function Aborted module has cancelled the reference travel TRUE Another function module has cancelled reference travel FALSE
192. tput signals The function module MC MoveRelative MDX MX has the following output signals Output signal Type Meaning Done BOOL The output signal Done shows whether the motor axis has been posi tioned e TRUE The motor axis has performed the rotation The motor axis has reached the target position window e FALSE The motor axis has not completed the rotation The motor axis has not yet reached the target position window Active BOOL The output signal Active shows whether the motor axis is turning to reach the target position window e TRUE The motor axis is rotating FALSE The motor axis is not rotating Command BOOL The output signal CommandAborted shows whether another function Aborted module has cancelled the task of the function module TRUE Another function module has interrupted the task of the function module FALSE The task of the function module has not been cancelled Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred in the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC 75 Description of the Function Modules MDX MX SingleAxis directory 4 6 5 Function module MC MoveRelativeModulo MDX MC MoveRelative
193. ule FALSE No error has occurred ErronD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Axis AXIS REF The output signal Axis displays the axis reference The output signal must be transmitted to all function modules that refer to this physical motor axis Debuglnfo MC DEBUGINF No data is available at this output signal for function module O MDX MX MC ConnectAxisSimulation MDX MX PLCopenState MC_ The output signal PLCopenState shows information on the operat PLCOPEN ing state of the simulated motor axis Section State diagram STATE e NOT_CONNECTED e STANDSTILL e HOMING e DISCRETE_MOTION CONTINUOUS_MOTION e STOPPING ERRORSTOP InverterData MC_INVERTER MOVIDRIVE B DATA_MDX The output signal nverterData shows information on the operating status of the motor axis Error Always FALSE e Referenced Always TRUE dnverterStatus 1 Controller inhibit 2 No enable 5 Speed control A Positioning e FaultStatus Always 0 ActualPosition Value of the profile generator ActualModuloPosition Always 0 SetpointSpeed Value of the profile generator e ActualSpeed Value of the profile generator e ActualCurrent Always 0 dnverterReady Always TRUE MC INVERTER MOVIAXIS DATA MX The output signal nverterData shows information on the operating status of the motor axis Error Always FALSE Refe
194. urn on the drive inverter once again Apply the DC 24 V voltage first to binary input D OO Controller inhibit and then to binary input DIO1 Enable of MC Power MDX function module Start the speed control of the motor axis To do so apply the DC 24 V voltage at the binary input D O2 of the drive inverter Programming is correct when The motor axis begins to turn when a rising edge of DC 24 V voltage occurs at binary input DIO2 The speed of the motor axis switches between 500 rpm and 1000 rpm when the volt age is switched between 0 V and DC 24 V at the binary input D 03 The speed of the motor axis is slowed when the DC 24 V voltage is applied at the binary input D O4 or DIO5 For more details on the behavior of the MOVI PLC control and the connected MOVIDRIVE drive inverter in this example refer to the following section Trace record ing Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Speed control of a motor axis with encoder Trace recording Programming Examples go 2 5 3 4 Hi 1 7 8 e Sampling Trace E Jnix Trace current configuration G Trigger MoveVelocity 1 Execute foMoveVelocity_1 Execute FALSE Var 1 TRUE tbMoveVelocity 1 Active D MIT HPH fon romero D fbMoveVelocity 1 CommandAborted e FALSE Var 3 Wi tomovevelociy teme l Var 4 o pop demens 000 7m Var 6 TRUE fb
195. ut signal Type Meaning Done BOOL The output signal Done shows whether the error code was correctly transferred TRUE The value of the error code at the output signal is valid FALSE The error code has not been transferred Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred while the error code was being transferred FALSE No error has occurred ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier AxisError BOOL The output signal AxisError shows whether the drive inverter has detected an error TRUE The drive inverter has detected an error FALSE No error has occurred AxisErrorCode WORD The output signal AxisErrorCode contains the error code transferred corresponds to output signal nverterData FaultStatus of the func tion module MC ConnectAxis MDX MX 106 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX Supplements directory 4 9 5 Function module MC ReadStatus MDX MC ReadStatus MDX Enable BOOL Done BOOL Axis AXIS REF VAR IN OUT Error BOOL ErrorlD DWORD Errorstop BOOL Stopping StandStill DiscreteMotion ContinuousMotion SynchronizedMotion Homing Interpolation Axis AXIS_REF VAR_IN_OUT 58192AXX Application You can use the function modul
196. uteModulo MDX Application Prerequisites Description MC MoveAbsoluteModulo MDX Execute BOOL Done ModuloPosition DINT Active Velocity DINT CommandAborted Acceleration DINT Error Deceleration DINT ErrorlD DWORD Mode MC MODULO MODE MDX Axis AXIS REF VAR IN OUT Axis AXIS REF VAR IN OUT 58164AXX You can use the function module MC MoveAbsoluteModulo MDX only on motor axes with encoders For the function module MC MoveAbsoluteModulo MDX to be executed for MOVIDRIVE B the motor axis must be assigned the status STANDSTILL or DISCRETE MOTION in PLCopenState output signal of the function module MC ConnectAxis MDX The function module MC SetModuloParameters MDX must first have been execut ed for this motor axis The axis must also be referenced Exception The function module MC InitialConfig MDX was first executed with the input signal UseMoveAbsolute WithoutReference TRUE The function module MC MoveAbsoluteModulo MDX starts the movement of a motor axis to an absolute axis position in modulo format A motor axis rotation of 360 corre sponds to 216 increments The input signals Velocity Acceleration and Deceleration determine the dynamic be havior of the rotation The input signal Mode specifies the strategy of the task short distance clockwise counterclockwise The motor axis remains at the target position subject to position control For more information on po
197. utput signal Done These function modules check these conditions until a falling edge occurs at the Execute input or the function module is cancelled As long as the input signal Execute is setto TRUE the function module resets the output signal Done to FALSE when the condition n Position or Speed reached is no longer ful filled The output signal Done is set to TRUE when the condition is fulfilled again Con sequently when the input signal Execute is set to TRUE the output signal Done can change between TRUE and FALSE several times The output signal Active only exists for function modules that control a movement of the motor axis The function module sets the output signal Active to TRUE when the motor axis con trolled by the function module turns to reach its target target position and target speed The function module usually sets the output signal Active to TRUE shortly after a rising edge occurs at the input Execute If the motor axis is prevented from rotating due to the terminal assignment at the inverter e g controller inhibit or no output stage enable the function module is executed but the output signal Active is reset to FALSE The function module sets the output signal Active to TRUE when The terminal assignment on the drive inverter enables the motor axis to turn when the function module is executed The motor axis moves until it reaches the target The function module resets the output signal Active to FAL
198. vice sew sew eurodrive cz Denmark Assembly Kopenhagen SEW EURODRIVEA S Tel 45 43 9585 00 Sales Geminivej 28 30 P O Box 100 Fax 45 43 9585 09 Service DK 2670 Greve http www sew eurodrive dk sew sew eurodrive dk Estonia Sales Tallin ALAS KUUL AS Tel 372 6593230 Mustam e tee 24 Fax 4372 6593231 EE 10620Tallin veiko soots alas kuul ee Finland Assembly Lahti SEW EURODRIVE OY Tel 358 201 589 300 Sales Vesim entie A Fax 358 3 780 6211 Service FIN 15860 Hollola 2 sew sew fi http www sew eurodrive fi Gabon Sales Libreville Electro Services Tel 241 7340 11 B P 1889 Fax 241 7340 12 Libreville Great Britain Assembly Normanton SEW EURODRIVE Ltd Tel 44 1924 893 855 Sales Beckbridge Industrial Estate Fax 44 1924 893 702 Service P O Box No 1 http www sew eurodrive co uk GB Normanton West Yorkshire WF6 1QR info sew eurodrive co uk Greece Sales Athen Christ Boznos amp Son S A Tel 30 2 1042 251 34 Service 12 Mavromichali Street Fax 30 2 1042 251 59 http www boznos gr info boznos gr 142 Address List L Hong Kong Assembly Hong Kong SEW EURODRIVE LTD Tel 852 2 7960477 79604654 Sales Unit No 801 806 8th Floor Fax 852 2 7959129 Service Hong Leong Industrial Complex sew sewhk com No 4 Wang Kwong Road Kowloon Hong Kong Hungary Sales Budapest SEW EURODRIVE Kft Tel 36 1 437 06 58 Service H 1037 Budapest
199. wing parameters of the MOVIAXIS have a direct effect on the execution of the function module MC MoveModulo MX Define the jerk for positioning ramps using index 9582 1 Use function module MC SetJerk MX to set these parameters Use index 9885 3 to set the positioning window to the target position within which the function module sets the output signal Doneto TRUE Target position reached Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory Input signals The behavior of the function module MC MoveModulo MX is dependent on the follow ing input signals Input signal Type Meaning Execute BOOL The input signal Execute is used to start the motor axis rotation When a rising edge occurs at this input signal the function module starts the motor axis rotation ModuloPosition DINT The input signal ModuloPosition specifies the target position of the motor axis rotation in modulo format Velocity DINT The input signal Velocity specifies the motor speed during the con stant speed phase Acceleration DINT The input signal Acceleration specifies the acceleration increase of kinetic energy in the motor Deceleration DINT The input signal Deceleration specifies the braking deceleration decrease of kinetic energy in the motor Axis AXIS REF The input signal Axis specifies the motor axis on which the acti
200. xamples Jog mode of a motor axis without encoder Trace recording 2 4 9 fer Sampling Trace d x Trace current configuration Trigger JagPlus MDX1 faru ibJogPlus MDX1 Y Var 1 ibJogMinus MDX1 hd EM MR rr Var 2 ibRapidSpeed MDX1 t Var 3 gnActualSpeed hd Var 4 I Var 5 J current configuration This is the current trace configuration of the project aE ES 58306AXX When a rising edge occurs at the ibJogPlus MDX 1 signal the motor axis starts speed control using the speed specified by the ibFapidSpeed MDX 1 signal 1 When the ibRapidSpeed_MDX1 signal changes from FALSE to TRUE the motor axis increases the speed to the higher of the two values 3 If both signals ibJogPlus MDX1 and ibJogMinus MDX1 are set to TRUE at the same time the XOR operation in conjunction with the negation in the control program causes a rising edge at the Execute input signal of the MC StopSensorless MDX function module The braking process is started 5 132 Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Programming Examples go 5 Jog mode of a motor axis without encoder For axes without encoders a braking process triggered by a rising edge at the Execute input signal of the MC_StopSensorless_MDX function module can be cancelled The cancellation is executed when a speed controlled movement is called up by a rising edge at the Execu
201. xecute BOOL The input signal Execute is used to acknowledge inverter errors When a rising edge occurs at this input signal the function module resets the inverter error Axis AXIS REF The input signal Axis specifies the motor axis on which the actions of the function module are to be executed Output signals The function module MC Reset MDX MX has the following output signals Output Type Meaning Done BOOL The output signal Done shows whether a reset was executed TRUE Reset successful FALSE Reset unsuccessful Busy BOOL The output signal Busy shows whether the inverter error has been reset TRUE The function module is currently resetting the inverter error FALSE The function module is not currently resetting the inverter error Error BOOL The output signal Error shows whether an error occurred in the func tion module TRUE An error has occurred during the execution of the function module FALSE No errors have occurred in the function module ErrorlD DWORD The output signal Erol shows the error code of the error that occurred Section Error identifier Manual MPLCMotion MDX and MPLCMotion MX Libraries for MOVI PLC Description of the Function Modules MDX MX SingleAxis directory 46 MDX MX SingleAxis directory The MDX MX SingleAxis directory contains function modules that enable motion tasks for a motor axis with encoder 4 6 1

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