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1. 62480aen Figure 59 Example for address assignment in the axis system Terminating resistor only for CAN transmission Inthe example the address of the first axis module is 23 The other axes are assigned addresses in ascending order If the axis system includes less than eight axes the remaining addresses will not be assigned The axis address set this way is used for the addresses of the CAN communication part of the signaling bus or the KNet fieldbus interface option The axis addresses are as signed only once during startup of the 24V DC voltage supply of the axis system The basic addresses are only changed during operation when the axis module is start up again 24 V supply voltage on off 104 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Supply module settings for a CAN based system bus Startup C xD 5 Connections and PC diagnostics NOTES CAN connections should only be implemented in the control cabinet to avoid any dif ference of potential 59095axx Figure 60 CAN cable length 1 Connection cable between PC and CAN interface on the supply module The connection cable con sists of the USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CA
2. Binary inputs 24 V for brake supply D P Seth not assigned CANL CANH CANL not assigned not assigned X10 Fixed assignment with Output stage enable DIOS 1 Axis module User programmable DI21 2 BG 1 6 User programmable DIg2 3 User programmable Dias 4 User programmable DI 4 5 User programmable DI 5 6 User programmable DIZ6 7 User programmable DI 7 8 User programmable Dias 9 Reference potential binary signals DI DI amp DCOM 10 General reference potential DenD 11 m of the control electronics 2 x 7 segment displays C Operating states X11 Iji see operating displays User programmable gt DOS 1 for the axis module User programmable gt DO 1 2 User programmable gt DOS2 3 User programmable gt DO 3 4 Reference potential binary signals DO DO 3 DGND 5 X13 Motor encoder connection ilperface or esolver and temperature sensor optional Coil and NC contact Coil and NC contact X5a Xb Safety relay I Safety relay II 10 jo 1 24Ve 20 o 2 DGND 30 Jo 3 249 Al A 40 o 4 BGND DGND pE je Zio z K oje X8 9012 amp 11213 1121314 24 V supply for PLC and control electronics 53659AEN Figure 49 Wiring diagr
3. CAN based system bus N Only if CAN2 is free for engineering kw Only for operation for DP oa In preparation Realtime Ethernet parameter channel via controller Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup Sequence in case of new startup 5 8 Sequence in case of new startup There are two different variants for new startup New startup without master module New startup with master module and MOVI PLC New startup without master module 1 Startup Motor startup e Controller setting e User defined units e System and application limits Standard application e Technology editor for single axis positioning monitor Scope recording of e Currents Speeds e Positions etc Data management e Loading and saving data records of individual axes New startup with master module and MOVI PLC 1 Startup Motor startup e Controller setting e User defined units e System and application limits 2 Scope recording of e Currents Speeds e Positions e etc 3 Data management e Loading and saving data records of individual axes Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Er 5 115 5 116 C xD Startup MOVIAXIS startup Single motor operation 5 9 MOVIAXIS startup Single motor operation Start the motor startu
4. MOVIAXIS MX Interference resistance Conforms to EN 61800 3 Interference emission with Aan EMC compliant installation Category C2 according to 61800 3 Ambient temperature DA o o a o Climate class 0 C 45 C at Ip 100 In and fpyym 8 kHz Storage temperature s 25 C 70 C EN 60721 3 3 class 3K3 A Up to two years without special measures longer periods see Storage life sec Service on page 186 Cooling type DIN 51751 Forced cooling and convection cooling depending on size Enclosure EN 60529 NEMA1 Axis module sizes 1 3 IP20 Axis module size 4 6 IP10 Supply module size 1 IP20 Power supply module size 2 3 IP10 Master module IP20 SMPS module IP10 Capacitor module IP10 Buffer module IP10 Duty cycle type DB EN 60034 1 Pollution class 2 according to IEC 60664 1 VDE 0110 1 Overvoltage category IIl according to IEC 60664 1 VDE 0110 1 Up to h lt 1000 m without restrictions The following restrictions apply at heights lt 1000 m Installation altitude h L From 1000 m to max 2000 m ly reduction by 1 per 100 m 330 ft 1 The covers on the left and right end of the unit system must be equipped with touch guard covers All cable lugs must be insulated Permitted voltage supply systems see page 76 188 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Technical Data Technical data for the supply module 8 3 Technical dat
5. 06695AXX Figure 40 Drilling template 1 Position of tapped hole 2 Table with dimensions see page 63 64 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Mechanical installation Rear view of MOVIAXIS MX DC link discharge module housing Figure 41 Drilling template 1 Position of tapped hole Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter O6696AXX 65 Installation Mechanical installation Minimum clear ance and mount ing position e Leave 100 mm 4 in clearance at the top and bottom for optimum cooling Make sure air circulation in the clearance is not impaired by cables or other installation equipment Ensure unobstructed cooling air supply and make sure that air heated by other units cannot be drawn in or reused Units within an axis system must be lined up without space in between e Only install the units vertically You must not install them horizontally tilted or upside down min 100 mm 4 in x LE min 100 mm 4 in oe Figure 42 Minimum clearance and mounting position of the units 55481BXX STOP Special bending spaces are required according to EN 61800 5 1 for cables with a cross section of 10 mm and larger This means the clearance must be increased if required Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Instal
6. Hu 1213 Line filter L1 L2 L3 Cable length lt 600 mm x4 SOE T o PE HPE Dj PED oo te Capacitor Axis module iAxis module module Brake control PE housing grounding point Q Power shield clamp Braking resistor When F16 trip contact at overload relay triggers K11 must be opened and DI Output stage enable must receive a 0 signal F16 is a signal contact which means the resistor circuit must not be interrupted Figure 45 Wiring diagram MOVIAXIS MX recommended wiring Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 62359AEN 79 80 Installation Wiring diagrams Connection of supply module capacitor buffer module axis module brake and 24 V switched mode power supply module x4 PE ka ka CAGI Capacitor module Braking resistor i xa I x i Be AP PE i PE i PE f it i i i Hem i Axis module Axis module 1 24V H H i Switched i H H A mode power H i H H supply unit X4 DC link bar PE housing grounding point Power shield clamp 62360AEN Figure 46 Example Wiring diagram MOVIAXIS MX and brake recommended wiring kk When F16 trip contact at overload relay triggers K11 must be opened and DIOO Output stage enable must receive a 0 signal
7. MOVIAXIS capacitor module 2 MXC80A 050 503 00 Type 050 INPUT Rated DC link voltage Uyzx U V DC 560 Storable energy Ww Ws 1000 Peak power capacity kW 50 Cross section and contacts mm CU rails 3 x 14 mm M6 screw fitting GENERAL INFORMATION Capacity C uF 4920 Time from switching the unit on a 10 until it is ready for operation Weight kg 12 6 W mm 150 Dimensions H mm 400 D mm 254 1 Nameplate information 2 Unit 3 At Umains 3 x AC 400 V Capacitor module control section MOVIAXIS MXC capacitor module General electronics data DC 24 V 25 EN 61131 COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm DC 24 V voltage supply Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 195 196 Technical Data Technical data for buffer module component 8 7 Technical data for buffer module component MOVIAXIS buffer module u Ja MXB80A 050 503 00 Type 050 INPUT Rated DC link voltage Uyzk U V DC 560 Cross section and contacts mm CU rails 3 x 14 mm M6 screw fitting GENERAL INFORMATION Capacity C uF 4920 Time from switching the unit on x 10 until it is ready for operation Weight kg 11 mm 150 Dimensions H mm 400 D mm 254 1 Nameplate information 2 Unit 3 At Umains 3 X AC 400 V Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter
8. Terminal Assignment Brief description X13 1 Signal track A COS X13 2 Signal track B SIN X13 3 Signal track C X13 4 n c X13 5 n c 2 X13 6 TF TH KTY X13 7 n c 2 X13 8 DGND Connection of motor encoders sin cos encoder TTL encoder X13 9 Signal track A_N COS X13 10 Signal track B_N SIN X13 11 Signal track C_N X13 12 n c X13 13 n c 2 X13 14 TF TH KTY X13 15 Us X13 1 Signal track A COS X13 2 Signal track B SIN X13 3 n c X13 4 DATA X13 5 n c X13 6 TF TH KTY X13 7 n c X13 8 DGND Hiperface motor encoder connection X13 9 Signal track A_N COS X13 10 Signal track B_N SIN X13 11 n c 2 X13 12 DATA X13 13 n c 2 X13 14 TF TH KTY X13 15 Us 1 The pin assignment is identical for both connectors X7 and X8 and they are interchangeable Coding does prevent an incorrect con 2 nection Do not connect a cable Terminal assignment of the MXM master module Terminal Assignment Brief description ne Voltage supply for electronics oft 4 oe none Voltage supply for brake supply 11 ep ne Voltage supply for electronics oft 4 yee En Voltage supply for brake supply 1 Only for through transmission For terminal assignment of the cards see MOVI PLC DHP11B Control Card manual Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 93 Installation Ter
9. Uac F14 15 N N DBOO K12 DGND 62361aen Figure 47 Brake control variants Footnotes see page 80 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 4 Installation Wiring diagrams Connection of supply module Wiring of control electronics X9a X9b X12 BEND ee Not assigned CAN H ee CANL CAN_H 2e amp POND re CAN_L oe Internal ti _ bus terminating resistor 2 x 7 segment displays Supply modules size 1 3 aa i f X5a X5b 10 o1 24Ve 20 o 2 DGND 30 o 3 24Vsg 40 o 4 BGND DGND PE 24 V for 24 V supply brake supply D P for control electronics 53664AEN Figure 48 Wiring diagram control electronics MOVIAXIS MXP supply module Connection via supplied pre fabricated cables X9a Signal bus input X9b Signal bus output 82 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Wiring diagrams Connection of axis modules Wiring of control electronics X9a X9b Input Output signal bus signal bus Electronics shield clamps Higher level controller PLC Binary outputs
10. e Accept button to accept all recommendations in one step e Enter the general MOVIAXIS MX control parameters according to the following table Input data Description The speed required by the setpoint can only be achieved if there is sufficient torque available to meet the load requirements Once the current limit has been reached the MOVIAXIS MX multi axis servo drive assumes that the torque has reached its maximum value The desired speed cannot be attained Speed monitoring is triggered if this situation continues throughout the duration of the specified delay n monitoring The current limitation refers to the apparent output current of the multi axis servo drive Speed monitoring and deceleration time n monitoring Current limit Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 131 5 C xD Startup MOVIAXIS startup Single motor operation Speed controller setting z Motor parameters af Lag EY Moment of inertia JO of the motor 128 000 kgcm Determining moment of inerta Ey Load inertia 0 000 kgem ag Clearance of load Gioi 10 er TY 0 00 100 00 w 4 E 7 EY af Controller Ey EY Time interval external control 10 00 ms a Scanning frequency nX control fiom y A PWM frequency fs kHz a Stiffness mt 100 Fal Eee ORL TAIL DAAIL I slim is iO 2 00 11809aen Figure 85 Speed controller menu Enter the value
11. g LO 1 M j 2 2 3 4 3 in 5 A ink our 6 15 6 LAM switch Switch setting 0 All axis modules except the last one e Switch setting 1 Last axis module in the system Switch F1 Switch setting 0 Delivery condition Switch setting 1 Reserved for added functions LED RUN color Green orange LED ERR color Red LED link IN color Green LED link OUT color Green Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 55 Unit Design Terminal expansion board type XIO11A option 3 22 Terminal expansion board type XIO11A option NOTE For information on the ground designations used in the following diagrams refer to sec Terminal assignment on page 89 STOP There is electrical isolation between servo drive and analog inputs and outputs on the XIO card Please note that there is no electrical isolation between binary inputs and outputs Supply The logic of the module is supplied by MOVIAXIS Binary inputs and outputs are supplied via the DCOM and 24 V terminals on the front The supply voltage must be protected with a 4 A fuse see also page 99 in section UL compliant installation e The binary inputs and outputs are electrically isolated from the logic supply Module response Short circuit In the event of a short circuit of a binary output the driver will change to pulse mode and in this way protects itself The status of
12. 44444000sunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 156 6 Operation 0442 04404nsarrirensnnnnnened rennen eenaa EE e irea Pirhi raea Henn heuer 157 6 1 General information 444unnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnen 157 6 2 Displays of the supply and axis modules uusunssssnnnennnsnnnnnennn nn 158 6 3 Operating displays and errors of the MXP supply module 161 6 4 Operating displays and errors of MXA axis module e 162 6 5 Operating displays of MXC capacitor module component 178 6 6 Operating displays of MXB buffer module component 178 6 7 Operating displays of 24 V switched mode power supply module 178 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Contents 7 SONVICC AAEN E TA dl fvatetee 179 7 1 General informations risse oeiee iae eea iaka raiat bwaai niea iakeas aae 179 7 2 Removing installing a MOUIC ceceeeeeeeeeeeeeeeeeeeeeteeeeteneeeteeaeeeee 180 1 3 Extended Storage ae aae a A EEEE A SENE Eaa a eei ieee 186 TAs Waste dispoSaliccd u tier an E A RNE 186 8 Technical Daf r 2 2 een nen 187 8 1 CE marking and approvals uursssesssnsennsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 187 8 2 General technical data 2444444404nnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnn 188 8 3 Technical data for the supply module uuu 244
13. 7 3 000 mm 2x RJ45 special assignment Adapter cable master module to CAN2 8 500 mm Weidm ller to Sub D9 f Connection cable CAN2 9 3 modules Sub D9 m f 10 4 modules Sub D9 m f CANZ2 terminating resistor 11 Sub D9 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 21 3 Unit Design Overview of an axis system 3 7 Overview of an axis system The units are displayed without cover in the following figure 4 5 6 7 61507axx Figure 10 Exemplary representation of the energy supply in the axis system 1 X4 DC link connection 2 X5a X5b 24 V voltage supply 3 Master module 4 Capacitor buffer module 5 Supply module BG 3 6 Axis modules size 6 size 1 7 24 V switched mode power supply module 22 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Unit design of MOVIAXIS MXP power supply module 3 8 Unit design of MOVIAXIS MXP power supply module The following figures show the units without cover MOVIAXIS MXP supply module size 1 A aa nee vw i il N i a 1 oe a X9b Figure 11 Unit design of MOVIAXIS MXP power supply module size 1 A View from top B 1 Signaling bus 2 X9a Input green plug on cable X9b Output red plug on cable 3 4 5 6 7 8 9 10 11 1
14. GND_EXT GND JE GND Figure 35 Block diagram for using a free wheeling diode at the binary output Free wheeling diode Parallel connection Connecting two binary outputs in parallel doubles the rated current of binary outputs This module has Terminal assignment 2 analog inputs differential 2 analog outputs 4 binary inputs 4 binary outputs Electrical isolation between binary inputs and outputs as well as electronics 56942aen Designation Terminal DCOM 1 24 V DO 0 DO 1 DO 2 DO 3 DIO DI 1 DI2 OO oI NIOJ Aoa A Ww dy DI 3 Al 0 oO Al 0 Al 1 Al 1 AO 0 AO 1 DGND DGND o NIOJ oa A wl N X25 X26 COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm 60 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Terminal expansion board type XIA11A option Connection diagram 24V XIA11A Voltage supply GND_EXT DIO JL GND_EXT GND_EXT GND GND 58752aen Figure 36 Block diagram of a binary input 24V XIA11A Load GND_EXT Log ic IL GND_EXT GND GND 58753aen Figure 37 Block diagram of a binary output NOTE The XIA11A analog binary hybrid modul
15. Cross section and contacts X5a COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm Cross section and contacts X5b COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm Maximum outer diameter of the cable 3 5 mm Recommended connector MSTB 2 5 4 ST 5 08 BK Phoenix COMBICON 5 08 with front end cable output GENERAL INFORMATION Weight kg 2 3 mm 60 Dimensions H mm 300 D mm 254 Shield clamps Shield clamps for control lines available Maximum cable cross section that can be con nected to the shield clamp 10 mm with sheath 1 Nameplate information 2 Unit NOTES For other technical data refer to the manual MOVI PLC basic DHP11B Controller MOVI PLC advanced DH 41B Controller MOVIAXIS MXM electronics data Power consumption MO VIAXIS MXM master module Master module Power See technical data of the integrated card Due to the efficiency of 85 of the integrated switched mode power supply unit the power consumption of the integrated card must be multiplied by factor 1 2 194 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Technical Data Technical data for capacitor module component 8 6 Technical data for capacitor module component
16. Gearmotors Industrial Gear Units Drive Electronics Drive Automation Services LITT x y N sa aw MN E i PoP Ww a ae 5 r al d t eo i Pa Is 4 thy son E nal u N ji T iz dy ku MOVIAXIS MX Multi Axis Servo Inverter Edition 07 2007 3 11508213 EN Operating Instructions SEW EURODRIVE Driving the world Contents 1 Gener l Informati n i i sesse esiaren ecnin naa serorari iaeia aseran eai saiia 6 1 1 Structure of the safety notes unnnsnennnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnn 6 1 2 Right to claim under warranty essssesssssrseserrrseserrneesennnnerenrnnerernnnenennnnennna 6 1 3 Exclusion ot liability areare ira ee ek aan 6 2 ECAA O T E han reines 7 2 1 General information sessseseseeeeeeeereereeeiresttnterrterenstinnsrinsrennstentennnsennene 7 2 2 Target group oa A A E T E A 7 2 3 Designated Usei ocina a a E ANN T Aai E A 7 2 4 Transportation storage enneeennsennnnennnennnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnn nn 8 2 5 Installation abr ede eines 8 2 6 Electrical connection cropa aea aaa Ea A Eaa EA NERA AS 9 2 7 Safe disconnection eessseeeseesssrtesietsirtsrintrrterinstintsrentrrntstenternnsttn tene 9 PARo RO 01 1 C110 1o EEE EEE E E T eee eet 9 2 9 Unit temperature i oaiae ii i a REEE A T 10 3 Unit Design 2 25 22 2a u a a ER Hr Ta 11 3 1 Axis system with CAN based s
17. 12 fe mm m mm ys e in 61544axx Figure 14 Unit design of MOVIAXIS MXA axis module size 1 A View from top B View from front c View from bottom 1 Signaling bus 2 Electronics shield clamps 11 X2 Motor connection X9a Input green plug on cable X9b Output red plug on cable 3 X10 Binary inputs 12 X6 Brake control system 4 X11 Binary outputs 13 X7 1 Safety relay optional design 5 X12 CAN2 bus 6 2x 7 segment display 7 X13 Connection motor encoder resolver or Hiperface temperature sensor 8 X5a X5b 24 V voltage supply 9 X4 DC link connection 10 Power shield clamp 26 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Unit design of MOVIAXIS MXA axis modules MOVIAXIS MXP axis module size 2 A B Sen 2 SRNR EE Bi i 1 il 5 JE BE E 6 u fl 8 x eg CEO 9 4 61545axx Figure 15 Unit design of MOVIAXIS MXA axis module size 2 A View from top B View from front c View from bottom 1 Signaling bus 2 Electronics shield clamps 11 X2 Motor connection X9a Input green plug on cable X9b Output red plug on cable 3 X10 Binary inputs 12 X6 Brake control system 4 X11 Binary outputs 13 X7 X8 2 Safety relays optional design 5 X12 CAN2 bus 6 2x 7 segment display 7 X13 Connection motor encoder resolve
18. Insert the signal bus plugs 1 as described in the following X9a X9b The RJ 45 plugs on each end of the cable are color coded Insert them in the fol lowing order red b green a red b green a red b red b Output RJ45 X9b green a Input RJ45 X9a yellow c MXM output RJ45 MOVI PLC advanced UFX41 gateway black d MXP input RJ45 X9a Dy A Y E Z Mn U N ST ZN S 1 Signal bus connection cable 2 LAM switch Switch setting 0 All axis modules except the last one Switch setting 1 Last axis module in the system STOP The DIP switch LAM 2 must be set to 1 at the last axis module in a system At all Stop other axis modules it must be set to 0 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation A Signal bus connection cable for several axis systems EtherCAT based 4 6 Signal bus connection cable for several axis systems EtherCAT based e The individual axis systems are connected as described on page 70 The connection cable 1 is routed from the yellow output b of the last axis module in one axis system to the black input a of the first axis module of the subsequent system NOTE il The mounting plates on which the axis systems are mounted must have a sufficiently large ground connection e g a ground strap The len
19. Startup PDO Editor 5 12 PDO Editor Structure and data flow PD IN buffer WO 16 Bit l A k W15 16 Bit L7 l Use the PDO Editor to set the process data You can write setpoints such as velocity or position as 16 bit process data into the PD IN buffer of MOVIAXIS via a bus system e g a fieldbus You can specify these set points in freely definable user specific units e g e m s mm cycles min I MOVIAXIS l I Control word Status word 3 I WO 16 Bit wo 16 Bit W1 16 Bit System W1 16 Bit management l W2 16 Bit W2 16 Bit l un W3 16 Bit W3 16 Bit s l Ss l gt l a l I PD IN channet FCB pool PD OUT channel PD OUT buffer l DWO 32 Bit 4 DWO 32 Bit DWO 32 Bit 5 l FCB A I Conversion Conversion I Bus User defined units System units into I into system units user defined units l I DW15 32 Bit DW15 32 Bit DW15 32 Bit l ER I ae ah EE A I Oh NE a A A Sh a OA a a SR A A A A Example PD IN buffer PD IN channel Little Endian Intel format Big Endian Motorola format W14 16 Bit 57601aen Figure 96 PDO process data flow This process data is further processed as double word depending on how the subse quent PD IN channel is configured The user specified units are converted into system units an
20. 260 mm 1x 26 290 mm 1x 1x 1x 27 350 mm 1x Connection cable CAN master module 28 520 mm 1x CAN terminating resistor 29 1x 1x 1x 1x Cable lugs 30 3x No 1 Length of the cables Length of the cable without plug 2 Clamp with short support 60 mm wide 3 Clamp with long support 60 mm wide Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Optional accessories 3 6 Optional accessories 1 A 4 l k 21 j x 3 4 4 7 4 a a i t d 5 Figure 9 Optional accessories Optional accessory assignment table 6 7 8 9 10 11 61638axx No Dimension Designation Connector type System bus connection cable for CAN based system bus axis system with other SEW units 1 750mm RJ45 open end 2 3 000 mm RJ45 open end Connection cable EtherCAT master module 3 750mm 2xRJ45 System bus connection cable for EtherCAT based system bus axis system to other SEW units 4 750mm 2x RJ45 special assignment 5 3 000 mm 2x RJ45 special assignment System bus connection cable CAN axis system to axis system 6 750mm 2x RJ45 special assignment
21. Filter time constant of the actual speed value filter Speed ramp will be filtered graduated setpoint entry or interfering impulse at analog out put can be smoothed Filter time constant of acceleration precontrol This constant influences the control re sponse of the speed controller The differentiator is programmed Setting value for the P controller of the position control loop Amplification factor of acceleration precontrol This factor improves the control response of the speed controller Setting the PWM frequency MOVIAXIS MX Multi Axis Servo Inverter 139 5 140 MOVIAXIS startup Multi motor operation C xD Startup 5 10 MOVIAXIS startup Multi motor operation NOTES In this section the startup menus are described which require special settings for multi motor operation The overall startup is performed as described in sec MOVIAXIS startup Single motor operation page 116 Areas of application For multi motor operation one or two multi encoder cards are required Multi encoder cards expand the MOVIAXIS system for evaluation of additional encod ers Two different multi encoder cards are available They have to be selected accord ing to the encoder that is to be evaluated An analog differential input 10 V is also available on the multi encoder cards The multi encoder card can be used for the following areas of application e Positioning either dir
22. Us Sub D 15 pole female 1 Do not connect a cable Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Multi encoder card option XGH11A XGS11A PIN assignment X63 XGH X64 XGS with EnDat 2 1 PIN assignment X64 XGS with SSI Terminal Function for EnDat 2 1 Type of connector X63 XGH Signal track A Signal track B Cycle DATA n c TF TH KTY n c o SI19 a A Ww nN gt DGND Signal track A_N oO Signal track B_N Cycle N DATA wo n c a gt TF THI IKTY oa Us Sub D 15 pole female 1 Do not connect a cable Terminal Function for SSI Type of connector X64 XGS n c n c Cycle DATA n c TF THIKTY n c INI OD oa A ONI gt DGND o n c oO n c Cycle N DATA wo n c a gt TF THI IKTY oa Us Sub D 15 pole female 1 Do not connect a cable Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 49 50 Unit Design Multi encoder card option XGH11A XGS11A PIN assignment X64 XGS with SSI AV1Y Terminal Function for SSI AV
23. 3 LED Load 4 X5a X5b 24 V voltage supply 5 X4 DC link connection Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 37 3 Unit Design Unit design of the MOVIAXIS MXZ DC link discharge module component 3 15 Unit design of the MOVIAXIS MXZ DC link discharge module component The following figure shows the unit without protective cover DC link discharge module MOVIAXIS MXZ Un 54427BXX Figure 26 Unit design of MOVIAXIS MXZ DC link discharge unit View from front 1 2 3 4 5 X14 Control connector X5a X5b 24 V voltage supply X4 DC link connection X15 Connection braking resistor for discharge Power shield clamp 38 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Option combinations on delivery 3 16 Option combinations on delivery EtherCAT capable units Combinations with EtherCAT based system bus The axis modules include an expansion system for up to three options Figure 27 Slot combinations 1 3 Slots 1 3 assignment see following table 4 4 Control board Basic unit components 56598axx The following table shows the possible combinations and the fixed assignment of cards to the slots The following option card combinations are possible Combination Slot 1 Slot 2 Slot 3 1 2 3 XIA11A 4 XIO11A XGH 5 XGS 6 xIO11A 7 8 XSE2
24. As an alternative the CAN adapter USB Port PCAN USB ISO IPEH 002022 from Peak can be used e Incase you design the terminals yourself you must install a terminating resistor of 120 Q between CAN_H and CAN _L e For secure data transmission you also need a shielded cable suitable for CAN net works There are two communication paths for the axes in the axis system 1 Via the 9 pin D sub connector X12 on the supply module CAN see page 106 2 Via the 9 pin D sub connector X12 on the axis module CAN2 of the axis system see page 108 NOTES Cable connection and cable extension SEW EURODRIVE recommends connection and extension cables with 1 1 through connection in shielded design Observe the notes of the cable manufacturer on CAN suitability when selecting the cable Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 5 111 5 C x Startup Settings for EtherCAT based system bus 5 5 Settings for EtherCAT based system bus Please note the following when using an EtherCAT based system bus Set the 4 DIP switches on the supply module to setting E see Figure 68 Switches S1 S2 S3 and S4 plus X12 on the supply modules have no function in this version Set the DIP switch LAM to setting 1 at the last axis module in the system At all other axis modules the LAM DIP switch must be set to 0 see figure 69 In this version X9b does not require a terminating r
25. supports the address range 0 125 The default setting for the PROFIBUS station address is 4 i Ou ONS ve E i 2 2 gt Significance 1 x 0 0 4 21 gt Significance 2 x 0 0 2 22 Significance 4 x 1 4 22 23 Significance 8 x 0 0 24 24 gt Significance 16 x 0 0 A 2 gt Significance 32 x 0 0 2 26 Significance 64 x 0 0 ne 56596AXX Any change made to the PROFIBUS station address during ongoing operation does not take effect immediately The change takes effect when the servo drive is switched on again power supply 24 V OFF ON Example Setting the PROFIBUS station address 17 i Dur br ve 4 A e x bung 0 2 gt Significance 1x 1 1 2 4 2 gt Significance 2 x 0 0 2 22 Significance 4 x0 0 22 2 Significance 8 x 0 0 94 2 2 Significance 16 x 1 16 2 gt Significance 32 x 0 0 2 28 _ Significance 64 x 0 0 ne 06228AXX 52 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design K Net XFA11A fieldbus interface option 3 19 K Net XFA11A fieldbus interface option The XFA11A K Net fieldbus interface is a slave module for connection to a serial bus system for high speed data transfer Install no more than one XF11A fieldbus interface per axis module Terminal assignment Brief description Terminal p P K Net connection x31 RJ 45 socket MM
26. w 5 Next the words of the IN buffer must be assigned to the control word 1 and the IN pro cess data In th e example the first word of the IN buffer is assigned the FCB number the second word is assigned the speed and the third word the ramp You can assign the associated words using drag amp drop Configuration of process data flow SE Conversion to internal system units IN process data interface qE Word 1 Word 0 a FCB a Instance 11830aen Figure 99 IN process data interface conversion of internal system variable Clicking FCB opens the configuration interface of the FCBs To being able to control the speed controller via fieldbus the setpoint sources for velocity and acceleration val ues are set to process data buffer channel 0 or channel 1 in the FCBO5 Setpoints Process data butter channel 0 J r Limit values Setpoint local velocly 1 min Source torque limit Local torque lint Source acceleration Acceleration local 1 min s Source deceleration Deceleration local 1 min s Source jerk Jerk local psscaton imi torque z 10 000 Process data butter channel 1 000 kmi jerk Bd 2147483547 Actual values Dr Figure 100 Overview of FCBs Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 11831aen 155 5 aol en Testing the The configuration is now complete and can be tested You c
27. 0 25 Nm of the terminals X21 X22 X25 X26 of the input output cards XIO XIA is 0 5 0 6 Nm STOP Servo inverter can possibly be damaged Only use the stipulated connection elements and observe the prescribed tightening torques Otherwise excessive heat can develop which would damage the MOVIAXIS multi axis servo inverter MOVIAXIS MX multi axis servo inverters are suitable for operation in voltage net works with earthed star point TN and TT networks a maximum mains current of 42 000 A and a maximum mains voltage of AC 500 V Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 99 100 Installation UL compliant installation The maximum permitted value of the input fuse is MXP power supply module 10 kW 25 kW 50 kW 75 kW Input fuse 20A 40A 80A 125A e Only use melting fuses as input fuses e If you use cable cross sections that are dimensioned for a smaller current than the rated current of the unit make sure that the fuse is dimensioned for the used cable cross section For information on selecting cable cross sections refer to the project planning man ual e Comply with the country specific installation regulations in addition to the above notes The plug in connections of the 24 V supply are limited to 10 A e Option cards that are supplied via the O V and 24 V terminals at the front must be protected individually
28. 33 Supply module size 1 nennen 23 Supply module size 2 een 24 Supply module size 3 een 25 Unit designation for MOVIAXIS basic units 17 Unit output Permitted connection 75 Ww Wiring diagram Supply capacitor buffer axis module brake and 24 V switched mode power supply Mod le r hehe eran rete reese per enc ret een ee 80 Wiring diagrams 24 V switched mode power supply module Wiring sieri aerae 88 Axis modules Connection diagram of binary inputs and outputs a se 84 Axis modules Wiring of control electronics 83 Brake control ercana a A R 81 Buffer module Wiring of control electronics 87 Capacitor module Wiring of control electronics 86 General notes Taraa a 78 Master module Wiring ecese 85 Supply module Wiring of control electronics 82 Supply axis capacitor buffer module 79 x XFA11A K Net communication module option Technical data 244 nennen 53 Terminal assignment neen 53 XIA11A analog binary hybrid module option Connection diagram seee 61 Module response sensoorne 59 Parallel connection of binary outputs 60 SHOMCICUIE 2 ea titan 59 SUPDIY cee eee ee 59 Switching inductive loads u 59 Terminal assignment eeen 60 XIO11A binary hybrid module option Connection diagram seeen 58 Module response nennen 56 Parall
29. Data source Communication optior Data block start Number of data words Time out interval ms Update Off v No fault PDO never received before D Configuration error CAN Message ID Data acceptance with Sync Endianess Communication opbon PDO ID Sender address 11828aen Figure 97 Settings IN buffer O 153 5 154 Er Setting the para meters of the con trol word and the IN process data Startup PDO Editor A single click on one of the control words in the example control word 1 opens the con figuration interface and selects the FCB instance layout The IN process data channel 0 is assigned the system variable velocity and channel 1 the system variable acceleration R xi F Local control word jo Layout Programming control word Function Bit 00 Function Bit 01 Function Bit 02 Function Bit 03 Function Bit 04 Function Bit 05 Function Bit 06 Function Bit 07 Function Bit 08 Function Bit 09 Function Bit 10 Function Bit 11 Function Bit 12 Function Bit 13 Function Bit 14 Function Bit 15 FCB instance Channel 32 bit access 00 F 01 J 02 H 03 E 04 Nofincion 00 05 zi 06 E 07 i Figure 98 Settings control word and IN process data System unit 11829aen Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup PDO Editor Assigning the input buffer to the sys tem variables Setting the FCB parameters
30. MX Multi Axis Servo Inverter 205 206 Index Axis modules in XGH version Axis modules in XGS version a an Axis modules in XIA version u Axis modules in XIO version P PDO Editor Assigning the input buffer to the system variables nenne den ad Parameter setting example Setting the FCB parameters a e Setting the fieldbus interface parameters Setting the parameters of the control word and the IN process data Structure and data flow Testing the configurations ee Permitted tightening torque DC link connection Permitted tightening torques Power terminals aseeseen Signal relay esccaririsiiiia nia Signal terminals _ 22444 nennen Permitted voltage supply systems PROFIBUS XFP11A module option Baud rates larger than 1 5 MBaud MOVIAXIS PROFIBUS connection Pin assignment usssrssnneeneesnnnennnnne nn Setting the station address Terminal assignment uu seen R Rear view of MOVIAXIS MX axis and supply module housing Rear view of MOVIAXIS MX DC link discharge module housing s es Reference potentials Notes Reference potentials inside the unit Notes Removing installing a module Installing an axis module u Removing an axis module Safety notes Repalr 2 2 2 Mann LET Eea Responses to error acknowledgement CPU TOSO Er nines tinea System
31. Startup C x MOVIAXIS startup Single motor operation Input data Description factor Numerator denominator This factor determines the encoder resolution The value that has to be entered depends on the encoder type Non SEW TTL non SEW sin cos non SEW Hiperface Factor numerator encod 1 _ Encoder resolution Factor denominator encod 1 Revolution Example sin cos encoder Factor numerator encoder1 1024 Factor denominator encoder1 1 Non SEW resolver Factor numerator encoder1 _ Number of pole pairs Factor denominator encoder1 1 Example Resolver 1 pole pair Factor numerator encoder1 1 Factor denominator encoder1 1 e Non SEW linear sin cos Signal period of the encoder Example AL1H Lincoder signal period 5 mm Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 5 125 7 Startup gt MOVIAXIS startup Single motor operation Selection menu Complete startup SS 888888888 seein 11804aen Figure 80 Startup options You have three options for startup in the selection menu e Complete startup This is the setting option for the initial startup This part of the program stores the in formation for motor speed controller as well as machine and system data NOTES The following setting options Optimization of the controller and Machine and system data are subprograms of the MOVIAXIS MX startup These
32. Use monitoring systems or mechanical protection devices to ensure safety Mains connection of axis system STOP e Observe a minimum switch off time of 10 s for the relay K11 Do not turn the mains supply on or off more than once per minute Irreparable damage to the unit or unpredictable malfunctions It is essential to observe the specified times and intervals Connecting cables operating switches STOP Cables may only be connected and switches may only be operated in a de energized state Irreparable damage to the unit or unpredictable malfunctions De energize the unit Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 5 101 5 C xD Startup Supply module settings for a CAN based system bus 5 2 Supply module settings for a CAN based system bus The following settings are necessary The CAN baud rate is set using the two DIP switches S1 and S2 on the supply mod ule see sec Setting the CAN baud rate The 4 DIP switches for setting the system bus are set to C The axis address is set using the two address switches S3 and S4 on the supply module see sec Setting the CAN axis address The next axis address will be set automatically based on the first address S2 S3 s4 61383axx Figure 58 DIP switches and axis address switch on the supply module 1 DIP switches system bus 2 1 S2 DIP swit
33. lution The travel distance for one motor revolution is determined automatically but it can also be calculated and entered manually a d 20mm oa SES O r e HH 4 2 Fann 146 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Application examples Startup C xD 5 Settings Selection and settings of the encoder type using the example of the linear encoder AL1H Encoder pool Option cards zalij 211 3 Settings Settings apaa Bi Bw 3 9 0 Motor encoder Distance encoder 1 2 Parameter p sat A 1 f asin 32 Fam I Source actual pos PF Source actual pos Parameter set 5 Parameter Encoder 2 must be set as Source actual position SEW designation Encoder data Encoder type Development status E Encoder 0 Sapas shaft R Resolver V Solid shaft 2 Hollow shaft 3 Spread shaft a NN L 76646 Bruchsallgermany N 7 Typ PSF121 CMPSOSIBPIKTYHA fL iH vi Nr 01 23456789 0001 22 Mo 1 3 Nm lo 17 K i A SAn ny 6 000 imin Imax 9 0 A so Kl F 2 fy 300 Hz Umax 400 V mM M4 Electrical ype Bremse 24V 3 1 Nm Gleichrichter Getriebe Ma max 35 Nm nmax 1 600 8 000 rimin ER BER _ _ Gewicht 38 s en sew Si ANN en 2 Nonsew x Cancel Selection and settings of the used AL1H encoder Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 147 Application ex
34. such a case SEW EURODRIVE recommends using earth leakage monitors em ploying pulse code measurement Use of such devices prevents the earth leakage monitor mis tripping due to the earth capacitance of the servo drive e No EMC limits are specified for interference emission in voltage supply systems with out a grounded star point IT systems The effectiveness of line filters is severely lim ited Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Electrical Installation Electrical e Connect the supply terminals of all units in the MOVIAXIS MX axis system accord installation ing to the wiring diagrams in section Wiring diagrams page 78 ff e Check to see that the assignment of multi axis servo drive and motor is correct ac cording to project planning specification e Check to see that all grounding cables have been connected e Take suitable measures to prevent the motor starting up inadvertently for example by removing the electronics terminal block X10 on the axis module Integrate addi tional safety features for certain applications to prevent possible injuries and damag es to machines e Only use closed cable lugs for connection to the screw bolt in order to prevent litz strands from escaping Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 77 78 Installation Wiring diagrams 4 10 Wiring diagrams General notes on the wiring diagrams You will find
35. 3 DO 4 DO5 DO 6 DO7 DIO DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI7 x21 COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm o oI NI ol oO AI wo m X22 INIo oa A OI N Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 57 3 Unit Design Terminal expansion board type XIO11A option Connection diagram 24V XIO11A Voltage supply GND_EXT ale GND_EXT GND_EXT GND GND 56935aen Figure 33 Block diagram of a binary input 24V XIO11A Load GND_EXT Logic i i JE GND_EXT GND GND 56936aen Figure 34 Block diagram of a binary output NOTE It the 24 V supply for the outputs is disconnected the inputs will not function any longer 58 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Terminal expansion board type XIA11A option 3 23 Terminal expansion board type XIA11A option NOTE For information on the ground designations used in the following diagrams refer to sec Terminal assignment on page 89 STOP There is no electrical isolation between servo drive and analog inputs and outputs on the XIA card Supply Module response Short circuit Switching inductive
36. 4 11 Terminal assignment NOTES Reference potentials inside the unit The designation of the reference potentials is listed in the following table Designation Meaning DGND General reference potential of control electronics There is a metallic PE connection to PE BGND Reference potential for brake connection RGND Reference potential for safety relay DCOM Reference potential for binary inputs NOTES Connection elements All connection elements are represented in the following tables as viewed from top Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 89 Installation Terminal assignment Terminal assignment of the MXP supply modules 10 kW 25 kW 50 kW 75 kW NOTES The technical data for the connections of power electronics and control electronics are listed in section 9 Technical Data Terminal Assignment Brief description X1 1 PE a E Power supply connection BG1 10 kW X1 4 L3 X3 1 R X3 2 R R A X3 3 n c Braking resistor connection BG1 10 kW X3 4 PE X1 1 PE X1 2 L1 X13 L2 Power supply connection BG2 25 kW X1 4 L3 Braking resistor connection BG2 25 kW X3 3 PE X1 PE PE a Et Power supply connection BG3 50 75 kW x1 2 L2 wer supply lon X1 3 L3 X3 PE PE X3 1 R
37. 451 0 Wiring diagrams aeieea teren 78 4 11 Terminal assignment saor esiseina EA EEEE 89 4 12 Connecting encoders to the basic unit esseeeeseeeseeeeesererereesrrreerneene 95 4 13 Notes on electromagnetic compatibility u 2444444n nennen nennen nennen 97 4 14 UL compliant installation eee HH nnBnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 99 5 AF 11 o PA SS EE eC TEP OE oe PO 101 5 1 General information 240s44440nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 101 5 2 Supply module settings for a CAN based system bus u 102 5 3 CAN2 bus information and settings ueusrsnsnnnnnnnnnnnnnnnnnnnnnnnn nn 108 5 4 Communication via CAN adapter unssnsnssnnennsnnnnnnnnnnnnnnnnnnnnnnnnnn 111 5 5 Settings for EtherCAT based system bDUS ccceeeeceeeeeeeteteeeeeneees 112 5 6 Description of the startup software umuenesennnnnnnnnnnnnnnnnnnnnnnnnnnn nn 113 5 7 Communication selection u 24s4444nnnnnennnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnn 114 5 8 Sequence in case Of new startUp uennneenssnnennsnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnn 115 5 9 MOVIAXIS startup Single motor operation uunssneensnnennnnennnn 116 5 10 MOVIAXIS startup Multi motor operation s e 140 5 11 Application examples mssnnnennennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenn 144 5 12 PDO Edit r ee de en 152 5 13 Parameter list
38. Applies to mains voltage 400 V and 50 Hz PWM 8 kHz 7 PC6 pluggable one conductor per terminal 0 5 16 mm two conductors per terminal 0 5 6 mm2 8 Max 4x 70 mm 9 Max 4x 50 mm for cross sections gt 50 mm2 the cable shield must be connected outside the unit e g DIN rail clamp Notes on brake control NOTES Note on tolerance requirement for the brake voltage The brake voltage has to be configured See project planning manual Permitted load of One complete switching sequence opening and closing must not be repeated more of brake control and ten than a maximum of every two seconds The brake must remain switched off for at brake least 100 ms before it can be switched on again 192 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Technical Data Technical data for the axis module Control section axis module MOVIAXIS MX axis module General electronics data DC 24 V voltage supply DC 24 V 25 EN 61131 COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm X10 1 and X10 10 binary inputs Internal resistance Signal level Function Isolated optocoupler PLC compatible EN 61131 sampling interval 1 ms Rj 3 0 kQ lg 10 mA 13 V 30 V 3 V 5 V 1 Contact closed 0 Contact open meets EN 61131 DI With fixed assignment Output stage enable DI 1 DI 8 Sel
39. Axis Servo Inverter 189 190 Technical Data Technical data for the supply module MOVIAXIS supply module 2 Size MXP80A 503 00 1 2 3 GENERAL INFORMATION Power loss at nominal capacity Ww 30 80 160 280 ta min lt t min Minimum switch off time for s gt 10 mains off Weight kg 4 2 10 2 10 7 12 1 mm 90 90 150 Dimensions H mm 300 400 D mm 254 Nameplate information Unit In preparation 4 The output currents must be reduced by 20 from the nominal values for V mains 3 x AC 500 V 5 Decisive value for planning the assignment of supply and axis modules Material strength mm x width mm Control section supply module MOVIAXIS MX supply module General electronics data CAN bus to CAN specification 2 0 parts A and B transmission technology to ISO 11898 max 64 stations Terminating resistor 120 Q has to be imple CAN interface CAN 9 pin sub D connector ment d extermnally Baud rate can be set from 125 kBaud 1 MBaud expanded MOVILINK protocol see section 6 4 Communication via CAN adapter Cross section and contacts DC 24 V 25 EN 61131 COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm DC 24 V voltage supply Decoupling of EtherCAT based sys tem bus from 9 pin Sub D connector DIP switeli pole Shield clamps Shield clamps fo
40. J K Net connection a RJ 45 socket KSA 3 NOTE X31 and X32 can be used as either input or output Technical data K Net Electrical isolation No Bus bandwidth max 50 Mbit s Connection technology 2xRJ 45 Max bus length 50m Transmission medium CAT7 cable Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 3 Unit Design EtherCAT XFE24A fieldbus interface option 3 20 EtherCAT XFE24A fieldbus interface option The XFE24A fieldbus interface is a slave module for connection to EtherCAT networks Only one XFE24A fieldbus interface can be installed per axis module The XFE24A field bus interface allows MOVIAXIS to communicate with all EtherCAT master systems All standardizations of the ETG EtherCAT Technology Group such as wiring are sup ported Technical data XFE24A option MOVIAXIS Standards IEC 61158 IEC 61784 2 Baud rate 100 Mbaud full duplex Connection technology 2 x RJ45 8x8 modular jack Bus termination Not integrated because bus termination is automatically activated OSI Layer EtherNet II Station address Setting via EtherCAT master Vendor ID 0x59 CANopenVendor ID EtherCAT services CoE CANopen over EtherCAT VoE Simple MOVILINK protocol over EtherCAT Firmware status MOVIAXIS Firmware status 21 or higher Tools for startu
41. Malfunction monitoring SM 1 01 SM Temperature prewarning 86 Error Overtem Temperature of the SM has reached ee bd ita S Yes an perature SM or exceeded the cut off threshold gency stop g ES delay D Warm start 0 01 SM Temperature error To eua The utilization of the braking resistor y 87 Dh installed in the SM has reached the Noresponse D __ Yes Sen resistor in En prewarning threshold applies to P 1 10kW version only 01 SM Ixt prewarning braking resistor Error Utilization Ihe ntilization of the braking resistor Shutdown with System is Ready 1 88 braking resistor exceeded the prewarning threshold emergency stop waiting Yes Malfunction NSM applies to 10kW version only delay D Warmi start 01 Ixt utilization error braking resistor of the SM 89 Error Switched Ready 1 mode power sup a SWIICHES Ode power Supply No response Yes Malfunction ply SM 1 01 At least one of the supply voltages in the SM is not present Warning SM 24V voltage sup gt Ready 1 91 ply displayed in PA er ee No response _i Yes Malfunction supply module 9 1 only 01 24 V electronics power supply too low 92 Unassigned 93 Unassigned Error Unit con An error has occurred in the unit con Output stage System is Ready 0 94 z P figuration data block during testing in pi 9 blocked Yes Malfunction figuration data inhibit E reset phase System restart 0 01 Unit configuration data checksum error 95 U
42. Multi Axis Servo Inverter Technical Data Technical data for line filter and line chokes 8 12 Technical data for line filter and line chokes Line filter Line filter type 1 NF018 503 NF048 503 NF085 503 NF150 503 Part number 827 413 4 827 117 8 827 4150 827 417 7 Power supply module Size 1 Size 2 BG3 BG3 Rated voltage Un Vac 3 x 500 10 50 60 Hz Rated current In Arc 18 48 85 150 Power loss at ly Py Ww 12 22 35 90 Earth leakage current at Uy mA lt 25 lt 40 lt 30 lt 30 Ambient temperature Su C 25 40 Degree of protection IP20 EN 60529 Connections L1 L3 L1 L3 mm 4 10 35 50 PE M5 stud M5 M6 stud M8 M10 NF type line filter As 1 Unit 2 SEW EURODRIVE will provide a certificate upon request Line choke Line choke type 1 ND020 013 ND045 013 ND085 013 ND150 013 Part number 826 0125 826 013 3 826 014 1 825 548 2 Power supply module Size 1 Size 2 BG3 BG3 Rated voltage Un Vac 3 x 500 10 50 60 Hz Rated current In Arc 20 45 85 150 Power loss at In Py W 10 15 25 62 Inductance Ly mH 0 1 Ambient temperature Bu C 25 40 Degree of protection IPOO EN 60529 Connections L1 L3 L1 L3 2 4 10 35 M10 stud PE MEN Terminal strips Terminal strips Terminal strips PE M8 stud 1 Unit 8 13 Safety technology safe stop NOTES It is essential to observe the i
43. ROTATORISCH SRS 50 Sick Stegmann ROTATORISCH SRS 60 Sick Stegmann ROTATORISCH SRS 64 Sick Stegmann ROTATORISCH cru SEW ow _ Approved 7 Non SEW o een ev encoder a2 encoder va 11802aen Figure 78 Approved encoders Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 123 5 124 C xD Startup MOVIAXIS startup Single motor operation Encoder management for non SEW encoders gt 5 x Non SEW encoder Encoder data Non SEW encoder type Mechanical Rotator z Load basic rm z data Electrical af t Required data N Increments per encoder revolution Pulses Time intervals Counter 1000 Multi T urns 2 Wake up time 1 ieee Denominator 1 Rest period ps Refresh period au us Coding Resolution Type 27 hex Measuring steps 2 Bis encoder _ encoder Cancel c sew SEW ev N e 2 Nonsew 11803aen Figure 79 Encoder management non SEW encoder Input data Description e Rotational e Linear Hiperface Resolver TTL HTL sin cos Mechanically Electrical There are two counting directions e Normal Standard Encoder rotates with motor encoder mounted on motor Counting direction shaft Inverted Encoder rotates in opposite direction of motor encoder not mounted on motor shaft Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter
44. U mains 3 x AC 500 V MOVIAXIS MX DC link discharge module 1 General electronics data Inhibit Control signal for discharge process DC 24 V voltage supply V DC 24 25 EN 61131 2 COMBICON 5 08 Cross section and contacts mm One conductor per terminal 0 20 2 5 Two conductors per terminal 0 25 1 1 Unit Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Technical Data Technical data for 24 V current consumption 8 10 Technical data for 24 V current consumption The current consumption of the MOVIAXIS units and their options depends on the switch on time It is therefore not possible to specify the current consumption explicitly but it must be projected in relation to the switch on time For more information on this refer to the MOVIAXIS MX Multi Axis Servo Inverter project planning manual 8 11 Technical data for the braking resistors UL and cUL approval Technical Data Type BW braking resistors are UL and cUL approved in conjunction with the MOVIAXIS multi axis servo inverter SEW EURODRIVE will provide a certificate upon request The following braking resistors have cRUus approval independent of the MOVIAXIS multi axis servo inverter e BW012 015 01 e BW006 025 01 e BW006 050 01 e BW004 050 01 Braking resistor type 1 BW027 006 BW027 012 BW247 BW347 BW039 050 Part number 8
45. X4 1 Uz DC link bus connection X4 2 Uz X5a 1 24 Ve X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg ct 4 X5a 4 BGND Voltage supply for brake supply X5b 1 24 Ve 1 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg 4 4 X5b 4 BGND Voltage supply for brake supply 11 X6 1 DB i F Gan X6 2 BGND Brake connection switched Table continued on next page Footnotes on next page Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 92 Installation Terminal assignment Terminal Assignment Brief description Unit design with one safety relay optional 1 y7 4 24 V Safety relay sizes 1 6 FELN X7 2 RGND l X7 3 C Safety relay size 1 6 common contact 1 4 X7 4 NC Safety relay sizes 1 6 NC contact The connector comes equipped with a coding nose Design with two safety relays optional 1 X8 1 24 V Safety relay Il sizes 2 6 X8 2 RGND X8 3 C Safety relay II sizes 2 6 common contact X8 4 NC Safety relay Il sizes 2 6 NC contact The connector comes equipped with a coding nose T J X9a mead X9a a Input Signal bus with green plug E X9b b Output Signal bus with red plug X9b pi e E X10 1 DI Binary input 1 with fixed assignment Output 1 x stage enable X10 2 DI 1 X10 3 DI 2 teal hae 3 bests ee X10 4 DI 3 ea PES ee DIESE SAD e Electrically isol
46. a en vom un x 9a on Figure 17 Unit design of MOVIAXIS MXA axis module size 4 1 View from to Signaling bus X9a Input gr p een plug on cable X9b Output red plug on cable B 2 3 4 5 6 7 8 9 10 11 View from front Electronics shield clamps X10 Binary inputs X11 Binary outputs X12 CAN2 bus 2 x 7 segment display 12 13 12 13 X13 Connection motor encoder resolver or Hiperface temperature sensor X5a X5b 24 V voltage supply X4 DC link connection X2 Motor connection Power shield clamp Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter ar i f r A il UU it 61547axx View from bottom X6 Brake control system X7 X8 2 Safety relays optional design 29 Unit Design Unit design of MOVIAXIS MXA axis modules MOVIAXIS MXP axis module size 5 A B c 2 oy ae Pr T eiT na lags pi F Sm HL mu 3 u e N ne 1 3 13 ne m u 4 di m IEE e e lt He in y ES Si ee n E 5 gt a a J oo 6 _ an Er en vr an ae nf x9a 8 X9b 9 10 11 61548axx Figure 18 Unit design of MOVIAXIS MXA axis module size 5 A View from top B View from front Cc View from bottom 1 Signaling bus 2 Electronics shield clamps 12 X6 Brake control system X9a Input green pl
47. axis You execute a reset by interrupting the 24 V electronics supply or via the software Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Operation Aa 6 Displays of the supply and axis modules lt Error list Explanation of terms in the error lists Terms and Meaning abbreviations P Programmable error response D Default error response set at the factory VM Power supply module AM Axis module ZK DC link HW Hardware SW Software AWE User defined unit The final error status determines which reset type will be executed in case of an error reset see following table Final error status Response to error confirmation also see page 160 Display error only Warm start delete error code System is waiting Warm start delete error code System is blocked System restart execute soft reset System is blocked CPU reset execute CPU reset Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 159 160 Sy lt Operation a Displays of the supply and axis modules Responses to error acknow ledgement CPU reset A true restart of the microcontroller and the firmware will take place in case of a CPU reset The firmware system is started as though a new axis module has been connected to the network Restart of the system has the following results The bootstrap loader will be activated bO will appear in the d
48. display Power 8 2x 7 segment display 9 X5a X5b 24 V voltage supply 10 X4 DC link connection 11 Housing grounding point 12 Power shield clamp 24 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Unit design of MOVIAXIS MXP power supply module MOVIAXIS MXP supply module size 3 IN ee x i e TH dosel L B PT E e Bi 4 _ a 5 6 Zu 7 8 9 11 14 13 55468AXX Figure 13 Unit design of MOVIAXIS MXP power supply module size 3 1 View from top Signaling bus X9a Input green plug on cable X9b Output red plug on cable Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter B View from front 2 Electronics shield clamps 3 C E DIP switches C CAN based system bus E EtherCAT based system bus 4 X12 System bus CAN 5 1 S2 DIP switches 6 S3 S4 Axis address switch 7 Standby display Power 8 2x 7 segment display 9 X5a X5b 24 V voltage supply 10 X4 DC link connection 11 X1 Mains connection 12 Housing grounding point 13 Power shield clamp 14 X3 Braking resistor connection 25 3 Unit Design Unit design of MOVIAXIS MXA axis modules 3 9 Unit design of MOVIAXIS MXA axis modules The following figures show the units without cover MOVIAXIS MXP axis module size 1 11 IT gt MM 4 O h J
49. encoder Output stage blocked Yes Malfunction encoder inhibit Es System restart 0 01 TTL sensor Open circuit 02 TTL sensor Emulation error exces sive speed 19 TTL sensor Non permissible angle during calibration 512 TTL sensor Amplitude control has failed 513 TTL sensor EPLD reports error Error ave System is Ready 0 58 Sine cosine en insine cosingencoder evalua u stage blocked Yes Malfunction encoder System restart 0 01 Sin cos encoder Open circuit detec tion 02 Sin cos encoder Emulation error excessive speed 19 Sin cos encoder Non permissible angle during calibration 512 Sin cos encoder Amplitude control has failed 514 Sin cos encoder Quadrant control has failed Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module _ N Error code Error message Sub error code Possible reason for error Error response P programma ble D default response Final error status Reset type Save as History Message binary out puts valid for default response 59 Error Hiperface encoder Error of Hiperface encoder or in Hiperface evaluation Shutdown with emergency stop delay System is waiting Warm start Yes Ready 1 Malfunction 0 01 Hiperface encoder Quadrant control has failed 02 Hiperface encoder Track angle offset is inco
50. error and warnings are however displayed in the axis module and to some extent in the supply module For some events other numbers may be displayed in the axis module than in the supply module These events are marked in the operating dis play table of the supply module The displays for the axis modules and the supply modules are therefore described separately Error display of the 7 segment display Error message with two 7 seg ment displays Error in the supply module 158 The MOVIAXIS MX multi axis servo drive detects any errors that occur and displays them as error code Each error is clearly defined by its error code and corresponding attributes such as the error response e the final status after executing the error response e the type of reset response The error codes are indicated as flashing numeric values in the axis and supply module The error code is displayed in the following display sequence 0 5s 0 25s 1 0s 0 25s Figure 102 Example Error display of error 07 at the axis module 53052AXX In addition to the error code a sub error code has been defined to further localize the reason for the error The sub error code can be read by the operator via the commu nication connection The display can jump back to the statistical operation display depending on the type of error and the response programmed for an error Errors in the supply module are reported to the axis and processed by the
51. for the P controller of the position control loop controller Amplification Amplification factor of acceleration precontrol This parameter improves the acceleration precontrol control response of the speed controller Amplification speed Amplification factor of velocity precontrol This parameter improves the control precontrol response of the position controller Axis configuration ry Component pool EOE0E gy Base contiguason Sale 3 REN User un f w X Rev Ds 1 ADecanal posture Tl Rev Rev af g _Velocy f YUmin y ODecmal postmen 5 a T Accelerntion a Umin s 0Decmal pentane o 11812aen Figure 88 Axis configuration menu MOVIAXIS offers four user specified units for the following variables e Travel distance e Velocity e Acceleration Torque not in motor startup gt parameter tree A numerator denominator and the decimal places for each variable are loaded to the axis module The decimal places are only needed for display in the MotionStudio They are neither used for converting user defined units nor for bus communication 134 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C x 5 MOVIAXIS startup Single motor operation Basic configuration button e Travel distance Unit Rotations of the motor 4 decimal positions Example Setpoint Traveled distance Display in MotionStudio 10000 1 motor revolution 1 0000 15000 1 5
52. loads The logic of the module is supplied by MOVIAXIS Analog inputs and outputs are also supplied by MOVIAXIS Binary inputs and outputs are supplied via the DCOM and 24 V terminals on the front The supply voltage must be protected with a 4 A fuse see also page 99 in section UL compliant installation The binary inputs and outputs are electrically isolated from the logic supply In the event of a short circuit of a binary output the driver will change to pulse mode and in this way protects itself The status of the binary output does not change Once the short circuit is eliminated the status of the binary output is that which is output by MOVIAXIS at that point The module does not contain an internal free wheeling diode for receiving inductive energies when inductive loads are switched off The inductive load per output is 100 mJ at a frequency of 1 Hz The inductive energy is converted into heat energy in the switching transistor A volt age of 47 V is present In this way the energy can be reduced faster than by using a free wheeling diode The load capacity of the outputs through inductive loads can be increased by adding an external free wheeling diode However switching off will take considerably longer Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 59 3 Unit Design Terminal expansion board type XIA11A option 24V 1 GND_EXT XIA11A Logic
53. message will be reset binary output 1 system status 0 The ready signal will be reset by the system status control after the reset by the system status control Warm start A warm start only resets the error code The warm start has the following results The firmware system is not rebooted All reference positions will be maintained e Communication is not interrupted The existing error message will be reset binary output 1 system status 0 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Nees Operation INT Operating displays and errors of the MXP supply module lt 6 3 Operating displays and errors of the MXP supply module Table of displays Display on Description State Comment action the axis module Displays during standard operation nr Ready for operation ready No error Warning U gt 100 V Status display only Displays of diverse unit states 11 DC link voltage missing or less 2 Lt Lt than 100 V No error Warning U gt 100 V Check mains X Displays in case of warnings Cil Z 2 Utilization of the VM has reached the Check application regarding uti Lit I xt prewarning prewarning level lization P Check application regarding uti Ll The temperature of the VM is approach __ _ Temperature prewarning ing the cut off threshold N check ambient temper P Table of err
54. n c Encoder emulator Sub D 9 pole PGND signals male Signal track A_N cos Signal track B_N sin Signal track C_N 1 o oO SI MD on A OINI gt MG 1 Do not connect a cable Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 48 Unit Design Multi encoder card option XGH11A XGS11A PIN assignment X63 XGH X64 XGS with TTL encoder sin cos encoder PIN assignment X63 XGH X64 XGS with Hiper face encoder Terminal Function for TTL encoder sin cos encoder Type of connector X63 XGH Signal track A cos Signal track B sin Signal track C n c n c TF TH KTY n c INI OD oa A ONI gt DGND o Signal track A_N cos oO Signal track B_N sin Signal track C_N N n c wo n c a gt TF THI IKTY oa Us Sub D 15 pole female 1 Do not connect a cable Terminal Function for Hiperface encoder Type of connector X63 XGH Signal track A cos Signal track B sin n c DATA n c TF TH KTY n c COIN aOIl AI OINI gt DGND o Signal track A_N cos oO Signal track B_N sin n c N DATA wo n c a gt TF TH IKTY oa
55. or in groups by 4 A melting fuses to UL 248 NOTES UL certification does not apply to operation in voltage supply systems without earthed star point IT systems STOP We recommend protection of the braking resistor with a thermal overload relay to im plement an UL approved application design Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C xD 5 Startup General information 5 1 General information Uncovered power connections Severe or fatal injuries from electric shock e Install the covers at the modules see page 73 Install the touch guards according to the regulations see page 73 e Never startup MOVIAXIS if the protective covers and touch guards are not in stalled Prerequisites Hoist applications The drive must be configured correctly to ensure that startup is successful Refer to the MOVIAXIS MX Multi Axis Servo Inverter system manual for detailed project planning notes and an explanation of the parameters The startup functions described in this section are used to set the multi axis servo drive so it is optimally adapted to the connected motor and to the given boundary conditions Startup has to take place according to the instructions in this section Risk of fatal injury if the hoist falls Severe or fatal injuries MOVIAXIS is not designed for use as a safety device in hoist applications
56. responsible for maintaining the limits established by EMC legislation Preventive measures and protection devices must correspond to the regulations in force e g EN 60204 or EN 61800 5 1 Required preventive measures The unit must be grounded Cables may only be connected and switches may only be operated in a de energized state Safe disconnection Operation The unit meets all requirements for safe disconnection of power and electronic connec tions in accordance with EN 61800 5 1 All connected circuits must also satisfy the re quirements for safe disconnection Systems with integrated multi axis servo inverters must be equipped with additional monitoring and protection devices if necessary according to the applicable safety guidelines such as the law governing technical equipment accident prevention regula tions etc Changes to the drive inverter using the software are permitted Do not touch live components or power connections immediately after disconnecting the multi axis servo inverters from the supply voltage because there may still be some charged capacitors Note the respective reference plates on the multi axis servo invert er Cables may only be connected and switches may only be operated in a de energized state Keep all covers and doors closed during operation The fact that status LEDs and other display elements are no longer illuminated does not indicate that the unit has been disconnected from the main
57. settings NOTES CAN connections should only be implemented in the control cabinet to avoid any dif ference of potential Signal bus fate 5 Terminating max 9om pi x9 x9 x9 x9 x9 x9 resistor C NL BY N i co Oo 1 MXP MXA MXA MXA MXP MXA MXA MXA a A A N 62478aen Figure 64 CAN2 cable length 1 Connection cable between PC and CAN interface on the axis module The connection cable consists of the USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CAN_L The maximum permitted cable length between terminating resistor and the first axis module is 5 m NOTES For the connection between the axis systems please use pre fabricated cables from SEW EURODRIVE For more information on communication between PC and the MOVIAXIS system refer to page 111 Setting the CAN2 axis address All axis modules are set to address 4 at the factory Each axis module must be given a CAN2 axis address by means of parameter setting 108 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C 9 5 CAN2 bus information and settings Connecting CAN2 cables to the axis modules Connection as
58. single turn SKS36 SICK Stegmann ASOH Hiperface single turn absolute encoder SRS36 SICK Stegmann ES1H Hiperface single turn SRS50 SICK Stegmann ES3H ES4H Hiperface single turn absolute encoder SRS64 SICK Stegmann AKOH Hiperface multi turn SKM36 SICK Stegmann AS1H Hiperface multi turn SRM50 SICK Stegmann AS3H AS4H Hiperface multi turn absolute encoder SRM64 SICK Stegmann AV1H Hiperface absolute encoder SRM50C3 SICK Stegmann EV1C HTL ROD436 1024 Heidenhain EV1R TTL ROD466 1024 Heidenhain EV1S Sine ROD486 1024 Heidenhain EV1T TTL ROD426 1024 Heidenhain EV2R Encoder OG71 DN 1024R H bner EV2T Encoder OG71 DN 1024TTL H bner AVIY SSI absolute encoder ROQ424SSI Heidenhain ES1S OG72S DN1024R H bner ES2S OG72S DN1024R H bner EV2S OG71S DN1024R H bner EH1S HOG74 DN1024R H bner ES1R OG72 DN1024R H bner ES2R OG72 DN1024R H bner EH1R HOG74 DN1024R H bner ES1T OG72 DN1024TTL H bner ES2T OG72 DN1024TTL H bner EH1T HOG74 DN1024TTL H bner Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Multi encoder card option XGH11A XGS11A Manufacturer designation Encoder system teurer Voltage Laser encoder DME5000 SICK Stegmann Laser encoder DME4000 SICK Stegmann gt Hiperface single turn absolute encoder SRS60 SICK Stegmann Hiper
59. source per parameter record For this purpose the Source actual pos checkbox must be ticked 120 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C x 5 MOVIAXIS startup Single motor operation SEW designation Double click on an encoder symbol to open the Encoder selection submenu of encoders In this menu the SEW designations of the encoders are listed They are necessary for selecting the encoders amp gt lolx SEV Encor type Mechanical design Development status E Encoder F Positive connection A Absolute encoder Spread shaft esolver lt z R R Solid shaft H Hollow shaft S Spread shaft L Linear A 7 A A fr Le i 76646 Bruchsal Germany N AT Typ PSF121 CMPSOSIBPIKTY IR fH I1 M _ Nr 01 23456789 0001 22 FEIN Mo 1 3 nn b 17 AP EI Ny 6 000 imin Imax 9 0 A Iso k F I 3 fa 300 Hz Umax 400 V om M4 Electrical type Bremse 24V 3 1 Nm Gleichrichter H Hiperface Getriebe Ma max 35 Nm nmax 1 600 8 000 rimin Er n 15 1 Gewicht 3 8 ae S 24V Sinus T 5V TIL Y SSI E Endat T un gt f A z SEW 7 Approved Non SEW 9 se s z encoder 2 _ encoder ox Cancel 11800aen Figure 76 SEW designation of the encoders e Click on the individual encoder designations to set the encoder type that is mounted on the motor A requirement for this is that the function Load data permanently i
60. the standard setting is 1 You enter the stiffness of the speed control loop either with the sliding scale or the input field Ifyou increase the stiffness value you will also increase the control rate SEW EURODRIVE recommends to increase the value during startup in small increments 0 05 until the control loop starts oscillating motor noise You will then have to lower the value This approach ensures an optimum setting e If you reduce the stiffness value lt 1 the control rate is reduced and the servo lag increases Scanning frequency n X control Stiffness 132 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C 9 5 MOVIAXIS startup Single motor operation Block diagram speed controller Position controller profile In table form Acceleration PI Controller P Controller Accept Se Position Velocity Download control para a 11810aen Figure 86 Block diagram speed controller Speed control parameters In addition you can set the speed controller parameters to Classic Position controller Position controller profile In table form Recommendation Download value 200 000 200000 1 Tene conmtenk speed conois 3 20 000 gt 20000 ms Fiker speed actual value 3 1 250 gt 1 20 ms BOSSE soipont nar 3 5 000 5000 ms Bi Faer acceleration precontio Biio00 10000 ms i rges poon Sera 3 1000 100000 1 Gain ac
61. the binary output does not change Once the short circuit is eliminated the status of the binary output is that which is output by MOVIAXIS at that point Switching inductive The module does not contain an internal free wheeling diode for receiving inductive loads energies when inductive loads are switched off The inductive load per output is 100 mJ at a frequency of 1 Hz e The inductive energy is converted into heat energy in the switching transistor A volt age of 47 V is present In this way the energy can be reduced faster than by using a free wheeling diode The load capacity of the outputs through inductive loads can be increased by adding an external free wheeling diode However switching off will take considerably longer Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Terminal expansion board type XIO11A option 24V XIO11A GND_EXT Log ic l l GND_EXT GND GND 1 58750aen Figure 32 Block diagram for using a free wheeling diode at the binary output 1 Free wheeling diode Parallelconnection Connecting two binary outputs in parallel doubles the rated current of binary outputs This module has 8 binary inputs 8 binary outputs Electrical isolation between inputs and outputs as well as electronics Terminal assignment Designation Terminal Connectors Connector size DCOM 1 24 V DOO DO 1 DO 2 DO
62. the four bores for the retaining threads on the mounting platform for each unit according to figure 40 and figure 41 and the table listed below Make the bores with a tolerance according to ISO 2768 mK e The lateral distance between two axis systems must be at least 30 mm e Units within an axis system are mounted next to another without clearance e Cut the matching threads in the mounting platform and fasten the MOVIAXIS MX multi axis servo inverter with M6 screws Screw head diameter 10 mm to 12 mm The following table shows the dimensions for the unit housings of the modules viewed from the back Dimensions for housing MOVIAXIS MX back views MOVIAXIS MX A B Cc D mm mm mm mm Axis module size 1 60 30 353 362 5 Axis module size 2 90 60 353 362 5 Axis module size 3 90 60 453 462 5 Axis module size 4 120 90 453 462 5 Axis module size 5 150 120 453 462 5 Axis module size 6 210 180 453 462 5 Supply module size 1 90 60 353 362 5 Supply module size 2 90 60 453 462 5 Supply module size 3 150 120 453 462 5 Master module 60 30 353 362 5 Capacitor module 150 120 453 462 5 Buffer module 150 120 453 462 5 24 V switched mode power 60 30 353 362 5 supply module DC link discharge module see page 65 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 63 4 Installation Mechanical installation Rear view of MOVIAXIS MX axis and supply module housing
63. the nameplate Located on the 61846axx upper fastening plate of the module Unit designation see page 17 ill Part III of the nameplate Located at the side 2 Production number of the module housing 3 Status Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 3 Unit Design Nameplates and unit designations Nameplate of the 24 V switched mode power supply additional module I 1 y vera 01 0008283567 0005 07 005 07 CE Output Usxt 24V DC Upr 2 24V DC tent 200 Im 10a D 76646 Bruchsal Us 880v DC Upa 24v oc LISTED INO Schal tnetzt Mod OL Made in Gera RT a a P 48 c CONT EQ 2006 61849axx Figure 6 Example Nameplate of a 24 V switched mode power supply module Part I of the nameplate Located on the 1 Unit designation upper fastening plate of the module 9 m Part III of the nameplate Located at the side 2 Production number of the module housing 3 Status Nameplate of the DC link discharge additional module Bi in ni INN ias Go 01 0008282099 0014 07 Out N2838 Eingang Input Ausgan utput U 860V OC U 880V oC E 8000J R 10ha c D 76848 Bruchsal T 2 0 48 C LISTED IND CONT EO 2006 Made in Germany cStatus gt 10 nn IT A AON IOAN ON IADA AALAN 3 IH 61848axx Figure 7 Example Nameplate of a MO VIAXIS MXZ DC link discharge module Part
64. to finish startup 138 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C x 5 MOVIAXIS startup Single motor operation Pxxx controller parameters Pxxx speed control P gain speed controller Time constant speed controller Filter speed actual value Speed setpoint filter Filter acceleration precontrol P gain position controller Amplification acceleration pre control PWM frequency Operating Instructions Speed control only parameter set 1 The setting of all parameters important for speed control is supported by the startup functions of the startup manager Direct alterations to individual controller parameters are reserved for optimization by specialists Filter accel precontrol Acceleration Gain accel precontrol precontrol gt wea gt gt Filter setpoint Pl controller Torque setpoints Speed gt gt setpoint Filter speed actual value Speed Incremental encoder Resolver actual value Signal lt processing 06728AEN Figure 92 Basic structure of the speed control loop Gain factor of the P component of the speed controller Integration time constant of the speed controller The l component reacts inversely pro portionate to the time constant A large numerical value results in a small l component although 0 no I component
65. 0ussnn sn nnnnnnnnnnnnnnnnnn nenn 189 8 4 Technical data for the axis module uussssssnnennnnnnnnnnnnnnnnnnnnnnnnn nenn 191 85 Technical data for master module component 194 8 6 Technical data for capacitor module component seeen 195 8 7 Technical data for buffer module componernt 4sssrss nennen 196 8 8 Technical data for 24 V switched mode power supply module component uusssssnnnnnnsennnnnnnnnnnnnennnnnnnnnennn nn 197 8 9 Technical data for the DC link discharge module component 198 8 10 Technical data for 24 V current CONSUMPTION uuuussssnsneesssnnnenennnn nenn 199 8 11 Technical data for the braking resistors 4us44444 nennen nneennn ern 199 8 12 Technical data for line filter and line chokes mssrrs nme 201 8 13 Safety technology safe stop uu2240unnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 201 9 PDP ONIN Secession cas re a m a ae ar eens 202 9 1 Cable dimensions to AWG ussnsenssnennsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 202 92 Listo abbreviations redere eleen ait aia E E AEREE aide 203 9 3 Definitisn ofiterms H 02 Reken 204 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter General Information Structure of the safety notes General Information 1 1 Structure of the safety notes The safety notes in these operating instructions are structured as follows Sym
66. 1 a exceeded the maximum limit of 250 ne stage waiting Yes Malfunction lated Warm start 0 01 SM DC link current too high 82 Prewarning I xt Utilization of the SM has reached the No response D Yes en monitoring SM prewarning level P 1 01 SM Pre warning Ixt utilization Error I xt moni Utilization of the SM has reached or Shutdown wilh System S Ready A 83 toring SM exceeded the cut off threshold emergency stop Wallng Yes Melonen 9 delay D Warm start 0 01 SM Error Ixt utilization Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 175 176 N a Operation Operating displays and errors of MXA axis module Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response Error message through supply mod ule via hardware information system System is Ready 1 84 Error brake The brake chopper in the supply Output stage al Yes nen chopper at AM module is not ready for operation inhibit ach 0 triggered by BRC short circuit moni toring or driver voltage monitoring 01 SM Error brake chopper Prewarning Ready 1 ii The temperature of the SM No response D 85 Temperature approaches the cut off threshold Pye ON a2 te 2 Pees Yes
67. 10003 A PDO configured to CAN is to trans mit more than 4 PD Only 0 4 PD are possible for CAN 10004 Two or more PDOs configured to the same CAN bus use the same ID 10005 Two PDOs configured to the same CAN bus use the same ID 10008 An invalid transmission mode was entered for a PDO configured to CAN 20001 Configuration conflict with the master 67 Error PDO timeout An input PDO whose timeout interval is not 0 that has not been set to Offline and that has already been received once has exceeded its time out interval Shutdown with application delay D P System is waiting Warm start Yes Ready 1 Malfunction 0 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 173 6 2 Operation Operating displays and errors of MXA axis module Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response 0 PDO 0 1 PDO 1 2 PDO 2 3 PDO 3 4 PDO 4 5 PDO 5 6 PDO 6 7 PDO 7 8 PDO 8 9 PDO 9 10 PDO 10 11 PDO 11 12 PDO 12 13 PDO 13 14 PDO 14 15 PDO 15 Error External Shutdown with System is Ready 1 68 Tae a Pe emergency stop waiting Yes Malfunction synchronization delay Warm start 0
68. 1Y Type of connector X64 XGS 1 Signal track A cos 2 Signal track B sin 3 Cycle 4 DATA 5 n c 6 TF TH KTY 7 n c 8 DGND ae 9 Signal track A_N cos 10 Signal track B_N sin 11 Cycle 12 DATA 13 n c 14 TF TH KTY 15 Us 1 Do not connect a cable Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design PROFIBUS XFP11A fieldbus interface option 3 18 PROFIBUS XFP11A fieldbus interface option Terminal assignment DIP Front view of XFP11A Description switches Function Terminal 56596AXX RUN PROFIBUS operation Indicates that the bus electronics are operating cor LED green rectly Oer Ons BUS FAULT PROFIBUS error Indicates PROFIBUS DP error ve LED red Je Assignment g x X31 PROFIBUS connection X31 1 N C 20 X31 2 N C X31 3 RxD TxD P 1 2 X31 4 CNTR P 22 X31 5 DGND M5V X31 6 VP P5V 100 mA 23 X31 7 N C X31 8 RxD TxD N 3 X31 9 DGND M5V 2 ADDRESS DIP switch for set 2 Significance 1 25 ting the PROFIBUS station 21 Significance 2 6 address 22 Significance 4 2 23 Significance 8 24 Significance 16 ne 25 Significance 32 26 Significance 64 Reserved Pin assignment MOVIAXIS PROFIBUS connection Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Connection to the PROFIBUS network is established using a 9 pin sub D plug according to IEC 61158 Th
69. 2 View from front 03 Electronics shield clamps 13 C E DIP switches C CAN based system bus E EtherCAT based system bus X12 System bus CAN S1 S2 DIP switch for CAN baud rate S3 S4 Axis address switch Standby display Power 14 2 x 7 segment display X5a X5b 24 V voltage supply X4 DC link connection Power shield clamp Housing grounding point Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Cc al nll I We 61524axx View from bottom X3 Braking resistor con nection X1 Mains connection 23 3 Unit Design Unit design of MOVIAXIS MXP power supply module MOVIAXIS MXP supply module size 2 e Ou ei em a Ft um e am 13 te oa mmi i a 14 on map u Oo 1 z en a4 or eres fee _ X9a X9b 10 lial m 12 64525axx Figure 12 Unit design of MOVIAXIS MXP power supply module size 2 A View from top B View from front 03 View from bottom 1 Signaling bus 2 Electronics shield clamps 13 X3 Braking resistor con X9a Input green plug on cable nection X9b Output red plug on cable 3 C E DIP switches 14 X1 Mains connection C CAN based system bus E EtherCAT based system bus 4 X12 System bus CAN 5 1 S2 DIP switch for CAN baud rate 6 S3 S4 Axis address switch 7 Standby
70. 22 422 6 822 423 4 820 7143 820 798 4 821 691 6 Power class of the supply kW 10 25 50 75 module Regu ae Load capacity at 100 edf2 kW 0 6 1 2 2 4 5 Resistance value Q 27 10 47 10 39 10 Raw Trip current of F16 Ns of F16 Kaya 47 6 7 6 5 9 2 11 3 Design Wire wound resistor Connections mm Ceramic terminals 2 5 Permitted electric loading of the terminals at A DC 20 100 cdf Permitted electric loading of the terminals at A DC 25 40 cdf Degree of protection IP20 when installed Ambient temperature c 20 45 Bu X Type of cooling KS Self cooling 1 Unit 2 cdf Cyclic duration factor of the braking resistor in relation to a cycle duration Tp lt 120 s Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 199 200 Technical Data Technical data for the braking resistors Braking resistor type 1 BW012 015 BW012 015 012 BW012 025 BW012 050 BW012 100 BW915 Part number 821 6797 1820 010 9 821 680 0 821 681 9 821 682 7 821 260 0 Power class of the supply module kW 25 50 75 Load capacity at 100 cdf kW 1 5 2 5 5 0 10 16 Resistance value Rew 12 10 15 10 Trip current of F16 Ir 11 2 14 4 20 4 28 9 31 6 Design Steel grid resistor Connections Ceramic terminals 2 5 Permitted electric loading of the te
71. 2222242444440snnnnnnnnnennnn nn 198 Technical data for the supply module Control section u2222224 2 ennennnenennennn 190 Power section 22222222244444nnnnnnennennnnnennn en 189 Technical data of the multi encoder card XGH11A XGS11A option 42 Technical data of the XFA11A K net option 53 Temperature sensor in the motor 75 Terminal assignment MXA axis modules eseseeeeeeeeennnnnnnnnnnnnnnnnn 91 MXB buffer module u uceeneneneneenenenn 94 MXC capacitor module 94 MXM master module ne 93 MXP supply modules en 90 MXS 24 V switched mode power supply MOOUIC IAPA E a OS A E 94 Tightening torque for the cover bolts 73 Touch guard cover erri iorri nE 73 U UL approvals ee 187 Unit design 24 V switched mode power supply module 37 Axis module size 1 een 26 Axis module size 2 nennen 27 Axis module size 3 _ nennen 28 Axis module size 4 _ nennen 29 Axis module size 5 _ nennen 30 Axis module size 6 een 31 Buffer module 20 unsen nennen 36 Capacitor module s0sereen nennen 35 DC link discharge module 38 EtherCAT based version ofthe axis MOdUleS nn RER Liat ee 32 MOVI PLC advanced master module 34 MOVI PLC basic master module
72. 4A XGH 3 XIA11A TE 10 XIA11A 11 12 XGS XGH 13 XGH 14 15 XGS oe Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 39 40 Unit Design Option combinations on delivery CAN version of The following tables show the possible combinations and the fixed assignment of cards the units to the slots Fieldbus The fieldbus options can be plugged in the following combinations combinations Combination Slot 1 Slot 2 Slot 3 1 Fieldbus option 2 3 XIA11A 4 XIO11A XGH 5 XGS 6 Fieldbus option XIO11A 7 8 XGH XIA11A 9 XGS 10 XIA11A 11 Fieldbus option 12 XGS XGH Fieldbus option 13 XGH 14 Fieldbus option XGS 15 XGS Fieldbus option 1 Fieldbus option XFE24A EtherCAT or XFP11A PROFIBUS or XFA11A K Net Combinations with The following option card combinations are possible XIO Combination Slot 1 Slot 2 Slot 3 1 2 XIA11A 3 XGH 4 XGS 5 XGH XIA11A 6 XGS XIO11A 7 XGS XGH 8 XGH 9 XGS XGS 10 11 XIO11A XGH 12 XGS Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Option combinations on delivery Combinations with XIA Combinations with XGH XGS only Combinations with XGS only The following option car
73. 60664 or DIN VDE 0110 as well as national accident prevention guidelines Qualified personnel in the context of these basic safety notes are persons familiar with installation assembly startup and operation of the product who possess the necessary qualifications All activity in the other areas of transportation storage operation and disposal must be carried out by persons who are appropriately trained Designated use The MOVIAXIS MX multi axis servo drives are units for use in industrial and commer cial systems to operate permanent field synchronous AC motors and asynchronous AC motors with encoder feedback These motors must be suitable for operation with servo inverters Connect other loads to the units after consultation with the manufacturer only The MOVIAXIS MX multi axis servo drives are intended for use in metal control cabi nets These metal control cabinets represent the necessary enclosure for the application as well as the grounding over a large area required for EMC purposes In case of installation in machines startup of the multi axis servo inverters i e start of designated operation is prohibited until it is determined that the machine meets the re quirements stipulated in the EC Directive 98 37 EC machine guideline You must also observe EN 60204 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Safety Notes L Transportation storage Safety functions Startup i e start
74. AXIS MX Multi Axis Servo Inverter Installation Connecting encoders to the basic unit 4 12 Connecting encoders to the basic unit NOTES The core colors specified in the wiring diagrams are in accordance with IEC 757 and correspond to the core colors used in the pre fabricated cables from SEW EURODRIVE You will find detailed information in the SEW encoder systems manual The manual is available from SEW EURODRIVE Example gt 5 View connection motor View of the flange sockets in a servomotor A encoder to axis module 1 2 58364AXX 53934AXX 1 Power connection 2 Encoder connection A WARNING Dangerous contact voltages at the unit terminals when connecting the wrong temper ature sensors Severe or fatal injuries from electric shock e Connect only temperature sensors with reliable isolation from the motor winding to the temperature evaluation Otherwise the requirements for reliable isolation are not met Dangerous contact voltages may occur at the unit terminals via the signal electronics in case of an error For the pin assignment refer to sec 4 11 Terminal assignment par
75. AXIS multi axis servo inverter Keep the length of the cable between the line filter and servo drive to an abso lute minimum and never more than 600 mm Unshielded twisted cables are suffi cient Use also unshielded lines for the supply system lead Shielded cables must be used for cables longer than 600 mm No EMC limits are specified for interference emission in voltage supply sys tems without grounded star point IT systems The effectiveness of line filters in IT systems is severely limited Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 97 98 Interference emission Interference emission category Installation Notes on electromagnetic compatibility SEW EURODRIVE recommends the following EMC measures to limit interference emission e On the supply end Select line filters according to the assignment tables of braking resistors and line filters in the MOVIAXIS catalog You find notes on the selection of line filters in the MOVIAXIS MX Multi Axis Servo Inverter project planning manual On the motor end Shielded motor cables e Braking resistor You find notes on the selection of braking resistors in the MOVIAXIS MX Multi Axis Servo Inverter project planning manual Compliance with category C2 according to EN 61800 3 has been tested on a specified test setup SEW EURODRIVE can provide detailed information on request A WARNING This product c
76. Braking resistor connection BG3 50 75 kW X3 2 R X4 PE PE X4 1 Uz DC link bus connection X4 2 Uz X5a 1 24 VE r X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply X5b 1 24 VE 3 1 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg co X5b 4 BGND Voltage supply for brake supply J X9a prem X9a a Input Signal bus with green connector I 4 X9b b Output Signal bus with red connector J X9b ea Table continued on next page 90 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Terminal assignment Terminal Assignment Brief description X12 1 n c 1 X12 2 CAN_L CAN bus low X12 3 DGND Reference potential CAN bus X12 4 CAN_L CAN bus low X12 5 Rtermination Unit internal SBus terminating resistor X12 6 GND Reference potential CAN bus X12 7 CAN_H CAN bus high X12 8 CAN_H CAN bus high X12 9 Rtermination Unit internal SBus terminating resistor 1 Only for CAN based system bus No function for EtherCAT based system bus Terminal assignment of the MXA axis modules Terminal Assignment Brief description X2 PE PE X2 1 U X2 2 v Motor connection sizes 1 2 X2 3 Ww X2 PE PE X2 1 U i X2 2 v Motor connection size 3 X2 3 Ww PE 3 X2 PE PE je Ze u Motor connection sizes 4 5 6 ggg X2 2 Vv 5 g X2 3 WwW X4 PE PE
77. DRIVE with the motor spec ifications to use this option If the function Non SEW motor is selected you will see the Load motor file button Select the non SEW motor from the motor database If the motor is a synchronous motor you will have to enter the following motor data Type designation Pole pairs Rated speed Rated torque Rated current Rated voltage Maximum torque Maximum speed Mass moment of inertia Branch inductance Brake yes no eee oo oo Brake mass moment of inertia Brake release time Brake application time For asynchronous motors additional data is required The motor must be measured at SEW EURODRIVE Nameplate BY a Motor data iy Mobi Der ID res Bruchsal Germany Ey Rated voltage 230 v Typ PSF121 CMP Nr 01 23456789 0001 22 FIECH ry Rated motor speed 1200 timin Mo 13 Ne z 1 A p 65 3 ny 6 000 ma A Rated power supply voltage 400 y i 300 a Bremse 24V 31 Getriebe M max 35 a LES 3 a Temperature sensor a a Type No sensor 130 Gaan Be J ma a Forced cooling tan res J j a Brake Brake mechanically present Yes Q 11807aen Figure 83 Motor selection nameplate Enter the motor data listed on the nameplate of the motor in the drop down menu NOTES the motor nameplate In case of Hiperface encoders with electronic nameplate the drop down menu will be filled automatically and displayed without the
78. ED 6 16 7 8 9 EJ 17 e vs 10 E s i 19 nea i il 120 je ng el et a 12 Pe 23 a u 25 E 26 as tige 27 u 28 A 29 14 61637axx Figure 8 Standard accessories The corresponding mating connectors for all connectors are installed at the factory An exception are the D sub connectors they are supplied without mating connector Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Standard accessories Standard accessory assignment table Sel MXM MXZ MXS pee ele MXC MXB 10 25 50 75 2 a 8 12 16 24 32 48 64 100 Touch guard 1 2x 2x 2x 2x DC link connection 2 76 mm 3x 3x 3x 3x 3 106 mm 3x 3x 3x 3x 3x 4 136 mm 2x 3x 5 160 mm 3x 3x 3x 3x 3x 3x 6 226 mm 3x Electronics shield clamp 7 60 mm 1x 1x 1x 1x 8 90 mm 1x 1x 1x 1x 1x 9 120 mm 1x 10 150 mm 1x 1x 1x 1x 11 210 mm 1x Power shield clamp 12 60 mm 1x 1x 1x 1x 1x 1x 1x 1x 13 60 mm 1x 14 60 mm 1x 15 105 mm 1x 1x 1x 1x 1x 16 105 mm 1x 1x 24 V supply cable 17 40 mm 1x 18 50 mm 1x 1x 1x 1x 19 80 mm 1x 1x 1x 1x 1x 1x 20 110 mm 1x 1x 21 140 mm 1x 1x 1x 1x 1x 22 200 mm 1x Signal bus connection cable suitable for CAN EtherCAT based system bus 23 200 mm 1x 1x 1x 24 230 mm 1x 1x 1x 1x 1x 1x 25
79. F16 is a signal contact which means the resistor circuit must not be interrupted Make sure to provide separate isolation for the brake lines when controlling the brakes with 24 V We recommend using SEW hybrid cables that offer complete shielding with shielding supports as well as separate shielding for the brake line Install the connection cables between the brake rectifier and the brake separately from other power cables when installing the brake rectifier in the control cabinet Joint installation is only permitted with shielded power cables Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Wiring diagrams Brake control BMK brake control BMK brake control Terminal box connection variant Plug connector connection variant I l N l I l I l X6 X6 l sno An Brake 1 contro control l I l l l N l N l I l N l N l I l N l I l I l I l I l N l I l I Ha I I i l i i l i I I aor 3 K11 z ekeke i l BMK l Unc Uac NEE NL TOC OTe EASTON SD Ree GEREN CIP AIRES UE SAIN a POT NEST BME brake control Terminal box connection variant Directly controlled motor brake Brake ae Brake x6 control control
80. I of the nameplate Located on the upper fastening plate of the module M Unit designation see page 17 Ill Part III of the nameplate Located at the side 2 Production number of the module housing 3 Status 16 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Nameplates and unit designations Example Unit designation for MOVIAXIS basic units MX A 80 A 004 5 0 3 00 00 Standard design XX Special design 3 3 phase connection type 50 U AC 380 500 V connection voltage Versions 004 For axis modules the rated current such as 004 4 A 050 For DC link discharge modules the dissipatable energy quantity such as 050 5 000 Ws 010 For supply modules the rated power such as 010 10 kW 050 For capacitor buffer and damping modules the capacity such as 050 5 000 uF 060 For 24 V switched mode power supply the power such as 060 600 W Version 80 Standard version 81 Type with one safety relay in the axis module 82 Type with two safety relays in the axis module Unit type A Axis module B Buffer module C Capacitor module D Damping modules M Master module P Supply module with brake chopper R Supply module with regeneration S 24 V switched mode power supply module Z DC link discharge module MOVIAXIS Unit designation for the axis module MXA80A 004 503 00 Axis module with 4 A rated current Unit designation for the buffer
81. N_L The maximum permitted cable length between terminating resistor and supply module is 5m NOTES Observe the notes of the cable manufacturer on CAN suitability when selecting the cable For more information on communication between PC and the MOVIAXIS system refer to page 111 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 105 5 106 C xD Startup Supply module settings for a CAN based system bus Connecting CAN cables to the supply module Connection assignment of connection and extension cables The connecting and extension cables between the CAN adapter see page 111 and the axis system comes equipped with a 9 pin D sub socket on both ends The pin assign ment of the connection cable with the 9 pin D sub CAN connector is shown in the follow ing figure Adapter MOVIAXIS MXP socket supply module socket n c ee or n c CAN_H a GEH can L y i CAN_H CAN_H a QO DGND EEE CAN_H DGND i u Gt CANL i h DGND 7 oO nic ow we we e GR ELE SE BOE DS Tig he ee 62479aen Figure 61 Connection and extension cable CAN adapter and supply module Connection assignment of X12 pin on the supply module Supply module MOVIAXIS MXP male X12 enc DGND CANL CAN_H DGND CAN_H y CANL Terminating resistor inside the unit 53923AEN Figure 62 Pin assignment of the built in X12 socket at the s
82. P ye 3 Settings Settings E BS E m 5 Motor encoder Distance encoder a 1 2 IF ea Parameter E ar u 2 am a F Source actual pos I Source actual pos a L a a ae L se 5 5 a L Parameter set 11818aen Figure 94 Encoder management Encoder management allows you to assign the yellow marked encoders offered in the encoder pool to the individual parameter records or motors If several motors are to be operated on one axis module you need additional multi encoder cards option e Click on the required encoder and hold the left mouse button down to drag the en coder to the intended parameter record In the example above encoder 1 of the type AS1H is defined as motor encoder and encoder 2 of the type AV1H as external dis tance encoder The encoder pool represents the maximum three physical MOVIAXIS encoder inputs Encoder 1 is the encoder input of the basic unit Encoders 2 and 3 can be expanded with multi encoder cards e Use each encoder only once e Tachometer Encoders in the Motor encoder column are always the Actual speed sources and thus tachometers Position encoder Encoders in the two Distance encoder columns are position encoders Encoders in the Motor encoder column can also be position encoders For this pur pose the Source actual pos checkbox must be ticked e Several encoders can be prepared as position encoders e But only one encoder can be the Actual position s
83. S11A Technical data X62 e RS422 Maximum frequency 200 kHz Simulation output is based on the motor or option encoder can be selected via unit parameters PPR count can be freely selected in powers of two from 26 212 pulses revolution Encoder signals can be multiplied The maximum possible speed depends on the emulation PPR count set Maximum possible Set PPR count epasd min Overview of functions 64 1024 No limit 2048 5221 4096 2610 Functions XGH version XGS version SSI functionality x Hiperface functionality EnDat 2 1 functionality Incremental encoder sin cos functionality Encoder simulation Temperature evaluation Analog input Optional 24 V voltage supply Resolver Please contact SEW EURODRIVE before installing HTL encoders You need 15 pole SUB D connectors for all encoders that are to be connected to the multi encoder card Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 43 44 Unit Design Multi encoder card option XGH11A XGS11A Suitable The encoders listed in the following tables are evaluated by the multi encoder card encoders SEW encoder desig Encoder system Manufacturer designation Voltage nation manufacturer AL1H Hiperface linear encoder L230 SICK Stegmann EKOH Hiperface
84. Settings F Encoder pool ON Hy E Motor encoder i Distance F j Parameter p ae A 11 asu 2 f asin I Source actual pos F Source actual pos Encoder 2 must be set as Source actual position 3 t lol x SEW designation Encoder data Encoder type E Encoder R Resolver 76646 Bruchsal Germany Typ PSF121 CMPSOSIBPIKTYIJA Fr ci Nr 01 23456789 0001 22 EIN Mo 1 3 Nm lb 17 A P 655 Ny 6 000 dimin Imax 9 0 A Iso ki F IQ f 300 Hz Umax 400 V M M4 Bremse 24V 3 1 Nm Geichnichter Getriebe Ma max 35 Nm nmax 1 600 8 000 rimin LS 1 Gewicht 3 8 za ae Selection and settings of the encoder type Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 145 5 C xD Startup Application examples lol x SEW designation Encoder data R AsIH 2 Mount on components Counting direction Standard L Ratio between encoder revolution and motor revolution Direct entry c c Encoder revolutions 1 Motor revolutions 5 Setting the ratio between encoder revolutions and motor revolutions directly i e by cal cuation or moving the system Example 2 Linear encoder as position encoder Applications E g storage and retrieval units because ofthe slip ofthe carrying wheels for systems with backlash The travel distance of the linear distance encoder must be entered for one motor revo
85. Technical data for 24 V switched mode power supply module component Technical Data 8 8 Technical data for 24 V switched mode power supply module component MOVIAXIS 24 V switched mode power supply 2 module MXS80A 503 00 Type 060 INPUT via DC link Rated DC link voltage Unzk U V DC 560 Cross section and contacts CU rails 3 x 14 mm M6 screw fitting INPUT via external 24 V Rated input voltage Uy e With direct control of brakes for CMP and U v DC 24 0 10 DS motors e Otherwise DC 24 25 EN 61131 PC6 Cross section and contacts mm One conductor per terminal 0 5 6 Two conductors per terminal 0 5 6 OUTPUT DC 3 x 24 shared ground Tolerance for supply via DC link DC 24 Rated output voltage V U V 0 10 Tolerance for supply via external 24 V According to input voltage Rated output current I l A 3x 104 Rated output power P P WwW 600 COMBICON 5 08 Cross section and contacts mm One conductor per terminal 0 20 2 5 Two conductors per terminal 0 25 1 GENERAL INFORMATION Bridging resistance for Uz drop t s Rated power for 10 ms Efficiency ca 80 Weight kg 4 3 Dimensions mm 60 H mm 300 D mm 254 1 Nameplate information 2 Unit 3 Material strength mm x width mm 4 Not possible at the same time because total power is limited to 600 W 5 Applies to the following measuring point 10 ms are guaranteed for an edg
86. Time limit for expected synchroniza 01 tion signal has been exceeded Synchronization lost synchroniza 02 tion period outside tolerance range 03 Synchronization to synchronization signal not possible Duration of sync signal is not a inte 04 ger multiple of the PDO system dura tion 05 Time limit for synchronization signal exceeded 06 Synchronization lost period of syn chronization signal invalid 07 No synchronization of the synchroni zation signal possible 08 Duration of system interval too short 09 Duration of system interval too long Duration of system interval is not a 10 multiple of the base interval 174 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Na Operation INT Operating displays and errors of MXA axis module lt Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response Error ee Motor temperature has exceeded the No response dis Ready re 69 ing motor over Bite haa tea EN ERS ia yore a Yes Malfunction gt adjustable prewarning threshold play only AN temperature 1 01 Thermal motor protection Prewarn ing triggered by KTY temperature Thermal motor p
87. With this setting each motor has its own servo inverter but operates on the same load This has an effect on the controller parameters and the external load Please note that two rigidly connected drives acting on one load means that the drives might interfere with one another in the worst case This can lead to error messages at the servo inverter Please contact SEW EURODRIVE if you have any questions on this topic Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 5 127 7 Startup 5 MOVIAXIS startup Single motor operation Sequence of a complete startup Motor selection Motor type selection ey N EY Ey SEW synchronous motor EY DY DS Ey C CMP oo C CMD a C SEW asynchronous motor a C IEC C CSAINEMA a C DZ DX a C JEC a C CT CV ae C Non SEW motor Es 11806aen Figure 82 Motor selection menu In this menu you can set the motor to which the MOVIAXIS is connected The motor type of SEW motors is indicated on the nameplate If the motor is a non SEW motor activate the radio button Non SEW motor The next menu view will prompt you to load an XML file created by SEW EURODRIVE 128 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter MOVIAXIS startup Single motor operation Startup Er Motor type Description Non SEW motor The connected motor is a non SEW motor You will need a file created by SEW EURO
88. a for the supply module Power component supply module shield clamp MOVIAXIS supply module Size MXP80A 503 00 1 2 3 Type 010 0259 050 075 INPUT Supply voltage AC Vinains U V 3x 380 V 3 x 500 V Rated supply current AC Imains A 15 36 72 110 Rated power Py P kW 10 25 50 75 Mains frequency fmains Hz 50 60 5 Cross section and contacts on 2 COMBICON PC4 COMBICON PCG screw bolt MB mm pluggable max 50 connections pluggable max 4 max 16 Cross section and contacts on mm max 4x 4 max 4x 10 max 4 x 50 shielded shield clamp OUTPUT DC LINK Rated DC link voltage Uyzk U V DC 560 Rated DC link current DC Inzk A 18 45 90 135 Max DC link current DC Izk max Imax A 45 112 5 225 337 5 Overload capacity for max 1s 250 Brake chopper power kW Peak power 250 x Py continuous power 0 5 x Py Mean regenerative power kW 0 5x PN capacity Cross section and contacts mm CU rails 3 x 14 mm M6 screw fitting BRAKING RESISTOR Minimum permitted braking resis tor value R 4 Q operation Q 28 19 5 3 Cross section and contacts on 2 COMBICON PC4 COMBICON PGG M6 screw bolts connections mm pluggable max 4 pluggable max 16 5 max 16 Cross section and contacts on mm2 makr max 4x6 max 4x 16 Table continued on next page Footnotes on next page Operating Instructions MOVIAXIS MX Multi
89. agraph Terminal assignment of MXA axis modules Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 95 96 Installation Connecting encoders to the basic unit General installation notes Encoder connection Shielding At the servo inverter On the encoder resolver Prefabricated cables e Max cable length 100 m with a capacitance per unit length lt 120 nF km e Core cross section 0 2 0 5 mm If you do not use a core of the encoder cable Isolate the core end e Use shielded cables with twisted pair conductors and make sure they are grounded on both ends over a large surface area To the encoder in the cable gland or in the encoder plug To the servo drive in the housing of the D sub connector Route the encoder cable separately from the power cables Connect the shield of the encoder cable over a large area Connect the shield on the servo drive end in the housing of the sub D connector 01939BXX Figure 56 Connect the shield in the sub D connector Connect the shield on the encoder side only on the respective earthing clamps not on the cable gland For drives with a plug connector connect the shield on the encoder plug SEW EURODRIVE offers prefabricated cables for connecting encoders SEW EURODRIVE recommends to use these prefabricated cables You can find details on prefabricated cables in the MOVIAXIS MX Multi Axis Servo Inverter catalog Ope
90. alue of lag error tolerance too small 01 FCB Positioning Lag error Error Remote An interruption has occurred during Shutdown with System iS Ready Fl 43 7 2 Pate Sa ae asa waiting Yes Malfunction timeout control via a serial interface application limits a Warm start 0 01 FCB Jog mode Communication time out at direction control ai System is Ready 1 44 Error ixtutilizas Overload in inverter Output stage waiting Yes Malfunction tion inhibit i Warm start 0 01 Ixt current limit less than required d current Limit chip temperature difference 02 exceeded 03 Limit chip temperature exceeded Limit electromechanical utilization 04 exceeded 05 Short circuit of sensor detected 06 Motor current limit exceeded 07 AD conversion has not taken place i PERE rer eer System Ready 0 45 Error System Error during initialization of the sys Output stage locked CPU Yes Malfunction initialization tem inhibit reset 0 01 The measured current offsets are out side the permitted limit values An error occurred during CRC gener 02 i ation for the firmware 03 Data bus error during RAM test 04 Address bus error during RAM test 05 Memory cell error during RAM test san Br PEA Shutdown with System is Ready 1 46 ne nn via SBUS 2 is inter application limits waiting Yes Malfunction p P Warm start 0 01 Timeout CANopen CAN2 System is yes if Ready 0 50 Error 24V supply Error in 24V supply voltage Output stage blocked system Malfunction v
91. am control electronics MOVIAXIS MXA axis module Connection via supplied pre fabricated cables Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 83 84 Installation Wiring diagrams Connection diagram of binary inputs and outputs 24VE DGND a Wi Logik DCOM I 60888axx Figure 50 Block diagram of a binary input 24VeE DGND Logik __ O D001 4 E ES DGND 60889axx Figure 51 Block diagram of a binary output Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Wiring diagrams Connection of master module component Wiring X5b o 1 24Ve o 2 DGND o 3 24Vg o 4 BGND 24 V for 24 V supply brake supply D D for control electronics PE housing grounding point 62224AEN Figure 52 Wiring diagram of MOVIAXIS MXM master module Connection via supplied pre fabricated cables STOP The housing grounding point of the master module must be connected to PE e g at the control cabinet Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 85 86 Installation Wiring diagrams Connection of capacitor module component Wiring of control electronics 24VE DGND 24Vs BGND 24 V for brake control P Lap 24 V
92. amples 5 C xD Startup Pa loj xj SEW designation Encoder data ALIH 2 Mount on components R Counting direction Standard gt r mr ra A SEW Approved 2 Non SEW en ee a OK Cancel Travel distance on encoder per motor revolution can be entered here directly after cal culating it manually or be determined by moving the system Determined automatically can only be selected under the menu item Axis configura tion see next figure g G CO A H Configuration of the axis 148 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C xD 5 Application examples lol x Encoder data ALIH 1 2 Mount on components Counting direction Standard gt Ratio between encoder and motor C Direct entry Determined automatically f Travel distance on encoder per motor revolution um Double click on encoder 2 AL1H to enter the Travel distance on encoder per motor revolution It is possible to enter the travel distance by clicking on the Direct entry but ton after calculating it manually or to determine it by clicking on Move the system or by selecting Determined automatically In this example the Travel distance on encod er per motor revolution 3141um Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 149 Application examples 5 C xD Startup Exam
93. an cause high frequency interferences in residential areas which can re quire measures for interference suppression Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation UL compliant installation 4 14 UL compliant installation Permitted tight ening torques Note the following points for UL compliant installation e Use only copper cables with the temperature range 60 75 C as connection ca bles The permitted tightening torques for MOVIAXIS power terminals are Tightening torque Power supply module Mains connection X1 Braking resistor terminals Size 1 0 5 0 6 Nm 0 5 0 6 Nm Size 2 3 0 4 0 Nm 3 0 4 0 Nm Size 3 6 0 10 0 Nm 3 0 4 0 Nm Axis module Motor connection X2 Size 1 0 5 0 6 Nm Size 2 1 2 1 5 Nm Size 3 1 5 1 7 Nm Size 4 3 0 4 0 Nm Size 5 3 0 4 0 Nm Size 6 6 0 10 0 Nm DC link discharge module Braking resistor connection X15 All sizes 3 0 4 0 Nm The permitted tightening torque ofthe signal terminals X10 X11 for all units is 0 5 0 6 Nm forall DC link bars X4 is 3 0 4 0 Nm ofthe safety relay terminals X7 X8 for all units is 0 22 0 25 Nm ofthe terminals for brake connection X6 for the axis modules is 0 5 0 6 Nm ofthe terminals for 24 V voltage supply is 0 5 0 6 Nm ofthe terminals X61 for multi encoder cards XGH XGS is 0 22
94. an change the words in the configurations detail view using the keyboard as long as IN buffer update is disabled w IN buffer 0 oo me 1000 Word 1 1000 Word 2 11832aen Figure 101 Testing the configuration Once buffer update is enabled see figure 97 the words are automatically updated with the values of the bus NOTES The update function is automatically enabled when the unit is restarted and has to be disabled if required 5 13 Parameter list You find a parameter list with descriptions in the MOVIAXIS MX Multi Axis Servo Inverter project planning manual 156 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Operation a General information lt 6 6 1 Operation General information Dangerous voltages at cables and motor terminals Severe or fatal injuries from electric shock When the unit switch is in the ON position dangerous voltages are present at the output terminals as well as any connected cables and motor terminals This also ap plies even when the unit is inhibited and the motor is at standstill e The fact that the operation LED is no longer illuminated does not indicate that the MOVIAXIS MX multi axis servo drive is no longer connected to the mains and is de energized Before you touch the power terminals check to see that the MOVIAXIS MX multi axis servo drive has been disconnected from the mains e Observe the general safety note
95. ated via opto X10 5 DI 4 Binary input 4 freely programmable coupler with reference to X10 6 DI 5 EN are DCOM X10 10 x10 7 DIO6 inary input 6 freely programmable X10 8 DIO7 Binary input 7 freely programmable X10 9 Digs Binary input 8 freely programmable Binary input 9 freely programmable 41 X10 10 DCOM Reference potential for binary inputs DI DI 8 X10 11 DGND General reference potential of control electronics 1 X11 1 DOGS Binary output 1 freely programmable X11 2 DO 1 Binary output 2 freely programmable X11 3 DO22 Binary output 3 freely programmable X11 4 DO 3 Binary output 4 freely programmable 4 5 X11 5 DGND Reference potential for binary outputs DO DO 3 X12 1 n c X12 2 CAN_L CAN2 Bus Low X12 3 DGND Reference potential CAN bus X12 4 CAN_L CAN2 Bus Low X12 5 Rtermination Unit internal SBus terminating resistor X12 6 GND Reference potential CAN bus X12 7 CAN_H CAN2 Bus High X12 8 CAN_H CAN2 Bus High X12 9 Rtermination Unit internal SBus terminating resistor X13 1 S2 SIN X13 2 S1 os X13 3 n c 2 X13 4 n c X13 5 R1 REF X13 6 TF TH KTY X13 7 n c X13 8 n c Motor resolver connection X13 9 S4 SIN X13 10 3 GOS X13 11 n c 2 X13 12 n c X13 13 R2 REF X13 14 TF TH KTY X13 15 n c Table continued on next page Footnotes on next page Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Terminal assignment
96. between D YP waiting Yes Malfunction 9 setpoint and actual speed Warm start 0 01 Motor speed monitoring 02 Regenerative speed monitoring 03 System limit actual speed exceeded The temperature of the AM has reached or exceeded the shutdown Error Overtem limit Possible reasons Shutdown with System is Ready 1 11 perature axis Ambient temperature too high emergency stop waiting Yes Malfunction module Unfavorable air convection delay D P Warm start 0 defective fan e Medium utilization too high Limit heat sink temperature 01 exceeded No brake connected Brake line separated in on status e Overload through overcurrent gt Error Brake en eae priority i Output stage Syelais Ready 0 12 Sio Overload due to excessive con a g blocked Yes Malfunction p nection approx gt 0 5 Hz System restart 0 Monitoring is only active with parame ter settings Brake installed and Brake applied 01 Brake output Brake supply voltage not within per i i mitted range of 10 0 Monitoring System is Ready 0 13 ae Blake sup works with parameter setting Brake eat cr stage blocked Yes Malfunction ply installed and Brake applied as well System restart 0 as with CMP and DS motors only 01 Brake supply voltage System is Ready 0 14 Error Resolver Error with resolver or resolver evalua Output stage blocked Yes Malfunction tion inhibit Br System restart 0 01 Open circuit detection resolver 02 Emulation e
97. bol A SIGNAL WORD Nature and source of hazard Possible consequence s if disregarded e Measure s to avoid the hazard Symbol Signal word Meaning Consequences if disregarded Example Imminent hazard Severe or fatal injuries A WARNING Possible hazardous situation Severe or fatal injuries General hazard AN A CAUTION Possible hazardous situation Minor injuries Specific hazard e g electric shock STOP Possible damage to property Damage to the drive system or its environ D NOTE Useful information or tip il Simplifies drive system handling 1 2 Right to claim under warranty A requirement of fault free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the operating instructions Read the op erating instructions before you start working with the unit Make sure that the operating instructions are available to persons responsible for the system and its operation as well as to persons who work independently on the unit You must also ensure that the documentation is legible 1 3 Exclusion of liability You must comply with the information contained in these operating instructions to en sure safe operation of the MOVIAXIS multi axis servo inverter and to achieve the spec ified product characteristics and performance requirements SEW EURODRIVE as sumes no liability for injury to persons or damage to equipment or property resulting from non observance of th
98. cation used in automation engineering The XFA K Net communication module is a slave module for connection to a serial bus system for high speed data transfer The XFE24A communication component is a slave module for connection to EtherCAT networks The multi encoder card enables evaluation of additional encoders EMC compliant housings form a shield against electrical magnetic or electromagnetic fields These interference fields are generated by electro static discharges occurring during switching sequences during rapid cur rent or voltage changes during operation of motors or high frequency generators and similar situations These EMC compliant housings are usually equipped with an EMC cable gland Seal of cable entry with option to apply a cable shield or contacting A coding system to indicate the degrees of protection offered by a housing against access to dangerous parts ingress of solid foreign objects and the ingress of water Insulating property of a material to separate two neighboring contacts or one grounded contact at a relatively high resistance value Insulation in plug connectors is ensured by using thermoplastics and ther mosetting plastic The selected material depends on the required thermal and mechanical properties Lines can consist of one or more cores come equipped with insulating sleeves shields and a sheath for the protection of structural elements Lines connected to plug connectors are mainly fle
99. celeration precontiol Biio00 gt 10000 x _Ameliication speed precontrol Bio ww x Accept Download control para a 11811aen Figure 87 Parameter speed control menu Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 133 5 C xD Startup MOVIAXIS startup Single motor operation NOTES The value in the left column of the input menu is a recommendation while the value in the right column is the current value of the MOVIAXIS MX multi axis servo drive Click on e gt buttons to accept individual recommendations e Accept button to accept all recommendations in one step Input data Description P gain speed controller Gain factor of the P component of the speed controller Integration time constant of the speed controller The I component reacts inversely proportionate to the time constant i e a large numerical value results in a small I component although 0 no I component Filter speed actual value Filter time constant of the actual speed value filter Speed ramp will be filtered graduated setpoint entry or interfering impulse at analog input can be smoothed Time constant speed controller Speed setpoint filter Filter acceleration Filter time constant of acceleration precontrol This constant influences the con precontrol trol response of the speed controller The differentiator is programmed P gain position Setting value
100. ch for CAN baud rate 3 S3 Axis address switch 10 4 S4 Axis address switch 101 102 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Supply module settings for a CAN based system bus Startup C x 5 Setting the CAN baud rate The two DIP switches S1 and S2 have been installed in the supply module for setting the CAN baud rate see figure 58 125 kBit s 250 kBit s 500 kBit s 1 MBit s ae Wc Lac a 2 ie se ea 3m NOTES The default factory setting is 500 kBit s Setting the CAN axis address The supply module is equipped with two rotary switches S3 and S4 for setting the axis address of the axis system see Figure 58 Use these rotary switches to set a decimal address between 0 and 99 9 94 3 rotary switch Ss 10 A Single digit 6 5 4 si 1 S4 rotary switch S 101 A Ten digit 6 5 4 Axis address 23 serves as an example in the figure above NOTES The default factory setting is 1 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 103 5 C xD Startup Supply module settings for a CAN based system bus The addresses within the axis system are assigned as follows Signal bus ee Terminating x9 x9 x9 x9 x9 X9 x9 x9 X9 resistor alb alb alb alb alb a b alb alb alb er Be oe N im ial MXP MXA MXA MXA MXA MXA MXA MXA MXA 23 24 25 26 27 28 29 30
101. components and contacts Multi axis servo inverters contain components that can be damaged by electrostatic en ergy and could be destroyed in case of improper handling Prevent mechanical damage or destruction of electric components This may pose health risks under certain circum stances The following applications are prohibited unless the unit is explicitly designed for such use e Use in potentially explosive areas e Use in areas exposed to harmful oils acids gases vapors dust radiation etc e Usein non stationary applications that are subject to mechanical vibration and shock loads in excess of the requirements in EN 61800 5 1 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Safety Notes 2 6 2 7 2 8 Electrical connection i Electrical connection Observe the applicable national accident prevention guidelines when working on live multi axis servo inverters for example BGV A3 Perform electrical installation according to the pertinent regulations e g cable cross sections fusing protective conductor connection Additional information is contained in the documentation You will find notes on EMC compliant installation such as shielding grounding ar rangement of filters and routing of lines in the documentation of the multi axis servo in verters Always observe these notes even with multi axis servo inverters bearing the CE marking The manufacturer of the system or machine is
102. current gt 3 5 mA can occur during operation of the MOVIAXIS MX multi axis servo inverter Severe or fatal injuries from electric shock To prevent electric shock e With supply system lead lt 10 mm route a second PE conductor with the same cross section as the supply system lead via separate terminals Alternatively you can use a PE conductor with a copper cross section 10 mm or aluminum gt 16 mm e With incoming supply line 10 mm it is sufficient to install a PE conductor with a cross section copper gt 10 mm or aluminum gt 16 mm If an earth leakage circuit breaker can be used for protection against direct and in direct contact it must be universal current sensitive RCD type B 180 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Service SS Ai Removing installing a module ans Removing an axis module Remove an axis module in the following sequence Disconnecting the axis system from the power supply Shield clamps e Cables Covers Signal lines 7 Disconnect the entire axis system from the power supply Follow the safety notes on page 180 Remove electronics shield clamps 2 Remove encoder cable plugs 4 X13 Remove the signal bus cable plug 1 X9a X9b Remove CAN2 connection cable plugs 3 X12 if there are any Remove covers 5 also those of the units to the left and right of the unit that is to be removed Remove signal
103. d ISO standard that has been made a European DIN EN ISO standard and has been adopted into the German book of standards DIN IEC International standard that has been adopted without changes into the German standard DO Digital Out EN Europ ische Norm European standard GND Ground IP International Protection international type of enclosure The ISO creates ISO standards ISO International Organization for Standardization that should be adopted unrevised by the member states PDO Process data object process data PE Protected Earth Protective earth Ground connection PELV Protective Extra Low Voltage Protection low voltage PWM Pulse Width Modulation SELV Safety Extra Low Voltage TH TF Thermostat Temperature sensor Underwriters Laboratories Inc America Certification issued in North WW DC link Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 203 204 Appendix Definition of terms Definition of terms CAN bus system PROFIBUS K Net EtherCAT Multi encoder card EMC compliant housing EMC cable gland IP code Insulation resistance Insulating materials Cable Firmware Serial bus system for the automotive industry and industrial control devices The bus medium is a twisted conductor pair with excellent trans mission characteristics in the short distance range of less than 40 m PROFIBUS Process Field Bus is a standard for fieldbus communi
104. d combinations are possible Combination Slot 1 Slot 2 Slot 3 1 2 XGH 3 XGS 4 XGS 5 XIA11A XGH ae 6 XGS XGS 7 8 XIA11A XGH 9 XGS The following option card combinations are possible Combination Slot 1 Slot 2 Slot 3 1 2 XGS XGH 3 XGH The following option card combinations are possible Combination Slot 1 Slot 2 Slot 3 1 2 XGS XGS Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 41 42 Unit Design Multi encoder card option XGH11A XGS11A 3 17 Multi encoder card option XGH11A XGS11A Technical data The multi encoder card expands the MOVIAXIS system for evaluation of additional en coders Two different multi encoder cards are available Their selection is based on the encoder type that is to be evaluated see table on page 44 An analog differential input 10 V is available in addition XGH XGS X61 X63 ia 1 5 l e 61820axx Figure 28 Multi encoder card in version XGH and XGS Technical data of the differential input X61 e Tolerance 10 V e Resolution 12 bits Update every 1 ms The input can be used as e n or M setpoint input General measured data input e Torque limit value Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Multi encoder card option XGH11A XG
105. d transferred to the relevant FCBs see figure 96 MOVIAXIS offers 16 PD IN channels Depending on the process data configuration actual values such as speed and position can be converted into user specified units via 16 32 bit wide PD OUT channels and are transferred to the connected bus system via 16 process data buffers Information on the status of the axis such as e Ready for operation e Motor standstill Brake released can also be written to a process data word of the PD OUT buffer via a status word The information can also be processed by a higher level controller via the connected bus Four configurable status words are available see figure 96 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup PDO Editor WU 5 Parameter set ting example Setting the fieldbus interface parame ters Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter This example shows how to set the parameters of a PROFIBUS connection for speed control A mouse click on an IN buffer opens its configuration interface The communication op tion is selected as data source for a PROFIBUS connection The following three process data words are used in the example FCB activation Ramp Speed To being able to test the example without PROFIBUS the update function is first set to off The configuration interface for these settings looks as follows 2 Basic settings
106. dio 2 Configure communication channels 3 Perform an online scan Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 113 5 114 C xD Startup Communication selection 5 7 Communication selection The following figures show the possible access types for the system buses of the unit system 2 2 a Ne NS he ie ee Ne Nie ll mgr Ball MXM MXP MXA MXA MXA MXM MXP MXA MXA MXA 62084axx Figure 70 Communication access 1 PC CAN to CAN 2 Master module with CAN EtherCAT based system bus 3 PC CAN to CAN2 SEW EURODRIVE recommends the following communication paths Unit system without master module CAN Unit system with master module DHP CAN e Unit system with master module DHE DHF DHR UFx TCP IP or USB Use the following table to select the type of communication for startup depending on the unit configuration Access to Access via Master module Supply Axis modules module Hardware configuration of Via communication interface the unit system PROFIBUS CAN RS485 TCP IP USB RT CAN CAN2 Without master module x x Master module DHP x x x x Master module DHE x x x x x Master module x4 x x x x x DHF UFx41 Master module x x x x x x DHRIUFx41
107. e T bus connection must be made using a plug with the corresponding configuration RxD TxD P RxD TxD N CNTR P DGND M5V VP P5V 100mA DGND M5V oIa AnA ou 1 06227AXX Figure 31 Assignment of 9 pin sub D plug to IEC 61158 1 9 pin sub D plug 2 Signal line twisted 3 Conductive connection over a large area between plug housing and shield As a rule the XFP11A option is connected to the PROFIBUS system using a shielded twisted pair cable Observe the maximum supported transmission rate when selecting the bus connector The twisted pair cable is connected to the PROFIBUS connector using pins 3 RxD TxD P and 8 RxD TxD N Communication takes place via these two contacts The RS 485 signals RxD TxD P and RxD TxD N must be connected to the same con tacts in all PROFIBUS stations 51 3 Unit Design PROFIBUS XFP11A fieldbus interface option The PROFIBUS interface sends a TTL control signal for a repeater or fiber optic adapter reference pin 9 via pin 4 CNTR P NOTE If long bus cables are used the bus stations must have a hard common reference potential Baud rates larger The XFP11A option with baud rates gt 1 5 MBaud can only be operated with special 12 than 1 5 MBaud MBaud PROFIBUS connectors Setting the sta The PROFIBUS station address is set using DIP switches 2 26 on the option card tion address MOVIAXIS
108. e has no internal free wheeling diodes Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 61 Unit Design Terminal expansion board type XIA11A option XIA11A Sensor 10V lt U lt 10V ADC Logic aL JE GND GND Ground bar 56937aen Figure 38 Block diagram of an analog input XIA11A Actuator INA 2 200 DAC H Logic IN j I f 1 T L SES SoS GND GND GND Ground bar 56940aen Figure 39 Block diagram of an analog output Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Mechanical installation 4 4 1 Installation Mechanical installation A CAUTION Do not install defective or damaged modules of the MOVIAXIS MX multi axis servo inverter they can possibly result in injuries or damage parts of the production system e Check the MOVIAXIS MX multi axis servo inverter modules prior to installing them for external damage and replace any damaged modules e Check to make sure that the delivery is complete STOP The mounting plate in the control cabinet must be conductive over a large area for the mounting surface of the drive system metallically clean conductive An EMC compli ant installation of the MOVIAXIS MX multi axis servo drive can only be accomplished with a mounting plate that is conductive over a large area e Mark
109. e steepness of the falling DC link voltage of dUzx dt gt 200 V 1 ms Applies for a power supply voltage Uz of 3 x AC 380 V Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 197 198 Technical Data Technical data for the DC link discharge module component 8 9 Technical data for the DC link discharge module component Power section of DC link discharge module MOVIAXIS MX DC link discharge module 1 2 Ane MXZ80A 503 00 Type 050 INPUT DC link Rated DC link voltage Uxzx U V DC 560 Cross section and contacts CU rails 3 x 14 mm M6 screw fitting Convertible energy E E J 5000 OUTPUT Braking resistor R R Q 1 Discharge connection Specific screw fitting by SEW Cross section and contacts mm M6 screw bolts max 4 x 16 Connection to power shield clamp mm max 4 x 16 GENERAL INFORMATION Ready for operation once mains lt 10 and 24V have been switched on Ready for operation after short circuit s Depending on application see section Startup on page 101 Repeatability of quick discharge s 60 Duration of quick discharge s lt 1 Shutdown temperature C 70 Weight kg 3 8 mm 120 Dimensions H mm 235 D mm 254 1 Nameplate information 2 Unit 3 The system and output currents must be reduced by 20 4 Material strength mm x width mm Control section of DC link discharge module from the nominal values for
110. ection option gt parameter menu DI 1 and DI 2 suitable for touch probe function latency period lt 100 us 4 binary outputs Signal level Function PLC compatible EN 61131 2 response time 1 ms short circuit proof Imax 50 mA 0 0 V 1 24 V Caution Do not apply external voltage DO DO 3 Selection option gt parameter menu Cross section and contacts COMBICON 5 08 One conductor per terminal 0 20 2 5 mm Two conductors per terminal 0 25 1 mm Shield clamps Shield clamps for control lines available Maximum cable cross section that can be connected to the shield clamp 10 mm with sheath Connection contacts for safety functions Safety relay integrated in unit as option gt page 201 Suitable for operation as device of stop category 0 or 1 according to EN 60204 1 with pre vention of restart for safety applications in e Category 3 according to EN 954 1 e Protection type Ill according to EN 201 Cross section and contacts Mini COMBICON 3 5 One conductor per terminal 0 08 1 5 mm Two conductors per terminal 0 08 0 75 mm Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 193 Technical Data Technical data for master module component 8 5 Technical data for master module component MOVIAXIS MX master module 1 2 ees MXMS80A 000 00 Type 000 Supply voltage U v DC 24 V 25 to EN 61131
111. ectly using the external encoder or with the motor encoder e Multi motor operation max 3 motors e SSI absolute encoder evaluation Operation of non SEW motors that are equipped with EnDat encoders e Systems with slip Compensation of rope and belt elongation e Reading in of master values for cam and synchronous operation systems e Analog setpoint specification and encoder simulation of the actual position to the controller General use of the differential analog input 10 V for example for torque setpoint or torque setpoint specification Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter MOVIAXIS startup Multi motor operation Startup C xD 5 Current settings The figure below shows the current settings Unit version Slot 2 No option Slot 3 xcs encoder option SSI Slot 1 XGS encoder option SSI Rated power supply voltage 400 11815aen Figure 93 Overview of current settings The card types of option cards inserted into the card slots are shown in this menu In this example Slot 1 Multi encoder card XGS Slot 2 Not assigned Slot 3 Multi encoder card XGS Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 141 5 142 C xD Startup MOVIAXIS startup Multi motor operation Encoder management Encoder selection EY ey s o Encoder pool Option cards a 1 O
112. ee page 199 SEW EURODRIVE recommends to connect the braking resistor as shown in figure 46 Install switch F16 close to the unit system If an unshielded cable is used for con necting switch F16 with the supply module keep the length as short as possible Preferably use a shielded line cable or drilled individual lines as connecting cable to the braking resistor The cross section must be selected depending on the rated cur rent of the braking resistor e The connection leads to the braking resistors carry a high DC voltage of about 900 V during rated operation A WARNING The surfaces of the braking resistors will reach temperatures of up to 250 C when the braking resistors are loaded with P rated Risk of burns and fire e Choose a suitable installation location Braking resistors are usually mounted on top of the control cabinet e Do not touch any braking resistor Binary inputs binary outputs The binary inputs are electrically isolated by optocouplers STOP The binary outputs are short circuit proof but not interference voltage proof Externally applied voltages can damage the binary outputs Permitted volt age supply sys tems e MOVIAXIS is intended for operation on voltage supply systems with a directly grounded star point TN and TT power systems Operation on voltage supply sys tems with a non grounded star point for example IT power systems is permitted In
113. egenerative power e Braking resistor circuit interrupted System is Ready 1 04 Error Brake Short circuit in the braking resis Output stage waiting Yes Malfunction chopper tor circuit inhibit Warm start 0 Brake resistor has too high resis tance Brake chopper defective i The connection between supply mod System is Ready 0 05 AA ule and axis module via signaling bus i stage blocked Yes Malfunction 9 9 has been interrupted System restart 0 Connection to signaling bus inter 01 rupted 02 Timeout flag signaling bus cannot be reset Rass Error message by SM via signal bus n Ready 0 06 Error Mains A It was detected that a mains phase is Display only D s Yes Malfunction phase failure bom P E missing 0 PREN System is Ready 1 07 Error U DC link Error message by SM via signaling Output stage waiting Yes Malfunction bus when DC link voltage is too high inhibit Warm start 0 164 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter NR Operation INT Operating displays and errors of MXA axis module lt gt Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response N Active speed monitoring has detected System is Ready 1 08 a an unacceptable deviation
114. el connection of binary outputs 57 SHOMCICUIE u tr an 56 SUPDIY 2 ee een 56 Switching inductive loads e 56 Terminal assignment eeen 57 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 207 208 Address List i Address List Germany Headquarters Bruchsal SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 0 Production Ernst Blickle Stra e 42 Fax 49 7251 75 1970 Sales D 76646 Bruchsal http www sew eurodrive de P O Box sew sew eurodrive de Postfach 3023 D 76642 Bruchsal Service Central SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 1710 Competence Center Gear units Ernst Blickle Stra e 1 Fax 49 7251 75 1711 Motors D 76676 Graben Neudorf sc mitte gm sew eurodrive de Central SEW EURODRIVE GmbH amp Co KG Tel 49 7251 75 1780 Electronics Ernst Blickle Stra e 42 Fax 49 7251 75 1769 D 76646 Bruchsal sc mitte e sew eurodrive de North SEW EURODRIVE GmbH amp Co KG Tel 49 5137 8798 30 Alte Ricklinger Stra e 40 42 Fax 49 5137 8798 55 D 30823 Garbsen near Hannover sc nord sew eurodrive de East SEW EURODRIVE GmbH amp Co KG Tel 49 3764 7606 0 D nkritzer Weg 1 Fax 49 3764 7606 30 D 08393 Meerane near Zwickau sc ost sew eurodrive de South SEW EURODRIVE GmbH amp Co KG Tel 49 89 909552 10 Domagkstra e 5 Fax 49 89 909552 50 D 85551 Kirchheim near M nchen sc sued sew eurodrive de West SEW EURODRIVE GmbH amp Co KG Tel 49 2173 8507 30 Siemensst
115. encoder card or with one O and two multi encoder cards see following table the following restrictions apply for the evaluation of inputs and outputs Evaluation is only possible for the inputs and outputs if applicable of two cards Variant Plugged card Plugged card Plugged card 1 I O card I O card Multi encoder card 2 I O card Multi encoder card Multi encoder card Wiring diagrams for encoders with external voltage supply The wiring diagrams show the connection of one and two multi encoder cards For 12 V encoders external voltage supply only becomes necessary with two multi encoder cards if the total current of the encoders is gt 800 mA 1 x61 DGND 3 GND 24 V 4 z 24 V X63 X64 62357axx Figure 29 Wiring diagram with one multi encoder card Key see Figure 30 46 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Multi encoder card option XGH11A XGS11A 1 x61 DGND 3 24 V 4 GND 24V 12V X63 X64 X61 Bo X63 X64 62358axx Figure 30 Wiring diagram with two multi encoder cards 1 Voltage source 2 Multi encoder card 3 Encoders PIN assignment X62 encoder emu lator signals Terminal Assignment Brief description Type of connector X62 Signal track A cos Signal track B sin Signal track C 1
116. ennnnen 42 3 18 PROFIBUS XFP11A fieldbus interface option r een 51 3 19 K Net XFA11A fieldbus interface Option 2uusnsssnnnnnnnsnnnnnnnnn nennen 53 3 20 EtherCAT XFE24A fieldbus interface Option cccccseceeeseeeeteeeteneees 54 3 21 XSE24A EtherCAT based system bus option seennennnnnnnn 55 3 22 Terminal expansion board type XIO11A option n 56 3 23 Terminal expansion board type XIA11A option 59 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Contents 4 Installation osc a ts ee tanec weweaaecshid each wey deveuamaes A 63 4 1 Mechanical installation ce ecceeceeeeceeeeeeeenneeeeeeeaeeeeeseeeeeeeetenaeeeeeneaa 63 4 2 Connection cable for CAN based system bus with optional Master module et Bestes Keane 67 4 3 System bus connection cable for several axis systems CAN based 68 4 4 System bus connection cable to other SEW units CAN based 69 4 5 Connection cable EtherCAT based system bus optional master module ses he aana aeaa a a e r eae aaa ae Ta ei et 70 4 6 Signal bus connection cable for several axis systems EtherCAT based c ccccccceeceeeeeseeeeeeeeeeeeeeeeeeeaeeeseeeeteas 71 4 7 Signal bus cables to other SEW units EtherCAT based system bus 72 4 8 Covers and touch Quards ccccccceceeeceeeeneeeeneeeeeeeeeeeaeeeseneeeseieeeeseaeeseaes 73 4 9 Electrical Installations ccctiescaiza given keinen 74
117. ents for CE marking of the entire machine system in which they are installed on the basis of the EMC Directive 89 336 EEC e Compliance with category C2 according to EN 61800 3 has been tested on a spec ified test setup SEW EURODRIVE can provide detailed information on request 2006 95 EC and the EMC Directive 89 336 EEC SEW EURODRIVE can provide a dec The CE mark on the nameplate indicates conformity with the Low Voltage Directive C laration of conformity on request Approvals The following approvals have been granted for the MOVIAXIS modules MOVIAXIS module UL cUL c Tick CE conformity MXP supply module 10 kW 1 x x MXP supply module 25 kW 1 x x MXP supply module 50 kW x x x MXP supply module 75 kW x x x MXA axis modules x x x MXM master module x x x 24 V switched mode power supply x x x module MXB buffer module N x MXC capacitor module 1 1 x MXD damping module 1 1 x DC link discharge module x x x 1 In preparation cUL is equivalent to CSA approval C Tick certifies conformity with ACA Australian Communications Authority standards Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 187 Technical Data General technical data 8 2 General technical data The technical data in the following tables is valid for all MOVIAXIS MX multi axis servo inverters regardless of type version size and performance
118. erter Service SS ea 7 Removing installing a module ans Retaining screws e Tighten upper retaining screws 7 e Tighten bottom retaining screws 9 Brake control Insert brake control plug 11 X6 system Motor lines e Insert motor line plug 12 X2 Shield plate Insert and secure shield plate on power terminal 10 DC link bars Insert and secure the DC link bars 13 X4 24 V cables Insert 24 V cable plugs 8 electronics and brake supply X5a X5b 12 11 Signal lines Insert signal line plugs 6 X10 X11 Covers e Replace the covers 5 and secure them Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 185 7 186 SS 7 3 7 4 4 2 Z Service N Extended storage Extended storage If the unit is being stored for a long time connect it to the mains voltage for at least 5 minutes every 2 years Otherwise the unit s service life may be reduced The 24 V DC voltage supply can be applied without paying attention to any particular notes Procedure when maintenance has been neglected Electrolytic capacitors are used in the servo inverters They are subject to aging effects when deenergized This effect can damage the capacitors if the unit is connected using the rated voltage after a longer period of storage If you have not performed maintenance regularly SEW EURODRIVE recommends that you increase the supply voltage slowly up to the maximum
119. es parameters will be reset to default values Basic initialization Initialization delivery status Initialization factory setting Initialization customer specific set 1 Initialization customer specific set 2 Status not ready Output stage is blocked Communication is possible Waiting for initialization to finish Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Operating displays and errors of MXA axis module lt Operation Ss Description State Comment action Displays duri ng standard operation Output stage inhibit e Output stage is blocked The drive is not actuated by the output stage The brake is applied without brake the motor coasts to a halt This FCB is permanently selected with terminal DIOO But it can be addi tionally selected by other sources Unassigned Unassigned Unassigned n control speed control Interpolated n control M control torque control Interpolated M control Position control Interpolated position control Limit switch HW amp SW enable or approach Reference travel Stop Emergency stop Stop at system limit Electronic cam Synchronous o
120. ese operating instructions In such cases any liability for defects is excluded Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Safety Notes General information L 2 2 1 2 2 2 3 Safety Notes The following basic safety notes are intended to prevent injury to persons and damage to property The operator must make sure that the basic safety notes are read and ob served Make sure that persons responsible for the system and its operation as well as persons who work independently on the unit have read through the operating instruc tions carefully and understood them If you are unclear about any of the information in this documentation or if you require further information please contact SEW EURO DRIVE General information Never install damaged products or take them into operation Submit a complaint to the shipping company immediately in the event of damage During operation multi axis servo inverters can have live bare and movable or rotating parts as well as hot surfaces depending on their enclosure Removing covers without authorization improper use as well as incorrect installation or operation may result in severe injuries to persons or damage to property Refer to the documentation for more information Target group Only qualified personnel are authorized to install startup or service the units or correct unit faults observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 and IEC
121. esistor 2 22 28 8 1 BB 60660axx Figure 68 DIP switch settings on the supply module Settings for EtherCAT operation All 4 switches set to E DIP switches S1 S2 S3 and S4 and X12 have no functions 1 0 LAM 1 N 1 F1 ia 1 0 LAM F1 D I s 62070axx Figure 69 DIP switch settings on the axis module Setting the LAM DIP switch on the last axis module of a system 2 Setting the LAM DIP switch of all axis modules of a system except for the last axis module 112 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C xD 5 Description of the startup software 5 6 Description of the startup software The MOVITOOLS MotionStudio software package is the SEW engineering tool that you can use to access all SEW drive units For the MOVIAXIS series you can use MOVITOOLS MotionStudio for startup parameter setting and diagnostics For information such as installation instructions and system prerequisites refer to the MOVITOOLS MotionStudio manual MOVITOOLS Once you have installed MOVITOOLS MotionStudio you will find the corresponding MotionStudio entries in the WINDOWS start menu at the following path startup software Start Programs SEW MOVITOOLS MotionStudio NOTES For a detailed description of the following steps please refer to the online help in MOVITOOLS MotionStudio or to the MOVITOOLS MotionStudio manual 1 Start MOVITOOLS MotionStu
122. face multi turn absolute encoder SRM60 SICK Stegmann Single turn absolute encoder ECN1313 Heidenhain ee Multi turn absolute encoder EQN1325 Heidenhain BTL5 S112 M1500 P S32 Balluf 24 V GM401 IVO 12V AMS200 200 Leuze OMS1 Leuze WCS2 LS 311 Pepperl amp Fuchs 24 V DME 3000 111 Sick DME 5000 111 Sick AG100 MSSI Stegmann 12V AG626 Stegmann 24 V CE58 T amp R 12V LE100 T amp R EDM Visolux N OMS2 Leuze 24 V WCS2A Pepperl amp Fuchs Connection and terminal description of the card PIN assignment X61 Terminal Assignment Brief description Type of connector X61 Al 0 Analog differential Mini Combicon 3 5 Reference for PIN 5 pole Cable cross section max 1 5 mm2 min 0 75 mm IVALO input 3 DGND 4 Optional encoder 4 24V voltage supply 5 n c NOTE The 24 V supply at PIN 4 is only permitted if 24 V encoders are used Ensure UL com pliant fusing See sec UL compliant installation on page 99 The supply must be connected via a diode with sufficient current carrying capacity Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 3 Unit Design Multi encoder card option XGH11A XGS11A Restrictions for the evaluation of inputs for axis modules equipped with O and multi encoder cards NOTE If the axis module is equipped with two O and one multi
123. gether with the KTY temperature sensor If the motor with KTY is a non SEW motor an 12t model is started if the XML file of the non SEW motor contains thermal data The KTY only provides an initial value Afterwards the calculation model is responsible for motor protection If the motor with KTY is a non SEW motor and the XML file of the non SEW motor does not contain any thermal data then a KTY limit temperature shut down is activated Response Here you can set the shutdown response of the MOVIAXIS MX multi axis servo drive in case of a motor overtemperature The following settings are avail able No response Motor overtemperature is ignored Display only the error is only displayed in the 7 segment display the axis keeps on running e Output stage inhibit pending The axis switches to FCB controller inhibit motor coasts to a stop The axis performs a warm start following a reset see chapter Operating Mode Display in the operating instructions The reset time is reduced to a minimum because there is no booting involved Emergency stop pending The axis decelerates using the emergency stop ramp The axis performs a warm start following a reset see chapter Operating Mode Display in the operating instructions The reset time is reduced to a minimum because there is no booting involved Stop at application limits pending The axis decelerates using the application ramp The axis performs a war
124. gths of the pre fabricated system bus connection cables 1 are 0 75 m and 3 m 1 System bus connection cable 2 LAM switch Switch setting 0 All axis modules except the last one Switch setting 1 Last axis module in the system STOP The DIP switch LAM 2 must be set to 12 at the last axis module in each system Stor At all other axis modules it must be set to 0 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 71 72 4 7 Installation Signal bus cables to other SEW units EtherCAT based system bus Signal bus cables to other SEW units EtherCAT based system bus I 1 System bus connection cable 4 SEW stations with SEW EtherCAT interface 2 Output plug yellow 5 LAM switch Switch setting 0 All axis modules except the last one Switch setting 1 Last axis module in the system 3 Input plug green RJ45 STOP Important The DIP switch LAM 5 must be set to 1 at the last axis module in a sys Stor tem At all other axis modules it must be set to 0 The lengths of the pre fabricated connection cables 1 are 0 75 m and 3 m STOP Use only pre fabricated cables from SEW EURODRIVE special assignment for this STOP connection Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation A Covers and touch guards 4 8 Covers and touch guards Cover The following u
125. h are not included in the following list can be displayed within the framework of displayed error codes In this case contact SEW EURO DRIVE A P in the column Error response indicates that the response is programmable The factory set error response appears in the Error response column Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response No error this dis od play is actually p g on system 00 an operation dis status play gt S82 ORS Malfunction ation displays 1 7 e _ Short circuit output System is Ready 1 01 lhe Overcur e Motor too large ee stage waiting Yes Malfunction e Defective output stage Warm start 0 The error is an additional kind of overcurrent measured at the collec tor emitter voltage of the output System is Ready 1 02 muh ee man stage The possible reason behind zer ore stage waiting Yes Malfunction 9 this error is identical to error 01 The Warm start 0 distinction is important for internal purposes only Ground fault i E Error Ground in the motor lead Output stage System is Ready ae 03 jrautt in the inverter inhibit blocked age Melunglon System restart 0 in the motor Error message by SM via signal bus Too much r
126. hibit System is blocked System restart Ready 0 Malfunction 0 Yes 66 FCB position control Target preset in user defined unit not within range permitted by user defined unit 67 FCB position control Target preset in user defined unit results in target overflow in system units 68 FCB position control ModuloMin gt ModuloMax 69 Time violation in task system 70 78 Error in Knet driver Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 167 6 2 Operation Operating displays and errors of MXA axis module Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response System is Ready 0 19 Process dala Process data are not valid Output stage blocked Yes Malfunction error inhibit A System restart 0 Process data Negative maximum 01 em torque indicated Process data Positive minimum 02 torque indicated 03 Process data Negative motor torque limit indicated Process data Negative regenerative 04 AD torque limit indicated 05 Process data Torque limit for quad rant 1 is negative Process data Torque limit for quad 06 i rant 2 is negative 07 Process data Torque limit for quad rant 3 is negative Process data Torque lim
127. ini 14 Fax 39 02 96 799781 Service I 20020 Solaro Milano sewit sew eurodrive it Address List 1 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 Switzerland Assembly Basel Alfred Imhof 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 209 EURODRIVE SEW EURODRIVE Driving the world Gearmotors Industrial Gear Units Drive Electronics Drive Automation Services How we re driving the world With people who think fast and With a worldwide develop the service network that is future with you nf di u YH Piui f With a global presence that offers responsive and reliable solutions Anywhere always close at hand With drives and controls that automatically improve your productivity With innovative technology that solves tomorrow s problems today k With comprehensive With uncompromising knowledge in v
128. irtually quality that reduces the every branch of cost and complexity of industry today daily operations LEER B z qer SEW EURODRIVE Driving the world g P With online information and software updates via the Internet available around the clock SEW EURODRIVE GmbH amp Co KG P O Box 3023 D 76642 Bruchsal Germany Phone 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive com www sew eurodrive com
129. isplay Reference positions of incremental encoder systems will be lost e Any existing fieldbus interfaces will be reset e Any existing control options will be reset Fieldbus communication will be interrupted The interface between options and firmware system is initialized again A new boot synchronization to the fieldbus or control option takes place Communication via CAN interfaces of the system will be interrupted e Connection to the supply module will be synchronized again hardware information system The existing error message will be reset binary output 1 system status 0 The ready signal will be reset by the system status control after the reset by the system status control System restart There will be no true reset of the microcontroller with a system restart The system restart has the following results e The firmware will be restarted without the boot loader becoming active no display bO Reference positions of incremental encoder systems will be lost Any existing fieldbus cards are not affected Any existing control options are not affected The interface between options and firmware system is initialized again A new boot synchronization to the fieldbus or control option takes place e Communication via CAN interfaces of the system will be interrupted e Connection to the supply module will be synchronized again hardware information system The existing error
130. it for quad 08 i rant 4 is negative 09 Torque control Maximum speed lt minimum speed 10 Position control Maximum speed value lt 0 11 Position control Maximum speed lt 0 12 Position control Minimum speed gt 0 Process data Enter negative acceler 13 ation 14 Process data Enter negative delay 15 Process data Enter negative jerk Combination of FCB number and 16 FCB instance does not exist 17 Target position outside limit switch range Setpoint devia se ua System is Ready 1 20 tion electronic Ih nn eine stage waiting Yes Malfunction cam Warm start 0 01 CAM Setpoint deviation electronic cam The preset setpoint deviation limit in System is Ready 1 21 Setpoint devia dual drive mode Engel was Output stage waiting Yes Malfunction tion dual drive inhibit exceeded Warm start 0 01 FCB dual drive Setpoint deviation in conditioning phase 02 FCB dual drive Setpoint deviation in standard operation 168 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter R NR Operation INT Operating displays and errors of MXA axis module lt an Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D defau
131. ization could not be executed appropriately inhibit piocked YES Makunenon pprop y System restart 0 i Connection between main computer System is Ready 0 41 Error Watchdog and option card computer no longer Output stage blocked Yes Malfunction timer to option inhibit u exists System restart 0 02 Too many options in total or too many options of one kind 07 Two options with the same address selection switch detected 08 CRC error XIA11A 09 Watchdog triggered at XIA11A 13 Watchdog error at CP923X 14 Timeout during option bus access 15 Error interrupt for which no cause could be determined Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter NR Operation INT Operating displays and errors of MXA axis module lt gt Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response A preset maximum permitted follow ing error was exceeded during posi tioning e Encoder connected incorrectly i e Acceleration ramps too short System is Ready 1 42 Eat Following P component of positioning con Output stage waiting Yes Malfunction error positioning inhibit _ troller too small Warm start 0 e Incorrectly set speed controller parameters e V
132. lation Connection cable for CAN based system bus with optional master module Connection cable for CAN based system bus with optional master module 4 2 The plugs on each end of the cable are color coded Insert them in the following order red b green a red b green a red b red b Output RJ45 X9b green a Input RJ45 X9a black c MXM output Weidm ller black d MXP input RJ45 X9a Insert the CAN1 signal bus plugs 1 as described in the following X9a X9b The following describes how the signal bus cables of the CAN system bus must be con nected in the axis system Important Install a terminating resistor 3 in the last axis module of the axis system included in the scope of delivery of the supply module NOTE il Shield clamps Install the cables properly and screw on electronics shield clamps 2 67 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 68 Installation System bus connection cable for several axis systems CAN based 4 3 System bus connection cable for several axis systems CAN based e The individual axis systems are connected as described on page 67 e The CAN connection cable 1 is routed from the red output X9b of the last axis module in one axis system to the green input X9a of the first axis module of the sub sequent
133. lays and errors of MXA axis module Table of displays Operating displays and errors of MXA axis module Description State Comment action Displays during boot process Unit passes through several states when loading the firm ware boot to get ready for operation Status not ready Output stage is blocked No communication possible e Waiting for boot process to finish Unit stays in this condition Unit defective Displays of diverse unit statuses I I No DC link voltage Check mains CI Supply module not ready for lt operation Check supply module rio Axis module 24 V or internal Liz switched mode power supply 24 V check or unit defective module of axis not ready for operation CI Axis module in safe stop Status not ready Safety function activated Output stage is blocked Flashing e Communication is possible ris e Check bus connection ia Synchronization with bus is a synchronization setting at unit and incorrect Pieces Gala proz Check process data settings at unit and con cessing not available trol e Check missing of a PDO Encoders are initialized Tit The encoder evaluation is not i T eae _ ready gs f speed Flashing ource of actual spee parameter shows an encoder that does not exist Displays during initialization process
134. lines 6 X10 X11 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 181 S a Service 7 a Removing installing a module 24 V cables e Remove 24 V cable plugs 8 electronics and brake supply X5a X5b DC link bars Remove DC link bars 13 of the respective units X4 Shield plate Remove shield plate on the power terminal 10 e Loosen the screw Remove shield plate in downward direction Motor lines e Remove motor line plug 12 X2 Brake control e Remove brake control plug 11 X6 system Safety relays Remove safety relay plugs if there are any Retaining screws e Loosen the two retaining screws 9 at the bottom of the axis module e Loosen the two retaining screws 7 at the top of the axis module 12 11 182 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter ie a Service Removing installing a module En e Slightly raise the axis module tilt it to the front and remove it in upward direction Removing the axis module 183 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 7 a Service w Removing installing a module Installing an axis module Installing an axis Insert the axis module from top into the lower retaining screws press the axis module module backward and then lower it 184 Operating Instructions MOVIAXIS MX Multi Axis Servo Inv
135. lt for default response response Error Non vola s System is Ready 0 25 tile parameter An error was detected during access Outpu t stage blocked Yes Malfunction s to non volatile parameter memory inhibit A memory System restart 0 Error during read in of data from non 03 volatile memory The data cannot be used due to a corrupt identification or checksum 04 Initialization error of memory system The read only memory contains 05 invalid data The read only memory contains incompatible data of another device 06 in case of exchangeable data memo ries 26 Error External An error has been reported by a a a Yes a terminal binary input terminal delay D P Warm start 0 01 Error external terminal Error Limit One or both limit switches cannot be Shutdown with System is Ready 1 27 switch detected at the programmed input emergency stop waiting Yes Malfunction terminals or in the control word delay Warm start 0 01 Both limit switches missing or open circuit 02 Limit switch reversed Process data Process data communication is inter Shutdown WIN Systems Ready 1 28 timeout eror r pted application delay waiting Yes Malfunction x D P Warm start 0 01 Error fieldbus timeout Error Approach RE _ Shutdown with System is Ready 1 29 hardware limit en limit switch during emergency stop waiting Yes Malfunction switch P 9 delay D P Warm start 0 01 Travel to right limit switch 02 Travel to left limi
136. m start following a reset see chapter Operating Mode Display in the operating instructions The reset time is reduced to a minimum because there is no booting involved Stop at system limits pending The axis decelerates using the system ramp The axis performs a warm start following a reset see chapter Operating Mode Display in the operating instructions or system manual The reset time is reduced to a minimum because there is no booting involved Forced cooling fan Use this field to enter whether the motor is equipped with a forced cooling fan The entered value will be used for the thermal motor model for motor protection Brake Use this field to enter whether the motor is equipped with a brake This will acti vate the brake function Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C x 5 MOVIAXIS startup Single motor operation Monitoring zY EY EY Recommendation Download value mn zY Speed monitoring 3 Motorregenerative Motor regenerative Deceleration 3 50 gt 50 ms ey Current limit 3 20 000 gt 0000 A Y af Accept 125 co Ej a E 11808aen Figure 84 Menu setting for monitoring NOTES The value in the left column of the input menu is a recommendation while the value in the right column is the current value of the MOVIAXIS MX multi axis servo drive Click on e gt buttons to accept individual recommendations
137. max 4 x 4 max 4 x 6 max 4 x 25 shield clamp 4 binary outputbrake Suitable for direct operation of brake short circuit proof beet ict P External 24 V required Tolerance depends on installed Brake conn dti n BR VIA brake type see project planning manual BR Signal level 0 0 V 1 24 V Important Do not apply external voltage Function fixed assignment with Brake COMBICON 5 08 Brake connection contacts ne One conductor per terminal 0 20 2 5 Two conductors per terminal 0 25 1 Shield clamps Shield clamps for brake lines available Maximum cable cross sec tion that can be connected to the shield clamp 10 mm with sheath Table continued on next page Footnotes on next page Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 191 Technical Data Technical data for the axis module MOVIAXIS axis module De Size MXAS80A 503 00 4 2 3 4 5 6 GENERAL INFORMATION a at nominal w 30 60 100 150 210 280 380 450 670 1100 Weight kg 4 2 4 2 4 2 5 2 5 2 9 2 9 2 9 2 15 6 15 6 WwW mm 60 90 90 120 150 210 Dimensions H mm 300 300 400 400 400 400 D mm 254 1 Nameplate information 2 Unit 3 With simplification Iyz In typical motor application 4 Material strength mm x width mm 5 Indicated values apply to motor operation Motor and regenerative have the same peak performance 6
138. meout longer ready for operation inhibit _ System restart 0 34 Unassigned 35 Unassigned Error Following A preset maximum permitted follow Output stage System is Ready 1 36 error synchro ing error was exceeded during syn ne 9 waiting Yes Malfunction Rane inhibit nous operation chronous operation Warm start 0 01 FCB synchronous operation Lag error f System Ready 0 37 Error System Internal watchdog timer setting has Output stage locked CPU Yes Malfunction Watchdog been exceeded inhibit u reset 0 Error Technol Shutdown with System is Ready 1 38 oay functions Error in one technology function application limits waiting Malfunction 9y programmable Warm start 0 Cam function Trip point with negative 01 edge lt positive edge has been Yes entered Cam function Command overflow 02 Yes trip point processing Error Reference An error has occurred during refer Output stage System is Ready O 39 a pe blocked Yes Malfunction travel ence travel inhibit D P System restart 0 01 FCB reference travel Timeout error during search for zero pulse 02 FCB reference travel Hardware limit switch before reference cam 03 FCB reference travel Hardware limit switch and reference cam not flush 04 FCB reference travel Referencing for typeO must be set to TP 99 FCB reference travel Reference type was changed during travel Error Boot syn Synchronization with an option card Output stage SYSIEM IS Ready PO 40 chron
139. minal assignment Terminal assignment of the MXC capacitor module Terminal Assignment Brief description X4 PE PE x4 1 Uz DC link bar X4 2 Uz X5a 1 24 VE X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg X5a 4 BGND Voltage supply for brake supply X5b 1 24 VE 1 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg a X5b 4 BGND Voltage supply for brake supply Terminal assignment of the MXB buffer module Terminal Assignment Brief description X4 PE PE x4 1 Uz DC link bar X4 2 Uz X5a 1 24 Ve inal X5a 2 DGND Voltage supply for electronics X5a 3 24 V X5a 4 BGND Voltage supply for brake supply X5b 1 24 Ve TRE 1 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg 1 eden X5b 4 BGND Voltage supply for brake supply 1 Only for through transmission MXS 24 V switched mode power supply module Terminal Assignment Brief description X4 PE PE X4 1 n c DC link bar X4 2 Uz X5a 1 24 Ve 1 X5a 2 DGND Voltage supply for electronics X5a 3 24 Vg ee X5a 4 BGND Voltage supply for brake supply _ X5b 1 24 Ve p A 1 X5b 2 DGND Voltage supply for electronics X5b 3 24 Vg al X5b 4 BGND Voltage supply for brake supply 1 X16 1 24V ga 5 X16 2 24V External 24 V voltage supply Operating Instructions MOVI
140. module component MXB80A 050 503 00 Buffer module Unit designation for the capacitor module component MXC80A 050 503 00 Capacitor module Unit designation for the master module component MXM80A 000 000 00 Master module Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 3 Unit Design Nameplates and unit designations Unit designation for the supply module MXP80A 010 503 00 MXR80A 025 503 00 25 kW supply module with regeneration in preparation 10 kW supply module Unit designation for the 24 V switched mode power supply module component MXS80A 060 503 00 24 V switched mode power supply module Unit designation DC link discharge module component DC link discharge module with a dissipatable energy quantity of MXZ80A 050 503 00 F 5 000 Ws MOVIAXIS MX optional components x 11 A Le Version Version status Design GH GS Multi encoder card FP PROFIBUS DP V1 fieldbus interface FA K Net fieldbus option FE EtherCAT fieldbus interface SE EtherCAT based system bus IO Input output card IA Input output card Optional components for MOVIAXIS 18 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Standard accessories 3 5 Standard accessories Standard accessories are included with the basic unit at delivery 1 B _ 2 o Ze 15 4 B 5
141. more information on the connection of power electronics and control electronics in section Technical Data page 187 All units within the axis group will have to be connected to each other via the DC link bus connection PE U U the 24 V bus X5a X5b and the signaling bus X9a X9b The supply system contactor K11 must be installed between the supply system and the line filter NOTES Connect the brake rectifier using a separate supply system lead Supply via the motor voltage is not permitted NOTES e If the brake connection and the motor connection are combined in one power cable the brake line must be shielded separately The shielding of the power cable and the brake cable must be connected with PE on the motor and servo inverter Use a shielded cable as brake cable with separate installation of the brake cable Observe the different project specifications for determining the length of brake cable and motor cable Brake rectifier in Install the connection cables between the brake rectifier and the brake separately from the control cabinet other power cables when installing the brake rectifier in the control cabinet Joint instal lation is permitted with shielded power cables only Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Wiring diagrams Connection of supply module axis module and capacitor or buffer module Wiring of power terminals
142. motor revolutions 1 5000 Once motor startup has been executed the following values are written to the axis module conversion 16 bit increments rotation User defined unit position numerator 4096 User defined unit position denominator 625 e User defined unit position resolution 1E 04 e Velocity Unit 1 min 3 decimal places Example Setpoint Velocity Display in MotionStudio 1000000 1000 1 min 1000 000 2345000 2345 1 min 2 345 Once motor startup has been executed the following values are written to the axis module e User specified unit velocity numerator 1 e User specified unit velocity denominator 1 e User specified unit velocity resolution 1E 03 e Acceleration Unit 1 min x s speed change per second 2 decimal places Example Setpoint Acceleration Display in MotionStudio 6500000 65000 1 min x s 65000 00 300000 3000 1 min x s 3000 00 Once motor startup has been executed the following values are written to the axis module e User specified unit acceleration numerator 100 e User specified unit acceleration denominator 1 e User specified unit acceleration resolution 1E 02 e Torque in preparation currently only available via parameter tree e Jerk is fixed Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 135 5 C xD Startup MOVIAXIS startup Single motor operation Example Proceed as follow
143. n MXM80A 000 000 00 DHP11A 8 mn aw 58765axx Figure 21 Unit design ofthe master module MO VI PLC Basic version View from front 1 6 For terminal assignment see MOVI PLC basic DHP11B Controller manual 7 Housing grounding point 8 X5a X5b 24 V voltage supply STOP Servo inverter can possibly be damaged The master module may only be operated when implemented in a system according to its designated purpose as shown on page 22 Remote operation will damage the mas ter module and is not permitted Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 33 34 Unit Design Unit design of the MOVIAXIS MXM master module component MOVIAXIS MXM master module in MOVI PLC advanced version The master module shown here has the following designation MXM80A 000 000 00 DHE41B 9 62207axx Figure 22 Unit design of the master module MOVI PLC Advanced version View from front 1 7 For terminal assignment see MOVI PLC advanced DH 41B Controller manual 8 Housing grounding point 9 X5a X5b 24 V voltage supply STOP Servo inverter can possibly be damaged The master module may only be operated when implemented in a system according to its designated purpose as shown on page 22 Remote operation will damage the mas ter module and is not permitted Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit De
144. n of the capacitor module reached LED does not light up No voltage is supplied to the capacitor module 6 6 Operating displays of MXB buffer module component No messages are issued at the buffer module 6 7 Operating displays of 24 V switched mode power supply module The operating status such as utilization and error of the switched mode power supply is indicated by two LEDs on the front of the unit LED State Normal operation green Error red A malfunction has occurred because of Overload Overvoltage Undervoltage e LED Load Normal operation green With ca 80 utilization per output 8 A yellow 1 2 57910axx Figure 103 Operating displays 24 V switched mode power supply module 1 LED State 2 LED Load 178 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter En N Service gt General information lt 7 Service 7 1 General information No inspection or maintenance intervals required during active operation Send in for repair Please contact SEW EURODRIVE electronics service if an error cannot be repaired gt Customer and spare parts service When contacting the SEW electronics service please always quote the production num ber and order number so that our service personnel can assist you more effectively You find the production number on the nameplate see page 15 Please provide the following informa
145. nassigned 96 Unassigned System is Ready 0 97 Error Copy A Parameter set could not be copied Output stage blocked Yes Malfunction parameter set correctly inhibit e System restart 0 01 Cancellation of parameter set down load to the unit Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter i N Operation INT Operating displays and errors of MXA axis module lt gt Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Resettype History puts valid D default for default response response 98 Unassigned 99 Unassigned i Connections X7 1 24 V X7 2 System is Ready 1 iiae een RGND or X8 1 24 V X8 2 PPa SaR waiting Yes Malfunction RGND are reversed Check wiring Warm start 0 Safety relays Switching delay 01 between shutdown channels 1 and 2 is too large Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 177 Sy a Operation 6 gt Operating displays of MXC capacitor module component 6 5 Operating displays of MXC capacitor module component The operating statuses are indicated by a two color LED at the front of the housing see page 35 LED lights up green Capacitor module is ready for operation e LED lights up red General error e LED flashes red 1 Hz Full utilizatio
146. nformation on this topic in the following publications Safe Disconnection for MOVIAXIS Conditions Safe Disconnection for MOVIAXIS Applications Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 201 9 Appendix L Cable dimensions to AWG 9 Appendix 9 1 Cable dimensions to AWG AWG stands for American Wire Gauge and refers to the size of the wires This number specifies the diameter or cross section of a wire in code This type of cable designation is usually only used in the USA However the designations can also be seen in catalogs or data sheets in Europe AWG designation Cross section in mm 000000 6 0 185 00000 5 0 150 0000 4 0 120 000 3 0 90 00 2 0 70 0 1 0 50 1 50 2 35 3 25 4 25 5 16 6 16 7 10 8 10 9 6 10 6 11 4 12 4 13 2 5 14 2 5 15 2 5 16 1 5 16 1 18 1 19 0 75 20 0 5 21 0 5 22 0 34 23 0 25 24 0 2 202 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Appendix List of abbreviations List of abbreviations Abbreviation Definition Meaning CAN Controller Area Network DI Digital In DIN Deutsches Institut fur Normung e V German institute for standardization DIN EN EN European Standard whose German version has the status of a German standar
147. nits come equipped with a cover e Master module not shown Capacitor module not shown Buffer module not shown Supply module all sizes Axis module all sizes 24 V switched mode power supply not shown DC link discharge module all sizes not shown 57346axx Figure 43 Covers and touch guards Cover Touch guard The tightening torque for the cover bolts is 0 8 Nm When driving in the self tapping screw make sure that it screws into the existing thread Touch guard cover A WARNING Touch guard covers not installed Severe or fatal injuries from electric shock Two touch guard covers are included with each supply module The touch guard covers have to be installed on the left hand and right hand side of the axis system so that there is no risk of touching any electrically conductive parts Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 73 N 74 Installation Electrical Installation 4 9 Electrical Installation A HAZARD Dangerous voltage levels may still be present inside the unit and at the terminal strips up to 10 minutes after the complete axis system has been disconnected from the mains Severe or fatal injuries from electric shock To prevent electric shocks e Disconnect the axis system from the mains and wait ten minutes before removing the covers After maintenance work do not operate the axis system unless you have re
148. oe ana 18 Multi encoder card XGH11A XGS11A option Connection and terminal description 45 Overview Of functions a se 43 PIN assignment X61 neesennnneennnnnn 45 PIN assignment X62 e 47 PIN assignment X63 XGH with EnDat 2 1 49 PIN assignment X63 XGH with Hiperface ENCOGEr EEEE iieiilelen 48 PIN assignment X63 XGH with TTL encoder sin cos encoder 48 PIN assignment X64 XGS with SSI 49 PIN assignment X64 XGS with SSI AVI annehmen ie 50 Suitable encoders ers nenn 44 N Nameplate of the 24 V switched mode power supply additional module 16 Nameplate of the DC link discharge additional module esceseeceeeeeeeeeeeeeeeeees 16 o Operating display and errors of the axis module Table of displays u0 nn 162 Table of errors 220240snsnnnnnnneennennnnnennn 164 Operating display and errors of the supply module Table of displays 22244444 nennen 161 Table of errors 220444sennenneneenneennnnenn 161 Operating display of the 7 segment display 158 Operating displays of 24 V switched mode power supply module een 178 Operating displays of MXB buffer module COMPONENT 4 22 41 ale 178 Operating displays of MXC capacitor module COMPONENT u rennen 178 Option combinations on delivery Axis modules in EtherCAT version 39 Operating Instructions MOVIAXIS
149. of designated operation is only permitted with adherence to EMC 89 336 EEC guideline The multi axis servo inverters meet the requirements stipulated in the low voltage guide line 2006 95 EC The harmonized standards of the EN 61800 5 1 DIN VDE T105 series in connection with EN 60439 1 VDE 0660 part 500 and EN 60146 VDE 0558 are applied to the multi axis servo inverters Technical data and information on the connection requirements are provided on the nameplate and in the documentation these must be observed under all circumstances MOVIAXIS multi axis servo inverters may not take on safety functions without a higher level safety system Use higher level safety systems to ensure protection of equipment and personnel For safety applications refer to the information in the following publications Safe Disconnection for MOVIAXIS Conditions Safe Disconnection for MOVIAXIS Applications 2 4 Transportation storage 2 5 Installation You must observe the notes on transportation storage and proper handling Observe the climatic conditions as stated in sec 9 1 General technical data The units must be installed and cooled according to the regulations and specifications in the corresponding documentation Protect the multi axis servo inverters from excessive strain Especially during transpor tation and handling do not allow the components to be deformed or insulation spaces altered Avoid contact with electronic
150. oltage inhibit E System restart is ready 0 24V signals incorrect or switched 01 mode power supply defective s Eror Sofware A sofware mt wich wes min ee ves in limit switch approached during positioning delay D P Warm start 0 01 The right software limit switch was approached 02 The left software limit switch was approached Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 171 172 2 a Operation Operating displays and errors of MXA axis module Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response ACRC error occurred during check of System is Ready 0 53 che Flash the program code by Flash in Code ee stage blocked Yes Malfunction RAM or Resolver DSP System restart 0 01 CRC error in Flash EEPROM section Initial Boot Loader 54 Unassigned f System Ready 0 55 Error FPGA Internal error in logic component Output stage locked CPU Yes Malfunction Configuration block FPGA inhibit reset 0 System Ready 0 56 Error External Internal error in external RAM block Output stage locked CPU Yes Malfunction RAM inhibit 6 reset 0 01 Asynchronous DRAM read amp write check error i System is Ready 0 57 Error IE Error in TTL
151. ons MOVIAXIS MX Multi Axis Servo Inverter 3 Unit Design System bus in EtherCAT or CAN based version 3 10 System bus in EtherCAT or CAN based version Axis modules can be equipped with different system bus versions CAN based system bus EtherCAT based system bus The figures displayed on page 26 page 31 show the axis modules with CAN based system bus B 61554axx Figure 20 System bus in CAN or EtherCAT based version A B 1 2 3 4 5 32 CAN based system bus EtherCAT based system bus LAM switch Switch setting 0 All axis modules except the last one Switch setting 1 Last axis module in the system Switch F1 Switch setting 0 Delivery condition Switch setting 1 Reserved for added functions LED RUN color green orange Shows the operating status of the bus electronics and communi cation LED ERR color red Shows EtherCAT error LED link IN color green EtherCAT connection to the previous unit is active LED link OUT color green EtherCAT connection to the subsequent unit is active Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Unit design of the MOVIAXIS MXM master module component 3 11 Unit design of the MOVIAXIS MXM master module component The following figure shows the unit without cover MOVIAXIS MXM master module in MOVI PLC basic version The master module shown here has the following designatio
152. ors Display on Description State Comment action the axis mod ule Displays in case of an error Brake chopper is not ready for ing reached the switch off threshold check ambient temperature i Error brake chopper operation See error list of axis modules x F Error message by SM via signaling 2 er i 1 Error excessive ZK voltage bus when DC link voltage is too Check application design and braking x It I U high resistor mi The DC link current in the SM has 71 Error excessive ZK current exceeded the maximum limit of Check application regarding utilization x 250 Irated C m Error I xt monitoring FE e VMihas reached Check application regarding utilization X m Error temperature monitor Temperature of the VM has Check application regarding utilization mi X 1171 Error voltage supply switched mode power supply module inside unit A supply voltage inside the unit is defective Check connected loads for overcurrent or unit for defects Error voltage supply switched mode power supply module inside unit A supply voltage inside the unit is defective Check connected loads for overcurrent or unit for defects Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 161 162 N ra 6 4 a Operation Operating disp
153. ource Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter MOVIAXIS startup Multi motor operation Startup C 9 5 Encoder signal processing when using encoder emulation Encoder emulation can be used to make encoder signals available to a higher level con troller via the emulation output terminals Encoder emulation is independent of the connected encoder type m ay Zum i o Encoder pool Option cards ee a TWAEN EN pO 5 H7 E Slot 1 ac Skt 2 i C Emulation soirceDiect encoder 1 ai 1 Emulation sourceEncoder 1 gt with signal fan out Emulation Encoder connec Emulation sourceDirect encode 2 11817aen Figure 95 Encoder signal processing 1 Emulation source direct is without delay 2 Emulation source with signal fan out 100 us Click on the button Settings encoder card slot 1 or Settings encoder card slot 2 in the menu item Option cards to set the emulation source or to assign the encoder that is to be used for incremental encoder simulation In the example above this is en coder 2 The signal processing of the connected encoder can be set as follows e Emulation source direct Encoder 1 2 e Emulation source encoder 1 2 With signal fan out increments per motor revolution Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 143 5 C xD Startup Application examples Em
154. p PC program MOVITOOLS MotionStudio from version 5 40 m 1 x Lo ru 1 w r ik Unk DU 2 3 2 4 3 Pll 5 EthercAt 6 7 6 7 Phe ag a LAM switch e Switch setting 0 All axis modules except the last one e Switch setting 1 Last axis module in the system Switch F1 e Switch setting 0 Delivery condition e Switch setting 1 Reserved for added functions LED RUN color Green orange LED ERR color Red LED link IN color Green LED link OUT color Green Bus input Bus output For more information about the EtherCAT fieldbus interface refer to the MOVIAXIS MX Multi Axis Servo Inverter XFE24A EtherCAT Fieldbus Interface manual 54 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design XSE24A EtherCAT based system bus option 3 21 XSE24A EtherCAT based system bus option The EtherCAT based system bus XSE24A is an optional axis internal expansion mod ule This module realizes the functionality of an EtherCAT based high speed system bus for MOVIAXIS The XSE24A option module is no fieldbus card It cannot be used for communication with non SEW EtherCAT masters Analogously to the wiring of the CAN system bus the system is connected using the RJ 45 plug connection on the top of the unit included in the standard scope of delivery The CAN system bus is not available when XSE24A is used 1
155. p by selecting the respective unit in the hardware tree with the right mouse button e Double click on the Startup entry e Click on Next to continue with the startup sequence Project Edit Network view Settings Window Help Dae So a 2a xX 4 Overview AB Test MOVIAXIS g 1 Startup Comparison FA Configuration for DFx Gateway es Startup bE Parameter tree Hao PDO editor Q Non SEW motor configuration Programming bd Technology functions Y Diagnostics Status ag Go to standard communication link Manage unit gt X Remove Properties 11796aen Figure 71 Commencing startup Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter MOVIAXIS startup Single motor operation Startup qu 5 NOTES There are 3 parameter records available for startup which can be assigned to 3 differ ent motors The parameter record that is to be used for startup can be selected by clicking on it see figure 72 Please note that only one parameter record can be started up at one time If you want to startup several parameter records this can only be done one after another This means that when the startup of the first parameter record is completed the entire startup procedure has to be performed again for the subsequent parameter records 11797aen Figure 72 Initial window MOVIAXIS MX startup Operating Instruc
156. peration Calibrate encoder Hold control Jog mode Brake test For more information refer to the chap ter parameter description in the project planning manual Speed control with internal ramp generator Speed control with setpoints cyclically via bus The ramp generator is located externally e g in the higher level controller Torque control Torque control with setpoints cyclically via bus Positioning mode with internal ramp generator Positioning mode with setpoints cyclically via bus The ramp generator is located externally e g in the higher level controller This FCB is activated by the firmware when the limit switch is hit The drive performs reference travel Deceleration at application limit This FCB also becomes active if no other FCB is selected as default FCB Deceleration at emergency stop limit Deceleration at system limit Electronic cam active Synchronous operation active Encoder commutation for synchronous motors Position control at current position Jog mode active Brake is tested by applying torque while brake is closed Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 163 a a G Operation Operating displays and errors of MXA axis module 6 Table of errors NOTES Errors or sub error codes whic
157. placed the cover because the unit only has degree of protection IPOO without the cover gt D A leakage current gt 3 5 mA can occur during operation of the MOVIAXIS MX multi axis servo inverter Severe or fatal injuries from electric shock To prevent electric shock e With a supply system lead lt 10 mm route a second PE conductor with the same cross section as the supply system lead via separate terminals Alternatively you can use a PE conductor with a copper cross section gt 10 mm or aluminum gt 16 mm e With a supply system lead gt 10 mm it is sufficient to install a PE conductor with a copper cross section gt 10 mm or aluminum gt 16 mm If an earth leakage circuit breaker can be used for protection against direct and in direct contact it must be universal current sensitive RCD type B NOTE Installation with reliable isolation The unit meets all requirements for reliable isolation between power and electronic connections according to EN 61800 5 1 The connected signal circuits have to meet the requirements according to SELV Safe Extremly Low Voltage or PELV Protective Extra Low Voltage to ensure reliable isolation The installation must meet the require ments for reliable isolation Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Electrical Installation Temperature sen sor in the motor A WARNING Dange
158. ple 3 Multi motor operation Application In applications with several axes which have the same output torque and which are not operated at the same time Up to 3 motors can be connected to one axis module For this purpose 2 additional multi encoder cards must be inserted into the axis module see following figure The axis module switches the power for the motors to the currently active motor 1 Motor encoder 1 multi encoder card 1 2 Motor encoder 2 multi encoder card 2 3 Motor encoder 3 on basic unit 150 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Application examples Startup C 9 5 R Encoder pool Option cards 4 Le Al 3 M Settings Z Settings ES I ee Fe Motor encoder Distance encoder 1 HMMM INN ee ar TS ce Encoder 1 must be set as Actual position source for parameter record 1 Encoder 2 must be set as Actual position source for parameter record 2 Encoder 3 must be set as Actual position source for parameter record 3 The individual parameter records can only be started up one after another and only once the startup process has been completed The individual parameter records can be selected via parameters please refer to the pa rameter description in the MOVIAXIS MX Multi Axis Servo Inverter project planning manual Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 151 5 152 Er
159. ply module and axis module The CAN2 bus requires a terminating resistor The following figure shows the diagram of possible combinations for CAN communica tion and the respective position of the terminating resistor supply module accessory Terminating resistor Fe cet MXP MXA The terminating resistor 2 3 g L must be activated li at the CAN2 unit connection 62483aen Figure 67 Communication via CAN2 at an axis module 1 Connection cable between PC and CAN interface on the axis module The connection cable consists of the USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CAN_L NOTES Install terminating resistor The terminating resistor in the last axis module of the axis system must be activated see page 109 For more information on communication between PC and the MOVIAXIS system refer to page 111 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C x 5 4 Communication via CAN adapter Communication via CAN adapter For communication between a PC and a MOVIAXIS system we recommend using the CAN adapter from SEW EURODRIVE which is supplied with a pre fabricated cable and a terminating resistor The part no of the CAN adapter is 18210597
160. r or Hiperface temperature sensor 8 X5a X5b 24 V voltage supply 9 X4 DC link connection 10 Power shield clamp Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 27 3 Unit Design Unit design of MOVIAXIS MXA axis modules MOVIAXIS MXP axis module size 3 A it Ill IN meegee ne i 3 J IStes orer lb ur a 2 Aa Figure 16 Unit design of MOVIAXIS MXA axis module size 3 A View from top B 1 Signaling bus 2 X9a Input green plug on cable X9b Output red plug on cable 3 4 5 6 7 8 9 10 28 61546axx View from front Cc View from bottom Electronics shield clamps 11 X2 Motor connection X10 Binary inputs 12 X6 Brake control system X11 Binary outputs 13 X7 X8 2 Safety relays optional design X12 CAN2 bus 2 x 7 segment display X13 Connection motor encoder resolver or Hiperface temperature sensor X5a X5b 24 V voltage supply X4 DC link connection Power shield clamp Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Unit design of MOVIAXIS MXA axis modules MOVIAXIS MXP axis module size 4 A LLLLILIKLTFTFT Cheats me a sa sneg seeenes gt samm a wm amm 1 mma RC ar See Ca ect j f T DAM oenm rmm bar m 1 Demn O e Se ib ee am b Sm we u AR i zum
161. r control lines available Maximum cable cross section that can be connected to the shield clamp A Sheath 1 Only for CAN based system bus Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Technical data for the axis module Technical Data 8 4 Technical data for the axis module Axis module power section MOVIAXIS axis module ta a Size MXA80A 503 00 1 2 3 4 5 6 Type 002 004 008 012 016 024 032 048 064 100 INPUT DC link Rated DC link voltage Unzk U V DC 560 Rated DC link current Inz A 2 4 8 12 16 24 32 48 64 100 ion 9 2 Cross section and con mm CU rails 3 x 14 mm M6 screw fitting tacts OUTPUT Output voltage U U V 0 max Umains Continuous output current AC ly PWM 4 kHz I A 2 4 8 12 16 32 42 64 85 133 Rated output current AC In PWM 8 kHz A 2 4 8 12 16 24 32 48 64 100 Rated output current AC In PWM 16 kHz A 1 5 3 5 8 11 13 18 BEN Imax A 5 10 20 30 40 so 80 120 160 250 max Overload capacity for 250 max 1s ERRELSNEOUIDHE RONE s ka 14 28 55 ss 11 17 22 33 44 Nout PWM frequency fpwm kHz Can be set 4 8 16 setting on delivery fpyym 8 kHz Pe output frequency f Hz 600 max 7 8 Motor connection to mm COMBICON PC4 SE E terminals pluggable max 4 max 25 9 Motor connection to pewer mm
162. ra e 1 D 40764 Langenfeld near Dusseldorf Fax 49 2173 8507 55 sc west sew eurodrive de Drive Service Hotline 24 Hour Service 49 180 5 SEWHELP 49 180 5 7394357 Additional addresses for service in Germany provided on request France Production Haguenau SEW USOCOME Tel 33 3 88 73 67 00 Sales 48 54 route de Soufflenheim Fax 33 3 88 73 66 00 Service B P 20185 http www usocome com F 67506 Haguenau Cedex sew usocome com Assembly Bordeaux SEW USOCOME Tel 33 5 57 26 39 00 Sales Parc 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 33 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 Austria Assembly Wien SEW EURODRIVE Ges m b H Tel 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 Italy Assembly Milano SEW EURODRIVE di RR Blickle amp Co s a s Tel 39 02 96 9801 Sales Via Bern
163. ramma ble D default response Final error status Reset type Save Message as binary out History puts valid for default response 1024 NV memory parameter of rated unit current is greater than NV memory parameter of current measuring range 1025 NV memory parameter of current measuring range is zero 1026 NV memory parameter of current measuring range is zero 1027 NV memory parameter of current measuring range is too large 1028 System limits for speed are greater than max possible speed 1029 Application limits for speed are greater than max possible speed 1032 CFC No absolute encoder used as motor encoder in synchronous motors 1033 Position range in position detection mode without overflow counter exceeded 1034 FCB dual drive Setpoint deviation window may not be smaller than standard setpoint deviation window 1035 FCB dual drive Setpoint deviation window may not be smaller than con ditioning threshold 1036 Modulo reference offset is not within Modulo limit 1037 Position values of software limit switch reversed positive lt negative 17 Internal com puter error traps CPU has detected an internal error Output stage inhibit System locked CPU reset Ready 0 Malfunction 0 Yes 18 Internal software error The software has detected a non per missible status Output stage in
164. rating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Notes on electromagnetic compatibility 4 13 Notes on electromagnetic compatibility Separate cable ducts Shielding and grounding Route power cables and electronics leads in separate cable ducts Only use shielded control cables Apply the shield by the shortest possible route and make sure it is grounded over a wide area at both ends To avoid ground loops you can ground one end of the shield via a suppression capacitor 220 nF 50 V If using double shielded ca bles in the case of multi core cables in some cases with several shielded bunched cables ground the outer shield on the servo inverter end and the inner shield on the other end 00755BXX Figure 57 Examples of correct shield connection using metal clamp shield clamp or metal cable Line filter gland Shielding can also be achieved by laying the cables in grounded sheet metal ducts or metal pipes Always install the power and signal lines separately Ground the multi axis servo drive and all additional devices to meet the high frequency guidelines You achieve this e g through a wide area metal on metal contact between the unit housing and ground for example by means of unpainted control cabinet mounting panels Install the line filter close to the servo drive but outside the minimum clearance for cooling Do not switch between the line filter and the MOVI
165. resolver too small 06 Numerator of emulation PPR count for resolver too great 07 Numerator of emulation PPR count for resolver is not a power of two Denominator of emulation PPR count 08 for sine encoder not equal to 1 09 Numerator of emulation PPR count for sine encoder too small 10 Numerator of emulation PPR count for sine encoder too great 11 Numerator of emulation PPR count for sine encoder is not a power of two 512 Startup for invalid motor type Set current limit exceeds maximum 513 current of axis 514 Set current limit is less than rated magnetizing current of the motor CFC Factor for calculation of q cur 515 rent cannot be displayed 516 Non permitted PWM frequency con figured Parameter Final speed flux table not 517 ray within permitted range 518 Parameter Final flux Id table not within permitted range Output stage enable requested with 519 out valid motor startup 520 Motor startup not possible with enabled output stage Factor for torque limit cannot be dis 521 played A 522 Factor for torque limit cannot be dis played B 530 Max motor current configured incor rectly 166 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Operation Operating displays and errors of MXA axis module N A Error code Error message Sub error code Possible reason for error Error response P prog
166. restart erone a e AEA Warm start saeta a EY S Safety functions Signal bus cables for several axis systems EtherCAT based system bus Signal bus cables to other SEW units or non SEW units EtherCAT based l Startup of MOVIAXIS MX Application and system limits Approved encoders ss40444 nn Axis configuration ueeennseeeneennnennnnennnnnen Block diagram speed controller 133 Controller parameters 139 Current settings ecese 118 141 Download ccces lasted ites aeaaeai aiai 138 Encoder data ccccccccceeeeeeeeeeeeetteeeeeeeeees 122 Encoder management 120 142 Encoder management for non SEW encoders sessen 124 Encoder management of SEW encoders 119 Encoder selection aooo 120 142 Encoder signal processing when using encoder emulation nae 143 Example 1 Rotatory encoder as distance encoder 22244 nennen 144 Example 2 Linear encoder as position encoder 4neneeneenne 146 Example 3 Multi motor operation 150 Monitoring eais ao TESE r 131 Motor selection 444ssneenenneenenn 128 Nameplate sienien ea 129 Selection menu oo cccccceeeeeeeeettettecaeeeeeeeeees 126 Sequence of a complete startup 128 SEW designation of encoders 121 Speed control parameters _ 133 Speed controller setting 132 System config
167. rminals at 100 cdf DC 20 Permitted electric loading of the terminals at 40 cdf DC 25 Degree of protection IP20 when installed Ambient temperature Su 20 45 Type of cooling KS Self cooling 1 Unit 2 Braking resistors show a tapping of 1 Q 3 cdf Cyclic duration factor of the braking resistor in relation to a cycle duration Tp lt 120 s Braking resistor type 1 BW006 025 012 BW006 050 012 BW106 BW206 BW004 050 012 Part number 1 820 0117 1820 0125 821 050 0 821 051 9 1 820 013 3 Power class of the supply module kW 50 75 15 Load capacity at 100 cdf kW 2 5 5 0 13 18 5 0 Resistance value Rew 5 8 10 6 10 3 6 10 Trip current of F16 IF ARMS 20 8 29 4 46 5 54 7 37 3 Design Steel grid resistor Connections M8 stud Permitted electric loading of the terminal stud at 100 cdf DC 115 Permitted electric loading of the terminal stud at 40 cdf DC 143 Degree of protection IP20 when installed Ambient temperature vu 20 45 Type of cooling KS Self cooling 1 Unit 2 Braking resistors show a tapping of 1 Q 3 cdf Cyclic duration factor of the braking resistor in relation to a cycle duration Tp lt 120 s Operating Instructions MOVIAXIS MX
168. rotection Prewarn 02 ing triggered by synchronous motor model temperature 03 Thermal motor protection Warning threshold I2t model exceeded Error Error mes The error message of an unknown Niovfesponse dige 70 device was detected in the error mes P a Yes sage word 0 play only sage word 01 Message error control word 0 Error Error mes The error message of an unknown No responsendisz 71 i device was detected in the error mes p a Yes sage word 1 play only sage word 01 Message error control word 1 Error Error mes The error message of an unknown No response dis 72 device was detected in the error mes a Yes sage word 2 play only sage word 01 Message error control word 2 Error Error mes Ihe error messageiof an UnKn wn No response dis 73 i device was detected in the error mes PO Yes sage word 3 play only sage word 01 Message error control word 3 Error Error mes The error message of an unknown No response die 74 device was detected in the error mes p a sage word 4 play only sage word 01 Message error control word 4 Error Error mes Ene error message of ariunknown No response dis 75 device was detected in the error mes p a Yes sage word 5 play only sage word 01 Message error control word 5 Error Intelligent No response dis 76 option MOVI PLC error play ony mee Yes 77 Unassigned 78 Unassigned 79 Unassigned 80 Unassigned a z The DC link current in the SM has System is Ready 1 8
169. rous contact voltages at the unit terminals when connecting the wrong temper ature sensors Severe or fatal injuries from electric shock Connect only temperature sensors with reliable isolation from the motor winding to the temperature evaluation Otherwise the requirements for reliable isolation are not met Dangerous contact voltages may occur at the unit terminals via the signal electronics in case of an error Supply system and brake contac tors Unit output Use contactors in utilization category AC 3 only IEC 158 1 as mains and brake contactors Supply lead Cross section according to rated input current lmains at rated load Motor lead Cross section according to rated output current Ip Electronics cables One core per terminal 0 20 2 5 mm 2 conductors per terminal 0 25 1 mm STOP An axis module can suffer irreparable damage if you connect capacitive loads to it Only connect ohmic inductive loads motors Never connect capacitive loads 55482AXX Figure 44 Only connect ohmic inductive loads do not connect capacitive loads Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 75 76 Installation Electrical Installation Connecting brak ing resistors Operating brak ing resistors e Protect the braking resistor with an overload relay see figure 47 Set the trip cur rent according to the technical data of the braking resistor s
170. rrect 16 Hiperface encoder Encoder does not respond during communication 64 Hiperface encoder Communication error with type read 128 Hiperface encoder Communication error with status read 192 Hiperface encoder Communication error with serial number read 256 Hiperface encoder Communication error during initialization absolute position 320 Hiperface encoder Communication error during re initialization absolute position 384 Hiperface encoder Communication error during check of absolute posi tion 448 Hiperface encoder Communication error during writing of position 60 Error DSP Com munication Error during flash of the DSP Output stage inhibit System is blocked System restart Yes Ready 0 Malfunction 0 01 Error DSP JTAG Comm No JTAG connection 66 Error process data configura tion Error process data configuration Shutdown with emergency stop delay System is blocked System restart Ready 0 Malfunction 0 The process data configuration has been changed The entire process data subsystem has to be restarted by means of an inverter reset 10001 A PDO configured to CAN has an ID located in the area 0x200 0x3ff and 0x600 0x7ff used for parameter set ting by the SBUS 10002 A PDO configured to CAN has an ID located in the area 0x580 0x67f used for parameter setting by CANopen
171. rror resolver excessive speed 19 Non permissible angle during calibra tion j f System is Ready 0 15 Error Hiperface An error has occurred in the check Output stage blocked Yes Malfunction Compare Check sum of the Hiperface signals inhibit System restart 0 Comparison of the absolute encoder 01 position via Hiperface parameter channel with the incremental position of the axis every second 02 Encoder type unknown Encoder signals internal error The error code is displayed as fol 32 lows Displayed value 32 You can inquire about this error code at the encoder manufacturer Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 165 6 2 Operation Operating displays and errors of MXA axis module Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response System is Ready 0 16 Startup error Error during startup ee stage blocked Yes Malfunction System restart 0 01 Denominator of pole pair number of resolver not equal to 1 Numerator of pole pair number of 02 resolver too great 03 Numerator of pole pair number of resolver too small that means zero 04 Denominator of emulation PPR count for resolver not equal to 1 05 Numerator of emulation PPR count for
172. s not selected NOTES The encoder type is specified on the nameplate of the motor Encoder data assignment e Resolver RH1M RH1L RH3L RH3M e Hiperface ES1H ES2H EV1H AS1H AV1H Sine cosine encoder EH1S ES1S ES2S EV1S EV2S Hiperface linear encoder AL1H Non SEW encoder Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 121 MOVIAXIS startup Single motor operation 5 C xD Startup Encoder data You can enter encoder data in this menu However you cannot enter data if the encoder is defined as motor encoder w lof x SEW BEE Encoder data As H 1 Counting direction y SL Mount on components Ratio between encoder revolution and motor revolution Direct entry E C Mm e lisew Lsew a NonsEw Figure 77 Encoder data OK Cancel 11801aen 122 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup qu 5 MOVIAXIS startup Single motor operation Approved You can view the list of approved encoders by selecting Approved encoders encoders w aix Approved encoder Encoder data El goders approved by SEW DME4000 117 Ir F Display all encoders DME5000 217 Sick LinCoder L 230 Sick Steamann Hi LINEAR SKM 36 Sick Stegmann ROTATORISCH SKS 36 Sick Stegmann ROTATORISCH SRM 50 Sick Stegmann ROTATORISCH SRM 60 Sick Stegmann ROTATORISCH SRM 64 Sick Stegmann
173. s operating switches Note 101 Connecting encoders to the basic unit General installation notes 96 Prefabricated cables 96 Shielding oas e ai ni nee 96 Connection technology sesser 54 Controller parameter PWM frequency esseere 139 Speed setpoint filter cccccceeeettteeeeee 139 Controller parameters Amplification acceleration precontrol 139 Filter speed actual value nn 139 P gain position controller 139 P gain speed controller 139 Speed control 220unssnennnnnnneennnnnnnnennn 139 Time constant speed controller 139 Covers of the modules 73 E Electrical Installation nn 77 Electromagnetic compatibility Interference emission n se 98 Interference emission categories 98 LING THOR sic AEEA EE 97 Separate cable ducts n 97 Shielding and grounding ee 97 Error display of the 7 segment display 158 Error in the supply module 158 Error message with two 7 segment OISPIAVS kenne 158 Error list Explanation of terms nn 159 F Fault list Tarin h nee 159 H Hoist applications Note u 101 M Mains connection of axis system 101 Minimum clearance and mounting position 66 MOVIAXIS MX optional communication COMPONENIS u ae ended
174. s Servo Inverter Unit Design Nameplates and unit designations Axis module nameplate 2 yp MXABOA 048 503 00 Som a are coreg Status 21 11 11 11 12 11 MOVIAXIS Hir 1 Achsmodul Axis module Made in Germany INU AE UAL IN XIO11A_ XFP11A XIA11A Poojan nefs U 0 UN V AC Up 24V OC iz 2a oc RIVE f 0 600H D 76646 Bruchsal Lius 84A 48A AC LISTED IND z 120A AC CONT EQ 2006 XIA11A CE Figure 4 Example MOVIAXIS MX axis module nameplate Part I of the nameplate Located on the 61847axx upper fastening plate of the module m Unit designation see page 17 II Part II of the nameplate Located on the 2 Production number upper fastening plate of the module m Part III of the nameplate Located at the side of the module housing Pl Status 4 Communication slots firmware status Supply module nameplate 1 2 l 2 3 1 T MXP80A 010 503 00 2 a Versorgungsmodul f ae Supply module Ts 048 C IP 20 Made in Germany ia iii iii MOVIAXIS G0 01 1184270701 0002 07 C Output 3x200 S00V AC U 60V DC Is 18A AC I 10A 400V ON O D 76648 Bruchsal P 10kW Last ABA 400V LISTED IND A A ARANNA nET Ee CONT EO 2006 3 Figure 5 Example Nameplate of the MOVIAXIS MXP power supply module Part I of
175. s and no longer carries any voltage Mechanical blocking or internal safety functions of the unit can cause a motor standstill Eliminating the cause of the problem or performing a reset can result in the drive re start ing automatically If for safety reasons this is not permitted for the driven machine dis connect the unit from the mains before correcting the fault Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 10 2 9 Safety Notes Unit temperature Unit temperature MOVIAXIS multi axis servo inverters are usually operated with braking resistors The braking resistors can also be installed in the housing of the supply modules The braking resistors can reach surface temperatures ranging from 70 C to 250 C Never touch the housings of the MOVIAXIS modules or the braking resistors during op eration or in the cool down phase once the unit has been switched off Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Axis system with CAN based system bus 3 Unit Design 3 1 Axis system with CAN based system bus 1 2 3 5 6 7 18 9 10 414 a rp 61523axx ez Figure 1 Sample structure of a MOVIAXIS axis system 1 Master module 6 Axis module size 4 2 Capacitor or buffer module 7 Axis module size 3 3 Supply module size 3 8 Axis module size 2 4 Axis module size 6 9 Axis module size 1 5 Axi
176. s for the speed controller Input data Description Moment of inertia Ja of Display field for the mass moment of inertia value for the motor previously the motor selected Input field for maximum external moment of inertia converted for the motor shaft In CFC and SERVO operating modes you have the option to determine the Load inertia load mass moment of inertia automatically during a travel process Click on the Determine moment of inertia button to determine the load mass moment of inertia Startup must be performed at least once in order to use this function In addition to that a ramp must be traveled cyclically Clearance of load Use the slider to set the clearance of the drive train Enter the time interval of the external controller This value is required for all Time interval external FCBs that generate a setpoint in an interpolated manner external ramp gener control ator as well as for analog setpoint selection Note The input value is not rele vant for internal setpoint selection e g FCBO9 Positioning Use this field to specify the required scanning frequency of the speed position controller The default setting 1 ms should only be shortened for extremely dynamic applications Use the slider to set the stiffness of the speed controller The value for the stiff ness depends on the power transmission direct drive high toothed belt low and is a measure for the velocity of the speed control loop The value for
177. s in section 2 and the notes in sec Electrical In stallation on page 74 A HAZARD Risk of crushing if the motor starts up unintentionally Severe or fatal injuries Mechanical blocking or internal safety functions of the unit can cause a motor standstill Removing the cause of the problem or performing a reset can result in the drive re starting on its own Ensure that the motor cannot start inadvertently for example by removing the elec tronics terminal block X10 e Additional safety precautions must be taken depending on the application to avoid injury to people and damage to machinery STOP The motor output of the multi axis servo inverter may only be switched or disconnected when the output stage is inhibited Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 157 6 Sy Z Operation a Displays of the supply and axis modules 6 2 Displays of the supply and axis modules Operating display of the 7 segment display e The two 7 segment displays indicate the operating status of the supply modules and axis modules All settings and functions relating to startup of the axis system are located in the axis module That is the reason for more operating displays in the axis module than in the supply module The supply module is not equipped with any programmable intelligence e Responses to detected errors and warnings take place in the axis module only The
178. s module size 5 10 24 V switched mode power supply module additional module Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 11 3 Unit Design Axis system with EtherCAT based system bus 3 2 Axis system with EtherCAT based system bus 5 ch i f 7 8 9 10 1 i U 0 iv ey me Ws mE a y eo 4 62072axx Figure 2 Sample structure of a MOVIAXIS axis system 1 Master module 7 Axis module size 4 2 Capacitor or buffer module 8 Axis module size 3 3 Supply module size 3 9 Axis module size 2 4 Option card for EtherCAT based system 10 Axis module size 1 bus in all axis modules 5 Axis module size 6 11 24 V switched mode power supply module additional module 6 Axis module size 5 12 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Important notes Important notes Protective measures and protective equipment have to meet the respective national regulations in force Required preventive measures Protective grounding protection class l Required protection devices The overcurrent protection devices have to be designed to protect the lines at the cus tomer s site NOTE Follow the specific operating instructions during installation and startup of the motor and the brake A WARNING The Unit design figures displayed on page 23 page 38 represent the units withou
179. s to set user defined units other than the basic configuration Specification e Position in mm x 1E 01 e Velocity in 1 min Acceleration in m s x 1E 02 The rotary motion is turned into a linear motion with a spindle pitch 5 mm 41 vp Bene orten 5 iO pindle pitch f Viorel dinta n j E mm are traveled per reference E ee Lies revolution of s 1 if a 4 D E Accelorton Reference revolutions Selected units Bora Bw 62492aen Figure 89 Example for setting user defined units 136 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C x 5 MOVIAXIS startup Single motor operation Application and system limits and machine limit values J Maximum velocity System imt 1200 10000 1 min JE Sa Maximum deceleraton 3200 3000 1 min s eee Oe Maximum velocity 1080 10000 1 min IE Maximum decelerabon Ne 327240 3000 1 min s Maximum acceleration iz E Maximum deceleration emergency stop 21240 3000 1 min s 3 m 2500 3000 1 min s 20 RR RR RR RR RR RAR Maximum torque System limit Maximum torque Application lant A 3100000 100000 x 310 000 100 000 x Accept 11813aen Figure 90 Application and system limits menu The application and machine limit values refer to the set user specified units see figure 89 The user specified units selected previously are sho
180. setting options can be selected and executed following a complete startup only Optimization of the controller Use this setting option to further optimize the speed controller if a complete startup has already been performed Machine and system data This setting option is a part ofthe complete startup and refers to the machine system data only such as user defined units machine and application limit values 126 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C xD System configuration MOVIAXIS startup Single motor operation Single drive C Severalidentical drives at one inverter E Number of FEAF NENNEN Ee eE 7 Number of connected slaves E Number of 11805aen Figure 81 System configuration Here you can select whether several drives work with one load or whether several mo tors are connected to one axis Single drive One drive works with one load without the help of other drives slaves Several identical drives at one inverter The drives must be connected rigidly together in order to operate several drives at one servo drive One drive is equipped with encoder feedback The other motors are running in the same rotating field When synchronous motors are used the two rotors have to be aligned in addition Please also refer to the SEW documentation 10509011 EN Multi Motor Drives manual Number of connected slaves
181. sign 3 Unit design of the MOVIAXIS MXC capacitor module component 3 12 Unit design of the MOVIAXIS MXC capacitor module component The following figure shows the unit without protective cover Capacitor module MXC 1 60433AXX Figure 23 Unit design of the MOVIAXIS MXC capacitor module B View from front 1 Standby display Power 2 X5a X5b 24 V voltage supply 3 X4 DC link connection Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 35 36 Unit Design Unit design of the MOVIAXIS MXB buffer module component 3 13 Unit design of the MOVIAXIS MXB buffer module component The following figure shows the unit without protective cover Buffer module MXB 1 60433AXX Figure 24 Unit design of the MOVIAXIS MXB buffer module B View from front 1 No function 2 X5a X5b 24 V voltage supply 3 X4 DC link connection Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design 3 Unit design of the MOVIAXIS MXS 24 V switched mode power supply 3 14 Unit design of the MOVIAXIS MXS 24 V switched mode power supply module component The following figure shows the unit without protective cover 24 V switched mode power supply module 1 2 3 I Ko 57583axx Figure 25 Units design of the 24 V switched mode power supply module A View from top B View from front 1 X16 24 V external 2 LED State
182. signment of connection and extension cables The connecting and extension cables between the CAN adapter see page 111 and the axis system comes equipped with a 9 pin D sub socket on both ends The pin assign ment of the connection cable with the 9 pin D sub CAN connector is shown in the follow ing figure Adapter MOVIAXIS MXA socket axis module socket n c n c SAN_H CAN_H CAN_H CAN_H DGND DGND De steers Hama eet da a SE ee ee EL Connection assignment of X12 pin on the axis module 62481aen Figure 65 Connection and extension cable CAN adapter axis module MOVIAXIS MXA MOVIAXIS MXA axis module axis module pin pin X12 X12 N N 6 6 ne 6 eo n c DGND gt DGND gt 7_ cAn 7_ cAanL CANH 3 CANH 3 g _ Pen g_ Pen CAN_H 4 CAN_H 9 CANL CAN_L Terminating resistor Terminating inside the unit 1 resistor 2 is activated through inside the unit jumpers in the plug 62482aen Figure 66 Pin assignment of the built in X12 socket at the axis module 1 Terminating resistor not active 2 Terminating resistor active Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 109 5 110 gw Startup CAN2 bus information and settings Bus terminating resistors for CAN2 bus connection The signal bus connection includes the CAN2 connection between sup
183. stion The read in data can be altered Do not accept data The motor data stored in the encoder is not used Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 119 5 C xD Startup MOVIAXIS startup Single motor operation Encoder management Encoder pool Option cards CEEI EAE Motor encoder gt Distance encoder Er mM _ a we Parameter set p IEICE 3 Parameter set B 11799aen Figure 75 Encoder management Encoder management allows you to assign the yellow marked encoders offered in the encoder pool to the individual parameter records or motors If several motors are to be operated on one axis module you need additional multi encoder cards option e Click on the required encoder and hold the left mouse button down to drag the en coder to the intended parameter record In the example above encoder 1 is assigned to parameter record 1 Encoder selection The encoder pool represents the maximum three physical MOVIAXIS encoder inputs Encoder 1 is the encoder input of the basic unit Encoders 2 and 3 can be expanded with multi encoder cards e Use each encoder only once Tachometer Encoders in the Motor encoder column are always the Actual speed sources and thus tachometers Position encoder Encoders in the two Distance encoder columns can also be used as position en coders Only one encoder can be the Actual position
184. supply NY for control electronics 60438AEN Figure 53 Wiring diagram control electronics MOVIAXIS MXC capacitor module Connection via supplied pre fabricated cables Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Wiring diagrams Connection of buffer module component Wiring of control electronics X5b o 1 24Ve o 2 DGND o 3 24Vg o 4 BGND 24 V for 24 V supply brake control P D for control electronics Figure 54 Wiring diagram control electronics MOVIAXIS MXB buffer module Connection via supplied pre fabricated cables Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 60438AEN 87 4 Installation Wiring diagrams Connection of 24 V switched mode power supply module component Wiring 24 V external 24Ve DGND 24V5 BGND 24 V supply for 24 V for 24 V supply control electronics 2 BD brake supply D D for control electronics channel 1 57165aen Figure 55 Wiring of the 24 V switched mode power supply module Connection via supplied pre fabricated cables You can find more information on 24 V supply and control electronics in the MOVIAXIS Project Planning Manual 88 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation Terminal assignment
185. system NOTE The mounting plates on which the axis systems are mounted must have a sufficiently il large ground connection e g a ground strap The lengths ofthe pre fabricated system bus connection cables 1 are 0 75 m and 3 m 1 System bus connection cable 2 Terminating resistor NOTE il Important Install a terminating resistor 2 in the last axis module of the axis system included in the scope of delivery of the supply module Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Installation System bus connection cable to other SEW units CAN based 4 4 System bus connection cable to other SEW units CAN based 4 CAN H orange white 1 System bus connection cable 5 Terminating resistor 2 Output plug black 6 Contact shield connection 3 CAN L orange NOTE Establish a common ground potential e g connection of the 24 V ground of the supply il voltages The lengths of the pre fabricated connection cables 1 are 0 75 m and 3 m Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 69 Installation Connection cable EtherCAT based system bus optional master module 4 5 Connection cable EtherCAT based system bus optional master module The following describes how the signal bus cables of the EtherCAT based system bus must be connected in the axis system
186. t the provided protection cover touch guard The protection cover protects the area of the mains and braking resistor connections Uncovered power connections Severe or fatal injuries from electric shock Never start the unit if the protective covers are not installed Install the protective covers according to the regulations Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 13 14 3 4 Unit Design Nameplates and unit designations Nameplates and unit designations The nameplate is divided into up to three parts depending on the module e Part l of the nameplate indicates the unit designation production number and sta tus e Part II of the nameplate indicates the factory installed options and the version sta tus Part III of the nameplate system nameplate contains the technical data of the module The system nameplate is located on the side of the unit for the supply module and axis module The nameplate contains a description of the version and the scope of supply of the multi axis servo inverter at the time of delivery There may be deviations if e E g option cards are installed or removed at a later time Or if the unit firmware is updated 57521ade Figure 3 Location of part 1 of the nameplate l Part I of the nameplate ll Part II of the nameplate ll Part III of the nameplate system nameplate Operating Instructions MOVIAXIS MX Multi Axi
187. t switch 7 System is Ready 1 30 Error Delay The drive did not come to a standstill Output stage waiting Yes Malfunction timeout within the preset delay time inhibit u Warm start 0 01 Stop ramp time violation 02 Time violation stop at application limit 03 Time violation stop at system limit 04 Emergency stop ramp time violation Overtemperature sensor Ready 1 31 Error Thermal 2 KTY TF TH of the drive was trig No response D No response Yes Malfunction protection motor P gered for motor protection 1 01 Open circuit motor temperature sen sor detected Short circuit motor temperature sen 02 sor detected 03 Motor overtemperature KTY 04 Motor overtemperature synchro nous motor model 05 Motor overtemperature TF TH 06 Motor overtemperature I2t model 07 AD conversion has not taken place Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 169 170 an a Operation a Operating displays and errors of MXA axis module Error Error message Sub Possible reason for error Error response Final error Save Message code error P programma status as binary out code ble Reset type History puts valid D default for default response response 32 Unassigned Error SM Boot The supply module SM is not or no Output stage System is Ready 0 33 A NS blocked Yes Malfunction Ti
188. tion when sending the unit in for repair Production number see nameplate Unit designation Unit type Digits of the production number and order number Short application description drive type control Connected motor motor type motor voltage Type of error Accompanying circumstances Your own assumptions as to what has happened Unusual events preceding the problems Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 179 a Service gt Removing installing a module N WW 7 2 Removing installing a module This chapter describes how to replace an axis module in the axis system The master module capacitor module buffer module supply module DC link discharge module and the 24 V switched mode power supply unit are all installed removed in the same way Safety notes Always adhere to the following safety instructions Dangerous voltages may still be present inside the unit and at the terminal strips up to 10 minutes after the complete axis system has been disconnected from the mains Severe or fatal injuries from electric shock To prevent electric shocks e Disconnect the axis system from the mains and wait ten minutes before removing the protective covers After maintenance work do not operate the axis system unless you have replaced the protective cover because the unit only has degree of protection IPOO without protective cover A HAZARD A leakage
189. tions MOVIAXIS MX Multi Axis Servo Inverter 117 MOVIAXIS startup Single motor operation 5 C xD Startup Current settings The figure below shows the current settings ay a a Slot K Net Unit version A S2 oon SSCS m Ww Slot 3 No oH 3 a a Fa n ca 11798aen Figure 73 Overview of current settings The card types of option cards inserted into the card slots are shown in this figure In this example Slot 1 K Net e Slot 2 Empty Slot 3 Empty 118 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C x 5 MOVIAXIS startup Single motor operation Encoder management of SEW encoders Do not accept deta IR B vench rE Psat JOA Flrssengang Mer CHA Dokunentas SArrau Thea Rol btt lt E Adsbe Reader Drmv roouse SAB Nachricht Pi SIEWAHUmMS is 11833aen Figure 74 Encoder with electronic nameplate When using encoders with a SEW nameplate electronic nameplate i e encoders which were programmed according to SEW specifications you can select one of the fol lowing options for data transfer Accept data The motor data stored in the encoder is read out from the encoder and used for startup The read in data cannot be altered Accept data as suggestion The motor data stored in the encoder is read out from the encoder and made avail able as a sugge
190. ug on cable X9b Output red plug on cable 3 X10 Binary inputs 13 X7 X8 2 Safety relays optional design 4 X11 Binary outputs 5 X12 CAN2 bus 6 2 x 7 segment display 7 X13 Connection motor encoder resolver or Hiperface temperature sensor 8 X5a X5b 24 V voltage supply 9 X4 DC link connection 10 X2 Motor connection 11 Power shield clamp Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Unit Design Unit design of MOVIAXIS MXA axis modules MOVIAXIS MXP axis module size 6 gt w O A IE iP IE e m IN au Ar Mi l 1 A r 13 N HIE EN HAL a ar em eurn a erum a gt ems a am 1a und vai mm ey DIL TR 61549axx Figure 19 Unit design of MOVIAXIS MXA axis module size 6 A View from top B View from front c View from bottom 1 Signaling bus 2 Electronics shield clamps 12 X6 Brake control system X9a Input green plug on cable X9b Output red plug on cable 3 X10 Binary inputs 13 X7 X8 2 Safety relays optional design 4 X11 Binary outputs 5 X12 CAN2 bus 6 2x 7 segment display 7 X13 Connection motor encoder resolver or Hiperface temperature sensor 8 X5a X5b 24 V voltage supply 9 X4 DC link connection 10 X2 Motor connection 11 Power shield clamp Operating Instructi
191. ulation source direct The signals of the connected encoder are looped through to emulation directly NOTES If a resolver is connected to the encoder input of the basic unit this cannot be used as emulation source direct This is possible in connection with software emulation only With signal fan out increments per motor revolution This selection uses software emulation The following settings are possible in increments per motor revolution 64 128 256 512 1024 2048 4096 The output increments per motor revolution at the emulation terminal are independent of the resolution of the connected encoder 5 11 Application examples Example 1 Rotatory encoder as distance encoder Applications E g non linear transmission elements such as crank arms flying saws master value axes such as electronic cams In this example the position actual value of the absolute encoder designated as encoder 2 is used directly for position control The encoder ratios for motor encoder encoder 1 and distance encoder encoder 2 must be set during startup In this example the en coder ratio between encoder 1 and encoder 2 is 1 5 The encoder ratio between encoder 1 and encoder 2 is automatically determined by moving the system It can also be calculated and entered manually 10 ge 20mm 144 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C xD 5 Application examples
192. upply module Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Startup C xD Supply module settings for a CAN based system bus Bus terminating resistors for CAN signal bus connection The signal bus connection includes the CAN1 connection between supply module and axis module The CAN bus requires a terminating resistor The following figures show the diagram of possible combinations for CAN communica tion and the respective position of the terminating resistor supply module option Signal bus Terminating x9 x9 x9 x9 x9 x9 x9 x9 X9 resistor a b a b alb alb alb alb alb alb alb Er ae eats a 1 MXP MXA MXA MXA MXA MXA MXA MXA MXA 1 2 3 4 5 6 7 8 2 3 62477aen Figure 63 Communication via CAN on the supply module 1 Connection cable between PC and CAN interface on the supply module The connection cable con sists of the USB CAN interface 2 and the cable with integrated terminating resistor 3 2 USB CAN interface 3 Cable with integrated terminating resistor 120 Q between CAN_H and CAN_L For more information on communication between PC and the MOVIAXIS system refer to page 111 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 5 107 5 C x Startup CAN2 bus information and settings 5 3 CAN2 bus information and
193. uration 127 User defined units Example 136 Startup software and its parameters MOVITOOLS MotionStudio startup software 22224nnnnennnnennnnnnnnen 113 Sequence in case of new Startup 115 Station address u einseitige aSa 54 Supply module nameplate n 15 Supply system and brake contactors 75 T Technical data Master module Electronics data 194 Technical data DFE24B option for MOVIDRIVE MDX61B 54 Technical data for 24 V switched mode power supply module component 197 Technical data for braking resistors and filters Line chokes uuu2uunseeseennennennnnennnnnnnn en 201 Line filters un ame ige 201 UL and cUL approval u n nen 199 Technical data for buffer module component 196 Technical data for capacitor module component Control section 2222404ennennnneenneenenneen 195 Technical data for master module component 194 Technical data for the axis module Control section serena aa 193 Notes on brake control oeenn 192 Permitted load of brake control and brake 192 Power section esnnneneeeeeeennnennenenennennenennnenn 191 Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Index Technical data for the DC link discharge module component Control section ccceccecceeeeeeeeeeeeeeenteeaeees 198 Power section
194. user being able to make any changes For all other types of encoders the data listed in the following table have to be entered from Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 129 5 130 Er Startup MOVIAXIS startup Single motor operation Input data Description Enter the motor type without further information such as gear unit encoder brake or motor protection For example Motor Nameplate with gear unit PSF311RCM71S BR RH1M SB51 motor type CM71S e Nameplate without gear unit CFM90M BR RH1M SB51 motor type CM90M Rated voltage The rated motor voltage is the maximum voltage that the motor winding can handle The rated motor voltage refers to the rated mains voltage For synchro nous motors the value is indicated as Umax on the nameplate Rated motor speed The rated motor speed corresponds to the speed class on the nameplate Rated power supply voltage Enter the rated supply voltage e g 400 V Temperature sensor type Temperature sensor type of the motor on the nameplate specifies which sen sor is used for implementing the motor protection No sensor TH Thermostat bimetallic switch e TF Thermistor sensor PTC thermistor KTY thermistor for detection of motor temperature The KTY setting means the thermal motor model is activated in MOVIAXIS with SEW motors The thermal motor model protects the motor thermally to
195. voltage This can be done for example by using a variable transformer for which the output voltage has been set according to the following overview The following stages are recommended AC 400 500 V units Stage 1 0 V to AC 350 V within a few seconds e Stage 2 AC 350 V for 15 minutes e Stage 2 AC 420 V for 15 minutes e Stage 3 AC 500 V for 1 hour After you have completed the regeneration process the unit can be used immediately or stored again for an extended period with maintenance Waste disposal Please follow the current national regulations Dispose of the following materials separately in accordance with the country specific regulations in force as e Electronics scrap printed circuit boards e Plastic Sheet metal e Copper e Aluminum Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Technical Data CE marking and approvals 8 Technical Data 81 CE marking and approvals The MOVIAXIS MX multi axis servo inverters comply with the following directives and guidelines CE marking e Low voltage directive 2006 95 EC e Electromagnetic compatibility directive 89 336 EEC The modules of the MOVIAXIS multi axis servo inverter are designed for use as components for installation in machinery and systems They comply with the EMC product standard EN 61800 3 Variable speed electrical drives Provided the instal lation instructions are complied with they satisfy the appropriate requirem
196. wn in the illustration and cannot be altered The fields on the right refer to the download value in the axis converted to the user specified unit The fields on the left are calculated default values The following values are the basis for the basic configuration and the delivery status Variables Limit values System limit values machine limit values VmaxSys 10000 1 min corresponds to the maximum speed possible in the axis module a_maxSys 3000 1 min x s acceleration ramp b_maxSys 3000 1 min x s deceleration ramp Application limit values VmaxApp 10000 1 min corresponds to the maximum speed possible in the axis module a_maxApp 3000 1 min x s acceleration ramp b_maxApp 3000 1 min x s deceleration ramp Emergency stop deceleration b_maxAppNotStop 3000 1 min x s deceleration ramp emergency stop ramp is mainly used for error response Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter 137 7 Startup 5 MOVIAXIS startup Single motor operation Download Calculation of startup parameters is complete Press Download to transmit the calculation results to the inverter without finishing startup AN Download har Press Finish to transmit the calculation results to the inverter with finishing startup segs 11814aen Figure 91 Download menu e Press the Finish button to download the settings to the axis module e Close the window
197. xible lines flat lines sheathed lines shielded lines and coaxial lines Software provided by the manufacturer that cannot be changed by the user Operating Instructions MOVIAXIS MX Multi Axis Servo Inverter Index A Accessory assignment table 20 21 Axis module nameplate en 15 B Bending space note neesennnnnenennnnnnennn nen 66 Binary inputs binary outputs 0 0 0 een 76 Brake rectifier in the control cabinet 78 Braking resistors CONNECTION eri erie aaaea raei 76 Operation 76 Bus termination 2 c cceccceceeeeeeeeeeeeseeseeaeees 54 c CAN1 settings Bus terminating resistors for CAN Signal DUS connection uu nnnnnn 107 Cable length and cable specification 105 Connecting CAN1 cables to the supply module ua een 106 Setting the axis address n 103 Setting the CAN1 baud rate 103 CAN2 settings Bus terminating resistors for CAN2 110 CAN2 axis address n se 108 Connecting CAN2 cables to the axis MOAUIES u win eint taati 109 CE marking en 187 Communication via CAN adapter Connection assignment of connection and extension cables nnnn 106 109 Connection assignment of X12 pin on the AXIS module u nenn 109 Connection assignment of X12 pin on the supply module nennen 106 Connecting cable
198. ystem bus 20s4snennnnennnnnnnnnnnnn nn 11 3 2 Axis system with EtherCAT based system bus een 12 3 3 imponan notas cset ee ae es eae ee 13 3 4 Nameplates and unit designations uusrrssnnennnsnnnnnnnnnnnnnnnennannnnnenn 14 3 5 Standard accessories u 4240unsnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnn 19 3 6 Optional accessories unnnnnsnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 21 3 7 Overview of an axis system uensnseenssneensnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnn 22 3 8 Unit design of MOVIAXIS MXP power supply module 23 3 9 Unit design of MOVIAXIS MXA axis modules uunananenenennnenenn 26 3 10 System bus in EtherCAT or CAN based version c ccccceessteeeeeeeeees 32 3 11 Unit design of the MOVIAXIS MXM master module component 33 3 12 Unit design of the MOVIAXIS MXC capacitor module component 35 3 13 Unit design of the MOVIAXIS MXB buffer module component 36 3 14 Unit design of the MOVIAXIS MXS 24 V switched mode power supply module component uuu 2444nenssnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 37 3 15 Unit design of the MOVIAXIS MXZ DC link discharge module campaneri earlen Ae ae e ae eiea a el 38 3 16 Option combinations on delivery ssssssssseeeseessreesreerirerrreerirsrrrssrrnsrens 39 3 17 Multi encoder card option XGH11A XGSTA eennsenene

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