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Related Manuals for SEW-Eurodrive MOVIDRIVE B

MOVIDRIVE

®

Serial Communication

Edition

11/2001

Manual

1053 1610 / EN

SEW-EURODRIVE

Contents

1 Important Notes………………………………………………………………………………………… 4

P6..

P60.

P600

2 Introduction ……………………………………………………………………………………………… 5

2.1

Overview of serial interfaces ……………………………………………………………….. 5

2.2

Technical data…………………………………………………………………………………… 8

2.3

MOVILINK® and system bus ………………………………………………………………. 9

3 Installation ……………………………………………………………………………………………… 12

3.1

System bus (SBus) installation ………………………………………………………….. 12

3.2

RS-485 interface installation ……………………………………………………………… 14

3.3

RS-232 interface installation ……………………………………………………………… 16

4 RS-485 Communication …………………………………………………………………………… 17

4.1

Telegrams ………………………………………………………………………………………. 17

4.2

Addressing and transmission process ………………………………………………… 20

4.3

Data contents and PDU types……………………………………………………………. 29

5 System Bus (SBus) …………………………………………………………………………………. 37

5.1

Slave data exchange via MOVILINK® ………………………………………………… 37

5.2

Setting parameters via the CAN bus…………………………………………………… 42

5.3

Master data exchange via MOVILINK® ………………………………………………. 47

5.4

Master/slave operation via the SBus…………………………………………………… 50

5.5

Data exchange via variable telegrams ………………………………………………… 51

5.6

Project planning example for SBus …………………………………………………….. 62

6 Operation and Service …………………………………………………………………………….. 64

6.1

Startup problems with the SBus…………………………………………………………. 64

6.2

Return codes for parameter setting…………………………………………………….. 65

7 Parameter List ………………………………………………………………………………………… 67

7.1

Explanation of the table header …………………………………………………………. 67

7.2

Complete parameter list, sorted by parameter numbers………………………… 68

7.3

Quantity and conversion index…………………………………………………………… 84

8 Index ………………………………………………………………………………………………………. 87

MOVIDRIVE

®

Serial Communication

3

1

1 Important Notes

• This manual does not replace the detailed operating instructions!

• Installation and startup only by trained personnel observing applicable accident prevention regulations and the MOVIDRIVE

®

operating instructions!

Documentation

Bus systems

Safety and warning instructions

• Read through this manual carefully before you commence installation and startup of

MOVIDRIVE

®

drive inverters with a serial communications link (RS-232, RS-485, system bus).

• This manual assumes that the user has access to and is familiar with the

MOVIDRIVE

®

documentation, in particular the MOVIDRIVE

®

system manual.

• In this manual, cross references are marked with «

→

«. For example, (

→

Sec. X.X) means: Further information can be found in section X.X of this manual.

• A requirement of fault-free operation and fulfillment of any rights to claim under guarantee is that the documentation is observed.

General safety notes on bus systems:

This communication system allows you to match the MOVIDRIVE

®

drive inverter to the specifics of your application to a very high degree. As with all bus systems, there is a danger of invisible, external (as far as the inverter is concerned) modifications to the parameters which give rise to changes in the inverter behavior. This may result in unexpected (not uncontrolled, though!) system behavior.

Always follow the safety and warning instructions contained in this publication!

Electrical hazard

Possible consequences: Severe or fatal injuries.

Hazard

Possible consequences: Severe or fatal injuries.

Hazardous situation

Possible consequences: Slight or minor injuries.

Harmful situation

Possible consequences: Damage to the unit and the environment.

Tips and useful information.

4

MOVIDRIVE

®

Serial Communication

Overview of serial interfaces

2 Introduction

2.1

Overview of serial interfaces

The following serial interfaces are provided as standard with MOVIDRIVE

®

drive inverters for serial communication:

1. System bus (SBus) = CAN bus to CAN specification 2.0, parts A and B.

2. RS-485 interface to EIA standard

MOVIDRIVE

MD_60A

®

System bus (SBus):

The system bus (SBus) is routed to terminals X12:2/3 in MOVIDRIVE

®

MD_60A drive inverters.

RS-485 interface:

The RS-485 interface is routed to the TERMINAL option slot and, in parallel, to terminals

X13:10/11 in MOVIDRIVE

®

MD_60A drive inverters.

Either the «DBG11A keypad» or the «USS21A serial interface» can be connected to the

TERMINAL option slot.

CONTROL

0V5 — +

RS485

RS232

USS21A

E Q

DBG11A

+

—

SBus High

SBus Low

X11:

REF1

AI11

AI12

AGND

REF2

1

2

3

4

5

ON OFF

X12:

DGND

SC11

SC12

1

2

3

S 11

S 12

TERMINAL

RS-485 +

RS-485 —

X13:

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

DGND

ST11

ST12

6

7

4

5

1

2

3

10

11

8

9

X14:

6

1

Fig. 1: Serial interfaces on MOVIDRIVE

®

MD_60A

X12:1

X12:2

X12:3

X13:10

X13:11

DGND: Ref. potential

SBus high

SBus low

ST11: RS-485+

ST12: RS-485-

05274AXX

CAN bus to CAN specification 2.0, parts A and B, transmission technology to ISO 11898, max. 64 stations, terminating resistor

(120

Ω

) can be activated using DIP switches

EIA standard, 9600 baud, max. 32 stations

Max. cable length 200 m (660 ft) in total

Dynamic terminating resistor with fixed installation

MOVIDRIVE

®

Serial Communication

5

2

2

Overview of serial interfaces

MOVIDRIVE

® compact

System bus (SBus):

• The system bus (SBus) is routed to terminals X10:5/7 in MOVIDRIVE

® compact

MCF/MCV/MCS4_A drive inverters.

• The system bus (SBus) is routed to terminals X10:7/8 and X10:10/11 in

MOVIDRIVE

® compact MCH4_A drive inverters. Terminals X10:7 and X10:10 are electrically connected, as are terminals X10:8 and X10:11.

RS-485 interface:

The RS-485 interface is routed to the TERMINAL option slot in MOVIDRIVE

® compact drive inverters.

Either the «DBG11A keypad» or the «USS21A serial interface» can be connected to the

TERMINAL option slot.

MCF/MCV/MCS4_A

0V5 — +

RS485

RS232

USS21A

E Q

DBG11A

+

—

SBus High

SBus Low

X10:

REF1

AI11

REF2

AI12

SC11

AI21

SC12

AGND

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

9

10

11

12

13

14

15

16

7

8

5

6

1

2

3

4

0V5 — +

RS485

RS232

USS21A

E Q

DBG11A

MCH4_A

+

—

SBus High

SBus Low

SBus High

SBus Low

X10:

REF1

AI11

AI12

AI21

AGND

REF2

SC11

SC12

DGND

SC21*

SC22*

10

11

7

8

9

5

6

3

4

1

2

X11:

DIØØ

DIØ1

DIØ2

Fig. 2: Serial interfaces on MOVIDRIVE

®

compact

05275AXX

* Only use these terminals if S12 = OFF; connect terminating equipment to SC11/SC12.

MOVIDRIVE

® compact MCF/MCV/MCS4_A

X10:5

X10:7

SBus high

SBus low

CAN bus to CAN specification 2.0, parts A and B

Transmission system to ISO 11898

MOVIDRIVE

X10:7/10

X10:8/11

® compact MCF/MCV/MCS4_A

SBus high

SBus low max. 64 stations

Terminating resistor (120

Ω

) can be activated using

DIP switches

1

2

3

6

MOVIDRIVE

®

Serial Communication

Overview of serial interfaces

USS21A (RS-232 and RS-485)

Startup, operation and service are possible from the PC via the serial interface. The

SEW MOVITOOLS software is used for this purpose. It is also possible to transfer parameter settings to several MOVIDRIVE

®

drive inverters via PC.

MOVIDRIVE

®

can be equipped with isolated RS-232 and RS-485 interfaces. The RS-

232 interface is configured as a 9-pin sub D female connector (EIA standard) and the

RS-485 interface as a terminal connection. The interfaces are accommodated in a housing for plugging onto the inverter (TERMINAL option slot). The option can be plugged on during operation. The transmission rate of both interfaces is 9600 baud.

DBG11A and USS21A are connected to the same inverter slot (TERMINAL) and cannot be used at the same time.

RS-232 interface

RS-485 interface

Use a commercially available serial interface cable (shielded!) for connecting a PC to

MOVIDRIVE

®

with the USS21A option.

Important: 1:1 cabling

USS21A

PC COM 1-4

5

3

2

GND (ground)

TxD

RxD

5

3

2

9-pin sub D connector (male) max. 5 m (16.5 ft)

9-pin sub D connector (female)

02399AEN

Fig. 3: Connection cable USS21A – PC

A maximum of 16 MOVIDRIVE

®

units can be networked for communications purposes

(max. total cable length 200 m (660 ft)) via the RS-485 interface of the USS21A.

Dynamic terminating resistors are permanently installed, so do not connect any external terminating resistors.

Unit addresses 0 – 99 are permitted with multipoint connections. In this case, the «peerto-peer connection» must not be selected in MOVITOOLS. The communications address in MOVITOOLS and the RS-485 address of the MOVIDRIVE

®

unit (P810) must be identical.

Dimensions

2

0V5 — +

RS485

RS232

1.5 (0.06)

85 (3.35)

Fig. 4: USS21A dimensions in mm (in)

28.5 (1.12)

01003BXX

MOVIDRIVE

®

Serial Communication

7

2

Technical data

2.2

Technical data

System bus

(SBus)

Standard

Baud rate

ID range

Address

Number of process data words

CAN specification 2.0 parts A and B either 125, 250, 500 or 1000 kbaud, factory setting 500 kbaud

3 – 1020 can be set with parameter P813: 0 – 63 fixed setting: 3 PD

Line length depending on the baud rate, max. 320 m

Number of stations max. 64

Co Only when P816 «SBus baud rate» = 1000 kbaud:

Do not combine MOVIDRIVE

® compact MCH42A units with other MOVIDRIVE

®

units in the same system bus combination.

The units are allowed to be mixed at baud rates

≠

1000 kbaud.

RS-485 interface

Standard

Baud rate

Start bits

Stop bits

RS-485

9.6 kbaud

1 start bit

1 stop bit

Data bits

Parity

8 data bits

1 parity bit, supplementing to even parity

Line length 200 m between two stations

Number of stations 1 master and max. 31 slaves

RS-232 interface

Standard

Baud rate

Start bits

Stop bits

DIN 66020 (V.24)

9.6 kbaud

1 start bit

1 stop bit

Data bits

Parity

8 data bits

1 parity bit, supplementing to even parity

Line length max. 5 m

Number of stations 1 master + 1 slave (peer-to-peer connection)

8

MOVIDRIVE

®

Serial Communication

MOVILINK® and system bus

2.3

MOVILINK

®

and system bus

MOVILINK

®

protocol

This document provides a detailed description of the MOVILINK

®

serial interface protocol for the RS-485 interfaces of MOVIDRIVE

®

drive inverters. You can control the inverter and set its parameters via the RS-485 interface.

However, please bear in mind that this communications variant is a proprietary communication system for low-end applications.

The low speed of transmission and the significant time and effort needed to implement the various automation systems mean that SEW recommends the following fieldbus systems as the professional method of linking SEW inverters to machine control systems:

• PROFIBUS-DP

• INTERBUS

• INTERBUS with fiber optic cable

• CAN

• CANopen

• DeviceNet

These fieldbus systems are supported by SEW and by all well-known manufacturers of automation systems.

The MOVILINK

MOVIDRIVE

®

®

protocol for serial interfaces in the new SEW range of inverters,

and MOVIMOT

®

, enables you to set up a serial bus connection between a higher-level master and several SEW inverters. For example, masters may take the form of programmable logic controllers, PCs or even SEW inverters with PLC functions

(IPOS plus®

). Generally speaking, the SEW inverters function as slaves in the bus system.

The MOVILINK

®

protocol allows both of the following applications to be implemented: automation tasks such as control and parameter setting of the drives by means of cyclical data exchange, startup and visualization tasks.

Features

The principal features of the MOVILINK

®

protocol are:

• Support for the master/slave structure via RS-485 with one master (single master) and at most 31 slave stations (SEW inverters).

• Support for peer-to-peer connection via RS-232.

• User-friendly implementation of the protocol in a simple and reliable telegram structure with fixed telegram lengths and a unique start identifier

• Data interface to the basic unit in accordance with the MOVILINK

®

profile. This means the user data sent to the drive are transmitted to the inverter in the same way as via the other communications interfaces (PROFIBUS, INTERBUS, CAN,

CANopen, DeviceNet, etc.).

• Access to all drive parameters and functions, i.e. it can be used for startup, service, diagnosis, visualization and automation tasks

• Startup and diagnostic tools on the basis of MOVILINK

®

for PC (e.g. MOVITOOLS/

SHELL and MOVITOOLS/SCOPE).

2

MOVIDRIVE

®

Serial Communication

9

2

MOVILINK® and system bus

System bus

(SBus)

The SBus is a CAN bus in accordance with the CAN specification 2.0, parts A and B. It supports all services in the SEW MOVILINK

®

unit profile. In addition, you can exchange

IPOS plus®

variables via the SBus independently of the profile.

The unit behavior of the inverter which forms the basis of CAN operation is referred to as the unit profile. It is independent of any particular fieldbus and is therefore a uniform feature. This provides you, the user, with the opportunity of developing applications regardless of the fieldbus.

MOVIDRIVE

®

offers digital access to all drive parameters and functions via the SBus.

The drive inverter is controlled via high-speed process data. These process data telegrams let the user enter setpoints, such as the setpoint speed, ramp generator time for acceleration/deceleration, etc. and trigger various drive functions such as enable, control inhibit, normal stop, rapid stop, etc. You can also use these telegrams to read back actual values from the drive inverter, such as the actual speed, current, unit status, error number and reference signals.

The exchange of parameter data via the MOVILINK

®

parameter channel lets you create applications in which all important drive parameters are stored in the programmable master controller. This means there is no need to manually set the parameters on the drive inverter itself, which is frequently a rather time-consuming task. IPOS plus® provides the MOVLNK command for the exchange of parameter data and process data with other MOVILINK

®

stations. As a result, MOVIDRIVE

®

can operate as the master via IPOS plus®

and control other units.

The process data and the drive parameters can be sent to a synchronization telegram synchronously or asynchronously.

10

E Q E Q

PD1

Variable exchange

Max. 8 data bytes = 2 variables, each 32 bit

System bus (SBus)

Fig. 5: Variants of SBus communication

02244BEN

Using the SBus requires additional monitoring functions such as time monitoring (SBus timeout delay) or special emergency-off concepts. You can adapt the monitoring functions of MOVIDRIVE

®

specifically to your application. You can determine which error response the drive inverter should trigger in the event of a timeout. A rapid stop is a good idea for many applications, although this can also be achieved by «freezing» the last setpoints so the drive continues operating with the most recently valid setpoints (e.g.

conveyor belt). You can still implement emergency-off concepts which are independent of the bus and use the terminals of the drive inverter because the functions of the control terminals are still active when the SBus is in operation.

MOVIDRIVE

®

Serial Communication

MOVILINK® and system bus

The MOVIDRIVE

®

drive inverter offers you numerous diagnostic options for startup and service purposes. An easy-to-use diagnostics tool is provided in the MOVITOOLS/

SHELL PC software. This software makes it possible to call up a detailed display of the bus and unit status as well as setting all drive parameters.

Variable telegrams

Not only does the cyclical and acyclical variable exchange function create an interface via which variables can be exchanged between several MOVIDRIVE

®

units, it is also possible to implement partial functions for specific profiles in external units. These external units may support the CANopen or DeviceNet protocol.

2

MOVIDRIVE

®

Serial Communication

11

3

System bus (SBus) installation

3 Installation

3.1

System bus (SBus) installation

Only when P816 «SBus baud rate» = 1000 kbaud:

Do not combine MOVIDRIVE

®

compact MCH42A units with other MOVIDRIVE

®

units in the same system bus combination.

The units are allowed to be mixed at baud rates

≠

1000 kbaud.

MOVIDRIVE

®

MD_60A

Control unit

X11:

REF1

AI11

AI12

AGND

REF2

System bus

Terminating resistor

ON OFF

S 11

S 12

X12:

System bus ref.potential

System bus high

System bus low

DGND

SC11

SC12

1

2

3

1

2

3

4

5

Control unit

X11:

REF1

AI11

AI12

AGND

REF2

System bus

Terminating resistor

X12:

ON OFF

S 11

S 12

System bus ref.potential

System bus high

System bus low

DGND

SC11

SC12

1

2

3

1

2

3

4

5

Control unit

X11:

REF1

AI11

AI12

AGND

REF2

System bus

Terminating resistor

X12:

ON OFF

S 11

S 12

System bus ref.potential

System bus high

System bus low

DGND

SC11

SC12

1

2

3

1

2

3

4

5

쵰

Fig. 6: System bus connection MOVIDRIVE

®

MD_60A

MOVIDRIVE

®

compact MCF/MCV/MCS4_A

Control unit Control unit

System bus high

System bus low

X10:

SC11

SC12

5

6

3

4

7

1

2

System bus high

System bus low

X10:

SC11

SC12

5

6

3

4

7

1

2

Reference potential

System bus

Terminating resistor

DGND 17

ON OFF

S 12

S 11

Reference potential

DGND 17

System bus

ON OFF

Terminating resistor

S 12

S 11

쵰 쵰

02205BEN

Control unit

System bus high

System bus low

X10:

SC11

SC12

5

6

3

4

7

1

2

Reference potential

DGND 17

System bus

ON OFF

Terminating resistor

S 12

S 11

쵰

쵰 쵰

Fig. 7: System bus connection MOVIDRIVE

®

compact MCF/MCV/MCS4_A

쵰

02411AEN

쵰

12

MOVIDRIVE

®

Serial Communication

System bus (SBus) installation

MOVIDRIVE

®

compact MCHS4_A

Control unit

X10:

System bus high

System bus low

Reference potential

System bus high

System bus low

SC11

SC12

DGND

SC21

SC22

System bus

Terminating resistor

ON OFF

S 12

S 11

10

11

8

9

6

7

4

5

1

2

3

Control unit

System bus high

System bus low

Reference potential

System bus high

System bus low

X10:

SC11

SC12

DGND

SC21

SC22

10

11

8

9

6

7

4

5

1

2

3

System bus

Terminating resistor

ON OFF

S 12

S 11

Control unit

System bus high

System bus low

Reference potential

System bus high

System bus low

X10:

SC11

SC12

DGND

SC21

SC22

10

11

8

9

6

7

4

5

1

2

3

System bus

Terminating resistor

ON OFF

S 12

S 11

쵰 쵰 쵰 쵰

Fig. 8: System bus connection MOVIDRIVE

®

compact MCH4_A

05210AEN

SBus MCH4_A: Connect the terminating equipment to SC11/SC12. SC21/SC22 are only active when S12 = OFF.

Cable specification

Shield contact

Line length

Terminating resistor

• Use a 2-core twisted and shielded copper cable (data transmission cable with shield comprising copper braiding). The cable must meet the following specifications:

– Conductor cross section 0.75 mm

2

(AWG 18)

– Cable resistance 120

Ω

at 1 MHz

– Capacitance per unit length

≤

40 pF/m (12 pF/ft) at 1 kHz

Suitable cables are CAN bus or DeviceNet cables, for example.

• Connect the shield at either end to the electronics shield clamp of the inverter or the master control and ensure the shield is connected over a large area. Also connect the ends of the shield to DGND.

• The permitted total line length depends on the baud rate setting of the SBus (P816):

– 125 kbaud

– 250 kbaud

– 500 kbaud

– 1000 kbaud

→

→

→

→

320 m (1056 ft)

160 m (528 ft)

80 m (264 ft)

40 m (132 ft)

• Switch on the system bus terminating resistor (S12 = ON) at the start and finish of the system bus connection. Switch off the terminating resistor on the other units

(S12 = OFF).

• There must not be any potential displacement between the units which are connected together using the SBus. Take suitable measures to avoid a potential displacement, e.g. by connecting the unit ground connectors using a separate lead.

3

MOVIDRIVE

®

Serial Communication

13

3

RS-485 interface installation

3.2

RS-485 interface installation

MOVIDRIVE

®

MD_60A

The RS-485 interface is routed to terminals X13:10/11 and, in parallel, to the TERMINAL option slot. The RS-485 interface can only be accessed via the TERMINAL option slot when the «serial interface type USS21A» option is attached.

RS-485 connection via terminals X13:10/11

Control unit

RS-485 +

RS-485 —

X13:

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

DGND

ST11

ST12

9

10

11

7

8

5

6

3

4

1

2

Control unit

RS-485 +

RS-485 —

X13:

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

DGND

ST11

ST12

9

10

11

7

8

5

6

3

4

1

2

Control unit

RS-485 +

RS-485 —

X13:

DIØØ

DIØ1

DIØ2

DIØ3

DIØ4

DIØ5

DCOM

VO24

DGND

ST11

ST12

9

10

11

7

8

5

6

3

4

1

2

쵰

Fig. 9: RS-485 connection via X13:10/11

쵰 쵰

02206AEN

쵰

Cable specification • Use a 2-core twisted and shielded copper cable (data transmission cable with shield comprising copper braiding). The cable must meet the following specifications:

– Conductor cross section 0.5 – 0.75 mm

2

(AWG 20 – 18)

– Cable resistance 100 – 150

Ω

at 1 MHz

– Capacitance per unit length

≤

40 pF/m (12 pF/ft) at 1 kHz

The following cable is suitable, for example:

– BELDEN (www.belden.com), data cable type 3105A

Shield contact • Connect the shield at either end to the electronics shield clamp of the inverter or the machine control and ensure the shield is connected over a large area. Also connect the ends of the shield to DGND.

• The permitted total line length is 200 m (660 ft).

Line length

Terminating resistor

• Dynamic terminating resistors are fitted. Do not connect any external terminating resistors!

• There must not be any potential displacement between the units which are connected via RS-485. Take suitable measures to avoid a potential displacement, e.g. by connecting the unit ground connectors using a separate lead.

14

MOVIDRIVE

®

Serial Communication

RS-485 interface installation

USS21A serial interface

• With MOVIDRIVE

®

MD_60A drive inverters, the RS-485 interface can also be accessed using the «serial interface type USS21A» option.

• With MOVIDRIVE

®

compact drive inverters, the RS-485 interface can only be accessed using the «serial interface type USS21A» option.

RS-485 connection via USS21A

USS21A

0V5

+

USS21A

0V5

+

3

쵰 쵰

Fig. 10: RS-485 interface of the USS21A

쵰 쵰

00997CXX

Cable specification • Use a 2-core twisted and shielded copper cable (data transmission cable with shield comprising copper braiding). The cable must meet the following specifications:

– Conductor cross section 0.5 – 0.75 mm

2

(AWG 20 – 18)

– Cable resistance 100 – 150

Ω

at 1 MHz

– Capacitance per unit length

≤

40 pF/m (12 pF/ft) at 1 kHz

The following cable is suitable, for example:

– BELDEN (www.belden.com), data cable type 3105A

Shield contact • Connect the shield at either end to the electronics shield clamp of the inverter and ensure the shield is connected over a large area. Also connect the ends of the shield to DGND.

EIA standard • Max. transmission rate 9600 baud

• Max. 32 stations (each unit with USS21A counts as two stations)

• Max. cable length 200 m (660 ft) in total

• Dynamic terminating resistor with fixed installation

MOVIDRIVE

®

Serial Communication

15

3

RS-232 interface installation

3.3

RS-232 interface installation

With MOVIDRIVE

®

MD_60A and MOVIDRIVE

®

compact, the RS-232 interface can only be accessed using the «serial interface type USS21A» option.

RS-232 connection

• Use a shielded standard interface cable for connecting to the RS-232 interface.

Important: 1:1 cabling

USS21A

PC COM 1-4

5

3

2

GND (ground)

TxD

RxD

5

3

2

9-pin sub D connector (male) max. 5 m (16.5 ft)

9-pin sub D connector (female)

02399AENdf

Fig. 11: PC connection via RS-232

16

MOVIDRIVE

®

Serial Communication

Telegrams

4 RS-485 Communication

4.1

Telegrams

Telegram traffic Both cyclical and acyclical data exchange are used in drive engineering. Cyclical telegrams via the serial interface are used in automation applications, particularly for drive control. The master station must ensure cyclical data exchange in this case.

Cyclical data exchange

Cyclical data exchange is used predominantly for controlling the inverters via the serial interface. In this process, the master continuously sends telegrams containing setpoints

(request telegrams) to an inverter (slave) and then waits for a response telegram with actual values from the inverter. After a request telegram has been sent to an inverter, the master expects the response telegram within a defined length of time (response delay time). The inverter only sends back a response telegram if it has received a request telegram sent to its slave address without any errors. The inverter monitors whether the data communication fails during the cyclical data exchange. If communication does fail, the inverter triggers a timeout response if it does not receive a new request telegram from the master within an adjustable time.

MOVILINK

®

also offers the opportunity to perform acyclical service and diagnostic tasks even during cyclical communication without changing the type of telegram.

Acyclical data exchange

Acyclical data exchange is principally used for startup and diagnostics. The inverter does not monitor the communications link in this case. The master can send telegrams to the inverter at irregular intervals in acyclical mode.

4

MOVIDRIVE

®

Serial Communication

17

4

Telegrams

Telegram structure

The entire data exchange is performed using only two types of telegram. It involves the master sending a request containing data to the inverter, in the form of a request telegram. The inverter answers with a response telegram. When word information (16bit) is sent within the user data, the high byte is always sent first and the low byte last.

In the case of double word information (32-bit), the high word is sent first and the low word last. Coding of the user data is not part of the protocol. The content of the user data is explained in detail in the MOVIDRIVE

®

Fieldbus Unit Profile manual.

Request telegram structure

Fig. 12 shows the structure of the request telegram which the master sends to the inverter. Each telegram starts with an idle time on the bus, referred to as the start pause, followed by a start character. Different start characters are used so that it is possible to clearly differentiate between request and response telegrams. The request telegram starts with the start character SD1 = 02 hex type.

, followed by the slave address and the PDU

Start delimiter 1

02 hex PDU type

Block check character

….Idle…

SD1 ADR TYP PDU BCC

Start pause Slave address Protocol data unit

01485BEN

Fig. 12: Structure of the request telegram

Response telegram structure

Fig. 13 shows the structure of the response telegram by means of which the inverter

(slave) responds to a request sent by the master. In turn, each response telegram starts with a start pause, followed by a start character. The response telegram starts with the start character SD2 = 1D hex

, followed by the slave address and the PDU type so that it is possible to clearly differentiate between request and response telegrams.

Start delimiter 2

02 hex PDU type

Block check character

….Idle…

SD2

ADR TYP PDU BCC

Start pause Slave address

Fig. 13: Structure of the response telegram

Protocol data unit

01487BEN

18

MOVIDRIVE

®

Serial Communication

Telegrams

Start pause (idle) The master must observe a start pause of at least 3.44 ms before sending the start character SD1 (02 hex

) so that the inverter can definitively identify the start of a request telegram. This pause prevents the bit combination 02 hex

, which may also occur in the user data, from being erroneously interpreted as the start character. As a result, the start pause forms part of the start character. After it has received a valid request telegram, the inverter waits for an idle time of at least 3.44 ms before sending back the response telegram with the start character SD2 (1D hex

). This enables the master to clearly identify the start character of a response telegram as well. In case the transmission of a valid request telegram is canceled by the master, a new request telegram cannot be sent until at least two start pauses (6.88 ms) have elapsed.

Start character

(SD1 / SD2)

The start character and the preceding start pause detect the commencement and the data direction of a new telegram. The following table shows the allocation of the start character to the data direction.

SD1

SD2

02 hex

1D hex

Request telegram

Response telegram

Master → inverter

Inverter

→

master

4

MOVIDRIVE

®

Serial Communication

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4

Addressing and transmission process

4.2

Addressing and transmission process

Address byte

(ADR)

The address byte always specifies the slave address regardless of the data direction.

Therefore, the ADR character in a request telegram specifies the address of the inverter which is to receive the request. In the opposite direction, the master can tell from which inverter the response telegram was sent. Generally speaking, there is only one master in the system. This means the master is not addressed. In addition to individual addressing, the MOVILINK

®

protocol also offers further addressing options. The following table shows the address areas and what they mean.

ADR

0 – 99

100 –

199

253

254

255

Meaning

Individual addressing within an RS-485 bus

Group addressing (multicast)

Special case of group address 100: Means «Not assigned to any group», i.e. ineffective

Local address: Only effective in conjunction with IPOS plus®

as master and the MOVILINK command. For communication within the unit.

Universal address for peer-to-peer communication

Broadcast address

Individual addressing

Each inverter can be addressed directly via addresses 0 – 99. Each request telegram from the master is answered by a response telegram from the inverter.

Master

ADR

ADR

1

1 to from

ADR

ADR

3

3

Slave

Inverter

ADR: 1

Request

Response

ADR

12

12

Slave

Inverter

ADR: 3

Slave

Inverter

ADR: 12

01488BEN

Fig. 14: Individual addressing via unit address 232/485

20

MOVIDRIVE

®

Serial Communication

Addressing and transmission process

Group addressing

(multicast)

Each inverter possesses an adjustable group address in addtion to its individual address. This setup enables the user to form groups with various stations and then address the individual stations in a group simultaneously using the group address. No response telegram is sent back to the master in the case of group addressing. This means it is not possible to request data from the inverter. Also, there is no response when data are written. You can create up to 99 groups.

Master

Request telegram to group adr. 102

Request telegram to group adr. 101

4

Slave

Inveter

ADR: 1

Group adr.: 101

Slave

Inverter

ADR: 2

Group adr.: 101

Fig. 15: Addressing individual groups

Slave

Inverter

ADR: 3

Group adr.: 101

Slave

Inverter

ADR: 4

Group adr.: 101

Slave

Inverter

ADR: 5

Group adr: 102

Slave

Inverter

ADR: 6

Group adr.: 102

01489BEN

Universal addressing for peer-to-peer connection

Every inverter can be addressed via the universal address 254 regardless of the individual address which has been set for it. The advantage of this method is that peerto-peer connections can be established via the RS-232 interface without necessarily knowing the currently set individual address. Every inverter station is addressed with this universal address, which means this method must not be used in multipoint connections (e.g. RS-485 bus). Otherwise, there would be data collisions on the bus because every inverter would send a response telegram after receiving the request telegram.

Master

Request telegram via universal adr. 254

Response telegram from slave

Slave

Inverter

ADR: 1

Fig. 16: Addressing in peer-to-peer connections with universal address 254

01490BEN

MOVIDRIVE

®

Serial Communication

21

4

Addressing and transmission process

Broadcast address The broadcast address 255 permits a broadcast to all inverter stations. The request telegram sent out by the master to broadcast address 255 is received by all inverters, but they do not reply. Consequently, this addressing variant is predominantly used for transferring setpoints. The master can send broadcast telegrams with a minimum time interval of 25 ms, i.e. an idle time of at least 25 ms must be observed between the last character sent in a request telegram (BCC) and the start of a new request telegram

(SD1).

Master

Request telegram to all slaves via broadcast adr. 255

Slave

Inveter

ADR: 1

Group adr.: 101

Slave

Inverter

ADR: 2

Group adr.: 101

Fig. 17: Addressing individual groups

Slave

Inverter

ADR: 3

Group adr.: 101

Slave

Inverter

ADR: 4

Group adr.: 101

Slave

Inverter

ADR: 5

Group adr: 102

Slave

Inverter

ADR: 6

Group adr.: 102

01491BEN

22

MOVIDRIVE

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Serial Communication

Addressing and transmission process

Structure and length of user data

PDU type (TYP) The TYP byte describes the structure and the length of the user data which succeed it

(protocol data unit or PDU). Fig. 18 shows the structure of the type byte.

…Idle…

SD1 ADR TYP PDU BCC

CYCLICAL transmission

Bit: 7 6 5 4 3 2 1 0

PDU type reserved transmission variant

0: cyclical

1: acyclical

Fig. 18: Structure of the TYP byte

01492BEN

Bit 7 of the TYP byte is used to differentiate between cyclical or acyclical transmission of user data. A request telegram with the cyclical transmission variant signals to the inverter that the data sent by the master will be updated cyclically. Consequently, a response monitoring function can be activated in the inverter. This means a timeout response is triggered if the inverter does not receive a new cyclical request telegram within an adjustable timeout delay.

The following tables show the PDU types for cyclical and acyclical transmission.

However, not all PDU types are supported (depending on the type of inverter). The special PDU types are not significant for general serial communication, and are thus not included in the operator documentation. The length of the telegram depends on the related PDU type and is always calculated as follows:

Telegram length = PDU length + 4.

PDU types in CYCLICAL transmission:

TYP byte PDU name Description

00 hex

01 hex

0 dec

1 dec

02 hex

03 hex

04 hex

05 hex

2 dec

3 dec

4 dec

5 dec

06 hex

6 dec

PARAM + 1PD

1PD

PARAM + 2PD

2PD

PARAM + 3PD

3PD

PARAM + 0PD

8 bytes parameter channel + 1 process data word

1 process data word

8 bytes parameter channel + 2 process data words

2 process data words

8 bytes parameter channel +3 process data words

3 process data words

8 bytes parameter channel without process data

PDU length in bytes

4

14

6

8

10

2

12

Telegram length in bytes

14

6

16

8

18

10

12

4

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®

Serial Communication

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4

Addressing and transmission process

ACYCLICAL transmission

PDU types in ACYCLICAL transmission:

TYP byte PDU name Description

80 hex

81 hex

82 hex

83 hex

84 hex

85 hex

86 hex

128 dec

PARAM + 1PD

129 dec

1PD

130 dec

PARAM + 2PD

131 dec

2PD

132 dec

PARAM + 3PD

133 dec

3PD

134 dec

PARAM + 0PD

8 bytes parameter channel + 1 process data word

1 process word

8 bytes parameter channel + 2 process data words

2 process data words

8 bytes parameter channel +3 process data words

3 process data words

8 bytes parameter channel without process data

PDU length in bytes

10

2

12

4

14

6

8

Telegram length in bytes

14

6

16

8

18

10

12

The standard PDU types are made up of the MOVILINK

®

parameter channel and a process data channel. Please refer to the MOVIDRIVE

®

Fieldbus Unit Profile for coding of the parameter channel and the process data.

Fig. 19 shows the structure of a request telegram with the standard PDU types. The corresponding response telegram has the same structure, except for the start character

SD2.

…Idle…

SD1 ADR TYP PDU BCC

TYP 1/129

TYP 3/131

TYP 5/133

TYP 6/134

TYP 0/128

TYP 2/130

TYP 4/132

PD1

PD1 PD2

PD1 PD2 PD3

8 byte parameter channel

8 byte parameter channel

8 byte parameter channel

8 byte parameter channel

PD1

PD1

PD1

Fig. 19: Structure of the request telegram with the standard PDU types

PD2

PD2 PD3

01493BEN

24

MOVIDRIVE

®

Serial Communication

Addressing and transmission process

Block check character BCC

Transmission reliability

The transmission reliability of the MOVILINK

®

protocol is improved by the combination of character parity and block parity. This involves setting the parity bit for each character of the telegram in such a way that the number of binary ones, including the parity bit, is even. This means supplementing by the parity bit results in even character parity.

Block parity offers extra security. In this case, the telegram is supplemented by an additional block check character (BCC). Each single bit of the block check character is set in such a way that the telegram character is set to even parity again for all equivalent information bits. Block parity is implemented in the program structure by an EXOR logic operation of all telegram characters. The result is transmitted at the end of the telegram in the BCC. The block check character itself is also safeguarded by means of even character parity.

Creating the block check character

By way of example, the following table shows how the block check character is created for a PDU type 5 cyclical telegram with 3 process data words. The EXOR logic operation on the characters SD1 – PD3 low

results in the value 57 hex

as the block check character

BCC. This BCC is sent as the last character in the telegram. Once the receiver has received the individual characters, it performs a character parity check. Following this step, the block check character is created from the received characters SD1 – PD3 low in accordance with the procedure below. The telegram has been correctly transmitted if the calculated and received BCCs are identical and there is no character parity error.

Otherwise, a transmission error has occurred.

4

SD1: 02 hex

ADR: 01 hex

TYP: 05 hex

PD1 high: 00 hex

PD1 low: 06 hex

PD2 high: 3A hex

PD2 low: 98 hex

PD3 high: 01 hex

PD3 low: F4 hex

calculated BCC: 57 hex

0

0

0

1

1

0

0

0

0

0

0

1

0

1

0

0

0

0

0

0

0

1

1

1

1

1

1

0

0

0

0

0

0

0

0

1

0

0

1

0

EXOR

0

0

EXOR

0

0

EXOR

0

0

EXOR

0

0

EXOR

0

1

EXOR

1

1

EXOR

1

0

EXOR

0

1 0

0 1 0

0

0

0

1

1

0

0

1

0

1

1

0

0

0

1

1

0

0

0

1

0

1

0

1

1

0

0

0

0

1

Fig. 20: Creating the block check character BCC

01494BEN

MOVIDRIVE

®

Serial Communication

25

4

Addressing and transmission process

Transmission process

An asynchronous serial transmission procedure is used. This is supported by the UART components of digital technology which are generally and commonly employed. This means the MOVILINK

®

protocol can be implemented on almost all controls and master modules.

Character frame Each character in the MOVILINK

®

protocol consists of 11 bits and has the following structure:

• 1 start bit

• 8 data bits

• 1 parity bit, supplementing to even parity

• 1 stop bit

Each transmitted character starts with a start bit (always logical 0). This is followed by 8 data bits and the parity bit. The parity bit is set in such a way that the number of logical ones in the data bits, including the parity bit, is an even number. The character is completed by a stop bit which is always set to the logical level 1. This level remains on the transmission medium until a new start bit signals the start of a new character transmission.

11 bit character frame

0 1 2 3 4 5 6 7

LSB MSB even

8 data bits

Fig. 21: Character frame

01495BEN

26

MOVIDRIVE

®

Serial Communication

Addressing and transmission process

Transmission rate and transmission mechanisms

The transmission rate is 9600 baud. The communication link is monitored by the master and the inverter themselves. The master monitors the response delay time; the inverter monitors the receipt of cyclical request telegrams from the master.

Response delay time of the master

A response delay time is generally programmed on the higher-level master system. The response delay time is the time interval between the last character in the request telegram (BCC) being sent and the start of the response telegram (SD2). The maximum permitted response delay time is 50 ms. There has been a transmission error if the inverter does not respond within this time. Check the interface cable or the coding of the transmitted request telegram. For application reasons, the request telegram should now be repeated again or the next inverter should be addressed.

Character delay time

The time gap between the transmission of the characters in a request telegram must be shorter than the start pause. Otherwise, the inverter might interpret a character it receives containing 02 hex

or 1D hex

as a start character.

RS-485 timeout delay of the inverter

The maximum permitted time interval between two cyclical request telegrams is set in

MOVIDRIVE

®

using parameter P812 «RS485 timeout delay». A valid request telegram must be received within this time interval. Otherwise, the inverter triggers an RS-485 timeout error and performs a defined error response.

The MOVIDRIVE

®

is kept in a safe status until the first request telegram is received once the power is switched on or an error has been performed. «t» (= timeout active) appears on the 7-segment display of an enabled inverter; the enable setting does not have any effect. The enable takes effect once the telegram has been received and the drive starts moving.

If the inverter is controlled via the RS-485 interface (P100 «Setpoint source» = RS-485 /

P101 «Control signal source» = RS-485) and an error response involving a warning has been programmed, the process data most recently received take effect following an RS-

485 timeout and re-establishment of communication.

The RS-485 timeout acts jointly on both RS-485 interfaces. Timeout monitoring of the second interface is ineffective when the DBG11A keypad is connected, because the

DBG11A continuously sends request telegrams to the inverter, thereby triggering the timeout mechanism.

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Serial Communication

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4

Addressing and transmission process

Processing the request/response telegrams

The inverter only processes request telegrams which have been received without errors and are correctly addressed. The following reception errors can be recognized:

• Parity error

• Character frame error

• Character delay time exceeded with request telegram

• Address incorrect

• PDU type incorrect

• BCC incorrect

• Response delay time elapsed (master)

•

→

Possible send repeat

• RS-485 timeout occurred (inverter)

•

→

Triggering timeout response

The inverter does not respond to incorrectly received request telegrams! These reception errors have to be evaluated on the master end in order to safeguard data transmission.

28

MOVIDRIVE

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Serial Communication

Data contents and PDU types

4.3

Data contents and PDU types

Data contents The data content of the request and response telegram is structured with a process data area and a parameter channel in accordance with the MOVILINK

®

communication and unit profile. Refer to the documentation for the particular type of inverter for information about the coding of the process data. The individual items of process input and output data are interpreted in accordance with the fieldbus unit profile, and are not explained further in this specification.

Structure of the

MOVILINK

®

parameter channel

The MOVILINK

®

parameter channel affords access to all drive parameters of the drive inverters, regardless of the bus. Special services are available within this parameter channel in order to permit various items of parameter information to be read. In principle, it is made up of a management byte, a reserved byte, an index word and four data bytes.

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4

Managmnt.

Reserved Index high Index low Data MSB

Parameter list

Byte 5

Data

Byte 6

Data

4 byte data

Byte 7

Data LSB

Management of the parameter channel

The entire parameter setting sequence is coordinated with byte 0 «Management.» This byte is used for providing important service parameters such as service identifier, data length, version and status of the service performed. Bits 0 – 3 contain the service identifier, i.e. they define which service will be performed. Bit 4 and bit 5 specify the data length in bytes for the write service. This should be set to 4 bytes for all SEW drive inverters.

Byte 0: Management

Bit:

MSB

7 6 5 4 3 2 1

LSB

0

Service identifier:

0000 = No service

0001 = Read parameter

0010 = Write parameter

0011 = Write parameter volatile

0100 = Read minimum

0101 = Read maximum

0110 = Read default

0111 = Read scale

1000 = Read attribute

Data length:

00 = 1 byte

01 = 2 bytes

10 = 3 bytes

11 = 4 bytes

Handshake bit:

Must be changed on every new job in cyclical transmission.

Status bit:

0 = No error during execution of service

1 = Error during execution of service

4

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Serial Communication

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4

Data contents and PDU types

The handshake bit (bit 6) is used in cyclical transmission variant as an acknowledgement bit between the control and the inverter. In this variant, the parameter channel is transmitted cyclically, with the process data if necessary. For this reason, implementation of the service in the inverter has to be triggered by edge control using the handshake bit 6. To permit this, the value of this bit is altered for each new service to be performed (toggle). The inverter uses the handshake bit to signal whether the service was performed or not. The service has been performed as soon as the handshake bit received in the control corresponds to the one which was sent. Status bit

7 indicates whether it was possible to carry out the service properly or if there were errors.

Index addressing Byte 2 «Index high» and byte 3 «Index low» determine the parameter to be read or written via the fieldbus system. The parameters of the inverter are addressed using the same index in all communications interfaces. Byte 1 should be viewed as reserved and must always be set to 0x00.

Data range The data are located in byte 4 to byte 7 of the parameter channel. This means up to 4 bytes of data can be transmitted per service. The data are always entered with rightjustification, i.e. byte 7 contains the least significant data byte (data-LSB) whereas byte

4 is the most significant data byte (data-MSB).

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4

Managmnt.

Reserved Index high Index low Data MSB

Byte 5

Data

Byte 6

Data

High byte 1 Low byte 1 High byte 2 Low byte 2

High word Low word

Double word

Byte 7

Data LSB

Incorrect performance of service

The status bit in the management byte is set to signal that a service has been performed incorrectly. The service was performed by the inverter if the received handshake bit is the same as the sent handshake bit. If the status bit now signals an error, the error code is entered in the data range of the parameter telegram. Bytes 4 – 7 send back the return code in a structured format.

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6

Add. code high

Byte 7

Add. code low

Managmnt.

Reserved Index high Index low Error class Error code

↓

Status bit = 1: Incorrect performance of service

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Serial Communication

Data contents and PDU types

Description of the parameter services

Bits 0 – 3 of the management byte define the individual parameter services. The following parameter services are possible, although they are not supported by all inverters.

No service

Read parameter

Write parameter

This coding signals that there is no parameter service.

A drive parameter is read in this parameter service.

Write parameter volatile

A drive parameter is written to the permanent memory in this parameter service. The written parameter value is stored in the non-volatile memory (e.g. in an EEPROM). This service should not be used for cyclical write access, because the memory modules only permit a limited number of write cycles.

A drive parameter is written to the volatile memory in this parameter service, providing the parameter permits this. The written parameter value is only stored in the nonpermanent RAM of the inverter; it is lost when the inverter is switched off. The value written last with the Write parameter is still available when the inverter is switched back on.

Read minimum

Read maximum

Read default

Read scale

This service makes it possible to determine the smallest value (minimum) which can be set for a drive parameter. Coding is in the same way as for the parameter value.

This service makes it possible to determine the largest value (maximum) which can be set for a drive parameter. Coding is in the same way as for the parameter value.

This service makes it possible to determine the factory setting (default) of a drive parameter. Coding is in the same way as for the parameter value.

This service makes it possible to determine the scaling of a parameter. When it is performed, the inverter supplies what are referred to as a quantity index and a conversion index.

Byte 4

Data MSB

Reserved

Byte 5

Data

Byte 6

Data

Quantity index

Byte 7

Data LSB

Conversion index

Quantity index:

The quantity index is used for coding physical quantities. This index provides a communication partner with information about which physical quantity is involved with the corresponding parameter value. Coding is performed in line with the sensor/actuator systems profile of the Profibus User Organization (PNO). The entry FF hex

means that no quantity index is specified. You can also refer to the list of parameters of the inverter for the quantity index.

4

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Serial Communication

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4

Data contents and PDU types

Read attribute

Conversion index:

The conversion index is used for converting the transmitted parameter value into a basic

SI unit. Coding is performed in line with the sensor/actuator systems profile of the

Profibus User Organization (PNO).

Example:

Drive parameter:

Quantity index:

Conversion index:

P131 Ramp t11 UP CW

4 (= time with the unit «second»)

-3 (10

-3

= milli)

Transmitted numerical value:3000 dec

The drive inverter interprets the numerical value it received via the bus as follows:

3000 s

×

10

-3

= 3 s

This service makes it possible to read the access attributes and the index of the next parameter.

Byte 4

Data MSB

Next available index

Byte 5

Data

Byte 6

Data

Access attributes

Byte 7

Data LSB

The access attributes are coded for specific devices and can be found by referring to the list of parameters for the corresponding families of inverters.

Reading a parameter

The handshake bit must be changed in the cyclical transmission variant so that the service processing (performance of the READ service) will be activated. When acyclical

PDU types are used, the inverter processes each request telegram and thereby always performs the parameter channel.

Parameter setting is performed as follows:

1. Enter the index of the parameter to be read in byte 2 (Index high) and byte 3 (Index low).

2. Enter the service identifier for the read service in the management byte (byte 0).

3. In cyclical PDU types, only transfer the read service to the inverter by changing the handshake bit. The parameter channel is always evaluated in acyclical PDU types.

Since this is a read service, the sent data bytes (bytes 4 – 7) and the data length (in the management byte) are ignored and consequently do not need to be set.

32

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Serial Communication

Writing a parameter

Data contents and PDU types

The inverter now processes the read service and sends the service confirmation back by setting the handshake bit to an equal value.

7

0

6

0/1

Byte 0: Management

5 4 3 2

1 1 0 0

1

0

0

1

Service identifier:

0001 = Read

Data length:

11 = 4 bytes

Handshake bit:

Must be changed with every new job.

Status bit:

0 = No error during execution of service

1 = Error during execution of service

X = Not relevant

0/1 = Bit value is changed

The handshake bit must be changed in the cyclical transmission variant so that the service processing (performance of the WRITE service) will be activated. When acyclical PDU types are used, the inverter processes each request telegram and thereby always performs the parameter channel.

Parameter setting is performed as follows:

1. Enter the index of the parameter to be written in byte 2 (Index high) and byte 3 (Index low).

2. Enter the data to be written in bytes 4 – 7.

3. Enter the service identifier and the data length for the write service in the management byte (byte 0).

4. In cyclical PDU types, only transfer the WRITE service to the inverter by changing the handshake bit. The parameter channel is always evaluated in acyclical PDU types.

The inverter now processes the write service and sends the service confirmation back by setting the handshake bit to an equal value.

7

0

6

0/1

Byte 0: Management

5 4 3 2

1 1 0 0

1

1

0

0

Service identifier:

0010 = Write

Data length:

11 = 4 bytes

Handshake bit:

Must be changed with every new job.

Status bit:

0 = No error during execution of service

1 = Error during execution of service

0/1 = Bit value is changed

The data length is 4 bytes for all parameters in SEW drive inverters.

4

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Serial Communication

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Data contents and PDU types

Parameter setting with cyclical PDU types

Fig. 22 takes the example of the WRITE service to illustrate a parameter setting procedure between the control and the inverter concerning a cyclical PDU type. To simplify the sequence, only the management byte of the parameter channel is shown.

Higher level automatic system

RS-485

Drive Inverter

(Slave)

Parameter setting channel is prepared for WRITE service.

Parameter setting channel is received but not evaluated.

Handshake bit is toggled and service transferred to drive inverter.

Write service is processed.

Write service is executed, handshake bit is toggled.

Service acknowledge received, as send and receive handshake bits the same again.

Parameter setting channel is received but not evaluated.

00152BEN

Fig. 22: Sequence of parameter setting with handshake bit

The parameter channel is only received and returned by the drive inverter while the master is preparing the parameter channel for the write service. The service is not activated until the moment the handshake bit is changed (in this example, when it changes from 0 to 1). The drive inverter now interprets the parameter channel and processes the write service; however, it continues to respond to all telegrams with handshake bit = 0. Confirmation that the service has been performed occurs when the handshake bit in the response telegram of the drive inverter is set to the same value.

The master now detects that the received handshake bit is once again the same as the one which was sent. It can now prepare another parameter setting procedure.

34

MOVIDRIVE

®

Serial Communication

Data contents and PDU types

Sample application

Control via three process data words

In this example, the inverter (e.g. MOVIMOT

®

) is controlled via three process data words with PDU type 5 (3PD acyclical). The master sends three process output data words (PO) to the inverter. The inverter responds with three process input data words

(PI). The coding of the process data can be interpreted as follows in this example:

Request telegram from master to inverter:

PO1: 0006 hex

PO2: 2000 hex

PO3: 0BB8 hex

(e.g. control word 1 = enable)

(e.g. speed [%] setpoint = 50 %)

(e.g. ramp = 3 s)

Response telegram from inverter to master:

PI1: 0206 hex

PI2: 0000 hex

PI3: 0606 hex

(e.g. status word 1)

(e.g. speed [%] actual value = 0 %)

(e.g. status word 2)

Structure of the request and response telegram

The following figure shows the structure of the request and response telegram.

Master

Inverter

…Idle…

0x02

SD1

0x01

ADR

0x85

TYP

0x00

PA1

0x06 0x20 0x00

PA2

0x0B 0xB8

PA3

0x13

BCC

Master Inverter

…Idle…

0x1D

SD1

0x01

ADR

0x85

TYP

0x02

PA1

0x06 0x00 0x00

PA2

Fig. 23: Structure of the request telegram with standard PDU types

0x06 0x06

PA3

0x9D

BCC

01514BEN

This example shows the acyclical transmission, i.e. no timeout monitoring is active in the inverter. The cyclical transmission can be implemented by entering TYP = 5. In this case, the request telegrams must be sent by the master within the timeout delay of the inverter.

Please refer to the information in the «IPOS plus®

Positioning and Sequence Control

System» manual for applications with IPOS plus®

as the master.

4

MOVIDRIVE

®

Serial Communication

35

4

PDU types

Data contents and PDU types

List of PDU types supported by MOVIDRIVE

®

inverters:

PDU type

00 hex

01 hex

02 hex

03 hex

04 hex

05 hex

06 hex

80 hex

81 hex

82 hex

83 hex

84 hex

85 hex

0 dec

1 dec

2 dec

3 dec

4 dec

5 dec

6 dec

128 dec

129 dec

130 dec

131 dec

132 dec

133 dec

Name

PARAM + 1PD cyclical

1PD cyclical

PARAM + 2PD cyclical

2PD cyclical

PARAM + 3PD cyclical

3PD cyclical

PARAM + 0PD cyclical

PARAM + 1PD acyclical

1PD acyclical

PARAM + 2PD acyclical

2PD acyclical

PARAM + 3PD acyclical

3PD acyclical

All inverters support the READ parameter service in PDU type PARAM + 0PD acyclical

(86 hex

/134 dec

).

36

MOVIDRIVE

®

Serial Communication

Slave data exchange via MOVILINK®

5 System Bus (SBus)

5.1

Slave data exchange via MOVILINK

®

Communication via MOVILINK

®

incorporates the data exchange of parameter and process data telegrams. The MOVIDRIVE

®

unit can communicate as master or slave in this process.

As master, the unit can actively initiate a data exchange of parameter and process data telegrams using an IPOS plus®

program with the MOVLNK command.

As slave, the unit can receive and answer parameter and process data telegrams via the SBus.

Various types of telegrams have been defined for communication with a master control.

These types can be divided into three categories:

• Synchronization telegram

• Process data telegrams

• Parameter telegrams

CAN bus identifier

On the SBus, it is necessary to differentiate between these various types of telegram by means of the identifier (ID). As a result, the ID of an SBus telegram is made up of the type of telegram and the SBus address which is set using either parameter P813 (SBus address) or parameter P814 (SBus group address).

The CAN bus identifier is 11 bits in length because only standard identifiers are used.

The 11 bits of the identifier are divided into three groups.

• Function (bits 0 – 2)

• Address (bits 3 –

• Process data/parameter data switch (bit 9)

5 4 3 2 1 0

Bit:

0

10

X

9 8 7 6 5

Address

4

0 = Process data telegram

1 = Parameter data telegram

3

Reserved = 0

Fig. 24: CAN identifier for SBus via MOVILINK

®

X X X

2 1

Function

0

02250BEN

Bit 9 is used for differentiating between process data and parameter data telegrams. Bit

10 is reserved and must be 0. The address of parameter and process data telegrams contains the SBus address (P813) of the unit to which a request is being sent, while the address of group parameter and group process data telegrams contains the SBus group address (P814).

5

MOVIDRIVE

®

Serial Communication

37

5

Slave data exchange via MOVILINK®

Creating the identifiers

The following table shows the relationship between the type of telegram and the address when the identifiers for SBus MOVILINK

®

telegrams are created:

Identifier

8

×

SBus address + 3

8

×

SBus address + 4

8

×

SBus address + 5

8

×

SBus group address + 6

8

×

SBus address + 512 + 3

8

×

SBus address + 512 + 4

8

×

SBus group address + 512 + 6

Telegram type

Process output data telegram (PO)

Process input data telegram (PI)

Process output data telegram synchronizable (PO-sync)

Group process output data telegram (GPO)

Parameter request telegram

Parameter response telegram

Group parameter request telegram

Synchronization telegram

A fixed time base of 5 milliseconds must be specified for transferring process data and parameter data. For this purpose, a synchronization telegram must be sent from the master control to the connected drive inverters in the first millisecond of a cycle.

Sync telegram

Process output data telegrams

Master Control

Parameter request telegram

Sync telegram

Process output data telegrams

Sync telegram

1.

2.

3.

4.

5.

Send range of process output data

Process input data telegrams

1.

2.

3.

4.

5.

1.

2.

t [ms]

Send range of process output data

Process input data telegrams

Process input data telegrams

Parameter response telegram

01020BEN

Fig. 25: The bus time is divided into bus cycles

The synchronization telegram is a broadcast telegram. As a result, all drive inverters receive this telegram. The identifier of this telegram is set to zero in the factory setting.

Any value between 0 and 2047 can be selected, but there must not be any overlap with the identifiers of the process or parameter data telegrams.

38

MOVIDRIVE

®

Serial Communication

Slave data exchange via MOVILINK®

Process data telegrams

Process data telegrams are comprised of a process output and a process input data telegram. The process output data telegram is sent from the master to a slave; it contains the setpoint values for the slave. The process input data telegram is sent from the slave to the master and contains the actual values of the slave.

The setting for the number of process data items is fixed at the value «3 process data words.»

Byte

0

PO1

Byte

1

Byte

2

PO2

Byte

3

Byte

4

Byte

5

PO3

E Q E Q

PI1 PI2

PI3

5

02248BEN

Fig. 26: Process data telegrams

The process data are sent at certain times within the fixed time base of five milliseconds.

The system distinguishes between synchronous and asynchronous process data.

Synchronous process data are sent at specific times within the time base. As such, the process output data must be sent by the master control at the earliest 500 µs after the second millisecond and at the latest 500 µs before the first millisecond (

→

Fig. 25). The process input data are sent by MOVIDRIVE

®

as a response in the first millisecond.

Asynchronous process data are not sent within the time base. The process output data can be sent by the master control at any time and they are answered by the

MOVIDRIVE

®

unit within one millisecond by a process input data telegram.

Group parameter telegram

The group parameter telegram is sent from the master to one or more slaves with the same SBus group address. Its structure is the same as the parameter request telegram.

This telegram can only be used for writing parameters to the slave units; the slaves do not respond to the telegram.

E Q

ID

Byte

0

Byte

1

Byte

2

Byte

3

Byte

4

Byte

5

Byte

6

Byte

7

Management

Res.

Index

High

Index

Low

Data

MSB

Data Data

Data

LSB

CRC

E Q

02247BEN

Fig. 27: Group parameter telegram

MOVIDRIVE

®

Serial Communication

39

5

Slave data exchange via MOVILINK®

Parameter telegrams

Parameter telegrams are made up of a parameter request telegram and a parameter response telegram.

The parameter request telegram is sent by the master in order to read or write a parameter value. It consists of the:

• Management byte

• Index high byte

• Index low byte

• Four data bytes

The management byte specifies which service should be performed. The index specifies for which parameter the service should be performed and the four data bytes contain the numerical value which should be read or written (

→

«Fieldbus Unit Profile» manual).

The parameter response telegram is sent by the slave in response to the parameter request telegram from the master. The request and response telegrams have the same structure.

E Q

ID

Byte

0

Byte

1

Byte

2

Byte

3

Byte

4

Byte

5

Byte

6

Byte

7

Management

Res.

Index

High

Index

Low

Data

MSB

Data Data

Data

LSB

CRC

E Q

ID

Management

Res.

Index

High

Index

Low

Data

MSB

Data Data

Data

LSB

CRC

02246BEN

Fig. 28: Parameter telegrams

In the case of parameter telegrams, the system also distinguishes between synchronous and asynchronous telegrams. Synchronous parameter telegrams are answered within the time base of five milliseconds. The response telegram is sent in the first millisecond. Asynchronous parameter telegrams are answered regardless of the time base.

Group process data telegram

The group process data telegram is sent from the master to one or more slaves with the same SBus group address. Its structure is the same as the process output data telegram. This telegram can be used for sending the same setpoint values to several slaves which share the same SBus group address. The slaves do not respond to the telegram.

E

Byte

0

PO1

Byte

1

Byte

2

PO2

Byte

3

Byte

4

Byte

5

PO3

E

40

Fig. 29: Group process data telegram

02249BEN

MOVIDRIVE

®

Serial Communication

Parameter settings

Slave data exchange via MOVILINK®

The following parameters have to be set for communication via the SBus:

Par. Name

100 Setpoint source

101 Control signal source

813 SBus address

814 SBus group address

815 SBus timeout delay

Setting

SBus

SBus

0 – 63

0 – 63

0 – 650 s

Meaning

The inverter gets its setpoint from the SBus.

The inverter gets its control commands from the SBus.

Setting the SBus address by which the parameter and process data are exchanged.

Setting the SBus group address by which the group parameter data and group process data can be received.

Monitoring time for data transmission via the

SBus. MOVIDRIVE

®

performs the error response set in P836 if there is no data traffic on the SBus within this time. Data transmission monitoring for the SBus is deactivated if P815 is set to 0 or 650 s.

816 SBus baud rate

125/250/500/1000 kbaud

The transmission speed of the SBus is set.

817 SBus synchronization ID 0 – 2047

836

870

871

872

873

874

875

876

Response SBus TIMEOUT

Setpoint description PO1

Setpoint description PO2

Setpoint description PO3

Actual value description PI1

Actual value description PI2

Actual value description PI3

PO data enable

Factory setting:

EMERG.STOP/

ERROR

Factory setting:

CTRL. WORD 1

SPEED

NO FUNCTION

Factory setting:

STATUS WORD1

SPEED

NO FUNCTION

ON

A synchronization between the drives can take place for transmitting process data and parameter data via the SBus. To do this, the master control has to send a synchronization telegram to the connected inverters at specific intervals. P817 is used for setting the identifier

(address) of the synchronization signal in the inverter for the SBus. Make sure there is no overlap between the identifiers for the process data or parameter data telegrams.

This programs the error response which is triggered by the system bus timeout monitoring.

The content of the process output data words

PO1/PO2/PO3 is defined. This is necessary so

MOVIDRIVE

®

can allocate the appropriate setpoints.

The content of the process input data words

PI1/PI2/PI3 is defined. This is necessary so

MOVIDRIVE

®

can allocate the appropriate actual values. Furthermore, the process data must be enabled for the unit to adopt the setpoints.

5

MOVIDRIVE

®

Serial Communication

41

5

Setting parameters via the CAN bus

5.2

Setting parameters via the CAN bus

The MOVIDRIVE

®

drive inverter supports the «MOVILINK

®

parameter channel» and the

«MOVILINK

®

parameter channel-SYNC» with the SBus.

Master control

E Q

42

CAN bus

01025BEN

Fig. 30: Services via the CAN bus

Services

Structure of the parameter telegram

The drive inverter parameters are read and written via the SBus using the «MOVILINK

® parameter channel» and «MOVILINK

®

parameter channel synchronized» services of the application layer (layer 7).

In order to set the parameters of peripheral units via fieldbus systems which do not provide an application layer, it is necessary to recreate the most important functions and services such as READ and WRITE for reading and writing parameters. A parameter telegram is defined for this purpose, e.g. for CAN. This parameter telegram is described by an identifier which is dependent on the set SBus synchronization ID. Parameter data can be exchanged via the parameter telegram (

→

Fig. 31).

E

Parameter request telegram

Parameter response telegram

Fig. 31: Parameter telegram for CAN

01026BEN

The following table shows the structure of the parameter telegram. In principle, it is made up of a management byte, an index word, a reserved byte and four data bytes.

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4

Managmnt.

Reserved Index high Index low Data MSB

Parameter list

Byte 5

Data

Byte 6

Data

4 byte data

Byte 7

Data LSB

MOVIDRIVE

®

Serial Communication

Setting parameters via the CAN bus

Management of the parameter telegram

The entire parameter setting sequence is coordinated with byte 0: «Management» byte.

This byte is used for providing important service parameters such as service identifier, data length, version and status of the service performed. The following table shows that bits 0 – 3 contain the service identifier, and consequently they define which service is performed. Bit 4 and bit 5 specify the data length in bytes for the WRITE service. The data length should be set to 4 bytes for all SEW drive inverters.

• Handshake mode bit = 0: Asynchronous response to the synchronization telegram

• Handshake mode bit = 1: Synchronous response to the synchronization telegram in the first millisecond

Status bit 7 indicates whether it was possible to carry out the service properly or if there were errors.

Byte 0: Management

Bit:

MSB

7 6 5 4 3 2 1

LSB

0

Service identifier:

0000 = No service

0001 = Read parameter

0010 = Write parameter

0011 = Write parameter volatile

0100 = Read minimum

0101 = Read maximum

0110 = Read default

0111 = Read scale

1000 = Read attribute

Data length:

11 = 4 bytes

Handshake mode bit:

0 = Asynchronous, send response immediately

1 = Synchronous, do not send response until SYNC telegram has been received

Status bit:

0 = No error during execution of service

1 = Error during execution of service

Index addressing Byte 2: Index high and byte 3: Index low determine the parameter which is to be read or written via the fieldbus system. The parameters of a drive inverter are addressed with a uniform index regardless of the connected fieldbus system.

Byte 1 should be viewed as reserved and must always be set to 0x00.

5

MOVIDRIVE

®

Serial Communication

43

5

Setting parameters via the CAN bus

Data range The data are located in byte 4 to byte 7 of the parameter telegram. This means up to 4 bytes of data can be transmitted per service. The data are always entered with rightjustification, i.e. byte 7 contains the least significant data byte (data-LSB) whereas byte

4 is the most significant data byte (data-MSB).

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4

Managmnt.

Reserved Index high Index low Data MSB

Byte 5

Data

Byte 6

Data

High byte 1 Low byte 1 High byte 2 Low byte 2

High word Low word

Double word

Byte 7

Data LSB

Incorrect performance of service

The status bit in the management byte is set to signal that a service has been performed incorrectly. If the status bit now indicates an error, the error code is entered in the data range of the parameter telegram. Bytes 4 – 7 send back the return code in a structured format.

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6

Add. code high

Byte 7

Add. code low

Managmnt.

Reserved Index high Index low Error class Error code

↓

Status bit = 1: Incorrect performance of service

MOVILINK

®

parameter channel

The MOVILINK

®

parameter channel is described in detail in the «MOVIDRIVE

®

Fieldbus

Unit Profile» manual.

It is important to distinguish between synchronized and non-synchronized parameters in connection with the CAN bus.

• With non-synchronized parameter telegrams, the acknowledgement is independent of the sync telegram.

• With synchronized parameter telegrams, the acknowledgement is not sent until after the sync telegram has been sent in the first millisecond.

44

MOVIDRIVE

®

Serial Communication

Setting parameters via the CAN bus

Procedure for setting parameters with CAN

Taking the example of the WRITE-SYNC service, Fig. 32 represents a process of setting parameters between the control and the drive inverter via CAN. To simplify the sequence, Fig. 16 only shows the management byte of the parameter telegram.

While the control is preparing the parameter telegram for the WRITE-SYNC service, the drive inverter receives sync telegrams and receives and sends back process data telegrams. The service is activated after the parameter request telegram has been received. The drive inverter now interprets the parameter telegram and processes the

WRITE-SYNC service. At the same time, it responds to all process data telegrams. The parameter response telegram is not sent until after the SYNC telegram has been received.

Control

(Master)

CAN

Drive Inverter

(Slave)

Send parameter telegram

Send process output data

Send SYNC telegram

Receive process input data

Service was performed correctly

01110010

Process output data message

SYNC message

Process input data message

01110010

Receive request telegram

Receive process output data

SYNC telegram received; parameter response telegram and process input data telegram are sent upon receipt

01028BEN

Fig. 32: Procedure for setting parameters with CAN

Parameter file format

When parameters are set via the SBus interface, the same parameter coding is used as in RS-232 or RS-485 serial interfaces.

The data formats and ranges of values for the individual parameters are listed in the

«MOVIDRIVE

®

Fieldbus Unit Profile» manual.

5

MOVIDRIVE

®

Serial Communication

45

5

Setting parameters via the CAN bus

Return codes for parameter setting

In the event of an incorrect parameter setting, the drive inverter sends back various return codes to the master which set the parameters. These codes provide detailed information about the cause of an error. All of these return codes are structured in accordance with DIN 19245 P2. The system distinguishes between the following elements:

• Error class

• Error code

• Additional code

These return codes are described in the «MOVIDRIVE

®

Fieldbus Unit Profile» manual.

Special cases The fieldbus software describes parameter setting errors which cannot be identified either by layer 7 or the system software of the drive inverter.

This situation refers to the following special cases:

• Errors in parameter settings

An incorrect code was entered in the management byte during the implementation of a read or write service via the CAN bus.

Error class:

Error code:

Add. code high:

0

Add. code low: 0

Code (dec) Meaning

5 Service

5 Incorrect value

—

—

46

MOVIDRIVE

®

Serial Communication

Master data exchange via MOVILINK®

5.3

Master data exchange via MOVILINK

®

MOVILINK

®

commands can be sent via IPOS plus®

in order to send parameter or process data telegrams to other stations. The command for implementing a parameter and/or process data exchange is MOVLNK.

MOVLNK Ml

_Movilink (…)

The Movilink (…) command is not multimaster-capable. Only master is permitted within the whole network during the entire implementation time of a MOVLNK command!

Use the IPOS plus®

SCOM command if you want to use a multimaster-capable protocol.

The Movilink (…) command has the variable H as its argument. This variable refers to a command structure. All information required for communication must be entered into this command structure.

The command structure contains several variables which select the interface defining the type of transmission and the data. The command structure is explained in the following table:

Variable no.

Name

H

H + 1 Ml.Address

Values

Ml.BusType

0 = RESERVED

1 = S0 (RS-485 #1)

2 = S1 (RS-485 #2)

3 = RESERVED

4 = RESERVED

5 = SBus

0 – 63 (SBus)

100 – 163 (SBus)

Meaning

This selects the interface to be used for transmitting a

MOVILINK

®

command.

– SBus address is required for standard services.

– 100 must be added to the SBus group address in order to calculate the group address.

H + 2

H + 3

H + 4

H + 5

H + 6

Ml.Format

Ml.Service

Ml.Index

0 = Param + 1PD

1 = 1PD

2 = Param + 2PD

3 = 2PD

4 = Param + 3PD

5 = 3PD

6 = Param (without

PD)

1 = Read

2 = Write

3 = Write without saving

Index number of a parameter

Ml.DPointer Variable number

Ml.Result

Error code or 0

Description of the telegram structure, e.g. Frametype = 4:

Parameters and 3 process data items are transmitted with one MOVLNK command.

– Read a parameter via parameter telegram.

– Write with saving to non-volatile memory.

– Write without saving.

Index number of the parameter to be modified or read

Number of the variable H’ where the read data are stored or from where the data to be written are obtained.

Contains the error code after implementation of the service, or contains zero if no error has occurred.

The DPointer points to a data structure which is explained in the following table:

MLDATA Mld Variable no.

Name

1)

H’

H’ + 1

Mld.Write

Par

Mld.Read

Par

H’ + 2

H’ + 3

H’ + 4

H’ + 5

H’ + 6

H’ + 7

Mld.PO1

Mld.PO2

Mld.PO3

Mld.PI1

Mld.PI2

Mld.PI3

1) The name is not displayed.

Meaning

Contains the data for a parameter write service.

Contains the data read by a parameter service.

First process output data word sent from the master unit to the slave unit.

Second process output data word sent from the master unit to the slave unit.

Third process output data word sent from the master unit to the slave unit.

First process input data word sent from the slave unit to the master unit.

Second process input data word sent from the slave unit to the master unit.

Third process input data word sent from the slave unit to the master unit.

5

MOVIDRIVE

®

Serial Communication

47

5

Master data exchange via MOVILINK®

IPOS plus®

sample program

MOVLNK Ml

The command structure is initialized first. The following table shows a sample command structure:

Name

Ml.BusType

Ml.Address

Ml.Format

Ml.Service

Ml.Index

Ml.DPointer

1

4

Value

5

1

8318

H20

Meaning

Use of the SBus

Slave address

Parameter data and 3 process data items

Read parameter data

Index of the parameter: Speed

Data structure starting with variable H20

MOVLNK Mld

The DPointer points to the data structure that can be initialized with the following values:

Name

1)

Mld.WritePar

Mld.ReadPar

Mld.PO1

Mld.PO2

Mld.PO3

Mld.PI1

Mld.PI2

Mld.PI3

Value

0

1000000

6

5000

15000

7

5011

0

Meaning

Can contain any values because a read service is performed

This value is sent in the parameter telegram from the slave and represents the speed for parameter 8318 (notation with 3 decimal places!)

The process output data word 1 is programmed to control word 1 on the slave. The slave is enabled by the value 6.

The process output data word 2 is programmed to speed on the slave. The value 5000 specifies a speed of 1000 rpm for the slave (5000/5 rpm)

The process output data word 3 is programmed to max. speed on the slave. The value 15000 specifies a maximum speed of 3000 rpm for the slave (15000/5 rpm)

The process input data word 1 is programmed to status word

1 on the slave. The slave sends its status with the value 7.

The process input data word 2 is programmed to speed on the slave. The slave sends its actual speed with the value

5011. It is 1002.2 rpm (5011/5 rpm)

The process input data word 3 is programmed to no function on the slave. The value 0 is sent.

1) The name is not displayed.

48

MOVIDRIVE

®

Serial Communication

IPOS plus®

program sequence

Master data exchange via MOVILINK®

5

Fig. 33: Master data exchange via MOVILINK

®

05300AXX

The parameter response and process input data are updated after the Movilink (…) command has been performed, provided there was no error during the transfer. If an error did occur, this event is signaled in the return code by a value other than zero.

MOVIDRIVE

®

Serial Communication

49

5

Master/slave operation via the SBus

5.4

Master/slave operation via the SBus

Please also read the description of parameter group P75_ «Master-Slave function» in the

MOVIDRIVE

®

System Manual for more information about master/slave operation.

Master/slave operation can be performed via the SBus. It involves the master sending the setpoint value and the control word to the slaves every millisecond using an SBus group telegram.

The master and the slaves must share the same SBus group address setting (P814).

Valid addresses are in the range 0 – 63. Permitted baud rates for master/slave operation are 500 kbaud and 1000 kbaud (P816). Make sure that the baud rate settings on the master and the slaves are identical.

SBus group telegrams are used by the master for master/slave communication.

Consequently, the master cannot be controlled by other stations using SBus group telegrams since this would disrupt arbitration on the CAN bus.

Inverter 1 — MASTER

P100 Setpoint source

Bipol./Fixed setp.

P101 Control signal source

Terminals

P814 SBus group address

P750 Slave setpoint

1

Speed (SBus)

Inverter 2 — SLAVE

P100 Setpoint source

Master SBus

P101 Control signal source

Terminals

P814 SBus group address

P750 Slave setpoint

1

Master-Slave off

Inverter 3 — SLAVE

P100 Setpoint source

Master SBus

P101 Control signal source

Terminals

P814 SBus group address

P750 Slave setpoint

1

Master-Slave off

E Q E Q E Q

System bus (SBus)

Fig. 34: Example of master/slave operation

02253BEN

50

MOVIDRIVE

®

Serial Communication

Data exchange via variable telegrams

5.5

Data exchange via variable telegrams

General information

Unit parameters and process data can be exchanged between units via MOVILINK

®

.

Both the transfer frame and the identifiers are defined on the CAN bus.

Variable telegrams were introduced in order to create an open CAN bus interface. With the variable telegrams, there is a free choice of the identifier with which the telegrams are sent and the 8 bytes of data on the CAN bus are used for the content of two variables.

This provides an interface with direct access to layer 2 of the CAN bus. Consequently, the maximum processing speed is achieved for transmission of variables via the CAN bus.

The CAN bus is multimaster-capable which means every station can send a telegram.

All bus stations always listen actively to see which telegrams are being sent on the bus.

Each station filters out the telegrams which are important for itself and makes the data available to the application.

These characteristics make for an object-oriented approach. The stations send objects and those stations which want to process these objects receive them.

Each station can send and receive objects. However, it is important to note that each transmit object is only allowed to be sent by one station in order to avoid arbitration errors on the CAN bus.

CAN bus identifiers are reserved for the SBus MOVILINK

®

telegrams. The following rules apply:

1. A particular identifier may only be sent by one station. This means the identifiers used in the MOVILINK

®

protocol for sending telegrams are no longer available for the exchange of variables.

2. An SBus identifier may only be used once within a unit. This means the identifiers which are used for the SBus MOVILINK

®

protocol in a unit are no longer available for the transmission of variables.

5

MOVIDRIVE

®

Serial Communication

51

5

Data exchange via variable telegrams

Example for assignment of the

CAN identifiers

Inverter 1 (SBus)

MOVILINK slave

SBus address

SBus group address

SBus sync. ID

MOVILINK master

MOVLNK to inverter 2

0

0

1

E

Inverter 2 (SBus)

MOVILINK slave

SBus address

SBus group address

SBus sync. ID

1

2

1

E

52

System bus (SBus)

Fig. 35: Example for assignment of the CAN identifiers

The following table shows the assignment of the identifiers:

Type

SBus address

Master/slave

Parameter request ID

Parameter response ID

PO async.

PI

PO sync.

SBus group address

Master/slave

Parameter request ID

PO

SBus address

Master/slave

Parameter request ID

Parameter response ID

PO async.

PI

PO sync.

SBus group address

Master/slave

Parameter request ID

PO

Unit 1

0

Slave

Receive

Transmit

Receive

Transmit

Receive

0

Slave

Receive

Receive

1

Master

Transmit

Receive

Transmit

Receive

Transmit

2

Master

Transmit

Transmit

ID

523

524

11

12

13

515

516

3

4

5

518

6

534

22

—

—

—

—

1

Slave

Receive

Transmit

Unit 2

—

—

—

—

—

—

—

Receive

Transmit

Receive

2

Slave

Receive

Receive

02254BEN

ID

523

524

11

12

13

534

22

MOVIDRIVE

®

Serial Communication

Data exchange via variable telegrams

The following relationship results from the previous table:

1. The identifiers shown on a gray background in the table (transmit identifiers) are no longer allowed to be used for variable transmit objects within this bus line.

2. The identifiers used within a unit (

→

Unit column) are no longer allowed to be used for the variable objects (transmit and receive).

The following variable objects are not allowed to be used in the example (unit-specific!):

Unit no.

Unit 1

Unit 2

515

4

6

11

534

532

21

523

12

22

Transmit

516

5

523

12

22

19

524

13

516

3

518

524

13

531

29

11

534

4

515

4

6

11

534

532

21

523

12

Receive

516

5

523

12

22

19

524

13

3

518

524

13

531

29

11

534

Two different IPOS plus®

commands are provided for variable transfer:

1. _SBusCommDef (…): Transfer of variable telegrams

2. _SBusCommOn ( ): Initialization and start of variable telegram transfer

The following services are available for the SCOM command:

1. SCD_TRCYCL: Cyclical sending of variable telegrams

2. SCD_TRACYCL: Acyclical sending of variable telegrams

3. SCD_REC: Receiving variable telegrams

These commands are described below.

5

MOVIDRIVE

®

Serial Communication

53

5

Data exchange via variable telegrams

Cyclical sending of variable telegrams

Command: _SBusComDef (SCD_TRCYCL, TrCycle)

(For a detailed description

→

MOVIDRIVE

®

IPOS plus®

manual)

This command sets up a cyclical variable service which sends a variable telegram with a set identifier at cyclical intervals.

Cyclical data transmission is started using the

_SBusCommOn ( ) command and interrupted with a program stop.

The number of transmit objects which can be set up depends on the cycle time of the transmit objects:

Cycle time

1 – 9 ms

10 – 65530 ms

Maximum number of transmit objects

5

10

SCTRCYCL TrCycl

SCOM TRANSMIT CYCLIC contains a variable pointer as its second argument. The specified variable refers to a command structure.

Variabl e no.

H

H + 1

H + 2

H + 3

H + 4

H + 5

Name

ObjectNo 0 – 2047

Cycletime

1 – 9

10 – 65530

Offset

0 – 65534

0 – 65530

Len 0h – 8h

100h – 108h

DPointer e.g. 20

Result

Value

≥

0

-1

-2

-3

Meaning

Describes the object number (CAN bus identifier)

Cycle time: 1 – 9 ms Step 1 ms

10 – 65530 ms Step 10 ms

Time offset: 0 – 65534 ms Step 1 ms for cycle times < 10 ms

0 – 65530 ms Step 10 ms for cycle times

≥

10 ms

Number of data bytes and data format.

The length is specified in bits 0 – 3.

The data format is specified in bit 8.

The data structure starts with variable H20.

Return code of initialization:

• Free bus capacity in %

• Incorrect cycle time

• Too many objects set up

• Bus overload

The DPointer refers to the data structure, in this case variable H20.

Variabl e no.

H’

H’ + 1

Name long lTrDataLow long lTrDataHigh

Meaning

Contains the data of the first variable

Contains the data of the second variable

The second variable is used only with a set length of more than 4 bytes.

54

MOVIDRIVE

®

Serial Communication

Data exchange via variable telegrams

Receiving variable telegrams

SCREC Rec

Command: _SBusComDef (SCD_REC, Rec)

(For a detailed description

→

MOVIDRIVE

®

IPOS plus®

manual)

This command sets up a variable read service which receives a variable telegram with a set identifier.

Initialization of the objects is started using the

_SBusCommOn ( ) command and interrupted with a program stop.

The number of receive objects which can be set up is restricted to 32 objects.

SCOM RECEIVE contains a variable pointer as its second argument. The specified variable refers to a command structure.

Variabl e no.

H

Name Value

ObjectNo 0 – 2047

Meaning

H + 1

H + 2

Len 0h – 8h

100h – 108h

DPointer e.g. 20

Describes the object number (CAN bus identifier)

Number of data bytes and data format.

The length is specified in bits 0 – 3.

The data format is specified in bit 8.

Data structure starting with variable H20.

The DPointer refers to the data structure, in this case variable H20.

Variabl e no.

H’

H’ + 1

Name long lRecDataLow long lRecDataHigh

Meaning

Contains the data of the first variable

Contains the data of the second variable

The second variable is used only with a set length of more than 4 bytes.

5

MOVIDRIVE

®

Serial Communication

55

5

Data exchange via variable telegrams

Sending acyclical variable telegrams

Command: _SBusComDef (SCD_TRACYCL, TrAcycl)

(For a detailed description

→

MOVIDRIVE

®

IPOS plus®

manual)

This command sets up an acyclical variable write service which sends a variable telegram with a set identifier within an IPOS plus®

program cycle.

Initialization of the objects and sending of the object is undertaken immediately after the

SCD_TRACYCL command has been carried out.

SCD_TRACYCL contains a variable pointer as its second argument. The specified variable refers to a command structure.

SCTRACYCL TrAcycl

Variabl e no.

H10

Name Value

ObjectNo.

0 – 2047

Meaning

H11

H12

H13

Len 0h – 8h

100h – 108h

DPointer e.g. 20

Return code 2

3

0

1

Describes the object number (CAN bus identifier)

Number of data bytes and data format.

The length is specified in bits 0 – 3.

The data format is specified in bit 8.

Data structure starting with variable H20.

Ready

Transmission in progress

Transmission successful

Sending faulty

The DPointer refers to the data structure, in this case variable H20.

Name Meaning Variabl e no.

H20

H21 long lTrAcyclDataLow long lTrAcyclDataHigh

Contains the data of the first variable.

Contains the data of the second variable.

The second variable is used only with a set length of more than 4 bytes.

56

MOVIDRIVE

®

Serial Communication

Transfer formats and examples

MOTOROLA format

Telegram 1:

Data exchange via variable telegrams

5

Fig. 36: Example of SCOM with MOTOROLA format, telegram 1

05301AXX

MOVIDRIVE

®

Serial Communication

57

5

Data exchange via variable telegrams

Telegram 2:

58

Fig. 37: Example of SCOM with MOTOROLA format, telegram 2

05387AXX

MOVIDRIVE

®

Serial Communication

Data exchange via variable telegrams

In the example, a variable telegram (= telegram 1) with a length of 8 bytes (i.e. 2 variables) and object number 1 is sent from unit 1 every 100 ms and received by unit 2.

A second variable telegram (= telegram 2) with a length of 8 bytes (i.e. 2 variables) and object number 2 is sent from unit 2 every 50 ms with a time offset of 120 ms and received by unit 1.

START

0 100 120

170 200 220

Fig. 38: Time relationships with the SCOM command

270 300 ms

02256BEN

The MOTOROLA format is characterized by the fact that the high byte is transmitted first and the low byte is transmitted last.

IPOS variables

…

20 11223344h

21 55667788h

Byte

Signific.

Identifier

Value

Variable

0

MSB

1

CAN bus telegram

2 3 4

LSB MSB

5 6 7

LSB

55h 66h 77h 88h 11h 22h 33h 44h

H21 = DPointer + 1 H20 = DPointer

CRC

5

MOVIDRIVE

®

Serial Communication

59

5

Data exchange via variable telegrams

INTEL format

Telegram 1:

60

Fig. 39: Example of SCOM with INTEL format, telegram 1

02258BDE

MOVIDRIVE

®

Serial Communication

Telegram 2:

Data exchange via variable telegrams

5

05388AXX

Fig. 40: Example of SCOM with INTEL format, telegram 2

In the example, a variable telegram (= telegram 1) with a length of 8 bytes (i.e. 2 variables) and object number 1 is sent from unit 1 every 100 ms and received by unit 2.

A second variable telegram with a length of 8 bytes (i.e. 2 variables) and object number

2 is sent from unit 2 every 100 ms and received by unit 1.

The INTEL format is characterized by the fact that the low byte is transmitted first and the high byte is transmitted last.

IPOS variables

…

20 11223344h

21 55667788h

Byte

Signific.

Identifier

Value

Variable

0

LSB

1

CAN bus telegram

2 3 4

MSB LSB

5 6 7

MSB

44h 33h 22h 11h 88h 77h 66h 55h

H21 = DPointer H20 = DPointer + 1

CRC

MOVIDRIVE

®

Serial Communication

61

5

Project planning example for SBus

5.6

Project planning example for SBus

Settings

The following settings have to be made:

• Number of drive inverters: 4

• Process data length: 3

• Baud rate: 500 kbit/s

Inverter 1

SBus address = 33

Inverter 2

17

CAN bus master control

Inverter 3

11

Inverter 4

7

E E E E

Settings

SBus

02260BEN

Fig. 41: Sample for project planning

Use parameter P816 to set the required SBus baud rate on all drive inverters. The same baud rate must be set on all drive inverters. The factory setting for the baud rate is 500 kbaud. The setting for the number of process data items on the SBus is fixed at the value

«3 process data words.»

Then use parameter P813 to set the SBus address on each drive inverter. In this example, the SBus address is assigned to the drive inverters in accordance with the following table:

2

3

Drive inverter

1

4

SBus address

33 dec

17 dec

11 dec

7 dec

You can see during this process that there is no need to follow a particular sequence when setting the SBus address. However, the addresses cannot be assigned several times, i.e. two drive inverters must not share the same SBus address.

In addition, the terminating resistor must also be switched on at the cable ends. Do this by switching on the S12 DIP switches on inverters 1 and 4. The terminating resistors must be switched off on all other stations, e.g. inverters 2 and 3 and the CAN bus master control.

62

MOVIDRIVE

®

Serial Communication

Project planning example for SBus

IDs on the CAN bus

In this combination, the IDs listed below are occupied on the CAN bus:

Drive inverter

SBus address

ID Telegram type

1

2

3

4

33 dec

17 dec

11 dec

7 dec

267 Process output data telegram (PO)

268 Process input data telegram (PI)

269 Process output data telegram synchronized (PO-sync)

779 Parameter request telegram

780 Parameter response telegram

139 Process output data telegram (PO)

140 Process input data telegram (PI)

141 Process output data telegram synchronized (PO-sync)

651 Parameter request telegram

652 Parameter response telegram

91

92

Process output data telegram (PO)

Process input data telegram (PI)

93 Process output data telegram synchronized (PO-sync)

603 Parameter request telegram

604 Parameter response telegram

59 Process output data telegram (PO)

60

61

Process input data telegram (PI)

Process output data telegram synchronized (PO-sync)

571 Parameter request telegram

572 Parameter response telegram

The IDs are calculated on the basis of the set SBus address (P813) and the offset which describes the corresponding telegram.

Process data length = 3 means that the drive inverter receives exactly three process output data words and sends three process input data words to the master control.

Master control

E Q

CAN bus

Fig. 42: Programming a process data word

PD1 PD2 PD3

PD1 PD2 PD3

01024BEN

The content of the process data words is defied using the process output data description parameters 1 – 3 and the process input data description parameters 1 – 3.

5

MOVIDRIVE

®

Serial Communication

63

6

Startup problems with the SBus

6 Operation and Service

6.1

Startup problems with the SBus

• No communication on the SBus: Timeout or no response

1. SBus cable incorrect or not connected.

2. System bus high and system bus low reversed.

3. Not all stations are communicating at the same baud rate: Setting with parameter

P816.

4. Terminating resistors were not switched on or not switched on correctly (S12).

5. Collisions on the SBus because several stations are sending a transmit telegram with the same ID.

6. SBus cable too long (max. 80 m at 500 kbaud).

7. Incorrect setting of SBus address or SBus group address.

• Unit error F47: TIMEOUT SBUS

1. The unit is enabled and no process data are received via the SBus.

→

Solution:

Send process data.

2. The unit is enabled and no process data are received via the SBus within the

SBus timeout time, and the SBus timeout response has been programmed for a response with malfunction.

→

Solution: Increase SBus timeout delay.

3.

→

No communication on the SBus.

• The MOVILINK

®

transfer is being disrupted by the exchange of variables via

IPOS plus®

.

Identifiers used for the variable transfer have already been used for the MOVILINK

® transfer.

• Some variable objects cannot be sent or received.

Identifiers used for the variable transfer have already been used for the MOVILINK

® transfer.

• The data content of the variable objects is represented incorrectly.

Check the data format. Note the difference between the MOTOROLA and the INTEL formats.

• Acyclical variable transfer does function although cyclical variable transfer does not.

The cyclical variable objects and the receive objects must be started with the

SCOMON command.

• Unit cannot be enabled and displays status «t.»

The setpoint source and/or the control signal source are set to SBus and no process values are being received via the SBus. Either set the SBus timeout delay (P815) to

0 (this deactivates timeout monitoring) or send process data via the SBus.

64

MOVIDRIVE

®

Serial Communication

Return codes for parameter setting

6.2

Return codes for parameter setting

In the event of an incorrect parameter setting, the drive inverter sends back various return codes to the master which set the parameters. These codes provide detailed information about the cause of the error. All of these return codes are structured in accordance with EN 50170. The system distinguishes between the following elements:

• Error class

• Error code

• Additional code

These return codes apply to all MOVIDRIVE

®

communications interfaces.

Error class

Error code

The error class element classifies the type of error more precisely. EN 50170 defines the following different error classes.

6

7

4

5

8

2

3

Class (hex)

1

Name vfd-state application-reference definition resource service access ov other

Meaning

Status error of the virtual field unit

Error in application program

Definition error

Resource error

Error when performing service

Access error

Error in object list

Other error (see additional code)

The error class is generated by the communications software of the fieldbus interface in case there is an error in communication. This does not apply to «Error class 8 = Other error.» Return codes sent from the drive inverter system are all in «Error class 8 = Other error.» The error can be more precisely identified using the additional code element.

The error code element provides a means for more precisely identifying the cause of the error within the error class. It is generated by the communications software of the fieldbus card in the event of an error in communication. Only error code 0 («Other error code») is defined for «Error class 8 = Other error.» In this case, detailed identification is available by using the additional code.

6

MOVIDRIVE

®

Serial Communication

65

6

Return codes for parameter setting

Additional code The additional code contains the SEW-specific return codes dealing with incorrect parameter settings of the drive inverter. They are sent back to the master in «Error class

8 = Other error.» The following table shows all possible codings for the additional code.

00

00

00

00

00

00

00

00

00

00

00

00

00

00

00

00

Add. code high (hex)

00

00

19

1A

1B

1C

15

16

17

18

1D

1E

1F

20

11

12

13

14

Add. code low

(hex)

00

10

Meaning

No error

Invalid parameter index

Function/parameter not implemented

Rread access only

Parameter lock is active

Factory setting is active

Parameter value too large

Parameter value too small

Option card required for this function/parameter is missing

Error in system software

Parameter access via RS-485 process interface on X13 only

Parameter access via RS-485 diagnostic interface only

Parameter has access protection

Controller inhibit required

Incorrect parameter value

Factory setting was activated

Parameter was not saved in EEPROM

Parameter cannot be changed with enabled output stage

«Internal communications error» special case

The return code listed in the following table is sent back in case a communications error has occurred between the option card and the inverter system. The parameter adjustment service transferred via the fieldbus may not have been performed and should be repeated. If this error reoccurs, it is necessary to switch off the drive inverter completely and then back on again so it is re-initialized.

Error class:

Error code:

Add. code high:

Add. code low:

2

0

Code (dec)

6

0

Meaning

Access

Hardware error

—

—

Correcting the error

Repeat the read or write service. If this error occurs again, switch the drive inverter off completely and back on again. Contact the SEW Electronics Service for advice if this error occurs continuously.

66

MOVIDRIVE

®

Serial Communication

Explanation of the table header

P6..

P60.

P600

7 Parameter List

7.1

Explanation of the table header

The meanings of the entries in the table header are as follows:

Par. no.

Parameter

Index

Unit/index

Access

Default

Meaning/ value range

= Parameter number used in MOVITOOLS/SHELL or the DBG11A.

= Parameter name

= 16-bit index for addressing the parameter via interfaces.

Notation in decimal (= dec) and hexadecimal (= hex) format.

= Unit index according to the sensor/actuator profile of the PNO.

Abbr. = Abbreviation of the unit of measurement

Sz. = Size index (e.g. 11 = Speed)

Cv. = Conversion index (e.g. -3 = 10

-3

)

= Access attributes S = Store even with parameter lock

RO = Read only

R = Controller inhibit must be active when writing

RW = Read/write

N = The value is written from the EEPROM into the RAM during a restart

= Factory setting

= Meaning and value range of the parameter

7

Data format All parameters are treated as 32-bit values. Representation in Motorola format.

Bit 2

31

High byte

High word

Low byte High byte

Low word

Low byte

Bit 2

0

MOVILINK

®

parameters

The parameters are arranged so they are in the proprietary area of the drive profiles

(DRIVECOM-INTERBUS, CANopen, etc.). Consequently, the area for the indices of the

MOVILINK

®

parameters is as follows:

2000 hex

(= 8192 dec

) – 5FFF hex

(= 24575 dec

)

Start index

8300

10000

10300

10600

11000

16000

20000

24575

Number of indices

700

100

40

40

512

2048

513

—

Contents

Drive parameters / Display values / Scope parameters

Error responses (max. 255 error codes)

Motor table current (ID)

Motor table flux

IPOS variables (11000 + IPOS variable number)

IPOS program code

Curve points for the electronic cam

End

The Ctrl + F1 key combination calls up the index number of every selected parameter in

MOVITOOLS/SHELL.

MOVIDRIVE

®

Serial Communication

67

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

68

7.2

Complete parameter list, sorted by parameter numbers

Note that the following parameter list applies to MOVIDRIVE

®

MD_60A and

MOVIDRIVE

® compact drive inverters.

• Parameters which are valid for MOVIDRIVE

®

MD_60A only are indicated by

•

after the parameter number (Par. no.).

Par.

no.

Parameter

0.. Display values

00. Process values

000 Speed

001 User display

002 Frequency

003 Actual position

004 Output current

005 Active current

006 Motor utilization 1

007 Motor utilization 2

008 DC link voltage

009 Output current

01. Status displays

010 Inverter status

011 Operational status

012 Error status

013 Active parameter set

014 Heat sink temperature [°C]

015 Mains ON operation time [h]

016 Operating time (enabled) [h]

017 Electrical energy

02. Analog setpoints

[kWh]

020 Analog input AI1

021 Analog input AI2

[V]

[V]

022 External current limit [%]

03. Binary inputs basic unit

030 Binary input DI00

031 Binary input DI01

032 Binary input DI02

033 Binary input DI03

034 Binary input DI04

035 Binary input DI05

036 Binary inputs DI00..DI05

04. Binary inputs option

[rpm] 8318 207E rps 11

[ ] 8501 2135 0

[Hz]

[ Inc ]

8319 207F Hz

8320 2080

28

0

[%In]

[%In]

[%]

[%]

[V]

[A]

8321 2081 %

8322 2082 %

8323 2083 %

8324 2084 %

8325 2085 V

8326 2086 A

21

22

24

24

24

24

8310 2076

8310 2076

8310 2076

8310 2076

8327 2087 °C

8328 2088 s

8329 2089 s

8334 208E

8335 208F

8336 2090

8337 2091

8338 2092

8339 2093

8334 208E

21

21

24

0

0

0

0

17

4

4

8330 208A Ws 8

8331 208B V

8332 208C V

8333 208D %

0

0

0

0

0

0

0

040 Binary input DI10

041 Binary input DI11

042 Binary input DI12

043 Binary input DI13

044 Binary input DI14

045 Binary input DI15

046 Binary input DI16

047 Binary input DI17

048 Binary inputs DI10..DI17

05. Binary outputs basic unit

050 Binary output DB00

051 Binary output DO01

052 Binary output DO02

053

Binary outputs DB00, DO01,

DO02

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

8340 2094

8341 2095

8342 2096

8343 2097

8344 2098

8345 2099

8346 209A

8347 209B

8348 209C

8349 209D

8350 209E

8351 209F

8349 209D

0

0

0

0

0

0

0

0

0

0

0

0

0

-3

-3

-3

0

0

0

0

-3

-3

-3

-3

66

-3

-3

0

-3

-3

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Access Default

RO

RO

RO

RO

RO

RO

N/RO

N/RO

RO

RO

RO

0

0

0

0

0

0

0

0

0

0

0

0

0

0

RO

RO

RO

RO

100 RO

70 N/RO

0

0

70

5

N/RO

N/RO

0

0

0

0

0

0

RO

RO

RO

R/RO

N/R/RW 2

N/R/RW 3

N/R/RW 1

N/R/RW 4

N/R/RW 5

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

RO

N/RW

N/RW

RO

0

0

0

0

0

0

2

1

0

Meaning / value range

Low word coded as status word 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

Bit 0 = DI00 – Bit 5 = DI05

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

0 – 25, step 1

Bit 0 = DI10 – Bit 7 = DI17

0 – 22, step 1

0 – 22, step 1

Bit 0 = DB00, Bit 1 = DO01, Bit 2 = DO02

MOVIDRIVE

®

Serial Communication

Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Par.

no.

072

Parameter

06. Binary outputs option

060 Binary output DO10

061 Binary output DO11

062 Binary output DO12

063 Binary output DO13

064 Binary output DO14

065 Binary output DO15

066 Binary output DO16

067 Binary output DO17

068 Binary outputs DO10..DO17

07. Unit data

070 Unit type

071 Unit rated current [A]

Option 1

073 Option 2

074 Firmware option 1

075 Firmware option 2

076 Firmware basic unit

077 Technology function

08. Error memory time t-x

080 Error t-0

Input terminals 1..6

Input terminals (opt.) 1..8

Output terminals 1..3

Output term. (optional) 1..8

Operational status

Heat sink temperature [°C]

Speed

Output current

Active current

Unit utilization

[rpm]

[%]

[%]

[%]

DC link voltage [V]

Mains ON operation time [h]

Operating time (enabled) [h]

Parameter set

Motor utilization 1

Motor utilization 2

[%]

[%]

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

Access Default Meaning / value range

8352 20A0

8353 20A1

8354 20A2

8355 20A3

8356 20A4

8357 20A5

8358 20A6

8359 20A7

8360 20A8

8301 206D

8361 20A9 A

0

0

0

0

0

0

0

0

0

0

22

0

0

0

0

0

0

0

0

0

0

-3

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

RO 0

RO

RO

0

0

0 – 22, step 1

0 – 22, step 1

0 – 22, step 1

0 – 22, step 1

0 – 22, step 1

0 – 22, step 1

0 – 22, step 1

0 – 22, step 1

Bit 0 = DO10 – Bit 7 = DO17

8362 20AA

8363 20AB

8364 20AC

8365 20AD

8300 206C

8878 22AE

0

0

0

0

0

0

0

0

0

0

0

0

RO

RO

RO

RO

RO

RW

0

0

0

0

0

0

0 = SHORT CIRCUIT

1 = Invalid

2 = FIELDBUS

3 = DPI/DPA

4 = DRS

5 = AIO

6 = Invalid

7 = DIO

8 = Invalid

9 = NONE

See menu no. 072 or index 8362

Example:

822609711 = 822 609 7.11

1822609011 = 822 609 X.11

0 = Standard

1 = Electronic cam

2 = ISync

3 = Auto ASR

8366 20AE

8371 20B3

8376 20B8

8381 20BD

8386 20C2

8391 20C7

0

0

8396 20CC °C 17

8401 20D1 rps 11

0

0

0

0

8406 20D6 %

8411 20DB %

8416 20E0 %

8421 20E5 V

8426 20EA s

8431 20EF s

8391 20C7

8441 20F9 %

8446 20FE %

4

4

0

24

24

24

24

24

21

70

70

0

-3

-3

-3

-3

-3

-3

0

0

0

0

N/RO

N/RO

N/RO

N/RO

0

0

N/RO

N/RO

100 N/RO 0

66 N/RO 0

0

0

0

0

0

0

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

0

0

0

0

0

N/RO 0

0

0

0

Bit 0 = DI00 – Bit 5 = DI05

Bit 0 = DI10 – Bit 7 = DI17

Bit 0 = DB00, Bit 1 = DO01, Bit 2 = DO02

Bit 0 = DO10 – Bit 7 = DO17

Low word coded as status word 1

7

MOVIDRIVE

®

Serial Communication

69

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

Par.

no.

Parameter

081 Error t-1

Input terminals 1..6

Input terminals (opt.) 1..8

Output terminals 1..3

Output term. (optional) 1..8

Operational status

Heat sink temperature [°C]

Speed

Output current

[rpm]

[%]

Active current

Unit utilization

[%]

[%]

DC link voltage [V]

Mains ON operation time [h]

Operating time (enabled) [h]

Parameter set

Motor utilization 1

Motor utilization 2

[%]

[%]

082 Error t-2

Input terminals

Input terminals

Output terminals

1..6

1..8

1..3

Output term. (optional) 1..8

Operational status

Heat sink temperature [°C]

Speed

Output current

Active current

Unit utilization

[rpm]

[%]

[%]

[%]

DC link voltage [V]

Mains ON operation time [h]

Operating time (enabled) [h]

Parameter set

Motor utilization 1

Motor utilization 2

[%]

[%]

083 Error t-3

Input terminals 1..6

Input terminals (opt.) 1..8

Output terminals

Output terminals

1..3

1..8

Operational status

Heat sink temperature [°C]

Speed

Output current

Active current

Unit utilization

[rpm]

[%]

[%]

[%]

DC link voltage [V]

Mains ON operation time[h]

Operating time (enabled)[h]

Parameter set

Motor utilization 1

Motor utilization 2

[%]

[%]

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

8367 20AF

8372 20B4

8377 20B9

8382 20BE

0

0

0

0

0

0

0

0

8387 20C3

8392 20C8

8397 20CD °C

8402 20D2 rps

0

0

17

11

Access Default

N/RO

N/RO

N/RO

N/RO

0

0

N/RO

N/RO

100 N/RO 0

66 N/RO 0

0

0

0

0

0

0

Meaning / value range

Bit 0 = DI00 – Bit 5 = DI05

Bit 0 = DI10 – Bit 7 = DI17

Bit 0 = DB00, Bit 1 = DO01, Bit 2 = DO02

Bit 0 = DO10 – Bit 7 = DO17

Low word coded as status word 1

8407 20D7 %

8412 20DC %

8417 20E1 %

8422 20E6 V

8427 20EB s

8432 20F0 s

8392 20C8

8442 20FA %

24

24

24

21

4

4

0

24

-3

-3

-3

-3

70

70

0

-3

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

0

0

0

0

0

0

0

0

8447 20FF %

8368 20B0

8373 20B5

8378 20BA

8383 20BF

8388 20C4

8393 20C9

8398 20CE °C

8403 20D3 rps 11

8408 20D8 % 24

8413 20DD %

8418 20E2 %

24

24

8423 20E7 V

8428 20EC s

8433 20F1 s

8393 20C9

4

0

21

4

0

0

0

17

0

0

24

0

-3

70

70

0

66

-3

-3

-3

0

0

-3

0

N/RO

N/RO

N/RO

N/RO

0

0

N/RO

N/RO

0 N/RO 0

100 N/RO 0

0

0

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

0

0

0

0

0

0

0

0

0

0

0

0

Bit 0 = DI00 – Bit 5 = DI05

Bit 0 = DI10 – Bit 7 = DI17

Bit 0 = DB00, Bit 1 = DO01, Bit 2 = DO02

Bit 0 = DO10 – Bit 7 = DO17

Low word coded as status word 1

8443 20FB %

8448 2100 %

8369 20B1

8374 20B6

8379 20BB

8384 20C0

8389 20C5

8394 20CA

8399 20CF °C 17

8404 20D4 rps 11

8409 20D9 %

8414 20DE %

24

24

8419 20E3 %

8424 20E8 V

8429 20ED s

8434 20F2 s

4

4

24

21

8394 20CA

8444 20FC %

8449 2101 %

0

24

24

0

0

0

0

0

0

24

24

0

-3

-3

0

0

0

0

0

0

-3

-3

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

-3

-3

70

70

100 N/RO 0

66 N/RO 0

-3

-3

N/RO

N/RO

0

0

N/RO

N/RO

0

0

N/RO 0

N/RO 0

N/RO

N/RO

N/RO

0

0

0

0

0

0

0

0

0

0

0

Bit 0 = DI00 – Bit 5 = DI05

Bit 0 = DI10 – Bit 7 = DI17

Bit 0 = DB00, Bit 1 = DO01, Bit 2 = DO02

Bit 0 = DO10 – Bit 7 = DO17

Low word coded as status word 1

70

MOVIDRIVE

®

Serial Communication

Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Par.

no.

Parameter

084 Error t-4

Input terminals 1..6

Input terminals (opt.) 1..8

Output terminals 1..3

Output term. (optional) 1..8

Operational status

Heat sink temperature [°C]

Speed

Output current

[rpm]

[%]

Unit utilization

DC link voltage [V]

[%]

Mains ON operation time [h]

Operating time (enabled) [h]

Parameter set

Motor utilization 1

Motor utilization 2

09. Bus diagnostics

[%]

[%]

090

091

092

093

094

095

096

097

098

099

PD configuration

Fieldbus type

Fieldbus baud rate

Fieldbus address

PO1 setpoint

PO2 setpoint

PO3 setpoint

PI1 actual value

PI2 actual value

PI3 actual value

[hex]

[hex]

[hex]

[hex]

[hex]

[hex]

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

8370 20B2

8375 20B7

8380 20BC

8385 20C1

0

0

0

0

0

0

0

0

8390 20C6

8395 20CB

8400 20D0 °C

8405 20D5 rps

0

0

17

11

Access Default

N/RO

N/RO

N/RO

N/RO

0

0

N/RO

N/RO

100 N/RO 0

66 N/RO 0

0

0

0

0

0

0

Meaning / value range

Bit 0 = DI00 – Bit 5 = DI05

Bit 0 = DI10 – Bit 7 = DI17

Bit 0 = DB00, Bit 1 = DO01, Bit 2 = DO02

Bit 0 = DO10 – Bit 7 = DO17

Low word coded as status word 1

8410 20DA %

8420 20E4 %

8425 20E9 V

8430 20EE s

8435 20F3 s

8395 20CB

8445 20FD %

8450 2102 %

24

24

21

4

4

0

24

24

-3

-3

-3

70

70

0

-3

-3

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

N/RO

0

0

0

0

0

0

0

0

8451 2103

8452 2104

0

0

0

0

N/S/RO 4

0 = PARAM + 1PD

1 = 1PD

2 = PARAM + 2PD

3 = 2PD

4 = PARAM + 3PD

5 = 3PD

6 = PARAM + 6PD

7 = 6PD

8 = PARAM + 10PD

9 = 10PD

0 = NO FIELDBUS

1 = PROFIBUS FMS/DP

2 = INTERBUS

3 = Reserved

4 = CAN

5 = PROFIBUS DP

0 – FFFFFFFFh, step 1

0 – 65535, step 1

8453 2105

8454 2106

8455 2107

8456 2108

8457 2109

8458 210A

8459 210B

8460 210C

0

0

0

0

0

0

0

0

S/RO 0

0

0

0

0

0

0

-3

0

S/RW 0

S/RW 0

S/RO

S/RO

0

0

S/RO

RO

RO

RO

0

0

0

0

7

MOVIDRIVE

®

Serial Communication

71

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

Par.

no.

Parameter

1.. Setpoints/ramp generators

10. Setpoint selection

Index

Dec Hex

Unit/index

Abbr. Sz.

Cv.

Access Default Meaning / value range

100

101

110

111

112

113

114

115

130

131

132

133

134

Setpoint source

Control signal source

11. Analog input AI1

AI1 scaling

AI1 offset

AI1 operation mode

AI1 voltage offset

AI1 speed offset

Filter setpoint

12. Analog inputs (optional)

13. Speed ramps 1

Ramp t11 UP CW

Ramp t11 DOWN CW

Ramp t11 up CCW

Ramp t11 down CCW

[mV]

[V]

[rpm]

[ms]

120 AI2 operation mode (optional)

[s]

[s]

[s]

[s]

Ramp t12 UP=DOWN [s]

8461 210D

8462 210E

8463 210F

8464 2110 V

8465 2111

8466 2112 V 21

8467 2113 rps 11

8468 2114 s

8469 2115

8470 2116 s

8471 2117 s

8472 2118 s

8473 2119 s

8474 211A s

0

0

0

21

0

4

0

4

4

4

4

4

0

0

-3

-3

0

-3

66

-6

0

N/R/RW 0

N/R/RW 0

N/RW

N/RW

N/RW

N/RW

N/RW

N/RW

1000

0

1

0

0

5000

N/R/RW 0

0 = BIPOL./FIX.SETPT

1 = UNIPOL/FIX.SETPT

2 = RS-485

3 = FIELDBUS

4 = MOTOR POT

5 = MOT.POT +AI1

6 = FIX SETP+AI1

7 = FIX SETP*AI1

8 = MASTER-SBus.

9 = MASTER-RS-485

10 = SBus

0 = TERMINALS

1 = RS-485

2 = FIELDBUS

3 = SBus

-10000 – -0, step 10

0 – 10000, step 10

-500 – -0, step 1

0 – 500, step 1

0 = Ref. 3000 rpm

1 = Ref. N-MAX

2 = U-Off., N-MAX

3 = N-Off., N-MAX

4 = Expert charact.

5 = N-MAX, 0-20mA

6 = N-MAX, 4-20mA

-10000 – -0, step 10

0 – 10000, step 10

-5000000 – -0, step 200

0 – 5000000, step 200

0 – 1000, step 1000

1000 – 20000, step 10

20000 – 50000, step 100

50000 – 100000, step 1000

0 = NO FUNCTION

1 = 0..+/-10V+Setp.1

2 = 0..10V I-limit

3 = ACT.VAL.CONTROL.

-3

-3

-3

-3

-3

N/RW

N/RW

N/RW

N/RW

2000

2000

2000

2000

N/RW 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

72

MOVIDRIVE

®

Serial Communication

Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Par.

no.

135

136

Parameter

S pattern t12

Stop ramp t13 [s]

137 Emergency ramp t14 [s]

138 Ramp limit

14. Speed ramps 2

140 Ramp t21 UP CW [s]

141 Ramp t21 DOWN CW [s]

142

143 Ramp t21 down CCW [s]

144

Ramp t21 up CCW [s]

Ramp t22 UP=DOWN [s]

145 S pattern t22

146 Stop ramp t23 [s]

147 Emergency ramp t24 [s]

15. Motorized potentiometer

150 Ramp t3 UP [s]

151 Ramp t3 DOWN

152 Save last setpoint

[s]

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

8475 211B

8476 211C s

8477 211D s

8794 225A

0

4

4

0

0

-3

-3

0

Access Default Meaning / value range

N/RW

N/RW

N/RW

N/RW

0

2000

2000

0

0 = 0

1 = 1

2 = 2

3 = 3

0 – 1000, step 10

1000 – 10000, step 100

10000 – 20000, step 1000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 20000, step 1000

0 = NO / 1 = YES

8478 211E s

8479 211F s

8480 2120 s

8481 2121 s

8482 2122 s

8483 2123

8484 2124 s

8485 2125 s

8486 2126 s

8487 2127 s

8488 2128

4

4

4

4

4

0

4

4

4

4

0

-3

-3

-3

-3

-3

0

-3

-3

N/RW

N/RW

N/RW

N/RW

2000

2000

2000

2000

N/RW 10000

N/RW

N/RW

N/RW

0

2000

2000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 100000, step 1000

100000 – 2000000, step 10000

See menu no. 135 or index 8475

0 – 1000, step 10

1000 – 10000, step 100

10000 – 20000, step 1000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 20000, step 1000

-3

-3

0

N/RW 20000

N/RW 20000

N/RW 0

200 – 1000, step 10

1000 – 10000, step 100

10000 – 50000, step 1000

200 – 1000, step 10

1000 – 10000, step 100

10000 – 50000, step 1000

0 = OFF

1 = ON

7

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®

Serial Communication

73

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

Par.

no.

Parameter

16. Fixed setpoints 1

160 Internal setpoint n11 [rpm]

161 Internal setpoint n12 [rpm]

162 Internal setpoint n13 [rpm]

Internal setpoint n11 [%]

Internal setpoint n12 [%]

Internal setpoint n13 [%]

17. Fixed setpoints 2

170 Internal setpoint n22 [rpm]

171 Internal setpoint n22 [rpm]

172 Internal setpoint n23 [rpm]

Internal setpoint n21 [%]

Internal setpoint n22 [%]

Internal setpoint n23 [%]

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

Access Default Meaning / value range

8489 2129 rps 11

8490 212A rps 11

8491 212B rps 11

8489 2129 rps 11

8490 212A rps 11

8491 212B rps 11

66

66

66

66

66

66

N/RW

N/RW

150000

750000

N/RW 1500000

N/RW

N/RW

150000

750000

N/RW 1500000

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

8492 212C rps 11

8493 212D rps 11

8494 212E rps 11

8492 212C rps 11

8493 212D rps 11

8494 212E rps 11

66

66

66

66

66

66

N/RW

N/RW

150000

750000

N/RW 1500000

N/RW

N/RW

150000

750000

N/RW 1500000

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

-5000000 – -0, step 200

0 – 5000000, step 200

74

MOVIDRIVE

®

Serial Communication

Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Par.

no.

Parameter

2.. Controller parameters

20. Speed control

200 P gain speed controller

201

202

203

Time constant n-control.[ms]

Gain accel. precontrol

Filter accel. precontrol [ms]

204 Filter speed actual value[ms]

205 Load precontrol

206 Sample time n-control.

207 Load precontrol VFC

21. Hold controller

210 P gain hold controller

22. Synchr. oper. control

220

•

P-gain (DRS)

221

•

Master gear ratio factor

222

•

Slave gear ratio factor

223

224

225

226

227

228

•

•

•

•

•

Mode selection

Slave counter

Offset 1

Offset 2

Offset 3

Precontrol filter (DRS)

[Inc]

[Inc]

[Inc]

[Inc]

Index

Dec Hex

Unit/index

Abbr. Sz.

0

0

0

0

Cv.

Access Default Meaning / value range

8495 212F

8496 2130 s

8497 2131

8498 2132 s

8499 2133 s

8436 20F4 %

8437 20F5

8786 2252 %

0

4

0

4

4

24

0

24

-6

-3

0

-3

-3

-6

-3

-6

N/RW

N/RW

N/RW

N/RW

N/RW

2000

10000

0

0

0

100 – 32000, step 10

0 – 1000, step 1000

1000 – 20000, step 10

20000 – 50000, step 100

50000 – 200000, step 1000

200000 – 300000, step 2000

300000 – 1000000, step 20000

1000000 – 3000000, step 200000

0 – 32000, step 1

0 – 1000, step 1000

1000 – 20000, step 10

20000 – 50000, step 100

50000 – 100000, step 1000

0 – 1000, step 1000

1000 – 20000, step 10

20000 – 32000, step 100

N/RW 0

N/RW 0

-150000 – 0 – 150000, step 1000

0 = 1.0 / 1 = 0.5

N/RW 200000 -200000 – 0 – 200000, step 1000

8500 2134

8509 213D

8502 2136

8503 2137

8504 2138

8505 2139

8506 213A

8507 213B

8508 213C

8438 20F6 s

0

0

0

0

0

4

-3 N/RW 500 100 – 32000, step 10

0

0

0

0

-3

0

0

0

-6

N/RW 10000

N/RW 1

N/RW 1

N/RW

N/RW

N/RW

0

10

N/RW 10

N/RW 10

N/RW 10

0

1000 – 200000, step 1000

1 – 3999999999, step 1

1 – 3999999999, step 1

0 = MODE 1

1 = MODE 2

2 = MODE 3

3 = MODE 4

4 = MODE 5

5 = MODE 6

6 = MODE 7

7 = MODE 8

-99999999 – -10, step 1

10 – 99999999, step 1

-32767 – -10, step 1

10 – 32767, step 1

-32767 – -10, step 1

10 – 32767, step 1

-32767 – -10, step 1

10 – 32767, step 1

0 – 1000, step 1

1000 – 20000, step 10

20000 – 50000, step 100

50000 – 100000, step 1000

23. Synchr. oper. w. sync encoder

230

•

Synchronous encoder

231

•

Factor slave encoder

232

•

Factor slave sync. encoder

24. Synchr. oper. w. catch up

240 Synchronization speed [rpm]

241 Synchronization ramp [s]

8510 213E

8511 213F

8512 2140

8513 2141 rps

8514 2142 s

0

0

0

11

4

0

0

0

66

-3

N/R/RW 0

N/RW 1

N/RW 1

0 = OFF

1 = EQUAL-RANKING

2 = CHAIN

1 – 1000, step 1

1 – 1000, step 1

N/RW 1500000 0 – 5000000, step 200

N/RW 2000

0 – 1000, step 10

1000 – 10000, step 100

10000 – 50000, step 1000

7

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®

Serial Communication

75

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

Par.

no.

Parameter

3.. Motor parameters

30. Limits 1

300 Start/stop speed 1

301 Minimum speed 1

302 Maximum speed 1

303 Current limit 1

304 Torque limit

31. Limits 2

[rpm]

[rpm]

[rpm]

[%In]

310 Start/stop speed 2

311 Minimum speed 2

312 Maximum speed 2

313 Current limit 2

[rpm]

[rpm]

[rpm]

[%In]

32. Motor compensat. 1 (asynchr.)

320 Automatic adjustment 1

321 Boost 1

322 IxR compensation 1

[%]

[%]

323 Premagnetizing time 1 [s]

324 Slip compensation 1 [rpm]

33. Motor compensat. 2 (asynchr.)

330 Automatic adjustment 2

331 Boost 2

332 IxR compensation 2

[%]

[%]

333 Premagnetizing time 2 [s]

334 Slip compensation 2 [rpm]

34. Motor protection

340 Motor protection 1

341 Cooling type 1

342 Motor protection 2

343 Cooling type 2

35. Motor sense of rotation

350 Change direction of rotation 1

351 Change direction of rotation 2

Index

Dec Hex

8527 214F rps 11

8533 2155

8534 2156

8535 2157

8536 2158

8537 2159

8538 215A

Unit/index

Abbr. Sz.

8515 2143 rps

8516 2144 rps

8517 2145 rps

8518 2146 %

8688 21F0 %

8519 2147 rps

8520 2148 rps

8521 2149 rps

8522 214A %

8523 214B

8524 214C V

8525 214D V

8526 214E s

8528 2150

8529 2151 V

8530 2152 V

8531 2153 s

11

11

11

24

24

11

11

11

24

0

21

21

4

0

21

21

4

8532 2154 rps 11

0

0

0

0

0

0

Cv.

66

66

66

-3

-3

66

66

66

-3

0

-3

-3

-3

66

0

-3

-3

-3

66

0

0

0

0

0

0

Access Default Meaning / value range

N/RW 60000

N/RW 60000

N/RW 60000

N/RW 60000

N/RW 1

N/RW 0

N/RW 0

N/RW 100

N/RW 0

N/RW 1

N/RW 0

N/RW 0

N/RW 100

N/RW 0

0 – 150000, step 200

0 – 5500000, step 200

N/RW 1500000 0 – 5500000, step 200

N/RW 150000 0 – 150000, step 1000

N/RW

N/RW

N/RW

N/RW

0

0

0

0

N/R/RW 0

N/R/RW 0

0 – 150000, step 200

0 – 5500000, step 200

N/RW 1500000 0 – 5500000, step 200

N/RW 150000 0 – 150000, step 1000

N/RW 0 0 – 150000, step 1000

See menu no. 152 or index 8488

0 – 100000, step 1000

0 – 100000, step 1000

0 – 2000, step 1

0 – 500000, step 200

See menu no. 152 or index 8488

0 – 100000, step 1000

0 – 100000, step 1000

0 – 2000, step 1

0 – 500000, step 200

See menu no. 152 or index 8488

0 = FAN COOLED

1 = FORCED COOLING

See menu no. 152 or index 8488

See menu no. 341 or index 8534

See menu no. 152 or index 8488

See menu no. 152 or index 8488

76

MOVIDRIVE

®

Serial Communication

Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Par.

no.

Parameter

4.. Reference signals

40. Speed reference signal

400 Speed reference value [rpm]

401 Hysteresis [rpm]

402 Delay time [s]

403 Signal = «1» if:

41. Speed window signal

410 Window center

411 Range width

412 Delay time

[rpm]

[rpm]

[s]

413 Signal = «1» if:

42. Speed setp./act. val. comp.

420 Hysteresis [rpm]

421 Delay time [s]

422 Signal = «1» if:

43. Current reference signal

430 Current reference value [%In]

431 Hysteresis

432 Delay time

[%In]

[s]

433 Signal = «1» if:

44. Imax signal

440 Hysteresis

441 Delay time

442 Signal = «1» if:

5.. Monitoring functions

50. Speed monitoring

[%In]

[s]

500 Speed monitoring 1

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

Access Default Meaning / value range

8539 215B rps 11

8540 215C rps 11

8541 215D s 4

8542 215E 0

66

66

-3

0

N/RW 1500000 0 – 5000000, step 200

N/RW 100000 0 – 500000, step 1000

N/RW 1000

N/RW 0

0 – 9000, step 100

0 = n < n ref

1 = n > n ref

8543 215F rps 11

8544 2160 rps 11

8545 2161 s 4

8546 2162 0

66

66

-3

0

N/RW 1500000 0 – 5000000, step 200

N/RW 0 0 – 5000000, step 200

N/RW 1000

N/RW 0

0 – 9000, step 100

0 = INSIDE

1 = OUTSIDE

8547 2163 rps 11

8548 2164 s 4

8549 2165 0

66

-3

0

N/RW 100000 1000 – 300000, step 1000

N/RW 1000 0 – 9000, step 100

N/RW 1

0 = n <> n setpt

1 = n = n setpt

8550 2166 %

8551 2167 %

8552 2168 s

8553 2169

24

24

4

0

-3

-3

-3

0

N/RW 100000 0 – 150000, step 1000

N/RW 5000 0 – 30000, step 1000

N/RW 1000

N/RW 0

0 – 9000, step 100

0 = I < I ref

1 = I > I ref

8554 216A %

8555 216B s

8556 216C

24

4

0

-3

-3

0

N/RW 5000

N/RW 1000

N/RW 1

5000 – 50000, step 1000

0 – 9000, step 100

0 = I=Imax

1 = I<Imax

8557 216D 0 0 N/RW 3

501 Delay time 1

502 Speed monitoring 2

503 Delay time 2 [s]

51. Synchr. operation monitoring

510

•

Positioning tol. slave [Inc]

511

•

Prewarning lag error [Inc]

512

•

Lag error limit [Inc]

513

•

Delay lag error signal [s]

514

•

Counter LED display [Inc]

515

•

Delay in-position signal [ms]

52. Mains OFF monitoring

520 Mains OFF response time[s]

521 Mains OFF response

[s] 8558 216E s

8559 216F

8560 2170 s

8561 2171

8562 2172

8563 2173

8564 2174 s

8565 2175

8566 2176 s

8567 2177 s

8753 2231

4

0

4

0

4

0

0

0

4

4

0

-3

0

-3

0

0

0

-3

0

-3

-3

0

N/RW 1000

N/RW 3

N/RW

N/RW 25

N/RW 50

N/RW 4000

N/RW 1000

N/RW 100

N/RW 10

N/RW

N/RW

1000

0

0

0 = OFF

1 = MOTOR MODE

2 = REGENERAT. MODE

3 = MOT.& REGEN.MODE

0 – 10000, step 10

See menu no. 500 or index 8557

0 – 10000, step 10

10 – 32768, step 1

50 – 99999999, step 1

100 – 99999999, step 1

0 – 99000, step 100

10 – 32768, step 1

5 – 2000, step 1

0 – 5000, step 1

0 = CONTROL.INHIBIT

1 = EMERGENCY STOP

7

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®

Serial Communication

77

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

Par.

no.

Parameter

6.. Terminal assignment

60. Binary inputs basic unit

600 Binary input DI01

601 Binary input DI02

602 Binary input DI03

603 Binary input DI04

604 Binary input DI05

61. Binary inputs option

610

•

Binary input DI10

611

•

Binary input DI11

612

•

Binary input DI12

613

•

Binary input DI13

614

•

Binary input DI14

615

•

Binary input DI15

616

•

Binary input DI16

617

•

Binary input DI17

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

Access Default Meaning / value range

8335 208F

8336 2090

8337 2091

8338 2092

8339 2093

8340 2094

8341 2095

8342 2096

8343 2097

8344 2098

8345 2099

8346 209A

8347 209B

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

N/R/RW 2

N/R/RW 3

N/R/RW 1

N/R/RW 4

N/R/RW 5

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

N/R/RW 0

0 = NO FUNCTION

1 = ENABLE/RAP.STOP

2 = CW/STOP

3 = CCW/STOP

4 = n11/n21

5 = n12/n22

6 = FIX SETPT SW.OV

7 = PAR. SWITCHOVER

8 = RAMP SWITCHOVER

9 = MOTOR POT UP

10 = MOTOR POT DOWN

11 = /EXT. ERROR

12 = ERROR RESET

13 = /HOLD CONTROL

14 = /LIM. SWITCH CW

15 = /LIM. SWITCH CCW

16 = IPOS INPUT

17 = REFERENCE CAM

18 = REF.TRAVEL START

19 = SLAVE FREE RUNN.

20 = SETPOINT HOLD

21 = MAINS ON

22 = DRS SET ZERO PT.

23 = DRS SLAVE START

24 = DRS TEACH IN

25 = DRS MAST.STOPPED

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

See menu no. 600 or index 8335

78

MOVIDRIVE

®

Serial Communication

Par.

no.

Parameter

62. Binary outputs basic unit

620 Binary output DO01

621 Binary output DO02

63. Binary outputs option

630

•

Binary output DO10

631

•

Binary output DO11

632

•

Binary output DO12

633

•

Binary output DO13

634

•

Binary output DO14

635

•

Binary output DO15

636

•

Binary output DO16

637

•

Binary output DO17

64. Analog outputs optional

640 Analog output AO1

641 Scaling AO1

642 Operating mode AO1

643

•

Analog output AO2

644

•

Scaling AO2

645

•

Operating mode AO2

Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

Access Default Meaning / value range

8350 209E

8351 209F

8352 20A0

8353 20A1

8354 20A2

8355 20A3

8356 20A4

8357 20A5

8358 20A6

8359 20A7

8568 2178

8569 2179

8570 217A

8571 217B

8572 217C

8573 217D

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

-3

0

0

-3

0

N/RW

N/RW 1

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW 0

N/RW

N/RW

N/RW

2

3

1000

1

N/RW 5

N/RW 1000

N/RW 1

0 = NO FUNCTION

1 = /ERROR

2 = READY

3 = OUTP. STAGE ON

4 = ROT. FIELD ON

5 = BRAKE RELEASED

6 = BRAKE APPLIED

7 = MOTOR STANDSTILL

8 = PARAMETER SET

9 = SPEED REFERENCE

10 = SPEED WINDOW

11 = SP/ACT.VAL.COMP.

12 = CURR. REFERENCE

13 = Imax-SIGNAL

14 = /MOTOR UTILIZ.1

15 = /MOTOR UTILIZ.2

16 = /DRS PREWARN.

17 = /DRS LAG ERROR

18 = DRS SLAVE IN POS

19 = IPOS IN POSITION

20 = IPOS REFERENCE

21 = IPOS OUTPUT

22 = /IPOS ERROR

See menu no. 620 or index 8350

See menu no. 620 or index 8350

See menu no. 620 or index 8350

See menu no. 620 or index 8350

See menu no. 620 or index 8350

See menu no. 620 or index 8350

See menu no. 620 or index 8350

See menu no. 620 or index 8350

See menu no. 620 or index 8350

0 = NO FUNCTION

1 = RAMP INPUT

2 = SPEED SETPOINT

3 = ACTUAL SPEED

4 = ACTUAL FREQUENCY

5 = OUTPUT CURRENT

6 = ACTIVE CURRENT

7 = UNIT UTILIZATION

8 = IPOS OUTPUT

-10000 – -0, step 10

0 – 10000, step 10

0 = OFF

1 = -10V..10V

2 = 0..20mA

3 = 4..20mA

See menu no. 640 or index 8568

-10000 – -0, step 10

0 – 10000, step 10

See menu no. 642 or index 8570

7

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Serial Communication

79

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

Par.

no.

Parameter

7.. Control functions

70. Operating modes

Index

Dec Hex

Unit/index

Abbr. Sz.

Cv.

Access Default Meaning / value range

700

701

750

751

Operating mode 1

Operating mode 2

Slave setpoint

Scaling slave setpoint

8574 217E

8575 217F

8592 2190

8593 2191

0

0

0

0

0

0

0

-3

N/R/RW 0

N/R/RW 0

N/RW

N/RW

0

1000

0 = VFC 1

1 = VFC 1 & GROUP

2 = VFC 1 & HOIST

3 = VFC 1 & DC BRAK.

4 = VFC 1 &FLY.START

5 = VFC-n-CONTROL

6 = VFC-n-CTRL&GROUP

7 = VFC-n-CTRL&HOIST

8 = VFC-n-CTRL& SYNC

9 = VFC-n-CTRL& IPOS

10 = VFC-n-CTRL& DPx

11 = CFC

12 = CFC & M-CONTROL

13 = CFC & IPOS

14 = CFC & SYNC.

15 = CFC & DPx

16 = SERVO

17 = SERVO & M-CONTROL

18 = SERVO & IPOS

19 = SERVO & SYNC.

20 = SERVO & DPx

0 = VFC 2

1 = VFC 2 & GROUP

2 = VFC 2 & HOIST

3 = VFC 2 & DC BRAK.

4 = VFC 2 &FLY.START

71. Current at standstill

710 Standstill current 1

711 Standstill current 2

72. Setpoint stop function

724

725

Stop setpoint 2

Start offset 2

73. Brake function

730 Brake function 1

[%Imot.] 8576 2180 A

[%Imot.] 8577 2181 A

720 Setpoint stop function 1

721 Stop setpoint 1 [rpm]

722 Start offset 1

723 Setpoint stop function 2

[rpm]

[rpm]

[rpm]

8578 2182

8579 2183 rps

8580 2184 rps

8581 2185

8582 2186 rps

8583 2187 rps

22

22

0

11

11

0

11

11

731

732

733

Brake release time 1 [s]

Brake application time 1[s]

Brake function 2

734 Brake release time 2 [s]

8584 2188

8749 222D s

8585 2189 s

8586 218A

8750 222E s

8587 218B s

4

0

0

4

4

4 735 Brake application time 2[s]

74. Speed skip

740 Skip window center 1 [rpm]

741 Skip width 1 [rpm]

742

743

Skip window center 2

Skip width 2

75. Master-Slave function

[rpm]

[rpm]

8588 218C rps

8589 218D rps

11

11

8590 218E rps 11

8591 218F rps 11

-3

-3

0

-3

-3

0

-3

-3

N/RW

N/RW

0

66

66

0

66

66

N/RW 0

N/RW 30000

N/RW 30000

N/RW 0

N/RW 30000

N/RW 30000

See menu no. 152 or index 8488

0 – 500000, step 200

0 – 500000, step 200

See menu no. 152 or index 8488

0 – 500000, step 200

0 – 500000, step 200

N/RW

N/RW

N/RW

N/RW

N/RW

N/RW

0

0

1

0

200

1

0

200

0 – 50000, step 1000

0 – 50000, step 1000

See menu no. 152 or index 8488

0 – 2000, step 1

0 – 2000, step 1

See menu no. 152 or index 8488

0 – 2000, step 1

0 – 2000, step 1

66

66

66

66

N/RW 1500000 0 – 5000000, step 200

N/RW 0 0 – 300000, step 200

N/RW 1500000 0 – 5000000, step 200

N/RW 0 0 – 300000, step 200

0 = MASTER-SLAVE OFF

1 = SPEED (RS-485)

2 = SPEED (Sbus)

3 = SPEED (485+SBus)

4 = TORQUE (RS-485)

5 = TORQUE (SBus)

6 = TORQUE (485+SBus)

7 = LOAD SHAR(RS485)

8 = LOAD SHARE(SBus)

9 = LOAD S(485+SBus)

-10000 – -0, step 1

0 – 10000, step 1

80

MOVIDRIVE

®

Serial Communication

Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Par.

no.

Parameter

8.. Unit functions

80. Setup

802 Factory setting

803 Parameter lock

Index

Dec Hex

8594 2192

8595 2193

Unit/index

Abbr. Sz.

804 Reset statistic data

817 SBus synchronization ID

818 CAN synchronization ID

819 Fieldbus timeout delay [s]

82. Brake operation

820 4-quadrant operation 1

821 4-quadrant operation 2

83. Error response

8596 2194

81. Serial communication

810 RS485 address

811 RS-485 group address

812 RS485 timeout delay [s]

813 SBus address

814 SBus group address

815 SBus timeout delay [s]

816 SBus baud rate

8597 2195

8598 2196

8599 2197 s

8600 2198

8601 2199

8602 219A s

[kBaud] 8603 219B

8604 219C

8732 221C

8606 219E s

8607 219F

8608 21A0

0

0

0

4

0

0

0

0

4

0

0

0

4

0

0

Cv.

0

0

0

0

0

-3

0

0

-3

0

-3

-3

-3

0

0

Access Default Meaning / value range

R/RW 0

N/S/RW 0

RW 0

N/RW 0

N/RW 100

N/RW 0

N/RW 0

N/RW 0

N/RW 100

N/RW 2

N/RW 0

N/RW 1000

N/S/RW 500

N/RW 1

N/RW 1

0 = NO

1 = YES

See menu no. 152 or index 8488

0 = NO

1 = ERROR MEMORY

2 = KWH-METER

3 = OPERATING HOURS

0 – 99, step 1

100 – 199, step 1

0 – 650000, step 10

0 – 63, step 1

0 – 63, step 1

0 – 650000, step 10

0 = 125

1 = 250

2 = 500

3 = 1000

0 – 2047000, step 1000

0 – 2047000, step 1000

0 – 650000, step 10

See menu no. 152 or index 8488

See menu no. 152 or index 8488

830 Response EXT. ERROR 8609 21A1

831 Response FIELDBUS TIMEOUT 8610 21A2

832 Response MOTOR OVERLOAD 8611 21A3

833 Response RS485 TIMEOUT

834 Response DRS LAG ERROR

8612 21A4

8613 21A5

835

836

Response TF sensor SIGNAL

Response SBus TIMEOUT

84. Reset response

840 Manual reset

8616 21A8

8615 21A7

841

842

852

Auto reset

Restart time

User dimension

[s]

85. Scaling speed actual value

850 Scaling factor numerator

851 Scaling factor denominator

8617 21A9

8618 21AA

8619 21AB s

8747 222B

8748 222C

8772

8773

2244

86. Modulation

860 PWM frequency 1

861 PWM frequency 2

862 PWM fix 1

863 PWM fix 2

[kHz]

[kHz]

8620 21AC

8621 21AD

8751 222F

8752 2230

0

0

0

0

0

0

0

0

0

0

0

0

0

4

0

0

0

0

0

0

0

0

N/RW 3

0

0

0

0

0

0

0

0

0

N/RW 4

N/RW 3

N/RW 7

N/RW 3

N/RW 0

N/RW 3

0

0

-3

S/RW 0

N/RW 0

N/RW 3000

0 = NO RESPONSE

1 = DISPLAY ERROR

2 = IMM. STOP/ERROR

3 = EMERG.STOP/ERROR

4 = RAPID STOP/ERROR

5 = IMM. STOP/WARNG

7 = EMERG. STOP/WARNG

7 = RAPID STOP/WARNG

See menu no. 830 or index 8609

See menu no. 830 or index 8609

See menu no. 830 or index 8609

See menu no. 830 or index 8609

See menu no. 830 or index 8609

See menu no. 830 or index 8609

See menu no. 802 or index 8594

See menu no. 152 or index 8488

1000 – 30000, step 1000

N/RW 1

N/RW 1

N/RW

1768763

185

1 – 65535, step 1

1 – 65535, step 1

2

×

ASCII characters

N/RW

N/RW

N/RW

N/RW

0

0

0

0

0 = 4

1 = 8

2 = 12

3 = 16

See menu no. 860 or index 8620

See menu no. 152 or index 8488

See menu no. 152 or index 8488

MOVIDRIVE

®

Serial Communication

7

81

7

P6..

P60.

P600

Complete parameter list, sorted by parameter numbers

Par.

no.

Parameter

87. Process data description

870

871

872

873

Setpoint description PO1

Setpoint description PO2

Setpoint description PO3

Actual value description PI1

874 Actual value description PI2

875 Actual value description PI3

876 PO data enable

9.. IPOS parameters

90. IPOS Reference travel

900 Reference offset [ Inc ]

901 Reference speed 1

902 Reference speed 2

903 Reference travel type

91. IPOS Travel parameter

910 Gain X controller

[rpm]

[rpm]

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

Access Default Meaning / value range

8304 2070

8305 2071

8306 2072

8307 2073

8308 2074

8309 2075

8622 21AE

0

0

0

0

0

0

0

0

0

0

0

0

0

0

N/RW

N/RW

N/RW

N/RW

N/RW

N/RW

9

1

0

6

1

2

N/S/RW 1

0 = NO FUNCTION

1 = SPEED

2 = CURRENT

3 = POSITION LO

4 = POSITION HI

5 = MAX. SPEED

6 = MAX.CURRENT

7 = SLIP

8 = RAMP

9 = CTRL. WORD 1

10 = CTRL. WORD 2

11 = SPEED [%]

12 = IPOS PO-DATA

See menu no. 870 or index 8304

See menu no. 870 or index 8304

0 = NO FUNCTION

1 = SPEED

2 = OUTP.CURRENT

3 = ACTIVE CURR.

4 = POSITION LO

5 = POSITION HI

6 = STATUS WORD1

7 = STATUS WORD2

8 = SPEED [%]

9 = IPOS-PI DATA

10 = RESERVED

11 = STATUS WORD3

See menu no. 873 or index 8307

See menu no. 873 or index 8307

See menu no. 152 or index 8488

911

912

913

914

915

916

Positioning ramp 1

Positioning ramp 2

Travel speed CW

Travel speed CCW

Speed feedforward

Ramp type

92. IPOS Monitoring

920 SW limit switch CW

[s]

[s]

[rpm]

[rpm]

[%]

[Inc]

921 SW limit switch CCW [ Inc ]

922 Position window

923 Lag error window

[ Inc ]

[ Inc ]

8623 21AF 0

8624 21B0 rps 11

8625 21B1 rps 11

8626 21B2 0

0

66

66

0

N/RW 0

-7FFFFFFFh – -0, step 1

0 – 7FFFFFFFh, step 1

N/RW 200000 0 – 5000000, step 200

N/RW 50000 0 – 5000000, step 200

N/RW 0 0 – 7, step 1

8627 21B3

8628 21B4 s

8696 21F8 s

8629 21B5 rps 11

8630 21B6 rps 11

8631 21B7 0

8632 21B8

0

4

4

0

-3

-3

-3

66

66

-3

0

N/RW

N/RW

N/RW

N/RW

500

1000

100000

0

0 – 32000, step 10

10 – 500, step 1

500 – 2000, step 10

2000 – 10000, step 200

10000 – 20000, step 1000

N/RW 1000

10 – 500, step 1

500 – 2000, step 10

2000 – 10000, step 200

10000 – 20000, step 1000

N/RW 1500000 0 – 5000000, step 200

N/RW 1500000 0 – 5000000, step 200

-199990 – -0, step 10

0 – 199990, step 10

0 = LINEAR

1 = SINE

2 = SQUARED

8633 21B9

8634 21BA

8635 21BB

8636 21BC

0

0

0

0

0

0

0

0

N/RW 0

N/RW 0

N/RW 50

N/RW 5000

-7FFFFFFFh – -0, step 1

0 – 7FFFFFFFh, step 1

-7FFFFFFFh – -0, step 1

0 – 7FFFFFFFh, step 1

0 – 32767, step 1

0 – 7FFFFFFFh, step 1

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Complete parameter list, sorted by parameter numbers

P6..

P60.

P600

Par.

no.

950

951

952 Cycle frequency

953 Position offset

954

955

961

962

963

Parameter

93. IPOS Special functions

930 Override

94. IPOS Encoder

941

942

943

Source actual position

Encoder factor numerator

Encoder factor denominator

944 Encoder scaling ext. encoder

945 Encoder type (X14)

95. DIP

Encoder type

Counting direction

Zero offset

Encoder scaling

96. IPOS Modulo Function

960 Modulo function

Modulo numerator

Modulo denominator

[%]

Modulo encoder resolution

Index Unit/index

Dec Hex Abbr. Sz.

Cv.

Access Default Meaning / value range

8637 21BD 0 0 N/RW 0

8729 2219

8774 2246

8775 2247

8787 2253

8891 2288

0

0

0

0

0

0

0

0

0

0

N/RW 0

N/RW 1

N/RW 1

N/R/RW 0

N/RW 0

See menu no. 152 or index 8488

0 = MOTOR ENC. (X15)

1 = EXTERN.ENC (X14)

2 = ABSOL.ENC. (DIP)

1 – 32767, step 1

1 – 32767, step 1

0 = x 1

1 = x 2

2 = x 4

3 = x 8

4 = x 16

5 = x 32

6 = x 64

0 = TTL

1 = SIN/COS

2 = HTL

3 = HIPERFACE

8777 2249

8776 2248

8778 224A %

8779 224B

8781 224D

8784 2250

0

0

24

0

0

0

-3

0

0

0

0

0

N/R/RW 0

N/R/RW 0

0 = NO ENCODER

1 = VISOLUX EDM

2 = T&R CE65,CE100 MSSI

3 = RESERVED

4 = RESERVED

5 = RESERVED

6 = STEGMANN AG100 MSSI

7 = SICK DME-3000-111

8 = STAHL WCS2-LS311

0 = NORMAL

1 = INVERTED

N/R/RW 100000 1000 – 200000, step 100

N/RW 0

-7FFFFFFFh – -0, step 1

0 – 7FFFFFFFh, step 1

N/RW 0

N/R/RW 0

-7FFFFFFFh – -0, step 1

0 – 7FFFFFFFh, step 1

0 = x 1

1 = x 2

2 = x 4

3 = x 8

4 = x 16

5 = x 32

6 = x 64

8835 2283

8836 2284

8837 2285

8838 2286

0

0

0

0

0

0

0

0

N/RW

N/RW

N/RW

N/RW

0

1

1

1

0 = OFF

1 = SHORT

2 = CW

3 = CCW

1 – 2147483647, step 1

1 – 2147483647, step 1

1 – 65535, step 1

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83

7

P6..

P60.

P600

Quantity and conversion index

7.3

Quantity and conversion index

Quantity and conversion index from the PNO sensor/actuator profile

Physical quantity

Quantity index

0

Unit

Length

Area

Volume

Time

Force

Pressure

Mass

Energy, work

Effective power

Apparent power

Rotational velocity

Angle

1

2

3

4

5

6

7

8

9

10

11

12

Dimensionless

Meter

Millimeter

Kilometer

Micrometer

Square meter

Square millimeter

Square kilometer

Cubic meter

Liter

Second

Minute

Hour

Day

Millisecond

Microsecond

Newton

Kilonewton

Meganewton

Pascal

Kilopascal

Millibar

Bar

Kilogram

Gram

Milligram

Tonne

Joule

Kilojoule

Megajoule

Watt hour

Kilowatt hour

Megawatt hour

Watt

Kilowatt

Megawatt

Milliwatt

Volt amp

Kilovolt amp

Megavolt amp

Millivolt amp

Revolution/second

Revolution/minute

Revolution/hour

Radian

Second

Minute

Degree

Abbreviation kg g t mg

J kJ

MJ

Wh kWh

MWh

N kN

MN

Pa kPa mbar bar h d s min ms

µs m mm km

µm m

2 mm

2 km

2 l m

3 rps rpm rph

‘

° rad

«

W kW

MW mW

VA kVA

MVA mVA

Speed 13

Meter/second

Millimeter/second

Millimeter/minute

Meter/minute

Kilometer/minute

Millimeter/hour

Meter/hour

Kilometer/hour m/s mm/s mm/min m/min km/min mm/h m/h km/h

68

71

72

73

0

-3

66

67

Conversion index

0

3

6

74

75

76

0

-3

-6

3

0

3

2

5

0

3

6

0

-6

6

0

-3

0

70

74

77

-3

-6

0

0

-3

3

-6

0

67

72

0

79

78

80

0

3

6

-3

0

3

6

-3

84

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Serial Communication

Electrical resistance

Ratio

Relative humidity

Absolute humidity

Relative change

Frequency

Quantity and conversion index

P6..

P60.

P600

7

Conversion index

0

0

3

6

0

-3

0

-3

3

-6

0

3

-3

-6

0

3

6

9

-3

0

0

3

6

0

3

6

0

3

6

0

100

101

0

67

68

71

72

73

0

-3

3

66

0

67

72

-3

66

71

Abbreviation

% g/kg

%

Hz kHz

MHz

GHz m3/s m3/min m3/h l/s l/min l/h kg/s g/s t/s g/min kg/min t/min g/h kg/h t/h

V kV mV

µV

A mA kA

µA

Ω m

Ω k

Ω

M

Ω

%

Nm kNm

MNm

K

°C

°F

K

J/(K

×

kg) kJ/(K

×

kg)

MJ/(K

×

kg)

J/kg kJ/kg

MJ/kg

MOVIDRIVE

®

Serial Communication

85

7

P6..

P60.

P600

Quantity and conversion index

75

76

77

78

71

72

73

74

79

80

81

67

68

69

70

Conversion index etc.

66

100

101

A (conversion factor)

1.E-3/60 = 1.667 E-5

1/60 = 1.667 E-2

1.E+3/60 = 1.667 E+1

60

1.E-3/3600 = 2.778 E-7

1/3600 = 2.778 E-4

1.E+3/3600 = 2.778 E-1

3600

3600

×

1.E+3 = 3.600 E+6

3600

×

1.E+6 = 3.600 E+9

86 400 p / 10 800 = 2.909 E-4 p / 648 000 = 4.848 E-6 p / 180 = 1.745 E-2 p / 200 = 1.571 E-2

1

5/9 = 0.5556

1/A (reciprocal conversion factor) B (offset)

6.000 E+4

6.000 E+1

6.000 E-2

1.667 E-2

3.6 E+6

3.6 E+3

3.6

1/3600 = 2.778 E-4

2.778 E-7

2.778 E-10

1/86 400 = 1.157 E-5

3.438 E+3

2.063 E+5

5.730 E+1

6.366 E+1

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

1

1.8

273.15 K

255.37 K

Example The conversion figures should be used as follows:

(Physical value in multiples or fractions of the unit) =

(Transferred value

×

Unit)

×

A + B

Example:

Transferred via the bus:

Numerical value Quantity index Conversion index

1500 4 -3

The recipient assigns the following values to these figures:

4

→

Measurement quantity «Time»

-3

→

Unit of measurement «Milliseconds»

→

1500 ms = 1500 s

×

A + B = 1500 s

×

0.001 + 0 s = 1.5 s

Conversion indices greater than +64 generally have a special meaning that must be determined in the table above. These units include day, hour, minute rather than SIcompatible units, such as Fahrenheit, etc.

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8

8 Index

A

Acyclical data exchange 17

Address byte 20

B

Block check character, creating 25

Broadcast 22

Broadcast address 22

C

CAN bus identifier 37

CAN identifiers, assignment example 52

Character delay time 27

Character frame 26

Conversion index 32

Cyclical data exchange 17

D

Data contents 29

Data exchange, slave 37

G

Group addressing 21

Group parameter message 39

Group process data message 40

I

Incorrect performance of service 30

Index addressing 30

Index addressing, SBus 43

Individual addressing 20

Installation, RS-232 interface 16

Installation, RS-485 interface 14

Installation, system bus 12

INTEL format 60

M

Management of the parameter message, SBus 43

Master data exchange 47

Master/slave operation via SBus 50

Message processing 28

Message structure

Request message

18

Response message

18

Message traffic 17

MOTOROLA format 57

MOVILINK® parameter channel, structure 29

MOVILINK® parameters 67

MOVILINK®, general description 9

Multicast 21

N

Notes, important 4

O

Overview of serial interfaces 5

P

Parameter channel, management 29

Parameter list 68

— 0.. Display values

68

— 1.. Setpoints/ramp generators

72

— 2.. Controller parameters

75

— 3.. Motor parameters

76

— 4.. Reference signals

77

— 5.. Monitoring functions

77

— 6.. Terminal assignment

78

— 7.. Control functions

80

— 9.. IPOS parameters

82

Parameter messages 40

Parameter services, description 31

Parameter settings 41

Parameter, reading 32

Parameter, writing 33

Parameterization with cyclical PDU types 34

PDU type

Acyclical

24

Cyclical

23

Structure

23

PDU types 36

Process data messages 39

Q

Quantity index 31

R

Request message, structure 18

Response delay time 27

Response message, structure 18

Return codes for parameterization 46

RS-485 timeout 27

S

Safety notes 4

Safety notes on bus systems 4

Sample application, control via 3 process data words 35

SBus parameter setting, sample program 48

SBus project planning example 62

SBus startup problems 64

Setting parameters via the CAN bus 42

Start character 19

Start pause 19

Structure of the parameter message, SBus 42

Synchronization message 38

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Serial Communication

87

8

System bus, general description 10

T

Technical data 8

USS21A serial interface

7

Transfer formats, INTEL format 60

Transfer formats, MOTOROLA format 57

Transmission process 26

Transmission rate 27

Transmission reliability 25

U

Universal addressing 21

USS21A 7

USS21A serial interface, technical data 7

V

Variable message, acyclical sending 56

Variable message, cyclical sending 54

Variable message, receiving 55

Variable messages 51

W

Warning instructions 4

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SEW-EURODRIVE GmbH & Co · P.O. Box 3023 · D-76642 Bruchsal/Germany · Phone +49-7251-75-0

Fax +49-7251-75-1970 · http://www.sew-eurodrive.com · [email protected]