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SEW-Eurodrive MOVIAXIS Manual

Multi-axis servo inverter, technology functions
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Drive Technology \ Drive Automation \ System Integration \ Services
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MOVIAXIS
Multi-Axis Servo Inverter
Technology Functions
Edition 11/2009
11667419 / EN
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Summary of Contents for SEW-Eurodrive MOVIAXIS

  • Page 1 Drive Technology \ Drive Automation \ System Integration \ Services Manual ® MOVIAXIS Multi-Axis Servo Inverter Technology Functions Edition 11/2009 11667419 / EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    5.2.1 Basic functions of the virtual encoder ........29 5.2.2 Block diagram of the virtual encoder ......... 29 5.2.3 Jerk limitation................30 5.2.4 Extended position output ............31 Parameter description ................32 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 4 Setpoint overlay via external access paths........ 60 8.4.10 PSG Position image (shadow register)........61 Electronic Cam ....................62 Overview ....................63 Application examples ................63 FCB16 Electronic cam ................64 Switching electronic cams on/off............... 65 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 5 12.2 Cam controller in the Motion Technology Editor ........150 12.3 Parameter description ................151 12.3.1 General parameters..............151 12.3.2 Parameters of an individual cam track........152 12.3.3 Parameters of an individual cam ..........153 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 6 Procedure ................211 User Interface (Data Distribution Buffer) ............215 14.1 Type and version ID of a data structure in the DDB ....... 216 Error description ..................... 217 Address List ....................222 Index......................... 232 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 7: General Notes

    Minor injuries Specific danger, e.g. electric shock STOP Possible damage to property Damage to the drive system or its environment. INFORMATION Useful information or tip. Simplifies the handling of the drive system. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 8: Rights To Claim Under Limited Warranty

    Unauthorized duplication, modification, distribution or any other use of the whole or any part of this documentation is strictly prohibited. Terminology The technology function "Event control" is also called "Event processing" in the illustra- tions of this manual. Both terms have the same meaning. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 9: Safety Notes

    Please also consider the supplementary safety notes in the individual chapters of this manual. General safety notes DANGER ® Only electrical specialists are allowed to install and start up MOVIAXIS multi-axis servo inverters with technology functions observing the applicable accident prevention ® regulations and the "MOVIAXIS MX Multi-Axis Servo Inverter"...

  • Page 10: Target Group

    The following applications are prohibited unless the unit is explicitly designed for such use: • Use in potentially explosive atmospheres • Use in areas exposed to harmful oils, acids, gases, vapors, dust, radiation, etc. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 11: Other Applicable Documentation

    This manual does not replace the operating instructions "MOVIAXIS MX Multi-Axis Servo Inverter". A requirement of fault-free operation and fulfillment of any rights to claim ® under limited warranty is that you adhere to the information in the MOVIAXIS operating instructions. Startup/operation Observe the notes in chapter "Startup procedure"...

  • Page 12: Startup Procedure

    ® MOVITOOLS MotionStudio. Starting the Motion Technology Editor 3.1.1 Opening the Motion Technology Editor via MotionStudio project management 1938667531 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 13: Opening The Motion Technology Editor Without Project Management

    • The project name and project path are automatically included. 3.1.2 Opening the Motion Technology Editor without project management The project name and project path must be specified by the user. 1938744715 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 14: Selecting A Simple Electronic Gear Unit Or Complete Range Of Functions

    Selecting a simple electronic gear unit or complete range of functions 1938748939 Comment on the project Simple electronic gear unit (wizard, not part of this manual) Complete range of functions: • Electronic cam • Virtual encoder • Touch probe • Event control Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 15: Startup

    The factory setting resets all parameters of the axis to their default values, except for motor startup and the signature. The green check mark with the number means that this step has already been performed. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 16: Step 2: Motor Startup

    [2] Toolbar for plug-ins [3] Blocks connected by arrows (setpoint flow) [4] Activation of technology functions [5] Parameters associated with the activated block (dynamic tab) [6] Navigation (next/back) for all activated technology functions Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 17 Linking the process input data. See chapter "Step 4: Process data configuration" (page 19). Linking the process output data. See chapter "Step 4: Process data configuration" (page 19). Parameter number DDB display Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 18 [7] Establish an online connection [8] Quit online mode [9] Documentation display [10] Direct selection of required function INFORMATION For more information about the technology functions, refer to the respective chapters in this manual. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 19: Step 4: Process Data Configuration

    This does not apply to combinations that make no sense, such as writing data to status messages. 1941409931 Data sent by a higher-level controller ® Data sent back by MOVIAXIS Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 20 Activate the required block. 1941412875 Activate block Displayed parameters To write to a parameter from the outside, click on the [PI] button (process data input) • Select a free channel for the respective parameter. 1941736971 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 21 Startup Procedure Startup • The parameter is then entered in the process data configuration. 1941740043 Link to the PDO Editor (IN PDO Mapper) 1941743627 PDO configuration disabled Customized configuration Create function Edit function Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 22 Settings in this area are all still offline (project planning mode). They will only be written to the unit during the later download process. Click on [Edit] to re-open the window and edit the settings. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 23 The following figure shows how you can establish a connection to the IN buffers. Parameter number 20200.32/31 of parameter PSG Modulo interpretation overflow [inc] means: • 20200: Index • 32: Subindex • 31: 10. Parameter in the DDB 1946207755 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 24 Startup Procedure Startup You can check the parameter settings via the tool tip. 1946214027 INFORMATION For examples of the different options for process data configuration, refer to chapter "Examples" (page 156). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 25 Single bits for controlling the technology functions can be set via the 4 standard control words in the PDO Editor. The procedure for the 4 status bits is the same. Example: Activating the precontrol enable signal of the virtual encoder via process data 1946170379 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 26: Step 5: Download

    Startup Procedure Startup 3.2.5 Step 5: Download ® In step 5, all settings made so far are downloaded to the MOVIAXIS axis. You can also start the download process directly via the icon in the toolbar (same sym- bol). 3.2.6 Step 6: Monitor mode The monitor mode now shows all parameters online.

  • Page 27: System Data

    The modulo position and the user position are derived from the system position. The conversion factors are set in the motor startup wizard via 2 additional parameters in the parameter tree: Modulo overflow and Modulo underflow. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 28: Virtual Encoder Of Own Axis

    Modulo absolute negative Absolute relative negative Modulo absolute short Modulo relative short Infinite operation Endless Endless modulo For detailed information about the individual modes, please refer to chapter "Operating Modes" (page 35). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 29: Description Of Virtual Encoder Function

    VE Feedforward enable VE Use "Feedforward enable" VE operating mode VE Use "Adopt position" The input and output parameters for the virtual encoder are described in detail in chapter "Parameter Description" (page 32). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 30: Jerk Limitation

    0 s and maximum 1 s. If VE Max. jerk or the calculated jerk time is zero, the jerk limitation is deactivated and the profile generator operates with linear ramps. Jerk time Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 31: Extended Position Output

    The variable VE extension factor can be used to specify a factor for extending the inter- nal position of the virtual encoder: × VE extended position output = VE extension factor (internal position) Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 32: Parameter Description

    . Speed changes are realized with parameters Max. posi acceler- ation, Max. posi deceleration and Max. posi jerk. Endless modulo This operating mode is similar to Endless, except that it is based on the modulo travel range. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 33 Parameter VE Use "Accept position" is not used VE "Accept position" active Status of parameter Accept position • Parameter Accept position is set to "No" • Parameter Accept position is set to "Yes" Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 34 VE Speed initialization value Initialization value that is written to the current speed when a 0-1 edge occurs at param- [rpm] eter Start initialization. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 35: Operating Modes

    In this operating mode, endless positioning is possible. Example: Actual position = 2 000 000 000 Relative target position = 200 000 000 Target position = 2 000 000 000 + 200 000 000 –2 = –2094967296 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 36: Modulo Absolute Positive" Positioning Mode

    If the relative modulo target position specification VE Position setpoint [inc] becomes negative, error 38 is triggered. It is permitted to specify relative modulo target positions that exceed the value of VE Modulo overflow [inc]. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 37: Modulo Absolute Negative" Positioning Mode

    VE Po- sition setpoint [inc]. If the relative modulo target position specification VE Position setpoint [inc] becomes positive, error 38 is triggered. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 38: Modulo Absolute Short" Positioning Mode

    [inc] +5 is specified. Then the position profile generator will run via VE Modulo overflow [inc] –1" and VE Modulo underflow [inc] to VE Modulo underflow [inc] VE Modulo overflow –1 Axis position Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 39: Modulo Relative Short" Positioning Mode

    If an initialization with VE Initialization start is performed in "Endless modulo" mode, VE Position [inc] and VE Modulo position output [inc] are set once to the value of VE Posi- tion initialization value [inc]. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 40 0 and VE Modulo overflow [inc] = 360 000. The modulo position is then within the range of 0 to 359 999. If a new target position is specified when the operating mode is changed, this position is immediately travelled to. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 41: Variables

    Placeholder for IN-PDO Mapper for mapping data from the PDO Editor. VAR input 1 VAR input 2 VAR input 3 VAR input 4 VAR input 5 VAR input 6 VAR input 7 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 42: Position Setpoint Generator

    If the master speed is dynamic, the specified time delay can be compensated ap- proximately to zero. 1946972811 Master value input Output for the "Electronic gear unit" technology function Output for the "Electronic cam" technology function Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 43: Parameter Description

    Value range: 1 to 2 –1 PSG Division remainder PSG Division remainder contains the remainder of the division of PSG Numerator by PSG Denominator. The remainder is taken into account in each computing cycle. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 44 Status display of the copying process of the 64 bit slave setpoint to the shadow register ished • Copying in progress or deactivated • Copying finished PSG Division remainder Saved image (volatile memory) image PSG Image of the 64 bit Saved image (volatile memory) position setpoint [inc] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 45 A position setpoint can be added to the master position with Setpoint overlap. The setpoint [inc] is added after setpoint processing (compensation and filtering), i.e. directly to the setpoint. However, the position must be added discretely, e.g. from an external encoder. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 46: Electronic Gear Unit

    Beverage industry, e.g. filling stations. • Multiple column hoist. • Synchronous material transport. • Extruder applications, e.g. cutting material off the role to length. • Packaging technology, e.g. product supply. 316481163 316479627 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 47: Functional Description

    In addition to the position setpoint, FCB17 "Electronic gear unit" also generates speed and acceleration feedforward and passes these values on to the feedforward branch of motor management. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 48: Electronic Gear Unit Block Diagram

    EG Speed precontrol [1/min] EG Maximum engaging speed [1/min] Derivative EG Engaging acceleration [1/(min*s)] EG Engaging deceleration [1/(min*s)] EG Position setpoint [inc] EG Engaging jerk [1/(min*s²)] x set FCB 17, "Electronic gear unit" 1366512779 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 49: Parameter Description For Fcb17 "Electronic Gear Unit

    EG Lag error response automatically to Controller inhibit/waiting (5). EG Master encoder EG Master encoder defines the DDB address of the master source. The setting is made in the Motion Technology Editor. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 50 EG Slave cycle [inc] EG Slave cycle [inc] defines the distance that the slave covers during position-related engaging until master and slave have been synchronized. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 51: Synchronous Operation Functionality

    PSG Setpoint cycle of the controller [ms] must the be set to 1 ms as well. The setting range of the variable is 0.5 ms to 30 ms. The value 0.5 ms is the time without interpolation. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 52: Mean Value Filter

    PSG Backstop variable (24) can be used to activate a backstop in one direction: PSG Backstop = 0: Backstop active PSG Backstop = 1: Backstop active in positive direction PSG Backstop = 2: Backstop active in negative direction Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 53: Monitoring And Status Information

    PSG Modulo interpretation underflow [inc] = –1 000 000 000 to +1 000 000 000 inc. PSG Modulo interpretation overflow [inc] = –1 000 000 000 to +1 000 000 000 inc. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 54: Engaging

    During engaging, an offset can be added to the slave drive, or it can be set to an abso- lute position. See variable description EG Engaging offset [inc] in chapter "Parameter description for FCB electronic gear unit" (page 49). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 55 EG Active adjustment of the slave set- point EG Active engaging type Time-related EG Maximum engaging speed 3500 EG Minimum engaging speed 3500 3500 1/min Engaging Synchronous operation Synchronizing Slave Slave Master FCB17 EGear selected Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 56 EG Master cycle 2000000 EG Slave cycle 1000000 = 1 000 000 Slave Slave = 2 000 000 Master Master EG Master counter = 2 000 000 EG Master counter FCB17 EGear active Slave Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 57 A free bit in the control word is configured to FCB17 "Electronic gear unit", e.g. control word 0 is configured so that FCB17 "Electronic gear unit" is activated with DI06. The fol- lowing figure shows the configuration of the data flow. 1947305739 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 58 The control signals are written to IN buffer 0, which in turn is connected with the control word. According to the system-specific process data assignment, bit 5 now activates FCB17 "Electronic gear unit". The following figure shows the configuration of the pro- cess data flow. 1947309451 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 59 For examples, refer to chapter "Examples" (page 156). 4) Position control In this variant, the slave automatically engages as soon as the master has travelled a definable distance. INFORMATION For examples, refer to chapter "Examples" (page 156). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 60: Setpoint Overlay Via External Access Paths

    An overlay value can be added to the master position before the scaling process, see also the figure in chapter "Setpoint overlay via external access paths" (page 60). The resolution is [1 inc]. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 61: Psg Position Image (Shadow Register)

    If the user sets bit 9 to 1, it remains in this state until the user resets it to 0. The firm- ware does not perform a reset. Use PSG Copying image finished to scan whether the copying process was completed successfully. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 62: Electronic Cam

    [2] Input of master value of electronic cam 1 from the position setpoint generator [3] Electronic cam 2 [4] Electronic cam 3 You can double-click on the electronic cam block to go to a lower level. 1968948619 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 63: Overview

    Application examples The electronic cam is particularly suited for the following industries and applications: • Packaging industry • Printing machines • Logistics • Timber industry Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 64: Fcb16 Electronic Cam

    You can open the curve sequences by double-clicking on them. In addition to con- trol-point-based, mathematical curves, there are also transition and stop functions. This prevents a cyclical FCB change in many applications, which simplifies startup. 1969493899 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 65: Switching Electronic Cams On/Off

    Note that an activated curve must also be parameterized. Otherwise, this will cause an error in the axis module. Double-click on one of the curve sequences to go to a lower level, see chapter "Elec- tronic cam 1 – 3": CAMFlowTable" (page 66). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 66: Electronic Cam 1 - 3: Camflowtable

    [3] An extra connection can be added to the curve sequence for a negative master value. This could be another curve block or, as in this example, the input of the same curve. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 67 "absolute position". The cycle starts over again. INFORMATION "Output" or "Reverse output" outputs must not remain open, as encoder noise alone can cause negative movements. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 68 Example with Y offset change Curve 1 Curve 2 Curve 1 Curve 1 Y offset Y offset OLT Y offset NEW Encoder zero point Encoder zero point For more information, refer to the following parameter descriptions. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 69: System Block

    Electronic cam setpoint (Y setpoint) = current encoder position Y offset = current encoder position Electronic cam setpoint (Y setpoint) = 0 Y offset = current encoder position Electronic cam setpoint (Y setpoint) = 0 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 70 • 2 means factor 4 • 3 means factor 8 etc. CF "Start initialization" Status of parameter Start initialization active • 0 Initialization off (Bit 0) • 1 Initialization has been started Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 71 Total result of the electronic cam depending on the settings in block "Overlay". You can 64-bit select here whether electronic cams 1 – 3, overlay, or the profile generator are to be added. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 72 CAMFlow. (min*s)] CF Start addr. of the Only for diagnostic purposes. Shows at which point in DDB the start curve is located. This curve blocks parameter is derived from the start curve. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 73 YslavePosEvent in the respective curve block • activate the parameter Permit change event in the respective curve block • set parameter CF Threshold value slave position in the system block to 123456 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 74 Event control and touch probe are activated in MotionStudio – The event control source is set to [TouchProbe] / [TouchProbe.CommonBlock] / [MT event counter] – Event control triggers a curve change No correction Remaining distance compensation is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 75 See parameter Global change event mask / CycleCountEvent in the system block. threshold value CF Threshold value of See parameter Global change event mask / YslavePosEvent in the system block. slave position Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 76: Curve Block: Absolute Speed Control

    The reference of the electronic cam to the encoder zero point changes in the process. This setting is often used in endless applications. Transition function (Polynom3; Polynom5; LPG1, LPG2) Parameter has no effect here. Y offset correction is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 77 Y offset is adjusted in this process. For more information about the Y offset, refer to chapter "Executing and creating several curve blocks" (page 66), or to the parameter CF Y offset in chapter "System block" (page 69). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 78 After the event to a new curve is triggered, the actual master position is not deleted. This means the function jumps to the middle of the new curve, depending on where the (Bit 0) event was triggered. • The new curve starts at the beginning. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 79 Event control and touch probe are activated in MotionStudio • The event control source is set to [TouchProbe] / [TouchProbe.CommonBlock] / [MT event counter] • Event control triggers a curve change No correction Remaining distance compensation is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 80 Speed setpoint for this curve block. For this curve type, you must also consider the parame- type speed control [rpm] ter Acceleration speed control in the system block, which is responsible for the acceleration setpoint of this curve block. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 81: Curve Block: Relative Position Control

    When the master returns to the stopped position, the slave is picked up "hard". This is why only slow speeds and/or short return distances must be set at this point. Blocked in negative direction The movement of the master is blocked in the negative direction. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 82 This parameter must not be confused with the X values of the curve definition. These X val- ues define a relative master size within the individual curve segments, see chapter "Curve definition for a mathematical curve" (page 96). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 83 "YslavePosEvent" in the respective curve block – activate the parameter Permit change event in the respective curve block – set parameter CF Threshold value slave position in the system block to 123456 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 84 • Event control and touch probe are activated in MotionStudio • The event control source is set to [TouchProbe] / [TouchProbe.CommonBlock] / [MT event counter] • Event control triggers a curve change Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 85 This is only a display value. The parameter is set by creating an arrow from the "Event" curve block output. Curve values CFT Position setpoint This parameter has no effect on this curve type (Relative position control). [inc] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 86: Curve Block: Absolute Position Control

    When the master returns to the stopped position, the slave is picked up "hard". This is why only slow speeds and/or short return distances must be set at this point. Blocked in negative direction The movement of the master is blocked in the negative direction. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 87 This parameter must not be confused with the X values of the curve definition. These X val- ues define a relative master size within the individual curve segments, see chapter "Curve definition for a mathematical curve" (page 96). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 88 YslavePosEvent in the respective curve block – activate the parameter Permit change event in the respective curve block – set parameter CF Threshold value slave position in the system block to 123456 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 89 – Event control and touch probe are activated in MotionStudio – The event control source is set to [TouchProbe] / [TouchProbe.CommonBlock] / [MT event counter] – Event control triggers a curve change Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 90 (without Y offset). Make sure that the slave is already in this position before entering the curve block (acts like a hold control function). Bringing the slave to a stop from a speed > 0 should be realized with an upstream transition function. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 91: Curve Block: Mathematic Curve

    See chapter "Curve definition for a mathematical curve" (page 96). CFT Denominator factor See Numerator factor. CFT Shift factor Displays the shift factor. This parameter is set during curve definition. See chapter "Curve definition for a mathematical curve" (page 96). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 92 –1 Maximum value: (master cycle/number of control points ) < 2 See chapter "Curve definition for a mathematical curve" (page 96). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 93 YslavePosEvent in the respective curve block. • activate the parameter Permit change event in the respective curve block. • set parameter CF Threshold value slave position in the system block to 123456. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 94 Parameter has no effect here. Y offset correction is deactivated. Relative position control Parameter has no effect here. Y offset correction is deactivated. Absolute speed control Parameter has no effect here. Y offset correction is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 95 The Global change curve number shows the curve that is to be used after the global event number has been triggered. This is only a display value. The parameter is set by creating an arrow from the "Event" curve block output. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 96: Curve Definition For A Mathematical Curve

    Curve definition for a mathematical curve • Right-click on the curve block and select "Create new curve..." from the context menu. 1970846475 • Name the curve. You can also add a comment to this curve. 1970842507 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 97 Electronic Cam Electronic cam 1 – 3: CAMFlowTable 1970853643 Switching between the individual curves Adding, deleting and updating curve segments Entry area for the individual segments Parameters Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 98 Color in which the acceleration is displayed. Is used only in MotionStudio. Jerk color Color in which the jerk is displayed. Is used only in MotionStudio. Show position curve Shows/hides the position curve. Is used only in MotionStudio. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 99 3600000). Procedure for creating the curve: • Activate user-defined units. To do so, select the "U.." tab and set the "Use user-defined units" selection field to "Yes". 2277533451 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 100 Create a new curve. 2277536395 • Assign the user-defined unit "Position" to the curve. 2277539339 The user-defined unit "Position" (CFT numerator factor and CFT denominator factor) is now loaded into the curve. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 101 Enter the decimal place without decimal separator, e.g. 100.0 must be entered as 1000. 2276930571 • As a result, all outputs of the electronic cam are specified in user-defined units. 2277407115 • Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 102: Comparison Of Transition Functions

    If the parameter Amax is set to a value that is too small (transition with such a small acceleration rate not possible for the set master distance), Amax is ignored and a tri- angular travel curve is calculated (no constant speed component), which exceeds the parameter Amax. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 103 The user has no influence on the shape of the polynomials. They are solely determined by the start and end conditions and the corresponding master distance. The linear profile generators can be influenced and are therefore the most dynamic. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 104: Transition Function Curve Block: 3Rd Order Polynomial Transition

    "hard". This is why only slow speeds and/or short return dis- tances must be set at this point. Blocked in negative direction Slave travel is blocked in the negative direction. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 105 CF Threshold value slave position in the system block to 123456 CFT Permit global • Deactivated change events The global change event is deactivated for this curve block. (Bit 30) • Activated The global change event is activated for this curve block. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 106 Parameter has no effect here. Y offset correction is deactivated. Relative position control Parameter has no effect here. Y offset correction is deactivated. Absolute speed control Parameter has no effect here. Y offset correction is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 107 The CFT Local change curve number shows the curve that is to be used after the global number event has been triggered. This is only a display value. The parameter is set by creating an arrow from the "Event" curve block output. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 108: Transition Function Curve Block: 5Th Order Polynomial Transition

    "hard". This is why only slow speeds and/or short return dis- tances must be set at this point. Blocked in negative direction Slave travel is blocked in the negative direction. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 109 Permit change event in the respective curve block – set parameter CF Threshold value number of master cycles in the system block to 2 – set parameter CF Threshold value master position [inc] in the system block to 10000 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 110 Parameter has no effect here. Y offset correction is deactivated. Relative position control Parameter has no effect here. Y offset correction is deactivated. Absolute speed control Parameter has no effect here. Y offset correction is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 111 The CFT Local change curve number shows the curve that is to be used after the global number event has been triggered. This is only a display value. The parameter is set by creating an arrow from the "Event" curve block output. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 112: Transition Function Curve Block: Transition Lpg2

    "hard". This is why only slow speeds and/or short return dis- tances must be set at this point. Blocked in negative direction Slave travel is blocked in the negative direction. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 113 Permit change event in the respective curve block – set parameter CF Threshold value number of master cycles in the system block to 2 – Set parameter CF Threshold value master position in the system block to 10000 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 114 Parameter has no effect here. Y offset correction is deactivated. Relative position control Parameter has no effect here. Y offset correction is deactivated. Absolute speed control Parameter has no effect here. Y offset correction is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 115 The Local change curve number shows the curve that is to be used after the global event number has been triggered. This is only a display value. The parameter is set by creating an arrow from the "Event" curve block output. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 116: Transition Function Curve Block: Transition Lpg1

    "hard". This is why only slow speeds and/or short return dis- tances must be set at this point. Blocked in negative direction Slave travel is blocked in the negative direction. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 117 Permit change event in the respective curve block – set parameter CF Threshold value number of master cycles in the system block to 2 – set parameter CF Threshold value master position [inc] in the system block to 10000 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 118 Parameter has no effect here. Y offset correction is deactivated. Relative position control Parameter has no effect here. Y offset correction is deactivated. Absolute speed control Parameter has no effect here. Y offset correction is deactivated. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 119 The CFT Local change curve number shows the curve that is to be used after the global number event has been triggered. This is only a display value. The parameter is set by creating an arrow from the "Event" curve block output. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 120: Profile Generator

    (Bit 0) PG "Feed enable" acti- Status message of the feed enable parameter, for a higher-level controller to check whether vate the command has been received. (Bit 1) Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 121 [1/min*s ProfGenOut PG Current position [inc] Current position of the profile generator PG Current speed [rpm] Current velocity of the profile generator. PG Current acceleration Current acceleration of the profile generator. [1/(min*s)] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 122: Overlay/Adding Up To 3 Curves

    [1] Output of electronic cam 1 – 3 [2] Switch for 3 overlay options (3 different summing options) [3] Electronic cam 1 – 3 [4] Profile generator [5] Free variable, e.g. external encoder or process data. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 123: Derivative Generator

    3 curves" (page 122). • Y2ovl As Y1ovl, only that here, electronic cam 2 is active as standard. • Y3ovl As Y1ovl, only that here, electronic cam 3 is active as standard. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 124 DG Current speed [rpm] Last speed output of the electronic cam. Particularly suited for diagnostic purposes. DG Acceleration Last acceleration output of the electronic cam. [1/(min*s)] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 125: Motor Management

    Electronic cam values are interpreted as acceleration. Only the acceleration is transferred to the motor management. All parameters of the electronic cam are named after the "Position" setting (e.g. a position setpoint becomes an acceleration setpoint). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 126 Output stage inhibit/waiting The motor is stopped by the output stage inhibit. After a reset, the axis performs a warm start. This means that the axis is immediately ready to operate again (without delay). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 127 CF Slave position of the system block of the relevant electronic cam. Open the tool tip and enter DDB offset +1 (see figure). In this example, the value to be entered here is 141. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 128 MM Moment of inertia Pointer to DDB variable of the respective electronic cam output for dJ/dφ. For a detailed curve derivative description, see parameter MM Start address of moment of inertia curve. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 129: Event Control

    Change to a FCB, e.g. engaging in FCB17 synchronous operation. • Curve change from one curve to up to 4 other curves in FCB16 electronic cam. • Setting a status bit in the PDO Editor. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 130: Application Examples

    The main spindle of a lathe or the spindle of a drilling machine can be stopped by pressing a button so that the tools come to a stop in a defined position for easy re- moval. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 131: Description Of Functions

    If a status bit of at least one channel is set, an FCB selected with an enabling mask (see screenshot on next page) is requested, or, in case of an electronic cam, a changeover to the respective curve (see screenshot above) is requested. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 132 [10] EV0 Minimum modulo value [21] EV FCB priority 0 • Selection inverts control bit [11] EV0 Delete at the moment when the event occurs [22] EV FCB instance 0 • Feedback visualizes status bit Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 133: Parameter Description

    FCB number (e.g. 5 for speed control) EV FCB priority 3 Priority [0 ... 7], 7 = highest priority EV FCB instance 3 FCB instance [0 ... 63]; e.g.: "1" for instance 1 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 134: Data Structure Per Channel

    The comparison uses the value of the reference variable to which EV0 Variable for the comparison points. • Source is SourceCounter The value in EV0 Source change counter is used for the comparison. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 135 Status information – only relevant if EV0 Source selection = Source is SourceCounter is when the event occurs active. (status bit) • Counter value remains unchanged. • Counter value is set to 0 when event occurs. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 136 Activation mask if the condition is fulfilled. • Request for status bit 2 remains unchanged. • Request for status bit 2 is set if delete is not set at the same time. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 137 Activation mask if the condition is fulfilled. • Request for status bit 3 remains unchanged. • Request for status bit 3 remains is reset/deleted. EV0 Event counter Is incremented each time an event occurs. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 138: Touch Probe And Data Buffer

    A total of 4 touch probe channels can be activated. They store values in up to 4 circular buffers, each with a buffer depth of 4 data sets. When the event occurs, selected measured values can be transferred acyclically and fast to the controller. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 139: Application Examples

    "Example for interrupt control and synchronous operation" (page 180) • "Position control example" (page 190) The pertaining measurement results for position-accurate processing can be read by the respective function. Engaging requires the "Event processing" technology editor. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 140 Sensor dead time can be compensated • The touch probe can be automatically re-activated after a measurement • A touch probe can be simulated manually • Trip either with a positive or negative edge Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 141: Interrupt With Actual Value Measuring

    335075211 The following figure shows the evaluation of the positioning window. Position Position window Valid marker 335082891 Positive touch probe edge in the position window is recognized as a valid event. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 142: Signal Length Measuring

    MT Positive position limit or these two limits are identical. ** Valid signal length means the signal is longer than MT Minimum signal length and shorter than MT Maximum signal length. 335241611 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 143 The following figure shows the recognition of a valid marker start and end in length mea- suring mode. Position Range between start and end of the window Invalid marker (too short) Invalid marker (too long) Valid marker 335249675 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 144: Parameter Description

    7: Signal length > max. signal length (only for length measuring). MT buffer number Data buffer 1 – 4: Number of the circular buffer in which the data is stored R / W Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 145 MT cycle counter Cycle counter, is incremented each time a measurement is activated. For monitoring purposes, for example, how many interrupts were processed during cycli- cal interrupt processing (setting MT Automatic restart = ON). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 146 Maximum signal length, a longer signal length is detected as invalid (only for length mea- [inc] surement). MT current signal length Currently measured signal length in position units. MT Current signal length in Measured duration of the signal in length measuring. time units [μs] Resolution: µs Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 147: Data Structure Per Circular Buffer

    DP User position Last saved position of encoder 2 in user-defined units. encoder 2 [user-defined unit position] DP User position Last saved position of encoder 3 in user-defined units. encoder 3 [user-defined unit position] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 148 DP1 User position encoder 2 [user- Saved position of encoder 2 in user-defined units. defined unit position] DP1 User position encoder 3 [user- Saved position of encoder 3 in user-defined units. defined unit position] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 149: Cam Controller

    • All encoders - virtual encoders included - can act as cam source • Apart from the position, the cam source can also be the speed, the torque or an external PDO. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 150: Cam Controller In The Motion Technology Editor

    Cam tracks 1 – 8 • Activation or deactivation with a double click • Show parameters on the right with a single click Individual cams (show parameters on the right with a single click) Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 151: Parameter Description

    CC Result track 1 – 8 This is the result of the cam controller which is switched at the output. See chapter "Con- necting the cam controller to outputs (PDO Editor)" (page 154). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 152: Parameters Of An Individual Cam Track

    Within this hysteresis value, the output is not processed. The input value of the parameter CT Hysteresis is effective for both sides of the cam, this means the hysteresis range is twice the value of CT Hysteresis. Value range 0 to 2.147.483.647. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 153: Parameters Of An Individual Cam

    The cam is only processed if the cam source counts in the negative direction (approached from the right). • Both directions Cam is processed independent of the direction of the cam source. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 154: Connecting The Cam Controller To Outputs (Pdo Editor)

    12.4.1 Example 1: Routing 4 cam control tracks to the binary outputs of the basic unit • Create an arrow from OUT process data to binary outputs X11. 1962396299 • Set a free channel to index 10488.2. 1962394379 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 155: Example 2: Routing Individual Cam Control Tracks To Binary Outputs

    Open a free status word and create an arrow to binary outputs X11. 1968296971 • Double-click on the status word and make the following settings: – Set a free channel to index 10488.2. – Select a cam track via bit selection. 1968295051 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 156: Examples

    The following 3 examples all have the same result: Changing the speed of the virtual encoder through a higher-level controller. 13.1.1 Example 1: PD configuration disabled • Go to the "Process data configuration" menu in the Motion Technology Editor. 1894926475 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 157 Examples for process data configuration • Activate the "PD configuration disabled" radio button. 1894929931 • Go back to the window "Startup of technology functions". • Select the required parameter number VG Velocity setpoint (parameter 20201.28). 1896593419 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 158 Examples Examples for process data configuration • Open the PDO Editor. 1894933643 • Open the IN-PDO Mapper. 1894936843 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 159 Examples Examples for process data configuration • Enter the parameter number in a free channel. 1894939787 • Connect the IN buffer with the IN-PDO mapper and set the fieldbus parameter. 1894942731 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 160: Example 2: User Configuration With Setting "Standard

    13.1.2 Example 2: User configuration with setting "Standard" • Select the required parameter and define a free channel for it. 1895546507 • Go to the "Process data configuration" menu in the Motion Technology Editor. 1894926475 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 161 Examples Examples for process data configuration • The relevant parameter is then displayed in the process data configuration. Activate the "Customized configuration" radio button. 1895539723 • Open the PDO Editor. 1894933643 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 162 After downloading the Motion Technology Editor, the parameter number is already entered in the field "IN-PDO mapper" in the PDO Editor. 1895542795 • Connect the IN buffer with the IN-PDO mapper and set the fieldbus parameter. 1894942731 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 163: Example 3: Customized Configuration With Own Configuration

    Here, the PDO Editor becomes part of the Motion Technology Editor. External settings are overwritten with a download of the Motion Technology Editor. • Select the required parameter and define a free channel for it. 1895546507 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 164 Examples Examples for process data configuration • Go to the "Process data configuration" menu in the Motion Technology Editor. 1894926475 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 165 Name the configuration and click on [OK]. • The PDO Editor opens offline. Here, you can set all process data. Click on [Finish] to go back to the Motion Technology Editor. 1895550475 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 166 Examples Examples for process data configuration INFORMATION ® The settings are only written to MOVIAXIS with a download of the Motion Technology Editor. • For each change, use the [Edit] button. 1896590347 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 167: Example: Executing The Electronic Cam Continuously On A Virtual Encoder

    Dwell-to-dwell forward and return motion, performed endlessly 13.2.2 Procedure • Open the Motion Technology Editor by right-clicking on "Slave 1". No preliminary work is necessary (motor startup and factory settings are part of the Motion Technology Editor). 1958195979 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 168 Choose “Complete startup” to go to the “Performing startup” screen, which will guide you through the entire startup procedure. 1958197899 Standard electronic gear unit (wizard) Complete startup • Electronic cam • Virtual encoder • Touch probe • Event control Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 169 ® up, refer to the "MOVIAXIS MX Multi-Axis Servo Inverter" operating instructions. 1958199819 Step Description Factory setting Motor startup Electronic cam as a whole Process data management Download Opening the monitor Documentation Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 170 Example: Executing the electronic cam continuously on a virtual encoder Step 3: Technology functions • Tick the respective checkboxes to activate the virtual encoder, position setpoint pro- cessing and electronic cam. 1958201739 Tool bar Navigation Master value Technology function Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 171 Inducing variable-dependent curve changes and/or FCB changes. Touch probe For freezing positions controlled by a trigger signal Cam controller – Electronic cam – Electronic gear unit – Data buffer for touch – probe Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 172 It is effective for both electronic cam and electronic gear unit. For our example is is not necessary to change any parameters. • Double-click on the "Electronic cam" checkbox. An overview of the electronic cam is displayed. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 173 Example: Executing the electronic cam continuously on a virtual encoder • Make the following settings: – Activate "Curve sequence 1"" 1958142859 – Double-click on "Curve sequence 1". A window opens in which you can create a curve sequence. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 174 Click on an empty field with the right mouse button and add a mathematic curve. 1959927947 • Use the mouse to create the following connections to the block you have just created: 1959925003 For start For endless reverse motion For endless forward motion Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 175 Create a control point table for the curve. To do so, right-click on Mathematic curve and select [Edit curve...] from the menu. 2260603531 • Name the curve and click on [OK]. 1970842507 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 176 • Double-click on Type and select "Sinusoids of Bestehorn". • Enter the following curve data: – X2: 65536 – Y2: 65536 • Click on the [Next] button in the bottom right corner. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 177 – Set CFT Master cycle to "65536". 1959935115 • Click on the [Next] button in the bottom right corner. • Go to step 4 for the process data configuration. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 178 Standard Standard configurations are preset configurations for certain applications. • Select "Customized configuration" and click on [Create]. • Name the configuration and click on [OK]. The PDO Editor opens. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 179 This is indicated by the flashing light in the task bar (top right). Step 7: Documentation • In step 7, the documentation is created. You can now activate the FCB electronic cam and the drive will follow the virtual mas- ter. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 180: Example: Event Control And Synchronous Operation

    The number of incoming trigger events is counted by the event counter, here: 4 rising edges to DI05. 1959231243 INFORMATION Make sure that the status is online (monitor mode). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 181 (PDO). The exact address depends on the application-specific PDO link and can- not be specified for universal use. The settings for fast, event-controlled engaging are now complete. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 182: Procedure

    – Connect the output PSG EGear output setpoint of the position setpoint generator with the input of the "Electronic gear unit" block. 1958099723 INFORMATION You can connect function blocks by using drag & drop. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 183 – Now, select the button [PI] (process input data). – Set "channel 1" for VAR Input 0 (the master signal will later be received via this channel). 1958101643 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 184 + 500 µs further processing time = 2500 µs) PSG Mean value filter time 5.0 ms (setting of mean value filter time; in this example, 5 ms forms a [ms] mean value over 5 position telegrams). 1958103563 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 185 Position-related (in this example) EG Active adjustment of the slave setpoint EG Active adjustment type Setpoint is added (relative) EG Master cycle [inc] 1 000 000 EG Slave cycle [inc] 500 000 1958105483 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 186 Data buffer 1 MT interrupt source Binary input 5 MT interrupt level Rising edge 1958109323 – Now click on "left arrow" to go back to the overview window of the function blocks. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 187 FCB data Select Channel 0 Select FCB data block 0 FCB17 Electronic gear unit 1958778379 – After completing the configuration, click on "left arrow" to go back to the overview of function blocks. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 188 Examples Example: Event control and synchronous operation • Now download the settings to the axis. 1958113163 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 189 Now go to monitor mode to display status information of the axis during the test stage. The following figure shows the button for activating monitor mode and the LED for active monitor mode. 1958095883 • Go to "event control" to monitor trigger events. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 190: Position Control Example

    13.4.3 Procedure • Set the basic functions as follows: – First, tick the checkboxes of the required function blocks: • Variables • Position setpoint generator • Event control • Electronic gear unit Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 191 – Connect the output PSG EGear output setpoint of the position setpoint generator with the input of the "Electronic gear unit" function block. 1982377867 INFORMATION You can connect function blocks by using drag & drop. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 192 – Select the button [PI] (process input data) to select a free box to which the master information is written. – Set "channel 1" for VAR Input 0 (the master signal will later be received via this channel). 1982375947 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 193 + 500 µs further processing time = 2500 µs) PSG Mean value filter time [ms] 5.0 ms (setting of mean value filter time; in this example, 5 ms forms a mean value over 5 position telegrams). 1982383115 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 194 Position-related (in this example) EG Active adjustment of the slave setpoint Yes EG Active adjustment type Setpoint is added (relative) EG Master cycle [inc] 500 000 EG Slave cycle [inc] 300 000 1982387083 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 195 FCB mask Bit 0 to "high" FCB data block 0 FCB17 Electronic gear unit 1982608267 – After completing the configuration, click on "left arrow" to go back to the overview of function blocks. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 196 Examples Position control example • Now download the settings to the axis. 1982612363 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 197 Now go to monitor mode to display status information of the axis during the test stage. The following figure shows the button for activating monitor mode and the LED for active monitor mode. 1982615947 • Go to "event control" to monitor trigger events. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 198 (PDO). The exact address depends on the application-specific PDO link and can- not be specified for universal use. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 199: Example: Event Control - Crank Arm

    (FCB07 torque control). As of a modulo position of 180°, the unit continues to travel to the basic position 10° (FCB09 Positioning). Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 200: Procedure

    – Connect VAR Input 0 with channel 0 in the process data flow by first clicking on the marked button in the tool bar of the variables window (see screenshot below). 1960871435 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 201 – Parameterizing the event control. – If the comparison of Var Input 0 ≥ 180.00 degree is TRUE, you set the status bit once because the Mask for setting is activated for bit 0. 1960873355 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 202 Examples Example: Event control – crank arm – Activate the FCB mask and parameterize FCB09, e.g. as displayed in the illustra- tion below. 1960856715 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 203 OUT process data with channel 0 of the IN-PDO mapper (as described in the first step of this example). – The successful link is displayed in the window "Configuration of the process data flow": 1961012107 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 204 – Check your settings. Move the drive endlessly in the positive direction. The modulo position of the drive must be shown in VAR Input 0 (in the screenshot: 180.65°). 1961016715 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 205: Example: Event Control - Single Or Multiple Event Requests Within One Modulo Information

    The material take-off unit is to start synchronously every 45° to the modulo posi- tion of the main drive only, but always use relative positioning with the same motion pro- file. 2276906251 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 206: Solution

    – Connect VAR Input 0 with channel 0 in the process data flow by first clicking on the marked button in the tool bar of the variables window (see screenshot below). 1961020811 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 207 – Set the comparison value 45° (4500) in order to trigger the event every 45° (8 times per revolution). – Under "Count changes", set the variable Clear on event to "yes" in order to reset the Counter to 0 after the event. 1961305995 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 208 OUT process data with channel 0 of the IN-PDO mapper (as described in step 1 of this instruction). – The successful link is displayed in the window "Configuration of the process data flow": 1961012107 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 209 VAR Input 0 (in the screenshot: 180.65°). 1961016715 – "Event control" continues to run as long as the counter increments until it reaches the comparison value, a bit request is set and the counter is deleted. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 210 The bit EV0 Request 0 is located in index 20205.82 and can be parameterized direct- ly in the status word in the process data flow for transfer to the slave drive. 1961309963 1961316875 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 211: Example: Touch Probe

    The actual position of the axis is the source for the comparison in the touch probe function. – In order to use the actual position for the comparison, connect the output SD User position encoder 1 to input EMT Position source (range monitoring). 1967961867 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 212 – Load these settings into the drive, e.g. by clicking on project planning mode (top right corner of the window), before setting MT Interrupt processing status to "activate interrupt". The settings must be active before the touch probe function is activated. 1967963787 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 213 PLC is informed that it can read out new measurement results in the drive: – Go back to project planning mode, click on the [PO] button, and link MT Event counter with channel 11, for example. 1967535627 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 214 Examples Example: Touch probe ® – If the sensor has reported a total of 20 rising edges, MOVIAXIS sends the value 20 to the PLC when channel 11 is connected to a word in the OUT buffer. 1967537547 – When the PLC recognizes that the event counter changes, it can read out all val- ues necessary for the calculation from the data buffer via an acyclical read tele- gram.

  • Page 215: User Interface (Data Distribution Buffer)

    Touch probe 2 10097.9 Touch probe 3 10097.10 Touch probe 4 10097.11 Data buffer Data buffer 1 10097.3 Data buffer 2 10097.4 Data buffer 3 10097.5 Data buffer 4 10097.6 Overlay 20299.4 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 216: Type And Version Id Of A Data Structure In The Ddb

    Type of data structure Type 200: Data structure for FCB 17 EGear Type 300: Data structure for physical encoder Type 400: Data structure for virtual encoder Type 800: Data structure for position setpoint generator Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 217: Error Description

    A negative curve number is not permitted Stop at application limit The value of the CFT Curve type parame- (not initialized). ter of a curve is not permitted. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 218 Check structure in the DDB Incorrect virtual encoder block type Stop at application limit Check structure in the DDB Virtual encoder block version incompati- Stop at application limit Update firmware ble with firmware. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 219 ® MOVIAXIS firmware. Interpolation time not within limits. Stop at application limit Set the MT cycle time of the external posi- tion in the range 1 – 60 ms. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 220 Check the structure in the DDB or pre- vent unpermitted write access to this DDB variable. If the higher-level controller requires a higher version, update the ® MOVIAXIS firmware. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 221 Download the project again, if necessary. Invalid cam data Stop at application limit Incorrect cam data. Track error Stop at application limit CT Data source points to a wrong track. Download the project again, if necessary. Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 222: Address List

    Tel. +33 1 64 42 40 80 Zone industrielle Fax +33 1 64 42 40 88 2 rue Denis Papin F-77390 Verneuil I'Etang Additional addresses for service in France provided on request! Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 223 Guarulhos - 07251-250 - SP [email protected] SAT - SEW ATENDE - 0800 7700496 Bulgaria Sales Sofia BEVER-DRIVE GmbH Tel. +359 2 9151160 Bogdanovetz Str.1 Fax +359 2 9151166 BG-1606 Sofia [email protected] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 224 SEW-EURODRIVE (Xi'An) Co., Ltd. Tel. +86 29 88241718 No. 12 Jinye 2nd Road Fax +86 29 68686296 Xi'An High-Technology Industrial Development [email protected] Zone Xi'An 710065 Additional addresses for service in China provided on request! Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 225 1889 Libreville [email protected] Gabun Great Britain Assembly Normanton SEW-EURODRIVE Ltd. Tel. +44 1924 893-855 Sales Beckbridge Industrial Estate Fax +44 1924 893-702 Service P.O. Box No.1 http://www.sew-eurodrive.co.uk GB-Normanton, West- Yorkshire WF6 1QR [email protected] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 226 Ivory Coast Sales Abidjan SICA Tel. +225 21 25 79 44 Société industrielle & commerciale pour Fax +225 21 25 88 28 l'Afrique [email protected] 165, Boulevard de Marseille 26 BP 1115 Abidjan 26 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 227 C.P. 76220 Quéretaro, México Morocco Sales Casablanca Afit Tel. +212 522633700 Route D’El Jadida Fax +212 522621588 KM 14 RP8 [email protected] Province de Nouaceur http://www.groupe-premium.com Commune Rurale de Bouskoura MA 20300 Casablanca Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 228 195220 St. Petersburg Russia http://www.sew-eurodrive.ru [email protected] Senegal Sales Dakar SENEMECA Tel. +221 338 494 770 Mécanique Générale Fax +221 338 494 771 Km 8, Route de Rufisque [email protected] B.P. 3251, Dakar http://www.senemeca.com Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 229 Fax +27 31 700-3847 Pinetown [email protected] Durban P.O. Box 10433, Ashwood 3605 Nelspruit SEW-EURODRIVE (PTY) LTD. Tel. +27 13 752-8007 7 Christie Crescent Fax +27 13 752-8008 Vintonia [email protected] P.O.Box 1942 Nelspruit 1200 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 230 Fax Sales +1 864 439-7830 Sales P.O. Box 518 Fax Manufacturing +1 864 439-9948 Service Lyman, S.C. 29365 Fax Assembly +1 864 439-0566 Corporate Offices Fax Confidential/HR +1 864 949-5557 http://www.seweurodrive.com [email protected] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 231 Assembly Valencia SEW-EURODRIVE Venezuela S.A. Tel. +58 241 832-9804 Sales Av. Norte Sur No. 3, Galpon 84-319 Fax +58 241 838-6275 Service Zona Industrial Municipal Norte http://www.sew-eurodrive.com.ve Valencia, Estado Carabobo [email protected] [email protected] Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...

  • Page 232: Index

    Derivative generator.........123 Process data configuration ........19 FCB16..............64 Startup ...............12 Motor management..........125 Technology functions.........16 Overview ............63 Motor management..........125 Profile generator ..........120 Switch on/off ............65 System block............69 Error description...........217 Notes General ..............7 Safety...............7, 9 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 233 System data ............27 "Endless" operating mode .........39 0 ... 9 Target groups............10 3rd order polynomial ..........102 3rd order polynomial transition ......104 5th order polynomial ..........102 5th order polynomial transition......108 Technology Functions Manual – MOVIAXIS® Multi-Axis Servo Inverter...
  • Page 238 SEW-EURODRIVE—Driving the world SEW-EURODRIVE Driving the world SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 D-76642 Bruchsal/Germany Phone +49 7251 75-0 Fax +49 7251 75-1970 [email protected] www.sew-eurodrive.com...

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