SEW-Eurodrive MOVIDRIVE MDX61B DEU21B Manual
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SEW-Eurodrive MOVIDRIVE MDX61B DEU21B Manual

Multi-encoder card
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*20242549_1114*
Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIDRIVE
®
MDX61B
DEU21B multi-encoder card
Edition 11/2014
20242549/EN
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Summary of Contents for SEW-Eurodrive MOVIDRIVE MDX61B DEU21B

  • Page 1 *20242549_1114* Drive Technology \ Drive Automation \ System Integration \ Services Manual MOVIDRIVE ® MDX61B DEU21B multi-encoder card Edition 11/2014 20242549/EN...
  • Page 2 SEW-EURODRIVE—Driving the world...

  • Page 3: Table Of Contents

    Contents Contents General information ........................5 About this documentation ....................5 Structure of the safety notes ..................5 1.2.1 Meaning of signal words ................. 5 1.2.2 Structure of section-related safety notes ............5 1.2.3 Structure of embedded safety notes ............... 5 Rights to claim under limited warranty ................
  • Page 4 Contents 5.1.3 Material measure by metal rule..............29 Encoder parameterization .................... 30 5.2.1 SSI encoder ....................30 5.2.2 CANopen encoder ..................32 5.2.3 HIPERFACE ® encoder.................. 32 Startup ............................33 General startup instructions ..................33 Startup procedure ......................34 6.2.1 Editing SEW-EURODRIVE encoders manually ..........

  • Page 5: General Information

    General information About this documentation General information About this documentation This documentation is an integral part of the product. The documentation is intended for all employees who perform assembly, installation, startup, and service work on the product. Make sure this documentation is accessible and legible. Ensure that persons respon- sible for the machinery and its operation as well as persons who work on the device independently have read through the documentation carefully and understood it.

  • Page 6: Rights To Claim Under Limited Warranty

    General information Rights to claim under limited warranty Rights to claim under limited warranty A requirement of fault-free operation and fulfillment of any rights to claim under limited warranty is that you adhere to the information in the documentation. Read the docu- mentation before you start working with the product.

  • Page 7: Safety Notes

    Safety Notes Other applicable documentation Safety Notes Other applicable documentation • Only electrical specialists are allowed to perform installation and startup observing ® relevant accident prevention regulations and the MOVIDRIVE MDX60B/61B oper- ating instructions: • Read through this manual carefully before you commence installation and startup of the DEU21B option.

  • Page 8: System Description

    System Description Fields of application System Description Fields of application With the DEU21B multi-encoder card option, the MOVIDRIVE ® system is upgraded with an absolute encoder connection. This permits positioning functions to be imple- mented with IPOS plus® that offer the following opportunities: •...

  • Page 9: Application Examples

    System Description Application examples Application examples 3.2.1 Speed control, positioning with reference travel For speed control, the encoder is used in order to provide for an optimized motor con- trol and thus optimized speed and torque characteristics. As the position is not stored when the unit is switched off, a reference travel is re- quired after startup.

  • Page 10: Absolute Positioning With Synchronous Encoder

    System Description Suitable non-SEW encoders 3.2.3 Absolute positioning with synchronous encoder With systems subject to slip, it is not possible to detect the position via the motor en- coder. This is why an additional measuring system is required for the track. This can be laser distance encoders, barcode encoders, draw-wire encoders or length scales.

  • Page 11: Ssi Encoder

    System Description Suitable non-SEW encoders 3.3.1 SSI encoder Manufacturer Encoder designation Order designation Encoder type DEU21B Balluff BTL5-S112B-M1500-P-S32 BTL5-S112B-Mxxxx-P-xxx Linear distance sensor × BTL5-S112-M1500-P-S32 BTL5-S112-Mxxxx-P-xxx Linear distance sensor × BML-S1G0 BML-S1G0-S7ED-M5EA-D0-S284 Linear distance sensor × Dimetix FLS-C 10 Laser distance measuring ×...

  • Page 12: Ssi Combination Encoder

    System Description Suitable non-SEW encoders Manufacturer Encoder designation Order designation Encoder type DEU21B Sick/Stegmann AFM60B AFM60B-Sxxx032768 Rotary encoder × AFM60E AFM60E-SxAx004096 Rotary encoder × DL100 DL100-1xAA2101 Linear encoder × DL100Hi DL100-2xAA2101 Linear encoder × DL50Hi DL50-x2228 Linear encoder × DME3000-111 DME3000-x11 Linear encoder DME3000-x17...

  • Page 13: Hiperface

    System Description Suitable non-SEW encoders ® 3.3.3 HIPERFACE encoder Manufacturer Encoder designation Order designation Encoder type DEU21B Sick/Stegmann DME4000-xx7 DME4000-x17 Laser distance measuring × device DME5000-xx7 DME5000-x17 Laser distance measuring × device SKM36 (AK0H) SKM 36-HFA0-K02 Rotary encoder × × SKM 36S-HFA0-K02 SKS36 (EK0H) SKS36-HFA0-K02...

  • Page 14: Endat Encoder

    System Description Suitable non-SEW encoders 3.3.5 EnDat encoder Manufacturer Encoder designation Order designation Encoder type DEU21B Heidenhain ECN1313 ECN1313/EnDat01 Rotary encoder × × EQN1125 EQN1125/EnDat01 Rotary encoder × × EQN1325 EQN1325/EnDat01 Rotary encoder × × EQN425 EQN425/EnDat01 Rotary encoder × ×...

  • Page 15: Assembly / Installation Instructions

    Assembly / Installation instructions Before you start Assembly / Installation instructions Before you start Observe the following information before installing or removing the DEU21B op- tion card: • Disconnect the inverter from the power. Switch off the DC 24 V and the supply volt- age.
  • Page 16 Assembly / Installation instructions Installing the DEU21B option card ® Basic procedure The following figure shows the installation of an option card in MOVIDRIVE MDX61B for installing/ sizes 1 to 7. removing an op- tion card 1942024459 1. Remove the retaining screws holding the card retaining bracket. Pull the card re- taining bracket out evenly from the slot (do not twist!).

  • Page 17: Connection And Terminal Description Of The Deu21B Option

    Assembly / Installation instructions Connection and terminal description of the DEU21B option 5. To remove the option card, follow the instructions in reverse order. Connection and terminal description of the DEU21B option Part number DEU21B multi-encoder card option: 18221696 INFORMATION ®...

  • Page 18: Dc 24 V Voltage Supply Of The Deu21B

    Assembly / Installation instructions DC 24 V voltage supply of the DEU21B INFORMATION • If X14 is used as an incremental encoder simulation output, the switchover (X14:7) must be jumpered with DGND (X14:8). • The 24 V encoders from SEW-EURODRIVE (except HTL and Hiperface ®...
  • Page 19 Assembly / Installation instructions Connecting an absolute encoder Icon Meaning Connection cable connector → connector for cable carrier installation Extension connection cable connector → connector for cable carrier installation Connection cable connector → conductor end sleeves for fixed installation Connection cable connector → conductor end sleeves for cable carrier installation Connection cable conductor end sleeves →...

  • Page 20: Connection Options For Encoders At X15 Deu21B

    Assembly / Installation instructions Connecting an absolute encoder 4.5.3 Connection options for encoders at X15 DEU21B DR71...132 ES7S, ES7R, ES7C, DR71...132 AS7W, AS7Y ES7S, ES7R, ES7C, AS7W, AS7Y DR160...225 EG7S, EG7R, EG7C DR160...225 AG7W, AG7Y EG7S, EG7R, EG7C AG7W, AG7Y DR315 AH7Y X15 DEU21B...
  • Page 21 Assembly / Installation instructions Connecting an absolute encoder Option 1: Cable with D-sub 15 plug connector and encoder connection cover: 2047431819 Option 2: Cable with D-sub 15 plug connector and conductor end sleeves: 2047433483 Encoder cable Motor size Encoder type Installation Part number 13617621...
  • Page 22 Assembly / Installation instructions Connecting an absolute encoder Optional: Extension cable with M23 plug connector on both sides: 2047438475 Cable with M23 plug connector and D-sub 15 plug connector: 2047504139 Encoder cable Motor size Encoder type Installation Part number 13621963 ES7S, ES7R, ES7C, 13623184 DR71 ...

  • Page 23: Connection Diagrams For Prefabricated Cables

    Assembly / Installation instructions Connecting an absolute encoder 4.5.4 Connection diagrams for prefabricated cables 13617621 Pin assignment Signal Cable Signal Core color 360° contact on A-side Stranding Shield 360° contact on B-side Red (RD) cos+ cos- Blue (BU) sin+ Yellow (YE) sin- Green (GN) Brown (BN)
  • Page 24 Assembly / Installation instructions Connecting an absolute encoder 13622021 Pin assignment Signal Signal Cable Core color 360° contact on A-side Stranding 360° contact on B-side Shield Red (RD) A (cos+) A (cos+) Blue (BU) A (cos-) A (cos-) B (sin+) Yellow (YE) B (sin+) Green (GN)
  • Page 25 Assembly / Installation instructions Connecting an absolute encoder 13623184 Pin assignment Signal Signal Cable Core color 360° contact on A-side Stranding Shield 360° contact on B-side Red (RD) A (cos+) A (cos+) Blue (BU) A (cos-) A (cos-) Yellow (YE) B (sin+) B (sin+) Green (GN)
  • Page 26 Assembly / Installation instructions Connecting an absolute encoder 13621998 Pin assignment Cable Signal Signal Core color 360° contact on A-side Shield Shield 360° contact on B-side Red (RD) A (cos+) A (cos+) Blue (BU) A (cos-) A (cos-) Yellow (YE) B (sin+) B (sin+) Green (GN)

  • Page 27: Project Planning

    Project planning Absolute encoder selection Project planning Absolute encoder selection When selecting the absolute encoder, the following points should be considered to achieve optimum travel characteristics and good dynamic properties in the system: • Position measurement should be conducted without slip. The rotary encoders should be driven with no slip.

  • Page 28: Laser Distance Measuring Instruments

    Project planning Absolute encoder selection Example Travel drive with the following data: Gearmotor R97DV160L4BMIG11, i = 25.03 Drive wheel diameter 150 mm Encoder wheel diameter 65 mm Encoder T&R CE65MSSI with 4096 x 4096 increments Calculation of position resolution with encoder mounted to motor shaft: →...

  • Page 29: Material Measure By Metal Rule

    Project planning Absolute encoder selection 5.1.3 Material measure by metal rule The operating principle of this system corresponds to that of the multi-turn rotary en- coder. There is no averaging, so this system is not subject to a delay in position meas- urement.

  • Page 30: Encoder Parameterization

    Project planning Encoder parameterization Encoder parameterization The following points must be observed in the design and construction of encoders and when setting their parameters: 5.2.1 SSI encoder INFORMATION The following applies for all parameterizable SSI encoders: • The interface must be set to "SSI". •...
  • Page 31 Project planning Encoder parameterization – You have to set "24 data bits + error bit". – The resolution must be set to 0.1 mm or 1 mm. – Set the "AvgDst" parameter to "Fast". • SICK OLM100 – You have to set "24 data bits + error bit". –...

  • Page 32: Canopen Encoder

    Project planning Encoder parameterization 5.2.2 CANopen encoder • T&R CE 58 CANopen – The termination switch must be set to "ON". – The node ID must be set to 1 via the 6-fold DIP switch. – The number of increments per revolution must be set to the standard value, 4096.

  • Page 33: Startup

    Startup General startup instructions Startup General startup instructions INFORMATION ® For startup, you require MOVITOOLS MotionStudio 5.60 SP1 HF1 or a later ver- sion. Startup with an earlier version is not permitted. • The drive must be started up in conjunction with the MOVIDRIVE ®...

  • Page 34: Startup Procedure

    Startup Startup procedure Startup procedure ® • Once the startup tool has been selected in MOVIDRIVE MotionStudio, the initial startup window is displayed. – You can switch between the pages by using the [back] and [next] buttons. – Click [continue]. •...

  • Page 35: Editing Sew-Eurodrive Encoders Manually

    Startup Startup procedure 6.2.1 Editing SEW-EURODRIVE encoders manually Proceed as follows to select an SEW-EURODRIVE encoder manually: • Select "SEW-EURODRIVE encoder" from the encoder group. • Configure the encoder designation according to the nameplate. 1942880907 ® Manual – MOVIDRIVE MDX61B...

  • Page 36: Editing Approved Encoders

    Startup Startup procedure 6.2.2 Editing approved encoders Proceed as follows to manually select a non-SEW encoder approved by SEW- EURODRIVE: • Select "Approved encoder" from the encoder group. • Select the respective encoder from the SEW-EURODRIVE database. 9007201197623819 • Select the "Mounting" tab and define the type of mounting. ®...

  • Page 37: Defining The Encoder Mounting

    Startup Startup procedure 6.2.3 Defining the encoder mounting Proceed as follows to define the encoder mounting: • Enter the counting direction of the encoder. • Specify the ratio between the motor and the encoder. • You can measure the ratio with the startup software. This is only possible after the inverter has been installed successfully.

  • Page 38: Unit Replacement

    Startup Unit replacement Unit replacement 6.3.1 Replacing incremental encoders Incremental encoders for positioning always require a reference travel after startup. This is why there are no special measures required in the event of a unit or encoder (motor) replacement. 6.3.2 Replacing absolute encoders.

  • Page 39: Parameters

    Parameters Motor encoder/distance encoder Parameters The DEU21B encoder cards are parameterized during startup. This is where you de- termine as to which encoder is connected to which terminal with which resolution. The motor encoder is connected to terminal X15 and the distance encoder is connected to X14.
  • Page 40 Parameters Motor encoder/distance encoder Parameters Description Counting direction The effective position and speed is inverted. Counter clockwise = positive, if inverted. Settings: normal / inverted Position mode With overflow counter: • Encoder overflows are counted and an internal 32-bit position is generated in the inverter Single-turn absolute position: •...

  • Page 41: Ssi Motor Encoder/Distance Encoder

    Parameters Motor encoder/distance encoder Parameters Description Sine period length Linear encoder: Resolution display. The length of a sine cycle in nm. Factory setting: 0 Measuring step/revolution Rotary encoder: Digital resolution per encoder revolution Factory setting: 0 Measuring step resolution Linear encoder: Resolution of a measuring step in nm. Factory setting: 0 Number of revolutions Applies to multi-turn encoders.
  • Page 42 Parameters Motor encoder/distance encoder Parameters Description Clock frequency Range of values: 125, 250, 500, 1000, 2000 kHz Defines the cycle frequency at which absolute encoder information is transmit- ted from the encoder to the inverter. Cycles per frame Range of values: 1 – 25 – 48 Number of cycles until an SSI date has been fully transferred.

  • Page 43: Endat2.1 Motor Encoder/Distance Encoder

    Parameters Motor encoder/distance encoder 7.1.2 EnDat2.1 motor encoder/distance encoder 9352136715 Parameters Description Clock frequency Range of values: 125, 250, 500, 1000, 2000 kHz Defines the cycle frequency at which absolute encoder information is transmit- ted from the encoder to the inverter. Fault mask for warning bits Range of values: 0 –...

  • Page 44: Canopen Motor Encoder/Distance Encoder

    Parameters Motor encoder/distance encoder 7.1.3 CANopen motor encoder/distance encoder 9352134795 Parameters Description Number of SDOs Range of values: 0 – 8 Objects for data parameterization Baud rate Range of values: 125, 250, 500 kBaud, 1 MBaud determines the transmission speed of the CAN bus. Number of position bits Range of values: 0 –...
  • Page 45 Parameters Motor encoder/distance encoder Parameters Description Refresh time Range of values: 0 – 65535 μs The encoder outputs a new position after this time. The multi-encoder card DEU21B extrapolates the position in this time. Specification according to the encoder manufacturer's data sheet. Wake-up time Range of values: 0 –...

  • Page 46: Error Messages

    Error messages MOVIDRIVE MDX61B with DEU21B option Error messages MOVIDRIVE MDX61B with DEU21B option MOVIDRIVE ® MDX61B with DEU21B option The factory set fault response is listed in the "Response (P)" column. (P) indicates that plus® the response is programmable (via IPOS Error Designation Re- Suberror...
  • Page 47 Error messages MOVIDRIVE MDX61B with DEU21B option Error Designation Re- Suberror Designation Possible cause Measure code sponse code X15: Encoder type unknown Connected encoder type Replace encoder unknown 16386 X14: Encoder type unknown X15: Plausibility check • Encoder cable or shield •...
  • Page 48 Error messages MOVIDRIVE MDX61B with DEU21B option Error Designation Re- Suberror Designation Possible cause Measure code sponse code X15: Critical encoder tem- Encoder temperature too Reduce motor and ambient perature high temperature 16446 X14: Critical encoder tem- perature X15: Insufficient clock fre- Incorrect encoder parame- Inspect encoder parameteri- quency...

  • Page 49: Technical Data

    Technical Data DEU21B option – electronics data Technical Data DEU21B option – electronics data Description Function Connection of external encoder X14: Permitted encoder types: Output for incremental encoder simulation: ® • HIPERFACE encoder • Signal level to RS422 • sin/cos encoder AC 1 V •...

  • Page 50: Index

    Index Index Connection ............. 17 Prefabricated cables ........18 Absolute encoder connection Terminal description........17 General installation notes ....... 18 Application example Special applications ........10 Notes Absolute positioning with combination encoder Designation in the documentation..... 5 ................9 Absolute positioning with distance encoder ..10 Speed control, positioning with reference travel Option card ................
  • Page 51 Index Unit information..........34 Startup procedure ..........34 System description..........8 Technical data............49 Terminal description..........17 Trademarks ............6 Unit information ............ 34 ® Manual – MOVIDRIVE MDX61B...
  • Page 56 SEW-EURODRIVE—Driving the world SEW-EURODRIVE GmbH & Co KG P.O. Box 3023 76642 BRUCHSAL GERMANY Phone +49 7251 75-0 Fax +49 7251-1970 [email protected] www.sew-eurodrive.com...

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