FIBROMAT Schnittstellenbeschreibung MDX61B EN V07 · 2018-12-13 · SEW MOVIDRIVE converter....

FIBRO GmbH Werk I Postfach 1120 · DE-74183 Weinsberg Weidachstr. 41-43 · DE-74189 Weinsberg Telefon +49 (0 )71 34-73-0* Fax +49 (0) 71 34-73-120

[email protected] www.fibro.com

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FIBROMAT interface description V07 SINGLE- or TWIN- Drive Converter MDX 61B xxxx-5A3-4-00 F



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Original copy of the interface description Without our express permission, this must not be provided to either third parties or competitors! Subject to change without notice. Contents

Topics Seite Warnings, Remarks 3 Description, technical information 7 Electrical diagram 10 Index function 19 Operating modes 20 Fieldbus, GSD, SEW 21 Communication with the external control system 22 Selection of the functions and operating modes 25 Reference point and positions 30 Status of status bits 31 Converter and MOVI PLC 33 Diagnose Inverter Data 36 Appendix 37 Example GSD File 44 Further information can be found in the SEW documentation. SEW Contact person: H.Schmitt Tel: 0049(0)7134-73296 E-mail: [email protected] H.Kowatsch Tel: 0049(0)7134-73258 E-mail: [email protected]

FIBRO GmbH Geschäftsbereich Rundtische Postfach 11 20 74183 Weinsberg, Germany Weidachstr. 41-43 74189 Weinsberg, Germany Service E-mail [email protected] Tel. +49(0)7134 / 73 - 243 FAX +49(0)7134 / 73 - 344



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Safety information

Safety

Symbols used

DANGER

Indicates an immediately dangerous situation! Failure to observe this warning will result in a fatal or serious injury.

WARNING

Indicates a possibly dangerous situation! Failure to observe this warning may result in serious injuries or death.

NOTE

Provides information, tips, and recommendations that are important for the safety and proper functioning.

Safety information for electrical equipment for use in industrial power plants � This information sheet with the warnings is considered a supplement to the product-specific operating instructions and must be paid particular attention for reasons of safety.

DANGER

DANGER! The electrical machines or devices are operating equipment for use in industrial power plants. During operation, this equipment has dangerous, live, bare parts, and also moving or rotating parts, if necessary. They could cause severe physical injury or material damage, for example, if the required covers are improperly removed, if used improperly, incorrect operation or insufficient maintenance.

For the safety of the system, the responsible persons must therefore ensure that only qualified persons are contracted to perform work on the machine or devices; these persons must have the supplied operating instructions and other necessary documents of the product documentation always available during all corresponding work and are obliged to observe the information in these documents consistently; unqualified persons are forbidden from performing work on the machine or equipment or working in its vicinity.



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Qualified personnel are persons who, due to their education, experience, training, as well as their knowledge of pertinent standards, provisions, accident prevention regulations, and company conditions, have received authorisation from the persons responsible for the safety of the system to perform the required tasks whilst recognising and preventing possible dangers (for the definitions of expert personnel, also see VDE 0105 or IEC 364). This includes but is not limited to having knowledge of first-aid measures and local rescue facilities. For work on high-voltage systems, the prohibition of the use of unqualified personnel is regulated in DIN VDE 0105 or IEC 364, for example.

DANGER

DANGER! ► The fundamental planning work of the system, as well as all work with regard

to transport, assembly, installation, commissioning, maintenance and repair must be performed by qualified personnel and inspected by responsible specialized personnel.

► In particular, the following must be observed:

Technical data and specifications about the permitted use (assembly, connection, environmental and operating conditions, and requirements) which, among others, are contained - in the catalogue - the order documents - the operating instructions - the rating plate data of the remaining product documentation.

► The general set-up and safety regulations, the local system-specific conditions

and requirements, the proper use of tools, lifting and transport equipment, the use of personal safety equipment, assembly requirements for devices, which are supplied, if necessary, corresponding to IP00 (without cover):

► During operation, the required protection against accidental contact must

be present, respectively, a dangerous proximity must be prevented.

NOTE

For reasons of clarity, the operating instructions are not able to include all detailed information about possible versions and are not able to take into account every conceivable case with regard to setup, operation or maintenance.

Accordingly, the information contained in the operating instructions only contains information about the proper use of the machine or equipment in industrial areas of application which is required for qualified personnel (see above). If higher requirements are placed, for example, in special cases for an intentional use of the machinery or equipment in non-industrial areas (e.g. prevention of contact by children's fingers or similar), the fulfilment of these additional requirements must be ensured during the assembly by the provisioning of additional safety measures on the system.



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For any lack of clarity with regard to this, particularly with regard to missing product-specific detailed information, the required clarifications must be obtained. For these types of queries, please always specify the machine type designation and manufacturing number.

NOTE

We recommend obtaining support from the FIBRO Service Department for service tasks.

WARNING

SWITCH OFF THE EQUIPMENT IMMEDIATELY IN CASES OF DOUBT!

The contents of these operation instructions and product documentation shall not become part of or modify any prior or existing agreement, commitment or legal relationship. All obligations of FIBRO result from the underlying purchase contract, which also contains the complete and solely valid warranty regulation. These contractual regulations are neither amended nor limited by the descriptions contained in these operation instructions and documentation.

NOTE

Information about the observance of accident prevention regulations

Since we do not supply an operationally ready machine or system, but rather, a component, we are not able to provide standardised safety equipment without knowledge about the rotary indexing table environment.

NOTE

For general work, e.g. incoming shipments (transport damage), for long-term storage and preservation of machines, for foundation inspection, for mounting of couplings, setting up and aligning machines, installation measures etc., you can find detailed information in the operating instructions. If necessary, you can also obtain this from the distributors.

WARNING

WARNING! ► To prevent malfunctions, the stipulated maintenance, inspection, and overhaul

measures must be performed regularly by experienced service personnel (see above).

► If changes to normal operation (higher current consumption, temperatures, vibrations, noises etc. or the activation of monitoring equipment) are noticed, this may indicate an impairment of the function. The responsible maintenance personnel must be notified immediately in such cases to prevent malfunctions which could cause an indirect or immediate severe personal injury or damage.



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Our accessories program includes different covers over toothed belts, V-belts, chains, and end-switch actuation, either for the purposes of contact protection or also in sealed design for all sizes and drive versions. If you have ordered the rotary table without sufficient safety equipment, you must absolutely provide for this yourself. Due to the previously mentioned reasons, we would like to again point out that we shall not accept any claims directed towards us that arise from non-observance of the accident prevention regulations in question. Also outside of our scope of responsibility are cutting and crushing hazards which arise through drill holes or other openings, both through the table top as well as through the underlying or overlying fixed table plate.

This sheet was already sent to you with the order c onfirmation.

WARNING

WARNING! ► The switch cabinet contains electrical devices and components

of these electrical devices with live dangerous voltages. Improper use of these devices can therefore lead to death or severe personal injury or damage.

► Installation and commissioning may only be performed by qualified, trained, and instructed electricians. These persons must be fully familiar with the content of these instructions.

► The precise knowledge of the operating instructions, the circuit

diagram, the control system manuals, as well as the operating instructions of the rotary table is a requirement for a trouble-free continuous operation



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Descriptions The FIBROMAT SINGLE Drive or TWIN Drive rotar y table is driven by the SEW MOVIDRIVE converter.

Communication with the parent control system of the customer (PLC) takes place via fieldbus. ( PROFIBUS, DeviceNet or PROFINET, ModbusTCP, EthernetIP ) The corresponding operating modes and positions to be approached are to be selected or transferred by the external control system; check-b ack signals of the drive set are sent to the external control system through Profibus communicat ion, as well. Thanks to the communications design with an externa l control system, a completely free procedure can be realized in the case of FIBROMAT, regardless of whether it is with or without the index or SINGLE or TWIN Drive. In a freely selectable order, absolute or relative positions can be approached one after the other in various directions! SEW servomotors with a gearbox have been provided as the drive set. A pneumatically controlled indexing unit is used to fix the defined positions into place. In the TWIN Drive variant, two frequency converters and two motors have been provided. A master and a slave with one converter each and the respective motor operate the rotary table. In this case, the slave is used to support the moving and positioning procedures. Motor and gearbox: KF77/R DRL…..BE5/TF/AS7W (for a precise explanation, see the technical descr iption of the rotary table documentation) Ratio: e.g. 64.75:1 (for a precise explanation, see the technical descr iption of the rotary table documentation) Holding brake: 400-460VAC Thermal sensor connected to the converter Absolute encoder SEW Multiturn Rotary table Ratio: (for a precise explanation, see the technical descr iption of the rotary table documentation) Indexing unit Pneumatic cylinder with two integrated end position monitors, 24VDC, PNP Pneumatic valve with two separate coils for actuation, 24VDC Converter MDX61B xxxx-5A3-4-00 (for a precise explanation, see the technical descr iption of the rotary table documentation) With sensor card DEH11B for the connection of the absolute encoder and control card DHF41B or control cad DHR41B with Fieldbus interface for connection to the external control system



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Converter FIBROMAT , technical information , deli very

Voltage 3x 380V AC -10% -- 3x 500V AC +10 % 50/60Hz

FIBROMAT AT.0800 AT.1000 AT.1250 AT.1600

FIBRO article 4-957-044-xxxx 4-958-044-xxxx 4-959-044-xxxx 4-960-044-xxxx Typ MDX61B -0055-5A3-4-00 -0075-5A3-4-00 -0110-5A3-4-00 -0220- 503-4-00 power 5,5 KW 7,5 KW 11,0 KW 22,0 KW

size in mm

B x H x T 105 x 335 x 294 105 x 335 x 294 135 x 315 x 285 200 x 465 x 308

Brake

resistor BW147 BW147 BW039-026 BW018-035

size in mm

L x H x T 465 x 120 x 185 465 x 120 x 185 649 x 120 x 275 295 x 270 x 490 Network filter / / / NF048-503

size in mm

L x H x T / / / 315 x 100 x 60 operating unit DBG60B-01 DBG60B-01 DBG60B-01 DBG60B-01

encoder interface DEH11B DEH11B DEH11B DEH11B

Controller

Profibus DHF41B DHF41B DHF41B DHF41B or

Controller

Profinet DHR41B DHR41B DHR41B DHR41B



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Circuit diagrams Hardware prerequisites for the control of FIBROMAT with a frequency converter: Voltage supply: - 400V AC : Terminal strip X 1, L1 – L3, PE - 24V DC : Terminal strip X10, 9 - 10 Terminal strip X13, 7 Digital inputs: Terminal strip X13 - DI00 : Controller lock, +24VDC if con trol voltage present - DI01 : Enable, +24VDC if emergency s top OK, (delayed deactivation with safety relay) - DI02 : Initiator Index at top - DI03 : Initiator Index at bottom Digital outputs: Terminal strip X16 - DO04 : Valve Raise index - DO05 : Valve Lower index Safe stop: Terminal strip X17

- Circuitry according to SEW documents or safety cate gory - Enable, if emergency stop OK

(delayed deactivation with safety relay) System bus: Terminal strip X12 - Communication connection between PLC and freq uency converters Temperature sensor: Terminal strip X10 - TF1 : Temperature sensor of motor DHF41B : Terminal strip X30P - Communication connection between PLC and exte rnal control system DHR41B : Terminal strip X30 - Communication connection between PLC and exte rnal control system Motors: - The motors are connected in delta operation. Index: - The index is controlled by the converter (master). The limit switches and valves are accordingly

wired to the inputs and outputs of the conve rter.

If FIBROMAT is driven without an index, it m ust be deselected in in the software (control word PA1 Bit 3).

Input DI03, index down, must be assigne d with +24VDC in this case!



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Brakes:

- To position the drives on the preset braking ramps in case of an emergency stop or control system deactivation, motor brakes should be switche d at the corresponding enable voltage (safely time-delayed safety relay, falling ). The brakes are always released as soon as the control voltage is OK.

- If the brake is applied after positioning, the "K-B rake" contactor should be wired accordingly: at the same time, the enable should be switched off in control word PA1.

Signal sequence and function during emergency :

- Requirements : Control on emergency ok (Safty relay on)

- Emergency stop operated

signal an PLC control word PA1 set Bit 1 = 1 , Bit 2 = 0 Positioned immediately to drive the brake pad when he is on the move Emergency stop relay opens DI01 delayed Emergency delayed opening relay contacts safe stop



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Caution!!! The converter and rotary table are adjusted and com missioned together according to the technical data. There are no customer side changes to the parameter s necessary!!! Delivery FIBRO :

� Frequency inverter with Movi PLC, control panal, en coder card � Braking resistor � Feedbackcable ( standard lengt 5m )

Drive and rotary table are in the house FIBRO with PROFIBUS or PROFINET communication commissioning by. DeviceNet, Modbus TCP, EtherNet communication is by the customer according to the SEW settings DHF41B or DHR41B per form

Data backup The inverter data are stored on the supplied contro l unit BDG 60B! The programmdata are stored on a SD-Card inserted i n the MOVIPLC! If a change oft he converter or the MOVIPLC are req uired, then the user data is tranferred directly!

1. The SD-Card into the new MOVIPLC insert

2. Tranfer the inverter data from BDG 60B into the new inverter



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Using the folloing description of functions, operat ing modes, and circuit diagrams, actuation can take place without a problem! In the various operating modes, speed, ramps, and s hock limitation should be given preference. This information is calculated especially for each application and can be found in the technical data of the rotary table specification of FIBRO. This data absolutely may not be exceeded! Index function The index is used to fix the defined positions precisely. The index can be selected or deselected as required. The limit switches and valves of the index function are connected to the converter (master) and accordingly controlled. If a move command is present, the index will be actuated first. If the index bolt is down, the rotary table turns into the set position. Once it arrives in this position, the index will be moved up again and the rotary table is fixed into place. The positions are queried with initiators and pneumatic valves are provided for actuation. As required, the index function can also be deselected.

The index is controlled by the inverter (master). A ccordingly, limit switches and valves must be wired strictly to inputs and outputs of the inverte r!!! Attention! Ensure, when the selection of the pneumaticvalves t hat the outputs DO04 DO05 of the inverter and max. 50mA to switch. Optionally, the valves are about coupling relays or equivalent to switch valve amp If FIBROMAT is driven without an index, it must be deselected in in the software. (control word PA1 Bit 3 ) Input DI03, index down, must be assigned with +24VD C in this case!

-S1 Index

entriegelt ( down )

-S3 Index

Verriegelt ( up )



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Operating modes The following functions and operating modes can or must be selected and run by the PLC : - Controller lock Release of the software controller lock - Enable/drive stop Software enable of the axes, stop in case of emergency stop - Jog mode Free movement of the axis, for the setting of the positions - Reference point run (setting) Dimensional reference between the rotary table and the measuring system of the master - Automatic absolute cw Clockwise approach of the absolute position - Automatic absolute ccw Counterclockwise approach of the absolute position - Automatic cycle (relative) cw Clockwise approach of the relative position - Automatic cycle (relative) ccw Counterclockwise approach of the relative position The selection and running of the operating modes ta ke place through control word PA1. The corresponding preselection can be found under t he "Communication" section! For cyclic communication between the converter and external control system, the MOVIDRIVE Modulo Positioning manual of SEW Eurodrive must be observed! The SEW softwarefunction „Modulo“ in the MOVIPLC co ntrols the converter!



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SEW Motion Studio Using the SEW MOVITOOLS MOTIONSTUDIO operating and programming software, parameters and can be controlled and saved. The software packet must have at least Version 5.70. and may be obtained on the SEW homepage: GSD file For communication between the converter and external control system, the device master files are required. These files must be assigned to the Fieldbus in the control system. The GSD file cann accesseg the hompage of SEW. Example of assigning a GSD file, see Appendix, page 41 Fieldbus communication The address of the subscriber is set to a value of 4 (DIP switch) on MOVO PLC DHF 41B (converter master) by default. If pertinent, this address must be adapted according to the configuration of the Profibus. The baud rate is configured to 1.5MBaud. The address of the node from the client on the MOVI PLC DHR 41B accordingly adjust the fieldbus structure The DIP switch 2/0 and 2/1 are set accordingly Documentation note , see the internet download SEW



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Communication of ext. control system (PLC) - converter The frequency converters are operated on the basis of the SEW Modulo function, whilst communication is realised via fieldbus. The defined process data (control and status words in fieldbus ) are used for data exchange between the frequency converter and external control system. Eight words each are exchanged. Control words are used for the actuation of functions by the external control system. Status words show the status of the converter. For signal exchange between the converter and exter nal control system, the MOVIDRIVE Modulo Positioning manual of SEW Eurodrive must be observe d! The actuation and voltage supply of the terminal st rips on the converters can be seen in the electrica l diagrams! Process data assignment of Fieldbus: PA1 = Control word PE1 = Status word of master PA2 = Target position PE2 = Actual position PA3 = Target position PE3 = Actual position PA4 = Set velocity PE4 = Actual velocity PA5 = Acceleration ramp PE5 = PA6 = Brake ramp PE6 = Status word of slave PA7 = PE7 = PA8 = Shock limitation PE8 = I / O Index function Control word PA1 : Status word PE1 / PE6 : Bit 0 : Controller lock Bit 0 : Motor running Bit 1 : Quick stop Bit 1 : Converter BB Converter BB Bit 2 : Stop Bit 2 : Drive referenced Bit 3 : Index active Bit 3 : Target position reached Bit 4 : Raise index Bit 4 : Brake released Brake released Bit 5 : Lower index Bit 5 : Fault Fault Bit 6 : Fault reset Bit 6 : Bit 7 : Bit 7 : Bit 8 : Start Bit 8 : Status/errorcode Inverter BCD Bit 9 : Jog + Bit 9 : Status/errorcode Inverter BCD Bit 10 : Jog - Bit 10 : Status/errorcode Inverter BCD Bit 11 : Operating mode 2/0 Bit 11 : Status/errorcode Inverter BCD Bit 12 : Operating mode 2/1 Bit 12 : Status/errorcode Inverter BCD Bit 13 : Operating mode 2/2 Bit 13 : Status/errorcode Inverter BCD Bit 14 : Bit 14 : Status/errorcode Inverter BCD Bit 15 : Bit 15 : Status/errorcode Inverter BCD

Statuswort PE8 : Bit 0 : Index lifted ( NI ) Bit 1 : Index lowered ( NI ) Bit 2 : Index lift ( Output )

Bit 3 : Index loweren ( Output ) ( see page 22 )



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Process data assignment of Fieldbus: Control word PA2 : Control word PA3 : Target position : Value in degrees/100 ( absolut 1 - 36000 degrees/100 ) ( cycle 1 - xxxxx degrees/100 ) Control word PA4 : Set velocity : Value in degrees/min ( 1 - xxxx degrees/min ) (for a precise explanation, see the technical spezi fication of the rotary table documentation) Control word PA5 : Control word PA6 : Acceleration Brake ramp : Value in degrees/min/sec ( 1 - xxxx degrees/min/sec ) (for a precise explanation, see the technical spezi fication of the rotary table documentation) Control word PA7 : Control word PA8 : Shock limitation : Value in degrees/min/sec² ( 0 - xxxx degrees/min/sec² ) 0 = off (for a precise explanation, see the technical spezi fication of the rotary table documentation)



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Caution! Control word PA2, control word PA3: For higher position settings, automatic cycle (relative movement), e.g by 720° (table rotates twice), the values is to be loaded as a data double word in control word PA2! Position values when operating with index : The individual target positions when operating with an index must be worked out when commissioning the FIBROMAT with appropriate loading (customer)! Due to the backlash of the Drive trains result in various correction values to the absolute position. Procedure : Move to the position of Index's, either in jog mode or automatic absolute. Lock or unlock the index and if necessary correct the position of the indexing plate until the indexing is locked, there is no movement of the indexing plate recognize. The result is a corrected position value of the now so in the PLC of the external control can be taken over, in order to pass it to the inverter with control word PA2 / 3, if the position is to be approached. The determined position can be seen in status word PE2 / 3. Example : when positioned on absolutely 90,00 degrees in approach direction cw 89,94 degrees or at approach direction ccw 90,03 degrees It is also possible to calculate the absolute value in the external control. Example : cw : 90,00 degrees - 0,06 degrees => 89,04 degrees => control word PA2 / 3 ccw : 90,00 degrees + 0,03 degrees => 90,03 degrees => control word PA2 / 3 Control word PA6 : In case of an emergency stop or failure of the enab le, the axis is positioned at the last active brake ramp at standstill. If the rotary table should be stopped faster, a cor responding ramp can also be set in this case. Caution! The technical data provided by FIBRO may not be exc eeded.



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Selection of the functions and operating modes The functions to be controlled and their data to be set are described in the following: General functions: Activate controller lock: Deactivate controller l ock: Control word PA1 : Control word PA1 : Bit 0 Bit 0 Status 1 Status 0 (The controller lock is activated as soon as the co ntrol system is active.) Activate enable: Deactivate enable: Control word PA1 : Control word PA1 : Bit 1 2 Bit 1 2 Status 1 1 Status 0 0 The converter is now ready for operation. The enable on the converter is now deselected.. Bit 1 of PE1 and Bit 1 of PE6 is set to Status -1- . This is the prerequisite that can be preselected and activated according to various operating modes! Caution!!! The prerequisite for all operating modes is status word PE1 and PE6, respectively:

- Bit 1 to Status 1 - Bit 5 to Status 0

Drive stop (emergency stop): Control word PA1 : Bit 1 2 Status 1 0 The drive is positioned using the set emergency ram p. This function is to be actuated in case of an emerg ency stop! The hardware-side deactivation (safe stop and enabl e DI 01) is to be realized with a time delay using corresponding safety modules so that the driv e can be positioned safely.



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Operating modes: Set reference point: Control word PA1 : Preselection Start Bit 11 12 13 8 Status 0 1 0 1 After the operating mode is set, the drive is referenced by setting the start bit. Bit 2 of PE1 is set to Status -1- . The rotary table is moved to the machine zero posit ion or, if the position is defined, the indexing bolt for referencing. This is the prerequisite for the automatic modes. Jog mode + / - : Control word PA4 , 5 , 6 , 8 : Preset the values for velocity, ramps, and shock limitation. Control word PA1 : Preselection Jog+ or Jog+ Bit 11 12 13 9 10 Status 1 0 0 1 1 After presetting the operating mode, velocity, and ramps, the drive moves according to the direction bit. After the direction preselection is deleted, the drive comes to a standstill. The prerequisite for the jog mode is that the index is facing downwards (if an index is present)! With this mode, the rotary table can be moved into the corresponding position, for example, to set the defined reference point . The velocity and ramps are to be selected according to the conditions or technical data of the rotary table!



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Indexing function (jog mode): Control word PA1 : Preselection Active Lift or Lower Bit 11 12 13 3 4 5 Status 1 0 0 1 1 1 After the job mode is set, the index can be actuated. The prerequisite for the indexing function is that the index is active (selection of Bit 3). When the index is deselected it sinks; otherwise, i t moves according to how it is controlled. In the automatic modes, the index is controlled by the frequency converter (master). If a move command is present, the index will be low ered first. After that, the rotary table moves into a defined position; the index lifts again afte r this position is reached.



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Automatic absolute cw: Control word PA 2, 3 , 4 , 5 , 6 , 8 : Preset the values for position, velocity, ramps, and shock limitation. Control word PA1 : Preselection Start Bit 11 12 13 8 Status 0 0 1 1 Automatic absolute ccw: Control word PA 2, 3 , 4 , 5 , 6 , 8 : Preset the values for position, velocity, ramps, and shock limitation. Control word PA1 : Preselection Start Bit 11 12 13 8 Status 1 0 1 1 After presetting the operating mode, velocity, and ramps, the drive moves in the corresponding direction after the start bit is set. When the preset position is reached, Bit 3 of PE1 is set to Status -1- . Start bit 8 of PE1 must remain active until the pos ition is reached! In this operating mode, the preset value is equal t o the absolute position that should be approached (absolute method). Bit 3 of PE1 is set to -1-: for when the index is active when lifted for when the index is deselected when the round tab le arrives in the position The velocity and ramps are to be selected according to the conditions or technical data of the rotary table!



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Automatic cycle cw: Control word PA 2, 3 , 4 , 5 , 6 , 8 : Preset the values for position, velocity, ramps, and shock limitation. Control word PA1 : Preselection Start Bit 11 12 13 8 Status 0 1 1 1 Automatic cycle ccw: Control word PA 2, 3 , 4 , 5 , 6 , 8 : Preset the values for position, velocity, ramps, and shock limitation. Control word PA1 : Preselection Start Bit 11 12 13 8 Status 1 1 1 1 After presetting the operating mode, velocity, and ramps, the drive moves in the corresponding direction after the start bit is set. When the preset position is reached, Bit 3 of PE1 is set to Status -1- . Start bit 8 of PE1 must remain active until the pos ition is reached! In this mode, the preset position value is added to the current position (cycle or relative method). Bit 3 of PE1 is set to -1-: for when the index is active when lifted for when the index is deselected when the round tab le arrives in the position The velocity and ramps are to be selected according to the conditions or technical data of the rotary table!



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Reference point and positions Reference point: To always have a defined reference between the control system, converter, and FIBROMAT rotary table, it is absolutely necessary to define a reference point and save it in the converter. Marks that can help determine the reference point have been applied to the rotary table housing and table top. The following procedure makes sense: FIBROMAT with index Position the table top in jog mode at slow speed and at a corresponding ramp in such a way that the marks overlap precisely. Raise or lower the index again and correct the position of the table top if necessary. If no movement of the table top is detected during the raising of the index, the reference point can be set. FIBROMAT without index Position the table top in jog mode at slow speed and at a corresponding ramp in such a way that the marks overlap precisely. The reference point can now be set. The reference between the converter and rotary tabl e is now established and remains saved. During the exchange of the motor or converter, the reference must be reset! Positions: Now the various positions that should be approached with FIBROMAT according to the respective procedure can be determined. FIBROMAT with index Position the table top at the index in jog mode at slow speed and at a corresponding ramp. Raise or lower the index again and correct the position of the table top if necessary. If no movement of the table top is detected during the raising of the index, the position value can be assumed in the external control system. FIBROMAT without index Position the table top in jog mode at slow speed and at a corresponding ramp. If this position is mechanically okay, the position value can be assumed in the external control system. The determined positions can be seen in status word s PE2 and 3. These values can be assumed in the external control system. With the automatic operating modes, these values ar e transferred to the converter and the corresponding positions are approached.



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Status of status bits PE1/PE6 if: The control system is switched on, the drive is at a standstill, referencing, without errors, and in position. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status PE1 0 1 1 1 0 Status PE6 0 1 The control system is switched on, the drive is running, referencing, and without errors. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status PE1 0 0 1 1 1 Status PE6 0 1 The control system is switched on and an error is present. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status PE1 1 1 Status PE6 1 1 Status of control bit PA1 if: The control system is switched off. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 0 1 The control system is switched on and the drive is enabled. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 0 0 0 0 0 1 1 0 The control system is switched on, the drive is enabled, and jog mode is active. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 0 1 0 1 0 1 1 0 oder 0 0 1 1 0 0 1 1 0 The control system is switched on, the drive is enabled, and jogging with index is active. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 0 1 0 0 0 0 1 1 1 1 0 oder 0 0 1 0 0 0 1 0 1 1 1 0 The control system is switched on, the drive is enabled, and no index is active. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 0 0 1 1 0 Legend: 0 = off, 1 = on



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Status of control bit PA1 if: The control system is switched on, the drive is enabled, and automatic absolute is active. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 1 0 0 0 0 1 1 1 0 or 1 0 1 0 0 1 1 1 0

or 1 1 0 0 0 1 1 1 0 The control system is switched on, the drive is enabled, and automatic cycle is active. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 1 1 0 0 0 1 1 1 0 or 1 1 1 0 0 1 1 1 0 The control system is switched on, and the emergency stop is active or the control voltage is off. Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Status 0 1 0 Legend: 0 = off, 1 = on Status of control word PA2, 3, 4, 5, 6 if: The control system is switched on, the drive is enabled, and jog mode is active. Status Value PA2 0 PA3 0 PA4 xxxx Speed (degrees/min) PA5 xxxx Accel. ramp (degrees/min/sec) PA6 xxxx Braking ramp (degrees/min/sec) PA8 xxxxx Shock limitation (degrees/min/sec ²) The control system is switched on, the drive is enabled, and automatic mode is active. Status Value PA2 xxxxx PA3 xxxxx Degrees (e.g. 18000) PA4 xxxx Speed (degrees/min) PA5 xxxx Accel. ramp (degrees/min/sec) PA6 xxxx Braking ramp (degrees/min/sec) PA8 xxxxx Shock limitation (degrees/min/sec ²) The velocity and ramps are to be selected according to the default settings or technical data of the rotary table! Caution!!! This information can be found in the technical data of the rotary table specification of FIBRO and may not be exceeded in any case!



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Converter and MOVI PLC When the converter and MOVI PLC are connected and the parameter sets or program file are loaded, the following displays and LEDs must be observed: Display of converter (master), single : If no error is present, the status of the converter is shown in a seven-segment display: U = safe stop 1 = controller lock 2 = enable A = drive enable, operating mode preselected or active Display of converter, slave (if present): U = safe stop 1 = controller lock 5 = operating mode preselected or active At the bottom right next to the display, a dot flas hes when the data is correctly loaded in the converter and the corresponding IPOS program is run ning. This is the prerequisite for proper operation

Diagnose inverter data and Indexfunction ( Statuswo rd´s PE1 und PE8 ) Status / errorcode inverter BCD Bit 8 to Bit 15 in the Statusword PE1 is always the information oft the inverter in BCD-Code depicted, in accordance with the 7-segment display. Is the Bit 5 ( Fault ) in the Statusword 1 -0- , there is no fault,

as the status of the inverter is displayed. ( enable, drive enable, etc. ) Is the Bit 5 ( Fault ) in the Statusword 1 -1- , there is a fault,,

as the faultnumber of the inverter is displayed.

Index lifted / lowered In Bit 0 of the status word PE8 which the status of the limit swith ( NI ) Index lifted is displayed. In Bit 1 of the status word PE8 which the status of the limit swith ( NI ) Index lowered is displayed. In Bit 2 of the status word PE8 which the status of the valve Index lift is displayed. In Bit 3 of the status word PE8 which the status of the valve Index lower is displayed.

With these messages, in conjunction with the status bits in the PE1, Is the be realized PLC monitors and evaluates possi ble malfunctions and displayed!



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Important! DIP switch settings for frequency converter: - S11 - 0 S12 - 1 S13 - 0 S14 - 0 Systembus : When operating without a slave, is the connector X 33 pin 2+3 provide a resistor of 120 ohms!

DIP switch settings for DHF 41B ( PROFIBUS ) : - S2 - top - PROFIBUS lower - DeviceNet

- S1 - lower



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DIP switch settings for DHR 41B ( PROFINET ) : - 2/0 - on - Def IP ( Defaultwerte show SEW Doku )

IP Adresse : 192 . 168 . 10 . 4 SUB Netz : 255 . 255 . 255 . 0

Gateway : 192 . 168 . 10 . 4

- 2/1 - off - PROFINET on - ModbusTCP, EthernetIP

PROFINET Device name setting :

To produce the communication between the PLC and MOVIPLC it is important that, next to the same IP address, and the device name is entered is: ( SEW DHR, specified by the GSD file )

See the documentation off the SEW MOVIPLC DHR41B Described therein is the allocation of of the devic e name and the IP address from the PLC ! The mame SEW-DHR must be with the right communication parameters in the tree

be visible DHR41B / fieldbus / Ethernet (MOVITOOLS



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Inverter error

Error memory

In addition each frequency inverter uses a error memory. The fault memory (P080) stores the last five error messages (error t-0...t-4). The error message of longest standing is deleted whenever more than five error messages have occurred. The following information is stored when a malfunction occurs: Error that has occurred • Status of binary inputs/outputs • Operating status of the inverter • Inverter status • Heat sink temperature • Speed • Output current • Active current • Unit utilization • DC link voltage • Switch on hours • Enable hours • Parameter set • Motor utilization .

Error messages and list of errors

The fault code is shown in a 7-segment display. The following display sequence is used (e.g. fault code 100):

The meaning of the particular error codes are listed in the operating instructions MOVIDRIVE B (chapter 7.2).



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Appendix : Selection of functions and operating modes of the P LC : Fundamental condition fort he execution of each function of the converter is, that safety-related queries to the system of control and are ok. The PLC is turned on. Fuses and motor protection switch, emergency stop, etc. in the electrical cabinet are ok.

Make sure, that there is in the rotation of the rot ary Table no risk of collision! All these queries are the basic requirement for selecting the various modes and functions of the converter.

It may have only one selection can be active!

Sequence a selection: Step 1 - basic requirements Step 2 - Loading the process data Step 3 - Preset mode Step 4 - Activate mode Step 5 - mode runs Step 6 - Finished execution / start of

Functions : Controller lock : Step 1 - PLC ok I

I Step 3 - Activate controller lock ( PA1 Bit 0 => 0 ) Activate enable : Step 1 - controller lock on Converter BB Converter not fault I I Step 4 - Activate enable ( PA1 Bit 1 => 1 , Bit 2 => 1 )

I Step 5 - activatet ( PA1 Bit 1 = 1 , Bit 2 = 1 ) I Step 6 - enable ok



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Quick stop / emergency stop : Step 1 - emergency stop I I Step 4 - Quick stop ( PA1 Bit 1 => 1 , Bit 2 => 0 ) I Step 5 - Quick stop acctivatet ( PA1 Bit 1 = 1 , Bit 2 = 0 ) I Step 6 - Ouick stop ok Enable of : Step 1 - control of I I Step 4 - Deactivate enable ( PA1 Bit 1 => 0 , Bit 2 => 0 )

I Step 5 - enable of ( PA1 Bit 1 = 0 , Bit 2 = 0 ) I Step 6 - Deactivate enable ok

Fault reset : Step 1 - fault converter ( PE1 Bit 5 => 1 ) I I Step 4 - fault reset ( PA1 Bit 6 => 1 ) I Step 5 - reset aktiv ( PE1 Bit 5 = 0 ) I Step 6 - reset ok ( PA1 Bit 6 => 0 )



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Operating modes: The converter are ready and have not fault. ( PE1 Bit 1 = 1 ) bzw. ( PE5 Bit 1 = 1 ) ( PE1 Bit 5 = 0 ) bzw. ( PE5 Bit 5 = 0 ) The motor is not running. ( PE1 Bit 0 = 0 ) Reference point : Step 1 - Control and plant ok Converter BB

Converter not fault motor not running no mode active

I I Step 3 - Set reference point ( PA1 Bit 11 => 0 , Bit 12 => 1 , Bit 13 => 0 )

I Step 4 - Start ( PA1 Bit 8 => 1 )

I Step 5 - Actual position = 0 ( PE2 / 3 = 0 ) Drive referenced ( PE1 Bit 2 = 1 )

I Step 6 - Start of ( PA1 Bit 8 => 0 ) Jog mode : Step 1 - Control and plant ok Converter BB

Converter not fault motor not running no mode active Index down ( DI03 = 1 )

I I Step 2 - Preset the values ( PA4 , PA5 , PA6 , PA 8 ) I Step 3 - Jog mode +/- ( PA1 Bit 11 => 1 , Bit 12 => 0 , Bit 13 => 0 )

I Step 4 - Start + ( PA1 Bit 10 => 1 ) Start - ( PA1 Bit 9 => 1 ) I Step 5 - motor is running ( PE1 Bit 0 = 1 ) I Step 6 - Start +/- of ( PA1 Bit 9/10 => 0 )



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Indexing function :

Step 1 - Control and plant ok Converter BB

Converter not fault motor not running no mode active

Index aktiv ( PA1 Bit 3 = 1 ) I I Step 3 - Indexing function ( PA1 Bit 11 => 1 , Bit 12 => 0 , Bit 13 => 0 )

I Step 4 - lift ( PA1 Bit 4 => 1 ) lower ( PA1 Bit 5 => 1 ) I Step 5 - Indexing function I Step 6 - lift/lower of ( PA1 Bit 4/5 => 0 ) Automatic absolute cw :


Converter not fault Drive referenced

motor not running no mode active Index down ( DI03 = 1 )

I I Step 2 - Preset the values ( PA2/3 , PA4 , PA5 , PA6 , PA 8 ) I Step 3 - Automatic absolute cw ( PA1 Bit 11 => 0 , Bit 12 => 0 , Bit 13 => 1 )

I Step 4 - Start ( PA1 Bit 8 => 1 ) I Step 5 - motor is running ( PE1 Bit 0 = 1, Bit 3 = 0 ) Target position reached ( PE1 Bit 0 = 0, Bit 3 = 1 ) I Step 6 - Start of ( PA1 Bit 8 => 0 )



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Automatic absolute ccw :



motor not running no mode active I

I Step 2 - Preset the values ( PA2/3 , PA4 , PA5 , PA6 , PA 8 ) I Step 3 - Automatic absolute ccw ( PA1 Bit 11 => 1 , Bit 12 => 0 , Bit 13 => 1 )




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Automatic cycle cw :



motor not running no mode active

I I Step 2 - Preset the values ( PA2/3 , PA4 , PA5 , PA6 , PA 8 ) I Step 3 - Automatic cycle cw ( PA1 Bit 11 => 0 , Bit 12 => 1 , Bit 13 => 1 )

I Step 4 - Start ( PA1 Bit 8 => 1 ) I Step 5 - motor is running ( PE1 Bit 0 = 1, Bit 3 = 0 ) Target position reached ( PE1 Bit 0 = 0, Bit 3 = 1 ) I Step 6 - Start of ( PA1 Bit 8 => 0 ) Automatic cycle ccw :



motor not running no mode active I

I Step 2 - Preset the values ( PA2/3 , PA4 , PA5 , PA6 , PA 8 ) I Step 3 - Automatic cycle ccw ( PA1 Bit 11 => 1 , Bit 12 => 1 , Bit 13 => 1 )




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Max. Values for Control words : The maximum values of the control words are shown i n the corresponding specification of the round table! Control word PA2 : Control word PA3 : Automatic absolute cw/ccw : Target position : 1 - 36000 degrees/100 Automatic cycle cw/ccw : Target position : 1 - xxxxxx degrees/100 Control word PA4 : Set velocity : 1 - xxxx degrees/min Control word PA5 : Control word PA6 : Acceleration Brake ramp : 1 - xxxx degrees/min/sec Control word PA7 : Control word PA8 : Shock limitation : 0 - xxxx degrees/min/sec² ( 0= of )



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Example of assigning a GSD file

- Load GSD file in project field equipment

- GSD browsing the catalog field devices - drag into the project and connect with bus

SEW_GSD drag in the project



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- Place 1 +2 the device overview is reserved with empty

- 8 PD Pull from catalog in the device overview, ranked place 3 - Setting the I/O adressrange - Set the Profibusaddress

FIBROMAT Schnittstellenbeschreibung MDX61B EN V07 · 2018-12-13 · SEW MOVIDRIVE converter....

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Transcript of FIBROMAT Schnittstellenbeschreibung MDX61B EN V07 · 2018-12-13 · SEW MOVIDRIVE converter....