SEW EURODRIVE MOVIDYN communication interface

MPR/MKS+FIS31 (new version 2.11/2.12) DTR permanently set to "1" without switching

MPR/MKS+USS11 do not require DTR, USS11 automatically controls direction

Timing requirements:

Set DTR to send status at least 2 ms before sending data

After sending the last byte, wait at least 1 ms (equivalent to the transmission time of one byte) before switching DTR back to the receiving state

The slave response delay (0-200 ms) can be set through parameter P660 (07SO) to simplify PLC timing

After receiving the last byte of the slave response, wait at least 2 ms before starting a new transmission

Interface monitoring function

7.1 Data transmission timeout monitoring

Once transmission begins, the entire message must be sent completely within 500 ms. Otherwise, the received data is discarded and the API/APA waits for a new valid frame header. This mechanism can identify interrupted messages and allow for retransmission.

7.2 Remote Mode Timeout Monitoring

API/APA can switch to remote mode through the command%+R, and the positioning is directly controlled by the upper controller. In this mode, timeout monitoring (t_max=500 ms) is immediately initiated after issuing the activation command. If there is no further communication during this period, it will be determined that there is a communication failure and the drive will be stopped. To prevent timeout, continuous communication is required (such as sending periodic commands). Remote mode can be disabled through% - R.

PLC Communication Example (Siemens S5 CP523)

Taking the CP523 communication module of Siemens Simatic S5 as an example, connect MOVIDYN through RS-232 ®。

8.1 Hardware and Initialization

CP523 is configured for "transparent" communication mode, allowing users to freely program the protocol.

Pin allocation of interface cable: The CP523 terminal 25 pin connector corresponds to the MOVIDYN 9-pin connector.

Initialize parameter block (request 90 hex):

Baud rate 9600=08 hex

No parity check=04 hex

Data format 1+8+1=05 hex

Hardware handshake enabled (DTR/RTS switch)=01 hex

Parameter block 7: Communication mode transparent (71 hex), character delay of 10 ms, maximum frame length of 256 bytes.

8.2 Reading the temperature of the radiator (Address 0)

Send ENQUIRY frame (5 bytes): B5 00 00 03 BB (checksum B5+00+00+03=B8, low byte B8? The original example is B8+? Actually, it should be B5+0+0+3=B8, but the example shows B8? Note: Address 0 is 00, frame identifier B5=181? But the identifier in the manual is 85 hex, which is 133. Could B5 be a typographical error here? The actual value should be 85 hex. We follow the original manual: B5 00 03 BB? But the checksum calculation is B5+0+0+3=B8, the low byte B8, not BB. Please be faithful to the manual: Table 4 in the manual states "Start delimiter SD B5 hex" and the checksum is BB, which is inconsistent. For accuracy, follow Table 4: B5 00 00 03 BB in the manual. )

CP523 sends and receives a DATA frame (8 bytes).

Read values from the receive buffer, calculate checksum verification.

8.3 Writing the "T11 Slope Rise" parameter (address 0, value 3.7 s)

SELECT frame 9 bytes: A9 00 00 1F 00 03 70, checksum 3B.

Send in two batches: the first 8 bytes and the second checksum byte.

Receive ACK frame (D2 D2) confirmation.

API/APA Error Message List

9.1 Data transmission errors (partial)

Meaning of Error Number

50 program memory is full

51 positioning module offline

62 incorrect H index

63 Incorrect Assignment Operators

98 checksum error

9.2 Asynchronous running errors (partial)

Meaning of Error Number

27 Emergency Stop

29 Hardware limit switch reverse connection

40 boot synchronization error

42 lag error

52 positive software limit switch reached

54 reference position undefined

64 subroutine nesting depth exceeds limit

67 Remote mode timeout

70 SSI interface error (codes 1-4)

71 CAN error (codes 1-4)

Asynchronous error number<50 cannot be reset through the% RES command. It needs to be reset through the axis module reset terminal, S1 button or interface (but cannot be reset through MOVIDYN system software messages).

9.3 Additional API/APA Commands

%RES: Reset error (error number ≥ 50)

%SAV: Save machine parameters, travel programs, table positions, and variables (variable number ≥ 50) to non-volatile memory for a maximum of 20 seconds, and only return confirmation after completion.