SEW MOVIDRIVE bus positioning

PO2: Set speed (user unit, such as mm/s)

PO3: Set position (user unit, such as mm)

Process input data (PI1~PI3):

PI1 status word: bit 0=ready to run; Bit 1=Enable; Bit 2=IPOS reference completed; Position 3=Target location reached; Bit 4=Warning; Position 5=Fault; Position 8=reference cam state; Position 9=positive limit switch; Position 10=negative limit switch; Position 11-12=mode status; Bit 13=jog forward activation; Bit 14=jog reversal activation

PI2: Actual speed

PI3: Actual location

Installation

2.1 Software Installation

Insert the MOVITOOLS CD, run setup, and follow the wizard to complete the installation.

Insert the bus positioning floppy disks (2 in total) and run setup to install the bus positioning program.

Start MOVITOOLS, select the correct COM port, and click<Update>to display the connected inverters.

2.2 MOVIDRIVE ®  Basic unit wiring

Regardless of the type of bus used, the basic unit must be wired according to the following diagram (Figure 11):

X13:1 (DI00)=Controller disabled (low level valid, set to 0 during debugging)

X13:2 (DI01)=Enable/Quick Stop (to be connected to+24V or controlled by PLC)

X13:3 (DI02)=Reset (controlled by PLC)

X13:4 (DI03)=Reference cam (connected to proximity switch or mechanical switch)

X13:5 (DI04)=positive limit switch

X13:6 (DI05)=Negative limit switch

X10:3 (DB00)=brake output (connected to brake relay)

2.3 Bus installation

For detailed installation instructions of each fieldbus option card, please refer to their respective documentation packages. The following is a summary of the key points.

2.3.1 PROFIBUS (DFP11A)

9-pin Sub-D socket, compliant with EN 50170 V2/DIN 19245 P3

Automatic baud rate detection (9.6 k~1.5 Mbaud)

Station address 0~125 (DIP switch setting)

GSD file: SEW-6000-GSD, DP identification number 6000hex

2.3.2 INTERBUS (DFI11A)

Remote bus input: 9-pin Sub-D plug; Output: 9-pin Sub-D socket

RS-485 transmission technology, 6-core shielded twisted pair cable

Module ID=227dec (E3hex)

2.3.3 CAN bus (DFC11A)

9-pin Sub-D plug, compliant with CiA standards

Baud rate optional (125/250/500/1000 kbaud, DIP switch)

Terminal resistance switchable (120 Ω)

ID range 3~1020, Base ID 0~63 (DIP switch)

2.3.4 DeviceNet (DFD11A)

5-pin Phoenix terminal, compliant with DeviceNet specifications

Baud rate 125/250/500 kbaud (DIP switch)

Address (MAC-ID) 0~63 (DIP switch)

Bus terminals require connectors with integrated terminal resistors (120 Ω)

Terminal colors: V - (black), CAN_L (blue), DRAIN (bare copper), CAN_S (white), V+(red)

2.3.5 System Bus SBus

Up to 64 sites, compliant with ISO 11898

2-core shielded twisted pair copper cable (0.75 mm ²/AWG18120 Ω @ 1MHz, capacitance ≤ 40 pF/m)

Maximum bus length: 250 kbaud → 160 m; 500 kbaud → 80 m; 1000 kbaud → 40 m

The terminal resistor (S12=ON) needs to be connected at the first and last stations, and the intermediate station should be turned off

All SBus connected devices must have potential equalization (with additional grounding wire)

2.4 Connecting limit switches

The limit switch cam must cover to the mechanical stop

Normally closed contacts (NC, low level effective) must be used

Connect DI04 (X13:5) to the positive limit, DI05 (X13:6) to the negative limit, and the common terminal to X13:9 (DGND) as shown in Figure 23

Start debugging

3.1 Preparation work

Check installation: encoder connection, fieldbus interface, limit switch wiring

Connect PC (RS-232, via USS21A option) and start MOVITOOLS

Use Shell to complete the basic startup of the inverter:

MDV60A+DT/DV/D motor → VFC-n-Control mode

MDV60A+CT/CV motor → CFC mode

MDS60A+DS/DY motor → SERVO mode

If using an external encoder (absolute value): Start the DIP11A interface first (set P942~P944)

If using incremental external encoders: manually set P942~P944 in Shell

Ensure X13:1 (DI00) is a "0" signal (controller disabled)

3.2 Start the "Bus Localization" program

In the Shell, select the menu Startup → bus positioning (Figure 24).

3.2.1 Setting fieldbus parameters (appearing during initial startup)

Fieldbus type: Select SBus/PROFIBUS/INTERBUS/CAN/DEVICENET

Address: Station address (consistent with the DIP switch settings on the bus option card)

Timeout time: Monitoring time (e.g. 500 ms)

Timeout response: timeout response (emergency stop/malfunction, etc.)

Baud rate: Baud rate (if the option card is set with DIP switch, this item will be grayed out)

3.2.2 Setting Zoom (Figure 26)

Source actual position：

No external encoder → Motor encoder (X15)

Incremental external encoder → EXT. ENCODER (X14)

Absolute value external encoder → APPROLUTE ENCODER (DIP)

When there is no external encoder:

Select "Drive wheel diameter" or "Screw pitch", enter the value (mm or 1/10 mm)

Input gearbox reduction ratio and additional reduction ratio

Click<Calculate>to automatically calculate the pulse/distance scaling factor (in inches/mm)

When there is an external encoder: the calculation function is blocked, and manual input of distance scaling factor and speed scaling factor is required (see online help example)

3.2.3 Setting Slope and Limit (Figure 27)

Software limit switch: Input the positions of positive and negative limits (in user units). If both are set to 0, the software limit will be disabled. It is necessary to ensure that the software limit is within the hardware limit travel and does not overlap with the reference position.