Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services

MOVIDRIVE® MDX61B FA362000

Sensor Based Positioning via Bus

Application

Edition 01/2005
11313528 / EN Manual
SEW-EURODRIVE – Driving the world
 1 Important notes ...................................................................................................... 4
1.1 Explanation of the icons ................................................................................. 4
1.2 Safety notes and general information ............................................................ 5

2 System Description................................................................................................ 6
2.1 Application areas ........................................................................................... 6
2.2 Program identification .................................................................................... 7

3 Project Planning ..................................................................................................... 8

3.1 Prerequisites .................................................................................................. 8
3.2 Description of functions.................................................................................. 9
3.3 Scaling the drive .......................................................................................... 11
3.4 Limit switches, reference cams and machine zero ...................................... 13
3.5 Process data assignment............................................................................. 13
3.6 Software limit switches................................................................................. 16
3.7 Safe stop ...................................................................................................... 19
3.8 SBus send object ......................................................................................... 19

4 Installation ............................................................................................................ 20
4.1 MOVITOOLS® software ............................................................................... 20
4.2 Wiring diagram for MOVIDRIVE® MDX61B ................................................. 21
4.3 Bus installation for MOVIDRIVE® MDX61B ................................................. 22
4.4 System bus connection (SBus 1) ................................................................. 28
4.5 Connecting hardware limit switches............................................................. 29

5 Startup................................................................................................................... 30
5.1 General information ..................................................................................... 30
5.2 Preliminary work........................................................................................... 30
5.3 Starting the program "Sensor based positioning via bus" ............................ 31
5.4 Parameters and IPOSplus® variables ........................................................... 44
5.5 Recording IPOSplus® variables .................................................................... 46

6 Operation and Service ......................................................................................... 47

6.1 Starting the drive .......................................................................................... 47
6.2 Monitor mode ............................................................................................... 49
6.3 Jog mode ..................................................................................................... 50
6.4 Referencing mode........................................................................................ 51
6.5 Automatic mode ........................................................................................... 53
6.6 Cycle diagrams ............................................................................................ 62
6.7 Malfunction information ................................................................................ 68
6.8 Error messages............................................................................................ 69

7 Compatibility Between MOVIDRIVE® A / B / compact ...................................... 71

7.1 Important notes ............................................................................................ 71

8 Index ...................................................................................................................... 74

Manual – MOVIDRIVE® MDX61B Sensor Based Positioning via Bus 3

 Important notes
1 Explanation of the icons

1 Important notes
Handbuch

Always follow the safety and warning instructions contained in this section!

1.1 Explanation of the icons

Hazard
Indicates an imminently hazardous situation which, if not avoided, WILL result in death
or serious injury.

Warning
Indicates an imminently hazardous situation caused by the product which, if not
avoided, WILL result in death or serious injury. You will also find this signal to indicate
the potential for damage to property.

Caution
Indicates a potentially hazardous situation which, if not avoided, MAY result in minor
injury or damage to products.

Note
Indicates a reference to additional information, for example on startup, or other useful
data.

Documentation reference
Indicates a reference to a document, such as operating instructions, catalog, data sheet.

4 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Important notes
Safety notes and general information
1

1.2 Safety notes and general information

Risk of an electrical shock
Possible consequences: Death or serious injury.
Only electrical specialists are allowed to install and start up MOVIDRIVE® drive inverters
observing the applicable accident prevention regulations and the MOVIDRIVE®
operating instructions.

Potentially hazardous situation which, if not avoided, may result in damage to

products or the surrounding area.
Possible consequences: Damage to the product
Read through this manual carefully before you commence installation and startup of
MOVIDRIVE® drive inverters with this application module. This manual does not replace
the detailed operating instructions!
A requirement of fault-free operation and the possibility of any rights to claim under guar-
antee is that you observe the information in the documentation.

Documentation reference
This manual was written assuming that the user is familiar with the MOVIDRIVE®
documentation, in particular the MOVIDRIVE® system manual.
In this manual, cross references are marked with "→". For example, (→ Sec. X.X)
means: Further information can be found in section X.X of this manual.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 5

 System Description
2 Application areas

2 System Description
2.1 Application areas
In the fields of materials handling technology and packaging technology, different items
are often transport on a number of conveyor systems (roller, belt and chain conveyors,
etc.). The distance between the items on the conveyors can vary. Positioning to a
"remaining distance" from the time the item is detected, is often required to prepare,
distribute or sort the individual items, without having to stop them at a specific point. The
application module "Sensor based positioning via bus" can be used to solve this
problem.
To detect the current position of an item, each item passes a proximity switch or sensor
(touch probe). After an edge change at the proximity switch, the drive positions the item
by the remaining distance specified.

The "Sensor based positioning via bus" application module is particularly suitable for the
following sectors:
• Materials handling technology
– Trolleys
– Hoists
– Rail vehicles

• Logistics
– Storage and retrieval systems
– Transverse carriages

• Palletizing / Handling
– Multi-axis handling robots
– Gantries

The "Sensor based positioning via bus" module offers the following advantages
in these applications:
• User-friendly user interface
• You only have to enter the parameters required for "Sensor based positioning via
bus" (ratios, speeds, diameters).
• Guided parameter setting process instead of complicated programming.
• Monitor mode for optimum diagnostics.
• Users do not require any programming experience.
• It does not take long to get to know the system.
• Application module for conveyor systems, in which material or items can be posi-
tioned accurately by recording the current position using an external sensor (touch
probe).
• The current position is detected during movement.
• Variable specification of the remaining distance via process output data word PO3.

6 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 System Description
Program identification
2

2.2 Program identification

You can use the MOVITOOLS® software package to identify which application program
was last loaded into the MOVIDRIVE® MDX61B unit. Proceed as follows:
• Connect MOVIDRIVE® to the PC via the serial port.
• Start MOVITOOLS®.
• In MOVITOOLS® start the program "Shell".
• In the Shell program, choose [Display] / [IPOS Information].

06710AEN
Figure 1: IPOS information in Shell

• The "IPOS-Status" window appears. The entries in this window tell you which appli-
cation software is stored in MOVIDRIVE® MDX61B.

10980AEN
Figure 2: Display of the current IPOS program version

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 7

 Project Planning
3 Prerequisites

3 Project Planning
3.1 Prerequisites
PC and software The "Sensor-based positioning via bus" application module is implemented as an
IPOSplus® program and forms part of the SEW MOVITOOLS® software package from
version 4.20. To use MOVITOOLS®, you must have a PC with one of the following
operating systems: Windows® 95, Windows® 98, Windows NT® 4.0, Windows® Me or
Windows® 2000.

Inverters, motors • Inverter

and encoders The "Sensor based positioning via bus" can only be implemented on MOVIDRIVE®
MDX61B units in application version (...-0T). You need the option (DFP, DFI, DFC or
DFD) corresponding to the bus type you are going to be using. You do not have to
use any of the options named above if control is realized via SBUS. An external
encoder is required for positioning in applications with a non-positive connection
between the motor shaft and the load. If an absolute encoder is used as the external
encoder, you will need the DIP11B absolute encoder card option.
It is essential for the "sensor based positioning via bus" function to have encoder
feedback, and consequently it cannot be implemented with MOVIDRIVE® MDX60B.

• Motors and encoders

– For operation on MOVIDRIVE® MDX61B with DEH11B: CT/CV asynchronous
servomotors (encoder installed as standard) or DR/DT/DV AC motors with
encoder (Hiperface®, sin/cos or TTL).
– For operation on MOVIDRIVE® MDX61B with DER11B: CM/DS synchronous
servomotors with resolver.

• External encoders
– Interlocking connection between the motor shaft and the load:
An external encoder is not required. If you also want to use an external encoder
for positioning when there is an interlocking connection, you have to proceed in
exactly the same way as with a non-positive connection.
– Non-positive connection between the motor shaft and the load:
An additional external encoder is required in addition to the motor
encoder/resolver.
Incremental encoder as external encoder: Connection to basic unit at X14.
Absolute encoder as external encoder: Connection to option DIP11 at X62.

• Possible combinations
Motor shaft/load connection
Interlocking: Non-positive:
No external encoder is needed External encoder is needed
Encoder type (exter- - Incremental Absolute encoder
nal encoder) encoder
Bus type PROFIBUS → DFP / InterBus → DFI / CAN-Bus → DFC / DeviceNet → DFD
(required option) System bus (SBus) → No option required
Other MOVIDRIVE® DEH11B or DER11B DIP11 / DEH11B /
option required DER11B

8 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Project Planning
Description of functions
3

3.2 Description of functions

Functional The "Sensor based positioning via bus" application offers the following functional
characteristics characteristics:
• Absolute positioning based on the machine zero.

• Relative positioning for cyclical operation.

• Positioning the drive by a specified reminaing distance from the detection of a touch
probe signal.

• Stopping the drive when a defined maximum position has been reached when the
sensor in the "Remaining travel" mode is not triggered.

• Endless operation option in the "Remaining travel" mode.

• Specification of the target position via fieldbus

• Speed selection via fieldbus (for the LINEAR and JERK LIMITED ramp functions, the
changes can be made during movement).

• Startup of two positioning functions. You can switch between the functions via a bit
in the control word.

• Activation of software limit switches.

• Cyclical checkback of actual speed and actual position in the user unit via process
input data (PI2 and PI3).

• Confirmation of the target position to which movement has taken place via bit PI1:3
"Target position reached" in the status word.

• Source actual position (motor encoder, external encoder or absolute encoder) can
be selected.

• Simple connection to the machine control (PLC).

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 9

 Project Planning
3 Description of functions

Operating modes The functions are implemented with three operating modes:
• Jog mode (DI11 = "1" and DI12 = "0")
– In jog mode, the drive can be moved right or left via bits 9 and 10 in control word
2 (PO1).
– The speed in jog mode is variable and is specified by the PLC via the bus.

• Referencing mode (DI11 = "0" and DI12 = "1")

In referenceing mode, reference travel can be started via bit 8 in control word 2
(PO1). Reference travel establishes the reference position (machine zero) for
absolute positioning operations.

• Automatic mode (DI11 = "1" and DI12 = "1")

In automatic mode you can select from four different positioning attributes:
– Absolute:
The target position is based on the machine zero, which was determined before-
hand by reference travel. Reference travel is mandatory.

– Relative:
The reference point is the current position (= setpoint position). The target
position sent to PO3 (cycle distance) is added to the current position. The cycle
is started when a positive edge is detected at PO1:8 (start). To start a new cycle,
an edge change must be detected at PO1:8.

– Remaining travel left / Remaining travel right:

The reference point is the current position (= setpoint position). Positioning is
started when a positive edge is detected at PO1:8 (Start). The target position is
calculated from the current position (= setpoint position) plus the value entered in
the "Maximum position right/left" input field during startup (→ Sec. "Startup"). If
the endless positioning option (bit PO1:10 EndlessPos) is activated, the drive
moves endlessly in the selected direction. Digital input DI02 is monitored during
positioning. When a positive edge change is detected, the remaining distance
specified via fieldbus is added to the position at the time of the touch probe event
as an offset.

The maximum possible travel distance depends on the travel unit set. Examples:
• Travel unit [1/ 10 mm] → Travel distance = 3.27 m
• Travel unit [mm] → Travel distance = 32.7 m

10 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Project Planning
Scaling the drive
3

3.3 Scaling the drive

The controller must be able to detect the number of encoder pulses (increments) per
travel unit to position the drive. You can use the scaling function to set the user unit
suitable to your application.

Drive without In drives without an external encoder, the system can calculate the scaling automatically
external encoder during startup of the sensor based position via bus function. Enter the following data:
(interlocking • Diameter of the drive wheel (ddrive wheel) or slope of the spindle (sspindle)
connection)
• Gear ratio of the gear unit (igear unit, speed-reduction)
• Gear ratio of the additional gear (igear unit, speed-reduction)

The following scaling factors are calculated:

• Pulses / distance scaling factor [inc/mm] using the formula:
Pulses = 4096 × igear unit × iadditional gear
Distance = Π × ddrive wheel or Π × sspindle
• Speed scaling factor
Numerator factor in [1/min] and denominator value in "speed unit".

You can also enter the distance and speed scaling factors directly. If you enter a unit
other than [mm] or [1/10 mm] as the travel unit, this user unit will also be used for the
position of the software limit switches, the reference offset and the maximum travel
distances.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 11

 Project Planning
3 Scaling the drive

Drive with In this case, you must have activated and scaled the external encoder before starting
external encoder up the sensor based positioning via bus function. To do so, make the following settings
(non-positive in the Shell program before starting the sensor based positiong via bus function (→
connection) following figure).

10091AEN

• P941 Source actual position

If an incremental encoder or an absolute encoder (DIP11) is connected, set P941 to
"EXT. ENCODER (X14)". You can also make this setting during the startup up
procedure of the sensor based positioning function.
• P942 Encoder factor numerator / P943 Encoder factor denominator / P944 Encoder
scaling ext. encoder

Calculation of the scaling is blocked during startup of the sensor-based positioning.

• For more information about scaling an external encoder, refer to the "IPOSplus®
Positioning and Sequence Control System" manual.
• When using an absolute encoder, note the startup instructions in the "MOVIDRIVE®
MDX61B0 Absolute Encoder Card DIP11B" manual.

12 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Project Planning
Limit switches, reference cams and machine zero
3

3.4 Limit switches, reference cams and machine zero

Note the following points during project planning:
• The software limit switches must be located within the travel range of the hardware
limit switches.
• When defining the reference position (position of the reference cam) and the
software limit switches, make sure they do not overlap. Fault message F78 "IPOS
SW limit switch" is generated in the event of an overlap during referencing.
• You can enter a reference offset during startup if you do not want the machine zero
to be located on the reference cam. The following formula applies: Machine zero =
Reference position + Reference offset This way, you can alter the machine zero with-
out having to move the reference cam.

3.5 Process data assignment

The machine control (PLC) sends three process output data words (PO1 PO3) to the
inverter and receives three process input data words (PI1 PI3) from the inverter.

PA

PA 1 PA 2 PA 3

PE 1 PE 2 PE 3
PE

54943AXX
Figure 3: Data exchange via process data

PO = Process output data

PO1 = Control word 2
PO2 = Setpoint speed (IPOS PO DATA)
PO3 = Setpoint position (IPOS PO DATA)
PE = Process input data
PI1 = Status word (IPOS PI DATA)
PI2 = Actual speed (IPOS PI DATA)
PI3 = Actual position (IPOS PI DATA)
PE = Process input data

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 13

 Project Planning
3 Process data assignment

Process output The assignment of the process output data words is as follows:
data • PO1: Control word 2

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Controller inhibit/
/SWLS/Ramp1/2
Enable
Enable/
PosMode 21
Rapid stop

PosMode 20 Enable/Stop

Mode select 21 Hold control

Ramp
Mode select 20
switchover
Parameter set
Jog– / EndlessPos
switchover

Jog + Fault reset

Start Reserved

The "Endless positioning" option (Bit 10:EndlessPos) in the "remaining travel right/left"
modes and the "Moving clear of the software limit switches" in jog mode ((Bit 15:/SWLS)
are only available with MOVIDRIVE® MDX61B.

Operating mode Bit 12: Mode select 21 Bit 11: Mode select 20
Invalid mode 0 0
Jog mode 0 1
Referencing mode 1 0
Automatic mode 1 1

PosMode Bit 14: Mode select 21 Bit 13: Mode select 20

Absolute 0 0
Relative 0 1
Remaining travel right 1 0
Remaining travel left 1 1

• PO2: Setpoint speed

PO2 Setpoint speed
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

• PO3: Setpoint position

PO3 setpoint position
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

14 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Project Planning
Process data assignment
3

Process input The assignment of the process input data words is as follows:
data • PI1: Status word

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Fault material sensor

Inverter
ready
IPOS reference
(= Drive referenced)
Target position
Bit 8 - Bit 15: reached
Inverter status /
Fault code Brake released

Fault/warning

Right limit switch

Active
Left limit switch
Active

• PI2: Actual speed

PI2 Actual speed
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

• PI3: Actual position

PI3 Actual position
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 15

 Project Planning
3 Software limit switches

3.6 Software limit switches

General The "software limit switch" monitoring function is used to check that the target position
information is set to appropriate values. During this process, it is not important where the drive is
positioned. In contrast to the monitoring of the hardware limit switches, the monitoring
function for the software limit switches makes it possible to detect whether there is an
error in the target specifications before the axis starts to move. The software limit
switches are active when the axis is referenced; that is, when Bit 1 "IPOS reference" is
set in PI1.

Moving clear of When using an absolute encoder or Multiturn Hiperface® encoder it may be necessary
the software limit for the drive to be moved within the range of the software limit switches (for example,
switch after an encoder has been replaced). For this purpose, Bit 15 in the process ouput data
word 1 (PO1) is set to "/SWES" (= Moving clear of the software limit switch).
Bit 15 "/SWLS" is only available in jog mode and referencing mode. If Bit 15 is set, the
drive can be moved out of the valid positioning range into the software limit switches (→
Example 3).

It is necessary to differentiate between the following three examples:

Example 1 • Prerequisites:
– Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set.
– Drive is within valid positioning area
– Software limit switch monitoring function is active.

10981AEN

In jog mode, the drive runs until it is three position windows (P922) before the
software limit switch and then stays there.
In automatic mode, the drive can be positioned up to the software limit switches but
not beyond.
In referencing mode, the software limit switches are not active, which means the
drive can move past the software limit switches during reference travel.

16 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Project Planning
Software limit switches
3

Example 2 • Prerequisites:
– Bit 15 "/SWLS" in the process output data word 1 (PO1) is not set.
– The drive is outside the software limit switches.

10982AEN

The following error message appears after the drive is enabled:

10983AEN

You can confirm the error message by pressing the reset button. The monitoring
function is deactivated. In the area of the software limit switches, the drive can be
moved at two different speeds as follows:
– Closer toward the travel range of the software limit switch at reference speed 2
(P902).
– Away from the travel range of the software limit switches at maximum speed.
The monitoring function is reactivated when:
– The actual position of the drive set using P941 is once more in the permitted
positioning range.
– A positioning job is issued via the opposite software limit switch.
– The unit is switched off and on again.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 17

 Project Planning
3 Software limit switches

Example 3 • Requirement:
– Bit 15 "/SWLS" in the process output data word 1 (PO1) is set.

10984AEN

The monitoring function is deactivated in the "Jog mode" and "Referencing mode".
The drive can be moved within the travel area of the software limit switches and from
the valid positioning range into the area of the software limit switches without an error
message being generated. The speed can be varied.

Changing the monitoring function of the software limit switches during operation!
Possible consequences: Injury
You must not change the monitoring function of the software limit switches (PO1, Bit 15
"/SWLS") during operation (i.e. when the axis is in motion).

IPOSplus® The speed of the IPOSplus® program in MOVIDRIVE® MDX61B can be changed using
processing speed the following parameters:
• P938 IPOS speed TASK1, setting range 0 - 9
• P939 IPOS speed TASK2, setting range 0 - 9
Setting value "0" for both parameters results in the same IPOSplus® processing speed
as for MOVIDRIVE® MD_60A.
• P938 = 0 Ⳏ TASK1 = 1 command/ms
• P938 = 0 Ⳏ TASK2 = 2 commands/ms
Values greater than zero are added to the IPOSplus® processing speed of MOVIDRIVE®
MD_60A. Note that the total of the commands per millisecond (commands/ms) for
TASK1 and TASK2 must not be greater than 9.
Startup of the application module on a MOVIDRIVE® MDX61B unit causes the param-
eters to be set as follows for a sequence with optimized timing:
• P938 = 5 Ⳏ TASK1 = 1 command / ms + 5 commands / ms = 6 commands / ms
• P939 = 4 Ⳏ TASK2 = 2 commands / ms + 4 commands / ms = 6 commands / ms

18 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Project Planning
Safe stop
3

3.7 Safe stop

A "Safe stop" can only be achieved by safe disconnection of the jumpers at terminal X17
(through safety switch or safety PLC).
The "Safe stop active" state is indicated by a "U" in the 7-segment display. In the appli-
cation module, this state is treated like the "CONTROLLER INHIBIT" state.

For more information on the "Safe stop" function, refer to the following publications:
• MOVIDRIVE® MDX60B / 61B Safe Disconnection - Conditions
• MOVIDRIVE® MDX60B/61B Safe Disconnection - Applications

3.8 SBus send object

You have the option of setting up an SBus send object for transferring the cyclical actual
position of the drive. In this way, the "Sensor based positioning via bus" application can
be used as a master for the "DriveSync" application module or any IPOSplus® program.

Activating the To set up the SBus send object set the IPOSplus® variable H115 SwitchSBUS to "1" and
SBus send object restart the IPOSplus® program (→following screenshot).

11010AXX

Settings for the The send and synchronization objects are initialized automatically once the IPOSplus®
SBus objects program has been restarted. The content of the send object is set to IPOSplus® encoder.
Send object Synchronization object
ObjectNo 2 1
CycleTime 1 5
Offset 0 0
Format 4 0
DPointer IPOS encoder -

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 19

 Installation
4 MOVITOOLS® software

4 Installation
4.1 MOVITOOLS® software
MOVITOOLS® The "Sensor based positioning via bus" application module is part of the MOVITOOLS®
software (version 4.20 and higher). Proceed as follows to install MOVITOOLS® on your
computer:
• Insert the MOVITOOLS® CD into the CD-ROM drive of your PC.
• The MOVITOOLS® setup menu is started. Follow the instructions of the installation
wizard.

You can now use the Program Manager to start MOVITOOLS®. Proceed as follows to
perform startup for the inverter using the MOVITOOLS® Manager:
• Select the language you want in the "Language" selection field.
• In the "PC Interface" selection field, select the PC port (e.g. COM 1) to which the
inverter is connected.
• In the "Device Type" field, select "Movidrive B".
• In the "Baudrate" field, select the baud rate set on the basic unit with the DIP switch
S13 (standard setting → "57.6 kBaud").
• Click the <Update> button to display the connected inverter.

10985AEN
Figure 4: MOVITOOLS® window

Application The "Sensor based positioning via bus" application module can be used on
version MOVIDRIVE® units in application version (...-0T). The application modules cannot be
used with units in the standard version (-00).

20 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Installation
Wiring diagram for MOVIDRIVE® MDX61B
4

4.2 Wiring diagram for MOVIDRIVE® MDX61B

X12: MOVIDRIVE ® MDX61B

DGND 1 System bus Reference
SBus

SC11 2 System bus High

SC12 3 System bus Low
X13:
DIØØ 1 /Controller inhibit
DIØ1 2 Enable/Rapid stop
DIØ2 3 Material sensor
DIØ3 4 Reference cam
DIØ4 5 /Limit switch right
DIØ5 6 /Limit switch left
DCOM 7 Reference X13:DIØØ...DIØ5
VO24 8 +24V output
DGND 9 Reference potential binary signals
ST11 10 RS-485 +
ST12 11 RS-485 -
X10:
TF1 1 TF-/TH input
DGND 2 Reference potential binary signals
DBØØ 3 /Brake
DOØ1-C 4 Relay contact
/Fault
DOØ1-NO 5 Relay NO contact
DOØ1-NC 6 Relay NC contact
DOØ2 7 Ready
24 V VO24 8 +24V output
-
= + VI24 9 +24V input
DGND 10 Reference potential binary signals

DEH11B DER1 1B

1 1 X14:
15 15
Input for external encoder (HIPERFACE®, sin/cos
or 5V TTL) or X14-X14 connection

9 9 (Connection: MOVIDRIVE® MDX60B/61B operating

8 8
instructions)

X15:
9 8
5 Motor encoder:
9
For DEH11B: HIPERFACE®, sin/cos or 5V TTL
For DER11B: Resolver 6-pole, 3,5 VAC_eff 4kHz
6 1
15 1 (Connection: MOVIDRIVE® MDX60B/61B operating
instructions)

DER11B DEH11B

1 15 1
15
X14
X14

9 8 9 8

9 8
9 5
X15
X15

6 1 15 1

55257BEN
Figure 5: Wiring diagram for MOVIDRIVE® MDX61B with option DEH11B or DER11B

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 21

 Installation
4 Bus installation for MOVIDRIVE® MDX61B

4.3 Bus installation for MOVIDRIVE® MDX61B

Overview For the bus installation, please note the information in the relevant fieldbus manuals
supplied with the fieldbus interfaces. Please refer to the MOVIDRIVE® MDX60B/61B
operating instructions for information on installing the system bus (SBus).

DFP21B DFI 21B DFI 11B DFC 11B DFD 11B

0 1
RUN 20 MOD/
0
21 Net
BUS 20
21 22
1 PIO
FAULT 22
1 2 4 ON OFF
2 4 2M 0,5M BIO
0 1 2M 0,5M R
nc S1
UL BUS-
20 UL
RC OFF
21 CC
BA
BA
22 RD RD NA(5)
0 1

23 FO1 TR NA(4)
FO2
3 NA(3) S1
24 TR
2 NA(2)
NA(1)
1
25 NA(0)
26 X31 DR(1)
X31/OUT X30/IN

X30

DR(0)
nc PD(4)
PD(3)
ADDRESS PD(2) S2
1 PD(1)
6
PD(0)
F3
F2
9 5 9
5
F1
X33/OUT X32/IN

1
6 1 X30
X31

2
3
4
X31
5

X30

P R O F I

SBus
PROCESS FIELD BUS

B U S Device Net
55273AXX
Figure 6: Bus types

22 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Installation
Bus installation for MOVIDRIVE® MDX61B
4

PROFIBUS For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface
(DFP21B) DFP21B PROFIBUS DP" manual. This manual can be ordered from
SEW-EURODRIVE. You can download the unit master data files (GSD) and type files
for MOVIDRIVE® MDX61B from the SEW homepage (under the heading "Software") to
facilitate startup.

Technical data
Option PROFIBUS fieldbus interface type DFP21B
Part number 824 240 2
DFP21B
Resources for startup/diagnostics MOVITOOLS® software and DBG60B keypad
RUN 1.
Protocol option PROFIBUS DP and DP-V1 to IEC 61158
BUS
2.
FAULT Automatic baud rate detection from
Supported baud rates
0 1 9.6 kbaud ... 12 Mbaud
20 9-pin Sub-D socket
21 Connection
3. Assigment to IEC 61158
22
23 Not integrated, must be implemented in the PROFIBUS
Bus termination
connector.
24
25 Station address 0 ... 125, can be set using DIP switch
26
GSD file SEWA6003.GSD
nc
ADDRESS DP ident number 6003 hex = 24579 dec
Max. number of process data 10 process data
5 Weight 0.2 kg (0.44 lb)
9
4.
6 1

X31
1. Green LED: RUN
2. Red LED: BUS FAULT
3. DIP switch for setting the station address.
55274AXX 4. 9-pin sub D socket: bus connection

Pin assignment

[2]

RxD/TxD-P 3
5 RxD/TxD-N 8
6
CNTR-P 4
[3]
DGND (M5V) 5
9 VP (P5V/100mA) 6
1
DGND (M5V) 9

[1]
55276AXX
Figure 7: Assignment of 9-pin sub D plug to IEC 61158

(1) 9-pin sub D connector

(2) Twist the signal wires together!
(3) Conductive connection is necessary between the plug housing and the shield!

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 23

 Installation
4 Bus installation for MOVIDRIVE® MDX61B

INTERBUS with For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface
fiber optic cable DFI21B INTERBUS with Fiber Optic Cable" manual. This manual can be ordered from
(DFI21B) SEW-EURODRIVE.

Technical data
Option INTERBUS fieldbus interface type DFI21B (FO)
Part number 824 311 5
DFI 21B
Resources for startup/diagnostics MOVITOOLS® software, DBG60B keypad and CMD tool
0
20 Supported baud rates 500 kbaud and 2 Mbaud, can be selected via DIP switch
21
22
1 1. Remote bus input: 2 F-SMA connectors
2 4
2M 0,5M Connection Remote bus output: 2 F-SMA connectors
UL Optically controlled FO interface
CC
BA Weight 0.2 kg (0.44 lb)
RD 2.
FO1
FO2
TR
X31/OUT X30/IN

3.

4.
X33/OUT X32/IN

5.

6. 1. DIP switches for setting the process data length, PCP length and baud rate
2. Diagnostic LEDs
3. FO: Remote IN
4. FO: Incoming remote bus
5. FO: Remote OUT
55288AXX 6. FO: Outgoing remote bus

Connection
assignment
Position Signal Direction Wire color of FO cable
3 FO remote IN Receive data Orange (OG)
4 Incoming remote bus Send data Black (BK)
5 FO remote OUT Receive data Black (BK)
6 Outgoing remote bus Send data Orange (OG)

24 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Installation
Bus installation for MOVIDRIVE® MDX61B
4

INTERBUS For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface
(DFI11B) DFI11B INTERBUS" manual. This manual can be ordered from SEW-EURODRIVE.

Technical data
Option INTERBUS fieldbus interface type DFI11B
Part number 824 309 3
DFI 11B Resources for startup/diagnostics MOVITOOLS® software and DBG60B keypad
0 1
20 Supported baud rates 500 kbaud and 2 Mbaud, can be selected via DIP switch
21 1.
22 Remote bus input: 9-pin sub D connector
1 Remote bus output: 9-pin Sub-D socket
2 4 Connection
2M 0,5M RS-485 transmission technology, 6-core shielded and
twisted-pair cable
UL
RC Module ID E3hex = 227dec
BA 2.
Max. number of process data 6 process data
RD
Weight 0.2 kg (0.44 lb)
TR
X30

3.
X31

4.

1. DIP switches for setting the process data length, PCP length and baud rate
2. Diagnostic LEDs: 4 x green LED (UL, RC, BA, TR); 1 x red LED (RD)
3. 9-pin sub D plug: Remote bus input
55278AXX 4. 9-pin sub D socket: Remote bus output

Pin assignment Conductor color abbreviations to IEC 757.

(1) (4)
(2)
(2) /DO 6 GN
GN 6 /DO DO 1 YE
YE 1 DO /DI 7 PK
PK 7 /DI DI 2 GY
GY 2 DI COM 3 BN
BN 3 COM 5 (3)
(3) 9
(5)

04435AXX
Figure 8: Assignment of the 9-pin sub D socket of the incoming remote bus cable and the 9-pin
sub D plug of the outgoing remote bus cable

(1) 9-pin sub D socket of the incoming remote bus cable

(2) Twist the signal wires together!
(3) Conductive connection is necessary between the plug housing and the shield!
(4) 9-pin sub D plug of the outgoing remote bus cable
(5) Jumper pin 5 with pin 9!

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 Installation
4 Bus installation for MOVIDRIVE® MDX61B

CANopen For more information, refer to the "Communication" manual. This manual can be
(DFC11B) ordered from SEW-EURODRIVE (provisionally from 03/2005).

Technical data
Option CANopen fieldbus interface type DFC11B
Part number 824 317 4
DFC 11B Resources for startup/diagnostics MOVITOOLS® software and DBG60B keypad
Setting using parameter P894:
• 125 kbaud
ON OFF Supported baud rates • 250 kbaud
R 1. • 500 kbaud
nc S1
• 1000 kbaud
9-pin sub D connector (X30)
Connection Assignment to CiA standard
2-core twisted cable to ISO 11898
3
2 2. Bus termination Can be activated using DIP switch (120 Ω)
1
X31 Address range 1 ... 127, can be selected using DIP switch
Weight 0.2 kg (0.44 lb)

1
6
3.
9
5

X30

1. DIP switch for setting the bus terminating resistor

2. X31: CANBus connection
55284AXX 3. X30: 9-pin sub D plug: CAN bus connection

Connection The DFC11B option is connected to the CAN-Bus at X30 or X31 in the same way as the
MOVIDRIVE® - SBus in the basic unit (X12). In contrast to the SBus1, SBus2 is electrically isolated and
CAN made available via option DFC11B.

Pin assignment
(X30)
(1)

(2)
6 DGND
7 CAN High
2 CAN Low
3 DGND
(3)

06507AXX
Figure 9: Assignment of 9-pin sub D socket of the bus cable

(1) 9-pin Sub-D socket

(2) Twist the signal wires together!
(3) Conductive connection is necessary between the plug housing and the shield!

26 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Installation
Bus installation for MOVIDRIVE® MDX61B
4

DeviceNet For more detailed information, refer to the "MOVIDRIVE® MDX61B Fieldbus Interface
(DFD11B) DFD11B DeviceNet" manual. This manual can be ordered from SEW-EURODRIVE.
You can download the EDS files for MOVIDRIVE® MDX61B from the SEW homepage
(under the heading "Software") to facilitate startup.

Technical data
Option DeviceNet fieldbus interface type DFD11B
Part number 824 972 5
DFD 11B
Resources for startup/diagnostics MOVITOOLS® software and DBG60B keypad
MOD/
Net Can be selected using DIP switch:
PIO • 125 kbaud
Supported baud rates
1. • 250 kbaud
BIO • 500 kbaud
BUS-
OFF 5-pin Phoenix terminal
Connection Assignment according to DeviceNet specification
0 1 (Volume I, Appendix A)
NA(5)
NA(4) Permitted line cross section According to DeviceNet specification
NA(3) S1
NA(2) Use of bus connectors with integrated bus terminating resis-
NA(1) Bus termination
NA(0) tor (120 Ω) at the start and finish of a bus segment.
DR(1)
2. Address range that can be set (MAC-ID) 0 ... 63, can be selected using DIP switch
DR(0)
PD(4) Weight 0.2 kg (0.44 lb)
PD(3)
PD(2) S2
PD(1)
PD(0)
F3
F2
F1

1
2
3 3.
4
5

X30
1. LED display
2. DIP switch for setting the node address (MAC-ID), the process data lengths and baud rate
55280AXX 3. 5-pin Phoenix terminal: bus connection

Terminal The assignment of connecting terminals is described in the DeviceNet specification

assignment Volume I, Appendix A.
Terminal Meaning Color
X30:1 V- (0V24) Black (BK)
X30:2 CAN_L Blue (BU)
X30:3 DRAIN Blank
X30:4 CAN_H White (WH)
X30:5 V+ (+24 V) Red (RD)

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 27

 Installation
4 System bus connection (SBus 1)

4.4 System bus connection (SBus 1)

Only if P816 "SBus baud rate" = 1000 kbaud:
MOVIDRIVE® compact MCH4_A units must not be combined with other MOVIDRIVE®
units in the same system bus combination.
The units may be combined at baud rates ≠ 1000 kbaud.

Max. 64 CAN bus stations can be addressed using the system bus (SBus). Use a
repeater after 20 or 30 stations, depending on the length of the cables and the cable
capacity. The SBus supports transmission technology compliant with ISO 11898.
The "Serial Communication" manual contains detailed information about the system
bus. This manual can be obtained from SEW-EURODRIVE.
Wiring diagram SBus

Control unit S 11 Control unit S 11 Control unit S 11

Systembus Systembus Systembus
S 12 S 12 S 12
Terminating resistor Terminating resistor Terminating resistor
S 13 S 13 S 13
S 14 S 14 S 14
ON OFF ON OFF ON OFF

Systembus
X12: Systembus
X12: Systembus
X12:
Ref. DGND 1 Ref. DGND 1 Ref. DGND 1
Systembus High SC11 2 Systembus High SC11 2 Systembus High SC11 2
Systembus Low SC12 3 Systembus Low SC12 3 Systembus Low SC12 3

54534AEN
Figure 10: System bus connection
Cable specification • Use a 4-core twisted and shielded copper cable (data transmission cable with
braided copper shield). The cable must meet the following specifications:
– Core cross section 0.25 ... 0.75 mm2 (AWG 23 ... AWG 18)
– Line resistance 120 Ω at 1 MHz
– Capacitance per unit length ≤ 40 pF/m (12 pF/ft) at 1 kHz
Suitable cables include CAN bus or DeviceNet cables.
Shielding • Connect the shield to the electronics shield clamp on the inverter or master controller
and make sure it is connected over a wide area at both ends.
Line length • The permitted total cable length depends on the baud rate setting of the SBus
(P816):
– 125 kBaud → 320 m (1056 ft)
– 250 kBaud → 160 m (528 ft)
– 500 kbaud → 80 m (264 ft)
– 1000 kBaud → 40 m (132 ft)
Terminating • Switch on the system bus terminating resistor (S12 = ON) at the start and end of the
resistor system bus connection. Switch off the terminating resistor on the other units (S12 =
OFF).

• There must not be any difference of potential between the units connected with the
SBus. Take suitable measures to avoid a difference of potential, such as connecting
the unit ground connectors using a separate line.

28 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Installation
Connecting hardware limit switches
4

4.5 Connecting hardware limit switches

The cams of the hardware limit switches must cover the travel range up to the stop. Only
use hardware limit switches with normally closed contacts (low-active)!

[1]

[2]

[3] [4]
54945AXX
Figure 11: Connecting hardware limit switches

[1] Clockwise drive inverter

[2] Travel distance
[3] Hardware limit switch left
[3] Hardware limit switch right

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 29

 I Startup
5 General information
0

5 Startup
5.1 General information
Correct project planning and installation are the prerequisites for successful startup.
Refer to the MOVIDRIVE® MDX60/61B system manual for detailed project planning
instructions.
Check the installation, the encoder connection and the installation of the fieldbus cards
by following the installation instructions in the MOVIDRIVE® MDX60B/61B operating
instructions, in the fieldbus manuals and in this manual (→ Sec. Installation).
Use an absolute encoder as the external encoder (connect to DIP11B, X62). Also note
the information on installation and startup in the "MOVIDRIVE® MDX61B Absolute
Encoder Card DIP11B" manual.

5.2 Preliminary work

Perform the following steps before starting the sensor based positioning via bus
application:
• Connect the "Xterminal" connection on the inverter to PC-COM via the UWS21A
option (serial interface).
• Install the MOVITOOLS® software (version 4.20 or higher).
• Start up the inverter with "MOVITOOLS/Shell."
– MDX61B with asynchronous motor: CFC operating modes / VFC n-control
– MDX61B with synchronous motor: SERVO operating modes
• Only for operation with an external encoder (absolute or incremental encoder):
– Absolute encoder: Start up the DIP11B absolute encoder card. Set the
parameters P942 ... P944 (→ "MOVIDRIVE® MDX61B Absolute encoder Card
DIP11B" manual).
– Incremental encoder: Set the parameters 942 ... P944 Encoder factor numerator,
Encoder factor denominator and Encoder scaling ext. encoder in the Shell pro-
gram. Refer to the "IPOSplus® Positioning and Sequence Control System" manual
for a detailed description of the parameters.
• In [MOVITOOLS] / [Shell] / choose the menu item [Startup] and select the technology
function "Sensor based positioning via bus".
• Enter a "0" signal at terminal DIØØ "/CONTROLLER INHIBIT/".

30 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Starting the program "Sensor based positioning via bus"
5
0

5.3 Starting the program "Sensor based positioning via bus"

General • Start [MOVITOOLS] / [Shell].
information • Choose [Startup] / [Sensor based positioning via bus].

05866AEN
Figure 12: Start the program "Sensor based positioning via bus"

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 31

 I Startup
5 Starting the program "Sensor based positioning via bus"
0

Setting the field- All parameters which are important for sensor based positioning are read in after sensor
bus parameters based positioning has started.
The following window appears after sensor based positioning has started if no valid ap-
plication module has been loaded into the inverter.

10821AEN
Figure 13: Setting the fieldbus parameters
You have to make the following settings in this window:
• Setting the fieldbus parameters: Set the fieldbus parameters. Fixed parameters
are blocked and cannot be changed.
The system bus (SBus) can always be set; no option is required for this.
If a fieldbus card (DFP, DFI, DFC, DFD or DFE) is plugged into the fieldbus slot,
ROFIBUS, INTERBUS, CAN, DEVICENET or ETHERNET can also be selected.

32 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Starting the program "Sensor based positioning via bus"
5
0

Setting the You can set the scaling factors for distance and speed in this window.
distance and
speed scaling
factors

10820AEN
Figure 14: Setting the scaling
You have to make the following settings in this window:
• Source actual position selection field: Select which encoder is to be used for
distance measurement in positioning:
– MOTOR ENCODRE (X15)
– EXT. ENCODER (X14) with an incremental encoder as the external encoder.
– ABSOLUTE ENCODER (DIP) with an absolute encoder as the external encoder
or on the motor shaft

If you use an absolute encoder, you must start up the DIP11B option before you start
the "Sensor based positioning via bus" application module.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 33

 I Startup
5 Starting the program "Sensor based positioning via bus"
0

Calculating the • Example 1: Motor encoder or absolute encoder on the motor shaft (source
scalung factors actual position)
– Choose the unit you require in the selection fields "Diameter of driving wheel" or
"Spindle slope" (only for motor encoder). For the unit you can choose from milli-
meters [mm] or 1/10 millimeters [1/10 mm].
– In the "Gearing ratio" input field enter the ratio of the gear unit. In the "External
ratio" input field enter the gear ratio of the additional gear.
– In the "Unit for speed" selection field, choose from [mm/s], [m/min] and [1/min]
– For positioning with an absolute encoder, in the "Place of absolute encoder"
selection field, choose "Motor shaft".
– Click <Calculation>. The "distance" and "speed" scaling factors are calculated by
the program.

• Example 2: External encoder or absolute encoder on the track (source actual

position)
When using an external encoder or an absolute encoder on the track, you have to
calculate the distance scaling factor manually. The scaling factor for the speed can
be calculated automatically (→ following section) or manually (→ example 2).
Automatic calculation of the scaling factor for speed:
• In the "Source actual position" selection field, select the entry "Motor encoder".
• Enter a value in the "Diameter of driving wheel" field or the "Spindle slope" field.
Select the unit [mm] or [1/10 mm] in the adjacent selection field.
• In the input box "Gearing ratio" and "External ratio" enter the respective values for
the gear ratios.
• Click <Calculation>. The scaling factor for speed is calculated by the program.

Calculating the scaling factor for distance:

• In the "Source actual position" selection field, select the entry "External encoder"
or "Absolute encoder". For positioning with an absolute encoder, in the "Place of
absolute encoder" selection field, choose the entry "Way".
• In the group box "Scaling factor for distance", enter the number of pulses supplied
by the encoder per travel unit in the "Increments" input field. The unit of the pulses
is always increments [inc]. In the "Distance" input field, enter the corresponding
track distance.
• In the "Scaling factor for distance" group box, enter the unit of the scaling factor
for the distance in the "Unit" input field. Any other information, such as the
software limit switch, reference offset or the target position are specified in the
selected unit.

34 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Starting the program "Sensor based positioning via bus"
5
0

Converting the The scaling factor for distance (increments / distance) is used to determine the user
distance resolu- travel unit (e.g. mm, revolutions, ft). For positioning with a motor encoder, the scaling
tion into user travel factor for distance can be calculated automatically. The following units can be selected
units for the automatic calculation:
• mm
• 1/10 mm
When using an external encoder or an absolute encoder on the track, you have to
calculate the distance scaling factor manually (→ Examples 1 and 2).

Example 1: A drive is to be positioned using an Absolute encoder on the track. The

speed should be specified in the unit [m/min].
• Drive data:
– Gear unit ratio (i gear unit) = 12.34
– Gear ratio of the additional gear (i additional gear) = 1
– Diameter of the carrying wheel = 200 mm
• Encoder data:
– Type: Stahltronik WCS3 absolute encoder
– Physical resolution = 1 increment / 0.8mm
– Encoder scaling P955 = x8 (→ set automatically during startup of the DIP11B
option).
• Automatic calculation of the scaling factor for speed:
Numerator / denominator = 32759 / 1668 unit [m/min]
• Calculating the scaling factor for distance manually:
– Electrical resolution = 1 increment / 0.8 mm × P955 encoder scaling
Result: 1 increment / 0.8 mm × 8 = 8 [inc/0.8 mm]
Result: Pulses / Distance = 80 / 8 [mm]

Example 2: A drive is to be positioned using an external encoder on the track.

• Drive data:
– Gear unit ratio (i gear unit) = 12.34
– Gear ratio of the additional gear (i additional gear) = 1
• Encoder data:
– Physical resolution = 1024 increments / revolution
– Diameter of the carrying wheel (dcarrying wheel) = 65 mm
– Encoder scaling P944 = x2
• Calculating the scaling factor for distance manually:
– Pulses = Number of increments / revolution × 4 × P944
Pulses = 1024 increments / revolution × 4 × 2 = 8192 increments
– Distance = Π × dcarrying wheel
Distance = 3.14 × 65 mm = 204.2 mm
Result: Pulses / distance = 8192 / 204 unit [mm]

If the numerator (pulses) or denominator (distance) are non-integer values, the conver-
sion can be made more accurate if both numerator and denominator are multiplied by
the same expansion factor (e.g. 10, 100, 1000, etc.). This expansion does not limit the
maximum travel range. The maximum value for "pulses" or the "distance" is 32767.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 35

 I Startup
5 Starting the program "Sensor based positioning via bus"
0

Converting the In the group box "Calculation of the scaling", choose one of the three entries in the drop-
speed into user down menu "Unit for speed". The scaling factors can be calculated automatically. The
travel units following speed units are available:
• 1/min
• mm/sec
• m/min
If you want to enter the speed in a different unit, you can calculate the scaling factor for
speed (→ following example).

Example 1: A drive is to be positioned using an Absolute encoder on the track. The

speed is to be specified in mm/s.
• Drive data:
– Gear unit ratio (i gear unit) = 15.5
– Gear ratio of the additional gear (i additional gear) = 2
– Diameter of the drive wheel (ddrive wheel) = 200 mm
• Encoder data:
– Type: Stahltronik WCS2 linear distance measuring system
– Physical resolution = 0.833 mm Ⳏ 1.2 increments /mm
– Encoder scaling P955 = x8 (→ set automatically during startup of the DIP11B
option)

• Numerator = igear unit × iadd. gear × 60

Numerator = 15.5 × 2 × 60 = 1860
• Denominator = Π × ddrive wheel (or spindle slope)
Denominator = 3.14 × 200 = 628
Unit = mm/s
If the numerator or denominator are non-integer values, the conversion can be made
more accurate if both numerator and denominator are multiplied by the same expansion
factor (e.g. 10, 100, 1000, etc.). This expansion does not limit the maximum travel range.
The maximum value for the numerator or denominator is 32767.

36 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Starting the program "Sensor based positioning via bus"
5
0

Setting the ramp

times and limits

10822AEN
Figure 15: Setting ramp times and limits
In this window, you can enter the position of the software limit switches, the reference
offset, the reference travel type, ramp times and limits. The entries are made in the user
units of the scaling.
• In the input fields "Software limit switch left / right", enter the position of the software
limit switches. Make sure the positions of the software limit switches are within the
travel distance of the hardware limit switches and that they do not overlap the refer-
ence position. If you enter the value "0" in both input fields, the software limit switches
are deactivated.
• In the "Reference offset" input field, enter the reference offset. The machine zero is
corrected using the reference offset. The following formula applies:
Machine zero = reference position + reference offset

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 37

 I Startup
5 Starting the program "Sensor based positioning via bus"
0

• Select the correct type of reference travel (0 8) from the "Reference travel type" se-
lection box. The reference travel type specifies the reference travel strategy with
which the machine zero of a machine should be established. The IPOSplus® variable
H127 ZeroPulse specifies whether reference travel should react to an edge change
of the reference cam ("0") or the following zero pulse of the encoder ("1"). The IPOS-
plus® variable H127 can be edited using the IPOS Compiler.

Type 0: The reference position is the first zero pulse left of the start-

] [ ing position of the reference travel.

ZP
55260AXX
Type 1: The reference position is the left end of the reference cam.

] [ Machine zero = reference position + reference offset

H127 = "1" Referencing to encoder zero pulse
CAM
54947AXX H127 = "0" Referencing to edge change
Type 2: The reference position is the right end of the reference cam.

] [ Machine zero = reference position + reference offset

H127 = "1" Referencing to encoder zero pulse
CAM
54948AXX H127 = "0" Referencing to edge change
Type 3: The reference position is the right hardware limit switch. No

] [ reference cam is required. After leaving the hardware limit switch

(positive edge), the drive continues to move clear of it by 4096
54949AXX increments.
Machine zero = reference position + reference offset – 4096
Type 4: The reference position is the left hardware limit switch. No

] [ reference cam is required. After leaving the hardware limit switch

(positive edge), the drive continues to move clear of it by 4096
54950AXX increments.
Machine zero = reference position + reference offset + 4096
Type 5: No reference travel. The reference position is the current

] [ position without reference to a zero pulse.

Machine zero = current position + reference offset
54951AXX
Type 6: The reference position is the left end of the reference cam.

] [ Machine zero = reference position + reference offset

CAM
54952AXX
Type 7: The reference position is the left end of the reference cam.

] [ Machine zero = reference position + reference offset

CAM
54953AXX
Type 8: No reference travel. The reference position is the current

] [ position without reference to a zero pulse. In contrast to type 5, type

8 reference travel can also be performed when the system status is
54951AXX not set to "A".
Machine zero = current position + reference offset

38 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Starting the program "Sensor based positioning via bus"
5
0

Setting the ramp • In the "Ramp values" group box, enter the ramp times in the input fields "Ramp value
times in jog and jog mode" and "Ramp value auto.mode (1) and (2)". Bit 15 in process output data
automative mode word 1 is used to change between ramp 1 and ramp 2 in automatic mode. The cor-
responding acceleration is displayed in the unit [mm/s2].

The ramp time always refers to a speed of 3000 min–1.

For a ramp time of 1 s the drive would be accelerated to a speed of 1500 min–1 in 500
ms.

Setting the limits • Limiting the maximum travel distance: In "Automatic mode", you have to enter the
maximum travel distance for movement to the right or left to position the drive in the
modes "Remaing travel right" or "Remaining travel left".
Enter both values without signs in the "Maximum values" group box in the input fields
"Maximum position for TP right" and "Maximum position for TP left". The values are
processed in the positioning mode to determine the target position when the travel
strategy "Remaining travel right" or "Remaining travel left" is selected.
The maximum travel distance is the position at which the drive stops when a touch
probe signal is not detected and the option "Endless positioning" (Bit 10 "Endless-
Pos" in the control word) has not been activated. The numerical value is evaluated
as "Cycle distance". Reference position is the current position (= setpoint position)
prior to the positive edge change at the "Start bit".
Target position = setpoint position ± maximum travel distance right

• The drive only stops at the maximum travel distances if "Endless positioning" (Bit
10 "Endlesspos" in control word) in the "Remaining travel right" or "Remaining travel
left" modes is not activated. The "Endless positioning" option is only available with
MOVIDRIVE® MDX61B!
• If a positive edge is detected at sensor input DI02, a new target positiong is
calculated. The target position can exceed the maximum travel distance right/left if
the sensor is placed before the position of the maximum travel distance or if the
sensor is faulty. In this case, the drive would move past the maximum travel distance.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 39

 I Startup
5 Starting the program "Sensor based positioning via bus"
0

• Speed limits: In the "Maximum values" group box, enter the maximum speeds:
– For jog mode, enter the speed in the "Max. motor speed in Jog mode" input field
– For automatic mode, enter the speed in the "Max. motor speed in Automatic
Mode" input field
– For speed control, enter the speed in the "Nmax speed control" input field.
The speed values for automatic mode and jog mode must be at least 10 % less than
for the speed controller (P302 Maximum speed 1).

Click on <Next> when you have entered all the values you require.

10823AEN

Click <Yes> to save the startup data.

40 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Starting the program "Sensor based positioning via bus"
5
0

Download The download window appears after the settings have been saved.

10824AEN
Figure 16: Download window
Click the <Download> button. All the required settings are made automatically in the
inverter, and the IPOSplus® program for "Sensor based positioning via bus" is started.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 41

 I Startup
5 Starting the program "Sensor based positioning via bus"
0

After the download, the program asks you if you want to start the monitor. In the monitor,
you can run a diagnostic of your application and check the control signals.

10843AEN
Figure 17: Start monitor: Yes/No
Select <Yes> to switch to the monitor where you can start in the required operating
mode. Select <No> to switch to MOVITOOLS/Shell.

42 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Starting the program "Sensor based positioning via bus"
5
0

Monitor If "Sensor based positioning via bus" is started after the startup procedure has been
performed, the monitor appears immediately.

10825AEN
Figure 18: Monitor for sensor based positioning via bus

[1] Process data communication (PI, PO) in hexadecimal format

[2] PO1 control word 2, decoded into individual bits
[3] PI1 status word, decoded into individual bits
[4] Process data in decimal format and with user units
[5] Status of the binary inputs of the basic unit
[6] Position of the software limit switches and current position of the drive

Repeated startup Press <Startup> if you want to repeat startup. A window appears in which you can enter
the settings for the fielbus parameters (→ Section "Setting fieldbus parameters").

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 43

 I Startup
5 Parameters and IPOSplus® variables
0

5.4 Parameters and IPOSplus® variables

The following parameters and IPOSplus® variables are set automatically during startup
and are loaded into the inverter during the download:
Parameter number P... Index Description Value
100 8461 Setpoint source Fieldbus
101 8462 Control signal source Fieldbus

302 Maximum speed 1 Can be set in the interface

600 8335 Binary input DI01 Enable/Rapid stop

601 8336 Binary input DI02 No function
602 8337 Binary input DI03 Reference cam
603 8338 Binary input DI04 /Right limit switch
604 8339 Binary input DI05 /Left limit switch
605 8919 Binary input DI06 (MDX61B only) No change
606 8920 Binary input DI07 (MDX61B only) No change
610 8340 Binary input DI10
611 8341 Binary input DI11
612 8342 Binary input DI12
613 8343 Binary input DI13
No function
614 8344 Binary input DI14
615 8345 Binary input DI15
616 8346 Binary input DI16
617 8347 Binary input DI17

620 8350 Binary output D001 /Fault

621 8351 Binary output D002 Ready

630 8352 Binary output D010

631 8353 Binary output D011
632 8354 Binary output D012
633 8355 Binary output D013
No function
634 8356 Binary output D014
635 8357 Binary output D015
636 8358 Binary output D016
637 8359 Binary output D017

700 8574 Operating mode ... & IPOS

813 8600 SBus address

815 8602 SBus timeout delay
816 8603 SBus baud rate
Can be set in the interface
819 8606 Fieldbus timeout delay
831 8610 Response fieldbus timeout
836 8615 Response SBus timeout

44 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Startup I
Parameters and IPOSplus® variables
5
0

Parameter number P... Index Description Value

870 8304 Setpoint description PO1 Control word 2
871 8305 Setpoint description PO2
872 8306 Setpoint description PO3
873 8307 Actual value description PI1 IPOS PO-DATA
874 8308 Actual value description PI2
875 8309 Actual value description PI3
876 8622 PO data enable ON

900 8623 Reference offset

903 8626 Reference travel type Can be set in the interface
941 Source actual position

IPOSplus® variable Description

H1 Max. motor speed in automatic mode
H2 Max. motor speed in jog mode
H3 Scaling factor for distance numerator
H4 Scaling factor for distance denominator
H5 Scaling factor for speed numerator
H6 Scaling factor for speed denominator
H7 Ramp 1 automatic mode
H8 Ramp for jog mode
H16 Ramp 2 automatic mode
H17 Maximum travel distance right (INCR)
H18 Maximum travel distance left (INCR)
H102 Drive wheel diameter (x1000)
H103 Gear ratio (x1000)
H104 Additional gear ratio (x1000)
H115 SwitchSBUS
H125 Pointer to Scope variable H474
H126 Pointer to Scope variable H475
H127 Referencing to encoder zero pulse
H496 SLS_right Software limit switch right (INCR)
H497 SLS_left Software limit switch left (INCR)
H503 TpPos1_Abs Position (DIP) at time of touchprobe signal
H506 TpPos1_Ext Position (X14) at time of touchprobe signal
H507 TpPos1_Mot Position (X15) at time of touchprobe signal
H509 ActPos_Abs Actual position DIP
H510 ActPos_Ext Actual position X14
H511 ActPos_Mot Actual position X15
H1002 ScopeDelay

Do not alter these parameters and IPOSplus® variables after startup!

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 45

 I Startup
5 Recording IPOSplus® variables
0

5.5 Recording IPOSplus® variables

IPOSplus® variables can be recorded during operation using the "Scope" program in
MOVITOOLS® This is only possible for the MOVIDRIVE® MDX61B inverter.
The two 32-Bit IPOSplus® variables H474 and H475 are available for recording. Two
pointer variables (H1000/H1001) to H474 and H475 can be used to record any
IPOSplus® variable using the "Scope" program:
• H1000 → Scope474Pointer
• H1001 → Scope475Pointer
The number of the IPOSplus® variable that is to be recorded in "Scope" must be entered
in the variable window of the IPOS Assembler or Compiler in one of the pointer variables
H1000 or H1001.

Example The IPOSplus® variable H511 Current motor position is to be recorded. Proceed as
follows:
• In the "Scope" program, enter the value 511 in variable H1000 in the variable
window.

10826AXX

• In the "Scope" program, choose [File] / [New]. Set channel 3 to IPOS variable H474
LOW and channel 4 to IPOS variable H474 HIGH. The "Scope" program now records
the value of the IPOSplus® variable H511.

10827AEN

• The pointer variables are copied to the IPOSplus® H474 or H475 variables in TASK3
of the IPOSplus® program.
• The speed (commands / ms) of task 3 is dependent on the processor utilization of
MOVIDRIVE MDX61B.
• The time (ms) required in task 3 to copy the values from the pointer variable to the
IPOSplus® variables H474 or H475 is contained in variable H1002. If the value is ze-
ro, the copy process lasts less than 1 ms.

46 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Starting the drive
6
0

6 Operation and Service

6.1 Starting the drive
After the download, switch to the "Sensor based positioning via bus" monitor by select-
ing "Yes." You can select the operating mode using bits 11 and 12 of "PO1: Control word
2".
Note the following points to start the drive. This procedure applies to all operating
modes:
• Binary inputs DIØØ "//CONTROLLER INHIBIT//" and DIØ3 "ENABLE/RAPID STOP/
must have a "1" signal.
• For control via fieldbus or system bus: Set the control bit PO1:0 "CONTROLLER
INHIBIT/ENABLE" = "0" and the control bits PO1:1 "ENABLE/RAPID STOP" and
PO1:2 "ENABLE/STOP" = "1".
Operating modes The process output data word 1 (PO1) has the following assignment:
• PO1: Control word 2

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Controller inhibit/
/SWLS/Ramp1/2
Enable
Enable/
PosMode 21
Rapid stop

PosMode 20 Enable/Stop

Mode select 21 Hold control

Ramp
Mode select 20
switchover
Parameter set
Jog– / EndlessPos
switchover

Jog + Fault reset

Start Reserved

The "Endless positioning" option (Bit 10:EndlessPos) in the /Remaining travel right/left"
modes and the "Moving clear of the software limit switches" in jog mode ((Bit 15:/SWLS)
are only available with MOVIDRIVE® MDX61B.

Operating mode PO:Bit 12 (Mode selection 21) PO:Bit 11 (Mode selection 20)
Invalid mode "0" "0"
Jog mode "0" "1"
Referencing mode "1" "0"
Automatic mode "1" "1"

Positioning mode PO:Bit 14 (Mode selection 21) PO:Bit 13 (Mode selection 20)
Absolute "0" "0"
Relative "0" "1"
Remaining travel right "1" "0"
Remaining travel left "1" "1"

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 47

 I Operation and Service
6 Starting the drive
0

• Jog mode
– The drive can be moved to the left or right using PO1:Bit 9 and PO1: Bit10.
– The speed is specified in PO2 set speed.

• Referencing mode
– Reference travel is started with PO1:Bit 8.
– Reference travel establishes the reference point (machine zero) for absolute po-
sitioning operations.
– The following formula applies: Machine zero = reference position + reference off-
set

• Automatic mode
There are four positioning options in automatic mode:
– Absolute
– Relative
– Remaining travel right after detection of a sensor signal
– Remaining travel left after detection of a sensor signal
If a MOVIDRIVE® MDX61B is used, the "Endless positioning" option can also be ac-
tivated in the "Remaining travel right" or "Remaining travel left" positioning modes
Positioning is started with PO1:Bit 8. The controller specifies the setpoint speed via
PO2 and the setpoint position via PO3.
The inverter sends the actual speed via PI2 and the actual position via PI3 to the con-
troller.
The ramps set for the automatic mode during startup can be changed over using
PO1:Bit 15.

48 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Monitor mode
6
0

6.2 Monitor mode

The "sensor based positioning via bus" monitor mode displays the data that is transmit-
ted via the fieldbus. The process input and output data are read in cyclically and dis-
played in hexadecimal format.

10828AEN
Figure 19: Monitor mode
• The process input and output data is displayed in the middle of the window.
• You can change the control source by marking the radio button "Monitor" or "Con-
trol":
– Monitor: The process data is read from a higher-level controller via fieldbus.
– Control: The process data is specified using a PC. The drive can be controlled
without a higher-level controller with a PC. You can use the mouse to set or delete
the individual bits in control word PO1. You have to enter the values in the input
fields PO2 "Setpoint speed" and PO3 "Target position" as numerical values. To
send the process data to the inverter, click the <Send PO> button.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 49

 I Operation and Service
6 Jog mode
0

6.3 Jog mode

• PO1:12 = "0" and PO1:11 = "1"
You can use the jog mode when the unit is serviced to move the drive independently of
the automatic mode. No reference travel is required beforehand.

10829AEN
Figure 20: Jog mode
• Start the drive by setting the control bit PO1:9 "Jog +" or PO1:10 "Jog–". This means
you can move the drive in both directions. If the setting "Jog +" or "Jog –" is deleted,
the drive stops.
• The speed is specified via PO2:Setpoint speed.

Please also refer to the information in the section "Software limit switches".

50 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Referencing mode
6
0

6.4 Referencing mode

• PO1:12 = "1" and PO1:11 = "0"
The reference position is defined by reference travel (e.g. to one of the two hardware
limit switches).

10830AEN
Figure 21: Referencing mode
• Ensure that you have set the correct reference travel type (P903) before starting
reference travel. If this is not the case, restart the startup procedure and set the re-
quired type of reference travel.
• Set PO1:8 "Start" to "1" to start reference travel. The "1" signal must be present for
the entire duration of the reference travel. Once reference travel has been completed
successfully, PI1:2 "IPOS reference" is set. The "1" signal at PO1:8 "Start" can now
be revoked. The drive is now referenced.
• You can set the speeds for reference travel in parameters P901 and P902.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 51

 I Operation and Service
6 Referencing mode
0

• The stop ramp (P136) is used for reference travel. If reference travel is interrupted
by revoking the start bit, positioning ramp 1 (P911) is used.

• If referencing is set to the hardware limit switches (type 3 and 4), the drive contin-
ues to turn for 4096 increments after leaving the hardware limit switch.
• Please also refer to the information in the section "Software limit switches".

52 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Automatic mode
6
0

6.5 Automatic mode

• PO1:12 = "1" and PO1:11 = "1"
Four different positioning modes can be selected with PO1:13 and PO1:14:
• Absolute (PO1:13 = "0" and PO1:14 = "0")
• Relative (PO1:13 = "1" and PO1:14 = "0")
• Remaining travel right (PO1:13 = "0" and PO1:14 = "1")
• Remaining travel left (PO1:13 = "1" and PO1:14 = "1")

Absolute posi- In the "Absolute" positioning mode, the drive can be positioned absolutely based on the
tioning mode machine zero point (reference position). The axis must be reference:
1. The target position is specified via PO3, the speed is specified via PO2.
2. You can switch between the two positioning ramps entered during startup using
PO1:15.
3. If the ramp function (P916) is set to "LINEAR" or "JERK LIMITED", you can change
the speed and ramp time while the drive is moving. With all other ramp types, you
can only change the speed and the ramp time when the drive is at standstill or if the
axis is not enabled.

10831AEN
Figure 22: Automatic operation in absolute positioning mode

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 53

 I Operation and Service
6 Automatic mode
0

• Set PO1:8 "Start" to "1" to start positioning. The "1" signal must be present for the
entire duration of the positioning procedure.
• Once positioning has been completed successfully, PI1:3 "Target position reached"
is set. The drive comes to a standstill subject to position control.
• The drive moves immediately to a new position if control bit PO1:8 "Start" is set and
a new target position is specified via PO3.

Relative position- In the "Relative" positioning mode, you can move the drive by the position specified in
ing mode PI3 relative to the current position (= setpoint position). Example: Cyclical operation with
a conveyor belt.
1. The cycle distance is specified via PO3, the speed is specified via PO2.
2. You can switch between the two positioning ramps entered during startup using
PO1:15.
3. If the ramp function (P916) is set to "LINEAR" or "JERK LIMITED", you can change
the speed and ramp time while the drive is moving. With all other ramp types, you
can only change the speed and the ramp time when the drive is at standstill or if the
axis is not enabled.

10832AEN
Figure 23: Automatic operation in relative positioning mode

54 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Automatic mode
6
0

• Set PO1:8 "Start" to "1" to start positioning. The "1" signal must be present for the
entire duration of the positioning procedure.
• The target position is calculated with the positive edge at PO1:8 "Start". The target
position specified in PO3 is calculated relative to the current position (= setpoint po-
sition). In this case, a positive sign produces movment to the right, a negative sign
produces movement to the left. Once the drive has reached the required position, bit
PI1:3 "Target position reached" is set in the status word. The drive comes to a stand-
still subject to position control.
• The position sent to PO3 is the relative distance traveled.
• Bit PO1:8 "Start" must be toggled to perform a new cycle once the target position has
been reached. The actual position is reset to "0".
• A machine cycle can be interrupted by deleting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or positioning mode (e.g. re-
maining travel right → relative) during one cycle (at least 50 ms). The drive must be
enabled for this purpose.

• The new target postion for the next cycle is only calculated when the bit PI1:3 "Target
position reached" is set when the "Start" bit is changed from "1" to "0" and the drive
is enabled (caution when the drive overshoots).
• Also refer to the cycle diagrams in the section "Operation and service".

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 55

 I Operation and Service
6 Automatic mode
0

Remaining travel PO1:14 = "1", PO1:13 = "0", PO1:12 = "1" and PO1:11 = "1"
right In the "Remaining travel right" positioning mode, you can position the drive by a speci-
fied remaining distance once a sensor has been triggered.
• The remaining distance is specified via PO3, the speed is specified via PO2.
• You can switch between the two positioning ramps entered during startup using
PO1:15.
• If the ramp function (P916) is set to "LINEAR" or "JERK LIMITED", you can change
the speed and ramp time while the drive is moving. With all other ramp types, you
can only change the speed and the ramp time when the drive is at standstill or if the
axis is not enabled.
• In the "Remaining travel right" positioning mode, there are two different strategies
if the sensor input is not attenuated after the axis is started: that is, if a positve edge
is not detected at DIO2:
1. The axis stops when it reaches the position "Maximum travel distance TP right".
2. Only with MOVIDRIVE® MDX61B: Axis moves "endlessly" in one direction as
long as a "1" signal is present at PO1:8 "Start".

10833AEN
Figure 24: Automatic operation in remaing travel right positioning mode

56 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Automatic mode
6
0

Strategy 1 "Maxi- • PO1:14 = "1", PO1:13 = "0", PO1:12 = "1", PO1:11 = "1" and PO1:10 = "0"
mum position for • Set PO1:8 "Start" to "1" to start positioning. The "1" signal must be present for the
TP right" entire duration of the positioning procedure.

Example 1: No edge change at DIO2 - Sensor (touchprobe) does not trigger

• The drive moves to the target position and remains there subject to position control.
Target position = "Setpoint position at start signal" + "Maximum position for TP right"
• The bits PI1:0 "Fault material sensor" and PI1:3 "Target position reached" are set.
The "Fault material sensor" bit signals to the master controller that the touch probe
input has not been attenuated and the drive has reached the maximum position
specified at startup.
• When a negative edge is detected at PO1:8 "Start", the current position PI3 is reset
and a new target position is calculated. Bit PO1:0 "Fault material sensor" is reset and
a new cycle begins.

The new target postion for the next cycle is only calculated when the bit PI1:3 "Target
position reached" is set when an edge change ("1" → "0") is detected for bit PO1:8
"Start" and the drive is enabled (caution when the drive overshoots).

• A machine cycle can be interrupted by deleting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or positioning mode (e.g. re-
maining travel right → relative) during one cycle (at least 50 ms). The drive must be
enabled for this purpose.

Example 2: Edge change at DIO2 - Sensor (touchprobe) triggers

• The drive moves to the target position and remains there subject to position control.
Target position = "Setpoint position at start signal" + "Remaining distance (PO3)"
• Once the drive has reached its target position, bit PI1:3 "Target position reached" is
set.
• When a negative edge is detected at PO1:8 "Start", the current position PI3 is reset
and a new target position is calculated.

The new target postion for the next cycle is only calculated when the bit PI1:3 "Target
position reached" is set when an edge change ("1" → "0") is detected for bit PI1:8 "Start"
and the drive is enabled (caution when the drive overshoots).

• A machine cycle can be interrupted by resetting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or positioning mode (e.g. re-
maining travel right → relative) during one cycle (at least 50 ms). The drive must be
enabled for this purpose.

• If the sensor is placed just before the position "Maximum position for TP right" or if
the sensor outputs a positive edge at DIO2 due to a fault just before reaching the
maximum position, then the calculated target position can be positioned after the
"Maximum position for TP right". The drive would then move past the "Maximum po-
sition for TP right". If you do not want this to happen, this special case must be pre-
vented by using additional hardware or software limit switches.
• If a "short" remaining distance is specified when the drive is traveling at high speed
over a long ramp, the drive can change its direction of rotation and move back to the
specified target position (remaining travel).
• Also refer to the cycle diagrams in the section "Operation and service".

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 57

 I Operation and Service
6 Automatic mode
0

Strategy 2 "End- The endless positioning option is only available for positioning with a motor encoder or
less positioning" an external encoder. For positioning with an absolute encoder, the bit PO1:10 "Endless-
(only for MOVID- Pos" is not evaluated.
RIVE® MDX61B) • PO1:14 = "1", PO1:13 = "0", PO1:12 = "1", PO1:11 = "1" and PO1:10 = "1"
• Set PO1:8 "Start" to "1" to start positioning. The "1" signal must be present for the
entire duration of the positioning procedure.

Example 1: No edge change at DIO2 - Sensor (touchprobe) does not trigger

• The drive moves endlessly in a clockwise direction as long as bit PO1:8 is set. The
actual position in PI3 switches between the positions "Maximum position for TP right"
and "Maximum position for TP left" specified at startup. The bit PI1:0 "Fault material
sensor" is not set.
• A machine cycle can be interrupted by resetting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or positioning mode (e.g. re-
maining travel right → relative) during one cycle (at least 50 ms). The drive must be
enabled for this purpose.

Example 2: Edge change at DIO2 - Sensor (touchprobe) triggers

• The position at PO3 is read when the touch probe signal is detected (TP event) and
a new target position is calculated.
Target position = "Setpoint position at TP event" + "Remaining distance (PO3)"
• Once the drive has reached the new target position, the bit PI1:3 "Target position
reached" is set.
• When a negative edge is detected at PO1:8 "Start", the current position PI3 is reset
and a new target position is calculated. A new cycle begins.

The new target postion for the next cycle is only calculated when the bit PI1:3 "Target
position reached" is set when an edge change ("1" → "0") is detected for bit PO1:8
"Start" and the drive is enabled (caution when the drive overshoots).

• A machine cycle can be interrupted by resetting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) , the positioning mode (e.g.
remaining travel right → relative) or the travel strategy during one cycle (at least 50
ms). The drive must be enabled for this purpose.

• If a "short" remaining distance is specified when the drive is traveling at high speed
over a long ramp, the drive can change its direction of rotation and move back to the
specified target position (remaining travel).
• Also refer to the cycle diagrams in the section "Operation and service".

58 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Automatic mode
6
0

Remaining travel PO1:14 = "1", PO1:13 = "1", PO1:12 = "1" and PO1:11 = "1"
left positioning In the "Remaining travel left" positioning mode, you can position the drive by a specified
mode remaining distance once a sensor has been triggered.
• The remaining distance is specified via PO3, the speed is specified via PO2.
• You can switch between the two positioning ramps entered during startup using
PO1:15.
• If the ramp function (P916) is set to "LINEAR" or "JERK LIMITED", you can change
the speed and ramp time while the drive is moving. With all other ramp types, you
can only change the speed and the ramp time when the drive is at standstill or if the
axis is not enabled.
• In the "Remaining travel left" positioning mode, there are two different strategies if
the sensor input is not triggered after the axis is started: that is, if a positve edge is
not detected at DIO2:
1. The axis stops when it reaches the position "Maximum position for TP right".
2. Only with MOVIDRIVE® MDX61B: Axis moves "endlessly" in one direction as
long as a "1" signal is present at PO1:8 "Start".

10834AEN
Figure 25: Automatic operation in remaing travel left positioning mode

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 59

 I Operation and Service
6 Automatic mode
0

Strategy 1 "Maxi- • PO1:14 = "1", PO1:13 = "1", PO1:12 = "1", PO1:11 = "1" and PO1:10 = "0"
mum position for • Set PO1:8 "Start" to "1" to start positioning. The "1" signal must be present for the
TP left" entire duration of the positioning procedure.

Example 1: No edge change at DIO2 - Sensor (touchprobe) does not trigger

• The drive moves to the target position and remains there subject to position control.
Target position = "Setpoint position at start signal" – "Maximum position for TP left"
• The bits PI1:0 "Fault material sensor" and PI1:3 "Target position reached" are set.
The "Fault material sensor" bit signals to the master controller that the sensor input
has not been triggered and the drive has reached the maximum position specified at
startup.
• When a negative edge is detected at PO1:8 "Start" the actual position PI3 is reset
and a new target position is calculated. Bit PI1:0 "Fault material sensor" is reset and
a new cycle begins.

The new target postion for the next cycle is only calculated when the bit PI1:3 "Target
position reached" is set when an edge change ("1" → "0") is detected for bit PO1:8
"Start" and the drive is enabled (caution when the drive overshoots).

• A machine cycle can be interrupted by deleting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or positioning mode (e.g. re-
maining travel right → relative) during one cycle (at least 50 ms). The drive must be
enabled for this purpose.

Example 2: Edge change at DIO2 - Sensor (touchprobe) triggers

• The position at PO3 is read when the touch probe signal is detected (that is, when a
sensor is triggered) and a new target position is calculated from this value.
Target position = "Setpoint position at TP event" – "Remaining distance (PO3)"
• Once the drive has reached the new target position, the bit PI1:3 "Target position
reached" is set.
• When a negative edge is detected at PO1:8 "Start", the current position PI3 is reset
and a new target position is calculated. A new cycle begins.
• A machine cycle can be interrupted by resetting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or positioning mode (e.g. re-
maining travel left → relative) during one cycle (at least 50 ms). The drive must be
enabled for this purpose.

• If the sensor is placed just before the position "Maximum position for TP left" or if the
sensor outputs a positive edge at DIO2 due to a fault just before reaching the maxi-
mum position, then the calculated target position can be positioned after the "Maxi-
mum position for TP left". The drive would then move past the "Maximum position for
TP left". If you do not want this to happen, this special case must be prevented by
using additional hardware or software limit switches.
• If a "short" remaining distance is specified when the drive is traveling at high speed
over a long ramp, the drive can change its direction of rotation and move back to the
specified target position (remaining travel).
• Also refer to the cycle diagrams in the section "Operation and service".

60 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Automatic mode
6
0

Strategy 2 "End- The endless positioning option is only available for positioning with a motor encoder or
less positioning" an external encoder. For positioning with an absolute encoder, the bit PO1:10 "Endless-
(only for MOVID- Pos" is not evaluated.
RIVE® MDX61B) • PO1:14 = "1", PO1:13 = "1", PO1:12 = "1", PO1:11 = "1" and PO1:10 = "1"
• Set PO1:8 "Start" to "1" to start positioning. The "1" signal must be present for the
entire duration of the positioning procedure.

Example 1: No edge change at DIO2 - Sensor (touchprobe) does not trigger

• The drive moves endlessly in a counterclockwise direction as long as bit PO1:8 is
set. The actual position in PI3 switches between the positions "Maximum position for
TP left" and "Maximum position for TP right" specified at startup. The bit PI1:0 "Fault
material sensor" is not set.
• A machine cycle can be interrupted by resetting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or the travel strategy (e.g.
EndlessPos → max. travel distance) during one cycle (at least 50 ms). The drive
must be enabled for this purpose.

Example 2: Edge change at DIO2 - Sensor (touchprobe) triggers

• The position at PO3 is read when the touch probe signal is detected (that is, when a
sensor is triggered) and a new target position is calculated.
Target position = –Setpoint position at TP event" – "Remaining distance (PO3)"
• Once the drive has reached the new target position, the bit PI1:3 "Target position
reached" is set.
• When a negative edge is detected at PO1:8 "Start", the current position PI3 is reset
and a new target position is calculated. A new cycle begins.

The new target postion for the next cycle is only calculated when the bit PI1:3 "Target
position reached" is set when an edge change ("1" → "0") is detected for bit PO1:8
"Start" and the drive is enabled (caution when the drive overshoots).

• A machine cycle can be interrupted by resetting the bit PO1:8 "Start" and changing
the operating mode (e.g. automatic mode → jog mode) or the travel strategy (e.g.
EndlessPos → max. travel distance) during one cycle (at least 50 ms). The drive
must be enabled for this purpose.

• If a "short" remaining distance is specified when the drive is traveling at high speed
over a long ramp, the drive can change its direction of rotation and move back to the
specified target position (remaining travel).
• Also refer to the cycle diagrams in the section "Operation and service".

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 61

 I Operation and Service
6 Cycle diagrams
0

6.6 Cycle diagrams

The following prerequisites apply to the cycle diagrams:
• DIØØ "/CONTROLLER INHIBIT" = "1" (no lock)
• DIØ1 "ENABLE/RAPID STOP" = "1"
• PA1:1 "ENABLE /RAPID STOP" = "1"
• PA1:2 "ENABLE/STOP" = "1"
The output DB00 "/Brake" is set, the brake is released and the drive stops subject to po-
sition control (→ 7-segment display = "A")

Jog mode

[1] [2]
50ms

PA1:8

PA1:9

PA1:10

PA1:11

PA1:12

n [1/min]

PA 2

-PA 2

54963AXX
Figure 26: Cycle diagram: Jog mode

PA1:8 = Start [1] = Axis starts when the bit "Jog +" is set
PA1:9 = Jog + [2] = Axis starts when the bit "Jog –" is set
PA1:10 = Jog –
PA1:11 = Mode Low
PA1:12 = Mode High

62 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Cycle diagrams
6
0

Referencing
mode
[1] [2] [3] [4]

PA1:8 50ms

PA1:11

PA1:12

DIO3:

PE1:2:

n 1/min]

P901

P902
0

54964AXX
Figure 27: Cycle diagram: Referencing mode

PA1:8 = Start
PA1:11 = Mode Low
PA1:12 = Mode High
DI03 = Reference cam
PI1:2 = IPOS reference

[1] = Start of reference travel (reference travel type 2)

[2] = Drive reaches reference cam
[3] = Drive leaves reference cam
[4] = When the drive is at a standstill, PE1:2 "IPOS reference" is set. The drive is now
referenced.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 63

 I Operation and Service
6 Cycle diagrams
0

Automatic mode
Absolute / Relative
[1] [2] [3] [4] [5] [6]

PA1:8 50ms

PA1:10

PA1:11

PA1:12

PA1:13

PA1:14

PE1:3

n [1/min]

PA2

54965AXX
Figure 28: Cycle diagram: Automatic mode - absolute / relative

PA1:8 = Start
PA1:10 = EndlessPos
PA1:11 = Mode Low
PA1:12 = Mode High
PA1:13 = AutoMode Low
PA1:14 = AutoMode High
PI1:3 = Target position reached

[1] = Automatic absolute selected

[2] = Start positioning (target position = PA3)
[3] = Target position reached
[4] = Automatic relative selected
[5] = Start positioning (target position = setpoint position + PA3)
[6] = When a negative edge is detected at PA1:8 "Start", the new target position
is calculated for the next cycle. PE1:3 "Target position reached" must be set when the
edge is detected.

64 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Cycle diagrams
6
0

Automatic mode
Remaining travel
right
[1] [2] [3] [4] [5] [6]

PA1:8 50ms

PA1:10

PA1:1 1

PA1:12

PA1:13

PA1:14

PE1: 3

PE1:0

DI02:

n [1/min]

PA2

54966AXX
Figure 29: Cycle diagram: Automatic mode - remaining travel right

PA1:8 = Start PA1:13 = AutoMode Low

PA1:10 = EndlessPos PA1:14 = AutoMode High
PA1:11 = Mode Low PI1:3 = Target position reached
PA1:12 = Mode High PI1:0 = Material sensor

[1] = Start positioning (target position = setpoint position + "Maximum travel distance
right").
[2] = Touch probe input has not been attenuated. The bits PE1:0 "Fault material sensor"
and PE1:3 "Target position reached" are set.
[3] = When a negative edge is detected at PA1:8 "Start", the new target position
is calculated for the next cycle. PE1:3 "Target position reached" must be set when the
edge is detected. PE1:0 "Fault material sensor" is reset.
[4] = Start positioning (target position = setpoint position + "Maximum travel distance
right"). PE1:3 "Target position is reached" is reset.
[5] = Touch probe input is attenuated, new target position is calculated (target position
= position at time of touch proble + PA3).
[6] = When a negative edge is detected at PA1:8 "Start", the new target position is cal-
culated for the next cycle. PE1:3 "Target position reached" must be set when the edge
is detected.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 65

 I Operation and Service
6 Cycle diagrams
0

Cancellation of a
cycle in the modes
relative, remaining [1] [2] [3] [4] [5]
travel right/left after
enable has been 50ms
revoked DI00

DI01

PA1:8

PA1:11

PA1:12

PA1:13

PA1:14

n [1/min]

PA2

54967AXX
Figure 30: Cycle diagram: Automatic mode - cancellation of a cycle

PA1:8 = Start PA1:13 = AutoMode Low

PA1:11 = Mode Low PA1:14 = AutoMode High
PA1:12 = Mode High DI00 = /Controller inhibit
DI01 = Enable
[1] = Axis is started in the "Remaining travel right" mode.
[2] = Positioning is cancelled by revoking the enable DI01.
[3] = Bit PA1:8 "Start" is revoked This prevents the drive from starting automatically after
it is enabled again.
[4] = Drive DI01 is enabled = "1".
[5] = When the axis is enabled again, the automatic mode must be selected. In the next
cycle (at least 50 ms), the mode bits are set again for the automatic mode. Setting the
start bits enables a new cycle to be started.

66 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Cycle diagrams
6
0

Moving clear of Once a hardware limit switch (DI04 = "0" or DI05 ="0") has been reached, the bit PI1:5
hardware limit "Fault" is set and the drive comes to a standstill using an emergency stop.
switches Proceed as follows to move the drive clear again:
• Jog mode: Set the bits PO1:9 "Jog+" = "0" and PO1:10 "Jog– " = "0".
• Automatic mode: Set bit PO1:8 "Start" = "0".
• Set bit PO1:6 "Reset" to "1". The bit PI1:5 "Fault" is deleted.
• The drive automatically moves clear of the hardware limit switch at the speed spec-
ified in P902 Reference speed 2.
• Once the drive has moved clear of the hardware limit switch, you can delete PO1:6
"Reset" and select the required operating mode.
[1] [2] [3]

50ms
PA1:11

PA1:12

PA1:6

DIO4

PE1:5

n [1/min]

PA2

P902

54968AXX
Figure 31: Cycle diagram: Moving clear of limit switches

PA1:11= Mode Low PA1:6 = Reset

PA1:12= Mode High PI1:5 = Fault
DI04 = Right limit switch
[1] = The drive has reached the right hardware limit switch and comes to a halt using an
emergency stop ramp.
[2] = PA1:6 "Reset" is set. Drive moves clear of hardware limit switch.
[3] = Drive moves clear of hardware limit switch

If the hardware limit switch with which the drive has come into contact is faulty (no pos-
itive edge at DI04 or DI05 as the drive moves clear), the drive must be stopped by re-
voking the enable (terminal or bus).

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 67

 I Operation and Service
6 Malfunction information
0

6.7 Malfunction information

The fault memory (P080) stores the last five fault messages (faults t-0 to t-4). The fault
message of longest standing is deleted whenever more than five fault messages have
occurred. The following information is stored when a malfunction occurs:
Fault that 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 • ON hours • Enable hours • Parameter set • Motor utiliza-
tion.
There are three switch-off responses depending on the fault; the inverter remains
blocked in fault status:
• Immediate switch-off:
The unit can no longer brake the drive; the output stage goes to high resistance in
the event of a fault and the brake is applied immediately (DBØØ "/Brake" = "0").
• Rapid stop:
The drive is braked with the stop ramp t13/t23. The brake is applied once the stop
speed is reached (DBØØ "/Brake" = "0"). The output stage goes to high resistance
after the brake reaction time has elapsed (P732 / P735).
• Emergency stop:
The drive is braked with the emergency ramp t14/t24. The brake is applied once the
stop speed is reached (DBØØ "/Brake" = "0"). The output stage goes to high resis-
tance after the brake reaction time has elapsed (P732 / P735).

Reset A fault message can be acknowledged by:

• Switching the power supply off and on again.
Recommendation: Observe a minimum switch-off time of 10 s for the input contactor
K11.
• Reset by binary input DIØ3. Startup of the "Sensor based positioning via bus" appli-
cation causes this binary input to be assigned with the "Reset" function.
• Only for control with fieldbus/system bus: "0"→∀1"→"1" signal at bit PO1:6 in control
word PO1.
• Press the reset button in the MOVITOOLS® Manager.

10842ADE
Figure 32: Reset with MOVITOOLS®

• Manual reset in MOVITOOLS/Shell (P840 = "YES" or [Parameter] / [Manual reset]).

• Manual reset with DBG60B (MDX61B) or DBG11A (MCH4_A).

Timeout active If the inverter is controlled via a communication interface (fieldbus, RS485 or SBus) and
the power was switched off and back on again or a fault reset was performed, then the
enable remains ineffective until the inverter once again receives valid data via the inter-
face, which is monitored with a timeout.

68 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Operation and Service I
Error messages
6
0

6.8 Error messages

Display The error or warning code is displayed in binary coded format. The following display se-
quence is adhered to:

Flashes, ca. 1 s

Display off, ca. 0.2 s

Tens, ca. 1 s

Display off, ca. 0.2 s

Ones, ca. 1 s

Display off, ca. 0.2 s

01038AXX

Following a reset or if the error or warning code resumes the value “0“, the display
switches to the operating display again.

List of Errors The following table shows a selection from the complete error list (→ MOVIDRIVE® op-
erating instructions). Only those errors are listed that can occur specifically with this ap-
plication.
A dot in the "P" column indicates that the response is programmable (P83_ Fault re-
sponse). The factory set fault response appears in the "Response" column.
Error
Designation Response P Possible cause Action
code
00 No error -
• Extend deceleration ramps
UZ overvolt- Immediate
07 DC link voltage too high • Check connection leads to the braking resistor
age switch-off
• Check technical data of braking resistor
• Reduce load
• Speed controller or current controller • Increase deceleration time setting (P501 or
(in VFC operating mode without P503).
encoder) operating at setting limit due • Check encoder connection, swap A/A and B/B
Immediate to mechanical overload or phase failure pairs if necessary
08 n-monitoring
switch-off in the power supply or motor. • Check encoder voltage supply
• Encoder not connected correctly or • Check current limitation
incorrect direction of rotation. • Extend ramps if necessary
• nmax is exceeded during torque control. • Check motor cable and motor
• Check mains phases

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 69

 I Operation and Service
6 Error messages
0

Error
Designation Response P Possible cause Action
code
• Incorrect command detected during • Check program memory content and correct if
Emergency running of IPOSplus® program. necessary.
10 IPOS-ILLOP
stop • Incorrect conditions during command • Load correct program into program memory.
execution. • Check program sequence (→ IPOSplus® manual)
• Encoder cable or shield not connected
Immediate correctly Check encoder cable and shield for correct connec-
14 Encoder
switch-off • Short circuit/broken encoder wire tion, short circuit and broken wire.
• Encoder defective
• Call up default setting, perform reset and set
Access to the EEPROM of the memory parameters again.
25 EEPROM Rapid stop
card has failed • Contact SEW service if the error occurs again.
• Replace memory card.
No communication between master and • Check communications routine of the master
Fieldbus
28 Rapid stop • slave within the projected response moni- • Extend fieldbus timeout time (P819)/deactivate
Timeout
toring. monitoring
Limit switch Emergency A limit switch was reached in IPOSplus® • Check travel range.
29
reached stop operating mode. • Correct user program.
• Motor too hot, TF sensor has tripped
• Let motor cool off and reset fault
• TF sensor of motor not connected or
• Check connections/link between MOVIDRIVE®
None not connected properly
31 TF sensor • and TF.
Response • Connection of MOVIDRIVE® and TF on
• If no TF is connected: Jumper X10:1 with X10:2.
motor interrupted
• Set P835 to "NO RESPONSE"
• No jumper between X10:1 and X10:2.
• Type of option card not allowed. • Use correct option card.
• Setpoint source, control signal source • Set correct setpoint source (P100).
Immediate
36 No option or operating mode not permitted for this • Set correct control signal source (P101).
switch-off
option card. • Set correct operating mode (P700 or P701).
• Incorrect encoder type set for DIP11A. • Set the correct encoder type.
• Incremental encoder connected incor- • Check rotary encoder connection
rectly • Extend ramps
• Accelerating ramps too short • Set P component to higher value
Immediate • P component of positioning controller • Set speed controller parameters again
42 Lag fault •
switch-off too small • Increase lag fault tolerance
• Speed controller parameters set incor- • Check encoder, motor and mains phase wiring
rectly • Check mechanical components can move freely,
• Value of lag fault tolerance too small possibly blocked up
EEPROM Immediate Inverter electronics disrupted, possibly due
94 Send the unit in for repair.
checksum switch-off to effect of EMC or a defect.

70 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Compatibility Between MOVIDRIVE® A / B / compact
Important notes
7

7 Compatibility Between MOVIDRIVE® A / B / compact

7.1 Important notes
The "Sensor based positioning via bus" application module for MOVIDRIVE® MDX61B
offers a number of additional functions that are not available with MOVIDRIVE®
MD_60A or MOVIDRIVE® compact. This section provides you with information on the
differences between the application module when using a MOVIDRIVE® MD_60A or
MOVIDRIVE® compact unit and gives you important information on project planning.

Project planning • Drive inverter

for MOVIDRIVE® It is essential for the "Sensor based positioning via bus" application module to have
MD_60A / encoder feedback, which means it can only be implemented with the following drive
MOVIDRIVE® inverters:
compact
– MOVIDRIVE® MDV60A / MDS60A
– MOVIDRIVE® compact MCV / MCS
– MOVIDRIVE® compact MCH41A /MCH42A

• Bus installation for MOVIDRIVE® MDV / MDS60A

Please read the information in the relevant fieldbus manuals.

Compatibility Compared to MOVIDRIVE® MD_60A, MOVIDRIVE® MDX61B has two extra digital
between the inputs (DI06, DI07) and three additional digital outputs (DO03, DO04, DO05). The addi-
hardware tional hardware inputs and outputs are set to "No function" during initial startup and are
terminals not processed in the program.

Software limit The function to move clear of the software limit switches is only possible as of the
switches following firmware versions for MOVIDRIVE® MD_60A, MOVIDRIVE® compact MCx /
MCH
– MOVIDRIVE® MD_60A: 823 854 5.15
– MOVIDRIVE® compact MCx: 823 859 6.14
– MOVIDRIVE® comapct MCH: 823 947 9.17

Recording Recording IPOSplus® variables using the MOVITOOLS® program "Scope" is only
IPOSplus® possible with MOVIDRIVE® MDX61B.
variables

SBus send object If you use MOVIDRIVE® MD_60A or MOVIDRIVE® compact MCx / MCH, you do not
for DriveSync have the option of setting up an SBus send object to transfer the actual position. It is
Slave also not possible to integrate the "DriveSync" application module.

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 71

 Compatibility Between MOVIDRIVE® A / B / compact
7 Important notes

Wiring diagrams

X10: MOVIDRIVE ® compact MCH4_A

REF1 1 +10 V
AI11 2
AI12 3
AI21 4 n2(0...10V)/TF-/TH input
SBus SBus

AGND 5 Reference potential analog signals

REF2 6 -10 V
SC11 7 System bus high
SC12 8 System bus low
DGND 9 Reference potential binary signals
SC11 10 System bus high
SC12 11 System bus low
X11:
DIØØ 1 /Controller inhibit
DIØ1 2 Enable/Rapid stop
DIØ2 3 Material sensor
DIØ3 4 Reference cam
DIØ4 5 /Limit switch right
DIØ5 6 /Limit switch left
DCOM 7 Ref. X10:DIØØ...DIØ5
VO24 8 +24 V output
DGND 9 Reference potential binary signals
X12:
DBØØ 1 /Brake
DOØ1-C 2 Relay contact / Fault
DOØ1-NO 3 Relay contact NO
DOØ1-NC 4 Relay contact NC 1
DOØ2/AO1 5 Ready 2 1 REF1
24 V

FO 1
FO 2
3 2 AI11
VI24 6
CC

RD
= +24V input
UL

BA

TR
+ 4 3 AI12
- DGND 7 Reference potential binary signals 5 4 AI21
X10 6 5 AGND

X10
7
8
6 REF2
Remote IN 7 SC11
X14: X30 IN 9
10 8 SC12
11 9 DGND
10 SC21
Input external encoder (HIPERFACE®, sin/cos
X14 EncoderI/O

1 11 SC22
2
or 5 VTTL) or X14-X14 connection Remote IN 3 1 DIØØ
X31 OUT 4 2 DIØ1
(Connection MOVIDRIVE® compact MCH X11 5
6
3 DIØ2
operating instructions) 4 DIØ3

X11
7
8
5 DIØ4
9
6 DIØ5
Remote OUT 7 DCOM
X32 IN 1 8 VO24
2 9 DGND
3
X15: X12 4 1 DBØØ
X15 EncoderIN

5 2 DOØ1-C
6 3 DOØ1-NO
X12

Motor enc. (HIPERFACE®, sin/cos or 5 V TTL) Remote OUT

X32 OUT 7 4 DOØ1-NC
5 DOØ2
(Connection MOVIDRIVE® compact MCH 6 VI24
operating instructions) 7 DGND
MCH 42A
P R O F I
BUS

X30: (MCH41A)
FIELD
PROCESS

9 5
B U S

PROFIBUS-DPconnection
(Connection MOVIDRIVE® compact MCH
6 1 operating instructions)
(Connection MOVIDRIVE® compact

X30: (MCH42A) LW L Remote IN

MCH operating instructions)
INTERBUS-lwl connection

Receive data

X31: (MCH42A) LW L Remote IN

Send data

X32: (MCH42A) LW L Remote OUT

Receive data

X33: (MCH42A) LW L Remote OUT

Send data

55911AEN
Figure 33: MOVIDRIVE® compact MCH4_A

72 Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus

 Compatibility Between MOVIDRIVE® A / B / compact
Important notes
7

X13: MOVIDRIVE ® MDV (MDS)

DIØØ 1 /Controller inhibit
DIØ1 2 Enable/Rapid stop 1
DIØ2 3 Material sensor 2
DIØ3 4 Reference cam 3 X11
DIØ4 5 /Limit switch right 4
DIØ5 6 /Limit switch left
DCOM 7 Reference X13:DIØØ...DIØ5 5
VO24 8 +24V output S11 mA V
DGND 9 Reference potential binary signals S12 RON OFF
ST11 10 RS-485+ 1
ST12 11 RS-485-
2 X12
3
X14: (MDV/MDS) 1
1 2
6
Input external encoder, 3
incremental encoder 5 V TTL
9 4
5
(Connect. MOVIDRIVE® operating 1
5
2 X10
instructions) 6
3
7
4
8
X15: (MDV/MDS) 5
9
9
5 6 X13
Motor encoder: 10
7
Incremental encoder (MDV) or resolver (MDS)
6 8
1
(Connect. MOVIDRIVE® operating 9
instructions) 10
11 Supply OUT 24 V=
X10:
TF1 1 TF input
DGND 2 Reference potential binary signals
DBØØ 3 /Brake
DOØ1-C 4 /Fault
DOØ1-NO 5 /Fault
DOØ1-NC 6 /Fault
DOØ2 7 Ready
VO24 8 +24V output X14 X15
24 V ENCODER IN
- = + VI24 9 +24V input ENCODER IN/OUT (Resolver IN)

DGND 10 Reference potential binary signals

55912AEN
Figure 34: MOVIDRIVE® MDV / MDS60_A

Handbuch – MOVIDRIVE® MDX61B Restwegpositionierung über Bus 73

8 Index

8 Index
A M
Application areas ..................................................6 Malfunction information ...................................... 68
Automatic mode ..................................................53 Reset ........................................................... 68
Absolute positioning mode ...........................53 Timeout ........................................................ 68
Automatic operation Monitor mode ..................................................... 49
Relative positioning mode ............................54 Move clear of hardware limit switches ............... 67
Remaing travel left positioning mode ...........59
O
Remaing travel right positioning mode .........56
Operating modes
B Automatic mode ........................................... 10
Bus control ..........................................................22 Operating modes
Jog mode ..................................................... 10
C
Referencing mode ....................................... 10
Compatibility between MOVIDRIVE® A / B / com-
pact .....................................................................71 P
Cycle diagrams ...................................................62 Process data assignment ................................... 13
Absolute/relative automatic mode ................64 Process input data ............................................. 15
Jog mode ......................................................62 Process output data ........................................... 14
Referencing mode ........................................63 Program identification .......................................... 7
Remaing travel right automatic mode ...........65 Project planning
Automatic mode ........................................... 10
D
Inverters, motors and encoders ..................... 8
Description of functions .........................................9 Jog mode ..................................................... 10
E Limit switches, reference cams and machine
Error messages zero ................................................. 13
Display ..........................................................69 Operating modes ......................................... 10
List of errors ..................................................69 PC and software ............................................ 8
Prerequisites .................................................. 8
F Process data assignment ............................ 13
Functional characteristics .....................................9 Process input data ....................................... 15
Process output data ..................................... 14
H
Reference travel .......................................... 10
Hardware limit switch ..........................................29 Safe stop ...................................................... 19
I Scaling the drive .......................................... 11
Identification ..........................................................7 Software limit switches ................................ 16
Important notes .....................................................4 R
Explanation of the icons .................................4 Recording IPOS variables .................................. 46
Installation ...........................................................20 Referencing mode .............................................. 51
Application version .......................................20
CANopen (DFC11B) .....................................26 S
Connecting hardware limit switches .............29 Safety notes ......................................................... 5
DeviceNet (DFD11B) ....................................27 Scaling the drive ................................................. 11
Hardware limit switches ................................29 Drive with external encoder ......................... 12
INTERBUS (DFI11B) ....................................25 Drive without external encoder .................... 11
INTERBUS with FO (DFI21B) ......................24 Shutdown response
MDX61B with bus control .............................22 Emergency stop ........................................... 68
MOVITOOLS ................................................20 Immediate switch-off .................................... 68
PROFIBUS (DFP21B) ..................................23 Rapid stop .................................................... 68
Software .......................................................20 Software limit switches ....................................... 16
System bus connection (SBus) ....................28 Moving clear of the software limit switch ..... 16
Wiring diagram for MDX 61B with options Starting the drive ................................................ 47
DEH11B and DER11B .....................21 Startup ................................................................ 30
General information ..................................... 30
J
Parameters and IPOS variables .................. 44
Jog mode ............................................................50 Preliminary work .......................................... 30

74 Manual – MOVIDRIVE® MDX61B Sensor Based Positioning via Bus

 Index
8

Setting ramp times and limits .......................37

Setting the distance and speed scaling factors
33
Setting the fieldbus parameters ....................32
Start program ................................................31
System bus (SBus)
Connection ...................................................28
System description ................................................6
W
Wiring diagram for MDX 61B with options DEH11B
and DER11B .......................................................21

Manual – MOVIDRIVE® MDX61B Sensor Based Positioning via Bus 75

 Address List

Address List
Germany
Headquarters Bruchsal SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-0
Production Ernst-Blickle-Straße 42 Fax +49 7251 75-1970
Sales D-76646 Bruchsal http://www.sew-eurodrive.de
P.O. Box sew@sew-eurodrive.de
Postfach 3023 · D-76642 Bruchsal
Service Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1710
Competence Center Gear units / Ernst-Blickle-Straße 1 Fax +49 7251 75-1711
Motors D-76676 Graben-Neudorf sc-mitte-gm@sew-eurodrive.de
Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1780
Electronics Ernst-Blickle-Straße 42 Fax +49 7251 75-1769
D-76646 Bruchsal sc-mitte-e@sew-eurodrive.de
North SEW-EURODRIVE GmbH & Co KG Tel. +49 5137 8798-30
Alte Ricklinger Straße 40-42 Fax +49 5137 8798-55
D-30823 Garbsen (near Hannover) sc-nord@sew-eurodrive.de
East SEW-EURODRIVE GmbH & Co KG Tel. +49 3764 7606-0
Dänkritzer Weg 1 Fax +49 3764 7606-30
D-08393 Meerane (near Zwickau) sc-ost@sew-eurodrive.de
South SEW-EURODRIVE GmbH & Co KG Tel. +49 89 909552-10
Domagkstraße 5 Fax +49 89 909552-50
D-85551 Kirchheim (near München) sc-sued@sew-eurodrive.de
West SEW-EURODRIVE GmbH & Co KG Tel. +49 2173 8507-30
Siemensstraße 1 Fax +49 2173 8507-55
D-40764 Langenfeld (near Düsseldorf) sc-west@sew-eurodrive.de
Drive Service Hotline / 24 Hour Service +49 180 5 SEWHELP
+49 180 5 7394357
Additional addresses for service in Germany provided on request!

France
Production Haguenau SEW-USOCOME Tel. +33 3 88 73 67 00
Sales 48-54, route de Soufflenheim Fax +33 3 88 73 66 00
Service B. P. 20185 http://www.usocome.com
F-67506 Haguenau Cedex sew@usocome.com
Assembly Bordeaux SEW-USOCOME Tel. +33 5 57 26 39 00
Sales Parc d’activités de Magellan Fax +33 5 57 26 39 09
Service 62, avenue de Magellan - B. P. 182
F-33607 Pessac Cedex
Lyon SEW-USOCOME Tel. +33 4 72 15 37 00
Parc d’Affaires Roosevelt Fax +33 4 72 15 37 15
Rue Jacques Tati
F-69120 Vaulx en Velin
Paris SEW-USOCOME 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!

Algeria
Sales Alger Réducom Tel. +213 21 8222-84
16, rue des Frères Zaghnoun Fax +213 21 8222-84
Bellevue El-Harrach
16200 Alger

Argentina
Assembly Buenos Aires SEW EURODRIVE ARGENTINA S.A. Tel. +54 3327 4572-84
Sales Centro Industrial Garin, Lote 35 Fax +54 3327 4572-21
Service Ruta Panamericana Km 37,5 sewar@sew-eurodrive.com.ar
1619 Garin

76 10/2005
 Address List

Australia
Assembly Melbourne SEW-EURODRIVE PTY. LTD. Tel. +61 3 9933-1000
Sales 27 Beverage Drive Fax +61 3 9933-1003
Service Tullamarine, Victoria 3043 http://www.sew-eurodrive.com.au
enquires@sew-eurodrive.com.au
Sydney SEW-EURODRIVE PTY. LTD. Tel. +61 2 9725-9900
9, Sleigh Place, Wetherill Park Fax +61 2 9725-9905
New South Wales, 2164 enquires@sew-eurodrive.com.au

Austria
Assembly Wien SEW-EURODRIVE Ges.m.b.H. Tel. +43 1 617 55 00-0
Sales Richard-Strauss-Strasse 24 Fax +43 1 617 55 00-30
Service A-1230 Wien http://sew-eurodrive.at
sew@sew-eurodrive.at

Belgium
Assembly Brüssel CARON-VECTOR S.A. Tel. +32 10 231-311
Sales Avenue Eiffel 5 Fax +32 10 231-336
Service B-1300 Wavre http://www.caron-vector.be
info@caron-vector.be

Brazil
Production Sao Paulo SEW-EURODRIVE Brasil Ltda. Tel. +55 11 6489-9133
Sales Avenida Amâncio Gaiolli, 50 Fax +55 11 6480-3328
Service Caixa Postal: 201-07111-970 http://www.sew.com.br
Guarulhos/SP - Cep.: 07251-250 sew@sew.com.br
Additional addresses for service in Brazil provided on request!

Bulgaria
Sales Sofia BEVER-DRIVE GmbH Tel. +359 2 9532565
Bogdanovetz Str.1 Fax +359 2 9549345
BG-1606 Sofia bever@fastbg.net

Cameroon
Sales Douala Electro-Services Tel. +237 4322-99
Rue Drouot Akwa Fax +237 4277-03
B.P. 2024
Douala

Canada
Assembly Toronto SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 905 791-1553
Sales 210 Walker Drive Fax +1 905 791-2999
Service Bramalea, Ontario L6T3W1 http://www.sew-eurodrive.ca
l.reynolds@sew-eurodrive.ca
Vancouver SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 604 946-5535
7188 Honeyman Street Fax +1 604 946-2513
Delta. B.C. V4G 1 E2 b.wake@sew-eurodrive.ca
Montreal SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 514 367-1124
2555 Rue Leger Street Fax +1 514 367-3677
LaSalle, Quebec H8N 2V9 a.peluso@sew-eurodrive.ca
Additional addresses for service in Canada provided on request!

Chile
Assembly Santiago de SEW-EURODRIVE CHILE LTDA. Tel. +56 2 75770-00
Sales Chile Las Encinas 1295 Fax +56 2 75770-01
Service Parque Industrial Valle Grande ventas@sew-eurodrive.cl
LAMPA
RCH-Santiago de Chile
P.O. Box
Casilla 23 Correo Quilicura - Santiago - Chile

China
Production Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd. Tel. +86 22 25322612
Assembly No. 46, 7th Avenue, TEDA Fax +86 22 25322611
Sales Tianjin 300457 gm-tianjin@sew-eurodrive.cn
Service http://www.sew.com.cn

10/2005 77
 Address List

China
Assembly Suzhou SEW-EURODRIVE (Suzhou) Co., Ltd. Tel. +86 512 62581781
Sales 333, Suhong Middle Road Fax +86 512 62581783
Service Suzhou Industrial Park suzhou@sew.com.cn
Jiangsu Province, 215021
P. R. China

Colombia
Assembly Bogotá SEW-EURODRIVE COLOMBIA LTDA. Tel. +57 1 54750-50
Sales Calle 22 No. 132-60 Fax +57 1 54750-44
Service Bodega 6, Manzana B sewcol@andinet.com
Santafé de Bogotá

Croatia
Sales Zagreb KOMPEKS d. o. o. Tel. +385 1 4613-158
Service PIT Erdödy 4 II Fax +385 1 4613-158
HR 10 000 Zagreb kompeks@net.hr

Czech Republic
Sales Praha SEW-EURODRIVE CZ S.R.O. Tel. +420 a220121236
Business Centrum Praha Fax +420 220121237
Luná 591 http://www.sew-eurodrive.cz
CZ-16000 Praha 6 - Vokovice sew@sew-eurodrive.cz

Denmark
Assembly Kopenhagen SEW-EURODRIVEA/S Tel. +45 43 9585-00
Sales Geminivej 28-30, P.O. Box 100 Fax +45 43 9585-09
Service DK-2670 Greve http://www.sew-eurodrive.dk
sew@sew-eurodrive.dk

Estonia
Sales Tallin ALAS-KUUL AS Tel. +372 6593230
Paldiski mnt.125 Fax +372 6593231
EE 0006 Tallin veiko.soots@alas-kuul.ee

Finland
Assembly Lahti SEW-EURODRIVE OY Tel. +358 201 589-300
Sales Vesimäentie 4 Fax +358 3 780-6211
Service FIN-15860 Hollola 2 http://www.sew-eurodrive.fi
sew@sew.fi

Gabon
Sales Libreville Electro-Services Tel. +241 7340-11
B.P. 1889 Fax +241 7340-12
Libreville

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 info@sew-eurodrive.co.uk

Greece
Sales Athen Christ. Boznos & Son S.A. Tel. +30 2 1042 251-34
Service 12, Mavromichali Street Fax +30 2 1042 251-59
P.O. Box 80136, GR-18545 Piraeus http://www.boznos.gr
info@boznos.gr

Hong Kong
Assembly Hong Kong SEW-EURODRIVE LTD. Tel. +852 2 7960477 + 79604654
Sales Unit No. 801-806, 8th Floor Fax +852 2 7959129
Service Hong Leong Industrial Complex sew@sewhk.com
No. 4, Wang Kwong Road
Kowloon, Hong Kong

78 10/2005
 Address List

Hungary
Sales Budapest SEW-EURODRIVE Kft. Tel. +36 1 437 06-58
Service H-1037 Budapest Fax +36 1 437 06-50
Kunigunda u. 18 office@sew-eurodrive.hu

India
Assembly Baroda SEW-EURODRIVE India Pvt. Ltd. Tel. +91 265 2831086
Sales Plot No. 4, Gidc Fax +91 265 2831087
Service Por Ramangamdi · Baroda - 391 243 mdoffice@seweurodriveindia.com
Gujarat
Technical Offices Bangalore SEW-EURODRIVE India Private Limited Tel. +91 80 22266565
308, Prestige Centre Point Fax +91 80 22266569
7, Edward Road sewbangalore@sify.com
Bangalore
Mumbai SEW-EURODRIVE India Private Limited Tel. +91 22 28348440
312 A, 3rd Floor, Acme Plaza Fax +91 22 28217858
Andheri Kurla Road, Andheri (E) sewmumbai@vsnl.net
Mumbai

Ireland
Sales Dublin Alperton Engineering Ltd. Tel. +353 1 830-6277
Service 48 Moyle Road Fax +353 1 830-6458
Dublin Industrial Estate
Glasnevin, Dublin 11

Israel
Sales Tel-Aviv Liraz Handasa Ltd. Tel. +972 3 5599511
Ahofer Str 34B / 228 Fax +972 3 5599512
58858 Holon lirazhandasa@barak-online.net

Italy
Assembly Milano SEW-EURODRIVE di R. Blickle & Co.s.a.s. Tel. +39 2 96 9801
Sales Via Bernini,14 Fax +39 2 96 799781
Service I-20020 Solaro (Milano) sewit@sew-eurodrive.it

Ivory Coast
Sales Abidjan SICA Tel. +225 2579-44
Ste industrielle et commerciale pour l’Afrique Fax +225 2584-36
165, Bld de Marseille
B.P. 2323, Abidjan 08

Japan
Assembly Toyoda-cho SEW-EURODRIVE JAPAN CO., LTD Tel. +81 538 373811
Sales 250-1, Shimoman-no, Fax +81 538 373814
Service Toyoda-cho, Iwata gun sewjapan@sew-eurodrive.co.jp
Shizuoka prefecture, 438-0818

Korea
Assembly Ansan-City SEW-EURODRIVE KOREA CO., LTD. Tel. +82 31 492-8051
Sales B 601-4, Banweol Industrial Estate Fax +82 31 492-8056
Service Unit 1048-4, Shingil-Dong master@sew-korea.co.kr
Ansan 425-120

Latvia
Sales Riga SIA Alas-Kuul Tel. +371 7139386
Katlakalna 11C Fax +371 7139386
LV-1073 Riga info@alas-kuul.ee

Lebanon
Sales Beirut Gabriel Acar & Fils sarl Tel. +961 1 4947-86
B. P. 80484 +961 1 4982-72
Bourj Hammoud, Beirut +961 3 2745-39
Fax +961 1 4949-71
gacar@beirut.com

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Lithuania
Sales Alytus UAB Irseva Tel. +370 315 79204
Merkines g. 2A Fax +370 315 56175
LT-62252 Alytus info@irseva.lt
www.sew-eurodrive.lt

Luxembourg
Assembly Brüssel CARON-VECTOR S.A. Tel. +32 10 231-311
Sales Avenue Eiffel 5 Fax +32 10 231-336
Service B-1300 Wavre http://www.caron-vector.be
info@caron-vector.be

Malaysia
Assembly Johore SEW-EURODRIVE SDN BHD Tel. +60 7 3549409
Sales No. 95, Jalan Seroja 39, Taman Johor Jaya Fax +60 7 3541404
Service 81000 Johor Bahru, Johor kchtan@pd.jaring.my
West Malaysia

Mexico
Assembly Queretaro SEW-EURODRIVE, Sales and Distribution, Tel. +52 442 1030-300
Sales S. A. de C. V. Fax +52 442 1030-301
Service Privada Tequisquiapan No. 102 scmexico@seweurodrive.com.mx
Parque Ind. Queretaro C. P. 76220
Queretaro, Mexico

Morocco
Sales Casablanca S. R. M. Tel. +212 2 6186-69 + 6186-70 + 6186-
Société de Réalisations Mécaniques 71
5, rue Emir Abdelkader Fax +212 2 6215-88
05 Casablanca srm@marocnet.net.ma

Netherlands
Assembly Rotterdam VECTOR Aandrijftechniek B.V. Tel. +31 10 4463-700
Sales Industrieweg 175 Fax +31 10 4155-552
Service NL-3044 AS Rotterdam http://www.vector.nu
Postbus 10085 info@vector.nu
NL-3004 AB Rotterdam

New Zealand
Assembly Auckland SEW-EURODRIVE NEW ZEALAND LTD. Tel. +64 9 2745627
Sales P.O. Box 58-428 Fax +64 9 2740165
Service 82 Greenmount drive sales@sew-eurodrive.co.nz
East Tamaki Auckland
Christchurch SEW-EURODRIVE NEW ZEALAND LTD. Tel. +64 3 384-6251
10 Settlers Crescent, Ferrymead Fax +64 3 384-6455
Christchurch sales@sew-eurodrive.co.nz

Norway
Assembly Moss SEW-EURODRIVE A/S Tel. +47 69 241-020
Sales Solgaard skog 71 Fax +47 69 241-040
Service N-1599 Moss sew@sew-eurodrive.no

Peru
Assembly Lima SEW DEL PERU MOTORES REDUCTORES Tel. +51 1 3495280
Sales S.A.C. Fax +51 1 3493002
Service Los Calderos, 120-124 sewperu@sew-eurodrive.com.pe
Urbanizacion Industrial Vulcano, ATE, Lima

Poland
Assembly Lodz SEW-EURODRIVE Polska Sp.z.o.o. Tel. +48 42 67710-90
Sales ul. Techniczna 5 Fax +48 42 67710-99
Service PL-92-518 Lodz http://www.sew-eurodrive.pl
sew@sew-eurodrive.pl

80 10/2005
 Address List

Portugal
Assembly Coimbra SEW-EURODRIVE, LDA. Tel. +351 231 20 9670
Sales Apartado 15 Fax +351 231 20 3685
Service P-3050-901 Mealhada http://www.sew-eurodrive.pt
infosew@sew-eurodrive.pt

Romania
Sales Bucuresti Sialco Trading SRL Tel. +40 21 230-1328
Service str. Madrid nr.4 Fax +40 21 230-7170
011785 Bucuresti sialco@sialco.ro

Russia
Sales St. Petersburg ZAO SEW-EURODRIVE Tel. +7 812 5357142 +812 5350430
P.O. Box 263 Fax +7 812 5352287
RUS-195220 St. Petersburg http://www.sew-eurodrive.ru
sew@sew-eurodrive.ru

Senegal
Sales Dakar SENEMECA Tel. +221 849 47-70
Mécanique Générale Fax +221 849 47-71
Km 8, Route de Rufisque senemeca@sentoo.sn
B.P. 3251, Dakar

Serbia and Montenegro

Sales Beograd DIPAR d.o.o. Tel. +381 11 3088677 / +381 11
Kajmakcalanska 54 3088678
SCG-11000 Beograd Fax +381 11 3809380
dipar@yubc.net

Singapore
Assembly Singapore SEW-EURODRIVE PTE. LTD. Tel. +65 68621701
Sales No 9, Tuas Drive 2 Fax +65 68612827
Service Jurong Industrial Estate sewsingapore@sew-eurodrive.com
Singapore 638644

Slovakia
Sales Sered SEW-Eurodrive SK s.r.o. Tel. +421 31 7891311
Trnavska 920 Fax +421 31 7891312
SK-926 01 Sered sew@sew-eurodrive.sk

Slovenia
Sales Celje Pakman - Pogonska Tehnika d.o.o. Tel. +386 3 490 83-20
Service UI. XIV. divizije 14 Fax +386 3 490 83-21
SLO – 3000 Celje pakman@siol.net

South Africa
Assembly Johannesburg SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 11 248-7000
Sales Eurodrive House Fax +27 11 494-3104
Service Cnr. Adcock Ingram and Aerodrome Roads dross@sew.co.za
Aeroton Ext. 2
Johannesburg 2013
P.O.Box 90004
Bertsham 2013
Capetown SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 21 552-9820
Rainbow Park Fax +27 21 552-9830
Cnr. Racecourse & Omuramba Road Telex 576 062
Montague Gardens dswanepoel@sew.co.za
Cape Town
P.O.Box 36556
Chempet 7442
Cape Town
Durban SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 31 700-3451
2 Monaceo Place Fax +27 31 700-3847
Pinetown dtait@sew.co.za
Durban
P.O. Box 10433, Ashwood 3605

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Spain
Assembly Bilbao SEW-EURODRIVE ESPAÑA, S.L. Tel. +34 9 4431 84-70
Sales Parque Tecnológico, Edificio, 302 Fax +34 9 4431 84-71
Service E-48170 Zamudio (Vizcaya) sew.spain@sew-eurodrive.es

Sweden
Assembly Jönköping SEW-EURODRIVE AB Tel. +46 36 3442-00
Sales Gnejsvägen 6-8 Fax +46 36 3442-80
Service S-55303 Jönköping http://www.sew-eurodrive.se
Box 3100 S-55003 Jönköping info@sew-eurodrive.se

Switzerland
Assembly Basel Alfred lmhof A.G. Tel. +41 61 41717-17
Sales Jurastrasse 10 Fax +41 61 41717-00
Service CH-4142 Münchenstein bei Basel http://www.imhof-sew.ch
info@imhof-sew.ch

Thailand
Assembly Chon Buri SEW-EURODRIVE (Thailand) Ltd. Tel. +66 38 454281
Sales Bangpakong Industrial Park 2 Fax +66 38 454288
Service 700/456, Moo.7, Tambol Donhuaroh sewthailand@sew-eurodrive.co.th
Muang District
Chon Buri 20000

Tunisia
Sales Tunis T. M.S. Technic Marketing Service Tel. +216 1 4340-64 + 1 4320-29
7, rue Ibn EI Heithem Fax +216 1 4329-76
Z.I. SMMT
2014 Mégrine Erriadh

Turkey
Assembly Istanbul SEW-EURODRIVE Tel. +90 216 4419163 + 216 4419164 +
Sales Hareket Sistemleri Sirketi 216 3838014
Service Bagdat Cad. Koruma Cikmazi No. 3 Fax +90 216 3055867
TR-34846 Maltepe ISTANBUL sew@sew-eurodrive.com.tr

USA
Production Greenville SEW-EURODRIVE INC. Tel. +1 864 439-7537
Assembly 1295 Old Spartanburg Highway Fax Sales +1 864 439-7830
Sales P.O. Box 518 Fax Manuf. +1 864 439-9948
Service Lyman, S.C. 29365 Fax Ass. +1 864 439-0566
Telex 805 550
http://www.seweurodrive.com
cslyman@seweurodrive.com
Assembly San Francisco SEW-EURODRIVE INC. Tel. +1 510 487-3560
Sales 30599 San Antonio St. Fax +1 510 487-6381
Service Hayward, California 94544-7101 cshayward@seweurodrive.com
Philadelphia/PA SEW-EURODRIVE INC. Tel. +1 856 467-2277
Pureland Ind. Complex Fax +1 856 845-3179
2107 High Hill Road, P.O. Box 481 csbridgeport@seweurodrive.com
Bridgeport, New Jersey 08014
Dayton SEW-EURODRIVE INC. Tel. +1 937 335-0036
2001 West Main Street Fax +1 937 440-3799
Troy, Ohio 45373 cstroy@seweurodrive.com
Dallas SEW-EURODRIVE INC. Tel. +1 214 330-4824
3950 Platinum Way Fax +1 214 330-4724
Dallas, Texas 75237 csdallas@seweurodrive.com
Additional addresses for service in the USA provided on request!

Venezuela
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 sewventas@cantv.net
Valencia, Estado Carabobo sewfinanzas@cantv.net

82 10/2005
SEW-EURODRIVE – Driving the world
Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services

How we’re driving the world

With people who With comprehensive With uncompromising

think fast and With a worldwide With drives and controls knowledge in virtually quality that reduces the
develop the service network that is that automatically every branch of cost and complexity of
future with you. always close at hand. improve your productivity. industry today. daily operations.

SEW-EURODRIVE
Driving the world

With a global presence With innovative With online information

that offers responsive technology that solves and software updates,
and reliable solutions. tomorrow’s problems via the Internet, available
Anywhere. today. around the clock.

SEW-EURODRIVE GmbH & Co KG

P.O. Box 3023 · D-76642 Bruchsal / Germany
Phone +49 7251 75-0 · Fax +49 7251 75-1970
sew@sew-eurodrive.com
www.sew-eurodrive.com