Manual - MOVI-PLC® SyncCrane Application - SEW Eurodrive (PDFDrive)

Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVI-PLC®
"SyncCrane" Application Solution
Edition 04/2010 16945611 / EN

SEW-EURODRIVE—Driving the world
Contents
Contents
1 General Information ............................................................................................ 6
1.1 Use of the manual....................................................................................... 6
1.2 Structure of the safety notes ....................................................................... 6
1.2.1 Meaning of the signal words ........................................................ 6
1.2.2 Structure of the section-related safety notes ............................... 6
1.2.3 Structure of the embedded safety notes...................................... 6
1.3 Right to claim under limited warranty .......................................................... 7
1.4 Exclusion of liability..................................................................................... 7
1.5 Product names and trademarks .................................................................. 7
1.6 Copyright notice .......................................................................................... 7
2 Safety Notes ........................................................................................................ 8
2.1 Other applicable documentation ................................................................. 8
2.2 Target group ............................................................................................... 8
2.3 Designated use ........................................................................................... 9
2.3.1 Safety functions ........................................................................... 9
2.4 Bus systems................................................................................................ 9
2.5 Safety functions .......................................................................................... 9
2.6 Hoist applications........................................................................................ 9
2.7 Disposal .................................................................................................... 10
3 Description ........................................................................................................ 11
3.1 Fields of application .................................................................................. 11
3.1.1 Advantages of the SyncCrane application................................. 11
3.1.2 Characteristics of positioning mode and jog mode .................... 12
3.1.3 Characteristics of referencing mode .......................................... 12
3.1.4 Characteristics of automatic mode ............................................ 12
3.1.5 Characteristics of emergency mode .......................................... 12
3.2 Application examples ................................................................................ 13
3.3 Functional principle of indirect positioning and synchronization ............... 14
3.3.1 The problem............................................................................... 14
3.3.2 Positioning mode with direct positioning to
values of absolute encoders ...................................................... 14
3.3.3 SyncCrane solution with indirect position control ...................... 16
3.3.4 SyncCrane solution: Indirect synchronization to
virtual master encoder ............................................................... 18
3.4 Program identification ............................................................................... 19
4 Project Planning................................................................................................ 20
4.1 Prerequisites ............................................................................................. 20
4.1.1 MOVITOOLS® MotionStudio .................................................... 20
4.1.2 Inverter....................................................................................... 20
4.1.3 Motors / gear units ..................................................................... 20
4.1.4 Controller ................................................................................... 20
4.2 Functional description ............................................................................... 21
Manual – MOVI-PLC® "SyncCrane" Application Solution 3

Contents
4.3 Scaling the drive ....................................................................................... 23

4.3.1 Determining the scaling factors for motor
encoder/absolute encoder ......................................................... 23
4.3.2 Determining the scaling factors for virtual encoder.................... 24
4.4 Limit switches, reference cams and machine zero ................................... 24
4.5 Process data assignment.......................................................................... 25
4.5.1 Process output data words ........................................................ 27
4.5.2 Process input data words .......................................................... 29
4.6 Software limit switches.............................................................................. 30
4.6.1 Moving clear of the software limit switch ................................... 30
4.7 Hardware limit switches ............................................................................ 31
4.7.1 Preliminary work ........................................................................ 31
4.7.2 Fault response ........................................................................... 31
4.7.3 Moving clear of the hardware limit switch .................................. 31
4.8 Safe stop................................................................................................... 32
5 Installation ......................................................................................................... 33
5.1 Wiring diagram .......................................................................................... 33
6 Startup................................................................................................................ 34
6.1 Prerequisites ............................................................................................. 34
6.2 Startup procedure ..................................................................................... 34
6.3 Components of the sample application ..................................................... 36
6.4 Startup with "DriveStartup for MOVI-PLC®".............................................. 37
6.4.1 Step 1: Startup of the individual axes ....................................... 37
6.4.2 Step 2: Preparing the individual axes for
operation on the controller ......................................................... 39
6.5 Startup with "SyncCrane".......................................................................... 40
6.5.1 Step 1: Starting SyncCrane ....................................................... 40
6.5.2 Step 2: Selecting the startup steps ............................................ 43
6.5.3 Step 3: Making the project settings............................................ 44
6.5.4 Step 4: Position scaling ............................................................. 45
6.5.5 Step 5: Scaling the virtual encoder ............................................ 52
6.5.6 Step 6: Limiting the travel distance............................................ 54
6.5.7 Step 7: Setting and checking synchronous
operation parameters................................................................. 56
6.5.8 Step 8: Setting and checking monitoring functions.................... 60
6.5.9 Step 9: Saving the data ............................................................. 62
7 Operation ........................................................................................................... 64
7.1 Starting the drive ....................................................................................... 64
7.1.1 Operating modes for fieldbus control......................................... 64
7.2 Diagnostics monitor .................................................................................. 65
7.2.1 Diagnostics monitor: Monitor mode ........................................... 65
7.2.2 Diagnostics monitor: Control mode............................................ 65
7.3 Jog mode - not synchronized .................................................................... 66
7.3.1 Supplement jog mode of the virtual axis - synchronized ........... 67
7.4 Referencing mode..................................................................................... 68
4 Manual – MOVI-PLC® "SyncCrane" Application Solution

Contents
7.5 Positioning mode – not synchronized ....................................................... 69

7.5.1 Supplementary positioning mode of the virtual axis –
synchronized.............................................................................. 70
7.6 Automatic mode ........................................................................................ 71
7.6.1 Interface description .................................................................. 73
7.6.2 Submode adjustment mode....................................................... 74
7.6.3 Submode synchronous mode .................................................... 75
7.7 Emergency mode ...................................................................................... 77
7.8 Additional functions................................................................................... 78
7.8.1 External encoder monitoring function ........................................ 78
7.8.2 Lag error window monitoring function........................................ 78
7.8.3 Fieldbus master monitoring function.......................................... 78
7.9 Cycle diagrams ......................................................................................... 79
7.9.1 Jog mode ................................................................................... 80
7.9.2 Referencing mode ..................................................................... 81
7.9.3 Positioning mode ....................................................................... 82
7.9.4 Automatic mode......................................................................... 83
7.9.5 Emergency mode....................................................................... 85
7.10 Fault information ....................................................................................... 86
7.10.1 Table of error codes................................................................... 86
7.10.2 Reading out the error information .............................................. 86
8 Auxiliary Drives (Auxiliary Axis)...................................................................... 87
8.1 System description.................................................................................... 87
8.1.1 Fields of application ................................................................... 87
8.1.2 Application examples................................................................. 88
8.2 Project planning for auxiliary drives .......................................................... 89
8.2.1 Functional description................................................................ 89
8.2.2 Process data assignment .......................................................... 89
8.2.3 Control configuration.................................................................. 92
8.3 Startup of auxiliary drives.......................................................................... 93
8.3.1 Starting the "Auxiliary axis" program ......................................... 93
8.4 Operation of auxiliary drives ..................................................................... 99
8.4.1 Starting the drive........................................................................ 99
9 Appendix.......................................................................................................... 103
9.1 Frequently asked questions .................................................................... 103
10 Address List .................................................................................................... 104
Index................................................................................................................. 114

General Information
1 Use of the manual
1 General Information
1.1 Use of the manual
The manual is part of the product and contains important information on operation and
service. The manual is written for everyone starting up or servicing this product.
The manual must be accessible and legible. Make sure that persons responsible for the
system and its operation, as well as persons who work independently on the unit, have
read through the manual carefully and understood it. Consult SEW-EURODRIVE if you
have any questions or if you require further information.
1.2 Structure of the safety notes

1.2.1 Meaning of the signal words
The following table shows the grading and meaning of the signal words for safety notes,
notes on potential risks of damage to property, and other notes.
Signal word Meaning Consequences if disregarded
DANGER Imminent danger Severe or fatal injuries
WARNING Possible dangerous situation Severe or fatal injuries
CAUTION Possible dangerous situation Minor injuries
NOTICE Possible damage to property Damage to the drive system or its envi-
ronment
INFORMATION Useful information or tip: Simpli-
fies the handling of the drive
system.
1.2.2 Structure of the section-related safety notes

Section safety notes do not apply to a specific action, but to several actions pertaining
to one subject. The used symbols indicate either a general or a specific hazard.
This is the formal structure of a section safety note:
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.
1.2.3 Structure of the embedded safety notes

Embedded safety notes are directly integrated in the instructions just before the descrip-
tion of the dangerous action.
This is the formal structure of an embedded safety note:
• SIGNAL WORD Nature and source of hazard.
Possible consequence(s) if disregarded.
– Measure(s) to prevent the danger.

General Information
Right to claim under limited warranty
1
1.3 Right to claim under limited warranty

A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the documentation. Consequently, read
the operating instructions and manuals before you start working with the unit!
Make sure that the operating instructions and manuals are available to persons respon-
sible for the plant and its operation, as well as to persons who work independently on
the unit. You must also ensure that the documentation is legible.
1.4 Exclusion of liability

You must comply with the information contained in the operating instructions to ensure
safe operation of MOVIFIT®, MOVIDRIVE® or MOVITRAC® and to achieve the speci-
fied product characteristics and performance requirements. SEW-EURODRIVE as-
sumes no liability for injury to persons or damage to equipment or property resulting from
non-observance of these operating instructions. In such cases, any liability for defects
is excluded.
1.5 Product names and trademarks

The brands and product names contained in this documentation are trademarks or reg-
istered trademarks of the titleholders.
1.6 Copyright notice

© 2010 – SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the unauthorized duplication, modification, distribution, and use
of this document, in whole or in part.

Safety Notes
2 Other applicable documentation
2 Safety Notes
2.1 Other applicable documentation
• Read through this document carefully before you startup the application module.
The following publications and documents apply for the operation and installation of
units that are controlled by the application module:
• Documentation of connected units (e.g. operating instructions of MOVIDRIVE® B)
• Manuals of the controllers used
• Manual/online help for the MOVITOOLS® MotionStudio engineering software.
You must adhere to the information in the documentation as a prerequisite to fault-free
operation and fulfillment of warranty claims.
2.2 Target group

The user of this application module is a qualified person who has been trained accord-
ingly.
SEW-EURODRIVE recommends that the user also participates in additional product
training courses for the units and motors which are operated by this application module.
Only qualified electricians are authorized to install, startup or service the units or cor-
rect unit faults (observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 and
IEC 60664 or DIN VDE 0110 as well as national accident prevention guidelines).
Qualified personnel in the context of these basic safety notes are: All persons familiar
with installation, assembly, startup and operation of the product who possess the nec-
essary qualifications.
Any activities regarding transportation, storage, operation, and disposal must be carried
out by persons who have been instructed appropriately.

Safety Notes
Designated use
2
2.3 Designated use

The SyncCrane application module is used to implement applications in which drives
move at a synchronous angle to one another permanently or occasionally.
The SyncCrane application module must only be used in connection with components
that are permitted for it:
• Inverter: MOVIDRIVE® B with the relevant options for encoder evaluation.
• Controller: DHP11B, DHR41B and DHF41B. All controllers must have technology
level T2.
2.3.1 Safety functions

MOVIDRIVE® MDX60/61B inverters may not perform safety functions without higher-
level safety systems. Use higher-level safety systems to ensure protection of equipment
and personnel.
For safety applications, refer to the information in the following publications:
• Safe disconnection for MOVIDRIVE® MDX60B/61B – Conditions
• Safe disconnection for MOVIDRIVE® MDX60B/61B – Applications
2.4 Bus systems

A bus system makes it possible to adapt frequency inverters to the particulars of the ma-
chinery within wide limits. As with all bus systems, there is a danger of invisible, external
(as far as the inverter is concerned) modifications to the parameters which give rise to
changes in the unit behavior. This may result in unexpected, though not uncontrolled,
system behavior.
2.5 Safety functions

MOVIDRIVE® MDX60B/61B and MOVITRAC® B inverters may not perform any safety
functions without higher-level safety systems. Use higher-level safety systems to ensure
protection of equipment and personnel. For safety applications, ensure that the informa-
tion in the following publications is observed: "Safe Disconnection for MOVIDRIVE®
MDX60B/61B / MOVITRAC® B".
2.6 Hoist applications

MOVIDRIVE® MDX60B/61B, MOVITRAC® B and MOVIAXIS® must not be used as a
safety device in hoist applications.
Use monitoring systems or mechanical protection devices as safety equipment to avoid
possible damage to property or injury to people.

Safety Notes
2 Disposal
2.7 Disposal
Observe the applicable national regulations.
Dispose of the following materials separately in accordance with the country-specific
regulations in force, as:
• Electronics scrap
• Plastics
• Sheet metal
• copper

Description kVA n
Fields of application
f 3
i
Hz
P Hz
3 Description
3.1 Fields of application
The SyncCrane application module is used to implement applications in which drives
move at a synchronous angle to one another permanently or occasionally, such as:
• Lifting devices
• Cranes
• Hoists
• Trolleys
The IEC program controls up to 8 MOVIDRIVE® individual axes. In Automatic mode, it
sends a virtual master signal to the individual axes switched in synchronous operation.
Control of 4 additional auxiliary drives is supported:
• Hoist
• Crane trolley drives
• Hydraulic power units, etc.
3.1.1 Advantages of the SyncCrane application

The SyncCrane application offers the following advantages:
• Only one MOVI-PLC® is required for controlling the individual axes.
• Open IEC programming lets users make application-specific adjustments.
• The software wizard ensures guided startup and comprehensive diagnostic
functions.
• High degree of similarity with "SEW application modules".
• In addition to the motor encoder, external absolute encoders (HIPERFACE®/SSI)
can be connected and evaluated.
• Common setpoint for automatic mode is ensured by controlling the single axis via
virtual encoder.
• Indirect positioning or indirect synchronization allows for safe system operation in the
following cases:
• Different wear of the drive axes
• Slip, for example between drive gear and steel rail
• Design susceptible to vibration
This application solution provides the user with an easy-to-use and guided startup stan-
dard solution based on the principle of "indirect positioning/synchronization".
This solution approach allows the following applications:
• Applications with high requirements on the dynamic properties.
• Applications that are susceptible to vibration due to mechanical conditions (e.g. due
to high elasticity and/or unfavorable load distribution between the drivelines).

kVA n Description
3 f
Fields of application
i
Hz
P Hz
3.1.2 Characteristics of positioning mode and jog mode

Characteristics of positioning mode and jog mode:
• Positioning mode based on motor encoder with optional indirect position adjustment
based on external distance encoder.
• Group/individual axis control of the connected axes (not synchronized).
• Software and hardware limit switch evaluation
3.1.3 Characteristics of referencing mode

Characteristics of referencing mode:
• Referencing the motor encoder system to the specified reference offset.
• Adjusting the external encoder signal to the specified reference offset.
• Group/individual axis control of all connected axes.
• Axis control when using the "standstill" reference travel type.
3.1.4 Characteristics of automatic mode

The characteristics of automatic mode (synchronized) are:
• Automatic alignment of the physical axes with each restart.
• Synchronous operation with automatic indirect synchronization of the external
encoder system to the virtual encoder position.
• Virtual master value processing with jerk-limited ramp specification.
• Group control for all connected axes.
• Automatic interruption of the motion sequence if an axis fails and/or the specified
synchronicity is violated.
• Configurable synchronization methods for different applications
3.1.5 Characteristics of emergency mode

Characteristics of emergency mode:
• Jog mode (speed controlled).
• Group / individual axis control of the connected axes.
• Optional deactivation of the selected absolute encoder detection and monitoring.

Description kVA n
Application examples
f 3
i
Hz
P Hz
3.2 Application examples

The SyncCrane application module offers a wide range of possible applications. Some
examples are given in this section.
Example 1: Multiple column hoist with positioning and synchronization based on
HIPERFACE® motor encoder.
Master Slave
511850891
Example 2: Gantry crane with indirect positioning and automatic slip compensation by
means of absolute encoder evaluation.
Master Slave
511852427

kVA n Description
3 f
Functional principle of indirect positioning and synchronization
i
Hz
P Hz
3.3 Functional principle of indirect positioning and synchronization

3.3.1 The problem
Existing applications with evaluation of the absolute encoder as IPOS encoder (see
IPOS manual chapter "Position detection and Positioning") limit the control dynamics
due to the properties of the absolute encoder systems and the mechanical conditions
(e.g. mounting of the encoder system).
Due to mechanical feedback, the entire system is susceptible to vibrations, which often
requires complex optimization of the control parameters on site.
The IPOS-based application module "DriveSync" was implemented according to this
principle. Especially when it comes to lifting devices and assembly-hall cranes, where
evaluation of an absolute encoder is necessary in addition, compromises have to be
made in project planning with respect to dynamics.
The SyncCrane application solution simplifies startup and operation.
3.3.2 Positioning mode with direct positioning to values of absolute encoders

The necessary SHELL parameters are determined during guided startup (SHELL/DIP
startup). Direct position control is part of the firmware.
During the positioning operation, the cyclically scanned actual position (absolute en-
coder/motor encoder position) is read by the profile generator and adjusted by the speed
controller in case of deviations.
Deviations caused, for example, by slip between motor encoder and absolute encoder
thus directly affect the speed profile of the drive.
The following figure shows direct position control with position correction.
ABS
X62
DIP 11B Vmax amax
–
IPOS + + nC
PG PC
–
n act
M
536585611
vmax Maximum speed nC Speed controller

amax Maximum acceleration nact Actual speed
PG Profile generator ABS Absolute encoder
PC Position controller IPOS IPOSplus® program

Description kVA n
f 3
i
Hz
P Hz
The following figure shows the speed profile (motor encoder) for direct position control.
V [m/s]
[1]
[2]
t [s]
774628875
[1] Optimal speed process

[2] Real speed process

kVA n Description
3 f
i
Hz
P Hz
3.3.3 SyncCrane solution with indirect position control

Unlike direct position control, the absolute encoder signal is only evaluated for correct-
ing the specified target position.
During the travel process, the speed profile of the drive is not changed.
Susceptibility to vibration caused by retroactive effects, for example deviations between
the absolute encoder detection and motor encoder detection, are minimized in this way.
The following figure shows indirect position control with absolute encoder.
ABS
X62
DIP 11B
Vmax amax
Calc + +
MOVI-PLC PG PC nC
Pos set Delta Inc
– –
X15 Pos act Pos act n act
M
536587275
vmax Maximum speed POSact Actual position motor encoder

amax Maximum acceleration POSset Setpoint position motor encoder
PG Profile generator ABS Absolute encoder
PC Position controller nact Actual speed
nC Speed controller

Description kVA n
f 3
i
Hz
P Hz
The following figure shows the speed profile (motor encoder) for indirect position control.
V [m/s]
Optimal speed process
Real speed process
t [s]
536580619
Result The following properties do not have an effect on the speed profile of the drive but on
the target position of the position controller if positioning tasks are solved using indirect
position control:
• Slip
• Properties of the absolute encoder
• Mechanical elasticities between absolute encoder sensing and the drive
This leads to a higher dynamic response and thus to improved operating characteristics
for dynamic positioning applications.
This solution with indirect positioning has been successfully implemented at SEW-
EURODRIVE for some time in the area of SRUs with cornering ability, etc.

kVA n Description
3 f
i
Hz
P Hz
3.3.4 SyncCrane solution: Indirect synchronization to virtual master encoder

Due to the mentioned positive characteristics in relation to indirect positioning, we are
currently testing if this can also be applied to synchronous operation.
We are working on the approach to superimpose a higher-level control loop for slip com-
pensation on the firmware function "internal synchronous operation".
Internal control loop: Angular synchronous operation of the motor encoder

Angular synchronous operation is ensured by using the "internal synchronous opera-
tion" technology function.
The specified value for the virtual master is created via SBus object from the
MOVI-PLC®. The optimum master value is ensured for the physical axes because the
master value can be specified with limited jerk.
The controller parameters can be set "hard" by direct coupling of the drive trains.
Higher-level control loop: Indirect synchronization

To prevent mechanical strain, e.g. caused by slight differences in the crane wheel diam-
eter of gantry cranes, the actual position value read in via an absolute encoder must be
compared with the position setpoint of the virtual encoder and corrected if necessary.
This is implemented by the higher-level indirect synchronization.
The cyclically calculated difference value triggers a compensation movement if specified
position windows are exceeded (distinction is made between dynamic and static case).
The dynamics of the compensation movement is set during startup.

Description kVA n
Program identification
f 3
i
Hz
P Hz
3.4 Program identification

You can use the MOVITOOLS® MotionStudio® software package to identify the pro-
gram that was loaded last into the MOVI-PLC®.
Select the menu item [Startup] / [Parameter tree] / [Unit data]. This menu item shows the
current application.
832287115
"SyncCrane" application
Part number A loaded SyncCrane application module can be identified by the part number
18219543.xx
Version The current main version of the application module is displayed in this field.
Release The current release of the application module is displayed in this field.

Project Planning
4 Prerequisites
4 Project Planning
4.1 Prerequisites
4.1.1 MOVITOOLS® MotionStudio
The SyncCrane application module is implemented in MOVI-PLC® as IEC code and is
part of the MOVITOOLS® MotionStudio engineering software.
You need a PC with MOVITOOLS® MotionStudio (version 5.6 or higher) installed to use
SyncCrane.
For installation requirements, refer to the documentation (online help or manual) of
MOVITOOLS® MotionStudio.
For older MOVITOOLS® MotionStudio versions or for updates of the application module,
you can execute the installation file SyncCrane.exe.
4.1.2 Inverter
MOVIDRIVE® • MOVIDRIVE® B with encoder feedback.
• Optional absolute encoder evaluation or HIPERFACE® encoder evaluation.
• Firmware 824 854 0.18 or higher.
• Prior motor startup of the individual axes using the SHELL software
• Subsequent configuration of the individual axis for operation with MOVI-PLC® via
DriveStartup. Make sure that different SBus individual addresses are specified.
Assign the numbers in increasing order beginning with 1. It is important that the
communication is set to 1 Mbaud.
4.1.3 Motors / gear units

• Asynchronous or synchronous servomotors with motor encoder
• Gear unit / additional gear
• Optimum control behavior is only achieved with mechanically identical design of
slave axes (same gear ration, wheel diameter, etc.).
4.1.4 Controller
You need one of the following controllers (with technology level T2) to use SyncCrane:
Controller type Performance class Firmware version
MOVI-PLC® basic DHP11B - 2010r9
DHF41B CCU advanced 1059
DHR41B

Project Planning
Functional description
4
4.2 Functional description

The SyncCrane application has the following functional characteristics:
Jog mode
• The drive is moved clockwise or counterclockwise using two bits for direction
selection.
• The speed and the ramp can be varied using the fieldbus.
Referencing mode
• Position adjustment is initiated with the start signal of the external encoder.
• Reference travel establishes the reference point (machine zero) for absolute
positioning operations.
Positioning mode
• The target position is specified by the process output data words PO4 and PO5. The
speed and the ramp can be varied using the fieldbus. The current actual position is
reported back via the process input data words PI4 and PI5. The program cyclically
queries the target position so that position changes are possible during ongoing
positioning.
• When external HIPERFACE®/SSI absolute encoders are processed, the motor
target position is adjusted during the travel process so that possible slip can be
compensated.

Project Planning
4 Functional description
Automatic mode
• Automatic mode is used as motion control based on the technology function "Internal
Synchronous Operation" (ISYNC) and is controlled in the inverter. Once automatic
mode is selected, the axis system is adjusted to a common "adjust position" in
positioning mode and the axis system is synchronized accordingly. The axis system
can then be moved using the virtual master encoder.
• Master value specification via virtual encoder is made either in jog or positioning
mode.
• The startup wizard lets you specify a jerk time for the virtual encoder.
• Position deviations between virtual encoder position and external distance encoder
are compensated cyclically during ongoing movement. This is to adjust, for example,
varying wear on the drive wheels without limiting positioning accuracy.
Emergency mode
• The drive is moved clockwise or counterclockwise using two bits for direction
selection.
• The speed and the ramp can be varied using the fieldbus.

Project Planning
Scaling the drive
4
4.3 Scaling the drive

All values for position representation (for startup data and for cyclical data exchange of
the process data interface) are related to the external encoder system. In the program,
these values are converted to the motor encoder. It is described below how the scaling
factors are determined.
4.3.1 Determining the scaling factors for motor encoder/absolute encoder

Distance resolution of motor encoder:
Encoder Resolution × Gear Box Numerator [ Inc ]

ScaleFactorMotEncoder =
π × Diameter × Gear Box Denominator [ mm ]
ScaleMotEnc Num
ScaleFactorMotEncoder =
ScaleMotEncDenom
Distance resolution of external encoder (e.g. for draw-wire encoder):
Encoder Resolution × Encoder Scaling Factor × Gear Box Numerator [ Inc ]

ScaleFactorAbsEncoder =
π × Diameter × Gear Box Denominator [ mm]
ScaleAbsEnc Num
ScaleAbsEncDenom
Distance resolution of external encoder (e.g. for laser distance encoder):
Encoder Resolution × Encoder Scaling Factor [ Inc ]

1 [ mm]
ScaleAbsEnc Num
ScaleAbsEncDenom

Project Planning
4 Limit switches, reference cams and machine zero
Conversions This means the motor encoder position is calculated as follows with a specified absolute
encoder position:
ScaleFactorMotEncoder × AbsEncoderPos
MotEncoderPos =
ScaleFactorAbsEncoder
As well as the absolute encoder position

ScaleFactorAbsEncoder × MotEncoderPos
AbsEncoderPos =
ScaleFactorMotEncoder
4.3.2 Determining the scaling factors for virtual encoder

• Setpoint specification refers to the actual position of the absolute encoder.
• The actual position is displayed in the resolution of the absolute encoder.
• Enter the values determined for the external encoder system as conversion factors.
INFORMATION
The user interface limits the scaling factors to 216.
4.4 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.
• You can enter a reference offset during startup if the machine zero is not located on
the reference cam.
The following formula applies: Machine zero = reference position + reference offset
This way, you can alter the machine zero without having to move the reference cam.
• Use the startup wizard to make the necessary settings.
The following unit parameters are reserved:
• P900 reference offset
• P920 software limit switch CW
• P921 software limit switch CCW

Project Planning
Process data assignment
4
4.5 Process data assignment

The higher-level controller (PLC) sends 10 process output data words (PO1 ... PO10)
via PROFIBUS. The MOVI-PLC® sends 10 process input data words (PI1 ... PI10) to the
higher-level controller .
The following figure shows the data exchange via the first 10 process data words:
MOVI-
PLC
1 2
3 4
X31
5 6
7 8
9 10
11 12
1 2
X32
3 4
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 5
1
6
X33
3 4
5 6
X30
PI1 PI2 PI3 PI4 PI5 PI6 PI7 PI8 PI9 PI10
20
21
22
23
24
25
26
X34
511853963
The following extension of process data words is optional:

• Up to 32 PD for DHP11B
• Up to 64 PD for DHF41B and DHR41B
The position values are specified/returned in [inc.] or in the user-defined units [mm] or
[1/10 mm].
PO= Process output data
PO1 Control word 1
PO2 Control word 2
PO3 Axis selection:
• 1 ... 8 for single-axis operation
• 99 for group drive
PO4 Target position in positioning mode (not synchronized) high
PO5 Target position in positioning mode (synchronized) low
PO6 Target position virtual encoder in automatic mode high
PO7 Target position virtual encoder in automatic mode low
PO8 Setpoint speed in [rpm] / [mm/s] / [m/min]
PO9 Acceleration ramp [in ms based on ∆n of 3000 rpm]
PO10 Deceleration ramp [in ms based on ∆n of 3000 rpm]

Project Planning
4 Process data assignment
PI= Process input data

PI1 Status word 1
PI2 Status word 2
PI3 Axis selection:
• 1 ... 8 for single-axis operation
• 99 for group drive
PI4 • In single-axis mode: Current single-axis position high
• In group mode: Averaged position of the group
PI5 • In single-axis mode: Current single-axis position low
• In group mode: Averaged position of the group
PI6 Actual position virtual encoder in automatic mode high
PI7 Actual position virtual encoder in automatic mode low
PI8 Diagnostic bits high byte, low byte
PI11 Actual position axis 1 high
PI12 Actual position axis 1 low
PI13 Actual position axis 2 high
PI14 Actual position axis 2 low
Expanding the process data words to a number of 32 means the following single-axis
positions are transferred:
PI= Process input data
PI11 Actual position axis 1 positioning mode high
PI12 Actual position axis 1 positioning mode low
PI13 Actual position axis 2 positioning mode high
PI14 Actual position axis 2 positioning mode low

Project Planning
4
4.5.1 Process output data words

The process output data words are assigned as follows:
Bit 15 Bit 0
Bit 14 Bit 1
Bit 13 Bit 2
Bit 12 Bit 3
Bit 11 Bit 4
Bit 10 Bit 5
Bit 9 Bit 6
Bit 8 Bit 7
Data word Bit no. Description

Process output data word 1 Bit 0 /Controller inhibit
Bit 1 Enable/rapid stop
Bit 2 Enable/stop
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Error reset
Bit 7 Reserved
Bit 8 Start
Bit 9 Jog +
Bit 10 Jog–
Bit 11 Mode selection bit 20
Mode:
0: Reserved
1: Jog mode single/group
2: Reference mode single/group
3: Positioning mode group
4: Automatic mode group
5: Emergency mode single/group
Bit 14 Reserved
Bit 15 /SW LS

Project Planning
4 Process data assignment

Process output data word 2 Bit 0 Reserved
(Control word virtual encoder)
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reset cold MOVI-PLC®
Bit 7 Reserved
Bit 8 Start
Bit 9 Jog +
Bit 10 Jog–
Mode:
0: Reserved
1: Jog mode group
2: Reserved
3: Positioning mode single/group
4: Reserved
5: Reserved
Bit 14 Reserved
Bit 15 /SW LS
Process output data word 3 – Single axis selection: 1 ... 8
Axis number Group selection: 99
Process output data word 4 – Position specification for physical axis in positioning mode
Target position high byte (not synchronized)
Process output data word 5 – Position specification for physical axis in positioning mode
Target position low byte (not synchronized)
Process output data word 6 – Position specification for virtual axis in positioning mode
Target position high byte (synchronized)
Process output data word 7 – Position specification for virtual axis in positioning mode
Target position low byte (synchronized)
Process output data word 8 – Setpoint speed [rpm] / in user-defined units in jog/position-
Setpoint speed ing mode
Process output data word 9 – Acceleration ramp [ms] in automatic mode with limitation in
Acceleration jog/positioning mode
Process output data word 10 – Deceleration ramp [ms] in automatic mode with limitation
Deceleration in jog/positioning mode

Project Planning
4
4.5.2 Process input data words

The process input data words have the following meaning:
Bit 15 Bit 0
Bit 14 Bit 1
Bit 13 Bit 2
Bit 12 Bit 3
Bit 11 Bit 4
Bit 10 Bit 5
Bit 9 Bit 6
Bit 8 Bit 7

Process input data word 1 Bit 0 Motor is turning
Bit 1 Frequency inverter ready for operation
Bit 2 Axis referenced
Bit 3 In position
Bit 4 Operating mode active
Bit 5 Frequency inverter fault/warning
Bit 6 FB Fault/warning
Bit 7 Encoder error
Bit 8 ... (with single selection)
15 Inverter/error state
Process input data word 2 Bit 0 Virtual incremental encoder turning
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Virtual incremental encoder in position
Bit 4 Axes synchronous/Ready for virtual encoder
Bit 5 Lag error
Bit 6 Virtual incremental encoder fault/warning
Bit 7 MLC LifeCycleBit
Bit 8 ... Reserved
15
Process input data word 3 – Single axis selection: 1 ... 8
Selected axis number Axis system: 99
Process input data word 4 – Actual position in user-defined units with single-axis selec-
Actual position high byte tion (not synchronized)
Process input data word 5 – Actual position in user-defined units with single-axis selec-
Actual position low byte tion (not synchronized)
Process input data word 6 – Actual position virtual master encoder in user-defined units
Actual position high byte (synchronized)
Process input data word 7 – Actual position virtual master encoder in user-defined units
Actual position low byte (synchronized)
Process input data word 8 – Assignment is configurable

Diagnostics variables, e.g. pow-
ered
Diagnostics variables, e.g. error
Diagnostics variables, e.g. InGear

Project Planning
4 Software limit switches

Process input data word 11 – Actual position axis 1 in user-defined units
Axis 1 actual position high byte
Axis 1 actual position low byte
Axis 2 actual position high byte
Axis 2 actual position low byte
4.6 Software limit switches

The software limit switch monitoring function is used to check that the target position is
set to appropriate values. During this process, it is not important where the drive is po-
sitioned.
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.
4.6.1 Moving clear of the software limit switch

Moving outside the software limit switches is also possible. For this purpose, the Disa-
bleLS bit is assigned in automatic mode in process output data word 1 (PO1) and/or pro-
cess output data word 2 (PO).
• For unsynchronized motion PO1:15 / SW LS = TRUE
• For synchronized motion (automatic mode) PO1:15 / SW LS = TRUE and PO2:15 /
SW LS = TRUE

Project Planning
Hardware limit switches
4
4.7 Hardware limit switches

4.7.1 Preliminary work
Hardware limit switch processing is not supported by default. If you still want to use hard-
ware limit switches, you will have to perform the following steps:
• Example of 2 inverters each of them with own hardware limit switches:
– Connect the CW hardware limit switch of inverter 1 in series with inverter 2.
– Set a hardware input for each inverter to "/Hardware limit switch CW".
– Connect the CW hardware limit switches to the two inputs.
– Wire the CCW hardware limit switch in an analogous manner.
4.7.2 Fault response

In the event of a fault, the drive inverter goes to status F29 "Limit switch approached".
Ongoing movements are interrupted with the "Emergency stop ramp".
4.7.3 Moving clear of the hardware limit switch

Correct the operating mode selection in such a way that travel movement away from the
hardware limit switch position can be triggered.
You can use one of the following ways to do so:
• Move group unsynchronized away from the limit switch:
– Select "jog" mode.
– Specify the jog direction away from the limit switch position.
– Acknowledge the fault.
– The travel movement is started.
– The drives have moved clear of the limit switch once they change from unit status
"9" (limit switch approached) to "A".
– You can interrupt the motion sequence by deselecting the operating mode.
• Move group synchronized away from the limit switch:
– Select "automatic" mode.
– Select the jog mode of the virtual encoder.
– Specify the jog direction away from the limit switch position.
– Acknowledge the fault.
– The travel movement is started.
– The drives have moved clear of the limit switch once they change from unit status
"9" (limit switch approached) to "A".
– You can interrupt the motion sequence by deselecting the operating mode.

Project Planning
4 Safe stop
4.8 Safe stop

A Safe stop can only be achieved by safe disconnection of the jumpers at terminal X17
(with safety switch or safety PLC).
The 7-segment display shows a "U" to indicate Safe stop active state.
For more information on the Safe stop function, refer to the following publications:
• Safe disconnection for MOVIDRIVE® MDX60B/61B - Conditions
• Safe disconnection for MOVIDRIVE® MDX60B/61B - Applications

Installation
Wiring diagram
5
5 Installation
5.1 Wiring diagram
672388747
* Factory setting

I Startup
6 Prerequisites
0
6 Startup
6.1 Prerequisites
Correct project planning and installation are the prerequisites for successful startup. For
detailed project planning information, refer to the "MOVIDRIVE® MDX60/61B" system
manual.
Check the installation, the encoder connection and the installation of the DHP11B con-
trol card by following the installation instructions in the "MOVIDRIVE® MDX60B/61B"
operating instructions, in the fieldbus manuals, and in the document at hand ("Installa-
tion" chapter).
For additional information, refer to the following documents:

• For information on the theory of operation of the MPLCMotion_MDX library as well
as on the startup of MOVIDRIVE® inverters with MOVI-PLC®, refer to the
"MPLCMotion_MDX Library for MOVI-PLC®" manual.
• For notes on the theory of operation of the MPLCTecGearMotion_MDX library, refer
to the "MPLCTec..._MDX MPLCTecVirtualEncoder Libraries for MOVI-PLC®"
manual.
• For supplementary notes on the theory of operation of the "internal synchronous
operation" technology function, refer to the "MOVIDRIVE® MDX61B Internal
Synchronous Operation (ISYNC)" manual.
6.2 Startup procedure

You need the MOVITOOLS® MotionStudio engineering software for startup.
The scope of delivery includes the "SyncCrane" application module and the technology
editor "Drive Startup for MOVI-PLC®".
The "Drive Startup for MOVI-PLC®" technology editor is used for the first startup
steps:
Drive startup for MOVI-PLC Procedure
Step 1 Motor startup of the individual axes
Step 2 Preparing the individual axes for operation on the
controller
The "SyncCrane" application module is used for the other startup steps:
SyncCrane Procedure
Step 1 Starting "SyncCrane"
Step 2 Selection of startup steps
Step 3 Making the project settings
Step 4 Position scaling
Step 5 Scaling the virtual encoder
Step 6 Limiting the travel distance
Step 7 Setting and checking synchronous operation
parameters
Step 8 Setting and checking monitoring functions
Step 9 Saving the data

Startup I
Startup procedure
6
0
To complete the startup procedure, it is necessary to execute the "Drive Startup for
MOVI-PLC®" technology editor again (step "Initialize motor startup") for optimizing the
speed controller.
The sample application "gantry crane" is presented below. This application is used to
describe the startup steps listed here in detail.
The following (iterative) procedure has proven to be particularly effective for setting
some parameters:
• Setting an initial value
• Checking the setting by running the drive
• Determining an optimized value
The startup and configuration data (initial value and optimized value) of the sample ap-
plication is always listed after the overview of the respective windows (see "Values of
the sample application").

I Startup
6 Components of the sample application
0
6.3 Components of the sample application

The following illustration shows the components of the "gantry crane" sample applica-
tion. The components are the same for each drive train.
Slave 1 Controller Slave 2

[1] [2] [1]
MDX60/61B MDX60/61B
DHP DIP DHR DIP
DHF
X12 X33 X12
X33
DER DER
DEU DEU
X14 X14
X15 X62 X15 X62
SSI SSI
[3] [3]
[4]
[4]
536572299
[1] Inverter including options Component selection for gantry crane

Type MDX61B0015
Encoder option DEH11B
Expansion option DIP11B absolute encoder interface
[2] Controller Component selection for gantry crane

Type One of the following controllers:
• DHP11B (integrated in inverter)
• DHR41B/UOH21B (stand-alone unit)
• DHF41B/UOH21B (stand-alone unit)
[3] Motor with motor encoder Component selection for gantry crane
Motor type DT71D4
Motor encoder type SIN/COS encoder 1024 pulses/revolution
[4] Distance encoder Component selection for gantry crane

Type SSI absolute encoder
Designation: Stahl WCS2/3-LS311
Position detection Barcode
Physical resolution:
0.8 mm/increment Ⳏ 1.25 increments/mm

Startup I
6
Startup with "DriveStartup for MOVI-PLC®"
0
6.4 Startup with "DriveStartup for MOVI-PLC®"

6.4.1 Step 1: Startup of the individual axes
Start up the individual MOVIDRIVE® axes as follows:
1. Open [MotionStudio] / [Technology Editors] / [DriveStartup for MOVI-PLC].
511964555

I Startup
6
0
2. Select the startup step "Initialize motor startup"
2806527627
3. Follow the instructions of the startup wizard to adjust every MOVIDRIVE® inverter to
the connected motor and encoder.
4. Select a suitable operating mode:
MOVIDRIVE® MDX61B with asynchronous Operating mode CFC&IPOS or VFC N-control &
motor IPOS1)
MOVIDRIVE® MDX61B with synchronous Operating mode SERVO&IPOS
motor
1) SEW-EURODRIVE recommends the operating mode CFC&IPOS This operating mode is a prerequi-
site for the sample application.
5. Enter the settings/values of the sample application (see table).

Startup I
6
0
Values of the sam- The following settings apply for the "gantry crane" sample application:
ple application
Startup parameters Setting/value
Control modes CFC&IPOS
Motor DT71D4
Stiffness Initial value: 1.0
Optimized value: 1.2
(determined under full load and in automatic mode)
Load inertia Initial value: 32 (8 times J0)
Optimized value: 37
(determined under full load and in automatic mode)
J0 of the motor 4.609
Drive With backlash
Optimization of the
speed controller
INFORMATION
Only optimize the speed controller when the startup procedure with SyncCrane has
been completed.
2. Select the startup step "Initialize motor startup"
6.4.2 Step 2: Preparing the individual axes for operation on the controller
Prepare the single axes for operation on the controller as follows:
2. Select the startup step "SHELL configuration" to prepare the MOVIDRIVE® axes for
operation on MOVI-PLC®.
3. Assign different SBus addresses (1 ... 8) in increasing order, beginning with 1.
4. Make sure that a baud rate of 1 Mbaud is set.
ple application
Parameter Setting/value
SBus address of the first MDXB 1
SBus address of the second MDXB 2
Baud rate 1 Mbaud

I Startup
6 Startup with "SyncCrane"
0
6.5 Startup with "SyncCrane"

6.5.1 Step 1: Starting SyncCrane
Preparing the SD If you have a controller with SD card, you must first prepare the SD card for use with
card "SyncCrane".
Proceed as follows:
1. Open the file explorer of your operating system.
2. Go to the program directory of your MOVITOOLS® MotionStudio software.
3. Go to the sub-directory that is named after your unit. For example, the menu path for
the controller DHR41B is:
C:\Program Files\SEW\MotionStudio\AppBuilderProjects\SyncCrane\
IEC_DHR41B\SDImage
4. Copy all files in this directory to the SD card.
Starting "Sync- Make a right mouse click on 0:MOVI-PLC® and select [Application modules]/[Sync-
Crane" Crane for MOVI-PLC®].
511968651

Startup I
Startup with "SyncCrane"
6
0
The initial screen of the "SyncCrane" application is opened.
[1]
[2]
[5] [4] [3]
9007199766711179
Position Button/area Description

[1] [Help] Button for opening the online help file
[2] Status display Display of the following data:
area • SyncCrane part number
• Version
• Release
• Firmware version
• PLC type
[3] [Startup] Open the startup screen
Click this button to take the application into operation.
[4] [Monitor] Online diagnostics and control mode
The button is disabled if
• you are not online
• the application module has not been detected
[5] [Cancel] User interface is closed without saving

I Startup
0
DANGER
Risk of crushing if the motor starts up unintentionally.
Severe or fatal injuries.
• Stop the system before you begin startup and bring the system into a safe
condition.
• Make sure that the system cannot be activated during startup.

Startup I
6
0
6.5.2 Step 2: Selecting the startup steps

For initial startup, you have to perform each step one after the other. If you perform a re-
startup, you can directly go to the required startup step.
When the startup procedure is initialized, the inverters are inhibited.
The "Download" step is required as last step both for partial and complete startup. Only
after this step, the inverters are enabled again.
[1]
9007199766712715
Position Button/area Description

[1] Individual axis/ Selection list for choosing the axes
scaling factors Note that the same scaling factors are set for all axes when you
group select "Set all Axes".

I Startup
0
6.5.3 Step 3: Making the project settings
18014399021455243
Group Field Description

SyncCrane configuration Number of axes This input field is used to specify the
number of individual axes in the axis sys-
tem.
The value range is limited to 1...8.
Process data configuration • Status bits in PI8 Use the selection fields to choose the
• Status bits in PI9 information you want to have transmitted
• Status bits in PI10 via process input data words 8, 9, and
10.
Swap process data words • Swap bytes off:
Word transmission as high then as
low byte
• Swap bytes on:
Word transmission as low then as
high byte
ple application
SyncCrane configuration Number of axes: 2
Process data configuration Swap process data words: "Swap bytes on"

Startup I
6
0
6.5.4 Step 4: Position scaling

Overview This window is used to define the basic settings for position scaling.
9007199766715787
Field Description
Source actual position This selection field lets you choose between motor encoder and external
distance encoder and/or SSI encoder.
External encoder type Here, you determine the mechanical design of your distance measuring
system. You can choose between multi-turn encoder (rotary) or linear
encoder system (laser distance measuring unit).
When selecting "actual position source = motor encoder (X15)", the exter-
nal encoder type must be set to multi-turn encoder.

I Startup
0
ple application
Source actual position SSI absolute encoder (X62)
External encoder type Linear encoder system (laser distance measuring
unit)
Scaling the motor On this startup screen you determine the position resolution for the motor encoder.
encoder
511976331
Field Description
Diameter Use these input fields to specify the mechanical data.
Gear unit You can enter values with two decimal places.
Additional gear
Counting direction This field lets you invert the direction of rotation of the motor.
Calculate The determined position resolution for the motor encoder system is entered
in the input fields "Increments" and "Distance".
The determined scaling factors are limited to 216.

Startup I
6
0
ple application
Diameter 125
Gear unit 24.5
Counting direction Motor 1
• Initial value: Normal
• Optimized value: Inverted1)
Motor 2:
Normal
Incremental resolution 8171
Distance resolution 32
1) The correct setting depends on the design and mounting position of the motor/gear unit combination. In
this case, the initial setting was "Normal". This setting had to be changed to "Inverted", because the crane
system tilted in the operating mode "Jog mode - not synchronized".
Scaling the dis- In this startup window, you determine the feed unit for the distance encoder. If you have
tance encoder selected "actual position source = motor encoder", some input fields are disabled and
show the default values of the motor encoder.
9007199766718859
Field Description
Diameter Use these input fields to specify the mechanical data for multi-turn encoders. You
can enter values with two decimal places. These values are only required for multi-
Gear unit turn encoders.
Additional gear

I Startup
0
Field Description
Startup of the distance encoder:
Encoder type Choose the encoder type from this field.
Encoder scaling Here, you can scale up the physical resolution of the absolute encoder. SEW recom-
mends the default setting "1".
Counting direction In this field you can invert the counting direction of the distance encoder depending
on the direction of rotation of the motor.
Encoder resolution This field is used to enter the resolution of the absolute encoder.
Calculate The determined position resolution for the motor encoder system is entered in the
input fields "Increments" and "Distance".
INFORMATION
If you use a laser distance measuring instrument in the above example, then you can
directly enter the resolution specified by the manufacturer, for instance 8 increments/
mm, in the input fields "125 increments" and "100 mm". Do NOT press the [Calculate]
button in this case.

Startup I
6
0
ple application
Diameter 100
Gear unit 1
Counting direction Normal
Encoder resolution 125 (see following note)
Encoder scaling 11)
1) SEW recommends to use the suggested value "1". Upscaling this value does not improve the control be-
havior, it only multiplies the distance encoder signal internally.
Determining the encoder resolution

• The value for the encoder resolution is calculated from the physical resolution
according to the following formula:
100 1 [Inc ]
Setting _ value _ for _ encoder _ resolution = = = 12.5
physical _ encoder _ resolution 0.8 [mm ]
Result of encoder This window is used to determine the resolution between motor encoder and distance
scaling encoder, and to define the user units for the position setpoint.
511979403

I Startup
0
Field/button Description
[Calculate] Press this button to determine the values for the "Motor encoder" and "Dis-
tance encoder" input fields resulting from the position resolution of motor
encoder and distance encoder.
User units for position reso- After having selected the unit for the position resolution in this selection
lution field, you have to activate it by clicking the "Calculate" button.
Unit for speed specification After having selected the unit for the position resolution in this selection
field, you have to activate it by clicking the "Calculate" button.

Startup I
6
0
ple application
Motor encoder resolution 8171 (see following note)
Distance encoder resolution 40
Distance scaling factor Increments: 1
Travel distance: 1
Speed scaling factor Numerator: 1
Denominator: 1
INFORMATION
Observe the following if you have upscaled the resolution of the distance encoder:
• Make sure that the ratio between "motor encoder resolution" and "distance
encoder resolution" is between 1 and 4.
This ensures a higher degree of accuracy when calculating the set values (speed
and ramp) for the virtual encoder.
Checking the
direction of rotation
of motor encoder
and distance
encoder
DANGER
Damage to the crane system by tilting due to counter-rotating axes.
Severe or fatal injuries.
• Never check the encoders in the group selection and in the synchronized operating
mode "Automatic".
• Reference the axes again after changing the counting direction.
Reason: When changing the counting direction, the actual position changes
abruptly.
Check the direction of rotation of the motor encoder and distance encoder as follows:
1. Select the operating mode "Jog, not synchronized" for axis 1.
2. Run the drives in creep speed (e.g. 10 rpm).
3. Go to "single-axis diagnostics" and observe the counting direction of the motor en-
coder and distance encoder.
4. Adjust the counting directions of motor encoder and distance encoder via the Sync-
Crane startup, if necessary.
If the set directions of rotation are identical (e.g. Jog CW), the encoder signals of the
motor and distance encoder should also be handled identically (e.g. both inverted).
5. Repeat this check for all axes to make sure that the counting directions of all encoder
systems match the mechanical directions of movement.

I Startup
0
6.5.5 Step 5: Scaling the virtual encoder

Scaling the virtual A description of the input fields on this window is already included in the description for
encoder the previous windows.
9007199766721931
Enter the values from the already determined values from the "Scaling the distance en-
coder" field in the "Scaling the virtual encoder" field.
INFORMATION
The input fields described in steps 5 are not relevant for you if you choose the "Group"
option in the dropdown menu "Individual axis/scaling factor group" described in chap-
ter 3 "Selecting the individual startup steps".
In this case, the values from "Scaling the distance encoder" are used.

Startup I
6
0
ple application
Distance scaling factor Increments: 1
Travel distance: 1
Speed scaling factor Numerator: 1
Denominator: 1

I Startup
0
6.5.6 Step 6: Limiting the travel distance

You can set the limits for travel range and velocity in this window.
9007199927589131

Limit switch Software LS The software limit switches limit the permissible travel range for the
CW "Jog", "Positioning", and "Automatic" operating modes.
Software LS The specified value refers to the increments of the distance encoder.
CCW
Reference Reference off- Enter the reference offset in increments in relation to the distance
travel set encoder.
Reference The axes are referenced to the specified reference position at stand-
travel type still.
Limits Maximum You can limit the specified positioning speed by entering the value.
speed for posi-
tioning
Maximum You can limit the specified jog speed by entering the value.
speed in jog
mode
P302 Nmax Enter a value at least 10 % higher than the maximum positioning and/
speed controller or jog speed.

Startup I
6
0
ple application
Maximum speed for positioning 2500 min-1
Maximum speed in jog mode 1000 min-1
P302 Nmax speed controller 3000 min-1

I Startup
0
6.5.7 Step 7: Setting and checking synchronous operation parameters

This window is used to make the settings for indirect synchronization.
In "Automatic" operating mode, the entire SyncCrane axis system if following the virtual
master encoder. Synchronicity with the master value of the virtual encoder is ensured
locally in MOVIDRIVE® by the technology function "Internal synchronous operation".
The MOVIDRIVE® units continuously synchronize the motor encoder position to the cy-
clical master value of the virtual encoder of MOVI-PLC®.
In MOVI-PLC®, the absolute encoder position is also monitored centrally in the higher-
level control loop and adjusted according to the selected synchronization mode. The
synchronization modes can be configured using the wizard.
9007199927593483

Startup I
6
0

Position con- Synchronization mode 4 synchronization modes are supported:
trol • Deactivated
Position deviations are not compensated. This setting is
recommended for systems without distance encoder or
without slip between the motor encoder and the distance
encoder.
• Register loop (default setting):
Recommended standard mode to correct position devia-
tions even in case of an unfavorable mechanical design.
Position deviations are copied cyclically to the LagCon-
troller of the inverter using the "Register loop" inverter
function. The position deviation is compared with the
current correction value and can be corrected directly.
• Offset automat.
Position deviations are compensated using the "Offset
automat." inverter function. Another correction value can
only be processed after a compensation. This method is
not suitable if the set values for speed/ramps are
changed dynamically, or if increased slip is expected.
Position deviations are compensated using the "Offset
automat." inverter function. Another correction value can
only be processed after a compensation. This method is
not suitable if the set values for speed/ramps are
changed dynamically, or if increased slip is expected.
• ISYNC
The distance encoder signals are processed directly in
the position control loop of the inverter using the "Inter-
nal synchronous operation" technology function. Pro-
cessing is continuous, i.e. the set values for dynamic
position window, speed raising, and minimum synchroni-
zation speed are not taken into account. This mode is
suitable for a design with low-vibration mechanics and a
motor encoder/ext. distance encoder ratio < 10.
Dynamic position window When the position deviation is exceeded by the value of the
"dynamic position window", the position is corrected accord-
ing to the selected synchronization mode "Register loop" or
"Offset automat.". The prerequisite for this is the moving and
synchronized axis system.
PosSpeed Raising Factor The speed of the compensation movement is calculated
Dynamic from the selected PosSpeed Raising Factor Dynamic multi-
plied by the current speed setpoint (limited by nmin = Pos-
Speed Static).
PosSpeed Static When the synchronized axis system is at a standstill, each
axis is controlled with "PosSpeed Static" until it is within the
position window defined in the monitoring functions.
Parameters Jerk time virtual encoder The positioning behavior of systems prone to vibration can
for optimiza- be improved significantly by specifying a jerk limit of the vir-
tion tual encoder.

I Startup
0
ple application
Synchronization mode Write register loop
PosWindow Dynamic Initial value: 5000
Optimized value: 100 (see following note)
PosSpeed Raising Factor Dynamic Initial value: 110
Optimized value: 102 With this low value, the
compensation move-
ments are performed with
minimal dynamics
PosSpeed Static 100
Jerk limitation of virtual encoder 1000 For systems with slip or
mechanical components
susceptible to vibration,
SEW recommends to
increase this value to
2000 ms.
Determining the optimized value

The optimized value for a dynamic position window of 80 mm is determined according
to the following formula:
80 mm 5 [Inc ]
Dyn._ position _ window (opt ._ value ) = × = 100 dis tan ce _ encoder _ increments
1 4 [mm ]
With this rather low value, you can correct even the slightest deviations. The compen-
sation process is started as soon as this value is exceeded. For cranes with high dy-
namics, SEW recommends to set a larger position window.
Checking the Proceed as follows to check the dynamic position window:

dynamic position
1. Select the operating mode "Automatic, synchronized group" and the virtual encoder
window
in "Positioning mode".
2. Start the test with a dynamic position window of ≈ 10 cm.
3. Optimize the size of the dynamic position window according to your requirements.
Use the following table as a reference:
Size of the position window Behavior of the drive
Too small (≤ 50-fold encoder scaling) • Rough running with constant compensation
processes.
• The sensitive setting constantly triggers
compensation processes, which causes the
system to oscillate.
Optimum • Smooth, quiet running with accurate stop.
• The target position is approached directly.
The drive does not overshoot.
• The repetition accuracy of the positioning pro-
cess meets the requirements.
Too large • Noticeable "retraction" of the axes after reach-
ing the target.
• During the travel process, there are no or too
few compensation processes. The resulting
offset is only corrected after the virtual
encoder has come to a standstill with the
specified minimum synchronization speed.

Startup I
6
0
4. Repeat the test with positioning processes over longer distances (> 3 m).
5. Check whether the drives overshoot upon reaching the target position when traveling
> 3 m.
If this happens, make the dynamic position window smaller.
6. Change the values in the "PosSpeed Raising Factor Dynamic" input field, if neces-
sary. This changes the dynamic properties for the correction of position deviations.

I Startup
0
6.5.8 Step 8: Setting and checking monitoring functions

This window is used to set the monitoring functions.
672860427

Position mon- Position window The specified value in relation to the distance encoder influ-
itoring ences the "IPOSinPosition" message. The value must be
set in such a way that the "IPOSinPosition" message does
not change after having reached the target.
Lag error Lag error window It is not possible to switch to "Automatic" operating mode if
monitoring the distance encoder positions deviate from each other by
the value of the lag error window.

Startup I
6
0
ple application
Position window Initial value: 50
Optimized value: 13 (rounded, see following note)
Lag error window Initial value: 5000
Optimized value: 250 (see following note)
Determining the optimized values

The optimized value for a position window of 10 mm is determined according to the
following formula:
10 mm 5 [Inc ]
Position _ window (opt . _ value ) = × = 12.5 dis tan ce _ encoder _ increments
1 4 [ mm ]
The optimized value for a lag error window of 200 mm is determined according to the
following formula:
200 mm 5 [Inc ]
Lag _ error _ window (opt . _ value ) = × = 250 dis tan ce _ encoder _ increments
1 4 [ mm ]
Synchronization only starts if the lag error window is not exceeded. If the lag error win-
dow is exceeded while the axis is moving, the moving axis will be stopped immedi-
ately.
The lag error window must be larger than the dynamic position window and the posi-
tion window.
Checking the posi- Proceed as follows to check the position window:

tion window
1. Select the operating mode "Positioning mode, not synchronized, group".
2. Start the test with positioning processes over short distances (e.g. 10 cm).
3. Optimize the size of the position window according to your requirements. Use the fol-
lowing table as a reference:
Size of the position window Behavior of the drive
Too small (≤ 50-fold encoder scaling) The drive oscillates around the target position.
The output bit "In position" constantly changes its
status (toggling).
Optimum The target position is approached without over-
shooting. The repetition accuracy of the position-
ing process meets the requirements.
Too large The positioning control of the drive is deactivated
as soon as it reaches the positioning window. This
results in a lower repetition accuracy for position-
ing.
4. Repeat the test with positioning processes over longer distances (e.g. 1 m).

I Startup
0
6.5.9 Step 9: Saving the data

Downloading the Proceed as follows to transfer the SyncCrane application data to the controller:
data to the control-
1. Click on the [Download] button.
ler
9007199766723467
2. Wait until the progress bar for the download is closed.
The following functions are performed during download:

• Downloading the MOVI-PLC® application program to the controller
• Downloading the SyncCrane application data to the controller
• Starting the MOVI-PLC® application program
INFORMATION
• Before you click the [Download] button, make sure that all applications of the
MOVITOOLS® MotionStudio engineering software are closed (PLC Editor, param-
eter tree, etc.).
• Do not start any applications and do not change to other applications after having
pressed the [Download] button.
• Wait until the progress bar for the download is closed.
With the download of the data to the controller, the startup process of the main axes is
complete. If you want to startup auxiliary axes, refer to chapter "Auxiliary drives (auxil-
iary axes)" (page 87).
After completing the startup procedure, SEW recommends to optimize the speed con-
troller, refer to chapter "Optimization of the speed controller" (page 39).

Startup I
6
0
Uploading the data You can save your application and unit parameters permanently on your PC using the
to the PC MOVITOOLS® MotionStudio engineering software.
Note that you have to save both your data in the controller and your data in the inverters.
In both cases, the data is first uploaded from the unit and then saved on the PC.
Transferring the Proceed as follows to save the parameters of both inverters:

unit parameters of
1. Select the first MDXB in the network view.
the inverters
2. In the context menu, select the command [Manage unit parameter set] / [Upload (unit
-> PC)].
A dialog box opens in Windows Explorer
3. Enter the file name and the directory in which you want to save the unit parameters.
4. Confirm by clicking [Save].
The dialog box displays a progress bar that informs you about the status of the data
transfer.
5. Acknowledge the completion of the data transfer by clicking on [OK].
6. Repeat the steps for the second MDXB.
INFORMATION
The procedure described here ensures that the settings of parameters SBus 1 and
SBus 2 are saved.
Transferring the The unit parameters of the controller and the MOVI-PLC® application are saved using
unit parameters of the project management of MOVITOOLS® MotionStudio.
the controller
For detailed information about project management, refer to the documentation (online
help or manual) of the MOVITOOLS® MotionStudio engineering software.

Operation
7 Starting the drive
7 Operation
7.1 Starting the drive
After the download, switch to the monitor of the SyncCrane application module.
INFORMATION
Selection of the modes and plausible feedback of the status bits are only ensured if an
axis number (99 for broadcast, or 1 ... 12 for single axis mode) is transferred via pro-
cess data word 3.
7.1.1 Operating modes for fieldbus control

Operating mode PO1:1 PO1:1 PO1:1 Description
3 2 1
Default 0 0 0 No axis is moved.
Jog mode 0 0 1 • An individual axis or the group can be moved via
the Jog+ and Jog– inputs.
• The travel parameters velocity, acceleration ramp
and deceleration ramp can be specified via process
output data words PD8, PD9, and PD10.
If no velocity is specified, the axis will move at 1
rpm.
• Unsynchronized motion sequence is supported for
controlling single axes or a group of axes.
Referencing mode 0 1 0 • The distance encoder position is referenced when
start is set.
• Reference travel establishes the reference point
(machine zero) for positioning operations.
• Single-axis/group control is supported.
Positioning mode 0 1 1 • After a target position has been specified (PO4,
PO5) and start has been set, the referenced single
axis or group can be moved.
and deceleration ramp can be specified via process
output data words PD8, PD9, and PD10. If no
velocity is specified, the axis will move at 1 rpm.
• Single-axis or group control is supported for
unsynchronized motion sequences.
Automatic opera- 1 0 0 • When start is set, the group is aligned and the
tion technology function "internal synchronous
(virtual encoder operation" is activated.
and synchronous • Controlling the virtual encoder lets you move the
operation) axis system (jog mode or positioning mode).
Note: Only group control is permitted for this operating
mode.
Emergency oper- 1 0 1 • An individual axis or the group can be moved via
ation the Jog+ and Jog– inputs.
and deceleration ramp can be specified using
process output date words PD8, PD9, PD10. If no
velocity is specified, the axis will move at 1 rpm.
• Moving the axes without encoder evaluation is
supported.
• Unsynchronized motion sequence is supported for
controlling single axes or a group of axes.

Operation
Diagnostics monitor
7
7.2 Diagnostics monitor

7.2.1 Diagnostics monitor: Monitor mode
During ongoing operation, you can open the monitor using the following menu path:
[MotionStudio]/[Application modules]/[SyncCrane for MOVI-PLC]
In monitor mode, the process input and process output data transferred via fieldbus are
displayed in decoded format.
9007199766763403
7.2.2 Diagnostics monitor: Control mode

To control the application module without higher-level controller, click the [Controller]
button.

Operation
7 Jog mode - not synchronized
7.3 Jog mode - not synchronized

Interface description
Mode selection PO1:Bit11 = TRUE
PO1:Bit12 = FALSE
PO1:Bit13 = FALSE
Jog + PO1:9
Jog– PO1:10
Disable SWLS PO1:15
Axis number PO3 Broadcast 99 or single axis mode 1 ... 8
Velocity specification PO8 in [rpm] or [user units]
Velocity limit Startup parameter
Position limiting Software limit switch startup parameter
Ramp specification PO9 Acceleration ramp in [ms]
PO10 Deceleration ramp in [ms]
Brief description After selecting a direction of rotation, the single axis (PO3 1 ... 8) or the
entire axis system (PO3 = 99) can be operated in jog mode. If software
limit switches were assigned, the travel range is restricted to these limits.
Requirement • Operating mode is selected
• Drive is enabled
Functional The direction is selected using Jog+ or Jog–.
description If the software limit switch right is set > software limit
switch left, the travel range is limited to 3 position win-
dows (startup) before the respective software limit
switch.
If the Disable SWLS bit is set, the limitation of the
travel range is deactivated.
For the travel movement, positioning indirectly takes
place to the external encoder.
Without evaluation the limit switches, the axis can be
moved endlessly.
The drive stops with position control if the direction
selection is not enabled or both directions are
selected at the same time.
The specified ramp time is used for accelerating/
decelerating the drive.
The specified velocity of the jog mode is compared to
the velocity limit and limited if necessary.

Operation
Jog mode - not synchronized
7
7.3.1 Supplement jog mode of the virtual axis - synchronized

For documentation of the operating mode, see above. For differences in the interface,
see below.
PO2:Bit12 = FALSE
PO2:Bit13 = FALSE
Prerequisite All axes are engaged. This is indicated by PI2:4 "Axes
synchronous".
Prerequisite:
• "Automatic" mode is selected and "Start" is set via
process data word 1.
• The axes are enabled (display "A: technology
function" of the 7-segment display)
Jog + PO2:9
Jog– PO2:10
Disable SWLS PO2:15
Jerk limitation Startup parameter

Operation
7 Referencing mode
7.4 Referencing mode

Mode selection PO1:Bit11 = FALSE
PO1:Bit12 = TRUE
PO1:Bit13 = FALSE
Start referencing PO1:8
Speed selection –
Ramp specification –
Reference travel type Startup parameter
Reference offset • Startup parameter
• Specification of actual position of the encoder after reference travel
has been completed.
Reference speed 1 Setpoint speed for search travel to the reference cam
Reference speed 2 Setpoint speed for moving clear of the reference cam
Brief description Depending on the selected reference type, the encoders (motor encoder
and external or absolute encoders) are set to the specified reference off-
set at a standstill or by traveling to a cam.
Requirement • Axes have been mechanically aligned, e.g. in jog
mode.
• Operating mode is selected and start is set
Functional Encoder adjustment is initiated using bit PO1:8 “Start”.
description The individual axes have to be aligned mechanically
prior to reference travel, e.g. by selecting single axis in
jog mode.
• The actual position of the drives is the reference
point. Enable is withdrawn and reference travel type
8 is started in the inverter.
Individual axes can be referenced using this refer-
ence type only.

Operation
Positioning mode – not synchronized
7
7.5 Positioning mode – not synchronized

PO1:Bit12 = TRUE
PO1:Bit13 = FALSE
Start referencing PO1:8
Disable SWLS PO1:15
Position setpoint PO4 and PO5 in [inc] or user-defined units
Velocity specification PO8
Ramp specification • PO9 acceleration ramp
• PO10 deceleration ramp
Jerk limitation –
Brief description Movement takes place to the specified target position when the setpoint
position is selected and start is set. It is possible to move an individual
axis (PO3 1 ... 8) or the entire axis system (PO3 = 99).
Functional The positioning sequence is started using bit PO1:8
description Start.
The user specifies the absolute target position via
fieldbus.
Speed and ramp times are adopted from the speci-
fied process data words and compared to the limita-
tions from the startup.
The position specification can be changed during
ongoing operation. When the drive reaches the tar-
get position, it stops with position control and sends
back the “In position” signal by setting bit PO1:3.
If software limit switches are defined, the target posi-
tion will be checked cyclically for plausibility. If a
position is specified, which lies outside the software
limit switch range, a fault message will be issued
and the ongoing movement will be stopped. This
monitoring function can be deactivated with the input
bit Disable SWLS.

Operation
7 Positioning mode – not synchronized
7.5.1 Supplementary positioning mode of the virtual axis – synchronized

The following table shows the differences in the interface. Prerequisite is that "Auto-
matic" mode is selected with "Start" set via process data word 1.
PO2:Bit12 = TRUE
PO2:Bit13 = FALSE
Requirement All axes are engaged. This is indicated by PI2:4 "Axes synchronous".
Prerequisite:
• "Automatic" mode is selected and "Start" is set via process data word
1.
• The axes are enabled (display "A: technology function" of the 7-
segment display)
Start PO2:8
Disable SWLS PO2:15
Position setpoint PO6 and PO7 in [inc] or user-defined units
Velocity specification PO8
Jerk limitation Startup parameter
Ramp specification • PO9 acceleration ramp
• PO10 deceleration ramp

Operation
Automatic mode
7
7.6 Automatic mode

Selecting "Automatic" mode means a sequencer is run through and the following func-
tions are processed:
Automatic mode is initialized • The axis system is adjusted to the calculated common
"adjust position".
• The virtual encoder position is referenced to the adjust
position.
• "Synchronous operation" mode is activated
Cyclical program section: • Cyclical processing of the virtual setpoints
Processing the virtual encoder • Cyclical correction/slip compensation between the virtual
master encoder position and the read-in external encoder
position in synchronous operation.
• Monitoring of lag error, encoder error, and inverter error
Initialization is repeated in the following cases:

• Selecting an operating mode
• Positive edge of Start
• Reset of the axes following an encoder error
• Drives change to "A" state (technology function)

Operation
7 Automatic mode
The following figure shows the automatic mode:
Initializing
Adjust the MOVIDRIVE

axis
All axis in position
Adjust the virtual

encoder
Virtual encoder in position
Encoupling the axis
All axis InGear

Ready for virtual encoder
Control the virtual

encoder ( jog mode or
positioning)
Cyclic slip
compensation
536573963

Operation
Automatic mode
7
7.6.1 Interface description
Mode selection PO1:Bit11 = FALSE
PO1:Bit12 = FALSE
PO1:Bit13 = TRUE
Mode selection virtual See description jog mode/positioning mode (supplement virtual encoder)
encoder
Start PO1:8
Axis number PO3 Broadcast 99
Position setpoint PO6 and PO7 virtual master encoder position
Position limiting Startup parameter limitation of virtual master encoder
Ramp specification • PO9 acceleration ramp [ms]
• PO10 deceleration ramp [ms]
Brief description The entire system is moved synchronously in automatic mode.
Prerequisite • Operating mode is selected and start is set
• No axis fault present
• No lag error
• No external encoder error
• No error on PI1:Bit 6
Functional Automatic mode enables the user to operate the axis
description system synchronously.
After selecting automatic mode or upon changing to
the inverter status "A", the slave axes are adjusted to
a calculated "adjust position". The slave axes signal
a completed adjustment process via feedback bit
PO2:Bit4 "Axes synchronous".
From this time on, the axis system can be moved by
controlling the virtual encoder. This is done by acti-
vating PO2 and jog mode or positioning mode.
The axis system follows the actual value of the vir-
tual encoder according to the principle of indirect
synchronization. This means the setpoint is con-
verted for the motor encoder to a position setpoint of
the internal synchronous operation. At the same
time, slip is compensated by monitoring the external
encoder position. The slave axes signal during the
movement whether a lag warning error was issued
by means of feedback bits.
Refer to the following chapters for detailed informa-
tion on the adjustment mode and synchronization
functions.

Operation
7 Automatic mode
7.6.2 Submode adjustment mode

The following figure shows the calculation of the adjustment position, for example for 3
slave axes.
AdjustPos = (-15 inc + 12 inc + 32 inc)/ 3

= 9.67 inc
-30 -20 -10 0 10 20 30 40 Position [inc]
ActPos Slave1 ActPos Slave2 ActPos Slave3

-15 inc 12 inc 32 inc
536577291
Interface descrip-
tion
Mode selection Not required (adjust position is determined cyclically)
Brief description The absolute position offset of all connected axes is read in and then the
mean position deviation is calculated. At the start of the adjustment pro-
cess, all axes are adjusted to this position.
Functional description The calculated position offset is compensated by a positioning movement
of the slave axes with the specified speed and ramp limits. "InPosition" is
signaled back after completed compensation movement.

Operation
Automatic mode
7
7.6.3 Submode synchronous mode

The following figure shows synchronous mode with absolute encoder sensing.
Slave 1 Controller Slave 2

MDX60/61B MDX60/61B
DHP DIP DHR DIP
DHF
X12 X33 X12
X33
DER DER
DEU DEU
X14 X14
X15 X62 X15 X62
SSI SSI
2807932939

Operation
7 Automatic mode
Interface descrip-
tion
Velocity limit Startup parameters synchronization speed
Ramp limit Startup parameters synchronization ramp
Master source Virtual master encoder
Slave source ISYNC Startup parameter
Slave source slip detection External HIPERFACE® encoder or absolute encoder
Synchronization mode Startup parameter
Brief description The technology function ISYNC ensures angular synchronism between
master and motor encoder.
At a higher level, the position difference between the virtual master
encoder and the absolute encoder system (or external HIPERFACE®
encoder) is detected and corrected by the selected synchronization pro-
cess.
Functional For information/descriptions of the ISYNC technol-
description ogy function, refer to the "MOVIDRIVE® MDX61B
Internal Synchronous Operation (ISYNC)" manual.
For information on the operating principle of the
higher-level slip compensation, refer to chapters
"Functional principle of indirect positioning and syn-
chronization" (page 14) and "Synchronous operation
parameters" (page 56).

Operation
Emergency mode
7
7.7 Emergency mode

PO1:Bit12 = FALSE
PO1:Bit13 = TRUE
Jog + PO1:9
Jog– PO1:10
Digital input You can influence the emergency mode by activating the digital input "Set-
EmergencyMode-DI01 X31:4":
• DI01 SetemergencyMode = False: The position-controlled procedure
switches the inverter to "speed specification" mode.
• DI01 SetemergencyMode = True: The position-controlled procedure
switches the inverter to "speed specification" mode and disables the
external encoder or absolute encoder, if installed. In this way, the
drive can even be moved with a defective absolute encoder.
Brief description If emergency mode was activated using the user interface, the drive can
also be moved in the event of an encoder error.
• MOVI-PLC® was restarted
Functional MOVI-PLC® can be rebooted via the process data
description interface by setting the input bit PO2: bit 6 "Reset-
Cold MOVI-PLC" to TRUE for about 50 ms.
The direction is selected using Jog+ or Jog–.
The travel movement is triggered by a specified
speed. Once emergency mode is selected using the
ApplicationBuilder startup, other operating modes
cannot be selected any longer.
The drive stops with position control if the direction
selection is not enabled or both directions are
selected at the same time.
The specified ramp time is used for accelerating/
decelerating the drive.
The specified velocity of the jog mode is compared
to the velocity limit and limited if necessary.
Automatic mode cannot be selected anymore when
the digital input (set emergency mode DI01 X31:4) is
activated.

Operation
7 Additional functions
7.8 Additional functions

7.8.1 External encoder monitoring function
Lag error window Startup parameter
Brief description To detect wire breakage of draw-wire encoders, the positions between
motor encoder and distance encoder are sensed cyclically during ongoing
movement.
If this condition is violated, feedback is provided by the described status
bits and an error message in the IEC.
Requirement Ongoing movement (actual speed > 50 rpm)
7.8.2 Lag error window monitoring function
Lag error prewarning window Startup parameter
Brief description In Automatic mode, a position comparison is made cyclically between the
calculated averaged position of all axes involved, and the position offset of
each axis to the reference position.
Requirement • Ongoing movement
• Automatic active
7.8.3 Fieldbus master monitoring function
Operating principle Diagnostics function, which monitors the bus communication to the mas-
ter controller cyclically.
Prerequisite Control via the PROFIBUS interface

Operation
Cycle diagrams
7
7.9 Cycle diagrams

The following conditions apply to the cycle diagrams:
• Startup has been performed correctly
• DI00 "/Controller inhibit" = "1" (no inhibit)
• PO1:1 = "1" (Enable/halt)
• PO1:2 = "1" (Enable/stop)
• PO3 = "99" for group control or "1 ... 12" for single axis selection
The values for the dynamic parameters are transferred using the following process out-
put data words:
• PO8 = Setpoint velocity
• PO9 = Acceleration ramp
• PO10 = Deceleration ramp
• PO45 = Target position for positioning mode (unsynchronized)
• PO67 = Target position for automatic mode (synchronized)

Operation
7 Cycle diagrams
7.9.1 Jog mode
[1] [2]
PA1:8
PA1:9
PA1:10
PA1:11
PA1:12
PA1:13
PE45
536573963
[1] Axis starts when the jog+ bit is set

[2] Axis starts when the jog– bit is set
Position Description
PO1:8 Start
PO1:9 Jog +
PO1:10 Jog–
PO1:11 "0" Mode 20
PO1:12 "0" Mode 21
PO1:13 "0" Mode 22
PI45 Actual position 32 bit

Operation
Cycle diagrams
7
7.9.2 Referencing mode
[1] [2]
PA1:8
PA1:11
PA1:12
PA1:13
PE1:2 >8s
eg. 54896
PE45 0
9007199791334923
[1] Referencing starts when the start bit is set

[2] The drive is referenced once the PI1:2 message (IPOS reference) is set.
PO1:8 Start
PO1:11 "0" Mode 20
PO1:12 "1" Mode 21
PO1:13 "0" Mode 22
PI1:2 IPOS reference

Operation
7 Cycle diagrams
7.9.3 Positioning mode

The following figure shows unsynchronized positioning operation of the individual axis/
group.
[1] [2] [3] [4]
PA1:8
PA1:11
PA1:12
PA1:13
PE1:3
PE45
536590603
[1] Start positioning

[2] Positioning is interrupted by revoking start
[3] Positioning
[4] Positioning finished. PI1:3 message (IPOS in position) set.
PO1:8 Start
PO1:11 "0" Mode 20
PO1:12 "1" Mode 21
PO1:13 "1" Mode 22
PO45 Setpoint position
PI1:3 IPOS in position

Operation
Cycle diagrams
7
7.9.4 Automatic mode

The following figure show synchronized positioning mode of the group with positioning
of the virtual encoder.
[1] [2] [3] [4] [5] [6] [7]
PA1:8
PA1:11
PA1:12
PA1:13
PA2:8
PA2:11
PA2:12
PA2:13
PE2:3
PE2:4
PE67
536575627
[1] Automatic mode selected

[2] Activation of operating mode with the start input
[3] Feedback "Axis system synchronized – ready for virtual encoder"
[4] Positioning of the virtual encoder mode selected
[5] Start of movement PO2:8 input "start"
[6] Positioning finished. PI2:3 message (virtual encoder in position) set.
[7] Decoupling of axis system by deselecting the operating mode

Operation
7 Cycle diagrams
PO1:8 Start (automatic mode)
PO1:11 "0" Mode 20 (automatic mode)
PO1:12 "0" Mode 21
PO1:13 "1" Mode 22
PO2:8 Start (start of virtual encoder)
PO2:11 "1" Mode 20 (positioning mode of the virtual encoder)
PO2:12 "1" Mode 21
PO2:13 "0" Mode 21
PO67 Setpoint position virtual encoder
PI2:3 Virtual position reached
PI2:4 Axis system synchronized – ready for virtual encoder
PI67 Actual position of axis system 32 bit

Operation
Cycle diagrams
7
7.9.5 Emergency mode

The following figure shows unsynchronized emergency mode of the individual axis/
group.
The following additional prerequisites apply to emergency mode:
• X31:4 (DI01 set emergency mode) was set.
• MOVI-PLC® was restarted with set DI01.
[1] [2]
PA1:8
PA1:9
PA1:10
PA1:11
PA1:12
PA1:13
PE1:0
500 [1/min]
– 500 [1/min]
536588939
[1] Axis starts when the jog+ bit is set

[2] Axis starts when the jog– bit is set
PO1:8 Start
PO1:9 Jog +
PO1:10 Jog–
PO1:11 "1" Mode 20
PO1:12 "0" Mode 21
PO1:13 "1" Mode 22
PI1:0 Motor is turning

Operation
7 Fault information
7.10 Fault information
7.10.1 Table of error codes
Error Description Description in English

code
FF0201h E_MPLC_INVALIDNUMBEROFAXIS Invalid number of axes. A maximum of 8
axes can be selected.
FF0202h E_MPLC_INVALIDACTAXISNUMBER Invalid axis selection. Permitted:
• PO3 = 99 (group control)
• PO3 = 1 ... 8 (single axis control)
FF0203h E_MPLC_SYNCCRANE_LIMITSWITCHCW The specified position or actual position is
outside the defined software limit switch.
FF0204h E_MPLC_SYNCCRANE_LIMITSWITCHCCW The specified position or actual position is
outside the defined software limit switch.
FF0205h E_MPLC_SYNCCRANE_FIELDBUSTIMEOUT Fieldbus communication was interrupted. All
setpoints are cleared internally.
FF0206h E_MPLC_SYNCCRANE_EXTENCODER External encoder provides implausible val-
ues. Axis system is stopped in automatic
mode.
FF0207h E_MPLC_SYNCCRANE_HMIFAILURE Communication while accessing the wizard
was interrupted. All setpoints are cleared
internally.
FF0208h E_MPLC_SYNCCRANE_LAGERROR The set lag error was exceeded in automatic
mode (distance from external encoder posi-
tion to virtual master encoder). The axis sys-
tem is stopped.
7.10.2 Reading out the error information

The user can read out the error information via the startup wizard under [Monitor] / [Sin-
gle-axis monitor] / [Display field FB error]. The error information can also be read out via
the process input data. In case of an error, bit 6 (FB error/warning) in PI1 is set to
"TRUE" and the last digit of the error code is sent via the high byte in PI2.

Auxiliary Drives (Auxiliary Axis)
System description
8
8 Auxiliary Drives (Auxiliary Axis)

8.1 System description
8.1.1 Fields of application
Many applications with the SyncCrane application module are characterized by control-
ling several independent sequences of motion via a common interface between MOVI-
PLC® and the higher-level fieldbus master.
In many crane applications, for example, more auxiliary drives are required in addition
to the feed axes synchronized using the SyncCrane application module in order to con-
trol the lifting and Z movement of the load suspension.
Example: Hall crane with 3 motion axes:
682447883
Axis Description
X Motion sequence of the synchronized feed axes controlled via SyncCrane interface.
Z Position-controlled axis for moving the load suspension.
Y Position-controlled axis for lifting movement of the load suspension.
Up to 4 auxiliary axes can be integrated without additional programming work. The Ap-
plicationBuilder wizard is available for startup and diagnostics.

8 System description
Users can choose between up to 3 different profiles to cover an as large as possible ap-
plication area:
• Bus positioning (16 bit position representation)
• Extended bus positioning (32 bit position representation)
• Velocity (velocity specification without position representation)
The profiles can be set separately for each of the max. 4 auxiliary drives.
Due to the maximum processing of 32 process data words with DHP11B, the process
data width of the auxiliary drives was reduced to 4 process data words.
The controllers DHF41B and DHR41B require 6 process data words per auxiliary drive.
8.1.2 Application examples

• Hall crane with 2 additional auxiliary axes for handling the load suspension using the
"extended bus positioning" profile.
• Travel carriage with control of an additional hydraulic unit using the "velocity" profile.
The hydraulic unit is operated without encoder by specifying a setpoint speed.

Project planning for auxiliary drives
8
8.2 Project planning for auxiliary drives

8.2.1 Functional description
Mode Profile 1 Profile 2 Profile 3
Bus positioning Extended position- Velocity
ing via bus
Mode 0 Default mode Default mode Default mode
Mode 1 Jog mode Jog mode Jog mode with velocity specification
Mode 2 Referencing mode Referencing mode Default mode
Mode 3 Positioning mode Positioning mode Default mode
Functional charac- The auxiliary drives provide the following functional characteristics:
teristics
Mode Description
Jog mode • The drive is moved clockwise or counterclockwise with position control using
two bits for direction selection.
• Velocity and ramp can be specified via fieldbus as required depending on the
profile.
Jog mode with startup • The set operating mode can also be used without encoder.
of the "velocity" profile • The drive is moved clockwise or counterclockwise using two bits for direction
selection.
• Velocity and ramp can be specified via fieldbus as required.
Referencing mode • Reference travel and position adjustment of the external encoder are initiated
with the start signal.
• Reference travel establishes the reference point (machine zero) for absolute
positioning operations.
Positioning mode • When the axes are referenced and start is set, the received target position
results in a positioning operation.
• Velocity and ramp can be specified via fieldbus as required depending on the
profile.
8.2.2 Process data assignment

The higher-level controller (PLC) sends a process data range of 4 PD for each auxiliary
drive via PROFIBUS.
Addressing of process data words for DHP11B:
Number of auxiliary drives 1 2 3 4
Axis 1 PD 29 ... 32 25 ... 28 21 ... 24 17 ... 20
Axis 2 PD – 29 ... 32 25 ... 28 21 ... 24
Axis 3 PD – – 29 ... 32 25 ... 28
Axis 4 PD – – – 29 ... 32
Addressing of process data words for DHF41B and DHR41B:

Number of auxiliary drives 1 2 3 4
Axis 1 PD 20 ... 25 20 ... 25 20 ... 25 20 ... 25
Axis 2 PD – 26 ... 31 26 ... 31 26 ... 31
Axis 3 PD – – 32 ... 37 32 ... 37
Axis 4 PD – – – 38 ... 43

8 Project planning for auxiliary drives
Process output PO1 = Control word 1

data words
Bit 15 Bit 0
Bit 14 Bit 1
Bit 13 Bit 2
Bit 12 Bit 3
Bit 11 Bit 4
Bit 10 Bit 5
Bit 9 Bit 6
Bit 8 Bit 7
512061835
Bit no. Description

Bit 0 /Controller inhibit
Bit 1 Enable/rapid stop
Bit 2 Enable/stop
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Error reset
Bit 7 Reserved
Bit 8 Start
Bit 9 Jog+
Bit 10 Jog–
Bit 11 Mode 20
Bit 12 Mode 21
Bit 13 Reserved
Bit 14 Ramp switch-over1) / reserved
Bit 15 Disable SWLS
1) For DHP11B and "extended positioning" profile
Process output data words for DHP11B:

Process output data Profile 1 Profile 2 Profile 3
word Bus positioning Extended positioning Velocity
via bus
PO1 Control word Control word Control word
PO2 Setpoint speed Setpoint speed Setpoint speed
PO3 Ramp Position HighWord Ramp
PO4 Position 16 bit Position LowWord Reserved

Project planning for auxiliary drives
8
Process output data words for DHF41B and DHR41B:

Process output data Profile 1 Profile 2
word Bus positioning Extended positioning
via bus
PO1 Control word Control word
PO2 Position HighWord Reserved
PO3 Position LowWord Reserved
PO4 Setpoint speed Setpoint speed
PO5 RampUp RampUp
PO6 RampDown RampDown
Process input data PI1 = Status word 1

words
Bit 15 Bit 0
Bit 14 Bit 1
Bit 13 Bit 2
Bit 12 Bit 3
Bit 11 Bit 4
Bit 10 Bit 5
Bit 9 Bit 6
Bit 8 Bit 7
512061835
Bit no. Description

Bit 0 Motor is turning
Bit 1 Frequency inverter ready for operation
Bit 2 IPOS axis referenced
Bit 3 IPOS in position
Bit 4 Brake released
Bit 5 Frequency inverter fault/warning
Bit 6 Limit switch CW
Bit 7 Limit switch CCW
Bit 8 ... Inverter/error state
15

8 Project planning for auxiliary drives
Process input data words for DHP11B:

Process input data word Profile 1 Profile 2 Profile 3
Bus positioning Extended positioning Velocity
via bus
PI1 Status word Status word Status word
PI2 Actual velocity Actual velocity Actual velocity
PI3 Reserved Actual position High- Reserved
Word
PI4 Actual position 16 bit Actual position LowWord Actual position
16 bit
Process input data words for DHF41B and DHR41B:

Process input data word Profile 1 Profile 3
Bus positioning Velocity
PI1 Status word Status word
PI2 Actual position High- Actual position
Word HighWord
PI3 Actual position Low- Actual position
Word LowWord
PI4 Actual velocity Actual velocity
PI5 Output current Output current
PI6 Unit utilization Unit utilization
8.2.3 Control configuration

The SyncCrane application module is designed for controlling a maximum of 4 addi-
tional auxiliary drives. The inverters are connected via CAN2 of the MOVI-PLC® (X:32)
with a baud rate of 500 kbaud.
The inverters have to be set with SBus address 9 ... 12. It is recommended that you
make the setting using the DriveStartup tool.
Number of auxiliary axes 1 2 3 4
SBus baud rate (kbaud) 500 500 500 500
SBus address axis 1 9 9 9 9
SBus address axis 2 – 10 10 10
SBus address axis 3 – – 11 11
SBus address axis 4 – – – 12

Startup of auxiliary drives
8
8.3 Startup of auxiliary drives

8.3.1 Starting the "Auxiliary axis" program
Make a right mouse click on Serial 0:MOVI-PLC® and select:
[Application modules] / [SyncCrane for MOVI-PLC auxiliary axis]
Initial screen The initial screen of the "Auxiliary Axis" application is opened.
18014399267355915
PD start address Read out the start address for the first process data word here.
H variable Display variable for localizing the start address for the startup/diagnostic
area.
Startup Checkbox to display the operating status
Choose axis number Here, you can select a single-axis number to go to the respective startup or
monitor area. NOTE: The single-axis number must not be higher than the
maximum axis number.
Maximum axis number Here, you set the maximum number of auxiliary axes.
[Startup] Button to begin the startup procedure for the application.
The following chapters describe the next steps.
[Monitor] Button to start the process data monitor.
It is disabled if:
• You are not online
• The application module has not been detected
[Cancel] Button to leave the startup wizard.

8 Startup of auxiliary drives
Proceed as follows to perform initial startup:

• Begin initial startup of the individual axes with axis 1. To do so, choose "Axis 1" from
the "Select individual axis number" selection field.
• Enter the number of required auxiliary axes in the "Maximum number of axes"
selection field. You can choose a maximum of 4 axes.
Fieldbus parame- This window is used to specify the process data profile of your auxiliary axis.
ters
9007200012620683
Field Description
Active axis number You can read the selected axis number from this field.
SBus address You can read the required SBus address from this field.
Process data profile Choose a process data profile.
The following 3 process data profiles are supported:
• Bus positioning (only available for DHP11B)
• Extended positioning via bus
• Velocity

8
Calculating the On this startup screen you determine the feed units for the selected encoder system.
scaling factors
757885835
Diameter Enter the mechanical data in this field.
i gear unit You can enter values with two decimal places.
i additional gear
Unit for position and speed Enter the unit for position and speed specification here and click on the [Cal-
specification culation] button.
[Calculate] Button for determining the distance/speed scaling with user-defined units.

Parameters and In this window you can set the travel range and velocity limits.
limits
9007200012632715

Limit switch Software limit switch The software limit switches limit the permitted travel range for
right the following operating modes:
Software limit switch left • Jog
• Positioning
• Automatic
The specified value refers to the increments of the distance
encoder.
Hardware limit switch Choose whether you want hardware limit switches to be eval-
uated. They are evaluated on MOVIDRIVE® as follows:
• X13:5 DI04 with /Limit switch right
• X13:6 DI05 with /Limit switch left
Reference Reference offset Enter the reference offset in increments in relation to the dis-
travel tance encoder.
Reference type The reference type defines the movement sequence for
detecting the mechanical zero point.
Ramp 1 Ramp specification 1 for acceleration and deceleration ramps.
NOTE: Ramp 1 is only effective in the "extended bus position-
ing" profile.
Ramp 2 Ramp specification 2 for acceleration and deceleration ramps.
NOTE: Ramp 2 is only effective in the "extended bus position-
ing" profile with the DHP11B unit.
Jerk time Enter the duration of the torque formation here.
NOTE: The jerk time is not effective in the "velocity" profile.

8

Limits Maximum speed in posi- You can limit the specified positioning speed by entering the
tioning mode value.
Maximum speed in jog You can limit the specified jog speed by entering the value.
mode
Maximum motor speed Enter a value at least 10 % higher than the maximum posi-
tioning and/or jog speed.

Downloading data The data are loaded to the MOVI-PLC® as soon as you have entered the startup param-
eters.
757909899
INFORMATION
If you tick the "Reset cold" checkbox, MOVI-PLC® is reset after the download.
In this case, the SBus communication with the connected inverters is temporarily in-
terrupted and the message "MOVI-PLC timeout" is issued.
This message is pending until you acknowledge the associated error F116.

Operation of auxiliary drives
8
8.4 Operation of auxiliary drives

8.4.1 Starting the drive
After the download, switch to the monitor of the Auxiliary axis application module.
Operating modes
(fieldbus control)
Operating mode PO1:13 PO1:12 PO1:11 Description
Default 0 0 0 No axis is moved.
Jog mode 0 0 1 • Individual axes or the group can be moved via
the Jog+ and Jog- inputs.
• Specify the following values:
• Process output data words
• Travel parameters
• Velocity
• Ramp
If no velocity is specified, the axis will move at 0.2
rpm.
Referencing mode 0 1 0 • The IPOS encoder position is referenced
when start is set.
• Reference travel establishes the reference
point (machine zero) for positioning
operations.
Positioning mode 0 1 1 • The referenced single axis can be moved
once a target position is specified and start is
set.
• Specify the process output data words, travel
parameters, velocity, and ramp. If no velocity
is specified, the axis will move at 0.2 rpm.

8 Operation of auxiliary drives
Diagnostics moni- During ongoing operation, the monitor can be opened via [MotionStudio] / [Diagnostics]
tor: Monitor mode / [Application Builder] / [AuxiliaryAxis_E.mon].
In monitor mode, the process input and process output data transferred via fieldbus are
displayed in decoded format.
9007200012658187

Operation of auxiliary drives
8
Parameter Startup automatically sets the following parameters:

Parameter number Parameter Setting
SHELL P302 Maximum speed 1 Specified value from "Parameters and
limits"
SHELL P920 SW limit switch CW Specified value from "Parameters and
limits"
SHELL P921 SW limit switch CCW Specified value from "Parameters and
limits"
SHELL P603 Binary input DI04 /Limit switch CW or no function
SHELL P604 Binary input DI05 /Limit switch CCW or no function
SHELL P903 Reference travel type Specified value from "Parameters and
limits"
SHELL P900 Reference offset Specified value from "Parameters and
limits"
H2047 H_STARTADDRESS –
Hxxx + 1 H_OFFSET –
Hxxx + 2 H_OFFSETAXIS –
Hxxx + 3 PD_STARTADDRESS –
Hxxx + 4 PD_OFFSET –
Hxxx + 5 H_IBSTATUS_A1 –
Hxxx + 9 MONITOR_CTRL –
Hxxx + 10 H_STARTADDRESS_A1 –
Hxxx + 13 H_STARTADDRESS_4 –
Hxxx + 14 H_MAXAXISNUMBER –
Hxxx + 15 H_ACTAXISNUMBER –
Hxxx + 16 H_AUXIBSTATUS –
[H_STARTADDRESS_A1] + 0 PO1 –
[H_STARTADDRESS_A1] + 10 PI1 –
[H_STARTADDRESS_A1] + 20 BUS_ADDRESS –
[H_STARTADDRESS_A1] + 21 BUS_PDPROIFILE –
[H_STARTADDRESS_A1] + 25 SCALE_SOURCE –
[H_STARTADDRESS_A1] + 26 SCALE_TYPE –
[H_STARTADDRESS_A1] + 27 SCALE_VALUE –
[H_STARTADDRESS_A1] + 28 SCALE_RESOLUTION –
[H_STARTADDRESS_A1] + 29 SCALE_GEARINGRATIO –
[H_STARTADDRESS_A1] + 30 SCALE_EXTRATIO –
[H_STARTADDRESS_A1] + 31 SCALE_SPEEDRES –

8 Operation of auxiliary drives
Parameter number Parameter Setting

[H_STARTADDRESS_A1] + 32 SCALE_INC –
[H_STARTADDRESS_A1] + 33 SCALE_DISTANCE –
[H_STARTADDRESS_A1] + 34 SCALE_NUMERATOR –
[H_STARTADDRESS_A1] + 35 SCALE_DENOMINATOR –
[H_STARTADDRESS_A1] + 40 LIM_LSCCW –
[H_STARTADDRESS_A1] + 41 LIM_LSCW –
[H_STARTADDRESS_A1] + 42 LIM_HWLS –
[H_STARTADDRESS_A1] + 43 LIM_REFOFFSET –
[H_STARTADDRESS_A1] + 44 LIM_REFTYPE –
[H_STARTADDRESS_A1] + 45 LIM_Ramp1 / LIM-JERK –
[H_STARTADDRESS_A1] + 46 LIM_Ramp2 / reserved –
[H_STARTADDRESS_A1] + 47 LIM_MAXSPEEDAUTO –
[H_STARTADDRESS_A1] + 48 LIM_MAXSPEEDJOG –
[H_STARTADDRESS_A1] + 49 LIM_MAXSPEED –
[H_STARTADDRESS_A2+ 0 PO1 Structure axis 2


Appendix
Frequently asked questions
9
9 Appendix
9.1 Frequently asked questions
• Why do the axes not signal "Connected"?
• Was "DriveStartup" performed for each individual axis?
• Are the SBus addresses different?
• Are the baud rates set correctly?
• Is the SBus wiring correct (terminating resistors)?
• Is the firmware version of the inverters 8248540.18 or higher?
• Why does the enabled drive vibrate without mode selection?
• Check the calculated scaling factors and position windows.

Address List
10
10 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 Compe- Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1710
tence Center Ernst-Blickle-Straße 1 Fax +49 7251 75-1711
D-76676 Graben-Neudorf sc-mitte@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
Electronics SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1780
Ernst-Blickle-Straße 42 Fax +49 7251 75-1769
D-76646 Bruchsal sc-elektronik@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
Production Forbach SEW-USOCOME Tel. +33 3 87 29 38 00
Zone industrielle
Technopôle Forbach Sud
B. P. 30269
F-57604 Forbach Cedex
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
Nantes SEW-USOCOME Tel. +33 2 40 78 42 00
Parc d’activités de la forêt Fax +33 2 40 78 42 20
4 rue des Fontenelles
F-44140 Le Bignon
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!

Address List
10
Algeria
Sales Alger REDUCOM Sarl Tel. +213 21 8214-91
16, rue des Frères Zaghnoune Fax +213 21 8222-84
Bellevue sew-algeria@reducom-dz.com
16200 El Harrach Alger http://www.reducom-dz.com
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 http://www.sew-eurodrive.com.ar
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://www.sew-eurodrive.at
sew@sew-eurodrive.at
Belarus
Sales Minsk SEW-EURODRIVE BY Tel.+375 (17) 298 38 50
RybalkoStr. 26 Fax +375 (17) 29838 50
BY-220033 Minsk sales@sew.by
Belgium
Assembly Brussels SEW Caron-Vector Tel. +32 10 231-311
Sales Avenue Eiffel 5 Fax +32 10 231-336
Service BE-1300 Wavre http://www.sew-eurodrive.be
info@sew-eurodrive.be
Service Compe- Industrial Gears SEW Caron-Vector Tel. +32 84 219-878
tence Center Rue de Parc Industriel, 31 Fax +32 84 219-879
BE-6900 Marche-en-Famenne http://www.sew-eurodrive.be
service-wallonie@sew-eurodrive.be
Antwerp SEW Caron-Vector Tel. +32 3 64 19 333
Glasstraat, 19 Fax +32 3 64 19 336
BE-2170 Merksem http://www.sew-eurodrive.be
service-antwerpen@sew-eurodrive.be
Brazil
Production Sao Paulo SEW-EURODRIVE Brasil Ltda. Tel. +55 11 2489-9133
Sales Avenida Amâncio Gaiolli, 152 - Rodovia Presi- Fax +55 11 2480-3328
Service dente Dutra Km 208 http://www.sew-eurodrive.com.br
Guarulhos - 07251-250 - SP sew@sew.com.br
SAT - SEW ATENDE - 0800 7700496
Bulgaria
Sales Sofia BEVER-DRIVE GmbH Tel. +359 2 9151160
Bogdanovetz Str.1 Fax +359 2 9151166
BG-1606 Sofia bever@mail.bg

Address List
10
Cameroon
Sales Douala Electro-Services Tel. +237 33 431137
Rue Drouot Akwa Fax +237 33 431137
B.P. 2024 electrojemba@yahoo.fr
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, ON L6T 3W1 http://www.sew-eurodrive.ca
l.watson@sew-eurodrive.ca
Vancouver SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 604 946-5535
Tilbury Industrial Park Fax +1 604 946-2513
7188 Honeyman Street b.wake@sew-eurodrive.ca
Delta, BC V4G 1G1
Montreal SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 514 367-1124
2555 Rue Leger Fax +1 514 367-3677
Lasalle, PQ 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 http://www.sew-eurodrive.cl
LAMPA ventas@sew-eurodrive.cl
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 25323273
Sales Tianjin 300457 info@sew-eurodrive.cn
Service http://www.sew-eurodrive.com.cn
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-eurodrive.cn
Jiangsu Province, 215021
Guangzhou SEW-EURODRIVE (Guangzhou) Co., Ltd. Tel. +86 20 82267890
No. 9, JunDa Road Fax +86 20 82267922
East Section of GETDD guangzhou@sew-eurodrive.cn
Guangzhou 510530
Shenyang SEW-EURODRIVE (Shenyang) Co., Ltd. Tel. +86 24 25382538
10A-2, 6th Road Fax +86 24 25382580
Shenyang Economic Technological Develop- shenyang@sew-eurodrive.cn
ment Area
Shenyang, 110141
Wuhan SEW-EURODRIVE (Wuhan) Co., Ltd. Tel. +86 27 84478388
10A-2, 6th Road Fax +86 27 84478389
No. 59, the 4th Quanli Road, WEDA wuhan@sew-eurodrive.cn
430056 Wuhan
Xi'An SEW-EURODRIVE (Xi'An) Co., Ltd. Tel. +86 29 68686262
No. 12 Jinye 2nd Road Fax +86 29 68686311
Xi'An High-Technology Industrial Development xian@sew-eurodrive.cn
Zone
Xi'An 710065
Additional addresses for service in China provided on request!

Address List
10
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 http://www.sew-eurodrive.com.co
Santafé de Bogotá sewcol@sew-eurodrive.com.co
Croatia
Sales Zagreb KOMPEKS d. o. o. Tel. +385 1 4613-158
Service Zeleni dol 10 Fax +385 1 4613-158
HR 10 000 Zagreb kompeks@inet.hr
Czech Republic
Sales Prague SEW-EURODRIVE CZ S.R.O. Tel. +420 255 709 601
Business Centrum Praha Fax +420 220 121 237
Lužná 591 http://www.sew-eurodrive.cz
CZ-16000 Praha 6 - Vokovice sew@sew-eurodrive.cz
Denmark
Assembly Copenhagen SEW-EURODRIVEA/S Tel. +45 43 9585-00
Sales Geminivej 28-30 Fax +45 43 9585-09
Service DK-2670 Greve http://www.sew-eurodrive.dk
sew@sew-eurodrive.dk
Egypt
Sales Cairo Copam Egypt Tel. +20 2 22566-299 + 1 23143088
Service for Engineering & Agencies Fax +20 2 22594-757
33 EI Hegaz ST, Heliopolis, Cairo http://www.copam-egypt.com/
copam@datum.com.eg
Estonia
Sales Tallin ALAS-KUUL AS Tel. +372 6593230
Reti tee 4 Fax +372 6593231
EE-75301 Peetri küla, Rae vald, Harjumaa 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 sew@sew.fi
http://www.sew-eurodrive.fi
Production Karkkila SEW Industrial Gears Oy Tel. +358 201 589-300
Assembly Valurinkatu 6, PL 8 Fax +358 201 589-310
FI-03600 Karkkila, 03601 Karkkila sew@sew.fi
http://www.sew-eurodrive.fi
Gabon
Sales Libreville ESG Electro Services Gabun Tel. +241 741059
Feu Rouge Lalala Fax +241 741059
1889 Libreville esg_services@yahoo.fr
Gabun
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
Normanton, West-Yorkshire info@sew-eurodrive.co.uk
WF6 1QR

Address List
10
Greece
Sales Athens Christ. Boznos & Son S.A. Tel. +30 2 1042 251-34
Service 12, K. Mavromichali Street Fax +30 2 1042 251-59
P.O. Box 80136 http://www.boznos.gr
GR-18545 Piraeus info@boznos.gr
Hong Kong
Assembly Hong Kong SEW-EURODRIVE LTD. Tel. +852 36902200
Sales Unit No. 801-806, 8th Floor Fax +852 36902211
Service Hong Leong Industrial Complex contact@sew-eurodrive.hk
No. 4, Wang Kwong Road
Kowloon, Hong Kong
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
Registered Office Vadodara SEW-EURODRIVE India Private Limited Tel. +91 265 3045200, +91 265
Assembly Plot No. 4, GIDC 2831086
Sales POR Ramangamdi • Vadodara - 391 243 Fax +91 265 3045300, +91 265
2831087
Service Gujarat
http://www.seweurodriveindia.com
sales@seweurodriveindia.com
subodh.ladwa@seweurodriveindia.com
Assembly Chennai SEW-EURODRIVE India Private Limited Tel. +91 44 37188888
Sales Plot No. K3/1, Sipcot Industrial Park Phase II Fax +91 44 37188811
Service Mambakkam Village c.v.shivkumar@seweurodriveindia.com
Sriperumbudur - 602105
Kancheepuram Dist, Tamil Nadu
Ireland
Sales Dublin Alperton Engineering Ltd. Tel. +353 1 830-6277
Service 48 Moyle Road Fax +353 1 830-6458
Dublin Industrial Estate info@alperton.ie
Glasnevin, Dublin 11 http://www.alperton.ie
Israel
Sales Tel-Aviv Liraz Handasa Ltd. Tel. +972 3 5599511
Ahofer Str 34B / 228 Fax +972 3 5599512
58858 Holon http://www.liraz-handasa.co.il
office@liraz-handasa.co.il
Italy
Assembly Solaro SEW-EURODRIVE di R. Blickle & Co.s.a.s. Tel. +39 02 96 9801
Sales Via Bernini,14 Fax +39 02 96 799781
Service I-20020 Solaro (Milano) http://www.sew-eurodrive.it
sewit@sew-eurodrive.it
Ivory Coast
Sales Abidjan SICA Tel. +225 21 25 79 44
Société industrielle & commerciale pour Fax +225 21 25 88 28
l'Afrique sicamot@aviso.ci
165, Boulevard de Marseille
26 BP 1115 Abidjan 26

Address List
10
Japan
Assembly Iwata SEW-EURODRIVE JAPAN CO., LTD Tel. +81 538 373811
Sales 250-1, Shimoman-no, Fax +81 538 373855
Service Iwata http://www.sew-eurodrive.co.jp
Shizuoka 438-0818 sewjapan@sew-eurodrive.co.jp
Kazakhstan
Sales Almaty ТОО "СЕВ-ЕВРОДРАЙВ" Тел. +7 (727) 334 1880
050061, Республика Казахстан Факс +7 (727) 334 1881
г.Алматы, пр.Райымбека, 348 http://www.sew-eurodrive.kz
sew@sew-eurodrive.kz
Latvia
Sales Riga SIA Alas-Kuul Tel. +371 6 7139253
Katlakalna 11C Fax +371 6 7139386
LV-1073 Riga http://www.alas-kuul.com
info@alas-kuul.com
Lebanon
Sales Beirut Gabriel Acar & Fils sarl Tel. +961 1 510 532
B. P. 80484 Fax +961 1 494 971
Bourj Hammoud, Beirut ssacar@info.com.lb
Beirut Middle East Drives S.A.L. (offshore) Tel. +961 1 494 786
Sin El Fil. Fax +961 1 494 971
B. P. 55-378 info@medrives.com
Beirut http://www.medrives.com
Lithuania
Sales Alytus UAB Irseva Tel. +370 315 79204
Statybininku 106C Fax +370 315 56175
LT-63431 Alytus info@irseva.lt
http://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.sew-eurodrive.lu
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 sales@sew-eurodrive.com.my
West Malaysia
Mexico
Assembly Quéretaro SEW-EURODRIVE MEXICO SA DE CV Tel. +52 442 1030-300
Sales SEM-981118-M93 Fax +52 442 1030-301
Service Tequisquiapan No. 102 http://www.sew-eurodrive.com.mx
Parque Industrial Quéretaro scmexico@seweurodrive.com.mx
C.P. 76220
Quéretaro, México
Morocco
Sales Casablanca Afit Tel. +212 522633700
Route D’El Jadida Fax +212 522621588
KM 14 RP8 fatima.haquiq@premium.net
Province de Nouaceur http://www.groupe-premium.com
Commune Rurale de Bouskoura
MA 20300 Casablanca

Address List
10
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 http://www.sew-eurodrive.co.nz
East Tamaki Auckland sales@sew-eurodrive.co.nz
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 24 10 20
Sales Solgaard skog 71 Fax +47 69 24 10 40
Service N-1599 Moss http://www.sew-eurodrive.no
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 http://www.sew-eurodrive.com.pe
Urbanizacion Industrial Vulcano, ATE, Lima sewperu@sew-eurodrive.com.pe
Poland
Assembly Lodz SEW-EURODRIVE Polska Sp.z.o.o. Tel. +48 42 676 53 00
Sales ul. Techniczna 5 Fax +48 42 676 53 45
Service PL-92-518 Łódź http://www.sew-eurodrive.pl
sew@sew-eurodrive.pl
24 Hour Service Tel. +48 602 739 739
(+48 602 SEW SEW)
serwis@sew-eurodrive.pl
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 Bucharest Sialco Trading SRL Tel. +40 21 230-1328
Service str. Madrid nr.4 Fax +40 21 230-7170
011785 Bucuresti sialco@sialco.ro
Russia
Assembly St. Petersburg ZAO SEW-EURODRIVE Tel. +7 812 3332522 +7 812 5357142
Sales P.O. Box 36 Fax +7 812 3332523
Service 195220 St. Petersburg Russia http://www.sew-eurodrive.ru
sew@sew-eurodrive.ru
Senegal
Sales Dakar SENEMECA Tel. +221 338 494 770
Mécanique Générale Fax +221 338 494 771
Km 8, Route de Rufisque senemeca@sentoo.sn
B.P. 3251, Dakar http://www.senemeca.com

Address List
10
Serbia
Sales Beograd DIPAR d.o.o. Tel. +381 11 347 3244 / +381 11 288
Ustanicka 128a 0393
PC Košum, IV floor Fax +381 11 347 1337
SCG-11000 Beograd office@dipar.rs
Singapore
Assembly Singapore SEW-EURODRIVE PTE. LTD. Tel. +65 68621701
Sales No 9, Tuas Drive 2 Fax +65 68612827
Service Jurong Industrial Estate http://www.sew-eurodrive.com.sg
Singapore 638644 sewsingapore@sew-eurodrive.com
Slovakia
Sales Bratislava SEW-Eurodrive SK s.r.o. Tel. +421 2 33595 202
Rybničná 40 Fax +421 2 33595 200
SK-831 06 Bratislava sew@sew-eurodrive.sk
http://www.sew-eurodrive.sk
Žilina SEW-Eurodrive SK s.r.o. Tel. +421 41 700 2513
Industry Park - PChZ Fax +421 41 700 2514
ulica M.R.Štefánika 71 sew@sew-eurodrive.sk
SK-010 01 Žilina
Banská Bystrica SEW-Eurodrive SK s.r.o. Tel. +421 48 414 6564
Rudlovská cesta 85 Fax +421 48 414 6566
SK-974 11 Banská Bystrica sew@sew-eurodrive.sk
Košice SEW-Eurodrive SK s.r.o. Tel. +421 55 671 2245
Slovenská ulica 26 Fax +421 55 671 2254
SK-040 01 Košice 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 http://www.sew.co.za
Aeroton Ext. 2 info@sew.co.za
Johannesburg 2013
P.O.Box 90004
Bertsham 2013
Cape Town 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 cfoster@sew.co.za
Cape Town
P.O.Box 36556
Chempet 7442
Cape Town
Durban SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 31 700-3451
2 Monaco Place Fax +27 31 700-3847
Pinetown cdejager@sew.co.za
Durban
P.O. Box 10433, Ashwood 3605
Nelspruit SEW-EURODRIVE (PTY) LTD. Tel. +27 13 752-8007
7 Christie Crescent Fax +27 13 752-8008
Vintonia robermeyer@sew.co.za
P.O.Box 1942
Nelspruit 1200

Address List
10
South 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 1048-4, Shingil-Dong http://www.sew-korea.co.kr
Ansan 425-120 master.korea@sew-eurodrive.com
Busan SEW-EURODRIVE KOREA Co., Ltd. Tel. +82 51 832-0204
No. 1720 - 11, Songjeong - dong Fax +82 51 832-0230
Gangseo-ku master@sew-korea.co.kr
Busan 618-270
Spain
Assembly Bilbao SEW-EURODRIVE ESPAÑA, S.L. Tel. +34 94 43184-70
Sales Parque Tecnológico, Edificio, 302 Fax +34 94 43184-71
Service E-48170 Zamudio (Vizcaya) http://www.sew-eurodrive.es
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 jonkoping@sew.se
Switzerland
Assembly Basel Alfred lmhof A.G. Tel. +41 61 417 1717
Sales Jurastrasse 10 Fax +41 61 417 1700
Service CH-4142 Münchenstein bei Basel http://www.imhof-sew.ch
info@imhof-sew.ch
Thailand
Assembly Chonburi SEW-EURODRIVE (Thailand) Ltd. Tel. +66 38 454281
Sales 700/456, Moo.7, Donhuaroh Fax +66 38 454288
Service Muang sewthailand@sew-eurodrive.com
Chonburi 20000
Tunisia
Sales Tunis T. M.S. Technic Marketing Service Tel. +216 79 40 88 77
Zone Industrielle Mghira 2 Fax +216 79 40 88 66
Lot No. 39 tms@tms.com.tn
2082 Fouchana
Turkey
Assembly Istanbul SEW-EURODRIVE Tel. +90 216 4419163 / 4419164
Sales Hareket Sistemleri San. ve Tic. Ltd. Sti. Fax +90 216 3055867
Service Bagdat Cad. Koruma Cikmazi No. 3 http://www.sew-eurodrive.com.tr
TR-34846 Maltepe ISTANBUL sew@sew-eurodrive.com.tr
Ukraine
Sales Dnepropetrovsk SEW-EURODRIVE Tel. +380 56 370 3211
Service Str. Rabochaja 23-B, Office 409 Fax +380 56 372 2078
49008 Dnepropetrovsk http://www.sew-eurodrive.ua
sew@sew-eurodrive.ua
USA
Production Southeast SEW-EURODRIVE INC. Tel. +1 864 439-7537
Assembly Region 1295 Old Spartanburg Highway Fax Sales +1 864 439-7830
Sales P.O. Box 518 Fax Manufacturing +1 864 439-9948
Service Lyman, S.C. 29365 Fax Assembly +1 864 439-0566
Corporate Offices Fax Confidential/HR +1 864 949-5557
http://www.seweurodrive.com
cslyman@seweurodrive.com

Address List
10
USA
Assembly Northeast SEW-EURODRIVE INC. Tel. +1 856 467-2277
Sales Region Pureland Ind. Complex Fax +1 856 845-3179
Service 2107 High Hill Road, P.O. Box 481 csbridgeport@seweurodrive.com
Bridgeport, New Jersey 08014
Midwest Region SEW-EURODRIVE INC. Tel. +1 937 335-0036
2001 West Main Street Fax +1 937 332-0038
Troy, Ohio 45373 cstroy@seweurodrive.com
Southwest SEW-EURODRIVE INC. Tel. +1 214 330-4824
Region 3950 Platinum Way Fax +1 214 330-4724
Dallas, Texas 75237 csdallas@seweurodrive.com
Western Region SEW-EURODRIVE INC. Tel. +1 510 487-3560
30599 San Antonio St. Fax +1 510 487-6433
Hayward, CA 94544 cshayward@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 http://www.sew-eurodrive.com.ve
Valencia, Estado Carabobo ventas@sew-eurodrive.com.ve
sewfinanzas@cantv.net

Index
Index
A E
Additional functions ................................................78 Embedded safety notes ...........................................6
External encoder monitoring function ................78 Emergency mode.......................................12, 22, 77
Fieldbus master monitoring function ..................78 Exclusion of liability..................................................7
Lag error window monitoring function ................78
Adjustment mode ...................................................74 F
Advantages ............................................................11 FAQs.................................................................... 103
Application examples .............................................13 Fault information ....................................................86
Automatic mode .........................................12, 22, 71 Fields of application ...............................................11
Auxiliary axis ..........................................................87 Frequently asked questions.................................103
Fields of application ...........................................87 Functional Description ...........................................21
Operation ...........................................................99
Project planning .................................................89
I
System description.............................................87
Indirect position control..........................................16
Auxiliary drive.........................................................87
Indirect positioning, functional principle .................14
Fields of application ...........................................87
Indirect sychronization ...........................................14
Project planning .................................................89
Startup ...............................................................93
J
System description.............................................87
Auxiliary drives Jog mode ................................................... 12, 21, 66
Operation ...........................................................99
L
B Limit switches ........................................................24
Bus systems
General safety notes............................................9 M
Machine zero .........................................................24
C MOVIDRIVE® MDX61B
Wiring diagram...................................................33
Copyright..................................................................7
Cycle diagrams ......................................................79
Automatic mode .................................................83 N
Emergency mode...............................................85 Notes
Jog mode ...........................................................80 Designation in the documentation .......................6
Positioning mode ...............................................82
Referencing mode..............................................81 O
Operation ...............................................................64
D Operation of auxiliary drives ..................................99
Determining the scaling factors Other applicable documentation ..............................8
Motor encoder/absolute encoder .......................23
Virtual encoder...................................................24
Diagnostics monitor................................................65
Disposal .................................................................10

Index
P Safety notes.............................................................8
Positioning mode .......................................12, 21, 69 Bus systems ........................................................9
Positioning, indirect ................................................14 Designation in the documentation .......................6
Prerequisites Disposal .............................................................10
Inverter...............................................................20 Hoist applications.................................................9
Motor / gear unit.................................................20 Other applicable documentation ..........................8
MOVI-PLC® .......................................................20 Safety functions ...................................................9
Software.............................................................20 Structure of the embedded safety notes..............6
Startup ...............................................................34 Structure of the section-related safety notes .......6
Process data assignment.......................................25 Scaling factors for motor
Process input data words.......................................29 encoder/absolute encoder .....................................23
Process output data words ....................................27 Scaling factors for virtual encoder .........................24
Product names and trademarks ...............................7 Scaling the drive ....................................................23
Program identification ............................................19 Section-related safety notes ....................................6
Project planning for auxiliary drives .......................89 Signal words in the safety notes ..............................6
Software limit switches ..........................................30
Q Software prerequisites ...........................................20
Starting the drive....................................................64
Qualified person .......................................................8
Startup ...................................................................34
MOVIDRIVE® individual axes ............................37
R
Prerequisites......................................................34
Reference cams .....................................................24 Startup of auxiliary drives ......................................93
Referencing mode......................................12, 21, 68 SyncCrane
Right to claim under limited warranty .......................7
Start window ......................................................40
Starting the program ..........................................40
S Startup steps......................................................43
Safe stop ................................................................32 Synchronization, indirect........................................14
Safety functions .......................................................9 Synchronous mode ................................................75
System description for auxiliary drives ..................87
W
Wiring diagram MOVIDRIVE® MDX61B ................33

SEW-EURODRIVE—Driving the world
SEW-EURODRIVE
Driving the world
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

Manual - MOVI-PLC® SyncCrane Application - SEW Eurodrive (PDFDrive)

Uploaded by

Copyright:

Available Formats

Manual - MOVI-PLC® SyncCrane Application - SEW Eurodrive (PDFDrive)

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Manual - MOVI-PLC® SyncCrane Application - SEW Eurodrive (PDFDrive)

Uploaded by

Copyright:

Available Formats

Drive Technology \ Drive Automation \ System Integration \ Services

Edition 04/2010 16945611 / EN

Manual – MOVI-PLC® "SyncCrane" Application Solution 3

4.3 Scaling the drive ....................................................................................... 23

4 Manual – MOVI-PLC® "SyncCrane" Application Solution

7.5 Positioning mode – not synchronized ....................................................... 69

Manual – MOVI-PLC® "SyncCrane" Application Solution 5

1.2 Structure of the safety notes

1.2.2 Structure of the section-related safety notes

1.2.3 Structure of the embedded safety notes

6 Manual – MOVI-PLC® "SyncCrane" Application Solution

1.3 Right to claim under limited warranty

1.4 Exclusion of liability

1.5 Product names and trademarks

1.6 Copyright notice

Manual – MOVI-PLC® "SyncCrane" Application Solution 7

2.2 Target group

8 Manual – MOVI-PLC® "SyncCrane" Application Solution

2.3 Designated use

2.3.1 Safety functions

2.4 Bus systems

2.5 Safety functions

2.6 Hoist applications

Manual – MOVI-PLC® "SyncCrane" Application Solution 9

10 Manual – MOVI-PLC® "SyncCrane" Application Solution

3.1.1 Advantages of the SyncCrane application

Manual – MOVI-PLC® "SyncCrane" Application Solution 11

3.1.2 Characteristics of positioning mode and jog mode

3.1.3 Characteristics of referencing mode

3.1.4 Characteristics of automatic mode

3.1.5 Characteristics of emergency mode

12 Manual – MOVI-PLC® "SyncCrane" Application Solution

3.2 Application examples

Manual – MOVI-PLC® "SyncCrane" Application Solution 13

3.3 Functional principle of indirect positioning and synchronization

3.3.2 Positioning mode with direct positioning to values of absolute encoders

DIP 11B Vmax amax

vmax Maximum speed nC Speed controller

14 Manual – MOVI-PLC® "SyncCrane" Application Solution

[1] Optimal speed process

Manual – MOVI-PLC® "SyncCrane" Application Solution 15

3.3.3 SyncCrane solution with indirect position control

vmax Maximum speed POSact Actual position motor encoder

16 Manual – MOVI-PLC® "SyncCrane" Application Solution

Optimal speed process

Real speed process

Manual – MOVI-PLC® "SyncCrane" Application Solution 17

3.3.4 SyncCrane solution: Indirect synchronization to virtual master encoder

Internal control loop: Angular synchronous operation of the motor encoder

Higher-level control loop: Indirect synchronization

18 Manual – MOVI-PLC® "SyncCrane" Application Solution

3.4 Program identification

Manual – MOVI-PLC® "SyncCrane" Application Solution 19

4.1.3 Motors / gear units

20 Manual – MOVI-PLC® "SyncCrane" Application Solution

4.2 Functional description

Manual – MOVI-PLC® "SyncCrane" Application Solution 21

22 Manual – MOVI-PLC® "SyncCrane" Application Solution

4.3 Scaling the drive