Drive Technology \ Drive Automation \ System Integration \ Services

Manual

MOVIDRIVE® MDX61B
DEU21B Multi-Encoder Card

Edition 05/2010 16810015 / EN

SEW-EURODRIVE—Driving the world
 Contents

Contents
1 General Information ............................................................................................ 4
1.1 Structure of the safety notes ....................................................................... 4
1.2 Rights to claim under warranty ................................................................... 4
1.3 Exclusion of liability..................................................................................... 5
1.4 Copyright..................................................................................................... 5
2 Safety Notes ........................................................................................................ 6
2.1 Other applicable documentation ................................................................. 6
2.2 Safety functions .......................................................................................... 6
2.3 Hoist applications........................................................................................ 6
2.4 Product names and trademarks .................................................................. 6
2.5 Disposal ...................................................................................................... 6
3 System Description............................................................................................. 7
3.1 Areas of application .................................................................................... 7
3.2 Application examples .................................................................................. 8
3.3 Suitable non-SEW encoders..................................................................... 10
4 Assembly and Installation Instructions .......................................................... 13
4.1 Before you begin ....................................................................................... 13
4.2 Installing the DEU21B option card ............................................................ 13
4.3 Connection and terminal description of the DEU21B option ..................... 15
4.4 DC 24 V voltage supply of the DEU21B ................................................... 16
4.5 Connecting an absolute encoder .............................................................. 16
5 Project Planning................................................................................................ 27
5.1 Absolute encoder selection ....................................................................... 27
5.2 Encoder parameterization ......................................................................... 30
6 Startup................................................................................................................ 33
6.1 General startup notes ............................................................................... 33
6.2 Startup procedure ..................................................................................... 34
6.3 Unit replacement ...................................................................................... 37
7 Parameters......................................................................................................... 38
8 Error Messages ................................................................................................. 40
8.1 MOVIDRIVE® MDX61B with DEU21B option ........................................... 40
9 Technical Data................................................................................................... 43
9.1 DEU21B option – electronics data ............................................................ 43
Index................................................................................................................... 44

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 3

 General Information
1 Structure of the safety notes

1 General Information
1.1 Structure of the safety notes
The safety notes in these operating instructions are designed as follows:

Pictogram SIGNAL WORD

Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.

Pictogram Signal word Meaning Consequences if

disregarded
Example: DANGER Imminent danger Severe or fatal injuries

WARNING Possible dangerous situation Severe or fatal injuries

General danger

CAUTION Possible dangerous situation Minor injuries

Specific danger,
e.g. electric shock NOTICE Possible damage to property Damage to the drive system or its environ-
ment

INFORMA- Useful information or tip.

TION Simplifies the handling of the
drive system.

1.2 Rights to claim under 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. Therefore, read the
manual before you start operating the device.
Make sure that the manual is available to persons responsible for the plant and its op-
eration, as well as to persons who work independently on the device. You must also en-
sure that the documentation is legible.

4 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 General Information
Exclusion of liability
1

1.3 Exclusion of liability

You must comply with the information contained in the MOVIDRIVE® documentation to
ensure safe operation and to achieve the specified product characteristics and perfor-
mance requirements. SEW-EURODRIVE assumes no liability for injury to persons or
damage to equipment or property resulting from non-observance of these operating in-
structions. In such cases, any liability for defects is excluded.

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

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 5

 Safety Notes
2 Other applicable documentation

2 Safety Notes
2.1 Other applicable documentation
• Only electrical specialists are allowed to perform installation and startup observing
relevant accident prevention regulations and the MOVIDRIVE® MDX60B/61B oper-
ating instructions.
• Read through this manual carefully before you commence installation and startup of
the DEU21B option.
• You must adhere to the information in the documentation as a prerequisite to fault-
free operation and fulfillment of warranty claims.

2.2 Safety functions

The MOVIDRIVE® MDX60B/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, ensure that the information in the fol-
lowing publications is observed: "Safe Disconnection for MOVIDRIVE® MDX60B/61B".

2.3 Hoist applications

MOVIDRIVE® MDX60B/61B is not designed for use as a safety device in hoist applica-
tions.
Use monitoring systems or mechanical protection devices as safety equipment to avoid
possible damage to property or injury to people.

2.4 Product names and trademarks

The brands and product names contained within this manual are trademarks or regis-
tered trademarks of the titleholders.

2.5 Disposal
Observe the applicable national regulations.
Dispose of the following materials separately in accordance with the country-specific
regulations in force, as:
• Electronics scrap
• Plastic
• Sheet metal
• Copper

6 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 System Description kVA n
Areas of application
f 3
i
Hz
P Hz

3 System Description
3.1 Areas of application
With the DEU21B multi-encoder card option, the MOVIDRIVE® system is upgraded with
an absolute encoder connection. This permits positioning functions to be implemented
with IPOSplus® that offer the following opportunities:
• No reference travel required when the system is started or after a power failure.
• Positioning can take place either with the absolute encoder or the motor encoder.
• Replacement of positioning switches along the travel distance even without motor
encoder feedback.
• Free processing of the absolute position in the IPOSplus® program.
• Both synchronous and asynchronous motors can be used in all MOVIDRIVE®
operating modes (P700/P701).
• The absolute encoder can be mounted either on the motor or along the track (e.g.
high-bay warehouse)
• Simple encoder adjustment with user-guided startup.
• Endless positioning in combination with activated modulo function. Pay attention to
the notes in the "IPOSplus®" as well as the MOVIDRIVE® MDX60B/61B system
manual (→ section "Parameter descriptions").

INFORMATION
It is not possible to operate the DEU21B and the DIP11B simultaneously.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 7

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

3.2 Application examples

3.2.1 Speed control, positioning with reference travel
For speed control, the encoder is used in order to provide for an optimized motor control
and thus optimized speed and torque characteristics.
As the position is not stored when the unit is switched off, a reference travel is required
after startup.

DEU21B

9 1
X14

15 8

15 8
X15

9
1

2035933323

Ideally, for asynchronous motors you would use a SIN/COS encoder such as the AS7S
in this case. Due to the analog signal, this encoder can realize a better resolution for the
speed control. For synchronous motors, you should use a single-turn combination en-
coder. The encoder is connected to the X15 of the DEU21B.
You could also use a TTL or HTL encoder. In order to provide for a sufficient speed con-
trol quality, the periodicity should not be smaller than 1024.

3.2.2 Absolute positioning with combination encoder

Apart from an incremental signal (SIN/COS, TTL, HTL), combination encoders have a
signal for the absolute position. This absolute position is usually transmitted via a serial
interface. There are combination encoders with different transmission protocols such as
HIPERFACE®, SSI or EnDat.

DEU21B

9 1
X14

15 8

15 8
X15

9
1

2035933323

This system is ideal for applications with rigid coupling to the distance. The major ad-
vantage is that there is no additional encoder required for the track. If you use the incre-
mental signal for speed control, you have to connect the combination encoder to X15.

8 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

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

3.2.3 Absolute positioning with synchronous encoder

With systems subject to slip, it is not possible to detect the position via the motor en-
coder. This is why an additional measuring system is required for the track. This can be
laser distance encoders, barcode encoders, draw-wire encoders or length scales. One
advantage of measuring the length directly at the track can be that temperature-related
length changes are also detected.

DEU21B

9 1
X14

15 8

15 8
X15

9
1

2035933323

Ideally, for asynchronous motors you would use a SIN/COS encoder as motor encoder
in this case. For synchronous motors, you should use a single-turn combination en-
coder. The motor encoder is connected to the X15 of the DEU21B. The distance en-
coder is connected to the X14 of the DEU21B.

3.2.4 Special applications

The DEU21B allows for detecting 2 absolute values simultaneously. Apart from the sig-
nals of the combination encoder connected to X15, you can read in another absolute sig-
nal via X14.

DEU21B

9 1
X14

15 8

15 8
X15

9
1

2035933323

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 9

 kVA n System Description
3 f
Suitable non-SEW encoders
i
Hz
P Hz

3.3 Suitable non-SEW encoders

INFORMATION
For a list of suitable encoders, refer to our homepage:
→ www.sew-eurodrive.com

3.3.1 SSI encoder

Manufacturer Encoder designation Order designation Encoder type DEU21B
X14 X15
BTL5-S112B-M1500-P- BTL5-S112B-Mxxxx-P-xxx Linear distance sensor
×
S32
Balluff
BTL5-S112-M1500-P- BTL5-S112-Mxxxx-P-xxx Linear distance sensor
×
S32
LIMAX2 LIMAX2-00-030-0125-SSG1- Linear distance sensor
Elgo ×
D15M0
IVO GM 401 GM401.x20xxxx Rotary encoder ×
9081 8.9081xxxx2003 Rotary encoder ×
Kuebler
9081 8.9081xxxx2004 Rotary encoder ×
AMS 200/200 AMS200/xxx-11-x Laser dist. measuring instr. ×
Leuze
BPS 37 BPS37xx-xxx-xx Barcode distance sensor ×
RP RP-x-xxxxM-xxx-1-S3G1105 Linear distance sensor ×
RH RH-x-xxxxM-xxx-1-S3G1105 Linear distance sensor ×
MTS Sensors RF RF-x-xxxxxM-xxx-1-S3G1105 Linear distance sensor ×
RD4 RD4-x-xx-xxxxM-xxx- Linear distance sensor
×
S3G1105
VDM100-150 VDM100-150 Laser dist. measuring instr. ×
WCS2(A)-LS311 WCS2(A)-LS311 Barcode distance sensor ×
Pepperl+Fuchs
WCS3(A)-LS311 WCS3(A)-LS311 Barcode distance sensor ×
WCS3(B)-LS311 WCS3(B)-LS311 Barcode distance sensor ×
DME3000-x17 DME3000-x17 Laser dist. measuring instr. ×
DME4000-x11 0,1mm DME4000-x11 0,1mm Laser dist. measuring instr. ×
DME4000-x11 1mm DME4000-x11 1mm Laser dist. measuring instr. ×
DME5000-x11 0,1mm DME5000-x11 0,1mm Laser dist. measuring instr. ×
DME5000-x11 1mm DME5000-x11 1mm Laser dist. measuring instr. ×
AG 100 MSSI AG100 412400000000 Rotary encoder ×
Sick/Stegmann AG 626 ATM60AxA12X12 Rotary encoder ×
ARS60 ARS60-Axxxxxxx Rotary encoder ×
ATM60 ATM60-AxA12X12 Rotary encoder ×
ATM90 ATM90-AxA12X12 Rotary encoder ×
POMUX KH53 POMUX KH54 Linear distance sensor ×
TTK70 / only after consul- – Linear distance sensor
× ×
tation with SEW
SIKO MSA1000 MSA1000 Linear distance sensor ×
CE 58M SSI Cx58M-SSI/SEW Rotary encoder ×
CE 65M SSI Cx65M-SSI/SEW Rotary encoder ×
TR Electronic
LA41K 304-00319-xxxx Linear distance sensor ×
LE200 LE200 SSI 2200-20002 Laser dist. measuring instr. ×

10 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 System Description kVA n
Suitable non-SEW encoders
f 3
i
Hz
P Hz

3.3.2 SSI combination encoder

Manufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15
Pepperl+Fuchs Axx58/AVM58X-1212 Axx58x-xxxxxxGx-1212 Rotary encoder × ×
Heidenhain ROQ424 ROQ424 Rotary encoder × ×
AMG73 S24 S2048 AMG73 S24 S2048 Rotary encoder × ×
Hübner
AMG83 S24 S2048 AMG83 S24 S2048 Rotary encoder × ×

3.3.3 Hiperface® encoders

Manufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15
Sick/Stegmann DME4000-x17 DME4000-x17 Laser dist. measuring instr. ×
Sick/Stegmann DME5000-x17 DME5000-x17 Laser dist. measuring instr. ×
Sick/Stegmann SKM 36 SKM36-HVx0-K02 Rotary encoder × ×
Sick/Stegmann SKS 36 SKS36-HVx0-K02 Rotary encoder × ×
Sick/Stegmann SRM 50 SRM50-HGx0-K0x Rotary encoder × ×
Sick/Stegmann SRM 60 SRM60-HGx0-K0x Rotary encoder × ×
Sick/Stegmann SRM 64 SRM64-HRx0-K0x Rotary encoder × ×
Sick/Stegmann SRS 50 SRS50-HGx0-K0x Rotary encoder × ×
Sick/Stegmann SRS 60 SRS60-HGx0-K0x Rotary encoder × ×
Sick/Stegmann SRS 64 SRS64-HRx0-K0x Rotary encoder × ×
Sick/Stegmann LinCoder L230 L230-P58002S00000 Linear encoder × ×

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 11

 kVA n System Description
3 f
Suitable non-SEW encoders
i
Hz
P Hz

3.3.4 CANopen encoder

Manufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15
Pepperl+Fuchs WCS3(B)-LS410 WCS3(B)-LS410 Barcode distance sensor ×
Sick/Stegmann DME4000-x19 DME4000-x19 Laser distance measuring ×
instrument
TR Electronic CE 58M CAN/open Cx58M-CAN/open Rotary encoder ×
TR Electronic LE200 CAN/open LE200 CAN/open Linear encoder ×

3.3.5 EnDat encoder

Manufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15
ECN1313 ECN1313/EnDat01 Rotary encoder × ×
EQN1125 EQN1125/EnDat01 Rotary encoder × ×
Heidenhain
EQN1325 EQN1325/EnDat01 Rotary encoder × ×
EQN425 EQN425/EnDat01 Rotary encoder × ×

12 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Assembly and Installation Instructions kVA n
Before you begin
f 4
i
Hz
P Hz

4 Assembly and Installation Instructions

4.1 Before you begin
Observe the following notes before installing or removing the DEU21B option
card:
• Disconnect the inverter from the power. Switch off the DC 24 V and the supply
voltage.
• Take appropriate measures to protect the option card from electrostatic charge (use
discharge strap, conductive shoes, etc.) before touching it.
• Before installing the option card, remove the keypad and the front cover.
• After installing the option card, replace the front cover and the keypad.
• Keep the option card in its original packaging until immediately before you are ready
to install it.
• Hold the option card by its edges only. Do not touch any of the components.

4.2 Installing the DEU21B option card

INFORMATION
• The DEU21B option card can be installed in MOVIDRIVE® MDX61B sizes 0 to
7. Only SEW-EURODRIVE staff may install or remove the DEU21B option for
MOVIDRIVE® MDX61B size 0.
• The DEU21B option card must be plugged into the encoder slot.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 13

 Assembly and Installation Instructions
4 Installing the DEU21B option card

4.2.1 Basic procedure for installing/removing an option card

The following figure shows the basic procedure for installing an option card in
MOVIDRIVE® MDX61B size 1 - 7

2.

1.
2.

1.

3.
3.
3.

4.

4.

1. Remove the retaining screws holding the card retaining bracket. Pull the card retain-
ing bracket out evenly from the slot (do not twist!).
2. Remove the retaining screws of the black cover plate on the card retaining bracket.
Remove the black cover plate.
3. Position the option card onto the retaining bracket so that the retaining screws fit into
the corresponding bores on the card retaining bracket.
4. Insert the retaining bracket with the installed option card into the slot, pressing
slightly so it is seated properly. Secure the card retaining bracket with the retaining
screws.
5. To remove the option card, follow the instructions in reverse order.

14 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Assembly and Installation Instructions
Connection and terminal description of the DEU21B option
4

4.3 Connection and terminal description of the DEU21B option

4.3.1 Part number
Multi-encoder card option type DEU21B: 18221696

INFORMATION
• The "DEU21B multi-encoder card" option can only be used with MOVIDRIVE®
MDX61B, not with MDX60B.
• The DEU21B option must be plugged into the encoder slot.

Front view of Description Terminal Function

DEU21B
X14: Input for external encoder or X14:1 (COS+) signal track A (K1)
output for incremental encoder X14:2 (SIN+) signal track B (K2)
DEU21B simulation
X14:3 Signal track C (K0) / pulse +
X14:4 DATA+ CANHigh
9 1
X14:5/6 Reserved
X14

X14:7 Switching
Output for incremental encoder X14:8 Reference potential DGND
15 8 simulation:
X14:9 (COS–) Signal track A (K1)
• Signal level to RS422
• The number of pulses is the X14:10 (SIN–) Signal track B (K2)
same as on X15 motor encoder X14:11 Signal track C (K0) / pulse –
15 8 input X14:12 DATA- CANLow
X14:13 DC 24 V encoder supply1)
X15

X14:14 Reserved
9 1 X14:15 DC 12 V encoder supply
(tolerance range DC 10.5 – 13 V)2)
X15: Motor encoder input X15:1 (COS+) signal track A (K1)
X15:2 (SIN+) signal track B (K2)
X15:3 Signal track C (K0) / pulse +
X15:4 DATA+
X15:5 Reserved
X15:6 Reference potential TF/TH/KTY–
X15:7 Reserved
X15:8 Reference potential DGND
X15:9 (COS–) Signal track A (K1)
X15:10 (SIN–) Signal track B (K2)
X15:11 Signal track C (K0) / pulse –
X15:12 DATA-
X15:13 DC 24 V encoder supply1)
X15:14 TF/TH/KTY+ connection
X15:15 DC 12 V (tolerance range DC 10.5 – 13 V)2)
1) If the overall unit load on the 24 V level exceeds 400 mA, you must connect an external DC 24 V supply to X10:9/X10:10. Observe the
"Project planning" chapter in the MOVIDRIVE® MDX60B/61B system manual.
2) The maximum load on X14:15 and X15:15 is DC 650 mA in total.

NOTICE
The connections on X14 and X15 must not be installed or removed during operation.
Electrical components in the encoder or on the encoder card could be destroyed.
De-energize the inverter before plugging or removing the encoder connections. Switch
off the supply voltage and the DC 24 V (X10:9).

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 15

 Assembly and Installation Instructions
4 DC 24 V voltage supply of the DEU21B

INFORMATION
• If X14 is used as an incremental encoder simulation output, the switchover (X14:7)
must be jumpered with DGND (X14:8).
• The 24 V encoders from SEW (except HTL and Hiperface®) have a wide voltage
range (DC 10 V – 30 V) and can be supplied alternatively with DC 24 V (PIN13) or
DC 12 V (PIN15).

4.4 DC 24 V voltage supply of the DEU21B

The total maximum load X14:15 / X15:15 is DC 650 mA. If the total load on the 24 V level
of the MOVIDRIVE® MDX60B/61B exceeds 400 mA, you have to connect an external
DC 24 V supply to X10:9 / X10:10. The internal power supply provides 29 W, observe
section "Project planning" in the MOVIDRIVE® MDX60B/61B system manual.

4.5 Connecting an absolute encoder

4.5.1 General installation notes
• Max. line length DEU21B option (inverter) motor encoder:
– HTL encoder ES7C and EG7C (from SEW-EURODRIVE): 300 m (984 ft)
– Standard HTL encoder: 200 m (656 ft)
– Other encoders: 100 m (328 ft)
– The maximum cable length might be reduced depending on the technical data of
the respective encoder. Observe the manufacturer specifications.
• Core cross section: 0.2 mm2 – 0.5 mm2 (AWG24 – AWG21)
• Use shielded cables with twisted pair conductors and make sure they are grounded
on both ends over a large surface area:
– At the encoder in the cable gland or in the encoder plug
– To the inverter in the housing of the D-sub connector, or
– to the metal clamp on the bottom of the inverter or to the strain relief.
• Route the encoder cable separately from the power cables.

16 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Assembly and Installation Instructions
Connecting an absolute encoder
4

4.5.2 Prefabricated cables for connection to X15 of the DEU21B option

The following overviews show the possible connections at X15 of the DEU21B option.

Meaning of the The connection cables are assigned a part number and a symbol. The symbols have the
symbols following meaning:
Symbol Meaning

Connection cable connector → connector for fixed installation

Extension connection cable connector → connector for fixed installation

Connection cable connector → connector for cable carrier installation

Extension connection cable connector → connector for cable carrier installation

Connection cable connector → conductor end sleeves for fixed installation

Connection cable connector → conductor end sleeves for cable carrier installation

Connection cable conductor end sleeves → Y-cable with connector for fixed installa-
tion

Connection cable conductor end sleeve → Y-cable with connector for cable carrier
installation

Connection cable encoder connection cover → Y-cable with connector for fixed
installation

Connection cable encoder connection cover → Y-cable with connector for cable car-
rier installation

Connection cable connector → encoder connection cover for fixed installation

Connection cable connector → encoder connection cover for cable carrier installa-
tion

Connection via plug connector on the motor side

Connection via encoder connection cover on the motor side

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 17

 Assembly and Installation Instructions
4 Connecting an absolute encoder

4.5.3 Connection options for encoders at X15 DEU21B

DR71...132
ES7S, ES7R, ES7C, DR71...132
AS7W, AS7Y ES7S, ES7R, ES7C,
DR160...225 AS7W, AS7Y
EG7S, EG7R, EG7C DR160...225
AG7W, AG7Y EG7S, EG7R, EG7C
DR315 AG7W, AG7Y
AH7Y

X15 DEU21B

1362 202 1

1362 204 8 1362 318 4 1362 196 3

X15 DEU21B
1362 319 2
1361 762 1
1362 197 1
1361 764 8

X15 DEU21B
15 8
1362 199 8
X15

9 1
X15 DEU21B

1360 265 9

DEU21B
1362 320 6

DR315
EH7S
2505815435

Dashed line: Shows extension cables that can be used as option.

18 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Assembly and Installation Instructions
Connecting an absolute encoder
4

• Encoder connection:
– ES7S, ES7R, ES7C, AS7W, AS7Y with DR71 – 132 motors
– EG7S, EG7R, EG7C, AG7W, AG7Y with DR160 – 225 motors
– AH7Y with DR315 motor

Required prefabricated cables:

– Possibility 1: Cable with D-sub 15 plug connector and encoder connection cover:

2047431819

– Possibility 2: Cable with D-sub 15 plug connector and conductor end sleeves:

2047433483

Encoder cable
Motor size Encoder type Installation Part number

1361 762 1

ES7S, ES7R, ES7C, 1361 764 8

DR71 – 132 AS7W, AS7Y
DR160 – 225 EG7S, EG7R, EG7C,
DR315 AG7W, AG7Y,
1362 202 1
AH7Y

1362 204 8

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 19

 Assembly and Installation Instructions
4 Connecting an absolute encoder

• Encoder connection:
– ES7S, ES7R, ES7C, AS7W, AS7Y with DR71 – 132 motors
– EG7S, EG7R, EG7C, AG7W, AG7Y with DR160 – 225 motors

Required prefabricated cables:

– Possibility 1: Cable with encoder connection cover and M23 plug connector:

2047435147

– Possibility 2: Cable with conductor end sleeves and M23 plug connector:

2047436811

– Optional: Extension cable with M23 plug connector on both sides:

2047438475

– Cable with M23 plug connector and D-sub 15 plug connector:

2047504139

Encoder cable
Motor size Encoder type Installation Part number

1362 196 3

1362 318 4
ES7S, ES7R, ES7C,
DR71 – 132 AS7W, AS7Y, 1362 319 2
DR160 – 225 EG7S, EG7R, EG7C,
AG7W, AG7Y
1362 197 1

1362 199 8

20 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Assembly and Installation Instructions
Connecting an absolute encoder
4

• Connecting EH7S encoder to DR315 motors

Required prefabricated cables:

– Cable with M23 plug connector and D-sub 15 plug connector:

2047504139

Encoder cable
Motor size Encoder type Installation Part number

1360 265 9

DR315 EH7S
1362 320 6

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 21

 Assembly and Installation Instructions
4 Connecting an absolute encoder

4.5.4 Connection diagrams for prefabricated cables

1361 762 1

Pin assignment
A Signal Cable Signal B
Pin Core color MDX Pin
X
360° contact on A-side Stranding Shield 360° contact on B-side
A cos+ Red (RD) A 1
A cos- Blue (BU) A 9
B sin+ Yellow (YE) B 2
B sin- Green (GN) B 10
C C+ Brown (BN) C 3
C C- White (WH) C 11
D Data+ Black (BK) D 4
D Data– Violet (VT) D 12
UB UB Red-Blue+Gray (RD-BU+GY) UB 15
DGND Gray-Pink+Pink (GY-PK+PK) 8
Shield
2087418123

22 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Assembly and Installation Instructions
Connecting an absolute encoder
4

1362 202 1

Pin assignment
A Signal Cable Signal B
Pin Core color MDX Pin

360° contact on A-side Stranding Shield 360° contact on B-side

A (cos+) Red (RD) A (cos+)
A (cos-) Blue (BU) A (cos-) Y
B (sin+) Yellow (YE) B (sin+)
B (sin-) Green (GN) B (sin-)
C+ Brown (BN) C+
C- White (WH) C-
D+ Black (BK) D+
D- Violet (VT) D-
UB Red-Blue+Gray (RD-BU-GY) UB
GND Gray-Pink+Pink (GY-PK+PK) GND
Shield
2087421707

1362 196 3

Pin assignment
A Signal Cable Signal B
Pin Core color MDX Pin

360° contact on A-side Stranding Shield 360° contact on B-side

A (cos+) Red (RD) A (cos+)
A (cos-) Blue (BU) A (cos-)
B (sin+) Yellow (YE) B (sin+) X
B (sin-) Green (GN) B (sin-)
C+ Brown (BN) C+
C- White (WH) C-
D+ Black (BK) D+
D- Violet (VT) D-
UB Red-Blue+Gray (RD-BU-GY) UB
GND Gray-Pink+Pink (GY-PK+PK) GND
Shield
2087423627

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 23

 Assembly and Installation Instructions
4 Connecting an absolute encoder

1362 318 4

Pin assignment
A Signal Cable Signal B
Pin Core color MDX Pin

360° contact on A-side Stranding Shield 360° contact on B-side

A (cos+) Red (RD) A (cos+)
A (cos-) Blue (BU) A (cos-)
B (sin+) Yellow (YE) B (sin+)
B (sin-) Green (GN) B (sin-)
C+ Brown (BN) C+
C- White (WH) C-
D+ Black (BK) D+ AKUA 020
D- Violet (VT) D-
UB Red-Blue+Gray (RD-BU-GY) UB
GND Gray-Pink+Pink (GY-PK+PK) GND
Shield
2087471755

24 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Assembly and Installation Instructions
Connecting an absolute encoder
4

1362 319 2

A B

X Y

Pin assignment
A Signal Cable Signal B
Pin Core color MDX Pin

360° contact on A-side Stranding Shield 360° contact on B-side

3 A (cos+) Red (RD) A (cos+) 3
X 4 A (cos-) Blue (BU) A (cos-) 4 Y
5 B (sin+) Yellow (YE) B (sin+) 5
6 B (sin-) Green (GN) B (sin-) 6
1 C+ Brown (BN) C+ 1
2 C- White (WH) C- 2
8 D+ Black (BK) D+ 8
7 D- Violet (VT) D- 7
12 UB Red-Blue+Gray (RD-BU-GY) UB 12
11 GND Gray-Pink+Pink (GY-PK+PK) GND 11
Shield
2087726475

1362 199 8

Pin assignment
A Signal Cable Signal B
Pin Core color MDX Pin

360° contact on A-side Shield Shield 360° contact on B-side

A (cos+) Red (RD) A (cos+) Y
X
A (cos-) Blue (BU) A (cos-)
B (sin+) Yellow (YE) B (sin+)
B (sin-) Green (GN) B (sin-)
C+ Brown (BN) C+
C- White (WH) C-
D+ Black (BK) D+
D- Violet (VT) D-
UB Red-Blue+Gray (RD-BU-GY) UB
GND Gray-Pink+Pink (GY-PK+PK) GND
Shield

2087780491

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 25

 Assembly and Installation Instructions
4 Connecting an absolute encoder

1360 265 9

ASTA 021 A Cable B Sub-D

Pin Signal Core color Signal Pin 15-pins

Shield
0198 921 9 5 A (COS +) Red (RD) A / K1 1 male
A-A 8 B (SIN +) Yellow (YE) B / K2 2 B-B
3 C/0 Brown (BN) C / K0 3
10 GND Pink / Violet (PK/VT) GND 8
6 \A (COS -) Blue (BU) \A / \K1 9
X 1
4
\B (SIN -)
\C / 0
Green (GN)
White (WH)
\B / \K2
\C / \K0
10
11
Y
12 UB Gray / Black (GR/BK) UB 15
Shield
2462667403

26 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Project Planning
Absolute encoder selection
5

5 Project Planning
5.1 Absolute encoder selection
When selecting the absolute encoder, the following points should be considered to
achieve optimum travel characteristics and good dynamic properties in the system:
• Position measurement should be conducted without slip.
The rotary encoders should be driven with no slip. Avoid all friction wheel connec-
tions.
• Position measurement must be rigid.
Avoid elasticity and clearance.
• The resolution of the position measurement must be as high as possible.
The more increments the encoder counts per unit-distance traveled,
– the more exactly it approaches the target position
– and the more rigid the control system can be set.
• The "refresh time" (the time taken for the absolute encoder to determine a new ac-
tual position) should be less than 1 ms.
This value exerts a decisive influence on the dynamic characteristics of the drive.
• The position output by the absolute encoder should not be averaged or
filtered, otherwise the dynamic properties of the drive are severely reduced.

Encoders which can be used with the DEU21B option are divided into three categories:
• Multiturn encoders, e.g. T&R CE58, CE 65, Sick ATM60
• Laser distance measuring devices, e.g. T&R LE200, Sick DME5000
• Linear distance measuring devices, e.g. Leuze BPS37, Pepperl & Fuchs WCS2,
Pepperl & Fuchs WCS3

5.1.1 Multiturn encoder

• Multiturn encoders are ideally suited in applications with positive power transmission
from the motor shaft to the load.
In this case, the absolute encoder can be mounted onto the motor shaft of the drive.
This keeps the installation costs very low while the position resolution is generally
very high due to the gear ratio.
• If the position measurement is performed using an externally mounted incremental
encoder (synchronous encoder), it is essential to make sure the ratio between the
motor encoder and the synchronous encoder is sufficient.

INFORMATION
The ratio of position resolution between motor encoder and synchronous encoder must
not exceed factor 8.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 27

 Project Planning
5 Absolute encoder selection

Example Travel drive with the following data:

• Gearmotor: R97DV160L4BMIG11, i = 25.03
• Drive wheel diameter: 150 mm
• Encoder wheel diameter: 65 mm
• Encoder T&R CE65MSSI with: 4096 x 4096 increments
Calculation of position resolution with encoder mounted to motor shaft:
→ i x 4096 (π x 150 mm) = 217 increments/mm
Calculation of position resolution with encoder mounted on the line:
→ 4096 / (π x 65 mm) = 20 increments/mm
Result: The ratio between the position resolution of the motor/track is 10.9 (greater than
8). The diameter of the encoder wheel should be reduced.

5.1.2 Laser distance measuring instruments

Distance measurement with laser systems is based on a run-time measurement of
pulsed infrared beams. Various measurement values have to be processed in the en-
coder to determine an accurate position with this procedure. The result is a delay in po-
sition measurement with these systems of up to 50 ms. This delay has a negative effect
on the dynamics and positioning accuracy of the drive.
Consider the following points when using and configuring laser distance measuring de-
vices:
• Ensure a vibration-free design when mounting the measurement system, e.g. in case
of travel drives for storage/retrieval systems. Install the measuring system on the
bottom in this instance because the swinging motion of the tower will otherwise have
an adverse effect on the measurement.
• The maximum acceleration of the drive is not to exceed 0.8 ms–2.
• The encoder characteristics will usually result in a positioning accuracy of
±1 – 3 mm.
• The long delay
– may demand a drastic reduction in velocity precontrol (P915).
– may limit the amplification of the position controller (P910) to small values
(0.1 – 0.4). This means high dynamic properties cannot be achieved.
• There is a lag error which is dependent on the speed, making it harder to monitor the
drive (delayed shut-off in the event of an error).

INFORMATION
The ratio of position resolution between motor encoder and synchronous encoder must
not exceed factor 8.

28 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Project Planning
Absolute encoder selection
5

5.1.3 Material measure via metal ruler

The operating principle of this system corresponds to that of the multiturn encoder.
There is no averaging, so this system is not subject to a delay in position measurement.
A linear position measuring system offers the following advantages:
• No reduction in dynamic properties.
• Velocity precontrol (P915) of 100% possible, i.e. there is no lag error.
• The monitoring functions are fully effective; a small lag error window is possible.
Disadvantages of a linear position measuring system:
• Position resolution of 0.8 mm. The required positioning accuracy should not be less
than ± 2 mm.
• Rather complicated mechanical installation due to the need for routing the metal
ruler.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 29

 Project Planning
5 Encoder parameterization

5.2 Encoder parameterization

The following points must be observed in the design and construction of encoders and
when setting their parameters:

• HEIDENHAIN ROQ 424 (AV1Y)

The SSI version with 10 ... 30 V is supported. The unit designation specifies all addi-
tional conditions.

• T&R CE 58, CE 65, CE 100 MSSI, LE 100 SSI, LE 200, LA 66K-SSI, LA 41K-SSI,
ZE 65
– Make a setting of 24 data bits and program signal bits to logical 0. Bit no. 25 may
either contain 0 or an error or power fail bit. Other special bits following the
position will not be evaluated. The 25-bit version is not supported.
– The output mode must be "Direct".
– The interface must be set to "SSI".

• T&R CE 58 CANopen
– The termination switch must be set to "ON".
– The node ID must be set to 1 via the 6-fold DIP switch.
– The number of increments per revolution must be set to the standard value, 4096.

• T&R LE200 CANopen

– Terminating resistor for bus termination required.
– The node ID must be set to 1 via the 8-fold DIP switch.

• SICK STEGMANN AG100 MSSI, AG626, ATM90, ATM60

Only the 24-bit version is supported.

• SICK STEGMANN ARS60

Only the 15-bit version is supported.

30 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Project Planning
Encoder parameterization
5

• SICK DME-5000-x111, DME-4000-x111

– The interface must be set to "SSI".
– You have to set "24 data bits + error bit".
– The resolution must be set to 0.1 mm or 1 mm.
– The plausibility must be set to "Normal".

• SICK DME-5000-x17, DME-4000-x17

– The interface must be set to "Hiperface®".
– Set the resolution to 1 mm.
– The plausibility must be set to "Normal".

• SICK DME-4000-x19
– The interface must be set to "CANopen".
– The node ID must be set to 1.
– The resolution must be set to 0.1 mm or 1 mm.
– The plausibility must be set to "Normal".

• Pepperl & Fuchs WCS2(A)-LS311, WCS3(A)-LS311

The unit designation specifies all necessary conditions. The line length to the encod-
er is not to exceed 10 m (33 ft.).

• Pepperl & Fuchs WCS3B-LS410

– The node ID must be set to 1 (switches 1 – 6 of the 8-fold DIP switch)
– The baud rate must be set to 250 kBaud (switches 6 – 7 of the 8-fold DIP switch)
– The transmission mode must be set to "asynchronous 0 ms / 10 ms"
(switches 1 – 3 of the 4-fold DIP switch)
– The data protocol must be set to "data protocol 2" (switch 4 of the 4-fold DIP
switch to "on")

• Pepperl & Fuchs EDM 30/120/140 - 2347/2440

– All modes are supported. Recommendation: Mode 0 (DIP switches 3 and 4 in ON
position) or mode 3 (DIP switches 3 and 4 in OFF position) and measuring for tri-
ple reflector (DIP switch 2 in OFF position).

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 31

 Project Planning
5 Encoder parameterization

• Pepperl & Fuchs VDM 100-150

– The operating mode must be set to mode 3 ([Menu] / [Parameters] / [operating
modes] / [Mode 3]).
– The coding must be set to "Gray".
– The resolution must be set to 0.1 mm or 1 mm.

• LEUZE AMS200, OMS1, OMS2, BPS37

– You have to set "24 data bits + error bit".
– Set the resolution to 0.1 mm.

INFORMATION
The following applies for all parameterizable SSI encoders:
– The interface must be set to "SSI".
– You have to set "24 data bits + error bit" or "0 in bit 25".
– Plausibility must be set to "normal = 0" when the plausibility check is activated.
– The coding must be set to "Gray".

32 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Startup
General startup notes
6

6 Startup
6.1 General startup notes

INFORMATION
For startup, you require MOVITOOLS® MotionStudio 5.60 SP1 HF1, or a later ver-
sion.
Startup with an earlier version is not permitted.

• The drive must be started up in conjunction with the MOVIDRIVE® MDX61B inverter
as described in the MOVIDRIVE® MDX60B/61B system manual. It must be possible
to move the drive using a suitable setpoint and control source.
Make sure that
– the installation of the DEU21B option
– Cabling
– the terminal assignment and
– the safety cut-outs
have been configured correctly and are suited to the application.
• There is no need to activate the factory settings. If you call up a factory setting, the
MOVIDRIVE® MDX61B parameters will be reset to the default values. This also af-
fects the terminal assignment, which must be altered to the required settings if nec-
essary.

DANGER
Encoder startup aborted with an earlier version of MOVITOOLS® MotionStudio.
Severe or fatal injuries due to uncontrolled motor startup.
• Always use MOVITOOLS® MotionStudio 5.60 SP1 HF1 or a later version.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 33

 I Startup
6 Startup procedure
0

6.2 Startup procedure

• Once the startup tool has been selected in MOVITOOLS® MotionStudio, the initial
startup window is displayed.
– Use the [back] and [next] buttons to switch between the pages.
– Click [continue].

• Select your encoder setting for the motor encoder and the synchronous encoder. You
have the following options:
– "Manual editing", in order to select and parameterize an encoder.
– "Automatic detection", in order to read out the connected encoder. This is only
possible with SEW encoders Ex7S, ExxH, Ax7W and AxxH.
– "Deselect", if there is no encoder connected to the card or if the application does
not require an encoder.
– "Position detection on", in order to detect the source of the actual values.

792945035

34 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Startup I
Startup procedure
6
0

6.2.1 Editing SEW encoders manually

Proceed as follows to select an SEW encoder manually
• Select "SEW encoder".
• Configure the encoder designation according to the nameplate.

6.2.2 Editing approved encoders

Proceed as follows to select an SEW-approved encoder manually
• Select "Approved encoder".
• Select the respective encoder from the SEW database

• Select the "Mount-on" tab and define the type of mounting.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 35

 I Startup
6 Startup procedure
0

6.2.3 Defining the encoder mounting

Proceed as follows to define the encoder mounting:
• Enter the counting direction of the encoder
• Specify the ratio between the motor and the encoder
• You might measure the ratio with the startup software. This is only possible after the
inverter has been installed successfully.

36 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Startup I
Unit replacement
6
0

6.3 Unit replacement

6.3.1 Replacing incremental encoders
Incremental encoders for positioning always require a reference travel after startup. This
is why there are no special measures required in the event of a unit or encoder (motor)
replacement.

6.3.2 Replacing absolute encoders.

With absolute encoders, the position is stored in the inverter with 32 bits. This allows for
representing a larger absolute area than with an encoder with typical 12 bits in the single
turn range and 12 bits in the multiturn range. This also means, however, that a reference
travel is required in the event of an inverter replacement as well as in the event of an
encoder (motor) replacement.

6.3.3 Replacing linear encoder systems

The only exceptions are absolute linear encoder systems that do not have an encoder
overflow. If these can replaced so that the encoder system provides the same values as
before the replacement, a reference travel is not required.

6.3.4 Replacing Hiperface® encoders

With Hiperface® encoders, you can use parameter P948 to specify whether or not a ref-
erence travel is required after an encoder replacement.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 37

 I Parameters
7
0

7 Parameters
The DEU21B encoder cards are parameterized during startup. This is where you deter-
mine as to which encoder is connected to which terminal with which resolution.
In addition, you may provide for adaptations, e.g. regarding the counting direction or the
clock rate, via the parameter tree.

Parameter Description
Encoder type: The encoder set via the startup of the DEU21B option is displayed
Encoder scaling The numerator of the encoder scaling set via the startup of the DEU21B option is
numerator: displayed
Encoder scaling The denominator of the encoder scaling set via the startup of the DEU21B option is
denominator: displayed
Counting direction: Defines the counting direction of the connected encoder. Make the settings so that
the encoder counts in positive direction when the motor shaft turns clockwise.
Position mode: With overflow counter:
• Encoder overflows are counted and an internal 32-bit position is generated in
the inverter
Single-turn absolute position:
• Only via singleturn absolute encoder. Position is displayed according to the
encoder information. Encoder overflows are not counted
Linear operation:
• Position is displayed according to the encoder information. Encoder overflows
are not counted
Encoder monitoring NO:
motor: • Wire break between frequency inverter and motor encoder is not detected
directly. In case of a defective connection, error F08 Speed monitoring will be
issued in enabled state unless it was deactivated.
YES:
• Wire break between frequency inverter and motor encoder will be detected
directly when using sin/cos encoders and TTL encoders. The error message
F14 Encoder error will be issued in case of an error. This error will also be
generated in inhibited state.

Note: Encoder monitoring is not a safety function! If you use a Hiperface® encoder,
encoder monitoring is always active (for the track too) irrespective of the setting in
P504.

38 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Parameters
7

Parameter Description
Position offset: Setting range: (-231... 0 ... 231 -1)
The position offset only needs to be set for incremental encoders; for other encod-
ers, it should be set to 0.

Note: The position value will be recalculated and overwritten automatically after
successful completion of the reference travel.
SSI clock rate: Setting range: 125, 250, 500, 1000, 2000 kHz
Defines the cycle frequency at which absolute encoder information is transmitted
from the encoder to the inverter.
EnDAT clock rate: Setting range: 125, 250, 500, 1000, 2000 kHz
Defines the cycle frequency at which absolute encoder information is transmitted
from the encoder to the inverter.
CANopen baud rate: Setting range: 125, 250, 500 kBaud, 1 MBaud
determines the transmission speed of the CAN bus.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 39

 Error Messages
8
MOVIDRIVE® MDX61B with DEU21B option

8 Error Messages
8.1 MOVIDRIVE® MDX61B with DEU21B option
The factory set error response is listed in the "Response (P)" column. (P) indicates that
the response is programmable (via IPOSplus®).
Error Response Suberror code
Designation Designation Possible cause Measure
code (P)
512 X15: Error in amplitude • Encoder cable or shield • Check encoder cable
control not connected correctly and shield for correct
16896 X14: Error in amplitude • Short circuit/broken connection, short circuit
control encoder wire and broken wire.
• Encoder defective • Replace the encoder
Immediate • EMC interference • Providing for EMC
"TTL measures
57 disconnec-
encoder"
tion 514 X15: Incorrectly set Incorrect numerator/ Correct the numerator/
numerator/denominator denominator values denominator values
values
16898 X14: Incorrectly set
numerator/denominator
values
512 X15: Error in amplitude • Encoder cable or shield • Check encoder cable
control not connected correctly and shield for correct
514 X15: Track signal error • Short circuit/broken connection, short circuit
encoder wire and broken wire.
16896 X14: Error in amplitude • Encoder defective • Replace the encoder
control • EMC interference • Providing for EMC
Immediate 16897 X14: Initialization measures
"Sin/cos
58 disconnec- 16898 X14: Track signal error
encoder"
tion
513 X15: Initialization Encoder defective Replace the encoder
515 X15: Incorrectly set Incorrect numerator/ Correct the numerator/
numerator/denominator denominator values denominator values
values
16899 X:14 Incorrect numerator/
denominator values
1 X15: Track signal error • Encoder cable or shield • Check encoder cable
16 X15: Data line error not connected correctly and shield for correct
• Short circuit/broken connection, short circuit
64 – 576 X15: RS485 communica- encoder wire and broken wire.
tion • Encoder defective • Replace the encoder
1088 – 1388 X15: EnDat communica- • EMC interference • Providing for EMC
tion measures
16385 X14: Track signal error
16400 X14: Data line error
"Encoder 16448 – 16832 X14: RS485 communica-
59 communica- Rapid stop tion
tion" 17472 – 17772 X14: EnDat communica-
tion
2 X15: Incorrect calibration Incorrect encoder calibra- Delivery condition + new
of encoder tion or mechanical offset to startup
16386 X15: Incorrect calibration motor
of encoder
1024 X15: Clocking and/or data Clocking and/or data line Connect clocking and/or
line not connected not connected data line
17408 X14: Clocking and/or data
line not connected

40 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Error Messages kVA n
®
f 8
MOVIDRIVE MDX61B with DEU21B option i
P Hz

Error Response Suberror code

Designation Designation Possible cause Measure
code (P)
2 X15: Unknown encoder Connected encoder type Replace the encoder
type unknown
16386 X14: Unknown encoder
type
1 X15: Plausibility check • Encoder cable or shield • Check encoder cable
33 X15: Analog voltages not not connected correctly and shield for correct
within tolerance • Short circuit/broken connection, short circuit
encoder wire and broken wire.
41 – 45 X15: RS485 communica- • Encoder defective • Replace the encoder
tion • EMC interference • Providing for EMC
60 X15: Analog voltages not measures
within tolerance
63 X15: Position error,
excessive speed, unable
to generate position
256 X15: Voltage dip
257 X15: Clocking or data line
interrupted
258 X15: Change of position
261 X15: No high level pres-
ent
513 X15: Plausibility check
768 X15: PDO timeout
770 X15: Change of position
16385 X14: Plausibility check.
16417 X14: Analog voltages not
within tolerance
16444 X14: Analog voltages not
within tolerance
16447 X14: Position error,
excessive speed, unable
"Absolute Immediate to generate position
122 encoder disconnec-
option" tion 16425 – 16429 X14: RS485 communica-
tion
16640 X14: Voltage dip
16641 X14: Clocking or data line
interrupted
16642 X14: Change of position
16645 X14: No high level pres-
ent
16897 X14: Plausibility check
17152 X14: PDO timeout
17154 X14: Change of position
34 – 40 X15: Internal encoder Internal encoder error Replace the encoder
error
46 – 50 X15: Internal encoder
error
64 – 67 X15: Internal encoder
error
514 – 544 X15: Internal encoder
error
772 – 774 X15: Internal encoder
error
16418 – 16424 X14: Internal encoder
error
16430 – 16434 X14: Internal encoder
error
16448 – 16451 X14: Internal encoder
error
16898 – 16928 X14: Internal encoder
error
17156 – 17158 X14:Internal encoder
error

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 41

 Error Messages
8
MOVIDRIVE® MDX61B with DEU21B option

Error Response Suberror code

Designation Designation Possible cause Measure
code (P)
61 X15: Critical transmitter Soiled, transmitter broken Replace the encoder
current
16445 X14: Critical transmitter
current
62 X15: Critical encoder Encoder temperature too Reduce motor and ambient
temperature high temperature
16446 X14: Critical encoder
temperature
259 X15: Insufficient clock fre- Incorrect encoder parame- Check encoder parameter-
quency terization ization
260 X15: Encoder signals pro-
grammable error
"Absolute Immediate 576 X15: Internal encoder
122 encoder disconnec- warning
option" tion
769 X15: Encoder signals pro-
grammable error
16643 X14: Insufficient clock fre-
quency
16644 X14: Encoder signals pro-
grammable error
16960 X14: Internal encoder
warning
17153 X14: Encoder signals pro-
grammable error
771 X15: Emergency signal
17155 X14: Emergency signal

42 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

 Technical Data
DEU21B option – electronics data
9

9 Technical Data
9.1 DEU21B option – electronics data
Description Function
External encoder connection X14: Permitted encoder types:
• Hiperface® encoder
• sin/cos encoder AC 1 Vpp
• CANopen encoder
Output for incremental encoder simulation:
• TTL encoder with negated tracks
• Signal level to RS422 • HTL encoder
• The number of pulses is the same as on • SSI encoder
X15 motor encoder input • SSI combination encoder
• EnDat encoder
• Encoder with signal level to RS422
• Permitted PPR count: 2-4096 increments
Encoder power supply
• DC 24 V encoder supply1)
• DC 12 V encoder supply2)
Motor encoder connection X15: Permitted encoder types:
• Hiperface® encoder
• sin/cos encoder AC 1 Vpp
• TTL encoder with negated tracks
• HTL encoder
• SSI encoder
• SSI combination encoder
• EnDat encoder
• Encoder with signal level to RS422
• Permitted PPR count: 2-4096 increments
Encoder power supply
• DC 24 V voltage supply1)
• DC 12 V voltage supply2)
1) If the overall unit load on the 24 V level exceeds 400 mA, you must connect an external DC 24 V supply to X10:9/X10:10. Observe the
"Project planning" chapter in the MOVIDRIVE® MDX60B/61B system manual.
2) The maximum load on X14:15 and X15:15 is DC 650 mA in total.

Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card 43

 Index

Index

A M
Absolute encoder connection Multi-encoder card
General installation notes ..................................16 Connection.........................................................15
Applicable documentation ........................................6 DC 24 V voltage supply .....................................16
Application example Prefabricated cables ..........................................17
Absolute positioning with combination encoder ...8 Terminal description ..........................................15
Absolute positioning with synchronous encoder ..9
Special applications .............................................9 O
Speed control, positioning with reference travel ..8 Option card
Areas of application, DEU21B..................................7 Installation/removal............................................14
Assembly ...............................................................13 Other applicable documentation ..............................6

C P
Cables, prefabricated .............................................17 Parameters ............................................................38
Prefabricated cables
D Meaning of the symbols.....................................17
DEU21B Project planning .....................................................27
Assembly ...........................................................13 Encoder parameterization..................................30
Connection.........................................................15 Encoder selection ..............................................27
DC 24 V voltage supply .....................................16 Laser distance measuring instruments ..............28
Installation..........................................................13 Material measure via metal ruler .......................29
Prefabricated cables ..........................................17 Multiturn encoder ...............................................27
Terminal description...........................................15
S
E Safety Notes
Encoder Disposal ...............................................................6
CANopen ...........................................................12 Product names and trademarks...........................6
EnDat .................................................................12 Safety notes
Hiperface® .........................................................11 Hoist applications.................................................6
SSI .....................................................................10 Safety functions ...................................................6
SSI combination encoder...................................11 Startup
Encoder card General notes ....................................................33
Installation/removal ............................................14 Unit information..................................................34
Encoder replacement .............................................37 Startup procedure ..................................................34
Encoder selection ..................................................27 System description ..................................................7
Encoders, suitable .................................................10
Error messages......................................................40 T
Technical data .......................................................43
I Terminal description ..............................................15
Installation ..............................................................13
Absolute encoder, connection............................16 U
Before you begin................................................13 Unit information......................................................34
DEU21B .............................................................13
Terminal description...........................................15

44 Manual – MOVIDRIVE® MDX61B DEU21B Multi-Encoder Card

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
[email protected]
www.sew-eurodrive.com