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

MOVIDRIVE® MDX61B
Internal Synchronous Operation (ISYNC)

Edition 06/2005
11365412 / EN Manual
SEW-EURODRIVE – Driving the world
 Contents

1 Important Notes................................................................................................. 4

2 System Description........................................................................................... 5
2.1 Application fields ....................................................................................... 5
2.2 Description of functions............................................................................. 5
2.3 State machine of internal synchronous operation ..................................... 6
2.4 Controlling internal synchronous operation............................................... 7

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

3.1 Application examples ................................................................................ 8
3.2 Prerequisites ........................................................................................... 11
3.3 Project planning notes ............................................................................ 12
3.4 Synchronous start/stop ........................................................................... 13

4 Installation ....................................................................................................... 14
4.1 Software .................................................................................................. 14
4.2 Encoder and resolver connection............................................................ 15
4.3 Connecting the incremental encoder master to MOVIDRIVE® slave...... 16
4.4 Connecting the MOVIDRIVE® master to MOVIDRIVE® slave ................ 18
4.5 Connecting the absolute encoder master to MOVIDRIVE® slave........... 19
4.6 System bus connection of master to slave.............................................. 21

5 Working Method and Functions..................................................................... 22

5.1 Controlling internal synchronous operation............................................. 22
5.2 Main state machine ................................................................................. 22
5.3 Startup cycle control ............................................................................... 24
5.4 Synchronous operation ........................................................................... 30
5.5 Offset cycle type ..................................................................................... 34
5.6 Stop cycle state machine ........................................................................ 39
5.7 Virtual encoder ........................................................................................ 40
5.8 Important notes ....................................................................................... 44
5.9 Internal synchronous operation via SBus................................................ 46

6 Startup.............................................................................................................. 47
6.1 General information ................................................................................ 47
6.2 Preliminary work...................................................................................... 47
6.3 Starting up internal synchronous operation............................................. 48
6.4 Internal synchronous operation startup interface .................................... 53

7 System Variables for Internal Synchronous Operation............................... 88

8 IPOSplus® Sample Programs .......................................................................... 98

8.1 Example 1 ............................................................................................... 98
8.2 Example 2 ............................................................................................. 100
8.3 Example 3 ............................................................................................. 103

9 Index ............................................................................................................... 107

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 3

 Important Notes
1

1 Important Notes
• This manual does not replace the detailed operating instructions.
• Only trained personnel may perform installation and startup observing appli-
cable accident prevention regulations and the MOVIDRIVE® operating instruc-
tions.

Documentation • Read through this manual carefully before you commence installation and startup of
MOVIDRIVE® drive inverters with internal synchronous operation.
• This manual assumes that the user has access to and is familiar with the MOVI-
DRIVE® documentation, in particular the MOVIDRIVE® system manual.
• In this manual, cross-references are marked with "Æ". For example, (Æ section X.X)
means: Further information can be found in section X.X of this manual.
• As a prerequisite for fault-free operation and fulfillment of warranty claims, you must
adhere to the information in the documentation.

Bus systems General safety notes for bus systems

This communication system allows you to adjust the MOVIDRIVE® drive inverter to your
specific application conditions with the highest accurately. As with all bus systems, there
is a danger of modifications to the parameters that are not visible from outside (in rela-
tion to the inverter), which give rise to changes in the inverter behavior. This may result
in unexpected (not uncontrolled) system behavior.

Safety and Always observe the safety and warning instructions in this documentation.
warning
instructions
Electrical hazard
Possible consequences: Severe or fatal injuries.

Hazard
Possible consequences: Severe or fatal injuries.

Hazardous situation
Possible consequences: Slight or minor injuries.

Harmful situation
Possible consequences: Damage to the unit and
the environment.

Tips and useful information

4 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 System Description
Application fields
2

2 System Description
2.1 Application fields
The internal synchronous operation function enables a group of motors to be operated
at a synchronous angle in relation to one another or with an adjustable proportional
relationship (electronic gear). Internal synchronous operation is particularly suited to the
following sectors and applications:
• Beverage industry
– Filling stations
• Multiple column hoist
• Synchronous material transport
• Extruder applications, cutting material off the roll to length
– Flying saw
– Rotating knife
• Packaging technology

Advantages • Option of position-dependent catch-up Æ smooth synchronizing without over-

of internal shooting
synchronous • Option of position-dependent offset
operation
• Signed input of the master gear factor
• Option of synchronization with a virtual encoder
• Option of synchronized SBus connection between master and slave
• Software solution Æ no option card required

2.2 Description of functions

The internal synchronous operation function is a special firmware/technology function,
which only expects increments from a master. The master can either be
• The X14 input or
• Any IPOSplus® variable (virtual master drive), for example in connection with the
SBus or a virtual encoder.

Catch-up The time-controlled catch-up mechanism has been implemented. A variation between
the angle of the slave drive and the master drive resulting from free running is reduced
to zero.
In addition, a special type of catch-up can be employed. The slave drive moves at a syn-
chronous angle to the master drive following a specified number of master increments
(position-dependent catch-up). With this catch-up mechanism, the slave drive moves
with a quadratic ramp.

Synchronous Synchronous operation comprises various functions. For example, it is possible to

operation operate with a specified offset over a specific travel distance. The offset between the
master and slave drive comes into effect after a specified number of master increments.

Stop cycle The slave exits synchronous operation as a result of the stop cycle process. This pro-
cess can be manually started by setting a system variable or can be event-driven using
an external signal.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 5

 System Description
2 State machine of internal synchronous operation

2.3 State machine of internal synchronous operation

The individual functions of internal synchronous operation are controlled using a state
machine. The state machine has the six main states shown in the following figure
(Æ Section 6 "Operating Principle and Functions").

Automatic
transfer
Synchronous
drive
Z3
Offset control
or IPOS program
Automatic Offset cycle state
transfer Z4
Decoupling control or
IPOS program

Decoupling control or
IPOS program
Coupling state
Z2
Stop cycle state
Z5

Automatic
transfer
Engaging control or Automatic
IPOS program transfer
Engaging control or
IPOS program
Free mode
Free mode x-control
n-control Z1
Z0
IPOS program

06628AEN
Fig. 1: Overview of the state machine for internal synchronous operation

6 main states The state machine distinguishes between the six states Z0 to Z5 (Æ Section 6 "Oper-
ating Principles and Functions").
• State Z0 = Free-running speed control
The slave drive moves in free-running mode with speed control. The reference to the
master drive can be stored in a difference counter.

• State Z1 = Free running position control

The slave drive stops subject to position control and therefore does not drift out of
position. The reference to the master drive can be stored as desired.

• State Z2 = Startup cycle

The slave drive is synchronized with the master drive using time or position control.

6 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 System Description
Controlling internal synchronous operation
2

• State Z3 = Synchronous operation

The slave drive moves synchronously with the master drive.

• State Z4 = Offset
In synchronous operation, an offset can be set subject to time or position control.

• State Z5 = Stop cycle

The slave drive exits synchronous operation.

2.4 Controlling internal synchronous operation

Internal synchronous operation is controlled using IPOSplus® variables within the
IPOSplus® application program. All states can be viewed and set in a variable range from
H360 to H446, which is reserved for internal synchronous operation.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 7

 Project Planning
3 Application examples

3 Project Planning
3.1 Application examples
Master/slave operation of two drives

Basic unit MDX61B...-5_3-4-0T

X14 X14
X15 X15

Hipe s encod
Hipe s encod

Sin/c
Sin/c

rface
rface

o
o

®
®

, Res r
, Res

e
er

olve
olv
er

r
Master Slave
06671AEN
Fig. 2: Master/slave operation

Master/slave operation of two drives with virtual encoder as master

MDX61B...-5_3-4-0T MDX61B...-5_3-4-0T
IPOS-Variables
H370
...

X14 X14
X15 X15
Master = virtual encoder
Hipe s encod
Hipe s encod

Sin/c
Sin/c

rface
rface

o
o

®
®

, Res r
, Res r

e
e

olve
olve

r
r

Slave 1 Slave 2

06672AEN
Fig. 3: Master/slave operation with virtual encoder

8 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Project Planning
Application examples
3

Group configuration: Master and equal-ranked slaves, e.g. multiple column hoist

MDX61B...-5_3-4-00 MDX61B...-5_3-4-0T

SBus SBus SBus

X15 X15 X15 X15

Sin/c
Sin/c

Sin/c

Sin/c
os en
os en

os en

os en
code
code

code

code
r
r

r
Master Slave 1 Slave 2 Slave 3
06673AEN
Fig. 4: Group configuration

Group configuration with virtual encoder

MDX61B...-5_3-4-0T

IPOS-Variables
H370
...

SBus SBus
X15 X15 X15
Master = virtual encoder
Sin/c

Sin/c

Sin/c
os en

os en

os en
code

code

code
r

Slave 1 Slave 2 Slave 3

06674AEN
Fig. 5: Group configuration with virtual master encoder

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 9

 Project Planning
3 Application examples

Slave drive subject to slip with absolute encoder

Basic unit MDX61B...-5_3-4-0T

SBus X14
Synchronous encoder
X15 X15

Sin/c
Sin/c

os en
os en

code
oderc

Master Slave r
06679AEN
Fig. 6: Slave drive subject to slip

10 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Project Planning
Prerequisites
3

3.2 Prerequisites
PC and software You need the software package SEW MOVITOOLS® version 4.10 and higher from
SEW-EURODRIVE to be able to use internal synchronous operation. To use MOVI-
TOOLS®, you must have a PC with one of the following operating systems:
Windows® 95, Windows® 98, Windows® NT 4.0 or Windows® 2000.

IPOSplus® The user program for internal synchronous operation must be created using IPOSplus®
Compiler Compiler. Do not use the assembler (on-screen programming) for this purpose.
IPOSplus® variables H360 to H450 are defined for internal synchronous operation.

Inverter • The MOVIDRIVE® MDX61B...-5_3-4-0T application version already includes the

technology function for internal synchronous operation.
• Internal synchronous operation has been designed for MOVIDRIVE® MDX61B and
places the following requirements on the drive system:
– Encoder feedback
– Operation modes "CFC", "SERVO" or "VFC-n control" with master/slave connec-
tion via X14-X14
• Only parameter set 1 is available; parameter set 2 cannot be used.
• The DRS11 synchronous operation board is not supported and therefore may not be
used.

Internal synchronous operation cannot be realized with

• MOVIDRIVE® MDX60B

Motors and • For operation on MOVIDRIVE® MDX61B:

encoders – CT/CV asynchronous servomotor, high-resolution sin/cos encoder (installed as
standard) or Hiperface® encoder.
– AC motor DT/DV/D with incremental encoder option, preferably high-resolution
sin/cos encoder or Hiperface® encoder.
– DS/CM synchronous servomotors, resolver (installed as standard) or Hiperface®
encoder
High-resolution speed detection is required for optimum operation of internal synchro-
nous operation. The encoders installed as standard on CT/CV and DS/CM motors fulfill
these requirements. If you use DT/DV/D motors, we recommend using Hiperface®
encoders or high-resolution sin/cos encoders ES1S, ES2S or EV1S.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 11

 Project Planning
3 Project planning notes

3.3 Project planning notes

• Do not use internal synchronous operation with systems that have a rigid mechanical
connection.
• Equip slave inverters with a braking resistor.
• During project planning, bear in mind that the slave must be able to reduce the angle
differential between itself and the master to zero at any time. For this reason, set the
maximum speed (P302) of the slave to a value greater than the maximum speed of
the master. When doing so, take the scaling factors of master and slave into account.
• Provide for a sufficient torque reserve for the slave drive.
• During the time-controlled catch-up process, the catch-up speed of the slave drive
must be faster than the maximum speed of the master drive.
• If possible, always use the same type of drives for internal synchronous operation.
• In the case of multiple column drives, always use the same motors and the same
gear units (identical ratios).
• When drives of the same type are operating as a synchronized group (e.g. multiple
column hoist), the drive that carries the highest proportion of the load during opera-
tion must be selected as the master.
• Connect the slave motor encoder to terminal X15 (ENCODER IN) and the master
incremental encoder to terminal X14 (ENCODER IN/OUT) (Æ MOVIDRIVE®
MDX60B/61B operating instructions).
• Master is incremental encoder on terminal X14. Use an incremental encoder with the
highest possible resolution (max. 200 kHz).
• Operation with SBus Æ Setting up a cyclical data transfer in an IPOSplus® program:
– Group configuration: SBus connection between the master and all slave drives is
permitted
– SBus synchronization with transfer of the SBus synchronization ID
– Transferring the position of the master drive
• Direct open circuit monitoring is possible for X14-X14 connection via the para-
meter encoder monitoring X14. Indirect open circuit monitoring is possible during
operation with SBus using the SBus timeout response (P836).

12 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Project Planning
Synchronous start/stop
3

3.4 Synchronous start/stop

In certain applications, such as a two-column hoist, you must make sure that the master
and slave can start and stop synchronously. This is a prerequisite for proper operation.

As a result, combinations in which the master is more dynamic than the slave
are not permitted.

The following table shows the possible master/slave combination and the required set-
tings for synchronous start/stop.
Master Slave Master parameters Slave parameters Comment
DIá3 = Enable/rapid stop Connect master binary
MDX61B MDX61B DOá2 = Output stage on (factory setting) output DOá2 to slave
DIá1 and DIá2 = No function binary output DIá3.

Strictly observe the following:

• The brake function must be active in the master and the slave (P730 "Brake function
1" = ON).
• With asynchronous motors: The brake release time (P731) of the master must be
increased by the premagnetizing time (P323) of the slave drive.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 13

 Installation
4 Software

4 Installation
4.1 Software
Proceed as follows to install MOVITOOLS® 4.10 on your computer:
1. Insert the MOVITOOLS® CD into the CD ROM drive of your PC.
2. Select "Start/Run...".
3. Enter "{drive letter of your CD drive}:setup" and select the Enter button.
4. The MOVITOOLS® setup menu appears. Follow the instructions of the installation
wizard. You will be guided through the installation automatically.
You can now use the Program Manager to start MOVITOOLS®. If a MOVIDRIVE® B unit
is connected to your PC, select the correct port (PC COM port), and select peer-to-peer
connection. Select <Update> to display the inverter in the "Connected Inverters" window.

10383AEN
Fig. 7: MOVITOOLS® initial screen

14 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Installation
Encoder and resolver connection
4

4.2 Encoder and resolver connection

The following wiring diagrams do not show the view of the cable end, but for:
• with plugs / sockets: View on motor plugs/sockets
• with unit sockets: View on unit socket
The core colors specified in the wiring diagrams are in accordance with the color code
specified in IEC 757 and correspond to the core colors used in the pre-fabricated cables
from SEW.
The "SEW Encoder Systems" manual contains detailed information and can be obtained
from SEW.

General • Max. line length inverter – encoder/resolver: 100 m (330 ft) with a capacitance per
installation notes unit length  120 nF/km (193 nF/mile).
• Core cross section: 0.20 ... 0.5 mm2 (AWG 24 ... 20)
• If you cut off a core of the encoder/resolver cable: Isolate the core at the end.
• Use shielded cables with twisted pair cores, and connect the shield on both ends
over a large surface area:
– At the encoder in the cable gland or in the encoder plug
– At the inverter in the housing of the sub D connector
• Route the encoder/resolver cable separately from the power cables.

Shielding Connect the shield of the encoder/resolver cable over a large area.
On the inverter Connect the shield on the inverter end in the housing of the sub D connector.

01939BXX
Fig. 8: Connect the shield in the sub D connector
On the encoder/ Connect the shield on the encoder/resolver end only in the cable gland. For drives with
resolver a plug connector, connect the shield on the encoder plug.
1 2 3 4 5 6 7 8 9 10 11 12

1 2 3 4 5 6 7 8 9 10 11 12

1 2 3 4 5 6 7 8 9 10 11 12

52392AXX
Fig. 9: Connect the shield on the grounding clip of the encoder

Pre-fabricated • SEW-EURODRIVE offers pre-fabricated cables for connecting encoders/resolvers.

cables We recommend using these pre-fabricated cables.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 15

 Installation
4 Connecting the incremental encoder master to MOVIDRIVE® slave

4.3 Connecting the incremental encoder master to MOVIDRIVE® slave

®
X13: MOVIDRIVE -Slave
DIØØ 1 /Controller inhibit
DIØ1 2 No function
DIØ2 3 No function
DIØ3 4 Enable/rapid stop*
DIØ4 5 IPOS input
DIØ5 6 IPOS input
DCOM 7 Reference X13:DIØØ...DIØ5
VO24 8 +24V output
DGND 9 Reference potential for binary signals
ST11 10 RS-485+

* Factory setting
ST12 11 RS-485-

X14:
Option DEH11B / DER11B (Master): 9 1
Incremental encoder TTL/RS-422 Option DEH11B / DER11B
with 24VDC supply External
Imax = 180 mA 15 encoder input
8

X15:
15 8
Option DEH11B
Motor encoder
®
(Connection: MOVIDRIVE
9 1 operating instructions)

X15:
5
9 Option DER11B
Option DEH11B (Motor encoder): Resolver
high-resolution sind/cos encoder 6
1 (Connection: MOVIDRIVE
®

® operating instructions)
Hiperface encoder, or incremental encoder
(CT/CV- or DT/DV/D motors)
X10:
TF1 1 TF/TH input
DGND 2 Reference potential for binary signals
DBØØ 3 /Brake
DOØ1-C 4 Relay contact/Ready*
Option DER11B (Motor encoder): DOØ1-NO 5 Normally open contact relay
DOØ1-NC 6 Normally closed contact relay
Resolver DOØ2 7 /Malfunctions*
(DS/CM motors) VO24 8 +24V output
VI24 9 +24V input
DGND 10 Reference potential for binary signals

06685BEN
Fig. 10: Connecting the incremental encoder master to MOVIDRIVE® slave

The options DEH11B/DER11B with encoder input X15 cannot be connected at the
same time.

16 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Installation
Connecting the incremental encoder master to MOVIDRIVE® slave
4

AV1H Connect the AV1H Hiperface® encoder as follows:

HIPERFACE®
AV1H max. 100 m (330 ft)
encoder X14:
COS 3 RD
connection 1
REFCOS 4 BU
1 9 8 9
SIN 5 YE
2 1
2 10 12 7 REFSIN 6 GN 9
10
11 DATA+ 8 BK
3 6 4
DATA- 7 VT
4 5 12
US 12 RDBU-GY
15
11 GYPK-PK
8
15 8
쵰 쵰

06570BXX
Fig. 11: Connecting the AV1H Hiperface® encoder as external encoder to the MOVIDRIVE®
master

Part numbers of the pre-fabricated cables:

• For fixed routing: 818 015 6
• For cable carrier routing: 818 165 9

Part numbers of the pre-fabricated extension cables:

• For fixed routing: 199 539 1
• For cable carrier routing: 199 540 5

Sin/cos encoder Connect the sin/cos encoder as follows:

connection
max. 100 m (330 ft)
X14:
EV1S / EV1R 1
9
2 1
9
10
3
11
15
8
15 8
쵰 쵰

06230CXX
Fig. 12: Connecting sin/cos encoder as external encoder to MOVIDRIVE® master

Part numbers of the pre-fabricated cables:

• For fixed routing: 817 960 3
• For cable carrier routing: 818 168 3

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 17

 Installation
4 Connecting the MOVIDRIVE® master to MOVIDRIVE® slave

4.4 Connecting the MOVIDRIVE® master to MOVIDRIVE® slave

®
MOVIDRIVE -Master MOVIDRIVE®-Slave
X13: X13:
/Controller inhibit DIØØ 1 DIØØ 1 /Controller inhibit
CW/Stop* DIØ1 2 DIØ1 2 No function
CCW/Stop* DIØ2 3 DIØ2 3 No function
Enable/rapid stop* DIØ3 4 DIØ3 4 Enable/rapid stop*
n11/n21* DIØ4 5 [3] DIØ4 5 IPOS input
Ext. fault DIØ5 6 DIØ5 6 IPOS input
Reference X13:DIØØ...DIØ5 DCOM 7 DCOM 7 Reference X13:DIØØ...DIØ5
+24V VO24 8 VO24 8 +24V output
Reference potential for binary signals DGND 9 DGND 9 Reference potential for binary signals
RS-485+ ST11 10 ST11 10 RS-485+
RS-485- ST12 11 ST12 11 RS-485-

*Factory setting
X14: X14:
*Factory setting

9 1 9 1
Option DEH11B / DER11B [2]
Option DEH11B / DER11B
Incremental encoder External encoder
simulation 15 input
8 15 8

X15: X15:
15 8 15 8
Option DEH11B Option DEH11B
Motor encoder: Motor encoder:
Incremental encoder Incremental encoder
9 1 9 1 ®
(Connection MOVIDRIVE® (Connection MOVIDRIVE
operating instructions) operating instructions)

X15: X15:
5
Option DER11B 9
9
5
Option DER11B
Resolver Resolver
6
1 6 ®
(Connection MOVIDRIVE® 1 (Connection MOVIDRIVE
operating instructions) operating instructions)

X10:
X10:
TF input TF1 1
Reference potential for binary signals DGND 2 TF1 1 TF input
/Brake DBØØ 3 DGND 2 Reference potential for binary signals
Motor standstill DOØ1-C 4 DBØØ 3 /Brake
Normally open contact relay DOØ1-NO 5 DOØ1-C 4 Relay contact/Ready*
Normally closed contact relay DOØ1-NC 6 [1] DOØ1-NO 5 Normally open contact relay
Output stage on DOØ2 7 DOØ1-NC 6 Normally closed contact relay
+24 V output VO24 8 DOØ2 7 /Malfunction*
+24V input VI24 9 VO24 8 +24V output
Reference potential for binary signals DGND 10 VI24 9 +24V input
DGND 10 Reference potential for binary signals

54707AEN
Fig. 13: Connection MOVIDRIVE® master to MOVIDRIVE® slave and required connection for synchronous start/stop

1 Necessary connection for synchronous start/stop (Æ Section Synchronous start/stop)

2 For the X14-X14 connection, it is essential to comply with section "X14-X14 connection"
and the following instructions.
3 When a fault occurs in the slave drive, the master can be stopped regardless of para-
meter P830 Response EXT. FAULT.

The options DEH11B/DER11B with encoder input X15 cannot be connected at the
same time.

18 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Installation
Connecting the absolute encoder master to MOVIDRIVE® slave
4

X14-X14 connection

max. 10 m (33 ft)

1 1
9 9
1 2 2 1
9 9
10 10
3 3
11 11
15 15
8 8
15 8 15 8
7 7

쵰 쵰
06660AXX
Fig. 14: Connection MOVIDRIVE® master X14 to MOVIDRIVE® slave X14

Please note:
• With MOVIDRIVE® master: Jumper X14:7 with X14:8.
• Do not connect MOVIDRIVE® master X14:15 and MOVIDRIVE® slave X14:15.
• SEW-EURODRIVE offers a pre-fabricated cable for easy and trouble-free master
(X14)/slave (X14) connection. You can order this cable from SEW-EURODRIVE
under part number 817 958 1.

4.5 Connecting the absolute encoder master to MOVIDRIVE® slave

Internal
24 VDC supply

06675AXX
Fig. 15: Connecting the absolute encoder master to MOVIDRIVE® slave

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 19

 Installation
4 Connecting the absolute encoder master to MOVIDRIVE® slave

External
24 VDC supply
DIP11B
max. 100 m (330 ft)
Data + 1
Data - 6
Cycle + 3
5
Cycle - 8 9

6
1

DGND
24 VDC
06676AEN
Fig. 16: Connecting the absolute encoder master to MOVIDRIVE® slave

Connecting We recommend the HIPERFACE® encoders AS1H, ES1H and AV1H for operation with
HIPERFACE® MOVIDRIVE® MDX61B. The encoder is connected via plug connectors.
encoder to
AS1H/ES1H/AV1H max. 100 m (330 ft)
DT../DV../D, X15:
3 RD
CT../CV motors 1
9 8 4 BU
1 9
5 YE
2 15 8
2 10 12 7 6 GN
10
11 7 VT
3 6 12
8 BK
4 5 4
9 BN
14
10 WH
6 9
11 GY-PK 1
8
12 RD-BU
15
PK
GY

쵰 쵰
06558AXX
Fig. 17: Connecting HIPERFACE® encoder as master to MOVIDRIVE® slave

Important for DT/DV or CT/CV motors: TF or TH is not connected with the encoder cable
but must be connected using an additional 2-core shielded cable.

Part numbers of the pre-fabricated cables:

• For fixed routing: 1332 453 5
• For cable carrier routing: 1332 455 1

Part numbers of the pre-fabricated extension cables:

• For fixed routing: 199 539 1
• For cable carrier routing: 199 540 5

20 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Installation
System bus connection of master to slave
4

4.6 System bus connection of master to slave

Only when P816 "SBus baud rate" = 1000 kBaud:
MOVIDRIVE® compact MCH4_A units cannot be combined with other MOVIDRIVE®
units in the same system bus combination.
The units are allowed to be mixed when baud rates Á 1000 kBaud.

Max. 64 CAN bus stations can be interconnected using the system bus (SBus). The
SBus supports transmission technology compliant with ISO 11898.
The "Serial Communication" manual contains detailed information about the system bus
that can be ordered from SEW-EURODRIVE.

Master S 11 Slave 1 S 11 Slave 2 S 11

System bus System bus System bus
S 12 S 12 S 12
Terminating resistor Terminating resistor Terminating resistor
S 13 S 13 S 13
S 14 S 14 S 14
ON OFF ON OFF ON OFF

System bus
X12: System bus
X12: System bus
X12:
Reference DGND 1 Reference DGND 1 Reference DGND 1
System bus high SC11 2 System bus high SC11 2 System bus high SC11 2
System bus low SC12 3 System bus low SC12 3 System bus low SC12 3

   
06615AEN
Fig. 18: System bus connection (example: one master and two slaves)

Cable • Use a 2-core twisted and shielded copper cable (data transmission cable with
specification braided copper shield). The cable must meet the following specifications:
– Core cross-section 0.75 mm2 (AWG 18)
– Line resistance 120 Ê at 1 MHz
– Capacitance per unit length  40 pF/m (12 pF/ft) at 1 kHz
Suitable cables include CAN bus or DeviceNet cables.
Cable length • The permitted total cable length depends on the baud rate setting of the SBus
(P816):
– 125 kBaud Æ 320 m (1056 ft)
– 250 kBaud Æ 160 m (528 ft)
– 500 kBaud Æ 80 m (264 ft)
– 1000 kBaud Æ 40 m (132 ft)
Terminating • Switch on the system bus terminating resistor (S12 = ON) at the start and end of the
resistor system bus connection. Switch off the terminating resistor on the other units (S12 =
OFF).

• There must not be any potential displacement between the units connected with the
SBus. Take suitable measures to prevent potential displacement, such as con-
necting the unit ground connectors using a separate cable.

Shielding • Connect the shield at either end to the electronics shield clamp of the inverter or the
master control, ensuring the shield is connected over a large area, and connect the
ends of the shield to DGND.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 21

 I Working Method and Functions
5 Controlling internal synchronous operation
0

5 Working Method and Functions

5.1 Controlling internal synchronous operation
Internal synchronous operation is controlled using IPOSplus® variables within the
IPOSplus® program (in the following referred to as "application"). All states of internal
synchronous operation can be viewed and set in a variable range from H360 to H450
which is reserved for internal synchronous operation (Æ "System variables" section). All
variables that are connected to internal synchronous operation have symbolic names.
These variables are shown below in bold and italics.

5.2 Main state machine

The following figure shows the states of the main machine and possible state changes
of internal synchronous operation (H427 Æ SynchronousState).

H361.12=0: H434 Lag Distance = 0

Synchronous H361.12=1: H364 Counter > H366 Master Length
drive Z3

[3] [2] Offset control Offset cycle state

or IPOS program Z4
H411.12=0: H434 Drag Distance = 0 H361.12 = 0: time-
H411.12=1: H414 Counter > H417 Master Length controlled offset processing
H361.12 = 1:
Disengaging control or position-dependent
IPOS program offset processing
Coupling state
Z2 [2]

H411.12 = 0: Decoupling control or

time-controlled synch. IPOS program
H411.12 = 1:
position-dependent synch. Stop cycle state/ g
decouplin Z5

H401.0 = 0: n-control
H401.0 = 1: x-control

H401.0 = 0
Coupling control or
IPOS program H401.0=1

Coupling control or
IPOS program
Free mode
Free mode x-control
n-control Z1
Z0
IPOS program
[1]
[1]

06629AEN
Fig. 19: Main state machine of internal synchronous operation with sub-state machines

[1] Startup cycle state machine

[2] Stop cycle state machine
[3] Offset state machine

22 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Main state machine
5
0

6 main states The state machine distinguishes between six states (Z0 to Z5). These states are stored
in the IPOSplus® variable H427 SynchronousState (Æ section 7 "System variables").
State H427 Description
Free-running n-control
SynchronousState = 0 The slave drive can be moved subject to speed control at the speed
entered in H439 SpeedFreeMode.
Free-running x-control
SynchronousState = 1
The slave drive is held in its current position.
Startup cycle phase
SynchronousState = 2 Synchronization takes place subject either to time or position control
depending on bit 12 in H411 StartupCycleModeControl.
"Hard" synchronous operation
SynchronousState = 3
The slave drive follows the master drive at the same angle.
Offset
SynchronousState = 4 The offset is set subject to time or position control depending on
bit 12 in H361 OffsetCycleModeControl.
Stop cycle phase
SynchronousState = 5
The slave drive goes into the stop cycle using the t11 ramp (P130).

Additional Additional functions can be selected using the bits of the H426 SynchronousMode
functions with Control IPOSplus® variable (Æ section 7 "System Variables").
H426
Bit Name Description
= 0: Deactivated
= 1: Causes the slave drive to move to TargetPos (H492) without ramp during
0 PosTrim
position control in free-running mode (state 1). This setting should therefore only
be used for position corrections.
= 0: State 3, operating mode not equal to positioning, ramp type not equal to
internal synchronous operation Æ Lag error monitoring.
1 LagError
= 1: State 3, operating mode not equal to positioning, ramp type not equal to
internal synchronous operation Æ No lag error monitoring.
= 0: The values of the correction mechanism are written to the difference
2 RegisterScale counter 1:1.
= 1: The values are scaled with GFSlave.
= 0: Feedforward is decoupled with "Set DRS zero point".
= 1: Feedforward is maintained (speed synchronization with reference to the
3 ZeroPointMode
drive), which means the slave continues to move at the same speed as the
master.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 23

 I Working Method and Functions
5 Startup cycle control
0

5.3 Startup cycle control

Time-controlled During the time-controlled catch-up process, the existing difference of position between
catch-up process the master and slave drive (64-bit counter) is compensated by accelerating or deceler-
ating the slave drive to the catch-up speed. The time required depends on the catch-up
speed, the catch-up ramp, and the lag distance (H434 LagDistance32). The following
diagram shows the speed profile of the slave drive during the entire process (e.g. at a
constant master speed).

LagDistance32 (t0) H434

Ⳏ eff. lag distance
at time t0
nsynch. [rpm]
LagDistance32 (tX) H434
P240 Ⳏ eff. lag distance
nSlave
at time tX

nMaster

0 t0 asynch. tx t [s]
P241
06630AEN
Fig. 20: Speed profile of the time-controlled catch-up process

The catch-up speed nCatch and the catch-up ramp aCatch are set using parameters P240
synchronization speed and P241 synchronization ramp. These two parameters are also
used by the DRS11B synchronous operation board.
Catch-up takes place in two steps:
• First, the speed of the slave drive is adjusted to the speed of the master drive by
using a specified ramp (speed synchronism).
• In the second step, the still existing angle differential (H434 LagDistance32) is
reduced to zero by accelerating or decelerating the drive (positional synchronism).

Observe the following points for setting the controller:

• nmax slave (P302) Ã nCatch (P240)
The output speed of the slave drive must be equal to or greater than the output speed
of the master drive.
Observe the following during project planning:
• Provide for a sufficient torque reserve for the slave drive.

24 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Startup cycle control
5
0

Position- In this catch-up process, the slave drive only moves synchronously with the master drive
dependent catch- once the master drive has covered a specified distance. The specified distance must be
up process stored in increments in relation to the master in the H417 StartupCycleMasterLength
variable. Note that the slave drive must start with speed zero.

[rpm]
Slave

[rpm]

06631AEN
Fig. 21: Speed profile for the position-dependent catch-up process

Catch-up takes place as follows (with reference to a constant master speed):

• in the range 0% to 20% and 80% to 100%: the slave drive moves with a quadratic
ramp
• in the range 20% to 80%: the slave drive moves with a linear ramp
After the startup cycle distance, the slave has covered half the distance of the master
(with reference to the drive).

A control element was added to prevent the loss of master increments during the tran-
sition from the position-dependent catch-up process to synchronous operation. In this
way, a specific differential increment value (H389 RegisterLoopOut) in each sampling
step is added to the 64-bit difference counter by a certain number of increments (H390
RegisterLoopDXDTOut).
The element only takes effect in main state Z3 (synchronous operation) and can be
written directly by the user.
The following parameters should be set as given below to achieve exact results in the
position-dependent catch-up process:
• H390 RegisterLoopDXDXOut = 2 The remaining travel distance can be reduced to
zero.
• H426 SynchronousModeControl.2 (RegisterScale - H426) = 1 results in multiplica-
tion with GFSlave.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 25

 I Working Method and Functions
5 Startup cycle control
0

Startup cycle Startup cycle control reacts in the main states Z0 and Z1. The startup cycle process of
state machine the slave to the master can be performed either manually, event-driven, or with interrupt
control.
The startup cycle mode is defined with the H410 StartupCycleMode system variable.
Additional functions can be programmed with the H411 StartupCycleModeControl
system variable.

System variable H410 StartupCycleMode Æ startup cycle mode:

• Manual startup cycle (StartupCycleMode = 0)
The startup cycle process starts when the application assigns the value 2 to the H427
SynchronousState system variable.
• Event-driven starting (StartupCycleMode = 1)
The startup cycle process is started event-driven via binary input. The H413 Startup-
CycleInputMask system variable defines which binary input triggers the startup cycle
process. The process is started as soon as a "1" level is present at the defined binary
input. The terminal latency is 1 ms.

nSlave [rpm]

≥ 1 ms

"1" DI..

"0"
StartupCycleMasterLength (H417) xMaster [Incr.]
06632AEN
Fig. 22: Event-driven starting of the position-dependent startup cycle process

• Interrupt-controlled startup cycle (StartupCycleMode = 2)

A signal edge at binary input DI02 or on the C track X14:3 triggers the startup cycle
process (interrupt-controlled). To do this, binary input DI02 must be programmed to
"No function". A delay in relation to the master cycle can be defined for the startup
cycle process start using the H415 StartupCycleCounterMaxValue system variable.
The response time of the sensor can be taken into account using the H416
StartupCycleDelayDI02 system variable (1 digit = 0.1 ms). This parameter is also
effective for the startup cycle with X14:3 (C track).

nSlave [rpm]
150 μs
"1"
DIØ2
(X14:3)
"0"
StartupCycleMasterLength (H417) xMaster [Incr.]
StartupCycleCounterMaxValue (H415)
06633AEN
Fig. 23: Interrupt-controlled starting of the position-dependent startup cycle process

26 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Startup cycle control
5
0

Startup cycle state machine in H412 StartupCycleState:

Interrupt and
H415!=0
Waiting on H414>=H415
Interrupt Delay
(EZ2) (EZ3)

Coupling and
resetting of
engaging counter
H414=H414-H415
Interrupt and (EZ4)
H415==0
IPOS program

AutoRestart AutoRestart
deactivated
automatic

Interrupt Interrupt is
deactivated enabled
(EZ0) (EZ1)
IPOS program

06634AEN
Fig. 24: Startup cycle state machine with interrupt control (startup cycle mode 2)

Application In figure 25, the following application example is shown for startup cycle mode 2:
example The center of a moving workpiece is to be stamped by a punch. The presence of a work-
piece and the starting time for synchronization are determined by a sensor [2], which
scans a print mark [3] on the workpiece. Synchronizing, stamping, and repositioning [7]
are to be performed within one machine cycle [4].

The mechanical structure is as follows:

iMaster = 10
iSlave = 7
dMaster = dSlave = 55.7 mm
Length of a machine cycle = 200 mm

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 27

 I Working Method and Functions
5 Startup cycle control
0

55.7mm

[1]

[2]

[3]

[4]
n
[5]

nMaster

StartupCycleCounter- nSlave
DI02
MaxValue

StartupCycle
StartupCycleCounterMaxValue MasterLength [6]

[7]
53433AXX
Fig. 25: Application example for startup cycle mode 2

[1] Starting position of the punch [5] Half a machine cycle

[2] Sensor [6] Synchronous operation
[3] Print mark [7] Stop cycle and repositioning
[4] Machine cycle

In a position-dependent startup cycle, the slave covers half the distance of the master
(half the H417 StartupCycleMasterLength). The punch is then positioned above the
center of the workpiece after exactly half a machine cycle [5], and the actual stamping
process can start.

Determining H417 StartupCycleMasterLength:

4096 inc corresponds to 1/10 x 55.7 mm x 3.14
(4096 inc x 10) / (55.7 mm x 3.14) = 234.07 inc/mm
Æ StartupCycleMasterLength = 200 mm x 234.0749 inc/mm = 46815 inc
Æ GFMaster = 7
Æ GFSlave = 10
Æ StartupCycleMode = 2
Æ StartupCycleCounterMaxValue = xxx (a delay for the startup cycle process can be
programmed)

28 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Startup cycle control
5
0

• Position-controlled startup cycle (StartupCycleMode = 3)

The startup cycle process is initiated by the H414 StartupCycleCounter position
counter. If the StartupCycleCounter value is greater than the H415 StartupCycle
CounterMaxValue counter overrun value, the startup cycle begins automatically. In
this case, StartupCycleCounterMaxValue must be greater than the total number of
master encoder pulses in the startup cycle, master cycle, and stop cycle.

nSlave [rpm] StartupCycleCounter (H414)

StartupCycleMasterLength (H417) 1. 2. xMaster [Incr.]

StartupCycleCounterMaxValue (H415)
06635AEN
Fig. 26: Position-controlled starting of the position-dependent startup cycle process

[1] Synchronous operation and stop cycle time

[2] Stop cycle is performed for the slave, time for repositioning to the initial position

Startup cycle state machine in H412 StartupCycleState:

AutoRestart

Counter
AutoRestart control
deactivated (EZ1)
H414 ³ H415
® Coupling and
deactivated resetting of
(EZ0) engaging counter
H414=H414-H415
IPOS program

06636AEN
Fig. 27: Startup cycle state machine with position control (startup cycle mode 3)

H411 StartupCycleModeControl system variable Æ Additional functions:

Bit Name Description
0 AutoRestart = 0: AutoRestart deactivated.
Modes 2 and 3 = 1: AutoRestart.
1 StartupDisable = 0: Coupling possible
Modes 2 and 3 = 1: Startup cycle disabled
2 InterruptSelect = 0: DI02.
Mode 2 = 1: X14 C track
12 StartupMode = 0: Time-controlled catch-up process means the existing difference in posi-
tion between master and slave is eliminated using the catch-up speed (P240
synchronization speed) and the catch-up ramp (P241 synchronization ramp).
= 1: Position-dependent catch-up process means that the slave moves syn-
chronously with the master when the master has covered the distance defined in
StartupCycleMasterLength. Important: The starting speed of the slave must
be zero!

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 29

 I Working Method and Functions
5 Synchronous operation
0

5.4 Synchronous operation

Control takes place with a P-controller. The master and slave pulses are evaluated with
the corresponding scaling factors and added up to a 64-bit value after comparison. The
P-controller together with the feedforward and subsequent limiting to the maximum
speed provide the speed setpoint for the speed controller.
A control element was added to prevent the loss of master increments during the tran-
sition from the position-dependent catch-up process to synchronous operation. In this
way, a certain increment differential in each sampling step is added to the 64-bit differ-
ence counter by a certain number of increments (H390 RegisterLoopDXDTOut). The
setup only takes effect in main state Z3 (synchronous operation) and can be written
directly by the user.

30 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 (SynchronousModeControl.3(ZeroPointMode-H426)=0&&
SynchronousState(H427)=3&& set DRS zero point)II
(SynchronousState(H427)=1&&StopCycleModeControl.1 (XControlMode-H401)=0) SpeedFreeMode(H439)
H442
Master Trim X14 SynchronousStateH427)=1&&
StopCycleModeControl.1
+ MasterSource (XControlMode-H401)=1
X14 (H430)=0 SynchronousState(H427)=0
+ H446 H428 1/GFSlave SyncEncoderNum (H435) Feedforward filter DRS
1 MFilterTime GFMaster (H429) SyncEncoderDenom (H436) P228 Acceleration
0 0
forward
H430
MasterSource

H492
TargetPos

+
H431 SynchronousState(H427)=1&&
H437 SynchronousModeControl.0
SlaveTrim Set DRS zero point SlaveSource -
+ - (PosTrim-H426)=1

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

1/H429 X controller
H429 1
0 GFSlave P910
GFSlave + +
+ +
H390 0
RegisterLoopDXDTOut + -
LagDistance64Low(H432) SyncEncoderNum (H435)
H389
LagDistance64High(H433) SyncEncoderDenom (H436)
RegisterLoopOut + - SynchronousState
(H427)=3

SynchronousModeControl.2 2 nmax
SynchronousState(H427)=0

Fig. 28: Block circuit diagram for internal synchronous operation

(RegisterScale-H426)=0
0
H429 0 nmax Speed setpoint
1 GFSlave
-nmax
H431 1 0
SlaveSource SpeedFreeMode(H439) ReSprintClose(444) -nmax
Synchronous operation
Working Method and Functions
I

06694AEN

31
5
 I Working Method and Functions
5 Synchronous operation
0

Correction A correction value can be entered via H389 RegisterLoopOut, which is added by the dif-
function ference counter. To prevent speed jumps, this correction value is not added at once but
(RegisterScale / is limited by the value H390 RegisterLoopDXDTOut (resolution in inc/ms).
RegisterLoop)

Example A correction value of 10000 inc is to be added to the difference counter within 500 ms:
• 10000 inc / 500 ms = 20 inc/ms
• H389 RegisterLoopOut = 10000
• H390 RegisterLoopDXDTOut = 20
In this case, the correction value of 10000 inc is reduced at 20 inc/ms, which means the
correction lasts 500 ms.

Please note:
• The limitation H390 RegisterLoopDXDTOut must be written with a value. If no value
is written, a correction factor entered in H389 RegisterLoopOut will be ineffective.
The max. correction per millisecond is limited by H390 RegisterLoopXDTOut to
values of –30000 to 30000.
• The slave scaling factor is taken into account during correction if H426.2 Register-
Scale = 1. In this case, the correction value entered in H389 RegisterLoopOut acts
directly on the output shaft. If the slave scaling factor is not to be taken into account,
then set H426.2 RegisterScale = 0.
• As soon as the value of H389 RegisterLoopOut has been added to the difference
counter, H389 RegisterLoopOut is automatically overwritten with the value "0".

32 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Synchronous operation
5
0

Slave drive If synchronous operation is required for a drive that is subject to slip, the synchronous
subject to slip encoder function must be activated in MOVIDRIVE® B. The ratio between motor
encoder and synchronous encoder must be specified as numerator/denominator factor
in the IPOSplus® variables H435 SyncEncoderNum and H436 SyncEncoderDenom:
• Numerator factor (H435 SyncEncoderNum):
– Distance per motor encoder revolution [inc/mm]
• Denominator factor (H436 SyncEncoderDenom):
– Distance per synchronous encoder revolution [inc/mm]

Basic unit MDX61B...-5_3-4-0T

SBus X14
Synchronous encoder
X15 X15
Sin/c
Sin/c

os en
os en

code
code

r
r

Master Slave
06679AEN
Fig. 29: Hardware configuration

The source of the slave encoder must be entered in the H431 SlaveSource system
variable.
Variable Name Value Meaning
=0 Source of actual position is X15

H431 SlaveSource >0 Pointer to variable

Example: H431 = 510 // Source of actual position X14
(H510 ActPos_Ext)

The controller setting can be adjusted via P910 Gain X controller.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 33

 I Working Method and Functions
5 Offset cycle type
0

5.5 Offset cycle type

Main state Z3 (synchronous drive) is a prerequisite for the offset cycle.

The offset cycle means that an offset is added to the difference counter (main state Z3)
during synchronous operation. In this way, the slave drive receives a new synchroniza-
tion point, and the resulting differential angle is reduced to zero by the control. Actual
synchronous operation is reestablished once the new synchronization point has been
reached. The offset value can be signed.

Time-controlled In this state, an offset is added to the difference counter (H367 OffsetCycleValue). The
offset cycle differential angle is reduced to zero by accelerating or decelerating the slave drive to the
synchronization speed (P240), and the slave drive has moved through an offset.
The time needed for this process depends on the synchronization speed (P240), the
synchronization ramp (P241), and the master speed.

Position- In this state, the slave drive drives at an offset whose value is entered in H367 Offset-
dependent CycleValue. The offset is processed within a certain master length that is stored in the
offset cycle H366 OffsetCycleMasterLength system variable. As a result, the slave has driven at an
offset according to the defined master length.
The offset is modified step by step and is added to the value of the difference counter.
The offset value is calculated section by section with reference to a constant master
speed (Æ following figure).
nSlave xSlave
OffsetCycleValue
H367
[Incr.]

nMaster
[rpm]

0 20% 60% 20% xMaster [Incr.]

OffsetCycleMasterLength
H366
06637AEN
Fig. 30: Speed profile for position-dependent offset cycle
The slave drive moves at variable speeds in the ranges 0% to 20% and 80% to 100%.
In the range 20% to 80%, the slave drive moves at constant speed.

34 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Offset cycle type
5
0

Offset state Offset control only reacts to specified events in main state Z3 (synchronous drive). The
machine setting is made using the H360 OffsetCycleMode system variable where additional func-
tions can be programmed with the H361 OffsetCycleModeControl system variable.

H360 OffsetCycleMode system variable Æ Offset mode:

• OffsetCycleMode = 0
A manual offset cycle using the IPOSplus® application program is run by setting the
H427 SynchronousState system variable to the value 4.
• OffsetCycleMode = 1
Offset cycle using binary inputs ("1" level) with H363 OffsetCycleInputMask system
variable with a resolution of 1 ms.
xSlave [rpm]
OffsetCycleValue (H367)

"1" DI..

"0"
OffsetCycleMasterLength (H366) xMaster [Incr.]
06638AEN
Fig. 31: Position-dependent offset cycle controlled by binary inputs
• OffsetCycleMode = 2 Æ reserved
• OffsetCycleMode = 3
Position control in conjunction with variables H364 OffsetCycleCounter and H365
OffsetCycleCounterMaxValue, with remaining distance carryover.

xSlave [rpm]
OffsetCycleValue (H367)

OffsetCycleMasterLength (H366) xMaster [Incr.]

OffsetCycleCounterMaxValue (H365)
06639AEN
Fig. 32: Position-controlled and position-dependent offset cycle

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 35

 I Working Method and Functions
5 Offset cycle type
0

H360 OffsetCycleModeControl system variable:

Bit Name Description
The "AutoRestart" function enables you to determine whether the offset cycle should
be triggered only once or several times.
AutoRestart = 0: AutoRestart deactivated. The offset processing cycle using position control can
0
(mode 3) be run through once.
= 1: AutoRestart activated. The offset processing cycle using position control can be
restarted after having been run through once.
Offset cycle using position control can usually be disabled during the initialization
phase of the IPOSplus® program. A disabled offset can be re-enabled at any time in
OffsetDisable
1 the main program.
(mode 3)
= 0: Offset processing using position control is enabled
= 1: Offset processing using position control is disabled.
= 0: Time-controlled offset processing. An offset is added to the difference counter.
By reducing this difference, the slave moves at an offset (P240 synchronous speed
and P241 synchronous ramp are valid).
12 OffsetMode
= 1: Position-dependent offset cycle. The slave drive moves at an offset using the
value stored in the OffsetCycleValue system variable when the master drive has
covered the distance defined in the OffsetCycleMasterLength system variable.

Offset state machine in H362 OffsetCycleState:

AutoRestart

Counter
AutoRestart monitoring
deactivated (OZ1)
H364 ³ H365
® Offset and
deactivated resetting of
(OZ0) offset counter
H364=H364-H365
IPOS program

06640AEN
Fig. 33: Offset state machine
Offset cycle is initiated by the master increment counter (H364 OffsetCycleCounter).
The offset is processed automatically if the value of the offset counter is greater than the
counter end value (H365 OffsetCycleCounterMaxValue).
In position-dependent offset cycle, the counter end value (H365 OffsetCycleCounter-
MaxValue) must be greater than the master length within which the offset is reduced and
the new synchronization point is reached. The counter start value can be used to set the
master increments counter to an initial value from which this offset counter begins to
count.
The offset control using position control is configured as a cycle (offset state machine)
and can adopt different offset states (OZ0 to OZ1). Offset cycle is deactivated in the
offset state OZ0 (H362 OffsetCycleState = 0).
Value 1 must be assigned to the offset state (H362 OffsetCycleState = 1) to run through
the cycle and enable offset counter monitoring.
If the offset counter H364 OffsetCycleCounter is greater than the counter end value
(H365 OffsetCycleCounterMaxValue), the offset is processed, and the offset counter is
reset. The offset state changes to OZ0 directly afterwards, or remains in OZ1.

36 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Offset cycle type
5
0

Restart after termination of the offset cycle

When processing an offset during the internal synchronous operation (ISYNC), the
machine/system cannot immediately be re-started under certain circumstances in the
phase synchronous operation ISYNC after a termination of an offset processing (e.g.,
with an emergency stop). Due to the termination, a lag fault results because the slave
does not run synchronous with the master during the offset processing.

Restarting a machine/system after an offset termination is application-dependent where

there is no general solution. In fact, the optimal solution for the application can be pro-
grammed in the IPOSplus® taking into account all system states.

In this case, the following must be differentiated:

• Time-dependent offset cycle: Here, only the offset value H367 OffsetCycleValue
is written to the difference counter H434 LagDistance32 at the start of the offset pro-
cess. Consequently, the reference between master and slave can thereby be very
easily reestablished during restart in which the lag distance H434 LagDistance32 is
processed.
• Position-dependent offset cycle: Since the offset value H367 OffsetCycleValue is
processed here position-dependent to the master length stored in H366 Offset
CycleMasterLength, the desired offset cannot be "abruptly" written to the difference
counter. Consequently, it is not possible to only process the value in H434
LagDistance32 during a restart. The restart strategy can appear different depending
on the application:
– Reset lag distance with "set DRS zero point" and the new startup cycle process.
Depending on the application, you must ensure that the original reference to the
master is lost.
– Perform a positioning process to reduce the value of the established lag distance
and reestablish the reference to the master.
– Perform a position-dependent startup cycle process with calculated distances for
master and slave that take for the offset distance already processed into account
in order to reestablish a defined reference between master and slave.
– Perform a time-dependent startup cycle process with writing of the difference
counter with the difference between the offset distance already traveled and the
originally specified offset distance.
For a positioning process, it may be very important to know how much of the original
offset value was already processed. This value is shown at the moment of cancellation
in the H434 LagDistance32 variable. Note that this lag distance still changes immedi-
ately after the offset cancellation due to the stopping of the master and slave axis. For
this reason, this value can be temporarily stored at the moment of cancellation using
variable interrupt. For any positioning processes, we recommend that you also tempo-
rarily save the current position of master and slave with the same interrupt.
Below is a suggestion for an IPOSplus® program with which the values of LagDistance32,
the master and the slave position, can be saved at the moment of termination using vari-
able interrupt.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 37

 I Working Method and Functions
5 Offset cycle type
0

Program suggestion
// Insert this variable definition in the initialization part
// Initialize variable interrupt
Vint.Control = 2; // Interrupt Task 3
Vint.IntNum = 1; // Interr. no.: 1
Vint.SrcVar = numof(SynchronousState);// Source variable to be monitored
Vint.CompVar = 3; //
Vint.Mode = 10; // single interrupt if "SourceVar ==
// CompVar"
Vint.Priority = 1; // Priority of interr.
// (1-10; 10 = highest priority)
Vint.IntEvent = 0;
/*=============================================
Task3
===============================================*/
Task3()
{ //-------------------Variable interrupt activate --------------------------
----
if( (SynchronousState == Offset_processing) && (Offset_active == no) )
{ Offset_active = yes;
_SetVarInterrupt( Vint,fn_VarInterrupt );
LagDistanceEstop = 0;
} //---------------------------------------------------------------------
----
if( (SynchronousState == Synchronous_operation) && (Offset_active == yes) )
{ Offset_active = no;
}
}
/*=============================================
Variable interrupt
=============================================*/
fn_VarInterrupt()
{ LagDistanceEstop = -LagDistance32;
Slave_Pos = ActPos_Mot;
Master_Pos = *MasterSource;
}

Using variable interrupt, the positions of master and slave are stored in the variables
"Slave_Pos", and "Master_Pos" at the moment of cancellation. Using this data and the
current master and slave position, a positioning process or a new offset process, for
example, can be started application-dependent with new position values to reestablish
the reference between master and slave.

38 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Stop cycle state machine
5
0

5.6 Stop cycle state machine

"Stop cycle" is the name of the process where that angular synchronous operation
between the slave and master drives is stopped and the slave drive enters the free run-
ning mode. The slave drive can be moved with speed control or held in its current posi-
tion with position control.

Stop cycle mode Stop cycle mode control reacts in the main states Z3 (synchronous operation) and Z4
control (offset). The stop cycle process of the slave can either be performed manually or auto-
matically. The stop cycle mode is stipulated using the H400 StopCycleMode system
variable. Additional functions can be programmed using the H401 StopCycleMode
Control system variable.
During the stop cycle, the drive changes to speed 0 using ramp t11 (P130) with position
control or the speed defined in the H439 SpeedFreeMode system variable with speed
control.

H400 StopCycleMode system variable Æ stop cycle mode:

• StopCycleMode = 0
Manual stop cycle. The slave ceases synchronous operation with the master when
the application assigns the value 5 to the H427 SynchronousState system variable.
• StopCycleMode = 1
Event-driven stop cycle via binary input. The H403 StopCycleInputMask system vari-
able defines which binary input triggers the stop cycle process. The process is
started as soon as a "1" level is present at the defined binary input. The terminal
latency is 1 ms.

nSlave [rpm]

DI..
"1"
"0"
t [s]
06641AEN
Fig. 34: Event-driven stop cycle

H401 StopCycleModeControl system variable Æ additional functions

Bit Name Description
= 0: Stop cycle in main state 0 (speed control)
0 FreeMode
= 1: Stop cycle in main state 1 (position control)
= 0: Difference counter is cleared.
11) XControlMode
= 1: The difference counter stores the delay between the master and the slave
1) This setting is only effective in the Z1 main state (position control).

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 39

 I Working Method and Functions
5 Virtual encoder
0

5.7 Virtual encoder

The virtual encoder (system variables H370 to H377) is a software counter that can be
used as the master encoder for synchronous operation (assignment MasterSource
H430 = H376). A system bus connection enables the software counter reading to be
transferred to other axes. SBus synchronization with the sync-ID (P885) for unit syn-
chronization (every 5 ms) is required for this purpose.
The virtual encoder operates in a 1 ms cycle and is processed independently of the cur-
rent synchronous operation state. It creates a travel profile depending on the traveling
velocity (H373) and the set ramp (H377). The virtual encoder is started by assigning a
value other than the actual position (H376) to the target position (H375) and its velocity
> 0. The virtual encoder is stopped (VEncoderMode = 0) when the H374 VEncoder
XActual value reaches the H375 VEncoderXSetpoint value.
VEncoderdNdT
VEncoderNSetpoint VEncoderNActual
H373 H374
H377

VEncoderXSetpoint + + VEncoderXActual
H375 - H376
+

-1
z

06642AXX
Fig. 35: Structural image of virtual encoder with ramp generator

Selecting the VEncoderMode = 3 Æ Standard positioning mode with adjustable acceleration,

operating mode deceleration, velocity, and target position
of the encoder
in system H373VEncoderNSetpoint [1 inc/ms] Æ Set velocity
variable H370 H375VEncoderXSetpoint [1 inc] Æ Target position
(VEncoderMode) H377VEncoderdNdT [1/1216 2
inc/ms ] Æ Acceleration and deceleration

H377VEncoderdNdT has 16 bit resolution, which means that 10000 h must be set to
increment by 1 inc/ms.

• Example 1:
The virtual encoder velocity (H373VEncoderNSetpoint) = 100 inc/ms is to be reached in
15 ms.
100 inc/ms : 15 ms = 6.6666667 inc/ms2
6.6666667 inc/ms2 x 216 = 436906.6667dec inc/ms2 = 6AAAAhex inc/ms2
Æ H377 VEncoderNdT = 6AAAAhex inc/ms2 (or 110 1010 1010 1010 1010bin)

40 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Virtual encoder
5
0

• Example 2:
An axis is to be positioned using a virtual encoder and internal synchronous operation.
The speed should be n = 1500 rpm, acceleration and deceleration ramps should be
0.1 s. The target position is 409600 inc (= 100 revolutions).

1500 rpm

t
0,1s 0,1s

409600
inc.
53087AXX

H373VEncoderNSetpoint = 1500 rpm x 4096 inc = 6144000 inc/min = 102 inc/ms

Æ H373 VEncoderNSetpoint = 102
H377VEncoderdNdT = (102 inc/ms : 100 ms) x 216 = 66846.72 inc/ms2 (=1051 Ehex)
Æ VEncoderdNdT = 66846
The scaling with 216 is performed through the startup interface.
For VEncoderdNdT, the value 1.02 must be entered.
(Æ 102 inc/ms : 100 ms)
Æ H375 VEncoderXSetpoint = 409600
Æ H428GFMaster = H429 GFSlave = 1
If internal synchronous operation is started using the startup interface, enter the value
1.02.
However, if the variable VEncoderdNdT is initialized by the programmer in the
IPOSplus® program, the value 664846 must be entered to reach the required 1500 rpm.

To avoid jerks, H377VEncoderdNdT must be set to at least 10000hex. The maximum

value that can be entered is 32768.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 41

 I Working Method and Functions
5 Virtual encoder
0

VEncoderMode = 2 Æ Endless counter with adjustable acceleration and velocity

H373VEncoderNSetpoint [1 inc/ms] Æ Set velocity

H377VEncoderdNdT [1 inc/ms2] Æ Acceleration

For determining the values of H373VEncoderNSetpoint and H377VEncoderdNdT Æ

VEncoderMode = 0.

VEncoderMode = 2 Æ Endless counter with adjustable acceleration and velocity

VEncoderMode = 1 Æ reserved
VEncoderMode = 0 Æ Mode with linear, adjustable acceleration, adjustable
velocity, and target position

H373VEncoderNSetpoint [1 inc/ms] Æ Set velocity

H375VEncoderXSetpoint [1 inc] Æ Target position
H377VEncoderdNdT [1 inc/ms2] Æ Acceleration

The entries for H373VEncoderNSetpoint and H377VEncoderdNdT are entered as

whole numbers. Use highest possible resolution for best results.
The following applies to determining the acceleration and velocity of the virtual encoder:

n = motor speed

VEncoderNSetpoint [inc/ms]
VEncoderdNdT [inc/ms2]=
tA [ms]

tA = acceleration time

• Example 1:
An axis is to move synchronously with a virtual encoder whose velocity is 1000 rpm. The
axis should accelerate to this velocity within 0.5 s. The maximum velocity of the axis
should be 3000 rpm, which means it must be possible to increase the velocity to this
value.
Conversion from rpm to inc/ms:
To achieve the highest possible resolution, VEncoderNSetpoint is set to the maximum
input value of 32767 inc/ms.
3000 rpm x 4096 inc = 12288000 inc/min = 204.8 inc/ms
Æ Determining GFSlave:

VEncoderNSetpoint [inc/ms] 32767 [inc/ms]

GFSlave = = = 160
v1 [inc/ms] 204,8 [inc/ms]
v1 = desired velocity

42 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Virtual encoder
5
0

Æ Determining VEncoderNSetpoint:

n [1/min] x 4096 inc x GFSlave

VEncoderNSetpoint [inc/ms] =
60000 [inc/min] x GFMaster

1000 [1/min] x 4096 inc x 160

VEncoderNSetpoint [inc/ms] =
60000 [inc/min] x 1

VEncoderNSetpoint [inc/ms] = 10923 [inc/ms]

Æ Determining VEncoderdNdT:

VEncoderNSetpoint [inc/ms]
VEncoderdNdT [inc/ms2] = = 10923 [inc/ms]
tA [ms] 500 [ms]

tA = acceleration time
Æ VEncoderNdT = 22 inc/ms2

Æ Results:
H373 VEncoderNSetpoint = 10923 inc/ms
H375 VEncoderXSetpoint = xxx
H377 VEncoderdNdT = 22 inc/ms2
H428 GFMaster = 1
H429 GFSlave = 160

• Example 2:
A speed is to be specified with a resolution of 0.2 rpm, and it should be possible to adjust
the ramp in a range of 0.5 to 5 s.
The following selection is made:
H373 VEncoderNSetpoint = 5000 inc/ms (corresponds to 1000 rpm)
H377 VEncoderdNdT = 10 inc/ms2 (1 = 5 s ramp, 10 = 0.5 s ramp)
H428 GFMaster = 25
H429 GFSlave = 1831

H371 VEncoderModeControl system variable Æ additional functions

Bit Name Description
= 0: Axis stop deactivated
0 AxisStop = 1: The value for H373 VEncoderNSetpoint is set to 0 (stop of the virtual axis) once
if a unit fault occurs.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 43

 I Working Method and Functions
5 Important notes
0

5.8 Important notes

• The possibility of specifying a signed distance in variables H417 StartupCycle
MasterLength and H366 OffsetCycleMasterLength for the master drive means it is
important to check the direction of rotation of the master drive. It is also important to
note that the scaling factor can also be entered as a signed value in H428 GFMaster.
• A lag error is only triggered (P923 Lag error window) in main state Z3 (synchronous
operation).
• Set zero point: The 64-bit counter can be cleared by programming an input terminal
with "Set DRS zero point".
• A value other than zero should be entered in the H390 RegisterLoopDXDTOut
system variable to achieve exact results in the position-dependent catch-up process
and to enable any remaining distance to be reduced. In addition, the function Regis-
terScale must be activated so that the correction value is multiplied by the scaling
factor of the slave.
Æ Example:
H390 RegisterLoopDXDTOut = 2
H426 SynchronousModeControl.2 (RegisterScale – H426) = 1

Master/slave The objective of phase-synchronous operation is to move two or more drives at the
scaling factors output – and thus the line – synchronously in relation to one another. The synchronous
operation controller required for this purpose only processes incremental information of
a master encoder and a slave encoder. Therefore, the actual gear unit and additional
gear ratios of the application must be reproduced using factors in order to achieve syn-
chronization in a specific proportionality ratio.
When using two identical drives (with the same gear unit reduction ratios, same addi-
tional gears, etc.), this means the proportionality ratio is 1:1.
If there are unequal gear unit reduction ratios, they are taken into account with the
master drive by the scaling factor H428 GFMaster and with the slave drive by the scaling
factor H429 GFSlave.
The H428 GFMaster scaling factor evaluates the master increments, which the synchro-
nous operation controller obtains as setpoints. The GFMaster scaling factor also
includes the slave gear unit reduction ratio, the slave encoder resolution, any existing
additional slave gear, and the master length.
Æ Calculating H428 GFMaster:
GFMaster = Slave gear unit reduction ratio x Slave additional gear x Master length
The master length relates to the length of travel performed by the master per revolution
of the output.
Æ Calculating H429 GFSlave:
GFSlave = Master gear unit reduction ratio x Master additional gear x Slave length
The slave length relates to the length of travel performed by the slave per revolution of
the output.

44 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Working Method and Functions I
Important notes
5
0

• Master/slave gear unit reduction ratio

As a rule, the master or slave gear unit reduction ratios are obtained from the infor-
mation on the nameplate of the drive. You can either directly read the value or cal-
culate it from the quotient of the rated speed/output speed.
For forwards and backwards movements in a restricted travel range, it is generally
sufficient to scale up the gear unit reduction ratio read from the nameplate or
obtained by calculation to between two and four decimal places (depending on the
maximum possible resolution of the scaling factor).
For synchronous operation applications, we recommended that you include the
individual numbers of teeth of the gear pairs in the scaling factor calculation; i.e.,
include the individual gear unit reduction stages in the calculation separately.
Your SEW-EURODRIVE contact can tell you the number of teeth in the gear pairs.

• Master/slave additional gear ratio

If there is an additional gear for a further ratio reduction, this additional gear reduction
ratio must be treated like another gear unit reduction ratio and is also included in the
calculation.

• Master/slave length
The master or slave length relates to the length of travel performed by the
master/slave per revolution at the output.
In many applications, the length of travel is described to a sufficient degree of accu-
racy by the calculated circumference of the drive wheel. As the number can be an
irrational number, it is recommended that you calculate the length of travel for end-
less applications according to the mechanical system used.
– Applications with a chain sprocket as transmission element:
Travel length = Number of teeth of the chain sprocket x Chain link length
– Applications with a gear rack as transmission element:
Travel length = Number of teeth of the gear x Tooth clearance (tip-to-tip) of the
gear rack
– Applications with a toothed belt as transmission element:
Travel length = Number of teeth of the gear wheel x Tooth clearance (center-to-
center) of the toothed belt
– Applications with a spindle as the transmission element:
Travel length = Spindle pitch

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 45

 I Working Method and Functions
5 Internal synchronous operation via SBus
0

Example Two drives with different gear unit reduction ratios are to be moved at a synchronous
angle with the same output speed n2 = 20 rpm.

55,7 55,7
mm mm

n2 n2

i = 10 i=7

Master Slave

53088AXX

Æ Requirement: n2_Master = n2_Slave

GFSlave = 10
GFMaster = 7

Two further examples with different output speeds n2 of master and slave are shown in
the following table.
Setpoint speed Gear unit
n1 [rpm] Scaling factor
n2 [rpm] reduction ratio i
Master 200 10 7 GFMaster
Example 1 20
Slave 140 7 10 GFSlave
Master 20 200 10 7 GFMaster
Example 2
Slave 10 70 7 10 GFSlave
Master 20 200 10 7 GFMaster
Example 3
Slave 40 280 7 10 GFSlave

The master increments are multiplied by H446 MFilterTime (default setting: MFilterTime
=1) regardless of the scaling factors GFMaster and GFSlave.

5.9 Internal synchronous operation via SBus

Working principle A cyclical SBus telegram transfers a master position (e.g., the actual position of the
master or the value of the virtual encoder) from the master to the slaves via the SBus
connection. Sending and transferring the master position at equal intervals avoids
aliasing. Therefore, the time slices of the inverter are synchronized with a synchroniza-
tion message.

46 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Startup I
General information
6
0

6 Startup
6.1 General information
Correct project planning and installation are the prerequisites for successful startup.
Refer to the MOVIDRIVE® MDX60B/61B system manual for detailed project planning
instructions.
Check the installation and the encoder connection
• Using the installation instructions in the MOVIDRIVE® MDX60B/61B operating
instructions
• According to the information in this manual

6.2 Preliminary work

Perform the following steps before starting up internal synchronous operation:
• Connect the inverter to the PC via the serial interface (RS 232, UWS21A on PC
COM).
• Terminal X13:1 (DIØØ "/CONTROL.INHIBIT") must receive a "0" signal.
• Start the MOVITOOLS® 4.10 program
• Select the language you want in the "Language" group.
• Select the PC port (e.g. COM 1) to which the inverter is connected from the
"PC-COM" drop down menu.
• In the "Device type" group, select the "Movidrive B" radio button.
• In the "Baud rate" group, select the "57.6 kbaud" radio button (default setting).
• Click [Update] to display the connected inverter.

10383AEN
Fig. 36: MOVITOOLS® initial screen

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 47

 I Startup
6 Starting up internal synchronous operation
0

6.3 Starting up internal synchronous operation

General • In the [Execute Program] group, click the [Shell] button under [Parameters/Diag-
information nosis]. The SHELL program is started.
• Set the P916 Ramp type parameter to "I-SYNCHR. OPERAT.". This setting activates
internal synchronous operation. Execute the P916 Ramp type parameter with the
_SetSys(SS_RAMTYPE, Hxx) command in the IPOSplus® application program. In
this case, variable Hxx must have the value 6.
• Set the P700 Operating mode parameter to the correct operating mode (CFC &
IPOS/SERVO & IPOS/VFC-n-CTRL. & IPOS).
• Start/stop cycle using interrupt: To prevent assigning terminal functions twice, set the
selected input terminal (Æ following figure e.g., DI04 and DI05) in the corresponding
parameter group 60x or 61x to "NO FUNCTION".
• Startup/stop cycle using binary inputs: To prevent assigning the terminal function
twice, set the selected input terminal (Æ following figure e.g., DI04 and DI05) in the
corresponding parameter group 60x or 61x to "IPOS INPUT".

10991AEN
Fig. 37: Parameter settings in the Shell program for starting up internal synchronous operation

48 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Startup I
Starting up internal synchronous operation
6
0

Starting up with The master and slave(s) are connected via the SBus (for example, in a group configu-
SBus connection ration). The master position is transmitted via this SBus. Transmitting position setpoints
requires control loop synchronization between the master and slave. Comply with the
following points when starting up the SBus:

With the master inverter:

• Create the two SBus transmit objects (SCOM TRANSMIT CYCLIC) "Synchronization
ID" and "Master position". Both object numbers must be greater than 1050. In addi-
tion, the object number of the synchronization ID must be less (= with higher priority)
than the object number of the master position.
• The number of the "Synchronization ID" transmit object must not be the same as its
own P885 parameter value.
• The set SBus address (P881) must not be the same as the slave SBus addresses.
• The "Cycle time" in the SCOM command for the synchronization ID must be 5 ms.
• The "Cycle time" in the SCOM command for the master position must be 1 ms.

The next page shows an IPOSplus® sample program for cyclical data transmission via
SBus and the necessary parameter settings for the master inverter. This sample pro-
gram shows the basic principles of the procedure. SEW-EURODRIVE cannot be held
liable for incorrect program functions or parameter settings and the consequences
thereof.

Required
parameter settings

10993AEN
Fig. 38: Necessary parameter settings for the master inverter (example)

It is essential that the telegram with the master position in the IPOSplus® program is
created before the synchronization telegram in the IPOSplus®.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 49

 I Startup
6 Starting up internal synchronous operation
0

IPOSplus® sample program master inverter

/*===============================================================================================
=================================================================================================*/
IPOS source file
The program places the actual position of the master H511 on the SBus.

The following parameters must be set for this purpose:

P880 Protocol SBus 1 :SBUS MOVILINK
P881 Address SBus 1 :e.g., "0"
P884 Baud rate SBus 1 :e.g., "500" (default setting)
P885 Synchronization ID SBus 1 :e.g., "0" (may not be the same as SBus object "Synchr.ID")
===============================================================================================*/
include <const.h>
#include <io.h>
SCTRCYCL Masterposition, Synchronisations_Id;
/*===============================================================================================
Main function (IPOS initial function)
=================================================================================================*/
main ()
{
/*===============================================================================================
Initialization
=================================================================================================*/
Masterposition.ObjectNo=1100; // Address of the object
Masterposition.CycleTime = 1; // time interval [ms]
Masterposition.Offset = 0;
Masterposition.Format = 4; // Object length: 4 bytes
Masterposition.Dpointer = 511; // Pointer to H511 ActPos_Mot (motor position)
Masterposition.Result = 0;
Synchronisations_Id.ObjectNo = 1090; // Address of the synchronization identifier
Synchronisations_Id.CycleTime = 5; // Time interval of the synchr. telegram
Synchronisations_Id.Offset = 0;
Synchronisations_Id.Format = 0;
Synchronisations_Id.DPointer = 0;
Synchronisations_Id.Result = 0;
_SBusCommDef(SCD_TRCYCL, Masterposition); // Create data objects
_SBusCommDef(SCD_TRCYCL, Synchronizations_Id); // for cyclical data transmission using
_SBusCommOn(); // Start data transmission
/*===============================================================================================
Main program loop
=================================================================================================*/
while(1)
{
}
}

With the slave inverter:

• Create the SBus receive object (SCOM RECEIVE) "Master position".
• The P885 parameter value must be the same as the number of the "Synchronization
ID" transmit object.
• The slaves must have different SBus addresses (P881).

Make sure that

• The entry Variable is selected in the [Master encoder] input field of the [General
synchronous operation parameters] startup window.
• The value of the D pointer (SCOM command structure) is selected in the "Variable
used" input field; e.g., H200, according to the IPOSplus® sample program 3 (Æ Sec-
tion IPOSplus® program samples).
• The system variable H430 MasterSource = 200 is set in the slave inverter.
Only then is the SBus active as the source for the master increments.

The next page shows an IPOSplus® sample program for cyclical data transmission via
SBus for the slave inverter. This sample program shows the basic principles of the pro-
cedure. SEW-EURODRIVE cannot be held liable for incorrect program functions or
parameter settings and the consequences thereof.

50 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Startup I
Starting up internal synchronous operation
6
0

Required
parameter settings

10994AEN
Fig. 39: Required parameter settings for the slave inverter (example)

IPOSplus® sample program slave inverter

/*=============================================================================================
IPOS source file
for Synchronous Drive Control
-----------------------------------------------------------------------------------------------
SEW-EURODRIVE GmbH & Co KG
Ernst-Blickle-Str. 42
76646 Bruchsal, Germany
[email protected]
http://www.SEW-EURODRIVE.de
===============================================================================================
The following parameters have to be set for communication via the SBus:
P880 Protocol SBus 1 : SBUS MOVILINK
P881 Address SBus 1 : e.g., "2" (not the same address as the master)
P884 Baud rate SBus 1 : e.g., "500 kbaud" (default setting)
P885 Synchronization ID SBus 1 : e.g., "1090" (see IPOS program master)
================================================================================================*/
#pragma var 300 309
#pragma globals 310 349
#include <constb.h> // Note: In this case, the master position is present
#include <iob.h> // on H313
#include <Winkelsynchronlauf_1.h>
SCREC Masterposition;
long Position_Master;
/*==============================================================================================
Main function (IPOS start function)
================================================================================================*/
main ()
{
/*==============================================================================================
Startup
================================================================================================*/
InitSynchronization();
Masterposition.ObjectNo = 1100; // Number of the data object
Masterposition.Format = 4; // Length of the received object: 4 bytes
Masterposition.Dpointer = numof (Position_Master); // Target address
MasterSource = numof (Position_Master); // Transfer master position
_SBusCommDef(SCD_REC,Masterposition); // Set up data object
_SBusCommOn(); // Start data transmission
/*==============================================================================================
Main program loop
================================================================================================*/
while(1)
{
}
}

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 51

 I Startup
6 Starting up internal synchronous operation
0

Startup with slave The absolute position of a connected and evaluated absolute encoder is used as the
subject to slip master for internal synchronous operation. The absolute encoder can be connected as
with absolute follows:
encoder on the • To X62 of the DIP11B option (Æ only for MOVIDRIVE® MDX61B sizes 1 to 6)
slave length
• To X14 of the DEH11B (HIPERFACE®) or DER11B (resolver) option

Make sure that

• The entry SSI encoder is selected in the [Master encoder] input field of the [General
synchronous operation parameters] startup window.
• The slave source is set correctly in the H431 SlaveSource system variable:
– H431 = 0 Source of actual position is X15
– H431 > 0 Pointer to variable; e.g., H431 = 510 // Source actual position X14
(H510 ActPos_Ext)

52 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Startup I
Internal synchronous operation startup interface
6
0

6.4 Internal synchronous operation startup interface

This section exemplifies the "New startup" function of a synchronous operation

application.
If you have questions during startup, please refer to the MOVITOOLS® online help.

In the MOVITOOLS® manager, select the special program "ISYNC" under [Execute
Program]. The startup window for internal synchronous operation appears. In the fol-
lowing, this window is referred to as basic menu.

10992AEN
Fig. 40: Basic menu of the startup interface for internal synchronous operation

Click the function you require in the basic menu:

• New startup: to perform startup for a new project
• Edit an existing startup: to edit the files of an existing project
• Monitor an existing synchronous drive application: to monitor an existing ISYNC
project during operation; e.g., diagnosing the drive state, recording the lag error.

The "Directory and project name" window opens.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 53

 I Startup
6 Internal synchronous operation startup interface
0

10995AEN
Fig. 41: Enter project name and path

Select the project name and path for the new startup. In the [Signature] input field, you
can sign the device with a signature.
Click [Next >>] to continue. The [General synchronous drive parameters] window opens.
If you have selected MOVIDRIVE B as the [Device type:], in addition to the slave source,
you can also enter the following values:
• Variables used
• Synchronous encoder numerator
• Synchronous encoder denominator

54 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Startup I
Internal synchronous operation startup interface
6
0

10995AEN
Fig. 42: Entering general synchronous drive parameters

Enter the general synchronous operation parameters. Select the options required for
starting up your application with internal synchronous operation.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 55

 I Startup
6 Internal synchronous operation startup interface
0

6.4.1 Master scaling factor

Preliminary The objective of phase-synchronous operation is to move the outputs of two or more
remark drives – and thus the track – synchronously in relation to one another. The synchronous
operation controller required for this only processes the incremental information from a
master encoder and a slave encoder. This means the actual gear units and additional
gear ratios of the application must be represented by factors to achieve synchronization
within a certain proportionality ratio.
If there are two identical drives, that is, with the same gear unit reduction ratios, the
same additional gears, etc., the proportionality ratio is 1:1.
• Variable: H428 GFMaster
• Value range:
– –32768 to 32767 (16-bit – up to firmware version .72)
– –2147483648 to 2147483648 (32-bit – from firmware version .10)
• Status: R/W
• Description: Scaling factor of the master increments
The GFMaster scaling factor evaluates the master increments entered into the synchro-
nous operation controller as setpoints.
This GFMaster scaling factor also includes the slave gear unit reduction ratio, the slave
encoder resolution, the slave additional gear, and the master length. As a result, this
GFMaster scaling factor is calculated as follows:
GFMaster = ± Slave gear unit reduction ratio × Slave additional gear
By entering a signed GFMaster scaling factor, it is possible for the master and slave to
be working with opposite directions of rotation. This reverses the direction of rotation of
the slave drive in the software, without swapping over encoder signal tracks.

Slave gear unit The slave gear unit reduction ratio can generally be obtained from the information on the
reduction ratio iS nameplate of the drive. The value can either be read off directly, or it can easily be
calculated by taking the quotient of the rated speed/output speed.
For forward and backward movements in a restricted travel range, it is generally suffi-
cient to scale up the gear unit reduction ratio from the nameplate or obtained by calcu-
lating to two and four decimal places (depending on the maximum possible resolution of
the scaling factor).
In particular for synchronous operation applications in endless mode, we recommend
that you include the individual numbers of teeth of the gear pairs in the scaling factor
calculation. In other words, include the individual gear unit reduction stages in the
calculation separately:

z 2 × z 4 × z 6 × K zm
iS =
z1 × z3 × z5 × K zn − 1

n/2 = number of gear stages.

Your SEW contact can tell you the number of teeth in the gear pairs.

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Slave additional If there is an additional gear for a further ratio reduction (torque), this additional gear
gear iVS reduction ratio must be treated like another gear unit reduction ratio and is also included
in the calculation.

z 2 × z 4 × z 6 × K zm
i VS =
z1 × z3 × z5 × K zm − 1

m/2 = number of additional gear stages.

Slave encoder In MOVIDRIVE®/MOVIDRIVE® compact, the incoming encoder pulses are evaluated
resolution fourfold both at terminal X15 of the motor encoder (slave) and at terminal X14 of an
external encoder (master).
Slave encoder resolution = encoder nameplate information [data pulses/revolution] × 4
If motors with SEW encoders are used as slave drives, the slave encoder resolution is
always 4096 increments per revolution.

Master length The master length refers to the length of travel performed by the master per revolution
of the output.
Master length = Travel length [in user travel units] per output revolution
In many applications, the length of travel is described to a sufficient degree of accuracy
by the calculated circumference of the drive wheel:
Master length = D x Π, where D = Diameter of the drive wheel [in user travel units].
However, the number Π = 3.14159… is an irrational number. This means there can be
an infinite number of decimal places, and the number always must be rounded up or
down. In the case of endless applications, we therefore recommend that you calculate
the length of travel according to the mechanical system used, as follows:
Application Travel length
Chain sprocket as transmission element Number of teeth of the chain sprocket × chain link
length
Gear rack as transmission element Number of teeth of the gear unit × Tooth clearance
(tip-to-tip) of the gear rack
Toothed belt as transmission element Number of teeth of the gear wheel × Tooth clear-
ance (center-to-center) of the toothed belt
Spindle as transmission element Travel length = Spindle pitch

If you do not know the mechanical data such as the gear unit reduction ratios, additional
gear, etc., the GFMaster scaling factor can also be calculated as described below. How-
ever, this method is not recommended for endless applications because it lacks accu-
racy.
GFMaster = ± Slave increments × Master length [in user travel units]
In order to do this, you must either know or already have calculated the travel resolution
of the master and slave.

Master − Increments
Travel resolution of the master =
Master − Travel distance

Slave − Increments
Travel resolution of the slave =
Slave − Travel distance

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Positive/negative By entering a positive or negative GFMaster scaling factor, it is possible for the master
GFMaster and slave to be working with opposite directions of rotation. This reverses the direction
of rotation of the slave drive in the software, without swapping over encoder signal
tracks.

DRS11A The following factors are identical in direct comparison to the DRS11A synchronous
operation board:
• Slave scaling factor GFSlave = Master gear ratio factor (parameter P221)
• 1/2 Master scaling factor GFMaster 1/2 = Slave gear ratio factor (parameter P222)

6.4.2 Slave scaling factor

The objective of angular-synchronous operation is to move two or more drives at the
output and therefore the distance synchronous to one another. The synchronous oper-
ation controller required for this only processes the incremental information from a
master encoder and a slave encoder. This means the actual gear units and additional
gear ratios of the application must be represented by factors to achieve synchronization
within a certain proportionality ratio.
If there are two identical drives, that is, with the same gear unit reduction ratios, the
same additional gears, etc., the proportionality ratio is 1:1.
• Variable: H429 GFSlave
• Value range:
– 1 to 32767 (16-bit – up to firmware version .72)
– 1 to 2147483648 (32-bit – from firmware version .10)
• Status: R/W
• Description: Scaling factor of the slave increments
The GFSlave scaling factor evaluates the slave increments put into the synchronous
operation controller as actual values.
This GFSlave scaling factor also includes the master gear unit reduction ratio, the
master encoder resolution, the master additional gear and the slave length. As a result,
this GFSlave scaling factor is calculated as follows:
GFSlave = ± Master gear unit reduction ratio × Master additional gear

Master gear unit The master gear unit reduction ratio is generally obtained from the information on the
reduction ratio iM nameplate of the drive. The value can either be read off directly, or it can easily be
calculated by taking the quotient of the rated speed/output speed.
For forward and backward movements in a restricted travel range, it is generally suffi-
cient to scale up the gear unit reduction ratio from the nameplate or obtained by calcu-
lating to two and four decimal places (depending on the maximum possible resolution of
the scaling factor).
In particular for synchronous operation applications in endless mode, we recommend
that you include the individual numbers of teeth of the gear pairs in the scaling factor
calculation. In other words, include the individual gear unit reduction stages in the
calculation separately:

z 2 × z 4 × z 6 × K zn
iM =
z1× z3 × z5 × K zn − 1

n/2 = number of gear stages.

Your SEW contact can tell you the number of teeth in the gear pairs.

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Master additional If there is an additional gear for a further ratio reduction (torque), this additional gear
gear iVM reduction ratio must be treated like another gear unit reduction ratio and is also included
in the calculation.

z 2 × z 4 × z 6 × K zm
iVM =
z1× z3 × z5 × K zm − 1

m/2 = number of additional gear stages.

Master encoder In MOVIDRIVE®/MOVIDRIVE® compact, the incoming encoder pulses are evaluated
resolution fourfold both at terminal X15 of the motor encoder (slave) and at terminal X14 of an
external encoder (master).
Master encoder resolution = Encoder nameplate information [pulses/revolution] × 4
If a MOVIDRIVE®/MOVIDRIVE® compact is used as the master (X14-X14 connection),
the master encoder resolution is generally 4096 increments per revolution.

Slave length The slave length relates to the length of travel performed by the slave per revolution of
the output.
Slave length = Travel length [in user travel units] per output revolution
In many applications, the length of travel is described to a sufficient degree of accuracy
by the calculated circumference of the drive wheel.
Slave length = D x Π, where D = Diameter of the drive wheel [in user travel units].
However, the number Π = 3.14159... is an irrational number. This means there can be
an infinite number of decimal places, and the number must always be rounded up or
down. In the case of endless applications, we therefore recommend that you calculate
the length of travel according to the mechanical system used, as follows:
Application Travel length
Chain sprocket as transmission element Number of teeth of the chain sprocket × Chain link
length
Gear rack as transmission element Number of teeth of the gear unit × Tooth clearance
(tip-to-tip) of the gear rack
Toothed belt as transmission element Number of teeth of the gear wheel × Tooth clear-
ance (center-to-center) of the toothed belt
Spindle as transmission element Travel length = Spindle pitch

The GFSlave scaling factor can also be calculated as described below if you do not
know the mechanical data such as the gear unit reduction ratios, additional gear, etc.
However, this method is not recommended for endless applications because it lacks
accuracy.
GFSlave = Master increments × Slave length [in user travel units].
In order to do this, you must either know or already have determined the travel resolution
of the master and slave.

Master − Increments
Travel resolution of the master =
Master − Travel distance

Slave − Increments
Travel resolution of the slave =
Slave − Travel distance

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DRS11A The following factors are identical in direct comparison to the DRS11A synchronous
operation board:
• Slave scaling factor GFSlave = Master gear ratio factor (parameter P221)
• 1/2 Master scaling factor GFMaster 1/2 = Slave gear ratio factor (parameter P222)

6.4.3 Application parameters

In order to activate additional startup interface dialog boxes to make additional entries,
click the following check boxes so that a small check mark appears in them.
• Show user parameters/definition and initialization of IPOS variables
• Show shell parameters
• Start cycle mode control setup
• Offset control Setup
• Stop cycle mode control setup

Dropdown menu "Uncoupling of the master": this setting affects the behavior of the slave
drive in angular-synchronous operation during "Set zero point"; i.e. as long as there is a
"1" level at the terminal programmed for this.
"YES": normally, the slave drive remains stopped during "Set zero point"; i.e., while the
difference counter is zeroed.
"NO": speed synchronization between master and slave drive: during "Set zero point",
the slave drive continues speed governed movement using the same value and orien-
tation as the master speed, depending on the scaling factors of the master and slave.

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6.4.4 Virtual encoder

General The virtual encoder (Æ IPOS variables H370 to H377) is a software counter that can be
information used as the master encoder for synchronous operation without using the startup inter-
on the virtual face (Æ assignment MasterSource H430 = H376). Using a system bus connection
encoder (SCOM command), you can transfer this software counter from the "generator" of the
virtual encoder to other MOVIDRIVE® inverters. To do this, it is necessary to have SBus
synchronization with the sync-ID (P817) for unit synchronization (every 5 ms).
The virtual encoder operates in a 1 ms cycle and is processed independently of the cur-
rent synchronous operation state. It creates a travel profile depending on the traveling
velocity (H373) and the set ramp (H377). The virtual encoder is started by assigning a
value other than the actual position (H376) to the target position (H375). The virtual
encoder is stopped (VEncoderMode = 0) when the VEncoderXActual value (H374)
reaches the VEncoderXSetpoint value (H375).

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Virtual encoder In mode 0, the virtual encoder works with linear, adjustable acceleration, adjustable
mode 0 velocity, and target position. The virtual encoder is controlled and monitored using the
variables H370 – H377:

Variable Meaning
H370 VEncoderMode = 0 Selection of encoder operating mode
H371 VEncoderModeControl Reset speed setpoint after device error:
1 = Axis stop activated in the event of a unit fault
0 = Axis stop deactivated in the event of a unit fault
NO = Velocity of the virtual encoder is not reset
YES = Velocity of the virtual encoder is reset once
H372 VEncoderState No function
H373 VEncoderNSetpoint [1 inc/ms] Set velocity (setting range 0.1 – 1000 –10000)
H374 VEncoderNActual [1 inc/ms] Actual velocity
H375 VEncoderXSetpoint [1 inc] Target position
H376 VEncoderXActual [inc] Actual position
H377 VEncoderdNdT [1 inc/ms2 ] Acceleration (setting range: 0.1 – 10 – 100)

Virtual encoder This mode is reserved and cannot be used.

mode 1

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Virtual encoder In mode 2, the virtual encoder works as an endless counter with linear, adjustable accel-
mode 2 eration and adjustable velocity. The virtual encoder is controlled and monitored using
the variables H370 to H377:

Variable Meaning
H370 VEncoderMode = 2 Select the operating mode: Endless counter
H371 VEncoderModeControl Reset speed setpoint after unit fault:
1 = Axis stop activated in the event of a unit fault
0 = Axis stop deactivated in the event of a unit fault
NO = Velocity of the virtual encoder is not reset
YES = Velocity of the virtual encoder is reset once
H372 VEncoderState No function
H373 VEncoderNSetpoint [1 inc/ms] Set velocity (setting range 0.1 – 1000 –10000)
H374 VEncoderNActual [1 inc/ms] Actual velocity
H375 VEncoderXSetpoint [1 inc] No function
H376 VEncoderXActual [inc] Actual position
H377 VEncoderdNdT [1 inc/ms2 ] Acceleration (setting range: 0.1 – 10 – 100)

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Virtual encoder In mode 3, the virtual encoder works with linear, adjustable acceleration and decelera-
mode 3 tion as well as with adjustable velocity and target position. The virtual encoder is con-
trolled and monitored using the variables H370 – H377:

Variable Meaning
H370 VEncoderMode = 3 Select the operating mode: Positioning mode with acceleration
and deceleration ramps
H371 VEncoderModeControl No function
H372 VEncoderState No function
H373 VEncoderNSetpoint [1 inc/ms] Set velocity (setting range 0.1 – 1000 –10000)
H374 VEncoderNActual [1 inc/ms] Actual velocity
H375 VEncoderXSetpoint [1 inc] Target position
H376 VEncoderXActual [inc] Actual position
H377 VEncoderdNdT [1 inc/ms2 ] Acceleration/deceleration (setting range: 0.1 – 10000 – 32768)

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6.4.5 Definition and initialization of IPOSplus® variables

In the "Speed free mode" input field, enter the required setpoint with the resolution
[0.2 rpm]. Ensure that the required speed corresponds to the maximum speed (param-
eter 302/312) because otherwise this speed cannot be achieved.
In the "Master trim X14" input field, enter the number of increments that X14 should be
added to every ms.
In the "Direction Block" radio button, you can choose one of the following options:
• "Off": Both directions of rotation are enabled
• "Block CW": Only CCW direction of rotation
• "Block CCW": Only CW direction of rotation
In the "M filter time" input field, enter the corresponding value for the calculation of the
absolute master scaling factor. The default setting is 1.

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6.4.6 Startup cycle type

Startup cycle The ISYNC technology function provides different modes such as synchronizing travel
type to the master and triggering this synchronization process. For more information, see
"Startup cycle type" and "Mode 1" to "Mode 4".

Startup cycle Manual startup cycle using IPOSplus® program.

type mode 0

• Variable: H410 StartupCycleMode

• Value range: 0= Startup cycle via IPOS program
• Status: R/W
• Description: Startup cycle mode
StartupCycleMode = 0
If the startup cycle is performed manually using an IPOS application program, the value
2 must be assigned to the SynchronousState (H427) system variable in the program
sequence.
SynchronousState = 2;
The startup cycle process is started immediately afterwards.

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Startup cycle Starting cycle using binary inputs.

type mode 1

StartupCycleMode = 1
If the startup cycle process is started in event-driven mode using a binary input, you
must select the terminal in the input field "Please select binary input" that triggers the
startup cycle process (e.g., DI04). Alternatively, you can enter the terminal designation
in the corresponding drop down menu (DIxx). When doing this, you can use the input
terminals of the basic unit (DI00 – DI05) or of the option card (DI10 – DI17). If you do
not use the startup interface, the required binary input can be selected via the H403
StartupCycleInputMask system variable.
The startup cycle process is started as soon as a "1" level is present at the defined
binary input. The terminal latency is 1 ms.
n Slave [rpm]

≥ 1 ms
"1" DI..

"0"
StartupCycleMasterLength (H417) x Master [ Incr .]

Mode 1: to prevent assigning the terminal function twice, set the selected input terminal
in the corresponding parameter group 60x or 61x to IPOS INPUT.

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Startup cycle Interrupt and position control with DI02 or C track (X14).
type mode 2

StartupCycleMode = 2
An edge at binary input DI02 or on the X14:3 C-track triggers the startup cycle process
(interrupt-controlled). To do this, binary input DI02 must be programmed to "No func-
tion". A delay in relation to the master cycle can be defined for the start of the actual
startup cycle process in conjunction with the StartupCycleCounterMaxValue (H415)
variable. The response time of the sensor can be taken into account using the
StartupCycleDelayDI02 variable (H416) (1 digit = 0.1 ms). This parameter is also effec-
tive for the startup cycle with X14:3 (C track).

n Slave [rpm]
≥ 1 ms
"1"
DIØ2
(X14:3)
"0"
StartupCycleMasterLength (H417) x Master [ Incr .]
StartupCycleCounterMaxV alue (H415)

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Interrupt source • Variable: H411 StartupCycleModeControl

– 0 = DI02
– 1 = X14 C track
• Status: R/W
• Description: Bit 2: InterruptSelect (in mode 2)
The interrupt-controlled start of the startup cycle process is triggered either by a rising
edge (level change "0" -> "1") at binary input DI02; e.g., caused by a sensor signal or a
rising edge (level change "0" -> "1") of the X14:3 track. When using the rising edge at
the binary input DI02, set the parameter of this input to "No function".
Please make the appropriate selection in the "Interrupt source" input field:
• "Binary input DI02": A rising edge (level change "0" -> "1") at binary input DI02 trig-
gers the startup cycle process.
• "X14:3 C-track": a rising edge (level change "0" -> "1") on the X14:3 C-track triggers
the startup cycle process.

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Startup cycle Position control

type mode 3

StartupCycleMode = 3
The startup cycle process is initiated by the StartupCycleCounter position counter
(H414). If the StartupCycleCounter value is greater than the StartupCycleCounterMax-
Value (H415) counter overrun value, the startup cycle takes place automatically. In this
case, StartupCycleCounterMaxValue must be greater than the total number of master
encoder pulses in the startup cycle, master cycle, and stop cycle.

n Slave StartupCycleCounter (H414)

[rpm]

StartupCycleMasterLength (H417) 1. 2. x Master [ Incr .]

StartupCycleCounterMaxV alue (H415)

1. Synchronous operation and stop cycle

2. Stop cycle is performed for the slave, time for repositioning to the initial position

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Startup cycle In the "Startup cycle type" input field, select whether you want the slave drive to synchro-
type nize in a time-controlled or position-dependent manner. You can select from the fol-
lowing startup cycle modes:

Time-controlled During the time-controlled synchronization process, the existing position differential
catch-up process between the master and slave drive (64-bit counter) is equalized by accelerating or
decelerating to the synchronization speed. The time required depends on the catch-up
speed, the catch-up ramp, and the lag distance (H434, LagDistance32). The following
figure shows the speed profile of the slave drive during the entire process; e.g., at a con-
stant master speed.
LagDistance32 ( t 0) H434
Ⳏ Eff. lag distance
at time t 0
n synch [rpm]
LagDistance32 ( t X) H434
P240
n Slave Ⳏ Eff. lag distance
at time t X
n Master

0 t0 asynch tx t [s]

P241

• Variable: H411StartupCycleModeControl
– 0 = time-controller catch-up process
– 1 = position-depending catch-up process
• Status: R/W
• Description: Bit 12: StartupMode
In this input field, select whether the slave drive should be synchronized in a time-con-
trolled or position-dependent manner.
The startup cycle or synchronization means that the slave drive reaches the synchroni-
zation point specified by the master. In the actual synchronous operation, which follows
(main state Z3), the control adopts this synchronization point and attempts to maintain it.
During the time-controlled startup cycle, the existing or resulting angle differential
between the master and slave drive (64-bit counter) is eliminated by accelerating or
decelerating to the synchronization speed (P240). The time needed for this depends on
the synchronization speed (P240), the synchronization ramp (P241) and the lag
distance (H434, LagDistance32).
The lag distance depends on the master speed value so that the master speed also
influences the time-controlled startup cycle.

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Position- With this catch-up mechanism, the slave drive moves in synchronicity with the master
dependent drive once the master drive has covered the specified distance.
startup cycle The specified distance is entered in the "Master length" input field in master increments.
If the startup interface is not used -> the H417 StartupCycleMasterLength system
variable. The restriction is that the slave drive starts with speed zero.
The accelerating ramp is automatically calculated by the internal synchronous operation
firmware depending on the specified distance.
The slave drive reaches the synchronization point after the specified travel length and
irrespective of time. This means the position-dependent startup cycle is independent of
the master speed and produces "smooth" synchronization.

Master length • Variable: H417 StartupCycleMasterLength

startup cycle • Value range: 0 – 7FFFFFFFhex master incr.
• Status: R/W
• Description: Specified distance for the master drive for position-dependent startup
cycle.
The master length is the distance within which the slave synchronizes with the master.
The reference for this type of startup cycle is the length of travel covered by the master
drive. It is entered in master increments.

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6.4.7 Offset control

Offset control
mode 0

H360 OffsetCycleMode = 0 = Offset via IPOS program

If the offset cycle is initiated manually using an IPOS application program, the value 4
must be assigned to the SynchronousState system variable (H427) in the program
sequence.
The offset cycle is started immediately afterwards.

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Offset control H360 OffsetCycleMode = 1 = Offset via input terminals.

mode 1

If the offset cycle is started using event-control via a binary input, you must enter the ter-
minal in the "Please select binary input" input field that triggers the offset cycle. If the
startup interface is not used -> system variable OffsetCycleInputMask H363. The pro-
cess is started as soon as level "1" is present at the defined binary input. The terminal
latency is 1 ms.

Which binary Select the required binary input: the offset cycle will be started when there is a rising
input should be edge at this input (level change: "0" -> "1"). To do this, either directly click the dot to the
selected? left of the corresponding terminal name or enter the terminal name "DIxx" directly in the
text box provided. When doing this, you can use either the input terminals of the basic
unit (DI00 – DI05) or of the option card (DI10 – DI17).
To avoid conflicting terminal function assignments, the parameter of the selected input
terminal must be set to "no function" or "IPOS input" in the corresponding parameter
group 60x or 61x.

Offset control H360 OffsetCycleMode = 2 = reserved

mode 2 This mode of the offset cycle is currently reserved and cannot be used.

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Offset control
mode 3

H360 OffsetCycleMode = 3 = Offset via position control

With internal synchronous operation, the offset cycle can be started automatically. In
this case, the start signal for the offset cycle is generated internally when the offset
counter that reached the specified master length overruns. This can be performed cycli-
cally.
The offset cycle is initiated by the master increments counter (OffsetCycleCounter
H364). The offset is processed automatically if the value of the offset counter exceeds
that of the counter maximum value. If the startup interface is not used -> System variable
OffsetCycleCounterMaxValue H365.
In the position-dependent offset cycle, the counter maximum value (OffsetCycleCounter
MaxValue H365) must be greater than the master length within which the offset must be
eliminated and the new synchronization point reached.
The counter start value can be used to set the master increments counter to an initial
value from which this offset counter begins to count.
The offset cycle using position control is cyclically executed (offset machine) and can
accept varying offset states (OZ0 – OZ1).
The offset cycle is deactivated in offset state OZ0 (OffsetCycleState H362 = 0).
The value 1 must be assigned to the offset state (OffsetCycleState H362 = 1) in order
to start running through the cycle and to enable offset counter monitoring. If the offset
counter (OffsetCycleCounter H364) is greater than the counter maximum value (Offset-
CycleCounterMaxValue H365), the offset is processed and the offset counter is reset.
The offset state changes to OZ0 immediately afterwards, or remains in OZ1.

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AutoRestart • Variable: H361 OffsetCycleModeControl

offset – 0 = AutoRestart deactivated
– 1 = AutoRestart activated
• Status: R/W
• Description: Bit 0: AutoRestart (in mode 3)
The "AutoRestart" function allows you to determine whether the offset cycle is to be trig-
gered "only" once or several times. Either a single or a continuous enable is set for run-
ning through the offset cycle. Make the appropriate selection in the "AutoRestart" input
field:
• "OFF": When AutoRestart is deactivated, the offset cycle can be run through exactly
once using position control.
• "ON": When AutoRestart is activated, the offset cycle can be restarted using position
control after having been first run through.

Offset cycle • Variable: H361 OffsetCycleModeControl

– 0 = Offset cycle possible
– 1 = Offset cycle disabled
• Status: R/W
• Description: Bit 1 OffsetDisable (in mode 3)
It is possible to set a general disable on the offset cycle using position control. "General"
means during the initialization phase of the IPOS program; a disable which has been set
can again be revoked at any time in the main program. Make the appropriate selection
in the "Offset cycle" input field:
• "Activated": General enable for the offset cycle using position control.
• "Deactivated": General disable for the offset cycle using position control.

Automatic start The value 1 must be assigned to the offset state (OffsetCycleState H362 = 1) in order
offset to trigger the offset cycle using position control. Make the appropriate selection in the
"Automatic start" input field:
• "ON": The change from offset state OZ0 to OZ1 takes place automatically after the
program starts.
• "OFF": The change from offset state OZ0 to OZ1 must be programmed manually in
the IPOS application program.

Counter start • Variable: H364 OffsetCycleCounter

value offset • Value range: 0 – 7FFFFFFFhex master incr.
• Status: R/W
• Description: Master counter for offset cycle
The "Counter start value" input field enables the offset counter to be set to any initial
value from which it begins to count the master increments. The reference for this input
value is the travel length covered by the master drive. It is entered in master increments.
Enter the required start value for the offset counter (master incr.) in the "Counter start
value" input field.

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Counter • Variable: H365 OffsetCycleCounterMaxValue

maximum value • Value range: 0 – 7FFFFFFFhex master incr.
offset
• Status: R/W
• Description: In mode 3: Length limit for the automatic offset cycle
The "Counter end value" input field makes it possible to set the master length at which
the offset counter overruns and the start of the offset cycle is triggered internally. It is
also the length of the cycle after which successive automatic offset cycles can take
place. The reference for this input value is the travel length covered by the master drive.
It is entered in master increments. Enter the required end value for the offset counter
(master incr.) in the "Counter end value" input field.

Offset process • Variable: H361 OffsetCycleModeControl

– 0 = time-controlled offset cycle
– 1 = position-dependent offset cycle
• Status: R/W
• Description: Bit 12: OffsetMode
In this input field, select whether the offset cycle should be time-controlled or position-
dependent. Offset cycle means that an offset is added to the difference counter (main
state Z3) during synchronous operation. Through this, the slave drive receives a new
synchronization point and the resulting angle difference is reduced to zero by the con-
trol. Actual synchronous operation (main state Z3) is reestablished once the new syn-
chronization point has been reached. The offset value may be signed (+/–). Main state
3 (synchronous operation) is a prerequisite for the offset cycle processing.

Time-controlled In this state, an offset is added to the difference counter. If the startup interface is not
offset cycle used -> system variable OffsetCycleValue H367. By accelerating or decelerating to the
synchronization speed (P240), the angle differential is reduced to zero and the slave
drive moves through an offset. The time needed for this depends on the synchronization
speed (P240), the synchronization ramp (P241) and the master speed (see section
"Startup cycle mode control", additional notes -> time-controlled catch-up process).
The offset value must be entered in the input field of the same name. If the startup inter-
face is not used -> System variable OffsetCycleValue H367.

Position- In this state, the slave drive is offset after the master drive has covered a specified dis-
dependent tance. The specified distance is entered in the "Master length" input field in master incre-
offset cycle ments. If the startup interface is not used -> System variable OffsetCycleMasterLength
H366.
The accelerating ramp is automatically calculated by the internal synchronous operation
firmware depending on the specified distance.
The slave drive reaches the new synchronization point after the specified travel length
– irrespective of time. This means the position-dependent offset cycle is independent of
the master speed and results in "smooth" processing of the offset as well as a "smooth"
startup cycle to the new synchronization point.
The offset value must be entered in the input field of the same name. If the startup inter-
face is not used-> System variable OffsetCycleValue H367.

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Offset value • Variable: H367 OffsetCycleValue

• Value range: 0 – 7FFFFFFFhex master incr.
• Status: R/W
• Description: Offset value for slave drive
The offset to be processed is the value that is added to the difference counter and that
represents the angle differential to be reduced to zero by the offset control. The offset
value is the difference between the old and the new synchronization point. The offset
value may by signed (+/–).
The reference for this input value is the travel length by which the slave drive should be
ahead or behind the master drive. It is entered in master increments. Enter the required
value for the offset (master incr.) in the "Offset value" input field.

6.4.8 Stop cycle mode control

Stop cycle mode You can put stop cycle mode control into operation using this dialog box.
control To do this, click the appropriate button in the top part of the interface to select the
required stop cycle mode.
Stop cycle mode control responds in the main states Z3 (synchronous operation) and
Z4 (offset). The stop cycle process of the slave can either be performed manually or
automatically. The stop cycle mode is defined with the StopCycleMode system variable
(H400). Additional functions can be programmed with the StopCycleModeControl
system variable (H401).
During the stop cycle, the drive changes to speed 0 along ramp t11 (P130) with x-con-
trol; alternatively, with n-control, the drive changes to the speed defined in the Speed-
FreeMode system variable (H439).

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Mode 0:
Manual stop
cycle by
IPOSplus®
program

StopCycleMode = 0
The slave ceases synchronous operation with the master when the application assigns
the value 5 to the SynchronousState system variable (H427).

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Mode 1:
Stop cycle via
binary inputs

StopCycleMode = 1
Event-driven stop cycle via binary input. The StopCycleInputMask variable (H403)
defines which binary input triggers the stop cycle process. The process is started as
soon as level "1" is present at the defined binary input. The terminal latency is 1 ms.

Which binary Select the required binary input. The stop cycle will be started when there is a rising
input should be edge at this input (level change "0" -> "1"). To do this, either directly click the dot to the
selected? left of the corresponding terminal name or enter the terminal name "DIxx" directly in the
text box provided. When doing this, you can use either the input terminals of the basic
unit (DI00 – DI05) or of the option card (DI10 – DI17).
Mode 1: To avoid conflicting terminal function assignments, set the selected input ter-
minal to "IPOS input" in the corresponding parameter group 60x or 61x.

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State after • Variable: H401 StopCycleModeControl

stop cycle – 0 = Stop cycle in main state 0 (n-control)
– 1 = Stop cycle in main state 1 (x-control)
• Status: R/W
• Description: Bit 0: FreeMode
Internal synchronous operation enables you to distinguish between two free-running
states.
The slave drive can either be moved with speed control using a specified setpoint
(SpeedFree Mode H439) or held in its current position with position control.
In free running n-control, a 64-bit difference counter stores the delay.
You can use this input field to select which of these two free-running states the slave
drive should adopt after the stop cycle. Make the corresponding selection in the "Final
state" input field:
• "0 (n-control)": Stop cycle into main state 0 -> Free-running n-control
• "1 (x-control)": Stop cycle into main state 1 -> Free-running x-control

6.4.9 Online monitor

Online monitor
main state

You can use the online monitor to observe the current main state of the synchronous
operation application. To exit the program, click [Next]. The basic menu opens. In the
basic menu, click [Exit program].

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Online monitor
lag distance

In the "Lag distance" menu, the current lag distance of the active application can be
recorded and analyzed more closely using the "Zoom" function. To do so, switch
between "Measure" and "Zoom" for the required function using the pulldown menu on
the left side of the screen. The scope functionality for the lag distance is particularly
helpful for system optimization and fault diagnostics to obtain information on the course
of the lag error. The lag error is also displayed in digital form at the top of the screen.
The current main state of the synchronous operation application and the value of the
IPOS variable MasterTrimX14 is also displayed at the top of the screen.

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Online monitor
startup cycle
(only in startup
cycle mode 2)

In the "Coupling" menu, the current state of the startup cycle machine is displayed. Here,
you can see which startup cycle event the application is waiting for.

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6.4.10 Save/download/compiler
Save Click "Yes" to save the data to a file (*.is1) using the project name and path you have
defined at the start. This file can then be opened later if you want to edit it again.

Download To finish startup of internal synchronous operation, click "Download".

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Compiler The compiler interface for IPOSplus® programming opens automatically. The interface
appears with a program text that has already been created and that has an IPOSplus®
source file called "Projectname.ipc".

[1] [2]

The settings made in the startup interface are used for initializing the IPOSplus® vari-
ables for controlling internal synchronous operation.
This initialization involves calling a routine once from within the above-mentioned
IPOSplus® application program after it has started.
The name of the initialization routine is "InitSynchronization()". It is located in the
"Projektname.h" header file which is bound in the header file.
You can now create further user-specific program sections and insert them into the
existing text. That way, you enhance the IPOSplus® program that will be downloaded to
the inverter and run there.
When the program text is complete, save the entire IPOSplus® program again. Next,
compile the program into machine language. To do so, click the "Compile and load file"
icon [1] to load the compiled program into the inverter. Then click the "Start program"
icon [2] to start the program.
You can now start the startup interface's online monitor for internal synchronous opera-
tion. The compiler interface is still in the background and may be closed.

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6.4.11 Parameters of internal synchronous operation

Stiffness setpoint • Value range: 0,1 ... 1 ... 2
The stiffness value influences how "hard" the synchronous operation control loop is.
Basically, this refers to the speed with which the synchronous operation controller
responds to compensate for differentials at its input.
The user must optimize this value depending on the on-site situation. If the lag error limit
is reached, the value is too small or the control loop too soft. If the slave drive vibrates,
jerks and an audible buzzing noise is heard, the value is too large or the control loop too
hard.
The factory setting of 1 is recommended as the initial value.

Set zero point Here, you can assign the DRS SET ZERO function to any programmable binary input.
(terminal This sets the difference counter to zero and deletes any possible angular misalignment:
programming) • "1" signal = Counter is set to zero
• "1" -> 0 new reference point for synchronous operation
This function is needed during startup if the master and the slave need to be calibrated
with one another.

P130 Ramp t11 to • Parameter: P130 Ramp t11 to the right [s]
the right [s] • Value range: 0 ... 0,5 ... 2000 s
This ramp is used during the stop cycle.
The ramp times refer to a setpoint change of Ín = 3000 rpm. The ramp takes effect when
the speed setpoint is changed and the enable is withdrawn via the RIGHT/LEFT ter-
minal.

Monitoring when • "On": If internal synchronous operation is deactivated during the "Synchronous oper-
not in the ation" operating mode (Z3) by changing the ramp type P916, it is possible to continue
"Internal lag error monitoring for internal synchronous operation.
synchronous • "Off": However, to avoid lag errors, e.g. during positioning with IPOSplus®, it is advis-
operation" able either to switch off monitoring when not in the "Internal synchronous operation"
function function or to switch to the stop cycle state (Z5) before deactivating internal synchro-
(parameters for nous operation.
lag error
monitoring)
P228 • Parameter: P228 Feedforward filter
Feedforward filter • Value range: 0 ... 23 ... 100 s
Setpoint filter for feedforward of synchronous operation control.

P240 Synchr. • Parameter: P240 Synchronization speed [rpm]

speed [rpm] • Value range: 0 ... 1500 ... 5500 rpm
(parameter for
time-controlled This parameter indicates the speed of the catch-up process. Make sure that the syn-
process) chronization speed (catch-up speed) is faster than the maximum value for the master
speed during operation.
The synchronization speed is limited by the maximum speed (P302).

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P241 Synchr.- • Parameter: P241 Synchronization ramp [s]

Ramp [s] • Value range: 0 ... 0,5 ... 50 s
(Parameter for
time-controlled Value of the acceleration ramp for synchronizing the slave with the master. The value 0
operation) should be entered if the slave is to synchronize with the master using maximum possible
acceleration.

P834 Lag error • Parameter: P834 LAG ERROR response

response • Value range: Programmable responses (see MOVIDRIVE® system manual, Sec.
Parameters). Factory setting: EMERG.STOP/FAULT
P834 programs the fault response, which is triggered by the lag error monitoring of syn-
chronous operation and of positioning mode IPOSplus®.

P923 Lag error • Parameter: P923 Lag error window

window • Value range: 0 ... 5000 ... 7FFFFFFFhex inc.
The lag error window defines a permissible difference value between the setpoint and
actual position. A lag error message or response is triggered if the limit is exceeded. This
response can be adjusted using P834 "Lag error response".
Deactivation: Lag error monitoring is deactivated when the value is set to 0.

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7 System Variables for Internal Synchronous Operation

Variable Name and range of values Status Description
Offset control
H360 OffsetCyleMode R/W The OffsetCycleMode variable is used to set how an offset cycle is to be started.
0 to 3 The following offset modes can be selected:
Offset-Mode
= 0: Offset via IPOSplus® program
= 1: Offset via input terminals
= 2: Reserved
= 3: Offset via position control
H361 OffsetCycleModeControl R/W Activation of various functions
Bit 0: AutoRestart (in mode 3)
The "AutoRestart" function allows you to determine whether the offset cycle is to
be triggered "only" once or several times.
= 0: AutoRestart deactivated
When AutoRestart is deactivated, the offset processing cycle can be run
through exactly once using position control.
= 1: AutoRestart activated
When AutoRestart is activated, the offset cycle can be restarted using posi-
tion control after having been first run through.
Bit 1: OffsetDisable (in mode 3)
It is possible to set a general disable on the offset cycle using position control.
"General" means during the initialization phase of the IPOS program; a disable
which has been set can again be revoked at any time in the main program.
= 0: Offset cycle possible
= 1: Offset cycle disabled
Bit 12: OffsetMode
= 0: Time-controlled offset cycle
In this state, an offset is added to the difference counter.
The angle differential is reduced to zero by accelerating or decelerating to
P240 synchronization speed, and the slave drive moves through an offset.
The time needed for this depends on the synchronization speed (P240), the
synchronization ramp (P241) and the master speed.
= 1: Position-dependent offset cycle
In this state, the slave drive is offset after the master drive has moved a
specified distance. The specified distance is entered in the "Master length"
input field in master increments. The accelerating ramp is automatically cal-
culated by the internal synchronous operation firmware depending on the
specified distance. The slave drive reaches the new synchronization point
after the specified travel length irrespective of time. This means the position-
dependent offset cycle is independent of the master speed and produces
"smooth" processing of the offset as well as a "smooth" startup cycle to the
new synchronization point.
H362 OffsetCycleState R/W Control of the various modes
Max. 0 to 1 (depending on Offset control can have different states depending on the OffsetCycleMode H360
OffsetCycleMode) selected:
=0: Offset cycle is deactivated in offset state 0 (with position control).
=1: Monitoring of the offset counter is enabled (with position control).
In order to initiate running through a cycle and to enable monitoring of the
offset counter, the offset state (OffsetCycleState H362 = 1) should be
assigned the value "1".

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Variable Name and range of values Status Description

H363 OffsetCycleInputMask R/W Selects the binary input with which the offset cycle will be started (Offset Cycle
Mode 1) when there is a rising edge at this input (level change "0" to "1").
Terminal mask (identical to H483 "InputLevel")
Bit Binary input Unit
0 DI00 Basic unit (with fixed assignment "Controller disable")
1 DI01 Basic unit
2 DI02 Basic unit
3 DI03 Basic unit
4 DI04 Basic unit
5 DI05 Basic unit
6 DI10 DIO11B option
7 DI11 DIO11B option
8 DI12 DIO11B option
9 DI13 DIO11B option
10 DI14 DIO11B option
11 DI15 DIO11B option
12 DI16 DIO11B option
13 DI17 DIO11B option
To avoid conflicting terminal function assignments, set the parameter of the
selected input terminal to "No function" or "IPOS input" in the corresponding
parameter groups 60x or 61x.
H364 OffsetCycleCounter R/W Master counter for offset cycle
0 to 7FFFFFFFhex The reference for this input value is the travel length covered by the master
drive. It is entered in master increments. Enter the required start value for the
offset counter (master increments) here.
H365 OffsetCycleCounterMaxValue R/W In mode 3: Length limit for the automatic offset cycle
0 to 7FFFFFFFhex OffsetCycleCounterMaxValue can be used to set the master length at which the
offset counter overruns and the start of the offset cycle is triggered internally. It is
also the length of the cycle after which successive automatic offset cycles can
take place. The reference for this input value is the travel length covered by the
master drive. It is entered in master increments. Enter the required end value for
the offset counter (master increments) here.
H366 OffsetCycleMasterLength R/W Position-dependent offset cycle: Specified distance for the master drive during
0 to 7FFFFFFFhex offset cycle.
OffsetCycleMasterLength is the distance that is traveled within the offset cycle.
The reference for this input value is the travel length covered by the master
drive. It is entered in master increments. Enter the required master travel length
(master increments) here.
H367 OffsetCycleValue R/W Offset value for slave drive
0 to 7FFFFFFFhex The offset to be processed is the value that is added to the difference counter
and that represents the angle differential to be reduced to zero by the offset con-
trol. The offset value is the difference between the old and the new
synchronization point. The offset value may by signed (+/–).
The reference for this input value is the travel length by which the slave drive
should be ahead or behind the master drive. It is entered in master increments.
Assign the required value of the offset (master increments) to the
OffsetCycleValue.
Virtual encoder
H370 VEncoderMode R/W Virtual encoder operating mode
0 to 3 = 0: In mode 0, the virtual encoder works with linear, adjustable acceleration,
adjustable velocity, and target position.
= 1: Reserved
= 2: Endless counter with linear, adjustable acceleration and adjustable speed.
= 3: Standard mode (positioning mode): The virtual encoder operates in
mode 3 with with linear, adjustable acceleration and deceleration as well as
with adjustable speed and target position.
H371 VEncoderModeControl R/W Bit 0: AxisStop
= 0: Deactivated
(Speed of the virtual encoder is not reset)
= 1: Axis stop in the event of a unit fault
(Speed of the virtual encoder is reset once)
When a unit fault occurs, the speed of the virtual encoder is set once to zero
(VEncoderNSetpoint H373 = 0). This setting stops the virtual axis.
H372 VEncoderState R/W No function
H373 VEncoderNSetpoint R/W Setpoint speed of the virtual encoder in 1 incr./ms
0 to 32767
H374 VEncoderNActual R/W Actual speed of the virtual encoder in 1 incr./ms

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Variable Name and range of values Status Description

H375 VEncoderXSetpoint R/W Target position of the virtual encoder in incr.
H376 VEncoderXActual R/W Current position of the virtual encoder in incr.
H377 VEncoderNdT R/W Acceleration ramp of the virtual encoder
The resolution is:
Mode 0 + 2: Ramp in [1 incr./ms2]
Mode 3: Ramp in [1/216 incr./ms2]
In mode 3, the specified value is scaled by 216 via the startup interface.
On the other hand, if the variable VEncderdNdT is written by the programmer
in the IPOSplus® program, scaling by 216 must be taken into account in mode 3
(see sec. "Virtual encoder"). NOTE: To avoid jerks, the variable VEncoderdNdT
in mode 3 must be set at least to the value 65536 (65536 = 1 incr./ms).
Control element
H389 RegisterLoopOut R/W Value to be reduced in connection with RegisterLoopDXDTOut
To make the start cycle even more accurate, a correction value in [incr.] can be
added to the difference counter via RegisterLoopOut. However, this correction
value is only added once by the firmware, i.e. RegisterLoopOut H389 is over-
written automatically with zero once the correction has been made. You can use
bit 2 from SynchronousModeControl to set whether this correction value should
be scaled using the slave scaling factor.
H390 RegisterLoopDXDTOut R/W Control element limitation with resolution [incr./ms]
–30000 to 30000 Max. addition (64-bit counter) per ms
RegisterLoopDXDTOut is used to specify how a possible correction value output
through RegisterLoopOut is to be added to the difference counter.
That is, the correction value is not added at once, but in x [incr./ms].
Example: A correction value of 2000 incr. is specified via RegisterLoopOut. Reg-
isterLoopDXDTOut is set to 50 -> 50 incr./ms are added to the difference
counter. This means that the correction value is processed in 40 ms.

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Variable Name and range of values Status Description

Stop cycle mode control
H400 StopCycleMode R/W Stop cycle mode
0 to 1 This variable is used to specify how the stop cycle mode functions:
= 0: Stop cycle via IPOSplus® program
= 1: Stop cycle via input terminals
H401 StopCycleModeControl R/W Activation of various functions
Bit 0: FreeMode
= 0: Stop cycle into main state 0 (n-control) -> speed control
= 1: Stop cycle into main state 1 (x-control) -> position control
Bit 1: x-control mode
When switching to x-control after the stop cycle, you can select whether the
difference counter should be zeroed, i.e. the reference between master and
slave is then lost.
= 0: Difference counter is zeroed
The reference between master and slave is lost.
= 1: Difference counter active, delay between master and slave is maintained
Difference counter is not zeroed, i.e. reference between master and slave
is maintained.
H402 StopCycleState No function
H403 StopCycleInputMask R/W Selects the binary input with which the stop cycle will be initiated
(StopCycleMode 1) when there is a rising edge at this input
(level change "0" -> "1").

Terminal window (identical to H483 "InputLevel") in mode 1 only

Bit Binary input Unit
0 DI00 Basic unit (with fixed assignment "Controller disable")
1 DI01 Basic unit
2 DI02 Basic unit
3 DI03 Basic unit
4 DI04 Basic unit
5 DI05 Basic unit
6 DI10 DIO11B option
7 DI11 DIO11B option
8 DI12 DIO11B option
9 DI13 DIO11B option
10 DI14 DIO11B option
11 DI15 DIO11B option
12 DI16 DIO11B option
13 DI17 DIO11B option
To avoid conflicting terminal function assignments, the parameter of the
selected input terminal must be set to "No function" or "IPOS input" in the
corresponding parameter groups 60x or 61x.
Startup cycle mode control
H410 StartupCycleMode R/W Startup cycle mode
0 to 3 This variable is used to specify how the startup cycle mode functions:
= 0: Startup cycle via IPOSplus® program
= 1: Startup cycle via input terminals
= 2: Startup cycle using interrupt control
= 3: Startup cycle via position control
H411 StartupCycleModeControl R/W Activation of various functions
Bit 0: Auto restart (in modes 2 and 3)
The "AutoRestart" function allows you to determine whether the startup cycle
is to be triggered "only" once or several times. Either a single or a continuous
enable is set for running through the startup cycle process.
= 0: AutoRestart deactivated
When AutoRestart is deactivated, the startup cycle process can be run
through exactly once by interrupt control or position control.
= 1: AutoRestart activated
When AutoRestart is activated, the startup cycle process can be restarted
by interrupt control or position control after having been run through first.
Bit 1: StartupDisable (in modes 2 and 3)
= 0: Startup cycle possible
= 1: Startup cycle disabled
It is possible to set a general disable for the startup cycle using interrupt con-
trol or position control. "General" means during the initialization phase of the
IPOS program; a disable which has been set can again be revoked at any time
in the main program.

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Variable Name and range of values Status Description

Bit 2: InterruptSelect (in mode 2)
The interrupt-controlled start of the startup cycle process is triggered either by
a rising edge (level change "0" -> "1") at binary input DI02; e.g., caused by a
sensor signal or a rising edge (level change "0"-> "1") on the X14:3 C track.
When using the rising edge at the binary input DI02, set the parameter of this
input to "No function".
= 0: DI02
A rising edge (level change "0" -> "1") at binary input DI02 triggers
the startup cycle process.
= 1: X14C track
A rising edge (level change "0" -> "1") on the X14:3 C track triggers the
startup cycle process.
Bit 12: StartupMode
In StartupMode, you can choose between two startup cycle types
= 0: Time-controlled catch-up process
The angle differential (existing or arising) between the master and
slave drives (64-bit counter) is reduced through acceleration or decelera-
tion at P240 synchr. speed. The time required for this is dependent on
P240 synchr. speed; P241 synchr. ramp, as well as on the
lag distance (H434, LagDistance32).
= 1: Position-dependent catch-up process
In this synchronization type, the slave drive moves synchronously with the
masterdrive when the master drive has moved a specified distance. The
specified distance is entered in the "Master length" input field in master
increments. In the course of this, note the following: The slave drive starts
with speed zero. The accelerating ramp is automatically calculated by
the internal synchronous operation firmware depending on the specified
distance. The slave drive reaches the synchronization point after the
specified travel length – regardless of the time. This means the position-
dependent startup cycle is independent of the master speed and produces
"smooth" synchronization.
H412 StartupCycleState R/W Control of the various modes
Max. 0 to 4 (depending on mode) The value 1 must be assigned to the startup cycle state (StartupCycleState
H412 = 1) in order to initiate running through the startup cycle process using
interrupt control or position control.
= 0: Interrupt is deactivated (the change from startup cycle state EZ0 to EZ1
must be manually programmed in the IPOS application program).
= 1: Interrupt is enabled (the change from startup cycle state EZ0 to EZ1
takes place automatically after the program is started).
= 2: The drive waits for the interrupt signal.
= 3: Delay, i.e. the interrupt signal was detected. StartupCycleCounterMax-
Value is active.
= 4: Startup cycle and resetting the startup counter.
Note: If AutoRestart is deactivated (H411.0 = 0), the value 1 must be assigned
to StartupCycleState (H412), otherwise the startup cycle will not be performed.
If the value 0 is assigned to StartupCycleState, then the counter is reset and
the reference to the master is lost.

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Variable Name and range of values Status Description

H413 StartupCycleInputMask R/W Selects the binary input with which the start cycle will be initiated (StopCycle
Mode 1) when there is a rising edge at this input (level change "0" -> "1").

Terminal window (identical to H483 InputLevel) in mode 1 only

Bit Binary input Unit
0 DI00 Basic unit (with fixed assignment "Controller disable")
1 DI01 Basic unit
2 DI02 Basic unit
3 DI03 Basic unit
4 DI04 Basic unit
5 DI05 Basic unit
6 DI10 DIO11B option
7 DI11 DIO11B option
8 DI12 DIO11B option
9 DI13 DIO11B option
10 DI14 DIO11B option
11 DI15 DIO11B option
12 DI16 DIO11B option
13 DI17 DIO11B option
To avoid conflicting terminal function assignments, the parameter of the
selected input terminal must be set to "No function" or "IPOS input" in the
corresponding parameter groups 60x or 61x.
H414 StartupCycleCounter R/W Master counter for the startup cycle
0 – 7FFFFFFFhex master incr. The startup cycle is initiated when the value of StartupCycleCounter (H414) is
greater than the value of StartupCycleCounterMaxValue (H415).
The "Counter start value" input field enables the startup cycle counter to be set
to any initial value from which it begins to count the master increments. The
reference for this input value is the travel length covered by the master drive.
It is entered in master increments.
H415 StartupCycleCounterMaxValue R/W In mode 2: Delay for startup cycle process
0 – 7FFFFFFFhex master incr. The "Counter end value" input field makes it possible to delay the interrupt-
controlled start of the startup cycle process. The reference for this input value
is the travel length covered by the master drive. It is entered in master incre-
ments.
In mode 3: Length limit for automatic startup cycle.
The "Counter end value" input field makes it possible to set the master length
at which the startup cycle counter overruns and the start of the startup cycle
process is triggered internally. It is also the length of the cycle after which a
successive automatic startup cycle can take place. The reference for this input
value is the travel length covered by the master drive. It is entered in master
increments.
H416 StartupCycleDelayDI02 R/W Delay in units of 0.1 ms
–32768 to 32767 Delay time of the sensor connected to touch probe input 2.
StartupCycleDelay can be used to take into account a delay from DI02 for the
interrupt-controlled start of the startup cycle process. The delay of the sensor
connected at DI02 is entered in [0.1 ms].
H417 StartupCycleMasterLength R/W Specified distance for the master drive for position-dependent startup cycle.
The slave has synchronized to the master within this distance.
The master length is the specified distance for the master drive in the position-
dependent startup cycle, within which the slave synchronizes with the master.
The master length is entered here in [1 incr.].

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 93

 kVA n System Variables for Internal Synchronous Operation
7 f
Internal synchronous operation startup interface
i
P Hz

Variable Name and range of values Status Description

General variables
H425 Synchronous mode No function
H426 SynchronousModeControl R/W Activation of various functions
Bit 0: PosTrim (only active in main state Z1 "x-control")
= 0: The drive remains in the current position subject to position control.
= 1: Causes the slave drive to move to TargetPos (H492) during position
control in free-running mode (state 1) but without ramp. Therefore, only
use for position correction or to avoid drifting.
During the stop cycle into main state Z1 "x-control", the system stores the
current position as the setpoint for internal position control when the speed
ZERO is reached. If the "Slave trim in free-running mode" function is
deactivated, the setpoint is overwritten by the value of TargetPos H492 and
position control is based on this setpoint. This function is not suitable for
positioning tasks because movement takes place to the TargetPos H492
at maximum speed and with the minimum ramp (zero ramp) when the
function is deactivated.
Make the appropriate selection in the "Slave trim in free-running mode"
input field:
OFF: PosTrim active, i.e. the position setpoint corresponds to the current
position when speed ZERO is reached.
ON: PosTrim deactivated, i.e. position setpoint is the TargetPos H492.
Bit 1: LagError (in state 3 Æ Synchronous operation)
= 0: Lag error monitoring
If internal synchronous operation is deactivated during the "Synchro-
nous operation" operating mode (Z3) by changing the ramp type P916,
it is possible to continue lag error monitoring for internal synchronous
operation.
= 1: No lag error monitoring
However, to avoid lag errors, such as during positioning with
IPOSplus®, it is advisable either to switch off monitoring when not in
the "Int. synchronous operation" or to switch to the stop cycle state
(Z5) before deactivating internal synchronous operation.
Note: The "Lag error monitoring" or "No lag error monitoring" setting is
active when the drive is in state 3 (synchronous operation) even if the
"I-synchron.operat." ramp type is subsequently changed to another oper-
ating mode.
Bit 2: RegisterScale
= 0: Increments to be corrected are not scaled (1:1).
= 1: Increments are scaled with slave gear ratio factor (GFSlave).
RegisterScale can be used to select whether the correction value set in
H389 RegisterLoopOut is to be scaled with the slave gear ratio factor or
not (see also H389 RegisterLoopOut).
Bit 3: Zero PointMode (uncoupling of the master)
This setting influences the behavior of the slave drive in angular-synchro-
nous operation during "Set zero point", i.e. as long as there is a 1 level at
the terminal programmed for this.
= 0: Feedforward / master is uncoupled
The slave drive remains at a standstill during "Set zero point", i.e. while
the difference counter is zeroed.
= 1: Feedforward / master is maintained (speed synchronization),
i.e. the slave continues to move at the same speed as the master.
During "Set zero point", the slave drive continues moving subject to
speed control using the same value and orientation as the master
speed, depending on the scaling factors of the master and slave.

94 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 System Variables for Internal Synchronous Operation kVA n
Internal synchronous operation startup interface
f 7
i
P Hz

Variable Name and range of values Status Description

H427 SynchronousState R/W Main machine integrated synchronous operation
0 to 5 = 0: Free-running mode n-control
= 1: Free-running mode x-control
= 2: Startup cycle
= 3: Synchronous operation
= 4: Offset cycle
= 5: Stop cycle
The main state machine distinguishes between the states mentioned previ-
ously (Z0 – Z5), which are stored in the IPOSplus® variable H427 Synchro-
nousState. The state can be changed by writing the synchronous state in
the IPOSplus® program. Ensure, however, that the correct transitions in
accordance with the main state machine are observed (see also Sec.
"Main state machine").
H428 GFMaster R/W Scaling factor of the master increments, value = iSlave.
–2,000,000,000 to 2,000,000,000 The GFMaster scaling factor evaluates the master increments entered as
setpoints into the synchronous operation controller. This GFMaster scaling
factor also includes the slave gear unit reduction ratio, the slave encoder
resolution, the slave additional gear and the master length (see also Sec.
Important Notes).
H429 GFSlave R/W Scaling factor of the slave increments, value = iMaster.
1 to 2,000,000,000 The GFSlave scaling factor evaluates the slave increments entered into
the synchronous operation controller as actual values. This GFSlave
scaling factor includes the master gear unit reduction ratio, the master
encoder resolution, the master additional gear and the slave length
(see also Sec. "Important Notes").
H430 MasterSource R/W Source of the master increments
0 to 1023 = 0: X14 + virtual axis (H442)
> 0: Pointer to variable
The source of the master increments must be specified for the setpoint of
the synchronous operation controller. The following sources for the master
increments are available:
• "Encoder X14": External encoder on terminal X14
• "SSIEncoder": Absolute encoder on terminal X62 (DIP11A)
• "Variable": IPOS variable as source of master increments
• "Virtual encoder": Virtual encoder
If you select "Variable", a list box called "Variables used" appears. In this
box, you must select the variable number of the IPOS variable where the
master increments are stored.
If you select "Virtual encoder", you must make additional entries in an extra
dialog box "Virtual encoder mode selection".
H431 SlaveSource R/W Source of the actual position
0 to 1023 = 0: X15
> 0: Pointer to variable
Example: H431 = 510 // source actual position X14 (H510 ActPos_Ext)
Specify the source of the slave increments for the actual value of the
slave axis. Note: If you select "X14" or "Variable" you must also enter
the ratio of the motor encoder [incr./mm] to the synchronous encoder
[incr./mm] (see also H435 and H436).
The following sources for slave increments are available in the "Slave
source" selection field:
• "Encoder X15: Motor encoder on terminal X15
• "Encoder X14: External encoder on terminal X14
(IPOS variable H510 ActPos_Ext)
• "SSIEncoder: Absolute encoder on terminal X62 with DIP11B
(IPOS variable H509 ActPos_Abs)
• "Variable": IPOS variable as source of master increments
If you select a variable as the source for the source of the slave informa-
tion, you must enter the number of the variable here (H1 – H1023).
H432 LagDistance64Low R/- Lower 32 bits of the 64-bit counter
H433 LagDistance64High R/- Upper 32 bits of the 64-bit counter
H434 LagDistance32 R/- 32-bit lag distance in relation to GFSlave

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 95

 kVA n System Variables for Internal Synchronous Operation
7 f
Internal synchronous operation startup interface
i
P Hz

Variable Name and range of values Status Description

H435 SyncEncoderNum R/W Synchronous encoder factor numerator (slave motor encoder revolution
0 to 10000 [incr./mm])
= 0: Synchronous encoder calculation deactivated
If synchronous operation is required from a drive that is subject to slip,
the synchronous encoder function must be activated. To do so, the ratio
between the motor encoder and synchronous encoder must be entered
as the numerator/denominator factor.
H436 SyncEncoderDenom R/W Synchronous encoder factor denominator (slave synchronous encoder
0 to 10000 revolution [incr./mm])
= 0: Synchronous encoder calculation deactivated
If synchronous operation is required from a drive that is subject to slip,
the synchronous encoder function must be activated. To do so, the ratio
between the motor encoder and synchronous encoder must be entered
as the numerator/denominator factor.
H437 SlaveTrim R/W The firmware automatically adds the value of H437 to the difference
counter once and then zeroes the counter.
H438 XMasterPos R/- Display value of the master counter during startup cycle process and offset
cycle processing.
H439 SpeedFreeMode R/W Speed setpoint in free running n-control in 0.2 rpm
In the main state "Free running n-control" (SynchronousState = 0), the
slave drive can be operated with speed control using a speed setpoint
(SpeedFreeMode <> 0). A 64-bit difference counter stores the resulting
angular misalignment.
Example: The axis is to move at a speed of 1500 rpm after disengaging.

1500 rpm
= 7500
0.2 rpm

A setpoint of 7500 entered in variable H439 corresponds to a speed of

1500 rpm.
H440 Reserved4
H441 Reserved5
H442 MasterTrimX14 R/W Virtual axis
-32768 to 32767 Pulse number 1 incr./ms
The MasterTrimX14 IPOS variable (H442) represents the simplest variant
of a virtual encoder without ramp generator. If the physical encoder on ter-
minal X14 is activated by the startup interface (if not using the startup inter-
face -> assign H430 = 0), the assignment MasterTrimX14 = k means that
pulses are physically added to the external encoder on terminal X14 every
ms. The number of pulses added is defined by k and the pulses are added
with observance of the sign (+/- character).
This means it is possible to apply an offset to terminal X14 as a physical
source of master increments, or even to dispense completely with a phys-
ical encoder. This means that assigning MasterTrimX14 = k activates
an endless counter as a virtual source of master increments. Important:
Terminal X14 can no longer be used as an encoder simulation for X15 if
you are using the virtual encoder.
H443 Reserved6
H444 ReSprintClose R/W Direction of rotation inhibit
0 to 2 = 0: Both directions of rotation are enabled
= 1: Only CCW direction of rotation
= 2: Only CW direction of rotation
In some applications, the slave is never allowed to follow the master if the
master changes direction. This means it is possible to prevent the slave
drive from changing its direction of rotation in spite of the fact that phase-
synchronous operation is active. The lag error limit may be reached
depending on its setting, in which case a lag error is generated.
The synchronization point is not lost until the lag error limit is reached.
This means the slave drive restarts in the permitted direction of rotation
once the master has returned, including the synchronization point.
H445 Reserved7

96 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 System Variables for Internal Synchronous Operation kVA n
Internal synchronous operation startup interface
f 7
i
P Hz

Variable Name and range of values Status Description

H446 MFilterTime R/W Interpolation time in ms
1 to 30 = 1: Without filter
 30: Scaling up, absolute scaling factor of the master pulses
= GFMaster x MFilterTime
The MFilterTime variable (H446) acts for interpolation of the incoming
master pulses. Increasing it causes the scaling of the master pulses to
be changed:
Absolute master gear ratio factor = GFMaster (H428) x MFilterTime
(H446). Make sure the result does not exceed 2147483648.

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 97

 IPOSplus® Sample Programs
8 Example 1

8 IPOSplus® Sample Programs

This following sample programs only show the basic principles of the procedure. No
liability can be inferred from faulty program functions and the consequences thereof!

8.1 Example 1
Task A slave drive is to be operated at a synchronous angle to a master drive. The gear units
used in this case are the same and have a gear ratio of 1:1. The master and slave
inverters are connected via X14. The slave inverter is controlled via the binary inputs.
Binary inputs X13:5 (DIá4) and X13:6 (DIá5) should be used for controlling the startup
and stop cycle processes. Both binary inputs must be programmed to "NO FUNCTION".
• "1" signal on DIá4 Æ starts the startup cycle process. The startup cycle process
should be position-dependent and be completed after 10,000 master increments.
• "1" signal on DIá5 Æ starts the stop cycle process.
The necessary IPOSplus® system variables are set in the initialization function.

nSlave

"1" DIØ4 "1" DIØ5

"0" "0"
StartupCycleMasterLength (H417) xMaster
= 10000
06643AXX
Fig. 43: Event-driven start and stop cycles

IPOSplus® program

/*=============================================================================
IPOS source file
for Synchronous Drive Control
SEW-EURODRIVE GmbH & Co KG
Ernst-Blickle-Str. 42
76646 Bruchsal, Germany
[email protected]
http://www.SEW-EURODRIVE.de
===============================================================================*/
#pragma var 300 309
#pragma globals 310 349
#include <const.h>
#include <Example01.h> // Header file with variable designations and initialization function
*/============================================================================
Main function (IPOS start function)
===============================================================================*/
main ()
{
*/---------------------------------------------------------
Startup
----------------------------------------------------------*/
InitSynchronization(); // Call the initialization function
/*---------------------------------------------------------
Main program loop
-----------------------------------------------------------
*/
while (1)
{
}
}

98 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 IPOSplus® Sample Programs
Example 1
8

Header file with variable designation

/*****************************************************************************
Example01.h
Data and startup header file for IPOS+ Compiler.
For Startup after power on call "InitSynchronization();"
Data file Movidrive Synchronous Drive Control Version 1.0
*****************************************************************************/
#define SynchronousMode H425
#define SynchronousModeControl H426
#define SynchronousState H427
#define GFMaster H428
#define GFSlave H429
#define MasterSource H430
#define Reserved1 H431
#define LagDistance64Low H432
#define LagDistance64High H433
#define LagDistance32 H434
#define Reserved2 H435
#define Reserved3 H436
#define SlaveTrim H437
#define XMasterPos H438
#define SpeedFreeMode H439
#define Reserved4 H440
#define Reserved5 H441
#define MasterTrimX14 H442
#define Reserved6 H443
#define ReSprintClose H444
#define Reserved7 H445
#define MFilterTime H446
// Variables for StartupCycle, StopCycle and OffsetCycle
#define StopCycleMode H400
#define StopCycleModeControl H401
#define StopCycleState H402
#define StopCycleInputMask H403
#define StartupCycleMode H410
#define StartupCycleModeControl H411
#define StartupCycleState H412
#define StartupCycleInputMask H413
#define StartupCycleCounter H414
#define StartupCycleCounterMaxValue H415
#define StartupCycleDelayDI02 H416
#define StartupCycleMasterLength H417

#define OffsetCycleMode H360

#define OffsetCycleModeControl H361
#define OffsetCycleState H362
#define OffsetCycleInputMask H363
#define OffsetCycleCounter H364
#define OffsetCycleCounterMaxValue H365
#define OffsetCycleMasterLength H366
#define OffsetCycleValue H367
// Variables to Register Control
#define RegisterLoopOut H389
#define RegisterLoopDXDTOut H390
// Variables for virtual encoder
#define VEncoderMode H370
#define VEncoderModeControl H371
#define VEncoderState H372
#define VEncoderNSetpoint H373
#define VEncoderNActual H374
#define VEncoderXSetpoint H375
#define VEncoderXActual H376
#define VEncoderdNdT H377
//Startup data from: 08.08.2000 - 16:35:22
InitSynchronization() // Reset variables greater than H128
{
for (H0=128; H0<=457; H0++)
{
*H0=0;
}
_Memorize(MEM_LDDATA);
_Wait(100);
GFMaster = 1; // Evaluation of master increments
GFSlave = 1; // Evaluation of slave increments
MFilterTime = 1; // Processing of master increments w/o filter
StartupCycleMode = 1; // Startup cycle mode 1: Event-driven starting of the startup cycle
// process
StartupCycleInputMask= 16; // Selection of terminal DI04 for startup cycle
StartupCycleMasterLength= 10000; // Length of master travel until startup cycle finished
_BitSet (StartupCycleModeControl, 12); // Selection of "Position-dependent startup cycle process"
RegisterLoopDXDTOut= 2; // Limiting of correction mechanism
StopCycleMode= 1; // Stop cycle mode 1: Event-driven starting of the stop cycle process
StopCycleInputMask= 32; // Selection of terminal DI05 for stop cycle
}

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 99

 IPOSplus® Sample Programs
8 Example 2

8.2 Example 2
Task Extruded material is to be cut off using a flying saw. The travel increments of the
extruded material are used as master increments at input X14 of the saw feed drive =
slave drive. The slave drive waits in its start position. The startup cycle process is initi-
ated with position control by the StartupCycleCounter position counter (H414). The
extruded material is sawn during synchronous operation. The slave drive disengages
after the sawing operation and moves back to its start position. The gear ratio is 1:1.

03866AXX
Fig. 44: Flying saw

nSlave StartupCycleCounter (H414)

StartupCycleMasterLength (H417) 50000 * xMaster

= 25000

StartupCycleCounterMaxValue (H415)
= 100000
06644AXX
Fig. 45: Position-controlled initiation of the startup cycle process (* slave is disengaged)
Important notes:
• Reference travel type 3 (P903) is set for reference travel.
• The reference offset (P900) is set to 300,000, for example.
• The left and right limit switches must have their parameters set and must be con-
nected.

100 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 IPOSplus® Sample Programs
Example 2
8

IPOSplus® program
/*=============================================================================
IPOS source file
for Synchronous Drive Control
SEW-EURODRIVE GmbH & Co KG
Ernst-Blickle-Str. 42
76646 Bruchsal, Germany
[email protected]
http://www.SEW-EURODRIVE.de
===============================================================================*/
#pragma var 300 309
#pragma globals 310 349
#include <const.h>
#include <Example01.h> // Header file with variable designations and initialization function
#define LINEAR 0 // Positioning with linear ramp
#define SYNCHRONLAUF 6 // Internal synchronous operation
#define HALT _BitClear (ControlWord, 2) // Right bit is cleared
#define FREIGABE _BitSet (ControlWord, 2) // Right bit is set
long Rampenform, tmp;
*/==============================================================================
Main function (IPOS start function)
===============================================================================*/
main ()
{
*/---------------------------------------------------------
Startup
----------------------------------------------------------*/
InitSynchronization();
Rampenform = LINEAR; // Positioning ramp
_SetSys(SS_RAMPTYPE, Rampenform);
while (!DI=00); // Wait for high (1) level on DI00 "/Controller inhibit"
_Go0((GO0_C_W_ZP); // Referencing with reference type 3 / right limit switch
_GoAbs(GO_WAIT, 0); // P900 "Reference offset": 300000 increments
// Move to start position
Rampenform=SYNCHRONLAUF; // Activate internal synchronous operation
_SetSys(SS_RAMPTYPE, Rampenform);
StartupCycleCounter = 0; // Reset counter
StartupCycleState = 1; // Activate startup cycle control
/*----------------------------------------------------------
Main program loop
-----------------------------------------------------------*/
while (1)
{ // Save startup cycle counter in temporary memory
tmp = StartupCycleCounter; // Change ramp type
if ((tmp>50000)&&(SynchronousState==3)) // if counter > 50000 master incr.
{ // and drive in synchronous operation
Halt; // inhibit drive
SynchronousState=5; // Disengage (in position control)
Rampenform = LINEAR; // Positioning ramp
_SetSys(SS_RAMPTYPE,Rampenform);
Freigabe; // Enable drive
_GoAbs(GO_WAIT, 0); // Move to start position
Halt; // inhibit drive
Rampenform = SYNCHRONLAUF; // Activate internal synchronous operation
_SetSys(SS_RAMPTYPE,Rampenform);
Freigabe; // Enable drive
}
}
}

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 101

 IPOSplus® Sample Programs
8 Example 2

Header file with variable designation

/*****************************************************************************
Example01.h
Data and startup header file for IPOS+ Compiler.
For Startup after power on call "InitSynchronization();"
Data file Movidrive Synchronous Drive Control Version 1.0
*****************************************************************************/
#define SynchronousMode H425
#define SynchronousModeControl H426
#define SynchronousState H427
#define GFMaster H428
#define GFSlave H429
#define MasterSource H430
#define Reserved1 H431
#define LagDistance64Low H432
#define LagDistance64High H433
#define LagDistance32 H434
#define Reserved2 H435
#define Reserved3 H436
#define SlaveTrim H437
#define XMasterPos H438
#define SpeedFreeMode H439
#define Reserved4 H440
#define Reserved5 H441
#define MasterTrimX14 H442
#define Reserved6 H443
#define ReSprintClose H444
#define Reserved7 H445
#define MFilterTime H446
// Variables for StartupCycle, StopCycle and OffsetCycle
#define StopCycleMode H400
#define StopCycleModeControl H401
#define StopCycleState H402
#define StopCycleInputMask H403
#define StartupCycleMode H410
#define StartupCycleModeControl H411
#define StartupCycleState H412
#define StartupCycleInputMask H413
#define StartupCycleCounter H414
#define StartupCycleCounterMaxValue H415
#define StartupCycleDelayDI02 H416
#define StartupCycleMasterLength H417

#define OffsetCycleMode H360

#define OffsetCycleModeControl H361
#define OffsetCycleState H362
#define OffsetCycleInputMask H363
#define OffsetCycleCounter H364
#define OffsetCycleCounterMaxValue H365
#define OffsetCycleMasterLength H366
#define OffsetCycleValue H367
// Variables to Register Control
#define RegisterLoopOut H389
#define RegisterLoopDXDTOut H390
// Variables for virtual encoder
#define VEncoderMode H370
#define VEncoderModeControl H371
#define VEncoderState H372
#define VEncoderNSetpoint H373
#define VEncoderNActual H374
#define VEncoderXSetpoint H375
#define VEncoderXActual H376
#define VEncoderdNdT H377

//Startup data from: 08.08.2000 - 15:54:37

InitSynchronization()
{
for (H0=128; H0<=457; H0++) // Reset variables greater than H128
{
*H0=0;
}
_Memorize(MEM_LDDATA);
_Wait(100);
GFMaster= 1; // Evaluation of master increments
GFSlave= 1; // Evaluation of slave increments
MFilterTime= 1; // Processing of master increments w/o filter
StartupCycleMode= 3; // Startup cycle mode 3: Position-controlled starting of the startup cycle
_BitSet(StartupCycleModeControl, 0); // AutoRestart of startup cycle activated
StartupCycleCounterMaxValue= 100000; // Overrun value of the startup cycle counter
StartupCycleMasterLength= 25000; // Length of master travel until startup cycle finished
_BitSet (StartupCycleModeControl, 12); // Selection of "Position-dependent startup cycle process"
RegisterLoopDXDTOut= 2; // Limiting of correction mechanism
_BitSet(StopCycleModeControl, 0); // Stop cycle in main state 1 (x-control)
_BitSet(SynchronousModeControl, 0); // "Movement to TargetPos (H492)" activated
_BitSet (SynchronousModeControl, 1); // No lag error monitoring
}

102 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 IPOSplus® Sample Programs
Example 3
8

8.3 Example 3
Task A slave drive is to be operated at a synchronous angle to a master drive. The gear units
used in this case are the same and have a gear ratio of 1:1. The master and slave
inverters are connected via SBus. The slave inverter is controlled via the binary inputs.
Binary inputs X13:5 (DIá4) and X13:6 (DIá5) should be used for controlling the startup
and stop cycle processes. Both binary inputs must be programmed to "NO FUNCTION".
• "1" signal on DIá4 Æ starts the startup cycle process. The startup cycle process
should be position-dependent and be completed after 10,000 master increments.
• "1" signal on DIá5 Æ starts the stop cycle process.
nSlave

"1" DIØ4 "1" DIØ5

"0" "0"
StartupCycleMasterLength (H417) xMaster
= 10000
06645AXX
Fig. 46: Event-driven start and stop cycles
The necessary IPOSplus® system variables are set in the initialization function.
Two transmit data objects (master position H511 and synchronization ID) are set up in
the main program of the master inverter and sent on the SBus when cyclical data trans-
mission starts.
One receive data object for the master position sent on the SBus is set up in the main
program of the slave inverter and cyclical data transmission is started.
The master and slave inverters must have different SBus addresses (P881).

Note the following settings of the master inverter (Æ Sec. 5.3):

• The number of the "Synchronization ID" transmit object must not be the same as
parameter value P885.
• The "Cycle time" in the SCOM command for the synchronization ID must be 5 ms.
• The "Cycle time" in the SCOM command for the master position must be 1 ms.
• The master telegram must be created before the synchronization telegram.

Note the following settings of the slave inverter (Æ Sec. 5.3):

• The P885 parameter value must be the same as the number of the "Synchronization
ID" transmit object.
• The H430 MasterSource system variable must be the same as the value of the
D pointer (Æ SCOM command structure).

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 103

 IPOSplus® Sample Programs
8 Example 3

IPOSplus® program master inverter

/*===========================================================================
IPOS source file Example01.h
=============================================================================*/
#include <const.h>
SCTRCYCL Position; // SEW standard structure for the _SbusCommDef statement
SCTRCYCL SynchID;
/*===========================================================================
Main function (IPOS initial function)
=============================================================================*/
main ()
{
/*===========================================================================
Initialization
=============================================================================*/
Position.ObjectNo=1100; // SEW standard structure is written:
Position.CycleTime=1; // Number of the data object 1100 (32-bit master position to
Position.Offset=0; // be sent/H511) is sent on the SBus (cycle time 1 ms, MOTOROLA format)
Position.Format=4;
Position.DPointer=511;
Position.Result=0;
SynchID.ObjectNo=1090; // SEW standard structure is written:
SynchID.CycleTime=5; // Number of the data object 1090 (sync telegram to be sent)
SynchID.Offset=0; // is sent on the SBus (cycle time 5 ms)
SynchID.Format=0;
SynchID.DPointer=0;
SynchID.Result=0;
_SBusCommDef(SCD_TRCYCL, Position); // Creating the transmit data objects
_SBusCommDef(SCD_TRCYCL, SynchID); // for cyclical data transmission using
// an SBus connection
_SBusCommOn (); // Initialization of the send data objects and start of the
// cyclical data transmission via SBus
/*===========================================================================
Main program loop
=============================================================================*/
while(1)
{
}
}

104 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 IPOSplus® Sample Programs
Example 3
8

IIPOSplus® program slave inverter

/*
============================================================================
IPOS source file
for Synchronous Drive Control
SEW-EURODRIVE GmbH & Co KG
Ernst-Blickle-Str. 42
76646 Bruchsal, Germany
[email protected]
http://www.SEW-EURODRIVE.de
===============================================================================*/
#pragma var 300 309
#pragma globals 310 349
#include <const.h>
#include<Example03.h> // Header file with variable designations and initialization function
SREC Position; // SEW standard structure for the statement
_SBusCommDef
*/==============================================================================
Main function (IPOS start function)
===============================================================================*/
main ()
{
*/---------------------------------------------------------
Startup
----------------------------------------------------------*/
InitSynchronization(); // Call the initialization function
Position.ObjectNo = 1100; // SEW standard structure is written:
Position.Format=4; // Number of the data object 1100 (32-bit master position to be received)
Position.DPOinter =200; // is sent to variable H200
_SBusCommDef(SCD_REC, Position); // Creating a receive data object for cyclical
// data transmission using an SBus connection
_SBusCommOn(); // Initialization of the receive data object and start of
// cyclical data transmission via SBus
/*----------------------------------------------------------
Main program loop
-----------------------------------------------------------
*/
while(1)
{
}
}

Header file with variable designation

/*****************************************************************************
ISync.h
Data and startup header file for IPOS+ Compiler.
Data file Movidrive Synchronous Drive Control Version 1.0
*****************************************************************************/
#define SynchronousMode H425
#define SynchronousModeControl H426
#define SynchronousState H427
#define GFMaster H428
#define GFSlave H429
#define MasterSource H430
#define Reserved1 H431
#define LagDistance64Low H432
#define LagDistance64High H433
#define LagDistance32 H434
#define Reserved2 H435
#define Reserved3 H436
#define SlaveTrim H437
#define XMasterPos H438
#define SpeedFreeMode H439
#define Reserved4 H440
#define Reserved5 H441
#define MasterTrimX14 H442
#define Reserved6 H443
#define ReSprintClose H444
#define Reserved7 H445
#define MFilterTime H446
// Variables for StartupCycle, StopCycle and
OffsetCycle
#define StopCycleMode H400
#define StopCycleModeControl H401
#define StopCycleState H402
#define StopCycleInputMask H403

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 105

 IPOSplus® Sample Programs
8 Example 3

#define StartupCycleMode H410

#define StartupCycleModeControl H411
#define StartupCycleState H412
#define StartupCycleInputMask H413
#define StartupCycleCounter H414
#define StartupCycleCounterMaxValue H415
#define StartupCycleDelayDI02 H416
#define StartupCycleMasterLength H417
#define OffsetCycleMode H360
#define OffsetCycleModeControl H361
#define OffsetCycleState H362

#define OffsetCycleInputMask H363

#define OffsetCycleCounterMaxValue H364
#define OffsetCycleMasterLength H365
#define OffsetCycleValue H366
H367

// Variables to Register Control

#define RegisterLoopOut H389
#define RegisterLoopDXDTOut H390

// Variables for virtual encoder

#define VEncoderMode H370
#define VEncoderModeControl H371
#define VEncoderState H372
#define VEncoderNSetpoint H373
#define VEncoderNActual H374
#define VEncoderXSetpoint H375
#define VEncoderXActual H376
#define VEncoderdNdT H377

//Startup data from: 08.08.2000 - 16:14:58

InitSynchronization()
{
for (H0=128; H0<=457; H0++) // Reset variables greater than H128
{
*H0=0;
}
_Memorize(MEM_LDDATA);
_Wait(100);

GFMaster = 1; // Evaluation of master increments

GFSlave = 1; // Evaluation of slave increments

MasterSource = 200; // Source of master increments:
// Variable H200 "Master position" (via SBus)
MFilterTime = 1; // Processing of master increments w/o filter
StartupCycleMode = 1; // Startup cycle mode 1: Event-driven initiation
// of the startup cycle process via binary input
StartupCycleInputMask = 16; // Selection of terminal DI04 for startup cycle
StartupCycleMasterLength = 10000; // Overrun value of the startup cycle counter
_BitSet(StartupCycleModeControl, 12); // Selection of "Position-dependent startup cycle
// process"
RegisterLoopDXDTOut = 2; // Limiting of correction mechanism
StopCycleMode = 1; // Stop cycle mode 1: Event-driven initiation of
// the stop cycle process via binary input
StopCycleInputMask = 32; // Selection of terminal DI05 for stop cycle
}

106 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Index
9

9 Index
A O
Application examples for internal synchronous Offset cycle type ................................................ 34
operation ...............................................................8 Offset state machine .......................................... 35
Application fields for internal synchronous OffsetCycleCounter ............................................ 89
operation ...............................................................5 OffsetCycleCounterMaxValue ............................ 89
C OffsetCycleInputMask ........................................ 89
Correction function (RegisterScale / OffsetCycleMasterLength .................................. 89
RegisterLoop) .....................................................32 OffsetCycleMode ............................................... 88
OffsetCycleModeControl .................................... 88
D
OffsetCycleState ................................................ 88
Description of functions .........................................5
OffsetCycleValue ............................................... 89
G Operating principle and functions of internal
GFMaster ............................................................95 synchronous operation ....................................... 22
GFSlave ..............................................................95 P
I Position-dependent offset cycle ......................... 34
Prerequisites for internal synchronous
Installation ...........................................................14
operation ............................................................ 11
AV1H Hiperface® encoder connection .........17
Inverter ........................................................ 11
Connecting Hiperface® encoder to
IPOSplus® Compiler ..................................... 11
DT/DV/D and CT/CV motors ...........20
Motors and encoders ................................... 11
Installation notes for connecting encoder
PC and software .......................................... 11
and resolver .....................................15
Project planning notes ....................................... 12
MOVITOOLS® software ...............................14
Sin/cos encoder connection .........................17 R
Wiring diagram absolute encoder as master RegisterLoopDXDTOut ...................................... 90
and MOVIDRIVE® as slave .............19 RegisterLoopOut ................................................ 90
Wiring diagram encoder as master and Reserved4 .......................................................... 96
MOVIDRIVE® as slave ....................16 Reserved5 .......................................................... 96
Wiring diagram MOVIDRIVE® master to Reserved6 .......................................................... 96
MOVIDRIVE® slave .........................18 Reserved7 .......................................................... 96
Wiring diagram MOVIDRIVE® master X14 ReSprintClose .................................................... 96
to MOVIDRIVE® slave X14 .............19
IPOSplus® sample programs ...............................98 S
Safety notes ......................................................... 4
L
Safety notes for bus systems ............................... 4
LagDistance32 ....................................................95 Slave drive subject to slip .................................. 33
LagDistance64High .............................................95 SlaveSource ....................................................... 95
LagDistance64Low .............................................95 SlaveTrim ........................................................... 96
M SpeedFreeMode ................................................ 96
Main state machine .............................................22 Startup
Main states of internal synchronous operation .....6 Important parameter settings before
startup ............................................. 48
Master/slave scaling factors ................................44
Preliminary work .......................................... 47
MasterSource ......................................................95
Starting up with SBus connection ................ 49
MasterTrimX14 ...................................................96
Startup cycle control .......................................... 24
MFilterTime .........................................................97
Time-controlled catch-up process ............... 24
N Startup cycle mode control
Notes, important ....................................................4 Position-dependent catch-up process ......... 25

Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation 107

 Index
9

Startup cycle state machine ................................26 T

StartupCycleCounter ...........................................93 Time-controlled offset cycle ............................... 34
StartupCycleCounterMaxValue ...........................93
V
StartupCycleDelayDI02 .......................................93
VEncoderMode .................................................. 89
StartupCycleInputMask .......................................93
VEncoderModeControl ....................................... 89
StartupCycleMasterLength .................................93
VEncoderNActual ............................................... 89
StartupCycleMode ..............................................91
VEncoderNdT .................................................... 90
StartupCycleModeControl ...................................91
VEncoderNSetpoint ........................................... 89
StartupCycleState ...............................................92
VEncoderState ................................................... 89
State machine .......................................................6
VEncoderXActual ............................................... 90
Stop cycle state machine ....................................39
VEncoderXSetpoint ............................................ 90
StopCycleInputMask ...........................................91
Virtual encoder ................................................... 40
StopCycleMode ...................................................91
StopCycleModeControl .......................................91 W
StopCycleState ...................................................91 Warning instructions ............................................ 4
SyncEncoderDenom ...........................................96 X
SyncEncoderNum ...............................................96 XMasterPos ....................................................... 96
Synchronous operation control ...........................30
Synchronous start/stop .......................................13
Possible master/slave combinations ............13
SynchronousMode ..............................................94
SynchronousModeControl ..................................94
SynchronousState ...............................................95
System bus (SBus) connection of master
to slave ...............................................................21
System description ................................................5
System variables .................................................88

108 Manual – MOVIDRIVE® MDX61B Internal Synchronous Operation

 Address List

Address List
Germany
Headquarters Bruchsal SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-0
Production Ernst-Blickle-Straße 42 Fax +49 7251 75-1970
Sales D-76646 Bruchsal http://www.sew-eurodrive.de
P.O. Box [email protected]
Postfach 3023 • D-76642 Bruchsal
Service Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1710
Competence Center Gear units / Ernst-Blickle-Straße 1 Fax +49 7251 75-1711
Motors D-76676 Graben-Neudorf [email protected]
Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1780
Electronics Ernst-Blickle-Straße 42 Fax +49 7251 75-1769
D-76646 Bruchsal [email protected]
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) [email protected]
East SEW-EURODRIVE GmbH & Co KG Tel. +49 3764 7606-0
Dänkritzer Weg 1 Fax +49 3764 7606-30
D-08393 Meerane (near Zwickau) [email protected]
South SEW-EURODRIVE GmbH & Co KG Tel. +49 89 909552-10
Domagkstraße 5 Fax +49 89 909552-50
D-85551 Kirchheim (near München) [email protected]
West SEW-EURODRIVE GmbH & Co KG Tel. +49 2173 8507-30
Siemensstraße 1 Fax +49 2173 8507-55
D-40764 Langenfeld (near Düsseldorf) [email protected]
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 [email protected]
Assembly Bordeaux SEW-USOCOME Tel. +33 5 57 26 39 00
Sales Parc d'activités de Magellan Fax +33 5 57 26 39 09
Service 62, avenue de Magellan - B. P. 182
F-33607 Pessac Cedex
Lyon SEW-USOCOME Tel. +33 4 72 15 37 00
Parc d'Affaires Roosevelt Fax +33 4 72 15 37 15
Rue Jacques Tati
F-69120 Vaulx en Velin
Paris SEW-USOCOME Tel. +33 1 64 42 40 80
Zone industrielle Fax +33 1 64 42 40 88
2, rue Denis Papin
F-77390 Verneuil I'Etang
Additional addresses for service in France provided on request!

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

Argentina
Assembly Buenos Aires SEW EURODRIVE ARGENTINA S.A. Tel. +54 3327 4572-84
Sales Centro Industrial Garin, Lote 35 Fax +54 3327 4572-21
Service Ruta Panamericana Km 37,5 [email protected]
1619 Garin

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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
[email protected]
Sydney SEW-EURODRIVE PTY. LTD. Tel. +61 2 9725-9900
9, Sleigh Place, Wetherill Park Fax +61 2 9725-9905
New South Wales, 2164 [email protected]
Townsville SEW-EURODRIVE PTY. LTD. Tel. +61 7 4779 4333
12 Leyland Street Fax +61 7 4779 5333
Garbutt, QLD 4814 [email protected]

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

Belgium
Assembly Brüssel SEW Caron-Vector S.A. Tel. +32 10 231-311
Sales Avenue Eiffel 5 Fax +32 10 231-336
Service B-1300 Wavre http://www.caron-vector.be
[email protected]

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

Bulgaria
Sales Sofia BEVER-DRIVE GmbH Tel. +359 2 9151160
Bogdanovetz Str.1 Fax +359 2 9151166
BG-1606 Sofia [email protected]

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

Canada
Assembly Toronto SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 905 791-1553
Sales 210 Walker Drive Fax +1 905 791-2999
Service Bramalea, Ontario L6T3W1 http://www.sew-eurodrive.ca
[email protected]
Vancouver SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 604 946-5535
7188 Honeyman Street Fax +1 604 946-2513
Delta. B.C. V4G 1 E2 [email protected]
Montreal SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 514 367-1124
2555 Rue Leger Street Fax +1 514 367-3677
LaSalle, Quebec H8N 2V9 [email protected]
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 www.sew-eurodrive.cl
LAMPA [email protected]
RCH-Santiago de Chile
P.O. Box
Casilla 23 Correo Quilicura - Santiago - Chile

110 11/2006
 Address List

China
Production Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd. Tel. +86 22 25322612
Assembly No. 46, 7th Avenue, TEDA Fax +86 22 25322611
Sales Tianjin 300457 [email protected]
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 [email protected]
Jiangsu Province, 215021
P. R. China
Additional addresses for service in China provided on request!

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 [email protected]

Croatia
Sales Zagreb KOMPEKS d. o. o. Tel. +385 1 4613-158
Service PIT Erdödy 4 II Fax +385 1 4613-158
HR 10 000 Zagreb [email protected]

Czech Republic
Sales Praha SEW-EURODRIVE CZ S.R.O. Tel. +420 220121234
Business Centrum Praha Fax +420 220121237
Lužná 591 http://www.sew-eurodrive.cz
CZ-16000 Praha 6 - Vokovice [email protected]

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

Estonia
Sales Tallin ALAS-KUUL AS Tel. +372 6593230
Mustamäe tee 24 Fax +372 6593231
EE-10620 Tallin [email protected]

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

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

Great Britain
Assembly Normanton SEW-EURODRIVE Ltd. Tel. +44 1924 893-855
Sales Beckbridge Industrial Estate Fax +44 1924 893-702
Service P.O. Box No.1 http://www.sew-eurodrive.co.uk
GB-Normanton, West- Yorkshire WF6 1QR [email protected]

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

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Hong Kong
Assembly Hong Kong SEW-EURODRIVE LTD. Tel. +852 2 7960477 + 79604654
Sales Unit No. 801-806, 8th Floor Fax +852 2 7959129
Service Hong Leong Industrial Complex [email protected]
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 [email protected]

India
Assembly Baroda SEW-EURODRIVE India Pvt. Ltd. Tel. +91 265 2831086
Sales Plot No. 4, Gidc Fax +91 265 2831087
Service Por Ramangamdi • Baroda - 391 243 http://www.seweurodriveindia.com
Gujarat [email protected]
Technical Offices Bangalore SEW-EURODRIVE India Private Limited Tel. +91 80 22266565
308, Prestige Centre Point Fax +91 80 22266569
7, Edward Road [email protected]
Bangalore

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

Israel
Sales Tel-Aviv Liraz Handasa Ltd. Tel. +972 3 5599511
Ahofer Str 34B / 228 Fax +972 3 5599512
58858 Holon [email protected]

Italy
Assembly Milano 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
[email protected]

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

Japan
Assembly Iwata SEW-EURODRIVE JAPAN CO., LTD Tel. +81 538 373811
Sales 250-1, Shimoman-no, Fax +81 538 373814
Service Iwata [email protected]
Shizuoka 438-0818

Korea
Assembly Ansan-City SEW-EURODRIVE KOREA CO., LTD. Tel. +82 31 492-8051
Sales B 601-4, Banweol Industrial Estate Fax +82 31 492-8056
Service Unit 1048-4, Shingil-Dong http://www.sew-korea.co.kr
Ansan 425-120 [email protected]

Latvia
Sales Riga SIA Alas-Kuul Tel. +371 7139253
Katlakalna 11C Fax +371 7139386
LV-1073 Riga http://www.alas-kuul.com
[email protected]

112 11/2006
 Address List

Lebanon
Sales Beirut Gabriel Acar & Fils sarl Tel. +961 1 4947-86
B. P. 80484 +961 1 4982-72
Bourj Hammoud, Beirut +961 3 2745-39
Fax +961 1 4949-71
[email protected]

Lithuania
Sales Alytus UAB Irseva Tel. +370 315 79204
Naujoji 19 Fax +370 315 56175
LT-62175 Alytus [email protected]
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.caron-vector.be
[email protected]

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 [email protected]
West Malaysia

Mexico
Assembly Queretaro SEW-EURODRIVE MEXIKO 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 Industrail Queretaro [email protected]
C.P. 76220
Queretaro, Mexico

Morocco
Sales Casablanca Afit Tel. +212 22618372
5, rue Emir Abdelkader Fax +212 22618351
MA 20300 Casablanca [email protected]

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 [email protected]
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 [email protected]
Christchurch SEW-EURODRIVE NEW ZEALAND LTD. Tel. +64 3 384-6251
10 Settlers Crescent, Ferrymead Fax +64 3 384-6455
Christchurch [email protected]

Norway
Assembly Moss SEW-EURODRIVE A/S Tel. +47 69 241-020
Sales Solgaard skog 71 Fax +47 69 241-040
Service N-1599 Moss http://www.sew-eurodrive.no
[email protected]

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 [email protected]

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

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
[email protected]

Romania
Sales Bucuresti Sialco Trading SRL Tel. +40 21 230-1328
Service str. Madrid nr.4 Fax +40 21 230-7170
011785 Bucuresti [email protected]

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
[email protected]

Senegal
Sales Dakar SENEMECA Tel. +221 849 47-70
Mécanique Générale Fax +221 849 47-71
Km 8, Route de Rufisque [email protected]
B.P. 3251, Dakar

Serbia and Montenegro

Sales Beograd DIPAR d.o.o. Tel. +381 11 347 3244 /
Ustanicka 128a +381 11 288 0393
PC Košum, IV floor Fax +381 11 347 1337
SCG-11000 Beograd [email protected]

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 [email protected]

Slovakia
Sales Bratislava SEW-Eurodrive SK s.r.o. Tel. +421 2 49595201
Rybnicna 40 Fax +421 2 49595200
SK-83107 Bratislava http://www.sew.sk
[email protected]
Zilina SEW-Eurodrive SK s.r.o. Tel. +421 41 700 2513
ul. Vojtecha Spanyola 33 Fax +421 41 700 2514
SK-010 01 Zilina [email protected]
Banská Bystrica SEW-Eurodrive SK s.r.o. Tel. +421 48 414 6564
Rudlovská cesta 85 Fax +421 48 414 6566
SK-97411 Banská Bystrica [email protected]

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 [email protected]

114 11/2006
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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 [email protected]
Johannesburg 2013
P.O.Box 90004
Bertsham 2013
Capetown SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 21 552-9820
Rainbow Park Fax +27 21 552-9830
Cnr. Racecourse & Omuramba Road Telex 576 062
Montague Gardens [email protected]
Cape Town
P.O.Box 36556
Chempet 7442
Cape Town
Durban SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 31 700-3451
2 Monaceo Place Fax +27 31 700-3847
Pinetown [email protected]
Durban
P.O. Box 10433, Ashwood 3605

Spain
Assembly Bilbao SEW-EURODRIVE ESPAÑA, S.L. Tel. +34 9 4431 84-70
Sales Parque Tecnológico, Edificio, 302 Fax +34 9 4431 84-71
Service E-48170 Zamudio (Vizcaya) http://www.sew-eurodrive.es
[email protected]

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 [email protected]

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
[email protected]

Thailand
Assembly Chon Buri SEW-EURODRIVE (Thailand) Ltd. Tel. +66 38 454281
Sales Bangpakong Industrial Park 2 Fax +66 38 454288
Service 700/456, Moo.7, Tambol Donhuaroh [email protected]
Muang District
Chon Buri 20000

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

Turkey
Assembly Istanbul SEW-EURODRIVE Tel. +90 216 4419163 / 164 3838014/15
Sales Hareket Sistemleri San. ve Tic. Ltd. Sti. Fax +90 216 3055867
Service Bagdat Cad. Koruma Cikmazi No. 3 [email protected]
TR-34846 Maltepe ISTANBUL

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
[email protected]

11/2006 115
 Address List

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

116 11/2006
SEW-EURODRIVE – Driving the world
Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services

How we’re driving the world

With people who With comprehensive With uncompromising

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

SEW-EURODRIVE
Driving the world

With a global presence With innovative With online information

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

SEW-EURODRIVE GmbH & Co KG

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