System Manual MOVIAXIS Multi-Axis Servo Inverter

Transcription

1 Drive Techology \ Drive Automatio \ System Itegratio \ Services System Maual MOVIAXIS Multi-Axis Servo Iverter Editio 06/ / EN

2 SEW-EURODRIVE Drivig the world

3 Cotets Cotets 1 System Descriptio System overview of MOVIAXIS compoets Additioal system ad automatio compoets Beefits ad key features of MOVIAXIS Areas of applicatio ad automatio optios with MOVIAXIS Optio cards providig more fuctios ad flexibility for axis modules ad supply ad regeerative modules Istallatio variats, combiatio ad commuicatio optios Istallatio ad coectio accessories Techology ad uit fuctios Fuctioal safety / safety fuctios MOVITOOLS MotioStudio egieerig software "SEW WORKBENCH" project plaig software Techical Data CE markig ad UL approval Uit desigatio Geeral techical data Rear view of housig ad bore patters Techical data of the modules Techical data of optio cards for axis modules ad regeerative modules System accessories Power Cables for Sychroous Servomotors Structure of the motor cable ad brakemotor cables Power cable for CMP, CMDV, ad CMS50/63 motors Power cables for CFM ad CMS71 motors Cable specificatio of (brake)motor cables Power cables for SL2 liear motors Forced coolig fa cable for CMP ad CFM motors Power Cables for Asychroous Motors Descriptio of power cables for DR motors Cables for DR ad DRL motors Ecoder Cables Structure of ecoder cables for sychroous motors Ecoder ad extesio cables for sychroous motors Structure of ecoder cables for asychroous motors Ecoder ad extesio cables for asychroous motors Suitable Motors Sychroous servomotors Asychroous servomotors No-SEW motors System Maual MOVIAXIS Multi-Axis Servo Iverter 3

4 Cotets 7 Additioal System Compoets Suitable ecoder systems Gear uits from SEW-EURODRIVE MOVI-PLC, MOVI-PLC I/O Appedix Additioal documetatio from SEW-EURODRIVE Disposal of MOVIAXIS uits Cable dimesios to AWG MX Parameter Descriptio Parameter descriptio for display values Parameter descriptio of drive data Commuicatio parameter descriptio Ecoder parameter descriptio Parameter descriptio for FCB parameter settig Parameter descriptio for uit fuctios Project Plaig SEW Workbech Project plaig iformatio Cotrol characteristics of the axis modules Servomotor selectio Brakig resistor selectio Selectig the 24 V supply Geeral Iformatio Structure of the safety otes Rights to claim uder warraty Exclusio of liability MXR supply ad regeerative module Copyright Safety Notes Geeral iformatio Target group Desigated use Trasportatio ad storage Istallatio Electrical coectio Safe discoectio Operatio Uit temperature Uit Desig Axis system with CAN-based system bus Axis system with EtherCAT -compatible system bus Importat iformatio Nameplates ad type desigatios Stadard accessories System Maual MOVIAXIS Multi-Axis Servo Iverter

5 Cotets 13.6 Optioal accessories Accessories for two-row cofiguratio of the axis system Overview of a axis system Uit desig of MOVIAXIS MXP supply module Uit desig of MOVIAXIS MXR supply ad regeerative module Uit desig of MOVIAXIS MXA axis modules EtherCAT -compatible or CAN-based system bus Uit desig of MOVIAXIS MXM master module compoet Uit desig of the MOVIAXIS MXC capacitor module compoet Uit desig of the MOVIAXIS MXB buffer module compoet Uit desig of the MOVIAXIS MXS 24 V switched-mode power supply module compoet Uit desig of the MOVIAXIS MXZ DC lik discharge module compoet Combiable modules i case of two-row cofiguratio of the axis system Optio combiatios o delivery XGH11A, XGS11A multi-ecoder card optio Fieldbus iterface optio PROFIBUS XFP11A Optioal fieldbus iterface K-Net XFA11A XFE24A optio EtherCAT fieldbus iterface XSE24A optio EtherCAT -compatible system bus SBus plus Optioal iput/output card type XIO11A Optioal iput/output card type XIA11A Istallatio Mechaical Istallatio System bus cable for CAN-based system bus SBus with optioal master module System bus coectio cable for several axis systems CAN-based System bus coectio cable to other SEW uits CAN-based System bus cable for EtherCAT -compatible system bus SBus plus with master module System bus coectio cable for several axis systems EtherCAT -compatible System bus coectio cable to other SEW uits EtherCAT -compatible Covers ad touch guards Two-row cofiguratio of the axis system mechaical istallatio Electrical Istallatio Brakig resistors Wirig diagrams Termial assigmet Coectig ecoders to the basic uit Notes o electromagetic compatibility Iformatio regardig UL System Maual MOVIAXIS Multi-Axis Servo Iverter 5

6 Cotets 15 Startup Geeral iformatio Supply module settigs for CAN-based system bus SBus Commuicatio selectio CAN-based applicatio bus CAN2 iformatio ad settigs Commuicatio via CAN adapter Settigs for EtherCAT -compatible system bus SBus plus Descriptio of the startup software Sequece i case of ew startup MOVIAXIS startup sigle-motor operatio Applicatio examples MOVIAXIS startup multi-motor operatio PDO Editor Parameter list Operatio Geeral iformatio Displays of the supply ad axis modules Operatig displays ad errors of the MXP supply module Operatig displays ad errors of MXA axis module MXC capacitor module operatig displays MXB buffer module operatig displays V SMPS module operatig displays Service Geeral iformatio Removig/istallig a module Moutig the DC lik coectio i case of two-row cofiguratio of the axis system Exteded storage Disposal Appedix Cable dimesios to AWG List of abbreviatios Terms ad defiitios Declaratios of coformity Idex System Maual MOVIAXIS Multi-Axis Servo Iverter

7 I O F1 RUN ERR Lk IN Lk OUT EtherCAT I O F1 RUN ERR Lk IN Lk OUT EtherCAT I O LAM F1 RUN ERR Lk IN Lk OUT EtherCAT I O LAM F1 RUN ERR Lk IN Lk OUT EtherCAT System Descriptio System overview of MOVIAXIS compoets 1 1 System Descriptio 1.1 System overview of MOVIAXIS compoets Supply ad regeerative uits Supply uit: MXP supply module Descriptio: (page 12) Techical data: (page 116) Commuicatio of regeerative modules Supply ad regeerative uit: MXR siusoidal supply ad regeerative module XFE XSE EtherCAT fieldbus XFE24A Descriptio: (page 139) Descriptio: (page 16) Techical data: (page 121) X31 OUT X30 IN X31 OUT X30 IN EtherCAT -compatible system bus XSE24A Iverter series Optio cards for axis modules XGH XGS XGS11A, XGH11A multi-ecoder card Descriptio: (page 144) PROFIBUS fieldbus XFP11A Descriptio: (page 138) MXA axis module XFE XSE EtherCAT fieldbus XFE24A Descriptio: (page 18) Techical data: (page 124) X31 OUT X30 IN X31 OUT X30 IN Descriptio: (page 139) EtherCAT -compatible system bus XSE24A K-Net XFA11A Descriptio: (page 140) X21 X22 X26 X25 XIO11A, XIA11A iput/output module Descriptio: (page 141) XIO XIA System Maual MOVIAXIS Multi-Axis Servo Iverter 7

8 MOVIAXIS MXM UFR41B L14 X30-1 L13 L12 L11 T1 L5 X ON X L4 4 1 L3 X36 S1 X37 XM L L EURODRIVE X35 X32 X33 UFR41B/ UOH21B UFR41B L14 X30-1 L13 L12 L11 T1 L5 X ON X L4 4 1 L3 X36 S1 X37 XM L L H1 H2 X X35 X32 X33 X24 1 System Descriptio System overview of MOVIAXIS compoets Gateway ad motio cotrol uit Master module variats MXM gateway master module PROFIBUS/DeviceNet gateway UFE41B Descriptio: (page 22) Techical data: (page 129) MOVIAXIS PROFINET/Etheret gateway UFR41B Descriptio: (page 65) MXM motio cotrol master module Descriptio: (page 22) Techical data: (page 129) MOVI-PLC advaced - DHE41B, DHF41B, DHR41B Descriptio: (page 65) Additioal uits MXC capacitor module Descriptio: (page 25) Techical data: (page 131) MXS 24 V switched-mode power supply module Descriptio: (page 24) Techical data: (page 133) MXB buffer module Descriptio: (page 25) Techical data: (page 132) MXZ DC lik discharge module Descriptio: (page 26) Techical data: (page 135) Accessories Prefabricated motor ad ecoder cables Techical data: (page 166) Lie compoets for supply ad regeerative modules Techical data: (page 154) Lie compoets for supply ad regeerative modules Techical data: (page 154) Brakig resistors Techical data: (page 147) 8 System Maual MOVIAXIS Multi-Axis Servo Iverter

9 System Descriptio Additioal system ad automatio compoets Additioal system ad automatio compoets System ad automatio compoet Operator termials DOP The operator paels meet the requiremets for huma-machie commuicatio for process moitorig ad cotrol i various productio methods. Sigle-axis servo iverter MOVIDRIVE MDX The uiversally applicable iverter for asychroous motors ad servomotors. Servomotors CMP CMPZ Compact, highly dyamic servomotor, form-closed moutig to all SEW gear uits. The CMPZ has a icreased itrisic iertia for high exteral loads. Descriptio: (page 216) Techical data: (page 217) DRL Asychroous servomotors are the lik betwee the classical asychroous AC motors for supply system ad iverter operatio ad the highly dyamic sychroous servomotors. Descriptio: (page 234) Techical data: (page 236) Servo gear uits PS.F The low backlash PS.F plaetary servo gear uits are desiged for the torque rage from Nm. Variats: PSF, PSKF. PSBF. Techical data: (page 245) BS.F The low backlash BS.F helical-bevel servo gear uits are desiged for the torque rage from Nm. Variats: BSF, BSKF, BSBF, BSHF, BSAF. CMDV The ew compact servomotor series from SEW-EURODRIVE. Descriptio: (page 226) Techical data: (page 227) PS.C The low backlash PS.C plaetary servo gear uits are desiged for the torque rage from Nm. Variats: PSC, PSKC, PSCZ, PSKCZ. Techical data: (page 245) Techical data: (page 245) System Maual MOVIAXIS Multi-Axis Servo Iverter 9

10 1 System Descriptio Beefits ad key features of MOVIAXIS 1.3 Beefits ad key features of MOVIAXIS MOVIAXIS is the ame of the ew, modular servo iverter series from SEW- EURODRIVE Highly dyamic drive solutio Techology ad motio cotrol fuctios that meet the highest stadards, combied with maximum dyamics, itegrated eergy savig techology, ad global availability All this is provided by SEW-EURODRIVE s modular system of highly dyamic servo drives. MOVIAXIS is the perfect multi-axis servo iverter for drive ad automatio solutios that save time, costs ad effort. The powerful ad reliable MOVIAXIS hadles a variety of drive solutios ad offers a wide rage of commuicatio ad automatio optios for almost ay applicatio Flexible ad adaptable Its big advatage is its high degree of flexibility: Depedig o the desired machie ad system cocept, the MOVIAXIS multi-axis servo iverter ca be combied flexibly ad adapted to meet the specific requiremets of the automatio structures Itegrated i the SEW modular system MOVIAXIS has a cetral positio i the portfolio of servo drive systems. It is perfectly itegrated i the existig modular cocept of SEW-EURODRIVE, allowig for a multitude of drive ad automatio solutios Structure of a axis system The MOVIAXIS product series cosists of the followig modules: Supply modules Siusoidal supply ad regeerative modules Axis modules Buffer ad storage modules DC 24 V switched-mode power supply modules for iteral cosumptio DC lik discharge modules Cotrol ad commuicatio modules Good software support The etire system is supported by the "all-i-oe" software MOVITOOLS MotioStudio. This software ca be used for startup, parameterizatio, programmig, ad diagostics. The executio of these fuctios is quick, easy, ad graphically supported. 10 System Maual MOVIAXIS Multi-Axis Servo Iverter

11 System Descriptio Beefits ad key features of MOVIAXIS Applicatio area MOVIAXIS multi-axis servo iverters have bee desiged for compact machie ad plat automatio systems at the highest stage. Productivity ad itelligece are combied i a ideal way, allowig for a wide rage of applicatio Characteristic criteria of MOVIAXIS This is esured by the followig criteria: Optimum adaptatio to the applicatio ad maximum flexibility of the etire drive/automatio system i terms of: Product scalability (hardware ad software) Commuicatio ad etworkig optios Drive fuctioality ad automatio optios Egieerig, startup, cofiguratio ad diagostics usig MOVITOOLS Motio- Studio A variety of applicatio optios for variable machies ad systems: Power rage from 10 kw omial supply power, up to a peak power of 187 kw, A maximum peak curret of 250 A Eergy-optimized, siusoidal regeeratio Safety techology ca be itegrated Robust housig ad simple istallatio Support of all commo ecoder systems Guarateed solutios with a scalable ratio betwee costs/solutio/resources: With motio cotrol fuctios that rage from simple, graphically selectable techology fuctios to powerful 32-bit cotrol systems With widely applicable motor/gear uit rage With tiered motio cotrol that rages from simple positioig to support of customer-specific kiematics. System Maual MOVIAXIS Multi-Axis Servo Iverter 11

12 1 System Descriptio Beefits ad key features of MOVIAXIS MXP supply modules Uit data The supply module provides eergy to up to 8 axis modules as stadard. It cotrols the regeerated eergy via a brakig resistor or via DC lik storage to separate capacitor or buffer modules. You ca coect a maximum of 10 axis modules. I this case, please cotact SEW- EURODRIVE. Battery-powered supply modules are available for special applicatios. Cotact SEW- EURODRIVE i such cases. Customer beefits of the supply modules: Covers a wide rage of power ratigs with 4 fiely graded performace classes: 10/ 25/50/75 kw Wide rage of supply system voltages for uiversal applicatio: AC V, Hz High drive dyamics with smaller lie coectio compoets due to the high overload capacity of 250% of the omial power for maximum 1 s Miimized THD/harmoics values ad reactive power cosumptio due to optimized chargig currets ad high effective curret percetage Time-savig ad error-proof due to automatic address assigmet for all axes coected to the CAN1/EtherCAT system bus Iformative ad easy due to 7-segmet display for user-friedly visualizatio of operatig ad error states at the supply module 4-quadrat capability due to the stadard brake chopper itegrated i the supply module. Supply voltage 3 x 380 V -10 % up to 3 x 500 V +10 % Lie frequecy Hz ± 5 % Nomial DC lik voltage Overload capacity for max. 1 s DC 560 V 250 % Available types Nomial power kw Nomial DC lik curret A Maximum DC lik curret A Nomial lie curret A MXP80A MXP80A MXP80A MXP80A Size Techical data (page 116) 12 System Maual MOVIAXIS Multi-Axis Servo Iverter

13 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery Touch guards DC lik coectios Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus CAN termiatig resistor Optioal accessories Brakig resistors Chokes Filters System bus coectio cable for CAN-based system bus Coectio cable for EtherCAT master module System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN-based applicatio bus CAN2 Coectio cable for CAN-based applicatio bus CAN2 CAN2 termiatig resistor Two-row cofiguratio kit System Maual MOVIAXIS Multi-Axis Servo Iverter 13

14 1 System Descriptio Beefits ad key features of MOVIAXIS MXP81 compact supply module 10 kw Uit data The compact supply module provides eergy to up to 8 axis modules as stadard. It cotrols the regeerated eergy via a itegrated brakig resistor or via a exteral brakig resistor ad DC lik storage to a itegrated eergy buffer. You ca coect a maximum of 10 axis modules. I this case, please cotact SEW- EURODRIVE. Customer beefits of the supply modules: Compact size due to the itegratio of the brakig resistor, brake chopper, ad eergy buffer i the housig. Saves eergy by storig up to 250 Ws ad dyamically re-usig this eergy. Optimized ad flexible istallatio due to the itegratio of all elemets that are importat for operatio. This meas additioal wirig of brakig resistors is o loger ecessary. If the iteral brakig resistor is used to capacity, you ca coect a larger, exteral brakig resistor as a optio Wide rage of supply system voltages for uiversal applicatio: AC V, Hz High drive dyamics with smaller lie coectio compoets due to the high overload capacity of 250% of the omial power for maximum 1 s Miimized THD/harmoics values ad reactive power cosumptio due to optimized chargig currets ad high effective curret percetage Time-savig ad error-proof due to automatic address assigmet for all axes coected to the CAN1/EtherCAT system bus Iformative ad easy due to 7-segmet display for user-friedly visualizatio of operatig ad error states at the supply module 4-quadrat capability due to the stadard brake chopper itegrated i the supply module. Supply voltage 3 x 380 V -10 % up to 3 x 500 V +10 % Lie frequecy Hz ± 5 % Nomial DC lik voltage Overload capacity for max. 1 s DC 560 V 250 % Available types Nomial power kw Nomial DC lik curret A Maximum DC lik curret A Nomial lie curret A Size Techical data MXP81A (page 117) 14 System Maual MOVIAXIS Multi-Axis Servo Iverter

15 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery Touch guards DC lik coectios Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus CAN termiatig resistor Optioal accessories Brakig resistors Chokes Filters System bus coectio cable for CAN-based system bus Coectio cable for EtherCAT master module System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN-based applicatio bus CAN2 Coectio cable CAN2 CAN2 termiatig resistor Two-row cofiguratio kit System Maual MOVIAXIS Multi-Axis Servo Iverter 15

16 1 System Descriptio Beefits ad key features of MOVIAXIS MXR supply ad regeerative modules Uit data Supply voltage 3 x 380 V - 3 x 480 V ±10 % Lie frequecy Hz ±5 % Nomial DC lik voltage Overload capacity for max. 1 s Supply ad regeerative modules provide eergy to up to 8 axis modules as stadard. The regeerative eergy is cotrolled through siusoidal feedback to the supply system. A brake chopper is itegrated as stadard, e.g. for emergecy brakig operatios. You ca coect a maximum of 10 axis modules. I this case, please cotact SEW- EURODRIVE. Customer beefits of supply ad regeerative modules: Optimum logistics, because oe uit covers two performace classes (50 kw or 75 kw) Wide rage of supply system voltages for uiversal applicatio: AC V, Hz High drive dyamics with smaller lie coectio compoets due to the high overload capacity of 200 % of the omial power for maximum 1 s Oly effective power cosumptio i omial operatio, i.e. cosφ = 1 Miimal THD values ad reactive power cosumptio due to siusoidal curret cosumptio ad regeeratio Time-savig ad error-proof due to automatic address assigmet for all axes coected to the CAN1/EtherCAT system bus Iformative ad easy due to 7-segmet display for user-friedly visualizatio of operatig ad error states at the supply module Iformatio about the curret eergy flow ad regeerative eergy via service parameter Better utilizatio of the motor power due to icreased DC lik level of DC 750 V Necessary trasformer power is miimized by optioal EcoLie filter Itelliget ad commuicative due to optio cards for EtherCAT, PROFIBUS ad SBus plus for seamless system itegratio Safe i case of a power failure due to stadard itegrated brake chopper for coectig a emergecy brakig resistor. DC 750 V cotrolled 200 % 1) Available types Nomial power kw Nomial DC lik curret A Maximum DC lik curret A Nomial lie curret A Techical data 50 kw at 8 khz PWM MXR80A kw at 4 khz PWM 1) For a coectio voltage of DC V A at 8 khz PWM 110 A at 4 khz PWM (page 121) 16 System Maual MOVIAXIS Multi-Axis Servo Iverter

17 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery DC lik coectios Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus Measuremet cable coector Necessary accessories Optioal accessories NFR lie filter NDR lie choke Brakig resistors Eco-Lie filter 1) System bus coectio cable for CAN-based system bus EtherCAT - master module coectio cable System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN2 Coectio cable for CAN-based applicatio bus CAN2 CAN2 termiatig resistor Two-row cofiguratio kit For the part umbers of the cables, see chapter "Istallatio ad coectio accessories" (page 77). 1) Madatory for 75 kw operatio System Maual MOVIAXIS Multi-Axis Servo Iverter 17

18 1 System Descriptio Beefits ad key features of MOVIAXIS MXA axis modules The axis modules either commuicate directly with a cotrol over the itegrated system buses or are cotrolled cetrally via a master module. The modules ca be equipped with up to two safety relays for implemetig safe stop i compliace with category 3 or 4 / performace level "d" or "e" ad SIL3, see also chapter "Fuctioal safety/ Safety fuctios" (page 98). Customer beefits ad key features of the axis modules: Fiely-graded axis sizes: At PWM 4 khz: 2 / 4 / 8 / 12 / 16 / 32 / 43 / 64 / 85 / 133 A At PWM 8 khz: 2 / 4 / 8 / 12 / 16 / 24 / 32 / 48 / 64 / 100 A At PWM 16 khz: 1.5 / 3 / 5 / 8 / 11 / 13 / 18 / - / - / - A High overload capacity of 250 % of the omial curret for a maximum of 1 s Up to three motors with their ow parameter sets ca be operated per axis module. Users ca switch betwee parameter sets. Very comprehesive techology ad motio cotrol fuctios are available free of charge, such as electroic cam, virtual ecoder, touch probe, evet cotrol, positioig, referecig Ca be cotrolled with user-defied uits Cetral data backup ad automatic reload i case of service via the master module CAN-based system bus SBus, CAN-based applicatio bus CAN2, or EtherCAT - compatible system bus SBus plus Firmware upload ad dowload via fieldbus, system bus, or parameterizatio iterface 7-segmet display for user-friedly visualizatio of operatig ad error states at the axis module No-liear torque ad speed characteristic curves are take ito accout Brake test fuctio for checkig the brakig capability of the motor regularly Digital iputs ad outputs at the axis module 9 isolated biary iputs; oe is set to the cotroller ihibit fuctio, 8 ca be programmed by the user, 4 touch probe iputs, 4 freely programmable biary outputs. Power shield clamps that ca be separated up to size 3 Electroics shield clamps ca be separated 3 optio card slots to expad the fuctioality Separate DC 24 V voltage supply for powerig the iverter electroics ad motor brakes. Cofiguratio, diagostics ad data storage eve whe the supply system is switched off. 18 System Maual MOVIAXIS Multi-Axis Servo Iverter

19 System Descriptio Beefits ad key features of MOVIAXIS 1 Stadard fuctioality of the axis modules Fieldbus/etwork commuicatio Motio cotrol PROFIBUS MOVI-PLC advaced DeviceNet IEC motio libraries PROFINET EtherNet/IP CAN2 Basic uit fuctios EtherCAT /SBus plus User-level password maagemet CAN1 / SBus Graphical fuctio coectio User-defied uits Double CAN system bus TCP/IP, UDP/IP EtherCAT -compatible system bus 9 digital iputs Motio cotrol/techology fuctios 4 digital outputs 40 electroic cams Olie curve calculatio Diagostics/service/moitorig Virtual ecoder Offlie scope Evet/sequece cotrol 8-chael scope Electroic gear uit Thermal motor maagemet Touch probe Thermal iverter maagemet Cam cotroller Electroic ameplate Sesor-based positioig Overload prevetio Jog mode Cetral data storage/sd card Referece travel Modulo fuctio Auto reload data record for replacemet Temperature-compesated torque cotrol for asychroous motors Direct cotrol of 24 V brakes Auto address settig Safety techology Ecoder/motor data STO PL d / category 3 Sychroous, asychroous, liear motor operatio STO PL e / category 4, SIL3 No-liear torque characteristics Hiperface, resolver, TTL, Edat 2.1 Calibratig the ecoder ad commutatio No-SEW motors Brake test fuctio Multi-motor operatio, max. 3 motors as stadard optioal Ecoders for the axis module See chapter "Additioal system compoets" (page 242). System Maual MOVIAXIS Multi-Axis Servo Iverter 19

20 I O LAM F1 Lk Lk RUN ERR IN OUT EtherCAT 1 System Descriptio Beefits ad key features of MOVIAXIS Uit data Nomial DC lik voltage 1) DC 560 V DC 750 V 2) Output voltage 0 - max. V mais Overload capacity for max. 1 s 250 % Available types Nomial output curret at 8 khz PWM A Nomial output curret at 4 khz PWM A Maximum output curret A Size Techical data MXA80A MXA81A MXA80A MXA81A MXA82A ) with U mais = 400 V (page 124) 2) For operatio with a MXR supply ad regeerative module Bus iterface/system bus variats [1] [2] XSE X31 OUT X30 IN [3] [3] [1] CAN-based system bus, SBus [2] EtherCAT -compatible system bus SBus plus [3] CAN-based applicatio bus CAN2 (stadard) Scope of delivery DC lik coectios 20 System Maual MOVIAXIS Multi-Axis Servo Iverter

21 System Descriptio Beefits ad key features of MOVIAXIS 1 Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus Optioal accessories Motor protectio coectio termial block System Maual MOVIAXIS Multi-Axis Servo Iverter 21

22 1 System Descriptio Beefits ad key features of MOVIAXIS MXM master modules The master module exteds the MOVIAXIS multi-axis servo system by various cotrol, commuicatio ad data maagemet fuctios. The master module is available as variat with MOVI-PLC advaced (32 bit motio cotroller) ad fieldbus gateway. The fieldbus gateways provide sophisticated ad trasparet commuicatio access to the etire axis system. They replace all fieldbus iterfaces i the idividual axis modules. This meas that the axis module type does ot have to be adjusted usig fieldbus iterfaces, which saves time ad optimizes the logistics ad storage processes. The axis module is equipped with a USB port for parameter settig as well as a TCP/IP etwork coectio ad a SD memory card for cetral data storage of all axis system data. Whe a axis is replaced, the etire data record, icludig the parameter settigs, is loaded to the ew axis. This feature makes it very easy to restart a system after the replacemet has bee made. The fieldbus gateways commuicate with the axis system either via the CAN1/CAN2 or the EtherCAT system bus coectio. All itegrated cotrollers are available with comprehesive libraries. The ready-made fuctio modules ca be programmed i IEC This meas that the user ca access the drive fuctios of the servo iverter directly from his or her usual PLC programmig eviromet. Cosequetly, all MOVI-PLC cotrollers speak the "laguage" of the servo iverter ad cotrol it much better tha o-sew cotrollers usig the process data iterface. Depedig o the cotrol class, additioal USB ad TCI/IP iterfaces, local I/O, ad cetral data storage for all data ad programs of the axis system ca be itegrated. Variats Due to flexible combiatio optios for hardware, fuctioality, techology ad cotrol egieerig, the MOVIAXIS multi-axis servo iverters ca be used i various automatio topologies. These structures differ primarily i where ad with which PLC ad motio cotrol fuctios they are processed. The use of differet master modules accordig to the automatio structure (cotrol/fieldbus gateway) is typical. Uit data Nomial iput voltage DC 24 V ± 25 % (EN 61131) Uit desig Techical data Available types MXM80A /DHP11B MXM80A / DH.41B MOVI-PLC advaced 1) DHE41B, DHF41B, DHR41B (page 129) PROFIBUS / DeviceNet gateway UFE41B PROFINET / EtherNet/IP / Modbus/TCP UFR41B 1) For techical data ad coectios of the cotrol module DH.41B, see the "MOVI-PLC advaced /DHE41B/DHF41B/DHR41B Cotroller" maual. 22 System Maual MOVIAXIS Multi-Axis Servo Iverter

23 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery Electroics shield clamp 24 V supply cable CAN - master module coectio cable Cable lugs Optioal accessories System bus coectio cable for CAN-based system bus Coectio cable for EtherCAT master module System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN2 Coectio cable for CAN-based applicatio bus CAN2 CAN2 termiatig resistor For the part umbers of the cables, see chapter "Istallatio ad coectio accessories" (page 77). System Maual MOVIAXIS Multi-Axis Servo Iverter 23

24 1 System Descriptio Beefits ad key features of MOVIAXIS MXS 24 V switched-mode power supply optio Uit data Nomial DC lik voltage 1) The switched-mode power supply is fed from the DC lik voltage ad provides the 24 V voltage for supplyig the electroics i the axis system ad the motor brakes. The DC 24 V supply ca bridge a voltage dip i the DC lik for a short time (about 10 ms). The switched-mode power supply is protected agaist overload durig operatio i the defied DC lik voltage rage. The output voltage is led out i parallel o 3 differet output termials with a joit groud referece. Each output is separately moitored for a maximum output curret value of 10 A, which meas the power supply is curret limited ad short-circuit proof. If the DC lik voltage is ot available, operatio of the switched-mode power supply ca be cotiued via the exteral 24V supply, e.g. for settig the parameters of the axis system. This meas all moitorig fuctios ad the operatig display cotiue to operate. The same moitorig levels as for the output voltages, which are geerated from the DC lik, also apply to the 24 V supply. The curret overload at the output termials is idicated by a three-color diode. The switched-mode power supply uit ca be combied with all MOVIAXIS modules, except for the MXR supply ad regeerative module. If you pla to combie MXS ad MXR, please cotact SEW-EURODRIVE. DC 560 V Nomial iput backup voltage DC 24 V ± 25 % (EN 61131) Nomial output voltage DC 3 x 24 V (shared groud) tolerace for supply via DC lik: DC 24 V +10 % / -0 % Tolerace for supply via exteral 24 V: Depeds o the iput voltage ad the requiremets of the coected uits. Available types Nomial output curret A Nomial output power W Techical data MXS80A A 2) 600 (page 133) 1) With V lie = 400 V 2) Not possible at the same time because total power is limited to 600 W Scope of delivery DC lik coectios 24 V supply cable 24 System Maual MOVIAXIS Multi-Axis Servo Iverter

25 System Descriptio Beefits ad key features of MOVIAXIS MXC capacitor modules Capacitor modules are itelliget eergy buffers. I the capacitor module, the eergy supplied to the DC lik whe applyig the brake of a motor is activated through a chargig circuit ad quickly "stored". Durig a acceleratio process, this eergy is the supplied back to the mai DC lik ad utilized agai. Oly brakig eergy that exceeds the capacity of the capacitor modules is dissipated via a optioal brakig resistor. The capacitor module is a simple ad easily itegrated additioal compoet for savig or re-usig eergy. Whe desigig the applicatio accordigly, you ca save a remarkable amout of eergy. Depedig o the applicatio, oly the power losses are take from the supply system. I additio, you ca omit the brakig resistor, which meas o dissipated heat. Uit data MXC80A Techical data Nomial DC lik voltage U NZK DC 560 V 1) Storable eergy 1) 1000 Ws (page 131) Peak power capacity 1) With V lie = 400 V 50 kw Scope of delivery DC lik coectios 24 V supply cable MXB buffer modules Buffer modules are pure eergy storage devices. Buffer modules are charged with eergy from the DC lik irrespective of whether the motors are decelerated or accelerated. This meas buffer modules make available a guarateed amout of eergy i the DC lik. This amout of eergy ca be used to move drives to a safe positio (retur movemet), for example i the evet of a power failure i the system. Uit data MXB80A Techical data Nomial DC lik voltage DC 560 V U 1) NZK (page 132) Storable eergy 1) 1000 Ws 1) With V lie = 400 V Scope of delivery DC lik coectios 24 V supply cable System Maual MOVIAXIS Multi-Axis Servo Iverter 25

26 1 System Descriptio Beefits ad key features of MOVIAXIS MXZ DC lik discharge modules The DC lik discharge module shorts the voltage lik of the axis system by meas of a electroic switch via a special brakig resistor. This may oly take place if the supply of the DC lik has bee discoected, i.e. the MXP supply module or the MXR supply ad regeerative module is o loger coected to the supply system. Oce the discharge process is complete ad the discharge curret is approachig zero, the electroic switch will ope automatically. A sychroous servomotor coected to the DC lik via a axis module geerates a speed-depedet brakig torque. This meas a ucotrolled drive ca be decelerated electroically eve without servo iverter fuctio. At the same time, the kietic eergy is coverted ito heat eergy via the special brakig resistor. The maximum amout of eergy that ca be dissipated via the brakig resistor will have to be cofigured because the DC lik discharge module ad the brakig resistor will have to be of appropriate size. INFORMATION If a motor is drive mechaically, as is the case i a hoist, stadstill caot be accomplished. The DC lik discharge module is iteded for discharge of kietically stored eergy oly. Do ot use the DC lik discharge module for potetial eergy (hoist, sprig, accumulator). Uit data Nomial DC lik voltage DC 560 V 1) Available types Covertible eergy E J Discharge resistor 2) Ω Duratio of quick discharge s Size Techical data MXZ80A (page 135) 1) With V lie = 400 V 2) For the DC lik discharge module to fuctio correctly, you must choose a suitable dischargig resistor durig project plaig. Scope of delivery DC lik coectios Power shield clamp 24 V supply cable 26 System Maual MOVIAXIS Multi-Axis Servo Iverter

27 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Areas of applicatio ad automatio optios with MOVIAXIS The MOVIAXIS multi-axis servo iverter was developed with the specific requiremet to create additioal value for the user, however differet the applicatios may be High degree of flexibility ad great user beefits MOVIAXIS offers a high degree of flexibility ad great user beefits. These are: Perfect adaptatio ad maximum flexibility of the etire drive ad automatio system. Hardware ad software ca be scaled Commuicatio ad etworkig optios Drive fuctioality ad automatio optios Egieerig, startup, cofiguratio ad diagostics usig MOVITOOLS Motio- Studio. A variety of applicatio optios for variable machies ad systems. Nomial supply power of 10 kw, peak power up to 187 kw Siusoidal eergy recovery techology Peak curret of 250 A Itegrated safety techology, up to performace level "e" Robust housig ad simple istallatio Support of all commo ecoder systems. Best effort/solutio/resources ratio. Motio cotrol fuctios that rage from simple, graphically selectable techology fuctios to powerful 32-bit cotrol systems Widely applicable motor/gear uit rage Tiered motio cotrol that rages from simple positioig to support of customerspecific kiematics. With these features, MOVIAXIS is perfect for a wide rage of applicatios i machie ad plat egieerig. I additio, MOVIAXIS ca be combied with the kow automatio structures ad hybrids thereof: Cetralized cotrol structure Structure 1 Classic machie ad system PLC with fieldbus or etwork coectio of the iverters. Here, a higher-level cotroller (PLC) coordiates the etire machie/plat ad cotrols all processes. I geeral, oly the positioig ad travel commads or very time-critical tasks are haded dow to the coected drive systems. System Maual MOVIAXIS Multi-Axis Servo Iverter 27

28 1 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Modularizatio Structure 2 Higher-level machie ad system PLC with lower-level module ad segmet cotrollers or cotrol devices. Here, the higher-level PLC moitors ad cotrols oly the overall process, while lower-level module cotrollers, with a defied iterface to the higher-level PLC, cotrol the idividual modules ad segmets of a machie idepedetly. Ofte, the focus is o motio cotrol ad ecapsulatig a applicatio for re-use without much additioal effort Master module This high degree of adaptability is esured by the differet master module variats. The master module fuctios as the head of MOVIAXIS, see the system compoet descriptio for the master module (page 22). Das master module is available i two differet variats: 1. Fieldbus or etwork gateway for uiversal coectio to all commo fieldbus ad etwork systems. 2. Motio Cotrol MOVI-PLC advaced, as freely programmable motio cotroller o the basis of IEC or as purely parameterizable cotroller with pre-defied applicatio modules. These two variats are described below: MOVIAXIS with fieldbus or etwork gateway i combiatio with a classic machie or system PLC cetralized structure Motio ad Logic Cotrol System Maual MOVIAXIS Multi-Axis Servo Iverter

29 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS 1 Applicatio requiremets Target applicatios Customer beefits This variat of the MOVIAXIS master module is suitable for the followig machies ad systems: High demads o idividual, axis-related motio cotrol fuctios, o complex axis iterplay ad respective processig, Oly limited flexibility ad performace required from the motio cotroller, Machies that replace systems operated with frequecy iverter ad PLC, Machies for which a icrease i productio requires the use of at least some motio cotrol ad servo techology fuctios. Machies i which the use of a motio cotroller makes o sese techically ad ecoomically. Applicatio examples: Storage ad retrieval systems Simple packagig machies Hadlig equipmet Discharge ad uloadig systems Simple sheet metal formig machies. Machies ad systems with the above requiremets ca easily be implemeted with a combiatio of MOVIAXIS ad a classical PLC via a master module with fieldbus or etwork gateway. The followig features i particular offer sustaiable customer beefits: Motio cotrol fuctios itegrated i the axis, Cetralized commuicatio, Automatic data storage. Motio cotrol itegrated i the axis cotroller: fuctioal, simple, ad realized i the PLC program with very little effort. PLC remais uchaged Wizard support Oe of the essetial advatages of MOVIAXIS with a cetralized machie cotroller is the fact that the PLC ca remai almost uchaged. No program structures ad already implemeted fuctios must be trasferred to the ew system. The PLC programmer does ot have to become acquaited with the complex motio cotrol fuctios of MOVIAXIS. The servo ad motio cotrol fuctios are all cotrolled via process data iterfaces ad fuctios that ca be graphically liked. Stadard fuctios, such as sigle-axis positioig, ca easily be implemeted usig wizards ad startup editors. Pre-cofigured driver modules, e.g. for the S7 PLC, simplify the cotrol itegratio process further. System Maual MOVIAXIS Multi-Axis Servo Iverter 29

30 1 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Customer beefits Customer beefits of the axis-itegrated motio cotrol applicatio: Simple ad miimal-effort solutio, established automatio structures ca usually be maitaied, Cost-optimized solutio: Servo iverter ad motio cotrol i oe solutio package, Miimal traiig period: Software-assisted implemetatio of all motio cotrol tasks, Safe ad fast solutios: Complete, tested, ad approved solutios ad implemetatio optios. Cetralized commuicatio, powerful ad flexible The UFx fieldbus/etwork gateway systems optimize a umber of bottleecks of moder machie/plat automatio. This provides for a ideal cost/beefit ratio. High-speed gateway Fieldbuses System buses TCP/IP, USB Customer beefits If you use high-speed gateways throughout, you ca keep the axes fieldbus-idepedet. The fieldbus/etwork fuctioality is set o site/at the customer's via DIP switch. This allows you to select flexibly betwee PROFIBUS / DeviceNet ad PROFINET, EtherNet/IP, Modbus/TCP. The followig scalable bus systems are available for coectig the axes: CAN-based system bus SBus, CAN-based applicatio bus CAN2, ad, as maximum expasio stage,ethercat -compatible system bus. I additio, TCP/IP commuicatio is o board for a coectio with a host system. This allows, for example, a maiteace computer to access the system directly to read system data ad make settigs. The USB iterface is available for fast access. Advatages of this cetralized commuicatio: Axis modules idepedet of the fieldbus: Optimized ad miimized storage, which meas reduced service complexity, Itegrated TCP/IP: Office commuicatio, remote maiteace ad stadard PC coectio always available, Three commuicatio performace classes: Costs ad commuicatio performace ca be scaled perfectly, High-speed gateways that ca be switched: Flexible coectio optio to all commo PLC maufacturers, such as Siemes, Scheider, Alle Bradley. Automatic data storage, cetralized ad always available Moder drive systems offer a variety of settig ad optimizatio optios for perfect adaptatio to the applicatio ad maximum productivity. These settigs are guarators of the machie performace. They refer to the machie ad ot to a drive cotroller, which is why they must remai with the machie. Savig the settigs SEW-EURODRIVE esures that these importat axis module settigs are saved by meas of a cetral data memory i the gateway. The data of all parameterizable axis modules is stored i the "data safe". If eeded, it ca be used for re-parameterizatio or recovery. 30 System Maual MOVIAXIS Multi-Axis Servo Iverter

31 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS 1 Whe replacig a uit, the "auto reload" fuctio ca write the data from the "data safe" directly to the ew uit, o actio of the user required. The data is also saved o a exchageable SD card i the gateway. Customer beefits Advatages of this data storage: Data stored cetrally i the gateway: All relevat settigs are always safely stored i a cetral locatio, idepedet of the axis, Data o the SD card: The settigs of the project ad of the machie are saved whe replacig a axis or a gateway, Auto reload: Miimal stadstill times i the evet of a failure, eve without specially traied service staff MOVIAXIS with itegrated MOVI-PLC motio cotrol i the master module as a lowerlevel modular cotroller i combiatio with a higher-level overall cotroller PLC Operator pael Fieldbus Motio ad logic cotrol I/O System Maual MOVIAXIS Multi-Axis Servo Iverter 31

32 1 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Applicatio requiremets Target applicatios This variat of the master module is suited for the followig structures. Automatio structures with modular machie ad system compoets that require a itegrated MOVI-PLC cotroller are usually characterized as follows: Machie modules are automated idepedetly of each other ad started up i advace, Tasks of the motio cotroller, the PLC, ad the cotiuous path cotroller are to be solved o a shared platform. It must be possible to ecapsulate ad re-use modular solutios, Performace-critical motio cotrol tasks must be idepedet of the PLC programmig ad the PLC system, Machies are distributed worldwide ad work with differet cotrol systems, such as Siemes, Scheider, Alle Bradley, as requested by the ed customer. The effort for program modificatios i the ed customer PLC must be miimal. The machie is started up with a pre-defied program library. Applicatio examples: Robot cells, Cuttig, sortig, labelig, fillig, ad sealig uits, e.g. i bottlig ad packagig machies, Deep drawig ad blister machies, Very powerful ad flexible storage ad retrieval systems, Systems with processig statios. Oe platform for all MOVI-PLC high-ed motio cotrol, PLC, kiematic ad cotiuous path cotrol The higher-level machie cotroller ca be desiged i such a way that it oly performs additioal "coordiatio ad maagemet tasks" for the overall process. MOVI-PLC will cotiue to offer differet techology ad performace levels, which allows for perfect scalig ad adaptatio to the applicatio. The commuicatio ad data storage optios of MOVI-PLC ad of the high-speed gateway are exactly the same. Motio cotrol IEC stadard Cofigurable cotrol uits CCU Kiematics/robotics The decisive motio cotrol fuctios of the idividual statios or machie modules are implemeted completely i the MOVI-PLC cotroller that is matched perfectly to MOVIAXIS. I this way, the higher-level cotroller ca be adapted with miimum effort to regioal ed customer requiremets cocerig the maufacturer of the higher-level machie or system PLC. It is ot ecessary to develop the decisive motio cotrol programs aew i the respective, maufacturer-specific programmig laguages. MOVI-PLC supports the worldwide, stadardized programmig eviromet IEC 61131, icludig PLCope fuctios. Sophisticated applicatios ca be realized usig the cofigurable cotrol uits (CCU), which merely require the parameterizatio of pre-defied fuctios, e.g. for storage ad retrieval systems. Oe of the scalable expasio stages of MOVI-PLC offers, for example, a complete, itegrated cotiuous-path cotrol system that supports ad trasforms various kie- 32 System Maual MOVIAXIS Multi-Axis Servo Iverter

33 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS 1 matics. Simulatio tools for implemetig complete robotics ad hadlig systems are also itegrated. PLC ad motio cotrol I additio to modular ad sub-system cotrol, MOVI-PLC is powerful eough to offer complete machie cotrol with visualizatio, PLC ad motio cotrol tasks, ad data storage. I these cases, the overall machie cotroller ca be omitted, which leads to a lea ad cost-optimized solutio. Customer beefits Advatages of usig MOVI-PLC ad MOVIAXIS : Comprehesive periphery: MOVI-PLC I/O ad the DOPs provide for optimum operatio of almost ay applicatio ad itegratio of peripheral uits, Quick adaptatio to cotrollers from differet maufacturers: All critical motio cotrol ad machie fuctios ca be programmed idepedetly i MOVI-PLC, Short startup times: The modular desig allows for pre-tested modules ad sub-systems. MOVI-PLC ca also be used to completely automate machies without a classical PLC, Motio cotrol, PLC, kiematic or cotiuous-path cotrol: Oe platform with miimal complexity ad uiversal programmig, Ready-to-use ad tested IEC libraries: Easy ad fast programmig of all drives from SEW-EURODRIVE. Use of cofigurable cotrol uits (CCU): Applicatio modules for multi-axis applicatios that offer fast implemetatio without programmig ad protectio agaist maipulatio by the operator, Scalable motio cotrol fuctioality: Costs ad fuctios ca be adapted perfectly to the applicatio due to various techology levels; scalable hardware platforms: Differetiated use of "advaced" cotrollers allow for further, cost-optimizig price ad performace adaptatios, Trasparet ad uiversal data storage ad commuicatio: Idetical behavior throughout the etire MOVIAXIS system, irrespective of whether a high-speed gateway or a MOVI-PLC cotroller is used Summary Be it master modules i coectio with high-speed gateways or MOVI-PLC motio cotrollers MOVIAXIS ca almost always be adapted perfectly to the applicatio i terms of techology, fuctioality, commuicatio, ad uit cotrol. Costs ad effort are saved due to Simpler operatio, programmig, validated ready-to-use solutios ad product combiatios, Cosistecy ad reduced complexity, Optimized logistics, fewer modules, ad oe supplier. System Maual MOVIAXIS Multi-Axis Servo Iverter 33

34 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1.5 Optio cards providig more fuctios ad flexibility for axis modules ad supply ad regeerative modules MOVIAXIS offers a umber of differet optio cards to expad the fuctioality of the idividual axis modules or siusoidal supply ad regeerative modules ad/or to make them more flexible. The followig optio cards are available: Optio card Desigatio Descriptio Ecoder ad distace ecoder cards XGH11A XGS11A Multi-ecoder card for Motor ad distace ecoders TTL, ecoder, Hiperface, EDAT 2.1, SiCos Ecoder simulatio ±10V AE DC 24 V supply Like XGH, but with SSI as additioal ecoder system Istallatio i MXA x x Istallatio i MXR Iput/output cards XIA11A XIO11A I/O card with 4 DI, 4 DO 2 AI, 2 AO resolutio 12 bit 24 V supply I/O card with 8 DI, 8 DO 24 V supply x x System bus ad fieldbus iterfaces XFP11A PROFIBUS IO fieldbus iterface, up to 12 Mbaud x x XFE11A XSE11A Fieldbus iterface for coectio to EtherCAT etworks System bus optio card for expasio to EtherCAT -compatible system bus x x x x 34 System Maual MOVIAXIS Multi-Axis Servo Iverter