MOVI-PLC AxisControl Sample Project - MAN - 05 - 2008

Drive Technology \ Drive Automation \ System Integration \ Services
MOVI-PLC®
AxisControl
Sample Project
Edition 05/2008
11635428 / EN
Manual
SEW-EURODRIVE – Driving the world
Contents
Contents
1 General Information ............................................................................................ 5
1.1 Structure of the safety notes ....................................................................... 5
1.2 Rights to claim under warranty ................................................................... 5
1.3 Exclusion of liability..................................................................................... 6
1.4 Applicable documents................................................................................. 6
2 Introduction ......................................................................................................... 7
2.1 Objectives ................................................................................................... 7
2.2 Functionality of the application solution ...................................................... 7
2.3 System requirements .................................................................................. 8
3 MOVIDRIVE® Control with AxisControl_MDX_SingleAxis .............................. 9
3.1 MOVIDRIVE® requirements ....................................................................... 9
3.2 Startup of MOVIDRIVE® with the DIP11B option...................................... 11
3.3 Opening and starting the project AxisControl_MDX_SingleAxis.pro ........ 12
3.4 Adapting the AxisControl_MDX_SingleAxis.pro project............................ 15
3.5 AxisControl_MDX function block............................................................... 17
3.6 Controlling MOVIDRIVE® via the Application Builder
"Monitor AxisControl" ................................................................................ 20
4 Adding a MOVIDRIVE® Drive to the Project.................................................... 24
4.1 Task .......................................................................................................... 24
4.2 Solution ..................................................................................................... 24
5 Integrating an Automated Sequence............................................................... 30
5.1 Task .......................................................................................................... 30
5.2 Solution ..................................................................................................... 30
6 AxisControl_MDX_SingleAxis Sample Project .............................................. 40
6.1 Operating modes ...................................................................................... 40
6.2 Function blocks ......................................................................................... 40
6.3 Processing of the function blocks ............................................................. 41
6.4 Overview of the AxisControl_MDX function block..................................... 43
6.5 Input and output assignment of the AxisControl_MDX function block ...... 44
6.6 Description of operating modes ................................................................ 46
7 Adding an Operating Mode for Torque Control ............................................. 50
7.1 Task .......................................................................................................... 50
7.2 Solution ..................................................................................................... 50
8 Synchronous Operation with Virtual Encoder as Master ............................. 60
8.1 Startup and parameterization of MOVIDRIVE® ........................................ 61
8.2 Startup of MOVIDRIVE® with option DIP11B............................................ 61
8.3 Opening and starting the project AxisControl_MDX_Technology ............. 61
8.4 Adapting the AxisControl_MDX_Technology.pro project .......................... 62
8.5 Additional settings for synchronous operation .......................................... 63
8.6 Compiling and starting the project in the PLC Editor ................................ 64
8.7 Controlling MOVIDRIVE® + virtual encoder via "Monitor AxisControl" ..... 64
8.8 AxisControlCam_MDX function block ....................................................... 66
8.9 AxisControlGear_MDX function block....................................................... 69
Manual – MOVI-PLC® AxisControl Application Solution 3

Contents
9 Synchronous Operation with MOVIDRIVE® as Master .................................. 72

9.1 Adapting the AxisControl_MDX_Technology.pro project .......................... 72
9.2 Controlling both MOVIDRIVE® inverters via "Monitor AxisControl" .......... 79
10 AxisControl_MDX_Technology Sample Project............................................. 81
10.1 Operating modes ...................................................................................... 81
10.2 Function blocks ......................................................................................... 82
10.3 Description of operating modes ............................................................... 85
11 Data Backup for Connected Inverters ............................................................. 88
11.1 General notes on data backup.................................................................. 88
11.2 Description of operating modes ................................................................ 89
11.3 Data Management using global variable interface .................................... 90
11.4 Data Management via Application Builder ................................................ 93
12 Frequently Asked Questions ........................................................................... 96
12.1 Communication problems between the PLC Editor and MOVI-PLC® ....... 96
12.2 Controlling the AxisControl_MDX... sample project via PROFIBUS ......... 98
12.3 Features and operating principle of the virtual encoder .......................... 101
13 Address List .................................................................................................... 102
Index................................................................................................................. 111
4 Manual – MOVI-PLC® AxisControl Application Solution

General Information
Structure of the safety notes
1
1 General Information
1.1 Structure of the safety notes
The safety notes in these operating instructions are structured as follows:
Symbol SIGNAL WORD!

Nature and source of hazard.
Possible consequence(s) if disregarded.
• Measure(s) to avoid the hazard.
Symbol Signal word Meaning Consequences if

disregarded
Example: HAZARD! Imminent hazard Severe or fatal injuries
WARNING! Possible hazardous situation Severe or fatal injuries

General hazard
CAUTION! Possible hazardous situation Minor injuries
Specific hazard,
e.g. electric shock
STOP! Possible damage to property Damage to the drive system or its

environment
NOTE Useful information or tip. Simpli-

fies the handling of the drive sys-
tem
1.2 Rights to claim under warranty

As a prerequisite to fault-free operation and fulfillment of warranty claims, you must ad-
here to the information in the SEW documentation. Consequently, read the operating in-
structions and manuals of the respective inverters before you start working with the unit!
Make sure that the operating instructions and manuals are available to persons respon-
sible for the plant and its operation, as well as to person who work independently on the
unit. You must also ensure that the documentation is legible.

General Information
1 Exclusion of liability
1.3 Exclusion of liability

You must comply with the information contained in these operating instructions to en-
sure safe operation and to achieve the specified product characteristics and perfor-
mance features of the inverters. SEW-EURODRIVE assumes no liability for injury to
persons or damage to equipment or property resulting from non-observance of these
operating instructions. In such cases, any liability for defects is excluded.
1.4 Applicable documents

• This manual does not replace the detailed operating instructions and the
corresponding manuals.
• Installation and startup of the inverter only by trained personnel observing the
relevant accident prevention regulations and the following documents:
– "MOVI-PLC® Programming in the PLC Editor" system manual,
– "MOVIDRIVE® MDX60B/61B" system manual and corresponding manuals,
– "MPLCTec..._MDX, MPLCTecVirtualEncoder Libraries for MOVI-PLC®" manual,
– "MPLCMotion_MDX and MPLCMotion_MX Libraries for MOVI-PLC®" manual,
– "MOVITRAC® B Basic Unit" operating instructions and corresponding manuals,
– MOVIAXIS® system manual and corresponding manuals.

Introduction kVA n
Objectives
f 2
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2 Introduction
2.1 Objectives
The MOVI-PLC® controller combines motion and logic control to provide the complete
drive functionality by means of user-friendly function blocks in an environment that can
be programmed in accordance with IEC 61131.
All function blocks for a wide range of drive functions are already integrated in the Axis-
Control program for MOVI-PLC®.
With conventional PLC programming, the drive functionality is only a data interface. The
Bus Positioning application module, for example, is addressed via global variables in the
I/O range of the PLC.
The AxisControl_MDX_SingleAxis.pro and AxisControl_MDX_Tech-
nology.pro programs are sample projects, designed like an application module. How-
ever, their advantage is that they can be adjusted by the PLC programmer.
The Visu_Axis_control_MDX.mon ApplicationBuilder interface enables simple star-
tup without higher-level PLC program. It can be also used to perform diagnostics.
This manual describes the programs for the MOVIDRIVE® inverter as an example. The
programs for the MOVIAXIS® and MOVITRAC® 07 B inverters offer similar or reduced
functions.
2.2 Functionality of the application solution

Functionality of the program AxisControl_MDX_Single Axis.pro:
• Speed control
• Absolute positioning
• Modulo absolute positioning
• Relative positioning
• Jog mode, speed controlled
• Jog mode, position controlled
• Reference travel
Additional functionality of the program AxisControl_MDX_Technology.pro:

• Synchronous operation (direct engagement/disengagement)
• Electronic cam (direct engagement/disengagement)
• Virtual encoder
These functions are completely based on the MPLCMotion_MDX, MPLCTec..._MDX

and MPLCTecVirtualEncoder libraries and offer the required basic functions. You can
easily adapt the sample programs to the required functions using this manual and the
other applicable documents.

kVA n Introduction
2 f
System requirements
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2.3 System requirements

2.3.1 Software
The following software must be installed on the engineering PC for programming the
AxisControl sample project.
• For MOVI-PLC® basic DHP11B Motion Library version 2010r5 or higher
• For MOVI-PLC® advanced DHx41B Motion Library version 2020r2 or higher
An ApplicationBuilder interface is available for execution, control and monitoring of the

AxisControl sample project.
This offers the following advantages:
• You can control and monitor each instance of the AxisControl function block
separately.
• You can check the electrical connection, hardware and communication
independently of the application program.
• For executing the AxisControl sample project, no programming experience is
required.
2.3.2 Hardware
The following units must be available for executing the AxisControl sample project:
• MOVIDRIVE® 60B/61B inverter with firmware version 824 854 1.16 or higher
• MOVITRAC® B inverter with firmware version 1820 230 6.13 or higher
• Synchronous servomotors or asynchronous motors with or without encoder
feedback.

MOVIDRIVE® Control with AxisControl_MDX_SingleAxis I
MOVIDRIVE® requirements
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3 MOVIDRIVE® Control with AxisControl_MDX_SingleAxis

3.1 MOVIDRIVE® requirements
In order to control the MOVIDRIVE® inverter with a MOVI-PLC®, you have to start it up
first with the "DriveStartUp for MOVI-PLC®" startup assistant. Connect the
MOVIDRIVE® inverter to the engineering PC via the serial RS-485 interface.
Start the startup assistant as follows:
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1. Right-click on [MDX61B0015...].
2. Select [Technology Editors] from the context menu.
3. Select [Drive Startup for MOVI-PLC®] from the submenu.

I MOVIDRIVE® Control with AxisControl_MDX_SingleAxis
3 MOVIDRIVE® requirements
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Then perform the 5 startup steps displayed in the figure below:
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NOTES
• For detailed information on startup, refer to chapter "MOVIDRIVE® startup with the
DIP11B option" (see page 11) in the "MPLCMotion_MDX and MPLCMotion_MX for
MOVI-PLC®" manual.
• Consider the organization of the different SBus addresses of the SBus stations.
The SBus address of the drive inverter must be different from the SBus address of
the MOVI-PLC® controller (default: 0).
The MOVIDRIVE® inverter is visible at the respective CAN line if the following applies:
• Startup has been performed successfully with the "DriveStartup for MOVI-PLC®"
startup assistant,
• The SBus address has been assigned correctly,
• And the network has been scanned again in MOVITOOLS® MotionStudio.

Startup of MOVIDRIVE® with the DIP11B option
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[1]
[2]
[3]
803469195
®
The MOVIDRIVE inverter on the CAN1 line:
[1] MOVI-PLC® at the Ethernet interface
[2] MOVIDRIVE® routed through at the CAN1 interface of the MOVI-PLC® controller
[3] MOVIDRIVE® at the COM1 interface of the engineering PC via RS-485
3.2 Startup of MOVIDRIVE® with the DIP11B option

If the drive is to perform positioning task using a SSI absolute encoder, the drive and the
DIP11B absolute encoder card must be started up in the MOVITOOLS® via DIP startup.
NOTE
For detailed information on startup of an SSI absolute encoder, refer to the
"MOVIDRIVE® MDX61B Absolute Encoder Card DIP11B" manual.

3 Opening and starting the project AxisControl_MDX_SingleAxis.pro
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3.3 Opening and starting the project AxisControl_MDX_SingleAxis.pro

3.3.1 Creating a new project in the PLC Editor
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Proceed as follows to create a new project:

1. Right-click on MOVI-PLC®.
2. Select [Programming] from the context menu.
3. Select [New PLC Editor project...] from the submenu.

Opening and starting the project AxisControl_MDX_SingleAxis.pro
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The "Create PLCProject..." window is displayed. It shows a list of the library versions
that are compatible with the MOVI-PLC® firmware:
[3]
[2]
[1]
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[1] Directory on the hard drive of the engineering PC

[2] File name of the new PLC Editor project
[3] Selection of the required motion library
1. Select the relevant directory on the hard drive of the engineering PC.
2. Enter a file name for the new PLC Editor project.
3. Select the required motion library.
4. After selecting the relevant directory and assigning a file name, select an AxisControl
project:
• AxisControl_MDX_SingleAxis.pro for simple control of motor axes or
• AxisControl_MDX_Technology.pro for applications with synchronous
operation or cam.

3 Opening and starting the project AxisControl_MDX_SingleAxis.pro
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Upon confirming with [OK], the PLC Editor opens a complete PLC Editor project that can
be compiled without errors.
3.3.2 Compiling and starting a new project

1. Select the menu command [Project] / [Compile] in the PLC Editor to compile the mod-
ified project.
2. Select the command [Online] / [Login] to load the project into the MOVI-PLC® con-
troller.
3. To start the program, press function key <F5> or select the menu command [Online]
/ [Start] after downloading the project into the controller.
The MOVIDRIVE® inverter can now be controlled via the global structure variable
gAxisInterfaceIn_MDX[x]. This structure variable contains control signals such as
controller inhibit, enable, reset, operating mode, etc.
For testing purposes, you can also control the motor axis through an Application Builder
interface.
NOTE
For detailed information, refer to chapter "Controlling MOVIDRIVE® via the Application
Builder Axis Control Monitor" (see page 20).

Adapting the AxisControl_MDX_SingleAxis.pro project
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3.4 Adapting the AxisControl_MDX_SingleAxis.pro project

The sample project has been designed for 3 motor axes. If the number of controlled
motor axes changes, you have to adapt the control configuration:
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Deleting motor axes:

1. Right-click on [MOVIDRIVE].
2. Select [Delete] from the context menu.
Adding a motor axis:

1. Right-click on [Can1 enabled].
2. Select [Append subelement] from the context menu.
3. Select [MOVIDRIVE MDX B].
Adapting the control configuration:

Subsequently, adjust the module parameters (SBus address).
NOTE
For non-existent motor axes, no instance of the AxisControl_MDX function block
may be called up.
Delete the respective networks from the PLC_PRG_SingleAxis main program.
If more than 3 motor axes are to be controlled, add corresponding networks by calling
up another instance of the AxisControl_MDX function block and parameterizing it.

3 Adapting the AxisControl_MDX_SingleAxis.pro project
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NOTE
For detailed information, refer to chapter "Adding a MOVIDRIVE® drive to the project"
(see page 24).
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You also have to adjust the Configuration_MDX function block:

1. Delete the initialization statements for non-existent motor axes.
2. If using more than 3 motor axes, add initialization statements for the respective motor
axes.
NOTE
For detailed information on the modification of the existing
AxisControl_MDX_SingleAxis.pro project, refer to the following chapters.

AxisControl_MDX function block
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3.4.1 Compiling and starting a new project

1. Select the menu command [Project] / [Compile] in the PLC Editor to compile the
project.
troller.
You can now control the MOVIDRIVE® inverter via the global structure variable
gAxisInterfaceIn_MDX[x]. This structure variable contains control signals such as
controller inhibit, enable, reset, operating mode, etc.
For testing purposes, you can also control the motor axis through an Application Builder
interface (Visu_AxisControl_MDX.mon).
NOTE
For detailed information, refer to chapter "Controlling MOVIDRIVE® via the Application
Builder Monitor AxisControl" (see page 20).
3.5 AxisControl_MDX function block

In the PLC_PRG_SingleAxis main program, one instance of the AxisControl_MDX
function block is called up for each motor axis. The input or output signals of the function
block have the following meaning:
3.5.1 Input signals

The behavior of the AxisControl_MDX function block is dependent on the following
input signals:
Input signal Type Meaning
HControl BOOL If this input signal is set to TRUE, the motor axis is con-
trolled via H variables from the Application Builder inter-
face.
Node CAN_NODE This input signal sets the relevant MOVI-PLC® CAN bus
node.
SBUS_Address UNIT This input signal sets the SBus address of the inverter.
InverterInhibit BOOL This input signal INHIBITS the INVERTER (status display
1 at the inverter).
InverterEnable BOOL This input signal enables the inverter. It changes to the
state with status display 5 or A.
Reset BOOL A RESET is performed at the respective inverter with a
rising edge of this input signal.
AxisMode ENUM_AXIS- Selecting an operating mode:
MODE 0: AM_DEFAULT
1: AM_VELOCITY
2: AM_POSITIONING
3: AM_POSITIONINGMODULO
4: AM_POSITIONINGRELATIVE
5: AM_JOG_5
6: AM_JOG_A
7: AM_HOMING
8: AM_CAMING
9: AM_GEARING

3 AxisControl_MDX function block
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Start BOOL This input signal starts the movement of the selected
operating mode.
JogPos BOOL In the jog operating mode, the motor axis moves in the
positive direction (CW).
JogNeg BOOL In the jog operating mode, the motor axis moves in the
negative direction (CCW).
Position DINT Target position for the Positioning operating mode
Velocity DINT Setpoint speed for the operating modes speed control, jog
and positioning.
Acceleration DINT This input signal sets the acceleration ramp of the respec-
tive operating mode (time in [ms] based on a setpoint step
change of 3000 min-1).
Deceleration DINT This input signal sets the braking ramp of the respective
operating mode (time in [ms] based on a setpoint step
change of 3000 min-1).
ModuloMode UNIT Travel strategy for the operating mode
AM_POSITIONINGMODULO:
0: Off
1: Short distance
2: CW
3: CCW
AxisConfiguration ST_AxisConfigu- This input variable transfers the configuration parameters
ration_MDX set in FB Configuration_MDX to the relevant motor
axis.

AxisControl_MDX function block
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3.5.2 Output signals

The AxisControl_MDX function block provides the following output signals:
Output signal Type Meaning
Connected BOOL Connection to the motor axis is established; initialization
of the MC_ConnectAxis_MDX function block completed
RequestedAxisMode ENUM_AXIS- Requested axis mode corresponds to the AxisMode input
MODE signal
ActualAxisMode ENUM_AXIS- Actually activated axis mode: If RequestedAxisMode and
MODE ActualAxisMode are different, movement in the current
operating mode is stopped. After the axis has come to a
standstill, it switches to the new operating mode.
Powered BOOL The output signal shows whether the motor axis is
enabled.
• TRUE: Motor axis is enabled. Inverter status with
status display A or 5.
• FALSE: Motor axis is not enabled. Inverter status with
status display 1 or 2.
Done BOOL The output signal Done indicates whether the individual
motion function blocks of the selected operating mode
have been executed.
• TRUE: e.g. target position or setpoint speed reached.
• FALSE: Target position or setpoint speed not reached
yet.
Active BOOL The Active output signal shows whether the motor axis is
turning to reach the target position or the speed setpoint,
for example.
• TRUE: Motor axis is turning, but target position or
speed setpoint not reached yet.
• FALSE: Motor axis has reached the target position
and is standing still, or turns at setpoint speed.
Stopped BOOL The output signal Stopped indicates that the motor axis
has been stopped.
InverterFault BOOL The output signal InverterFault indicates that the inverter
has detected a fault.
InverterFaultStatus DWORD The output signal shows the fault code of the inverter of
the motor axis
FBError BOOL The output signal indicates an error in a motion function
block.
FBErrorID DWORD The output signal shows the error code of the faulty
motion function block.
Note:
For information on the error codes, refer to chapter "Error
identifier" in the library manual or to the
"MPLCSystem_ErrorCodes.lib" library in the PLC
Editor.
Axis AXIS_REF Logical address of the motor axis. Is created by the
respective MC_ConnectAxis_MDX function block.
PLCopenState MC_PLCopen- The output signal shows the current PLCopenState of the
State motor axis.
InverterInfos MC_InverterInfos The output signal gives information about the inverter.
_MDX
InverterData MC_InverterData The output signal shows the current actual values of the
_MDX inverter.

3 Controlling MOVIDRIVE® via the Application Builder "Monitor AxisControl"
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3.6 Controlling MOVIDRIVE® via the Application Builder "Monitor AxisControl"

Monitor AxisControl is an Application Builder user interface integrated in
MOVITOOLS® MotionStudio. This user interface is used for controlling a MOVIDRIVE®
inverter.
Open this user interface as follows:
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1. Right-click on [MOVI-PLC...].
2. Select [Diagnostics] from the context menu.
3. Select [Monitor AxisControl].

Controlling MOVIDRIVE® via the Application Builder "Monitor AxisControl"
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The following window is displayed:
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The standard operating mode of this user interface is "monitoring". In this mode, only
monitoring is possible. Control of the motor axis is not possible.
To switch the user interface to "controlling", set the gAxisInterfaceIn_MDX[1].HControl
variable of the motor axis to TRUE. In this example, this is the axis with LogAdr 1.

3 Controlling MOVIDRIVE® via the Application Builder "Monitor AxisControl"
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Proceed as follows:
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1. Double-click on the HControl variable in the PLC_PRG_SinlgeAxis program of the

PLC Editor when logged in. The value TRUE is displayed.
2. Use the key combination <Ctrl> + <F7> or the menu command [Online] / [Write
values] to enter the value. The variable text TRUE is displayed in blue.
In the Monitor AxisControl Application Builder window, the display changes to:
806392843

Controlling MOVIDRIVE® via the Application Builder "Monitor AxisControl"
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The operating mode changes to "controlling". The "set point" fields are white for editing.
Click on the [send] button to adopt the changes in the project.
3.6.1 Application example

The MOVIDRIVE® inverter is controlled with following the drive parameters:
• Operating mode: Speed control
• Setpoint speed: 500 rpm
• Acceleration ramp: 2000 ms
• Braking ramp: 1000 ms
806495243
In order to operate the motor axis with the set drive parameters,
1. Click on the [inverter enable] button and then on [send]
2. Click on the [start] button and then on [send]
NOTE
In an emergency, click on the [stop axis] button to stop the motor axis. It is not neces-
sary to click on [send] for this.

I Adding a MOVIDRIVE® Drive to the Project
4 Task
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4 Adding a MOVIDRIVE® Drive to the Project

4.1 Task
3 motor axes are created as standard when creating a new
AxisControl_MDX_SingleAxis.pro project in the PLC Editor.
A fourth axis is to be added. The MOVIDRIVE® inverter is to control this motor axis.
4.2 Solution
The solution includes the following steps:
4.2.1 Starting up and parameterizing the 4 MOVIDRIVE® inverters

The 4 MOVIDRIVE® inverters are started up using the DriveStartup assistant for
MOVI-PLC®.
1. Connect the inverters individually via RS-485 with MOVITOOLS® MotionStudio.
2. It is essential that you set different SBus addresses and the same baud rates (e.g.
SBus addresses: 1, 2, 3, 4 and baud rate 500 kBaud each).
3. You can now access the 4 inverters connected to the CAN1 node through the routing
function of MOVI-PLC®.
4.2.2 Creating a new AxisControl_MDX_SingleAxis.pro MOVI-PLC® project

1. Create a new AxisControl_MDX_SingleAxis.pro project as described in
chapter "Opening and starting the project AxisControl_MDX_SingleAxis.pro" (see
page 12).

Adding a MOVIDRIVE® Drive to the Project I
Solution
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4.2.3 Integrating a 4th MOVIDRIVE® inverter

3 subelements are already attached to the control configuration of the project. Add a
fourth element as follows:
808728715

3. Select [MOVIDRIVE MDX B...].
4. In the [Module parameter] tab, set the SBus address to 4.
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5. Quit the control configuration.

4 Solution
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4.2.4 Adding a new instance of the AxisControl_MDX function block in the main program
Proceed as follows to add another network to PLC_PRG_SingleAxis:
1. Copy network 5 and add it as a new network.
2. Change the following entries to "4" in the sixth network.
[2] [3]
[1]
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[1] SBus address

[2] Name of instance
[3] ARRAY number

Solution
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4.2.5 Changing the Configuration_MDX (FB) configuration module

Change the following in the Configuration_MDX (FB) configuration module for the
fourth MOVIDRIVE® inverter:
1. Copy the initialization of the 3rd inverter and paste it to the program.
2. Adjust the configuration for the 4th inverter.
808894219

4 Solution
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4.2.6 Transferring changes to the current MOVI-PLC® program and testing it

1. Press the function key <F11> or select the menu command [Project] / [Compile] to
compile the modified project.
2. Select [Online] / [Login] to load the project into the controller.
You can now control and test the new project via the MonitorAxisControl.mon
Application Builder user interface.
3. Use the AxisControl_MDX function block to set the H_Control input to TRUE in
the PLC_PRG_SingleAxis program in the network of the 4th axis.
You can determine the logical address of the 4th axis from the global variable
gAxisInterfaceOut_MDX[4].Axis.
[1]
809055499
[1] Logical address of the 4th motor axis
1. Use the Monitor AxisControl.mon Application Builder user interface to test the
function as described in chapter "Controlling MOVIDRIVE® via Application Builder
Monitor AxisControl" (see page 20).

Solution
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[1]
809104139
[1] Selecting the motor axis with logical address 4

I Integrating an Automated Sequence
5 Task
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5 Integrating an Automated Sequence

5.1 Task
An automatic sequence for controlling a MOVIDRIVE® inverter is to be integrated into
the AxisControl_MDX_SingleAxis.pro program.
The automatic sequence is started by setting the input signal at the input terminal (DI07)
of the inverter.
The drive is first referenced and then runs through a reversing program as follows:
• Travelling cyclically to a certain EndPosition and
• Travelling back to the StartPosition after a delay.
The global variable gAxisInterfaceIn_MDX[1]...... specifies the drive parameters Posi-
tioningSpeed and Ramps.
Local variables in the PLC_PRG_SingleAxis program specify the StartPosition, the
EndPosition and the Delay between the movements.
5.2 Solution
5.2.1 Step 1: Starting up and parameterizing the MOVIDRIVE® drive inverter

The MOVIDRIVE® inverter is started up using the "DriveStartup for MOVI-PLC®" assis-
tant.
1. Connect the inverter via RS-485 to MOVITOOLS® MotionStudio.
2. It is essential that you set a SBus address that is different from that of the
MOVI-PLC® and a baud rate that is the same as the MOVI-PLC® baud rate.
Example:
• Default setting for CAN1 of MOVI-PLC®: SBus address: 0, baud rate: 500 kBaud
• MOVIDRIVE®: SBus address: 1, baud rate: 500 kBaud
5.2.2 Step 2: Creating a new AxisControl_MDX_SingleAxis.pro MOVI-PLC® project

1. Use the project wizard to create a new AxisControl_MDX_SingleAxis.pro
project, see chapter "Opening and starting AxisControl_MDX_SingleAxis.pro" (see
page 12).

Integrating an Automated Sequence I
Solution
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5.2.3 Step 3: Deleting inverters from the control configuration that are not used
Proceed as follows to remove the two unneeded MOVIDRIVE® inverters from the con-
trol configuration:
812889611
1. Right-click on the two inverters that are not needed and select [Delete] from the con-
text menu.
5.2.4 Step 4: Removing both AxisControl_MDX function blocks from the main program
You have to remove the two AxisControl_MDX function blocks of the unneeded in-
verters from the PLC_PRG_SingleAxis main program:
[1]
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[1] Network number
1. Right-click on the network number of the network to be removed and select [Delete]
from the context menu.

5 Solution
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5.2.5 Step 5: Deleting the configuration of the inverters that are not needed
You have to remove the configuration of the two unneeded inverters from the
Configuration_MDX function block:
[1]
813966859
[1] Configuration lines
1. Highlight the configuration lines of the two unneeded inverters and delete them.

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5.2.6 Step 6: Adding a program for an automatic sequence in the "Object Organizer"
814084235
1. Click in the "Object Organizer" with the right mouse button.

2. Select [Insert object] from the context menu.
3. Select:
• Type of module: "Program"
• Language of module: "SFC"
4. Enter the name of the module: "P_AutomaticSequence".
The automatic sequence is programmed with a sequencer here as an example (SFC:

sequential function chart). This programming language is best for realizing step-by-step
processing. The individual actions and transitions can be programmed in other program-
ming languages. To proceed from one action to the next, the transition in between must
be logically TRUE.

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5.2.7 Step 7: Programming the P_AutomaticSequence program

You can program the P_AutomaticSequence program in SFC (sequential function
chart) as follows:
[1]
[2]
814201995
[1] Exit action

[2] Entry action

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Program the individual actions as follows:
Init
The "Init" action is programmed in ST (structured text).
Set enable and the start signal to FALSE:
814359051
Prepare_for_Homing
This action queries whether the drive is ready for homing:
814414859
HOMING
The action sequence for homing includes:
• Enabling the inverter,
• Setting the operating mode to homing (AM_HOMING).
The start signal for homing is issued if
• The operating mode is set to AM_HOMING and
• The other conditions at the AND gate are fulfilled.
The transition (bDoneHoming) to the next action is set to TRUE for one cycle by the
R_TRIG function block if
• The drive is referenced, i.e. the module issues the signal Done, and
• The input for starting the entire sequence is still pending.
Querying the edge change of the gAxisInterface_Out_MDX[1].Done signal is important.
The same signal is used in the subsequent actions for the transition conditions of the
drive moments.
Without querying the edge change, the transition condition for the following action would
already be fulfilled with the pending gAxisInterface_Out_MDX[1].Done signal.

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Action:
814470923
In the exit action, the start signal is reset to FALSE:
814987531
WaitingTime1_1s_StartPosition
This action ensures that the drive waits for a certain time in the start position. A timer is
called up for delaying activation.
The waiting time until the next action MOVE_TO_ENDPOS is enabled is set by the Wai-
tingTime variable. The timer must be reset with an entry action "E" so that it starts each
time anew. This is accomplished by calling up the timer with IN := FALSE:
Entry action:
815310603
Action:
815043339

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MOVE_TO_ENDPOS
With this action, the drive travels to a specified end position.
The operating mode absolute positioning AM_POSITIONING is used.
The entry action includes the following steps:
• Transferring the travel parameters positioning speed and positioning ramps to the
respective variables:
• gAxisInterfaceIn_MDX[1].Velocity,
• gAxisInterfaceIn_MDX[1].Acceleration and
• gAxisInterfaceIn_MDX[1].Deceleration
• Writing the End position variable to the target position gAxisInterface-
In_MDX[1].Position of the AM_POSITIONING operating mode.
The operating principle is the same as for the "Homing" action.
The start signal is set if:

• The current operating mode is AM_POSITIONING and
• The state of the AND gate is TRUE.
The transition (bDoneEndPosition) to the next action is set for one cycle if
• The target position (Done) has been reached and
• The input signal for starting the entire sequence is still pending.
In the exit action, the start signal is reset to FALSE.
Entry action:
815383179

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Action:
818666123
Exit action:
821898635
WaitingTime2_1s_EndPosition
This action keeps the drive in its current position after reaching the end position. The
waiting time is set with the Waiting Time variable. The operating principle is the same
as for action "WaitingTime1_1s_StartPosition".
MOVE_TO_STARTPOS
The operating principle is the same as for action "MOVE_TO_ENDPOS".
The StartPosition variable is transferred in the entry action.
When the drive has reached the start position again,
• The bDoneStartPosition transition is set to TRUE for one cycle
• And the program jumps to the "WaitingTime1_1s_StartPosition" action to run through
again.
If the signal at the input terminal for starting the entire sequence (DI07) is revoked during
the automatic sequence,
• The SFC is reset to the Init step,
• The Init step is processed and
• In the Init step, the inverter enable and the start signal are set to FALSE.

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5.2.8 Step 8: Calling up the P_AutomaticSequence program in the main program
822421387
Network 3 is inserted between the call of the Configuration_MDX function block and
the AxisControl_MDX function block.
In this network, the defined P_AutomaticSequence program is called. The input vari-
ables of the program are entered and defined as shown in the screen shot.
5.2.9 Step 9: Testing the functionality of the automatic sequence

If the project can be compiled without errors, it is transferred to the MOVI-PLC® control-
ler and started.
In the PLC_PRG_SingleAxis program, the variables for the travel parameters of the
P_AutomaticSequence program are pre-initialized in the variable declaration. If nec-
essary, you can change them with the [Write values] function.
You can test the functionality of the automatic sequence by activating the
ibMDX1_StartSequence input signal (input terminal DI07 on MOVIDRIVE®).

kVA n AxisControl_MDX_SingleAxis Sample Project
6 f
Operating modes
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6 AxisControl_MDX_SingleAxis Sample Project

6.1 Operating modes
When opening the AxisControl_MDX_SingleAxis project, the user is offered the
basic functions for controlling several MOVIDRIVE® inverters. The following operating
modes are available:
• Speed control
• Modulo absolute positioning
• Jog mode, speed controlled
• Jog mode, position controlled
• Reference travel
• Synchronous operation (only with the application version)
• Electronic cam (only with the application version)
6.2 Function blocks

The AxisControl_MDX_SingleAxis project offers the following function blocks:
1030032267
The task configuration [Resources] / [Task configuration] shows that the

PLC_PRG_SingleAxis main program is called cyclically by a free-running task.
899402507

AxisControl_MDX_SingleAxis Sample Project kVA n
Processing of the function blocks
f 6
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In the control configuration [Resources] / [Control configuration], 3 axes are connected

to the CAN1 system bus as standard. Their SBus addresses are 1, 2 and 3.
791207947
6.3 Processing of the function blocks

In the 2nd network of the PLC_PRG_SingleAxis main program, the instance of the
Configuration_MDX function block is called.
In this function block, after the first download and the start of the program, different
parameters are set to an initialization value once for each connected axis.
In the following networks, one instance of the AxisControl_MDX function block is
called up for each axis.
791838219

6 f
Processing of the function blocks
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In the AxisControl_MDX function block, the CommunicationInSignals_MDX

communication module is called first. Here is mainly determined whether the input sig-
nals of the module are connected with the global structure variable
gAxisInterfaceIn_MDX[x].... or with the internal H variables.
In the following networks, other function blocks are called with the following functions:
Function block Function
MC_GetInverterInfo_MDX Reading out settings and information of the inverter
MC_InitialConfig_MDX Activating communication features and functions of the
inverter
MC_ConnectAxis_MDX Cyclical communication with the inverter
MC_Power_MDX Enabling the inverter
MC_Reset_MDX Resetting the inverter
MC_SetJerk_MDX Activating jerk limitation and setting the jerk time of the
inverter positioning modules
Subsequently, the individual function blocks are called with the possible operating
modes:
Function block Function
AxisModeDefault_MDX No valid mode selected
AxisModeVelocity_MDX Speed-controlled operation of the motor axis
AxisModePositioning_MDX Absolute positioning of the motor
AxisModePositioningModulo_MDX Modulo positioning of the motor axis
AxisModeJog5_MDX Jog mode, speed controlled
AxisModeJogA_MDX Jog mode, position controlled
AxisModeHoming_MDX Homing the motor axis
AxisModePositioningRelative_MDX Absolute positioning of the motor
In the following networks 17 - 24, the output signals of the AxisControl_MDX function
blocks are created:
• Done
• Active
• Stopped
• InverterError
• InverterFaultStatus
• FBError
• FBErrorID
NOTE
For information on these output signals, refer to chapter "AxisControl_MDX function
block" (see page 17).
The CommunicationOutSignals_MDX communication module is called in the last

Network (25). Here, the output variables of the AxisControl_MDX function block are
transferred to the global structure variable gAxisInterfaceOut_MDX[x] or internal H
variables.

Overview of the AxisControl_MDX function block
f 6
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6.4 Overview of the AxisControl_MDX function block

The following figure shows the functions of the AxisControl_MDX function block:
Application PLC_PRG
Builder
Configuration_MDX
fbAxisControl_MDX1 fbAxisControl_MDX2
Axis_Control_MDX Axis_Control_MDX
CommunicationInSignals_MDX CommunicationInSignals_MDX
HControl HControl
TRUE TRUE
FALSE FALSE
MC_GetInverterInfos_MDX MC_GetInverterInfos_MDX
GLOBAL_VAR
MC_InitialConfig_MDX MC_InitialConfig_MDX
MC_ConnectAxis_MDX MC_ConnectAxis_MDX
MC_Power_MDX MC_Power_MDX
MC_Reset_MDX MC_Reset_MDX
H_VAR
AxisModeVelocity_MDX AxisModeVelocity_MDX
AxisModePositioning_MDX AxisModePositioning_MDX
AxisModePositioningRelative_MDX AxisModePositioningRelative_MDX
CommunicationOutSignals_MDX CommunicationOutSignals_MDX
792333707

6 f
Input and output assignment of the AxisControl_MDX function block
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6.5 Input and output assignment of the AxisControl_MDX function block

The input and output assignment of the AxisControl_MDX function block is trans-
ferred to global structure variables (gAxisInterfaceIn_MDX[x] and
gAxisInterfaceOut_MDX[x]). The structure variables are defined as follows:
792371979
Open the window as follows:

[Resources] / [Global variables] / [AxisControl_MDX] / [GlobalVar_AxisControl_MDX]
The following figure shows the structure of the function blocks:
• ST_AxisInterfaceInType_MDX and
• ST_AxisInterfaceOutType_MDX.
792385035

Input and output assignment of the AxisControl_MDX function block
f 6
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792409611
The comment texts describe the variables.
NOTE
For detailed information on the meaning of the variables, refer to chapter
"AxisControl_MDX function block" (see page 17).

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Description of operating modes
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6.6 Description of operating modes

This manual only describes the operating mode AM_POSITIONING as an example for
all other operating mode. The other operating modes have the same or a similar struc-
ture and differ only in the internally used motion function blocks.
NOTE
For detailed information on the motion function blocks, refer to the "MPLCMotion_MDX
and MPLCMotion_MX Libraries for MOVI-PLC®" manual.
6.6.1 Absolute positioning (AM_POSITIONING)

Description This operating mode is used for positioning the motor axes. Position specification is ab-
solute. When the input signal Start = TRUE, the changes at the dynamic inputs are
adopted immediately.
Prerequisite The motor axis must be referenced!
Input signals The behavior of the AxisControl_MDX_SingleAxis function block is dependent on

the following input signals:
Enable BOOL If this input signal is set to TRUE, the operating mode
AM_POSITIONING is enabled and processed.
motor axis.
Position DINT This input signal specifies the target position.
Velocity DINT This input signal sets the positioning speed [rpm].
Acceleration DINT This input signal sets the positioning ramp UP (time in
[ms] based on a setpoint step change of 3000 rpm).
Deceleration DINT This input signal sets the positioning ramp DOWN (time in
[ms] based on a setpoint step change of 3000 rpm).
PLCopenState MC_PLCopenSta This input signal transfers the PLCopenState of the
te inverter to the function block.
RequestedAxisMode ENUM_AXIS- Requested axis mode – is required for internal operating
MODE mode switching.
ActualAxisMode ENUM_AXIS- Actually active axis mode – is required for internal operat-
MODE ing mode switching.

f 6
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Output signals The AxisControl_MDX_SingleAxis function block provides the following output
signals:
InPosition BOOL This output signal shows that the motor axis has reached
the target position.
Active BOOL This output signal shows that the movement of the motor
axis has been started, but the actual position value has
not reached the target position yet.
has been stopped.
Error BOOL The output signal indicates an error in an internal motion
function block.
ErrorID DWORD The output signal shows the error code of the faulty
Note:
MPLCSystem_ErrorCodes.lib library in the PLC Editor.
If the current operating mode is AM_POSITIONING, the input signal Enable is set to
TRUE. The operating mode is changed in the function block of the operating mode that
has been active last. If predefined conditions are fulfilled, the current operating mode is
equated there with the requested operating mode. If the Enable input signal is not set to
TRUE, the AxisModePositioning_MDX function block is exited with the RETURN pro-
gram command.
The movement to a new target position is started with the Start input signal. The SEW
motion module MC_MoveTargetPosition_MDX is enabled.
NOTE
For detailed information, refer to the "MPLCMotion_MDX and MPLCMotion_MX Librar-
ies for MOVI-PLC®" manual.
The logic for changing the operating mode is programmed in network 3:

The operating mode can only be changed if the drive is in STANDSTILL.
The newly selected operating mode (RequestedAxisMode) is adopted as current oper-
ating mode (ActualAxisMode) if
• The movement has been started (SetSpeicher bFlagStartet)
• And the SEW motion module has been stopped or the movement has been aborted
(output signal Stopped or CommandAborted)
If the movement has not been started yet (ResetSpeicher bFlagStartet), a newly se-
lected operating mode (RequestedAxisMode) is adopted directly as current operating
mode (ActualAxisMode).

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6.6.2 Speed control (AM_VELOCITY)

Description In this operating mode, the motor axis is operated in a speed-controlled endless move-
ment. It can also be used for motor axes without encoder feedback.
6.6.3 Absolute modulo positioning (AM_POSITIONINGMODULO)

Description This operating mode is used for positioning the motor axes in endless operation. In this
operating mode, drifting of the actual position is avoided even for infinite gear unit ratio
factors. Position specification is absolute.
To realize applications with a cycle distance of 360°, the Start input signal must be tog-
gled. A rotation of the motor axis of 360° corresponds to 216 increments.
Prerequisite The motor axis must be referenced!
6.6.4 Relative positioning (AM_POSITIONINGRELATVE)

Description This operating mode is used for relative positioning of the motor axis. Position specifi-
cation is relative. When the input signal Start = TRUE, the changes at the dynamic inputs
are adopted immediately.
This operating mode requires an edge change of the Start input signal to move the motor
axis over a specified distance.
Prerequisite None
6.6.5 Jog mode, speed controlled (AM_JOG_5)

Description This operating mode is used for jogging the motor axis in both directions of rotation. Jog
mode is subject to speed control. The inverter is in n-control operating status (status dis-
play 5). Existing software limit switches are not evaluated.

f 6
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6.6.6 Jog mode, position controlled (AM_JOG_A)

Description This operating mode is used for jogging the motor axis in both directions of rotation. Jog
mode is subject to position control. The inverter is in Technology option operating status
(status display A). Existing software limit switches can be used optionally with the usual
monitoring functions if the motor axis is referenced.
If the software limit switches are used, the travel range is limited to 3 x position windows
(P922) before the software limit switches. Endless operation is possible without software
limit switches and if the motor axis is not referenced.
6.6.7 Homing (AM_HOMING)

Description This operating mode is used for referencing the motor axis. The values set in the param-
eters P900ff are used for this. The module MC_SetHomeParameter_MDX can be used
to change these parameters in the IEC program. This module is not included in the stan-
dard version of the AxisControl_MDX_SingleAxis.pro project.

I Adding an Operating Mode for Torque Control
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7 Adding an Operating Mode for Torque Control

7.1 Task
Another operating mode is to be added to an existing
AxisControl_MDX_SingleAxis.pro project.
The following conditions are to apply to this operating mode:
• The drive is subject to torque control, for which the user can specify a limit torque
with a variable.
• The drive is speed-controlled in principle, but it is to be operated permanently at the
specified torque limit. This means the drive must always be assigned a speed
setpoint that is larger than the drive's actual value. The actual value can never reach
the setpoint value, since the drive is always restricted by its torque limit (P304).
• The speed monitoring function (P500) of the inverter must be disabled.
7.2 Solution
7.2.1 Starting up and parameterizing the MOVIDRIVE® inverters

If additional MOVIDRIVE® inverters are used, you have to start them up using the
"DriveStartup for MOVI-PLC®" assistant:
1. To do so, connect the inverters individually via RS-485 with MOVITOOLS®
MotionStudio.
2. It is essential that you set different SBus addresses and the same baud rates (e.g.
SBus addresses: 1, 2, 3 and baud rate 500 kBaud).
Only these settings ensure access to the inverters connected to the CAN1 node through
the routing function of MOVI-PLC®.
NOTE
It is essential that a servo operating mode (CFC or SERVO) is set at the inverter for this
operating mode, since the torque is to be limited.
Torque control is not possible in VFC-n operating mode!
7.2.2 Creating a new AxisControl_MDX_SingleAxis.pro MOVI-PLC® project

1. Create a new AxisControl_MDX_SingleAxis.pro project as described in
chapter "Opening and starting the project AxisControl_MDX_SingleAxis.pro" (see
page 12).

Adding an Operating Mode for Torque Control I
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7.2.3 Adding a new operating mode as a new project

For programming a completely new operating mode, you have to add the new operating
mode as a new object in the Object Organizer of the PLC Editor:
824526219
[1] Object Organizer
Proceed as follows:
1. Right-click on "AxisControl_SingleAxis".
2. Select [Add object] from the context menu.
3. Make the following settings in the "New POU" window:
825699851
The new mode is based on a speed control. This means you can also copy and adapt
the existing POU AxisModeVelocity_MDX to create a new POU:
Proceed as follows:
1. Right-click on "AxisModeVelocity_MDX".
2. Select [Copy object] from the context menu.
3. Enter the name of the new object "AxisModeTorqueControl_MDX" in the "New POU"
window that appears now.
4. Click [OK].

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7.2.4 Adding the new operating mode to the data types

Add the new operating mode to the "ENUM_AXISMODE" enumeration of the
AxisControl data types as follows:
[2]
[1]
825779723
[1] [Data types] tab in the Object Organizer

[2] New operating mode AM_TORQUECONTROL
1. Select the [Data types] tab in the Object Organizer.

2. Double-click on the "ENUM_AXISMODE (ENUM)" enumeration
3. Add the new AM_TORQUECONTROL operating mode.
7.2.5 Programming the new module

Program the new module for the AxisModeTorqueControl_MDX operating mode as
follows:
1. In the [POUs] tab of the Object Organizer, double-click on the new
"AxisModeTorqueControl_MDX" POU.
The POU to be edited is opened.
2. Change or amend the networks as follows:

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826261131

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826291211

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Description of the For the new AM_TORQUECONTROL operating mode, the program has to change 2 pa-
POU rameters in the MOVIDRIVE® inverter:
1. The speed monitoring function P500 (index 8557dez) must be set to OFF and
2. The torque limit P304 (index 8688dez) must be adapted continuously during opera-
tion.
You can use the parameter writing functions of the MC_WriteParameter_MDX
module.
The motion of the drive is speed-controlled in principle, and it is performed with the
MC_MoveTargetSpeed_MDX motion module.
Reset the original values of the changed parameters in case of a mode change.
Description of the Network 1:

networks
If the Enable input variable is not TRUE, the function block is exited immediately with
RETURN.
Networks 2 and 3:
Resetting the local variables MmaxNormalDone and NmonONDone. These variables
are required when exiting the operating mode.
Network 4:
If the drive has not been started up in operating mode CFC or SERVO, error
INVALID_OPERATING_MODE with ErrorID FB0074 is issued.
Network 5:
When exiting the mode, the original value of the torque limit (P304) is written back to the
inverter.
Network 6:
When exiting the mode, speed monitoring (P500) is switched back ON.
Network 7:
After selecting the mode, the torque limit (P304) set after the drive startup is read out
and stored in a variable.
Network 8:
The original value of the torque limit (P304) is copied to the internal auxiliary variable
nMmaxOld.
Network 9:
After selecting the mode, speed monitoring (P500) is deactivated.

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Network 10:
When the user specifies a new value for the torque limit, this value is written to the in-
verter (parameter P304). The internal scaling of the parameter is 0.001%. The parame-
ter value is entered in thousandths percent. The entered value must be multiplied by
1000 so that the user can enter the value in percent.
Network 11:
The value for the torque limit specified by the user is copied to the nMmaxOld auxiliary
variable.
Network 12:
Calling up the MC_MoveTargetSpeed_MDX motion module for speed-controlled move-
ment of the drive. For the speed setpoint Velocity, a value is entered that is 60 rpm faster
than the current speed.
This means:
• The speed controller in the MOVIDRIVE® inverter operates at the maximum level
and
• The speed setpoint for the current controller is limited by the torque limit (P304).
Network 13:
Creating the Error signal for the AM_TORQUECONTROL operating mode.
Network 14:
Creating the ErrorID signal for the AM_TORQUECONTROL operating mode.
Network 15:
Logic for adopting the newly requested operating mode.
Each operating mode module must contain this functionality. When a change of the op-
erating mode is requested, this logic switches the active mode. The same logic as in
AM_VELOCITY mode is used. The mode is only changed when both parameters for the
torque limit and speed monitoring have been assigned their original value (bMmax-
NormalDone and bNmonONDone set to TRUE).

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7.2.6 Activating the new operating mode

Activate the new operating mode by calling the AxisModeTorqueControl_MDX func-
tion block in the AxisControl_MDX function block.
In the AxisControl_MDX function block, an instance of the
AxisModeTorqueControl_MDX function block is called.
The inputs are connected as follows:
826563211
7.2.7 Linking the output signals of the new function block to existing structures
The output signals of the new AxisModeTorqueControl_MDX function block are:
• fbAxisModeTorqueControl.Active and
• fbAxisModeTorqueControl.Stopped.

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Link the output signals in the AxisControl_MDX function block as follows:
826619403
Link the error generation and the error number in the AxisControl_MDX function
block as follows:
826650763

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7.2.8 Testing the functionality of the new operating mode

After compiling the project successfully and transferring it to the MOVI-PLC® controller,
you can test the function of the new AM_TORQUECONTROL operating mode using the
Application Builder interface MonitorAxisControl.mon.
To select the new operating mode and to specify the limit torque as Mmax in percent,
modify the Application Builder interface as follows:
[4] [5]
[3] [2] [1]

826683659
[1] "Send" button for transferring the set parameters to the program
[2] Motor axis control
[3] Travel parameter setting
[4] Setting the "Torque control" operating mode
[5] Selecting the motor axis with logical address 1

I Synchronous Operation with Virtual Encoder as Master
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8 Synchronous Operation with Virtual Encoder as Master

Three motor axes are created as standard when creating a new
AxisControl_MDX_Technology.pro project in the PLC Editor.
• The first drive axis is assigned the AxisControl_MDX_SingleAxis functionality
(without technology function), as described in the previous chapters.
• The second drive axis is assigned cam functionality (CAM). An instance of the
AxisControlCam_MDX function block is called up.
• The third drive axis is assigned synchronous operation functionality (Gear). An
instance of the AxisControlGear_MDX function block is called up.
In addition to that, the program VEMain for the virtual encoder is called in the 5 ms task
of the AxisControl_MDX_Technology.pro program.
In this program, an instance of the VEAxisControl function block is called up. The vir-
tual encoder can be controlled via a global variable interface in the same way as the
other drive axes (gVEInterfaceIn.... and gVEInterfaceOut....).
In standard communication, the virtual encoder transmits its actual position as an object
(MDX_VIRTUAL_ENCODER_ID1) via the CAN1 bus. With the standard configuration
of the MOVIDRIVE® inverters, you receive this MDX_VIRTUAL_ENCODER_ID1 object
as setpoint position from the CAN1 bus.
If the setpoint position is to be taken from a different source, the respective
MOVIDRIVE® inverter must be reconfigured in the program. An example will be shown
in a subsequent chapter.
The following sections describe how you can operate a MOVIDRIVE® inverter at a syn-
chronous angle to a virtual encoder. The virtual encoder offers different operating
modes, such as speed-controlled, position-controlled, etc. The MOVIDRIVE® inverter
engages upon receiving a start signal and then travels along the virtual encoder at a syn-
chronous angle.
NOTE
These technology functions can only be used if technology version T1 is activated for
the MOVI-PLC® controller.
For detailed information on technology activations, refer to the respective manuals of
the MOVI-PLC® controller.

Synchronous Operation with Virtual Encoder as Master I
Startup and parameterization of MOVIDRIVE®
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8.1 Startup and parameterization of MOVIDRIVE®

Start up the MOVIDRIVE® inverter using the "DriveStartup for MOVI-PLC®" tool. Con-
nect the inverter directly to MOVITOOLS® MotionStudio via RS-485.
NOTE
For detailed information on inverter startup, refer to chapter "MOVIDRIVE® require-
ments" (see page 9).
8.2 Startup of MOVIDRIVE® with option DIP11B

If a SSI absolute encoder is to be used for positioning, you have to commission the
DIP11B card with DIP startup.
8.3 Opening and starting the project AxisControl_MDX_Technology

The procedure for creating a new project is the same as the one described in chapter
"Opening and starting the project AxisControl_MDX_SingleAxis.pro " (see page 12).
The only difference is that you select AxisControl_MDX_Technology.pro as a new
project.
826772107

8 Adapting the AxisControl_MDX_Technology.pro project
0
8.4 Adapting the AxisControl_MDX_Technology.pro project

Only one MOVIDRIVE® is to be operated in sync with the virtual encoder. This means
you have to remove all drives from the control configuration that are not used:
826845963
Delete the unneeded motor axes as follows:

1. Right-click on MOVIDRIVE®.
Instances of the unneeded drives must not be called in the PLC_PRG_Technology
main program.
Delete the respective networks and adapt the SBus address and array number of the
instance fbAxisControlGear:
[2]
[1]
827049867
[1] Array number

[2] SBus address

Additional settings for synchronous operation
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You also have to adapt the Configuration_MDX program and delete the unneeded
configurations there.
The following is an example of a complete program:
827086091
8.5 Additional settings for synchronous operation

The basic parameters for synchronous operation are set in the
AxisControl_MDX_Technology.pro standard project. This is done in the
Configuration_MDX program.
The synchronization of the motor axis is always time-related, since no instance of the
MC_PrepareGearIn_MDX function block is called.
If other functions, such as position-related engaging or offset processing in synchronous
operation, are required, you have to program them in the FB AxisModeGear_MDX
function block.
NOTE
For a detailed description of how function blocks are integrated and parameterized,
refer to the "MPLCTec..._MDX, MPLCTecVirtEncoder Libraries for MOVI-PLC®"
manual. This manual also shows simple examples to illustrate the operating principle.

8 Compiling and starting the project in the PLC Editor
0
8.6 Compiling and starting the project in the PLC Editor

1. Select the menu command [Project] / [Compile] in the PLC Editor to compile the
project.
troller.
You can now control the MOVIDRIVE® inverter and the VE virtual encoder via the global
structure variables gAxisInterfaceIn_MDX[x] or gVEInterfaceIn. These structure vari-
ables contain control signals such as controller inhibit, enable, reset, operating mode,
etc.
For test purposes, you can also control the motor axis and the VE virtual encoder via an
interface of the Application Builder (MonitorAxisControl.mon).
8.7 Controlling MOVIDRIVE® + virtual encoder via "Monitor AxisControl"

You can use the Monitor AxisControl.mon diagnostics interface of the Application
Builder to test the functionality. The procedure for opening and configuring the interface
is described in chapter "Controlling MOVIDRIVE® via Application Builder Monitor Axis-
Control" (see page 20).
You have to start 2 user interfaces:
• One interface for controlling the virtual encoder and
• One for controlling the MOVIDRIVE® inverter.
To control the virtual encoder and the inverter, you have to enable control via H vari-
ables:
1. In the PLC_PRG_Technology main program, set the
gAxisInterfaceIn_MDX[1].HControl variable to TRUE.
2. Set the gVEInterfaceIn.HControl variable to TRUE in the VEMain program.

Controlling MOVIDRIVE® + virtual encoder via "Monitor AxisControl"
8
0
The user interface of the virtual encoder after selecting [VE]:
828042379
You can control the virtual encoder like a normal drive axis.
Proceed as follows:
1. For "axis mode", set the "velocity" operating mode.
2. Enter the travel parameters for "velocity", "acceleration" and "deceleration".
3. Click on [send] to transfer the changes and settings to the controller.
4. Click on [start] and then on [send] to start the virtual movement.
To reset the current position to a defined position, you have to reference the virtual en-
coder:
1. To do so, select "homing" under "axis mode".
2. Click on [start] and then on [send].
The current position of the virtual encoder is now set to the value of the reference offset
in the "actual position" display field (default: 0).

8 AxisControlCam_MDX function block
0
The user interface of the MOVIDRIVE® after selecting axis [01]:
828302347
For the necessary settings, refer to the screen shots of the two Application Builder
interfaces.
If the virtual encoder is in AM_VELOCITY mode, you can engage or disengage the
MOVIDRIVE® inverter in AM_GEARING mode with the signal [start].
8.8 AxisControlCam_MDX function block

The first drive axis has normal AxisControl_MDX functionality.
For the relevant interface description, refer to the previous chapters.
In the PLC_PRG_Technology main program, an instance of the
AxisControlCam_MDX function block is called up for the second motor axis. The elec-
tronic cam technology function (CAM) can now be used.
The input and output signals of the function block have the following meaning:

AxisControlCam_MDX function block
8
0
8.8.1 Input signals

The behavior of the AxisControlCam_MDX function block is dependent on the follow-
ing input signals:
trolled via H variables.
Node CAN_NODE This input signal sets the relevant CAN bus node.
1 at the inverter).
MODE 0: AM_DEFAULT
1: AM_VELOCITY
2: AM_POSITIONING
5: AM_JOG_5
6: AM_JOG_A
7: AM_HOMING
8: AM_CAMING
9: AM_GEARING
operating mode.
and positioning.
Acceleration DINT This input signal sets the acceleration ramp (time in [ms]
based on a setpoint step change of 3000 min-1).
Deceleration DINT This input signal sets the acceleration ramp (time in [ms]
0: Off
1: Short distance
2: CW
3: CCW
Table UNIT This input signal selects the curve (5...0).
ration_MDX set in FB Configuration_MDX to the relevant motor
axis.

8 AxisControlCam_MDX function block
0

The AxisControlCam_MDX function block provides the following output signals:
MODE signal
enabled.
have been executed.
yet.
for example.
has been stopped.
InverterError BOOL The output signal InverterError indicates that the inverter
the motor axis.
block.
motion function blocks.
Note:
PLCopenState MC_PLCopenSta The output signal shows the current PLCopenState of the
te motor axis.
_MDX
_MDX inverter.
LinkState MC_LINKTECST The output signal indicated the current status of the
ATE MC_LINKTECCAM function block:
• GEN_TEC_NOTLINKED (no connection)
• GEN_TEC_NOTINITIALIZED (not initialized)
• GEN_TEC_RESETED (reset service executed)
• GEN_TEC_RESTORED (restore service executed)
• GEN_TEC_INITIALIZED (cyclical data exchange
successful)

AxisControlGear_MDX function block
8
0

CamState MC_CAM_- The signal shows the current status of the cam.
STATE_MDX • MDX_CAM_RESET (cam reset, free-wheeling with
speed setpoint in H439
• MDX_CAM_START (startup cycle state)
• MDX_CAM_MAINCURVE (main curve)
• MDX_CAM_STOP (stop cycle state)
• MDX_CAM_STOP_INVERTERSTART (stop cycle
state with inverted startup cycle curve)
• MDX_CAM_NOTLINKED (no connection)
InGear BOOL This output signal shows that the motor axis is in "hard"
synchronous operation.
8.9 AxisControlGear_MDX function block

In the PLC_PRG_Technology main program, an instance of the
AxisControlGear_MDX function block is called up for the third motor axis.
The input and output signals of the function block have the following meaning:
8.9.1 Input signals

The behavior of the AxisControlGear_MDX function block is dependent on the fol-
lowing input signals:
trolled via H variables.
Node CAN_NODE This input signal sets the relevant CAN bus node.
1 at the inverter).
MODE 0: AM_DEFAULT
1: AM_VELOCITY
2: AM_POSITIONING
5: AM_JOG_5
6: AM_JOG_A
7: AM_HOMING
8: AM_CAMING
9: AM_GEARING
operating mode.
and positioning.
Acceleration DINT This input signal sets the acceleration ramp (time in [ms]

8 AxisControlGear_MDX function block
0

Deceleration DINT This input signal sets the acceleration ramp (time in [ms]
0: Off
1: Short distance
2: CW
3: CCW
GearOutLagCountOn BOOL TRUE: The difference counter remains active after disen-
gaging.
GearClearLag BOOL A rising edge at this input deletes the difference counter
for synchronous operation.
ration_MDX set in FB Configuration_MDX to the relevant motor axis.

The AxisControlGear_MDX function block provides the following output signals:
MODE signal
enabled.
have been executed.
yet.
for example.
has been stopped.
InverterError BOOL The output signal InverterError indicates that the inverter
the motor axis.
block.

AxisControlGear_MDX function block
8
0

Note:
PLCopenState MC_PLCopenSta The output signal shows the current PLCopenState of the
te motor axis.
_MDX
_MDX inverter.
LinkState MC_LINKTECST The output signal indicated the current status of the
• GEN_TEC_RESETED (reset service executed)
successful)
GearState MC_GEAR_STA The signal shows the current status of synchronous oper-
TE_MDX ation:
• MDX_GEAR_OUTGEAR_N_CTRL (disengaged,
speed-controlled)
• MDX_ GEAR_OUTGEAR_X_CTRL (disengaged,
position-controlled)
• MDX_GEAR_ENGAGING_GEAR_IN (startup cycle
state)
• MDX_GEAR_IN_GEAR (synchronous operation)
• MDX_GEAR_OFFSET (offset operation)
• MDX_DISENGAGING_GEAR (disengaged state)
• MDX_GEAR_NOTLINKED (no valid gear state, e.g.
when LinkState = NOTLINKED)
LagCleared BOOL The output signal shows that the difference counter has
been deleted.

I Synchronous Operation with MOVIDRIVE® as Master
0
9 Synchronous Operation with MOVIDRIVE® as Master

The standard setting prepares the AxisControl_MDX_Technology project for syn-
chronous operation with the virtual encoder as master. If a MOVIDRIVE® inverter is to
be master, you have to change several settings in the
AxisControl_MDX_Technology.pro project.
For detailed information, refer to chapter "Startup and parameterization of
MOVIDRIVE®" (see page 61):
• Basic procedure for preparing the two MOVIDRIVE® inverters and
• Creating a new AxisControl_MDX_Technology.pro project using the project
wizard in MOVITOOLS® MotionStudio.
9.1 Adapting the AxisControl_MDX_Technology.pro project

One MOVIDRIVE® inverter is controlled with the standard function block
AxisControl_MDX. The second MOVIDRIVE® inverter must be controlled with the
AxisControlGear_MDX block because it is intended for synchronous operation. The
second motor axis (SBus address = 2) is intended for cam operation as standard and is
therefore not needed. You have to delete it from the control configuration:
826845963
Delete the unneeded second motor axis as follows:

1. Right-click on [MOVIDRIVE MDX B].
The instance of the unneeded drive must not be called in the PLC_PRG_Technology
main program. You have to delete the relevant network (4).

Synchronous Operation with MOVIDRIVE® as Master I
Adapting the AxisControl_MDX_Technology.pro project
9
0
NOTE
Calling up the fbAxisControlCam_MDX instance deletes the network. The fb
AxisControlGear_MDX synchronous operation axis is assigned the logical address
2 ( LogAdr = 2) after initialization even though the SBus address of the axis is 3.
9.1.1 Standard communication settings

In the standard communication configuration, the slave axis receives its position set-
point from the virtual encoder (master source).
The send object of the virtual encoder is defined in the Configuration_MDX program
as follows:
• gVirtualEncoderConfiguration.LinkTecAxisVirtual.SendObjectID
:= MDX_VIRTUAL_ENCODER_ID1
For the synchronously operated slave axis, the source for the setpoint position is defined
as follows for PDO1:
• gAxisConfiguration_MDX[3].SetGearConfig.MasterSource
:= MDX_GEAR_RECEIVE_PDO_1
The receive object 1 is initialized outside the Configuration_MDX program in the

MC_EXTENDEDCONFIG_MDX structure for the slave drives:
ReceivePDO1: MC_PDO_ID_MDX := MDX_VIRTUAL_ENCODER_ID1
You can find the MC_EXTENDEDCONFIG_MDX structure in [Resources] / [Library

manager] in the 01_SingleAxisMotion\MPLCDatatypes.lib library:
829985419

0
837339787
NOTE
The virtual encoder sends the same object as the slave axis receives with PDO1.
You can check the IPOS variable H300 in MOVIDRIVE® as to whether the position set-
points are received correctly.

9
0
If the slave axis receives its setpoint position from the motor encoder of the first
MOVIDRIVE® inverter, communication on the CAN_Node1 is configured as follows:
MOVI-PLC®
FB Configuration_MDX-Technology
gAxisConfiguration[3].SetGearConfig
.SlaveSource := MDX_GEAR_SLAVE_X15
.MasterSource := MDX_GEAR_RECEIVE_PDO1
gAxisConfiguration[1].InitialConfig
.ExtendedConfiguration_MDX gAxisConfiguration[3].InitialConfig
.SendID := MDX_PDO_ID2 .ExtendedConfiguration_MDX
.SendSource := MDX_SEND_X15 .ReceivePDO1 := MDX_PDO_ID2
X15
SlaveSource
X14
SSI
MDX_PDO_ID1 MDX_PDO_ID1 ....InitialConfig.

MDX_SEND_X15
MDX_PDO_ID2 CAN1 MDX_PDO_ID2 ExtendedConfiguration_MDX. -
MDX_SEND_X14 ReceivePDO1 H300 MasterSource
MDX_PDO_ID3 MDX_PDO_ID3
MDX_SEND_SSI
MDX_PDO_ID4 MDX_PDO_ID4 +
...
.....
MDX_PDO_ID1 ....InitialConfig.
MDX_PDO_ID2 ExtendedConfiguration_MDX.
MDX_PDO_ID3 ReceivePDO2 H301
MOVIDRIVE® Master MDX_PDO_ID4
...
MDX_PDO_ID4
...
MDX_PDO_ID4
...
MOVIDRIVE® Slave
838395019
9.1.2 Example
The following requirements apply:
• The master axis is to send its current position of the motor encoder as an object via
the CAN1 bus.
• The object ID is MDX_PDO_ID2.
• The slave axis is to receive this object ID on the PDO1.
• The slave axis is to use its own motor encoder to move synchronously to this sent
master position.

0
The master axis is configured in the Configuration_MDX program as follows:

• gAxisConfiguration_MDX[1].bUseInitialConfig := TRUE;
• gAxisConfiguration_MDX[1].InitialConfig.ExtendedConfiguration_MDX.SendSource
:= MDX_SEND_X15;
• gAxisConfiguration_MDX[1].InitialConfig.ExtendedConfiguration_MDX.SendID
:= MDX_PDO_ID2;
• gAxisConfiguration_MDX[1].InitialConfig.ExtendedConfiguration_MDX.SendCycle-
Time := 5;
The slave axis is configured in the Configuration_MDX program as follows:

• gAxisConfiguration_MDX[3].bUseInitialConfig := TRUE;
• gAxisConfiguration_MDX[3].SetGearConfig.SlaveSource
:= MDX_GEAR_SLAVE_X15;
• gAxisConfiguration_MDX[3].SetGearConfig.MasterSource
:= MDX_GEAR_RECEIVE_PDO_1;
• gAxisConfiguration_MDX[3].InitialConfig.ExtendedConfiguration_MDX.ReceivePDO1
:= MDX_PDO_ID2;
You have to set the variable ….bUseInitialConfig := TRUE for both motor axes, because
otherwise the MC_InitialConfig_MDX function block is not initialized.
This function block activates special communication interfaces and functions of the in-
verters.
NOTE
For more information about this FB, refer to the manual: "MPLCMotion_MDX and
MPLCMotion_MX Libraries for MOVI-PLC®".

9
0
The settings for both MOVIDRIVE® inverters must be re-configured in the

Configuration_MDX_Technology program:
For the master axis ..._MDX[1]:
[1]
839392907
[1] Communication settings for sending the master position

0
For the slave axis ..._MDX[3]:
[1]
[2]
839556107
[1] Receive object PDO1 as master source and motor encoder X15 as actual value source
[2] Communication settings for receiving the master position
The adapted project can now be compiled and loaded into the controller.

Controlling both MOVIDRIVE® inverters via "Monitor AxisControl"
9
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9.2 Controlling both MOVIDRIVE® inverters via "Monitor AxisControl"

You can use the Monitor AxisControl.mon diagnostics interface of the Application
Builder to test the functionality. The procedure for opening and configuring the interface
is described in chapter "Controlling MOVIDRIVE® via Application Builder Monitor Axis-
Control" (see page 20).
You have to start 2 user interfaces: One interface for controlling the master axis and an-
other one for controlling the slave axis.
You have to activate control via H variables to control both axes:
• In the PLC_PRG_Technology main program, set the
• In the PLC_PRG_Technology main program, set the
When selecting Axis [01], the user interface of the master axis looks as follows:
839612683

9 Controlling both MOVIDRIVE® inverters via "Monitor AxisControl"
0
When selecting Axis [02], the user interface of the slave axis looks as follows:
839771403
For the necessary settings, refer to the screen shots of the two Application Builder inter-
faces.
If the master axis is operated in AM_VELOCITY mode, you can engage or disengage
the slave axis in AM_GEARING mode by clicking on the [start] button.

AxisControl_MDX_Technology Sample Project kVA n
Operating modes
f 10
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10 AxisControl_MDX_Technology Sample Project

10.1 Operating modes
The project AxisControl_MDX_Technology offers the user the basic functions of the
AxisControl_MDX_SingleAxis sample project. This basic functionality has already
been described in previous chapters:
• Speed control
• Modulo positioning
• Job mode, speed-controlled
• Job mode, position-controlled
• Referencing
In addition to this, the AxisControl_MDX_Technology project offers the functions:
• Synchronous operation
• Electronic cam

kVA n AxisControl_MDX_Technology Sample Project
10 f
Function blocks
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10.2 Function blocks

The comprises the following function blocks:
[1]
[1]
[1]
796036491
[1] Additional function blocks in the AxisControl_MDX_Technology.pro project that are not included
in the AxisControl_MDX_SingleAxis.pro project.
The task configuration ([Resources] / [Task configuration]) shows that the

PLC_PRG_Technology main program is called cyclically by a free-running task. The
program for the virtual VEMain encoder is called every 5 ms in the 5 ms task.

Function blocks
f 10
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797934219
In the control configuration ([Resources] / [Control configuration]), 3 axes are connected

to the CAN1 system bus as standard. Their SBus addresses are 1, 2 and 3.
Example for module parameters of axis 1:
798717835
Functionality of the motor axes:

• The first motor axis offers standard functionality (calling the AxisControl_MDX
function block)
• The second motor axis offers the functions of a cam (calling
AxisControlCam_MDX)
• The third motor axis offers synchronous operation functions (calling
AxisControlGear_MDX).

10 f
Function blocks
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If the number of controlled motor axes changes, you have to adapt the control configu-
ration:
798772235
Deleting motor axes:

1. Right-click on [MOVIDRIVE].
Adding a motor axis:

3. Select [MOVIDRIVE MDX B].
Adapting the control configuration:

Subsequently, adjust the module parameters (SBus address).
NOTE
For non-existent motor axes, no instance of the AxisControl_MDX,
AxisControlCam_MDX or AxisControlGear_MDX function blocks may be called
up.
Delete the respective networks from the PLC_PRG_Technology main program.
NOTE
If the function of the motor axes changes, you have to add and parameterize the re-
spective networks by calling the instance of the function blocks in the
PLC_PRG_Technology main program (e.g. synchronous operation technology func-
tion or electronic cam technology function).
Then integrate the configurations of the respective motor axes in the
Configuration_MDX program at the correct position.

f 10
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10.3.1 Electronic cam (AM_CAMING)
Description This operating mode provides cam functionality for the motor axes. Engaging or disen-
gaging is possible directly via the Start input signal of the AxisControlCam_MDX func-
tion block. This is a standard cam function.
Additional functions are programmed in the AxisControlCam_MDX function block
using the MPLCTecCamMotion_MDX library.
Prerequisite MOVIDRIVE® has been started up with the Electronic Cam technology function via the
MOVITOOLS® MotionStudio technology editor. When using the
MC_CamCalcRtoR_MDX or MC_CamCalcSpline_MDX function blocks, this startup is
not necessary.
Input signals The behavior of the AxisControlCam_MDX function block is dependent on the follow-
ing input signals:
AM_CAMMING is enabled and processed.
Start BOOL This input signal starts the movement of the motor axis.
Table UINT This input signal selects the curve number (5...0).
ConfigCamTableSelect ST_CamTable- If this input signal is TRUE, the setpoint is transferred to
Select_MDX the virtual encoder (with FALSE: X14 active)
Axis AXIS_REF Logical address of the motor axis; created by the respec-
tive MC_ConnectAxis_MDX function block.
LinkState MC_LINKTECST This input signal transfers the current status of the
• GEN_TEC_ RESETED (reset service executed)
successful)
CamState MC_CAM_- This input signal transfers the current status of the elec-
STATE_MDX tronic cam:
• MDX_CAM_RESET (cam reset, free-wheeling with
speed setpoint in H439)
• MDX_CAM_START (startup cycle state)
• MDX_CAM_MAINCURVE (main curve)
• MDX_CAM_STOP (stop cycle state)
• MDX_CAM_STOP_INVERTERSTART (stop cycle
state with inverted startup cycle curve)
• MDX_CAM_NOTLINKED (no connection)
PLCopenState MC_PLCopen- This input signal transfers the PLCopenState of the
State inverter to the function block.
RequestedAxisMode ENUM_AXIS- Requested axis mode; required for internal operating
ActualAxisMode ENUM_AXIS- Actually active axis mode; required for internal operating
Output signals The AxisControlCam_MDX function block provides the following output signals:
Error BOOL The output signal indicates an error in a motion function
block.

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Note:
10.3.2 Synchronous operation (AM_GEARING)

Description This operating mode provides synchronous operation functionality for the motor axes.
Engaging or disengaging is performed directly via the Start input signal of the
AxisControlGear_MDX function block. The basis of this operating mode is time-re-
lated startup.
Additional synchronous operation functions can be programmed in the
AxisControlGear_MDX function block using the MPLCTecGearMotion_MDX li-
brary.
Prerequisite None.
Input signals The behavior of the AxisControlGear_MDX function block is dependent on the fol-
lowing input signals:
AM_GEARING is enabled and processed.
Start BOOL This input signal starts the movement of the motor axis.
GearOutLagCountOn BOOL If this input signal is set to TRUE, the difference counter
remains active in the disengaged state.
GearCleanLag BOOL If this input signal is set to TRUE, the difference counter is
deleted.
ratio_MDX to the relevant motor axis.
LinkState MC_LINKTECST This input signal transfers the current status of the
• GEN_TEC_ RESETED (reset service executed)
successful)
GearState MC_GEAR_- The signal shows the current status of synchronous oper-
STATE_MDX ation:
• MDX_GEAR_OUTGEAR_N_CTRL (disengaged,
speed-controlled)
• MDX_ GEAR_OUTGEAR_X_CTRL (disengaged,
position-controlled)
• MDX_GEAR_ENGAGING_GEAR_IN (startup cycle
state)
• MDX_GEAR_IN_GEAR (synchronous operation)
• MDX_GEAR_OFFSET (offset operation)
• MDX_DISENGAGING_GEAR (disengaged state)
• MDX_GEAR_NOTLINKED (no valid gear state, e.g.
when LinkState = NOTLINKED)
PLCopenState MC_PLCopen- This input signal transfers the PLCopenState of the
State inverter to the function block.

f 10
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RequestedAxisMode ENUM_AXIS- Requested axis mode; required for internal operating
ActualAxisMode ENUM_AXIS- Actually active axis mode; required for internal operating
Output signals The AxisControlGear_MDX function block provides the following output signals:
Error BOOL The output signal indicates an error in a motion function
block.
Note:
LagCleared BOOL The output signal shows that the difference counter has
been deleted.

kVA n Data Backup for Connected Inverters
11 f
General notes on data backup
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11 Data Backup for Connected Inverters
11.1 General notes on data backup

In AxisControl projects, Data Management allows for data of inverters connected to
MOVI-PLC® advanced DHx41B to be saved on the integrated SD card. The data
records can also be re-loaded into the inverters.
In case of an upload in the form of a VarData record, the data records of the connected
inverters are stored on the SD memory card of MOVI-PLC® advanced DHx41B. It is pos-
sible to create a data record from one or all connected inverters.
Prerequisites:
• The modules for the Data Management functionality are integrated in the motion
libraries as of version 2030r1.
• The Data Management functionality and the Application Builder user interface are
available for AxisControl projects as of MOVITOOLS® MotionStudio 5.50.
• Series firmware of MOVI-PLC® advanced DHx41B as of 1031.
• Firmware status of the inverters:
• MOVIDRIVE®: 824 854 0.19 and higher
• MOVIAXIS®: No limitation
• MOVITRAC® B: 1820 230 6.13
• For the MOVIDRIVE® and MOVITRAC® B inverters, a signature must have been
assigned as ID.
NOTE
If a download to a drive axis is performed in any operating mode, the drive axis must
be in the state 24 V operation, controller inhibit or no enable.

Data Backup for Connected Inverters I
11
0

The Data Management function offers the following operating modes:
• Mode 0: CHECK
• Mode 1: CHECK & DOWNLOAD
• Mode 2: UPLOAD
• Mode 3: DOWNLOAD ALL
CHECK
Performed steps:
• Checking the ID of the connected inverter for possible changes
For MOVIAXIS®, a hardware serial number is the ID, whereas for MOVIDRIVE® and
MOVITRAC® B, the signature is used.
• Displaying the result of the check at the "status" output.
If the CHECK operating mode is selected in connection with axis selection 99, all con-
nected inverters are checked.
CHECK & DOWNLOAD

Performed steps:
• Comparison as in CHECK operating mode.
• Loading the parameter set stored on the SD memory card to those inverters that
have a new ID (e.g. axis replacement).
UPLOAD
Performed steps:
• Loading the parameter sets of the connected inverters and storing the data on the
SD memory card.
• Storing the inverter IDs in a configuration file.
The CHECK or CHECK & DOWNLOAD operating modes use this ID to recognize a
replaced unit.
DOWNLOAD ALL
Performed steps:
• Copying the parameter set stored on the SD memory card to the inverter even if the
ID is still the same.

I Data Backup for Connected Inverters
11 Data Management using global variable interface
0
11.3 Data Management using global variable interface

Usually, the Data Management function is addressed via the global variable interface.
For this purpose, the global variables gAxisInterfaceIn_DataManagement and
gAxisInterfaceOut_DataManagement are used.
Global input variables for Data Management:
842282763
Global output variables for Data Management:
842481163
The modules for Data Management are stored in the "AxisDataManagement" directory.
842553867

Data Management using global variable interface
11
0
The AxisDataManagement program is called cyclically in the free-running task

"TaskFree":
842651659
PRG_AxisDatamanagement program:
843699851
The fbAxisDatamananagement_Control function block is started in the AxisData-

Management program if
• A connection has been established to all drive axes (gbAllAxisConnected = TRUE)
and
• Data Management is started (gAxisInterfaceIn_Datamanagement.Start =TRUE).
The following information is transferred to this function block:
• Number of connected drive axes
(gAxisInterfaceIn_Datamanagement.SelectedAxis) and
• Operating mode for Data Management
(gAxisInterfaceIn_Datamanagement.Mode).

11 Data Management using global variable interface
0
The function block outputs:

• Done, after the Data Management function has been executed successfully,
• Busy, while the Data Management function is being executed,
• Error with the respective ErrorID, if an error occurs during the execution, and
• Status with the status display of the respective Data Management task for the drive
axis.
The variable gAxisInterfaceOut_Datamanagement.Status is an ARRAY of the

MC_STATUS_DATAMANAGEMENT_DM type and provides the states shown in the
figure below:
843774347
In the fb AxisDatamanagement_Control function block, the SelectedAxis entry vari-

able determines whether a Data Management task is executed for one drive axis only
or for all drive axes:
• For one drive axis (fbMC_SingleAxisDataManagement_CAN):
SelectedAxis = 1, 2, ...
• For all drive axes (fbMC_AllAxisDataManagement_CAN):

SelectedAxis = 99

Data Management via Application Builder
11
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11.4 Data Management via Application Builder

It is also possible to access the Data Management functions via the Monitor Axis-
Control visualization interface of the Application Builder.
[1]
844083083
[1] Selecting the interface for Data Management

11 Data Management via Application Builder
0
When selecting the [Data Management] tab, the user interface for Data Management
opens.
844170123
Click on [Enable] to enable control of Data Management.

In the [Select Axis] field, you can select the drive axes to be addressed:
• All drive axes or
• Only one drive axis, the logic address of which you have to specify.
In the [Mode] selection field, you an select an operating mode as described in chapter
"Description of Operating Modes" (see page 89).
Use the [Start process] function key to start the Data Management function of the se-
lected operating mode.

Data Management via Application Builder
11
0
The following status messages are displayed:

• Done, after the Data Management function has been executed successfully,
• Busy, while the Data Management function is being executed,
• Error with the respective ErrorID, if an error occurs during the execution,
• Status with the status display of the respective Data Management task for the drive
axis, and
• The status of the respective drive axis.

I Frequently Asked Questions
12 Communication problems between the PLC Editor and MOVI-PLC®
0
12 Frequently Asked Questions

12.1 Communication problems between the PLC Editor and MOVI-PLC®
Going "online" with a project requires correct communication settings in the PLC Editor.
You can monitor these settings under [Online] / [Communication parameters...].
12.1.1 MOVI-PLC® basic DHP11B
[1]
[2]
844248203
[1] Display field of the selected controller

[2] [New] button for selecting a new channel
1. Click on "Local" in the window on the left to display the selected controller in the gray
display field.
You have to create the controller as a new channel unless "MOVI-PLC universal" is
displayed.
2. Click the [New] button.
A new window with selectable controllers appears.
[1]
844937483
[1] MOVI-PLC universal
1. Select "MOVI-PLC universal" from the unit list and then click on [OK].

Frequently Asked Questions
Communication problems between the PLC Editor and MOVI-PLC®
12
12.1.2 MOVI-PLC® advanced DHE41B
[1]
[2]
845294987
[1] Display field of the selected controller

[2] [New] button for selecting a new channel
1. Click on "local" in the window on the left to display the selected controller in the gray
display field.
You have to create the controller as a new channel unless "MOVI-PLC TCP/IP" is
displayed.
2. Click the [New] button.
A new window with selectable controllers appears.
[1]
846600971
[1] Select new channel
1. Select "MOVI-PLC TCP/IP" from the unit list and then click on [OK].
2. Check whether the value "yes" is assigned to the name "Motorola byteorder" in the
first window. Make the appropriate changes, if necessary.

12 Controlling the AxisControl_MDX... sample project via PROFIBUS
12.2 Controlling the AxisControl_MDX... sample project via PROFIBUS

12.2.1 MOVI-PLC® basic DHP11B
The MOVI-PLC® basic DHP11B controller offers a PROFIBUS slave interface. You
have to perform the following steps to exchange data with the MOVIDRIVE® inverters
via PROFIBUS process data words.
The example only shows parameterization of the process input data of one axis. The
procedure for parameterizing the process output data of other axes is the same.
Enabling the PROFIBUS interface in the control configuration:
846772363
1. Right-click on "Profibus disabled".

2. Select [Replace element] from the context menu.
3. Select [Profibus enabled] from the submenu.

Controlling the AxisControl_MDX... sample project via PROFIBUS
12
Assigning global variable designations for the PROFIBUS process data words:
[1]
[2]
846837515
[1] Process input data word

[2] AT
32 process input data words and 32 process output data words are available under
[Profibus enabled].
Enter variable names as follows:
1. Select the respective process data word.
2. Right-click on "AT".
3. Enter the required name.
The variable names can now be further processed in the program

You can enter variable names of the individual bits of the process data word in the same
way within the process data word.

12 Controlling the AxisControl_MDX... sample project via PROFIBUS
Connecting the global variables of the AxisControl_MDX function block with the
PROFIBUS data:
Several program commands must be programmed for data exchange of the interface
with the global variables of the AxisControl_MDX function block:
1. Right-click in the Object Organizer and select [Insert object ...] from the context
menu.
2. Enter "P_InterfaceProfibus" as the name of the module, because the module type is
a program.
3. Select "Structured Text (ST)" as language.
846995595
Now, you have to call this program in the PLC_PRG main program.
1. It is recommended to call it before calling the instances of the Axis_Control_MDX
function block in a network.
The program enables cyclical data exchange between PROFIBUS and the
AxisControl_MDX_SingleAxis axis driver.
12.2.2 MOVI-PLC® advanced DHE41B

The MOVI-PLC® advanced DHF41B controller also has a PROFIBUS/slave interface.
The configuration of this controller is the same as that of MOVI-PLC® basic DHP11B.
Here, too, you first have to enable the PROFIBUS interface and then define the variable
names.
The program for the interface between the PROFIBUS data and the global variables of
the AxisControl_MDX_SingleAxis axis driver also corresponds to that of the MOVI-
PLC® basic DHP11B controller.
You must call this interface program in the PLC_PRG_SingleAxis main program as
well. It enables cyclical data exchange.

Features and operating principle of the virtual encoder
12
12.3 Features and operating principle of the virtual encoder

In the AxisControl_MDX_Technology.pro project, the VEMain program for the vir-
tual encoder is called in the 5 ms task. This program calls an instance of the VEAxis-
Control function block. The virtual encoder can be controlled via a global variable inter-
face in the same way as the other drive axes (gVEInterfaceIn.... and gVEInterface-
Out....).
In standard communication, the virtual encoder transmits its actual position as an object
(MDX_VIRTUAL_ENCODER_ID1) via the CAN1 bus.
As standard, the MOVIDRIVE® inverters are configured to receive this
MDX_VIRTUAL_ENCODER_ID1 object as setpoint position from the CAN1 bus.

Address List
13 Features and operating principle of the virtual encoder
13 Address List
Germany
Headquarters Bruchsal SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-0
Production Ernst-Blickle-Straße 42 Fax +49 7251 75-1970
Sales D-76646 Bruchsal http://www.sew-eurodrive.de
P.O. Box sew@sew-eurodrive.de
Postfach 3023 • D-76642 Bruchsal
Service Compe- Central SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1710
tence Center Ernst-Blickle-Straße 1 Fax +49 7251 75-1711
D-76676 Graben-Neudorf sc-mitte@sew-eurodrive.de
North SEW-EURODRIVE GmbH & Co KG Tel. +49 5137 8798-30
Alte Ricklinger Straße 40-42 Fax +49 5137 8798-55
D-30823 Garbsen (near Hannover) sc-nord@sew-eurodrive.de
East SEW-EURODRIVE GmbH & Co KG Tel. +49 3764 7606-0
Dänkritzer Weg 1 Fax +49 3764 7606-30
D-08393 Meerane (near Zwickau) sc-ost@sew-eurodrive.de
South SEW-EURODRIVE GmbH & Co KG Tel. +49 89 909552-10
Domagkstraße 5 Fax +49 89 909552-50
D-85551 Kirchheim (near München) sc-sued@sew-eurodrive.de
West SEW-EURODRIVE GmbH & Co KG Tel. +49 2173 8507-30
Siemensstraße 1 Fax +49 2173 8507-55
D-40764 Langenfeld (near Düsseldorf) sc-west@sew-eurodrive.de
Electronics SEW-EURODRIVE GmbH & Co KG Tel. +49 7251 75-1780
Ernst-Blickle-Straße 42 Fax +49 7251 75-1769
D-76646 Bruchsal sc-elektronik@sew-eurodrive.de
Drive Service Hotline / 24 Hour Service +49 180 5 SEWHELP
+49 180 5 7394357
Additional addresses for service in Germany provided on request!
France
Production Haguenau SEW-USOCOME Tel. +33 3 88 73 67 00
Sales 48-54, route de Soufflenheim Fax +33 3 88 73 66 00
Service B. P. 20185 http://www.usocome.com
F-67506 Haguenau Cedex sew@usocome.com
Production Forbach SEW-EUROCOME Tel. +33 3 87 29 38 00
Zone Industrielle
Technopôle Forbach Sud
B. P. 30269
F-57604 Forbach Cedex
Assembly Bordeaux SEW-USOCOME Tel. +33 5 57 26 39 00
Sales Parc d'activités de Magellan Fax +33 5 57 26 39 09
Service 62, avenue de Magellan - B. P. 182
F-33607 Pessac Cedex
Lyon SEW-USOCOME Tel. +33 4 72 15 37 00
Parc d'Affaires Roosevelt Fax +33 4 72 15 37 15
Rue Jacques Tati
F-69120 Vaulx en Velin
Paris SEW-USOCOME Tel. +33 1 64 42 40 80
Zone industrielle Fax +33 1 64 42 40 88
2, rue Denis Papin
F-77390 Verneuil I'Etang
Additional addresses for service in France provided on request!

Address List
13
Algeria
Sales Alger Réducom Tel. +213 21 8222-84
16, rue des Frères Zaghnoun Fax +213 21 8222-84
Bellevue El-Harrach reducom_sew@yahoo.fr
16200 Alger
Argentina
Assembly Buenos Aires SEW EURODRIVE ARGENTINA S.A. Tel. +54 3327 4572-84
Sales Centro Industrial Garin, Lote 35 Fax +54 3327 4572-21
Service Ruta Panamericana Km 37,5 sewar@sew-eurodrive.com.ar
1619 Garin http://www.sew-eurodrive.com.ar
Australia
Assembly Melbourne SEW-EURODRIVE PTY. LTD. Tel. +61 3 9933-1000
Sales 27 Beverage Drive Fax +61 3 9933-1003
Service Tullamarine, Victoria 3043 http://www.sew-eurodrive.com.au
enquires@sew-eurodrive.com.au
Sydney SEW-EURODRIVE PTY. LTD. Tel. +61 2 9725-9900
9, Sleigh Place, Wetherill Park Fax +61 2 9725-9905
New South Wales, 2164 enquires@sew-eurodrive.com.au
Austria
Assembly Wien SEW-EURODRIVE Ges.m.b.H. Tel. +43 1 617 55 00-0
Sales Richard-Strauss-Strasse 24 Fax +43 1 617 55 00-30
Service A-1230 Wien http://sew-eurodrive.at
sew@sew-eurodrive.at
Belarus
Sales Minsk SEW-EURODRIVE BY Tel.+375 (17) 298 38 50
RybalkoStr. 26 Fax +375 (17) 29838 50
BY-220033 Minsk sales@sew.by
Belgium
Assembly 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.sew-eurodrive.be
info@caron-vector.be
Service Compe- Industrial Gears SEW Caron-Vector S.A. Tel. +32 84 219-878
tence Center Rue de Parc Industriel, 31 Fax +32 84 219-879
BE-6900 Marche-en-Famenne http://www.sew-eurodrive.be
service-wallonie@sew-eurodrive.be
Brazil
Production Sao Paulo SEW-EURODRIVE Brasil Ltda. Tel. +55 11 6489-9133
Sales Avenida Amâncio Gaiolli, 152 - Rodovia Presi- Fax +55 11 6480-3328
Service dente Dutra Km 208 http://www.sew-eurodrive.com.br
Guarulhos - 07251-250 - SP sew@sew.com.br
SAT - SEW ATENDE - 0800 7700496
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 bever@fastbg.net
Cameroon
Sales Douala Electro-Services Tel. +237 33 431137
Rue Drouot Akwa Fax +237 33 431137
B.P. 2024
Douala

Address List
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
marketing@sew-eurodrive.ca
Vancouver SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 604 946-5535
7188 Honeyman Street Fax +1 604 946-2513
Delta. B.C. V4G 1 E2 marketing@sew-eurodrive.ca
Montreal SEW-EURODRIVE CO. OF CANADA LTD. Tel. +1 514 367-1124
2555 Rue Leger Fax +1 514 367-3677
LaSalle, Quebec H8N 2V9 marketing@sew-eurodrive.ca
Additional addresses for service in Canada provided on request!
Chile
Assembly Santiago de SEW-EURODRIVE CHILE LTDA. Tel. +56 2 75770-00
Sales Chile Las Encinas 1295 Fax +56 2 75770-01
Service Parque Industrial Valle Grande http://www.sew-eurodrive.cl
LAMPA ventas@sew-eurodrive.cl
RCH-Santiago de Chile
P.O. Box
Casilla 23 Correo Quilicura - Santiago - Chile
China
Production Tianjin SEW-EURODRIVE (Tianjin) Co., Ltd. Tel. +86 22 25322612
Assembly No. 46, 7th Avenue, TEDA Fax +86 22 25322611
Sales Tianjin 300457 info@sew-eurodrive.cn
Service http://www.sew-eurodrive.cn
Assembly Suzhou SEW-EURODRIVE (Suzhou) Co., Ltd. Tel. +86 512 62581781
Sales 333, Suhong Middle Road Fax +86 512 62581783
Service Suzhou Industrial Park suzhou@sew-eurodrive.cn
Jiangsu Province, 215021
Guangzhou SEW-EURODRIVE (Guangzhou) Co., Ltd. Tel. +86 20 82267890
No. 9, JunDa Road Fax +86 20 82267891
East Section of GETDD guangzhou@sew-eurodrive.cn
Guangzhou 510530
Shenyang SEW-EURODRIVE (Shenyang) Co., Ltd. Tel. +86 24 25382538
10A-2, 6th Road Fax +86 24 25382580
Shenyang Economic Technological Develop- shenyang@sew-eurodrive.cn
ment Area
Shenyang, 110141
Wuhan SEW-EURODRIVE (Wuhan) Co., Ltd. Tel. +86 27 84478398
10A-2, 6th Road Fax +86 27 84478388
No. 59, the 4th Quanli Road, WEDA
430056 Wuhan
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 sewcol@sew-eurodrive.com.co
Croatia
Sales Zagreb KOMPEKS d. o. o. Tel. +385 1 4613-158
Service PIT Erdödy 4 II Fax +385 1 4613-158
HR 10 000 Zagreb kompeks@inet.hr

Address List
13
Czech Republic
Sales Praha SEW-EURODRIVE CZ S.R.O. Tel. +420 255 709 601
Business Centrum Praha Fax +420 220 121 237
Lužná 591 http://www.sew-eurodrive.cz
CZ-16000 Praha 6 - Vokovice sew@sew-eurodrive.cz
Denmark
Assembly Kopenhagen SEW-EURODRIVEA/S Tel. +45 43 9585-00
Sales Geminivej 28-30 Fax +45 43 9585-09
Service DK-2670 Greve http://www.sew-eurodrive.dk
sew@sew-eurodrive.dk
Egypt
Sales Cairo Copam Egypt Tel. +20 2 22566-299 + 1 23143088
Service for Engineering & Agencies Fax +20 2 22594-757
33 EI Hegaz ST, Heliopolis, Cairo http://www.copam-egypt.com/
copam@datum.com.eg
Estonia
Sales Tallin ALAS-KUUL AS Tel. +372 6593230
Reti tee 4 Fax +372 6593231
EE-75301 Peetri küla, Rae vald, Harjumaa veiko.soots@alas-kuul.ee
Finland
Assembly Lahti SEW-EURODRIVE OY Tel. +358 201 589-300
Sales Vesimäentie 4 Fax +358 3 780-6211
Service FIN-15860 Hollola 2 sew@sew.fi
http://www.sew-eurodrive.fi
Production Karkkila SEW Industrial Gears OY Tel. +358 201 589-300
Assembly Valurinkatu 6 Fax +358 201 589-310
Service FIN-03600 Karkkila sew@sew.fi
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 info@sew-eurodrive.co.uk
Greece
Sales Athen Christ. Boznos & Son S.A. Tel. +30 2 1042 251-34
Service 12, Mavromichali Street Fax +30 2 1042 251-59
P.O. Box 80136, GR-18545 Piraeus http://www.boznos.gr
info@boznos.gr
Hong Kong
Assembly Hong Kong SEW-EURODRIVE LTD. Tel. +852 2 7960477 + 79604654
Sales Unit No. 801-806, 8th Floor Fax +852 2 7959129
Service Hong Leong Industrial Complex contact@sew-eurodrive.hk
No. 4, Wang Kwong Road
Kowloon, Hong Kong

Address List
Hungary
Sales Budapest SEW-EURODRIVE Kft. Tel. +36 1 437 06-58
Service H-1037 Budapest Fax +36 1 437 06-50
Kunigunda u. 18 office@sew-eurodrive.hu
India
Assembly Vadodara SEW-EURODRIVE India Private Limited Tel. +91 265 2831086
Sales Plot No. 4, GIDC Fax +91 265 2831087
Service POR Ramangamdi • Vadodara - 391 243 http://www.seweurodriveindia.com
Gujarat sales@seweurodriveindia.com
subodh.ladwa@seweurodriveindia.com
Ireland
Sales Dublin Alperton Engineering Ltd. Tel. +353 1 830-6277
Service 48 Moyle Road Fax +353 1 830-6458
Dublin Industrial Estate info@alperton.ie
Glasnevin, Dublin 11 http://www.alperton.ie
Israel
Sales Tel-Aviv Liraz Handasa Ltd. Tel. +972 3 5599511
Ahofer Str 34B / 228 Fax +972 3 5599512
58858 Holon http://www.liraz-handasa.co.il
office@liraz-handasa.co.il
Italy
Assembly 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
sewit@sew-eurodrive.it
Ivory Coast
Sales Abidjan SICA Tel. +225 2579-44
Ste industrielle et commerciale pour l'Afrique Fax +225 2584-36
165, Bld de Marseille
B.P. 2323, Abidjan 08
Japan
Assembly Iwata SEW-EURODRIVE JAPAN CO., LTD Tel. +81 538 373811
Sales 250-1, Shimoman-no, Fax +81 538 373814
Service Iwata http://www.sew-eurodrive.co.jp
Shizuoka 438-0818 sewjapan@sew-eurodrive.co.jp
Korea
Assembly Ansan-City SEW-EURODRIVE KOREA CO., LTD. Tel. +82 31 492-8051
Sales B 601-4, Banweol Industrial Estate Fax +82 31 492-8056
Service 1048-4, Shingil-Dong http://www.sew-korea.co.kr
Ansan 425-120 master@sew-korea.co.kr
Busan SEW-EURODRIVE KOREA Co., Ltd. Tel. +82 51 832-0204
No. 1720 - 11, Songjeong - dong Fax +82 51 832-0230
Gangseo-ku master@sew-korea.co.kr
Busan 618-270
Latvia
Sales Riga SIA Alas-Kuul Tel. +371 7139253
Katlakalna 11C Fax +371 7139386
LV-1073 Riga http://www.alas-kuul.com
info@alas-kuul.com

Address List
13
Lebanon
Sales Beirut Gabriel Acar & Fils sarl Tel. +961 1 4947-86
B. P. 80484 +961 1 4982-72
Bourj Hammoud, Beirut +961 3 2745-39
Fax +961 1 4949-71
gacar@beirut.com
Lithuania
Sales Alytus UAB Irseva Tel. +370 315 79204
Naujoji 19 Fax +370 315 56175
LT-62175 Alytus info@irseva.lt
http://www.sew-eurodrive.lt
Luxembourg
Assembly Brüssel CARON-VECTOR S.A. Tel. +32 10 231-311
Sales Avenue Eiffel 5 Fax +32 10 231-336
Service B-1300 Wavre http://www.sew-eurodrive.lu
info@caron-vector.be
Malaysia
Assembly Johore SEW-EURODRIVE SDN BHD Tel. +60 7 3549409
Sales No. 95, Jalan Seroja 39, Taman Johor Jaya Fax +60 7 3541404
Service 81000 Johor Bahru, Johor sales@sew-eurodrive.com.my
West Malaysia
Mexico
Assembly 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 Industrial Queretaro scmexico@seweurodrive.com.mx
C.P. 76220
Queretaro, Mexico
Morocco
Sales Casablanca Afit Tel. +212 22618372
5, rue Emir Abdelkader Fax +212 22618351
MA 20300 Casablanca ali.alami@premium.net.ma
Netherlands
Assembly Rotterdam VECTOR Aandrijftechniek B.V. Tel. +31 10 4463-700
Sales Industrieweg 175 Fax +31 10 4155-552
Service NL-3044 AS Rotterdam http://www.vector.nu
Postbus 10085 info@vector.nu
NL-3004 AB Rotterdam
New Zealand
Assembly Auckland SEW-EURODRIVE NEW ZEALAND LTD. Tel. +64 9 2745627
Sales P.O. Box 58-428 Fax +64 9 2740165
Service 82 Greenmount drive http://www.sew-eurodrive.co.nz
East Tamaki Auckland sales@sew-eurodrive.co.nz
Christchurch SEW-EURODRIVE NEW ZEALAND LTD. Tel. +64 3 384-6251
10 Settlers Crescent, Ferrymead Fax +64 3 384-6455
Christchurch sales@sew-eurodrive.co.nz
Norway
Assembly Moss SEW-EURODRIVE A/S Tel. +47 69 24 10 20
Sales Solgaard skog 71 Fax +47 69 24 10 40
Service N-1599 Moss http://www.sew-eurodrive.no
sew@sew-eurodrive.no

Address List
Peru
Assembly Lima SEW DEL PERU MOTORES REDUCTORES Tel. +51 1 3495280
Sales S.A.C. Fax +51 1 3493002
Service Los Calderos, 120-124 http://www.sew-eurodrive.com.pe
Urbanizacion Industrial Vulcano, ATE, Lima sewperu@sew-eurodrive.com.pe
Poland
Assembly Lodz SEW-EURODRIVE Polska Sp.z.o.o. Tel. +48 42 67710-90
Sales ul. Techniczna 5 Fax +48 42 67710-99
Service PL-92-518 Łódź http://www.sew-eurodrive.pl
sew@sew-eurodrive.pl
24 Hour Service Tel. +48 602 739 739
(+48 602 SEW SEW)
sewis@sew-eurodrive.pl
Portugal
Assembly Coimbra SEW-EURODRIVE, LDA. Tel. +351 231 20 9670
Sales Apartado 15 Fax +351 231 20 3685
Service P-3050-901 Mealhada http://www.sew-eurodrive.pt
infosew@sew-eurodrive.pt
Romania
Sales Bucureşti Sialco Trading SRL Tel. +40 21 230-1328
Service str. Madrid nr.4 Fax +40 21 230-7170
011785 Bucuresti sialco@sialco.ro
Russia
Assembly St. Petersburg ZAO SEW-EURODRIVE Tel. +7 812 3332522 +7 812 5357142
Sales P.O. Box 36 Fax +7 812 3332523
Service 195220 St. Petersburg Russia http://www.sew-eurodrive.ru
sew@sew-eurodrive.ru
Senegal
Sales Dakar SENEMECA Tel. +221 338 494 770
Mécanique Générale Fax +221 338 494 771
Km 8, Route de Rufisque senemeca@sentoo.sn
B.P. 3251, Dakar
Serbia
Sales Beograd DIPAR d.o.o. Tel. +381 11 347 3244 / +381 11 288
Ustanicka 128a 0393
PC Košum, IV floor Fax +381 11 347 1337
SCG-11000 Beograd office@dipar.co.yu
Singapore
Assembly Singapore SEW-EURODRIVE PTE. LTD. Tel. +65 68621701
Sales No 9, Tuas Drive 2 Fax +65 68612827
Service Jurong Industrial Estate http://www.sew-eurodrive.com.sg
Singapore 638644 sewsingapore@sew-eurodrive.com
Slovakia
Sales Bratislava SEW-Eurodrive SK s.r.o. Tel. +421 2 33595 202
Rybničná 40 Fax +421 2 33595 200
SK-831 06 Bratislava sew@sew-eurodrive.sk
http://www.sew-eurodrive.sk
Žilina SEW-Eurodrive SK s.r.o. Tel. +421 41 700 2513
Industry Park – PChZ Fax +421 41 700 2514
ulica M.R.Štefánika 71 sew@sew-eurodrive.sk
SK-010 01 Žilina

Address List
13
Slovakia
Banská SEW-Eurodrive SK s.r.o. Tel. +421 48 414 6564
Bystrica Rudlovská cesta 85 Fax +421 48 414 6566
SK-974 11 Banská Bystrica sew@sew-eurodrive.sk
Košice SEW-Eurodrive SK s.r.o. Tel. +421 55 671 2245
Slovenská ulica 26 Fax +421 55 671 2254
SK-040 01 Košice sew@sew-eurodrive.sk
Slovenia
Sales Celje Pakman - Pogonska Tehnika d.o.o. Tel. +386 3 490 83-20
Service UI. XIV. divizije 14 Fax +386 3 490 83-21
SLO - 3000 Celje pakman@siol.net
South Africa
Assembly Johannesburg SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 11 248-7000
Sales Eurodrive House Fax +27 11 494-3104
Service Cnr. Adcock Ingram and Aerodrome Roads http://www.sew.co.za
Aeroton Ext. 2 dross@sew.co.za
Johannesburg 2013
P.O.Box 90004
Bertsham 2013
Capetown SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 21 552-9820
Rainbow Park Fax +27 21 552-9830
Cnr. Racecourse & Omuramba Road Telex 576 062
Montague Gardens dswanepoel@sew.co.za
Cape Town
P.O.Box 36556
Chempet 7442
Cape Town
Durban SEW-EURODRIVE (PROPRIETARY) LIMITED Tel. +27 31 700-3451
2 Monaceo Place Fax +27 31 700-3847
Pinetown dtait@sew.co.za
Durban
P.O. Box 10433, Ashwood 3605
Spain
Assembly Bilbao SEW-EURODRIVE ESPAÑA, S.L. Tel. +34 94 43184-70
Sales Parque Tecnológico, Edificio, 302 Fax +34 94 43184-71
Service E-48170 Zamudio (Vizcaya) http://www.sew-eurodrive.es
sew.spain@sew-eurodrive.es
Sweden
Assembly Jönköping SEW-EURODRIVE AB Tel. +46 36 3442 00
Sales Gnejsvägen 6-8 Fax +46 36 3442 80
Service S-55303 Jönköping http://www.sew-eurodrive.se
Box 3100 S-55003 Jönköping info@sew-eurodrive.se
Switzerland
Assembly Basel Alfred lmhof A.G. Tel. +41 61 417 1717
Sales Jurastrasse 10 Fax +41 61 417 1700
Service CH-4142 Münchenstein bei Basel http://www.imhof-sew.ch
info@imhof-sew.ch
Thailand
Assembly Chonburi SEW-EURODRIVE (Thailand) Ltd. Tel. +66 38 454281
Sales 700/456, Moo.7, Donhuaroh Fax +66 38 454288
Service Muang sewthailand@sew-eurodrive.com
Chonburi 20000

Address List
Tunisia
Sales Tunis T. M.S. Technic Marketing Service Tel. +216 71 4340-64 + 71 4320-29
5, Rue El Houdaibiah Fax +216 71 4329-76
1000 Tunis tms@tms.com.tn
Turkey
Assembly Istanbul SEW-EURODRIVE Tel. +90 216 4419164, 3838014,
Sales Hareket Sistemleri San. ve Tic. Ltd. Sti. 3738015
Service Bagdat Cad. Koruma Cikmazi No. 3 Fax +90 216 3055867
TR-34846 Maltepe ISTANBUL http://www.sew-eurodrive.com.tr
sew@sew-eurodrive.com.tr
Ukraine
Sales Dnepropetrovsk SEW-EURODRIVE Tel. +380 56 370 3211
Service Str. Rabochaja 23-B, Office 409 Fax +380 56 372 2078
49008 Dnepropetrovsk http://www.sew-eurodrive.ua
sew@sew-eurodrive.ua
USA
Production Southeast SEW-EURODRIVE INC. Tel. +1 864 439-7537
Assembly Region 1295 Old Spartanburg Highway Fax Sales +1 864 439-7830
Sales P.O. Box 518 Fax Manufacturing +1 864 439-9948
Service Lyman, S.C. 29365 Fax Assembly +1 864 439-0566
Cooporate Offices Fax Confidential/HR +1 864 949-5557
http://www.seweurodrive.com
cslyman@seweurodrive.com
Assembly Northeast SEW-EURODRIVE INC. Tel. +1 856 467-2277
Sales Region Pureland Ind. Complex Fax +1 856 845-3179
Service 2107 High Hill Road, P.O. Box 481 csbridgeport@seweurodrive.com
Bridgeport, New Jersey 08014
Midwest Region SEW-EURODRIVE INC. Tel. +1 937 335-0036
2001 West Main Street Fax +1 937 440-3799
Troy, Ohio 45373 cstroy@seweurodrive.com
Southwest SEW-EURODRIVE INC. Tel. +1 214 330-4824
Region 3950 Platinum Way Fax +1 214 330-4724
Dallas, Texas 75237 csdallas@seweurodrive.com
Western Region SEW-EURODRIVE INC. Tel. +1 510 487-3560
30599 San Antonio St. Fax +1 510 487-6433
Hayward, CA 94544 cshayward@seweurodrive.com
Additional addresses for service in the USA provided on request!
Venezuela
Assembly Valencia SEW-EURODRIVE Venezuela S.A. Tel. +58 241 832-9804
Sales Av. Norte Sur No. 3, Galpon 84-319 Fax +58 241 838-6275
Service Zona Industrial Municipal Norte http://www.sew-eurodrive.com.ve
Valencia, Estado Carabobo ventas@sew-eurodrive.com.ve
sewfinanzas@cantv.net

Index
Index
A MOVIDRIVE® control ......................................20, 64

Absolute modulo positioning ..................................48 MOVIDRIVE® control with
Absolute positioning ...............................................46 AxisControl_MDX_SingleAxis................................9
AxisControlCam_MDX MOVIDRIVE® requirements ....................................9
Function block....................................................66
AxisControlGear_MDX O
Function block....................................................69 Operating modes ...................................................40
AxisControl_MDX...................................................17
AxisControl_MDX function block............................43 P
AxisControl_MDX_SingleAxis Sample Project.......40 PLC Editor .............................................................12
AxisControl_MDX_SingleAxis.pro..........................12 PROFIBUS ............................................................98
AxisControl_MDX_Technology ........................72, 81 Project extension ...................................................24
AxisControl_MDX_Technology project
Opening and starting..........................................61 Q
AxisControl_MDX_Technology.pro project
Questions...............................................................96
Adapting.............................................................62
R
C
Relative positioning................................................48
Communication problems ......................................96
S
D
Speed control.........................................................48
Data backup ...........................................................88
Startup ...................................................................11
DHE41B .........................................................97, 100
Startup of MOVIDRIVE® .......................................61
DHP11B ...........................................................96, 98
Structure of the safety notes....................................5
Synchronous operation
E Additional settings..............................................63
Electronic cam (AM_CAMING) ..............................85 Synchronous operation of MOVIDRIVE® ..............60
Synchronous operation (AM_GEARING) ..............86
F System requirements ...............................................8
Function blocks ......................................................40
Functionality of the application solution ...................7 T
Torque control operating mode..............................50
H
Homing...................................................................49 V
Virtual encoder.....................................................101
I
Input and output assignment..................................44
Integrating an automatic sequence ........................30
J
Jog mode, position controlled ................................49
Jog mode, speed controlled ...................................48
M
MOVIDRIVE® as master .......................................72

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MOVI-PLC AxisControl Sample Project - MAN - 05 - 2008

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Drive Technology \ Drive Automation \ System Integration \ Services

Manual – MOVI-PLC® AxisControl Application Solution 3

9 Synchronous Operation with MOVIDRIVE® as Master .................................. 72

4 Manual – MOVI-PLC® AxisControl Application Solution

Symbol SIGNAL WORD!

Symbol Signal word Meaning Consequences if

WARNING! Possible hazardous situation Severe or fatal injuries

CAUTION! Possible hazardous situation Minor injuries

STOP! Possible damage to property Damage to the drive system or its

NOTE Useful information or tip. Simpli-

1.2 Rights to claim under warranty

Manual – MOVI-PLC® AxisControl Application Solution 5

1.3 Exclusion of liability

1.4 Applicable documents

6 Manual – MOVI-PLC® AxisControl Application Solution

2.2 Functionality of the application solution

Additional functionality of the program AxisControl_MDX_Technology.pro:

These functions are completely based on the MPLCMotion_MDX, MPLCTec..._MDX

Manual – MOVI-PLC® AxisControl Application Solution 7

2.3 System requirements

An ApplicationBuilder interface is available for execution, control and monitoring of the

8 Manual – MOVI-PLC® AxisControl Application Solution

3 MOVIDRIVE® Control with AxisControl_MDX_SingleAxis

Manual – MOVI-PLC® AxisControl Application Solution 9

Then perform the 5 startup steps displayed in the figure below:

10 Manual – MOVI-PLC® AxisControl Application Solution

3.2 Startup of MOVIDRIVE® with the DIP11B option

Manual – MOVI-PLC® AxisControl Application Solution 11

3.3 Opening and starting the project AxisControl_MDX_SingleAxis.pro

Proceed as follows to create a new project:

12 Manual – MOVI-PLC® AxisControl Application Solution

[1] Directory on the hard drive of the engineering PC

Manual – MOVI-PLC® AxisControl Application Solution 13

3.3.2 Compiling and starting a new project

14 Manual – MOVI-PLC® AxisControl Application Solution

3.4 Adapting the AxisControl_MDX_SingleAxis.pro project

Deleting motor axes:

Adding a motor axis:

Adapting the control configuration:

Manual – MOVI-PLC® AxisControl Application Solution 15

You also have to adjust the Configuration_MDX function block:

16 Manual – MOVI-PLC® AxisControl Application Solution

3.4.1 Compiling and starting a new project

3.5 AxisControl_MDX function block

3.5.1 Input signals

Manual – MOVI-PLC® AxisControl Application Solution 17

Input signal Type Meaning

18 Manual – MOVI-PLC® AxisControl Application Solution

3.5.2 Output signals

Manual – MOVI-PLC® AxisControl Application Solution 19

3.6 Controlling MOVIDRIVE® via the Application Builder "Monitor AxisControl"

20 Manual – MOVI-PLC® AxisControl Application Solution

The following window is displayed:

Manual – MOVI-PLC® AxisControl Application Solution 21

1. Double-click on the HControl variable in the PLC_PRG_SinlgeAxis program of the

22 Manual – MOVI-PLC® AxisControl Application Solution

3.6.1 Application example

• Setpoint speed: 500 rpm

• Acceleration ramp: 2000 ms

• Braking ramp: 1000 ms

Manual – MOVI-PLC® AxisControl Application Solution 23

4 Adding a MOVIDRIVE® Drive to the Project

4.2.1 Starting up and parameterizing the 4 MOVIDRIVE® inverters