SEW-Eurodrive DRS11B Manual de usuario

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

MOVIDRIVE

MDX61B

DRS11B Synchronous Operation Card

anual

Edition 10/2007

11671815 / EN

SEW-EURODRIVE – Driving the world

Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card 3

1 General Information ............................................................................................... 4

1.1 Structure of the safety notes .......................................................................... 4

1.2 Right to claim under warranty ........................................................................ 4

1.3 Exclusion of liability........................................................................................ 4

2 Safety Notes .......................................................................................................... 5

2.1 Other applicable documentation .................................................................... 5

2.2 Safety functions ............................................................................................. 5

2.3 Hoist applications........................................................................................... 5

2.4 Product names and trademarks..................................................................... 5

2.5 Waste disposal............................................................................................... 5

3 Introduction ............................................................................................................ 6

3.1 System description......................................................................................... 6

4 Project Planning..................................................................................................... 8

4.1 Application examples ..................................................................................... 8

4.2 Project planning information......................................................................... 10

4.3 Synchronous operation with wire-break monitoring of encoder connection. 11

4.4 Synchronous start/stop ................................................................................ 12

4.5 Synchronous operation with synchronous encoder ..................................... 13

5 Assembly and Installation Notes........................................................................ 14

5.1 Mounting the DRS11B option card............................................................... 14

5.2 Connection and terminal description of the DRS11B option........................ 16

5.3 Installation notes .......................................................................................... 17

5.4 Connection example MDX61B master - MDX61B slave.............................. 20

5.5 Connection of incremental encoder as master............................................. 21

6 Startup................................................................................................................... 22

6.1 Introduction .................................................................................................. 22

6.2 Brief description of the startup process........................................................ 23

6.3 Preliminary work........................................................................................... 24

6.4 Activating synchronous operation ................................................................ 24

6.5 Testing synchronous operation with mounted drives................................... 25

6.6 Examples for calculating P221 and P222 .................................................... 26

7 Parameter.............................................................................................................. 29

7.1 Relationship between parameter values and output speed ......................... 29

7.2 Signaling functions....................................................................................... 30

7.3 Parameter descriptions ................................................................................ 32

8 Fault Messages and List of Faults...................................................................... 39

8.1 DRS1B synchronous operation card option................................................. 39

9 Technical Data...................................................................................................... 41

9.1 DRS11B synchronous operation card option............................................... 41

4Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card

1Structure of the safety notes

General Information

Manual

1 General Information

1.1 Structure of the safety notes

The safety notes in this manual are designed as follows:

1.2 Right to claim under warranty

A requirement of fault-free operation and fulfillment of any rights to claim under limited

warranty is that you adhere to the information in the documentation. Therefore, read the

manual before you start operating the device!

Make sure that the manual is available to persons responsible for the plant and its op-

eration, as well as to persons who work independently on the device. You must also en-

sure that the documentation is legible.

1.3 Exclusion of liability

You must comply with the information contained in the MOVIDRIVE®documentation to

ensure safe operation and to achieve the specified product characteristics and perfor-

mance requirements. SEW-EURODRIVE assumes no liability for injury to persons or

damage to equipment or property resulting from non-observance of these operating in-

structions. In such cases, any liability for defects is excluded.

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:

General hazard

Specific hazard,

e.g. electric shock

HAZARD! Imminent hazard Severe or fatal injuries

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

environment

NOTE Useful information or tip

Simplifies drive system handling

Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card 5

Other applicable documentation

Safety Notes

2 Safety Notes

2.1 Other applicable documentation

• Only electrical specialists are allowed to perform installation and startup observing

relevant accident prevention regulations and the "MOVIDRIVE®MDX60B/61B" op-

erating instructions!

• Read through these documents carefully before you commence installation and star-

tup of the DRS11B option.

• As a prerequisite to fault-free operation and fulfillment of warranty claims, you must

adhere to the information in the documentation.

2.2 Safety functions

The MOVIDRIVE®MDX61B drive inverters may not perform safety functions without

higher-level safety systems. Use higher-level safety systems to ensure protection of

equipment and personnel.

For safety applications, refer to the information in the following publications.

• Safe disconnection for MOVIDRIVE®B

2.3 Hoist applications

MOVIDRIVE®MDX60B/61B may not be used as a safety device in hoist applications.

Use monitoring systems or mechanical protection devices as safety equipment to avoid

possible damage to property or injury to people.

2.4 Product names and trademarks

The brands and product names in this manual are trademarks or registered trademarks

of the titleholders.

2.5 Waste disposal

Please follow the current national regulations.

Dispose of the following materials separately in accordance with the country-specific

regulations in force, as:

• Electronics scrap

• Plastics

• Sheet metal

• Copper

etc.

6Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card

3System description

Introduction

3 Introduction

3.1 System description

The "DRS11B synchronous operation card" enables a group of motors to be operated

at a synchronous angle in relation to one another or with an adjustable proportional re-

lationship (electronic gear).

The drive that specifies the position is known as the "master." This can also be an incre-

mental encoder. The drive that follows the position specification is known as the "slave".

To be able to function in this way, the master and slave motors must be equipped with

encoders. MOVIDRIVE®MDX61B with the "DRS11B synchronous operation card" op-

tion is used as the slave drive.

The "DRS11B synchronous operation card" option must be plugged into the expansion

slot and can only be operated in conjunction with the DEH11B or DER11B option.

The master and slave pulses counted are converted for the output side using parameter

P221/P222 (master and slave gear ratio factor). They are a measure for the pulses

counted per travel unit.

The system determines the difference of the distance information from master and slave

and stores this value in the form of incremental encoder signals in an internal differential

counter. Binary messages are set, e.g. "DRS SLAVE IN POS," "LAG ERROR," etc. de-

pending on the difference. The counter is evaluated differently for the various operating

modes (P223) (→section 7.3).

The controller calculates the speed correction value for the slave drive to minimize the

angle differential between the master and slave. To do so, the current angle differential

is multiplied by the parameter P220 P gain. The result is a correction value for the slave

speed.

• Master and slave run synchronously, differential value = 0 →correction value = 0

• Slave follows master, differential value > 0 →correction value > 0, slave accelerates

• Slave runs ahead of master, differential value < 0 →correction value < 0, slave de-

celerates

The value of the P gain (P220) is a significant factor for determining the movement char-

acteristics of synchronous operation control.

• If the P gain is set too high, the system tends to oscillate.

• If the P gain is set too low, the angle differential cannot be reduced in a transient state

(acceleration or deceleration).

STOP!

The slave inverter must be equipped with a braking resistor for synchronous operation

of master and slave. The master inverter may also have to be equipped with a braking

resistor for regenerative operation, depending on the application.

Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card 7

System description

Introduction

Block circuit diagram for synchronous operation control

56502AEN

Master encoder

X42:

P230 synchronous encoder

P230 OFF or EQUAL-RANKED

P230 Synchronous encoder

P516 Encoder monitoring

P517 Pulse count monitoring

P230 CHAIN

P518 Encoder monitoring

P519 Pulse counter monitoring

P234 Master encoder resol. P222 Slave gear ratio factor

P228 Filter feedforward DRS

P224 Slave counter P220 P gain (DRS)

P230 Synchronous encoder

P232 Maximum speed 1

Speed of

setpoint slave

EQUAL-RANKED

or CHAIN

EQUAL-RANKED

or CHAIN

Binary outputs

OFF= Slave within

position tolerance

OFF

DRS zero point

P221 Master gear ratio factor

Speed feedforward

Differentiator

Counter

Master pusles

Counter

Slave pulses

P controller

Counter LED (green)

display

Counter LED (green)

display

Lag error

Slave in position

Monitoring

P222

P221

X43:

Incremental encoder

simulation

X14:

Slave

synchronous encoder

X41:

Motor

synchronous encoder

X15:

P221

P232

P231

Angle difference

in increments

8Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card

4Application examples

Project Planning

4 Project Planning

4.1 Application examples

Example 1 Group configuration: Master and equal-ranked slaves, e.g. multiple column hoist.

Example 2 Master/slave chain: e.g. conveyor belts connected in succession.

56508AEN

X15

X14 X42

Encoder feedback

Master

Speed n1

X15

X43 X42

Encoder feedback

Slave 1

Speed n2

DRS11B

X15

X43 X42

Encoder feedback

Slave 2

Speed n2

X15

Encoder feedback

Slave 3

Speed n2

56509AEN

X15

X14 X42

Encoder feedback

Master 1

Speed n1

X15

X14 X42

Encoder feedback

Master 2

Slave 1

Speed n2

DRS11B

X15

X14 X42

Encoder feedback

Master 3

Slave 2

Speed n3

X15

Encoder feedback

Master 4

Slave 3

Speed n4

Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card 9

Application examples

Project Planning

Example 3 Master/slave chain with external master incremental encoder:

Example 4 Master/slave chain with additional synchronous encoders:

56510AEN

X42

Master 1

eed n1

X15

X14 X42

Encoder feedback

Master 2

Slave 1

eed n2

DRS11B

X15

X14 X42

Encoder feedback

Master 3

Slave 2

eed n3

X15

Encoder feedback

Master 4

Slave 3

eed n4

Encoders

with external

voltage

supply

56511AEN

X15

X14 X42

Encoder feedback

Master 1

Speed n1

X41

X15

X43 X42

Encoder feedback

Master 2

Slave 1

Speed n2

DRS11B

X15

X43 X42

Encoder feedback

Master 3

Slave 2

Speed n3

X15

Encoder feedback

Master 4

Slave 3

Speed n4

Synchr.

encoder

Slave1

X41

DRS11B

Synchr.

encoder

Slave 2

X41

DRS11B

Synchr.

encoder

Slave 3

10 Manual – MOVIDRIVE® MDX61B DRS11B Synchronous Operation Card

4Project planning information

Project Planning

4.2 Project planning information

Observe the following project planning instructions:

• Do not use synchronous operation with systems that have a rigid mechanical con-

nection.

• Equip slave inverters with a braking resistor.

• They must activate an offset only if a previous angular offset has been processed.

• During project planning for a synchronous operation application, bear in mind that the

slave must be able to reduce the angle differential between itself and the master at

any time. For this reason, set the maximum speed (P302) of the slave to a value

greater than the maximum speed of the master.

If you set the maximum speed higher than the rated motor speed in the case of AC

asynchronous motors, the full motor torque is no longer available in the field weak-

ening range. This can lead to lag errors (F42) in certain master/slave combinations.

Furthermore, synchronization during the transition from free-running to synchronous

operation can be performed at maximum acceleration or using an adjustable ramp

(P24_ Synchronous operation with synchronization).

• Always activate the wire-break monitoring function with synchronous operation

(→Sec. 4.3).

• If possible, always use the same type of drives for synchronous operation.

• In the case of multiple column hoists, always use the same motors and the same

gear units (identical ratios).

• In the case of group configuration (1 master and x equal-ranked slaves), a maximum

of 5 binary inputs on the slave inverter can be connected to one binary output on the

master.

• If the master is stationary when the power supply is switched on and the power to the

slave is switched off and on again, the slave has the operating status "NO ENABLE."

• If the master is moving when the power supply is switched on and the power to the

slave is switched off, the master issues the fault "EXTERNAL TERMINAL" (F26).

When the slave is reconnected to the power supply, the slave can detect the fault

"LAG ERROR" (F42) depending on the lag error limit set (P512).

• Observe the MOVIDRIVE®MDX60B/61B operating instructions when connecting a

motor encoder to the EH11B / DER11B:X15 option.

• Note the following during operation with the option DEH11B / DER11B:

– DEH11B: The number of pulses (X14) is identical to X15 motor encoder input

– DER11B: The number of pulses is always 1024 pulses per revolution

• The following encoders can be connected at the inputs X41 and X42:

– DC 5 V TTL encoders, encoders with RS422 signal properties, sin/cos encoders

• The maximum permitted input frequency of the encoder inputs is 200 kHz

• When using synchronous encoders, the ratio of the position resolutions between the

motor encoder and synchronous encoder should lie within the range 0.1 ... 10.

• Install the encoder on the moving machine component with a positive connection

(slip-free).

• If the master is an external incremental encoder, use incremental encoders with as

high a resolution as possible. However, the maximum input frequency of 200 kHz

must not be exceeded.

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