Edition MOVIDRIVE Multi-Motor Drives18 MOVIDRIVE® Multi-Motor Drives Analog connection (MOVIDRIVE®...

MOVIDRIVE® Multi-Motor DrivesEdition

10/2001

Manual1050 9011 / EN

2 Startpaket – Feldbusschnittstelle UFP11A

SEW-EURODRIVE

MOVIDRIVE® Multi-Motor Drives 3

Contents

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

2 System Description........................................................................................... 6

3 Project Planning................................................................................................ 73.1 Drive variants ............................................................................................ 73.2 Variant 1: Parallel connection ................................................................... 83.3 Variant 2: Master/slave mode ................................................................. 103.4 Variant 3: Mixed mode ............................................................................ 113.5 Calculation of the torsion angle............................................................... 123.6 Project planning for hoists....................................................................... 13

4 Installation ....................................................................................................... 144.1 Encoder connection ................................................................................ 144.2 Torque setpoint connection..................................................................... 154.3 Variant 1: Parallel connection ................................................................. 194.4 Variant 2: Master/slave mode ................................................................. 204.5 Variant 3: Mixed mode ............................................................................ 21

5 Startup.............................................................................................................. 235.1 Variant 1: Parallel connection ................................................................. 235.2 Variant 2: Master/slave mode ................................................................. 245.3 Variant 3: Mixed mode ............................................................................ 27

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4 MOVIDRIVE® Multi-Motor Drives

Safety and warning instructions

Designated use

®

®


Application environment

Safety functions

Waste disposal

®


Definition

®

Multi-motor drive

Group drive

03906AXXFig. 1: Example of a multi-motor drive

1. 1.2. 2.

3.

03907AXXFig. 2: Example of a group drive

1. 1. 1.

2.

3.


3.1 Drive variants

®

Overview of the variants

The following table lists the three variants and the peripheral conditions for their application:

Parallel connection Master/slave mode Mixed mode

• All motors are powered by one inverter. As a result, there is only one inverter to start up.

• Less time and effort spent on installation and lower unit costs.

• One motor per inverter.• Can be implemented with

asynchronous or synchronous motors.• More than six motors can be included

in the master/slave combination.• It is also possible with less rigid shaft

connections or shaft connections which are subject to play.

• More than six motors can be included in the particular master/slave combination.

• Each group of motors is powered by one inverter, which means less time and effort has to be spent on startup.

• Less time and effort spent on installation and lower unit costs.

Only possible with asynchronous motors. Asynchronous or synchronous motors possible. Only possible with asynchronous motors.

Up to six motors can be connected in parallel.

Operation is possible with more than six motors.

Operation is possible with more than six motors, although no more than six motors per parallel connection.

Sufficiently rigid shaft connection required: → ZP × ∆ϕ ≤ 20°.

No particular requirement in terms of the rigidity of the shaft connection.

Sufficiently rigid shaft connection required between the motors connected in parallel: → ZP × ∆ϕ ≤ 20°.

Possible operating modes:• VFC• VFC-n-CONTROL• CFC

Possible operating modes:• Master: CFC or SERVO• Slave: CFC & M-CONTROL or SERVO

& M-CTRL.

Possible operating modes:• Master: CFC• Slave: CFC & M-CONTROL

Operation without a tachometer is possible. Tachometer required on each motor. Tachometer required on one motor in each parallel connection.


3.2 Variant 1: Parallel connection

Project planning notes

ges

max

P∆ϕ → P × ∆ϕ ≤ →

03908AXXFig. 3: Variant 1: Parallel connection

1) No tachometer (encoder) is required in VFC mode (without speed control).

E QQ

ENCODER IN 1)

U / V / W

L1 / L2 / L3

04999AXX

II

nges ≤ max


→

Mot

drive

Mot

Mot × drive Mot

drive

inverter × drive


3.3 Variant 2: Master/slave mode


Mot

drive

Mot

Mot × drive Mot

Mot

03909AXXFig. 4: Variant 2: Master/slave mode

* SBus, RS-485 or analog setpoint connection (-10 – +10 V)

E QQ E QQ E Q E Q

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

U / V / W U / V / W U / V / W U / V / W

L1 / L2 / L3

Slave Master Slave Slave

* * *


3.4 Variant 3: Mixed mode


Mot

drive

Mot

Mot × drive Mot

drive

03910AXXFig. 5: Variant 3: Combination of parallel connection and master/slave mode

E QQ E QQ

EN

CO

DE

R IN

EN

CO

DE

R IN

U / V / W U / V / W

L1 / L2 / L3

Master Slave

SBus / RS-485 /-10 … +10 V


3.5 Calculation of the torsion angle

PrerequisiteP

∆ϕ→ P × ∆ϕ ≤

Example

Settings P

Mot_max

5

Calculation G_max × Mot_max

∆ϕ1 ∆ϕ3 G_max

∆ϕ2 × G_max

∆ϕ ∆ϕ1 ∆ϕ2 ∆ϕ3

∆ϕ ∆ϕ ×

P × ∆ϕ ×

03916AXXFig. 6: Settings

C1 C2 C3ii i i

ZPZP ZP ZP

MMot_max MMot_max MMot_max MMot_max

1 2 3 4


3.6 Project planning for hoists

Thermal considerations

Starting torque

VFC&HOIST

Encoder monitoring

®

04949AENFig. 7: a = Recommended voltage/speed characteristic curve and resultant torque characteristic

00

00 1500

(1800)2100

(2500)1500

(1800)2100

(2500)

a

aa

a

1.0

M/MN1.4

n[rpm]

n[rpm]

Vmax

VMot

Torque reserve range

nbase


4.1 Encoder connection

DC®

DC

®

Encoder MOVIDRIVE® connection

Track A (K1) X15:1

Track B (K2) X15:2

Track C (K0) X15:3

Track /A (/K1), do not connect with HTL sensors! X15:6

Track /B (/K2), do not connect with HTL sensors! X15:7

Track /C (/K0), do not connect with HTL sensors! X15:8


4.2 Torque setpoint connection

® ® compact

®

®

SBus connection

02205BENFig. 8: System bus connection MOVIDRIVE® MD_60A

02411AENFig. 9: System bus connection MOVIDRIVE® compact MCF/MCV/MCS4_A

X11:REF1AI11AI12

AGNDREF2

12345

X12:DGNDSC11SC12

123

S 12S 11

ON OFF

X11:REF1AI11AI12

AGNDREF2

12345

X12:DGNDSC11SC12

123

S 12S 11

ON OFF

X11:REF1AI11AI12

AGNDREF2

12345

X12:DGNDSC11SC12

123

S 11S 12

ON OFF

y y y y

Control unit Control unit Control unit

System busref.potential



System bus high System bus high System bus highSystem bus low System bus low System bus low

System busTerminating resistor



X10: X10: X10:

17 17 17

S 12S 11

S 12S 11 S 11

S 12ON OFF ON OFF ON OFF

y y y y

1234567

1234567

1234567

SC11

SC12

DGND

SC11

SC12

DGND

SC11

SC12

DGND


Referencepotential

Referencepotential

Referencepotential

System bus high System bus high System bus high

System bus low System bus low System bus low





Cable specification

2

Ω≤

Shield contact

Line length

→→→→

Terminating resistor

05210AENFig. 10: System bus connection MOVIDRIVE® compact MCH4_A

X10: X10: X10:

S 12 S 12 S 12S 11 S 11 S 11

ON OFF ON OFF ON OFF

y y y y

123456789

1011

123456789

1011

123456789

1011

SC11SC12DGNDSC21SC22



Reference potential Reference potential









Reference potential


RS-485 connection (MOVIDRIVE® MD_60A only)

Cable specification

2

Ω≤

Shield contact

Line length

Terminating resistor

02206AENFig. 11: RS-485 connection

X13: X13: X13:

DGNDST11ST12

DGNDST11ST12

DGNDST11ST12

DIØØDIØ1DIØ2DIØ3DIØ4DIØ5

DCOMVO24


DCOMVO24


DCOMVO24

91011

91011

91011

12345678

12345678

12345678

RS-485 - RS-485 - RS-485 -RS-485 + RS-485 + RS-485 +

y y y y



Analog connection(MOVIDRIVE® MD_60A only)

Number of units

Cable specification

Shield contact ®

Permitted total line length

No potential displacement

Terminal control

03918AENFig. 12: Analog connection

X11: X11: X11:REF1AI11AI12

AGNDREF2

REF1AI11AI12

AGNDREF2

REF1AI11AI12

AGNDREF2

12345

12345

12345

y y y y

+

-

+

-

+

-n1 n1 n1

X21:AOV1AOC1AGNDAOV2AOC2AGND

123456

DIO11A

MasterControlunit

SlaveControlunit

SlaveControlunit



Motor connection

03912AXXFig. 13: Phase assignment

E QQ

ENCODER IN

U / V / W

L1 / L2 / L3

U / V / W U / V / W U / V / W

V / U / W



Motor connection

03913AENFig. 14: Phase assignment and P350 "Change direction of rotation 1"

E QQ E Q E QQ E QQ

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

EN

CO

DE

R IN

/R

ES

OLV

ER

IN

U / V / W U / V / W U / V / W U / V / W

L1 / L2 / L3

Master

U / V / W U / V / W U / V / W

U /

V /

W

SlaveP350 = OFF

SlaveP350 = OFF

SlaveP350 = ON



Motor with tachometer


E Q E QQ

EN

CO

DE

R IN

EN

CO

DE

R IN

U / V / W

U / V / W U / V / W

U /

V /

W

U / V / W

U / V / W

L1 / L2 / L3

SBus / RS-485 /-10 … +10 V

Master SlaveP350 = ON


Motor without tachometer


E Q E QQE

NC

OD

ER

IN

EN

CO

DE

R IN

U / V / W

U / V / W U / V / W U / V / W

V / U / W

U / V / W

L1 / L2 / L3

SBus / RS-485 /-10 … +10 V

Master SlaveP350 = OFF



Standard startup

®

03919AENFig. 17: Setting the number of motors connected in parallel

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Master inverter

05265AENFig. 18: Setting the number of motors connected in parallel

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Slave inverter

→

03957AENFig. 19: Number of slave axes

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Parameters

Parameters Master inverter Slave inverter

P100 Setpoint source For example, BIPOL./FIX.SETPT

• With SBus connection: MASTER-SBus.• With RS-485 connection: MASTER-RS-485• With analog connection (AO1 → AI1):

BIPOL./FIX.SETPT

P101 Control signal source For example, TERMINALS

• Not effective with SBus and RS-485 connection.

• With analog connection (AO1 → AI1), for example TERMINALS.

P110 AI1 scalingEffective with analog connection only (AO1 → AI1)

- • Always set 1 (= factory setting). Use P350 if there is an opposite mechanical connection.

P136 Stop ramp t13P137 Emergency ramp t14 As required • Same values as master inverter

P350 Change direction of rotation 1 - • Set differently from the master inverter if there

is an opposite mechanical connection.

P640 Analog output AO1Effective with analog connection only (AO1 → AI1)

ACTIVE CURRENT -

P641 Scaling AO1Effective with analog connection only (AO1 → AI1)

1 -

P642 Operating mode AO1Effective with analog connection only (AO1 → AI1)

-10V..10V -

P700 Operating mode 1 CFC or SERVO CFC & M-CONTROL or SERVO & M-CTRL.

P750 Slave setpoint

• With SBus connection: TORQUE (SBus).• With RS-485 connection: TORQUE (RS-

485)• With analog connection (AO1 → AI1):

MASTER-SLAVE OFF

MASTER-SLAVE OFF

P751 Scaling slave setpointEffective with SBus and RS-485 connection only


P811 RS-485 group address With RS-485 connection only: Set to the same value.

P814 SBus group address With SBus connection only: Set to the same value.

P816 SBus baud rate With SBus connection only: Set to the same value.

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Parallel connection

Master/slave mode

Parameters Master inverter Slave inverter

P100 Setpoint source For example, BIPOL./FIX.SETPT

• With SBus connection: MASTER-SBus.• With RS-485 connection: MASTER-RS-485• With analog connection (AO1 → AI1):

BIPOL./FIX.SETPT

P101 Control signal source For example, TERMINALS

• Not effective with SBus and RS-485 connection.

• With analog connection (AO1 → AI1), for example TERMINALS.

P110 AI1 scalingEffective with analog connection only (AO1 → AI1)


P136 Stop ramp t13P137 Emergency ramp t14 As required • Same values as master inverter

P350 Change direction of rotation 1 - • Set differently from the master inverter if there

is an opposite mechanical connection.

P640 Analog output AO1Effective with analog connection only (AO1 → AI1)

ACTIVE CURRENT -

P641 Scaling AO1Effective with analog connection only (AO1 → AI1)

1 -

P642 Operating mode AO1Effective with analog connection only (AO1 → AI1)

-10V..10V -

P700 Operating mode 1 CFC CFC & M-CONTROL

P750 Slave setpoint

• With SBus connection: TORQUE (SBus).• With RS-485 connection: TORQUE (RS-

485)• With analog connection (AO1 → AI1):

MASTER-SLAVE OFF

MASTER-SLAVE OFF

P751 Scaling slave setpointEffective with SBus and RS-485 connection only


P811 RS-485 group address With RS-485 connection only: Set to the same value.

P814 SBus group address With SBus connection only: Set to the same value.

P816 SBus baud rate With SBus connection only: Set to the same value.

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SEW-EURODRIVE GmbH & Co · P.O. Box 3023 · D-76642 Bruchsal/Germany · Phone +49-7251-75-0Fax +49-7251-75-1970 · http://www.sew-eurodrive.com · [email protected]

Edition MOVIDRIVE Multi-Motor Drives18 MOVIDRIVE® Multi-Motor Drives Analog connection (MOVIDRIVE®...

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