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
®
®
MOVIDRIVE® Multi-Motor Drives 5
Application environment
Safety functions
Waste disposal
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6 MOVIDRIVE® Multi-Motor Drives
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.
MOVIDRIVE® Multi-Motor Drives 7
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.
8 MOVIDRIVE® Multi-Motor Drives
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
MOVIDRIVE® Multi-Motor Drives 9
→
Mot
drive
Mot
Mot × drive Mot
drive
inverter × drive
10 MOVIDRIVE® Multi-Motor Drives
3.3 Variant 2: Master/slave mode
Project planning notes
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
* * *
MOVIDRIVE® Multi-Motor Drives 11
3.4 Variant 3: Mixed mode
Project planning notes
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
12 MOVIDRIVE® Multi-Motor Drives
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
MOVIDRIVE® Multi-Motor Drives 13
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
14 MOVIDRIVE® Multi-Motor Drives
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
MOVIDRIVE® Multi-Motor Drives 15
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 busref.potential
System busref.potential
System bus high System bus high System bus highSystem bus low System bus low System bus low
System busTerminating resistor
System busTerminating resistor
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
Control unit Control unit Control unit
Referencepotential
Referencepotential
Referencepotential
System bus high System bus high System bus high
System bus low System bus low System bus low
System busTerminating resistor
System busTerminating resistor
System busTerminating resistor
16 MOVIDRIVE® Multi-Motor Drives
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
SC11SC12DGNDSC21SC22
SC11SC12DGNDSC21SC22
Reference potential Reference potential
System bus high System bus high System bus high
System bus high System bus high System bus high
System bus low System bus low System bus low
System bus low System bus low System bus low
System busTerminating resistor
System busTerminating resistor
System busTerminating resistor
Control unit Control unit Control unit
Reference potential
MOVIDRIVE® Multi-Motor Drives 17
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
DIØØDIØ1DIØ2DIØ3DIØ4DIØ5
DCOMVO24
DIØØDIØ1DIØ2DIØ3DIØ4DIØ5
DCOMVO24
91011
91011
91011
12345678
12345678
12345678
RS-485 - RS-485 - RS-485 -RS-485 + RS-485 + RS-485 +
y y y y
Control unit Control unit Control unit
18 MOVIDRIVE® Multi-Motor Drives
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
MOVIDRIVE® Multi-Motor Drives 19
4.3 Variant 1: Parallel connection
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
20 MOVIDRIVE® Multi-Motor Drives
4.4 Variant 2: Master/slave mode
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
MOVIDRIVE® Multi-Motor Drives 21
4.5 Variant 3: Mixed mode
Motor with tachometer
03914AENFig. 15: Phase assignment and P350 "Change direction of rotation 1"
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
22 MOVIDRIVE® Multi-Motor Drives
Motor without tachometer
03915AENFig. 16: Phase assignment and P350 "Change direction of rotation 1"
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
MOVIDRIVE® Multi-Motor Drives 23
5.1 Variant 1: Parallel connection
Standard startup
®
03919AENFig. 17: Setting the number of motors connected in parallel
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24 MOVIDRIVE® Multi-Motor Drives
5.2 Variant 2: Master/slave mode
Master inverter
05265AENFig. 18: Setting the number of motors connected in parallel
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MOVIDRIVE® Multi-Motor Drives 25
Slave inverter
→
03957AENFig. 19: Number of slave axes
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26 MOVIDRIVE® Multi-Motor Drives
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
- • Always set 1 (= factory setting). Use P350 if there is an opposite mechanical connection.
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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MOVIDRIVE® Multi-Motor Drives 27
5.3 Variant 3: Mixed mode
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)
- • 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 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
- • Always set 1 (= factory setting). Use P350 if there is an opposite mechanical connection.
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]