SEW Eurodrive MOVITRAC LTX Operating Instructions

Drive Technology \ Drive Automation \ System Integration \ Services

Addendum to the Operating Instructions

MOVITRAC® LTX

Servo Module for MOVITRAC® LTP-B

Edition 09/2011

19352026 / EN

SEW-EURODRIVE—Driving the world

Contents

Contents

1	Important Notes...................................................................................................		5
	1.1	Use of this documentation .........................................................................	5
	1.2	Structure of the safety notes .......................................................................	5
	1.3	Rights to claim under limited warranty ........................................................	7
	1.4	Exclusion of liability.....................................................................................	7
	1.5	Copyright notice ..........................................................................................	7
	1.6	Other applicable documentation .................................................................	7
	1.7	Product names and trademarks..................................................................	7

2	Unit Design ..........................................................................................................		8
	2.1	MOVITRAC® LTX .......................................................................................	8
	2.2	Unit designation ..........................................................................................	8
3	Mechanical Installation.......................................................................................		9
	3.1	Installing MOVITRAC® LTX ........................................................................	9
	3.2	Removing MOVITRAC® LTX ....................................................................	10
4	Electrical Installation ........................................................................................		11
	4.1	Overview of signal terminals for keypad mode .........................................	12

4.2Overview of signal terminals for terminal mode (internal ramp

		control of the LTP without controller/gateway)..........................................	14
	4.3	Overview of signal terminals for third-party controllers .............................	16
	4.4	Overview of signal terminals for SEW controllers .....................................	19
	4.5	Overview of signal terminals for SEW gateways ......................................	21
	4.6	Overview of relay terminals and X13 ......................................................	23
5	Startup................................................................................................................		24
	5.1	User interface............................................................................................	24
	5.2	Simple startup of MOVITRAC® LTX .........................................................	26
	5.3	Software....................................................................................................	37
	5.4	Control loop optimization in different operating modes.............................	38
6	Parameters.........................................................................................................		43
	6.1	LTX-specific parameters (level 1) .............................................................	43
	6.2	P1-14 extended parameter access ...........................................................	44
	6.3	P1-15 binary input function selection, LTX-specific parameters ...............	44
	6.4	P1-16 motor type ......................................................................................	46
	6.5	P1-17 Smart Servo operation ...................................................................	47
	6.6	P1-21 Stiffness..........................................................................................	47
	6.7	P1-22 motor load inertia............................................................................	48
	6.8	P2-01 preset speed 1................................................................................	48
	6.9	P2-05 preset speed 5................................................................................	48
	6.10	P2-06 preset speed 6................................................................................	48
	6.11	P2-21 display scaling factor ......................................................................	48
	6.12	LTX function parameter set (level 3).........................................................	49

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			3

Contents

7	Technical Data and Dimension Sheets ...........................................................		56
	7.1	Environment..............................................................................................	56
	7.2	Technical data X14 application connection...............................................	56

7.3Mass moment of inertia values for CMP motors in the

Smart Servo Package ...............................................................................	56
7.4 MOVITRAC® LTX dimension drawing .....................................................	57
Index...................................................................................................................	58

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4			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module

	Important Notes	1
	Use of this documentation

1 Important Notes

1.1Use of this documentation

The documentation is part of the product and contains important information about installation, startup, operation and service. The documentation is written for all employees who install, startup, and service this product.

The documentation must be accessible and legible. Make sure that persons responsible for the system and its operation, as well as persons who work independently on the unit, have read through the documentation carefully and understood it. If you are unclear about any of the information in this documentation, or if you require further information, contact SEW-EURODRIVE.

1.2Structure of the safety notes

Unless the information in the documentation is adhered to, it will be impossible to ensure:

•Trouble-free operation

•Fulfillment of any rights to claim under guarantee

Consequently, read the operating instructions before you start working with the unit!

The operating instructions contain important information about servicing. Therefore, keep the operating instructions close to the unit.

1.2.1Meaning of the signal words

The following table shows the grading and meaning of the signal words for safety notes, notes on potential risks of damage to property, and other notes.

Signal Word	Meaning	Consequences if disregarded
DANGER	Imminent danger	Severe or fatal
		injuries
WARNING	Possible dangerous situation	Severe or fatal
		injuries
CAUTION	Possible dangerous situation	Minor injuries
NOTICE	Possible damage to property	Damage to the drive system or its environ-
		ment
INFORMATION	Useful information or tip: Simplifies
	the handling of the drive system.

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			5

	1	Important Notes
		Structure of the safety notes

1.2.2Structure of the section safety notes

The section safety notes do not apply to a specific action, but to several actions pertaining to one subject. The pictograms used indicate either a general or a specific hazard.

This is the formal structure of a section safety note:

SIGNAL WORD

Nature and source of hazard.

Possible consequence(s) if disregarded.

•Measure(s) to prevent the hazard.

This is an example of a section safety note:

WARNING

Falling of suspended loads.

Severe or fatal injuries.

•Do not stand under the suspended load.

•Secure the danger zone.

1.2.3Structure of the embedded safety notes

The embedded safety notes are directly integrated in the instructions just before the description of the dangerous action.

This is the formal structure of an embedded safety note:

•SIGNAL WORD Nature and source of hazard. Possible consequence(s) if disregarded.

– Measure(s) to prevent the hazard.

This is an example of an embedded safety note:

•DANGER Risk of crushing if the drive restarts unintentionally. Severe or fatal injuries.

–De-energize the drive.

–Secure the drive against unintended restart.

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6			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module

	Important Notes	1
	Rights to claim under limited warranty

1.3Rights to claim under limited 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 MOVITRAC® LTP-B documentation. Read the documentation before you start working with the unit!

Make sure that the documentation is available to persons responsible for the system and its operation as well as to persons who work independently on the unit. You must also ensure that the documentation is legible.

1.4Exclusion of liability

You must comply with the information contained in this documentation to ensure safe operation and to achieve the specified product characteristics and performance features. SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment or property resulting from non-observance of the documentation. In such cases, any liability for defects is excluded.

1.5Copyright notice

©2011 – SEW-EURODRIVE. All rights reserved.

Unauthorized duplication, modification, distribution or any other use of the whole or any part of this documentation is strictly prohibited.

1.6Other applicable documentation

This document supplements the MOVITRAC® LTP-B Operating Instructions. Only use this document in connection with the MOVITRAC® LTP-B Operating Instructions.

1.7Product names and trademarks

The brands and product names contained within this publication are trademarks or registered trademarks of the titleholders.

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			7

2	Unit Design
	MOVITRAC® LTX

2 Unit Design

2.1MOVITRAC® LTX

The following figure shows the MOVITRAC® LTX servo module:

[1]

[3]

[2]

[4]

3575503499

[1]X14 Application connector

[2]X13 Motor feedback connector

[3]Detent nose

[4]Retaining button

2.2Unit designation

2.2.1Sample nameplate

LTX-H1A

	LTX Servomodule
Serial No.: 00655685402020		18239226
Read User
guide before	Firmware:	0.00
installation	Packed in the UK
CAUTION or servicing
LT X - H 1 A
	Production status
	Variant
	Secondary functionality		H = Hiperface
	Primary functionality		X = Servo module

Indicator for the LT option module

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8			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module

Mechanical Installation	3
Installing MOVITRAC® LTX

3Mechanical Installation

•INFORMATION

Motor cables can only be connected when the MOVITRAC® LTX module is not plugged because some motor connections may be covered by the LTX module.

3.1Installing MOVITRAC® LTX

To convert MOVITRAC® LTP-B into MOVITRAC® LTX, carry out the following steps: 1. Remove the protective cover from the LTX slot.

B-
LTP	MOVITRAC

EMC	VAR

3577877003

2.Carefully insert the LTX servo module into the slot. Make sure you insert the LTX module evenly to prevent the pins from being damaged.

3551073931

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			9

3	Mechanical Installation
	Removing MOVITRAC® LTX

3. Secure the LTX servo module by pressing the retaining button [1].

B-
LTP	MOVITRAC

[2]

[1]

9	10
8
7
6

5 4 3 2 1

EMC	VAR

3579840267

[1]Retaining button

[2]Detent nose

3.2Removing MOVITRAC® LTX

To unlock the LTX servo module, push the detent nose [2] in the direction of the slot to release the retaining button [1].

B-
LTP	MOVITRAC

EMC	VAR

[2]

[1]

			12	13
		11
	10
9
8
7
6
5
4
3
2
1
							17	18
						16
					15
				14
								W
								V
				BR
			+

3579838347

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10			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module

Electrical Installation	4

4 Electrical Installation

This chapter illustrates the wiring of the following connections:

•Main terminals

•Relay terminals

•Motor encoder X13

•Application connection X14

The wiring of the main terminals and the application connection depends on the operating mode of the drive. The drive offers the following operating modes:

•Keypad mode

•Terminal mode

•External control mode

•SEW controller mode

•Operation via gateway

Proper functioning requires wiring according to the respective operating mode. The wiring options are therefore described in different sub-chapters.

We strongly recommend to perform a simple startup first as this chapter refers to the respective sub-chapter regarding the wiring according to the selected operating mode.

The connection X13 for the motor encoder and the relay terminals are wired in the same way for all operating modes. This is why the wiring is only described once for those two connections.

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			11

	4	Electrical Installation
		Overview of signal terminals for keypad mode

4.1Overview of signal terminals for keypad mode

4.1.1Main terminals

IP20 and IP55

+24 V

DI 1

DI 2

DI 3

+10 V

AI 1 / DI 4

0 V

AO 1 / DO 1

0 V

AI 2 / DI 5

AO 2 / DO 2

PSE+

PSE–

12 3 4 5 6 7 8 9 10 11 12 13

3614563083

The signal terminal block is equipped with the following signal connections:

Terminal	Signal	Function	Description
no.		P1-12 = 1
		P1-15 = 1
		(pre-assigned)
1	+24 V	Output +24 V reference	Ref. for the activation of DI1 – DI3 (max. 100 mA)
		voltage
2	DI1	Enable	Positive logic
3	DI2	n.s.1)	"Logic 1" input voltage range: DC 8 – 30 V
			"Logic 0" input voltage range: DC 0 – 2 V
4	DI3	n.s. 1)
			Compatible with PLC requirement if 0 V is connected
			to terminal 7 or 9.
5	+10 V	n.s. 1)	10 V ref. for analog input
			(Pot. supply +, 10 mA max., 1 kΩ min.)
6	AI1 / DI4	n.s. 1)	0	– 10 V, 0 – 20 mA, 4 – 20 mA
			"Logic 1" input voltage range: DC 8 – 30 V
7	0 V	0 V reference potential	0	V reference potential (Pot. supply –)
8	AO1 / DO1	n.s. 1)	0	– 10 V, 20 mA analog
			24 V, 20 mA digital
9	0 V	0 V reference potential	0	V reference potential
10	AI2 / DI5	n.s. 1)	0	– 10 V, 0 – 20 mA, 4 – 20 mA
			"Logic 1" input voltage range: DC 8 – 30 V
11	AO2 / DO2	n.s. 1)	0	– 10 V, 20 mA analog
			24 V, 20 mA digital
12	PSE +	Output stage enable	+24 V must be connected to PSE+
13	PSE–		GND must be connected to PSE–

1) Do not connect any cables

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12			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module

	Electrical Installation	4
	Overview of signal terminals for keypad mode

4.1.2Application connection assignment X14

Terminal	Signal	Function	Connector type
no.		P1-17 = 1 (pre-assigned)

		11)		n.s.2)	X14
			DI11
		21)	DI12	n.s. 2)
		31)	DI13	n.s. 2)
	1	41)	DI14 /	n.s. 2)
9		51)	AI11	n.s. 2)
			PI1
		61)	/PI1	n.s. 2)
		71)	PI2	n.s. 2)	D-sub 15-pole
		81)		n.s. 2)
			/PI2		(male)
		9	A	n.s. 2)
		10	/A	n.s. 2)
15	8	11	B	n.s. 2)
		12	/B	n.s. 2)
		13	Z	n.s. 2)
		14	/Z	n.s. 2)
		15		0 V

1)Terminal assignment depends on parameter settings

2)Do not connect any cables

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			13

	4	Electrical Installation
		Overview of signal terminals for terminal mode (internal ramp control of the

4.2Overview of signal terminals for terminal mode (internal ramp control of the LTP without controller/gateway)

4.2.1Main terminals

IP20 and IP55

+24 V

DI 1

DI 2

DI 3

+10 V

AI 1 / DI 4

0 V

AO 1 / DO 1

0 V

AI 2 / DI 5

AO 2 / DO 2

PSE+

PSE–

12 3 4 5 6 7 8 9 10 11 12 13

3616350731

The signal terminal block is equipped with the following signal connections:

Terminal	Signal	Function	Description
no.		P1-12 = 0
		P1-15 = 1
		(pre-assigned)
1	+24 V	Output +24 V reference	Ref. for the activation of DI1 – DI3 (max. 100 mA)
		voltage
2	DI1	Enable	Positive logic
3	DI2	n.s.1)	"Logic 1" input voltage range: DC 8 – 30 V
			"Logic 0" input voltage range: DC 0 – 2 V
4	DI3	n.s. 1)
			Compatible with PLC requirement if 0 V is connected
			to terminal 7 or 9.
5	+10 V	Output +10 V reference	10 V ref. for analog input
		voltage	(Pot. supply +, 10 mA max., 1 kΩ min.)
6	AI1 / DI4	Analog input (12 bit)	0	– 10 V, 0 – 20 mA, 4 – 20 mA
		reference speed	"Logic 1" input voltage range: DC 8 – 30 V
7	0 V	0 V reference potential	0	V reference potential (Pot. supply –)
8	AO1 / DO1	n.s. 1)	0	– 10 V, 20 mA analog
			24 V, 20 mA digital
9	0 V	0 V reference potential	0	V reference potential
10	AI2 / DI5	n.s. 1)	0	– 10 V, 0 – 20 mA, 4 – 20 mA
			"Logic 1" input voltage range: DC 8 – 30 V
11	AO2 / DO2	n.s. 1)	0	– 10 V, 20 mA analog
			24 V, 20 mA digital
12	PSE +	Output stage enable	+24 V must be connected to PSE+
13	PSE–		GND must be connected to PSE–

1) Do not connect any cables

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14			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module

	Electrical Installation	4
	Overview of signal terminals for terminal mode (internal ramp control of the

4.2.2Application connection assignment X14

Terminal	Signal	Function	Connector type
no.		P1-17 = 1 (pre-assigned)

		11)		n.s.2)	X14
			DI11
		21)	DI12	n.s. 2)
		31)	DI13	n.s. 2)
	1	41)	DI14 /	n.s. 2)
9		51)	AI11	n.s. 2)
			PI1
		61)	/PI1	n.s. 2)
		71)	PI2	n.s. 2)	D-sub 15-pole
		81)	/PI2	n.s. 2)
					(male)
		9	A	n.s. 2)
		10	/A	n.s. 2)
15	8	11	B	n.s. 2)
		12	/B	n.s. 2)
		13	Z	n.s. 2)
		14	/Z	n.s. 2)
		15		0 V

1)Terminal assignment depends on parameter settings

2)Do not connect any cables

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			15

	4	Electrical Installation
		Overview of signal terminals for third-party controllers

4.3Overview of signal terminals for third-party controllers

4.3.1Main terminals

IP20 and IP55

+24 V

DI 1

DI 2

DI 3

+10 V

AI 1 / DI 4

0 V

AO 1 / DO 1

0 V

AI 2 / DI 5

AO 2 / DO 2

PSE+

PSE–

12 3 4 5 6 7 8 9 10 11 12 13

3614563083

The signal terminal block is equipped with the following signal connections:

Terminal	Signal	Function	Description
no.		P1-12 = 0
		P1-15 = 1
		(pre-assigned)
1	+24 V	Output +24 V reference	Ref. for the activation of DI1 – DI3 (max. 100 mA)
		voltage
2	DI1	Enable	Positive logic
			"Logic 1" input voltage range: DC 8 – 30 V
3	DI2	n.s.1)
			"Logic 0" input voltage range: DC 0 – 2 V
4	DI3	n.s. 1)
			Compatible with PLC requirement if 0 V is connected
			to terminal 7 or 9.
5	+10 V	n.s. 1)	10 V ref. for analog input
			(Pot. supply +, 10 mA max., 1 kΩ min.)
6	AI1 / DI4	n.s. 1)	0	– 10 V, 0 – 20 mA, 4 – 20 mA
			"Logic 1" input voltage range: DC 8 – 30 V
7	0 V	0 V reference potential	0	V reference potential (Pot. supply –)
8	AO1 / DO1	n.s. 1)	0	– 10 V, 20 mA analog
			24 V, 20 mA digital
9	0 V	0 V reference potential	0	V reference potential
10	AI2 / DI5	n.s. 1)	0	– 10 V, 0 – 20 mA, 4 – 20 mA
			"Logic 1" input voltage range: DC 8 – 30 V
11	AO2 / DO2	n.s. 1)	0	– 10 V, 20 mA analog
			24 V, 20 mA digital
12	PSE +	Output stage enable	+24 V must be connected to PSE+
13	PSE–		GND must be connected to PSE–

1) Do not connect any cables

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16			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module

	Electrical Installation	4
	Overview of signal terminals for third-party controllers

4.3.2Application connection assignment X14

±10 V reference
potential and
			Terminal	Signal	Function		Function	Connector
encoder simulation
			no.		P1-17 = 5		P1-17 = 6	type
					X14
			11)	DI11	–		Limit switch left
			21)	DI12	–		Limit switch right
			31)	DI13	Fast reference cam for referencing input
			41)	DI14 /	Fast + – 10 V reference speed signal
		1		AI11	input
	9
			51)	PI1	–
			61)	/PI1	–
			71)	PI2	–			D-sub 15-pole
			81)	/PI2	–			(male)
			9	A	Encoder simulation output A
	15	8	10	/A	Encoder simulation output /A
			11	B	Encoder simulation output B
			12	/B	Encoder simulation output /B
			13	Z	Encoder simulation Z
			14	/Z	Encoder simulation /Z
			15		0 V

Interface pulse / direction or A/B phase

1) Terminal assignment depends on parameter settings

		Terminal	Signal	Function		Function	Connector
				P1-17 = 5		P1-17 = 6	type
					X14
		11)	DI11	–
		21)	DI12	–
		31)	DI13	–
		41)	DI14 /	–
	1		AI11
9
		51)	PI1	Input pulse		Input A phase
		61)	/PI1	Input \pulse		Input \A phase
		71)	PI2	Input direction		Input B phase	D-sub 15-pole
		81)	/PI2	Input \direction		Input \B phase	(male)
		9	A	n.s.2)
15	8	10	/A	n.s. 2)
		11	B	n.s. 2)
		12	/B	n.s. 2)
		13	Z	n.s. 2)
		14	/Z	n.s. 2)

150 V

1)Terminal assignment depends on parameter settings. Input is RS422-compliant and not HTL-capable (connection of 24 V signals not possible). Maximum voltage of –10 to 15 V between PI1, /PI1, PI2, /PI2 and 0 V. Nominal operation level DC ± 6 V differential and min. DC ± 2 V differential.

2)Do not connect any cables

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Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module			17

	4	Electrical Installation
		Overview of signal terminals for third-party controllers

The following illustration shows the motor behavior according to the setting of parameter

P1-17 and the signal sequence.

P1-17

Negative direction (CCW)

Positive direction (CW)

Input A/B phase

t1

t2

t1

t2

P1-17 = 8

A[1]

+ 2.5 V

A[1]

+ 2.5 V

– 2.5 V

– 2.5 V

B[1]

+ 2.5 V

B[1]

+ 2.5 V

– 2.5 V

– 2.5 V

≥ 2.5μs

≥ 2.5μs

≥ 2.5μs

≥ 2.5μs

Input pulse/direction

[2]

[2]

≥ 2.5μs

≥ 2.5μs

P1-17 = 7

Pulse

+ 2.5 V

≥ 2.5μs

≥ 2.5μs

PULSE

+ 2.5 V

+ 2.5 V

tv

– 2.5 V

[2]

– 2.5 V

Direction

+ 2.5 V

" high "

+ 2.5 V

" low "

Direction[2]

– 2.5 V

– 2.5 V

tv

tON

tON

[1]The displayed signals A or B are the resulting signals/voltage values between A (PI1) and /A (/PI1) or B (PI2) and /B (/PI2).

[2]The displayed signals pulse and direction are the resulting signals/voltage values between pulse (PI1) and /pulse (/PI1) or direction (PI2) and /direction (/PI2).

t1, t2	t1 / t2 ≥ 1.25 ±10 %
tv	tv ≥ 0.5 µs
tON	tON ≥ 100 µs

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18			Addendum to the Operating Instructions – MOVITRAC® LTX Servo Module