MOVIDRIVE

IPOSplus
02/2000

10/262/97

0919 1755 / 0200

UL

UL

MOVIDRIVE IPOSplus, .
MOVIDRIVE
( , )
.

:

!
:

! .

! .

/, ,
.

IPOSplus:
IPOSplus ,
MOVIDRIVE .

, ( , )
.

SEWFEURODRIVE.

.

.

MX_SHELL. ,
IPOSplus ASSEMBLER MOVITOOLS.

02/99 .

MOVIDRIVE IPOSplus

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
1.1 ........................................................................................................4
1.2 IPOSplus
......................................................4
1.3 IPOSplus ................................4
1.4 MOVIDRIVE .......................................................5
1.5 ........................................................................................................5
1.6 ..................................................................................................5

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
2.1 ..................................................................................6
2.2 ...............................................................................................7

, , . . . . . . . . . . . . . . . . . . . . . . . . . . .9
3.1 ...................................................................................................9
3.2 / ..............................................................................11
3.3 / ..................................................................................12

IPOSplus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1 ................................................................................13
4.2 / ......................................................................................15
4.3 / ....................................................................................18
4.4 IPOSplus ..................19
4.5 1 2 .................................................................................................21

IPOSplus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.1 .............................................................23
5.2 P90_ IPOS: 0? ..............................................................................24
5.3 P91_ IPOS: .....................................................................29
5.4 P92_ IPOS: ...............................................................................................31
5.5 P93_ IPOS: .........................................................................32
5.6 P94_ IPOS: ..........................................................................................32
5.7 P95_ DIP ...................................................................................................................33

IPOSplus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.1 .......................................................................................................34
6.2 IPOSplus .......................................................................................................39
6.3 IPOSplus .................................................44

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
7.1 ........................................................................................................53
7.2 .....................................................................................55
7.3 ......................................................................................56
7.4 .....................................................................................57
7.5 ..................................................................................66
7.6 ...........................................................................................69
7.7 ..............................................................................................72
7.8 ........................................78
7.9 ................................................................................................82

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
9.1 ...................................................................................................87
9.2 .......................................................89
9.3 ? ........................................................96
9.4 .....................................100

10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
10.1 ..............................................................................................................105
10.2 ........................................................................................106
11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
MOVIDRIVE IPOSplus

1.1
IPOSplus
MOVIDRIVE.
IPOSplus
.
IPOSplus

(VFC, CFC, SERVO).
IPOSplus
.
IPOSplus ()
MX_SHELL. ,
MX_SHELL
DBG11A ( VFC).
1.2

IPOSplus


.

( ).
2
( 1 () 2).
800 .
MOVIDRIVE .

( F, ,
, ).
: (SFBus), RSF485, RSF232
( MOVIMOT).
/ .

1.3

.
,
.
.
, 128 .
2 .
: , , .
:
, ,
.
8 0F.
, ,
.
.
.

IPOSplus
DBG11A
USS21A (RSF232 RSF485)
F DIO11A
DIP11A
: DFP11A (PROFIBUS), DFI11A (INTERBUS), DFC11A
(CANFBus), DFD11A (DeviceNet)
DRS11A
MOVIDRIVE IPOSplus


1.4

MOVIDRIVE

MOVIDRIVE:
;
IPOSplus ( H484 CTRL. WORD);
RSF485;
;
(SBus).
IPOSplus ( H484)
.
P100 , P101 P870 ... P872
.
1.5

MOVIDRIVE
:
;
;
+ ;
;
F SBus;
F RSF485;
DPA/DPI ( DPA11A/DPI11A);
DRS ( DRS11A);
/ (
);
IPOSplus.

. , :
P700;
P100;
P600 ... P604, P610 ... P617;
: /
;
MX_SHELL/ DBG11A.
1.6

IPOSplus
4096 = 1
(: 512, 1024 2048 ./. .
( ) )
. 1 2: 800 ( 512 )
( 1000 ).
1: 1,0 /
2: 0,5 /
:
512, 128 (0 ... 127)
: 231 ... +( 231 1)
:
2 , 200

:
1 ... 5
/:
:
6 /3
. DIO11A: 8 /8
. DIP11A: 8 /8
1 (0 ... 10 , 10 , 0 ... 20 , 4 ... 20 )
/
:
. DIO11A: 1 (0 ... 10 , 10 , 0 ... 20 )
2 ( 10 , 0 ... 20 , 4 ... 20 )

MOVIDRIVE IPOSplus

2.1

MOVIDRIVE :
;
( /);
.

.
(X15) (X14)
( MDV... MDS...).
MDF... .
DIP11A (X62).
(P700)
. (VFCFnFCtrl. & IPOS, CFC & IPOS,
SERVO & IPOS) X15.
.

DIP11A
P941:
(DIP)

P941:
(X14)

P941:
(X15)

X62 / DIP11A

X14 /

X15 /

H509 / ACTPOS. ABS

H510 / ACTPOS. EXT

H511 / ACTPOS. MOT

:
(P954);
(P953);
(P951).

( ).

4096 ./.
.,

.

H506 / TP. POS1EXT

H507 / TP. POS1MOT

DI02 H503 / TP. POS1ABS

DI03 H502 / TP. POS2ABS

H504 / TP. POS2EXT

H505 / TP. POS2MOT

< 100

< 100

IPOSplus
H509...511. IPOSplus ,
( IPOSplus) ,
X14 X15. IPOSplus (GO...)
.
MOVIDRIVE .

MOVIDRIVE IPOSplus

2.2

/ (X15).

vmax amax
F +

F +
-

Pos

nFF

IPOSplus
(, GOA ...)
(
: (X15)).

M
02742ARU

X14

vmax amax
-

F +

F +

nFF

M
02743ARU

/ (X15)
.

/
.
IPOSplus
(, GOA ...)
(
: (X14)).

,
.
. . 6.1

DIP

vmax amax
F +

GO Wait...

plus
IPOS

F +

nFF

M
01886ARU

IPOSplus
,
DIP11A.

/ (X15)
.

/
.
IPOSplus
(, GOA ...)
(
: Absolute encoder (DIP)).

,
.
.

DIP11A.

MOVIDRIVE IPOSplus

,
IPOSplus
.

GO Wait...
JMP H ...

plus
IPOS

DIP

vmax amax
F +

F +

Pos

nFF

IPOSplus
,
X15.

/
.


.

IPOSplus .

01887ARU

DIP11A
0F .
.

DIP11A.

IPOSplus
.

DIP

plus
IPOS

M
01888BRU

IPOSplus .
DIP11A


.
/

,
.
.

DIP11A.

MOVIDRIVE IPOSplus

, ,

, ,

: ,
F1 !
: Help,
Key assignment .
3.1

MX_SHELL.
IPOSplus Program.
Program IPOS / Program.
.
.

. .

01357BRU

. 1.

Program.
: NUMERATOR,
DENOMINATOR DIMENSION ( . 5.1).
TAB, , ENTER.
Task 1 Task 2:
START ( );
PFSTOP ( );
BREAK ( );
STEP ( F7).

MOVIDRIVE IPOSplus

, ,

INSERT Program
.
,
.

01358ARU

. 2.

F . TAB
, F .
ENTER ,
.
, ENTER
.
DELETE.

01359ARU

. 3.

, ,
<Shift> + <Cursor Up/Down>,
, <Ctrl> + <Insert>, , <Delete>.
<Shift> + <Insert>.

IPOS , ,
. Offline [Load file]
[Insert at cursor].

<Ctrl> + <F3>
.

10

MOVIDRIVE IPOSplus

, ,

3.2

F2
D
EEPROM

EEPROM

er
ert
e
fflin
o
:
e
Sav er
t

ver
oad in
L
nv
to i

Save to inverter
:
online

Load inverter

Load file

(P806 DBG FF> M

)
DX

ow
n

F3

: offline
Save file
Save to new file

DBG11A

Up
loa
d

M
(P807 DX FF> DB
G
)

MX_SHELL

loa

Load file

: online

MOVIDRIVE

Save file
Save to new file

01336ARU

. 4. IPOSplus

IPOSplus
MOVIDRIVE. .
( )
.
IPOS MOVIDRIVE MOVIDRIVE
DBG11A. P807 (
MDX DBG) P806 ( DBG MDX).
:
. .
/ :
/ :

UPLOAD (F3)
DOWNLOAD (F2)
Load inverter
Save to inverter
Load inverter

F
F
F

Online
Online
Offline
Offline
Online

Save to inverter

Online

Load file
Save (to new) file
Load file

F
F
F

Offline
Offline
Online

Save (to new) file

Online

,
( )

,

()

1. /
MOVIDRIVE IPOSplus

11

, ,

3.3

.
, P700
( ) & IPOS.

START

<F9>

Program F9
(RUN). Program Task1: PFSTOP Task1:
START. 2 (Task 2) ( . 4.5).
F9, .
24
1, .

PFSTOP

<F8>

F8 (PFSTOP) .
. .
F9, ,
.

A/PFSTOP

<F5>

F5 (A/PFSTOP) ,
, .
F9, 1F .

2. /

1
1, Program
.

STEP

<F7>

F7 (STEP)
.
PFSTOP.

GOTO
CURSOR

<F4>

F4 (GOTO CURSOR)
.

3. 1

DBG11A
DBG11A (P931) 1
(P932) 2 (/).

12

P931

1 .

P932

2: .

MOVIDRIVE IPOSplus


IPOSplus
4

IPOSplus

4.1

(. . 2).
IPOSplus MX_SHELL.
800 .
:
, ,
(. 5.1).
1/ 2:
IPOSplus
2 ( 1/ 2)
( . 4.5).
:
, ,
.
,
.
:
(Mxx)
(JMPxx Mxx). .
, .
:
CALL (CALL Mxx).
(Mxx) .
RETURN (RET).
CALL. .
, 16 .
:

.
(RET).

:
LOOPB LOOPE.
LOOPB.
, 16 .
:
.
.

MOVIDRIVE IPOSplus

13

IPOSplus
:
IPOSplus
MOVIDRIVE.
.
/:
/
. ,
.
/ :
, GETSYS SETSYS (. . 7),
.
:
GETSYS, ,
.
SETSYS, , F .
(H458 ... H511).
MOVLNK

MOVIDRIVE SBus RSF485.
:
(H0 H511) .
231... + 231 1. H0 H127
,
( , DBG11A )
IPOS MEM. H458 ... H511 (1 )
.
. 8.
! . 8.

:
<M:xx> <> < 1> <> < 2> <M:yy>
;

;

(
)
;

; ;

;

01360BRU

. 5.

14

MOVIDRIVE IPOSplus


IPOSplus
4.2

4.2.1

IPOSplus
. (HI/LO)
, .

1. JMP ,
.

Mxx: JMP HI/LO I 00 00000000 000000 , Mx x

DI00
DI05
DI10
DI17

01361ARU

. 6.

:
, DI03 DI04 (1),
:

DIO11A/DIP11A
X22:8 ... X22:1
X60:8...X60:1

X13:6 ... X13:1

01789ARU

. 7.

(DI00 ... DI05)
DIO11A DIP11A (DI10 ... DI17)
H483 (INPUT LVL).
H483 ( 4). DIO11A/
DIP11A , 6 ...13 H483 0.

. ^ DIO11A/DIP11A

X...

22:8 22:7 22:6 22:5 22:4 22:3 22:2 22:1 13:6 13:5 13:4 13:3 13:2 13:1
60:8 60:7 60:6 60:5 60:4 60:3 60:2 60:1
DI17 DI16 DI15 DI14 DI13 DI12 DI11 DI10 DI05 DI04 DI03 DI02 DI01 DI00

H483

13

12

11

10

213

212

211

210

29

28

27

26

25

24

23

22

21

20

4. H483

MOVIDRIVE IPOSplus

15

IPOSplus
IPOSplus H483.
,
, , F ( 5).
:

X...

13:6
DI05

13:5
DI04

13:4
DI03

13:3
DI02

13:2
DI01

13:1
DI00

25
1

24
0

23
0

22
0

21
1

20
1

H483

1 25
32

0 24
+
0

0 23
+
0

0 22
+
0

1 21
+
2

1 20
+ 1 = 35*

* DIO11A/DIP11A 0
5.

(,
DIO11A), BMOV JMP (
. . 4.2.2).
4.2.2
:
(DB00 ... DO02)
DIO11A DIP11A (DO10 ... DO17)
H482 (OUTPUT LVL).
H482 ( 6).

. DIO11A

X...

10:7 10:4 10:3

23:8 23:7 23:6 23:5 23:4 22:3 23:2 23:1

61:8 61:7 61:6 61:5 61:4 61:3 61:2 61:1

DO17 DO16 DO15 DO14 DO13 DO12 DO11 DO10 DO02 DO01 DB00
7
6
5
4
3
2
1
0
H482 10
9
8
27

210
29
28
26
25
24
23
22
21
20
6. H482

IPOSplus
BMOV. BMOV
H482 (OUTPUT LVL) ( )
.
DO02. 2 H482 0
( 20) H200.
(0 1) JMP.
SET
BMOV
JMP

H200 = 0
H200.0 = H482.2
H200 == 1

,Mxx

,
H482 (OUTPUT LVL)
( . 7.2, AND).
DO02:
M1

:SET H200 = 4
AND H200 & H482
JMP H200 == 4

,M1

H200 H482
H200 = 4 =
00000000100
(= DO02)
H482 =
11011100110
(= )

00000000100
(= , H200 = 4)

16

MOVIDRIVE IPOSplus


IPOSplus

:
(P 620, 621,
630 ... 637) IPOS OUTPUT.
:
H 480 (OPT. OUT IP)
. DIO11A/DIP11A (DO10 ... DO17)
H 481 (STD. OUT IP)
(DO01 DO02)
(DB00 /Brake)

BSET BCLR.
, ,
. DO12 DIO11A
1:

01793ARU

. 8. DO12

:
(
1)

(
0)

IPOS OUTPUT

DO00

. /Brake, . .
.

DO01

BSET H481.1 = 1

BCLR H481.1 = 0

P620

DO02

BSET H481.2 = 1

BCLR H481.2 = 0

P621

DO10

BSET H480.0 = 1

BCLR H480.0 = 0

P630

...

...

...

...

DO17

BSET H480.7 = 1

BCLR H480.7 = 0

P637

7.

, ,
.
H480 H481 .
, , IPOS output,
.
H480/H481 :

X...

. ^ DIO11A/DIP11A, H480

23:8 23:7 23:6 23:5 23:4 22:3 23:2 23:1 10:7 10:4 10:3
61:8 61:7 61:6 61:5 61:4 61:3 61:2 61:1
DO17 DO16 DO15 DO14 DO13 DO12 DO11 DO10 DO02 DO01 DB00

, H481

27

26

25

24

23

22

21

20

22

21

20

8. H480/H481

MOVIDRIVE IPOSplus

17

IPOSplus
:
11 DIO11A ( 11 4 , . .
DO10 ... DO13):
SET H480 = 11
, IPOS output,
H480 H481 0:
SET H480 = 0 . DIO11A.
SETH481 = 0 .
4.3

/
/

. DIO11A

AI1

AI2

AI11

AI12

AGND AI21

AI22

AGND AOV1 AOC1 AGND AOV2 AOC2 AGND

X...

11:2

11:3

11:4

20:2

20:3

20:1

AO1
21:1

AO2
21:2

21:3

21:4

21:5

21:6

9. /

AI1 AI2 . /
,
( MOVIDRIVE).

10 ... 0 ... +10

10 000 ... 0 ... +10 000

0 ... +20

0 ... +10 000

4 ... +20

2000 ... +10 000

10. /

/
, = 1.
/:
/ DIO11A
GETSYS.
GETSYS , (
: ANALOG INPUTS / OUTPUTS).
/ (Hxxx),
GETSYS, / (Hxxx + 1).
: GETSYS Hxxx = ANALOG INPUTS / ANALOG OUTPUTS

:

(P640 643) IPOS OUTPUT.
H479
(ANA.OUT IP).
: SET H479 = K (K = )

18

MOVIDRIVE IPOSplus


IPOSplus

IPOSplus

4.4

4.4.1
DO02 / 2 .
():
:
/ 24 ( : X10:9
(+ 24 / VI24) X10:10 (0 / DGND)); (
).
1. .
2. /:
P621 DO02 IPOS OUTPUT.
3. Program
Output DO02 (X13:3) flash ( . 3.1).

. . DO02 (X13:3) . .

. . DO02 (X13:3) . .

/

01338BRU

. 9

4.

5.
6.

F ()
:
F2 ( . 3.2).
F:
F9 ( . 3.3).
:

TASK 1 PFSTOP START;

P052 DO02
1 0.

MOVIDRIVE IPOSplus

19

IPOSplus
4.4.2
/ 10
2 .
():
:
, .
MOVIDRIVE,
VFCFnFCTRL & IPOS, CFC & IPOS SERVO & IPOS (P700).
.
1.

2.

:
NUMERATOR ( )
DENOMINATOR ( )
DIMENSION ( )
P600 DI01
P601 DI02
P602 DI03
P603 DI04
P604 DI05
P700

4096
(. 5.1)
1
rev.

ENABLE / STOP

NO FUNCTION

NO FUNCTION

/LIM. SWITCH CW

/LIM. SWITCH CCW

VFCFnFCTRL & IPOS / CFC & IPOS / SERVO &

IPOS
F 10 ( . 3.1).

. . 10 . .

. . 10 . .


/

01339BRU

. 10. 10

3.
4.
5.
6.

20

F:
F2 ( . 3.2)
, 1 DI00 (X13:1),
DI01 (X13:2), DI04 (X13:5) DI05 (X13:6).
F:
F9 ( . 3.3)
F:
TASK 1 PFSTOP START ( . 3);
10
;
P003 .

MOVIDRIVE IPOSplus


IPOSplus
4.5

1 2

IPOSplus 2 ( 1
2) .
1 2
(H0 ... H511) .
1 2
1:

1 .
1.
F9 START, F8 PFSTOP
F5 A/PFSTOP.
: (F7 STEP),
(F4 GOTO CURSOR) .
, ,
.

2:

0,5 .
TASK2 START Mxx 1.
2 TASK2 START
1. 2 1, 2.
F5 A/PFSTOP F8 PFSTOP
.
.

1 2
1 2 :
1:

(. . 1
1).
, , ,
.
, , ,
, ,
. .

2:

, .
, .
, 1 .

, 2
.
.

MOVIDRIVE IPOSplus

21

IPOSplus
1 2
1.
2.
3.
4.

5.

1 2.

.
.
2, 1 CALL ( . 11).
,
2 ( (F7 STEP)
(F4 GOTO CURSOR)).
2 TASK2 START Mxx
1.

01746ARU

. 11. : (CALL) / : (TASK2)

22

MOVIDRIVE IPOSplus


IPOSplus
5

IPOSplus

.
5.1

(,
, , ),
(NUMERATOR/DENOMINATOR)
(DIMENSION). TAB, ,
ENTER.
5.1.1 : NUMERATOR / DENOMINATOR
IPOSplus
(4096 . = 1 . .).
, (, , ,
), (NUMERATOR) (DENOMINATOR)
(. ).
, .
: / = / .
:
=

NUMERATOR

DEN0MINATOR

: NUMERATOR
,
.
: 0 ..... 1 ..... 231 1
: DENOMINATOR
.
: 0 ..... 1 ..... 231 1
:
,
, (,
10, 100, 1000, ...). .
:
( )
:
a) ;
b) ;
c) .
d = 100

x []

i pe = 4

MD0064AD

. 12
MOVIDRIVE IPOSplus

23

IPOSplus
a) ( )
= /
i = 4 096 4
= 16 384
= = 314,15926
,
, .
, (
= 100 000).
= 16 384 100 000
= 314,15926 100 000

= 1 638 400 000

= 31 415 926

b)
= 1
= 1
c)
= /
i = 4 096 4 = 16 384
= 1

: []
1. NUMERATOR DENOMINATOR 1
= .
2.
( ), , 100 000 .
3. (. 2), :

= 1 000 ;

= 1 453 ;

= 453 .
4. :
(NUMERATOR)
= 100 000;
(DENOMINATOR) = 453.
5.1.2 : DIMENSION
Program
.
DIMENSION ,
.
: , .
5.2 P90_ IPOS: 0^

0F , ( )
. IPOSplus
8 0F,
, 0F ( 0F
).
,
. 0F
, . . 0F ,
.

24

MOVIDRIVE IPOSplus


IPOSplus

0F
MOVIDRIVE REFERENCE CAM.
0F ,

( 2). 0F
0F. 0F,
.
0^: 0^
0F,
0F F ,
.
, 0F,
0F
, ( ).
0F .
0F ( F
).

0F .
(, )
0F ,
0F 0F.
0F
(REF. TRAVEL START) GO0 .
GO0.
0F ,
. 0F 7F c,
A ().
, IPOS REFERENCE, 1
, ( .).
0F (/Controller inhibit).
0F . 0F
(GO0 .., W, ..) /Controller inhibit,
F39 ( 0F).
P900 0^
0F ,
. :
= 0^ + 0^
0F .
0F 0F.
0F .
: 231 ..... 0 ..... + 231 1
P901 1
, 0F
0F.
0F.
: 0 ..... 200 / ..... 5000 /
P902 2
, 0F
0F.
0F.
: 0 ..... 50 / ..... 5000 /
MOVIDRIVE IPOSplus

25

IPOSplus
P903 0^
0^
:

VRef1 =
VRef2 =

0F ;
0F;
0F ;
1;
2.

0^ 0^: ,
GO0 CAM.
0^ : ,
GO0 ZP (Zero Pulse).
0: 0F , 0F
(CAM) (ZP)
( 0F ).
= + 0F

VRef1

3
2
1

*2

0F

VRef2

*1

0F

s
01254BRU

. 13. 0L 0

1: 0F 0F (CAM)
(ZP) 0F.
= 0F + 0F
3

VRef1

*2

0F

VRef2

*1

0F

0F
0F

s
01255BRU

. 14. 0L 1

*1 = 0F (ZP)
*2 = 0F ( 0F, CAM)

26

MOVIDRIVE IPOSplus


IPOSplus

2: 0F 0F (CAM)
(ZP) 0F.
= 0F + 0F
1

VRef1

}}

*2

0F

VRef2

0F

*1

0F 0F

s
01256BRU

. 15. 0L 2

3: 0F
(ZP, 0^ . CAM
GO0 ,
).
= 0F + 0F
3

VRef1

2
*1

VRef2

0F
0F

s
01257BRU

. 16. 0L 3

4: 0F
(ZP, 0^ . CAM GO0
,
).
= 0F + 0F
3

VRef1

*1

VRef2

0F

0F

s
01258BRU

. 17. 0L 4
*1 = 0F (ZP)
*2 = 0F ( 0F, CAM)
MOVIDRIVE IPOSplus

27

IPOSplus
5: 0F , 0F
(CAM, ZP).
= ( ) +
0F

0F

VRef1

3
2
1

*1

VRef2

s
00018CRU

. 18. 0L 5

6: 0F 0F (CAM)
(ZP) 0F.
0F
, 0F
.
= 0F + 0F
3

VRef1

*2

0F

VRef2

0F

*1

0F

0F .

s
01466BRU

. 19. 0L 6

7: 0F 0F (CAM)
(ZP) 0F.
0F
, 0F
.
= 0F + 0F
2

VRef1

*2

0F

VRef2

0F


.

0F

*1

0F

s
01467BRU

. 20. 0L 7
*1 = 0F (ZP)
*2 = 0F ( 0F, CAM)

28

MOVIDRIVE IPOSplus


IPOSplus
5.3

P91_ IPOS:

P910 X^
PF
IPOSplus. MX_SHELL
P210 (PF ) P910
.
.
: 0 ..... 0,5 ..... 32
P911/912 1/2
. (LINEAR)
, 1 , 2
. (SINE) (SQUARED) ,
, 1.
3000 /.
: 0,01 ..... 1,0 ..... 20,0
P913
. / (rpm)
.
: 0 ..... 1500 ..... 5000 /
: P913
P302 1 10 % (
)!
P914
. / (rpm)
.
: 0 ..... 1500 ..... 5000 /
: P914
P302 1 10 % (
)!
P915
P915 ,
LINEAR (P916)!
P915
( < 0,7)
( PF nF (P200), nF
(P201) (P202)). P915
100 % ( 100 % P915 ).
100 %,
( ).
( ).

100 %

50...80 %

F
;
F
.
F
.

F
;
F
.
F ;
F
.

11.

MOVIDRIVE IPOSplus

29

IPOSplus

100 %
< 100 %

01748AXX

. 21. 915 ( )

: F200...+100...+200 %
P916
.
.

LINEAR ()

.
,



.


/.

F (
(

), . .
)


().
(



(,

)).
.

P911

P912
t

100 %

SINE ()

P911

155 %

SQUARED ()

P911

133 %

30

,

.

.


,

( ,
LINEAR).

,
.

55 % ,
.
,


(
).

,

.

,
.

(
).

,
SINEF.

,
SINEF. ,
33 %

,
.
,
SINEF.

MOVIDRIVE IPOSplus


IPOSplus
5.4

P92_ IPOS:

P920/P921
,
. (H492)
,
, .
0F.
, .
(F78,
IPOS).
. .
:
1 RESET;
/ ( 24 );
MX_SHELL (Parameter / Manual reset);
IPOSplus ( H484);
.
:
F78 ( IPOS)
0F .
0F!
:
,
P920 P921 0 (, ).
P920
.
.
: 231 ..... 0 . . ..... 231 1 .
P921
.
.
: 231 ..... 0 . . ..... 231 1 .
P922
(H492)
(GOx ASTOP TARGET POSITION).
, IPOS IN POSITION.
, IPOS IN POSITION.
, IPOS IN POSITION .
,
IPOS (P700).
.
: 0 ..... 50 ..... 215 1 .

MOVIDRIVE IPOSplus

31

IPOSplus
P923

. ,
F42 ( ). F42 P834
.
: , P923 = 0.
: 0 ..... 5000 ..... 231 1 .
5.5

P93_ IPOS:

P930
P930 = ON.
0 150 % (,
). AI11 (X11:2), 0...150 %
0...10 .
P302 1.
: ON OFF
5.6

P94_ IPOS:

P940 IPOS
DBG11A, MX_SHELL !
IPOSplus
. DBG11A H0...H127
.
: ON OFF
P941
,
IPOSplus :
Motor encoder (X15)
Ext. encoder (X14)
Absolute encoder (DIP)
P942
P943


(
P944, P955).
, :
(
F95 );

(
);
(: nF,
MF, , PF).

. , F95
.
P942 P943 .
: 1...32767
32

MOVIDRIVE IPOSplus


IPOSplus

P944
,
H510.
, ,
,
1.
, .
x 1.
:
P953 ,
P954 , P942/P943 /
P92_ IPOS: .
!
: x 1 / x 2 / x 4 / x 8 / x 16 / x 32 / x 64
5.7

P95_ DIP

P955

, H509.
, ,
,
1.
, .
x 1.
:
P953 ,
P954 , P942/P943 /
P92_ IPOS: .
!
: x 1 / x 2 / x 4 / x 8 / x 16 / x 32 / x 64

MOVIDRIVE IPOSplus

33

IPOSplus

IPOSplus

6.1

6.1.1
:
:

X14: MDV/MDS: TTL (RSF422), . 200

+24 , I = 180

5000 .
6.1.2 (X14)

( )
(, F ).

()

2048

2048

1024

1024

(. )

8192

8192

4096

4096

x1

x8

x1

x2

8192

65536

4069

8192

P944 ()
H510 ACTPOS. EXT

(H510) 0 .
0F P900 0F ,
, ( ).
6.1.3 :
. F,
. .
, . .
.

.

34

MOVIDRIVE IPOSplus

IPOSplus

MOVIDRIVE:
, P944
P943.

P944

F
:
1, 2, 4, 8, 16,
32, 64

P943

IPOSplus

,


.
: : 4096 . /
. 800 . = 5,12. : 4.

(. H511 ACTPOS. MOT)
S

P942

P941

32767

(. H510 ACTPOS. EXT) 32767
, S P943

Ext. encoder (X14)

()

12.

! P210 (PF )
P941 = Motor encoder.
, .
(X14) :
H510
ACTPOS. EXT
H506 1, TP. POS1EXT
H504 2, TP. POS2EXT
IPOSplus:
IPOSplus ,
, X15. P941
Ext. encoder.
IPOSplus ( GO) ,
X14. H510 ACTPOS EXT.

MOVIDRIVE IPOSplus

35

IPOSplus

6.1.4 DIP
MOVIDRIVE
MOVIDRIVE.
.
, :
DIP11A,
,


.
.
, MOVIDRIVE .
, .
MOVITOOLS .

. MOVITOOLS Manager
, .
SHELL [Startup] / [Startup for / DIP]
. .
MOVITOOLS
( . 38).
, DIP11A ,
. F92 DIP,
.
.
P950
P950 .
:
VISOLUX EDM
T&R CE65, CE100 MSSI
T&R LE100 SSI
T&R LA66KFSSI
AV1Y / ROQ 424
STEGMANN AG100 MSSI
SICK DMEF3000F111
STAHL WCS2FLS311

.
SEWFEURODRIVE.
P35_
. P003
, P350
( MX_SHELL
DBG11A). , P350
.

36

MOVIDRIVE IPOSplus

IPOSplus

P951
.
(H509 ACTPOS. ABS)
, P951 .
, P951
.
P955
( ),
1.
. ,
, ,
1.
1.
H509 (ACTPOS. ABS) H511 (ACTPOS. MOT).
1 .
.
H509.............. H509...................= H509..........................
H511.............. H511...................= H511..........................
H511 Differenz
H511...........

Q..........Q
=
Quotient
= -----------------------------------------------H509 Differenz
H509...........
(P955) ,
Q, , .
P953
(P953)
, 0.

.
. F92 DIP,
.
H509 (ACT. POS. ABS) (P953)
:
P953 = ( H509) 0,5 x
= ,
, 4096 . x 4096 ./. = 224 . = 16777216 .
P954

.
. .
(]231)
.
F .
H509 (ACTPOS. ABS) (P954) :
P954 = ( H509)
,
.

MOVIDRIVE IPOSplus

37

IPOSplus

P942/P943 /

DIP11A.
1. H509 (ACTPOS. ABS) H511 (ACTPOS. MOT).
2. 30 000 (H511).
3. .
H509. ........... H509. ..................= H509..........................
H511. ........... H511. ..................= H511..........................
4. 32 767 (2 15 1).
, ,
, ,
.
5. (H511.)
(P942), (H509.)
(P943).
(MOVIDRIVE ),

.
4096 .
(P943),
. P942 4096 x
.
(
) .
DIP11A.
P941
, ,
P700 ... & IPOS.
IPOSplus
, MOVIDRIVE.
,
Absolute encoder (DIP).
:
IPOSplus, P910 XF,
.
.

(, ) .
, .
IPOSplus
.
P910 XF,
.
, ,
H509 (ACTPOS. ABS). IPOSplus
.

38

MOVIDRIVE IPOSplus

IPOSplus

6.2

IPOSplus

IPOSplus PROFIBUS, INTERBUS, CANFBus DeviceNet

MOVIDRIVE
.
.
MOVIDRIVE :
P100 = FIELDBUS, ;
P101 = FIELDBUS,
;
P870F875 : ,
(. , . 3.3)
, IPOSplus
, 7.3 7.4 .

P871 PO2: POSITION HI P872
PO3: POSITION LO. ,
. . .
.
Status word 2 Position High Position Low
E

(PO)
Control word 2 Position High Position Low

IPOS variables:

492 TARGET POS

...
499 SP.POS.BUS

IPOSplus program:
***************************
Copy position
setpoint of PO
datato new target
position
***************************
...
SET H492 = H499
...
END
02727ARU

. 22.

.
H499
SP.POS.BUS.
H499 H492 TARGET POS (SET H492 = H499).
,
.
Position High/Low.
,
: P874 PI2:
POSITION HI P875 PI3: POSITION LO.
MOVIDRIVE IPOSplus

39

IPOSplus

. ,
: POFData, PIFData.

MOVIDRIVE, GETSYS (POFData) SETSYS (PIFData)
IPOS. IPOS.
, ,
(, ). ,
, ( ).
. . .
E

PI1

PI2

PI3

PO1

PO2

PO3

. . .

GETSYS

IPOS variables:

SETSYS

100
101
102
103
104
...
...
110
111
112
113

Bus type 3
Length
3
PO1
0
PO2
0
PO3
0
Length
PI1
PI2
PI3

0
0
0

IPOSplus program:

M0:

SET H100 = 3
SET H101 = 3
SET H110 = 3
SET H111 = 3
GETSYS H100 = PO-Data
SET H200,H103
MUL H200,#4096
SET H492,H200
SET H200,H511
DIV H200,#4096
SET H113,H200
SETSYS PI-Data = 110
JMP M0
END

// Initialising process output data structure

// Initialising process input data structure
//
//
//
//
//
//

Copy PO data into IPOS variable

Copy position into variable
and convert into increments
Stop travel order
Copy actual position into variable in inkrements
and convert in unit motor revolution

// Copy PI data in IPOS variable

02728ARU

. 23.

40

MOVIDRIVE IPOSplus

IPOSplus

6.2.1 DIO/DIP 11A

2
. .
MOVIDRIVE DIO/DIP11A, DI10 ... DI17
8F15 2.
P610F617.
. 8
= P637 . DO17

PI

...

. 1
= P630 . DO10
15 14 13 12 11 10 9

IPOS variable
*************

2
. 8
= P617 . DI17

PO

480 OPT.OUT IP
...
483 INPUT LVL

...

. 1
= P610 . DI10
15 14 13 12 11 10 9

2
02729ARU

. 24.

MOVIDRIVE DIO11A DIP11A,

P61_ .
(, JMP LO/HI xxxx xxxx xxxx xxxx)
, 8F15 2.
, , 2,
GETSYS (POFData). IPOS
8 .
(JMP Hxxx == , Mxx).
(BMOV H484.x Hxxx.x) H484 CTRL. WORD F
.
. 8
= P617 . DI17

...

IPOS variable
*************

. 1
= P610 . DI10
15 14 13 12 11 10 9

200 INPUT LVL

...
...
102 PO1

IPOSplu sprogram:

SET H100 = 3
// Initialising process output data structure
SET H101 = 3
GETSYS H100 = PO-Data // Copy PO data into IPOS variable
SET H200,H102
// Copy control word 2
SHR H200 >> 8
// and move to the right by 8 bits
02730ARU

. 25. 2

MOVIDRIVE IPOSplus

41

IPOSplus

DIP11A OPTION 1, OPTION 2.

DIP DBG.
DIO11A F
DIP11A
:

MOVIDRIVE
.
DIP11A DIO11A ,
:

DIO11A
/

DIP11A + DIO11A
DIP11A +

61.. 63.. DIP11A + DIO11A

JMP HI/LO I...
DIP11A +

DIP11A

H483 INPUT LVL.

DIO11A

DIP11A

H480 OPT.OUT IP

6...13

14...21

0...7

8...15

6...13

0...7

DI10...DI17

DI10...DI17

DO10...DO17

DO10...DO17

, ,
.
DIP11A,
IPOSplus
(GETSYS Hxxx POFDATA).

42

MOVIDRIVE IPOSplus

IPOSplus

6.2.2 IPOSplus PROFIBUS

PROFIBUS
4 ... 10 . MOVIDRIVE
3 ( P87x).
: POFData/PIFData. MOVIDRIVE
, P87x PO/PIF.
GETSYS SETSYS.
10 IPOS,
H100 H120.

Status word PI data

...

PI data
E

MOVIDRIVE
Control word PO data

...

PO data

IPOS variables:

IPOSplus program:

M0:

SET H100 = 3
SET H101 = 10
SET H120 = 10
GETSYS H100 = PO Data
SETSYS PI Data = H120
JMP UNCONDITIONED, M0

H102:
H103:
...
H111:
...
...
H121:
H122:
...
H130:

Control word
PO data
PO data

Status word
PI data
PI data

// Initialising process output data structure

// Initialising process input data structure
// Copy PO data into IPOS variable
// Copy PI data in IPOS variable
02731ARU

. 26. 10

,
, .
0...15 IPOS, 16...31 IPOS
0.

MOVIDRIVE IPOSplus

43

IPOSplus

6.3

IPOSplus

DRS11A DIP11A
F . ,

IPOSplus.

DRS11A.
DRS11A IPOSplus
:
DRS
DRS CTRL. (H476) DRS STATUS (H477);
IPOSplus CTRL. WORD (H484);
MOVLINK.
6.3.1 IPOSplus CTRL. WORD
H484; CTRL. WORD
H484 IPOSplus. ,

(, RSF485, , . .)
. 1
:
484 CTRL.WORD

IPOSplus ( ).
IPOSplus ,
.
IPOSplus ,
RSF485/RSF232
.

0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

44

( 1)
No function
No enable
CW
CCW
n11/n21 (fixed setpoint 1)
n12/n22 (fixed setpoint 2)
Switchover fixed setpoint
Param. switchover (param. set 2)
Ramp switchover (ramp set 2)
Motorpoti up
Motorpoti down
External error
Error reset
Hold control
CW limit switch
CCW limit switch

16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31

( 1)
Reserved
Reference cam
Reference travel start
FreeFwheeling slave
Setpoint take over
Reserved
Set DRS zero point
Start DRS slave
DRS teach in
Reserved
Reserved
Reserved
Reserved
Reserved
Controller inhibit
Reserved

MOVIDRIVE IPOSplus

IPOSplus

6.3.2 DRS
H476; DRS_CTRL.
H476 DRS11A:
476 DRS CTRL.

DRS11A.

0
1
3..14
15
16..31

X40.9 OUTP0
X40.10 OUTP1
Reserved
Set DRS hardware fault ( 48)
Reserved

H477; DRS_STATUS
H477 DRS11A:
477 DRS STATUS

DRS11A.

0
1
2
3
4
5
6..31

/
X40.5 INP4 free input 1
X40.6 INP5 free input 2
/DRS preFwarning
/DRS lag error
DRS slave in position
Master standstill
Reserved

6.3.2.1
H476 DRS CTRL.
DRS11A.
DRS
X40:

X40.9
31

15 14 13 12 11 10 9

SYNC / OFF

H476: DRS_CTRL.

1
2
3
4
5
6
7
8
9
10
11

INP0
INP1
INP2
INP3
INP4
INP5
DCOM
VO24
OUTP0
OUTP1
DGND

SYNC / OFF
IPOS variables:

X41:

X42:

X43:

H476: DRS_Ctrl
H477: DRS_Status
...
H484: CTRL_WORD

IPOS

plus

program:

BSET H476.0 = 1

// Activate free-wheeling, red LED is illuminated

BCLR H476.0 = 0

// Deactivate free-wheeling, red LED extinguished

...
...
...
...

02961ARU

. 27.

MOVIDRIVE IPOSplus

45

IPOSplus

:
DRS11A IPOSplus
X40:9 (OUTP0)
X40:1 (FreeFwheeling).
:
BSET H476.0 = 1

OUTP0, . . DRS FreeFwheeling, 1:

!
:
.

BCLR H476.0 = 0

6.3.2.2 DRS11A
IPOSplus DRS11A
.
H484 CTRL. WORD.
:
BSET H484.22 = 1
WAIT 15 ms
BCLR H484.22 = 0

DRS11A
DRS 15

; .
DRS
X40:

DRS
31

22

13 12 11 10 9

1
2
3
4
5
6
7
8
9
10
11

SYNC / OFF

H484: CTRL_WORD
IPOS variables:
H476: DRS_Ctrl
H477: DRS_Status
...
H484: CTRL_WORD
...

SYNC / OFF
X41:

X42:

X43:

IPOSplusprogram:
BSET H484.22 = 1
WAIT 15 ms

// Set zero point, angle error deleted

// green LED extinguished
// DRS-specific waiting period for signal run time

BCLR H484.22 = 0

// Reset to synchronous operation function

...

INP0
INP1
INP2
INP3
INP4
INP5
DCOM
VO24
OUTP0
OUTP1
DGND

02962ARU

. 28.

46

MOVIDRIVE IPOSplus

IPOSplus

:
DI10.
DI10...DI17 DIO11A/DIP11A
2 .
DI10 = 1 .
DI10 = 0 , .
DI11 (
DRS).
, IPOSplus
/*=======================================================================================
IPOS Source File
=========================================================================================*/
#include <const.h>
#include <io.h>
/* Definition Inputs */
#define E_freewheeling DI10
// Input DI10
#define E_setzeropoint DI11
// Input DI11
/* Definition Outputs */
#define A_DRS_OUTP0 0
// Output DRS X40:9
/* Definition Control bits in IPOS Control Word */
#define _DRS_setzeropoint 22
// Bit 22
/*=======================================================================================
Subroutines
=========================================================================================*/
Freewheeling_On()
{
/* The freewheeling mode is activated by setting the external jumper between X40:9 and X40:0 and
by deleting of output X40:9.
*/
_BitSet( DRS_Ctrl, A_DRS_OUTP0 );
}
/*=======================================================================================*/
Freewheeling_Off ()
{
/* The freewheeling mode is deactivated by setting the external jumper between X40:9 and X40:0 and by
deleting of ouptut X40:9.
*/
_BitSet( DRS_Ctrl, A_DRS_OUTP0 );
}
/*=======================================================================================*/
DRS_zeropoint()
{
_BitSet( ControlWord, _DRS_Setzeropoint );
// Set zeropoint via Control Word
_Wait( 15 );
// Response time in ms
_BitClear( ControlWord, _DRS_Setzeropoint ); // Delete bit once again
}
/*=======================================================================================
Main function (IPOS entry function)
=========================================================================================*/
main()
{
if( E_Freewheeling )
// The input E_Freewheeling (here DI10)
Freewheeling_On();
// causes the switch between
else
// freewheeling and synchronous operation
Freilauf_Aus();
if( E_setzeropoint )
DRS_zeropoint();

// Calls up the function

// Set zeropoint

MOVIDRIVE IPOSplus

47

IPOSplus

6.3.3
H476
DRS11A.
DRS
X40:
1
2
3
4
5
6
7
8
9
10
11

X40.9
31

15 14 13 12 11 10 9

H476: DRS_Ctrl

X40.10

INP0
INP1
INP2
INP3
INP4
INP5
DCOM
VO24
OUTP0
OUTP1
DGND

SYNC / OFF
IPOS variables:

X41:

X42:

X43:

H476: DRS_Ctrl
H477: DRS_Status
...
H484: CTRL_WORD
...

IPOSplusprogram:
BSET H476.1 = 1

// Set drive in Offset 1 function

// Slave drive shifts its position to master
// by Offset 1 value.

...
...
BCLR H476.1 = 0
...

// Deactivate Offset 1

02963ARU

. 29.

:
IPOSplus
X40:10 X40:2 (Offset1).
:
BSET H476.1 = 1
1.
BCLR H476.1 = 0

48

1.

.
.

MOVIDRIVE IPOSplus

IPOSplus

6.3.4

(FreeFwheeling)
.
.
(IPOS).
IPOS variables:
H200: Operating
mode
...
...
H484: CTRL_WORD
...

IPOSplusprogram:
SET H200 = 11
SETSYS OP:MODE = H200
...

SET H200 = 14
SETSYS OP:MODE = H200
...

// CFC operating mode

// Reprogramming operating mode to CFC operation
// CFC operating mode & synchronous operation
// Reprogramming operating mode to CFC&SYNC

02964ARU

. 30.

DI12.
:

CFC SERVO.

CFC & IPOS CFC & SYNC.
:
DI10 = 0
.
DI10 = 1
, CFC & SYNC.
DI11 = 0
.
DI11 = 1
DRS ().
DI12 = 1
, CFC & IPOS.
DI12 = 0
, CFC & SYNC.

_SetSys(SS_OPMODE, H)

H :
SS_OPMODE:
H = 11: CFC ( ),
H = 12: CFC & ,
H = 13: CFC & IPOS (),
H = 14: CFC & (DRS11A),
H = 16: SERVO ( ),
H = 17: SERVO & ,
H = 18: SERVO & IPOS (),
H = 19: SERVO & (DRS11A)

MOVIDRIVE IPOSplus

49

IPOSplus

/*=======================================================================================
IPOSQuelldatei
=========================================================================================*/
#include <const.h>
#include <io.h>
/* Definition Inputs */
#define E_Freewheeling
DI10 // Input DI10
#define E_Setzeropoint DI11 // Input DI11
#define E_Switch_Pos_Sync DI12 // Input for switching between positioning
// and synchronous operation
// DI 12 = 1 positioning / DI 12 = 0 synchronous operation
/* Definition Outputs */
#define A_DRS_AUSG0 0
// Output DRS X40:9
/* Definition Control bits in IPOS Control Word */
#define _Freewheeling
1 // Bit 1
#define _DRS_Setzeropoint 22 // Bit 22
/* Definition variables for switching between positioning and synchronous operation */
#define operating mode
H300
#define destination position H0
#define CFC_and_IPOS
13 // CFC operating mode & IPOS
#define CFC_and_SYNC
14 // CFC & synchronous operation
/*=======================================================================================
Subroutines
=========================================================================================*/
Freewheeling_On()
{
/* Freewheeling activated by setting the external jumper between X40:9 and X40:0
and by setting output X40:9.
*/
_BitSet( DRS_Ctrl, A_DRS_OUTP0 );
}
/*=======================================================================================*/
Freewheeling_Off ()
{
/* Freewheeling is deactivated via external jumper between X40:9 and X40:0 by deleting the
output X40:9.
*/
_BitSet( DRS_Ctrl, A_DRS_OUTP0 );
}
/*=======================================================================================*/
DRS_Zeropoint()
{
_BitSet( ControlWord, _DRS_Setzeropoint);
// Set zero point via control word
_Wait( 15 );
// Response time in ms
_BitClear( ControlWord, _DRS_Setzeropoint ); // Delete Bit
}
/*=======================================================================================*/
Activate_synchronousoperation()
{
Operating mode = CFC_and_SYNC;
_SetSys( SS_OPMODE,operating mode );
// Switch operating mode
DRS_zeropoint();
// Delete angle error
}
/*=======================================================================================*/
Activate_IPOS()
{
Operating mode = CFC_and_IPOS;
_SetSys( SS_OPMODE,operating mode );
}
/*=======================================================================================
Main function (IPOSInput function)
=========================================================================================*/
main()
{
if( E_Freewheeling )
Freewheeling_On();
else
Freewheeling_Off();
if( E_Setzeropoint )
DRS_zeropoint();
if( E_Switchover_Pos_Sync )
{
Activate_IPOS();
_GoAbs( GO_NOWAIT,Final position );
}
else if ( !E_Freewheeling )
Activate_synchronousoperation();
}

50

MOVIDRIVE IPOSplus

IPOSplus

6.3.5
MOVLINK

.
IPOSplus
DRS11A
MOVIDRIVE .
P221 P222
.

.
, IPOSplus
******************************************
Sample program for discrete change
of electronic gear unit reduction ratio
between master and slave drive.
When using the optional DRS11A
synchronous operation control card.

Change of parameter "Master Gear Unit
Factor" P221 via binary input of the
MOVIDRIVE basic unit.
Input used for change here:
DI04
SEW
Date: 24 June 97
******************************************
******************************************
Initialization and declaration of
variables.
H000: Value for P221 at DI04 = 0
H001: Value for P221 at DI04 = 1
H482: DRS dig. outputs X21.9&10 (Bit0&1)
Declaration system structure for MOVLNK

Variables H200  H206 for control
and programming of P221.
H200 = Bus type, SBUS
H201 = Address 0
H202 = Process data, param. channel only
H203 = Communication service (write)
H204 = Index 8502 "Master GU Factor"
H205 = Target variable for data exchange
Binary Inputs:

DI00 = Controller inhibit
DI04 = Change P221 "Master Gear Unit i
DI04 = Ipos input
******************************************
******************************************
Initialization of communication service
******************************************
SET H200 = 5
SET H201 = 0
SET H202 = 0
SET H203 = 3
SET H204 = 8502
SET H205 = 210
******************************************
List factors for "Master Gear Unit i".
******************************************
SET H0 = 100
SET H1 = 200
******************************************

MOVIDRIVE IPOSplus

51

IPOSplus

Read input terminal Di04

******************************************
JMP HI I0000000000010000, M1
JMP LO I0000000000010000, M2
******************************************
Write new value to "Master Gear Unit i".
******************************************
M1 :SET H210 = H0
JMP UNCONDITIONED , M3
M2 :SET H210 = H1
M3 :SET H203 = 3
SET H204 = 8502
M4 :MOVLNK H200
NOP
Repeat until Return Code ok.
JMP H206 != 0
, M4
******************************************
End of program.
******************************************
END

52

MOVIDRIVE IPOSplus

(
). ( ) .
0...31. 0.
7.1

.
ADD (H = H + H)...................................................................... 55
ADD (H = H + K) ...................................................................... 55
AND (H = H & H) ..................................................................... 55
AND (H = H & K) ..................................................................... 55
ASHR / ARITHMETIC SHIFT RIGHT
(H = H (Arithmetic >>) H) ........................................................ 55
ASHR / ARITHMETIC SHIFT RIGHT
(H = H (Arithmetic >>) K) ........................................................ 55
DIV / DIVISION (H = H / H)....................................................... 55
DIV / DIVISION (H = H / K)....................................................... 55
MOD / MODULO (H = H modulo H) ......................................... 55
MOD / MODULO (H = H modulo K) ......................................... 55
MUL / MULTIPLY (H = H * H) ................................................. 55

MUL / MULTIPLY (H = H * K)................................................ . 55

NOT (H = NOT (H)) ................................................................ . 55
OR (H = H | H) ....................................................................... . 55
OR (H = H | K)........................................................................ . 55
SHL / SHIFT LEFT (H = H << H) ............................................. . 56
SHL / SHIFT LEFT (H = H << K) ............................................. . 56
SHR / SHIFT RIGHT (H = H >> H) .......................................... . 56
SHR / SHIFT RIGHT (H = H >> K)........................................... . 56
SUB / SUBTRACT (H = H F H) ................................................ . 55
SUB / SUBTRACT (H = H F K) ................................................ . 55
XOR / EXCLUSIVE OR (H = H XOR H) .................................... . 55
XOR / EXCLUSIVE OR (H = H XOR K) .................................... . 55

. :
//
BCLR / BIT CLEAR (H.Bit = 0).................................................. 56
BMOV / BIT MOVE (H.Bit = H.Bit)............................................ 56

BMOVN / BIT MOVE NEGATE (H.Bit = NOT (H.Bit))............... . 56

BSET / BIT SET (H.Bit = 1)..................................................... . 56

.
MOVLNK / MOVILINK
( / ).................... 57
SCOM / SYSTEM BUS COMMUNICATION
( ) ............................ 62

SCOMON / SYSTEM BUS COMMUNICATION ON

( ).......................................... . 62

:
0F;
// .
GO0 / GO POSITION 0 ( 0F)............ 66
GOA / GO ABSOLUTE (. ;
) .............................................................................. 66
GOA / GO ABSOLUTE (. ;
)........................................................................... 66
GOA / GO ABSOLUTE (. ; ,
. ) ................................................................ 66

MOVIDRIVE IPOSplus

GOR / GO RELATIVE (. ;
) ............................................................................ . 67
GOR / GO RELATIVE (. ;
) ......................................................................... . 67
GOR / GO RELATIVE (. ; ,
. ) .............................................................. . 67

53

. :
;
;
2;
;
.
CALL ( ) .............................................. . 69
JMP / JUMP (, )........................... . 69
JMP / JUMP (, H <=> 0)........................................... . 70
JMP / JUMP (, H <=> H) .......................................... . 70
JMP / JUMP (, H <=> K)........................................... . 70
JMP / JUMP ( ) ........................................ . 70
LOOPB / LOOP BEGIN ( , )............. . 71

LOOPE / LOOP END ( , ).................. . 71

NOP / NO OPERATION ( ) ................................. . 71
REM / REMARK ()............................................ . 71
RET / RETURN ( ) ................................ . 71
TASK2 ( 2) ................ . 71
WAIT ( )................ . 71

:
;
;
;
;
.
COPY ( ).................... . 72
GETSYS / GET SYSTEM VALUE (H =
) ............................................................................. . 72
SET (H = H)............................................................................ . 74
SET (H = K)............................................................................ . 74
SETFR / SET FAULT REACTION (
)............................................................................ . 74

SETI / SET INDIRECT ([H] = H) .............................................. . 75

SETI / SET INDIRECT (H = [H]) .............................................. . 75
SETINT / SET INTERRUPT
(
) ......................................................................... . 75
SETSYS / SET SYSTEM VALUE (
= H) ....................................................................... . 76

:
;
;
/ ;
Watchdog.
ASTOP / AXIS STOP ( ) ............................... . 78
MEM / MEMORIZE
( IPOS
)...................................................................... . 78
TOUCHP / TOUCH PROBE (
).............................................................................. . 79

WDOFF / WATCHDOG OFF ( Watchdog)............ . 81

WDON / WATCHDOG ON
( Watchdog) ...................................... . 81

.
ANDL / LOGICAL AND (H = H && H) ..................................... . 82
CPEQ / COMPARE EQUAL (H = H == H) ................................ . 82
CPEQ / COMPARE EQUAL (H = H == K)................................. . 82
CPGE / COMPARE GREATER OR EQUAL (H = H >= H) .......... . 82
CPGE / COMPARE GREATER OR EQUAL (H = H >= K)........... . 82
CPGT / COMPARE GREATER THAN (H = H > H) .................... . 82
CPGT / COMPARE GREATER THAN (H = H > K) .................... . 82
CPLE / COMPARE LESS EQUAL (H = H <= H) ....................... . 82

54

CPLE / COMPARE LESS OR EQUAL (H = H <= K) .................. . 82

CPLT / COMPARE LESS THAN (H = H < H)............................ . 82
CPLT / COMPARE LESS THAN (H = H < K)............................ . 82
CPNE / COMPARE NOT EQUAL (H = H != H) ......................... . 82
CPNE / COMPARE NOT EQUAL (H = H != K).......................... . 82
NOTL / LOGICAL NOT (H = NOT(H)) ...................................... . 82
ORL / LOGICAL OR (H = H || H).............................................. . 82

MOVIDRIVE IPOSplus

7.2

ADD / SUB / MUL / DIV

ADD
ADD (H = H + H)
ADD (H = H + K)
SUB
SUBTRACT (H = H H)
SUBTRACT (H = H K)
MUL
MULTIPLY (H = H H)
MULTIPLY (H = H K)

H K. 1F
H, 2F
H, K.
, ,
(ADD H000 + H000). 0 .
.
.

DIV
DIVISION (H = H / H)
DIVISION (H = H / K)
NOT / MOD
NOT
NOT (H = NOT (H))

2.
1.

MOD
MODULO (H = H modulo H)
MODULO (H = H modulo K)

AND / OR / XOR
AND
AND (H = H & H)
AND (H = H & K)

AND ""
2F ( ).
:

AND H01 & H02

H01...0000000000 001100
H02...0000000000 000101
H01...0000000000 000100

OR
OR (H = H H)
OR (H = H K)

OR "".

XOR
EXCLUSIVE OR (H = H XOR H)
EXCLUSIVE OR (H = H XOR K)

XOR " ".

MOVIDRIVE IPOSplus

OR H01 H02
H01...0000000000 001100
H02...0000000000 000101
H01...0000000000 001101

XOR H01 XOR H02

H01...0000000000 001100
H02...0000000000 000101
H01...0000000000 001001

55

SHL / SHR / ASHR

SHL
SHIFT LEFT (H = H << H)
SHIFT LEFT (H = H << K)

SHIFTF .
.
2F .

SHR
SHIFT RIGHT (H = H >> H)
SHIFT RIGHT (H = H >> K)

SHL SHR ,
, . SHL
, SHR .

ASHR
ARITHMETIC SHIFT RIGHT
(H = H (ARITHMETIC >>) H)
ARITHMETIC SHIFT RIGHT
(H = H (ARITHMETIC >>) K)

ASHR .

. , .

7.3

:
DIO11A
(. 4,
. 15). , DI10...13
(4 = 0...15 )
, DI10
20:
SHL H01 << H02

(H01 = 15, H02 = 6)

H01 ...0000000000 001111

SHR H01 >> H02

(H01 = 960, H02 = 6)

H01 ...0000001111 000000

H01 ...0000001111 000000

H01 ...0000000000 001111

BSET / BCLR / BMOV / BMOVN

BSET
BIT SET(H.Bit = 1)

BSET/BCLR (= 1)/ (= 0)
. 0...31.
0.

BCLR
BIT CLEAR(H.Bit = 0)

H480 (OPT.OUT IP)

H481 (STD.OUT IP) .
:

DO02
(P620 "IPOSFOUTPUT")
BSET H481.2 = 1

BMOV
BIT MOVE (H.Bit = H.Bit)

BMOV 2
( ) 1. 1
2 .

BMOVN
BIT MOVE NEG. (H.Bit = H.Bit)

BMOVN 1
.
:

DO02
SET H200 = 0
BMOV H200.0 = H482.2
JMP H200 == 1 Mxx

2 H482 (INPUT LVL) 0

H200 (0 1)
JMP.

56

MOVIDRIVE IPOSplus

7.4

/ MOVLNK
MOVLNK
MOVLNK H

MOVLNK (PD)1) /
(PARAM)2) MOVIDRIVE RSF485 SBus.
,
(PD) .
, MOVIDRIVE
( ) MOVIMOT ( ) RSF485.

RS^485
30

3)

MOVIMOT

( PD,
MOVIMOT F )
TERMINAL

SBus
10 (5 , PD)

S12

" F " :

IPOSplus MOVLNK Hxx

PD (+) PARAM (#):

+ / #
(P810...P819)
SBus (P816)
+ (P100)
+
(P101)
+
(P870...P876)
1) . ( P870).
2) (. ).
3) .

IPOSplus MOVLNK Hxx
MOVLNK .
.

(7
). (Hxx) MOVLNK.
( / )
, H+5.
:
H+0
()
0=

1=
TERMINAL (RSF485#1)
USS11A (TERMINAL) !
2=
S1 (RSF485#2)
, MOVIMOT
3=

4=

5=
SBus
,
MOVIDRIVE

MOVIDRIVE IPOSplus

57

/ MOVLNK
H+1

/
()
:
H+1 = 253
H+1 = 254 ,
(P810).
.
H+1 = 255 ,
, (P810).
.
MOVLNK SBus, ,
43, 100. ,
H+1 143.
H+2
(PD)
(PARAM)
128 = PARAM + 1PD
129 = 1PD
130 = PARAM + 2PD
131 = 2PD
132 = PARAM + 3PD
133 = 3PD
134 = PARAM ( PD)
H+3

1=

2=

3=

H+4
,
(. )
( )
H+5
H', ,
.
( H' .)
H+6
MOVLNK. :
0; :
.
H':
H'+0

(. 2 3 H+3).
H'+1
,
(. 1 H+3).
(PD)
H'+2
PO1
PO2
H'+3
PO3
H'+4
PI1
H'+5
PI2
H'+6
PI3
H'+7
,
MOVLNK 100

58

100 ()
101
102 (PD + PARAM)
103
104 . ( . .)
105 (: 150)
106

150
151 .
152 PO1

153 PO2

154 PO3

155 PI1
156 PI2
157 PI3

MOVIDRIVE IPOSplus

/ MOVLNK
/

:
RS^485 (P810...P812)

P810
0...99
( ).
P811
101...199
(Multicast),

.
P812
F,
( 0
650 ).
SBus (P813...P816)

P813
0...63
( )
( SBus, . .

MOVLNK,
(P813) ).
P814
0...63*
(Multicast),

.
P815
F (
0 650 ).
P816
.
,
.
P817...819
MOVLNK .


(. , RSF485/SBus).
:

P100
"RSF485" "SBus"
(
).
P101
"RSF485" "SBus".
P870...876
( .
).

:
MOVLNK (H0...127),
, = 2,
(EEPROM)
(105).
*
100.

MOVIDRIVE IPOSplus

59

/ MOVLNK
1)

( )
IPOSplus
P008 ( )
8325 (. ) H011
(U = 592 ). .
SET .
01831ARU

2)

:
H005 H010 .
2 MOVIDRIVE (SBus)
(DIPF S12).
()
01832ARU

60

MOVIDRIVE IPOSplus

/ MOVLNK
()
01833ARU

3)

MOVIMOT MOVIDRIVE
MOVIMOT MOVIMOT.
MOVIMOT RSF485.
2PD 3PD (:
).
MOVIMOT 3
( 1, ).
H012...H014.
01834ARU

PO1
PO2
PO3
PI1
PI2
PI3

MOVIDRIVE IPOSplus

61

SCOM
SCOM

SCOM 8 ( )
(SBus). ,
. MOVILINK SEW
CAN.
, CAN
( 2, OSI).
( ) SCOM.
TRANSMIT CYCLIC TRANSMIT ACYCLIC
, RECEIVE.

SBus

1 ...
(. H+1)

MOVIMOT

S12

" F " :

IPOSplus
IPOSplus :
:
SCOM RECEIVE H
SCOM TRANSMIT CYCLIC H
SCOMON
SCOMON /

SCOM TRANSMIT ACYCLIC H

SBus (P816), .

TRANSMIT CYCLIC
H SCOM TRANSMIT CYCLIC H
( ).
SCOMON.
,
IPOSplus. F5 .
IPOSplus (F5 A/PFSTOP
F9 PFSTART, / / 24 ).
SCOM TRANSMIT... .
SCOM
TRANSMIT. SCOM TRANSMIT ( )
SCOMON. SCOM TRANSMIT,
SCOMON .
(1...9 : 5;
10...65530 : 10, . . 15 ).
:
H+0 : .
.
, (TRANSMIT) (RECEIVE),
. MOVLNK
SBus
> 1024...2048.
H+1 [], ,
( 0,25 ).
1, 2...9

10, 20...65530

0 .

62

MOVIDRIVE IPOSplus

SCOM
SCOM TRANSMIT CYCLIC, H0
+ SCOMON
H0 = 1100

SCOM TRANSMIT ACYCLIC, H0

SCOM RECEIVE, H0
+ SCOMON
H0 = 1100

DATA

DATA

SBus

SCOM

SCOM RECEIVE, H0
+ SCOMON
H0 = 1102

H+2

[],
SCOM TRANSMIT... .

1
2

1
2

01806ARU

H+3

H+4
H+5

0, 1, 2...65534
<10
0, 10, 20...65530
10

0...3
0...8

4...7
0

8
0...1
0 = MOTOROLA
1 = INTEL

!
9...31
0

H', .
( ) SCOM
0
% ( % = )
F1

F2

F3

TRANSMIT ACYCLIC
H SCOM TRANSMIT ACYCLIC H
( ). SCOM
TRANSMIT ACYCLIC H ( SCOMON )
.
SCOM TRANSMIT ACYCLIC H
, (H+2)
IPOSplus .

MOVIDRIVE IPOSplus

63

SCOM
:
H+0 : .
.
, (TRANSMIT) (RECEIVE),
. MOVLNK
SBus
> 1024...2048.
H+1

0...3
0...8

4...7
0

8
0...1
0 = MOTOROLA
1 = INTEL

!
9...31
0

H+2 H', .
H+3
0

1

2

3

RECEIVE
SCOM RECEIVE ,
. SCOM RECEIVE,
SCOMON .
SCOMON.
,
IPOSplus.
IPOSplus (F5 A/PFSTOP F9 PFSTART, / /
24 ).
32 .
:
H+0 : .
, (TRANSMIT) (RECEIVE),
. MOVLNK
SBus
> 1024...2048.
H+1

0...3
0...8

4...7
0

8
0...1
0 = MOTOROLA
1 = INTEL

!
9...31
0

H+2

64

H', .
MOTOROLA INTEL:
MOTOROLA
INTEL
CAN 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

H'+1
H'
H'
H'+1
3 2 1 0 3 2 1 0 0 1 2 3 0 1 2 3

MOVIDRIVE IPOSplus

SCOM

:
SCOM , ,
(H0...127),
() .

SCOM H008 H009

H005 H006 .

01835BRU

01836BRU

MOVIDRIVE IPOSplus

65

7.5

0^ GO0
GO0
GO0

GO0 0F
( . 4.2). IPOSplus
( 7F "A" "C"). 0F
.
GO0 ,
0F.
3 (C/U; W/NW; ZP/CAM),
8 . 0F
RESET.

01837ARU

(conditional)

U
W

(unconditional)
(wait)

NW

(nonFwait)

ZP

(zero pulse)

CAM
RESET

(reference cam)

0F
, .
0F .

0F.

0F.
0F
.
0F 0F.
0F
( ),
.
0F, Reference position
defined ( 0F)
, Axis in
position ( ).

5 0F, ZP CAM .
3 4 CAM.
0F
(/Controller inhibit), 39
( 0F).
. IPOSplus
.
( , , MX_SHELL ...).
IPOSplus ( ).

66

MOVIDRIVE IPOSplus

/ GOA/GOR
.
:
GOA

GOA (Wait/ NoWait) K

GOA (Wait/ NoWait) H
GOA (Wait/ NoWait) [H]

0F ( ).
H492 (TARGET POSITION).
(K) (H).
,
, .

.
.

GOR
GOR (Wait/ NoWait) K
GOR (Wait/ NoWait) H
GOR (Wait/ NoWait) [H]

: ,
(
1 = 4096 ).
( . 5.1.1).


H492 (TARGET POSITION) .
H492 (TARGET POSITION).
,
.
: ,
( 1 =
4096 ).
( . 5.1.1).

IPOSplus
F231...0...231F1.

231 (. , ).

F ( . 9.3).
GOR H492.
GOR 1000 . 100 ,
100 x 1000 .
,
, 231/2,
.
2x

0
-1

IPOS

plus

2 31 -1
-2 31

-2 x
01812ARU

MOVIDRIVE IPOSplus

67

/ GOA/GOR
1)

0
100 ( : , ,
).
5 .

n (t )
3000 /

100

s
.
01813ARU
01838ARU

2)

0
409600 .
1 . 40960 . 100
3000 /.
3000 /.

n (t )

3000 /

100 /
0

40960

409600

s
.
01814ARU
01839ARU

68

MOVIDRIVE IPOSplus

7.6

CALL
CALL
CALL Mxx

CALL (CALL Mxx;

: 32 ). (Mxx)
.
RETURN (RET).
CALL.
. .

:

.
.

10 ,
(CALL M1).
2 ( "IPOSFOUTPUT")
1.
( RET) GOR WAIT #10.
01840ARU

JMP
JMP
JMP HI/LO I 00000000000000
Mxx

IPOSplus
.
(HI/LO) ,
.
"1".
JMP ,
.
01841AXX

MOVIDRIVE IPOSplus

69

JMP
JMP H <=> 0/ H/ K Mxx

(Mxx),
(!= ).
01842AXX

JMP ( )

>

>=

<

<=

==

!=

JMP ,
.
, GETSYS.
01843AXX

UNCONDITIONAL
N==0
N!=
NOT POSITIONED
TP1
NOT TP1
TP2
NOT TP2
Mxx

70

,
(n < 20 /)
,
(n < 20 /)
,
,
DI02
,
DI02
,
DI03
,
DI03

MOVIDRIVE IPOSplus

LOOP
LOOP
LOOPB K
LOOPE

LOOP .
LOOPB LOOPE.
LOOPB (
: 256).
.

:
.
.

H0 5
0 5. 5
SET H0 = 0.
01844ARU

NOP ( )/REM ()/RET ()/TASK2 ( 2)/WAIT ()

NOP

NOP , , ,
: 1,0 (TASK1) /
0,5 (TASK2).

REM

REM .
.
(DOWNLOAD)
(UPLOAD), .

RET

RET (RETURN) (. CALL)

.
RET .

TASK2

2 (TASK2)
/ 1 (START/ STOP).
/ 2 .

TASK2 START
TASK2 STOP

WAIT

01845ARU

.
: 0...32767

MOVIDRIVE IPOSplus

71

7.7

COPY
COPY
COPY H = H, K

COPY ,
3F . 2F COPY
, 1F .
COPY 10 .
1
2
3

( )

GETSYS
GETSYS
GETSYS
. 2
GETSYS H=(argument 2)
() .
ACTIVE CURRENT
ACT.SPEED
SETP.SPEED
ERROR
SYSTEM STATUS

ACT.POSITION
SETP.POSITION

TARGET POSITION
INPUTS

DEVICE STATUS
OUTPUTS

IxT
ANALOG INPUTS

CAM

72

H
H+1

.
.
.
( ,
).
, 7F
(
, ).
,
H511.
(

),
H491.
,
H492.

,
H483.
1
( + ).

,
H482.

( % 0,1).
1 []
2 []
( . 4.3 /).
GETSYS H = CAM
.
H+6 ... H+13 4
(
).

F
.
, ,
F (
. ).
GETSYS
H = CAM, .

MOVIDRIVE IPOSplus

GETSYS
H
GETSYS H = CAM
,
.
H+0 (H509...H511),

.
H+1 0,1 (
).
H+2 , /

.
H+3
H+2.
H+4 :
0 =
;
1 = .
H+5 (
), 4.
H+6 (0).
H+7 (0).
H+8 (1).
H+9 (1).
H+10 (2).
H+11 (2).
H+12 (3).
H+13 (3).

01846ARU

ANALOG OUTPUTS H

H+0
H+1
TIMER 0
TIMER 1

MOVIDRIVE IPOSplus

GETSYS H = ANALOG OUTPUTS
, .

1 (AO1).

1 (AO2).
0 [],
H489.
1 [],
H488.

73

GETSYS
PO^DATA
POF.
H+0 :
0 = Reserved;
1 = TERMINAL;
2 = RSF485;
3 = Fieldbus;
4 = Reserved;
5 = SBus.
H+1 POF.
H+2 PO1
H+3 PO2
H+4 PO3
DC^VOLTAGE
[].
RELATED TORQUE
.
: SET ()/SETFR ( )/SETI (. )/SETINT ()/
SETSYS ( )
SET
SET 1 ()
2 ( H K). 1,
SET (H=H)
2 .
SET (H=K)
SETFR
SETFR
(argument 1) = (argument 2)
SETFR
Fault # = Fault Reaction

SETFR
. 1
(. . 10.2 MX_SHELL).
2.
,
SETFR.
( SETFR P83_ ).

01829ARU

( ).
, (
, "/FAULT": 1 0).
,
: , /
, . .
IPOSplus, 0F, ,
, IPOSplus ( SETSYS),
( 1F ).
EFSTOP, FAULT
: SWITCH OFF, FAULT.
RAPID STOP,
: SWITCH OFF, FAULT.
FAULT
SWITCH OFF

IPOSplus , 0F,
WARNING
, , IPOSplus (
SETSYS), .*
EFSTOP,

IPOSplus ,
WARNING
SWITCH OFF, WARNING.*
RAPID STOP,
WARNING
IPOSplus ,
SWITCH OFF, WARNING.*
* .
NO RESPONSE
DISPLAY
FAULT
SWITCH OFF,
FAULT

74

MOVIDRIVE IPOSplus

: SET ()/SETFR ( )/SETI (. )/SETINT ()/

SETSYS ( )
SETI
SET INDIRECT ([H]=H)
SET INDIRECT (H=[H])

SETI [H]=H SETI H=[H]

.
,
, , .
SETI [H]=H ,
2.
SET H=[H] ,
1.

H01=10
H02=666
H10=xxx

IPOSplus

..
...
SET[H01]=H02
...

H01=10
H02=666
H10=666
01847ARU

SETINT
SETINT (argument 1) Mxx

(SETINT)
.
SETINT.
RET.

,
. (
RET),
( ).
SETINT 1.
.
,
.
ERROR , TOUCH PROBE,
TIMER 0.
SETINT .

01830ARU

DISABLE
ERROR

, (Mxx) .

.
(. 830
SETFR) ( )
:
P830 "No response",

SETFR = NO RESPONSE, .
( 830
SETFR) "..., FAULT",

(. SETFR).

MOVIDRIVE IPOSplus

75

: SET ()/SETFR ( )/SETI (. )/SETINT ()/

SETSYS ( )
TIMER 0

,
0. 0 ,
(autoreload)
H485.

.
TOUCH PROBE
DI02,
( P601 = IPOS INPUT),
TOUCHP.

2 100 ,
.

. DI02 "High",
(RET) .
DI02 "Reset".

01849ARU

SETSYS

SETSYS
.
, () .
( 24 )

.

:

.
, ,
,
(, F ).

1 =

2 =

()

01848ARU

76

MOVIDRIVE IPOSplus

: SET ()/SETFR ( )/SETI (. )/SETINT ()/

SETSYS ( )
1:
(
P160/P170) 0,1 /
IPOSplus ( ,
):
n11
N11 =
n12
N12 =
n13
N13 =
n21
N21 =
n22
N22 =
n23
N23 =
PIFDATA

.
PIF
H
1 PIF
H+1
2 PIF
H+2
3 PIF
H+3
OP. MODE
.
(CFC SERVO)
( ,
).
CFC ( )
11
CFC &
12
CFC & IPOS ()
13
CFC & (DRS11A)
14
SERVO ( )
16
SERVO &
17
SERVO & IPOS ()
18
SERVO & (DRS11A)
19
IMAX
(
1) %
( : 0,1...150 %, 0,1 %);
.
POS. RAMP
(/
),
( ).
3000 /.
H
1F ()
H+1
2F ()
POS. SPEED
(/),

( ).
0,1 /.
H

H+1

OVERRIDE ON / ,

( ).
H=0
.
H0
.
BRAKE FUNC. / (P730)
ON
H=0
.
H=1
.
RAMP TYPE

( !) ( . 5.3, P916)

H=0

H=1

H=2
RESET ERROR
ACT. POSITION ACTPOS.MOT (H511)

2: ()

MOVIDRIVE IPOSplus

77

7.8

ASTOP / MEM / TOUCHP / WDOFF / WDON

ASTOP

ASTOP .
(RAPID STOP, HOLD CONTROL, TARGET POSITION)
(, . .)
(IPOS ENABLE).

01850AXX

RAPID STOP

HOLD
CONTROL

TARGET
POSITION

IPOS ENABLE
MEM

,
.
(H492) .
(

ASTOP (IPOS ENABLE)).
, .
(P131/
P133), .
(H412) ,
(

ASTOP (IPOS ENABLE)).
, .

(P911/P912)
STOP (
),
.
(H492)
,
(
ASTOP (IPOS ENABLE)
). ,
.
IPOS .

MEM IPOSplus /

. .
:
MEM
(H0...127), , ,
(EEPROM)
(105).
01851AXX

78

MOVIDRIVE IPOSplus

ASTOP / MEM / TOUCHP / WDOFF / WDON

NOP
STORE ALL
LOAD ALL
STORE PROG.
LOAD PROG.
STORE DATA
LOAD DATA

TOUCHP

.

(EEPROM).

(EEPROM) .

(EEPROM).

(EEPROM) .

(EEPROM).

(EEPROM) .

TOUCHP ,
.
DI02 / DI03.
No function.
( TOUCHP)
, (H511, H510, H509)
(H502...H507).
,
, 200 .

200 .
.

01852CXX

,
,

.
.


1
2
(DI02)
(DI03)

H511
H507
H505
(X15)
ACTPOS. MOT
TP.POS1MOT
TP.POS2MOT
(X14) H510
H506
H504
ACTPOS.EXT
TP.POS1EXT
TP.POS2EXT
H509
H503
H502
(X62)
ACTPOS.ABS
TP.POS1ABS
TP.POS2ABS

MOVIDRIVE IPOSplus

79

ASTOP / MEM / TOUCHP / WDOFF / WDON

ENABLE 1
DISABLE 1
ENABLE 2
DISABLE 2
ENABLE 1_HI
ENABLE 1_LO
ENABLE 2_HI
ENABLE 2_LO

1)

DI02
DI02
DI03
DI03
DI02
Low/High
DI02
High/Low
DI03
Low/High
DI03
High/Low

0
100 . 100
DI03,
10 (40960 .).
0
DISABLE2.
01853ARU

01854ARU

80

MOVIDRIVE IPOSplus

ASTOP / MEM / TOUCHP / WDOFF / WDON

2)

(
M100) SETINT TOUCHP1 M100.
01855ARU

WDOFF
WDON

WDON . ,
, WDOFF,
TASK1 TASK2 ,
41 ( ,
; , .).
, DI05 = 1
(high). Watchdog ( )
10 . 10
.
01856ARU

MOVIDRIVE IPOSplus

81

7.9

CPEQ / CPGE / CPGT / CPLE / CPLET / CPNE

CPEQ
COMPARE EQUAL (H = H == H)
COMPARE EQUAL (H = H == K)
CPGE
COMPARE GREATER OR EQUAL (H = H >= H)
COMPARE GREATER OR EQUAL (H = H >= K)
CPGT
COMPARE GREATER THAN (H = H > H)
COMPARE GREATER THAN (H = H > K)
CPLE
COMPARE LESS OR EQUAL (H = H <= H)
COMPARE LESS OR EQUAL (H = H <= K)
CPLT
COMPARE LESS THAN (H = H < H)
COMPARE LESS THANL (H = H < K)

2F (
), :

(CPGQ)
(CPGE)
(CPGT)
(CPLE)
(CPLT)
(CPNE)

, 1: 0
(TRUE). , = 0 (FALSE).

.

CPNE
COMPARE NOT EQUAL (H = H != H)
COMPARE NOT EQUAL (H = H != K)
ANDL / ORL / NOTL
ANDL
LOGICAL AND (H = H && H)

, ,
:

ORL
LOGICAL OR (H = H H)

= 0 (FALSE)
0 (TRUE)

NOTL
LOGICAL NOT (H = NOT (H)

ANDL ""
2F (
):
1:
ANDL H01 && H02
H01 = 100
: 0
H02 = 0
: = 0
H01 =
= 0

2:
ANDL H01 && H02
: 0
: 0
0

H01 = 100
H02 = 50
H01 =

ORL ""
2F (
):
1:
ORL H01 H02
H01 = 100
H02 = 0
H01 =

2:
ORL H01 H02
: 0
: = 0
0

H01 = 0
H02 = 0
H01 =

: 0
: 0
= 0

NOTL :
1:
NOTL H01 = NOT (H02)
H01 = 100
: 0
H01 =
= 0

2:
NOTL H01 = NOT (H02)
H02 = 0
: = 0
H01 =
0

82

MOVIDRIVE IPOSplus

, ,
.
: . 4.2.2, 7.1 7.2.

473 STAT.WORD

474 SCOPE 474

475 SCOPE 475
476 DRS CTRL.

477 DRS STATUS

( 1)

( 1)
13
Imax signal
0
No function
1
/Fault
14
/Motor utilization 1
15
/Motor utilization 2
2
Ready
3
Output stage on
16
/DRS preFwarning
4
Rotating field on
17
/DRS lag error
5
Brake released
18
DRS slave in position
6
Brake applied
19
IPOS in position
7
Motor stationary
20
IPOS referenced
8
Parameter set
21
Reserved
9
Speed reference
22
/IPOS fault
10
Speed window
23..31 Reserved
11
Set/act. comparison
12
Current reference
MX_SCOPE

DRS11A.

0
X40.9 OUTP0
1
X40.10 OUTP1
3..14 Reserved
15
Set DRS hardware fault ( 48)
16..31 Reserved

DRS11A.

/
0
X40.5 INP4 free input 1
1
X40.6 INP5 free input 2
2
/DRS preFwarning
3
/DRS lag error
4
DRS slave in position
5
Master standstill
6..31 Reserved

478
479 ANA.OUT IP

^
DIO11A.
/, . 18

10000..0..10000
10000..0..10000

480 OPT.OUT IP

AOV1/AOC1 (X21:1/X21:2)
AOV2/AOC2 (X21:4/X21:5)

P640 AO1 = IPOS OUTPUT
P643 AO2 = IPOS OUTPUT

^
DIO11A/DIP11A.
, . 16

0
DO10 (X23:1)
P630 DO10 = IPOS OUTPUT
1
DO11 (X23:2)
P631 DO11 = IPOS OUTPUT
2
DO12 (X23:3)
P632 DO12 = IPOS OUTPUT
3
DO13 (X23:4)
P633 DO13 = IPOS OUTPUT
4
DO14 (X23:5)
P634 DO14 = IPOS OUTPUT
5
DO15 (X23:6)
P635 DO15 = IPOS OUTPUT
6
DO16 (X23:7)
P636 DO16 = IPOS OUTPUT
7
DO17 (X23:8)
P637 DO17 = IPOS OUTPUT
8..31 Reserved

MOVIDRIVE IPOSplus

83

481 STD.OUT IP

482 OUTPUT LVL

483 INPUT LVL

484 CTRL.WORD

485 T0 RELOAD

.
, . 16

0
DB00 (X10:3)
, . /Brake
1
DO01 (X10:4)
P620 DO01 = IPOS OUTPUT
2
DO02 (X10:7)
P621 DO02 = IPOS OUTPUT
3..31 Reserved
.
, . 16

DIO11A/DIP11A

3
DO10 (X23:1/X61:1)
0
DB00 (X10:3)
4
DO11 (X23:2/X61:2)
1
DO01 (X10:4)
5
DO12 (X23:3/X61:3)
2
DO02 (X10:7)
6
DO13 (X23:4/X61:4)
7
DO14 (X23:5/X61:5)
8
DO15 (X23:6/X61:6)
9
DO16 (X23:7/X61:7)
10
DO17 (X23:8/X61:8)
11..31 Reserved
.
, . 15

DIO11A/DIP11A
0
DI00 (X13:1)
6
DI10 (X22:1/X60:1)
1
DI01 (X13:2)
7
DI11 (X22:2/X60)
2
DI02 (X13:3)
8
DI12 (X22:3/X60:3)
3
DI03 (X13:4)
9
DI13 (X22:4/X60:4)
4
DI04 (X13:5)
10
DI14 (X22:5/X60:5)
5
DI05 (X13:6)
11
DI15 (X22:6/X60:6)
12
DI16 (X22:7/X60:7)
13
DI17 (X22:8/X60:8)
14..31 Reserved
IPOSplus ( ).
IPOSplus ,
.
IPOSplus "" ,
RSF485/RSF232
.

( 1)

( 1)
0
No function
16
Reserved
1
No enable
17
Reference cam
2
CW
18
Reference travel start
3
CCW
19
FreeFwheeling slave
4
n11/n21 (fixed setpoint 1)
20
Setpoint take over
5
n12/n22 (fixed setpoint 2)
21
Reserved
6
Switchover fixed setpoint
22
Set DRS zero point
7
Param. switchover (param. set 2)
23
Start DRS slave
8
Ramp switchover (ramp set 2)
24
DRS teach in
9
Motorpoti up
25
Reserved
10
Motorpoti down
26
Reserved
11
External error
27
Reserved
12
Error reset
28
Reserved
13
Hold control
29
Reserved
14
CW limit switch
30
Controller inhibit
15
CCW limit switch
31
Reserved
, 0
.
SET INTERRUPT (SETINT) (TIMER0 (H489))
, H485.
, 0 (H489 = 0) , H485,
.
: 0...231 1 .

486
487

84

MOVIDRIVE IPOSplus

488 TIMER 1

489 TIMER 0

490 WD.TIMER

491 SETP.POS.

, 1.
1 0.
: 0...231 1 .
, 0.
0 0. SET INTERRUPT
(SETINT), = 0
( SETINT, . 7.6). SET INTERRUPT
(SETINT) ,
T0 RELOAD (H485).
: 0...231 1 .
,
(Watchdog).
0. WATCHDOG ON (WDON)
.
: 0...231 1 .
.
: ! !
, ,
:

1
Motorumdrehungen
------------ ----------------------------------------------
4096
Inc.

492 TARGET POS

,
.
,
, , . .
, , H491
H492.
: 231...0...231 1 .
.
, ,
:

1
Motorumdrehungen
------------ ----------------------------------------------
4096
Inc.

. H492
.
:
1. :
50000 .
2. GOR NOWAIT #8000
.
3. :
42000 .
: 231...0...231 1 .
493 POS.WINDOW .
(H492)
(GOx ASTOP TARGET POSITION).
, IPOS IN POSITION ( P922 , . 31).
: 0...215 1 .
494 LAG WINDOW .

. ,
= 0 ( P923 , . 32).
: 0...231 1 .
495 LAG DISTAN
.
(
).
: 0...231 1 .

MOVIDRIVE IPOSplus

85

496 SLS RIGHT

497 SLS LEFT

498 REF.OFFSET

.
.
.
0F. ,
0 ( P920
, . 31).
: 231...0...231 1.
.
.
.
0F. ,
0 ( P921 ,
. 31).
: 231...0...231 1.
0^.
0F ,
. 0F
0F (P903) ( P900 0F, . 25).
, , 0F
:

1
Motorumdrehungen
------------ ----------------------------------------------
4096
Inc.
: 231...0...231 1.

499 SP.POS.BUS

, .
, .
,
'POSITION LO' 'POSITION HI' ( P87_).

500
501

507 TP.POS1MOT

, . , .

1 2
(DI02)
(DI03)
(X15) H511 ACTPOS.MOT H507 TP.POS1MOT
H505 TP.POS2MOT
(X14) H510 ACTPOS.EXT H506 TP.POS1EXT
H504 TP.POS2EXT

H509 ACTPOS.ABS H503 TP.POS1ABS
H502 TP.POS2ABS
(X62)

508
509 ACTPOS ABS

502 TP.POS2ABS
503 TP.POS1ABS
504 TP.POS2EXT
505 TP.POS2MOT
506 TP.POS1EXT

: ! !

510 ACTPOS EXT

3 X62
(. DIP11A).
.
: ! !

511 ACTPOS MOT

2 X14.
( 2) ,
X14 .

.

: ! !
, ,
1 :

1
Motorumdrehungen
------------ ----------------------------------------------
4096
Inc.

86

MOVIDRIVE IPOSplus

9.1

F
IPOSplus. ( )
, , .
(F , )

. F
( /, )
( . 3.1).
/
( ), MOVIDRIVE MDV60A/MDS60A DIO11A
F .

.
MX_SHELL
(Manual).
( , ..).
,
.
,
.
(, ,
).
.
, IPOSplus
H000...H127
. (
), .

1F :
, .

:
F
F
F
F
F
F

;
;
;
;
;
.

2F :

IPOSplus.
. , , ,
.
MOVIDRIVE IPOSplus

87

3F :
, IPOSplus ,
.

.
JMP... Mxx,
CALL Mxx. CALL Mxx
(. CALL).
4F :
IPOSplus .
:
F ( );
F ();
F F ( ),
.

.
IPOSplus
/Controller inhibit (/ )
0 /Controller inhibit ,
.
, (
), ( ).
/Controller inhibit
Enable = 0.
Enable ()
0 Enable (P136/P146)
.
/Lim. switch CW (/ ) /Lim. switch CCW" (/
)

( . 5.4), .

/Lim. switch CW /Lim. switch CCW. ,
,
(P137/P147), .
/Lim. switch CW /Lim. switch CCW
0F.
.
, .
.
Reference cam ( 0F) Reference travel ( 0F)
IPOSplus 0F,
( . 5.2). " 0F"
, , ,
(Ref. travel start).
GO0... . 0F
, .
,
24 .

88

MOVIDRIVE IPOSplus

IPOS input (IPOSF)

.
IPOS input IPOS output.
IPOS in position (IPOS )
F IPOS in position,
1, ( . 5.4).
,
ASTOP Target Position, / .

.
IPOS output (IPOSF).
Reset ()
Reset
.
( , . 10).
Ready ( ) /Fault (/)
Ready /Fault
.

9.2

:
F ;
F ;
F .
3 DIO11A
3 .
1
RESET (DI02).
:
/ (. )
.

MOVIDRIVE IPOSplus

89

:
d = 50

i=5

100

100

2000

0F

500

100

100

. 31. IPOSplus

90

01870ARU

MOVIDRIVE IPOSplus

X13
DI00
DI01
DI02
DI03
DI04
DI05
DCOM
VO24
DGND
ST11
ST12

Ref. Cam.

CW LS

CCW LS

0V24
24V
I 01
I 02
I 03
I 04
I 05
I 06
I 07
I 08
O 01
O 02
O 03
O 04
O 05
O 06
O 07
O 08

1
2
3
4
5
6
7
8
9
10
11

/Controller inhibit
Enable/Rapid stop
Reset
Reference cam
/CW limit switsh
/CCW limit switsh

DIO

X20

1
2
3

AI21
AI22
AGND

X21

1
2
3
4
5
6

AOV1
AOC1
AGND
AOV2
AOC2
AGND

X22

1
2
3
4
5
6
7
8
9
10

DI10 Position 1
DI11 Position 2
DI12 Position 3
DI13
DI14
DI15
DI16 Start reference travel
DI17 Start positioning
DCOM
DGND

1
2
3
4
5
6
7
8
9

DO10 /Fault
DO11
DO12
DO13
DO14
DO15
DO16 IPOS IN POSITION
DO17 IPOS REFERENCE
DGND

X23

. DIO11A
01367CRU

. 32. IPOS

MOVIDRIVE IPOSplus

91

MX_SHELL
30.
302
350

1 [rpm]
1

1500
OFF

60.
600
601
602
603
604

DI01
DI02
DI03
DI04
DI05

ENABLE/STOP
RESET
REFERENCE CAM
/LIM. SWITCH CW
/LIM. SWITCH CCW

61. . DIO11A
610...617

DI10...DI17

IPOS INPUT

63. . DIO11A
630
636
637

DO10
DO16
DO17

/FAULT
IPOS IN POSITION
IPOS REFERENCE

700
700
730

CFC & IPOS

YES

9.. IPOS
900
901
902
903
910
911
912
913
914
915
916
920
921
922
923
930

0F
1
2
0F
XF
1
2

[mm]
[rpm]
[rpm]

[s]
[s]
[rpm]
[rpm]
[%]
[mm]
[mm]
[Inc]
[Inc]

500
200
50
1
2,8
1
1
1350
1350
100
SINUS
2100
F100
50
5000
OFF

: NUMERATOR/DENOMINATOR
( ; . . 5.1)
: NUMERATOR
: DENOMINATOR
: DIMENSION

92

2048000
15708
mm

MOVIDRIVE IPOSplus

IPOSplus
0^:

:

:

.
.
: mm ()!

./.. .
20480
4096 . 5 =
20480 100 ( ) = 2048000

:

d
50 =
157,0796327
157,08 100 ( ) = 15708
:
, ,
mm ().

:
1350 rpm (/)
:
50 .
"Drive in position" (" ").

/Controller inhibit
Enable
Reset
Reference cam
CW limit switch
CCW limit switch
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input

/

. (. . .)
. . 0F. (0F.+)
(+)
(F)
0

1000

2000
F
( +)
( F)
0F

01885AXX

DB00
DO01
DO02
DO10
DO11
DO12
DO13
DO14
DO15
DO16
DO17

MOVIDRIVE IPOSplus

MDX
MDX
MDX
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A

/Brake
Ready
/Fault
IPOS output
IPOS output
IPOS output
IPOS output
IPOS output
IPOS output
IPOS in position
IPOS reference

.
; . .

F
F
F
F
F
F

0F

93

( )
NUM.: 2048000 DENOM.: 15708
DIMEN.: mm
******************************************
Sample program: Hoist
The drive is moved to 0; 1000; 2000 mm
positions using the first 3 inputs
of the DIO11A option.

File: Hub 100.mdx

Author: SEW/AWT
Date: 01.06.98
Modified: 01.06.98
Terminal wiring of inputs:^^^^^^^^^^^^^^^^^
DI00 Controller inhibit
DI01 Enable
DI02 Reset (move clear of LS)
DI03 Reference cam
DI04 Limit switch CW
DI05 Limit switch CCW
DI10 Hoist position 0 mm
DI11
"
1000 mm
DI12
"
2000 mm
DI13 ^ ^ ^
DI14 (Jog CW)
DI15 (Jog CCW)
DI16 Reference travel
DI17 Start positioning
Terminal wiring of outputs:^^^^^^^^^^^^^^^^
DB00 Brake
DO01 Ready
DO16 "IPOS in position"
DO17 "IPOS reference"
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Program start
==========================================
Subroutine calls
==========================================
SETINT ERROR M10
M100: CALL M50
JMP LO I0001000000000000, M101
CALL M20
M101: JMP LO I0000010000000000, M102
CALL M30
M102: JMP LO I0000100000000000, M103
CALL M40
M103: JMP UNCONDITIONED , M100
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Subroutine Reset / Move clear of limit switch
==========================================
M10:
JMP HI I0000000000110000, M1
M3:
JMP HI I0000000000110000, M2
ASTOP IPOS ENABLE
JMP UNCONDITIONED , M3
M2:
ASTOP TARGET POSITION
M1:
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

94

. . . . .
/ .

DI16 = 1 0F
DI15 = 1
DI14 = 1

/
.
(DI05/DI06
/),
, ,
,
(
DI02 Reset).
:
= .

MOVIDRIVE IPOSplus

Subroutine Reference travel

==========================================
M20:
ASTOP IPOS ENABLE
GO0 U,NW, ZP
M22:
JMP LO I0000000000000001, M21
SET H319 = 0
BMOV H319.0 = H473.20
JMP H319 == 0
, M22
M21 : ASTOP TARGET POSITION
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0F

Subroutine Jog mode

==========================================
M30:
RET
M40:
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

: (, F )

Main program Hoist positioning

==========================================
M50:
JMP LO I0000000001000000, M51
GOA WAIT #0
mm
M51:
JMP LO I0000000010000000, M52
GOA WAIT #1000
mm
M52:
JMP LO I0000000100000000, M53
GOA WAIT #2000
mm
M53:
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
END

MOVIDRIVE IPOSplus

0F, ,
, 0F,
IPOS reference = 0.

1 DI10,
0
1 DI11,
1000
1 DI12,
2000

95

9.3

:
F +/F;
F ;
F ;
F 0F ;
F ( );
F .
+ (DI14) F (DI15)
. 0F . 0F,
,
. 1
F .
1 RESET (DI02).
:
/
.

/Controller inhibit
Enable
Reset
Reference cam
CW limit switch
CCW limit switch
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input

/

. (. . .)
. . 0F. (0F.+)
(+)
(F)
F
F
F
F
+
F
0F

01885AXX

DB00
DO01
DO02
DO10
DO11
DO12
DO13
DO14
DO15
DO16
DO17

96

MDX
MDX
MDX
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A

/Brake
Ready
/Fault
IPOS output
IPOS output
IPOS output
IPOS output
IPOS output
IPOS output
IPOS in position
IPOS reference

. .
; . .

F
F
F
F
F
F

0F

MOVIDRIVE IPOSplus


( )
NUM.: 1 DENOM.: 1
DIMEN.: inc
******************************************
Sample program: Jog mode
File: Tipp.mdx
Author: SEW/AWT
Date: 01.06.98

Function: Jog mode

^ Uni^directional travel possible
^ No axis referencing required
^ Range limits compliance / software LS
^ Travel speeds / ramps from H310 on
^ Jog+ (DI14) / Jog^ (DI15) inputs
Parameter setting (P600) of inputs / outputs:
In inverted commas: indicated function
Without inverted commas: IPOS INPUT/OUTPUT
Terminal wiring of inputs:^^^^^^^^^^^^^^^^^
DI00 "Controller inhibit"
DI01 "Enable"
DI02 "Fault reset" (move clear of LS)
DI04 "Reference cam"
DI03 "Limit switch CW"
DI05 "Limit switch CCW"
DI14 Jog CW
DI15 Jog CCW
DI16 Start reference travel
DI17 (Start positioning)
Terminal wiring of outputs:^^^^^^^^^^^^^^^^^^
DB00 Brake
DO01 Ready
DO16 "IPOS in position"
DO17 "IPOS reference"
Variables used:^^^^^^^^^^^^^^^^^^^^^
H310 = Velocity jog mode (1/10 rpm)
H311 = "CCW"
H312 = Acceleration ramp
(ms)
H313 = Deceleration ramp
(ms)
H316 ^ H319 = Auxilary jog variables
******************************************
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Program start
==========================================
Initialization
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
SET H310 = 5000
SET H311 = 5000
SET H312 = 2000
SET H313 = 2000
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

MOVIDRIVE IPOSplus

F
(. ).

97

98

Subroutine calls
==========================================
SETINT ERROR M10
M100: JMP LO I0001000000000000, M101
CALL M20
M101: JMP LO I0000010000000000, M102
CALL M30
M102: JMP LO I0000100000000000, M103
CALL M40
M103: JMP UNCONDITIONED , M100
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Subroutine Reset / Move clear of limit switch

==========================================
M10 : JMP HI I0000000000110000, M1
M3 :
JMP HI I0000000000110000, M2
ASTOP IPOS ENABLE
JMP UNCONDITIONED , M3
M2 :
ASTOP TARGET POSITION
M1 :
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

/
.

Subroutine Reference travel

==========================================
M20 : ASTOP IPOS ENABLE
GO0 U,NW, ZP
M22 : JMP LO I0000000000000001, M21
SET H309 = 0
BMOV H309.0 = H473.20
JMP H309 == 0
, M22
M21 : ASTOP TARGET POSITION
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0F

Subroutine Jog mode

==========================================
Jog mode (software LS interrogat. active)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
M35 : SETSYS POS.SPEED C(C)W = H310
SETSYS POS. RAMP
= H312
SET H319 = 0
BMOV H319.0 = H473.20
JMP H319 == 0
, M36
SET H319 = H496
OR H319 | H497
JMP H319 == 0, M36
SET H319 = 1
SET H317 = H496
SET H318 = H497
M36 : RET

. /
.
DI16 = 1
0F
DI15 = 1

DI14 = 1

(DI05/DI06
/),
. ,
,
(
DI02 F Reset).
:
= .

0F, ,
, Controller inhibit = 0,
IPOS reference = 0.

.
.
.
: 0F? (
).
: = 0? (
).
,
H319 = 1,
F
(H317)
( H496 H497).

MOVIDRIVE IPOSplus

^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Jog +
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
M30 : JMP LO I0000010000000000, M31
JMP HI I0000100000000000, M31
CALL M35
JMP H319 == 1
, M32
GETSYS H317 = ACT.POSITION
ADD H317 + 4096000
M32 : ASTOP IPOS ENABLE
GOA NOWAIT H317
JMP UNCONDITIONED , M30
M31 : ASTOP TARGET POSITION
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Jog ^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
M40 : JMP LO I0000100000000000, M41
JMP HI I0000010000000000, M41
CALL M35
JMP H319 == 1
, M42
GETSYS H318 = ACT.POSITION
SUB H318 ^ 4096000
M42 : ASTOP IPOS ENABLE
GOA NOWAIT H318
JMP UNCONDITIONED , M40
M41 : ASTOP TARGET POSITION
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
End of Jog mode
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
END

MOVIDRIVE IPOSplus

,
DI14 = 1
DI15 = 0.
.
1000

(= ).

,
DI14 = 0
DI15 = 1.
.
1000

(= ).

99

9.4

:
F 16 ;
F ;
F ;
F .
4 DIO11A
16 ( H000 F H015) .
F ( )
4
DIO 11A.

0F DI16 0F.
DI17 "
( Controller inhibit Enable = 1).
DI17 0
, !
1 DO15 ,
.
. DO16 IPOS in
position
(Controller inhibit" = 0).
1
RESET (DI02).
:
/ (. )
.
(H00FH15)
MX_SHELL, .
.
:

,
(4096 ./
).

100

MOVIDRIVE IPOSplus

/Controller inhibit
Enable
Reset
Reference cam
CW limit switch
CCW limit switch
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input
IPOS input

/

. (. . .)
. . 0F. (0F.+)
(+)
(F)

20

21

22
23
( +)
( F)
0F

01885AXX

DB00
DO01
DO02
DO10
DO11
DO12
DO13
DO14
DO15
DO16
DO17

MOVIDRIVE IPOSplus

MDX
MDX
MDX
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A
DIO11A

/Brake
Ready
/Fault
IPOS output
IPOS output
IPOS output
IPOS output
IPOS output
IPOS output
IPOS in position
IPOS reference

. .
; . .


20

21

22
23
F


0F

101

( )
NUM.: 1 DENOM.: 1 DIMEN.: inc
******************************************
Sample program: Table positioning
File: Tab.mdx
Author: SEW/AWT
Date: 01.06.98

Function: Table positioning

^ The first 4 inputs of the DIO11A option
are used for selecting the positions in
the corresponding variables 0...15 in binary coded format.
^ Input DI17 (X22:17) is used for enabling
the selected travel command.
Parameter setting of inputs / outputs:
In inverted commas: function indicated
Without inverted commas: IPOS INPUT/OUTPUT
Terminal wiring of inputs:^^^^^^^^^^^^^^^^^
DI00 "Controller inhibit"
DI01 "Enable"
DI02 "Fault reset" (move clear of LS)
DI03 "Reference cam"
DI04 "Limit switch CW"
DI05 "Limit switch CCW"
DI10 Variable pointer bit
20
DI11
21
DI12
22
DI13
23
DI14 (Jog CW)
DI15 (Jog CCW)
DI16 Start reference travel
DI17 Start positioning
Terminal wiring of outputs:^^^^^^^^^^^^^^^^^^
DB00 Brake
DO01 Ready
DO10 Variable pointer bit
20
DO11
21
DO12
22
DO13
23
DO14 ^
DO15 Table position reached
DO16 "IPOS in position"
DO17 "IPOS reference"
Variables used:^^^^^^^^^^^^^^^^^^^^
H300 = Travel speed CW (1/10 rpm)
H301 = Travel speed CCW (1/10 rpm)
H302 = Acceleration ramp CW (ms)
H303 = Deceleration ramp CCW (linear)
H320 ^ H324 = Auxilary variables
******************************************
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Program start
==========================================
Initialization
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
SET H300 = 15000
SET H301 = 15000
SET H302 = 1000
SET H303 = 1000
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

102

(.

).

MOVIDRIVE IPOSplus

Subroutine calls
==========================================
SETINT ERROR M10
M100: CALL M50
JMP LO I0001000000000000, M101
CALL M20
M101: JMP LO I0000010000000000, M102
CALL M30
M102: JMP LO I0000100000000000, M103
CALL M40
M103: JMP UNCONDITIONED , M100
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Subroutine Reset / Move clear of limit switch

==========================================
M10 : JMP HI I0000000000110000, M1
M3 :
JMP HI I0000000000110000, M2
ASTOP IPOS ENABLE
JMP UNCONDITIONED , M3
M2 :
ASTOP TARGET POSITION
M1 :
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

/
.

Subroutine Reference travel

==========================================
M20 : ASTOP IPOS ENABLE
AND H480 & FFFFFFF0 hex
BCLR H480.5 = 0
GO0 U,NW, ZP
M22 : JMP LO I0000000000000001, M21
SET H319 = 0
BMOV H319.0 = H473.20
JMP H319 == 0
, M22
M21 : ASTOP TARGET POSITION
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0F

Subroutine Jog mode

==========================================
M30 : RET
M40 : RET

: (, F )

MOVIDRIVE IPOSplus

. /
.

DI16 = 1
0F
DI14 = 1

DI15 = 1

(DI04/DI05
/),
, ,
,
(
DI02 Reset).
:
= .

.

.
0F, ,
, Controller inhibit" = 0,
IPOS reference = 0.

103

Main program Table positioning

==========================================
Check whether axis is referenced
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
M50 : SET H321 = 0
BMOV H321.0 = H473.20
JMP H321 != 0, M51
RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Set travel speed and ramp
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
M51 : SETSYS POS.SPEED C(C)W = H300
SETSYS POS. RAMP
= H302
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Read variable pointer into variable H320
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
SET H320 = H483
ASHR H320 >> 6
AND H320 & F
hex
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Check output "Table position reached"
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
JMP H322 == H320, M54
BCLR H480.5 = 0
M54 : SET H322 = H320
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Output variable pointer in binary coded format
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
SET H323 = H320
SET H324 = H480
AND H324 & FFFFFFF0 hex
OR H323 | H324
SET H480 = H323
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Table positioning enable
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
M53 : JMP LO I0010000000000000, M52
ASTOP IPOS ENABLE
GOA NOWAIT [H320]
JMP NOT IN POSITION, M53
BSET H480.5 = 1
JMP UNCONDITIONED , M55
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
M52 : ASTOP HOLD CONTROL
M55 : RET
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
End table positioning control
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
END

104

0F.
( DO17 = 10F H473
;
IPOS reference.)

,
.

(
) 4
(DI10 F DI13).

,

.

.

(DO10 F DO13)

(H480).

DI17 = 1, ,
,
.
.
.

: , DI17 = 0.
.
.

MOVIDRIVE IPOSplus


10

10

10.1
(P080) ( tF0...tF4).
,
. :
/


.
;
:
:
;
, (DB00 / = 0).
:
t13/t23.
, , ,
(DB00 / = 0).
:
t14/t24.
, , ,
(DB00 / = 0).
: :
.
, . .
(DI01...DI05 , DI10...DI17 DIO11A).
MX_SHELL: P840 = "YES" ("") [Parameter]/[Manual reset]
([]/[ ]).
DBG11A ( <E>
P840).

. ,
.
:
, (:
./.)
0F ( 2). ,
Controller inhibit Enable = 1,
(H492). ,
(,
ASTOP TARGET POSITION).
(FAULT WARNING)
:
FAULT

WARNING

F : , /
; . . IPOSplus,
0F, , , IPOSplus ( SETSYS),
( 1F ).
F : IPOSplus
; 0F, , , IPOSplus
( SETSYS), .

MOVIDRIVE IPOSplus

105

10

10.2
() P ,
(P83_ ) SETFR IPOSplus.
() P ,
SETFR IPOSplus.

00
01

FAULT

03

FAULT

04

FAULT

07

FAULT

08

09

10

11

13

14

15

106

F .
F .
F .

:
F ;
F ;
F .
F
.
F .
F .
F
.
F .

.

F .
F
.
F
,
SEW.
F .
F
SEW.
F .
F
.
F
.
F MOVIDRIVE .

F .
F
.
F
.
nF
F F .

( VFC)
F
FAULT
. (P501 P503).
F . F .
F
.
F .
F
.
F
.
F .

.
FAULT
.

IPOS F
IPOS
.
,
FAULT
.
F
.
F
SCOM MOVLNK.
F
SETSYS RAMP TYPE
.

.
.
FAULT

.
(P101).

WARNING

.
,
FAULT
F / . .
F .
24 .

24

FAULT

SEW.
MOVIDRIVE IPOSplus

10

P
17F24

, , F
FAULT
.

25

EEPROM

26

27

28

29

TF

31

32

IPOS

33

35

36

37

Watchdog

38

39

0F

,
.

SEW.

EEPROM.

FAULT
.

SEW.

.

FAULT
.

F /
F

.
.
FAULT
F
F .

F .
.

F .

F F
FAULT
.
(P819) / .

F .
IPOS

F
.
WARNING
.

F , TF. F

F TF
.
.
F /
F MOVIDRIVE TF
MOVIDRIVE TF.
.
F TF :
F
X10:1 X10:2.
X10:1 X10:2.
MDS:
MDS:
X15:9 X15:5.
F X15:9 F X15: 5. F P834 "No response".

, F
IPOS.
FAULT
.

.
(P100).
WARNING

P700 P701

.
.
WARNING

F
F .

.
.
FAULT
F .
F
,
(P100).
F
.
(P101).
F
(P700 P701).

SEW.
FAULT

SEW.
FAULT
F 0F.

F
0F
FAULT
.
.
F 0F
.
F 0F

/Controller inhibit.

MOVIDRIVE IPOSplus

107

10

40

41

42

43

44

45

47

48

50

51

52

53

108

P



DPx11A DRS11A:

FAULT
.
.
.
Watchdog .

. SEW.
FAULT
F . F .

F . F .
FAULT
F PF
F
.
PF.
F
F
.
.
F F
.
.
F P302 P913/P914
F ,
( IPOS)
.
, 10 %.
F
,
.
F

RSF485

.
.
WARNING

SEW.

F .

( IxT)
F .
F FAULT
125 %.
F :

EEPROM

.
FAULT
.
,
SEW.
F

FAULT

F
F .

.
F
DRS
FAULT
F
.
,
.

DPx11A:

F F
,
. .
.
"".
F
F .

.

DPx11A:

F F
. .
.
,
F
"".

F .
.

F .
DPx11A:

.

. .
, F
.

F ,
.
"0".

F .
DPx11A:

.

. .
F
,
.

F ,
.
"0".

MOVIDRIVE IPOSplus

54

0F

56

. .

57

58

55

59

60

> V

F
DPx

63

64

65

LM628

66

67

DPx RemoteF
Time

61

62

MOVIDRIVE IPOSplus

P
DPx11A:
0F
"GO0" "SET0".
DPx11A:

(.,
).
DPx11A:


.
DPx11A:


.
DPx11A:


.
DPx11A:


.
DPx11A:


,
.
DPx11A:
,
,
,
.
DPx11A:
F
DPx11A.

10

0F.

.


.
F .
F
.

.
F

.
F
.
F
.
F .

F
.
F
.


SEW.

DPx11A:

SET Hxx/Hyy .
0.
DPx11A:
F F .
.
F F
.
(
).

DPx11A:
,

SEW.
.
F
DPx11A:
.
F :
.
.
DPx11A:

.
.

109

10

68

69

SSI^^

DPx
1: SSIF

70

2:
SSIF
3:
F SSIF

71

4:
SSIF
CAN^^

DPx
1: F CAN
2: CAN

3: CANF

72

73

77

IPOS

FAULT

78

FAULT
IPOS

74

110

4: CANF

P

DPx11A:
F


5 .
F
PF .
F
PF.
F .
.
F
.
DPx11A:
X11:6
X11:6.

.
; DPA11A.
SSIF .

,
SEW.
SSIF .

,
SEW.
F .
F .
F .
F .
F
F
.
.

DPA11A.
.
; DPA11A.
CAN.

F

CAN.
CANF.

CAN.
, .
DPx11A:

.
Cxx
C99.
DPx11A:
,

. .:
SAVE
.
DPx11A:

230, . .
.
IPOS:


( ).
IPOS:


,

.

CAN.


.

,
SEW.

.

.

F
.
F
.
F .
F
.

MOVIDRIVE IPOSplus

81

82

84

85

88

92

"VFC & HOIST":

FAULT


:
F


.
F
.

"VFC &

HOIST":
FAULT
F
.
F


.

.
FAULT

.
FAULT

"VFC^n^

CONTROL":
FAULT


> 5000 /.
. DIP11A:

DIP

FAULT
.

93

DIP

95

DIP

10

F

.
F
.
F

.

F
.
F

.

F .
F .
F .

.

F
(P953).
F

.

. DIP11A:
,
., .
F
F
"FDIP"
.
(
F .
, ).
F F
.
.
F . F .
/ .
.
F .
F
.
. DIP11A:

.
F . F .
F
F
IPOS.
IPOS.
F / F .
.
F /
.
F .
F .
F .
F
.

13

MOVIDRIVE IPOSplus

111


11

GOA 67
45
18
18
18
18
18
55

13
34

MOD 55
NOT 55
CTRL. WORD 44

CALL 69
0F 24
0F GO0 66

29

, 40
6

88
0L 88
88
0L 88
88
88
89

89
89
IPOS 89
12

6
6

K
57
LOOP 71
JMP 69
14, 66
72
SET () 74
SETFR ( ) 74
SETI ( ) 74
SETINT () 74
SETSYS ( ) 74
56
BCLR 56
BMOV 56
BMOVN 56
BSET 56

ASHR 56
SHL 56
SHR 56

ASTOP 78
MEM 78
TOUCHP 78
WDOFF 78
WDON 78
13
34
31

72

AND 55
ANDL 82
NOTL 82
OR 55
ORL 82
XOR 55

DIMENSION 24

24

A
ADD 55
AND 55
ANDL 82
ARITHMETIC SHIFT RIGHT 56
ASHR 56

13

11
5
39
1 21
1/ 2 13
21
21
22
2 21
/
12

DENOMINATOR 23

MOVIDRIVE IPOSplus

11

B
BCLR 56
BIT CLEAR 56
BIT MOVE 56
BIT MOVE NEG. 56
BIT SET 56
BMOV 56
BMOVN 56
BSET

112

11

SETI 75
SETINT 75
SHIFT LEFT 56
SHIFT RIGHT 56
SHL 56
SHR 56
SUB 55
SUBTRACT 55

C
CALL 69
COMPARE EQUAL 82
COMPARE GREATER OR EQUAL 82
COMPARE GREATER THAN 82
COMPARE LESS OR EQUAL 82
COMPARE LESS THAN 82
COMPARE NOT EQUAL 82
COPY 72
CPEQ 82
CPGE 82
CPGT 82
CPLE 82
CPLT 82
CPNE 82
D
DIV 55
DIVISION 55
J
JMP 69
JUMP 69
E
EXCLUSIVE OR 55
G
GETSYS 72
GO0 66
GOA 67
GOR 67
L
LOGICAL AND 82
LOGICAL NOT 82
LOGICAL OR 82
LOOP 71
LOOPB 71
LOOPE 71
M
MOD 55
MODULO 55
MOVLNK 57
MUL 55
MULTIPLY 55
N
NO OPERATION 71
NOP 71
NOT 55
NOTL 82
O
OR 55
ORL 82
R
REF.OFFSET 86
Reference offset 86
REM 71
REMARK 71
RET 71
RETURN 71
S
SCOM 62
SET 74
SET FAULT REACTION 74
SET INDIRECT 75
SET INTERRUPT 75
SETFR 74

113

T
TASK2 71
X
XOR 55
W
WAIT 71

SCOM 62
/
MOVLNK 57
6
4
32
31

CPEQ 82
CPGE 82
CPGT 82
CPLE 82
CPLET 82
CPNE 82
25

ADD 55
DIV 55
MUL 55
SUB 55

GOR 67

29

... 14
14
13
14
69
31
PROFIBUS 43

23

IPOS 32
0F 26
6

39
DIO11A 41
DIP11A 41
IPOSplus 4

... 14

MOVIDRIVE IPOSplus



A
ACT.POS 1 86
ACT.POS 2 86
Actual Position 1 86
Actual Position 2 86
ANA.OUT IP 83
Analog Output 83

Control word 44, 84

CTRL.WORD 44, 84
D
DRS Control 45, 83
DRS CTRL. 45, 83
DRS STATUS 45, 83
I
Input level 84
INPUT LVL 84
L
LAG DISTAN 85
Lag Distance 85
LAG WINDOW 85
O
OPT.OUT IP 83
Option Output IPOSplus 83
Output level 84
OUTPUT LVL 84
P
POS.WINDOW 85
Position Window 85
S
SCOPE 474 83
SCOPE 475 83
SETP.POS. 85
Setpoint Position 85
Setpoint position bus 86
SLS LEFT 86
SLS RIGHT 86
Software Limit Switch LEFT 86
Software Limit Switch RIGHT 86
SP.POS.BUS 86
Standard Output IPOSplus 84
STAT.WORD 83
Status word 83
STD.OUT IP 84
T
T0 RELOAD 84
TARGET POS 85
Target Position 85
TIMER 0 85
Timer 0 Reload 84
TIMER 1 85
Touch Probe Position X/Y 86
TP.POS.X/Y 86
W
WAIT 71
Watchdog Timer 85
WD.TIMER 85
48
0F 25

MOVIDRIVE IPOSplus

11

11

GETSYS 72

29
XF 29
DRS11A 46
44

30
Watchdog 81

13
15
16
16
17

29

NUMERATOR 23

COPY 72

D
DRS_Ctrl 45
DRS_Status 45

I
IPOS IN POSITION 31
IPOS OUTPUT 17
IPOS REFERENCE 25
IPOSF 89
IPOSF 89

MOVLINK 51

N
NOP ( ) 71

R
REF. TRAVEL START 25
REFERENCE CAM 25
REM () 71
RET () 71

T
TASK2 ( 2) 71

W
WAIT () 71

114

 , .
SEWFEURODRIVE F

.

F
.

SEW-EURODRIVE GmbH & Co Postfach 30 23 D-76642 Bruchsal

Tel. (07251)75-0 Fax (07251)75-19 70 Telex 7 822 391
http://www.SEW-EURODRIVE.de sew@ sew-eurodrive.de