Manual MOVIDRIVE® MDX61B, 20242549 - SEW … notes in the "IPOSplus®" manual as well as the MOVIDRIVE ... The encoder is connected to the X15 of the DEU21B. You could also use a

*20242549_1114*Drive Technology \ Drive Automation \ System Integration \ Services

Manual

MOVIDRIVE® MDX61BDEU21B multi-encoder card

Edition 11/2014 20242549/EN

SEW-EURODRIVE—Driving the world

Contents

Manual – MOVIDRIVE® MDX61B 3

Contents1 General information .................................................................................................................. 5

1.1 About this documentation ............................................................................................... 51.2 Structure of the safety notes .......................................................................................... 5

1.2.1 Meaning of signal words ................................................................................. 51.2.2 Structure of section-related safety notes ........................................................ 51.2.3 Structure of embedded safety notes ............................................................... 5

1.3 Rights to claim under limited warranty ........................................................................... 61.4 Exclusion of liability ........................................................................................................ 61.5 Other applicable documentation .................................................................................... 61.6 Product names and trademarks ..................................................................................... 61.7 Copyright notice ............................................................................................................. 6

2 Safety Notes............................................................................................................................... 72.1 Other applicable documentation .................................................................................... 72.2 Safety functions .............................................................................................................. 72.3 Hoist applications ........................................................................................................... 72.4 Disposal ......................................................................................................................... 7

3 System Description................................................................................................................... 83.1 Fields of application ....................................................................................................... 83.2 Application examples ..................................................................................................... 9

3.2.1 Speed control, positioning with reference travel ............................................. 93.2.2 Absolute positioning with combination encoder .............................................. 93.2.3 Absolute positioning with synchronous encoder ........................................... 103.2.4 Special applications ...................................................................................... 10

3.3 Suitable non-SEW encoders ........................................................................................ 103.3.1 SSI encoder .................................................................................................. 113.3.2 SSI combination encoder.............................................................................. 123.3.3 HIPERFACE® encoder.................................................................................. 133.3.4 CANopen encoder ........................................................................................ 133.3.5 EnDat encoder .............................................................................................. 14

4 Assembly / Installation instructions...................................................................................... 154.1 Before you start ............................................................................................................ 154.2 Installing the DEU21B option card ............................................................................... 154.3 Connection and terminal description of the DEU21B option ........................................ 174.4 DC 24 V voltage supply of the DEU21B ....................................................................... 184.5 Connecting an absolute encoder ................................................................................. 18

4.5.1 General installation notes ............................................................................. 184.5.2 Prefabricated cables for connection at X15 of the DEU21B option .............. 184.5.3 Connection options for encoders at X15 DEU21B........................................ 204.5.4 Connection diagrams for prefabricated cables ............................................. 23

5 Project planning ...................................................................................................................... 275.1 Absolute encoder selection .......................................................................................... 27

5.1.1 Multi-turn rotary encoders ............................................................................. 275.1.2 Laser distance measuring instruments ......................................................... 28

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Contents

Manual – MOVIDRIVE® MDX61B4

5.1.3 Material measure by metal rule..................................................................... 295.2 Encoder parameterization ............................................................................................ 30

5.2.1 SSI encoder .................................................................................................. 305.2.2 CANopen encoder ........................................................................................ 325.2.3 HIPERFACE® encoder.................................................................................. 32

6 Startup...................................................................................................................................... 336.1 General startup instructions ......................................................................................... 336.2 Startup procedure ........................................................................................................ 34

6.2.1 Editing SEW-EURODRIVE encoders manually ............................................ 356.2.2 Editing approved encoders .......................................................................... 366.2.3 Defining the encoder mounting .................................................................... 37

6.3 Unit replacement ......................................................................................................... 386.3.1 Replacing incremental encoders .................................................................. 386.3.2 Replacing absolute encoders........................................................................ 386.3.3 Replacing linear encoder systems ................................................................ 386.3.4 Replacing a Hiperface® encoder ................................................................... 38

7 Parameters ............................................................................................................................... 397.1 Motor encoder/distance encoder .................................................................................. 39

7.1.1 SSI motor encoder/distance encoder............................................................ 417.1.2 EnDat2.1 motor encoder/distance encoder .................................................. 437.1.3 CANopen motor encoder/distance encoder.................................................. 44

8 Error messages ....................................................................................................................... 468.1 MOVIDRIVE® MDX61B with DEU21B option ............................................................... 46

9 Technical Data ......................................................................................................................... 499.1 DEU21B option – electronics data ............................................................................... 49

Index ......................................................................................................................................... 50

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1General informationAbout this documentation


1 General information1.1 About this documentation

This documentation is an integral part of the product. The documentation is intendedfor all employees who perform assembly, installation, startup, and service work on theproduct.Make sure this documentation is accessible and legible. Ensure that persons respon-sible for the machinery and its operation as well as persons who work on the deviceindependently have read through the documentation carefully and understood it. If youare unclear about any of the information in this documentation or require further infor-mation, please contact SEW‑EURODRIVE.

1.2 Structure of the safety notes1.2.1 Meaning of signal words

The following table shows the grading and meaning of the signal words for safetynotes.

Signal word Meaning Consequences if disregarded DANGER Imminent hazard 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 itsenvironment.

INFORMATION Useful information or tip: Simplifieshandling of the drive system.

1.2.2 Structure of section-related safety notesSection-related safety notes do not apply to a specific action but to several actionspertaining to one subject. The hazard symbols used either indicate a general hazardor a specific hazard.Section-related safety notes are structured as follows:

SIGNAL WORD

Type and source of hazard.Possible consequence(s) if disregarded.• Measure(s) to prevent the hazard.

1.2.3 Structure of embedded safety notesEmbedded safety notes are directly integrated into the instructions just before the de-scription of the dangerous action.Embedded safety notes are structured as follows:• SIGNAL WORD Type and source of hazard.

Possible consequence(s) if disregarded.

– Measure(s) to prevent the hazard.

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1 General informationRights to claim under limited warranty


1.3 Rights to claim under limited warrantyA requirement of fault-free operation and fulfillment of any rights to claim under limitedwarranty is that you adhere to the information in the documentation. Read the docu-mentation before you start working with the product.

1.4 Exclusion of liabilityYou must comply with the information contained in this documentation to ensure safeoperation and to achieve the specified product characteristics and performance fea-tures. SEW-EURODRIVE assumes no liability for injury to persons or damage toequipment or property resulting from non-observance of these operating instructions.In such cases, any liability for defects is excluded.

1.5 Other applicable documentationThis document supplements the operating instructions and limits the application notesaccording to the following information. Use this document only together with the oper-ating instructions.

1.6 Product names and trademarksAll product names included in this documentation are trademarks or registered trade-marks of the respective titleholders.

1.7 Copyright notice© 2014 SEW‑EURODRIVE. All rights reserved.Unauthorized reproduction, modification, distribution or any other use of the whole orany part of this documentation is strictly prohibited.

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2Safety NotesOther applicable documentation


2 Safety Notes2.1 Other applicable documentation

• Only electrical specialists are allowed to perform installation and startup observingrelevant accident prevention regulations and the MOVIDRIVE® MDX60B/61B oper-ating instructions:

• Read through this manual carefully before you commence installation and startupof the DEU21B option.

• As a prerequisite to fault-free operation and fulfillment of warranty claims, you mustadhere to the information in the documentation.

2.2 Safety functionsThe MOVIDRIVE® MDX60B/61B drive inverter may not perform safety functions with-out higher-level safety systems. Use higher-level safety systems to ensure protectionof equipment and personnel. For safety applications, ensure that the information in thefollowing publications is observed: "Safe disconnection for MOVIDRIVE® MDX60B/61B."

2.3 Hoist applicationsMOVIDRIVE® MDX60B/61B is not designed for use as a safety device in lifting appli-cations.Use monitoring systems or mechanical protection devices as safety equipment toavoid possible damage to property or injury to people.

2.4 DisposalObserve the applicable national regulations.Dispose of the following materials separately in accordance with the country-specificregulations in force:

• Electronics scrap

• Plastic• Sheet metal• Copper

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3 System DescriptionFields of application


3 System Description3.1 Fields of application

With the DEU21B multi-encoder card option, the MOVIDRIVE® system is upgradedwith an absolute encoder connection. This permits positioning functions to be imple-mented with IPOSplus® that offer the following opportunities:

• No reference travel required when the system is started or after a power failure.

• Positioning can take place either with the absolute encoder or the motor encoder.

• Replacement of positioning switches along the travel distance even without motorencoder feedback.

• Free processing of the absolute position in the IPOSplus® program.

• Both synchronous and asynchronous motors can be used in all MOVIDRIVE® oper-ating modes (P700/P701).

• The absolute encoder can be mounted either on the motor or along the track (e.g.high-bay warehouse)

• Simple encoder adjustment with user-guided startup.• Endless positioning in combination with activated modulo function. Pay attention to

the notes in the "IPOSplus®" manual as well as the MOVIDRIVE® MDX60B/61B sys-tem manual (→ chapter "Parameter descriptions").

INFORMATIONIt is not possible to operate the DEU21B option with DIP11B and DRS11B simultane-ously.

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3System DescriptionApplication examples


3.2 Application examples3.2.1 Speed control, positioning with reference travel

For speed control, the encoder is used in order to provide for an optimized motor con-trol and thus optimized speed and torque characteristics.As the position is not stored when the unit is switched off, a reference travel is re-quired after startup.

DEU21B

X15

19

815

X14

815

19

2035933323

Ideally, for asynchronous motors you would use a SIN/COS encoder such as theAS7S in this case. Due to the analog signal, this encoder can realize a better resolu-tion for the speed control. For synchronous motors, you should use a single-turn com-bination encoder. The encoder is connected to the X15 of the DEU21B.You could also use a TTL or HTL encoder. In order to provide for a sufficient speedcontrol quality, the periodicity should not be smaller than 1024.

3.2.2 Absolute positioning with combination encoderApart from an incremental signal (SIN/COS, TTL, HTL), combination encoders have asignal for the absolute position. This absolute position is usually transmitted via a seri-al interface. There are combination encoders with different transmission protocolssuch as Hiperface®, SSI or EnDat.

DEU21B

X15

19

815

X14

815

19

2035933323

This system is ideal for applications with rigid coupling to the distance. The major ad-vantage is that there is no additional encoder required for the track. If you use the in-cremental signal for speed control, you have to connect the combination encoder toX15.

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3 System DescriptionSuitable non-SEW encoders


3.2.3 Absolute positioning with synchronous encoderWith systems subject to slip, it is not possible to detect the position via the motor en-coder. This is why an additional measuring system is required for the track. This canbe laser distance encoders, barcode encoders, draw-wire encoders or length scales.One advantage of measuring the length directly at the track can be that temperature-related length changes are also detected.

DEU21BX15

19

815

X14

815

19

2035931403

Ideally, for asynchronous motors you would use a SIN/COS encoder as motor encod-er in this case. For synchronous motors, you should use a single-turn combination en-coder. The motor encoder is connected to the X15 of the DEU21B. The distance en-coder is connected to the X14 of the DEU21B.

3.2.4 Special applicationsThe DEU21B allows for detecting 2 absolute values simultaneously. Apart from thesignals of the combination encoder connected to X14, you can read in another abso-lute signal via X14.

DEU21B

X15

19

815

X14

815

19

2035931403

3.3 Suitable non-SEW encoders

INFORMATIONFor a list of suitable encoders, refer to our homepage:

→ www.sew-eurodrive.com

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3System DescriptionSuitable non-SEW encoders


3.3.1 SSI encoderManufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15Balluff BTL5-S112B-M1500-P-S32 BTL5-S112B-Mxxxx-P-xxx Linear distance sensor ×

BTL5-S112-M1500-P-S32 BTL5-S112-Mxxxx-P-xxx Linear distance sensor ×BML-S1G0 BML-S1G0-S7ED-M5EA-D0-S284 Linear distance sensor ×

Dimetix FLS-C 10 Laser distance measuringinstrument

×

Elgo LIMAX2 LIMAX2-00-030-0125-SSG1-D15M0 Linear distance sensor ×Hübner AH7Y HMG161 Rotary encoder ×

HMG161 HMG161 S24 H2048 Rotary encoder ×IVO GM 401 GM401.x20xxxx Rotary encoder ×Kuebler 9081 8.9081xxxx2003 Rotary encoder ×

9081 8.9081xxxx2004 Rotary encoder ×Leuze AMS 200/200 AMS200/xxx-11-x Laser distance measuring

instrument×

AMS 304j AMS 300 xxx Linear encoder ×BPS 37 BPS37xx-xxx-xx Barcode distance sensor ×OMS1 OMS1 0.1 mm Linear encoder ×OMS1 OMS1 1 mm Linear encoder ×OMS2 OMS2xx PB 0.1 mm Linear encoder ×

MTS Sensors RP RP-x-xxxxM-xxx-1-S3G1105 Linear distance sensor ×RH RH-x-xxxxM-xxx-1-S3G1105 Linear distance sensor ×RF RF-x-xxxxxM-xxx-1-S3G1105 Linear distance sensor ×RD4 RD4-x-xx-xxxxM-xxx-S3G1105 Linear distance sensor ×

Pepperl+Fuchs EDM Linear encoder ×PCV80S-F200-SSI PCV80S-F200-SSI-V19 0.1 mm Linear encoder ×PCV80S-F200-SSI PCV80S-F200-SSI-V19 1 mm Linear encoder ×VDM100 VDM100-xxx-SSI 0.1 mm Linear encoder ×VDM100 VDM100-xxx-SSI 1 mm Linear encoder ×VDM100-150 VDM100-150 Laser distance measuring

device×

WCS2(A)-LS311 WCS2(A)-LS311 Barcode distance sensor ×WCS3(A)-LS311 WCS3(A)-LS311 Barcode distance sensor ×WCS3(B)-LS311 WCS3(B)-LS311 Barcode distance sensor ×

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Manufacturer Encoder designation Order designation Encoder type DEU21BX14 X15

Sick/Stegmann AFM60B AFM60B-Sxxx032768 Rotary encoder ×AFM60E AFM60E-SxAx004096 Rotary encoder ×DL100 DL100-1xAA2101 Linear encoder ×DL100Hi DL100-2xAA2101 Linear encoder ×DL50Hi DL50-x2228 Linear encoder ×DME3000-111 DME3000-x11 Linear encoderDME3000-x17 DME3000-x17 Laser distance measuring

device×

DME4000-x11 DME4000-x11 0.1 mm Laser distance measuringdevice

×

DME4000-x11 DME4000-x11 1 mm Laser distance measuringdevice

×

DME5000-x11 DME5000-x11 0.1 mm Laser distance measuringdevice

×

DME5000-x11 DME5000-x11 1 mm Laser distance measuringdevice

×

AG 100 MSSI AG100 412400000000 Rotary encoder ×AG 626 ATM60AxA12X12 Rotary encoder ×ARS60 ARS60-Axxxxxxx Rotary encoder ×ATM60 ATM60-AxA12X12 Rotary encoder ×ATM90 ATM90-AxA12X12 Rotary encoder ×POMUX KH53 POMUX KH54 Linear distance sensor ×TTK70 (only after consultationwith SEW)

– Linear distance sensor × ×

OLM100-10x1 OLM100-10x1 Linear encoder ×OLM100-12x1 OLM100-12x1 Linear encoder ×

SIKO MSA1000 MSA1000 Linear distance sensor ×TR Electronic CE 58M SSI CEx58M-SSI Rotary encoder ×

CE 65M SSI CEx65M-SSI Rotary encoder ×LA41K 304-00319-xxxx Linear distance sensor ×LE100 LE100SSI 0.1 mm Laser distance measuring

device×

LE100 LE100SSI 1 mm Laser distance measuringdevice

×

LE200 LE200 SSI 2200-20002 Laser distance measuringdevice

×

Vahle APOS Linear encoder ×

3.3.2 SSI combination encoderManufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15Balluff BML-S1G0 BML-S1G0-S7EC-M5EA-D0-S284 Linear encoder × ×Pepperl+Fuchs Axx58/AVM58X-1212 Axx58x-xxxxxxGx-1212 Rotary encoder × ×

AVM58X AVM58X-032KARYGN-1212 Rotary encoder × ×Heidenhain ROQ424 586638-82 Rotary encoder × ×

ROQ425 ATEX 16228413 Rotary encoder × ×Hübner AMG73 S24 S2048 AMG73 S24 S2048 Rotary encoder × ×

AMG83 S24 S2048 AMG83 S24 S2048 Rotary encoder × ×

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3System DescriptionSuitable non-SEW encoders


3.3.3 HIPERFACE® encoderManufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15Sick/Stegmann DME4000-xx7 DME4000-x17 Laser distance measuring

device×

DME5000-xx7 DME5000-x17 Laser distance measuringdevice

×

SKM36 (AK0H) SKM 36-HFA0-K02SKM 36S-HFA0-K02

Rotary encoder × ×

SKS36 (EK0H) SKS36-HFA0-K02 Rotary encoder × ×SRM50 (AF1H) SRM50-HZA0-S05 Rotary encoder × ×SRM50 (AK1H) SRM50-HFA0-K22

SRM50S-HFA0-K22Rotary encoder × ×

SRM50 (AS1H) SRM50-HZZ0-S01SRM50-HZA0-S05

Rotary encoder × ×

SRN50 (AV6H) SRM50-HWZ0-S02 Rotary encoder × ×SRM50C3 (AV1H) SRM50C3 01871897 Rotary encoder × ×SRM60 SRM60 Rotary encoder × ×SRM64 (AS3H) SRM 64 01880004 Rotary encoder × ×SRM64 (AS4H) SRM64 01880012 Rotary encoder × ×SRM64 (AS7H) SRM64 13790005 Rotary encoder × ×SRS50 SRS50-HGx0-K0x Rotary encoder × ×SRS50 (EF1H) SRS50-HZA0-S03 Rotary encoder × ×SRS50 (ES1H) SRS50-HZZ0-S01 13332171

SRS50-HZA0-S03 13328603Rotary encoder × ×

SRS50 (EV1H) SRS50 C16 Rotary encoder × ×SRS60 SRS60 HGx0-K0x Rotary encoder × ×SRS64 SRS64 rotary encoder × ×SRS64 (ES3H) SRS64 01880012 Rotary encoder × ×SRS64 (ES4H) SRS64 01879855 Rotary encoder × ×SRS64 (ES7H) SRS64 13617125 Rotary encoder × ×LinCoder L230 L230-P58002S00000 Linear encoder × ×TTK70 (only after consultationwith SEW)

TTK70 Linear distance sensor × ×

Hübner AMG38W (AG7W) AMG38 W29 S2048 Rotary encoder × ×AMG73 (AS7Y, AV7W) AMG73 W29 S2048 Rotary encoder × ×

3.3.4 CANopen encoderManufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15Pepperl+Fuchs WCS3(B)-LS410 WCS3(B)-LS410 Barcode distance sensor ×Sick/Stegmann DME4000-xx9 DME4000-x19 0.1 mm

DME4000-x19 1 mmLaser distance measuringdevice

×

TR Electronic CE 58M CANopen CEx58M-CANopen Rotary encoder ×LE200 CANopen LE200 CANopen 0.1 mm

LE200 CANopen 1 mmLinear encoder ×

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3.3.5 EnDat encoderManufacturer Encoder designation Order designation Encoder type DEU21B

X14 X15Heidenhain ECN1313 ECN1313/EnDat01 Rotary encoder × ×

EQN1125 EQN1125/EnDat01 Rotary encoder × ×EQN1325 EQN1325/EnDat01 Rotary encoder × ×EQN425 EQN425/EnDat01 Rotary encoder × ×ECN113 EQN113/EnDat01 Rotary encoder × ×ROQ425 ATEX ROQ425 Rotary encoder × ×ROQ425 ROQ425 Rotary encoder × ×

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4Assembly / Installation instructionsBefore you start


4 Assembly / Installation instructions4.1 Before you start

Observe the following information before installing or removing the DEU21B op-tion card:• Disconnect the inverter from the power. Switch off the DC 24 V and the supply volt-

age.

• Take appropriate measures to protect the option card from electrostatic charge(use discharge strap, conductive shoes, etc.) before touching it.

• Before installing the option card, remove the keypad and the front cover.

• After installing the option card, replace the front cover and the keypad.• Keep the option card in its original packaging until immediately before you are

ready to install it.• Hold the option card by its edges only. Do not touch any components.

4.2 Installing the DEU21B option card

INFORMATIONThe DEU21B option can be installed in MOVIDRIVE® MDX61B sizes 0 to 7. OnlySEW-EURODRIVE staff may install or remove the DEU21B option for MOVIDRIVE®

MDX61B size 0.

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4 Assembly / Installation instructionsInstalling the DEU21B option card


The following figure shows the installation of an option card in MOVIDRIVE® MDX61Bsizes 1 to 7.

1.

4.

4.

1.2.

3.

3.

3.

2.

1942024459

1. Remove the retaining screws holding the card retaining bracket. Pull the card re-taining bracket out evenly from the slot (do not twist!).

2. Remove the retaining screws of the black cover plate on the card retaining bracket.Remove the black cover plate.

3. Position the option card onto the retaining bracket so that the retaining screws fitinto the corresponding bores on the card retaining bracket.

4. Insert the retaining bracket with installed option card into the slot, pressing slightlyso it is seated properly. Secure the card retaining bracket with the retaining screws.

Basic procedurefor installing/removing an op-tion card

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4Assembly / Installation instructionsConnection and terminal description of the DEU21B option


5. To remove the option card, follow the instructions in reverse order.

4.3 Connection and terminal description of the DEU21B optionDEU21B multi-encoder card option: 18221696

INFORMATION• The "DEU21B multi-encoder card" option can only be used with MOVIDRIVE®

MDX61B, not with MDX60B.

• The DEU21B option must be plugged into the encoder slot.

Front view of DEU21B Description Terminal Function

DEU21B

X14

X15

19

815

1

8

9

15

9007201196767371

X14: Input for external encoder or outputfor incremental encoder simulationOutput for incremental encoder simula-tion:• Signal level to RS422• The number of pulses is the same as

on X15 motor encoder input.

X14:1X14:2X14:3X14:4X14:5/6X14:7X14:8X14:9X14:10X14:11X14:12X14:13X14:14X14:15

(COS+) signal track A (K1)(SIN+) signal track B (K2)Signal track C (K0)/clock+DATA+ CANHighReservedSwitch-overReference potential DGND(COS–) signal track A (K1)(SIN–) signal track B (K2)Signal track C (K0)/clock–DATA− CANLowDC 24 V encoder supply1)

ReservedDC 12 V encoder supply2)

(tolerance range DC 10.5 – 13 V)X15: Motor encoder input X15:1

X15:2X15:3X15:4X15:5X15:6X15:7X15:8X15:9X15:10X15:11X15:12X15:13X15:14X15:15

(COS+) signal track A (K1)(SIN+) signal track B (K2)Signal track C (K0)/clock+DATA+ReservedReference potential TF/TH/KTY–ReservedReference potential DGND(COS–) signal track A (K1)(SIN–) signal track B (K2)Signal track C (K0)/clock–DATA−DC 24 V encoder supply3)

TF/TH/KTY+ connectionDC 12 V encoder supply2)

(tolerance range DC 10.5 – 13 V)1) If the overall unit load on the 24 V level exceeds 400 mA, you must connect an external DC 24 V supply to X10:9/X10:10. Observethe "Project planning" chapter in the MOVIDRIVE® MDX60B/61B system manual.2) The maximum load on X14:15 and X15:15 is DC 650 mA in total.3) If the overall unit load on the 24 V level exceeds 400 mA, you must connect an external DC 24 V supply to X10:9/X10:10. Observethe "Project planning" chapter in the MOVIDRIVE® MDX60B/61B system manual.

NOTICEThe connections on X14 and X15 must not be installed or removed during operation.

Electrical components in the encoder or on the encoder card could be destroyed.

De-energize the inverter before plugging or removing the encoder connections.Switch off the line voltage and the DC 24 V (X10:9).

Part number

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4 Assembly / Installation instructionsDC 24 V voltage supply of the DEU21B


INFORMATION• If X14 is used as an incremental encoder simulation output, the switchover

(X14:7) must be jumpered with DGND (X14:8).

• The 24 V encoders from SEW-EURODRIVE (except HTL and Hiperface®) have awide voltage range (DC 10 V – 30 V) and can be supplied alternatively withDC 24 V (PIN13) or DC 12 V (PIN15).

4.4 DC 24 V voltage supply of the DEU21BThe maximum load on X14:15 and X15:15 is DC 650 mA in total. If the overall unitload on the 24 V level of MOVIDRIVE® MDX60B/61B exceeds 400 mA, you must con-nect an external DC 24 V supply to X10:9/X10:10. The internal power supply provides29 W. Observe the "Project planning" chapter in the MOVIDRIVE® MDX60B/61B sys-tem manual.

4.5 Connecting an absolute encoder4.5.1 General installation notes

• Max. line length DEU21B option (inverter) – motor encoder:

– HTL encoder ES7C and EG7C (from SEW-EURODRIVE): 300 m (984 ft)

– Standard HTL encoder: 200 m (656 ft)

– Other encoders: 100 m (328 ft)

– The maximum cable length might be reduced depending on the technical dataof the respective encoder. Observe the manufacturer specifications.

• Core cross section: 0.2 mm2 – 0.5 mm2 (AWG24 – AWG21)• Use shielded cables with twisted pair conductors and make sure they are grounded

on both ends over a large surface area:

– At the encoder in the cable gland or in the encoder plug

– To the inverter in the housing of the sub D plug

and

– to the metal clamp on the bottom of the inverter or to the strain relief.• Route the encoder cable separately from the power cables.

4.5.2 Prefabricated cables for connection at X15 of the DEU21B optionThe following overviews show the possible connections at X15 of the DEU21B option.

Meaning of the symbols

The connection cables are assigned a part number and a symbol. The icons have thefollowing meanings:

Icon MeaningConnection cable connector → connector for fixed installation

Extension connection cable connector → connector for fixed installation

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4Assembly / Installation instructionsConnecting an absolute encoder


Icon MeaningConnection cable connector → connector for cable carrier installation

Extension connection cable connector → connector for cable carrier installation

Connection cable connector → conductor end sleeves for fixed installation

Connection cable connector → conductor end sleeves for cable carrier installation

Connection cable conductor end sleeves → Y-cable with connector for fixed installation

Connection cable conductor end sleeve → Y-cable with connector for cable carrier in-stallation

Connection cable encoder connection cover → Y-cable with connector for fixed installa-tion

Connection cable encoder connection cover → Y-cable with connector for cable carrierinstallation

Connection cable connector → encoder connection cover for fixed installation

Connection cable connector → encoder connection cover for cable carrier installation

Connection via plug connector on the motor side

Connection via encoder connection cover on the motor side

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4 Assembly / Installation instructionsConnecting an absolute encoder


4.5.3 Connection options for encoders at X15 DEU21B

1362 199 8

DEU21B

X1

5

9

8

1

15

1362 204 8

1362 202 1

X15 DEU21B

DR71...132

ES7S, ES7R, ES7C,

AS7W, AS7Y

DR160...225

EG7S, EG7R, EG7C

AG7W, AG7Y

DR71...132

ES7S, ES7R, ES7C,

AS7W, AS7Y

DR160...225

EG7S, EG7R, EG7C

AG7W, AG7Y

1361 764 8

1361 762 1

X15 DEU21B

1362 318 4

1362 319 2

1362 197 1

X15 DEU21B

1362 196 3

DR315

EH7S

DR315

AH7Y

X15 DEU21B

1360 265 9

1362 320 6

2505815435

Dashed line: Shows extension cables that can be used as option.• Encoder connection:

– ES7S, ES7R, ES7C, AS7W, AS7Y with DR71 ... 132 motors

– EG7S, EG7R, EG7C, AG7W, AG7Y with DR160 ... 225 motors

– AH7Y with DR315 motorsRequired prefabricated cables:

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Option 1: Cable with D-sub 15 plug connector and encoder connection cover:

2047431819

Option 2: Cable with D-sub 15 plug connector and conductor end sleeves:

2047433483

Encoder cableMotor size Encoder type Installation Part number

DR71 ... 132

DR160 – 225

DR315

ES7S, ES7R, ES7C,

AS7W, AS7Y

EG7S, EG7R, EG7C,AG7W, AG7Y, AH7Y

13617621

13617648

13622021

13622048

• Encoder connection:

– ES7S, ES7R, ES7C, AS7W, AS7Y with DR71 ... 132 motors

– EG7S, EG7R, EG7C, AG7W, AG7Y with DR160 ... 225 motorsRequired prefabricated cables:Option 1: Cable with encoder connection cover and M23 plug connector:

2047435147

Option 2: Cable with conductor end sleeves and M23 plug connector:

2047436811

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Optional: Extension cable with M23 plug connector on both sides:

2047438475

Cable with M23 plug connector and D-sub 15 plug connector:

2047504139


DR71 ... 132

DR160 – 225

ES7S, ES7R, ES7C,

AS7W, AS7Y

EG7S, EG7R, EG7C,AG7W, AG7Y

13621963

13623184

13623192

13621971

13621998

• Connecting EH7S encoder to DR315 motorsRequired prefabricated cables:Cable with M23 plug connector and D-sub 15 plug connector:

2047504139


DR315 EH7S13602659

13623206

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4.5.4 Connection diagrams for prefabricated cables

13617621

X

A

Pin

Signal Cable

Core color

Signal B

PinMDX

360° contact on A-side Shield

A cos+ A 1

A cos- A 9

B sin+ B 2

B sin- B 10

C C + C 3

C C - C 11

D D 4

D D 12

UB UB UB 15

� DGND � 8

X

Pin assignment

360° contact on B-side

Data+

Data–

Gray-Pink+Pink (GY-PK+PK)

Red-Blue+Gray (RD-BU+GY)

Yellow (YE)

Violet (VT)

Black (BK)

White (WH)

Brown (BN)

Green (GN)

Blue (BU)

Shield

Stranding

Red (RD)

2087418123

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13622021

Y

Y

A

Pin

Signal Signal B

PinMDX

Shield

A (cos+) A (cos+)

A (cos-) A (cos-)

B (sin+) B (sin+)

B (sin-) B (sin-)

C + C +

C - C -

D + D +

D - D -

UB UB

GND GND

Pin assignment

Shield


Red-Blue+Gray (RD-BU-GY)

Violet (VT)

Black (BK)

White (WH)

Brown (BN)

Green (GN)

Yellow (YE)

Blue (BU)

Red (RD)

Stranding

Cable

Core color

360° contact on A-side 360° contact on B-side

2087421707

13621963

X

X

A

Pin

Signal Signal B

PinMDX

Shield

A (cos+) A (cos+)

A (cos-) A (cos-)

B (sin+) B (sin+)

B (sin-) B (sin-)

C + C +

C - C -

D + D +

D - D -

UB UB

GND GND

Pin assignment

Shield



Violet (VT)

Black (BK)

White (WH)

Brown (BN)

Green (GN)

Yellow (YE)

Blue (BU)

Red (RD)

Stranding

Cable

Core color


2087423627

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13623184

AKUA 020

Y

A

Pin

Signal Signal B

PinMDX

Shield

A (cos+) A (cos+)

A (cos-) A (cos-)

B (sin+) B (sin+)

B (sin-) B (sin-)

C + C +

C - C -

D + D +

D - D -

UB UB

GND GND

Pin assignment

Shield



Violet (VT)

Black (BK)

White (WH)

Brown (BN)

Green (GN)

Yellow (YE)

Blue (BU)

Red (RD)

Stranding

Cable

Core color


2087471755

13623192

X Y

A B

A Signal Signal B

Contact

Stranding

Shielding

Shielding

Contact

360° contacting A-side 360° contacting B-side

MDX

3 A (cos+) A (cos+) 3

4 A (cos-) A (cos-) 4

5 B (sin+) B (sin+) 5

6 B (sin-) B (sin-) 6

1 C + C + 1

2 C - C - 2

8 D + D + 8

7 D - D - 7

12 UB UB 12

� � GND GND 11

Pin assignment:

X YCable

conductor color

Red (RD)

Blue (BU)

Yellow (YE)

Green (GN)

Brown (BN)

White (WH)

Black (BK)

Violet (VT)

Red-blue+gray (RD-BU+GY)

Gray-pink+pink (GY-PK+PK)

9007201342467467

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13621998

X

X

Y

Y

A

Pin

Signal Signal B

PinMDX

360° contact on A-side Shield 360° contact on B-side

A (cos+) A (cos+)

A (cos-) A (cos-)

B (sin+) B (sin+)

B (sin-) B (sin-)

C + C +

C - C -

D + D +

D - D -

UB UB

GND GND

Pin assignmentCable

Core color

Violet (VT)

Black (BK)

White (WH)

Brown (BN)

Green (GN)

Yellow (YE)

Blue (BU)

Red (RD)

Shield



Shield

2087780491

13602659

X

X

Y

Y

A

Contact Signal

B

ContactSignal

5

8

3

10

6

1

4

12

A (COS +)

B (SIN +)

\B (SIN -)

C / 0

\C / 0

GND

UB

\A (COS -)

A / K1

B / K2

C / K0

\C / \K0

GND

UB

\A / \K1

\B / \K2

1

2

3

8

9

10

11

15

Shielding

Shielding

Red (RD)

Blue (BU)

Green (GN)

White (WH)

Yellow (YE)

Brown (BN)

Pink/violet (PK/VT)

Gray/black (GR/BK)

Cable

conductor color

B-BA - A

ASTA 021

0198 921 9

Sub-D

15-pins

male

9007201717408395

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5Project planningAbsolute encoder selection


5 Project planning5.1 Absolute encoder selection

When selecting the absolute encoder, the following points should be considered toachieve optimum travel characteristics and good dynamic properties in the system:

• Position measurement should be conducted without slip. The rotary encoders should be driven with no slip. Avoid all friction wheel connec-

tions.

• Position measurement must be rigid. Avoid elasticity and clearance.

• The resolution of the position measurement must be as high as possible. The more increments the encoder counts per unit-distance traveled,

– the more exactly it approaches the target position

– and the more rigid the closed loop system can be set.• The "refresh time" (the time taken for the absolute encoder to determine a new

actual position) should be less than 1 ms.

This value exerts a decisive influence on the dynamic characteristics of the drive.• The position output by the absolute encoder should not be averaged or fil-

tered, otherwise the dynamic properties of the drive are severely reduced.Encoders which can be used with the DEU21B option are divided into three catego-ries:

• Multi-turn rotary encoders, e.g. T&R CE58, CE 65, Sick ATM60• Laser distance measuring devices, e.g. T&R LE200, Sick DME5000• Linear position measuring systems, e.g. Leuze BPS37, Pepperl & Fuchs WCS2,

Pepperl & Fuchs WCS3

5.1.1 Multi-turn rotary encoders• Multi-turn rotary encoders are ideally suited in applications with positive power

transmission from the motor shaft to the load.

In this case, the absolute encoder can be mounted onto the motor shaft of thedrive. This keeps the installation costs very low while the position resolution is gen-erally very high due to the gear unit ratio.

• If the position measurement is performed using an externally mounted rotary en-coder (distance encoder), it is essential to make sure the gear ratio between themotor encoder and the distance encoder is sufficient.

INFORMATIONThe ratio of position resolution between motor encoder and synchronous encodermust not exceed factor 8.

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5 Project planningAbsolute encoder selection


Example

Travel drive with the following data:

Gearmotor R97DV160L4BMIG11, i = 25.03

Drive wheel diameter 150 mm

Encoder wheel diameter 65 mm

Encoder T&R CE65MSSI with 4096 x 4096 increments

Calculation of position resolution with encoder mounted to motor shaft:→ i x 4096 (π x 150 mm) = 217 increments/mmCalculation of position resolution with encoder mounted on the line:→ 4096 / (π x 65 mm) = 20 increments/mmResult: The ratio between the position resolution of the motor/track is 10.9 (greaterthan 8). Consequence: Reduce the diameter of the encoder wheel.

5.1.2 Laser distance measuring instrumentsDistance measurement with laser systems is based on a runtime measurement ofpulsed infrared beams. Various measured values have to be processed in the encoderto determine an accurate position value with this procedure. The result is a delay inposition measurement with these systems of up to 50 ms. This delay has a negativeeffect on the dynamics and positioning accuracy of the drive.Consider the following points when using and configuring laser distance measuringdevices:

• Ensure a vibration-free design when mounting the measurement system, e.g. incase of travel drives for storage/retrieval systems. Install the measuring system onthe bottom in this instance because the swinging motion of the tower will otherwisehave a negative effect on the measurement.

• The maximum acceleration of the drive is not to exceed 0.8 ms–2.

• The encoder characteristics will usually result in a lower limit for positioning accura-cy of ± 1 – 3 mm.

• The long delay

– may demand a drastic reduction in velocity precontrol (P915).

– may limit the amplification of the position controller (P910) to only small values(0.1 – 0.4) being set. As a result, highly dynamic properties cannot be achieved.

• There is a lag fault which is dependent on the speed, making it harder to monitorthe drive (delayed shut-off in the event of a fault).

INFORMATIONThe ratio of position resolution between motor encoder and synchronous encodermust not exceed factor 8.

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5Project planningAbsolute encoder selection


5.1.3 Material measure by metal ruleThe operating principle of this system corresponds to that of the multi-turn rotary en-coder. There is no averaging, so this system is not subject to a delay in position meas-urement.A linear position measuring system offers the following advantages:

• No reduction in dynamic properties.• Velocity precontrol (P915) of 100% is possible. There are no velocity-dependent

lag errors.• The monitoring functions are fully effective; a small lag fault window is possible.Disadvantages of a linear position measuring system:• Position resolution of 0.8 mm. The required positioning accuracy should not be less

than ± 2 mm.• Rather complicated mechanical installation due to the need for routing the metal

ruler.

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5 Project planningEncoder parameterization


5.2 Encoder parameterizationThe following points must be observed in the design and construction of encoders andwhen setting their parameters:

5.2.1 SSI encoder

INFORMATIONThe following applies for all parameterizable SSI encoders:

• The interface must be set to "SSI".

• You have to set "24 data bits + error bit" or "0 in bit 25".

• Plausibility must be set to "Normal = 0" when the plausibility check is activated.

• The coding must be set to "Gray" if not otherwise stated.

• HEIDENHAIN ROQ 424 (AV1Y) The SSI version with 10 – 30 V is supported. The unit designation specifies all ad-

ditional conditions.

• T&R CE 58, CE 65, CE 100 MSSI, LE 100 SSI, LE 200, LA 66K-SSI, LA 41K-SSI,ZE 65– 24 data bits must be set and the program signal bits must be programmed to

logical 0. Bit no. 25 may either contain 0 or an error or power fail bit. Other spe-cial bits following the position will not be evaluated. The 25-bit version is notsupported.

– The output mode must be "Direct".

– The interface must be set to "SSI".

• SICK STEGMANN AG100 MSSI, AG626, ATM90, ATM60 Only the 24-bit version is supported.

• SICK STEGMANN ARS60 Only the 15-bit version is supported.

• SICK DME-5000-x111, DME-4000-x111– The interface must be set to "SSI".

– You have to set "24 data bits + error bit".

– The resolution must be set to 0.1 mm or 1 mm.

– The plausibility must be set to "Normal".

• SICK DL100, DL100Hi– The interface must be set to "SSI".

– The coding must be set to "Gray".


– The resolution must be set to 0.1 mm.

– Set the "ErrRej" parameter to "Off".

– Set the "AvgDst" parameter to "Medium".

• SICK DL50Hi– The interface must be set to "SSI".

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5Project planningEncoder parameterization




– Set the "AvgDst" parameter to "Fast".

• SICK OLM100– You have to set "24 data bits + error bit".

– The resolution must be set to "0.1 mm.

• Pepperl & Fuchs WCS2(A)-LS311, WCS3(A)-LS311 The unit designation specifies all necessary conditions. The line length to the en-

coder must not exceed 10 m.

• Pepperl & Fuchs EDM 30/120/140 - 2347/2440– All modes are supported. Recommendation: Mode 0 (DIP switches 3 and 4 in

ON position) or mode 3 (DIP switches 3 and 4 in OFF position) and measuringfor triple reflector (DIP switch 2 in OFF position).

• Pepperl & Fuchs VDM 100-150– The operating mode must be set to mode 3 ([Menu] / [Parameters] / [Operating

modes] / [Mode 3]).

– The coding must be set to "Gray".

– The resolution must be set to 0.1 mm or 1 mm.• Pepperl & Fuchs PCV80S-F200 SSI

– The coding must be changed over to "Binary".

– The resolution (X and Y) must be set to 0.1 mm.• LEUZE AMS200, OMS1, OMS2, BPS37


– The resolution must be set to 0.1 mm.

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5 Project planningEncoder parameterization


5.2.2 CANopen encoder

• T&R CE 58 CANopen– The termination switch must be set to "ON".

– The node ID must be set to 1 via the 6-fold DIP switch.

– The number of increments per revolution must be set to the standard value,4096.

• T&R LE200 CANopen– Terminating resistor for bus termination required.

– The node ID must be set to 1 via the 8-fold DIP switch.

• SICK DME-4000-x19– The interface must be set to "CANopen".

– The node ID must be set to 1.


– The plausibility must be set to "Normal".• SICK OLM100 CANopen


– The resolution must be set to "0.1 mm.• Pepperl & Fuchs WCS3B-LS410

– The node ID must be set to 1 (switches 1 – 6 of the 8-fold DIP switch)

– The baud rate must be set to 250 kBd (switches 6 – 7 of the 8-fold DIP switch)

– The transmission mode must be set to "asynchronous 0 ms / 10 ms" (switches1 – 3 of the 4-fold DIP switch)

– The data protocol must be set to "data protocol 2" (switch 4 of the 4-fold DIPswitch to "on")

5.2.3 HIPERFACE® encoder• SICK DME-5000-x17, DME-4000-x17

– The interface must be set to "Hiperface®".

– The resolution must be set to 1 mm.

– The plausibility must be set to "Normal".

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6StartupGeneral startup instructions


6 Startup6.1 General startup instructions

INFORMATIONFor startup, you require MOVITOOLS® MotionStudio 5.60 SP1 HF1 or a later ver-sion.

Startup with an earlier version is not permitted.

• The drive must be started up in conjunction with the MOVIDRIVE® MDX61B driveinverter as described in the MOVIDRIVE® MDX60B/61B system manual. It must bepossible to move the drive using a suitable setpoint and control source.

Make sure that

– the installation of the DEU21B option

– Wiring

– Terminal assignment

– Safe disconnection

have been configured correctly and are suited to the application.• There is no need to activate the factory settings. If you call up a factory setting, the

MOVIDRIVE® MDX61B parameters will be reset to the default values. This also af-fects the terminal assignment, which must be altered to the required settings if nec-essary.

DANGEREncoder startup aborted with an earlier version of MOVIDRIVE® MotionStudio.

Severe or fatal injuries due to uncontrolled motor startup.

• Always use MOVIDRIVE® MotionStudio 5.60 SP1 HF1 or a later version.

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6 StartupStartup procedure


6.2 Startup procedure• Once the startup tool has been selected in MOVIDRIVE® MotionStudio, the initial

startup window is displayed.

– You can switch between the pages by using the [back] and [next] buttons.

– Click [continue].• Select your encoder setting for the motor encoder and, if necessary, for the dis-

tance encoder. You have the following options:

– "Edit manually", in order to select and parameterize an encoder.

– "Detect automatically", in order to read out the connected encoder. This is onlypossible with SEW-EURODRIVE encoders Ex7S, ExxH, Ax7W and AxxH.

– "Deselect", if there is no encoder connected to the card or if the applicationdoes not require an encoder.

– "Position detection ON" in order to determine the source of the actual values.

9007201197616907

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6StartupStartup procedure


6.2.1 Editing SEW-EURODRIVE encoders manuallyProceed as follows to select an SEW-EURODRIVE encoder manually:• Select "SEW-EURODRIVE encoder" from the encoder group.• Configure the encoder designation according to the nameplate.

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6 StartupStartup procedure


6.2.2 Editing approved encodersProceed as follows to manually select a non-SEW encoder approved by SEW-EURODRIVE:

• Select "Approved encoder" from the encoder group.• Select the respective encoder from the SEW-EURODRIVE database.

9007201197623819

• Select the "Mounting" tab and define the type of mounting.

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6StartupStartup procedure


6.2.3 Defining the encoder mountingProceed as follows to define the encoder mounting:

• Enter the counting direction of the encoder.• Specify the ratio between the motor and the encoder.• You can measure the ratio with the startup software. This is only possible after the

inverter has been installed successfully.

1988769931

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6 StartupUnit replacement


6.3 Unit replacement 6.3.1 Replacing incremental encoders

Incremental encoders for positioning always require a reference travel after startup.This is why there are no special measures required in the event of a unit or encoder(motor) replacement.

6.3.2 Replacing absolute encoders.With absolute encoders, the position is stored in the inverter with 32 bits. This allowsfor representing a larger absolute area than with an encoder with typical 12 bits in thesingle-turn range and 12 bits in the multi-turn range. This also means, however, that areference travel is required in the event of an inverter replacement as well as in theevent of an encoder (motor) replacement.

6.3.3 Replacing linear encoder systemsThe only exceptions are absolute linear encoder systems that do not have an encoderoverflow. If these can replaced so that the encoder system provides the same valuesas before the replacement, a reference travel is not required.

6.3.4 Replacing a Hiperface® encoderWith Hiperface® encoders, you can use parameter P948 to specify whether or not areference travel is required after an encoder replacement.

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7ParametersMotor encoder/distance encoder


7 ParametersThe DEU21B encoder cards are parameterized during startup. This is where you de-termine as to which encoder is connected to which terminal with which resolution. Themotor encoder is connected to terminal X15 and the distance encoder is connected toX14.In addition, you may provide for adaptations, e.g. regarding the counting direction orthe clock frequency, via the parameter tree.

7.1 Motor encoder/distance encoderThe following screenshots show an example of the motor encoder (X15).

9352138635

Parameters DescriptionEncoder type The encoder set via the startup of the DEU21B option is displayed

Factory setting: No encoder

Encoder scaling numerator Adjustment of the encoder resolution based on one motor revolution.

The following applies to sin/cos encoders with 1024 increments: Numera-tor 1024.

1024 sine cycles = 1 motor revolution.

Specifications are identical for TTL and HTL encoders.

Range of values: 0 – 1024 – 2147483647

Encoder scaling denomina-tor

Adjustment of the encoder resolution based on one motor revolution.

The following applies to sin/cos encoders with 1024 increments: Denomina-tor 1.

1024 sine cycles = 1 motor revolution.

Specifications are identical for TTL and HTL encoders.

Range of values: 1 – 2147483647

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7 ParametersMotor encoder/distance encoder


Parameters DescriptionCounting direction The effective position and speed is inverted.

Counter clockwise = positive, if inverted.

Settings: normal / inverted

Position mode With overflow counter:• Encoder overflows are counted and an internal 32-bit position is generated

in the inverterSingle-turn absolute position:• Only via single-turn absolute encoder. Position is displayed according to

the encoder information. Encoder overflows are not countedLinear operation:• Position is displayed according to the encoder information. Encoder over-

flows are not counted

Encoder monitoring motor(P504)

NO:• A wire breakage between frequency inverter and motor encoder is not di-

rectly detected. In case of a defective connection, fault F08 Speed monitor-ing will be issued in enabled state unless it was deactivated.

YES:• An open circuit between frequency inverter and motor encoder will be di-

rectly detected when using sin/cos encoders and TTL encoders. The errormessage F57 encoder error for the TTL encoder, F58 for the sin/cos en-coder will be issued in case of an error. This fault will also be generated ininhibited state.

INFORMATION: Encoder monitoring is not a safety function! If you use aHiperface® encoder, encoder monitoring is always active (for the track too) re-gardless of the setting in P504.

Position offset (P905) Range of values: (-2147483648 – 0 – 2147483647)

The position offset only needs to be set for incremental encoders; for other en-coders, it should be set to 0.

INFORMATION: The position value will be recalculated and overwritten auto-matically after successful completion of the reference travel.

SSI clock rate Range of values: 125, 250, 500, 1000, 2000 kHz

Defines the cycle frequency at which absolute encoder information is transmit-ted from the encoder to the inverter.

EnDat clock frequency Range of values: 125, 250, 500, 1000, 2000 kHz


CANopen baud rate Range of values: 125, 250, 500 kBaud, 1 MBaud

determines the transmission speed of the CAN bus.

Terminating resistor The terminating resistor is switched off during startup of an HTL encoder.

Settings: On/off

Encoder detected It is possible to identify the connected encoder automatically for Hiperface®

and EnDat encoders. The name of the encoder is displayed here.

Periods/revolution Rotary encoder: Number of sine cycles per revolution.

Factory setting: 0

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Parameters DescriptionSine period length Linear encoder: Resolution display. The length of a sine cycle in nm.

Factory setting: 0

Measuring step/revolution Rotary encoder: Digital resolution per encoder revolution

Factory setting: 0

Measuring step resolution Linear encoder: Resolution of a measuring step in nm.

Factory setting: 0

Number of revolutions Applies to multi-turn encoders. "0" is displayed for single-turn encoders.

Factory setting: 0

Measuring system length Linear encoder: Length of the measuring system in nm. Specification of themaximum position that can be represented.

Factory setting: 0

Encoder version Encoder properties.

C-track switching threshold Settings: 0/192 mV

Position monitoring abso-lute encoder

The absolute position is compared, in intervals of one second, with the positioncalculated via analog channels.

Please note: The overflow counter is no longer run if this parameter is switch-ed off.

Settings: On/off

7.1.1 SSI motor encoder/distance encoder

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Parameters DescriptionClock frequency Range of values: 125, 250, 500, 1000, 2000 kHz


Cycles per frame Range of values: 1 – 25 – 48

Number of cycles until an SSI date has been fully transferred.

Specification according to the encoder manufacturer's data sheet.

Rest period Range of values: 20 – 32 – 200 μs

Time interval in which no cycles are transferred.


Number of position bits Range of values: 0 – 24 – 63

Value displayed = multi turn + single turn.


Number of multi turn bits Range of values: 0 – 12 – 63


Resolution Range of values: 512 – 32768

Only relevant for combination encoders.

Static tolerance range Range of values: 0 – 1024 – 2147483647

Relevant for the encoder monitoring. Defined tolerance range after qualifica-tion of the encoder.

Dynamic tolerance range Range of values: 0 – 2147483647


Refresh time Range of values: 0 – 65535 μs

The encoder outputs a new position after this time. The multi-encoder cardDEU21B extrapolates the position in this time.


Wake-up time Range of values: 0 – 65535 ms


Bit position of the positionbit


Start of the position coding.


Fault mask for messagebits

Range of values: 0 – FFFF FFFF

Here you define whether there is to be a response to the encoder's messagebits.

Motor encoder: If yes, the error 122, suberror 260 is issued.

Distance encoder: If yes, the error 122, suberror 16644 is issued.

Configuration Gray code: 0Binary code: 1

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7.1.2 EnDat2.1 motor encoder/distance encoder

9352136715

Parameters DescriptionClock frequency Range of values: 125, 250, 500, 1000, 2000 kHz


Fault mask for warning bits Range of values: 0 – FFFF FFFF

Here you define whether there is to be a response to the encoder's warningbits.



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7.1.3 CANopen motor encoder/distance encoder

9352134795

Parameters DescriptionNumber of SDOs Range of values: 0 – 8

Objects for data parameterization

Baud rate Range of values: 125, 250, 500 kBaud, 1 MBaud

determines the transmission speed of the CAN bus.

Number of position bits Range of values: 0 – 24 – 63

Value displayed = multi turn + single turn. Specification according to the en-coder manufacturer's data sheet.

Number of multi turn bits Range of values: 0 – 12 – 63

Always 2 for linear encoders, then hide it. The value can be queried in positionmode. Specification according to the encoder manufacturer's data sheet.

Resolution Range of values: 2 – 512 – 32768

Only relevant for combination encoders.

Static tolerance range Range of values: 0 – 1024 – 2147483647


Dynamic tolerance range Range of values: 0 – 2147483647

Relevant for the encoder monitoring. Defined tolerance range after qualifica-tion of the encoder. 20

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Parameters DescriptionRefresh time Range of values: 0 – 65535 μs

The encoder outputs a new position after this time. The multi-encoder cardDEU21B extrapolates the position in this time. Specification according to theencoder manufacturer's data sheet.

Wake-up time Range of values: 0 – 65535 ms


Bit position of the positionbit


Start of the position coding. Specification according to the encoder manufac-turer's data sheet.

Fault mask for messagebits

Range of values: 0 – FFFF FFFF

Here you define whether there is to be a response to the encoder's messagebits.



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8 Error messagesMOVIDRIVE MDX61B with DEU21B option


8 Error messages8.1 MOVIDRIVE® MDX61B with DEU21B option

MOVIDRIVEMDX61BwithDEU21Boption

The factory set fault response is listed in the "Response (P)" column. (P) indicates thatthe response is programmable (via IPOSplus®).

Errorcode

Designation Re-sponse(P)

Suberrorcode

Designation Possible cause Measure

57 "TTL encoder" Immediateswitch-off

512 X15: Error in amplitude con-trol

• Encoder cable or shieldnot connected correctly

• Short circuit/broken en-coder wire

• Encoder defective• EMC interference

• Check encoder cable andshield for correct connec-tion, short circuit and bro-ken wire.

• Replace encoder• Providing for EMC meas-

ures


514 X15: Incorrectly set numera-tor/denominator values

Incorrect numerator/denom-inator values

Correct the numerator/denominator values


58 "Sine/cosineencoder"

Immediateswitch-off







ures

514 X15: Track signal error16896 X14: Error in amplitude con-

trol16897 X14: Initialization16898 X14: Track signal error

513 X15: Initialization Encoder defective Replace encoder515 X15: Incorrectly set numera-

tor/denominator valuesIncorrect numerator/denom-inator values

Correct the numerator/denominator values


59"Encodercommunica-tion"

Rapidstop

1 X15: Track signal error • Encoder cable or shieldnot connected correctly





ures

16 X15: Data line fault64 - 576 X15: RS485 communication1088-1388 X15: EnDat communication16385 X14: Track signal error16400 X14: Data line fault16448 -16832

X14: RS485 communication

17472 -17772

X14: EnDat communication

2 X15: Incorrect calibration ofencoder

Incorrect encoder calibra-tion or mechanical offset tomotor

Delivery condition + newstartup

16386 X15: Incorrect calibration ofencoder

1024 X15: Clocking and/or dataline not connected

Clocking and/or data linenot connected

Connect clocking and/or dataline

17408 X14: Clocking and/or dataline not connected

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8Error messagesMOVIDRIVE MDX61B with DEU21B option


Errorcode


Suberrorcode


122 "Absolute en-coder option"

Immediateswitch-off

2 X15: Encoder type unknown Connected encoder typeunknown

Replace encoder16386 X14: Encoder type unknown1 X15: Plausibility check • Encoder cable or shield

not connected correctly• Short circuit/broken en-

coder wire• Encoder defective• EMC interference



ures

33 X15: Analog voltages notwithin tolerance

41 – 45 X15: RS485 communication60 X15: Analog voltages not

within tolerance63 X15: Position error, speed

too high, position cannot becreated

256 X15: Encoder's error bit isset






ures

257 X15: Interrupted clock ordata line

258 X15: Change of position261 X15: No high level present513 X15: Plausibility check768 X15: PDO timeout770 X15: Change of position16385 X14: Plausibility check.16417 X14: Analog voltages not

within tolerance16444 X14: Analog voltages not

within tolerance16447 X14: Position error, speed

too high, position cannot becreated

16425 –16429

X14: RS485 communication

16640 X14: Encoder's error bit isset

16641 X14: Interrupted clock ordata line

16642 X14: Change of position16645 X14: No high level present16897 X14: Plausibility check17152 X14: PDO timeout17154 X14: Change of position

122 "Absolute en-coder option"

Immediateswitch-off

34 – 40 X15: Internal encoder error Internal encoder error Replace encoder46 – 50 X15: Internal encoder error64 – 67 X15: Internal encoder error514 – 544 X15: Internal encoder error772 – 774 X15: Internal encoder error16418 –16424

X14: Internal encoder error

16430 –16434


16448 –16451


16898 –16928


17156 –17158


61 X15: Critical transmitter cur-rent

Soiled, transmitter broken Replace encoder

16445 X14: Critical transmitter cur-rent

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8 Error messagesMOVIDRIVE MDX61B with DEU21B option


Errorcode


Suberrorcode


62 X15: Critical encoder tem-perature

Encoder temperature toohigh

Reduce motor and ambienttemperature

16446 X14: Critical encoder tem-perature

259 X15: Insufficient clock fre-quency

Incorrect encoder parame-terization

Inspect encoder parameteri-zation

260 X15: Encoder signals pro-grammable error

576 X15: Internal encoder warn-ing


16643 X14: Insufficient clock fre-quency


Incorrect encoder parame-terization

Inspect encoder parameteri-zation

16960 X14: Internal encoder warn-ing


771 X15: Emergency message17155 X14: Emergency message

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9Technical DataDEU21B option – electronics data


9 Technical Data9.1 DEU21B option – electronics data

Description FunctionConnection of external encoder X14:Output for incremental encoder simulation:• Signal level to RS422• The number of pulses is the same as on X15

motor encoder input.

Permitted encoder types:

• HIPERFACE® encoder

• sin/cos encoder AC 1 VSS

• CANopen encoder

• TTL encoder with negated tracks

• HTL sensor

• SSI encoder

• SSI Combi encoder

• EnDat encoder• Encoder with signal level to RS422• Permitted resolution: 2 - 4096 incrementsEncoder power supply• DC 24 V encoder supply• DC 12 V encoder supply1)

Motor encoder connection X15 Permitted encoder types:

• HIPERFACE® encoder

• sin/cos encoder AC 1 VSS

• TTL encoder with negated tracks

• HTL sensor

• SSI encoder

• SSI Combi encoder

• EnDat encoder• Encoder with signal level to RS422• Permitted resolution: 2 - 4096 incrementsEncoder power supply• DC 24 V voltage supply2)

• DC 12 V voltage supply1)

1) The maximum load on X14:15 and X15:15 is DC 650 mA in total. 2) If the overall unit load on the 24 V level exceeds 400 mA, you must connect an external DC 24 V supply to X10:9/X10:10. Observethe "Project planning" chapter in the MOVIDRIVE® MDX60B/61B system manual

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Index

IndexA

Absolute encoder connectionGeneral installation notes ............................... 18

Application exampleSpecial applications ........................................ 10Absolute positioning with combination encoder.......................................................................... 9Absolute positioning with distance encoder .... 10Speed control, positioning with reference travel.......................................................................... 9

Areas of application for the DEU21B ..................... 8Assembly.............................................................. 15

C

Copyright notice ..................................................... 6

D

DEU21BDC 24 V voltage supply .................................. 18

E

Embedded safety notes ......................................... 5Encoder card

Installation/removal ......................................... 15Encoder selection................................................. 27Encoders

CANopen ........................................................ 13EnDat .............................................................. 14Hiperface® ....................................................... 13SSI .................................................................. 11SSI Combi encoder......................................... 12

Encoders, suitable................................................ 10Error messages.................................................... 46Exclusion of liability ................................................ 6

I

Installation ............................................................ 15Absolute encoder connection.......................... 18Before you start............................................... 15Installing the DEU21B..................................... 15Terminal description........................................ 17

M

Multi-encoder cardDC 24 V voltage supply .................................. 18

Connection ..................................................... 17Prefabricated cables ....................................... 18Terminal description........................................ 17

N

NotesDesignation in the documentation..................... 5

O

Option cardInstallation/removal ......................................... 15

P

Parameters........................................................... 39CANopen motor encoder/distance encoder.... 44EnDat2.1 motor encoder/distance encoder .... 43Motor encoder/distance encoder .................... 39SSI motor encoder/distance encoder.............. 41

Prefabricated cablesMeaning of the icons....................................... 18

Product names....................................................... 6Project planning ................................................... 27

Encoder selection ........................................... 27Laser distance measuring devices.................. 28Material measure by metal rule....................... 29Multi-turn rotary encoders ............................... 27Parameterization of the encoder..................... 30

R

Replace encoder .................................................. 38Rights to claim under limited warranty ................... 6

S

Safety notesDesignation in the documentation..................... 5Lifting applications ............................................ 7Other applicable documentation ....................... 7Safety functions ................................................ 7Structure of embedded ..................................... 5Structure of the safety notes ............................. 5Waste disposal.................................................. 7

Section-related safety notes................................... 5Signal words in the safety notes ............................ 5Startup

General information ........................................ 33 2024

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Index

Unit information............................................... 34Startup procedure ................................................ 34System description................................................. 8

T

Technical data...................................................... 49Terminal description............................................. 17Trademarks ............................................................ 6

U

Unit information .................................................... 34

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SEW-EURODRIVE—Driving the world

SEW-EURODRIVE GmbH & Co KGP.O. Box 302376642 BRUCHSALGERMANYPhone +49 7251 75-0Fax +49 [email protected]

www.sew-eurodrive.com

Documents

Manual MOVIDRIVE® MDX61B, 20242549 - SEW … notes in the "IPOSplus®" manual as well as the MOVIDRIVE ... The encoder is connected to the X15 of the DEU21B. You could also use a